Compute relative pose using 5points RANSAC algorithm (opencv aka. cv2 library)¶

Imports¶

In [2]:
import numpy as np
import os
import sys
import cv2 as cv
from matplotlib import pyplot as plt
import math
import pandas as pd
import seaborn as sns

Methods declaration¶

In [3]:
#relative pose estimation
def estimate_relative_pose_from_correspondence(pts1, pts2, K1, K2):
    f_avg = (K1[0, 0] + K2[0, 0]) / 2
    
    #Normalization of points
    #pts1, pts2 = np.ascontiguousarray(pts1, np.float32), np.ascontiguousarray(pts2, np.float32)
    #pts_l_norm = cv.undistortPoints(np.expand_dims(pts1, axis=1), cameraMatrix=K1, distCoeffs=None)
    #pts_r_norm = cv.undistortPoints(np.expand_dims(pts2, axis=1), cameraMatrix=K2, distCoeffs=None)
    pts_l_norm = pts1
    pts_r_norm = pts2
    
    #Get essential Matrix
    #check trheshold and focal value 
    E, mask = cv.findEssentialMat(pts_l_norm, pts_r_norm, focal=1.0,
                                       method=cv.RANSAC, prob=0.999, threshold=3.0 / f_avg)
    points, R_est, t_est, mask_pose = cv.recoverPose(E, pts_l_norm, pts_r_norm)
    return mask[:,0].astype(np.bool), R_est, t_est 
In [4]:
def pose_error(R1, R2, t1, t2):
    t = t1.flatten()
    t_gt = t2.flatten()
    eps = 1e-15
    R2R1 = np.dot(R1, np.transpose(R2))
    cos_angle = max(min(1.0, 0.5 * (np.trace(R2R1) - 1.0)), -1.0)
    err_r = math.acos(cos_angle)
    t = t / (np.linalg.norm(t) + eps)
    t_gt = t_gt / (np.linalg.norm(t_gt) + eps)
    loss_t = np.maximum(eps, (1.0 - np.sum(t * t_gt)**2))
    err_t = np.arccos(np.sqrt(1 - loss_t))
    if np.sum(np.isnan(err_r)) or np.sum(np.isnan(err_t)):
        print(R1, t_gt, R2, t)
        import IPython
        IPython.embed()
    return err_r * 180.0 / math.pi, err_t * 180.0 / math.pi
In [5]:
def get_relative_pose(path_img1, path_img2, path_pose1, path_pose2, path_K):
    img1 = cv.imread(path_img1,0)  #queryimage # left image
    img2 = cv.imread(path_img2,0) #trainimage # right 
    # find the keypoints and descriptors with SIFT
    sift = cv.SIFT_create()
    kp1, des1 = sift.detectAndCompute(img1,None)
    kp2, des2 = sift.detectAndCompute(img2,None)
        
    #FLANN parameters
    #FLANN_INDEX_KDTREE = 1
    #index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
    #search_params = dict(checks=50)
    #flann = cv.FlannBasedMatcher(index_params,search_params)
    #matches = flann.knnMatch(des1,des2,k=2)
    
    #Brute force matching with Knn (k=2)
    bf = cv.BFMatcher()
    matches = bf.knnMatch(des1,des2,k=2)
    pts1 = []
    pts2 = []
    # ratio test as per Lowe's paper$
    ratio = 0.8
    for i,(m,n) in enumerate(matches):
        if m.distance < ratio*n.distance:
            pts2.append(kp2[m.trainIdx].pt)
            pts1.append(kp1[m.queryIdx].pt)
    print('\nNumber of keypoints:')
    print("Image1: " + str(len(pts1)))
    print("Image2: " + str(len(pts2)))
    nbr_keypoints1 = len(pts1)
    nbr_keypoints2 = len(pts2)
    # transform points to np format
    pts1 = np.int32(pts1)
    pts2 = np.int32(pts2)

    #Get intrisinc matrix
    #preparing everything for poselib.estimate_relative_pose
    K = np.loadtxt(intrinsic_path, dtype=float)
    K = np.delete(K,3,0)
    K = np.delete(K,3,1)

    #intrinsics
    Camera_intrinsics = np.loadtxt(intrinsic_path, dtype=float)
    f_x = Camera_intrinsics[0, 0]
    f_y = Camera_intrinsics[1, 1]
    c_x = Camera_intrinsics[0, 2]
    c_y = Camera_intrinsics[1, 2]
    
    # get estimated relative pose
    mask, R, t = estimate_relative_pose_from_correspondence(pts1,pts2,K,K)
    print('\n R_estimated:')
    print(R)
    print('\n t_estimated:')
    print(t)

    #relative pose GT from absolute pose GT
    R1 = np.loadtxt(path_pose1, usecols=range(3), max_rows=3)
    R2 = np.loadtxt(path_pose2, usecols=range(3), max_rows=3)
    t1 = np.loadtxt(path_pose1, usecols=3, max_rows=3)
    t2 = np.loadtxt(path_pose2, usecols=3, max_rows=3)
    R_gt = R2 @ R1.transpose()
    t_gt = t2 - R2 @ R1.transpose() @ t1
    t_gt = t_gt / np.linalg.norm(t_gt)
    print('\n R_gt:')
    print(R_gt)
    print('\n t_gt:')
    print(t_gt)

    R_err, t_err = pose_error(R, R_gt, t, t_gt)
    print('\nPose Error in degrees for R and t:')
    print(R_err, t_err)
    return R_err, t_err, nbr_keypoints1, nbr_keypoints2
In [5]:
# add try/catch to avoid error
# modfiy directory path, everything else should be done automatically
directory = r'/Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/'
actual_folder_directory = ""
results = []

for scan in os.listdir(directory):
    if scan.startswith("scene"):
        actual_folder_directory = os.path.join(directory, scan)
        print("We are working in: " + actual_folder_directory)
        intrinsic_path = actual_folder_directory + '/intrinsic/intrinsic_color.txt'
        color_folder = actual_folder_directory + '/color'
        pose_folder = actual_folder_directory + '/pose'
        estimated_pose_path = pose_folder + '/estimated_pose'
        if not os.path.isdir(estimated_pose_path):
            os.mkdir(estimated_pose_path)
        for img in os.listdir(color_folder):
            if img.endswith(".jpg"):
                base_number = int(img[0:-4])
                base_img_path = os.path.join(color_folder, img)
                base_pose_path = os.path.join(pose_folder, img[0:-4]+'.txt')
                for i in [10,20,30]:
                    if i == 10 or i == 20 or i == 30:
                        number = base_number + (i+1)
                        str_number = str(number)
                        img_path = os.path.join(color_folder,str_number+'.jpg')
                        pose_path = os.path.join(pose_folder, str_number+'.txt')
                        if os.path.isfile(img_path):
                            R,t, k1, k2 = get_relative_pose(base_img_path, img_path, base_pose_path, pose_path, intrinsic_path)
                            result = [base_number, number, R, t, k1, k2]
                            results.append(result)
                    
        ####### WAARNING #######
        output_path = estimated_pose_path + '/' + "results10_20_30.txt"
        np.savetxt(output_path, results, delimiter=' ')
We are working in: /Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_00

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.90644697e-01  1.36466136e-01  2.77745098e-04]
 [-1.36466110e-01  9.90644734e-01 -1.09772921e-04]
 [-2.90127005e-04  7.08431691e-05  9.99999955e-01]]

 t_estimated:
[[0.36609253]
 [0.93057789]
 [0.00102467]]

 R_gt:
[[ 0.99795423 -0.0570822   0.02882997]
 [ 0.05581421  0.99751295  0.04303387]
 [-0.03121501 -0.04133736  0.99865762]]

 t_gt:
[ 0.55738888 -0.49882088  0.66369825]

Pose Error in degrees for R and t:
11.469776195380476 74.96223213339763
/var/folders/d0/6s5qwykd3r35_tc97lhkwtk00000gn/T/ipykernel_49708/682484241.py:17: DeprecationWarning: `np.bool` is a deprecated alias for the builtin `bool`. To silence this warning, use `bool` by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use `np.bool_` here.
Deprecated in NumPy 1.20; for more details and guidance: https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations
  return mask[:,0].astype(np.bool), R_est, t_est
Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.95109135e-01  9.87809287e-02  3.71092851e-04]
 [-9.87809165e-02  9.95109204e-01 -5.12105164e-05]
 [-3.74336534e-04  1.43031607e-05  9.99999930e-01]]

 t_estimated:
[[0.54861292]
 [0.83607591]
 [0.00096643]]

 R_gt:
[[ 0.99645111 -0.05859424  0.06043929]
 [ 0.05201455  0.99308647  0.10522789]
 [-0.06618677 -0.10171073  0.99260974]]

 t_gt:
[ 0.4328939  -0.388577    0.81339461]

Pose Error in degrees for R and t:
11.255794885039109 85.03181319787579

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.07700963 -0.99702908 -0.00158902]
 [ 0.99702805 -0.07700594 -0.0022678 ]
 [ 0.0021387  -0.00175894  0.99999617]]

 t_estimated:
[[9.08026803e-01]
 [4.18911973e-01]
 [2.91114768e-04]]

 R_gt:
[[ 0.9938781  -0.09030827  0.06365317]
 [ 0.07943215  0.9844816   0.15648143]
 [-0.07679621 -0.15046743  0.98562821]]

 t_gt:
[ 0.49319695 -0.38173491  0.78168742]

Pose Error in degrees for R and t:
89.93824167569154 73.25275143398703

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.88048138e-01 -1.54145531e-01 -1.81247875e-04]
 [ 1.54145564e-01  9.88048132e-01  1.85276454e-04]
 [ 1.50522087e-04 -2.11000611e-04  9.99999966e-01]]

 t_estimated:
[[8.46434663e-01]
 [5.32492117e-01]
 [7.11887858e-04]]

 R_gt:
[[ 0.99923781  0.0257804  -0.0293215 ]
 [-0.02468842  0.99900995  0.03702166]
 [ 0.03024734 -0.0362701   0.99888491]]

 t_gt:
[ 0.80575908 -0.18947961  0.56111477]

Pose Error in degrees for R and t:
10.65840155188794 54.442092871973905

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.23971950e-01 -3.82459836e-01 -5.56925082e-04]
 [ 3.82459259e-01  9.23971897e-01 -9.21523036e-04]
 [ 8.67028674e-04  6.38460282e-04  9.99999420e-01]]

 t_estimated:
[[-0.13298503]
 [-0.99111487]
 [-0.00250915]]

 R_gt:
[[ 0.99206059  0.11213949 -0.05694085]
 [-0.10600352  0.98919688  0.10126332]
 [ 0.06768195 -0.09442331  0.99322928]]

 t_gt:
[0.1542869  0.17507433 0.97239114]

Pose Error in degrees for R and t:
29.520384717106438 78.66901078758163

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.98725724  0.15910847 -0.00276344]
 [ 0.15909223  0.98724926  0.00534402]
 [ 0.00357848  0.00483628 -0.9999819 ]]

 t_estimated:
[[0.90473435]
 [0.42597523]
 [0.00092603]]

 R_gt:
[[ 0.98039362  0.16030347 -0.11459535]
 [-0.14874015  0.98347314  0.10323678]
 [ 0.12925053 -0.08416779  0.98803373]]

 t_gt:
[0.7059825  0.52761464 0.47245265]

Pose Error in degrees for R and t:
172.35384257395773 30.240969825999596

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999961e-01 -1.66842780e-04  2.22452065e-04]
 [ 1.66855038e-04  9.99999985e-01 -5.50874272e-05]
 [-2.22442871e-04  5.51245424e-05  9.99999974e-01]]

 t_estimated:
[[0.67900581]
 [0.73413246]
 [0.00079463]]

 R_gt:
[[ 0.97949523 -0.19571962 -0.04777286]
 [ 0.195854    0.98063169 -0.00192199]
 [ 0.04722372 -0.00747374  0.99885673]]

 t_gt:
[ 0.74831811 -0.64685581 -0.14696113]

Pose Error in degrees for R and t:
11.617515786760436 88.1021474235793

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99999755e-01 -4.76672530e-04  5.13127425e-04]
 [ 4.76898983e-04  9.99999789e-01 -4.41288297e-04]
 [-5.12916967e-04  4.41532899e-04  9.99999771e-01]]

 t_estimated:
[[0.45384775]
 [0.89107864]
 [0.00103855]]

 R_gt:
[[ 0.96505915 -0.25313381 -0.06770735]
 [ 0.25380559  0.96725424  0.00135271]
 [ 0.06514783 -0.01848956  0.99770432]]

 t_gt:
[ 0.77977498 -0.61412524 -0.12166007]

Pose Error in degrees for R and t:
15.183728234883091 78.84515945216755

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.02393459  0.99971248  0.00144594]
 [-0.99971268 -0.02393642  0.00126606]
 [ 0.00130031 -0.00141522  0.99999815]]

 t_estimated:
[[ 1.24424530e-02]
 [ 9.99922550e-01]
 [-2.82881422e-04]]

 R_gt:
[[ 0.94769242 -0.28876922 -0.13598438]
 [ 0.2890519   0.95714321 -0.01810471]
 [ 0.13538394 -0.02214889  0.99054553]]

 t_gt:
[ 0.82687207 -0.52246549 -0.2081163 ]

Pose Error in degrees for R and t:
108.4428360584233 59.1976670949532

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-9.44438187e-01 -3.28405204e-01 -1.36576863e-02]
 [-3.28430783e-01  9.44527961e-01 -3.89815226e-04]
 [ 1.30280839e-02  4.11744822e-03 -9.99906653e-01]]

 t_estimated:
[[ 0.97722324]
 [ 0.21212814]
 [-0.00603211]]

 R_gt:
[[ 0.99760761 -0.01422146 -0.06766927]
 [ 0.01599438  0.99954087  0.02573074]
 [ 0.06727252 -0.02675136  0.997376  ]]

 t_gt:
[ 0.9679103  -0.16272366 -0.19149584]

Pose Error in degrees for R and t:
175.66167319001696 24.14666588285273

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99912723e-01 -1.32106274e-02 -1.59283748e-04]
 [ 1.32106343e-02  9.99912735e-01  4.24194864e-05]
 [ 1.58709460e-04 -4.45200235e-05  9.99999986e-01]]

 t_estimated:
[[-0.65002069]
 [ 0.75991528]
 [-0.0013672 ]]

 R_gt:
[[ 0.98991313  0.08200547 -0.11553272]
 [-0.07312525  0.99417887  0.07912116]
 [ 0.12134867 -0.06987424  0.99014682]]

 t_gt:
[ 0.7279349   0.66856688 -0.15208257]

Pose Error in degrees for R and t:
9.588255232387674 87.98911483635487

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99998880e-01 -1.49155046e-03  1.20154292e-04]
 [ 1.49154587e-03  9.99998887e-01  3.82762904e-05]
 [-1.20211250e-04 -3.80970319e-05  9.99999992e-01]]

 t_estimated:
[[-1.94190714e-01]
 [ 9.80963792e-01]
 [ 7.65833469e-05]]

 R_gt:
[[ 0.97666335  0.14559693 -0.1578958 ]
 [-0.12686817  0.9842792   0.12287405]
 [ 0.17330372 -0.09997426  0.97978009]]

 t_gt:
[ 0.42673912  0.8969077  -0.11597544]

Pose Error in degrees for R and t:
14.036508786906877 37.15957220254782

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.80400419e-01  1.97015244e-01  1.11030682e-04]
 [-1.97015239e-01  9.80400425e-01 -4.96919187e-05]
 [-1.18644593e-04  2.68432416e-05  9.99999993e-01]]

 t_estimated:
[[-9.98381904e-01]
 [ 5.68634552e-02]
 [ 3.48701957e-04]]

 R_gt:
[[ 0.98329944  0.18043872  0.02375896]
 [-0.18192301  0.97818422  0.10029691]
 [-0.00514323 -0.10294482  0.99467357]]

 t_gt:
[-0.87483227  0.27394456  0.39952832]

Pose Error in degrees for R and t:
5.984779527786299 27.235441330917553

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.91985789e-01  1.26349208e-01 -2.68933626e-04]
 [-1.26349246e-01  9.91985812e-01 -1.31803951e-04]
 [ 2.50125016e-04  1.64727208e-04  9.99999955e-01]]

 t_estimated:
[[-0.8710219 ]
 [-0.49123984]
 [-0.00206403]]

 R_gt:
[[ 0.98250677  0.18599152  0.00930147]
 [-0.18604063  0.97809831  0.09333061]
 [ 0.00826149 -0.09342875  0.9955916 ]]

 t_gt:
[-0.93424379  0.15892127  0.31926881]

Pose Error in degrees for R and t:
6.418997913324065 42.691147474109336

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-8.85548467e-01 -4.64546914e-01 -2.78485869e-04]
 [-4.64546622e-01  8.85546829e-01  1.80249491e-03]
 [-5.90731172e-04  1.72556628e-03 -9.99998337e-01]]

 t_estimated:
[[ 9.85544930e-01]
 [-1.69413974e-01]
 [ 3.11690306e-04]]

 R_gt:
[[ 0.98121229  0.19288345 -0.00431143]
 [-0.19173284  0.97735672  0.08949979]
 [ 0.02147724 -0.08699209  0.99597717]]

 t_gt:
[-0.95605479  0.07884576  0.28238729]

Pose Error in degrees for R and t:
179.50794050764748 17.156128346663483

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.99957964e-01  9.16896287e-03  1.41090680e-05]
 [-9.16896237e-03  9.99957964e-01 -3.56861956e-05]
 [-1.44356803e-05  3.55553299e-05  9.99999999e-01]]

 t_estimated:
[[ 0.95750032]
 [-0.28842518]
 [ 0.00201232]]

 R_gt:
[[ 0.99952192 -0.02879815 -0.01126595]
 [ 0.02884928  0.99957306  0.00433202]
 [ 0.0111368  -0.00465594  0.9999265 ]]

 t_gt:
[ 0.82577215 -0.54788122 -0.13388998]

Pose Error in degrees for R and t:
2.286076302313093 18.480713820511458

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-0.38207064  0.92383145  0.02361086]
 [ 0.92385345  0.38245885 -0.01483336]
 [-0.02273371  0.01614559 -0.99961117]]

 t_estimated:
[[ 0.83097833]
 [-0.55613314]
 [ 0.01381854]]

 R_gt:
[[ 0.9974518  -0.05273884 -0.04806471]
 [ 0.05386911  0.99829305  0.02252812]
 [ 0.04679382 -0.02506011  0.99858939]]

 t_gt:
[ 0.75239459 -0.60215194 -0.26704948]

Pose Error in degrees for R and t:
178.5781620755569 16.979361541671953

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-7.55465676e-01 -6.55185867e-01  1.75809359e-03]
 [-6.55183633e-01  7.55467708e-01  1.71741512e-03]
 [-2.45340905e-03  1.45574025e-04 -9.99996980e-01]]

 t_estimated:
[[0.95955148]
 [0.2815269 ]
 [0.001887  ]]

 R_gt:
[[ 0.99722261 -0.03790379 -0.06411841]
 [ 0.04110535  0.99793353  0.0493745 ]
 [ 0.06211368 -0.05187363  0.99672007]]

 t_gt:
[ 0.66433834 -0.71550487 -0.21611883]

Pose Error in degrees for R and t:
177.75385576842982 64.17491969699337

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.99999941e-01  2.98780018e-04  1.71573993e-04]
 [-2.98773856e-04  9.99999955e-01 -3.59443254e-05]
 [-1.71584725e-04  3.58930615e-05  9.99999985e-01]]

 t_estimated:
[[9.18734937e-01]
 [3.94874018e-01]
 [7.91330694e-04]]

 R_gt:
[[ 0.99396597 -0.10925969 -0.00972952]
 [ 0.10934961  0.99395943  0.00929875]
 [ 0.00865586 -0.01030544  0.99990935]]

 t_gt:
[ 0.58195853 -0.81321762  0.00117655]

Pose Error in degrees for R and t:
6.340714334307072 77.66964135324574

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.16323307e-01  4.00439166e-01  2.67772643e-04]
 [-4.00439160e-01  9.16323345e-01 -7.81429657e-05]
 [-2.76657828e-04 -3.56224315e-05  9.99999961e-01]]

 t_estimated:
[[8.61738554e-01]
 [5.07352064e-01]
 [7.40853549e-04]]

 R_gt:
[[ 0.9655795  -0.26000888 -0.0071548 ]
 [ 0.25992101  0.96556415 -0.01123798]
 [ 0.00983084  0.00899207  0.99991129]]

 t_gt:
[ 0.71159166 -0.69880833 -0.07283015]

Pose Error in degrees for R and t:
38.68175858675597 75.01238969937151

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-8.58950432e-01  5.12054528e-01  2.07720255e-03]
 [ 5.12058548e-01  8.58946568e-01  2.61465359e-03]
 [-4.45360793e-04  3.30950715e-03 -9.99994424e-01]]

 t_estimated:
[[9.66372146e-01]
 [2.57146236e-01]
 [8.29503988e-04]]

 R_gt:
[[ 0.92610883 -0.37363408 -0.05214974]
 [ 0.37409142  0.92739101 -0.00106265]
 [ 0.04876061 -0.0185231   0.99863876]]

 t_gt:
[ 0.76895167 -0.63465274 -0.07700147]

Pose Error in degrees for R and t:
177.13140496879657 54.56134042250164

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-8.57138290e-02  9.96319765e-01 -2.55385530e-04]
 [-9.96319389e-01 -8.57135589e-02  9.27606413e-04]
 [ 9.02302600e-04  3.33954253e-04  9.99999537e-01]]

 t_estimated:
[[7.65278364e-01]
 [6.43699052e-01]
 [7.45885345e-04]]

 R_gt:
[[ 0.99664198 -0.03885325  0.07208767]
 [ 0.02968056  0.99181291  0.12420655]
 [-0.07632338 -0.12164982  0.98963426]]

 t_gt:
[ 0.13376516 -0.23870387  0.9618354 ]

Pose Error in degrees for R and t:
97.1547200079095 87.10140506395038

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[-8.83447073e-01 -4.68527433e-01 -1.82016964e-03]
 [ 4.68528262e-01 -8.83448508e-01 -3.29063365e-05]
 [-1.59260863e-03 -8.81871925e-04  9.99998343e-01]]

 t_estimated:
[[8.93963058e-01]
 [4.48139909e-01]
 [8.20712498e-04]]

 R_gt:
[[ 0.97722452 -0.11891405  0.17576015]
 [ 0.05957007  0.94866296  0.31063054]
 [-0.20367446 -0.29308629  0.93413999]]

 t_gt:
[ 0.20393314 -0.13129134  0.97014115]

Pose Error in degrees for R and t:
147.32034443728085 82.8615136460948

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 9.99986632e-01 -5.12388914e-03 -6.93666126e-04]
 [ 5.12348602e-03  9.99986706e-01 -5.81688794e-04]
 [ 6.96637413e-04  5.78127030e-04  9.99999590e-01]]

 t_estimated:
[[0.9856934 ]
 [0.16854427]
 [0.00116237]]

 R_gt:
[[ 0.97019267 -0.15241399  0.18840652]
 [ 0.07336417  0.92570151  0.3710734 ]
 [-0.23096445 -0.34619067  0.90928986]]

 t_gt:
[ 0.23612822 -0.11117369  0.96534132]

Pose Error in degrees for R and t:
25.4709004504838 77.57658579294007

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999807e-01 -6.21730907e-04 -5.65727810e-06]
 [ 6.21731647e-04  9.99999798e-01  1.31748558e-04]
 [ 5.57536481e-06 -1.31752049e-04  9.99999991e-01]]

 t_estimated:
[[-5.35637614e-03]
 [-9.99985165e-01]
 [-9.89366710e-04]]

 R_gt:
[[ 0.9986124  -0.04849978  0.02053168]
 [ 0.04882473  0.99868591 -0.01561842]
 [-0.01974715  0.01659894  0.99966752]]

 t_gt:
[ 0.73441231 -0.67459196  0.07459385]

Pose Error in degrees for R and t:
3.1273610977697626 47.88859008910244

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999995e-01 -1.62739620e-05 -1.02546821e-04]
 [ 1.62740290e-05  1.00000000e+00  6.52130346e-07]
 [ 1.02546810e-04 -6.53799191e-07  9.99999995e-01]]

 t_estimated:
[[0.90861813]
 [0.41762613]
 [0.00122645]]

 R_gt:
[[ 9.88182390e-01 -1.53282141e-01  8.72052587e-04]
 [ 1.53249370e-01  9.87820775e-01 -2.69173084e-02]
 [ 3.26492558e-03  2.67324687e-02  9.99637501e-01]]

 t_gt:
[ 0.75179611 -0.65307746 -0.09106283]

Pose Error in degrees for R and t:
8.950571636749121 65.77998246158971

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999237e-01  1.23310693e-03 -7.84227760e-05]
 [-1.23307717e-03  9.99999168e-01  3.78411091e-04]
 [ 7.88893321e-05 -3.78314101e-04  9.99999925e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075946e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96895137 -0.24698269 -0.01151847]
 [ 0.2465582   0.96867248 -0.02973047]
 [ 0.01850067  0.02596682  0.999492  ]]

 t_gt:
[ 0.76952775 -0.63193496 -0.09211539]

Pose Error in degrees for R and t:
14.478053929061094 39.87071274272988

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.99999485e-01 -1.01435391e-03  4.03855816e-05]
 [ 1.01435790e-03  9.99999481e-01 -9.89128459e-05]
 [-4.02852280e-05  9.89537603e-05  9.99999994e-01]]

 t_estimated:
[[-5.04387997e-02]
 [-9.98727125e-01]
 [ 2.37729638e-04]]

 R_gt:
[[ 0.99735289 -0.0713539   0.01394568]
 [ 0.07185244  0.99664338 -0.03923823]
 [-0.01109834  0.04013717  0.99913216]]

 t_gt:
[ 0.2489439  -0.85632828 -0.45246968]

Pose Error in degrees for R and t:
4.697642425248886 32.58703559756143

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99999820e-01 -5.99836567e-04  2.09513796e-06]
 [ 5.99837419e-04  9.99999726e-01 -4.33386668e-04]
 [-1.83517622e-06  4.33387846e-04  9.99999906e-01]]

 t_estimated:
[[8.80725646e-01]
 [4.73626696e-01]
 [2.97984867e-04]]

 R_gt:
[[ 0.99762425 -0.06860658 -0.00616177]
 [ 0.06837241  0.99713199 -0.03245973]
 [ 0.00837215  0.03196152  0.9994538 ]]

 t_gt:
[ 0.42723396 -0.71021818 -0.5595188 ]

Pose Error in degrees for R and t:
4.319334338013171 87.72298817285034

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99999920e-01 -3.98111568e-04 -2.25851084e-05]
 [ 3.98111250e-04  9.99999921e-01 -1.40886250e-05]
 [ 2.25907155e-05  1.40796325e-05  1.00000000e+00]]

 t_estimated:
[[ 5.16395280e-01]
 [-8.56350138e-01]
 [-5.96590934e-04]]

 R_gt:
[[ 9.99949644e-01 -7.53867612e-04 -9.99956988e-03]
 [ 3.61128425e-04  9.99230677e-01 -3.92172166e-02]
 [ 1.00212604e-02  3.92122037e-02  9.99180833e-01]]

 t_gt:
[ 0.50993171  0.23438342 -0.82766784]

Pose Error in degrees for R and t:
2.318340448876798 86.38189793819436

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.69392583e-01  2.45514997e-01  6.37151103e-04]
 [-2.45514896e-01  9.69392790e-01 -2.33276529e-04]
 [-6.74922572e-04  6.97064507e-05  9.99999770e-01]]

 t_estimated:
[[0.29750244]
 [0.95471809]
 [0.00238201]]

 R_gt:
[[ 0.98731852 -0.15859649 -0.00705196]
 [ 0.1585532   0.9873305  -0.00624073]
 [ 0.00795154  0.00504402  0.99995566]]

 t_gt:
[ 0.722677   -0.68471924 -0.09432667]

Pose Error in degrees for R and t:
23.34342187364614 63.96370852363494

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.99988762 -0.01303273  0.00740924]
 [-0.01301733  0.99991302  0.00212293]
 [-0.00743626  0.00202624 -0.9999703 ]]

 t_estimated:
[[ 0.99980003]
 [-0.0196217 ]
 [ 0.00385951]]

 R_gt:
[[ 0.95983847 -0.27766594 -0.04015709]
 [ 0.27782889  0.96062884 -0.00155728]
 [ 0.03900773 -0.00966247  0.99919268]]

 t_gt:
[ 0.75849931 -0.64358501 -0.10235786]

Pose Error in degrees for R and t:
178.14921985948942 39.59392605198812

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-9.19051579e-01  3.94137039e-01  4.34213725e-04]
 [-3.94134401e-01 -9.19040101e-01 -4.83396175e-03]
 [-1.50618355e-03 -4.61379875e-03  9.99988222e-01]]

 t_estimated:
[[0.33976998]
 [0.94050517]
 [0.00252705]]

 R_gt:
[[ 0.93405864 -0.35631809 -0.02390746]
 [ 0.35562434  0.93418156 -0.02889702]
 [ 0.0326308   0.01848882  0.99929635]]

 t_gt:
[ 0.75115402 -0.64445582 -0.1429837 ]

Pose Error in degrees for R and t:
177.65203187448418 69.43585734157391

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999858e-01 -5.01494937e-04 -1.78900631e-04]
 [ 5.01499065e-04  9.99999874e-01  2.30323464e-05]
 [ 1.78889057e-04 -2.31220616e-05  9.99999984e-01]]

 t_estimated:
[[-0.95790962]
 [-0.28706586]
 [-0.00153511]]

 R_gt:
[[ 0.99704928  0.06520533  0.04051204]
 [-0.06546016  0.99784273  0.00499878]
 [-0.04009763 -0.00763512  0.99916581]]

 t_gt:
[-0.72964468  0.54182733  0.41718315]

Pose Error in degrees for R and t:
4.447400846029782 57.12874791390352

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.14890028  0.78581661  0.6002674 ]
 [ 0.54943242  0.57045377 -0.61049694]
 [-0.82216344  0.2389032  -0.51669385]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.98955434 -0.0142646   0.14345359]
 [-0.01328062  0.98184061  0.18924279]
 [-0.14354692 -0.18916991  0.97139456]]

 t_gt:
[-0.03872191 -0.0407595   0.99841839]

Pose Error in degrees for R and t:
122.14968305847182 87.01568765526629

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-8.84052286e-01 -4.67388011e-01 -4.94589392e-05]
 [-4.67387047e-01  8.84050239e-01  2.12665506e-03]
 [-9.50248892e-04  1.90319074e-03 -9.99997737e-01]]

 t_estimated:
[[0.98112372]
 [0.19337747]
 [0.00118636]]

 R_gt:
[[ 9.68243589e-01 -8.62771836e-02  2.34649440e-01]
 [-9.65003317e-04  9.37270120e-01  3.48603285e-01]
 [-2.50006077e-01 -3.37758651e-01  9.07422263e-01]]

 t_gt:
[ 0.1053896  -0.01625382  0.99429817]

Pose Error in degrees for R and t:
161.23606445900344 84.17809110901095

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999828e-01  5.29114293e-04  2.51166481e-04]
 [-5.29047521e-04  9.99999825e-01 -2.65839762e-04]
 [-2.51307097e-04  2.65706837e-04  9.99999933e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99409186 -0.09577236 -0.05108772]
 [ 0.09581731  0.99539797 -0.0015573 ]
 [ 0.05100177 -0.00334585  0.99869296]]

 t_gt:
[ 0.74961804 -0.60723652 -0.26331846]

Pose Error in degrees for R and t:
6.265186847224922 52.92766444406464

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99994285e-01 -3.36520747e-03  3.25306634e-04]
 [ 3.36517560e-03  9.99994333e-01  9.84817249e-05]
 [-3.25636201e-04 -9.73864481e-05  9.99999942e-01]]

 t_estimated:
[[0.01142782]
 [0.99993405]
 [0.00114278]]

 R_gt:
[[ 0.96088518 -0.24726787 -0.12473769]
 [ 0.24368799  0.9688816  -0.04342229]
 [ 0.13159298  0.01132702  0.99123918]]

 t_gt:
[ 0.77793249 -0.53903244 -0.32290102]

Pose Error in degrees for R and t:
15.99637490446811 57.96238971293743

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.33731889 -0.70964449  0.61856339]
 [ 0.70902616 -0.24072554 -0.66282208]
 [ 0.61927204  0.66216004  0.42195524]]

 t_estimated:
[[ 0.68805086]
 [ 0.24301841]
 [-0.68376024]]

 R_gt:
[[ 9.19350607e-01 -3.72914453e-01 -1.25420565e-01]
 [ 3.69381616e-01  9.27865985e-01 -5.12141884e-02]
 [ 1.35471977e-01  7.55300721e-04  9.90780441e-01]]

 t_gt:
[ 0.82225513 -0.52932663 -0.20906894]

Pose Error in degrees for R and t:
87.93359035416775 54.544515497601054

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.88207844e-02 -9.95104055e-01 -1.54026501e-03]
 [-9.95105242e-01 -9.88208201e-02 -5.30811983e-05]
 [-9.93889357e-05  1.53797131e-03 -9.99998812e-01]]

 t_estimated:
[[0.72802796]
 [0.68554692]
 [0.00084506]]

 R_gt:
[[ 0.99759927  0.06633687  0.01991941]
 [-0.0672492   0.99651721  0.04929896]
 [-0.0165802  -0.05051938  0.9985853 ]]

 t_gt:
[-0.86009659 -0.04367007  0.50825857]

Pose Error in degrees for R and t:
177.23918335014835 49.02856075977955

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 1.00000000e+00  8.03156153e-13  1.62713403e-14]
 [-8.03166561e-13  1.00000000e+00 -2.22144623e-14]
 [-1.68996685e-14  2.21676247e-14  1.00000000e+00]]

 t_estimated:
[[ 2.75977838e-02]
 [-9.99619101e-01]
 [-1.20372647e-04]]

 R_gt:
[[ 9.98896311e-01  4.69849713e-02 -5.38586861e-04]
 [-4.68939768e-02  9.97554704e-01  5.18192411e-02]
 [ 2.97153079e-03 -5.17372010e-02  9.98656302e-01]]

 t_gt:
[-0.75059918 -0.49576015  0.43683263]

Pose Error in degrees for R and t:
4.00852633963836 61.65342007365902

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.99472691  0.10000195  0.02275926]
 [ 0.09949519  0.99478571 -0.02240738]
 [-0.02488136 -0.02002479 -0.99948983]]

 t_estimated:
[[ 0.70082414]
 [-0.71258008]
 [ 0.03278953]]

 R_gt:
[[ 0.99842926  0.05596422 -0.00283857]
 [-0.0559225   0.99834991  0.01302542]
 [ 0.00356252 -0.01284691  0.99991088]]

 t_gt:
[-0.88083764 -0.43416382  0.18875071]

Pose Error in degrees for R and t:
178.82063865792057 72.43745322789152

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 5.47496129e-01 -8.36806597e-01 -1.64573056e-03]
 [ 8.36805276e-01  5.47498360e-01 -1.57374519e-03]
 [ 2.21795514e-03 -5.15536614e-04  9.99997407e-01]]

 t_estimated:
[[ 9.97589193e-01]
 [ 6.93934381e-02]
 [-5.93414544e-04]]

 R_gt:
[[ 0.99996622  0.00811588 -0.00123532]
 [-0.00805006  0.99888708  0.04647752]
 [ 0.00161146 -0.04646489  0.99891912]]

 t_gt:
[ 0.48981574 -0.2895869   0.82232595]

Pose Error in degrees for R and t:
57.326168178794035 62.092111811769215

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99441753e-01  3.34073062e-02  3.67195859e-04]
 [-3.34073923e-02  9.99441791e-01  2.30968463e-04]
 [-3.59274853e-04 -2.43106581e-04  9.99999906e-01]]

 t_estimated:
[[0.54885814]
 [0.83591392]
 [0.00162978]]

 R_gt:
[[ 0.99807389 -0.05045617  0.03609852]
 [ 0.04470755  0.98836314  0.14539066]
 [-0.0430148  -0.14349556  0.98871585]]

 t_gt:
[ 0.4044381  -0.37590855  0.83374012]

Pose Error in degrees for R and t:
9.775376329714694 84.78523423315922

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99303526 -0.11780688 -0.00158292]
 [ 0.11781025  0.9930336   0.00223918]
 [ 0.0013081  -0.00241007  0.99999624]]

 t_estimated:
[[-5.77653897e-01]
 [-8.16281580e-01]
 [ 5.97559984e-04]]

 R_gt:
[[ 0.99299812 -0.09308689  0.07273497]
 [ 0.07498428  0.9724276   0.22081962]
 [-0.09128497 -0.21381857  0.97259928]]

 t_gt:
[ 0.3386182  -0.36568847  0.86695424]

Pose Error in degrees for R and t:
13.479535668318471 84.06393159924286

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 3.98588268e-01 -9.17129929e-01  2.92483512e-04]
 [-9.17129525e-01 -3.98587736e-01  1.11890389e-03]
 [-9.09599904e-04 -7.14227228e-04 -9.99999331e-01]]

 t_estimated:
[[0.45351132]
 [0.89124833]
 [0.00197179]]

 R_gt:
[[ 0.995125    0.06467674 -0.07444533]
 [-0.0612787   0.99701108  0.04706065]
 [ 0.07726638 -0.04226764  0.99611426]]

 t_gt:
[0.85426266 0.50966697 0.10234685]

Pose Error in degrees for R and t:
179.82349066492702 32.66300459737003

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99997480e-01  9.23748730e-04  2.04603695e-03]
 [-9.19374668e-04  9.99997292e-01 -2.13773157e-03]
 [-2.04800614e-03  2.13584511e-03  9.99995622e-01]]

 t_estimated:
[[0.99993613]
 [0.01116265]
 [0.00176922]]

 R_gt:
[[ 0.98225135  0.12764078 -0.13744053]
 [-0.11876894  0.99038385  0.07095806]
 [ 0.14517544 -0.05337451  0.98796528]]

 t_gt:
[ 0.75531191  0.45110488 -0.47540331]

Pose Error in degrees for R and t:
11.482099172940027 40.58355153687953

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.6649093  -0.74688717 -0.0074278 ]
 [ 0.74691922 -0.66490805 -0.00299395]
 [-0.00270266 -0.00753867  0.99996793]]

 t_estimated:
[[0.9693515 ]
 [0.24567061]
 [0.00190442]]

 R_gt:
[[ 0.96118543  0.22645259 -0.15761134]
 [-0.21088397  0.97135312  0.1095542 ]
 [ 0.17790406 -0.07206436  0.98140582]]

 t_gt:
[ 0.42737498  0.86771712 -0.25380629]

Pose Error in degrees for R and t:
144.5542495256522 51.17338068270291

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 0.72877201 -0.67950364  0.08465319]
 [-0.68031505 -0.73254846 -0.02332794]
 [ 0.07786398 -0.04059009 -0.99613736]]

 t_estimated:
[[0.68393952]
 [0.72953548]
 [0.00217124]]

 R_gt:
[[ 0.99857088  0.03978006 -0.0356872 ]
 [-0.03941444  0.99916332  0.01089888]
 [ 0.03609049 -0.00947772  0.99930398]]

 t_gt:
[-0.58757723  0.80492955 -0.08271293]

Pose Error in degrees for R and t:
179.57881836541966 79.32850184150871

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.93593576e-01 -1.13012362e-01 -1.08923464e-04]
 [ 1.13012309e-01  9.93593504e-01 -4.09282448e-04]
 [ 1.54479622e-04  3.94350719e-04  9.99999910e-01]]

 t_estimated:
[[-0.84342559]
 [-0.5372386 ]
 [-0.00282207]]

 R_gt:
[[ 0.99707961  0.07035494 -0.02971022]
 [-0.07126452  0.9969827  -0.03076398]
 [ 0.02745678  0.0327905   0.9990843 ]]

 t_gt:
[-0.37951695  0.83591454 -0.39650192]

Pose Error in degrees for R and t:
10.82666272378816 82.65334243086082

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[-0.87977804  0.47526944 -0.01046718]
 [ 0.47526619  0.8798371   0.00295496]
 [ 0.01061381 -0.00237499 -0.99994085]]

 t_estimated:
[[ 0.97165123]
 [-0.2363654 ]
 [-0.005028  ]]

 R_gt:
[[ 0.98833409  0.14938932 -0.02964451]
 [-0.15043623  0.98792928 -0.03692604]
 [ 0.02377013  0.04095429  0.99887845]]

 t_gt:
[-0.52566818  0.81617357 -0.23986177]

Pose Error in degrees for R and t:
178.43927164481937 45.37406333648634

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.96462519e-01  8.40379920e-02  2.52501998e-04]
 [-8.40380039e-02  9.96462549e-01  3.67181271e-05]
 [-2.48523067e-04 -5.78080013e-05  9.99999967e-01]]

 t_estimated:
[[0.32352524]
 [0.94621874]
 [0.00123073]]

 R_gt:
[[ 0.99875157 -0.04701119 -0.01689963]
 [ 0.04738119  0.99863106  0.02216092]
 [ 0.01583419 -0.02293327  0.99961164]]

 t_gt:
[ 0.98573524 -0.10699593  0.12991503]

Pose Error in degrees for R and t:
7.694963407930013 77.41847385793734

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.63904531e-01  2.66246272e-01  9.88950876e-04]
 [-2.66247492e-01  9.63903644e-01  1.42777061e-03]
 [-5.73114750e-04 -1.63954025e-03  9.99998492e-01]]

 t_estimated:
[[0.73715717]
 [0.67572049]
 [0.001061  ]]

 R_gt:
[[ 0.99924126 -0.02477484 -0.03007624]
 [ 0.025077    0.9996388   0.0096704 ]
 [ 0.02982457 -0.01041661  0.99950058]]

 t_gt:
[ 0.97814393  0.20519638 -0.03359909]

Pose Error in degrees for R and t:
16.967697193078777 30.720947037913625

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.98760647e-01  4.97556122e-02  1.24463728e-03]
 [-4.97551173e-02  9.98761356e-01 -4.25545739e-04]
 [-1.26426890e-03  3.63091264e-04  9.99999135e-01]]

 t_estimated:
[[0.04968917]
 [0.99875237]
 [0.00496892]]

 R_gt:
[[ 9.99267027e-01 -3.43206000e-06 -3.82749464e-02]
 [ 9.05412730e-05  9.99997170e-01  2.26256509e-03]
 [ 3.82745250e-02 -2.26327618e-03  9.99264366e-01]]

 t_gt:
[ 0.94869028  0.29300515 -0.11888957]

Pose Error in degrees for R and t:
3.6477404198608547 70.17256090009246

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 5.37793705e-01  8.43074878e-01  1.63752596e-03]
 [-8.43072526e-01  5.37796116e-01 -2.01341161e-03]
 [-2.57811185e-03 -2.97753059e-04  9.99996632e-01]]

 t_estimated:
[[0.08560098]
 [0.99632563]
 [0.00277656]]

 R_gt:
[[ 0.99790939  0.06454305 -0.00316773]
 [-0.06448536  0.99779342  0.01584937]
 [ 0.00418435 -0.01561292  0.99986933]]

 t_gt:
[-0.84230888  0.52994773  0.09834204]

Pose Error in degrees for R and t:
53.776187035249684 62.859690055667144

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.99999133  0.00401174 -0.00111796]
 [-0.00400935  0.99998967  0.00213943]
 [ 0.00112653 -0.00213493  0.99999709]]

 t_estimated:
[[0.97835676]
 [0.20691488]
 [0.00206763]]

 R_gt:
[[ 0.99966448 -0.01574305 -0.02055807]
 [ 0.01550627  0.99981255 -0.01162647]
 [ 0.02073766  0.0113033   0.99972105]]

 t_gt:
[ 0.11679224 -0.86948652 -0.47995079]

Pose Error in degrees for R and t:
1.7677247581773132 86.17911626063186

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-7.44399653e-01  6.67732039e-01 -1.75516035e-03]
 [-6.67732624e-01 -7.44401131e-01 -3.13768656e-04]
 [-1.51605674e-03  9.38408550e-04  9.99998410e-01]]

 t_estimated:
[[8.20761580e-01]
 [5.71270531e-01]
 [6.39720639e-04]]

 R_gt:
[[ 0.99612166 -0.08476174 -0.02357982]
 [ 0.08422162  0.99618153 -0.02301895]
 [ 0.02544117  0.0209434   0.99945711]]

 t_gt:
[ 0.49492866 -0.82049538 -0.28606458]

Pose Error in degrees for R and t:
142.95959024782454 86.40580493184079

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99876823e-01 -1.56951223e-02 -4.31051743e-05]
 [ 1.56951221e-02  9.99876824e-01 -6.29674040e-06]
 [ 4.31986929e-05  5.61942382e-06  9.99999999e-01]]

 t_estimated:
[[ 0.65130385]
 [-0.75881331]
 [-0.00237692]]

 R_gt:
[[ 0.99969838 -0.02234652  0.01020505]
 [ 0.02241214  0.99972832 -0.006395  ]
 [-0.01005929  0.00662225  0.99992705]]

 t_gt:
[ 0.84023562 -0.51972452  0.15456561]

Pose Error in degrees for R and t:
0.7915261614058727 19.73657103687186

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999718e-01  6.88488672e-04  3.01180006e-04]
 [-6.88237054e-04  9.99999415e-01 -8.34747483e-04]
 [-3.01754544e-04  8.34539964e-04  9.99999606e-01]]

 t_estimated:
[[0.56843162]
 [0.82272998]
 [0.00093492]]

 R_gt:
[[ 0.98482094 -0.17238636 -0.02027501]
 [ 0.17229798  0.98502676 -0.00603457]
 [ 0.02101072  0.00244944  0.99977615]]

 t_gt:
[ 0.75886652 -0.64853379 -0.05937615]

Pose Error in degrees for R and t:
10.038784546967756 84.13067501804946

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999203e-01  1.21953714e-03  3.25969351e-04]
 [-1.21953651e-03  9.99999256e-01 -2.13911275e-06]
 [-3.25971717e-04  1.74157952e-06  9.99999947e-01]]

 t_estimated:
[[9.76967475e-01]
 [2.13387641e-01]
 [5.17343189e-04]]

 R_gt:
[[ 0.96434123 -0.26274055 -0.03181957]
 [ 0.26319342  0.96468119  0.01092956]
 [ 0.02782372 -0.01891391  0.99943347]]

 t_gt:
[ 0.75680513 -0.65355846 -0.01036034]

Pose Error in degrees for R and t:
15.442807944440117 53.13673883924196

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99854922 -0.05383177 -0.00126019]
 [ 0.05383313  0.99854937  0.00107243]
 [ 0.00120063 -0.00113871  0.99999863]]

 t_estimated:
[[-0.58123797]
 [-0.81373316]
 [-0.00088066]]

 R_gt:
[[ 0.99895797 -0.04044609 -0.02112753]
 [ 0.03957264  0.99840682 -0.04021566]
 [ 0.02272216  0.03933796  0.998967  ]]

 t_gt:
[ 0.72009425 -0.44640262 -0.53121462]

Pose Error in degrees for R and t:
2.7442361920027976 86.85714356862098

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.87969918e-01 -1.54646086e-01 -1.70206849e-04]
 [ 1.54646143e-01  9.87969843e-01  4.00229730e-04]
 [ 1.06265273e-04 -4.21736767e-04  9.99999905e-01]]

 t_estimated:
[[0.36049635]
 [0.93276012]
 [0.00097017]]

 R_gt:
[[ 0.99635369 -0.03196125 -0.07911087]
 [ 0.02343889  0.99404828 -0.10639028]
 [ 0.08204111  0.10414847  0.99117139]]

 t_gt:
[ 0.47073875  0.00799644 -0.88223641]

Pose Error in degrees for R and t:
10.55929350603873 79.84553890999902

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-4.01717479e-03  9.99991902e-01 -2.39698247e-04]
 [ 9.79458840e-01  3.98301394e-03  2.01604852e-01]
 [ 2.01604174e-01  5.75107362e-04 -9.79466909e-01]]

 t_estimated:
[[0.55810806]
 [0.82975358]
 [0.00493901]]

 R_gt:
[[ 0.98865751 -0.0623359  -0.13663865]
 [ 0.03766268  0.98362927 -0.17622713]
 [ 0.14538796  0.16908226  0.9748197 ]]

 t_gt:
[ 0.44421967  0.06917025 -0.89324373]

Pose Error in degrees for R and t:
173.3122703413391 72.4880264035221

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.75742857e-01 -2.18919181e-01 -5.18685204e-04]
 [ 2.18919624e-01  9.75742319e-01  1.06028775e-03]
 [ 2.73985779e-04 -1.14811857e-03  9.99999303e-01]]

 t_estimated:
[[-8.86554535e-01]
 [-4.62623334e-01]
 [-8.41133335e-04]]

 R_gt:
[[ 0.95303799  0.30245922 -0.01540097]
 [-0.30280659  0.95253809 -0.03128745]
 [ 0.00520645  0.03448184  0.99939178]]

 t_gt:
[-0.89398383  0.43394405 -0.11173845]

Pose Error in degrees for R and t:
30.334962858658482 53.707565192623804

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-9.91300085e-01 -1.31618659e-01 -8.18650584e-04]
 [-1.31617018e-01  9.91298986e-01 -1.81129081e-03]
 [ 1.04992716e-03 -1.68778439e-03 -9.99998025e-01]]

 t_estimated:
[[9.94608321e-01]
 [1.03698964e-01]
 [9.01730124e-04]]

 R_gt:
[[ 0.82923984  0.55887494 -0.0044382 ]
 [-0.55836444  0.82808368 -0.05007237]
 [-0.02430988  0.04400084  0.99873591]]

 t_gt:
[-0.83835464  0.54130896 -0.0643902 ]

Pose Error in degrees for R and t:
179.61358425086974 38.94411762763222

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-5.49883507e-01  8.35241344e-01 -1.60538298e-04]
 [-8.35240820e-01 -5.49883360e-01 -1.03098498e-03]
 [-9.49398617e-04 -4.32833496e-04  9.99999456e-01]]

 t_estimated:
[[7.79912638e-01]
 [6.25888050e-01]
 [6.52646559e-04]]

 R_gt:
[[ 0.7488596   0.6624518  -0.01915173]
 [-0.66270273  0.74826619 -0.03035826]
 [-0.00578075  0.03542696  0.99935533]]

 t_gt:
[-0.80500113  0.5910371  -0.05146184]

Pose Error in degrees for R and t:
81.86655701509532 75.05207146711629

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99555827e-01 -2.98015941e-02  1.19853213e-04]
 [ 2.98015722e-02  9.99555818e-01  1.81063609e-04]
 [-1.25195961e-04 -1.77411371e-04  9.99999976e-01]]

 t_estimated:
[[0.99936975]
 [0.0354733 ]
 [0.00131863]]

 R_gt:
[[ 0.99138593 -0.12893429 -0.02301443]
 [ 0.12872212  0.99162502 -0.01047677]
 [ 0.02417249  0.00742354  0.99968063]]

 t_gt:
[ 0.67888439 -0.70248144 -0.2136254 ]

Pose Error in degrees for R and t:
5.879151146134258 49.21249510451531

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999655e-01  8.02959460e-04  2.12990567e-04]
 [-8.02940662e-04  9.99999674e-01 -8.83256169e-05]
 [-2.13061420e-04  8.81545676e-05  9.99999973e-01]]

 t_estimated:
[[9.99997650e-01]
 [2.10588430e-03]
 [5.14432868e-04]]

 R_gt:
[[ 0.98134969 -0.19197293 -0.00996137]
 [ 0.19141221  0.98063226 -0.04150274]
 [ 0.01773703  0.03882255  0.99908873]]

 t_gt:
[ 0.60425767 -0.74760292 -0.27561304]

Pose Error in degrees for R and t:
11.36792596940471 52.947963964654235

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.85232431e-01  1.71221557e-01  4.84309765e-04]
 [-1.71221531e-01  9.85232550e-01 -9.31194268e-05]
 [-4.93101798e-04  8.82001957e-06  9.99999878e-01]]

 t_estimated:
[[-0.42471988]
 [-0.90532396]
 [-0.00124187]]

 R_gt:
[[ 0.96127168 -0.2723681  -0.04209839]
 [ 0.27036075  0.96157282 -0.04778122]
 [ 0.05349529  0.03454847  0.99797057]]

 t_gt:
[ 0.62320367 -0.73219023 -0.27479929]

Pose Error in degrees for R and t:
25.878028444903876 66.51408396677681

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 7.82581952e-01 -6.22536760e-01  3.67024813e-03]
 [-6.22547364e-01 -7.82563182e-01  5.44475892e-03]
 [-5.17361520e-04 -6.54587337e-03 -9.99978442e-01]]

 t_estimated:
[[0.0475647 ]
 [0.9988588 ]
 [0.00432406]]

 R_gt:
[[ 9.58390958e-01  2.85040272e-01  1.55076998e-02]
 [-2.84993931e-01  9.58514746e-01 -5.16689803e-03]
 [-1.63371530e-02  5.32857452e-04  9.99866550e-01]]

 t_gt:
[-0.92850989  0.37124989  0.0065504 ]

Pose Error in degrees for R and t:
179.47473455935423 70.93199023800226

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 8.89682740e-01 -4.56579221e-01  1.91087613e-04]
 [ 4.56578922e-01  8.89681491e-01 -1.59143341e-03]
 [ 5.56608315e-04  1.50311742e-03  9.99998715e-01]]

 t_estimated:
[[-0.80684436]
 [-0.59076074]
 [-0.00198242]]

 R_gt:
[[ 0.9403026   0.33953268  0.02342127]
 [-0.33903711  0.94049779 -0.02273803]
 [-0.02974868  0.01343957  0.99946669]]

 t_gt:
[-0.91207535  0.40945162 -0.02163169]

Pose Error in degrees for R and t:
47.03889626742234 60.392360634829636

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.87567590e-01 -1.57194944e-01  7.40983952e-05]
 [ 1.57194872e-01  9.87567419e-01  6.04436510e-04]
 [-1.68191524e-04 -5.85274019e-04  9.99999815e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.88308745  0.46875179  0.02072934]
 [-0.46881034  0.88329558 -0.00220239]
 [-0.01934327 -0.00777382  0.99978296]]

 t_gt:
[-0.87397738  0.48527912  0.02583993]

Pose Error in degrees for R and t:
37.0208328087755 65.77103429922293

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 2.65431569e-01  9.64127046e-01  2.26314321e-03]
 [-9.64129431e-01  2.65432524e-01 -1.27426153e-04]
 [-7.23566815e-04 -2.14814005e-03  9.99997431e-01]]

 t_estimated:
[[0.00867646]
 [0.99996177]
 [0.00108456]]

 R_gt:
[[ 0.99621714  0.08562223 -0.01485705]
 [-0.08630972  0.99478929 -0.05427006]
 [ 0.01013336  0.05534794  0.99841539]]

 t_gt:
[-0.59789983  0.64970829 -0.46946239]

Pose Error in degrees for R and t:
69.74184255638814 49.91026048883747

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.37058677e-01 -3.49171682e-01 -4.15866625e-04]
 [ 3.49171724e-01  9.37058753e-01  3.09176213e-05]
 [ 3.78895903e-04 -1.74180492e-04  9.99999913e-01]]

 t_estimated:
[[ 4.46619275e-01]
 [-8.94723868e-01]
 [-6.49833857e-04]]

 R_gt:
[[ 0.99597176  0.08093183  0.03862683]
 [-0.08134555  0.99664393  0.00926444]
 [-0.03774739 -0.01236852  0.99921042]]

 t_gt:
[-0.74261288  0.56455723  0.36027939]

Pose Error in degrees for R and t:
25.195725286167303 33.17300758626184

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.94156289e-01  1.07950234e-01  1.41486574e-04]
 [-1.07950209e-01  9.94156286e-01 -1.76643005e-04]
 [-1.59728420e-04  1.60337249e-04  9.99999974e-01]]

 t_estimated:
[[-7.00056162e-02]
 [-9.97546583e-01]
 [ 1.66404451e-04]]

 R_gt:
[[ 0.98745125 -0.00488819  0.15785292]
 [-0.02982469  0.97576423  0.21678399]
 [-0.15508552 -0.21877061  0.96337329]]

 t_gt:
[-0.0666352   0.00800029  0.99774533]

Pose Error in degrees for R and t:
16.485626290689865 89.81952956109377

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999008e-01  1.16330528e-03  7.94012203e-04]
 [-1.16308182e-03  9.99999284e-01 -2.81832885e-04]
 [-7.94339492e-04  2.80909104e-04  9.99999645e-01]]

 t_estimated:
[[9.19419337e-01]
 [3.93277635e-01]
 [8.85760440e-04]]

 R_gt:
[[ 0.9915215  -0.12747016 -0.02519294]
 [ 0.12719292  0.99180112 -0.01230272]
 [ 0.02655511  0.00899498  0.99960748]]

 t_gt:
[ 0.71779881 -0.67610515 -0.16627293]

Pose Error in degrees for R and t:
7.564035991626911 66.80175260287035

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99997863e-01  1.71754349e-03 -1.15074631e-03]
 [-1.71741069e-03  9.99998518e-01  1.16384523e-04]
 [ 1.15094450e-03 -1.14407970e-04  9.99999331e-01]]

 t_estimated:
[[0.57496147]
 [0.81818   ]
 [0.00089419]]

 R_gt:
[[ 0.97788586 -0.20625017 -0.03464705]
 [ 0.20550254  0.97836338 -0.02392718]
 [ 0.03883255  0.01627851  0.99911366]]

 t_gt:
[ 0.74602542 -0.65077646 -0.14119516]

Pose Error in degrees for R and t:
12.213596263419392 84.05102907585204

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.01353915e-01  4.33080995e-01  1.40449759e-03]
 [-4.33080859e-01  9.01354978e-01 -4.14973618e-04]
 [-1.44566808e-03 -2.34222926e-04  9.99998928e-01]]

 t_estimated:
[[-8.26213437e-01]
 [-5.63356845e-01]
 [-6.49028623e-04]]

 R_gt:
[[ 0.97657675 -0.20049393 -0.07810542]
 [ 0.19358422  0.97714344 -0.08784945]
 [ 0.09393306  0.07067211  0.99306718]]

 t_gt:
[ 0.75110611 -0.52618732 -0.39870604]

Pose Error in degrees for R and t:
37.66625256241436 71.10202612332826

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99994255e-01  3.38800638e-03  1.10060800e-04]
 [-3.38799465e-03  9.99994255e-01 -1.06583073e-04]
 [-1.10421272e-04  1.06209575e-04  9.99999988e-01]]

 t_estimated:
[[ 0.99975927]
 [-0.02189784]
 [-0.00137069]]

 R_gt:
[[ 0.99795385 -0.06215572 -0.01500533]
 [ 0.06220605  0.99805902  0.00293539]
 [ 0.01479343 -0.00386198  0.99988368]]

 t_gt:
[ 0.81739013 -0.56257013 -0.12404925]

Pose Error in degrees for R and t:
3.8614127290535474 33.933866170224995

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999844e-01  3.87225559e-04  4.01625538e-04]
 [-3.86782044e-04  9.99999316e-01 -1.10379215e-03]
 [-4.02052679e-04  1.10363664e-03  9.99999310e-01]]

 t_estimated:
[[0.6913599 ]
 [0.72251003]
 [0.00086528]]

 R_gt:
[[ 0.99327982 -0.11440571 -0.01751414]
 [ 0.11424618  0.99340423 -0.00978391]
 [ 0.01851784  0.00771656  0.99979927]]

 t_gt:
[ 0.79566728 -0.59097594 -0.13289479]

Pose Error in degrees for R and t:
6.686028032716742 82.93522278482854

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 6.70144126e-01  7.42229542e-01  1.46856019e-03]
 [-7.42229515e-01  6.70145430e-01 -6.71003547e-04]
 [-1.48218756e-03 -6.40339635e-04  9.99998697e-01]]

 t_estimated:
[[0.44363142]
 [0.89620836]
 [0.00131895]]

 R_gt:
[[ 0.96107896 -0.27247429 -0.04566901]
 [ 0.27285477  0.96205267  0.00217963]
 [ 0.04334163 -0.01455555  0.99895485]]

 t_gt:
[ 0.78685776 -0.61384369 -0.06364586]

Pose Error in degrees for R and t:
63.8052462765405 78.39631219918911

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99899340e-01  1.41883234e-02 -4.68745205e-05]
 [-1.41883216e-02  9.99899340e-01  3.85477143e-05]
 [ 4.74167296e-05 -3.78787633e-05  9.99999998e-01]]

 t_estimated:
[[-9.02099642e-01]
 [ 4.31527322e-01]
 [-6.37162441e-04]]

 R_gt:
[[ 0.9981713   0.05905533  0.01294567]
 [-0.05853162  0.99757672 -0.0376202 ]
 [-0.01513531  0.03679449  0.9992082 ]]

 t_gt:
[-0.50264631  0.80397714 -0.31775375]

Pose Error in degrees for R and t:
3.428922361273868 36.814703822149426

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 0.99465653 -0.10322766 -0.00155955]
 [ 0.10323241  0.99465159  0.00335829]
 [ 0.00120454 -0.00350134  0.99999314]]

 t_estimated:
[[-0.97854684]
 [-0.20600986]
 [-0.0024525 ]]

 R_gt:
[[ 0.98892103  0.14823994  0.00787113]
 [-0.14792009  0.98848591 -0.03189143]
 [-0.0125082   0.0303738   0.99946038]]

 t_gt:
[-0.65389196  0.74811757 -0.11289555]

Pose Error in degrees for R and t:
14.593447703522653 60.9206002518227

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-9.25357723e-01  3.79028958e-01 -7.08046917e-03]
 [ 3.79024074e-01  9.25384494e-01  2.07136410e-03]
 [ 7.33726335e-03 -7.66915499e-04 -9.99972788e-01]]

 t_estimated:
[[ 0.97558847]
 [-0.21957786]
 [-0.00356386]]

 R_gt:
[[ 0.94636177  0.32303866 -0.0068828 ]
 [-0.32265973  0.94369694 -0.07299321]
 [-0.017084    0.07129895  0.99730885]]

 t_gt:
[-0.68468941  0.7139813  -0.1463937 ]

Pose Error in degrees for R and t:
179.32124297552238 34.4897148300863

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99998831e-01 -1.33960880e-03  7.37131725e-04]
 [ 1.33958927e-03  9.99999102e-01  2.69764602e-05]
 [-7.37167201e-04 -2.59889749e-05  9.99999728e-01]]

 t_estimated:
[[0.62774135]
 [0.77829731]
 [0.01393162]]

 R_gt:
[[ 0.99963314 -0.01395969 -0.02323395]
 [ 0.0143496   0.99975716  0.01671167]
 [ 0.02299483 -0.01703923  0.99958982]]

 t_gt:
[ 0.99076878  0.12793555 -0.04482981]

Pose Error in degrees for R and t:
1.8276999366655697 43.87166984737955

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999764e-01 -6.87244692e-04  1.33465816e-05]
 [ 6.87240919e-04  9.99999724e-01  2.80640481e-04]
 [-1.35394466e-05 -2.80631242e-04  9.99999961e-01]]

 t_estimated:
[[0.47090681]
 [0.88218228]
 [0.00109572]]

 R_gt:
[[ 0.99924359  0.00507379 -0.03856706]
 [-0.00464778  0.99992615  0.01113793]
 [ 0.03862076 -0.01095011  0.99919339]]

 t_gt:
[ 0.92816269  0.3229368  -0.1850023 ]

Pose Error in degrees for R and t:
2.319710164624022 43.799642764502345

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999359e-01 -1.12481306e-03  1.29923594e-04]
 [ 1.12481308e-03  9.99999367e-01 -1.07749552e-07]
 [-1.29923390e-04  2.53889240e-07  9.99999992e-01]]

 t_estimated:
[[3.49402846e-02]
 [9.99389305e-01]
 [4.38955381e-04]]

 R_gt:
[[ 0.99681416  0.04845054 -0.06337009]
 [-0.04713331  0.99864382  0.02212169]
 [ 0.06435542 -0.01906402  0.99774491]]

 t_gt:
[ 0.89997068  0.39460796 -0.18530337]

Pose Error in degrees for R and t:
4.768475325140285 64.80306610396381

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 0.89576227  0.43841303  0.07351173]
 [ 0.43543793 -0.8320728  -0.34358211]
 [-0.08946377  0.33977768 -0.93624108]]

 t_estimated:
[[-9.97725512e-01]
 [-6.74019013e-02]
 [-8.86867122e-04]]

 R_gt:
[[ 0.99919343 -0.02046586 -0.03453925]
 [ 0.02104201  0.99964425  0.01639649]
 [ 0.0341905  -0.0171112   0.9992692 ]]

 t_gt:
[ 0.59083496 -0.6718699  -0.4466597 ]

Pose Error in degrees for R and t:
160.83457393303092 57.0566416377757

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.27795209  0.89318991  0.35348893]
 [-0.8559299   0.06324949  0.51320902]
 [ 0.43603513 -0.44520927  0.78208828]]

 t_estimated:
[[0.56005222]
 [0.82845461]
 [0.0021134 ]]

 R_gt:
[[ 0.9985403   0.0153002  -0.05178923]
 [-0.01264364  0.99860611  0.05124264]
 [ 0.05250055 -0.05051354  0.99734255]]

 t_gt:
[-0.16653027 -0.88455148 -0.43570213]

Pose Error in degrees for R and t:
84.30176724623442 34.20849614493934

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 6.26074814e-01  7.79762737e-01  6.33490922e-04]
 [ 7.79732519e-01 -6.26057321e-01  8.33245523e-03]
 [ 6.89393972e-03 -4.72278688e-03 -9.99965084e-01]]

 t_estimated:
[[8.25464599e-01]
 [5.64453345e-01]
 [7.85752227e-04]]

 R_gt:
[[ 0.99869138  0.01412735 -0.04914989]
 [-0.01306355  0.99967495  0.02190045]
 [ 0.04944345 -0.02122918  0.99855181]]

 t_gt:
[-0.17793147 -0.75813361 -0.62735462]

Pose Error in degrees for R and t:
177.24766787831942 54.879347066099754

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.98622032e-01 -5.24787405e-02  1.34716869e-04]
 [ 5.24787241e-02  9.98622035e-01  1.22652203e-04]
 [-1.40967867e-04 -1.15413423e-04  9.99999983e-01]]

 t_estimated:
[[0.88179546]
 [0.47163055]
 [0.00118203]]

 R_gt:
[[ 0.99196261 -0.12386159 -0.02582977]
 [ 0.12437171  0.99205021  0.01915437]
 [ 0.02325175 -0.02221283  0.99948291]]

 t_gt:
[ 0.64218323 -0.76566481  0.03685231]

Pose Error in degrees for R and t:
4.517394145216834 78.15838850279383

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 0.16440663  0.98636801  0.00697185]
 [ 0.98637964 -0.16436404 -0.00629884]
 [-0.00506705  0.00791246 -0.99995586]]

 t_estimated:
[[0.93295867]
 [0.3599772 ]
 [0.00213004]]

 R_gt:
[[ 0.97737897 -0.21142219  0.00555987]
 [ 0.2114414   0.97738605 -0.00296001]
 [-0.00480788  0.0040688   0.99997985]]

 t_gt:
[ 0.63620913 -0.76964775 -0.05366825]

Pose Error in degrees for R and t:
179.1121426840567 71.55544215555314

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.99441574  0.10552619  0.00124855]
 [-0.10552382  0.99441508 -0.00183725]
 [-0.00143546  0.00169524  0.99999753]]

 t_estimated:
[[0.97856199]
 [0.20594891]
 [0.00121863]]

 R_gt:
[[ 0.97322445 -0.21681977  0.07631007]
 [ 0.22338788  0.97039894 -0.09178056]
 [-0.05415122  0.10637038  0.99285117]]

 t_gt:
[ 0.53200127 -0.77288671 -0.34586238]

Pose Error in degrees for R and t:
19.974724919662798 68.8384044403202

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.98012067e-01 -6.29160939e-02 -3.67147407e-03]
 [ 6.29167540e-02  9.98018776e-01  6.44642031e-05]
 [ 3.66014422e-03 -2.95333283e-04  9.99993258e-01]]

 t_estimated:
[[-0.8687598 ]
 [-0.49521496]
 [-0.00430596]]

 R_gt:
[[ 0.98886804  0.14872106 -0.0046203 ]
 [-0.14878422  0.98800547 -0.04132417]
 [-0.00158102  0.04155218  0.99913552]]

 t_gt:
[-0.81868817  0.54183428 -0.19017173]

Pose Error in degrees for R and t:
12.398299136980466 63.657387837337936

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 4.20734401e-01  9.07183754e-01 -4.47063930e-04]
 [-9.07182443e-01  4.20732819e-01 -1.97742548e-03]
 [-1.60579381e-03  1.23753947e-03  9.99997945e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98195108  0.18622452 -0.03304722]
 [-0.18713844  0.9819595  -0.02709954]
 [ 0.02740423  0.03279484  0.99908643]]

 t_gt:
[-0.78185808  0.6001142  -0.16899968]

Pose Error in degrees for R and t:
54.40369448639155 53.48379115490687

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 2.06270874e-01  9.78494644e-01  7.47194425e-04]
 [-9.78493846e-01  2.06271722e-01 -1.33028708e-03]
 [-1.45580386e-03 -4.56725668e-04  9.99998836e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97871636  0.20140538 -0.03937709]
 [-0.20366069  0.97683706 -0.06566302]
 [ 0.02524016  0.07228511  0.99706443]]

 t_gt:
[-0.66951514  0.68853087 -0.27870184]

Pose Error in degrees for R and t:
66.52240708076553 46.8389243984248

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999999e-01 -4.26010419e-05  1.06602677e-07]
 [ 4.26010436e-05  9.99999999e-01 -1.56875826e-05]
 [-1.05934369e-07  1.56875871e-05  1.00000000e+00]]

 t_estimated:
[[ 9.36963883e-01]
 [-3.49426111e-01]
 [ 2.73961805e-04]]

 R_gt:
[[ 0.99723509 -0.0643638   0.03712225]
 [ 0.0640748   0.99790483  0.0089539 ]
 [-0.03762037 -0.00655005  0.99926999]]

 t_gt:
[ 0.6246984  -0.67552743  0.39168176]

Pose Error in degrees for R and t:
4.2828182784647275 34.76737339685224

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 1.00000000e+00 -5.21804822e-15  7.40510084e-17]
 [ 5.21804822e-15  1.00000000e+00  1.90152798e-15]
 [-7.28583860e-17 -1.90564795e-15  1.00000000e+00]]

 t_estimated:
[[0.92373693]
 [0.38302614]
 [0.00103099]]

 R_gt:
[[ 0.99313484 -0.10995428  0.03992278]
 [ 0.10970935  0.99392822  0.00831925]
 [-0.04059426 -0.00388236  0.99916752]]

 t_gt:
[ 0.72363948 -0.65576811  0.2152071 ]

Pose Error in degrees for R and t:
6.727134148324104 65.32326975027206

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 1.00000000e+00  8.66207717e-06  1.81660258e-05]
 [-8.66185898e-06  1.00000000e+00 -1.20106268e-05]
 [-1.81661299e-05  1.20104695e-05  1.00000000e+00]]

 t_estimated:
[[-0.05193635]
 [-0.99864962]
 [-0.00124427]]

 R_gt:
[[ 0.98875338 -0.13913778  0.05483269]
 [ 0.13948527  0.99022078 -0.00252429]
 [-0.0539443   0.01014495  0.99849253]]

 t_gt:
[ 0.75488011 -0.62272146  0.20584946]

Pose Error in degrees for R and t:
8.608877410180234 54.37915840135652

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.99028521e-01  4.40682493e-02  6.50582235e-05]
 [-4.40682528e-02  9.99028521e-01  5.32811540e-05]
 [-6.26470137e-05 -5.60963947e-05  9.99999996e-01]]

 t_estimated:
[[8.06878138e-01]
 [5.90717468e-01]
 [7.37228415e-04]]

 R_gt:
[[ 0.98815968 -0.15123303 -0.02586302]
 [ 0.15140817  0.98845883  0.00495339]
 [ 0.02481505 -0.00881137  0.99965249]]

 t_gt:
[ 0.69135736 -0.72249332  0.00532851]

Pose Error in degrees for R and t:
11.331815308511374 82.46940177948184

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.67548397e-01 -2.52685654e-01 -2.45939469e-04]
 [ 2.52664211e-01  9.67478090e-01 -1.21219745e-02]
 [ 3.30099010e-03  1.16664569e-02  9.99926496e-01]]

 t_estimated:
[[ 0.64038844]
 [-0.76596345]
 [-0.05659182]]

 R_gt:
[[ 0.97513168 -0.2199816  -0.02696016]
 [ 0.22161002  0.96929884  0.10652307]
 [ 0.00269915 -0.10984898  0.99394429]]

 t_gt:
[ 0.5280765  -0.75439783  0.38989629]

Pose Error in degrees for R and t:
7.216861739669624 26.626081942765104

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999994e-01  4.73901873e-05 -9.36525930e-05]
 [-4.73559899e-05  9.99999932e-01  3.65120189e-04]
 [ 9.36698898e-05 -3.65115752e-04  9.99999929e-01]]

 t_estimated:
[[0.76369709]
 [0.64557423]
 [0.0008203 ]]

 R_gt:
[[ 0.9553718  -0.27935932 -0.09603594]
 [ 0.29180393  0.94306752  0.15960035]
 [ 0.0459823  -0.18050165  0.98249938]]

 t_gt:
[ 0.55776657 -0.73195039  0.39133755]

Pose Error in degrees for R and t:
19.86017443379083 87.34954928924017

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.97459271e-01 -7.12390479e-02 -1.94285269e-05]
 [ 7.12390499e-02  9.97459261e-01  1.41534473e-04]
 [ 9.29638302e-06 -1.42558942e-04  9.99999990e-01]]

 t_estimated:
[[ 2.16497314e-01]
 [ 9.76283203e-01]
 [-1.46261407e-04]]

 R_gt:
[[ 0.99989059 -0.00415424 -0.01419681]
 [ 0.00321906  0.99786441 -0.06523312]
 [ 0.01443772  0.06518011  0.99776878]]

 t_gt:
[-0.00932046  0.5564588  -0.83082292]

Pose Error in degrees for R and t:
5.451135008490361 57.223388223745985

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99139543e-01  4.14631255e-02 -9.91055432e-04]
 [-4.14636559e-02  9.99139877e-01 -5.20796308e-04]
 [ 9.68609160e-04  5.61440966e-04  9.99999373e-01]]

 t_estimated:
[[ 0.22929691]
 [ 0.97334487]
 [-0.00476451]]

 R_gt:
[[ 9.98534937e-01 -5.41023789e-02 -6.12034495e-04]
 [ 5.35981414e-02  9.90645909e-01 -1.25491170e-01]
 [ 7.39683805e-03  1.25274083e-01  9.92094514e-01]]

 t_gt:
[ 0.13321151  0.56340362 -0.81537173]

Pose Error in degrees for R and t:
9.024759141417475 54.35115999090635

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.90629093e-01 -1.36578621e-01  5.30237742e-04]
 [ 1.36579271e-01  9.90628027e-01 -1.48807855e-03]
 [-3.22028652e-04  1.54655339e-03  9.99998752e-01]]

 t_estimated:
[[-0.73600328]
 [-0.67697545]
 [-0.00184462]]

 R_gt:
[[ 0.99944892 -0.03018001 -0.01383909]
 [ 0.02749119  0.98594866 -0.16477237]
 [ 0.01861783  0.16430062  0.98623415]]

 t_gt:
[-0.02502666  0.74437116 -0.66729696]

Pose Error in degrees for R and t:
11.276908733137944 61.03531839446209

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 0.23802801  0.97125676  0.00172242]
 [-0.97125684  0.23803035 -0.00130618]
 [-0.00167862 -0.001362    0.99999766]]

 t_estimated:
[[0.01851532]
 [0.99982716]
 [0.00168321]]

 R_gt:
[[ 0.98998618  0.13951846  0.02152991]
 [-0.13856711  0.98951692 -0.04070389]
 [-0.02698327  0.03731249  0.99893931]]

 t_gt:
[-0.82714215  0.54405004 -0.14087377]

Pose Error in degrees for R and t:
68.2753256381078 58.1023111368707

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[-9.77545379e-01 -2.10514655e-01 -9.41342598e-03]
 [-2.10528231e-01  9.77587668e-01  4.64124296e-04]
 [ 9.10474419e-03  2.43549448e-03 -9.99955585e-01]]

 t_estimated:
[[ 0.99666427]
 [ 0.08149423]
 [-0.0043611 ]]

 R_gt:
[[ 0.96728163  0.25099742  0.03695085]
 [-0.2515839   0.96775946  0.0120955 ]
 [-0.0327241  -0.02099711  0.99924336]]

 t_gt:
[-0.8298605   0.55083516  0.08895044]

Pose Error in degrees for R and t:
178.43647756052576 38.5016397381742

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.75897755  0.64529597 -0.0868688 ]
 [ 0.65008715  0.75850301 -0.04538584]
 [ 0.03660295 -0.09091913 -0.99518538]]

 t_estimated:
[[0.96523394]
 [0.26138194]
 [0.00170838]]

 R_gt:
[[ 0.9227653   0.38297788  0.04279493]
 [-0.38318944  0.92366407 -0.00349144]
 [-0.04086528 -0.0131767   0.99907701]]

 t_gt:
[-0.79046697  0.60981903  0.05729507]

Pose Error in degrees for R and t:
179.3036867603056 52.879595369375444

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999044e-01 -1.37906454e-03 -9.76578087e-05]
 [ 1.37904984e-03  9.99999038e-01 -1.50414568e-04]
 [ 9.78651462e-05  1.50279749e-04  9.99999984e-01]]

 t_estimated:
[[-0.99991626]
 [-0.01279512]
 [-0.00193722]]

 R_gt:
[[ 0.9930619   0.09433218 -0.07021821]
 [-0.08987232  0.99388394  0.06416375]
 [ 0.07584175 -0.05740716  0.99546571]]

 t_gt:
[-0.23097276  0.96689942 -0.10843016]

Pose Error in degrees for R and t:
7.660299426918569 77.36191574091683

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.99999944e-01 -2.06689558e-04 -2.61564490e-04]
 [ 2.06789292e-04  9.99999906e-01  3.81325692e-04]
 [ 2.61485649e-04 -3.81379760e-04  9.99999893e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9814522   0.15316002 -0.11529718]
 [-0.1425267   0.98517651  0.09546568]
 [ 0.12821043 -0.07726173  0.98873278]]

 t_gt:
[-0.09998642  0.9846322  -0.14318574]

Pose Error in degrees for R and t:
12.118682345502872 10.31439945267441

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 9.99993685e-01 -3.55338449e-03  5.17211372e-05]
 [ 3.55341720e-03  9.99993478e-01 -6.46603277e-04]
 [-4.94231698e-05  6.46782981e-04  9.99999790e-01]]

 t_estimated:
[[-0.99981664]
 [-0.01894617]
 [-0.00277848]]

 R_gt:
[[ 0.97864664  0.16795718 -0.11849821]
 [-0.15193451  0.97935673  0.13332519]
 [ 0.13844516 -0.11247424  0.98396289]]

 t_gt:
[0.03700471 0.99927856 0.00854437]

Pose Error in degrees for R and t:
13.9936751415406 86.79238714751695

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-3.13914439e-01 -9.49450114e-01 -1.48500238e-03]
 [ 9.49451024e-01 -3.13915110e-01  2.36651375e-04]
 [-6.90853361e-04 -1.33564875e-03  9.99998869e-01]]

 t_estimated:
[[9.97958767e-01]
 [6.38566221e-02]
 [7.94463160e-04]]

 R_gt:
[[ 0.99915062 -0.03854948 -0.01458188]
 [ 0.03744365  0.99685962 -0.06978717]
 [ 0.01722721  0.06918222  0.99745541]]

 t_gt:
[ 0.47735255 -0.02336419 -0.87840119]

Pose Error in degrees for R and t:
106.17279626980415 61.69348353042378

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.9925607   0.12173628  0.00187927]
 [-0.12173083  0.99255924 -0.00278631]
 [-0.00220448  0.00253682  0.99999435]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99586832 -0.08590395 -0.02945193]
 [ 0.08248197  0.99131344 -0.10244281]
 [ 0.03799668  0.09959041  0.99430207]]

 t_gt:
[ 0.56723308 -0.11768282 -0.81510575]

Pose Error in degrees for R and t:
13.270513698167717 55.512014424144795

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.46738280e-01  3.22003903e-01  3.39609337e-04]
 [-3.22003544e-01  9.46738099e-01 -8.30288048e-04]
 [-5.88877091e-04  6.76710068e-04  9.99999598e-01]]

 t_estimated:
[[-0.43383839]
 [-0.90098878]
 [-0.0018625 ]]

 R_gt:
[[ 0.98056963 -0.1898625  -0.04936035]
 [ 0.18020116  0.97119878 -0.15588623]
 [ 0.07753695  0.14396245  0.98654076]]

 t_gt:
[ 0.62414887 -0.22740021 -0.74748065]

Pose Error in degrees for R and t:
30.94310624982141 86.30170998462368

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 0.99625924  0.08632189 -0.00400676]
 [-0.08629647  0.99625062  0.00613423]
 [ 0.00452125 -0.00576551  0.99997316]]

 t_estimated:
[[0.92563342]
 [0.37836111]
 [0.00675645]]

 R_gt:
[[ 0.99656789 -0.07473843 -0.0355879 ]
 [ 0.07313642  0.99633495 -0.0443543 ]
 [ 0.03877262  0.04159892  0.99838229]]

 t_gt:
[ 0.65580858 -0.35106359 -0.66833334]

Pose Error in degrees for R and t:
9.796300524126949 61.98556672069078

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.9230507   0.38456335 -0.00940365]
 [-0.38442768  0.92305594  0.01353131]
 [ 0.01388374 -0.00887506  0.99986423]]

 t_estimated:
[[-0.99689076]
 [-0.07818751]
 [-0.00977344]]

 R_gt:
[[ 0.98673614 -0.16040216 -0.0249445 ]
 [ 0.1572936   0.98274671 -0.09729822]
 [ 0.04012085  0.09208477  0.99494248]]

 t_gt:
[ 0.606455   -0.4351781  -0.66545651]

Pose Error in degrees for R and t:
32.36821841972501 55.66433984368474

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-9.09022389e-02 -9.95859418e-01  8.95379090e-04]
 [-9.95859713e-01  9.09026106e-02  3.83555917e-04]
 [-4.63360070e-04 -8.56805872e-04 -9.99999526e-01]]

 t_estimated:
[[0.77213079]
 [0.63546208]
 [0.00141046]]

 R_gt:
[[ 0.98343227 -0.17617529 -0.04270685]
 [ 0.17232989  0.98167673 -0.08132263]
 [ 0.05625127  0.07261599  0.99577286]]

 t_gt:
[ 0.63596095 -0.49559196 -0.5915592 ]

Pose Error in degrees for R and t:
174.95761202110432 79.9050033124374

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 7.38455624e-01 -6.74289381e-01 -4.13771782e-03]
 [ 6.74301934e-01  7.38445553e-01  3.88152185e-03]
 [ 4.38210355e-04 -5.65640277e-03  9.99983906e-01]]

 t_estimated:
[[0.56154104]
 [0.82744724]
 [0.00165159]]

 R_gt:
[[ 0.9926169   0.12091835 -0.00943683]
 [-0.12052902  0.99211178  0.03446878]
 [ 0.0135301  -0.03307655  0.99936145]]

 t_gt:
[-0.86903466  0.4660907   0.16594645]

Pose Error in degrees for R and t:
49.363015609522726 84.14224554832059

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.48488405 -0.87453041 -0.00916629]
 [ 0.87455987 -0.48477882 -0.01159836]
 [ 0.0056995  -0.01364033  0.99989072]]

 t_estimated:
[[0.9900975 ]
 [0.1403756 ]
 [0.00127638]]

 R_gt:
[[ 0.96385477  0.26641963  0.0021388 ]
 [-0.26636438  0.96377014 -0.01408615]
 [-0.00581422  0.013007    0.99989877]]

 t_gt:
[-0.82287229  0.56814529 -0.009598  ]

Pose Error in degrees for R and t:
134.45886832431603 42.69427836578292

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-9.82674278e-01 -1.85249466e-01 -5.82222236e-03]
 [-1.85254061e-01  9.82690627e-01  2.55331105e-04]
 [ 5.67414339e-03  1.32949764e-03 -9.99983018e-01]]

 t_estimated:
[[ 0.99061592]
 [ 0.13665892]
 [-0.0021046 ]]

 R_gt:
[[ 0.93870257  0.34404836 -0.02163533]
 [-0.34416141  0.93890914 -0.00162001]
 [ 0.01975643  0.00896577  0.99976478]]

 t_gt:
[-0.78770625  0.61563471 -0.02264424]

Pose Error in degrees for R and t:
178.43856502487913 45.882290489397725

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99997590e-01 -2.19464492e-03 -6.15759306e-05]
 [ 2.19465594e-03  9.99997576e-01  1.79483126e-04]
 [ 6.11818796e-05 -1.79617832e-04  9.99999982e-01]]

 t_estimated:
[[-4.09110215e-01]
 [ 9.12484975e-01]
 [-4.19588312e-05]]

 R_gt:
[[ 0.9944666   0.07409934 -0.07448157]
 [-0.07159723  0.99679412  0.0357297 ]
 [ 0.07689021 -0.03019874  0.99658174]]

 t_gt:
[-0.05967855  0.94691159 -0.3159065 ]

Pose Error in degrees for R and t:
6.399186521473649 27.318267640600546

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999991e-01 -1.81751753e-05 -1.30590795e-04]
 [ 1.81919903e-05  9.99999992e-01  1.28761106e-04]
 [ 1.30588453e-04 -1.28763480e-04  9.99999983e-01]]

 t_estimated:
[[-0.8069161 ]
 [ 0.59066505]
 [-0.00109757]]

 R_gt:
[[ 0.98680836  0.13878449 -0.08336336]
 [-0.12933698  0.98551657  0.10968159]
 [ 0.09737774 -0.09745182  0.99046466]]

 t_gt:
[-0.16753222  0.97656543  0.13510337]

Pose Error in degrees for R and t:
11.062794862119551 44.61361080060194

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.12103274  0.99264712  0.00166281]
 [-0.99264301  0.12103748 -0.00312793]
 [-0.00330619 -0.001272    0.99999373]]

 t_estimated:
[[-0.07334961]
 [ 0.99730417]
 [ 0.00205858]]

 R_gt:
[[ 0.98771429  0.10861373 -0.11235813]
 [-0.09954193  0.99152961  0.08343741]
 [ 0.12046828 -0.07122794  0.99015891]]

 t_gt:
[ 0.34096169  0.91630479 -0.21007298]

Pose Error in degrees for R and t:
77.4207407407308 27.328032816125226

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999888e-01 -2.77285451e-04  3.82268305e-04]
 [ 2.77345884e-04  9.99999949e-01 -1.58047026e-04]
 [-3.82224462e-04  1.58153029e-04  9.99999914e-01]]

 t_estimated:
[[5.79128336e-01]
 [8.15236045e-01]
 [7.49133727e-04]]

 R_gt:
[[ 0.99705181 -0.06043     0.04727245]
 [ 0.05483355  0.99221245  0.11184241]
 [-0.05366248 -0.10891983  0.99260105]]

 t_gt:
[ 0.33230597 -0.42738238  0.84078359]

Pose Error in degrees for R and t:
7.714034387095387 81.06349247857345

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.00366372 -0.99999105 -0.00211356]
 [-0.99998182 -0.00367379  0.00478051]
 [-0.00478823  0.00209601 -0.99998634]]

 t_estimated:
[[0.8242651 ]
 [0.56620079]
 [0.00192585]]

 R_gt:
[[ 0.99156225 -0.10066196  0.08167711]
 [ 0.08441605  0.9795824   0.18246256]
 [-0.09837607 -0.17402766  0.9798141 ]]

 t_gt:
[ 0.28467741 -0.4102753   0.86639076]

Pose Error in degrees for R and t:
168.91919664698463 89.76967058207272

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 6.03095941e-01  6.71584011e-01  4.30407019e-01]
 [ 7.97668532e-01 -5.07464858e-01 -3.25890058e-01]
 [-4.46115642e-04  5.39865107e-01 -8.41751429e-01]]

 t_estimated:
[[0.60655486]
 [0.79504037]
 [0.00141718]]

 R_gt:
[[ 0.98511162 -0.12887213  0.11378271]
 [ 0.09481625  0.959383    0.26569846]
 [-0.14340271 -0.25095302  0.95731835]]

 t_gt:
[ 0.20577227 -0.38077456  0.90148128]

Pose Error in degrees for R and t:
160.2633427055824 79.82580769022238

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.98298018e-01 -5.83186481e-02 -5.06027988e-05]
 [ 5.83186525e-02  9.98298015e-01  9.06670738e-05]
 [ 4.52290924e-05 -9.34638471e-05  9.99999995e-01]]

 t_estimated:
[[ 8.39618846e-01]
 [ 5.43175703e-01]
 [-5.90877518e-04]]

 R_gt:
[[ 0.99210005 -0.12347943 -0.02215426]
 [ 0.12462112  0.9903245   0.06105199]
 [ 0.01440209 -0.06333103  0.99788847]]

 t_gt:
[ 0.54013115 -0.77652891  0.32443981]

Pose Error in degrees for R and t:
5.30877799550201 88.19368355924206

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99420840e-01 -3.40228417e-02  6.55846162e-04]
 [ 3.40229069e-02  9.99421049e-01 -8.84476992e-05]
 [-6.52457217e-04  1.10710267e-04  9.99999781e-01]]

 t_estimated:
[[-9.21818908e-01]
 [-3.87619965e-01]
 [-8.14327657e-04]]

 R_gt:
[[ 0.98110352 -0.18275013 -0.06356279]
 [ 0.19031044  0.97072391  0.14655494]
 [ 0.03491944 -0.15588275  0.98715808]]

 t_gt:
[ 0.4827427  -0.74705835  0.45701566]

Pose Error in degrees for R and t:
12.780037083076637 81.03687447305155

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-7.55381282e-01 -6.55284597e-01 -1.10316815e-03]
 [-6.55284977e-01  7.55381757e-01 -2.15464160e-05]
 [ 8.47432129e-04  7.06613757e-04 -9.99999391e-01]]

 t_estimated:
[[0.76165365]
 [0.64798388]
 [0.00077957]]

 R_gt:
[[ 0.95755769 -0.25781216 -0.12890358]
 [ 0.27711197  0.94646893  0.16555109]
 [ 0.07932299 -0.19424557  0.97774048]]

 t_gt:
[ 0.57269032 -0.73825143  0.3563855 ]

Pose Error in degrees for R and t:
177.92933981762351 87.59828684788745

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.91305545e-01  1.31580053e-01  8.09209649e-05]
 [-1.31580046e-01  9.91305545e-01 -9.50017433e-05]
 [-9.27177356e-05  8.35281707e-05  9.99999992e-01]]

 t_estimated:
[[-0.90233077]
 [-0.43104299]
 [-0.00105907]]

 R_gt:
[[ 9.97729515e-01 -6.67336102e-02  9.05265877e-03]
 [ 6.67302639e-02  9.97770307e-01  6.20733265e-04]
 [-9.07400621e-03 -1.52028550e-05  9.99958061e-01]]

 t_gt:
[ 0.67194262 -0.74059977 -0.00225855]

Pose Error in degrees for R and t:
11.399119831861436 73.3166736112214

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99998691e-01 -1.61780538e-03  9.04387342e-06]
 [ 1.61780597e-03  9.99998689e-01 -6.57698475e-05]
 [-8.93745875e-06  6.57843927e-05  9.99999998e-01]]

 t_estimated:
[[ 6.50183915e-01]
 [-7.59776523e-01]
 [-7.14877284e-04]]

 R_gt:
[[ 0.9927014  -0.11375503  0.04003497]
 [ 0.11339813  0.99348751  0.0110838 ]
 [-0.04103606 -0.00646278  0.99913574]]

 t_gt:
[ 0.69258036 -0.68915947  0.21305321]

Pose Error in degrees for R and t:
6.858281878438767 13.154612129423086

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999275e-01  1.20290098e-03  4.68584937e-05]
 [-1.20290094e-03  9.99999277e-01 -1.05617743e-06]
 [-4.68597303e-05  9.99810543e-07  9.99999999e-01]]

 t_estimated:
[[ 8.25467163e-01]
 [-5.64450135e-01]
 [-9.32823906e-05]]

 R_gt:
[[ 0.98625739 -0.15589171  0.05469861]
 [ 0.15605526  0.98774701  0.00129536]
 [-0.05423083  0.00725852  0.99850192]]

 t_gt:
[ 0.73911007 -0.6536368   0.16271214]

Pose Error in degrees for R and t:
9.575459079433182 11.751175980263026

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.70827992e-01  2.39776399e-01  5.36853047e-04]
 [-2.39776738e-01  9.70827808e-01  6.95157345e-04]
 [-3.54509542e-04 -8.03603082e-04  9.99999614e-01]]

 t_estimated:
[[0.52709422]
 [0.84980496]
 [0.00179284]]

 R_gt:
[[ 0.99339884 -0.11238119 -0.02295509]
 [ 0.11191106  0.99349941 -0.02085354]
 [ 0.02514951  0.01814703  0.99951881]]

 t_gt:
[ 0.74799446 -0.62262606 -0.22987189]

Pose Error in degrees for R and t:
20.39503830966895 82.22638664951121

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-8.22186979e-01 -5.69208372e-01 -3.22502464e-03]
 [ 5.69211977e-01 -8.22190771e-01 -2.49765307e-04]
 [-2.50941699e-03 -2.04107643e-03  9.99994768e-01]]

 t_estimated:
[[0.89672369]
 [0.44258895]
 [0.00128287]]

 R_gt:
[[ 0.96689139 -0.25387984 -0.02579261]
 [ 0.25356608  0.96720496 -0.01483465]
 [ 0.02871237  0.00780317  0.99955704]]

 t_gt:
[ 0.84856479 -0.52055462 -0.0946609 ]

Pose Error in degrees for R and t:
130.6094320355381 57.96650167953385

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99998636e-01  1.56617339e-03  5.24961501e-04]
 [-1.56583610e-03  9.99998568e-01 -6.42299168e-04]
 [-5.25966701e-04  6.41476288e-04  9.99999656e-01]]

 t_estimated:
[[9.99997052e-01]
 [2.36953372e-03]
 [5.30577179e-04]]

 R_gt:
[[ 8.81551471e-01 -4.71638893e-01 -2.05744959e-02]
 [ 4.71739363e-01  8.81738228e-01  4.85687670e-05]
 [ 1.81177167e-02 -9.74907080e-03  9.99788589e-01]]

 t_gt:
[ 0.91685637 -0.39900499 -0.01301607]

Pose Error in degrees for R and t:
28.262704541936802 23.665949717743214

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999866e-01 -4.81599688e-04 -1.88529156e-04]
 [ 4.81600732e-04  9.99999884e-01  5.49440890e-06]
 [ 1.88526488e-04 -5.58520394e-06  9.99999982e-01]]

 t_estimated:
[[-9.40165308e-01]
 [-3.40717606e-01]
 [-8.40911046e-04]]

 R_gt:
[[ 0.96619327  0.25691802 -0.02153424]
 [-0.25711659  0.96635516 -0.00701633]
 [ 0.01900673  0.01231558  0.99974314]]

 t_gt:
[-0.56716631  0.81871243 -0.08962328]

Pose Error in degrees for R and t:
14.977887226948082 75.26458844031686

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.17498850e-01 -3.97735103e-01 -1.62734007e-03]
 [ 3.97736077e-01  9.17499818e-01  3.12600579e-04]
 [ 1.36875199e-03 -9.34062527e-04  9.99998627e-01]]

 t_estimated:
[[-0.23912391]
 [-0.97098798]
 [-0.00144924]]

 R_gt:
[[ 0.87430288  0.47854067 -0.08121035]
 [-0.47872814  0.87776948  0.01840783]
 [ 0.08009265  0.0227838   0.99652675]]

 t_gt:
[-0.42118951  0.8950103  -0.14681944]

Pose Error in degrees for R and t:
52.282513467981964 39.81508293803207

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.99549274 -0.09481315 -0.00216226]
 [ 0.09481844  0.99549147  0.00249068]
 [ 0.00191636 -0.00268447  0.99999456]]

 t_estimated:
[[0.53610235]
 [0.84415163]
 [0.00151726]]

 R_gt:
[[ 0.79696627  0.60057399 -0.06446832]
 [-0.59679712  0.79939421  0.06930175]
 [ 0.09315567 -0.01675695  0.99551081]]

 t_gt:
[-0.37899197  0.92241147 -0.07431126]

Pose Error in degrees for R and t:
42.62194886691448 54.87487885005123

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 9.99999480e-01 -1.01943809e-03 -1.20679924e-05]
 [ 1.01943801e-03  9.99999480e-01 -6.45664509e-06]
 [ 1.20745683e-05  6.44433917e-06  1.00000000e+00]]

 t_estimated:
[[-9.99982769e-01]
 [-5.81346610e-03]
 [-8.15571122e-04]]

 R_gt:
[[ 0.99991615  0.01176655  0.00549219]
 [-0.01171964  0.99989539 -0.00855695]
 [-0.00559245  0.00849161  0.99994807]]

 t_gt:
[-0.5273751   0.82837397 -0.18887053]

Pose Error in degrees for R and t:
0.9334095567883356 58.486172514426535

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 8.67333758e-01 -4.97724058e-01 -1.70706264e-03]
 [ 4.97725199e-01  8.67334733e-01  2.95274148e-04]
 [ 1.33362967e-03 -1.10574933e-03  9.99998499e-01]]

 t_estimated:
[[8.95283587e-01]
 [4.45495860e-01]
 [8.58373526e-04]]

 R_gt:
[[ 0.9997038  -0.02384269  0.00508435]
 [ 0.02403159  0.99885565 -0.04136231]
 [-0.00409144  0.04147179  0.99913109]]

 t_gt:
[-0.24174635  0.84096991 -0.48407469]

Pose Error in degrees for R and t:
28.57972421530212 80.92068626083504

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.89170588e-01 -1.46770313e-01  1.50442790e-04]
 [ 1.46770307e-01  9.89170599e-01  5.18203224e-05]
 [-1.56419270e-04 -2.91786042e-05  9.99999987e-01]]

 t_estimated:
[[-7.75065062e-01]
 [-6.31880978e-01]
 [-7.61120845e-04]]

 R_gt:
[[ 0.99703933 -0.05793727  0.05056788]
 [ 0.06092042  0.99636189 -0.05959637]
 [-0.04693038  0.06250011  0.99694021]]

 t_gt:
[-0.06669342  0.9793194  -0.1910118 ]

Pose Error in degrees for R and t:
6.732436757767207 55.46036702876346

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.01483405  0.99986577 -0.00695598]
 [-0.99988396 -0.01485773 -0.003364  ]
 [-0.00346689  0.00690528  0.99997015]]

 t_estimated:
[[0.47323811]
 [0.88093385]
 [0.00111089]]

 R_gt:
[[ 0.99844415  0.0156893  -0.053523  ]
 [-0.02149412  0.99373601 -0.10966715]
 [ 0.05146681  0.11064707  0.9925258 ]]

 t_gt:
[-8.48033694e-04  3.66255854e-01 -9.30513799e-01]

Pose Error in degrees for R and t:
89.95914202974544 71.26375276449853

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-8.86848145e-01 -4.62059790e-01 -1.05745094e-03]
 [-4.62061000e-01  8.86845728e-01  2.07076473e-03]
 [-1.90212731e-05  2.32506070e-03 -9.99997297e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.98939458 -0.138337   -0.04428554]
 [ 0.12671975  0.97108238 -0.20234028]
 [ 0.07099578  0.19458357  0.97831321]]

 t_gt:
[ 0.38925378 -0.24289699 -0.8885283 ]

Pose Error in degrees for R and t:
174.0171976568411 75.51297156585504

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 7.46817301e-01  6.65029156e-01  3.74944508e-04]
 [-6.65028786e-01  7.46817323e-01 -7.74018697e-04]
 [-7.94760054e-04  3.28701664e-04  9.99999630e-01]]

 t_estimated:
[[0.61601366]
 [0.78773429]
 [0.00136286]]

 R_gt:
[[ 0.98197308 -0.18129446 -0.05348627]
 [ 0.16242382  0.9540511  -0.25180407]
 [ 0.09667866  0.23857677  0.96629897]]

 t_gt:
[ 0.40136588 -0.20298346 -0.89314229]

Pose Error in degrees for R and t:
53.70986562811279 85.05884297266375

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.52700477e-01 -3.03886608e-01 -3.83807836e-03]
 [ 3.03910101e-01  9.52650108e-01  9.81951457e-03]
 [ 6.72326793e-04 -1.05214870e-02  9.99944422e-01]]

 t_estimated:
[[0.98187116]
 [0.18954587]
 [0.0011773 ]]

 R_gt:
[[ 0.99689691 -0.03238567 -0.07174258]
 [ 0.0349641   0.9987763   0.03498787]
 [ 0.07052041 -0.03738689  0.99680915]]

 t_gt:
[ 0.89096436 -0.14527798 -0.43020556]

Pose Error in degrees for R and t:
16.310318234064916 32.138044650833464

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-7.63075625e-01 -6.46293533e-01  4.50110825e-03]
 [-6.46308977e-01  7.63050986e-01 -6.15620580e-03]
 [ 5.44140903e-04 -7.60675726e-03 -9.99970920e-01]]

 t_estimated:
[[0.90103377]
 [0.43374232]
 [0.00239637]]

 R_gt:
[[ 0.99209272 -0.00451913 -0.12542033]
 [ 0.00959607  0.99915751  0.03990763]
 [ 0.12513396 -0.04079423  0.99130045]]

 t_gt:
[ 0.7568107   0.18738247 -0.62619915]

Pose Error in degrees for R and t:
174.15960221221235 40.3868443935402

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 5.39394370e-01  8.42053272e-01 -2.42378960e-05]
 [ 8.42043713e-01 -5.39388110e-01  4.78033268e-03]
 [ 4.01222114e-03 -2.59889390e-03 -9.99988574e-01]]

 t_estimated:
[[0.53927081]
 [0.84213144]
 [0.00127789]]

 R_gt:
[[ 0.98172289 -0.00289315 -0.19029303]
 [ 0.00842181  0.99956569  0.02825221]
 [ 0.19012789 -0.02933706  0.98132089]]

 t_gt:
[ 0.70612324  0.16933547 -0.68754307]

Pose Error in degrees for R and t:
173.0474875326481 58.49884370488881

Number of keypoints:
Image1: 396
Image2: 396

 R_estimated:
[[-0.3303485  -0.91966816 -0.21232133]
 [-0.91807381  0.36530948 -0.15391384]
 [ 0.21911265  0.14408144 -0.96500269]]

 t_estimated:
[[ 0.80579425]
 [ 0.57695286]
 [-0.13349542]]

 R_gt:
[[ 9.99912126e-01 -1.32941894e-02 -1.74097176e-04]
 [ 1.32905556e-02  9.99793090e-01 -1.53831272e-02]
 [ 3.78947089e-04  1.53793061e-02  9.99881478e-01]]

 t_gt:
[-0.31564138  0.80937594 -0.49525863]

Pose Error in degrees for R and t:
164.28543079609517 73.81471262320117

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.91148642e-01  1.32756684e-01  1.80152000e-04]
 [-1.32756665e-01  9.91148654e-01 -1.13091398e-04]
 [-1.93571051e-04  8.81740070e-05  9.99999977e-01]]

 t_estimated:
[[-4.76961394e-01]
 [ 8.78924213e-01]
 [ 2.36516673e-04]]

 R_gt:
[[ 0.99816923 -0.055238    0.02465783]
 [ 0.05645138  0.99707332 -0.05154812]
 [-0.02173749  0.05284576  0.99836526]]

 t_gt:
[ 0.1971909   0.79499054 -0.57367742]

Pose Error in degrees for R and t:
11.313223602556427 52.803654908940345

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.98174066e-01 -6.04030696e-02 -5.07216815e-05]
 [ 6.04030784e-02  9.98174048e-01  1.94392118e-04]
 [ 3.88871855e-05 -1.97100917e-04  9.99999980e-01]]

 t_estimated:
[[-0.98401107]
 [-0.1780982 ]
 [-0.00180333]]

 R_gt:
[[ 0.98966535 -0.12304662  0.07365141]
 [ 0.12618992  0.99121414 -0.0396406 ]
 [-0.06812627  0.04852488  0.99649549]]

 t_gt:
[0.94057639 0.25301715 0.22649144]

Pose Error in degrees for R and t:
6.069433418793945 13.830319747904408

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 0.99958952  0.00393483  0.02837787]
 [-0.00282003  0.99922671 -0.03921767]
 [-0.02851024  0.03912155  0.99882765]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99986337 -0.00440192  0.01597126]
 [ 0.0044282   0.99998884 -0.00162488]
 [-0.01596386  0.0016949   0.99987123]]

 t_gt:
[-0.02929012 -0.25515026  0.96645767]

Pose Error in degrees for R and t:
2.3090229582907487 88.22627960083352

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.99012453  0.14018693 -0.00102236]
 [-0.14018408  0.99012239  0.00246331]
 [ 0.00135759 -0.00229566  0.99999644]]

 t_estimated:
[[-0.8551609 ]
 [-0.51836186]
 [-0.00090781]]

 R_gt:
[[ 0.99954498  0.025976   -0.01539088]
 [-0.02760305  0.99272408 -0.11720001]
 [ 0.01223463  0.11757159  0.99298866]]

 t_gt:
[-0.11826586  0.51694594 -0.84780899]

Pose Error in degrees for R and t:
9.501561476094084 80.44123652747709

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.78808399e-01  2.04778208e-01 -5.79982267e-05]
 [-2.04778132e-01  9.78808211e-01  6.34128970e-04]
 [ 1.86624935e-04 -6.08813993e-04  9.99999797e-01]]

 t_estimated:
[[0.71870244]
 [0.69531733]
 [0.0007795 ]]

 R_gt:
[[ 0.99715075 -0.05071985 -0.05584494]
 [ 0.03892437  0.98002124 -0.19504582]
 [ 0.06462195  0.19231715  0.9792027 ]]

 t_gt:
[ 0.1849592   0.1042364  -0.97720257]

Pose Error in degrees for R and t:
18.568051918795447 78.19120725003026

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.86055624e-01 -1.66416019e-01  1.23718910e-04]
 [ 1.66416041e-01  9.86055608e-01 -1.98238266e-04]
 [-8.90037022e-05  2.16062768e-04  9.99999973e-01]]

 t_estimated:
[[-0.157709  ]
 [-0.98748509]
 [-0.00103078]]

 R_gt:
[[ 0.98954338 -0.14419547  0.00344764]
 [ 0.14422015  0.98950909 -0.0084769 ]
 [-0.00218956  0.00888583  0.99995872]]

 t_gt:
[ 0.7771764  -0.62793215 -0.0412075 ]

Pose Error in degrees for R and t:
1.3850034174045487 60.162064290475584

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.74841044e-01 -2.22901149e-01 -1.27973366e-04]
 [ 2.22901129e-01  9.74841045e-01 -1.54371949e-04]
 [ 1.59163375e-04  1.21962705e-04  9.99999980e-01]]

 t_estimated:
[[-0.21693014]
 [-0.97618561]
 [-0.00172167]]

 R_gt:
[[ 0.97271336 -0.22647568 -0.05036278]
 [ 0.22603741  0.97401315 -0.01431946]
 [ 0.05229613  0.00254552  0.9986288 ]]

 t_gt:
[ 0.81801847 -0.56105403 -0.12674445]

Pose Error in degrees for R and t:
2.999128757539734 68.25612006635522

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.94572439e-01  1.04046265e-01  1.97649600e-04]
 [-1.04046275e-01  9.94572456e-01  4.43718938e-05]
 [-1.91960118e-04 -6.46957673e-05  9.99999979e-01]]

 t_estimated:
[[0.1842882 ]
 [0.98287038]
 [0.00191967]]

 R_gt:
[[ 0.91261107 -0.40811345 -0.02415955]
 [ 0.40818331  0.91289744 -0.00223716]
 [ 0.02296769 -0.00782013  0.99970564]]

 t_gt:
[ 0.89406676 -0.44712238 -0.02694816]

Pose Error in degrees for R and t:
30.096467483842623 74.05293601697403

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.95193077e-01 -9.79320628e-02 -2.24482461e-04]
 [ 9.79320683e-02  9.95193102e-01  1.33652503e-05]
 [ 2.22094510e-04 -3.52850363e-05  9.99999975e-01]]

 t_estimated:
[[-0.95887261]
 [-0.2838348 ]
 [-0.00106305]]

 R_gt:
[[ 0.97058415  0.24058015  0.00932615]
 [-0.24067571  0.9705439   0.01100387]
 [-0.00640314 -0.01292479  0.99989557]]

 t_gt:
[-0.88981404  0.4529074   0.05573031]

Pose Error in degrees for R and t:
19.561998259519328 43.563737201232016

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.94791966e-01 -1.01923238e-01 -7.72834459e-04]
 [ 1.01923200e-01  9.94792267e-01 -8.75412384e-05]
 [ 7.77732230e-04  8.31555915e-06  9.99999698e-01]]

 t_estimated:
[[-0.96763523]
 [-0.25234998]
 [-0.00124269]]

 R_gt:
[[ 0.90664836  0.41976362  0.04226546]
 [-0.41995116  0.90753451 -0.00476553]
 [-0.04035744 -0.01342798  0.99909459]]

 t_gt:
[-0.8449565   0.53229262  0.05208717]

Pose Error in degrees for R and t:
30.78549887640472 46.90414723717571

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.99976609 -0.02158833 -0.00130964]
 [ 0.02159116  0.99976449  0.00218981]
 [ 0.00126205 -0.00221757  0.99999674]]

 t_estimated:
[[0.88907815]
 [0.45774539]
 [0.00303415]]

 R_gt:
[[ 0.88397572  0.4654001   0.04460425]
 [-0.46541879  0.88502739 -0.01060437]
 [-0.04441054 -0.01138461  0.99894804]]

 t_gt:
[-0.84066242  0.53990797  0.04226194]

Pose Error in degrees for R and t:
29.112976432067494 59.99034177901563

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.93345712  0.3584309  -0.01360493]
 [ 0.35841923  0.93355466  0.00336994]
 [ 0.01390884 -0.00173057 -0.99990177]]

 t_estimated:
[[ 0.97738478]
 [-0.21136144]
 [-0.00673241]]

 R_gt:
[[ 0.97386597  0.22492537 -0.03150049]
 [-0.22425165  0.97424646  0.02354558]
 [ 0.0359847  -0.01586683  0.99922614]]

 t_gt:
[-0.53167415  0.84550492 -0.04943717]

Pose Error in degrees for R and t:
177.0769367887746 45.731274465091644

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999603e-01 -8.38319380e-04 -3.00850597e-04]
 [ 8.38351245e-04  9.99999643e-01  1.05805322e-04]
 [ 3.00761791e-04 -1.06057498e-04  9.99999949e-01]]

 t_estimated:
[[-9.99986183e-01]
 [-5.21029392e-03]
 [-6.97797826e-04]]

 R_gt:
[[ 0.9542248   0.29657443 -0.03869367]
 [-0.29327611  0.95320047  0.0734774 ]
 [ 0.05867409 -0.05876576  0.99654541]]

 t_gt:
[-0.49645849  0.86776323  0.02271435]

Pose Error in degrees for R and t:
17.8692252642856 60.533507237795824

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.161052    0.98694431  0.00178546]
 [ 0.98694451  0.16104845  0.00198123]
 [ 0.00166782  0.00208123 -0.99999644]]

 t_estimated:
[[-0.64814859]
 [-0.76151168]
 [-0.00183426]]

 R_gt:
[[ 0.90419008  0.4262857  -0.02685123]
 [-0.42394541  0.90333553  0.06522932]
 [ 0.05206219 -0.04759601  0.9975082 ]]

 t_gt:
[-0.44362586  0.89620938 -0.00219956]

Pose Error in degrees for R and t:
176.05736428687624 66.7381172127952

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99998194e-01 -1.88831300e-03  2.16450668e-04]
 [ 1.88836678e-03  9.99998186e-01 -2.48510254e-04]
 [-2.15981010e-04  2.48918543e-04  9.99999946e-01]]

 t_estimated:
[[ 6.79237252e-01]
 [-7.33918647e-01]
 [-4.19056157e-04]]

 R_gt:
[[ 0.99606424 -0.08708244  0.01650659]
 [ 0.08807467  0.99334444 -0.07422001]
 [-0.00993335  0.07538175  0.99710474]]

 t_gt:
[ 0.44183082 -0.67063171 -0.59585118]

Pose Error in degrees for R and t:
6.565536196090106 37.57584826204172

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.35313955e-01  3.53816563e-01  1.28285998e-03]
 [-3.53816889e-01  9.35314711e-01  2.95519370e-05]
 [-1.18942184e-03 -4.81537864e-04  9.99999177e-01]]

 t_estimated:
[[-0.75870341]
 [-0.65143574]
 [-0.00078298]]

 R_gt:
[[ 0.98597017 -0.16658247  0.01063026]
 [ 0.16684791  0.98164514 -0.09238218]
 [ 0.00495477  0.0928592   0.99566664]]

 t_gt:
[ 0.52427856 -0.72980247 -0.4387714 ]

Pose Error in degrees for R and t:
30.795978375778553 85.5269003569342

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.23827494 -0.95733121  0.16352985]
 [-0.89857737 -0.15342452  0.41111996]
 [-0.36848848 -0.24490381 -0.89679338]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.9549896  -0.29632529  0.01362057]
 [ 0.29647337  0.95191888 -0.0771595 ]
 [ 0.0098989   0.07772464  0.99692512]]

 t_gt:
[ 0.64633147 -0.72918527 -0.22482098]

Pose Error in degrees for R and t:
157.47563299702526 89.20344801579883

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.39794182 -0.91695308 -0.02897179]
 [ 0.91718327 -0.39694168 -0.03481596]
 [ 0.02042449 -0.04042716  0.99897372]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.82649886e-01  1.82644144e-01  3.22517920e-02]
 [-1.82535495e-01  9.83178969e-01 -6.30566689e-03]
 [-3.28607025e-02  3.09408186e-04  9.99459487e-01]]

 t_gt:
[-0.90774524  0.41704612  0.04550951]

Pose Error in degrees for R and t:
124.02681127852743 24.985845660494473

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99997969e-01 -2.00686608e-03 -1.84214029e-04]
 [ 2.00675278e-03  9.99997798e-01 -6.13199696e-04]
 [ 1.85444233e-04  6.12828779e-04  9.99999795e-01]]

 t_estimated:
[[-0.9606589]
 [-0.2777277]
 [-0.0013432]]

 R_gt:
[[ 0.97171759  0.23389976  0.0324856 ]
 [-0.23336767  0.97219511 -0.01938222]
 [-0.03611541  0.01125299  0.99928447]]

 t_gt:
[-0.91004848  0.41445274 -0.00637902]

Pose Error in degrees for R and t:
13.800879243747607 40.61070279151614

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.11205586  0.99367604 -0.0071707 ]
 [-0.99361473 -0.1121387  -0.01243736]
 [-0.01316282  0.00573124  0.99989694]]

 t_estimated:
[[0.08662454]
 [0.99618218]
 [0.01082807]]

 R_gt:
[[ 0.96301576  0.26805059  0.02735416]
 [-0.26803101  0.96339975 -0.00444099]
 [-0.02754278 -0.00305478  0.99961606]]

 t_gt:
[-0.92048382  0.3898736   0.02661051]

Pose Error in degrees for R and t:
80.89622620400797 72.00483190043734

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.16495130e-01  4.00045842e-01 -2.27631223e-05]
 [-4.00045833e-01  9.16495096e-01 -2.65597856e-04]
 [-8.53890277e-05  2.52525433e-04  9.99999964e-01]]

 t_estimated:
[[-0.99173906]
 [-0.12826492]
 [-0.00132232]]

 R_gt:
[[ 0.99154447 -0.1248507  -0.03538103]
 [ 0.12619949  0.9912434   0.03884562]
 [ 0.03022124 -0.04298238  0.99861916]]

 t_gt:
[ 0.78311163 -0.61830306  0.06661462]

Pose Error in degrees for R and t:
30.941803344477865 45.77931438367751

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.98327848e-01  5.78053423e-02  2.23171893e-04]
 [-5.78053296e-02  9.98327872e-01 -6.29662517e-05]
 [-2.26438507e-04  4.99604377e-05  9.99999973e-01]]

 t_estimated:
[[9.99037625e-01]
 [4.38514947e-02]
 [9.33163943e-04]]

 R_gt:
[[ 0.98499405 -0.16754818 -0.04139367]
 [ 0.16906018  0.98494114  0.03617614]
 [ 0.03470884 -0.0426315   0.99848837]]

 t_gt:
[ 0.78557491 -0.61794618  0.03185258]

Pose Error in degrees for R and t:
13.387817529105682 40.733691754728405

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.74482424  0.6672563  -0.0024265 ]
 [ 0.66720552 -0.74471093  0.01557025]
 [ 0.00858231 -0.01321608 -0.99987583]]

 t_estimated:
[[-0.99835455]
 [-0.05731295]
 [-0.0018488 ]]

 R_gt:
[[ 0.99259909 -0.12120587 -0.00744972]
 [ 0.12139109  0.99201298  0.03424895]
 [ 0.00323909 -0.03490028  0.99938564]]

 t_gt:
[ 0.70134144 -0.69930957  0.13815323]

Pose Error in degrees for R and t:
177.1664846907238 48.672410656504255

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999368e-01  1.12076909e-03  8.48512666e-05]
 [-1.12078126e-03  9.99999362e-01  1.43558092e-04]
 [-8.46903170e-05 -1.43653101e-04  9.99999986e-01]]

 t_estimated:
[[9.99996740e-01]
 [2.54451154e-03]
 [2.14319019e-04]]

 R_gt:
[[ 0.98903703 -0.14748329 -0.00734064]
 [ 0.14762299  0.98872391  0.0251551 ]
 [ 0.00354718 -0.02596397  0.99965634]]

 t_gt:
[ 0.67913129 -0.7206187   0.13960438]

Pose Error in degrees for R and t:
8.680297287254337 47.365009686764324

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.91992827  0.39204783  0.0055205 ]
 [ 0.39206179  0.91993735  0.00168183]
 [-0.00441915  0.00371154 -0.99998335]]

 t_estimated:
[[ 0.97661833]
 [-0.21494129]
 [ 0.00410837]]

 R_gt:
[[ 0.9751637  -0.22052114 -0.02067587]
 [ 0.22118688  0.97445131  0.03900581]
 [ 0.0115453  -0.04261105  0.99902536]]

 t_gt:
[ 0.67966924 -0.72057224  0.13720556]

Pose Error in degrees for R and t:
178.92630498525835 34.99302538951641

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99984279e-01  5.60677687e-03  7.15407292e-05]
 [-5.60676720e-03  9.99984273e-01 -1.34714063e-04]
 [-7.22949158e-05  1.34310833e-04  9.99999988e-01]]

 t_estimated:
[[ 9.94258453e-01]
 [-1.07005037e-01]
 [-2.24272307e-04]]

 R_gt:
[[ 0.95534111 -0.29231753 -0.04328561]
 [ 0.29231987  0.95629893 -0.00640226]
 [ 0.04326472 -0.00653763  0.99904271]]

 t_gt:
[ 0.71566153 -0.69082684 -0.10289245]

Pose Error in degrees for R and t:
17.506228786917333 38.233280817198576

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.88293322e-01 -1.52563963e-01 -7.39223928e-04]
 [ 1.52564192e-01  9.88293528e-01  2.63309214e-04]
 [ 6.90398727e-04 -3.73005839e-04  9.99999692e-01]]

 t_estimated:
[[0.75783713]
 [0.65244257]
 [0.0012547 ]]

 R_gt:
[[ 0.97604573 -0.14610053  0.16121457]
 [ 0.14432515  0.98926913  0.02273224]
 [-0.16280542  0.00108069  0.9866577 ]]

 t_gt:
[ 0.51121626 -0.62747791  0.58730691]

Pose Error in degrees for R and t:
9.416935735735226 88.78307544978188

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 0.93096869 -0.36483656  0.01384128]
 [ 0.36490566  0.93104042 -0.00275671]
 [-0.01188104  0.00761717  0.9999004 ]]

 t_estimated:
[[-0.12201976]
 [-0.99252656]
 [-0.00148805]]

 R_gt:
[[ 0.9182162  -0.29027069  0.26948558]
 [ 0.27721662  0.95693465  0.08618264]
 [-0.28289593 -0.00442742  0.95914032]]

 t_gt:
[ 0.60202082 -0.59484592  0.53266242]

Pose Error in degrees for R and t:
16.39276358615311 58.92569221811705

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[-5.77560248e-01  8.16347881e-01 -5.44857708e-04]
 [-8.16345025e-01 -5.77559791e-01 -2.34266939e-03]
 [-2.22712110e-03 -9.08240837e-04  9.99997108e-01]]

 t_estimated:
[[0.34200217]
 [0.93969808]
 [0.00142524]]

 R_gt:
[[ 0.86282824 -0.40636537  0.30065689]
 [ 0.3860998   0.91368694  0.12689729]
 [-0.32627346  0.00659372  0.94525226]]

 t_gt:
[ 0.69194519 -0.57818735  0.43233232]

Pose Error in degrees for R and t:
149.7380711861537 72.17813604441638

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-3.39530707e-01  9.40585846e-01  4.14305789e-03]
 [-9.40593580e-01 -3.39534487e-01  2.24479455e-04]
 [ 1.61785323e-03 -3.82071599e-03  9.99991392e-01]]

 t_estimated:
[[8.65364511e-01]
 [5.01142503e-01]
 [6.74485199e-04]]

 R_gt:
[[ 0.99824144 -0.0305917  -0.05077872]
 [ 0.03085063  0.99951546  0.00432192]
 [ 0.05062222 -0.00588046  0.99870039]]

 t_gt:
[ 0.83833365 -0.30008888 -0.45513004]

Pose Error in degrees for R and t:
111.63882033117326 54.91647875731348

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.53439169e-01 -3.01580395e-01  1.73675730e-03]
 [ 3.01584483e-01  9.53434639e-01 -3.03117447e-03]
 [-7.41741778e-04  3.41381952e-03  9.99993898e-01]]

 t_estimated:
[[0.17272939]
 [0.98496878]
 [0.00102815]]

 R_gt:
[[ 0.99188488  0.07362228 -0.10365366]
 [-0.07195568  0.99721335  0.01973185]
 [ 0.10481763 -0.0121132   0.99441828]]

 t_gt:
[ 0.11773917  0.77550107 -0.62027057]

Pose Error in degrees for R and t:
22.58443327249768 38.413818509463354

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99997849e-01 -1.99368490e-03  5.72577397e-04]
 [ 1.99351330e-03  9.99997968e-01  3.00117321e-04]
 [-5.73174573e-04 -2.98975235e-04  9.99999791e-01]]

 t_estimated:
[[0.03407103]
 [0.99941683]
 [0.0022714 ]]

 R_gt:
[[ 0.97958969  0.14383013 -0.14041816]
 [-0.14284538  0.98959685  0.01711975]
 [ 0.14141983  0.00328885  0.98994509]]

 t_gt:
[-0.02683247  0.86587985 -0.49953188]

Pose Error in degrees for R and t:
11.70665581869819 30.307891824537723

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.96918921e-01 -7.84378886e-02 -4.02284630e-04]
 [ 7.84379945e-02  9.96918962e-01  2.54439247e-04]
 [ 3.81087498e-04 -2.85209700e-04  9.99999887e-01]]

 t_estimated:
[[ 0.96879103]
 [-0.24786923]
 [-0.00218695]]

 R_gt:
[[ 0.99954196  0.02660575  0.01443396]
 [-0.02625289  0.99936414 -0.02411793]
 [-0.01506711  0.02372731  0.99960558]]

 t_gt:
[-0.86843626  0.48008998 -0.12382276]

Pose Error in degrees for R and t:
6.231666974426385 16.24751352936307

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.96108946e-01  8.81303034e-02  1.33223290e-04]
 [-8.81302760e-02  9.96108937e-01 -1.99358136e-04]
 [-1.50274402e-04  1.86841417e-04  9.99999971e-01]]

 t_estimated:
[[0.90427774]
 [0.4269437 ]
 [0.00091619]]

 R_gt:
[[ 0.99942024  0.01193773 -0.03188943]
 [-0.01163108  0.99988476  0.0098006 ]
 [ 0.03200194 -0.00942429  0.99944333]]

 t_gt:
[-0.82217219 -0.35004    -0.44889296]

Pose Error in degrees for R and t:
4.783698857732259 26.705193984129185

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.42834536e-01  3.33261107e-01  2.67985614e-04]
 [-3.33260469e-01  9.42833823e-01 -1.35709724e-03]
 [-7.04933628e-04  1.19020913e-03  9.99999043e-01]]

 t_estimated:
[[0.83238931]
 [0.55419023]
 [0.00110396]]

 R_gt:
[[ 0.99863692 -0.00319189 -0.05211042]
 [ 0.00295394  0.99998487 -0.00464428]
 [ 0.05212376  0.00448409  0.99863064]]

 t_gt:
[-0.6328573  -0.50278259 -0.58881348]

Pose Error in degrees for R and t:
19.87177430984559 36.28619711682206

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[ 9.95699614e-01 -9.26405321e-02 -1.06558566e-04]
 [ 9.26405519e-02  9.95699598e-01  1.99171506e-04]
 [ 8.76489666e-05 -2.08186636e-04  9.99999974e-01]]

 t_estimated:
[[-0.77747535]
 [-0.62891257]
 [-0.0010281 ]]

 R_gt:
[[ 0.99979452 -0.00316084  0.0200499 ]
 [ 0.00400265  0.99910598 -0.042098  ]
 [-0.01989955  0.04217067  0.99891184]]

 t_gt:
[-0.46771814  0.87036981 -0.15393553]

Pose Error in degrees for R and t:
5.7723153918144074 79.42112507020126

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[-5.67853292e-01 -8.23128114e-01 -1.65737236e-03]
 [ 8.23129779e-01 -5.67852340e-01 -1.04304056e-03]
 [-8.25867634e-05 -1.95652656e-03  9.99998083e-01]]

 t_estimated:
[[9.39166247e-01]
 [3.43461980e-01]
 [7.93214735e-04]]

 R_gt:
[[ 0.99971402 -0.00521286  0.02336879]
 [ 0.00638565  0.99870884 -0.05040611]
 [-0.02307555  0.05054212  0.9984555 ]]

 t_gt:
[-0.4731911   0.85595727 -0.20839225]

Pose Error in degrees for R and t:
124.29446661019658 81.33936538311404

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.81406277e-01  1.91941897e-01  1.66786168e-04]
 [-1.91941876e-01  9.81406286e-01 -1.30835135e-04]
 [-1.88797738e-04  9.63891725e-05  9.99999978e-01]]

 t_estimated:
[[-5.71535384e-01]
 [ 8.20577421e-01]
 [-1.27237226e-05]]

 R_gt:
[[ 0.99823526 -0.04691975  0.03640738]
 [ 0.05015081  0.99434478 -0.09361159]
 [-0.03180931  0.09527322  0.99494312]]

 t_gt:
[-0.26496545  0.87971383 -0.3948378 ]

Pose Error in degrees for R and t:
14.997385860049441 29.153766503163126

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-8.17106582e-01  5.76474491e-01 -3.74097261e-03]
 [-5.76479130e-01 -8.17111848e-01  2.01778842e-04]
 [-2.94047268e-03  2.32146745e-03  9.99992982e-01]]

 t_estimated:
[[0.71228953]
 [0.7018853 ]
 [0.00080033]]

 R_gt:
[[ 0.99963769  0.01715241  0.02070846]
 [-0.01695138  0.99980834 -0.00976165]
 [-0.02087247  0.00940717  0.99973829]]

 t_gt:
[0.57033791 0.654883   0.49582549]

Pose Error in degrees for R and t:
143.82183622654046 29.969057261157438

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.97218344e-01  7.45357233e-02 -2.94150062e-05]
 [-7.45356870e-02  9.97218122e-01  6.69137120e-04]
 [ 7.92077966e-05 -6.65083343e-04  9.99999776e-01]]

 t_estimated:
[[0.53190253]
 [0.84680498]
 [0.0010093 ]]

 R_gt:
[[ 0.99972837 -0.00434832  0.02285723]
 [ 0.00505482  0.99950958 -0.0309175 ]
 [-0.02271179  0.03102446  0.99926019]]

 t_gt:
[ 0.98312358 -0.18205607 -0.0179892 ]

Pose Error in degrees for R and t:
5.064521932897531 68.36195965318562

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.18338110e-01 -3.95796576e-01 -4.30768214e-04]
 [ 3.95796733e-01  9.18338068e-01  3.72031694e-04]
 [ 2.48341979e-04 -5.12147535e-04  9.99999838e-01]]

 t_estimated:
[[0.89147081]
 [0.45307693]
 [0.00104879]]

 R_gt:
[[ 0.99204539 -0.12452131  0.01843674]
 [ 0.1250465   0.99167575 -0.03069985]
 [-0.01446066  0.03276101  0.99935888]]

 t_gt:
[ 0.77773347 -0.62843751 -0.01403348]

Pose Error in degrees for R and t:
16.27822544088187 65.88424631224433

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-6.75116371e-01 -7.37704437e-01 -3.16995596e-03]
 [ 7.37707048e-01 -6.75120794e-01  4.73172972e-04]
 [-2.48916499e-03 -2.01905204e-03  9.99994864e-01]]

 t_estimated:
[[0.99928538]
 [0.03774637]
 [0.00198665]]

 R_gt:
[[ 0.9895956  -0.14382523  0.00384128]
 [ 0.14349531  0.98467886 -0.09907956]
 [ 0.01046756  0.09859927  0.99507256]]

 t_gt:
[ 0.54347629 -0.66372999 -0.51390273]

Pose Error in degrees for R and t:
124.26796288193856 58.86786008991114

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 7.81346659e-01  6.24097074e-01  4.89837708e-04]
 [-6.24096722e-01  7.81346773e-01 -7.08111475e-04]
 [-8.24663413e-04  2.47574428e-04  9.99999629e-01]]

 t_estimated:
[[0.66910527]
 [0.74316654]
 [0.00127692]]

 R_gt:
[[ 0.99000997 -0.13878842 -0.02485845]
 [ 0.13513055  0.98428095 -0.11371332]
 [ 0.04024865  0.10921774  0.99320277]]

 t_gt:
[ 0.49750665 -0.48029019 -0.72236311]

Pose Error in degrees for R and t:
46.963888575447776 88.56896502818081

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 4.25521618e-01  9.04947115e-01  1.43940700e-03]
 [ 9.04946498e-01 -4.25523390e-01  1.29650355e-03]
 [ 1.78576849e-03  7.50896038e-04 -9.99998124e-01]]

 t_estimated:
[[-8.45505368e-01]
 [-5.33966460e-01]
 [-7.01664206e-04]]

 R_gt:
[[ 0.99581058 -0.08173099 -0.04102144]
 [ 0.07615478  0.98950545 -0.1227967 ]
 [ 0.05062574  0.11915783  0.99158357]]

 t_gt:
[ 0.30622971 -0.02733754 -0.95156504]

Pose Error in degrees for R and t:
175.55526123402822 75.8977054266519

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.99834585e-01 -1.81879357e-02  4.58355151e-05]
 [ 1.81879332e-02  9.99834584e-01  5.41701753e-05]
 [-4.68131768e-05 -5.33275615e-05  9.99999997e-01]]

 t_estimated:
[[8.88787108e-01]
 [4.58319760e-01]
 [6.88278815e-04]]

 R_gt:
[[ 0.99903843 -0.02902799  0.03286654]
 [ 0.0286377   0.99951451  0.01228648]
 [-0.03320704 -0.01133324  0.99938446]]

 t_gt:
[-0.07950685 -0.49989961  0.86242625]

Pose Error in degrees for R and t:
2.097526979752884 72.5913442799288

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.88742594e-01  1.49626406e-01 -1.44437700e-04]
 [-1.49626428e-01  9.88742589e-01 -1.56853289e-04]
 [ 1.19342311e-04  1.76699225e-04  9.99999977e-01]]

 t_estimated:
[[-0.35298219]
 [ 0.93562946]
 [-0.00104197]]

 R_gt:
[[ 0.99668     0.0066519   0.08114252]
 [-0.00544287  0.99987098 -0.0151032 ]
 [-0.08123221  0.01461215  0.99658846]]

 t_gt:
[-0.6429361   0.15321907  0.75043794]

Pose Error in degrees for R and t:
9.519860540449816 68.3140237621148

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[-0.51142829 -0.85862458 -0.03471205]
 [-0.83767249  0.4891234   0.24302901]
 [-0.19169221  0.15336924 -0.96939774]]

 t_estimated:
[[0.76200076]
 [0.63500064]
 [0.12700013]]

 R_gt:
[[ 0.99883538 -0.00795124  0.04758793]
 [ 0.00854533  0.99988825 -0.01227207]
 [-0.0474853   0.01266481  0.99879158]]

 t_gt:
[-0.8720342  -0.24184282  0.42552133]

Pose Error in degrees for R and t:
172.72751128779151 40.18013156849613

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99999954e-01  2.99162408e-04  3.90735022e-05]
 [-2.99162389e-04  9.99999955e-01 -4.83972477e-07]
 [-3.90736452e-05  4.72283132e-07  9.99999999e-01]]

 t_estimated:
[[-0.91040633]
 [-0.41371373]
 [-0.0011296 ]]

 R_gt:
[[ 0.99972     0.01815444  0.01519611]
 [-0.0180663   0.99981888 -0.00593325]
 [-0.01530123  0.00565649  0.99986666]]

 t_gt:
[0.45974567 0.64689699 0.60840628]

Pose Error in degrees for R and t:
1.3828830053185919 46.6169298988108

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.91612053e-01  1.29249088e-01  4.57950930e-04]
 [-1.29248777e-01  9.91611984e-01 -6.53984745e-04]
 [-5.38636562e-04  5.89309559e-04  9.99999681e-01]]

 t_estimated:
[[0.54559832]
 [0.83804632]
 [0.0009139 ]]

 R_gt:
[[ 9.96767036e-01 -8.02940147e-02  2.90397494e-03]
 [ 8.03408670e-02  9.96487611e-01 -2.36266164e-02]
 [-9.97418666e-04  2.37844079e-02  9.99716176e-01]]

 t_gt:
[ 0.7481375  -0.65858173 -0.08099617]

Pose Error in degrees for R and t:
12.106272083198174 81.73142444896153

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99374326e-01 -3.53686445e-02  1.25085995e-04]
 [ 3.53686081e-02  9.99374295e-01  2.82076808e-04]
 [-1.34984402e-04 -2.77476202e-04  9.99999952e-01]]

 t_estimated:
[[-0.60832169]
 [-0.7936901 ]
 [-0.00087027]]

 R_gt:
[[ 9.88706738e-01 -1.48574476e-01  1.95882828e-02]
 [ 1.48545618e-01  9.88901448e-01  2.91959830e-03]
 [-1.98050584e-02  2.21937830e-05  9.99803221e-01]]

 t_gt:
[ 0.70904802 -0.69796716  0.10046269]

Pose Error in degrees for R and t:
6.614159389087825 82.96053895547792

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999536e-01  9.54369613e-04  1.33611118e-04]
 [-9.54377155e-04  9.99999543e-01  5.63971906e-05]
 [-1.33557233e-04 -5.65246798e-05  9.99999989e-01]]

 t_estimated:
[[-9.97334801e-01]
 [-7.29567870e-02]
 [-7.76136032e-04]]

 R_gt:
[[ 0.99765094 -0.04252474 -0.05370232]
 [ 0.04185208  0.99903135 -0.01359372]
 [ 0.05422855  0.01131394  0.99846545]]

 t_gt:
[ 0.78199284 -0.34248984 -0.52075705]

Pose Error in degrees for R and t:
4.03176138645966 41.01676903344048

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999959e-01  2.72283798e-04  8.65355238e-05]
 [-2.72283004e-04  9.99999963e-01 -9.18552539e-06]
 [-8.65380217e-05  9.16196286e-06  9.99999996e-01]]

 t_estimated:
[[-3.22762296e-02]
 [ 9.99478971e-01]
 [-1.80315524e-04]]

 R_gt:
[[ 9.93777357e-01 -1.68982921e-02 -1.10091799e-01]
 [ 1.66958333e-02  9.99856902e-01 -2.75733687e-03]
 [ 1.10123296e-01  9.02274285e-04  9.93918312e-01]]

 t_gt:
[ 0.7220158  -0.04103101 -0.69065885]

Pose Error in degrees for R and t:
6.402959689596945 86.31970879746171

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-8.38435631e-01 -5.44972220e-01  5.56514629e-03]
 [-5.44978571e-01  8.38449860e-01  4.36596123e-04]
 [-4.90402889e-03 -2.66682773e-03 -9.99984419e-01]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.9820361   0.0976589  -0.16145793]
 [-0.10006733  0.99495714 -0.00683582]
 [ 0.15997603  0.02286907  0.98685617]]

 t_gt:
[ 0.19844888  0.68370637 -0.70225611]

Pose Error in degrees for R and t:
171.19443805457828 76.84444627812714

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.92816118e-01 -1.19650105e-01 -8.83512384e-05]
 [ 1.19650121e-01  9.92816099e-01  2.04314030e-04]
 [ 6.32703368e-05 -2.13417499e-04  9.99999975e-01]]

 t_estimated:
[[9.91856744e-01]
 [1.27355755e-01]
 [8.43415598e-04]]

 R_gt:
[[ 0.99854908 -0.01874651 -0.05047527]
 [ 0.0179733   0.99971525 -0.01569927]
 [ 0.05075477  0.0147686   0.99860223]]

 t_gt:
[ 0.44974264 -0.1940548  -0.8718224 ]

Pose Error in degrees for R and t:
6.559867373070846 65.12557059693331

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.62514958 -0.78050113 -0.00244738]
 [ 0.78049045 -0.62511575 -0.00805891]
 [ 0.0047601  -0.00694818  0.99996453]]

 t_estimated:
[[0.97329882]
 [0.22953482]
 [0.00177934]]

 R_gt:
[[ 0.99474223 -0.0917056   0.04557446]
 [ 0.09283996  0.99540526 -0.02343285]
 [-0.04321608  0.02754042  0.99868623]]

 t_gt:
[ 0.6854224  -0.72813518 -0.00390957]

Pose Error in degrees for R and t:
123.42665466261961 60.001225145293034

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.28329502  0.95758073 -0.05275495]
 [ 0.62740486 -0.14344881  0.7653663 ]
 [ 0.72533239 -0.24992317 -0.64142914]]

 t_estimated:
[[-9.97497681e-01]
 [-7.06949291e-02]
 [-7.76867353e-04]]

 R_gt:
[[ 0.94457735 -0.24309862  0.22062703]
 [ 0.24067755  0.96985243  0.03821136]
 [-0.22326409  0.01700662  0.9746095 ]]

 t_gt:
[ 0.60644261 -0.63995459  0.47189563]

Pose Error in degrees for R and t:
149.71424009909742 55.940734008222826

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.97670901 -0.21302342 -0.02570095]
 [-0.21304696  0.97704021 -0.00185044]
 [ 0.02550505  0.00366816 -0.99966796]]

 t_estimated:
[[ 0.99482656]
 [ 0.10077549]
 [-0.01282258]]

 R_gt:
[[ 9.97403024e-01  7.19959841e-02 -1.99415859e-03]
 [-7.20197709e-02  9.97242220e-01 -1.79183628e-02]
 [ 6.98590756e-04  1.80160440e-02  9.99837912e-01]]

 t_gt:
[-0.94792579  0.24431014 -0.20432633]

Pose Error in degrees for R and t:
178.33700746555655 23.683074666221582

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.82444518e-01 -1.86554916e-01  1.80730282e-04]
 [ 1.86554970e-01  9.82444464e-01 -3.45201150e-04]
 [-1.13158493e-04  3.72857110e-04  9.99999924e-01]]

 t_estimated:
[[-8.03579607e-01]
 [-5.95196949e-01]
 [-6.37255835e-04]]

 R_gt:
[[ 0.99734223  0.07157596  0.01358868]
 [-0.07151981  0.99742913 -0.00450236]
 [-0.01387583  0.00351828  0.99989767]]

 t_gt:
[-0.98934589  0.14388261 -0.02219247]

Pose Error in degrees for R and t:
14.876670134199415 44.814382465977594

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.99552652 -0.09445409  0.002319  ]
 [ 0.0944704   0.99549224 -0.00839855]
 [-0.00151527  0.00858005  0.99996204]]

 t_estimated:
[[-0.47381664]
 [-0.88059398]
 [-0.00721264]]

 R_gt:
[[ 0.99604218  0.06523946  0.06036889]
 [-0.06449593  0.99781724 -0.01417613]
 [-0.06116181  0.01022588  0.9980757 ]]

 t_gt:
[-0.99040192  0.1328159   0.03826199]

Pose Error in degrees for R and t:
9.747326561322673 69.3880996343605

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.99753042 -0.02119115  0.06696264]
 [-0.02596268 -0.99712343  0.07120952]
 [ 0.06526101 -0.0727722  -0.99521114]]

 t_estimated:
[[0.09735563]
 [0.99519087]
 [0.01081729]]

 R_gt:
[[ 0.99109866 -0.10475513 -0.08215403]
 [ 0.11410768  0.98632724  0.11890714]
 [ 0.06857483 -0.12722264  0.98950014]]

 t_gt:
[ 0.72453698 -0.61672369  0.3077305 ]

Pose Error in degrees for R and t:
169.0585868797939 57.32376609952781

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[-8.88956194e-01  4.57818730e-01  1.26053649e-02]
 [ 4.57852466e-01  8.89028157e-01 -2.34574793e-04]
 [-1.13139171e-02  5.56287069e-03 -9.99920522e-01]]

 t_estimated:
[[0.93887472]
 [0.34425407]
 [0.00184093]]

 R_gt:
[[ 0.96935329 -0.21947314 -0.11038832]
 [ 0.23480185  0.95984553  0.15350571]
 [ 0.07226627 -0.17472031  0.98196255]]

 t_gt:
[ 0.77973346 -0.56367287  0.27255939]

Pose Error in degrees for R and t:
173.32890717170915 57.41656984244365

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-8.43277363e-01 -5.37472606e-01  2.54690499e-03]
 [-5.37474569e-01  8.43279952e-01 -1.03567673e-04]
 [-2.09208913e-03 -1.45623294e-03 -9.99996751e-01]]

 t_estimated:
[[0.99947704]
 [0.03224119]
 [0.00248009]]

 R_gt:
[[ 0.94628938 -0.28662943 -0.14959559]
 [ 0.30868009  0.93857188  0.15427211]
 [ 0.09618716 -0.19216321  0.97663767]]

 t_gt:
[ 0.81452801 -0.54302228  0.20413455]

Pose Error in degrees for R and t:
176.07569478608184 37.145881501261044

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.95072574e-01 -9.91492306e-02  5.78516199e-05]
 [ 9.91491173e-02  9.95072044e-01  1.03951817e-03]
 [-1.60633957e-04 -1.02866009e-03  9.99999458e-01]]

 t_estimated:
[[0.95534179]
 [0.29549335]
 [0.00239575]]

 R_gt:
[[ 0.99300266 -0.11767632 -0.00988054]
 [ 0.11797384  0.99226124  0.03873401]
 [ 0.00524627 -0.03962862  0.99920095]]

 t_gt:
[ 0.61511336 -0.75323315  0.23297077]

Pose Error in degrees for R and t:
2.4807272028137497 68.55387179377294

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99999972e-01  2.32490714e-04  4.68770112e-05]
 [-2.32497462e-04  9.99999963e-01  1.43989618e-04]
 [-4.68435332e-05 -1.44000513e-04  9.99999989e-01]]

 t_estimated:
[[9.99997413e-01]
 [2.27410910e-03]
 [4.78557713e-05]]

 R_gt:
[[ 0.9755193  -0.21945332 -0.01423076]
 [ 0.21977963  0.97513965  0.02827522]
 [ 0.00767194 -0.03071042  0.9994993 ]]

 t_gt:
[ 0.67729852 -0.72705732  0.11249162]

Pose Error in degrees for R and t:
12.830375540358817 47.495450594482776

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 2.83709418e-01 -9.58904119e-01 -3.44351822e-03]
 [ 9.58909988e-01  2.83710399e-01  2.10354643e-04]
 [ 7.75251994e-04 -3.36170361e-03  9.99994049e-01]]

 t_estimated:
[[0.99790858]
 [0.0646236 ]
 [0.00150287]]

 R_gt:
[[ 0.95381366 -0.29719235 -0.04377267]
 [ 0.2992897   0.95265786  0.05356749]
 [ 0.02577997 -0.0641932   0.99760493]]

 t_gt:
[ 0.70298517 -0.70130963  0.11822289]

Pose Error in degrees for R and t:
56.25992152258962 48.976277044285816

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-9.93232148e-01 -1.16143473e-01  7.70184255e-04]
 [-1.16093681e-01  9.92961744e-01  2.34357101e-02]
 [-3.48666827e-03  2.31876872e-02 -9.99725049e-01]]

 t_estimated:
[[0.99473215]
 [0.10250167]
 [0.00116479]]

 R_gt:
[[ 0.99739342  0.05337387 -0.04854551]
 [-0.0489786   0.99494815  0.087622  ]
 [ 0.05297752 -0.08501612  0.99496954]]

 t_gt:
[-0.7236294   0.36210904  0.58756918]

Pose Error in degrees for R and t:
177.46747431512276 46.998598556321205

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99630565e-01  2.71782265e-02 -2.77581569e-04]
 [-2.71781790e-02  9.99630590e-01  1.73227114e-04]
 [ 2.82187033e-04 -1.65618956e-04  9.99999946e-01]]

 t_estimated:
[[0.43262344]
 [0.90157404]
 [0.00110082]]

 R_gt:
[[ 9.83455344e-01 -5.32276608e-04 -1.81144761e-01]
 [ 4.17051343e-02  9.73797572e-01  2.23558062e-01]
 [ 1.76279931e-01 -2.27414478e-01  9.57709845e-01]]

 t_gt:
[ 0.48387061 -0.67820473  0.55308913]

Pose Error in degrees for R and t:
16.935345562622576 66.32744305818986

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.80891476e-01 -1.94516128e-01  3.92286850e-03]
 [ 1.94554316e-01  9.80760691e-01 -1.60338811e-02]
 [-7.28546762e-04  1.64907083e-02  9.99863754e-01]]

 t_estimated:
[[0.99829713]
 [0.05830716]
 [0.00176689]]

 R_gt:
[[ 0.97029109 -0.0980544  -0.22117965]
 [ 0.15849206  0.94832778  0.27487057]
 [ 0.18279937 -0.30176     0.93569535]]

 t_gt:
[ 0.65375565 -0.59707332  0.46487309]

Pose Error in degrees for R and t:
21.803606399287702 51.782374349012095

Number of keypoints:
Image1: 341
Image2: 341

 R_estimated:
[[-0.58240177  0.80959387  0.07325265]
 [ 0.80886016  0.58612289 -0.04695951]
 [-0.08095319  0.03190185 -0.99620723]]

 t_estimated:
[[ 0.83567755]
 [-0.54668275]
 [ 0.05273521]]

 R_gt:
[[ 0.99899349 -0.03881429 -0.0225076 ]
 [ 0.03911083  0.99915226  0.01288915]
 [ 0.02198786 -0.01375659  0.9996632 ]]

 t_gt:
[ 0.47619205 -0.84969571 -0.22640303]

Pose Error in degrees for R and t:
176.52502995635808 31.731990598206508

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.95515760e-01 -9.45958159e-02 -5.34699198e-05]
 [ 9.45958147e-02  9.95515761e-01 -2.49647200e-05]
 [ 5.55917060e-05  1.97947415e-05  9.99999998e-01]]

 t_estimated:
[[ 5.87615890e-01]
 [-8.09139886e-01]
 [-4.59593794e-04]]

 R_gt:
[[ 0.99813441 -0.03683085 -0.0486998 ]
 [ 0.03851675  0.99867416  0.0341503 ]
 [ 0.04737765 -0.03596318  0.99822922]]

 t_gt:
[ 0.40930537 -0.85142251 -0.32794637]

Pose Error in degrees for R and t:
4.720901815742854 21.629788004392903

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-4.18528015e-01 -9.08203701e-01 -5.80861791e-04]
 [-9.08203752e-01  4.18528216e-01 -2.78178507e-04]
 [ 4.95749799e-04  4.11115359e-04 -9.99999793e-01]]

 t_estimated:
[[0.85981407]
 [0.51060631]
 [0.00097817]]

 R_gt:
[[ 0.99508067 -0.09402547 -0.03121422]
 [ 0.09455076  0.99539565  0.01578499]
 [ 0.02958612 -0.01865956  0.99938753]]

 t_gt:
[ 0.56419047 -0.81684069 -0.12025143]

Pose Error in degrees for R and t:
179.02704286550062 86.10677767929153

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-4.77638235e-01 -8.78555236e-01 -1.55374566e-03]
 [ 8.78556373e-01 -4.77638658e-01 -1.09729723e-04]
 [-6.45725371e-04 -1.41746426e-03  9.99998787e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075938e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99765842  0.05748034  0.03706716]
 [-0.05899936  0.99740432  0.04128036]
 [-0.03459879 -0.04337056  0.99846009]]

 t_gt:
[-0.40124592  0.56704496  0.71934813]

Pose Error in degrees for R and t:
121.8964684389238 66.48882216313972

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-9.95835808e-01  9.11483130e-02 -1.74001532e-03]
 [ 9.11466067e-02  9.95836946e-01  1.03608436e-03]
 [ 1.82720888e-03  8.73173413e-04 -9.99997949e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99438727  0.05307691  0.09152383]
 [-0.06814152  0.98304188  0.17025249]
 [-0.08093575 -0.1755342   0.98114108]]

 t_gt:
[-0.21059207  0.2401073   0.94762834]

Pose Error in degrees for R and t:
175.59537594578796 77.92968833864123

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-7.64889848e-01 -6.44159460e-01 -1.45305913e-03]
 [ 6.44161049e-01 -7.64888728e-01 -1.33303387e-03]
 [-2.52742175e-04 -1.95562816e-03  9.99998056e-01]]

 t_estimated:
[[0.65398212]
 [0.75650945]
 [0.00091336]]

 R_gt:
[[ 0.99214304  0.01699753  0.12394646]
 [-0.05087201  0.95993328  0.27557463]
 [-0.11429665 -0.27971523  0.95325475]]

 t_gt:
[-0.09299677  0.1113324   0.98942241]

Pose Error in degrees for R and t:
142.35215930207625 88.60703192174567

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.13381636 -0.99100481 -0.00162609]
 [-0.99100008 -0.1338211   0.0032789 ]
 [-0.00346701  0.00117269 -0.9999933 ]]

 t_estimated:
[[0.5885925 ]
 [0.80842698]
 [0.00216559]]

 R_gt:
[[ 0.99738294 -0.01153737  0.07136783]
 [ 0.0025798   0.99223533  0.12434836]
 [-0.07224861 -0.12383795  0.98966831]]

 t_gt:
[-0.05034368 -0.09921544  0.99379163]

Pose Error in degrees for R and t:
171.83041410310648 83.81793206647528

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 1.87434955e-01 -9.82276959e-01  3.35856765e-04]
 [-9.82277014e-01 -1.87434916e-01  1.43645769e-04]
 [-7.81486448e-05 -3.56828618e-04 -9.99999933e-01]]

 t_estimated:
[[0.14987155]
 [0.98870484]
 [0.00111844]]

 R_gt:
[[ 0.99532045 -0.05268647  0.08100407]
 [ 0.03348103  0.97438895  0.2223651 ]
 [-0.09064487 -0.21861173  0.97159219]]

 t_gt:
[ 0.06326314 -0.19888156  0.9779795 ]

Pose Error in degrees for R and t:
166.98973465651807 79.27706104941363

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.54341179e-01  2.98680093e-01 -4.80787599e-03]
 [-2.98718759e-01  9.54210530e-01 -1.57913457e-02]
 [-1.28834718e-04  1.65065343e-02  9.99863750e-01]]

 t_estimated:
[[7.92441109e-01]
 [6.09948028e-01]
 [7.01896465e-04]]

 R_gt:
[[ 0.99138976 -0.08692287  0.09792831]
 [ 0.05556947  0.95648929  0.2864264 ]
 [-0.11856442 -0.27851841  0.95308396]]

 t_gt:
[ 0.11161254 -0.21734187  0.96969333]

Pose Error in degrees for R and t:
28.379790231362406 87.51027326481052

Number of keypoints:
Image1: 304
Image2: 304

 R_estimated:
[[ 9.99986666e-01  5.16380375e-03  4.82863041e-05]
 [-5.16380106e-03  9.99986666e-01 -5.56051189e-05]
 [-4.85727941e-05  5.53550366e-05  9.99999997e-01]]

 t_estimated:
[[ 9.36825536e-01]
 [-3.49796956e-01]
 [ 6.59495238e-05]]

 R_gt:
[[ 0.99874227 -0.045557   -0.02097391]
 [ 0.04593857  0.99878124  0.01810071]
 [ 0.02012416 -0.0190407   0.99961604]]

 t_gt:
[ 0.53626824 -0.84068638 -0.07525148]

Pose Error in degrees for R and t:
3.3234260634687747 37.207160264275636

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.87445498e-01  1.57959985e-01  1.76837981e-04]
 [-1.57959911e-01  9.87445455e-01 -3.73763553e-04]
 [-2.33657546e-04  3.41137826e-04  9.99999915e-01]]

 t_estimated:
[[0.70748766]
 [0.70672528]
 [0.00076238]]

 R_gt:
[[ 0.99675665 -0.07228997 -0.03538173]
 [ 0.07343864  0.99677571  0.03232719]
 [ 0.0329308  -0.03482065  0.99885115]]

 t_gt:
[ 0.51381297 -0.85498853 -0.07064586]

Pose Error in degrees for R and t:
13.554068218452935 76.06744649725671

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-0.40847164  0.91199251  0.03769064]
 [ 0.91183437  0.40957463 -0.02840264]
 [-0.04134013  0.02276595 -0.99888573]]

 t_estimated:
[[ 0.80687401]
 [-0.59013559]
 [ 0.02634978]]

 R_gt:
[[ 0.99627122 -0.06955887 -0.05105239]
 [ 0.0716829   0.99658306  0.04102938]
 [ 0.04802362 -0.0445361   0.99785247]]

 t_gt:
[ 0.49712172 -0.85823481 -0.12768323]

Pose Error in degrees for R and t:
178.97022675256446 25.28088416694718

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.87944673e-01  1.54807251e-01  1.93112894e-04]
 [-1.54807210e-01  9.87944676e-01 -2.12670016e-04]
 [-2.23707716e-04  1.80210941e-04  9.99999959e-01]]

 t_estimated:
[[-5.43539740e-01]
 [ 8.39383306e-01]
 [ 4.64973187e-04]]

 R_gt:
[[ 0.99105041 -0.13256469 -0.01564203]
 [ 0.13234692  0.99110087 -0.01422374]
 [ 0.01738761  0.01202731  0.99977669]]

 t_gt:
[ 0.38352645 -0.89821035 -0.21476879]

Pose Error in degrees for R and t:
16.56231908465113 15.739597757222267

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999685e-01  6.51586060e-04  4.53094356e-04]
 [-6.50531582e-04  9.99997089e-01 -2.32354620e-03]
 [-4.54607027e-04  2.32325072e-03  9.99997198e-01]]

 t_estimated:
[[6.89777290e-01]
 [7.24021307e-01]
 [6.61384478e-04]]

 R_gt:
[[ 9.80170176e-01 -1.92215904e-01  4.81558973e-02]
 [ 1.92413399e-01  9.81313786e-01  5.41011159e-04]
 [-4.73608607e-02  8.73575453e-03  9.98839774e-01]]

 t_gt:
[ 0.17224609 -0.97073896  0.1673235 ]

Pose Error in degrees for R and t:
11.4596478605262 54.273723127576766

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 1.00000000e+00  4.05231404e-15 -1.19211281e-14]
 [-4.16333634e-15  1.00000000e+00  4.15520483e-14]
 [ 1.18996609e-14 -4.15684739e-14  1.00000000e+00]]

 t_estimated:
[[-0.85572394]
 [-0.51743183]
 [-0.00091044]]

 R_gt:
[[ 0.94666501 -0.32154543  0.02081948]
 [ 0.32113449  0.94680404  0.02082413]
 [-0.02640799 -0.01302694  0.99956624]]

 t_gt:
[ 0.39915966 -0.90806772  0.12682501]

Pose Error in degrees for R and t:
18.823385688718584 82.63572741132488

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.44320390e-01  3.29023620e-01  1.56804630e-03]
 [-3.29023683e-01  9.44321643e-01 -2.25397225e-04]
 [-1.55490107e-03 -3.03077172e-04  9.99998745e-01]]

 t_estimated:
[[-0.73781652]
 [ 0.67499393]
 [ 0.00315885]]

 R_gt:
[[ 0.99541134 -0.08332473  0.04704896]
 [ 0.08279815  0.99648045  0.01304715]
 [-0.04797084 -0.00909163  0.99880707]]

 t_gt:
[ 0.03457353 -0.90667259  0.42041585]

Pose Error in degrees for R and t:
24.12716752061349 50.49248761063538

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999986e-01 -1.36388477e-04  1.00090936e-04]
 [ 1.36390217e-04  9.99999991e-01 -1.73742304e-05]
 [-1.00088566e-04  1.73878816e-05  9.99999995e-01]]

 t_estimated:
[[0.68240719]
 [0.73097174]
 [0.00086138]]

 R_gt:
[[ 0.97443991 -0.22408593  0.01586838]
 [ 0.22303159  0.97347217  0.05105922]
 [-0.02688905 -0.04621552  0.99856892]]

 t_gt:
[ 0.38692429 -0.88697543  0.25211938]

Pose Error in degrees for R and t:
13.276718019085871 67.41231444381182

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.578235   -0.81586925  0.0012835 ]
 [ 0.81586327 -0.57822281  0.00505033]
 [-0.00337826  0.00396744  0.99998642]]

 t_estimated:
[[9.80224790e-01]
 [1.97885756e-01]
 [7.66999053e-04]]

 R_gt:
[[ 0.93146384 -0.36364362 -0.01179261]
 [ 0.36366454  0.92955137  0.06066348]
 [-0.01109854 -0.06079475  0.99808841]]

 t_gt:
[ 0.53142612 -0.82763289  0.1805826 ]

Pose Error in degrees for R and t:
104.02068096914864 69.0668284344153

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 3.99452918e-01  9.16753630e-01  3.83951666e-04]
 [-9.16749819e-01  3.99452408e-01 -2.74642259e-03]
 [-2.67116330e-03  7.45078900e-04  9.99996155e-01]]

 t_estimated:
[[0.19179178]
 [0.9814345 ]
 [0.00149837]]

 R_gt:
[[ 0.99678559  0.04667123  0.06512866]
 [-0.0427229   0.99723754 -0.06075179]
 [-0.06778365  0.0577744   0.99602563]]

 t_gt:
[-0.7850731   0.61096688  0.10188081]

Pose Error in degrees for R and t:
64.05845617728 63.3072428124359

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-9.99983557e-01 -7.82200800e-05 -5.73409848e-03]
 [ 6.26743739e-05 -9.99996323e-01  2.71122812e-03]
 [-5.73428947e-03  2.71082416e-03  9.99979884e-01]]

 t_estimated:
[[0.92605737]
 [0.37737459]
 [0.00248273]]

 R_gt:
[[ 0.99053263  0.11543176  0.07431029]
 [-0.1141052   0.99322763 -0.02187971]
 [-0.07633272  0.01319367  0.99699506]]

 t_gt:
[-0.73880942  0.58675573  0.33147904]

Pose Error in degrees for R and t:
173.41195058719407 62.48826733407022

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.75027441 -0.66110771 -0.00499044]
 [ 0.66110629  0.75028914 -0.00216425]
 [ 0.00517508 -0.00167543  0.99998521]]

 t_estimated:
[[-0.03412605]
 [-0.99940565]
 [-0.00487515]]

 R_gt:
[[ 0.99470871  0.07766176 -0.06726527]
 [-0.06910812  0.99020845  0.12129116]
 [ 0.07602669 -0.11600022  0.99033472]]

 t_gt:
[-0.78695504  0.22368206  0.57503748]

Pose Error in degrees for R and t:
46.243199157872795 78.4924627503509

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[-4.37841457e-01 -8.99050327e-01 -1.83512078e-03]
 [ 8.99051888e-01 -4.37842094e-01 -6.03014389e-05]
 [-7.49279096e-04 -1.67627127e-03  9.99998314e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99595882 -0.08511295 -0.02867446]
 [ 0.08495651  0.99636271 -0.0065963 ]
 [ 0.02913158  0.0041329   0.99956685]]

 t_gt:
[ 0.53448053 -0.81211443 -0.23409551]

Pose Error in degrees for R and t:
111.09500763538688 57.8316456948656

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.12560509e-01  4.08940692e-01  9.09360026e-04]
 [-4.08940695e-01  9.12560941e-01 -1.92111164e-04]
 [-9.08408513e-04 -1.96561259e-04  9.99999568e-01]]

 t_estimated:
[[0.4321757 ]
 [0.90178826]
 [0.00144774]]

 R_gt:
[[ 0.97009447 -0.24183194 -0.02083922]
 [ 0.24223397  0.97002083  0.01956753]
 [ 0.01548212 -0.02403051  0.99959117]]

 t_gt:
[ 0.6549944  -0.75464489  0.03864485]

Pose Error in degrees for R and t:
38.18314927373688 66.58417902941802

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-8.48794589e-01 -5.28704735e-01 -4.36446958e-03]
 [-5.28722747e-01  8.48764965e-01  7.09166678e-03]
 [-4.49889380e-05  8.32696273e-03 -9.99965329e-01]]

 t_estimated:
[[ 0.99998594]
 [ 0.00465195]
 [-0.00254386]]

 R_gt:
[[ 0.91742551 -0.39619536 -0.03687201]
 [ 0.39654338  0.91801311  0.00236761]
 [ 0.03291079 -0.01679429  0.99931732]]

 t_gt:
[ 0.75164211 -0.65956584 -0.00265318]

Pose Error in degrees for R and t:
178.15740180728747 41.533338946079716

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.75803116e-01 -2.18651016e-01  1.10676842e-04]
 [ 2.18651002e-01  9.75803117e-01  1.24735516e-04]
 [-1.35272354e-04 -9.75177025e-05  9.99999986e-01]]

 t_estimated:
[[-8.05379398e-01]
 [-5.92759237e-01]
 [-7.15892798e-04]]

 R_gt:
[[ 0.99803642  0.05119054 -0.03610769]
 [-0.04959034  0.9978043   0.04389956]
 [ 0.03827563 -0.04202172  0.99838353]]

 t_gt:
[-0.14730283  0.95349325 -0.26296863]

Pose Error in degrees for R and t:
15.856748839399241 63.48903920918252

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 7.89577046e-01 -6.13627969e-01  5.36688855e-03]
 [ 6.13651434e-01  7.89547930e-01 -6.78109979e-03]
 [-7.63432537e-05  8.64759960e-03  9.99962606e-01]]

 t_estimated:
[[0.7508691 ]
 [0.66045032]
 [0.00098281]]

 R_gt:
[[ 0.98667865  0.10977958 -0.12005677]
 [-0.10793079  0.99391941  0.02181647]
 [ 0.12172176 -0.00856782  0.99252732]]

 t_gt:
[ 0.02224357  0.63147308 -0.77507869]

Pose Error in degrees for R and t:
44.69080578064615 64.34210171060543

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 0.98724561 -0.15918226  0.00266574]
 [-0.15913949 -0.9871824  -0.01206397]
 [ 0.00455195  0.01148588 -0.99992367]]

 t_estimated:
[[0.75062404]
 [0.66072895]
 [0.00089895]]

 R_gt:
[[ 0.98668986  0.06731779 -0.14803094]
 [-0.06352466  0.99752318  0.0302093 ]
 [ 0.1496975  -0.02040325  0.98852083]]

 t_gt:
[ 0.35116275  0.19221964 -0.91637129]

Pose Error in degrees for R and t:
179.88496792229762 67.0596552051362

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 6.63320196e-01 -7.48332843e-01 -2.06745158e-03]
 [ 7.48333791e-01  6.63322212e-01 -4.25354873e-04]
 [ 1.68969358e-03 -1.26499740e-03  9.99997772e-01]]

 t_estimated:
[[8.85586633e-01]
 [4.64473653e-01]
 [7.34926667e-04]]

 R_gt:
[[ 0.99657866 -0.02138462 -0.07983802]
 [ 0.02391203  0.99923928  0.03083636]
 [ 0.07911776 -0.03264017  0.99633067]]

 t_gt:
[ 0.68884471 -0.71841467 -0.09681592]

Pose Error in degrees for R and t:
47.37396646976252 73.9619403180267

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99970054e-01  7.73800578e-03 -1.15720994e-04]
 [-7.73801198e-03  9.99970060e-01 -5.31768891e-05]
 [ 1.15306046e-04  5.40707472e-05  9.99999992e-01]]

 t_estimated:
[[-5.43010866e-01]
 [ 8.39725477e-01]
 [-5.68845957e-04]]

 R_gt:
[[ 0.98780035  0.08325657 -0.13159805]
 [-0.06536164  0.98870322  0.13488835]
 [ 0.14134165 -0.1246407   0.98208275]]

 t_gt:
[-0.1329419  -0.38403772  0.9136966 ]

Pose Error in degrees for R and t:
11.522201802341865 75.4741299317106

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.88153080e-01 -1.53471457e-01  4.49348241e-05]
 [ 1.53471455e-01  9.88153081e-01  2.65222961e-05]
 [-4.84729003e-05 -1.93118758e-05  9.99999999e-01]]

 t_estimated:
[[6.92998166e-02]
 [9.97595816e-01]
 [3.51451535e-04]]

 R_gt:
[[ 0.98013493  0.10868379 -0.16590434]
 [-0.07524749  0.97772181  0.19595714]
 [ 0.18350558 -0.17958007  0.96647647]]

 t_gt:
[0.16056359 0.01878378 0.98684675]

Pose Error in degrees for R and t:
20.536095342591956 88.26868926748752

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999982e-01 -1.70832019e-04 -8.70508723e-05]
 [ 1.70864075e-04  9.99999918e-01  3.68374996e-04]
 [ 8.69879349e-05 -3.68389863e-04  9.99999928e-01]]

 t_estimated:
[[0.63644049]
 [0.77132494]
 [0.00115997]]

 R_gt:
[[ 0.99745328  0.02651246 -0.0662027 ]
 [-0.02785275  0.99942364 -0.01940004]
 [ 0.06565044  0.0211946   0.99761803]]

 t_gt:
[ 0.29616912  0.46354058 -0.83511316]

Pose Error in degrees for R and t:
4.257089795044658 56.97084516837625

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-7.20644850e-02  9.97399957e-01 -1.91426976e-04]
 [ 9.97396338e-01  7.20647392e-02  2.68676122e-03]
 [ 2.69357066e-03  2.69149887e-06 -9.99996372e-01]]

 t_estimated:
[[-0.36817411]
 [-0.92975613]
 [-0.00116511]]

 R_gt:
[[ 0.99196569  0.01277318 -0.12585968]
 [-0.01583551  0.99960231 -0.02336202]
 [ 0.12551185  0.02516763  0.99177342]]

 t_gt:
[ 0.53808762  0.25837386 -0.80231207]

Pose Error in degrees for R and t:
175.5511964790571 64.06190278199406

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999783e-01 -4.30794647e-04 -4.99319386e-04]
 [ 4.30796261e-04  9.99999907e-01  3.12573980e-06]
 [ 4.99317993e-04 -3.34084405e-06  9.99999875e-01]]

 t_estimated:
[[-0.83748326]
 [-0.54646039]
 [-0.00168411]]

 R_gt:
[[ 0.98328599  0.01731646 -0.18123753]
 [-0.01859607  0.99981342 -0.00536042]
 [ 0.18111125  0.00864043  0.98342498]]

 t_gt:
[ 0.59542357  0.21723665 -0.77348498]

Pose Error in degrees for R and t:
10.471736480852979 51.97059119838907

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.16187644  0.98679646 -0.00536309]
 [-0.98680102  0.16184791 -0.00538577]
 [-0.00444665  0.00616413  0.99997111]]

 t_estimated:
[[0.57593054]
 [0.81749731]
 [0.00147297]]

 R_gt:
[[ 0.99752537  0.00394628 -0.07021095]
 [-0.00217775  0.99967924  0.02523729]
 [ 0.07028793 -0.02502053  0.99721228]]

 t_gt:
[ 0.7167641   0.19207485 -0.67034057]

Pose Error in degrees for R and t:
80.61102178118769 55.330651713053726

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99999985e-01 -1.66146733e-04  5.05790020e-05]
 [ 1.66142853e-04  9.99999983e-01  7.67155074e-05]
 [-5.05917472e-05 -7.67071029e-05  9.99999996e-01]]

 t_estimated:
[[6.14168964e-01]
 [7.89174227e-01]
 [7.23330556e-04]]

 R_gt:
[[ 0.99161265  0.00931817 -0.12891419]
 [-0.00834608  0.99993293  0.00807564]
 [ 0.1289809  -0.00693165  0.99162251]]

 t_gt:
[ 0.62340931  0.22438233 -0.74900828]

Pose Error in degrees for R and t:
7.4419416665660485 55.98474467760005

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.99217722 -0.12479888 -0.00309966]
 [ 0.12481341  0.9921674   0.00504652]
 [ 0.00244558 -0.00539392  0.99998246]]

 t_estimated:
[[0.71908574]
 [0.69491479]
 [0.00302137]]

 R_gt:
[[ 0.98267183 -0.00705268 -0.18522328]
 [ 0.00788104  0.99996185  0.00374009]
 [ 0.18518909 -0.00513474  0.98268859]]

 t_gt:
[ 0.69970403  0.12324705 -0.70372184]

Pose Error in degrees for R and t:
12.48266062164257 54.07914334889656

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-8.65752602e-01 -5.00469726e-01 -1.57668857e-03]
 [-5.00471797e-01  8.65751638e-01  1.44286858e-03]
 [ 6.42908667e-04  2.03825539e-03 -9.99997716e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800537e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.9949681   0.07058402 -0.07111441]
 [-0.06541321  0.99521414  0.07259846]
 [ 0.07589867 -0.06758174  0.99482295]]

 t_gt:
[-0.58207479  0.20672537  0.78641818]

Pose Error in degrees for R and t:
176.89738895095363 63.865081758759636

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.61381860e-01 -2.75217859e-01 -2.21954394e-04]
 [ 2.75217919e-01  9.61381819e-01  3.10179955e-04]
 [ 1.28015856e-04 -3.59287208e-04  9.99999927e-01]]

 t_estimated:
[[-5.39229440e-01]
 [ 8.42158753e-01]
 [-4.95284679e-04]]

 R_gt:
[[ 0.98401813  0.13322445 -0.11814963]
 [-0.11003315  0.97660009  0.18478246]
 [ 0.14000229 -0.16882859  0.97565203]]

 t_gt:
[-0.23433399  0.22001479  0.94693245]

Pose Error in degrees for R and t:
26.248542301279375 71.86975326238229

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-9.63711898e-01  2.66940348e-01 -1.49257437e-03]
 [-2.66939412e-01 -9.63712983e-01 -7.98127956e-04]
 [-1.65146585e-03 -3.70738482e-04  9.99998568e-01]]

 t_estimated:
[[0.65244448]
 [0.75783602]
 [0.00087668]]

 R_gt:
[[ 0.96948834  0.20292869 -0.1375226 ]
 [-0.17270954  0.96355701  0.2042777 ]
 [ 0.17396493 -0.17429353  0.96920526]]

 t_gt:
[-0.3846694   0.73636896  0.556588  ]

Pose Error in degrees for R and t:
153.74081084359096 72.0877877162237

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 3.09711173e-01  9.50829726e-01  1.34940711e-03]
 [-9.50830238e-01  3.09712090e-01 -5.28850300e-04]
 [-9.20774283e-04 -1.11926624e-03  9.99998950e-01]]

 t_estimated:
[[0.22246208]
 [0.97494072]
 [0.00110424]]

 R_gt:
[[ 9.92699054e-01  9.44031151e-02 -7.50756191e-02]
 [-9.42006257e-02  9.95533143e-01  6.23729026e-03]
 [ 7.53292094e-02  8.81243577e-04  9.97158252e-01]]

 t_gt:
[-0.16322804  0.76753402 -0.61987752]

Pose Error in degrees for R and t:
66.66880540385505 44.6589191220656

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-5.78384180e-01 -8.15762416e-01 -1.84944004e-03]
 [ 8.15764473e-01 -5.78381953e-01 -1.62535189e-03]
 [ 2.56218242e-04 -2.44878530e-03  9.99996969e-01]]

 t_estimated:
[[9.43329199e-01]
 [3.31857620e-01]
 [7.35826209e-04]]

 R_gt:
[[ 0.98779405  0.0804799  -0.13336507]
 [-0.0804687   0.99674195  0.00548411]
 [ 0.13337177  0.00531549  0.99105198]]

 t_gt:
[ 0.15757218  0.43098946 -0.8884926 ]

Pose Error in degrees for R and t:
130.08363058413866 73.08121966812682

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.24384845  0.96981182  0.00172304]
 [ 0.96981222 -0.24385049  0.00108957]
 [ 0.00147685  0.00140534 -0.99999792]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99021076  0.02839408 -0.13666713]
 [-0.0238475   0.99910915  0.03479532]
 [ 0.13753364 -0.03119564  0.99000582]]

 t_gt:
[ 0.4818204  -0.13268294 -0.86616646]

Pose Error in degrees for R and t:
173.66945956765883 86.53138420500791

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.71945184e-01  8.81627714e-01  5.63526684e-04]
 [-8.81627297e-01  4.71945512e-01 -8.61714712e-04]
 [-1.02566546e-03 -9.01383988e-05  9.99999470e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.98939757  0.14448069 -0.01475814]
 [-0.14513766  0.98731437 -0.06438141]
 [ 0.00526893  0.06583978  0.99781603]]

 t_gt:
[-0.33842904  0.90808777 -0.24666251]

Pose Error in degrees for R and t:
53.62672302384816 25.033620264086885

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.79152188e-01  2.03128017e-01 -2.73325038e-05]
 [-2.03128018e-01  9.79152159e-01 -2.42272163e-04]
 [-2.24495841e-05  2.42773316e-04  9.99999970e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9785782   0.20574053  0.00737536]
 [-0.20526296  0.97780757 -0.04193774]
 [-0.01583978  0.0395246   0.99909258]]

 t_gt:
[-0.3694296   0.92901466 -0.02129647]

Pose Error in degrees for R and t:
2.432277066239911 68.49616077508922

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-3.97702035e-01 -9.17513559e-01 -1.39987121e-03]
 [ 9.17514420e-01 -3.97702509e-01  6.62245961e-05]
 [-6.17494255e-04 -1.25806436e-03  9.99999018e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9758384   0.21075746  0.05762281]
 [-0.2153478   0.97232656  0.09058696]
 [-0.03693612 -0.10080791  0.99422001]]

 t_gt:
[-0.38873467  0.8288674   0.4023235 ]

Pose Error in degrees for R and t:
125.85433648939882 67.30343791406604

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-3.35100003e-02  9.99438357e-01 -2.24562258e-04]
 [-9.99435084e-01 -3.35104661e-02 -2.56154576e-03]
 [-2.56763228e-03  1.38598000e-04  9.99996694e-01]]

 t_estimated:
[[0.42999751]
 [0.90282891]
 [0.00144928]]

 R_gt:
[[ 9.98101954e-01  4.48143231e-03  6.14213810e-02]
 [ 8.47845491e-04  9.96254266e-01 -8.64730044e-02]
 [-6.15792950e-02  8.63612658e-02  9.94359375e-01]]

 t_gt:
[-0.42775918  0.58206572 -0.69153567]

Pose Error in degrees for R and t:
91.96178715390037 70.08850739622768

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 0.2533039  -0.96738476  0.00196594]
 [-0.96737854 -0.25329285  0.00463655]
 [-0.00398737 -0.00307626 -0.99998732]]

 t_estimated:
[[0.45767751]
 [0.88910915]
 [0.00402739]]

 R_gt:
[[ 0.99283123  0.05417639  0.10654987]
 [-0.03701355  0.9869177  -0.15691886]
 [-0.11365785  0.15184968  0.98184751]]

 t_gt:
[-0.66107905  0.66989639 -0.3379546 ]

Pose Error in degrees for R and t:
177.1129618879981 73.04090387464049

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 0.15795879 -0.9874439   0.00188673]
 [-0.98744434 -0.1579551   0.00196732]
 [-0.0016446  -0.0021738  -0.99999628]]

 t_estimated:
[[0.46889997]
 [0.88324735]
 [0.00263539]]

 R_gt:
[[ 0.98406031  0.11098456  0.13895778]
 [-0.08685363  0.98177105 -0.16906218]
 [-0.15518815  0.1542978   0.97576046]]

 t_gt:
[-0.7334404   0.67966488 -0.01099228]

Pose Error in degrees for R and t:
178.56198401829897 75.14504003576285

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[-0.89985987  0.43521104  0.02904405]
 [ 0.4352636   0.90029016 -0.00481934]
 [-0.02824551  0.00830509 -0.99956651]]

 t_estimated:
[[ 0.97693888]
 [-0.21301763]
 [ 0.01462574]]

 R_gt:
[[ 0.99653473 -0.08298034  0.00591718]
 [ 0.08315522  0.9956658  -0.04165089]
 [-0.00243511  0.04199884  0.99911442]]

 t_gt:
[ 0.48254315 -0.81611279 -0.31798116]

Pose Error in degrees for R and t:
177.54487026719505 50.16261423482176

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.74364321e-01  2.24975594e-01  3.91104575e-04]
 [-2.24975544e-01  9.74364396e-01 -1.68049659e-04]
 [-4.18885445e-04  7.57526276e-05  9.99999909e-01]]

 t_estimated:
[[0.77704977]
 [0.62943836]
 [0.00099988]]

 R_gt:
[[ 0.97856677 -0.20455292 -0.02379285]
 [ 0.20376998  0.97850675 -0.0316718 ]
 [ 0.02976015  0.02614466  0.9992144 ]]

 t_gt:
[ 0.62278798 -0.76158093 -0.17924736]

Pose Error in degrees for R and t:
24.889668151545887 89.74848358056524

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.29298302 -0.89444266  0.33783617]
 [-0.88571112 -0.38698153 -0.2564393 ]
 [ 0.36010661 -0.22409289 -0.90559682]]

 t_estimated:
[[8.12786849e-01]
 [5.82560840e-01]
 [6.35983450e-04]]

 R_gt:
[[ 0.9250929  -0.37956859 -0.01153474]
 [ 0.3794846   0.92515552 -0.00879778]
 [ 0.01401165  0.00376132  0.99989447]]

 t_gt:
[ 0.72729068 -0.68606861 -0.01892419]

Pose Error in degrees for R and t:
173.34703652884923 78.96295941904218

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.72353946e-01  2.33510818e-01 -7.07995235e-04]
 [-2.33510847e-01  9.72354196e-01  4.24661064e-05]
 [ 6.98338432e-04  1.24032481e-04  9.99999748e-01]]

 t_estimated:
[[-0.82345088]
 [-0.56738596]
 [-0.00134771]]

 R_gt:
[[ 0.97565273 -0.21864054  0.01726023]
 [ 0.21852188  0.97579537  0.00854576]
 [-0.01871071 -0.00456614  0.99981365]]

 t_gt:
[ 0.85623635 -0.51212676  0.06771625]

Pose Error in degrees for R and t:
26.15535417845412 65.50673278399557

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.97838884e-01 -6.57081018e-02 -8.73517936e-05]
 [ 6.57080295e-02  9.97838670e-01 -6.65347973e-04]
 [ 1.30881750e-04  6.58170365e-04  9.99999775e-01]]

 t_estimated:
[[-0.3129425 ]
 [-0.94976955]
 [-0.00218841]]

 R_gt:
[[ 0.92283994 -0.38479977  0.01716349]
 [ 0.38477831  0.92299737  0.00471927]
 [-0.01765691  0.00224847  0.99984079]]

 t_gt:
[ 0.89604509 -0.44364014  0.01693011]

Pose Error in degrees for R and t:
18.892931953641295 81.89959342057386

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.32373071e-01 -3.61496938e-01  6.48133553e-04]
 [ 3.61496917e-01  9.32373292e-01  1.53530469e-04]
 [-6.59803209e-04  9.11506065e-05  9.99999778e-01]]

 t_estimated:
[[0.94234055]
 [0.33465414]
 [0.00094803]]

 R_gt:
[[ 0.69010657 -0.72324989  0.02570614]
 [ 0.72281071  0.69058464  0.02525235]
 [-0.03601594  0.00115385  0.99935042]]

 t_gt:
[ 0.96603305 -0.25752558  0.02146464]

Pose Error in degrees for R and t:
25.213021479199167 34.49552147225012

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-9.19970669e-01  3.91977908e-01 -2.69977286e-03]
 [-3.91978644e-01 -9.19974276e-01 -2.72655641e-04]
 [-2.59059657e-03  8.07418112e-04  9.99996318e-01]]

 t_estimated:
[[0.63138109]
 [0.77547221]
 [0.00087328]]

 R_gt:
[[ 0.99100249 -0.13154278  0.02468937]
 [ 0.13224296  0.99078624 -0.0292462 ]
 [-0.02061518  0.03224816  0.99926691]]

 t_gt:
[ 0.70484802 -0.70934767 -0.00389185]

Pose Error in degrees for R and t:
164.50476693504106 83.96965929821484

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.63821822e-01  2.66547275e-01  2.13704241e-04]
 [-2.66547192e-01  9.63821805e-01 -3.50537670e-04]
 [-2.99407668e-04  2.80893590e-04  9.99999916e-01]]

 t_estimated:
[[6.69612106e-01]
 [7.42710717e-01]
 [6.47083890e-04]]

 R_gt:
[[ 0.9647087  -0.26261745  0.01922341]
 [ 0.2632058   0.9638682  -0.04099428]
 [-0.00776326  0.04460798  0.99897359]]

 t_gt:
[ 0.76682021 -0.63953815 -0.05456857]

Pose Error in degrees for R and t:
30.814834501922345 87.79672385114581

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.78208897e-01 -2.07622686e-01  4.18179907e-04]
 [ 2.07622733e-01  9.78208973e-01 -7.23643650e-05]
 [-3.94042854e-04  1.57611121e-04  9.99999910e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.92501705 -0.37554629  0.05751272]
 [ 0.37787966  0.92512145 -0.0368457 ]
 [-0.03936889  0.05581635  0.99766383]]

 t_gt:
[ 7.97089107e-01 -6.03861670e-01  1.97392691e-04]

Pose Error in degrees for R and t:
10.892773333585449 37.32464414835663

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 0.99998311 -0.00543473 -0.00206133]
 [ 0.00544312  0.99997684  0.00408573]
 [ 0.00203908 -0.00409688  0.99998953]]

 t_estimated:
[[0.72649241]
 [0.68717194]
 [0.0018724 ]]

 R_gt:
[[ 0.98563348 -0.16771444 -0.01998208]
 [ 0.16842525  0.98482349  0.04188475]
 [ 0.01265453 -0.04464732  0.99892199]]

 t_gt:
[ 0.52912034 -0.83337111  0.15976311]

Pose Error in degrees for R and t:
9.670815823856111 79.16576589564015

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99836245e-01 -1.80963568e-02  6.95936872e-05]
 [ 1.80963503e-02  9.99836243e-01  9.33867300e-05]
 [-7.12722504e-05 -9.21120458e-05  9.99999993e-01]]

 t_estimated:
[[8.04631637e-01]
 [5.93773850e-01]
 [7.37255623e-04]]

 R_gt:
[[ 0.96435384 -0.25961642 -0.05119706]
 [ 0.26179968  0.96421381  0.04184669]
 [ 0.03850117 -0.05375791  0.99781121]]

 t_gt:
[ 0.57354167 -0.81425923  0.08962061]

Pose Error in degrees for R and t:
14.590565298308658 88.74340312853312

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 7.64306536e-01  6.44853097e-01  5.43311503e-05]
 [-6.44853048e-01  7.64306439e-01  4.61289637e-04]
 [ 2.55938403e-04 -3.87602292e-04  9.99999892e-01]]

 t_estimated:
[[0.53528532]
 [0.84467042]
 [0.00122772]]

 R_gt:
[[ 0.9354891  -0.34845799 -0.05862167]
 [ 0.35203771  0.9333953   0.06958812]
 [ 0.0304687  -0.08573438  0.99585184]]

 t_gt:
[ 0.62761993 -0.76261025  0.15658493]

Pose Error in degrees for R and t:
60.90214466953748 72.0608757707778

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99459172e-01  3.28838820e-02  1.14290621e-04]
 [-3.28838813e-02  9.99459179e-01 -8.22383824e-06]
 [-1.14499242e-04  4.46107134e-06  9.99999993e-01]]

 t_estimated:
[[0.59617906]
 [0.80285103]
 [0.00086902]]

 R_gt:
[[ 0.99686656 -0.07909621 -0.00147648]
 [ 0.07909359  0.9968637  -0.00250433]
 [ 0.00166923  0.00238005  0.9999963 ]]

 t_gt:
[ 0.52879467 -0.84840886 -0.02405425]

Pose Error in degrees for R and t:
6.4230287009932905 68.53637122165705

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999206e-01  1.18951221e-03 -4.15381890e-04]
 [-1.18914995e-03  9.99998913e-01  8.71278269e-04]
 [ 4.16417834e-04 -8.70783626e-04  9.99999534e-01]]

 t_estimated:
[[-0.99991913]
 [-0.01236763]
 [-0.00296296]]

 R_gt:
[[ 0.98212963 -0.18269652  0.04521404]
 [ 0.18116559  0.9827947   0.03596966]
 [-0.05100821 -0.02713557  0.99832953]]

 t_gt:
[ 0.5302747  -0.8014798   0.27647581]

Pose Error in degrees for R and t:
11.062975269432455 58.59134252694167

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.2791152   0.9602222   0.0082478 ]
 [ 0.96022861 -0.27902971 -0.01017012]
 [-0.00746419  0.01075841 -0.99991427]]

 t_estimated:
[[7.69611230e-01]
 [6.38512406e-01]
 [6.79268517e-04]]

 R_gt:
[[ 0.95363559 -0.30041549  0.01817573]
 [ 0.29859764  0.95196568  0.06782495]
 [-0.03767884 -0.05925358  0.9975316 ]]

 t_gt:
[ 0.65291549 -0.7224628   0.22748377]

Pose Error in degrees for R and t:
178.7688903851401 87.63047877949137

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.98877230e-01  4.73737899e-02  6.39031145e-05]
 [-4.73737857e-02  9.98877230e-01 -6.43256685e-05]
 [-6.68787167e-05  6.12261131e-05  9.99999996e-01]]

 t_estimated:
[[ 1.14540474e-01]
 [-9.93418538e-01]
 [ 2.97788865e-04]]

 R_gt:
[[ 0.99972189 -0.01185521  0.0204053 ]
 [ 0.01379197  0.99513447 -0.09755803]
 [-0.01914846  0.09781258  0.99502065]]

 t_gt:
[ 0.19287084  0.23115529 -0.95360792]

Pose Error in degrees for R and t:
6.676437658307103 78.00499559168743

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.33914211 -0.94073435 -0.00122858]
 [ 0.94073427 -0.3391397  -0.00181842]
 [ 0.00129399 -0.00177247  0.99999759]]

 t_estimated:
[[ 9.96461372e-01]
 [-8.40519649e-02]
 [-2.30114233e-05]]

 R_gt:
[[ 0.9983617   0.05605568  0.01152047]
 [-0.05373547  0.98749638 -0.14820109]
 [-0.01968374  0.14733947  0.98888948]]

 t_gt:
[-0.14674418  0.48195579 -0.86381986]

Pose Error in degrees for R and t:
113.20094675113778 79.23890033768232

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.39354391 -0.91891592 -0.02677163]
 [-0.91904634  0.39395782 -0.01229016]
 [ 0.02184052  0.01976765 -0.99956602]]

 t_estimated:
[[ 0.87245021]
 [ 0.48845015]
 [-0.01571898]]

 R_gt:
[[ 0.99015737  0.13857373 -0.01966732]
 [-0.13985109  0.97395057 -0.17850044]
 [-0.00557967  0.17949413  0.98374347]]

 t_gt:
[-0.28171074  0.64550148 -0.70990626]

Pose Error in degrees for R and t:
172.29709989381053 85.37259404182933

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.91731432e-01  1.28330606e-01 -1.51891886e-04]
 [-1.28330478e-01  9.91731234e-01  6.69358325e-04]
 [ 2.36535087e-04 -6.44331332e-04  9.99999764e-01]]

 t_estimated:
[[-0.65178804]
 [-0.75840021]
 [-0.0012115 ]]

 R_gt:
[[ 0.99737243 -0.06625162  0.02932355]
 [ 0.06545688  0.99748276  0.02727043]
 [-0.03105653 -0.02528081  0.99919778]]

 t_gt:
[ 0.85127683 -0.22307998  0.47493482]

Pose Error in degrees for R and t:
11.38025542160202 67.2790377000965

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99567361e-01 -2.94122602e-02  9.78142167e-05]
 [ 2.94122605e-02  9.99567366e-01 -9.14018783e-07]
 [-9.77450155e-05  3.79056056e-06  9.99999995e-01]]

 t_estimated:
[[9.25510029e-01]
 [3.78722992e-01]
 [2.85718675e-04]]

 R_gt:
[[ 0.99143941 -0.12565353 -0.03548757]
 [ 0.1241264   0.99136125 -0.04237931]
 [ 0.04050687  0.03761141  0.99847077]]

 t_gt:
[ 0.96219049 -0.07886073 -0.26071143]

Pose Error in degrees for R and t:
6.343959305374168 30.61867255231773

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.93432830e-01  1.14416741e-01 -1.44472877e-04]
 [-1.14416756e-01  9.93432835e-01 -9.35149593e-05]
 [ 1.32824422e-04  1.09430948e-04  9.99999985e-01]]

 t_estimated:
[[-0.99959066]
 [-0.02858999]
 [-0.00105889]]

 R_gt:
[[ 0.99347554 -0.08004112 -0.08123718]
 [ 0.07175684  0.99237341 -0.10022291]
 [ 0.08864036  0.0937393   0.99164255]]

 t_gt:
[ 0.72522651 -0.01295052 -0.68838855]

Pose Error in degrees for R and t:
13.204116222349079 43.628356882736625

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.05176824e-01  4.25035188e-01  8.02019885e-05]
 [-4.25035087e-01  9.05176711e-01 -5.44290654e-04]
 [-3.03939652e-04  4.58590626e-04  9.99999849e-01]]

 t_estimated:
[[-4.86428311e-01]
 [ 8.73720492e-01]
 [-8.66372255e-06]]

 R_gt:
[[ 0.99919356  0.00552017  0.03977894]
 [-0.00751243  0.99871635  0.05010397]
 [-0.03945065 -0.05036216  0.99795077]]

 t_gt:
[-0.15293692  0.00963597  0.98818897]

Pose Error in degrees for R and t:
25.047354516446983 85.25027461970748

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 7.82837239e-01  6.22226532e-01 -1.58159125e-05]
 [-6.22226244e-01  7.82836852e-01 -9.81813741e-04]
 [-5.98529280e-04  7.78441434e-04  9.99999518e-01]]

 t_estimated:
[[-2.71361497e-01]
 [ 9.62477500e-01]
 [ 1.67724589e-05]]

 R_gt:
[[ 0.99890024 -0.02219627  0.04130799]
 [ 0.01989379  0.99827024  0.05534035]
 [-0.0424646  -0.05445727  0.99761281]]

 t_gt:
[ 0.17724946 -0.07686736  0.98115954]

Pose Error in degrees for R and t:
39.87857783909361 82.9886863633082

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.49969561  0.86613274  0.01088016]
 [ 0.86616492 -0.49952056 -0.01541248]
 [-0.00791439  0.01712556 -0.99982202]]

 t_estimated:
[[ 0.44337542]
 [-0.8963039 ]
 [ 0.0075863 ]]

 R_gt:
[[ 0.99878476  0.04273117  0.02456935]
 [-0.0442686   0.99684681  0.06586428]
 [-0.02167814 -0.06687227  0.99752547]]

 t_gt:
[-0.40771388  0.61820092  0.67200968]

Pose Error in degrees for R and t:
178.44088677892864 43.13303965371654

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-9.99849626e-01  9.73740974e-03  1.43495153e-02]
 [ 9.74974769e-03  9.99952158e-01  7.90110273e-04]
 [-1.43411352e-02  9.29895615e-04 -9.99896728e-01]]

 t_estimated:
[[0.99989187]
 [0.01247593]
 [0.0077852 ]]

 R_gt:
[[ 9.76488658e-01 -2.15473624e-01 -6.30971610e-03]
 [ 2.15565232e-01  9.75932981e-01  3.29665148e-02]
 [-9.44609904e-04 -3.35512678e-02  9.99437146e-01]]

 t_gt:
[ 0.60208911 -0.79068658  0.11092086]

Pose Error in degrees for R and t:
179.34185842361092 53.62817628852651

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.84702797e-01  1.74242367e-01  8.88829930e-06]
 [-1.74242360e-01  9.84702770e-01 -2.34616241e-04]
 [-4.96324220e-05  2.29478550e-04  9.99999972e-01]]

 t_estimated:
[[0.84836556]
 [0.52941004]
 [0.00093535]]

 R_gt:
[[ 0.92404455 -0.37891637 -0.05061584]
 [ 0.37792565  0.92540361 -0.02827825]
 [ 0.05755554  0.00700182  0.99831766]]

 t_gt:
[ 0.70867395 -0.69491448 -0.12196354]

Pose Error in degrees for R and t:
32.45612026713323 76.51411606528853

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-4.22613387e-01 -9.06308307e-01 -1.78277696e-03]
 [ 9.06310003e-01 -4.22613243e-01 -4.74859888e-04]
 [-3.23055692e-04 -1.81643074e-03  9.99998298e-01]]

 t_estimated:
[[9.13014550e-01]
 [4.07926264e-01]
 [7.71127154e-04]]

 R_gt:
[[ 0.88980452 -0.45148507 -0.06639101]
 [ 0.44911942  0.89218632 -0.04790683]
 [ 0.08086299  0.01281083  0.99664336]]

 t_gt:
[ 0.72791246 -0.669304   -0.14891476]

Pose Error in degrees for R and t:
88.28469703569642 66.95505078620911

Number of keypoints:
Image1: 336
Image2: 336

 R_estimated:
[[-0.42762348 -0.90393657 -0.00606914]
 [-0.90394498  0.42764273 -0.0022733 ]
 [ 0.00465034  0.00451405 -0.999979  ]]

 t_estimated:
[[ 0.82025199]
 [ 0.5719968 ]
 [-0.00251576]]

 R_gt:
[[ 0.99800391  0.02024207  0.05981928]
 [-0.01806506  0.99916343 -0.03670988]
 [-0.06051259  0.0355558   0.99753419]]

 t_gt:
[-0.47390451  0.81229866  0.33997853]

Pose Error in degrees for R and t:
178.55774771855357 85.6955708874272

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 1.84408006e-01 -9.82845204e-01 -2.99881222e-03]
 [ 9.82848879e-01  1.84411108e-01 -7.90572682e-04]
 [ 1.33002485e-03 -2.80159129e-03  9.99995191e-01]]

 t_estimated:
[[0.62247862]
 [0.78263607]
 [0.00106772]]

 R_gt:
[[ 0.99303385  0.05449974  0.10446591]
 [-0.04690175  0.99616565 -0.07385435]
 [-0.10809157  0.06844144  0.99178238]]

 t_gt:
[-0.58759298  0.77300905  0.23914744]

Pose Error in degrees for R and t:
82.5780071620418 76.14438212933686

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.20862397e-01 -3.89885791e-01 -1.23132381e-03]
 [ 3.89886932e-01  9.20862318e-01  8.78168187e-04]
 [ 7.91494399e-04 -1.28874912e-03  9.99998856e-01]]

 t_estimated:
[[-0.43111777]
 [-0.90229516]
 [-0.0009538 ]]

 R_gt:
[[ 0.9832449   0.10639856  0.14801534]
 [-0.08935749  0.98905993 -0.11737795]
 [-0.15888534  0.10218571  0.9819955 ]]

 t_gt:
[-0.65532425  0.72220082  0.22130546]

Pose Error in degrees for R and t:
30.607528193717606 68.32585411807631

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-6.97098812e-01  7.16974976e-01  3.60991799e-04]
 [ 7.16972930e-01  6.97095416e-01  2.79264960e-03]
 [ 1.75061415e-03  2.20557407e-03 -9.99996035e-01]]

 t_estimated:
[[0.38953177]
 [0.92101155]
 [0.00165056]]

 R_gt:
[[ 0.9914788  -0.12611398 -0.03263607]
 [ 0.12717149  0.99134222  0.03265464]
 [ 0.02823559 -0.03652659  0.99893362]]

 t_gt:
[ 0.51031623 -0.85724735  0.06858815]

Pose Error in degrees for R and t:
177.5838708775244 53.79776678038033

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.93193508  0.36258725 -0.00524413]
 [-0.36259708 -0.93194543  0.00103112]
 [-0.00451337  0.00286244  0.99998572]]

 t_estimated:
[[ 3.51250893e-01]
 [ 9.36281372e-01]
 [-4.32915924e-05]]

 R_gt:
[[ 0.95532263 -0.26562904 -0.12961805]
 [ 0.28330854  0.94793594  0.14543755]
 [ 0.08423725 -0.17566125  0.98084023]]

 t_gt:
[ 0.5875324  -0.77325919  0.23848668]

Pose Error in degrees for R and t:
174.87067668647043 58.826775464500635

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 7.74197145e-01  6.32925576e-01  4.89856896e-03]
 [-6.32944517e-01  7.74172240e-01  6.21138508e-03]
 [ 1.39008372e-04 -7.90935896e-03  9.99968711e-01]]

 t_estimated:
[[0.65762769]
 [0.75334264]
 [0.00082513]]

 R_gt:
[[ 0.89530322 -0.38894269 -0.21715375]
 [ 0.42212246  0.89647672  0.13469159]
 [ 0.14228605 -0.21225485  0.96680088]]

 t_gt:
[ 0.67683823 -0.72170084  0.14504448]

Pose Error in degrees for R and t:
65.10040511918574 84.34945808447907

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 7.29613582e-01  6.83858716e-01  1.13023210e-03]
 [-6.83858431e-01  7.29614406e-01 -6.82391109e-04]
 [-1.29129273e-03 -2.75036930e-04  9.99999128e-01]]

 t_estimated:
[[-0.41318967]
 [ 0.91064374]
 [ 0.001506  ]]

 R_gt:
[[ 0.98594921 -0.16631552  0.01561332]
 [ 0.16607134  0.98598818  0.01579183]
 [-0.01801989 -0.0129771   0.9997534 ]]

 t_gt:
[ 0.60362403 -0.77567373  0.18430492]

Pose Error in degrees for R and t:
52.72675534995684 17.15776581258471

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 8.45544648e-01  5.33904158e-01  7.73760822e-04]
 [-5.33904571e-01  8.45544605e-01  4.80264290e-04]
 [-3.97834187e-04 -8.19199339e-04  9.99999585e-01]]

 t_estimated:
[[0.6335311 ]
 [0.7737167 ]
 [0.00089863]]

 R_gt:
[[ 0.95821387 -0.28586857 -0.01029901]
 [ 0.28589692  0.95587606  0.06755731]
 [-0.00946689 -0.06767872  0.99766262]]

 t_gt:
[ 0.63847243 -0.72788782  0.25006453]

Pose Error in degrees for R and t:
49.045223718906946 80.88235710308409

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-4.78888461e-01  8.77859594e-01  5.32679005e-03]
 [ 8.77873961e-01  4.78890934e-01  8.84065050e-04]
 [-1.77486648e-03  5.09961883e-03 -9.99985422e-01]]

 t_estimated:
[[9.36765986e-01]
 [3.49955447e-01]
 [8.19567792e-04]]

 R_gt:
[[ 0.94013341 -0.33795068 -0.04403946]
 [ 0.34049948  0.92591897  0.1635069 ]
 [-0.01447933 -0.16871277  0.98555889]]

 t_gt:
[ 0.57152494 -0.70790778  0.41500098]

Pose Error in degrees for R and t:
174.5719940409755 73.26239785572993

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.37818069e-01 -3.47127120e-01 -1.80925211e-04]
 [ 3.47127153e-01  9.37818052e-01  2.02227066e-04]
 [ 9.94764298e-05 -2.52456250e-04  9.99999963e-01]]

 t_estimated:
[[0.87956305]
 [0.47578134]
 [0.00097297]]

 R_gt:
[[ 0.99138244 -0.12897966 -0.02294233]
 [ 0.12724096  0.98969731 -0.06564088]
 [ 0.03117224  0.06215603  0.99758057]]

 t_gt:
[ 0.55358266 -0.65190511 -0.51823351]

Pose Error in degrees for R and t:
13.542581944006734 79.8490371922235

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.99161763 -0.12765025 -0.01999737]
 [ 0.12795635  0.99166857  0.01485327]
 [ 0.01793474 -0.01728755  0.99968969]]

 t_estimated:
[[0.99376008]
 [0.11041779]
 [0.01577397]]

 R_gt:
[[ 0.96698806 -0.24793834 -0.0588331 ]
 [ 0.24334142  0.96699207 -0.0755722 ]
 [ 0.07562849  0.05876137  0.99540366]]

 t_gt:
[ 0.63423985 -0.66457532 -0.39506893]

Pose Error in degrees for R and t:
8.86769912208085 56.587044575907186

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.99970494 -0.02420917  0.00198899]
 [ 0.02421282  0.99970514 -0.0018358 ]
 [-0.00194396  0.00188341  0.99999634]]

 t_estimated:
[[9.78420267e-01]
 [2.06622913e-01]
 [8.68163502e-04]]

 R_gt:
[[ 0.93449972 -0.3429665  -0.09531963]
 [ 0.34015243  0.93929972 -0.04485694]
 [ 0.10491848  0.00949486  0.99443611]]

 t_gt:
[ 0.71147244 -0.65975018 -0.24194351]

Pose Error in degrees for R and t:
19.616222474663413 55.97258568846437

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.31324028e-01 -3.64191401e-01 -4.21504321e-04]
 [ 3.64191531e-01  9.31324029e-01  2.87391212e-04]
 [ 2.87891694e-04 -4.21162645e-04  9.99999870e-01]]

 t_estimated:
[[ 9.38630149e-01]
 [-3.44925113e-01]
 [ 3.31967408e-04]]

 R_gt:
[[ 0.99825697 -0.03073015  0.05040005]
 [ 0.03156746  0.99937554 -0.01589068]
 [-0.04988077  0.01745408  0.99860225]]

 t_gt:
[0.57705178 0.41997067 0.70045405]

Pose Error in degrees for R and t:
19.806387133942653 66.60846506068728

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.90834195  0.41816843  0.00707601]
 [ 0.41820608  0.90833807  0.0050619 ]
 [-0.00431068  0.00755717 -0.99996215]]

 t_estimated:
[[7.81199887e-01]
 [6.24280606e-01]
 [6.79304250e-04]]

 R_gt:
[[ 0.99306966  0.00504988  0.11742021]
 [ 0.00123556  0.9985735  -0.05339124]
 [-0.11752199  0.053167    0.99164583]]

 t_gt:
[-0.17784397  0.76803936  0.61521302]

Pose Error in degrees for R and t:
172.41828226902 70.06472990610338

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.41288907e-01 -3.37598743e-01 -1.51064076e-03]
 [ 3.37600333e-01  9.41289065e-01  9.54919965e-04]
 [ 1.09956984e-03 -1.40884839e-03  9.99998403e-01]]

 t_estimated:
[[8.99959076e-01]
 [4.35973790e-01]
 [7.18243476e-04]]

 R_gt:
[[ 0.98964203  0.04645522  0.13583644]
 [-0.03310695  0.99454427 -0.09892692]
 [-0.13969142  0.09340473  0.98577952]]

 t_gt:
[-0.42465989  0.85636061  0.29378646]

Pose Error in degrees for R and t:
24.074919915505426 89.50640584301739

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-9.25898214e-01  3.77773026e-01  1.96897957e-04]
 [-3.77772566e-01 -9.25895978e-01 -2.12764407e-03]
 [-6.21459509e-04 -2.04436449e-03  9.99997717e-01]]

 t_estimated:
[[0.09984065]
 [0.99500279]
 [0.00113455]]

 R_gt:
[[ 0.9899421   0.14119931 -0.008756  ]
 [-0.14127655  0.98992934 -0.00896266]
 [ 0.00740231  0.01010927  0.99992115]]

 t_gt:
[-0.68720235  0.71845137 -0.10761301]

Pose Error in degrees for R and t:
149.68543665371416 49.74967542671111

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 3.71740706e-01 -9.28336289e-01  7.63237331e-04]
 [ 9.28333780e-01  3.71741478e-01  2.16024125e-03]
 [-2.28915731e-03 -9.45106095e-05  9.99997375e-01]]

 t_estimated:
[[0.99936257]
 [0.03566729]
 [0.00151648]]

 R_gt:
[[ 0.98993889  0.14143401 -0.00418004]
 [-0.14116577  0.98518854 -0.09733835]
 [-0.00964966  0.09694917  0.99524204]]

 t_gt:
[-0.50901321  0.72802955 -0.45921512]

Pose Error in degrees for R and t:
76.49891235987836 61.09110418270419

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.98946509e-01  4.58887450e-02  3.07671730e-04]
 [-4.58886484e-02  9.98946512e-01 -3.14071932e-04]
 [-3.21759968e-04  2.99622420e-04  9.99999903e-01]]

 t_estimated:
[[-7.26129513e-01]
 [-6.87557690e-01]
 [ 5.94520803e-04]]

 R_gt:
[[ 0.98343382  0.18120928  0.00467054]
 [-0.1783874   0.97205203 -0.15262055]
 [-0.0321967   0.14925919  0.98827392]]

 t_gt:
[-0.47682843  0.72996114 -0.48968498]

Pose Error in degrees for R and t:
11.719784069782966 81.0285475729296

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999974e-01 -1.44621206e-04 -1.78799026e-04]
 [ 1.44639862e-04  9.99999984e-01  1.04330400e-04]
 [ 1.78783935e-04 -1.04356259e-04  9.99999979e-01]]

 t_estimated:
[[0.94503914]
 [0.32695558]
 [0.00103444]]

 R_gt:
[[ 0.99958807 -0.02188846  0.01861042]
 [ 0.02138606  0.9994141   0.02676485]
 [-0.01918426 -0.02635572  0.99946824]]

 t_gt:
[ 0.408919   -0.24992404  0.87768059]

Pose Error in degrees for R and t:
2.237333530299575 72.2034298582565

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99999288e-01 -3.20883096e-04  1.14923101e-03]
 [ 3.22250905e-04  9.99999240e-01 -1.19020763e-03]
 [-1.14884821e-03  1.19057712e-03  9.99998631e-01]]

 t_estimated:
[[0.65128639]
 [0.75883018]
 [0.00166987]]

 R_gt:
[[ 0.99994516 -0.00913826  0.00526937]
 [ 0.00911668  0.99995144  0.00388913]
 [-0.00530391 -0.0038404   0.99997787]]

 t_gt:
[0.29385459 0.94514315 0.14266712]

Pose Error in degrees for R and t:
0.6264555932891314 24.656539522155644

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 1.00000000e+00  9.58300106e-12  2.22432207e-15]
 [-9.58311208e-12  1.00000000e+00 -1.94170309e-14]
 [-2.22377997e-15  1.94170851e-14  1.00000000e+00]]

 t_estimated:
[[ 4.99934286e-01]
 [-8.66063327e-01]
 [ 1.51169843e-04]]

 R_gt:
[[ 0.99734804  0.07129151  0.01475644]
 [-0.0717873   0.99675905  0.03632597]
 [-0.01211818 -0.03728832  0.99923038]]

 t_gt:
[-0.5242885   0.78789643  0.32301825]

Pose Error in degrees for R and t:
4.6780285525050465 19.190799287787186

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-0.00657322 -0.99997625 -0.00207235]
 [ 0.99989768 -0.00659901  0.01269189]
 [-0.01270527 -0.00198872  0.99991731]]

 t_estimated:
[[0.99917067]
 [0.04069021]
 [0.00150704]]

 R_gt:
[[ 0.99728872 -0.0682435   0.02751743]
 [ 0.06745181  0.99730904  0.02873626]
 [-0.02940537 -0.02680193  0.99920805]]

 t_gt:
[ 0.34782449 -0.83759301  0.42125537]

Pose Error in degrees for R and t:
86.49101437099145 71.6941710778914

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 0.53741197  0.84330846 -0.00438344]
 [ 0.84326905 -0.53731528  0.01376913]
 [ 0.00925633 -0.01109612 -0.99989559]]

 t_estimated:
[[-9.48764391e-01]
 [-3.15983334e-01]
 [-8.14390035e-04]]

 R_gt:
[[ 0.98345117 -0.17821528  0.0325941 ]
 [ 0.1763101   0.98284285  0.05417125]
 [-0.04168974 -0.04752863  0.9979996 ]]

 t_gt:
[ 0.54336246 -0.7808272   0.30832794]

Pose Error in degrees for R and t:
177.6672270450086 74.39251358602834

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.39688417 -0.91786521 -0.00253188]
 [ 0.91786561 -0.39687417 -0.00368905]
 [ 0.00238121 -0.00378805  0.99998999]]

 t_estimated:
[[0.98401082]
 [0.17810596]
 [0.00098401]]

 R_gt:
[[ 0.94819504 -0.31698485  0.02111985]
 [ 0.31214337  0.94195143  0.12366839]
 [-0.05909573 -0.11066948  0.99209949]]

 t_gt:
[ 0.64358779 -0.67712682  0.35678287]

Pose Error in degrees for R and t:
95.18795362350882 59.13292307387897

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-2.67245063e-02  9.99632249e-01  4.60072696e-03]
 [ 9.99642705e-01  2.67218561e-02  6.36574251e-04]
 [ 5.13400187e-04  4.61609527e-03 -9.99989214e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99774939 -0.06176754  0.0261314 ]
 [ 0.06093599  0.99764442  0.03151488]
 [-0.02801552 -0.02985205  0.99916155]]

 t_gt:
[ 0.81434271 -0.23561848  0.53040539]

Pose Error in degrees for R and t:
179.9354263957011 76.70390169170773

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99972186e-01  7.45834920e-03  3.53564478e-05]
 [-7.45834468e-03  9.99972178e-01 -1.26104044e-04]
 [-3.62959921e-05  1.25836836e-04  9.99999991e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99288724 -0.09894286  0.06623885]
 [ 0.09463052  0.99336505  0.065356  ]
 [-0.07226583 -0.05862346  0.99566076]]

 t_gt:
[ 0.72267581 -0.21210162  0.65783932]

Pose Error in degrees for R and t:
8.02727702816498 78.05888359781703

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 8.54741190e-01  5.19054297e-01  3.67233344e-04]
 [-5.19054418e-01  8.54740837e-01  7.82725539e-04]
 [ 9.23877184e-05 -8.59641848e-04  9.99999626e-01]]

 t_estimated:
[[7.71050216e-01]
 [6.36773967e-01]
 [6.92145616e-04]]

 R_gt:
[[ 0.97978501 -0.19858405  0.02424183]
 [ 0.19789925  0.9798231   0.02798344]
 [-0.02930971 -0.02262063  0.99931393]]

 t_gt:
[ 0.97736146 -0.13662762  0.1615471 ]

Pose Error in degrees for R and t:
42.7551858470775 48.18668705611402

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.9976144   0.0675116  -0.01441124]
 [-0.06722135  0.99754249  0.01975507]
 [ 0.01570952 -0.0187392   0.99970098]]

 t_estimated:
[[-0.99582944]
 [-0.09052995]
 [-0.01131624]]

 R_gt:
[[ 9.99667225e-01  3.49466976e-04 -2.58030264e-02]
 [-1.38431866e-03  9.99193989e-01 -4.01281310e-02]
 [ 2.57682280e-02  4.01498602e-02  9.98861672e-01]]

 t_gt:
[ 0.10508421  0.20715492 -0.97264801]

Pose Error in degrees for R and t:
5.148129941984682 83.54672255142644

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.31615029 -0.94838913 -0.02463842]
 [-0.94841381  0.31529734  0.03314874]
 [-0.02366948  0.0338474  -0.99914669]]

 t_estimated:
[[8.98940242e-01]
 [4.38070517e-01]
 [8.14257466e-04]]

 R_gt:
[[ 0.99558094 -0.02650714  0.09008767]
 [ 0.01847297  0.99587175  0.08887329]
 [-0.09207148 -0.08681678  0.99196089]]

 t_gt:
[ 0.0166694  -0.28258078  0.95909866]

Pose Error in degrees for R and t:
172.81287697243698 83.79854728345767

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 8.04834651e-01  5.93499089e-01  1.26469007e-04]
 [-5.93497012e-01  8.04832364e-01 -2.48235871e-03]
 [-1.57506398e-03  1.92282933e-03  9.99996911e-01]]

 t_estimated:
[[0.65571955]
 [0.75500102]
 [0.00230887]]

 R_gt:
[[ 0.98284807 -0.12922732  0.13156777]
 [ 0.09348491  0.96408785  0.24858688]
 [-0.15896797 -0.23202336  0.95963283]]

 t_gt:
[ 0.27034927 -0.40127683  0.87515038]

Pose Error in degrees for R and t:
45.82862700355015 82.89601449621475

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999261e-01  1.13413102e-03 -4.38671292e-04]
 [-1.13374847e-03  9.99998978e-01  8.71344445e-04]
 [ 4.39659063e-04 -8.70846458e-04  9.99999524e-01]]

 t_estimated:
[[-9.99998309e-01]
 [-6.38403203e-04]
 [-1.72476676e-03]]

 R_gt:
[[ 0.9807831  -0.14021115 -0.13566091]
 [ 0.15364819  0.98362407  0.09420911]
 [ 0.12023052 -0.11324249  0.98626519]]

 t_gt:
[ 0.59802516 -0.80136483  0.01342822]

Pose Error in degrees for R and t:
12.757088578249004 53.30639045290722

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.99612389  0.08785295  0.0043647 ]
 [-0.08783964  0.99612964 -0.00315299]
 [-0.0046248   0.00275737  0.9999855 ]]

 t_estimated:
[[-0.64963288]
 [-0.76024604]
 [-0.00175576]]

 R_gt:
[[ 0.93747353 -0.29182928 -0.18967994]
 [ 0.31662117  0.941364    0.11655006]
 [ 0.14454567 -0.16931853  0.97490394]]

 t_gt:
[ 0.65736046 -0.74764926  0.09432816]

Pose Error in degrees for R and t:
26.448541965943466 81.883356869007

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.93768592  0.34719355 -0.01420383]
 [-0.34540071  0.93575453  0.07114636]
 [ 0.03799286 -0.06180693  0.99736475]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.87951499 -0.38182808 -0.28400478]
 [ 0.42433505  0.89940883  0.10489398]
 [ 0.21538552 -0.21276797  0.95306824]]

 t_gt:
[ 0.71591343 -0.69711053  0.03879255]

Pose Error in degrees for R and t:
46.74126923700808 46.16442327687119

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99099362e-01  4.24318870e-02 -3.59215153e-06]
 [-4.24318864e-02  9.99099325e-01 -2.71649807e-04]
 [-7.93769775e-06  2.71557571e-04  9.99999963e-01]]

 t_estimated:
[[-0.66706703]
 [-0.74499591]
 [-0.00163525]]

 R_gt:
[[ 0.9959101   0.06222762  0.06550802]
 [-0.0606752   0.9978332  -0.02542004]
 [-0.06694745  0.02134211  0.99752822]]

 t_gt:
[-0.39627164  0.83551542  0.3806347 ]

Pose Error in degrees for R and t:
4.170619688776379 68.97727219962321

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.01109023e-01  4.33590035e-01  1.48651297e-03]
 [-4.33590425e-01  9.01110059e-01 -6.56139293e-05]
 [-1.36796133e-03 -5.85412486e-04  9.99998893e-01]]

 t_estimated:
[[0.05491632]
 [0.99847848]
 [0.00499239]]

 R_gt:
[[ 0.98542622  0.11602918  0.12439213]
 [-0.10219443  0.9883974  -0.11236952]
 [-0.13598585  0.0980193   0.98584953]]

 t_gt:
[-0.40915599  0.89916832  0.15520214]

Pose Error in degrees for R and t:
21.610323829330884 28.823892368672215

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.70763859e-01 -2.40035828e-01  5.74953221e-04]
 [ 2.40036453e-01  9.70762558e-01 -1.59924105e-03]
 [-1.74267909e-04  1.69049515e-03  9.99998556e-01]]

 t_estimated:
[[ 0.10924303]
 [-0.99401133]
 [-0.00272532]]

 R_gt:
[[ 0.97655927  0.11411422  0.18250779]
 [-0.09826342  0.99074072 -0.09368317]
 [-0.19150874  0.07355362  0.97873136]]

 t_gt:
[-0.34684125  0.79821742  0.49249375]

Pose Error in degrees for R and t:
23.223558956615832 33.62607020077384

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 5.90524819e-01 -8.06986585e-01 -7.28627169e-03]
 [ 8.07010047e-01  5.90537499e-01  4.97163572e-04]
 [ 3.90161232e-03 -6.17368188e-03  9.99973331e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99772694 -0.06726957 -0.00421342]
 [ 0.06732811  0.99760276  0.01597602]
 [ 0.00312768 -0.016223    0.99986318]]

 t_gt:
[ 0.50051822 -0.86143919  0.08604673]

Pose Error in degrees for R and t:
49.94999104319245 30.88371326684937

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 5.77581747e-01  8.16331795e-01 -1.31382250e-03]
 [-8.16332401e-01  5.77578988e-01 -1.98105951e-03]
 [-8.58365595e-04  2.21673969e-03  9.99997175e-01]]

 t_estimated:
[[0.72159716]
 [0.69231278]
 [0.00075088]]

 R_gt:
[[ 0.99466813 -0.10226833  0.01329929]
 [ 0.1021614   0.99473204  0.008427  ]
 [-0.01409174 -0.00702265  0.99987532]]

 t_gt:
[ 0.44816212 -0.88935615  0.09053367]

Pose Error in degrees for R and t:
60.59397296754664 73.00716376754289

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99893609e-01  1.45831497e-02  3.19362259e-04]
 [-1.45830769e-02  9.99893635e-01 -2.29116917e-04]
 [-3.22669537e-04  2.24435257e-04  9.99999923e-01]]

 t_estimated:
[[ 0.99759403]
 [-0.06930812]
 [-0.00159422]]

 R_gt:
[[ 0.99491398 -0.09918636  0.01757091]
 [ 0.09894772  0.99499526  0.01394949]
 [-0.01886722 -0.01214041  0.99974732]]

 t_gt:
[ 0.32596923 -0.93531914  0.13755785]

Pose Error in degrees for R and t:
6.645794983027617 67.05851226689195

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999992e-01  1.21129920e-04  4.17265313e-05]
 [-1.21125101e-04  9.99999986e-01 -1.15476730e-04]
 [-4.17405184e-05  1.15471675e-04  9.99999992e-01]]

 t_estimated:
[[-0.5202774 ]
 [-0.85399654]
 [-0.00115875]]

 R_gt:
[[ 0.98573906 -0.16714657  0.0195385 ]
 [ 0.16767024  0.98541133 -0.02919641]
 [-0.01437391  0.03205644  0.99938242]]

 t_gt:
[ 0.57465163 -0.81692714 -0.04904641]

Pose Error in degrees for R and t:
9.852890852466038 66.50109628207443

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 0.99869041  0.05108503 -0.00279076]
 [-0.05107646  0.99869005  0.0030617 ]
 [ 0.00294351 -0.00291515  0.99999142]]

 t_estimated:
[[-0.56656994]
 [-0.82401308]
 [-0.00097516]]

 R_gt:
[[ 9.34806521e-01 -3.55143965e-01  3.18976368e-03]
 [ 3.55144579e-01  9.34811964e-01  2.24478897e-04]
 [-3.06136030e-03  9.23508123e-04  9.99994179e-01]]

 t_gt:
[ 0.66111875 -0.75015286  0.01388094]

Pose Error in degrees for R and t:
23.733608153064203 75.9037091841256

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.60463577e-01 -2.78405404e-01  3.86065870e-04]
 [ 2.78405483e-01  9.60463617e-01 -1.66501700e-04]
 [-3.24447249e-04  2.67401673e-04  9.99999912e-01]]

 t_estimated:
[[8.11421558e-01]
 [5.84460866e-01]
 [7.41701607e-04]]

 R_gt:
[[ 0.84809859 -0.52909735 -0.02801124]
 [ 0.52806813  0.84840202 -0.03686901]
 [ 0.04327168  0.016477    0.99892705]]

 t_gt:
[ 0.75415415 -0.65260352 -0.07321312]

Pose Error in degrees for R and t:
15.98575824364534 76.67576151775089

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99285803e-01  3.77872937e-02  6.15850040e-05]
 [-3.77872921e-02  9.99285805e-01 -2.74181594e-05]
 [-6.25770784e-05  2.50714469e-05  9.99999998e-01]]

 t_estimated:
[[-9.44899586e-01]
 [-3.27359391e-01]
 [-7.75977353e-04]]

 R_gt:
[[ 0.99909606  0.04047499  0.01296217]
 [-0.04040882  0.99917006 -0.00528302]
 [-0.01316603  0.00475473  0.99990259]]

 t_gt:
[0.02739031 0.99053533 0.13449735]

Pose Error in degrees for R and t:
0.8106349307287943 69.49760676477604

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-8.90707306e-01 -4.54572913e-01 -1.99060498e-03]
 [ 4.54576298e-01 -8.90705922e-01 -1.83031414e-03]
 [-9.41032418e-04 -2.53515602e-03  9.99996344e-01]]

 t_estimated:
[[0.89040237]
 [0.45517275]
 [0.00117313]]

 R_gt:
[[ 0.99086321  0.11841865  0.06455603]
 [-0.11245255  0.98963488 -0.08932101]
 [-0.07446537  0.08124568  0.99390858]]

 t_gt:
[-0.30105091  0.95061061 -0.07555012]

Pose Error in degrees for R and t:
159.65125627666959 80.52908152503434

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-5.04462118e-01  8.63432575e-01 -1.46956194e-03]
 [-8.63429154e-01 -5.04464257e-01 -2.43113633e-03]
 [-2.84046377e-03  4.24464401e-05  9.99995965e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97913434  0.14763406  0.13964378]
 [-0.13302664  0.9851274  -0.10875563]
 [-0.15362307  0.08791135  0.98421108]]

 t_gt:
[-0.3405685   0.91155737  0.23038286]

Pose Error in degrees for R and t:
112.45328936249774 24.542345106615375

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.99891880e-01 -1.47046937e-02 -2.63613016e-05]
 [ 1.47046954e-02  9.99891878e-01  6.44284435e-05]
 [ 2.54110509e-05 -6.48091124e-05  9.99999998e-01]]

 t_estimated:
[[-2.04425452e-01]
 [ 9.78882132e-01]
 [ 7.61412772e-05]]

 R_gt:
[[ 0.99499178  0.03413521  0.0939522 ]
 [-0.03270224  0.99932425 -0.01674733]
 [-0.09446104  0.01359216  0.99543606]]

 t_gt:
[-0.66459511  0.31833945  0.67599803]

Pose Error in degrees for R and t:
6.134702618755311 63.41477965726085

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99992722e-01 -3.81360930e-03 -1.09979815e-04]
 [ 3.81360537e-03  9.99992728e-01 -3.59394731e-05]
 [ 1.10116074e-04  3.55197920e-05  9.99999993e-01]]

 t_estimated:
[[-8.00095257e-01]
 [ 5.99872505e-01]
 [-7.46615929e-04]]

 R_gt:
[[ 0.98755142  0.11904874  0.10281123]
 [-0.1154213   0.99248768 -0.04055061]
 [-0.1068667   0.02817898  0.99387447]]

 t_gt:
[-0.74125318  0.56381697  0.36421717]

Pose Error in degrees for R and t:
9.42801463922687 21.40569859082725

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.93802889 -0.22087722  0.26704879]
 [ 0.2571765   0.96017641 -0.10918562]
 [-0.23229734  0.17109794  0.95747765]]

 t_estimated:
[[0.48755937]
 [0.87307143]
 [0.00566929]]

 R_gt:
[[ 0.95854599  0.2753787   0.07318913]
 [-0.27633325  0.96105606  0.00305489]
 [-0.06949847 -0.0231519   0.99731381]]

 t_gt:
[-0.70275346  0.68250074  0.20082409]

Pose Error in degrees for R and t:
33.052824247273946 75.26336337968279

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99908288e-01 -1.35431048e-02 -1.63241047e-06]
 [ 1.35431049e-02  9.99908286e-01  5.83300994e-05]
 [ 8.42290110e-07 -5.83468577e-05  9.99999998e-01]]

 t_estimated:
[[ 9.63494688e-01]
 [-2.67727418e-01]
 [ 1.30070898e-04]]

 R_gt:
[[ 9.99873321e-01 -1.59063358e-02 -4.31140340e-04]
 [ 1.59001878e-02  9.99816155e-01 -1.06932738e-02]
 [ 6.01535568e-04  1.06858021e-02  9.99942642e-01]]

 t_gt:
[ 0.05816422 -0.93955649 -0.33741744]

Pose Error in degrees for R and t:
0.632251335586076 72.08883395795586

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.02331869e-01  4.31039675e-01  1.41279327e-03]
 [-4.31039446e-01  9.02332958e-01 -4.78274851e-04]
 [-1.48096536e-03 -1.77406987e-04  9.99998888e-01]]

 t_estimated:
[[0.65521996]
 [0.75543332]
 [0.00270445]]

 R_gt:
[[ 0.99911065 -0.03320454  0.0260019 ]
 [ 0.03272888  0.99929273  0.01850528]
 [-0.02659745 -0.0176368   0.99949022]]

 t_gt:
[-0.12135186 -0.87887825  0.46135317]

Pose Error in degrees for R and t:
27.478769290433245 42.08097954684628

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-3.03689598e-01 -9.52761569e-01 -4.24508592e-03]
 [-9.52770968e-01  3.03685016e-01  1.70085995e-03]
 [-3.31345007e-04  4.56112810e-03 -9.99989543e-01]]

 t_estimated:
[[7.10922143e-01]
 [7.03270710e-01]
 [1.21964304e-04]]

 R_gt:
[[ 0.99941846 -0.01588506  0.03019   ]
 [ 0.0149889   0.99944661  0.02969805]
 [-0.03064576 -0.02922663  0.99910177]]

 t_gt:
[-0.49782441 -0.68334914  0.53404569]

Pose Error in degrees for R and t:
177.73284293773133 33.44360243325542

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.99631035 -0.07115805 -0.04798142]
 [ 0.07284197  0.9967532   0.03430904]
 [ 0.04538427 -0.03767751  0.99825882]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.98374573 -0.16365027 -0.07391836]
 [ 0.17107887  0.97922056  0.10889596]
 [ 0.05456203 -0.11977185  0.99130084]]

 t_gt:
[ 0.55979883 -0.78403211  0.26817703]

Pose Error in degrees for R and t:
7.227098391247181 58.52741970419172

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-0.16916483  0.98551689  0.01181997]
 [ 0.98557162  0.16921855 -0.00369584]
 [-0.00564247  0.01102422 -0.99992331]]

 t_estimated:
[[-0.9976057 ]
 [-0.06846314]
 [-0.00978045]]

 R_gt:
[[ 0.94455842 -0.28139992 -0.16918632]
 [ 0.29991764  0.9491482   0.09574888]
 [ 0.13363868 -0.14118349  0.98092215]]

 t_gt:
[ 0.66224755 -0.74746591  0.05218137]

Pose Error in degrees for R and t:
169.48553138581863 52.410610178109216

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-0.22133618 -0.97519292 -0.00301088]
 [ 0.97519217 -0.22132363 -0.00401092]
 [ 0.00324505 -0.00382395  0.99998742]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.91659585 -0.33423751 -0.21940188]
 [ 0.37598341  0.90720899  0.18869898]
 [ 0.13597313 -0.25545347  0.95721228]]

 t_gt:
[ 0.62949228 -0.73836045  0.24199859]

Pose Error in degrees for R and t:
82.8925336978614 51.23852805843921

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 3.12704797e-02  9.99510929e-01  2.44598044e-04]
 [-9.99509370e-01  3.12708654e-02 -1.77535850e-03]
 [-1.78213902e-03 -1.88961724e-04  9.99998394e-01]]

 t_estimated:
[[0.01449122]
 [0.99989413]
 [0.00131738]]

 R_gt:
[[ 0.99014477 -0.05764697  0.12763627]
 [ 0.0323586   0.98086605  0.19197843]
 [-0.13626162 -0.18595555  0.97306377]]

 t_gt:
[ 0.09223773 -0.26492901  0.95984625]

Pose Error in degrees for R and t:
91.58431840064388 74.7934298019377

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-3.93051169e-01  9.19516533e-01  3.51850595e-04]
 [ 9.19469857e-01  3.93027302e-01  1.02333484e-02]
 [ 9.27144620e-03  4.34574559e-03 -9.99947576e-01]]

 t_estimated:
[[-0.49296515]
 [-0.87001176]
 [-0.00805582]]

 R_gt:
[[ 0.97474023 -0.18297753  0.12806879]
 [ 0.1323151   0.93505372  0.32889196]
 [-0.17993017 -0.30363851  0.93564389]]

 t_gt:
[ 0.33275656 -0.3973763   0.8551989 ]

Pose Error in degrees for R and t:
177.0692544334276 79.93325198489008

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-8.91647251e-01  4.52729721e-01 -9.89153919e-04]
 [-4.52726708e-01 -8.91646352e-01 -2.30443797e-03]
 [-1.92526305e-03 -1.60692939e-03  9.99996856e-01]]

 t_estimated:
[[0.01768707]
 [0.99984303]
 [0.00104042]]

 R_gt:
[[ 0.94885879 -0.30395668  0.08531433]
 [ 0.25017816  0.88877364  0.38404977]
 [-0.19255872 -0.34306491  0.91936221]]

 t_gt:
[ 0.48317148 -0.4764855   0.73451133]

Pose Error in degrees for R and t:
170.0768817366548 62.15374465925007

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 0.99815396 -0.05981722  0.01051499]
 [ 0.05995226  0.99811614 -0.01303416]
 [-0.00971552  0.0136405   0.99985976]]

 t_estimated:
[[-0.90637274]
 [-0.42238729]
 [-0.00879974]]

 R_gt:
[[ 0.99271731 -0.11181395  0.04485381]
 [ 0.10966617  0.99281838  0.04780191]
 [-0.04987619 -0.04253394  0.99784985]]

 t_gt:
[ 0.45905898 -0.75939767  0.46106402]

Pose Error in degrees for R and t:
4.944009417618125 84.29676897416945

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.622344   -0.78273811 -0.00299813]
 [ 0.78273829  0.62234945 -0.00138532]
 [ 0.00295023 -0.00148461  0.99999455]]

 t_estimated:
[[0.70276012]
 [0.71142645]
 [0.00078785]]

 R_gt:
[[ 0.97015314 -0.24199661  0.01555003]
 [ 0.24000184  0.96737106  0.08119396]
 [-0.03469216 -0.07503724  0.99657769]]

 t_gt:
[ 0.64263705 -0.70105921  0.30908513]

Pose Error in degrees for R and t:
37.83725449396662 87.31248084741935

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.07591257 -0.99710891 -0.00333359]
 [-0.99691286  0.07582956  0.02036217]
 [-0.02005052  0.00486904 -0.99978711]]

 t_estimated:
[[0.86621985]
 [0.4996583 ]
 [0.00218191]]

 R_gt:
[[ 0.93461574 -0.35542719  0.01290991]
 [ 0.34661041  0.91836841  0.19095088]
 [-0.07972544 -0.17398991  0.98151492]]

 t_gt:
[ 0.62706274 -0.61995189  0.47164814]

Pose Error in degrees for R and t:
169.92510134529692 76.44143322767735

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.96394182e-01 -8.48447042e-02  1.02550636e-04]
 [ 8.48447153e-02  9.96394180e-01 -1.09097654e-04]
 [-9.29244987e-05  1.17405147e-04  9.99999989e-01]]

 t_estimated:
[[ 9.99995736e-01]
 [-2.90909304e-03]
 [ 2.54633968e-04]]

 R_gt:
[[ 0.97546085 -0.2157792  -0.04377493]
 [ 0.21691403  0.97591808  0.02305353]
 [ 0.03774547 -0.03198165  0.99877556]]

 t_gt:
[ 0.98144343 -0.1617536   0.10297847]

Pose Error in degrees for R and t:
8.146973429089805 10.906872145985872

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-0.30646766 -0.95187957  0.00169219]
 [-0.95187667  0.30646035 -0.00358576]
 [ 0.00289462 -0.00270968 -0.99999214]]

 t_estimated:
[[0.83631392]
 [0.54825023]
 [0.00084476]]

 R_gt:
[[ 0.94248826 -0.33152975 -0.04248538]
 [ 0.33347873  0.94128926  0.05260059]
 [ 0.02255178 -0.06374134  0.99771162]]

 t_gt:
[ 0.98156489 -0.09587754  0.16534168]

Pose Error in degrees for R and t:
179.6149901541308 39.78320141002817

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.45535235e-01  3.25519130e-01  6.44361641e-04]
 [-3.25519519e-01  9.45535108e-01  6.34340619e-04]
 [-4.02776547e-04 -8.09543698e-04  9.99999591e-01]]

 t_estimated:
[[0.274196  ]
 [0.96167292]
 [0.00132462]]

 R_gt:
[[ 0.93589428 -0.35223999  0.0054647 ]
 [ 0.35077634  0.93321541  0.07787802]
 [-0.03253151 -0.07096752  0.99694806]]

 t_gt:
[ 0.97324585 -0.08632125  0.21293464]

Pose Error in degrees for R and t:
39.846180866420944 79.38962304045735

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999908e-01 -3.81799780e-05 -4.26193696e-04]
 [ 3.83410926e-05  9.99999928e-01  3.78029455e-04]
 [ 4.26179233e-04 -3.78045761e-04  9.99999838e-01]]

 t_estimated:
[[-0.73194827]
 [-0.68135668]
 [-0.00219214]]

 R_gt:
[[ 0.99847889  0.05222056  0.01768928]
 [-0.0529849   0.99754252  0.04585018]
 [-0.01525046 -0.04671777  0.99879059]]

 t_gt:
[0.06684089 0.02107848 0.99754097]

Pose Error in degrees for R and t:
4.1211646979235494 86.24600042907097

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99949550e-01 -1.00371154e-02 -3.93094723e-04]
 [ 1.00374502e-02  9.99949254e-01  8.59354249e-04]
 [ 3.84449338e-04 -8.63256563e-04  9.99999553e-01]]

 t_estimated:
[[3.42512763e-01]
 [9.39512858e-01]
 [7.72286045e-04]]

 R_gt:
[[ 0.9936937   0.10455962  0.04048906]
 [-0.10660462  0.99293263  0.05215929]
 [-0.03474945 -0.05614663  0.99781728]]

 t_gt:
[-0.01971887  0.22334568  0.97453983]

Pose Error in degrees for R and t:
7.631116280140497 78.23870225758778

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 8.21256716e-01  5.70558846e-01  1.01897161e-04]
 [-5.70558850e-01  8.21256719e-01  1.98438950e-05]
 [-7.23616180e-05 -7.44352589e-05  9.99999995e-01]]

 t_estimated:
[[-3.83492069e-01]
 [ 9.23544082e-01]
 [-4.01974833e-04]]

 R_gt:
[[ 0.97490141  0.21383832  0.0619691 ]
 [-0.21869175  0.97194708  0.08655763]
 [-0.04172052 -0.09793763  0.99431652]]

 t_gt:
[-0.21893433  0.63447981  0.74128478]

Pose Error in degrees for R and t:
23.075298973363516 47.96135612954033

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[-9.93647402e-01  1.10174399e-01  2.29443267e-02]
 [ 1.10210256e-01  9.93908250e-01  3.00305745e-04]
 [-2.27714696e-02  2.82709814e-03 -9.99736699e-01]]

 t_estimated:
[[ 0.99827947]
 [-0.05743386]
 [ 0.01180884]]

 R_gt:
[[ 9.99303761e-01 -3.55975364e-02 -1.12200989e-02]
 [ 3.56037764e-02  9.99365696e-01  3.87198728e-04]
 [ 1.11999162e-02 -7.86650205e-04  9.99937016e-01]]

 t_gt:
[ 0.58910091 -0.77909787 -0.21439829]

Pose Error in degrees for R and t:
179.33213062501807 50.92758241844319

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[-0.92012463  0.39050448  0.02961286]
 [ 0.39052594  0.9205767  -0.00529449]
 [-0.02932843  0.006693   -0.99954742]]

 t_estimated:
[[ 0.98033363]
 [-0.19675627]
 [ 0.01526237]]

 R_gt:
[[ 0.99699438 -0.07485972 -0.01997908]
 [ 0.07459316  0.99711846 -0.01373598]
 [ 0.02095028  0.01220385  0.99970611]]

 t_gt:
[ 0.5769381  -0.75640999 -0.30819856]

Pose Error in degrees for R and t:
179.28182121528022 44.78815556673638

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 0.96418818 -0.26521138  0.00201901]
 [ 0.26521592  0.96418587 -0.00247357]
 [-0.00129068  0.00292046  0.9999949 ]]

 t_estimated:
[[0.97111827]
 [0.23859651]
 [0.00100414]]

 R_gt:
[[ 0.99539218 -0.09374965 -0.02014714]
 [ 0.09391475  0.99555211  0.00740961]
 [ 0.01936364 -0.009268    0.9997694 ]]

 t_gt:
[ 0.5318511  -0.83908589 -0.11432092]

Pose Error in degrees for R and t:
10.090080270967583 71.5683850714818

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.81120717e-01 -1.93382094e-01  2.34610240e-03]
 [ 1.93380025e-01  9.81123334e-01  1.08105001e-03]
 [-2.51087153e-03 -6.06951225e-04  9.99996664e-01]]

 t_estimated:
[[0.99826075]
 [0.05815111]
 [0.00969185]]

 R_gt:
[[ 0.99776393 -0.06125151 -0.02675063]
 [ 0.06254554  0.99676047  0.05057898]
 [ 0.02356641 -0.05213829  0.99836167]]

 t_gt:
[ 0.48340232 -0.86508293  0.1339915 ]

Pose Error in degrees for R and t:
8.28351593017722 64.30664021544432

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.08625386e-01  4.17611556e-01  7.04069445e-04]
 [-4.17611603e-01  9.08625633e-01 -8.52843562e-05]
 [-6.75351278e-04 -2.16536039e-04  9.99999749e-01]]

 t_estimated:
[[-0.0713545 ]
 [ 0.99745027]
 [ 0.0012217 ]]

 R_gt:
[[ 0.99186792 -0.10235644 -0.07564617]
 [ 0.10617184  0.99317586  0.04825917]
 [ 0.0701909  -0.05589791  0.99596597]]

 t_gt:
[ 0.55836356 -0.81012504 -0.17868283]

Pose Error in degrees for R and t:
31.10463253107391 31.99227968889614

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.96840223e-01  7.94327828e-02  5.15565088e-05]
 [-7.94327766e-02  9.96840218e-01 -1.13657614e-04]
 [-6.04217420e-05  1.09203204e-04  9.99999992e-01]]

 t_estimated:
[[-9.78737047e-01]
 [-2.05117190e-01]
 [-8.55501029e-04]]

 R_gt:
[[ 9.98102317e-01 -4.69341074e-02  3.98837998e-02]
 [ 4.68984809e-02  9.98898581e-01  1.81746800e-03]
 [-3.99258334e-02  5.78803000e-05  9.99202800e-01]]

 t_gt:
[ 0.27982396 -0.80128837  0.52880572]

Pose Error in degrees for R and t:
7.597094173182959 83.68650305310913

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99931259e-01  1.17154889e-02 -4.74170852e-04]
 [-1.17153130e-02  9.99931304e-01  3.71958221e-04]
 [ 4.78495951e-04 -3.66377592e-04  9.99999818e-01]]

 t_estimated:
[[-0.99916597]
 [ 0.04072599]
 [-0.00295849]]

 R_gt:
[[ 0.9978354  -0.00678847 -0.0654043 ]
 [ 0.00666423  0.99997593 -0.00210719]
 [ 0.06541769  0.00166808  0.9978569 ]]

 t_gt:
[ 0.48635184 -0.22011569 -0.84558321]

Pose Error in degrees for R and t:
3.8723056989937152 60.50095914191939

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99963075e-01  8.57553387e-03  5.55582670e-04]
 [-8.57515337e-03  9.99962999e-01 -6.83661145e-04]
 [-5.61424872e-04  6.78871695e-04  9.99999612e-01]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.99591557 -0.05891205 -0.06842531]
 [ 0.06114428  0.99764659  0.03101697]
 [ 0.06643801 -0.03507389  0.99717417]]

 t_gt:
[ 0.6094642  -0.73372316 -0.30033933]

Pose Error in degrees for R and t:
5.870169357549831 53.386343189355614

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.99997279  0.00377792 -0.00633621]
 [-0.00371696  0.99994696  0.00960558]
 [ 0.00637216 -0.00958177  0.99993379]]

 t_estimated:
[[-0.85233013]
 [-0.52300232]
 [-0.00138857]]

 R_gt:
[[ 0.9842917  -0.11908505 -0.13033856]
 [ 0.12595948  0.99097769  0.04580594]
 [ 0.12370823 -0.06150313  0.99041026]]

 t_gt:
[ 0.6191637  -0.7158356  -0.32282456]

Pose Error in degrees for R and t:
10.38139203262768 81.20498017962157

Number of keypoints:
Image1: 690
Image2: 690

 R_estimated:
[[ 9.99888475e-01 -1.49343911e-02  2.55827148e-05]
 [ 1.49343914e-02  9.99888476e-01 -1.25851756e-05]
 [-2.53919098e-05  1.29658343e-05  1.00000000e+00]]

 t_estimated:
[[ 9.88505086e-01]
 [-1.51187599e-01]
 [ 7.18075070e-05]]

 R_gt:
[[ 0.99914851 -0.04088238 -0.00559636]
 [ 0.04077892  0.9990148  -0.01748074]
 [ 0.00630544  0.01723844  0.99983091]]

 t_gt:
[ 0.56463252 -0.74586456 -0.35337823]

Pose Error in degrees for R and t:
1.8199954184209874 47.8648087595671

Number of keypoints:
Image1: 580
Image2: 580

 R_estimated:
[[-0.39860915 -0.91708933  0.00760919]
 [-0.91708303  0.39865437  0.00578029]
 [-0.00833448 -0.00467419 -0.99995434]]

 t_estimated:
[[0.85387254]
 [0.52045129]
 [0.00566959]]

 R_gt:
[[ 0.99666733 -0.08104253 -0.00936353]
 [ 0.08090636  0.99662276 -0.01407407]
 [ 0.01047253  0.01326949  0.99985676]]

 t_gt:
[ 0.5542909 -0.8049314 -0.2117712]

Pose Error in degrees for R and t:
179.63911199373234 86.95240186732583

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[-7.70706256e-01  6.37190532e-01 -3.04521862e-04]
 [-6.37185589e-01 -7.70701998e-01 -3.59925747e-03]
 [-2.52810839e-03 -2.57993331e-03  9.99993476e-01]]

 t_estimated:
[[0.47646217]
 [0.87919412]
 [0.00122789]]

 R_gt:
[[ 0.99374401 -0.11162084 -0.00381831]
 [ 0.11166854  0.99360884  0.01647177]
 [ 0.00195459 -0.01679412  0.99985691]]

 t_gt:
[ 0.46080205 -0.88339287  0.0853142 ]

Pose Error in degrees for R and t:
146.83030964245364 56.15043187396806

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.19709506  0.98014787  0.02153363]
 [ 0.98018663 -0.19656662 -0.02440757]
 [-0.01969024  0.02591759 -0.99947015]]

 t_estimated:
[[ 0.97515059]
 [-0.22141117]
 [ 0.00764268]]

 R_gt:
[[ 0.98343292 -0.18038063  0.01793502]
 [ 0.18054723  0.98353315 -0.008094  ]
 [-0.01617867  0.01119859  0.99980578]]

 t_gt:
[ 0.83385409 -0.55188354 -0.010579  ]

Pose Error in degrees for R and t:
177.08558851860838 20.73213332110449

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-2.57930913e-01 -9.66159528e-01 -2.72210852e-03]
 [ 9.66163363e-01 -2.57929934e-01 -7.10657880e-04]
 [-1.55043902e-05 -2.81330216e-03  9.99996043e-01]]

 t_estimated:
[[0.9926984 ]
 [0.12061819]
 [0.00106742]]

 R_gt:
[[ 0.82768368 -0.56030521  0.03156177]
 [ 0.56017002  0.82826208  0.01382937]
 [-0.03389     0.00623455  0.99940615]]

 t_gt:
[ 0.92845846 -0.37095516  0.01889881]

Pose Error in degrees for R and t:
70.89106196307179 28.72274520086297

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-3.31926708e-01 -9.43295329e-01 -4.31076046e-03]
 [ 9.43305175e-01 -3.31923648e-01 -1.42770530e-03]
 [-8.40955935e-05 -4.54025617e-03  9.99989689e-01]]

 t_estimated:
[[9.99695725e-01]
 [2.46500316e-02]
 [9.12964132e-04]]

 R_gt:
[[ 0.69831277 -0.71490719  0.03560544]
 [ 0.7143176   0.69920253  0.02943093]
 [-0.04593604  0.00488201  0.99893211]]

 t_gt:
[ 0.95954949 -0.28029413  0.02645721]

Pose Error in degrees for R and t:
63.79955643666013 17.75439456912971

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.97060283e-01  7.66207457e-02 -2.32154132e-04]
 [-7.66206081e-02  9.97060167e-01  5.52848093e-04]
 [ 2.73831271e-04 -5.33435085e-04  9.99999820e-01]]

 t_estimated:
[[0.39256092]
 [0.91972535]
 [0.00109893]]

 R_gt:
[[ 0.9961881   0.08608016 -0.01413858]
 [-0.08623658  0.99621587 -0.01084831]
 [ 0.01315157  0.0120255   0.99984097]]

 t_gt:
[ 0.136902    0.96110735 -0.23985517]

Pose Error in degrees for R and t:
1.1671784924343915 20.375067135854565

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.11808588e-01  4.10615345e-01 -3.70572040e-04]
 [-4.10614756e-01  9.11808269e-01  1.09641522e-03]
 [ 7.88095562e-04 -8.47558462e-04  9.99999330e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99419474  0.10317941  0.03051566]
 [-0.10347862  0.99459588  0.00839225]
 [-0.02948467 -0.01150098  0.99949881]]

 t_gt:
[0.39027942 0.81045184 0.43686358]

Pose Error in degrees for R and t:
18.40150045344936 66.85065881427937

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-0.13063922 -0.99140197  0.00745159]
 [-0.99137915  0.13055273 -0.01110744]
 [ 0.01003911 -0.00883842 -0.99991055]]

 t_estimated:
[[7.84353014e-01]
 [6.20314335e-01]
 [6.89238150e-04]]

 R_gt:
[[ 0.98281308  0.18256647  0.02734875]
 [-0.18388448  0.98124401  0.05784475]
 [-0.01627407 -0.06187986  0.99795069]]

 t_gt:
[0.17774383 0.75370714 0.63271848]

Pose Error in degrees for R and t:
176.81153533638204 52.59931434992556

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-8.63717320e-01 -5.03974722e-01 -1.36752596e-03]
 [ 5.03976289e-01 -8.63716551e-01 -1.27290575e-03]
 [-5.39642485e-04 -1.78863140e-03  9.99998255e-01]]

 t_estimated:
[[9.02356575e-01]
 [4.30989376e-01]
 [8.77778769e-04]]

 R_gt:
[[ 0.98968419 -0.1403215   0.02892338]
 [ 0.13964597  0.98990539  0.02421023]
 [-0.03202819 -0.01992137  0.99928765]]

 t_gt:
[ 0.59976791 -0.76610494  0.23100143]

Pose Error in degrees for R and t:
141.69478260470635 77.80589703739086

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.32109587 -0.60773186  0.72633286]
 [-0.92990603  0.05706619 -0.36334312]
 [ 0.17936614 -0.79208928 -0.58345724]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.9848974  -0.16953574  0.03516812]
 [ 0.16889631  0.98542203  0.02043887]
 [-0.0381211  -0.01419012  0.99917141]]

 t_gt:
[ 0.6016834  -0.77382522  0.1979182 ]

Pose Error in degrees for R and t:
159.5940679600198 89.01830515000424

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.98960526e-01  4.55826493e-02 -2.99413742e-04]
 [-4.55824069e-02  9.98960284e-01  7.71776409e-04]
 [ 3.34282050e-04 -7.57326169e-04  9.99999657e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075937e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9771151  -0.21116056  0.02570802]
 [ 0.20994953  0.97676137  0.04312522]
 [-0.03421637 -0.03674039  0.99873788]]

 t_gt:
[ 0.61081337 -0.763836    0.20847444]

Pose Error in degrees for R and t:
15.046659212558561 52.511412842392275

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 0.53976899  0.84143291  0.02530011]
 [ 0.84143085 -0.53837441 -0.04633694]
 [-0.0253685   0.04629954 -0.99860542]]

 t_estimated:
[[ 0.46366427]
 [-0.88561351]
 [ 0.02653582]]

 R_gt:
[[ 0.99901167 -0.02380929 -0.03752937]
 [ 0.02492856  0.99924857  0.0296595 ]
 [ 0.03679594 -0.0305659   0.99885538]]

 t_gt:
[ 0.4936158  -0.79010177 -0.36343175]

Pose Error in degrees for R and t:
179.51209745384574 23.22652631041837

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-0.41552176  0.90916087  0.0277161 ]
 [ 0.90917123  0.41605772 -0.01742552]
 [-0.02737409  0.017958   -0.99946394]]

 t_estimated:
[[ 0.84679449]
 [-0.53167364]
 [ 0.01619356]]

 R_gt:
[[ 0.99737237 -0.0582098  -0.04312907]
 [ 0.05884932  0.99817224  0.01371886]
 [ 0.04225233 -0.01622163  0.99897495]]

 t_gt:
[ 0.5470989  -0.75630885 -0.35871955]

Pose Error in degrees for R and t:
179.35282214378225 30.730444750491205

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-0.78788808  0.61558444 -0.01697569]
 [-0.6158165  -0.78751648  0.02424525]
 [ 0.00155636  0.02955645  0.9995619 ]]

 t_estimated:
[[ 0.76230623]
 [ 0.64717691]
 [-0.00716007]]

 R_gt:
[[ 0.99326311 -0.10509553 -0.04881108]
 [ 0.10564217  0.9943652   0.0087528 ]
 [ 0.04761666 -0.01385131  0.99876982]]

 t_gt:
[ 0.56713089 -0.77516933 -0.27834342]

Pose Error in degrees for R and t:
148.01495239788179 86.1381299575225

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.84676055  0.52779051  0.06658644]
 [ 0.53177473 -0.83635854 -0.13311662]
 [-0.01456755  0.14812689 -0.98886107]]

 t_estimated:
[[ 0.89285364]
 [ 0.45034577]
 [-0.00103759]]

 R_gt:
[[ 0.97266849  0.22784287 -0.04474691]
 [-0.22683637  0.97357322  0.02649044]
 [ 0.0496006  -0.01561652  0.99864694]]

 t_gt:
[-0.97530446  0.21896753  0.02888661]

Pose Error in degrees for R and t:
173.7404192822149 39.44606557500353

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-0.11022065 -0.99390402 -0.00249256]
 [ 0.99383483 -0.11018204 -0.01233858]
 [ 0.01198873 -0.00383716  0.99992077]]

 t_estimated:
[[0.99476542]
 [0.10216558]
 [0.00198739]]

 R_gt:
[[ 0.86300776  0.50452147 -0.02599072]
 [-0.50384807  0.86332253  0.02848521]
 [ 0.03681001 -0.01148766  0.99925583]]

 t_gt:
[-0.9198285   0.39230061  0.0039707 ]

Pose Error in degrees for R and t:
126.62164515378296 28.963772411935953

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 0.16898009  0.98560902 -0.00453637]
 [-0.98561717  0.16896798 -0.00293606]
 [-0.00212731  0.00496726  0.9999854 ]]

 t_estimated:
[[0.24646515]
 [0.96915109]
 [0.00104434]]

 R_gt:
[[ 0.71322864  0.7008459  -0.01087504]
 [-0.70083401  0.71330326  0.005467  ]
 [ 0.01158941  0.00372285  0.99992589]]

 t_gt:
[-0.84173236  0.53975045 -0.01249349]

Pose Error in degrees for R and t:
35.78179222848131 71.60120980103034

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.50469721e-01  3.10816683e-01 -5.46398053e-04]
 [-3.10815297e-01  9.50468637e-01  1.79473019e-03]
 [ 1.07716630e-03 -1.53600783e-03  9.99998240e-01]]

 t_estimated:
[[8.01642509e-01]
 [5.97803395e-01]
 [6.23361204e-04]]

 R_gt:
[[ 0.91377529 -0.40604309  0.01203971]
 [ 0.40584056  0.91380093  0.01618826]
 [-0.01757455 -0.00990501  0.99979669]]

 t_gt:
[ 0.88782586 -0.45815336  0.04313627]

Pose Error in degrees for R and t:
42.07561798930523 64.032566757806

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.06713606  0.99770335  0.00898732]
 [-0.99772014 -0.06706967 -0.00749492]
 [-0.00687493 -0.00947001  0.99993152]]

 t_estimated:
[[0.09523659]
 [0.99541509]
 [0.008876  ]]

 R_gt:
[[ 0.81515269 -0.57886388  0.02107356]
 [ 0.57841403  0.81539173  0.02395559]
 [-0.03104999 -0.00733735  0.99949098]]

 t_gt:
[ 0.92849957 -0.3690579   0.04104646]

Pose Error in degrees for R and t:
129.2099822369685 73.82486454511482

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.97244901  0.20378288 -0.11320537]
 [-0.18199924  0.96713467  0.17755787]
 [ 0.14566809 -0.15206269  0.97757749]]

 t_estimated:
[[-0.32806052]
 [-0.94465619]
 [-0.00098813]]

 R_gt:
[[ 0.67207348 -0.73740761 -0.06744249]
 [ 0.73933496  0.6733144   0.00563093]
 [ 0.04125847 -0.05364623  0.99770778]]

 t_gt:
[ 0.96787108 -0.25024477  0.02455876]

Pose Error in degrees for R and t:
59.401012628637915 85.34537064733269

Number of keypoints:
Image1: 390
Image2: 390

 R_estimated:
[[ 9.99687458e-01 -2.49995825e-02 -9.04072306e-05]
 [ 2.49995794e-02  9.99687461e-01 -3.46786099e-05]
 [ 9.12459256e-05  3.24076286e-05  9.99999995e-01]]

 t_estimated:
[[-0.21381024]
 [-0.97687431]
 [-0.00132806]]

 R_gt:
[[ 0.99802661  0.06113375 -0.01431096]
 [-0.06189678  0.99621745 -0.06098855]
 [ 0.01052772  0.06175414  0.99803514]]

 t_gt:
[-0.35902963  0.5792725  -0.73180673]

Pose Error in degrees for R and t:
6.124032952843637 60.78157608846039

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.99919589  0.03884661 -0.00992541]
 [-0.03876205  0.99921167  0.00857519]
 [ 0.01025071 -0.00818357  0.99991397]]

 t_estimated:
[[-0.49087306]
 [-0.87123062]
 [-0.00092096]]

 R_gt:
[[ 0.97278309  0.22854039 -0.03823567]
 [-0.23081497  0.97025544 -0.07299112]
 [ 0.02041774  0.07983003  0.99659908]]

 t_gt:
[-0.52023507  0.78912557 -0.32655213]

Pose Error in degrees for R and t:
12.158248913731889 64.41559724133614

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.72427911e-01 -2.33201974e-01 -8.93022876e-04]
 [ 2.33202142e-01  9.72428277e-01  8.78506085e-05]
 [ 8.47913761e-04 -2.93683231e-04  9.99999597e-01]]

 t_estimated:
[[-0.60157614]
 [-0.79881422]
 [-0.00140884]]

 R_gt:
[[ 0.87318786  0.47589584 -0.10519661]
 [-0.48113614  0.87612498 -0.03020479]
 [ 0.07779072  0.0769891   0.99399198]]

 t_gt:
[-0.41075043  0.88096017 -0.23493245]

Pose Error in degrees for R and t:
42.60714521882592 62.851720108544036

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.99726513e-01 -2.33535751e-02  1.22911211e-03]
 [ 2.33535944e-02  9.99727268e-01 -1.35314691e-06]
 [-1.22874529e-03  3.00569625e-05  9.99999245e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99910946  0.04196418  0.00433164]
 [-0.04192179  0.99907647 -0.00938277]
 [-0.00472061  0.00919382  0.99994658]]

 t_gt:
[-0.88425922  0.46693125 -0.00779939]

Pose Error in degrees for R and t:
3.7846340622642494 84.61047204366092

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 0.98386899  0.17888371  0.00156144]
 [-0.17887068  0.98385237 -0.00630819]
 [-0.00266466  0.00592714  0.99997888]]

 t_estimated:
[[0.14337856]
 [0.98966174]
 [0.00349704]]

 R_gt:
[[ 0.98542695  0.1686667   0.02201255]
 [-0.16668258  0.98332644 -0.07270652]
 [-0.03390818  0.06797811  0.99711031]]

 t_gt:
[-0.71178895  0.69878946 -0.07106174]

Pose Error in degrees for R and t:
4.035631961231525 53.89538617707392

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 4.01464086e-01  9.15874766e-01 -2.15335885e-06]
 [ 9.15846223e-01 -4.01451556e-01  7.89579185e-03]
 [ 7.23069204e-03 -3.17184900e-03 -9.99968828e-01]]

 t_estimated:
[[-0.81645241]
 [-0.57740103]
 [-0.00367771]]

 R_gt:
[[ 0.95631328  0.29202245  0.01369523]
 [-0.28988293  0.95328778 -0.08491491]
 [-0.03785226  0.07723644  0.99629354]]

 t_gt:
[-0.64414961  0.76347342 -0.0466864 ]

Pose Error in degrees for R and t:
175.6570462442057 85.10908952012188

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-6.95782151e-01 -7.18250592e-01  1.81275337e-03]
 [-7.18251685e-01  6.95783380e-01  6.73884934e-05]
 [-1.30968549e-03 -1.25512545e-03 -9.99998355e-01]]

 t_estimated:
[[0.91396914]
 [0.40577911]
 [0.00193228]]

 R_gt:
[[ 0.99982447 -0.01849085  0.00289152]
 [ 0.01856896  0.99938808 -0.02964912]
 [-0.00234103  0.02969769  0.99955672]]

 t_gt:
[ 0.44812037 -0.62003981 -0.64400215]

Pose Error in degrees for R and t:
179.5734383261511 80.98316923339873

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999998e-01 -3.82058728e-05  4.98439773e-05]
 [ 3.82088661e-05  9.99999997e-01 -6.00530214e-05]
 [-4.98416828e-05  6.00549257e-05  9.99999997e-01]]

 t_estimated:
[[0.93793273]
 [0.34681301]
 [0.00170844]]

 R_gt:
[[ 0.99074401  0.04713454  0.12729354]
 [-0.03985057  0.99745213 -0.05917699]
 [-0.12975912  0.05355614  0.99009804]]

 t_gt:
[-0.40823557  0.45971271  0.7886748 ]

Pose Error in degrees for R and t:
8.445808565380304 77.16666859117154

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.9376397   0.26538227 -0.22450847]
 [-0.05057833  0.74314969  0.66721089]
 [ 0.34390934 -0.61424815  0.71022924]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.96352274  0.16947325  0.20713151]
 [-0.14985573  0.98289057 -0.10709693]
 [-0.22173764  0.07215094  0.97243331]]

 t_gt:
[-0.39518511  0.67861225  0.61912368]

Pose Error in degrees for R and t:
55.30059531687671 77.90756268770998

Number of keypoints:
Image1: 435
Image2: 435

 R_estimated:
[[ 9.97879221e-01 -6.50927113e-02  1.08341500e-06]
 [ 6.50927112e-02  9.97879220e-01  3.39154387e-05]
 [-3.28876518e-06 -3.37729891e-05  9.99999999e-01]]

 t_estimated:
[[0.82202692]
 [0.56944767]
 [0.00104181]]

 R_gt:
[[ 0.99913783  0.00165081  0.0415033 ]
 [-0.00399948  0.9983892   0.05659454]
 [-0.04134339 -0.05671103  0.99753372]]

 t_gt:
[-0.09617811  0.03748946  0.99465789]

Pose Error in degrees for R and t:
5.5982812354377245 86.75093667200261

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[-9.31739211e-01 -3.63128094e-01 -1.73480359e-04]
 [-3.63127971e-01  9.31739138e-01 -5.05840205e-04]
 [ 3.45323229e-04 -4.08315582e-04 -9.99999857e-01]]

 t_estimated:
[[9.49140865e-01]
 [3.14850403e-01]
 [9.17931204e-04]]

 R_gt:
[[ 0.99630092 -0.08479349  0.01397369]
 [ 0.08254309  0.98945972  0.1189783 ]
 [-0.02391459 -0.11738444  0.99279809]]

 t_gt:
[ 0.38558789 -0.45389779  0.80330491]

Pose Error in degrees for R and t:
177.69229005705296 77.06739979141105

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[-0.21955888 -0.97559676 -0.00220256]
 [-0.97559663  0.21956297 -0.00182317]
 [ 0.00226228  0.00174851 -0.99999591]]

 t_estimated:
[[7.82293131e-01]
 [6.22910044e-01]
 [7.31115075e-04]]

 R_gt:
[[ 0.97306777 -0.2304006  -0.00738988]
 [ 0.22895024  0.96220803  0.14743335]
 [-0.02685799 -0.14515396  0.9890443 ]]

 t_gt:
[ 0.57522    -0.61422898  0.54022654]

Pose Error in degrees for R and t:
174.43473556199322 86.11372958670482

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999996e-01 -8.51510252e-05  3.98579004e-05]
 [ 8.51481506e-05  9.99999994e-01  7.21170655e-05]
 [-3.98640410e-05 -7.21136714e-05  9.99999997e-01]]

 t_estimated:
[[0.80210294]
 [0.59718411]
 [0.00141491]]

 R_gt:
[[ 0.99689507 -0.00291689  0.07868214]
 [ 0.00232849  0.99996964  0.00757223]
 [-0.07870315 -0.00736533  0.99687129]]

 t_gt:
[0.15070754 0.26118457 0.95345155]

Pose Error in degrees for R and t:
4.5330613333466445 73.8467608387181

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99996229e-01 -6.34821388e-04  2.67188780e-03]
 [ 6.44395655e-04  9.99993370e-01 -3.58400016e-03]
 [-2.66959489e-03  3.58570839e-03  9.99990008e-01]]

 t_estimated:
[[-7.43545486e-01]
 [-6.68685139e-01]
 [-5.43927183e-04]]

 R_gt:
[[ 0.99505021 -0.02430509  0.09635114]
 [ 0.0202045   0.99885781  0.04330467]
 [-0.09729425 -0.04114343  0.9944046 ]]

 t_gt:
[0.17799804 0.06172446 0.98209307]

Pose Error in degrees for R and t:
6.137812792738186 79.97033410202015

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.81264933e-01  1.92659187e-01  1.25296176e-03]
 [-1.92659344e-01  9.81265702e-01  4.70070810e-06]
 [-1.22858277e-03 -2.46007431e-04  9.99999215e-01]]

 t_estimated:
[[-0.13834768]
 [ 0.99037466]
 [ 0.00423629]]

 R_gt:
[[ 0.99050214 -0.12955434  0.0460528 ]
 [ 0.12420401  0.9867399   0.10448763]
 [-0.05897919 -0.09777507  0.99345929]]

 t_gt:
[ 0.53259705 -0.39743119  0.74725419]

Pose Error in degrees for R and t:
19.530839435561 62.34647146413353

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99994223e-01 -3.39354650e-03  1.93482233e-04]
 [ 3.39353560e-03  9.99994240e-01  5.66692225e-05]
 [-1.93673428e-04 -5.60123062e-05  9.99999980e-01]]

 t_estimated:
[[-9.99835647e-01]
 [ 1.81287645e-02]
 [ 1.65296343e-04]]

 R_gt:
[[ 9.89974269e-01  1.41249512e-01  1.61059831e-04]
 [-1.41092854e-01  9.88926671e-01 -4.60159015e-02]
 [-6.65858504e-03  4.55324711e-02  9.98940968e-01]]

 t_gt:
[-0.65185563  0.7441174  -0.14619692]

Pose Error in degrees for R and t:
8.722561709767463 48.30123546591327

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 8.02224220e-01 -5.97022860e-01 -7.07107386e-05]
 [ 5.97021519e-01  8.02222155e-01  2.21806345e-03]
 [-1.26750886e-03 -1.82160005e-03  9.99997538e-01]]

 t_estimated:
[[ 0.08303594]
 [-0.99654198]
 [ 0.00301778]]

 R_gt:
[[ 9.71649646e-01  2.36425252e-01  4.88363040e-04]
 [-2.35933500e-01  9.69755386e-01 -6.25396041e-02]
 [-1.52591908e-02  6.06511960e-02  9.98042151e-01]]

 t_gt:
[-0.62721397  0.77218296 -0.1016667 ]

Pose Error in degrees for R and t:
50.45971184291209 34.72446919384801

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.98512172e-01  5.45285949e-02 -2.74393589e-04]
 [-5.45292823e-02  9.98501127e-01 -4.69655996e-03]
 [ 1.78854929e-05  4.70453477e-03  9.99988933e-01]]

 t_estimated:
[[-0.23433438]
 [ 0.97214866]
 [-0.0037926 ]]

 R_gt:
[[ 0.96886916  0.24293341 -0.04771433]
 [-0.24543963  0.96776322 -0.05651431]
 [ 0.03244738  0.06646523  0.99726107]]

 t_gt:
[-0.60897842  0.74708035 -0.26648872]

Pose Error in degrees for R and t:
11.732873480592106 29.542705621842018

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.40762319 -0.91060192  0.06817239]
 [-0.91275413 -0.408508    0.00104993]
 [ 0.0268929  -0.06265261 -0.997673  ]]

 t_estimated:
[[0.02848575]
 [0.99959084]
 [0.00258961]]

 R_gt:
[[ 0.99767713 -0.00656417 -0.0678063 ]
 [ 0.0011813   0.99686445 -0.07912657]
 [ 0.06811274  0.07886281  0.99455571]]

 t_gt:
[ 0.2728593   0.12731216 -0.9535929 ]

Pose Error in degrees for R and t:
176.24562130679504 82.38226280542054

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.71179645 -0.702357   -0.0063611 ]
 [-0.70238396  0.71178616  0.0041522 ]
 [ 0.00161142  0.00742346 -0.99997115]]

 t_estimated:
[[0.55014211]
 [0.83506913]
 [0.00179199]]

 R_gt:
[[ 0.98180457  0.1406441  -0.12758716]
 [-0.14893194  0.98715225 -0.05788188]
 [ 0.11780689  0.07583086  0.99013732]]

 t_gt:
[-0.7451732   0.22313987 -0.62843098]

Pose Error in degrees for R and t:
171.72221778531159 77.01240516129401

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-1.12780708e-01 -9.93619706e-01  6.26234829e-04]
 [-9.93584765e-01  1.12781998e-01  8.33876330e-03]
 [-8.35618755e-03  3.18234244e-04 -9.99965036e-01]]

 t_estimated:
[[0.99372388]
 [0.11185636]
 [0.00099872]]

 R_gt:
[[ 0.90385472  0.40053806 -0.15038376]
 [-0.40907208  0.91202455 -0.02953138]
 [ 0.12532534  0.0882104   0.98818635]]

 t_gt:
[-0.90051765  0.34079045 -0.27005523]

Pose Error in degrees for R and t:
171.91551439464678 31.016824196953184

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999924e-01  1.22585282e-04  3.69644615e-04]
 [-1.22426247e-04  9.99999900e-01 -4.30230854e-04]
 [-3.69697318e-04  4.30185568e-04  9.99999839e-01]]

 t_estimated:
[[-9.99870238e-01]
 [ 1.61091875e-02]
 [ 2.82141330e-05]]

 R_gt:
[[ 0.9761911  -0.2162979  -0.01632785]
 [ 0.21600504  0.97622759 -0.01794855]
 [ 0.01982182  0.01399443  0.99970469]]

 t_gt:
[ 0.85048716 -0.51592537 -0.1024334 ]

Pose Error in degrees for R and t:
12.568844774251856 30.830094813444283

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-9.57263442e-01  2.64434528e-01  1.17137024e-01]
 [-2.66185828e-01 -9.63921464e-01  7.18434106e-04]
 [ 1.13100870e-01 -3.04924850e-02  9.93115503e-01]]

 t_estimated:
[[0.70300319]
 [0.7111863 ]
 [0.00074392]]

 R_gt:
[[ 0.89127652 -0.44587712 -0.08259053]
 [ 0.44298442  0.89504564 -0.05156447]
 [ 0.09691381  0.00937186  0.99524815]]

 t_gt:
[ 0.91401321 -0.38380615 -0.13142565]

Pose Error in degrees for R and t:
168.8726691278347 68.31529223059243

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999923e-01  8.17765110e-05 -3.84603961e-04]
 [-8.15958266e-05  9.99999886e-01  4.69785393e-04]
 [ 3.84642335e-04 -4.69753974e-04  9.99999816e-01]]

 t_estimated:
[[9.23826665e-01]
 [3.82810162e-01]
 [8.19721975e-04]]

 R_gt:
[[ 0.76649673 -0.64082388 -0.04276871]
 [ 0.63495057  0.76611475 -0.09953734]
 [ 0.09655192  0.0491384   0.99411396]]

 t_gt:
[ 0.95050651 -0.28169367 -0.13109558]

Pose Error in degrees for R and t:
40.24380537545478 39.6316876753355

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 9.93027830e-01  1.17879883e-01  2.48648394e-04]
 [-1.17879866e-01  9.93027860e-01 -8.20758499e-05]
 [-2.56589874e-04  5.21929637e-05  9.99999966e-01]]

 t_estimated:
[[0.15613725]
 [0.98773383]
 [0.00174279]]

 R_gt:
[[ 0.99923263 -0.03911117  0.00240293]
 [ 0.0391158   0.99923257 -0.00200152]
 [-0.00232173  0.00209401  0.99999478]]

 t_gt:
[ 0.49227844 -0.8703549  -0.01201166]

Pose Error in degrees for R and t:
9.012859844508888 38.47894064998382

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 6.70959205e-01  7.41492954e-01  1.39458715e-03]
 [-7.41492052e-01  6.70960611e-01 -1.18127506e-03]
 [-1.81162017e-03 -2.41487913e-04  9.99998330e-01]]

 t_estimated:
[[-0.10686731]
 [ 0.99427094]
 [ 0.00216227]]

 R_gt:
[[ 0.99660874 -0.08031616 -0.01792953]
 [ 0.08058343  0.99664017  0.01470761]
 [ 0.01668916 -0.01610201  0.99973083]]

 t_gt:
[ 0.5307983  -0.84633751 -0.04433948]

Pose Error in degrees for R and t:
52.49198880157794 26.063239610128946

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 5.88564758e-01  8.08443863e-01  3.16948341e-03]
 [ 8.08446069e-01 -5.88569661e-01  8.40956182e-04]
 [ 2.54532764e-03  2.06739923e-03 -9.99994624e-01]]

 t_estimated:
[[7.61069715e-01]
 [6.48669739e-01]
 [6.77108287e-04]]

 R_gt:
[[ 0.99373475 -0.10701606 -0.03224856]
 [ 0.10795775  0.99373173  0.0290204 ]
 [ 0.02894153 -0.03232019  0.99905862]]

 t_gt:
[ 0.52296062 -0.85122156 -0.04397785]

Pose Error in degrees for R and t:
177.68361445139567 81.13064472838222

Number of keypoints:
Image1: 502
Image2: 502

 R_estimated:
[[ 9.95383900e-01  9.59733471e-02 -9.48911056e-05]
 [-9.59733364e-02  9.95383899e-01  1.11186401e-04]
 [ 1.05124010e-04 -1.01566137e-04  9.99999989e-01]]

 t_estimated:
[[8.02298825e-01]
 [5.96922146e-01]
 [7.38765033e-04]]

 R_gt:
[[ 0.99977294  0.00706658 -0.02006962]
 [-0.00703012  0.99997386  0.00189156]
 [ 0.02008286 -0.00174906  0.99979662]]

 t_gt:
[ 0.61994254  0.24782311 -0.74448301]

Pose Error in degrees for R and t:
5.231233849146407 49.85229603824553

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 0.93029937  0.36679974  0.00101199]
 [-0.36677829  0.93026867 -0.00859619]
 [-0.0040945   0.00762586  0.99996254]]

 t_estimated:
[[0.86009709]
 [0.51012655]
 [0.00197723]]

 R_gt:
[[ 0.99663145  0.07636756 -0.02987398]
 [-0.0765147   0.99706134 -0.0038385 ]
 [ 0.0294929   0.00611222  0.99954606]]

 t_gt:
[ 0.31068755  0.8466114  -0.43211386]

Pose Error in degrees for R and t:
17.23323952649106 45.71354959722209

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 9.99999940e-01 -1.03304308e-04 -3.30185438e-04]
 [ 1.03389991e-04  9.99999961e-01  2.59493243e-04]
 [ 3.30158619e-04 -2.59527366e-04  9.99999912e-01]]

 t_estimated:
[[-0.79296361]
 [-0.60926792]
 [-0.00114575]]

 R_gt:
[[ 0.99403722  0.10900899 -0.00268603]
 [-0.10895309  0.99391964  0.01590482]
 [ 0.00440402 -0.01551637  0.99987007]]

 t_gt:
[0.53370134 0.84244289 0.07384345]

Pose Error in degrees for R and t:
6.327922933535553 20.51773009633857

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.99515449  0.08065502  0.05623447]
 [-0.07959463  0.9966092  -0.02085158]
 [-0.05772557  0.01627458  0.99819983]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99210001  0.12500576  0.01053909]
 [-0.12300278  0.98582669 -0.11408509]
 [-0.02465093  0.11188813  0.99341548]]

 t_gt:
[-0.27370713  0.89258038 -0.35830808]

Pose Error in degrees for R and t:
6.411248902967018 73.47373798854335

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.34595025  0.60571508  0.71653867]
 [ 0.40548127  0.59217613 -0.6963565 ]
 [-0.84611073  0.53144771 -0.04074263]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99048017  0.13765057  0.00115332]
 [-0.13502396  0.9731394  -0.18646049]
 [-0.02678781  0.18453007  0.98246174]]

 t_gt:
[-0.19119491  0.84104345 -0.50605377]

Pose Error in degrees for R and t:
85.44221524031872 72.93194267174619

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999615e-01  7.50449646e-04 -4.55311941e-04]
 [-7.50251649e-04  9.99999624e-01  4.34874659e-04]
 [ 4.55638121e-04 -4.34532893e-04  9.99999802e-01]]

 t_estimated:
[[-1.24690439e-01]
 [-9.92195691e-01]
 [-6.93077348e-05]]

 R_gt:
[[ 0.99191357  0.12177678 -0.03575178]
 [-0.12690819  0.95494523 -0.26828064]
 [ 0.00147072  0.27064855  0.96267734]]

 t_gt:
[-0.10851958  0.73721578 -0.6668856 ]

Pose Error in degrees for R and t:
17.301648228812 44.119884079532376

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99323999e-01 -3.67633502e-02  4.53469606e-05]
 [ 3.67633400e-02  9.99323978e-01  2.06995890e-04]
 [-5.29261675e-05 -2.05188855e-04  9.99999978e-01]]

 t_estimated:
[[0.74176693]
 [0.67065677]
 [0.00114843]]

 R_gt:
[[ 0.99946118 -0.03250868 -0.00470526]
 [ 0.03223111  0.99820642 -0.05043317]
 [ 0.00633583  0.05025416  0.99871637]]

 t_gt:
[ 0.16230095  0.66909341 -0.72523955]

Pose Error in degrees for R and t:
2.9261947380458895 55.36902810682893

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.57684300e-01  2.87820678e-01  1.96648480e-04]
 [-2.87820300e-01  9.57683797e-01 -1.10453894e-03]
 [-5.06236209e-04  1.00120018e-03  9.99999371e-01]]

 t_estimated:
[[0.38263465]
 [0.92389924]
 [0.00096139]]

 R_gt:
[[ 0.99983758 -0.01310339 -0.01241215]
 [ 0.01178954  0.99485244 -0.10064085]
 [ 0.01366742  0.10047895  0.99484587]]

 t_gt:
[-0.014456    0.8104499  -0.58562956]

Pose Error in degrees for R and t:
18.362412594908697 42.03981528410598

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-7.91878526e-01 -6.10676701e-01 -1.53834100e-03]
 [ 6.10678499e-01 -7.91877536e-01 -1.31867367e-03]
 [-4.12894391e-04 -1.98366114e-03  9.99997947e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99366517 -0.11233757 -0.00335662]
 [ 0.11049728  0.98196584 -0.15340201]
 [ 0.02052868  0.15205894  0.98815819]]

 t_gt:
[ 0.56811592  0.60939887 -0.55306177]

Pose Error in degrees for R and t:
136.06790008173294 55.279483092473434

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.75172886e-01 -2.21444757e-01 -2.49451929e-04]
 [ 2.21444860e-01  9.75172756e-01  5.19262781e-04]
 [ 1.28270704e-04 -5.61610832e-04  9.99999834e-01]]

 t_estimated:
[[-0.90418599]
 [-0.42713784]
 [-0.00098127]]

 R_gt:
[[ 0.99343741  0.07332508 -0.08777957]
 [-0.08184648  0.99183643 -0.0977797 ]
 [ 0.07989387  0.10432197  0.99132975]]

 t_gt:
[-0.20709668  0.63393847 -0.74513957]

Pose Error in degrees for R and t:
18.83756641170843 85.25081658456114

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.32300517e-01 -3.61684345e-01  4.25398541e-04]
 [ 3.61684271e-01  9.32300611e-01  2.41775472e-04]
 [-4.84045723e-04 -7.15474364e-05  9.99999880e-01]]

 t_estimated:
[[-0.34465838]
 [-0.93872767]
 [-0.00098193]]

 R_gt:
[[ 0.98684085  0.1099712  -0.1185413 ]
 [-0.12551637  0.9831585  -0.13283517]
 [ 0.10193704  0.14596534  0.98402379]]

 t_gt:
[-0.21261845  0.68917234 -0.69270115]

Pose Error in degrees for R and t:
29.810962720946915 55.04141175479126

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.90044380e-01 -1.40755396e-01  2.08428915e-04]
 [ 1.40755093e-01  9.90043852e-01  1.08352847e-03]
 [-3.58866245e-04 -1.04340384e-03  9.99999391e-01]]

 t_estimated:
[[0.03240183]
 [0.99947182]
 [0.00249245]]

 R_gt:
[[ 0.99022585  0.07941328 -0.1146629 ]
 [-0.09851378  0.98017425 -0.17190721]
 [ 0.09873808  0.18152276  0.9784175 ]]

 t_gt:
[-0.12406728  0.65993583 -0.74100743]

Pose Error in degrees for R and t:
17.85035053408358 49.17731014415246

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.93054841 -0.36615975  0.00258941]
 [-0.36615188  0.93055007  0.00306057]
 [-0.00353023  0.0018999  -0.99999196]]

 t_estimated:
[[0.99987749]
 [0.01553208]
 [0.00194151]]

 R_gt:
[[ 0.99116834 -0.09597885  0.09150078]
 [ 0.07774596  0.97959082  0.18535344]
 [-0.10742327 -0.17660215  0.97840216]]

 t_gt:
[ 0.30715387 -0.31250059  0.89888813]

Pose Error in degrees for R and t:
172.23082498017877 72.30152768668536

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.33742857  0.94134803  0.0024168 ]
 [-0.94134943  0.33743173 -0.00103578]
 [-0.00179053 -0.00192556  0.99999654]]

 t_estimated:
[[0.30892569]
 [0.95108439]
 [0.00184237]]

 R_gt:
[[ 0.98799719 -0.09402477  0.12255502]
 [ 0.06924697  0.97881085  0.19269583]
 [-0.1380761  -0.18189716  0.97357466]]

 t_gt:
[ 0.29110866 -0.21872549  0.93135112]

Pose Error in degrees for R and t:
75.9885952390702 83.31679747431296

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.34450528  0.93878277  0.00173999]
 [ 0.93878324  0.34450138  0.00219483]
 [ 0.00146104  0.00238961 -0.99999608]]

 t_estimated:
[[-0.01490516]
 [-0.99988814]
 [-0.0012421 ]]

 R_gt:
[[ 0.99174448 -0.06330008  0.11151748]
 [ 0.04103761  0.9806029   0.19165458]
 [-0.12148601 -0.18549655  0.97510602]]

 t_gt:
[ 0.22460815 -0.07026303  0.97191269]

Pose Error in degrees for R and t:
179.29830694352373 86.23294601553117

Number of keypoints:
Image1: 410
Image2: 410

 R_estimated:
[[ 9.98843038e-01 -4.80893231e-02  4.87391478e-05]
 [ 4.80893249e-02  9.98843038e-01 -3.64498911e-05]
 [-4.69299079e-05  3.87515527e-05  9.99999998e-01]]

 t_estimated:
[[-0.08893182]
 [-0.9960364 ]
 [-0.00161694]]

 R_gt:
[[ 0.99929415 -0.03449168  0.01488346]
 [ 0.0348512   0.99908973 -0.02462023]
 [-0.01402032  0.02512143  0.99958673]]

 t_gt:
[-0.31246758 -0.94928012 -0.0350894 ]

Pose Error in degrees for R and t:
1.815127189520569 13.254162538526392

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 9.69404240e-01 -2.45469764e-01 -1.22706633e-04]
 [ 2.45469792e-01  9.69404176e-01  3.52336833e-04]
 [ 3.24642829e-05 -3.71677592e-04  9.99999930e-01]]

 t_estimated:
[[9.97833181e-01]
 [6.57885595e-02]
 [8.99518645e-04]]

 R_gt:
[[ 0.99613079 -0.0215374   0.08520046]
 [ 0.02532609  0.99872664 -0.04363436]
 [-0.08415274  0.04562282  0.99540848]]

 t_gt:
[-0.76904194 -0.14263188  0.62308157]

Pose Error in degrees for R and t:
13.988366542622083 39.08616850517747

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[-0.23975235 -0.9708325   0.00174918]
 [-0.97083222  0.23974798 -0.00238746]
 [ 0.00189846 -0.00227055 -0.99999562]]

 t_estimated:
[[0.68544762]
 [0.7281214 ]
 [0.00088904]]

 R_gt:
[[ 0.99301157 -0.06620975  0.09769197]
 [ 0.06934321  0.99717074 -0.02902745]
 [-0.09549391  0.0355988   0.99479315]]

 t_gt:
[-0.49724725 -0.56967867  0.65437863]

Pose Error in degrees for R and t:
176.78895436389746 40.970226141955735

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99900432e-01 -1.41111567e-02 -2.52882939e-05]
 [ 1.41111535e-02  9.99900425e-01 -1.20967424e-04]
 [ 2.69927661e-05  1.20598532e-04  9.99999992e-01]]

 t_estimated:
[[ 0.66242998]
 [-0.74911996]
 [-0.00241078]]

 R_gt:
[[ 0.99671921  0.07916793  0.01686415]
 [-0.0791981   0.99685845  0.00112112]
 [-0.01672188 -0.0024533   0.99985778]]

 t_gt:
[-0.60384238  0.78335166  0.14742648]

Pose Error in degrees for R and t:
5.437327351551549 9.18321329339752

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 1.00000000e+00 -3.24956195e-13  2.47102107e-16]
 [ 3.24837544e-13  1.00000000e+00 -8.82540568e-16]
 [-2.47582610e-16  8.82106888e-16  1.00000000e+00]]

 t_estimated:
[[-1.00000000e+00]
 [-2.93975037e-13]
 [ 5.85557883e-16]]

 R_gt:
[[ 0.98948341  0.14380347 -0.01562076]
 [-0.14367261  0.98958226  0.0092515 ]
 [ 0.01678845 -0.00691083  0.99983584]]

 t_gt:
[-5.82912865e-01  8.12534600e-01 -3.41176625e-04]

Pose Error in degrees for R and t:
8.32972748833265 54.344320081687556

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 8.64039458e-01  5.03423583e-01  7.15089507e-04]
 [-5.03423007e-01  8.64039674e-01 -8.47785081e-04]
 [-1.04466071e-03  3.72527252e-04  9.99999385e-01]]

 t_estimated:
[[0.01066289]
 [0.99994245]
 [0.00118477]]

 R_gt:
[[ 0.98354478  0.14385474 -0.10930224]
 [-0.14630288  0.98913115 -0.01468269]
 [ 0.10600239  0.0304323   0.99390025]]

 t_gt:
[-0.4277164   0.79248582 -0.43476995]

Pose Error in degrees for R and t:
22.759277309340195 38.06011047052258

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 1.00000000e+00 -1.13874014e-12  5.56412555e-16]
 [ 1.13874708e-12  1.00000000e+00  4.72380110e-16]
 [-5.33644309e-16 -2.24891483e-15  1.00000000e+00]]

 t_estimated:
[[0.99996661]
 [0.00809239]
 [0.00113617]]

 R_gt:
[[ 0.99703694 -0.03255686  0.06970975]
 [ 0.02676617  0.99623563  0.08244876]
 [-0.07213181 -0.08033934  0.99415373]]

 t_gt:
[ 0.18091664 -0.19633664  0.96370177]

Pose Error in degrees for R and t:
6.428091644660521 79.60596776650367

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.99597079  0.08616735 -0.02484711]
 [-0.08534565  0.9958236   0.03242646]
 [ 0.02753744 -0.03017521  0.99916522]]

 t_estimated:
[[-0.71652858]
 [-0.69755735]
 [-0.00072966]]

 R_gt:
[[ 0.99740892  0.01462461  0.07043919]
 [-0.02124276  0.995332    0.09413392]
 [-0.06873445 -0.09538737  0.99306418]]

 t_gt:
[-0.09302745  0.24260474  0.96565462]

Pose Error in degrees for R and t:
7.658202774353352 84.07200776235807

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-7.92071356e-02 -9.96858117e-01 -3.53494568e-04]
 [-9.96857863e-01  7.92073882e-02 -7.69120852e-04]
 [ 7.94703745e-04  2.91463980e-04 -9.99999642e-01]]

 t_estimated:
[[0.73874903]
 [0.6739801 ]
 [0.00083807]]

 R_gt:
[[ 0.99841811  0.00270698  0.0561677 ]
 [-0.00809961  0.99534715  0.09600774]
 [-0.05564551 -0.0963112   0.99379447]]

 t_gt:
[0.01010712 0.31273905 0.94978531]

Pose Error in degrees for R and t:
173.9409832117772 77.34719902749086

Number of keypoints:
Image1: 372
Image2: 372

 R_estimated:
[[ 9.99890951e-01  1.47668938e-02  1.55786945e-04]
 [-1.47669132e-02  9.99890955e-01  1.24487380e-04]
 [-1.53931665e-04 -1.26774297e-04  9.99999980e-01]]

 t_estimated:
[[0.71595156]
 [0.69814952]
 [0.000774  ]]

 R_gt:
[[ 0.99422395 -0.10101169  0.03628694]
 [ 0.10017287  0.99467465  0.0242276 ]
 [-0.03854063 -0.020452    0.99904808]]

 t_gt:
[ 0.34430658 -0.78706448  0.51184225]

Pose Error in degrees for R and t:
7.073944081080762 72.38702798765759

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[-0.85999518 -0.51012454  0.01346271]
 [-0.51009924  0.86009791  0.005509  ]
 [-0.01438952 -0.0021296  -0.9998942 ]]

 t_estimated:
[[0.95779019]
 [0.28735647]
 [0.00801265]]

 R_gt:
[[ 0.98742325 -0.15156624  0.044995  ]
 [ 0.15146071  0.98844632  0.00575958]
 [-0.0453477   0.00112815  0.99897059]]

 t_gt:
[ 0.4053335  -0.84518966  0.34836645]

Pose Error in degrees for R and t:
176.6284154666905 81.48055399580065

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.99369238  0.04976098 -0.10049522]
 [-0.03648963  0.99086506  0.1298266 ]
 [ 0.10603751 -0.12534067  0.98643082]]

 t_estimated:
[[-0.06901734]
 [-0.99761423]
 [-0.00156858]]

 R_gt:
[[ 0.982172   -0.15540907  0.10576671]
 [ 0.15786396  0.98734351 -0.01519844]
 [-0.10206594  0.03162525  0.99427552]]

 t_gt:
[ 0.12606194 -0.80703435  0.57689162]

Pose Error in degrees for R and t:
18.71948653780141 37.29715276543072

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999963e-01 -2.60043820e-04  8.28670938e-05]
 [ 2.60041438e-04  9.99999966e-01  2.87566594e-05]
 [-8.28745689e-05 -2.87351095e-05  9.99999996e-01]]

 t_estimated:
[[9.35402688e-01]
 [3.53583036e-01]
 [9.21014434e-04]]

 R_gt:
[[ 0.99815809 -0.05066855  0.03336667]
 [ 0.05111209  0.99861499 -0.01254558]
 [-0.03268408  0.01422781  0.99936443]]

 t_gt:
[ 0.60029149 -0.7561225   0.26063173]

Pose Error in degrees for R and t:
3.5470742653743907 72.87830422444134

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.79967821e-01  1.99155844e-01  1.43366861e-04]
 [-1.99155866e-01  9.79967814e-01  1.59213267e-04]
 [-1.08786656e-04 -1.84576230e-04  9.99999977e-01]]

 t_estimated:
[[0.90116097]
 [0.43348368]
 [0.00090252]]

 R_gt:
[[ 0.99874905 -0.02538463  0.04308473]
 [ 0.02721391  0.9987316  -0.04238347]
 [-0.04195313  0.04350223  0.99817211]]

 t_gt:
[ 0.43958129 -0.89686153  0.04906808]

Pose Error in degrees for R and t:
13.448403632554076 89.57583833295763

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 8.32567592e-01 -5.53923393e-01 -2.81482223e-04]
 [ 5.53923464e-01  8.32567465e-01  4.60395992e-04]
 [-2.06711694e-05 -5.39230391e-04  9.99999854e-01]]

 t_estimated:
[[ 9.63538855e-01]
 [-2.67567549e-01]
 [ 6.93797565e-04]]

 R_gt:
[[ 0.99575064  0.0212873   0.08959732]
 [-0.01345839  0.99611055 -0.0870799 ]
 [-0.09110269  0.08550315  0.99216444]]

 t_gt:
[-0.69987075 -0.47229001  0.53583867]

Pose Error in degrees for R and t:
35.354889618195784 56.796699782036285

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.89627260e-01 -1.43657327e-01  6.76983609e-04]
 [ 1.43657269e-01  9.89627491e-01  1.33290591e-04]
 [-6.89109760e-04 -3.46543864e-05  9.99999762e-01]]

 t_estimated:
[[0.94477944]
 [0.32770093]
 [0.001978  ]]

 R_gt:
[[ 0.9975202  -0.06954001  0.01090241]
 [ 0.07017874  0.99450926 -0.07763049]
 [-0.00544303  0.07820355  0.99692186]]

 t_gt:
[ 0.52021981  0.28352999 -0.80559425]

Pose Error in degrees for R and t:
6.185054790373682 54.35139303776507

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 3.24270452e-01  9.45964413e-01 -5.70353403e-05]
 [-9.45961744e-01  3.24269393e-01 -2.39556738e-03]
 [-2.24762667e-03  8.30764967e-04  9.99997129e-01]]

 t_estimated:
[[0.38213088]
 [0.92410737]
 [0.00124879]]

 R_gt:
[[ 0.99854479 -0.05345341 -0.00713518]
 [ 0.0522308   0.99154809 -0.11876253]
 [ 0.01342407  0.11821638  0.99289671]]

 t_gt:
[ 0.12541076  0.66083706 -0.73997738]

Pose Error in degrees for R and t:
74.37736190895026 48.87654755345375

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.38049534  0.92478087  0.0019099 ]
 [ 0.92477972 -0.38049861  0.00181164]
 [ 0.00240208  0.00107691 -0.99999654]]

 t_estimated:
[[0.6171615 ]
 [0.7868343 ]
 [0.00186454]]

 R_gt:
[[ 0.99515331 -0.09828224 -0.0032176 ]
 [ 0.09637725  0.98131264 -0.1665408 ]
 [ 0.01952577  0.16542363  0.98602914]]

 t_gt:
[ 0.35910089  0.66664821 -0.65316669]

Pose Error in degrees for R and t:
172.43825214473992 41.84544811749233

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99037551e-01  4.38629861e-02  1.00047884e-04]
 [-4.38630046e-02  9.99037537e-01  1.90746299e-04]
 [-9.15848893e-05 -1.94951116e-04  9.99999977e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99034177 -0.13566634 -0.02863103]
 [ 0.13442733  0.99005471 -0.0414789 ]
 [ 0.03397421  0.03722891  0.99872958]]

 t_gt:
[ 0.84678492 -0.44311509 -0.29428611]

Pose Error in degrees for R and t:
10.680520195775076 32.27190463943517

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-3.95415880e-01  9.18473594e-01  7.24834316e-03]
 [ 9.18501822e-01  3.95410516e-01  2.21958681e-03]
 [-8.27439238e-04  7.53527627e-03 -9.99971267e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075929e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96111396 -0.27430283 -0.03192414]
 [ 0.27403797  0.96163715 -0.01246376]
 [ 0.03411922  0.00323017  0.99941255]]

 t_gt:
[ 0.86113628 -0.50741631 -0.0311929 ]

Pose Error in degrees for R and t:
178.97600588802723 30.735662744503692

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.63340214e-01  2.68282006e-01  6.29533678e-04]
 [-2.68282326e-01  9.63340205e-01  4.93081405e-04]
 [-4.74170234e-04 -6.43897906e-04  9.99999680e-01]]

 t_estimated:
[[0.67940766]
 [0.73376027]
 [0.00104524]]

 R_gt:
[[ 0.94739603 -0.31607026 -0.05040848]
 [ 0.31829348  0.94693996  0.04464977]
 [ 0.03362134 -0.05834638  0.99772987]]

 t_gt:
[ 0.81583427 -0.56129887  0.13913309]

Pose Error in degrees for R and t:
34.287470641614064 81.80337290626828

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999978e-01  1.91351383e-04 -8.95208149e-05]
 [-1.91340712e-04  9.99999975e-01  1.19202455e-04]
 [ 8.95436221e-05 -1.19185323e-04  9.99999989e-01]]

 t_estimated:
[[-0.9079168 ]
 [-0.41914882]
 [-0.00116496]]

 R_gt:
[[ 0.99965062  0.02459565 -0.00970639]
 [-0.02478355  0.99949902 -0.01970443]
 [ 0.00921597  0.01993757  0.99975856]]

 t_gt:
[-0.39768104  0.83582178 -0.37848612]

Pose Error in degrees for R and t:
1.8877611880596967 89.36007843359673

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.73184312  0.6799838  -0.04502971]
 [ 0.67985098  0.73306193  0.02056362]
 [ 0.0469925  -0.01556415 -0.99877398]]

 t_estimated:
[[ 0.94505918]
 [-0.32594329]
 [-0.02498232]]

 R_gt:
[[ 0.99965879 -0.02053766 -0.01615172]
 [ 0.01984575  0.99892709 -0.0418535 ]
 [ 0.01699366  0.04151823  0.99899362]]

 t_gt:
[ 0.49118569  0.3297788  -0.80621496]

Pose Error in degrees for R and t:
177.1584689368511 67.86120838550927

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-6.57645160e-01 -7.53326082e-01 -1.63023216e-03]
 [ 7.53327692e-01 -6.57642099e-01 -2.06383480e-03]
 [ 4.82631283e-04 -2.58537000e-03  9.99996541e-01]]

 t_estimated:
[[9.43336837e-01]
 [3.31835623e-01]
 [8.55246452e-04]]

 R_gt:
[[ 0.98778677 -0.14817695  0.04817772]
 [ 0.1403541   0.98045913  0.13783902]
 [-0.06766137 -0.12939454  0.98928252]]

 t_gt:
[ 0.59021548 -0.43311444  0.68121771]

Pose Error in degrees for R and t:
122.95048968111323 65.56681534491618

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99999209e-01  1.14404364e-03 -5.21865059e-04]
 [-1.14378273e-03  9.99999221e-01  4.99972704e-04]
 [ 5.22436643e-04 -4.99375409e-04  9.99999739e-01]]

 t_estimated:
[[-8.50423739e-01]
 [-5.26098112e-01]
 [ 4.89634993e-04]]

 R_gt:
[[ 0.97629285  0.2161815   0.01085761]
 [-0.21558452  0.97564013 -0.04060239]
 [-0.01937153  0.03729892  0.9991159 ]]

 t_gt:
[-0.39936509  0.9146126  -0.06317681]

Pose Error in degrees for R and t:
12.64552125637731 81.8608694237335

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 4.28169261e-02 -9.99082760e-01  5.91102623e-04]
 [-9.99082616e-01 -4.28164322e-02  8.24287697e-04]
 [-7.98222722e-04 -6.25853820e-04 -9.99999486e-01]]

 t_estimated:
[[0.64254624]
 [0.76624498]
 [0.00171804]]

 R_gt:
[[ 0.93951165  0.34242381  0.00807417]
 [-0.33844263  0.93169833 -0.13188696]
 [-0.05268463  0.12117624  0.99123117]]

 t_gt:
[-0.28147735  0.95041553 -0.13221507]

Pose Error in degrees for R and t:
175.9521737803867 56.82748471800961

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.89749724e-01 -1.42812346e-01 -3.44103613e-04]
 [ 1.42812302e-01  9.89749779e-01 -1.47834812e-04]
 [ 3.61689111e-04  9.71772354e-05  9.99999930e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.92570975  0.37821094  0.0042277 ]
 [-0.36934011  0.90629623 -0.20546433]
 [-0.08154124  0.18863829  0.97865466]]

 t_gt:
[-0.22998682  0.95772891 -0.17280453]

Pose Error in degrees for R and t:
32.58747450016653 37.13721142528949

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.96105156e-01  8.81732222e-02  4.24735510e-05]
 [-8.81732194e-02  9.96105155e-01 -6.39605417e-05]
 [-4.79477302e-05  5.99663956e-05  9.99999997e-01]]

 t_estimated:
[[0.74887989]
 [0.66270532]
 [0.00076261]]

 R_gt:
[[ 0.99922976 -0.03812418  0.00939508]
 [ 0.03774657  0.99858087  0.0375701 ]
 [-0.01081317 -0.03718547  0.99924965]]

 t_gt:
[ 0.57153127 -0.6149181   0.54334863]

Pose Error in degrees for R and t:
7.566450608895627 88.80167780380515

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-9.29361627e-01 -3.69169814e-01 -7.83730769e-04]
 [-3.69170245e-01  9.29361653e-01  4.99246262e-04]
 [ 5.44062673e-04  7.53310398e-04 -9.99999568e-01]]

 t_estimated:
[[9.59549492e-01]
 [2.81539012e-01]
 [7.46200220e-04]]

 R_gt:
[[ 0.98680641 -0.16153668 -0.01092359]
 [ 0.16185977  0.98589411  0.04258485]
 [ 0.00389081 -0.04379051  0.99903366]]

 t_gt:
[ 0.75748689 -0.63723498  0.14193376]

Pose Error in degrees for R and t:
180.0 56.801209510183135

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.94611139 -0.32310343  0.02184989]
 [-0.32327397  0.94629381 -0.00468694]
 [-0.01916205 -0.01149787 -0.99975028]]

 t_estimated:
[[0.99676576]
 [0.07974126]
 [0.00996766]]

 R_gt:
[[ 0.97182334 -0.23404144 -0.02802356]
 [ 0.23552075  0.96895231  0.07525275]
 [ 0.00954154 -0.07973174  0.99677068]]

 t_gt:
[ 0.76423291 -0.62028057  0.17663542]

Pose Error in degrees for R and t:
179.21138052843634 44.43379382040659

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.49258731e-01  3.14495819e-01  4.91387243e-04]
 [-3.14495559e-01  9.49258791e-01 -5.39436286e-04]
 [-6.36104117e-04  3.57525499e-04  9.99999734e-01]]

 t_estimated:
[[-5.52256041e-02]
 [ 9.98473641e-01]
 [ 7.22302675e-04]]

 R_gt:
[[ 0.98927914 -0.14579369 -0.00841317]
 [ 0.14602612  0.98825609  0.04502661]
 [ 0.00175023 -0.04577215  0.9989503 ]]

 t_gt:
[ 0.72206227 -0.63309468  0.27895736]

Pose Error in degrees for R and t:
26.854016043402634 47.793611835412534

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-9.80086669e-01 -1.98569025e-01  6.81086403e-04]
 [-1.98565164e-01  9.80080493e-01  3.75530385e-03]
 [-1.41320652e-03  3.54528321e-03 -9.99992717e-01]]

 t_estimated:
[[9.99892672e-01]
 [1.46183139e-02]
 [9.74554261e-04]]

 R_gt:
[[ 0.98501176 -0.16909071 -0.0340633 ]
 [ 0.17178574  0.97948314  0.10536906]
 [ 0.01554664 -0.10964117  0.99384951]]

 t_gt:
[ 0.61212302 -0.66854541  0.42231794]

Pose Error in degrees for R and t:
179.27416118867177 52.93677834981739

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-1.67281749e-01 -9.85909112e-01 -1.99216940e-04]
 [-9.85906849e-01  1.67280923e-01  2.18605407e-03]
 [-2.12192543e-03  5.62096293e-04 -9.99997591e-01]]

 t_estimated:
[[0.66153309]
 [0.74991272]
 [0.00220961]]

 R_gt:
[[ 0.97985817 -0.1961162  -0.0376498 ]
 [ 0.199642    0.95758654  0.20777998]
 [-0.00469755 -0.21111107  0.97745052]]

 t_gt:
[ 0.51429271 -0.62863101  0.58337473]

Pose Error in degrees for R and t:
172.81552128298893 82.53574030649656

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 1.00000000e+00  2.12595827e-05 -5.24530335e-06]
 [-2.12595304e-05  1.00000000e+00  9.97617994e-06]
 [ 5.24551544e-06 -9.97606842e-06  1.00000000e+00]]

 t_estimated:
[[-9.99988700e-01]
 [ 4.69061150e-03]
 [ 7.72932036e-04]]

 R_gt:
[[ 0.99882287  0.04824215  0.00504534]
 [-0.0482125   0.99882145 -0.00563999]
 [-0.00531018  0.00539075  0.99997146]]

 t_gt:
[-0.56829209  0.82032558 -0.06410968]

Pose Error in degrees for R and t:
2.796839237593878 55.10432631957007

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.91488492e-01  1.30194353e-01  3.03292337e-05]
 [-1.30194334e-01  9.91488431e-01 -3.56804132e-04]
 [-7.65249676e-05  3.49818496e-04  9.99999936e-01]]

 t_estimated:
[[-3.85483379e-01]
 [-9.22714779e-01]
 [-4.40345518e-05]]

 R_gt:
[[ 0.98417033  0.04728309  0.17080199]
 [-0.04734236  0.99887229 -0.00372471]
 [-0.17078539 -0.00442008  0.98529838]]

 t_gt:
[-0.39441307  0.26493292  0.87991413]

Pose Error in degrees for R and t:
10.917787664956364 84.69505145793124

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 8.79948865e-01  4.75068382e-01  1.65764138e-04]
 [-4.75067265e-01  8.79947454e-01 -1.88990615e-03]
 [-1.04369839e-03  1.58427165e-03  9.99998200e-01]]

 t_estimated:
[[-9.99974549e-01]
 [-7.07946583e-03]
 [-8.84933229e-04]]

 R_gt:
[[ 0.97151805  0.07522339  0.22471137]
 [-0.07584077  0.99710278 -0.00589421]
 [-0.22450361 -0.01131601  0.97440778]]

 t_gt:
[-0.447784    0.28461526  0.84763415]

Pose Error in degrees for R and t:
27.20701650108083 63.576176504308144

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.97697148 -0.21336062 -0.00199466]
 [ 0.21336385  0.97697154  0.00157547]
 [ 0.00161258 -0.00196477  0.99999677]]

 t_estimated:
[[0.86719226]
 [0.49796755]
 [0.00242911]]

 R_gt:
[[ 0.99744915  0.0660016  -0.02719113]
 [-0.06775815  0.99525805 -0.0697804 ]
 [ 0.02245704  0.07144408  0.99719187]]

 t_gt:
[-0.36799328  0.75700467 -0.53993044]

Pose Error in degrees for R and t:
16.733596648850845 86.75926861921269

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99875511e-01  1.57751530e-02 -3.27775298e-04]
 [-1.57750516e-02  9.99875518e-01  3.09694277e-04]
 [ 3.32619970e-04 -3.04485051e-04  9.99999898e-01]]

 t_estimated:
[[-0.64628147]
 [-0.76309761]
 [-0.00151709]]

 R_gt:
[[ 0.9856394   0.16875904  0.00602694]
 [-0.16818467  0.98424142 -0.05462375]
 [-0.01514997  0.05282604  0.99848919]]

 t_gt:
[-0.48860691  0.86574315 -0.10840701]

Pose Error in degrees for R and t:
9.3550485510849 69.83624339635801

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-9.44179773e-01 -3.29427682e-01 -1.39946607e-03]
 [ 3.29429343e-01 -9.44179482e-01 -1.18892217e-03]
 [-9.29683274e-04 -1.58358145e-03  9.99998314e-01]]

 t_estimated:
[[0.85318354]
 [0.52160989]
 [0.00098977]]

 R_gt:
[[ 9.54323514e-01  2.98775030e-01  4.25485519e-04]
 [-2.98569337e-01  9.53718414e-01 -3.57466390e-02]
 [-1.10859167e-02  3.39868668e-02  9.99361071e-01]]

 t_gt:
[-0.46804948  0.88221206 -0.05129876]

Pose Error in degrees for R and t:
178.15112731706256 86.51497547598144

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[-9.97204349e-01  6.65402715e-02  3.39982265e-02]
 [ 6.65592889e-02  9.97782307e-01 -5.73362326e-04]
 [-3.39609805e-02  1.69113837e-03 -9.99421729e-01]]

 t_estimated:
[[ 0.99844596]
 [-0.05286264]
 [ 0.01764093]]

 R_gt:
[[ 0.99734412 -0.06811514  0.02583029]
 [ 0.0679541   0.99766396  0.00704628]
 [-0.02624948 -0.00527296  0.99964213]]

 t_gt:
[ 0.77173204 -0.53301249  0.34688231]

Pose Error in degrees for R and t:
176.57190106866898 36.40630242158693

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.99681715  0.07945752  0.0064862 ]
 [-0.07938245  0.99678231 -0.01111052]
 [-0.00734814  0.01056027  0.99991724]]

 t_estimated:
[[-0.64456038]
 [-0.76455267]
 [-0.00106188]]

 R_gt:
[[ 0.98676113 -0.16097988  0.01976348]
 [ 0.16112608  0.98691593 -0.0060446 ]
 [-0.01853069  0.00914845  0.9997864 ]]

 t_gt:
[ 0.86432861 -0.4995409   0.05826625]

Pose Error in degrees for R and t:
13.84289034925243 79.90687937583064

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.89404792e-01  1.45180282e-01  9.18382749e-04]
 [-1.45179210e-01  9.89404715e-01 -1.14347999e-03]
 [-1.07466297e-03  9.98034503e-04  9.99998925e-01]]

 t_estimated:
[[-9.72575790e-01]
 [-2.32585222e-01]
 [-6.69053117e-04]]

 R_gt:
[[ 0.97323624 -0.22756823  0.0320157 ]
 [ 0.22723249  0.97374248  0.01380958]
 [-0.03431725 -0.00616637  0.99939246]]

 t_gt:
[ 0.87073799 -0.4723692   0.13668466]

Pose Error in degrees for R and t:
21.584048290049733 42.51639044254046

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.89631026e-01  1.43632192e-01  4.75000879e-04]
 [-1.43632138e-01  9.89631137e-01 -1.46706442e-04]
 [-4.91147428e-04  7.69598555e-05  9.99999876e-01]]

 t_estimated:
[[0.35569724]
 [0.93460047]
 [0.00119361]]

 R_gt:
[[ 0.9994257  -0.03058973  0.01457795]
 [ 0.0301475   0.99910471  0.02966059]
 [-0.01547194 -0.02920398  0.99945448]]

 t_gt:
[ 0.39917114 -0.83904549  0.36968239]

Pose Error in degrees for R and t:
10.174884226377875 50.077788873260666

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.10126119e-01  4.14331005e-01 -5.15316364e-04]
 [-4.14330618e-01  9.10126160e-01  7.15152881e-04]
 [ 7.65312915e-04 -4.37367969e-04  9.99999612e-01]]

 t_estimated:
[[0.14920592]
 [0.98880534]
 [0.00126446]]

 R_gt:
[[ 0.99833621 -0.04920997 -0.03004867]
 [ 0.04931391  0.9987795   0.00275563]
 [ 0.02987624 -0.00423352  0.99954457]]

 t_gt:
[ 0.48885599 -0.8694379  -0.07139725]

Pose Error in degrees for R and t:
27.352569743552625 38.107439038358294

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 0.99896557 -0.04422255  0.01059007]
 [ 0.04435344  0.99893819 -0.0124609 ]
 [-0.01002777  0.01291771  0.99986628]]

 t_estimated:
[[0.76555863]
 [0.64336547]
 [0.00092571]]

 R_gt:
[[ 0.98286814 -0.17702095 -0.05131847]
 [ 0.17613004  0.98413364 -0.02142387]
 [ 0.0542972   0.01201761  0.99845246]]

 t_gt:
[ 0.72827601 -0.67218819 -0.13333075]

Pose Error in degrees for R and t:
8.460784191987083 82.82202266631818

Number of keypoints:
Image1: 469
Image2: 469

 R_estimated:
[[-0.96225421 -0.26976037  0.03600255]
 [-0.26969554  0.96292208  0.00673693]
 [-0.03648501 -0.00322708 -0.99932899]]

 t_estimated:
[[0.99053332]
 [0.13600112]
 [0.01863987]]

 R_gt:
[[ 0.99896627 -0.0454329  -0.00144572]
 [ 0.04542725  0.99896067 -0.00382951]
 [ 0.00161862  0.00375916  0.99999235]]

 t_gt:
[ 0.39263011 -0.91211715 -0.11782997]

Pose Error in degrees for R and t:
178.0185292419174 74.77157431659897

Number of keypoints:
Image1: 325
Image2: 325

 R_estimated:
[[-9.62768536e-04 -9.99998006e-01  1.74946435e-03]
 [-9.99996177e-01  9.58228736e-04 -2.59395395e-03]
 [ 2.59227239e-03 -1.75195504e-03 -9.99995105e-01]]

 t_estimated:
[[0.78388237]
 [0.62090829]
 [0.0011477 ]]

 R_gt:
[[ 0.988829   -0.14521437  0.03360888]
 [ 0.14459518  0.98928517  0.02018246]
 [-0.03617978 -0.01509801  0.99923125]]

 t_gt:
[ 0.41518473 -0.85202332  0.31886973]

Pose Error in degrees for R and t:
177.91180987585528 78.27547719381938

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[-6.77338735e-01 -7.35667885e-01 -2.23611355e-03]
 [ 7.35670597e-01 -6.77339128e-01 -6.92078948e-04]
 [-1.00546695e-03 -2.11381487e-03  9.99997260e-01]]

 t_estimated:
[[ 9.81800182e-01]
 [-1.89915908e-01]
 [ 5.92633297e-04]]

 R_gt:
[[ 0.97880739 -0.20101003  0.03910694]
 [ 0.2006948   0.97958217  0.01186643]
 [-0.04069346 -0.00376657  0.9991654 ]]

 t_gt:
[ 0.45481676 -0.85538025  0.24792407]

Pose Error in degrees for R and t:
121.05949483784595 52.47291342709201

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 0.99995997 -0.00828796  0.00337281]
 [ 0.0084791   0.99808494 -0.06127444]
 [-0.00285851  0.06130059  0.99811526]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 9.96699649e-01 -8.08245081e-02 -7.66305943e-03]
 [ 8.08132452e-02  9.96728231e-01 -1.59317738e-03]
 [ 7.76729742e-03  9.69555530e-04  9.99969360e-01]]

 t_gt:
[ 0.8148657  -0.57775824 -0.0467901 ]

Pose Error in degrees for R and t:
5.429136079236662 74.64121480809615

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-0.37489494  0.92706252  0.00297736]
 [-0.92706158 -0.37487941 -0.00471706]
 [-0.00325686 -0.0045286   0.99998444]]

 t_estimated:
[[0.44201754]
 [0.8970022 ]
 [0.00274838]]

 R_gt:
[[ 0.99245837 -0.1186302   0.03089015]
 [ 0.11773685  0.99261342  0.02927947]
 [-0.03413473 -0.02542122  0.99909385]]

 t_gt:
[ 0.69446052 -0.69303094  0.19347533]

Pose Error in degrees for R and t:
118.81762463423607 71.69020233051343

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.55104989 -0.8343953   0.01133611]
 [ 0.83444899  0.55088213 -0.01495853]
 [ 0.00623647  0.01770231  0.99982385]]

 t_estimated:
[[ 0.92227979]
 [-0.38595458]
 [-0.02095356]]

 R_gt:
[[ 0.99241584 -0.12287752  0.00364489]
 [ 0.1226863   0.99187706  0.03358697]
 [-0.00774259 -0.03288493  0.99942877]]

 t_gt:
[ 0.61006044 -0.77873461  0.14628281]

Pose Error in degrees for R and t:
49.59611486157334 30.667979741780705

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999965e-01  2.62649692e-04  1.92245590e-05]
 [-2.62649737e-04  9.99999966e-01  2.31273829e-06]
 [-1.92239509e-05 -2.31778754e-06  1.00000000e+00]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99331939  0.11528265  0.00509238]
 [-0.11536236  0.99313024  0.01961618]
 [-0.0027953  -0.02007153  0.99979494]]

 t_gt:
[-0.57452209  0.81063514  0.11311516]

Pose Error in degrees for R and t:
6.708828427171215 36.181274835958156

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.99999205 -0.00275447  0.00288417]
 [ 0.00276319  0.99999161 -0.00302318]
 [-0.00287582  0.00303112  0.99999127]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97484979  0.21992173  0.03605861]
 [-0.22073743  0.97511962  0.02040816]
 [-0.0306735  -0.02785316  0.99914138]]

 t_gt:
[-0.54522511  0.82466647  0.15051509]

Pose Error in degrees for R and t:
13.104475485755026 34.774217438275365

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999570e-01 -7.86175492e-04 -4.92577697e-04]
 [ 7.86346798e-04  9.99999630e-01  3.47678195e-04]
 [ 4.92304179e-04 -3.48065382e-04  9.99999818e-01]]

 t_estimated:
[[-9.99994853e-01]
 [-3.10181143e-03]
 [-8.20435394e-04]]

 R_gt:
[[ 0.963474    0.26734472  0.01563196]
 [-0.26779632  0.96217436  0.05006438]
 [-0.00165601 -0.05242069  0.99862428]]

 t_gt:
[-0.52806669  0.83944153  0.12838808]

Pose Error in degrees for R and t:
15.858594951836508 58.30786564659487

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.94562858e-01 -1.04137930e-01 -1.09700531e-04]
 [ 1.04137838e-01  9.94562662e-01 -6.49618128e-04]
 [ 1.76753939e-04  6.34662086e-04  9.99999783e-01]]

 t_estimated:
[[-0.49398437]
 [-0.86946868]
 [-0.0019097 ]]

 R_gt:
[[ 0.99109416 -0.00194388  0.13314808]
 [ 0.00307683  0.99996054 -0.00830418]
 [-0.1331275   0.00863963  0.9910608 ]]

 t_gt:
[-0.23258756 -0.00826388  0.97254035]

Pose Error in degrees for R and t:
9.635500722672065 83.09505346672762

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.98900167  0.14720841  0.01433123]
 [-0.14126357  0.96885977 -0.20336016]
 [-0.04382127  0.19909906  0.97899911]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.97295419  0.04737648  0.22609125]
 [-0.0477572   0.99885209 -0.00378556]
 [-0.22601133 -0.00711398  0.97409811]]

 t_gt:
[-0.38180712  0.1871076   0.90510445]

Pose Error in degrees for R and t:
17.26733336898001 87.74055022954974

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-7.44598165e-01 -6.67511715e-01 -1.29709827e-03]
 [ 6.67512940e-01 -7.44597358e-01 -1.11813679e-03]
 [-2.19446540e-04 -1.69839248e-03  9.99998534e-01]]

 t_estimated:
[[9.61493577e-01]
 [2.74826250e-01]
 [7.96597826e-04]]

 R_gt:
[[ 0.96708639  0.09461433  0.23620719]
 [-0.09531853  0.99541073 -0.0084613 ]
 [-0.23592296 -0.01433241  0.97166522]]

 t_gt:
[-0.51682658  0.29428481  0.80391961]

Pose Error in degrees for R and t:
143.93067810645604 65.45499686431651

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99924618e-01  1.22776973e-02  1.31458158e-04]
 [-1.22776930e-02  9.99924626e-01 -3.32661256e-05]
 [-1.31856681e-04  3.16496150e-05  9.99999991e-01]]

 t_estimated:
[[9.99762641e-01]
 [2.17648891e-02]
 [9.75266174e-04]]

 R_gt:
[[ 0.99401996 -0.10605862 -0.02600537]
 [ 0.1062818   0.99430934  0.00734033]
 [ 0.02507811 -0.01005985  0.99963542]]

 t_gt:
[ 0.75546473 -0.64926782 -0.08788821]

Pose Error in degrees for R and t:
6.9745208388267095 42.17748814875293

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.96066140e-01  8.86124240e-02  2.89114555e-04]
 [-8.86123317e-02  9.96066139e-01 -3.17779703e-04]
 [-3.16136448e-04  2.90910487e-04  9.99999908e-01]]

 t_estimated:
[[9.98878348e-01]
 [4.73438844e-02]
 [7.76129253e-04]]

 R_gt:
[[ 0.9845619  -0.17413257 -0.01778723]
 [ 0.1744776   0.98445658  0.02011644]
 [ 0.01400779 -0.02290986  0.99963948]]

 t_gt:
[ 0.75126167 -0.6588157   0.03959501]

Pose Error in degrees for R and t:
15.203798505052182 44.006675870547774

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.89494639 -0.4461718   0.00129817]
 [ 0.44617083  0.89492646 -0.00618182]
 [ 0.00159639  0.0061116   0.99998005]]

 t_estimated:
[[-0.07386967]
 [-0.99724054]
 [-0.00738697]]

 R_gt:
[[ 0.98608439 -0.16612915  0.00619174]
 [ 0.16620484  0.98598169 -0.01472156]
 [-0.0036595   0.01554624  0.99987249]]

 t_gt:
[ 0.72468376 -0.68810778 -0.03662161]

Pose Error in degrees for R and t:
16.94279009959159 50.73209125806978

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.8167289   0.57701866 -0.00183221]
 [-0.57701996  0.81671499 -0.00496006]
 [-0.00136565  0.00510824  0.99998602]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.98987212 -0.14065413 -0.01926296]
 [ 0.14093069  0.98992212  0.013835  ]
 [ 0.01712281 -0.01641002  0.99971863]]

 t_gt:
[ 0.78303843 -0.6175003   0.07445934]

Pose Error in degrees for R and t:
43.36345071373216 78.96866793350033

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-4.83869383e-01 -8.75135076e-01 -3.00306298e-03]
 [ 8.75140059e-01 -4.83864305e-01 -2.28269739e-03]
 [ 5.44593574e-04 -3.73262809e-03  9.99992885e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.97414266 -0.2241117  -0.02865024]
 [ 0.22533953  0.97293519  0.05116913]
 [ 0.01640699 -0.0563018   0.99827853]]

 t_gt:
[ 0.75753978 -0.61849071  0.20881266]

Pose Error in degrees for R and t:
105.97199645521209 46.77807339519385

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.73701792 -0.67586658  0.00299226]
 [-0.67585445  0.73702323  0.00418495]
 [-0.00503383  0.00106205 -0.99998677]]

 t_estimated:
[[0.90567664]
 [0.42395038]
 [0.00398766]]

 R_gt:
[[ 0.97011574 -0.23860615 -0.04409326]
 [ 0.24249839  0.95971429  0.14191728]
 [ 0.00845479 -0.14836851  0.98889579]]

 t_gt:
[ 0.63375803 -0.64374157  0.42889107]

Pose Error in degrees for R and t:
178.10786244277557 72.37560994267

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99999972e-01 -2.29267130e-04 -6.46210579e-05]
 [ 2.29267166e-04  9.99999974e-01  5.49950058e-07]
 [ 6.46209301e-05 -5.64765529e-07  9.99999998e-01]]

 t_estimated:
[[-9.99928933e-01]
 [-1.18998113e-02]
 [-7.23803723e-04]]

 R_gt:
[[ 0.99210173  0.12526232 -0.00670726]
 [-0.12527311  0.99212148 -0.00123332]
 [ 0.00649941  0.00206425  0.99997676]]

 t_gt:
[-0.80488747  0.5930947  -0.01987052]

Pose Error in degrees for R and t:
7.219645939065792 37.08071315946524

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.97766108e-01 -6.68022283e-02 -5.05396148e-04]
 [ 6.68024041e-02  9.97766167e-01  3.39382911e-04]
 [ 4.81595643e-04 -3.72386444e-04  9.99999815e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9588461   0.2838908   0.00462272]
 [-0.28365249  0.95850267 -0.02851866]
 [-0.01252785  0.02603367  0.99958162]]

 t_gt:
[-0.77924913  0.62406154 -0.05760192]

Pose Error in degrees for R and t:
20.388311247780955 38.98098795791413

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-8.02444847e-01 -5.96722511e-01 -2.12423773e-03]
 [ 5.96726220e-01 -8.02441417e-01 -2.36454078e-03]
 [-2.93601626e-04 -3.16500192e-03  9.99994948e-01]]

 t_estimated:
[[0.96801892]
 [0.25087401]
 [0.00126704]]

 R_gt:
[[ 9.35963563e-01  3.51897092e-01 -1.18547498e-02]
 [-3.51921083e-01  9.36029292e-01  8.48535530e-05]
 [ 1.11261068e-02  4.09182392e-03  9.99929111e-01]]

 t_gt:
[-0.75560961  0.6547798  -0.01781932]

Pose Error in degrees for R and t:
163.96854317148436 55.44481524791627

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 0.98749573 -0.15764056  0.00127737]
 [ 0.15764253  0.98749491 -0.00162385]
 [-0.00100542  0.00180491  0.99999787]]

 t_estimated:
[[-0.41332775]
 [-0.91057991]
 [-0.00209811]]

 R_gt:
[[ 0.97482002 -0.21405586  0.0625024 ]
 [ 0.21225577  0.97661444  0.03421126]
 [-0.06836441 -0.02008391  0.99745795]]

 t_gt:
[ 0.59898872 -0.72883407  0.3316827 ]

Pose Error in degrees for R and t:
5.206121291347726 65.4563042164066

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[-9.68422028e-01 -2.49316529e-01 -2.09326505e-04]
 [ 2.49316290e-01 -9.68419057e-01 -2.43251328e-03]
 [ 4.03749991e-04 -2.40788796e-03  9.99997020e-01]]

 t_estimated:
[[8.11102361e-01]
 [5.84903848e-01]
 [6.69226371e-04]]

 R_gt:
[[ 0.93622442 -0.35107863 -0.01510986]
 [ 0.35131367  0.93609054  0.01764764]
 [ 0.00794739 -0.02183055  0.99973074]]

 t_gt:
[ 0.71444206 -0.69857058  0.03964449]

Pose Error in degrees for R and t:
145.00112281378392 80.1589443688245

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99998606e-01 -3.49917533e-04  1.63261803e-03]
 [ 3.52346627e-04  9.99998831e-01 -1.48780179e-03]
 [-1.63209552e-03  1.48837496e-03  9.99997560e-01]]

 t_estimated:
[[0.63079037]
 [0.77595271]
 [0.000946  ]]

 R_gt:
[[ 0.8752672  -0.48330243  0.01805312]
 [ 0.48181273  0.87459383  0.05422382]
 [-0.0419953  -0.03876161  0.9983657 ]]

 t_gt:
[ 0.72865411 -0.67131092  0.13566444]

Pose Error in degrees for R and t:
29.04244809261827 86.49422199233908

Number of keypoints:
Image1: 318
Image2: 318

 R_estimated:
[[-9.81977056e-01 -1.88999149e-01 -6.18852431e-04]
 [-1.88998477e-01  9.81976863e-01 -1.00786970e-03]
 [ 7.98185286e-04 -8.72742758e-04 -9.99999301e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99751467 -0.06991162  0.00884381]
 [ 0.0701316   0.99715592 -0.02758678]
 [-0.00688943  0.0281389   0.99957986]]

 t_gt:
[ 0.22293874 -0.73381662 -0.6417254 ]

Pose Error in degrees for R and t:
179.74953080125496 77.28129034190579

Number of keypoints:
Image1: 568
Image2: 568

 R_estimated:
[[ 9.99999795e-01 -6.35214401e-04  8.06206415e-05]
 [ 6.35226065e-04  9.99999788e-01 -1.44738278e-04]
 [-8.05286845e-05  1.44789460e-04  9.99999986e-01]]

 t_estimated:
[[ 9.80081352e-01]
 [-1.98595241e-01]
 [ 6.88173437e-04]]

 R_gt:
[[ 0.99070773 -0.13509804  0.01572181]
 [ 0.13588704  0.98809262 -0.07215111]
 [-0.00578675  0.07361689  0.99726945]]

 t_gt:
[ 0.53118548 -0.47669784 -0.70042926]

Pose Error in degrees for R and t:
8.83595869362444 52.063127116538695

Number of keypoints:
Image1: 459
Image2: 459

 R_estimated:
[[ 9.96624297e-01  8.20974583e-02  1.33396523e-04]
 [-8.20974188e-02  9.96624270e-01 -2.79098968e-04]
 [-1.55859528e-04  2.67205302e-04  9.99999952e-01]]

 t_estimated:
[[ 9.84173820e-01]
 [-1.77205611e-01]
 [ 2.49834342e-04]]

 R_gt:
[[ 0.98866708 -0.15009143  0.0030118 ]
 [ 0.15007164  0.98762015 -0.04564171]
 [ 0.0038762   0.04557616  0.99895333]]

 t_gt:
[ 0.67177902 -0.55507227 -0.4905178 ]

Pose Error in degrees for R and t:
13.596438993803384 40.58983950969902

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99998560e-01  1.69729098e-03  3.08096203e-06]
 [-1.69729095e-03  9.99998560e-01 -9.17447544e-06]
 [-3.09652935e-06  9.16923294e-06  1.00000000e+00]]

 t_estimated:
[[ 5.02339709e-01]
 [-8.64670332e-01]
 [ 1.86187710e-04]]

 R_gt:
[[ 0.99841853 -0.0300702  -0.04750702]
 [ 0.02650559  0.99690948 -0.07395619]
 [ 0.04958496  0.07257974  0.99612932]]

 t_gt:
[ 0.24231888 -0.0446788  -0.96916736]

Pose Error in degrees for R and t:
5.3278148998294705 80.78274964817736

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99999998e-01  6.20389214e-05  5.06491473e-06]
 [-6.20389870e-05  9.99999998e-01  1.29591733e-05]
 [-5.06411075e-06 -1.29594875e-05  1.00000000e+00]]

 t_estimated:
[[9.99783333e-01]
 [2.08015995e-02]
 [7.61951605e-04]]

 R_gt:
[[ 0.97403409 -0.2262798  -0.00745367]
 [ 0.22589031  0.97351662 -0.03518767]
 [ 0.0152185   0.03259074  0.99935284]]

 t_gt:
[ 0.6800093  -0.71859796 -0.14561702]

Pose Error in degrees for R and t:
13.235494888092301 48.332784057152715

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.74196625e-01  2.25700961e-01  1.10595247e-04]
 [-2.25700979e-01  9.74196607e-01  1.98405770e-04]
 [-6.29611414e-05 -2.18247687e-04  9.99999974e-01]]

 t_estimated:
[[0.72177341]
 [0.69212773]
 [0.00153573]]

 R_gt:
[[ 0.94080293 -0.33894389 -0.00269155]
 [ 0.33712866  0.93652968 -0.09620644]
 [ 0.03512981  0.08960382  0.99535777]]

 t_gt:
[ 0.70989887 -0.65468798 -0.25966757]

Pose Error in degrees for R and t:
33.29985856480218 86.62564041041816

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.99948882e-01  1.01110411e-02  2.41906564e-05]
 [-1.01110406e-02  9.99948882e-01 -2.25660471e-05]
 [-2.44175861e-05  2.23203008e-05  9.99999999e-01]]

 t_estimated:
[[9.99051315e-01]
 [4.35439141e-02]
 [6.29806570e-04]]

 R_gt:
[[ 0.99828465 -0.0583491  -0.00499875]
 [ 0.05810955  0.99754603 -0.03906231]
 [ 0.00726578  0.03870535  0.99922404]]

 t_gt:
[ 0.68338096 -0.2207806  -0.69587814]

Pose Error in degrees for R and t:
4.521142283520873 47.72569651374004

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[-9.95890023e-01 -8.62637318e-02  2.75976412e-02]
 [-8.62798837e-02  9.96270753e-01  6.07213572e-04]
 [-2.75471033e-02 -1.77640334e-03 -9.99618928e-01]]

 t_estimated:
[[0.99881219]
 [0.04663492]
 [0.01412099]]

 R_gt:
[[ 0.99615191 -0.08534689 -0.01995796]
 [ 0.08517987  0.99632427 -0.00905437]
 [ 0.0206574   0.00731945  0.99975933]]

 t_gt:
[ 0.93422665 -0.3140896  -0.16902154]

Pose Error in degrees for R and t:
179.605897218212 23.640048492107944

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-0.94915114 -0.31458674  0.01213664]
 [-0.31459307  0.94922555  0.00143354]
 [-0.01197138 -0.00245746 -0.99992532]]

 t_estimated:
[[0.98593478]
 [0.16701319]
 [0.00626141]]

 R_gt:
[[ 0.98365854 -0.17270823 -0.05088487]
 [ 0.17273001  0.98496115 -0.00400137]
 [ 0.05081146 -0.00485391  0.99869673]]

 t_gt:
[ 0.98071118 -0.17912457 -0.07823018]

Pose Error in degrees for R and t:
177.81066796412748 20.526311279739872

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[-0.06893579  0.99762022 -0.00132193]
 [-0.99761879 -0.06893842 -0.0020615 ]
 [-0.00214772  0.00117667  0.999997  ]]

 t_estimated:
[[0.00728388]
 [0.99997293]
 [0.00104055]]

 R_gt:
[[ 0.99394038  0.10976686 -0.00561178]
 [-0.10947844  0.99326741  0.03787964]
 [ 0.00973271 -0.03703618  0.99926631]]

 t_gt:
[-0.84200689  0.47790385  0.25026447]

Pose Error in degrees for R and t:
87.68292304857341 61.83461492306592

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.99841708e-01  1.77917801e-02 -1.03882135e-04]
 [-1.77917688e-02  9.99841708e-01  1.09211089e-04]
 [ 1.05808751e-04 -1.07345555e-04  9.99999989e-01]]

 t_estimated:
[[-9.94539091e-01]
 [-1.04364294e-01]
 [-3.00490438e-04]]

 R_gt:
[[ 0.97337863  0.22785656  0.02478305]
 [-0.22819831  0.97354134  0.01196025]
 [-0.02140148 -0.01729697  0.99962079]]

 t_gt:
[-0.81044741  0.58118791  0.0734548 ]

Pose Error in degrees for R and t:
12.2658272028576 41.81132005386954

Number of keypoints:
Image1: 348
Image2: 348

 R_estimated:
[[ 9.72247147e-01 -2.33955819e-01 -3.99614857e-04]
 [ 2.33955866e-01  9.72247215e-01  7.49615245e-05]
 [ 3.70986747e-04 -1.66373368e-04  9.99999917e-01]]

 t_estimated:
[[-0.36840742]
 [-0.92966349]
 [-0.00132999]]

 R_gt:
[[ 0.96085     0.27655857  0.01678805]
 [-0.27682756  0.96077532  0.01664979]
 [-0.01152413 -0.02064624  0.99972058]]

 t_gt:
[-0.77312108  0.63084823  0.06568343]

Pose Error in degrees for R and t:
29.62601805010499 72.43783556822852

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.92822570e-01 -1.19596591e-01 -2.22748040e-05]
 [ 1.19596591e-01  9.92822570e-01  1.02351715e-05]
 [ 2.08908366e-05 -1.28256999e-05  1.00000000e+00]]

 t_estimated:
[[9.99690734e-01]
 [2.48562644e-02]
 [7.76760467e-04]]

 R_gt:
[[ 0.9989795   0.04449877  0.00775147]
 [-0.04406125  0.99780089 -0.04951647]
 [-0.00993778  0.04912459  0.99874278]]

 t_gt:
[-0.63010943  0.53620113 -0.56164976]

Pose Error in degrees for R and t:
9.836517683268362 51.90094671460301

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-1.33741171e-01 -9.91015467e-01 -1.28192785e-03]
 [ 9.91016175e-01 -1.33741683e-01  3.22286970e-04]
 [-4.90838560e-04 -1.22730820e-03  9.99999126e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99552781  0.06981164  0.06365371]
 [-0.06514796  0.99523016 -0.07261176]
 [-0.06841914  0.06813975  0.99532747]]

 t_gt:
[-0.77969561  0.61431067  0.12123179]

Pose Error in degrees for R and t:
101.67799378147889 38.95018493504981

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.88697275e-01 -1.49925621e-01 -7.97125676e-05]
 [ 1.49925637e-01  9.88697242e-01  2.57670805e-04]
 [ 4.01801403e-05 -2.66709380e-04  9.99999964e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99281592  0.04708541  0.11000141]
 [-0.04038154  0.99723371 -0.06239954]
 [-0.11263492  0.05750894  0.99197064]]

 t_gt:
[-0.5157002   0.30362037  0.80116663]

Pose Error in degrees for R and t:
13.298602634480185 59.24699623544456

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-2.01338082e-01  9.79520754e-01 -1.43838544e-03]
 [-9.79517774e-01 -2.01341251e-01 -2.57505843e-03]
 [-2.81192950e-03  8.90466777e-04  9.99995650e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99498305 -0.0939058   0.03451888]
 [ 0.09460982  0.99532626 -0.01936379]
 [-0.03253945  0.02253228  0.99921618]]

 t_gt:
[ 0.77828805 -0.62118487 -0.09163551]

Pose Error in degrees for R and t:
107.03942398781206 51.94529205314775

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.99913312  0.04068937  0.00879655]
 [ 0.0407076   0.99916929  0.00190391]
 [-0.00871177  0.00226034 -0.9999595 ]]

 t_estimated:
[[ 0.99992425]
 [-0.01151445]
 [ 0.0043485 ]]

 R_gt:
[[ 0.97860922 -0.19913012  0.05168409]
 [ 0.20172857  0.9781055  -0.05113622]
 [-0.04036968  0.06046829  0.99735323]]

 t_gt:
[ 0.83339521 -0.52251311 -0.18009017]

Pose Error in degrees for R and t:
176.77147263533544 33.01106066257798

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 7.75105824e-01  6.31831193e-01  5.52432745e-04]
 [-6.31831063e-01  7.75106020e-01 -4.07248176e-04]
 [-6.85506048e-04 -3.33837357e-05  9.99999764e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.94620919 -0.3208681   0.04162313]
 [ 0.32349931  0.940604   -0.10301009]
 [-0.00609745  0.11093319  0.99380897]]

 t_gt:
[ 0.87779958 -0.39627465 -0.26913621]

Pose Error in degrees for R and t:
58.35791221376689 62.191844468505145

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 1.00000000e+00  3.64083763e-13 -2.46571426e-13]
 [-3.65027453e-13  1.00000000e+00  2.70394330e-13]
 [ 2.46512012e-13 -2.70394357e-13  1.00000000e+00]]

 t_estimated:
[[-0.99825412]
 [-0.0590269 ]
 [-0.00212806]]

 R_gt:
[[ 0.99642933  0.06782238 -0.05030749]
 [-0.0683222   0.99762865 -0.00829412]
 [ 0.0496268   0.01170243  0.99869996]]

 t_gt:
[-0.48798984  0.73667116 -0.46816826]

Pose Error in degrees for R and t:
4.877361641373626 63.59900405760286

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999822e-01  5.96921744e-04  2.33355074e-05]
 [-5.96919507e-04  9.99999817e-01 -9.57548068e-05]
 [-2.33926613e-05  9.57408603e-05  9.99999995e-01]]

 t_estimated:
[[-1.90282889e-01]
 [ 9.81729299e-01]
 [ 7.48047360e-05]]

 R_gt:
[[ 0.98865115  0.06100935 -0.13728781]
 [-0.06344549  0.9978951  -0.01343857]
 [ 0.1361795   0.02199645  0.99043996]]

 t_gt:
[-0.10067806  0.49131728 -0.86514233]

Pose Error in degrees for R and t:
8.686852100024005 59.90513704789576

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.82785246 -0.55946015 -0.04080002]
 [ 0.53709655 -0.76957284 -0.34537652]
 [ 0.16182581 -0.30783436  0.93757688]]

 t_estimated:
[[9.72421491e-01]
 [2.33229217e-01]
 [7.59704289e-04]]

 R_gt:
[[ 0.97088946  0.07816422 -0.2264201 ]
 [-0.08127344  0.99668285 -0.00442611]
 [ 0.22532293  0.02270045  0.97401979]]

 t_gt:
[ 0.03608426  0.40327443 -0.91436736]

Pose Error in degrees for R and t:
148.4678988470633 82.61997627836807

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-3.74840976e-01 -9.27088956e-01 -5.57644629e-04]
 [ 9.27088605e-01 -3.74841335e-01  8.31760812e-04]
 [-9.80144519e-04 -2.05207947e-04  9.99999499e-01]]

 t_estimated:
[[0.86280232]
 [0.50554046]
 [0.00099516]]

 R_gt:
[[ 0.99617215  0.00187259 -0.0873954 ]
 [-0.00146847  0.99998834  0.00470469]
 [ 0.08740418 -0.00455861  0.99616248]]

 t_gt:
[ 0.37312402 -0.02550016 -0.92743097]

Pose Error in degrees for R and t:
112.1854302559185 72.05415292310433

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.97850475  0.20621468  0.00198929]
 [-0.20621139  0.97850592 -0.00174082]
 [-0.00230552  0.00129318  0.99999651]]

 t_estimated:
[[0.99111456]
 [0.13300672]
 [0.00107263]]

 R_gt:
[[ 0.98432473  0.0164148  -0.17560108]
 [-0.01540152  0.99985682  0.00713181]
 [ 0.17569288 -0.00431532  0.98443547]]

 t_gt:
[ 0.30786572  0.07912587 -0.94813385]

Pose Error in degrees for R and t:
15.010933863324635 71.66107073630644

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.88690912e-01 -1.49966969e-01  4.34997595e-04]
 [ 1.49966930e-01  9.88691006e-01  1.20073992e-04]
 [-4.48085343e-04 -5.34808103e-05  9.99999898e-01]]

 t_estimated:
[[0.77403645]
 [0.63314041]
 [0.00089175]]

 R_gt:
[[ 9.71805823e-01  2.76328689e-02 -2.34156357e-01]
 [-2.81964658e-02  9.99601878e-01  9.41819850e-04]
 [ 2.34088897e-01  5.68754459e-03  9.72198593e-01]]

 t_gt:
[ 0.29715151  0.1088211  -0.94860895]

Pose Error in degrees for R and t:
16.987996763719465 72.65892758369984

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 1.22782548e-01  9.92433334e-01  7.22976450e-04]
 [ 9.92412624e-01 -1.22784657e-01  6.41192529e-03]
 [ 6.45217881e-03 -6.97815690e-05 -9.99979182e-01]]

 t_estimated:
[[2.48830346e-01]
 [9.68546778e-01]
 [7.73872542e-04]]

 R_gt:
[[ 0.9882391  -0.15273083 -0.00748157]
 [ 0.1525214   0.98802674 -0.02324248]
 [ 0.01094237  0.02182796  0.99970239]]

 t_gt:
[ 0.84437904 -0.51753865 -0.13848385]

Pose Error in degrees for R and t:
179.61119417351568 73.0665688658856

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.99977292 -0.01960426  0.00835332]
 [-0.01959146  0.99980677  0.0016116 ]
 [-0.0083833   0.00144758 -0.99996381]]

 t_estimated:
[[0.999834  ]
 [0.01772201]
 [0.00423138]]

 R_gt:
[[ 0.9656354  -0.25955905  0.01330456]
 [ 0.25988284  0.96488598 -0.03816448]
 [-0.00293117  0.04031013  0.99918262]]

 t_gt:
[ 0.86865594 -0.47968558 -0.12384913]

Pose Error in degrees for R and t:
179.06467000563364 30.741002802226802

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.72503727  0.68869109 -0.00505406]
 [-0.68869215 -0.72505163 -0.00180565]
 [-0.00490799  0.00217152  0.9999856 ]]

 t_estimated:
[[0.739257  ]
 [0.67342287]
 [0.00085966]]

 R_gt:
[[ 0.93020461 -0.36511822  0.03752955]
 [ 0.36692869  0.927577   -0.07046007]
 [-0.00908534  0.07931299  0.99680815]]

 t_gt:
[ 0.89050645 -0.42358779 -0.16604712]

Pose Error in degrees for R and t:
157.98569735203333 68.10439107287601

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-4.03672863e-01  9.14903323e-01 -3.58481124e-04]
 [-9.14901444e-01 -4.03672781e-01 -1.90642512e-03]
 [-1.88890375e-03 -4.41597191e-04  9.99998119e-01]]

 t_estimated:
[[0.01465898]
 [0.999892  ]
 [0.00104855]]

 R_gt:
[[ 0.986719    0.16167341  0.01571427]
 [-0.16130259  0.98664769 -0.02252645]
 [-0.01914654  0.01969223  0.99962322]]

 t_gt:
[-0.82664148  0.5592363  -0.06259896]

Pose Error in degrees for R and t:
104.51943789389196 56.839067383674355

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-9.97060182e-01 -7.66188349e-02 -7.40522564e-04]
 [-7.66178828e-02  9.97059761e-01 -1.23835283e-03]
 [ 8.33226402e-04 -1.17797503e-03 -9.99998959e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97233559  0.2335777  -0.00198417]
 [-0.2335331   0.97226352  0.01286443]
 [ 0.00493377 -0.01204558  0.99991577]]

 t_gt:
[-0.80526514  0.59227647  0.0275072 ]

Pose Error in degrees for R and t:
179.7917558420559 36.54367649542403

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99992795e-01  3.79184277e-03 -1.76343715e-04]
 [-3.79178504e-03  9.99992758e-01  3.26518614e-04]
 [ 1.77580545e-04 -3.25847604e-04  9.99999931e-01]]

 t_estimated:
[[-9.99886366e-01]
 [-1.50748047e-02]
 [-7.42071062e-05]]

 R_gt:
[[ 9.31760458e-01  3.62999849e-01  7.33965923e-03]
 [-3.62995376e-01  9.31788322e-01 -1.91329990e-03]
 [-7.53351255e-03 -8.81477068e-04  9.99971216e-01]]

 t_gt:
[-0.76561848  0.64328055 -0.00429889]

Pose Error in degrees for R and t:
21.07218858068457 40.901662756415675

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99995858e-01 -2.83739819e-03 -4.82519338e-04]
 [ 2.84003620e-03  9.99980525e-01  5.55731517e-03]
 [ 4.66741625e-04 -5.55866253e-03  9.99984442e-01]]

 t_estimated:
[[0.68531423]
 [0.72824575]
 [0.00159006]]

 R_gt:
[[ 0.99880381 -0.04875705 -0.0038034 ]
 [ 0.04874627  0.99880707 -0.00300339]
 [ 0.00394537  0.00281431  0.99998788]]

 t_gt:
[ 0.85571131 -0.50996228 -0.08773038]

Pose Error in degrees for R and t:
2.682925406979678 77.58953073579619

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-8.48125819e-01 -5.29794398e-01 -7.00873749e-04]
 [-5.29794496e-01  8.48126045e-01 -5.31622524e-05]
 [ 6.22594344e-04  3.26230776e-04 -9.99999753e-01]]

 t_estimated:
[[0.85660423]
 [0.51597282]
 [0.00111682]]

 R_gt:
[[ 0.98180138 -0.18106854  0.05727741]
 [ 0.16848823  0.96964381  0.17720809]
 [-0.08762652 -0.16433207  0.98250437]]

 t_gt:
[ 0.57612535 -0.46250237  0.6739222 ]

Pose Error in degrees for R and t:
173.2917856246416 75.1893531681046

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.83545296 -0.54955726 -0.00227217]
 [ 0.54956075 -0.83545265 -0.00135803]
 [-0.00115197 -0.00238326  0.9999965 ]]

 t_estimated:
[[0.90136167]
 [0.43306465]
 [0.00146802]]

 R_gt:
[[ 0.96558517 -0.2270259   0.12690578]
 [ 0.18163031  0.93783575  0.29576194]
 [-0.18616316 -0.26253281  0.94679377]]

 t_gt:
[ 0.47858951 -0.31341225  0.82019805]

Pose Error in degrees for R and t:
135.18193772622263 72.73098277705782

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99998794e-01  1.55327912e-03 -1.29846225e-05]
 [-1.55327865e-03  9.99998793e-01  3.58776888e-05]
 [ 1.30403349e-05 -3.58574768e-05  9.99999999e-01]]

 t_estimated:
[[4.07323427e-01]
 [9.13283871e-01]
 [4.43963843e-04]]

 R_gt:
[[ 9.98763962e-01  3.42447404e-03  4.96077429e-02]
 [-3.45506633e-03  9.99994884e-01  5.39817943e-04]
 [-4.96043690e-02 -7.10657751e-04  9.98768403e-01]]

 t_gt:
[-0.13029425 -0.03369663  0.99090259]

Pose Error in degrees for R and t:
2.8453748245289794 85.2155975150512

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.69698232  0.71704589  0.00780003]
 [ 0.71708708 -0.69696005 -0.00572724]
 [ 0.00132961  0.00958509 -0.99995318]]

 t_estimated:
[[8.54051186e-01]
 [5.20188516e-01]
 [6.92661140e-04]]

 R_gt:
[[ 0.99761654 -0.02673476  0.06362534]
 [ 0.02689349  0.9996373  -0.00164223]
 [-0.06355752  0.00334889  0.99797193]]

 t_gt:
[ 0.38481771 -0.37162406  0.8448733 ]

Pose Error in degrees for R and t:
177.96866046187822 82.18790801616194

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99537159e-01  3.04214884e-02  2.90009863e-05]
 [-3.04214876e-02  9.99537159e-01 -2.74798682e-05]
 [-2.98235419e-05  2.65848962e-05  9.99999999e-01]]

 t_estimated:
[[9.77475956e-01]
 [2.11045150e-01]
 [8.36258310e-04]]

 R_gt:
[[ 0.99826243 -0.05289873  0.02597841]
 [ 0.05220571  0.99827933  0.02671695]
 [-0.02734573 -0.02531529  0.99930459]]

 t_gt:
[ 0.63679408 -0.5908981   0.49531075]

Pose Error in degrees for R and t:
5.213824945606078 60.121729725525036

Number of keypoints:
Image1: 363
Image2: 363

 R_estimated:
[[ 8.95046307e-01  4.45973158e-01  2.25237928e-04]
 [-4.45973021e-01  8.95046275e-01 -4.79431493e-04]
 [-4.15411946e-04  3.28663348e-04  9.99999860e-01]]

 t_estimated:
[[-4.28536415e-01]
 [ 9.03524447e-01]
 [ 3.38610628e-04]]

 R_gt:
[[ 0.99428862 -0.09877297  0.04041994]
 [ 0.10111275  0.99302516 -0.06064289]
 [-0.03414741  0.06438318  0.99734108]]

 t_gt:
[ 0.66912659 -0.45501232 -0.58756565]

Pose Error in degrees for R and t:
32.48796146170473 45.72853003223429

Number of keypoints:
Image1: 421
Image2: 421

 R_estimated:
[[-0.92675287  0.37522238  0.01836542]
 [ 0.37522435  0.92692753 -0.0034693 ]
 [-0.01832517  0.00367597 -0.99982532]]

 t_estimated:
[[ 0.97550052]
 [-0.21978435]
 [ 0.00967355]]

 R_gt:
[[ 0.99251144 -0.11851266  0.02960227]
 [ 0.12003441  0.99116737 -0.05638193]
 [-0.02265848  0.05951335  0.99797074]]

 t_gt:
[ 0.70877841 -0.45397631 -0.53994321]

Pose Error in degrees for R and t:
176.82209058681593 38.18975728943788

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.99147665e-01  4.12785148e-02  1.68256004e-04]
 [-4.12784499e-02  9.99147612e-01 -3.72589832e-04]
 [-1.83492540e-04  3.65326913e-04  9.99999916e-01]]

 t_estimated:
[[ 9.36472125e-01]
 [-3.50741494e-01]
 [-6.03304504e-04]]

 R_gt:
[[ 0.98151719 -0.19112172  0.0098048 ]
 [ 0.19132474  0.98113257 -0.02783322]
 [-0.00429992  0.02919508  0.99956406]]

 t_gt:
[ 0.92716557 -0.35210185 -0.12801674]

Pose Error in degrees for R and t:
13.495375592498489 7.3251029187160235

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 5.91374365e-01 -8.06395760e-01  1.49612018e-03]
 [ 8.06389529e-01  5.91375825e-01  3.24996027e-03]
 [-3.50552349e-03 -7.15487544e-04  9.99993600e-01]]

 t_estimated:
[[0.97900471]
 [0.20382654]
 [0.00212571]]

 R_gt:
[[ 0.98888239 -0.14847957 -0.00815583]
 [ 0.14840296  0.98888278 -0.00940308]
 [ 0.00946105  0.00808911  0.9999225 ]]

 t_gt:
[ 0.83638311 -0.5422988  -0.0798455 ]

Pose Error in degrees for R and t:
45.21732081901047 44.91797263050357

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.89417228  0.44761218  0.00996313]
 [ 0.44762079  0.89422226 -0.00147215]
 [-0.0095682   0.00314335 -0.99994928]]

 t_estimated:
[[ 0.97490982]
 [-0.22253521]
 [ 0.00537723]]

 R_gt:
[[ 0.96295826 -0.26961977  0.004095  ]
 [ 0.26957166  0.96219458 -0.03889237]
 [ 0.00654628  0.03855665  0.99923489]]

 t_gt:
[ 0.87319502 -0.46962948 -0.13030198]

Pose Error in degrees for R and t:
178.97757602790358 17.235523685255828

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 4.00890643e-01  9.16125897e-01  1.81574522e-04]
 [-9.16125627e-01  4.00890351e-01  8.73268926e-04]
 [ 7.27232805e-04 -5.16430414e-04  9.99999602e-01]]

 t_estimated:
[[7.29335707e-01]
 [6.84155619e-01]
 [7.17144255e-04]]

 R_gt:
[[ 0.93037413 -0.36532365  0.03069799]
 [ 0.36658815  0.92797875 -0.06684269]
 [-0.00406808  0.07344333  0.99729072]]

 t_gt:
[ 0.88986928 -0.42616477 -0.16283814]

Pose Error in degrees for R and t:
87.94638337234213 69.06346412805726

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-1.31491860e-01 -9.91315620e-01 -1.79789286e-03]
 [ 9.91316845e-01 -1.31489948e-01 -1.14328507e-03]
 [ 8.96951513e-04 -1.93261416e-03  9.99997730e-01]]

 t_estimated:
[[9.21941123e-01]
 [3.87329192e-01]
 [8.13716790e-04]]

 R_gt:
[[ 0.99562262  0.00560276 -0.09329784]
 [-0.00483437  0.99995283  0.00846652]
 [ 0.09333984 -0.00797762  0.99560182]]

 t_gt:
[ 0.33044875  0.00600566 -0.94380483]

Pose Error in degrees for R and t:
97.95786778264747 72.16887622950544

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.98583211 -0.16772175 -0.00211095]
 [ 0.16772632  0.98583112  0.00221184]
 [ 0.00171006 -0.00253456  0.99999533]]

 t_estimated:
[[-0.99950939]
 [-0.03130213]
 [-0.00107938]]

 R_gt:
[[ 0.98330551  0.01858571 -0.18101251]
 [-0.016979    0.99980215  0.01042571]
 [ 0.18117041 -0.00717805  0.98342485]]

 t_gt:
[ 0.29759138  0.07426705 -0.95180028]

Pose Error in degrees for R and t:
14.850180376736223 72.61789539874576

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.17003423  0.98543557  0.00225813]
 [ 0.98543666 -0.17003752  0.00135126]
 [ 0.00171555  0.00199548 -0.99999654]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97256942  0.02897001 -0.23080266]
 [-0.0291576   0.99957152  0.00259977]
 [ 0.23077829  0.00420158  0.97299664]]

 t_gt:
[ 0.28666613  0.11562983 -0.95102696]

Pose Error in degrees for R and t:
171.47182151863512 83.31406966832277

Number of keypoints:
Image1: 383
Image2: 383

 R_estimated:
[[-0.90341439  0.42822872  0.02150829]
 [ 0.42823772  0.90365532 -0.00441888]
 [-0.02132837  0.00521858 -0.9997589 ]]

 t_estimated:
[[ 0.97226245]
 [-0.23363549]
 [ 0.01096262]]

 R_gt:
[[ 0.99475578 -0.0951363   0.03757046]
 [ 0.09730804  0.99338596 -0.06095427]
 [-0.03152238  0.06429115  0.99743273]]

 t_gt:
[ 0.68165183 -0.41647148 -0.60158316]

Pose Error in degrees for R and t:
176.01902114393928 41.109701658540985

Number of keypoints:
Image1: 349
Image2: 349

 R_estimated:
[[ 9.96725715e-01  8.08569296e-02  8.19626902e-05]
 [-8.08569164e-02  9.96725707e-01 -1.53090381e-04]
 [-9.40727386e-05  1.45961869e-04  9.99999985e-01]]

 t_estimated:
[[ 9.41406290e-01]
 [-3.37274450e-01]
 [ 3.77920862e-04]]

 R_gt:
[[ 0.99363879 -0.10883043  0.02897809]
 [ 0.1102166   0.99257292 -0.05150769]
 [-0.02315774  0.05437495  0.99825124]]

 t_gt:
[ 0.72997739 -0.45254189 -0.51219024]

Pose Error in degrees for R and t:
11.439636631106247 32.897606085633605

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[-9.90836216e-01  1.34532324e-01  1.20269255e-02]
 [ 1.34529695e-01  9.90909026e-01 -1.03108556e-03]
 [-1.20563034e-02  5.96341705e-04 -9.99927142e-01]]

 t_estimated:
[[ 0.9972079 ]
 [-0.07440391]
 [ 0.00636056]]

 R_gt:
[[ 0.98189674 -0.18923298  0.00836948]
 [ 0.18938597  0.98158632 -0.02493519]
 [-0.00349693  0.02607044  0.99965364]]

 t_gt:
[ 0.94241463 -0.32026095 -0.09637214]

Pose Error in degrees for R and t:
178.87247979976345 15.634810874231881

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[-6.99475895e-01 -7.14653377e-01 -2.00572170e-03]
 [ 7.14655463e-01 -6.99476435e-01 -5.35307546e-04]
 [-1.02039572e-03 -1.80783469e-03  9.99997845e-01]]

 t_estimated:
[[0.98110239]
 [0.19348643]
 [0.00105156]]

 R_gt:
[[ 0.9990257  -0.00307071  0.04401481]
 [ 0.00299225  0.99999345  0.00184239]
 [-0.04402065 -0.00170815  0.99902897]]

 t_gt:
[ 0.00610257 -0.15184023  0.98838621]

Pose Error in degrees for R and t:
134.2246833520164 88.719193345652

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99995139e-01  3.11780424e-03  3.39184753e-05]
 [-3.11780431e-03  9.99995140e-01  1.89936912e-06]
 [-3.39123886e-05 -2.00511106e-06  9.99999999e-01]]

 t_estimated:
[[0.62347333]
 [0.78184402]
 [0.00096926]]

 R_gt:
[[ 9.98247192e-01 -3.15419742e-02  5.00829585e-02]
 [ 3.16048512e-02  9.99500701e-01 -4.61526066e-04]
 [-5.00440542e-02  2.04386454e-03  9.98744320e-01]]

 t_gt:
[ 0.51991698 -0.45387099  0.72366253]

Pose Error in degrees for R and t:
3.4908765576798144 88.28083802771964

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 3.89986215e-01  9.20820599e-01  4.19297948e-04]
 [-9.20819983e-01  3.89986439e-01 -1.06625010e-03]
 [-1.14534557e-03  2.97249101e-05  9.99999344e-01]]

 t_estimated:
[[-1.01586470e-01]
 [ 9.94826388e-01]
 [ 8.04704471e-04]]

 R_gt:
[[ 0.99818533 -0.05826007  0.01520453]
 [ 0.05782112  0.99793852  0.02783526]
 [-0.01679543 -0.02690492  0.99949672]]

 t_gt:
[ 0.68748651 -0.61733396  0.38244095]

Pose Error in degrees for R and t:
70.3951602806423 46.86876750538966

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999841e-01 -8.78967425e-05  5.56176885e-04]
 [ 8.81226002e-05  9.99999914e-01 -4.06078136e-04]
 [-5.56141145e-04  4.06127083e-04  9.99999763e-01]]

 t_estimated:
[[-0.66345365]
 [-0.74821665]
 [-0.00104646]]

 R_gt:
[[ 9.98685283e-01 -5.12589042e-02 -8.19233600e-05]
 [ 5.12516357e-02  9.98524043e-01  1.79707559e-02]
 [-8.38766522e-04 -1.79514644e-02  9.99838344e-01]]

 t_gt:
[ 0.79749612 -0.56120851  0.22146095]

Pose Error in degrees for R and t:
3.116535437005143 83.71766231372779

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.16164122e-01  4.00803321e-01 -1.42615184e-05]
 [-4.00803318e-01  9.16164119e-01  8.49390276e-05]
 [ 4.71097358e-05 -7.21020258e-05  9.99999996e-01]]

 t_estimated:
[[-0.63545085]
 [-0.77214061]
 [-0.00104343]]

 R_gt:
[[ 0.98195709 -0.17861367  0.06211153]
 [ 0.16370168  0.96731592  0.19365346]
 [-0.09467013 -0.17999099  0.97910197]]

 t_gt:
[ 0.54853159 -0.44468306  0.7080749 ]

Pose Error in degrees for R and t:
35.522298667808094 89.65932603904622

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 8.02709206e-01  5.96370632e-01 -1.01251955e-05]
 [-5.96370495e-01  8.02709010e-01 -6.91690737e-04]
 [-4.04376456e-04  5.61264891e-04  9.99999761e-01]]

 t_estimated:
[[-0.99934297]
 [-0.03621989]
 [-0.00132374]]

 R_gt:
[[ 0.96628154 -0.22426886  0.12650761]
 [ 0.17919219  0.93851731  0.29508714]
 [-0.18490748 -0.26246747  0.94705858]]

 t_gt:
[ 0.47756615 -0.3126575   0.82108213]

Pose Error in degrees for R and t:
51.86009853764988 62.15930188322148

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 8.64273361e-01  5.03022037e-01  6.23390136e-04]
 [-5.03021946e-01  8.64270171e-01  2.44830583e-03]
 [ 6.92774285e-04 -2.42958442e-03  9.99996809e-01]]

 t_estimated:
[[5.65874060e-01]
 [8.24491486e-01]
 [5.81091780e-04]]

 R_gt:
[[ 0.98471805  0.17369478  0.01269144]
 [-0.17328498  0.98446396 -0.02831248]
 [-0.01741262  0.02568102  0.99951854]]

 t_gt:
[-0.8202492   0.56514604 -0.0883244 ]

Pose Error in degrees for R and t:
20.29599652623087 89.89978831874323

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-9.19824892e-01 -3.92326113e-01 -1.54585373e-03]
 [ 3.92329006e-01 -9.19820873e-01 -2.74079514e-03]
 [-3.46623025e-04 -3.12753485e-03  9.99995049e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97023776  0.24208937 -0.00572581]
 [-0.24206732  0.9702499   0.00421632]
 [ 0.0065761  -0.00270373  0.99997522]]

 t_gt:
[-0.79947685  0.60067326 -0.00532958]

Pose Error in degrees for R and t:
170.90935238725532 37.09710992763633

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 6.39695909e-01 -7.68624771e-01  2.25940492e-03]
 [ 7.68627812e-01  6.39690401e-01 -2.73463731e-03]
 [ 6.56590337e-04  3.48597775e-03  9.99993708e-01]]

 t_estimated:
[[-0.1053877 ]
 [-0.99442754]
 [-0.00270225]]

 R_gt:
[[ 9.28867111e-01  3.70413704e-01  5.12483660e-04]
 [-3.70412759e-01  9.28866565e-01 -1.18880501e-03]
 [-9.16243641e-04  9.14760623e-04  9.99999164e-01]]

 t_gt:
[-0.7641878   0.64485589 -0.0133375 ]

Pose Error in degrees for R and t:
71.97208361022979 55.89644143419913

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-4.32135029e-01 -9.01808907e-01 -1.06509484e-04]
 [-9.01807953e-01  4.32134393e-01  1.51041128e-03]
 [-1.31607594e-03  7.48752722e-04 -9.99998854e-01]]

 t_estimated:
[[0.86884727]
 [0.49507901]
 [0.00109289]]

 R_gt:
[[ 0.99877756  0.04747183  0.0138021 ]
 [-0.04668365  0.997517   -0.05274265]
 [-0.0162714   0.05203336  0.99851218]]

 t_gt:
[-0.65701563  0.58883921 -0.47074287]

Pose Error in degrees for R and t:
179.16573899072353 73.74941786602645

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.97438506e-01 -7.15292022e-02 -3.02751429e-05]
 [ 7.15292034e-02  9.97438505e-01  3.89472243e-05]
 [ 2.74117294e-05 -4.10130180e-05  9.99999999e-01]]

 t_estimated:
[[0.79999969]
 [0.59999977]
 [0.00087336]]

 R_gt:
[[ 0.99529683  0.06742956  0.069545  ]
 [-0.06255745  0.9955821  -0.07001558]
 [-0.07395822  0.06533592  0.99511874]]

 t_gt:
[-0.76569639  0.60394708  0.22126222]

Pose Error in degrees for R and t:
9.668715042375192 75.52275265853469

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.98806053  0.15405724 -0.00166224]
 [ 0.15405379 -0.98778644  0.02335318]
 [ 0.00195578 -0.02333043 -0.9997259 ]]

 t_estimated:
[[3.99580998e-04]
 [9.99932454e-01]
 [1.16158451e-02]]

 R_gt:
[[ 0.992911    0.04126034  0.11147059]
 [-0.03450349  0.99748653 -0.06189141]
 [-0.11374272  0.05760621  0.99183882]]

 t_gt:
[-0.4584677   0.27008255  0.8466775 ]

Pose Error in degrees for R and t:
177.41860006279086 73.75674564786995

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[-6.68683226e-01 -7.43546668e-01 -1.04673176e-03]
 [-7.43547327e-01  6.68681849e-01  1.39895463e-03]
 [-3.40257520e-04  1.71375210e-03 -9.99998474e-01]]

 t_estimated:
[[0.9086576 ]
 [0.41754104]
 [0.00091969]]

 R_gt:
[[ 0.99490285  0.10053666 -0.00763122]
 [-0.10015565  0.99416785  0.03998177]
 [ 0.01160747 -0.03901382  0.99917042]]

 t_gt:
[-0.83131952  0.48050206  0.27933065]

Pose Error in degrees for R and t:
179.6025149810971 56.32381539867506

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.99941375e-01  1.08279480e-02  5.41440826e-05]
 [-1.08279396e-02  9.99941364e-01 -1.54131508e-04]
 [-5.58098357e-05  1.53536203e-04  9.99999987e-01]]

 t_estimated:
[[-0.99659364]
 [-0.08246047]
 [-0.00117801]]

 R_gt:
[[ 0.97563065  0.21900426  0.01343536]
 [-0.21916968  0.97560664  0.01241763]
 [-0.01038746 -0.01505937  0.99983246]]

 t_gt:
[-0.81154787  0.58237473  0.04722   ]

Pose Error in degrees for R and t:
12.082156499402231 40.47361771409436

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[ 4.13346814e-01  9.10570717e-01  2.31938484e-03]
 [-9.10573651e-01  4.13345999e-01  8.42931506e-04]
 [-1.91159697e-04 -2.46039377e-03  9.99996955e-01]]

 t_estimated:
[[0.61752251]
 [0.7865524 ]
 [0.00112687]]

 R_gt:
[[ 0.96280531  0.26955032  0.0186276 ]
 [-0.26984753  0.9627719   0.01587188]
 [-0.01365558 -0.02030715  0.99970031]]

 t_gt:
[-0.77187291  0.63227961  0.06659351]

Pose Error in degrees for R and t:
49.95053148036572 88.81118846012389

Number of keypoints:
Image1: 451
Image2: 451

 R_estimated:
[[ 9.99790064e-01  2.04896802e-02  2.94667382e-05]
 [-2.04896788e-02  9.99790063e-01 -4.51949158e-05]
 [-3.03865814e-05  4.45816637e-05  9.99999999e-01]]

 t_estimated:
[[9.94184115e-01]
 [1.07692813e-01]
 [4.50628326e-04]]

 R_gt:
[[ 0.99868946 -0.04976804 -0.01201502]
 [ 0.04939218  0.99833576 -0.02974885]
 [ 0.0134755   0.02911743  0.99948497]]

 t_gt:
[ 0.67821092 -0.1919262  -0.70936188]

Pose Error in degrees for R and t:
4.416564250967921 49.21080817268414

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 9.99999882e-01 -4.71705213e-04  1.12871077e-04]
 [ 4.71732063e-04  9.99999860e-01 -2.37980878e-04]
 [-1.12758805e-04  2.38034095e-04  9.99999965e-01]]

 t_estimated:
[[ 9.88050847e-01]
 [-1.54126619e-01]
 [-7.13566509e-04]]

 R_gt:
[[ 0.99540181 -0.09158258 -0.02807922]
 [ 0.09166273  0.99578846  0.00159733]
 [ 0.02781469 -0.00416334  0.99960391]]

 t_gt:
[ 0.96267938 -0.26585124 -0.05071022]

Pose Error in degrees for R and t:
5.47596035501297 7.166819388758061

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[-0.89096217 -0.45393477  0.01138577]
 [-0.45393932  0.89102955  0.00233009]
 [-0.01120277 -0.00309243 -0.99993247]]

 t_estimated:
[[0.97076791]
 [0.23994807]
 [0.0058816 ]]

 R_gt:
[[ 0.98333072 -0.16971466 -0.06526328]
 [ 0.17021195  0.98540445  0.00210625]
 [ 0.06395278 -0.01317987  0.99786631]]

 t_gt:
[ 0.98269159 -0.16730317 -0.07954174]

Pose Error in degrees for R and t:
177.1494331319323 24.02701855075504

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999854e-01 -5.39568697e-04 -1.62404297e-05]
 [ 5.39569467e-04  9.99999853e-01  4.74270404e-05]
 [ 1.62148372e-05 -4.74357964e-05  9.99999999e-01]]

 t_estimated:
[[-4.14791714e-01]
 [ 9.09916347e-01]
 [ 2.75000487e-04]]

 R_gt:
[[ 0.99635759  0.06425832 -0.05606588]
 [-0.0651705   0.99776732 -0.01460333]
 [ 0.05500129  0.01820379  0.99832017]]

 t_gt:
[-0.43212437  0.70311546 -0.56470982]

Pose Error in degrees for R and t:
5.004662212024227 35.02890627263273

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.77274234e-01 -2.11978670e-01 -3.37982229e-04]
 [ 2.11978839e-01  9.77274081e-01  5.85916881e-04]
 [ 2.06099391e-04 -6.44246552e-04  9.99999771e-01]]

 t_estimated:
[[-1.31646425e-01]
 [-9.91296457e-01]
 [-7.43602979e-04]]

 R_gt:
[[ 0.98862374  0.05789909 -0.13882271]
 [-0.06096787  0.99797865 -0.01795057]
 [ 0.13750303  0.02620955  0.99015458]]

 t_gt:
[-0.06978703  0.46575019 -0.88216015]

Pose Error in degrees for R and t:
17.59253506837417 63.13734653556564

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.50290058e-01  3.11365428e-01  6.12940418e-04]
 [-3.11365615e-01  9.50290166e-01  2.34145096e-04]
 [-5.09566564e-04 -4.13354327e-04  9.99999785e-01]]

 t_estimated:
[[0.03695364]
 [0.99931642]
 [0.00105764]]

 R_gt:
[[ 0.97125914  0.07425086 -0.22615069]
 [-0.07822301  0.9968988  -0.00864037]
 [ 0.22480746  0.02608171  0.97405372]]

 t_gt:
[ 0.0537467   0.39150761 -0.91860388]

Pose Error in degrees for R and t:
18.951851458829537 66.90514201340264

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.94616845 -0.32342295  0.0127619 ]
 [-0.32341456  0.94625331  0.00277223]
 [-0.01297259 -0.00150439 -0.99991472]]

 t_estimated:
[[0.99710863]
 [0.07553003]
 [0.00834205]]

 R_gt:
[[ 0.99453946 -0.09850679  0.03447049]
 [ 0.0992034   0.99488364 -0.01909929]
 [-0.0324119   0.02241514  0.99922343]]

 t_gt:
[ 0.7891583  -0.6081408  -0.08598807]

Pose Error in degrees for R and t:
177.55475256405347 42.24930016091863

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.97129748e-01  7.57063764e-02  8.99808401e-04]
 [-7.57056831e-02  9.97129901e-01 -7.81139072e-04]
 [-9.56363070e-04  7.10776396e-04  9.99999290e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.97637903 -0.21008632  0.05047275]
 [ 0.21230972  0.97622808 -0.04362076]
 [-0.04010964  0.05330558  0.99777253]]

 t_gt:
[ 0.84145505 -0.52131911 -0.14205559]

Pose Error in degrees for R and t:
16.966367860156915 58.86300877802635

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-7.88282564e-01 -6.15313234e-01 -4.72988898e-04]
 [-6.15313267e-01  7.88281603e-01  1.30294432e-03]
 [-4.28870435e-04  1.31812463e-03 -9.99999039e-01]]

 t_estimated:
[[9.91960367e-01]
 [1.26545809e-01]
 [8.87780755e-04]]

 R_gt:
[[ 0.94439074 -0.32589196  0.04382004]
 [ 0.32873728  0.93880036 -0.10288537]
 [-0.00760879  0.11156976  0.99372766]]

 t_gt:
[ 0.88089721 -0.39204934 -0.26517432]

Pose Error in degrees for R and t:
179.39809105498122 34.51604914817659

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99997972e-01  2.01393485e-03  1.18726010e-05]
 [-2.01393432e-03  9.99997971e-01 -4.47819875e-05]
 [-1.19627649e-05  4.47579860e-05  9.99999999e-01]]

 t_estimated:
[[ 5.17886101e-01]
 [-8.55449562e-01]
 [-1.80495253e-04]]

 R_gt:
[[ 0.99799544 -0.04084653 -0.0483285 ]
 [ 0.03738213  0.99680814 -0.07054408]
 [ 0.05105542  0.0685962   0.99633704]]

 t_gt:
[ 0.31266077 -0.15383683 -0.93732464]

Pose Error in degrees for R and t:
5.442409981872279 72.92090956195136

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999955e-01 -2.50109386e-04  1.63912855e-04]
 [ 2.50139065e-04  9.99999952e-01 -1.81069506e-04]
 [-1.63867560e-04  1.81110499e-04  9.99999970e-01]]

 t_estimated:
[[9.99998336e-01]
 [1.77707973e-03]
 [4.12090184e-04]]

 R_gt:
[[ 9.69307953e-01 -2.45765283e-01  6.35504507e-03]
 [ 2.45847393e-01  9.69037776e-01 -2.29096334e-02]
 [-5.28250326e-04  2.37689075e-02  9.99716476e-01]]

 t_gt:
[ 0.68116863 -0.73030421 -0.05162426]

Pose Error in degrees for R and t:
14.281062787535708 47.168201294647005

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999603e-01  2.51586880e-04  8.54309601e-04]
 [-2.50960798e-04  9.99999700e-01 -7.32878785e-04]
 [-8.54493727e-04  7.32664096e-04  9.99999367e-01]]

 t_estimated:
[[9.99984180e-01]
 [5.56800389e-03]
 [7.98511656e-04]]

 R_gt:
[[ 0.93468136 -0.35519383 -0.01442437]
 [ 0.35283078  0.93188534 -0.08426905]
 [ 0.0433731   0.07367611  0.9963382 ]]

 t_gt:
[ 0.71890274 -0.65635039 -0.22887338]

Pose Error in degrees for R and t:
21.346513495679392 44.35237146085965

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 0.3657639   0.93053699  0.01782347]
 [ 0.93055761 -0.36529398 -0.02495681]
 [-0.01671243  0.02571406 -0.99952963]]

 t_estimated:
[[-0.54875676]
 [ 0.83584083]
 [-0.01536634]]

 R_gt:
[[ 0.99677423 -0.07792269  0.01921986]
 [ 0.07845778  0.9964987  -0.02890495]
 [-0.01689976  0.03031946  0.99939736]]

 t_gt:
[ 0.33521253 -0.7887658  -0.51524855]

Pose Error in degrees for R and t:
176.25650213892118 33.35131418482579

Number of keypoints:
Image1: 634
Image2: 634

 R_estimated:
[[ 9.89674808e-01  1.43330886e-01  1.75473228e-04]
 [-1.43330820e-01  9.89674774e-01 -3.41724169e-04]
 [-2.22641055e-04  3.13045080e-04  9.99999926e-01]]

 t_estimated:
[[ 0.56128286]
 [-0.82762353]
 [-0.00092003]]

 R_gt:
[[ 0.99065824 -0.13494292  0.01963266]
 [ 0.13598793  0.98831586 -0.06884558]
 [-0.01011283  0.07087265  0.99743353]]

 t_gt:
[ 0.57446799 -0.4805899  -0.66258575]

Pose Error in degrees for R and t:
16.54498565540026 43.879749730581906

Number of keypoints:
Image1: 450
Image2: 450

 R_estimated:
[[ 9.04540548e-01  4.26387363e-01  4.61805541e-04]
 [-4.26387147e-01  9.04540630e-01 -4.99133489e-04]
 [-6.30546087e-04  2.54578533e-04  9.99999769e-01]]

 t_estimated:
[[-0.36644455]
 [ 0.93043924]
 [ 0.0011016 ]]

 R_gt:
[[ 0.98804114 -0.15414326  0.00379062]
 [ 0.15417562  0.98731809 -0.03785558]
 [ 0.00209306  0.03798754  0.9992763 ]]

 t_gt:
[ 0.7450354  -0.54701131 -0.38170783]

Pose Error in degrees for R and t:
34.175870809869245 38.51957372579393

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.91563937e-01 -1.29617078e-01  6.09066265e-04]
 [ 1.29617719e-01  9.91563353e-01 -1.16791888e-03]
 [-4.52545554e-04  1.23701203e-03  9.99999133e-01]]

 t_estimated:
[[-0.34980924]
 [-0.93681789]
 [-0.00239595]]

 R_gt:
[[ 0.97609735 -0.2094936   0.05786389]
 [ 0.20827825  0.97771519  0.02634644]
 [-0.06209296 -0.01366564  0.99797635]]

 t_gt:
[ 0.60767712 -0.73814687  0.29303194]

Pose Error in degrees for R and t:
5.881718319134238 61.42974248845013

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99999262e-01 -3.60484288e-04  1.16020952e-03]
 [ 3.61648910e-04  9.99999431e-01 -1.00375054e-03]
 [-1.15984702e-03  1.00416939e-03  9.99998823e-01]]

 t_estimated:
[[-0.69636675]
 [-0.71768567]
 [-0.00079242]]

 R_gt:
[[ 0.93466846 -0.35501965 -0.01890547]
 [ 0.35536789  0.93450725  0.02027198]
 [ 0.01047102 -0.02566576  0.99961552]]

 t_gt:
[ 0.71595858 -0.69702497  0.03949039]

Pose Error in degrees for R and t:
20.85529008388525 89.90581740753237

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99999910e-01 -3.39683075e-05  4.23724324e-04]
 [ 3.41214675e-05  9.99999934e-01 -3.61459493e-04]
 [-4.23712018e-04  3.61473918e-04  9.99999845e-01]]

 t_estimated:
[[8.24941826e-01]
 [5.65217252e-01]
 [6.65327751e-04]]

 R_gt:
[[ 0.87852955 -0.4772412   0.02069926]
 [ 0.47585408  0.87812632  0.04956359]
 [-0.04182871 -0.03369383  0.99855626]]

 t_gt:
[ 0.72385297 -0.67743859  0.13081987]

Pose Error in degrees for R and t:
28.643373814485475 77.62414985799684

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99999875e-01 -4.95379911e-04 -6.96889504e-05]
 [ 4.95378604e-04  9.99999877e-01 -1.87648034e-05]
 [ 6.96982376e-05  1.87302787e-05  9.99999997e-01]]

 t_estimated:
[[-9.99675874e-01]
 [-2.54482621e-02]
 [-7.30357188e-04]]

 R_gt:
[[ 0.99388921  0.11013663 -0.00747119]
 [-0.11010164  0.99390836  0.005067  ]
 [ 0.00798458 -0.00421272  0.99995943]]

 t_gt:
[-0.79841775  0.60170558  0.02189722]

Pose Error in degrees for R and t:
6.370965941010395 38.47952105244175

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99485654e-01 -3.20677255e-02 -2.98676967e-04]
 [ 3.20676616e-02  9.99485677e-01 -2.16445463e-04]
 [ 3.05464264e-04  2.06756264e-04  9.99999932e-01]]

 t_estimated:
[[-0.9623965 ]
 [-0.27164417]
 [-0.00155225]]

 R_gt:
[[ 9.60643866e-01  2.77782524e-01 -7.20147786e-04]
 [-2.77653710e-01  9.60112127e-01 -3.30875087e-02]
 [-8.49840234e-03  3.19857568e-02  9.99452057e-01]]

 t_gt:
[-0.77191636  0.6298229  -0.08641903]

Pose Error in degrees for R and t:
18.064146942433144 55.11465877666803

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[-9.47222446e-01 -3.20540280e-01 -4.85462317e-03]
 [-3.20544895e-01  9.47233306e-01  1.83267250e-04]
 [ 4.53971622e-03  1.72971952e-03 -9.99988199e-01]]

 t_estimated:
[[ 0.98102268]
 [ 0.1938847 ]
 [-0.001797  ]]

 R_gt:
[[ 0.93796607  0.34666001 -0.00679191]
 [-0.34670882  0.93793568 -0.00836631]
 [ 0.00347104  0.0102027   0.99994253]]

 t_gt:
[-0.75412617  0.65618516 -0.02673486]

Pose Error in degrees for R and t:
179.33980429993616 52.226424940228526

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99212239e-01 -3.96848428e-02 -1.17948558e-04]
 [ 3.96848359e-02  9.99212245e-01 -5.97511332e-05]
 [ 1.20226858e-04  5.50232944e-05  9.99999991e-01]]

 t_estimated:
[[-0.6739105 ]
 [-0.73881087]
 [-0.00177257]]

 R_gt:
[[ 0.99374984  0.11059295  0.01518294]
 [-0.11081809  0.9937291   0.01491703]
 [-0.01343845 -0.01650571  0.99977342]]

 t_gt:
[-0.57138047  0.80389694  0.16514863]

Pose Error in degrees for R and t:
8.7175861108685 77.926796684788

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.97333183e-01  7.29830306e-02  8.85159053e-06]
 [-7.29830292e-02  9.97333177e-01 -1.05379121e-04]
 [-1.65188725e-05  1.04452078e-04  9.99999994e-01]]

 t_estimated:
[[-9.74382314e-01]
 [-2.24896571e-01]
 [-7.99432764e-04]]

 R_gt:
[[ 0.97239195  0.2287578   0.04609518]
 [-0.22994109  0.97295106  0.02219377]
 [-0.03977095 -0.03217954  0.99869022]]

 t_gt:
[-0.54093628  0.82231242  0.17660752]

Pose Error in degrees for R and t:
9.54385894927325 70.00108696128956

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 6.24591238e-01 -7.80930972e-01  5.70982014e-03]
 [-7.80944138e-01 -6.24600862e-01  1.23859110e-04]
 [ 3.46963317e-03 -4.53641188e-03 -9.99983691e-01]]

 t_estimated:
[[0.39830755]
 [0.91725134]
 [0.00103997]]

 R_gt:
[[ 0.96301097  0.26735746  0.03360689]
 [-0.26867833  0.96221896  0.04413222]
 [-0.02053815 -0.0515292   0.99846009]]

 t_gt:
[-0.52436029  0.8343948   0.16979873]

Pose Error in degrees for R and t:
176.6407361259393 56.174205901652314

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.99999317e-01  1.16078708e-03  1.39781242e-04]
 [-1.16077938e-03  9.99999325e-01 -5.51410344e-05]
 [-1.39845155e-04  5.49787416e-05  9.99999989e-01]]

 t_estimated:
[[ 9.96106044e-01]
 [-8.81624536e-02]
 [-3.62019149e-04]]

 R_gt:
[[ 9.97014467e-01 -7.67922283e-02 -8.15435359e-03]
 [ 7.67932655e-02  9.97047319e-01 -1.10167540e-04]
 [ 8.13734670e-03 -5.16317789e-04  9.99967220e-01]]

 t_gt:
[ 0.804344   -0.59290727 -0.03862251]

Pose Error in degrees for R and t:
4.4954726529282 31.405798582706176

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 6.48029680e-01 -7.61614890e-01 -5.41427426e-04]
 [ 7.61615082e-01  6.48029487e-01  5.01399067e-04]
 [-3.10120584e-05 -7.37280770e-04  9.99999728e-01]]

 t_estimated:
[[9.78569329e-01]
 [2.05916450e-01]
 [6.95676310e-04]]

 R_gt:
[[ 0.99347019 -0.11010148  0.02991857]
 [ 0.10925494  0.99360248  0.02858513]
 [-0.03287446 -0.02512878  0.99914419]]

 t_gt:
[ 0.67086986 -0.71624142  0.19217666]

Pose Error in degrees for R and t:
43.36833315588856 59.39340627033237

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99679886e-01  2.52742114e-02  1.15750799e-03]
 [-2.52738536e-02  9.99680513e-01 -3.22692073e-04]
 [-1.16529397e-03  2.93334088e-04  9.99999278e-01]]

 t_estimated:
[[0.15175837]
 [0.9884143 ]
 [0.00256215]]

 R_gt:
[[ 0.99331892 -0.11503583 -0.00919593]
 [ 0.11523831  0.99300165  0.02581946]
 [ 0.00616108 -0.02670614  0.99962449]]

 t_gt:
[ 0.60390511 -0.7912253   0.09623485]

Pose Error in degrees for R and t:
8.219518639459238 46.35689348442392

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99993118e-01 -3.70721042e-03  1.45589586e-04]
 [ 3.70719042e-03  9.99993119e-01  1.37452110e-04]
 [-1.46098148e-04 -1.36911436e-04  9.99999980e-01]]

 t_estimated:
[[0.91425899]
 [0.40512918]
 [0.00091666]]

 R_gt:
[[ 0.98981231 -0.14145756 -0.01612378]
 [ 0.14179904  0.98964132  0.02242823]
 [ 0.01278364 -0.02448518  0.99961846]]

 t_gt:
[ 0.7606329  -0.63561628  0.13202097]

Pose Error in degrees for R and t:
8.087091086709215 64.02175880313065

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 4.74761052e-01  8.80114226e-01  9.45199891e-04]
 [-8.80113714e-01  4.74761862e-01 -1.01223945e-03]
 [-1.33963120e-03 -3.51311523e-04  9.99999041e-01]]

 t_estimated:
[[-3.15264739e-01]
 [ 9.49003388e-01]
 [ 8.44390897e-04]]

 R_gt:
[[ 0.9766424  -0.21304243 -0.02796331]
 [ 0.21436065  0.97499226  0.0586394 ]
 [ 0.01477089 -0.06326316  0.9978877 ]]

 t_gt:
[ 0.73240437 -0.63556926  0.24420392]

Pose Error in degrees for R and t:
74.09158655120274 33.50346414107252

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.58510960e-01 -2.85055643e-01  1.43721907e-04]
 [ 2.85055548e-01  9.58510882e-01  4.72821665e-04]
 [-2.72539495e-04 -4.12236021e-04  9.99999878e-01]]

 t_estimated:
[[8.85059993e-01]
 [4.65476875e-01]
 [2.94928009e-04]]

 R_gt:
[[ 9.72924115e-01 -2.28002475e-01 -3.78623358e-02]
 [ 2.31124365e-01  9.59354408e-01  1.61926409e-01]
 [-5.96485625e-04 -1.66292123e-01  9.86076023e-01]]

 t_gt:
[ 0.59279468 -0.64219018  0.48598996]

Pose Error in degrees for R and t:
10.06791164456095 76.94551576356665

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99987919e-01  4.91519961e-03  6.04896401e-05]
 [-4.91519936e-03  9.99987920e-01 -4.26621439e-06]
 [-6.05098787e-05  3.96884420e-06  9.99999998e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075933e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99318736 -0.11346651 -0.02656127]
 [ 0.11370767  0.99348411  0.00776511]
 [ 0.02550704 -0.0107326   0.99961721]]

 t_gt:
[ 0.76109506 -0.64350869 -0.08143017]

Pose Error in degrees for R and t:
6.9876380142900985 40.62100421629014

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99987680e-01 -4.96294737e-03  9.94178566e-05]
 [ 4.96294082e-03  9.99987682e-01  6.60111429e-05]
 [-9.97442418e-05 -6.55169246e-05  9.99999993e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9821354  -0.18639781 -0.02584501]
 [ 0.18709585  0.98194567  0.02789699]
 [ 0.020178   -0.03223482  0.99927607]]

 t_gt:
[ 0.75861289 -0.64981362  0.04742089]

Pose Error in degrees for R and t:
10.706116174202876 40.83192427097695

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.60559327 -0.79577216  0.00186229]
 [-0.79577313 -0.60558662  0.00315699]
 [-0.00138446 -0.00339381 -0.99999328]]

 t_estimated:
[[0.05278922]
 [0.99859599]
 [0.0043991 ]]

 R_gt:
[[ 0.98268082 -0.18529819 -0.00203899]
 [ 0.18527993  0.98266137 -0.0068601 ]
 [ 0.00327481  0.00636313  0.99997408]]

 t_gt:
[ 0.73855093 -0.67376898 -0.02403942]

Pose Error in degrees for R and t:
179.78780371004348 50.65849863564293

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-9.18623806e-01 -3.95132660e-01  6.95542652e-04]
 [-3.95131545e-01  9.18623572e-01  1.33995871e-03]
 [-1.16840333e-03  9.56087132e-04 -9.99998860e-01]]

 t_estimated:
[[9.21878018e-01]
 [3.87479377e-01]
 [8.07248703e-04]]

 R_gt:
[[ 0.99323062  0.0090595   0.1158002 ]
 [-0.00809922  0.99992831 -0.00875341]
 [-0.1158716   0.00775665  0.99323413]]

 t_gt:
[-0.30237935  0.0956566   0.94837574]

Pose Error in degrees for R and t:
173.52654984452536 76.05878016511497

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.64119706e-01 -2.65467636e-01  3.56421886e-04]
 [ 2.65467855e-01  9.64119282e-01 -9.10356906e-04]
 [-1.01962917e-04  9.72311586e-04  9.99999522e-01]]

 t_estimated:
[[-0.38771931]
 [-0.92177625]
 [-0.00150864]]

 R_gt:
[[ 0.97260265  0.05347617  0.22623975]
 [-0.05459575  0.99850781 -0.00131121]
 [-0.22597173 -0.01107716  0.97407088]]

 t_gt:
[-0.38088243  0.21119979  0.90017955]

Pose Error in degrees for R and t:
22.641673211112487 87.2280076588055

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.96403040e-01  8.47382381e-02 -6.42483014e-04]
 [-8.47378985e-02  9.96403130e-01  5.38675208e-04]
 [ 6.85818474e-04 -4.82294954e-04  9.99999649e-01]]

 t_estimated:
[[-0.69663135]
 [-0.71742891]
 [-0.00072373]]

 R_gt:
[[ 0.96334333  0.1031228   0.24765959]
 [-0.1032926   0.99457441 -0.01234357]
 [-0.24758843 -0.01369096  0.96876851]]

 t_gt:
[-0.49966253  0.3190657   0.80531636]

Pose Error in degrees for R and t:
14.441479099594856 83.18921965308537

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.99976826e-01 -6.80791122e-03 -1.66016621e-05]
 [ 6.80790993e-03  9.99976823e-01 -7.66246669e-05]
 [ 1.71229313e-05  7.65098686e-05  9.99999997e-01]]

 t_estimated:
[[-0.94340346]
 [-0.33164463]
 [-0.00132129]]

 R_gt:
[[ 0.99866622  0.05154895 -0.00272208]
 [-0.05155643  0.99866651 -0.00275429]
 [ 0.00257654  0.00289161  0.99999222]]

 t_gt:
[-0.53446714  0.83935428 -0.09914262]

Pose Error in degrees for R and t:
3.3525298718061958 76.93938135686724

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99594517e-01  2.84693691e-02 -5.44545797e-04]
 [-2.84688104e-02  9.99594173e-01  1.00763902e-03]
 [ 5.73011654e-04 -9.91727870e-04  9.99999344e-01]]

 t_estimated:
[[-8.24247560e-01]
 [-5.66229057e-01]
 [-7.84250771e-04]]

 R_gt:
[[ 9.85604443e-01  4.29033457e-02  1.63532405e-01]
 [-4.33871438e-02  9.99057690e-01 -6.15706308e-04]
 [-1.63404010e-01 -6.48794695e-03  9.86537232e-01]]

 t_gt:
[-0.37082106  0.24956086  0.8945452 ]

Pose Error in degrees for R and t:
9.482249918993803 80.58186599157347

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.98076612  0.19518397 -0.00102084]
 [-0.19518197  0.98076541  0.00179287]
 [ 0.00135115 -0.00155913  0.99999787]]

 t_estimated:
[[0.64580401]
 [0.76349726]
 [0.00301778]]

 R_gt:
[[ 0.97321233  0.07149133  0.2185098 ]
 [-0.07291748  0.99733687 -0.00153758]
 [-0.21803763 -0.01443612  0.97583297]]

 t_gt:
[-0.43410965  0.27725428  0.85713411]

Pose Error in degrees for R and t:
14.514750201713763 86.21112072773492

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.65898766e-01 -2.58918438e-01  9.03668280e-04]
 [ 2.58919806e-01  9.65887669e-01 -4.64171535e-03]
 [ 3.28983637e-04  4.71740474e-03  9.99988819e-01]]

 t_estimated:
[[ 0.64762457]
 [-0.76185128]
 [-0.01284698]]

 R_gt:
[[ 9.90578601e-01 -1.36782911e-01 -6.57362887e-03]
 [ 1.36940346e-01  9.89499984e-01  4.62300641e-02]
 [ 1.81379071e-04 -4.66946019e-02  9.98908897e-01]]

 t_gt:
[ 0.70450575 -0.64253751  0.30135892]

Pose Error in degrees for R and t:
7.719805950478014 19.62658446125296

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.08612028 -0.99627537 -0.0043224 ]
 [-0.99628379 -0.08612539  0.00100949]
 [-0.001378    0.0042194  -0.99999015]]

 t_estimated:
[[0.64857304]
 [0.76115177]
 [0.00099627]]

 R_gt:
[[ 0.98780249 -0.15234161 -0.03220754]
 [ 0.1550037   0.98172682  0.11039485]
 [ 0.01480177 -0.11404094  0.99336588]]

 t_gt:
[ 0.57713361 -0.67664288  0.45724305]

Pose Error in degrees for R and t:
176.26071542774082 81.93716113645627

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 8.57765396e-01 -5.14041073e-01 -5.48397031e-04]
 [ 5.14041363e-01  8.57765023e-01  8.01395303e-04]
 [ 5.84456898e-05 -9.69307917e-04  9.99999529e-01]]

 t_estimated:
[[7.50480191e-01]
 [6.60892536e-01]
 [7.34325040e-04]]

 R_gt:
[[ 0.98063942 -0.1917143  -0.03987853]
 [ 0.19579596  0.95693329  0.21434245]
 [-0.00293111 -0.21799993  0.97594427]]

 t_gt:
[ 0.50795215 -0.62310392  0.59474878]

Pose Error in degrees for R and t:
23.25399989698208 88.27169942605327

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-9.67632683e-01 -2.52361519e-01  8.09384546e-04]
 [-2.52360703e-01  9.67632728e-01  9.89421924e-04]
 [-1.03287900e-03  7.53140137e-04 -9.99999183e-01]]

 t_estimated:
[[0.99015431]
 [0.13996946]
 [0.00172802]]

 R_gt:
[[ 0.999612   -0.02661753  0.00822046]
 [ 0.0263335   0.99911234  0.03286765]
 [-0.00908741 -0.03263907  0.99942623]]

 t_gt:
[ 0.53606174 -0.60446757  0.58928496]

Pose Error in degrees for R and t:
179.21687104315987 63.436130656898364

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99834265e-01 -1.82045429e-02  1.90664968e-04]
 [ 1.82045642e-02  9.99834277e-01 -1.10340202e-04]
 [-1.88624677e-04  1.13792887e-04  9.99999976e-01]]

 t_estimated:
[[9.90195443e-01]
 [1.39686867e-01]
 [7.51142235e-04]]

 R_gt:
[[ 0.98832964 -0.15224677 -0.00501466]
 [ 0.15232016  0.98738473  0.04325005]
 [-0.00163361 -0.04350933  0.99905175]]

 t_gt:
[ 0.74879857 -0.64143134  0.16693273]

Pose Error in degrees for R and t:
8.115135852593657 49.3087369044691

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.35117214e-01  3.54338515e-01 -1.13038932e-04]
 [-3.54338413e-01  9.35117112e-01  5.24172809e-04]
 [ 2.91439255e-04 -4.50108981e-04  9.99999856e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10076090e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97478356 -0.22058149 -0.03378141]
 [ 0.22252683  0.97217957  0.07313709]
 [ 0.01670865 -0.07881063  0.99674959]]

 t_gt:
[ 0.76545371 -0.62241889  0.16332588]

Pose Error in degrees for R and t:
33.87761484867997 40.21327692488623

Number of keypoints:
Image1: 463
Image2: 463

 R_estimated:
[[-0.94966208  0.30836272  0.0552663 ]
 [ 0.30845283  0.9512131  -0.00710563]
 [-0.05476114  0.0102991  -0.99844637]]

 t_estimated:
[[ 0.9880014 ]
 [-0.15188726]
 [ 0.02799097]]

 R_gt:
[[ 0.99883678 -0.04818307 -0.00200457]
 [ 0.04817713  0.99883489 -0.00263409]
 [ 0.00212917  0.00253471  0.99999422]]

 t_gt:
[ 0.39081636 -0.91345324 -0.11342726]

Pose Error in degrees for R and t:
176.89993883989536 58.55404373226621

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[-0.84298792 -0.53779956  0.01195866]
 [-0.53778464  0.84306913  0.00470399]
 [-0.01261178 -0.00246578 -0.99991743]]

 t_estimated:
[[0.95951375]
 [0.28156943]
 [0.0072123 ]]

 R_gt:
[[ 0.98877649 -0.14574878  0.0328521 ]
 [ 0.14503352  0.98915475  0.02318311]
 [-0.03587561 -0.01815879  0.9991905 ]]

 t_gt:
[ 0.41400287 -0.84485038  0.33886496]

Pose Error in degrees for R and t:
177.0350954661266 80.68852817798481

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.98541991e-01  5.39784745e-02  4.65315605e-04]
 [-5.39784760e-02  9.98542099e-01 -9.31771560e-06]
 [-4.65140177e-04 -1.58128969e-05  9.99999892e-01]]

 t_estimated:
[[0.44211933]
 [0.89695548]
 [0.00116986]]

 R_gt:
[[ 0.97943441 -0.19740538  0.04170647]
 [ 0.19727448  0.98032084  0.0072701 ]
 [-0.04232199  0.00110675  0.99910295]]

 t_gt:
[ 0.44863508 -0.85978413  0.24392175]

Pose Error in degrees for R and t:
14.677387767901683 55.07158924231467

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.89622425e-01  1.43690417e-01  7.21136529e-04]
 [-1.43690372e-01  9.89622688e-01 -1.13581197e-04]
 [-7.29973600e-04  8.78212326e-06  9.99999734e-01]]

 t_estimated:
[[0.37978003]
 [0.92507613]
 [0.00113367]]

 R_gt:
[[ 0.99940788 -0.03424071  0.0034618 ]
 [ 0.0341155   0.99892428  0.03143199]
 [-0.00453455 -0.03129465  0.99949928]]

 t_gt:
[ 0.44037312 -0.83262469  0.33586849]

Pose Error in degrees for R and t:
10.379271746225738 52.94254704351211

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.99975005 -0.02232054  0.00127605]
 [ 0.02232264  0.99974945 -0.00165643]
 [-0.00123875  0.0016845   0.99999781]]

 t_estimated:
[[ 0.64113424]
 [-0.76738575]
 [-0.00812392]]

 R_gt:
[[ 0.99785984 -0.05378223 -0.03718561]
 [ 0.0536568   0.99854994 -0.00435991]
 [ 0.03736638  0.00235584  0.99929832]]

 t_gt:
[ 0.51356224 -0.84688215 -0.13800158]

Pose Error in degrees for R and t:
2.8524645952760053 11.400702775131295

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.25692473  0.96622887  0.01978517]
 [-0.96612129 -0.25730705  0.02006803]
 [ 0.02448117 -0.01395891  0.99960283]]

 t_estimated:
[[0.17173165]
 [0.98514323]
 [0.00102833]]

 R_gt:
[[ 0.98117462 -0.18555751 -0.05352672]
 [ 0.18434945  0.98249764 -0.02672745]
 [ 0.05754998  0.01635711  0.99820818]]

 t_gt:
[ 0.73865521 -0.6583816  -0.14464491]

Pose Error in degrees for R and t:
115.62281536162001 58.540318330882826

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-9.97021491e-01 -7.20200342e-02  2.75909472e-02]
 [-7.20028734e-02  9.97403115e-01  1.61626058e-03]
 [-2.76356999e-02 -3.75180948e-04 -9.99617991e-01]]

 t_estimated:
[[0.99980339]
 [0.01360176]
 [0.01442791]]

 R_gt:
[[ 0.99752479 -0.0674319   0.0199238 ]
 [ 0.06708957  0.99759485  0.01738203]
 [-0.02104831 -0.0160032   0.99964988]]

 t_gt:
[ 0.74569122 -0.52429596  0.41116706]

Pose Error in degrees for R and t:
177.2081417603144 41.89708282588193

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99958022e-01  9.15222661e-03  4.35995816e-04]
 [-9.15223885e-03  9.99958117e-01  2.60885943e-05]
 [-4.35738787e-04 -3.00778370e-05  9.99999905e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98730065 -0.15817999  0.01468426]
 [ 0.15840922  0.98724387 -0.01601471]
 [-0.01196439  0.0181377   0.99976325]]

 t_gt:
[ 0.87162681 -0.48977132 -0.01976743]

Pose Error in degrees for R and t:
9.711707302556773 29.531089032342468

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-9.20824387e-01 -3.89977453e-01 -1.83939354e-04]
 [-3.89977282e-01  9.20823284e-01  1.48320493e-03]
 [-4.09040841e-04  1.43750344e-03 -9.99998883e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.973089   -0.22891379  0.0263899 ]
 [ 0.22846335  0.97336589  0.01906043]
 [-0.03005029 -0.01251908  0.99947003]]

 t_gt:
[ 0.86946714 -0.47280794  0.14310675]

Pose Error in degrees for R and t:
178.20775684888116 29.760533410244452

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.81404804 -0.58079442 -0.00190228]
 [ 0.58078632 -0.81400759 -0.00888212]
 [ 0.00361021 -0.00833529  0.99995874]]

 t_estimated:
[[9.34233379e-01]
 [3.56661299e-01]
 [8.43170920e-04]]

 R_gt:
[[ 0.99686962  0.07181505 -0.03307597]
 [-0.07358101  0.99573436 -0.05567507]
 [ 0.02893659  0.05793459  0.99790059]]

 t_gt:
[-0.39428863  0.77683407 -0.49098401]

Pose Error in degrees for R and t:
148.67374151256465 84.73830156195895

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99998709e-01 -4.62145233e-04  1.53875357e-03]
 [ 4.64996342e-04  9.99998175e-01 -1.85302686e-03]
 [-1.53789439e-03  1.85373999e-03  9.99997099e-01]]

 t_estimated:
[[0.56498008]
 [0.82510288]
 [0.00165683]]

 R_gt:
[[ 0.98659218  0.16311738  0.00546568]
 [-0.16257826  0.98516779 -0.05489146]
 [-0.01433822  0.05326727  0.99847763]]

 t_gt:
[-0.49010905  0.86429846 -0.11305439]

Pose Error in degrees for R and t:
9.88450628920453 64.14812970467176

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-0.46746114  0.88390782 -0.01367645]
 [ 0.88388105  0.46760302  0.01008501]
 [ 0.01530937 -0.007374   -0.99985561]]

 t_estimated:
[[-0.51037643]
 [-0.85994933]
 [-0.00174786]]

 R_gt:
[[ 0.95444165  0.29833057 -0.00635123]
 [-0.29837666  0.95390387 -0.03223327]
 [-0.00355709  0.03266082  0.99945995]]

 t_gt:
[-0.46466631  0.88340031 -0.0607381 ]

Pose Error in degrees for R and t:
179.91774383576345 58.505372629818766

Number of keypoints:
Image1: 377
Image2: 377

 R_estimated:
[[ 9.98827711e-01 -4.84047639e-02  4.26738114e-04]
 [ 4.84047733e-02  9.98827802e-01 -1.17429090e-05]
 [-4.25669480e-04  3.23853046e-05  9.99999909e-01]]

 t_estimated:
[[0.97980521]
 [0.19993991]
 [0.00240707]]

 R_gt:
[[ 0.99447027 -0.09878441  0.03563096]
 [ 0.09797579  0.99490354  0.02380002]
 [-0.03779998 -0.02017737  0.9990818 ]]

 t_gt:
[ 0.33112225 -0.7785049   0.53318681]

Pose Error in degrees for R and t:
3.7674190452166068 80.20842924482194

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 9.98248527e-01 -5.91596822e-02  9.91240220e-05]
 [ 5.91596651e-02  9.98248519e-01  1.67790013e-04]
 [-1.08876812e-04 -1.61631989e-04  9.99999981e-01]]

 t_estimated:
[[ 9.03557818e-01]
 [ 4.28466182e-01]
 [-3.37249912e-05]]

 R_gt:
[[ 0.98851235 -0.14497517  0.04272487]
 [ 0.14495687  0.98943169  0.00355517]
 [-0.04278838  0.00267986  0.99908112]]

 t_gt:
[ 0.38988551 -0.84901663  0.35659509]

Pose Error in degrees for R and t:
5.520953953478889 89.34092137583299

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 0.00222828 -0.99999364  0.00278374]
 [-0.99999555 -0.00223379 -0.00197538]
 [ 0.00198158 -0.00277933 -0.99999417]]

 t_estimated:
[[0.64857441]
 [0.76115079]
 [0.00084012]]

 R_gt:
[[ 0.98338664 -0.14248585  0.11246852]
 [ 0.14530111  0.98923735 -0.01719523]
 [-0.10880724  0.03325101  0.99350675]]

 t_gt:
[ 0.03479281 -0.76441465  0.64378545]

Pose Error in degrees for R and t:
176.51238451708443 56.03210813979511

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 1.00000000e+00 -1.24084076e-12 -7.62682018e-16]
 [ 1.24089627e-12  1.00000000e+00  9.38485401e-16]
 [-2.05510522e-16 -2.21551293e-15  1.00000000e+00]]

 t_estimated:
[[ 7.90109915e-01]
 [-6.12965029e-01]
 [ 4.41788141e-04]]

 R_gt:
[[ 0.99627715 -0.03676028  0.07797642]
 [ 0.02868408  0.99434284  0.10226969]
 [-0.08129503 -0.09965166  0.9916958 ]]

 t_gt:
[ 0.16926356 -0.19561883  0.96596228]

Pose Error in degrees for R and t:
7.624932040404516 75.28145153829304

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.98864643 -0.07457219  0.13045006]
 [ 0.09178149  0.98708233 -0.13131883]
 [-0.11897222  0.14180079  0.98271977]]

 t_estimated:
[[-0.70262664]
 [-0.71155833]
 [-0.00074431]]

 R_gt:
[[ 0.99699446  0.00858767  0.07698938]
 [-0.01657274  0.99447185  0.10368326]
 [-0.07567376 -0.1046476   0.99162617]]

 t_gt:
[-0.05191027  0.17935937  0.98241312]

Pose Error in degrees for R and t:
15.1793952157028 84.72809466452637

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.98857160e-01 -4.76787740e-02  3.33286203e-03]
 [-4.76788114e-02  9.98862716e-01  6.82605606e-05]
 [-3.33232620e-03 -9.07243504e-05 -9.99994444e-01]]

 t_estimated:
[[0.99971487]
 [0.02375404]
 [0.00243461]]

 R_gt:
[[ 0.9980409   0.00611581  0.06226153]
 [-0.01301094  0.99374082  0.11094454]
 [-0.06119274 -0.11153731  0.99187404]]

 t_gt:
[-0.00947365  0.28361794  0.95889056]

Pose Error in degrees for R and t:
176.11339571419714 89.97711889707554

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 1.00000000e+00  7.87703236e-14  4.87457297e-16]
 [-7.87703236e-14  1.00000000e+00 -4.84313110e-16]
 [-6.36209835e-16  1.40566812e-16  1.00000000e+00]]

 t_estimated:
[[ 8.36371518e-01]
 [-5.48162414e-01]
 [-8.07308415e-04]]

 R_gt:
[[ 0.99618466  0.08612824  0.01408479]
 [-0.08616401  0.99627895  0.00191175]
 [-0.01386758 -0.00311775  0.99989859]]

 t_gt:
[-0.60188174  0.79043772  0.11378299]

Pose Error in degrees for R and t:
5.008930164017193 20.482868853050025

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 1.00000000e+00 -9.21485110e-15 -1.30104261e-16]
 [ 9.15933995e-15  1.00000000e+00  3.76218154e-16]
 [ 5.21718085e-16 -6.78927400e-16  1.00000000e+00]]

 t_estimated:
[[0.61148647]
 [0.79125231]
 [0.00202085]]

 R_gt:
[[ 0.98816761  0.15337177 -0.00164162]
 [-0.15330967  0.98798098  0.0197662 ]
 [ 0.0046539  -0.01928069  0.99980269]]

 t_gt:
[-0.58699271  0.80418864  0.09338191]

Pose Error in degrees for R and t:
8.89415560699019 73.88496671672202

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 1.00000000e+00  4.01174927e-12  1.20018470e-15]
 [-4.01177702e-12  1.00000000e+00  2.70595178e-15]
 [-2.34941190e-15 -2.61661352e-15  1.00000000e+00]]

 t_estimated:
[[7.72525427e-02]
 [9.97011203e-01]
 [8.39745436e-04]]

 R_gt:
[[ 0.98253195  0.1627688  -0.09021692]
 [-0.16373413  0.98649946 -0.00335315]
 [ 0.08845328  0.01806505  0.99591632]]

 t_gt:
[-0.47843525  0.8273881  -0.29415752]

Pose Error in degrees for R and t:
10.742788671763819 38.02818072905358

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.98153499 -0.19127256 -0.00196671]
 [ 0.191275    0.98153583  0.0011363 ]
 [ 0.00171305 -0.0014915   0.99999742]]

 t_estimated:
[[-0.7352197 ]
 [-0.67782337]
 [-0.00273316]]

 R_gt:
[[ 9.76530108e-01  2.15381332e-01  2.34489480e-04]
 [-2.15148251e-01  9.75521453e-01 -4.54870388e-02]
 [-1.00255290e-02  4.43698916e-02  9.98964755e-01]]

 t_gt:
[-0.39018717  0.9132735  -0.11698495]

Pose Error in degrees for R and t:
23.61717286897123 70.61919667350519

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.04241187  0.99909603 -0.00289087]
 [ 0.99906063 -0.04238425  0.00902452]
 [ 0.00889384 -0.0032709  -0.9999551 ]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.94203794  0.33549211 -0.00319854]
 [-0.33337736  0.93494157 -0.12142538]
 [-0.0377471   0.11545427  0.99259497]]

 t_gt:
[-0.27502093  0.94838154 -0.15791118]

Pose Error in degrees for R and t:
174.84128210667316 19.21635721116332

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.36346138  0.93157442  0.00805691]
 [-0.93159221 -0.36349347  0.00290707]
 [ 0.00563679 -0.00644915  0.99996332]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.92320348  0.38426068 -0.00631046]
 [-0.37791177  0.90471897 -0.19663527]
 [-0.06985086  0.1839201   0.98045637]]

 t_gt:
[-0.22167726  0.95758753 -0.18407966]

Pose Error in degrees for R and t:
89.31710699731492 36.84857933936358

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.98865992e-01 -4.76101896e-02  1.62809707e-05]
 [ 4.76101881e-02  9.98865989e-01  8.19887312e-05]
 [-2.01660070e-05 -8.11206152e-05  9.99999997e-01]]

 t_estimated:
[[-0.19194871]
 [ 0.98140397]
 [ 0.0013911 ]]

 R_gt:
[[ 0.99917771  0.03722995 -0.01606914]
 [-0.0376902   0.99885813 -0.02936875]
 [ 0.01495725  0.02995012  0.99943945]]

 t_gt:
[-0.4063961   0.79183179 -0.4558998 ]

Pose Error in degrees for R and t:
5.241453949801059 31.297679331070796

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99983055e-01  5.81987445e-03  1.39015932e-04]
 [-5.81988911e-03  9.99983059e-01  1.05291870e-04]
 [-1.38400792e-04 -1.06099143e-04  9.99999985e-01]]

 t_estimated:
[[0.00750246]
 [0.99997128]
 [0.00107178]]

 R_gt:
[[ 0.99972898 -0.00955683 -0.02125419]
 [ 0.00823208  0.99807293 -0.06151203]
 [ 0.02180141  0.06132057  0.99787983]]

 t_gt:
[ 0.22820051  0.46600258 -0.8548486 ]

Pose Error in degrees for R and t:
3.8333701097309243 62.174191216353776

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.73704832e-01  2.27813190e-01  2.25356618e-04]
 [-2.27813123e-01  9.73704831e-01 -2.87854577e-04]
 [-2.85007898e-04  2.28946197e-04  9.99999933e-01]]

 t_estimated:
[[-0.78732574]
 [-0.61653575]
 [-0.00135687]]

 R_gt:
[[ 0.99140946 -0.1238306   0.04212073]
 [ 0.1185894   0.98684117  0.10991345]
 [-0.05517708 -0.10397414  0.99304767]]

 t_gt:
[ 0.6017329  -0.42318236  0.67737301]

Pose Error in degrees for R and t:
21.249417123681763 77.65651520840068

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.86069184e-01  1.66335268e-01  3.76931385e-04]
 [-1.66335302e-01  9.86069249e-01  5.88563095e-05]
 [-3.61890568e-04 -1.20733389e-04  9.99999927e-01]]

 t_estimated:
[[9.91146520e-01]
 [1.32770406e-01]
 [7.71920965e-04]]

 R_gt:
[[ 0.98982317 -0.13781397 -0.03546976]
 [ 0.13674875  0.99012365 -0.03090706]
 [ 0.03937888  0.02574213  0.99889299]]

 t_gt:
[ 0.85222155 -0.46396061 -0.24178293]

Pose Error in degrees for R and t:
17.678075084689034 38.474093857190255

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.99990856 -0.01329383  0.00247712]
 [ 0.01329823  0.99991001 -0.00176695]
 [-0.00245341  0.00179973  0.99999537]]

 t_estimated:
[[-0.02987905]
 [ 0.99954959]
 [ 0.00280518]]

 R_gt:
[[ 0.9619214  -0.27054119 -0.03891182]
 [ 0.27082082  0.96262761  0.00199949]
 [ 0.0369172  -0.01246159  0.9992412 ]]

 t_gt:
[ 0.85696506 -0.51520546  0.01319907]

Pose Error in degrees for R and t:
15.138356068674184 57.27947925187433

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.92212096e-01  1.24559502e-01  2.95694839e-04]
 [-1.24559490e-01  9.92212140e-01 -5.82732558e-05]
 [-3.00650497e-04  2.09878310e-05  9.99999955e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.95194905 -0.3001142  -0.06102914]
 [ 0.30369025  0.95078374  0.06150572]
 [ 0.0395673  -0.07708447  0.99623934]]

 t_gt:
[ 0.8000067  -0.57220776  0.18046487]

Pose Error in degrees for R and t:
25.25007980542585 76.47854156460063

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-0.20671008 -0.97827249  0.01593339]
 [-0.97827145  0.20692131  0.01298219]
 [-0.01599708 -0.01290363 -0.99978877]]

 t_estimated:
[[0.76637851]
 [0.64230102]
 [0.01064791]]

 R_gt:
[[ 0.99772653 -0.06645507  0.01115396]
 [ 0.06712505  0.99470628 -0.07780183]
 [-0.00592417  0.07837465  0.99690574]]

 t_gt:
[ 0.45441376  0.32117087 -0.83087749]

Pose Error in degrees for R and t:
178.73634332782214 56.927883381725934

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 6.95864745e-01 -7.18167571e-01 -2.75622031e-03]
 [ 7.18170500e-01  6.95867172e-01  1.07522689e-04]
 [ 1.84074392e-03 -2.05425737e-03  9.99996196e-01]]

 t_estimated:
[[0.9603633 ]
 [0.27874952]
 [0.00101733]]

 R_gt:
[[ 0.99901781 -0.04389371 -0.00592511]
 [ 0.04296827  0.99290697 -0.11085299]
 [ 0.01074887  0.11049018  0.99381907]]

 t_gt:
[ 0.05949107  0.71572509 -0.69584367]

Pose Error in degrees for R and t:
43.85848291734531 75.17111412471677

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.16328946e-01 -4.00425819e-01  6.52216392e-04]
 [ 4.00424597e-01  9.16328539e-01  1.46655736e-03]
 [-1.18489192e-03 -1.08268547e-03  9.99998712e-01]]

 t_estimated:
[[0.88271535]
 [0.46990653]
 [0.0012117 ]]

 R_gt:
[[ 0.994391   -0.10575123 -0.00110434]
 [ 0.10405865  0.98022465 -0.16831413]
 [ 0.01888268  0.16725651  0.98573249]]

 t_gt:
[ 0.3973303   0.64851917 -0.64926999]

Pose Error in degrees for R and t:
20.058115450431597 49.104137927259934

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.96210508e-01  8.45926389e-02  2.02165560e-02]
 [ 8.45966000e-02  9.96415063e-01 -6.60733726e-04]
 [-2.01999742e-02  1.05202202e-03 -9.99795406e-01]]

 t_estimated:
[[ 0.99956733]
 [-0.02743572]
 [ 0.01060327]]

 R_gt:
[[ 0.99793275 -0.05895925  0.02558214]
 [ 0.05911686  0.99823641 -0.00547041]
 [-0.02521353  0.00697268  0.99965856]]

 t_gt:
[ 0.62466841 -0.74878056  0.22162367]

Pose Error in degrees for R and t:
177.37185167040371 49.66230459678578

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99504900e-01 -3.14624753e-02  2.58045453e-04]
 [ 3.14626721e-02  9.99504609e-01 -7.98051498e-04]
 [-2.32808944e-04  8.05775182e-04  9.99999648e-01]]

 t_estimated:
[[-0.24426246]
 [-0.969703  ]
 [-0.00345656]]

 R_gt:
[[ 0.99863981 -0.03490811  0.03871846]
 [ 0.03631131  0.99868582 -0.03617133]
 [-0.03740484  0.03752817  0.99859583]]

 t_gt:
[ 0.50039156 -0.86433245  0.05037559]

Pose Error in degrees for R and t:
3.004689327223472 44.29573093649935

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.79759391e-01  2.00178742e-01  7.89372221e-05]
 [-2.00178695e-01  9.79759320e-01 -4.05921107e-04]
 [-1.58596256e-04  3.81903466e-04  9.99999914e-01]]

 t_estimated:
[[-9.99987752e-01]
 [-4.88195810e-03]
 [-8.13659684e-04]]

 R_gt:
[[ 0.99667728  0.00901034  0.08095403]
 [-0.00245981  0.99673849 -0.08066008]
 [-0.08141629  0.08019356  0.99344973]]

 t_gt:
[-0.28454795 -0.87404762  0.39379338]

Pose Error in degrees for R and t:
12.980115965538563 73.2323574413467

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99959433e-01 -8.99084467e-03 -5.44355623e-04]
 [ 8.99085340e-03  9.99959581e-01  1.35803476e-05]
 [ 5.44211523e-04 -1.84740183e-05  9.99999852e-01]]

 t_estimated:
[[-0.99924219]
 [-0.03881273]
 [-0.00293633]]

 R_gt:
[[ 0.99292838  0.07387061 -0.0929294 ]
 [-0.08348291  0.99104632 -0.10420253]
 [ 0.08439952  0.11122409  0.99020482]]

 t_gt:
[-0.19219623  0.62598675 -0.75577854]

Pose Error in degrees for R and t:
9.464151836451544 80.2137193078317

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 8.70201095e-01 -4.92696540e-01 -4.17638274e-04]
 [ 4.92696712e-01  8.70200889e-01  6.02496549e-04]
 [ 6.65812330e-05 -7.30062161e-04  9.99999731e-01]]

 t_estimated:
[[0.86713159]
 [0.49807666]
 [0.00156625]]

 R_gt:
[[ 0.98648658  0.11073219 -0.12076102]
 [-0.1275493   0.98164077 -0.14182003]
 [ 0.10283958  0.15530725  0.98249868]]

 t_gt:
[-0.20650691  0.68944501 -0.69427694]

Pose Error in degrees for R and t:
37.92542908280613 80.60497001094677

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.68962524  0.71103775  0.13726743]
 [-0.72254627 -0.68828034 -0.06478477]
 [ 0.04841405 -0.14385928  0.98841317]]

 t_estimated:
[[0.53152869]
 [0.84703982]
 [0.00089634]]

 R_gt:
[[ 0.98839355  0.09135932 -0.12137058]
 [-0.11198915  0.97803696 -0.17579152]
 [ 0.10264523  0.18734466  0.97691653]]

 t_gt:
[-0.14333355  0.67827861 -0.72068968]

Pose Error in degrees for R and t:
129.44089335807712 60.15224107900475

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.97715507e-01 -6.75555361e-02  1.28543416e-04]
 [ 6.75555360e-02  9.97715515e-01  4.77090605e-06]
 [-1.28572061e-04  3.92381238e-06  9.99999992e-01]]

 t_estimated:
[[0.7804974 ]
 [0.62515846]
 [0.00084223]]

 R_gt:
[[ 0.99980111 -0.01767696 -0.00922911]
 [ 0.01723849  0.99880806 -0.04564373]
 [ 0.0100251   0.04547524  0.9989146 ]]

 t_gt:
[-0.01025346  0.76792894 -0.64045297]

Pose Error in degrees for R and t:
3.9228413210864264 61.86601286779413

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.01083578e-01 -4.33643427e-01 -1.32844082e-03]
 [ 4.33644939e-01  9.01083020e-01  1.20789371e-03]
 [ 6.73240302e-04 -1.66448482e-03  9.99998388e-01]]

 t_estimated:
[[9.77477636e-01]
 [2.11037650e-01]
 [7.61868774e-04]]

 R_gt:
[[ 0.99984229 -0.00914723 -0.01525808]
 [ 0.00768396  0.99560772 -0.09329838]
 [ 0.01604409  0.09316559  0.99552119]]

 t_gt:
[-6.89670626e-04  8.38598069e-01 -5.44750221e-01]

Pose Error in degrees for R and t:
25.79929131953303 79.86974312214149

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.95886944e-01  9.05894432e-02  1.65777568e-03]
 [-9.06043830e-02  9.95758738e-01  1.59806888e-02]
 [-2.03062922e-04 -1.60651610e-02  9.99870926e-01]]

 t_estimated:
[[0.76382377]
 [0.64542051]
 [0.00236672]]

 R_gt:
[[ 0.99405364 -0.10888797 -0.0015393 ]
 [ 0.10737884  0.98242731 -0.15266339]
 [ 0.01813607  0.15158994  0.98827679]]

 t_gt:
[ 0.57137717  0.6222854  -0.53505981]

Pose Error in degrees for R and t:
14.994588186928942 33.196172161803084

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999829e-01  5.73088253e-04 -1.17374954e-04]
 [-5.73097791e-04  9.99999832e-01 -8.12515683e-05]
 [ 1.17328370e-04  8.13188217e-05  9.99999990e-01]]

 t_estimated:
[[-0.44300365]
 [-0.89651912]
 [-0.00110861]]

 R_gt:
[[ 0.99098184  0.13373444  0.00842352]
 [-0.13210065  0.98554935 -0.10602866]
 [-0.02248241  0.10395923  0.99432734]]

 t_gt:
[-0.27882513  0.90105927 -0.33218781]

Pose Error in degrees for R and t:
9.764900082857045 46.84863736992763

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.99996695  0.00799431  0.00148171]
 [-0.00799237  0.9999672  -0.00130885]
 [-0.00149212  0.00129697  0.99999805]]

 t_estimated:
[[ 0.82817425]
 [-0.56046045]
 [ 0.00339088]]

 R_gt:
[[ 9.88762435e-01  1.49493460e-01  3.66436389e-04]
 [-1.47006047e-01  9.72749335e-01 -1.79296813e-01]
 [-2.71601389e-02  1.77227939e-01  9.83794367e-01]]

 t_gt:
[-0.1965884   0.85990678 -0.47107678]

Pose Error in degrees for R and t:
13.079341038612863 49.73298914026276

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999812e-01 -5.14413106e-04 -3.34611917e-04]
 [ 5.14591059e-04  9.99999726e-01  5.31950720e-04]
 [ 3.34338183e-04 -5.32122808e-04  9.99999803e-01]]

 t_estimated:
[[-2.65819415e-01]
 [-9.64022838e-01]
 [-8.65049732e-05]]

 R_gt:
[[ 0.98934973  0.14228612 -0.0307021 ]
 [-0.14524678  0.9511627  -0.27238403]
 [-0.00955343  0.27394147  0.96169818]]

 t_gt:
[-0.13000464  0.77397163 -0.61973116]

Pose Error in degrees for R and t:
18.03099210857486 44.64168950830675

Number of keypoints:
Image1: 421
Image2: 421

 R_estimated:
[[ 0.99796464 -0.06151316 -0.01681413]
 [ 0.0622854   0.99680044  0.05009403]
 [ 0.01367889 -0.05103935  0.99860296]]

 t_estimated:
[[0.95233146]
 [0.30505895]
 [0.00195551]]

 R_gt:
[[ 0.999002   -0.03236002  0.03079075]
 [ 0.03315586  0.99911958 -0.02570965]
 [-0.02993131  0.02670476  0.99919481]]

 t_gt:
[-0.43675652 -0.76437848  0.47430926]

Pose Error in degrees for R and t:
5.38655021880242 49.594728955397755

Number of keypoints:
Image1: 398
Image2: 398

 R_estimated:
[[-8.83827018e-01  4.67812824e-01 -9.82087057e-04]
 [-4.67808378e-01 -8.83824882e-01 -2.98326447e-03]
 [-2.26360235e-03 -2.17726119e-03  9.99995068e-01]]

 t_estimated:
[[0.81655478]
 [0.57726637]
 [0.00135191]]

 R_gt:
[[ 0.99560739 -0.02042172  0.09137555]
 [ 0.02424151  0.99886969 -0.04089532]
 [-0.09043639  0.04293128  0.9949765 ]]

 t_gt:
[-0.73408398 -0.13571115  0.66535945]

Pose Error in degrees for R and t:
153.41542040962628 47.40110613944123

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[-0.33848884  0.9409693   0.0014396 ]
 [-0.94096822 -0.33848436 -0.00267211]
 [-0.00202709 -0.0022591   0.99999539]]

 t_estimated:
[[0.09152092]
 [0.99580222]
 [0.00136598]]

 R_gt:
[[ 0.99194388 -0.07348878  0.10318676]
 [ 0.07640277  0.99677382 -0.02457969]
 [-0.10104709  0.03226482  0.99435809]]

 t_gt:
[-0.42035498 -0.61227169  0.66964547]

Pose Error in degrees for R and t:
114.18906445196752 49.66481121130899

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 8.49957902e-01 -5.26846024e-01 -2.19810387e-03]
 [-5.26850565e-01 -8.49948709e-01 -3.95905029e-03]
 [ 2.17534356e-04  4.52309834e-03 -9.99989747e-01]]

 t_estimated:
[[0.56714938]
 [0.8236145 ]
 [0.00086062]]

 R_gt:
[[ 0.99029499 -0.10033314  0.09616987]
 [ 0.08056268  0.97827253  0.19102975]
 [-0.11324819 -0.1814277   0.976862  ]]

 t_gt:
[ 0.30867493 -0.3113833   0.89875482]

Pose Error in degrees for R and t:
168.24026537431118 85.37570874482387

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.00997623e-01  4.33823781e-01 -4.58357638e-04]
 [-4.33824022e-01  9.00997190e-01 -8.84405955e-04]
 [ 2.93026082e-05  9.95694218e-04  9.99999504e-01]]

 t_estimated:
[[8.69502326e-01]
 [4.93928538e-01]
 [5.51636931e-04]]

 R_gt:
[[ 0.98438627 -0.11346081  0.13457399]
 [ 0.08304053  0.97345128  0.21329667]
 [-0.15520227 -0.19879079  0.96767514]]

 t_gt:
[ 0.31239925 -0.2345968   0.92052759]

Pose Error in degrees for R and t:
34.6146935117497 81.0097949352521

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 1.00000000e+00 -5.08482145e-14 -3.81639165e-17]
 [ 5.07927034e-14  1.00000000e+00  6.73289549e-17]
 [-4.13297868e-16  1.62630326e-18  1.00000000e+00]]

 t_estimated:
[[-0.62896116]
 [-0.77743578]
 [-0.00121242]]

 R_gt:
[[ 0.98890042 -0.07632141  0.12747952]
 [ 0.04800202  0.97608902  0.21200317]
 [-0.14061257 -0.20353008  0.96891933]]

 t_gt:
[ 0.23473123 -0.08879891  0.96799587]

Pose Error in degrees for R and t:
14.77058882729146 85.42436711080451

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.79029456e-01 -2.03717699e-01 -6.51361116e-04]
 [ 2.03717749e-01  9.79029662e-01  1.06207861e-05]
 [ 6.35538211e-04 -1.43091883e-04  9.99999788e-01]]

 t_estimated:
[[-0.63732786]
 [-0.77058732]
 [-0.00289694]]

 R_gt:
[[ 0.98963161  0.14361735  0.00215057]
 [-0.14341565  0.98883977 -0.04035885]
 [-0.00792161  0.0396331   0.99918229]]

 t_gt:
[-0.65907056  0.74314487 -0.11559281]

Pose Error in degrees for R and t:
20.142530256245514 81.24097223896977

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 8.77384125e-01  4.79786897e-01  1.27705388e-03]
 [-4.79786356e-01  8.77385054e-01 -7.20729045e-04]
 [-1.46626434e-03  1.96431959e-05  9.99998925e-01]]

 t_estimated:
[[-0.13856125]
 [ 0.99034959]
 [ 0.00291138]]

 R_gt:
[[ 0.97330173  0.2295162  -0.00261006]
 [-0.22928337  0.97166434 -0.05742512]
 [-0.010644    0.05649052  0.99834623]]

 t_gt:
[-0.63000847  0.76855434 -0.11141617]

Pose Error in degrees for R and t:
15.739589197092005 31.99353787600222

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.35564047  0.93462098  0.00186261]
 [-0.93462111  0.35564295 -0.00121749]
 [-0.00180031 -0.00130785  0.99999752]]

 t_estimated:
[[-0.08336733]
 [ 0.99651768]
 [ 0.00154779]]

 R_gt:
[[ 0.97219407  0.22956137 -0.04627566]
 [-0.23171321  0.97158922 -0.0482072 ]
 [ 0.03389416  0.05758968  0.99776436]]

 t_gt:
[-0.62305426  0.73620998 -0.26419359]

Pose Error in degrees for R and t:
55.94401571159635 38.262696996640514

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999671e-01 -6.25542002e-04  5.16069710e-04]
 [ 6.25919930e-04  9.99999536e-01 -7.32483055e-04]
 [-5.15611271e-04  7.32805832e-04  9.99999599e-01]]

 t_estimated:
[[ 0.9999984 ]
 [-0.001456  ]
 [-0.00103803]]

 R_gt:
[[ 0.99693991 -0.0062866   0.07792977]
 [ 0.0044759   0.99971615  0.02339303]
 [-0.07805444 -0.02297279  0.99668386]]

 t_gt:
[0.10768621 0.14389082 0.98371699]

Pose Error in degrees for R and t:
4.658851224918783 83.88897511711689

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99999979e-01  1.62857874e-04  1.23412039e-04]
 [-1.62863612e-04  9.99999986e-01  4.64888861e-05]
 [-1.23404467e-04 -4.65089845e-05  9.99999991e-01]]

 t_estimated:
[[0.811184  ]
 [0.58478992]
 [0.00112556]]

 R_gt:
[[ 0.99536876 -0.03775209  0.08841027]
 [ 0.0321697   0.99744799  0.06373713]
 [-0.09059127 -0.06059811  0.99404349]]

 t_gt:
[ 0.20490581 -0.07012033  0.97626674]

Pose Error in degrees for R and t:
6.567229146206656 82.74361616267602

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.70854752 -0.7056292   0.00691725]
 [-0.70562741  0.70857623  0.0031123 ]
 [-0.00709753 -0.00267579 -0.99997123]]

 t_estimated:
[[0.90652701]
 [0.42212547]
 [0.00434246]]

 R_gt:
[[ 0.98823386 -0.14858787  0.03629607]
 [ 0.14342904  0.98264907  0.11759723]
 [-0.05313988 -0.11100737  0.99239776]]

 t_gt:
[ 0.53508632 -0.45752654  0.71017751]

Pose Error in degrees for R and t:
174.6743057467916 72.84123281460818

Number of keypoints:
Image1: 403
Image2: 403

 R_estimated:
[[ 9.44515558e-01 -3.28466384e-01 -4.41916502e-04]
 [ 3.28466415e-01  9.44515651e-01 -3.06791168e-06]
 [ 4.18404758e-04 -1.42257039e-04  9.99999902e-01]]

 t_estimated:
[[ 7.25424526e-01]
 [-6.88301343e-01]
 [-7.19518760e-04]]

 R_gt:
[[ 9.99809089e-01  1.52570879e-02 -1.22758623e-02]
 [-1.52497496e-02  9.99883416e-01  7.66555787e-04]
 [ 1.22858305e-02 -5.78171866e-04  9.99923964e-01]]

 t_gt:
[ 0.45358191  0.60775685 -0.65183975]

Pose Error in degrees for R and t:
20.061091656141937 84.90476858528145

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.99999911e-01  4.14362141e-04 -7.98166473e-05]
 [-4.14347856e-04  9.99999898e-01  1.78900979e-04]
 [ 7.98907690e-05 -1.78867891e-04  9.99999981e-01]]

 t_estimated:
[[9.99373881e-01]
 [3.53766935e-02]
 [5.78991448e-04]]

 R_gt:
[[ 0.99602871  0.08415781 -0.02906306]
 [-0.08438979  0.99640971 -0.0068222 ]
 [ 0.0283843   0.00924763  0.99955451]]

 t_gt:
[ 0.29213851  0.86542548 -0.40705508]

Pose Error in degrees for R and t:
5.1057531612220695 71.19575639847797

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99999994e-01  2.44325483e-05 -1.05630140e-04]
 [-2.44215748e-05  9.99999994e-01  1.03886765e-04]
 [ 1.05632678e-04 -1.03884185e-04  9.99999989e-01]]

 t_estimated:
[[ 9.99999982e-01]
 [-1.82061011e-04]
 [-5.09549792e-05]]

 R_gt:
[[ 0.99339651  0.11439881  0.00873439]
 [-0.11449102  0.99336507  0.01081717]
 [-0.00743862 -0.01174586  0.99990338]]

 t_gt:
[0.4914976  0.86182953 0.1252197 ]

Pose Error in degrees for R and t:
6.61850960840407 60.57168062237186

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 9.99999891e-01  4.65578399e-04  2.82034748e-05]
 [-4.65578396e-04  9.99999892e-01 -1.04014479e-07]
 [-2.82035201e-05  9.08835388e-08  1.00000000e+00]]

 t_estimated:
[[ 9.99905173e-01]
 [-1.37645213e-02]
 [ 4.28004138e-04]]

 R_gt:
[[ 9.99019342e-01 -4.42760917e-02 -9.18862639e-04]
 [ 4.42748838e-02  9.99019282e-01 -8.17396672e-04]
 [ 9.54018412e-04  7.77139013e-04  9.99998616e-01]]

 t_gt:
[ 0.51654457 -0.85495532 -0.04725571]

Pose Error in degrees for R and t:
2.5652846563994642 58.113153798355896

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 9.98659523e-01 -5.17605044e-02  8.73995286e-05]
 [ 5.17605021e-02  9.98659526e-01  2.83545138e-05]
 [-8.87500157e-05 -2.37926618e-05  9.99999996e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99612686 -0.08519716 -0.0217659 ]
 [ 0.08548767  0.99625686  0.01281623]
 [ 0.02059338 -0.01462649  0.99968112]]

 t_gt:
[ 0.54662095 -0.83284922 -0.08699261]

Pose Error in degrees for R and t:
2.4135412699433676 57.04581400284872

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99999816e-01  5.87921470e-04  1.47146492e-04]
 [-5.87917559e-04  9.99999827e-01 -2.66186206e-05]
 [-1.47162116e-04  2.65321057e-05  9.99999989e-01]]

 t_estimated:
[[9.99983476e-01]
 [5.69096287e-03]
 [8.12994696e-04]]

 R_gt:
[[ 0.99299219 -0.11253375 -0.03609682]
 [ 0.11363116  0.99307152  0.0299503 ]
 [ 0.03247637 -0.03384096  0.99889898]]

 t_gt:
[ 0.53324067 -0.84415649 -0.05526498]

Pose Error in degrees for R and t:
7.064288114312446 58.103743781007736

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.26055232 -0.96540187 -0.01056975]
 [-0.96543049  0.26044361  0.01063436]
 [-0.00751361  0.01297517 -0.99988759]]

 t_estimated:
[[0.74785975]
 [0.66385359]
 [0.00204893]]

 R_gt:
[[ 0.9750968  -0.22040917 -0.02461003]
 [ 0.21989355  0.97527625 -0.02199127]
 [ 0.02884903  0.01603156  0.9994541 ]]

 t_gt:
[ 0.85373166 -0.50411285 -0.13043193]

Pose Error in degrees for R and t:
178.09273934874327 72.32922012741672

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.79392297 -0.60784174 -0.01465417]
 [ 0.6008674  -0.78804322  0.13396361]
 [-0.09297679  0.09755157  0.9908779 ]]

 t_estimated:
[[0.93269032]
 [0.36067089]
 [0.00229727]]

 R_gt:
[[ 0.88972778 -0.44953739 -0.07937728]
 [ 0.44589438  0.89308401 -0.05983723]
 [ 0.09778961  0.01784429  0.99504668]]

 t_gt:
[ 0.9144858  -0.37787349 -0.1446629 ]

Pose Error in degrees for R and t:
116.65478141291841 44.24919425474919

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-1.54193533e-01 -9.88034944e-01 -3.36214669e-03]
 [-9.88040369e-01  1.54189963e-01  1.29795069e-03]
 [-7.64011363e-04  3.52207226e-03 -9.99993506e-01]]

 t_estimated:
[[8.20240241e-01]
 [5.72018765e-01]
 [6.93356078e-04]]

 R_gt:
[[ 0.73838777 -0.67324119 -0.03911988]
 [ 0.66640672  0.73732483 -0.11069568]
 [ 0.10336901  0.05566616  0.99308391]]

 t_gt:
[ 0.955552   -0.26141455 -0.13631874]

Pose Error in degrees for R and t:
173.3119651258742 50.64275860398618

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.95399490e-01 -9.58114807e-02  1.26807768e-04]
 [ 9.58114786e-02  9.95399498e-01  2.31873598e-05]
 [-1.28446004e-04 -1.09310464e-05  9.99999992e-01]]

 t_estimated:
[[-8.57922757e-01]
 [-5.13778339e-01]
 [-6.01611586e-04]]

 R_gt:
[[ 0.99702468 -0.02492059 -0.07294108]
 [ 0.01882986  0.99636964 -0.08302431]
 [ 0.0747461   0.08140352  0.99387396]]

 t_gt:
[ 0.44693848  0.09119078 -0.88990462]

Pose Error in degrees for R and t:
7.635292474345399 64.54797673314248

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-0.99495705 -0.10029201 -0.00140468]
 [ 0.10029411 -0.99495668 -0.00151447]
 [-0.00124571 -0.00164772  0.99999787]]

 t_estimated:
[[9.40666477e-01]
 [3.39331331e-01]
 [9.09735471e-04]]

 R_gt:
[[ 0.98554943  0.10273596 -0.13467736]
 [-0.113343    0.99082712 -0.07359484]
 [ 0.12588128  0.08779566  0.98815255]]

 t_gt:
[-0.5382552   0.20088148 -0.81849128]

Pose Error in degrees for R and t:
179.5242270448995 63.966419189198085

Number of keypoints:
Image1: 14
Image2: 14

 R_estimated:
[[-7.14602247e-01  6.99354822e-01  1.56990912e-02]
 [-6.99530605e-01 -7.14397821e-01 -1.71080730e-02]
 [-7.49216823e-04 -2.32074622e-02  9.99730390e-01]]

 t_estimated:
[[0.76644587]
 [0.64230323]
 [0.00269875]]

 R_gt:
[[ 0.91962939  0.35847648 -0.16054689]
 [-0.36895788  0.92858322 -0.04004409]
 [ 0.13472664  0.09606097  0.98621514]]

 t_gt:
[-0.89066962  0.31653151 -0.32636702]

Pose Error in degrees for R and t:
114.5181787167411 61.300122247575906

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[ 9.99999996e-01  8.04685564e-05 -2.36325608e-05]
 [-8.04712745e-05  9.99999990e-01 -1.15035978e-04]
 [ 2.36233037e-05  1.15037880e-04  9.99999993e-01]]

 t_estimated:
[[-0.69009461]
 [-0.72371824]
 [-0.00115223]]

 R_gt:
[[ 0.99803726  0.06131027 -0.0128084 ]
 [-0.06196307  0.99633029 -0.05904377]
 [ 0.00914196  0.0597229   0.99817253]]

 t_gt:
[-0.38023347  0.57095386 -0.72762229]

Pose Error in degrees for R and t:
4.9422236308883605 81.37456470787203

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-0.99621995 -0.0866924   0.00549977]
 [ 0.08663293 -0.99618746 -0.01026021]
 [ 0.00636829 -0.00974496  0.99993224]]

 t_estimated:
[[7.86394135e-01]
 [6.17724641e-01]
 [7.30170970e-04]]

 R_gt:
[[ 0.98014282  0.19521273 -0.03482891]
 [-0.19736313  0.97738105 -0.07598316]
 [ 0.01920845  0.08134893  0.99650009]]

 t_gt:
[-0.52908748  0.7611626  -0.37509724]

Pose Error in degrees for R and t:
173.6589033004641 86.91348972637763

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 7.20362763e-01 -6.93593592e-01  2.32764233e-03]
 [-6.93595784e-01 -7.20364388e-01  1.94159660e-04]
 [ 1.54208275e-03 -1.75430830e-03 -9.99997272e-01]]

 t_estimated:
[[0.42157845]
 [0.90679139]
 [0.00099429]]

 R_gt:
[[ 0.88312197  0.45771322 -0.1029312 ]
 [-0.46314628  0.88556012 -0.03576237]
 [ 0.07478315  0.07925584  0.9940455 ]]

 t_gt:
[-0.42369546  0.87292327 -0.2418411 ]

Pose Error in degrees for R and t:
174.97118435468485 52.21515984901334

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-2.17208167e-01 -9.76121426e-01 -2.75190312e-03]
 [ 9.76125299e-01 -2.17207617e-01 -5.00985122e-04]
 [-1.08712005e-04 -2.79502031e-03  9.99996088e-01]]

 t_estimated:
[[0.99857445]
 [0.05336677]
 [0.00102628]]

 R_gt:
[[ 0.92200252 -0.38649414  0.02314567]
 [ 0.38593066  0.92217878  0.02536295]
 [-0.03114668 -0.01445279  0.99940979]]

 t_gt:
[ 0.87783934 -0.47269455  0.07718774]

Pose Error in degrees for R and t:
79.8403136262317 31.631254932816216

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.64237661e-01  2.61290332e-01  4.44195431e-02]
 [ 2.65037911e-01 -9.51100351e-01 -1.58628582e-01]
 [ 7.99328208e-04  1.64728516e-01 -9.86338622e-01]]

 t_estimated:
[[9.99385154e-01]
 [3.50511474e-02]
 [8.54906034e-04]]

 R_gt:
[[ 0.82821942 -0.55996213  0.0222562 ]
 [ 0.55932376  0.82843496  0.02917343]
 [-0.03477352 -0.0117147   0.99932648]]

 t_gt:
[ 0.923049   -0.38109937  0.0523814 ]

Pose Error in degrees for R and t:
171.62384472473917 24.609334216540553

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 9.99890960e-01  1.46061759e-02  2.17432665e-03]
 [-1.46065441e-02  9.99893307e-01  1.53560225e-04]
 [-2.17185173e-03 -1.85302879e-04  9.99997624e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075911e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.67071291 -0.73925144 -0.0604414 ]
 [ 0.74105026  0.67133467  0.01234812]
 [ 0.03144822 -0.05307212  0.99809528]]

 t_gt:
[ 0.96786938 -0.24945712  0.03162303]

Pose Error in degrees for R and t:
48.76926676245714 14.734351126516346

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-1.55341495e-01 -9.87860642e-01  6.10406609e-04]
 [-9.87860756e-01  1.55341692e-01  2.90626844e-04]
 [-3.81920417e-04 -5.57850326e-04 -9.99999771e-01]]

 t_estimated:
[[0.44929988]
 [0.89337962]
 [0.00157459]]

 R_gt:
[[ 0.97607003  0.21228973 -0.04711201]
 [-0.21124687  0.97708221  0.02615198]
 [ 0.0515845  -0.01557302  0.99854639]]

 t_gt:
[-0.97734438  0.20928455  0.03159022]

Pose Error in degrees for R and t:
178.65757330628531 75.39816106394187

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[-9.11373300e-01 -4.11578579e-01 -1.33430227e-03]
 [ 4.11580228e-01 -9.11362252e-01 -4.53450586e-03]
 [ 6.50272755e-04 -4.68180001e-03  9.99988829e-01]]

 t_estimated:
[[ 9.85149695e-01]
 [-1.71697049e-01]
 [-4.49115152e-04]]

 R_gt:
[[ 0.87392014  0.48481421 -0.03491496]
 [-0.48408087  0.8745864   0.02760726]
 [ 0.04392041 -0.00722498  0.99900881]]

 t_gt:
[-0.92661408  0.37597647 -0.00529556]

Pose Error in degrees for R and t:
175.31876231201187 12.20288591484582

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.99975974e-01  6.88452373e-03 -8.08669835e-04]
 [-6.88247833e-03  9.99973177e-01  2.50546802e-03]
 [ 8.25897098e-04 -2.49984217e-03  9.99996534e-01]]

 t_estimated:
[[0.99523804]
 [0.09746469]
 [0.00137274]]

 R_gt:
[[ 7.26328520e-01  6.87337994e-01 -3.59124732e-03]
 [-6.87342424e-01  7.26333220e-01  7.80181250e-05]
 [ 2.66232153e-03  2.41250249e-03  9.99992592e-01]]

 t_gt:
[-0.84934755  0.5277944  -0.00646583]

Pose Error in degrees for R and t:
43.026523751494935 37.451294238266435

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.99995181e-01  3.10431458e-03 -2.89807265e-05]
 [-3.10431615e-03  9.99995180e-01 -5.42247970e-05]
 [ 2.88122560e-05  5.43145011e-05  9.99999998e-01]]

 t_estimated:
[[ 0.53405216]
 [-0.84545108]
 [-0.00087711]]

 R_gt:
[[ 0.99921971 -0.02449682 -0.03098747]
 [ 0.02531604  0.99933213  0.02632343]
 [ 0.03032144 -0.02708732  0.99917298]]

 t_gt:
[ 0.50754588 -0.81583136 -0.27715767]

Pose Error in degrees for R and t:
2.8308215029003807 16.045071002242903

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 8.73319620e-01  4.87147542e-01 -3.37413490e-04]
 [-4.87147658e-01  8.73319465e-01 -5.21015112e-04]
 [ 4.08585374e-05  6.19382911e-04  9.99999807e-01]]

 t_estimated:
[[ 2.58126956e-01]
 [ 9.66110941e-01]
 [-3.52752344e-04]]

 R_gt:
[[ 0.9974705  -0.06035171 -0.03755912]
 [ 0.06082162  0.99808198  0.01149289]
 [ 0.0367939  -0.01374918  0.99922864]]

 t_gt:
[ 0.55209456 -0.77469036 -0.30829603]

Pose Error in degrees for R and t:
32.70359263913555 52.71230153760554

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 0.99524392 -0.09739904 -0.00172524]
 [ 0.09740485  0.99523802  0.00368513]
 [ 0.0013581  -0.00383565  0.99999172]]

 t_estimated:
[[0.77149469]
 [0.63622375]
 [0.0039089 ]]

 R_gt:
[[ 0.99349483 -0.10488858 -0.04434835]
 [ 0.10541837  0.99437958  0.00976597]
 [ 0.04307509 -0.01437719  0.99896864]]

 t_gt:
[ 0.56482555 -0.78926827 -0.24088938]

Pose Error in degrees for R and t:
2.5075890026473404 86.13918645650891

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.78745683e-01  2.05077710e-01 -1.46495534e-04]
 [-2.05077603e-01  9.78745563e-01  5.48282525e-04]
 [ 2.55822378e-04 -5.06586201e-04  9.99999839e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99027067 -0.13447541  0.03578273]
 [ 0.13372683  0.99076186  0.0225688 ]
 [-0.03848806 -0.017564    0.99910474]]

 t_gt:
[ 0.58534938 -0.76086794  0.28008228]

Pose Error in degrees for R and t:
19.691984024308233 89.17238583797149

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999928e-01 -2.33045871e-04 -2.97970749e-04]
 [ 2.33120699e-04  9.99999941e-01  2.51116287e-04]
 [ 2.97912210e-04 -2.51185732e-04  9.99999924e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075688e-03]
 [7.75189837e-04]]

 R_gt:
[[ 0.98556432 -0.16401034  0.04200969]
 [ 0.16316894  0.98633646  0.02273062]
 [-0.04516457 -0.01554715  0.99885803]]

 t_gt:
[ 0.58890986 -0.76767621  0.25270223]

Pose Error in degrees for R and t:
9.799544640791806 54.075239324558275

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.79242271  0.60986233  0.0115841 ]
 [ 0.60995833 -0.79213295 -0.02182239]
 [-0.0041325   0.02435837 -0.99969475]]

 t_estimated:
[[-0.99682918]
 [-0.07895677]
 [-0.0098696 ]]

 R_gt:
[[ 0.97831342 -0.20507718  0.02913285]
 [ 0.20378328  0.97811355  0.04203712]
 [-0.03711718 -0.0351889   0.9986903 ]]

 t_gt:
[ 0.60220727 -0.76391171  0.23191659]

Pose Error in degrees for R and t:
179.8978787969428 57.16165045281534

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 7.29217155e-01 -6.84281780e-01  8.86359097e-04]
 [ 6.84281995e-01  7.29214833e-01 -1.96949841e-03]
 [ 7.01345677e-04  2.04271160e-03  9.99997668e-01]]

 t_estimated:
[[-0.2693639 ]
 [-0.96303552]
 [-0.00238375]]

 R_gt:
[[ 0.99645874  0.08375167 -0.00746978]
 [-0.08379566  0.9964665  -0.00568942]
 [ 0.00696659  0.00629476  0.99995694]]

 t_gt:
[ 0.12088008  0.98581103 -0.11646727]

Pose Error in degrees for R and t:
47.98692742341219 10.99190441338209

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 4.42779234e-01 -8.96629769e-01 -1.26759740e-03]
 [-8.96628258e-01 -4.42780878e-01  1.69111235e-03]
 [-2.07756957e-03  3.87774221e-04 -9.99997767e-01]]

 t_estimated:
[[0.32937136]
 [0.94419791]
 [0.00219581]]

 R_gt:
[[ 0.99395957  0.10439972  0.03384019]
 [-0.10483912  0.9944226   0.01147714]
 [-0.0324532  -0.01495538  0.99936234]]

 t_gt:
[0.32520906 0.78735588 0.52374592]

Pose Error in degrees for R and t:
178.31463099514224 31.604654037489368

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999961e-01  2.77938667e-04 -3.96513751e-05]
 [-2.77930011e-04  9.99999938e-01  2.18150143e-04]
 [ 3.97120050e-05 -2.18139114e-04  9.99999975e-01]]

 t_estimated:
[[9.99979871e-01]
 [6.33678576e-03]
 [3.20402836e-04]]

 R_gt:
[[ 0.9837628   0.1773292   0.02767129]
 [-0.17853433  0.98266967  0.04986132]
 [-0.01834932 -0.05399151  0.9983736 ]]

 t_gt:
[0.19650775 0.75010484 0.63144868]

Pose Error in degrees for R and t:
10.746176513755046 78.37768833036779

Number of keypoints:
Image1: 306
Image2: 306

 R_estimated:
[[ 9.99999722e-01 -7.19937157e-04  1.92158013e-04]
 [ 7.19918522e-04  9.99999736e-01  9.70298964e-05]
 [-1.92227818e-04 -9.68915313e-05  9.99999977e-01]]

 t_estimated:
[[0.57945459]
 [0.81500119]
 [0.00233365]]

 R_gt:
[[ 9.99287523e-01 -4.28787750e-05  3.77702899e-02]
 [-1.99244183e-03  9.98546744e-01  5.38528976e-02]
 [-3.77176652e-02 -5.38901835e-02  9.97833489e-01]]

 t_gt:
[-0.10815872  0.01939177  0.99394449]

Pose Error in degrees for R and t:
3.7618531225584686 87.44667213764313

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 7.98011465e-01  6.02641169e-01  1.15055178e-03]
 [-6.02641104e-01  7.98012221e-01 -4.41412988e-04]
 [-1.18416802e-03 -3.41117168e-04  9.99999241e-01]]

 t_estimated:
[[0.16954373]
 [0.98552149]
 [0.00152217]]

 R_gt:
[[ 0.99544599 -0.09531875  0.00180879]
 [ 0.09447743  0.98883938  0.11519527]
 [-0.0127684  -0.1145004   0.99334069]]

 t_gt:
[ 0.43896212 -0.51957631  0.73304346]

Pose Error in degrees for R and t:
43.0108287758603 64.11829497360836

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999828e-01 -2.69962468e-04  5.21328582e-04]
 [ 2.69508286e-04  9.99999584e-01  8.71074032e-04]
 [-5.21563522e-04 -8.70933380e-04  9.99999485e-01]]

 t_estimated:
[[0.80019948]
 [0.59973141]
 [0.00173853]]

 R_gt:
[[ 0.96956017 -0.24444386 -0.01418995]
 [ 0.24389537  0.95901187  0.14425956]
 [-0.02165558 -0.14333007  0.98943725]]

 t_gt:
[ 0.59341053 -0.63005206  0.50089754]

Pose Error in degrees for R and t:
16.42368888469828 84.38429993264396

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99880919e-01  1.54319437e-02  5.73821088e-05]
 [-1.54319433e-02  9.99880920e-01 -6.49211965e-06]
 [-5.74754618e-05  5.60582911e-06  9.99999998e-01]]

 t_estimated:
[[0.83572221]
 [0.5491508 ]
 [0.00133289]]

 R_gt:
[[ 0.99952169 -0.02620198 -0.01641932]
 [ 0.02584123  0.99942958 -0.02178099]
 [ 0.01698048  0.02134617  0.99962765]]

 t_gt:
[ 0.45973973 -0.55905488 -0.68999784]

Pose Error in degrees for R and t:
2.844322260276236 85.6246781203686

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-0.96248354 -0.27133138  0.0021722 ]
 [ 0.27131329 -0.96247018 -0.00634464]
 [ 0.00381218 -0.00551727  0.99997751]]

 t_estimated:
[[0.79142615]
 [0.6112641 ]
 [0.00091919]]

 R_gt:
[[ 0.99375038  0.03656746  0.10547428]
 [-0.03043541  0.9977844  -0.05917579]
 [-0.10740423  0.05559585  0.99265974]]

 t_gt:
[-0.44954503  0.48850859  0.74784264]

Pose Error in degrees for R and t:
166.222979685225 86.76183753815873

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.17553019  0.93458628  0.309415  ]
 [ 0.97196027 -0.11456438 -0.20534905]
 [-0.15646847  0.33678405 -0.92849024]]

 t_estimated:
[[-0.84515425]
 [-0.50709255]
 [-0.16903085]]

 R_gt:
[[ 0.96831548  0.15185065  0.1982583 ]
 [-0.13346205  0.98567613 -0.10310696]
 [-0.21107517  0.07338116  0.97471122]]

 t_gt:
[-0.4075987   0.66364543  0.6272464 ]

Pose Error in degrees for R and t:
147.9683070927272 84.3719643713865

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.93817360e-01 -1.11027065e-01  2.13022701e-04]
 [ 1.11027175e-01  9.93817186e-01 -6.06179033e-04]
 [-1.44403342e-04  6.26082555e-04  9.99999794e-01]]

 t_estimated:
[[-0.27632274]
 [-0.96106396]
 [-0.00134792]]

 R_gt:
[[ 0.99882497  0.04756793  0.00921954]
 [-0.04739198  0.99870557 -0.01850995]
 [-0.0100881   0.01805043  0.99978583]]

 t_gt:
[-0.85870538  0.51100261 -0.03874805]

Pose Error in degrees for R and t:
9.168363537414397 75.29904069914474

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.00084539e-01 -4.35715092e-01  4.26161330e-04]
 [ 4.35714229e-01  9.00079724e-01 -3.09872969e-03]
 [ 9.66584120e-04  2.97480324e-03  9.99995108e-01]]

 t_estimated:
[[-0.09116748]
 [-0.9958294 ]
 [-0.00350644]]

 R_gt:
[[ 0.98389734  0.17734541  0.02222905]
 [-0.17506614  0.98129171 -0.08012204]
 [-0.03602144  0.07493963  0.99653684]]

 t_gt:
[-0.6997505   0.70937036 -0.08451581]

Pose Error in degrees for R and t:
36.28054562551405 50.03488925185673

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.44401826e-01 -3.28793116e-01 -5.26891943e-04]
 [ 3.28793228e-01  9.44401924e-01  1.40164547e-04]
 [ 4.51512627e-04 -3.05610157e-04  9.99999851e-01]]

 t_estimated:
[[-0.82238287]
 [-0.5689326 ]
 [-0.00145378]]

 R_gt:
[[ 0.95598506  0.29303728  0.01486567]
 [-0.29060379  0.9526082  -0.08993193]
 [-0.0405144   0.08165364  0.99583663]]

 t_gt:
[-0.64121937  0.76566277 -0.05097305]

Pose Error in degrees for R and t:
36.56540492643045 84.73332547495639

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.86226364e-01 -1.65401050e-01 -2.25206509e-04]
 [ 1.65401103e-01  9.86226352e-01  2.41147127e-04]
 [ 1.82218606e-04 -2.75075059e-04  9.99999946e-01]]

 t_estimated:
[[9.34579843e-01]
 [3.55752702e-01]
 [7.29001438e-04]]

 R_gt:
[[ 0.99802956  0.001454   -0.06273649]
 [-0.00202205  0.99995817 -0.00898382]
 [ 0.06272172  0.00909297  0.99798926]]

 t_gt:
[ 0.44368647 -0.09116516 -0.89153308]

Pose Error in degrees for R and t:
10.278629115745552 67.56852266013843

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-8.38306568e-01 -5.45196670e-01 -1.64007805e-03]
 [ 5.45198586e-01 -8.38297650e-01 -3.94368442e-03]
 [ 7.75210039e-04 -4.20018478e-03  9.99990879e-01]]

 t_estimated:
[[9.53120600e-01]
 [3.02589769e-01]
 [7.43463807e-04]]

 R_gt:
[[ 0.9965601  -0.05025388 -0.06590359]
 [ 0.051924    0.99836604  0.02388527]
 [ 0.06459698 -0.0272259   0.99754027]]

 t_gt:
[ 0.62171051 -0.70928013 -0.33226156]

Pose Error in degrees for R and t:
144.0438962012028 67.80888766893897

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 7.18271733e-01 -6.95756851e-01 -2.84992636e-03]
 [ 6.95760834e-01  7.18273249e-01  6.33550508e-04]
 [ 1.60622876e-03 -2.43792856e-03  9.99995738e-01]]

 t_estimated:
[[9.26670990e-01]
 [3.75872789e-01]
 [7.22832286e-04]]

 R_gt:
[[ 0.98777955 -0.10194908 -0.11789535]
 [ 0.1076068   0.99327847  0.04265349]
 [ 0.11275513 -0.05481911  0.99210969]]

 t_gt:
[ 0.61870056 -0.71836689 -0.31805443]

Pose Error in degrees for R and t:
38.669645559137855 72.3568658807266

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-6.34571010e-01 -7.72862778e-01 -1.66139098e-03]
 [ 7.72864321e-01 -6.34571047e-01 -5.72016775e-04]
 [-6.12180138e-04 -1.64701507e-03  9.99998456e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.97743068 -0.21120569 -0.00464239]
 [ 0.21119356  0.97744109 -0.00284498]
 [ 0.005139    0.00180148  0.99998495]]

 t_gt:
[ 0.84596667 -0.53212831 -0.034349  ]

Pose Error in degrees for R and t:
117.19566832009583 41.435199409970714

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-4.37058795e-01 -8.99431361e-01 -1.68406509e-03]
 [ 8.99432903e-01 -4.37058534e-01 -5.39706163e-04]
 [-2.50606373e-04 -1.75058688e-03  9.99998436e-01]]

 t_estimated:
[[9.94266496e-01]
 [1.06927536e-01]
 [7.97966690e-04]]

 R_gt:
[[ 0.8196884  -0.57265753  0.01318824]
 [ 0.57252761  0.81979047  0.01247727]
 [-0.01795686 -0.00267611  0.99983524]]

 t_gt:
[ 0.93149705 -0.3634615   0.01445625]

Pose Error in degrees for R and t:
80.98802504603876 27.463624955378215

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.56489921 -0.82512817 -0.00723708]
 [-0.8251178  -0.56493726  0.00514808]
 [-0.00833632  0.00306329 -0.99996056]]

 t_estimated:
[[0.58758988]
 [0.80915398]
 [0.00282359]]

 R_gt:
[[ 6.90167057e-01 -7.23287306e-01  2.29339933e-02]
 [ 7.22921220e-01  6.90548351e-01  2.30022608e-02]
 [-3.24742125e-02  7.04875674e-04  9.99471980e-01]]

 t_gt:
[ 0.96182024 -0.27289357  0.02075894]

Pose Error in degrees for R and t:
178.3190585494322 69.85473264547996

Number of keypoints:
Image1: 746
Image2: 746

 R_estimated:
[[-0.98630351  0.15469922  0.05721476]
 [ 0.15475183  0.98794704 -0.00353703]
 [-0.05707233  0.0053655  -0.99835563]]

 t_estimated:
[[ 0.99722277]
 [-0.06872318]
 [ 0.0287031 ]]

 R_gt:
[[ 0.99912906 -0.04128161 -0.00613486]
 [ 0.04115919  0.99897533 -0.01886219]
 [ 0.00690809  0.01859359  0.99980343]]

 t_gt:
[ 0.55741474 -0.73818169 -0.3799692 ]

Pose Error in degrees for R and t:
177.0030963852111 53.43812310173769

Number of keypoints:
Image1: 630
Image2: 630

 R_estimated:
[[-0.96138909  0.27336074  0.03170042]
 [ 0.27338276  0.96189813 -0.00372181]
 [-0.03150997  0.00508824 -0.99949049]]

 t_estimated:
[[ 0.99160143]
 [-0.12833433]
 [ 0.016028  ]]

 R_gt:
[[ 0.99700929 -0.07685616 -0.00813669]
 [ 0.07675035  0.99697238 -0.01256753]
 [ 0.00907883  0.01190553  0.99988868]]

 t_gt:
[ 0.54056866 -0.81587023 -0.20528346]

Pose Error in degrees for R and t:
178.56311851476516 50.398621190122356

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 9.99999684e-01  7.92039053e-04  7.39098619e-05]
 [-7.92042124e-04  9.99999685e-01  4.15282169e-05]
 [-7.38769467e-05 -4.15867435e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99979217e-01]
 [-6.44659131e-03]
 [ 8.00890672e-05]]

 R_gt:
[[ 0.99347515 -0.11403315  0.00198686]
 [ 0.11399164  0.99336917  0.01497335]
 [-0.00368056 -0.01464927  0.99988648]]

 t_gt:
[ 0.44240641 -0.89009305  0.10959438]

Pose Error in degrees for R and t:
6.648258428805245 63.375328908674675

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 9.99995131e-01 -3.12054183e-03  2.42720138e-05]
 [ 3.12054224e-03  9.99995131e-01 -1.70548517e-05]
 [-2.42186753e-05  1.71305105e-05  1.00000000e+00]]

 t_estimated:
[[ 9.60237659e-01]
 [-2.79183875e-01]
 [-4.93982815e-05]]

 R_gt:
[[ 0.99934779 -0.03497376 -0.00903967]
 [ 0.03493311  0.99937835 -0.00465737]
 [ 0.00919695  0.00433803  0.99994734]]

 t_gt:
[ 0.60100077 -0.76017824 -0.24683417]

Pose Error in degrees for R and t:
1.9161950456993173 37.87563139967911

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[ 9.99999655e-01 -8.29865210e-04 -1.81214527e-05]
 [ 8.29863769e-04  9.99999653e-01 -7.94230354e-05]
 [ 1.81873568e-05  7.94079697e-05  9.99999997e-01]]

 t_estimated:
[[ 9.99609374e-01]
 [-2.79469368e-02]
 [-2.59754262e-04]]

 R_gt:
[[ 0.99703133 -0.07512795 -0.01689511]
 [ 0.07485208  0.99705887 -0.01643008]
 [ 0.01808004  0.01511592  0.99972178]]

 t_gt:
[ 0.57212491 -0.76275518 -0.30145916]

Pose Error in degrees for R and t:
4.461780695068499 53.60871901699535

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 8.46488924e-01  5.32389590e-01  4.22217439e-03]
 [-5.32378476e-01  8.46499140e-01 -3.51635533e-03]
 [-5.44613796e-03  7.28761076e-04  9.99984904e-01]]

 t_estimated:
[[-0.8795871 ]
 [ 0.47569654]
 [ 0.00627162]]

 R_gt:
[[ 0.99568229 -0.09181074 -0.01370843]
 [ 0.09192968  0.9957308   0.00827011]
 [ 0.01289039 -0.0094944   0.99987119]]

 t_gt:
[ 0.51398125 -0.85594577 -0.05639247]

Pose Error in degrees for R and t:
37.45837185470618 30.726573692766078

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.97846589 -0.20618732 -0.0095541 ]
 [ 0.20631674  0.97836284  0.01547795]
 [ 0.00615602 -0.01711582  0.99983456]]

 t_estimated:
[[0.97805103]
 [0.20827093]
 [0.00627723]]

 R_gt:
[[ 0.99802441  0.06170379  0.01186289]
 [-0.06223394  0.99674465  0.05125402]
 [-0.00866261 -0.05189233  0.99861535]]

 t_gt:
[-0.04229938  0.16491845  0.98539975]

Pose Error in degrees for R and t:
15.622552043419239 89.9520057240239

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.85918839  0.43265854  0.27313347]
 [-0.5049187   0.8033217   0.31580271]
 [-0.0827793  -0.40924422  0.90866207]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.99237417  0.11630022  0.04083389]
 [-0.11851892  0.99131919  0.05691793]
 [-0.03386089 -0.06132359  0.9975433 ]]

 t_gt:
[-0.11556841  0.34452464  0.93163658]

Pose Error in degrees for R and t:
30.53700948655306 74.34622877739858

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.35783293  0.93370984 -0.01189645]
 [ 0.93371131 -0.35761468  0.01717378]
 [ 0.01178098 -0.0172532  -0.99978174]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97261338  0.225467    0.05645678]
 [-0.22965505  0.96963648  0.08404559]
 [-0.03579412 -0.09470961  0.99486127]]

 t_gt:
[-0.25098362  0.6982038   0.67046154]

Pose Error in degrees for R and t:
176.0686952171107 75.62320189675636

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-5.25792248e-01 -8.50609950e-01 -2.28569621e-03]
 [ 8.50612873e-01 -5.25791844e-01 -8.22787134e-04]
 [-5.01929501e-04 -2.37685772e-03  9.99997049e-01]]

 t_estimated:
[[0.96873615]
 [0.24809096]
 [0.00107399]]

 R_gt:
[[ 0.99796838 -0.0615773  -0.01638642]
 [ 0.06230067  0.99689766  0.0480938 ]
 [ 0.01337414 -0.049017    0.99870829]]

 t_gt:
[ 0.45943732 -0.85717677  0.23273447]

Pose Error in degrees for R and t:
118.18693745480209 76.54593729716039

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.12026891  0.99273947 -0.00193486]
 [ 0.99270584 -0.12024789  0.00869279]
 [ 0.00839702 -0.00296622 -0.99996035]]

 t_estimated:
[[-9.31649389e-01]
 [-3.63357796e-01]
 [-7.26715592e-04]]

 R_gt:
[[ 0.99114295 -0.11104368 -0.07284048]
 [ 0.1151018   0.99188079  0.05408824]
 [ 0.06624273 -0.06199274  0.9958757 ]]

 t_gt:
[ 0.55778683 -0.82159406 -0.11771599]

Pose Error in degrees for R and t:
174.4215553943895 77.22966381687827

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 8.98302603e-01  4.39376896e-01  6.13715284e-04]
 [-4.39370785e-01  8.98295978e-01 -4.20113481e-03]
 [-2.39717954e-03  3.50424177e-03  9.99990987e-01]]

 t_estimated:
[[0.58204147]
 [0.81315866]
 [0.0008497 ]]

 R_gt:
[[ 0.99804656 -0.0552469   0.02918012]
 [ 0.05506397  0.99845803  0.0070508 ]
 [-0.02952481 -0.00543     0.99954937]]

 t_gt:
[ 0.3451359  -0.8445003   0.40951246]

Pose Error in degrees for R and t:
29.2746539984272 60.95598510468152

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 4.30578534e-01 -9.02552042e-01 -1.39191775e-03]
 [ 9.02553114e-01  4.30578087e-01  6.21912243e-04]
 [ 3.80211176e-05 -1.52406176e-03  9.99998838e-01]]

 t_estimated:
[[9.99977089e-01]
 [6.71689059e-03]
 [8.39611326e-04]]

 R_gt:
[[ 0.98225467 -0.16223491 -0.09410286]
 [ 0.17300952  0.97750043  0.12066687]
 [ 0.0724098  -0.13480586  0.98822245]]

 t_gt:
[ 0.56715224 -0.78360446  0.25357915]

Pose Error in degrees for R and t:
55.42255601873609 55.79962629014416

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-0.99671734 -0.08006388  0.01201309]
 [-0.08013411  0.99676901 -0.00548286]
 [-0.0115353  -0.00642752 -0.99991281]]

 t_estimated:
[[0.9976057 ]
 [0.06846313]
 [0.00978045]]

 R_gt:
[[ 0.94067936 -0.28576995 -0.18291198]
 [ 0.30787555  0.94548274  0.1061811 ]
 [ 0.14259623 -0.15619565  0.97737815]]

 t_gt:
[ 0.66509059 -0.74364777  0.06813585]

Pose Error in degrees for R and t:
171.4298674774462 52.174974755612304

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.03716662  0.99930815  0.00136417]
 [ 0.99930479 -0.03717042  0.00287867]
 [ 0.00292739  0.00125623 -0.99999493]]

 t_estimated:
[[0.01066289]
 [0.99994245]
 [0.00118477]]

 R_gt:
[[ 0.90807013 -0.34320094 -0.24004245]
 [ 0.38901731  0.90350381  0.17984927]
 [ 0.15515547 -0.25669565  0.95395694]]

 t_gt:
[ 0.64988714 -0.73081824  0.20868976]

Pose Error in degrees for R and t:
162.5235037383912 43.647553553152264

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99999099e-01  1.33785666e-03  1.11152150e-04]
 [-1.33785877e-03  9.99999105e-01  1.88503234e-05]
 [-1.11126831e-04 -1.89990123e-05  9.99999994e-01]]

 t_estimated:
[[9.99977145e-01]
 [6.73747527e-03]
 [5.62641066e-04]]

 R_gt:
[[ 0.99971355 -0.0235682   0.00410711]
 [ 0.02361477  0.9996547  -0.0115183 ]
 [-0.00383349  0.01161252  0.99992526]]

 t_gt:
[ 0.19037057 -0.95855279 -0.21198019]

Pose Error in degrees for R and t:
1.590936142563945 79.40947933760812

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-0.74664227 -0.66415307  0.03776265]
 [-0.66419181  0.74744344  0.01332459]
 [-0.03707501 -0.01513294 -0.9991979 ]]

 t_estimated:
[[0.94044551]
 [0.33937647]
 [0.01964343]]

 R_gt:
[[ 0.99917843 -0.03463635  0.02104299]
 [ 0.03436281  0.99932249  0.01322404]
 [-0.02148707 -0.01248967  0.99969133]]

 t_gt:
[-0.06733164 -0.93320376  0.35298328]

Pose Error in degrees for R and t:
176.30587872907918 68.09335883859279

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.98726136e-01  5.04588877e-02  7.10428127e-05]
 [-5.04589119e-02  9.98726060e-01  3.95049302e-04]
 [-5.10185600e-05 -3.98130806e-04  9.99999919e-01]]

 t_estimated:
[[8.65425999e-01]
 [5.01036105e-01]
 [8.13370300e-04]]

 R_gt:
[[ 0.99918707 -0.02012931  0.03492808]
 [ 0.01906382  0.9993515   0.0305621 ]
 [-0.0355203  -0.0298717   0.99892222]]

 t_gt:
[-0.43055127 -0.71187102  0.55485607]

Pose Error in degrees for R and t:
4.806955392897475 43.21143086296271

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.93914481e-01 -1.10154411e-01  1.05392756e-04]
 [ 1.10154421e-01  9.93914480e-01 -9.97901140e-05]
 [-9.37590655e-05  1.10792317e-04  9.99999989e-01]]

 t_estimated:
[[-0.97663648]
 [-0.2148921 ]
 [-0.00160367]]

 R_gt:
[[ 0.99507509  0.03665001  0.09210088]
 [-0.03549294  0.99926901 -0.01417311]
 [-0.09255288  0.01083509  0.99564862]]

 t_gt:
[-0.66948683  0.31513487  0.6726644 ]

Pose Error in degrees for R and t:
9.947946173228933 54.19372250365689

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 4.16527208e-01 -9.09121598e-01  1.73372970e-03]
 [-9.09123069e-01 -4.16527573e-01  1.62067368e-04]
 [ 5.74807278e-04 -1.64367913e-03 -9.99998484e-01]]

 t_estimated:
[[0.87229207]
 [0.48898083]
 [0.00207195]]

 R_gt:
[[ 0.98534385  0.14282864  0.09326255]
 [-0.13991664  0.98946822 -0.03708063]
 [-0.09757553  0.02348877  0.99495129]]

 t_gt:
[-0.75678114  0.57206196  0.31627112]

Pose Error in degrees for R and t:
178.43525647810924 67.68170530741217

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 8.78020590e-01 -4.78622519e-01 -5.71890116e-04]
 [ 4.78622617e-01  8.78020723e-01  3.90922318e-05]
 [ 4.83420950e-04 -3.08043328e-04  9.99999836e-01]]

 t_estimated:
[[-0.53092595]
 [-0.84741744]
 [-0.00114671]]

 R_gt:
[[ 0.95892776  0.27939814  0.04894106]
 [-0.28068217  0.95955841  0.0215513 ]
 [-0.04093995 -0.03440213  0.99856926]]

 t_gt:
[-0.70013856  0.68634689  0.19680942]

Pose Error in degrees for R and t:
44.970716730789945 77.87024741553228

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99201633e-01  3.99511484e-02 -4.23252393e-05]
 [-3.99511446e-02  9.99201630e-01  8.84227849e-05]
 [ 4.58240400e-05 -8.66612493e-05  9.99999995e-01]]

 t_estimated:
[[-0.6813332 ]
 [-0.73197283]
 [-0.00092072]]

 R_gt:
[[ 0.99921958  0.03588282  0.01658147]
 [-0.03593709  0.99935004  0.00300107]
 [-0.01646293 -0.00359511  0.99985887]]

 t_gt:
[0.07837136 0.93663589 0.34142516]

Pose Error in degrees for R and t:
0.9902554071542449 42.32789111057935

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999677e-01  2.88480459e-04 -7.49883726e-04]
 [-2.87814006e-04  9.99999564e-01  8.88697866e-04]
 [ 7.50139771e-04 -8.88481752e-04  9.99999324e-01]]

 t_estimated:
[[0.69633336]
 [0.71771201]
 [0.00305409]]

 R_gt:
[[ 0.99128275  0.11038281  0.0719427 ]
 [-0.10340213  0.99014642 -0.09443696]
 [-0.08165776  0.08617424  0.99292813]]

 t_gt:
[-0.3058324   0.94945677 -0.07069925]

Pose Error in degrees for R and t:
9.223397364868635 62.078636293857

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.80870281e-01  1.94659295e-01 -1.11797502e-03]
 [-1.94659678e-01  9.80870813e-01 -2.42971602e-04]
 [ 1.04929239e-03  4.55948281e-04  9.99999346e-01]]

 t_estimated:
[[-0.86075434]
 [-0.50900377]
 [-0.00413824]]

 R_gt:
[[ 0.97985396  0.13655157  0.1457414 ]
 [-0.12271769  0.98738426 -0.100065  ]
 [-0.15756624  0.08016433  0.98424931]]

 t_gt:
[-0.33267335  0.89666129  0.29210782]

Pose Error in degrees for R and t:
10.87890796906145 80.13875335037704

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.85743182e-01  1.68256883e-01 -1.02022146e-05]
 [-1.68256883e-01  9.85743182e-01 -1.50326507e-05]
 [ 7.52741652e-06  1.65349258e-05  1.00000000e+00]]

 t_estimated:
[[-8.28960076e-01]
 [-5.59307290e-01]
 [-7.40804357e-04]]

 R_gt:
[[ 0.98564158 -0.16727109  0.02305169]
 [ 0.16769792  0.9856734  -0.01802575]
 [-0.01970618  0.02163278  0.99957159]]

 t_gt:
[ 0.57277097 -0.81960135  0.01367631]

Pose Error in degrees for R and t:
19.40207139074966 89.05999824353256

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99461260e-01 -3.28201568e-02  1.64693912e-04]
 [ 3.28202277e-02  9.99461171e-01 -4.47536546e-04]
 [-1.49916950e-04  4.52700731e-04  9.99999886e-01]]

 t_estimated:
[[8.86220402e-01]
 [4.63263838e-01]
 [1.26110590e-04]]

 R_gt:
[[ 0.93587789 -0.35226893 -0.00628453]
 [ 0.35222628  0.93588872 -0.00698583]
 [ 0.00834213  0.00432419  0.9999561 ]]

 t_gt:
[ 0.66382208 -0.74763556 -0.01952717]

Pose Error in degrees for R and t:
18.751931709981736 75.9990673073999

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.70600007e-01  2.40696678e-01  8.57511939e-04]
 [-2.40696328e-01  9.70600348e-01 -4.91751526e-04]
 [-9.50664345e-04  2.70894059e-04  9.99999511e-01]]

 t_estimated:
[[0.55878349]
 [0.82931306]
 [0.00093286]]

 R_gt:
[[ 0.84641389 -0.53185095 -0.02677878]
 [ 0.53138488  0.84682302 -0.02282969]
 [ 0.03481834  0.00509294  0.99938046]]

 t_gt:
[ 0.75471233 -0.65438383 -0.04680931]

Pose Error in degrees for R and t:
46.0971470349134 83.04949240489248

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.56408989e-01  2.92030537e-01  1.08746897e-04]
 [-2.92030546e-01  9.56408988e-01  8.55041942e-05]
 [-7.90366743e-05 -1.13534396e-04  9.99999990e-01]]

 t_estimated:
[[9.45791027e-01]
 [3.24774736e-01]
 [8.39211204e-04]]

 R_gt:
[[ 0.97264071 -0.22848501 -0.04201569]
 [ 0.22990187  0.97266545  0.0326618 ]
 [ 0.03340435 -0.0414275   0.99858283]]

 t_gt:
[ 0.97753129 -0.15793671  0.1396015 ]

Pose Error in degrees for R and t:
30.388613000830627 29.14810161860703

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 5.33601505e-01  8.45734614e-01  1.54789272e-03]
 [-8.45730875e-01  5.33603749e-01 -2.51525450e-03]
 [-2.95319915e-03  3.30429258e-05  9.99995639e-01]]

 t_estimated:
[[0.86361064]
 [0.5041565 ]
 [0.00169558]]

 R_gt:
[[ 0.95048059 -0.30930841 -0.03028287]
 [ 0.31055839  0.94900117  0.05431525]
 [ 0.01193882 -0.06103076  0.99806402]]

 t_gt:
[ 0.97818754 -0.10803852  0.17741707]

Pose Error in degrees for R and t:
75.90189994205993 37.757851461166766

Number of keypoints:
Image1: 22
Image2: 22

 R_estimated:
[[ 0.33727623  0.9414012   0.00291816]
 [ 0.94140041 -0.33728312  0.00231379]
 [ 0.00316245  0.00196677 -0.99999307]]

 t_estimated:
[[9.99821745e-01]
 [1.88585902e-02]
 [9.12053363e-04]]

 R_gt:
[[ 0.9424268  -0.33387808  0.01892459]
 [ 0.33132231  0.93989364  0.08261405]
 [-0.04536984 -0.07158721  0.9964009 ]]

 t_gt:
[ 0.96633236 -0.09921375  0.23739926]

Pose Error in degrees for R and t:
177.43120849764352 15.311248906458289

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 9.98326698e-01  5.78246473e-02  3.39029893e-04]
 [-5.78247014e-02  9.98326741e-01  1.51819914e-04]
 [-3.29683675e-04 -1.71170175e-04  9.99999931e-01]]

 t_estimated:
[[0.29802874]
 [0.95455581]
 [0.00143975]]

 R_gt:
[[ 0.99267551 -0.11009998  0.04974142]
 [ 0.10812686  0.99330018  0.04077576]
 [-0.05389734 -0.03509772  0.99792952]]

 t_gt:
[ 0.44984735 -0.76411633  0.46234575]

Pose Error in degrees for R and t:
10.261491246168813 53.51170290351309

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.36593866e-01 -3.50416790e-01  6.52749147e-05]
 [ 3.50416656e-01  9.36593641e-01  7.20458547e-04]
 [-3.13596841e-04 -6.51903638e-04  9.99999738e-01]]

 t_estimated:
[[0.99460324]
 [0.10374546]
 [0.00112767]]

 R_gt:
[[ 0.97221683 -0.23317848  0.02055301]
 [ 0.2313023   0.97045091  0.06873382]
 [-0.03597263 -0.06206966  0.99742355]]

 t_gt:
[ 0.63763934 -0.7112796   0.2957996 ]

Pose Error in degrees for R and t:
8.15453568410217 55.89303230719871

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 0.9987395  -0.05012444  0.00263506]
 [ 0.05012743  0.99874224 -0.00108195]
 [-0.00257752  0.00121267  0.99999594]]

 t_estimated:
[[0.75108649]
 [0.66020159]
 [0.00171481]]

 R_gt:
[[ 0.934108   -0.35671279  0.01407751]
 [ 0.34886527  0.92050114  0.17598509]
 [-0.07573486 -0.15947755  0.98429222]]

 t_gt:
[ 0.63764164 -0.62701926  0.44750417]

Pose Error in degrees for R and t:
20.627719718747628 86.23109984842701

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 5.51278044e-01  8.34321533e-01 -3.14197704e-04]
 [-8.34321443e-01  5.51277681e-01 -8.05246777e-04]
 [-4.98624544e-04  7.06056749e-04  9.99999626e-01]]

 t_estimated:
[[7.98426373e-01]
 [6.02092019e-01]
 [7.27164274e-04]]

 R_gt:
[[ 0.98972439 -0.04854281  0.13449934]
 [ 0.02396779  0.98362326  0.17863648]
 [-0.14096793 -0.17357692  0.97467947]]

 t_gt:
[ 0.05795587 -0.23429912  0.97043549]

Pose Error in degrees for R and t:
59.940224478382966 84.60102716483529

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99999446e-01  1.06182210e-05  1.05235603e-03]
 [-9.80652378e-06  9.99999702e-01 -7.71316383e-04]
 [-1.05236391e-03  7.71305636e-04  9.99999149e-01]]

 t_estimated:
[[0.76940763]
 [0.63875351]
 [0.00241952]]

 R_gt:
[[ 0.97503776 -0.17096466  0.14168136]
 [ 0.11784817  0.93925254  0.3223628 ]
 [-0.18818669 -0.29761803  0.93595387]]

 t_gt:
[ 0.30552836 -0.37584003  0.87486953]

Pose Error in degrees for R and t:
22.323460483420735 89.83518729353678

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.99986088  0.01425088  0.00866783]
 [-0.01419725  0.99987988 -0.00621842]
 [-0.0087554   0.00609449  0.9999431 ]]

 t_estimated:
[[9.99991971e-01]
 [3.93249684e-03]
 [7.70374299e-04]]

 R_gt:
[[ 0.95107166 -0.29502364  0.09178815]
 [ 0.23746801  0.88802667  0.39372283]
 [-0.19766858 -0.35266076  0.91463512]]

 t_gt:
[ 0.46492682 -0.45844516  0.75741078]

Pose Error in degrees for R and t:
29.320084812461907 62.373637530798355

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 1.00000000e+00 -3.59351437e-13 -3.58571069e-16]
 [ 3.59323682e-13  1.00000000e+00  2.74913013e-16]
 [-6.86930168e-16 -1.88786703e-16  1.00000000e+00]]

 t_estimated:
[[8.62092463e-02]
 [9.96277046e-01]
 [1.11838167e-04]]

 R_gt:
[[ 9.99521711e-01 -1.09085825e-03 -3.09018381e-02]
 [-4.61372308e-04  9.98739976e-01 -5.01789398e-02]
 [ 3.09183015e-02  5.01701788e-02  9.98262037e-01]]

 t_gt:
[ 0.12738987  0.19731838 -0.97202741]

Pose Error in degrees for R and t:
3.378646291995989 78.02661834054045

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 2.44647367e-01 -9.69577515e-01 -8.19191773e-03]
 [-9.69612120e-01 -2.44638220e-01 -2.11610176e-03]
 [ 4.76685161e-05  8.46068145e-03 -9.99964207e-01]]

 t_estimated:
[[ 0.68512203]
 [ 0.72842749]
 [-0.00109535]]

 R_gt:
[[ 0.99695159 -0.02223662  0.07477918]
 [ 0.01781596  0.99808312  0.05926521]
 [-0.07595328 -0.05775169  0.99543779]]

 t_gt:
[ 0.01650342 -0.31147803  0.95011003]

Pose Error in degrees for R and t:
175.07455864541492 77.48923677502856

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.57851065  0.81567376  0.00132078]
 [ 0.8156742   0.57850743  0.00218214]
 [ 0.00101583  0.00233971 -0.99999675]]

 t_estimated:
[[-0.50986364]
 [-0.8602545 ]
 [-0.00112305]]

 R_gt:
[[ 0.98522216 -0.11562413  0.12636487]
 [ 0.08458658  0.96997091  0.22803956]
 [-0.14893588 -0.21398034  0.96541687]]

 t_gt:
[ 0.25165869 -0.40210277  0.8803302 ]

Pose Error in degrees for R and t:
178.77617697609423 77.48997376859471

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.71673969e-01 -2.36324674e-01  5.87940810e-04]
 [ 2.36324098e-01  9.71673862e-01  9.09460459e-04]
 [-7.86214664e-04 -7.44754473e-04  9.99999414e-01]]

 t_estimated:
[[ 0.8497793 ]
 [-0.52713117]
 [ 0.00280502]]

 R_gt:
[[ 0.99843335 -0.04777384  0.0291363 ]
 [ 0.04673622  0.99828343  0.03529096]
 [-0.03077264 -0.03387365  0.99895258]]

 t_gt:
[ 0.67878318 -0.23461996  0.69584975]

Pose Error in degrees for R and t:
11.254004747866226 45.376642697755415

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.73605123e-01  2.28238478e-01  5.10643896e-04]
 [-2.28238225e-01  9.73605183e-01 -5.09519776e-04]
 [-6.13457563e-04  3.79522608e-04  9.99999740e-01]]

 t_estimated:
[[-0.56567623]
 [-0.82462631]
 [-0.00136398]]

 R_gt:
[[ 0.99373888 -0.09297254  0.06196387]
 [ 0.08861917  0.99362693  0.0696542 ]
 [-0.06804564 -0.06372605  0.99564546]]

 t_gt:
[ 0.68230812 -0.21310716  0.69931464]

Pose Error in degrees for R and t:
19.167780122577145 77.80816187492076

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 8.63528259e-01  5.04300008e-01  6.69408828e-04]
 [-5.04299649e-01  8.63528492e-01 -6.38483223e-04]
 [-9.00040690e-04  2.13765669e-04  9.99999572e-01]]

 t_estimated:
[[0.41152415]
 [0.91139811]
 [0.0011625 ]]

 R_gt:
[[ 0.98288045 -0.18365428  0.01477056]
 [ 0.18330288  0.98280054  0.02240116]
 [-0.01863102 -0.01930954  0.99964047]]

 t_gt:
[ 0.9793446  -0.13997428  0.14591557]

Pose Error in degrees for R and t:
40.88659988798232 74.00095776984593

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.93444112e-01 -1.14318829e-01 -3.61923708e-05]
 [ 1.14318834e-01  9.93444094e-01  1.90761233e-04]
 [ 1.41474963e-05 -1.93648093e-04  9.99999981e-01]]

 t_estimated:
[[9.99556890e-01]
 [2.97539676e-02]
 [8.50931021e-04]]

 R_gt:
[[ 0.99788687 -0.06123319  0.02174771]
 [ 0.06083739  0.99797739  0.01842943]
 [-0.02283253 -0.01706825  0.99959381]]

 t_gt:
[ 0.34611788 -0.87069243  0.34942396]

Pose Error in degrees for R and t:
3.4696254920199445 71.31558727978258

Number of keypoints:
Image1: 374
Image2: 374

 R_estimated:
[[ 0.00417023  0.99998976  0.00175684]
 [ 0.99999077 -0.00417203  0.00102326]
 [ 0.00103058  0.00175255 -0.99999793]]

 t_estimated:
[[7.62988778e-01]
 [6.46411353e-01]
 [6.98068416e-04]]

 R_gt:
[[ 0.98477965 -0.16908289  0.04026164]
 [ 0.16693132  0.9846026   0.05187014]
 [-0.04841228 -0.04435939  0.99784185]]

 t_gt:
[ 0.51821085 -0.79032737  0.32686413]

Pose Error in degrees for R and t:
179.8859080669634 83.38141580140753

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-5.55109308e-01 -8.31777217e-01 -5.63464298e-04]
 [-8.31777027e-01  5.55108278e-01  1.33272147e-03]
 [-7.95743657e-04  1.20848275e-03 -9.99998953e-01]]

 t_estimated:
[[0.85693844]
 [0.51541799]
 [0.00089638]]

 R_gt:
[[ 0.951169   -0.30790218  0.02176789]
 [ 0.30367825  0.94608775  0.11267636]
 [-0.05528798 -0.10056347  0.99339334]]

 t_gt:
[ 0.64171307 -0.68921757  0.33642752]

Pose Error in degrees for R and t:
175.0831035084721 78.75673518712598

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.94130128 -0.33756116 -0.00208963]
 [ 0.3375643   0.94130145  0.00138488]
 [ 0.00149949 -0.00200898  0.99999686]]

 t_estimated:
[[-0.50763023]
 [-0.86157425]
 [-0.00116429]]

 R_gt:
[[ 0.99707116 -0.0744821  -0.01738527]
 [ 0.07484159  0.99697226  0.02106479]
 [ 0.01576262 -0.02230386  0.99962705]]

 t_gt:
[ 0.5347061  -0.84492788  0.01364774]

Pose Error in degrees for R and t:
15.510839348850716 62.83727290783457

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.74007695e-01 -2.26513797e-01  7.14239841e-04]
 [ 2.26514380e-01  9.74007423e-01 -8.81067678e-04]
 [-4.96100921e-04  1.01995229e-03  9.99999357e-01]]

 t_estimated:
[[-0.72234775]
 [-0.69152958]
 [-0.00075166]]

 R_gt:
[[ 0.99409853 -0.10818621  0.00796289]
 [ 0.10806002  0.99403379  0.01483619]
 [-0.009521   -0.01388836  0.9998584 ]]

 t_gt:
[ 0.46413893 -0.88053962  0.096047  ]

Pose Error in degrees for R and t:
6.955818891294703 74.12275188467252

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 6.24632885e-01  7.80918196e-01  7.28076451e-04]
 [-7.80918535e-01  6.24632614e-01  5.81834500e-04]
 [-4.15148956e-07 -9.32001358e-04  9.99999566e-01]]

 t_estimated:
[[7.79912638e-01]
 [6.25888050e-01]
 [6.52646559e-04]]

 R_gt:
[[ 0.99479    -0.101836    0.00477731]
 [ 0.10175895  0.99470743  0.014225  ]
 [-0.00620062 -0.01366466  0.9998879 ]]

 t_gt:
[ 0.35295363 -0.93273736  0.07365299]

Pose Error in degrees for R and t:
57.1928508897422 72.0330645178751

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.96009474e-01  8.92473582e-02 -1.92174867e-04]
 [-8.92473886e-02  9.96009478e-01 -1.55957147e-04]
 [ 1.77489226e-04  1.72485901e-04  9.99999969e-01]]

 t_estimated:
[[-0.78052784]
 [-0.62511859]
 [-0.00174088]]

 R_gt:
[[ 0.9958491   0.0676266   0.06093245]
 [-0.0651737   0.99701537 -0.04137653]
 [-0.06354913  0.03723432  0.99728396]]

 t_gt:
[-0.42475502  0.88594476  0.18623923]

Pose Error in degrees for R and t:
4.425214090019897 77.13752611430047

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-6.86460070e-01  7.27125298e-01  7.83411256e-03]
 [-7.27145611e-01 -6.86483160e-01  3.63134258e-04]
 [ 5.64203045e-03 -5.44726339e-03  9.99969247e-01]]

 t_estimated:
[[0.40750657]
 [0.91320148]
 [0.00120934]]

 R_gt:
[[ 0.9842943   0.11965093  0.12980799]
 [-0.10533897  0.98810523 -0.11203836]
 [-0.14166903  0.09660596  0.98518872]]

 t_gt:
[-0.42751713  0.88495881  0.1845996 ]

Pose Error in degrees for R and t:
127.07030990489143 50.64281530221195

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.62657029e-01 -2.70721289e-01 -1.19500049e-03]
 [ 2.70721329e-01  9.62657751e-01 -1.31179510e-04]
 [ 1.18588957e-03 -1.97231243e-04  9.99999277e-01]]

 t_estimated:
[[0.85838751]
 [0.51300082]
 [0.00101584]]

 R_gt:
[[ 0.97704728  0.10730923  0.18402229]
 [-0.09050322  0.99111834 -0.09743344]
 [-0.19284331  0.07854355  0.97808095]]

 t_gt:
[-0.35328624  0.79150067  0.49871386]

Pose Error in degrees for R and t:
24.581146812906663 84.07130944806457

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999789e-01  2.77281656e-04 -5.87153814e-04]
 [-2.76811649e-04  9.99999641e-01  8.00413250e-04]
 [ 5.87375543e-04 -8.00250550e-04  9.99999507e-01]]

 t_estimated:
[[-0.99999505]
 [-0.00271801]
 [-0.00158573]]

 R_gt:
[[ 0.98252491 -0.13720222 -0.12578036]
 [ 0.14839009  0.98532554  0.08434774]
 [ 0.11236155 -0.10153832  0.98846521]]

 t_gt:
[ 0.58945609 -0.80779629 -0.00258326]

Pose Error in degrees for R and t:
11.968417685569271 54.03765255043538

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.83740263e-01 -1.79587103e-01 -1.88867865e-03]
 [ 1.79587677e-01  9.83741962e-01  1.37065972e-04]
 [ 1.83335715e-03 -4.74020726e-04  9.99998207e-01]]

 t_estimated:
[[0.65884582]
 [0.75227628]
 [0.00161087]]

 R_gt:
[[ 0.94031571 -0.28971386 -0.17852652]
 [ 0.31304093  0.94214064  0.11990504]
 [ 0.13345825 -0.16863423  0.976602  ]]

 t_gt:
[ 0.64848346 -0.75253242  0.11473516]

Pose Error in degrees for R and t:
14.375901896460176 82.02871164826472

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.54090814  0.8409479   0.01500004]
 [-0.84107098  0.54090517  0.00460491]
 [-0.00424111 -0.01510694  0.99987689]]

 t_estimated:
[[-0.20306264]
 [ 0.97911309]
 [ 0.01015481]]

 R_gt:
[[ 0.88016898 -0.38472796 -0.27800441]
 [ 0.42443975  0.90012479  0.09811422]
 [ 0.21249093 -0.20435328  0.95555561]]

 t_gt:
[ 0.71638218 -0.69706063  0.03005084]

Pose Error in degrees for R and t:
83.21297382083499 34.14023015080079

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99917496e-01 -1.28450842e-02 -7.55438643e-05]
 [ 1.28450860e-02  9.99917498e-01  2.39165091e-05]
 [ 7.52304222e-05 -2.48849033e-05  9.99999997e-01]]

 t_estimated:
[[-0.89792606]
 [ 0.44014474]
 [-0.00117915]]

 R_gt:
[[ 0.99825354 -0.0208584   0.0552752 ]
 [ 0.02198437  0.99956089 -0.01986701]
 [-0.05483657  0.02104851  0.99827351]]

 t_gt:
[0.37183076 0.56534356 0.73629379]

Pose Error in degrees for R and t:
3.4074936352980956 85.07154429854229

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 7.93096784e-01 -6.09093562e-01 -1.58871523e-03]
 [ 6.09094320e-01  7.93097793e-01 -8.20370887e-06]
 [ 1.26500337e-03 -9.61171090e-04  9.99998738e-01]]

 t_estimated:
[[8.58618603e-01]
 [5.12614730e-01]
 [4.83111715e-04]]

 R_gt:
[[ 0.99255071  0.01643371  0.12072414]
 [-0.01001786  0.99851373 -0.05356784]
 [-0.12142431  0.05196032  0.99123911]]

 t_gt:
[-0.30358721  0.75293719  0.58388388]

Pose Error in degrees for R and t:
39.02060039852009 82.78556654797316

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 0.49134906  0.87093816  0.00654455]
 [ 0.87094157 -0.49127084 -0.01066559]
 [-0.00607392  0.01094045 -0.9999217 ]]

 t_estimated:
[[-0.96108557]
 [-0.27624786]
 [-0.00128487]]

 R_gt:
[[ 0.98889046  0.05254837  0.1390534 ]
 [-0.03847593  0.99403774 -0.10202494]
 [-0.14358512  0.09554109  0.98501567]]

 t_gt:
[-0.46523917  0.83757337  0.28639721]

Pose Error in degrees for R and t:
170.26796720989998 77.56166037600198

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-6.14399834e-01 -7.88994006e-01 -1.14111606e-03]
 [-7.88994799e-01  6.14399583e-01  5.99975633e-04]
 [ 2.27724056e-04  1.26895957e-03 -9.99999169e-01]]

 t_estimated:
[[9.37294388e-01]
 [3.48537929e-01]
 [7.36866657e-04]]

 R_gt:
[[ 0.98915311 -0.14528948 -0.02161582]
 [ 0.14330837  0.98682993 -0.07503552]
 [ 0.03223366  0.07112326  0.99694691]]

 t_gt:
[ 0.58151808 -0.64333329 -0.49795483]

Pose Error in degrees for R and t:
176.72490111165524 71.30921448274162

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.97345718e-01  7.28089809e-02  6.09122295e-04]
 [-7.28086117e-02  9.97345746e-01 -6.07735279e-04]
 [-6.51754116e-04  5.61772829e-04  9.99999630e-01]]

 t_estimated:
[[9.20509367e-01]
 [3.90719803e-01]
 [7.35818838e-04]]

 R_gt:
[[ 0.96549585 -0.25421375 -0.05651733]
 [ 0.24898679  0.96470492 -0.08573882]
 [ 0.07631927  0.06870886  0.99471318]]

 t_gt:
[ 0.63702585 -0.65150703 -0.41199108]

Pose Error in degrees for R and t:
19.681435727742837 70.63842966685797

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.95589952e-01  9.37955152e-02  1.74588444e-03]
 [ 9.37955252e-02 -9.95591479e-01  7.62948508e-05]
 [ 1.74534379e-03  8.77977612e-05 -9.99998473e-01]]

 t_estimated:
[[9.99097083e-01]
 [4.24754767e-02]
 [9.23379929e-04]]

 R_gt:
[[ 0.93215396 -0.3515229  -0.08672402]
 [ 0.34809606  0.93599428 -0.05239174]
 [ 0.09959095  0.01864924  0.99485408]]

 t_gt:
[ 0.71163065 -0.65942248 -0.24237124]

Pose Error in degrees for R and t:
178.16890523850597 46.94069290187432

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.98098806e-01 -6.16341816e-02  4.09861197e-05]
 [ 6.16341788e-02  9.98098805e-01  6.57779042e-05]
 [-4.49623643e-05 -6.31267018e-05  9.99999997e-01]]

 t_estimated:
[[9.98126661e-01]
 [6.11770583e-02]
 [7.32714905e-04]]

 R_gt:
[[ 0.98568638 -0.16777558  0.01655243]
 [ 0.16748279  0.98571517  0.01771993]
 [-0.01928858 -0.01469334  0.99970597]]

 t_gt:
[ 0.61114878 -0.76786484  0.19204363]

Pose Error in degrees for R and t:
6.27263438069793 55.724767748974585

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 7.15604770e-01 -6.98501609e-01 -2.30567406e-03]
 [-6.98502616e-01 -7.15607347e-01  4.68285175e-04]
 [-1.97705524e-03  1.27541226e-03 -9.99997232e-01]]

 t_estimated:
[[0.3990271 ]
 [0.91693838]
 [0.00117707]]

 R_gt:
[[ 0.95425787 -0.29891356 -0.0066359 ]
 [ 0.2988218   0.95275387  0.05445526]
 [-0.00995512 -0.05394716  0.99849346]]

 t_gt:
[ 0.66848111 -0.71187893  0.21531696]

Pose Error in degrees for R and t:
177.05655971757076 67.30946800854643

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.60933649e-01 -2.76778676e-01 -2.93219863e-04]
 [ 2.76778828e-01  9.60933270e-01  8.54865568e-04]
 [ 4.51561617e-05 -9.02626140e-04  9.99999592e-01]]

 t_estimated:
[[9.33955201e-01]
 [3.57389162e-01]
 [8.17824169e-04]]

 R_gt:
[[ 0.93562166 -0.35149407 -0.03262598]
 [ 0.3520941   0.92257403  0.15775923]
 [-0.02535124 -0.1590899   0.98693832]]

 t_gt:
[ 0.58113189 -0.70464997  0.40712915]

Pose Error in degrees for R and t:
10.332730286025614 73.06720272516026

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99999918e-01  3.81308919e-04  1.38181997e-04]
 [-3.81309024e-04  9.99999927e-01  7.28505566e-07]
 [-1.38181709e-04 -7.81195548e-07  9.99999990e-01]]

 t_estimated:
[[ 0.90726563]
 [-0.42055489]
 [ 0.00163316]]

 R_gt:
[[ 0.99952159 -0.0152166   0.02696571]
 [ 0.01430025  0.99932554  0.03386686]
 [-0.02746305 -0.03346426  0.99906271]]

 t_gt:
[ 0.1838492  -0.14064868  0.97283987]

Pose Error in degrees for R and t:
2.622101151937488 76.84775354401727

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.85546924e-01  1.69402512e-01  2.21779090e-04]
 [-1.69402530e-01  9.85546944e-01  6.19161549e-05]
 [-2.08084952e-04 -9.85912149e-05  9.99999973e-01]]

 t_estimated:
[[-0.08084349]
 [ 0.9967259 ]
 [ 0.00134258]]

 R_gt:
[[ 0.99979473 -0.00927045  0.01805966]
 [ 0.00902865  0.99987021  0.01343816]
 [-0.01818171 -0.01327232  0.99974695]]

 t_gt:
[0.17876938 0.67633804 0.71456866]

Pose Error in degrees for R and t:
10.355845329222468 48.65201121817953

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999977e-01  1.80188043e-04  1.14488847e-04]
 [-1.80125055e-04  9.99999833e-01 -5.49946604e-04]
 [-1.14587922e-04  5.49925969e-04  9.99999842e-01]]

 t_estimated:
[[-0.67749853]
 [-0.73552077]
 [-0.00222212]]

 R_gt:
[[ 0.99762562  0.06454359  0.02405629]
 [-0.06558769  0.99681063  0.04548191]
 [-0.02104492 -0.04695067  0.99867522]]

 t_gt:
[-0.49802984  0.74466245  0.44434684]

Pose Error in degrees for R and t:
4.764545293685836 77.80218034602862

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-4.02487527e-01 -9.15422952e-01 -2.14693169e-03]
 [ 9.15425469e-01 -4.02486337e-01 -9.79074210e-04]
 [ 3.21563322e-05 -2.35942111e-03  9.99997216e-01]]

 t_estimated:
[[0.94566202]
 [0.32514888]
 [0.00124103]]

 R_gt:
[[ 0.98987036  0.14134174 -0.01346347]
 [-0.14158983  0.98972869 -0.0197214 ]
 [ 0.0105379   0.0214275   0.99971469]]

 t_gt:
[-0.65784087  0.7257914  -0.2011771 ]

Pose Error in degrees for R and t:
121.87228596313567 67.2721431816621

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.51480919e-02  9.95460358e-01 -2.34846568e-03]
 [-9.95462900e-01  9.51494053e-02  4.53755904e-04]
 [ 6.75151128e-04  2.29463645e-03  9.99997139e-01]]

 t_estimated:
[[-0.55631034]
 [ 0.83097085]
 [-0.00250145]]

 R_gt:
[[ 0.99127577  0.13174042 -0.00433174]
 [-0.13138973  0.98494252 -0.11235475]
 [-0.01053504  0.11194418  0.99365849]]

 t_gt:
[-0.46652964  0.71383394 -0.52229416]

Pose Error in degrees for R and t:
77.17831056099912 31.348698635025894

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.2420361   0.97007345  0.01939126]
 [-0.9701877   0.24171203  0.01763851]
 [ 0.01242355 -0.02308231  0.99965637]]

 t_estimated:
[[0.5534823 ]
 [0.83285908]
 [0.00175709]]

 R_gt:
[[ 9.83001919e-01  1.83594440e-01 -6.77194602e-04]
 [-1.81256389e-01  9.69882462e-01 -1.62706386e-01]
 [-2.92148553e-02  1.60063555e-01  9.86674067e-01]]

 t_gt:
[-0.45790723  0.72515935 -0.51426149]

Pose Error in degrees for R and t:
66.24348838659573 69.53663482979015

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99458537e-01  3.29032145e-02 -1.04554825e-04]
 [-3.29032178e-02  9.99458542e-01 -2.98442324e-05]
 [ 1.03516242e-04  3.32682630e-05  9.99999994e-01]]

 t_estimated:
[[-0.74557037]
 [-0.66642523]
 [-0.00149656]]

 R_gt:
[[ 0.99922865  0.00457943  0.03901369]
 [-0.00659651  0.9986392   0.05174592]
 [-0.03872415 -0.0519618   0.99789794]]

 t_gt:
[-0.14659801 -0.00848045  0.9891598 ]

Pose Error in degrees for R and t:
4.035867385752865 83.48459305643256

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.96840622e-01 -7.94270648e-02 -3.41083162e-04]
 [ 7.94268552e-02  9.96840523e-01 -5.89355272e-04]
 [ 3.86816276e-04  5.60402113e-04  9.99999768e-01]]

 t_estimated:
[[-0.52181009]
 [-0.85305733]
 [-0.00272417]]

 R_gt:
[[ 0.99864345 -0.02881746  0.04338362]
 [ 0.02614152  0.99779377  0.06103825]
 [-0.04504724 -0.05981967  0.99719255]]

 t_gt:
[ 0.22499443 -0.15423203  0.96207587]

Pose Error in degrees for R and t:
5.257635312709689 89.33858892216303

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.89286448e-01  1.45987089e-01  3.07307335e-04]
 [-1.45986830e-01  9.89286256e-01 -7.41110346e-04]
 [-4.12207465e-04  6.88307598e-04  9.99999678e-01]]

 t_estimated:
[[0.75918542]
 [0.65087363]
 [0.00100289]]

 R_gt:
[[ 0.99947471  0.02143586  0.02431191]
 [-0.02310373  0.99723914  0.07058174]
 [-0.02273168 -0.07110539  0.99721002]]

 t_gt:
[-0.26617411  0.50490846  0.82110827]

Pose Error in degrees for R and t:
8.320283736205893 82.68180557715462

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 6.34178628e-01 -7.73185659e-01 -1.18526378e-03]
 [ 7.73186539e-01  6.34178272e-01  7.03776945e-04]
 [ 2.07518297e-04 -1.36275030e-03  9.99999050e-01]]

 t_estimated:
[[ 8.98912767e-01]
 [-4.38127103e-01]
 [ 6.92874515e-04]]

 R_gt:
[[ 0.99682081 -0.07603001  0.02384056]
 [ 0.07555065  0.996934    0.02034071]
 [-0.0253142  -0.01847375  0.99950876]]

 t_gt:
[ 0.91942939 -0.20676572  0.3345109 ]

Pose Error in degrees for R and t:
46.3259345562318 23.464313761669356

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-1.22604125e-01 -9.92455357e-01  7.69962759e-04]
 [-9.92455540e-01  1.22604449e-01  3.88494018e-04]
 [-4.79963829e-04 -7.16522837e-04 -9.99999628e-01]]

 t_estimated:
[[0.70393955]
 [0.7102569 ]
 [0.00206199]]

 R_gt:
[[ 0.99026266 -0.13174051 -0.04499794]
 [ 0.12913893  0.9900144  -0.05651466]
 [ 0.05199312  0.05015446  0.99738715]]

 t_gt:
[ 0.94136288 -0.07204537 -0.32961401]

Pose Error in degrees for R and t:
175.9285054191687 52.35174821632071

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.31676472  0.94848098 -0.00662843]
 [ 0.94849179  0.31678853  0.00289091]
 [ 0.00484178 -0.00537128 -0.99997385]]

 t_estimated:
[[0.99631578]
 [0.08575311]
 [0.00112833]]

 R_gt:
[[ 0.99412926 -0.0647458  -0.08668728]
 [ 0.0559469   0.99337946 -0.10033341]
 [ 0.09260904  0.09489475  0.99117065]]

 t_gt:
[ 0.67908695 -0.01293451 -0.73394387]

Pose Error in degrees for R and t:
178.69386871615524 47.573198835476845

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99999161e-01 -1.21124675e-03  4.59574536e-04]
 [ 1.21147404e-03  9.99999144e-01 -4.94607448e-04]
 [-4.58975051e-04  4.95163796e-04  9.99999772e-01]]

 t_estimated:
[[0.9999958 ]
 [0.00257735]
 [0.00132492]]

 R_gt:
[[ 0.99971842 -0.01665949  0.01692438]
 [ 0.01818022  0.99539508 -0.09411593]
 [-0.01527861  0.0943978   0.9954167 ]]

 t_gt:
[ 0.24437807  0.16989459 -0.95468067]

Pose Error in degrees for R and t:
5.533920873649314 75.9038377759435

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.85248097 -0.52274618 -0.00355345]
 [-0.5227475  -0.85240012 -0.01221043]
 [ 0.00335399  0.01226672 -0.99991914]]

 t_estimated:
[[ 0.29128935]
 [ 0.95661665]
 [-0.00592514]]

 R_gt:
[[ 0.99892794  0.04622368  0.00243059]
 [-0.04536151  0.98802219 -0.14749323]
 [-0.00921968  0.14722475  0.98905966]]

 t_gt:
[-0.07830944  0.43267806 -0.89814104]

Pose Error in degrees for R and t:
171.20550115753005 66.64556332845727

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.94933355  0.31426722  0.00138715]
 [-0.31426459  0.94933368 -0.0018262 ]
 [-0.00189079  0.00129774  0.99999737]]

 t_estimated:
[[-9.86351300e-01]
 [-1.64653288e-01]
 [ 6.39122120e-04]]

 R_gt:
[[ 0.98864372  0.1475096  -0.02872222]
 [-0.15025776  0.97354129 -0.17216359]
 [ 0.00256628  0.17452444  0.9846493 ]]

 t_gt:
[-0.30173829  0.6619697  -0.68611233]

Pose Error in degrees for R and t:
13.89329025586143 79.15306260042979

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99608136e-01  2.79921271e-02  1.23929167e-04]
 [-2.79921332e-02  9.99608142e-01  4.73195475e-05]
 [-1.22556029e-04 -5.07700464e-05  9.99999991e-01]]

 t_estimated:
[[0.80971777]
 [0.58681831]
 [0.00118984]]

 R_gt:
[[ 0.99678679 -0.08008487 -0.00182674]
 [ 0.08007     0.996763   -0.00725698]
 [ 0.00240189  0.00708838  0.99997152]]

 t_gt:
[ 0.57166019 -0.81908297 -0.04803876]

Pose Error in degrees for R and t:
6.212220661543554 88.9785552796963

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-7.62645710e-02  9.97087555e-01  3.49539300e-04]
 [-9.97086114e-01 -7.62638428e-02 -1.76293592e-03]
 [-1.73114425e-03 -4.82970334e-04  9.99998385e-01]]

 t_estimated:
[[0.39555596]
 [0.91844128]
 [0.00104368]]

 R_gt:
[[ 0.98278365 -0.18008701  0.04130613]
 [ 0.17921065  0.98351733  0.02404668]
 [-0.0449562  -0.01622973  0.998857  ]]

 t_gt:
[ 0.55580153 -0.8001027   0.22565532]

Pose Error in degrees for R and t:
104.75273609899217 59.01850356220881

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-1.20463905e-01 -9.92715935e-01 -1.87617387e-03]
 [-9.92717528e-01  1.20462529e-01  8.30337840e-04]
 [-5.98280955e-04  1.96253642e-03 -9.99997895e-01]]

 t_estimated:
[[7.69271908e-01]
 [6.38921181e-01]
 [6.75392369e-04]]

 R_gt:
[[ 0.9563871  -0.29147374  0.0191576 ]
 [ 0.29013719  0.95550173  0.05325789]
 [-0.03382935 -0.04537654  0.99839683]]

 t_gt:
[ 0.65816869 -0.72576486  0.20019826]

Pose Error in degrees for R and t:
176.98787955694996 87.55046893307893

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999816e-01 -5.78102089e-04  1.84660717e-04]
 [ 5.78108679e-04  9.99999832e-01 -3.56351610e-05]
 [-1.84640085e-04  3.57419084e-05  9.99999982e-01]]

 t_estimated:
[[0.38329559]
 [0.92362419]
 [0.00168853]]

 R_gt:
[[ 9.91921956e-01 -1.26772026e-01 -4.50674434e-03]
 [ 1.26849056e-01  9.91511714e-01  2.85333690e-02]
 [ 8.51577150e-04 -2.88743158e-02  9.99582552e-01]]

 t_gt:
[ 0.48004241 -0.85827396  0.18145273]

Pose Error in degrees for R and t:
7.440568958319975 52.52479396338322

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.99999768 -0.00130566  0.00171195]
 [ 0.00130854  0.99999773 -0.00168263]
 [-0.00170974  0.00168487  0.99999712]]

 t_estimated:
[[0.41880622]
 [0.90807509]
 [0.00099243]]

 R_gt:
[[ 0.95594752 -0.26632584 -0.12343308]
 [ 0.28266496  0.94858763  0.14241677]
 [ 0.07915806 -0.1710332   0.98207975]]

 t_gt:
[ 0.58302572 -0.77596326  0.24075305]

Pose Error in degrees for R and t:
19.399523034936227 62.598748458198585

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.99954752  0.02993036  0.00298905]
 [-0.02990472  0.99951842 -0.00828489]
 [-0.00323558  0.00819176  0.99996121]]

 t_estimated:
[[0.04968917]
 [0.99875237]
 [0.00496892]]

 R_gt:
[[ 0.89657919 -0.39391132 -0.20243354]
 [ 0.42501866  0.89378406  0.14321056]
 [ 0.12451919 -0.21443693  0.9687679 ]]

 t_gt:
[ 0.67092268 -0.72006129  0.17712847]

Pose Error in degrees for R and t:
30.128345719569204 46.76870332362038

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.31589658e-01  3.63511611e-01  1.29867512e-04]
 [-3.63511523e-01  9.31589593e-01 -4.50548100e-04]
 [-2.84762689e-04  3.72517614e-04  9.99999890e-01]]

 t_estimated:
[[-5.71667111e-01]
 [ 8.20485645e-01]
 [-1.39295207e-04]]

 R_gt:
[[ 0.99699383  0.01923799  0.07506551]
 [-0.01618535  0.99902573 -0.04106208]
 [-0.07578288  0.03972317  0.99633317]]

 t_gt:
[-0.48640804  0.81811304  0.30675441]

Pose Error in degrees for R and t:
20.872948663464683 18.328211293487747

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.73015275e-01 -2.30740657e-01 -1.52689658e-04]
 [ 2.30740680e-01  9.73015269e-01  1.58757187e-04]
 [ 1.11937631e-04 -1.89704884e-04  9.99999976e-01]]

 t_estimated:
[[ 2.09839001e-01]
 [-9.77735804e-01]
 [-5.38964812e-04]]

 R_gt:
[[ 0.9924881   0.05572336  0.10891982]
 [-0.04695256  0.99556727 -0.08149747]
 [-0.11297879  0.07577108  0.99070436]]

 t_gt:
[-0.58994225  0.79213177  0.15651004]

Pose Error in degrees for R and t:
18.069267053029943 26.054997966381688

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.93044594e-01  1.17736886e-01 -6.78395084e-04]
 [-1.17736538e-01  9.93044724e-01  5.31895943e-04]
 [ 7.36300431e-04 -4.48324503e-04  9.99999628e-01]]

 t_estimated:
[[-0.99334955]
 [-0.11512818]
 [-0.001476  ]]

 R_gt:
[[ 0.98129734  0.10380377  0.16211621]
 [-0.08498465  0.9892506  -0.11900737]
 [-0.17272684  0.103004    0.97956872]]

 t_gt:
[-0.65934664  0.71256497  0.23981905]

Pose Error in degrees for R and t:
11.721801093580714 55.07026684527395

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-4.52881663e-01  8.91567787e-01  2.25382838e-03]
 [ 8.91570557e-01  4.52881240e-01  7.23692587e-04]
 [-3.75495594e-04  2.33719413e-03 -9.99997198e-01]]

 t_estimated:
[[0.63796007]
 [0.77006862]
 [0.00112913]]

 R_gt:
[[ 0.97652834 -0.21477891 -0.01622963]
 [ 0.21520987  0.97602318  0.03262238]
 [ 0.00883392 -0.03534922  0.99933578]]

 t_gt:
[ 0.60675597 -0.79087382  0.07978585]

Pose Error in degrees for R and t:
178.45854732674968 77.18222916919065

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.22791131e-01  3.85300553e-01 -1.11813591e-04]
 [-3.85300252e-01  9.22790703e-01  1.01682304e-03]
 [ 4.94963021e-04 -8.95233474e-04  9.99999477e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 9.19973155e-01 -3.87697096e-01 -5.78048982e-02]
 [ 3.86985032e-01  9.21786788e-01 -2.35116669e-02]
 [ 6.23983060e-02 -7.39311978e-04  9.98051548e-01]]

 t_gt:
[ 0.71333939 -0.69147442 -0.11406156]

Pose Error in degrees for R and t:
45.60751929401392 68.47947040973328

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 8.46516188e-01 -5.32361246e-01  1.35897669e-03]
 [-5.32362100e-01 -8.46516673e-01  3.41623678e-04]
 [ 9.68529220e-04 -1.01265766e-03 -9.99999018e-01]]

 t_estimated:
[[0.5449537 ]
 [0.83846557]
 [0.00097837]]

 R_gt:
[[ 0.88706097 -0.45600409 -0.07199146]
 [ 0.4537938   0.88994385 -0.0455117 ]
 [ 0.08482162  0.00770248  0.9963663 ]]

 t_gt:
[ 0.72856452 -0.66867194 -0.14856504]

Pose Error in degrees for R and t:
177.23340821080296 80.57422191210024

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 2.73981646e-01 -9.61734881e-01  2.78256491e-04]
 [-9.61734887e-01 -2.73981548e-01  3.43586283e-04]
 [-2.54201769e-04 -3.61745310e-04 -9.99999902e-01]]

 t_estimated:
[[0.62469432]
 [0.78086789]
 [0.00153111]]

 R_gt:
[[ 0.98948349  0.14350172 -0.0181412 ]
 [-0.14434697  0.98768975 -0.06027061]
 [ 0.00926845  0.06225548  0.99801762]]

 t_gt:
[-0.33232629  0.9063608  -0.26090101]

Pose Error in degrees for R and t:
176.74008841475785 60.016787626095926

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-6.76088562e-01  7.36819740e-01  9.62390150e-04]
 [-7.36820054e-01 -6.76088905e-01  4.19783393e-05]
 [ 6.81591771e-04 -6.80727287e-04  9.99999536e-01]]

 t_estimated:
[[0.75020202]
 [0.66120823]
 [0.00078065]]

 R_gt:
[[ 0.97663199  0.21487595 -0.00424941]
 [-0.21478927  0.97516843 -0.0539567 ]
 [-0.00745091  0.05360858  0.99853478]]

 t_gt:
[-0.35368532  0.9313586  -0.08647458]

Pose Error in degrees for R and t:
120.14956702162175 69.48705354893191

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.53501958e-01 -3.01386820e-01 -1.22282584e-05]
 [ 3.01386794e-01  9.53501892e-01 -3.76566122e-04]
 [ 1.25151733e-04  3.55371099e-04  9.99999929e-01]]

 t_estimated:
[[-0.57691821]
 [-0.81680104]
 [-0.00119941]]

 R_gt:
[[ 0.97296544  0.22662922  0.04445997]
 [-0.22947654  0.97038362  0.07546443]
 [-0.02604077 -0.08362697  0.99615717]]

 t_gt:
[-0.386347    0.86696085  0.31482515]

Pose Error in degrees for R and t:
31.15077617839629 60.946799840388515

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 7.86469399e-01 -6.17629010e-01 -5.38582380e-04]
 [ 6.17629018e-01  7.86469559e-01 -1.71279941e-04]
 [ 5.29366107e-04 -1.97937675e-04  9.99999840e-01]]

 t_estimated:
[[-0.00906696]
 [-0.99995806]
 [-0.00129528]]

 R_gt:
[[ 0.9936371   0.09030931 -0.06730317]
 [-0.08955733  0.99588177  0.01411809]
 [ 0.06830135 -0.00800019  0.99763255]]

 t_gt:
[-0.18448024  0.79611063 -0.57634617]

Pose Error in degrees for R and t:
43.47667939951846 37.471313765697445

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 5.21908021e-02  9.98636780e-01  8.37743946e-04]
 [-9.98636084e-01  5.21919441e-02 -1.40465580e-03]
 [-1.44646443e-03 -7.63291221e-04  9.99998663e-01]]

 t_estimated:
[[0.31206786]
 [0.95005921]
 [0.00107461]]

 R_gt:
[[ 0.98810024  0.08631351 -0.12731442]
 [-0.08577433  0.99626773  0.00972148]
 [ 0.12767804  0.00131472  0.99181449]]

 t_gt:
[ 0.13160355  0.48354469 -0.86536988]

Pose Error in degrees for R and t:
82.33021199387838 60.03073369597921

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-9.07070300e-01 -4.20978185e-01 -9.16190403e-04]
 [-4.20976499e-01  9.07054599e-01  5.54447472e-03]
 [-1.50306819e-03  5.41492298e-03 -9.99984210e-01]]

 t_estimated:
[[9.87088819e-01]
 [1.60172021e-01]
 [7.66373307e-04]]

 R_gt:
[[ 0.99073011  0.03471132 -0.13133838]
 [-0.02982557  0.99879524  0.03898634]
 [ 0.13253368 -0.03470826  0.99057098]]

 t_gt:
[ 0.48713497 -0.0970423  -0.86791838]

Pose Error in degrees for R and t:
173.0638965307994 62.31327657994082

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.87869195e-01 -1.55287693e-01  4.31799257e-04]
 [ 1.55287919e-01  9.87869100e-01 -5.50971536e-04]
 [-3.41002044e-04  6.11341016e-04  9.99999755e-01]]

 t_estimated:
[[-0.79680655]
 [-0.60423165]
 [-0.00185166]]

 R_gt:
[[ 0.99451744  0.07685933 -0.07091319]
 [-0.07144593  0.99454752  0.07596565]
 [ 0.07636503 -0.07048297  0.99458514]]

 t_gt:
[-0.62831998  0.22676351  0.74417223]

Pose Error in degrees for R and t:
14.493829814387405 68.76132378223696

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.36836239  0.92968092  0.00159058]
 [-0.92968085  0.36836429 -0.0011243 ]
 [-0.00163115 -0.00106458  0.9999981 ]]

 t_estimated:
[[0.02530832]
 [0.9996787 ]
 [0.00140602]]

 R_gt:
[[ 0.98440406  0.13170113 -0.11663502]
 [-0.10924191  0.97729611  0.18154076]
 [ 0.1378961  -0.16596883  0.97644191]]

 t_gt:
[-0.21908908  0.27292081  0.93675728]

Pose Error in degrees for R and t:
62.528303707721015 74.41870062959214

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 3.74382665e-01  9.27268249e-01  3.34872602e-03]
 [-9.27274217e-01  3.74381682e-01  9.39432540e-04]
 [-3.82595714e-04 -3.45689456e-03  9.99993952e-01]]

 t_estimated:
[[0.2254383 ]
 [0.97425651]
 [0.00135146]]

 R_gt:
[[ 0.9684091   0.2144735  -0.127222  ]
 [-0.18642665  0.96150704  0.20186128]
 [ 0.1656187  -0.17176666  0.97111565]]

 t_gt:
[-0.41371343  0.75761413  0.50483861]

Pose Error in degrees for R and t:
57.802690386924084 49.79488157204017

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-2.70501391e-01 -9.62719140e-01  9.24960827e-04]
 [ 9.62705928e-01 -2.70502546e-01 -5.06648122e-03]
 [ 5.12780270e-03 -4.80024944e-04  9.99986738e-01]]

 t_estimated:
[[ 0.84591111]
 [-0.53330271]
 [-0.00475538]]

 R_gt:
[[ 0.99705231  0.00865395 -0.07623944]
 [-0.00737907  0.99982795  0.0169935 ]
 [ 0.07637364 -0.01638049  0.99694463]]

 t_gt:
[ 0.57941134  0.25236641 -0.7749798 ]

Pose Error in degrees for R and t:
106.21308895006254 68.94719965253145

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.77157867e-01  2.12514674e-01  1.31709301e-04]
 [-2.12514683e-01  9.77157871e-01  6.43476201e-05]
 [-1.15025967e-04 -9.08679436e-05  9.99999989e-01]]

 t_estimated:
[[4.63780802e-01]
 [8.85949637e-01]
 [7.79971656e-04]]

 R_gt:
[[ 0.99109008  0.01448657 -0.13240702]
 [-0.01420821  0.99989355  0.00304266]
 [ 0.1324376  -0.00113408  0.99118964]]

 t_gt:
[ 0.57407292  0.25695721 -0.77744021]

Pose Error in degrees for R and t:
13.740777510721882 60.44302767004838

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.98096778 -0.19407379 -0.00612947]
 [ 0.19403257 -0.980972    0.0067295 ]
 [-0.00731885  0.00541211  0.99995857]]

 t_estimated:
[[0.81984225]
 [0.57258824]
 [0.00118303]]

 R_gt:
[[ 0.98258877  0.00302459 -0.18576994]
 [-0.00202791  0.99998185  0.00555513]
 [ 0.18578392 -0.0050809   0.98257657]]

 t_gt:
[ 0.66980649  0.1636391  -0.72427999]

Pose Error in degrees for R and t:
169.03662604389123 50.06062948712569

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[-0.41617127 -0.9092549   0.00755002]
 [-0.9092462   0.41621652  0.00592983]
 [-0.00853417 -0.004397   -0.99995392]]

 t_estimated:
[[0.82773723]
 [0.56108699]
 [0.00569874]]

 R_gt:
[[ 0.98521552 -0.17031447 -0.01853249]
 [ 0.17097758  0.98431355  0.04350445]
 [ 0.01083289 -0.04602945  0.99888188]]

 t_gt:
[ 0.53024837 -0.83114317  0.1674446 ]

Pose Error in degrees for R and t:
178.7712866159068 88.48245391301312

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.93705581e-01  1.12022648e-01 -3.81498410e-04]
 [-1.12022543e-01  9.93705624e-01  2.86163952e-04]
 [ 4.11153959e-04 -2.41626294e-04  9.99999886e-01]]

 t_estimated:
[[-0.83567217]
 [-0.54922716]
 [-0.00124541]]

 R_gt:
[[ 0.96793473 -0.24594014 -0.05114296]
 [ 0.24838508  0.96743907  0.04864394]
 [ 0.0375154  -0.05978725  0.99750581]]

 t_gt:
[ 0.55639072 -0.82418383  0.10559534]

Pose Error in degrees for R and t:
21.14149088701739 89.28793261575944

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.33326289e-01  3.59028747e-01 -6.29656287e-04]
 [-3.59028523e-01  9.33326483e-01  4.42519213e-04]
 [ 7.46552007e-04 -1.86950248e-04  9.99999704e-01]]

 t_estimated:
[[-0.98704322]
 [-0.16044824]
 [-0.00143257]]

 R_gt:
[[ 0.93472521 -0.34981284 -0.06261002]
 [ 0.35376538  0.93267975  0.07042568]
 [ 0.03375962 -0.08797793  0.99554998]]

 t_gt:
[ 0.63639901 -0.75510668  0.15751253]

Pose Error in degrees for R and t:
42.01430340787205 59.52093982892186

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.91078726e-01  1.33277267e-01  3.58705463e-04]
 [-1.33277308e-01  9.91078781e-01  9.29483234e-05]
 [-3.43117475e-04 -1.39926404e-04  9.99999931e-01]]

 t_estimated:
[[0.70146965]
 [0.71269806]
 [0.00134666]]

 R_gt:
[[ 0.9887988  -0.14780167  0.02076886]
 [ 0.1484952   0.98821529 -0.0371455 ]
 [-0.01503401  0.03981312  0.99909337]]

 t_gt:
[ 0.72363378 -0.6871397  -0.06475488]

Pose Error in degrees for R and t:
16.36384347399413 88.98026447031692

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.98935407e-01 -4.61306867e-02  1.11264501e-04]
 [ 4.61306871e-02  9.98935413e-01 -1.52731010e-06]
 [-1.11075595e-04  6.65839203e-06  9.99999994e-01]]

 t_estimated:
[[9.79624608e-01]
 [2.00837110e-01]
 [2.87234912e-04]]

 R_gt:
[[ 0.96170504 -0.27293194  0.02511553]
 [ 0.27380255  0.96083274 -0.04280255]
 [-0.01244938  0.04803954  0.99876788]]

 t_gt:
[ 0.7721546  -0.63341253 -0.05065413]

Pose Error in degrees for R and t:
13.531270531870403 51.00929109010877

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-9.10732063e-01 -4.12997103e-01  7.09025732e-04]
 [-4.12991366e-01  9.10726244e-01  3.97989030e-03]
 [-2.28941151e-03  3.33179220e-03 -9.99991829e-01]]

 t_estimated:
[[ 9.99970996e-01]
 [-7.58276674e-03]
 [ 7.13607770e-04]]

 R_gt:
[[ 0.9174129  -0.39457694  0.05159606]
 [ 0.39639547  0.91754612 -0.03130617]
 [-0.03498912  0.04917328  0.99817703]]

 t_gt:
[ 0.80929757 -0.58739645  0.00168665]

Pose Error in degrees for R and t:
177.8913753848648 35.53807960239028

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-9.23356720e-01 -3.83942482e-01  7.33256970e-04]
 [-3.83935611e-01  9.23348823e-01  4.51641420e-03]
 [-2.41109524e-03  3.88873794e-03 -9.99989532e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 9.80381381e-01 -1.95007629e-01  2.87407010e-02]
 [ 1.95060890e-01  9.80789838e-01  9.69029307e-04]
 [-2.83772232e-02  4.65643251e-03  9.99586759e-01]]

 t_gt:
[ 0.84755269 -0.52676434  0.06460472]

Pose Error in degrees for R and t:
178.2945040920218 41.21818039448633

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.86542645e-01 -1.63502677e-01 -6.95906326e-04]
 [ 1.63503209e-01  9.86542485e-01  7.91181686e-04]
 [ 5.57180833e-04 -8.94317390e-04  9.99999445e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075942e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.917935   -0.39644625  0.01506169]
 [ 0.39636701  0.91805702  0.00804843]
 [-0.01701748 -0.00141685  0.99985479]]

 t_gt:
[ 0.89736486 -0.44075773  0.02165478]

Pose Error in degrees for R and t:
13.980799423386111 26.361493634575396

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-7.07797433e-01 -7.06414262e-01 -1.29760371e-03]
 [ 7.06415452e-01 -7.07796111e-01 -1.36917553e-03]
 [ 4.87662616e-05 -1.88574624e-03  9.99998221e-01]]

 t_estimated:
[[7.87468788e-01]
 [6.16354196e-01]
 [6.43359350e-04]]

 R_gt:
[[ 0.69286667 -0.72055441  0.02714268]
 [ 0.71992603  0.69339587  0.03013444]
 [-0.04053399 -0.00133759  0.99917814]]

 t_gt:
[ 0.96454313 -0.26249     0.02748728]

Pose Error in degrees for R and t:
88.98337422226619 53.28904197330915

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.86847457e-01 -1.61654107e-01 -2.13531143e-04]
 [ 1.61654099e-01  9.86847480e-01 -5.48018482e-05]
 [ 2.19581614e-04  1.95628801e-05  9.99999976e-01]]

 t_estimated:
[[ 0.79314279]
 [-0.6090346 ]
 [-0.00116993]]

 R_gt:
[[ 9.95977265e-01 -8.96068300e-02  7.48673130e-04]
 [ 8.95885870e-02  9.95518134e-01 -3.02663578e-02]
 [ 1.96641395e-03  3.02125103e-02  9.99540970e-01]]

 t_gt:
[ 0.52136348 -0.81887407 -0.24005287]

Pose Error in degrees for R and t:
4.507782017569865 24.14416250650107

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-0.97321526 -0.22986233  0.00392067]
 [-0.22983945  0.97321281  0.00553648]
 [-0.00508827  0.00448706 -0.99997699]]

 t_estimated:
[[0.97821756]
 [0.20757453]
 [0.00179218]]

 R_gt:
[[ 0.97630426 -0.21498448 -0.02471603]
 [ 0.21439953  0.97644268 -0.02432969]
 [ 0.02936457  0.01845477  0.99939769]]

 t_gt:
[ 0.63843854 -0.75642433 -0.1421916 ]

Pose Error in degrees for R and t:
178.59793558925148 62.14325174952973

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-8.67770301e-01  4.96866775e-01 -9.90521505e-03]
 [-4.96899406e-01 -8.67807584e-01  9.88560542e-04]
 [-8.10463786e-03  5.77973896e-03  9.99950454e-01]]

 t_estimated:
[[0.72226602]
 [0.69161491]
 [0.00078593]]

 R_gt:
[[ 0.91772526 -0.39679707 -0.01824754]
 [ 0.39682947  0.91789026 -0.00199653]
 [ 0.01754145 -0.00540853  0.99983082]]

 t_gt:
[ 0.74293094 -0.66932251 -0.00780969]

Pose Error in degrees for R and t:
173.5856218134574 85.7749507399405

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99993124e-01  3.70828974e-03 -2.07357396e-05]
 [-3.70828942e-03  9.99993124e-01  1.58317740e-05]
 [ 2.07943058e-05 -1.57547710e-05  1.00000000e+00]]

 t_estimated:
[[5.33548746e-03]
 [9.99985758e-01]
 [1.30796469e-04]]

 R_gt:
[[ 0.99833361  0.0097354   0.05687862]
 [-0.00471615  0.99613413 -0.08772037]
 [-0.05751251  0.08730608  0.99452079]]

 t_gt:
[-0.47352487  0.58720347 -0.65648022]

Pose Error in degrees for R and t:
6.005620726677159 54.226480982448486

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 8.88103108e-01 -4.59630049e-01  3.61773375e-03]
 [-4.59643855e-01 -8.88063988e-01  8.35936145e-03]
 [-6.29434649e-04 -9.08684398e-03 -9.99958516e-01]]

 t_estimated:
[[0.27350247]
 [0.96186335]
 [0.00391168]]

 R_gt:
[[ 0.99290108  0.05604744  0.10491237]
 [-0.03964738  0.98753268 -0.15234105]
 [-0.11214174  0.14709949  0.98274452]]

 t_gt:
[-0.68103807  0.66750025 -0.3010491 ]

Pose Error in degrees for R and t:
173.6151856974967 62.96074648856092

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.72506095e-01  2.32875792e-01  8.72299508e-04]
 [-2.32876976e-01  9.72504758e-01  1.67601745e-03]
 [-4.58011530e-04 -1.83307566e-03  9.99998215e-01]]

 t_estimated:
[[0.41341014]
 [0.91054344]
 [0.00164366]]

 R_gt:
[[ 0.98354737  0.12715007  0.12832206]
 [-0.10730173  0.98265553 -0.15124377]
 [-0.14532727  0.13498573  0.98013205]]

 t_gt:
[-0.73359683  0.67826403  0.04235084]

Pose Error in degrees for R and t:
13.27614608611917 71.67648419611469

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.96284613  0.26805833  0.03274231]
 [ 0.2680909   0.96338736 -0.00347318]
 [-0.03247454  0.00543378 -0.99945779]]

 t_estimated:
[[ 0.99028634]
 [-0.13804464]
 [ 0.01663243]]

 R_gt:
[[ 0.99542329 -0.08823758 -0.03669824]
 [ 0.08824768  0.99609669 -0.00135829]
 [ 0.03667486 -0.00188665  0.99932579]]

 t_gt:
[ 0.56190944 -0.79492167 -0.22881721]

Pose Error in degrees for R and t:
179.80986604078302 48.51835059873207

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-3.49801551e-01 -9.36820833e-01 -2.36669420e-03]
 [ 9.36823683e-01 -3.49801764e-01 -3.36819284e-04]
 [-5.12334484e-04 -2.33499508e-03  9.99997143e-01]]

 t_estimated:
[[9.94990273e-01]
 [9.99683676e-02]
 [8.26253414e-04]]

 R_gt:
[[ 0.96547233 -0.25909606 -0.02705289]
 [ 0.25973297  0.96539541  0.02343606]
 [ 0.02004521 -0.0296544   0.99935951]]

 t_gt:
[ 0.67281087 -0.73858514  0.04263249]

Pose Error in degrees for R and t:
95.44839598508779 53.44170584649566

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 8.30777336e-01 -5.56603911e-01 -1.05046079e-03]
 [ 5.56604367e-01  8.30777676e-01  1.80446736e-04]
 [ 7.72262018e-04 -7.34602124e-04  9.99999432e-01]]

 t_estimated:
[[ 9.89113782e-01]
 [-1.47152607e-01]
 [-1.92506280e-04]]

 R_gt:
[[ 0.91569277 -0.39962252 -0.04252937]
 [ 0.40027501  0.91636153  0.0077578 ]
 [ 0.03587138 -0.02412766  0.99906511]]

 t_gt:
[ 0.75579968 -0.65479833  0.00244941]

Pose Error in degrees for R and t:
10.5153938869473 32.44287905169938

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.91896992  0.39426313 -0.00713218]
 [ 0.39427844 -0.91841928  0.03241218]
 [ 0.0062286  -0.03259789 -0.99944914]]

 t_estimated:
[[-0.61660429]
 [ 0.78710272]
 [ 0.01638455]]

 R_gt:
[[ 0.99675332  0.04496182  0.06678818]
 [-0.04129773  0.99761683 -0.05526424]
 [-0.0691135   0.0523275   0.9962349 ]]

 t_gt:
[-0.7846051   0.59197456  0.18428499]

Pose Error in degrees for R and t:
178.09115363102347 17.682351670569684

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999951e-01  3.12485065e-04  3.63774439e-05]
 [-3.12483324e-04  9.99999950e-01 -4.78327161e-05]
 [-3.63923891e-05  4.78213464e-05  9.99999998e-01]]

 t_estimated:
[[-9.99980803e-01]
 [-6.15845233e-03]
 [-6.82913803e-04]]

 R_gt:
[[ 0.99174298  0.10970145  0.06641037]
 [-0.10968844  0.99395812 -0.00385591]
 [-0.06643208 -0.0034601   0.99778466]]

 t_gt:
[-0.73359651  0.5585407   0.38712846]

Pose Error in degrees for R and t:
7.351631900391707 43.12380672090186

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.97756828 -0.21040634 -0.0094571 ]
 [ 0.21047992  0.97756866  0.00759737]
 [ 0.00764643 -0.00941748  0.99992642]]

 t_estimated:
[[-0.37121018]
 [-0.92854828]
 [-0.00104566]]

 R_gt:
[[ 0.99410674  0.06780118 -0.08458378]
 [-0.05545845  0.98851441  0.14058305]
 [ 0.09314471 -0.13506312  0.98644881]]

 t_gt:
[-0.6839645   0.03619885  0.72861663]

Pose Error in degrees for R and t:
17.969884562541836 77.31913910841928

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999822e-01  5.96679341e-04  6.17003755e-07]
 [-5.96679206e-04  9.99999802e-01 -1.99017721e-04]
 [-7.35753395e-07  1.99017317e-04  9.99999980e-01]]

 t_estimated:
[[2.06474806e-01]
 [9.78451852e-01]
 [3.56586175e-04]]

 R_gt:
[[ 9.94730714e-01 -9.76907583e-02  3.10984485e-02]
 [ 9.76237832e-02  9.95216154e-01  3.65556958e-03]
 [-3.13074156e-02 -5.98958791e-04  9.99509752e-01]]

 t_gt:
[ 0.17911786 -0.94629156  0.26916365]

Pose Error in degrees for R and t:
5.918574464909962 27.274480391348966

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999090e-01 -1.32991398e-03 -2.25294088e-04]
 [ 1.32988113e-03  9.99999105e-01 -1.45893706e-04]
 [ 2.25487912e-04  1.45593958e-04  9.99999964e-01]]

 t_estimated:
[[-0.99935464]
 [-0.03579302]
 [-0.00302861]]

 R_gt:
[[ 0.97100768 -0.23896312  0.00646046]
 [ 0.2384642   0.9701642   0.04377195]
 [-0.01672743 -0.04096227  0.99902114]]

 t_gt:
[ 0.43716377 -0.87517504  0.20725948]

Pose Error in degrees for R and t:
13.974264275670782 66.03464404625316

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 1.00000000e+00  1.52655666e-16  1.35525272e-19]
 [-1.66533454e-16  1.00000000e+00  0.00000000e+00]
 [ 1.09016528e-16  1.46779290e-15  1.00000000e+00]]

 t_estimated:
[[-0.0740672 ]
 [-0.99725274]
 [-0.00100806]]

 R_gt:
[[ 0.92760214 -0.37283276 -0.02348631]
 [ 0.37354793  0.92640298  0.04730828]
 [ 0.00411984 -0.05265667  0.9986047 ]]

 t_gt:
[ 0.56237607 -0.81472996  0.14123826]

Pose Error in degrees for R and t:
22.134045834660693 39.58359772362931

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999814e-01 -5.99024032e-04 -1.16155815e-04]
 [ 5.99097445e-04  9.99999620e-01  6.33020755e-04]
 [ 1.15776576e-04 -6.33090225e-04  9.99999793e-01]]

 t_estimated:
[[0.60550052]
 [0.7958435 ]
 [0.00149876]]

 R_gt:
[[ 0.99669891  0.02433788 -0.07745698]
 [-0.02596248  0.99946174 -0.02004368]
 [ 0.07692728  0.02198855  0.99679409]]

 t_gt:
[ 0.31769262  0.39212813 -0.86331161]

Pose Error in degrees for R and t:
4.824105676130793 59.79192389451433

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99998850e-01 -1.51515685e-03  5.98579517e-05]
 [ 1.51507936e-03  9.99998041e-01  1.27395902e-03]
 [-6.17880821e-05 -1.27386687e-03  9.99999187e-01]]

 t_estimated:
[[0.63705523]
 [0.77081646]
 [0.00161836]]

 R_gt:
[[ 0.99144185  0.00681368 -0.13037391]
 [-0.01037976  0.99958982 -0.02669257]
 [ 0.13013803  0.02781783  0.9911056 ]]

 t_gt:
[ 0.54627685  0.21741214 -0.80889651]

Pose Error in degrees for R and t:
7.688095787671845 59.05037169043664

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 7.35936212e-01 -6.77050568e-01 -6.49198065e-04]
 [ 6.77050879e-01  7.35935856e-01  7.23185227e-04]
 [-1.18648347e-05 -9.71758316e-04  9.99999528e-01]]

 t_estimated:
[[9.99993909e-01]
 [3.39228094e-03]
 [8.21050924e-04]]

 R_gt:
[[ 0.98169468  0.01562098 -0.18982135]
 [-0.0173246   0.99982269 -0.00732016]
 [ 0.18967309  0.01047527  0.98179132]]

 t_gt:
[ 0.58650895  0.20309522 -0.78406605]

Pose Error in degrees for R and t:
44.85205306707824 54.087392915723555

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 0.94877761 -0.31591719  0.00416911]
 [-0.31591968 -0.94845381  0.02510228]
 [-0.00397604 -0.02513358 -0.99967619]]

 t_estimated:
[[0.13587005]
 [0.99064173]
 [0.01297247]]

 R_gt:
[[ 0.99672135 -0.00335815 -0.0808407 ]
 [ 0.00632918  0.99931259  0.0365126 ]
 [ 0.08066338 -0.03690461  0.9960584 ]]

 t_gt:
[ 0.62889438 -0.77131322 -0.09781502]

Pose Error in degrees for R and t:
177.20634954945828 47.16291629185151

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.63818313e-01 -2.66559685e-01  4.41303480e-04]
 [ 2.66559862e-01  9.63818279e-01 -4.06806668e-04]
 [-3.16898103e-04  5.09721511e-04  9.99999820e-01]]

 t_estimated:
[[0.2508152 ]
 [0.96803396]
 [0.00140907]]

 R_gt:
[[ 0.98627273  0.10097389 -0.13065654]
 [-0.08166214  0.98597554  0.14554537]
 [ 0.14352029 -0.13287818  0.98068614]]

 t_gt:
[-0.27913842 -0.17244525  0.94463982]

Pose Error in degrees for R and t:
23.604580532158366 76.3721844762678

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.07817800e-01 -4.19361965e-01  1.54404934e-03]
 [ 4.19363063e-01  9.07818490e-01 -4.58634002e-04]
 [-1.20938288e-03  1.06387337e-03  9.99998703e-01]]

 t_estimated:
[[0.7254925 ]
 [0.68822957]
 [0.00082804]]

 R_gt:
[[ 0.97886926  0.11897313 -0.16631589]
 [-0.08602914  0.977444    0.19287591]
 [ 0.18551128 -0.17449227  0.96702498]]

 t_gt:
[0.10863397 0.17183926 0.97911691]

Pose Error in degrees for R and t:
34.09211874051073 78.5864748651621

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-6.53143485e-01  7.57233929e-01 -6.03673879e-04]
 [-7.57232020e-01 -6.53143323e-01 -1.86227856e-03]
 [-1.80446607e-03 -7.59213916e-04  9.99998084e-01]]

 t_estimated:
[[0.48459627]
 [0.87473733]
 [0.00102669]]

 R_gt:
[[ 0.99900158  0.03757684 -0.02413374]
 [-0.03668471  0.99866268  0.03640494]
 [ 0.02546925 -0.0354837   0.99904578]]

 t_gt:
[0.0322745  0.99936554 0.01506256]

Pose Error in degrees for R and t:
128.66590663017394 27.1471139601525

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.04039173e-01 -4.27449521e-01 -2.84100809e-04]
 [ 4.27449568e-01  9.04039186e-01  1.29750760e-04]
 [ 2.01376365e-04 -2.38738538e-04  9.99999951e-01]]

 t_estimated:
[[-0.65106677]
 [-0.75902   ]
 [-0.00083685]]

 R_gt:
[[ 0.98696793  0.11249184 -0.11506473]
 [-0.11092153  0.99362829  0.01998162]
 [ 0.11657874 -0.00695882  0.99315709]]

 t_gt:
[ 4.24710995e-04  6.61554021e-01 -7.49897391e-01]

Pose Error in degrees for R and t:
32.42136654667447 59.88205357115976

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[-0.98439867 -0.17575552 -0.00832234]
 [ 0.175723   -0.98442939  0.00449468]
 [-0.00898272  0.00296213  0.99995527]]

 t_estimated:
[[0.8689992 ]
 [0.49480382]
 [0.00309252]]

 R_gt:
[[ 0.98671102  0.07441781 -0.14443921]
 [-0.07192198  0.99715775  0.02243839]
 [ 0.14569864 -0.01175111  0.98925943]]

 t_gt:
[ 0.31480844  0.26699065 -0.91083019]

Pose Error in degrees for R and t:
174.12400214716706 66.24293769306087

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.00094928e-01 -4.35693320e-01 -6.71349851e-04]
 [ 4.35693718e-01  9.00094754e-01  6.46523596e-04]
 [ 3.22592467e-04 -8.74435523e-04  9.99999566e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99747988 -0.01123962  0.07005429]
 [ 0.00169925  0.99087299  0.13479023]
 [-0.07092969 -0.13433104  0.98839411]]

 t_gt:
[-0.04947422 -0.09847808  0.99390863]

Pose Error in degrees for R and t:
26.88246467932813 87.19087390415359

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.73071306e-01 -2.30503669e-01 -5.41161359e-04]
 [ 2.30504056e-01  9.73071022e-01  8.16069360e-04]
 [ 3.38481455e-04 -9.18833566e-04  9.99999521e-01]]

 t_estimated:
[[0.79778481]
 [0.6029384 ]
 [0.00216495]]

 R_gt:
[[ 0.99536569 -0.04930845  0.08255969]
 [ 0.02880858  0.97200363  0.23319432]
 [-0.09174616 -0.22973434  0.96891904]]

 t_gt:
[ 0.05148918 -0.17740567  0.98278995]

Pose Error in degrees for R and t:
18.04372181082184 86.34435801298235

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.340183    0.94031943  0.00865431]
 [ 0.94034915 -0.34012227 -0.00776675]
 [-0.0043597   0.01078019 -0.99993239]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99118882 -0.08880826  0.09827623]
 [ 0.05513022  0.95121937  0.30355136]
 [-0.12043968 -0.29545788  0.94773298]]

 t_gt:
[ 0.11029622 -0.20681367  0.97214343]

Pose Error in degrees for R and t:
170.03839441230656 88.0148929955301

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999491e-01 -1.00763039e-03  5.23102355e-05]
 [ 1.00763355e-03  9.99999491e-01 -6.05308226e-05]
 [-5.22492162e-05  6.05835014e-05  9.99999997e-01]]

 t_estimated:
[[-8.64092073e-01]
 [ 5.03333667e-01]
 [ 3.30619144e-04]]

 R_gt:
[[ 0.99215755 -0.12445452 -0.01159615]
 [ 0.1244004   0.99221719 -0.00526608]
 [ 0.01216079  0.00378242  0.99991869]]

 t_gt:
[ 0.31503908 -0.94245563 -0.11192749]

Pose Error in degrees for R and t:
7.128080999547506 41.70075433164817

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999884e-01 -4.80862627e-04  2.01005855e-05]
 [ 4.80865918e-04  9.99999871e-01 -1.64057976e-04]
 [-2.00216935e-05  1.64067623e-04  9.99999986e-01]]

 t_estimated:
[[-9.99999552e-01]
 [-3.28693898e-04]
 [-8.87702742e-04]]

 R_gt:
[[ 0.97976094 -0.19650191  0.03816063]
 [ 0.19623835  0.98049866  0.01057538]
 [-0.03949494 -0.00287287  0.99921593]]

 t_gt:
[ 0.19111833 -0.96671958  0.17007951]

Pose Error in degrees for R and t:
11.526686907599002 78.99168372375394

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 1.00000000e+00  2.19417092e-06 -2.84872558e-05]
 [-2.19422146e-06  1.00000000e+00 -1.77417498e-06]
 [ 2.84872519e-05  1.77423749e-06  1.00000000e+00]]

 t_estimated:
[[-7.82364299e-01]
 [-6.22820726e-01]
 [-6.67546331e-04]]

 R_gt:
[[ 0.94500896 -0.32693397  0.00845085]
 [ 0.3263875   0.94443463  0.03891381]
 [-0.02070335 -0.03401565  0.99920699]]

 t_gt:
[ 0.41189253 -0.89925934  0.14723175]

Pose Error in degrees for R and t:
19.209106003007626 76.24745350742937

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.99528532e-01  3.07036119e-02  3.70213972e-05]
 [-3.07036112e-02  9.99528533e-01 -1.80795496e-05]
 [-3.75590503e-05  1.69343351e-05  9.99999999e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075943e-03]
 [7.75189859e-04]]

 R_gt:
[[ 0.99877505 -0.04436381 -0.02195697]
 [ 0.04473337  0.99885993  0.01667171]
 [ 0.02119307 -0.01763324  0.9996198 ]]

 t_gt:
[ 0.53346202 -0.83811064 -0.11396858]

Pose Error in degrees for R and t:
4.593783389683054 57.94235830188277

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.99966465e-01 -8.18941083e-03  5.72692912e-05]
 [ 8.18941823e-03  9.99966458e-01 -1.30187623e-04]
 [-5.62012103e-05  1.30652259e-04  9.99999990e-01]]

 t_estimated:
[[ 0.67082464]
 [-0.74161559]
 [-0.00078609]]

 R_gt:
[[ 0.99675903 -0.07175007 -0.03639369]
 [ 0.0729838   0.99676037  0.03379724]
 [ 0.03385077 -0.03634326  0.99876518]]

 t_gt:
[ 0.50715618 -0.85924311 -0.06703642]

Pose Error in degrees for R and t:
4.659590260682262 12.178900640616954

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-8.52149592e-01 -5.23292904e-01  2.36852086e-03]
 [-5.23289064e-01  8.52152720e-01  2.07273719e-03]
 [-3.10299016e-03  5.26861084e-04 -9.99995047e-01]]

 t_estimated:
[[0.97482823]
 [0.22294103]
 [0.00268618]]

 R_gt:
[[ 0.996242   -0.07042179 -0.05044112]
 [ 0.07219683  0.99680132  0.03428128]
 [ 0.0478659  -0.03779436  0.99813796]]

 t_gt:
[ 0.50495719 -0.8444658  -0.1785938 ]

Pose Error in degrees for R and t:
178.0140572483502 72.33201410007557

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[ 9.97364424e-01  7.25547479e-02  1.22580442e-04]
 [-7.25547289e-02  9.97364421e-01 -1.53107300e-04]
 [-1.33366033e-04  1.43809983e-04  9.99999981e-01]]

 t_estimated:
[[0.58994612]
 [0.80744208]
 [0.00093346]]

 R_gt:
[[ 0.99910994 -0.03579596 -0.02235989]
 [ 0.03606937  0.99927858  0.01194953]
 [ 0.02191649 -0.01274484  0.99967789]]

 t_gt:
[ 0.45976928 -0.84694405 -0.26701685]

Pose Error in degrees for R and t:
6.38967435285991 65.61484841286524

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[-0.82694735  0.56227798 -0.00124356]
 [ 0.56227185  0.82694572  0.00333786]
 [ 0.00290516  0.00206101 -0.99999366]]

 t_estimated:
[[ 0.43485646]
 [-0.90049622]
 [-0.00253246]]

 R_gt:
[[ 0.99848617 -0.02981946 -0.04623934]
 [ 0.03135054  0.99897182  0.03275046]
 [ 0.0452161  -0.03415031  0.99839324]]

 t_gt:
[ 0.35996199 -0.8558704  -0.37136669]

Pose Error in degrees for R and t:
176.8086921899778 21.847084644397878

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-8.47821687e-01 -5.30281372e-01 -2.31468825e-04]
 [ 5.30278258e-01 -8.47815040e-01 -3.82443099e-03]
 [ 1.83178176e-03 -3.36517842e-03  9.99992660e-01]]

 t_estimated:
[[8.54472311e-01]
 [5.19496455e-01]
 [7.09694610e-04]]

 R_gt:
[[ 0.99444324 -0.10248666 -0.02411584]
 [ 0.10280661  0.99462468  0.01240462]
 [ 0.02271464 -0.01481473  0.999632  ]]

 t_gt:
[ 0.57395234 -0.81433802 -0.08621083]

Pose Error in degrees for R and t:
142.08428616105115 86.13995837506648

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.01417911  0.99989792  0.00176266]
 [ 0.99976252  0.01414797  0.01657502]
 [ 0.01654839  0.00199726 -0.99986107]]

 t_estimated:
[[-0.06335652]
 [-0.99786526]
 [-0.01583913]]

 R_gt:
[[ 0.9974547   0.04822374 -0.05253644]
 [-0.04183215  0.9922956   0.11662192]
 [ 0.05775691 -0.11412708  0.99178589]]

 t_gt:
[-0.50188629  0.11641385  0.85706358]

Pose Error in degrees for R and t:
172.4775547014558 84.37928549952791

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-5.36446400e-01  8.43933309e-01  1.35238152e-03]
 [ 8.43933957e-01  5.36443806e-01  1.87591897e-03]
 [ 8.57673817e-04  2.14765066e-03 -9.99997326e-01]]

 t_estimated:
[[0.45077142]
 [0.89263872]
 [0.00111302]]

 R_gt:
[[ 0.98389485 -0.02887494 -0.1764021 ]
 [ 0.06887519  0.97190666  0.22506679]
 [ 0.1649476  -0.23359108  0.95824161]]

 t_gt:
[ 0.56656087 -0.64813665  0.50884935]

Pose Error in degrees for R and t:
164.91609718703972 71.1800036394167

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 4.51796979e-01  8.92120352e-01 -8.76092185e-04]
 [ 8.92110377e-01 -4.51786749e-01  5.27335185e-03]
 [ 4.30865767e-03 -3.16405537e-03 -9.99985712e-01]]

 t_estimated:
[[-0.99748049]
 [-0.07092524]
 [-0.00150905]]

 R_gt:
[[ 0.9660816  -0.1211147  -0.22807392]
 [ 0.18197294  0.94594053  0.26848209]
 [ 0.18322756 -0.300879    0.93589477]]

 t_gt:
[ 0.68940259 -0.59124138  0.41851847]

Pose Error in degrees for R and t:
159.15749085006146 49.73203488549667

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.07356956  0.9972645   0.00714426]
 [ 0.99728097  0.07359764 -0.0037501 ]
 [-0.00426565  0.00684894 -0.99996745]]

 t_estimated:
[[0.99973088]
 [0.02310302]
 [0.00210027]]

 R_gt:
[[ 0.99759557  0.06264703  0.0296433 ]
 [-0.06352033  0.99754502  0.0294668 ]
 [-0.02772474 -0.03127924  0.99912605]]

 t_gt:
[-0.44605638  0.68424734  0.57692224]

Pose Error in degrees for R and t:
179.54122453385637 64.60118409888786

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.75463787e-01 -2.20156931e-01  1.15154666e-03]
 [ 2.20156527e-01  9.75464445e-01  4.68410028e-04]
 [-1.22641654e-03 -2.03396506e-04  9.99999227e-01]]

 t_estimated:
[[0.79970402]
 [0.60039317]
 [0.00123031]]

 R_gt:
[[ 0.9946716   0.06132891  0.08287876]
 [-0.07410778  0.98414434  0.16114438]
 [-0.07168189 -0.16642724  0.98344513]]

 t_gt:
[-0.24430266  0.29411962  0.92401832]

Pose Error in degrees for R and t:
19.594124308590505 88.98893071601208

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.44205113e-01 -3.29357958e-01  2.00342096e-04]
 [ 3.29357941e-01  9.44205133e-01  1.12286198e-04]
 [-2.26146389e-04 -4.00369419e-05  9.99999974e-01]]

 t_estimated:
[[0.624589  ]
 [0.78095217]
 [0.00151236]]

 R_gt:
[[ 0.99167572  0.03390861  0.12422085]
 [-0.06535842  0.96374756  0.25868491]
 [-0.11094612 -0.26465093  0.95794122]]

 t_gt:
[-0.12979558  0.16591146  0.9775615 ]

Pose Error in degrees for R and t:
27.64634313420877 87.1352521729026

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99855113e-01  1.70214437e-02  1.52065142e-04]
 [-1.70214465e-02  9.99855125e-01  1.69754438e-05]
 [-1.51754165e-04 -1.95613530e-05  9.99999988e-01]]

 t_estimated:
[[3.72880885e-01]
 [9.27878783e-01]
 [8.99613235e-04]]

 R_gt:
[[ 0.99767365 -0.0465282  -0.04983193]
 [ 0.04603898  0.99887989 -0.0109363 ]
 [ 0.05028412  0.0086168   0.99869729]]

 t_gt:
[ 0.8035093  -0.3811856  -0.45724211]

Pose Error in degrees for R and t:
4.666458730168517 86.87628473141227

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.72334832  0.69047863  0.00254492]
 [ 0.69048258  0.72334802  0.00120452]
 [-0.00100916  0.00262851 -0.99999604]]

 t_estimated:
[[0.99993858]
 [0.01101523]
 [0.00122392]]

 R_gt:
[[ 0.99343684 -0.03820856 -0.10781148]
 [ 0.03816361  0.9992684  -0.00248265]
 [ 0.10782711 -0.00164887  0.99416786]]

 t_gt:
[ 0.78025956 -0.17633129 -0.60008524]

Pose Error in degrees for R and t:
174.37438760327836 38.964580506532684

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99427506e-01 -3.38327752e-02 -6.26107109e-05]
 [ 3.38328075e-02  9.99427317e-01  6.16478833e-04]
 [ 4.17176650e-05 -6.18244199e-04  9.99999808e-01]]

 t_estimated:
[[0.00759197]
 [0.99997059]
 [0.00108457]]

 R_gt:
[[ 0.98476457  0.07726241 -0.15578625]
 [-0.07890957  0.99687212 -0.00440822]
 [ 0.15495741  0.01663362  0.9877809 ]]

 t_gt:
[ 0.28963721  0.62204406 -0.72744174]

Pose Error in degrees for R and t:
11.037792391165299 51.43253455587681

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.78527720e-01  2.06114715e-01 -4.75479588e-04]
 [-2.06114934e-01  9.78527676e-01 -4.70086734e-04]
 [ 3.68378143e-04  5.57996344e-04  9.99999776e-01]]

 t_estimated:
[[-0.59542472]
 [ 0.80340468]
 [-0.00321248]]

 R_gt:
[[ 0.99977206  0.01538712  0.01483159]
 [-0.01520998  0.99981111 -0.01207848]
 [-0.01501391  0.01185042  0.99981732]]

 t_gt:
[0.65792781 0.62654769 0.41781453]

Pose Error in degrees for R and t:
11.07236162792451 83.66839054978125

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-0.69672492 -0.71733687 -0.0014837 ]
 [-0.71732824  0.69672457 -0.00388286]
 [ 0.00381905 -0.00164098 -0.99999136]]

 t_estimated:
[[8.30930239e-01]
 [5.56376030e-01]
 [8.07512380e-04]]

 R_gt:
[[ 0.99552307 -0.09436413  0.00557045]
 [ 0.09447792  0.99518228 -0.02616131]
 [-0.0030734   0.02657082  0.99964224]]

 t_gt:
[ 0.73151874 -0.67827659 -0.06943491]

Pose Error in degrees for R and t:
179.46933387805 76.67889835306984

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 0.97910039 -0.20112581 -0.03017996]
 [ 0.20240925  0.97811341  0.04821472]
 [ 0.01982219 -0.05331575  0.99838094]]

 t_estimated:
[[0.95787754]
 [0.28717053]
 [0.00192732]]

 R_gt:
[[ 9.88639674e-01 -1.49337870e-01  1.70237635e-02]
 [ 1.49366006e-01  9.88781151e-01 -4.21745381e-04]
 [-1.67689432e-02  2.96005819e-03  9.99854939e-01]]

 t_gt:
[ 0.70742469 -0.70199799  0.0821531 ]

Pose Error in degrees for R and t:
4.930907869000768 61.56304866390282

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[-0.67813713 -0.73234332  0.06167088]
 [-0.73240545  0.68037588  0.02590205]
 [-0.06092857 -0.02760294 -0.99776039]]

 t_estimated:
[[0.91624664]
 [0.39915208]
 [0.03420104]]

 R_gt:
[[ 0.99915369 -0.03679045  0.01839532]
 [ 0.03654102  0.99923702  0.01378716]
 [-0.01888808 -0.01310283  0.99973565]]

 t_gt:
[ 0.13681935 -0.75576508  0.6403902 ]

Pose Error in degrees for R and t:
174.87956756771425 81.1178307184108

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.98895420e-01  4.69872181e-02 -3.75604759e-04]
 [ 4.69677677e-02 -9.98179448e-01  3.78393815e-02]
 [ 1.40304632e-03 -3.78152262e-02 -9.99283764e-01]]

 t_estimated:
[[-0.03051892]
 [ 0.99935584]
 [ 0.01888136]]

 R_gt:
[[ 9.97282264e-01  2.92751411e-04  7.36803628e-02]
 [ 3.84123857e-04  9.99957223e-01 -9.17540593e-03]
 [-7.36795171e-02  9.17851654e-03  9.97239593e-01]]

 t_gt:
[-0.62044793  0.09225145  0.77880295]

Pose Error in degrees for R and t:
178.45714210374211 82.77117826997365

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 0.70381009 -0.71006196  0.02152623]
 [-0.71008783 -0.70230839  0.05038053]
 [-0.02065525 -0.05074384 -0.99849808]]

 t_estimated:
[[0.40801206]
 [0.91257432]
 [0.02709726]]

 R_gt:
[[ 0.99896101 -0.01066342  0.04431835]
 [ 0.0112131   0.99986243 -0.01216639]
 [-0.0441828   0.01265094  0.99894292]]

 t_gt:
[-0.87072324 -0.25742518  0.4190147 ]

Pose Error in degrees for R and t:
176.54003371239847 54.63163387349244

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999758e-01  4.99203359e-04  4.83818711e-04]
 [-4.98704548e-04  9.99999345e-01 -1.03055892e-03]
 [-4.84332853e-04  1.03031739e-03  9.99999352e-01]]

 t_estimated:
[[0.50654649]
 [0.86221128]
 [0.00153639]]

 R_gt:
[[ 9.93152149e-01 -1.16817567e-01 -8.56221988e-04]
 [ 1.16783470e-01  9.92634801e-01  3.22083002e-02]
 [-2.91252424e-03 -3.20883871e-02  9.99480801e-01]]

 t_gt:
[ 0.6147746  -0.74883115  0.24759665]

Pose Error in degrees for R and t:
7.00185768233778 70.49687064215102

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99998995e-01 -4.10223515e-04  1.35696807e-03]
 [ 4.12682121e-04  9.99998273e-01 -1.81205476e-03]
 [-1.35622237e-03  1.81261293e-03  9.99997438e-01]]

 t_estimated:
[[8.17727557e-01]
 [5.75604957e-01]
 [7.58393572e-04]]

 R_gt:
[[ 9.73636249e-01 -2.28030640e-01 -5.81826001e-03]
 [ 2.28104760e-01  9.73315983e-01  2.49739772e-02]
 [-3.27176200e-05 -2.56433666e-02  9.99671378e-01]]

 t_gt:
[ 0.68432372 -0.72007379  0.11486854]

Pose Error in degrees for R and t:
13.256502370085771 81.6511714598198

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.99191498  0.12687222 -0.00284853]
 [-0.12686326  0.99191527  0.00313248]
 [ 0.00322292 -0.00274578  0.99999104]]

 t_estimated:
[[-0.47449345]
 [-0.88025804]
 [-0.00132171]]

 R_gt:
[[ 0.95380665 -0.29854147 -0.03355067]
 [ 0.29996455  0.95255233  0.05163716]
 [ 0.01654323 -0.05931546  0.99810202]]

 t_gt:
[ 0.69661203 -0.70470478  0.13462117]

Pose Error in degrees for R and t:
24.934422714548276 73.16561421141671

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[ 6.76565104e-01  7.36381235e-01  1.52859235e-03]
 [-7.36375483e-01  6.76566171e-01 -3.06008124e-03]
 [-3.28758028e-03  9.44726249e-04  9.99994150e-01]]

 t_estimated:
[[-9.91492428e-01]
 [-1.30164176e-01]
 [-2.30167985e-04]]

 R_gt:
[[ 0.99023166 -0.10446177 -0.09235734]
 [ 0.11523228  0.98603747  0.12021748]
 [ 0.07850991 -0.12968549  0.98844227]]

 t_gt:
[ 0.73081878 -0.62521349  0.2738832 ]

Pose Error in degrees for R and t:
54.44935542018267 49.9628683396941

Number of keypoints:
Image1: 21
Image2: 21

 R_estimated:
[[ 9.32412673e-01  3.61395101e-01  4.34110283e-04]
 [-3.61394440e-01  9.32412335e-01 -1.13831360e-03]
 [-8.16150742e-04  9.04492986e-04  9.99999258e-01]]

 t_estimated:
[[-0.88106958]
 [-0.47298469]
 [-0.00136837]]

 R_gt:
[[ 0.96878308 -0.21712648 -0.11964864]
 [ 0.23462365  0.9588917   0.15962161]
 [ 0.08007139 -0.18271112  0.97990055]]

 t_gt:
[ 0.77689659 -0.56612591  0.27555968]

Pose Error in degrees for R and t:
36.21731818527651 65.34785387256562

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[ 9.99949166e-01  1.00339444e-02  9.92210325e-04]
 [-1.00335464e-02  9.99949581e-01 -4.05245282e-04]
 [-9.96226507e-04  3.95269294e-04  9.99999426e-01]]

 t_estimated:
[[0.99889718]
 [0.04694048]
 [0.00100398]]

 R_gt:
[[ 0.94214941 -0.29023328 -0.16768937]
 [ 0.31649891  0.93501735  0.15991337]
 [ 0.11038087 -0.2037357   0.97278392]]

 t_gt:
[ 0.81690605 -0.54153041  0.19851782]

Pose Error in degrees for R and t:
22.82812681683307 37.74109071150132

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-7.37848319e-01 -6.74900601e-01  9.43595280e-03]
 [-6.74930823e-01  7.37881009e-01 -2.51456557e-05]
 [-6.94563955e-03 -6.38716907e-03 -9.99955480e-01]]

 t_estimated:
[[0.92803484]
 [0.37244583]
 [0.00595241]]

 R_gt:
[[ 9.97235249e-01  7.42821803e-02 -2.11661482e-03]
 [-7.43069731e-02  9.97113175e-01 -1.56714136e-02]
 [ 9.45920851e-04  1.57858107e-02  9.99875322e-01]]

 t_gt:
[-0.95714897  0.23623476 -0.16750819]

Pose Error in degrees for R and t:
179.88950004592994 36.74749051629828

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.96662727 -0.25617928 -0.00197173]
 [ 0.25618489  0.96662142  0.0035107 ]
 [ 0.00100655 -0.00389867  0.99999189]]

 t_estimated:
[[-7.51634280e-01]
 [-6.59580082e-01]
 [-1.55526579e-04]]

 R_gt:
[[ 0.99775785  0.0642478   0.01874216]
 [-0.06413554  0.99791987 -0.00656048]
 [-0.01912589  0.00534411  0.9998024 ]]

 t_gt:
[-0.99171311  0.12694068 -0.01977811]

Pose Error in degrees for R and t:
18.56956736250437 48.57179075249114

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.55861967 -0.82928309 -0.01528462]
 [-0.82931833  0.55874776 -0.0056615 ]
 [ 0.01323524  0.00951319 -0.99986716]]

 t_estimated:
[[ 0.8828112 ]
 [ 0.46966034]
 [-0.00797142]]

 R_gt:
[[ 0.99584179  0.06820157  0.06039529]
 [-0.06735124  0.99760103 -0.01601438]
 [-0.06134303  0.01188038  0.99804566]]

 t_gt:
[-0.98926835  0.14283073  0.0307818 ]

Pose Error in degrees for R and t:
178.2216000407294 36.244571241710894

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99805802e-01  1.97067894e-02  2.93581628e-05]
 [-1.97067898e-02  9.99805802e-01  1.26491071e-05]
 [-2.91031882e-05 -1.32252058e-05  9.99999999e-01]]

 t_estimated:
[[2.35554857e-01]
 [9.71860894e-01]
 [5.59041979e-04]]

 R_gt:
[[ 0.99836695 -0.01713394 -0.05449923]
 [ 0.01640101  0.99976983 -0.01384727]
 [ 0.05472418  0.01293156  0.99841759]]

 t_gt:
[ 0.44367857 -0.19559532 -0.87458092]

Pose Error in degrees for R and t:
3.843413847938325 85.06245886823602

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.86411657  0.50328562 -0.00247738]
 [-0.50327339  0.86411665  0.00427939]
 [ 0.0042945  -0.00245109  0.99998777]]

 t_estimated:
[[-0.96090538]
 [-0.27687104]
 [-0.00180961]]

 R_gt:
[[ 0.99716174 -0.07288904  0.01882654]
 [ 0.07332746  0.99702494 -0.02377652]
 [-0.01703725  0.02508949  0.99954026]]

 t_gt:
[ 0.68833863 -0.69093086 -0.22091733]

Pose Error in degrees for R and t:
34.468898386482294 61.983242913208336

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.98436665 -0.17612441 -0.00157623]
 [ 0.17612654 -0.98436663 -0.00133112]
 [-0.00131715 -0.00158792  0.99999787]]

 t_estimated:
[[0.74056003]
 [0.67198966]
 [0.00085713]]

 R_gt:
[[ 0.95139291 -0.23041315  0.20435493]
 [ 0.22880422  0.97295239  0.03179441]
 [-0.20615366  0.01650883  0.97838006]]

 t_gt:
[ 0.60479957 -0.64903333  0.46149021]

Pose Error in degrees for R and t:
156.5721238621265 89.30428259774041

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-9.99972529e-01 -7.41212642e-03  4.52829813e-05]
 [-7.41205610e-03  9.99971559e-01  1.39401522e-03]
 [-5.56143104e-05  1.39364128e-03 -9.99999027e-01]]

 t_estimated:
[[9.99953043e-01]
 [9.64274872e-03]
 [9.64274872e-04]]

 R_gt:
[[ 0.98120192 -0.12935408  0.14321115]
 [ 0.12895992  0.9915768   0.012076  ]
 [-0.14356704  0.0066198   0.98961856]]

 t_gt:
[ 0.51667387 -0.64198118  0.56648767]

Pose Error in degrees for R and t:
171.7296062515027 59.26917821146232

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.07247589  0.99734687  0.0068161 ]
 [ 0.99736642 -0.07245519 -0.00323644]
 [-0.00273399  0.00703271 -0.99997153]]

 t_estimated:
[[9.40755815e-01]
 [3.39083996e-01]
 [7.35540121e-04]]

 R_gt:
[[ 9.20934624e-01 -2.79538757e-01  2.71545184e-01]
 [ 2.67976356e-01  9.60134054e-01  7.95677984e-02]
 [-2.82962847e-01 -5.09103508e-04  9.59130937e-01]]

 t_gt:
[ 0.59320577 -0.59415075  0.54322353]

Pose Error in degrees for R and t:
170.24589746974627 69.08427850222785

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 7.56325159e-01  6.54195698e-01  4.93166747e-04]
 [-6.54193422e-01  7.56324166e-01 -2.17326555e-03]
 [-1.79473490e-03  1.32106897e-03  9.99997517e-01]]

 t_estimated:
[[-0.9470536 ]
 [-0.32107192]
 [-0.00151384]]

 R_gt:
[[ 0.86540878 -0.39655712  0.30628563]
 [ 0.37661776  0.91797849  0.12440128]
 [-0.33049582  0.00769437  0.9437759 ]]

 t_gt:
[ 0.68244197 -0.57984841  0.44502671]

Pose Error in degrees for R and t:
66.8191150804806 62.56062665891501

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-2.52710844e-01 -9.67539246e-01  2.24447346e-03]
 [-9.67502659e-01  2.52720807e-01  8.41418341e-03]
 [-8.70827782e-03 -4.51786577e-05 -9.99962081e-01]]

 t_estimated:
[[0.81198667]
 [0.58366465]
 [0.00363686]]

 R_gt:
[[ 0.98861684 -0.14984855 -0.01350309]
 [ 0.15022928  0.98806643  0.03400306]
 [ 0.00824654 -0.03564377  0.99933036]]

 t_gt:
[ 0.67746334 -0.71661363  0.16585634]

Pose Error in degrees for R and t:
178.85262185561447 82.38982907605653

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.97863014 -0.20533635  0.01095575]
 [ 0.20556056  0.9782863  -0.02647216]
 [-0.00528217  0.02815852  0.99958951]]

 t_estimated:
[[-0.98587456]
 [-0.16746362]
 [-0.00270103]]

 R_gt:
[[ 0.97320377 -0.22914704 -0.0191197 ]
 [ 0.22979638  0.97218185  0.0453506 ]
 [ 0.00819556 -0.04852804  0.99878855]]

 t_gt:
[ 0.679949   -0.71388914  0.16742655]

Pose Error in degrees for R and t:
4.681770694208059 56.54745149222857

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999860e-01  5.29329768e-04 -7.71020609e-06]
 [-5.29326834e-04  9.99999789e-01  3.75735125e-04]
 [ 7.90909226e-06 -3.75730992e-04  9.99999929e-01]]

 t_estimated:
[[9.99987765e-01]
 [4.91838109e-03]
 [5.27894464e-04]]

 R_gt:
[[ 0.95265541 -0.29990193 -0.05006017]
 [ 0.30069247  0.95367935  0.00892844]
 [ 0.04506344 -0.023558    0.99870639]]

 t_gt:
[ 0.72563643 -0.68587899 -0.05497071]

Pose Error in degrees for R and t:
17.755244292868984 43.7615025330861

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.84632988e-01 -1.74636298e-01  2.06623103e-04]
 [ 1.74636238e-01  9.84632981e-01  2.78000923e-04]
 [-2.51996973e-04 -2.37644998e-04  9.99999940e-01]]

 t_estimated:
[[ 0.9841189 ]
 [-0.17750617]
 [ 0.00124759]]

 R_gt:
[[ 0.99135418 -0.12577563 -0.03738519]
 [ 0.12740135  0.9908364   0.04486347]
 [ 0.03139888 -0.04923847  0.99829362]]

 t_gt:
[ 0.7817427  -0.61635171  0.09480989]

Pose Error in degrees for R and t:
4.347144188157903 28.495776796572095

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.97957960e-01 -6.38733621e-02  3.22401392e-04]
 [ 6.38733220e-02  9.97958006e-01  1.33069191e-04]
 [-3.30242627e-04 -1.12204610e-04  9.99999939e-01]]

 t_estimated:
[[0.99614721]
 [0.08768902]
 [0.00116919]]

 R_gt:
[[ 0.9834564  -0.17574946 -0.04389262]
 [ 0.1776181   0.9831569   0.04305785]
 [ 0.03558556 -0.05014109  0.99810754]]

 t_gt:
[ 0.78885443 -0.61213937  0.05471819]

Pose Error in degrees for R and t:
7.418036079861925 42.92875137664655

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.85972982e-01  1.66903989e-01  5.81221272e-04]
 [-1.66902515e-01  9.85971326e-01 -2.02370677e-03]
 [-9.10832241e-04  1.89831291e-03  9.99997783e-01]]

 t_estimated:
[[-0.95718018]
 [-0.28948864]
 [-0.00155639]]

 R_gt:
[[ 0.9906274  -0.13588389 -0.01390993]
 [ 0.13632559  0.98991855  0.03841307]
 [ 0.00854979 -0.03994863  0.99916524]]

 t_gt:
[ 0.72061456 -0.68167943  0.12660098]

Pose Error in degrees for R and t:
17.60542275120279 60.487293494624375

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999950e-01  2.88451029e-04 -1.26450732e-04]
 [-2.88419477e-04  9.99999927e-01  2.49467575e-04]
 [ 1.26522682e-04 -2.49431092e-04  9.99999961e-01]]

 t_estimated:
[[-9.81409342e-01]
 [-1.91924095e-01]
 [ 9.19360996e-04]]

 R_gt:
[[ 0.98610654  0.16314672  0.03125132]
 [-0.1631695   0.98659662 -0.0018493 ]
 [-0.03113344 -0.0032744   0.99951033]]

 t_gt:
[-0.91489368  0.3970652   0.07286139]

Pose Error in degrees for R and t:
9.546973256598186 34.74005997263538

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.99877089 -0.04952901 -0.00189443]
 [ 0.04954054  0.99875018  0.00661909]
 [ 0.00156422 -0.00670481  0.9999763 ]]

 t_estimated:
[[-9.36676473e-01]
 [-3.50195437e-01]
 [-5.83695859e-04]]

 R_gt:
[[ 0.97518265  0.21920759  0.03109528]
 [-0.21864314  0.97558848 -0.0205601 ]
 [-0.03484228  0.0132516   0.99930555]]

 t_gt:
[-0.91742384  0.39779145 -0.00977017]

Pose Error in degrees for R and t:
15.676226127906437 43.94301960223791

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.68097039 -0.7323074  -0.00227834]
 [ 0.73230079 -0.68094127 -0.0073856 ]
 [ 0.00385711 -0.0066978   0.99997013]]

 t_estimated:
[[0.96476294]
 [0.26311717]
 [0.00134932]]

 R_gt:
[[ 0.9693075   0.2440195   0.02993184]
 [-0.24406389  0.96975656 -0.00223411]
 [-0.02957132 -0.00513866  0.9995501 ]]

 t_gt:
[-0.93040643  0.36425924  0.04073182]

Pose Error in degrees for R and t:
147.0585572708545 36.70496772318488

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99998920e-01  1.46774128e-03 -7.00705754e-05]
 [-1.46774022e-03  9.99998923e-01  1.51423253e-05]
 [ 7.00927250e-05 -1.50394636e-05  9.99999997e-01]]

 t_estimated:
[[9.99914043e-01]
 [1.30837458e-02]
 [8.50014486e-04]]

 R_gt:
[[ 0.98854128 -0.15088287  0.00451553]
 [ 0.15061421  0.98389297 -0.09627581]
 [ 0.01008455  0.09585204  0.99534425]]

 t_gt:
[ 0.5526945  -0.68255879 -0.47816555]

Pose Error in degrees for R and t:
10.370058534463153 57.09074159718608

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-9.02810755e-02 -9.95915238e-01 -1.47177912e-03]
 [-9.95916093e-01  9.02799454e-02  8.17111610e-04]
 [-6.80901765e-04  1.53953823e-03 -9.99998583e-01]]

 t_estimated:
[[0.81203619]
 [0.58360642]
 [0.00088048]]

 R_gt:
[[ 0.98741455 -0.15624904 -0.02444406]
 [ 0.15238887  0.98134954 -0.11717506]
 [ 0.04229772  0.1119755   0.99280983]]

 t_gt:
[ 0.51909119 -0.51822439 -0.67969686]

Pose Error in degrees for R and t:
174.10651477105267 83.19542266244237

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-8.92498744e-01 -4.51048033e-01 -1.29003474e-03]
 [ 4.51049346e-01 -8.92498433e-01 -1.01683976e-03]
 [-6.92710411e-04 -1.48939754e-03  9.99998651e-01]]

 t_estimated:
[[9.18894173e-01]
 [3.94503293e-01]
 [8.06755200e-04]]

 R_gt:
[[ 0.99427058 -0.09807658 -0.04249721]
 [ 0.09179718  0.98718002 -0.13056515]
 [ 0.05475868  0.12591623  0.99052782]]

 t_gt:
[ 0.34825713 -0.10980196 -0.93094603]

Pose Error in degrees for R and t:
147.79594772420467 73.98177152404452

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 0.99999819 -0.00120307  0.0014731 ]
 [ 0.00120499  0.99999843 -0.00130081]
 [-0.00147153  0.00130258  0.99999807]]

 t_estimated:
[[0.9523385 ]
 [0.3049911 ]
 [0.00564049]]

 R_gt:
[[ 0.99979251  0.01160486  0.01673099]
 [-0.0115216   0.99992048 -0.00509917]
 [-0.01678809  0.00490616  0.99984716]]

 t_gt:
[0.75083992 0.43998485 0.49259796]

Pose Error in degrees for R and t:
1.1610746049681444 31.567533329473097

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 0.93565384  0.35290545 -0.00310394]
 [-0.35287312  0.93563773  0.00791138]
 [ 0.00569613 -0.00630701  0.99996389]]

 t_estimated:
[[0.52085023]
 [0.85364731]
 [0.00113972]]

 R_gt:
[[ 0.99958656 -0.01750694  0.02281153]
 [ 0.01815704  0.99942508 -0.02863059]
 [-0.02229694  0.02903401  0.99932924]]

 t_gt:
[ 0.92281013 -0.38525362  0.00105356]

Pose Error in degrees for R and t:
21.838888579486888 81.27011736221785

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.99989211  0.01456977 -0.00187079]
 [-0.01456561 -0.99989145 -0.00222078]
 [-0.00190295 -0.00219329  0.99999578]]

 t_estimated:
[[0.88036952]
 [0.47428727]
 [0.00104931]]

 R_gt:
[[ 0.98976412 -0.14176074  0.01647362]
 [ 0.14206573  0.98967271 -0.01910468]
 [-0.01359512  0.02125027  0.99968142]]

 t_gt:
[ 0.75918462 -0.65065035  0.01711255]

Pose Error in degrees for R and t:
172.67756428849106 68.91295969284683

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.91549701e-01 -1.29727354e-01 -5.94344851e-05]
 [ 1.29727361e-01  9.91549694e-01  1.29182030e-04]
 [ 4.21738025e-05 -1.35800682e-04  9.99999990e-01]]

 t_estimated:
[[ 7.32786124e-01]
 [-6.80458914e-01]
 [ 4.03635541e-04]]

 R_gt:
[[ 9.99751959e-01  1.09098727e-03  2.22678069e-02]
 [-1.81505888e-04  9.99166705e-01 -4.08033077e-02]
 [-2.22933029e-02  4.07889976e-02  9.98918867e-01]]

 t_gt:
[-0.4767887   0.86350574 -0.16440915]

Pose Error in degrees for R and t:
7.952150550754991 20.44126757276121

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.57717271e-01 -2.87710536e-01 -5.25982201e-04]
 [ 2.87710648e-01  9.57717370e-01  1.50187977e-04]
 [ 4.60531627e-04 -2.95168299e-04  9.99999850e-01]]

 t_estimated:
[[ 0.87443231]
 [-0.48514608]
 [-0.00119052]]

 R_gt:
[[ 0.99965196 -0.00913734  0.02475528]
 [ 0.01044538  0.99852717 -0.05324889]
 [-0.02423256  0.0534882   0.99827407]]

 t_gt:
[-0.45013417  0.85918637 -0.24326531]

Pose Error in degrees for R and t:
16.508933420158627 35.889102643902056

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99770992e-01 -2.13999400e-02 -8.03358379e-05]
 [ 2.13999778e-02  9.99770867e-01  5.03466099e-04]
 [ 6.95432861e-05 -5.05069986e-04  9.99999870e-01]]

 t_estimated:
[[0.27699289]
 [0.9608713 ]
 [0.00113727]]

 R_gt:
[[ 0.99768443 -0.05264291  0.04306005]
 [ 0.05636855  0.99430264 -0.09046801]
 [-0.0380525   0.09268551  0.99496794]]

 t_gt:
[-0.20518419  0.89951853 -0.38570179]

Pose Error in degrees for R and t:
6.084597354930265 36.19146102264367

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99920158e-01  1.26363278e-02 -3.40336651e-05]
 [-1.26363266e-02  9.99920158e-01  3.53398544e-05]
 [ 3.44775137e-05 -3.49069723e-05  9.99999999e-01]]

 t_estimated:
[[-0.74574787]
 [ 0.66622753]
 [-0.00100004]]

 R_gt:
[[ 0.99916609  0.0288059   0.02890595]
 [-0.02802569  0.99924124 -0.02704888]
 [-0.02966358  0.02621548  0.99921578]]

 t_gt:
[-0.85883532  0.50114627  0.10608636]

Pose Error in degrees for R and t:
2.445977291683011 13.031573420470837

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-9.60644578e-01 -2.77774940e-01 -1.75424255e-03]
 [ 2.77780177e-01 -9.60633698e-01 -4.59045375e-03]
 [-4.10071490e-04 -4.89708831e-03  9.99987925e-01]]

 t_estimated:
[[9.99832009e-01]
 [1.83152422e-02]
 [7.11341678e-04]]

 R_gt:
[[ 0.99981586  0.0123751  -0.01462745]
 [-0.01239417  0.99992303 -0.00120173]
 [ 0.01461219  0.00138169  0.99989256]]

 t_gt:
[-0.90498492 -0.2599771  -0.33677024]

Pose Error in degrees for R and t:
164.58038660837187 24.517578955731654

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.824497   -0.56585926 -0.00282599]
 [ 0.56584213  0.82449765 -0.00512836]
 [ 0.00523195  0.00262925  0.99998286]]

 t_estimated:
[[ 0.71569054]
 [-0.69837288]
 [-0.00789708]]

 R_gt:
[[ 0.99922616  0.00235851 -0.03924886]
 [-0.00258261  0.99998038 -0.00566816]
 [ 0.03923472  0.00576495  0.99921339]]

 t_gt:
[-0.74325683 -0.45354426 -0.49179964]

Pose Error in degrees for R and t:
34.659060693646396 77.80056902391041

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99999933e-01 -3.42501898e-04  1.26382633e-04]
 [ 3.42497952e-04  9.99999941e-01  3.12477175e-05]
 [-1.26393328e-04 -3.12044296e-05  9.99999992e-01]]

 t_estimated:
[[2.91149076e-01]
 [9.56677234e-01]
 [9.40620356e-04]]

 R_gt:
[[ 9.98370010e-01 -3.07112640e-02 -4.81014585e-02]
 [ 3.07211008e-02  9.99527445e-01 -5.14594184e-04]
 [ 4.80937833e-02 -9.64701683e-04  9.98842985e-01]]

 t_gt:
[ 0.83165636 -0.30681591 -0.4628301 ]

Pose Error in degrees for R and t:
3.267205823391614 87.02942073836077

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 7.40768793e-01 -6.71759641e-01 -7.62096430e-04]
 [ 6.71760047e-01  7.40768604e-01  5.61407491e-04]
 [ 1.87406213e-04 -9.27819083e-04  9.99999552e-01]]

 t_estimated:
[[ 8.36455326e-01]
 [-5.48035056e-01]
 [ 2.57374150e-04]]

 R_gt:
[[ 0.99291228  0.0618188  -0.10150926]
 [-0.0599398   0.99797077  0.02146874]
 [ 0.10263017 -0.01523255  0.99460312]]

 t_gt:
[ 0.22367821  0.72222234 -0.65449442]

Pose Error in degrees for R and t:
46.063685369254735 77.94358035240336

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.59082940e-01 -2.83122072e-01  1.34423861e-03]
 [ 2.83121719e-01  9.59083880e-01  4.49799186e-04]
 [-1.41658566e-03 -5.08115785e-05  9.99998995e-01]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.97941649  0.1507371  -0.13424883]
 [-0.15035734  0.98854595  0.01302713]
 [ 0.13467477  0.0074267   0.99086241]]

 t_gt:
[-0.0457489   0.88083781 -0.47120249]

Pose Error in degrees for R and t:
26.31832446056934 62.73145207314012

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.98768951e-01  4.96038761e-02  1.93180402e-04]
 [-4.96039637e-02  9.98768851e-01  4.78505115e-04]
 [-1.69206859e-04 -4.87498566e-04  9.99999867e-01]]

 t_estimated:
[[0.16601312]
 [0.98611795]
 [0.00332026]]

 R_gt:
[[ 0.99967528 -0.01212227  0.02239872]
 [ 0.01155184  0.99961109  0.02541093]
 [-0.02269684 -0.02514344  0.9994261 ]]

 t_gt:
[ 0.06920722 -0.37523044  0.92434435]

Pose Error in degrees for R and t:
4.0077257261886245 69.17817038626988

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.31255385e-01  3.64367131e-01  3.30332917e-05]
 [-3.64366909e-01  9.31254710e-01  1.19162471e-03]
 [ 4.03426469e-04 -1.12174317e-03  9.99999289e-01]]

 t_estimated:
[[0.10658456]
 [0.99430257]
 [0.00146006]]

 R_gt:
[[ 0.99982623  0.01752019 -0.0063278 ]
 [-0.0180872   0.99432346 -0.10485514]
 [ 0.00445623  0.10495186  0.99446701]]

 t_gt:
[-0.11234096  0.49202919 -0.86329994]

Pose Error in degrees for R and t:
21.230578717937256 61.576066939899924

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 7.63583659e-01  6.45708484e-01  7.40671390e-04]
 [ 6.45706896e-01 -7.63583641e-01  1.62143518e-03]
 [ 1.61253901e-03 -7.59844782e-04 -9.99998411e-01]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.99783609 -0.03954238 -0.05254002]
 [ 0.02945943  0.98314569 -0.18043556]
 [ 0.05878993  0.17849825  0.98218282]]

 t_gt:
[ 0.16310844  0.12953331 -0.97806787]

Pose Error in degrees for R and t:
171.46424948699917 82.52596608615335

Number of keypoints:
Image1: 396
Image2: 396

 R_estimated:
[[ 9.87097527e-01 -1.60120137e-01 -1.21424521e-04]
 [ 1.60120150e-01  9.87097527e-01  9.92787268e-05]
 [ 1.03961321e-04 -1.17440298e-04  9.99999988e-01]]

 t_estimated:
[[ 6.91264464e-01]
 [-7.22601793e-01]
 [-2.98368657e-04]]

 R_gt:
[[ 0.99982312 -0.01865244 -0.00256795]
 [ 0.01860841  0.99969133 -0.01643255]
 [ 0.00287407  0.01638256  0.99986164]]

 t_gt:
[-0.16048733  0.82140163 -0.54730538]

Pose Error in degrees for R and t:
8.202368697615602 45.22519002713135

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 7.54741006e-01 -6.56022279e-01 -8.85745725e-04]
 [ 6.56022682e-01  7.54741134e-01  2.48925420e-04]
 [ 5.05208111e-04 -7.68943508e-04  9.99999577e-01]]

 t_estimated:
[[ 9.23985508e-01]
 [-3.82427471e-01]
 [ 1.04371525e-04]]

 R_gt:
[[ 0.99767992 -0.06319737  0.02532617]
 [ 0.06436814  0.99674973 -0.0484397 ]
 [-0.02218096  0.04995778  0.99850504]]

 t_gt:
[ 0.41673169  0.76745731 -0.48717961]

Pose Error in degrees for R and t:
37.46809932178958 84.74972277958261

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.49313556e-01 -3.14330655e-01 -1.07843988e-04]
 [ 3.14330672e-01  9.49313471e-01  4.02951555e-04]
 [-2.42822753e-05 -4.16426047e-04  9.99999913e-01]]

 t_estimated:
[[ 9.64712401e-01]
 [-2.63304512e-01]
 [ 8.46598394e-04]]

 R_gt:
[[ 0.98782317 -0.13989125  0.06809321]
 [ 0.14251885  0.98916037 -0.03536033]
 [-0.06240725  0.04463518  0.99705242]]

 t_gt:
[0.97208292 0.10780676 0.20840467]

Pose Error in degrees for R and t:
11.10361820713297 24.553883550525857

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.95156586e-01 -9.82887693e-02  1.63955957e-03]
 [ 9.82891103e-02  9.95157894e-01 -1.28546592e-04]
 [-1.61898596e-03  2.89074839e-04  9.99998648e-01]]

 t_estimated:
[[0.39679773]
 [0.91790553]
 [0.00099448]]

 R_gt:
[[ 0.99839509 -0.02355228 -0.05151165]
 [ 0.02529534  0.99912013  0.03345518]
 [ 0.05067932 -0.03470483  0.99811195]]

 t_gt:
[ 0.97522465 -0.00985924 -0.22099702]

Pose Error in degrees for R and t:
5.565287473247246 67.80887910298217

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 0.99722408 -0.07440579  0.00281199]
 [ 0.07441315  0.99722409 -0.00260798]
 [-0.00261013  0.00280999  0.99999265]]

 t_estimated:
[[0.82397689]
 [0.56661928]
 [0.00216267]]

 R_gt:
[[ 0.99270968 -0.00341928 -0.12048114]
 [ 0.00895388  0.99892735  0.04542392]
 [ 0.12019762 -0.04617251  0.99167597]]

 t_gt:
[ 0.76779528  0.20149423 -0.60818622]

Pose Error in degrees for R and t:
8.545360019134991 41.79786999629712

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 6.33736303e-01  7.73546594e-01  1.99132283e-03]
 [ 7.73546232e-01 -6.33738886e-01  1.11878564e-03]
 [ 2.12741153e-03  8.31365200e-04 -9.99997391e-01]]

 t_estimated:
[[-0.99404803]
 [-0.10893677]
 [-0.00113476]]

 R_gt:
[[ 0.98457426  0.00312298 -0.17493993]
 [ 0.00274285  0.99944171  0.03328057]
 [ 0.17494679 -0.03324743  0.98401605]]

 t_gt:
[ 0.71625038  0.22063898 -0.6620452 ]

Pose Error in degrees for R and t:
173.95179544045067 42.66981946269024

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.91081974e-01  1.33252166e-01  6.16699059e-04]
 [-1.33251767e-01  9.91082008e-01 -6.47333983e-04]
 [-6.97457997e-04  5.59384802e-04  9.99999600e-01]]

 t_estimated:
[[0.44252156]
 [0.89675692]
 [0.00130153]]

 R_gt:
[[ 0.99703276 -0.07551607  0.01496667]
 [ 0.07650018  0.99362661 -0.08279046]
 [-0.00861994  0.08369025  0.99645497]]

 t_gt:
[ 0.37864441 -0.61013978 -0.69595823]

Pose Error in degrees for R and t:
12.938692222424725 67.63567893835375

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 0.99363336 -0.11263557  0.00244549]
 [ 0.11263885  0.99363521 -0.00124675]
 [-0.0022895   0.00151427  0.99999623]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.98732071 -0.1577158   0.01799012]
 [ 0.15873064  0.98201541 -0.10222463]
 [-0.00154456  0.10378427  0.99459877]]

 t_gt:
[ 0.50333839 -0.71841869 -0.48013024]

Pose Error in degrees for R and t:
6.442303983166124 61.81819826564374

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.70925906  0.63311212 -0.31003328]
 [-0.41065186  0.72853181  0.54827589]
 [ 0.57298922 -0.2615539   0.77670645]]

 t_estimated:
[[0.50670488]
 [0.86211874]
 [0.00120072]]

 R_gt:
[[ 0.95757086 -0.28799127  0.01098121]
 [ 0.28775478  0.95328323 -0.09191348]
 [ 0.0160015   0.09117367  0.99570648]]

 t_gt:
[ 0.6355414  -0.7188851  -0.28158718]

Pose Error in degrees for R and t:
67.10583762539667 72.65825086390866

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.96106902e-01  8.81532711e-02 -2.01489542e-04]
 [-8.81532856e-02  9.96106919e-01 -6.41552572e-05]
 [ 1.95049631e-04  8.16674596e-05  9.99999978e-01]]

 t_estimated:
[[-9.99998048e-01]
 [-1.70730430e-03]
 [-9.94342848e-04]]

 R_gt:
[[ 0.97577016  0.21819743 -0.01621058]
 [-0.21774838  0.97566898  0.02562058]
 [ 0.02140591 -0.02147076  0.99954052]]

 t_gt:
[-0.54891905  0.83574139  0.01497341]

Pose Error in degrees for R and t:
7.731961180241852 56.8059569310616

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.87590591e-01  1.57050357e-01 -9.94293129e-05]
 [-1.57050366e-01  9.87590591e-01 -8.74870308e-05]
 [ 8.44555844e-05  1.02016778e-04  9.99999991e-01]]

 t_estimated:
[[-9.41819138e-01]
 [ 3.36119885e-01]
 [-3.66732356e-04]]

 R_gt:
[[ 0.95832042  0.2837683  -0.03313296]
 [-0.28109158  0.95725054  0.06825744]
 [ 0.05108593 -0.05609883  0.99711785]]

 t_gt:
[-0.4990961   0.86589276  0.03365725]

Pose Error in degrees for R and t:
8.578458211239832 40.43964318231107

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-9.83100849e-01  1.82973299e-01 -5.78729989e-03]
 [ 1.82966406e-01  9.83117690e-01  1.70334479e-03]
 [ 6.00126352e-03  6.15678250e-04 -9.99981803e-01]]

 t_estimated:
[[ 0.98490771]
 [-0.17305222]
 [-0.00312085]]

 R_gt:
[[ 0.90289066  0.42963522 -0.01425303]
 [-0.42832476  0.90195809  0.05486369]
 [ 0.03642734 -0.04343151  0.99839235]]

 t_gt:
[-0.4488262   0.89352273  0.01312152]

Pose Error in degrees for R and t:
177.9066371075863 53.36469690257734

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.62176981e-01 -2.72424403e-01 -6.33289690e-04]
 [ 2.72424326e-01  9.62177189e-01 -2.06501720e-04]
 [ 6.65593002e-04  2.61676843e-05  9.99999778e-01]]

 t_estimated:
[[-0.6592484 ]
 [-0.75192228]
 [-0.00210622]]

 R_gt:
[[ 0.96766367  0.25220617  0.0044029 ]
 [-0.252216    0.96766861  0.0019538 ]
 [-0.00376727 -0.00300058  0.99998897]]

 t_gt:
[-0.88606186  0.4634559   0.01014953]

Pose Error in degrees for R and t:
30.418613686717542 76.37119817011714

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-5.67323470e-01 -8.23493011e-01 -1.82790002e-03]
 [ 8.23494905e-01 -5.67320708e-01 -1.83185370e-03]
 [ 4.71513188e-04 -2.54451995e-03  9.99996652e-01]]

 t_estimated:
[[0.96446645]
 [0.26420224]
 [0.00128254]]

 R_gt:
[[ 0.90827399  0.41667414  0.03770343]
 [-0.41669051  0.90901476 -0.00775637]
 [-0.03750518 -0.00866525  0.99925885]]

 t_gt:
[-0.84732682  0.52953593  0.04036031]

Pose Error in degrees for R and t:
149.20748931268201 47.36994947162453

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.60226006 -0.79718508  0.04217542]
 [ 0.7981031   0.60244387 -0.00963479]
 [-0.01772762  0.03946298  0.99906376]]

 t_estimated:
[[-0.0823613 ]
 [-0.99637875]
 [-0.02111899]]

 R_gt:
[[ 0.88553756  0.46286805  0.03971776]
 [-0.46257432  0.88642029 -0.01683499]
 [-0.04299931 -0.00346433  0.99906976]]

 t_gt:
[-0.84325312  0.53684832  0.02679653]

Pose Error in degrees for R and t:
80.50955817039974 62.223826363376475

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-8.26870027e-01  5.62390897e-01  1.56104678e-03]
 [-5.62393061e-01 -8.26866593e-01 -2.38372421e-03]
 [-4.98073668e-05 -2.84895198e-03  9.99995940e-01]]

 t_estimated:
[[8.13164991e-01]
 [5.82032823e-01]
 [7.00400509e-04]]

 R_gt:
[[ 0.98958237 -0.14354011 -0.01103088]
 [ 0.14361578  0.98961334  0.0063233 ]
 [ 0.01000959 -0.00784155  0.99991954]]

 t_gt:
[ 0.79389753 -0.60804608  0.00258399]

Pose Error in degrees for R and t:
154.0350009594646 73.04211400660681

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-9.51362018e-01 -3.08071373e-01 -1.52943380e-03]
 [ 3.08074380e-01 -9.51359095e-01 -2.45936287e-03]
 [-6.97381460e-04 -2.81092380e-03  9.99995806e-01]]

 t_estimated:
[[0.77517873]
 [0.63174014]
 [0.00152594]]

 R_gt:
[[ 0.97194835 -0.22911034 -0.05314094]
 [ 0.2290238   0.97338895 -0.00779391]
 [ 0.05351229 -0.00459534  0.99855688]]

 t_gt:
[ 0.81812702 -0.5655472  -0.10404104]

Pose Error in degrees for R and t:
148.81223581072297 73.93325075768803

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.60620903e-01 -2.77862058e-01 -3.97014481e-04]
 [ 2.77862171e-01  9.60620916e-01  2.64745252e-04]
 [ 3.07817754e-04 -3.64635129e-04  9.99999886e-01]]

 t_estimated:
[[-0.3158082 ]
 [-0.94882202]
 [-0.00139738]]

 R_gt:
[[ 9.12343023e-01 -4.08517036e-01 -2.72541225e-02]
 [ 4.08650791e-01  9.12690581e-01 -7.22718281e-04]
 [ 2.51700286e-02 -1.04782409e-02  9.99628038e-01]]

 t_gt:
[ 0.89306037 -0.44929117 -0.02409606]

Pose Error in degrees for R and t:
8.134850235009779 81.70353023637475

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-1.51428458e-01 -9.88466926e-01  1.59959043e-03]
 [-9.88468089e-01  1.51429074e-01  2.70535231e-04]
 [-5.09639625e-04 -1.54017736e-03 -9.99998684e-01]]

 t_estimated:
[[0.67939125]
 [0.7337736 ]
 [0.00195736]]

 R_gt:
[[ 0.96141372  0.27355183 -0.02922007]
 [-0.27377501  0.96178686 -0.00383055]
 [ 0.02705613  0.01168256  0.9995661 ]]

 t_gt:
[-0.55921374  0.82298469 -0.09988088]

Pose Error in degrees for R and t:
178.5576544341857 77.06979131880799

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 8.96136200e-01 -4.43778084e-01 -9.60693365e-04]
 [ 4.43778205e-01  8.96136650e-01 -9.48733554e-05]
 [ 9.03015250e-04 -3.41315329e-04  9.99999534e-01]]

 t_estimated:
[[-0.24662948]
 [-0.96910876]
 [-0.00145076]]

 R_gt:
[[ 0.87250938  0.48193661 -0.08040147]
 [-0.48120291  0.87611067  0.02955851]
 [ 0.0846851   0.01289966  0.99632469]]

 t_gt:
[-0.42282976  0.89591717 -0.13618894]

Pose Error in degrees for R and t:
55.387292301468996 40.20308100399642

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-5.85501427e-01 -8.10644434e-01 -6.60914292e-03]
 [-8.10670945e-01  5.85473259e-01  5.80364290e-03]
 [-8.35214364e-04  8.75588134e-03 -9.99961318e-01]]

 t_estimated:
[[ 0.88947912]
 [ 0.45696986]
 [-0.00233398]]

 R_gt:
[[ 0.80325108  0.59210717 -0.06478112]
 [-0.58728309  0.80543813  0.07980918]
 [ 0.09943339 -0.02606151  0.99470265]]

 t_gt:
[-0.3828381   0.92103139 -0.07166711]

Pose Error in degrees for R and t:
176.71879934562907 85.38129356209531

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.93271733e-01 -1.15806985e-01 -7.50729202e-05]
 [ 1.15806647e-01  9.93270040e-01 -1.85699443e-03]
 [ 2.89620609e-04  1.83580613e-03  9.99998273e-01]]

 t_estimated:
[[-0.93606403]
 [-0.35182412]
 [-0.00198007]]

 R_gt:
[[ 0.99349941 -0.11265865 -0.01635317]
 [ 0.11232966  0.9934738  -0.01978806]
 [ 0.01847612  0.01782294  0.999671  ]]

 t_gt:
[ 0.74291647 -0.6383095  -0.20158396]

Pose Error in degrees for R and t:
1.3998075103419698 61.93677710735276

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.90728899  0.42049291  0.00352222]
 [-0.42044666  0.90726822 -0.00943282]
 [-0.00716203  0.00707739  0.99994931]]

 t_estimated:
[[0.63152688]
 [0.77535288]
 [0.00130751]]

 R_gt:
[[ 0.96979778 -0.24212789 -0.02944199]
 [ 0.24191281  0.97023905 -0.01068619]
 [ 0.03115296  0.00324083  0.9995097 ]]

 t_gt:
[ 0.83923568 -0.53657232 -0.08816817]

Pose Error in degrees for R and t:
38.92740678620058 83.46260156757666

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.81801163e-01  1.89910531e-01  6.83574067e-04]
 [-1.89910304e-01  9.81801370e-01 -3.83245642e-04]
 [-7.43916338e-04  2.46453258e-04  9.99999693e-01]]

 t_estimated:
[[-9.96577883e-01]
 [ 8.26589990e-02]
 [ 1.11107785e-04]]

 R_gt:
[[ 0.88660292 -0.46195472 -0.02309293]
 [ 0.4621362   0.88680397  0.00296537]
 [ 0.01910854 -0.01330226  0.99972883]]

 t_gt:
[ 0.91310664 -0.40761262 -0.00939278]

Pose Error in degrees for R and t:
38.494641048202546 19.32168826891277

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 5.07899049e-01  8.61416591e-01 -1.15980928e-04]
 [ 8.61406769e-01 -5.07892605e-01  4.84561761e-03]
 [ 4.11518954e-03 -2.56099133e-03 -9.99988253e-01]]

 t_estimated:
[[0.07297537]
 [0.99733008]
 [0.00270279]]

 R_gt:
[[ 0.99837307  0.02485361 -0.05132488]
 [-0.03075394  0.99258794 -0.11757099]
 [ 0.04802257  0.11895767  0.99173725]]

 t_gt:
[-0.03868777  0.42941993 -0.90227589]

Pose Error in degrees for R and t:
175.76304586965813 64.97513741147229

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999218e-01  1.25030258e-03  1.48276538e-06]
 [-1.25029318e-03  9.99995105e-01 -2.86835149e-03]
 [-5.06906538e-06  2.86834739e-03  9.99995886e-01]]

 t_estimated:
[[0.70142019]
 [0.71274747]
 [0.00087133]]

 R_gt:
[[ 0.99100403 -0.12296112 -0.05284627]
 [ 0.10957841  0.97215934 -0.20711857]
 [ 0.07684274  0.19946438  0.97688751]]

 t_gt:
[ 0.3521907  -0.16963123 -0.92042759]

Pose Error in degrees for R and t:
13.961475690138531 82.80033419746925

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.99999543 -0.00101886 -0.00284543]
 [ 0.00102968  0.99999224  0.00380371]
 [ 0.00284154 -0.00380662  0.99998872]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.98194141 -0.18152252 -0.05331205]
 [ 0.16134584  0.9506375  -0.26505743]
 [ 0.09879521  0.25166813  0.96275719]]

 t_gt:
[ 0.391923   -0.1813301  -0.90195108]

Pose Error in degrees for R and t:
18.72588477604331 88.92172973285027

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[ 9.99999715e-01 -7.55253019e-04 -5.38703452e-06]
 [ 7.55252975e-04  9.99999715e-01 -8.33373211e-06]
 [ 5.39332706e-06  8.32966116e-06  1.00000000e+00]]

 t_estimated:
[[-9.94364158e-01]
 [-1.06015322e-01]
 [-8.20662797e-04]]

 R_gt:
[[ 0.99994842  0.00995139  0.0021838 ]
 [-0.00993708  0.99993037 -0.00649191]
 [-0.0022481   0.0064695   0.99997666]]

 t_gt:
[-0.50608405  0.82876376 -0.23880863]

Pose Error in degrees for R and t:
0.7248532298775776 65.44502422225212

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.72126912e-01 -2.34455149e-01 -2.23997879e-04]
 [ 2.34455194e-01  9.72126906e-01  2.00291616e-04]
 [ 1.70794964e-04 -2.47226336e-04  9.99999955e-01]]

 t_estimated:
[[ 3.18217646e-01]
 [-9.48017438e-01]
 [-6.83117883e-04]]

 R_gt:
[[ 0.99947988 -0.03080655  0.00956944]
 [ 0.03123113  0.99835941 -0.04800192]
 [-0.00807547  0.04827651  0.99880185]]

 t_gt:
[-0.16663098  0.82112248 -0.54588643]

Pose Error in degrees for R and t:
12.112478092709203 33.789083947547134

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 0.03932603  0.99922295  0.00263869]
 [ 0.99922541 -0.03932963  0.0013278 ]
 [ 0.00143054  0.00258443 -0.99999564]]

 t_estimated:
[[0.84848904]
 [0.52921223]
 [0.00087473]]

 R_gt:
[[ 0.99626828 -0.06648133  0.05504003]
 [ 0.06939106  0.99619512 -0.05273673]
 [-0.05132391  0.05635945  0.99709104]]

 t_gt:
[ 0.07368243  0.99297785 -0.09255209]

Pose Error in degrees for R and t:
175.57275688237675 53.98947877887979

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 0.98278625  0.1846931   0.00443296]
 [ 0.18473398 -0.98216079 -0.03512167]
 [-0.00213285  0.03533601 -0.99937321]]

 t_estimated:
[[-0.1894385 ]
 [ 0.98169441]
 [-0.01972673]]

 R_gt:
[[ 0.99615466 -0.08031624 -0.03498778]
 [ 0.07877631  0.99594824 -0.04338016]
 [ 0.03833089  0.04045705  0.99844581]]

 t_gt:
[ 0.65897466 -0.38441158 -0.64651383]

Pose Error in degrees for R and t:
175.77275809620662 60.69515030565792

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.86947631e-01  1.61041453e-01  1.54075581e-04]
 [-1.61041430e-01  9.86947635e-01 -1.52274498e-04]
 [-1.76587037e-04  1.25474403e-04  9.99999977e-01]]

 t_estimated:
[[0.50737037]
 [0.86172714]
 [0.00128243]]

 R_gt:
[[ 0.98746422 -0.15670699 -0.01892046]
 [ 0.15437135  0.98378022 -0.09136303]
 [ 0.03293094  0.08729611  0.9956381 ]]

 t_gt:
[ 0.59215118 -0.47517648 -0.65081817]

Pose Error in degrees for R and t:
18.996867699216157 83.69234344534992

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-9.03595279e-03  9.99958961e-01  6.53451829e-04]
 [-9.99956911e-01 -9.03453995e-03 -2.13367458e-03]
 [-2.12768338e-03 -6.72703455e-04  9.99997510e-01]]

 t_estimated:
[[0.25841036]
 [0.96603407]
 [0.00150239]]

 R_gt:
[[ 0.98496173 -0.16796013 -0.04048583]
 [ 0.1646041   0.98346883 -0.07545729]
 [ 0.05249105  0.06765778  0.99632677]]

 t_gt:
[ 0.63167384 -0.50718351 -0.58630456]

Pose Error in degrees for R and t:
100.19605235066543 70.87644518214272

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99999816e-01 -5.26811815e-04 -3.01235447e-04]
 [ 5.26796119e-04  9.99999860e-01 -5.21836250e-05]
 [ 3.01262896e-04  5.20249257e-05  9.99999953e-01]]

 t_estimated:
[[9.31289216e-01]
 [3.64279795e-01]
 [7.91912599e-04]]

 R_gt:
[[ 9.97274065e-01 -6.99474441e-02  2.35023559e-02]
 [ 6.99381921e-02  9.97550026e-01  1.21275465e-03]
 [-2.35295480e-02  4.35112010e-04  9.99722630e-01]]

 t_gt:
[ 0.65635138 -0.7362845   0.16458431]

Pose Error in degrees for R and t:
4.209034341006521 69.92989076702668

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.99998697e-01  1.45159758e-03 -7.06399543e-04]
 [-1.45144361e-03  9.99998923e-01  2.18428531e-04]
 [ 7.06715852e-04 -2.17402948e-04  9.99999727e-01]]

 t_estimated:
[[-0.48640699]
 [-0.87373107]
 [-0.00150126]]

 R_gt:
[[ 0.99261145 -0.11170539  0.04737943]
 [ 0.11126466  0.99371938  0.01186101]
 [-0.0484067  -0.00650172  0.99880692]]

 t_gt:
[ 0.68652869 -0.67249403  0.27646003]

Pose Error in degrees for R and t:
7.080524223888067 75.3311792354605

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99999950e-01  1.20209547e-05  3.15041492e-04]
 [-1.19168532e-05  9.99999945e-01 -3.30437245e-04]
 [-3.15045447e-04  3.30433474e-04  9.99999896e-01]]

 t_estimated:
[[9.02794115e-01]
 [4.30072278e-01]
 [7.88516647e-04]]

 R_gt:
[[ 9.86273043e-01 -1.53046622e-01  6.19842804e-02]
 [ 1.53361094e-01  9.88169628e-01 -3.19974878e-04]
 [-6.12013880e-02  9.82229990e-03  9.98076855e-01]]

 t_gt:
[ 0.7346306  -0.64926712  0.19690122]

Pose Error in degrees for R and t:
9.502324096430867 67.40941226066157

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99472731e-01 -3.24655272e-02 -4.98849221e-04]
 [ 3.24657222e-02  9.99472774e-01  3.87952933e-04]
 [ 4.85991118e-04 -4.03943878e-04  9.99999800e-01]]

 t_estimated:
[[ 0.05007844]
 [ 0.9987232 ]
 [-0.0066424 ]]

 R_gt:
[[ 0.99371546 -0.10992869 -0.02110183]
 [ 0.11120205  0.99104834  0.07387249]
 [ 0.01279233 -0.07575438  0.99704416]]

 t_gt:
[ 0.47256273 -0.78833909  0.39396187]

Pose Error in degrees for R and t:
6.275270862529014 39.97862596121887

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.97970809 -0.19950605  0.0192196 ]
 [-0.19971071  0.97981006 -0.00937383]
 [-0.01696142 -0.01302197 -0.99977134]]

 t_estimated:
[[0.98522949]
 [0.17073874]
 [0.0130819 ]]

 R_gt:
[[ 0.98148953 -0.17663403 -0.07402408]
 [ 0.18630807  0.97012825  0.15537289]
 [ 0.04436919 -0.16628747  0.98507809]]

 t_gt:
[ 0.47193478 -0.75506778  0.45513758]

Pose Error in degrees for R and t:
178.5049262612626 70.0013009633397

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 4.90842476e-01 -8.71241824e-01  3.36873650e-03]
 [ 8.71246062e-01  4.90846360e-01  3.86933782e-04]
 [-1.99064494e-03  2.74507487e-03  9.99994251e-01]]

 t_estimated:
[[8.86128548e-01]
 [4.63439014e-01]
 [6.90669172e-04]]

 R_gt:
[[ 0.95666558 -0.2573936  -0.13615915]
 [ 0.27838421  0.94558848  0.16842252]
 [ 0.0854001  -0.19902833  0.97626479]]

 t_gt:
[ 0.57682829 -0.74108381  0.34360429]

Pose Error in degrees for R and t:
46.54168548222733 80.33227046034078

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-2.10839023e-01 -9.77519368e-01  1.67091454e-03]
 [-9.77520519e-01  2.10839941e-01  3.91872309e-04]
 [-7.35358295e-04 -1.55073127e-03 -9.99998527e-01]]

 t_estimated:
[[0.75843304]
 [0.65174808]
 [0.00193973]]

 R_gt:
[[ 0.99606025 -0.06836849  0.05648244]
 [ 0.0610396   0.99057623  0.12261375]
 [-0.06433244 -0.11868281  0.99084543]]

 t_gt:
[ 0.30843363 -0.42618346  0.85043304]

Pose Error in degrees for R and t:
172.85324054405567 87.58206556083508

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.97079241e-01 -7.63739813e-02  5.44854146e-05]
 [ 7.63739734e-02  9.97079234e-01  1.34854247e-04]
 [-6.46256312e-05 -1.30299102e-04  9.99999989e-01]]

 t_estimated:
[[5.79862368e-01]
 [8.14714410e-01]
 [2.54145712e-04]]

 R_gt:
[[ 0.9900868  -0.1086049   0.08906975]
 [ 0.09028005  0.97785877  0.1887902 ]
 [-0.10760088 -0.17887703  0.97796934]]

 t_gt:
[ 0.27576154 -0.41809506  0.86553572]

Pose Error in degrees for R and t:
12.120382140178211 79.60086113251799

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-1.20953978e-03 -9.99999212e-01 -3.35569709e-04]
 [ 9.99999220e-01 -1.20964426e-03  3.11313882e-04]
 [-3.11719557e-04 -3.35192901e-04  9.99999895e-01]]

 t_estimated:
[[9.99999672e-01]
 [7.32908986e-04]
 [3.44772210e-04]]

 R_gt:
[[ 0.98399114 -0.12682834  0.12520308]
 [ 0.09031616  0.96051094  0.26317843]
 [-0.15363739 -0.24765669  0.9565886 ]]

 t_gt:
[ 0.18663757 -0.37838918  0.90663556]

Pose Error in degrees for R and t:
85.07936210213325 79.241325961585

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 6.16750420e-01  7.87158490e-01  6.56121882e-04]
 [-7.87157989e-01  6.16750768e-01 -8.88659391e-04]
 [-1.10417946e-03  3.16094719e-05  9.99999390e-01]]

 t_estimated:
[[-1.99149951e-01]
 [ 9.79968690e-01]
 [ 8.14818955e-04]]

 R_gt:
[[ 0.99420407  0.07692713 -0.07509791]
 [-0.07393203  0.99638425  0.04188041]
 [ 0.07804795 -0.03608572  0.99629579]]

 t_gt:
[-0.06840981  0.95536987 -0.28738216]

Pose Error in degrees for R and t:
47.833760542237336 18.264067635372562

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 0.26653338 -0.96377181 -0.0101913 ]
 [ 0.96377947  0.26660925 -0.00697487]
 [ 0.00943928 -0.00796313  0.99992374]]

 t_estimated:
[[ 0.99031992]
 [-0.13876491]
 [-0.00328094]]

 R_gt:
[[ 0.98505406  0.14668565 -0.09028779]
 [-0.13611732  0.98413481  0.11380899]
 [ 0.10555009 -0.09981846  0.98939158]]

 t_gt:
[-0.17409685  0.98014364  0.09491437]

Pose Error in degrees for R and t:
83.00387837000997 72.01713689678184

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99693343 -0.07821337  0.00252952]
 [ 0.07821877  0.99693398 -0.00211337]
 [-0.00235647  0.00230475  0.99999457]]

 t_estimated:
[[-0.03652687]
 [ 0.99933004]
 [ 0.00229225]]

 R_gt:
[[ 0.9868748   0.11448108 -0.11389805]
 [-0.10388118  0.99004081  0.09501953]
 [ 0.12364223 -0.08194044  0.98893818]]

 t_gt:
[ 0.31333617  0.93672628 -0.15609073]

Pose Error in degrees for R and t:
13.863567794318302 22.4376047294072

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 8.58943854e-01  5.12069726e-01  2.25008412e-04]
 [-5.12069679e-01  8.58943880e-01 -2.35314973e-04]
 [-3.13767272e-04  8.69023646e-05  9.99999947e-01]]

 t_estimated:
[[-9.93797694e-01]
 [ 1.11201950e-01]
 [-5.18735284e-04]]

 R_gt:
[[ 9.93110899e-01  1.17184161e-01 -2.87217157e-04]
 [-1.17082858e-01  9.92342121e-01  3.93585791e-02]
 [ 4.89697969e-03 -3.90536044e-02  9.99225131e-01]]

 t_gt:
[-0.85835948  0.45848887  0.23023241]

Pose Error in degrees for R and t:
24.17732412632288 25.324316662603163

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.73614424  0.67419226 -0.05963599]
 [ 0.67660718 -0.73081179  0.09009361]
 [ 0.01715773 -0.10667203 -0.99414621]]

 t_estimated:
[[-0.81266998]
 [-0.58271835]
 [-0.00261309]]

 R_gt:
[[ 9.64690689e-01  2.63125740e-01  1.17464061e-02]
 [-2.63135749e-01  9.64758924e-01 -8.71923850e-04]
 [-1.15619136e-02 -2.24938641e-03  9.99930404e-01]]

 t_gt:
[-0.82752616  0.55991388  0.04119357]

Pose Error in degrees for R and t:
174.37294357108055 69.74945797520007

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 4.96289032e-01 -8.68153751e-01 -2.50236682e-03]
 [ 8.68157051e-01  4.96289215e-01  5.90986399e-04]
 [ 7.28830608e-04 -2.46574747e-03  9.99996694e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.93686887  0.34953924 -0.009948  ]
 [-0.34954099  0.93691999  0.00176772]
 [ 0.00993844  0.00182272  0.99994832]]

 t_gt:
[-0.78973193  0.61344476  0.00300046]

Pose Error in degrees for R and t:
80.70589818179428 52.458588012190624

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999122e-01  1.32502943e-03 -4.34847458e-06]
 [-1.32502945e-03  9.99999122e-01 -2.75836170e-06]
 [ 4.34481585e-06  2.76412113e-06  1.00000000e+00]]

 t_estimated:
[[-5.43473999e-01]
 [ 8.39425952e-01]
 [-2.87159664e-04]]

 R_gt:
[[ 0.99333199  0.07784576 -0.08503972]
 [-0.07222808  0.99511801  0.06726089]
 [ 0.08986074 -0.06067025  0.99410515]]

 t_gt:
[ 0.04177229  0.95310092 -0.2997561 ]

Pose Error in degrees for R and t:
7.530022560756948 38.97307862112189

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99999293e-01 -1.17882483e-03  1.56662449e-04]
 [ 1.17878380e-03  9.99999271e-01  2.61722771e-04]
 [-1.56970860e-04 -2.61537915e-04  9.99999953e-01]]

 t_estimated:
[[0.43595551]
 [0.89996757]
 [0.0010791 ]]

 R_gt:
[[ 0.9820643   0.13459186 -0.13204609]
 [-0.122777    0.98798253  0.09390635]
 [ 0.14309798 -0.07600977  0.98678526]]

 t_gt:
[ 0.05083544  0.9637415  -0.26195052]

Pose Error in degrees for R and t:
11.9678041622301 27.225178216836458

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.99682647  0.07959267 -0.00140974]
 [-0.07958955 -0.99682542 -0.00214157]
 [-0.00157572 -0.00202258  0.99999671]]

 t_estimated:
[[0.73267459]
 [0.68057822]
 [0.00110843]]

 R_gt:
[[ 0.97704119  0.16433681 -0.13559231]
 [-0.14445072  0.97877243  0.14539233]
 [ 0.15660711 -0.12246795  0.98003827]]

 t_gt:
[ 0.1017478   0.9946293  -0.01897235]

Pose Error in degrees for R and t:
166.54589682695737 41.2838596168661

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[-0.85780777  0.51356255 -0.02047782]
 [ 0.51353874  0.85803941  0.00680685]
 [ 0.02106652 -0.00467718 -0.99976714]]

 t_estimated:
[[ 0.96596625]
 [-0.25845621]
 [-0.01046883]]

 R_gt:
[[ 0.99159482  0.12851912  0.01495942]
 [-0.12772379  0.99076342 -0.04553464]
 [-0.02067319  0.04324203  0.998851  ]]

 t_gt:
[-0.81539797  0.54727989 -0.18870845]

Pose Error in degrees for R and t:
179.57366600341453 22.009880434452757

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-3.43580280e-01  9.39114027e-01  4.17554005e-03]
 [ 9.39121948e-01  3.43583958e-01 -1.75426567e-04]
 [-1.59939413e-03  3.86106820e-03 -9.99991267e-01]]

 t_estimated:
[[-0.31820194]
 [-0.94802232]
 [-0.00109725]]

 R_gt:
[[ 0.96929968  0.24316096  0.036476  ]
 [-0.24360809  0.96983766  0.00829228]
 [-0.03336005 -0.016923    0.9993006 ]]

 t_gt:
[-0.83167532  0.54922705  0.08164439]

Pose Error in degrees for R and t:
178.58073242244456 75.1595421933855

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 6.53104136e-01  7.57268065e-01  2.55584051e-04]
 [-7.57268083e-01  6.53104164e-01 -3.98821846e-05]
 [-1.97124513e-04 -1.67498425e-04  9.99999967e-01]]

 t_estimated:
[[-9.99414892e-01]
 [-3.41945997e-02]
 [-7.77149993e-04]]

 R_gt:
[[ 0.92833481  0.36940963  0.04162378]
 [-0.36965375  0.92916727 -0.00193942]
 [-0.03939269 -0.01358456  0.99913125]]

 t_gt:
[-0.79471991  0.60435161  0.05638614]

Pose Error in degrees for R and t:
27.627428450892413 39.32664937316887

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99937655e-01  1.11652826e-02  1.51017951e-04]
 [-1.11652810e-02  9.99937666e-01 -1.11278525e-05]
 [-1.51132783e-04  9.44100091e-06  9.99999989e-01]]

 t_estimated:
[[0.68636831]
 [0.72725306]
 [0.00123893]]

 R_gt:
[[ 0.99992332 -0.00396058 -0.01167639]
 [ 0.00313464  0.99754873 -0.06989725]
 [ 0.01192433  0.06985636  0.9974854 ]]

 t_gt:
[ 0.03364222  0.49855105 -0.86620728]

Pose Error in degrees for R and t:
4.151759722645113 67.3816759438055

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 0.09645081 -0.99533368 -0.00284682]
 [-0.99533505 -0.09644349 -0.00260775]
 [ 0.00232102  0.00308506 -0.99999255]]

 t_estimated:
[[ 6.71957604e-01]
 [ 7.40589562e-01]
 [-2.82170763e-04]]

 R_gt:
[[ 0.99834789 -0.05723341  0.00511349]
 [ 0.05740952  0.98969715 -0.13115971]
 [ 0.00244507  0.13123672  0.99134757]]

 t_gt:
[ 0.1697826   0.52141465 -0.83624197]

Pose Error in degrees for R and t:
174.24967819572808 59.9684423307957

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-2.70058001e-01  9.62843912e-01 -5.26159101e-04]
 [-9.62840931e-01 -2.70058476e-01 -2.40027331e-03]
 [-2.45318227e-03 -1.41605494e-04  9.99996981e-01]]

 t_estimated:
[[0.44901425]
 [0.89352334]
 [0.00150172]]

 R_gt:
[[ 0.99933212 -0.03426948 -0.0126216 ]
 [ 0.03172085  0.98578044 -0.165013  ]
 [ 0.01809682  0.1645032   0.98621048]]

 t_gt:
[-0.00816493  0.72093194 -0.69295777]

Pose Error in degrees for R and t:
107.85119204000463 50.24823290255493

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 0.76847877  0.63983492  0.00718769]
 [ 0.63987418 -0.76844987 -0.00677039]
 [ 0.00119145  0.00980212 -0.99995125]]

 t_estimated:
[[-0.99844139]
 [-0.05546897]
 [-0.00616322]]

 R_gt:
[[ 0.98826368 -0.15095227 -0.02342313]
 [ 0.15105034  0.98852185  0.002489  ]
 [ 0.02277858 -0.00599743  0.99972269]]

 t_gt:
[ 0.69196178 -0.72191891  0.00468833]

Pose Error in degrees for R and t:
179.83748456934023 49.39291660229632

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 1.93067164e-01  9.81185288e-01  7.08031311e-04]
 [-9.81184048e-01  1.93068080e-01 -1.60668796e-03]
 [-1.71315683e-03 -3.84510339e-04  9.99998459e-01]]

 t_estimated:
[[0.24856291]
 [0.96861511]
 [0.00111463]]

 R_gt:
[[ 0.97668538 -0.21271817 -0.02892822]
 [ 0.21464658  0.96986659  0.11525194]
 [ 0.00354095 -0.11877451  0.99291538]]

 t_gt:
[ 0.5086444  -0.75645831  0.41115898]

Pose Error in degrees for R and t:
91.45431698783413 52.71151443429753

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-9.08595923e-01 -4.17675941e-01  5.07078430e-04]
 [-4.17674181e-01  9.08594576e-01  2.04329959e-03]
 [-1.31416579e-03  1.64474011e-03 -9.99997784e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.95746214 -0.27117821 -0.09863192]
 [ 0.2839108   0.94640278  0.15399704]
 [ 0.05158515 -0.17544935  0.98313642]]

 t_gt:
[ 0.56019821 -0.73765355  0.37688884]

Pose Error in degrees for R and t:
177.85094834720562 56.06857767566834

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.98579781e-01  5.32767263e-02  1.09743444e-04]
 [-5.32765906e-02  9.98579294e-01 -9.99233794e-04]
 [-1.62823436e-04  9.91967906e-04  9.99999495e-01]]

 t_estimated:
[[-0.07386967]
 [-0.99724054]
 [-0.00738697]]

 R_gt:
[[ 0.99745347 -0.05949802  0.03932673]
 [ 0.05908133  0.99818446  0.01169749]
 [-0.03995123 -0.00934456  0.99915796]]

 t_gt:
[ 0.60809238 -0.640877    0.46850861]

Pose Error in degrees for R and t:
6.87172672067137 53.79130729581119

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.95140875 -0.30781479 -0.00845246]
 [ 0.30770034 -0.95140025  0.01257265]
 [-0.01191172  0.00936091  0.99988524]]

 t_estimated:
[[8.69774142e-01]
 [4.93449553e-01]
 [6.93047125e-04]]

 R_gt:
[[ 0.99277101 -0.107427    0.05352004]
 [ 0.10690432  0.99418898  0.01254625]
 [-0.05455682 -0.00673343  0.99848807]]

 t_gt:
[ 0.69231811 -0.63896332  0.33529318]

Pose Error in degrees for R and t:
155.90747467061564 73.31578692065007

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999366e-01 -2.49299705e-04  1.09826237e-03]
 [ 2.49952787e-04  9.99999792e-01 -5.94552551e-04]
 [-1.09811392e-03  5.94826688e-04  9.99999220e-01]]

 t_estimated:
[[0.76700438]
 [0.64164111]
 [0.00098208]]

 R_gt:
[[ 0.98937816 -0.13449432  0.05515457]
 [ 0.13481423  0.99086833 -0.00210872]
 [-0.05436694  0.00952232  0.9984761 ]]

 t_gt:
[ 0.75355575 -0.61626153  0.22885686]

Pose Error in degrees for R and t:
8.326981426801677 79.46788710051766

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.96081649e-01  8.84364552e-02  5.85202796e-04]
 [-8.84358618e-02  9.96081399e-01 -9.72382480e-04]
 [-6.68903679e-04  9.16819431e-04  9.99999356e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99917683 -0.0384329  -0.01307393]
 [ 0.0375508   0.99735895 -0.0621721 ]
 [ 0.01542928  0.06163012  0.9979799 ]]

 t_gt:
[ 0.49615238 -0.06639717 -0.86569292]

Pose Error in degrees for R and t:
8.09519576770224 60.312253264942704

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.04402690e-01  4.26679703e-01  4.54374748e-04]
 [-4.26679375e-01  9.04402710e-01 -6.70094451e-04]
 [-6.96853455e-04  4.12162890e-04  9.99999672e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99492783 -0.09473998 -0.0338156 ]
 [ 0.09108433  0.99111805 -0.09689544]
 [ 0.04269576  0.09332444  0.99472016]]

 t_gt:
[ 0.60137014 -0.17592908 -0.77936058]

Pose Error in degrees for R and t:
31.147566333315627 53.11453052120665

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.99999257  0.00189875  0.00335475]
 [-0.00189277  0.99999661 -0.00178581]
 [-0.00335813  0.00177944  0.99999278]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.97952827 -0.19656482 -0.04343592]
 [ 0.18830723  0.97097086 -0.14750219]
 [ 0.07116943  0.13630367  0.98810687]]

 t_gt:
[ 0.63644389 -0.27218354 -0.72170306]

Pose Error in degrees for R and t:
14.305981156741487 62.47373787873539

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.98468183e-01  5.53281553e-02  2.89135098e-04]
 [-5.53277057e-02  9.98467293e-01 -1.38222463e-03]
 [-3.65167878e-04  1.36411013e-03  9.99999003e-01]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.98804341  0.15404024 -0.00647756]
 [-0.15416309  0.98651643 -0.05494621]
 [-0.00207344  0.05528856  0.99846866]]

 t_gt:
[-0.80165338  0.54632075 -0.24266336]

Pose Error in degrees for R and t:
6.484606367441173 57.65941669190214

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.97376631e-01 -7.23616777e-02  1.90881081e-03]
 [ 7.23618928e-02  9.97378441e-01 -4.37868429e-05]
 [-1.90063826e-03  1.81797137e-04  9.99998177e-01]]

 t_estimated:
[[-0.99127826]
 [-0.13176677]
 [ 0.00221996]]

 R_gt:
[[ 0.97911415  0.20060744 -0.03304796]
 [-0.20183364  0.97863386 -0.0392359 ]
 [ 0.02447093  0.04508707  0.99868338]]

 t_gt:
[-0.77726115  0.59752528 -0.19704984]

Pose Error in degrees for R and t:
16.04659820071707 46.2660511873191

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.05936254e-01  4.23413595e-01  6.56678973e-04]
 [-4.23413740e-01  9.05936420e-01  9.30487806e-05]
 [-5.55511278e-04 -3.62343163e-04  9.99999780e-01]]

 t_estimated:
[[-0.2507282 ]
 [ 0.96805682]
 [ 0.00116716]]

 R_gt:
[[ 0.97604332  0.21224085 -0.04787871]
 [-0.21537661  0.97370024 -0.07430138]
 [ 0.03084893  0.08283341  0.99608578]]

 t_gt:
[-0.66960448  0.67760458 -0.30410833]

Pose Error in degrees for R and t:
13.663126833115253 34.56394752394387

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.63852568 -0.76944063  0.01568653]
 [-0.7694409   0.63867573  0.00734926]
 [-0.01567342 -0.00737716 -0.99984995]]

 t_estimated:
[[0.90422173]
 [0.42696131]
 [0.0093326 ]]

 R_gt:
[[ 0.9912444  -0.12944019 -0.02606182]
 [ 0.13008959  0.9911869   0.0249949 ]
 [ 0.02259545 -0.02816695  0.99934753]]

 t_gt:
[ 0.63646197 -0.76916594  0.05744498]

Pose Error in degrees for R and t:
179.62321301269031 75.66240630515291

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.99435649  0.10606915 -0.00212193]
 [-0.10606553 -0.99435759 -0.00175544]
 [-0.00229616 -0.00152047  0.99999621]]

 t_estimated:
[[0.72361269]
 [0.69020458]
 [0.00152326]]

 R_gt:
[[ 0.97840076 -0.20475678  0.02838369]
 [ 0.20535773  0.97848049 -0.02012677]
 [-0.02365285  0.02552113  0.99939384]]

 t_gt:
[ 0.60245922 -0.79558253 -0.06396348]

Pose Error in degrees for R and t:
174.2559237015567 83.49643721996614

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.91504810e-01 -1.30070028e-01  1.67923680e-05]
 [ 1.30070029e-01  9.91504805e-01 -9.21586138e-05]
 [-4.66264007e-06  9.35598926e-05  9.99999996e-01]]

 t_estimated:
[[ 6.16801528e-01]
 [-7.87118705e-01]
 [-1.37821894e-04]]

 R_gt:
[[ 0.97609123 -0.19923466  0.08689994]
 [ 0.20750191  0.97315187 -0.09959179]
 [-0.06472484  0.11524224  0.99122623]]

 t_gt:
[ 0.47934354 -0.7805549  -0.40120297]

Pose Error in degrees for R and t:
8.728681223563296 24.480205597294695

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999999e-01 -1.22114733e-06  4.71800368e-05]
 [ 1.22115636e-06  1.00000000e+00 -1.91489470e-07]
 [-4.71800366e-05  1.91547084e-07  9.99999999e-01]]

 t_estimated:
[[7.63365900e-01]
 [6.45965941e-01]
 [7.10649619e-04]]

 R_gt:
[[ 0.99273693 -0.11780955 -0.02438253]
 [ 0.11756064  0.99299969 -0.01144714]
 [ 0.02556045  0.00849812  0.9996372 ]]

 t_gt:
[ 0.72040628 -0.67460655 -0.16099936]

Pose Error in degrees for R and t:
6.934000383521777 83.45137874847937

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.98627402e-01  5.23762563e-02  1.98121118e-04]
 [-5.23762553e-02  9.98627422e-01 -1.01991888e-05]
 [-1.98383376e-04 -1.91652840e-07  9.99999980e-01]]

 t_estimated:
[[0.58532566]
 [0.81079779]
 [0.00090189]]

 R_gt:
[[ 0.97813722 -0.20527105 -0.03333497]
 [ 0.2046204   0.97859633 -0.02191843]
 [ 0.0371202   0.01461919  0.99920424]]

 t_gt:
[ 0.74743694 -0.65082065 -0.13330602]

Pose Error in degrees for R and t:
15.009073408232847 84.81854977836988

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99999997e-01  2.22147866e-05  7.03855818e-05]
 [-2.22147607e-05  1.00000000e+00 -3.69097115e-07]
 [-7.03855900e-05  3.67533514e-07  9.99999998e-01]]

 t_estimated:
[[8.28637643e-01]
 [5.59784991e-01]
 [6.49402541e-04]]

 R_gt:
[[ 0.97571487 -0.20596909 -0.07455831]
 [ 0.19965153  0.97624775 -0.08415051]
 [ 0.09012041  0.06722121  0.9936602 ]]

 t_gt:
[ 0.75533839 -0.53630906 -0.37661189]

Pose Error in degrees for R and t:
13.39375420039974 71.00779660212997

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 2.12175955e-01  9.77230824e-01  1.13128910e-03]
 [ 9.77230252e-01 -2.12177381e-01  1.33911309e-03]
 [ 1.54865655e-03  8.21402339e-04 -9.99998463e-01]]

 t_estimated:
[[9.36428869e-01]
 [3.50857287e-01]
 [3.70230659e-04]]

 R_gt:
[[ 0.99629528  0.08058678 -0.03004491]
 [-0.08230721  0.99472121 -0.06128134]
 [ 0.02494797  0.06352777  0.99766796]]

 t_gt:
[-0.51578316  0.61791253 -0.59342383]

Pose Error in degrees for R and t:
178.22496560650745 74.54896086557007

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999943e-01 -3.35382913e-04 -3.67196152e-05]
 [ 3.35382007e-04  9.99999943e-01 -2.46725247e-05]
 [ 3.67278878e-05  2.46602082e-05  9.99999999e-01]]

 t_estimated:
[[-9.99997538e-01]
 [-2.19736946e-03]
 [-3.07765965e-04]]

 R_gt:
[[ 0.99478306  0.09923242  0.0236834 ]
 [-0.09882433  0.99494557 -0.01780943]
 [-0.02533129  0.01537657  0.99956101]]

 t_gt:
[-0.75249033  0.65726168  0.04201664]

Pose Error in degrees for R and t:
5.950924190392249 41.320209009250355

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-5.86564963e-01  8.09897199e-01  2.84096036e-03]
 [ 8.09902128e-01  5.86562598e-01  1.69179417e-03]
 [-2.96221725e-04  3.29324702e-03 -9.99994533e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99114654  0.01404845  0.13203449]
 [-0.03977183  0.9801425   0.19426604]
 [-0.12668387 -0.19779579  0.97202278]]

 t_gt:
[-0.13253585  0.03704715  0.99048562]

Pose Error in degrees for R and t:
178.39767262836799 87.8652736187027

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99907909e-01 -1.35710056e-02 -3.92686912e-05]
 [ 1.35709805e-02  9.99907740e-01 -5.82287620e-04]
 [ 4.71672968e-05  5.81701082e-04  9.99999830e-01]]

 t_estimated:
[[-9.99963649e-01]
 [-8.47426822e-03]
 [-9.41585357e-04]]

 R_gt:
[[ 0.96089455  0.27661672  0.01281613]
 [-0.27666196  0.96096514  0.00183556]
 [-0.01180841 -0.00530868  0.99991589]]

 t_gt:
[-0.93152771  0.36300518  0.02198578]

Pose Error in degrees for R and t:
16.854872842888174 21.81370967861185

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-0.99868171  0.05130695 -0.00156076]
 [-0.05130412 -0.99868145 -0.0018006 ]
 [-0.00165109 -0.00171816  0.99999716]]

 t_estimated:
[[9.66209642e-01]
 [2.57756394e-01]
 [7.53673668e-04]]

 R_gt:
[[ 0.94833315  0.31622761  0.02576181]
 [-0.31575996  0.94861392 -0.02068795]
 [-0.03098112  0.01148549  0.99945378]]

 t_gt:
[-0.91799902  0.39623453 -0.01661328]

Pose Error in degrees for R and t:
158.6338342346038 38.29226456427111

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-0.88902791  0.45785135 -0.00122919]
 [-0.45783215 -0.88900984 -0.00715769]
 [-0.00436993 -0.00580062  0.99997363]]

 t_estimated:
[[0.63575588]
 [0.77188081]
 [0.00380594]]

 R_gt:
[[ 0.88819556  0.45892974  0.02218367]
 [-0.45909763  0.8883814   0.00289478]
 [-0.01837944 -0.01275446  0.99974977]]

 t_gt:
[-0.87541459  0.48190258  0.03767225]

Pose Error in degrees for R and t:
125.42485624227616 79.37179234643968

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99998938e-01  1.44681484e-03  1.73023520e-04]
 [-1.44683307e-03  9.99998948e-01  1.05256911e-04]
 [-1.72871051e-04 -1.05507136e-04  9.99999979e-01]]

 t_estimated:
[[0.99847853]
 [0.05512451]
 [0.00138198]]

 R_gt:
[[ 0.99210283 -0.12391412 -0.019391  ]
 [ 0.12356813  0.99217014 -0.01812652]
 [ 0.02148579  0.01558728  0.99964709]]

 t_gt:
[ 0.6671727  -0.6994829  -0.25613329]

Pose Error in degrees for R and t:
7.353828305062038 51.15284541435263

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999631e-01  8.13257514e-04  2.75938574e-04]
 [-8.13244341e-04  9.99999668e-01 -4.78504353e-05]
 [-2.75977397e-04  4.76260122e-05  9.99999961e-01]]

 t_estimated:
[[9.86834914e-01]
 [1.61727914e-01]
 [9.66796536e-04]]

 R_gt:
[[ 0.98050821 -0.19587302 -0.01537302]
 [ 0.1949285   0.97960456 -0.04874485]
 [ 0.0246082   0.04479889  0.99869233]]

 t_gt:
[ 0.60463731 -0.72946678 -0.31983111]

Pose Error in degrees for R and t:
11.69514358753196 61.41951076478307

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.94799197e-01  1.01855027e-01  3.33869243e-04]
 [-1.01854986e-01  9.94799247e-01 -1.38746383e-04]
 [-3.46264888e-04  1.04018544e-04  9.99999935e-01]]

 t_estimated:
[[ 9.35092035e-01]
 [-3.54404867e-01]
 [-2.76548767e-04]]

 R_gt:
[[ 0.95984742 -0.27785973 -0.03854664]
 [ 0.27608716  0.96005024 -0.04558743]
 [ 0.04967524  0.03311537  0.99821568]]

 t_gt:
[ 0.62477626 -0.73618439 -0.26016756]

Pose Error in degrees for R and t:
22.204200670079125 32.306351883280826

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 9.99527600e-01  3.07339615e-02  1.65524948e-05]
 [-3.07339609e-02  9.99527600e-01 -3.62289060e-05]
 [-1.76581332e-05  3.57030677e-05  9.99999999e-01]]

 t_estimated:
[[ 4.34129336e-01]
 [-9.00850531e-01]
 [-2.02582916e-04]]

 R_gt:
[[ 0.99911792 -0.02401999 -0.03443975]
 [ 0.02466707  0.99952386  0.0184853 ]
 [ 0.03397979 -0.01931899  0.99923596]]

 t_gt:
[ 0.63635606 -0.66068529 -0.39817825]

Pose Error in degrees for R and t:
3.872038673293717 29.36422105622742

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.84062118e-01  1.77825043e-01  4.64845205e-05]
 [-1.77825036e-01  9.84062113e-01 -1.19183364e-04]
 [-6.69374422e-05  1.09017722e-04  9.99999992e-01]]

 t_estimated:
[[8.47929833e-01]
 [5.30107814e-01]
 [8.38885437e-04]]

 R_gt:
[[ 0.99861177  0.00753615 -0.05213355]
 [-0.00475424  0.9985683   0.05326527]
 [ 0.05246074 -0.05294325  0.99721842]]

 t_gt:
[ 0.14072996 -0.92809122 -0.34473435]

Pose Error in degrees for R and t:
10.775411558819561 68.10242765986717

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.96892681e-01  7.87717129e-02 -2.15878381e-05]
 [-7.87717151e-02  9.96892672e-01 -1.30552737e-04]
 [ 1.12368949e-05  1.31847579e-04  9.99999991e-01]]

 t_estimated:
[[9.97913400e-01]
 [6.45600166e-02]
 [9.22285952e-04]]

 R_gt:
[[ 0.99854339  0.02616479 -0.0471764 ]
 [-0.02484184  0.99928782  0.02839419]
 [ 0.04788642 -0.02718126  0.99848288]]

 t_gt:
[-0.41561296 -0.64358082 -0.64270491]

Pose Error in degrees for R and t:
4.395213700222201 62.81351668662847

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99999834e-01 -5.70660692e-04  8.11347147e-05]
 [ 5.70650971e-04  9.99999830e-01  1.19778224e-04]
 [-8.12030536e-05 -1.19731905e-04  9.99999990e-01]]

 t_estimated:
[[0.28206192]
 [0.95939428]
 [0.00191879]]

 R_gt:
[[ 0.99960576 -0.00511641 -0.0276451 ]
 [ 0.00548656  0.99989666  0.01330578]
 [ 0.02757503 -0.01345249  0.99952873]]

 t_gt:
[ 0.96134338  0.23951937 -0.13582848]

Pose Error in degrees for R and t:
1.7794049186248604 59.95425714213094

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999996e-01  9.46023069e-05 -6.43660335e-06]
 [-9.46006724e-05  9.99999963e-01  2.53474502e-04]
 [ 6.46058239e-06 -2.53473892e-04  9.99999968e-01]]

 t_estimated:
[[-0.78993387]
 [-0.61319097]
 [-0.00114351]]

 R_gt:
[[ 0.99939884  0.01445093 -0.03150672]
 [-0.0143221   0.99988823  0.00431782]
 [ 0.03156576 -0.0038631   0.99949382]]

 t_gt:
[ 0.89227787  0.3994481  -0.21043152]

Pose Error in degrees for R and t:
1.996417503601318 18.27948393238357

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-5.91853467e-01  8.06044909e-01  1.03844707e-03]
 [-8.06045132e-01 -5.91851293e-01 -1.81446207e-03]
 [-8.47931672e-04 -1.91093087e-03  9.99997815e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99582283  0.05144018 -0.07544554]
 [-0.04958525  0.99842546  0.02625743]
 [ 0.07667696 -0.02240616  0.99680364]]

 t_gt:
[ 0.89477743  0.3827697  -0.22991456]

Pose Error in degrees for R and t:
123.443069442378 67.16344377034027

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.89851993e-01 -1.42101678e-01 -3.80227969e-04]
 [ 1.42101821e-01  9.89851972e-01  3.80981128e-04]
 [ 3.22231348e-04 -4.31146016e-04  9.99999855e-01]]

 t_estimated:
[[9.99912399e-01]
 [1.32119613e-02]
 [7.98619189e-04]]

 R_gt:
[[ 0.99733655  0.07216719  0.01058565]
 [-0.07171432  0.99669227 -0.03825515]
 [-0.01331035  0.03739386  0.99921207]]

 t_gt:
[-0.5623458   0.77292877 -0.29385086]

Pose Error in degrees for R and t:
12.509463679026766 56.47372695336769

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-9.89737105e-01 -1.42900050e-01 -1.97607511e-04]
 [-1.42900170e-01  9.89735380e-01  1.84925772e-03]
 [-6.86798755e-05  1.85851713e-03 -9.99998271e-01]]

 t_estimated:
[[9.97063280e-01]
 [7.65781730e-02]
 [7.73516897e-04]]

 R_gt:
[[ 0.98648246  0.16386352  0.00107219]
 [-0.16375995  0.98605829 -0.02953865]
 [-0.00589681  0.02896249  0.99956289]]

 t_gt:
[-0.67351392  0.73100404 -0.10959969]

Pose Error in degrees for R and t:
179.92022948374085 52.00142905837187

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 0.82758451 -0.56133427 -0.00277807]
 [ 0.56133979  0.82758324  0.00190161]
 [ 0.00123164 -0.00313318  0.99999433]]

 t_estimated:
[[-0.67095958]
 [-0.74149172]
 [-0.00180852]]

 R_gt:
[[ 0.94226941  0.33479382 -0.00641529]
 [-0.33435706  0.93965379 -0.07250526]
 [-0.01824568  0.07046331  0.99734753]]

 t_gt:
[-0.69207941  0.70792976 -0.14093097]

Pose Error in degrees for R and t:
53.885248956915206 86.54228597029994

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99881559e-01  1.53888851e-02  2.25262675e-04]
 [-1.53888374e-02  9.99881562e-01 -2.12026762e-04]
 [-2.28498851e-04  2.08535118e-04  9.99999952e-01]]

 t_estimated:
[[ 0.98271138]
 [-0.1851326 ]
 [-0.00206365]]

 R_gt:
[[ 0.99749931 -0.06732269 -0.02149335]
 [ 0.06739588  0.99772269  0.00271246]
 [ 0.02126292 -0.00415402  0.99976494]]

 t_gt:
[ 0.81855974 -0.542534   -0.18872417]

Pose Error in degrees for R and t:
4.908150633612378 25.14462067604896

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 7.14651574e-01  6.99478390e-01  1.76345507e-03]
 [-6.99477241e-01  7.14653685e-01 -1.30335617e-03]
 [-2.17192915e-03 -3.02051149e-04  9.99997596e-01]]

 t_estimated:
[[0.11491805]
 [0.99337235]
 [0.00228358]]

 R_gt:
[[ 0.9941516  -0.10617406 -0.01974735]
 [ 0.10607474  0.99434009 -0.00598091]
 [ 0.02027184  0.00385165  0.99978705]]

 t_gt:
[ 0.80576373 -0.57509118 -0.14147419]

Pose Error in degrees for R and t:
50.49355930789182 61.37950070735756

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-4.15217092e-01  9.09722345e-01  1.48581442e-04]
 [ 9.09717925e-01  4.15214555e-01  3.18902199e-03]
 [ 2.83943138e-03  1.45930364e-03 -9.99994904e-01]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 9.61483341e-01 -2.70699830e-01 -4.76630012e-02]
 [ 2.71010733e-01  9.62576553e-01  6.24356510e-05]
 [ 4.58628899e-02 -1.29779390e-02  9.98863942e-01]]

 t_gt:
[ 0.79305729 -0.60468711 -0.07357739]

Pose Error in degrees for R and t:
177.45114737380294 78.07132727695117

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.92970007e-01  1.18361614e-01 -1.04531664e-03]
 [-1.18361156e-01  9.92970491e-01  4.90424982e-04]
 [ 1.09601607e-03 -3.63252412e-04  9.99999333e-01]]

 t_estimated:
[[-0.59485529]
 [-0.80383222]
 [-0.00097199]]

 R_gt:
[[ 0.99975966 -0.02052178  0.00780444]
 [ 0.02057077  0.99976932 -0.00620045]
 [-0.00767548  0.00635943  0.99995007]]

 t_gt:
[ 0.8836054  -0.44984334  0.12993255]

Pose Error in degrees for R and t:
7.999924764784059 80.55242678315138

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 1.00000000e+00 -4.02455846e-16  2.27682456e-16]
 [ 3.88578059e-16  1.00000000e+00  5.69206141e-19]
 [-3.00757683e-16  5.10794749e-16  1.00000000e+00]]

 t_estimated:
[[-0.99603734]
 [-0.08892202]
 [-0.00157645]]

 R_gt:
[[ 0.98724697 -0.15795594 -0.01984983]
 [ 0.15779354  0.98742724 -0.00947778]
 [ 0.02109647  0.00622493  0.99975808]]

 t_gt:
[ 0.76754646 -0.63641445 -0.07647927]

Pose Error in degrees for R and t:
9.171330405856072 44.94436090095957

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99998024e-01 -1.88985542e-03  6.16752372e-04]
 [ 1.89041925e-03  9.99997795e-01 -9.14888686e-04]
 [-6.15022005e-04  9.16052799e-04  9.99999391e-01]]

 t_estimated:
[[ 0.83713111]
 [-0.54699135]
 [-0.00345894]]

 R_gt:
[[ 0.96403052 -0.26402779 -0.03058983]
 [ 0.26437891  0.964386    0.00796879]
 [ 0.02739657 -0.01576932  0.99949993]]

 t_gt:
[ 0.76039484 -0.64926154 -0.0160979 ]

Pose Error in degrees for R and t:
15.328388133643148 7.36649687506642

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.95266117e-01 -9.71869161e-02 -2.45105949e-04]
 [ 9.71868880e-02  9.95266142e-01 -1.24320526e-04]
 [ 2.56027980e-04  9.99109229e-05  9.99999962e-01]]

 t_estimated:
[[-0.37902455]
 [-0.92538442]
 [-0.00201609]]

 R_gt:
[[ 0.99818635  0.05993902 -0.00565624]
 [-0.05979152  0.99793963  0.02326546]
 [ 0.00703931 -0.02288495  0.99971382]]

 t_gt:
[-0.85086135  0.49962769  0.16250268]

Pose Error in degrees for R and t:
9.11366356916436 81.94185601659952

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.68628457e-01 -2.48512856e-01 -5.22201550e-04]
 [ 2.48513213e-01  9.68628183e-01  7.91607987e-04]
 [ 3.09094376e-04 -8.96548008e-04  9.99999550e-01]]

 t_estimated:
[[9.99648032e-01]
 [2.65149894e-02]
 [8.75788171e-04]]

 R_gt:
[[ 0.99977083 -0.00446471 -0.02095594]
 [ 0.00433878  0.99997176 -0.00609681]
 [ 0.02098204  0.00600434  0.99976188]]

 t_gt:
[-0.0321334  -0.86545566 -0.49995394]

Pose Error in degrees for R and t:
14.191468206654534 86.81801961128792

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.9932891  -0.11562077  0.00293223]
 [-0.11563727 -0.99327168  0.00627573]
 [ 0.0021869  -0.00657269 -0.99997601]]

 t_estimated:
[[0.62555086]
 [0.78018141]
 [0.00175717]]

 R_gt:
[[ 0.99659166 -0.07813882 -0.02644891]
 [ 0.07761     0.99677265 -0.02051284]
 [ 0.02796646  0.01839033  0.99943976]]

 t_gt:
[ 0.4725508  -0.82698178 -0.30462578]

Pose Error in degrees for R and t:
179.15857521429936 69.50494540787489

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.99687863e-01 -2.49834776e-02  4.59028887e-05]
 [ 2.49834711e-02  9.99687855e-01  1.38318185e-04]
 [-4.93442297e-05 -1.37128198e-04  9.99999989e-01]]

 t_estimated:
[[9.73080153e-01]
 [2.30465246e-01]
 [8.86185072e-04]]

 R_gt:
[[ 0.99884345 -0.04738559 -0.00819599]
 [ 0.04756721  0.99858742  0.02370222]
 [ 0.00706177 -0.02406475  0.99968479]]

 t_gt:
[ 0.97698291 -0.11263101  0.18115917]

Pose Error in degrees for R and t:
1.9258806996258147 22.348875829850087

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.99824467e-01 -1.87359179e-02  1.04972925e-06]
 [ 1.87359172e-02  9.99824443e-01  2.21802146e-04]
 [-5.20521176e-06 -2.21743545e-04  9.99999975e-01]]

 t_estimated:
[[ 8.59136827e-01]
 [ 5.11745922e-01]
 [-1.51788158e-04]]

 R_gt:
[[ 0.99921716 -0.02364333 -0.03174563]
 [ 0.02390721  0.99968327  0.00795547]
 [ 0.03154782 -0.00870811  0.99946392]]

 t_gt:
[ 0.97657882  0.20943603 -0.04929872]

Pose Error in degrees for R and t:
1.893598198363326 18.879650606914296

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.79100427e-01 -2.03377352e-01  8.55330444e-05]
 [ 2.03377276e-01  9.79100291e-01  5.51488099e-04]
 [-1.95905618e-04 -5.22566755e-04  9.99999844e-01]]

 t_estimated:
[[0.92925762]
 [0.36942964]
 [0.00142088]]

 R_gt:
[[ 0.99924942  0.00351092 -0.03857669]
 [-0.00344151  0.99999244  0.00186997]
 [ 0.03858289 -0.00173573  0.9992528 ]]

 t_gt:
[ 0.94554583  0.29708792 -0.1329731 ]

Pose Error in degrees for R and t:
12.137975066239829 8.803207971013263

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.34603487e-01 -3.55689812e-01 -1.03884806e-03]
 [ 3.55688213e-01  9.34603539e-01 -1.45628282e-03]
 [ 1.48889604e-03  9.91540991e-04  9.99998400e-01]]

 t_estimated:
[[-0.06454097]
 [-0.99790271]
 [-0.00496469]]

 R_gt:
[[ 0.9987117   0.0359687  -0.03580382]
 [-0.03580398  0.99934575  0.00519063]
 [ 0.03596683 -0.00390252  0.99934563]]

 t_gt:
[-0.49007571  0.83799191 -0.23999034]

Pose Error in degrees for R and t:
22.979726434722547 36.542737351873804

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-9.35309073e-01 -3.53802643e-01 -4.54180097e-03]
 [-3.53802041e-01  9.35319833e-01 -9.62158231e-04]
 [ 4.58845065e-03  7.06983132e-04 -9.99989223e-01]]

 t_estimated:
[[ 0.97523374]
 [ 0.2211729 ]
 [-0.0013048 ]]

 R_gt:
[[ 0.99681919  0.07619456 -0.02336245]
 [-0.07687067  0.9966018  -0.0295968 ]
 [ 0.02102737  0.0312974   0.99928863]]

 t_gt:
[-0.42272845  0.836876   -0.34776316]

Pose Error in degrees for R and t:
178.16834532084965 76.89648830587208

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.98089849e-01 -6.17788319e-02 -1.71858706e-04]
 [ 6.17788898e-02  9.98089797e-01  3.54995460e-04]
 [ 1.49599216e-04 -3.64934605e-04  9.99999922e-01]]

 t_estimated:
[[-9.49915161e-01]
 [ 3.12507891e-01]
 [-7.61901575e-05]]

 R_gt:
[[ 0.9879395   0.15280731 -0.02504887]
 [-0.15363112  0.98750089 -0.03521098]
 [ 0.01935496  0.03863404  0.99906528]]

 t_gt:
[-0.5395655   0.8136962  -0.21625809]

Pose Error in degrees for R and t:
12.606852131362157 39.92864054908427

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999987e-01  1.33393343e-04 -8.75224699e-05]
 [-1.33383066e-04  9.99999984e-01  1.17409367e-04]
 [ 8.75381301e-05 -1.17397692e-04  9.99999989e-01]]

 t_estimated:
[[-9.74038451e-01]
 [ 2.26382324e-01]
 [ 3.73734871e-04]]

 R_gt:
[[ 0.95363747  0.30014012 -0.0221455 ]
 [-0.30066271  0.95337425 -0.02607468]
 [ 0.01328692  0.0315248   0.99941415]]

 t_gt:
[-0.8951288   0.43167296 -0.11136822]

Pose Error in degrees for R and t:
17.588534515523342 14.170533658681132

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.90014268e-01 -1.40967052e-01 -2.00632393e-04]
 [ 1.40967025e-01  9.90014282e-01 -1.40470375e-04]
 [ 2.18430629e-04  1.10785124e-04  9.99999970e-01]]

 t_estimated:
[[-0.92030407]
 [-0.39120258]
 [-0.00097801]]

 R_gt:
[[ 0.83180021  0.5549788  -0.0103714 ]
 [-0.55494295  0.83104537 -0.03743351]
 [-0.01215641  0.03689446  0.99924485]]

 t_gt:
[-0.84244028  0.53550167 -0.05943344]

Pose Error in degrees for R and t:
41.88245305424328 55.53729244161801

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-4.53001264e-01 -8.91509622e-01 -6.69612461e-04]
 [ 8.91508169e-01 -4.53001739e-01  1.61549907e-03]
 [-1.74356857e-03  1.34858141e-04  9.99998471e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.76653567  0.6419795  -0.0169026 ]
 [-0.64217486  0.76599848 -0.02928211]
 [-0.00585081  0.03330097  0.99942761]]

 t_gt:
[-0.8137694   0.57900639 -0.05030873]

Pose Error in degrees for R and t:
156.90201025743212 35.707328347711154

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999998e-01  5.44342586e-05  2.62456459e-05]
 [-5.44362957e-05  9.99999996e-01  7.76254856e-05]
 [-2.62414203e-05 -7.76269142e-05  9.99999997e-01]]

 t_estimated:
[[0.84141677]
 [0.54038537]
 [0.0012169 ]]

 R_gt:
[[ 0.99859534 -0.05176569 -0.0112664 ]
 [ 0.05143855  0.99829403 -0.02763146]
 [ 0.01267852  0.02701318  0.99955399]]

 t_gt:
[ 0.74247305 -0.60407868 -0.28952153]

Pose Error in degrees for R and t:
3.422527061783369 72.66598297494464

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-1.82602221e-02 -9.99831413e-01 -1.92594636e-03]
 [ 9.99833268e-01 -1.82601661e-02 -4.66425229e-05]
 [ 1.14665593e-05 -1.92647694e-03  9.99998144e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99709087 -0.04053855 -0.06455591]
 [ 0.03439441  0.99501723 -0.09358502]
 [ 0.06802905  0.09109238  0.99351625]]

 t_gt:
[ 0.54051936 -0.09882797 -0.83550694]

Pose Error in degrees for R and t:
89.08287016299607 57.3461397258808

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.27165727  0.9623929  -0.00149167]
 [ 0.96237509 -0.27164186  0.00669916]
 [ 0.00604203 -0.00325542 -0.99997645]]

 t_estimated:
[[-0.521641  ]
 [-0.85315116]
 [-0.00487515]]

 R_gt:
[[ 0.99011367 -0.0677999  -0.12278539]
 [ 0.04728684  0.98551235 -0.16287794]
 [ 0.13204972  0.15546152  0.97897617]]

 t_gt:
[ 0.47983555  0.01080407 -0.87729192]

Pose Error in degrees for R and t:
177.46750577236222 75.21204696912305

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 3.30334684e-01  9.43863488e-01  8.43834406e-04]
 [-9.43863227e-01  3.30335368e-01 -8.67729387e-04]
 [-1.09776643e-03 -5.09823152e-04  9.99999267e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.96970227e-01  7.11596426e-02  3.14243042e-02]
 [-7.11129227e-02  9.97466001e-01 -2.58881820e-03]
 [-3.15294896e-02  3.46770952e-04  9.99502721e-01]]

 t_gt:
[-0.75753805  0.59669368  0.26475039]

Pose Error in degrees for R and t:
66.65032772670406 53.68442221673448

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-8.71617979e-01  4.90182479e-01  1.79876736e-03]
 [ 4.90185111e-01  8.71616981e-01  1.54767762e-03]
 [-8.09191725e-04  2.23071261e-03 -9.99997185e-01]]

 t_estimated:
[[9.26355213e-01]
 [3.76649922e-01]
 [9.25429783e-04]]

 R_gt:
[[ 0.99138871 -0.00141958  0.13094461]
 [-0.0209919   0.98528936  0.16960734]
 [-0.12925979 -0.17089564  0.97677363]]

 t_gt:
[-0.08308897 -0.02245711  0.99628906]

Pose Error in degrees for R and t:
175.15461312534202 85.15235984667908

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99999991e-01  1.30714451e-04  1.65585352e-06]
 [-1.30714430e-04  9.99999991e-01 -1.24044501e-05]
 [-1.65747495e-06  1.24042336e-05  1.00000000e+00]]

 t_estimated:
[[ 2.74359857e-03]
 [-9.99996219e-01]
 [-1.87974305e-04]]

 R_gt:
[[ 0.97040301 -0.07292433  0.23021853]
 [-0.01035649  0.93987177  0.34137175]
 [-0.24127095 -0.33365197  0.91129772]]

 t_gt:
[ 0.08197918 -0.00466104  0.99662314]

Pose Error in degrees for R and t:
24.386862793428364 89.73078920920459

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999953e-01  2.97136777e-04  8.04067199e-05]
 [-2.97136279e-04  9.99999956e-01 -6.20941097e-06]
 [-8.04085614e-05  6.18551892e-06  9.99999997e-01]]

 t_estimated:
[[ 9.81311365e-01]
 [-1.92426408e-01]
 [ 2.86046634e-04]]

 R_gt:
[[ 0.98813554 -0.15281491 -0.01531012]
 [ 0.15275217  0.98825107 -0.00521986]
 [ 0.01592844  0.00282007  0.99986878]]

 t_gt:
[ 0.72742836 -0.67361843 -0.13071419]

Pose Error in degrees for R and t:
8.855017722913807 32.497136531452846

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999997e-01 -8.21431355e-05 -1.38313412e-05]
 [ 8.21431374e-05  9.99999997e-01  1.33896752e-07]
 [ 1.38313302e-05 -1.35032904e-07  1.00000000e+00]]

 t_estimated:
[[9.99990048e-01]
 [4.42018888e-03]
 [6.04568451e-04]]

 R_gt:
[[ 0.96161244 -0.27138521 -0.04063409]
 [ 0.27142194  0.96244892 -0.00471121]
 [ 0.04038628 -0.00649769  0.99916314]]

 t_gt:
[ 0.75732547 -0.64112935 -0.12414222]

Pose Error in degrees for R and t:
15.922197190423622 41.026246741200225

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99998970e-01 -1.03060547e-03 -9.99156347e-04]
 [ 1.03147715e-03  9.99999088e-01  8.72290507e-04]
 [ 9.98256448e-04 -8.73320215e-04  9.99999120e-01]]

 t_estimated:
[[0.99999329]
 [0.00331167]
 [0.00156619]]

 R_gt:
[[ 0.93719364 -0.34802164 -0.02342385]
 [ 0.34728415  0.93726285 -0.03053709]
 [ 0.03258184  0.02048502  0.99925858]]

 t_gt:
[ 0.7447788  -0.64908743 -0.1548872 ]

Pose Error in degrees for R and t:
20.410131810134434 42.06530636654961

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.98352342e-01 -5.73811947e-02 -2.18565867e-05]
 [ 5.73811950e-02  9.98352342e-01  1.29393393e-05]
 [ 2.10780998e-05 -1.41721767e-05  1.00000000e+00]]

 t_estimated:
[[ 2.80158850e-01]
 [-9.59953641e-01]
 [-1.58723200e-04]]

 R_gt:
[[ 0.99681483 -0.07843018  0.0144607 ]
 [ 0.07898207  0.99596411 -0.04264134]
 [-0.01105743  0.04364744  0.99898586]]

 t_gt:
[ 0.32246322 -0.81249966 -0.48565603]

Pose Error in degrees for R and t:
2.8581036464590652 29.497170101633188

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99999942e-01  3.29016245e-04  9.29045654e-05]
 [-3.29004437e-04  9.99999938e-01 -1.27078153e-04]
 [-9.29463704e-05  1.27047580e-04  9.99999988e-01]]

 t_estimated:
[[0.99998492]
 [0.00531165]
 [0.00139695]]

 R_gt:
[[ 0.9965513  -0.08244144 -0.00939647]
 [ 0.08212511  0.99616552 -0.03017366]
 [ 0.01184878  0.02929846  0.99950024]]

 t_gt:
[ 0.47217358 -0.73738929 -0.48302085]

Pose Error in degrees for R and t:
5.072135502424232 62.12300361391671

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99999527e-01  9.39241872e-04  2.53190322e-04]
 [-9.39231578e-04  9.99999558e-01 -4.07740122e-05]
 [-2.53228507e-04  4.05361886e-05  9.99999967e-01]]

 t_estimated:
[[0.99997249]
 [0.00717738]
 [0.00187371]]

 R_gt:
[[ 0.99972386 -0.02160896 -0.00917237]
 [ 0.02123461  0.99900877 -0.03912477]
 [ 0.01000872  0.03891876  0.99919176]]

 t_gt:
[ 0.58940321 -0.06119056 -0.8055182 ]

Pose Error in degrees for R and t:
2.637383227652596 54.024553883096935

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.15837984 -0.98737393  0.00292414]
 [-0.98734984 -0.15835212  0.00805538]
 [-0.00749063 -0.00416295 -0.99996328]]

 t_estimated:
[[0.55754548]
 [0.83012328]
 [0.00619495]]

 R_gt:
[[ 0.99545368  0.0752956  -0.05832697]
 [-0.07226264  0.99600488  0.05246538]
 [ 0.06204477 -0.04801194  0.99691823]]

 t_gt:
[0.18068678 0.6233008  0.76082087]

Pose Error in degrees for R and t:
179.59699772400924 51.47391643218193

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 8.69096481e-01 -4.94642198e-01 -6.34328909e-04]
 [ 4.94642525e-01  8.69096353e-01  5.48333509e-04]
 [ 2.80064049e-04 -7.90320776e-04  9.99999648e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.98288634  0.13997545 -0.11975602]
 [-0.13255392  0.98884832  0.06788034]
 [ 0.12792269 -0.05084475  0.99047949]]

 t_gt:
[ 0.48249476  0.81011011 -0.33304717]

Pose Error in degrees for R and t:
38.302840602098186 21.150164967218522

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999999e-01 -3.30381162e-05 -4.81158631e-08]
 [ 3.30381165e-05  9.99999999e-01  4.58574937e-06]
 [ 4.79643590e-08 -4.58575096e-06  1.00000000e+00]]

 t_estimated:
[[-1.64756358e-01]
 [ 9.86333901e-01]
 [ 8.82507397e-04]]

 R_gt:
[[ 0.96045477  0.23309517 -0.15229423]
 [-0.21685692  0.96929401  0.11593477]
 [ 0.17464198 -0.07832362  0.98151187]]

 t_gt:
[ 0.28487515  0.94341356 -0.16975574]

Pose Error in degrees for R and t:
17.133030476391372 27.940338627303273

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.96757071e-01 -8.04694381e-02 -1.07354990e-04]
 [ 8.04694482e-02  9.96757071e-01  9.29837706e-05]
 [ 9.95244936e-05 -1.01321028e-04  9.99999990e-01]]

 t_estimated:
[[9.36282189e-01]
 [3.51248361e-01]
 [5.00351016e-04]]

 R_gt:
[[ 0.99988652  0.01297559  0.00764669]
 [-0.01331397  0.99885779  0.04588423]
 [-0.00704247 -0.04598165  0.99891705]]

 t_gt:
[ 0.38652025 -0.24001552  0.89050247]

Pose Error in degrees for R and t:
5.992411217545252 73.85718472145882

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.10248278  0.99380388  0.04302464]
 [ 0.99407483 -0.10074368 -0.04081584]
 [-0.03622848  0.04695264 -0.99823992]]

 t_estimated:
[[0.79028214]
 [0.6127393 ]
 [0.00216516]]

 R_gt:
[[ 0.99838327 -0.04484957  0.03491402]
 [ 0.03955905  0.98939693  0.13974273]
 [-0.04081158 -0.1381365   0.9895717 ]]

 t_gt:
[ 0.40697687 -0.37412814  0.83330544]

Pose Error in degrees for R and t:
178.91937134886513 84.59542686302622

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-1.90477985e-01  9.81686488e-01  3.12676126e-03]
 [ 9.81691446e-01  1.90477683e-01  3.96976439e-04]
 [-2.05871832e-04  3.14513005e-03 -9.99995033e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99293886 -0.08978385  0.07753535]
 [ 0.0701417   0.97144638  0.22665187]
 [-0.09567194 -0.21961327  0.9708845 ]]

 t_gt:
[ 0.33532136 -0.35275007  0.87357139]

Pose Error in degrees for R and t:
175.78654658740592 70.41668675311671

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 7.81750888e-01  6.23590255e-01  8.62179460e-04]
 [-6.23589654e-01  7.81751349e-01 -8.78486395e-04]
 [-1.22182551e-03  1.49111328e-04  9.99999242e-01]]

 t_estimated:
[[-0.52508064]
 [ 0.85105155]
 [ 0.00125969]]

 R_gt:
[[ 0.99888882  0.04384926  0.01728732]
 [-0.04444262  0.99837964  0.03554279]
 [-0.0157016  -0.03627023  0.99921839]]

 t_gt:
[-0.83839557 -0.18452841  0.51287633]

Pose Error in degrees for R and t:
36.116522847564205 73.51118533330293

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.93452432e-01  1.14246509e-01 -3.04802814e-05]
 [-1.14246511e-01  9.93452430e-01 -6.16007413e-05]
 [ 2.32430400e-05  6.46796720e-05  9.99999998e-01]]

 t_estimated:
[[-8.54966698e-01]
 [-5.18682460e-01]
 [-6.71247227e-04]]

 R_gt:
[[ 0.99960706  0.02796302 -0.00196398]
 [-0.02786381  0.99883537  0.03937543]
 [ 0.00306268 -0.0393044   0.99922277]]

 t_gt:
[-0.62369057 -0.6756373   0.39309581]

Pose Error in degrees for R and t:
5.45165117276405 27.943267254959895

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.78098970e-01 -2.08139763e-01  4.94930304e-04]
 [ 2.08140066e-01  9.78098800e-01 -6.70761870e-04]
 [-3.44478520e-04  7.59086320e-04  9.99999653e-01]]

 t_estimated:
[[-0.31061235]
 [-0.95053611]
 [-0.00103884]]

 R_gt:
[[ 0.99906901  0.0427627  -0.0057426 ]
 [-0.04278825  0.9990747  -0.00437456]
 [ 0.0055496   0.00461702  0.99997419]]

 t_gt:
[-0.85904438 -0.50961445  0.04833076]

Pose Error in degrees for R and t:
14.470701399522092 41.30673759132854

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 8.86267097e-01 -4.63174455e-01 -2.37360275e-04]
 [ 4.63174515e-01  8.86267006e-01  4.02350935e-04]
 [ 2.40059051e-05 -4.66529626e-04  9.99999891e-01]]

 t_estimated:
[[ 8.54161421e-01]
 [-5.20007802e-01]
 [ 3.90126946e-04]]

 R_gt:
[[ 0.99372023 -0.10228162 -0.04537248]
 [ 0.10260752  0.99471048  0.00490938]
 [ 0.04463088 -0.00953451  0.99895795]]

 t_gt:
[ 0.74384068 -0.64331233 -0.18124645]

Pose Error in degrees for R and t:
21.8628232739284 14.112994326239294

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.99705428 -0.00741834 -0.07633957]
 [ 0.01280318  0.99744426  0.07029239]
 [ 0.07562301 -0.07106272  0.99460105]]

 t_estimated:
[[0.99537121]
 [0.09479726]
 [0.01579954]]

 R_gt:
[[ 0.96202585 -0.24122554 -0.12774267]
 [ 0.23783092  0.97042326 -0.04142373]
 [ 0.13395706  0.00946866  0.99094202]]

 t_gt:
[ 0.77334396 -0.53878271 -0.33414415]

Pose Error in degrees for R and t:
14.77618209330393 44.486966882797056

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.06720883 -0.99724608 -0.03135647]
 [-0.99610192  0.06526586  0.05934076]
 [-0.05713084  0.03522246 -0.99774518]]

 t_estimated:
[[0.76539299]
 [0.64356251]
 [0.00093   ]]

 R_gt:
[[ 0.91584914 -0.38092268 -0.12695753]
 [ 0.37766342  0.92460458 -0.04978183]
 [ 0.13634875 -0.00235481  0.99065879]]

 t_gt:
[ 0.8230274  -0.53032089 -0.20343466]

Pose Error in degrees for R and t:
175.13564608815588 73.2344846470186

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 0.72449316 -0.62693701 -0.28646056]
 [-0.62183598 -0.41518826 -0.66403217]
 [ 0.29737128  0.65921824 -0.69065305]]

 t_estimated:
[[ 0.37556719]
 [ 0.83909601]
 [-0.39353166]]

 R_gt:
[[ 0.9995583  -0.02967036  0.00141859]
 [ 0.02967433  0.99955538 -0.0029007 ]
 [-0.00133207  0.0029412   0.99999459]]

 t_gt:
[ 0.83021882 -0.55698025 -0.02257699]

Pose Error in degrees for R and t:
133.56161160259984 81.5658754342893

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.91073701e-01  1.33315027e-01  1.48871989e-04]
 [-1.33314971e-01  9.91073663e-01 -3.36865940e-04]
 [-1.92452400e-04  3.14012109e-04  9.99999932e-01]]

 t_estimated:
[[0.91845039]
 [0.39553491]
 [0.00100539]]

 R_gt:
[[ 0.9979561  -0.05586681 -0.03100207]
 [ 0.05659713  0.99812741  0.02319971]
 [ 0.02964777 -0.02490534  0.99924995]]

 t_gt:
[ 0.77120732 -0.62758032 -0.10668747]

Pose Error in degrees for R and t:
11.113189947535659 62.61428190223104

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.89990375e-01  1.41134743e-01  2.06492930e-04]
 [-1.41134682e-01  9.89990364e-01 -2.83320494e-04]
 [-2.44412376e-04  2.51341248e-04  9.99999939e-01]]

 t_estimated:
[[0.94806291]
 [0.3180801 ]
 [0.00132651]]

 R_gt:
[[ 0.99752853 -0.04650724 -0.0526586 ]
 [ 0.04885494  0.99782599  0.04421357]
 [ 0.05048762 -0.04667638  0.99763316]]

 t_gt:
[ 0.68873117 -0.71238886 -0.13472745]

Pose Error in degrees for R and t:
11.548888908739144 64.77430455045237

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.99943572 -0.03354304  0.00176293]
 [-0.03353879  0.99943456  0.00238793]
 [-0.00184203  0.00232746 -0.99999559]]

 t_estimated:
[[0.99995119]
 [0.00980344]
 [0.00122543]]

 R_gt:
[[ 0.98650989  0.1615612   0.02639737]
 [-0.16334889  0.98210116  0.09378459]
 [-0.01077338 -0.09683122  0.99524254]]

 t_gt:
[-0.8751176   0.23406967  0.42353345]

Pose Error in degrees for R and t:
178.74638205032844 29.277523231278526

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.35717355  0.93347032 -0.0325609 ]
 [-0.93394144 -0.35742088 -0.00192263]
 [-0.01343266  0.02972327  0.9994679 ]]

 t_estimated:
[[-2.26967429e-02]
 [ 9.99742393e-01]
 [ 7.66564984e-05]]

 R_gt:
[[ 0.98719115  0.15907366  0.01215485]
 [-0.15952579  0.98331997  0.08737078]
 [ 0.00194605 -0.08819081  0.99610201]]

 t_gt:
[-0.93218337  0.08253145  0.35245245]

Pose Error in degrees for R and t:
101.95300291210312 84.04803034256769

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.74374340e-01  2.24932525e-01 -7.19974256e-05]
 [-2.24932525e-01  9.74374342e-01  7.81326287e-06]
 [ 7.19099012e-05  8.58151990e-06  9.99999997e-01]]

 t_estimated:
[[0.52642112]
 [0.85022342]
 [0.00096947]]

 R_gt:
[[ 9.85898249e-01  1.67342653e-01  5.36193076e-04]
 [-1.66869283e-01  9.82860686e-01  7.83573365e-02]
 [ 1.25847420e-02 -7.73419535e-02  9.96925374e-01]]

 t_gt:
[-0.95292615  0.01499699  0.30283139]

Pose Error in degrees for R and t:
5.6132799727854055 60.751653033654385

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99911669e-01  1.32907981e-02 -8.99179076e-05]
 [-1.32908180e-02  9.99911648e-01 -2.24476658e-04]
 [ 8.69264893e-05  2.25651912e-04  9.99999971e-01]]

 t_estimated:
[[-0.00490961]
 [ 0.99998647]
 [-0.00171981]]

 R_gt:
[[ 0.99717765 -0.01237867 -0.07404189]
 [ 0.0146786   0.99942449  0.03059936]
 [ 0.07362156 -0.031599    0.99678516]]

 t_gt:
[ 0.95647044 -0.13230627 -0.26011413]

Pose Error in degrees for R and t:
4.846129384852829 82.1515664074432

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99988469e-01  4.79744508e-03  2.16756848e-04]
 [-4.79744294e-03  9.99988492e-01 -1.03877367e-05]
 [-2.16804188e-04  9.34773827e-06  9.99999976e-01]]

 t_estimated:
[[-3.42214646e-01]
 [ 9.39621781e-01]
 [ 2.11848070e-04]]

 R_gt:
[[ 0.98953742  0.07351349 -0.12413899]
 [-0.0644208   0.99504433  0.07573864]
 [ 0.12909197 -0.06694847  0.98936898]]

 t_gt:
[ 0.75177906  0.60592454 -0.2601609 ]

Pose Error in degrees for R and t:
9.153161553219519 71.81929537522858

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99955334e-01 -4.37640610e-04  9.44132904e-03]
 [ 4.42597267e-04  9.99999765e-01 -5.22912674e-04]
 [-9.44109798e-03  5.27068024e-04  9.99955293e-01]]

 t_estimated:
[[0.72185943]
 [0.69203786]
 [0.00160463]]

 R_gt:
[[ 0.97675477  0.14291065 -0.15977   ]
 [-0.1237834   0.98454408  0.12389743]
 [ 0.17500633 -0.10124044  0.9793482 ]]

 t_gt:
[ 0.414957    0.89643944 -0.15558605]

Pose Error in degrees for R and t:
14.400354391731597 23.123428383176748

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.01650563  0.99985764  0.00350164]
 [ 0.99986316  0.01650163  0.00116871]
 [ 0.00111076  0.00352045 -0.99999319]]

 t_estimated:
[[-0.70186112]
 [-0.71230956]
 [-0.00245972]]

 R_gt:
[[ 0.97981799 -0.19094307 -0.05915186]
 [ 0.19048258  0.98159922 -0.01337895]
 [ 0.06061719  0.00184142  0.99815927]]

 t_gt:
[ 0.75000768 -0.62489396 -0.21678563]

Pose Error in degrees for R and t:
177.96232368381985 85.36831962432699

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99999892e-01  4.64813050e-04  6.53199619e-07]
 [-4.64812791e-04  9.99999830e-01 -3.52751180e-04]
 [-8.17162860e-07  3.52750839e-04  9.99999938e-01]]

 t_estimated:
[[-0.59504981]
 [-0.80368797]
 [-0.0011742 ]]

 R_gt:
[[ 0.96124061 -0.26693663 -0.06900864]
 [ 0.26674135  0.96369075 -0.01220722]
 [ 0.06976057 -0.0066743   0.9975413 ]]

 t_gt:
[ 0.78417696 -0.60278797 -0.14735387]

Pose Error in degrees for R and t:
16.030867638345452 88.96849917412449

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.38548316e-01  3.45147521e-01  4.97227345e-04]
 [-3.45147713e-01  9.38548304e-01  3.70818020e-04]
 [-3.38684961e-04 -5.19647509e-04  9.99999808e-01]]

 t_estimated:
[[0.70671601]
 [0.70749691]
 [0.0007809 ]]

 R_gt:
[[ 0.94578862 -0.29716257 -0.131065  ]
 [ 0.29673924  0.9546764  -0.0232062 ]
 [ 0.13202056 -0.01694422  0.99110242]]

 t_gt:
[ 0.82404734 -0.52671334 -0.20861218]

Pose Error in degrees for R and t:
38.293794536276216 77.90363816722558

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[ 0.34722606 -0.93774522  0.00824465]
 [-0.93773523 -0.34710822  0.0129816 ]
 [-0.00931165 -0.01223885 -0.99988174]]

 t_estimated:
[[0.52622495]
 [0.85029713]
 [0.00906049]]

 R_gt:
[[ 0.99920677  0.01969316 -0.03461455]
 [-0.01860497  0.9993307   0.03148574]
 [ 0.03521117 -0.03081712  0.99890466]]

 t_gt:
[ 0.91189892 -0.20587343  0.35504435]

Pose Error in degrees for R and t:
178.79787152292005 72.05961619098707

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-9.47855713e-01 -3.18699697e-01 -2.23906295e-04]
 [-3.18699545e-01  9.47853946e-01  1.86988613e-03]
 [-3.83701679e-04  1.84374109e-03 -9.99998227e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99295018  0.10537455 -0.05428408]
 [-0.10010236  0.990706    0.09208926]
 [ 0.06348307 -0.08600548  0.99427016]]

 t_gt:
[0.23243647 0.14008203 0.96247094]

Pose Error in degrees for R and t:
177.48671074564695 76.48996067911666

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-7.50657466e-01 -6.60687713e-01 -2.26162882e-03]
 [ 6.60691537e-01 -7.50654302e-01 -2.19330187e-03]
 [-2.48613811e-04 -3.14065745e-03  9.99995037e-01]]

 t_estimated:
[[0.98211256]
 [0.18829173]
 [0.00106984]]

 R_gt:
[[ 0.98177854  0.15099694 -0.1153811 ]
 [-0.13969792  0.98508346  0.10046649]
 [ 0.12882924 -0.08251733  0.98822727]]

 t_gt:
[0.79375444 0.40887942 0.45030159]

Pose Error in degrees for R and t:
147.14040962184185 31.015652854025927

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 7.84533759e-01  6.20086084e-01  1.71142808e-04]
 [-6.20086083e-01  7.84533776e-01 -6.27438188e-05]
 [-1.73173882e-04 -5.68986293e-05  9.99999983e-01]]

 t_estimated:
[[-0.99992902]
 [-0.01184126]
 [-0.0013157 ]]

 R_gt:
[[ 0.99821076 -0.05363823  0.02645281]
 [ 0.0522744   0.99739159  0.0497726 ]
 [-0.0290536  -0.04830034  0.99841086]]

 t_gt:
[ 0.49610184 -0.48402214  0.72083669]

Pose Error in degrees for R and t:
41.48049479139635 60.57501619949977

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 6.32523401e-01 -7.74539573e-01 -1.61157677e-03]
 [ 7.74539799e-01  6.32524874e-01 -6.19447955e-04]
 [ 1.49914935e-03 -8.56415017e-04  9.99998510e-01]]

 t_estimated:
[[ 9.93236257e-01]
 [ 1.16110849e-01]
 [-9.04048141e-05]]

 R_gt:
[[ 0.99608236 -0.06368852  0.06135408]
 [ 0.05634277  0.99178849  0.114807  ]
 [-0.06816198 -0.11090046  0.99149174]]

 t_gt:
[ 0.40544146 -0.38685911  0.82822537]

Pose Error in degrees for R and t:
47.868906647470816 69.04063558484326

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.99807833 -0.06168665  0.00586503]
 [ 0.06170298  0.99809105 -0.00264507]
 [-0.00569067  0.00300187  0.9999793 ]]

 t_estimated:
[[0.82209349]
 [0.5693463 ]
 [0.0026605 ]]

 R_gt:
[[ 0.99426998 -0.08992627  0.05780598]
 [ 0.07979994  0.98414293  0.15841216]
 [-0.07113534 -0.15289102  0.98568014]]

 t_gt:
[ 0.49004876 -0.38296431  0.78306485]

Pose Error in degrees for R and t:
9.832843768866487 79.22749449809328

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 1.00000000e+00 -1.22827013e-05  1.61913807e-05]
 [ 1.22821259e-05  9.99999999e-01  3.55325816e-05]
 [-1.61918171e-05 -3.55323828e-05  9.99999999e-01]]

 t_estimated:
[[9.99972362e-01]
 [7.39532986e-03]
 [7.64816063e-04]]

 R_gt:
[[ 0.99865612 -0.04821932  0.01897354]
 [ 0.04851923  0.99869908 -0.01568003]
 [-0.01819466  0.01657938  0.9996974 ]]

 t_gt:
[ 0.74217174 -0.66695782  0.06594226]

Pose Error in degrees for R and t:
3.110634855351075 42.5006828906013

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999928e-01  3.69715521e-04  8.80855755e-05]
 [-3.69713916e-04  9.99999931e-01 -1.82451189e-05]
 [-8.80923150e-05  1.82125511e-05  9.99999996e-01]]

 t_estimated:
[[ 9.61088922e-01]
 [ 2.76239071e-01]
 [-2.43461036e-04]]

 R_gt:
[[ 0.98971979 -0.14300056  0.00240059]
 [ 0.14301345  0.98936621 -0.02648188]
 [ 0.00141101  0.02655359  0.99964691]]

 t_gt:
[ 0.75800959 -0.64759695 -0.07771526]

Pose Error in degrees for R and t:
8.38362656753034 56.65754664605518

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-1.05157898e-01 -9.94453534e-01 -1.99635440e-03]
 [ 9.94455537e-01 -1.05157616e-01 -2.45827708e-04]
 [ 3.45323635e-05 -2.01113641e-03  9.99997977e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9688398  -0.24737463 -0.01246555]
 [ 0.24702844  0.96870585 -0.02419501]
 [ 0.01806071  0.02036195  0.99963007]]

 t_gt:
[ 0.77133543 -0.63202132 -0.07477103]

Pose Error in degrees for R and t:
81.73417296343094 39.707693256476915

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.39312181  0.85755458 -0.33174597]
 [ 0.80634174 -0.14813427  0.57259868]
 [ 0.44189167 -0.49260164 -0.74971686]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99805036 -0.01430445  0.06077522]
 [ 0.0097282   0.99714221  0.07491751]
 [-0.06167239 -0.07417957  0.99533562]]

 t_gt:
[ 0.01862485 -0.18383588  0.98278049]

Pose Error in degrees for R and t:
137.47537652127423 86.98773406746612

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-9.75507391e-01 -2.19966654e-01 -3.61148393e-05]
 [ 2.19966527e-01 -9.75506627e-01 -1.24409318e-03]
 [ 2.38428749e-04 -1.22156615e-03  9.99999225e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.98026573 -0.10272109  0.16890687]
 [ 0.05281847  0.95943392  0.27694218]
 [-0.19050236 -0.26255408  0.9459245 ]]

 t_gt:
[ 0.18383755 -0.14096544  0.97279623]

Pose Error in degrees for R and t:
162.9529484336182 85.8040743738401

Number of keypoints:
Image1: 22
Image2: 22

 R_estimated:
[[ 9.99990322e-01  4.38329754e-03 -3.77100015e-04]
 [-4.38338623e-03  9.99990365e-01 -2.34690224e-04]
 [ 3.76067664e-04  2.36340927e-04  9.99999901e-01]]

 t_estimated:
[[-1.10778723e-02]
 [-9.99938186e-01]
 [-9.51174677e-04]]

 R_gt:
[[ 0.96855624 -0.14681055  0.20086589]
 [ 0.06380352  0.92691207  0.36981385]
 [-0.24047726 -0.34536896  0.90713312]]

 t_gt:
[ 0.22203687 -0.09805619  0.97009516]

Pose Error in degrees for R and t:
25.754696756311596 84.56780533423901

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 9.99800075e-01  1.99950291e-02  9.70992471e-05]
 [-1.99950284e-02  9.99800079e-01 -8.35936998e-06]
 [-9.72469808e-05  6.41619653e-06  9.99999995e-01]]

 t_estimated:
[[ 9.99094058e-01]
 [-4.25557798e-02]
 [ 2.62985406e-04]]

 R_gt:
[[ 0.9929592  -0.11785094 -0.01202979]
 [ 0.11788433  0.99302511  0.00213704]
 [ 0.01169485 -0.00353998  0.99992472]]

 t_gt:
[ 0.6176809  -0.78410032 -0.06047313]

Pose Error in degrees for R and t:
7.946309179957013 49.422695367615965

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 9.91715832e-01  1.28450674e-01  3.63894462e-04]
 [-1.28450614e-01  9.91715890e-01 -1.84470256e-04]
 [-3.84575248e-04  1.36199607e-04  9.99999917e-01]]

 t_estimated:
[[0.87741771]
 [0.47972635]
 [0.00089168]]

 R_gt:
[[ 0.96351265 -0.26730848 -0.01382797]
 [ 0.26709202  0.96354432 -0.01566405]
 [ 0.01751093  0.01139883  0.99978178]]

 t_gt:
[ 0.72253844 -0.684592   -0.09629123]

Pose Error in degrees for R and t:
22.91086120717843 72.21383810916525

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.40157720e-01  3.40739212e-01  5.00734362e-04]
 [-3.40738957e-01  9.40157796e-01 -5.30092181e-04]
 [-6.51392507e-04  3.27750552e-04  9.99999734e-01]]

 t_estimated:
[[9.66193586e-01]
 [2.57816362e-01]
 [8.23694447e-04]]

 R_gt:
[[ 0.92390391 -0.37881676 -0.05384551]
 [ 0.37913319  0.92533074 -0.00460573]
 [ 0.0515697  -0.01616012  0.9985379 ]]

 t_gt:
[ 0.77293511 -0.62912894 -0.08226843]

Pose Error in degrees for R and t:
42.32037835987506 54.22968051153622

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.93932205 -0.34302489 -0.0028316 ]
 [ 0.34303103 -0.93932179 -0.00207101]
 [-0.00194938 -0.00291667  0.99999385]]

 t_estimated:
[[0.9999501 ]
 [0.00991276]
 [0.0012391 ]]

 R_gt:
[[ 0.99308214 -0.11189829 -0.03558924]
 [ 0.11251654  0.993523    0.01586642]
 [ 0.03358297 -0.01976068  0.99924036]]

 t_gt:
[ 0.72781981 -0.68485032 -0.03547359]

Pose Error in degrees for R and t:
153.4947465278392 43.86696611101569

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99999960e-01 -1.16955311e-04  2.57086201e-04]
 [ 1.17078300e-04  9.99999879e-01 -4.78436226e-04]
 [-2.57030214e-04  4.78466306e-04  9.99999853e-01]]

 t_estimated:
[[7.93541674e-01]
 [6.08515543e-01]
 [6.67964372e-04]]

 R_gt:
[[ 0.965723   -0.228769   -0.1226539 ]
 [ 0.22577937  0.9734399  -0.03793316]
 [ 0.12807429  0.00894126  0.99172505]]

 t_gt:
[ 0.77220055 -0.54427671 -0.3278249 ]

Pose Error in degrees for R and t:
15.105106308296367 73.65899744759551

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99999931e-01 -2.68437052e-04  2.55886144e-04]
 [ 2.68491679e-04  9.99999941e-01 -2.13470766e-04]
 [-2.55828826e-04  2.13539455e-04  9.99999944e-01]]

 t_estimated:
[[-0.42780954]
 [-0.90386827]
 [-0.0010722 ]]

 R_gt:
[[ 0.91209012 -0.38834925 -0.13144107]
 [ 0.38606534  0.92144576 -0.04348239]
 [ 0.1380028  -0.01108409  0.99037038]]

 t_gt:
[ 0.82342076 -0.53474736 -0.18979859]

Pose Error in degrees for R and t:
24.213152945881234 82.45658407542929

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.95477593e-01  9.49966415e-02  3.18978830e-06]
 [-9.49966404e-02  9.95477585e-01 -1.24480392e-04]
 [-1.50005819e-05  1.23614422e-04  9.99999992e-01]]

 t_estimated:
[[-0.67293581]
 [-0.73970014]
 [-0.00104684]]

 R_gt:
[[ 0.99592457  0.08666669  0.02494778]
 [-0.08805843  0.99421555  0.06148584]
 [-0.01947351 -0.06343277  0.99779585]]

 t_gt:
[-0.8571424   0.04393581  0.51320225]

Pose Error in degrees for R and t:
3.8361488260843783 57.059674560551734

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.97132305e-01  7.56780150e-02 -6.33177134e-05]
 [-7.56780216e-02  9.97132301e-01 -1.07771168e-04]
 [ 5.49802292e-05  1.12253873e-04  9.99999992e-01]]

 t_estimated:
[[-0.00729147]
 [-0.99997287]
 [-0.00104164]]

 R_gt:
[[ 0.99777654  0.06656445  0.00325518]
 [-0.06663203  0.99546613  0.06787069]
 [ 0.0012778  -0.06793648  0.99768818]]

 t_gt:
[-0.80363113 -0.34295751  0.48637141]

Pose Error in degrees for R and t:
3.937211030277118 69.61655377373613

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99385429e-01 -3.50536685e-02 -6.55811467e-05]
 [ 3.50536533e-02  9.99385408e-01 -2.20062445e-04]
 [ 7.32548370e-05  2.17628342e-04  9.99999974e-01]]

 t_estimated:
[[-0.59386243]
 [-0.80456553]
 [-0.00131345]]

 R_gt:
[[ 0.99754293  0.06997142  0.00349098]
 [-0.07004984  0.99699072  0.03320454]
 [-0.00115689 -0.03336793  0.99944273]]

 t_gt:
[-0.87435277 -0.35715508  0.32855362]

Pose Error in degrees for R and t:
6.324624725294488 36.27675586762254

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.73840212e-01 -2.27233453e-01 -4.47192102e-04]
 [ 2.27233524e-01  9.73840291e-01  1.14806939e-04]
 [ 4.09405709e-04 -2.13420651e-04  9.99999893e-01]]

 t_estimated:
[[9.93420960e-01]
 [1.14519851e-01]
 [1.22154387e-05]]

 R_gt:
[[ 9.99535938e-01  3.95880408e-04  3.04932504e-02]
 [-2.23192651e-03  9.98182982e-01  6.02128327e-02]
 [-3.04148114e-02 -6.02534624e-02  9.97719442e-01]]

 t_gt:
[ 0.285696   -0.28696844  0.91434507]

Pose Error in degrees for R and t:
13.763149534829605 75.46543736489505

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999935e-01 -3.02457721e-04  1.93854388e-04]
 [ 3.02403604e-04  9.99999915e-01  2.79128808e-04]
 [-1.93938796e-04 -2.79070167e-04  9.99999942e-01]]

 t_estimated:
[[0.67251476]
 [0.74008296]
 [0.00105575]]

 R_gt:
[[ 0.99850519 -0.03824779  0.03905769]
 [ 0.03320729  0.99192371  0.12240599]
 [-0.04342537 -0.12092652  0.9917112 ]]

 t_gt:
[ 0.42753345 -0.37031204  0.82467214]

Pose Error in degrees for R and t:
7.640112023284528 89.17883338154311

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.9982805  -0.05859644 -0.00158317]
 [ 0.05859979  0.99827921  0.00216399]
 [ 0.00145365 -0.00225304  0.99999641]]

 t_estimated:
[[0.71745192]
 [0.69660586]
 [0.00173717]]

 R_gt:
[[ 0.99242077 -0.09199426  0.08148178]
 [ 0.0718419   0.97224149  0.22267475]
 [-0.09970521 -0.21513329  0.97148207]]

 t_gt:
[ 0.35864861 -0.34764748  0.86632119]

Pose Error in degrees for R and t:
13.705297933050472 89.04627870282198

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-0.99897623 -0.04514789 -0.00285768]
 [ 0.04515613 -0.99897577 -0.00288783]
 [-0.00272437 -0.00301392  0.99999175]]

 t_estimated:
[[0.80754356]
 [0.58980375]
 [0.00222364]]

 R_gt:
[[ 0.99827068 -0.05854932 -0.00526038]
 [ 0.05857912  0.99826793  0.00551947]
 [ 0.00492817 -0.00581658  0.99997125]]

 t_gt:
[ 0.64565764 -0.76361097 -0.00495062]

Pose Error in degrees for R and t:
174.05384212376214 85.92828421206656

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.72612451e-01  2.32432550e-01  3.61498270e-04]
 [-2.32432459e-01  9.72612500e-01 -2.75291115e-04]
 [-4.15584352e-04  1.83727634e-04  9.99999897e-01]]

 t_estimated:
[[0.5329694 ]
 [0.84613252]
 [0.00183695]]

 R_gt:
[[ 0.99139443 -0.12736314  0.03025493]
 [ 0.12719134  0.99184895  0.00758525]
 [-0.03097435 -0.00367091  0.99951356]]

 t_gt:
[ 0.67437502 -0.72652461  0.13183445]

Pose Error in degrees for R and t:
20.828728214420856 75.22210804820847

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-3.19998396e-01 -9.47415361e-01 -2.27169048e-03]
 [ 9.47417955e-01 -3.19998688e-01 -2.43818550e-04]
 [-4.95940533e-04 -2.23026189e-03  9.99997390e-01]]

 t_estimated:
[[0.92131014]
 [0.38882736]
 [0.0009577 ]]

 R_gt:
[[ 0.98590695 -0.16446119  0.03065196]
 [ 0.1641293   0.98635285  0.01309619]
 [-0.03238783 -0.00788086  0.9994449 ]]

 t_gt:
[ 0.72910899 -0.67121031  0.13370418]

Pose Error in degrees for R and t:
99.21865162614479 65.73995959874011

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.94802277e-01  1.01825359e-01  1.62499992e-04]
 [-1.01825291e-01  9.94802222e-01 -3.85624535e-04]
 [-2.00921711e-04  3.67073556e-04  9.99999912e-01]]

 t_estimated:
[[-0.99267317]
 [-0.12081819]
 [-0.00171596]]

 R_gt:
[[ 0.99529676  0.08995126 -0.03595073]
 [-0.08748963  0.99404217  0.06499978]
 [ 0.04158354 -0.06154945  0.99723834]]

 t_gt:
[-0.34522304  0.42526035  0.8366449 ]

Pose Error in degrees for R and t:
4.348274047487291 73.14929897508026

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.73969031e-01 -2.26680901e-01 -3.08468516e-04]
 [ 2.26681026e-01  9.73968942e-01  4.60181970e-04]
 [ 1.96124291e-04 -5.18126947e-04  9.99999847e-01]]

 t_estimated:
[[-7.46249819e-01]
 [ 6.65665800e-01]
 [ 4.99229524e-04]]

 R_gt:
[[ 0.98521256  0.14235333 -0.09534703]
 [-0.13622036  0.98834004  0.06803492]
 [ 0.10392059 -0.05404129  0.99311673]]

 t_gt:
[ 0.15885054  0.98712827 -0.0185548 ]

Pose Error in degrees for R and t:
22.160829998515066 57.415280807211246

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 8.52550730e-01 -5.22644070e-01 -6.54946062e-04]
 [ 5.22644350e-01  8.52550733e-01  3.62075140e-04]
 [ 3.69138321e-04 -6.50991284e-04  9.99999720e-01]]

 t_estimated:
[[ 5.07386754e-01]
 [-8.61718352e-01]
 [-4.03944940e-04]]

 R_gt:
[[ 0.95858512  0.23450026 -0.16162842]
 [-0.21263812  0.9668165   0.14159844]
 [ 0.18946955 -0.10136653  0.9766405 ]]

 t_gt:
[ 0.28396832  0.95880871 -0.00691787]

Pose Error in degrees for R and t:
46.18192901532645 46.989020060543616

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99466139e-01 -3.26701681e-02  3.10913604e-04]
 [ 3.26701664e-02  9.99466188e-01  1.06826514e-05]
 [-3.11096638e-04 -5.19349173e-07  9.99999952e-01]]

 t_estimated:
[[0.99918075]
 [0.04045746]
 [0.00100998]]

 R_gt:
[[ 9.90245545e-01 -1.36772233e-01 -2.66104626e-02]
 [ 1.36824063e-01  9.90595277e-01  1.56324391e-04]
 [ 2.63386300e-02 -3.79589139e-03  9.99646659e-01]]

 t_gt:
[ 0.72153004 -0.67369347 -0.15978582]

Pose Error in degrees for R and t:
6.186714036585641 46.090473721540164

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99998132e-01  1.92627241e-03  1.59997188e-04]
 [-1.92628706e-03  9.99998141e-01  9.15008738e-05]
 [-1.59820635e-04 -9.18089034e-05  9.99999983e-01]]

 t_estimated:
[[ 9.93785989e-01]
 [-1.11305740e-01]
 [ 6.63531671e-04]]

 R_gt:
[[ 0.96573271 -0.2547386  -0.04968939]
 [ 0.25448047  0.96700814 -0.01154269]
 [ 0.05098985 -0.00149758  0.99869902]]

 t_gt:
[ 0.74852004 -0.63880307 -0.17789992]

Pose Error in degrees for R and t:
15.155646149322436 35.42715683547239

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99978383e-01  6.56880197e-03  2.90504386e-04]
 [-6.56883355e-03  9.99978419e-01  1.07898899e-04]
 [-2.89789350e-04 -1.09804841e-04  9.99999952e-01]]

 t_estimated:
[[9.99422901e-01]
 [3.39590907e-02]
 [8.03788692e-04]]

 R_gt:
[[ 0.94670229 -0.32059849 -0.03117986]
 [ 0.31920355  0.94672674 -0.04261749]
 [ 0.04318149  0.03039333  0.99860528]]

 t_gt:
[ 0.71650221 -0.66270183 -0.2178322 ]

Pose Error in degrees for R and t:
19.286195297440027 46.09943995349881

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.99961782 -0.02445128  0.01289746]
 [ 0.02641338  0.98245771 -0.18460548]
 [-0.00815737  0.18487559  0.98272808]]

 t_estimated:
[[0.63774246]
 [0.77024679]
 [0.00210433]]

 R_gt:
[[ 0.9481794   0.31675768  0.02487893]
 [-0.31652768  0.94849594 -0.0127905 ]
 [-0.02764924  0.00425314  0.99960934]]

 t_gt:
[-0.94205288  0.33545563 -0.00242867]

Pose Error in degrees for R and t:
22.361289998178993 69.97631211214596

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-0.99998398 -0.00488147 -0.00286664]
 [-0.00555404  0.94395504  0.33002732]
 [ 0.00109496  0.33003796 -0.94396703]]

 t_estimated:
[[ 0.99993967]
 [-0.00960853]
 [-0.00532255]]

 R_gt:
[[ 0.82410514  0.56594838  0.02351671]
 [-0.56366595  0.82346705 -0.06466285]
 [-0.05596078  0.04003362  0.99763047]]

 t_gt:
[-0.85737336  0.51221732 -0.05044152]

Pose Error in degrees for R and t:
176.5593233444728 30.460957198338843

Number of keypoints:
Image1: 26
Image2: 26

 R_estimated:
[[-0.97738295 -0.21147173  0.00150838]
 [ 0.20169167 -0.9342785  -0.29401386]
 [ 0.06358486 -0.2870599   0.95579997]]

 t_estimated:
[[9.15536873e-01]
 [4.02233271e-01]
 [7.93359509e-04]]

 R_gt:
[[ 0.63617303  0.77147066  0.01081446]
 [-0.76870728  0.63497077 -0.07680981]
 [-0.06612408  0.04055155  0.99698701]]

 t_gt:
[-0.77259833  0.63406232 -0.03250828]

Pose Error in degrees for R and t:
141.88448951422995 63.106913833193346

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.93359828e-01 -1.15048868e-01 -9.58259637e-05]
 [ 1.15048844e-01  9.93359809e-01 -2.31510068e-04]
 [ 1.21824632e-04  2.18948135e-04  9.99999969e-01]]

 t_estimated:
[[-0.65471394]
 [-0.75587591]
 [-0.001128  ]]

 R_gt:
[[ 0.99744387  0.05478506  0.04587935]
 [-0.05529171  0.9984223   0.0098334 ]
 [-0.04526899 -0.01234395  0.99889887]]

 t_gt:
[-0.69042315  0.47879869  0.54228009]

Pose Error in degrees for R and t:
10.128280673396176 84.86483670527083

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-9.88154592e-01  1.53459521e-01  8.23503838e-04]
 [ 1.53460929e-01  9.88152547e-01  2.07031128e-03]
 [-4.96038438e-04  2.17216326e-03 -9.99997518e-01]]

 t_estimated:
[[ 9.86605644e-01]
 [-1.63122687e-01]
 [ 5.39954476e-04]]

 R_gt:
[[ 9.87982356e-01 -3.11182790e-02  1.51404109e-01]
 [-5.11835923e-04  9.78861385e-01  2.04526034e-01]
 [-1.54567687e-01 -2.02145059e-01  9.67081559e-01]]

 t_gt:
[ 0.01498113 -0.07072189  0.99738357]

Pose Error in degrees for R and t:
172.04669761162506 88.46111683203506

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.62539626  0.78030426  0.00218392]
 [ 0.78025802 -0.62538576  0.00949099]
 [ 0.00877165 -0.00423161 -0.99995257]]

 t_estimated:
[[-0.83981984]
 [-0.54280672]
 [-0.00796877]]

 R_gt:
[[ 0.96703936 -0.09945464  0.23440447]
 [ 0.01129521  0.93641656  0.35070983]
 [-0.25437923 -0.33650165  0.90667351]]

 t_gt:
[ 0.13008709 -0.03332844  0.99094226]

Pose Error in degrees for R and t:
167.58444346364848 84.31522120632849

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.98063297e-01 -6.22064254e-02  1.24281462e-04]
 [ 6.22064171e-02  9.98063303e-01  7.00332750e-05]
 [-1.28397286e-04 -6.21665369e-05  9.99999990e-01]]

 t_estimated:
[[ 9.85042624e-01]
 [-1.72309345e-01]
 [ 7.20317268e-04]]

 R_gt:
[[ 9.91477399e-01 -1.29712637e-01 -1.21163638e-02]
 [ 1.29718644e-01  9.91550300e-01 -2.70295339e-04]
 [ 1.20493398e-02 -1.30353225e-03  9.99926929e-01]]

 t_gt:
[ 0.63853436 -0.76710731 -0.06180807]

Pose Error in degrees for R and t:
3.9498750805000467 40.43707155876195

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.98104273e-01 -6.15454995e-02  1.09012500e-04]
 [ 6.15455302e-02  9.98104230e-01 -3.04846081e-04]
 [-9.00439329e-05  3.10977409e-04  9.99999948e-01]]

 t_estimated:
[[ 0.66997341]
 [-0.74238323]
 [-0.00166559]]

 R_gt:
[[ 0.96173589 -0.27362254 -0.01396165]
 [ 0.27349016  0.96181582 -0.0106641 ]
 [ 0.01634681  0.00643774  0.99984543]]

 t_gt:
[ 0.72991312 -0.67895028 -0.07907818]

Pose Error in degrees for R and t:
12.389249352849712 6.687838234377331

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-7.47553673e-01 -6.64201366e-01 -2.29206871e-04]
 [ 6.64152731e-01 -7.47494668e-01 -1.23640869e-02]
 [ 8.04091252e-03 -9.39504697e-03  9.99923535e-01]]

 t_estimated:
[[9.69384743e-01]
 [2.45545475e-01]
 [7.99822395e-04]]

 R_gt:
[[ 0.91951092 -0.38981591 -0.0504261 ]
 [ 0.39017989  0.92073409 -0.00281589]
 [ 0.04752797 -0.0170853   0.99872415]]

 t_gt:
[ 0.77934263 -0.62224178 -0.07375793]

Pose Error in degrees for R and t:
115.41475359884576 52.94113538487745

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.09388521e-02  9.95856477e-01 -5.37286633e-05]
 [-9.95856375e-01  9.09388671e-02  4.49299908e-04]
 [ 4.52324248e-04  1.26472139e-05  9.99999898e-01]]

 t_estimated:
[[0.64037017]
 [0.76806585]
 [0.00094589]]

 R_gt:
[[ 0.99509669 -0.05281682  0.08362538]
 [ 0.04025809  0.98856659  0.14531894]
 [-0.09034568 -0.14123934  0.98584398]]

 t_gt:
[ 0.16648113 -0.24509718  0.95509759]

Pose Error in degrees for R and t:
87.89204686256537 85.36902411820064

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-5.73786969e-01 -8.19002106e-01 -2.01605430e-03]
 [ 8.19004543e-01 -5.73786010e-01 -1.08347164e-03]
 [-2.69418198e-04 -2.27283954e-03  9.99997381e-01]]

 t_estimated:
[[9.92730099e-01]
 [1.20358344e-01]
 [9.04949954e-04]]

 R_gt:
[[ 0.97629317 -0.12423323  0.17724996]
 [ 0.06174136  0.94470212  0.32206512]
 [-0.2074596  -0.30348596  0.92997676]]

 t_gt:
[ 0.20828571 -0.12624714  0.96988593]

Pose Error in degrees for R and t:
120.66095643114956 78.90395089922245

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.99734705  0.05711697  0.04512763]
 [-0.05528163  0.99763184 -0.04092252]
 [-0.04735814  0.03831922  0.9981427 ]]

 t_estimated:
[[9.99698452e-01]
 [2.45425152e-02]
 [8.18083840e-04]]

 R_gt:
[[ 0.96999645 -0.1593604   0.18360404]
 [ 0.08043086  0.92303021  0.37622814]
 [-0.22942809 -0.35017233  0.90815307]]

 t_gt:
[ 0.24798369 -0.11870144  0.96146454]

Pose Error in degrees for R and t:
27.654706937698975 75.7719340173655

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99839581e-01 -1.79110865e-02  6.74492678e-05]
 [ 1.79110870e-02  9.99839584e-01 -7.24312567e-06]
 [-6.73087155e-05  8.45005344e-06  9.99999998e-01]]

 t_estimated:
[[6.33980340e-01]
 [7.73349084e-01]
 [3.49566697e-04]]

 R_gt:
[[ 0.99833976 -0.05108689  0.0265967 ]
 [ 0.04924045  0.99660454  0.06598709]
 [-0.02987703 -0.06456795  0.99746556]]

 t_gt:
[ 0.37246747 -0.44586365  0.81392481]

Pose Error in degrees for R and t:
4.479901396325718 83.77767751982032

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.33393715  0.94256742 -0.00725485]
 [ 0.94255815  0.33398246  0.00631286]
 [ 0.00837329 -0.00473002 -0.99995376]]

 t_estimated:
[[-0.28945443]
 [-0.95719057]
 [-0.0015315 ]]

 R_gt:
[[ 0.99538814 -0.06804979  0.06761506]
 [ 0.06018467  0.99185794  0.1122323 ]
 [-0.0747018  -0.10764449  0.99137874]]

 t_gt:
[ 0.37277238 -0.38612677  0.84376944]

Pose Error in degrees for R and t:
179.14851981921416 74.90596160464287

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.9980028  -0.0631548  -0.00137189]
 [ 0.06315775  0.99800109  0.00222066]
 [ 0.0012289  -0.00230287  0.99999659]]

 t_estimated:
[[0.83608636]
 [0.54859   ]
 [0.00293364]]

 R_gt:
[[ 0.9954431  -0.08201405  0.04863531]
 [ 0.07380051  0.98567559  0.1516464 ]
 [-0.0603765  -0.14736582  0.9872372 ]]

 t_gt:
[ 0.47547785 -0.38122212  0.792837  ]

Pose Error in degrees for R and t:
9.110429880355156 79.00450563635816

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.99559907e-01  2.96634264e-02 -2.70817370e-04]
 [-2.96634570e-02  9.99559937e-01 -1.09779033e-04]
 [ 2.67441771e-04  1.17764100e-04  9.99999957e-01]]

 t_estimated:
[[-0.98880107]
 [ 0.14919553]
 [-0.00362542]]

 R_gt:
[[ 0.99917605  0.00748039 -0.03988211]
 [-0.0065819   0.99972182  0.02262641]
 [ 0.04004003 -0.02234574  0.99894886]]

 t_gt:
[ 0.96390135 -0.25293413  0.08317762]

Pose Error in degrees for R and t:
2.921534948576398 7.630551476162275

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.09897178e-01 -4.14832812e-01  9.29640881e-04]
 [ 4.14832722e-01  9.09887179e-01 -4.37420104e-03]
 [ 9.68693798e-04  4.36571864e-03  9.99990001e-01]]

 t_estimated:
[[-0.39134556]
 [-0.9202238 ]
 [-0.00606727]]

 R_gt:
[[ 0.99519701  0.09064878 -0.03695317]
 [-0.08764286  0.99323662  0.0761528 ]
 [ 0.04360619 -0.07254827  0.99641131]]

 t_gt:
[0.38315659 0.10350378 0.917866  ]

Pose Error in degrees for R and t:
30.056811431790532 75.47737959838736

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-8.09596688e-01 -5.86986362e-01 -4.60769138e-04]
 [-5.86986371e-01  8.09595601e-01  1.40117731e-03]
 [-4.49435305e-04  1.40485371e-03 -9.99998912e-01]]

 t_estimated:
[[0.89528541]
 [0.44549155]
 [0.00114382]]

 R_gt:
[[ 0.98398666  0.14012445 -0.1101597 ]
 [-0.12909803  0.9864148   0.10158442]
 [ 0.12289702 -0.085737    0.98870906]]

 t_gt:
[0.82273167 0.27866734 0.49543629]

Pose Error in degrees for R and t:
175.27329887637663 30.538233049923683

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999496e-01 -6.62804619e-04  7.54345231e-04]
 [ 6.63384284e-04  9.99999485e-01 -7.68443003e-04]
 [-7.53835515e-04  7.68943036e-04  9.99999420e-01]]

 t_estimated:
[[0.28984487]
 [0.95707166]
 [0.00194527]]

 R_gt:
[[ 0.98149555 -0.17584773 -0.07579664]
 [ 0.17362699  0.98418907 -0.03500619]
 [ 0.08075382  0.02119857  0.99650841]]

 t_gt:
[ 0.74451762 -0.57739227 -0.33512935]

Pose Error in degrees for R and t:
11.135210770496606 70.27761374216881

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.99996877 -0.00311478 -0.00726394]
 [ 0.00316561  0.99997052  0.00699559]
 [ 0.00724194 -0.00701836  0.99994915]]

 t_estimated:
[[9.87088819e-01]
 [1.60172021e-01]
 [7.66373307e-04]]

 R_gt:
[[ 0.9548893  -0.28551871 -0.08165026]
 [ 0.28343657  0.95830476 -0.03628637]
 [ 0.08860619  0.01150745  0.99600035]]

 t_gt:
[ 0.79049817 -0.57393295 -0.21380743]

Pose Error in degrees for R and t:
17.081828583748493 46.51220492698416

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.02896407e-01 -4.29858193e-01 -1.12843333e-04]
 [ 4.29858155e-01  9.02896133e-01  7.35183679e-04]
 [-2.14138919e-04 -7.12301329e-04  9.99999723e-01]]

 t_estimated:
[[9.90039710e-01]
 [1.40785463e-01]
 [9.08293312e-04]]

 R_gt:
[[ 0.94404347 -0.30173876 -0.13317588]
 [ 0.29982262  0.95336331 -0.03469691]
 [ 0.13743366 -0.00717392  0.99048484]]

 t_gt:
[ 0.82103468 -0.52277967 -0.22935449]

Pose Error in degrees for R and t:
11.157585677542649 42.34954631518307

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.92039692e-01 -1.25920307e-01 -1.15152056e-03]
 [ 1.25921051e-01  9.92040085e-01  5.98477848e-04]
 [ 1.06699404e-03 -7.38714459e-04  9.99999158e-01]]

 t_estimated:
[[-0.51591613]
 [-0.85663825]
 [-0.00120823]]

 R_gt:
[[ 0.9805805   0.19526081  0.01834547]
 [-0.19611854  0.97573979  0.09731089]
 [ 0.00110125 -0.09901954  0.9950839 ]]

 t_gt:
[-0.88514421  0.31285993  0.34443924]

Pose Error in degrees for R and t:
19.38151845924607 79.15012964824767

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.89457451  0.44690696 -0.00325637]
 [ 0.44689448 -0.89457809 -0.00392008]
 [-0.00466499  0.00205155 -0.99998701]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97765939  0.21000928  0.00884447]
 [-0.20990011  0.97319101  0.09402265]
 [ 0.01113876 -0.09377812  0.99553081]]

 t_gt:
[-0.93403823  0.22131505  0.28034306]

Pose Error in degrees for R and t:
174.9104027039226 77.53891041925196

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-0.71149597  0.70255791 -0.0136332 ]
 [ 0.70250221  0.71162048  0.00932376]
 [ 0.01625215 -0.00294353 -0.99986359]]

 t_estimated:
[[ 0.90033487]
 [-0.43513229]
 [-0.00755051]]

 R_gt:
[[ 0.9774829   0.21091575 -0.00647575]
 [-0.20930979  0.97301856  0.09707965]
 [ 0.02677679 -0.09353816  0.99525465]]

 t_gt:
[-0.95608346  0.12017799  0.26732316]

Pose Error in degrees for R and t:
176.08388098061516 23.77906890943241

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.98945982e-01 -4.58948354e-02 -7.67086239e-04]
 [ 4.58948991e-02  9.98946272e-01  6.56600663e-05]
 [ 7.63264481e-04 -1.00796205e-04  9.99999704e-01]]

 t_estimated:
[[0.30447696]
 [0.95251914]
 [0.00102864]]

 R_gt:
[[ 0.99765802 -0.0277062   0.06253688]
 [ 0.0246459   0.99848446  0.04919825]
 [-0.06380551 -0.04754124  0.99682877]]

 t_gt:
[-0.13748441 -0.17473719  0.9749692 ]

Pose Error in degrees for R and t:
4.732562507978501 78.03591772557999

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99999049e-01 -1.37070592e-03  1.51852132e-04]
 [ 1.37065108e-03  9.99998996e-01  3.60650061e-04]
 [-1.52346325e-04 -3.60441582e-04  9.99999923e-01]]

 t_estimated:
[[0.3392991 ]
 [0.94067768]
 [0.0012734 ]]

 R_gt:
[[ 0.9929377  -0.07909112  0.08842211]
 [ 0.06739842  0.98945642  0.12819242]
 [-0.0976283  -0.12132792  0.98779926]]

 t_gt:
[ 0.13487663 -0.28609743  0.9486604 ]

Pose Error in degrees for R and t:
9.851265302929093 77.1644253741318

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.18907603 -0.98195026  0.00489411]
 [-0.98193945 -0.18903514  0.00778686]
 [-0.00672115 -0.00627803 -0.99995771]]

 t_estimated:
[[0.58982865]
 [0.80751224]
 [0.00511259]]

 R_gt:
[[ 0.98536237 -0.11163984  0.12883055]
 [ 0.09034751  0.98286008  0.1606943 ]
 [-0.1445627  -0.14670235  0.97856003]]

 t_gt:
[ 0.25522721 -0.29839519  0.91968439]

Pose Error in degrees for R and t:
167.5969770739706 85.08283100468537

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.28956098 -0.95714223 -0.00576124]
 [-0.95715865  0.28954714  0.00312588]
 [-0.00132376  0.00641956 -0.99997852]]

 t_estimated:
[[8.01537609e-01]
 [5.97944007e-01]
 [6.52027340e-04]]

 R_gt:
[[ 0.99686681 -0.07620422 -0.02121716]
 [ 0.07633937  0.99706587  0.00563967]
 [ 0.02072444 -0.00724046  0.99975914]]

 t_gt:
[ 0.83247598 -0.53935194 -0.12681965]

Pose Error in degrees for R and t:
179.10957576042344 69.83798961965714

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.9991876  -0.04012197  0.00379048]
 [ 0.0401302   0.99919221 -0.00212089]
 [-0.00370232  0.00227128  0.99999057]]

 t_estimated:
[[7.99180766e-01]
 [6.01090583e-01]
 [4.63258712e-04]]

 R_gt:
[[ 0.99459909 -0.10304211 -0.01246343]
 [ 0.10300906  0.99467509 -0.00323946]
 [ 0.01273145  0.00193825  0.99991741]]

 t_gt:
[ 0.82632691 -0.55702941 -0.08307873]

Pose Error in degrees for R and t:
3.733436556132479 71.00286054097816

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99956211e-01 -9.35711631e-03 -1.40099380e-04]
 [ 9.35714301e-03  9.99956203e-01  1.91184126e-04]
 [ 1.38304312e-04 -1.92486685e-04  9.99999972e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.96523072 -0.25742336 -0.04543616]
 [ 0.25752323  0.96626446 -0.00374595]
 [ 0.04486782 -0.00808418  0.99896097]]

 t_gt:
[ 0.80661149 -0.58554294 -0.08073025]

Pose Error in degrees for R and t:
14.62441140874601 69.04939163310817

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.97580292e-01 -6.95238089e-02 -3.09753879e-05]
 [ 6.95238130e-02  9.97580279e-01  1.61046444e-04]
 [ 1.97038739e-05 -1.62810286e-04  9.99999987e-01]]

 t_estimated:
[[1.42652154e-01]
 [9.89772873e-01]
 [1.47871037e-04]]

 R_gt:
[[ 0.99742486  0.0147737  -0.07018522]
 [-0.01236721  0.99932501  0.03459762]
 [ 0.070649   -0.03364036  0.9969342 ]]

 t_gt:
[ 0.99603512 -0.08530383  0.02524466]

Pose Error in degrees for R and t:
6.541256742144456 86.69455698819758

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 9.93901951e-01 -1.10267444e-01 -4.62012021e-05]
 [ 1.10267452e-01  9.93901916e-01  2.65396410e-04]
 [ 1.66548795e-05 -2.68872499e-04  9.99999964e-01]]

 t_estimated:
[[ 7.34597725e-03]
 [ 9.99973011e-01]
 [-1.13980469e-04]]

 R_gt:
[[ 0.99334302  0.01778233 -0.11381929]
 [-0.01210546  0.99865651  0.05037575]
 [ 0.11456123 -0.04866237  0.99222326]]

 t_gt:
[ 0.98599607 -0.1663348   0.01201978]

Pose Error in degrees for R and t:
10.131476646391857 80.84600189487455

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.62183771e-01 -2.72401151e-01 -7.00009653e-05]
 [ 2.72401155e-01  9.62183676e-01  4.29721954e-04]
 [-4.97029685e-05 -4.32539834e-04  9.99999905e-01]]

 t_estimated:
[[-8.43952931e-01]
 [-5.36416767e-01]
 [-7.08608675e-04]]

 R_gt:
[[ 0.991223    0.08286229 -0.10301158]
 [-0.07176828  0.99165372  0.10710308]
 [ 0.11102615 -0.09876954  0.98889743]]

 t_gt:
[ 0.83226549 -0.12167448  0.54085994]

Pose Error in degrees for R and t:
21.970138437481406 50.393758158823964

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.88927306e-01 -1.48395660e-01  1.22985419e-03]
 [ 1.48398366e-01  9.88924452e-01 -2.52058908e-03]
 [-8.42188405e-04  2.67518772e-03  9.99996067e-01]]

 t_estimated:
[[-9.78379124e-01]
 [-2.06818052e-01]
 [-7.63166244e-04]]

 R_gt:
[[ 0.99837343  0.0548022   0.01567742]
 [-0.05421193  0.99788408 -0.03588801]
 [-0.01761157  0.03498084  0.99923268]]

 t_gt:
[-0.49649087  0.81545474 -0.29754054]

Pose Error in degrees for R and t:
11.843981353616078 71.49831056779048

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.73686557 -0.67602956 -0.00362893]
 [ 0.67603699 -0.73683842 -0.0065667 ]
 [ 0.00176535 -0.00729207  0.99997185]]

 t_estimated:
[[9.88228047e-01]
 [1.52986046e-01]
 [7.72656800e-04]]

 R_gt:
[[ 0.99077934  0.13500343  0.01138387]
 [-0.1345051   0.9902296  -0.0367889 ]
 [-0.01623991  0.0349187   0.99925812]]

 t_gt:
[-0.6235351   0.76841781 -0.14400713]

Pose Error in degrees for R and t:
145.22318509045843 60.08273537180725

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-0.25752835  0.96625949 -0.00466343]
 [-0.96626348 -0.25754213 -0.00263447]
 [-0.00374661  0.00382765  0.99998566]]

 t_estimated:
[[0.09089495]
 [0.99585964]
 [0.00129843]]

 R_gt:
[[ 0.95069974  0.30998676 -0.00881462]
 [-0.30977356  0.94795394 -0.07364433]
 [-0.01447265  0.07274421  0.99724516]]

 t_gt:
[-0.67755414  0.71794475 -0.15961116]

Pose Error in degrees for R and t:
86.91373307963234 49.21830677244617

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[-0.98571227 -0.14095077 -0.09221827]
 [-0.14115642  0.98997787 -0.00432158]
 [ 0.09190317  0.00875736 -0.99572944]]

 t_estimated:
[[ 0.99636414]
 [ 0.07148422]
 [-0.04635209]]

 R_gt:
[[ 0.99964855  0.01037837 -0.02440941]
 [-0.01030328  0.99994198  0.00318026]
 [ 0.02444132 -0.00292821  0.99969669]]

 t_gt:
[ 0.83598587  0.47250893 -0.2790393 ]

Pose Error in degrees for R and t:
173.3202007942467 28.398945682424575

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 1.27406459e-01  9.91850389e-01  6.32983473e-04]
 [-9.91844328e-01  1.27407896e-01 -3.47235627e-03]
 [-3.52470501e-03 -1.85420451e-04  9.99993771e-01]]

 t_estimated:
[[0.09839634]
 [0.99514479]
 [0.00223628]]

 R_gt:
[[ 0.99914542  0.03350082 -0.0242102 ]
 [-0.03370661  0.99939904 -0.00810254]
 [ 0.02392416  0.00891066  0.99967433]]

 t_gt:
[ 0.79186644  0.54513217 -0.27527888]

Pose Error in degrees for R and t:
80.76746614917246 51.69944760332803

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.95512662e-01  9.46274245e-02  4.37023193e-04]
 [-9.46274315e-02  9.95512757e-01 -4.55950908e-06]
 [-4.35493619e-04 -3.68153333e-05  9.99999904e-01]]

 t_estimated:
[[-6.03811813e-01]
 [ 7.97126632e-01]
 [ 6.53925089e-04]]

 R_gt:
[[ 0.99615739  0.0630001  -0.06083657]
 [-0.06162602  0.99780596  0.02420079]
 [ 0.0622282  -0.02035902  0.99785424]]

 t_gt:
[ 0.87061969  0.45625331 -0.18399529]

Pose Error in degrees for R and t:
4.20740516435198 80.67008144083394

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-9.92033203e-01 -1.24972059e-01  1.58779224e-02]
 [-1.24990717e-01  9.92157894e-01 -1.84336283e-04]
 [-1.57303691e-02 -2.16746062e-03 -9.99873921e-01]]

 t_estimated:
[[0.99989276]
 [0.01108903]
 [0.00956529]]

 R_gt:
[[ 0.99936471 -0.01873413 -0.03032389]
 [ 0.01907812  0.999756    0.0111226 ]
 [ 0.03010925 -0.01169379  0.99947776]]

 t_gt:
[ 0.55282217 -0.67243423 -0.49215836]

Pose Error in degrees for R and t:
179.2187376844621 57.27560239752086

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.97885901  0.20370583  0.01841138]
 [-0.20361317  0.97902784 -0.00679459]
 [-0.01940935  0.00290215  0.99980741]]

 t_estimated:
[[0.99498793]
 [0.09949879]
 [0.00994988]]

 R_gt:
[[ 0.99865263  0.0240133  -0.04600286]
 [-0.02197394  0.99877411  0.04435244]
 [ 0.04701233 -0.04328233  0.99795585]]

 t_gt:
[-0.6088845  -0.59430653 -0.52541357]

Pose Error in degrees for R and t:
11.433505669843527 47.918013136951664

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.19932243  0.97993077  0.00250033]
 [-0.97992488  0.19933092 -0.00379601]
 [-0.00421822 -0.00169351  0.99998967]]

 t_estimated:
[[-0.24264691]
 [ 0.9701068 ]
 [ 0.00390767]]

 R_gt:
[[ 9.98864766e-01  1.60393788e-03 -4.75940950e-02]
 [-9.73563195e-04  9.99910661e-01  1.32747586e-02]
 [ 4.76122117e-02 -1.32133333e-02  9.98777971e-01]]

 t_gt:
[-0.00259607 -0.80225401 -0.59697719]

Pose Error in degrees for R and t:
78.48190435004459 38.74171957565293

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.29581209 -0.95423038  0.0440408 ]
 [-0.95524452  0.29558224 -0.01179175]
 [-0.00176564 -0.04555788 -0.99896014]]

 t_estimated:
[[0.80542731]
 [0.59267292]
 [0.00506558]]

 R_gt:
[[ 0.95526536  0.29533589  0.01564001]
 [-0.2952      0.95537803 -0.01044029]
 [-0.01802551  0.00535649  0.99982312]]

 t_gt:
[-0.92427772  0.38161751 -0.00887491]

Pose Error in degrees for R and t:
177.5691612491479 58.78110196746313

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.95451203e-01 -9.52683417e-02 -9.19010572e-04]
 [ 9.52691430e-02  9.95451170e-01  8.71500159e-04]
 [ 8.31803774e-04 -9.55089231e-04  9.99999198e-01]]

 t_estimated:
[[-9.99975848e-01]
 [-6.89638516e-03]
 [-8.62048145e-04]]

 R_gt:
[[ 0.93096195  0.36457628  0.01982427]
 [-0.36412659  0.9310653  -0.02302298]
 [-0.02685139  0.01421526  0.99953826]]

 t_gt:
[-0.90583867  0.42283955 -0.02574923]

Pose Error in degrees for R and t:
26.89982070324888 25.455027268069596

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-9.26094251e-01 -3.77291657e-01 -6.66152429e-04]
 [-3.77291928e-01  9.26094318e-01  3.38638669e-04]
 [ 4.89154435e-04  5.64945259e-04 -9.99999721e-01]]

 t_estimated:
[[9.78686978e-01]
 [2.05356316e-01]
 [7.63406379e-04]]

 R_gt:
[[ 0.87772158  0.4786621   0.02209527]
 [-0.4785571   0.87799835 -0.01014556]
 [-0.02425558 -0.00166837  0.99970362]]

 t_gt:
[-0.87242727  0.48850115  0.01540396]

Pose Error in degrees for R and t:
178.7413064689056 41.1051195499195

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.95742563 -0.09766933  0.27165578]
 [ 0.13191277  0.98505457 -0.11075434]
 [-0.25677847  0.14187391  0.95600032]]

 t_estimated:
[[0.70151691]
 [0.71265209]
 [0.00101229]]

 R_gt:
[[ 0.99003516 -0.13735675 -0.0310415 ]
 [ 0.13705912  0.99049619 -0.01151717]
 [ 0.03232915  0.00714865  0.99945171]]

 t_gt:
[ 0.7178043  -0.67280026 -0.17915578]

Pose Error in degrees for R and t:
18.54888790976627 88.63061610556639

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.93549483e-01  1.13398797e-01  3.70692025e-04]
 [-1.13398727e-01  9.93549539e-01 -2.04499937e-04]
 [-3.91490938e-04  1.61144804e-04  9.99999910e-01]]

 t_estimated:
[[0.58014156]
 [0.81451518]
 [0.00089115]]

 R_gt:
[[ 0.97782263 -0.20625212 -0.0363889 ]
 [ 0.20536088  0.97832048 -0.02675348]
 [ 0.04111764  0.01868785  0.99897936]]

 t_gt:
[ 0.74627367 -0.64775006 -0.15328231]

Pose Error in degrees for R and t:
18.57573734723367 84.56050878338105

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 3.54830883e-01  9.34929648e-01  1.26403932e-03]
 [ 9.34923538e-01 -3.54833134e-01  3.38022573e-03]
 [ 3.60879628e-03 -1.76283658e-05 -9.99993488e-01]]

 t_estimated:
[[8.35060605e-01]
 [5.50157575e-01]
 [6.54949494e-04]]

 R_gt:
[[ 0.9779259  -0.19172819 -0.08308234]
 [ 0.18410906  0.97865155 -0.09135043]
 [ 0.09882281  0.07403787  0.9923476 ]]

 t_gt:
[ 0.74687215 -0.50865471 -0.42831342]

Pose Error in degrees for R and t:
179.1574832634779 69.90591521384258

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.98449231e-01 -5.56656464e-02  6.85024662e-04]
 [ 5.56655764e-02  9.98449462e-01  1.20866861e-04]
 [-6.90690638e-04 -8.25471315e-05  9.99999758e-01]]

 t_estimated:
[[0.30584259]
 [0.95207323]
 [0.00410749]]

 R_gt:
[[ 0.99911308 -0.02948508 -0.03007417]
 [ 0.02781413  0.99812659 -0.0545111 ]
 [ 0.03162529  0.05362536  0.99805985]]

 t_gt:
[ 0.59139879 -0.24572719 -0.76802709]

Pose Error in degrees for R and t:
3.912684781773722 86.77655737809357

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.27544946  0.96131489  0.00113089]
 [ 0.96131328  0.27544606  0.00250005]
 [ 0.00209183  0.00177577 -0.99999624]]

 t_estimated:
[[9.14281247e-01]
 [4.05079367e-01]
 [7.13167899e-04]]

 R_gt:
[[ 0.9954893  -0.0183648  -0.09309273]
 [ 0.00753451  0.99329455 -0.11537456]
 [ 0.09458712  0.11415291  0.98894978]]

 t_gt:
[ 0.37123812  0.12445974 -0.9201587 ]

Pose Error in degrees for R and t:
179.63075665003527 67.09676878522433

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.84985678e-01  1.72634638e-01  7.03758787e-04]
 [-1.72634511e-01  9.84985923e-01 -2.37491412e-04]
 [-7.34191743e-04  1.12432586e-04  9.99999724e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9876217  -0.0481497  -0.14928269]
 [ 0.02031907  0.98297506 -0.18261443]
 [ 0.15553406  0.17732085  0.97178423]]

 t_gt:
[ 0.38390731  0.14338263 -0.91217137]

Pose Error in degrees for R and t:
18.119694590647278 81.67279881058982

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.96894430e-01 -7.87458069e-02 -7.70345268e-04]
 [ 7.87465604e-02  9.96894164e-01  1.00231706e-03]
 [ 6.89024436e-04 -1.05986634e-03  9.99999201e-01]]

 t_estimated:
[[0.18193371]
 [0.98330841]
 [0.00216588]]

 R_gt:
[[ 0.95304645  0.30279235 -0.00429153]
 [-0.30273189  0.95231875 -0.03799084]
 [-0.00741619  0.03750629  0.99926823]]

 t_gt:
[-0.89378106  0.43446202 -0.11134704]

Pose Error in degrees for R and t:
22.25969986191215 74.67106758848341

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99737067e-01  2.29233274e-02 -5.64438673e-04]
 [-2.29231679e-02  9.99737188e-01  2.87502415e-04]
 [ 5.70880844e-04 -2.74488098e-04  9.99999799e-01]]

 t_estimated:
[[-9.96998561e-01]
 [ 7.74171249e-02]
 [-6.76163157e-04]]

 R_gt:
[[ 0.82829458  0.56028741 -0.00257821]
 [-0.55962397  0.82707316 -0.05263679]
 [-0.02735873  0.04504161  0.99860999]]

 t_gt:
[-0.83681644  0.54345667 -0.06628045]

Pose Error in degrees for R and t:
32.90353415854921 28.786227577521743

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-6.79759322e-01 -7.33387151e-01 -8.39949374e-03]
 [-7.33435210e-01  6.79710987e-01  8.10967971e-03]
 [-2.38306719e-04  1.16731148e-02 -9.99931838e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.72993727  0.68325704 -0.01871954]
 [-0.68351035  0.72957539 -0.02312817]
 [-0.00214485  0.02967647  0.99955646]]

 t_gt:
[-0.7983447   0.60054169 -0.04467004]

Pose Error in degrees for R and t:
178.4145641054336 73.68683123507874

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999910e-01 -3.52340375e-04  2.34710525e-04]
 [ 3.52295016e-04  9.99999919e-01  1.93269610e-04]
 [-2.34778603e-04 -1.93186905e-04  9.99999954e-01]]

 t_estimated:
[[0.6624578 ]
 [0.74909358]
 [0.0029103 ]]

 R_gt:
[[ 0.99790028 -0.0592588  -0.0261508 ]
 [ 0.05946094  0.99820638  0.00701174]
 [ 0.02568881 -0.00855248  0.99963369]]

 t_gt:
[ 0.75783084 -0.63694319 -0.14140647]

Pose Error in degrees for R and t:
3.725849991051132 88.5967228442611

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.99995312 -0.00665824  0.0070297 ]
 [ 0.00668718  0.99996923 -0.00410071]
 [-0.00700218  0.00414753  0.99996688]]

 t_estimated:
[[0.58150675]
 [0.81353654]
 [0.00286457]]

 R_gt:
[[ 0.98893101 -0.10597332 -0.10384603]
 [ 0.10423838  0.99430919 -0.02201209]
 [ 0.10558753  0.01094448  0.99434969]]

 t_gt:
[ 0.80044481 -0.40843307 -0.43871463]

Pose Error in degrees for R and t:
8.593060136101036 82.41874436671064

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.9327142  -0.36061073  0.00202932]
 [ 0.36061344  0.93271462 -0.00117231]
 [-0.00147003  0.00182523  0.99999725]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.97301383 -0.20098073 -0.1133628 ]
 [ 0.19413889  0.97857364 -0.06858378]
 [ 0.12471798  0.04472495  0.99118386]]

 t_gt:
[ 0.81833658 -0.41126967 -0.4014754 ]

Pose Error in degrees for R and t:
12.354037576083048 67.11827372831388

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.98275628e-01 -5.87003492e-02 -1.99525418e-04]
 [ 5.87003350e-02  9.98275646e-01 -7.66405601e-05]
 [ 2.03680193e-04  6.47961943e-05  9.99999977e-01]]

 t_estimated:
[[-0.92526507]
 [-0.37931483]
 [-0.00219257]]

 R_gt:
[[ 0.99850448  0.04136923 -0.03572865]
 [-0.04089705  0.99906705  0.01386825]
 [ 0.03626918 -0.012387    0.99926526]]

 t_gt:
[-0.63918437  0.76881033 -0.01933941]

Pose Error in degrees for R and t:
6.126917012907613 72.55223384014008

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[-0.33763568  0.94127161 -0.00314796]
 [-0.94127109 -0.33764343 -0.00237505]
 [-0.00329845  0.00216118  0.99999222]]

 t_estimated:
[[0.29036437]
 [0.95691509]
 [0.00143037]]

 R_gt:
[[ 0.99747063  0.0641702  -0.03054814]
 [-0.0650648   0.99745146 -0.02925941]
 [ 0.02859301  0.03117181  0.99910483]]

 t_gt:
[-0.35970851  0.84118764 -0.40374886]

Pose Error in degrees for R and t:
106.04199349683248 45.579325359121185

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[-0.5975352   0.80171878 -0.01409567]
 [ 0.80170913  0.59766419  0.00774542]
 [ 0.01463412 -0.00667247 -0.99987065]]

 t_estimated:
[[ 0.87949596]
 [-0.47583552]
 [-0.00821066]]

 R_gt:
[[ 0.98884695  0.14582797 -0.03026804]
 [-0.14693159  0.98841011 -0.03816631]
 [ 0.0243519   0.04218689  0.99881346]]

 t_gt:
[-0.51763732  0.81859084 -0.24891895]

Pose Error in degrees for R and t:
178.71273235827036 32.570387507

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.99993417e-01  3.62818112e-03  5.63906467e-05]
 [-3.62818435e-03  9.99993416e-01  5.73870836e-05]
 [-5.61820647e-05 -5.75913014e-05  9.99999997e-01]]

 t_estimated:
[[ 9.99927308e-01]
 [ 1.20555260e-02]
 [-2.08714524e-04]]

 R_gt:
[[ 0.99918693 -0.03925369  0.00925991]
 [ 0.03908328  0.99907673  0.01787583]
 [-0.00995279 -0.01749965  0.99979794]]

 t_gt:
[ 0.95905963 -0.07299748  0.27363479]

Pose Error in degrees for R and t:
2.707538693972566 16.654023706612723

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99748145e-01 -2.24420737e-02 -1.93119864e-05]
 [ 2.24420785e-02  9.99748100e-01  2.99342715e-04]
 [ 1.25892505e-05 -2.99700725e-04  9.99999955e-01]]

 t_estimated:
[[0.74215325]
 [0.67022974]
 [0.00081188]]

 R_gt:
[[ 0.99908054 -0.0157636  -0.0398723 ]
 [ 0.01619942  0.99981288  0.01061641]
 [ 0.03969814 -0.01125304  0.9991487 ]]

 t_gt:
[ 0.97002576  0.22024417 -0.10267687]

Pose Error in degrees for R and t:
2.387604690498395 29.83766215595045

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.95221511e-01 -9.76429036e-02 -9.05172030e-05]
 [ 9.76429336e-02  9.95221420e-01  4.27237557e-04]
 [ 4.83679437e-05 -4.34034372e-04  9.99999905e-01]]

 t_estimated:
[[0.89456285]
 [0.44694127]
 [0.00090149]]

 R_gt:
[[ 0.99905891  0.02350741 -0.03647049]
 [-0.02317879  0.99968698  0.00940715]
 [ 0.0366801  -0.00855312  0.99929043]]

 t_gt:
[ 0.93190525  0.34745916 -0.10404196]

Pose Error in degrees for R and t:
7.265992168380042 8.564876295332597

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 1.24658021e-01  9.92199666e-01  4.48554109e-04]
 [-9.92198369e-01  1.24658591e-01 -1.62214645e-03]
 [-1.66540929e-03 -2.42841089e-04  9.99998584e-01]]

 t_estimated:
[[0.22612956]
 [0.97409655]
 [0.00115964]]

 R_gt:
[[ 0.98108197  0.19187829 -0.02571674]
 [-0.19158907  0.98138529  0.01330358]
 [ 0.02779182 -0.00812483  0.99958064]]

 t_gt:
[-0.87722476  0.47377738 -0.07753518]

Pose Error in degrees for R and t:
71.80163614009413 74.74897018378994

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.74391932e-01 -2.24854345e-01 -9.41617074e-04]
 [ 2.24854866e-01  9.74392144e-01  4.88537384e-04]
 [ 8.07654526e-04 -6.87754067e-04  9.99999437e-01]]

 t_estimated:
[[-3.49724571e-01]
 [-9.36852269e-01]
 [-7.42594603e-04]]

 R_gt:
[[ 0.95566937  0.29440838  0.00445233]
 [-0.29323663  0.95028322  0.10475895]
 [ 0.02661058 -0.10141959  0.99448791]]

 t_gt:
[-0.89488374  0.40011995  0.19770463]

Pose Error in degrees for R and t:
30.703850427191178 86.44324259180294

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.21508933e-01 -3.88356535e-01 -6.99108405e-04]
 [ 3.88356602e-01  9.21509169e-01 -4.22679490e-05]
 [ 6.60649839e-04 -2.32553072e-04  9.99999755e-01]]

 t_estimated:
[[-0.37804145]
 [-0.92578764]
 [-0.00137971]]

 R_gt:
[[ 0.96159055  0.27399968 -0.01636593]
 [-0.27126403  0.95771885  0.0958736 ]
 [ 0.04194401 -0.08775133  0.99525954]]

 t_gt:
[-0.94939424  0.28249904  0.13727662]

Pose Error in degrees for R and t:
39.09426569537279 84.4228003711818

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99180583e-01  4.04742081e-02  7.54655436e-06]
 [-4.04742079e-02  9.99180583e-01 -2.80096551e-05]
 [-8.67403920e-06  2.76812628e-05  1.00000000e+00]]

 t_estimated:
[[-9.95398053e-01]
 [ 9.58263770e-02]
 [-1.44419016e-04]]

 R_gt:
[[ 9.97665234e-01  6.82871985e-02  1.09033833e-03]
 [-6.82938740e-02  9.97629622e-01  8.33919559e-03]
 [-5.17831008e-04 -8.39425201e-03  9.99964619e-01]]

 t_gt:
[-0.83388944  0.54855974  0.06091478]

Pose Error in degrees for R and t:
1.6684841663167664 28.04121915348023

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.93346719e-01 -1.15153766e-01  1.38084151e-03]
 [ 1.15160392e-01  9.93325290e-01 -6.55372417e-03]
 [-6.16938770e-04  6.66913865e-03  9.99977571e-01]]

 t_estimated:
[[8.19471549e-01]
 [5.73119510e-01]
 [6.38217717e-04]]

 R_gt:
[[ 0.99947794 -0.0255134  -0.01985541]
 [ 0.02518338  0.9995428  -0.01671077]
 [ 0.02027323  0.01620209  0.99966387]]

 t_gt:
[ 0.21300565 -0.86094096 -0.46196241]

Pose Error in degrees for R and t:
5.3287440445991825 71.38757543268888

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.78855225e-01  2.04553101e-01  6.91240651e-04]
 [-2.04552267e-01  9.78855006e-01 -1.11686444e-03]
 [-9.05082456e-04  9.51853746e-04  9.99999137e-01]]

 t_estimated:
[[0.86234817]
 [0.50631319]
 [0.00160987]]

 R_gt:
[[ 0.99539922 -0.0935019  -0.02093553]
 [ 0.09297408  0.99535661 -0.0249057 ]
 [ 0.02316698  0.02284497  0.9994705 ]]

 t_gt:
[ 0.52127923 -0.81078013 -0.26627718]

Pose Error in degrees for R and t:
17.253745293767324 87.7885878489146

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999998e-01  6.95756661e-05  1.13195217e-05]
 [-6.95757466e-05  9.99999998e-01  7.11014345e-06]
 [-1.13190270e-05 -7.11093100e-06  1.00000000e+00]]

 t_estimated:
[[ 9.99992583e-01]
 [-3.78216974e-03]
 [-7.27007703e-04]]

 R_gt:
[[ 9.99696604e-01 -2.46076995e-02 -1.43275045e-03]
 [ 2.46069962e-02  9.99697360e-01 -4.50541917e-04]
 [ 1.44330130e-03  4.15734321e-04  9.99998307e-01]]

 t_gt:
[ 0.92013077 -0.38892942 -0.04575225]

Pose Error in degrees for R and t:
1.4165247357327322 22.834712270989527

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999164e-01 -1.14320097e-03  6.03779871e-04]
 [ 1.14345813e-03  9.99999256e-01 -4.25749222e-04]
 [-6.03292704e-04  4.26439263e-04  9.99999727e-01]]

 t_estimated:
[[0.2985185 ]
 [0.95440325]
 [0.00106996]]

 R_gt:
[[ 0.99085838 -0.13286031 -0.02339339]
 [ 0.13263324  0.99110417 -0.01100587]
 [ 0.02464761  0.00780285  0.99966507]]

 t_gt:
[ 0.78729206 -0.60405425 -0.12365139]

Pose Error in degrees for R and t:
7.712401966153116 70.0242501271986

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999900e-01  3.65376697e-04  2.57684240e-04]
 [-3.65331712e-04  9.99999918e-01 -1.74598618e-04]
 [-2.57748013e-04  1.74504460e-04  9.99999952e-01]]

 t_estimated:
[[ 9.99999865e-01]
 [ 3.26684814e-04]
 [-4.03306540e-04]]

 R_gt:
[[ 0.96512568 -0.25978242 -0.03233907]
 [ 0.2602017   0.96550831  0.00945023]
 [ 0.02876772 -0.01753501  0.9994315 ]]

 t_gt:
[ 0.76834559 -0.63968763 -0.02109013]

Pose Error in degrees for R and t:
15.219455013466204 39.81239621493614

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.99996528e-01  2.63501942e-03  9.58404102e-06]
 [-2.63501550e-03  9.99996453e-01 -3.88266357e-04]
 [-1.06070964e-05  3.88239755e-04  9.99999925e-01]]

 t_estimated:
[[-0.00699123]
 [-0.99997502]
 [-0.00104085]]

 R_gt:
[[ 0.99961119 -0.01185378 -0.02523822]
 [ 0.0067471   0.9810668  -0.19354977]
 [ 0.02705444  0.19330454  0.98076599]]

 t_gt:
[ 0.17891472  0.37265129 -0.91056057]

Pose Error in degrees for R and t:
11.254837640448383 68.10263854882552

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-7.73168145e-01 -6.34200979e-01 -3.70820385e-04]
 [-6.34199696e-01  7.73165093e-01  2.54639205e-03]
 [-1.32821896e-03  2.20396340e-03 -9.99996689e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9986153  -0.03722687 -0.03715797]
 [ 0.02490919  0.9569247  -0.28926507]
 [ 0.04632549  0.28793887  0.95652746]]

 t_gt:
[ 0.23070907  0.37481843 -0.89793344]

Pose Error in degrees for R and t:
172.11667939842832 76.6337975786142

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.14516673 -0.98940531 -0.00193662]
 [ 0.98940342 -0.14516048 -0.00305069]
 [ 0.00273725 -0.00235896  0.99999347]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99589857 -0.08309545 -0.03578676]
 [ 0.06691431  0.94271684 -0.32681439]
 [ 0.06089334  0.32307949  0.94441064]]

 t_gt:
[ 0.30261383  0.32020774 -0.8977148 ]

Pose Error in degrees for R and t:
95.39724538533419 72.36757493906529

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.91489710e-01 -1.30175084e-01  1.61349246e-03]
 [ 1.30176771e-01  9.91490308e-01 -9.88301764e-04]
 [-1.47110987e-03  1.18993027e-03  9.99998210e-01]]

 t_estimated:
[[-8.38474791e-01]
 [-5.44940370e-01]
 [ 1.34092426e-04]]

 R_gt:
[[ 0.99172009  0.12799208 -0.01047013]
 [-0.12748396  0.99103901  0.03985868]
 [ 0.01547769 -0.03819462  0.99915101]]

 t_gt:
[-0.86865805  0.45841512  0.18785305]

Pose Error in degrees for R and t:
15.021892107229307 61.40833280515381

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.86227442e-01 -1.65392248e-01 -9.14959465e-04]
 [ 1.65393280e-01  9.86226965e-01  1.19835609e-03]
 [ 7.04158888e-04 -1.33317981e-03  9.99998863e-01]]

 t_estimated:
[[-9.99789796e-01]
 [-2.04893414e-02]
 [-7.42125811e-04]]

 R_gt:
[[ 0.96038887  0.27865641 -0.002435  ]
 [-0.27865842  0.96025094 -0.01634305]
 [-0.00221621  0.01637357  0.99986338]]

 t_gt:
[-0.82019951  0.57154622 -0.02465132]

Pose Error in degrees for R and t:
25.72120758113427 36.066446619451334

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 4.39148612e-01 -8.98414074e-01 -8.05007782e-04]
 [ 8.98410099e-01  4.39143533e-01  3.50026820e-03]
 [-2.79117626e-03 -2.26036504e-03  9.99993550e-01]]

 t_estimated:
[[ 0.09984839]
 [-0.99499783]
 [ 0.00310111]]

 R_gt:
[[ 0.94086188  0.33759499 -0.02845176]
 [-0.33782863  0.9412007  -0.00366438]
 [ 0.02554136  0.01305898  0.9995885 ]]

 t_gt:
[-0.78692746  0.61574037 -0.04011193]

Pose Error in degrees for R and t:
83.70823298790972 46.26228431416485

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.03212608  0.99908481 -0.02823934]
 [ 0.99910088  0.03288299  0.02676076]
 [ 0.02766486 -0.02735423 -0.99924291]]

 t_estimated:
[[ 0.74752491]
 [-0.66395073]
 [-0.01938889]]

 R_gt:
[[ 0.99463023  0.08476925 -0.05937038]
 [-0.08251817  0.99581058  0.03940428]
 [ 0.06246301 -0.03429359  0.99745817]]

 t_gt:
[-0.18773023  0.97765619 -0.09458191]

Pose Error in degrees for R and t:
173.79060330587728 38.03684045667946

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99976069e-01 -6.91715229e-03  1.21285718e-04]
 [ 6.91712407e-03  9.99976050e-01  2.31578316e-04]
 [-1.22884676e-04 -2.30733826e-04  9.99999966e-01]]

 t_estimated:
[[0.00782093]
 [0.99996882]
 [0.00109249]]

 R_gt:
[[ 0.98392394  0.15505838 -0.08860243]
 [-0.14689394  0.98483983  0.09227247]
 [ 0.10156796 -0.07777395  0.99178368]]

 t_gt:
[-0.19504389  0.98070258  0.0134289 ]

Pose Error in degrees for R and t:
11.702527434956881 11.717382428484013

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.9591257  -0.28294114  0.00471295]
 [-0.28293165  0.95913659  0.00258474]
 [-0.00525169  0.00114565 -0.99998555]]

 t_estimated:
[[0.96364279]
 [0.2671737 ]
 [0.00328474]]

 R_gt:
[[ 0.98486227  0.13575457 -0.1077833 ]
 [-0.12563585  0.98744776  0.09572162]
 [ 0.11942599 -0.0807312   0.98955573]]

 t_gt:
[ 0.16707058  0.98297301 -0.07649501]

Pose Error in degrees for R and t:
174.5308444282695 64.95249068234878

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 1.28881270e-01  9.91659541e-01  9.86829751e-04]
 [-9.91658504e-01  1.28882754e-01 -1.62673980e-03]
 [-1.74035738e-03 -7.68941825e-04  9.99998190e-01]]

 t_estimated:
[[0.3870578 ]
 [0.92205455]
 [0.00129228]]

 R_gt:
[[ 9.95802724e-01 -9.10457938e-02 -9.27350043e-03]
 [ 9.15143408e-02  9.91311042e-01  9.44786694e-02]
 [ 5.90487170e-04 -9.49309633e-02  9.95483827e-01]]

 t_gt:
[ 0.34471542 -0.76259067  0.54738172]

Pose Error in degrees for R and t:
87.98113897957921 55.31822139550747

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.99952813 -0.02690595 -0.01481853]
 [ 0.02765436  0.99821905  0.052858  ]
 [ 0.01336995 -0.05324285  0.99849208]]

 t_estimated:
[[0.8053014 ]
 [0.59286252]
 [0.00192051]]

 R_gt:
[[ 0.9848119  -0.15687191 -0.07440412]
 [ 0.16707091  0.97283034  0.16027151]
 [ 0.04724098 -0.17026876  0.98426452]]

 t_gt:
[ 0.43402294 -0.75999472  0.48376865]

Pose Error in degrees for R and t:
10.527018364330166 84.25368822823864

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 7.69735286e-01  6.38356042e-01 -3.02535464e-03]
 [-6.38359667e-01  7.69738161e-01 -3.15746637e-04]
 [ 2.12717215e-03  2.17430571e-03  9.99995374e-01]]

 t_estimated:
[[-0.22851921]
 [ 0.97353238]
 [-0.00369862]]

 R_gt:
[[ 0.95825232 -0.25710125 -0.12510383]
 [ 0.27521029  0.94802001  0.15973746]
 [ 0.07753195 -0.18749936  0.97919989]]

 t_gt:
[ 0.57309016 -0.74680602  0.33741433]

Pose Error in degrees for R and t:
56.399309516962965 30.767531784056697

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99999654e-01  8.31280522e-04  8.79714303e-06]
 [-8.31280770e-04  9.99999654e-01  2.82399058e-05]
 [-8.77366470e-06 -2.82472089e-05  1.00000000e+00]]

 t_estimated:
[[ 8.33347615e-01]
 [-5.52749202e-01]
 [ 2.69888318e-04]]

 R_gt:
[[ 9.97098358e-01 -6.89689339e-02  3.22233397e-02]
 [ 6.89175844e-02  9.97618398e-01  2.71735936e-03]
 [-3.23339814e-02 -4.87817453e-04  9.99477106e-01]]

 t_gt:
[ 0.64555711 -0.72092119  0.2520489 ]

Pose Error in degrees for R and t:
4.409808969738448 20.523230904840254

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.27684606e-01 -3.73360247e-01  1.84331418e-03]
 [ 3.73361811e-01  9.27685626e-01 -5.80949387e-04]
 [-1.49311266e-03  1.22716092e-03  9.99998132e-01]]

 t_estimated:
[[9.82712514e-01]
 [1.85136018e-01]
 [8.77421887e-04]]

 R_gt:
[[ 0.99338095 -0.1081252   0.03878186]
 [ 0.1078573   0.99412604  0.00894005]
 [-0.03952201 -0.00469764  0.99920763]]

 t_gt:
[ 0.71973812 -0.65483067  0.23059455]

Pose Error in degrees for R and t:
15.872498308729499 54.107576280523226

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999875e-01  5.00584009e-04  1.08919634e-05]
 [-5.00584190e-04  9.99999875e-01  1.65659584e-05]
 [-1.08836694e-05 -1.65714087e-05  1.00000000e+00]]

 t_estimated:
[[ 7.92421151e-01]
 [-6.09974243e-01]
 [-3.77034717e-04]]

 R_gt:
[[ 0.98687633 -0.15113056  0.05686763]
 [ 0.15157413  0.98843915 -0.00353942]
 [-0.05567503  0.01211267  0.99837514]]

 t_gt:
[ 0.74946509 -0.63985969  0.16994606]

Pose Error in degrees for R and t:
9.330375282008161 10.222548729805645

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-0.46886133 -0.86475665 -0.1799027 ]
 [ 0.54012018 -0.11953956 -0.83305491]
 [ 0.69888429 -0.48775631  0.52312   ]]

 t_estimated:
[[0.8377179 ]
 [0.54606796]
 [0.00620532]]

 R_gt:
[[ 0.99708874 -0.06905166 -0.03233494]
 [ 0.06776728  0.99692933 -0.03924238]
 [ 0.03494495  0.03693828  0.99870677]]

 t_gt:
[ 0.65983469 -0.35006021 -0.66488798]

Pose Error in degrees for R and t:
117.48381987434736 69.05492576659724

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.9041427   0.4271869  -0.00610962]
 [-0.42715025  0.90415756  0.00646321]
 [ 0.00828506 -0.00323394  0.99996045]]

 t_estimated:
[[-0.98142323]
 [-0.19177235]
 [-0.00564036]]

 R_gt:
[[ 0.98593674 -0.16422698 -0.03095924]
 [ 0.160543    0.98220007 -0.09751425]
 [ 0.04642206  0.09117349  0.99475268]]

 t_gt:
[ 0.62219982 -0.41631115 -0.66298749]

Pose Error in degrees for R and t:
35.15864374183356 58.19264498188593

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.96756244e-01  8.04781214e-02  5.11368833e-04]
 [-8.04779635e-02  9.96756336e-01 -3.22157758e-04]
 [-5.35636776e-04  2.79958835e-04  9.99999817e-01]]

 t_estimated:
[[0.89940907]
 [0.43710478]
 [0.00165532]]

 R_gt:
[[ 0.98237147 -0.18188738 -0.04316663]
 [ 0.1776082   0.98015433 -0.08804877]
 [ 0.05832479  0.0788305   0.99518059]]

 t_gt:
[ 0.63499249 -0.47816764 -0.60674562]

Pose Error in degrees for R and t:
16.012200362352615 68.83197017084838

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.96454056e-01  8.41386193e-02  8.16137540e-05]
 [-8.41386062e-02  9.96454049e-01 -1.52224543e-04]
 [-9.41323185e-05  1.44817896e-04  9.99999985e-01]]

 t_estimated:
[[ 2.84787143e-01]
 [-9.58590678e-01]
 [-4.41631772e-04]]

 R_gt:
[[ 9.99633844e-01 -2.71059586e-02 -1.96161043e-04]
 [ 2.70953654e-02  9.98989888e-01  3.58665949e-02]
 [-7.76461526e-04 -3.58588216e-02  9.99356760e-01]]

 t_gt:
[ 0.52188606 -0.56286104  0.64095428]

Pose Error in degrees for R and t:
6.704628526359191 46.53615444556959

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 0.3979597   0.90893843 -0.12433424]
 [ 0.86496413 -0.32658609  0.38102307]
 [ 0.30572068 -0.25917648 -0.91616724]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99897341 -0.02734962  0.03614297]
 [ 0.02428271  0.99627665  0.08272344]
 [-0.03827042 -0.08176006  0.99591702]]

 t_gt:
[ 0.17565333 -0.24108966  0.95447456]

Pose Error in degrees for R and t:
154.66113948869113 82.29952855441415

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-7.43353440e-02  9.97229347e-01  2.80822281e-03]
 [-9.97233264e-01 -7.43358174e-02  6.44344428e-05]
 [ 2.73007456e-04 -2.79566345e-03  9.99996055e-01]]

 t_estimated:
[[0.87687259]
 [0.48072203]
 [0.00089023]]

 R_gt:
[[ 0.99878568 -0.03915467  0.02991861]
 [ 0.03683949  0.99655144  0.07435525]
 [-0.03272595 -0.07316266  0.99678308]]

 t_gt:
[ 0.3352627  -0.17606079  0.9255277 ]

Pose Error in degrees for R and t:
96.51840465035639 77.86766743618172

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 6.18978897e-01  7.85407613e-01  8.53537785e-05]
 [-7.85407581e-01  6.18978898e-01 -2.34860599e-04]
 [-2.37293490e-04  7.83362496e-05  9.99999969e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99914835 -0.03694849 -0.01838357]
 [ 0.03525291  0.99573234 -0.08529213]
 [ 0.02145724  0.08457271  0.9961863 ]]

 t_gt:
[ 0.42340655  0.05134835 -0.90448341]

Pose Error in degrees for R and t:
54.045409059479354 64.98456102495152

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 2.01172604e-01 -9.79555420e-01 -8.73224415e-04]
 [-9.79553824e-01 -2.01173911e-01  1.83378475e-03]
 [-1.97196376e-03  4.86463060e-04 -9.99997937e-01]]

 t_estimated:
[[0.69516621]
 [0.71884747]
 [0.00150538]]

 R_gt:
[[ 0.99654513 -0.07834214 -0.02758793]
 [ 0.07459126  0.99025089 -0.11763726]
 [ 0.03653468  0.11517414  0.99267251]]

 t_gt:
[ 0.51597744 -0.04078112 -0.85563087]

Pose Error in degrees for R and t:
173.70442914548113 70.84731781857846

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.22430649e-01 -3.86162737e-01  1.95174591e-04]
 [ 3.86162750e-01  9.22430664e-01 -3.20491055e-05]
 [-1.67658857e-04  1.04932234e-04  9.99999980e-01]]

 t_estimated:
[[9.14290467e-01]
 [4.05058427e-01]
 [7.82216519e-04]]

 R_gt:
[[ 0.98201326 -0.18152771 -0.05193337]
 [ 0.17031397  0.97037468 -0.17136645]
 [ 0.08150273  0.15944105  0.98383727]]

 t_gt:
[ 0.59793902 -0.17000627 -0.78330505]

Pose Error in degrees for R and t:
16.193946893095053 61.496348969081126

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99972160e-01  7.46182930e-03  2.88666992e-05]
 [-7.46182961e-03  9.99972160e-01  1.07225179e-05]
 [-2.87858859e-05 -1.09376178e-05  1.00000000e+00]]

 t_estimated:
[[ 6.86169538e-01]
 [-7.27441535e-01]
 [ 4.22884543e-04]]

 R_gt:
[[ 0.99797979 -0.04821415  0.04137363]
 [ 0.04769104  0.99877093  0.01349598]
 [-0.04197389 -0.01149527  0.99905198]]

 t_gt:
[ 0.56563049 -0.58324227  0.58300138]

Pose Error in degrees for R and t:
4.0384005484194825 35.64536453114235

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.99500632  0.07470577 -0.06619268]
 [-0.07356843  0.9971003   0.01945974]
 [ 0.06745449 -0.01449288  0.99761708]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.9940131  -0.0950421   0.05389908]
 [ 0.09482158  0.99547174  0.00662559]
 [-0.05428518 -0.00147564  0.99852424]]

 t_gt:
[ 0.69853799 -0.62126809  0.35506428]

Pose Error in degrees for R and t:
11.95459910485429 77.86203681393124

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99751252e-01  2.23031240e-02  6.87726869e-05]
 [-2.23031226e-02  9.99751254e-01 -2.02112839e-05]
 [-6.92063547e-05  1.86724107e-05  9.99999997e-01]]

 t_estimated:
[[ 0.6213947 ]
 [-0.78349714]
 [-0.00092583]]

 R_gt:
[[ 0.9894162  -0.13298949  0.05804356]
 [ 0.13340524  0.99105591 -0.00333221]
 [-0.05708106  0.01104009  0.99830852]]

 t_gt:
[ 0.75056078 -0.61384803  0.24464079]

Pose Error in degrees for R and t:
9.537493333315588 18.71681032722672

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.92199437e-01 -1.24660620e-01  8.00356462e-05]
 [ 1.24660608e-01  9.92199432e-01  1.39349795e-04]
 [-9.67827546e-05 -1.28285496e-04  9.99999987e-01]]

 t_estimated:
[[9.86782627e-01]
 [1.62047277e-01]
 [8.52880404e-04]]

 R_gt:
[[ 0.98817671 -0.15183862 -0.02127018]
 [ 0.15220508  0.98820505  0.0168618 ]
 [ 0.01845904 -0.01989991  0.99963143]]

 t_gt:
[ 0.6713711  -0.73402883  0.1022865 ]

Pose Error in degrees for R and t:
2.219219894929625 57.06841632572463

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-0.9160703  -0.40052738  0.01982497]
 [-0.4009761   0.91556744 -0.03089399]
 [-0.00577721 -0.0362504  -0.99932604]]

 t_estimated:
[[ 0.99931463]
 [-0.0287135 ]
 [ 0.0233624 ]]

 R_gt:
[[ 0.97794873 -0.20591688 -0.03484895]
 [ 0.20869616  0.96982756  0.12601766]
 [ 0.00784819 -0.13051187  0.99141497]]

 t_gt:
[ 0.50037252 -0.74849638  0.43517872]

Pose Error in degrees for R and t:
179.14856676316015 57.88039915310672

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.92125371e-01  1.25248741e-01 -2.06754055e-05]
 [-1.25248574e-01  9.92123750e-01 -1.80529028e-03]
 [-2.05597775e-04  1.79366386e-03  9.99998370e-01]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.95815545 -0.26777952 -0.10115734]
 [ 0.28044043  0.94897405  0.14422751]
 [ 0.05737446 -0.16656058  0.98436055]]

 t_gt:
[ 0.56808375 -0.74288456  0.3541234 ]

Pose Error in degrees for R and t:
25.36218889609388 56.20228564901838

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 8.93976562e-01 -4.48113557e-01 -3.82808645e-04]
 [ 4.48113547e-01  8.93976642e-01 -1.16101588e-04]
 [ 3.94248682e-04 -6.77496415e-05  9.99999920e-01]]

 t_estimated:
[[-0.34319273]
 [-0.93926433]
 [-0.00112892]]

 R_gt:
[[ 0.98877349  0.14602968  0.03169721]
 [-0.14522925  0.9890501  -0.02625301]
 [-0.0351831   0.02135625  0.9991524 ]]

 t_gt:
[-0.84699276  0.52962537 -0.04582831]

Pose Error in degrees for R and t:
35.07810114795704 78.06951911739277

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.98366389e-01  5.71361893e-02 -9.46917843e-05]
 [-5.71362031e-02  9.98366381e-01 -1.51102683e-04]
 [ 8.59036625e-05  1.56266169e-04  9.99999984e-01]]

 t_estimated:
[[-9.99245889e-01]
 [-3.88207416e-02]
 [-7.76414828e-04]]

 R_gt:
[[ 0.9668711   0.25194675  0.04102848]
 [-0.25286004  0.96732088  0.01876545]
 [-0.03496038 -0.02851681  0.99898173]]

 t_gt:
[-0.83048699  0.54551014  0.11273883]

Pose Error in degrees for R and t:
11.643794823106377 36.04101007550921

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-6.21556514e-01 -7.83366806e-01 -1.98674066e-03]
 [ 7.83365551e-01 -6.21559393e-01  1.52755967e-03]
 [-2.43151686e-03 -6.06879529e-04  9.99996860e-01]]

 t_estimated:
[[0.88615694]
 [0.46338406]
 [0.00104131]]

 R_gt:
[[ 0.92021499  0.38853376  0.04740373]
 [-0.38865741  0.92135656 -0.00694881]
 [-0.04637629 -0.01202916  0.99885199]]

 t_gt:
[-0.78863467  0.61167543  0.06251814]

Pose Error in degrees for R and t:
151.3186339180383 65.45874496654564

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999983e-01  1.28275993e-04 -1.35290137e-04]
 [-1.28231735e-04  9.99999938e-01  3.27089709e-04]
 [ 1.35332087e-04 -3.27072355e-04  9.99999937e-01]]

 t_estimated:
[[-0.81356045]
 [-0.58147894]
 [-0.00127517]]

 R_gt:
[[ 0.99690468  0.03375363 -0.07100131]
 [-0.03097293  0.99872284  0.03990307]
 [ 0.07225765 -0.03758015  0.99667795]]

 t_gt:
[ 0.84797609  0.45698648 -0.26851428]

Pose Error in degrees for R and t:
5.01019018640997 17.202507268371853

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.12284971e-01 -4.09554423e-01 -1.14338546e-03]
 [ 4.09555610e-01  9.12284450e-01  1.13356568e-03]
 [ 5.78835943e-04 -1.50241486e-03  9.99998704e-01]]

 t_estimated:
[[0.75264824]
 [0.6584218 ]
 [0.00116329]]

 R_gt:
[[ 0.9854037   0.09963929 -0.13802532]
 [-0.0902704   0.99326958  0.07256779]
 [ 0.14432722 -0.05904895  0.98776647]]

 t_gt:
[ 0.37333025  0.84925051 -0.37336054]

Pose Error in degrees for R and t:
30.934422914735396 32.88974381374446

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 6.35653410e-01  7.71974528e-01  2.68014565e-04]
 [ 7.71963860e-01 -6.35646378e-01  5.04778887e-03]
 [ 4.06712692e-03 -3.00174665e-03 -9.99987224e-01]]

 t_estimated:
[[0.44059737]
 [0.89770424]
 [0.00103184]]

 R_gt:
[[ 0.97782916  0.15663211 -0.13898652]
 [-0.13650891  0.98009756  0.14413197]
 [ 0.15879601 -0.12196386  0.97974925]]

 t_gt:
[0.18655803 0.98164359 0.03964796]

Pose Error in degrees for R and t:
169.10242868210278 15.535755125112788

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[-2.53750920e-01 -9.67269574e-01 -2.03130247e-04]
 [-9.67268681e-01  2.53750386e-01  1.42817022e-03]
 [-1.32988122e-03  5.58881032e-04 -9.99998960e-01]]

 t_estimated:
[[0.90248019]
 [0.43072918]
 [0.00136739]]

 R_gt:
[[ 0.99013489 -0.13932153 -0.01493181]
 [ 0.13958558  0.99003808  0.0184207 ]
 [ 0.01221644 -0.02032261  0.99971934]]

 t_gt:
[ 0.80004962 -0.59710082  0.05823424]

Pose Error in degrees for R and t:
179.89978727913063 62.29496726750848

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.98980995e-01  4.51327580e-02  7.10036764e-05]
 [-4.51327533e-02  9.98980996e-01 -6.69000233e-05]
 [-7.39507059e-05  6.36272605e-05  9.99999995e-01]]

 t_estimated:
[[0.39413487]
 [0.91905086]
 [0.00179152]]

 R_gt:
[[ 0.97161884 -0.23320913 -0.03962506]
 [ 0.23321538  0.97241455 -0.00454179]
 [ 0.03959175 -0.00482776  0.99920445]]

 t_gt:
[ 0.81943713 -0.56849396 -0.07305751]

Pose Error in degrees for R and t:
16.239720446922497 78.484267458093

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-6.25417485e-01  7.80289995e-01  7.02597220e-04]
 [-7.80289238e-01 -6.25414878e-01 -2.22145158e-03]
 [-1.29396168e-03 -1.93756371e-03  9.99997286e-01]]

 t_estimated:
[[0.66683187]
 [0.74520709]
 [0.00128484]]

 R_gt:
[[ 9.22060873e-01 -3.85576345e-01 -3.36843418e-02]
 [ 3.85796786e-01  9.22583347e-01  4.19255870e-05]
 [ 3.10605042e-02 -1.30337688e-02  9.99433287e-01]]

 t_gt:
[ 0.88503116 -0.46480658 -0.02597464]

Pose Error in degrees for R and t:
151.41238820399212 75.89164475381763

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.87233382e-01 -1.59280124e-01 -3.04177319e-04]
 [ 1.59280179e-01  9.87233406e-01  1.65454486e-04]
 [ 2.73940399e-04 -2.11791610e-04  9.99999940e-01]]

 t_estimated:
[[-0.67210131]
 [-0.74045877]
 [-0.0007966 ]]

 R_gt:
[[ 0.97222836  0.23102542 -0.03739498]
 [-0.22992732  0.97269863  0.03145637]
 [ 0.04364134 -0.02198411  0.99880572]]

 t_gt:
[-0.52278773  0.85011082 -0.06328182]

Pose Error in degrees for R and t:
22.667393830508345 73.85582759603602

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.42862314e-01 -3.33181690e-01 -7.86245306e-04]
 [ 3.33181886e-01  9.42862564e-01  1.29417570e-04]
 [ 6.98201701e-04 -3.83985643e-04  9.99999683e-01]]

 t_estimated:
[[-0.04118559]
 [-0.99915067]
 [-0.00130091]]

 R_gt:
[[ 0.94628516  0.32102607 -0.03854836]
 [-0.31736858  0.94500006  0.07906806]
 [ 0.06181062 -0.06258675  0.99612395]]

 t_gt:
[-0.49165686  0.87048125  0.02315026]

Pose Error in degrees for R and t:
38.42928801471908 31.840189392355935

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.75053234e-01 -2.21969287e-01 -9.09283105e-04]
 [ 2.21969548e-01  9.75053579e-01  1.94863324e-04]
 [ 8.43346072e-04 -3.91835273e-04  9.99999568e-01]]

 t_estimated:
[[0.38626404]
 [0.92238667]
 [0.00170767]]

 R_gt:
[[ 0.90146097  0.43152388 -0.03397331]
 [-0.42820021  0.90049198  0.0758802 ]
 [ 0.06333731 -0.05385596  0.99653808]]

 t_gt:
[-0.43765838  0.89909004 -0.00960396]

Pose Error in degrees for R and t:
38.60988030391173 48.68177636123137

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.89488660e-01 -1.44610113e-01 -3.26046148e-04]
 [ 1.44610207e-01  9.89488659e-01  2.87012496e-04]
 [ 2.81114056e-04 -3.31145212e-04  9.99999906e-01]]

 t_estimated:
[[9.95003717e-01]
 [9.98374880e-02]
 [2.82327910e-04]]

 R_gt:
[[ 0.99704138 -0.06805189 -0.03572907]
 [ 0.06863699  0.99752266  0.01540163]
 [ 0.03459271 -0.0178089   0.99924282]]

 t_gt:
[ 0.49427039 -0.86845329 -0.03854429]

Pose Error in degrees for R and t:
4.91710061795281 66.1034962781107

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[-9.86771710e-01  1.62115943e-01 -1.14161020e-04]
 [-1.62114923e-01 -9.86767561e-01 -2.92115593e-03]
 [-5.86216340e-04 -2.86400683e-03  9.99995727e-01]]

 t_estimated:
[[8.63244635e-01]
 [5.04785203e-01]
 [7.74210435e-04]]

 R_gt:
[[ 0.98073414 -0.18818084 -0.05242554]
 [ 0.19017834  0.98108559  0.03610789]
 [ 0.0446393  -0.04538284  0.99797168]]

 t_gt:
[ 0.62855419 -0.77242557  0.09098555]

Pose Error in degrees for R and t:
178.41033553022075 81.21323986386778

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.25553919e-01 -3.78615084e-01 -7.48922388e-04]
 [ 3.78615201e-01  9.25554174e-01  1.62340708e-05]
 [ 6.87021779e-04 -2.98578909e-04  9.99999719e-01]]

 t_estimated:
[[0.75815394]
 [0.65207479]
 [0.00103999]]

 R_gt:
[[ 0.97867563 -0.16273864 -0.12533737]
 [ 0.17310708  0.98190671  0.07676223]
 [ 0.11057768 -0.09682248  0.98913998]]

 t_gt:
[ 0.59317446 -0.78963703  0.15689939]

Pose Error in degrees for R and t:
15.080673975169043 86.27190227206682

Number of keypoints:
Image1: 617
Image2: 617

 R_estimated:
[[-0.95417789 -0.29923627 -0.0014883 ]
 [ 0.29923788 -0.95417802 -0.00100395]
 [-0.00111969 -0.0014033   0.99999839]]

 t_estimated:
[[9.36390667e-01]
 [3.50958621e-01]
 [7.51517389e-04]]

 R_gt:
[[ 0.9995819  -0.02867019 -0.00373964]
 [ 0.02856374  0.99925575 -0.02595226]
 [ 0.00448107  0.02583464  0.99965588]]

 t_gt:
[ 0.15631474  0.62771525 -0.76258722]

Pose Error in degrees for R and t:
160.9506560925303 68.52466631091745

Number of keypoints:
Image1: 347
Image2: 347

 R_estimated:
[[ 9.96604512e-01 -8.23373719e-02  5.61319133e-05]
 [ 8.23373690e-02  9.96604513e-01  5.10260030e-05]
 [-6.01426651e-05 -4.62309907e-05  9.99999997e-01]]

 t_estimated:
[[7.78507937e-01]
 [6.27634306e-01]
 [7.54368156e-04]]

 R_gt:
[[ 0.99717061 -0.06646595  0.03511954]
 [ 0.06817909  0.99641614 -0.05006816]
 [-0.03166471  0.05232107  0.99812747]]

 t_gt:
[ 0.52171538  0.77907543 -0.34764139]

Pose Error in degrees for R and t:
3.6105789851913594 26.508034832456946

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.95627909e-01 -9.34080587e-02 -3.94973644e-05]
 [ 9.34080659e-02  9.95627875e-01  2.61798460e-04]
 [ 1.48705911e-05 -2.64343226e-04  9.99999965e-01]]

 t_estimated:
[[0.67116931]
 [0.74130365]
 [0.00081552]]

 R_gt:
[[ 0.98541431 -0.15597533  0.06805293]
 [ 0.15857081  0.98674455 -0.03453056]
 [-0.06176453  0.04481848  0.99708324]]

 t_gt:
[0.9847814  0.02423432 0.17209964]

Pose Error in degrees for R and t:
5.738782480598046 47.22973756055716

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 0.98941356 -0.1450857   0.00330759]
 [ 0.14505421  0.98938867  0.00832646]
 [-0.00448054 -0.00775854  0.99995986]]

 t_estimated:
[[0.6506383 ]
 [0.75907802]
 [0.02168794]]

 R_gt:
[[ 0.99995715  0.00224063  0.00901752]
 [-0.00203634  0.99974303 -0.02255604]
 [-0.00906601  0.022536    0.99970471]]

 t_gt:
[-0.28743868  0.66204718 -0.69215066]

Pose Error in degrees for R and t:
8.64876365392583 72.51143069180561

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.78800559  0.61563329  0.00654498]
 [ 0.61566648 -0.78798325 -0.0060975 ]
 [ 0.00140351  0.00883439 -0.99995999]]

 t_estimated:
[[0.94868284]
 [0.31622761]
 [0.00098207]]

 R_gt:
[[ 0.99912432  0.03070557 -0.02841228]
 [-0.03428715  0.99016681 -0.13562193]
 [ 0.02396777  0.13647616  0.99035352]]

 t_gt:
[-0.09705982  0.50645646 -0.85678541]

Pose Error in degrees for R and t:
172.6483439577044 86.1448040844636

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-7.54405923e-01  6.56405809e-01 -1.76561896e-03]
 [-6.56405569e-01 -7.54407781e-01 -7.93014240e-04]
 [-1.85253583e-03  5.60707476e-04  9.99998127e-01]]

 t_estimated:
[[0.87159921]
 [0.49021834]
 [0.00089948]]

 R_gt:
[[ 0.99609493 -0.06411132 -0.06071047]
 [ 0.04973792  0.97554194 -0.21410981]
 [ 0.07295234  0.2102531   0.97492162]]

 t_gt:
[ 0.20944219  0.07801085 -0.9747042 ]

Pose Error in degrees for R and t:
142.5123044488148 77.29594388707537

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.09136803e-01  4.16497434e-01  4.00739929e-04]
 [-4.16497320e-01  9.09136880e-01 -3.39894744e-04]
 [-5.05892737e-04  1.42103714e-04  9.99999862e-01]]

 t_estimated:
[[-4.10971676e-01]
 [ 9.11647764e-01]
 [ 7.97852165e-04]]

 R_gt:
[[ 0.99749874  0.07026634 -0.00768875]
 [-0.07043285  0.9972244  -0.02415435]
 [ 0.00596997  0.02463454  0.99967861]]

 t_gt:
[-0.67346919  0.67598775 -0.29913176]

Pose Error in degrees for R and t:
20.629117113329983 26.77266537015432

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 0.5691662   0.82221685  0.00304793]
 [-0.82221388  0.56917329 -0.00246813]
 [-0.00376414 -0.00110127  0.99999231]]

 t_estimated:
[[0.13084598]
 [0.99139303]
 [0.00437992]]

 R_gt:
[[ 0.99901295  0.04028451 -0.01873861]
 [-0.04054637  0.99908185 -0.01383053]
 [ 0.01816336  0.01457664  0.99972818]]

 t_gt:
[-0.78387519  0.40941391 -0.46681896]

Pose Error in degrees for R and t:
53.01081280483568 72.46558799650909

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99792672e-01 -2.03619145e-02  7.06994250e-05]
 [ 2.03619050e-02  9.99792666e-01  1.32404701e-04]
 [-7.33807798e-05 -1.30937675e-04  9.99999989e-01]]

 t_estimated:
[[0.77141128]
 [0.63633415]
 [0.00186701]]

 R_gt:
[[ 0.99795688  0.04519691  0.04516095]
 [-0.04429739  0.99880362 -0.02072503]
 [-0.04604456  0.01868225  0.99876374]]

 t_gt:
[-0.87080959  0.39925589  0.28685429]

Pose Error in degrees for R and t:
4.6948992489048 65.34479691848506

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.99839345e-01 -1.79243921e-02 -2.05350765e-05]
 [ 1.79243926e-02  9.99839345e-01  2.69957860e-05]
 [ 2.00478944e-05 -2.73595277e-05  9.99999999e-01]]

 t_estimated:
[[-8.47391853e-01]
 [-5.30967466e-01]
 [-7.73587670e-04]]

 R_gt:
[[ 0.99998635  0.00407014 -0.00351635]
 [-0.00407905  0.99998867 -0.00252362]
 [ 0.00350637  0.00253761  0.99999087]]

 t_gt:
[-0.47815985  0.82404555 -0.30382906]

Pose Error in degrees for R and t:
1.2830949496817843 88.15948188333304

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[ 9.96530587e-01 -8.32273335e-02  2.67479394e-05]
 [ 8.32273322e-02  9.96530586e-01  4.67640511e-05]
 [-3.05471870e-05 -4.43756476e-05  9.99999999e-01]]

 t_estimated:
[[-0.93294056]
 [-0.36002833]
 [-0.00123121]]

 R_gt:
[[ 0.99906298 -0.04256036  0.00794401]
 [ 0.04290321  0.99784363 -0.04968752]
 [-0.00581085  0.04998099  0.9987331 ]]

 t_gt:
[ 0.00397322  0.78523857 -0.61918059]

Pose Error in degrees for R and t:
3.704823705779526 73.40214039327769

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 2.23608104e-01 -9.74678061e-01 -1.44714335e-03]
 [-9.74678525e-01 -2.23609379e-01  7.86714944e-04]
 [-1.09038862e-03  1.23458370e-03 -9.99998643e-01]]

 t_estimated:
[[0.62245222]
 [0.78265714]
 [0.00102041]]

 R_gt:
[[ 0.99362373 -0.09277342  0.06407694]
 [ 0.09546719  0.99461569 -0.04033359]
 [-0.05998992  0.04619358  0.99712983]]

 t_gt:
[0.59353239 0.77901709 0.20211799]

Pose Error in degrees for R and t:
179.73856079227437 11.662569901157584

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.98399911e-01 -5.65470050e-02  2.31938470e-04]
 [ 5.65471058e-02  9.98399829e-01 -4.53589139e-04]
 [-2.05918222e-04  4.65978806e-04  9.99999870e-01]]

 t_estimated:
[[-0.59639685]
 [-0.80268883]
 [-0.00119728]]

 R_gt:
[[ 0.9999925  -0.00273329 -0.00307144]
 [ 0.00276976  0.99992624  0.01187103]
 [ 0.00303846 -0.01187934  0.99992534]]

 t_gt:
[ 0.73813273 -0.65764258  0.15055333]

Pose Error in degrees for R and t:
3.1684223461738092 84.98123135144439

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-9.29923971e-01 -3.67698542e-01 -6.26015563e-03]
 [-3.67702341e-01  9.29943363e-01 -5.74696296e-04]
 [ 6.03290517e-03  1.76745002e-03 -9.99980240e-01]]

 t_estimated:
[[ 0.97613234]
 [ 0.21715942]
 [-0.00272844]]

 R_gt:
[[ 0.99436252  0.0822579  -0.06692415]
 [-0.08035636  0.99629581  0.03063621]
 [ 0.0691971  -0.02508567  0.99728793]]

 t_gt:
[ 0.02116134  0.73512865 -0.67759727]

Pose Error in degrees for R and t:
176.10292703269405 79.50526553584761

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-8.07226522e-01 -5.90239792e-01 -1.52646407e-03]
 [ 5.90241246e-01 -8.07226544e-01 -7.60748068e-04]
 [-7.83178535e-04 -1.51507807e-03  9.99998546e-01]]

 t_estimated:
[[9.97762569e-01]
 [6.68517634e-02]
 [8.35647042e-04]]

 R_gt:
[[ 0.98862502  0.08569775 -0.12360223]
 [-0.08372065  0.99626602  0.02111012]
 [ 0.12495024 -0.01052222  0.99210785]]

 t_gt:
[ 0.27566482  0.39427846 -0.87667177]

Pose Error in degrees for R and t:
148.76289512201194 72.50193058034388

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.94846897e-01  1.01388616e-01  1.35874628e-05]
 [-1.01388612e-01  9.94846881e-01 -1.79371762e-04]
 [-3.17036997e-05  1.77069826e-04  9.99999984e-01]]

 t_estimated:
[[-6.62687420e-01]
 [-7.48895874e-01]
 [-5.94822558e-04]]

 R_gt:
[[ 0.99858808  0.00460613 -0.05291166]
 [-0.01023479  0.99424757 -0.10661616]
 [ 0.0521169   0.10700726  0.99289149]]

 t_gt:
[ 0.04328224  0.29460163 -0.95463948]

Pose Error in degrees for R and t:
8.69802169003229 75.59699423609781

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-2.25583884e-01 -9.74223737e-01 -1.44915402e-04]
 [-9.74219729e-01  2.25582524e-01  2.90609137e-03]
 [-2.79849281e-03  7.96746823e-04 -9.99995767e-01]]

 t_estimated:
[[0.8917877 ]
 [0.45245111]
 [0.00163932]]

 R_gt:
[[ 0.98819876 -0.14852791 -0.03745523]
 [ 0.13822638  0.97003943 -0.19979091]
 [ 0.06600751  0.19225639  0.97912266]]

 t_gt:
[ 0.41158409 -0.2888549  -0.86438497]

Pose Error in degrees for R and t:
170.7133097453133 76.41215517230353

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.93700786 -0.34909582  0.01218115]
 [ 0.34902684  0.93708303  0.00746087]
 [-0.01401931 -0.00273934  0.99989797]]

 t_estimated:
[[0.98695033]
 [0.16082636]
 [0.00799601]]

 R_gt:
[[ 0.98281687 -0.17634841 -0.05452084]
 [ 0.15876676  0.95829388 -0.23762604]
 [ 0.09415256  0.22488648  0.96982545]]

 t_gt:
[ 0.4034056  -0.21338435 -0.8897927 ]

Pose Error in degrees for R and t:
18.080954980669805 69.1017989264929

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.99679214  0.08002586 -0.00113675]
 [-0.08002239  0.99678907  0.00282419]
 [ 0.00135911 -0.00272417  0.99999537]]

 t_estimated:
[[-9.07297251e-01]
 [-4.20489239e-01]
 [-7.05518858e-04]]

 R_gt:
[[ 9.95318634e-01  1.43817840e-02 -9.55757977e-02]
 [-1.43482152e-02  9.99897072e-01  1.04071077e-03]
 [ 9.55798857e-02  3.36904392e-04  9.95420749e-01]]

 t_gt:
[ 0.1791282   0.14770364 -0.97267503]

Pose Error in degrees for R and t:
6.594382865090637 77.05920636342883

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.01345848  0.99990885  0.00108086]
 [-0.9999086  -0.01345707 -0.00130342]
 [-0.00128876 -0.00109831  0.99999857]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98984018  0.01864451 -0.14095287]
 [-0.02026133  0.99974433 -0.01004575]
 [ 0.14072938  0.01280042  0.98996483]]

 t_gt:
[ 0.21119592  0.14846829 -0.96610219]

Pose Error in degrees for R and t:
89.94970448828182 81.44386706344424

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-5.00273832e-01 -8.65863917e-01 -2.40196282e-03]
 [ 8.65865282e-01 -5.00276684e-01  7.43418358e-04]
 [-1.84534513e-03 -1.70786347e-03  9.99996839e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.98987567 -0.01661691 -0.14096359]
 [ 0.01189562  0.99934241 -0.03426845]
 [ 0.14143978  0.03224557  0.98942088]]

 t_gt:
[ 0.35530462 -0.02679931 -0.93436632]

Pose Error in degrees for R and t:
119.3752200011908 69.27510136392154

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 8.93527759e-01 -4.49007673e-01 -5.04227497e-04]
 [ 4.49007739e-01  8.93527868e-01  1.96591612e-05]
 [ 4.41714206e-04 -2.43968055e-04  9.99999873e-01]]

 t_estimated:
[[-0.10999506]
 [-0.99393125]
 [-0.00132524]]

 R_gt:
[[ 9.92942567e-01 -1.18593448e-01 -7.11044688e-04]
 [ 1.18570039e-01  9.92834682e-01 -1.48735993e-02]
 [ 2.46931042e-03  1.46855150e-02  9.99888436e-01]]

 t_gt:
[ 0.7439376  -0.65967082 -0.10672984]

Pose Error in degrees for R and t:
19.887787139495828 54.97180812160316

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.89324212e-01 -4.57276470e-01 -8.21684834e-04]
 [ 4.57276920e-01  8.89324234e-01  4.74305475e-04]
 [ 5.13855502e-04 -7.97548852e-04  9.99999550e-01]]

 t_estimated:
[[0.88547696]
 [0.4646815 ]
 [0.00129078]]

 R_gt:
[[ 9.71583119e-01 -2.33470234e-01 -3.89801770e-02]
 [ 2.33250136e-01  9.72364526e-01 -1.01712620e-02]
 [ 4.02774327e-02  7.89942590e-04  9.99187912e-01]]

 t_gt:
[ 0.82814774 -0.55195817 -0.09753721]

Pose Error in degrees for R and t:
13.897394335940561 61.5302254069612

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.99353299 -0.11352469  0.00208461]
 [ 0.11352882  0.99353272 -0.00198357]
 [-0.00184594  0.0022074   0.99999586]]

 t_estimated:
[[-0.34664982]
 [-0.93799363]
 [-0.00135941]]

 R_gt:
[[ 8.96963501e-01 -4.41696051e-01 -1.90029287e-02]
 [ 4.41767254e-01  8.97130129e-01 -5.00036040e-04]
 [ 1.72683389e-02 -7.94587881e-03  9.99818676e-01]]

 t_gt:
[ 0.90578424 -0.42336445 -0.01781728]

Pose Error in degrees for R and t:
19.736247714340475 85.23049609981733

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 3.81750852e-02  9.99247224e-01  6.90280338e-03]
 [-9.99271055e-01  3.81752012e-02  1.14997116e-04]
 [-1.48605359e-04 -6.90216164e-03  9.99976169e-01]]

 t_estimated:
[[0.10395309]
 [0.99457823]
 [0.00280954]]

 R_gt:
[[ 0.97186359  0.23479685 -0.01880492]
 [-0.23509415  0.97184895 -0.01552028]
 [ 0.01463104  0.01950446  0.99970248]]

 t_gt:
[-0.57498406  0.81116472 -0.10679476]

Pose Error in degrees for R and t:
74.2418515798312 41.69507486206306

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-7.68882334e-01  6.39296380e-01  1.09587593e-02]
 [ 6.39336472e-01  7.68927067e-01  2.03327373e-04]
 [-8.29650017e-03  7.16266932e-03 -9.99939930e-01]]

 t_estimated:
[[0.60546501]
 [0.79586281]
 [0.00380796]]

 R_gt:
[[ 0.88060768  0.46750166 -0.07728636]
 [-0.46795796  0.88365212  0.01323378]
 [ 0.07448066  0.02451237  0.99692093]]

 t_gt:
[-0.42766967  0.8915971  -0.14883974]

Pose Error in degrees for R and t:
176.4111228004802 63.250979591105384

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999277e-01 -1.00934128e-03 -6.53341907e-04]
 [ 1.00972614e-03  9.99999317e-01  5.88999716e-04]
 [ 6.52746959e-04 -5.89658986e-04  9.99999613e-01]]

 t_estimated:
[[-9.76908062e-01]
 [ 2.13660100e-01]
 [-3.84388610e-08]]

 R_gt:
[[ 0.79587596  0.60217408 -0.0629981 ]
 [-0.59914073  0.7982875   0.06138367]
 [ 0.08725411 -0.01110912  0.99612389]]

 t_gt:
[-0.37976781  0.92191156 -0.07652113]

Pose Error in degrees for R and t:
37.38185333885563 55.39093630556172

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.97641043e-01 -6.86464592e-02 -1.10607644e-04]
 [ 6.86464824e-02  9.97641023e-01  2.21394494e-04]
 [ 9.51487754e-05 -2.28465059e-04  9.99999969e-01]]

 t_estimated:
[[0.90097206]
 [0.43387593]
 [0.00100667]]

 R_gt:
[[ 0.99853658 -0.00492345 -0.05385649]
 [ 0.00428074  0.99991884 -0.01204106]
 [ 0.05391023  0.01179292  0.99847654]]

 t_gt:
[ 0.33222233 -0.04434367 -0.94215814]

Pose Error in degrees for R and t:
4.844478715011035 73.79141788291498

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.8982971   0.43884514  0.02184629]
 [-0.43860986  0.89855484 -0.01485227]
 [-0.02614794  0.00375976  0.99965101]]

 t_estimated:
[[0.64774219]
 [0.76185221]
 [0.00335618]]

 R_gt:
[[ 0.99871903 -0.04848251 -0.01452553]
 [ 0.04809963  0.99851335 -0.02562902]
 [ 0.01574693  0.0248979   0.99956564]]

 t_gt:
[ 0.63248618 -0.53839644 -0.5568577 ]

Pose Error in degrees for R and t:
28.898514222333326 89.86481357444518

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 5.39917562e-01  8.41717902e-01 -7.58471875e-06]
 [-8.41714423e-01  5.39915305e-01 -2.87970327e-03]
 [-2.41980269e-03  1.56118654e-03  9.99995854e-01]]

 t_estimated:
[[0.67762948]
 [0.7354025 ]
 [0.0012036 ]]

 R_gt:
[[ 0.96275112 -0.20079039  0.18109171]
 [ 0.202827    0.97918624  0.00740091]
 [-0.17880969  0.02960477  0.98343863]]

 t_gt:
[ 0.60513473 -0.66471263  0.43814276]

Pose Error in degrees for R and t:
69.73750318657682 85.51219805706424

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99821707e-01  1.88813393e-02  2.22374613e-04]
 [-1.88813160e-02  9.99821726e-01 -1.06144208e-04]
 [-2.24339115e-04  1.01926557e-04  9.99999970e-01]]

 t_estimated:
[[0.98291609]
 [0.18401833]
 [0.00363504]]

 R_gt:
[[ 0.99166842 -0.12835091  0.01096945]
 [ 0.12824566  0.99169406  0.00979734]
 [-0.01213558 -0.00830912  0.99989143]]

 t_gt:
[ 0.83290267 -0.54537421  0.09402186]

Pose Error in degrees for R and t:
8.494774949425283 44.056341381942204

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-1.61067209e-01  9.86940705e-01  2.32380857e-03]
 [ 9.86943252e-01  1.61065277e-01  9.96988863e-04]
 [ 6.09684021e-04  2.45404940e-03 -9.99996803e-01]]

 t_estimated:
[[8.43306625e-01]
 [5.37432353e-01]
 [6.34555113e-04]]

 R_gt:
[[ 0.96842718 -0.24873188  0.01681222]
 [ 0.24878948  0.96855718 -0.00134397]
 [-0.01594899  0.00548407  0.99985795]]

 t_gt:
[ 0.83459628 -0.55073155  0.01199164]

Pose Error in degrees for R and t:
179.07035649461614 65.93032718247247

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.78187400e-01  2.07724193e-01  2.64835378e-04]
 [-2.07724200e-01  9.78187434e-01 -3.88260510e-06]
 [-2.59865150e-04 -5.12148015e-05  9.99999965e-01]]

 t_estimated:
[[0.14231063]
 [0.98982123]
 [0.00127063]]

 R_gt:
[[ 0.9401923  -0.33876227 -0.03575161]
 [ 0.338841    0.94083563 -0.00402409]
 [ 0.03499899 -0.00833067  0.99935301]]

 t_gt:
[ 0.86795921 -0.49513825 -0.03853459]

Pose Error in degrees for R and t:
31.86557270845159 68.49222386204295

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-9.98147725e-01  5.47682463e-02 -2.64869294e-02]
 [ 5.47690945e-02  9.98498806e-01  6.93977672e-04]
 [ 2.64851754e-02 -7.57972907e-04 -9.99648919e-01]]

 t_estimated:
[[ 0.99958522]
 [-0.02582514]
 [-0.01274584]]

 R_gt:
[[ 0.99756052  0.06902363 -0.01043343]
 [-0.0690902   0.99759089 -0.00618753]
 [ 0.00998145  0.00689467  0.99992672]]

 t_gt:
[-0.9701803   0.21255833 -0.11648669]

Pose Error in degrees for R and t:
177.9084905499093 13.148814995541201

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99946341e-01  1.03571233e-02 -2.11828083e-04]
 [-1.03572559e-02  9.99946161e-01 -6.34962311e-04]
 [ 2.05240296e-04  6.37122197e-04  9.99999776e-01]]

 t_estimated:
[[-0.9598503 ]
 [-0.2805042 ]
 [-0.00219144]]

 R_gt:
[[ 0.99892102  0.04129262  0.02123166]
 [-0.04123487  0.99914487 -0.00309479]
 [-0.02134157  0.00221719  0.99976953]]

 t_gt:
[-0.99794354  0.06381163  0.00606372]

Pose Error in degrees for R and t:
2.161437569546247 19.954541293405242

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-8.04851317e-01 -5.93470707e-01 -2.62246172e-03]
 [ 5.93476497e-01 -8.04843963e-01 -3.44138210e-03]
 [-6.83130104e-05 -4.32617031e-03  9.99990640e-01]]

 t_estimated:
[[0.93085224]
 [0.3653936 ]
 [0.00127756]]

 R_gt:
[[ 0.99613882  0.07184124  0.05044219]
 [-0.07118395  0.99735508 -0.01470447]
 [-0.05136546  0.01105872  0.99861935]]

 t_gt:
[-0.98514981  0.17152159  0.00775829]

Pose Error in degrees for R and t:
147.71784998585952 31.312429832681577

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-9.13054170e-01 -4.07821472e-01 -3.70542039e-03]
 [ 4.07814538e-01 -9.13061362e-01  2.50044730e-03]
 [-4.40301229e-03  7.71919534e-04  9.99990009e-01]]

 t_estimated:
[[0.95845035]
 [0.28525308]
 [0.00190169]]

 R_gt:
[[ 0.99686061  0.07665909 -0.01983506]
 [-0.07570315  0.99611195  0.04505445]
 [ 0.02321177 -0.04341195  0.99878788]]

 t_gt:
[-0.49002032  0.84555196  0.21194802]

Pose Error in degrees for R and t:
160.30558444180997 76.81707092305328

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.76683224e-01 -2.14683569e-01  9.19550015e-04]
 [ 2.14684359e-01  9.76683097e-01 -8.68272444e-04]
 [-7.11705129e-04  1.04544014e-03  9.99999200e-01]]

 t_estimated:
[[-0.64100141]
 [-0.76753915]
 [-0.00092363]]

 R_gt:
[[ 0.9619411   0.27252266 -0.02003683]
 [-0.27218308  0.96207555  0.01806892]
 [ 0.02420145 -0.01192805  0.99963645]]

 t_gt:
[-0.52832267  0.84857926 -0.02807836]

Pose Error in degrees for R and t:
28.249670665025675 71.78182233704896

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.82584765e-01  1.85814858e-01 -1.36117863e-04]
 [-1.85814869e-01  9.82584769e-01 -7.30881608e-05]
 [ 1.20166473e-04  9.71080363e-05  9.99999988e-01]]

 t_estimated:
[[-9.73519629e-01]
 [ 2.28603129e-01]
 [-3.77094578e-04]]

 R_gt:
[[ 0.8871407   0.45975307 -0.04012112]
 [-0.45847751  0.8879268   0.0371987 ]
 [ 0.0527269  -0.01460691  0.99850227]]

 t_gt:
[-0.46674216  0.8822541  -0.0614774 ]

Pose Error in degrees for R and t:
16.933678326318724 48.99750604674365

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-9.72411874e-01  2.33270450e-01 -2.12698778e-04]
 [ 2.33269942e-01  9.72411023e-01  1.39141142e-03]
 [ 5.31405804e-04  1.30340875e-03 -9.99999009e-01]]

 t_estimated:
[[0.95023704]
 [0.31152465]
 [0.00139975]]

 R_gt:
[[ 0.98746681 -0.09803827 -0.12368983]
 [ 0.11342634  0.98575206  0.12420895]
 [ 0.10975133 -0.13668139  0.98451642]]

 t_gt:
[ 0.74492981 -0.64512251  0.16998978]

Pose Error in degrees for R and t:
172.41817475948756 59.52739852249522

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[-0.99749089 -0.07078447  0.00121395]
 [-0.07078664  0.99748977 -0.00184494]
 [-0.00108031 -0.00192624 -0.99999756]]

 t_estimated:
[[0.99879307]
 [0.04902052]
 [0.00306378]]

 R_gt:
[[ 0.96752939 -0.19978139 -0.15484232]
 [ 0.2251777   0.95955312  0.16897696]
 [ 0.11482183 -0.19835696  0.97338124]]

 t_gt:
[ 0.77748487 -0.57905337  0.24538638]

Pose Error in degrees for R and t:
172.60750234939 41.50370989321625

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 0.22897098  0.9734091  -0.00685654]
 [-0.97155882  0.22896131  0.06041666]
 [ 0.06038001 -0.00717213  0.9981497 ]]

 t_estimated:
[[-0.09195445]
 [ 0.99545745]
 [-0.02467471]]

 R_gt:
[[ 0.9341992  -0.28765838 -0.21101098]
 [ 0.32557474  0.92925331  0.17461168]
 [ 0.14585567 -0.23182172  0.96176191]]

 t_gt:
[ 0.82004601 -0.54048439  0.18815194]

Pose Error in degrees for R and t:
95.37099704531647 51.82403447510626

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99996533e-01  1.76807629e-03 -1.95118050e-03]
 [-1.76657000e-03  9.99998141e-01  7.73440495e-04]
 [ 1.95254437e-03 -7.69990917e-04  9.99997797e-01]]

 t_estimated:
[[-0.63305852]
 [-0.77410153]
 [-0.00192971]]

 R_gt:
[[ 0.991061   -0.1320939  -0.01866636]
 [ 0.13281192  0.99013074  0.04472808]
 [ 0.01257409 -0.04680703  0.99882496]]

 t_gt:
[ 0.65103944 -0.72883895  0.21199394]

Pose Error in degrees for R and t:
8.17582213168516 81.27800990031596

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.95851423 -0.28502808  0.00307598]
 [ 0.2850389   0.9585077  -0.003977  ]
 [-0.00181479  0.00468878  0.99998736]]

 t_estimated:
[[7.72150428e-01]
 [6.35439323e-01]
 [7.63749187e-04]]

 R_gt:
[[ 0.97454809 -0.22316177 -0.02128274]
 [ 0.2237865   0.97405127  0.03379034]
 [ 0.01319046 -0.03769323  0.99920234]]

 t_gt:
[ 0.68425402 -0.71889704  0.12240702]

Pose Error in degrees for R and t:
4.462012489910017 85.89266860738213

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99995936e-01  2.83534636e-03  2.99137132e-04]
 [-2.83537919e-03  9.99995974e-01  1.09405065e-04]
 [-2.98825727e-04 -1.10252787e-04  9.99999949e-01]]

 t_estimated:
[[9.99998995e-01]
 [1.39044344e-03]
 [2.75429081e-04]]

 R_gt:
[[ 0.95271208 -0.29869875 -0.05583573]
 [ 0.30142895  0.95221543  0.0492455 ]
 [ 0.03845902 -0.06374776  0.99722451]]

 t_gt:
[ 0.71514773 -0.69434172  0.08033237]

Pose Error in degrees for R and t:
18.155663964322418 44.42202262224994

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 3.14659097e-01 -9.49164477e-01 -8.74349818e-03]
 [-9.49204745e-01 -3.14646482e-01 -2.81857426e-03]
 [-7.58203779e-05  9.18625999e-03 -9.99957803e-01]]

 t_estimated:
[[0.59210635]
 [0.80585902]
 [0.00114306]]

 R_gt:
[[ 0.99839546 -0.05568139  0.0103235 ]
 [ 0.05439384  0.99362289  0.09877147]
 [-0.0157563  -0.09805039  0.9950565 ]]

 t_gt:
[ 0.29827751 -0.60106682  0.74145074]

Pose Error in degrees for R and t:
175.39669954340494 72.12655247712671

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99969281e-01  7.83803224e-03  4.27671678e-05]
 [-7.83803664e-03  9.99969277e-01  1.03862591e-04]
 [-4.19517756e-05 -1.04194611e-04  9.99999994e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075959e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9972138  -0.068118    0.03040365]
 [ 0.06380337  0.99004429  0.12546893]
 [-0.03864646 -0.12317855  0.99163148]]

 t_gt:
[ 0.2488478  -0.51812391  0.81830458]

Pose Error in degrees for R and t:
8.540302161639985 75.6482404427434

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.89280447e-01  1.46028003e-01  1.42041529e-04]
 [-1.46027922e-01  9.89280356e-01 -4.72901395e-04]
 [-2.09575741e-04  4.47090074e-04  9.99999878e-01]]

 t_estimated:
[[0.59336449]
 [0.80493298]
 [0.00121591]]

 R_gt:
[[ 0.99906125 -0.04172774  0.01169755]
 [ 0.04167176  0.9991186   0.00499633]
 [-0.01189452 -0.0045039   0.99991973]]

 t_gt:
[ 0.50506716 -0.82310819  0.25961524]

Pose Error in degrees for R and t:
10.811248501526691 68.74358766941734

Number of keypoints:
Image1: 546
Image2: 546

 R_estimated:
[[ 9.99840876e-01  1.78386346e-02  7.55403559e-05]
 [-1.78386282e-02  9.99840875e-01 -8.39590210e-05]
 [-7.70260499e-05  8.25981247e-05  9.99999994e-01]]

 t_estimated:
[[ 9.86513909e-01]
 [ 1.63677005e-01]
 [-3.80742906e-04]]

 R_gt:
[[ 0.99908648 -0.04258858  0.00351024]
 [ 0.04254516  0.99902804  0.01155193]
 [-0.00399974 -0.01139174  0.99992733]]

 t_gt:
[ 0.34356859 -0.91288264  0.22046749]

Pose Error in degrees for R and t:
3.5306980846861022 79.08028276682482

Number of keypoints:
Image1: 540
Image2: 540

 R_estimated:
[[ 9.92228264e-01  1.24430845e-01  1.92435670e-04]
 [-1.24430869e-01  9.92228273e-01  1.15592573e-04]
 [-1.76556831e-04 -1.38639155e-04  9.99999975e-01]]

 t_estimated:
[[0.27268723]
 [0.96210211]
 [0.00109955]]

 R_gt:
[[ 9.98062994e-01 -1.34286255e-02  6.07510213e-02]
 [ 1.33844411e-02  9.99910163e-01  1.11918960e-03]
 [-6.07616260e-02 -3.03352968e-04  9.98152280e-01]]

 t_gt:
[-0.54345661 -0.0971541   0.83379613]

Pose Error in degrees for R and t:
8.643731439270294 76.06924627717812

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.41834433e-01 -3.36075105e-01  1.19356020e-03]
 [ 3.36077148e-01  9.41830675e-01 -2.67038365e-03]
 [-2.26682142e-04  2.91618758e-03  9.99995722e-01]]

 t_estimated:
[[-0.50843467]
 [-0.86109721]
 [-0.00240515]]

 R_gt:
[[ 0.99865629 -0.00863568  0.05110277]
 [ 0.00939299  0.9998494  -0.01461444]
 [-0.05096973  0.01507509  0.99858658]]

 t_gt:
[-0.85469052 -0.14502678  0.498469  ]

Pose Error in degrees for R and t:
19.34738519110368 56.06599959226721

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999984e-01 -1.39073442e-04  1.10601189e-04]
 [ 1.39093229e-04  9.99999974e-01 -1.78916808e-04]
 [-1.10576303e-04  1.78932189e-04  9.99999978e-01]]

 t_estimated:
[[-0.87183903]
 [-0.48979037]
 [-0.0014495 ]]

 R_gt:
[[ 9.99810717e-01  1.39779605e-02  1.35473559e-02]
 [-1.39657519e-02  9.99901593e-01 -9.52110254e-04]
 [-1.35593771e-02  7.63235636e-04  9.99907413e-01]]

 t_gt:
[0.64424441 0.38865019 0.65871099]

Pose Error in degrees for R and t:
1.1182717076299342 41.15000799723499

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.67506853 -0.73775196 -0.00212774]
 [ 0.73774197 -0.67503663 -0.0078946 ]
 [ 0.00438796 -0.00689912  0.99996657]]

 t_estimated:
[[9.03584426e-01]
 [4.28409252e-01]
 [8.35105754e-04]]

 R_gt:
[[ 9.97356814e-01 -7.26584684e-02  3.47305332e-04]
 [ 7.26539437e-02  9.97231400e-01 -1.58097788e-02]
 [ 8.02830159e-04  1.57931007e-02  9.99875231e-01]]

 t_gt:
[ 0.75944321 -0.64735073 -0.06467646]

Pose Error in degrees for R and t:
128.29378083816547 65.86826503598182

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.99973884 -0.02277292  0.00190753]
 [ 0.02277685  0.99973844 -0.00206486]
 [-0.00186     0.00210777  0.99999605]]

 t_estimated:
[[8.96783184e-01]
 [4.42469439e-01]
 [8.46021872e-04]]

 R_gt:
[[ 0.9880841  -0.15228061  0.02234962]
 [ 0.15220839  0.98833533  0.004901  ]
 [-0.02283596 -0.00144066  0.99973877]]

 t_gt:
[ 0.71210028 -0.69276199  0.11399129]

Pose Error in degrees for R and t:
7.55366175645289 70.59946235785327

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99999995e-01  8.68727446e-05  5.76864759e-05]
 [-8.68729012e-05  9.99999996e-01  2.71274528e-06]
 [-5.76862400e-05 -2.71775666e-06  9.99999998e-01]]

 t_estimated:
[[3.16371571e-01]
 [9.48635341e-01]
 [1.35372452e-04]]

 R_gt:
[[ 0.99796794 -0.03632999 -0.05235603]
 [ 0.03568863  0.99927622 -0.01312356]
 [ 0.05279476  0.01122797  0.99854161]]

 t_gt:
[ 0.77938389 -0.30782632 -0.54571394]

Pose Error in degrees for R and t:
3.725599114400684 87.3913448635972

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999999e-01 -5.33210830e-05 -9.69175225e-06]
 [ 5.33210917e-05  9.99999999e-01  8.97247865e-07]
 [ 9.69170439e-06 -8.97764639e-07  1.00000000e+00]]

 t_estimated:
[[9.99999634e-01]
 [8.55681079e-04]
 [1.32125664e-05]]

 R_gt:
[[ 0.99406471  0.00653482 -0.10859316]
 [-0.00630306  0.99997688  0.0024771 ]
 [ 0.10860616 -0.00177902  0.99408338]]

 t_gt:
[ 0.63865222  0.14632092 -0.75545584]

Pose Error in degrees for R and t:
6.246391660896623 50.30004546358785

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.14828666  0.98892084 -0.00682868]
 [ 0.98890915 -0.14821952  0.00946945]
 [ 0.00835239 -0.00815713 -0.99993185]]

 t_estimated:
[[-0.59597044]
 [ 0.80298172]
 [ 0.00629222]]

 R_gt:
[[ 9.79493487e-01  1.18045683e-01 -1.63271242e-01]
 [-1.19802955e-01  9.92796976e-01 -9.21533062e-04]
 [ 1.61986577e-01  2.04618865e-02  9.86580380e-01]]

 t_gt:
[ 0.11791274  0.74055631 -0.66156855]

Pose Error in degrees for R and t:
173.68473008707778 58.65312865884708

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.99912845 -0.04141599 -0.00520219]
 [ 0.03910879 -0.88525485 -0.46345911]
 [ 0.01458935 -0.46325863  0.88610304]]

 t_estimated:
[[0.94608155]
 [0.32391267]
 [0.00320706]]

 R_gt:
[[ 0.99825477 -0.02757075 -0.05223838]
 [ 0.02795163  0.99958693  0.00658939]
 [ 0.05203404 -0.00803852  0.99861273]]

 t_gt:
[ 0.82266436 -0.28431693 -0.49232838]

Pose Error in degrees for R and t:
175.3667086653926 46.7931075387586

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-3.79013297e-02  9.99280801e-01 -1.17065841e-03]
 [ 9.99256195e-01  3.79086792e-02  7.07022997e-03]
 [ 7.10952318e-03 -9.01816555e-04 -9.99974320e-01]]

 t_estimated:
[[0.63480962]
 [0.77266815]
 [0.0008255 ]]

 R_gt:
[[ 0.99078797  0.08706956 -0.10372559]
 [-0.0860823   0.99619001  0.01397057]
 [ 0.10454631 -0.00491241  0.99450799]]

 t_gt:
[ 0.02250327  0.81049688 -0.58531052]

Pose Error in degrees for R and t:
174.97521733592185 50.20465762290485

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.83529995e-01 -1.80744973e-01 -6.17983708e-05]
 [ 1.80744983e-01  9.83529964e-01  2.49037389e-04]
 [ 1.57682932e-05 -2.56105488e-04  9.99999967e-01]]

 t_estimated:
[[0.69277479]
 [0.72115352]
 [0.00083467]]

 R_gt:
[[ 9.80428400e-01  1.38375718e-01 -1.40048413e-01]
 [-1.37023792e-01  9.90379074e-01  1.93096977e-02]
 [ 1.41371955e-01  2.58969386e-04  9.89956036e-01]]

 t_gt:
[-0.01767615  0.86516942 -0.50116806]

Pose Error in degrees for R and t:
20.07044576052486 52.319619303458936

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.91058492e-01 -1.33428116e-01 -5.27269129e-05]
 [ 1.33428122e-01  9.91058484e-01  1.32675839e-04]
 [ 3.45527672e-05 -1.38524770e-04  9.99999990e-01]]

 t_estimated:
[[ 2.38967504e-01]
 [-9.71027562e-01]
 [-7.45238843e-05]]

 R_gt:
[[ 0.99814002  0.03851036  0.04727058]
 [-0.03720848  0.99891137 -0.02814407]
 [-0.04830269  0.02633306  0.99848546]]

 t_gt:
[-0.77762305  0.53019088  0.33793494]

Pose Error in degrees for R and t:
10.332707592645988 45.5182712175258

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.21815198e-01  3.87629633e-01 -9.50674211e-05]
 [-3.87629619e-01  9.21815198e-01  1.40611694e-04]
 [ 1.42139853e-04 -9.27670481e-05  9.99999986e-01]]

 t_estimated:
[[-0.7913225 ]
 [ 0.61139796]
 [-0.00111517]]

 R_gt:
[[ 0.99973636  0.02169407  0.00756813]
 [-0.02154902  0.99959142 -0.01880906]
 [-0.00797265  0.01864034  0.99979458]]

 t_gt:
[-0.98584719  0.04434834 -0.16167416]

Pose Error in degrees for R and t:
21.599346602843603 36.155590913600314

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.55642585e-01 -2.94526725e-01 -1.12135794e-03]
 [ 2.94527036e-01  9.55643140e-01  1.19713575e-04]
 [ 1.03635918e-03 -4.44673621e-04  9.99999364e-01]]

 t_estimated:
[[9.99355039e-01]
 [3.58999722e-02]
 [8.34883074e-04]]

 R_gt:
[[ 0.9996965   0.01642993 -0.01837046]
 [-0.01651765  0.99985283 -0.00460001]
 [ 0.01829214  0.00490166  0.99982044]]

 t_gt:
[-0.92565923 -0.27430732 -0.26059641]

Pose Error in degrees for R and t:
18.10218777892568 20.751261951798057

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.66060463 -0.7506664  -0.01007384]
 [-0.75066509  0.66066633 -0.00468297]
 [ 0.0101708   0.00446849 -0.99993829]]

 t_estimated:
[[ 0.91629319]
 [ 0.40048307]
 [-0.00448342]]

 R_gt:
[[ 0.99966206  0.02000983  0.01654693]
 [-0.01984042  0.99974971 -0.01034658]
 [-0.01674936  0.01001532  0.99980904]]

 t_gt:
[0.54651308 0.77577103 0.31544059]

Pose Error in degrees for R and t:
179.93723950361857 35.90063734562431

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.93335071e-01  1.15258364e-01 -9.72535044e-04]
 [-1.15257450e-01  9.93335200e-01  9.48610754e-04]
 [ 1.07538862e-03 -8.30196421e-04  9.99999077e-01]]

 t_estimated:
[[-0.96970255]
 [-0.24427622]
 [-0.00246744]]

 R_gt:
[[ 0.99974368  0.00883059  0.02081576]
 [-0.00814761  0.99943323 -0.0326726 ]
 [-0.02109226  0.03249405  0.99924945]]

 t_gt:
[ 0.98700654  0.1327049  -0.09059524]

Pose Error in degrees for R and t:
6.547040027168698 8.39076119657142

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.21219076e-01  3.89044158e-01  2.39784408e-04]
 [-3.89044219e-01  9.21219028e-01  3.11840758e-04]
 [-9.95741346e-05 -3.80560393e-04  9.99999923e-01]]

 t_estimated:
[[0.39583262]
 [0.91832214]
 [0.00099271]]

 R_gt:
[[ 0.99403818 -0.1078089   0.01628519]
 [ 0.10835048  0.99341844 -0.03715311]
 [-0.01217292  0.03869684  0.99917742]]

 t_gt:
[ 0.79753083 -0.6009138  -0.05335901]

Pose Error in degrees for R and t:
29.194165647198364 76.33782529550639

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.72474814 -0.68707808  0.05161243]
 [ 0.68804892 -0.71773674  0.1069703 ]
 [-0.03645281  0.1130384   0.9929217 ]]

 t_estimated:
[[0.96404473]
 [0.26573813]
 [0.00099802]]

 R_gt:
[[ 0.99224671  0.12303042  0.01758489]
 [-0.12317654  0.99235689  0.00744497]
 [-0.01653403 -0.00955314  0.99981802]]

 t_gt:
[-0.92677768  0.36147943  0.10205756]

Pose Error in degrees for R and t:
143.4509697119911 37.12749009864028

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.66224099 -0.74928475 -0.00303963]
 [ 0.74928403 -0.66224684  0.0016004 ]
 [-0.00321214 -0.00121769  0.9999941 ]]

 t_estimated:
[[0.9958429 ]
 [0.09106715]
 [0.00192187]]

 R_gt:
[[ 0.98200112  0.18815989  0.01639153]
 [-0.18794225  0.98208061 -0.01397699]
 [-0.01872675  0.01064504  0.99976803]]

 t_gt:
[-0.93163705  0.36266567 -0.02293524]

Pose Error in degrees for R and t:
142.31520151324187 26.51964915748762

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.75665288e-01 -2.19263354e-01 -9.09544578e-04]
 [ 2.19263890e-01  9.75665443e-01  5.37851602e-04]
 [ 7.69480067e-04 -7.24193420e-04  9.99999442e-01]]

 t_estimated:
[[ 1.20471550e-03]
 [-9.99999118e-01]
 [-5.59780885e-04]]

 R_gt:
[[ 0.9801104   0.19666602  0.02656328]
 [-0.19682466  0.9804326   0.0034395 ]
 [-0.02536574 -0.00859876  0.99964125]]

 t_gt:
[-0.9477437   0.31403301  0.05625966]

Pose Error in degrees for R and t:
24.065426655289937 71.62675059765553

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 1.00000000e+00 -2.77567969e-11 -3.97902197e-14]
 [ 2.77567413e-11  1.00000000e+00 -4.82383231e-14]
 [ 3.97898945e-14  4.82383231e-14  1.00000000e+00]]

 t_estimated:
[[-0.45093726]
 [-0.8925548 ]
 [-0.00123136]]

 R_gt:
[[ 0.9915806  -0.12720444 -0.02420945]
 [ 0.1282944   0.99044415  0.05061919]
 [ 0.01753874 -0.05329843  0.99842327]]

 t_gt:
[ 0.77045738 -0.61296785  0.17511662]

Pose Error in degrees for R and t:
8.018117700192235 78.4943932695015

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 1.20294699e-01  9.92735834e-01  2.17911058e-03]
 [ 9.92737764e-01 -1.20296472e-01  7.01025737e-04]
 [ 9.58072685e-04  2.07895569e-03 -9.99997380e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98017598 -0.19288808 -0.0452678 ]
 [ 0.19520022  0.97928502  0.05384678]
 [ 0.0339436  -0.06161473  0.99752229]]

 t_gt:
[ 0.79607521 -0.59831693  0.09100062]

Pose Error in degrees for R and t:
176.06078478690443 37.41208905342351

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.92422693  0.34562888  0.16231224]
 [ 0.3457318   0.93789959 -0.02852866]
 [-0.16209291  0.02974954 -0.98632695]]

 t_estimated:
[[-0.04968917]
 [-0.99875237]
 [-0.00496892]]

 R_gt:
[[ 0.98557284 -0.16682189 -0.02857462]
 [ 0.16799656  0.98474326  0.04537588]
 [ 0.0205678  -0.04952101  0.99856068]]

 t_gt:
[ 0.75543569 -0.64763781  0.09940923]

Pose Error in degrees for R and t:
172.42065979789623 52.49729632204274

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999987e-01  1.34297666e-04  8.85638205e-05]
 [-1.34293026e-04  9.99999990e-01 -5.23997139e-05]
 [-8.85708567e-05  5.23878197e-05  9.99999995e-01]]

 t_estimated:
[[ 9.99951524e-01]
 [-9.84324308e-03]
 [-2.45738101e-04]]

 R_gt:
[[ 0.98834989 -0.15213871 -0.00439648]
 [ 0.15218097  0.98828429  0.01161186]
 [ 0.00257707 -0.01214508  0.99992372]]

 t_gt:
[ 0.68395022 -0.72594145  0.07225721]

Pose Error in degrees for R and t:
8.789061043680169 46.28711923257452

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99998738e-01  1.58857993e-03 -2.11561345e-05]
 [-1.58857228e-03  9.99998674e-01  3.57121423e-04]
 [ 2.17234224e-05 -3.57087364e-04  9.99999936e-01]]

 t_estimated:
[[9.99914529e-01]
 [1.30508314e-02]
 [7.81858999e-04]]

 R_gt:
[[ 0.97691394 -0.2124147  -0.02280757]
 [ 0.21308634  0.97648371  0.03276858]
 [ 0.01530988 -0.03687138  0.99920265]]

 t_gt:
[ 0.67386624 -0.73149613  0.10400818]

Pose Error in degrees for R and t:
12.585028280952674 48.368033142050635

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.98027960e-01 -6.27708387e-02  1.10965103e-04]
 [ 6.27708068e-02  9.98027932e-01  2.71165466e-04]
 [-1.27767556e-04 -2.63665348e-04  9.99999957e-01]]

 t_estimated:
[[9.99994462e-01]
 [3.22921313e-03]
 [8.05443681e-04]]

 R_gt:
[[ 0.95632814 -0.28998883 -0.03666629]
 [ 0.2894494   0.95699681 -0.01938471]
 [ 0.0407105   0.00792571  0.99913948]]

 t_gt:
[ 0.70966635 -0.68917261 -0.1463379 ]

Pose Error in degrees for R and t:
13.462327733883884 44.98279618751069

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.97547527 -0.22009923  0.00207777]
 [ 0.22010232  0.97547579 -0.00139538]
 [-0.0017197   0.00181848  0.99999687]]

 t_estimated:
[[9.01623538e-01]
 [4.32521077e-01]
 [7.17282051e-04]]

 R_gt:
[[ 0.98862118 -0.0918177   0.11915241]
 [ 0.09233771  0.99572751  0.00115018]
 [-0.11874942  0.00986524  0.99287494]]

 t_gt:
[ 0.45821024 -0.6219767   0.63497115]

Pose Error in degrees for R and t:
10.009763363301193 81.6875881795309

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 7.57149221e-01  6.53241606e-01  6.79174451e-04]
 [-6.53239254e-01  7.57148669e-01 -2.09058845e-03]
 [-1.87989539e-03  1.13922401e-03  9.99997584e-01]]

 t_estimated:
[[0.63950718]
 [0.7687839 ]
 [0.00137528]]

 R_gt:
[[ 9.30519926e-01 -2.47765769e-01  2.69712859e-01]
 [ 2.37995965e-01  9.68820140e-01  6.88846552e-02]
 [-2.78370072e-01  9.15532120e-05  9.60474283e-01]]

 t_gt:
[ 0.55506447 -0.5866904   0.58965906]

Pose Error in degrees for R and t:
57.255119302767305 84.53374579102852

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.96353248  0.26673102  0.02144099]
 [ 0.26708355  0.96354587  0.01567611]
 [-0.01647807  0.02083097 -0.99964721]]

 t_estimated:
[[8.69439700e-01]
 [4.94038348e-01]
 [8.47407115e-04]]

 R_gt:
[[ 0.87392768 -0.37414999  0.31026211]
 [ 0.35768441  0.92725924  0.11069269]
 [-0.32910921  0.01423875  0.9441845 ]]

 t_gt:
[ 0.66721821 -0.58748184  0.4579137 ]

Pose Error in degrees for R and t:
160.2719529768691 73.12674811383042

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 0.98664971  0.16278989 -0.00466842]
 [-0.16277397  0.98665677  0.00361182]
 [ 0.00519409 -0.00280371  0.99998258]]

 t_estimated:
[[-0.56560187]
 [-0.82467789]
 [-0.000949  ]]

 R_gt:
[[ 0.99895042 -0.04125986 -0.01992859]
 [ 0.04159844  0.99899194  0.01689879]
 [ 0.01921149 -0.01770928  0.99965914]]

 t_gt:
[ 0.50128001 -0.85972694 -0.09791805]

Pose Error in degrees for R and t:
11.800148295210908 64.81351727651369

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 7.13138883e-01 -7.01022615e-01 -4.75732384e-04]
 [ 7.01022768e-01  7.13138601e-01  6.44369260e-04]
 [-1.12454297e-04 -7.93024006e-04  9.99999679e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99698369 -0.06527995 -0.04197833]
 [ 0.06690297  0.99701712  0.03850851]
 [ 0.03933951 -0.04119961  0.99837607]]

 t_gt:
[ 0.49605313 -0.8646912  -0.0789963 ]

Pose Error in degrees for R and t:
40.83851754650358 60.44174955561233

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-3.73662568e-01  9.27564271e-01 -8.99597971e-04]
 [-9.27562501e-01 -3.73663618e-01 -1.81849730e-03]
 [-2.02292015e-03  1.54928975e-04  9.99997942e-01]]

 t_estimated:
[[0.59984786]
 [0.80011352]
 [0.00094913]]

 R_gt:
[[ 0.99600411 -0.07679634 -0.04559155]
 [ 0.07806431  0.99659101  0.02670903]
 [ 0.04338588 -0.03016013  0.99860254]]

 t_gt:
[ 0.52906031 -0.82994244 -0.17689187]

Pose Error in degrees for R and t:
116.41380077983656 69.70459891357515

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.83229764e-01 -1.82371113e-01 -8.99738920e-05]
 [ 1.82371128e-01  9.83229745e-01  2.00831012e-04]
 [ 5.18392316e-05 -2.13871669e-04  9.99999976e-01]]

 t_estimated:
[[6.39587844e-01]
 [7.68717680e-01]
 [7.19661010e-04]]

 R_gt:
[[ 0.99741068 -0.01132505  0.07101509]
 [ 0.00287116  0.99300557  0.11802935]
 [-0.07185532 -0.11752043  0.99046751]]

 t_gt:
[-0.05181536 -0.09904733  0.99373276]

Pose Error in degrees for R and t:
12.821580254805523 83.76741350298572

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 8.02342379e-01 -5.96864058e-01 -5.44291501e-05]
 [ 5.96864036e-01  8.02342318e-01  3.55408055e-04]
 [-1.68459484e-04 -3.17645747e-04  9.99999935e-01]]

 t_estimated:
[[0.79843911]
 [0.60207502]
 [0.00081142]]

 R_gt:
[[ 0.99541363 -0.05410959  0.07890253]
 [ 0.03627116  0.9765703   0.21212033]
 [-0.08853222 -0.20828538  0.97405289]]

 t_gt:
[ 0.07168295 -0.21650393  0.97364655]

Pose Error in degrees for R and t:
36.37253958862194 85.85234083969866

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-5.80740286e-01  8.14071735e-01 -5.28493295e-03]
 [ 8.14081854e-01  5.80750019e-01  3.87280477e-04]
 [ 3.38449900e-03 -4.07745864e-03 -9.99985960e-01]]

 t_estimated:
[[8.09393610e-01]
 [5.87266038e-01]
 [7.64899094e-04]]

 R_gt:
[[ 0.99185199 -0.08410082  0.09569682]
 [ 0.05536806  0.9610579   0.2707431 ]
 [-0.11474049 -0.26323864  0.95788289]]

 t_gt:
[ 0.11224628 -0.22770429  0.96723913]

Pose Error in degrees for R and t:
178.05634161970062 87.58531471952105

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99999982e-01  1.18645416e-04 -1.50800840e-04]
 [-1.18624553e-04  9.99999983e-01  1.38352008e-04]
 [ 1.50817252e-04 -1.38334117e-04  9.99999979e-01]]

 t_estimated:
[[-0.55401757]
 [-0.83250442]
 [-0.00096399]]

 R_gt:
[[ 0.9945334   0.10390568 -0.01035988]
 [-0.10393493  0.99458103 -0.00241671]
 [ 0.01005269  0.00348054  0.99994313]]

 t_gt:
[-0.54559361  0.83535826 -0.06711328]

Pose Error in degrees for R and t:
5.988851211628047 66.85207934406867

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 2.99789201e-01  9.54004937e-01  1.00717381e-03]
 [ 9.54003681e-01 -2.99790516e-01  1.61955546e-03]
 [ 1.84700506e-03  4.75322284e-04 -9.99998181e-01]]

 t_estimated:
[[-9.95514244e-01]
 [-9.46079461e-02]
 [-8.52323839e-04]]

 R_gt:
[[ 0.99756375  0.06415902 -0.02738718]
 [-0.06386585  0.99789309  0.01142392]
 [ 0.02806222 -0.00964697  0.99955995]]

 t_gt:
[-0.15138389  0.98233992 -0.10995995]

Pose Error in degrees for R and t:
178.52827779280872 86.68293462623467

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-9.00445234e-01 -4.34958001e-01 -3.14916459e-03]
 [ 4.34955538e-01 -9.00450740e-01  1.46470836e-03]
 [-3.47275420e-03 -5.08569183e-05  9.99993969e-01]]

 t_estimated:
[[0.89707405]
 [0.44187858]
 [0.00121063]]

 R_gt:
[[ 0.9980058  -0.00797965  0.06260848]
 [ 0.01430416  0.99476058 -0.10122912]
 [-0.06147289  0.10192304  0.9928911 ]]

 t_gt:
[ 0.10160067  0.86312261 -0.49466823]

Pose Error in degrees for R and t:
153.63342579830484 61.83970885095253

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-8.81721959e-01 -4.71769019e-01 -6.15723069e-04]
 [-4.70610341e-01  8.79463496e-01  7.12029897e-02]
 [-3.30498587e-02  6.30710053e-02 -9.97461656e-01]]

 t_estimated:
[[0.99981678]
 [0.01904652]
 [0.00190458]]

 R_gt:
[[ 0.99807339  0.04939991  0.03756393]
 [-0.05153884  0.99697007  0.05826358]
 [-0.03457202 -0.06008678  0.99759463]]

 t_gt:
[-0.35310528  0.44855888  0.82104299]

Pose Error in degrees for R and t:
176.31242898247024 69.94430877052316

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.19335617 -0.98112656 -0.00201611]
 [ 0.98112747  0.19335238  0.00193441]
 [-0.00150808 -0.00235209  0.9999961 ]]

 t_estimated:
[[ 0.85300423]
 [-0.5218997 ]
 [ 0.00212078]]

 R_gt:
[[ 0.99460068  0.04006785  0.09573462]
 [-0.05758279  0.98050734  0.18785499]
 [-0.08634139 -0.19235257  0.97751989]]

 t_gt:
[-0.17174209  0.17597913  0.96929665]

Pose Error in degrees for R and t:
82.40450198148609 76.33264725536712

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.68295941e-01 -2.49805784e-01  2.01125545e-04]
 [ 2.49805748e-01  9.68295953e-01  1.86634852e-04]
 [-2.41371517e-04 -1.30475453e-04  9.99999962e-01]]

 t_estimated:
[[0.52823163]
 [0.84909961]
 [0.00109139]]

 R_gt:
[[ 0.99267787  0.00324682  0.12075537]
 [-0.03838745  0.95630124  0.28985379]
 [-0.11453677 -0.29236623  0.94942255]]

 t_gt:
[-0.06602341  0.06945898  0.99539759]

Pose Error in degrees for R and t:
24.05179546699007 88.55666384936295

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 9.97281325e-01 -7.36882412e-02 -5.02459700e-05]
 [ 7.36882447e-02  9.97281323e-01  7.01966027e-05]
 [ 4.49367033e-05 -7.37082983e-05  9.99999996e-01]]

 t_estimated:
[[ 8.32728976e-01]
 [-5.53680746e-01]
 [ 2.90787536e-04]]

 R_gt:
[[ 0.99936502 -0.03004968 -0.01918971]
 [ 0.03034362  0.99942435  0.01518788]
 [ 0.01872254 -0.0157608   0.99970087]]

 t_gt:
[ 0.43679055 -0.8795467  -0.18871042]

Pose Error in degrees for R and t:
2.859069278851062 31.716325899700728

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[-7.19978450e-01 -6.93994380e-01 -1.68301901e-03]
 [ 6.93996308e-01 -7.19977598e-01 -1.17622606e-03]
 [-3.95441705e-04 -2.01486640e-03  9.99997892e-01]]

 t_estimated:
[[9.94654125e-01]
 [1.03260459e-01]
 [6.70143252e-04]]

 R_gt:
[[ 0.99894292 -0.02604023 -0.03789606]
 [ 0.02718159  0.99918299  0.02990826]
 [ 0.03708617 -0.03090794  0.99883436]]

 t_gt:
[ 0.36980005 -0.88148812 -0.2936437 ]

Pose Error in degrees for R and t:
134.5379306414951 73.94240544205134

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.96399729e-01  8.47792347e-02  2.47236941e-04]
 [-8.47791944e-02  9.96399749e-01 -1.69100764e-04]
 [-2.60683060e-04  1.47531407e-04  9.99999955e-01]]

 t_estimated:
[[0.48875515]
 [0.87242026]
 [0.00113788]]

 R_gt:
[[ 0.99275052 -0.119597   -0.01198257]
 [ 0.11968671  0.99278848  0.00694754]
 [ 0.01106529 -0.00833195  0.99990381]]

 t_gt:
[ 0.60530075 -0.79566273 -0.02306129]

Pose Error in degrees for R and t:
11.76282008006241 66.52588819007528

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.72648441e-01 -2.32281573e-01 -5.29651693e-04]
 [ 2.32282005e-01  9.72647968e-01  1.00041644e-03]
 [ 2.82786338e-04 -1.09608205e-03  9.99999359e-01]]

 t_estimated:
[[-0.68021608]
 [-0.73301125]
 [-0.00076515]]

 R_gt:
[[ 0.99862483  0.01656834  0.04974994]
 [-0.01177057  0.99538611 -0.09521673]
 [-0.05109841  0.09450066  0.99421246]]

 t_gt:
[-0.43833145  0.55853124 -0.70420763]

Pose Error in degrees for R and t:
15.542839515521505 83.64371044510702

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.99998101 -0.00428815 -0.00442705]
 [ 0.00430308  0.99998507  0.00336709]
 [ 0.00441254 -0.00338608  0.99998453]]

 t_estimated:
[[-0.99887821]
 [-0.0468816 ]
 [-0.00666557]]

 R_gt:
[[ 0.99308005  0.06019528  0.10084052]
 [-0.04480144  0.98789587 -0.14850217]
 [-0.10855946  0.14295749  0.983757  ]]

 t_gt:
[-0.68889195  0.66309034 -0.29281238]

Pose Error in degrees for R and t:
11.138871469477873 48.77755298782189

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.99928027  0.03786117 -0.00233841]
 [-0.03784354  0.99925793  0.00717299]
 [ 0.00260825 -0.00707934  0.99997154]]

 t_estimated:
[[-9.93902231e-01]
 [-1.10262234e-01]
 [-7.71064570e-04]]

 R_gt:
[[ 0.98384706  0.13683265  0.11541752]
 [-0.12194642  0.98431921 -0.12744828]
 [-0.13104825  0.11131525  0.98510626]]

 t_gt:
[-0.73647098  0.67218613  0.07600201]

Pose Error in degrees for R and t:
11.580456162336644 48.86733136697398

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 8.73199518e-01 -4.87362616e-01 -5.31415097e-04]
 [ 4.87362827e-01  8.73199479e-01  3.81542397e-04]
 [ 2.78081885e-04 -5.92154601e-04  9.99999786e-01]]

 t_estimated:
[[ 9.73771713e-01]
 [-2.27526144e-01]
 [ 7.10764232e-04]]

 R_gt:
[[ 0.99604403 -0.08818845  0.01087506]
 [ 0.08862003  0.99484956 -0.04919511]
 [-0.00648038  0.04996464  0.99872907]]

 t_gt:
[ 0.48452943 -0.7981515  -0.35802991]

Pose Error in degrees for R and t:
24.26631814299985 49.21919891477438

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.99987236  0.01588026  0.00175527]
 [-0.0158774   0.99987262 -0.00162801]
 [-0.0017809   0.00159993  0.99999713]]

 t_estimated:
[[0.8102069 ]
 [0.58614337]
 [0.00085195]]

 R_gt:
[[ 0.98015772 -0.19683921 -0.02333011]
 [ 0.19580322  0.97980386 -0.04055413]
 [ 0.03084239  0.03518041  0.99890464]]

 t_gt:
[ 0.60914076 -0.7608442  -0.22374905]

Pose Error in degrees for R and t:
12.524707968664073 87.28455978354181

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.54322569  0.83957214  0.00494655]
 [-0.83958486 -0.54322743 -0.00110042]
 [ 0.00176322 -0.00475083  0.99998716]]

 t_estimated:
[[0.34801553]
 [0.93748808]
 [0.0011336 ]]

 R_gt:
[[ 0.92926949 -0.36934057 -0.00675872]
 [ 0.36922813  0.92923763 -0.01370434]
 [ 0.01134242  0.01023925  0.99988251]]

 t_gt:
[ 0.71561626 -0.69782738 -0.030501  ]

Pose Error in degrees for R and t:
144.58015204909623 66.0967242177424

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.99999866e-01 -5.11298828e-04  7.96965715e-05]
 [ 5.11295811e-04  9.99999869e-01  3.78765418e-05]
 [-7.97159272e-05 -3.78357882e-05  9.99999996e-01]]

 t_estimated:
[[8.28747404e-01]
 [5.59622346e-01]
 [7.54848620e-04]]

 R_gt:
[[ 0.9846758  -0.17355649 -0.017038  ]
 [ 0.17411796  0.9838974   0.04035912]
 [ 0.00975915 -0.04270793  0.99903978]]

 t_gt:
[ 0.53503666 -0.83076786  0.15349443]

Pose Error in degrees for R and t:
10.296568448904363 88.77434147616088

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999987e-01  4.57881278e-05 -1.55823374e-04]
 [-4.57553081e-05  9.99999977e-01  2.10618204e-04]
 [ 1.55833014e-04 -2.10611071e-04  9.99999966e-01]]

 t_estimated:
[[-0.82527113]
 [-0.56473553]
 [-0.00116022]]

 R_gt:
[[ 0.97302668 -0.22471447 -0.0521772 ]
 [ 0.22755527  0.97209763  0.05696762]
 [ 0.03791982 -0.0673038   0.99701175]]

 t_gt:
[ 0.53793231 -0.83272877  0.13111682]

Pose Error in degrees for R and t:
13.81357198110839 88.49985985745093

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.24172298  0.97034472 -0.00106125]
 [-0.97034303  0.2417199  -0.00242707]
 [-0.00209857  0.00161645  0.99999649]]

 t_estimated:
[[0.52578566]
 [0.8506166 ]
 [0.0009176 ]]

 R_gt:
[[ 0.93527333 -0.34677162 -0.07080749]
 [ 0.3515205   0.93342432  0.07178339]
 [ 0.0412013  -0.09202689  0.99490369]]

 t_gt:
[ 0.6490198  -0.74481903  0.15497715]

Pose Error in degrees for R and t:
96.64150077316513 73.01220927069048

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.92835903e-01 -1.19485810e-01  1.00635629e-04]
 [ 1.19485799e-01  9.92835903e-01  1.15772076e-04]
 [-1.13747786e-04 -1.02918145e-04  9.99999988e-01]]

 t_estimated:
[[0.95670018]
 [0.29107268]
 [0.00120925]]

 R_gt:
[[ 0.99781109 -0.00330913 -0.0660473 ]
 [ 0.00552673  0.99942575  0.03340734]
 [ 0.06589901 -0.03369925  0.99725669]]

 t_gt:
[ 0.83681419  0.07560811 -0.54224112]

Pose Error in degrees for R and t:
7.855030493629038 34.72133165984257

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 4.95227830e-01 -8.68762808e-01 -7.60964293e-04]
 [ 8.68762959e-01  4.95228104e-01 -2.14286464e-04]
 [ 5.63015014e-04 -5.54976970e-04  9.99999688e-01]]

 t_estimated:
[[ 9.19453739e-01]
 [-3.93198017e-01]
 [-3.75508160e-04]]

 R_gt:
[[ 0.99134956  0.00473453 -0.13116749]
 [-0.00326025  0.9999289   0.01144626]
 [ 0.13121262 -0.0109194   0.99129356]]

 t_gt:
[ 0.65074379  0.19409897 -0.73406956]

Pose Error in degrees for R and t:
60.96584708695775 58.51434138339303

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.60969856e-01 -2.76653095e-01  2.68285211e-05]
 [ 2.76652936e-01  9.60969397e-01  9.85923567e-04]
 [-2.98540194e-04 -9.40020639e-04  9.99999514e-01]]

 t_estimated:
[[0.72828676]
 [0.6852656 ]
 [0.00307294]]

 R_gt:
[[ 0.98237429 -0.01377169 -0.18641926]
 [ 0.01492954  0.99987651  0.00480767]
 [ 0.18633072 -0.00750507  0.98245822]]

 t_gt:
[ 0.71920812  0.09553523 -0.68819525]

Pose Error in degrees for R and t:
18.627358684962125 54.04554422005359

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 0.99995059  0.00770704 -0.00627912]
 [-0.00761063  0.99985496  0.01523616]
 [ 0.00639564 -0.01518761  0.99986421]]

 t_estimated:
[[0.66775386]
 [0.74438135]
 [0.00109468]]

 R_gt:
[[ 0.99555822  0.05708896 -0.07487733]
 [-0.05221712  0.99648638  0.06548311]
 [ 0.07835247 -0.06128274  0.99504064]]

 t_gt:
[-0.53175344 -0.11528357  0.83901608]

Pose Error in degrees for R and t:
5.588623636712226 63.89759295571629

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-0.41084994  0.90933264 -0.06569993]
 [ 0.90941386  0.4138563   0.04110219]
 [ 0.06456589 -0.04286159 -0.99699254]]

 t_estimated:
[[-0.18992668]
 [-0.98128785]
 [-0.03165445]]

 R_gt:
[[ 0.98413     0.12950654 -0.12131326]
 [-0.1059826   0.97728522  0.18352773]
 [ 0.14232554 -0.16775847  0.9755005 ]]

 t_gt:
[-0.248285    0.13637148  0.95903982]

Pose Error in degrees for R and t:
163.65457205133288 83.27975790283082

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 8.90959853e-01  4.54064282e-01 -4.02095839e-03]
 [-4.54068816e-01  8.90966582e-01 -2.44736507e-04]
 [ 3.47141344e-03  2.04384222e-03  9.99991886e-01]]

 t_estimated:
[[-0.97622348]
 [ 0.21668116]
 [-0.00608246]]

 R_gt:
[[ 0.97036436  0.19024856 -0.14899847]
 [-0.15723111  0.96528975  0.20855201]
 [ 0.18350351 -0.17894427  0.96659476]]

 t_gt:
[-0.33170034  0.69974029  0.63272301]

Pose Error in degrees for R and t:
22.348098903254435 61.86272408660896

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.99938648 -0.03492215 -0.00266769]
 [-0.03491713 -0.99938839  0.0019083 ]
 [-0.00273271 -0.00181399 -0.99999462]]

 t_estimated:
[[-0.84412489]
 [ 0.5361249 ]
 [ 0.00482358]]

 R_gt:
[[ 9.91814431e-01  9.39006114e-02 -8.65269290e-02]
 [-9.41862655e-02  9.95554018e-01  7.80330283e-04]
 [ 8.62150301e-02  7.37646312e-03  9.96248455e-01]]

 t_gt:
[-0.11945091  0.71493718 -0.6889095 ]

Pose Error in degrees for R and t:
179.81396411322444 61.26206755428073

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-2.59641395e-01 -9.65705100e-01  7.45466877e-05]
 [-9.65703275e-01  2.59641053e-01  1.92579269e-03]
 [-1.87910320e-03  4.28025521e-04 -9.99998143e-01]]

 t_estimated:
[[0.73100583]
 [0.68236892]
 [0.00177195]]

 R_gt:
[[ 9.88314175e-01  7.02927958e-02 -1.35255791e-01]
 [-7.10536651e-02  9.97471771e-01 -8.03232811e-04]
 [ 1.34856846e-01  1.04049792e-02  9.90809948e-01]]

 t_gt:
[ 0.19343379  0.36527216 -0.91058202]

Pose Error in degrees for R and t:
173.7090884374965 67.10534050123671

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.62246238e-01 -2.72180339e-01  2.00869697e-04]
 [ 2.72180365e-01  9.62246245e-01 -1.12202758e-04]
 [-1.62746727e-04  1.62639469e-04  9.99999974e-01]]

 t_estimated:
[[0.61066984]
 [0.79188488]
 [0.00082747]]

 R_gt:
[[ 0.99036383  0.01578695 -0.13758402]
 [-0.01165732  0.99945816  0.0307642 ]
 [ 0.13799542 -0.02886302  0.99001192]]

 t_gt:
[ 0.51032004 -0.21740867 -0.83204983]

Pose Error in degrees for R and t:
18.451610107834696 82.02240093376147

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.95958672 -0.28140694 -0.00186074]
 [-0.28140968  0.95958666  0.00142577]
 [ 0.00138432  0.00189178 -0.99999725]]

 t_estimated:
[[9.59436649e-01]
 [2.81923318e-01]
 [7.47807209e-04]]

 R_gt:
[[ 0.99675976  0.06587731 -0.04616396]
 [-0.06390859  0.99703287  0.04289669]
 [ 0.04885366 -0.03980768  0.99801267]]

 t_gt:
[-0.21228253  0.89904906 -0.38294506]

Pose Error in degrees for R and t:
177.54367675713289 87.16241938136935

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 2.48676919e-01 -9.68583746e-01 -2.30576008e-03]
 [ 9.68586137e-01  2.48678157e-01 -2.62174771e-04]
 [ 8.27330390e-04 -2.16813044e-03  9.99997307e-01]]

 t_estimated:
[[9.83593495e-01]
 [1.80397060e-01]
 [8.59033620e-04]]

 R_gt:
[[ 0.98718519  0.09968386 -0.12462021]
 [-0.09799331  0.99499308  0.01963596]
 [ 0.12595334 -0.00717281  0.99201038]]

 t_gt:
[ 0.08488525  0.56080594 -0.82358435]

Pose Error in degrees for R and t:
81.55077586814738 79.39991342761819

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-9.29764282e-01 -3.68155071e-01 -4.72321422e-04]
 [ 3.68155247e-01 -9.29762129e-01 -2.02414924e-03]
 [ 3.06054235e-04 -2.05586927e-03  9.99997840e-01]]

 t_estimated:
[[8.12479334e-01]
 [5.82989557e-01]
 [7.12701170e-04]]

 R_gt:
[[ 0.98717339  0.05919212 -0.14827667]
 [-0.05460376  0.99790027  0.03483282]
 [ 0.15002794 -0.02629026  0.98833228]]

 t_gt:
[ 0.3893818  0.1177522 -0.9135186]

Pose Error in degrees for R and t:
161.723953698267 67.39586772504484

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.83546618e-01  1.80654392e-01  2.03523357e-04]
 [-1.80654390e-01  9.83546639e-01 -2.81504685e-05]
 [-2.05260220e-04 -9.08008992e-06  9.99999979e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99635397 -0.08006959  0.02945734]
 [ 0.08014681  0.9967822  -0.0014434 ]
 [-0.0292469   0.00379962  0.99956562]]

 t_gt:
[ 0.94211257 -0.15774373  0.29587299]

Pose Error in degrees for R and t:
15.096600906312657 81.28282172172304

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.98243602 -0.17562803 -0.06304181]
 [ 0.18512014  0.95979942  0.21098722]
 [ 0.02345223 -0.21895175  0.9754538 ]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.9940149  -0.0738031   0.08054075]
 [ 0.07641599  0.99662958 -0.0298518 ]
 [-0.07806748  0.03582671  0.99630398]]

 t_gt:
[0.82264827 0.27047808 0.50009142]

Pose Error in degrees for R and t:
17.1544684090833 34.292114100779465

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-8.88855203e-01 -4.58188188e-01 -1.08996704e-04]
 [-4.58188201e-01  8.88855188e-01  1.67623703e-04]
 [ 2.00790851e-05  1.98934205e-04 -9.99999980e-01]]

 t_estimated:
[[9.99977050e-01]
 [6.72253479e-03]
 [8.40316849e-04]]

 R_gt:
[[ 0.98950524 -0.04060251  0.13867792]
 [ 0.05009572  0.99658402 -0.06566397]
 [-0.13553878  0.0719219   0.98815859]]

 t_gt:
[0.31381562 0.7224249  0.61613474]

Pose Error in degrees for R and t:
173.2729168660565 71.38649495898235

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.99391693 -0.1077432   0.02281546]
 [-0.10773809  0.99417824  0.00145682]
 [-0.02283959 -0.00101014 -0.99973863]]

 t_estimated:
[[ 0.9989935 ]
 [-0.04214523]
 [ 0.01535475]]

 R_gt:
[[ 0.99649646 -0.04064482 -0.07308902]
 [ 0.04262927  0.99875837  0.02580197]
 [ 0.07194892 -0.02882627  0.99699199]]

 t_gt:
[ 0.69290459 -0.71930285 -0.04986627]

Pose Error in degrees for R and t:
177.2399949562887 43.80029405553099

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999238e-01  1.20696856e-03 -2.58421972e-04]
 [-1.20712138e-03  9.99999096e-01 -5.92015445e-04]
 [ 2.57707194e-04  5.92326940e-04  9.99999791e-01]]

 t_estimated:
[[0.59712116]
 [0.80215037]
 [0.00105685]]

 R_gt:
[[ 0.98929549  0.06375993 -0.13125634]
 [-0.04654414  0.99038334  0.13028922]
 [ 0.13830129 -0.1227846   0.98274996]]

 t_gt:
[ 0.06213284 -0.56409773  0.82336703]

Pose Error in degrees for R and t:
11.11569471351762 65.51089599304625

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.43315665  0.90127073 -0.00929499]
 [ 0.90126278  0.43322159  0.00666775]
 [ 0.01003624 -0.00548905 -0.99993457]]

 t_estimated:
[[ 0.84480967]
 [-0.53502313]
 [-0.00684622]]

 R_gt:
[[ 0.98104068  0.09728152 -0.16761517]
 [-0.06188845  0.97686168  0.20472477]
 [ 0.18365284 -0.19046892  0.96436128]]

 t_gt:
[ 0.19611487 -0.15649525  0.9680125 ]

Pose Error in degrees for R and t:
164.61545079369415 75.94925926844164

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.97705252e-01 -6.77069302e-02 -4.86788676e-05]
 [ 6.77069370e-02  9.97705240e-01  1.55593965e-04]
 [ 3.80323716e-05 -1.58532813e-04  9.99999987e-01]]

 t_estimated:
[[-0.8696688 ]
 [-0.49363077]
 [-0.00220193]]

 R_gt:
[[ 0.99780137  0.02800087 -0.0600809 ]
 [-0.02871245  0.99952662 -0.01100898]
 [ 0.05974562  0.01270975  0.99813339]]

 t_gt:
[ 0.29065239  0.52521672 -0.79979284]

Pose Error in degrees for R and t:
6.52629973810983 59.31796016712453

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999966e-01 -2.60447685e-04 -1.49110741e-05]
 [ 2.60447796e-04  9.99999966e-01  7.42417092e-06]
 [ 1.49091400e-05 -7.42805422e-06  1.00000000e+00]]

 t_estimated:
[[-5.02440610e-02]
 [ 9.98736817e-01]
 [-5.52486712e-04]]

 R_gt:
[[ 0.99207814  0.01708973 -0.1244565 ]
 [-0.01920796  0.99969017 -0.0158413 ]
 [ 0.12414836  0.01810634  0.99209929]]

 t_gt:
[ 0.53206565  0.27660672 -0.80024675]

Pose Error in degrees for R and t:
7.283604346306516 75.5244818042078

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.99996292 -0.00822561 -0.0025498 ]
 [ 0.00823034  0.99996442  0.00184875]
 [ 0.0025345  -0.00186967  0.99999504]]

 t_estimated:
[[-0.98855508]
 [ 0.15069303]
 [-0.00710354]]

 R_gt:
[[ 0.98407265  0.02121611 -0.17649544]
 [-0.02174261  0.99976299 -0.00105012]
 [ 0.1764327   0.00487085  0.98430091]]

 t_gt:
[ 0.59320005  0.2347171  -0.77007894]

Pose Error in degrees for R and t:
10.167419134676525 56.93634806183434

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99653348e-01 -2.63283311e-02  5.68287480e-05]
 [ 2.63283318e-02  9.99653349e-01 -1.14743355e-05]
 [-5.65069481e-05  1.29665640e-05  9.99999998e-01]]

 t_estimated:
[[9.98099583e-01]
 [6.16208200e-02]
 [3.11507799e-04]]

 R_gt:
[[ 0.99302654 -0.11784635  0.00334397]
 [ 0.1178496   0.9930305  -0.00113548]
 [-0.00318613  0.0015228   0.99999364]]

 t_gt:
[ 0.38237065 -0.92052262  0.08019218]

Pose Error in degrees for R and t:
5.263060238670427 71.03772027028555

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99996233e-01  2.53422829e-03  1.05393597e-03]
 [-2.53357506e-03  9.99996598e-01 -6.20672384e-04]
 [-1.05550531e-03  6.17999820e-04  9.99999252e-01]]

 t_estimated:
[[-0.9999007 ]
 [-0.01396366]
 [ 0.00189738]]

 R_gt:
[[ 0.96396928 -0.26547501 -0.01694305]
 [ 0.26593391  0.96329193  0.03671207]
 [ 0.00657613 -0.0398944   0.99918231]]

 t_gt:
[ 0.5209636  -0.84250054  0.13707573]

Pose Error in degrees for R and t:
15.73874379195011 59.410251769415

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999993e-01  1.14024675e-04 -4.77945366e-07]
 [-1.14024586e-04  9.99999977e-01  1.81913035e-04]
 [ 4.98687928e-07 -1.81912979e-04  9.99999983e-01]]

 t_estimated:
[[0.85119426]
 [0.52484989]
 [0.00096094]]

 R_gt:
[[ 0.92650145 -0.37354626 -0.04539224]
 [ 0.37515643  0.92632592  0.03431597]
 [ 0.02923048 -0.04882281  0.99837943]]

 t_gt:
[ 0.59412595 -0.79913297  0.09165616]

Pose Error in degrees for R and t:
22.24579763069418 85.04462570913518

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.69782922e-01  2.43968439e-01  6.95870197e-04]
 [-2.43968707e-01  9.69783049e-01  3.27591408e-04]
 [-5.94921157e-04 -4.87463105e-04  9.99999704e-01]]

 t_estimated:
[[0.09129605]
 [0.99582164]
 [0.00207026]]

 R_gt:
[[ 0.99694339  0.04195068  0.06590542]
 [-0.03956223  0.99852687 -0.03712973]
 [-0.06736478  0.03440858  0.99713443]]

 t_gt:
[-0.75973975  0.51983122  0.3906034 ]

Pose Error in degrees for R and t:
12.545078199533048 63.313621800324974

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.87169249  0.49004523  0.00280762]
 [ 0.49003391 -0.87169467  0.00389465]
 [ 0.00435594 -0.00201911 -0.99998847]]

 t_estimated:
[[9.95964380e-01]
 [8.97440969e-02]
 [9.75479314e-04]]

 R_gt:
[[ 0.99515537  0.09172087  0.03539312]
 [-0.09284776  0.99517818  0.03163198]
 [-0.03231982 -0.03476553  0.99887231]]

 t_gt:
[-0.7332594   0.50217973  0.45841702]

Pose Error in degrees for R and t:
178.4647433214979 46.78126736396604

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-9.23391928e-01 -3.83858129e-01 -5.33055659e-04]
 [-3.83855306e-01  9.23389020e-01 -2.79675129e-03]
 [ 1.56577346e-03 -2.37788132e-03 -9.99995947e-01]]

 t_estimated:
[[8.64048530e-01]
 [5.03408065e-01]
 [6.76623762e-04]]

 R_gt:
[[ 0.99344467  0.04465605 -0.10523024]
 [-0.02536001  0.98369926  0.1780224 ]
 [ 0.11146579 -0.17418662  0.97838379]]

 t_gt:
[-0.19229963 -0.36805117  0.9097028 ]

Pose Error in degrees for R and t:
175.80494549560794 69.46248429371383

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.75080051e-01 -2.21852931e-01 -4.12449515e-04]
 [ 2.21853005e-01  9.75080111e-01  1.42758837e-04]
 [ 3.70499852e-04 -2.30704458e-04  9.99999905e-01]]

 t_estimated:
[[ 8.30955639e-01]
 [-5.56338296e-01]
 [-6.53213421e-04]]

 R_gt:
[[ 0.99605966 -0.08647577 -0.01970366]
 [ 0.08626039  0.99620503 -0.0115672 ]
 [ 0.020628    0.00982056  0.99973912]]

 t_gt:
[ 0.53612324 -0.81311869 -0.22673746]

Pose Error in degrees for R and t:
7.968157681369482 26.102054499550174

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.91412371e-01  1.30769392e-01  9.35988295e-04]
 [-1.30769240e-01  9.91412808e-01 -2.21158877e-04]
 [-9.56871596e-04  9.68611683e-05  9.99999538e-01]]

 t_estimated:
[[7.45825848e-01]
 [6.66140612e-01]
 [6.98993297e-04]]

 R_gt:
[[ 0.97143842 -0.23664788 -0.017499  ]
 [ 0.23682157  0.97151523  0.00854921]
 [ 0.01497647 -0.01244921  0.99981055]]

 t_gt:
[ 0.65229338 -0.75792535  0.00790618]

Pose Error in degrees for R and t:
21.240989473156862 88.94672549813308

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.9999063  -0.00944846  0.00990517]
 [ 0.00957672  0.99986987 -0.01298175]
 [-0.00978122  0.0130754   0.99986667]]

 t_estimated:
[[9.12487330e-01]
 [4.09104098e-01]
 [8.41777980e-04]]

 R_gt:
[[ 0.9144585  -0.40334313 -0.0328467 ]
 [ 0.40345282  0.91499318 -0.00353438]
 [ 0.03147957 -0.01002021  0.99945414]]

 t_gt:
[ 0.75568624 -0.65482346 -0.01202289]

Pose Error in degrees for R and t:
23.398925717515706 65.06100535114028

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99999970e-01  6.27283042e-06 -2.46544021e-04]
 [-6.30622740e-06  9.99999991e-01 -1.35459986e-04]
 [ 2.46543169e-04  1.35461537e-04  9.99999960e-01]]

 t_estimated:
[[-0.90006219]
 [-0.43575881]
 [-0.00151997]]

 R_gt:
[[ 9.89751770e-01  1.42795646e-01  8.79666993e-04]
 [-1.42796245e-01  9.89752300e-01 -1.78578466e-04]
 [-8.96223956e-04  5.06552930e-05  1.00000032e+00]]

 t_gt:
[-0.71308281  0.70106878 -0.00393455]

Pose Error in degrees for R and t:
8.209386743591185 70.34668903065402

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-9.63778020e-01  2.66699471e-01 -1.82229868e-03]
 [-2.66697206e-01 -9.63779361e-01 -1.39421215e-03]
 [-2.12812950e-03 -8.57709057e-04  9.99997368e-01]]

 t_estimated:
[[0.38147445]
 [0.92437889]
 [0.00096089]]

 R_gt:
[[ 0.98760568  0.15694324 -0.00178634]
 [-0.15657644  0.9843768  -0.08053934]
 [-0.01088138  0.07982123  0.99674999]]

 t_gt:
[-0.56417468  0.74090553 -0.3643706 ]

Pose Error in degrees for R and t:
155.51377598364314 62.010543209721554

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.02885790e-01  5.96132501e-01 -6.71040830e-04]
 [-5.96132625e-01  8.02885978e-01  1.77313920e-05]
 [ 5.49339532e-04  3.85793049e-04  9.99999775e-01]]

 t_estimated:
[[-0.99595675]
 [ 0.08982165]
 [-0.00149027]]

 R_gt:
[[ 0.98393473  0.17816914  0.01138795]
 [-0.17488162  0.97468511 -0.13930984]
 [-0.03592036  0.13508008  0.99018413]]

 t_gt:
[-0.50572826  0.7335919  -0.45396239]

Pose Error in degrees for R and t:
27.54972972023972 55.23216927358746

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999953e-01  2.96422240e-04 -8.08200524e-05]
 [-2.96423166e-04  9.99999956e-01 -1.14361167e-05]
 [ 8.08166589e-05  1.14600731e-05  9.99999997e-01]]

 t_estimated:
[[-0.33238107]
 [-0.94314436]
 [-0.00124473]]

 R_gt:
[[ 0.99930917 -0.00498679  0.03686836]
 [ 0.00318349  0.99880393  0.04879916]
 [-0.0370683  -0.04864822  0.99812756]]

 t_gt:
[-0.0196969  -0.0539348   0.99835017]

Pose Error in degrees for R and t:
3.5180423711510715 86.77985787332665

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[-0.98749666 -0.15763398 -0.00136631]
 [ 0.15763549 -0.98749678 -0.00107808]
 [-0.00117928 -0.00127998  0.99999849]]

 t_estimated:
[[0.86756185]
 [0.49732845]
 [0.00092098]]

 R_gt:
[[ 0.99958137 -0.01053542  0.02700176]
 [ 0.00954726  0.99929044  0.0364546 ]
 [-0.02736761 -0.03618103  0.99897069]]

 t_gt:
[0.1017833  0.23221834 0.96732353]

Pose Error in degrees for R and t:
170.35714753868794 78.18905864189841

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 5.07573955e-01  8.61602754e-01  3.06168416e-03]
 [ 8.61607964e-01 -5.07573213e-01 -1.07256064e-03]
 [ 6.29907671e-04  3.18237530e-03 -9.99994738e-01]]

 t_estimated:
[[-0.86805723]
 [-0.49646181]
 [-0.00152454]]

 R_gt:
[[ 0.99732441  0.06256526  0.03783128]
 [-0.06468213  0.99624457  0.05757156]
 [-0.03408799 -0.0598646   0.99762472]]

 t_gt:
[-0.4721809   0.66952168  0.57339857]

Pose Error in degrees for R and t:
178.23653502002207 85.60603980507541

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-7.44558030e-01 -6.67556852e-01 -1.09076147e-03]
 [ 6.67557601e-01 -7.44555809e-01 -1.87001005e-03]
 [ 4.36205233e-04 -2.12047711e-03  9.99997657e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99025086 -0.13732433  0.02337178]
 [ 0.1327553   0.98117527  0.14025418]
 [-0.04219249 -0.1357831   0.98983873]]

 t_gt:
[ 0.51152051 -0.65729171  0.55345676]

Pose Error in degrees for R and t:
130.45597737657494 79.18793757134522

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.99901984  0.04384064  0.0061117 ]
 [-0.04385067  0.99903695  0.00151633]
 [-0.00603933 -0.00178284  0.99998017]]

 t_estimated:
[[0.99755823]
 [0.0691377 ]
 [0.00987681]]

 R_gt:
[[ 0.96600934 -0.25809453  0.0146216 ]
 [ 0.25143041  0.95120117  0.17888483]
 [-0.06007748 -0.1691271   0.98376059]]

 t_gt:
[ 0.60593213 -0.66447213  0.43740489]

Pose Error in degrees for R and t:
20.134588313380274 55.74807647951828

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 6.16252013e-01 -7.87548898e-01  4.35141980e-04]
 [-7.87548365e-01 -6.16252120e-01 -9.47661271e-04]
 [ 1.01448676e-03  2.41302812e-04 -9.99999456e-01]]

 t_estimated:
[[8.76854481e-01]
 [4.80755180e-01]
 [8.22159241e-04]]

 R_gt:
[[ 0.94914217 -0.31301743  0.03390444]
 [ 0.30252947  0.93653015  0.17716208]
 [-0.08720825 -0.15789398  0.98359723]]

 t_gt:
[ 0.63305823 -0.6560734   0.41085882]

Pose Error in degrees for R and t:
169.71191118083425 76.11186306847142

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99994781e-01 -3.21611692e-03  3.06674621e-04]
 [ 3.21607671e-03  9.99994820e-01  1.31497822e-04]
 [-3.07095945e-04 -1.30510847e-04  9.99999944e-01]]

 t_estimated:
[[ 0.07172335]
 [-0.9974222 ]
 [ 0.00217317]]

 R_gt:
[[ 0.99355228 -0.11217    -0.01647573]
 [ 0.11104066  0.99210673 -0.0582534 ]
 [ 0.02287879  0.05604793  0.99816538]]

 t_gt:
[ 0.51875062 -0.68194776 -0.51560164]

Pose Error in degrees for R and t:
7.136768158242584 44.25214023987009

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999943e-01 -3.34016315e-04 -5.59016963e-05]
 [ 3.34016329e-04  9.99999944e-01  2.54294726e-07]
 [ 5.59016082e-05 -2.72966791e-07  9.99999998e-01]]

 t_estimated:
[[ 9.99999090e-01]
 [-1.33105668e-03]
 [-2.21610189e-04]]

 R_gt:
[[ 0.96956242 -0.23720894 -0.06067647]
 [ 0.23365167  0.97044921 -0.06029865]
 [ 0.07318645  0.0442854   0.99633456]]

 t_gt:
[ 0.62837148 -0.68851133 -0.36207931]

Pose Error in degrees for R and t:
14.475318347754756 50.99651975315291

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999626e-01 -7.94199826e-04 -3.41619399e-04]
 [ 7.94208724e-04  9.99999684e-01  2.59108478e-05]
 [ 3.41598712e-04 -2.61821552e-05  9.99999941e-01]]

 t_estimated:
[[9.78244151e-01]
 [2.07455225e-01]
 [8.43313923e-04]]

 R_gt:
[[ 9.38087940e-01 -3.32273648e-01 -9.79054654e-02]
 [ 3.30484788e-01  9.43183396e-01 -3.44289414e-02]
 [ 1.03781243e-01 -6.02166390e-05  9.94599943e-01]]

 t_gt:
[ 0.70827287 -0.66851581 -0.22679543]

Pose Error in degrees for R and t:
20.243189189314055 56.35913776522603

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99997784e-01 -2.10336373e-03 -8.65871679e-05]
 [ 2.10337284e-03  9.99997782e-01  1.05168377e-04]
 [ 8.63657685e-05 -1.05350269e-04  9.99999991e-01]]

 t_estimated:
[[-8.72679532e-03]
 [ 9.99961878e-01]
 [ 2.93799642e-04]]

 R_gt:
[[ 0.99858971  0.02416986 -0.04728253]
 [-0.0254088   0.99934443 -0.02579965]
 [ 0.04662764  0.02696516  0.99854826]]

 t_gt:
[ 0.43431581  0.40953414 -0.80227898]

Pose Error in degrees for R and t:
3.449586390198754 66.07799844195647

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99999943e-01 -3.33180992e-04 -4.86742323e-05]
 [ 3.33183871e-04  9.99999943e-01  5.91467858e-05]
 [ 4.86545229e-05 -5.91629999e-05  9.99999997e-01]]

 t_estimated:
[[-9.99999898e-01]
 [ 3.30892448e-04]
 [-3.06174468e-04]]

 R_gt:
[[ 0.99860398  0.0524835  -0.00605799]
 [-0.05259663  0.99840544 -0.02048065]
 [ 0.00497379  0.02077105  0.99977234]]

 t_gt:
[ 0.39149649  0.84131096 -0.37272829]

Pose Error in degrees for R and t:
3.2694561407472786 66.97679258684973

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.95369625e-01 -9.61205491e-02 -3.86719320e-04]
 [ 9.61205445e-02  9.95369700e-01 -3.04487349e-05]
 [ 3.87855443e-04 -6.86392580e-06  9.99999925e-01]]

 t_estimated:
[[-0.38263465]
 [-0.92389924]
 [-0.00096139]]

 R_gt:
[[ 0.99025149  0.12919827  0.05206652]
 [-0.12135133  0.98367062 -0.13291512]
 [-0.0683888   0.12530067  0.98975909]]

 t_gt:
[-0.12337065  0.94067933 -0.31607289]

Pose Error in degrees for R and t:
15.15822891051892 34.756409947401814

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.81552907e-01 -1.91190656e-01 -1.51435167e-04]
 [ 1.91190683e-01  9.81552896e-01  1.86662160e-04]
 [ 1.12953566e-04 -2.12171779e-04  9.99999971e-01]]

 t_estimated:
[[ 9.84739703e-01]
 [-1.74032207e-01]
 [ 7.12721154e-04]]

 R_gt:
[[ 0.99851398 -0.00694267  0.05405284]
 [ 0.00826214  0.99967205 -0.02424446]
 [-0.05386685  0.02465506  0.99824391]]

 t_gt:
[0.04505767 0.74445961 0.6661454 ]

Pose Error in degrees for R and t:
11.119796665230844 85.14035811345568

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.58841162e-01  2.83942948e-01 -1.69273577e-04]
 [-2.83942991e-01  9.58841101e-01 -3.47963673e-04]
 [ 6.35046314e-05  3.81705938e-04  9.99999925e-01]]

 t_estimated:
[[-3.71399736e-01]
 [ 9.28472989e-01]
 [-3.81407666e-04]]

 R_gt:
[[ 0.99309913  0.0280457   0.1138774 ]
 [-0.02147557  0.9980557  -0.05852196]
 [-0.11529792  0.05567203  0.99176983]]

 t_gt:
[-0.4062129   0.76934914  0.49304461]

Pose Error in degrees for R and t:
16.759499511045803 30.117385805506306

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99875284e-01 -1.57928034e-02 -6.64488237e-05]
 [ 1.57928024e-02  9.99875286e-01 -1.62852062e-05]
 [ 6.66977257e-05  1.52337620e-05  9.99999998e-01]]

 t_estimated:
[[0.48053441]
 [0.8769753 ]
 [0.00100111]]

 R_gt:
[[ 0.98704775  0.06829521  0.14516842]
 [-0.05204497  0.99223801 -0.11293806]
 [-0.15175567  0.10392052  0.98294007]]

 t_gt:
[-0.5410161   0.80261568  0.25121635]

Pose Error in degrees for R and t:
11.469393581997542 63.63110980851244

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 0.09085148  0.99583843  0.0071995 ]
 [-0.99584814  0.090889   -0.00506743]
 [-0.0057007  -0.00670922  0.99996124]]

 t_estimated:
[[0.46031209]
 [0.88774474]
 [0.00469706]]

 R_gt:
[[ 0.99914621 -0.02193929  0.03499403]
 [ 0.02080531  0.9992572   0.03242828]
 [-0.03568    -0.03167277  0.99886191]]

 t_gt:
[-0.17096266 -0.55198756  0.81613817]

Pose Error in degrees for R and t:
86.03324776940372 55.60557067131679

Number of keypoints:
Image1: 449
Image2: 449

 R_estimated:
[[ 0.62368149 -0.78161929  0.00962686]
 [-0.78160308 -0.62374512 -0.00621675]
 [ 0.01086384 -0.00364711 -0.99993434]]

 t_estimated:
[[0.38185266]
 [0.92422268]
 [0.00099701]]

 R_gt:
[[ 0.99948504  0.00499159  0.03169046]
 [-0.00614023  0.99932348  0.03626331]
 [-0.03148709 -0.03643948  0.99884048]]

 t_gt:
[-0.64648377 -0.29111887  0.70520106]

Pose Error in degrees for R and t:
177.41800296029885 58.98803142201278

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 7.54931982e-01 -6.55800108e-01 -1.98011543e-03]
 [ 6.55800538e-01  7.54934030e-01 -5.14450203e-04]
 [ 1.83223302e-03 -9.10185853e-04  9.99997907e-01]]

 t_estimated:
[[0.38791185]
 [0.92169584]
 [0.00108053]]

 R_gt:
[[ 0.99093761  0.1171193   0.06576393]
 [-0.11501257  0.99274811 -0.03496823]
 [-0.06938251  0.02708764  0.99722286]]

 t_gt:
[-0.84702392  0.45860358  0.26876242]

Pose Error in degrees for R and t:
47.84510378466037 84.58247580282173

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99912873e-01 -1.31846750e-02 -6.40482434e-04]
 [ 1.31851645e-02  9.99912778e-01  7.66256876e-04]
 [ 6.30323722e-04 -7.74634980e-04  9.99999501e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 9.75179466e-01 -2.21238465e-01 -8.82186367e-03]
 [ 2.21412692e-01  9.74561117e-01  3.47417413e-02]
 [ 9.10747112e-04 -3.58323448e-02  9.99356626e-01]]

 t_gt:
[ 0.60769843 -0.78601349  0.11351396]

Pose Error in degrees for R and t:
12.201101118908321 52.70228577383

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-5.53533380e-01  8.32816738e-01 -4.13248042e-03]
 [ 8.32794452e-01  5.53548802e-01  6.09304308e-03]
 [ 7.36191785e-03 -6.88040332e-05 -9.99972898e-01]]

 t_estimated:
[[8.68006644e-01]
 [4.96551988e-01]
 [7.67468297e-04]]

 R_gt:
[[ 0.92879156 -0.36767453 -0.04648656]
 [ 0.36643279  0.9298523  -0.03320213]
 [ 0.05543264  0.01380405  0.99836673]]

 t_gt:
[ 0.70246501 -0.69902813 -0.13380057]

Pose Error in degrees for R and t:
177.69625790478761 74.7793004021061

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.94010069e-01  1.09287780e-01 -4.03848023e-04]
 [-1.09287506e-01  9.94009970e-01  6.47902954e-04]
 [ 4.72236837e-04 -5.99886517e-04  9.99999709e-01]]

 t_estimated:
[[-0.28357639]
 [-0.95894913]
 [-0.00100204]]

 R_gt:
[[ 0.88902274 -0.4524346  -0.07029621]
 [ 0.44967607  0.89167871 -0.05197696]
 [ 0.0861968   0.01459844  0.99617066]]

 t_gt:
[ 0.73021845 -0.66438128 -0.15930641]

Pose Error in degrees for R and t:
33.50669897751938 64.52007889782878

Number of keypoints:
Image1: 360
Image2: 360

 R_estimated:
[[ 9.99870089e-01  1.61181856e-02 -9.70373978e-05]
 [-1.61181908e-02  9.99870092e-01 -5.24081364e-05]
 [ 9.61800678e-05  5.39653952e-05  9.99999994e-01]]

 t_estimated:
[[-6.09783143e-01]
 [ 7.92567963e-01]
 [-7.36472763e-04]]

 R_gt:
[[ 0.99691558  0.02910787  0.07288248]
 [-0.02609677  0.99878005 -0.04193596]
 [-0.07401408  0.03990432  0.99645889]]

 t_gt:
[-0.59741736  0.75839014  0.26064707]

Pose Error in degrees for R and t:
4.871534040871839 15.16449028832538

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 0.97702634 -0.21310125 -0.00271676]
 [ 0.21310523  0.97702843  0.00126838]
 [ 0.00238406 -0.00181819  0.99999551]]

 t_estimated:
[[-0.41730229]
 [-0.90876706]
 [-0.0011069 ]]

 R_gt:
[[ 0.99267369  0.07250308  0.09665704]
 [-0.06425912  0.99423489 -0.08584283]
 [-0.10232271  0.07900311  0.99160881]]

 t_gt:
[-0.63990331  0.76619948  0.05883973]

Pose Error in degrees for R and t:
17.920854489995875 64.57502472432834

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-4.36476525e-01 -8.99714252e-01 -1.58379167e-03]
 [ 8.99715630e-01 -4.36476175e-01 -5.78249059e-04]
 [-1.71028411e-04 -1.67735426e-03  9.99998579e-01]]

 t_estimated:
[[9.52406617e-01]
 [3.04829596e-01]
 [7.43486821e-04]]

 R_gt:
[[ 0.97933483  0.10586801  0.17232467]
 [-0.08621042  0.98928487 -0.11782624]
 [-0.18295113  0.10053535  0.97796809]]

 t_gt:
[-0.67883571  0.67524114  0.28849867]

Pose Error in degrees for R and t:
121.81805552826475 63.8655116637548

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 8.27843845e-01  5.60958315e-01 -5.81075642e-04]
 [-5.60957980e-01  8.27844022e-01  6.48798542e-04]
 [ 8.44988933e-04 -2.11144861e-04  9.99999621e-01]]

 t_estimated:
[[-0.99164696]
 [-0.12897624]
 [-0.00119447]]

 R_gt:
[[ 0.99972829 -0.00891344  0.02152195]
 [ 0.01082764  0.99583778 -0.09049691]
 [-0.02062591  0.09070602  0.99566401]]

 t_gt:
[ 0.16481542  0.25529776 -0.95271136]

Pose Error in degrees for R and t:
35.09004697810248 78.74195250486848

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99903960e-01 -1.38589780e-02 -8.08945849e-06]
 [ 1.38589737e-02  9.99903882e-01 -3.93366576e-04]
 [ 1.35403396e-05  3.93216685e-04  9.99999923e-01]]

 t_estimated:
[[-0.54534904]
 [-0.83820797]
 [-0.00135285]]

 R_gt:
[[ 0.99819011  0.05774822  0.01678419]
 [-0.05471235  0.98789728 -0.14513481]
 [-0.02496253  0.14395434  0.98926901]]

 t_gt:
[-0.18799021  0.50451187 -0.8426906 ]

Pose Error in degrees for R and t:
9.298456147023693 71.3839040169454

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.52165836  0.85314894  0.00307144]
 [ 0.85313773  0.52162218  0.00814376]
 [ 0.00534571  0.00686862 -0.99996212]]

 t_estimated:
[[-0.06701134]
 [-0.99772443]
 [-0.0074457 ]]

 R_gt:
[[ 0.99154322  0.12887291 -0.01532566]
 [-0.12947574  0.97419842 -0.18486092]
 [-0.00889352  0.18528184  0.98264477]]

 t_gt:
[-0.26336842  0.62962402 -0.73089717]

Pose Error in degrees for R and t:
175.04681638516436 52.76392208875571

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.96863614e-01  7.91386957e-02 -3.42423123e-05]
 [-7.91387005e-02  9.96863599e-01 -1.76645927e-04]
 [ 2.01553864e-05  1.78801789e-04  9.99999984e-01]]

 t_estimated:
[[-0.89580091]
 [-0.44445329]
 [-0.00141651]]

 R_gt:
[[ 0.9992487  -0.00980722  0.03749772]
 [ 0.00778326  0.99852628  0.05372618]
 [-0.03796948 -0.05339404  0.99785123]]

 t_gt:
[ 0.0331652  -0.1764099   0.98375791]

Pose Error in degrees for R and t:
6.293392740773863 87.28872353069825

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.01255189  0.99991993 -0.00160708]
 [-0.99992033  0.01254972 -0.00135369]
 [-0.00133341  0.00162395  0.99999779]]

 t_estimated:
[[3.87665976e-01]
 [9.21799866e-01]
 [3.11792964e-04]]

 R_gt:
[[ 0.9982906  -0.03647516  0.04566629]
 [ 0.03315848  0.9968985   0.0713789 ]
 [-0.04812812 -0.06974309  0.99640293]]

 t_gt:
[ 0.25635541 -0.23191462  0.93834829]

Pose Error in degrees for R and t:
91.38684273269577 83.4479352045779

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.99537395  0.09606365  0.00157329]
 [-0.09605921  0.995372   -0.00268631]
 [-0.00182406  0.00252275  0.99999515]]

 t_estimated:
[[-0.79893656]
 [-0.6014135 ]
 [-0.00147405]]

 R_gt:
[[ 0.99948751 -0.01612846  0.02765633]
 [ 0.01449108  0.99818943  0.05837742]
 [-0.02854733 -0.05794681  0.99791147]]

 t_gt:
[0.13720115 0.20903776 0.96823502]

Pose Error in degrees for R and t:
7.433475434647762 76.30458630311551

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 1.00000000e+00  7.13318293e-14  6.74373751e-17]
 [-7.13318293e-14  1.00000000e+00 -1.71087103e-16]
 [ 1.11694508e-15 -5.01335085e-16  1.00000000e+00]]

 t_estimated:
[[-0.49557064]
 [-0.86856663]
 [-0.00131801]]

 R_gt:
[[ 0.99129433 -0.04044465  0.12530525]
 [ 0.02178738  0.98892309  0.14682544]
 [-0.12985506 -0.14281758  0.98119338]]

 t_gt:
[ 0.04450565 -0.24227492  0.96918631]

Pose Error in degrees for R and t:
11.273436461792153 79.21647700725676

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.56488611  0.8251676   0.00145331]
 [ 0.82516821  0.56488253  0.0022687 ]
 [ 0.00105111  0.00248078 -0.99999637]]

 t_estimated:
[[-0.33490325]
 [-0.94225191]
 [-0.00107686]]

 R_gt:
[[ 0.97755139 -0.14619931  0.15172225]
 [ 0.09507593  0.94868997  0.30157837]
 [-0.1880277  -0.2803841   0.94129261]]

 t_gt:
[ 0.26260129 -0.34880685  0.89965234]

Pose Error in degrees for R and t:
179.1307266829472 76.12826778312065

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.02248109  0.99974086  0.00357988]
 [ 0.99974639 -0.02247618 -0.00140521]
 [-0.00132439  0.00361056 -0.9999926 ]]

 t_estimated:
[[-9.83242116e-01]
 [-1.82304125e-01]
 [-3.84142227e-04]]

 R_gt:
[[ 0.95462122 -0.27867403  0.1050785 ]
 [ 0.21602379  0.8907702   0.39983048]
 [-0.20502216 -0.35898719  0.91054585]]

 t_gt:
[ 0.43927311 -0.43553749  0.78571383]

Pose Error in degrees for R and t:
170.5646493473579 69.34051001528816

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.65869442e-01  2.59028922e-01  4.87526450e-04]
 [-2.59028967e-01  9.65869553e-01  2.95314766e-05]
 [-4.63237447e-04 -1.54807023e-04  9.99999881e-01]]

 t_estimated:
[[0.51882279]
 [0.8548809 ]
 [0.00125018]]

 R_gt:
[[ 0.99278824 -0.11235121  0.04181265]
 [ 0.11046193  0.99285793  0.04506214]
 [-0.04657719 -0.0401173   0.99810844]]

 t_gt:
[ 0.47887597 -0.7605829   0.43839647]

Pose Error in degrees for R and t:
21.695916014968557 66.34628523437918

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.99975593  0.01877028  0.01165173]
 [-0.01898794 -0.99964182 -0.01885975]
 [ 0.01129355 -0.01907639  0.99975424]]

 t_estimated:
[[0.69896857]
 [0.71515197]
 [0.00077064]]

 R_gt:
[[ 0.9688496  -0.24720678  0.01481307]
 [ 0.24508181  0.96567516  0.08605862]
 [-0.03557893 -0.07974624  0.99617993]]

 t_gt:
[ 0.64774586 -0.69063183  0.32164108]

Pose Error in degrees for R and t:
166.85962498970773 87.6556709796648

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.99845001 -0.05387285  0.01397452]
 [ 0.05419356  0.99824945 -0.02368727]
 [-0.01267395  0.02440788  0.99962174]]

 t_estimated:
[[-9.99994538e-01]
 [-3.21241770e-03]
 [-7.78029919e-04]]

 R_gt:
[[ 0.93506436 -0.354262    0.0123574 ]
 [ 0.34532581  0.91823918  0.1938735 ]
 [-0.08002852 -0.17701552  0.98094871]]

 t_gt:
[ 0.62308831 -0.61847666  0.47879805]

Pose Error in degrees for R and t:
21.49508297327383 51.57639301585502

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.00561621  0.9999808   0.00261999]
 [ 0.99997902 -0.00562462  0.00321242]
 [ 0.00322709  0.00260189 -0.99999141]]

 t_estimated:
[[9.99588620e-01]
 [2.86703713e-02]
 [7.74874899e-04]]

 R_gt:
[[ 0.9783816  -0.20565972 -0.02179024]
 [ 0.20617741  0.97819479  0.02500643]
 [ 0.01617329 -0.02895862  0.99944922]]

 t_gt:
[ 0.97924676 -0.15718862  0.12793563]

Pose Error in degrees for R and t:
178.12608207708692 12.983095280923935

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.39202277e-01  3.43354177e-01 -2.64410759e-03]
 [-3.43352567e-01  9.39205996e-01  1.05483559e-03]
 [ 2.84554390e-03 -8.28428607e-05  9.99995948e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.96429607 -0.26480986 -0.00299047]
 [ 0.2646009   0.96294461  0.05219376]
 [-0.01094178 -0.05112163  0.9986318 ]]

 t_gt:
[ 0.97142422 -0.12910771  0.1991637 ]

Pose Error in degrees for R and t:
35.562593875772215 49.25817818859835

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 7.51586022e-01  6.59626153e-01  3.43360392e-03]
 [ 6.59629712e-01 -7.51590731e-01  1.25719002e-04]
 [ 2.66359242e-03  2.17041852e-03 -9.99994097e-01]]

 t_estimated:
[[-0.98621455]
 [ 0.16545013]
 [-0.00266815]]

 R_gt:
[[ 0.95472961 -0.29448635  0.04205494]
 [ 0.29022675  0.95313004  0.08550793]
 [-0.06526327 -0.06943083  0.99544923]]

 t_gt:
[ 0.95056052 -0.11921703  0.28674379]

Pose Error in degrees for R and t:
176.98071153366476 16.675324824407983

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-8.44730320e-01  5.35192086e-01  3.44530807e-04]
 [-5.35189934e-01 -8.44724702e-01 -3.45128653e-03]
 [-1.55606755e-03 -3.09979580e-03  9.99993985e-01]]

 t_estimated:
[[0.61785339]
 [0.78629195]
 [0.00147001]]

 R_gt:
[[ 0.99915194  0.04096722  0.00412266]
 [-0.04092701  0.99911864 -0.00935815]
 [-0.00450161  0.00918085  0.99994836]]

 t_gt:
[ 0.07209995  0.98783268 -0.13779768]

Pose Error in degrees for R and t:
145.29609447190438 34.80800034440375

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999569e-01  3.49297772e-04 -8.60458312e-04]
 [-3.49293615e-04  9.99999939e-01  4.98172843e-06]
 [ 8.60459999e-04 -4.68117368e-06  9.99999630e-01]]

 t_estimated:
[[-0.74428443]
 [-0.6678593 ]
 [-0.00215457]]

 R_gt:
[[ 0.99190428  0.11469805  0.05451174]
 [-0.11015829  0.9906869  -0.08003706]
 [-0.06318287  0.07338491  0.9953003 ]]

 t_gt:
[-0.28108226  0.95401011 -0.10419918]

Pose Error in degrees for R and t:
8.531838456146758 64.67737248907274

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99642865e-01  2.67215295e-02 -3.20230962e-04]
 [-2.67215182e-02  9.99642916e-01  3.95933617e-05]
 [ 3.21174608e-04 -3.10221641e-05  9.99999948e-01]]

 t_estimated:
[[-4.88500655e-01]
 [-8.72563440e-01]
 [-3.92293554e-04]]

 R_gt:
[[ 0.97918547  0.15573783  0.1301607 ]
 [-0.14154024  0.98357067 -0.11205585]
 [-0.1454729   0.0913006   0.98514129]]

 t_gt:
[-0.33581292  0.92635474  0.17057721]

Pose Error in degrees for R and t:
12.17112816669229 49.88488763288485

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.90943459e-01  1.34259541e-01  2.33163589e-03]
 [-1.34261646e-01  9.90945618e-01  7.70335694e-04]
 [-2.20709945e-03 -1.07640839e-03  9.99996985e-01]]

 t_estimated:
[[0.59040259]
 [0.80698988]
 [0.01386035]]

 R_gt:
[[ 0.99923268 -0.03557719  0.01639826]
 [ 0.03572715  0.9993221  -0.00891734]
 [-0.01607035  0.00949655  0.99982548]]

 t_gt:
[ 0.2866472  -0.95516375  0.07413226]

Pose Error in degrees for R and t:
9.808939493706246 53.091221787190364

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.99366826  0.1122925   0.00371243]
 [-0.11227139  0.99366249 -0.0054756 ]
 [-0.00430377  0.00502413  0.99997812]]

 t_estimated:
[[-0.06688639]
 [-0.997614  ]
 [-0.01710313]]

 R_gt:
[[ 0.99913985 -0.03399296  0.02375623]
 [ 0.03391322  0.99941793  0.00374966]
 [-0.02387046 -0.00294083  0.99971039]]

 t_gt:
[-0.02886026 -0.95831704  0.28424556]

Pose Error in degrees for R and t:
8.483424381690785 17.61729275372345

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.99926866 -0.02651921 -0.02754763]
 [ 0.02765144  0.998753    0.0415673 ]
 [ 0.02641094 -0.04229863  0.99875587]]

 t_estimated:
[[ 0.36577747]
 [ 0.93019139]
 [-0.03083533]]

 R_gt:
[[ 0.99829738 -0.02265239  0.053758  ]
 [ 0.021163    0.99938064  0.02811119]
 [-0.05436215 -0.02692512  0.99815872]]

 t_gt:
[-0.36615471 -0.67503714  0.64051197]

Pose Error in degrees for R and t:
4.727729860556228 38.593129459782595

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.99972917 -0.00216286 -0.02317142]
 [-0.00227975  0.9999848   0.0050195 ]
 [ 0.02316021  0.00507097 -0.99971891]]

 t_estimated:
[[ 0.99855892]
 [ 0.05237224]
 [-0.01171464]]

 R_gt:
[[ 0.98336556 -0.17011099 -0.06366769]
 [ 0.17546809  0.98026905  0.0910227 ]
 [ 0.04692899 -0.10068021  0.99381046]]

 t_gt:
[ 0.57057256 -0.78963855  0.22565   ]

Pose Error in degrees for R and t:
175.52384089386723 58.2811342968633

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.12421727  0.99128367  0.04389491]
 [ 0.99069791 -0.12142358 -0.0614326 ]
 [-0.05556725  0.05111759 -0.99714556]]

 t_estimated:
[[-0.86506428]
 [-0.50163491]
 [-0.00511872]]

 R_gt:
[[ 0.94548915 -0.28298985 -0.16114062]
 [ 0.29800329  0.95139677  0.07771323]
 [ 0.13131775 -0.12149768  0.98386612]]

 t_gt:
[ 0.66834058 -0.74375836  0.0120158 ]

Pose Error in degrees for R and t:
174.20545552920098 78.16324704416009

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.91523101e-01  1.29927404e-01 -8.99685760e-04]
 [-1.29925092e-01  9.91521205e-01  2.27384507e-03]
 [ 1.18749230e-03 -2.13767816e-03  9.99997010e-01]]

 t_estimated:
[[-0.99998976]
 [-0.00437402]
 [-0.00115818]]

 R_gt:
[[ 0.92243613 -0.33022362 -0.20015814]
 [ 0.36674133  0.91145731  0.18640477]
 [ 0.12088202 -0.24535302  0.96186706]]

 t_gt:
[ 0.61707975 -0.74508346  0.25310713]

Pose Error in degrees for R and t:
32.27830856244915 52.1128971590041

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999976e-01 -2.20472559e-04  8.97918712e-07]
 [ 2.20472491e-04  9.99999973e-01  7.53735151e-05]
 [-9.14536479e-07 -7.53733153e-05  9.99999997e-01]]

 t_estimated:
[[2.61412572e-01]
 [9.65227149e-01]
 [1.30996222e-04]]

 R_gt:
[[ 0.97847328 -0.14509327 -0.14675947]
 [ 0.16119135  0.9813799   0.10445037]
 [ 0.12887269 -0.12585818  0.98364169]]

 t_gt:
[ 0.6058482  -0.79512773  0.02683004]

Pose Error in degrees for R and t:
13.64167080168783 52.47561483671016

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.01970289  0.00986554 -0.9997572 ]
 [-0.78037681 -0.62493824 -0.02154626]
 [-0.62499907  0.78061186 -0.00461425]]

 t_estimated:
[[0.26204261]
 [0.96505561]
 [0.00115437]]

 R_gt:
[[ 0.93410563 -0.29299795 -0.20396046]
 [ 0.3203113   0.94012929  0.11643454]
 [ 0.15763519 -0.17409296  0.9720304 ]]

 t_gt:
[ 0.6675813  -0.74063547  0.07612035]

Pose Error in degrees for R and t:
158.39401901492346 57.334616766378794

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.35497914 -0.67838573  0.64325937]
 [-0.78825177 -0.58713529 -0.1842045 ]
 [ 0.50264198 -0.44166158 -0.74315953]]

 t_estimated:
[[ 0.34594318]
 [ 0.93817167]
 [-0.01253964]]

 R_gt:
[[ 0.88107027 -0.37511743 -0.28810003]
 [ 0.42122313  0.89935296  0.11719578]
 [ 0.21514281 -0.22461125  0.95040161]]

 t_gt:
[ 0.70981744 -0.70201304  0.0577658 ]

Pose Error in degrees for R and t:
177.93799408929326 65.55770305058451

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.61260197e-01  2.75640865e-01  9.73594030e-04]
 [-2.75640555e-01  9.61260677e-01 -4.41793684e-04]
 [-1.05765405e-03  1.56316684e-04  9.99999428e-01]]

 t_estimated:
[[0.84748541]
 [0.53081747]
 [0.00113909]]

 R_gt:
[[ 0.99684245  0.04856404  0.06283635]
 [-0.04795086  0.99878699 -0.01122357]
 [-0.06330586  0.00817564  0.99796044]]

 t_gt:
[-0.32378058  0.76107548  0.56207673]

Pose Error in degrees for R and t:
13.709785858868246 82.51693752833182

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.43084382e-01  3.32553528e-01  1.08985167e-05]
 [-3.32553494e-01  9.43084299e-01 -4.22639613e-04]
 [-1.50828514e-04  3.94960478e-04  9.99999911e-01]]

 t_estimated:
[[-0.99037498]
 [-0.13840644]
 [-0.00102523]]

 R_gt:
[[ 0.98743259  0.10703744  0.1162782 ]
 [-0.0940486   0.98925207 -0.11196289]
 [-0.12701332  0.09961913  0.98688514]]

 t_gt:
[-0.38694502  0.915717    0.10833252]

Pose Error in degrees for R and t:
16.459110881050478 75.14531148482759

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 2.05595081e-01 -9.78635917e-01 -1.55048031e-03]
 [-9.78636827e-01 -2.05596034e-01  4.80756179e-04]
 [-7.89257867e-04  1.41851603e-03 -9.99998682e-01]]

 t_estimated:
[[0.54617434]
 [0.83767089]
 [0.00103265]]

 R_gt:
[[ 0.9772908   0.11404819  0.17859884]
 [-0.09842252  0.99069002 -0.09405592]
 [-0.18766368  0.07434182  0.97941603]]

 t_gt:
[-0.34091384  0.81075166  0.4758776 ]

Pose Error in degrees for R and t:
177.15262689590244 60.43332271936796

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.99969609 -0.02432782 -0.0039857 ]
 [ 0.02435028  0.9996873   0.00568839]
 [ 0.00384606 -0.00578371  0.99997588]]

 t_estimated:
[[-0.50394474]
 [-0.86373507]
 [-0.00119136]]

 R_gt:
[[ 0.99364595 -0.10405524 -0.04290247]
 [ 0.10551688  0.99385902  0.03333556]
 [ 0.03916986 -0.03764961  0.99852342]]

 t_gt:
[ 0.60091246 -0.79672693 -0.06426829]

Pose Error in degrees for R and t:
5.370253606194303 67.33074882421353

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.95017701e-01  9.96982637e-02  1.77925775e-04]
 [-9.96982939e-02  9.95017699e-01  1.69294839e-04]
 [-1.60160893e-04 -1.86190258e-04  9.99999970e-01]]

 t_estimated:
[[-0.56358435]
 [-0.82605744]
 [-0.00133235]]

 R_gt:
[[ 0.99152168 -0.12987084 -0.00434614]
 [ 0.12993481  0.99128471  0.02173609]
 [ 0.00148516 -0.02211616  0.99975431]]

 t_gt:
[ 0.51515514 -0.85512373  0.05812559]

Pose Error in degrees for R and t:
13.246521197330669 65.41955158515253

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-7.15510805e-02 -9.97436834e-01  4.52840654e-04]
 [-9.97435316e-01  7.15501383e-02 -1.83528595e-03]
 [ 1.79818100e-03 -5.82995954e-04 -9.99998213e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99187916 -0.12642918 -0.01385713]
 [ 0.12661087  0.99186465  0.01321587]
 [ 0.01207325 -0.01486177  0.99981652]]

 t_gt:
[ 0.44220649 -0.89633529 -0.03219412]

Pose Error in degrees for R and t:
179.916898852875 79.54369644822091

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99999953e-01 -2.60078818e-04  1.60677714e-04]
 [ 2.60083171e-04  9.99999966e-01 -2.70713866e-05]
 [-1.60670668e-04  2.71131749e-05  9.99999987e-01]]

 t_estimated:
[[0.57783561]
 [0.81615271]
 [0.00086759]]

 R_gt:
[[ 0.99626646 -0.07969321  0.0331816 ]
 [ 0.0786396   0.99639182  0.03191882]
 [-0.0356051  -0.02919052  0.99893947]]

 t_gt:
[ 0.38705142 -0.818654    0.42426033]

Pose Error in degrees for R and t:
5.237969025349545 63.632533725425155

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.88594420e-01  1.50602242e-01  1.93292089e-04]
 [-1.50602322e-01  9.88594297e-01  5.06184635e-04]
 [-1.14854916e-04 -5.29521543e-04  9.99999853e-01]]

 t_estimated:
[[0.63534056]
 [0.77223137]
 [0.00104497]]

 R_gt:
[[ 0.98218755 -0.18569656  0.0286867 ]
 [ 0.18382568  0.98124886  0.05794778]
 [-0.03890909 -0.0516413   0.99790765]]

 t_gt:
[ 0.57001207 -0.76458253  0.30083185]

Pose Error in degrees for R and t:
19.663902925716926 76.82250381032192

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 0.9811407   0.19327221  0.00296425]
 [-0.19329113  0.98110228  0.00876681]
 [-0.00121386 -0.00917444  0.99995718]]

 t_estimated:
[[0.94867977]
 [0.31622659]
 [0.00272609]]

 R_gt:
[[ 0.94355154 -0.33066862  0.01920797]
 [ 0.3251341   0.93571173  0.13686677]
 [-0.06323033 -0.1228952   0.99040314]]

 t_gt:
[ 0.64441455 -0.66728704  0.37344061]

Pose Error in degrees for R and t:
31.248388448073978 66.33757591229354

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 0.95996819  0.0037813   0.28008352]
 [ 0.08604023  0.94758837 -0.30769037]
 [-0.26656736  0.31947142  0.90932935]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99921095  0.0240629   0.03161572]
 [-0.02663275  0.99614447  0.08358971]
 [-0.02948227 -0.08436591  0.9959988 ]]

 t_gt:
[-0.19638395 -0.08957644  0.97642686]

Pose Error in degrees for R and t:
27.706739035969665 86.7819898875845

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 0.85712108 -0.05051728 -0.51263189]
 [ 0.26707938  0.89454751  0.35840389]
 [ 0.44046799 -0.44410894  0.78022766]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.98802458  0.1454938   0.05137445]
 [-0.14932668  0.98546815  0.08095421]
 [-0.03884843 -0.08765621  0.99539319]]

 t_gt:
[-0.67164124  0.46360656  0.57789878]

Pose Error in degrees for R and t:
42.17046197046836 81.67973073479644

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.99999757  0.00143016  0.00167735]
 [-0.00142835  0.9999984  -0.00108027]
 [-0.0016789   0.00107787  0.99999801]]

 t_estimated:
[[0.95909037]
 [0.28309702]
 [0.00132288]]

 R_gt:
[[ 0.97839246  0.20230641  0.04267681]
 [-0.20295002  0.97912363  0.01129007]
 [-0.03950184 -0.01970754  0.99902526]]

 t_gt:
[-0.71055414  0.68026385  0.17987192]

Pose Error in degrees for R and t:
11.872024836777655 60.746994404709824

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.87597032 -0.48236177  0.00176472]
 [-0.48236391 -0.87597027  0.00107577]
 [ 0.00102693 -0.00179358 -0.99999786]]

 t_estimated:
[[0.25644314]
 [0.96655867]
 [0.00112134]]

 R_gt:
[[ 0.99864508 -0.03067253  0.04204116]
 [ 0.02918006  0.99893876  0.03564251]
 [-0.04308938 -0.03436754  0.99847993]]

 t_gt:
[ 0.38414631 -0.22566635  0.89526885]

Pose Error in degrees for R and t:
177.36491915946186 83.18844754786448

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 8.91970776e-01 -4.52092617e-01  6.33008706e-04]
 [ 4.52093041e-01  8.91970267e-01 -9.62033161e-04]
 [-1.29696855e-04  1.14428430e-03  9.99999337e-01]]

 t_estimated:
[[-0.30035825]
 [-0.95382585]
 [-0.00107655]]

 R_gt:
[[ 0.99379059 -0.08776354  0.0684066 ]
 [ 0.08313509  0.99422931  0.0678011 ]
 [-0.07396187 -0.06169293  0.99535053]]

 t_gt:
[ 0.65420853 -0.21356769  0.72553431]

Pose Error in degrees for R and t:
22.647386943753816 89.63167869298047

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-0.54433125  0.83877202  0.0128446 ]
 [ 0.83873727  0.54445383 -0.0094771 ]
 [-0.01494241  0.00561456 -0.99987259]]

 t_estimated:
[[-0.68744909]
 [-0.72623217]
 [-0.00076045]]

 R_gt:
[[ 0.98724837 -0.15907839  0.00600848]
 [ 0.15903922  0.9872514   0.00643291]
 [-0.00695518 -0.00539496  0.99996129]]

 t_gt:
[ 0.98719924 -0.14179438  0.07302063]

Pose Error in degrees for R and t:
178.94313009676455 54.84929155710574

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.4439326  -0.89605818 -0.00189196]
 [-0.89603394 -0.44393477  0.00671474]
 [-0.0068567  -0.00128564 -0.99997567]]

 t_estimated:
[[0.11776303]
 [0.99301171]
 [0.00772068]]

 R_gt:
[[ 9.95917170e-01  8.61460743e-02  2.69790431e-02]
 [-8.61397856e-02  9.96282737e-01 -1.42799732e-03]
 [-2.70015143e-02 -9.02388750e-04  9.99634165e-01]]

 t_gt:
[-0.70241605  0.68796288  0.18253428]

Pose Error in degrees for R and t:
178.9378354933669 52.99778840162701

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 3.26068227e-02  9.99468209e-01  3.06883587e-04]
 [ 9.99465605e-01 -3.26074419e-02  2.29329688e-03]
 [ 2.30208402e-03  2.31942465e-04 -9.99997323e-01]]

 t_estimated:
[[-0.36994041]
 [-0.92905489]
 [-0.00105097]]

 R_gt:
[[ 0.91586137  0.40082236  0.02320992]
 [-0.40043738  0.91611462 -0.01957407]
 [-0.02910873  0.00863314  0.99953826]]

 t_gt:
[-0.63580135  0.77145149  0.02488474]

Pose Error in degrees for R and t:
178.44277969670782 61.214079529186414

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.97795560e-01 -6.63619474e-02 -3.34639136e-04]
 [ 6.63620399e-02  9.97795573e-01  2.73410989e-04]
 [ 3.15757362e-04 -2.95015606e-04  9.99999907e-01]]

 t_estimated:
[[-0.94499698]
 [-0.32707766]
 [-0.00095358]]

 R_gt:
[[ 0.8156824   0.57136851  0.09055333]
 [-0.56941029  0.82060839 -0.04872676]
 [-0.10214932 -0.01181671  0.99469789]]

 t_gt:
[-0.56940482  0.8142168   0.11326584]

Pose Error in degrees for R and t:
39.12216446142396 74.23659011661282

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[-0.66875421 -0.74347239 -0.0040762 ]
 [ 0.74348231 -0.6687531  -0.00183157]
 [-0.00136425 -0.00425546  0.99999001]]

 t_estimated:
[[0.97085196]
 [0.23967365]
 [0.00173677]]

 R_gt:
[[ 0.99856794 -0.03790371  0.03777363]
 [ 0.03835039  0.9992023  -0.01118503]
 [-0.03731896  0.01261754  0.9992236 ]]

 t_gt:
[-0.26684143 -0.68563469  0.67727448]

Pose Error in degrees for R and t:
129.80097677324954 65.02543896100825

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 0.99622685  0.01748353 -0.08500823]
 [-0.01101599  0.99704974  0.07596357]
 [ 0.08608554 -0.0747405   0.99348032]]

 t_estimated:
[[-0.4868012 ]
 [-0.87325241]
 [ 0.02132651]]

 R_gt:
[[ 0.9948338  -0.09900399  0.02248511]
 [ 0.09921099  0.99503174 -0.00832319]
 [-0.02154957  0.01051035  0.99971271]]

 t_gt:
[ 0.11129255 -0.98514365  0.13078977]

Pose Error in degrees for R and t:
10.204563900651003 36.012279227476846

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99823838e-01  1.87544839e-02  7.50449419e-04]
 [-1.87547817e-02  9.99824037e-01  3.91703003e-04]
 [-7.42971180e-04 -4.05708515e-04  9.99999642e-01]]

 t_estimated:
[[0.99600546]
 [0.08927228]
 [0.00189216]]

 R_gt:
[[ 0.99515693 -0.09609634 -0.02069788]
 [ 0.09632401  0.99529655  0.01031745]
 [ 0.01960966 -0.01226166  0.99973277]]

 t_gt:
[-0.08118926 -0.98736966 -0.13604945]

Pose Error in degrees for R and t:
6.733240543291417 80.25478937440148

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 0.96900196 -0.24702482  0.00373462]
 [-0.24695661 -0.96809065  0.04257855]
 [-0.00690251 -0.04218099 -0.99908614]]

 t_estimated:
[[0.11391129]
 [0.99325117]
 [0.02182501]]

 R_gt:
[[ 9.99225520e-01  6.87043896e-04 -3.93523350e-02]
 [-3.02580217e-03  9.98227949e-01 -5.94369813e-02]
 [ 3.92426361e-02  5.95099468e-02  9.97455948e-01]]

 t_gt:
[ 0.11092453  0.23239039 -0.96627659]

Pose Error in degrees for R and t:
178.78362683201112 77.15180998720852

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.98609428e-01  5.27182237e-02  5.94374732e-06]
 [-5.27180752e-02  9.98606870e-01 -2.26339244e-03]
 [-1.25257496e-04  2.25993169e-03  9.99997439e-01]]

 t_estimated:
[[0.81643613]
 [0.57743258]
 [0.00191203]]

 R_gt:
[[ 0.99910852 -0.00720987  0.04158389]
 [ 0.00644741  0.99980844  0.01847283]
 [-0.04170861 -0.01818846  0.99896442]]

 t_gt:
[-0.08792073 -0.25898051  0.96187267]

Pose Error in degrees for R and t:
4.327071031870249 77.32113598947036

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.99513714 -0.09847715 -0.00208111]
 [ 0.09847973  0.99513836  0.00117467]
 [ 0.00195532 -0.0013739   0.99999714]]

 t_estimated:
[[-0.70537475]
 [-0.70883247]
 [-0.00172886]]

 R_gt:
[[ 0.98946841 -0.08914728  0.1140379 ]
 [ 0.06583613  0.97880381  0.193931  ]
 [-0.12890926 -0.1843805   0.97436406]]

 t_gt:
[ 0.21517958 -0.39235031  0.89429245]

Pose Error in degrees for R and t:
13.05371557861523 82.83181652338922

Number of keypoints:
Image1: 624
Image2: 624

 R_estimated:
[[ 9.99908039e-01 -1.35614077e-02  4.30372530e-05]
 [ 1.35614073e-02  9.99908040e-01  1.05907935e-05]
 [-4.31769214e-05 -1.00061739e-05  9.99999999e-01]]

 t_estimated:
[[ 9.90774414e-01]
 [-1.35520321e-01]
 [ 5.50391788e-04]]

 R_gt:
[[ 0.99902903 -0.04340496 -0.00762408]
 [ 0.0432663   0.9989132  -0.01737797]
 [ 0.00837085  0.01703073  0.99981991]]

 t_gt:
[ 0.55071008 -0.74019035 -0.38579354]

Pose Error in degrees for R and t:
2.0235939169819623 49.77972332075906

Number of keypoints:
Image1: 575
Image2: 575

 R_estimated:
[[ 9.99977881e-01 -6.65112092e-03  2.86304018e-05]
 [ 6.65112017e-03  9.99977881e-01  2.63041789e-05]
 [-2.88047208e-05 -2.61131728e-05  9.99999999e-01]]

 t_estimated:
[[ 9.83141727e-01]
 [-1.82844945e-01]
 [ 2.65466984e-04]]

 R_gt:
[[ 9.97713517e-01 -6.67347108e-02 -1.07352169e-02]
 [ 6.67391095e-02  9.97771491e-01  1.12488126e-04]
 [ 1.07048591e-02 -8.28926450e-04  9.99942177e-01]]

 t_gt:
[ 0.4989461  -0.85437575 -0.14524073]

Pose Error in degrees for R and t:
3.4997143393276477 49.70565835113905

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[ 0.99943257 -0.03292573 -0.00710202]
 [ 0.03296513  0.99944135  0.00550384]
 [ 0.00691684 -0.00573484  0.99995963]]

 t_estimated:
[[-0.40868226]
 [-0.91267558]
 [-0.00144411]]

 R_gt:
[[ 0.9929945  -0.11766619  0.01077587]
 [ 0.11747276  0.99292966  0.01707272]
 [-0.01270884 -0.01568662  0.9997957 ]]

 t_gt:
[ 0.40142397 -0.89796845  0.18030932]

Pose Error in degrees for R and t:
5.020275289618216 49.06225265381789

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-4.43756017e-01 -8.96146582e-01 -1.37835806e-03]
 [-8.96135527e-01  4.43757491e-01 -4.51725271e-03]
 [ 4.65977729e-03 -7.69362447e-04 -9.99988847e-01]]

 t_estimated:
[[ 8.34925577e-01]
 [ 5.50362643e-01]
 [-4.92001650e-04]]

 R_gt:
[[ 0.99788658 -0.01668935 -0.06279461]
 [ 0.01680534  0.99985786  0.00131928]
 [ 0.06276317 -0.00237076  0.99802577]]

 t_gt:
[ 0.52896549 -0.35541232 -0.77063454]

Pose Error in degrees for R and t:
176.79269336715038 75.73421519534938

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.99968671 -0.02500489  0.00111348]
 [ 0.02500629  0.9996865  -0.00126002]
 [-0.00108162  0.00128747  0.99999859]]

 t_estimated:
[[-0.98960841]
 [-0.14376878]
 [-0.00239615]]

 R_gt:
[[ 0.99531988 -0.07116241 -0.0653653 ]
 [ 0.07369126  0.99658985  0.03711991]
 [ 0.06250112 -0.04176194  0.99717111]]

 t_gt:
[ 0.60108071 -0.76911019 -0.21718999]

Pose Error in degrees for R and t:
5.178586963665972 61.07004149098438

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-4.81870542e-01 -8.76239022e-01 -2.44053686e-03]
 [ 8.76230544e-01 -4.81876643e-01  3.86454387e-03]
 [-4.56230185e-03 -2.76263091e-04  9.99989554e-01]]

 t_estimated:
[[0.98537495]
 [0.17038775]
 [0.00205286]]

 R_gt:
[[ 0.98311822 -0.13022111 -0.12853394]
 [ 0.13709693  0.98948268  0.04615053]
 [ 0.12117207 -0.06299287  0.99063115]]

 t_gt:
[ 0.61832194 -0.72671651 -0.2992676 ]

Pose Error in degrees for R and t:
111.27635906073394 60.9979439636218

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.95398199e-01  9.58249697e-02  3.75070082e-05]
 [-9.58249638e-02  9.95398191e-01 -1.36510503e-04]
 [-5.04155229e-05  1.32288202e-04  9.99999990e-01]]

 t_estimated:
[[-0.67162484]
 [-0.74089083]
 [-0.00092194]]

 R_gt:
[[ 0.99412903  0.10676567  0.0175599 ]
 [-0.10569472  0.99295818 -0.05349145]
 [-0.02314772  0.05132049  0.99841349]]

 t_gt:
[-0.13424518  0.97902998 -0.15322704]

Pose Error in degrees for R and t:
3.2761283619928356 50.576257429607615

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99999975e-01  1.96312076e-04 -1.08514575e-04]
 [-1.96263639e-04  9.99999881e-01  4.46188803e-04]
 [ 1.08602154e-04 -4.46167494e-04  9.99999895e-01]]

 t_estimated:
[[-8.40636747e-01]
 [-5.41598869e-01]
 [-7.24062659e-04]]

 R_gt:
[[ 0.99197323  0.10606454  0.06885342]
 [-0.1064728   0.99431301  0.00227269]
 [-0.0682206  -0.00958588  0.99762392]]

 t_gt:
[-0.1331874   0.90282296  0.4088665 ]

Pose Error in degrees for R and t:
7.265386972679643 67.83335534757866

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999680e-01  7.08145087e-04 -3.71230514e-04]
 [-7.07935323e-04  9.99999590e-01  5.64878939e-04]
 [ 3.71630378e-04 -5.64615951e-04  9.99999772e-01]]

 t_estimated:
[[-0.99994013]
 [-0.01047634]
 [-0.00316026]]

 R_gt:
[[ 0.99587565  0.05641771  0.07106269]
 [-0.06022786  0.99679443  0.05266443]
 [-0.06786375 -0.05672785  0.99607951]]

 t_gt:
[0.05008159 0.66996458 0.7407019 ]

Pose Error in degrees for R and t:
6.055215451748592 86.59243508579837

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.99344276e-01 -3.62079736e-02  3.30638327e-06]
 [ 3.62079729e-02  9.99344269e-01  1.25205652e-04]
 [-7.83765813e-06 -1.25003835e-04  9.99999992e-01]]

 t_estimated:
[[0.7025253 ]
 [0.71165798]
 [0.00105427]]

 R_gt:
[[ 0.9979196  -0.05862002 -0.02684357]
 [ 0.05987135  0.99703145  0.04841927]
 [ 0.02392518 -0.04992616  0.99846565]]

 t_gt:
[ 0.48542367 -0.86418375  0.13247759]

Pose Error in degrees for R and t:
3.433050077802686 74.10703205963692

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-1.92207119e-01 -9.81351876e-01 -2.21775139e-03]
 [ 9.81354366e-01 -1.92206212e-01 -6.16755245e-04]
 [ 1.78988323e-04 -2.29494475e-03  9.99997351e-01]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.99329152 -0.09290145 -0.06886366]
 [ 0.09587303  0.99454216  0.04116578]
 [ 0.06466319 -0.04749219  0.99677601]]

 t_gt:
[ 0.55357691 -0.80864405 -0.19911656]

Pose Error in degrees for R and t:
95.73338839149096 56.669771572013005

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.99979599  0.01910237 -0.00656388]
 [-0.01912204 -0.99981281  0.00294663]
 [-0.00650637  0.00307155  0.99997412]]

 t_estimated:
[[0.76566622]
 [0.64323525]
 [0.0019099 ]]

 R_gt:
[[ 0.99782507 -0.03634013  0.05500037]
 [ 0.03671793  0.99930891 -0.00586045]
 [-0.05474975  0.00786595  0.99846877]]

 t_gt:
[ 0.16178922 -0.67306802  0.7216673 ]

Pose Error in degrees for R and t:
178.99876834012795 72.08015318803004

Number of keypoints:
Image1: 581
Image2: 581

 R_estimated:
[[ 9.99933781e-01 -1.15079517e-02  2.88979058e-05]
 [ 1.15079521e-02  9.99933781e-01 -1.29503898e-05]
 [-2.87469598e-05  1.32820880e-05  9.99999999e-01]]

 t_estimated:
[[ 9.96485076e-01]
 [-8.37702941e-02]
 [ 1.78541138e-04]]

 R_gt:
[[ 0.99942764 -0.03364834 -0.0035776 ]
 [ 0.03359587  0.99934614 -0.01341405]
 [ 0.00402654  0.01328598  0.99990377]]

 t_gt:
[ 0.56748674 -0.76720493 -0.29892373]

Pose Error in degrees for R and t:
1.4950542967630773 50.97144112594806

Number of keypoints:
Image1: 404
Image2: 404

 R_estimated:
[[ 9.95906858e-01 -9.03854453e-02 -3.22531534e-05]
 [ 9.03854466e-02  9.95906858e-01  4.29253096e-05]
 [ 2.82413134e-05 -4.56648259e-05  9.99999999e-01]]

 t_estimated:
[[ 9.88381602e-01]
 [-1.51992536e-01]
 [ 2.79611451e-04]]

 R_gt:
[[ 0.99673096 -0.08034549 -0.00848571]
 [ 0.08017571  0.9966043  -0.01871867]
 [ 0.00996106  0.01797622  0.99978893]]

 t_gt:
[ 0.56976649 -0.78786275 -0.23374868]

Pose Error in degrees for R and t:
1.3154767416576674 46.93476501441279

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[-9.99425057e-01 -2.28027527e-02  2.50916350e-02]
 [-2.27984573e-02  9.99739977e-01  4.57282106e-04]
 [-2.50955379e-02 -1.15031374e-04 -9.99685051e-01]]

 t_estimated:
[[0.99989542]
 [0.00670811]
 [0.0128119 ]]

 R_gt:
[[ 9.95422241e-01 -9.55798357e-02 -6.70805918e-04]
 [ 9.55808619e-02  9.95376325e-01  9.52930349e-03]
 [-2.42740060e-04 -9.55063716e-03  9.99954585e-01]]

 t_gt:
[ 0.47710524 -0.87706825  0.05587368]

Pose Error in degrees for R and t:
178.5698305358093 61.8430974675277

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.82246230e-01 -1.87595792e-01  4.03234723e-04]
 [ 1.87595722e-01  9.82246305e-01  2.05667583e-04]
 [-4.34658190e-04 -1.26371099e-04  9.99999898e-01]]

 t_estimated:
[[0.90941092]
 [0.41589762]
 [0.00097295]]

 R_gt:
[[ 0.99593689 -0.05445566 -0.0717341 ]
 [ 0.04811923  0.99502129 -0.08727268]
 [ 0.07612885  0.08346574  0.99359781]]

 t_gt:
[ 0.63400761  0.05665837 -0.77124846]

Pose Error in degrees for R and t:
10.20487847044384 53.17398255144099

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[-0.31424839  0.94933467 -0.00341028]
 [-0.94932989 -0.31425997 -0.00366378]
 [-0.00454987  0.00208615  0.99998747]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.99183581  0.02305282 -0.12542415]
 [-0.03727661  0.99297865 -0.11226518]
 [ 0.12195542  0.1160239   0.98573028]]

 t_gt:
[ 0.09356507  0.13101224 -0.98695561]

Pose Error in degrees for R and t:
106.86452582386059 82.49605432436174

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 0.76364662  0.64357345  0.05154663]
 [ 0.56022634 -0.62082709 -0.54837958]
 [-0.32092099  0.447646   -0.83463931]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.94647253  0.27005169 -0.17681168]
 [-0.28449993  0.95668583 -0.06173429]
 [ 0.1524824   0.10873282  0.98230606]]

 t_gt:
[-0.8339576   0.27023675 -0.48113077]

Pose Error in degrees for R and t:
145.6973600135042 35.439837838463944

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-2.77969051e-01  9.60588689e-01  1.60550057e-03]
 [-9.60590027e-01 -2.77968522e-01 -5.48511340e-04]
 [-8.06151678e-05 -1.69469702e-03  9.99998561e-01]]

 t_estimated:
[[0.6734428 ]
 [0.73923893]
 [0.00077407]]

 R_gt:
[[ 0.97054785 -0.23509659 -0.05260822]
 [ 0.23362434  0.97177816 -0.03264736]
 [ 0.05879881  0.01939538  0.99808181]]

 t_gt:
[ 0.85821566 -0.47126822 -0.20340143]

Pose Error in degrees for R and t:
119.74159004917648 76.73696167340819

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.41657993 -0.90908708 -0.00467309]
 [-0.9090888   0.41654524  0.00690052]
 [-0.00432662  0.00712287 -0.99996527]]

 t_estimated:
[[0.87826052]
 [0.47818126]
 [0.00106978]]

 R_gt:
[[ 0.88672564 -0.457344   -0.06748499]
 [ 0.45286899  0.88866756 -0.07195876]
 [ 0.09288163  0.03324544  0.99512204]]

 t_gt:
[ 0.91516826 -0.36989983 -0.16012861]

Pose Error in degrees for R and t:
174.43929744662088 51.192510538957535

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.72390708 -0.68988954 -0.00331123]
 [ 0.68989652 -0.72388972 -0.00514459]
 [ 0.00115223 -0.00600861  0.99998128]]

 t_estimated:
[[9.73908771e-01]
 [2.26938329e-01]
 [8.37410809e-04]]

 R_gt:
[[ 0.72817886 -0.68419126 -0.04049024]
 [ 0.67680884  0.72712622 -0.114967  ]
 [ 0.10810098  0.05631263  0.99254341]]

 t_gt:
[ 0.95682657 -0.25552129 -0.13853441]

Pose Error in degrees for R and t:
93.48320783813105 29.10165128789083

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.99999966e-01 -2.57166604e-04  3.56848124e-05]
 [ 2.57167482e-04  9.99999967e-01 -2.45956432e-05]
 [-3.56784860e-05  2.46048194e-05  9.99999999e-01]]

 t_estimated:
[[ 9.86552084e-01]
 [-1.63446949e-01]
 [ 2.83205396e-04]]

 R_gt:
[[ 0.99884597 -0.04768047 -0.00583842]
 [ 0.04770732  0.99885092  0.00463944]
 [ 0.00561055 -0.00491342  0.99997196]]

 t_gt:
[ 0.52174723 -0.85024783 -0.06970264]

Pose Error in degrees for R and t:
2.752448058300921 49.18025077755203

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99603375e-01  2.81616924e-02  1.07765295e-04]
 [-2.81616810e-02  9.99603376e-01 -1.06567227e-04]
 [-1.10723666e-04  1.03490108e-04  9.99999989e-01]]

 t_estimated:
[[ 9.89135467e-01]
 [-1.47006786e-01]
 [ 1.79718971e-04]]

 R_gt:
[[ 0.99607923 -0.08471215 -0.02551932]
 [ 0.08520661  0.9961831   0.01896774]
 [ 0.0238147  -0.02106829  0.99949505]]

 t_gt:
[ 0.53038643 -0.84268286 -0.09260576]

Pose Error in degrees for R and t:
6.741345141782529 49.57233808935342

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.81678930e-01  1.90542527e-01  1.51103325e-04]
 [-1.90542499e-01  9.81678930e-01 -1.84175200e-04]
 [-1.83428159e-04  1.52009309e-04  9.99999972e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99294813 -0.10856761 -0.04761311]
 [ 0.11051719  0.99305231  0.04043332]
 [ 0.04289216 -0.04541031  0.99804721]]

 t_gt:
[ 0.527899   -0.84634545 -0.07086622]

Pose Error in degrees for R and t:
17.646719648746075 58.317143557764695

Number of keypoints:
Image1: 366
Image2: 366

 R_estimated:
[[ 9.99555847e-01  2.97978754e-02 -4.42627276e-04]
 [-2.97972220e-02  9.99554961e-01  1.41593899e-03]
 [ 4.84622263e-04 -1.40212104e-03  9.99998900e-01]]

 t_estimated:
[[0.79559125]
 [0.60581659]
 [0.00456288]]

 R_gt:
[[ 9.99472706e-01  3.24386733e-02 -8.46341315e-04]
 [-3.24425076e-02  9.99459732e-01 -5.20794508e-03]
 [ 6.77811188e-04  5.23154660e-03  9.99986549e-01]]

 t_gt:
[-0.01805041  0.92663234 -0.37553521]

Pose Error in degrees for R and t:
0.4113246999172825 56.95517677197797

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.92037698e-01  1.25941242e-01  9.22958248e-05]
 [-1.25941245e-01  9.92037702e-01  2.24201044e-05]
 [-8.87373222e-05 -3.38654398e-05  9.99999995e-01]]

 t_estimated:
[[0.64378215]
 [0.76520774]
 [0.00129149]]

 R_gt:
[[ 0.99369908  0.11074762 -0.01724338]
 [-0.11096293  0.99375057 -0.01211108]
 [ 0.01579458  0.0139471   0.99977838]]

 t_gt:
[ 0.12955747  0.94464941 -0.30141725]

Pose Error in degrees for R and t:
1.4917998988079766 36.30558772862563

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999998e-01  1.33092406e-05 -5.90641284e-05]
 [-1.33053179e-05  9.99999998e-01  6.64146650e-05]
 [ 5.90650122e-05 -6.64138790e-05  9.99999996e-01]]

 t_estimated:
[[-0.58640048]
 [-0.8100207 ]
 [-0.00096919]]

 R_gt:
[[ 0.99132855  0.12879716  0.02602911]
 [-0.12897699  0.99163313  0.00534644]
 [-0.02512254 -0.00865786  0.99964665]]

 t_gt:
[0.36183939 0.9069045  0.21586218]

Pose Error in degrees for R and t:
7.5612199503358415 18.73693084854436

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99999983e-01  7.46237401e-05  1.67691994e-04]
 [-7.46023044e-05  9.99999989e-01 -1.27830396e-04]
 [-1.67701532e-04  1.27817884e-04  9.99999978e-01]]

 t_estimated:
[[0.93253369]
 [0.36108077]
 [0.00126104]]

 R_gt:
[[ 0.99722098  0.00462335  0.07435081]
 [-0.00382932  0.99993395 -0.01082219]
 [-0.07439711  0.01050765  0.99717388]]

 t_gt:
[0.19227218 0.48819464 0.85129161]

Pose Error in degrees for R and t:
4.305044409677165 69.105305040359

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.94622277e-01 -1.03568803e-01  1.69580393e-04]
 [ 1.03568799e-01  9.94622291e-01  3.21495498e-05]
 [-1.71998129e-04 -1.44134207e-05  9.99999985e-01]]

 t_estimated:
[[0.99454543]
 [0.1042969 ]
 [0.00124163]]

 R_gt:
[[ 0.99506972 -0.00508113  0.09904755]
 [ 0.00272304  0.99971031  0.02392461]
 [-0.09914058 -0.02353772  0.99479534]]

 t_gt:
[0.12415425 0.26610586 0.95591495]

Pose Error in degrees for R and t:
8.17208177105134 81.2329236037712

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 3.78692130e-02 -9.99282012e-01 -1.17574674e-03]
 [ 9.99282588e-01  3.78686160e-02  5.25893375e-04]
 [-4.80991889e-04 -1.19481842e-03  9.99999171e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99258232 -0.10916831  0.05349896]
 [ 0.10424527  0.99069747  0.08748071]
 [-0.06255198 -0.0812547   0.99472929]]

 t_gt:
[ 0.53832715 -0.32562647  0.77728456]

Pose Error in degrees for R and t:
81.8594479447179 57.45803039774158

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99998875e-01 -1.42668857e-03 -4.63226451e-04]
 [ 1.42700337e-03  9.99998751e-01  6.79974482e-04]
 [ 4.62255760e-04 -6.80634743e-04  9.99999662e-01]]

 t_estimated:
[[-0.99966017]
 [-0.02600719]
 [-0.00178189]]

 R_gt:
[[ 9.89780640e-01  1.42597953e-01 -4.10349974e-04]
 [-1.42561725e-01  9.89454557e-01 -2.56470344e-02]
 [-3.25129290e-03  2.54435181e-02  9.99670537e-01]]

 t_gt:
[-0.66761933  0.74000164 -0.08174351]

Pose Error in degrees for R and t:
8.416568197018996 49.58699453811032

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.36780067 -0.92981127  0.01317864]
 [-0.92982893  0.36791464  0.0075481 ]
 [-0.01186692 -0.00947768 -0.99988467]]

 t_estimated:
[[0.79400036]
 [0.60785003]
 [0.00904284]]

 R_gt:
[[ 0.97797247  0.20863867 -0.00636436]
 [-0.20869933  0.97677407 -0.0485628 ]
 [-0.00391492  0.04882212  0.99879954]]

 t_gt:
[-0.64234319  0.75493197 -0.1321853 ]

Pose Error in degrees for R and t:
179.23214301559085 87.0003055227509

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-4.40350121e-01 -8.97824014e-01 -1.95212775e-03]
 [ 8.97826124e-01 -4.40349427e-01 -7.95164000e-04]
 [-1.45701002e-04 -2.10282186e-03  9.99997778e-01]]

 t_estimated:
[[ 8.87574358e-01]
 [-4.60664380e-01]
 [ 2.95265281e-04]]

 R_gt:
[[ 0.98172715  0.18827961 -0.02760773]
 [-0.18923625  0.98121761 -0.03746167]
 [ 0.0200367   0.04200225  0.99891619]]

 t_gt:
[-0.68139544  0.6978611  -0.22065842]

Pose Error in degrees for R and t:
127.0283086762568 22.12961781734634

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-1.52771534e-01 -9.88261346e-01 -6.08808771e-04]
 [-9.88260137e-01  1.52770253e-01  1.77494304e-03]
 [-1.66109973e-03  8.72822211e-04 -9.99998239e-01]]

 t_estimated:
[[0.76553492]
 [0.64339333]
 [0.00114885]]

 R_gt:
[[ 0.99083295 -0.12489716 -0.05148297]
 [ 0.12612747  0.99178304  0.02138469]
 [ 0.04838879 -0.02768181  0.99844501]]

 t_gt:
[ 0.6178803  -0.77632225 -0.12469039]

Pose Error in degrees for R and t:
178.78499619267888 88.47490060070524

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-6.14334206e-01 -7.89044022e-01 -1.73600372e-03]
 [ 7.89045387e-01 -6.14334881e-01 -1.76044368e-04]
 [-9.27580884e-04 -1.47793580e-03  9.99998478e-01]]

 t_estimated:
[[9.68026164e-01]
 [2.50847901e-01]
 [8.22452136e-04]]

 R_gt:
[[ 0.9690005  -0.22735349 -0.0966918 ]
 [ 0.23103153  0.97252637  0.02856771]
 [ 0.08754054 -0.05002131  0.99490419]]

 t_gt:
[ 0.70736573 -0.69701372 -0.11749727]

Pose Error in degrees for R and t:
114.70846275094094 59.348994030236405

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-4.39608904e-01 -8.98187018e-01 -2.02275093e-03]
 [ 8.98189192e-01 -4.39606657e-01 -1.47051395e-03]
 [ 4.31581767e-04 -2.46326405e-03  9.99996873e-01]]

 t_estimated:
[[9.88621047e-01]
 [1.50425477e-01]
 [7.75389057e-04]]

 R_gt:
[[ 0.92461102 -0.33600932 -0.17942341]
 [ 0.33602699  0.94133385 -0.03122364]
 [ 0.1793888  -0.03142109  0.98327594]]

 t_gt:
[ 0.77481225 -0.57276635 -0.26759051]

Pose Error in degrees for R and t:
96.68531360698405 47.18529737288138

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.83383946e-01 -1.81534255e-01  1.15305460e-03]
 [ 1.81533927e-01  9.83384607e-01  3.84056239e-04]
 [-1.20361550e-03 -1.68356211e-04  9.99999261e-01]]

 t_estimated:
[[0.5437047 ]
 [0.83927571]
 [0.00121634]]

 R_gt:
[[ 0.99840485  0.0538888   0.01686899]
 [-0.05327087  0.99796032 -0.0351776 ]
 [-0.01873018  0.0342226   0.99923885]]

 t_gt:
[-0.81965265  0.56509836 -0.09398603]

Pose Error in degrees for R and t:
13.711657413685897 88.36627564322688

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.80977695e-01 -1.94120417e-01  1.61691716e-04]
 [ 1.94120455e-01  9.80977664e-01 -2.67085842e-04]
 [-1.06769147e-04  2.93392923e-04  9.99999951e-01]]

 t_estimated:
[[-9.49820189e-01]
 [-3.12795515e-01]
 [-7.58500155e-04]]

 R_gt:
[[ 0.9830337   0.18290136  0.01384592]
 [-0.18114533  0.97991122 -0.08342971]
 [-0.02882707  0.07950646  0.99641754]]

 t_gt:
[-0.68353795  0.71906977 -0.12535763]

Pose Error in degrees for R and t:
22.22550027953097 64.88658558750338

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[-9.99686771e-01  2.30271627e-02 -9.80352378e-03]
 [ 2.30286898e-02  9.99734804e-01 -4.28935361e-05]
 [ 9.79993620e-03 -2.68642408e-04 -9.99951943e-01]]

 t_estimated:
[[ 0.99893276]
 [ 0.04599142]
 [-0.00425689]]

 R_gt:
[[ 0.95833751  0.28540624  0.01157974]
 [-0.28292631  0.95402542 -0.09893614]
 [-0.03928429  0.09153825  0.99502607]]

 t_gt:
[-0.63761748  0.76626416 -0.07926653]

Pose Error in degrees for R and t:
179.01647798166994 53.032781528085266

Number of keypoints:
Image1: 425
Image2: 425

 R_estimated:
[[ 9.99999756e-01  6.94371920e-04 -7.59349567e-05]
 [-6.94376421e-04  9.99999757e-01 -5.92677474e-05]
 [ 7.58937844e-05  5.93204604e-05  9.99999995e-01]]

 t_estimated:
[[ 1.24605568e-01]
 [ 9.92206022e-01]
 [-8.13661438e-04]]

 R_gt:
[[ 9.98933188e-01  2.46078933e-04  4.61880825e-02]
 [-2.94017073e-03  9.98296215e-01  5.82864973e-02]
 [-4.60955103e-02 -5.83605395e-02  9.97231484e-01]]

 t_gt:
[-0.05965634  0.04004975  0.99741523]

Pose Error in degrees for R and t:
4.269932515328631 88.19531219501934

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.99999853e-01  5.03045332e-04  2.03076858e-04]
 [-5.03036617e-04  9.99999873e-01 -4.29642596e-05]
 [-2.03098445e-04  4.28620982e-05  9.99999978e-01]]

 t_estimated:
[[-0.99152846]
 [-0.12988443]
 [-0.00115968]]

 R_gt:
[[ 0.99688381 -0.07275205  0.03050744]
 [ 0.0687821   0.99092444  0.11549399]
 [-0.03863379 -0.11303599  0.99283984]]

 t_gt:
[ 0.32624315 -0.37814453  0.86635565]

Pose Error in degrees for R and t:
7.990794229020509 74.01599563816818

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-0.92702583  0.37488817  0.00905362]
 [ 0.37494317  0.92703228  0.00536385]
 [-0.00638215  0.00836702 -0.99994463]]

 t_estimated:
[[0.83034455]
 [0.55724967]
 [0.00085076]]

 R_gt:
[[ 0.97601569 -0.21769274 -0.00190719]
 [ 0.21561747  0.96542711  0.14649121]
 [-0.03004917 -0.14338932  0.98921054]]

 t_gt:
[ 0.56733697 -0.59778372  0.56637742]

Pose Error in degrees for R and t:
179.69161401690837 82.04170641159959

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99949056e-01  1.00934972e-02 -8.69236178e-05]
 [-1.00934838e-02  9.99949048e-01  1.53231643e-04]
 [ 8.84658320e-05 -1.52346475e-04  9.99999984e-01]]

 t_estimated:
[[9.71489645e-01]
 [2.37081555e-01]
 [4.53324562e-04]]

 R_gt:
[[ 0.99712338  0.07573728 -0.00271967]
 [-0.07575619  0.99709731 -0.00764389]
 [ 0.00213309  0.00782879  0.99996656]]

 t_gt:
[ 0.17611834  0.98275342 -0.05637411]

Pose Error in degrees for R and t:
3.795736918573655 66.16749551940461

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.99213384 -0.12517066 -0.00165902]
 [ 0.12517255 -0.99213439 -0.00108831]
 [-0.00150975 -0.00128742  0.99999803]]

 t_estimated:
[[0.77761046]
 [0.62874567]
 [0.00092463]]

 R_gt:
[[ 0.99332283  0.11240186  0.02598836]
 [-0.11295833  0.99337607  0.02106133]
 [-0.02344814 -0.0238551   0.99944036]]

 t_gt:
[0.21948397 0.79227285 0.56932462]

Pose Error in degrees for R and t:
179.27974630071057 47.98404150365924

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-4.79582987e-01  8.77492623e-01  2.61814447e-03]
 [-8.77496483e-01 -4.79579864e-01 -1.75378558e-03]
 [-2.83324542e-04 -3.13849830e-03  9.99995035e-01]]

 t_estimated:
[[0.76509222]
 [0.64392025]
 [0.00077674]]

 R_gt:
[[ 0.98444293  0.17243618  0.0337306 ]
 [-0.17383278  0.98378587  0.04411746]
 [-0.02557707 -0.04929317  0.99845667]]

 t_gt:
[0.16044423 0.70196302 0.69390602]

Pose Error in degrees for R and t:
108.70684323066017 54.87922837167152

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99694273e-01 -2.47255649e-02  8.07891906e-05]
 [ 2.47255634e-02  9.99694276e-01  1.90506147e-05]
 [-8.12355287e-05 -1.70472322e-05  9.99999997e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99340025 -0.10887591  0.03611015]
 [ 0.10828122  0.99395651  0.0180421 ]
 [-0.03785592 -0.01401352  0.99918502]]

 t_gt:
[ 0.55958882 -0.76520099  0.31832027]

Pose Error in degrees for R and t:
5.3430260400652925 56.11967801708812

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99846930e-01  1.74960509e-02  6.93770895e-05]
 [-1.74960515e-02  9.99846932e-01  7.27440694e-06]
 [-6.92391967e-05 -8.48711858e-06  9.99999998e-01]]

 t_estimated:
[[ 9.97008210e-01]
 [-7.72943835e-02]
 [ 4.54987812e-04]]

 R_gt:
[[ 0.9889235  -0.14339516  0.03834508]
 [ 0.14288403  0.98961409  0.01575966]
 [-0.040207   -0.01010647  0.99914047]]

 t_gt:
[ 0.5713446  -0.78302016  0.24585522]

Pose Error in degrees for R and t:
9.53449827366722 50.929941689060534

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99188672e-01  4.02739635e-02 -7.09038343e-05]
 [-4.02739247e-02  9.99188559e-01  4.83551626e-04]
 [ 9.03208405e-05 -4.80303731e-04  9.99999881e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98247416 -0.18529378  0.02035745]
 [ 0.18454414  0.98223619  0.03400428]
 [-0.02629708 -0.02965187  0.99921397]]

 t_gt:
[ 0.5916139  -0.78171792  0.1972564 ]

Pose Error in degrees for R and t:
13.161770510252044 53.88982274818072

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99524285e-01 -3.08375042e-02 -5.01829042e-04]
 [ 3.08375226e-02  9.99524410e-01  2.90262188e-05]
 [ 5.00695281e-04 -4.44875750e-05  9.99999874e-01]]

 t_estimated:
[[-0.98092574]
 [-0.19437699]
 [-0.0015068 ]]

 R_gt:
[[ 0.98351504  0.17371888 -0.05020768]
 [-0.17329415  0.9847877   0.01272347]
 [ 0.05165448 -0.00381359  0.99865755]]

 t_gt:
[-0.98126716  0.19101522 -0.02505905]

Pose Error in degrees for R and t:
12.126207237037894 22.26232795334452

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.96742876e-01 -8.06411464e-02  8.03165816e-04]
 [ 8.06419425e-02  9.96742620e-01 -1.01365691e-03]
 [-7.18807145e-04  1.07512415e-03  9.99999164e-01]]

 t_estimated:
[[-0.70562419]
 [-0.70858588]
 [-0.00074042]]

 R_gt:
[[ 0.89707935  0.43860273 -0.05363166]
 [-0.43834203  0.89864411  0.01715495]
 [ 0.05572005  0.00811859  0.99841315]]

 t_gt:
[-0.93768292  0.3447322  -0.04370874]

Pose Error in degrees for R and t:
30.8247821453167 65.32871275804365

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 5.40019520e-01  8.41652045e-01 -8.68255410e-04]
 [ 8.41643797e-01 -5.40008965e-01  5.10258468e-03]
 [ 3.82573512e-03 -3.48625711e-03 -9.99986605e-01]]

 t_estimated:
[[-0.63111211]
 [-0.7756912 ]
 [-0.00081224]]

 R_gt:
[[ 0.75329807  0.6576362  -0.00757708]
 [-0.65767086  0.75329756 -0.00348081]
 [ 0.00341857  0.00760561  0.9999648 ]]

 t_gt:
[-0.86401757  0.50328594 -0.01330087]

Pose Error in degrees for R and t:
179.8334421871182 81.0885232247565

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.93494064e-01 -1.13883857e-01 -1.05071182e-04]
 [ 1.13883857e-01  9.93494070e-01 -1.82355345e-06]
 [ 1.04595270e-04 -1.01542220e-05  9.99999994e-01]]

 t_estimated:
[[-0.15971829]
 [-0.9871621 ]
 [-0.00103044]]

 R_gt:
[[ 0.94042661 -0.33703286  0.04480299]
 [ 0.3348872   0.94097435  0.04917626]
 [-0.05873196 -0.03124199  0.99778449]]

 t_gt:
[ 0.8460985  -0.50351697  0.17489422]

Pose Error in degrees for R and t:
13.65672996577927 68.79319840381596

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-0.01966754  0.99861356 -0.04882764]
 [-0.99979814 -0.01984453 -0.00314266]
 [-0.00410726  0.04875597  0.99880228]]

 t_estimated:
[[0.02016394]
 [0.99979528]
 [0.00168033]]

 R_gt:
[[ 0.85798153 -0.51310733  0.02424971]
 [ 0.51196886  0.85801894  0.04111407]
 [-0.04190171 -0.0228594   0.99886069]]

 t_gt:
[ 0.90892629 -0.40852889  0.08340954]

Pose Error in degrees for R and t:
122.098546624095 67.04689651503703

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-9.63396920e-01 -2.68074863e-01 -1.49757483e-03]
 [ 2.68075282e-01 -9.63397964e-01 -8.26549081e-05]
 [-1.42060283e-03 -4.81092277e-04  9.99998875e-01]]

 t_estimated:
[[9.78749846e-01]
 [2.05056374e-01]
 [7.88678361e-04]]

 R_gt:
[[ 0.70971807 -0.70161939 -0.06348299]
 [ 0.70371487  0.71027183  0.01730901]
 [ 0.03294633 -0.05695754  0.99783295]]

 t_gt:
[ 0.96058409 -0.27536698  0.0380951 ]

Pose Error in degrees for R and t:
119.78103791538757 27.90364977062886

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.90585229e-01 -1.36897404e-01 -6.85481492e-05]
 [ 1.36897420e-01  9.90585142e-01  4.14718539e-04]
 [ 1.11288869e-05 -4.20198124e-04  9.99999912e-01]]

 t_estimated:
[[0.6194254 ]
 [0.78505437]
 [0.00134658]]

 R_gt:
[[ 0.99773989 -0.06644     0.01000626]
 [ 0.06701435  0.99478683 -0.07686476]
 [-0.00484756  0.07736149  0.99699069]]

 t_gt:
[ 0.5009691   0.28748569 -0.8163222 ]

Pose Error in degrees for R and t:
6.02224225269121 57.662487479310826

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.99953848 -0.03023767 -0.00291721]
 [ 0.03024778  0.99953636  0.0034852 ]
 [ 0.00281047 -0.00357183  0.99998967]]

 t_estimated:
[[-0.85524377]
 [-0.51822463]
 [-0.00115418]]

 R_gt:
[[ 0.9984175  -0.05568545 -0.00786147]
 [ 0.05435219  0.99136436 -0.11934254]
 [ 0.01443838  0.11872632  0.99282179]]

 t_gt:
[ 0.12203518  0.65340789 -0.74710478]

Pose Error in degrees for R and t:
7.201163508025046 63.76080149529379

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99685595e-01 -2.50673754e-02  5.81583351e-04]
 [ 2.50673997e-02  9.99685763e-01 -3.46623419e-05]
 [-5.80531702e-04  4.92302262e-05  9.99999830e-01]]

 t_estimated:
[[0.09505148]
 [0.99547153]
 [0.00128448]]

 R_gt:
[[ 0.99665654 -0.08124458 -0.00858966]
 [ 0.07874008  0.98328932 -0.16414001]
 [ 0.02178177  0.16291546  0.98639924]]

 t_gt:
[ 0.26091733  0.70532693 -0.65911765]

Pose Error in degrees for R and t:
9.981248168080759 43.44066568509657

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.83177163 -0.5546763  -0.0221394 ]
 [-0.5546892   0.83203514 -0.00611712]
 [ 0.02181378  0.00719244 -0.99973618]]

 t_estimated:
[[ 0.94197791]
 [ 0.33550674]
 [-0.01062297]]

 R_gt:
[[ 0.99856483  0.04678684 -0.02605883]
 [-0.04782815  0.99801917 -0.04086997]
 [ 0.02409478  0.04205775  0.99882501]]

 t_gt:
[-0.366851    0.7464385  -0.55520259]

Pose Error in degrees for R and t:
176.6191316002528 84.88054565952515

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.05870646  0.99827383  0.00170746]
 [-0.99827277  0.05871007 -0.00214616]
 [-0.0022427  -0.00157851  0.99999624]]

 t_estimated:
[[-0.09595322]
 [ 0.99538441]
 [ 0.0016912 ]]

 R_gt:
[[ 0.99969169  0.0064545  -0.02397055]
 [-0.00828303  0.99699859 -0.0769796 ]
 [ 0.0234021   0.07715468  0.99674408]]

 t_gt:
[ 0.01958336  0.58210713 -0.81287624]

Pose Error in degrees for R and t:
86.312630797001 54.81863326509945

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.00150246  0.99996687 -0.00800069]
 [ 0.99993603 -0.00141263  0.01122224]
 [ 0.01121057 -0.00801704 -0.99990502]]

 t_estimated:
[[0.2149749 ]
 [0.97660026]
 [0.00614214]]

 R_gt:
[[ 0.99816077 -0.05742547  0.01939052]
 [ 0.05646347  0.9972997   0.04694649]
 [-0.02203351 -0.04576598  0.99870892]]

 t_gt:
[ 0.68072851 -0.25679509  0.68605027]

Pose Error in degrees for R and t:
178.1838020310528 84.24742417363902

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-3.57800607e-01 -9.33796291e-01 -1.79219876e-03]
 [ 9.33797952e-01 -3.57800610e-01 -3.29693818e-04]
 [-3.33382945e-04 -1.79151618e-03  9.99998340e-01]]

 t_estimated:
[[9.71817350e-01]
 [2.35733259e-01]
 [9.31752014e-04]]

 R_gt:
[[ 0.98120953  0.19179367 -0.02101821]
 [-0.19270678  0.97955641 -0.05772521]
 [ 0.00951775  0.06069088  0.9981119 ]]

 t_gt:
[-0.36378939  0.89553445 -0.25627198]

Pose Error in degrees for R and t:
122.09176434844355 81.79771738432147

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.67869109 -0.37932466  0.62888092]
 [-0.73366766  0.31133005 -0.6039912 ]
 [ 0.03331923 -0.87131304 -0.48959516]]

 t_estimated:
[[0.69378166]
 [0.72017553]
 [0.00377055]]

 R_gt:
[[ 0.94431147  0.32849806 -0.01909002]
 [-0.32891217  0.94063113 -0.08384376]
 [-0.00958548  0.08545372  0.99629647]]

 t_gt:
[-0.27254491  0.9458438  -0.17634845]

Pose Error in degrees for R and t:
151.3581953611272 60.56591355146597

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.96761604  0.25023875  0.03316269]
 [-0.24708681  0.96581711 -0.07839267]
 [-0.05164598  0.06765995  0.99637083]]

 t_estimated:
[[-0.98827203]
 [-0.14973819]
 [-0.02994764]]

 R_gt:
[[ 0.91432465  0.40460342 -0.01750681]
 [-0.40049858  0.89694391 -0.18732836]
 [-0.06009046  0.17829107  0.9821419 ]]

 t_gt:
[-0.21256076  0.95948842 -0.18493214]

Pose Error in degrees for R and t:
11.613871136898707 85.87491817405405

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[-4.57616205e-01  8.89149615e-01  6.09138740e-04]
 [-8.89148698e-01 -4.57614427e-01 -1.90499571e-03]
 [-1.41507553e-03 -1.41337182e-03  9.99998000e-01]]

 t_estimated:
[[0.15520615]
 [0.98788145]
 [0.00113289]]

 R_gt:
[[ 0.99748301 -0.02674829 -0.06565956]
 [ 0.02920174  0.9988996   0.03668873]
 [ 0.06460554 -0.03851342  0.99716622]]

 t_gt:
[ 0.95456993 -0.2342687   0.18415872]

Pose Error in degrees for R and t:
118.89152711476699 85.23518146147195

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 0.70769082 -0.70649242  0.00649368]
 [-0.70648846 -0.70753717  0.01628558]
 [-0.00691112 -0.01611287 -0.99984629]]

 t_estimated:
[[0.35482213]
 [0.93488933]
 [0.0091217 ]]

 R_gt:
[[ 0.99186246 -0.00881477 -0.12700392]
 [ 0.01714284  0.99776257  0.06462994]
 [ 0.12615037 -0.0662817   0.98979374]]

 t_gt:
[ 0.98043889 -0.15827755  0.11699486]

Pose Error in degrees for R and t:
178.30359095328848 78.40592578847745

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 0.99985637 -0.01681528 -0.00211858]
 [ 0.01681762  0.99985798  0.00109286]
 [ 0.00209991 -0.00112833  0.99999716]]

 t_estimated:
[[-0.99241454]
 [-0.12280567]
 [-0.00566935]]

 R_gt:
[[ 0.9853957  -0.00435318 -0.17022334]
 [ 0.01828094  0.99659968  0.08034034]
 [ 0.1692941  -0.08227933  0.98212375]]

 t_gt:
[ 0.97872606 -0.1860917   0.08640122]

Pose Error in degrees for R and t:
10.717717505417848 18.388616595001544

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 7.58500289e-01  6.51670927e-01  1.52140882e-03]
 [ 6.51667748e-01 -7.58501558e-01  2.12898485e-03]
 [ 2.54138850e-03 -6.23382563e-04 -9.99996576e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99743294 -0.02854113  0.06566696]
 [ 0.02453606  0.99783553  0.06100497]
 [-0.06726598 -0.05923696  0.99597509]]

 t_gt:
[ 0.19707245 -0.18588271  0.96260587]

Pose Error in degrees for R and t:
178.00901379657816 78.62431820037833

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999894e-01  6.59371749e-05 -4.54861472e-04]
 [-6.56160442e-05  9.99999749e-01  7.05975341e-04]
 [ 4.54907907e-04 -7.05945420e-04  9.99999647e-01]]

 t_estimated:
[[-0.70487716]
 [-0.70932901]
 [-0.00074198]]

 R_gt:
[[ 0.99793637  0.01726091  0.06183924]
 [-0.02164306  0.99724824  0.07090365]
 [-0.06044597 -0.07209561  0.99556436]]

 t_gt:
[-0.12314146  0.33812174  0.93301118]

Pose Error in degrees for R and t:
5.498877174419137 81.15672288676106

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 1.00000000e+00 -2.57960320e-13 -9.55832635e-16]
 [ 2.57682764e-13  1.00000000e+00  1.94045084e-15]
 [ 9.56266316e-16 -1.94142662e-15  1.00000000e+00]]

 t_estimated:
[[-0.90253285]
 [-0.43061963]
 [-0.00108857]]

 R_gt:
[[ 0.99857891 -0.00637267  0.05288813]
 [ 0.00231429  0.99706975  0.07645025]
 [-0.05322112 -0.07621872  0.99567008]]

 t_gt:
[0.08777602 0.3140147  0.94535186]

Pose Error in degrees for R and t:
5.340368019924542 77.55685507265572

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.79538056e-01  2.01258822e-01  2.88257030e-04]
 [-2.01258783e-01  9.79538094e-01 -1.59027635e-04]
 [-3.14364456e-04  9.77593616e-05  9.99999946e-01]]

 t_estimated:
[[0.6123775 ]
 [0.79056469]
 [0.00112777]]

 R_gt:
[[ 0.99467878 -0.09567393  0.03822528]
 [ 0.09527834  0.99537848  0.01203323]
 [-0.03920001 -0.00832733  0.99919732]]

 t_gt:
[ 0.37211175 -0.7945213   0.47986327]

Pose Error in degrees for R and t:
17.241880626630007 66.44017195030192

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.99207386 -0.12369294  0.02212481]
 [-0.12363357  0.99231973  0.00403671]
 [-0.0224542   0.00126935 -0.99974707]]

 t_estimated:
[[0.99310435]
 [0.11666127]
 [0.01157143]]

 R_gt:
[[ 0.990602   -0.12850661  0.04685873]
 [ 0.12912237  0.99157482 -0.01037025]
 [-0.04513027  0.01632347  0.99884827]]

 t_gt:
[ 0.33322215 -0.87378271  0.3542129 ]

Pose Error in degrees for R and t:
176.124383767678 76.52114346130027

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.89747163e-01 -1.42830461e-01  1.15732091e-04]
 [ 1.42830410e-01  9.89747108e-01  3.70019241e-04]
 [-1.67395521e-04 -3.49695432e-04  9.99999925e-01]]

 t_estimated:
[[7.23900259e-01]
 [6.89904382e-01]
 [5.99533403e-04]]

 R_gt:
[[ 0.98556029 -0.11894918  0.12051519]
 [ 0.12326882  0.99194895 -0.02902622]
 [-0.11609255  0.04346385  0.99228775]]

 t_gt:
[-0.12988383 -0.70389209  0.69833095]

Pose Error in degrees for R and t:
7.2237494781606 54.60412356512765

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 1.00000000e+00  2.22044605e-16  4.60785923e-19]
 [-2.22044605e-16  1.00000000e+00 -1.95156391e-18]
 [ 5.14996032e-19  1.51788304e-18  1.00000000e+00]]

 t_estimated:
[[-2.95534142e-01]
 [-9.55331993e-01]
 [-5.95760072e-04]]

 R_gt:
[[ 0.99246197 -0.08464386  0.08862866]
 [ 0.06812395  0.98218089  0.17515705]
 [-0.10187458 -0.16779874  0.98054332]]

 t_gt:
[ 0.28488484 -0.29747332  0.91123556]

Pose Error in degrees for R and t:
12.151864399129295 78.495218788944

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 2.64906973e-01  9.64273973e-01  3.04552071e-05]
 [-9.64272754e-01  2.64906688e-01 -1.58210878e-03]
 [-1.53365411e-03  3.89744522e-04  9.99998748e-01]]

 t_estimated:
[[-2.82387649e-01]
 [ 9.59300093e-01]
 [ 7.39928581e-04]]

 R_gt:
[[ 0.99130655 -0.07068996  0.11096879]
 [ 0.05058649  0.98335384  0.17451756]
 [-0.12145787 -0.16738697  0.97838102]]

 t_gt:
[ 0.24787675 -0.17779088  0.95233792]

Pose Error in degrees for R and t:
78.91922285925274 76.1224616376083

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.98899185 -0.14793905  0.00302558]
 [-0.14792254  0.98898579  0.0051014 ]
 [-0.00374695  0.00459769 -0.99998241]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99417041 -0.04733036  0.09687027]
 [ 0.03040557  0.98510034  0.16926876]
 [-0.10343794 -0.16533631  0.98079795]]

 t_gt:
[ 0.20069934 -0.02864947  0.97923388]

Pose Error in degrees for R and t:
173.33131700279765 78.37115921245685

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.99832907  0.05745329 -0.00617928]
 [-0.05742449  0.99833859  0.00474178]
 [ 0.00644144 -0.00437901  0.99996967]]

 t_estimated:
[[-0.4636507 ]
 [-0.88601744]
 [-0.00105856]]

 R_gt:
[[ 0.99858099 -0.03293289 -0.04185333]
 [ 0.03052975  0.99791862 -0.05681013]
 [ 0.04363681  0.05545265  0.9975074 ]]

 t_gt:
[ 0.44451551 -0.45568239 -0.77120653]

Pose Error in degrees for R and t:
6.528085920950604 78.55314057387288

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.94998564 -0.31208006  0.01154608]
 [-0.31202925  0.95005346  0.00601363]
 [-0.01284613  0.00211015 -0.99991526]]

 t_estimated:
[[0.96245175]
 [0.27142032]
 [0.00420046]]

 R_gt:
[[ 0.98484344 -0.1688419  -0.03969229]
 [ 0.16609343  0.98399394 -0.06456965]
 [ 0.04995922  0.05699796  0.99712388]]

 t_gt:
[ 0.77010732 -0.53933237 -0.34066891]

Pose Error in degrees for R and t:
177.62469168093733 53.603166148415106

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 6.35185157e-01  7.72359899e-01  4.53920908e-05]
 [-7.72350004e-01  6.35177315e-01 -5.02495576e-03]
 [-3.90990635e-03  3.15671873e-03  9.99987374e-01]]

 t_estimated:
[[0.79989924]
 [0.60013329]
 [0.00111298]]

 R_gt:
[[ 0.95492612 -0.29563727 -0.0267342 ]
 [ 0.29135232  0.95069783 -0.1062425 ]
 [ 0.056825    0.09366446  0.99398123]]

 t_gt:
[ 0.84029233 -0.44450517 -0.310361  ]

Pose Error in degrees for R and t:
67.92539667030546 66.10627738466277

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.97380154e-01 -7.23382339e-02 -9.48435693e-05]
 [ 7.23382461e-02  9.97380149e-01  1.31980022e-04]
 [ 8.50478916e-05 -1.38495072e-04  9.99999987e-01]]

 t_estimated:
[[-0.96272491]
 [-0.27047773]
 [-0.00159783]]

 R_gt:
[[ 0.99903104 -0.01882194  0.03979396]
 [ 0.0201017   0.99928452 -0.0320228 ]
 [-0.03916304  0.0327926   0.99869437]]

 t_gt:
[-0.8362543  -0.20879531  0.50703379]

Pose Error in degrees for R and t:
4.2212753291666845 30.599421071106693

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[ 3.98793912e-01  9.17040259e-01 -7.60708112e-04]
 [-9.17040132e-01  3.98792766e-01 -1.31380263e-03]
 [-9.01445017e-04  1.22153636e-03  9.99998848e-01]]

 t_estimated:
[[1.51073239e-01]
 [9.88522535e-01]
 [2.73273347e-04]]

 R_gt:
[[ 0.99507787 -0.01370027  0.09814308]
 [ 0.01727471  0.99921478 -0.03567003]
 [-0.09757738  0.037191    0.9945328 ]]

 t_gt:
[-0.72031653 -0.10551453  0.68557332]

Pose Error in degrees for R and t:
67.61853387018824 77.70549445091488

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.52313570e-01 -3.05121056e-01 -8.08720706e-05]
 [ 3.05121063e-01  9.52313489e-01  3.94634703e-04]
 [-4.33957935e-05 -4.00491755e-04  9.99999919e-01]]

 t_estimated:
[[-0.41920723]
 [-0.90788981]
 [-0.00117755]]

 R_gt:
[[ 0.99065616 -0.08465138  0.10693543]
 [ 0.08675112  0.99611449 -0.01514045]
 [-0.10523796  0.02427624  0.99415019]]

 t_gt:
[-0.29922196 -0.67596677  0.67345018]

Pose Error in degrees for R and t:
14.250512993694782 42.40926158513408

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 0.29891429  0.95358627 -0.03637951]
 [-0.95415431  0.29803905 -0.02760925]
 [-0.01548529  0.04296447  0.99895659]]

 t_estimated:
[[0.03000955]
 [0.99954895]
 [0.00115421]]

 R_gt:
[[ 0.98945014  0.14481837  0.00409792]
 [-0.14369843  0.98461495 -0.09941141]
 [-0.01843151  0.09777385  0.99503743]]

 t_gt:
[-0.28219135  0.90527515 -0.31756093]

Pose Error in degrees for R and t:
64.3577023274992 26.358722830600286

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.79495565  0.60477431 -0.04789103]
 [-0.60532596  0.78547532 -0.12887591]
 [-0.04032361  0.13144031  0.99050363]]

 t_estimated:
[[0.04822705]
 [0.99883582]
 [0.00107171]]

 R_gt:
[[ 0.98496062  0.17277716  0.00100164]
 [-0.16990794  0.96962562 -0.17594452]
 [-0.03137069  0.17312817  0.98439935]]

 t_gt:
[-0.20591283  0.88697586 -0.41336875]

Pose Error in degrees for R and t:
27.52261274426817 28.887530402845464

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99997988e-01  1.89200504e-03 -6.66210832e-04]
 [-1.89179749e-03  9.99998162e-01  3.12039795e-04]
 [ 6.66799988e-04 -3.10778832e-04  9.99999729e-01]]

 t_estimated:
[[-2.91398429e-01]
 [-9.56601497e-01]
 [-7.28970928e-04]]

 R_gt:
[[ 0.9846165   0.17393601 -0.01664337]
 [-0.17182573  0.94655169 -0.27297049]
 [-0.0317259   0.27163158  0.9618779 ]]

 t_gt:
[-0.15962023  0.82747886 -0.53833087]

Pose Error in degrees for R and t:
18.78060394376294 41.869924347030086

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.82731432e-01 -1.85037636e-01 -7.46560349e-05]
 [ 1.85037647e-01  9.82731410e-01  2.09785787e-04]
 [ 3.45485644e-05 -2.19977264e-04  9.99999975e-01]]

 t_estimated:
[[ 9.79283602e-01]
 [-2.02491913e-01]
 [ 8.07156043e-04]]

 R_gt:
[[ 0.99820861  0.01412616 -0.05814257]
 [-0.01306863  0.99974215  0.01853399]
 [ 0.05838885 -0.01774     0.99813566]]

 t_gt:
[ 0.49164192  0.27706858 -0.82554299]

Pose Error in degrees for R and t:
11.962531940757334 64.86918591074414

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 4.79508331e-01 -8.77536879e-01 -8.87296234e-04]
 [ 8.77537175e-01  4.79507407e-01  1.07334686e-03]
 [-5.16436341e-04 -1.29331419e-03  9.99999030e-01]]

 t_estimated:
[[ 0.91930672]
 [-0.39353994]
 [ 0.00121328]]

 R_gt:
[[ 0.99764586  0.05829232 -0.03612616]
 [-0.05803188  0.99828042  0.00823136]
 [ 0.03654419 -0.00611508  0.99931281]]

 t_gt:
[-0.22616917  0.8578867  -0.46138695]

Pose Error in degrees for R and t:
64.7123701166427 56.90072871352706

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.00042770e-01  4.35801363e-01  4.28900277e-04]
 [-4.35800386e-01  9.00042179e-01 -1.44906697e-03]
 [-1.01753370e-03  1.11730735e-03  9.99998858e-01]]

 t_estimated:
[[-9.97334801e-01]
 [-7.29567870e-02]
 [-7.76136032e-04]]

 R_gt:
[[ 0.99014353  0.06111656  0.12602079]
 [-0.063037    0.99794697  0.01130016]
 [-0.12507148 -0.01913235  0.9919627 ]]

 t_gt:
[-0.4105732   0.41007914  0.81441068]

Pose Error in degrees for R and t:
23.395094272085522 67.73265480272379

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 3.14145833e-01 -9.49372933e-01 -1.85181319e-03]
 [ 9.49374666e-01  3.14144445e-01  1.00551249e-03]
 [-3.72869517e-04 -2.07394209e-03  9.99997780e-01]]

 t_estimated:
[[ 9.37231530e-01]
 [-3.48706483e-01]
 [ 9.20763772e-04]]

 R_gt:
[[ 9.99003129e-01 -4.44939390e-02  3.54215640e-03]
 [ 4.46240663e-02  9.97302502e-01 -5.82809704e-02]
 [-9.38809659e-04  5.83802454e-02  9.98293836e-01]]

 t_gt:
[ 0.25766397  0.58503949 -0.76898509]

Pose Error in degrees for R and t:
69.21140516421357 87.8924333447374

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.61332434  0.78980133 -0.00686346]
 [-0.7898018   0.61335331  0.00329239]
 [ 0.00681006  0.00340147  0.99997103]]

 t_estimated:
[[-0.25526489]
 [ 0.96683008]
 [-0.00891211]]

 R_gt:
[[ 0.99973934 -0.02212296 -0.00550562]
 [ 0.02141699  0.99416934 -0.10568272]
 [ 0.00781194  0.10553634  0.99438453]]

 t_gt:
[ 0.00168566  0.80196372 -0.59737036]

Pose Error in degrees for R and t:
53.736071404349694 38.71596179414167

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.40893989 -0.91255346  0.00378777]
 [ 0.91256067  0.4089311  -0.0028947 ]
 [ 0.00109263  0.00464032  0.99998864]]

 t_estimated:
[[-0.05016455]
 [-0.99873055]
 [-0.00456041]]

 R_gt:
[[ 0.99272875 -0.12036559 -0.00148654]
 [ 0.11859033  0.98006419 -0.15940489]
 [ 0.02064379  0.15806854  0.9872122 ]]

 t_gt:
[ 0.56795258  0.58790481 -0.57601892]

Pose Error in degrees for R and t:
59.56175220125727 52.19161401664127

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 7.48214452e-01 -6.63456400e-01 -8.59783599e-04]
 [ 6.63437123e-01  7.48201476e-01 -6.76274456e-03]
 [ 5.13007752e-03  4.48957085e-03  9.99976763e-01]]

 t_estimated:
[[-0.21779827]
 [-0.97596086]
 [-0.00802   ]]

 R_gt:
[[ 0.99041569  0.08594427 -0.10812211]
 [-0.09850782  0.98825788 -0.11680657]
 [ 0.09681288  0.12633775  0.98725219]]

 t_gt:
[-0.18762282  0.63172776 -0.75214209]

Pose Error in degrees for R and t:
47.652097050011356 55.274494104178295

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 9.31861676e-01 -3.62813726e-01 -1.31576291e-04]
 [ 3.62813750e-01  9.31861609e-01  3.53715408e-04]
 [-5.72191108e-06 -3.77351520e-04  9.99999929e-01]]

 t_estimated:
[[ 8.83355147e-01]
 [-4.68703685e-01]
 [ 7.34238870e-04]]

 R_gt:
[[ 0.98225851  0.13457315 -0.13060575]
 [-0.15516313  0.97434899 -0.16300274]
 [ 0.10531951  0.18037631  0.97794328]]

 t_gt:
[-0.22341099  0.71434834 -0.66316965]

Pose Error in degrees for R and t:
32.005132456331935 57.81492216470385

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 8.91752981e-01  4.52519575e-01  1.62928185e-03]
 [-4.52521789e-01  8.91752204e-01  1.42752914e-03]
 [-8.06930802e-04 -2.01028890e-03  9.99997654e-01]]

 t_estimated:
[[0.02019787]
 [0.99979459]
 [0.00168316]]

 R_gt:
[[ 0.98193923  0.12980293 -0.1376458 ]
 [-0.15379939  0.97135099 -0.18117306]
 [ 0.11018538  0.19907083  0.97377168]]

 t_gt:
[-0.19336621  0.72194225 -0.6643861 ]

Pose Error in degrees for R and t:
22.854742596651317 44.21154621011304

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.77580538e-01  2.10561280e-01 -4.89085397e-04]
 [-2.10560879e-01  9.77580448e-01  7.63675146e-04]
 [ 6.38920738e-04 -6.43571709e-04  9.99999589e-01]]

 t_estimated:
[[-9.06899166e-01]
 [-4.21346958e-01]
 [-8.02565634e-04]]

 R_gt:
[[ 0.99633687  0.02601992  0.08146009]
 [-0.02563196  0.999655   -0.00580221]
 [-0.08158339  0.00369178  0.99666036]]

 t_gt:
[-0.42868402  0.29013895  0.85559885]

Pose Error in degrees for R and t:
11.66687686038676 74.58328615691427

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.75820846  0.57337323 -0.31042402]
 [ 0.29608216  0.12140199  0.94741591]
 [ 0.58090902 -0.81024977 -0.07771757]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.9761039   0.05222879  0.21093378]
 [-0.05284485  0.99859959 -0.0027182 ]
 [-0.21078066 -0.0084942   0.97749702]]

 t_gt:
[-0.38006504  0.22657964  0.89677881]

Pose Error in degrees for R and t:
101.06842870870179 89.14038328466789

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.21824747  0.975637   -0.0223716 ]
 [ 0.9754568   0.21877818  0.02490262]
 [ 0.02919034 -0.0163876  -0.99943953]]

 t_estimated:
[[9.63395771e-01]
 [2.68082062e-01]
 [7.72570772e-04]]

 R_gt:
[[ 0.96199212  0.09591843  0.25567593]
 [-0.09643369  0.99528403 -0.01055412]
 [-0.25548288 -0.0145029   0.96670477]]

 t_gt:
[-0.45926259  0.29590395  0.83756715]

Pose Error in degrees for R and t:
170.41113713310213 68.74754255050793

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99472290e-01  3.24827387e-02  1.14160458e-04]
 [-3.24827323e-02  9.99472295e-01 -5.73698644e-05]
 [-1.15963745e-04  5.36313462e-05  9.99999992e-01]]

 t_estimated:
[[9.99994076e-01]
 [3.33375295e-03]
 [8.56494464e-04]]

 R_gt:
[[ 0.99460167 -0.10090433 -0.02422361]
 [ 0.10112264  0.99484311  0.00791393]
 [ 0.02330099 -0.0103194   0.99967491]]

 t_gt:
[ 0.75058944 -0.65596553 -0.07952812]

Pose Error in degrees for R and t:
7.7988826090198256 41.554071972384605

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-8.98210464e-01  4.39564789e-01  8.70722670e-04]
 [ 4.39565522e-01  8.98206915e-01  2.54759257e-03]
 [ 3.37742865e-04  2.67101397e-03 -9.99996376e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98657059 -0.16313256 -0.008116  ]
 [ 0.16323344  0.9864923   0.0137848 ]
 [ 0.00575893 -0.01492385  0.9998715 ]]

 t_gt:
[ 0.74271518 -0.66817908  0.0437135 ]

Pose Error in degrees for R and t:
179.44777123071222 42.21118848150021

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.80399994  0.59389675  0.02950851]
 [-0.59377848 -0.79920639 -0.0932538 ]
 [-0.03179974 -0.09249756  0.99520499]]

 t_estimated:
[[0.58025885]
 [0.81236239]
 [0.05802589]]

 R_gt:
[[ 0.98863229 -0.14988963  0.01180575]
 [ 0.15010417  0.98846791 -0.02000494]
 [-0.00867058  0.02155089  0.99973028]]

 t_gt:
[ 0.71099502 -0.70185818 -0.0433725 ]

Pose Error in degrees for R and t:
152.1020637484223 80.78621043440458

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99999913e-01 -4.12662748e-04  6.44957195e-05]
 [ 4.12658502e-04  9.99999913e-01  6.58383076e-05]
 [-6.45228829e-05 -6.58116872e-05  9.99999996e-01]]

 t_estimated:
[[4.03334026e-01]
 [9.15052547e-01]
 [7.07262444e-04]]

 R_gt:
[[ 0.99729772 -0.06801207  0.02777544]
 [ 0.06980275  0.99513055 -0.06959158]
 [-0.0229066   0.07134304  0.99718854]]

 t_gt:
[ 0.87512714  0.29876425 -0.38064737]

Pose Error in degrees for R and t:
5.826565174658522 51.23818184464806

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 0.99642005 -0.08451701 -0.00198846]
 [ 0.08452279  0.99641694  0.0030288 ]
 [ 0.00172535 -0.00318603  0.99999344]]

 t_estimated:
[[-0.99919298]
 [-0.03996772]
 [-0.00399677]]

 R_gt:
[[ 0.99520644 -0.0896928   0.03899253]
 [ 0.09439701  0.98519991 -0.14307773]
 [-0.02558197  0.14607218  0.98894253]]

 t_gt:
[ 0.69803457  0.48754503 -0.52444979]

Pose Error in degrees for R and t:
8.737674709819528 44.368175369598134

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 1.94185209e-01  9.80964373e-01  1.00140917e-03]
 [-9.80963475e-01  1.94186560e-01 -1.49699774e-03]
 [-1.66296165e-03 -6.91650997e-04  9.99998378e-01]]

 t_estimated:
[[0.48382221]
 [0.87516558]
 [0.00112779]]

 R_gt:
[[ 0.99609129 -0.08054044  0.03628668]
 [ 0.08684529  0.96801041 -0.23539904]
 [-0.01616663  0.23763081  0.97122085]]

 t_gt:
[ 0.47293912  0.62869483 -0.61730981]

Pose Error in degrees for R and t:
84.58689678591794 38.891679470500975

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.53292975e-01  3.02047169e-01  1.09802944e-04]
 [-3.02046287e-01  9.53290952e-01 -2.09791149e-03]
 [-7.38342379e-04  1.96675871e-03  9.99997793e-01]]

 t_estimated:
[[0.74420848]
 [0.66794683]
 [0.00087657]]

 R_gt:
[[ 0.98905668 -0.14710225 -0.01136881]
 [ 0.14731875  0.98885861  0.02134574]
 [ 0.00810165 -0.02278768  0.99970705]]

 t_gt:
[ 0.7578435  -0.63482764  0.15055597]

Pose Error in degrees for R and t:
26.08992361520909 81.94669006551939

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.93144961e-01 -1.16889203e-01  1.28982454e-05]
 [ 1.16889185e-01  9.93144859e-01  4.55758696e-04]
 [-6.60830967e-05 -4.51126787e-04  9.99999896e-01]]

 t_estimated:
[[8.67724548e-01]
 [4.97044701e-01]
 [8.20312101e-04]]

 R_gt:
[[ 0.9790189  -0.20136846 -0.03119491]
 [ 0.20319483  0.97624473  0.07521191]
 [ 0.01530826 -0.07997279  0.99667964]]

 t_gt:
[ 0.69403943 -0.65181754  0.30568474]

Pose Error in degrees for R and t:
6.80806165331985 73.82909970141385

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-4.57220518e-01  8.89353164e-01 -5.89099080e-04]
 [-8.89351258e-01 -4.57220777e-01 -1.87093445e-03]
 [-1.93326981e-03 -3.31513609e-04  9.99998076e-01]]

 t_estimated:
[[0.54562832]
 [0.8380268 ]
 [0.0009109 ]]

 R_gt:
[[ 0.97801255 -0.20618318 -0.03132334]
 [ 0.2083702   0.95986056  0.18774434]
 [-0.00864386 -0.19014388  0.98171763]]

 t_gt:
[ 0.53205836 -0.63903994  0.55546544]

Pose Error in degrees for R and t:
129.5408673128406 75.83468230751919

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.88627333e-01 -1.50386155e-01 -2.46169349e-05]
 [ 1.50386157e-01  9.88627318e-01  1.70319951e-04]
 [-1.27678831e-06 -1.72085006e-04  9.99999985e-01]]

 t_estimated:
[[-0.99517926]
 [-0.09806511]
 [-0.00121068]]

 R_gt:
[[ 0.99666912  0.03224724 -0.07490969]
 [-0.03632642  0.99789425 -0.0537353 ]
 [ 0.0730189   0.05627772  0.99574162]]

 t_gt:
[-0.05120125  0.55127662 -0.83274997]

Pose Error in degrees for R and t:
11.861892482605699 89.8797711431895

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 6.01689912e-01 -7.98689873e-01  7.98346403e-03]
 [ 7.98729327e-01  6.01670075e-01 -4.95810940e-03]
 [-8.43419631e-04  9.35987126e-03  9.99955840e-01]]

 t_estimated:
[[-0.22243677]
 [-0.97493563]
 [-0.0047327 ]]

 R_gt:
[[ 0.978413    0.10356998 -0.17883795]
 [-0.1333689   0.97747548 -0.16356773]
 [ 0.15786801  0.18388762  0.97018619]]

 t_gt:
[-0.0893114   0.63448209 -0.76776035]

Pose Error in degrees for R and t:
61.35744575004199 53.48170187462693

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 6.85787792e-03  9.99976084e-01  8.95302755e-04]
 [-9.99974446e-01  6.85966915e-03 -2.01319003e-03]
 [-2.01928337e-03 -8.81473664e-04  9.99997573e-01]]

 t_estimated:
[[0.15618564]
 [0.98772706]
 [0.00113975]]

 R_gt:
[[ 0.95950469  0.17174101 -0.22328724]
 [-0.21859102  0.9539064  -0.20562523]
 [ 0.1776806   0.24610734  0.95281679]]

 t_gt:
[-0.13309883  0.72162173 -0.67937235]

Pose Error in degrees for R and t:
79.74965927599156 46.27459802023533

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.94695422e-01 -1.02863938e-01  1.68314740e-04]
 [ 1.02863909e-01  9.94695423e-01  1.76461094e-04]
 [-1.85573384e-04 -1.58211530e-04  9.99999970e-01]]

 t_estimated:
[[0.98481745]
 [0.17359012]
 [0.00102726]]

 R_gt:
[[ 9.96043258e-01 -8.82395046e-02 -1.06385293e-02]
 [ 8.82338293e-02  9.96099358e-01 -9.76140822e-04]
 [ 1.06836828e-02  3.41394040e-05  9.99942346e-01]]

 t_gt:
[ 0.82685285 -0.56080554 -0.04256177]

Pose Error in degrees for R and t:
1.0467475350839295 44.20045270811535

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999987e-01  1.14620838e-04 -1.12009701e-04]
 [-1.14596715e-04  9.99999970e-01  2.15345771e-04]
 [ 1.12034380e-04 -2.15332932e-04  9.99999971e-01]]

 t_estimated:
[[9.08979100e-01]
 [4.16841099e-01]
 [7.03267178e-04]]

 R_gt:
[[ 0.99055602 -0.1331879   0.03255346]
 [ 0.13217755  0.99072781  0.03143149]
 [-0.03643816 -0.026832    0.99897524]]

 t_gt:
[ 0.72767086 -0.6572288   0.19632988]

Pose Error in degrees for R and t:
8.062076197762945 67.19377732946083

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.42706358e-01  3.33620373e-01  1.47297505e-03]
 [-3.33620472e-01  9.42707455e-01 -1.85409970e-04]
 [-1.45044110e-03 -3.16627474e-04  9.99998898e-01]]

 t_estimated:
[[0.73507572]
 [0.67798387]
 [0.00124865]]

 R_gt:
[[ 0.98965818 -0.14307459  0.01031201]
 [ 0.14250646  0.98885029  0.04320315]
 [-0.01637885 -0.04128602  0.99901274]]

 t_gt:
[ 0.64532548 -0.74163353  0.18312493]

Pose Error in degrees for R and t:
27.814024702664536 88.38267950903813

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99973393e-01 -7.29222354e-03 -1.90659505e-04]
 [ 7.29226094e-03  9.99973392e-01  1.96217820e-04]
 [ 1.89223568e-04 -1.97602938e-04  9.99999963e-01]]

 t_estimated:
[[-0.66813936]
 [ 0.74403385]
 [ 0.00185263]]

 R_gt:
[[ 0.99254999  0.1217951  -0.00343076]
 [-0.12166318  0.99222364  0.02627339]
 [ 0.00660425 -0.02566     0.99964836]]

 t_gt:
[-0.57454877  0.81427016  0.08281195]

Pose Error in degrees for R and t:
7.562032875963202 8.159571306357892

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.99999763 -0.00153891 -0.00154266]
 [ 0.00154092  0.99999797  0.00130047]
 [ 0.00154066 -0.00130284  0.99999796]]

 t_estimated:
[[0.98310372]
 [0.18304651]
 [0.00102835]]

 R_gt:
[[ 0.97630037  0.21527673  0.02222378]
 [-0.2157544   0.9762006   0.02197035]
 [-0.01696384 -0.02624476  0.99951157]]

 t_gt:
[-0.5461228   0.82983315  0.11457242]

Pose Error in degrees for R and t:
12.664023045017638 67.36374202112005

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.99999796  0.00112227 -0.00168145]
 [-0.00112005  0.9999985   0.00132337]
 [ 0.00168293 -0.00132148  0.99999771]]

 t_estimated:
[[-0.59651331]
 [-0.80260237]
 [-0.00114494]]

 R_gt:
[[ 0.96307126  0.26920883  0.00456507]
 [-0.26904759  0.96156428  0.05484118]
 [ 0.01037466 -0.05404425  0.99848462]]

 t_gt:
[-0.53053366  0.84099705  0.10610371]

Pose Error in degrees for R and t:
15.859262732845878 68.98346782953502

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.38580704 -0.92249336 -0.01260704]
 [-0.9225252   0.38589656 -0.00557622]
 [ 0.01000904  0.00947896 -0.99990498]]

 t_estimated:
[[ 0.83178732]
 [ 0.55506107]
 [-0.00608845]]

 R_gt:
[[ 0.99705816  0.07496408 -0.01598107]
 [-0.07586463  0.99491274 -0.06627365]
 [ 0.01093163  0.06729031  0.99767386]]

 t_gt:
[-0.42152277  0.79343859 -0.43906008]

Pose Error in degrees for R and t:
176.45183701058352 84.69469509735971

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999995e-01 -9.89430022e-05 -1.29614685e-07]
 [ 9.89430022e-05  9.99999995e-01 -2.18457258e-08]
 [ 1.29616846e-07  2.18329016e-08  1.00000000e+00]]

 t_estimated:
[[-9.98580616e-01]
 [ 5.32604585e-02]
 [ 2.77513800e-04]]

 R_gt:
[[ 0.98440745  0.17586454  0.003884  ]
 [-0.17546257  0.9832456  -0.04940069]
 [-0.01250684  0.04794855  0.99877088]]

 t_gt:
[-0.49080734  0.86515012 -0.10307003]

Pose Error in degrees for R and t:
10.51895111980645 57.57735982471355

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99997979e-01 -2.93183667e-04  1.98882643e-03]
 [ 2.96592449e-04  9.99998487e-01 -1.71388827e-03]
 [-1.98832094e-03  1.71447468e-03  9.99996554e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.95240116  0.30458647  0.01262735]
 [-0.3040613   0.95210215 -0.03237658]
 [-0.02188407  0.02699663  0.99939616]]

 t_gt:
[-0.47355579  0.88059779 -0.0171012 ]

Pose Error in degrees for R and t:
17.835128895270195 81.55170720160795

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.37916316e-01  3.46860702e-01  7.98394745e-04]
 [-3.46860054e-01  9.37916513e-01 -8.46919070e-04]
 [-1.04259056e-03  5.17407969e-04  9.99999323e-01]]

 t_estimated:
[[0.11691109]
 [0.99314165]
 [0.00120527]]

 R_gt:
[[ 0.99912772 -0.03103128  0.02794958]
 [ 0.03019801  0.99910143  0.02975665]
 [-0.02884801 -0.02888733  0.99916665]]

 t_gt:
[ 0.37270349 -0.82923171  0.41649356]

Pose Error in degrees for R and t:
22.171857460608194 38.78798106267318

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999798e-01 -5.89239131e-05  6.32398009e-04]
 [ 5.89007599e-05  9.99999998e-01  3.66303224e-05]
 [-6.32400166e-04 -3.65930663e-05  9.99999799e-01]]

 t_estimated:
[[0.78054324]
 [0.62510051]
 [0.00126727]]

 R_gt:
[[ 0.9987031  -0.04644668 -0.0208636 ]
 [ 0.04667106  0.99885658  0.01036667]
 [ 0.02035842 -0.01132652  0.99972903]]

 t_gt:
[ 0.46106417 -0.88736525  0.00165748]

Pose Error in degrees for R and t:
2.9948245507087936 78.76638413469863

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-4.80604617e-01  8.76937080e-01 -7.48663815e-04]
 [ 8.76925119e-01  4.80602230e-01  4.88192802e-03]
 [ 4.64095320e-03  1.68975504e-03 -9.99987803e-01]]

 t_estimated:
[[0.50637519]
 [0.8623127 ]
 [0.00098325]]

 R_gt:
[[ 0.98510118 -0.1652565  -0.04761626]
 [ 0.16463949  0.98621389 -0.01662598]
 [ 0.04970712  0.00853884  0.9987269 ]]

 t_gt:
[ 0.71109281 -0.69238775 -0.12225472]

Pose Error in degrees for R and t:
177.7999338725906 76.2848398821504

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 0.9997398   0.02276437  0.00145534]
 [-0.0227618   0.99973937 -0.00176111]
 [-0.00149505  0.00172753  0.99999739]]

 t_estimated:
[[8.06510756e-01]
 [5.91219042e-01]
 [6.66537815e-04]]

 R_gt:
[[ 0.99858515 -0.05216658  0.01035314]
 [ 0.05171532  0.99786601  0.03986095]
 [-0.01240962 -0.03926982  0.99915167]]

 t_gt:
[ 0.60973832 -0.63018494  0.48071418]

Pose Error in degrees for R and t:
4.926550943934864 83.13654587161697

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.57146371e-01  2.89604520e-01  2.14751905e-04]
 [-2.89604448e-01  9.57146366e-01 -3.13686031e-04]
 [-2.96393898e-04  2.38050340e-04  9.99999928e-01]]

 t_estimated:
[[0.79916501]
 [0.60111108]
 [0.00086866]]

 R_gt:
[[ 0.98586328 -0.16706916 -0.01273067]
 [ 0.16746291  0.98497593  0.04217657]
 [ 0.00549422 -0.04371243  0.99902924]]

 t_gt:
[ 0.76050533 -0.63591995  0.13129149]

Pose Error in degrees for R and t:
26.587694272816407 76.96038031751475

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-1.70960135e-01 -9.85277797e-01 -5.43607942e-04]
 [-9.85277846e-01  1.70960341e-01 -3.57979493e-04]
 [ 4.45644645e-04  4.74404640e-04 -9.99999788e-01]]

 t_estimated:
[[7.91926025e-01]
 [6.10616646e-01]
 [6.94671952e-04]]

 R_gt:
[[ 0.9699387  -0.24216817 -0.02398441]
 [ 0.24329502  0.96713095  0.07392709]
 [ 0.00529371 -0.07754036  0.99697549]]

 t_gt:
[ 0.76506145 -0.6189622   0.17767038]

Pose Error in degrees for R and t:
177.8662158533061 76.81788966248168

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[-0.9967703   0.07604336  0.02581417]
 [ 0.07610608  0.99709867  0.00145455]
 [-0.02562866  0.00341447 -0.9996657 ]]

 t_estimated:
[[ 0.99980064]
 [-0.01446021]
 [ 0.01376902]]

 R_gt:
[[ 0.99352406 -0.11344538 -0.00626484]
 [ 0.11361257  0.99247376  0.04568804]
 [ 0.00103414 -0.04610377  0.99893541]]

 t_gt:
[ 0.66220105 -0.66858217  0.33836024]

Pose Error in degrees for R and t:
178.828335986018 47.43736699971435

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 6.20618661e-01 -7.84107623e-01  2.77728443e-03]
 [-7.84100611e-01 -6.20624864e-01 -3.31818073e-03]
 [ 4.32546258e-03 -1.18345538e-04 -9.99990638e-01]]

 t_estimated:
[[0.56703064]
 [0.8236962 ]
 [0.00091016]]

 R_gt:
[[ 0.99187551 -0.12441164 -0.02654509]
 [ 0.12679031  0.98379015  0.12680539]
 [ 0.01033882 -0.12914056  0.99157153]]

 t_gt:
[ 0.49469856 -0.67974561  0.54149722]

Pose Error in degrees for R and t:
173.94689124948192 73.80532934492311

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.49392773e-01 -3.14090924e-01 -5.04617406e-04]
 [ 3.14091303e-01  9.49392127e-01  1.11429975e-03]
 [ 1.29088356e-04 -1.21640406e-03  9.99999252e-01]]

 t_estimated:
[[0.94489959]
 [0.32735866]
 [0.00103268]]

 R_gt:
[[ 0.98289712 -0.1774434  -0.04925797]
 [ 0.18405216  0.95543941  0.23078043]
 [ 0.00611217 -0.23590001  0.97175759]]

 t_gt:
[ 0.49294744 -0.60955344  0.62084413]

Pose Error in degrees for R and t:
15.622769546764719 74.52104721567468

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99996194e-01 -2.75588006e-03  1.28429118e-04]
 [ 2.75585766e-03  9.99996187e-01  1.74194775e-04]
 [-1.28908688e-04 -1.73840179e-04  9.99999977e-01]]

 t_estimated:
[[ 1.38299890e-01]
 [-9.90389963e-01]
 [ 9.28770583e-04]]

 R_gt:
[[ 0.99986348  0.01237902 -0.01098643]
 [-0.01324486  0.99648717 -0.08269209]
 [ 0.00992364  0.08282545  0.99651499]]

 t_gt:
[ 0.02185983  0.44412111 -0.89570006]

Pose Error in degrees for R and t:
4.878046106817959 64.04521191934982

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999565e-01 -9.25131599e-04 -1.22037844e-04]
 [ 9.25159595e-04  9.99999546e-01  2.29553130e-04]
 [ 1.21825422e-04 -2.29665934e-04  9.99999966e-01]]

 t_estimated:
[[ 2.02699078e-01]
 [-9.79240952e-01]
 [ 4.92409678e-04]]

 R_gt:
[[ 9.98576778e-01 -7.48621093e-03 -5.28167420e-02]
 [-9.71071766e-04  9.87386757e-01 -1.58320371e-01]
 [ 5.33353096e-02  1.58145569e-01  9.85974583e-01]]

 t_gt:
[ 0.10892405  0.28865983 -0.95121557]

Pose Error in degrees for R and t:
9.618631671477665 74.86720332385072

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999681e-01 -1.10449679e-04  7.90719302e-04]
 [ 1.11098746e-04  9.99999657e-01 -8.20858675e-04]
 [-7.90628367e-04  8.20946261e-04  9.99999350e-01]]

 t_estimated:
[[0.77228109]
 [0.63528021]
 [0.00098419]]

 R_gt:
[[ 0.98474479 -0.17177923 -0.02774721]
 [ 0.16610405  0.97550118 -0.14424414]
 [ 0.05184564  0.13743526  0.98915306]]

 t_gt:
[ 0.59101983 -0.41042136 -0.69444213]

Pose Error in degrees for R and t:
12.889592543591277 78.75425940168212

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99878806e-01 -1.55683219e-02 -1.85563076e-05]
 [ 1.55683219e-02  9.99878806e-01  3.90335707e-07]
 [ 1.85479818e-05 -6.79178969e-07  1.00000000e+00]]

 t_estimated:
[[-9.82289390e-01]
 [ 1.87369025e-01]
 [-6.35277508e-04]]

 R_gt:
[[ 9.98663051e-01  4.92354483e-02 -1.57656057e-02]
 [-4.92207485e-02  9.98786764e-01  1.33657117e-03]
 [ 1.58123699e-02 -5.57715749e-04  9.99874673e-01]]

 t_gt:
[-0.44928957  0.8701758  -0.20231897]

Pose Error in degrees for R and t:
3.822728778840169 52.80677730452767

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99999984e-01  1.78258896e-04  3.25651828e-08]
 [-1.78258895e-04  9.99999984e-01 -2.50440727e-05]
 [-3.70295107e-08  2.50440665e-05  1.00000000e+00]]

 t_estimated:
[[ 1.05948027e-02]
 [-9.99943846e-01]
 [ 2.33752285e-04]]

 R_gt:
[[ 0.99055898  0.03149577  0.13342117]
 [-0.03151562  0.99950044 -0.00196225]
 [-0.13341647 -0.0022598   0.99105705]]

 t_gt:
[-0.33144724  0.23908737  0.91267736]

Pose Error in degrees for R and t:
7.877302088278647 75.97340665942593

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.74989044e-01  2.22252919e-01  6.15918805e-05]
 [-2.22252735e-01  9.74988528e-01 -1.04454818e-03]
 [-2.92205258e-04  1.00473406e-03  9.99999453e-01]]

 t_estimated:
[[-0.97848101]
 [ 0.20632607]
 [-0.00211141]]

 R_gt:
[[ 0.97624723  0.07749968  0.20232393]
 [-0.07953065  0.9968306   0.00191742]
 [-0.20153391 -0.01796229  0.97931631]]

 t_gt:
[-0.44029401  0.32979581  0.83509036]

Pose Error in degrees for R and t:
14.304082004546725 60.1915730107168

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 7.81258279e-01  6.24207504e-01  7.02883680e-04]
 [-6.24207399e-01  7.81258583e-01 -3.86749407e-04]
 [-7.90545790e-04 -1.36594018e-04  9.99999678e-01]]

 t_estimated:
[[-0.40595201]
 [ 0.91389378]
 [ 0.00106173]]

 R_gt:
[[ 0.99640113 -0.06874959 -0.04957693]
 [ 0.06622888  0.99650929 -0.05079999]
 [ 0.052896    0.04733343  0.99747755]]

 t_gt:
[ 0.48940747 -0.43785058 -0.75416656]

Pose Error in degrees for R and t:
42.68698504091165 53.15691314331946

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99999792e-01 -6.18444551e-04  1.85066402e-04]
 [ 6.18485220e-04  9.99999785e-01 -2.19780522e-04]
 [-1.84930440e-04  2.19894937e-04  9.99999959e-01]]

 t_estimated:
[[ 9.77545529e-01]
 [-2.10724224e-01]
 [ 2.00004480e-04]]

 R_gt:
[[ 0.96340495 -0.2667848   0.02600118]
 [ 0.26725105  0.9634867  -0.016399  ]
 [-0.02067626  0.02274791  0.99952722]]

 t_gt:
[ 0.6791372  -0.73362989  0.02366109]

Pose Error in degrees for R and t:
15.552972672231563 35.06649206038901

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.99998168 -0.00409776  0.00445531]
 [ 0.00411534  0.99998375 -0.00394413]
 [-0.00443908  0.00396239  0.9999823 ]]

 t_estimated:
[[-0.43125368]
 [-0.90222841]
 [-0.00203666]]

 R_gt:
[[ 0.91790299 -0.39489247 -0.03890853]
 [ 0.39272072  0.91810877 -0.05333499]
 [ 0.05678334  0.03367628  0.99781784]]

 t_gt:
[ 0.73976039 -0.65462988 -0.15560939]

Pose Error in degrees for R and t:
23.297089655041447 74.22155647652247

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[-0.98170955  0.18996913  0.01257342]
 [ 0.18999853  0.98178367  0.00117568]
 [-0.01212103  0.00354311 -0.99992026]]

 t_estimated:
[[ 0.99979276]
 [-0.01957073]
 [ 0.00560568]]

 R_gt:
[[ 0.98213536 -0.18199059  0.04783613]
 [ 0.18292016  0.98300078 -0.01578864]
 [-0.04415061  0.02425617  0.99872989]]

 t_gt:
[ 0.6302429  -0.76823256  0.11230594]

Pose Error in degrees for R and t:
176.53406294973487 49.776064379991944

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.99995753e-01  2.89426313e-03  3.41897266e-04]
 [-2.89416303e-03  9.99995769e-01 -2.92913717e-04]
 [-3.42743589e-04  2.91922966e-04  9.99999899e-01]]

 t_estimated:
[[ 7.96175860e-01]
 [-6.05064985e-01]
 [-6.03523378e-04]]

 R_gt:
[[ 0.93715439 -0.34873818 -0.01112175]
 [ 0.34889563  0.93696609  0.01911601]
 [ 0.0037539  -0.02179466  0.99975484]]

 t_gt:
[ 0.70901598 -0.70373956  0.0452434 ]

Pose Error in degrees for R and t:
20.623432584403638 7.994150643382417

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.9817759  -0.1324549  -0.13627835]
 [ 0.15399687  0.97468667  0.16208291]
 [ 0.11136001 -0.18011553  0.97732151]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.89093653 -0.45411885  0.00289886]
 [ 0.45371579  0.89038054  0.03691289]
 [-0.01934473 -0.0315722   0.99931378]]

 t_gt:
[ 0.71232872 -0.6947965   0.09922511]

Pose Error in degrees for R and t:
21.694641436316463 82.18085597891995

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99722008e-01  2.35775814e-02 -6.82867897e-05]
 [-2.35775815e-02  9.99722010e-01  1.17773099e-07]
 [ 6.82705835e-05  1.49229699e-06  9.99999998e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98857781  0.14981479  0.01643246]
 [-0.14954659  0.98861704 -0.01645942]
 [-0.01871093  0.01381403  0.99973026]]

 t_gt:
[-0.83195464  0.55371817 -0.03532234]

Pose Error in degrees for R and t:
7.380181510835179 33.87446005718226

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 7.89280332e-01 -6.14032082e-01 -1.07681441e-03]
 [ 6.14031405e-01  7.89281064e-01 -9.13847180e-04]
 [ 1.41104071e-03  6.00837386e-05  9.99999003e-01]]

 t_estimated:
[[-0.11654686]
 [-0.99318196]
 [-0.00253363]]

 R_gt:
[[ 9.73758319e-01  2.27586558e-01  5.92977571e-04]
 [-2.27554004e-01  9.73568702e-01  1.95771331e-02]
 [ 3.87745675e-03 -1.91983671e-02  9.99808195e-01]]

 t_gt:
[-0.80972392  0.58427698  0.05447552]

Pose Error in degrees for R and t:
51.04904458813399 60.918016638738656

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.76603873e-01  2.15046067e-01  2.52665597e-04]
 [-2.15045973e-01  9.76603863e-01 -3.52065391e-04]
 [-3.22464476e-04  2.89493705e-04  9.99999906e-01]]

 t_estimated:
[[-9.99994884e-01]
 [-3.10316489e-03]
 [-7.75791221e-04]]

 R_gt:
[[ 9.35913445e-01  3.52034606e-01  1.18448781e-02]
 [-3.52005424e-01  9.35986931e-01 -4.44606725e-03]
 [-1.26520310e-02 -8.45608900e-06  9.99920583e-01]]

 t_gt:
[-0.76738063  0.64118333 -0.00330136]

Pose Error in degrees for R and t:
8.223503370753953 40.05833741145199

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-9.78653014e-01  2.05516405e-01 -1.13346742e-03]
 [ 2.05516678e-01  9.78653605e-01 -1.28948852e-04]
 [ 1.08277087e-03 -3.59142642e-04 -9.99999349e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99834506  0.00829664  0.05691856]
 [-0.00793869  0.99994773 -0.0064932 ]
 [-0.05696911  0.00603019  0.99835695]]

 t_gt:
[-0.23422927  0.05997818  0.97032946]

Pose Error in degrees for R and t:
176.77937677808322 76.50916010262297

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99376380e-01 -3.53107696e-02 -1.26991399e-05]
 [ 3.53107705e-02  9.99376377e-01  7.96493926e-05]
 [ 9.87873908e-06 -8.00481381e-05  9.99999997e-01]]

 t_estimated:
[[5.07224604e-01]
 [8.61813658e-01]
 [6.48249660e-04]]

 R_gt:
[[ 0.99671642 -0.02297427  0.077646  ]
 [ 0.02348484  0.99970885 -0.00565738]
 [-0.07749355  0.00746204  0.99696441]]

 t_gt:
[ 0.27648298 -0.30445879  0.91151632]

Pose Error in degrees for R and t:
4.519054373027671 83.01803676043865

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99655099e-01  2.62615027e-02  1.25768481e-04]
 [-2.62614828e-02  9.99655095e-01 -1.58050146e-04]
 [-1.29875737e-04  1.54692768e-04  9.99999980e-01]]

 t_estimated:
[[9.58721014e-01]
 [2.84347639e-01]
 [6.60805330e-04]]

 R_gt:
[[ 0.99792828 -0.04942489  0.04119657]
 [ 0.04853838  0.99857395  0.02226018]
 [-0.04223892 -0.0202144   0.99890252]]

 t_gt:
[ 0.58061166 -0.55102742  0.59938208]

Pose Error in degrees for R and t:
5.078893393877825 66.39948113039563

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.97581433e-01  6.95074159e-02  6.17252438e-05]
 [-6.95074105e-02  9.97581431e-01 -8.70224033e-05]
 [-6.76246595e-05  8.25215720e-05  9.99999994e-01]]

 t_estimated:
[[ 9.03865750e-01]
 [-4.27816132e-01]
 [ 2.49232306e-04]]

 R_gt:
[[ 0.99635853 -0.08128436  0.02575373]
 [ 0.08266191  0.99489462 -0.05789557]
 [-0.02091613  0.05981382  0.99799031]]

 t_gt:
[ 0.69670195 -0.35311404 -0.62443324]

Pose Error in degrees for R and t:
9.417409494741609 38.68103823923065

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99998047e-01  1.96266939e-03  2.31044658e-04]
 [-1.96251941e-03  9.99997865e-01 -6.47563347e-04]
 [-2.32315117e-04  6.47108652e-04  9.99999764e-01]]

 t_estimated:
[[-0.01349605]
 [-0.99990516]
 [-0.00274419]]

 R_gt:
[[ 0.99553179 -0.09304735  0.01613449]
 [ 0.09358541  0.99493558 -0.03666265]
 [-0.01264243  0.03800874  0.99919677]]

 t_gt:
[ 0.83570551 -0.42415099 -0.34884414]

Pose Error in degrees for R and t:
5.915888851986748 65.55690137428883

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.03415004  0.99940192  0.00543889]
 [-0.99937633  0.03419708 -0.00880419]
 [-0.00898492 -0.00513483  0.99994645]]

 t_estimated:
[[0.07541223]
 [0.99711724]
 [0.00837914]]

 R_gt:
[[ 0.98324633 -0.18224872 -0.0034275 ]
 [ 0.18215429  0.98308899 -0.01885018]
 [ 0.00680439  0.01790985  0.99981547]]

 t_gt:
[ 0.96444958 -0.25943143 -0.05032242]

Pose Error in degrees for R and t:
98.54660235735213 79.25875464470707

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-6.99639452e-01 -7.14492882e-01 -2.13514501e-03]
 [ 7.14495640e-01 -6.99639194e-01 -9.89809366e-04]
 [-7.86619383e-04 -2.21806148e-03  9.99997231e-01]]

 t_estimated:
[[0.89216712]
 [0.45170431]
 [0.00102196]]

 R_gt:
[[ 0.99589804  0.00129649 -0.09048557]
 [-0.00105152  0.99999645  0.00275799]
 [ 0.09048839 -0.00265155  0.99589403]]

 t_gt:
[ 0.36033253 -0.00782475 -0.9327911 ]

Pose Error in degrees for R and t:
134.50999946271452 71.51906448048562

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999183e-01  1.27273019e-03 -1.15803673e-04]
 [-1.27260801e-03  9.99998640e-01  1.04907903e-03]
 [ 1.17138710e-04 -1.04893080e-03  9.99999443e-01]]

 t_estimated:
[[-8.77350030e-01]
 [-4.79850287e-01]
 [-7.91832157e-04]]

 R_gt:
[[ 0.98344932  0.01543977 -0.18053134]
 [-0.01470004  0.99987836  0.00543637]
 [ 0.18059343 -0.00269242  0.98355391]]

 t_gt:
[ 0.3117883   0.08273705 -0.94654247]

Pose Error in degrees for R and t:
10.427755533689155 71.79008134955775

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.75725091e-01 -2.18998694e-01  3.44866966e-04]
 [ 2.18998800e-01  9.75725080e-01 -3.05457274e-04]
 [-2.69600604e-04  3.73567778e-04  9.99999894e-01]]

 t_estimated:
[[0.00715972]
 [0.99997366]
 [0.00119329]]

 R_gt:
[[ 0.96919285  0.0296688  -0.24451166]
 [-0.03013783  0.99954504  0.00182327]
 [ 0.2444553   0.00560191  0.96964509]]

 t_gt:
[ 0.29610828  0.11885503 -0.94773064]

Pose Error in degrees for R and t:
20.17014257669405 83.11707147349851

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 7.27050320e-01 -6.86583721e-01 -7.91715403e-04]
 [ 6.86584128e-01  7.27050220e-01  4.60744912e-04]
 [ 2.59276902e-04 -8.78563965e-04  9.99999580e-01]]

 t_estimated:
[[ 9.81098734e-01]
 [-1.93506976e-01]
 [ 5.70319329e-04]]

 R_gt:
[[ 0.98851707 -0.150941   -0.00715568]
 [ 0.15066717  0.98813472 -0.02981326]
 [ 0.01157042  0.02839271  0.99952985]]

 t_gt:
[ 0.84520359 -0.50823608 -0.16530871]

Pose Error in degrees for R and t:
34.72938481178778 21.954488246141157

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.2807182  -0.95977815  0.00481501]
 [-0.95978518  0.28069691 -0.00465425]
 [ 0.00311549 -0.00592791 -0.99997758]]

 t_estimated:
[[0.87407315]
 [0.48578716]
 [0.00263665]]

 R_gt:
[[ 0.96787817 -0.25069541  0.01908102]
 [ 0.2512801   0.9670846  -0.04006803]
 [-0.00840897  0.0435757   0.99901484]]

 t_gt:
[ 0.86286856 -0.48800976 -0.13154592]

Pose Error in degrees for R and t:
179.1996690162028 58.882520958030184

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-8.39632539e-01  5.43104902e-01  7.36648185e-03]
 [ 5.43114936e-01  8.39658040e-01 -7.36426729e-04]
 [-6.58528268e-03  3.38251847e-03 -9.99972596e-01]]

 t_estimated:
[[ 0.98913208]
 [-0.14699234]
 [ 0.00331286]]

 R_gt:
[[ 0.93204806 -0.35973998  0.04327698]
 [ 0.36204579  0.92940442 -0.07162388]
 [-0.0144556   0.08242507  0.99649232]]

 t_gt:
[ 0.88798108 -0.42819469 -0.16774656]

Pose Error in degrees for R and t:
176.68802821543468 19.827817815298065

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.94438790e-01 -1.05316155e-01  1.48072158e-05]
 [ 1.05316151e-01  9.94438774e-01  1.81200788e-04]
 [-3.38082398e-05 -1.78633654e-04  9.99999983e-01]]

 t_estimated:
[[ 0.5405675 ]
 [-0.84129946]
 [ 0.00141653]]

 R_gt:
[[ 9.97965248e-01  2.84714200e-05  6.37677415e-02]
 [ 1.06003847e-04  9.99997410e-01 -2.10034778e-03]
 [-6.37681044e-02  2.10319866e-03  9.97962857e-01]]

 t_gt:
[-0.64643642 -0.11380878  0.75443192]

Pose Error in degrees for R and t:
7.062579867248871 75.36700610014353

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.98946125e-01 -4.58981348e-02  3.47186338e-05]
 [ 4.58981189e-02  9.98946057e-01  3.70230744e-04]
 [-5.16749429e-05 -3.68247047e-04  9.99999931e-01]]

 t_estimated:
[[9.18895708e-01]
 [3.94499728e-01]
 [8.01828715e-04]]

 R_gt:
[[ 0.99453807 -0.08295356  0.06335439]
 [ 0.0820234   0.99648168  0.01715876]
 [-0.06455556 -0.01186773  0.99784324]]

 t_gt:
[-0.02497155 -0.79733427  0.60302113]

Pose Error in degrees for R and t:
4.306609497000207 70.3051350546072

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.99996851 -0.00420774 -0.00672929]
 [ 0.00435899  0.99973457  0.02262293]
 [ 0.00663232 -0.02265155  0.99972142]]

 t_estimated:
[[0.99282463]
 [0.11930079]
 [0.00815876]]

 R_gt:
[[ 0.9701158  -0.23530566  0.05922342]
 [ 0.23512908  0.97191209  0.01002675]
 [-0.05991976  0.00419869  0.99819449]]

 t_gt:
[ 0.5057641  -0.83663623  0.21033897]

Pose Error in degrees for R and t:
13.950754398904097 66.16902976603531

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.93749102e-01 -1.11636563e-01 -1.86970728e-05]
 [ 1.11636564e-01  9.93749099e-01  8.10238739e-05]
 [ 9.53497241e-06 -8.26046789e-05  9.99999997e-01]]

 t_estimated:
[[ 8.14290321e-01]
 [-5.80457777e-01]
 [-2.04215475e-04]]

 R_gt:
[[ 0.99510884 -0.09251573  0.03464131]
 [ 0.0932603   0.99543041 -0.02052679]
 [-0.03258372  0.02365667  0.99918914]]

 t_gt:
[ 0.77430546 -0.62558516 -0.09536385]

Pose Error in degrees for R and t:
2.5493528945773805 6.4579410685252165

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-4.80871470e-01 -8.76786300e-01 -2.90045619e-03]
 [-8.76790750e-01  4.80865704e-01  2.48097149e-03]
 [-7.80551905e-04  3.73612156e-03 -9.99992716e-01]]

 t_estimated:
[[8.97512048e-01]
 [4.40989093e-01]
 [8.62992353e-04]]

 R_gt:
[[ 0.98061829 -0.18893185  0.05189991]
 [ 0.19208019  0.97926381 -0.06440649]
 [-0.03865604  0.07312736  0.99657357]]

 t_gt:
[ 0.82669206 -0.51139098 -0.23464759]

Pose Error in degrees for R and t:
179.8330039083713 58.91924153874813

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.84908873e-01  4.65764181e-01 -1.21759038e-04]
 [-4.65758368e-01  8.84899077e-01  4.77141231e-03]
 [ 2.33009741e-03 -4.16555480e-03  9.99988609e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.94815705 -0.31545897  0.03853237]
 [ 0.31778477  0.94242712 -0.10412962]
 [-0.00346598  0.11097543  0.9938172 ]]

 t_gt:
[ 0.87381863 -0.40137365 -0.27448168]

Pose Error in degrees for R and t:
46.72981630555293 62.59550013242613

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99995516e-01 -2.99441191e-03 -4.60299500e-05]
 [ 2.99441237e-03  9.99995517e-01  9.88375337e-06]
 [ 4.60001476e-05 -1.00215417e-05  9.99999999e-01]]

 t_estimated:
[[-6.54966628e-01]
 [ 7.55657706e-01]
 [-3.83908806e-04]]

 R_gt:
[[ 0.99613209  0.07141777 -0.05120488]
 [-0.07165805  0.99742552 -0.0028517 ]
 [ 0.05086909  0.00650954  0.99868404]]

 t_gt:
[-0.50594046  0.7424422  -0.43909432]

Pose Error in degrees for R and t:
5.1873144046172435 26.801392265253327

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99999232e-01  1.23924084e-03  1.46646795e-05]
 [-1.23923867e-03  9.99999221e-01 -1.47222470e-04]
 [-1.48471122e-05  1.47204184e-04  9.99999989e-01]]

 t_estimated:
[[-1.45175832e-01]
 [ 9.89405868e-01]
 [ 7.94728153e-05]]

 R_gt:
[[ 0.9888136   0.06271394 -0.13533672]
 [-0.06491885  0.99781998 -0.01192603]
 [ 0.1342937   0.02057751  0.99072766]]

 t_gt:
[-0.12158079  0.51085604 -0.85102539]

Pose Error in degrees for R and t:
8.598869288760909 58.4644887902379

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 1.59189882e-02  9.99873176e-01  4.67618987e-04]
 [ 9.99867171e-01 -1.59205247e-02  3.48958208e-03]
 [ 3.49658425e-03  4.12006258e-04 -9.99993802e-01]]

 t_estimated:
[[9.74288183e-01]
 [2.25304142e-01]
 [7.61162643e-04]]

 R_gt:
[[ 0.9710386   0.08095821 -0.2247923 ]
 [-0.08342102  0.99651397 -0.00146078]
 [ 0.22389013  0.02017016  0.97440535]]

 t_gt:
[ 0.01795371  0.41736569 -0.90856125]

Pose Error in degrees for R and t:
171.22450286256978 83.63656283368712

Number of keypoints:
Image1: 444
Image2: 444

 R_estimated:
[[ 9.99999996e-01 -9.44277563e-05  3.76417024e-06]
 [ 9.44277906e-05  9.99999996e-01 -9.10001799e-06]
 [-3.76331093e-06  9.10037339e-06  1.00000000e+00]]

 t_estimated:
[[9.75593843e-01]
 [2.19582041e-01]
 [6.17346415e-04]]

 R_gt:
[[ 0.9992892  -0.03478601 -0.0145041 ]
 [ 0.03461207  0.99932829 -0.01206327]
 [ 0.01491337  0.01155283  0.99982212]]

 t_gt:
[ 0.7434198  -0.27142774 -0.61127243]

Pose Error in degrees for R and t:
2.258603280424966 48.29482748169249

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[-0.90780812 -0.41886565  0.02088053]
 [-0.41886994  0.90803568  0.00437832]
 [-0.0207942  -0.00477155 -0.99977239]]

 t_estimated:
[[0.97390177]
 [0.22672202]
 [0.01060522]]

 R_gt:
[[ 0.99472419 -0.09588464 -0.03647294]
 [ 0.09654629  0.99518598  0.0168358 ]
 [ 0.03468254 -0.02026877  0.9991928 ]]

 t_gt:
[ 0.96195111 -0.25210422  0.10532584]

Pose Error in degrees for R and t:
179.45518558764073 28.260339395320266

Number of keypoints:
Image1: 349
Image2: 349

 R_estimated:
[[ 9.99999845e-01 -5.42842287e-04  1.23959242e-04]
 [ 5.42846025e-04  9.99999852e-01 -3.01258602e-05]
 [-1.23942870e-04  3.01931463e-05  9.99999992e-01]]

 t_estimated:
[[9.52985769e-01]
 [3.03014636e-01]
 [5.03509709e-04]]

 R_gt:
[[ 0.98480424 -0.15743178 -0.07331969]
 [ 0.1590719   0.98711953  0.01706429]
 [ 0.06968799 -0.02846839  0.9971622 ]]

 t_gt:
[ 0.9859354  -0.16678299  0.01071557]

Pose Error in degrees for R and t:
10.062026460412095 27.245873644029817

Number of keypoints:
Image1: 306
Image2: 306

 R_estimated:
[[ 9.99204829e-01 -3.98710941e-02  8.08314853e-05]
 [ 3.98711008e-02  9.99204828e-01 -8.25701695e-05]
 [-7.74750474e-05  8.57273524e-05  9.99999993e-01]]

 t_estimated:
[[0.96132362]
 [0.27541571]
 [0.00175424]]

 R_gt:
[[ 0.99277704  0.11977094 -0.00687113]
 [-0.11947718  0.99226955  0.0335432 ]
 [ 0.01083532 -0.03247957  0.999414  ]]

 t_gt:
[-0.85507631  0.48023019  0.19550826]

Pose Error in degrees for R and t:
9.366304073188708 46.417435109003414

Number of keypoints:
Image1: 358
Image2: 358

 R_estimated:
[[ 9.96534702e-01  8.31774538e-02 -3.14171601e-04]
 [-8.31773520e-02  9.96534707e-01  3.24257798e-04]
 [ 3.40053843e-04 -2.97002186e-04  9.99999898e-01]]

 t_estimated:
[[-0.99307682]
 [-0.1174607 ]
 [-0.00118647]]

 R_gt:
[[ 0.97317783  0.22826932  0.02857005]
 [-0.22853852  0.97351165  0.00649633]
 [-0.02633018 -0.01285112  0.99957096]]

 t_gt:
[-0.8090202   0.58375125  0.06870799]

Pose Error in degrees for R and t:
8.60271872533458 42.71222671229834

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 9.99999385e-01 -1.09693477e-03 -1.64823578e-04]
 [ 1.09697065e-03  9.99999375e-01  2.17806429e-04]
 [ 1.64584555e-04 -2.17987101e-04  9.99999963e-01]]

 t_estimated:
[[-9.96157630e-01]
 [-8.75776332e-02]
 [-3.65728834e-04]]

 R_gt:
[[ 0.9593246   0.28199447  0.01320939]
 [-0.28219021  0.95921586  0.01646822]
 [-0.00802729 -0.01952641  0.99977708]]

 t_gt:
[-0.77512361  0.62916011  0.05780098]

Pose Error in degrees for R and t:
16.493714769966644 44.190696474777894

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-7.88882233e-01 -6.14543481e-01 -1.06440284e-03]
 [ 6.14544400e-01 -7.88881209e-01 -1.27206217e-03]
 [-5.79498901e-05 -1.65763005e-03  9.99998624e-01]]

 t_estimated:
[[8.43199190e-01]
 [5.37600814e-01]
 [7.00913707e-04]]

 R_gt:
[[ 0.99928361  0.03743527  0.00561642]
 [-0.03715839  0.99837546 -0.04319828]
 [-0.00722515  0.04295877  0.99905034]]

 t_gt:
[-0.62737823  0.46081993 -0.62772729]

Pose Error in degrees for R and t:
144.2295431103555 73.63785218896567

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-7.66801874e-01  6.41878513e-01 -2.61930016e-03]
 [-6.41881591e-01 -7.66803626e-01  4.71528822e-04]
 [-1.70582464e-03  2.04284974e-03  9.99996458e-01]]

 t_estimated:
[[8.24386066e-01]
 [5.66027501e-01]
 [6.94512271e-04]]

 R_gt:
[[ 0.995375    0.07193416  0.06367578]
 [-0.06730558  0.99512551 -0.07207534]
 [-0.06855088  0.06745638  0.99536371]]

 t_gt:
[-0.78654194  0.60554116  0.12112668]

Pose Error in degrees for R and t:
136.11775569089187 72.2071104874534

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99255590e-01 -3.85731741e-02 -6.13229355e-04]
 [ 3.85738239e-02  9.99255163e-01  1.08584634e-03]
 [ 5.70888060e-04 -1.10869262e-03  9.99999222e-01]]

 t_estimated:
[[7.89027609e-01]
 [6.14357375e-01]
 [6.69234613e-04]]

 R_gt:
[[ 0.99290739  0.05110441  0.10734369]
 [-0.04464182  0.99709196 -0.0617656 ]
 [-0.1101884   0.05653529  0.99230149]]

 t_gt:
[-0.55676506  0.32058231  0.76631563]

Pose Error in degrees for R and t:
8.722934809630582 76.00495075198643

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.96140369e-01 -8.77621213e-02  1.47505369e-03]
 [ 8.77632642e-02  9.96141094e-01 -7.28701584e-04]
 [-1.40540920e-03  8.55344592e-04  9.99998647e-01]]

 t_estimated:
[[0.92703262]
 [0.37497949]
 [0.00094692]]

 R_gt:
[[ 0.99678324  0.07112637 -0.03692885]
 [-0.07097496  0.99746454  0.00538641]
 [ 0.0372184  -0.00274765  0.99930406]]

 t_gt:
[-0.58221872  0.77789637 -0.23642883]

Pose Error in degrees for R and t:
9.377948628748118 75.62516529579197

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.62230841e-01 -2.72234787e-01 -1.73080258e-04]
 [ 2.72234827e-01  9.62230802e-01  2.85738757e-04]
 [ 8.87551257e-05 -3.22065118e-04  9.99999944e-01]]

 t_estimated:
[[ 9.96474869e-01]
 [-8.38888526e-02]
 [ 7.04666147e-04]]

 R_gt:
[[ 0.99056844  0.06344041 -0.12144727]
 [-0.0653207   0.99779747 -0.01155573]
 [ 0.12044707  0.01938035  0.99253127]]

 t_gt:
[-0.17704502  0.56149458 -0.80831856]

Pose Error in degrees for R and t:
20.709802407598552 77.05041289605228

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.10933862e-01 -4.12552412e-01  8.49156991e-05]
 [ 4.12552414e-01  9.10933864e-01 -1.15406210e-05]
 [-7.25914749e-05  4.55449191e-05  9.99999996e-01]]

 t_estimated:
[[7.84309148e-01]
 [6.20369759e-01]
 [7.22199953e-04]]

 R_gt:
[[ 0.97433793  0.08391691 -0.20886446]
 [-0.08495459  0.99637776  0.0040126 ]
 [ 0.2084451   0.01383451  0.97793687]]

 t_gt:
[-0.03086959  0.46610517 -0.88419061]

Pose Error in degrees for R and t:
31.601419982428904 74.6741804397417

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.58124994e-01  2.86349779e-01  5.47039257e-04]
 [-2.86349338e-01  9.58124978e-01 -7.63071599e-04]
 [-7.42637360e-04  5.74473642e-04  9.99999559e-01]]

 t_estimated:
[[0.46587798]
 [0.88484833]
 [0.00106608]]

 R_gt:
[[ 0.99510275 -0.09243171  0.03503217]
 [ 0.09329077  0.99535643 -0.02370736]
 [-0.03267811  0.026859    0.99910485]]

 t_gt:
[ 0.77748714 -0.61864296 -0.11311337]

Pose Error in degrees for R and t:
22.096098624438536 79.32069745529134

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.74682931e-01  2.23591235e-01  3.77903647e-04]
 [-2.23591204e-01  9.74683004e-01 -1.22249501e-04]
 [-3.95670179e-04  3.46585702e-05  9.99999921e-01]]

 t_estimated:
[[0.68911768]
 [0.72464885]
 [0.00093503]]

 R_gt:
[[ 0.98063681 -0.18868081  0.05245427]
 [ 0.19226703  0.9784893  -0.07477606]
 [-0.03721668  0.0834119   0.99582043]]

 t_gt:
[ 0.82465429 -0.49628435 -0.27138006]

Pose Error in degrees for R and t:
24.479637362583947 77.97149977693726

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.96166499e-01 -8.74772124e-02  2.08911375e-04]
 [ 8.74771505e-02  9.96166484e-01  2.88953323e-04]
 [-2.33387341e-04 -2.69570648e-04  9.99999936e-01]]

 t_estimated:
[[ 9.69952258e-01]
 [-2.43294784e-01]
 [ 5.14393803e-04]]

 R_gt:
[[ 9.49920448e-01 -3.10500267e-01  3.52252163e-02]
 [ 3.12492783e-01  9.43925914e-01 -1.06544332e-01]
 [-1.67551110e-04  1.12215368e-01  9.93684129e-01]]

 t_gt:
[ 0.87166096 -0.4009558  -0.28185389]

Pose Error in degrees for R and t:
14.679791375374542 19.459882085398018

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.96536664e-01  8.31545212e-02  4.95712156e-05]
 [-8.31545188e-02  9.96536664e-01 -4.85110707e-05]
 [-5.34334487e-05  4.42209900e-05  9.99999998e-01]]

 t_estimated:
[[-6.53875777e-02]
 [ 9.97859938e-01]
 [ 9.17632827e-05]]

 R_gt:
[[ 0.9980561  -0.00645139  0.06198367]
 [ 0.00610449  0.99996405  0.00578085]
 [-0.06201849 -0.00538999  0.99806062]]

 t_gt:
[-0.56030839 -0.19240794  0.80562628]

Pose Error in degrees for R and t:
6.2473515489425235 81.0666719548358

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.44347558  0.89628433  0.00195158]
 [ 0.89628569 -0.44347131 -0.00227073]
 [-0.00116975  0.00275619 -0.99999552]]

 t_estimated:
[[0.99985833]
 [0.01679493]
 [0.00111966]]

 R_gt:
[[ 0.99354266 -0.10142007  0.05085259]
 [ 0.10043758  0.9947102   0.02152256]
 [-0.05276674 -0.01627529  0.99847402]]

 t_gt:
[ 0.14300058 -0.85250978  0.50277023]

Pose Error in degrees for R and t:
179.18222442125372 82.57516600673209

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.54330727e-01  2.98751556e-01  6.09070694e-04]
 [-2.98751620e-01  9.54330901e-01  1.57676030e-05]
 [-5.76544389e-04 -1.97008365e-04  9.99999814e-01]]

 t_estimated:
[[0.66343415]
 [0.74823401]
 [0.00099765]]

 R_gt:
[[ 0.96459424 -0.25879066  0.05084329]
 [ 0.25852014  0.96593161  0.01194021]
 [-0.05220247  0.0016275   0.99863541]]

 t_gt:
[ 0.5680994  -0.80538331  0.16917684]

Pose Error in degrees for R and t:
32.51459796264608 76.96478622052949

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.95773458e-01  9.18434499e-02 -8.79155962e-06]
 [-9.18434498e-02  9.95773459e-01  5.03715784e-06]
 [ 9.21703168e-06 -4.20842092e-06  1.00000000e+00]]

 t_estimated:
[[0.68606091]
 [0.72754367]
 [0.00079775]]

 R_gt:
[[ 0.99950375  0.03063538  0.00737937]
 [-0.03032101  0.99876083 -0.03948545]
 [-0.00857921  0.03924351  0.99919243]]

 t_gt:
[-0.64116529  0.3693934  -0.67264819]

Pose Error in degrees for R and t:
4.2077229576453306 80.1153475061198

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-7.06731634e-01 -7.07479080e-01 -1.93619260e-03]
 [ 7.07476053e-01 -7.06734280e-01  2.07171660e-03]
 [-2.83406984e-03  9.43377604e-05  9.99995980e-01]]

 t_estimated:
[[0.99999253]
 [0.00358638]
 [0.00143824]]

 R_gt:
[[ 0.99547572  0.07283812  0.06101326]
 [-0.06820845  0.99486361 -0.07480008]
 [-0.06614808  0.07030096  0.99532957]]

 t_gt:
[-0.79541097  0.60283268  0.06256313]

Pose Error in degrees for R and t:
139.07691098070097 37.51884554684551

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 7.03687304e-01  7.10508204e-01  1.50634686e-03]
 [ 7.10506118e-01 -7.03688902e-01  1.72801383e-03]
 [ 2.28776757e-03 -1.45712736e-04 -9.99997372e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99261402  0.05501629  0.10812784]
 [-0.04777968  0.99651278 -0.06840901]
 [-0.11151299  0.06273715  0.99177996]]

 t_gt:
[-0.60799519  0.35270224  0.71129669]

Pose Error in degrees for R and t:
174.1544992157492 52.674163352299956

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.65487195e-01 -2.60450362e-01 -2.93287480e-04]
 [ 2.60450389e-01  9.65487230e-01  5.78873019e-05]
 [ 2.68088547e-04 -1.32276287e-04  9.99999955e-01]]

 t_estimated:
[[-0.61110463]
 [-0.79154891]
 [-0.00120296]]

 R_gt:
[[ 0.99143305  0.13045594 -0.00640017]
 [-0.13022893  0.99108226  0.02819026]
 [ 0.01002021 -0.02711589  0.99958205]]

 t_gt:
[-0.86183765  0.48785974  0.13866772]

Pose Error in degrees for R and t:
22.646987341859056 81.93240267799163

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99235066e-01 -3.91053031e-02  2.40416448e-04]
 [ 3.91057235e-02  9.99232859e-01 -2.10638324e-03]
 [-1.57861259e-04  2.11417365e-03  9.99997753e-01]]

 t_estimated:
[[9.69784870e-01]
 [2.43960155e-01]
 [8.65106932e-04]]

 R_gt:
[[ 0.97432383  0.22338429  0.02812713]
 [-0.22334535  0.97472877 -0.00457854]
 [-0.02843831 -0.00182158  0.99959409]]

 t_gt:
[-0.80266146  0.59550993  0.03320382]

Pose Error in degrees for R and t:
15.236467281909944 50.720828149902125

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.93012215e-01 -1.18011031e-01 -3.70488371e-04]
 [ 1.18011129e-01  9.93012240e-01  2.53261862e-04]
 [ 3.38011794e-04 -2.95213873e-04  9.99999899e-01]]

 t_estimated:
[[-0.42393976]
 [-0.90568948]
 [-0.00128467]]

 R_gt:
[[ 0.95650975  0.29143266  0.01245808]
 [-0.29160322  0.95642047  0.01510418]
 [-0.00751317 -0.01808117  0.9998078 ]]

 t_gt:
[-0.77594937  0.62881429  0.04995168]

Pose Error in degrees for R and t:
23.753901293168663 76.07693054443914

Number of keypoints:
Image1: 454
Image2: 454

 R_estimated:
[[ 1.00000000e+00 -2.33587199e-05 -1.04401648e-05]
 [ 2.33584371e-05  9.99999999e-01 -2.70890380e-05]
 [ 1.04407975e-05  2.70887942e-05  1.00000000e+00]]

 t_estimated:
[[9.99998436e-01]
 [1.76347181e-03]
 [1.34291342e-04]]

 R_gt:
[[ 0.99895414 -0.0439234  -0.01276858]
 [ 0.04362941  0.99879559 -0.02247814]
 [ 0.01374014  0.02189731  0.99966512]]

 t_gt:
[ 0.70135989 -0.24111067 -0.67079055]

Pose Error in degrees for R and t:
2.91149190337977 45.50528124512958

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 9.99996257e-01  2.73107324e-03  1.67428376e-04]
 [-2.73105617e-03  9.99996265e-01 -1.02120745e-04]
 [-1.67706650e-04  1.01663107e-04  9.99999981e-01]]

 t_estimated:
[[9.06772824e-01]
 [4.21618784e-01]
 [8.04343885e-04]]

 R_gt:
[[ 0.99496486 -0.09498405 -0.03198664]
 [ 0.09530356  0.9954114   0.00859815]
 [ 0.03102279 -0.0116031   0.99945093]]

 t_gt:
[ 0.96271163 -0.26916916  0.02709758]

Pose Error in degrees for R and t:
5.93285430512479 40.580234402238204

Number of keypoints:
Image1: 333
Image2: 333

 R_estimated:
[[ 9.99999768e-01  6.65593273e-04  1.43923827e-04]
 [-6.65599754e-04  9.99999777e-01  4.49867380e-05]
 [-1.43893852e-04 -4.50825232e-05  9.99999989e-01]]

 t_estimated:
[[9.54727465e-01]
 [2.97481066e-01]
 [6.94711402e-04]]

 R_gt:
[[ 0.98350566 -0.16672104 -0.07015435]
 [ 0.16764434  0.98582031  0.00743113]
 [ 0.0679205  -0.01907042  0.99750822]]

 t_gt:
[ 0.98403467 -0.16935805 -0.05471394]

Pose Error in degrees for R and t:
10.486993639109073 27.243872567353247

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-6.34589141e-01 -7.72847015e-01 -2.02787301e-03]
 [ 7.72846515e-01 -6.34591866e-01  1.19516182e-03]
 [-2.21054896e-03 -8.08797872e-04  9.99997230e-01]]

 t_estimated:
[[0.96784213]
 [0.25155563]
 [0.0011764 ]]

 R_gt:
[[ 0.99549873 -0.08773108  0.03584342]
 [ 0.08977287  0.99415239 -0.0600092 ]
 [-0.03036929  0.06295707  0.99755418]]

 t_gt:
[ 0.69655293 -0.38516838 -0.60535885]

Pose Error in degrees for R and t:
124.33312549353144 54.79175865749869

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99995629e-01  2.95650018e-03  2.63935154e-05]
 [-2.95649699e-03  9.99995622e-01 -1.20046278e-04]
 [-2.67483168e-05  1.19967721e-04  9.99999992e-01]]

 t_estimated:
[[ 5.23333430e-01]
 [-8.52127782e-01]
 [-6.03502710e-04]]

 R_gt:
[[ 0.9947555  -0.09860081  0.02721174]
 [ 0.09974167  0.99402242 -0.04439981]
 [-0.02267113  0.04688235  0.99864384]]

 t_gt:
[ 0.78457706 -0.44570096 -0.43103305]

Pose Error in degrees for R and t:
6.5766797018835845 37.753731039108025

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99999896e-01  3.13481773e-04  3.32538403e-04]
 [-3.13430231e-04  9.99999939e-01 -1.55038400e-04]
 [-3.32586984e-04  1.54934157e-04  9.99999933e-01]]

 t_estimated:
[[9.40181995e-01]
 [3.40671432e-01]
 [8.89481547e-04]]

 R_gt:
[[ 0.98310493 -0.18294118  0.00618848]
 [ 0.18303348  0.98287038 -0.02158707]
 [-0.0021339   0.02235594  0.99974821]]

 t_gt:
[ 0.95821851 -0.27947681 -0.06090975]

Pose Error in degrees for R and t:
10.63925949768769 36.328292777256685

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.98055827 -0.19617749  0.00445805]
 [-0.19621113 -0.97992112  0.03543706]
 [-0.00258341 -0.03562282 -0.99936197]]

 t_estimated:
[[0.14321357]
 [0.98954131]
 [0.01725878]]

 R_gt:
[[ 0.99809457  0.01648465  0.05947056]
 [-0.01556145  0.99975249 -0.01594617]
 [-0.05971806  0.01499025  0.99810189]]

 t_gt:
[-0.3994492   0.21558481  0.89104631]

Pose Error in degrees for R and t:
178.4993267001885 80.12484583081316

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.98556086e-01 -5.37190617e-02 -7.82499058e-05]
 [ 5.37190760e-02  9.98556069e-01  1.94227447e-04]
 [ 6.77032021e-05 -1.98150512e-04  9.99999978e-01]]

 t_estimated:
[[3.30685048e-01]
 [9.43741172e-01]
 [6.52590297e-06]]

 R_gt:
[[ 0.99549854 -0.01484323  0.09361456]
 [ 0.01570166  0.99984215 -0.00843607]
 [-0.09347494  0.00986674  0.99557212]]

 t_gt:
[ 0.13906989 -0.19954892  0.96996897]

Pose Error in degrees for R and t:
5.8300149494941556 81.81742733917528

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 8.40000390e-01  5.42584619e-01  1.12969105e-03]
 [-5.42583153e-01  8.40000976e-01 -1.37175425e-03]
 [-1.69323434e-03  5.39322768e-04  9.99998421e-01]]

 t_estimated:
[[0.12480937]
 [0.99217879]
 [0.00196969]]

 R_gt:
[[ 0.99769972 -0.0434824   0.05201225]
 [ 0.04259664  0.99893037  0.01803488]
 [-0.05274186 -0.0157782   0.99848303]]

 t_gt:
[ 0.52269189 -0.50567377  0.68635795]

Pose Error in degrees for R and t:
35.458994675954735 64.2064320881545

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.82870244 -0.55964941 -0.00669331]
 [-0.55965219  0.828726   -0.00162536]
 [ 0.00645655  0.00239899 -0.99997628]]

 t_estimated:
[[ 0.95405222]
 [ 0.29963036]
 [-0.0024526 ]]

 R_gt:
[[ 0.99024137  0.13863985  0.01411538]
 [-0.13846315  0.9902845  -0.01280612]
 [-0.01575419  0.01072769  0.99981762]]

 t_gt:
[-0.83179821  0.55415653 -0.03197297]

Pose Error in degrees for R and t:
179.763604161966 51.137145003177366

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 8.67318884e-01  4.97752595e-01  5.54443233e-04]
 [-4.97751685e-01  8.67318688e-01 -1.24672760e-03]
 [-1.10144087e-03  8.05335335e-04  9.99999069e-01]]

 t_estimated:
[[-9.99974549e-01]
 [-7.07946583e-03]
 [-8.84933229e-04]]

 R_gt:
[[ 0.97501805  0.22211127  0.00235201]
 [-0.22210371  0.974735    0.02371056]
 [ 0.00297303 -0.02363993  0.99971514]]

 t_gt:
[-0.81235478  0.57907747  0.06891298]

Pose Error in degrees for R and t:
17.076210264591353 36.082134765274006

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-9.65345818e-01  2.60961235e-01 -2.58576676e-03]
 [ 2.60962137e-01  9.65349037e-01 -1.20485839e-05]
 [ 2.49302324e-03 -6.86418271e-04 -9.99996657e-01]]

 t_estimated:
[[9.99974549e-01]
 [7.07946585e-03]
 [8.84933229e-04]]

 R_gt:
[[ 0.93945798  0.3422834   0.01614542]
 [-0.34225975  0.93959557 -0.00425978]
 [-0.01662878 -0.00152349  0.99986055]]

 t_gt:
[-0.7692007   0.63900661  0.00091129]

Pose Error in degrees for R and t:
179.1848672080511 40.12355796799787

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999982e-01  1.54222100e-04 -1.07260890e-04]
 [-1.54260946e-04  9.99999922e-01 -3.62254911e-04]
 [ 1.07205013e-04  3.62271451e-04  9.99999929e-01]]

 t_estimated:
[[-0.70817723]
 [-0.70603241]
 [-0.00180093]]

 R_gt:
[[ 0.98847085 -0.1512826  -0.00624167]
 [ 0.15104999  0.98811874 -0.02837822]
 [ 0.01045984  0.02710926  0.99957768]]

 t_gt:
[ 0.84634661 -0.51029171 -0.15264267]

Pose Error in degrees for R and t:
8.85867894511306 76.18391929503102

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.75184121e-01  2.21388514e-01  1.74828123e-03]
 [-2.21387935e-01  9.75185680e-01 -5.20834355e-04]
 [-1.82020557e-03  1.20861021e-04  9.99998336e-01]]

 t_estimated:
[[-9.05039903e-01]
 [-4.25326202e-01]
 [ 6.29852806e-04]]

 R_gt:
[[ 0.96983135 -0.24233386  0.02646099]
 [ 0.24329982  0.96899361 -0.04308105]
 [-0.01520122  0.04822055  0.9987206 ]]

 t_gt:
[ 0.85555335 -0.49799822 -0.14151411]

Pose Error in degrees for R and t:
26.99953675814485 55.765079230367775

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.75146392  0.659724    0.00813736]
 [ 0.6597366   0.7514956  -0.0014044 ]
 [-0.00704171  0.00431315 -0.9999659 ]]

 t_estimated:
[[ 0.98058712]
 [-0.19605293]
 [ 0.00348639]]

 R_gt:
[[ 0.93480318 -0.35197472  0.04750841]
 [ 0.35463404  0.93233364 -0.07062849]
 [-0.01943418  0.08287277  0.99637049]]

 t_gt:
[ 0.88415624 -0.43633482 -0.16697204]

Pose Error in degrees for R and t:
176.12333049496144 17.83269211744627

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.99948587 -0.03203656  0.0012883 ]
 [ 0.03203302 -0.99948322 -0.00268065]
 [ 0.00137351 -0.002638    0.99999558]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.99568663 -0.00331249 -0.0927276 ]
 [ 0.00317898  0.99999376 -0.00159072]
 [ 0.09273197  0.00128922  0.99568989]]

 t_gt:
[ 0.3931499  -0.05242903 -0.9179784 ]

Pose Error in degrees for R and t:
177.97376258099143 74.73136407091175

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.55998406  0.82845237 -0.00919419]
 [ 0.82846347 -0.55981366  0.01602964]
 [ 0.00813276 -0.01659339 -0.99982924]]

 t_estimated:
[[ 0.27947582]
 [-0.96010521]
 [-0.00955237]]

 R_gt:
[[ 0.98340023  0.01219282 -0.18104072]
 [-0.01219282  0.99992508  0.00111113]
 [ 0.18104083  0.00111464  0.9834749 ]]

 t_gt:
[ 0.32585739  0.06874781 -0.94291606]

Pose Error in degrees for R and t:
174.05793874207365 88.04748518949586

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.92433901e-01 -1.22779454e-01  3.97620882e-04]
 [ 1.22779382e-01  9.92433969e-01  2.00461600e-04]
 [-4.19225036e-04 -1.50125242e-04  9.99999901e-01]]

 t_estimated:
[[0.18556678]
 [0.98263108]
 [0.00106212]]

 R_gt:
[[ 0.96774594  0.02579145 -0.25060401]
 [-0.02698737  0.99963482 -0.00133973]
 [ 0.25047827  0.0080596   0.96808859]]

 t_gt:
[ 0.31534763  0.1007296  -0.94361508]

Pose Error in degrees for R and t:
16.87332492895745 80.9964389751052

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.98197846e-01 -6.00087986e-02  6.83042845e-05]
 [ 6.00088171e-02  9.98197798e-01 -3.12538284e-04]
 [-4.94261394e-05  3.16073901e-04  9.99999949e-01]]

 t_estimated:
[[-0.28778032]
 [-0.95769516]
 [-0.00157257]]

 R_gt:
[[ 9.78686515e-01 -1.98446721e-01  5.28444104e-02]
 [ 1.98194163e-01  9.80110411e-01  1.00364468e-02]
 [-5.37835899e-02  6.51125743e-04  9.98552280e-01]]

 t_gt:
[ 0.62102129 -0.75129752  0.2233486 ]

Pose Error in degrees for R and t:
8.578597996010217 57.28605903375094

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99999965e-01 -1.53351479e-05  2.62245099e-04]
 [ 1.53937319e-05  9.99999975e-01 -2.23393344e-04]
 [-2.62241666e-04  2.23397374e-04  9.99999941e-01]]

 t_estimated:
[[ 9.96805848e-01]
 [-7.98629809e-02]
 [ 6.99323688e-05]]

 R_gt:
[[ 0.93476843 -0.35480929 -0.0178544 ]
 [ 0.35516231  0.934504    0.02370576]
 [ 0.00827599 -0.02850136  0.99955908]]

 t_gt:
[ 0.71363877 -0.69891444  0.04731075]

Pose Error in degrees for R and t:
20.866660623854948 39.89867363882812

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.99959096 -0.02857956 -0.00105444]
 [ 0.02858074  0.99959086  0.00112031]
 [ 0.00102199 -0.00114998  0.99999882]]

 t_estimated:
[[0.30572618]
 [0.95211866]
 [0.00124786]]

 R_gt:
[[ 0.88393422 -0.46730691  0.0168577 ]
 [ 0.46634241  0.88361678  0.04178741]
 [-0.03442204 -0.02907601  0.99898374]]

 t_gt:
[ 0.71851764 -0.68573947  0.11616276]

Pose Error in degrees for R and t:
26.329161576791137 64.33613310849135

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.99998505e-01  1.72877462e-03  2.32305549e-05]
 [-1.72877301e-03  9.99998503e-01 -6.91948742e-05]
 [-2.33501425e-05  6.91546104e-05  9.99999997e-01]]

 t_estimated:
[[ 5.92483188e-01]
 [-8.05582701e-01]
 [-4.29150040e-04]]

 R_gt:
[[ 0.99736783 -0.05263111 -0.04986682]
 [ 0.04955872  0.99690768 -0.06098107]
 [ 0.05292151  0.05834917  0.99689215]]

 t_gt:
[ 0.39648943 -0.28283037 -0.87338601]

Pose Error in degrees for R and t:
5.439449131374524 62.4106445794452

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 1.00000000e+00  2.61281079e-05  3.45252442e-06]
 [-2.61281649e-05  1.00000000e+00  1.65006129e-05]
 [-3.45209329e-06 -1.65007031e-05  1.00000000e+00]]

 t_estimated:
[[0.99976531]
 [0.02161337]
 [0.00147692]]

 R_gt:
[[ 0.96643516 -0.25610277  0.02032691]
 [ 0.25642242  0.96644843 -0.01500081]
 [-0.01580355  0.01971033  0.99968097]]

 t_gt:
[ 0.6777568  -0.73515772  0.01374233]

Pose Error in degrees for R and t:
14.922425711638029 48.56814577115707

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.96574676e-01 -8.26976330e-02  1.28626596e-04]
 [ 8.26976507e-02  9.96574673e-01 -1.39137343e-04]
 [-1.16679679e-04  1.49297870e-04  9.99999982e-01]]

 t_estimated:
[[ 6.58141195e-01]
 [-7.52894453e-01]
 [-3.31096255e-04]]

 R_gt:
[[ 0.92691675 -0.37422302 -0.02796401]
 [ 0.37178098  0.92588661 -0.06716969]
 [ 0.05102655  0.05186418  0.99734939]]

 t_gt:
[ 0.72972047 -0.65671768 -0.1903416 ]

Pose Error in degrees for R and t:
17.682689325164443 12.899992718508889

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.95697819e-01 -9.26585822e-02 -4.90559395e-04]
 [ 9.26587253e-02  9.95697888e-01  2.77337870e-04]
 [ 4.62751220e-04 -3.21599321e-04  9.99999841e-01]]

 t_estimated:
[[8.79479284e-01]
 [4.75936630e-01]
 [7.16772033e-04]]

 R_gt:
[[ 0.99885784 -0.03266774  0.0348981 ]
 [ 0.03172992  0.99912956  0.02709314]
 [-0.03575271 -0.02595514  0.99902388]]

 t_gt:
[ 0.3833284  -0.82131164  0.42250033]

Pose Error in degrees for R and t:
4.302133423129771 86.93550261136185

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.08763061 -0.99601769 -0.01642052]
 [ 0.99580754  0.08802242 -0.02488783]
 [ 0.0262341  -0.01417075  0.99955538]]

 t_estimated:
[[8.35919018e-01]
 [5.48852194e-01]
 [8.15530749e-04]]

 R_gt:
[[ 0.99906289 -0.04192073 -0.0108691 ]
 [ 0.04211866  0.99893778  0.01869873]
 [ 0.0100728  -0.0191403   0.99976595]]

 t_gt:
[ 0.4217062  -0.90234031  0.08913952]

Pose Error in degrees for R and t:
82.56671615182205 81.79782364830099

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999657e-01 -7.78449786e-04  2.82366208e-04]
 [ 7.78442025e-04  9.99999697e-01  2.75945392e-05]
 [-2.82387603e-04 -2.73747240e-05  9.99999960e-01]]

 t_estimated:
[[0.50341705]
 [0.86404293]
 [0.00104227]]

 R_gt:
[[ 0.98737597 -0.15233972 -0.04339191]
 [ 0.15176428  0.98828297 -0.01626196]
 [ 0.04535947  0.00947091  0.9989262 ]]

 t_gt:
[ 0.69066142 -0.71269305 -0.12270055]

Pose Error in degrees for R and t:
9.105827898718836 74.44076110614922

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.95279812  0.30347375 -0.00891202]
 [-0.30360097  0.95251934 -0.02309459]
 [ 0.00148027  0.02471018  0.99969356]]

 t_estimated:
[[-0.50829813]
 [ 0.85948887]
 [-0.05396185]]

 R_gt:
[[ 0.99627738  0.08618183 -0.00210005]
 [-0.08614967  0.99443704 -0.0606102 ]
 [-0.00313594  0.06056578  0.99815907]]

 t_gt:
[-0.46612604  0.82624548 -0.31629879]

Pose Error in degrees for R and t:
12.89717314317832 15.388677841308876

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999989e-01  1.49341889e-04  1.22352089e-05]
 [-1.49341328e-04  9.99999988e-01 -4.58488844e-05]
 [-1.22420559e-05  4.58470567e-05  9.99999999e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98239216  0.18673388  0.00615227]
 [-0.18628335  0.98149002 -0.04445156]
 [-0.0143395   0.04252285  0.99899282]]

 t_gt:
[-0.49444368  0.86507638 -0.08466584]

Pose Error in degrees for R and t:
11.047858476967251 30.470847310260858

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.99998728e-01  1.12101924e-04 -1.59107521e-03]
 [-1.10045569e-04  9.99999159e-01  1.29246014e-03]
 [ 1.59121876e-03 -1.29228340e-03  9.99997899e-01]]

 t_estimated:
[[7.96956091e-01]
 [6.04037043e-01]
 [4.89540368e-04]]

 R_gt:
[[ 0.95106188  0.30789065  0.02618797]
 [-0.3070364   0.95115525 -0.03212484]
 [-0.03480019  0.02251271  0.99914104]]

 t_gt:
[-0.47871861  0.87786855  0.01324008]

Pose Error in degrees for R and t:
18.079403291643047 81.44528046594476

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99999181e-01  1.27978258e-03  1.61957889e-06]
 [-1.27978258e-03  9.99999181e-01 -1.39748207e-06]
 [-1.62136604e-06  1.39540821e-06  1.00000000e+00]]

 t_estimated:
[[-5.48132573e-01]
 [ 8.36391223e-01]
 [ 6.35629365e-04]]

 R_gt:
[[ 9.98530534e-01  5.31890411e-02 -1.04288175e-02]
 [-5.31990000e-02  9.98583800e-01 -6.31407322e-04]
 [ 1.03803125e-02  1.18496687e-03  9.99946289e-01]]

 t_gt:
[-0.4930647   0.85442896 -0.16382413]

Pose Error in degrees for R and t:
3.0348083526361105 10.00335633294758

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.98126406  0.19266399 -0.00119872]
 [-0.19266088  0.98126266  0.00231695]
 [ 0.00162265 -0.00204259  0.9999966 ]]

 t_estimated:
[[-0.95770329]
 [-0.2877554 ]
 [-0.00111102]]

 R_gt:
[[ 9.87719197e-01  3.71459387e-02  1.51760930e-01]
 [-3.74453703e-02  9.99297822e-01 -8.87500146e-04]
 [-1.51687677e-01 -4.80643252e-03  9.88417646e-01]]

 t_gt:
[-0.35056376  0.23685199  0.90609392]

Pose Error in degrees for R and t:
12.558117478375054 74.53950276612596

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99997976e-01 -2.01204425e-03  7.71639675e-07]
 [ 2.01204433e-03  9.99997969e-01 -1.15036593e-04]
 [-5.40179393e-07  1.15037912e-04  9.99999993e-01]]

 t_estimated:
[[-3.40246322e-01]
 [-9.40336327e-01]
 [-1.81091189e-04]]

 R_gt:
[[ 9.75053555e-01  7.36223309e-02  2.09406978e-01]
 [-7.53542166e-02  9.97157155e-01  2.88386684e-04]
 [-2.08790242e-01 -1.60613324e-02  9.77828614e-01]]

 t_gt:
[-0.4386225   0.30010058  0.8470832 ]

Pose Error in degrees for R and t:
12.872822000538957 82.35070238601405

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99999987e-01  1.50634248e-04 -6.24228189e-05]
 [-1.50627422e-04  9.99999983e-01  1.09333788e-04]
 [ 6.24392872e-05 -1.09324384e-04  9.99999992e-01]]

 t_estimated:
[[-4.43056859e-02]
 [-9.99018019e-01]
 [-5.83228083e-05]]

 R_gt:
[[ 0.99989475  0.00936973 -0.01106094]
 [-0.01032485  0.99591786 -0.08966759]
 [ 0.01017623  0.08977257  0.99590999]]

 t_gt:
[ 0.01947867  0.40788123 -0.91282719]

Pose Error in degrees for R and t:
5.219421917752207 65.90250952181596

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99997492e-01  2.23063046e-03 -2.01908425e-04]
 [-2.23067070e-03  9.99997492e-01 -1.99295502e-04]
 [ 2.01463364e-04  1.99745394e-04  9.99999960e-01]]

 t_estimated:
[[-0.16812527]
 [-0.98576462]
 [-0.00141685]]

 R_gt:
[[ 0.99843567 -0.01528351 -0.05377687]
 [ 0.00643305  0.98692709 -0.16103426]
 [ 0.05553567  0.16043698  0.98548218]]

 t_gt:
[ 0.12737528  0.24955049 -0.95994796]

Pose Error in degrees for R and t:
9.78958134936756 74.57047165611665

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99999828 -0.00121205  0.00140503]
 [ 0.00121395  0.99999835 -0.00135301]
 [-0.00140339  0.00135471  0.9999981 ]]

 t_estimated:
[[-0.36055358]
 [-0.93273644]
 [-0.00195953]]

 R_gt:
[[ 0.98041568 -0.19662717 -0.01104442]
 [ 0.19357671  0.97248837 -0.12959132]
 [ 0.0362219   0.1249157   0.99150532]]

 t_gt:
[ 0.63800035 -0.51424012 -0.57316023]

Pose Error in degrees for R and t:
13.448870849360512 75.47867536351639

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.97265135e-01 -7.39070355e-02  2.06620626e-06]
 [ 7.39070351e-02  9.97265133e-01  7.44538541e-05]
 [-7.56321910e-06 -7.40975257e-05  9.99999997e-01]]

 t_estimated:
[[9.43475686e-01]
 [3.31441732e-01]
 [9.41594602e-05]]

 R_gt:
[[ 9.91885093e-01 -1.26992096e-01 -6.17187979e-03]
 [ 1.27141782e-01  9.90836882e-01  4.55717436e-02]
 [ 3.28292891e-04 -4.59871080e-02  9.98941458e-01]]

 t_gt:
[ 0.68516056 -0.65685489  0.31479622]

Pose Error in degrees for R and t:
4.04008025684417 64.61156144618577

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99990895e-01 -4.26558431e-03  1.19289187e-04]
 [ 4.26553310e-03  9.99990812e-01  4.26315084e-04]
 [-1.21106573e-04 -4.25802370e-04  9.99999902e-01]]

 t_estimated:
[[0.58517859]
 [0.81090389]
 [0.00094843]]

 R_gt:
[[ 0.98983816 -0.13899765 -0.0300129 ]
 [ 0.14160058  0.98283811  0.11823506]
 [ 0.0130636  -0.12128355  0.99253123]]

 t_gt:
[ 0.537274   -0.6814823   0.49690898]

Pose Error in degrees for R and t:
10.504189543020715 76.24656543843368

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-0.94984228  0.31270725  0.00371669]
 [ 0.31271882  0.94984073  0.00308794]
 [-0.00256465  0.00409533 -0.99998833]]

 t_estimated:
[[0.99770562]
 [0.06767383]
 [0.00193354]]

 R_gt:
[[ 9.81903898e-01 -1.84308544e-01 -4.35462948e-02]
 [ 1.89381888e-01  9.56489140e-01  2.21951835e-01]
 [ 7.43646483e-04 -2.26182323e-01  9.74084037e-01]]

 t_gt:
[ 0.4980791  -0.61728011  0.60900121]

Pose Error in degrees for R and t:
176.8772184096958 62.84880552476029

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.93153528e-01  1.16816357e-01  9.32847722e-05]
 [-1.16816345e-01  9.93153526e-01 -1.27435059e-04]
 [-1.07532600e-04  1.15665392e-04  9.99999988e-01]]

 t_estimated:
[[0.74047788]
 [0.67208032]
 [0.00074345]]

 R_gt:
[[ 0.9977267  -0.06632252  0.01200767]
 [ 0.06579412  0.99702815  0.04007823]
 [-0.01463047 -0.03919723  0.99912411]]

 t_gt:
[ 0.63946525 -0.6458892   0.41702678]

Pose Error in degrees for R and t:
10.768294177272216 87.72301120170088

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.26874827 -0.96320875  0.00180786]
 [-0.96320394  0.26873908 -0.00418   ]
 [ 0.00354037 -0.00286471 -0.99998963]]

 t_estimated:
[[8.55247666e-01]
 [5.18218943e-01]
 [7.45638767e-04]]

 R_gt:
[[ 0.9850308  -0.17166092 -0.0157546 ]
 [ 0.17219671  0.98409651  0.04360614]
 [ 0.00801871 -0.04566663  0.99892514]]

 t_gt:
[ 0.76161465 -0.6359968   0.12430285]

Pose Error in degrees for R and t:
179.07915990493564 71.22356941692776

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-4.88989441e-01 -8.72287177e-01  2.09926059e-03]
 [-8.72284887e-01  4.88993322e-01  2.14611217e-03]
 [-2.89855054e-03 -7.81727096e-04 -9.99995494e-01]]

 t_estimated:
[[0.92199668]
 [0.38719021]
 [0.00241994]]

 R_gt:
[[ 0.96868229 -0.24724128 -0.02293908]
 [ 0.24826206  0.96606648  0.07128392]
 [ 0.00453642 -0.07474628  0.99719213]]

 t_gt:
[ 0.76667031 -0.61917725  0.16981218]

Pose Error in degrees for R and t:
178.38213432662852 62.12533102879816

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-0.35216687 -0.93590369  0.00792317]
 [-0.93591831  0.35209331 -0.00933924]
 [ 0.00595094 -0.01070441 -0.999925  ]]

 t_estimated:
[[0.77462105]
 [0.63242489]
 [0.00099438]]

 R_gt:
[[ 0.99565724  0.04309755 -0.08251519]
 [-0.04841492  0.99680293 -0.06356706]
 [ 0.07951101  0.06728681  0.99456081]]

 t_gt:
[-0.10358393  0.58061673 -0.80756089]

Pose Error in degrees for R and t:
174.12244819954932 73.37208985950926

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 6.47424771e-01  7.62125868e-01 -2.30815146e-03]
 [ 7.62115827e-01 -6.47428353e-01 -3.99920697e-03]
 [-4.54226178e-03  8.30106899e-04 -9.99989339e-01]]

 t_estimated:
[[0.35072487]
 [0.93647156]
 [0.00361572]]

 R_gt:
[[ 0.97634181  0.11023284 -0.18602623]
 [-0.14213598  0.97549643 -0.16793953]
 [ 0.16295514  0.19040797  0.96808652]]

 t_gt:
[-0.0955173   0.63913264 -0.76314213]

Pose Error in degrees for R and t:
174.66195174625716 55.787074762207794

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 7.97807788e-01 -6.02911702e-01  4.60969647e-04]
 [-6.02907096e-01 -7.97798181e-01  4.59307509e-03]
 [-2.40145798e-03 -3.94231295e-03 -9.99989346e-01]]

 t_estimated:
[[-0.02017382]
 [ 0.99978862]
 [ 0.00396707]]

 R_gt:
[[ 0.96093867  0.16982929 -0.21853124]
 [-0.21615704  0.95364223 -0.20938795]
 [ 0.17283975  0.24844696  0.95310088]]

 t_gt:
[-0.13725948  0.72246255 -0.67764865]

Pose Error in degrees for R and t:
163.92362700033303 43.747792131683305

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.99323618e-01 -3.67731256e-02  2.11215793e-04]
 [ 3.67731304e-02  9.99323640e-01 -1.84771851e-05]
 [-2.10393471e-04  2.62317533e-05  9.99999978e-01]]

 t_estimated:
[[ 9.98340634e-01]
 [-5.75810335e-02]
 [-6.34700569e-04]]

 R_gt:
[[ 0.98962116 -0.14316801 -0.0124264 ]
 [ 0.14342263  0.98939749  0.02282936]
 [ 0.00902761 -0.0243748   0.99966224]]

 t_gt:
[ 0.75637172 -0.63767323  0.14585838]

Pose Error in degrees for R and t:
6.312088603008143 37.651402897461296

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-6.24996339e-01 -7.80624365e-01 -2.27530058e-03]
 [ 7.80627144e-01 -6.24996672e-01 -6.49352238e-04]
 [-9.15155112e-04 -2.18200417e-03  9.99997201e-01]]

 t_estimated:
[[8.09204834e-01]
 [5.87526115e-01]
 [7.75100416e-04]]

 R_gt:
[[ 0.9778114  -0.20734691 -0.02987024]
 [ 0.20892868  0.97565269  0.06671463]
 [ 0.01531085 -0.0714756   0.99732485]]

 t_gt:
[ 0.71460508 -0.64433116  0.27235445]

Pose Error in degrees for R and t:
116.6944246730852 78.4682100104504

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.98864395 -0.15026142 -0.00215544]
 [ 0.15026876  0.98863793  0.00378674]
 [ 0.00156194 -0.00406763  0.99999051]]

 t_estimated:
[[-9.92573935e-01]
 [-1.21638963e-01]
 [-9.73111701e-04]]

 R_gt:
[[ 0.97575421 -0.21622471 -0.03392575]
 [ 0.21876979  0.95881508  0.18114165]
 [-0.00663815 -0.1841717   0.98287224]]

 t_gt:
[ 0.55630677 -0.63889031  0.53135859]

Pose Error in degrees for R and t:
11.139457995382276 61.6420354816212

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.82386905e-01  1.86857495e-01  4.94598809e-04]
 [-1.86857402e-01  9.82387021e-01 -2.26888688e-04]
 [-5.28283302e-04  1.30473028e-04  9.99999852e-01]]

 t_estimated:
[[0.02578569]
 [0.99966683]
 [0.00114958]]

 R_gt:
[[ 0.9969014  -0.07603898  0.02012809]
 [ 0.07725672  0.99462761 -0.0689002 ]
 [-0.01477991  0.07024235  0.99741986]]

 t_gt:
[ 0.89924786  0.23374691 -0.36975081]

Pose Error in degrees for R and t:
15.712013783152956 75.14156282986781

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999726e-01 -1.79735099e-04  7.17900605e-04]
 [ 1.80339479e-04  9.99999629e-01 -8.41896495e-04]
 [-7.17749020e-04  8.42025731e-04  9.99999388e-01]]

 t_estimated:
[[0.82710747]
 [0.56204175]
 [0.00151725]]

 R_gt:
[[ 0.99341662 -0.10528395  0.04514377]
 [ 0.11060897  0.98411243 -0.13887665]
 [-0.02980449  0.14295583  0.98928017]]

 t_gt:
[ 0.77775048  0.42308049 -0.4648732 ]

Pose Error in degrees for R and t:
10.400792573271685 28.31335811679875

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.98701543  0.16016916 -0.01209892]
 [ 0.16030536  0.98700308 -0.01127435]
 [ 0.01013586 -0.01306748 -0.99986324]]

 t_estimated:
[[7.94594501e-01]
 [6.07140020e-01]
 [7.58925025e-04]]

 R_gt:
[[ 0.99535652 -0.09308903  0.02446504]
 [ 0.09618985  0.97101314 -0.21881499]
 [-0.00338649  0.22015303  0.97545944]]

 t_gt:
[ 0.55583948  0.61346963 -0.56097904]

Pose Error in degrees for R and t:
178.8479843904068 35.54066017092716

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99983212e-01  5.79358149e-03  1.02641716e-04]
 [-5.79357296e-03  9.99983214e-01 -8.32305040e-05]
 [-1.03122195e-04  8.26344444e-05  9.99999991e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99489144 -0.09832835 -0.02286635]
 [ 0.09860042  0.99506559  0.0110773 ]
 [ 0.02166457 -0.01327496  0.99967749]]

 t_gt:
[ 0.74748074 -0.66196671 -0.05543122]

Pose Error in degrees for R and t:
6.1596416752075385 41.80813548566836

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.98175999  0.1791077   0.06377896]
 [-0.1683745   0.97487026 -0.14586981]
 [-0.08830262  0.13247039  0.98724579]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 9.88025987e-01 -1.54270301e-01 -2.42818618e-03]
 [ 1.54287275e-01  9.87978925e-01  9.67321465e-03]
 [ 9.07196425e-04 -9.93172424e-03  9.99950052e-01]]

 t_gt:
[ 0.73565603 -0.67574401  0.04669303]

Pose Error in degrees for R and t:
21.26851298660862 80.92671885970692

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 2.17402766e-04 -9.99961109e-01  8.81669079e-03]
 [-9.99991052e-01 -2.54640075e-04 -4.22259911e-03]
 [ 4.22467997e-03 -8.81569390e-03 -9.99952217e-01]]

 t_estimated:
[[8.01642509e-01]
 [5.97803395e-01]
 [6.23361204e-04]]

 R_gt:
[[ 0.99055645 -0.13621985  0.01557071]
 [ 0.13655331  0.99037096 -0.0227739 ]
 [-0.01231823  0.02468481  0.99961879]]

 t_gt:
[ 0.69855368 -0.71418429 -0.04431208]

Pose Error in degrees for R and t:
179.75423978534602 82.35580585085788

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.17694036  0.98420514  0.00568712]
 [ 0.98421694 -0.17691884 -0.00409127]
 [-0.00302049  0.00632127 -0.99997546]]

 t_estimated:
[[0.93070002]
 [0.36578188]
 [0.00104809]]

 R_gt:
[[ 0.99489098  0.01615839  0.0996494 ]
 [-0.0158668   0.99986751 -0.00371332]
 [-0.09969593  0.00211394  0.99501554]]

 t_gt:
[-0.35004328  0.15421292  0.92395242]

Pose Error in degrees for R and t:
175.81489313844705 74.43040812315901

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-3.58597588e-01 -9.33492237e-01  1.16112254e-04]
 [ 9.33489747e-01 -3.58596339e-01  2.35740755e-03]
 [-2.15898422e-03  9.53750260e-04  9.99997215e-01]]

 t_estimated:
[[9.50267914e-01]
 [3.11432342e-01]
 [8.87271629e-04]]

 R_gt:
[[ 9.73886805e-01  5.20457000e-02  2.20987589e-01]
 [-5.35004770e-02  9.98568195e-01  5.97768750e-04]
 [-2.20640371e-01 -1.24048383e-02  9.75275965e-01]]

 t_gt:
[-0.3738709   0.20859626  0.90371907]

Pose Error in degrees for R and t:
114.52176991132352 73.17125437645308

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.11260202 -0.99357485 -0.01139322]
 [ 0.99363882 -0.11257556 -0.00294029]
 [ 0.0016388  -0.01165182  0.99993077]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.96216385  0.09932177  0.25372251]
 [-0.09969397  0.99495341 -0.01142086]
 [-0.25357585 -0.01430577  0.96720937]]

 t_gt:
[-0.47978458  0.30115464  0.82408291]

Pose Error in degrees for R and t:
103.12216183520903 61.588297898157684

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999923e-01  3.92177583e-04  6.37764461e-06]
 [-3.92178149e-04  9.99999919e-01  8.89565057e-05]
 [-6.34275735e-06 -8.89590001e-05  9.99999996e-01]]

 t_estimated:
[[-9.96131703e-01]
 [-8.78725591e-02]
 [ 2.11227578e-04]]

 R_gt:
[[ 0.99151689  0.1299491  -0.00294197]
 [-0.12979257  0.99104204  0.03145504]
 [ 0.00700294 -0.0308066   0.99950049]]

 t_gt:
[-0.58033525  0.80775284  0.10366458]

Pose Error in degrees for R and t:
7.657074111192114 59.52695657522715

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 1.00000000e+00  6.32827124e-15  2.54375514e-15]
 [-6.24500451e-15  1.00000000e+00 -3.64903149e-15]
 [-2.25486947e-15  2.48279587e-15  1.00000000e+00]]

 t_estimated:
[[-9.70979107e-01]
 [-2.39164192e-01]
 [-2.50184843e-04]]

 R_gt:
[[ 0.9772731   0.21146503  0.0148145 ]
 [-0.21182452  0.97685406  0.02977302]
 [-0.00817631 -0.03223374  0.99944608]]

 t_gt:
[-0.55017256  0.82777214  0.11001564]

Pose Error in degrees for R and t:
12.369454633963338 70.35416464592478

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999989e-01 -1.46400628e-04 -1.64745544e-05]
 [ 1.46400960e-04  9.99999989e-01  2.01601781e-05]
 [ 1.64716027e-05 -2.01625897e-05  1.00000000e+00]]

 t_estimated:
[[-0.73991193]
 [-0.67270234]
 [-0.00137886]]

 R_gt:
[[ 0.96163156  0.27434015  0.00175659]
 [-0.27400557  0.9601008   0.05591371]
 [ 0.01365239 -0.05424959  0.9984336 ]]

 t_gt:
[-0.53128716  0.8412553   0.1001173 ]

Pose Error in degrees for R and t:
16.2511901966943 80.0408064572478

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.99999881e-01  4.65167714e-04  1.49252485e-04]
 [-4.65156091e-04  9.99999889e-01 -7.79042952e-05]
 [-1.49288707e-04  7.78348602e-05  9.99999986e-01]]

 t_estimated:
[[ 9.99999976e-01]
 [-2.03755458e-04]
 [-8.37984729e-05]]

 R_gt:
[[ 9.95759248e-01 -9.17488214e-02 -6.74392862e-03]
 [ 9.17574128e-02  9.95781649e-01  7.88817850e-04]
 [ 6.64377916e-03 -1.40409475e-03  9.99976956e-01]]

 t_gt:
[ 0.83204986 -0.554391   -0.01853754]

Pose Error in degrees for R and t:
5.305987613558986 33.67828407268808

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99999888e-01  4.34587573e-04  1.85004585e-04]
 [-4.34610085e-04  9.99999898e-01  1.21660525e-04]
 [-1.84951695e-04 -1.21740916e-04  9.99999975e-01]]

 t_estimated:
[[9.65385051e-01]
 [2.60828763e-01]
 [2.42803141e-04]]

 R_gt:
[[ 0.98902529 -0.14401617  0.03297448]
 [ 0.14288528  0.98914017  0.03444216]
 [-0.03757661 -0.02935271  0.99886198]]

 t_gt:
[ 0.75000725 -0.62937322  0.20341703]

Pose Error in degrees for R and t:
8.712197125340055 55.94859103817044

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.53567083 -0.62498725  0.56784479]
 [-0.11827653 -0.61030059 -0.7832904 ]
 [ 0.83610252 -0.48674854  0.2529989 ]]

 t_estimated:
[[0.7782349 ]
 [0.62747064]
 [0.0251204 ]]

 R_gt:
[[ 0.98667321 -0.16227093  0.01205106]
 [ 0.16151045  0.98566618  0.04875608]
 [-0.01978956 -0.04616004  0.99873765]]

 t_gt:
[ 0.68165893 -0.70494037  0.19595964]

Pose Error in degrees for R and t:
155.54100365139087 84.6589490076533

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 9.97177745e-01 -7.50769186e-02  2.45733290e-05]
 [ 7.50769153e-02  9.97177739e-01  1.15928552e-04]
 [-3.32075351e-05 -1.13756482e-04  9.99999993e-01]]

 t_estimated:
[[0.99931959]
 [0.03685158]
 [0.00151932]]

 R_gt:
[[ 0.99885071 -0.02946379  0.03781913]
 [ 0.0306073   0.99908174 -0.02999825]
 [-0.03690083  0.03112038  0.99883427]]

 t_gt:
[-0.60114543 -0.58452402  0.54493655]

Pose Error in degrees for R and t:
3.786932896384208 51.57796665026967

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 0.74221925  0.67006445 -0.01114524]
 [ 0.67006941 -0.74175038  0.02851951]
 [ 0.01084293 -0.02863581 -0.9995311 ]]

 t_estimated:
[[-0.4476047 ]
 [ 0.89409495]
 [ 0.0156286 ]]

 R_gt:
[[ 0.99524085 -0.01861556  0.09564987]
 [ 0.02244012  0.99898508 -0.03906085]
 [-0.09482649  0.04102112  0.99464823]]

 t_gt:
[-0.72288743 -0.12884749  0.67884614]

Pose Error in degrees for R and t:
177.646223878626 77.35114333607524

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[-3.20970713e-01  9.47079254e-01 -4.32300426e-03]
 [-9.47086917e-01 -3.20976469e-01 -6.91952134e-04]
 [-2.04291615e-03  3.87216441e-03  9.99990416e-01]]

 t_estimated:
[[0.62738659]
 [0.77870748]
 [0.00085012]]

 R_gt:
[[ 0.99090923 -0.08184504  0.10677052]
 [ 0.08442751  0.99623179 -0.01988077]
 [-0.10474218  0.02871355  0.99408499]]

 t_gt:
[-0.33954882 -0.65322371  0.67676095]

Pose Error in degrees for R and t:
113.62009909965073 43.85270471869845

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.17945986  0.98241047  0.05161228]
 [ 0.98239261  0.1817332  -0.04333373]
 [-0.05195117  0.04292685 -0.9977266 ]]

 t_estimated:
[[ 0.7950154 ]
 [-0.60568629]
 [ 0.03308528]]

 R_gt:
[[ 0.99869576 -0.02828629 -0.04251933]
 [ 0.02646313  0.99873114 -0.04285663]
 [ 0.04367669  0.04167673  0.99817551]]

 t_gt:
[ 0.46422881 -0.54371552 -0.69918885]

Pose Error in degrees for R and t:
176.48539275616216 47.525871443861476

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.85584048 -0.51620719  0.03266817]
 [ 0.51723838 -0.8539783   0.05644043]
 [-0.00123705  0.06520124  0.99787137]]

 t_estimated:
[[0.88013316]
 [0.47472572]
 [0.00105028]]

 R_gt:
[[ 0.98509465 -0.16519731 -0.04794473]
 [ 0.16244117  0.98509148 -0.0566392 ]
 [ 0.05658599  0.04800695  0.99724296]]

 t_gt:
[ 0.77039699 -0.55480642 -0.31413104]

Pose Error in degrees for R and t:
139.5355024478251 65.52216813256149

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.2402915   0.97060845  0.01338741]
 [-0.97065571  0.2401246   0.012949  ]
 [ 0.00935376 -0.0161061   0.99982654]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.95491941 -0.2945237  -0.03721047]
 [ 0.28985173  0.95209086 -0.09751806]
 [ 0.06414794  0.08233702  0.99453821]]

 t_gt:
[ 0.84322376 -0.4536176  -0.28845235]

Pose Error in degrees for R and t:
93.36104424787807 63.34294378048365

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.98829565 -0.1520302   0.01259035]
 [-0.15198841  0.98837328  0.00421796]
 [-0.01308523  0.002255   -0.99991184]]

 t_estimated:
[[0.9975501 ]
 [0.06976239]
 [0.00519589]]

 R_gt:
[[ 0.99546187 -0.05359237  0.07863874]
 [ 0.04119961  0.9875973   0.151502  ]
 [-0.08578242 -0.14757487  0.98532345]]

 t_gt:
[ 0.20251484 -0.23966954  0.94949789]

Pose Error in degrees for R and t:
173.88705897560806 79.03366046238264

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-1.29292962e-01  9.91606436e-01  7.40545468e-05]
 [-9.91603222e-01 -1.29292352e-01 -2.55677674e-03]
 [-2.52574158e-03 -4.04005964e-04  9.99996729e-01]]

 t_estimated:
[[0.02019787]
 [0.99979459]
 [0.00168316]]

 R_gt:
[[ 0.99498901 -0.02970215  0.09547609]
 [ 0.01504393  0.9884605   0.15072836]
 [-0.09885161 -0.14853675  0.98395387]]

 t_gt:
[ 0.12036481 -0.05405906  0.99125674]

Pose Error in degrees for R and t:
99.11792328548628 87.13697601762621

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.97078821e-01  7.63779629e-02  4.80694864e-04]
 [-7.63776555e-02  9.97078763e-01 -6.28451497e-04]
 [-5.27290485e-04  5.89901331e-04  9.99999687e-01]]

 t_estimated:
[[-0.53656447]
 [-0.84385885]
 [-0.00089932]]

 R_gt:
[[ 0.99693337 -0.0145636   0.07689151]
 [ 0.00325657  0.98940025  0.1451724 ]
 [-0.07819105 -0.14447706  0.98641334]]

 t_gt:
[0.09050656 0.10741793 0.99008583]

Pose Error in degrees for R and t:
10.65992732512814 81.94644900495666

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.89335614  0.44932686 -0.00449346]
 [ 0.4493317  -0.89318787  0.01778895]
 [ 0.00397955 -0.01791092 -0.99983167]]

 t_estimated:
[[-0.32132656]
 [ 0.94691816]
 [ 0.00975904]]

 R_gt:
[[ 0.99183051  0.07962272 -0.09966346]
 [-0.09052417  0.98978804 -0.11011148]
 [ 0.08987794  0.11823352  0.98890966]]

 t_gt:
[-0.19135583  0.62871605 -0.75372347]

Pose Error in degrees for R and t:
175.91610244133486 49.49798844060233

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.89382007e-01 -1.45338376e-01 -6.58057005e-06]
 [ 1.45338376e-01  9.89382001e-01  1.12355930e-04]
 [-9.81893089e-06 -1.12119345e-04  9.99999994e-01]]

 t_estimated:
[[-7.06094769e-01]
 [ 7.08117129e-01]
 [-5.55155784e-04]]

 R_gt:
[[ 0.98509181  0.120591   -0.12269353]
 [-0.13872412  0.97860222 -0.15196303]
 [ 0.10174271  0.16671737  0.98074086]]

 t_gt:
[-0.21774638  0.70288541 -0.67715479]

Pose Error in degrees for R and t:
19.450419234934174 49.31871684206788

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 7.00576160e-01 -7.13577609e-01 -1.99748638e-04]
 [ 7.13577636e-01  7.00576121e-01  2.37022335e-04]
 [-2.91947050e-05 -3.08588359e-04  9.99999952e-01]]

 t_estimated:
[[7.79656777e-01]
 [6.26206742e-01]
 [6.52978875e-04]]

 R_gt:
[[ 0.98590007  0.10989467 -0.12619651]
 [-0.13173419  0.97474452 -0.18032728]
 [ 0.10319228  0.19440796  0.97547689]]

 t_gt:
[-0.17419846  0.70347663 -0.68903956]

Pose Error in degrees for R and t:
53.96508892277971 72.2865390359322

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999979e-01  8.99924662e-05  1.81780878e-04]
 [-9.00061213e-05  9.99999993e-01  7.51117259e-05]
 [-1.81774117e-04 -7.51280858e-05  9.99999981e-01]]

 t_estimated:
[[0.82761908]
 [0.56128894]
 [0.00117702]]

 R_gt:
[[ 0.99850421 -0.05368577  0.01033125]
 [ 0.05424383  0.99642879 -0.06470172]
 [-0.00682113  0.06516526  0.99785091]]

 t_gt:
[ 0.34324407  0.49527079 -0.7980541 ]

Pose Error in degrees for R and t:
4.874133515386542 55.86629380245835

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.83020372e-01  1.83495395e-01  6.23374157e-04]
 [-1.83495020e-01  9.83020447e-01 -6.14630782e-04]
 [-7.25571461e-04  4.89808526e-04  9.99999617e-01]]

 t_estimated:
[[-9.90421780e-01]
 [-1.38072818e-01]
 [-7.71356526e-04]]

 R_gt:
[[ 9.99609427e-01 -2.79287551e-02  5.04636292e-04]
 [ 2.78227911e-02  9.93919627e-01 -1.06530763e-01]
 [ 2.47309613e-03  1.06503625e-01  9.94308809e-01]]

 t_gt:
[-0.00382645  0.80229627 -0.59691378]

Pose Error in degrees for R and t:
13.605822834340804 83.8849600164221

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.96371102e-01 -8.51153482e-02  7.16170209e-05]
 [ 8.51153516e-02  9.96371103e-01 -4.51442447e-05]
 [-6.75146620e-05  5.10761287e-05  9.99999996e-01]]

 t_estimated:
[[ 4.74239808e-01]
 [ 8.80395696e-01]
 [-1.53358612e-04]]

 R_gt:
[[ 0.99244261 -0.12270441  0.00104755]
 [ 0.12122167  0.979052   -0.16359009]
 [ 0.01904678  0.16248062  0.98652757]]

 t_gt:
[ 0.54091358  0.593427   -0.59603431]

Pose Error in degrees for R and t:
9.659583139013515 38.82497686279261

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99999998e-01 -4.05125678e-05  3.98186585e-05]
 [ 4.05136086e-05  9.99999999e-01 -2.61390662e-05]
 [-3.98175995e-05  2.61406794e-05  9.99999999e-01]]

 t_estimated:
[[1.53868803e-01]
 [9.88091260e-01]
 [2.30576080e-04]]

 R_gt:
[[ 0.99782366  0.01024797 -0.06513102]
 [-0.00951588  0.99988918  0.01154355]
 [ 0.06524146 -0.01090018  0.99780978]]

 t_gt:
[ 0.4504478   0.19154496 -0.87201336]

Pose Error in degrees for R and t:
3.837379107541205 75.02647414686314

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999928e-01 -2.70104047e-05  3.78077521e-04]
 [ 2.72417479e-05  9.99999812e-01 -6.11901585e-04]
 [-3.78060922e-04  6.11911840e-04  9.99999741e-01]]

 t_estimated:
[[7.27251602e-01]
 [6.86370595e-01]
 [7.17210653e-04]]

 R_gt:
[[ 0.99921931  0.03948607 -0.00122607]
 [-0.03947202  0.99916713  0.01043983]
 [ 0.00163728 -0.01038474  0.99994391]]

 t_gt:
[-0.33611571  0.91676422  0.21579988]

Pose Error in degrees for R and t:
2.3528779855517294 67.35910975513708

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999915e-01  4.02594950e-04 -8.41571566e-05]
 [-4.02599896e-04  9.99999917e-01 -5.87596227e-05]
 [ 8.41334933e-05  5.87934994e-05  9.99999995e-01]]

 t_estimated:
[[-4.49220567e-01]
 [-8.93420613e-01]
 [-7.00231979e-04]]

 R_gt:
[[ 0.98852876  0.05320953  0.14134705]
 [-0.05548537  0.99838564  0.01220429]
 [-0.14047    -0.01990706  0.98988396]]

 t_gt:
[-0.38514873  0.32540424  0.86358123]

Pose Error in degrees for R and t:
8.73240800893097 83.20537401988479

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999726e-01  5.96601872e-04 -4.37426658e-04]
 [-5.96467787e-04  9.99999775e-01  3.06597369e-04]
 [ 4.37609476e-04 -3.06336375e-04  9.99999857e-01]]

 t_estimated:
[[-0.40462553]
 [-0.91448194]
 [-0.00098155]]

 R_gt:
[[ 0.9896623   0.14329993  0.00580017]
 [-0.14193467  0.98442649 -0.10372443]
 [-0.02057364  0.10182895  0.99458936]]

 t_gt:
[-0.28070185  0.90492181 -0.31987964]

Pose Error in degrees for R and t:
10.138029263672163 44.46802096767445

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999804e-01  4.39514830e-04 -4.46219428e-04]
 [-4.40544956e-04  9.99997232e-01 -2.31109604e-03]
 [ 4.45202432e-04  2.31129217e-03  9.99997230e-01]]

 t_estimated:
[[-0.74434043]
 [-0.66779138]
 [-0.00346341]]

 R_gt:
[[ 9.86722761e-01  1.62415294e-01  4.27939248e-04]
 [-1.59712266e-01  9.70767090e-01 -1.79175520e-01]
 [-2.95160791e-02  1.76728042e-01  9.83816662e-01]]

 t_gt:
[-0.20050318  0.87488251 -0.44088442]

Pose Error in degrees for R and t:
13.802002864712604 64.31206009726822

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99994491e-01  3.18065115e-03 -9.48959070e-04]
 [-3.18028620e-03  9.99994868e-01  3.85833065e-04]
 [ 9.50181401e-04 -3.82812978e-04  9.99999475e-01]]

 t_estimated:
[[-2.53720846e-01]
 [-9.67277150e-01]
 [-8.04430555e-04]]

 R_gt:
[[ 0.98653487  0.1618851  -0.02330706]
 [-0.16197126  0.9472249  -0.27664194]
 [-0.02270759  0.27669222  0.9606903 ]]

 t_gt:
[-0.14825572  0.806143   -0.57284701]

Pose Error in degrees for R and t:
18.625100830571213 42.124651457616

Number of keypoints:
Image1: 342
Image2: 342

 R_estimated:
[[-1.69544169e-01  9.85514984e-01  3.87194386e-03]
 [-9.85522590e-01 -1.69542810e-01 -6.79037153e-04]
 [-1.27410488e-05 -3.93101493e-03  9.99992273e-01]]

 t_estimated:
[[0.09271114]
 [0.99569224]
 [0.00127002]]

 R_gt:
[[ 0.99773223 -0.01930195 -0.06447282]
 [ 0.0220214   0.99888664  0.04173655]
 [ 0.06359466 -0.04306214  0.9970457 ]]

 t_gt:
[ 0.93239665 -0.1917701   0.30636696]

Pose Error in degrees for R and t:
101.02020195121116 84.02402959107788

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 0.9487246   0.31608512  0.00343902]
 [-0.31609851  0.94871562  0.00451685]
 [-0.00183494 -0.00537231  0.99998389]]

 t_estimated:
[[0.16577594]
 [0.98615428]
 [0.00425067]]

 R_gt:
[[ 0.99163017 -0.00584215 -0.12897522]
 [ 0.01392046  0.99798992  0.06182483]
 [ 0.1283546  -0.06310331  0.98971886]]

 t_gt:
[ 0.98173246 -0.17247043  0.080345  ]

Pose Error in degrees for R and t:
20.691913439868205 89.5993091698201

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 0.1402804   0.98982567  0.02380228]
 [ 0.99008045 -0.14004405 -0.01133018]
 [-0.00788153  0.02515558 -0.99965248]]

 t_estimated:
[[-0.73761526]
 [-0.67510549]
 [-0.01250195]]

 R_gt:
[[ 0.98592247  0.00128066 -0.16719605]
 [ 0.01259338  0.99656132  0.08189178]
 [ 0.16672686 -0.082845    0.9825165 ]]

 t_gt:
[ 0.97452273 -0.20303343  0.09530407]

Pose Error in degrees for R and t:
171.49412942549344 54.34202980511316

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.77641969 -0.63020851 -0.00311295]
 [ 0.63021484 -0.77641882 -0.00175225]
 [-0.00131267 -0.00332231  0.99999362]]

 t_estimated:
[[0.91785507]
 [0.3969103 ]
 [0.00206724]]

 R_gt:
[[ 0.98064274  0.19540008 -0.01255884]
 [-0.19578682  0.97936923 -0.05003009]
 [ 0.0025231   0.05152122  0.9986684 ]]

 t_gt:
[-0.38046193  0.90323782 -0.19851994]

Pose Error in degrees for R and t:
152.23351573336106 89.4909148568829

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 8.88087981e-01 -4.59673347e-01 -3.90023100e-04]
 [ 4.59672997e-01  8.88087936e-01 -7.43625601e-04]
 [ 6.88199679e-04  4.81121871e-04  9.99999647e-01]]

 t_estimated:
[[-0.0119039 ]
 [-0.9999277 ]
 [-0.00170056]]

 R_gt:
[[ 0.94300527  0.33262344 -0.01014829]
 [-0.33190627  0.93789203 -0.10097834]
 [-0.02407074  0.09859078  0.99483702]]

 t_gt:
[-0.27260663  0.94795367 -0.164528  ]

Pose Error in degrees for R and t:
47.16095356461592 19.20280611074283

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 3.53469343e-01  9.35443838e-01  2.06135256e-03]
 [ 9.35446024e-01 -3.53467510e-01 -1.20663200e-03]
 [-4.00115309e-04  2.35479148e-03 -9.99997147e-01]]

 t_estimated:
[[0.36356812]
 [0.93156681]
 [0.00122414]]

 R_gt:
[[ 0.91916547  0.39359911 -0.01461924]
 [-0.38883097  0.90086187 -0.19302358]
 [-0.06280478  0.18310475  0.98108527]]

 t_gt:
[-0.21431313  0.95809113 -0.19008227]

Pose Error in degrees for R and t:
169.97972724884332 35.47431214228117

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.96965512e-01 -7.78445091e-02 -1.69171178e-05]
 [ 7.78445102e-02  9.96965509e-01  7.73517456e-05]
 [ 1.08443743e-05 -7.84339275e-05  9.99999997e-01]]

 t_estimated:
[[-8.41591512e-01]
 [ 5.40114399e-01]
 [-4.04081958e-04]]

 R_gt:
[[ 0.99878379  0.04328036 -0.02365132]
 [-0.04411926  0.99837205 -0.03613994]
 [ 0.02204872  0.03714059  0.99906616]]

 t_gt:
[-0.37228635  0.75608824 -0.53826894]

Pose Error in degrees for R and t:
7.397625979434163 43.78804063653998

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.99800307  0.06314628  0.00155864]
 [-0.06315056  0.9979999   0.00286536]
 [-0.00137459 -0.00295806  0.99999468]]

 t_estimated:
[[0.09735563]
 [0.99519087]
 [0.01081729]]

 R_gt:
[[ 9.99707813e-01 -3.97808634e-04 -2.41719940e-02]
 [-1.37163795e-03  9.97322918e-01 -7.30968724e-02]
 [ 2.41365237e-02  7.31093277e-02  9.97031450e-01]]

 t_gt:
[ 0.09451678  0.5303369  -0.84250184]

Pose Error in degrees for R and t:
5.836935068783798 58.13803848199248

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.95551575 -0.29492528  0.00295389]
 [ 0.29493196  0.95551583 -0.00215151]
 [-0.00218796  0.002927    0.99999332]]

 t_estimated:
[[0.69618191]
 [0.71786499]
 [0.0007744 ]]

 R_gt:
[[ 0.99630443 -0.0814157   0.02736403]
 [ 0.07925218  0.99421289  0.07251347]
 [-0.03310919 -0.07007609  0.99699202]]

 t_gt:
[ 0.62587671 -0.36438368  0.68956717]

Pose Error in degrees for R and t:
13.3278601634934 79.93997770139048

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99863124e-01 -1.65447929e-02  5.65303949e-05]
 [ 1.65447902e-02  9.99863124e-01  4.86538751e-05]
 [-5.73276255e-05 -4.77119321e-05  9.99999997e-01]]

 t_estimated:
[[6.84755916e-01]
 [7.28772440e-01]
 [2.57144531e-04]]

 R_gt:
[[ 0.9980773  -0.06149719  0.00767523]
 [ 0.06192177  0.99464666 -0.08272395]
 [-0.00254649  0.08304014  0.99654319]]

 t_gt:
[ 0.44009675  0.29470044 -0.84821371]

Pose Error in degrees for R and t:
5.428841213005418 58.94167998626508

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.02136524 -0.99976937 -0.00217407]
 [ 0.99977016 -0.02136129 -0.00182477]
 [ 0.00177791 -0.00221256  0.99999597]]

 t_estimated:
[[ 9.99594731e-01]
 [-2.84665762e-02]
 [-1.64182441e-04]]

 R_gt:
[[ 0.99818689 -0.05976424 -0.00715883]
 [ 0.05846604  0.99097026 -0.12066301]
 [ 0.01430478  0.12002659  0.99266721]]

 t_gt:
[ 0.15335086  0.63092905 -0.76053405]

Pose Error in degrees for R and t:
88.04104859340006 82.21517340963658

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.37143371e-01  3.48943355e-01  9.15328561e-04]
 [ 3.48942597e-01 -9.37143675e-01  8.92335898e-04]
 [ 1.16916905e-03 -5.16849546e-04 -9.99999183e-01]]

 t_estimated:
[[0.01817879]
 [0.9998336 ]
 [0.0015149 ]]

 R_gt:
[[ 0.99763175 -0.06778876 -0.01167681]
 [ 0.06486655  0.98360603 -0.16825945]
 [ 0.02289089  0.1671035   0.98567411]]

 t_gt:
[ 0.19114764  0.71594894 -0.67147576]

Pose Error in degrees for R and t:
170.71032759915673 44.08673286709415

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[-0.59645471 -0.80255875  0.01188392]
 [-0.80254271  0.5965504   0.00726758]
 [-0.01292201 -0.00520257 -0.99990297]]

 t_estimated:
[[0.88882931]
 [0.45817007]
 [0.00791547]]

 R_gt:
[[ 0.99407255 -0.09986629  0.04296661]
 [ 0.09909438  0.99488248  0.01974467]
 [-0.04471855 -0.01536962  0.99888088]]

 t_gt:
[ 0.34616308 -0.7678403   0.53906622]

Pose Error in degrees for R and t:
176.5014358220887 87.71589491155147

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-4.08902785e-01 -9.12577205e-01 -1.16519173e-03]
 [-9.12576462e-01  4.08904090e-01 -1.28283531e-03]
 [ 1.64713793e-03  5.38771610e-04 -9.99998498e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9895126  -0.13718038  0.04524368]
 [ 0.13739433  0.99051546 -0.00164497]
 [-0.04458932  0.007844    0.99897446]]

 t_gt:
[ 0.36415665 -0.856311    0.36622589]

Pose Error in degrees for R and t:
178.079492420659 77.29866882442467

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.94357979e-01  1.06075870e-01  3.46649334e-04]
 [-1.06075830e-01  9.94358034e-01 -1.33615476e-04]
 [-3.58866928e-04  9.60904989e-05  9.99999931e-01]]

 t_estimated:
[[0.68882606]
 [0.72492601]
 [0.00097567]]

 R_gt:
[[ 0.9839965  -0.13059144  0.12123148]
 [ 0.13428237  0.99068202 -0.02275083]
 [-0.11713003  0.03866563  0.99236329]]

 t_gt:
[-0.04859666 -0.72715266  0.68475351]

Pose Error in degrees for R and t:
15.43190916574923 55.948460723343416

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.25591453  0.96669269  0.00360626]
 [ 0.96669735 -0.2559199   0.00110907]
 [ 0.00199504  0.00320234 -0.99999288]]

 t_estimated:
[[-0.00759197]
 [-0.99997059]
 [-0.00108457]]

 R_gt:
[[ 0.99805846 -0.02037337  0.05886547]
 [ 0.01768301  0.99879112  0.0458659 ]
 [-0.05972924 -0.04473601  0.99721099]]

 t_gt:
[ 0.17064807 -0.1228879   0.97763889]

Pose Error in degrees for R and t:
179.89575094761295 83.07740028082635

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99441583e-01  3.34143968e-02  3.29942908e-05]
 [-3.34143968e-02  9.99441583e-01 -5.51345026e-07]
 [-3.29942891e-05 -5.51447181e-07  9.99999999e-01]]

 t_estimated:
[[-0.71825259]
 [-0.69578207]
 [-0.00072412]]

 R_gt:
[[ 0.99851143  0.02097408  0.05034955]
 [-0.02354149  0.99842274  0.05097184]
 [-0.04920168 -0.05208055  0.99742938]]

 t_gt:
[-0.17300308  0.48430318  0.85762484]

Pose Error in degrees for R and t:
4.1566616852086335 77.68239550041804

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.41570782e-01 -3.36813922e-01 -9.18933510e-04]
 [ 3.36814268e-01  9.41571074e-01  2.47597741e-04]
 [ 7.81846845e-04 -5.42640717e-04  9.99999547e-01]]

 t_estimated:
[[-0.03070744]
 [-0.99952724]
 [-0.00153537]]

 R_gt:
[[ 0.99874508 -0.01426024  0.04800679]
 [ 0.01133651  0.99809467  0.06064622]
 [-0.04878036 -0.06002533  0.99700362]]

 t_gt:
[0.17738978 0.32097244 0.93032766]

Pose Error in degrees for R and t:
19.45935551908979 70.87099113450913

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 9.99999998e-01 -5.02539371e-05  4.86209872e-05]
 [ 5.02545537e-05  9.99999999e-01 -1.26805455e-05]
 [-4.86203499e-05  1.26829889e-05  9.99999999e-01]]

 t_estimated:
[[0.54192807]
 [0.84042435]
 [0.00093445]]

 R_gt:
[[ 9.98498185e-01 -2.27013824e-03  5.47356268e-02]
 [-7.76094621e-04  9.98453898e-01  5.55763609e-02]
 [-5.47767745e-02 -5.55359595e-02  9.96953042e-01]]

 t_gt:
[-0.01422777  0.03356312  0.99933532]

Pose Error in degrees for R and t:
4.472736116894523 88.77201967954484

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.98079900e-01 -6.19395656e-02 -5.44422046e-05]
 [ 6.19395732e-02  9.98079890e-01  1.50797054e-04]
 [ 4.49973655e-05 -1.53879636e-04  9.99999987e-01]]

 t_estimated:
[[7.42401628e-01]
 [6.69954706e-01]
 [7.17296259e-04]]

 R_gt:
[[ 0.99689551 -0.0622566   0.04820262]
 [ 0.0566963   0.99240082  0.10920137]
 [-0.05463488 -0.10612929  0.99285025]]

 t_gt:
[ 0.27200103 -0.29858341  0.91480237]

Pose Error in degrees for R and t:
6.850260653976217 89.85373327022297

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-0.65120866 -0.75885538  0.00811074]
 [-0.75884825  0.65125142  0.00457347]
 [-0.00875273 -0.00317654 -0.99995665]]

 t_estimated:
[[0.8861967 ]
 [0.46328214]
 [0.00500752]]

 R_gt:
[[ 0.97911427 -0.20329838 -0.00198754]
 [ 0.20141351  0.96861089  0.14568455]
 [-0.0276932  -0.14304313  0.98932888]]

 t_gt:
[ 0.56671463 -0.58036672  0.58481536]

Pose Error in degrees for R and t:
175.31084158726895 76.33317480157362

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 0.55058451 -0.8347593  -0.00579763]
 [ 0.83476418  0.55060315 -0.00221972]
 [ 0.00504513 -0.00361751  0.99998073]]

 t_estimated:
[[ 0.80996175]
 [-0.58647199]
 [-0.00354703]]

 R_gt:
[[ 0.99863401  0.05013022  0.01471457]
 [-0.04971664  0.99839101 -0.02730238]
 [-0.01605964  0.02653387  0.99951905]]

 t_gt:
[-0.84267123  0.53537766 -0.05723594]

Pose Error in degrees for R and t:
59.48594602137336 4.921986497168413

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.99563597e-01  2.95399591e-02  7.53596490e-05]
 [-2.95399559e-02  9.99563599e-01 -4.35696520e-05]
 [-7.66138078e-05  4.13245174e-05  9.99999996e-01]]

 t_estimated:
[[-9.99780858e-01]
 [ 2.09177445e-02]
 [-8.26963911e-04]]

 R_gt:
[[ 0.98355582  0.17961376  0.01889598]
 [-0.17750063  0.98065913 -0.0824762 ]
 [-0.03334496  0.07776557  0.99641339]]

 t_gt:
[-0.69196223  0.71444889 -0.10368735]

Pose Error in degrees for R and t:
9.881249008155294 45.021532253468486

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 8.60910959e-01  5.08755448e-01  4.63523612e-04]
 [-5.08755336e-01  8.60911082e-01 -3.42161819e-04]
 [-5.73129304e-04  5.87507482e-05  9.99999834e-01]]

 t_estimated:
[[-3.76514990e-01]
 [ 9.26410181e-01]
 [ 7.99250403e-04]]

 R_gt:
[[ 0.9573696   0.2884691   0.0151103 ]
 [-0.28579452  0.95350527 -0.09565845]
 [-0.04200305  0.08726291  0.99529956]]

 t_gt:
[-0.64011163  0.76581807 -0.06147992]

Pose Error in degrees for R and t:
14.914573989224042 18.11688283244668

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-9.69805815e-01 -2.43874179e-01  1.43712432e-03]
 [-2.43873048e-01  9.69806729e-01  9.18756028e-04]
 [-1.61779371e-03  5.40539052e-04 -9.99998545e-01]]

 t_estimated:
[[0.9705591 ]
 [0.24085128]
 [0.00238467]]

 R_gt:
[[ 0.93130292 -0.36243541  0.03626515]
 [ 0.36110419  0.9317312   0.03848307]
 [-0.04773804 -0.02274342  0.99860122]]

 t_gt:
[ 0.86300101 -0.48876507  0.12782005]

Pose Error in degrees for R and t:
177.25557263555623 43.930771745963966

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.9999981   0.00118464 -0.00154893]
 [-0.00118231  0.99999817  0.00150601]
 [ 0.00155071 -0.00150418  0.99999767]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.84384734 -0.53609994  0.02276756]
 [ 0.5352514   0.84398182  0.03464938]
 [-0.03779159 -0.01705202  0.99914025]]

 t_gt:
[ 0.9160883  -0.39546934  0.0662286 ]

Pose Error in degrees for R and t:
32.55875776548407 89.10216685794346

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-1.84842474e-01  9.82765766e-01  2.17004597e-03]
 [ 9.82767959e-01  1.84840568e-01  1.05012736e-03]
 [ 6.30916689e-04  2.32675979e-03 -9.99997094e-01]]

 t_estimated:
[[9.07421875e-01]
 [4.20220231e-01]
 [7.05067502e-04]]

 R_gt:
[[ 0.68957365 -0.72161647 -0.06130377]
 [ 0.72353822  0.6901178   0.01520358]
 [ 0.03133531 -0.05483838  0.99800354]]

 t_gt:
[ 0.9644718  -0.26182338  0.03525139]

Pose Error in degrees for R and t:
176.48429742400432 40.07661953488096

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-9.27517080e-01 -3.73778673e-01 -1.25297117e-03]
 [ 3.73778146e-01 -9.27517918e-01  6.40671092e-04]
 [-1.40162240e-03  1.25900141e-04  9.99999010e-01]]

 t_estimated:
[[0.91698718]
 [0.39891533]
 [0.00103614]]

 R_gt:
[[ 0.98034183  0.19055656 -0.05116248]
 [-0.18975858  0.9816254   0.02006432]
 [ 0.05404547 -0.00996136  0.99848935]]

 t_gt:
[-0.98139177  0.19198236  0.00360202]

Pose Error in degrees for R and t:
169.0255301949908 34.579929397059544

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[-0.65143039  0.07642815 -0.75484911]
 [-0.69922605 -0.44664233  0.55820567]
 [-0.29448494  0.8914423   0.34439694]]

 t_estimated:
[[0.75008037]
 [0.66112801]
 [0.01700561]]

 R_gt:
[[ 8.84465676e-01  4.64564950e-01 -4.35934330e-02]
 [-4.64030210e-01  8.85539136e-01  2.22831815e-02]
 [ 4.89551436e-02  5.19973695e-04  9.98801225e-01]]

 t_gt:
[-0.93143143  0.36320149 -0.02280717]

Pose Error in degrees for R and t:
128.1827346394917 62.682972974634836

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.99824653 -0.05900847 -0.00467558]
 [-0.05889961  0.99804842 -0.02074111]
 [ 0.00589036 -0.02042935 -0.99977395]]

 t_estimated:
[[0.99471187]
 [0.102629  ]
 [0.00394727]]

 R_gt:
[[ 7.39997174e-01  6.72603782e-01 -2.74350216e-03]
 [-6.72609381e-01  7.39991600e-01 -2.83991726e-03]
 [ 1.19754987e-04  3.94613283e-03  9.99992727e-01]]

 t_gt:
[-0.8567888   0.51561206 -0.00756048]

Pose Error in degrees for R and t:
179.98316327940546 36.92991315083964

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.99999881 -0.00108967  0.00109382]
 [ 0.00109244  0.99999618 -0.00253799]
 [-0.00109105  0.00253919  0.99999618]]

 t_estimated:
[[-0.79989954]
 [-0.60013115]
 [-0.00182542]]

 R_gt:
[[ 0.99155854 -0.12439571  0.03657841]
 [ 0.12376124  0.99212858  0.01913881]
 [-0.03867123 -0.01445068  0.99914712]]

 t_gt:
[ 0.57848481 -0.7636412   0.28671842]

Pose Error in degrees for R and t:
7.4552187962087855 89.71533909782069

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999718e-01  7.46552032e-04  7.53681133e-05]
 [-7.46549678e-04  9.99999721e-01 -3.12621905e-05]
 [-7.53914312e-05  3.12059156e-05  9.99999997e-01]]

 t_estimated:
[[ 9.07366262e-01]
 [-4.20340893e-01]
 [ 3.51836636e-05]]

 R_gt:
[[ 0.9871432  -0.15424736  0.04191966]
 [ 0.15352165  0.98794316  0.02002993]
 [-0.04450338 -0.01333689  0.9989204 ]]

 t_gt:
[ 0.57735834 -0.7743303   0.25897863]

Pose Error in degrees for R and t:
9.287498535769624 31.857082237833605

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.99717664 -0.07505235 -0.00242904]
 [-0.07504908  0.99717884 -0.00141007]
 [ 0.00252802 -0.00122379 -0.99999606]]

 t_estimated:
[[9.99691212e-01]
 [2.48370487e-02]
 [7.76157773e-04]]

 R_gt:
[[ 0.98016602 -0.19658031  0.02512845]
 [ 0.19559615  0.97998661  0.03702272]
 [-0.03190379 -0.03137428  0.99899846]]

 t_gt:
[ 0.59838717 -0.77310534  0.21033526]

Pose Error in degrees for R and t:
178.43321253289344 54.608236087941144

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 0.19274277  0.98124864 -0.00115307]
 [-0.98124867  0.19274116 -0.00137885]
 [-0.00113075  0.00139721  0.99999838]]

 t_estimated:
[[0.605594 ]
 [0.7957733]
 [0.0008764]]

 R_gt:
[[ 0.99677468  0.0801275  -0.00451464]
 [-0.08015316  0.99676347 -0.00615619]
 [ 0.00400709  0.00649857  0.99997116]]

 t_gt:
[ 0.13092689  0.98788079 -0.0833648 ]

Pose Error in degrees for R and t:
74.2910563547269 30.077918726731667

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.94102716e-01  1.08442179e-01  2.89474663e-04]
 [-1.08442263e-01  9.94102706e-01  2.92993693e-04]
 [-2.55994671e-04 -3.22657113e-04  9.99999915e-01]]

 t_estimated:
[[0.5578506 ]
 [0.82993802]
 [0.00236226]]

 R_gt:
[[ 0.99353156  0.10893149  0.03209225]
 [-0.10950281  0.99384717  0.01665813]
 [-0.03007962 -0.02006415  0.99934549]]

 t_gt:
[0.25275292 0.7824117  0.56916421]

Pose Error in degrees for R and t:
2.050118488976883 37.655701200752134

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 2.95792102e-01  9.55250260e-01  1.99333510e-03]
 [-9.55252192e-01  2.95790252e-01  1.17314883e-03]
 [ 5.31041628e-04 -2.25114588e-03  9.99997325e-01]]

 t_estimated:
[[0.76642678]
 [0.6423312 ]
 [0.00078048]]

 R_gt:
[[ 0.98406949  0.17504263  0.03111248]
 [-0.17630063  0.98336235  0.04378058]
 [-0.02293126 -0.04856835  0.99855672]]

 t_gt:
[0.18736836 0.73549394 0.6511081 ]

Pose Error in degrees for R and t:
62.731088559433445 51.93587590246608

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[ 9.99999672e-01  7.80941137e-04  2.15777215e-04]
 [-7.80935415e-04  9.99999695e-01 -2.66020890e-05]
 [-2.15797924e-04  2.64335722e-05  9.99999976e-01]]

 t_estimated:
[[0.98133579]
 [0.19228089]
 [0.00285215]]

 R_gt:
[[ 0.99974198  0.02213594 -0.00526184]
 [-0.0221521   0.99974964 -0.00312732]
 [ 0.00519166  0.00324355  0.99998141]]

 t_gt:
[ 0.17595879  0.83101175 -0.52769117]

Pose Error in degrees for R and t:
1.2749346745351307 70.67311120077841

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999953e-01 -2.90454904e-04 -9.64025123e-05]
 [ 2.90460869e-04  9.99999956e-01  6.18680647e-05]
 [ 9.63845381e-05 -6.18960630e-05  9.99999993e-01]]

 t_estimated:
[[9.99999110e-01]
 [1.32091193e-03]
 [1.85851137e-04]]

 R_gt:
[[ 0.99505648  0.09653704 -0.02332338]
 [-0.09674246  0.99527877 -0.00785201]
 [ 0.02245511  0.01006958  0.9996977 ]]

 t_gt:
[ 0.21454438  0.91307264 -0.3467983 ]

Pose Error in degrees for R and t:
5.737698568328175 77.5442338520115

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.22361995 -0.97466171 -0.00535471]
 [-0.97465682  0.22364692 -0.00511288]
 [ 0.0061809   0.00407567 -0.99997259]]

 t_estimated:
[[ 0.83818334]
 [ 0.54538298]
 [-0.00247002]]

 R_gt:
[[ 0.99287698  0.11783954  0.01761777]
 [-0.11795208  0.99300413  0.00551982]
 [-0.01684411 -0.00755754  0.99983023]]

 t_gt:
[0.44790522 0.87914508 0.16274165]

Pose Error in degrees for R and t:
179.4156435401966 31.295957901177758

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.99999935e-01  3.57611958e-04  3.86408489e-05]
 [-3.57611969e-04  9.99999936e-01  2.75088828e-07]
 [-3.86407481e-05 -2.88907240e-07  9.99999999e-01]]

 t_estimated:
[[9.99986292e-01]
 [5.20436770e-03]
 [5.74432711e-04]]

 R_gt:
[[ 0.99888091 -0.04707431 -0.00467545]
 [ 0.04706883  0.99889118 -0.00126722]
 [ 0.00473007  0.00104642  0.99998821]]

 t_gt:
[ 0.52632698 -0.83991821 -0.13235299]

Pose Error in degrees for R and t:
2.7324059154818063 58.542061323365246

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-9.55119294e-01  2.96221293e-01  2.82323829e-04]
 [ 2.96220974e-01  9.55115730e-01  2.66036144e-03]
 [ 5.18403776e-04  2.62459278e-03 -9.99996421e-01]]

 t_estimated:
[[0.98659621]
 [0.16317365]
 [0.00151087]]

 R_gt:
[[ 0.99609055 -0.08474301 -0.0249639 ]
 [ 0.08509962  0.99628049  0.01356239]
 [ 0.02372056 -0.01563373  0.99959606]]

 t_gt:
[ 0.5373119  -0.83474243 -0.12042005]

Pose Error in degrees for R and t:
178.4935217577219 66.81383350304145

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-0.10128314 -0.99482772 -0.00771641]
 [ 0.9948435  -0.10123729 -0.00611762]
 [ 0.00530479 -0.00829623  0.99995151]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99265447 -0.11339039 -0.04218772]
 [ 0.11479637  0.99285571  0.03253081]
 [ 0.03819698 -0.03713503  0.99857955]]

 t_gt:
[ 0.53304965 -0.84214895 -0.08150588]

Pose Error in degrees for R and t:
89.28024531832267 57.969376962911724

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 4.66668294e-01  8.84431982e-01 -8.79268113e-04]
 [ 8.84423101e-01 -4.66658583e-01  5.05420569e-03]
 [ 4.05978314e-03 -3.13628258e-03 -9.99986841e-01]]

 t_estimated:
[[0.80827673]
 [0.58880084]
 [0.00151363]]

 R_gt:
[[ 0.97333199 -0.22642183 -0.03686134]
 [ 0.22547401  0.97384223 -0.02817842]
 [ 0.04227773  0.01911602  0.99892244]]

 t_gt:
[ 0.85638948 -0.48739104 -0.17043192]

Pose Error in degrees for R and t:
179.7225877759709 66.11103688353768

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.76995413e-01 -2.13256442e-01  1.28538965e-03]
 [ 2.13256100e-01  9.76996252e-01  3.99311403e-04]
 [-1.34097660e-03 -1.16008227e-04  9.99999094e-01]]

 t_estimated:
[[0.88229063]
 [0.47070373]
 [0.00111541]]

 R_gt:
[[ 0.8883292  -0.4531279  -0.07447856]
 [ 0.44898314  0.89108455 -0.06620168]
 [ 0.09636511  0.02536934  0.99502271]]

 t_gt:
[ 0.91483509 -0.37358692 -0.1533283 ]

Pose Error in degrees for R and t:
15.674079715606064 50.86641072387755

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-8.62856567e-01 -5.05444463e-01  2.10714664e-03]
 [-5.05445653e-01  8.62858442e-01 -3.70872304e-05]
 [-1.79942373e-03 -1.09704907e-03 -9.99997779e-01]]

 t_estimated:
[[0.97167196]
 [0.2363243 ]
 [0.00210205]]

 R_gt:
[[ 0.73231457 -0.67984884 -0.03900305]
 [ 0.67269383  0.73113212 -0.11371093]
 [ 0.10582354  0.05703509  0.99274734]]

 t_gt:
[ 0.95636809 -0.25747508 -0.13808211]

Pose Error in degrees for R and t:
174.4072123297335 29.757000058455866

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 9.92021218e-01 -1.26070993e-01  8.36188313e-05]
 [ 1.26070979e-01  9.92021212e-01  1.52194276e-04]
 [-1.02138938e-04 -1.40438043e-04  9.99999985e-01]]

 t_estimated:
[[0.94781711]
 [0.31881177]
 [0.00133367]]

 R_gt:
[[ 0.99624768 -0.04546492 -0.07365157]
 [ 0.03894126  0.99538458 -0.08770716]
 [ 0.07729897  0.08450976  0.99342002]]

 t_gt:
[ 0.57898845  0.05722349 -0.81332518]

Pose Error in degrees for R and t:
8.157529691031035 55.5328266330529

Number of keypoints:
Image1: 22
Image2: 22

 R_estimated:
[[-7.88106073e-01 -6.15538626e-01 -1.00921169e-03]
 [-6.15539444e-01  7.88105280e-01  1.12283225e-03]
 [ 1.04218440e-04  1.50612052e-03 -9.99998860e-01]]

 t_estimated:
[[9.34628635e-01]
 [3.55624135e-01]
 [8.88514400e-04]]

 R_gt:
[[ 0.98907972  0.05916968 -0.13498224]
 [-0.07213264  0.99302655 -0.09324762]
 [ 0.12852462  0.10196595  0.98645057]]

 t_gt:
[-0.19540927  0.15940624 -0.96768015]

Pose Error in degrees for R and t:
170.96076343014192 82.71492672190415

Number of keypoints:
Image1: 18
Image2: 18

 R_estimated:
[[-0.95259539  0.30422851 -0.00265467]
 [ 0.30422358  0.95259833  0.00210508]
 [ 0.00316927  0.00119768 -0.99999426]]

 t_estimated:
[[9.94752097e-01]
 [1.02311272e-01]
 [8.18547531e-04]]

 R_gt:
[[ 0.93464485  0.31254263 -0.16957836]
 [-0.32494877  0.9443863  -0.05042249]
 [ 0.14438858  0.10223121  0.98422562]]

 t_gt:
[-0.87026756  0.29018185 -0.39803124]

Pose Error in degrees for R and t:
171.45253586693823 33.2446431199434

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999924e-01  2.78875131e-04  2.74200008e-04]
 [-2.78853129e-04  9.99999958e-01 -8.02780423e-05]
 [-2.74222384e-04  8.02015747e-05  9.99999959e-01]]

 t_estimated:
[[0.81348978]
 [0.58157833]
 [0.0010081 ]]

 R_gt:
[[ 0.98991056 -0.12881657 -0.0590264 ]
 [ 0.12994132  0.99139812  0.01562738]
 [ 0.05650594 -0.02314025  0.99813339]]

 t_gt:
[ 0.62672692 -0.75913386 -0.17586685]

Pose Error in degrees for R and t:
8.243572593996706 86.09152620449696

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99998712e-01 -1.53290129e-03  4.75763199e-04]
 [ 1.53306595e-03  9.99998765e-01 -3.45918764e-04]
 [-4.75232352e-04  3.46647695e-04  9.99999827e-01]]

 t_estimated:
[[1.59959214e-05]
 [9.99998248e-01]
 [1.87197389e-03]]

 R_gt:
[[ 0.96924707 -0.22637309 -0.09652185]
 [ 0.22991742  0.97283017  0.02718821]
 [ 0.0877442  -0.0485438   0.99495883]]

 t_gt:
[ 0.70834418 -0.69749678 -0.10838244]

Pose Error in degrees for R and t:
14.347752467405101 45.75826545052943

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999777e-01 -6.51110175e-04 -1.48954129e-04]
 [ 6.51110384e-04  9.99999788e-01  1.34905252e-06]
 [ 1.48953219e-04 -1.44603779e-06  9.99999989e-01]]

 t_estimated:
[[9.88976661e-01]
 [1.48069364e-01]
 [7.91814781e-04]]

 R_gt:
[[ 0.93276406 -0.31304605 -0.17875866]
 [ 0.31371436  0.94918158 -0.02526237]
 [ 0.17758229 -0.03251573  0.98356853]]

 t_gt:
[ 0.77237829 -0.57282696 -0.27441037]

Pose Error in degrees for R and t:
21.094598705449823 47.24781896108084

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.95474859e-01 -9.50251410e-02  1.66481989e-04]
 [ 9.50251769e-02  9.95474845e-01 -2.22969645e-04]
 [-1.44540910e-04  2.37780657e-04  9.99999961e-01]]

 t_estimated:
[[-0.929534  ]
 [-0.36873428]
 [-0.00125713]]

 R_gt:
[[ 0.98967985  0.14327939  0.00210831]
 [-0.14313814  0.98918107 -0.03213615]
 [-0.00669028  0.03150154  0.99948176]]

 t_gt:
[-0.66546606  0.74139016 -0.08657687]

Pose Error in degrees for R and t:
13.809779052957353 69.79951183924743

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.97820978e-01 -6.59794479e-02  9.39462399e-05]
 [ 6.59794579e-02  9.97820976e-01 -1.08054849e-04]
 [-8.66121295e-05  1.14017917e-04  9.99999990e-01]]

 t_estimated:
[[-9.97659342e-01]
 [-6.83795086e-02]
 [-2.82058474e-04]]

 R_gt:
[[ 0.9752908   0.22087109 -0.00487974]
 [-0.22082586  0.97395664 -0.05142984]
 [-0.00660767  0.05123661  0.9986652 ]]

 t_gt:
[-0.63641688  0.76255603 -0.11611138]

Pose Error in degrees for R and t:
16.810426673514236 54.35109436518369

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 1.13765619e-01  9.93507599e-01  1.83975500e-04]
 [-9.93506231e-01  1.13765767e-01 -1.64906514e-03]
 [-1.65928886e-03  4.82611004e-06  9.99998623e-01]]

 t_estimated:
[[0.25781528]
 [0.96619345]
 [0.00122769]]

 R_gt:
[[ 0.97668607  0.21114896 -0.03872874]
 [-0.21264671  0.97631807 -0.03980216]
 [ 0.02940721  0.04710929  0.99845667]]

 t_gt:
[-0.65059527  0.72039488 -0.24032689]

Pose Error in degrees for R and t:
71.2858431760259 58.128743922758225

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99999831e-01 -5.81555298e-04 -2.13427994e-07]
 [ 5.81555286e-04  9.99999830e-01 -5.00236984e-05]
 [ 2.42519504e-07  5.00235658e-05  9.99999999e-01]]

 t_estimated:
[[ 6.41812616e-01]
 [-7.66861355e-01]
 [-4.76830105e-04]]

 R_gt:
[[ 0.99780862  0.01785793  0.06370383]
 [-0.01637186  0.99958336 -0.02377274]
 [-0.06410216  0.02267779  0.99768582]]

 t_gt:
[0.17022646 0.77988653 0.60232878]

Pose Error in degrees for R and t:
4.02793074387745 60.71865021998975

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 0.9857315   0.16831765 -0.00160782]
 [-0.16831286  0.98572978  0.00275444]
 [ 0.00204849 -0.00244452  0.99999491]]

 t_estimated:
[[-0.99752239]
 [-0.07033812]
 [-0.00127887]]

 R_gt:
[[ 0.99530072  0.01754025  0.09522929]
 [-0.01885571  0.99973805  0.01292635]
 [-0.09497634 -0.01466168  0.9953711 ]]

 t_gt:
[0.03755268 0.49023852 0.87077896]

Pose Error in degrees for R and t:
10.29734637720747 85.8104840442631

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.69698466e-01  2.44304543e-01  4.19207484e-04]
 [-2.44304154e-01  9.69698315e-01 -8.11500885e-04]
 [-6.04758144e-04  6.84497033e-04  9.99999583e-01]]

 t_estimated:
[[0.71278258]
 [0.70138438]
 [0.00097166]]

 R_gt:
[[ 0.99477173 -0.0849664   0.05664532]
 [ 0.0804644   0.99373935  0.07750189]
 [-0.06287542 -0.07253884  0.99538132]]

 t_gt:
[ 0.52892821 -0.21457095  0.82109333]

Pose Error in degrees for R and t:
19.68048068997822 76.86113529297553

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99488163e-01  3.19907911e-02  4.79096566e-05]
 [-3.19907801e-02  9.99488141e-01 -2.15728853e-04]
 [-5.47864703e-05  2.14085767e-04  9.99999976e-01]]

 t_estimated:
[[ 1.96441549e-01]
 [ 9.80515304e-01]
 [-6.75676787e-04]]

 R_gt:
[[ 0.99809511 -0.05376208 -0.03027705]
 [ 0.05513223  0.99739986  0.04642868]
 [ 0.02770255 -0.0480096   0.99846285]]

 t_gt:
[ 0.49303062 -0.86665345  0.07637148]

Pose Error in degrees for R and t:
5.893334727255453 41.15196455219707

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 8.63744202e-01 -5.03930391e-01 -3.36890462e-04]
 [ 5.03930503e-01  8.63743959e-01  6.49717709e-04]
 [-3.64253980e-05 -7.30959284e-04  9.99999732e-01]]

 t_estimated:
[[ 0.99999556]
 [-0.00274803]
 [ 0.00115117]]

 R_gt:
[[ 0.99490669 -0.08163783 -0.05913353]
 [ 0.08347949  0.99607722  0.02938096]
 [ 0.0565033  -0.03416835  0.99781736]]

 t_gt:
[ 0.5459481  -0.80313816 -0.23855768]

Pose Error in degrees for R and t:
25.790145420793674 56.77843663054435

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.86741645e-01  1.62298867e-01 -6.35132508e-05]
 [-1.62298872e-01  9.86741642e-01 -8.67061034e-05]
 [ 4.85988670e-05  9.58646521e-05  9.99999994e-01]]

 t_estimated:
[[-0.99708586]
 [-0.07627979]
 [-0.00108971]]

 R_gt:
[[ 0.99751863 -0.02522321  0.06573227]
 [ 0.02600258  0.99960108 -0.01103969]
 [-0.06542698  0.01272088  0.9977763 ]]

 t_gt:
[ 0.02750282 -0.50480235  0.86279672]

Pose Error in degrees for R and t:
11.464165489364444 89.41881892604984

Number of keypoints:
Image1: 413
Image2: 413

 R_estimated:
[[ 9.99999999e-01  5.52037692e-07  4.15046071e-05]
 [-5.51830308e-07  1.00000000e+00 -4.99663582e-06]
 [-4.15046098e-05  4.99661292e-06  9.99999999e-01]]

 t_estimated:
[[ 9.99997884e-01]
 [-1.97894266e-03]
 [ 5.62513762e-04]]

 R_gt:
[[ 0.99944039 -0.03292237 -0.00609886]
 [ 0.03286425  0.9994172  -0.00929747]
 [ 0.00640083  0.00909266  0.99993792]]

 t_gt:
[ 0.57804017 -0.76804304 -0.27564371]

Pose Error in degrees for R and t:
1.988977875622718 54.59137959625193

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99511392e-01  3.12565807e-02 -6.50324722e-05]
 [-3.12565403e-02  9.99511244e-01  5.49842777e-04]
 [ 8.21868923e-05 -5.47541429e-04  9.99999847e-01]]

 t_estimated:
[[ 0.99649627]
 [-0.08362478]
 [ 0.00144009]]

 R_gt:
[[ 0.99700013 -0.07644503 -0.01217421]
 [ 0.07621225  0.99691879 -0.01857228]
 [ 0.01355631  0.01758881  0.9997537 ]]

 t_gt:
[ 0.56565793 -0.77750992 -0.27478978]

Pose Error in degrees for R and t:
6.30347520683707 51.075233701969786

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.94989868e-01  9.99738460e-02  6.26870626e-04]
 [-9.99736617e-02  9.94990033e-01 -3.18867716e-04]
 [-6.55608457e-04  2.54599595e-04  9.99999753e-01]]

 t_estimated:
[[ 0.90986042]
 [-0.41490975]
 [-0.00197758]]

 R_gt:
[[ 0.99567125 -0.09270036 -0.00692556]
 [ 0.09275337  0.99565866  0.0077569 ]
 [ 0.00617635 -0.00836518  0.9999459 ]]

 t_gt:
[ 0.49142241 -0.87091241 -0.00394818]

Pose Error in degrees for R and t:
11.076156358485154 36.05195517600537

Number of keypoints:
Image1: 691
Image2: 691

 R_estimated:
[[-0.97556765  0.21225899  0.05669115]
 [ 0.21230603  0.97718906 -0.00526129]
 [-0.05651473  0.00690313 -0.9983779 ]]

 t_estimated:
[[ 0.99476899]
 [-0.09805116]
 [ 0.02864642]]

 R_gt:
[[ 0.99912833 -0.04128044 -0.00624942]
 [ 0.04115502  0.99897411 -0.01892622]
 [ 0.00702361  0.01865226  0.99980148]]

 t_gt:
[ 0.5396709  -0.74457762 -0.39288609]

Pose Error in degrees for R and t:
176.9993971249406 53.23031873190345

Number of keypoints:
Image1: 528
Image2: 528

 R_estimated:
[[-0.93816435  0.34441923  0.03497214]
 [ 0.34443577  0.93879233 -0.00574095]
 [-0.03480887  0.0066597  -0.9993718 ]]

 t_estimated:
[[ 0.98604495]
 [-0.16552931]
 [ 0.01775966]]

 R_gt:
[[ 0.99746565 -0.07067168 -0.00824342]
 [ 0.07061008  0.9974763  -0.00760879]
 [ 0.00876018  0.007008    0.99993741]]

 t_gt:
[ 0.51372196 -0.83741528 -0.18661564]

Pose Error in degrees for R and t:
178.37510769059324 50.06968211144746

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 9.98678402e-01  5.13942173e-02  2.90682313e-04]
 [-5.13942285e-02  9.98678443e-01  3.11146675e-05]
 [-2.88699045e-04 -4.60129396e-05  9.99999957e-01]]

 t_estimated:
[[9.84000066e-01]
 [1.78166766e-01]
 [6.88694072e-04]]

 R_gt:
[[ 0.99315012 -0.11654538  0.008321  ]
 [ 0.11641893  0.99309845  0.01426211]
 [-0.00992578 -0.01319563  0.99986399]]

 t_gt:
[ 0.42376091 -0.89478886  0.14063991]

Pose Error in degrees for R and t:
9.680612568428762 75.0689784070665

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999421e-01  5.57685478e-04 -9.20858092e-04]
 [-5.56390713e-04  9.99998857e-01  1.40570038e-03]
 [ 9.21640978e-04 -1.40518720e-03  9.99998588e-01]]

 t_estimated:
[[0.92148865]
 [0.38840407]
 [0.00097101]]

 R_gt:
[[ 0.9917427   0.12823     0.00184851]
 [-0.12802976  0.99081147 -0.04361367]
 [-0.00742447  0.04301738  0.99904733]]

 t_gt:
[-0.17390413  0.96553497 -0.19364807]

Pose Error in degrees for R and t:
7.775657803596074 77.60917079103503

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999359e-01 -1.11852638e-03  1.74095239e-04]
 [ 1.11859436e-03  9.99999298e-01 -3.90877876e-04]
 [-1.73657910e-04  3.91072368e-04  9.99999908e-01]]

 t_estimated:
[[9.99991386e-01]
 [4.11062732e-03]
 [5.75579329e-04]]

 R_gt:
[[ 0.98992331  0.12480693  0.06688485]
 [-0.12523998  0.9921243   0.00229257]
 [-0.0660719  -0.01064489  0.99775809]]

 t_gt:
[-0.16028932  0.91905522  0.36006226]

Pose Error in degrees for R and t:
8.201971310632132 81.00763767076442

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.47834014e-01  3.18763347e-01 -7.81270225e-04]
 [-3.18760556e-01  9.47831907e-01  2.52653615e-03]
 [ 1.54587997e-03 -2.14569877e-03  9.99996503e-01]]

 t_estimated:
[[-9.24589564e-01]
 [-3.80964486e-01]
 [-4.45833847e-04]]

 R_gt:
[[ 0.99396344  0.08361454  0.07103031]
 [-0.08711079  0.99505947  0.0476286 ]
 [-0.06669766 -0.05352765  0.99633695]]

 t_gt:
[-0.03924554  0.76872892  0.63836951]

Pose Error in degrees for R and t:
14.5232105562078 75.11635052958162

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99066746e-01 -4.31925314e-02  2.03791910e-04]
 [ 4.31925466e-02  9.99066764e-01 -7.08815711e-05]
 [-2.00540170e-04  7.96177122e-05  9.99999977e-01]]

 t_estimated:
[[0.92324175]
 [0.38421577]
 [0.00170952]]

 R_gt:
[[ 0.99846459 -0.02796699 -0.04782692]
 [ 0.02807184  0.99960486  0.00152639]
 [ 0.04776474 -0.00286597  0.99885377]]

 t_gt:
[ 0.58995601 -0.54488558 -0.59586207]

Pose Error in degrees for R and t:
2.8883173472971526 70.47003815482843

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.03048983  0.99950957  0.00714036]
 [ 0.9995309  -0.03046828 -0.0031078 ]
 [-0.00288872  0.00723176 -0.99996968]]

 t_estimated:
[[ 0.99998945]
 [-0.00409642]
 [ 0.00208058]]

 R_gt:
[[ 0.99476092 -0.08341939 -0.05910154]
 [ 0.08596282  0.99541703  0.04189288]
 [ 0.05533519 -0.04675321  0.9973726 ]]

 t_gt:
[ 0.5900128  -0.79711439 -0.12842719]

Pose Error in degrees for R and t:
176.30702744715273 53.62947917447007

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.99788494  0.06270153 -0.0171513 ]
 [-0.06323654  0.99746378 -0.03266714]
 [ 0.01505952  0.03368263  0.99931911]]

 t_estimated:
[[ 0.53218939]
 [ 0.84505654]
 [-0.05151605]]

 R_gt:
[[ 0.98330351 -0.13883481 -0.11763895]
 [ 0.14528963  0.98821696  0.04815389]
 [ 0.10956772 -0.06444115  0.99188806]]

 t_gt:
[ 0.61510462 -0.74994035 -0.24338403]

Pose Error in degrees for R and t:
14.048827165890083 72.91130918802644

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.99930249  0.03729308 -0.00193827]
 [-0.03728596  0.99929819  0.00359022]
 [ 0.0020708  -0.00351544  0.99999168]]

 t_estimated:
[[0.99969074]
 [0.02474482]
 [0.00247448]]

 R_gt:
[[ 0.99597918 -0.08542295 -0.02701189]
 [ 0.08617536  0.99588514  0.02803906]
 [ 0.02450484 -0.03025347  0.99924137]]

 t_gt:
[ 0.56963579 -0.82185683 -0.00814922]

Pose Error in degrees for R and t:
7.339087366141683 56.694519768012995

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.96817425 -0.24209227 -0.06348197]
 [-0.24769178  0.89047444  0.38171201]
 [-0.03588046  0.3852877  -0.92209868]]

 t_estimated:
[[ 9.93203962e-01]
 [ 1.16384068e-01]
 [-7.99771650e-04]]

 R_gt:
[[ 0.99331038 -0.11533555  0.00579302]
 [ 0.11520081  0.99314064  0.02000474]
 [-0.00806113 -0.01920425  0.9997825 ]]

 t_gt:
[ 0.48295229 -0.86893909  0.10817548]

Pose Error in degrees for R and t:
178.98046487298606 67.76211238829966

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99982199e-01  5.96613293e-03 -7.89907704e-05]
 [-5.96612029e-03  9.99982190e-01  1.59342250e-04]
 [ 7.99400207e-05 -1.58868146e-04  9.99999984e-01]]

 t_estimated:
[[9.99327798e-01]
 [3.66584761e-02]
 [3.27774156e-04]]

 R_gt:
[[ 9.93982395e-01 -1.09544771e-01  2.27813713e-04]
 [ 1.09530254e-01  9.93874870e-01  1.46560717e-02]
 [-1.83235960e-03 -1.45424120e-02  9.99892062e-01]]

 t_gt:
[ 0.39004457 -0.91974825  0.04391334]

Pose Error in degrees for R and t:
6.682772600350804 69.14033773605578

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99214286e-01 -3.96330387e-02  1.82210894e-04]
 [ 3.96330792e-02  9.99214276e-01 -2.24206734e-04]
 [-1.73181732e-04  2.31252151e-04  9.99999958e-01]]

 t_estimated:
[[-1.43151301e-01]
 [-9.89700789e-01]
 [-2.31373027e-04]]

 R_gt:
[[ 9.98134689e-01  3.88310036e-02  4.71110803e-02]
 [-3.89169655e-02  9.99242528e-01  9.11105648e-04]
 [-4.70404724e-02 -2.74210839e-03  9.98889071e-01]]

 t_gt:
[-0.18834611  0.76917381  0.61065326]

Pose Error in degrees for R and t:
5.243259545085661 42.74082304871865

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 2.60612114e-01 -9.65436438e-01  3.71616088e-03]
 [-9.65443374e-01 -2.60612703e-01  3.33501407e-04]
 [ 6.46504320e-04 -3.67465740e-03 -9.99993039e-01]]

 t_estimated:
[[0.64629298]
 [0.76308393]
 [0.00288043]]

 R_gt:
[[ 0.98919353  0.10302079  0.10432021]
 [-0.09120294  0.98947555 -0.11234297]
 [-0.11479595  0.10161487  0.98817732]]

 t_gt:
[-0.35403724  0.93480169  0.02834487]

Pose Error in degrees for R and t:
179.09530572097478 61.013599157463034

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 8.44133181e-01  5.36133430e-01  3.44150703e-04]
 [-5.36133472e-01  8.44133223e-01  3.60233397e-05]
 [-2.71195726e-04 -2.14919208e-04  9.99999940e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9785062   0.11710158  0.1697459 ]
 [-0.10202175  0.99023484 -0.09501593]
 [-0.17921484  0.07565668  0.98089624]]

 t_gt:
[-0.33072759  0.84064049  0.42888557]

Pose Error in degrees for R and t:
28.33696862908884 32.96461250302168

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999345e-01 -1.09981750e-03  3.18417060e-04]
 [ 1.09981427e-03  9.99999395e-01  1.03085890e-05]
 [-3.18428205e-04 -9.95838265e-06  9.99999949e-01]]

 t_estimated:
[[0.43799732]
 [0.89897579]
 [0.00093956]]

 R_gt:
[[ 0.9776317  -0.14961332 -0.14782331]
 [ 0.1678278   0.97854223  0.11954006]
 [ 0.12676743 -0.14167548  0.98176247]]

 t_gt:
[ 0.60480339 -0.79190055  0.08429935]

Pose Error in degrees for R and t:
14.28050219885587 63.4538861149709

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999829e-01 -4.30717099e-04  3.94615277e-04]
 [ 4.30717810e-04  9.99999907e-01 -1.71681399e-06]
 [-3.94614501e-04  1.88678152e-06  9.99999922e-01]]

 t_estimated:
[[-0.64860752]
 [-0.76112125]
 [-0.00165461]]

 R_gt:
[[ 0.93192918 -0.29245848 -0.21442037]
 [ 0.32231678  0.9389734   0.12017155]
 [ 0.16619014 -0.18110299  0.96932057]]

 t_gt:
[ 0.67396481 -0.73557808  0.0685298 ]

Pose Error in degrees for R and t:
23.04928156826523 82.95712300675162

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.55905508 -0.82910901 -0.00597234]
 [ 0.8291025   0.5590809  -0.00419361]
 [ 0.00681598 -0.00260722  0.99997337]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.88482857 -0.36576606 -0.2886049 ]
 [ 0.41563078  0.89958155  0.1341831 ]
 [ 0.21054487 -0.23868234  0.9479988 ]]

 t_gt:
[ 0.69981937 -0.7090791   0.08636943]

Pose Error in degrees for R and t:
37.02911977740563 45.85934730855774

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.89700786 -0.44194968  0.00757451]
 [-0.44194522 -0.89643179  0.03308276]
 [-0.00783088 -0.03302301 -0.99942391]]

 t_estimated:
[[0.21326973]
 [0.97683882]
 [0.01737646]]

 R_gt:
[[ 9.99354481e-01 -7.94076610e-04 -3.59197392e-02]
 [-1.30488128e-03  9.98293761e-01 -5.83874349e-02]
 [ 3.59052566e-02  5.83967770e-02  9.97647088e-01]]

 t_gt:
[ 0.12194083  0.21587467 -0.96877684]

Pose Error in degrees for R and t:
178.21681128291493 77.2881991462114

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.99995672 -0.00921313  0.00129245]
 [ 0.00921584  0.99995531 -0.00210704]
 [-0.00127298  0.00211886  0.99999694]]

 t_estimated:
[[-0.31048286]
 [-0.95057784]
 [-0.00147148]]

 R_gt:
[[ 0.99823568 -0.01820851  0.05651296]
 [ 0.01616782  0.9992078   0.03635461]
 [-0.05713035 -0.0353775   0.99773901]]

 t_gt:
[ 0.03181724 -0.35148597  0.93565233]

Pose Error in degrees for R and t:
3.8856526368058573 71.16406978072764

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.94746862 -0.31984481  0.00158636]
 [-0.31983151  0.9474574   0.00568239]
 [-0.00332049  0.00487652 -0.9999826 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98714808 -0.10455703  0.12085448]
 [ 0.07747831  0.97456337  0.21029516]
 [-0.13976807 -0.19822989  0.97013842]]

 t_gt:
[ 0.24038385 -0.40255324  0.88327034]

Pose Error in degrees for R and t:
170.48937424357555 76.12413579120887

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[-9.01630006e-01  4.32507736e-01 -6.24642042e-04]
 [-4.32496350e-01 -9.01615074e-01 -6.09631788e-03]
 [-3.19989133e-03 -5.22646773e-03  9.99981222e-01]]

 t_estimated:
[[0.7592543 ]
 [0.6507894 ]
 [0.00246511]]

 R_gt:
[[ 0.99845471 -0.03329353  0.04449177]
 [ 0.03358392  0.99942012 -0.00580262]
 [-0.04427216  0.00728703  0.99899279]]

 t_gt:
[-0.34753807 -0.51019791  0.78671176]

Pose Error in degrees for R and t:
156.28882788562026 53.561341635643515

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 0.99986109  0.01636817  0.00314394]
 [-0.01636351  0.99986498 -0.00150325]
 [-0.00316812  0.0014516   0.99999393]]

 t_estimated:
[[9.52804912e-01]
 [3.03582303e-01]
 [7.64690941e-04]]

 R_gt:
[[ 0.99508722 -0.09815694  0.01296104]
 [ 0.09821012  0.99515978 -0.00358471]
 [-0.01254633  0.00483996  0.99990978]]

 t_gt:
[ 0.11358134 -0.98883387  0.09647207]

Pose Error in degrees for R and t:
6.597063300002462 78.93643955282758

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.71918596e-01  2.35301787e-01  2.70398446e-03]
 [-2.35298994e-01  9.71922147e-01 -1.31295249e-03]
 [-2.93700245e-03  6.39838115e-04  9.99995482e-01]]

 t_estimated:
[[-0.57120957]
 [-0.82080332]
 [-0.00124176]]

 R_gt:
[[ 0.99539905 -0.08926512 -0.03482986]
 [ 0.09001875  0.99572568  0.02071768]
 [ 0.03283199 -0.02375806  0.99917827]]

 t_gt:
[-0.11319668 -0.97986637 -0.16446401]

Pose Error in degrees for R and t:
18.917755225655284 29.641050375226275

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.14412790e-01  4.04782806e-01 -3.59173250e-04]
 [-4.04782924e-01  9.14412737e-01 -3.61871632e-04]
 [ 1.81953180e-04  4.76287247e-04  9.99999870e-01]]

 t_estimated:
[[-0.54938107]
 [ 0.835571  ]
 [-0.00124016]]

 R_gt:
[[ 0.99507072  0.09713755  0.01996906]
 [-0.09703496  0.9952632  -0.00599026]
 [-0.02045667  0.00402379  0.99978203]]

 t_gt:
[-0.7142249   0.69473152  0.08503473]

Pose Error in degrees for R and t:
18.344783488498194 13.400539596834475

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.99679436 -0.07995841 -0.00276521]
 [ 0.07996678  0.99679283  0.00305962]
 [ 0.0025117  -0.00327094  0.9999915 ]]

 t_estimated:
[[-0.75316674]
 [-0.65782918]
 [-0.00079448]]

 R_gt:
[[ 0.90851368  0.41676029  0.03021851]
 [-0.41563803  0.90876704 -0.03724064]
 [-0.04298188  0.02127387  0.99884901]]

 t_gt:
[-0.63054074  0.77584338  0.02203235]

Pose Error in degrees for R and t:
29.3456284265248 87.96628275264332

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.99260172  0.12140901 -0.00129475]
 [-0.12140587  0.99260035  0.00227287]
 [ 0.00156112 -0.00209886  0.99999658]]

 t_estimated:
[[-8.37639504e-01]
 [-5.46222963e-01]
 [-7.32202363e-04]]

 R_gt:
[[ 0.81160199  0.57793352  0.08542169]
 [-0.57643306  0.81596999 -0.04379086]
 [-0.09500908 -0.01369903  0.99538197]]

 t_gt:
[-0.56835327  0.81568719  0.1078377 ]

Pose Error in degrees for R and t:
28.911963970173165 88.25512400494863

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99946112e-01 -1.03812736e-02  3.58610100e-05]
 [ 1.03812763e-02  9.99946110e-01 -7.62333941e-05]
 [-3.50676777e-05  7.66015691e-05  9.99999996e-01]]

 t_estimated:
[[ 3.66612969e-01]
 [-9.30373535e-01]
 [-1.27640471e-04]]

 R_gt:
[[ 0.99874318 -0.03681603  0.03402076]
 [ 0.03557778  0.99870692  0.03631461]
 [-0.03531334 -0.03505779  0.99876157]]

 t_gt:
[ 0.51633242 -0.22764008  0.82557908]

Pose Error in degrees for R and t:
3.2148264465207026 66.36059963743912

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.7453219   0.66666464  0.0073161 ]
 [ 0.66668483 -0.7451698  -0.01591564]
 [-0.00515866  0.01673981 -0.99984657]]

 t_estimated:
[[-0.39380795]
 [ 0.91914886]
 [-0.00898174]]

 R_gt:
[[ 0.99406387 -0.08920207  0.06229153]
 [ 0.08473527  0.99387025  0.07100291]
 [-0.06824341 -0.06530218  0.99552886]]

 t_gt:
[ 0.65548401 -0.21439656  0.7241373 ]

Pose Error in degrees for R and t:
178.68368461654035 62.50306413647476

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 3.01173586e-01  9.53568364e-01  1.35902911e-03]
 [ 9.53565750e-01 -3.01176055e-01  2.31172531e-03]
 [ 2.61369515e-03  5.99693010e-04 -9.99996404e-01]]

 t_estimated:
[[-0.28490715]
 [-0.95855428]
 [-0.00126625]]

 R_gt:
[[ 0.98512968 -0.17170423  0.00621819]
 [ 0.1715845   0.98503397  0.01635232]
 [-0.0089325  -0.01504154  0.9998473 ]]

 t_gt:
[ 0.98252582 -0.1432158   0.11887917]

Pose Error in degrees for R and t:
179.48130847564727 81.79015234355414

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.99998525e-01 -1.71730905e-03  2.41262035e-05]
 [ 1.71730098e-03  9.99998471e-01  3.30778284e-04]
 [-2.46942151e-05 -3.30736365e-04  9.99999945e-01]]

 t_estimated:
[[0.03382292]
 [0.99942651]
 [0.00163191]]

 R_gt:
[[ 0.99927743  0.02263489  0.03053949]
 [-0.02488621  0.99683809  0.07545996]
 [-0.02873499 -0.07616602  0.99668094]]

 t_gt:
[-0.16290145 -0.11173455  0.98029511]

Pose Error in degrees for R and t:
4.87551897430918 83.36289022323459

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-9.61350962e-01  2.75254687e-01 -6.25977511e-03]
 [-2.75251019e-01 -9.61371288e-01 -1.45704673e-03]
 [-6.41902700e-03  3.22276204e-04  9.99979346e-01]]

 t_estimated:
[[0.51783828]
 [0.85547643]
 [0.00189684]]

 R_gt:
[[ 0.98994969  0.12867433  0.05867355]
 [-0.13392922  0.98625767  0.09674117]
 [-0.04541925 -0.10362672  0.99357818]]

 t_gt:
[-0.63055432  0.3809617   0.676217  ]

Pose Error in degrees for R and t:
156.5099747131913 89.96211208696238

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 0.13394162  0.99089493 -0.01367033]
 [ 0.99089229 -0.13372283  0.01583299]
 [ 0.01386079 -0.01566652 -0.9997812 ]]

 t_estimated:
[[-0.78837112]
 [ 0.61512893]
 [ 0.0093478 ]]

 R_gt:
[[ 0.97709815  0.20793502  0.04519777]
 [-0.20943222  0.97732265  0.03130926]
 [-0.03766286 -0.04005823  0.99848688]]

 t_gt:
[-0.71275482  0.65960241  0.23854818]

Pose Error in degrees for R and t:
178.83174509718972 14.096772639792665

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 0.31703091  0.94835951  0.01027813]
 [ 0.94839548 -0.31693582 -0.00988373]
 [-0.00611583  0.01288118 -0.99989833]]

 t_estimated:
[[-0.57497673]
 [-0.8181693 ]
 [-0.00086854]]

 R_gt:
[[ 0.99480883 -0.09524768  0.03581272]
 [ 0.09428988  0.99516301  0.02756069]
 [-0.03826452 -0.02404212  0.99897835]]

 t_gt:
[ 0.4391911  -0.81439602  0.37930239]

Pose Error in degrees for R and t:
179.14896453746493 65.57764519311351

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-1.60858228e-01 -9.86976610e-01 -1.34198037e-03]
 [-9.86977475e-01  1.60857648e-01  5.30024159e-04]
 [-3.07253642e-04  1.40976314e-03 -9.99998959e-01]]

 t_estimated:
[[7.70406036e-01]
 [6.37553171e-01]
 [7.02925216e-04]]

 R_gt:
[[ 0.97878829 -0.20358612  0.0229242 ]
 [ 0.20192976  0.97756731  0.05988674]
 [-0.03460187 -0.0539885   0.99794143]]

 t_gt:
[ 0.59961099 -0.74892382  0.28209889]

Pose Error in degrees for R and t:
176.64257805892504 89.12124681506029

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 7.19734748e-02  9.97402049e-01  2.99539004e-03]
 [ 9.97406545e-01 -7.19733174e-02 -1.60449560e-04]
 [ 5.55554382e-05  2.99916974e-03 -9.99995501e-01]]

 t_estimated:
[[9.76798300e-01]
 [2.14159151e-01]
 [9.69045933e-04]]

 R_gt:
[[ 0.9403332  -0.33980974  0.01737976]
 [ 0.33399601  0.93158497  0.14351216]
 [-0.06495738 -0.12914573  0.98949576]]

 t_gt:
[ 0.64994419 -0.65652291  0.38281878]

Pose Error in degrees for R and t:
175.95607177453957 60.354317725194775

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.99713788 -0.07541644  0.00533012]
 [-0.07535697 -0.99710034 -0.01059414]
 [ 0.00611364  0.01016215 -0.99992967]]

 t_estimated:
[[ 0.0544089 ]
 [ 0.99849625]
 [-0.00670149]]

 R_gt:
[[ 0.97530442 -0.21917594 -0.02727921]
 [ 0.21997361  0.97502038  0.03077928]
 [ 0.01985027 -0.03601992  0.9991536 ]]

 t_gt:
[ 0.97671522 -0.16074882  0.14208165]

Pose Error in degrees for R and t:
178.75353348322346 83.78167795229182

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 7.74948163e-01  6.32023999e-01  1.00440948e-03]
 [-6.32023363e-01  7.74948811e-01 -8.98732730e-04]
 [-1.34638659e-03  6.16610189e-05  9.99999092e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.95756497 -0.28789407 -0.0137053 ]
 [ 0.28820697  0.95599229  0.05491653]
 [-0.00270906 -0.05653589  0.99839672]]

 t_gt:
[ 0.97434987 -0.11953598  0.19066587]

Pose Error in degrees for R and t:
56.04332677299884 74.82764272587914

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.72743499e-01  2.31883770e-01  5.60843478e-05]
 [-2.31883007e-01  9.72740866e-01 -2.34064101e-03]
 [-5.97312197e-04  2.26383832e-03  9.99997259e-01]]

 t_estimated:
[[9.73239254e-01]
 [2.29792602e-01]
 [8.44825742e-04]]

 R_gt:
[[ 0.94868598 -0.31434851  0.0343562 ]
 [ 0.31050627  0.94658869  0.08692569]
 [-0.05984654 -0.07179776  0.99562171]]

 t_gt:
[ 0.95699941 -0.11121206  0.26792536]

Pose Error in degrees for R and t:
32.1125589843546 25.033567311551582

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.99998013 -0.00578945  0.00249321]
 [ 0.00577888 -0.99997438 -0.00422392]
 [ 0.0025176  -0.00420943  0.99998797]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99276607 -0.11439592  0.03647217]
 [ 0.11289593  0.9927667   0.04083667]
 [-0.04088017 -0.0364238   0.99849957]]

 t_gt:
[ 0.50644487 -0.76492355  0.39800196]

Pose Error in degrees for R and t:
173.1482950639615 87.06778003216193

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 7.86200108e-01 -6.17971997e-01 -3.20480505e-05]
 [ 6.17971749e-01  7.86199744e-01  9.38269612e-04]
 [-5.54628176e-04 -7.57472460e-04  9.99999559e-01]]

 t_estimated:
[[0.98711382]
 [0.16001635]
 [0.00103907]]

 R_gt:
[[ 0.96773706 -0.25145484  0.01599487]
 [ 0.24896511  0.96405696  0.09278874]
 [-0.03875292 -0.085813    0.99555684]]

 t_gt:
[ 0.6493241  -0.68199788  0.33653693]

Pose Error in degrees for R and t:
24.234153002999 57.847425715309505

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.84411944e-01  1.75876855e-01  6.76064404e-04]
 [-1.75877032e-01  9.84412121e-01  2.11140555e-04]
 [-6.28391258e-04 -3.26753485e-04  9.99999749e-01]]

 t_estimated:
[[9.53057048e-01]
 [3.02789416e-01]
 [9.12016314e-04]]

 R_gt:
[[ 0.93466444 -0.35537709  0.01052181]
 [ 0.34673465  0.91768004  0.19400379]
 [-0.07860075 -0.17767915  0.98094352]]

 t_gt:
[ 0.62557742 -0.61645541  0.47815858]

Pose Error in degrees for R and t:
32.802616398678104 65.79573808979245

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.00000000e+00 -1.54487534e-13  1.13841228e-17]
 [ 1.54209978e-13  1.00000000e+00  1.05492871e-16]
 [-1.25062721e-16 -2.66713734e-17  1.00000000e+00]]

 t_estimated:
[[-5.70492673e-01]
 [-8.21302519e-01]
 [-5.32074050e-04]]

 R_gt:
[[ 0.99057813 -0.04666167  0.12875948]
 [ 0.02591687  0.98704923  0.15831759]
 [-0.13447943 -0.15348842  0.97895734]]

 t_gt:
[ 0.06459515 -0.25708831  0.96422667]

Pose Error in degrees for R and t:
11.960044970226543 79.9921457272358

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.98640098  0.16390253  0.01220913]
 [-0.16357486  0.98623346 -0.02422441]
 [-0.0160115   0.02189787  0.99963199]]

 t_estimated:
[[9.01357814e-01]
 [4.33074262e-01]
 [8.80232240e-04]]

 R_gt:
[[ 0.97590899 -0.15961427  0.14874877]
 [ 0.10712806  0.94447817  0.31062245]
 [-0.19006958 -0.2872039   0.93882262]]

 t_gt:
[ 0.28717143 -0.36535468  0.88546515]

Pose Error in degrees for R and t:
27.129791278479278 84.18032568162016

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 1.00000000e+00 -6.48370246e-14 -8.56519716e-17]
 [ 6.48370246e-14  1.00000000e+00  4.09828421e-17]
 [-4.92227786e-16  4.14165230e-17  1.00000000e+00]]

 t_estimated:
[[-0.34265947]
 [-0.93945887]
 [-0.00123657]]

 R_gt:
[[ 0.95251584 -0.28754068  0.10018359]
 [ 0.22648762  0.88895972  0.39806598]
 [-0.20351852 -0.35647295  0.91187041]]

 t_gt:
[ 0.45151969 -0.444761    0.77350993]

Pose Error in degrees for R and t:
28.756404238160606 74.80169271821696

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.28237967e-01 -3.71986924e-01 -6.37059122e-05]
 [ 3.71986902e-01  9.28237818e-01  5.46674062e-04]
 [-1.44221366e-04 -5.31141385e-04  9.99999849e-01]]

 t_estimated:
[[ 7.80237831e-01]
 [-6.25482498e-01]
 [ 7.55644979e-04]]

 R_gt:
[[ 0.98318186 -0.17367244 -0.05649508]
 [ 0.17788734  0.9807161   0.08094129]
 [ 0.04134775 -0.08962917  0.99511642]]

 t_gt:
[ 0.57422145 -0.79209064  0.20703175]

Pose Error in degrees for R and t:
12.973768612184566 19.330552399756662

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 1.34422569e-01  9.90923882e-01  6.57904853e-04]
 [-9.90921542e-01  1.34423701e-01 -2.18333897e-03]
 [-2.25196073e-03 -3.58442058e-04  9.99997400e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.94597005 -0.28482793 -0.15496394]
 [ 0.29803863  0.9520187   0.0695286 ]
 [ 0.12772484 -0.11195628  0.98547011]]

 t_gt:
[ 0.6712971  -0.74118482 -0.00229551]

Pose Error in degrees for R and t:
99.71444614152708 42.524736719576765

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 1.38801819e-01  9.90320029e-01  5.42682971e-04]
 [-9.90319103e-01  1.38802454e-01 -1.39716949e-03]
 [-1.45897066e-03 -3.43499647e-04  9.99998877e-01]]

 t_estimated:
[[0.00759197]
 [0.99997059]
 [0.00108457]]

 R_gt:
[[ 0.92861515 -0.32517167 -0.1787131 ]
 [ 0.35651292  0.91540824  0.18688549]
 [ 0.1028253  -0.23725728  0.96598909]]

 t_gt:
[ 0.60078901 -0.75043694  0.27549402]

Pose Error in degrees for R and t:
103.10785909994458 41.793216194006135

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-0.8402979  -0.53962277  0.05202605]
 [-0.53966981  0.84175449  0.01434835]
 [-0.05153586 -0.01602    -0.99854265]]

 t_estimated:
[[0.96259592]
 [0.26966866]
 [0.02622807]]

 R_gt:
[[ 0.99947942 -0.03018985  0.01140784]
 [ 0.03030871  0.99948617 -0.01039433]
 [-0.01108913  0.01073539  0.99988058]]

 t_gt:
[ 0.24796995 -0.96803593 -0.03764769]

Pose Error in degrees for R and t:
176.45986162753417 88.66250820125339

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-0.9533147  -0.29601268  0.05972916]
 [-0.29617303  0.95511317  0.00635383]
 [-0.05892892 -0.01163297 -0.9981944 ]]

 t_estimated:
[[0.98806936]
 [0.15121313]
 [0.02921508]]

 R_gt:
[[ 0.99909468 -0.03658476  0.0217415 ]
 [ 0.03638788  0.99929342  0.0093855 ]
 [-0.02206987 -0.00858613  0.99971927]]

 t_gt:
[-0.0194821  -0.95072367  0.3094268 ]

Pose Error in degrees for R and t:
175.2449483903105 81.14284084551754

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.64924454e-01  2.62525661e-01  1.03688771e-03]
 [-2.62527598e-01  9.64920148e-01  2.89279500e-03]
 [-2.41080923e-04 -3.06354027e-03  9.99995278e-01]]

 t_estimated:
[[0.92605419]
 [0.37738862]
 [0.00121094]]

 R_gt:
[[ 0.99870945 -0.02241763  0.04557303]
 [ 0.02105041  0.9993195   0.03027538]
 [-0.04622164 -0.02927588  0.99850179]]

 t_gt:
[-0.38670139 -0.69565479  0.60541428]

Pose Error in degrees for R and t:
16.73794887923615 51.69076451863752

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99978448e-01 -6.56528652e-03 -1.67086417e-05]
 [ 6.56528764e-03  9.99978446e-01  6.75357104e-05]
 [ 1.62648903e-05 -6.76439519e-05  9.99999998e-01]]

 t_estimated:
[[0.02840767]
 [0.99959484]
 [0.00177548]]

 R_gt:
[[ 0.99916393  0.03993761 -0.00874595]
 [-0.04006061  0.99909448 -0.01434455]
 [ 0.00816521  0.01468246  0.99985892]]

 t_gt:
[ 0.15512174  0.89386887 -0.42063724]

Pose Error in degrees for R and t:
2.837810975182126 26.211916223768167

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999956e-01  1.27211838e-04 -2.69412169e-04]
 [-1.27197952e-04  9.99999991e-01  5.15567351e-05]
 [ 2.69418725e-04 -5.15224641e-05  9.99999962e-01]]

 t_estimated:
[[-0.75105818]
 [-0.66023488]
 [-0.00122978]]

 R_gt:
[[ 0.99316397  0.10880524  0.04227649]
 [-0.10572667  0.99198054 -0.06926826]
 [-0.04947517  0.06432485  0.99670251]]

 t_gt:
[-0.24195504  0.96091274 -0.13455282]

Pose Error in degrees for R and t:
7.7264206166301195 63.09321398883662

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 8.74899670e-01 -4.84303630e-01  7.48792814e-04]
 [ 4.84303956e-01  8.74899748e-01 -3.30531897e-04]
 [-4.95040847e-04  6.51825569e-04  9.99999665e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.98091161  0.15698257  0.1147529 ]
 [-0.14346848  0.98261297 -0.11785139]
 [-0.13125818  0.09913827  0.98637887]]

 t_gt:
[-0.31922935  0.94454176  0.07702913]

Pose Error in degrees for R and t:
38.78470026284152 19.447082513874175

Number of keypoints:
Image1: 347
Image2: 347

 R_estimated:
[[ 9.94641838e-01  1.03380915e-01  3.37780794e-05]
 [-1.03380909e-01  9.94641829e-01 -1.38898834e-04]
 [-4.79565793e-05  1.34662583e-04  9.99999990e-01]]

 t_estimated:
[[-8.21266309e-01]
 [ 5.70544708e-01]
 [-6.21712985e-04]]

 R_gt:
[[ 0.99726739  0.02278017  0.07027758]
 [-0.01989042  0.99893886 -0.04155042]
 [-0.07114894  0.04003954  0.99666181]]

 t_gt:
[-0.52442044  0.80975318  0.26321661]

Pose Error in degrees for R and t:
6.636094737039995 26.807652857277827

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.46281112e-01 -3.23344949e-01 -3.17111184e-04]
 [ 3.23345059e-01  9.46281046e-01  3.93321080e-04]
 [ 1.72897918e-04 -4.74728644e-04  9.99999872e-01]]

 t_estimated:
[[-0.5348153 ]
 [-0.84496841]
 [-0.00099408]]

 R_gt:
[[ 0.99243164  0.06562657  0.10378525]
 [-0.0566405   0.9945717  -0.08728461]
 [-0.10895035  0.08074578  0.99076192]]

 t_gt:
[-0.62092738  0.77997795  0.07799735]

Pose Error in degrees for R and t:
23.697048204712168 70.9100105102962

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-9.05997721e-01 -4.23268155e-01 -3.49261830e-03]
 [ 4.23266870e-01 -9.06004342e-01  1.13582183e-03]
 [-3.64508455e-03 -4.49257625e-04  9.99993256e-01]]

 t_estimated:
[[0.92061933]
 [0.39045722]
 [0.00179109]]

 R_gt:
[[ 0.98049496  0.10358333  0.16703457]
 [-0.08430154  0.98934843 -0.1186745 ]
 [-0.17754811  0.10227927  0.97878268]]

 t_gt:
[-0.66741282  0.69807218  0.25933638]

Pose Error in degrees for R and t:
160.5226374075569 70.03772646815742

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 1.63559275e-02 -9.99866044e-01 -6.14212175e-04]
 [-9.99798859e-01 -1.63619534e-02  1.15985962e-02]
 [-1.16070922e-02  4.24382834e-04 -9.99932545e-01]]

 t_estimated:
[[0.88501759]
 [0.46552948]
 [0.00511571]]

 R_gt:
[[ 0.97456152 -0.2236328  -0.01477795]
 [ 0.22405629  0.97373899  0.04038028]
 [ 0.00536051 -0.04266465  0.99907485]]

 t_gt:
[ 0.61294155 -0.7817948   0.11445326]

Pose Error in degrees for R and t:
178.1982032274619 79.68259832591559

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 8.30272704e-01  5.57348227e-01  3.19223835e-03]
 [-5.57350651e-01  8.30277199e-01 -1.54377098e-04]
 [-2.73648452e-03 -1.65102103e-03  9.99994893e-01]]

 t_estimated:
[[0.65183736]
 [0.75835712]
 [0.00158985]]

 R_gt:
[[ 0.93321082 -0.35657955 -0.04437256]
 [ 0.35517303  0.93408304 -0.03659418]
 [ 0.05449641  0.0183892   0.9983442 ]]

 t_gt:
[ 0.6972392  -0.70181617 -0.1459848 ]

Pose Error in degrees for R and t:
54.840959214825325 85.52794691994974

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-1.55272133e-01 -9.87871175e-01 -1.05215920e-03]
 [-9.87870379e-01  1.55273597e-01 -1.49143433e-03]
 [ 1.63671753e-03  8.07818714e-04 -9.99998334e-01]]

 t_estimated:
[[8.41732005e-01]
 [5.39895066e-01]
 [7.41614101e-04]]

 R_gt:
[[ 0.89001283 -0.44950339 -0.0763132 ]
 [ 0.44674502  0.89320671 -0.05098608]
 [ 0.09108304  0.01128564  0.99577907]]

 t_gt:
[ 0.7334801  -0.66009405 -0.1621197 ]

Pose Error in degrees for R and t:
174.95126070066658 74.87700764074641

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 0.77606695 -0.630526   -0.01253224]
 [-0.63037814 -0.77499456 -0.04479775]
 [ 0.01853373  0.0426661  -0.99891747]]

 t_estimated:
[[ 0.28042758]
 [ 0.95948995]
 [-0.02719201]]

 R_gt:
[[ 9.99272255e-01 -2.30436061e-03  3.80729407e-02]
 [ 3.63672093e-04  9.98704280e-01  5.09100961e-02]
 [-3.81409945e-02 -5.08596031e-02  9.97977483e-01]]

 t_gt:
[-0.06233359 -0.09169081  0.99383465]

Pose Error in degrees for R and t:
179.182285248175 82.38702612786236

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99999901e-01  4.42228870e-04 -5.32966797e-05]
 [-4.42229607e-04  9.99999902e-01 -1.37994906e-05]
 [ 5.32905719e-05  1.38230586e-05  9.99999998e-01]]

 t_estimated:
[[-0.10760114]
 [-0.99419357]
 [-0.00107163]]

 R_gt:
[[ 0.998393   -0.03370673  0.04555469]
 [ 0.03061934  0.99729236  0.06686533]
 [-0.04768439 -0.0653635   0.99672187]]

 t_gt:
[ 0.24701055 -0.19967228  0.94821768]

Pose Error in degrees for R and t:
5.005784538651065 80.15879371670725

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999035e-01 -2.45411565e-04  1.36765786e-03]
 [ 2.49034120e-04  9.99996460e-01 -2.64918841e-03]
 [-1.36700287e-03  2.64952645e-03  9.99995556e-01]]

 t_estimated:
[[-0.7460311 ]
 [-0.66590926]
 [-0.00156931]]

 R_gt:
[[ 9.99685174e-01  8.10385312e-04  2.50888326e-02]
 [-2.49404600e-03  9.97739336e-01  6.71711395e-02]
 [-2.49776351e-02 -6.72121006e-02  9.97425530e-01]]

 t_gt:
[-0.07555221  0.36430186  0.92821119]

Pose Error in degrees for R and t:
4.229715543983907 79.18232470537741

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.66655205e-01  2.56080280e-01  7.77107453e-04]
 [-2.56080486e-01  9.66655447e-01  1.77168325e-04]
 [-7.05825838e-04 -3.70262738e-04  9.99999682e-01]]

 t_estimated:
[[-0.42661169]
 [ 0.90441883]
 [ 0.00539001]]

 R_gt:
[[ 0.99987388 -0.00772652  0.01388444]
 [ 0.00901849  0.99538198 -0.09556325]
 [-0.01308197  0.0956762   0.99532657]]

 t_gt:
[ 0.14183656  0.28087312 -0.94920634]

Pose Error in degrees for R and t:
16.28775010936808 79.14048368539609

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 5.11266816e-01  8.59420422e-01  1.66781662e-03]
 [-8.59420148e-01  5.11268800e-01 -1.10642037e-03]
 [-1.80358286e-03 -8.67679188e-04  9.99997997e-01]]

 t_estimated:
[[-0.28980034]
 [ 0.95708442]
 [ 0.00227416]]

 R_gt:
[[ 0.9983764   0.05517789  0.01421576]
 [-0.05250438  0.98778727 -0.14669648]
 [-0.02213657  0.14571111  0.98907945]]

 t_gt:
[-0.18263537  0.50411236 -0.84410606]

Pose Error in degrees for R and t:
56.7295676981305 57.75868923075648

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.98647389e-01  5.19940905e-02  8.48007147e-05]
 [-5.19940750e-02  9.98647378e-01 -1.74721380e-04]
 [-9.37704906e-05  1.70075915e-04  9.99999981e-01]]

 t_estimated:
[[-5.08553773e-01]
 [-8.61030163e-01]
 [-3.44065157e-04]]

 R_gt:
[[ 0.9925624   0.12066625 -0.01616888]
 [-0.12148135  0.97288958 -0.19679499]
 [-0.00801615  0.19729543  0.98031168]]

 t_gt:
[-0.24370468  0.61380398 -0.75090126]

Pose Error in degrees for R and t:
12.073151944946538 66.15220154018829

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99989824e-01  4.51028667e-03  9.44521714e-05]
 [-4.51028568e-03  9.99989829e-01 -1.06818141e-05]
 [-9.44993887e-05  1.02556992e-05  9.99999995e-01]]

 t_estimated:
[[ 0.69576975]
 [-0.71826449]
 [ 0.00076021]]

 R_gt:
[[ 0.98937887 -0.14401312  0.01977138]
 [ 0.13999689  0.98061288  0.13711228]
 [-0.03913366 -0.13288765  0.99035705]]

 t_gt:
[ 0.53307399 -0.66405443  0.52427458]

Pose Error in degrees for R and t:
11.614234244126003 31.97686160097694

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.97376627 -0.22752267  0.00356117]
 [ 0.22751228  0.97377028  0.00309788]
 [-0.0041726  -0.0022064   0.99998886]]

 t_estimated:
[[0.06701134]
 [0.99772443]
 [0.0074457 ]]

 R_gt:
[[ 0.96128619 -0.27429898  0.02625212]
 [ 0.26634899  0.94937003  0.16659969]
 [-0.070621   -0.15315878  0.98567504]]

 t_gt:
[ 0.62096797 -0.66241386  0.41905449]

Pose Error in degrees for R and t:
9.86145182671147 51.96269350359773

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99999481e-01  1.00053148e-03  1.89593585e-04]
 [-1.00051861e-03  9.99999497e-01 -6.79728504e-05]
 [-1.89661499e-04  6.77831232e-05  9.99999980e-01]]

 t_estimated:
[[9.99995498e-01]
 [2.90819524e-03]
 [7.38729212e-04]]

 R_gt:
[[ 0.9497581  -0.31116139  0.03372323]
 [ 0.30218016  0.93970089  0.16015551]
 [-0.08152383 -0.14191894  0.98651449]]

 t_gt:
[ 0.64189018 -0.66494377  0.38187273]

Pose Error in degrees for R and t:
20.33446170627985 50.19060964707505

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.95600178  0.29328246  0.00678132]
 [ 0.29329003 -0.9550077  -0.04405964]
 [-0.00644571  0.04410998 -0.99900589]]

 t_estimated:
[[-0.15588892]
 [ 0.98752176]
 [-0.02234757]]

 R_gt:
[[ 0.99937372 -0.01102187  0.03364144]
 [ 0.00950295  0.99894264  0.044995  ]
 [-0.03410138 -0.04464682  0.99842104]]

 t_gt:
[ 0.0741559  -0.10146219  0.99207174]

Pose Error in degrees for R and t:
179.70035882106487 82.30344571577128

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.90364950e-01  1.38481933e-01  1.41880676e-04]
 [-1.38481907e-01  9.90364948e-01 -1.78122726e-04]
 [-1.65180428e-04  1.56758598e-04  9.99999974e-01]]

 t_estimated:
[[-0.99999506]
 [ 0.00290815]
 [-0.00119142]]

 R_gt:
[[ 0.99968065 -0.00991792  0.02330677]
 [ 0.00921327  0.99950457  0.03013938]
 [-0.02359311 -0.02991457  0.99927383]]

 t_gt:
[0.11654814 0.35303558 0.92832236]

Pose Error in degrees for R and t:
8.783538547862813 83.30252908240537

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.97644151e-01  6.86012627e-02  1.17784233e-04]
 [-6.86012463e-02  9.97644150e-01 -1.37456679e-04]
 [-1.26936452e-04  1.29052707e-04  9.99999984e-01]]

 t_estimated:
[[-0.85431981]
 [-0.51974578]
 [-0.00140541]]

 R_gt:
[[ 0.99756596  0.06109194  0.03365304]
 [-0.06292223  0.99642861  0.05631662]
 [-0.03009203 -0.05829687  0.99784601]]

 t_gt:
[-0.46818247  0.68437231  0.55896308]

Pose Error in degrees for R and t:
3.7826177986503784 87.5072845217318

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-3.75839795e-01  9.26683631e-01 -1.37687590e-03]
 [ 9.26672561e-01  3.75842066e-01  4.55030061e-03]
 [ 4.73417697e-03  4.34270931e-04 -9.99988699e-01]]

 t_estimated:
[[-0.55856241]
 [-0.82945969]
 [-0.00215826]]

 R_gt:
[[ 0.99103996  0.1333893   0.00684236]
 [-0.13341772  0.99105221  0.00394777]
 [-0.00625475 -0.00482495  0.99996943]]

 t_gt:
[-0.74144344  0.66850266  0.05801559]

Pose Error in degrees for R and t:
179.95191709024223 81.92444743713861

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.93460586e-01  1.14175412e-01 -1.99451205e-04]
 [-1.14175469e-01  9.93460554e-01 -3.01106736e-04]
 [ 1.63767919e-04  3.21910109e-04  9.99999935e-01]]

 t_estimated:
[[-0.96455271]
 [-0.26388706]
 [-0.00129994]]

 R_gt:
[[ 0.98573519  0.16830163 -0.00106505]
 [-0.16801668  0.98365556 -0.06475299]
 [-0.00985122  0.06400898  0.99790134]]

 t_gt:
[-0.61134522  0.73803075 -0.28560048]

Pose Error in degrees for R and t:
4.845793267387034 66.71598913064254

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.91608008e-01 -1.29280923e-01 -4.80518557e-05]
 [ 1.29280694e-01  9.91606823e-01 -1.55262529e-03]
 [ 2.48373379e-04  1.53338350e-03  9.99998794e-01]]

 t_estimated:
[[-0.20496466]
 [-0.97876587]
 [-0.0026203 ]]

 R_gt:
[[ 0.98491691  0.17251965  0.01327251]
 [-0.16928594  0.97663974 -0.13235199]
 [-0.03579667  0.12810915  0.99111431]]

 t_gt:
[-0.52719419  0.73071551 -0.43372933]

Pose Error in degrees for R and t:
18.878761024182285 52.6986803823713

Number of keypoints:
Image1: 501
Image2: 501

 R_estimated:
[[ 9.99999154e-01 -1.29952251e-03  4.95434432e-05]
 [ 1.29951869e-03  9.99999153e-01  7.69693572e-05]
 [-4.96434247e-05 -7.69049095e-05  9.99999996e-01]]

 t_estimated:
[[7.32804561e-01]
 [6.80439125e-01]
 [2.69831330e-04]]

 R_gt:
[[ 0.9989314  -0.02705287  0.03746472]
 [ 0.0256619   0.99898059  0.03714414]
 [-0.0384309  -0.03614307  0.99860749]]

 t_gt:
[-0.12190053 -0.56024616  0.81930733]

Pose Error in degrees for R and t:
3.3434806479910666 61.94482617834598

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[ 0.80680295 -0.59072416 -0.01067543]
 [ 0.59079311  0.80680802  0.00493128]
 [ 0.0057     -0.01028554  0.99993086]]

 t_estimated:
[[9.81615074e-01]
 [1.90869598e-01]
 [8.01973100e-04]]

 R_gt:
[[ 0.9992632   0.00755318  0.03761864]
 [-0.00879077  0.99942254  0.03285122]
 [-0.03734962 -0.03315804  0.99875214]]

 t_gt:
[-0.66169132 -0.24636414  0.70814498]

Pose Error in degrees for R and t:
36.79980164340937 45.89450349796613

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 7.81177598e-01 -6.24305734e-01 -1.97759356e-03]
 [ 6.24308586e-01  7.81176328e-01  1.52753525e-03]
 [ 5.91200264e-04 -2.42790495e-03  9.99996878e-01]]

 t_estimated:
[[-0.11227255]
 [-0.99367661]
 [-0.00129049]]

 R_gt:
[[ 0.98964738  0.12785356  0.06520916]
 [-0.1254968   0.99132553 -0.0390445 ]
 [-0.06963558  0.03045676  0.99710793]]

 t_gt:
[-0.83956121  0.48661822  0.24153611]

Pose Error in degrees for R and t:
46.127053659235884 67.07081301053981

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.95538949e-01 -9.43514588e-02 -5.74402634e-05]
 [ 9.43514644e-02  9.95538945e-01  1.03365670e-04]
 [ 4.74313175e-05 -1.08324123e-04  9.99999993e-01]]

 t_estimated:
[[-0.79549527]
 [-0.60595858]
 [-0.00121416]]

 R_gt:
[[ 0.99835965 -0.01367976  0.05560128]
 [ 0.01505262  0.99959003 -0.02435606]
 [-0.05524533  0.0251518   0.9981563 ]]

 t_gt:
[0.21279924 0.69053102 0.6912911 ]

Pose Error in degrees for R and t:
5.76260634565482 53.9455852489017

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 8.34332569e-01  5.51261218e-01  4.83063777e-04]
 [-5.51260397e-01  8.34332382e-01 -1.20439998e-03]
 [-1.06697475e-03  7.38576201e-04  9.99999158e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99256659  0.02076083  0.11991898]
 [-0.01415629  0.99834899 -0.0556708 ]
 [-0.12087716  0.05355868  0.99122201]]

 t_gt:
[-0.34562363  0.76326909  0.54586135]

Pose Error in degrees for R and t:
33.28779131200665 69.95049066123873

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 0.98267501  0.18517699  0.00770127]
 [-0.1849792   0.98251147 -0.02130527]
 [-0.01151183  0.01951158  0.99974336]]

 t_estimated:
[[0.45389606]
 [0.89105409]
 [0.00098459]]

 R_gt:
[[ 0.98790599  0.06073183  0.14266641]
 [-0.04553918  0.9931678  -0.10744445]
 [-0.14821672  0.09964817  0.98392195]]

 t_gt:
[-0.5075489   0.81645261  0.27531665]

Pose Error in degrees for R and t:
11.90707579341708 60.17186173706061

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999944e-01 -2.20083328e-04 -2.53911336e-04]
 [ 2.20126048e-04  9.99999962e-01  1.68232519e-04]
 [ 2.53874301e-04 -1.68288402e-04  9.99999954e-01]]

 t_estimated:
[[-0.99041894]
 [-0.13805777]
 [-0.00321977]]

 R_gt:
[[ 0.99893723  0.02285777 -0.04002653]
 [-0.02398545  0.99932161 -0.02792646]
 [ 0.03936127  0.02885686  0.99880871]]

 t_gt:
[ 0.4318934   0.45851245 -0.77668168]

Pose Error in degrees for R and t:
3.102983871628739 60.75429245526835

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999409e-01  1.07847859e-03  1.34871324e-04]
 [-1.07847849e-03  9.99999418e-01 -8.37186004e-07]
 [-1.34872148e-04  6.91729688e-07  9.99999991e-01]]

 t_estimated:
[[-9.99999429e-01]
 [ 1.06059993e-03]
 [ 1.32637315e-04]]

 R_gt:
[[ 0.9986496   0.04944891 -0.01594637]
 [-0.04972565  0.99860867 -0.01752429]
 [ 0.01505743  0.01829317  0.99971954]]

 t_gt:
[ 0.44426127  0.78292586 -0.43549859]

Pose Error in degrees for R and t:
3.096768159487387 63.67333208629119

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999968e-01  2.41121860e-04  7.20672268e-05]
 [-2.41113196e-04  9.99999964e-01 -1.20210468e-04]
 [-7.20962096e-05  1.20193087e-04  9.99999990e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99122184  0.12578869  0.04072548]
 [-0.12008791  0.98539246 -0.12074723]
 [-0.05531907  0.11479586  0.9918477 ]]

 t_gt:
[-0.08234243  0.93434054 -0.34673834]

Pose Error in degrees for R and t:
10.173235603411598 21.02118207221198

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99979320e-01  6.39678548e-03  6.64278705e-04]
 [-6.39675930e-03  9.99979540e-01 -4.15265241e-05]
 [-6.64530750e-04  3.72764343e-05  9.99999779e-01]]

 t_estimated:
[[0.99916912]
 [0.04050686]
 [0.00450076]]

 R_gt:
[[ 0.99468977 -0.10177142 -0.0153675 ]
 [ 0.10098455  0.99385288 -0.04536806]
 [ 0.01989005  0.04357577  0.99885147]]

 t_gt:
[ 0.5072956  -0.72557783 -0.46496019]

Pose Error in degrees for R and t:
6.774527902607449 61.61521808497203

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.99870304 -0.02017345 -0.04674681]
 [ 0.02201413  0.99898881  0.03920131]
 [ 0.04590872 -0.04017956  0.99813726]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.97204096 -0.22553262 -0.0653641 ]
 [ 0.22332146  0.97394646 -0.0394478 ]
 [ 0.07255717  0.02374848  0.99708141]]

 t_gt:
[ 0.62275194 -0.71618379 -0.31505682]

Pose Error in degrees for R and t:
12.53622412374305 55.86669301549147

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 0.98830674  0.15247496  0.00108645]
 [-0.15247361  0.98830677 -0.00123712]
 [-0.00126238  0.001057    0.99999864]]

 t_estimated:
[[0.02049348]
 [0.99978892]
 [0.00146382]]

 R_gt:
[[ 0.94191476 -0.32104386 -0.0986308 ]
 [ 0.32050713  0.9469976  -0.02166562]
 [ 0.10035921 -0.01120352  0.99488812]]

 t_gt:
[ 0.7060566  -0.67920003 -0.20042802]

Pose Error in degrees for R and t:
28.13531969269406 48.32684153508261

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.37558589e-01 -3.47827181e-01 -3.80636990e-04]
 [ 3.47827324e-01  9.37558520e-01  4.16218287e-04]
 [ 2.12097420e-04 -5.22624975e-04  9.99999841e-01]]

 t_estimated:
[[ 9.54748649e-01]
 [-2.97413307e-01]
 [ 5.85729619e-04]]

 R_gt:
[[ 9.97934024e-01  2.58976413e-02 -5.87985838e-02]
 [-2.59893885e-02  9.99662392e-01 -7.88145771e-04]
 [ 5.87573111e-02  2.31512320e-03  9.98269080e-01]]

 t_gt:
[ 0.35490709  0.54808763 -0.75739086]

Pose Error in degrees for R and t:
22.095366131810344 79.89836119278489

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99998952e-01 -1.28830174e-03 -6.60739877e-04]
 [ 1.28873712e-03  9.99998952e-01  6.58912417e-04]
 [ 6.59890307e-04 -6.59763247e-04  9.99999565e-01]]

 t_estimated:
[[-0.90706707]
 [ 0.42097163]
 [-0.00349449]]

 R_gt:
[[ 0.99271091  0.02130385 -0.11862433]
 [-0.02245504  0.99971233 -0.00837947]
 [ 0.11841035  0.0109828   0.99290364]]

 t_gt:
[ 0.54660106  0.32339249 -0.77242772]

Pose Error in degrees for R and t:
6.92450898611374 69.08604524675991

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.30776325  0.83252377  0.46063647]
 [ 0.94667449 -0.21942488 -0.23592399]
 [-0.09533722  0.50868153 -0.85565993]]

 t_estimated:
[[-0.69631062]
 [-0.69631062]
 [-0.17407766]]

 R_gt:
[[ 9.83794253e-01  2.49057288e-02 -1.77564279e-01]
 [-2.43692181e-02  9.99689401e-01  5.20164565e-03]
 [ 1.77637309e-01 -7.90232755e-04  9.84095101e-01]]

 t_gt:
[ 0.59434269  0.25037688 -0.76424353]

Pose Error in degrees for R and t:
158.5382496105105 62.92544679501854

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.97230372e-01 -7.43733496e-02 -4.35580593e-04]
 [ 7.43736737e-02  9.97230136e-01  7.82491636e-04]
 [ 3.76177570e-04 -8.12720154e-04  9.99999599e-01]]

 t_estimated:
[[0.72862164]
 [0.6849156 ]
 [0.00105856]]

 R_gt:
[[ 0.99670473 -0.05031424 -0.06363751]
 [ 0.05200697  0.99832758  0.02523854]
 [ 0.06226051 -0.02846542  0.99765341]]

 t_gt:
[ 0.69610498 -0.71761441  0.02161978]

Pose Error in degrees for R and t:
4.107193416607721 89.09957501938645

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99816253e-01 -1.91692728e-02 -1.10098728e-05]
 [ 1.91692692e-02  9.99816217e-01 -2.67937311e-04]
 [ 1.61440128e-05  2.67677027e-04  9.99999964e-01]]

 t_estimated:
[[0.61489893]
 [0.78860521]
 [0.00106568]]

 R_gt:
[[ 0.99116051  0.04091214 -0.12620441]
 [-0.02550109  0.99227626  0.12140011]
 [ 0.13019664 -0.11710968  0.98454793]]

 t_gt:
[ 0.20339318 -0.67350049  0.71065343]

Pose Error in degrees for R and t:
10.535016322943074 66.08992050521577

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.18435899e-01 -3.95569312e-01 -6.47498730e-04]
 [ 3.95569739e-01  9.18435612e-01  7.79692600e-04]
 [ 2.86263427e-04 -9.72228577e-04  9.99999486e-01]]

 t_estimated:
[[4.91093083e-01]
 [8.71106790e-01]
 [7.37568146e-04]]

 R_gt:
[[ 0.98199038  0.08561874 -0.16842052]
 [-0.04867644  0.9759824   0.21234241]
 [ 0.18255668 -0.2003201   0.96257138]]

 t_gt:
[ 0.20927475 -0.28212536  0.93627419]

Pose Error in degrees for R and t:
31.337256763677416 81.81919310687913

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.88711423e-01  1.49832302e-01 -4.99305292e-05]
 [-1.49832309e-01  9.88711408e-01 -1.78684528e-04]
 [ 2.25941697e-05  1.84148640e-04  9.99999983e-01]]

 t_estimated:
[[-0.798049  ]
 [ 0.60259129]
 [-0.00123913]]

 R_gt:
[[ 9.95881043e-01 -8.09969866e-02  4.07343587e-02]
 [ 8.10702668e-02  9.96708623e-01 -1.47631737e-04]
 [-4.05885992e-02  3.45000185e-03  9.99170303e-01]]

 t_gt:
[ 0.93159144 -0.10754508  0.34723398]

Pose Error in degrees for R and t:
13.470344531722294 36.0317052664159

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.93603032e-01 -1.12924133e-01  1.07484080e-03]
 [ 1.12924007e-01  9.93603612e-01  1.78198227e-04]
 [-1.08808858e-03 -5.56829699e-05  9.99999406e-01]]

 t_estimated:
[[0.54678855]
 [0.83726996]
 [0.00113914]]

 R_gt:
[[ 0.99270052 -0.05715994  0.10620007]
 [ 0.06141228  0.99741889 -0.0372021 ]
 [-0.1037994   0.04345303  0.9936483 ]]

 t_gt:
[0.68816911 0.44579702 0.57244064]

Pose Error in degrees for R and t:
7.104448566445512 41.39337436063677

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[-9.96161720e-01 -8.75093438e-02 -1.98535715e-03]
 [ 8.75092356e-02 -9.96163698e-01  1.41470996e-04]
 [-1.99012076e-03 -3.28090964e-05  9.99998019e-01]]

 t_estimated:
[[7.88612917e-01]
 [6.14889492e-01]
 [7.61944847e-04]]

 R_gt:
[[ 0.98870325 -0.02091431  0.14841473]
 [ 0.03231916  0.9966703  -0.07485691]
 [-0.14635466  0.07880833  0.98608784]]

 t_gt:
[0.08161775 0.8247688  0.5595489 ]

Pose Error in degrees for R and t:
173.47062197434758 55.114882149540286

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-8.28354707e-01  5.60191590e-01 -3.72330690e-03]
 [-5.60197415e-01 -8.28358864e-01  6.70462965e-04]
 [-2.70864656e-03  2.64116805e-03  9.99992844e-01]]

 t_estimated:
[[0.7026124 ]
 [0.71157239]
 [0.00074667]]

 R_gt:
[[ 0.99563781  0.07599012 -0.05415555]
 [-0.07405271  0.9965709   0.03691286]
 [ 0.05677432 -0.03274174  0.99785014]]

 t_gt:
[-0.21522267  0.85893787 -0.46465571]

Pose Error in degrees for R and t:
141.64570103124592 62.63667407275603

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.96829743 -0.24977739 -0.00336793]
 [ 0.24978727  0.96829632  0.00292441]
 [ 0.0025307  -0.00367296  0.99999005]]

 t_estimated:
[[0.77362859]
 [0.63363866]
 [0.00092099]]

 R_gt:
[[ 0.98754859  0.09503922 -0.12536544]
 [-0.09366541  0.99546132  0.0168184 ]
 [ 0.12639472 -0.00486705  0.99196806]]

 t_gt:
[ 0.10393316  0.53559023 -0.83805788]

Pose Error in degrees for R and t:
21.110542822038187 65.22824674494534

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-9.36822302e-01 -3.49805535e-01 -2.49319452e-04]
 [-3.49805624e-01  9.36822094e-01  6.23800733e-04]
 [ 1.53590215e-05  6.71603785e-04 -9.99999774e-01]]

 t_estimated:
[[0.96066915]
 [0.27769343]
 [0.00107218]]

 R_gt:
[[ 0.98846126  0.0490314  -0.14332222]
 [-0.04419548  0.9983477   0.03673265]
 [ 0.14488676 -0.02997442  0.98899339]]

 t_gt:
[ 0.43544149  0.03033948 -0.89970563]

Pose Error in degrees for R and t:
172.1761287548533 64.80023134679683

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99999264e-01 -1.20849896e-03  1.05807490e-04]
 [ 1.20851443e-03  9.99999259e-01 -1.46226104e-04]
 [-1.05630698e-04  1.46353867e-04  9.99999984e-01]]

 t_estimated:
[[ 0.63730329]
 [-0.77060998]
 [-0.00218278]]

 R_gt:
[[ 0.99604652 -0.08794015 -0.01258566]
 [ 0.08774459  0.99602586 -0.01529695]
 [ 0.01388072  0.01413291  0.99980366]]

 t_gt:
[ 0.53959544 -0.81482862 -0.21187513]

Pose Error in degrees for R and t:
5.097985478028528 13.526093766412915

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.99925204 -0.03827244  0.00552913]
 [ 0.03829339  0.99925956 -0.00373469]
 [-0.0053821   0.00394362  0.99997774]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.72865875e-01 -2.30812593e-01 -1.60834754e-02]
 [ 2.30855657e-01  9.72988045e-01  8.26564143e-04]
 [ 1.54582534e-02 -4.51668750e-03  9.99870351e-01]]

 t_gt:
[ 0.64981137 -0.75978741 -0.02163943]

Pose Error in degrees for R and t:
11.22584268687329 86.18283624686867

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 8.15761027e-01 -5.78389092e-01 -7.29404076e-05]
 [ 5.78388884e-01  8.15760611e-01  9.61893235e-04]
 [-4.96846644e-04 -8.26862934e-04  9.99999535e-01]]

 t_estimated:
[[9.99992176e-01]
 [3.87894560e-03]
 [7.75789120e-04]]

 R_gt:
[[ 0.91494098 -0.40259047 -0.02835149]
 [ 0.40255612  0.91536692 -0.00716133]
 [ 0.02883474 -0.00486087  0.99957242]]

 t_gt:
[ 0.75640489 -0.65382373 -0.01913579]

Pose Error in degrees for R and t:
11.715164504241693 41.07518977896995

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.39889099e-01 -3.41479785e-01 -1.93802348e-04]
 [ 3.41479839e-01  9.39888999e-01  4.35777686e-04]
 [ 3.33434236e-05 -4.75762291e-04  9.99999886e-01]]

 t_estimated:
[[ 0.94081605]
 [-0.33891553]
 [ 0.00119574]]

 R_gt:
[[ 0.99694103  0.04309126  0.06520685]
 [-0.04005282  0.99808156 -0.04722479]
 [-0.06711631  0.04446881  0.99675309]]

 t_gt:
[-0.78412346  0.56038787  0.26667552]

Pose Error in degrees for R and t:
22.823798170792795 21.978981693132216

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.72270659  0.6895408   0.04720873]
 [-0.67758172 -0.69338885 -0.24514266]
 [-0.13630186 -0.20915399  0.96833693]]

 t_estimated:
[[0.70014004]
 [0.70014004]
 [0.14002801]]

 R_gt:
[[ 0.99329744  0.10396541  0.05050557]
 [-0.10483962  0.9943765   0.01498756]
 [-0.04866316 -0.02018235  0.9986108 ]]

 t_gt:
[-0.73627776  0.53466249  0.41476631]

Pose Error in degrees for R and t:
130.09337487800707 85.2343722524594

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.80892311 -0.58782615 -0.0101893 ]
 [ 0.58774956 -0.80898521  0.00966353]
 [-0.01392347  0.00182829  0.99990139]]

 t_estimated:
[[0.99491929]
 [0.100328  ]
 [0.00836067]]

 R_gt:
[[ 0.99383071  0.05769931 -0.0947228 ]
 [-0.0421517   0.98643937  0.15862483]
 [ 0.10259062 -0.15365299  0.98278431]]

 t_gt:
[-0.47141605 -0.17948479  0.8634536 ]

Pose Error in degrees for R and t:
146.99064176925248 61.327057285543255

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99998843e-01  1.51910030e-03  7.58518455e-05]
 [-1.51909766e-03  9.99998846e-01 -3.49051402e-05]
 [-7.59047824e-05  3.47898735e-05  9.99999997e-01]]

 t_estimated:
[[-9.27081690e-01]
 [ 3.74859361e-01]
 [-7.91981306e-06]]

 R_gt:
[[ 9.93737017e-01 -1.10539983e-01  1.63495065e-02]
 [ 1.10563530e-01  9.93869139e-01 -5.33603816e-04]
 [-1.61890557e-02  2.33776286e-03  9.99866064e-01]]

 t_gt:
[ 0.30063069 -0.94027272  0.1597135 ]

Pose Error in degrees for R and t:
6.501796728472148 50.86272805374746

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-4.40728945e-01 -8.97638956e-01 -1.51738340e-03]
 [ 8.97640180e-01 -4.40727674e-01 -1.10686421e-03]
 [ 3.24811572e-04 -1.84989140e-03  9.99998236e-01]]

 t_estimated:
[[ 9.87661417e-01]
 [-1.56604279e-01]
 [ 1.58495829e-04]]

 R_gt:
[[ 0.96784131 -0.2515304  -0.00390662]
 [ 0.2514773   0.9670076   0.04068668]
 [-0.00645586 -0.04036035  0.99916415]]

 t_gt:
[ 0.47987176 -0.85967122  0.17518131]

Pose Error in degrees for R and t:
101.59623890313895 52.51116785536057

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.29416662  0.92551642  0.23850653]
 [ 0.94517894  0.31872794 -0.07105822]
 [-0.14178424  0.2045284  -0.96853774]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.92621685 -0.3754417  -0.03413886]
 [ 0.37660858  0.92555095  0.03900104]
 [ 0.01695493 -0.04898043  0.99865526]]

 t_gt:
[ 0.58231175 -0.80502649  0.11333745]

Pose Error in degrees for R and t:
168.45690132018171 88.27390299147486

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.55664818e-01  2.94456046e-01  6.26119427e-04]
 [-2.94456037e-01  9.55665020e-01 -1.09017794e-04]
 [-6.30461383e-04 -8.01801744e-05  9.99999798e-01]]

 t_estimated:
[[-0.01318884]
 [ 0.99991181]
 [ 0.00155483]]

 R_gt:
[[ 0.98460794 -0.17388896 -0.01757494]
 [ 0.1744938   0.9837426   0.04245614]
 [ 0.00990509 -0.0448686   0.99894304]]

 t_gt:
[ 0.53176446 -0.83072035  0.16471266]

Pose Error in degrees for R and t:
27.288114398771583 33.132968169812976

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.57320067e-01 -2.89029912e-01 -2.44704930e-06]
 [ 2.89029905e-01  9.57320041e-01  2.31119048e-04]
 [-6.44577088e-05 -2.21962173e-04  9.99999973e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97244122 -0.22768351 -0.05017925]
 [ 0.23048775  0.97123449  0.05983482]
 [ 0.0351124  -0.06975104  0.99694621]]

 t_gt:
[ 0.52738659 -0.83772226  0.14172083]

Pose Error in degrees for R and t:
5.697936276727769 58.33874556140519

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 0.1618529   0.98681219  0.00231281]
 [ 0.98680868 -0.16185975  0.00316986]
 [ 0.00350241  0.00176925 -0.9999923 ]]

 t_estimated:
[[9.21987195e-01]
 [3.87219642e-01]
 [7.48974163e-04]]

 R_gt:
[[ 0.93442478 -0.34997908 -0.06606451]
 [ 0.35427253  0.93241334  0.0713843 ]
 [ 0.03661579 -0.09010773  0.99525861]]

 t_gt:
[ 0.64360795 -0.74871841  0.15871214]

Pose Error in degrees for R and t:
174.45875754400586 72.32612289085931

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.82657592e-01  1.85429094e-01  3.27706559e-04]
 [-1.85429015e-01  9.82657628e-01 -2.57113652e-04]
 [-3.69699702e-04  1.91888378e-04  9.99999913e-01]]

 t_estimated:
[[0.66507231]
 [0.74677834]
 [0.00097224]]

 R_gt:
[[ 0.99590862 -0.0886276   0.01760827]
 [ 0.08945883  0.99452493 -0.05401705]
 [-0.0127246   0.05537182  0.99838528]]

 t_gt:
[ 0.47962891 -0.79578087 -0.36971463]

Pose Error in degrees for R and t:
16.125377943357233 73.9996359011412

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.24574615 -0.96933299 -0.00154314]
 [ 0.96933364  0.24574396  0.00148047]
 [-0.00105585 -0.00185964  0.99999771]]

 t_estimated:
[[0.99936029]
 [0.03573871]
 [0.00132366]]

 R_gt:
[[ 0.98240123 -0.18566207 -0.02042854]
 [ 0.18451089  0.98164006 -0.04836523]
 [ 0.02903304  0.04374556  0.99862101]]

 t_gt:
[ 0.59317626 -0.7597148  -0.26641199]

Pose Error in degrees for R and t:
65.16727314362052 55.577364466912556

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.60368426e-01  2.78733497e-01  3.52580303e-04]
 [-2.78733381e-01  9.60368462e-01 -3.46793984e-04]
 [-4.35270103e-04  2.34774092e-04  9.99999878e-01]]

 t_estimated:
[[8.14992395e-01]
 [5.79471320e-01]
 [6.21608917e-04]]

 R_gt:
[[ 0.93444665 -0.35610154 -0.00135967]
 [ 0.35597871  0.93421501 -0.02282347]
 [ 0.00939781  0.02084396  0.99973875]]

 t_gt:
[ 0.70396404 -0.70832961 -0.05199803]

Pose Error in degrees for R and t:
37.06664133444806 80.60520552223005

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.54665612e-01 -2.97678060e-01 -1.15856389e-03]
 [ 2.97679983e-01  9.54663129e-01  2.22234714e-03]
 [ 4.44494242e-04 -2.46647967e-03  9.99996859e-01]]

 t_estimated:
[[-6.29950979e-01]
 [-7.76634897e-01]
 [-1.61580885e-05]]

 R_gt:
[[ 0.99846313  0.01209028  0.05408856]
 [-0.00707758  0.99574132 -0.09190883]
 [-0.05496967  0.09138473  0.99429788]]

 t_gt:
[-0.44204541  0.57211226 -0.69085701]

Pose Error in degrees for R and t:
18.926747919227054 80.45371791544044

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 7.40023739e-01  6.72575703e-01  2.60589018e-03]
 [ 6.72580729e-01 -7.40017184e-01 -3.11935231e-03]
 [-1.69597056e-04  4.06106627e-03 -9.99991739e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.99285636  0.05703967  0.10479461]
 [-0.04083374  0.98772936 -0.15073907]
 [-0.11210705  0.14538272  0.98300424]]

 t_gt:
[-0.68769723  0.665442   -0.29027483]

Pose Error in degrees for R and t:
169.5683687610515 77.61037172701604

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 8.72288162e-01 -4.88992103e-01 -2.92166721e-04]
 [ 4.88992181e-01  8.72288107e-01  3.26492852e-04]
 [ 9.52011297e-05 -4.27663092e-04  9.99999904e-01]]

 t_estimated:
[[9.87088819e-01]
 [1.60172021e-01]
 [7.66373307e-04]]

 R_gt:
[[ 0.9835933   0.13155862  0.12343154]
 [-0.11433341  0.98387145 -0.13756009]
 [-0.13953809  0.12119142  0.98277301]]

 t_gt:
[-0.73486879  0.67378469  0.07734365]

Pose Error in degrees for R and t:
37.88061625010657 51.873480743319554

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.7342724   0.67833227 -0.02663414]
 [ 0.67840016  0.7346514   0.00778079]
 [ 0.02484477 -0.01235539 -0.99961497]]

 t_estimated:
[[ 0.99530114]
 [ 0.09649515]
 [-0.00802005]]

 R_gt:
[[ 0.99112446  0.09007241 -0.09778156]
 [-0.09091053  0.99585085 -0.00414415]
 [ 0.09700229  0.01299641  0.99519898]]

 t_gt:
[-0.06877674  0.652236   -0.75488937]

Pose Error in degrees for R and t:
173.39391209796048 89.9691580812803

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.74168610e-01 -2.25821865e-01 -6.57356045e-05]
 [ 2.25821874e-01  9.74168587e-01  2.12517634e-04]
 [ 1.60464324e-05 -2.21872546e-04  9.99999975e-01]]

 t_estimated:
[[0.73669032]
 [0.67622963]
 [0.00093016]]

 R_gt:
[[ 0.98934792  0.05740487 -0.13377807]
 [-0.05871907  0.99825786 -0.00589487]
 [ 0.13320664  0.0136878   0.99099356]]

 t_gt:
[ 0.2376732   0.28395395 -0.92891421]

Pose Error in degrees for R and t:
18.099212859779303 68.51574218772932

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99499765e-01  3.16213861e-02 -5.55190638e-04]
 [-3.16212177e-02  9.99499876e-01  3.09510309e-04]
 [ 5.64700120e-04 -2.91799677e-04  9.99999798e-01]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.98951654  0.0017033  -0.14441356]
 [ 0.00256074  0.99956667  0.02933914]
 [ 0.14440084 -0.02940091  0.98908292]]

 t_gt:
[ 0.52868836 -0.29508836 -0.79587153]

Pose Error in degrees for R and t:
8.636220999292625 58.53470434176369

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.99119169  0.13155471 -0.0152446 ]
 [ 0.13150128  0.99130597  0.00446016]
 [ 0.01569882  0.00241619 -0.99987385]]

 t_estimated:
[[ 0.99305702]
 [-0.11723481]
 [-0.00968225]]

 R_gt:
[[ 0.99613018  0.04937604 -0.07271782]
 [-0.04529273  0.99735924  0.05677416]
 [ 0.07532869 -0.05326081  0.99573578]]

 t_gt:
[-0.47085733 -0.20711506  0.85755275]

Pose Error in degrees for R and t:
174.6608508308612 63.15296493183898

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.86622768  0.49945375 -0.01398416]
 [ 0.49944211  0.86633525  0.00456254]
 [ 0.01439375 -0.00303208 -0.99989181]]

 t_estimated:
[[ 0.94601065]
 [-0.32400954]
 [-0.00903746]]

 R_gt:
[[ 0.98515733  0.12822118 -0.11412565]
 [-0.10769976  0.9794195   0.1706992 ]
 [ 0.13366369 -0.15587322  0.97869137]]

 t_gt:
[-0.30026461  0.1512699   0.94178478]

Pose Error in degrees for R and t:
169.80600567156785 70.02697146426792

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.31818926e-01 -5.55043765e-01  1.92170754e-03]
 [-5.55047055e-01 -8.31815140e-01  2.51785816e-03]
 [ 2.00983950e-04 -3.16104018e-03 -9.99994984e-01]]

 t_estimated:
[[0.23092686]
 [0.97296958]
 [0.00172843]]

 R_gt:
[[ 0.97274014  0.17564165 -0.15141672]
 [-0.14314108  0.96848101  0.20385046]
 [ 0.1824487  -0.17661911  0.96722216]]

 t_gt:
[-0.25477433  0.63696451  0.7275756 ]

Pose Error in degrees for R and t:
172.0736556688864 55.79396977463212

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.97625388e-01 -6.88734334e-02  1.86182722e-04]
 [ 6.88734178e-02  9.97625403e-01  8.93586598e-05]
 [-1.91895051e-04 -7.63234273e-05  9.99999979e-01]]

 t_estimated:
[[0.91464812]
 [0.40424831]
 [0.00145413]]

 R_gt:
[[ 0.99775769 -0.01580931 -0.06505006]
 [ 0.01845252  0.99902012  0.04022243]
 [ 0.06435168 -0.04133214  0.99707087]]

 t_gt:
[ 0.92845864 -0.12915713 -0.34825708]

Pose Error in degrees for R and t:
5.300088464664595 37.203309925036955

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.93754903e-01 -1.11584910e-01  1.91611716e-05]
 [ 1.11584896e-01  9.93754840e-01  3.58077763e-04]
 [-5.89975818e-05 -3.53703435e-04  9.99999936e-01]]

 t_estimated:
[[-5.04098267e-01]
 [-8.63646303e-01]
 [ 3.40245884e-05]]

 R_gt:
[[ 9.90470184e-01  1.02359276e-04 -1.37729375e-01]
 [ 2.28525147e-03  9.99849679e-01  1.71713805e-02]
 [ 1.37711141e-01 -1.73215641e-02  9.90320430e-01]]

 t_gt:
[ 0.67558285  0.15494466 -0.72081895]

Pose Error in degrees for R and t:
10.189592647343474 61.67957533430958

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 2.63179945e-01  9.64745634e-01 -1.47605438e-03]
 [-9.64746760e-01  2.63179515e-01 -4.81989138e-04]
 [-7.65296420e-05  1.55086855e-03  9.99998794e-01]]

 t_estimated:
[[ 5.67009380e-02]
 [ 9.98390925e-01]
 [-7.51102070e-04]]

 R_gt:
[[ 0.98221389 -0.02097885 -0.18659226]
 [ 0.0235907   0.99965238  0.01178196]
 [ 0.18628117 -0.01597304  0.98236607]]

 t_gt:
[ 0.75357636  0.0494727  -0.65549609]

Pose Error in degrees for R and t:
76.66806283878057 84.68599790714129

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.73623819e-01  2.28158561e-01 -5.74580761e-04]
 [-2.28158703e-01  9.73623936e-01 -1.93496953e-04]
 [ 5.15277596e-04  3.19488844e-04  9.99999816e-01]]

 t_estimated:
[[-0.73273896]
 [ 0.68050635]
 [-0.00217251]]

 R_gt:
[[ 0.99850485  0.03936997  0.03791929]
 [-0.0421232   0.99630824  0.07479878]
 [-0.03483358 -0.07628263  0.99647727]]

 t_gt:
[-0.29028261  0.31096083  0.90500794]

Pose Error in degrees for R and t:
11.876141422432346 65.0172073434311

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 8.14089995e-01  5.80733320e-01  2.50831679e-03]
 [-5.80738270e-01  8.14087223e-01  2.24827324e-03]
 [-7.36341468e-04 -3.28697230e-03  9.99994327e-01]]

 t_estimated:
[[0.02983739]
 [0.99955249]
 [0.00213124]]

 R_gt:
[[ 0.99464046  0.02544683  0.10021525]
 [-0.04516689  0.97880512  0.19974813]
 [-0.09300786 -0.20320369  0.97470913]]

 t_gt:
[-0.13234093  0.11178152  0.98488109]

Pose Error in degrees for R and t:
35.72252908799486 83.69149733268146

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.97643667e-01 -6.86067546e-02  4.76485047e-04]
 [ 6.86067396e-02  9.97643781e-01  4.78993209e-05]
 [-4.78648561e-04 -1.50963686e-05  9.99999885e-01]]

 t_estimated:
[[0.02445365]
 [0.99970042]
 [0.00104325]]

 R_gt:
[[ 0.99307194 -0.01120209  0.11697255]
 [-0.02451481  0.953788    0.29947627]
 [-0.11492143 -0.30026886  0.94690632]]

 t_gt:
[-0.03832694  0.02566561  0.99893559]

Pose Error in degrees for R and t:
19.231130588220072 88.5237353675794

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.21237955e-01  3.88999238e-01  4.72884778e-04]
 [-3.88999311e-01  9.21238042e-01  7.17030899e-05]
 [-4.07746999e-04 -2.50007461e-04  9.99999886e-01]]

 t_estimated:
[[-0.44859929]
 [ 0.8937321 ]
 [ 0.00126769]]

 R_gt:
[[ 9.93665400e-01  1.11771726e-01 -1.16838964e-02]
 [-1.11777078e-01  9.93733587e-01  1.84579362e-04]
 [ 1.16315589e-02  1.12329415e-03  9.99931118e-01]]

 t_gt:
[-0.54000069  0.83531286 -0.10320698]

Pose Error in degrees for R and t:
16.48902342043854 8.637229040591118

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.73988629e-01 -2.26596686e-01  3.02326346e-04]
 [ 2.26596286e-01  9.73988250e-01  1.00607690e-03]
 [-5.22436001e-04 -9.11401436e-04  9.99999448e-01]]

 t_estimated:
[[ 0.84783377]
 [-0.53024135]
 [ 0.00469026]]

 R_gt:
[[ 0.99631644  0.07853065 -0.03444408]
 [-0.07798193  0.99681005  0.01700276]
 [ 0.03566925 -0.01425515  0.99926124]]

 t_gt:
[-0.23688688  0.96306366 -0.12803514]

Pose Error in degrees for R and t:
17.723001826419594 44.594177521156766

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.87248629e-01  1.59185806e-01  1.52097428e-04]
 [-1.59185761e-01  9.87248611e-01 -2.70275092e-04]
 [-1.93181933e-04  2.42616969e-04  9.99999952e-01]]

 t_estimated:
[[-0.40444276]
 [-0.9145623 ]
 [-0.00135854]]

 R_gt:
[[ 0.99878675  0.00300905  0.0491507 ]
 [ 0.00102442  0.99664468 -0.08183904]
 [-0.04923242  0.08179051  0.99543237]]

 t_gt:
[ 0.08937371  0.87714692 -0.4718322 ]

Pose Error in degrees for R and t:
10.61191918344449 33.10080441002357

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[-0.993796   -0.11116224  0.00353121]
 [-0.11115207  0.99379901  0.00295771]
 [-0.0038381   0.00254686 -0.99998939]]

 t_estimated:
[[0.99788092]
 [0.06501735]
 [0.00253095]]

 R_gt:
[[ 0.99923027 -0.03249912 -0.02201149]
 [ 0.03279782  0.9993731   0.01333508]
 [ 0.02156359 -0.0140467   0.99966841]]

 t_gt:
[ 0.44508637 -0.85624894 -0.26217527]

Pose Error in degrees for R and t:
179.01180860682928 67.18178702185722

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 0.58289631 -0.81242939 -0.01379799]
 [-0.8124304  -0.58244184 -0.02680207]
 [ 0.01373826  0.02683274 -0.99954553]]

 t_estimated:
[[ 0.49023105]
 [ 0.87148405]
 [-0.01375008]]

 R_gt:
[[ 0.99870186 -0.02718021 -0.04309662]
 [ 0.02859007  0.99906451  0.03244324]
 [ 0.04217513 -0.03363377  0.99854342]]

 t_gt:
[ 0.3598698  -0.867428   -0.34360208]

Pose Error in degrees for R and t:
178.84035187262674 54.91396927387369

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.89462838e-01  1.44786942e-01  1.81060253e-04]
 [-1.44786972e-01  9.89462837e-01  1.63778521e-04]
 [-1.55439400e-04 -1.88267926e-04  9.99999970e-01]]

 t_estimated:
[[0.86412272]
 [0.50328026]
 [0.00094959]]

 R_gt:
[[ 0.99378688 -0.10985786 -0.0179266 ]
 [ 0.11006339  0.99386451  0.01093276]
 [ 0.01661583 -0.01283795  0.99977915]]

 t_gt:
[ 0.5843025  -0.81028289 -0.04508028]

Pose Error in degrees for R and t:
14.687864935536464 84.42970753802616

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99999136e-01  1.29606902e-03  2.18248819e-04]
 [-1.29618083e-03  9.99999028e-01  5.12908253e-04]
 [-2.17583842e-04 -5.13190700e-04  9.99999845e-01]]

 t_estimated:
[[0.99876392]
 [0.04932168]
 [0.00616521]]

 R_gt:
[[ 0.99889535 -0.04207973 -0.02094652]
 [ 0.04243762  0.99895606  0.01693934]
 [ 0.0202107  -0.01780886  0.99963638]]

 t_gt:
[ 0.51866205 -0.84899206 -0.10100573]

Pose Error in degrees for R and t:
2.930194651539459 61.606493620196076

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.61333436e-01  2.75385510e-01  9.20132425e-04]
 [-2.75383834e-01  9.61332993e-01 -1.61879044e-03]
 [-1.33034509e-03  1.30280778e-03  9.99998266e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99675687 -0.07079233 -0.03827144]
 [ 0.0721744   0.99674089  0.03602454]
 [ 0.03559583 -0.03866947  0.99861698]]

 t_gt:
[ 0.50591819 -0.86024684 -0.06342046]

Pose Error in degrees for R and t:
20.32551017856077 59.788127731272944

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 0.73099986  0.68237662  0.00116366]
 [ 0.68233205 -0.73096969  0.01030903]
 [ 0.00788524 -0.00674189 -0.99994618]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99616452 -0.07316333 -0.04800208]
 [ 0.07467226  0.99674327  0.03044576]
 [ 0.04561697 -0.03391256  0.99838318]]

 t_gt:
[ 0.52004841 -0.83557154 -0.17711538]

Pose Error in degrees for R and t:
176.783748664749 58.847510462834336

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 7.12602359e-01 -7.01565299e-01 -2.00230928e-03]
 [ 7.01566679e-01  7.12603813e-01 -1.83669959e-05]
 [ 1.43973887e-03 -1.39166511e-03  9.99997995e-01]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 0.99751605 -0.01358415  0.0691195 ]
 [ 0.00567307  0.99353475  0.11337987]
 [-0.07021275 -0.11270596  0.99114407]]

 t_gt:
[-0.04224286 -0.11613462  0.99233477]

Pose Error in degrees for R and t:
44.62674112991798 84.53787490918427

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 1.84364811e-01  9.82853605e-01  2.89971464e-03]
 [-9.82856855e-01  1.84368080e-01 -9.01603259e-04]
 [-1.42075884e-03 -2.68378050e-03  9.99995389e-01]]

 t_estimated:
[[0.01797093]
 [0.99983718]
 [0.00163372]]

 R_gt:
[[ 0.99551267 -0.05960419  0.07349765]
 [ 0.04327736  0.97748494  0.20651662]
 [-0.08415163 -0.20240882  0.97567904]]

 t_gt:
[ 0.09201297 -0.25073419  0.96367317]

Pose Error in degrees for R and t:
83.13672017050997 75.67241973347016

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-0.24292763 -0.97004278 -0.00178082]
 [ 0.96999864 -0.24289793 -0.01016021]
 [ 0.00942328 -0.00419559  0.9999468 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99233378 -0.08454091  0.0901519 ]
 [ 0.05881421  0.96458024  0.25715005]
 [-0.10869823 -0.24987622  0.96215722]]

 t_gt:
[ 0.12140261 -0.25104561  0.96033198]

Pose Error in degrees for R and t:
100.8636533599223 83.02893995486838

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.0439869  -0.99902596 -0.00350441]
 [ 0.99903074  0.04399238 -0.00150166]
 [ 0.00165437 -0.00343496  0.99999273]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99975218  0.0205829   0.00843531]
 [-0.02051547  0.99975709 -0.00800761]
 [-0.00859779  0.00783348  0.99993276]]

 t_gt:
[0.60006528 0.79657387 0.0734284 ]

Pose Error in degrees for R and t:
88.66012800341964 52.944444377576055

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-6.15331633e-01  7.88260143e-01  3.59553256e-03]
 [ 7.88268270e-01  6.15327147e-01  2.37432778e-03]
 [-3.40840833e-04  4.29524322e-03 -9.99990717e-01]]

 t_estimated:
[[0.99985416]
 [0.01701879]
 [0.00141823]]

 R_gt:
[[ 0.99962802  0.0213595   0.01695861]
 [-0.02084619  0.99933606 -0.02989049]
 [-0.01758606  0.029527    0.99940885]]

 t_gt:
[ 0.86891052  0.47638113 -0.13437087]

Pose Error in degrees for R and t:
178.23994466944572 28.75310785419429

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.95525162 -0.29577551  0.00334619]
 [ 0.29578582  0.95524902 -0.00317184]
 [-0.00225829  0.00401966  0.99998937]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99557477 -0.09340787  0.01023896]
 [ 0.09373103  0.99488365 -0.0377016 ]
 [-0.00666377  0.03849508  0.99923665]]

 t_gt:
[ 0.81746848 -0.56827016 -0.09388455]

Pose Error in degrees for R and t:
12.001025053085085 35.35035100420692

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.96535670e-01 -8.31660395e-02 -2.60421623e-04]
 [ 8.31660815e-02  9.96535689e-01  1.55030332e-04]
 [ 2.46626182e-04 -1.76151502e-04  9.99999954e-01]]

 t_estimated:
[[-0.46501569]
 [-0.88529734]
 [-0.00300635]]

 R_gt:
[[ 0.9986577   0.03331365  0.03967121]
 [-0.03215255  0.99904679 -0.0295369 ]
 [-0.04061643  0.02822268  0.99877608]]

 t_gt:
[-0.81791007  0.52276164  0.24029852]

Pose Error in degrees for R and t:
7.232847969877548 85.22857238591948

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99965299e-01  8.33007990e-03  9.91890987e-05]
 [-8.33008449e-03  9.99965303e-01  4.59176693e-05]
 [-9.88031593e-05 -4.67423295e-05  9.99999994e-01]]

 t_estimated:
[[0.99721291]
 [0.07458359]
 [0.00192423]]

 R_gt:
[[ 0.99986874  0.0160713  -0.00244651]
 [-0.01609822  0.99980535 -0.01140164]
 [ 0.00226297  0.01144016  0.99993131]]

 t_gt:
[-0.9599693  -0.11576974 -0.25506139]

Pose Error in degrees for R and t:
0.8052949061507616 14.890411803532185

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.96399763e-01  8.47758192e-02  7.56268657e-04]
 [-8.47710244e-02  9.96387949e-01 -4.99282838e-03]
 [-1.17680809e-03  4.91074334e-03  9.99987250e-01]]

 t_estimated:
[[0.9740702 ]
 [0.22624243]
 [0.00126858]]

 R_gt:
[[ 0.99957604  0.00906466 -0.0276882 ]
 [-0.00929991  0.99992227 -0.00834055]
 [ 0.02761089  0.00859506  0.99958112]]

 t_gt:
[-0.83989058 -0.36693957 -0.39992396]

Pose Error in degrees for R and t:
4.640652508596799 25.625913054696685

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.97182393e-01 -7.50151153e-02  8.72717457e-05]
 [ 7.50151124e-02  9.97182396e-01  3.56076520e-05]
 [-8.96969606e-05 -2.89606238e-05  9.99999996e-01]]

 t_estimated:
[[8.83552636e-01]
 [4.68331178e-01]
 [8.04692746e-04]]

 R_gt:
[[ 0.99824683 -0.01148593 -0.0580622 ]
 [ 0.01209707  0.99987496  0.01018706]
 [ 0.05793752 -0.01087078  0.99826151]]

 t_gt:
[ 0.75621895 -0.07403376 -0.65011684]

Pose Error in degrees for R and t:
4.959251376602596 50.73087497912843

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.24341383 -0.96992144  0.00144821]
 [-0.96992121  0.24341569  0.00128121]
 [-0.00159519 -0.00109279 -0.99999813]]

 t_estimated:
[[0.71249336]
 [0.70167451]
 [0.00246816]]

 R_gt:
[[ 0.98909628  0.10428681 -0.10398089]
 [-0.10391272  0.99454542  0.0090301 ]
 [ 0.10435489  0.00187495  0.99453841]]

 t_gt:
[-0.06021956  0.84230283 -0.53563004]

Pose Error in degrees for R and t:
175.51611112612736 56.852629693878875

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 6.97702797e-03 -9.99975628e-01 -2.54413483e-04]
 [-9.99975437e-01 -6.97685621e-03 -6.69868238e-04]
 [ 6.68076905e-04  2.59080923e-04 -9.99999743e-01]]

 t_estimated:
[[8.56665150e-01]
 [5.15872370e-01]
 [7.20492136e-04]]

 R_gt:
[[ 0.97997835  0.13715257 -0.1443377 ]
 [-0.13544173  0.99054788  0.02165771]
 [ 0.14594415 -0.00167352  0.98929137]]

 t_gt:
[-0.00958581  0.85934309 -0.51130966]

Pose Error in degrees for R and t:
174.54918843849893 64.23181357510141

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 7.98539377e-01 -6.01926663e-01 -4.37680554e-03]
 [-6.01933390e-01 -7.98546251e-01 -2.81975806e-04]
 [-3.32535290e-03  2.85971418e-03 -9.99990382e-01]]

 t_estimated:
[[0.53892903]
 [0.84235046]
 [0.00109538]]

 R_gt:
[[ 0.98473377 -0.11038275  0.13459174]
 [ 0.1103513   0.99386297  0.00771665]
 [-0.13461705  0.00725305  0.99087134]]

 t_gt:
[ 0.47995836 -0.62189351  0.6187798 ]

Pose Error in degrees for R and t:
177.61212931190326 74.66210223803905

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.60658438e-01  2.77732300e-01  3.67957115e-04]
 [-2.77732045e-01  9.60658381e-01 -6.22120692e-04]
 [-5.26264097e-04  4.95452011e-04  9.99999739e-01]]

 t_estimated:
[[-0.12116116]
 [-0.99263223]
 [-0.00111157]]

 R_gt:
[[ 0.92713035 -0.26142964  0.26848629]
 [ 0.25067749  0.96522203  0.07421612]
 [-0.2785507  -0.00150502  0.96041983]]

 t_gt:
[ 0.57318932 -0.59169331  0.56688008]

Pose Error in degrees for R and t:
35.10028865862597 58.851668576335165

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 7.48885756e-01  6.62698980e-01  4.30940017e-04]
 [-6.62698355e-01  7.48885722e-01 -1.03224939e-03]
 [-1.00679544e-03  4.87453624e-04  9.99999374e-01]]

 t_estimated:
[[-9.54369165e-01]
 [-2.98628049e-01]
 [-8.86136643e-04]]

 R_gt:
[[ 0.86985166 -0.38408631  0.30957382]
 [ 0.36498636  0.92325667  0.11992709]
 [-0.33187819  0.00867175  0.94328252]]

 t_gt:
[ 0.67220366 -0.5816286   0.45809432]

Pose Error in degrees for R and t:
66.73235135567599 62.07951442769673

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.03604959  0.99932948  0.00640397]
 [ 0.99934892  0.03605825 -0.00124314]
 [-0.00147323  0.00635498 -0.99997872]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 9.89634862e-01 -1.43603677e-01 -4.66494304e-04]
 [ 1.43605307e-01  9.89624668e-01  4.45355052e-03]
 [-1.77646657e-04 -4.47337582e-03  9.99989448e-01]]

 t_gt:
[ 0.68492918 -0.72748148  0.04053053]

Pose Error in degrees for R and t:
179.84029995086325 43.62513576345864

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999903e-01  4.35001299e-04  6.83701503e-05]
 [-4.34997802e-04  9.99999904e-01 -5.11503724e-05]
 [-6.83923942e-05  5.11206266e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99990871e-01]
 [-4.25608612e-03]
 [-3.78708674e-04]]

 R_gt:
[[ 0.97677834 -0.21264118 -0.0262307 ]
 [ 0.21340732  0.97646944  0.03103159]
 [ 0.01901416 -0.03590793  0.99917426]]

 t_gt:
[ 0.68278921 -0.72594894  0.08244408]

Pose Error in degrees for R and t:
12.547826290798088 46.698180956674456

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-1.29609446e-01 -9.91544014e-01 -6.46992012e-03]
 [-9.91565065e-01  1.29608893e-01  5.06462177e-04]
 [ 3.36379646e-04  6.48098905e-03 -9.99978942e-01]]

 t_estimated:
[[0.72176082]
 [0.69214212]
 [0.00077944]]

 R_gt:
[[ 0.95759176 -0.28642245 -0.03128999]
 [ 0.28536908  0.95780747 -0.03419316]
 [ 0.03976359  0.02381485  0.9989256 ]]

 t_gt:
[ 0.70538397 -0.67946749 -0.20188461]

Pose Error in degrees for R and t:
177.12680159967005 87.7836429901164

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.71858176e-01  2.35566655e-01  1.89122526e-04]
 [-2.35566607e-01  9.71858175e-01 -2.45790656e-04]
 [-2.41700356e-04  1.94322707e-04  9.99999952e-01]]

 t_estimated:
[[0.69522481]
 [0.71879174]
 [0.00094669]]

 R_gt:
[[ 0.99188213 -0.12309649 -0.03186499]
 [ 0.12457573  0.99096994  0.04957833]
 [ 0.02547471 -0.05314493  0.99826221]]

 t_gt:
[ 0.77290418 -0.61820293  0.14298348]

Pose Error in degrees for R and t:
21.01803493253476 84.65696977653135

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99952148e-01  9.78269574e-03  1.16160096e-05]
 [-9.78268812e-03  9.99952005e-01 -5.35230864e-04]
 [-1.68514528e-05  5.35091616e-04  9.99999857e-01]]

 t_estimated:
[[-0.50557164]
 [-0.86278303]
 [-0.00166336]]

 R_gt:
[[ 0.98220178 -0.18265628 -0.04376339]
 [ 0.18473969  0.98153782  0.04953963]
 [ 0.03390644 -0.05674325  0.99781298]]

 t_gt:
[ 0.79077137 -0.60684154  0.08014979]

Pose Error in degrees for R and t:
11.78998144816481 82.89733165158805

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-7.66089693e-01 -6.42733528e-01  4.42050710e-04]
 [-6.42728573e-01  7.66086166e-01  3.45927869e-03]
 [-2.56204333e-03  2.36599913e-03 -9.99993919e-01]]

 t_estimated:
[[0.99633232]
 [0.08556074]
 [0.0011258 ]]

 R_gt:
[[ 0.98861491 -0.14902549 -0.02077318]
 [ 0.14979329  0.98781245  0.04227649]
 [ 0.01422001 -0.04490727  0.99888941]]

 t_gt:
[ 0.73625598 -0.66678068  0.11545846]

Pose Error in degrees for R and t:
179.9874041586493 47.41872538419568

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999976e-01  1.81462064e-04 -1.24441735e-04]
 [-1.81448517e-04  9.99999978e-01  1.08864798e-04]
 [ 1.24461487e-04 -1.08842215e-04  9.99999986e-01]]

 t_estimated:
[[-9.99975612e-01]
 [-6.96946535e-03]
 [ 4.49259939e-04]]

 R_gt:
[[ 0.98930958  0.14393284  0.02345579]
 [-0.14407312  0.98955733  0.00435985]
 [-0.02258305 -0.00769216  0.99971582]]

 t_gt:
[-0.92047287  0.38017486  0.09053601]

Pose Error in degrees for R and t:
8.383148928024198 23.38746606220522

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.82593388e-01 -1.85763221e-01  1.50283146e-03]
 [ 1.85763250e-01  9.82594525e-01  1.21472347e-04]
 [-1.49923905e-03  1.59812931e-04  9.99998863e-01]]

 t_estimated:
[[0.98894522]
 [0.14816724]
 [0.00581543]]

 R_gt:
[[ 0.97851121  0.20502574  0.02189573]
 [-0.20466454  0.97867305 -0.01767661]
 [-0.0250531   0.01281614  0.99960387]]

 t_gt:
[-0.92302083  0.38408967 -0.02253179]

Pose Error in degrees for R and t:
22.580258818237606 31.125339573501908

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.99725555e-01  2.34267810e-02  1.78879291e-05]
 [-2.34266223e-02  9.99715329e-01  4.52270352e-03]
 [ 8.80695481e-05 -4.52188134e-03  9.99989772e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97486247  0.2212049   0.02668299]
 [-0.22133324  0.9751966   0.00190338]
 [-0.02560002 -0.007761    0.99964251]]

 t_gt:
[-0.93897852  0.34061612  0.04795825]

Pose Error in degrees for R and t:
11.542180526785579 20.30141271820625

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.99999427 -0.00280912  0.00189028]
 [ 0.00281235  0.99999458 -0.00171051]
 [-0.00188546  0.00171582  0.99999675]]

 t_estimated:
[[-0.10836222]
 [-0.99410479]
 [-0.00364628]]

 R_gt:
[[ 0.98932116 -0.14381757 -0.02366578]
 [ 0.14478868  0.98837939  0.04628968]
 [ 0.01673311 -0.04922231  0.99864808]]

 t_gt:
[ 0.67699134 -0.71183021  0.18703068]

Pose Error in degrees for R and t:
8.715542880398514 50.6843973734093

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 0.99998948 -0.00294936  0.00351203]
 [ 0.00296811  0.99998132 -0.00534379]
 [-0.00349621  0.00535416  0.99997955]]

 t_estimated:
[[-0.97420165]
 [-0.22566253]
 [-0.00275198]]

 R_gt:
[[ 0.97367552 -0.22674749 -0.02327347]
 [ 0.22749876  0.97305785  0.03746453]
 [ 0.01415219 -0.04177404  0.99902732]]

 t_gt:
[ 0.68502496 -0.71554498  0.13688021]

Pose Error in degrees for R and t:
13.28217860057174 59.58513991725764

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.99106611  0.13328192  0.00488855]
 [-0.13274911  0.98931507 -0.06027734]
 [-0.0128702   0.05908987  0.9981697 ]]

 t_estimated:
[[-0.7267948 ]
 [-0.68564348]
 [-0.04077176]]

 R_gt:
[[ 0.95028421 -0.30506695 -0.06241066]
 [ 0.3079478   0.95042219  0.04320387]
 [ 0.04613678 -0.06027523  0.99711526]]

 t_gt:
[ 0.72865331 -0.68306387  0.04988085]

Pose Error in degrees for R and t:
26.571912785409484 86.37207858449077

Number of keypoints:
Image1: 24
Image2: 24

 R_estimated:
[[-9.24084779e-01 -3.82182761e-01 -1.91262882e-03]
 [ 3.82184932e-01 -9.24085397e-01 -9.25338596e-04]
 [-1.41378390e-03 -1.58606923e-03  9.99997743e-01]]

 t_estimated:
[[9.89556156e-01]
 [1.44146056e-01]
 [7.26956775e-04]]

 R_gt:
[[ 0.98824844 -0.10361542 -0.11238121]
 [ 0.11721707  0.98557474  0.12207917]
 [ 0.09811017 -0.13381759  0.9861377 ]]

 t_gt:
[ 0.74298974 -0.63664243  0.20652522]

Pose Error in degrees for R and t:
151.2391285499708 49.93840902804084

Number of keypoints:
Image1: 15
Image2: 15

 R_estimated:
[[-8.65368890e-01  5.01130303e-01  2.25921082e-03]
 [ 5.01134790e-01  8.65366057e-01  2.34713827e-03]
 [-7.78822253e-04  3.16330958e-03 -9.99994693e-01]]

 t_estimated:
[[0.67274232]
 [0.73987565]
 [0.0013428 ]]

 R_gt:
[[ 0.96877484 -0.20777609 -0.13529456]
 [ 0.22898058  0.95903402  0.16679919]
 [ 0.09509467 -0.19257065  0.97666451]]

 t_gt:
[ 0.77257296 -0.57349959  0.27245045]

Pose Error in degrees for R and t:
170.94248124729916 84.50320979223793

Number of keypoints:
Image1: 14
Image2: 14

 R_estimated:
[[-6.62794861e-01 -7.48797071e-01 -2.43270961e-03]
 [ 7.48800978e-01 -6.62790203e-01 -2.49845991e-03]
 [ 2.58463368e-04 -3.47758173e-03  9.99993920e-01]]

 t_estimated:
[[9.00826510e-01]
 [4.34178297e-01]
 [8.97484099e-04]]

 R_gt:
[[ 0.9382898  -0.28957845 -0.18909656]
 [ 0.32156259  0.93172986  0.16875334]
 [ 0.12731951 -0.21914657  0.96734949]]

 t_gt:
[ 0.81725246 -0.54162175  0.19683571]

Pose Error in degrees for R and t:
114.00510880168703 59.919323784567304

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.90763412e-01 -1.35601625e-01 -2.44680112e-04]
 [ 1.35601651e-01  9.90763435e-01  9.29220542e-05]
 [ 2.29819726e-04 -1.25242799e-04  9.99999966e-01]]

 t_estimated:
[[ 0.17656072]
 [-0.9842892 ]
 [-0.00103759]]

 R_gt:
[[ 0.99705604  0.07340552 -0.02215893]
 [-0.07243622  0.99649744  0.04178559]
 [ 0.02514761 -0.0400577   0.99888087]]

 t_gt:
[-0.50574135  0.83770251  0.20610724]

Pose Error in degrees for R and t:
12.276675174233306 23.928905391798338

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.0206199   0.99978647 -0.0013511 ]
 [-0.99978566 -0.02062236 -0.00183323]
 [-0.00186071  0.00131301  0.99999741]]

 t_estimated:
[[-1.96315797e-01]
 [ 9.80540678e-01]
 [ 2.95289767e-04]]

 R_gt:
[[ 0.96888839  0.24749409 -0.00161276]
 [-0.24739913  0.96866215  0.02209576]
 [ 0.00703027 -0.02101045  0.99975445]]

 t_gt:
[-0.5346525   0.84466708  0.02615786]

Pose Error in degrees for R and t:
76.86460985500793 21.060916763076744

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.67128226e-01 -2.54288798e-01 -4.49937677e-04]
 [ 2.54288879e-01  9.67128300e-01  1.32612316e-04]
 [ 4.01425634e-04 -2.42667261e-04  9.99999890e-01]]

 t_estimated:
[[0.46480878]
 [0.88540958]
 [0.00163525]]

 R_gt:
[[ 0.89226664  0.45124487 -0.01546304]
 [-0.45034892  0.89190442  0.04113848]
 [ 0.03235474 -0.02974341  0.99903399]]

 t_gt:
[-0.4735666   0.8805988  -0.01674581]

Pose Error in degrees for R and t:
41.61176422412692 55.975640763288474

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99992166e-01  3.89593544e-03 -6.99115542e-04]
 [-3.89412486e-03  9.99989108e-01  2.57274527e-03]
 [ 7.09131177e-04 -2.57000268e-03  9.99996446e-01]]

 t_estimated:
[[0.79271626]
 [0.60957588]
 [0.00426379]]

 R_gt:
[[ 0.99714739  0.07506544 -0.00789383]
 [-0.07514647  0.9971171  -0.01050688]
 [ 0.00708233  0.01107043  0.99991336]]

 t_gt:
[-0.96229715  0.23186064 -0.14221408]

Pose Error in degrees for R and t:
4.173782383204946 51.53047308915874

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99999182e-01 -1.27022778e-03 -1.49792353e-04]
 [ 1.27019880e-03  9.99999175e-01 -1.93379747e-04]
 [ 1.50037866e-04  1.93189322e-04  9.99999970e-01]]

 t_estimated:
[[-0.95901816]
 [-0.28334294]
 [-0.00097662]]

 R_gt:
[[ 0.99833679  0.05473056  0.01812295]
 [-0.05464727  0.99849314 -0.00508329]
 [-0.0183744   0.00408454  0.9998225 ]]

 t_gt:
[-0.99409962  0.10726682 -0.01611756]

Pose Error in degrees for R and t:
3.3862197658611586 22.633996647967034

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99853961e-01  1.70891280e-02 -1.32181359e-04]
 [-1.70890415e-02  9.99853773e-01  6.29630022e-04]
 [ 1.42921859e-04 -6.27279219e-04  9.99999793e-01]]

 t_estimated:
[[-0.89599225]
 [-0.44406869]
 [ 0.00094438]]

 R_gt:
[[ 0.99584761  0.07248268  0.0550801 ]
 [-0.07172912  0.99730345 -0.01554929]
 [-0.05605902  0.0115343   0.99836114]]

 t_gt:
[-0.98631455  0.16381794  0.01863556]

Pose Error in degrees for R and t:
4.56590409198567 35.806115994680496

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-2.07569583e-01  9.78220232e-01 -2.13151221e-04]
 [-9.78218536e-01 -2.07569622e-01 -1.82988731e-03]
 [-1.83427651e-03 -1.71320472e-04  9.99998303e-01]]

 t_estimated:
[[1.11126831e-01]
 [9.93805785e-01]
 [9.43456780e-04]]

 R_gt:
[[ 0.99170377 -0.12817569  0.00972429]
 [ 0.12808253  0.99171542  0.00975199]
 [-0.01089432 -0.00842523  0.99990423]]

 t_gt:
[ 0.82637154 -0.55595072  0.08960398]

Pose Error in degrees for R and t:
109.3437597171458 62.57478471494784

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.30544111 -0.9521292   0.01247842]
 [ 0.9521253  -0.30521162  0.01741481]
 [-0.01277259  0.01720022  0.99977048]]

 t_estimated:
[[8.14934387e-01]
 [5.79552853e-01]
 [6.59332029e-04]]

 R_gt:
[[ 9.70576480e-01 -2.40518577e-01  1.14557790e-02]
 [ 2.40538475e-01  9.70638665e-01 -3.10606992e-04]
 [-1.10451757e-02  3.05824229e-03  9.99934005e-01]]

 t_gt:
[ 0.82664317 -0.56266403  0.0083825 ]

Pose Error in degrees for R and t:
93.8600973379285 69.66112492943338

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 5.84100962e-01  8.11681006e-01  9.88023860e-05]
 [-8.11681010e-01  5.84100966e-01 -8.28390230e-06]
 [-6.44344553e-05 -7.53573852e-05  9.99999995e-01]]

 t_estimated:
[[0.87904038]
 [0.47674553]
 [0.00130615]]

 R_gt:
[[ 9.38856078e-01 -3.42084946e-01 -3.90744435e-02]
 [ 3.42369446e-01  9.39564532e-01  6.20105628e-04]
 [ 3.65005286e-02 -1.39596769e-02  9.99235458e-01]]

 t_gt:
[ 0.86847058 -0.4948151  -0.03027976]

Pose Error in degrees for R and t:
74.31017541925092 58.16463497166214

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.11574624  0.99280949 -0.03053069]
 [ 0.99279434 -0.11467522  0.03477058]
 [ 0.03101945 -0.03433526 -0.99892887]]

 t_estimated:
[[ 0.58001882]
 [-0.81424965]
 [-0.02399326]]

 R_gt:
[[ 0.99842842 -0.01322394 -0.05445201]
 [ 0.01248157  0.9998247  -0.01395126]
 [ 0.05462616  0.01325058  0.99841877]]

 t_gt:
[ 0.41390133 -0.15918784 -0.89629511]

Pose Error in degrees for R and t:
175.851755339715 66.97117105200748

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.58582274 -0.81005    -0.02511396]
 [-0.81037532  0.58510615  0.0307022 ]
 [-0.01017599  0.03833778 -0.99921302]]

 t_estimated:
[[0.90055104]
 [0.43474878]
 [0.00115013]]

 R_gt:
[[ 9.98294291e-01 -5.83317857e-02  2.20064490e-03]
 [ 5.83670878e-02  9.98007798e-01 -2.39407224e-02]
 [-7.99726378e-04  2.40286818e-02  9.99711273e-01]]

 t_gt:
[ 0.68033009 -0.62936582 -0.37556575]

Pose Error in degrees for R and t:
179.03452308074387 70.20693711064443

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.78048399  0.62516894  0.00292356]
 [-0.62515519  0.7804877  -0.00446514]
 [-0.00507327  0.00165729  0.99998576]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.95690666 -0.216422    0.19362293]
 [ 0.21684354  0.97601569  0.01927632]
 [-0.19315146  0.02354108  0.98088691]]

 t_gt:
[ 0.6058443  -0.65806941  0.44709879]

Pose Error in degrees for R and t:
52.405823766478626 74.17262485717345

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999845e-01 -5.48530322e-04  1.00017036e-04]
 [ 5.48521910e-04  9.99999846e-01  8.41123269e-05]
 [-1.00063159e-04 -8.40574523e-05  9.99999991e-01]]

 t_estimated:
[[0.32368752]
 [0.94616352]
 [0.00099596]]

 R_gt:
[[ 0.99826552 -0.0297663  -0.05081004]
 [ 0.02925667  0.99951411 -0.01074848]
 [ 0.05110599  0.00924273  0.99865078]]

 t_gt:
[ 0.78658218 -0.25433817 -0.5626727 ]

Pose Error in degrees for R and t:
3.4140138833892637 89.23215984107644

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.88004295e-01 -1.54426375e-01  8.49365610e-05]
 [ 1.54426371e-01  9.88004298e-01  5.76679974e-05]
 [-9.28231471e-05 -4.38597843e-05  9.99999995e-01]]

 t_estimated:
[[-0.26857068]
 [-0.9632594 ]
 [-0.00105736]]

 R_gt:
[[ 0.99395645  0.0269401  -0.10642272]
 [-0.02654141  0.99963428  0.0051566 ]
 [ 0.10652349 -0.00230147  0.99430742]]

 t_gt:
[ 0.51587925  0.35181371 -0.78108624]

Pose Error in degrees for R and t:
12.080898392039389 61.53564015297468

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 5.73886999e-01  8.18934482e-01 -1.64002421e-04]
 [ 8.18929601e-01 -5.73882863e-01  3.57339718e-03]
 [ 2.83225999e-03 -2.18503262e-03 -9.99993602e-01]]

 t_estimated:
[[0.0119039 ]
 [0.9999277 ]
 [0.00170056]]

 R_gt:
[[ 9.78102084e-01  1.35895621e-01 -1.57638875e-01]
 [-1.37462566e-01  9.90506114e-01  9.69029938e-04]
 [ 1.56274346e-01  2.07208496e-02  9.87496479e-01]]

 t_gt:
[ 0.04551591  0.79578901 -0.60386103]

Pose Error in degrees for R and t:
176.13891121585482 37.32146553344054

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99925321e-01 -1.22205725e-02  1.01710800e-04]
 [ 1.22205862e-02  9.99925317e-01 -1.35582198e-04]
 [-1.00046312e-04  1.36815039e-04  9.99999986e-01]]

 t_estimated:
[[-0.71955601]
 [-0.69443238]
 [-0.00167587]]

 R_gt:
[[ 0.99984008  0.01047874  0.01447423]
 [-0.01050073  0.99994324  0.00141166]
 [-0.0144579  -0.00156353  0.99989426]]

 t_gt:
[0.68853941 0.20964678 0.69423462]

Pose Error in degrees for R and t:
1.5434711678804978 50.04456110094592

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.97439122e-01  7.15198423e-02  3.32293345e-04]
 [-7.15196162e-02  9.97438982e-01 -6.48637900e-04]
 [-3.77832816e-04  6.23211325e-04  9.99999734e-01]]

 t_estimated:
[[0.88408775]
 [0.46731957]
 [0.00112336]]

 R_gt:
[[ 0.99813304 -0.06064302  0.00735016]
 [ 0.06074715  0.99803948 -0.01501158]
 [-0.00642527  0.01543038  0.99986058]]

 t_gt:
[ 0.78179972 -0.6234953  -0.00654329]

Pose Error in degrees for R and t:
7.6362828304272234 66.43428336504037

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.99996688  0.00802996  0.0013265 ]
 [-0.0080282   0.99996689 -0.00132564]
 [-0.0013371   0.00131495  0.99999824]]

 t_estimated:
[[-9.00025718e-01]
 [-4.35836036e-01]
 [-8.10104157e-04]]

 R_gt:
[[ 0.98753523 -0.15574701  0.02274682]
 [ 0.15566438  0.98779482  0.00533655]
 [-0.02329921 -0.00172864  0.99972716]]

 t_gt:
[ 0.71889447 -0.6850063   0.11814019]

Pose Error in degrees for R and t:
9.505124156244888 69.60019914387962

Number of keypoints:
Image1: 491
Image2: 491

 R_estimated:
[[-1.65015227e-01  9.86267708e-01  6.78108791e-03]
 [-9.86290969e-01 -1.65013513e-01 -8.15267513e-04]
 [ 3.14899117e-04 -6.82265732e-03  9.99976676e-01]]

 t_estimated:
[[0.91074453]
 [0.41296918]
 [0.00092181]]

 R_gt:
[[ 0.99903045 -0.04317145  0.00871538]
 [ 0.04303858  0.99896265  0.01488978]
 [-0.00934891 -0.01449998  0.99985111]]

 t_gt:
[ 0.30879464 -0.86029677  0.40562956]

Pose Error in degrees for R and t:
101.96868206209973 85.77524335969994

Number of keypoints:
Image1: 484
Image2: 484

 R_estimated:
[[ 0.62079436  0.78379646 -0.01665755]
 [ 0.78375499 -0.61997972  0.03678667]
 [ 0.01850592 -0.0358924  -0.9991843 ]]

 t_estimated:
[[ 0.393263  ]
 [-0.91918293]
 [-0.02114109]]

 R_gt:
[[ 0.99768326 -0.00694919  0.06768657]
 [ 0.00709335  0.99997318 -0.00189167]
 [-0.06767079  0.00236754  0.99770369]]

 t_gt:
[-5.73931121e-01  5.38139131e-04  8.18903400e-01]

Pose Error in degrees for R and t:
179.48270229510044 75.90602448386389

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.91294534e-01  1.31662735e-01 -2.68380928e-04]
 [-1.31662663e-01  9.91294543e-01  2.69208124e-04]
 [ 3.01489227e-04 -2.31528794e-04  9.99999928e-01]]

 t_estimated:
[[-0.3139613 ]
 [ 0.94943327]
 [-0.00218318]]

 R_gt:
[[ 0.99854222 -0.0116607   0.05270439]
 [ 0.01250534  0.99979777 -0.01572605]
 [-0.05251024  0.01636211  0.99848538]]

 t_gt:
[-0.84192911 -0.20961216  0.49721034]

Pose Error in degrees for R and t:
8.846262009316288 86.31707571030209

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 5.82734937e-01 -8.12662142e-01 -4.86600918e-04]
 [ 8.12662154e-01  5.82735080e-01 -2.23307520e-04]
 [ 4.65032992e-04 -2.65313057e-04  9.99999857e-01]]

 t_estimated:
[[-0.16387091]
 [-0.98648119]
 [-0.00108524]]

 R_gt:
[[ 0.99861069 -0.05163629  0.01055911]
 [ 0.05031368  0.99363401  0.10079343]
 [-0.0156966  -0.10012175  0.99485042]]

 t_gt:
[ 0.27500938 -0.5736179   0.77157783]

Pose Error in degrees for R and t:
51.73337773477048 58.67043938708799

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 8.58893300e-01  5.12154551e-01 -1.23424935e-04]
 [-5.12154501e-01  8.58893043e-01 -7.13045998e-04]
 [-2.59180935e-04  6.75643066e-04  9.99999738e-01]]

 t_estimated:
[[0.77047541]
 [0.63746925]
 [0.00077357]]

 R_gt:
[[ 0.99706166 -0.07021496  0.03063135]
 [ 0.06514526  0.98754588  0.14320963]
 [-0.04030463 -0.14079264  0.98921817]]

 t_gt:
[ 0.23380885 -0.49109001  0.83914482]

Pose Error in degrees for R and t:
35.69505152469692 82.39969425764528

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 7.99420474e-01 -6.00770943e-01 -1.08635965e-03]
 [ 6.00771147e-01  7.99421042e-01 -1.64105190e-04]
 [ 9.67048396e-04 -5.21464486e-04  9.99999396e-01]]

 t_estimated:
[[-0.12322786]
 [-0.99237754]
 [-0.00131093]]

 R_gt:
[[ 0.99873783 -0.04717735  0.017245  ]
 [ 0.04657654  0.99834614  0.03369589]
 [-0.01880611 -0.03285029  0.99928327]]

 t_gt:
[ 0.38754936 -0.72075822  0.5747287 ]

Pose Error in degrees for R and t:
34.30529890968098 48.18297434405168

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-9.46612684e-01 -3.22368578e-01 -1.71085234e-03]
 [ 3.22369935e-01 -9.46613590e-01 -5.80332137e-04]
 [-1.43243523e-03 -1.10087712e-03  9.99998368e-01]]

 t_estimated:
[[0.83759265]
 [0.54629457]
 [0.0008854 ]]

 R_gt:
[[ 0.99843306 -0.00354389 -0.05585582]
 [-0.00221843  0.99470107 -0.10277464]
 [ 0.055924    0.10273816  0.9931349 ]]

 t_gt:
[ 0.08321233  0.23052719 -0.96950138]

Pose Error in degrees for R and t:
161.19163417881703 78.76839703492016

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.08389375  0.99647139 -0.00256933]
 [-0.99640579  0.08385735 -0.01197677]
 [-0.01171905  0.00356487  0.99992497]]

 t_estimated:
[[0.648646  ]
 [0.76107797]
 [0.00432431]]

 R_gt:
[[ 0.98787961 -0.15138137 -0.03433589]
 [ 0.1417767   0.9699957  -0.19750025]
 [ 0.06320284  0.19023894  0.97970151]]

 t_gt:
[ 0.41753307 -0.30556547 -0.85574288]

Pose Error in degrees for R and t:
94.18278260465898 88.01880358731108

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 8.95368090e-01  4.45326821e-01  6.82197618e-05]
 [-4.45326792e-01  8.95368070e-01 -2.58756803e-04]
 [-1.76313141e-04  2.01302497e-04  9.99999964e-01]]

 t_estimated:
[[0.52918959]
 [0.84850229]
 [0.00149912]]

 R_gt:
[[ 0.98396898 -0.16836015 -0.05883725]
 [ 0.15115078  0.96234582 -0.22592748]
 [ 0.09465832  0.21341259  0.97236604]]

 t_gt:
[ 0.39652518 -0.20487545 -0.89487085]

Pose Error in degrees for R and t:
38.14835026637546 88.01383431008631

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.77821311 -0.62788577 -0.01199267]
 [-0.62784209  0.7783038  -0.00758272]
 [ 0.01409502  0.00162854 -0.99989933]]

 t_estimated:
[[ 0.93704294]
 [ 0.34917273]
 [-0.00537855]]

 R_gt:
[[ 0.99989199 -0.01434053  0.00313873]
 [ 0.0142955   0.9998002   0.01397743]
 [-0.00333798 -0.01393127  0.9998977 ]]

 t_gt:
[ 0.63477328 -0.709444    0.30618965]

Pose Error in degrees for R and t:
179.64802624769038 69.79107011436902

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-1.66995648e-01 -9.85954966e-01 -2.29334032e-03]
 [ 9.85957596e-01 -1.66994551e-01 -6.63025724e-04]
 [ 2.70738168e-04 -2.37185872e-03  9.99997150e-01]]

 t_estimated:
[[9.96995053e-01]
 [7.74607685e-02]
 [8.32911490e-04]]

 R_gt:
[[ 0.99614479  0.06833857 -0.05501488]
 [-0.06621627  0.99702266  0.03951572]
 [ 0.05755099 -0.03572025  0.99770314]]

 t_gt:
[ 0.14833073  0.77322719 -0.61653687]

Pose Error in degrees for R and t:
103.5213043455866 78.03780401403615

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.17737232  0.98411493 -0.00754075]
 [-0.98409567  0.17728264 -0.0112509 ]
 [-0.00973533  0.00941642  0.99990827]]

 t_estimated:
[[0.01013461]
 [0.99994801]
 [0.00112607]]

 R_gt:
[[ 0.9898737   0.07893755 -0.11798223]
 [-0.07675819  0.99678631  0.02290288]
 [ 0.11941109 -0.01361551  0.99275129]]

 t_gt:
[ 0.32789018  0.35232905 -0.87655706]

Pose Error in degrees for R and t:
75.59609967153389 69.22820659006351

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 9.45439067e-01 -3.25798792e-01 -3.43567647e-04]
 [ 3.25798870e-01  9.45439081e-01  2.00985315e-04]
 [ 2.59341508e-04 -3.01953320e-04  9.99999921e-01]]

 t_estimated:
[[ 4.46549271e-01]
 [-8.94758945e-01]
 [-4.23389070e-04]]

 R_gt:
[[ 9.99954204e-01  9.61455485e-03  4.13967155e-04]
 [-9.61274952e-03  9.99950411e-01 -2.81167247e-03]
 [-4.41046752e-04  2.80752723e-03  9.99995437e-01]]

 t_gt:
[-0.53444954  0.81009663 -0.24105422]

Pose Error in degrees for R and t:
19.565595646332234 15.549930688106874

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 0.15798231  0.98732847  0.01496946]
 [ 0.98737129 -0.1577715  -0.01435579]
 [-0.01181213  0.01704838 -0.99978489]]

 t_estimated:
[[-9.05344770e-01]
 [-4.24676472e-01]
 [-8.61412721e-04]]

 R_gt:
[[ 0.99926934 -0.0354527   0.01434318]
 [ 0.03614171  0.99804428 -0.05100733]
 [-0.01250627  0.05148865  0.99859536]]

 t_gt:
[-0.13237598  0.79761205 -0.58846548]

Pose Error in degrees for R and t:
176.08057382763667 77.38643674339626

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-1.35960393e-02  9.99907272e-01 -7.70911457e-04]
 [-9.99905979e-01 -1.35973889e-02 -1.77336035e-03]
 [-1.78367829e-03  7.46728298e-04  9.99998130e-01]]

 t_estimated:
[[6.78945274e-02]
 [9.97692350e-01]
 [5.55275222e-04]]

 R_gt:
[[ 0.99503743 -0.07864287  0.06097329]
 [ 0.0813727   0.99572722 -0.04365838]
 [-0.05728019  0.04840412  0.99718392]]

 t_gt:
[0.304967   0.94678796 0.10289649]

Pose Error in degrees for R and t:
95.44319568469467 15.123472134926287

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[-1.73130119e-02 -9.99849584e-01 -1.03420617e-03]
 [ 9.99845410e-01 -1.73160957e-02  3.05118628e-03]
 [-3.06863575e-03 -9.81221066e-04  9.99994810e-01]]

 t_estimated:
[[0.9999861 ]
 [0.00500117]
 [0.00166845]]

 R_gt:
[[ 0.99824815  0.05711472 -0.01547856]
 [-0.05746427  0.99807995 -0.0231376 ]
 [ 0.01412656  0.02398689  0.99961213]]

 t_gt:
[-0.64942699  0.62554159 -0.43236825]

Pose Error in degrees for R and t:
94.29092528532107 49.68338518743639

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99961760e-01  8.74521680e-03  2.39242362e-05]
 [-8.74521684e-03  9.99961760e-01  1.50040810e-06]
 [-2.39101999e-05 -1.70957336e-06  1.00000000e+00]]

 t_estimated:
[[-0.56942855]
 [-0.82203967]
 [-0.00138128]]

 R_gt:
[[ 0.99973201  0.01819618 -0.01438754]
 [-0.01837915  0.99975141 -0.01268689]
 [ 0.01415353  0.01294776  0.99981552]]

 t_gt:
[-0.79763974  0.18870046 -0.57285511]

Pose Error in degrees for R and t:
1.2267268677380794 72.55015363218716

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.89827523e-01  1.42271900e-01 -4.25934353e-04]
 [-1.42271645e-01  9.89827482e-01  5.78888467e-04]
 [ 5.03961091e-04 -5.12401356e-04  9.99999742e-01]]

 t_estimated:
[[-0.99998889]
 [-0.00441593]
 [-0.00164698]]

 R_gt:
[[ 0.99820936  0.03930371  0.04511064]
 [-0.0383039   0.99900607 -0.02281855]
 [-0.0459623   0.02104974  0.99872129]]

 t_gt:
[-0.88717523  0.36853955  0.27766655]

Pose Error in degrees for R and t:
6.637467786212083 27.738556204894703

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.53256295e-01 -3.02157004e-01 -1.89238619e-03]
 [ 3.02158111e-01  9.53257768e-01  3.22670716e-04]
 [ 1.70643462e-03 -8.79387729e-04  9.99998157e-01]]

 t_estimated:
[[0.70672363]
 [0.70748931]
 [0.00076568]]

 R_gt:
[[ 0.97947687  0.20105907 -0.01417717]
 [-0.20124221  0.97945589 -0.01300974]
 [ 0.01126954  0.01559533  0.99981495]]

 t_gt:
[-0.58906048  0.80064554 -0.1094279 ]

Pose Error in degrees for R and t:
29.211439463840982 81.36951421152044

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 5.12220920e-01  8.58851901e-01  1.77247007e-03]
 [ 8.58853385e-01 -5.12221472e-01 -1.61648643e-04]
 [ 7.69064986e-04  1.60509174e-03 -9.99998416e-01]]

 t_estimated:
[[0.69134007]
 [0.72252835]
 [0.00129951]]

 R_gt:
[[ 0.8928752   0.44464054 -0.07120102]
 [-0.444607    0.89556063  0.0171802 ]
 [ 0.07140312  0.01631606  0.99731379]]

 t_gt:
[-0.44429692  0.88423206 -0.14399277]

Pose Error in degrees for R and t:
177.9403993520873 70.63800872301232

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-9.25073814e-01 -3.79771813e-01 -3.43656007e-03]
 [-3.79771675e-01  9.25079975e-01 -7.18039121e-04]
 [ 3.45178392e-03  6.40868985e-04 -9.99993837e-01]]

 t_estimated:
[[ 9.32629468e-01]
 [ 3.60835040e-01]
 [-5.90929733e-04]]

 R_gt:
[[ 0.80232056  0.59412101 -0.05746606]
 [-0.59130655  0.80426051  0.05933492]
 [ 0.08146913 -0.01362635  0.99658242]]

 t_gt:
[-0.38881856  0.91855649 -0.07123278]

Pose Error in degrees for R and t:
176.12100920703733 88.21585404236917

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-9.99907018e-01 -1.35979297e-02 -1.02556291e-03]
 [ 1.36016071e-02 -9.99900765e-01 -3.66831969e-03]
 [-9.75579584e-04 -3.68192791e-03  9.99992746e-01]]

 t_estimated:
[[0.88916943]
 [0.45757583]
 [0.00144346]]

 R_gt:
[[ 0.99342518 -0.11428897 -0.00662565]
 [ 0.11415299  0.99329607 -0.01826491]
 [ 0.00866974  0.01738872  0.99981097]]

 t_gt:
[ 0.74101235 -0.653183   -0.15573265]

Pose Error in degrees for R and t:
172.66168969801203 68.91331522936557

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.95727919e-01  9.23355176e-02  2.50422845e-04]
 [-9.23354753e-02  9.95727939e-01 -1.75815357e-04]
 [-2.65587025e-04  1.51941347e-04  9.99999953e-01]]

 t_estimated:
[[0.18869936]
 [0.982034  ]
 [0.00132887]]

 R_gt:
[[ 9.71181185e-01 -2.36364388e-01 -3.06483746e-02]
 [ 2.36219107e-01  9.71664981e-01 -8.32173268e-03]
 [ 3.17478079e-02  8.41659706e-04  9.99494659e-01]]

 t_gt:
[ 0.83268575 -0.5478374  -0.08067606]

Pose Error in degrees for R and t:
19.056858364998295 67.60591703808173

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.97448834 -0.22443211 -0.00164247]
 [ 0.22443397 -0.97448873 -0.00105015]
 [-0.00136488 -0.00139199  0.9999981 ]]

 t_estimated:
[[0.67201384]
 [0.74053761]
 [0.00120217]]

 R_gt:
[[ 0.89195278 -0.45169078 -0.01989184]
 [ 0.45182597  0.89210316  0.00262486]
 [ 0.01656075 -0.01132974  0.99979814]]

 t_gt:
[ 0.90926677 -0.41608634 -0.01029994]

Pose Error in degrees for R and t:
140.17211233274642 72.36813936826842

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.94566408e-01 -1.04104023e-01 -1.12508880e-04]
 [ 1.04104050e-01  9.94566375e-01  2.67952009e-04]
 [ 8.40026666e-05 -2.78208697e-04  9.99999958e-01]]

 t_estimated:
[[-0.95996471]
 [-0.28011925]
 [-0.00097737]]

 R_gt:
[[ 0.99484427  0.01204623 -0.10070427]
 [-0.01258454  0.99991001 -0.00471543]
 [ 0.10063783  0.00595856  0.99490506]]

 t_gt:
[ 0.1872819   0.12680461 -0.97408731]

Pose Error in degrees for R and t:
8.834291317343258 77.62246381900025

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.26153165e-01  3.77147598e-01 -6.76777843e-05]
 [-3.77147601e-01  9.26153119e-01 -2.96255860e-04]
 [-4.90521950e-05  2.99902816e-04  9.99999954e-01]]

 t_estimated:
[[-5.12902924e-01]
 [ 8.58446514e-01]
 [-4.16336336e-04]]

 R_gt:
[[ 0.98882343  0.00937679 -0.14880205]
 [-0.01189517  0.99980083 -0.01604482]
 [ 0.14862192  0.01763596  0.98873669]]

 t_gt:
[ 0.25559547  0.08631094 -0.96292335]

Pose Error in degrees for R and t:
23.18020713240179 86.75524222729265

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99968132e-01  7.97077603e-03 -4.48102465e-04]
 [-7.97050683e-03  9.99968055e-01  5.99376987e-04]
 [ 4.52865650e-04 -5.95786282e-04  9.99999720e-01]]

 t_estimated:
[[-0.9985682 ]
 [-0.05347146]
 [-0.00153648]]

 R_gt:
[[ 0.99372854 -0.02765057 -0.10835353]
 [ 0.02450788  0.99924347 -0.03022747]
 [ 0.10910763  0.02738326  0.99365249]]

 t_gt:
[ 0.42653858 -0.1323859  -0.89472834]

Pose Error in degrees for R and t:
6.7325477694608855 65.32477028779921

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.01748411 -0.99984592 -0.00156395]
 [ 0.99984631  0.01748609 -0.00126299]
 [ 0.00129015 -0.00154162  0.99999798]]

 t_estimated:
[[8.63014187e-01]
 [5.05179036e-01]
 [8.09581788e-04]]

 R_gt:
[[ 0.99619957 -0.07966528 -0.03521052]
 [ 0.08031112  0.99661823  0.01735109]
 [ 0.03370961 -0.0201134   0.99922931]]

 t_gt:
[ 0.51987184 -0.8530319  -0.04549571]

Pose Error in degrees for R and t:
84.42977646043227 88.98660785485471

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.99546193e-01 -3.01225218e-02  2.02277374e-04]
 [ 3.01224601e-02  9.99546170e-01  3.01175146e-04]
 [-2.11257729e-04 -2.94945379e-04  9.99999934e-01]]

 t_estimated:
[[0.84680643]
 [0.53189975]
 [0.00123301]]

 R_gt:
[[ 0.98074499 -0.18610797 -0.05917831]
 [ 0.18855183  0.98129744  0.03876953]
 [ 0.05085538 -0.04918159  0.99749431]]

 t_gt:
[ 0.62465095 -0.77557695  0.09105814]

Pose Error in degrees for R and t:
9.947082488877676 83.30745369029471

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.14616212  0.98925923  0.00167475]
 [ 0.98925866 -0.14616502  0.00176004]
 [ 0.00198593  0.00139951 -0.99999705]]

 t_estimated:
[[-0.01830356]
 [-0.99983182]
 [-0.00114397]]

 R_gt:
[[ 0.98102016 -0.14593037 -0.12767794]
 [ 0.15811402  0.98320793  0.09111315]
 [ 0.11223764 -0.10957242  0.98762204]]

 t_gt:
[ 0.55825339 -0.8038953   0.20519622]

Pose Error in degrees for R and t:
171.0913421471469 37.50432885768291

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 3.72630893e-01  9.27978155e-01  1.66144752e-03]
 [-9.27979269e-01  3.72631752e-01 -2.29880852e-04]
 [-8.32432511e-04 -1.45612815e-03  9.99998593e-01]]

 t_estimated:
[[0.17500251]
 [0.98456696]
 [0.00142278]]

 R_gt:
[[ 0.96801823  0.24666341 -0.04581033]
 [-0.24534985  0.96889117  0.03246832]
 [ 0.05239437 -0.02019044  0.99842281]]

 t_gt:
[-0.51077272  0.85493453 -0.09054378]

Pose Error in degrees for R and t:
53.96160331496578 41.21651995794332

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 5.26147373e-01 -8.50393356e-01 -2.87550833e-04]
 [ 8.50393323e-01  5.26147440e-01 -2.58662765e-04]
 [ 3.71259232e-04 -1.08436574e-04  9.99999925e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.93440614  0.35373685 -0.04190595]
 [-0.35001055  0.9336212   0.07645607]
 [ 0.0661702  -0.05677386  0.99619227]]

 t_gt:
[-0.48306704  0.87557388  0.00407552]

Pose Error in degrees for R and t:
79.02939139683401 29.243927940817837

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 5.12886070e-01  8.58454766e-01  1.81514468e-03]
 [-8.58456329e-01  5.12886634e-01  1.74880013e-04]
 [-7.80836866e-04 -1.64791596e-03  9.99998337e-01]]

 t_estimated:
[[-0.20035921]
 [ 0.97972113]
 [ 0.00164442]]

 R_gt:
[[ 0.89174258  0.45014406 -0.04653742]
 [-0.4458834   0.89153855  0.0796688 ]
 [ 0.07735242 -0.05029462  0.99573423]]

 t_gt:
[-0.42470592  0.90480625 -0.03083072]

Pose Error in degrees for R and t:
32.88601661851772 13.711675292313894

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99194888e-01 -4.01194232e-02  8.35956044e-05]
 [ 4.01194349e-02  9.99194881e-01 -1.43518429e-04]
 [-7.77704235e-05  1.46756689e-04  9.99999986e-01]]

 t_estimated:
[[-0.95327575]
 [-0.30209829]
 [-0.00140354]]

 R_gt:
[[ 0.98947065 -0.1438543  -0.01592061]
 [ 0.14410708  0.98943141  0.01607023]
 [ 0.01344012 -0.01819569  0.99974435]]

 t_gt:
[ 0.79788271 -0.60129299  0.04277754]

Pose Error in degrees for R and t:
6.120788602661888 54.61886920634303

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.70380226e-01 -2.41582701e-01 -1.28475820e-04]
 [ 2.41582709e-01  9.70380230e-01  5.85493575e-05]
 [ 1.10525884e-04 -8.78526754e-05  9.99999990e-01]]

 t_estimated:
[[-0.27053363]
 [-0.96270975]
 [-0.00121862]]

 R_gt:
[[ 0.97169692 -0.23128952 -0.04806614]
 [ 0.23125638  0.97287182 -0.00634298]
 [ 0.04822805 -0.00495134  0.99882404]]

 t_gt:
[ 0.81877015 -0.56679074 -0.09145327]

Pose Error in degrees for R and t:
2.8364369650655865 71.07915672580677

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-4.47430678e-01 -8.94316864e-01 -1.77080600e-03]
 [ 8.94318598e-01 -4.47429393e-01 -1.08770712e-03]
 [ 1.80444171e-04 -2.07033828e-03  9.99997841e-01]]

 t_estimated:
[[0.86032597]
 [0.50974314]
 [0.00107541]]

 R_gt:
[[ 9.17063898e-01 -3.97653204e-01 -2.94351604e-02]
 [ 3.97802575e-01  9.17470256e-01 -8.38211952e-04]
 [ 2.73382862e-02 -1.09415069e-02  9.99566526e-01]]

 t_gt:
[ 0.88918268 -0.45683819 -0.02555449]

Pose Error in degrees for R and t:
93.14684756262896 57.85326823509119

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 1.00000000e+00 -2.74752211e-05  2.44694905e-06]
 [ 2.74752293e-05  1.00000000e+00 -3.36372475e-06]
 [-2.44685663e-06  3.36379198e-06  1.00000000e+00]]

 t_estimated:
[[-0.1655054 ]
 [-0.98620741]
 [-0.00170624]]

 R_gt:
[[ 0.99996999  0.00697755  0.00361293]
 [-0.00682352  0.99913805 -0.04094361]
 [-0.00389505  0.04091706  0.99915426]]

 t_gt:
[-0.15773784  0.52231612 -0.83803618]

Pose Error in degrees for R and t:
2.388651440308336 60.818638319220206

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-0.21326108 -0.97699119 -0.00281467]
 [-0.9769803   0.213241    0.00614514]
 [-0.00540355  0.0040604  -0.99997716]]

 t_estimated:
[[9.33820612e-01]
 [3.57740630e-01]
 [8.39766738e-04]]

 R_gt:
[[ 0.99873969  0.03082364 -0.03961268]
 [-0.03644087  0.98802048 -0.14996098]
 [ 0.03451634  0.15121645  0.98789697]]

 t_gt:
[-0.07049287  0.48383343 -0.87231644]

Pose Error in degrees for R and t:
172.99598042384892 83.88487018307472

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.85806696e-01  1.67881499e-01  9.79826365e-04]
 [-1.67879524e-01  9.85805812e-01 -1.83492078e-03]
 [-1.27396777e-03  1.64438440e-03  9.99997837e-01]]

 t_estimated:
[[9.65790000e-01]
 [2.59323672e-01]
 [9.53395854e-04]]

 R_gt:
[[ 0.99347472 -0.10106718 -0.05285793]
 [ 0.08573699  0.96740321 -0.23828672]
 [ 0.07521851  0.23219981  0.96975542]]

 t_gt:
[ 0.27872358 -0.02739836 -0.95998047]

Pose Error in degrees for R and t:
20.600762172922437 74.86061210073862

Number of keypoints:
Image1: 507
Image2: 507

 R_estimated:
[[ 9.62742837e-01 -2.70418509e-01 -2.42876308e-04]
 [ 2.70418574e-01  9.62742806e-01  2.91811357e-04]
 [ 1.54916226e-04 -3.46617559e-04  9.99999928e-01]]

 t_estimated:
[[ 5.89554622e-01]
 [-8.07728511e-01]
 [ 7.07943267e-07]]

 R_gt:
[[ 0.99966046 -0.02597692 -0.00219588]
 [ 0.02592522  0.99944764 -0.02079582]
 [ 0.00273548  0.02073207  0.99978141]]

 t_gt:
[ 0.07554485  0.7532942  -0.65333057]

Pose Error in degrees for R and t:
14.253550031047805 55.67268303864009

Number of keypoints:
Image1: 342
Image2: 342

 R_estimated:
[[ 9.90746782e-01 -1.35717339e-01  1.27227700e-03]
 [ 1.35718292e-01  9.90747224e-01 -6.94636126e-04]
 [-1.16623074e-03  8.60879768e-04  9.99998949e-01]]

 t_estimated:
[[-0.72676253]
 [-0.68688839]
 [-0.00075234]]

 R_gt:
[[ 0.99733414 -0.06743102  0.02787992]
 [ 0.06872325  0.99646428 -0.04833322]
 [-0.02452206  0.05012032  0.99844166]]

 t_gt:
[ 0.53523016  0.73803143 -0.41089936]

Pose Error in degrees for R and t:
4.993299296390597 26.411652994284253

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[-0.99410216 -0.10810147 -0.00865831]
 [ 0.10802429 -0.99410809  0.00893616]
 [-0.00957331  0.00794815  0.99992259]]

 t_estimated:
[[0.74405666]
 [0.66811603]
 [0.00080788]]

 R_gt:
[[ 0.98639682 -0.14960597  0.06811041]
 [ 0.15220657  0.98773934 -0.03470962]
 [-0.06208276  0.04460444  0.9970734 ]]

 t_gt:
[0.98313062 0.05226292 0.17527914]

Pose Error in degrees for R and t:
165.10968498582181 39.953649673503065

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 8.38337847e-01  5.45151035e-01  5.97971135e-05]
 [-5.45150924e-01  8.38337737e-01 -5.56547782e-04]
 [-3.53532777e-04  4.33976618e-04  9.99999843e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99946633 -0.02754212 -0.01759458]
 [ 0.02567314  0.99477785 -0.09878019]
 [ 0.02022386  0.09827623  0.99495431]]

 t_gt:
[ 0.33674096  0.16021879 -0.92786608]

Pose Error in degrees for R and t:
35.0210020400358 70.3352017199631

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-9.99981181e-01 -6.13462909e-03  5.53684969e-05]
 [-6.13451570e-03  9.99979459e-01  1.85714965e-03]
 [-6.67602839e-05  1.85677504e-03 -9.99998274e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9973313  -0.06951622 -0.0223271 ]
 [ 0.06602297  0.9892131  -0.13076072]
 [ 0.03117637  0.12893776  0.99116336]]

 t_gt:
[ 0.46436336  0.03812102 -0.88482397]

Pose Error in degrees for R and t:
178.4484148871199 62.367846323094554

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-6.20722031e-01  7.84003246e-01  6.56276384e-03]
 [ 7.84022185e-01  6.20732576e-01  5.31526850e-04]
 [-3.65700253e-03  5.47528287e-03 -9.99978324e-01]]

 t_estimated:
[[9.99461205e-01]
 [3.28082853e-02]
 [9.56717058e-04]]

 R_gt:
[[ 0.98476876 -0.16694147 -0.04859084]
 [ 0.15522888  0.97005199 -0.18682549]
 [ 0.07832472  0.17643644  0.98119143]]

 t_gt:
[ 0.56414507 -0.09868694 -0.81975681]

Pose Error in degrees for R and t:
178.3929083487754 55.956712812352784

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.98865885 -0.15016887 -0.00173119]
 [ 0.15017321 -0.98865592 -0.00273367]
 [-0.00130104 -0.00296265  0.99999476]]

 t_estimated:
[[0.82566453]
 [0.56415984]
 [0.00132743]]

 R_gt:
[[ 0.99494428  0.05387375 -0.08476318]
 [-0.0488784   0.99700519  0.05994263]
 [ 0.08773963 -0.05549556  0.99459628]]

 t_gt:
[ 0.55638656  0.7571285  -0.34233087]

Pose Error in degrees for R and t:
174.3146070671427 27.615808052232648

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.99996523 -0.00826965 -0.0010726 ]
 [ 0.00827467  0.9999544   0.00476663]
 [ 0.00103313 -0.00477534  0.99998806]]

 t_estimated:
[[0.33373431]
 [0.94266588]
 [0.00156411]]

 R_gt:
[[ 0.98321884  0.11384412 -0.14255385]
 [-0.10213182  0.99096207  0.08696721]
 [ 0.15116749 -0.07094805  0.98595822]]

 t_gt:
[ 0.24943089  0.89974248 -0.35811689]

Pose Error in degrees for R and t:
11.575275962128442 21.433856727459197

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99983813e-01  5.66921601e-03 -4.83539750e-04]
 [-5.66870597e-03  9.99983382e-01  1.04972081e-03]
 [ 4.89482809e-04 -1.04696277e-03  9.99999332e-01]]

 t_estimated:
[[0.72536276]
 [0.6883659 ]
 [0.00112112]]

 R_gt:
[[ 0.97690038  0.15887169 -0.1429217 ]
 [-0.13742591  0.97921732  0.14915905]
 [ 0.16364926 -0.12607141  0.978429  ]]

 t_gt:
[ 0.16822204  0.98573896 -0.00447651]

Pose Error in degrees for R and t:
14.461487103493138 36.815807606409884

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.77497917e-01  2.10944310e-01  5.65686379e-04]
 [-2.10944750e-01  9.77497587e-01  8.82686345e-04]
 [-3.66759409e-04 -9.82152636e-04  9.99999450e-01]]

 t_estimated:
[[-9.99995772e-01]
 [-2.80284105e-03]
 [-7.75225089e-04]]

 R_gt:
[[ 0.98835583  0.14641191  0.04143993]
 [-0.14604678  0.98920828 -0.0117395 ]
 [-0.04271207  0.0055517   0.9990715 ]]

 t_gt:
[-0.85827819  0.51125895  0.04441672]

Pose Error in degrees for R and t:
4.49393189887384 31.040042395224773

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-7.62706667e-01 -6.46736526e-01 -3.22592368e-03]
 [ 6.46739723e-01 -7.62710775e-01  6.77590092e-05]
 [-2.50426898e-03 -2.03465274e-03  9.99994794e-01]]

 t_estimated:
[[ 0.98791106]
 [-0.15500825]
 [ 0.00204286]]

 R_gt:
[[ 0.96720765  0.25044278  0.04226823]
 [-0.25150176  0.96760941  0.0218602 ]
 [-0.03542512 -0.03177408  0.99886653]]

 t_gt:
[-0.83040637  0.54341815  0.12297145]

Pose Error in degrees for R and t:
154.2534431999766 25.264022313981265

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.96320681  0.26874312 -0.00312865]
 [-0.2687514  -0.96320601  0.00261917]
 [-0.00230965  0.00336363  0.99999168]]

 t_estimated:
[[0.87956444]
 [0.47577863]
 [0.00104337]]

 R_gt:
[[ 0.91954343  0.38982529  0.04976259]
 [-0.38951967  0.92087723 -0.01609067]
 [-0.05209815 -0.0045866   0.99863127]]

 t_gt:
[-0.78701383  0.61440919  0.05577257]

Pose Error in degrees for R and t:
141.47753970056095 66.4312971032727

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[-0.62041673  0.78413458  0.0146984 ]
 [-0.78424208 -0.62044843 -0.00284621]
 [ 0.00688779 -0.01329294  0.99988792]]

 t_estimated:
[[0.62892466]
 [0.77746465]
 [0.00158021]]

 R_gt:
[[ 0.9880416  -0.152851   -0.0202475 ]
 [ 0.15297857  0.98821695  0.00493639]
 [ 0.01925443 -0.00797535  0.99978228]]

 t_gt:
[ 0.68631059 -0.72620706  0.04001341]

Pose Error in degrees for R and t:
137.15390298835445 82.36282821478117

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.69046401 -0.72332638  0.0076419 ]
 [ 0.72332721  0.6902773  -0.01774799]
 [ 0.00756256  0.01778194  0.99981329]]

 t_estimated:
[[-0.09792582]
 [-0.99501688]
 [-0.01876026]]

 R_gt:
[[ 0.97736555 -0.20952191 -0.02927447]
 [ 0.21153382  0.96986479  0.1208928 ]
 [ 0.00306342 -0.12434972  0.99223374]]

 t_gt:
[ 0.50198763 -0.75199032  0.42722241]

Pose Error in degrees for R and t:
35.09681183376109 46.2850758563272

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 0.00813899 -0.99990127  0.0114546 ]
 [-0.99978676 -0.00791958  0.0190712 ]
 [-0.0189786  -0.01160737 -0.99975251]]

 t_estimated:
[[0.65019999]
 [0.75967686]
 [0.01144759]]

 R_gt:
[[ 0.95787665 -0.26959123 -0.09896234]
 [ 0.28208542  0.94787903  0.14816633]
 [ 0.05386074 -0.16984107  0.98399754]]

 t_gt:
[ 0.56530726 -0.74071054  0.36300909]

Pose Error in degrees for R and t:
175.30322073906203 78.98988388128649

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99969440e-01 -7.81780772e-03 -5.17433023e-06]
 [ 7.81780775e-03  9.99969440e-01  4.55335443e-06]
 [ 5.13857486e-06 -4.59366720e-06  1.00000000e+00]]

 t_estimated:
[[ 5.81912822e-01]
 [-8.13251146e-01]
 [-2.04845543e-04]]

 R_gt:
[[ 0.99774101 -0.05414688  0.03976776]
 [ 0.05378934  0.9985016   0.01002438]
 [-0.04025077 -0.00786298  0.99915774]]

 t_gt:
[ 0.60283841 -0.63333166  0.48525957]

Pose Error in degrees for R and t:
3.5404756173023104 30.030662440901573

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.67148747 -0.740995    0.00556634]
 [ 0.74099219  0.67150713  0.00295661]
 [-0.00592867  0.00213928  0.99998014]]

 t_estimated:
[[0.9971757 ]
 [0.07505624]
 [0.00268058]]

 R_gt:
[[ 0.99355148 -0.09977007  0.05386507]
 [ 0.09932403  0.99499488  0.01090678]
 [-0.05468416 -0.00548569  0.99848829]]

 t_gt:
[ 0.69090436 -0.62736063  0.35926287]

Pose Error in degrees for R and t:
42.18571909224612 49.99692309059827

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999766e-01 -6.75563968e-04 -1.04248563e-04]
 [ 6.75597457e-04  9.99999720e-01  3.21542359e-04]
 [ 1.04031311e-04 -3.21612713e-04  9.99999943e-01]]

 t_estimated:
[[0.33548318]
 [0.94204451]
 [0.001782  ]]

 R_gt:
[[ 0.9894625  -0.13323053  0.05669334]
 [ 0.13362768  0.99102618 -0.00324807]
 [-0.05575134  0.01079035  0.9983864 ]]

 t_gt:
[ 0.75101734 -0.61764428  0.23342773]

Pose Error in degrees for R and t:
8.30258073264235 70.76285907749426

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99999780e-01  6.62955613e-04  2.60628856e-05]
 [-6.62957034e-04  9.99999779e-01  5.45284140e-05]
 [-2.60267299e-05 -5.45456806e-05  9.99999998e-01]]

 t_estimated:
[[9.99989661e-01]
 [4.47104003e-03]
 [8.29337142e-04]]

 R_gt:
[[ 0.99700781 -0.07264497  0.0264074 ]
 [ 0.07270225  0.99735258 -0.00124819]
 [-0.02624628  0.00316462  0.99965049]]

 t_gt:
[ 0.65495851 -0.74176283  0.14428186]

Pose Error in degrees for R and t:
4.47049123923442 49.32595139778494

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99999969e-01  2.49036403e-04  2.73642003e-05]
 [-2.49038145e-04  9.99999967e-01  6.36771258e-05]
 [-2.73483415e-05 -6.36839385e-05  9.99999998e-01]]

 t_estimated:
[[0.99997134]
 [0.00746562]
 [0.00125807]]

 R_gt:
[[ 0.99290429 -0.11097741  0.04272036]
 [ 0.11065861  0.99381076  0.00975181]
 [-0.0435376  -0.00495505  0.99904012]]

 t_gt:
[ 0.70354233 -0.6674471   0.24401344]

Pose Error in degrees for R and t:
6.854899638325066 45.66548836247833

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.99999501e-01  9.95953378e-04  8.36928186e-05]
 [-9.95958788e-04  9.99999502e-01  6.46176202e-05]
 [-8.36284208e-05 -6.47009425e-05  9.99999994e-01]]

 t_estimated:
[[ 9.97599867e-01]
 [-6.92365299e-02]
 [ 8.99015478e-04]]

 R_gt:
[[ 0.9866396  -0.15108494  0.06094527]
 [ 0.15151671  0.9884515  -0.00250729]
 [-0.05986212  0.01170729  0.99813789]]

 t_gt:
[ 0.74208337 -0.64339795  0.18801953]

Pose Error in degrees for R and t:
9.436503388504583 38.27766165096928

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.93102513e-01 -1.17249298e-01  1.67336671e-05]
 [ 1.17249294e-01  9.93102501e-01  1.57053538e-04]
 [-3.50326638e-05 -1.54008253e-04  9.99999988e-01]]

 t_estimated:
[[8.85807934e-01]
 [4.64051724e-01]
 [5.49369753e-04]]

 R_gt:
[[ 0.99514712 -0.09723801 -0.01507463]
 [ 0.09816591  0.99163007  0.08386561]
 [ 0.00679255 -0.08493695  0.99636369]]

 t_gt:
[ 0.40238152 -0.78040409  0.47860064]

Pose Error in degrees for R and t:
5.005114469776707 89.68761085033634

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 5.04978018e-01  8.63130203e-01  1.85843296e-03]
 [ 8.63125581e-01 -5.04981407e-01  2.83003653e-03]
 [ 3.38116410e-03  1.74954786e-04 -9.99994269e-01]]

 t_estimated:
[[-9.99994884e-01]
 [-3.10316488e-03]
 [-7.75791221e-04]]

 R_gt:
[[ 0.98278625 -0.16850065 -0.07575017]
 [ 0.17863139  0.9713186   0.15694324]
 [ 0.04713247 -0.16777199  0.98469809]]

 t_gt:
[ 0.45697827 -0.75920316  0.46344517]

Pose Error in degrees for R and t:
170.01859623506004 62.93638247082659

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.99551252 -0.0945594   0.00365326]
 [-0.09452804  0.99549029  0.00797108]
 [-0.00439052  0.00758997 -0.99996156]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9574657  -0.25654218 -0.13208011]
 [ 0.27642581  0.9467853   0.16488126]
 [ 0.08275168 -0.19437801  0.97742953]]

 t_gt:
[ 0.57678367 -0.74308102  0.33933935]

Pose Error in degrees for R and t:
174.53943908235874 54.918597308389224

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.84842226e-01 -1.73452503e-01 -1.35177765e-04]
 [ 1.73452532e-01  9.84842201e-01  2.40434069e-04]
 [ 9.14248767e-05 -2.60236549e-04  9.99999962e-01]]

 t_estimated:
[[9.95495966e-01]
 [9.48011425e-02]
 [7.24507606e-04]]

 R_gt:
[[ 0.99427162  0.07829998 -0.07276227]
 [-0.07533086  0.9962438   0.04269823]
 [ 0.07583179 -0.03697366  0.99643512]]

 t_gt:
[-0.09840312  0.96347533 -0.24906247]

Pose Error in degrees for R and t:
15.185274999399814 89.61028307305241

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.99995668 -0.00887777 -0.00279668]
 [ 0.00888187  0.9999595   0.00145621]
 [ 0.00278364 -0.00148099  0.99999503]]

 t_estimated:
[[-0.99927232]
 [-0.03769634]
 [-0.00581559]]

 R_gt:
[[ 0.98434095  0.15087623 -0.0911626 ]
 [-0.14095443  0.98422285  0.10694441]
 [ 0.10585975 -0.09241975  0.99007694]]

 t_gt:
[-0.18725809  0.98011521  0.06563972]

Pose Error in degrees for R and t:
11.929668817948679 81.38504962534294

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-9.82836480e-01 -1.84477393e-01  7.38810868e-04]
 [-1.84471985e-01  9.82826510e-01  4.70501974e-03]
 [-1.59409268e-03  4.48797513e-03 -9.99988658e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.98579608  0.12149833 -0.11595382]
 [-0.11013813  0.98889124  0.09981924]
 [ 0.12679282 -0.08563058  0.98822634]]

 t_gt:
[ 0.26545894  0.95487788 -0.1331908 ]

Pose Error in degrees for R and t:
173.58609756852616 73.66892858257968

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 0.74014225  0.67243712  0.0042147 ]
 [ 0.67243506 -0.74015315  0.00209883]
 [ 0.00453085  0.00128068 -0.99998892]]

 t_estimated:
[[0.94703933]
 [0.32110916]
 [0.00232688]]

 R_gt:
[[ 0.99091163  0.13441501 -0.00515147]
 [-0.13411053  0.9901788   0.03951135]
 [ 0.01041124 -0.03846148  0.99920585]]

 t_gt:
[-0.86382562  0.46029048  0.20478761]

Pose Error in degrees for R and t:
177.7073103682051 47.94861384528571

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 5.05946507e-01 -8.62563190e-01  1.69547421e-03]
 [ 8.62564825e-01  5.05944982e-01 -1.26395378e-03]
 [ 2.32423341e-04  2.10194942e-03  9.99997764e-01]]

 t_estimated:
[[-0.37383657]
 [-0.92749325]
 [-0.00157737]]

 R_gt:
[[ 9.60703856e-01  2.77546161e-01 -4.21032441e-03]
 [-2.77577741e-01  9.60571229e-01 -1.59340719e-02]
 [-3.79435388e-04  1.64762798e-02  9.99863560e-01]]

 t_gt:
[-0.81984982  0.57196141 -0.02657871]

Pose Error in degrees for R and t:
75.72536736850802 77.05835349548315

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[-5.44346821e-01 -8.38856358e-01 -2.55900012e-03]
 [ 8.38860204e-01 -5.44343127e-01 -2.02912065e-03]
 [ 3.09166634e-04 -3.25118874e-03  9.99994667e-01]]

 t_estimated:
[[ 9.60060890e-01]
 [-2.79790745e-01]
 [ 4.75921611e-04]]

 R_gt:
[[ 0.94329883  0.33056702 -0.03019213]
 [-0.33078216  0.94370396 -0.00228448]
 [ 0.02773716  0.01214176  0.99954169]]

 t_gt:
[-0.78746598  0.61493017 -0.04193103]

Pose Error in degrees for R and t:
142.29645388513657 21.86144697522462

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.99941366e-01  1.08287821e-02  3.29212498e-05]
 [-1.08287810e-02  9.99941367e-01 -3.24381616e-05]
 [-3.32705853e-05  3.20797626e-05  9.99999999e-01]]

 t_estimated:
[[ 6.51091005e-01]
 [-7.58999641e-01]
 [ 2.20973192e-04]]

 R_gt:
[[ 0.99951933 -0.03048911 -0.0056653 ]
 [ 0.03068576  0.99877299  0.03888011]
 [ 0.00447454 -0.03903525  0.9992273 ]]

 t_gt:
[ 0.56535581 -0.58936539  0.57707993]

Pose Error in degrees for R and t:
3.273253928288148 35.357850648096495

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99998587e-01 -1.40358184e-03 -9.25298441e-04]
 [ 1.40508752e-03  9.99997687e-01  1.62860305e-03]
 [ 9.23010423e-04 -1.62990087e-03  9.99998246e-01]]

 t_estimated:
[[-4.05444957e-01]
 [-9.14119436e-01]
 [ 2.08778130e-04]]

 R_gt:
[[ 0.99921736 -0.02468085  0.03093175]
 [ 0.02207633  0.99639958  0.08187139]
 [-0.03284004 -0.08112452  0.99616216]]

 t_gt:
[ 0.16803829 -0.24981173  0.95360224]

Pose Error in degrees for R and t:
5.111650787015621 80.76834345633698

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.72497600e-01  2.32912797e-01  2.18166769e-04]
 [-2.32912740e-01  9.72497603e-01 -2.58329796e-04]
 [-2.72334975e-04  2.00411286e-04  9.99999943e-01]]

 t_estimated:
[[-9.88834076e-01]
 [-1.49019126e-01]
 [-6.85833461e-04]]

 R_gt:
[[ 0.99853819 -0.04461008  0.0305509 ]
 [ 0.04190926  0.99558761  0.08396946]
 [-0.034161   -0.08256612  0.99599927]]

 t_gt:
[ 0.34534362 -0.22719905  0.91055937]

Pose Error in degrees for R and t:
16.753446222749485 72.04589806198292

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 0.9833754   0.18057332 -0.01913351]
 [-0.17961965  0.98277895  0.04338564]
 [ 0.0266383  -0.03922762  0.99887516]]

 t_estimated:
[[0.72645286]
 [0.68718514]
 [0.00654462]]

 R_gt:
[[ 0.99767354 -0.06223453 -0.02785327]
 [ 0.06117845  0.99742902 -0.03730467]
 [ 0.03010357  0.03551397  0.9989158 ]]

 t_gt:
[ 0.660469   -0.33519959 -0.6718794 ]

Pose Error in degrees for R and t:
14.621556180622447 75.81472560380284

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.91860819e-01  1.27326798e-01 -3.71352285e-05]
 [-1.27326789e-01  9.91860802e-01  1.96912158e-04]
 [ 6.19051721e-05 -1.90581145e-04  9.99999980e-01]]

 t_estimated:
[[0.69636429]
 [0.71768598]
 [0.00189751]]

 R_gt:
[[ 0.98580287 -0.16376961 -0.03706413]
 [ 0.15975653  0.98274334 -0.09323984]
 [ 0.05169462  0.08599519  0.99495364]]

 t_gt:
[ 0.63715155 -0.408968   -0.65328636]

Pose Error in degrees for R and t:
17.612084720891534 81.43453386230713

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.49048359e-01  3.15130320e-01  3.05453568e-04]
 [-3.15130259e-01  9.49048400e-01 -2.32144939e-04]
 [-3.63046129e-04  1.24059112e-04  9.99999926e-01]]

 t_estimated:
[[-6.53266407e-01]
 [ 7.57127836e-01]
 [ 6.63792675e-04]]

 R_gt:
[[ 0.98186715 -0.18475943 -0.04244636]
 [ 0.18018784  0.97913969 -0.09389896]
 [ 0.05890968  0.08454775  0.99467663]]

 t_gt:
[ 0.63198394 -0.45931719 -0.62419871]

Pose Error in degrees for R and t:
29.497235372126937 40.44491145731812

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.21612491 -0.97635936 -0.00352532]
 [-0.97619872  0.21601976  0.01927471]
 [-0.0180575   0.00760716 -0.99980801]]

 t_estimated:
[[0.78819504]
 [0.61542449]
 [0.00112922]]

 R_gt:
[[ 9.99782764e-01 -4.06617831e-03 -2.04778105e-02]
 [ 2.54652721e-04  9.83148126e-01 -1.82814346e-01]
 [ 2.08757158e-02  1.82768557e-01  9.82934027e-01]]

 t_gt:
[ 0.16739989  0.38757236 -0.90651252]

Pose Error in degrees for R and t:
173.0160517260525 68.31881429951922

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.90512618e-01 -1.37420901e-01 -4.98791207e-04]
 [ 1.37420781e-01  9.90512724e-01 -2.68956922e-04]
 [ 5.31019339e-04  1.97860948e-04  9.99999839e-01]]

 t_estimated:
[[-0.0128524 ]
 [-0.99991658]
 [-0.00128524]]

 R_gt:
[[ 0.99873467 -0.03169431 -0.0390526 ]
 [ 0.01881416  0.9555186  -0.29433096]
 [ 0.04664437  0.29322229  0.95490481]]

 t_gt:
[ 0.21878411  0.38547575 -0.89640502]

Pose Error in degrees for R and t:
18.401124825626553 67.22561572085276

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-3.73441395e-01 -9.27637710e-01  5.45927489e-03]
 [-9.27651974e-01  3.73445797e-01 -2.27736560e-04]
 [-1.82748624e-03 -5.14935338e-03 -9.99985072e-01]]

 t_estimated:
[[0.99842201]
 [0.05581241]
 [0.00620138]]

 R_gt:
[[ 0.99673725 -0.06992945 -0.04032351]
 [ 0.0529667   0.94353189 -0.32702065]
 [ 0.06091566  0.32381777  0.94415529]]

 t_gt:
[ 0.28519262  0.34217937 -0.89530914]

Pose Error in degrees for R and t:
167.1867308239904 72.64517668791217

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.22820818  0.97360779  0.00298276]
 [-0.97361062  0.22821249 -0.00119157]
 [-0.00184083 -0.00263212  0.99999484]]

 t_estimated:
[[0.18493726]
 [0.98274798]
 [0.00215043]]

 R_gt:
[[ 0.95414185  0.29931647  0.00461317]
 [-0.29874439  0.95307347 -0.04900876]
 [-0.01906618  0.04538332  0.99878843]]

 t_gt:
[-0.89248451  0.43246622 -0.12823561]

Pose Error in degrees for R and t:
59.459489930565724 74.94916740067278

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.40592802  0.91390247 -0.00217299]
 [ 0.91389212 -0.40590849  0.00628455]
 [ 0.00486143 -0.00453695 -0.99997789]]

 t_estimated:
[[-0.1874865 ]
 [-0.98226624]
 [-0.0013586 ]]

 R_gt:
[[ 0.83156211  0.55542661 -0.0019361 ]
 [-0.55473166  0.83033753 -0.0530164 ]
 [-0.02783834  0.04516048  0.99859178]]

 t_gt:
[-0.8387084   0.54043551 -0.06706476]

Pose Error in degrees for R and t:
177.49231878696037 68.0675050515845

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-5.60077458e-01 -8.28440106e-01 -4.82752046e-04]
 [-8.28439956e-01  5.60077654e-01 -5.11248807e-04]
 [ 6.93917650e-04  1.13592152e-04 -9.99999753e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.71353058  0.70045125 -0.01552736]
 [-0.70059691  0.71313543 -0.02451471]
 [-0.00609771  0.02837097  0.99957873]]

 t_gt:
[-0.79290851  0.60806017 -0.03948316]

Pose Error in degrees for R and t:
178.94361833318746 78.17281057940917

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99892273e-01 -1.46779862e-02 -1.51527024e-06]
 [ 1.46779862e-02  9.99892272e-01  1.28772382e-05]
 [ 1.32609508e-06 -1.28980921e-05  1.00000000e+00]]

 t_estimated:
[[-7.07259393e-02]
 [ 9.97495784e-01]
 [-5.57743194e-05]]

 R_gt:
[[ 0.99936966 -0.024757   -0.02545336]
 [ 0.02330641  0.9981713  -0.05576079]
 [ 0.02678746  0.05513276  0.9981192 ]]

 t_gt:
[ 0.5892884  -0.21157266 -0.77972828]

Pose Error in degrees for R and t:
3.556104246900228 75.36400115779254

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99998575e-01 -1.68715789e-03 -5.87573477e-05]
 [ 1.68742982e-03  9.99986153e-01  4.98456318e-03]
 [ 5.03467890e-05 -4.98465522e-03  9.99987575e-01]]

 t_estimated:
[[0.70895692]
 [0.7052486 ]
 [0.00212   ]]

 R_gt:
[[ 0.99552415 -0.0145904  -0.09337784]
 [ 0.00373325  0.99331188 -0.1154029 ]
 [ 0.09443638  0.11453773  0.98891975]]

 t_gt:
[ 0.35135443  0.14639236 -0.92472663]

Pose Error in degrees for R and t:
8.768755947855455 69.48957881336126

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 0.01288541 -0.00670545  0.9998945 ]
 [-0.19985937 -0.97981645 -0.00399526]
 [ 0.97973986 -0.19978681 -0.01396548]]

 t_estimated:
[[-0.00438696]
 [ 0.81818507]
 [-0.57493821]]

 R_gt:
[[ 0.98850712 -0.04276275 -0.14500144]
 [ 0.01668166  0.98415571 -0.17651672]
 [ 0.1502521   0.172069    0.97355865]]

 t_gt:
[ 0.37532361  0.15448419 -0.91392933]

Pose Error in degrees for R and t:
178.925242945563 49.44308914086793

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99977134e-01  6.76242068e-03  2.90296595e-05]
 [-6.76242108e-03  9.99977134e-01  1.39167976e-05]
 [-2.89348845e-05 -1.41127902e-05  9.99999999e-01]]

 t_estimated:
[[9.52977177e-01]
 [3.03041615e-01]
 [5.28014108e-04]]

 R_gt:
[[ 0.99975165 -0.02189723  0.00433875]
 [ 0.02191107  0.99975489 -0.00311392]
 [-0.00426926  0.00320942  0.9999851 ]]

 t_gt:
[ 0.89381336 -0.43904246  0.0913203 ]

Pose Error in degrees for R and t:
1.670678248950487 44.045839281645485

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-2.62065222e-01 -9.65049208e-01 -1.35872910e-03]
 [ 9.65049843e-01 -2.62066023e-01  4.46356638e-04]
 [-7.86832852e-04 -1.19426675e-03  9.99998977e-01]]

 t_estimated:
[[9.99761850e-01]
 [2.18068860e-02]
 [8.38726384e-04]]

 R_gt:
[[ 0.98867009 -0.14841239 -0.02248293]
 [ 0.14818398  0.98889268 -0.01150001]
 [ 0.02394085  0.00803862  0.99968081]]

 t_gt:
[ 0.77186814 -0.62748702 -0.10236999]

Pose Error in degrees for R and t:
96.67123637028251 40.71927478471989

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.16236721e-01  4.00637246e-01  2.63406415e-04]
 [-4.00637313e-01  9.16236683e-01  2.89955020e-04]
 [-1.25175840e-04 -3.71197875e-04  9.99999923e-01]]

 t_estimated:
[[0.7098865 ]
 [0.70431564]
 [0.00079584]]

 R_gt:
[[ 0.96437492 -0.26278498 -0.0304251 ]
 [ 0.26316342  0.96470751  0.00912038]
 [ 0.02695488 -0.01680147  0.9994953 ]]

 t_gt:
[ 0.76317901 -0.64604433 -0.01358406]

Pose Error in degrees for R and t:
38.90967027119829 85.02387962356059

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.72181992e-01  2.34226757e-01  4.08193337e-05]
 [-2.34226742e-01  9.72181971e-01 -2.21519332e-04]
 [-9.15695750e-05  2.05796126e-04  9.99999975e-01]]

 t_estimated:
[[2.07170530e-01]
 [9.78304741e-01]
 [4.52482737e-04]]

 R_gt:
[[ 0.99781603  0.06589826  0.00455595]
 [-0.06590943  0.99782298  0.00237827]
 [-0.00439001 -0.00267303  0.99998703]]

 t_gt:
[-0.84408543  0.53304694  0.05814422]

Pose Error in degrees for R and t:
9.771701457797352 69.71811946786812

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99869679e-01  1.61429094e-02  1.77601789e-04]
 [-1.61428972e-02  9.99869692e-01 -7.01640516e-05]
 [-1.78711298e-04  6.72879004e-05  9.99999982e-01]]

 t_estimated:
[[9.99930972e-01]
 [1.17329920e-02]
 [6.22373555e-04]]

 R_gt:
[[ 0.99921792 -0.03628063 -0.01570745]
 [ 0.03591259  0.99908794 -0.02309625]
 [ 0.01653085  0.02251449  0.99961073]]

 t_gt:
[ 0.29332062 -0.85725671 -0.42317131]

Pose Error in degrees for R and t:
3.3958976337871616 73.5619297426858

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.90235585e-01 -1.39400087e-01  1.04985131e-03]
 [ 1.39402207e-01  9.90233106e-01 -2.32817871e-03]
 [-7.15049212e-04  2.45179700e-03  9.99996739e-01]]

 t_estimated:
[[-0.78992027]
 [-0.6132077 ]
 [-0.00151036]]

 R_gt:
[[ 0.99449761 -0.10314959 -0.01826915]
 [ 0.10266077  0.99437893 -0.0259178 ]
 [ 0.02083907  0.02390039  0.99949721]]

 t_gt:
[ 0.54487722 -0.80488884 -0.23508034]

Pose Error in degrees for R and t:
2.7343737340024585 86.35872125919548

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-7.15584052e-01 -6.98525914e-01 -1.00608814e-03]
 [ 6.98526554e-01 -7.15582513e-01 -1.52320615e-03]
 [ 3.44059889e-04 -1.79276131e-03  9.99998334e-01]]

 t_estimated:
[[ 9.46591691e-01]
 [-3.22434652e-01]
 [-2.57061082e-04]]

 R_gt:
[[ 0.98271526  0.18271093 -0.02978104]
 [-0.18273708  0.9831605   0.00185684]
 [ 0.02961898  0.00361809  0.99955452]]

 t_gt:
[-0.85878367  0.49694838 -0.12463108]

Pose Error in degrees for R and t:
146.22422278689626 13.314945689754733

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.25953979 -0.9657269  -0.003263  ]
 [-0.96573037  0.25953079  0.0029377 ]
 [-0.00199016  0.00391363 -0.99999036]]

 t_estimated:
[[8.02086133e-01]
 [5.97208050e-01]
 [6.17451959e-04]]

 R_gt:
[[ 0.95467317  0.29760531 -0.00551163]
 [-0.29568096  0.95030421  0.09744537]
 [ 0.03423951 -0.0913993   0.99522503]]

 t_gt:
[-0.89579033  0.41724081  0.15319855]

Pose Error in degrees for R and t:
177.66324040766102 62.01587954553417

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-9.99676598e-01 -2.54270460e-02  4.05656796e-04]
 [-2.54261589e-02  9.99674581e-01  2.05986949e-03]
 [-4.57901184e-04  2.04888903e-03 -9.99997796e-01]]

 t_estimated:
[[ 8.23396363e-01]
 [-5.67466662e-01]
 [ 1.28475450e-04]]

 R_gt:
[[ 0.95798921  0.28632923 -0.01647475]
 [-0.28366216  0.95441479  0.09289082]
 [ 0.04232172 -0.08431544  0.99553972]]

 t_gt:
[-0.94040377  0.31691636  0.12330764]

Pose Error in degrees for R and t:
178.36752171740335 17.417553321089795

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.99667512e-01 -2.57849752e-02  3.82256264e-05]
 [ 2.57849699e-02  9.99667503e-01  1.33470095e-04]
 [-4.16544396e-05 -1.32440071e-04  9.99999990e-01]]

 t_estimated:
[[9.99967620e-01]
 [8.00941109e-03]
 [7.79694840e-04]]

 R_gt:
[[ 0.99895256 -0.04563431  0.00354773]
 [ 0.04554349  0.99871653  0.02215252]
 [-0.00455499 -0.02196859  0.99974799]]

 t_gt:
[ 0.96311017 -0.1073651   0.24676211]

Pose Error in degrees for R and t:
1.709289874995521 15.75923967846431

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.01577717 -0.99966356  0.02058761]
 [-0.99959294 -0.01527987  0.02409313]
 [-0.02377045 -0.02095935 -0.99949771]]

 t_estimated:
[[0.69970444]
 [0.71425024]
 [0.01613342]]

 R_gt:
[[ 0.9989668  -0.02202178 -0.03976456]
 [ 0.02241012  0.99970469  0.00936257]
 [ 0.03954653 -0.01024457  0.99916542]]

 t_gt:
[ 0.97537658  0.20002691 -0.09289646]

Pose Error in degrees for R and t:
179.38041425266127 34.5283465926274

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-1.57933762e-01  9.87449490e-01 -6.57367378e-04]
 [-9.87436369e-01 -1.57935054e-01 -5.09267304e-03]
 [-5.13257874e-03 -1.55196554e-04  9.99986816e-01]]

 t_estimated:
[[0.07819106]
 [0.99693603]
 [0.00217197]]

 R_gt:
[[ 0.99927394  0.01055408 -0.03662375]
 [-0.01037263  0.99993206  0.00517909]
 [ 0.03667561 -0.00479588  0.99931542]]

 t_gt:
[ 0.94322807  0.30946516 -0.12063221]

Pose Error in degrees for R and t:
98.51008649176703 67.54194613859514

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[-0.89802914 -0.43688041 -0.05176073]
 [-0.43682085  0.89945375 -0.01305765]
 [ 0.05226102  0.01088401 -0.99857415]]

 t_estimated:
[[ 0.97099727]
 [ 0.23764152]
 [-0.02628334]]

 R_gt:
[[ 0.99855424  0.04247732 -0.03296316]
 [-0.04206458  0.9990291   0.01310372]
 [ 0.03348691 -0.01169705  0.99937114]]

 t_gt:
[-0.67564925  0.73700525 -0.01792648]

Pose Error in degrees for R and t:
175.24671171205705 61.285898415627095

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99008596e-01 -4.45176632e-02 -5.56097431e-05]
 [ 4.45176701e-02  9.99008589e-01  1.29248620e-04]
 [ 4.98007645e-05 -1.31596099e-04  9.99999990e-01]]

 t_estimated:
[[-9.09570100e-01]
 [ 4.15550364e-01]
 [-3.57683271e-04]]

 R_gt:
[[ 0.99761812  0.06191602 -0.03041844]
 [-0.06271423  0.99769202 -0.02602498]
 [ 0.02873624  0.02787041  0.99919837]]

 t_gt:
[-0.38235036  0.83771048 -0.38993507]

Pose Error in degrees for R and t:
6.5417559534704885 45.89106151683109

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 8.69955707e-01 -4.93129230e-01 -7.94443892e-04]
 [ 4.93129003e-01  8.69956069e-01 -4.73199846e-04]
 [ 9.24479961e-04  1.98995820e-05  9.99999572e-01]]

 t_estimated:
[[-0.56309221]
 [-0.82638996]
 [-0.00260691]]

 R_gt:
[[ 0.98888715  0.14573041 -0.02942279]
 [-0.14681284  0.98840484 -0.03876624]
 [ 0.02343264  0.04265516  0.99881479]]

 t_gt:
[-0.52197324  0.81690089 -0.24539126]

Pose Error in degrees for R and t:
38.058020077738 67.63410906858158

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99981428e-01 -6.05306782e-03  7.09671956e-04]
 [ 6.05308184e-03  9.99981680e-01 -1.75969571e-05]
 [-7.09552439e-04  2.18923327e-05  9.99999748e-01]]

 t_estimated:
[[0.10227328]
 [0.99462048]
 [0.01643992]]

 R_gt:
[[ 0.99789497 -0.04902719 -0.04244677]
 [ 0.04919216  0.99878548  0.00283921]
 [ 0.04225626 -0.00492121  0.99909506]]

 t_gt:
[ 0.73278805 -0.56214038 -0.3834317 ]

Pose Error in degrees for R and t:
3.4985456826121313 60.628175028909546

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-1.58793107e-02  9.99873883e-01  2.56756952e-04]
 [-9.99872749e-01 -1.58788993e-02 -1.53199958e-03]
 [-1.52772935e-03 -2.81051377e-04  9.99998794e-01]]

 t_estimated:
[[0.08558782]
 [0.99633003]
 [0.00109728]]

 R_gt:
[[ 0.98662175 -0.1056892  -0.12412538]
 [ 0.10191392  0.99412733 -0.03639775]
 [ 0.1272426   0.02326091  0.99159881]]

 t_gt:
[ 0.76110389 -0.35180413 -0.54493552]

Pose Error in degrees for R and t:
97.1117156040187 73.38317662404687

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.93594880e-01  1.13000334e-01  3.72274606e-04]
 [-1.13000392e-01  9.93594934e-01  1.38481880e-04]
 [-3.54241664e-04 -1.79662063e-04  9.99999921e-01]]

 t_estimated:
[[0.42769491]
 [0.90392258]
 [0.0010111 ]]

 R_gt:
[[ 0.97037064 -0.212896   -0.11426602]
 [ 0.20490746  0.97568878 -0.07774599]
 [ 0.12803995  0.05202901  0.99040317]]

 t_gt:
[ 0.81588875 -0.41173063 -0.40595988]

Pose Error in degrees for R and t:
20.22555250013098 88.64588227835847

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99882024e-01  1.53602477e-02 -3.22316404e-07]
 [-1.53602477e-02  9.99882024e-01 -1.07635906e-05]
 [ 1.56946961e-07  1.07672716e-05  1.00000000e+00]]

 t_estimated:
[[9.88599919e-01]
 [1.50564325e-01]
 [7.64005186e-04]]

 R_gt:
[[ 0.9995057  -0.01502476 -0.02762663]
 [ 0.01524684  0.99985296  0.00782653]
 [ 0.02750498 -0.00824367  0.99958826]]

 t_gt:
[ 0.5045293  -0.65448914 -0.56311114]

Pose Error in degrees for R and t:
2.3998356992627796 66.43403074526083

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.22778933e-01  3.85329555e-01  4.18491084e-04]
 [-3.85329544e-01  9.22779026e-01 -1.11112895e-04]
 [-4.28989877e-04 -5.87243399e-05  9.99999906e-01]]

 t_estimated:
[[0.27772474]
 [0.96065955]
 [0.00148468]]

 R_gt:
[[ 0.99853155  0.03925259 -0.03735336]
 [-0.03786846  0.99859502  0.03706389]
 [ 0.03875529 -0.03559396  0.99861468]]

 t_gt:
[-0.94305503  0.03441117 -0.33085206]

Pose Error in degrees for R and t:
20.674400834683652 76.74157578818102

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.09237982e-01  4.16275391e-01  1.04446122e-03]
 [-4.16274521e-01  9.09238478e-01 -9.55508944e-04]
 [-1.34741919e-03  4.34002433e-04  9.99998998e-01]]

 t_estimated:
[[-8.86577250e-01]
 [-4.62580438e-01]
 [-3.44167000e-04]]

 R_gt:
[[ 0.99890956 -0.00742292 -0.04610181]
 [ 0.00762986  0.99996185  0.00433187]
 [ 0.04606816 -0.00467865  0.99892794]]

 t_gt:
[ 0.08650013 -0.8012134  -0.59209358]

Pose Error in degrees for R and t:
25.17707042820095 72.8940020824089

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 1.00000000e+00 -8.42079447e-06  1.28796311e-05]
 [ 8.41884523e-06  9.99999989e-01  1.51335476e-04]
 [-1.28809053e-05 -1.51335368e-04  9.99999988e-01]]

 t_estimated:
[[0.56475847]
 [0.82525561]
 [0.00101876]]

 R_gt:
[[ 0.9995957   0.00232248 -0.02835261]
 [-0.00199359  0.99993108  0.01160093]
 [ 0.02837785 -0.01153888  0.99953099]]

 t_gt:
[ 0.92580431  0.33146282 -0.18171071]

Pose Error in degrees for R and t:
1.7562771767033778 37.230093208018324

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99536568e-01 -3.04409244e-02  1.26816702e-05]
 [ 3.04409206e-02  9.99536540e-01  2.34556687e-04]
 [-1.98159151e-05 -2.34061944e-04  9.99999972e-01]]

 t_estimated:
[[-0.93800356]
 [-0.34662273]
 [-0.00141479]]

 R_gt:
[[ 0.9994128   0.02409828 -0.0243656 ]
 [-0.02413129  0.99970778 -0.00107565]
 [ 0.02433219  0.00166401  0.99970311]]

 t_gt:
[ 0.8506637   0.48076882 -0.21267958]

Pose Error in degrees for R and t:
3.4250558872955255 15.362264978752846

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999306e-01 -1.17381053e-03  1.04458204e-04]
 [ 1.17379566e-03  9.99999301e-01  1.42304008e-04]
 [-1.04625169e-04 -1.42181297e-04  9.99999984e-01]]

 t_estimated:
[[8.54860137e-02]
 [9.96339307e-01]
 [3.57197786e-04]]

 R_gt:
[[ 0.99585181  0.0574759  -0.07055355]
 [-0.05556086  0.99803964  0.02880441]
 [ 0.07207078 -0.02476417  0.9970923 ]]

 t_gt:
[ 0.88753296  0.41180521 -0.20664391]

Pose Error in degrees for R and t:
5.4850430383628614 60.915724239451244

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99964857e-01 -8.38363978e-03 -2.56210992e-06]
 [ 8.38363980e-03  9.99964857e-01  7.02019708e-06]
 [ 2.50316508e-06 -7.04143017e-06  1.00000000e+00]]

 t_estimated:
[[-9.99493400e-01]
 [-3.18172199e-02]
 [-7.79327572e-04]]

 R_gt:
[[ 0.99867007  0.04943226  0.01467167]
 [-0.04888676  0.99817753 -0.03538356]
 [-0.01639415  0.03462006  0.99926677]]

 t_gt:
[-0.45775057  0.82693808 -0.32655447]

Pose Error in degrees for R and t:
3.962345701967265 64.43960273283666

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-9.90406123e-01 -1.38187200e-01  9.75271899e-05]
 [-1.38186742e-01  9.90404232e-01  1.97039800e-03]
 [-3.68875125e-04  1.93801728e-03 -9.99998054e-01]]

 t_estimated:
[[0.99088438]
 [0.13471124]
 [0.00101534]]

 R_gt:
[[ 0.99216142  0.12467154  0.0086078 ]
 [-0.12419161  0.99132307 -0.04309286]
 [-0.01390562  0.04168577  0.99903488]]

 t_gt:
[-0.58534932  0.78450506 -0.20473881]

Pose Error in degrees for R and t:
179.51943340072418 61.67061401746736

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.95288715  0.30330712  0.00329748]
 [ 0.30331575  0.95288674  0.00253161]
 [-0.00237427  0.00341251 -0.99999136]]

 t_estimated:
[[9.99997916e-01]
 [2.38281208e-04]
 [2.02745513e-03]]

 R_gt:
[[ 0.95540277  0.29498941 -0.01368616]
 [-0.29517424  0.95256397 -0.07412769]
 [-0.00883001  0.07486244  0.99715522]]

 t_gt:
[-0.66519875  0.72458831 -0.18022874]

Pose Error in degrees for R and t:
179.33925693559226 48.28773909153515

Number of keypoints:
Image1: 337
Image2: 337

 R_estimated:
[[ 0.91826631 -0.39591411  0.00624464]
 [-0.39591278 -0.91778275  0.03046149]
 [-0.00632892 -0.03044409 -0.99951643]]

 t_estimated:
[[0.16982109]
 [0.9853435 ]
 [0.01609285]]

 R_gt:
[[ 0.99764562  0.01129763 -0.06764022]
 [-0.00968329  0.99966091  0.02414862]
 [ 0.06788956 -0.02343664  0.99741749]]

 t_gt:
[ 0.98765511 -0.1062509  -0.11510055]

Pose Error in degrees for R and t:
177.66855617658842 86.49252625632373

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-2.21729092e-01 -9.75107983e-01  7.94694314e-04]
 [-9.75107817e-01  2.21729724e-01  8.21896228e-04]
 [-9.77644925e-04 -5.92674332e-04 -9.99999346e-01]]

 t_estimated:
[[0.59752136]
 [0.80185098]
 [0.00179793]]

 R_gt:
[[ 0.99418188  0.0168676  -0.10638452]
 [-0.01222503  0.99894982  0.04413657]
 [ 0.10701783 -0.04257899  0.99334462]]

 t_gt:
[ 0.98269472 -0.18483771 -0.01208772]

Pose Error in degrees for R and t:
176.8305716471284 63.963281997837555

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-4.92550828e-01 -8.70280633e-01 -2.30267204e-03]
 [ 8.70283679e-01 -4.92549100e-01 -1.30470984e-03]
 [ 1.28466170e-06 -2.64661381e-03  9.99996498e-01]]

 t_estimated:
[[9.59377148e-01]
 [2.82125729e-01]
 [7.48344110e-04]]

 R_gt:
[[ 0.99046163  0.091364   -0.10314208]
 [-0.08080472  0.99146763  0.10228665]
 [ 0.1116076  -0.09297635  0.98939288]]

 t_gt:
[ 0.84596281 -0.08737773  0.52603427]

Pose Error in degrees for R and t:
124.62114099383402 38.0624224486778

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.94353536e-01 -1.06118069e-01 -5.39614734e-06]
 [ 1.06118068e-01  9.94353531e-01 -1.01888230e-04]
 [ 1.61778603e-05  1.00740293e-04  9.99999995e-01]]

 t_estimated:
[[-0.50089156]
 [-0.86550925]
 [-0.00117857]]

 R_gt:
[[ 0.99718489 -0.07234838 -0.01973612]
 [ 0.07244446  0.99736359  0.0041856 ]
 [ 0.01938075 -0.00560447  0.99979714]]

 t_gt:
[ 0.83132163 -0.54134001 -0.12591802]

Pose Error in degrees for R and t:
2.257321949214321 87.00314153721942

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 5.04596035e-01  8.63355247e-01  7.48153422e-04]
 [-8.63354666e-01  5.04596571e-01 -1.01030516e-03]
 [-1.24976791e-03 -1.36125768e-04  9.99999210e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99457862 -0.10289035 -0.01509057]
 [ 0.10285051  0.99469094 -0.00337458]
 [ 0.01535721  0.00180367  0.99988106]]

 t_gt:
[ 0.81982845 -0.56474513 -0.09457408]

Pose Error in degrees for R and t:
65.60645590954063 55.963634841899356

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.83345819e-01  1.81738681e-01  1.43223478e-03]
 [-1.81739069e-01  9.83346780e-01  1.44861667e-04]
 [-1.38205649e-03 -4.02742130e-04  9.99998964e-01]]

 t_estimated:
[[0.64327383]
 [0.7656357 ]
 [0.00087401]]

 R_gt:
[[ 9.63004176e-01 -2.65503046e-01 -4.61619502e-02]
 [ 2.65768160e-01  9.64036374e-01 -4.13179528e-04]
 [ 4.46110841e-02 -1.18703428e-02  9.98934432e-01]]

 t_gt:
[ 0.79966883 -0.59630602 -0.07034836]

Pose Error in degrees for R and t:
26.024964641723592 86.68695233430725

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.99485696e-01 -3.20673567e-02  1.68336736e-04]
 [ 3.20673712e-02  9.99485706e-01 -8.43346646e-05]
 [-1.65545772e-04  8.96894075e-05  9.99999982e-01]]

 t_estimated:
[[0.35360027]
 [0.93539606]
 [0.00102791]]

 R_gt:
[[ 0.9960811  -0.04138226  0.0781697 ]
 [ 0.03691202  0.99764551  0.05779412]
 [-0.08037749 -0.05468201  0.99526328]]

 t_gt:
[-0.03841356 -0.22122161  0.97446672]

Pose Error in degrees for R and t:
5.589103516750707 77.31967428068754

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.96004975e-01 -8.92975032e-02 -2.15243910e-04]
 [ 8.92975950e-02  9.96004882e-01  4.63143344e-04]
 [ 1.73026441e-04 -4.80513838e-04  9.99999870e-01]]

 t_estimated:
[[0.54221421]
 [0.84023975]
 [0.00096137]]

 R_gt:
[[ 0.99076022 -0.09145523  0.1001516 ]
 [ 0.07808211  0.98841459  0.13015262]
 [-0.11089436 -0.12113007  0.98642303]]

 t_gt:
[ 0.17974418 -0.30367993  0.93566582]

Pose Error in degrees for R and t:
9.44140197259815 80.97852921974416

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.17867056 -0.98388438  0.00695446]
 [-0.98388168 -0.17860851  0.00870882]
 [-0.00732635 -0.00839838 -0.99993789]]

 t_estimated:
[[0.59409927]
 [0.80437135]
 [0.00572573]]

 R_gt:
[[ 0.98385407 -0.11634177  0.13599906]
 [ 0.09296969  0.98154651  0.16710267]
 [-0.15293013 -0.15176052  0.9765144 ]]

 t_gt:
[ 0.26923211 -0.30042893  0.91501723]

Pose Error in degrees for R and t:
166.9299793334761 85.61450115145007

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99999869e-01  9.74986909e-05 -5.03002809e-04]
 [-9.71686415e-05  9.99999780e-01  6.56140972e-04]
 [ 5.03066671e-04 -6.56092010e-04  9.99999658e-01]]

 t_estimated:
[[-0.58229333]
 [-0.81297823]
 [-0.00093018]]

 R_gt:
[[ 0.98900981 -0.14413073 -0.03295252]
 [ 0.14398411  0.98955639 -0.00679862]
 [ 0.03358964  0.00197976  0.99943385]]

 t_gt:
[ 0.71113516 -0.68283916 -0.16738419]

Pose Error in degrees for R and t:
8.506333328755296 81.88272023509053

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99999428e-01 -5.35309353e-04  9.25742001e-04]
 [ 5.36079515e-04  9.99999510e-01 -8.31892176e-04]
 [-9.25296228e-04  8.32387972e-04  9.99999225e-01]]

 t_estimated:
[[0.56199654]
 [0.82713911]
 [0.00088087]]

 R_gt:
[[ 0.97937415 -0.19797883 -0.0403842 ]
 [ 0.19672573  0.97990343 -0.03298501]
 [ 0.04610299  0.02436024  0.99863988]]

 t_gt:
[ 0.74505619 -0.63868036 -0.19229841]

Pose Error in degrees for R and t:
11.749463840310582 83.70037010089374

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.52686958  0.84994211 -0.00261859]
 [ 0.84992277 -0.52682973  0.00904006]
 [ 0.00630398 -0.00698853 -0.99995571]]

 t_estimated:
[[0.57590011]
 [0.81751337]
 [0.00330977]]

 R_gt:
[[ 0.9784686  -0.18557238 -0.09035609]
 [ 0.17668918  0.97937133 -0.09804743]
 [ 0.10668803  0.07997187  0.99107195]]

 t_gt:
[ 0.73763088 -0.48483618 -0.46993037]

Pose Error in degrees for R and t:
178.79045275874165 88.45934399974655

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-9.86010776e-01 -1.66680560e-01  5.83978121e-04]
 [-1.66678078e-01  9.85961272e-01 -9.93926136e-03]
 [ 1.08090184e-03 -9.89755515e-03 -9.99950434e-01]]

 t_estimated:
[[ 0.99998727]
 [-0.00397227]
 [ 0.00311132]]

 R_gt:
[[ 0.95406546  0.29910974  0.01703803]
 [-0.2988682   0.9541711  -0.01532855]
 [-0.02084182  0.00953261  0.99973689]]

 t_gt:
[-0.92154952  0.38773651 -0.02017107]

Pose Error in degrees for R and t:
178.89191297279237 22.610355364296527

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99936419e-01  1.12716919e-02 -3.26986162e-04]
 [-1.12716361e-02  9.99936458e-01  1.71980541e-04]
 [ 3.28903897e-04 -1.68283937e-04  9.99999932e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.92296992  0.38450049  0.01690182]
 [-0.38418791  0.92305903 -0.01902132]
 [-0.0229155   0.01106362  0.99967577]]

 t_gt:
[-0.90157238  0.43213795 -0.02059222]

Pose Error in degrees for R and t:
22.010259873193828 25.80987028376896

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.62967473 -0.77684513 -0.00462383]
 [ 0.77683591  0.62969073 -0.00394357]
 [ 0.00597513 -0.00110879  0.99998153]]

 t_estimated:
[[-0.11375721]
 [-0.99347963]
 [-0.00758381]]

 R_gt:
[[ 0.87343567  0.486295    0.02504636]
 [-0.48596427  0.87378674 -0.01829456]
 [-0.03078166  0.00380823  0.99951855]]

 t_gt:
[-0.87042373  0.49225692  0.00675674]

Pose Error in degrees for R and t:
80.09082586230576 67.04043019156991

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.97066300e-01  7.65419333e-02 -3.53820640e-04]
 [-7.65418046e-02  9.97066307e-01  3.64069946e-04]
 [ 3.80649256e-04 -3.35919803e-04  9.99999871e-01]]

 t_estimated:
[[0.64514193]
 [0.76406211]
 [0.000991  ]]

 R_gt:
[[ 0.99364113 -0.06590613  0.09129973]
 [ 0.05054354  0.98559774  0.16138255]
 [-0.10062152 -0.15574157  0.98265925]]

 t_gt:
[ 0.19817917 -0.25285862  0.94698867]

Pose Error in degrees for R and t:
13.192357871141011 86.30716431419549

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 7.96893577e-01 -6.04119547e-01  4.46754501e-04]
 [-6.04119569e-01 -7.96893679e-01 -9.87524232e-05]
 [ 4.15674107e-04 -1.91197965e-04 -9.99999895e-01]]

 t_estimated:
[[0.60626459]
 [0.79526206]
 [0.00122726]]

 R_gt:
[[ 0.97478977 -0.12841539  0.18246864]
 [ 0.06263119  0.94238203  0.32862407]
 [-0.21415617 -0.30891153  0.92666577]]

 t_gt:
[ 0.21117535 -0.1212208   0.96990231]

Pose Error in degrees for R and t:
158.51911852728938 88.11943541678825

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.87735657  0.47974119 -0.00968671]
 [ 0.47968719  0.87740803  0.00743926]
 [ 0.01206812  0.00188029 -0.99992541]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.96978122 -0.16514341  0.17958962]
 [ 0.08631625  0.92072524  0.38054602]
 [-0.22819773 -0.35354524  0.90715511]]

 t_gt:
[ 0.25788189 -0.1238828   0.95820143]

Pose Error in degrees for R and t:
174.3338907585382 89.13405884759972

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[-0.93728605  0.34789797  0.02149119]
 [ 0.34791565  0.93752094 -0.00303151]
 [-0.0212031   0.00463573 -0.99976444]]

 t_estimated:
[[ 0.98468029]
 [-0.17402446]
 [ 0.01096417]]

 R_gt:
[[ 9.92541848e-01 -1.21005965e-01 -1.48171732e-02]
 [ 1.20978593e-01  9.92651505e-01 -2.65887960e-03]
 [ 1.50288310e-02  8.46372312e-04  9.99887130e-01]]

 t_gt:
[ 0.62433359 -0.77504559 -0.09752894]

Pose Error in degrees for R and t:
179.58741429120255 41.53277578202871

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[-9.64642477e-01  2.63551027e-01  2.39731400e-03]
 [-2.63561677e-01 -9.64614261e-01 -7.38709748e-03]
 [ 3.65606144e-04 -7.75774811e-03  9.99969841e-01]]

 t_estimated:
[[0.92987536]
 [0.36787345]
 [0.00097064]]

 R_gt:
[[ 0.96211838 -0.27209141 -0.0172012 ]
 [ 0.27186157  0.96222649 -0.01454863]
 [ 0.02050928  0.00932132  0.99974584]]

 t_gt:
[ 0.72948207 -0.67757734 -0.09351389]

Pose Error in degrees for R and t:
179.4965633489486 64.59753963198663

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 0.99527172  0.09710467 -0.00221003]
 [-0.09710172  0.99527347  0.00140373]
 [ 0.00233589 -0.00118249  0.99999657]]

 t_estimated:
[[9.65962340e-01]
 [2.58681440e-01]
 [8.18612153e-04]]

 R_gt:
[[ 0.92036879 -0.38754718 -0.05223615]
 [ 0.38792174  0.92168698 -0.00316486]
 [ 0.04937236 -0.01735044  0.99863002]]

 t_gt:
[ 0.77916554 -0.62221681 -0.075811  ]

Pose Error in degrees for R and t:
28.542817691126736 53.7274807410489

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99698637e-01  2.45478416e-02 -1.98010912e-04]
 [-2.45478456e-02  9.99698656e-01 -1.74576855e-05]
 [ 1.97522694e-04  2.23131656e-05  9.99999980e-01]]

 t_estimated:
[[-0.28676555]
 [-0.95799995]
 [-0.00126887]]

 R_gt:
[[ 0.97754568  0.2103972   0.01174875]
 [-0.21060457  0.97356963  0.08837335]
 [ 0.00715575 -0.08886339  0.99601793]]

 t_gt:
[-0.89183782  0.35933944  0.27477348]

Pose Error in degrees for R and t:
11.919778139982368 84.9026945678537

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.10038390e-01 -4.14523917e-01 -2.24065528e-04]
 [ 4.14523935e-01  9.10038409e-01  3.71987085e-05]
 [ 1.88488482e-04 -1.26732777e-04  9.99999974e-01]]

 t_estimated:
[[-0.30039007]
 [-0.95381588]
 [-0.00103227]]

 R_gt:
[[ 0.97318063  0.22980253  0.01051371]
 [-0.2298118   0.96913262  0.08926499]
 [ 0.01032381 -0.08928644  0.99595283]]

 t_gt:
[-0.9313182   0.27149477  0.24276944]

Pose Error in degrees for R and t:
38.13919221363773 88.82236763902837

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 7.58750971e-01 -6.51380153e-01  9.27097379e-04]
 [ 6.51380709e-01  7.58749278e-01 -1.64450755e-03]
 [ 3.67765111e-04  1.85166505e-03  9.99998218e-01]]

 t_estimated:
[[-0.0588787 ]
 [-0.99826156]
 [-0.0026763 ]]

 R_gt:
[[ 0.97470438  0.22337131 -0.00762497]
 [-0.22158404  0.97023775  0.0976701 ]
 [ 0.02921519 -0.09350998  0.99518955]]

 t_gt:
[-0.96008498  0.14888564  0.23679082]

Pose Error in degrees for R and t:
53.81646289087815 84.6792044495145

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99998805e-01 -9.45060134e-04 -1.22382442e-03]
 [ 9.46422609e-04  9.99998933e-01  1.11319292e-03]
 [ 1.22277108e-03 -1.11434984e-03  9.99998632e-01]]

 t_estimated:
[[-0.9646966 ]
 [-0.26335843]
 [-0.00167773]]

 R_gt:
[[ 0.9802839  -0.18366996 -0.0728665 ]
 [ 0.18232985  0.98292798 -0.02468478]
 [ 0.0761574   0.01091249  0.99703636]]

 t_gt:
[ 0.74534196 -0.59746192 -0.29581179]

Pose Error in degrees for R and t:
11.37226874665835 55.862147385316916

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999852e-01  3.28526720e-04 -4.32822900e-04]
 [-3.28507999e-04  9.99999945e-01  4.33217396e-05]
 [ 4.32837108e-04 -4.31795474e-05  9.99999905e-01]]

 t_estimated:
[[0.689042  ]
 [0.72472055]
 [0.00111495]]

 R_gt:
[[ 0.95879174 -0.27332825 -0.07751965]
 [ 0.27229887  0.96191983 -0.02375769]
 [ 0.08106292  0.00167004  0.99670759]]

 t_gt:
[ 0.78724881 -0.58697236 -0.18895176]

Pose Error in degrees for R and t:
16.53348696908505 83.28989548129377

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.25159563  0.96783146  0.00137672]
 [ 0.9678312   0.25159277  0.00196179]
 [ 0.0015523   0.00182601 -0.99999713]]

 t_estimated:
[[7.49693987e-01]
 [6.61784279e-01]
 [7.03277661e-04]]

 R_gt:
[[ 0.94491193 -0.29975805 -0.13147835]
 [ 0.29902296  0.95389825 -0.02576657]
 [ 0.1331421  -0.01496822  0.99098459]]

 t_gt:
[ 0.82308614 -0.52751618 -0.21037081]

Pose Error in degrees for R and t:
174.12279807659502 74.46583913398337

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 9.99994749e-01 -3.24055439e-03 -3.40397564e-05]
 [ 3.24055326e-03  9.99994749e-01 -3.30524866e-05]
 [ 3.41466860e-05  3.29420054e-05  9.99999999e-01]]

 t_estimated:
[[-0.81802886]
 [ 0.57517418]
 [-0.00185663]]

 R_gt:
[[ 0.99931432  0.01573529 -0.03352544]
 [-0.01491491  0.99958764  0.02456032]
 [ 0.03389836 -0.0240437   0.9991366 ]]

 t_gt:
[ 0.9544698  -0.18599717  0.23322191]

Pose Error in degrees for R and t:
2.607381396249727 27.35237286039259

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.89422025 -0.44761767 -0.00292854]
 [ 0.4476253   0.89421651  0.00290113]
 [ 0.00132016 -0.00390514  0.9999915 ]]

 t_estimated:
[[-0.12632832]
 [-0.99198795]
 [-0.00103548]]

 R_gt:
[[ 0.99397324  0.10027925 -0.04429141]
 [-0.09650497  0.99207941  0.08040977]
 [ 0.05200504 -0.07565106  0.99577781]]

 t_gt:
[0.28866827 0.15755348 0.94437679]

Pose Error in degrees for R and t:
32.6280870167099 78.82910554031892

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 8.40301084e-01 -5.42119561e-01 -6.85674303e-04]
 [ 5.42119963e-01  8.40300791e-01  7.25784714e-04]
 [ 1.82710569e-04 -9.81595409e-04  9.99999502e-01]]

 t_estimated:
[[-6.12802889e-02]
 [-9.98120412e-01]
 [-6.08512036e-04]]

 R_gt:
[[ 0.98281615  0.14878981 -0.10924763]
 [-0.13831742  0.9855367   0.09791598]
 [ 0.12223633 -0.08112318  0.98918075]]

 t_gt:
[0.7715824  0.41778591 0.47970358]

Pose Error in degrees for R and t:
41.9357059345973 62.31725738234286

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.95741047e-01 -9.21941259e-02 -9.94945722e-05]
 [ 9.21940990e-02  9.95741024e-01 -2.48137697e-04]
 [ 1.21947665e-04  2.37908078e-04  9.99999964e-01]]

 t_estimated:
[[ 0.99749898]
 [ 0.07063588]
 [-0.00251965]]

 R_gt:
[[ 0.99841605 -0.0483876   0.02871639]
 [ 0.0465981   0.99711027  0.05998802]
 [-0.031537   -0.05855525  0.99778487]]

 t_gt:
[ 0.40341393 -0.45349271  0.79473364]

Pose Error in degrees for R and t:
4.608519162500287 68.38489359184462

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.35464928  0.93493284  0.01115676]
 [ 0.93496307  0.35471544 -0.00458362]
 [-0.00824285  0.00880558 -0.99992726]]

 t_estimated:
[[0.97979182]
 [0.19995751]
 [0.00499894]]

 R_gt:
[[ 0.99572033 -0.06360924  0.06704834]
 [ 0.05525554  0.99125595  0.11981881]
 [-0.07408286 -0.11560064  0.99052858]]

 t_gt:
[ 0.36903535 -0.37712194  0.84946568]

Pose Error in degrees for R and t:
179.82948235622197 73.11714421216743

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.97682234e-01 -6.80293429e-02  1.47283495e-03]
 [ 6.80280973e-02  9.97683018e-01  8.79988751e-04]
 [-1.52928748e-03 -7.77754983e-04  9.99998528e-01]]

 t_estimated:
[[0.82645879]
 [0.56299039]
 [0.00277335]]

 R_gt:
[[ 0.99502712 -0.08388127  0.05372631]
 [ 0.07446303  0.98460399  0.15814599]
 [-0.06616451 -0.15335792  0.9859525 ]]

 t_gt:
[ 0.47719122 -0.37799207  0.79335398]

Pose Error in degrees for R and t:
9.563297022059855 79.41038229862491

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 1.79470814e-01 -9.83763137e-01  5.62806128e-04]
 [-9.83763224e-01 -1.79470993e-01 -2.85146181e-04]
 [ 3.81523676e-04 -5.02492554e-04 -9.99999801e-01]]

 t_estimated:
[[0.64965156]
 [0.76023055]
 [0.00153582]]

 R_gt:
[[ 0.99538225  0.08457634 -0.0454039 ]
 [-0.0817093   0.99474669  0.06167527]
 [ 0.0503813  -0.05768047  0.99706244]]

 t_gt:
[-0.2101702   0.49201521  0.84483698]

Pose Error in degrees for R and t:
179.11936920296492 76.18397187117523

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.99978553 -0.0203668   0.00375455]
 [ 0.02039587  0.99976099 -0.00787243]
 [-0.00359332  0.00794732  0.99996196]]

 t_estimated:
[[-0.99991047]
 [-0.01331439]
 [-0.00133144]]

 R_gt:
[[ 0.98387818  0.14529254 -0.10427689]
 [-0.13853413  0.98792239  0.06941236]
 [ 0.11310234 -0.05384701  0.99212305]]

 t_gt:
[ 0.23756457  0.96347188 -0.12363258]

Pose Error in degrees for R and t:
12.056833841645643 75.51025442487831

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999676e-01 -7.67511763e-04  2.40967796e-04]
 [ 7.67628219e-04  9.99999588e-01 -4.83564004e-04]
 [-2.40596556e-04  4.83748821e-04  9.99999854e-01]]

 t_estimated:
[[-9.99993068e-01]
 [-3.67530571e-03]
 [-5.96145616e-04]]

 R_gt:
[[ 0.95839162  0.23959049 -0.15517993]
 [-0.22008433  0.96639569  0.13282727]
 [ 0.18178973 -0.09314764  0.97891505]]

 t_gt:
[ 0.21969062  0.9733328  -0.0660249 ]

Pose Error in degrees for R and t:
17.902846567175644 77.10135657386802

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-5.87918511e-01  8.08912359e-01 -3.55241233e-03]
 [-8.08917621e-01 -5.87921999e-01  7.65747646e-05]
 [-2.02659908e-03  2.91862865e-03  9.99993687e-01]]

 t_estimated:
[[0.70872507]
 [0.70548395]
 [0.00108037]]

 R_gt:
[[ 0.99755878 -0.06960782 -0.00552924]
 [ 0.06959818  0.99757287 -0.00193283]
 [ 0.00565098  0.00154358  0.99998202]]

 t_gt:
[ 0.65795659 -0.74757008 -0.09073087]

Pose Error in degrees for R and t:
130.0007722939004 86.49208713821113

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999540e-01  9.50487083e-04  1.25403234e-04]
 [-9.50490878e-04  9.99999548e-01  3.02098470e-05]
 [-1.25374463e-04 -3.03290278e-05  9.99999992e-01]]

 t_estimated:
[[ 0.99990214]
 [-0.01394657]
 [ 0.00110053]]

 R_gt:
[[ 0.99091827 -0.13032434  0.03310323]
 [ 0.13018304  0.99146907  0.00637069]
 [-0.033651   -0.00200292  0.99943114]]

 t_gt:
[ 0.6805583  -0.71886225  0.14169502]

Pose Error in degrees for R and t:
7.782480566976222 46.31657027238731

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999710e-01  7.52012938e-04  1.23472260e-04]
 [-7.52020552e-04  9.99999715e-01  6.16293764e-05]
 [-1.23425879e-04 -6.17222122e-05  9.99999990e-01]]

 t_estimated:
[[ 9.99584964e-01]
 [-2.87929260e-02]
 [ 9.31273235e-04]]

 R_gt:
[[ 0.98479159 -0.17128379  0.02908157]
 [ 0.17126373  0.98521989  0.00316519]
 [-0.02919414  0.00186357  0.99957114]]

 t_gt:
[ 0.74057572 -0.66802171  0.07276402]

Pose Error in degrees for R and t:
10.046710583997738 40.57365845723324

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-5.48779385e-01  8.35923825e-01  8.51742643e-03]
 [ 8.35953747e-01  5.48799897e-01 -8.52157821e-05]
 [-4.74559665e-03  7.07340987e-03 -9.99963722e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99977725  0.00825974  0.01939318]
 [-0.00927395  0.99856227  0.05278951]
 [-0.01892919 -0.05295813  0.99841733]]

 t_gt:
[ 0.30966191 -0.24558728  0.91858391]

Pose Error in degrees for R and t:
179.9613289250527 75.95427298196229

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-2.80936437e-01 -9.59723614e-01  2.30281942e-03]
 [-9.59726359e-01  2.80935163e-01 -8.65941862e-04]
 [ 1.84121905e-04 -2.45335112e-03 -9.99996974e-01]]

 t_estimated:
[[0.7983526 ]
 [0.60218596]
 [0.00228101]]

 R_gt:
[[ 0.99840023 -0.04200816  0.03784578]
 [ 0.03658293  0.99029386  0.13409082]
 [-0.0431107  -0.13249282  0.99024633]]

 t_gt:
[ 0.41242321 -0.36763819  0.8335162 ]

Pose Error in degrees for R and t:
173.47057809409762 83.6977213980432

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-5.32340400e-01  8.46503134e-01  6.79284593e-03]
 [ 8.46519249e-01  5.32357422e-01 -8.58315521e-04]
 [-4.34278872e-03  5.29335881e-03 -9.99976560e-01]]

 t_estimated:
[[0.81756497]
 [0.57583302]
 [0.0019653 ]]

 R_gt:
[[ 0.99273348 -0.09279266  0.07661602]
 [ 0.0732337   0.97108694  0.22721452]
 [-0.0954843  -0.21995241  0.970826  ]]

 t_gt:
[ 0.34763436 -0.35081382  0.86952862]

Pose Error in degrees for R and t:
178.47302852256763 85.18651450525456

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 8.30245705e-01 -5.57396541e-01 -1.07967610e-03]
 [ 5.57396854e-01  8.30246197e-01 -1.28036765e-05]
 [ 9.03533698e-04 -5.91177862e-04  9.99999417e-01]]

 t_estimated:
[[ 8.09573746e-01]
 [-5.87018107e-01]
 [-3.03244919e-04]]

 R_gt:
[[ 0.99344496  0.11071042  0.02847305]
 [-0.11271274  0.99019922  0.08246787]
 [-0.01906259 -0.0851371   0.99618604]]

 t_gt:
[-0.83808136  0.10930004  0.53448399]

Pose Error in degrees for R and t:
40.59905952990537 42.0285041891078

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.98030742e-01  6.27264820e-02 -1.62621409e-04]
 [-6.27264907e-02  9.98030754e-01 -4.90517005e-05]
 [ 1.59224327e-04  5.91557753e-05  9.99999986e-01]]

 t_estimated:
[[-0.13906173]
 [-0.99028303]
 [-0.00116202]]

 R_gt:
[[ 0.99613391  0.08768606  0.00533884]
 [-0.08782373  0.99256583  0.08425486]
 [ 0.00208929 -0.08439865  0.99642988]]

 t_gt:
[-0.83628411 -0.22475386  0.50011457]

Pose Error in degrees for R and t:
5.057711262067905 70.22764534288092

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 6.96197536e-01 -7.17846679e-01 -2.26647173e-03]
 [-7.17849576e-01 -6.96189057e-01 -3.57540425e-03]
 [ 9.88699248e-04  4.11617339e-03 -9.99991040e-01]]

 t_estimated:
[[8.58021296e-01]
 [5.13613680e-01]
 [6.66165603e-04]]

 R_gt:
[[ 9.96126657e-01  8.77621818e-02  5.51213606e-03]
 [-8.79346264e-02  9.94498927e-01  5.69010361e-02]
 [-4.87753491e-04 -5.71658949e-02  9.98363768e-01]]

 t_gt:
[-0.86667829 -0.27938111  0.41329765]

Pose Error in degrees for R and t:
177.15842085549104 27.520314800674914

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999940e-01 -2.93886311e-04  1.83881570e-04]
 [ 2.93897718e-04  9.99999955e-01 -6.20066378e-05]
 [-1.83863339e-04  6.20606765e-05  9.99999981e-01]]

 t_estimated:
[[0.54368873]
 [0.83928648]
 [0.00087976]]

 R_gt:
[[ 0.99376785 -0.10337182 -0.04172269]
 [ 0.1039367   0.99451627  0.01158695]
 [ 0.04029643 -0.01585159  0.99906145]]

 t_gt:
[ 0.74309855 -0.65932459 -0.11443616]

Pose Error in degrees for R and t:
6.437473834723262 81.40502734873769

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999881e-01  2.77371822e-04  4.01768063e-04]
 [-2.77088206e-04  9.99999713e-01 -7.05802295e-04]
 [-4.01963717e-04  7.05690886e-04  9.99999670e-01]]

 t_estimated:
[[0.57789782]
 [0.81610868]
 [0.00085997]]

 R_gt:
[[ 0.96324724 -0.23601696 -0.12826018]
 [ 0.23258194  0.97169759 -0.04135774]
 [ 0.13439185  0.01000695  0.99087721]]

 t_gt:
[ 0.7708063  -0.53847826 -0.34043915]

Pose Error in degrees for R and t:
15.674717486620331 89.67354248065925

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.94629884  0.10104757 -0.3070959 ]
 [-0.05699194  0.98716309  0.14920105]
 [ 0.31823014 -0.12368679  0.93991018]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.9151608  -0.3811167  -0.13127007]
 [ 0.3785049   0.92449021 -0.04530456]
 [ 0.13862428 -0.00822516  0.99031025]]

 t_gt:
[ 0.82415646 -0.53015678 -0.19924835]

Pose Error in degrees for R and t:
30.228837620279602 73.86592757140151

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-6.34973964e-01 -7.72529444e-01 -2.51446534e-03]
 [ 7.72532704e-01 -6.34974695e-01 -5.98826719e-04]
 [-1.13401059e-03 -2.32274608e-03  9.99996659e-01]]

 t_estimated:
[[0.96472897]
 [0.26324299]
 [0.00106558]]

 R_gt:
[[ 0.99774062  0.04261756  0.05193271]
 [-0.04393243  0.9987365   0.02444259]
 [-0.05082467 -0.02666901  0.99835177]]

 t_gt:
[-0.56904524  0.33251716  0.75207702]

Pose Error in degrees for R and t:
131.92257290167927 62.57157226718375

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 8.73699236e-01 -4.86465402e-01  1.02870239e-03]
 [ 4.86466462e-01  8.73696512e-01 -2.18779749e-03]
 [ 1.65514094e-04  2.41190621e-03  9.99997078e-01]]

 t_estimated:
[[0.7190754 ]
 [0.69493127]
 [0.00104975]]

 R_gt:
[[ 0.98667077 -0.04735083  0.15569117]
 [ 0.01102633  0.97398612  0.22634233]
 [-0.1623574  -0.22160935  0.96152424]]

 t_gt:
[ 0.05992473 -0.08997814  0.99413931]

Pose Error in degrees for R and t:
31.67692776632197 88.94600583437968

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.99999999e-01  4.31320106e-05 -2.41110697e-05]
 [-4.31320159e-05  9.99999999e-01 -2.17591091e-07]
 [ 2.41110603e-05  2.18631049e-07  1.00000000e+00]]

 t_estimated:
[[ 9.48197161e-02]
 [-9.95494446e-01]
 [-1.69350237e-04]]

 R_gt:
[[ 0.96592715 -0.11301165  0.23283777]
 [ 0.02305325  0.93362442  0.35751349]
 [-0.25778467 -0.33996386  0.90441735]]

 t_gt:
[ 0.15380373 -0.04715873  0.98697541]

Pose Error in degrees for R and t:
25.581030333492134 86.4819641470479

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.99999844e-01 -4.67577032e-04 -3.04810665e-04]
 [ 4.67646483e-04  9.99999865e-01  2.27820587e-04]
 [ 3.04704101e-04 -2.27963095e-04  9.99999928e-01]]

 t_estimated:
[[-9.99775424e-01]
 [ 2.11885699e-02]
 [-3.81021714e-04]]

 R_gt:
[[ 0.9476672   0.31891632  0.0147846 ]
 [-0.31870584  0.94773626 -0.01494046]
 [-0.01877681  0.00944586  0.99977868]]

 t_gt:
[-0.94371279  0.32983314 -0.02482466]

Pose Error in degrees for R and t:
18.659991904613907 18.103083353565488

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 9.99999066e-01  1.34556019e-03 -2.40746094e-04]
 [-1.34556163e-03  9.99999095e-01 -5.81119275e-06]
 [ 2.40738057e-04  6.13512603e-06  9.99999971e-01]]

 t_estimated:
[[0.0649947 ]
 [0.99788227]
 [0.00258144]]

 R_gt:
[[ 0.84070818  0.54144977  0.00632709]
 [-0.54079326  0.84016653 -0.04078538]
 [-0.02739841  0.03086553  0.99914742]]

 t_gt:
[-0.87206507  0.48655706 -0.05258079]

Pose Error in degrees for R and t:
32.782232768434916 64.61419487954483

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[-0.96379243 -0.25939332 -0.06180012]
 [-0.26547668  0.91166174  0.31367979]
 [-0.02502564  0.3187287  -0.94751556]]

 t_estimated:
[[0.98030907]
 [0.19745562]
 [0.00232301]]

 R_gt:
[[ 0.6413102   0.7672768   0.00255354]
 [-0.76511387  0.63974673 -0.07297846]
 [-0.05762835  0.04484749  0.99732988]]

 t_gt:
[-0.77683662  0.62838629 -0.04068836]

Pose Error in degrees for R and t:
172.538077588444 50.390175582442694

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.91631656e-01 -1.29099384e-01 -9.10143444e-05]
 [ 1.29099378e-01  9.91631658e-01 -7.13199939e-05]
 [ 9.94600726e-05  5.89732684e-05  9.99999993e-01]]

 t_estimated:
[[ 0.29560456]
 [-0.95530948]
 [-0.001316  ]]

 R_gt:
[[ 9.89301731e-01 -1.44086183e-01 -2.28120140e-02]
 [ 1.44034926e-01  9.89565738e-01 -3.88436923e-03]
 [ 2.31339645e-02  5.56894613e-04  9.99732344e-01]]

 t_gt:
[ 0.72450774 -0.67107282 -0.15732072]

Pose Error in degrees for R and t:
1.5786402887864173 31.189734891018272

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.81331186  0.5818195  -0.00314566]
 [-0.58180863  0.81331701  0.00376221]
 [ 0.00474734 -0.00122968  0.99998798]]

 t_estimated:
[[-0.99891936]
 [-0.04624627]
 [-0.00462463]]

 R_gt:
[[ 0.96323503 -0.26428798 -0.04827582]
 [ 0.26413534  0.96443829 -0.00964258]
 [ 0.04910749 -0.00346391  0.99878712]]

 t_gt:
[ 0.7541691  -0.63760066 -0.15714442]

Pose Error in degrees for R and t:
50.96874370378987 43.68560244333423

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 8.36019253e-01  5.48700047e-01  2.59025587e-04]
 [-5.48700091e-01  8.36019252e-01  1.44178464e-04]
 [-1.37439648e-04 -2.62663335e-04  9.99999956e-01]]

 t_estimated:
[[0.82628249]
 [0.56325525]
 [0.00087441]]

 R_gt:
[[ 0.94150807 -0.33586344 -0.02753556]
 [ 0.33476208  0.94153613 -0.03800448]
 [ 0.03869036  0.02656348  0.99889793]]

 t_gt:
[ 0.73218848 -0.65459321 -0.18816951]

Pose Error in degrees for R and t:
52.945030384909956 76.3419396284834

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.13457423e-01 -4.06931023e-01 -1.63681614e-03]
 [ 4.06934102e-01  9.13453671e-01  2.65092136e-03]
 [ 4.16413569e-04 -3.08758010e-03  9.99995147e-01]]

 t_estimated:
[[0.79476745]
 [0.60691332]
 [0.00096335]]

 R_gt:
[[ 0.95243856  0.30459678  0.00896823]
 [-0.30452383  0.95246487 -0.00868775]
 [-0.01118716  0.00554302  0.99992176]]

 t_gt:
[-0.91743421  0.39776953 -0.00968869]

Pose Error in degrees for R and t:
41.75360226626271 60.807555243353335

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.96424326  0.26497436 -0.00485061]
 [-0.26499698 -0.96423715  0.00482874]
 [-0.00339765  0.00594147  0.99997658]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.87891335  0.47696842  0.00345282]
 [-0.47695472  0.87876335  0.01702303]
 [ 0.00508622 -0.0166085   0.99984872]]

 t_gt:
[-0.88186857  0.47065382  0.02815673]

Pose Error in degrees for R and t:
136.14834155091268 64.82069057846951

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.29975321 -0.95399623  0.00626106]
 [-0.95399798  0.29969965 -0.00824415]
 [ 0.00598845 -0.00844425 -0.99994642]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.85259134  0.52201761  0.02418012]
 [-0.5214626   0.85288228 -0.02587816]
 [-0.03413106  0.00945406  0.99937215]]

 t_gt:
[-0.86228982  0.50641309 -0.00143319]

Pose Error in degrees for R and t:
179.05005447393916 71.13604851265417

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99984495e-01 -5.56487513e-03  2.05122450e-04]
 [ 5.56490582e-03  9.99984505e-01 -1.49337054e-04]
 [-2.04288230e-04  1.50476225e-04  9.99999968e-01]]

 t_estimated:
[[ 0.60536189]
 [-0.79594829]
 [-0.00181671]]

 R_gt:
[[ 9.91215978e-01 -1.28690286e-01 -3.04856959e-02]
 [ 1.28777332e-01  9.91673103e-01  9.08828613e-04]
 [ 3.01147021e-02 -4.82606008e-03  9.99534976e-01]]

 t_gt:
[ 0.70370041 -0.69775892 -0.13393361]

Pose Error in degrees for R and t:
7.294605735315079 11.003131310217208

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 6.45083439e-01 -7.64110188e-01 -1.72565171e-03]
 [ 7.64111852e-01  6.45083503e-01  5.93726568e-04]
 [ 6.59516927e-04 -1.70159410e-03  9.99998335e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98757891 -0.14960569 -0.04802544]
 [ 0.14725823  0.98787396 -0.04917773]
 [ 0.05480083  0.04149497  0.9976346 ]]

 t_gt:
[ 0.73680439 -0.60016309 -0.31132547]

Pose Error in degrees for R and t:
41.460654979084524 42.71826840164112

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.42653241 -0.90327194 -0.0465822 ]
 [ 0.90446863 -0.42581841 -0.02480273]
 [ 0.00256805 -0.05271131  0.99860649]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.98359113 -0.13836792 -0.11577274]
 [ 0.125961    0.9860952  -0.1083991 ]
 [ 0.12916141  0.0920375   0.98734315]]

 t_gt:
[ 0.68571878 -0.36892585 -0.62744201]

Pose Error in degrees for R and t:
107.78795456851843 49.59226552015454

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999911e-01 -3.57588523e-04  2.22734696e-04]
 [ 3.57614500e-04  9.99999929e-01 -1.16600511e-04]
 [-2.22692986e-04  1.16680154e-04  9.99999968e-01]]

 t_estimated:
[[0.49040507]
 [0.87148162]
 [0.00475919]]

 R_gt:
[[ 0.99530791 -0.08973483 -0.03619337]
 [ 0.08991006  0.99594436  0.00325556]
 [ 0.0357538  -0.00649416  0.99933893]]

 t_gt:
[ 0.81806276 -0.53245702 -0.21740019]

Pose Error in degrees for R and t:
5.545933773885709 86.33750752726704

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999959e-01 -2.19112443e-04  1.82128062e-04]
 [ 2.19109661e-04  9.99999976e-01  1.52936311e-05]
 [-1.82131409e-04 -1.52537245e-05  9.99999983e-01]]

 t_estimated:
[[9.19235760e-01]
 [3.93707059e-01]
 [6.07412276e-04]]

 R_gt:
[[ 9.93877502e-01 -1.06394846e-01 -2.97936177e-02]
 [ 1.06370192e-01  9.94323131e-01 -2.40024114e-03]
 [ 2.98796991e-02 -7.82596122e-04  9.99552233e-01]]

 t_gt:
[ 0.84902458 -0.5017702  -0.1654809 ]

Pose Error in degrees for R and t:
6.334730871289029 54.35208319893636

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999784e-01 -5.64618593e-04  3.37341969e-04]
 [ 5.64665453e-04  9.99999831e-01 -1.38831775e-04]
 [-3.37263525e-04  1.39022230e-04  9.99999933e-01]]

 t_estimated:
[[0.46198345]
 [0.88688798]
 [0.00100213]]

 R_gt:
[[ 0.97122107 -0.23140174 -0.05640636]
 [ 0.23091308  0.97285639 -0.015104  ]
 [ 0.05837084  0.0016446   0.99829303]]

 t_gt:
[ 0.82225282 -0.55035224 -0.14495763]

Pose Error in degrees for R and t:
13.760775615785946 83.77812798251834

Number of keypoints:
Image1: 325
Image2: 325

 R_estimated:
[[ 9.99891614e-01  1.47219905e-02 -1.52733737e-04]
 [-1.47219643e-02  9.99891611e-01  1.71064901e-04]
 [ 1.55235599e-04 -1.68797819e-04  9.99999974e-01]]

 t_estimated:
[[-0.99896931]
 [-0.04532749]
 [-0.00239495]]

 R_gt:
[[ 0.99910274  0.02186242 -0.03627919]
 [-0.0223229   0.99967478 -0.01233088]
 [ 0.03599857  0.01312978  0.99926566]]

 t_gt:
[ 0.69034597  0.56408094 -0.45302885]

Pose Error in degrees for R and t:
2.231135730409622 44.42905184841073

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.77404559e-01 -2.11361439e-01  2.58270072e-03]
 [ 2.11364134e-01  9.77407047e-01 -8.16364042e-04]
 [-2.35180201e-03  1.34380824e-03  9.99996332e-01]]

 t_estimated:
[[0.07819106]
 [0.99693603]
 [0.00217197]]

 R_gt:
[[ 0.99794141  0.05447965 -0.03384723]
 [-0.05506619  0.99834403 -0.01661664]
 [ 0.03288646  0.01844647  0.99928842]]

 t_gt:
[ 0.67696503  0.63395567 -0.3739232 ]

Pose Error in degrees for R and t:
15.508091357676166 46.83248368688725

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99999865e-01  4.71830741e-04 -2.19231617e-04]
 [-4.71683176e-04  9.99999663e-01  6.72663077e-04]
 [ 2.19548926e-04 -6.72559578e-04  9.99999750e-01]]

 t_estimated:
[[-0.85058001]
 [-0.52584307]
 [-0.00164841]]

 R_gt:
[[ 9.95420364e-01  4.43047994e-02 -8.47084380e-02]
 [-4.42177717e-02  9.99017878e-01  2.90177341e-03]
 [ 8.47544163e-02  8.57875006e-04  9.96401363e-01]]

 t_gt:
[ 0.90239703  0.33194899 -0.27475348]

Pose Error in degrees for R and t:
5.461968400626532 19.667596037369705

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.99991131 -0.01124617  0.00713391]
 [ 0.01129233  0.99991535 -0.00646373]
 [-0.00706061  0.00654371  0.99995366]]

 t_estimated:
[[0.08558782]
 [0.99633003]
 [0.00109728]]

 R_gt:
[[ 0.99364232 -0.06022534 -0.09512472]
 [ 0.05673128  0.99762664 -0.03902016]
 [ 0.09724886  0.03337496  0.99470033]]

 t_gt:
[ 0.68317769 -0.22348341 -0.69521465]

Pose Error in degrees for R and t:
6.7409725998513865 80.50541549826653

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.99999173 -0.00335916  0.00229287]
 [ 0.00336233  0.9999934  -0.00137804]
 [-0.00228822  0.00138574  0.99999642]]

 t_estimated:
[[0.42769491]
 [0.90392258]
 [0.0010111 ]]

 R_gt:
[[ 0.98209967 -0.16802886 -0.0851363 ]
 [ 0.16162345  0.98382125 -0.07728738]
 [ 0.09674605  0.06214366  0.99336703]]

 t_gt:
[ 0.79392389 -0.3954233  -0.46187149]

Pose Error in degrees for R and t:
11.45619656304333 88.94903080722962

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 1.00000000e+00 -2.87547763e-14  2.16840434e-18]
 [ 2.88657986e-14  1.00000000e+00 -1.92987987e-17]
 [ 5.91974386e-17 -1.96240593e-17  1.00000000e+00]]

 t_estimated:
[[0.53395668]
 [0.84551129]
 [0.00095863]]

 R_gt:
[[ 0.94423665 -0.31852682 -0.08342464]
 [ 0.31200778  0.94649866 -0.08241723]
 [ 0.10521367  0.05179177  0.99310015]]

 t_gt:
[ 0.83633438 -0.4692905  -0.28339236]

Pose Error in degrees for R and t:
19.62385046861914 87.16245575493957

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99546851e-01 -3.01013666e-02 -3.23638169e-05]
 [ 3.01013696e-02  9.99546846e-01  9.73138020e-05]
 [ 2.94198727e-05 -9.82438995e-05  9.99999995e-01]]

 t_estimated:
[[-7.06222244e-01]
 [ 7.07990010e-01]
 [-5.37034790e-04]]

 R_gt:
[[ 0.99973663  0.02263704 -0.00391182]
 [-0.02277805  0.99891341 -0.04066184]
 [ 0.00298632  0.04073946  0.99916495]]

 t_gt:
[-0.10755802  0.75636371 -0.64524817]

Pose Error in degrees for R and t:
3.8294752363757567 52.2799167324305

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-9.39409773e-01 -3.42796239e-01  1.33948917e-04]
 [ 3.42788094e-01 -9.39390006e-01 -6.53753531e-03]
 [ 2.36687279e-03 -6.09550846e-03  9.99978621e-01]]

 t_estimated:
[[8.64820521e-01]
 [5.02080565e-01]
 [7.57285920e-04]]

 R_gt:
[[ 0.99427917  0.10673332 -0.00424199]
 [-0.10680424  0.99272628 -0.05557784]
 [-0.00172058  0.05571246  0.99844478]]

 t_gt:
[-0.47974744  0.80751435 -0.3431661 ]

Pose Error in degrees for R and t:
166.09001175517815 89.44318827360928

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 7.19213379e-01  6.94784884e-01  2.46591154e-03]
 [-6.94786238e-01  7.19216189e-01 -3.97024236e-04]
 [-2.04936994e-03 -1.42773626e-03  9.99996881e-01]]

 t_estimated:
[[0.14518385]
 [0.98940104]
 [0.00268859]]

 R_gt:
[[ 0.97198034  0.233942   -0.02292703]
 [-0.23495491  0.96985319 -0.06466405]
 [ 0.00710799  0.06823879  0.9976439 ]]

 t_gt:
[-0.61775946  0.75388098 -0.22368888]

Pose Error in degrees for R and t:
30.690371644831977 49.03479972272973

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99868748e-01 -1.62014342e-02 -7.43041816e-06]
 [ 1.62014341e-02  9.99868748e-01 -1.28328057e-05]
 [ 7.63735276e-06  1.27107379e-05  1.00000000e+00]]

 t_estimated:
[[ 7.65595314e-01]
 [-6.43322482e-01]
 [-1.22432306e-05]]

 R_gt:
[[ 9.99712544e-01  1.06856965e-03 -2.39425463e-02]
 [-6.55779168e-04  9.99851855e-01  1.71909654e-02]
 [ 2.39584352e-02 -1.71704869e-02  9.99565127e-01]]

 t_gt:
[ 0.12622087 -0.80205006 -0.58376707]

Pose Error in degrees for R and t:
1.952305008214188 52.22095053998652

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.99914199  0.04074411 -0.00742977]
 [ 0.04077108  0.99916233 -0.00351545]
 [ 0.00728031 -0.00381535 -0.99996622]]

 t_estimated:
[[ 0.98690655]
 [-0.16127674]
 [-0.00229862]]

 R_gt:
[[ 0.99787787  0.06387188 -0.01268797]
 [-0.06366972  0.9978487   0.01563955]
 [ 0.01365976 -0.01479909  0.99979655]]

 t_gt:
[-0.92634091  0.36859152 -0.07767113]

Pose Error in degrees for R and t:
178.8117386359238 13.225140544031465

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.75635888e-01 -2.19395878e-01  2.50283042e-04]
 [ 2.19395968e-01  9.75635809e-01 -4.20954627e-04]
 [-1.51829388e-04  4.65609531e-04  9.99999880e-01]]

 t_estimated:
[[-0.45186389]
 [-0.8920862 ]
 [-0.00110825]]

 R_gt:
[[ 0.99868984 -0.03805617 -0.03420792]
 [ 0.03767831  0.99922206 -0.01165451]
 [ 0.03462555  0.01034987  0.99934678]]

 t_gt:
[ 0.28769336 -0.85090214 -0.43954303]

Pose Error in degrees for R and t:
10.705047485829638 50.981820585587414

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-9.12090952e-02 -9.95831479e-01 -7.52606201e-04]
 [-9.95828766e-01  9.12106490e-02 -2.38477207e-03]
 [ 2.44347679e-03  5.31954001e-04 -9.99996873e-01]]

 t_estimated:
[[8.93472691e-01]
 [4.49116823e-01]
 [7.93492621e-04]]

 R_gt:
[[ 0.9931655   0.11599396 -0.01292716]
 [-0.11514704  0.99189691  0.05367443]
 [ 0.01904872 -0.05181918  0.99847532]]

 t_gt:
[-0.87084657  0.45419729  0.1879656 ]

Pose Error in degrees for R and t:
178.75698379525352 54.97450780808024

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 8.63805700e-01  5.03824876e-01  4.55943132e-04]
 [ 5.03820506e-01 -8.63801357e-01  3.48046504e-03]
 [ 2.14738917e-03 -2.77673204e-03 -9.99993839e-01]]

 t_estimated:
[[0.99322167]
 [0.11622807]
 [0.00132077]]

 R_gt:
[[ 0.95854215  0.2835037  -0.0286739 ]
 [-0.28143989  0.95767508  0.06040594]
 [ 0.0445853  -0.0498314   0.99776216]]

 t_gt:
[-0.84420066  0.53591218  0.01110731]

Pose Error in degrees for R and t:
176.168848936191 39.08825349136163

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.81541438  0.57879287 -0.00990941]
 [ 0.57883653  0.81544106 -0.00203455]
 [ 0.00690296 -0.00739493 -0.99994883]]

 t_estimated:
[[0.95498915]
 [0.29663688]
 [0.00151345]]

 R_gt:
[[ 0.91937343  0.39337853  0.00246104]
 [-0.38897494  0.90811063  0.15502422]
 [ 0.05874943 -0.1434831   0.98790735]]

 t_gt:
[-0.85257669  0.4961807   0.16406615]

Pose Error in degrees for R and t:
175.32913124288197 48.18191941075759

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999833e-01 -5.20038642e-04  2.50501241e-04]
 [ 5.20012042e-04  9.99999859e-01  1.06240177e-04]
 [-2.50556454e-04 -1.06109896e-04  9.99999963e-01]]

 t_estimated:
[[0.78033999]
 [0.62535388]
 [0.00141999]]

 R_gt:
[[ 0.9984684  -0.04832973 -0.02692819]
 [ 0.04862857  0.99876136  0.01055226]
 [ 0.02638545 -0.01184686  0.99958167]]

 t_gt:
[ 0.99680483 -0.0797002   0.00529216]

Pose Error in degrees for R and t:
3.2158706564200514 43.27989541518568

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999980e-01 -1.98570118e-04  1.86163511e-05]
 [ 1.98562962e-04  9.99999907e-01  3.83583438e-04]
 [-1.86925175e-05 -3.83579734e-04  9.99999926e-01]]

 t_estimated:
[[0.74597986]
 [0.66596793]
 [0.00086853]]

 R_gt:
[[ 0.99779125 -0.04195887 -0.05149838]
 [ 0.04292193  0.99892123  0.01774392]
 [ 0.05069912 -0.01991559  0.99851504]]

 t_gt:
[ 0.99364762  0.0896179  -0.06806645]

Pose Error in degrees for R and t:
3.946823321430063 36.78725058028992

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999948e-01 -1.03710861e-04 -3.06441055e-04]
 [ 1.03839345e-04  9.99999907e-01  4.19290273e-04]
 [ 3.06397541e-04 -4.19322071e-04  9.99999865e-01]]

 t_estimated:
[[6.09742646e-03]
 [9.99981295e-01]
 [4.79928520e-04]]

 R_gt:
[[ 0.99867212 -0.02022548 -0.04737544]
 [ 0.02051207  0.99977364  0.00558272]
 [ 0.04725201 -0.00654731  0.99886143]]

 t_gt:
[ 0.96957462  0.2164461  -0.11435093]

Pose Error in degrees for R and t:
2.952471975057584 77.15589475366787

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[-9.97136439e-01 -5.59645546e-02 -5.08614825e-02]
 [-5.59005237e-02  9.98432742e-01 -2.68168753e-03]
 [ 5.09318489e-02  1.69175150e-04 -9.98702117e-01]]

 t_estimated:
[[ 0.99866793]
 [ 0.04529888]
 [-0.02470587]]

 R_gt:
[[ 9.99022490e-01  2.99724627e-02 -3.24705414e-02]
 [-2.99563043e-02  9.99550283e-01  9.99664841e-04]
 [ 3.24856870e-02 -2.60118570e-05  9.99472262e-01]]

 t_gt:
[-0.35524011  0.88325381 -0.30605091]

Pose Error in degrees for R and t:
175.22292278812884 72.10971596779717

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-0.95367595 -0.30082649 -0.00236715]
 [ 0.30083184 -0.95367425 -0.0023718 ]
 [-0.00154399 -0.00297404  0.99999439]]

 t_estimated:
[[0.93932597]
 [0.3430241 ]
 [0.00109337]]

 R_gt:
[[ 0.99672457  0.07958823 -0.0143337 ]
 [-0.07996564  0.99640264 -0.02803661]
 [ 0.01205087  0.02909181  0.99950451]]

 t_gt:
[-0.44868056  0.8554179  -0.25873921]

Pose Error in degrees for R and t:
167.07150052406212 82.62798360370908

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 0.99715902 -0.07530292 -0.00183207]
 [ 0.07531408  0.99713483  0.00706611]
 [ 0.00129472 -0.00718401  0.99997336]]

 t_estimated:
[[0.84947577]
 [0.5276247 ]
 [0.00175875]]

 R_gt:
[[ 0.98777563  0.15462523 -0.01975944]
 [-0.15522433  0.98730888 -0.03357427]
 [ 0.01431743  0.03623074  0.99924148]]

 t_gt:
[-0.54738037  0.81565117 -0.18731764]

Pose Error in degrees for R and t:
13.48190401544146 87.99664049706793

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99999282e-01  1.19786231e-03 -2.61222614e-05]
 [-1.19786276e-03  9.99999282e-01 -1.71449787e-05]
 [ 2.61017053e-05  1.71762573e-05  1.00000000e+00]]

 t_estimated:
[[9.99994892e-01]
 [3.10075919e-03]
 [7.75189837e-04]]

 R_gt:
[[ 0.99853587  0.05308509 -0.01049253]
 [-0.05275348  0.99816618  0.02969073]
 [ 0.01204924 -0.0290928   0.99950338]]

 t_gt:
[-0.86733398  0.45668352  0.197919  ]

Pose Error in degrees for R and t:
3.4713712810950335 30.030392470922333

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.63428415e-01  2.67965234e-01 -5.67125175e-04]
 [-2.67964963e-01  9.63428522e-01  5.10976339e-04]
 [ 6.83308463e-04 -3.40319449e-04  9.99999709e-01]]

 t_estimated:
[[-0.99762419]
 [-0.06886585]
 [-0.00186124]]

 R_gt:
[[ 0.99980126  0.00636822 -0.01893139]
 [-0.00640443  0.99997841 -0.00180263]
 [ 0.01892003  0.00192374  0.99981895]]

 t_gt:
[-0.24244531 -0.83142831 -0.49994724]

Pose Error in degrees for R and t:
15.213647137671597 72.53898246001272

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.24597931e-01  3.80944282e-01 -3.46355151e-04]
 [-3.80943813e-01  9.24597677e-01  9.72984115e-04]
 [ 6.90891904e-04 -7.67677247e-04  9.99999467e-01]]

 t_estimated:
[[8.03984182e-01]
 [5.94650260e-01]
 [7.09606515e-04]]

 R_gt:
[[ 0.99704747 -0.07114175 -0.02893462]
 [ 0.07068389  0.99736211 -0.01655873]
 [ 0.0300371   0.0144657   0.99944352]]

 t_gt:
[ 0.44715525 -0.83780503 -0.31326494]

Pose Error in degrees for R and t:
26.527151660303648 82.01478719013953

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 6.69244751e-01 -7.43042033e-01  2.33552499e-05]
 [-7.43027873e-01 -6.69232190e-01 -6.15268598e-03]
 [ 4.58733439e-03  4.10029919e-03 -9.99981072e-01]]

 t_estimated:
[[ 0.31447815]
 [ 0.94925861]
 [-0.00340413]]

 R_gt:
[[ 0.99935929 -0.0352564   0.00617012]
 [ 0.0353058   0.99934314 -0.0081618 ]
 [-0.00587861  0.00837509  0.99994754]]

 t_gt:
[ 0.75980213 -0.65014383  0.00370489]

Pose Error in degrees for R and t:
179.382147232411 67.77615551651809

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.99999211 -0.00256418  0.00303471]
 [ 0.00256788  0.99999596 -0.00121591]
 [-0.00303158  0.00122369  0.99999466]]

 t_estimated:
[[0.6475203 ]
 [0.7620477 ]
 [0.00088098]]

 R_gt:
[[ 0.97953081 -0.1998061  -0.02441596]
 [ 0.19982656  0.97982948 -0.00162317]
 [ 0.0242475  -0.00328767  0.99970037]]

 t_gt:
[ 0.74568713 -0.66419372 -0.05289051]

Pose Error in degrees for R and t:
11.489932800544365 88.66223178014853

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99999998e-01 -6.03472218e-05 -1.59114379e-05]
 [ 6.03482862e-05  9.99999996e-01  6.69032768e-05]
 [ 1.59074004e-05 -6.69042369e-05  9.99999998e-01]]

 t_estimated:
[[ 9.99965137e-01]
 [-8.34715715e-03]
 [-2.22371155e-04]]

 R_gt:
[[ 0.96377078 -0.26396055 -0.03834906]
 [ 0.26452365  0.96432385  0.01035343]
 [ 0.03424807 -0.02012179  0.99921092]]

 t_gt:
[ 0.75023415 -0.66056216 -0.02839636]

Pose Error in degrees for R and t:
15.491451330745246 40.91096743364632

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 3.91821701e-01  9.20040967e-01 -6.11818250e-04]
 [-9.20040682e-01  3.91820721e-01 -1.29105726e-03]
 [-9.48102501e-04  1.06876193e-03  9.99998979e-01]]

 t_estimated:
[[5.18945492e-02]
 [9.98652557e-01]
 [1.61241144e-04]]

 R_gt:
[[ 0.99773848 -0.05539132  0.0380689 ]
 [ 0.05217277  0.99535632  0.08089475]
 [-0.04237277 -0.07872497  0.99599539]]

 t_gt:
[ 0.32789188 -0.4124422   0.84992844]

Pose Error in degrees for R and t:
70.19024720452428 66.75063899384759

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.06026168 -0.99815142  0.0078914 ]
 [-0.99813211  0.06033628  0.00958237]
 [-0.0100408  -0.0072992  -0.99992295]]

 t_estimated:
[[0.71255821]
 [0.70158266]
 [0.00652474]]

 R_gt:
[[ 0.99403795 -0.07879539  0.07536003]
 [ 0.06965603  0.99068148  0.11704163]
 [-0.08387976 -0.11109351  0.99026313]]

 t_gt:
[ 0.37959542 -0.38102198  0.84304779]

Pose Error in degrees for R and t:
171.4594556260185 89.50346383454162

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.02679405  0.99956926  0.01197346]
 [ 0.99959661  0.02690378 -0.00909962]
 [-0.00941783  0.01172481 -0.99988691]]

 t_estimated:
[[0.84659238]
 [0.53223271]
 [0.00311247]]

 R_gt:
[[ 0.9947493  -0.08270272  0.06027824]
 [ 0.07241202  0.98502285  0.15648379]
 [-0.07231766 -0.15129628  0.98583882]]

 t_gt:
[ 0.45547284 -0.36470721  0.81211646]

Pose Error in degrees for R and t:
177.41141833090998 78.81261216673003

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.99658281e-01  2.61403981e-02 -2.56590257e-05]
 [-2.61403983e-02  9.99658281e-01 -7.24420730e-06]
 [ 2.54608911e-05  7.91246896e-06  1.00000000e+00]]

 t_estimated:
[[-0.64154053]
 [ 0.76708812]
 [-0.00125306]]

 R_gt:
[[ 9.99016718e-01  2.21651103e-04 -4.43288056e-02]
 [ 5.36527864e-04  9.99853898e-01  1.70857798e-02]
 [ 4.43272682e-02 -1.70933643e-02  9.98871149e-01]]

 t_gt:
[ 0.96227756 -0.27190062 -0.00958911]

Pose Error in degrees for R and t:
3.1110260317945384 34.320179181557975

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.38857294e-01  3.44306192e-01  4.77774605e-04]
 [-3.44306032e-01  9.38857394e-01 -3.86617310e-04]
 [-5.81676954e-04  1.98477803e-04  9.99999811e-01]]

 t_estimated:
[[-6.61874986e-01]
 [ 7.49614190e-01]
 [ 2.60504108e-04]]

 R_gt:
[[ 0.99625699  0.07482299 -0.04327942]
 [-0.07163633  0.99490124  0.07100365]
 [ 0.04837238 -0.06763809  0.99653689]]

 t_gt:
[ 0.60976795 -0.05306313  0.79080172]

Pose Error in degrees for R and t:
16.63583794986324 63.69425851105226

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.66990280e-01  2.54813261e-01 -1.92984929e-05]
 [ 2.54802497e-01 -9.66948727e-01  9.26537031e-03]
 [ 2.34227857e-03 -8.96444033e-03 -9.99957075e-01]]

 t_estimated:
[[-0.30912051]
 [ 0.95101044]
 [ 0.00486283]]

 R_gt:
[[ 0.98488303  0.12996783 -0.11451621]
 [-0.1184116   0.98765617  0.10254185]
 [ 0.12643002 -0.08743248  0.98811481]]

 t_gt:
[0.87909474 0.124237   0.46017127]

Pose Error in degrees for R and t:
173.15268478994344 81.29437888760907

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 1.00000000e+00  6.94558755e-07  1.47170855e-09]
 [-6.94558754e-07  1.00000000e+00 -3.02291381e-07]
 [-1.47191809e-09  3.02291380e-07  1.00000000e+00]]

 t_estimated:
[[0.35521793]
 [0.93478298]
 [0.00099598]]

 R_gt:
[[ 0.9975076  -0.06981667 -0.01016836]
 [ 0.06960703  0.99738004 -0.01969114]
 [ 0.01151634  0.01893411  0.99975412]]

 t_gt:
[ 0.71686969 -0.67320489 -0.18136437]

Pose Error in degrees for R and t:
4.195019389377524 67.9858143409031

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.66258490e-01  2.57573891e-01  4.70660849e-04]
 [-2.57574321e-01 -9.66256983e-01 -1.70661653e-03]
 [ 1.51994696e-05 -1.77026286e-03  9.99998433e-01]]

 t_estimated:
[[8.23473768e-01]
 [5.67353974e-01]
 [6.48404542e-04]]

 R_gt:
[[ 0.99656274 -0.05707251 -0.06005444]
 [ 0.05183836  0.99500038 -0.08536815]
 [ 0.06462713  0.08196194  0.99453803]]

 t_gt:
[ 0.60611768 -0.2443863  -0.75689939]

Pose Error in degrees for R and t:
168.2240254922237 68.90117361865738

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999956e-01 -2.86080939e-05  2.94266525e-04]
 [ 2.87245365e-05  9.99999921e-01 -3.95708028e-04]
 [-2.94255181e-04  3.95716463e-04  9.99999878e-01]]

 t_estimated:
[[0.47816799]
 [0.87826773]
 [0.00108428]]

 R_gt:
[[ 0.98942974 -0.08043476 -0.12066033]
 [ 0.06127112  0.98603127 -0.15488011]
 [ 0.13143291  0.14585112  0.9805373 ]]

 t_gt:
[ 0.52267138 -0.06964481 -0.84968478]

Pose Error in degrees for R and t:
12.034158892034661 79.17344053578317

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.84061303  0.54155013 -0.00965397]
 [ 0.54154392  0.84066529  0.00347221]
 [ 0.00999613 -0.00230926 -0.99994737]]

 t_estimated:
[[ 0.93995445]
 [-0.3412626 ]
 [-0.00504638]]

 R_gt:
[[ 0.95293691  0.30234817 -0.02228638]
 [-0.30283758  0.95275624 -0.02334573]
 [ 0.01417548  0.02899689  0.9994786 ]]

 t_gt:
[-0.89693952  0.43004579 -0.10276246]

Pose Error in degrees for R and t:
178.82913524479858 8.380396294142107

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.99540290e-01 -3.03082300e-02 -7.87449450e-04]
 [ 3.03084967e-02  9.99540538e-01  3.29038832e-04]
 [ 7.77115062e-04 -3.52753978e-04  9.99999636e-01]]

 t_estimated:
[[-0.99997773]
 [-0.00657464]
 [-0.00114769]]

 R_gt:
[[ 0.83299496  0.55319302 -0.00975932]
 [-0.55322076  0.83251879 -0.02931308]
 [-0.00809036  0.02981754  0.99952231]]

 t_gt:
[-0.84591353  0.53104142 -0.04924741]

Pose Error in degrees for R and t:
35.37713075853063 32.59921207397692

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-0.97630243  0.21639095 -0.00291871]
 [ 0.21639531  0.976305   -0.00126866]
 [ 0.00257503 -0.00187019 -0.99999494]]

 t_estimated:
[[9.99971384e-01]
 [7.55861777e-03]
 [3.14415868e-04]]

 R_gt:
[[ 0.77932781  0.62651896 -0.01105461]
 [-0.62652861  0.77880129 -0.03051523]
 [-0.01050932  0.03070866  0.99947286]]

 t_gt:
[-0.82028716  0.57016687 -0.04515219]

Pose Error in degrees for R and t:
179.92255837920902 35.31679139488209

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.91420453e-01  1.30710750e-01  4.31072836e-04]
 [-1.30710464e-01  9.91420380e-01 -6.36512072e-04]
 [-5.10573366e-04  5.74705356e-04  9.99999705e-01]]

 t_estimated:
[[0.92987536]
 [0.36787345]
 [0.00097064]]

 R_gt:
[[ 0.98665543 -0.16261404 -0.00830177]
 [ 0.16246494  0.98658015 -0.01624292]
 [ 0.01083174  0.01467824  0.99983273]]

 t_gt:
[ 0.72263986 -0.677963   -0.13475089]

Pose Error in degrees for R and t:
16.897072307168795 65.01192487404796

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99998249e-01  1.86202290e-03  1.85571775e-04]
 [-1.86216334e-03  9.99997978e-01  7.59528214e-04]
 [-1.84157141e-04 -7.59872449e-04  9.99999694e-01]]

 t_estimated:
[[9.65962340e-01]
 [2.58681441e-01]
 [8.18612153e-04]]

 R_gt:
[[ 0.9584028  -0.2821297  -0.04320589]
 [ 0.2822351   0.95933749 -0.00375491]
 [ 0.04250961 -0.00859444  0.99905889]]

 t_gt:
[ 0.76236643 -0.63824064 -0.10698739]

Pose Error in degrees for R and t:
16.69130492324829 55.164050557747764

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999993e-01 -2.51214685e-05  1.18098434e-04]
 [ 2.51385578e-05  9.99999989e-01 -1.44704571e-04]
 [-1.18094797e-04  1.44707539e-04  9.99999983e-01]]

 t_estimated:
[[9.39164704e-01]
 [3.43465949e-01]
 [8.94442576e-04]]

 R_gt:
[[ 0.93186737 -0.36104261 -0.0356656 ]
 [ 0.35989872  0.93234497 -0.03471215]
 [ 0.0457853   0.01951183  0.99876041]]

 t_gt:
[ 0.76179907 -0.62675939 -0.16381345]

Pose Error in degrees for R and t:
21.331003641824186 59.99750138113134

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 7.03634388e-01 -7.10561702e-01 -8.46382089e-04]
 [ 7.10562039e-01  7.03634540e-01  1.52917501e-04]
 [ 4.86886351e-04 -7.09004995e-04  9.99999630e-01]]

 t_estimated:
[[ 8.10397544e-01]
 [-5.85880379e-01]
 [ 4.65312625e-05]]

 R_gt:
[[ 0.9968243   0.07597658  0.02384615]
 [-0.07571992  0.99706289 -0.01149063]
 [-0.02464964  0.00964821  0.99964923]]

 t_gt:
[-0.76416428  0.63437289  0.11672188]

Pose Error in degrees for R and t:
49.654665144079885 7.71928295404281

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.97061732e-01  7.66022346e-02  3.40058947e-05]
 [-7.66022240e-02  9.97061702e-01 -2.46558481e-04]
 [-5.27929059e-05  2.43229099e-04  9.99999969e-01]]

 t_estimated:
[[-0.64514193]
 [-0.76406211]
 [-0.000991  ]]

 R_gt:
[[ 0.99316021  0.01111005  0.11623523]
 [-0.02815407  0.98887855  0.14603979]
 [-0.11332086 -0.1483135   0.98242608]]

 t_gt:
[-1.36076792e-01  5.69066823e-04  9.90698129e-01]

Pose Error in degrees for R and t:
11.247645019663482 85.04506024335056

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-0.78992476 -0.61320246 -0.00127234]
 [ 0.61318111 -0.7899117   0.00695956]
 [-0.00527266  0.00471736  0.99997497]]

 t_estimated:
[[0.98288494]
 [0.18421665]
 [0.00118849]]

 R_gt:
[[ 0.97679202 -0.05128859  0.20795788]
 [-0.01705809  0.94919571  0.314223  ]
 [-0.21350969 -0.31047852  0.9262913 ]]

 t_gt:
[ 0.04594816 -0.0020525   0.99894172]

Pose Error in degrees for R and t:
141.8378686450759 87.36513356198671

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999311e-01  1.15728026e-03  1.94697753e-04]
 [-1.15727986e-03  9.99999330e-01 -2.17495421e-06]
 [-1.94700140e-04  1.94963293e-06  9.99999981e-01]]

 t_estimated:
[[-9.99992230e-01]
 [-3.88872935e-03]
 [-6.46312109e-04]]

 R_gt:
[[ 0.99409299 -0.08928767 -0.06170521]
 [ 0.08834456  0.99593019 -0.01783876]
 [ 0.06304659  0.0122822   0.99793513]]

 t_gt:
[ 0.73932252 -0.52780831 -0.41811554]

Pose Error in degrees for R and t:
6.350643708151648 42.5240208556701

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 1.00000000e+00  2.85313729e-06  4.29479225e-07]
 [-2.85309774e-06  9.99999996e-01 -9.20650190e-05]
 [-4.29741897e-07  9.20650178e-05  9.99999996e-01]]

 t_estimated:
[[0.75692848]
 [0.65349726]
 [0.00078357]]

 R_gt:
[[ 0.95672186 -0.26460796 -0.12110947]
 [ 0.26113821  0.96429986 -0.04396378]
 [ 0.12841905  0.01043526  0.99166508]]

 t_gt:
[ 0.78475149 -0.54245748 -0.29984161]

Pose Error in degrees for R and t:
16.992093065956517 76.15646253476226

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99999809 -0.00158563  0.00114537]
 [ 0.00158693  0.9999981  -0.0011323 ]
 [-0.00114357  0.00113411  0.9999987 ]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 9.27706022e-01 -3.52205328e-01 -1.23745701e-01]
 [ 3.48997887e-01  9.35922444e-01 -4.74326177e-02]
 [ 1.32523012e-01  8.16716784e-04  9.91179302e-01]]

 t_gt:
[ 0.81928021 -0.53134657 -0.21552438]

Pose Error in degrees for R and t:
21.899686925108178 58.6330286154826

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.36388707e-01 -3.50964568e-01 -2.49349875e-04]
 [ 3.50964581e-01  9.36388735e-01  8.22642586e-06]
 [ 2.30601230e-04 -9.52161066e-05  9.99999969e-01]]

 t_estimated:
[[ 5.12477083e-01]
 [-8.58700733e-01]
 [-5.38745792e-04]]

 R_gt:
[[ 0.99964466  0.0258624   0.00641815]
 [-0.02595374  0.99955778  0.01450499]
 [-0.00604053 -0.01466546  0.99987456]]

 t_gt:
[-0.87017384 -0.39348923  0.29658678]

Pose Error in degrees for R and t:
22.04963015895729 83.78760389016331

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-4.34090247e-01 -9.00862075e-01  3.63022204e-03]
 [-9.00868831e-01  4.34090942e-01 -6.35276825e-04]
 [-1.00354971e-03 -3.54612136e-03 -9.99993209e-01]]

 t_estimated:
[[0.85058108]
 [0.52583921]
 [0.00222321]]

 R_gt:
[[ 0.99977742  0.01791548 -0.01117513]
 [-0.01765597  0.99958165  0.02291387]
 [ 0.01158121 -0.02271153  0.99967492]]

 t_gt:
[-0.54004489 -0.81341839  0.21610653]

Pose Error in degrees for R and t:
179.69843707734543 27.5510822887637

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.73251139e-01 -2.29743463e-01 -4.01540506e-04]
 [ 2.29743624e-01  9.73251096e-01  4.14386792e-04]
 [ 2.95597081e-04 -4.95553788e-04  9.99999834e-01]]

 t_estimated:
[[ 7.93274381e-01]
 [-6.08864316e-01]
 [ 4.54262495e-05]]

 R_gt:
[[ 0.99941784  0.03030325 -0.01566237]
 [-0.03076668  0.9990706  -0.03021412]
 [ 0.0147318   0.0306788   0.9994206 ]]

 t_gt:
[-0.75779746 -0.54559273 -0.35787092]

Pose Error in degrees for R and t:
15.159404856137401 74.39727529802647

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[-9.69495755e-01 -2.44987458e-01  7.68941394e-03]
 [-2.44992825e-01  9.69524859e-01  2.50704849e-04]
 [-7.51649752e-03 -1.64079396e-03 -9.99970405e-01]]

 t_estimated:
[[0.97979182]
 [0.19995751]
 [0.00499894]]

 R_gt:
[[ 0.99900976 -0.01378993  0.04229494]
 [ 0.01135433  0.99829131  0.05730568]
 [-0.04301173 -0.05676848  0.99746006]]

 t_gt:
[ 0.30844183 -0.35070152  0.88423531]

Pose Error in degrees for R and t:
176.7308630633162 76.31972798319656

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.21841288  0.97582846  0.00739162]
 [ 0.97584591  0.21843946 -0.00299334]
 [-0.0045356   0.0065593  -0.9999682 ]]

 t_estimated:
[[0.82645879]
 [0.56299039]
 [0.00277335]]

 R_gt:
[[ 0.99893392 -0.03486493  0.03026368]
 [ 0.03183512  0.99492969  0.09540274]
 [-0.03343604 -0.09433708  0.99497835]]

 t_gt:
[ 0.50987349 -0.38850478  0.76752398]

Pose Error in degrees for R and t:
178.4623951088438 78.18258397591461

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.10307363 -0.89438722  0.43525548]
 [-0.99117767  0.05569959 -0.12026794]
 [ 0.08332256 -0.44381196 -0.8922378 ]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99255478 -0.09456242  0.07676399]
 [ 0.07790744  0.97737341  0.19664936]
 [-0.09362224 -0.18920469  0.97746383]]

 t_gt:
[ 0.41620054 -0.36467045  0.83294212]

Pose Error in degrees for R and t:
155.9731851789035 79.57912068517659

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.89721428  0.44116443 -0.01950613]
 [ 0.44103187  0.89742555  0.01087525]
 [ 0.02230307  0.0011546  -0.99975059]]

 t_estimated:
[[ 0.85923938]
 [-0.51124585]
 [-0.0183131 ]]

 R_gt:
[[ 0.99569387  0.09185653 -0.01248286]
 [-0.09099904  0.99419572  0.0573864 ]
 [ 0.01768208 -0.0560037   0.99827452]]

 t_gt:
[-0.43423655  0.41266417  0.80071649]

Pose Error in degrees for R and t:
177.17649251934003 53.219603511859916

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.23854142e-01 -3.82744479e-01 -4.34290564e-04]
 [ 3.82744643e-01  9.23854094e-01  3.89106172e-04]
 [ 2.52292877e-04 -5.25699735e-04  9.99999830e-01]]

 t_estimated:
[[-0.21935727]
 [-0.97564409]
 [-0.0010012 ]]

 R_gt:
[[ 0.98713912  0.13913404 -0.07873026]
 [-0.13343191  0.9883224   0.07358856]
 [ 0.08804882 -0.06213776  0.9941768 ]]

 t_gt:
[0.00347884 0.93257731 0.36095355]

Pose Error in degrees for R and t:
30.962441872689478 24.3577510001101

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99998215e-01  1.88919212e-03  3.20004569e-06]
 [-1.88919087e-03  9.99998153e-01 -3.54491405e-04]
 [-3.86974215e-06  3.54484727e-04  9.99999937e-01]]

 t_estimated:
[[0.13727063]
 [0.99053235]
 [0.00155989]]

 R_gt:
[[ 0.96553369  0.21724302 -0.14335378]
 [-0.1978085   0.97043225  0.13832294]
 [ 0.16916483 -0.105199    0.97995744]]

 t_gt:
[0.32106698 0.87627156 0.35925499]

Pose Error in degrees for R and t:
16.602875389665453 24.131605478328012

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.99716524 -0.07419891  0.01249051]
 [-0.07408083  0.9972054   0.00966563]
 [-0.01317278  0.00871292 -0.99987527]]

 t_estimated:
[[0.99962932]
 [0.02709023]
 [0.00270902]]

 R_gt:
[[ 0.98632542 -0.16304495 -0.0240467 ]
 [ 0.16352669  0.98634314  0.01967835]
 [ 0.02051052 -0.02334102  0.99951674]]

 t_gt:
[ 0.68589635 -0.7276938  -0.00281653]

Pose Error in degrees for R and t:
179.53779705524374 48.24697269456918

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.63495837  0.77247616  0.01041374]
 [ 0.7725188  -0.63476417 -0.01700472]
 [-0.00652547  0.0188421  -0.99980118]]

 t_estimated:
[[-0.56058544]
 [ 0.82801406]
 [-0.01169083]]

 R_gt:
[[ 0.97581191 -0.21672874 -0.02862503]
 [ 0.21730245  0.97592582  0.01865418]
 [ 0.02389421 -0.02442324  0.99941537]]

 t_gt:
[ 0.70900612 -0.70513346 -0.00985583]

Pose Error in degrees for R and t:
179.3682856547421 11.126444929217149

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-0.99994327  0.0101571   0.00320727]
 [ 0.01017029  0.99993979  0.00412145]
 [-0.00316521  0.00415384 -0.99998636]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.96090495 -0.27673802  0.00878795]
 [ 0.27644338  0.96069135  0.02550933]
 [-0.01550123 -0.02208249  0.99963554]]

 t_gt:
[ 0.73250903 -0.67713156  0.07016666]

Pose Error in degrees for R and t:
179.08959942681156 43.17610255683834

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.98634305e-01 -5.22448572e-02  1.09565864e-05]
 [ 5.22448573e-02  9.98634305e-01 -7.12887056e-06]
 [-1.05691762e-05  7.69155999e-06  1.00000000e+00]]

 t_estimated:
[[9.50563230e-01]
 [3.10531026e-01]
 [1.66593628e-04]]

 R_gt:
[[ 0.99764755 -0.05674191  0.03846908]
 [ 0.05550487  0.99792921  0.03251157]
 [-0.04023472 -0.03030102  0.9987303 ]]

 t_gt:
[ 0.59745807 -0.49606384  0.63005121]

Pose Error in degrees for R and t:
2.8956354721266457 65.54468611544807

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-2.46063958e-01  9.69253576e-01  1.81897662e-04]
 [-9.69251002e-01 -2.46062862e-01 -2.35842675e-03]
 [-2.24115530e-03 -7.56628311e-04  9.99997202e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9976263  -0.04308984  0.05370659]
 [ 0.03881373  0.99617559  0.07827774]
 [-0.05687472 -0.07600836  0.99548417]]

 t_gt:
[ 0.4901898  -0.38463297  0.78215819]

Pose Error in degrees for R and t:
106.69325151679075 67.61954378455108

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.24705977 -0.96899779 -0.00217842]
 [-0.96890588  0.24700371  0.01451088]
 [-0.01352293  0.00569574 -0.99989234]]

 t_estimated:
[[0.7983526 ]
 [0.60218596]
 [0.00228101]]

 R_gt:
[[ 0.99308494 -0.09365329  0.07079382]
 [ 0.08129382  0.98362487  0.16085524]
 [-0.0846992  -0.15398928  0.98443628]]

 t_gt:
[ 0.48677209 -0.37998595  0.78655172]

Pose Error in degrees for R and t:
170.45142593096222 80.70093662632381

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.22756594  0.97343962  0.02508081]
 [ 0.97361333  0.22790663 -0.01164687]
 [-0.01705361  0.02176858 -0.99961758]]

 t_estimated:
[[-0.67785681]
 [-0.73515321]
 [-0.00773944]]

 R_gt:
[[ 0.99911103  0.03793212 -0.01837586]
 [-0.03696573  0.99804814  0.05032934]
 [ 0.02024944 -0.04960553  0.99856371]]

 t_gt:
[ 0.37603543 -0.10755252  0.92034222]

Pose Error in degrees for R and t:
178.8854506173762 79.45815786978503

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.91172169  0.41080367 -0.00197789]
 [ 0.4107899  -0.91162425  0.01388827]
 [ 0.00390226 -0.01347474 -0.9999016 ]]

 t_estimated:
[[-0.31932578]
 [ 0.94762069]
 [ 0.00678814]]

 R_gt:
[[ 0.99150872  0.11458604 -0.06148162]
 [-0.10791846  0.9888541   0.10257498]
 [ 0.07254981 -0.09506939  0.99282301]]

 t_gt:
[0.15008061 0.19707414 0.96883311]

Pose Error in degrees for R and t:
172.8294081271445 81.63935423206614

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 0.79308918 -0.60906484 -0.00704151]
 [ 0.60908671  0.79310256  0.00130678]
 [ 0.00478873 -0.00532528  0.99997435]]

 t_estimated:
[[8.07179294e-01]
 [5.90306002e-01]
 [6.41636959e-04]]

 R_gt:
[[ 0.97711455  0.17720023 -0.11766973]
 [-0.16436059  0.98011823  0.11114593]
 [ 0.13502523 -0.08926215  0.98681337]]

 t_gt:
[0.51804512 0.70180371 0.48897935]

Pose Error in degrees for R and t:
48.19785368480104 33.61793380680209

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.91329361e-01  1.31398108e-01  7.96399358e-04]
 [-1.31397422e-01  9.91329399e-01 -8.60097929e-04]
 [-9.02509338e-04  7.47995508e-04  9.99999313e-01]]

 t_estimated:
[[0.67131945]
 [0.74116772]
 [0.00077609]]

 R_gt:
[[ 0.98588223 -0.14121703 -0.08996499]
 [ 0.1371859   0.98930507 -0.04955589]
 [ 0.09600082  0.03651442  0.99471064]]

 t_gt:
[ 0.71315733 -0.50368839 -0.48754961]

Pose Error in degrees for R and t:
16.65445050982337 83.96935174080666

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.19302787  0.87273696  0.44840878]
 [ 0.94139775 -0.03589547 -0.33538304]
 [-0.27660533  0.48686929 -0.82852144]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.9524548  -0.29039079 -0.09221766]
 [ 0.28709222  0.9567234  -0.04751903]
 [ 0.10202522  0.01878479  0.99460367]]

 t_gt:
[ 0.79394238 -0.55438377 -0.24962799]

Pose Error in degrees for R and t:
148.3314102206599 76.59408561098505

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 1.13427923e-01  9.93535960e-01  4.51695821e-03]
 [-9.93545242e-01  1.13433042e-01 -8.92933857e-04]
 [-1.39953421e-03 -4.38651871e-03  9.99989400e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.46208119e-01 -2.96127933e-01 -1.30375998e-01]
 [ 2.93308472e-01  9.55147990e-01 -4.07682115e-02]
 [ 1.36600323e-01  3.35263023e-04  9.90625113e-01]]

 t_gt:
[ 0.81059254 -0.52975698 -0.24959423]

Pose Error in degrees for R and t:
100.9553449254877 58.335104286020275

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 7.02328251e-01 -7.11846377e-01 -3.12479866e-03]
 [-7.11849301e-01 -7.02332197e-01  2.41671120e-04]
 [-2.36667942e-03  2.05465328e-03 -9.99995089e-01]]

 t_estimated:
[[0.22382135]
 [0.97462947]
 [0.00118424]]

 R_gt:
[[ 0.97898537  0.20239796 -0.02495783]
 [-0.20156225  0.97893843  0.03242364]
 [ 0.03099567 -0.02671254  0.9991622 ]]

 t_gt:
[-0.89090193  0.45394917 -0.01496361]

Pose Error in degrees for R and t:
179.12149750160876 75.93564155694884

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 5.60690626e-02  9.98426662e-01  6.78790055e-04]
 [ 9.98422732e-01 -5.60707787e-02  2.84880668e-03]
 [ 2.88238483e-03  5.17989502e-04 -9.99995712e-01]]

 t_estimated:
[[-0.04304386]
 [-0.99907062]
 [-0.00226547]]

 R_gt:
[[ 0.95775299  0.28753934  0.00549273]
 [-0.28662423  0.95279086  0.1001776 ]
 [ 0.02357283 -0.09752031  0.99495367]]

 t_gt:
[-0.90155903  0.38551616  0.19638892]

Pose Error in degrees for R and t:
175.3621921897546 69.70851902921574

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.83187552e-01  1.82598479e-01 -1.83731942e-04]
 [-1.82598501e-01  9.83187559e-01 -1.07579697e-04]
 [ 1.60999070e-04  1.39320196e-04  9.99999977e-01]]

 t_estimated:
[[-0.96645799]
 [-0.25682238]
 [-0.00110702]]

 R_gt:
[[ 0.96390936  0.26561745 -0.01804602]
 [-0.26252713  0.95958314  0.10138226]
 [ 0.04424599 -0.09298659  0.99468394]]

 t_gt:
[-0.95484241  0.25375938  0.15453852]

Pose Error in degrees for R and t:
7.636365907559418 30.965986043771043

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-9.99188026e-01 -3.94219167e-02  8.31872025e-03]
 [-3.94146198e-02  9.99222401e-01  1.03936423e-03]
 [-8.35322535e-03  7.10641094e-04 -9.99964859e-01]]

 t_estimated:
[[0.99970959]
 [0.02365614]
 [0.00459591]]

 R_gt:
[[ 0.98753346 -0.15739434 -0.00225383]
 [ 0.15738735  0.98753313 -0.0024854 ]
 [ 0.00261668  0.0020992   0.99999501]]

 t_gt:
[ 0.68300788 -0.72974446 -0.03119696]

Pose Error in degrees for R and t:
179.6685175006453 48.28673362166374

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-9.63329785e-01  2.68136184e-01  9.93545725e-03]
 [ 2.68145203e-01  9.63378409e-01 -4.37694929e-04]
 [-9.68896685e-03  2.24250064e-03 -9.99950546e-01]]

 t_estimated:
[[ 0.9901503 ]
 [-0.13991422]
 [ 0.00513845]]

 R_gt:
[[ 9.59813052e-01 -2.79348050e-01 -2.68838500e-02]
 [ 2.79266071e-01  9.60189328e-01 -6.82530237e-03]
 [ 2.77206743e-02 -9.57477993e-04  9.99615465e-01]]

 t_gt:
[ 0.75119169 -0.65347025 -0.09320768]

Pose Error in degrees for R and t:
179.02625403813227 33.41085958089475

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 5.52652561e-01  8.33410194e-01  1.61067102e-03]
 [-8.33402051e-01  5.52654421e-01 -3.75662955e-03]
 [-4.02095782e-03  7.33774417e-04  9.99991647e-01]]

 t_estimated:
[[0.89445818]
 [0.44714879]
 [0.00159008]]

 R_gt:
[[ 0.91727937 -0.39484176 -0.05195192]
 [ 0.3947182   0.91870932 -0.01306005]
 [ 0.05288551 -0.00852781  0.99856389]]

 t_gt:
[ 0.79013875 -0.60374133 -0.10572207]

Pose Error in degrees for R and t:
79.77746957622698 64.11184858785954

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.2802867   0.95977122 -0.01669052]
 [ 0.95951678  0.2806293   0.0239737 ]
 [ 0.02769312 -0.00929533 -0.99957325]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98969546 -0.09029948  0.11112943]
 [ 0.06540069  0.97547318  0.21018083]
 [-0.1273827  -0.20074679  0.97132608]]

 t_gt:
[ 0.22435456 -0.23024978  0.94691609]

Pose Error in degrees for R and t:
176.83797684008434 87.54943746652259

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99998444e-01  1.75289125e-03 -1.99451265e-04]
 [-1.75292465e-03  9.99998450e-01 -1.67408491e-04]
 [ 1.99157507e-04  1.67757853e-04  9.99999966e-01]]

 t_estimated:
[[-4.08352201e-03]
 [-9.99991316e-01]
 [-8.31842729e-04]]

 R_gt:
[[ 0.96961638 -0.15387874  0.19017209]
 [ 0.08167077  0.93640568  0.34128614]
 [-0.23059402 -0.31538363  0.92052104]]

 t_gt:
[ 0.25225629 -0.13684088  0.95793598]

Pose Error in degrees for R and t:
24.081403608913856 82.24064314852681

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-1.58583301e-01 -9.87345070e-01 -1.02418002e-03]
 [ 9.87345379e-01 -1.58583876e-01  5.06626463e-04]
 [-6.62633578e-04 -9.30876915e-04  9.99999347e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96844197 -0.17820871  0.17424786]
 [ 0.10131366  0.92022331  0.37805412]
 [-0.22772018 -0.34846883  0.90923816]]

 t_gt:
[ 0.28448338 -0.14279071  0.94798735]

Pose Error in degrees for R and t:
93.26190087613801 73.45465778595279

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.81860860e-01 -1.89601511e-01  7.20299816e-04]
 [ 1.89602605e-01  9.81845884e-01 -5.43249209e-03]
 [ 3.22785300e-04  5.47052208e-03  9.99984984e-01]]

 t_estimated:
[[-0.96976799]
 [-0.24401971]
 [-0.00210362]]

 R_gt:
[[ 9.62970091e-01  2.69605286e-01  3.91392042e-04]
 [-2.69484219e-01  9.62576507e-01 -2.87192270e-02]
 [-8.11960366e-03  2.75490779e-02  9.99586634e-01]]

 t_gt:
[-0.90945448  0.40304351 -0.10221778]

Pose Error in degrees for R and t:
26.60259234137941 38.387927820087974

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.77524114  0.63166162 -0.0021841 ]
 [ 0.63164949 -0.77519246  0.00977644]
 [ 0.00448231 -0.00895869 -0.99994982]]

 t_estimated:
[[-0.91114282]
 [-0.41208954]
 [-0.00098822]]

 R_gt:
[[ 8.38964098e-01  5.44185223e-01  4.83374202e-04]
 [-5.43190946e-01  8.37483811e-01 -5.97138806e-02]
 [-3.29006896e-02  4.98350461e-02  9.98214724e-01]]

 t_gt:
[-0.84125689  0.53555653 -0.07393275]

Pose Error in degrees for R and t:
177.14664104783216 56.91511166479896

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.3108171   0.94849099  0.06129899]
 [-0.92444147  0.31666572 -0.2124401 ]
 [-0.22090881  0.00936268  0.97524953]]

 t_estimated:
[[9.99965870e-01]
 [8.21139857e-03]
 [9.12377618e-04]]

 R_gt:
[[ 0.68962322  0.7240798  -0.01127873]
 [-0.72363063  0.68842747 -0.04927333]
 [-0.02791333  0.04214188  0.9987215 ]]

 t_gt:
[-0.78154682  0.62199117 -0.0480785 ]

Pose Error in degrees for R and t:
27.225531591080212 39.06272006235484

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[-0.40624243  0.91298297  0.03780446]
 [ 0.91298794  0.40725551 -0.02441242]
 [-0.0376842   0.02459765 -0.99898692]]

 t_estimated:
[[ 0.8264859 ]
 [-0.56249907]
 [ 0.02271248]]

 R_gt:
[[ 0.9988801  -0.04617571 -0.01030217]
 [ 0.04582182  0.99842873 -0.0322637 ]
 [ 0.01177582  0.03175533  0.99942669]]

 t_gt:
[ 0.65519606 -0.29936488 -0.69361286]

Pose Error in degrees for R and t:
176.95348294521264 46.040550220048495

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.94376687e-01  1.05900815e-01  1.49354176e-04]
 [-1.05900791e-01  9.94376688e-01 -1.59983825e-04]
 [-1.65456729e-04  1.43267461e-04  9.99999976e-01]]

 t_estimated:
[[9.20445661e-01]
 [3.90869691e-01]
 [8.18577034e-04]]

 R_gt:
[[ 0.98896014 -0.14079711 -0.04618625]
 [ 0.13635741  0.98672182 -0.08824894]
 [ 0.05799825  0.08097588  0.99502731]]

 t_gt:
[ 0.64744886 -0.33851771 -0.68279992]

Pose Error in degrees for R and t:
15.175426935208952 62.41485457898009

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.7485431   0.66295409  0.01323291]
 [ 0.66299224  0.74862388 -0.00188873]
 [-0.01115862  0.00735953 -0.99991066]]

 t_estimated:
[[ 0.97518694]
 [-0.22133564]
 [ 0.00457994]]

 R_gt:
[[ 0.98166466 -0.18860635 -0.02761229]
 [ 0.18437562  0.97627342 -0.11355943]
 [ 0.0483751   0.10638613  0.99314724]]

 t_gt:
[ 0.60625768 -0.41577265 -0.67792679]

Pose Error in degrees for R and t:
179.04248626218677 47.14580572112878

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99998495e-01 -1.73275161e-03  9.05072346e-05]
 [ 1.73273897e-03  9.99998489e-01  1.39510240e-04]
 [-9.07488344e-05 -1.39353204e-04  9.99999986e-01]]

 t_estimated:
[[0.00679489]
 [0.99997633]
 [0.00108454]]

 R_gt:
[[ 0.99486742  0.07161822 -0.07148362]
 [-0.06927181  0.99699019  0.03479283]
 [ 0.07376075 -0.02966276  0.99683498]]

 t_gt:
[-0.05071714  0.95282197 -0.29926255]

Pose Error in degrees for R and t:
6.162927612737298 17.799843398206267

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.90206439e-01 -1.39610919e-01 -2.14698204e-05]
 [ 1.39610920e-01  9.90206407e-01  2.48578400e-04]
 [-1.34447051e-05 -2.49141354e-04  9.99999969e-01]]

 t_estimated:
[[-2.32963217e-01]
 [-9.72485515e-01]
 [-2.48315966e-04]]

 R_gt:
[[ 0.9903726   0.11677582 -0.07433407]
 [-0.10957324  0.98947144  0.09454824]
 [ 0.08459233 -0.08549271  0.99274126]]

 t_gt:
[-0.072914    0.99000005  0.12076195]

Pose Error in degrees for R and t:
16.091561046444635 18.949631162240202

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.99983765 -0.01079702 -0.01442538]
 [ 0.01099721  0.99984331  0.0138711 ]
 [ 0.01427335 -0.01402749  0.99979973]]

 t_estimated:
[[-0.99376008]
 [-0.11041779]
 [-0.01577397]]

 R_gt:
[[ 0.98843637  0.1015549  -0.11260566]
 [-0.09438092  0.99325734  0.06731953]
 [ 0.11868254 -0.05591261  0.99135727]]

 t_gt:
[ 0.37697876  0.86949382 -0.3191669 ]

Pose Error in degrees for R and t:
8.988687061969925 62.25097269985879

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-3.73401321e-01  9.27666964e-01 -2.33586489e-03]
 [-9.27658682e-01 -3.73408006e-01 -3.97872480e-03]
 [-4.56316220e-03  6.81224247e-04  9.99989357e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99308127  0.11693603  0.01078973]
 [-0.11733441  0.99181535  0.0503451 ]
 [-0.00481358 -0.05126285  0.99867297]]

 t_gt:
[-0.84237315  0.43560782  0.31725906]

Pose Error in degrees for R and t:
105.23097835236288 64.48958801910695

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999161e-01  5.54717125e-04  1.17061760e-03]
 [-5.52685244e-04  9.99998342e-01 -1.73534439e-03]
 [-1.17157829e-03  1.73469595e-03  9.99997809e-01]]

 t_estimated:
[[-0.5069393 ]
 [-0.86197981]
 [-0.00183011]]

 R_gt:
[[ 0.9650061   0.26123698  0.0228134 ]
 [-0.26163684  0.96502212  0.01669846]
 [-0.01765206 -0.02208205  0.99960007]]

 t_gt:
[-0.831585    0.54613287  0.10102121]

Pose Error in degrees for R and t:
15.215254856224897 87.16973978485841

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99998749e-01 -1.54295851e-03 -3.49534946e-04]
 [ 1.54296275e-03  9.99998810e-01  1.18444456e-05]
 [ 3.49516254e-04 -1.23837501e-05  9.99999939e-01]]

 t_estimated:
[[-0.99925091]
 [-0.03868177]
 [-0.00115898]]

 R_gt:
[[ 0.93481065  0.35512217  0.00423014]
 [-0.35514468  0.93478862  0.00654153]
 [-0.00163033 -0.00761701  0.99996944]]

 t_gt:
[-0.79271801  0.60871062  0.03270378]

Pose Error in degrees for R and t:
20.895210784588862 39.77701186106868

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 0.06817776  0.99583931 -0.06046373]
 [ 0.99615833 -0.06461063  0.05911047]
 [ 0.05495793 -0.06426147 -0.99641863]]

 t_estimated:
[[ 0.69565454]
 [-0.71702903]
 [-0.04397869]]

 R_gt:
[[ 9.97387318e-01 -7.17551333e-02 -8.33712524e-03]
 [ 7.22341210e-02  9.89859651e-01  1.22306835e-01]
 [-5.23163093e-04 -1.22588983e-01  9.92457520e-01]]

 t_gt:
[ 0.22278735 -0.71874692  0.65861116]

Pose Error in degrees for R and t:
169.86247692779511 50.10515619782936

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-0.16627434  0.98607885  0.00116215]
 [-0.98607763 -0.16627158 -0.00216209]
 [-0.00193876 -0.00150547  0.99999699]]

 t_estimated:
[[0.42717395]
 [0.90416853]
 [0.00129491]]

 R_gt:
[[ 0.98789464 -0.13395811 -0.07823152]
 [ 0.14456701  0.977889    0.15110616]
 [ 0.05626015 -0.16058561  0.98541629]]

 t_gt:
[ 0.41250815 -0.78230417  0.46673034]

Pose Error in degrees for R and t:
107.95006029603898 57.95955919445294

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.98256988e-01 -5.90131393e-02  6.59876506e-04]
 [ 5.90134094e-02  9.98257111e-01 -3.97602359e-04]
 [-6.35262651e-04  4.35850895e-04  9.99999703e-01]]

 t_estimated:
[[0.3863358 ]
 [0.92235729]
 [0.00129855]]

 R_gt:
[[ 0.96289965 -0.2417027  -0.12002039]
 [ 0.25855553  0.95367759  0.15377664]
 [ 0.07729259 -0.17910277  0.9807892 ]]

 t_gt:
[ 0.55351177 -0.7647578   0.32980331]

Pose Error in degrees for R and t:
15.921171458431791 60.58641838965288

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99999964e-01 -2.64395154e-04 -4.36903537e-05]
 [ 2.64395170e-04  9.99999965e-01  3.71143459e-07]
 [ 4.36902541e-05 -3.82694965e-07  9.99999999e-01]]

 t_estimated:
[[9.65018271e-01]
 [2.62181758e-01]
 [6.80104229e-04]]

 R_gt:
[[ 0.99738946 -0.07187751 -0.00691506]
 [ 0.07186481  0.99741192 -0.00191979]
 [ 0.00703497  0.0014179   0.99997408]]

 t_gt:
[ 0.67850909 -0.72267063 -0.13180509]

Pose Error in degrees for R and t:
4.126985417137835 62.27599418350851

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-8.55691600e-01  5.17482180e-01 -2.01987046e-03]
 [-5.17481419e-01 -8.55693946e-01 -9.23105196e-04]
 [-2.20608141e-03  2.55352069e-04  9.99997534e-01]]

 t_estimated:
[[0.6325749 ]
 [0.77449876]
 [0.00081099]]

 R_gt:
[[ 0.99246011 -0.11776303  0.03398558]
 [ 0.11755098  0.99303246  0.00817462]
 [-0.03471112 -0.00411827  0.99938829]]

 t_gt:
[ 0.69419065 -0.70034238  0.16619232]

Pose Error in degrees for R and t:
155.59929835923626 84.07929752725117

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999873e-01  5.01936905e-04  5.43449247e-05]
 [-5.01935069e-04  9.99999873e-01 -3.38038022e-05]
 [-5.43618852e-05  3.37765202e-05  9.99999998e-01]]

 t_estimated:
[[ 8.07414277e-01]
 [-5.89984810e-01]
 [-3.31938626e-04]]

 R_gt:
[[ 9.85447593e-01 -1.63008796e-01  4.81773250e-02]
 [ 1.62772924e-01  9.86623477e-01  8.79473953e-03]
 [-4.89668190e-02 -8.24077329e-04  9.98800045e-01]]

 t_gt:
[ 0.73211278 -0.66042902  0.16686639]

Pose Error in degrees for R and t:
9.81740484928079 11.2732577561458

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 1.00000000e+00 -8.13621229e-06 -5.85686417e-07]
 [ 8.13622780e-06  1.00000000e+00  2.64766743e-05]
 [ 5.85470997e-07 -2.64766791e-05  1.00000000e+00]]

 t_estimated:
[[0.99992912]
 [0.01183378]
 [0.00131379]]

 R_gt:
[[ 0.99882751 -0.04382916  0.02058424]
 [ 0.0436653   0.99901156  0.00831002]
 [-0.02092818 -0.0074007   0.99975349]]

 t_gt:
[ 0.70476431 -0.60424871  0.37174017]

Pose Error in degrees for R and t:
2.81089494128352 45.729060213767966

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99996840e-01  2.51364059e-03  2.50613472e-05]
 [-2.51363888e-03  9.99996838e-01 -6.79652790e-05]
 [-2.52321083e-05  6.79020691e-05  9.99999997e-01]]

 t_estimated:
[[ 0.57706406]
 [-0.81669737]
 [-0.00157587]]

 R_gt:
[[ 0.99568412 -0.08425887  0.03890261]
 [ 0.08450951  0.99641058 -0.00485734]
 [-0.03835381  0.00812384  0.99923039]]

 t_gt:
[ 0.75260193 -0.61429079  0.23714376]

Pose Error in degrees for R and t:
5.468526427098501 20.672190531695176

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99998502e-01 -1.67619937e-03  4.31218611e-04]
 [ 1.67629369e-03  9.99998571e-01 -2.18461988e-04]
 [-4.30851809e-04  2.19184510e-04  9.99999883e-01]]

 t_estimated:
[[-0.01377595]
 [-0.99990445]
 [-0.001148  ]]

 R_gt:
[[ 0.98635926 -0.16116165  0.033516  ]
 [ 0.16178232  0.98668446 -0.0167076 ]
 [-0.03037711  0.02190323  0.99929845]]

 t_gt:
[ 0.78040944 -0.62139402  0.06950238]

Pose Error in degrees for R and t:
9.439879767056155 52.37404735689621

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-6.39726360e-01 -7.68601889e-01 -1.14924650e-03]
 [-7.68602175e-01  6.39723341e-01  2.17811773e-03]
 [-9.38905591e-04  2.27671268e-03 -9.99996968e-01]]

 t_estimated:
[[9.46121719e-01]
 [3.23810344e-01]
 [7.44391596e-04]]

 R_gt:
[[ 0.98872063 -0.14923631 -0.01260951]
 [ 0.14937462  0.98872009  0.01089118]
 [ 0.01084169 -0.01265248  0.99986136]]

 t_gt:
[ 0.6616459  -0.74405317  0.0927879 ]

Pose Error in degrees for R and t:
179.67983774181545 67.34790876361176

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-6.06640720e-01  7.94975885e-01  6.15891952e-04]
 [-7.94974205e-01 -6.06637372e-01 -2.66668377e-03]
 [-1.74632622e-03 -2.10733718e-03  9.99996255e-01]]

 t_estimated:
[[0.34664966]
 [0.9379938 ]
 [0.00128677]]

 R_gt:
[[ 9.72601552e-01 -2.31516736e-01 -2.11216231e-02]
 [ 2.32477748e-01  9.68321380e-01  9.11460282e-02]
 [-6.49668921e-04 -9.35584390e-02  9.95613845e-01]]

 t_gt:
[ 0.56017034 -0.75120457  0.34914306]

Pose Error in degrees for R and t:
140.83910429354654 59.33662943886408

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99990021 -0.01407132 -0.00125342]
 [ 0.01407389  0.99989882  0.00206555]
 [ 0.00122423 -0.00208299  0.99999708]]

 t_estimated:
[[ 0.44553816]
 [-0.89526086]
 [ 0.00193427]]

 R_gt:
[[ 0.95040893 -0.29991715 -0.08228972]
 [ 0.30973823  0.93663543  0.16363334]
 [ 0.02799958 -0.18100688  0.98308264]]

 t_gt:
[ 0.56074353 -0.72082265  0.40740816]

Pose Error in degrees for R and t:
20.001575990678816 26.369931568000172

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.72838061 -0.68516882 -0.00232061]
 [ 0.68515904 -0.72838328  0.00385941]
 [-0.00433464  0.00122114  0.99998986]]

 t_estimated:
[[0.99993973]
 [0.01086891]
 [0.0015527 ]]

 R_gt:
[[ 0.99805826  0.00900171 -0.06163159]
 [-0.00690379  0.99939355  0.03416386]
 [ 0.06190185 -0.03367192  0.99751414]]

 t_gt:
[ 0.97900252  0.0951677  -0.18026972]

Pose Error in degrees for R and t:
137.2369706106621 11.564977568096229

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99981295e-01 -6.05596635e-03 -8.57413405e-04]
 [ 6.05584207e-03  9.99981652e-01 -1.47474959e-04]
 [ 8.58290776e-04  1.42279840e-04  9.99999622e-01]]

 t_estimated:
[[-0.99890903]
 [-0.04648262]
 [-0.00448493]]

 R_gt:
[[ 0.98884075  0.08151224 -0.12470253]
 [-0.0721118   0.9943322   0.07813129]
 [ 0.13036438 -0.06826743  0.98911325]]

 t_gt:
[ 0.60984793  0.75141777 -0.2519064 ]

Pose Error in degrees for R and t:
9.681382103292817 49.985556966990785

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 8.03125567e-01  5.95802959e-01  2.85611750e-03]
 [-5.95798363e-01  8.03130624e-01 -2.34737066e-03]
 [-3.69240582e-03  1.83563257e-04  9.99993166e-01]]

 t_estimated:
[[0.72433096]
 [0.68945146]
 [0.00116265]]

 R_gt:
[[ 0.97797096  0.15462249 -0.1402347 ]
 [-0.13412044  0.98023031  0.14547061]
 [ 0.15995576 -0.12345679  0.9793735 ]]

 t_gt:
[0.26213613 0.96366621 0.05130387]

Pose Error in degrees for R and t:
30.52973677372979 31.313760360992358

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[-0.89587278 -0.4437926  -0.02144966]
 [-0.44382045  0.89610807 -0.0037049 ]
 [ 0.02086542  0.00620067 -0.99976306]]

 t_estimated:
[[ 0.97652842]
 [ 0.21514713]
 [-0.01019624]]

 R_gt:
[[ 0.99008817  0.13140667  0.04957604]
 [-0.13256378  0.99095744  0.02079364]
 [-0.04639571 -0.02715965  0.99855381]]

 t_gt:
[-0.85777864  0.46384379  0.22150563]

Pose Error in degrees for R and t:
178.24794189407243 42.25929171363399

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99934287e-01 -1.13847491e-02 -1.34527103e-03]
 [ 1.13844503e-02  9.99935169e-01 -2.29509064e-04]
 [ 1.34779672e-03  2.14178811e-04  9.99999069e-01]]

 t_estimated:
[[-0.94703933]
 [-0.32110916]
 [-0.00232688]]

 R_gt:
[[ 0.96575052  0.25484016  0.0488091 ]
 [-0.25725339  0.9649484   0.05192662]
 [-0.0338657  -0.0627044   0.99745731]]

 t_gt:
[-0.8273522   0.52142683  0.20881188]

Pose Error in degrees for R and t:
16.047817051727357 52.00343273845951

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.79160015  0.6110306  -0.00328657]
 [-0.60910412  0.78950928  0.07528131]
 [ 0.04859396 -0.05759084  0.99715692]]

 t_estimated:
[[0.0311536 ]
 [0.99951124]
 [0.00259613]]

 R_gt:
[[ 0.91807207  0.39312223  0.05099177]
 [-0.39307134  0.91943712 -0.01144416]
 [-0.05138378 -0.00953707  0.99863273]]

 t_gt:
[-0.78733978  0.61301626  0.06562875]

Pose Error in degrees for R and t:
15.73020360855357 53.95938719086938

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 6.02759283e-01  7.97922952e-01  4.56623652e-04]
 [-7.97922307e-01  6.02759397e-01 -1.04937207e-03]
 [-1.11255226e-03  2.68168557e-04  9.99999345e-01]]

 t_estimated:
[[-4.38106570e-01]
 [ 8.98922653e-01]
 [ 8.34617838e-04]]

 R_gt:
[[ 0.99476924 -0.04835722  0.08998777]
 [ 0.03549533  0.98960001  0.13939942]
 [-0.09579219 -0.13547709  0.98613881]]

 t_gt:
[ 0.15278344 -0.19974577  0.96786303]

Pose Error in degrees for R and t:
56.10682525878031 75.77776255833412

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 5.78681778e-01  8.15553425e-01  1.01195119e-04]
 [-8.15552890e-01  5.78681533e-01 -1.08019440e-03]
 [-9.39515985e-04  5.42558842e-04  9.99999411e-01]]

 t_estimated:
[[-2.28413642e-01]
 [ 9.73564021e-01]
 [ 5.53126745e-04]]

 R_gt:
[[ 0.99368508 -0.07616496  0.08240358]
 [ 0.06089092  0.98283554  0.1741449 ]
 [-0.09425158 -0.16802868  0.98126581]]

 t_gt:
[ 0.24373403 -0.25381222  0.93604118]

Pose Error in degrees for R and t:
59.56627525433623 72.40679356547892

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99999875e-01 -5.00736909e-04 -1.50826049e-05]
 [ 5.00737673e-04  9.99999873e-01  5.06734612e-05]
 [ 1.50572289e-05 -5.06810073e-05  9.99999999e-01]]

 t_estimated:
[[ 2.00863261e-02]
 [-9.99798205e-01]
 [-2.97134794e-04]]

 R_gt:
[[ 0.99001726 -0.07512804  0.11926336]
 [ 0.04805717  0.97533006  0.21546039]
 [-0.13250744 -0.20757901  0.96920183]]

 t_gt:
[ 0.17848438 -0.15964817  0.97090462]

Pose Error in degrees for R and t:
14.689528249593277 80.62400797842396

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 6.22758305e-01 -7.82414271e-01  3.78667005e-05]
 [ 7.82414142e-01  6.22758229e-01  5.46576805e-04]
 [-4.51231291e-04 -3.10757803e-04  9.99999850e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99936021 -0.03463401 -0.00890967]
 [ 0.03412493  0.99806179 -0.05204351]
 [ 0.010695    0.05170789  0.99860489]]

 t_gt:
[ 0.5132911  -0.07903823 -0.85456726]

Pose Error in degrees for R and t:
49.59908594930198 59.17744592180668

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99097472e-01  4.24758469e-02  2.09448421e-04]
 [-4.24757915e-02  9.99097462e-01 -2.62124732e-04]
 [-2.20393356e-04  2.52991670e-04  9.99999944e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075586e-03]
 [7.75189834e-04]]

 R_gt:
[[ 0.99474899 -0.09678506 -0.03326414]
 [ 0.09369976  0.99202239 -0.08432765]
 [ 0.04116182  0.08076923  0.99588219]]

 t_gt:
[ 0.62997828 -0.22284423 -0.74395417]

Pose Error in degrees for R and t:
9.460920920835374 51.045180753651664

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 1.00000000e+00 -4.09158818e-13  7.85301186e-17]
 [ 4.09172696e-13  1.00000000e+00  1.27339545e-16]
 [ 2.55065337e-16 -9.56266316e-17  1.00000000e+00]]

 t_estimated:
[[ 9.44485498e-02]
 [-9.95529632e-01]
 [-4.73256871e-04]]

 R_gt:
[[ 0.97944214 -0.19818428 -0.03762636]
 [ 0.19117978  0.9714707  -0.14033917]
 [ 0.06436725  0.13026219  0.98938773]]

 t_gt:
[ 0.63673969 -0.30026966 -0.71021173]

Pose Error in degrees for R and t:
14.034404681080824 68.93648797363815

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.21781426e-01  3.87708989e-01 -8.60970828e-04]
 [-3.87707317e-01  9.21781081e-01  1.63550662e-03]
 [ 1.42772724e-03 -1.17377494e-03  9.99998292e-01]]

 t_estimated:
[[0.0128524 ]
 [0.99991658]
 [0.00128524]]

 R_gt:
[[ 0.99929789 -0.0278532  -0.02507172]
 [ 0.0243953   0.99134395 -0.12900265]
 [ 0.02844708  0.12829919  0.99132658]]

 t_gt:
[ 0.26880721  0.22545919 -0.93643518]

Pose Error in degrees for R and t:
25.46443591597507 76.8387924005664

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.96411837e-01 -8.46371021e-02 -1.12443291e-04]
 [ 8.46368922e-02  9.96411052e-01 -1.26940356e-03]
 [ 2.19478376e-04  1.25533188e-03  9.99999188e-01]]

 t_estimated:
[[-0.41306899]
 [-0.91069558]
 [-0.00275238]]

 R_gt:
[[ 0.99732583 -0.06532341 -0.03279335]
 [ 0.05916436  0.98491713 -0.16259587]
 [ 0.04291983  0.16022115  0.98614654]]

 t_gt:
[ 0.38054489  0.1410068  -0.91394894]

Pose Error in degrees for R and t:
9.55865770937557 73.55528572438224

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.99995429e-01  3.02358418e-03  3.04247349e-06]
 [-3.02358184e-03  9.99995254e-01 -5.92382535e-04]
 [-4.83357751e-06  5.92370628e-04  9.99999825e-01]]

 t_estimated:
[[-0.71669829]
 [-0.69738226]
 [-0.00124535]]

 R_gt:
[[ 0.98711127 -0.15041817 -0.0546407 ]
 [ 0.13623645  0.96896673 -0.20626015]
 [ 0.08397022  0.19615709  0.97696951]]

 t_gt:
[ 0.5125076  -0.00291677 -0.85867773]

Pose Error in degrees for R and t:
14.938149984789309 68.64103562567537

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 0.99695841 -0.07790196 -0.00228543]
 [ 0.07791252  0.99694782  0.00496843]
 [ 0.00189141 -0.00513138  0.99998505]]

 t_estimated:
[[-0.93766838]
 [-0.34752744]
 [-0.00163928]]

 R_gt:
[[ 9.97970424e-01 -1.95784772e-02  6.05937434e-02]
 [ 1.96203751e-02  9.99807444e-01 -1.00887481e-04]
 [-6.05795157e-02  1.28876745e-03  9.98162640e-01]]

 t_gt:
[-0.27740306 -0.19331072  0.94110494]

Pose Error in degrees for R and t:
4.919524251597925 70.9889731433405

Number of keypoints:
Image1: 474
Image2: 474

 R_estimated:
[[ 9.97151573e-01 -7.54236562e-02  1.12111278e-04]
 [ 7.54236359e-02  9.97151566e-01  1.74801939e-04]
 [-1.24976137e-04 -1.65848188e-04  9.99999978e-01]]

 t_estimated:
[[0.08770416]
 [0.99614598]
 [0.00108277]]

 R_gt:
[[ 0.99584089  0.01098508  0.09045041]
 [-0.00868528  0.9996302  -0.02576792]
 [-0.09069976  0.02487513  0.99556776]]

 t_gt:
[-0.66645507  0.1821984   0.72293941]

Pose Error in degrees for R and t:
7.27850189146633 82.88691524634054

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 7.09425661e-01 -7.04751230e-01 -6.39809524e-03]
 [ 7.04762566e-01  7.09442955e-01 -6.47927584e-04]
 [ 4.99571135e-03 -4.04948156e-03  9.99979322e-01]]

 t_estimated:
[[9.63172726e-01]
 [2.68881718e-01]
 [9.60291850e-04]]

 R_gt:
[[ 0.99881253 -0.00610088  0.04835638]
 [ 0.00643931  0.99995546 -0.0068379 ]
 [-0.048313    0.00714086  0.99880626]]

 t_gt:
[-0.85081121 -0.27839335  0.44566515]

Pose Error in degrees for R and t:
44.5595663040885 26.63186659546228

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[-0.72125681 -0.69225947 -0.02377911]
 [-0.69236471  0.72153169 -0.0048102 ]
 [ 0.02048728  0.01299443 -0.99970566]]

 t_estimated:
[[ 0.9307085 ]
 [ 0.36558071]
 [-0.01150804]]

 R_gt:
[[ 0.99991746  0.00658269  0.01112431]
 [-0.0063608   0.99978144 -0.01992416]
 [-0.01125323  0.01985215  0.99973938]]

 t_gt:
[ 0.97061125  0.03665716 -0.23784461]

Pose Error in degrees for R and t:
178.80170031087366 23.147719803497928

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 4.61728435e-01  8.87018056e-01  2.41258537e-03]
 [ 8.87021336e-01 -4.61726891e-01 -1.19528776e-03]
 [ 5.37137164e-05  2.69191304e-03 -9.99996375e-01]]

 t_estimated:
[[0.55135816]
 [0.83426816]
 [0.00090387]]

 R_gt:
[[ 9.94141547e-01 -1.08040791e-01  3.29975206e-03]
 [ 1.08090811e-01  9.93733293e-01 -2.84712860e-02]
 [-2.01748274e-04  2.86609548e-02  9.99589447e-01]]

 t_gt:
[ 0.72005878 -0.68848418 -0.08663073]

Pose Error in degrees for R and t:
178.41204888570323 79.77882544454667

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.86035103e-01  1.66537391e-01  2.69197496e-04]
 [-1.66537522e-01  9.86034952e-01  5.72557478e-04]
 [-1.70085911e-04 -6.09393255e-04  9.99999800e-01]]

 t_estimated:
[[0.49484302]
 [0.86898123]
 [0.0014176 ]]

 R_gt:
[[ 0.98800606 -0.15395128  0.01206068]
 [ 0.15403644  0.98804341 -0.00657295]
 [-0.01090402  0.00835248  0.99990586]]

 t_gt:
[ 0.70798956 -0.70495247  0.04234151]

Pose Error in degrees for R and t:
18.46230467907148 74.80014408063043

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 1.65764851e-01 -9.86150346e-01  5.43218656e-03]
 [-9.86165282e-01 -1.65763583e-01  6.86035484e-04]
 [ 2.23924577e-04 -5.47075436e-03 -9.99985010e-01]]

 t_estimated:
[[0.62560455]
 [0.78013635]
 [0.00249245]]

 R_gt:
[[ 0.99770736 -0.05107728 -0.04440614]
 [ 0.050774    0.99867866 -0.00793383]
 [ 0.04475164  0.00566173  0.99898218]]

 t_gt:
[ 0.82322535 -0.42301658 -0.37862514]

Pose Error in degrees for R and t:
178.27748092788696 79.3937124150536

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-5.08242640e-01  8.61213333e-01 -1.00679891e-03]
 [-8.61212280e-01 -5.08243606e-01 -1.35839184e-03]
 [-1.68156427e-03  1.76674930e-04  9.99998571e-01]]

 t_estimated:
[[0.67946962]
 [0.73370323]
 [0.00077477]]

 R_gt:
[[ 9.93442360e-01 -5.65038898e-02 -9.93939964e-02]
 [ 5.67202820e-02  9.98390597e-01 -6.50091963e-04]
 [ 9.92704924e-02 -4.99096567e-03  9.95048277e-01]]

 t_gt:
[ 0.82678484 -0.26809698 -0.49452083]

Pose Error in degrees for R and t:
123.87844111549268 68.61159097596848

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.75798484  0.64599452  0.0902777 ]
 [ 0.6429705   0.76327514 -0.06324553]
 [-0.10976299  0.01010674 -0.9939064 ]]

 t_estimated:
[[0.415559  ]
 [0.90954752]
 [0.00583356]]

 R_gt:
[[ 0.98750038  0.0591689  -0.14608556]
 [-0.05935783  0.99823268  0.00307233]
 [ 0.14600877  0.00563913  0.98926711]]

 t_gt:
[ 0.39734903  0.56614707 -0.72221274]

Pose Error in degrees for R and t:
178.29790499950707 47.48007476750281

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 3.98470463e-01  9.17179129e-01  1.93252984e-03]
 [-9.17180494e-01  3.98471837e-01 -3.70770071e-04]
 [-1.11012129e-03 -1.62473775e-03  9.99998064e-01]]

 t_estimated:
[[0.20666522]
 [0.97841051]
 [0.00153842]]

 R_gt:
[[ 0.9991053  -0.02454524 -0.03443102]
 [ 0.02383718  0.99949874 -0.0208457 ]
 [ 0.03492578  0.02000656  0.99918978]]

 t_gt:
[ 0.49971136 -0.25265303 -0.8285258 ]

Pose Error in degrees for R and t:
67.94266551706407 81.6511365730023

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 0.80876421 -0.58812288 -0.00345324]
 [ 0.58813004  0.80876486  0.00156598]
 [ 0.00187187 -0.00329746  0.99999281]]

 t_estimated:
[[0.53892903]
 [0.84235046]
 [0.00109538]]

 R_gt:
[[ 0.98627235 -0.13134714  0.10007193]
 [ 0.13357258  0.99091242 -0.01583398]
 [-0.09708168  0.02898251  0.99485484]]

 t_gt:
[ 0.64241571 -0.71003305  0.2883663 ]

Pose Error in degrees for R and t:
29.009225727189364 75.42989989623993

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-2.68753636e-01  9.63201585e-01  3.76701097e-03]
 [ 9.63208690e-01  2.68754388e-01  3.14746873e-04]
 [-7.09236041e-04  3.71300707e-03 -9.99992855e-01]]

 t_estimated:
[[-0.12116116]
 [-0.99263223]
 [-0.00111157]]

 R_gt:
[[ 0.93025529 -0.27844595  0.23894276]
 [ 0.27559696  0.96017422  0.04595732]
 [-0.2422223   0.02309874  0.96994548]]

 t_gt:
[ 0.63515498 -0.63557718  0.43888472]

Pose Error in degrees for R and t:
169.03198189358463 56.395949603464835

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.15295192 -0.98807136  0.01790794]
 [-0.9882001   0.1530709   0.00546518]
 [-0.00814117 -0.01686072 -0.9998247 ]]

 t_estimated:
[[0.76173857]
 [0.64783329]
 [0.00814698]]

 R_gt:
[[ 9.97909991e-01  6.46038535e-02 -1.27999481e-03]
 [-6.46159956e-02  9.97770378e-01 -1.67396896e-02]
 [ 1.95664369e-04  1.67883111e-02  9.99859230e-01]]

 t_gt:
[-0.9426618   0.25763893 -0.21215773]

Pose Error in degrees for R and t:
179.66270851565372 56.4349603910208

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-0.98196992  0.18903412 -0.00108787]
 [-0.18902775 -0.98196201 -0.00437297]
 [-0.00189488 -0.00408849  0.99998985]]

 t_estimated:
[[0.95372186]
 [0.30068731]
 [0.00132461]]

 R_gt:
[[ 0.99669701  0.08113907  0.00352746]
 [-0.0811502   0.99669696  0.00322967]
 [-0.00325355 -0.00350469  0.99998921]]

 t_gt:
[-0.98648961  0.16337199  0.01215898]

Pose Error in degrees for R and t:
164.44914329613047 26.91276421688112

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.99864227  0.05192867 -0.00412598]
 [-0.05183053  0.99843264  0.02111529]
 [ 0.005216   -0.02087277  0.99976853]]

 t_estimated:
[[-0.98940584]
 [-0.14516923]
 [-0.00140941]]

 R_gt:
[[ 0.99610073  0.06107164  0.06366553]
 [-0.06012807  0.99805223 -0.0166273 ]
 [-0.06455706  0.01273463  0.9978335 ]]

 t_gt:
[-0.9918602   0.12506895  0.02389793]

Pose Error in degrees for R and t:
4.47230694657886 15.600031349082101

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999990e-01 -9.72884167e-05  1.06870158e-04]
 [ 9.72944168e-05  9.99999994e-01 -5.61403705e-05]
 [-1.06864696e-04  5.61507677e-05  9.99999993e-01]]

 t_estimated:
[[-0.60680113]
 [-0.79485132]
 [-0.00193866]]

 R_gt:
[[ 9.93974205e-01 -1.09615450e-01 -5.50777740e-04]
 [ 1.09599757e-01  9.93727669e-01  2.21959990e-02]
 [-1.88584118e-03 -2.21217210e-02  9.99753234e-01]]

 t_gt:
[ 0.6005837  -0.77158419  0.20965939]

Pose Error in degrees for R and t:
6.415856041699324 75.61398932481015

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.98986567e-01  4.50091541e-02  1.21940776e-04]
 [-4.50091626e-02  9.98986572e-01  6.77007989e-05]
 [-1.18770042e-04 -7.31206409e-05  9.99999990e-01]]

 t_estimated:
[[ 9.96299175e-01]
 [ 8.59531726e-02]
 [-8.01035884e-05]]

 R_gt:
[[ 0.97186627 -0.23550823 -0.00351506]
 [ 0.23553178  0.97167299  0.01940395]
 [-0.00115404 -0.01968529  0.99980497]]

 t_gt:
[ 0.6912513  -0.71598294  0.0976733 ]

Pose Error in degrees for R and t:
16.24219542018267 51.16025545838436

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.95134883 -0.30810607 -0.00245849]
 [ 0.30811229  0.95134598  0.0027642 ]
 [ 0.0014872  -0.00338721  0.99999316]]

 t_estimated:
[[0.98346187]
 [0.18109784]
 [0.00251525]]

 R_gt:
[[ 0.9526235  -0.30263979 -0.03031679]
 [ 0.30378259  0.95164328  0.04571776]
 [ 0.01501406 -0.05276093  0.99849431]]

 t_gt:
[ 0.70238576 -0.70070515  0.12516603]

Pose Error in degrees for R and t:
2.948137188333515 55.6540593621971

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.59888176e-01  2.80383063e-01  1.66310173e-04]
 [-2.80382983e-01  9.59888134e-01 -3.91295355e-04]
 [-2.69351752e-04  3.28969242e-04  9.99999910e-01]]

 t_estimated:
[[0.5903758 ]
 [0.80712806]
 [0.00084339]]

 R_gt:
[[ 0.99297454 -0.10366055 -0.05707019]
 [ 0.10928159  0.98831483  0.10626438]
 [ 0.0453876  -0.11175388  0.99269845]]

 t_gt:
[ 0.71425581 -0.60507048  0.35175041]

Pose Error in degrees for R and t:
23.45764869022494 86.19314071893602

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[ 2.01830504e-01  9.79420437e-01  2.35260303e-04]
 [-9.79418893e-01  2.01830605e-01 -1.74336954e-03]
 [-1.75497449e-03  1.21446769e-04  9.99998453e-01]]

 t_estimated:
[[0.0099884 ]
 [0.9999495 ]
 [0.00110982]]

 R_gt:
[[ 0.97171705 -0.21362483 -0.10064686]
 [ 0.22653755  0.96361512  0.14186779]
 [ 0.06667865 -0.16065502  0.98475579]]

 t_gt:
[ 0.78106217 -0.56668636  0.26231368]

Pose Error in degrees for R and t:
91.60872711736805 56.043380330781844

Number of keypoints:
Image1: 18
Image2: 18

 R_estimated:
[[-2.55538302e-01 -9.66798773e-01  5.56254272e-04]
 [ 9.66795931e-01 -2.55538900e-01 -2.34484362e-03]
 [ 2.40913654e-03 -6.14129912e-05  9.99997096e-01]]

 t_estimated:
[[ 0.93799235]
 [-0.34664904]
 [-0.00218875]]

 R_gt:
[[ 0.95550458 -0.27038659 -0.11790703]
 [ 0.2853679   0.94851164  0.1374465 ]
 [ 0.07467201 -0.16497787  0.98346623]]

 t_gt:
[ 0.80626169 -0.55545798  0.20349083]

Pose Error in degrees for R and t:
89.02541393597211 18.49146996853816

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999505e-01 -9.56942279e-04 -2.70734966e-04]
 [ 9.56935415e-04  9.99999542e-01 -2.54812464e-05]
 [ 2.70759226e-04  2.52221579e-05  9.99999963e-01]]

 t_estimated:
[[-0.94359963]
 [-0.33108645]
 [-0.00122347]]

 R_gt:
[[ 0.99691603  0.07799458  0.00864773]
 [-0.07803116  0.99694318  0.00398907]
 [-0.00831027 -0.00465025  0.99995422]]

 t_gt:
[-0.94795736  0.31177751  0.0645881 ]

Pose Error in degrees for R and t:
4.563935278042799 37.70333944642108

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99386862e-01 -3.50118509e-02 -2.63485206e-04]
 [ 3.50118432e-02  9.99386897e-01 -3.36585360e-05]
 [ 2.64502110e-04  2.44127960e-05  9.99999965e-01]]

 t_estimated:
[[-9.88821006e-01]
 [-1.49105514e-01]
 [-7.50359153e-04]]

 R_gt:
[[ 9.89441194e-01  1.44931520e-01 -9.00222257e-04]
 [-1.44934195e-01  9.89433037e-01 -3.98893499e-03]
 [ 3.12715627e-04  4.07788984e-03  9.99990841e-01]]

 t_gt:
[-0.95183331  0.30510009 -0.03045137]

Pose Error in degrees for R and t:
10.342612899976354 26.39848548147185

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.94829906  0.31732759 -0.00566572]
 [-0.31727044  0.94829121  0.00912445]
 [ 0.0082682  -0.00685514  0.99994232]]

 t_estimated:
[[-0.99712166]
 [ 0.07542185]
 [-0.00774186]]

 R_gt:
[[ 0.9919005   0.1245367   0.02498022]
 [-0.12461505  0.99220411  0.001577  ]
 [-0.02458945 -0.00467682  0.99968583]]

 t_gt:
[-0.97087637  0.23472199  0.04800679]

Pose Error in degrees for R and t:
11.492423229932745 9.798158610771758

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.97426852e-01  7.16914315e-02  1.19986930e-04]
 [-7.16914281e-02  9.97426859e-01 -3.20079806e-05]
 [-1.21972884e-04  2.33235850e-05  9.99999992e-01]]

 t_estimated:
[[0.61063973]
 [0.7919069 ]
 [0.00161081]]

 R_gt:
[[ 0.99972654 -0.00256776  0.02324834]
 [ 0.00216392  0.99984554  0.01740345]
 [-0.0232892  -0.01734856  0.99957848]]

 t_gt:
[0.05471972 0.03288015 0.99796024]

Pose Error in degrees for R and t:
4.559438314435929 86.49936693900601

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 9.99972144e-01 -7.46310597e-03  1.18553074e-04]
 [ 7.46311023e-03  9.99972150e-01 -3.55241619e-05]
 [-1.18284652e-04  3.64079470e-05  9.99999992e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99208514 -0.12278248  0.02628611]
 [ 0.12196172  0.99205545  0.03084522]
 [-0.02986467 -0.02739468  0.99917824]]

 t_gt:
[ 0.7987246  -0.52868578  0.28728099]

Pose Error in degrees for R and t:
6.999445344283169 37.12659166232067

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-0.96776649 -0.25181362 -0.00423366]
 [-0.25182099  0.96777296  0.00129788]
 [ 0.0037704   0.00232217 -0.9999902 ]]

 t_estimated:
[[8.14934387e-01]
 [5.79552853e-01]
 [6.59332029e-04]]

 R_gt:
[[ 0.97159858 -0.23525457  0.02550048]
 [ 0.23471231  0.9718027   0.02254169]
 [-0.0300845  -0.01591484  0.99942103]]

 t_gt:
[ 0.82102367 -0.55953523  0.11331574]

Pose Error in degrees for R and t:
178.48586217034244 69.8258410346014

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999955e-01  2.92426589e-04  7.30472715e-05]
 [-2.92427274e-04  9.99999957e-01  9.37503821e-06]
 [-7.30445269e-05 -9.39639880e-06  9.99999997e-01]]

 t_estimated:
[[9.20334610e-01]
 [3.91131254e-01]
 [7.39520397e-04]]

 R_gt:
[[ 0.9950368  -0.09945284  0.00321567]
 [ 0.0994657   0.99503119 -0.00439661]
 [-0.00276208  0.00469426  0.99998583]]

 t_gt:
[ 0.58863693 -0.80778635  0.0314289 ]

Pose Error in degrees for R and t:
5.733139019839804 76.94915163315245

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 5.94533908e-01  8.04068572e-01  1.77897200e-03]
 [-8.04068737e-01  5.94535805e-01 -8.02340441e-04]
 [-1.70279928e-03 -9.53397170e-04  9.99998096e-01]]

 t_estimated:
[[-0.70541152]
 [ 0.70879581]
 [ 0.00175467]]

 R_gt:
[[ 0.98279575 -0.18179891 -0.03259059]
 [ 0.18201177  0.98328921  0.00370444]
 [ 0.03137239 -0.00957205  0.99946237]]

 t_gt:
[ 0.66551583 -0.73957531 -0.10058344]

Pose Error in degrees for R and t:
64.03218151279975 6.359266394141545

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99161490e-01  4.09395522e-02  5.19398101e-04]
 [-4.09397271e-02  9.99161563e-01  3.30612773e-04]
 [-5.05427480e-04 -3.51599567e-04  9.99999810e-01]]

 t_estimated:
[[0.99296629]
 [0.11837707]
 [0.00219468]]

 R_gt:
[[ 0.96830591 -0.24906456 -0.01871622]
 [ 0.24690578  0.96583446 -0.07874931]
 [ 0.03769069  0.07163294  0.99671869]]

 t_gt:
[ 0.62334189 -0.68217169 -0.38221286]

Pose Error in degrees for R and t:
17.364360712798224 57.49554695796397

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.29744179e-01 -3.68200287e-01 -2.07603752e-03]
 [ 3.68202607e-01  9.29745179e-01  8.61735831e-04]
 [ 1.61289449e-03 -1.56559630e-03  9.99997474e-01]]

 t_estimated:
[[-0.17110807]
 [-0.9852513 ]
 [-0.0013799 ]]

 R_gt:
[[ 0.98321596  0.18221451  0.00918959]
 [-0.18197611  0.98305089 -0.02227975]
 [-0.01309314  0.02023323  0.99970966]]

 t_gt:
[-0.58568218  0.80871725 -0.05433963]

Pose Error in degrees for R and t:
32.13217855092738 45.853148291273456

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 8.22127997e-01  5.69302337e-01  6.36732779e-04]
 [-5.69302399e-01  8.22128195e-01 -9.72685420e-05]
 [-5.78851179e-04 -2.82526307e-04  9.99999793e-01]]

 t_estimated:
[[-0.52306869]
 [ 0.85228986]
 [ 0.0010695 ]]

 R_gt:
[[ 0.92076139  0.38985653 -0.01450263]
 [-0.38995463  0.9208231  -0.0045149 ]
 [ 0.01159478  0.00981266  0.99988505]]

 t_gt:
[-0.52036574  0.85175307 -0.0611245 ]

Pose Error in degrees for R and t:
11.786196388943429 3.5675258425310847

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 6.75043551e-01  7.37777431e-01  8.16187915e-04]
 [-7.37776736e-01  6.75044039e-01 -1.01643615e-03]
 [-1.30086644e-03  8.39742145e-05  9.99999150e-01]]

 t_estimated:
[[-7.71185278e-01]
 [ 6.36610336e-01]
 [ 7.40089963e-04]]

 R_gt:
[[ 0.85615966  0.51459041 -0.04676147]
 [-0.51637657  0.85535071 -0.0415936 ]
 [ 0.01859376  0.05975809  0.99803915]]

 t_gt:
[-0.44135921  0.88925567 -0.12010997]

Pose Error in degrees for R and t:
16.864057888513866 24.988826973364315

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.62692373e-01 -2.70598176e-01 -1.51370260e-04]
 [ 2.70598208e-01  9.62692341e-01  2.57340701e-04]
 [ 7.60870658e-05 -2.88700451e-04  9.99999955e-01]]

 t_estimated:
[[ 7.60933362e-01]
 [-6.48829979e-01]
 [ 2.76622547e-04]]

 R_gt:
[[ 0.99290441 -0.11736344 -0.01915963]
 [ 0.11839208  0.99072625  0.06667043]
 [ 0.01115679 -0.06846546  0.99759054]]

 t_gt:
[ 0.7401908  -0.60705402  0.28914184]

Pose Error in degrees for R and t:
9.760119798681462 16.825513064883726

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.96143339e-01 -8.77405569e-02  2.07703840e-04]
 [ 8.77406085e-02  9.96143324e-01 -2.53906309e-04]
 [-1.84624912e-04  2.71151140e-04  9.99999946e-01]]

 t_estimated:
[[-0.40872539]
 [-0.91265673]
 [-0.00111427]]

 R_gt:
[[ 0.97606444 -0.20755915 -0.06495008]
 [ 0.21244362  0.97385467  0.08046981]
 [ 0.04654982 -0.09234239  0.99463831]]

 t_gt:
[ 0.79798729 -0.58591423  0.14114104]

Pose Error in degrees for R and t:
9.280574270167461 77.97001103180648

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[ 6.54136609e-02 -9.97856787e-01 -1.69852665e-03]
 [-9.97858229e-01 -6.54134087e-02 -2.03696590e-04]
 [ 9.21536073e-05  1.70821333e-03 -9.99998537e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.97594859 -0.2085015  -0.06364301]
 [ 0.21295981  0.9742647   0.07387757]
 [ 0.04660139 -0.08565374  0.99523399]]

 t_gt:
[ 0.78579835 -0.60717032  0.11775038]

Pose Error in degrees for R and t:
178.8833364727278 72.0880749129281

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.91845538e-01  1.27445741e-01  1.04629029e-04]
 [-1.27445715e-01  9.91845520e-01 -2.32586742e-04]
 [-1.33418023e-04  2.17355601e-04  9.99999967e-01]]

 t_estimated:
[[-0.90055104]
 [-0.43474878]
 [-0.00115013]]

 R_gt:
[[ 0.99711469 -0.0526674   0.05465539]
 [ 0.05329972  0.99852686 -0.01020029]
 [-0.05403852  0.01308392  0.9984536 ]]

 t_gt:
[ 0.54491533 -0.71842043  0.43236485]

Pose Error in degrees for R and t:
10.836585773794683 79.6949496588341

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 0.99329738  0.11556272 -0.00236064]
 [-0.11540643  0.99268089  0.03558105]
 [ 0.00645521 -0.03507013  0.99936401]]

 t_estimated:
[[0.8599672 ]
 [0.51034662]
 [0.00165697]]

 R_gt:
[[ 0.94661172 -0.21307581  0.2419162 ]
 [ 0.20939224  0.97696588  0.04114549]
 [-0.24511232  0.01170712  0.96942472]]

 t_gt:
[ 0.53819544 -0.60043773  0.591456  ]

Pose Error in degrees for R and t:
23.865056811621454 80.94519879601023

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.99995302  0.0096074  -0.00128307]
 [-0.00960369  0.99994978  0.00286477]
 [ 0.00131053 -0.00285231  0.99999507]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.891489   -0.3486983   0.28923246]
 [ 0.33930256  0.93694154  0.08375573]
 [-0.30020039  0.02347088  0.95358829]]

 t_gt:
[ 0.66375493 -0.60845073  0.43499093]

Pose Error in degrees for R and t:
27.45633001398042 49.12970462629779

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.70354343e-01 -2.41685831e-01 -6.38744047e-04]
 [ 2.41686096e-01  9.70354415e-01  3.75403198e-04]
 [ 5.29078472e-04 -5.18649679e-04  9.99999726e-01]]

 t_estimated:
[[-0.27052339]
 [-0.96271278]
 [-0.00109524]]

 R_gt:
[[ 0.99680433  0.0534229  -0.0593974 ]
 [-0.05271464  0.99851874  0.01343809]
 [ 0.0600284  -0.01026372  0.99814306]]

 t_gt:
[-0.06333405  0.80454041 -0.59051124]

Pose Error in degrees for R and t:
17.37500521919659 40.82049747034726

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.99576142 -0.09191408 -0.00331544]
 [ 0.09193622  0.99573819  0.00729346]
 [ 0.00263094 -0.00756735  0.99996791]]

 t_estimated:
[[0.05491632]
 [0.99847848]
 [0.00499239]]

 R_gt:
[[ 0.98053212  0.16248242 -0.11025974]
 [-0.16304488  0.9866101   0.00396276]
 [ 0.10942798  0.01409178  0.9938943 ]]

 t_gt:
[-0.20708236  0.88247006 -0.42233103]

Pose Error in degrees for R and t:
15.919567944965868 29.813686117979604

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.93352798e-01 -1.15109523e-01  1.30351233e-04]
 [ 1.15109330e-01  9.93352295e-01  1.02950509e-03]
 [-2.47990536e-04 -1.00765712e-03  9.99999462e-01]]

 t_estimated:
[[8.62456961e-01]
 [5.06129886e-01]
 [7.27198112e-04]]

 R_gt:
[[ 0.9776701   0.14397185 -0.1530831 ]
 [-0.14066845  0.98953125  0.03225381]
 [ 0.15612481 -0.00999817  0.98768615]]

 t_gt:
[-0.01753738  0.87195867 -0.48926529]

Pose Error in degrees for R and t:
17.347304776641163 64.79594622411675

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 8.04052829e-01 -5.94557842e-01 -1.44648450e-04]
 [ 5.94557714e-01  8.04052438e-01  8.95376138e-04]
 [-4.16047965e-04 -8.05931568e-04  9.99999589e-01]]

 t_estimated:
[[0.79959894]
 [0.60053264]
 [0.00144065]]

 R_gt:
[[ 0.99946659 -0.0230129   0.02317365]
 [ 0.02178573  0.99841556  0.05188368]
 [-0.0243298  -0.05135014  0.9983848 ]]

 t_gt:
[ 0.14081493 -0.44371038  0.885038  ]

Pose Error in degrees for R and t:
35.33758104103546 81.22282922715995

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999709e-01 -7.60529596e-04 -5.15943673e-05]
 [ 7.60521013e-04  9.99999697e-01 -1.66168744e-04]
 [ 5.17207279e-05  1.66129458e-04  9.99999985e-01]]

 t_estimated:
[[-0.99991108]
 [-0.01325361]
 [-0.00147262]]

 R_gt:
[[ 0.9999694  -0.00124503  0.00772559]
 [ 0.00168967  0.99832145 -0.05789273]
 [-0.00764005  0.05790412  0.99829357]]

 t_gt:
[-0.02450906  0.3241997  -0.94567112]

Pose Error in degrees for R and t:
3.3391534534887577 88.76216128010309

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 5.26640984e-01 -8.50086555e-01  1.45718206e-03]
 [-8.50084064e-01 -5.26642978e-01 -2.06345148e-03]
 [ 2.52152706e-03 -1.52029130e-04 -9.99996809e-01]]

 t_estimated:
[[9.07027983e-01]
 [4.21069757e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99855472 -0.02448167 -0.0478494 ]
 [ 0.01721659  0.98902627 -0.14672957]
 [ 0.05091655  0.14569356  0.98801897]]

 t_gt:
[ 0.13669094  0.15824456 -0.97789276]

Pose Error in degrees for R and t:
171.20518442937188 79.05160513151074

Number of keypoints:
Image1: 505
Image2: 505

 R_estimated:
[[ 9.99999872e-01 -5.04980217e-04 -2.23732450e-05]
 [ 5.04981022e-04  9.99999872e-01  3.60041341e-05]
 [ 2.23550607e-05 -3.60154275e-05  9.99999999e-01]]

 t_estimated:
[[-5.71889146e-01]
 [ 8.20330788e-01]
 [-4.50981251e-04]]

 R_gt:
[[ 0.99762468  0.03578046  0.05886961]
 [-0.0351121   0.99930727 -0.01235094]
 [-0.05927034  0.01025454  0.99818874]]

 t_gt:
[-0.67722723  0.45229216  0.58034048]

Pose Error in degrees for R and t:
4.019225017111393 40.70597160917012

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 4.56444822e-01 -8.89751720e-01  3.87565939e-05]
 [ 8.89751240e-01  4.56444530e-01 -1.05923581e-03]
 [ 9.24766647e-04  5.17966427e-04  9.99999438e-01]]

 t_estimated:
[[-0.04876642]
 [-0.99880858]
 [-0.00180616]]

 R_gt:
[[ 0.9985549   0.03094832  0.04393015]
 [-0.02981472  0.99921093 -0.0262304 ]
 [-0.04470757  0.02488245  0.99868988]]

 t_gt:
[-0.91046516  0.30613541  0.27809045]

Pose Error in degrees for R and t:
64.64357748410532 74.81878229874606

Number of keypoints:
Image1: 348
Image2: 348

 R_estimated:
[[ 9.99396403e-01  3.47392712e-02  1.09250582e-04]
 [-3.47392667e-02  9.99396409e-01 -4.31875648e-05]
 [-1.10684943e-04  3.93662118e-05  9.99999993e-01]]

 t_estimated:
[[8.89151199e-01]
 [4.57613092e-01]
 [6.34610542e-04]]

 R_gt:
[[ 0.99971087  0.02397355  0.00182122]
 [-0.02399938  0.99959154  0.01551849]
 [-0.00144896 -0.01555729  0.99987758]]

 t_gt:
[-0.97893678 -0.15144564  0.13691967]

Pose Error in degrees for R and t:
1.088876201125106 20.00890838138792

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99408023e-01  3.43892152e-02 -9.93146096e-04]
 [-3.43869726e-02  9.99406187e-01  2.19320915e-03]
 [ 1.06797909e-03 -2.15775954e-03  9.99997102e-01]]

 t_estimated:
[[0.51773858]
 [0.85553816]
 [0.00110392]]

 R_gt:
[[ 0.99917948  0.03927797 -0.00984059]
 [-0.03939664  0.99914957 -0.01215898]
 [ 0.00935483  0.01253691  0.99987741]]

 t_gt:
[ 0.19922221  0.89448265 -0.40026404]

Pose Error in degrees for R and t:
1.0083568396317626 29.776731869211876

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.99715067e-01 -2.38659198e-02 -4.49144585e-04]
 [ 2.38660537e-02  9.99715122e-01  2.95166599e-04]
 [ 4.41972211e-04 -3.05801805e-04  9.99999856e-01]]

 t_estimated:
[[-0.89023696]
 [-0.45545254]
 [-0.00641361]]

 R_gt:
[[ 0.99857221  0.05336202  0.00207892]
 [-0.05333313  0.99850462 -0.01199479]
 [-0.0027147   0.01186659  0.99992585]]

 t_gt:
[ 0.37369548  0.91891933 -0.12624954]

Pose Error in degrees for R and t:
4.4841977715206385 41.37565786580921

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.56418926e-01 -2.91995057e-01 -1.31354111e-03]
 [-2.91998005e-01 -9.56408285e-01 -4.51180908e-03]
 [ 6.11443543e-05  4.69873098e-03 -9.99988959e-01]]

 t_estimated:
[[0.88408775]
 [0.46731957]
 [0.00112336]]

 R_gt:
[[ 0.99983217 -0.01786086 -0.00406037]
 [ 0.01773443  0.99941417 -0.02926252]
 [ 0.00458122  0.02918584  0.99956373]]

 t_gt:
[ 0.93405892 -0.26985393 -0.23390766]

Pose Error in degrees for R and t:
178.04061843633775 45.619570204319096

Number of keypoints:
Image1: 478
Image2: 478

 R_estimated:
[[ 9.98954574e-01 -4.57138563e-02  3.87440207e-05]
 [ 4.57138537e-02  9.98954573e-01  6.40682383e-05]
 [-4.16323229e-05 -6.22301213e-05  9.99999997e-01]]

 t_estimated:
[[0.46266523]
 [0.88653254]
 [0.00096995]]

 R_gt:
[[ 0.99896352 -0.04392863  0.01197997]
 [ 0.04446031  0.99783449 -0.0484799 ]
 [-0.00982368  0.0489616   0.99875259]]

 t_gt:
[ 0.36171772  0.49383168 -0.79075316]

Pose Error in degrees for R and t:
2.8659971134912237 52.81539449969178

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[ 9.96319013e-01 -8.57228887e-02  9.96098099e-05]
 [ 8.57228802e-02  9.96319015e-01  8.66230253e-05]
 [-1.06668724e-04 -7.77653273e-05  9.99999991e-01]]

 t_estimated:
[[0.52538973]
 [0.85086115]
 [0.00096579]]

 R_gt:
[[ 0.99447169 -0.08720421  0.0585065 ]
 [ 0.08968652  0.99511614 -0.04123982]
 [-0.05462512  0.04625906  0.99743482]]

 t_gt:
[0.88612486 0.38381588 0.25974624]

Pose Error in degrees for R and t:
4.1058073791970315 37.59097105357027

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[ 9.98312889e-01 -5.80626824e-02 -3.16615380e-04]
 [ 5.80628439e-02  9.98312791e-01  5.27000449e-04]
 [ 2.85482124e-04 -5.44494930e-04  9.99999811e-01]]

 t_estimated:
[[0.65747575]
 [0.75347527]
 [0.00080672]]

 R_gt:
[[ 0.98155307 -0.16829249  0.09073265]
 [ 0.17216445  0.98438688 -0.03664459]
 [-0.08314899  0.05158859  0.99520088]]

 t_gt:
[0.96822427 0.00325622 0.25006232]

Pose Error in degrees for R and t:
8.604015963679435 50.26488931612551

Number of keypoints:
Image1: 416
Image2: 416

 R_estimated:
[[ 9.97325270e-01  7.30909685e-02  1.26399617e-04]
 [-7.30909741e-02  9.97325277e-01  3.98590936e-05]
 [-1.23148193e-04 -4.89911524e-05  9.99999991e-01]]

 t_estimated:
[[0.26508849]
 [0.96422299]
 [0.00145653]]

 R_gt:
[[ 0.99925555 -0.0378894  -0.00733685]
 [ 0.03797432  0.99920924  0.01184428]
 [ 0.00688294 -0.01211479  0.99990335]]

 t_gt:
[ 0.34209229 -0.93871563  0.04225897]

Pose Error in degrees for R and t:
6.4150717021274355 35.473411466173715

Number of keypoints:
Image1: 542
Image2: 542

 R_estimated:
[[-0.11377205 -0.99334987  0.01766201]
 [-0.99331261  0.11408338  0.01774966]
 [-0.01964657 -0.01552448 -0.99968645]]

 t_estimated:
[[0.71283656]
 [0.70118151]
 [0.01444024]]

 R_gt:
[[ 9.98447737e-01 -1.81782859e-02  5.26523515e-02]
 [ 1.81206469e-02  9.99834999e-01  1.56604509e-03]
 [-5.26714420e-02 -6.10129999e-04  9.98612507e-01]]

 t_gt:
[-0.52661171 -0.19211426  0.82811365]

Pose Error in degrees for R and t:
176.27305973515038 60.123186024346616

Number of keypoints:
Image1: 404
Image2: 404

 R_estimated:
[[ 9.99504547e-01  3.14725227e-02  3.76529218e-04]
 [-3.14725460e-02  9.99504615e-01  5.59956721e-05]
 [-3.74580366e-04 -6.78182620e-05  9.99999928e-01]]

 t_estimated:
[[0.52427966]
 [0.85154207]
 [0.00263452]]

 R_gt:
[[ 0.99910874 -0.00367432  0.04204946]
 [ 0.00435939  0.99985925 -0.01622904]
 [-0.04198335  0.01639661  0.99898417]]

 t_gt:
[-0.91100609 -0.06059512  0.40791683]

Pose Error in degrees for R and t:
3.272603615936343 58.119687118465805

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.24994725 -0.9682566  -0.00235223]
 [ 0.96825728 -0.2499511   0.00151222]
 [-0.00205216 -0.00189959  0.99999609]]

 t_estimated:
[[0.99987116]
 [0.01595089]
 [0.00179942]]

 R_gt:
[[ 0.99984587  0.01432041 -0.01021757]
 [-0.01522617  0.99537704 -0.09482707]
 [ 0.00881217  0.09496769  0.99544095]]

 t_gt:
[-0.07147141  0.43597768 -0.89711499]

Pose Error in degrees for R and t:
105.43214043382554 86.20870728850622

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.42377001  0.90575723  0.00477658]
 [ 0.90576884 -0.42375589 -0.00370866]
 [-0.00133504  0.00589809 -0.99998171]]

 t_estimated:
[[8.78988727e-01]
 [4.76841953e-01]
 [7.54496761e-04]]

 R_gt:
[[ 0.99783975  0.00377852 -0.0655887 ]
 [-0.0160822   0.98201603 -0.1881068 ]
 [ 0.06369859  0.18875564  0.97995514]]

 t_gt:
[ 0.04809909  0.33764706 -0.94004305]

Pose Error in degrees for R and t:
172.51312734625614 78.31250421526678

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 8.38862728e-02  9.96474943e-01 -8.84270588e-04]
 [-9.96426073e-01  8.38732691e-02 -1.00177497e-02]
 [-9.90826993e-03  1.72146196e-03  9.99949430e-01]]

 t_estimated:
[[0.648646  ]
 [0.76107797]
 [0.00432431]]

 R_gt:
[[ 0.98940551 -0.14176679 -0.03129813]
 [ 0.12734607  0.9509773  -0.28182332]
 [ 0.06971661  0.27485218  0.95895521]]

 t_gt:
[ 0.32103863 -0.09118041 -0.9426666 ]

Pose Error in degrees for R and t:
94.1248155983777 82.25475801089698

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 8.43747140e-01 -5.36740323e-01 -7.67748650e-04]
 [ 5.36740727e-01  8.43747100e-01  4.71554308e-04]
 [ 3.94683486e-04 -8.09954568e-04  9.99999594e-01]]

 t_estimated:
[[9.94058795e-01]
 [1.08840948e-01]
 [8.71425573e-04]]

 R_gt:
[[ 0.99115484 -0.13244973 -0.00842308]
 [ 0.13254182  0.99111075  0.01150276]
 [ 0.00682483 -0.01251699  0.99989863]]

 t_gt:
[ 0.65379383 -0.75516233  0.04778587]

Pose Error in degrees for R and t:
24.859313844511533 55.405928863589175

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 6.57056921e-01  7.53840950e-01 -1.56897998e-04]
 [ 7.53828480e-01 -6.57044826e-01  5.89238620e-03]
 [ 4.33883299e-03 -3.98990731e-03 -9.99982627e-01]]

 t_estimated:
[[-0.74837491]
 [-0.66327543]
 [-0.00083431]]

 R_gt:
[[ 0.99035083 -0.1384194  -0.00667525]
 [ 0.13852791  0.99015037  0.02031006]
 [ 0.00379891 -0.02103882  0.9997716 ]]

 t_gt:
[ 0.66401539 -0.74323154  0.08179512]

Pose Error in degrees for R and t:
178.49416486037526 89.76889757298065

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-0.41804447 -0.90668421 -0.05623677]
 [ 0.90744521 -0.41391521 -0.07223149]
 [ 0.04221389 -0.08122776  0.9958012 ]]

 t_estimated:
[[9.96995053e-01]
 [7.74607685e-02]
 [8.32911490e-04]]

 R_gt:
[[ 0.99639105 -0.05547357 -0.0642532 ]
 [ 0.0585239   0.99719745  0.04661136]
 [ 0.06148709 -0.05020295  0.99684417]]

 t_gt:
[ 0.72289795 -0.68639416 -0.07925659]

Pose Error in degrees for R and t:
111.29402137487594 48.12628297512722

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 0.99978771 -0.02056223  0.0013169 ]
 [-0.020397   -0.9967471  -0.07796915]
 [ 0.00291584  0.07792574 -0.9969549 ]]

 t_estimated:
[[-0.02304451]
 [ 0.99895124]
 [-0.03956481]]

 R_gt:
[[ 0.99119441 -0.13238652  0.00279453]
 [ 0.13234302  0.99113026  0.01208368]
 [-0.00436997 -0.01160799  0.99992303]]

 t_gt:
[ 0.81517892 -0.57400977  0.07743456]

Pose Error in degrees for R and t:
176.21319489115322 53.46905545570165

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.26228692 -0.9649817  -0.00398503]
 [ 0.96498766 -0.26227511 -0.0032521 ]
 [ 0.00209304 -0.00469848  0.99998677]]

 t_estimated:
[[0.88916943]
 [0.45757583]
 [0.00144346]]

 R_gt:
[[ 0.97197855 -0.23497619 -0.00664743]
 [ 0.23493219  0.97198846 -0.00678557]
 [ 0.00805591  0.00503385  0.99995459]]

 t_gt:
[ 0.82111226 -0.56937076 -0.03989489]

Pose Error in degrees for R and t:
91.61676127453856 61.99685445816985

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-9.80846334e-01 -1.94783101e-01 -1.10348813e-04]
 [-1.94782898e-01  9.80844117e-01  2.10733840e-03]
 [-3.02238923e-04  2.08846920e-03 -9.99997773e-01]]

 t_estimated:
[[0.92606068]
 [0.37737272]
 [0.00119801]]

 R_gt:
[[ 0.93502301 -0.35313393 -0.03208982]
 [ 0.35340543  0.93546553  0.00306766]
 [ 0.02893567 -0.01420967  0.99947931]]

 t_gt:
[ 0.87196106 -0.48917921 -0.01968788]

Pose Error in degrees for R and t:
178.30641281950324 51.47453687342196

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-9.97580784e-01  6.90326604e-02 -8.18970194e-03]
 [ 6.90296195e-02  9.97614397e-01  6.53735208e-04]
 [ 8.21529364e-03  8.68216726e-05 -9.99966250e-01]]

 t_estimated:
[[ 0.99976913]
 [-0.02124213]
 [-0.00323509]]

 R_gt:
[[ 0.95630454  0.2874195  -0.0535941 ]
 [-0.28628349  0.95773668  0.02794462]
 [ 0.05936142 -0.01138138  0.99817191]]

 t_gt:
[-0.50374629  0.85459174 -0.12614528]

Pose Error in degrees for R and t:
176.22222183258557 58.57545470634765

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99998940e-01 -1.28633625e-03 -6.81860745e-04]
 [ 1.28662149e-03  9.99999085e-01  4.18046595e-04]
 [ 6.81322372e-04 -4.18923449e-04  9.99999680e-01]]

 t_estimated:
[[-0.99995661]
 [-0.00925886]
 [-0.00102876]]

 R_gt:
[[ 0.89226499  0.44988952 -0.03824445]
 [-0.44692297  0.89206795  0.06688106]
 [ 0.06420631 -0.04258435  0.99702791]]

 t_gt:
[-0.45934225  0.8879285  -0.02424195]

Pose Error in degrees for R and t:
27.106599371110317 63.18404655845503

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99997916e-01 -8.65752947e-05 -2.03992484e-03]
 [ 9.44080523e-05  9.99992623e-01  3.83994514e-03]
 [ 2.03957735e-03 -3.84012972e-03  9.99990547e-01]]

 t_estimated:
[[0.68583593]
 [0.72775441]
 [0.00161348]]

 R_gt:
[[ 0.85983361  0.50754362 -0.05555632]
 [-0.5007702   0.85953618  0.10210382]
 [ 0.09957568 -0.05997144  0.99322147]]

 t_gt:
[-0.40646494  0.91246826 -0.04677521]

Pose Error in degrees for R and t:
31.050761992664267 67.34327976883104

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 8.80848082e-01  4.73398139e-01  9.26136183e-04]
 [-4.73398547e-01  8.80848308e-01  2.71863895e-04]
 [-6.87085628e-04 -6.77902313e-04  9.99999534e-01]]

 t_estimated:
[[-0.22796813]
 [ 0.97366705]
 [ 0.00173587]]

 R_gt:
[[ 9.98104869e-01 -1.73527691e-03 -6.15292875e-02]
 [ 8.46053615e-04  9.99895377e-01 -1.44771991e-02]
 [ 6.15478518e-02  1.43984931e-02  9.98000034e-01]]

 t_gt:
[ 0.27078915  0.01051461 -0.96258126]

Pose Error in degrees for R and t:
28.562060671745545 86.95246301629088

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99693438e-01  2.47594472e-02  7.02157653e-06]
 [-2.47594475e-02  9.99693437e-01  4.28924163e-05]
 [-5.95743146e-06 -4.30531174e-05  9.99999999e-01]]

 t_estimated:
[[4.79756917e-01]
 [8.77401255e-01]
 [5.81079795e-04]]

 R_gt:
[[ 0.99902626 -0.03887908 -0.02090101]
 [ 0.03834382  0.99894247 -0.0254157 ]
 [ 0.0218673   0.02459076  0.9994581 ]]

 t_gt:
[ 0.62718567 -0.48714168 -0.60772618]

Pose Error in degrees for R and t:
4.092646808468799 82.71094088333314

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-2.46934181e-01 -9.69028469e-01 -2.70849506e-03]
 [ 9.69031767e-01 -2.46930290e-01 -1.69289327e-03]
 [ 9.71652301e-04 -3.04265097e-03  9.99994899e-01]]

 t_estimated:
[[0.99987968]
 [0.01547801]
 [0.00103187]]

 R_gt:
[[ 0.96760486 -0.19636252  0.15869275]
 [ 0.19948732  0.97989351 -0.00384239]
 [-0.15474782  0.0353755   0.9873198 ]]

 t_gt:
[ 0.63289768 -0.6846071   0.36159874]

Pose Error in degrees for R and t:
93.1722608219753 51.49387525580528

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.88216534e-01 -1.53062282e-01 -1.37077234e-04]
 [ 1.53062316e-01  9.88216496e-01  2.89382078e-04]
 [ 9.11685023e-05 -3.06953513e-04  9.99999949e-01]]

 t_estimated:
[[9.81200480e-01]
 [1.92989208e-01]
 [8.84965386e-04]]

 R_gt:
[[ 0.99157957 -0.12750366 -0.0226577 ]
 [ 0.12801317  0.99151412  0.02264493]
 [ 0.01957768 -0.02535463  0.99948691]]

 t_gt:
[ 0.65203607 -0.74643143  0.13300033]

Pose Error in degrees for R and t:
2.3331538212786813 60.2746728876548

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 8.27112630e-01 -5.62032887e-01 -1.93143320e-03]
 [ 5.62034990e-01  8.27113105e-01  7.62344902e-04]
 [ 1.16905080e-03 -1.71607813e-03  9.99997844e-01]]

 t_estimated:
[[-0.01056483]
 [-0.99994356]
 [-0.00112735]]

 R_gt:
[[ 0.99178991 -0.08880949 -0.09200632]
 [ 0.09574388  0.99265899  0.07390259]
 [ 0.08476788 -0.08210516  0.99301262]]

 t_gt:
[ 0.56386493 -0.78242555  0.26432291]

Pose Error in degrees for R and t:
29.624168467714707 39.09274505667408

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.17740396  0.98411868 -0.00618574]
 [ 0.98412043 -0.17735958  0.00711015]
 [ 0.00590013 -0.00734888 -0.99995559]]

 t_estimated:
[[7.91741062e-01]
 [6.10856400e-01]
 [7.41330582e-04]]

 R_gt:
[[ 0.99102636  0.0063793  -0.13351717]
 [ 0.01972541  0.98094534  0.19327814]
 [ 0.13220578 -0.19417676  0.97201666]]

 t_gt:
[ 0.27064905 -0.58541953  0.76422056]

Pose Error in degrees for R and t:
165.93534568633237 81.79260052067733

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.91614552e-01 -1.29230499e-01 -2.40199727e-04]
 [ 1.29230502e-01  9.91614581e-01 -3.90665712e-06]
 [ 2.38690411e-04 -2.71672334e-05  9.99999971e-01]]

 t_estimated:
[[-0.84585948]
 [-0.53339646]
 [-0.00315619]]

 R_gt:
[[ 0.99397906 -0.10558566 -0.02927507]
 [ 0.10496974  0.99423475 -0.02185705]
 [ 0.03141277  0.0186531   0.99933281]]

 t_gt:
[ 0.75268839 -0.60135745 -0.26801009]

Pose Error in degrees for R and t:
2.498425138452697 71.63551677940838

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.97423675e-01  7.17351076e-02  2.95348014e-04]
 [-7.17350539e-02  9.97423705e-01 -1.88714200e-04]
 [-3.08124544e-04  1.67041205e-04  9.99999939e-01]]

 t_estimated:
[[-0.98920548]
 [ 0.14653165]
 [ 0.00099862]]

 R_gt:
[[ 0.96076815 -0.27723176 -0.00821808]
 [ 0.27711659  0.9607501  -0.01282923]
 [ 0.01145139  0.01004763  0.99988454]]

 t_gt:
[ 0.86438012 -0.49897659 -0.06220425]

Pose Error in degrees for R and t:
20.225025849134166 21.839815514447096

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 7.01756676e-01  7.12416213e-01  8.40759098e-04]
 [-7.12416707e-01  7.01756276e-01  7.51345629e-04]
 [-5.47371667e-05 -1.12623264e-03  9.99999364e-01]]

 t_estimated:
[[8.96281081e-01]
 [4.43485634e-01]
 [8.46346630e-04]]

 R_gt:
[[ 0.87641833 -0.48148544 -0.00789387]
 [ 0.4814845   0.87645146 -0.00212272]
 [ 0.00793996 -0.00194028  0.99996653]]

 t_gt:
[ 0.9208082  -0.38980506 -0.012817  ]

Pose Error in degrees for R and t:
74.21634418634709 49.27575323537874

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.70777127e-01  2.39982718e-01  2.53415054e-04]
 [-2.39982719e-01  9.70777160e-01 -2.58270428e-05]
 [-2.52207590e-04 -3.57429312e-05  9.99999968e-01]]

 t_estimated:
[[-9.29295828e-01]
 [ 3.69336068e-01]
 [ 3.64136259e-04]]

 R_gt:
[[ 0.9544414   0.29666128 -0.03213732]
 [-0.29669455  0.9549651   0.00386682]
 [ 0.03183785  0.00584473  0.999476  ]]

 t_gt:
[-0.54648518  0.83264053 -0.08979811]

Pose Error in degrees for R and t:
3.860096720067274 35.37921583561931

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.25470343e-01 -3.78819648e-01  5.64037120e-04]
 [ 3.78820067e-01  9.25469433e-01 -1.29841686e-03]
 [-3.01332969e-05  1.41531487e-03  9.99998998e-01]]

 t_estimated:
[[-0.59495632]
 [-0.80375705]
 [-0.00125784]]

 R_gt:
[[ 8.68417761e-01  4.90547377e-01 -7.22098072e-02]
 [-4.88878784e-01  8.71414602e-01  4.04406815e-02]
 [ 8.27634247e-02  1.83408774e-04  9.96569337e-01]]

 t_gt:
[-0.42408387  0.89821289 -0.1156135 ]

Pose Error in degrees for R and t:
51.84400687182737 61.998924031263

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-4.64512237e-01 -8.85564856e-01 -1.80768091e-03]
 [ 8.85566697e-01 -4.64511471e-01 -8.47909048e-04]
 [-8.88100642e-05 -1.99468614e-03  9.99998007e-01]]

 t_estimated:
[[ 9.95044595e-01]
 [-9.94261351e-02]
 [ 8.34991105e-04]]

 R_gt:
[[ 0.80812942  0.58515399 -0.06724512]
 [-0.57947176  0.81030908  0.08725703]
 [ 0.10554907 -0.03154761  0.9939136 ]]

 t_gt:
[-0.38325663  0.92082462 -0.07208588]

Pose Error in degrees for R and t:
153.4522138026095 61.77263296490804

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.16508889e-01 -4.00014084e-01 -4.35280640e-04]
 [ 4.00014204e-01  9.16508910e-01  2.32862254e-04]
 [ 3.05790403e-04 -3.87538764e-04  9.99999878e-01]]

 t_estimated:
[[ 5.13845138e-01]
 [-8.57882835e-01]
 [-4.64529098e-04]]

 R_gt:
[[ 0.99975491  0.0107263   0.0194058 ]
 [-0.01017713  0.99955177 -0.02818109]
 [-0.01969808  0.02797687  0.99941414]]

 t_gt:
[-0.49979467  0.83728627 -0.22171376]

Pose Error in degrees for R and t:
24.25845552206896 12.836611632383198

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.96069408e-01 -8.85761368e-02  3.97572593e-05]
 [ 8.85761368e-02  9.96069409e-01  2.74380613e-06]
 [-3.98440256e-05  7.88523087e-07  9.99999999e-01]]

 t_estimated:
[[-9.87955637e-01]
 [-1.54735177e-01]
 [-8.27361459e-04]]

 R_gt:
[[ 0.99975037 -0.0123811   0.01864507]
 [ 0.01328448  0.9987025  -0.04916613]
 [-0.01801126  0.04940175  0.99861705]]

 t_gt:
[-0.36956018  0.8500056  -0.37538748]

Pose Error in degrees for R and t:
5.287531994935455 76.4735705319266

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.88120302e-01 -1.53682310e-01 -1.25643505e-04]
 [ 1.53682338e-01  9.88120272e-01  2.58620430e-04]
 [ 8.44055094e-05 -2.74857285e-04  9.99999959e-01]]

 t_estimated:
[[-0.70572788]
 [-0.70848241]
 [-0.0009076 ]]

 R_gt:
[[ 0.99735045 -0.05298443  0.04985434]
 [ 0.05667284  0.99551593 -0.07574016]
 [-0.04561733  0.07836475  0.99588048]]

 t_gt:
[-0.14311153  0.93436444 -0.32631607]

Pose Error in degrees for R and t:
7.719885156025175 55.89669153431724

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.98432796  0.17634081 -0.00154725]
 [-0.17632867  0.98431295  0.00601761]
 [ 0.00258413 -0.00565048  0.9999807 ]]

 t_estimated:
[[9.33820612e-01]
 [3.57740630e-01]
 [8.39766738e-04]]

 R_gt:
[[ 0.99855415  0.03031252 -0.04439977]
 [-0.03545669  0.99212939 -0.12009182]
 [ 0.04041005  0.12149324  0.99176838]]

 t_gt:
[-0.07113401  0.47304611 -0.87816134]

Pose Error in degrees for R and t:
11.248446635987715 84.14196531789723

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-8.68346960e-01 -4.95952763e-01 -2.10091837e-03]
 [ 4.95950132e-01 -8.68349407e-01  1.66527596e-03]
 [-2.65022943e-03  4.04086575e-04  9.99996406e-01]]

 t_estimated:
[[9.68128501e-01]
 [2.50452511e-01]
 [8.63629349e-04]]

 R_gt:
[[ 0.99296897 -0.10111316 -0.06155868]
 [ 0.08617882  0.9739616  -0.20969475]
 [ 0.08115888  0.20291499  0.97582718]]

 t_gt:
[ 0.30132421 -0.07607029 -0.95048252]

Pose Error in degrees for R and t:
145.0658840716458 74.22575464371755

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99999992e-01  1.23894602e-04  1.65933013e-07]
 [-1.23894602e-04  9.99999992e-01  7.25467053e-10]
 [-1.65932922e-07 -7.46025253e-10  1.00000000e+00]]

 t_estimated:
[[-9.99561465e-01]
 [ 2.96117793e-02]
 [ 1.42621912e-04]]

 R_gt:
[[ 0.98292106 -0.1763302  -0.05267944]
 [ 0.15502466  0.94760133 -0.27932104]
 [ 0.09917258  0.2663838   0.95875079]]

 t_gt:
[ 0.37348504 -0.14619347 -0.91604388]

Pose Error in degrees for R and t:
19.158201066968513 67.80370279243611

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.69424489e-01  2.45389689e-01  2.45163902e-04]
 [-2.45389674e-01  9.69424520e-01 -9.28221918e-05]
 [-2.60445507e-04  2.98234159e-05  9.99999966e-01]]

 t_estimated:
[[0.70623111]
 [0.70797921]
 [0.0017481 ]]

 R_gt:
[[ 0.99634743 -0.04044686 -0.07520596]
 [ 0.04353911  0.99825369  0.03993388]
 [ 0.07345957 -0.04306209  0.9963681 ]]

 t_gt:
[ 0.9110211  -0.26142962 -0.31889671]

Pose Error in degrees for R and t:
17.318312970258912 62.75816348596559

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.99906709 -0.04291756 -0.00479918]
 [ 0.04295889  0.99903748  0.00886809]
 [ 0.00441397 -0.00906598  0.99994916]]

 t_estimated:
[[0.50050257]
 [0.86573418]
 [0.00122974]]

 R_gt:
[[ 0.99152652 -0.01122145 -0.12941846]
 [ 0.01556259  0.99934877  0.03258461]
 [ 0.12896756 -0.03432151  0.99105397]]

 t_gt:
[ 0.76664516  0.1105358  -0.63248481]

Pose Error in degrees for R and t:
7.490583780993566 61.40438227293472

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.76532771  0.6436143   0.00584238]
 [ 0.64363795 -0.7652657  -0.00992937]
 [-0.00191972  0.0113596  -0.99993363]]

 t_estimated:
[[0.27394265]
 [0.9617449 ]
 [0.00147281]]

 R_gt:
[[ 0.9819164  -0.01354688 -0.18883008]
 [ 0.01855251  0.99952121  0.02476457]
 [ 0.18840294 -0.02781871  0.98169718]]

 t_gt:
[ 0.75115328  0.10804573 -0.65122567]

Pose Error in degrees for R and t:
175.5049361926379 72.01751694085588

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.13549392 -0.99077269  0.00329648]
 [-0.99077655  0.13548691 -0.00226423]
 [ 0.00179671 -0.00357286 -0.999992  ]]

 t_estimated:
[[0.61489893]
 [0.78860521]
 [0.00106568]]

 R_gt:
[[ 0.99355126  0.0885583  -0.07080232]
 [-0.08186505  0.99234965  0.09241817]
 [ 0.07844503 -0.08602694  0.99320005]]

 t_gt:
[-0.60439824  0.20027793  0.77109761]

Pose Error in degrees for R and t:
179.79651834622712 77.70870959064955

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.30909799  0.95099652 -0.00800267]
 [ 0.95099799 -0.30900733  0.01083007]
 [ 0.00782648 -0.01095808 -0.99990933]]

 t_estimated:
[[-0.59864092]
 [ 0.80098591]
 [ 0.00711518]]

 R_gt:
[[ 0.98463556  0.13168398 -0.11468463]
 [-0.10944494  0.97713097  0.18231162]
 [ 0.13606977 -0.16695882  0.97652884]]

 t_gt:
[-0.22299565  0.30800507  0.92488151]

Pose Error in degrees for R and t:
166.79227931245106 67.24554014300816

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-9.15560477e-02  9.95797451e-01  2.21980742e-03]
 [-9.95799424e-01 -9.15535381e-02 -1.20719333e-03]
 [-9.98888817e-04 -2.32100880e-03  9.99996808e-01]]

 t_estimated:
[[0.28522815]
 [0.95845896]
 [0.00115477]]

 R_gt:
[[ 0.96683392  0.22633869 -0.11833507]
 [-0.19946068  0.95850624  0.20366979]
 [ 0.15952324 -0.17331098  0.97186175]]

 t_gt:
[-0.44589665  0.76952222  0.45717802]

Pose Error in degrees for R and t:
83.70401828445847 52.34531167284744

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99775364e-01  2.11928869e-02 -2.89333494e-04]
 [-2.11928263e-02  9.99775385e-01  2.11147284e-04]
 [ 2.93743326e-04 -2.04968058e-04  9.99999936e-01]]

 t_estimated:
[[-0.9973463 ]
 [ 0.0727753 ]
 [-0.00202701]]

 R_gt:
[[ 0.99625701  0.02622009 -0.08237014]
 [-0.0284387   0.99926048 -0.0258703 ]
 [ 0.08163154  0.0281155   0.99626639]]

 t_gt:
[ 0.23812276  0.24459589 -0.93993106]

Pose Error in degrees for R and t:
4.953392149349812 77.42102765821879

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.97632286e-01 -6.87729639e-02  3.17562783e-04]
 [ 6.87730256e-02  9.97632315e-01 -1.87611544e-04]
 [-3.03908292e-04  2.09007087e-04  9.99999932e-01]]

 t_estimated:
[[0.81526515]
 [0.57908569]
 [0.00158046]]

 R_gt:
[[ 0.99492862 -0.02045555 -0.09848284]
 [ 0.02018081  0.99978961 -0.00377854]
 [ 0.09854059  0.00177199  0.99513124]]

 t_gt:
[ 0.5453733  -0.35806448 -0.75786397]

Pose Error in degrees for R and t:
6.315869146197146 76.34493907685797

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.49091579 -0.8710089  -0.01857903]
 [ 0.86958612 -0.48859072 -0.07140793]
 [ 0.0531194  -0.05121135  0.99727415]]

 t_estimated:
[[ 0.99949844]
 [-0.02970529]
 [-0.01097583]]

 R_gt:
[[ 0.98920773 -0.06437032 -0.13162529]
 [ 0.06926471  0.99705456  0.03294742]
 [ 0.12911698 -0.04170846  0.99075228]]

 t_gt:
[ 0.61099883 -0.60736574 -0.50772757]

Pose Error in degrees for R and t:
115.44635259995027 50.63138936073134

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.99974697e-01 -7.11350505e-03  6.46293005e-05]
 [ 7.11350167e-03  9.99974697e-01  5.24060111e-05]
 [-6.50004557e-05 -5.19449444e-05  9.99999997e-01]]

 t_estimated:
[[2.79317062e-01]
 [9.60198589e-01]
 [8.05139688e-04]]

 R_gt:
[[ 0.99551653 -0.07734614  0.05446326]
 [ 0.07668149  0.99695462  0.01420101]
 [-0.05539528 -0.00996063  0.99841502]]

 t_gt:
[ 0.74503707 -0.20982168  0.63316241]

Pose Error in degrees for R and t:
5.145661739880963 89.59085509035835

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[-2.81330319e-01  9.59598051e-01  4.98325711e-03]
 [ 9.59609146e-01  2.81336165e-01 -4.99434293e-04]
 [-1.88122662e-03  4.64147309e-03 -9.99987459e-01]]

 t_estimated:
[[8.96529750e-01]
 [4.42982806e-01]
 [8.00679742e-04]]

 R_gt:
[[ 0.985374   -0.14347536  0.09193859]
 [ 0.14273725  0.98965338  0.01458932]
 [-0.09308108 -0.00125244  0.99565836]]

 t_gt:
[ 0.8554411  -0.12363764  0.5029257 ]

Pose Error in degrees for R and t:
175.7586454546822 44.556271140043826

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 5.55989020e-01 -8.31185779e-01 -2.53192432e-03]
 [-8.31189152e-01 -5.55989401e-01 -6.15653635e-04]
 [-8.96000540e-04  2.44680469e-03 -9.99996605e-01]]

 t_estimated:
[[0.00624337]
 [0.99997997]
 [0.00104056]]

 R_gt:
[[ 0.98022295 -0.11996072  0.15739553]
 [ 0.12514859  0.99186123 -0.02343356]
 [-0.15330357  0.04266821  0.98725756]]

 t_gt:
[0.75534528 0.1623037  0.63491024]

Pose Error in degrees for R and t:
177.55561041829927 80.34721700990231

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-2.45092984e-01 -9.69495780e-01 -2.71325891e-03]
 [ 9.69499532e-01 -2.45092861e-01 -3.82884727e-04]
 [-2.93795261e-04 -2.72434560e-03  9.99996246e-01]]

 t_estimated:
[[0.99959949]
 [0.0282758 ]
 [0.00115661]]

 R_gt:
[[ 0.99626686 -0.083969    0.02002036]
 [ 0.08518494  0.9938618  -0.07058485]
 [-0.01397105  0.07202682  0.99730499]]

 t_gt:
[ 0.45067355 -0.70866096 -0.54285633]

Pose Error in degrees for R and t:
99.40111374149213 64.54340405053931

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.71722950e-01  2.36123270e-01  5.57582395e-04]
 [-2.36123087e-01  9.71723082e-01 -3.73565990e-04]
 [-6.30023306e-04  2.31344569e-04  9.99999775e-01]]

 t_estimated:
[[-0.5214838 ]
 [ 0.85326021]
 [ 0.00128732]]

 R_gt:
[[ 0.98695459 -0.16064489  0.01064448]
 [ 0.16097991  0.98375052 -0.07951115]
 [ 0.00230171  0.08018874  0.99677706]]

 t_gt:
[ 0.52326929 -0.75767738 -0.39001825]

Pose Error in degrees for R and t:
23.374251687057132 23.092258720311424

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-5.08261819e-01  8.61202532e-01  3.50426392e-04]
 [-8.61199491e-01 -5.08258847e-01 -2.89515512e-03]
 [-2.31520760e-03 -1.77328384e-03  9.99995748e-01]]

 t_estimated:
[[0.14020694]
 [0.99012117]
 [0.00144543]]

 R_gt:
[[ 0.95337007 -0.30136981  0.01618601]
 [ 0.3017936   0.95152157 -0.0594048 ]
 [ 0.00250176  0.0615205   0.99810285]]

 t_gt:
[ 0.65127757 -0.74033245 -0.16656949]

Pose Error in degrees for R and t:
138.13610298255344 50.062921795772304

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-8.46117564e-01 -5.32996131e-01 -4.38336375e-04]
 [-5.32978479e-01  8.46095696e-01 -7.48426044e-03]
 [ 4.35995638e-03 -6.09894036e-03 -9.99971896e-01]]

 t_estimated:
[[9.58459084e-01]
 [2.85229083e-01]
 [7.44723453e-04]]

 R_gt:
[[ 0.9984176   0.03736904  0.04202766]
 [-0.03330969  0.99506685 -0.09345088]
 [-0.04531153  0.09190383  0.99473609]]

 t_gt:
[-0.55866329  0.61997276 -0.55093476]

Pose Error in degrees for R and t:
179.20259598358842 68.95924434121827

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.11666665 -0.99258167 -0.03421285]
 [ 0.99317057 -0.11663394 -0.00295712]
 [-0.00105519 -0.0343242   0.99941019]]

 t_estimated:
[[0.99474726]
 [0.10173551]
 [0.01130395]]

 R_gt:
[[ 0.99175683  0.07721748  0.10225262]
 [-0.06306265  0.98882496 -0.13508807]
 [-0.1115408   0.12752721  0.98554249]]

 t_gt:
[-0.73092963  0.66905651 -0.1345558 ]

Pose Error in degrees for R and t:
101.32387108131282 48.65859138242128

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.78588338e-01 -2.05827006e-01  3.30101692e-04]
 [ 2.05827160e-01  9.78588214e-01 -5.35391797e-04]
 [-2.12835535e-04  5.91872062e-04  9.99999802e-01]]

 t_estimated:
[[-0.94833837]
 [-0.31725605]
 [-0.0017149 ]]

 R_gt:
[[ 0.98722596  0.13648235  0.08219747]
 [-0.13038245  0.98858409 -0.07551109]
 [-0.09156495  0.06383001  0.99375055]]

 t_gt:
[-0.74989404  0.65202142  0.11192409]

Pose Error in degrees for R and t:
20.572897320416676 59.728134008127874

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-0.07592211 -0.99708618  0.00741473]
 [-0.99707742  0.07598072  0.00797135]
 [-0.0085115  -0.00678786 -0.99994074]]

 t_estimated:
[[0.73998319]
 [0.67259362]
 [0.0065346 ]]

 R_gt:
[[ 0.98670094 -0.16048722 -0.02576996]
 [ 0.16141758  0.98610002  0.03938023]
 [ 0.0190911  -0.04301522  0.99889165]]

 t_gt:
[ 0.53363859 -0.83487688  0.13494611]

Pose Error in degrees for R and t:
178.71136885740327 80.45817981382393

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99998541e-01 -9.61236808e-04 -1.41198670e-03]
 [ 9.63369935e-04  9.99998395e-01  1.51082462e-03]
 [ 1.41053217e-03 -1.51218268e-03  9.99997862e-01]]

 t_estimated:
[[-0.99979246]
 [-0.01946638]
 [-0.00600853]]

 R_gt:
[[ 0.9561144  -0.28766279 -0.05562679]
 [ 0.28979135  0.95645558  0.03483023]
 [ 0.04318454 -0.04942118  0.99784325]]

 t_gt:
[ 0.60965765 -0.78996869  0.06532238]

Pose Error in degrees for R and t:
17.134588376173593 53.51974140515861

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999808e-01 -3.83085901e-04  4.86270546e-04]
 [ 3.83322309e-04  9.99999808e-01 -4.86164391e-04]
 [-4.86084210e-04  4.86350696e-04  9.99999764e-01]]

 t_estimated:
[[0.38147445]
 [0.92437889]
 [0.00096089]]

 R_gt:
[[ 0.93230618 -0.35623357 -0.06246243]
 [ 0.35977185  0.93114458  0.05943675]
 [ 0.0369882  -0.0778849   0.99627531]]

 t_gt:
[ 0.63094165 -0.76571742  0.12485781]

Pose Error in degrees for R and t:
21.574168034725233 62.15994543319024

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 4.09679970e-01 -9.12229138e-01 -5.67645209e-04]
 [-9.12228498e-01 -4.09678692e-01 -1.59304819e-03]
 [ 1.22067283e-03  1.17046207e-03 -9.99998570e-01]]

 t_estimated:
[[5.40169913e-01]
 [8.41555976e-01]
 [6.97645978e-05]]

 R_gt:
[[ 9.90562806e-01 -1.35787595e-01 -1.86417423e-02]
 [ 1.35780465e-01  9.90737591e-01 -1.63041178e-03]
 [ 1.86904057e-02 -9.16212900e-04  9.99824866e-01]]

 t_gt:
[ 0.51013891 -0.86009101 -0.00132243]

Pose Error in degrees for R and t:
179.30358091627977 63.36833809171548

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.77329207e-01  2.11725036e-01  3.60850435e-04]
 [-2.11725068e-01  9.77329265e-01  5.21209174e-05]
 [-3.41634388e-04 -1.27340378e-04  9.99999934e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.9543481  -0.29661318 -0.0352255 ]
 [ 0.2977948   0.95398438  0.03508687]
 [ 0.02319659 -0.04397455  0.9987628 ]]

 t_gt:
[ 0.58511046 -0.80416002  0.10474925]

Pose Error in degrees for R and t:
29.659236105282716 58.68571696683117

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 7.06786886e-01 -7.07426531e-01  2.88150004e-05]
 [ 7.07426256e-01  7.06786646e-01  8.54110826e-04]
 [-6.24586717e-04 -5.83289844e-04  9.99999635e-01]]

 t_estimated:
[[ 0.97137692]
 [-0.23754077]
 [ 0.00112599]]

 R_gt:
[[ 0.93488352 -0.34850378 -0.0673723 ]
 [ 0.35208798  0.93455075  0.05146934]
 [ 0.04502627 -0.07183875  0.99639962]]

 t_gt:
[ 0.58698203 -0.80180707  0.11206035]

Pose Error in degrees for R and t:
24.949248756666275 40.46797585915208

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.79922384e-01  1.99379025e-01  3.53425766e-04]
 [-1.99378901e-01  9.79922408e-01 -3.57758392e-04]
 [-4.17659347e-04  2.80109816e-04  9.99999874e-01]]

 t_estimated:
[[0.55725529]
 [0.83034061]
 [0.00100769]]

 R_gt:
[[ 0.99440877 -0.09660423 -0.0426423 ]
 [ 0.09674344  0.99530936  0.00122515]
 [ 0.04232444 -0.00534341  0.99908915]]

 t_gt:
[ 0.59240709 -0.77700885 -0.21286401]

Pose Error in degrees for R and t:
17.227346325727876 71.62261301801605

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.99496194  0.10018085  0.0038138 ]
 [-0.10014263  0.99493096 -0.00915651]
 [-0.00471178  0.00872845  0.99995081]]

 t_estimated:
[[-0.61178399]
 [-0.79100626]
 [-0.00542584]]

 R_gt:
[[ 0.9619412  -0.27137684 -0.03199792]
 [ 0.2721286   0.9620084   0.02205332]
 [ 0.02479814 -0.02992147  0.99924403]]

 t_gt:
[ 0.69049478 -0.72244328  0.03595379]

Pose Error in degrees for R and t:
21.69874950692815 81.44096194415476

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 7.42786334e-01  6.69528513e-01  1.80718725e-04]
 [-6.69525795e-01  7.42784038e-01 -2.66136665e-03]
 [-1.91609584e-03  1.85583093e-03  9.99996442e-01]]

 t_estimated:
[[0.80019849]
 [0.59973469]
 [0.00082836]]

 R_gt:
[[ 0.91707541 -0.39591108 -0.04718818]
 [ 0.39655311  0.91799982  0.00474199]
 [ 0.04144118 -0.02306148  0.99887486]]

 t_gt:
[ 0.75740228 -0.65292595 -0.00543168]

Pose Error in degrees for R and t:
65.44231473382358 77.61466607000374

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99997806e-01  2.07192445e-03 -3.10008819e-04]
 [-2.07181891e-03  9.99997796e-01  3.40382245e-04]
 [ 3.10713381e-04 -3.39739216e-04  9.99999894e-01]]

 t_estimated:
[[-0.69898654]
 [ 0.71513392]
 [-0.001137  ]]

 R_gt:
[[ 0.99723807  0.04475783  0.05926608]
 [-0.04062761  0.99677919 -0.06914188]
 [-0.06217005  0.06654308  0.99584564]]

 t_gt:
[-0.76637936  0.63736668 -0.08016475]

Pose Error in degrees for R and t:
5.745870197994513 7.439320982508496

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-5.33264626e-01 -8.45938397e-01 -4.13121394e-03]
 [-8.45948476e-01  5.33257574e-01  2.74520273e-03]
 [-1.19271271e-04  4.95871365e-03 -9.99987698e-01]]

 t_estimated:
[[7.70180075e-01]
 [6.37826159e-01]
 [6.65095056e-04]]

 R_gt:
[[ 0.98948427  0.1175773   0.08423457]
 [-0.11341212  0.99215121 -0.05265649]
 [-0.08976467  0.04255049  0.99505423]]

 t_gt:
[-0.74504457  0.62203837  0.24078385]

Pose Error in degrees for R and t:
177.08941384108837 79.81040556864407

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.72366005  0.68972324  0.02445372]
 [-0.68898812  0.72404215 -0.03253188]
 [-0.04014352  0.0066937   0.9991715 ]]

 t_estimated:
[[0.99767343]
 [0.06802319]
 [0.00453488]]

 R_gt:
[[ 0.99408056  0.10413474 -0.03097665]
 [-0.10160199  0.99203706  0.07442426]
 [ 0.03848056 -0.07083633  0.99674571]]

 t_gt:
[-0.82700558  0.48682867  0.28117542]

Pose Error in degrees for R and t:
38.26997479326507 37.74988848829089

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.71978741  0.69419131  0.00212495]
 [-0.69419317  0.71977645  0.00420777]
 [ 0.00139151 -0.00450383  0.99998889]]

 t_estimated:
[[0.75360879]
 [0.65732276]
 [0.00075816]]

 R_gt:
[[ 0.99941819  0.02908087 -0.01782367]
 [-0.02854924  0.99915964  0.02941038]
 [ 0.01866421 -0.02888541  0.99940804]]

 t_gt:
[0.35735461 0.91496907 0.18742807]

Pose Error in degrees for R and t:
42.34581266825767 29.43920866864809

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-7.81494611e-01 -6.23909272e-01 -1.84181849e-03]
 [ 6.23910919e-01 -7.81495336e-01 -4.52971527e-04]
 [-1.15675943e-03 -1.50312547e-03  9.99998201e-01]]

 t_estimated:
[[9.89966452e-01]
 [1.41299940e-01]
 [8.66870798e-04]]

 R_gt:
[[ 0.98759134  0.11314515 -0.10891573]
 [-0.11155033  0.99354428  0.02064714]
 [ 0.11054805 -0.00824252  0.99383577]]

 t_gt:
[-0.01736363  0.68820841 -0.72530524]

Pose Error in degrees for R and t:
147.91529871133375 85.444446976638

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.73114687  0.24827989  0.63543792]
 [ 0.39625299  0.60365503 -0.69179778]
 [-0.55534477  0.75759996  0.34297884]]

 t_estimated:
[[0.73669032]
 [0.67622963]
 [0.00093016]]

 R_gt:
[[ 0.98599068  0.08129815 -0.14564822]
 [-0.07944306  0.99666762  0.01852198]
 [ 0.14666832 -0.00669222  0.98916236]]

 t_gt:
[ 0.28447283  0.31869955 -0.90416028]

Pose Error in degrees for R and t:
76.7432844953763 64.89734149269684

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.83018300e-01 -1.83507506e-01 -1.27532420e-04]
 [ 1.83507534e-01  9.83018271e-01  2.54453701e-04]
 [ 7.86725351e-05 -2.73535804e-04  9.99999959e-01]]

 t_estimated:
[[9.95595592e-01]
 [9.37486900e-02]
 [7.74782562e-04]]

 R_gt:
[[ 0.99394853 -0.10666169 -0.02630514]
 [ 0.10732558  0.99390223  0.02527644]
 [ 0.02344945 -0.0279465   0.99933461]]

 t_gt:
[ 0.63773472 -0.747571    0.18555869]

Pose Error in degrees for R and t:
4.891550450792626 55.59869212635278

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.86324267e-01 -1.64816380e-01 -3.13084095e-05]
 [ 1.64816383e-01  9.86324250e-01  1.82024921e-04]
 [ 8.79555093e-07 -1.84695735e-04  9.99999983e-01]]

 t_estimated:
[[5.99801560e-01]
 [8.00148549e-01]
 [6.22716930e-04]]

 R_gt:
[[ 0.99401471 -0.05624521 -0.09366591]
 [ 0.06409623  0.99448205  0.08304503]
 [ 0.0884792  -0.08855146  0.9921347 ]]

 t_gt:
[ 0.49386029 -0.77928113  0.38577575]

Pose Error in degrees for R and t:
9.371599396383157 70.90822384247996

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 8.87752399e-01 -4.60321167e-01  3.19337761e-04]
 [ 4.60321243e-01  8.87752387e-01 -2.29286360e-04]
 [-1.77947495e-04  3.50547472e-04  9.99999923e-01]]

 t_estimated:
[[0.43655577]
 [0.8996767 ]
 [0.00094873]]

 R_gt:
[[ 0.99084128  0.02443671 -0.13280566]
 [ 0.00234213  0.98023044  0.19784351]
 [ 0.13501595 -0.19634137  0.97119536]]

 t_gt:
[ 0.21338549 -0.50665979  0.83532179]

Pose Error in degrees for R and t:
31.203363388576726 68.78412714374451

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999901e-01 -4.45368543e-04 -3.77452466e-06]
 [ 4.45369254e-04  9.99999883e-01  1.90525897e-04]
 [ 3.68966997e-06 -1.90527559e-04  9.99999982e-01]]

 t_estimated:
[[0.54401346]
 [0.83907588]
 [0.00101787]]

 R_gt:
[[ 0.99643069  0.02078807 -0.08180979]
 [-0.02281828  0.99945201 -0.023959  ]
 [ 0.08126764  0.02574039  0.99635968]]

 t_gt:
[ 0.34220284  0.35616244 -0.86950879]

Pose Error in degrees for R and t:
5.057366675430084 61.04482530763578

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-5.94261192e-01 -8.04269021e-01 -2.23091296e-03]
 [ 8.04271658e-01 -5.94261525e-01 -5.82648897e-04]
 [-8.57139278e-04 -2.14050569e-03  9.99997342e-01]]

 t_estimated:
[[0.97865566]
 [0.20550442]
 [0.001018  ]]

 R_gt:
[[ 0.99149129 -0.00243141 -0.13014843]
 [-0.00124111  0.99960334 -0.02813145]
 [ 0.13016616  0.02805399  0.991095  ]]

 t_gt:
[ 0.58672411  0.15673813 -0.79447339]

Pose Error in degrees for R and t:
126.54991752368916 52.72779210913379

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99377563e-01 -3.52772573e-02 -2.64543238e-05]
 [ 3.52772672e-02  9.99377242e-01  8.01069377e-04]
 [-1.82168139e-06 -8.01503999e-04  9.99999679e-01]]

 t_estimated:
[[0.51659698]
 [0.85622822]
 [0.00089377]]

 R_gt:
[[ 0.98205329  0.01340345 -0.18812871]
 [-0.01544323  0.99983605 -0.00937935]
 [ 0.18797292  0.01211529  0.98210023]]

 t_gt:
[ 0.59181207  0.19949622 -0.78099919]

Pose Error in degrees for R and t:
11.22728369024615 61.58564479838858

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.78305328e-01  2.07168218e-01 -1.22597340e-04]
 [-2.07168223e-01  9.78305334e-01 -3.43973779e-05]
 [ 1.12811588e-04  5.90494112e-05  9.99999992e-01]]

 t_estimated:
[[-0.85332526]
 [-0.52137819]
 [-0.00088519]]

 R_gt:
[[ 0.99779055 -0.01066181  0.06558317]
 [ 0.00140827  0.99021553  0.13954072]
 [-0.06642931 -0.13914     0.98804273]]

 t_gt:
[-0.04977588 -0.10186945  0.9935517 ]

Pose Error in degrees for R and t:
15.160879209427728 84.56548374228956

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.82802621e-01  1.84658699e-01  4.17060773e-04]
 [-1.84659047e-01  9.82802065e-01  1.06641763e-03]
 [-2.12964895e-04 -1.12509209e-03  9.99999344e-01]]

 t_estimated:
[[0.34935109]
 [0.93699099]
 [0.00130255]]

 R_gt:
[[ 0.99534385 -0.04611884  0.08464165]
 [ 0.02456606  0.97048604  0.23990276]
 [-0.09320753 -0.23670643  0.96710059]]

 t_gt:
[ 0.04121752 -0.15983241  0.98628328]

Pose Error in degrees for R and t:
19.382607359938554 82.29472280148806

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.63081707e-02  9.95347210e-01  2.94406224e-03]
 [ 9.95350795e-01 -9.63113515e-02  9.58085218e-04]
 [ 1.23717406e-03  2.83810326e-03 -9.99995207e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075760e-03]
 [7.75189837e-04]]

 R_gt:
[[ 0.9910487  -0.09041385  0.09822515]
 [ 0.05522049  0.94748871  0.31498644]
 [-0.121546   -0.30674259  0.94399972]]

 t_gt:
[ 0.11009903 -0.20084302  0.97341681]

Pose Error in degrees for R and t:
170.97909829680486 83.67140932693214

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99988537e-01 -4.54159614e-03 -1.51631217e-03]
 [ 4.54302992e-03  9.99989235e-01  9.43468904e-04]
 [ 1.51201099e-03 -9.50346741e-04  9.99998405e-01]]

 t_estimated:
[[-0.99937798]
 [-0.03346557]
 [-0.01112244]]

 R_gt:
[[ 0.99891446  0.0212578  -0.04145881]
 [-0.0191934   0.99858641  0.04957643]
 [ 0.04245415 -0.04872718  0.99790957]]

 t_gt:
[0.60994168 0.69540129 0.37998447]

Pose Error in degrees for R and t:
3.87698123812195 50.42701418885663

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999803e-01 -3.15655033e-04 -5.42557638e-04]
 [ 3.15850502e-04  9.99999885e-01  3.60225009e-04]
 [ 5.42443869e-04 -3.60396305e-04  9.99999788e-01]]

 t_estimated:
[[-0.96175638]
 [-0.27389925]
 [-0.00196679]]

 R_gt:
[[ 0.99112101  0.12526234 -0.04459911]
 [-0.12295887  0.99109565  0.05110806]
 [ 0.05060419 -0.04517013  0.99769655]]

 t_gt:
[-0.29380891  0.95521532  0.03521381]

Pose Error in degrees for R and t:
8.125712141023813 88.80411693278178

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.25783745  0.96616382  0.00687869]
 [-0.96618248 -0.2578541   0.0016386 ]
 [ 0.00335686 -0.00622358  0.999975  ]]

 t_estimated:
[[0.20879301]
 [0.97795857]
 [0.00158579]]

 R_gt:
[[ 0.99325963  0.09315207 -0.06897904]
 [-0.08857066  0.99383215  0.06674107]
 [ 0.0747705  -0.06018316  0.99538266]]

 t_gt:
[0.05609024 0.99721607 0.04913251]

Pose Error in degrees for R and t:
99.82181808451513 9.23973077440175

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.99955341e-01 -9.45065788e-03  1.78748137e-05]
 [ 9.45066007e-03  9.99955333e-01 -1.26696086e-04]
 [-1.66766540e-05  1.26859357e-04  9.99999992e-01]]

 t_estimated:
[[ 0.6940244 ]
 [-0.71995035]
 [-0.00127565]]

 R_gt:
[[ 0.99887609 -0.04454695 -0.01624084]
 [ 0.04485535  0.99881081  0.01913264]
 [ 0.01536888 -0.01983956  0.99968495]]

 t_gt:
[ 0.51829323 -0.85510587  0.01288718]

Pose Error in degrees for R and t:
2.483134137382924 12.754371958786992

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999881e-01  4.76520997e-04  1.05807070e-04]
 [-4.76517790e-04  9.99999886e-01 -3.03300140e-05]
 [-1.05821511e-04  3.02795914e-05  9.99999994e-01]]

 t_estimated:
[[9.99992643e-01]
 [3.72553999e-03]
 [9.13806383e-04]]

 R_gt:
[[ 0.99666157 -0.07401749 -0.03446471]
 [ 0.07507566  0.99671077  0.03050986]
 [ 0.03209255 -0.03299447  0.99894006]]

 t_gt:
[ 0.5116462  -0.85594268 -0.07470142]

Pose Error in degrees for R and t:
5.051424196723653 59.44366343616005

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-0.1676019  -0.98578976 -0.01132054]
 [-0.98578646  0.1677144  -0.00984526]
 [ 0.01160397  0.00950955 -0.99988745]]

 t_estimated:
[[ 0.82696107]
 [ 0.56223309]
 [-0.00541762]]

 R_gt:
[[ 0.99612304 -0.06830109 -0.05544531]
 [ 0.07107187  0.996234    0.04965837]
 [ 0.05184558 -0.05340607  0.99722581]]

 t_gt:
[ 0.47259403 -0.87490231 -0.10583397]

Pose Error in degrees for R and t:
178.69538374535048 84.23152999185815

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[-0.94704296  0.31806989  0.04405875]
 [ 0.31804239  0.94804425 -0.00781955]
 [-0.04425681  0.0066071  -0.99899834]]

 t_estimated:
[[ 0.98231673]
 [-0.18573025]
 [ 0.02362451]]

 R_gt:
[[ 0.9994027  -0.03010032 -0.0169952 ]
 [ 0.03048742  0.99926981  0.02300726]
 [ 0.01629062 -0.02351151  0.99959081]]

 t_gt:
[ 0.42438905 -0.90546377  0.00541336]

Pose Error in degrees for R and t:
178.59367980583198 54.18398455177877

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 9.99877526e-01 -1.56485518e-02  2.35664661e-04]
 [ 1.56485942e-02  9.99877537e-01 -1.79123798e-04]
 [-2.32832773e-04  1.82789681e-04  9.99999956e-01]]

 t_estimated:
[[ 0.99852271]
 [-0.05431167]
 [ 0.00162564]]

 R_gt:
[[ 0.99911136 -0.03262655 -0.02670041]
 [ 0.03309903  0.99929904  0.0174809 ]
 [ 0.02611104 -0.01834861  0.99949147]]

 t_gt:
[ 0.46164787 -0.85360752 -0.24132021]

Pose Error in degrees for R and t:
2.092208082662767 59.540151627986575

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 0.71749783  0.69655724  0.00221005]
 [-0.69651851  0.71748566 -0.00873458]
 [-0.00766981  0.0047277   0.99995941]]

 t_estimated:
[[0.57355704]
 [0.81916439]
 [0.0014197 ]]

 R_gt:
[[ 0.98942835 -0.145005   -0.00231046]
 [ 0.14498245  0.9894027  -0.00785316]
 [ 0.00342486  0.00743616  0.999967  ]]

 t_gt:
[ 0.65301682 -0.7564515  -0.03674458]

Pose Error in degrees for R and t:
52.48975774429671 75.80824359513271

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-7.09195867e-01 -7.05011306e-01 -5.29773739e-04]
 [-7.04972598e-01  7.09164423e-01 -9.97283317e-03]
 [ 7.40665683e-03 -6.69921610e-03 -9.99950130e-01]]

 t_estimated:
[[9.92421392e-01]
 [1.22878674e-01]
 [7.82666713e-04]]

 R_gt:
[[ 0.99895547  0.01040093  0.04450499]
 [-0.01617858  0.99118329  0.13150612]
 [-0.04274474 -0.13208782  0.99031563]]

 t_gt:
[-0.11182802 -0.01238991  0.99365033]

Pose Error in degrees for R and t:
175.03764745805557 83.58521991534847

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99524885e-01  3.08215760e-02  1.86312304e-04]
 [-3.08215835e-02  9.99524901e-01  3.74422732e-05]
 [-1.85069757e-04 -4.31669241e-05  9.99999982e-01]]

 t_estimated:
[[2.04847944e-01]
 [9.78793526e-01]
 [7.43929370e-04]]

 R_gt:
[[ 0.99462411 -0.01084381  0.102986  ]
 [-0.01308696  0.97336794  0.22887397]
 [-0.10272514 -0.228991    0.96799238]]

 t_gt:
[-0.04469022 -0.0230024   0.99873604]

Pose Error in degrees for R and t:
14.627607863134147 88.22777051501643

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 6.77418053e-01 -7.35597629e-01 -9.53921911e-04]
 [ 7.35598113e-01  6.77418144e-01  2.73777992e-04]
 [ 4.44813568e-04 -8.87165312e-04  9.99999508e-01]]

 t_estimated:
[[-0.12953512]
 [-0.99157417]
 [-0.00114633]]

 R_gt:
[[ 0.99315819 -0.05707859  0.10187941]
 [ 0.02151238  0.94690565  0.32079112]
 [-0.11478008 -0.31640431  0.94165484]]

 t_gt:
[ 0.0483446  -0.10755886  0.9930226 ]

Pose Error in degrees for R and t:
48.93155114854331 84.30390508220867

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-9.72614576e-01 -2.32419810e-01 -1.38477118e-03]
 [ 2.32422254e-01 -9.72612942e-01 -1.99033975e-03]
 [-8.84251981e-04 -2.25768509e-03  9.99997060e-01]]

 t_estimated:
[[0.74634674]
 [0.66555663]
 [0.00096179]]

 R_gt:
[[ 0.99855178  0.03205515 -0.04321475]
 [-0.03318935  0.9991157  -0.02583135]
 [ 0.04234796  0.02722735  0.99873147]]

 t_gt:
[ 0.36126039  0.54792502 -0.75449924]

Pose Error in degrees for R and t:
168.43305663837566 50.685627249487254

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99996631e-01 -3.76661003e-04  2.56823895e-03]
 [ 3.82035256e-04  9.99997738e-01 -2.09241354e-03]
 [-2.56744501e-03  2.09338765e-03  9.99994513e-01]]

 t_estimated:
[[-0.7756951 ]
 [-0.63110709]
 [-0.00097695]]

 R_gt:
[[ 0.99729321  0.07314417  0.00750984]
 [-0.07296062  0.99708637 -0.02228034]
 [-0.00911774  0.02167157  0.99972369]]

 t_gt:
[ 0.10396307  0.97674765 -0.18749853]

Pose Error in degrees for R and t:
4.375315626691368 45.82175513030187

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 8.83113607e-01  4.69158934e-01 -5.01481678e-04]
 [-4.69159177e-01  8.83113403e-01 -6.19965193e-04]
 [ 1.52002981e-04  7.82774429e-04  9.99999682e-01]]

 t_estimated:
[[-0.99995709]
 [ 0.00898653]
 [-0.00224834]]

 R_gt:
[[ 0.98833437  0.13846768  0.06341804]
 [-0.12912722  0.98264825 -0.13315218]
 [-0.08075448  0.1234088   0.98906385]]

 t_gt:
[-0.17549051  0.95626387 -0.23401387]

Pose Error in degrees for R and t:
21.92517538150851 79.36203495816206

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-0.97394527 -0.22652269  0.01086615]
 [-0.22641375  0.97397571  0.01039883]
 [-0.01293893  0.00766764 -0.99988689]]

 t_estimated:
[[0.99161556]
 [0.12914063]
 [0.00461217]]

 R_gt:
[[ 0.99876212 -0.03074777  0.0390959 ]
 [ 0.03121749  0.99944768 -0.01141777]
 [-0.03872292  0.01262403  0.99917004]]

 t_gt:
[ 0.16903676 -0.89856178  0.40498556]

Pose Error in degrees for R and t:
177.168345818673 86.93628101156327

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 8.42985420e-01 -5.37936110e-01  5.68421388e-04]
 [-5.37935166e-01 -8.42985272e-01 -1.26044199e-03]
 [ 1.15720812e-03  7.56760364e-04 -9.99999044e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.999128   -0.0251045   0.03335344]
 [ 0.0256812   0.99952628 -0.01695365]
 [-0.03291171  0.01779658  0.99929969]]

 t_gt:
[-0.10228137 -0.97171562  0.21285508]

Pose Error in degrees for R and t:
179.51664475221642 20.45531369335644

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 8.35077860e-01 -5.50131560e-01  4.85434888e-04]
 [ 5.50131455e-01  8.35078001e-01  3.39233720e-04]
 [-5.91999172e-04 -1.62335677e-05  9.99999825e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99702521 -0.03459352  0.06887185]
 [ 0.03360152  0.99931555  0.01551434]
 [-0.0693616  -0.01315345  0.99750484]]

 t_gt:
[-0.23137946 -0.74162831  0.62964354]

Pose Error in degrees for R and t:
31.668432594219375 51.060657368359806

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999957e-01 -2.31533793e-04  1.77905179e-04]
 [ 2.31541880e-04  9.99999972e-01 -4.54379204e-05]
 [-1.77894654e-04  4.54791110e-05  9.99999983e-01]]

 t_estimated:
[[0.57908001]
 [0.81527006]
 [0.00103592]]

 R_gt:
[[ 0.98383143 -0.17039426 -0.05514964]
 [ 0.17260752  0.98424944  0.03820318]
 [ 0.04777156 -0.04710478  0.99774673]]

 t_gt:
[ 0.61223594 -0.79006845  0.03096786]

Pose Error in degrees for R and t:
10.597811670513998 73.16877445480243

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.98926109e-01 -4.63316874e-02 -5.07164783e-05]
 [ 4.63316992e-02  9.98926076e-01  2.62890386e-04]
 [ 3.84818574e-05 -2.64957852e-04  9.99999964e-01]]

 t_estimated:
[[-0.60255574]
 [-0.798076  ]
 [-0.0011305 ]]

 R_gt:
[[ 0.95817355 -0.2576142  -0.12464903]
 [ 0.26737008  0.96112927  0.06887976]
 [ 0.10206008 -0.09932596  0.98980698]]

 t_gt:
[ 0.63974233 -0.76811136  0.02710538]

Pose Error in degrees for R and t:
15.046965525723882 76.85005792520131

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 6.72208889e-01  7.40361493e-01  2.64064955e-04]
 [-7.40361191e-01  6.72208875e-01 -7.31443546e-04]
 [-7.19039442e-04  2.96179408e-04  9.99999698e-01]]

 t_estimated:
[[-0.99993843]
 [-0.01102873]
 [-0.00122541]]

 R_gt:
[[ 0.94502225 -0.29195636 -0.14728845]
 [ 0.3164666   0.92997083  0.18709323]
 [ 0.08235132 -0.22341944  0.97123731]]

 t_gt:
[ 0.55998258 -0.76441579  0.31951213]

Pose Error in degrees for R and t:
67.01842918761767 56.50191574043223

Number of keypoints:
Image1: 427
Image2: 427

 R_estimated:
[[-4.92970022e-01  8.70046130e-01  5.37398771e-04]
 [-8.70042038e-01 -4.92965582e-01 -3.43308568e-03]
 [-2.72202382e-03 -2.15996784e-03  9.99993963e-01]]

 t_estimated:
[[0.19510182]
 [0.98078211]
 [0.00131826]]

 R_gt:
[[ 0.99959849 -0.02638833  0.01032872]
 [ 0.02605075  0.99916282  0.0315514 ]
 [-0.01115278 -0.03127084  0.99944875]]

 t_gt:
[-1.54434243e-04 -6.87458198e-01  7.26223934e-01]

Pose Error in degrees for R and t:
121.04798147198125 47.67621609829101

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[ 9.63605160e-01 -2.67329009e-01  5.45047472e-04]
 [ 2.67329493e-01  9.63601396e-01 -2.70046678e-03]
 [ 1.96704605e-04  2.74789099e-03  9.99996205e-01]]

 t_estimated:
[[-0.7592543 ]
 [-0.6507894 ]
 [-0.00246511]]

 R_gt:
[[ 0.99715704 -0.05210666  0.05442399]
 [ 0.0509498   0.99844978  0.0224343 ]
 [-0.0555083  -0.01959836  0.99826597]]

 t_gt:
[-0.22693941 -0.55485293  0.80039786]

Pose Error in degrees for R and t:
13.006411967184105 57.89827671669267

Number of keypoints:
Image1: 405
Image2: 405

 R_estimated:
[[-0.85230623 -0.52303457 -0.00298822]
 [ 0.52302329 -0.85230976  0.00383541]
 [-0.00455295  0.00170604  0.99998818]]

 t_estimated:
[[9.52804912e-01]
 [3.03582303e-01]
 [7.64690941e-04]]

 R_gt:
[[ 0.99302595 -0.11600264  0.021062  ]
 [ 0.11546309  0.99299121  0.02523667]
 [-0.0238421  -0.02262872  0.99946004]]

 t_gt:
[ 0.07618397 -0.94625284  0.31432718]

Pose Error in degrees for R and t:
141.81710697498278 77.6175127910995

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.28554585e-01  3.71195745e-01 -3.17444148e-04]
 [-3.71195756e-01  9.28554635e-01  2.68575060e-05]
 [ 3.04733627e-04  9.28952601e-05  9.99999949e-01]]

 t_estimated:
[[-9.94282481e-01]
 [-1.06778975e-01]
 [-7.73760686e-04]]

 R_gt:
[[ 0.99582666 -0.01917367  0.08923734]
 [ 0.01094659  0.99571895  0.09178492]
 [-0.09061492 -0.09042549  0.99177184]]

 t_gt:
[-0.01366154 -0.22587416  0.97406069]

Pose Error in degrees for R and t:
23.809303718997032 87.88253336503989

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.27329572e-01  3.74245031e-01  7.22839875e-04]
 [-3.74239580e-01  9.27323678e-01 -3.94107921e-03]
 [-2.14523584e-03  3.38416401e-03  9.99991973e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98291931 -0.10895994  0.14831922]
 [ 0.0664522   0.96165729  0.26608525]
 [-0.17162436 -0.25168484  0.95247002]]

 t_gt:
[ 0.2010242  -0.31622276  0.92714208]

Pose Error in degrees for R and t:
32.40040258013718 78.4185155678549

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-5.40935796e-01  8.41060381e-01 -2.42901437e-03]
 [ 8.41055446e-01  5.40941051e-01  2.91833250e-03]
 [ 3.76844743e-03 -4.64305247e-04 -9.99992792e-01]]

 t_estimated:
[[0.94559403]
 [0.32534052]
 [0.00234058]]

 R_gt:
[[ 0.96597265 -0.2307126   0.11691767]
 [ 0.17055139  0.90800614  0.38267414]
 [-0.19444912 -0.34971232  0.91645574]]

 t_gt:
[ 0.38449879 -0.40804376  0.82804648]

Pose Error in degrees for R and t:
177.5275792539885 76.54010401597174

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.92469249e-01 -1.22493784e-01 -2.50736418e-04]
 [ 1.22493815e-01  9.92469271e-01  1.09643786e-04]
 [ 2.35417507e-04 -1.39531747e-04  9.99999963e-01]]

 t_estimated:
[[-9.99647248e-01]
 [-2.65589754e-02]
 [ 6.17832654e-06]]

 R_gt:
[[ 0.99365949  0.11004732  0.02302528]
 [-0.1107236   0.9933826   0.03048028]
 [-0.01951889 -0.03283617  0.99926953]]

 t_gt:
[-0.7721463   0.56911074  0.28267129]

Pose Error in degrees for R and t:
13.55360552624118 40.82054782154161

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99999983e-01 -1.14170917e-04 -1.43103976e-04]
 [ 1.14179490e-04  9.99999992e-01  5.99074257e-05]
 [ 1.43097135e-04 -5.99237642e-05  9.99999988e-01]]

 t_estimated:
[[-9.98876549e-01]
 [-4.73881419e-02]
 [ 6.92927069e-05]]

 R_gt:
[[ 0.98207495  0.18844173  0.00434064]
 [-0.18821015  0.98160302 -0.03212119]
 [-0.01031424  0.03072824  0.99947405]]

 t_gt:
[-0.67006956  0.72888656 -0.14046768]

Pose Error in degrees for R and t:
11.022685774972922 50.59733491616608

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-0.41449358 -0.91004273 -0.00415917]
 [-0.91004809  0.41450116 -0.00112503]
 [ 0.00274781  0.00331872 -0.99999072]]

 t_estimated:
[[ 0.85212653]
 [ 0.5233338 ]
 [-0.00145358]]

 R_gt:
[[ 0.98419116  0.17599934  0.01977775]
 [-0.17302048  0.97931672 -0.10488466]
 [-0.03782902  0.09980483  0.99428666]]

 t_gt:
[-0.56766227  0.73919516 -0.36242249]

Pose Error in degrees for R and t:
177.96398491794932 84.47112056104521

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99680483e-01  2.52762944e-02  2.02964256e-04]
 [-2.52762964e-02  9.99680503e-01  7.26504906e-06]
 [-2.02715776e-04 -1.23929124e-05  9.99999979e-01]]

 t_estimated:
[[ 9.94200574e-01]
 [ 1.07541336e-01]
 [-2.83268828e-04]]

 R_gt:
[[ 0.99217819 -0.12474125 -0.00460747]
 [ 0.12482073  0.9918006   0.02741718]
 [ 0.00114971 -0.02777921  0.99961299]]

 t_gt:
[ 0.6582444  -0.73436707  0.16558781]

Pose Error in degrees for R and t:
8.763882490192783 54.87198392942468

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.7945569  -0.60714698 -0.0072022 ]
 [ 0.60683103 -0.79443933  0.02494501]
 [-0.020867    0.01544971  0.99966288]]

 t_estimated:
[[9.76798300e-01]
 [2.14159151e-01]
 [9.69045934e-04]]

 R_gt:
[[ 0.96459426 -0.263684   -0.0052836 ]
 [ 0.2627014   0.95884299  0.10774024]
 [-0.02334311 -0.10531512  0.99416489]]

 t_gt:
[ 0.66329299 -0.66280142  0.34747186]

Pose Error in degrees for R and t:
127.3455752544103 59.582632410858274

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.9939791  -0.10954851  0.0021625 ]
 [ 0.10955121  0.99398046 -0.00116952]
 [-0.00202136  0.00139938  0.99999698]]

 t_estimated:
[[0.86022667]
 [0.50990812]
 [0.00194621]]

 R_gt:
[[ 0.93680912 -0.34981631 -0.00410096]
 [ 0.34521872  0.92247207  0.17282286]
 [-0.05667349 -0.16331898  0.9849442 ]]

 t_gt:
[ 0.64809351 -0.62300536  0.43799444]

Pose Error in degrees for R and t:
17.365049450445856 76.07307060969305

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999340e-01 -1.14838535e-03 -3.69998880e-05]
 [ 1.14837752e-03  9.99999318e-01 -2.11011411e-04]
 [ 3.72421852e-05  2.10968782e-04  9.99999977e-01]]

 t_estimated:
[[-0.98807556]
 [-0.15395772]
 [-0.00192859]]

 R_gt:
[[ 9.96472926e-01  8.39316149e-02  1.81514024e-04]
 [-8.39150864e-02  9.96232364e-01  2.19095679e-02]
 [ 1.65823602e-03 -2.18473221e-02  9.99759882e-01]]

 t_gt:
[-0.6413715   0.74547007  0.18143033]

Pose Error in degrees for R and t:
5.041739503287227 58.761428176986115

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99980298e-01  6.26643739e-03 -3.66730345e-04]
 [-6.26571342e-03  9.99978482e-01  1.94304928e-03]
 [ 3.78898451e-04 -1.94071317e-03  9.99998045e-01]]

 t_estimated:
[[-9.95156674e-01]
 [-9.83001992e-02]
 [-5.15004407e-04]]

 R_gt:
[[ 0.98503749  0.17211816  0.00882433]
 [-0.17221605  0.98498631  0.01200934]
 [-0.00662549 -0.01334949  0.9998885 ]]

 t_gt:
[-0.65250099  0.75365379  0.0790469 ]

Pose Error in degrees for R and t:
9.58645555629436 54.88526150084796

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.93698482e-01  1.12086164e-01 -1.33684073e-04]
 [-1.12086165e-01  9.93698491e-01  5.53379599e-07]
 [ 1.32903688e-04  1.44342426e-05  9.99999991e-01]]

 t_estimated:
[[-9.99977127e-01]
 [-6.71125587e-03]
 [-8.38906986e-04]]

 R_gt:
[[ 0.87467248  0.48404009  0.02556271]
 [-0.48376082  0.87504275 -0.01659954]
 [-0.03040349  0.00215224  0.99953524]]

 t_gt:
[-0.57943298  0.81429417  0.03438626]

Pose Error in degrees for R and t:
22.57957780795842 54.9755497583806

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 7.90934712e-01  6.11899706e-01  1.01550842e-03]
 [-6.11898832e-01  7.90935335e-01 -1.05611710e-03]
 [-1.44943923e-03  2.13931258e-04  9.99998927e-01]]

 t_estimated:
[[0.60177742]
 [0.79866197]
 [0.00173114]]

 R_gt:
[[ 0.98268947 -0.18469163 -0.01454441]
 [ 0.18487073  0.98268906  0.01211272]
 [ 0.01205524 -0.0145904   0.99982083]]

 t_gt:
[ 0.98640562 -0.15003109  0.06704202]

Pose Error in degrees for R and t:
48.389619226281575 61.71299092953322

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 5.75366010e-01  8.17895665e-01  7.97521620e-04]
 [-8.17893334e-01  5.75366337e-01 -2.01770701e-03]
 [-2.10914091e-03  5.08632413e-04  9.99997646e-01]]

 t_estimated:
[[0.48535844]
 [0.87431354]
 [0.00173685]]

 R_gt:
[[ 0.97687284 -0.21247328  0.02397516]
 [ 0.21131507  0.97645097  0.04347589]
 [-0.03264838 -0.03740313  0.99876692]]

 t_gt:
[ 0.96573038 -0.15237033  0.21011455]

Pose Error in degrees for R and t:
67.1696380058468 70.37449499044978

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.83325463  0.55283695  0.00761784]
 [ 0.55283703  0.83328626 -0.00228641]
 [-0.00761185  0.00230626 -0.99996837]]

 t_estimated:
[[ 0.91842032]
 [-0.39557442]
 [ 0.00499869]]

 R_gt:
[[ 0.96326999 -0.26347179  0.0518955 ]
 [ 0.25913711  0.96271469  0.07764447]
 [-0.0704185  -0.06134337  0.99562896]]

 t_gt:
[ 0.94591507 -0.13342316  0.29570751]

Pose Error in degrees for R and t:
177.32074455040694 22.63064113462481

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.99365430e-01  3.55949982e-02  1.31691054e-03]
 [-3.55947724e-02  9.99366286e-01 -1.94550694e-04]
 [-1.32300103e-03  1.47552106e-04  9.99999114e-01]]

 t_estimated:
[[0.26541942]
 [0.96413038]
 [0.00226854]]

 R_gt:
[[ 0.99796468 -0.06213936  0.01428651]
 [ 0.06195211  0.99799186  0.01320028]
 [-0.01507801 -0.01228851  0.99981058]]

 t_gt:
[ 0.38508463 -0.89140046  0.23898755]

Pose Error in degrees for R and t:
5.6980574649370705 40.828041551118496

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.74803415e-01  2.23065430e-01  3.41065673e-04]
 [-2.23064927e-01  9.74802939e-01 -1.12583798e-03]
 [-5.83607353e-04  1.02139091e-03  9.99999308e-01]]

 t_estimated:
[[7.60791582e-01]
 [6.48995872e-01]
 [7.25946166e-04]]

 R_gt:
[[ 0.98493074 -0.16694819  0.0451669 ]
 [ 0.16460102  0.985014    0.05150525]
 [-0.05308841 -0.04329497  0.99765119]]

 t_gt:
[ 0.50179199 -0.79653246  0.33725486]

Pose Error in degrees for R and t:
22.783754023855806 82.24471511043109

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 8.46036614e-01 -5.33124796e-01 -3.43007290e-06]
 [ 5.33124556e-01  8.46036227e-01  9.54646165e-04]
 [-5.06043576e-04 -8.09494265e-04  9.99999544e-01]]

 t_estimated:
[[0.98711382]
 [0.16001635]
 [0.00103907]]

 R_gt:
[[ 0.95293088 -0.30230358  0.02312491]
 [ 0.2984233   0.9486931   0.10451913]
 [-0.05353516 -0.0926988   0.99425422]]

 t_gt:
[ 0.64022488 -0.69782477  0.32117393]

Pose Error in degrees for R and t:
15.89179477589116 58.62446135929065

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.98070941 -0.19529115  0.00839193]
 [-0.19527413  0.98074468  0.00280873]
 [-0.00877886  0.00111582 -0.99996084]]

 t_estimated:
[[0.9967792 ]
 [0.08004706]
 [0.0048681 ]]

 R_gt:
[[ 0.99596473 -0.08755138  0.01977142]
 [ 0.08701809  0.99585852  0.02632701]
 [-0.021995   -0.02450017  0.99945801]]

 t_gt:
[ 0.92317003 -0.20715288  0.32379742]

Pose Error in degrees for R and t:
178.16704908834691 25.150981859149624

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.99781267  0.06608732  0.00152761]
 [-0.06608124  0.99780726 -0.00373301]
 [-0.00177096  0.0036239   0.99999187]]

 t_estimated:
[[-0.29123044]
 [-0.9565089 ]
 [-0.01659979]]

 R_gt:
[[ 0.99114364 -0.11373443  0.06855448]
 [ 0.109761    0.99219413  0.05918438]
 [-0.07475033 -0.05113585  0.99589018]]

 t_gt:
[ 0.80072581 -0.20082498  0.56436469]

Pose Error in degrees for R and t:
11.487324139028248 87.10687012088525

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 2.37335541e-01 -9.71427627e-01  4.53935900e-04]
 [-9.71427098e-01 -2.37335894e-01 -1.03317748e-03]
 [ 1.11139243e-03 -1.95755899e-04 -9.99999363e-01]]

 t_estimated:
[[0.72322034]
 [0.69061585]
 [0.00144192]]

 R_gt:
[[ 0.97645092 -0.21032178  0.04805158]
 [ 0.20847964  0.97718279  0.04062363]
 [-0.05549975 -0.02964808  0.99801872]]

 t_gt:
[ 0.96789217 -0.13237717  0.21368443]

Pose Error in degrees for R and t:
176.59946644096837 52.491028277787976

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 1.00000000e+00  1.04196046e-05  5.29416764e-09]
 [-1.04196046e-05  1.00000000e+00 -1.84831647e-06]
 [-5.31342473e-09  1.84831642e-06  1.00000000e+00]]

 t_estimated:
[[-5.84782276e-02]
 [ 9.98288681e-01]
 [-8.29649784e-05]]

 R_gt:
[[ 0.99994415 -0.00200074 -0.01046353]
 [ 0.00180731  0.99982877 -0.01842141]
 [ 0.01049841  0.01840209  0.99977568]]

 t_gt:
[ 0.2002318   0.05589523 -0.97815283]

Pose Error in degrees for R and t:
1.2173030628603287 87.46833409219265

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-5.76219610e-01  8.17294201e-01 -1.07263836e-03]
 [-8.17293623e-01 -5.76220534e-01 -1.01452172e-03]
 [-1.44723897e-03  2.92073178e-04  9.99998910e-01]]

 t_estimated:
[[4.06053401e-01]
 [9.13849174e-01]
 [5.67590641e-04]]

 R_gt:
[[ 0.99250425 -0.04280897  0.1144715 ]
 [ 0.02688322  0.99017768  0.13721206]
 [-0.11922101 -0.1331058   0.98390516]]

 t_gt:
[ 0.07003338 -0.29111802  0.95412034]

Pose Error in degrees for R and t:
127.43219879284366 76.28696799368869

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-6.87054308e-01 -7.26603645e-01 -1.87638002e-03]
 [ 7.26605335e-01 -6.87054992e-01 -3.53935883e-04]
 [-1.03200516e-03 -1.60656091e-03  9.99998177e-01]]

 t_estimated:
[[9.04133261e-01]
 [4.27249701e-01]
 [8.60089060e-04]]

 R_gt:
[[ 0.97831041 -0.15533497  0.13704297]
 [ 0.11048378  0.95089994  0.28910846]
 [-0.1752225  -0.26769672  0.94743615]]

 t_gt:
[ 0.30077795 -0.39905114  0.86619329]

Pose Error in degrees for R and t:
126.32188747951574 84.13448264043897

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.77956367e-01 -2.08809314e-01  1.24076920e-04]
 [ 2.08809296e-01  9.77956367e-01  1.47136173e-04]
 [-1.52065217e-04 -1.17984342e-04  9.99999981e-01]]

 t_estimated:
[[-0.32910944]
 [-0.94429094]
 [-0.00126581]]

 R_gt:
[[ 0.98362496 -0.13902923 -0.11468207]
 [ 0.14700136  0.98704863  0.06423002]
 [ 0.10426801 -0.08003608  0.9913229 ]]

 t_gt:
[ 0.59082984 -0.80479994 -0.05672005]

Pose Error in degrees for R and t:
8.453629671365231 55.55676920913502

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.99088072 -0.12281019 -0.05543507]
 [ 0.12456141  0.99177882  0.0293126 ]
 [ 0.05137945 -0.03595036  0.99803193]]

 t_estimated:
[[-0.9824089 ]
 [-0.18420167]
 [-0.03070028]]

 R_gt:
[[ 0.94179688 -0.29155765 -0.1673686 ]
 [ 0.3123263   0.94301969  0.11474224]
 [ 0.12437796 -0.16033734  0.97919443]]

 t_gt:
[ 0.64624238 -0.75419905  0.11642415]

Pose Error in degrees for R and t:
13.437395762486023 60.03150084499972

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.97795977 -0.20877396  0.00285106]
 [ 0.20877761  0.97796259 -0.00104427]
 [-0.00257022  0.0016165   0.99999539]]

 t_estimated:
[[0.17411609]
 [0.98472323]
 [0.00193462]]

 R_gt:
[[ 0.88101666 -0.39033948 -0.26729002]
 [ 0.4260045   0.90029283  0.08940863]
 [ 0.20574011 -0.19263678  0.95945886]]

 t_gt:
[ 0.71650283 -0.6972183   0.02259075]

Pose Error in degrees for R and t:
20.7521932525605 55.8217980504157

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.9996456   0.02655277  0.0019018 ]
 [-0.02654913  0.99964567 -0.00191582]
 [-0.001952    0.00186465  0.99999636]]

 t_estimated:
[[-0.65598593]
 [-0.7547723 ]
 [-0.00110996]]

 R_gt:
[[ 0.99567366  0.07188827  0.05888045]
 [-0.06864072  0.99610007 -0.05543834]
 [-0.06263713  0.05115632  0.99672412]]

 t_gt:
[-0.43374449  0.89944282  0.05355673]

Pose Error in degrees for R and t:
5.140667275808572 66.77121093717304

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.69834321e-01  2.43764707e-01  3.95851952e-04]
 [-2.43762781e-01  9.69831074e-01 -2.71923124e-03]
 [-1.04676213e-03  2.54070981e-03  9.99996225e-01]]

 t_estimated:
[[-0.57251856]
 [ 0.8198684 ]
 [-0.00618891]]

 R_gt:
[[ 0.98404627  0.11938967  0.13190379]
 [-0.10593545  0.98884277 -0.10472268]
 [-0.14293495  0.08907811  0.98571448]]

 t_gt:
[-0.43609296  0.8722827   0.22123702]

Pose Error in degrees for R and t:
12.214863293550383 15.53669121629222

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.84536105 -0.5341895  -0.00250433]
 [ 0.53411755 -0.84514858 -0.02103158]
 [ 0.00911832 -0.01911688  0.99977568]]

 t_estimated:
[[0.86410818]
 [0.50330511]
 [0.00101065]]

 R_gt:
[[ 0.97765904  0.09964128  0.18508155]
 [-0.08270419  0.99183271 -0.09710148]
 [-0.19324623  0.07962468  0.97791337]]

 t_gt:
[-0.34377353  0.7834942   0.51764524]

Pose Error in degrees for R and t:
153.26118096095377 84.38737019417243

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.33054177  0.94314907  0.03481347]
 [ 0.94379053 -0.33026742 -0.01352276]
 [-0.00125623  0.03732646 -0.99930234]]

 t_estimated:
[[0.41198183]
 [0.91119107]
 [0.00134196]]

 R_gt:
[[ 0.99844691 -0.05303721  0.01705271]
 [ 0.05296051  0.99858417  0.00496351]
 [-0.01729272 -0.00405267  0.9998424 ]]

 t_gt:
[ 0.41159123 -0.88235624  0.22812306]

Pose Error in degrees for R and t:
177.82386866682077 50.64518720413267

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.38452286  0.9231136   0.00185492]
 [ 0.92310176 -0.38450543 -0.00622239]
 [-0.00503075  0.00410493 -0.99997892]]

 t_estimated:
[[0.99961697]
 [0.02761373]
 [0.00184092]]

 R_gt:
[[ 0.99655408 -0.0801791   0.02124844]
 [ 0.08029042  0.99676131 -0.00440357]
 [-0.02082821  0.00609401  0.99976453]]

 t_gt:
[ 0.38093196 -0.92083264  0.0834152 ]

Pose Error in degrees for R and t:
178.72823760138985 69.17517347722327

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.32978458 -0.94388002 -0.0182386 ]
 [ 0.94394694 -0.3299788   0.00884095]
 [-0.01436315 -0.01430066  0.99979457]]

 t_estimated:
[[0.99376008]
 [0.11041779]
 [0.01577397]]

 R_gt:
[[ 0.99574414 -0.08660024  0.03154118]
 [ 0.08614849  0.99616236  0.01543476]
 [-0.03275792 -0.01265329  0.9993833 ]]

 t_gt:
[ 0.2385374  -0.93866818  0.24900193]

Pose Error in degrees for R and t:
104.31906943186014 82.1065662289035

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.93005972  0.3673967  -0.0029288 ]
 [-0.36739051 -0.93006356 -0.00244547]
 [-0.00362242 -0.00119842  0.99999272]]

 t_estimated:
[[0.65183736]
 [0.75835712]
 [0.00158985]]

 R_gt:
[[ 0.98723702 -0.15645413 -0.02974488]
 [ 0.15409188  0.98559113 -0.0697505 ]
 [ 0.04022869  0.06427649  0.99712045]]

 t_gt:
[ 0.60065136 -0.64555501 -0.47167433]

Pose Error in degrees for R and t:
167.39511110260113 84.33084007701935

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.93791024e-01  1.11261186e-01  5.90109114e-04]
 [-1.11260894e-01  9.93791103e-01 -5.06883929e-04]
 [-6.42841694e-04  4.38080632e-04  9.99999697e-01]]

 t_estimated:
[[8.41732005e-01]
 [5.39895066e-01]
 [7.41614101e-04]]

 R_gt:
[[ 0.96454445 -0.25738143 -0.05837791]
 [ 0.25227904  0.96413236 -0.08248729]
 [ 0.07751528  0.06483588  0.99488037]]

 t_gt:
[ 0.64230237 -0.65332842 -0.40076133]

Pose Error in degrees for R and t:
21.962135917871844 79.18605072540083

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.97683245 -0.21396525  0.0041514 ]
 [-0.21394012  0.97682972  0.00577328]
 [-0.00529049  0.00475137 -0.99997472]]

 t_estimated:
[[9.82547882e-01]
 [1.86007706e-01]
 [8.89989024e-04]]

 R_gt:
[[ 0.93079154 -0.3549401  -0.0874253 ]
 [ 0.35207972  0.93480249 -0.0467352 ]
 [ 0.09831286  0.01272027  0.99507396]]

 t_gt:
[ 0.71111322 -0.66480103 -0.22881777]

Pose Error in degrees for R and t:
174.7484482033246 54.91149974896664

Number of keypoints:
Image1: 324
Image2: 324

 R_estimated:
[[ 9.78453188e-01  2.06468572e-01  2.95698860e-04]
 [-2.06468604e-01  9.78453222e-01  8.45040120e-05]
 [-2.71880080e-04 -1.43735751e-04  9.99999953e-01]]

 t_estimated:
[[-0.32382781]
 [ 0.9461153 ]
 [ 0.00117783]]

 R_gt:
[[ 0.99796692 -0.04890582  0.04086453]
 [ 0.04926979  0.99875457 -0.00793078]
 [-0.04042457  0.00992839  0.99913377]]

 t_gt:
[0.79682776 0.15791811 0.58320441]

Pose Error in degrees for R and t:
14.9188269274699 83.80345917303997

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.88033116e-01 -1.54241895e-01 -1.07796278e-05]
 [ 1.54241896e-01  9.88033114e-01  5.48744041e-05]
 [ 2.18669711e-06 -5.58803987e-05  9.99999998e-01]]

 t_estimated:
[[-0.68771441]
 [-0.7259801 ]
 [-0.00133668]]

 R_gt:
[[ 0.99385113 -0.02471977  0.10793163]
 [ 0.02991994  0.99845593 -0.04682283]
 [-0.10660606  0.04976478  0.99305577]]

 t_gt:
[0.22549066 0.72528713 0.65047101]

Pose Error in degrees for R and t:
9.945973559680871 46.96173255047959

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[-0.97584    -0.21794927 -0.01531052]
 [-0.21775457  0.97591124 -0.0134238 ]
 [ 0.01786742 -0.00976555 -0.99979267]]

 t_estimated:
[[0.5348153 ]
 [0.84496841]
 [0.00099408]]

 R_gt:
[[ 0.9898307   0.01852225  0.14103644]
 [-0.00525017  0.99556829 -0.0938971 ]
 [-0.14215     0.09220203  0.98554168]]

 t_gt:
[-0.26657011  0.89602511  0.35507658]

Pose Error in degrees for R and t:
173.43867677375064 52.055337039843984

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99997683e-01  2.05008091e-03 -6.56202679e-04]
 [-2.04995433e-03  9.99997880e-01  1.93517048e-04]
 [ 6.56598013e-04 -1.92171414e-04  9.99999766e-01]]

 t_estimated:
[[-0.93157688]
 [-0.3635422 ]
 [-0.0012623 ]]

 R_gt:
[[ 0.98959158  0.14185361 -0.02421817]
 [-0.14267633  0.98909494 -0.03652289]
 [ 0.01877279  0.03959934  0.99903946]]

 t_gt:
[-0.61307017  0.73294111 -0.29485979]

Pose Error in degrees for R and t:
8.444297202605743 72.23947918314357

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 0.9994511  -0.03306012  0.00212672]
 [ 0.03307037  0.99944064 -0.00497559]
 [-0.00196104  0.00504319  0.99998536]]

 t_estimated:
[[-0.52457632]
 [-0.85133751]
 [-0.00664261]]

 R_gt:
[[ 0.99203882  0.1258241  -0.00516884]
 [-0.12553506  0.98483723 -0.11972873]
 [-0.00997414  0.11942558  0.99279344]]

 t_gt:
[-0.4357684   0.7017027  -0.56366589]

Pose Error in degrees for R and t:
11.266975620501123 68.58947321263456

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.95933838e-01  9.00875058e-02  1.77841711e-04]
 [-9.00875675e-02  9.95933777e-01  3.76375669e-04]
 [-1.43211821e-04 -3.90866591e-04  9.99999913e-01]]

 t_estimated:
[[-7.83835813e-01]
 [-6.20967760e-01]
 [ 6.78389792e-04]]

 R_gt:
[[ 0.98215776  0.18795572 -0.00632796]
 [-0.18629443  0.96776736 -0.16947076]
 [-0.0257288   0.16762642  0.98551518]]

 t_gt:
[-0.43996757  0.72267618 -0.53307379]

Pose Error in degrees for R and t:
11.318894348598645 84.01558721719928

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.88315239e-01 -1.52423410e-01  3.03367064e-04]
 [ 1.52423531e-01  9.88315174e-01 -4.28708477e-04]
 [-2.34477065e-04  4.69939400e-04  9.99999862e-01]]

 t_estimated:
[[-0.84595034]
 [-0.53326011]
 [-0.00129747]]

 R_gt:
[[ 0.99951476 -0.02951467  0.00997819]
 [ 0.02935572  0.99944581  0.01573852]
 [-0.01043689 -0.01543819  0.99982688]]

 t_gt:
[ 0.7421035  -0.34251103  0.57616716]

Pose Error in degrees for R and t:
7.162149385284556 63.52016641715622

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99902803e-01  1.39417051e-02  1.15159046e-04]
 [-1.39417125e-02  9.99902808e-01  6.42299692e-05]
 [-1.14252378e-04 -6.58292405e-05  9.99999991e-01]]

 t_estimated:
[[ 6.66302907e-01]
 [-7.45681188e-01]
 [ 3.40622444e-05]]

 R_gt:
[[ 0.99991807  0.0039362  -0.01222157]
 [-0.00372498  0.99984561  0.0172543 ]
 [ 0.01228708 -0.01720674  0.99977615]]

 t_gt:
[-0.0584069   0.99460572  0.08572106]

Pose Error in degrees for R and t:
1.3416688324786912 38.686973424308526

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.99969715  0.0245847  -0.00109309]
 [-0.02458316  0.9996968   0.00140509]
 [ 0.0011273  -0.00137779  0.99999842]]

 t_estimated:
[[9.86453188e-01]
 [1.64040902e-01]
 [8.30519156e-04]]

 R_gt:
[[ 0.99627776  0.08545068  0.01137275]
 [-0.08573305  0.99594818  0.02720021]
 [-0.00900239 -0.02807388  0.99956577]]

 t_gt:
[-0.55332066  0.80280104  0.22214128]

Pose Error in degrees for R and t:
3.865914348867452 65.54690118690736

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99997995e-01  1.99947223e-03 -1.06087575e-04]
 [-1.99945410e-03  9.99997987e-01  1.70716777e-04]
 [ 1.06428704e-04 -1.70504318e-04  9.99999980e-01]]

 t_estimated:
[[9.99922778e-01]
 [1.24202126e-02]
 [4.18977147e-04]]

 R_gt:
[[ 0.98893879 -0.14645326  0.02351352]
 [ 0.14541969  0.98852431  0.04091226]
 [-0.02923493 -0.03704106  0.99888588]]

 t_gt:
[ 0.59845895 -0.75216412  0.27585507]

Pose Error in degrees for R and t:
8.927849521624927 53.90071514076287

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999972e-01  2.29419334e-04  6.12122000e-05]
 [-2.29417480e-04  9.99999973e-01 -3.03073357e-05]
 [-6.12191514e-05  3.02932917e-05  9.99999998e-01]]

 t_estimated:
[[ 9.74832017e-01]
 [-2.22940520e-01]
 [ 2.49378704e-04]]

 R_gt:
[[ 0.98241425 -0.18325119  0.03579743]
 [ 0.18205148  0.98268892  0.03435836]
 [-0.0414735  -0.02723731  0.99876702]]

 t_gt:
[ 0.61178664 -0.75371151  0.24007514]

Pose Error in degrees for R and t:
10.919410839073878 40.13907762534816

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.87075361 -0.49158758  0.01139293]
 [-0.49171744  0.87058452 -0.0172207 ]
 [-0.00145302 -0.02059709 -0.9997868 ]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.97454208 -0.22267797  0.02615447]
 [ 0.22104104  0.97375345  0.05428711]
 [-0.03755642 -0.04712404  0.99818184]]

 t_gt:
[ 0.61719223 -0.75149426  0.23308825]

Pose Error in degrees for R and t:
177.22581289643534 56.06858245152854

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.26090239 -0.96534804  0.00575365]
 [ 0.96529483  0.26080678 -0.01362752]
 [ 0.01165471  0.00910942  0.99989059]]

 t_estimated:
[[ 0.8187776 ]
 [-0.57392041]
 [-0.01478526]]

 R_gt:
[[ 0.99888896  0.04583908 -0.01090533]
 [-0.04646354  0.99672486 -0.06618931]
 [ 0.00783581  0.06662348  0.99774807]]

 t_gt:
[-0.26707819  0.58441681 -0.76624163]

Pose Error in degrees for R and t:
77.565703479394 57.12846228548355

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.86277944e-01 -1.65093248e-01  1.90095344e-04]
 [ 1.65093171e-01  9.86277908e-01  3.64618242e-04]
 [-2.47682848e-04 -3.28231487e-04  9.99999915e-01]]

 t_estimated:
[[ 0.49798216]
 [-0.86718587]
 [ 0.00156198]]

 R_gt:
[[ 0.99873538  0.05015283  0.00342627]
 [-0.04924554  0.98979034 -0.13375135]
 [-0.01009923  0.1334141   0.99100939]]

 t_gt:
[-0.15718972  0.51384692 -0.84335801]

Pose Error in degrees for R and t:
14.562381063817849 58.31857692256561

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999896e-01 -4.55041378e-04 -2.90152613e-07]
 [ 4.55041416e-04  9.99999886e-01  1.45663158e-04]
 [ 2.23869815e-07 -1.45663275e-04  9.99999989e-01]]

 t_estimated:
[[-2.66683050e-01]
 [-9.63784248e-01]
 [ 2.72746055e-04]]

 R_gt:
[[ 9.94653873e-01  1.01555335e-01 -1.87196553e-02]
 [-1.03266366e-01  9.77578061e-01 -1.83513467e-01]
 [-3.36476112e-04  1.84465396e-01  9.82838817e-01]]

 t_gt:
[-0.19911468  0.56901355 -0.79785771]

Pose Error in degrees for R and t:
12.187530153045435 60.295730449066994

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.81072822e-01  1.93639140e-01  3.62226886e-05]
 [-1.93639098e-01  9.81072702e-01 -5.03665659e-04]
 [-1.33066476e-04  4.87118561e-04  9.99999873e-01]]

 t_estimated:
[[0.81849145]
 [0.57451804]
 [0.00087446]]

 R_gt:
[[ 0.9995554  -0.02092353  0.02127382]
 [ 0.01982553  0.99852339  0.05058879]
 [-0.02230101 -0.05014423  0.99849315]]

 t_gt:
[ 0.22699515 -0.35969591  0.90503705]

Pose Error in degrees for R and t:
12.73281811629786 88.8501808173713

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[-9.94060448e-01 -1.08793165e-01 -2.80580225e-03]
 [ 1.08793369e-01 -9.94064382e-01  8.01368025e-05]
 [-2.79786641e-03 -2.25591854e-04  9.99996061e-01]]

 t_estimated:
[[0.92314342]
 [0.38445371]
 [0.00125324]]

 R_gt:
[[ 0.9981623  -0.03747926  0.04762016]
 [ 0.03336133  0.99586316  0.08451991]
 [-0.05059086 -0.08277553  0.99528374]]

 t_gt:
[ 0.22759921 -0.25793166  0.93897277]

Pose Error in degrees for R and t:
171.7226542669862 83.5624215056727

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-0.4882597  -0.87267684 -0.00613188]
 [ 0.87269379 -0.48822229 -0.00667369]
 [ 0.00283025 -0.00860975  0.99995893]]

 t_estimated:
[[0.98967498]
 [0.14332183]
 [0.00150865]]

 R_gt:
[[ 0.99865571 -0.03598017  0.03734263]
 [ 0.03331482  0.99701258  0.06969542]
 [-0.03973802 -0.06835706  0.99686912]]

 t_gt:
[ 0.29494381 -0.09278983  0.95099853]

Pose Error in degrees for R and t:
117.29952142875906 73.73774078934073

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99941081e-01  1.08531729e-02  2.09358641e-04]
 [-1.08531784e-02  9.99941102e-01  2.52223944e-05]
 [-2.09072568e-04 -2.74931150e-05  9.99999978e-01]]

 t_estimated:
[[0.72811354]
 [0.68545064]
 [0.00284419]]

 R_gt:
[[ 0.99992365  0.01163494 -0.00429192]
 [-0.0114867   0.99938437  0.03315308]
 [ 0.00467584 -0.03310165  0.99944133]]

 t_gt:
[0.59439464 0.57380489 0.56342077]

Pose Error in degrees for R and t:
1.9155480728950782 34.136379484629295

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99869624e-01 -1.61442098e-02 -3.14963514e-04]
 [ 1.61445265e-02  9.99869138e-01  1.03012058e-03]
 [ 2.98291814e-04 -1.03507122e-03  9.99999420e-01]]

 t_estimated:
[[-9.95314382e-01]
 [-9.66916759e-02]
 [ 5.21947931e-06]]

 R_gt:
[[ 0.99827895  0.03896024 -0.04382309]
 [-0.03860924  0.99921512  0.0088563 ]
 [ 0.04413463 -0.00714896  0.99900014]]

 t_gt:
[ 0.60677656  0.67019105 -0.42739462]

Pose Error in degrees for R and t:
4.042566360966667 48.03029601593393

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99999888e-01  4.71661817e-04  2.33559890e-05]
 [-4.71660959e-04  9.99999888e-01 -3.67148397e-05]
 [-2.33733034e-05  3.67038195e-05  9.99999999e-01]]

 t_estimated:
[[-0.04476805]
 [-0.9989893 ]
 [-0.00402543]]

 R_gt:
[[ 0.99773129  0.06464505 -0.01878279]
 [-0.06428193  0.99774435  0.01934534]
 [ 0.0199915  -0.01809433  0.99963633]]

 t_gt:
[ 0.53700756  0.83597274 -0.11301527]

Pose Error in degrees for R and t:
3.982639792280421 30.827541022414874

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.62979464e-01  2.69574521e-01  3.59156971e-04]
 [-2.69574314e-01  9.62979439e-01 -5.37477046e-04]
 [-4.90750896e-04  4.20759864e-04  9.99999791e-01]]

 t_estimated:
[[0.8305489 ]
 [0.55694486]
 [0.00097368]]

 R_gt:
[[ 0.97348202 -0.22817469 -0.01639608]
 [ 0.22825879  0.97359526  0.00340828]
 [ 0.01518436 -0.00705962  0.99985947]]

 t_gt:
[ 0.65028002 -0.75943442 -0.01988086]

Pose Error in degrees for R and t:
28.848701451034653 83.27483736571607

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.33976813  0.94049927 -0.00432868]
 [ 0.94048458  0.33978895  0.00567723]
 [ 0.00681027 -0.00214212 -0.99997452]]

 t_estimated:
[[0.57247312]
 [0.8199229 ]
 [0.00098194]]

 R_gt:
[[ 0.95159686 -0.30635126 -0.02477845]
 [ 0.30552459  0.95163778 -0.0322564 ]
 [ 0.03346119  0.02312528  0.9991721 ]]

 t_gt:
[ 0.66465089 -0.7353778  -0.13213133]

Pose Error in degrees for R and t:
179.1744958458131 77.1389113294691

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 8.83383213e-01  4.68651058e-01 -5.33790597e-04]
 [-4.68650540e-01  8.83383223e-01  8.67580256e-04]
 [ 8.78134063e-04 -5.16244583e-04  9.99999481e-01]]

 t_estimated:
[[-0.85243971]
 [-0.52282428]
 [-0.00114839]]

 R_gt:
[[ 0.90342358 -0.42190344 -0.07631967]
 [ 0.42106113  0.90661282 -0.02759808]
 [ 0.08083489 -0.00720144  0.99670169]]

 t_gt:
[ 0.72142469 -0.68123468 -0.1243613 ]

Pose Error in degrees for R and t:
53.10530266763051 75.0093027724975

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[-6.28107763e-01 -7.78123055e-01 -2.26918994e-03]
 [ 7.78126211e-01 -6.28103143e-01 -2.45785291e-03]
 [ 4.87226683e-04 -3.30951267e-03  9.99994405e-01]]

 t_estimated:
[[9.81615074e-01]
 [1.90869598e-01]
 [8.01973100e-04]]

 R_gt:
[[ 9.99459630e-01  3.28512605e-02  4.95194674e-04]
 [-3.28519290e-02  9.99460438e-01  4.93201389e-04]
 [-4.80531487e-04 -5.09240901e-04  9.99999963e-01]]

 t_gt:
[-0.92930365  0.36480281  0.0575642 ]

Pose Error in degrees for R and t:
130.79330847570714 32.590412318464324

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.53360370e-01 -3.01833851e-01 -5.75130952e-04]
 [ 3.01834065e-01  9.53360419e-01  3.29937914e-04]
 [ 4.48720655e-04 -4.88143845e-04  9.99999780e-01]]

 t_estimated:
[[-0.70306606]
 [-0.71112235]
 [-0.00176523]]

 R_gt:
[[ 0.98780771  0.15374356  0.02447753]
 [-0.15183138  0.98614953 -0.06674924]
 [-0.03440189  0.06221928  0.99747002]]

 t_gt:
[-0.73301105  0.67807523 -0.05393308]

Pose Error in degrees for R and t:
26.680555038758214 88.09422363654045

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.92259114e-01  1.24184745e-01  9.69887361e-06]
 [-1.24184260e-01  9.92255013e-01  2.87390849e-03]
 [ 3.47271839e-04 -2.85286634e-03  9.99995870e-01]]

 t_estimated:
[[0.27541245]
 [0.96132559]
 [0.0010472 ]]

 R_gt:
[[ 0.95956998  0.28113852  0.01362553]
 [-0.27923884  0.95693333 -0.07940329]
 [-0.03536347  0.07238827  0.9967496 ]]

 t_gt:
[-0.65492816  0.75452968 -0.04188171]

Pose Error in degrees for R and t:
10.33476014792237 56.980156849432

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[ 9.87231090e-01 -1.59294572e-01 -1.21564453e-04]
 [ 1.59294590e-01  9.87231080e-01  1.66486189e-04]
 [ 9.34918606e-05 -1.83724901e-04  9.99999979e-01]]

 t_estimated:
[[0.99998661]
 [0.00503502]
 [0.00119665]]

 R_gt:
[[ 0.99698026  0.03463355  0.06950544]
 [-0.03235135  0.99890786 -0.03371078]
 [-0.0705975   0.03136093  0.99701201]]

 t_gt:
[-0.65026681  0.68201187  0.33468327]

Pose Error in degrees for R and t:
11.941599085839073 49.72749977025135

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.91549452e-01 -1.29728776e-01 -3.57749846e-04]
 [ 1.29728907e-01  9.91549431e-01  3.70449552e-04]
 [ 3.06668689e-04 -4.13729547e-04  9.99999867e-01]]

 t_estimated:
[[0.45389606]
 [0.89105409]
 [0.00098459]]

 R_gt:
[[ 0.99288036  0.07405083  0.09330288]
 [-0.06626953  0.99426701 -0.08391297]
 [-0.09898166  0.07713373  0.99209528]]

 t_gt:
[-0.67389665  0.73362558  0.08750329]

Pose Error in degrees for R and t:
13.575894415831057 69.64063701637188

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.99876482  0.0496482   0.00197195]
 [-0.04964082  0.99876055 -0.0036258 ]
 [-0.00214952  0.00352343  0.99999148]]

 t_estimated:
[[-9.04720425e-01]
 [-4.26004937e-01]
 [-8.64107378e-04]]

 R_gt:
[[ 0.97757659  0.10948054  0.1798853 ]
 [-0.09124479  0.99009393 -0.10672036]
 [-0.18978624  0.08791414  0.97788155]]

 t_gt:
[-0.69301196  0.61995019  0.36796221]

Pose Error in degrees for R and t:
12.240377888643083 68.74236207564635

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[-0.28617346 -0.95807566 -0.0139923 ]
 [-0.95809958  0.2863062  -0.00859941]
 [ 0.01224497  0.0109451  -0.99986512]]

 t_estimated:
[[ 0.82861167]
 [ 0.55978181]
 [-0.00685739]]

 R_gt:
[[ 0.99571641  0.08791445  0.02863134]
 [-0.08639158  0.9949734  -0.05065057]
 [-0.03294073  0.0479603   0.99830614]]

 t_gt:
[-0.09753428  0.99147256 -0.08642466]

Pose Error in degrees for R and t:
178.78792648659817 61.65478396436512

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99999800e-01 -6.32099803e-04  2.89358978e-06]
 [ 6.32100086e-04  9.99999795e-01 -9.89225707e-05]
 [-2.83106025e-06  9.89243800e-05  9.99999995e-01]]

 t_estimated:
[[ 9.93530511e-01]
 [-1.13565343e-01]
 [-1.90976313e-04]]

 R_gt:
[[ 0.99341595  0.08884123  0.07232993]
 [-0.08954997  0.99596083  0.00662024]
 [-0.07144907 -0.01305335  0.99735855]]

 t_gt:
[-0.11137572  0.86518511  0.48892758]

Pose Error in degrees for R and t:
6.631057393764382 77.93603349649524

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999997e-01  7.18405914e-05 -1.34887104e-07]
 [-7.18405814e-05  9.99999995e-01  7.24174517e-05]
 [ 1.40089616e-07 -7.24174418e-05  9.99999997e-01]]

 t_estimated:
[[8.93277063e-01]
 [4.49505652e-01]
 [8.69804666e-04]]

 R_gt:
[[ 0.99722325  0.02870758  0.06871349]
 [-0.03295274  0.99756444  0.06147949]
 [-0.06678118 -0.063572    0.99573999]]

 t_gt:
[0.16056237 0.52056394 0.83858983]

Pose Error in degrees for R and t:
5.574597633999328 67.7807073272551

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.89064615e-01 -1.47482821e-01 -6.48506792e-05]
 [ 1.47482822e-01  9.89064617e-01  3.84473491e-07]
 [ 6.40848090e-05 -9.94463028e-06  9.99999998e-01]]

 t_estimated:
[[-0.97654607]
 [-0.21530436]
 [-0.00134256]]

 R_gt:
[[ 0.98998086  0.1406585   0.01238997]
 [-0.13966393  0.98833272 -0.06077219]
 [-0.02079427  0.0584319   0.99807419]]

 t_gt:
[-0.65408145  0.74560182 -0.12749664]

Pose Error in degrees for R and t:
16.92151953178754 61.42031538167267

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 8.77060511e-01  4.80379259e-01 -7.92263297e-04]
 [-4.80379699e-01  8.77060482e-01 -5.05058865e-04]
 [ 4.52243026e-04  8.23554391e-04  9.99999559e-01]]

 t_estimated:
[[-0.8098216 ]
 [ 0.58667436]
 [-0.00147244]]

 R_gt:
[[ 0.96805092  0.25050789  0.01107892]
 [-0.24906025  0.96570427 -0.07338459]
 [-0.02908327  0.06828091  0.99724217]]

 t_gt:
[-0.62378921  0.7784932  -0.06953675]

Pose Error in degrees for R and t:
14.8370889693195 15.84950728390418

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.94120664e-01 -1.08276914e-01 -4.63421300e-04]
 [ 1.08276913e-01  9.94120772e-01 -2.75354895e-05]
 [ 4.63678198e-04 -2.28042288e-05  9.99999892e-01]]

 t_estimated:
[[-0.96930949]
 [-0.24584156]
 [-0.00101978]]

 R_gt:
[[ 0.96358791  0.26551687 -0.03159923]
 [-0.26720886  0.9605389  -0.07723504]
 [ 0.00984421  0.08286662  0.99651212]]

 t_gt:
[-0.60510813  0.7659519  -0.21716777]

Pose Error in degrees for R and t:
22.20585919982158 66.51832724839703

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.98856814e-01  4.78023504e-02  2.15174079e-05]
 [-4.78023518e-02  9.98856812e-01  6.65585219e-05]
 [-1.83111557e-05 -6.75110159e-05  9.99999998e-01]]

 t_estimated:
[[-6.53207574e-02]
 [ 9.97864233e-01]
 [ 4.13310648e-04]]

 R_gt:
[[ 0.9981512   0.02341883 -0.05608623]
 [-0.02770316  0.99665595 -0.07687123]
 [ 0.05409799  0.07828276  0.99546159]]

 t_gt:
[-0.08787246  0.19374716 -0.97710822]

Pose Error in degrees for R and t:
5.610369827293907 78.54083942330169

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[ 9.93115795e-01  1.17136262e-01 -3.38107598e-04]
 [-1.17136520e-01  9.93115426e-01 -8.87224501e-04]
 [ 2.31853710e-04  9.20721413e-04  9.99999549e-01]]

 t_estimated:
[[-0.87661183]
 [ 0.48119679]
 [-0.00116243]]

 R_gt:
[[ 0.97235834  0.20302822 -0.11531937]
 [-0.20888985  0.97707493 -0.04111657]
 [ 0.10432736  0.06406939  0.99247718]]

 t_gt:
[-0.88278406  0.24728362 -0.39942849]

Pose Error in degrees for R and t:
8.716873756816018 26.707146334167856

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.61633571 -0.77601202 -0.13392402]
 [-0.41303822 -0.46335673  0.78402804]
 [-0.67046978 -0.42790874 -0.60610592]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.87130425  0.47517713 -0.12262148]
 [-0.48064568  0.87673519 -0.01781145]
 [ 0.0990422   0.0744569   0.99229356]]

 t_gt:
[-0.90325018  0.38585566 -0.18776186]

Pose Error in degrees for R and t:
150.2666889248344 58.77680069924837

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 0.7219147   0.69138463 -0.02874825]
 [ 0.67010174 -0.68811979  0.27830705]
 [ 0.17263498 -0.2201782  -0.96006183]]

 t_estimated:
[[-0.78314726]
 [-0.60348412]
 [-0.14995759]]

 R_gt:
[[ 0.97653528 -0.21535323  0.001712  ]
 [ 0.21535664  0.97653321 -0.00211432]
 [-0.00121615  0.00243291  0.99999559]]

 t_gt:
[ 0.84116226 -0.54076107 -0.00485047]

Pose Error in degrees for R and t:
165.1297117734163 70.62886902067068

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 6.81751485e-01  7.31578731e-01  2.73375200e-03]
 [-7.31568318e-01  6.81756602e-01 -3.96622077e-03]
 [-4.76535623e-03  7.04050541e-04  9.99988398e-01]]

 t_estimated:
[[0.92522726]
 [0.37940974]
 [0.00166408]]

 R_gt:
[[ 0.892621   -0.44488655 -0.07283714]
 [ 0.44425432  0.89553669 -0.0255597 ]
 [ 0.07659991 -0.00954279  0.99701563]]

 t_gt:
[ 0.91323118 -0.40011763 -0.07690705]

Pose Error in degrees for R and t:
73.58615851329293 46.13115879519054

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.97389947 -0.22697038 -0.00206388]
 [ 0.22697587  0.97389576  0.00299878]
 [ 0.00132937 -0.00338896  0.99999337]]

 t_estimated:
[[0.94188956]
 [0.33591865]
 [0.00164666]]

 R_gt:
[[ 0.77577898 -0.62907737 -0.04929454]
 [ 0.6242655   0.77653363 -0.08537536]
 [ 0.09198723  0.03545942  0.99512809]]

 t_gt:
[ 0.94942646 -0.29244287 -0.11430908]

Pose Error in degrees for R and t:
26.411949413978068 37.266313339794095

Number of keypoints:
Image1: 324
Image2: 324

 R_estimated:
[[ 9.99999999e-01  3.94428832e-05  1.71766233e-05]
 [-3.94421514e-05  9.99999998e-01 -4.25994703e-05]
 [-1.71783035e-05  4.25987928e-05  9.99999999e-01]]

 t_estimated:
[[ 9.69140195e-01]
 [-2.46510024e-01]
 [-3.01337967e-04]]

 R_gt:
[[ 0.99949297 -0.03113065  0.00674951]
 [ 0.03111088  0.99951203  0.00305158]
 [-0.00684097 -0.0028396   0.99997323]]

 t_gt:
[ 0.42566354 -0.87839905  0.21731466]

Pose Error in degrees for R and t:
1.8337717294204738 51.02388768677395

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.04875353e-01 -4.25676354e-01 -4.87350460e-04]
 [ 4.25676566e-01  9.04875259e-01  4.76448516e-04]
 [ 2.38178507e-04 -6.38580190e-04  9.99999768e-01]]

 t_estimated:
[[ 7.51302380e-01]
 [-6.59958119e-01]
 [ 1.27762858e-04]]

 R_gt:
[[ 0.99719573 -0.07426131 -0.00928712]
 [ 0.0744249   0.99705512  0.01854943]
 [ 0.00788187 -0.01918907  0.99978532]]

 t_gt:
[ 0.51543932 -0.85417822  0.06857019]

Pose Error in degrees for R and t:
20.960610144627953 18.013921827155006

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99999787e-01  6.44148811e-04  1.07729935e-04]
 [-6.44122625e-04  9.99999763e-01 -2.42933802e-04]
 [-1.07886395e-04  2.42864359e-04  9.99999965e-01]]

 t_estimated:
[[-0.11450779]
 [-0.99342109]
 [-0.00158072]]

 R_gt:
[[ 0.99423087 -0.10367295 -0.02749953]
 [ 0.1044902   0.99406947  0.03013742]
 [ 0.0242114  -0.0328365   0.99916796]]

 t_gt:
[ 0.51964785 -0.85434062 -0.00825918]

Pose Error in degrees for R and t:
6.457052364017489 37.88645125895062

Number of keypoints:
Image1: 425
Image2: 425

 R_estimated:
[[-9.50484505e-01 -3.10769351e-01 -1.27130115e-03]
 [ 3.10771258e-01 -9.50483072e-01 -1.77605324e-03]
 [-6.56407310e-04 -2.08319495e-03  9.99997615e-01]]

 t_estimated:
[[8.82715524e-01]
 [4.69907128e-01]
 [7.71604479e-04]]

 R_gt:
[[ 0.99852217  0.05415479  0.00445025]
 [-0.05410696  0.99848313 -0.01016402]
 [-0.00499355  0.00990897  0.99993852]]

 t_gt:
[-0.00327262  0.96771884 -0.25201099]

Pose Error in degrees for R and t:
164.99810522097397 63.15010026698067

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.99999808e-01  6.13817015e-04  8.34028281e-05]
 [-6.13793068e-04  9.99999770e-01 -2.86847860e-04]
 [-8.35788811e-05  2.86796613e-04  9.99999955e-01]]

 t_estimated:
[[-0.18163339]
 [-0.9833646 ]
 [-0.00183528]]

 R_gt:
[[ 9.91776390e-01  1.27973171e-01 -1.38919179e-03]
 [-1.27977400e-01  9.91633197e-01 -1.68696103e-02]
 [-7.80560578e-04  1.69088889e-02  9.99857131e-01]]

 t_gt:
[ 0.09185453  0.98201735 -0.16493838]

Pose Error in degrees for R and t:
7.379804410254321 10.868585657359516

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99999988e-01 -8.40843524e-05 -1.33649114e-04]
 [ 8.41053465e-05  9.99999984e-01  1.57085901e-04]
 [ 1.33635903e-04 -1.57097139e-04  9.99999979e-01]]

 t_estimated:
[[9.85251169e-01]
 [1.71114243e-01]
 [2.23303885e-04]]

 R_gt:
[[ 0.98698791  0.15696043  0.03490214]
 [-0.15725448  0.9875407   0.00585709]
 [-0.03354696 -0.01126911  0.99937307]]

 t_gt:
[0.19853269 0.94065479 0.27523324]

Pose Error in degrees for R and t:
9.272069540792927 69.10690213318478

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.99772230e-01  2.13421104e-02 -4.64472246e-05]
 [-2.13421073e-02  9.99772229e-01  6.57208524e-05]
 [ 4.78392669e-05 -6.47146015e-05  9.99999997e-01]]

 t_estimated:
[[9.60843366e-01]
 [2.77091539e-01]
 [5.51550674e-04]]

 R_gt:
[[ 0.99672005  0.07934703 -0.01593736]
 [-0.07943821  0.99682696 -0.00514123]
 [ 0.01547837  0.00639061  0.99985955]]

 t_gt:
[ 0.18634772  0.94759738 -0.25948746]

Pose Error in degrees for R and t:
3.4658451238859964 63.80171070471059

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99979742e-01  6.36444104e-03 -9.92593055e-05]
 [-6.36442571e-03  9.99979735e-01  1.54065569e-04]
 [ 1.00237835e-04 -1.53430719e-04  9.99999983e-01]]

 t_estimated:
[[9.70609038e-01]
 [2.40661362e-01]
 [4.52687922e-04]]

 R_gt:
[[ 0.99461704  0.10054934  0.02505973]
 [-0.10077909  0.99487642  0.00807202]
 [-0.02412009 -0.01055286  0.99965326]]

 t_gt:
[0.43977633 0.82619731 0.35212894]

Pose Error in degrees for R and t:
5.6202534155725585 51.25583466648241

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.58875232 -0.80831137 -0.00185465]
 [ 0.80831285 -0.58874739 -0.00261798]
 [ 0.00102422 -0.00304049  0.99999485]]

 t_estimated:
[[9.71492712e-01]
 [2.37067445e-01]
 [9.67622224e-04]]

 R_gt:
[[ 0.98264512  0.18385316  0.0246444 ]
 [-0.18493789  0.98130981  0.05318812]
 [-0.01440513 -0.05682158  0.99827945]]

 t_gt:
[0.17392145 0.81642243 0.55064122]

Pose Error in degrees for R and t:
136.72438200485732 68.71277953277665

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999995e-01  7.46679994e-05  6.60501673e-05]
 [-7.46562724e-05  9.99999981e-01 -1.77531366e-04]
 [-6.60634220e-05  1.77526434e-04  9.99999982e-01]]

 t_estimated:
[[-0.59731922]
 [-0.8020023 ]
 [-0.00143262]]

 R_gt:
[[ 0.99670988 -0.07074429  0.03958137]
 [ 0.07058196  0.99749179  0.00550156]
 [-0.03987065 -0.00269024  0.99920131]]

 t_gt:
[ 0.49549388 -0.76455346  0.41224244]

Pose Error in degrees for R and t:
4.657360071774796 71.54166086646151

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99998455e-01  1.74325330e-03 -2.24566297e-04]
 [-1.74311257e-03  9.99998285e-01  6.25384044e-04]
 [ 2.25656115e-04 -6.24991634e-04  9.99999779e-01]]

 t_estimated:
[[9.99712484e-01]
 [2.39596935e-02]
 [9.39333519e-04]]

 R_gt:
[[ 0.99289046 -0.11413979  0.03380643]
 [ 0.11388063  0.99344988  0.00952201]
 [-0.03467041 -0.00560371  0.99938306]]

 t_gt:
[ 0.54335989 -0.80487746  0.23860489]

Pose Error in degrees for R and t:
6.9470974346899625 58.38941939697963

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.72413832 -0.68965381  0.00114613]
 [-0.68965256  0.72413081 -0.00373004]
 [ 0.00174249 -0.0034915  -0.99999239]]

 t_estimated:
[[0.98659621]
 [0.16317365]
 [0.00151087]]

 R_gt:
[[ 0.98838606 -0.15140627  0.01308781]
 [ 0.15103637  0.98819266  0.02579744]
 [-0.01683911 -0.0235209   0.99958125]]

 t_gt:
[ 0.56255142 -0.81053897  0.16297998]

Pose Error in degrees for R and t:
178.71147401722956 64.9759441980987

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.97884831e-01 -6.50050828e-02 -4.50861515e-04]
 [ 6.50053386e-02  9.97884749e-01  5.78170924e-04]
 [ 4.12323781e-04 -6.06256401e-04  9.99999731e-01]]

 t_estimated:
[[-0.99640577]
 [-0.08470037]
 [-0.00117639]]

 R_gt:
[[ 0.99241125  0.10799559 -0.05879548]
 [-0.10955678  0.99369154 -0.02398496]
 [ 0.05583473  0.03024383  0.99798146]]

 t_gt:
[-0.90787704  0.19168766 -0.37284731]

Pose Error in degrees for R and t:
10.617498718260745 27.275093169918172

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.90369441e-01  1.38449432e-01  3.53125878e-04]
 [ 1.38448977e-01 -9.90350514e-01 -6.14337708e-03]
 [-5.00828674e-04  6.13310284e-03 -9.99981067e-01]]

 t_estimated:
[[9.83430997e-01]
 [1.81281188e-01]
 [7.78030852e-04]]

 R_gt:
[[ 0.92928998  0.36096832 -0.07824951]
 [-0.36230857  0.93205298 -0.00317413]
 [ 0.07178659  0.03129943  0.99692789]]

 t_gt:
[-0.94481099  0.30339568 -0.12362546]

Pose Error in degrees for R and t:
178.95173486856623 29.043347890639428

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-0.98326321 -0.18218706  0.00115439]
 [-0.18217991  0.98325417  0.00466003]
 [-0.00198406  0.00437173 -0.99998848]]

 t_estimated:
[[0.9994188 ]
 [0.03402277]
 [0.00212642]]

 R_gt:
[[ 0.79229262  0.60874746 -0.04122371]
 [-0.60914805  0.79304886  0.00347472]
 [ 0.03480649  0.02235764  0.99914361]]

 t_gt:
[-0.88385236  0.46543078 -0.04668196]

Pose Error in degrees for R and t:
177.65824120459314 29.81876065123364

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.10262489 -0.99419617 -0.03228164]
 [ 0.93714327 -0.10751471  0.3319685 ]
 [-0.33351256  0.00381571  0.94273793]]

 t_estimated:
[[9.93527356e-01]
 [1.13590442e-01]
 [7.78016723e-04]]

 R_gt:
[[ 0.96707901 -0.25222739  0.03374338]
 [ 0.2500718   0.96651557  0.05754651]
 [-0.04712893 -0.04721332  0.99777209]]

 t_gt:
[ 0.80162239 -0.54383872  0.24827603]

Pose Error in degrees for R and t:
82.64176291932391 42.70528351393034

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[-0.73952908 -0.67180994 -0.04204932]
 [ 0.67085047 -0.74072176  0.03592938]
 [-0.05528457 -0.00163798  0.9984693 ]]

 t_estimated:
[[0.67465003]
 [0.73813699]
 [0.0010597 ]]

 R_gt:
[[ 0.89498015 -0.44582295 -0.01587216]
 [ 0.44610102  0.89423633  0.03654556]
 [-0.00209959 -0.03978714  0.99920554]]

 t_gt:
[ 0.89647955 -0.43709345  0.0726205 ]

Pose Error in degrees for R and t:
111.27320713661122 73.60533868205926

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-0.73337483 -0.30029324  0.609906  ]
 [-0.67958469  0.34766104 -0.64598487]
 [-0.01805566 -0.88823182 -0.45904054]]

 t_estimated:
[[0.75088282]
 [0.65658106]
 [0.07124811]]

 R_gt:
[[ 0.76164495 -0.64424635 -0.06959367]
 [ 0.64589726  0.76342208  0.0016175 ]
 [ 0.05208713 -0.04618169  0.99757424]]

 t_gt:
[ 0.95127129 -0.30801913  0.01439247]

Pose Error in degrees for R and t:
179.71996482302106 59.130848805985046

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.82955550e-01  1.83843257e-01 -2.06827310e-04]
 [-1.83843163e-01  9.82955504e-01  4.09777630e-04]
 [ 2.78636897e-04 -3.64769409e-04  9.99999895e-01]]

 t_estimated:
[[0.40363997]
 [0.91491727]
 [0.00107637]]

 R_gt:
[[ 0.99543452  0.09307034  0.02116223]
 [-0.09167369  0.99401341 -0.05944895]
 [-0.02656861  0.05723841  0.99800716]]

 t_gt:
[-0.70704009  0.69562044 -0.1273048 ]

Pose Error in degrees for R and t:
6.421301854438269 69.45710760810645

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.98507081 -0.17212117 -0.00313192]
 [ 0.17212605  0.98507399  0.00136185]
 [ 0.00285077 -0.0018806   0.99999417]]

 t_estimated:
[[-0.32721845]
 [-0.94494814]
 [-0.00104878]]

 R_gt:
[[ 0.97564325  0.21871648  0.01682469]
 [-0.21644164  0.97229394 -0.08830047]
 [-0.03567173  0.08250802  0.99595219]]

 t_gt:
[-0.64791764  0.7563188  -0.09046876]

Pose Error in degrees for R and t:
23.112282267645515 59.8293890937833

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 7.35842145e-01 -6.77133383e-01 -5.16909245e-03]
 [ 6.77144431e-01  7.35849926e-01  5.53362135e-04]
 [ 3.42897632e-03 -3.90740935e-03  9.99986487e-01]]

 t_estimated:
[[-0.13005468]
 [-0.99150599]
 [-0.00128767]]

 R_gt:
[[ 0.95563339  0.29451009  0.00536712]
 [-0.29221791  0.95017635 -0.10850398]
 [-0.03705634  0.10212258  0.99408187]]

 t_gt:
[-0.61373106  0.78228443 -0.10660798]

Pose Error in degrees for R and t:
60.048260571904365 45.9182657920181

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.96999723e-01  7.74045395e-02  2.99641071e-04]
 [-7.74044779e-02  9.96999750e-01 -2.12002912e-04]
 [-3.15152060e-04  1.88173284e-04  9.99999933e-01]]

 t_estimated:
[[0.08047625]
 [0.99675586]
 [0.00114966]]

 R_gt:
[[ 0.99359653 -0.10553198 -0.04037183]
 [ 0.10661668  0.99396707  0.02574227]
 [ 0.03741041 -0.02988133  0.99885299]]

 t_gt:
[ 0.70907533 -0.70446568 -0.03066385]

Pose Error in degrees for R and t:
10.88792653563695 49.82294004405275

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.99999715 -0.00130005  0.00200483]
 [ 0.00130363  0.99999755 -0.00178694]
 [-0.00200251  0.00178955  0.99999639]]

 t_estimated:
[[0.53927935]
 [0.84212589]
 [0.00132827]]

 R_gt:
[[ 0.97269773 -0.19666287 -0.12322421]
 [ 0.19548068  0.98046739 -0.02172561]
 [ 0.12508877 -0.00295587  0.99214154]]

 t_gt:
[ 0.76325296 -0.5476165  -0.34287183]

Pose Error in degrees for R and t:
13.425607560057326 87.13339115802103

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 1.76719706e-01  9.84260914e-01 -7.73267259e-04]
 [-9.84260983e-01  1.76719066e-01 -8.30484136e-04]
 [-6.80762007e-04  9.07859704e-04  9.99999356e-01]]

 t_estimated:
[[0.57163376]
 [0.82050832]
 [0.00097217]]

 R_gt:
[[ 0.91883388 -0.36863817 -0.14089326]
 [ 0.36814582  0.929268   -0.03050914]
 [ 0.1421737  -0.0238363   0.98955498]]

 t_gt:
[ 0.81710394 -0.54552773 -0.18638844]

Pose Error in degrees for R and t:
101.80087739124919 88.89452637228854

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[ 9.99999962e-01 -2.50786913e-04  1.14246271e-04]
 [ 2.50785842e-04  9.99999969e-01  9.39195205e-06]
 [-1.14248623e-04 -9.36330034e-06  9.99999993e-01]]

 t_estimated:
[[0.22924502]
 [0.97336699]
 [0.00185106]]

 R_gt:
[[ 0.99936016 -0.00375891  0.03556195]
 [ 0.00202835  0.99881645  0.04858833]
 [-0.035702   -0.04848464  0.99818491]]

 t_gt:
[-0.08869404 -0.02451868  0.9957571 ]

Pose Error in degrees for R and t:
3.451635161310307 87.57250357177642

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[-7.68180029e-01 -6.40231111e-01 -1.88874259e-03]
 [ 6.40233347e-01 -7.68179893e-01 -9.55611613e-04]
 [-8.39081799e-04 -1.94331775e-03  9.99997760e-01]]

 t_estimated:
[[9.46958752e-01]
 [3.21353873e-01]
 [9.00150905e-04]]

 R_gt:
[[ 0.99447202 -0.10479644 -0.00643984]
 [ 0.10488339  0.98873206  0.10680859]
 [-0.00482635 -0.10689274  0.99425806]]

 t_gt:
[ 0.48547778 -0.57485234  0.65867755]

Pose Error in degrees for R and t:
134.22022113907812 74.00286348925083

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99998543e-01 -1.16351834e-03  1.24919828e-03]
 [ 1.16474545e-03  9.99998839e-01 -9.82041331e-04]
 [-1.24805421e-03  9.83494898e-04  9.99998738e-01]]

 t_estimated:
[[0.50411302]
 [0.86363548]
 [0.00195393]]

 R_gt:
[[ 0.966021   -0.25794044 -0.01642254]
 [ 0.25774621  0.95666778  0.13547234]
 [-0.01923291 -0.13510145  0.990645  ]]

 t_gt:
[ 0.61089514 -0.64289547  0.46205254]

Pose Error in degrees for R and t:
16.895984082300497 75.73752450660633

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.91143783  0.41137311  0.00729668]
 [-0.41142073  0.91141826  0.00705246]
 [-0.00374914 -0.00942989  0.99994851]]

 t_estimated:
[[0.28992174]
 [0.95697776]
 [0.01178787]]

 R_gt:
[[ 0.99850949 -0.05086314 -0.01982069]
 [ 0.05135508  0.99836357  0.02518214]
 [ 0.01850765 -0.02616248  0.99948592]]

 t_gt:
[ 0.53931759 -0.84160814  0.02884907]

Pose Error in degrees for R and t:
27.277247417177854 49.55631785209378

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-9.46536034e-01 -3.22573661e-01 -3.97113257e-03]
 [-3.22574846e-01  9.46543893e-01 -3.55912074e-04]
 [ 3.87365914e-03  9.44103875e-04 -9.99992052e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.99410562 -0.09372956 -0.05450113]
 [ 0.09723072  0.99309864  0.06559512]
 [ 0.04797605 -0.07050733  0.99635706]]

 t_gt:
[ 0.54381242 -0.83860554  0.03176169]

Pose Error in degrees for R and t:
177.50998377857792 89.9458896454686

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.87938838e-01 -1.54844244e-01  3.34501856e-04]
 [ 1.54844166e-01  9.87938876e-01  2.47964038e-04]
 [-3.68863192e-04 -1.93177643e-04  9.99999913e-01]]

 t_estimated:
[[0.73498099]
 [0.67808672]
 [0.00116111]]

 R_gt:
[[ 0.98912738 -0.12082674 -0.08384188]
 [ 0.12511181  0.99098792  0.04787136]
 [ 0.07730142 -0.0578406   0.99532831]]

 t_gt:
[ 0.57787673 -0.80006865 -0.16108584]

Pose Error in degrees for R and t:
5.842848771460051 83.22477700978207

Number of keypoints:
Image1: 557
Image2: 557

 R_estimated:
[[ 9.98399634e-01  5.65523173e-02  8.36129830e-05]
 [-5.65523151e-02  9.98399637e-01 -2.86338760e-05]
 [-8.50984839e-05  2.38595435e-05  9.99999996e-01]]

 t_estimated:
[[9.46166047e-01]
 [3.23680691e-01]
 [7.89050431e-04]]

 R_gt:
[[ 0.99890341 -0.04623733 -0.00740044]
 [ 0.04615984  0.99887975 -0.0104366 ]
 [ 0.00787513  0.01008326  0.99991811]]

 t_gt:
[ 0.52288014 -0.80374754 -0.28387717]

Pose Error in degrees for R and t:
5.935446067945242 76.44669668917165

Number of keypoints:
Image1: 480
Image2: 480

 R_estimated:
[[-0.98788879  0.150677    0.03704285]
 [ 0.1506888   0.98857811 -0.00248913]
 [-0.0369948   0.00312296 -0.99931058]]

 t_estimated:
[[ 0.99645273]
 [-0.08197258]
 [ 0.01903839]]

 R_gt:
[[ 0.99803915 -0.06256634 -0.00228513]
 [ 0.06259579  0.99791098  0.01597066]
 [ 0.0012816  -0.01608225  0.99986948]]

 t_gt:
[ 0.39639443 -0.91010968  0.12071382]

Pose Error in degrees for R and t:
178.04490691399522 61.842913660479226

Number of keypoints:
Image1: 400
Image2: 400

 R_estimated:
[[ 0.99605247  0.08875652  0.00132809]
 [-0.08875809  0.99605252  0.00117215]
 [-0.00121881 -0.0012854   0.99999843]]

 t_estimated:
[[0.31284242]
 [0.94980086]
 [0.0028184 ]]

 R_gt:
[[ 0.99326549 -0.1116853   0.03081321]
 [ 0.11141984  0.99372086  0.01021533]
 [-0.03176028 -0.00671313  0.99947225]]

 t_gt:
[ 0.28990454 -0.90610307  0.30811131]

Pose Error in degrees for R and t:
11.634014424851152 39.73092598482199

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 1.76654409e-01 -9.84270963e-01 -1.97244560e-03]
 [ 9.84272939e-01  1.76653974e-01  3.93964540e-04]
 [-3.93275038e-05 -2.01102040e-03  9.99997977e-01]]

 t_estimated:
[[0.99417319]
 [0.10778253]
 [0.00160869]]

 R_gt:
[[ 0.99923296 -0.03521788 -0.01716219]
 [ 0.03543535  0.99929292  0.01256049]
 [ 0.01670754 -0.0131592   0.99977384]]

 t_gt:
[ 0.57562413 -0.80384784 -0.14995171]

Pose Error in degrees for R and t:
77.80654173477384 60.96209727118411

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[-0.99890886 -0.046619    0.00278407]
 [-0.04661347  0.99891096  0.00201951]
 [-0.00287519  0.00188753 -0.99999409]]

 t_estimated:
[[0.9992614 ]
 [0.03838268]
 [0.00185252]]

 R_gt:
[[ 0.99705396 -0.07280016 -0.02418123]
 [ 0.07271565  0.99734261 -0.00434542]
 [ 0.02443267  0.00257385  0.99969798]]

 t_gt:
[ 0.57902584 -0.76743432 -0.27527013]

Pose Error in degrees for R and t:
178.7695023071218 56.72678461803917

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[-0.02515428  0.99951942  0.01811608]
 [ 0.99954192  0.02545165 -0.01637592]
 [-0.01682914  0.01769586 -0.99970177]]

 t_estimated:
[[ 0.68687924]
 [-0.72665167]
 [ 0.01320091]]

 R_gt:
[[ 0.99442011 -0.10208866 -0.02659572]
 [ 0.10229406  0.99473347  0.006436  ]
 [ 0.02579849 -0.00912024  0.99962561]]

 t_gt:
[ 0.5582423  -0.81300484 -0.16549523]

Pose Error in degrees for R and t:
179.9414140960269 13.582767569364162

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 1.00000000e+00  2.41756089e-06  2.33512276e-08]
 [-2.41756074e-06  1.00000000e+00 -6.29549263e-06]
 [-2.33664473e-08  6.29549258e-06  1.00000000e+00]]

 t_estimated:
[[0.69890345]
 [0.71521406]
 [0.00167543]]

 R_gt:
[[ 0.98762713  0.15091406 -0.04264288]
 [-0.14965616  0.98824207  0.03130715]
 [ 0.0468657  -0.02453877  0.99859871]]

 t_gt:
[-0.23854101  0.96565636 -0.10298535]

Pose Error in degrees for R and t:
9.16485884510007 58.41510653093476

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999968e-01 -2.21254275e-04  1.21503341e-04]
 [ 2.21284545e-04  9.99999944e-01 -2.49173782e-04]
 [-1.21448203e-04  2.49200661e-04  9.99999962e-01]]

 t_estimated:
[[-9.68007371e-01]
 [-2.50921656e-01]
 [-2.29449093e-04]]

 R_gt:
[[ 0.96535937  0.25856706 -0.03500196]
 [-0.259107    0.96577709 -0.01178523]
 [ 0.0307568   0.02044591  0.9993172 ]]

 t_gt:
[-0.14223187  0.97986143 -0.14014872]

Pose Error in degrees for R and t:
15.166524182964137 83.79104141142854

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999948e-01 -7.61268790e-05 -3.11875088e-04]
 [ 7.62343288e-05  9.99999938e-01  3.44530972e-04]
 [ 3.11848841e-04 -3.44554730e-04  9.99999892e-01]]

 t_estimated:
[[9.99999318e-01]
 [1.02991009e-03]
 [5.49918530e-04]]

 R_gt:
[[ 0.96685753  0.25355382  0.02993931]
 [-0.25450569  0.96647405  0.03398841]
 [-0.02031748 -0.04048133  0.99897259]]

 t_gt:
[-0.1426444   0.97359442  0.17823154]

Pose Error in degrees for R and t:
14.95304385721449 81.86282396496745

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.97877127e-01  6.51191177e-02 -8.59940374e-04]
 [-6.51184007e-02  9.97877193e-01  8.37076307e-04]
 [ 9.12624558e-04 -7.79301359e-04  9.99999280e-01]]

 t_estimated:
[[-0.99878153]
 [-0.04927057]
 [-0.0028043 ]]

 R_gt:
[[ 0.99813013 -0.06028379 -0.01015758]
 [ 0.0606778   0.99716506  0.04449118]
 [ 0.00744571 -0.04502365  0.99895844]]

 t_gt:
[ 0.44688452 -0.85346731  0.26811896]

Pose Error in degrees for R and t:
7.643818791077344 66.10629941292329

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.97516633e-01 -7.04308171e-02  2.56868490e-04]
 [ 7.04307496e-02  9.97516637e-01  2.63131217e-04]
 [-2.74763138e-04 -2.44386325e-04  9.99999932e-01]]

 t_estimated:
[[0.67483916]
 [0.73796348]
 [0.00141846]]

 R_gt:
[[ 0.99084546 -0.11597593 -0.06909898]
 [ 0.11977748  0.9913496   0.0536629 ]
 [ 0.06227782 -0.0614477   0.9961656 ]]

 t_gt:
[ 0.55689557 -0.82588078 -0.08825114]

Pose Error in degrees for R and t:
5.721446256164489 76.48027545021482

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-4.19520714e-01 -9.07742649e-01 -2.37783585e-03]
 [ 9.07745668e-01 -4.19518031e-01 -1.55704998e-03]
 [ 4.15855659e-04 -2.81168491e-03  9.99995961e-01]]

 t_estimated:
[[9.99966568e-01]
 [8.13642450e-03]
 [8.13642447e-04]]

 R_gt:
[[ 0.99781965 -0.0642585   0.01510753]
 [ 0.06404982  0.99785076  0.01388466]
 [-0.01596789 -0.01288627  0.999789  ]]

 t_gt:
[ 0.4055288  -0.87104965  0.27716223]

Pose Error in degrees for R and t:
111.13072956403697 66.50596942062707

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.99624627e-01 -2.73963724e-02  2.10638415e-04]
 [ 2.73964545e-02  9.99624568e-01 -3.97247183e-04]
 [-1.99676203e-04  4.02868813e-04  9.99999899e-01]]

 t_estimated:
[[ 0.63732433]
 [-0.77058852]
 [-0.00332112]]

 R_gt:
[[ 9.97309163e-01 -7.29196986e-02 -7.59801622e-03]
 [ 7.29279309e-02  9.97337268e-01  8.65965605e-04]
 [ 7.51445627e-03 -1.41797545e-03  9.99970644e-01]]

 t_gt:
[ 0.79528445 -0.60595449 -0.01848778]

Pose Error in degrees for R and t:
2.65083104725764 13.13001397247393

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.04397387 -0.99903087  0.0019033 ]
 [ 0.99893444 -0.04394275  0.01410763]
 [-0.01401032  0.00252164  0.99989867]]

 t_estimated:
[[8.79479284e-01]
 [4.75936630e-01]
 [7.16772033e-04]]

 R_gt:
[[ 0.99438048 -0.10295658  0.02466407]
 [ 0.10228544  0.99438701  0.02707565]
 [-0.02731262 -0.02440077  0.99932906]]

 t_gt:
[ 0.65360698 -0.73302528  0.18833976]

Pose Error in degrees for R and t:
86.62940102787874 76.9327111454909

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-4.87620152e-01 -8.73054782e-01 -1.39121299e-03]
 [ 8.73055761e-01 -4.87618593e-01 -1.32143189e-03]
 [ 4.75301107e-04 -1.85896333e-03  9.99998159e-01]]

 t_estimated:
[[8.35919018e-01]
 [5.48852194e-01]
 [8.15530749e-04]]

 R_gt:
[[ 0.99346716 -0.11215397 -0.02110567]
 [ 0.11254882  0.99347283  0.01857531]
 [ 0.01888419 -0.02083038  0.99960423]]

 t_gt:
[ 0.61085881 -0.79031832  0.04741788]

Pose Error in degrees for R and t:
112.73806090733261 85.58964497248648

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.93350831e-01 -1.15126483e-01 -1.36940133e-04]
 [ 1.15126497e-01  9.93350834e-01  1.00990284e-04]
 [ 1.24402940e-04 -1.16084220e-04  9.99999986e-01]]

 t_estimated:
[[0.65479169]
 [0.75580851]
 [0.0011524 ]]

 R_gt:
[[ 0.99322476  0.1137485   0.02380364]
 [-0.11413297  0.99334408  0.01550866]
 [-0.02188084 -0.01812094  0.99959707]]

 t_gt:
[-0.56419634  0.79741502  0.21403688]

Pose Error in degrees for R and t:
13.254894271599223 76.4962714347696

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999758e-01  4.62889417e-05 -6.93826692e-04]
 [-4.57968953e-05  9.99999747e-01  7.09176810e-04]
 [ 6.93859344e-04 -7.09144864e-04  9.99999508e-01]]

 t_estimated:
[[-0.80997524]
 [-0.5864635 ]
 [-0.00082716]]

 R_gt:
[[ 0.97055083  0.23540619  0.05113972]
 [-0.23689249  0.97120886  0.02518121]
 [-0.04373914 -0.03655427  0.99837484]]

 t_gt:
[-0.53605273  0.82239209  0.19057473]

Pose Error in degrees for R and t:
14.054156411616999 87.23319242247625

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.99974878  0.00823934  0.02084422]
 [-0.00810149  0.99994481 -0.00668895]
 [-0.02089818  0.0065184   0.99976036]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.96118476  0.27327417  0.03801727]
 [-0.27463938  0.96083273  0.03705984]
 [-0.02640133 -0.04606307  0.99858979]]

 t_gt:
[-0.51961775  0.83896038  0.16168756]

Pose Error in degrees for R and t:
15.703958814325771 80.32745651731257

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999516e-01  9.10300265e-04  3.72311741e-04]
 [-9.10257546e-04  9.99999579e-01 -1.14892621e-04]
 [-3.72416171e-04  1.14553666e-04  9.99999924e-01]]

 t_estimated:
[[0.99556375]
 [0.09405924]
 [0.00238296]]

 R_gt:
[[ 0.99867396 -0.02247384 -0.04632423]
 [ 0.01852952  0.99630372 -0.08387824]
 [ 0.04803851  0.08290815  0.99539865]]

 t_gt:
[ 0.18799962  0.03946475 -0.98137591]

Pose Error in degrees for R and t:
5.638846000096092 79.13246283274995

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999879e-01  1.54129499e-04  4.68004138e-04]
 [-1.53800375e-04  9.99999741e-01 -7.03202931e-04]
 [-4.68112402e-04  7.03130866e-04  9.99999643e-01]]

 t_estimated:
[[-0.36055358]
 [-0.93273644]
 [-0.00195953]]

 R_gt:
[[ 0.97831011 -0.206367   -0.01795192]
 [ 0.20520543  0.97733373 -0.0520636 ]
 [ 0.02828917  0.04724976  0.99848214]]

 t_gt:
[ 0.67148208 -0.69555103 -0.2555789 ]

Pose Error in degrees for R and t:
12.297455150616011 65.97336104216296

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.97872563e-01 -6.51942289e-02  2.46357838e-04]
 [ 6.51942806e-02  9.97872568e-01 -2.08043548e-04]
 [-2.32270490e-04  2.23662071e-04  9.99999948e-01]]

 t_estimated:
[[ 9.98969395e-01]
 [-4.53829543e-02]
 [ 7.31489043e-04]]

 R_gt:
[[ 0.94527741 -0.32620748  0.00623221]
 [ 0.32503483  0.93987717 -0.10480392]
 [ 0.02832965  0.1010938   0.99447321]]

 t_gt:
[ 0.70386962 -0.65252055 -0.28068574]

Pose Error in degrees for R and t:
16.452084963364175 42.899216998852815

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.73428763e-01  2.28989744e-01 -3.74533672e-04]
 [-2.28989626e-01  9.73428806e-01  3.32743529e-04]
 [ 4.40776721e-04 -2.38137796e-04  9.99999875e-01]]

 t_estimated:
[[-0.95770329]
 [-0.2877554 ]
 [-0.00111102]]

 R_gt:
[[ 0.98617956 -0.00895828  0.16543749]
 [ 0.00926362  0.99995633 -0.0010765 ]
 [-0.16542093  0.0025951   0.98621982]]

 t_gt:
[-0.18089077 -0.06161541  0.98157122]

Pose Error in degrees for R and t:
16.737038119610077 79.05425932113116

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99637982e-01  2.69054414e-02  5.07060401e-05]
 [-2.69054358e-02  9.99637977e-01 -1.09467034e-04]
 [-5.36329422e-05  1.08063137e-04  9.99999993e-01]]

 t_estimated:
[[-2.17946211e-01]
 [-9.75960781e-01]
 [ 5.71573178e-05]]

 R_gt:
[[ 9.74433498e-01  2.80880004e-02  2.22914590e-01]
 [-2.87164692e-02  9.99588158e-01 -4.26429752e-04]
 [-2.22834519e-01 -5.98505147e-03  9.74837286e-01]]

 t_gt:
[-0.34678926  0.09940832  0.93266028]

Pose Error in degrees for R and t:
12.877792618246243 88.77469896382438

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.11298136  0.99358733  0.00440865]
 [ 0.99359431 -0.1129694  -0.00287506]
 [-0.00235858  0.00470524 -0.99998615]]

 t_estimated:
[[-9.04898444e-01]
 [-4.25626959e-01]
 [-7.05849020e-04]]

 R_gt:
[[ 0.97194468  0.08843375  0.21795604]
 [-0.08999916  0.99593848 -0.00275343]
 [-0.21731387 -0.01693903  0.97595414]]

 t_gt:
[-0.53753504  0.28595033  0.79327705]

Pose Error in degrees for R and t:
171.6490184379538 68.64493255484041

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999999e-01 -3.48273171e-05 -6.73185308e-07]
 [ 3.48273977e-05  9.99999992e-01  1.19970662e-04]
 [ 6.69007047e-07 -1.19970686e-04  9.99999993e-01]]

 t_estimated:
[[0.99909687]
 [0.04247633]
 [0.00110048]]

 R_gt:
[[ 0.99245983 -0.12076701 -0.02098456]
 [ 0.12088902  0.99265438  0.00465264]
 [ 0.02026901 -0.00715562  0.99976915]]

 t_gt:
[ 0.76253316 -0.64312263 -0.07025994]

Pose Error in degrees for R and t:
7.046645763639256 42.73926480032677

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999473e-01  1.02243479e-03  8.96766563e-05]
 [-1.02244171e-03  9.99999474e-01  7.71404542e-05]
 [-8.95977381e-05 -7.72321027e-05  9.99999993e-01]]

 t_estimated:
[[9.99996623e-01]
 [2.46444322e-03]
 [8.25404903e-04]]

 R_gt:
[[ 0.98001837 -0.19731268 -0.02513736]
 [ 0.19806342  0.9796635   0.03208313]
 [ 0.01829618 -0.03642168  0.99916851]]

 t_gt:
[ 0.76188218 -0.64475062  0.06190459]

Pose Error in degrees for R and t:
11.6998765122335 40.505664617299416

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 8.37012537e-01  5.47183678e-01 -1.87614161e-04]
 [-5.47182601e-01  8.37010102e-01 -2.29987430e-03]
 [-1.10141873e-03  2.02768283e-03  9.99997338e-01]]

 t_estimated:
[[7.49049235e-01]
 [6.62513972e-01]
 [6.92282103e-04]]

 R_gt:
[[ 9.79167656e-01 -2.03054056e-01  4.26862357e-04]
 [ 2.03054264e-01  9.79163248e-01 -2.68380521e-03]
 [ 1.26357808e-04  2.71419775e-03  9.99995991e-01]]

 t_gt:
[ 0.74679281 -0.66504792 -0.00343114]

Pose Error in degrees for R and t:
44.889665311464256 83.1783787526899

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.19949913e-01 -3.92035516e-01 -5.57633113e-04]
 [ 3.92035803e-01  9.19949788e-01  5.61932244e-04]
 [ 2.92697067e-04 -7.35561665e-04  9.99999687e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.89421929e-01 -1.41831723e-01 -3.04556644e-02]
 [ 1.41886813e-01  9.89882735e-01 -3.49270299e-04]
 [ 3.01967863e-02 -3.97583256e-03  9.99535742e-01]]

 t_gt:
[ 0.82578015 -0.56149792 -0.05298326]

Pose Error in degrees for R and t:
15.02199549071347 34.513390348510484

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-1.17278682e-01 -9.93099017e-01 -2.29432810e-04]
 [-9.93098892e-01  1.17278789e-01 -5.26576861e-04]
 [ 5.49850566e-04  1.66093228e-04 -9.99999835e-01]]

 t_estimated:
[[7.64541795e-01]
 [6.44573801e-01]
 [6.77785279e-04]]

 R_gt:
[[ 0.96700157 -0.25200056 -0.03747052]
 [ 0.25344192  0.96650006  0.04056129]
 [ 0.02599369 -0.04871976  0.99847439]]

 t_gt:
[ 0.80738055 -0.57190865  0.14511081]

Pose Error in degrees for R and t:
179.69083761039263 75.59720150867513

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-9.99959634e-01 -8.98452836e-03  9.07289096e-05]
 [-8.98425133e-03  9.99956011e-01  2.69447510e-03]
 [-1.14933506e-04  2.69355120e-03 -9.99996366e-01]]

 t_estimated:
[[0.99995884]
 [0.00901766]
 [0.00100196]]

 R_gt:
[[ 0.96269396 -0.26357544 -0.06122311]
 [ 0.26905168  0.95650576  0.11273781]
 [ 0.02884517 -0.12500417  0.99173682]]

 t_gt:
[ 0.7123545  -0.62069356  0.32755238]

Pose Error in degrees for R and t:
177.44743865630792 45.004100790391846

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99839144e-01  1.79353916e-02 -9.14311780e-05]
 [-1.79353855e-02  9.99839146e-01  6.71130266e-05]
 [ 9.26201694e-05 -6.54623777e-05  9.99999994e-01]]

 t_estimated:
[[ 0.01264058]
 [ 0.99991917]
 [-0.0013686 ]]

 R_gt:
[[ 0.9972844  -0.07361254 -0.00220465]
 [ 0.07329212  0.99498512 -0.06806233]
 [ 0.00720353  0.06771583  0.99767843]]

 t_gt:
[ 0.81782288  0.29532757 -0.49391028]

Pose Error in degrees for R and t:
6.540153473943276 72.16255924514375

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99563746e-01 -2.95314192e-02 -4.62362756e-04]
 [ 2.95323100e-02  9.99561712e-01  2.05562042e-03]
 [ 4.01454720e-04 -2.06837829e-03  9.99997780e-01]]

 t_estimated:
[[-0.99927384]
 [-0.03808164]
 [-0.00125759]]

 R_gt:
[[ 0.99037748 -0.13656583  0.02240583]
 [ 0.13831029  0.98227896 -0.12648697]
 [-0.00473467  0.12836868  0.99171467]]

 t_gt:
[ 0.85187239  0.3207776  -0.41402314]

Pose Error in degrees for R and t:
9.754391315019564 30.3506889144133

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 8.71237416e-01 -4.90861015e-01 -9.10427564e-04]
 [ 4.90861770e-01  8.71236880e-01  1.01071729e-03]
 [ 2.97076355e-04 -1.32746881e-03  9.99999075e-01]]

 t_estimated:
[[0.79028522]
 [0.61273774]
 [0.00131521]]

 R_gt:
[[ 0.9852305  -0.16404789  0.04907872]
 [ 0.17054925  0.96569741 -0.1958076 ]
 [-0.01527347  0.2012855   0.97941352]]

 t_gt:
[ 0.76982603  0.44284803 -0.45962322]

Pose Error in degrees for R and t:
22.863959590336798 28.462726595229817

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99364257e-01  3.56511131e-02  2.84409929e-04]
 [-3.56511134e-02  9.99364297e-01 -3.89305839e-06]
 [-2.84367920e-04 -6.24894721e-06  9.99999960e-01]]

 t_estimated:
[[0.99849028]
 [0.05490972]
 [0.00144499]]

 R_gt:
[[ 9.93872372e-01 -1.10490674e-01 -3.10432328e-03]
 [ 1.10533441e-01  9.93309479e-01  3.34624922e-02]
 [-6.13005390e-04 -3.36004066e-02  9.99434887e-01]]

 t_gt:
[ 0.72932481 -0.6602379   0.17936345]

Pose Error in degrees for R and t:
8.607611322840924 46.19315230560343

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 2.16765106e-01 -9.76222738e-01 -1.43334126e-03]
 [ 9.76223788e-01  2.16764970e-01  2.51416532e-04]
 [ 6.52596392e-05 -1.45376016e-03  9.99998941e-01]]

 t_estimated:
[[ 9.69564304e-01]
 [-2.44836113e-01]
 [ 5.81437800e-04]]

 R_gt:
[[ 0.98074523 -0.19301152 -0.02974633]
 [ 0.19421699  0.97992167  0.0451058 ]
 [ 0.02044376 -0.05001462  0.9985394 ]]

 t_gt:
[ 0.76988243 -0.63214256  0.08761755]

Pose Error in degrees for R and t:
66.36892685936314 25.67412253830341

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999304e-01 -1.13915897e-03  3.07673031e-04]
 [ 1.13931928e-03  9.99999215e-01 -5.21358711e-04]
 [-3.07078879e-04  5.21708886e-04  9.99999817e-01]]

 t_estimated:
[[9.99990624e-01]
 [4.30304917e-03]
 [4.85622990e-04]]

 R_gt:
[[ 9.68513874e-01 -2.48705970e-01 -1.12292888e-02]
 [ 2.48959186e-01  9.67547980e-01  4.32620054e-02]
 [ 1.06209466e-04 -4.46956203e-02  9.99000258e-01]]

 t_gt:
[ 0.7699119  -0.62823187  0.11207311]

Pose Error in degrees for R and t:
14.581832781244323 39.891902915445314

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99895325e-01 -1.44684334e-02  5.77690839e-05]
 [ 1.44684427e-02  9.99895313e-01 -1.64358525e-04]
 [-5.53850258e-05  1.65177149e-04  9.99999985e-01]]

 t_estimated:
[[-4.58150905e-01]
 [ 8.88874389e-01]
 [-2.63488256e-04]]

 R_gt:
[[ 0.98992337  0.08744646 -0.11137761]
 [-0.10098285  0.98733818 -0.1223331 ]
 [ 0.0992697   0.13234782  0.98622062]]

 t_gt:
[-0.18430233  0.63119429 -0.75340986]

Pose Error in degrees for R and t:
11.394696976676476 49.782628672207366

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.69562448  0.71835434  0.00858017]
 [ 0.71839351  0.69563243  0.00250968]
 [-0.00416581  0.00790973 -0.99996004]]

 t_estimated:
[[0.98266203]
 [0.18539377]
 [0.00211998]]

 R_gt:
[[ 0.97863577  0.14919102 -0.14147364]
 [-0.17248273  0.97023614 -0.16997744]
 [ 0.11190338  0.19074836  0.97524041]]

 t_gt:
[-0.22908527  0.72480232 -0.64975498]

Pose Error in degrees for R and t:
177.6887745216721 84.7145901597836

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.06625158  0.99779922 -0.00272814]
 [ 0.99778782 -0.06623527  0.00568879]
 [ 0.00549557 -0.003099   -0.9999801 ]]

 t_estimated:
[[-0.05491632]
 [-0.99847848]
 [-0.00499239]]

 R_gt:
[[ 0.97740522  0.14931249 -0.14961548]
 [-0.17622311  0.96648272 -0.186699  ]
 [ 0.11672485  0.20884581  0.97095845]]

 t_gt:
[-0.20762997  0.73581473 -0.64456689]

Pose Error in degrees for R and t:
177.25717755841973 43.9393295764728

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.96205049e-01 -8.70372839e-02 -1.10244905e-04]
 [ 8.70373209e-02  9.96204974e-01  3.92395069e-04]
 [ 7.56735213e-05 -4.00501370e-04  9.99999917e-01]]

 t_estimated:
[[0.85749418]
 [0.51449244]
 [0.00112095]]

 R_gt:
[[ 0.99701513 -0.07582761 -0.01448004]
 [ 0.07639296  0.99612962  0.04349069]
 [ 0.01112603 -0.04446658  0.99894879]]

 t_gt:
[ 0.58790474 -0.71927332  0.3701539 ]

Pose Error in degrees for R and t:
2.678057473466754 82.27149812209552

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.77521343e-01 -2.10836474e-01 -7.20052212e-05]
 [ 2.10836486e-01  9.77521259e-01  4.06852183e-04]
 [-1.53926453e-05 -4.12888020e-04  9.99999915e-01]]

 t_estimated:
[[3.47376372e-01]
 [9.37725781e-01]
 [1.24231066e-04]]

 R_gt:
[[ 0.99621219 -0.0849966  -0.01832448]
 [ 0.08682999  0.98354811  0.15841093]
 [ 0.00455809 -0.15940126  0.9872037 ]]

 t_gt:
[ 0.35951666 -0.65466747  0.66494984]

Pose Error in degrees for R and t:
11.646949057885148 60.729829835964956

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.54721158e-01 -2.97501566e-01 -5.74229913e-04]
 [ 2.97502083e-01  9.54720227e-01  1.34158478e-03]
 [ 1.49105339e-04 -1.45167397e-03  9.99998935e-01]]

 t_estimated:
[[0.59210767]
 [0.8058583 ]
 [0.00094659]]

 R_gt:
[[ 0.98351039 -0.17052021 -0.06023621]
 [ 0.17977411  0.95807472  0.22310493]
 [ 0.01966575 -0.2302542   0.97293134]]

 t_gt:
[ 0.5268815  -0.6087658   0.59312738]

Pose Error in degrees for R and t:
15.040410679945643 79.74397947469457

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99805052e-01 -1.97448199e-02  2.29070953e-05]
 [ 1.97448195e-02  9.99805052e-01  1.75967680e-05]
 [-2.32500747e-05 -1.71410410e-05  1.00000000e+00]]

 t_estimated:
[[3.34863533e-02]
 [9.99439173e-01]
 [6.55987669e-05]]

 R_gt:
[[ 0.9986579   0.01660116 -0.04905558]
 [-0.01607425  0.99980875  0.01110848]
 [ 0.04923028 -0.01030551  0.99873417]]

 t_gt:
[ 0.34186807  0.4656447  -0.81627277]

Pose Error in degrees for R and t:
3.5491361665836108 61.52482642143946

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99656551e-01  2.62064783e-02 -2.39031490e-05]
 [-2.62064791e-02  9.99656551e-01 -3.33363767e-05]
 [ 2.30213104e-05  3.39513447e-05  9.99999999e-01]]

 t_estimated:
[[-0.7781233 ]
 [-0.62811063]
 [-0.00107923]]

 R_gt:
[[ 0.99835182  0.02768779  0.05026655]
 [-0.02805004  0.99958499  0.00652224]
 [-0.05006548 -0.0079213   0.99871422]]

 t_gt:
[-0.31908969  0.45499533  0.83136095]

Pose Error in degrees for R and t:
2.9090644994628185 87.79967350013241

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 1.38926626e-01 -9.90301921e-01 -1.22354070e-03]
 [ 9.90302583e-01  1.38925969e-01  6.07337604e-04]
 [-4.31466020e-04 -1.29605088e-03  9.99999067e-01]]

 t_estimated:
[[ 8.41403663e-01]
 [-5.40406680e-01]
 [ 7.04903013e-04]]

 R_gt:
[[ 0.98298318  0.0622368   0.17283162]
 [-0.06540416  0.99777824  0.0126845 ]
 [-0.17165928 -0.02377281  0.98486907]]

 t_gt:
[-0.388888    0.31452655  0.86593255]

Pose Error in degrees for R and t:
86.1713406205305 60.22642874855068

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999983e-01 -1.53896062e-04 -1.05117614e-04]
 [ 1.53906833e-04  9.99999983e-01  1.02466927e-04]
 [ 1.05101843e-04 -1.02483104e-04  9.99999989e-01]]

 t_estimated:
[[ 4.31103252e-01]
 [-9.02302459e-01]
 [-5.08568066e-04]]

 R_gt:
[[ 0.99407682  0.1006904   0.04091386]
 [-0.09820302  0.9934269  -0.05881468]
 [-0.04656723  0.05444878  0.99742935]]

 t_gt:
[-0.54185957  0.84016219 -0.0227091 ]

Pose Error in degrees for R and t:
7.049353843248513 7.402170814635084

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99998291e-01  1.83468784e-03 -2.26024428e-04]
 [-1.83464681e-03  9.99998301e-01  1.81589711e-04]
 [ 2.26357204e-04 -1.81174726e-04  9.99999958e-01]]

 t_estimated:
[[-0.55650562]
 [ 0.83084321]
 [ 0.00102743]]

 R_gt:
[[ 0.97420564  0.22380909  0.0288869 ]
 [-0.2229256   0.97434687 -0.03086614]
 [-0.03505387  0.02363033  0.99910556]]

 t_gt:
[-0.51371861  0.85747736  0.02873619]

Pose Error in degrees for R and t:
13.036901436973842 3.2957745649931334

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999257e-01 -1.17125523e-03  3.37908972e-04]
 [ 1.17146004e-03  9.99999130e-01 -6.06541938e-04]
 [-3.37198263e-04  6.06937334e-04  9.99999759e-01]]

 t_estimated:
[[-9.81767482e-01]
 [ 1.90085677e-01]
 [-2.16726664e-04]]

 R_gt:
[[ 0.95163925  0.30442384  0.04133869]
 [-0.30311836  0.95231098 -0.03497876]
 [-0.05001607  0.02075756  0.99853172]]

 t_gt:
[-0.48940616  0.87015637  0.05752822]

Pose Error in degrees for R and t:
18.025926564884717 49.7686997890668

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.98262580e-01 -5.89221549e-02 -1.90645338e-05]
 [ 5.89221569e-02  9.98262572e-01  1.27179031e-04]
 [ 1.15377480e-05 -1.28081391e-04  9.99999992e-01]]

 t_estimated:
[[9.29731973e-01]
 [3.68236794e-01]
 [3.49808878e-04]]

 R_gt:
[[ 0.99764067 -0.05706572  0.0381586 ]
 [ 0.05578592  0.99787058  0.03379825]
 [-0.04000624 -0.0315902   0.99870019]]

 t_gt:
[ 0.55168655 -0.70695317  0.44255979]

Pose Error in degrees for R and t:
2.921277354496542 75.35974067492947

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999998e-01  2.60657568e-05  5.03479395e-05]
 [-2.60816907e-05  9.99999950e-01  3.16501520e-04]
 [-5.03396872e-05 -3.16502833e-04  9.99999949e-01]]

 t_estimated:
[[8.38690562e-01]
 [5.44607948e-01]
 [5.69221454e-04]]

 R_gt:
[[ 0.99699927 -0.07547564  0.01724876]
 [ 0.07456944  0.99604971  0.04821067]
 [-0.02081907 -0.04678012  0.99868871]]

 t_gt:
[ 0.51454662 -0.79829896  0.31298649]

Pose Error in degrees for R and t:
5.200992011682969 89.82602642339518

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.35218595e-01  3.54061910e-01  2.51853411e-03]
 [-3.54060678e-01  9.35221986e-01 -9.34436314e-04]
 [-2.68623678e-03 -1.78116765e-05  9.99996392e-01]]

 t_estimated:
[[0.65615746]
 [0.75462352]
 [0.00084885]]

 R_gt:
[[ 0.9923296  -0.11964494 -0.03109871]
 [ 0.11949448  0.99281284 -0.00663545]
 [ 0.03166969  0.00286766  0.99949488]]

 t_gt:
[ 0.63245494 -0.76882817 -0.09436094]

Pose Error in degrees for R and t:
27.673966063853545 80.48731896392486

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.43172295e-01  3.32301187e-01  1.39371899e-03]
 [-3.32300402e-01  9.43173289e-01 -7.68150186e-04]
 [-1.56977574e-03  2.61364595e-04  9.99998734e-01]]

 t_estimated:
[[0.79124834]
 [0.61149278]
 [0.00162536]]

 R_gt:
[[ 0.98945382 -0.14421178 -0.0135474 ]
 [ 0.14400171  0.98945657 -0.01542726]
 [ 0.01562914  0.01331374  0.99978939]]

 t_gt:
[ 0.8308924  -0.54379972 -0.11789693]

Pose Error in degrees for R and t:
27.721337910123378 71.05132696214983

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.88687175e-01  1.49986756e-01  1.28186866e-03]
 [-1.49985288e-01  9.88687531e-01 -1.17436312e-03]
 [-1.44350647e-03  9.68816320e-04  9.99998489e-01]]

 t_estimated:
[[-0.63540522]
 [-0.77217635]
 [-0.00197225]]

 R_gt:
[[ 0.96157642 -0.27440133 -0.00858873]
 [ 0.27360607  0.96042309 -0.0522148 ]
 [ 0.02257579  0.04785905  0.99859933]]

 t_gt:
[ 0.87558698 -0.45046161 -0.17444704]

Pose Error in degrees for R and t:
24.71996206618435 77.98471141609366

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.94201478  0.33546876  0.00829847]
 [-0.33551172 -0.94202556 -0.00444165]
 [ 0.00632734 -0.00696833  0.9999557 ]]

 t_estimated:
[[0.63215773]
 [0.7748391 ]
 [0.00099084]]

 R_gt:
[[ 9.35158757e-01 -3.53169073e-01  2.73776217e-02]
 [ 3.54228015e-01  9.32281297e-01 -7.32967756e-02]
 [ 3.62365291e-04  7.82423487e-02  9.96934665e-01]]

 t_gt:
[ 0.88179746 -0.4341063  -0.18435009]

Pose Error in degrees for R and t:
178.84081476319264 77.23869458150217

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.51371594e-01  3.08045422e-01  3.29119159e-04]
 [-3.08045444e-01  9.51371643e-01  1.88152930e-05]
 [-3.07318670e-04 -1.19283993e-04  9.99999946e-01]]

 t_estimated:
[[-0.46247616]
 [ 0.88663112]
 [ 0.00102617]]

 R_gt:
[[ 0.99964445  0.02155588  0.01574042]
 [-0.02162087  0.99975911  0.00396074]
 [-0.01565098 -0.00429974  0.99986849]]

 t_gt:
[-0.36337449  0.89262039  0.26681044]

Pose Error in degrees for R and t:
16.728864724348888 16.31110948435335

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.78848019  0.55285374 -0.26953986]
 [ 0.55714257  0.82764557  0.06778616]
 [ 0.2605593  -0.09672408 -0.96060049]]

 t_estimated:
[[ 0.94923282]
 [-0.28570754]
 [-0.13163685]]

 R_gt:
[[ 9.99415928e-01  3.38277106e-02 -4.94032644e-03]
 [-3.38317889e-02  9.99427509e-01 -6.73620913e-04]
 [ 4.91494396e-03  8.40066724e-04  9.99987159e-01]]

 t_gt:
[-0.25498075  0.95171123 -0.17096943]

Pose Error in degrees for R and t:
163.6477701145978 60.56464217862567

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.99752828  0.07025527 -0.00123582]
 [-0.07022556  0.99739564  0.0164409 ]
 [ 0.00238766 -0.01631347  0.99986408]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99951735 -0.02747415  0.0145154 ]
 [ 0.0272347   0.99949466  0.01641287]
 [-0.01495859 -0.0160093   0.99975992]]

 t_gt:
[0.71384772 0.53108304 0.45647808]

Pose Error in degrees for R and t:
5.675165635052475 44.28753269873027

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 0.18345041 -0.98301694  0.00486135]
 [-0.98302312 -0.18343003  0.00435433]
 [-0.00338866 -0.00557762 -0.9999787 ]]

 t_estimated:
[[0.62764077]
 [0.77849065]
 [0.00440288]]

 R_gt:
[[ 0.99686361 -0.07708449  0.01794845]
 [ 0.0771716   0.99700925 -0.0042608 ]
 [-0.01756557  0.00563332  0.99982922]]

 t_gt:
[ 0.43527704 -0.87095707  0.22796422]

Pose Error in degrees for R and t:
179.19707730672465 66.18213191612818

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.99426314  0.10683214 -0.00526353]
 [-0.10681229  0.99427148  0.00391913]
 [ 0.00565206 -0.00333444  0.99997847]]

 t_estimated:
[[-0.62174403]
 [-0.78321947]
 [-0.00127146]]

 R_gt:
[[ 0.99388932 -0.09723986  0.05225282]
 [ 0.09905226  0.9945261  -0.03327917]
 [-0.04872998  0.03825149  0.9980791 ]]

 t_gt:
[ 0.15264672 -0.92793367  0.34005599]

Pose Error in degrees for R and t:
12.40630461216752 50.84383986520734

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.88245371e-01  1.52874776e-01  6.24086956e-04]
 [-1.52874945e-01  9.88245515e-01  2.32585500e-04]
 [-5.81194679e-04 -3.25258803e-04  9.99999778e-01]]

 t_estimated:
[[0.54603248]
 [0.83776261]
 [0.00153048]]

 R_gt:
[[ 0.99021476 -0.08589952  0.10998498]
 [ 0.09102568  0.9949433  -0.04245757]
 [-0.10578153  0.05205426  0.99302571]]

 t_gt:
[-0.41394307 -0.59016811  0.69307484]

Pose Error in degrees for R and t:
15.43082528531588 43.99615653208001

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-0.88480335 -0.46595571 -0.00288225]
 [ 0.46595733 -0.88473794 -0.01106988]
 [ 0.00260803 -0.01113767  0.99993457]]

 t_estimated:
[[0.85783815]
 [0.51391828]
 [0.00130768]]

 R_gt:
[[ 0.99988364 -0.00976995 -0.0116783 ]
 [ 0.00893332  0.99753752 -0.06956646]
 [ 0.01232932  0.06945367  0.99750909]]

 t_gt:
[-0.00225603  0.5707462  -0.82112343]

Pose Error in degrees for R and t:
151.70506930728573 73.12361383086588

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[-6.66025713e-01  7.45925306e-01  2.27766556e-03]
 [-7.45928740e-01 -6.66021527e-01 -2.37481710e-03]
 [-2.54461881e-04 -3.28066545e-03  9.99994586e-01]]

 t_estimated:
[[0.37745655]
 [0.92602675]
 [0.00100655]]

 R_gt:
[[ 0.99856543 -0.05349165 -0.00224475]
 [ 0.05278359  0.99063302 -0.12593542]
 [ 0.00895983  0.12563673  0.99203581]]

 t_gt:
[ 0.11777362  0.58560068 -0.80199827]

Pose Error in degrees for R and t:
134.9191599684568 54.131348898020384

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-9.45807755e-01 -3.24718501e-01 -2.36341902e-03]
 [ 3.24716129e-01 -9.45810577e-01  1.33673020e-03]
 [-2.66940774e-03  4.96849509e-04  9.99996314e-01]]

 t_estimated:
[[0.93166757]
 [0.36331054]
 [0.00099537]]

 R_gt:
[[ 0.99950376 -0.0283794  -0.01363344]
 [ 0.02570429  0.98560278 -0.16711119]
 [ 0.018179    0.1666788   0.98584345]]

 t_gt:
[-0.02937857  0.76391875 -0.64464334]

Pose Error in degrees for R and t:
159.57725517649942 75.55047496840412

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.07227176  0.99702819 -0.02667543]
 [ 0.99701895 -0.07149488  0.02901198]
 [ 0.0270186  -0.02869265 -0.99922306]]

 t_estimated:
[[ 0.72268744]
 [-0.69088935]
 [-0.01986862]]

 R_gt:
[[ 0.9985409   0.05047668 -0.01923801]
 [-0.05142747  0.99728734 -0.05266652]
 [ 0.01652745  0.05357832  0.99842705]]

 t_gt:
[-0.39136274  0.76472972 -0.51188246]

Pose Error in degrees for R and t:
179.27295904377468 36.77370831206672

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 1.74962351e-02  9.99846824e-01  4.59022463e-04]
 [-9.99845165e-01  1.74970648e-02 -1.87044325e-03]
 [-1.87818829e-03 -4.26225675e-04  9.99998145e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99890891  0.04017823 -0.0238361 ]
 [-0.0419776   0.99586695 -0.08054043]
 [ 0.02050164  0.08145199  0.99646625]]

 t_gt:
[-0.24722245  0.74452697 -0.62012955]

Pose Error in degrees for R and t:
86.74453723759203 42.07010255016774

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-4.13599497e-01  9.10458156e-01 -1.18409351e-03]
 [-9.10456455e-01 -4.13601054e-01 -1.79207069e-03]
 [-2.12134770e-03  3.36866040e-04  9.99997693e-01]]

 t_estimated:
[[0.70656264]
 [0.70764966]
 [0.00108702]]

 R_gt:
[[ 0.99993312 -0.00686075 -0.00934032]
 [ 0.00677511  0.99993532 -0.00913721]
 [ 0.00940236  0.00907346  0.99991489]]

 t_gt:
[ 0.37017163  0.88341295 -0.28732302]

Pose Error in degrees for R and t:
114.82315681168495 27.577679002157065

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-6.48888297e-01 -7.60880695e-01 -2.13197152e-03]
 [ 7.60882943e-01 -6.48889025e-01 -4.24245491e-04]
 [-1.06061272e-03 -1.89746870e-03  9.99997637e-01]]

 t_estimated:
[[9.93902231e-01]
 [1.10262234e-01]
 [7.71064570e-04]]

 R_gt:
[[ 0.97611257  0.21708786  0.00875038]
 [-0.21645969  0.97517186 -0.04673198]
 [-0.01867773  0.04372118  0.99886963]]

 t_gt:
[-0.3858764   0.919013   -0.08071255]

Pose Error in degrees for R and t:
142.99849938888607 73.60526997260101

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 6.01496140e-01 -7.98875662e-01  2.63513690e-04]
 [-7.98875537e-01 -6.01496195e-01 -4.52121089e-04]
 [ 5.19691016e-04  6.14344498e-05 -9.99999863e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.93997724  0.34115688  0.00732431]
 [-0.33672978  0.93082792 -0.14202789]
 [-0.05527105  0.13103639  0.98983634]]

 t_gt:
[-0.27794705  0.95081924 -0.13670481]

Pose Error in degrees for R and t:
173.67455418158875 39.41849261594177

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-4.32042366e-01 -9.01850451e-01 -2.27106258e-03]
 [ 9.01853121e-01 -4.32042539e-01 -4.39420663e-04]
 [-5.84903919e-04 -2.23801322e-03  9.99997325e-01]]

 t_estimated:
[[ 9.81813874e-01]
 [-1.89843758e-01]
 [ 9.29523430e-04]]

 R_gt:
[[ 0.93330804  0.35907419  0.00120952]
 [-0.35027152  0.91115785 -0.21702925]
 [-0.07903087  0.20213102  0.97616459]]

 t_gt:
[-0.23136364  0.95227061 -0.19912699]

Pose Error in degrees for R and t:
136.91841963778123 65.91297352444859

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999643e-01 -8.43674631e-04  5.25891165e-05]
 [ 8.43663648e-04  9.99999622e-01  2.08517496e-04]
 [-5.27650176e-05 -2.08473054e-04  9.99999977e-01]]

 t_estimated:
[[0.24266055]
 [0.97011063]
 [0.00110844]]

 R_gt:
[[ 0.99752036  0.00237134 -0.07033944]
 [-0.0017769   0.99996209  0.0085068 ]
 [ 0.07035779 -0.00836026  0.99748681]]

 t_gt:
[ 0.58109194  0.1103657  -0.80631977]

Pose Error in degrees for R and t:
4.068002842709478 75.68922338524924

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99103624e-01  4.23313421e-02 -7.19115349e-05]
 [-4.23313478e-02  9.99103624e-01 -7.92785110e-05]
 [ 6.84911093e-05  8.22515598e-05  9.99999994e-01]]

 t_estimated:
[[-8.56127598e-02]
 [ 9.96328117e-01]
 [-8.58988728e-04]]

 R_gt:
[[ 0.99283395  0.00921261 -0.1191439 ]
 [-0.00695547  0.99978911  0.01934682]
 [ 0.11929702 -0.01838017  0.99268843]]

 t_gt:
[ 0.59897182  0.13981269 -0.78847015]

Pose Error in degrees for R and t:
7.201358248711027 84.91135106398842

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.15010184 -0.9884052  -0.02290426]
 [-0.98842948  0.14951341  0.02555214]
 [-0.02183137  0.02647466 -0.99941107]]

 t_estimated:
[[0.81239799]
 [0.58310204]
 [0.00123277]]

 R_gt:
[[ 0.99775318  0.03797501 -0.05519716]
 [-0.03692868  0.99912078  0.0198662 ]
 [ 0.05590361 -0.01778384  0.99827707]]

 t_gt:
[ 0.39026186  0.78719739 -0.47751015]

Pose Error in degrees for R and t:
178.21040163982437 39.151818946732675

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99996900e-01  8.91951288e-04  2.32489623e-03]
 [-8.86141302e-04  9.99996485e-01 -2.49886331e-03]
 [-2.32711693e-03  2.49679537e-03  9.99994175e-01]]

 t_estimated:
[[0.99996103]
 [0.00546028]
 [0.00693766]]

 R_gt:
[[ 0.98760054  0.15649821  0.01240527]
 [-0.15576821  0.98669251 -0.04662759]
 [-0.01953784  0.04411614  0.99883577]]

 t_gt:
[-0.31143157  0.94037257 -0.13678382]

Pose Error in degrees for R and t:
9.302902068407768 72.10740091481236

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99998863e-01  1.48070454e-03 -2.85773803e-04]
 [-1.48080213e-03  9.99998845e-01 -3.41584670e-04]
 [ 2.85267687e-04  3.42007456e-04  9.99999901e-01]]

 t_estimated:
[[-0.49597934]
 [-0.8683327 ]
 [-0.0016763 ]]

 R_gt:
[[ 0.9752207   0.22093577  0.01145713]
 [-0.21717214  0.96591488 -0.14087109]
 [-0.04219034  0.13489153  0.98996204]]

 t_gt:
[-0.24084079  0.93681458 -0.25372061]

Pose Error in degrees for R and t:
15.003174858319145 46.085085318400296

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.97690213  0.12112476 -0.17604269]
 [-0.12046298  0.99261219  0.01448152]
 [ 0.17649619  0.0070596   0.98427601]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.97329836  0.22949413  0.00465697]
 [-0.22227907  0.94737628 -0.23036783]
 [-0.05728068  0.2231816   0.97309237]]

 t_gt:
[-0.20508566  0.90675309 -0.36842734]

Pose Error in degrees for R and t:
19.014736101262287 69.84362309539833

Number of keypoints:
Image1: 471
Image2: 471

 R_estimated:
[[-0.89660363  0.44116723  0.03838499]
 [ 0.44111362  0.89739201 -0.01031316]
 [-0.03899621  0.00768532 -0.9992098 ]]

 t_estimated:
[[ 0.98058618]
 [-0.1950493 ]
 [ 0.02016203]]

 R_gt:
[[ 0.99517921 -0.09400179 -0.02797003]
 [ 0.0943578   0.99546992  0.01167179]
 [ 0.02674607 -0.0142557   0.99954098]]

 t_gt:
[ 0.98623235 -0.15821276  0.04810892]

Pose Error in degrees for R and t:
179.4277618354479 2.66916617228219

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[ 5.42451471e-02  9.98527483e-01 -5.74417075e-04]
 [-9.98516910e-01  5.42418869e-02 -4.66881607e-03]
 [-4.63078370e-03  8.26825778e-04  9.99988936e-01]]

 t_estimated:
[[0.09271114]
 [0.99569224]
 [0.00127002]]

 R_gt:
[[ 0.9902496  -0.10876969 -0.08702771]
 [ 0.11363317  0.9921073   0.05301638]
 [ 0.08057334 -0.06238935  0.99479439]]

 t_gt:
[ 0.96240707 -0.1764852   0.20645971]

Pose Error in degrees for R and t:
93.45080500497103 85.05284567163127

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[ 0.98651595 -0.16356596  0.00569631]
 [ 0.16359953  0.9865084  -0.0060309 ]
 [-0.00463301  0.00688149  0.99996559]]

 t_estimated:
[[0.16577594]
 [0.98615428]
 [0.00425067]]

 R_gt:
[[ 0.98402833 -0.09392431 -0.151214  ]
 [ 0.10591266  0.99167174  0.07326911]
 [ 0.1430726  -0.08811515  0.98578289]]

 t_gt:
[ 0.97518642 -0.17256995  0.13867612]

Pose Error in degrees for R and t:
10.747245095116835 89.54571462582412

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-8.87668178e-01 -4.60483651e-01 -1.14165096e-04]
 [-4.60481022e-01  8.87663896e-01 -3.16815009e-03]
 [ 1.56022156e-03 -2.75969516e-03 -9.99994975e-01]]

 t_estimated:
[[0.95618806]
 [0.29275141]
 [0.00099915]]

 R_gt:
[[ 0.99986929 -0.00299584 -0.01588587]
 [ 0.00232152  0.99910386 -0.04225449]
 [ 0.01599809  0.04221303  0.99898039]]

 t_gt:
[-0.14704599  0.81392742 -0.56204949]

Pose Error in degrees for R and t:
178.4888529126523 84.4270399798977

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.47418369e-01 -3.19995074e-01 -1.26000126e-03]
 [ 3.19997546e-01  9.47411909e-01  3.49925629e-03]
 [ 7.39954302e-05 -3.71845699e-03  9.99993084e-01]]

 t_estimated:
[[-8.01490828e-01]
 [-5.98006744e-01]
 [-6.22275488e-04]]

 R_gt:
[[ 0.99972252 -0.01065872 -0.02102124]
 [ 0.00871902  0.99587518 -0.09030933]
 [ 0.02189719  0.09010093  0.99569265]]

 t_gt:
[ 0.05227865  0.83333829 -0.55028559]

Pose Error in degrees for R and t:
18.921886869972543 57.32314442924566

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.02758983 -0.99961772 -0.00179165]
 [ 0.99959496 -0.02760163  0.00693315]
 [-0.00697996 -0.00159964  0.99997436]]

 t_estimated:
[[ 0.82058212]
 [-0.57149691]
 [ 0.00602247]]

 R_gt:
[[ 0.99409464 -0.10848466 -0.00252965]
 [ 0.10680587  0.98230075 -0.15387292]
 [ 0.01917854  0.15269422  0.98808725]]

 t_gt:
[ 0.58683925  0.618506   -0.52256103]

Pose Error in degrees for R and t:
85.7767062767031 82.82337814911844

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.15340084 -0.98768207  0.03085941]
 [ 0.98778603 -0.15240365  0.03243281]
 [-0.02733022  0.03545772  0.9989974 ]]

 t_estimated:
[[0.99990597]
 [0.01366614]
 [0.00113885]]

 R_gt:
[[ 0.99407917  0.07885051 -0.07475719]
 [-0.08536716  0.99242189 -0.08839264]
 [ 0.0672211   0.09425132  0.99327657]]

 t_gt:
[-0.25972605  0.66843878 -0.69694475]

Pose Error in degrees for R and t:
103.80785876620209 75.44197421648133

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.70919602e-01 -2.39405754e-01 -1.05553045e-04]
 [ 2.39405777e-01  9.70919525e-01  3.88216420e-04]
 [ 9.54226774e-06 -4.02196941e-04  9.99999919e-01]]

 t_estimated:
[[0.43164656]
 [0.90204206]
 [0.00117143]]

 R_gt:
[[ 0.98896929  0.11297874 -0.09579111]
 [-0.12350067  0.98598874 -0.11213924]
 [ 0.08177958  0.12273303  0.98906447]]

 t_gt:
[-0.27201173  0.72356931 -0.63439504]

Pose Error in degrees for R and t:
22.339692975663233 57.6876947802311

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.03063561  0.99952963 -0.00140929]
 [ 0.99952401 -0.03063025  0.00368054]
 [ 0.00363564 -0.00152138 -0.99999223]]

 t_estimated:
[[0.04078213]
 [0.99916228]
 [0.00339851]]

 R_gt:
[[ 0.99323928  0.06959264 -0.09290587]
 [-0.08320483  0.98491002 -0.15175433]
 [ 0.08094316  0.15845879  0.98404232]]

 t_gt:
[-0.13516143  0.66689007 -0.73279535]

Pose Error in degrees for R and t:
177.28435459546012 48.827456855948334

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.81640243 -0.57748113  0.00161814]
 [-0.57747348  0.81640162  0.00357409]
 [-0.00338502  0.00198346 -0.9999923 ]]

 t_estimated:
[[0.98931361]
 [0.14579395]
 [0.00164456]]

 R_gt:
[[ 0.99015422 -0.10593465  0.09150544]
 [ 0.08685462  0.97756666  0.19188578]
 [-0.10978011 -0.18204893  0.97714209]]

 t_gt:
[ 0.33019785 -0.32874436  0.8848144 ]

Pose Error in degrees for R and t:
171.03150866942272 73.72813149222362

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.59693996  0.79465411  0.11039712]
 [-0.69621791  0.58147113 -0.42091798]
 [-0.39867694  0.17440231  0.90035578]]

 t_estimated:
[[-0.99802224]
 [-0.06237639]
 [-0.00779705]]

 R_gt:
[[ 0.98200587 -0.13223938  0.13482872]
 [ 0.0996074   0.96922422  0.22512995]
 [-0.16045007 -0.20764922  0.96495432]]

 t_gt:
[ 0.34773384 -0.26321078  0.89988958]

Pose Error in degrees for R and t:
66.67100953589961 70.26657366871726

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999103e-01 -6.54104080e-05  1.33744967e-03]
 [ 6.74573060e-05  9.99998827e-01 -1.53046079e-03]
 [-1.33734799e-03  1.53054964e-03  9.99997934e-01]]

 t_estimated:
[[0.99985774]
 [0.01679031]
 [0.001606  ]]

 R_gt:
[[ 0.98686945 -0.09031268  0.13391411]
 [ 0.05820524  0.97221622  0.22673497]
 [-0.15067038 -0.21596279  0.96470602]]

 t_gt:
[ 0.25872072 -0.11445912  0.95914686]

Pose Error in degrees for R and t:
15.898124282619477 75.0306374618957

Number of keypoints:
Image1: 519
Image2: 519

 R_estimated:
[[ 9.99429876e-01 -3.37627188e-02  4.31007552e-05]
 [ 3.37627175e-02  9.99429876e-01  3.06474967e-05]
 [-4.41109253e-05 -2.91748252e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99521984e-01]
 [-3.09018274e-02]
 [ 9.38724236e-04]]

 R_gt:
[[ 0.99888118 -0.04686051  0.00633629]
 [ 0.04700042  0.99860386 -0.02411136]
 [-0.00519755  0.02438193  0.99968899]]

 t_gt:
[ 0.26956971 -0.88783017 -0.37294739]

Pose Error in degrees for R and t:
1.617309763822922 72.75091423351822

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[ 9.95521405e-01 -9.45363411e-02  1.09341796e-04]
 [ 9.45363431e-02  9.95521411e-01 -1.35221048e-05]
 [-1.07573769e-04  2.37983183e-05  9.99999994e-01]]

 t_estimated:
[[0.68882606]
 [0.72492601]
 [0.00097567]]

 R_gt:
[[ 0.9958295  -0.03922971  0.08236552]
 [ 0.04304603  0.99805577 -0.04506922]
 [-0.08043609  0.04842618  0.99558228]]

 t_gt:
[-0.69155931 -0.32533288  0.64490638]

Pose Error in degrees for R and t:
6.191166373117263 44.63662102252945

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[ 9.88192103e-01 -1.53219991e-01 -3.24927829e-05]
 [ 1.53219990e-01  9.88192000e-01  4.53803539e-04]
 [-3.74226662e-05 -4.53423618e-04  9.99999897e-01]]

 t_estimated:
[[0.66590171]
 [0.74603888]
 [0.00095401]]

 R_gt:
[[ 0.99264074 -0.06728641  0.10067818]
 [ 0.07097119  0.99691632 -0.03346898]
 [-0.09811484  0.040368    0.99435596]]

 t_gt:
[-0.51531049 -0.54895108  0.65810927]

Pose Error in degrees for R and t:
7.784071250465741 41.23111093148891

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999985e-01 -1.81861034e-05  1.74707493e-04]
 [ 1.82270264e-05  9.99999972e-01 -2.34238220e-04]
 [-1.74703228e-04  2.34241401e-04  9.99999957e-01]]

 t_estimated:
[[0.47875404]
 [0.87794853]
 [0.00097921]]

 R_gt:
[[ 9.96021432e-01 -1.90721322e-03 -8.90927362e-02]
 [ 5.36977220e-05  9.99783984e-01 -2.07896632e-02]
 [ 8.91129432e-02  2.07021042e-02  9.95807040e-01]]

 t_gt:
[ 0.31068362  0.07002389 -0.94793056]

Pose Error in degrees for R and t:
5.255902330361244 77.91924112782806

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.01621154  0.99986729 -0.00160586]
 [-0.99986126 -0.01621755 -0.00380154]
 [-0.00382708  0.001544    0.99999148]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.98400678  0.01876921 -0.17714168]
 [-0.02012679  0.99978128 -0.005869  ]
 [ 0.17699268  0.00933985  0.98416842]]

 t_gt:
[ 0.27337343  0.1438341  -0.95109343]

Pose Error in degrees for R and t:
90.2713446746409 81.65838935028877

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.21694439  0.97615205 -0.00789341]
 [ 0.97611593 -0.21682672  0.01355943]
 [ 0.01152456 -0.01064652 -0.99987691]]

 t_estimated:
[[-7.58010700e-01]
 [-6.52241765e-01]
 [-6.78005992e-04]]

 R_gt:
[[ 0.96636323  0.02857659 -0.25558678]
 [-0.03139028  0.99948339 -0.00693358]
 [ 0.25525603  0.01472323  0.96676177]]

 t_gt:
[ 0.29814345  0.1429912  -0.94374997]

Pose Error in degrees for R and t:
170.35806853958303 71.42045712799624

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999950e-01 -3.13164112e-04  3.10212876e-05]
 [ 3.13162500e-04  9.99999950e-01  5.19590167e-05]
 [-3.10375578e-05 -5.19492994e-05  9.99999998e-01]]

 t_estimated:
[[-5.72327020e-03]
 [-9.99983167e-01]
 [-9.53953510e-04]]

 R_gt:
[[ 0.9949456  -0.10026983 -0.00534951]
 [ 0.10033474  0.99485915  0.01371332]
 [ 0.00394721 -0.01418059  0.99989156]]

 t_gt:
[ 0.55564818 -0.82942375  0.05754417]

Pose Error in degrees for R and t:
5.800346974511926 34.292223286779446

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.97470779e-01  7.10772042e-02  2.75226674e-04]
 [-7.10771946e-02  9.97470817e-01 -4.45037470e-05]
 [-2.77693777e-04  2.48288473e-05  9.99999961e-01]]

 t_estimated:
[[9.74973611e-01]
 [2.22319836e-01]
 [5.89782380e-04]]

 R_gt:
[[ 0.96622699 -0.25767035 -0.00338841]
 [ 0.25765325  0.96622556 -0.00475644]
 [ 0.00449883  0.00372309  0.99998327]]

 t_gt:
[ 0.70641819 -0.70657259 -0.04157542]

Pose Error in degrees for R and t:
19.010431065557828 57.88438222839128

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-0.93288628 -0.36016814  0.00144837]
 [ 0.36014744 -0.93286362 -0.00770001]
 [ 0.00412443 -0.0066616   0.99996931]]

 t_estimated:
[[8.65285194e-01]
 [5.01279301e-01]
 [7.71198925e-04]]

 R_gt:
[[ 0.93022963 -0.36438364 -0.04355831]
 [ 0.36489353  0.9310396   0.00412541]
 [ 0.03905123 -0.01973151  0.99904247]]

 t_gt:
[ 0.7616836  -0.6450045  -0.06170324]

Pose Error in degrees for R and t:
137.49628732326667 70.38497771279707

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.91690344e-01  1.28553678e-01 -4.92079277e-03]
 [-1.28552200e-01  9.91702552e-01  6.16700763e-04]
 [ 4.95924190e-03  2.10025447e-05  9.99987703e-01]]

 t_estimated:
[[0.80868944]
 [0.58823499]
 [0.00099583]]

 R_gt:
[[ 0.98946555 -0.14463872  0.00622221]
 [ 0.14475509  0.98909256 -0.02725532]
 [-0.00221175  0.02786868  0.99960903]]

 t_gt:
[ 0.8505975  -0.50437323 -0.14863222]

Pose Error in degrees for R and t:
15.796890012520226 66.98131989376857

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 6.94537921e-01  7.19455521e-01  9.10560404e-04]
 [-7.19455095e-01  6.94538510e-01 -7.90354165e-04]
 [-1.20104393e-03 -1.06176382e-04  9.99999273e-01]]

 t_estimated:
[[0.42518353]
 [0.90510626]
 [0.001273  ]]

 R_gt:
[[ 0.97369237 -0.2239997   0.04181034]
 [ 0.22589501  0.97296845 -0.04800098]
 [-0.02992739  0.05618333  0.99797119]]

 t_gt:
[ 0.84574568 -0.51038249 -0.1556405 ]

Pose Error in degrees for R and t:
59.12186083904789 84.11389020178048

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-4.59233124e-01 -8.88315493e-01  7.22697428e-04]
 [-8.88315159e-01  4.59233615e-01  8.15435697e-04]
 [-1.05625112e-03 -2.67507998e-04 -9.99999406e-01]]

 t_estimated:
[[0.94379435]
 [0.33052576]
 [0.00222328]]

 R_gt:
[[ 0.94643566 -0.3169729   0.06155217]
 [ 0.32177563  0.94171094 -0.09818749]
 [-0.02684081  0.1127335   0.99326267]]

 t_gt:
[ 0.86734512 -0.42986145 -0.25086168]

Pose Error in degrees for R and t:
179.0672547152636 47.47145791775208

Number of keypoints:
Image1: 366
Image2: 366

 R_estimated:
[[ 9.99965753e-01  8.27595886e-03 -4.14171837e-05]
 [-8.27595649e-03  9.99965752e-01  5.71767600e-05]
 [ 4.18889578e-05 -5.68320350e-05  9.99999998e-01]]

 t_estimated:
[[-9.71695074e-01]
 [-2.36238535e-01]
 [-1.95892880e-04]]

 R_gt:
[[ 0.9958472   0.09049965  0.00994882]
 [-0.09065699  0.99574442  0.01657273]
 [-0.00840644 -0.01740549  0.99981384]]

 t_gt:
[-0.83182047  0.52999509  0.16486332]

Pose Error in degrees for R and t:
4.850420551437441 46.91847568489262

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.84107182e-01 -1.77575434e-01 -1.40903512e-04]
 [ 1.77575432e-01  9.84107192e-01 -2.91252397e-05]
 [ 1.43836087e-04  3.64135543e-06  9.99999990e-01]]

 t_estimated:
[[-0.80961013]
 [-0.58696734]
 [-0.00088001]]

 R_gt:
[[ 9.76929809e-01  2.13366712e-01  9.11550281e-03]
 [-2.13562043e-01  9.76070746e-01  4.09404657e-02]
 [-1.62616701e-04 -4.19423437e-02  9.99120518e-01]]

 t_gt:
[-0.82132043  0.55170528  0.14510009]

Pose Error in degrees for R and t:
22.68577977249186 70.06287926862584

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99999888e-01 -4.43504896e-04 -1.68208472e-04]
 [ 4.43512586e-04  9.99999901e-01  4.56855065e-05]
 [ 1.68188193e-04 -4.57601040e-05  9.99999985e-01]]

 t_estimated:
[[-9.69784870e-01]
 [-2.43960155e-01]
 [-8.65106932e-04]]

 R_gt:
[[ 0.95162819  0.30397307  0.0447647 ]
 [-0.30455602  0.95247158  0.00666097]
 [-0.04061166 -0.01997156  0.99897613]]

 t_gt:
[-0.77496612  0.62683713  0.0806395 ]

Pose Error in degrees for R and t:
17.936887747071687 53.23335335344459

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.94147772e-01 -1.08028594e-01  1.71935577e-04]
 [ 1.08028635e-01  9.94147752e-01 -2.46402727e-04]
 [-1.44310828e-04  2.63534688e-04  9.99999955e-01]]

 t_estimated:
[[8.05092297e-01]
 [5.93149138e-01]
 [7.02569107e-04]]

 R_gt:
[[ 0.99755611  0.04627012  0.05235404]
 [-0.0439074   0.99800394 -0.04540258]
 [-0.05434987  0.04299321  0.99759535]]

 t_gt:
[-0.72236484  0.62368438  0.29867513]

Pose Error in degrees for R and t:
9.637307850183662 77.79426235672841

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-9.32595967e-01 -3.60916619e-01 -1.98907577e-03]
 [ 3.60917931e-01 -9.32597521e-01 -3.33594494e-04]
 [-1.73460733e-03 -1.02900199e-03  9.99997966e-01]]

 t_estimated:
[[0.87764284]
 [0.47931414]
 [0.00099654]]

 R_gt:
[[ 0.99472072  0.02716442  0.0989644 ]
 [-0.02338039  0.99895857 -0.0391872 ]
 [-0.0999241   0.03666556  0.99431859]]

 t_gt:
[-0.35470288  0.23378415  0.90527943]

Pose Error in degrees for R and t:
160.32822002030736 78.55984828046763

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.83401433e-01 -1.81443006e-01 -2.38332910e-04]
 [ 1.81443039e-01  9.83401448e-01  1.24701210e-04]
 [ 2.11750766e-04 -1.65875196e-04  9.99999964e-01]]

 t_estimated:
[[ 9.99712447e-01]
 [-2.39789287e-02]
 [ 1.85015733e-04]]

 R_gt:
[[ 9.96976991e-01  8.79453870e-04  7.76917344e-02]
 [ 1.70118706e-03  9.99449743e-01 -3.31317984e-02]
 [-7.76779266e-02  3.31633890e-02  9.96426581e-01]]

 t_gt:
[ 0.13710681 -0.10308364  0.9851779 ]

Pose Error in degrees for R and t:
11.50422912081587 81.96826960241378

Number of keypoints:
Image1: 387
Image2: 387

 R_estimated:
[[ 5.42141345e-01 -8.40287300e-01  1.20916248e-04]
 [ 8.40286600e-01  5.42141069e-01  1.22113927e-03]
 [-1.09166149e-03 -5.60425785e-04  9.99999247e-01]]

 t_estimated:
[[0.99894782]
 [0.04584543]
 [0.00120646]]

 R_gt:
[[ 0.99472388 -0.09581608  0.03665806]
 [ 0.09750557  0.99410166 -0.0474857 ]
 [-0.03189201  0.05081029  0.9981985 ]]

 t_gt:
[ 0.60673799 -0.58337502 -0.53994685]

Pose Error in degrees for R and t:
51.726920242980725 54.64062396635266

Number of keypoints:
Image1: 765
Image2: 765

 R_estimated:
[[ 9.99761353e-01  2.18456767e-02  6.28935850e-05]
 [-2.18456659e-02  9.99761341e-01 -1.67689950e-04]
 [-6.65418753e-05  1.66275979e-04  9.99999984e-01]]

 t_estimated:
[[ 9.42292389e-01]
 [-3.34790945e-01]
 [ 2.78241622e-04]]

 R_gt:
[[ 0.99103592 -0.13137491  0.02427905]
 [ 0.13264023  0.98927228 -0.0612201 ]
 [-0.01597565  0.06389179  0.99782838]]

 t_gt:
[ 0.67243601 -0.46302516 -0.57744049]

Pose Error in degrees for R and t:
9.612398659941565 37.95562903248099

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.63086508e-01  2.69192022e-01  1.82305464e-04]
 [-2.69192004e-01  9.63086523e-01 -1.19707567e-04]
 [-2.07800257e-04  6.62135701e-05  9.99999976e-01]]

 t_estimated:
[[0.80179256]
 [0.5976009 ]
 [0.00136128]]

 R_gt:
[[ 0.98314773 -0.18267747  0.00700879]
 [ 0.1828032   0.98274421 -0.02822816]
 [-0.00173103  0.02903425  0.99957662]]

 t_gt:
[ 0.89222504 -0.41698899 -0.1733628 ]

Pose Error in degrees for R and t:
26.199588698215823 62.228252202766654

Number of keypoints:
Image1: 722
Image2: 722

 R_estimated:
[[ 9.99991921e-01 -4.01966354e-03  1.14801149e-05]
 [ 4.01966370e-03  9.99991921e-01 -1.40017685e-05]
 [-1.14237397e-05  1.40478016e-05  1.00000000e+00]]

 t_estimated:
[[8.88085987e-01]
 [4.59676575e-01]
 [8.51576069e-04]]

 R_gt:
[[ 0.99980813 -0.01616302 -0.01111556]
 [ 0.01630664  0.99978185  0.01303566]
 [ 0.01090335 -0.01321377  0.99985339]]

 t_gt:
[ 0.20109966 -0.18294508  0.96233571]

Pose Error in degrees for R and t:
1.205797980853304 84.53039286506069

Number of keypoints:
Image1: 471
Image2: 471

 R_estimated:
[[ 9.95797559e-01 -9.15817715e-02  3.46247489e-05]
 [ 9.15817695e-02  9.95797558e-01  5.54235221e-05]
 [-3.95550247e-05 -5.20196122e-05  9.99999998e-01]]

 t_estimated:
[[9.91527271e-01]
 [1.29897093e-01]
 [6.45687847e-04]]

 R_gt:
[[ 0.99432332 -0.09982113 -0.03684958]
 [ 0.10102598  0.99435598  0.03241379]
 [ 0.03340627 -0.03595227  0.99879486]]

 t_gt:
[ 0.94271701 -0.2025413   0.26506915]

Pose Error in degrees for R and t:
2.8582867294132184 24.6886065471627

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 8.01334868e-01  5.98215436e-01  8.49452791e-04]
 [-5.98215381e-01  8.01335285e-01 -3.45739315e-04]
 [-8.87523089e-04 -2.31102757e-04  9.99999579e-01]]

 t_estimated:
[[-0.03640422]
 [ 0.99933638]
 [ 0.00124195]]

 R_gt:
[[ 0.98712853 -0.13223673 -0.08995053]
 [ 0.13747404  0.98899209  0.05473131]
 [ 0.08172322 -0.06639334  0.99444157]]

 t_gt:
[ 0.95765503 -0.18188237  0.2231942 ]

Pose Error in degrees for R and t:
44.908173630925674 77.50542628608576

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.99869867e-01 -1.61321308e-02 -4.92095829e-05]
 [ 1.61321328e-02  9.99869868e-01  4.05580362e-05]
 [ 4.85488916e-05 -4.13466138e-05  9.99999998e-01]]

 t_estimated:
[[-9.73344958e-01]
 [-2.29345941e-01]
 [-1.80249078e-04]]

 R_gt:
[[ 0.99564731  0.09223466 -0.0133211 ]
 [-0.09166853  0.99505609  0.03819701]
 [ 0.01677872 -0.03680931  0.99918124]]

 t_gt:
[-0.82946675  0.49160454  0.26516012]

Pose Error in degrees for R and t:
6.620445693771007 46.00767727614164

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 9.98462547e-01 -5.54297714e-02  2.89137199e-04]
 [ 5.54298036e-02  9.98462581e-01 -1.04384536e-04]
 [-2.82906663e-04  1.20250868e-04  9.99999953e-01]]

 t_estimated:
[[-9.00000432e-01]
 [-4.35888252e-01]
 [-8.08206803e-04]]

 R_gt:
[[ 9.76424465e-01  2.15843698e-01  2.40712082e-03]
 [-2.15856420e-01  9.76349311e-01  1.20816808e-02]
 [ 2.58159614e-04 -1.23163257e-02  9.99924839e-01]]

 t_gt:
[-0.8100494   0.58597482  0.02129515]

Pose Error in degrees for R and t:
15.659545260268922 61.73124085540762

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-9.85071478e-01 -1.71745505e-01 -1.17330877e-02]
 [-1.71764354e-01  9.85137876e-01  6.10561833e-04]
 [ 1.14538478e-02  2.61677328e-03 -9.99930979e-01]]

 t_estimated:
[[ 0.99734332]
 [ 0.07262947]
 [-0.00559185]]

 R_gt:
[[ 0.96358162  0.26684381  0.01739865]
 [-0.26707984  0.96358601  0.01302113]
 [-0.01328994 -0.0171942   0.99976427]]

 t_gt:
[-0.77080668  0.63467447  0.05518494]

Pose Error in degrees for R and t:
179.71234658088423 43.69964611587647

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.96406014e-01 -8.47054955e-02  1.83294603e-04]
 [ 8.47055744e-02  9.96405910e-01 -4.76829812e-04]
 [-1.42245720e-04  4.90642168e-04  9.99999870e-01]]

 t_estimated:
[[-0.53865311]
 [-0.84252557]
 [-0.00186822]]

 R_gt:
[[ 0.99857533  0.04794349  0.02343036]
 [-0.04658419  0.99737502 -0.05543237]
 [-0.02602807  0.05426228  0.99818691]]

 t_gt:
[-0.69979322  0.62295457 -0.34959556]

Pose Error in degrees for R and t:
8.306731432819317 81.53204530597985

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99839490e-01 -1.79162902e-02 -1.97391999e-05]
 [ 1.79162945e-02  9.99839460e-01  2.46752206e-04]
 [ 1.53151469e-05 -2.47066253e-04  9.99999969e-01]]

 t_estimated:
[[0.66606315]
 [0.74589445]
 [0.00116277]]

 R_gt:
[[ 0.99528177  0.06268064  0.07406066]
 [-0.05773464  0.9960722  -0.06712779]
 [-0.07797762  0.06253566  0.99499148]]

 t_gt:
[-0.75052168  0.58173115  0.31353799]

Pose Error in degrees for R and t:
7.289890810607149 86.2375347101861

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.89338224e-01  1.45635914e-01  2.44382028e-04]
 [-1.45636072e-01  9.89337859e-01  8.57722033e-04]
 [-1.16861260e-04 -8.84168031e-04  9.99999602e-01]]

 t_estimated:
[[0.5782844 ]
 [0.81583388]
 [0.0014965 ]]

 R_gt:
[[ 0.99341436  0.03302549  0.10971273]
 [-0.02664158  0.99789364 -0.05914695]
 [-0.11143621  0.05583375  0.99220174]]

 t_gt:
[-0.3791551   0.21156334  0.90082316]

Pose Error in degrees for R and t:
9.784552072487301 87.40298970012732

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.26238573 -0.96496044 -0.00225303]
 [ 0.96495689  0.26239169 -0.00296666]
 [ 0.00345389 -0.00139567  0.99999306]]

 t_estimated:
[[ 0.88224998]
 [-0.47077636]
 [-0.00214229]]

 R_gt:
[[ 0.99359419 -0.10935363  0.02849805]
 [ 0.1097714   0.99386479 -0.01352062]
 [-0.02684472  0.01656276  0.99950209]]

 t_gt:
[ 0.80391959 -0.59193332 -0.0576909 ]

Pose Error in degrees for R and t:
68.52197748135279 8.866614860516178

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 8.46819543e-01  5.31879513e-01  9.19479525e-04]
 [-5.31879839e-01  8.46819827e-01  1.35379097e-04]
 [-7.06628124e-04 -6.03694286e-04  9.99999568e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97365926 -0.22329652  0.04612497]
 [ 0.22519377  0.97344812 -0.04106998]
 [-0.03572872  0.0503755   0.99809102]]

 t_gt:
[ 0.85030001 -0.5107251  -0.12708174]

Pose Error in degrees for R and t:
45.23391008700109 59.632544436694495

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-1.83245786e-01  9.83066797e-01 -8.08923208e-04]
 [ 9.83060937e-01  1.83247490e-01  3.39873430e-03]
 [ 3.48941600e-03 -1.72417067e-04 -9.99993897e-01]]

 t_estimated:
[[-0.38926259]
 [-0.92112633]
 [-0.00096352]]

 R_gt:
[[ 0.94318351 -0.32926798  0.04459588]
 [ 0.33214912  0.93797649 -0.0993814 ]
 [-0.00910673  0.10854712  0.99404932]]

 t_gt:
[ 0.88303983 -0.3943741  -0.25438106]

Pose Error in degrees for R and t:
175.06629394951798 88.86666728456699

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.00000000e+00 -8.05813749e-14 -1.20502295e-16]
 [ 8.05848444e-14  1.00000000e+00  1.19396680e-14]
 [ 3.04637094e-16 -1.19433543e-14  1.00000000e+00]]

 t_estimated:
[[0.01865086]
 [0.99982551]
 [0.00104584]]

 R_gt:
[[ 0.99651686  0.05415039 -0.06343214]
 [-0.05561842  0.99821911 -0.02160692]
 [ 0.06214867  0.02505992  0.99775205]]

 t_gt:
[-0.32782753  0.63484185 -0.69964629]

Pose Error in degrees for R and t:
4.967476221337144 51.10573969552532

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 8.45776246e-01 -5.33537747e-01 -1.19509692e-04]
 [ 5.33537748e-01  8.45776154e-01  4.11515019e-04]
 [-1.18480349e-04 -4.11812559e-04  9.99999908e-01]]

 t_estimated:
[[8.58021296e-01]
 [5.13613680e-01]
 [6.66165603e-04]]

 R_gt:
[[ 0.98806613  0.05066965 -0.14546392]
 [-0.05415253  0.99833094 -0.02008127]
 [ 0.14420312  0.02771889  0.98915951]]

 t_gt:
[-0.00481902  0.41009933 -0.91202814]

Pose Error in degrees for R and t:
36.23199245251798 78.11838231867226

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.92149591 -0.38837964 -0.00255643]
 [ 0.38834213 -0.92146821  0.00931268]
 [-0.00597253  0.00758883  0.99995337]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 0.97033258  0.0635743  -0.23326809]
 [-0.0693337   0.99745615 -0.01656507]
 [ 0.23162157  0.03224678  0.97227139]]

 t_gt:
[ 0.10943254  0.33908706 -0.9343685 ]

Pose Error in degrees for R and t:
161.2062068183476 74.49643800236665

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.99999882e-01  4.75915175e-04  1.01435245e-04]
 [-4.75907591e-04  9.99999884e-01 -7.47787926e-05]
 [-1.01470821e-04  7.47305100e-05  9.99999992e-01]]

 t_estimated:
[[9.99135972e-01]
 [4.15603413e-02]
 [2.16503985e-04]]

 R_gt:
[[ 0.99028618 -0.13459707 -0.03489451]
 [ 0.13446682  0.99089934 -0.00605213]
 [ 0.03539074  0.00130156  0.99937245]]

 t_gt:
[ 0.65000742 -0.73882517 -0.17784181]

Pose Error in degrees for R and t:
8.023234945891762 51.77862916250984

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.69753143e-01 -2.44087637e-01 -2.60749988e-04]
 [ 2.44087525e-01  9.69753124e-01 -3.99646028e-04]
 [ 3.50411769e-04  3.23912172e-04  9.99999886e-01]]

 t_estimated:
[[-0.28778032]
 [-0.95769516]
 [-0.00157257]]

 R_gt:
[[ 0.95215491 -0.30506958  0.0183111 ]
 [ 0.30530245  0.95218424 -0.0116124 ]
 [-0.01389272  0.01664758  0.99976535]]

 t_gt:
[ 0.69964309 -0.71437366  0.01303196]

Pose Error in degrees for R and t:
3.849057249656464 61.132338113517164

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99955597e-01 -9.41771849e-03  3.33523020e-04]
 [ 9.41781648e-03  9.99955608e-01 -2.93450992e-04]
 [-3.30744576e-04  2.96579020e-04  9.99999901e-01]]

 t_estimated:
[[ 0.60257581]
 [-0.79806108]
 [-0.00095341]]

 R_gt:
[[ 0.88850412 -0.4563099  -0.04840729]
 [ 0.45670116  0.88961465 -0.00328816]
 [ 0.04456483 -0.01918681  0.9988223 ]]

 t_gt:
[ 0.76081624 -0.64824404 -0.03063188]

Pose Error in degrees for R and t:
26.78390109749286 12.626174732848433

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 0.98723557  0.00814319 -0.15905851]
 [ 0.01204208  0.99201678  0.12552963]
 [ 0.15881092 -0.12584272  0.9792562 ]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.97392656 -0.22087879  0.05176117]
 [ 0.21813029  0.97443192  0.05387011]
 [-0.06233617 -0.0411751   0.99720587]]

 t_gt:
[ 0.59879965 -0.71688702  0.35708818]

Pose Error in degrees for R and t:
18.2583417263038 85.72109457898475

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-0.03813    -0.94424103 -0.32703974]
 [-0.81128925 -0.16182076  0.56180406]
 [-0.58340026  0.28674541 -0.75988237]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.94139856 -0.33725681 -0.00519663]
 [ 0.33728114  0.94139009  0.00502585]
 [ 0.00319637 -0.00648516  0.9999738 ]]

 t_gt:
[ 0.70763252 -0.70619827  0.02324251]

Pose Error in degrees for R and t:
162.03373481383628 83.47355970946576

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99997483e-01 -1.50203643e-04 -2.23855281e-03]
 [ 1.55601130e-04  9.99997081e-01  2.41117097e-03]
 [ 2.23818411e-03 -2.41151323e-03  9.99994588e-01]]

 t_estimated:
[[-0.94828969]
 [-0.31738243]
 [-0.00388171]]

 R_gt:
[[ 0.87309713 -0.48747213  0.00844838]
 [ 0.48615391  0.87178378  0.06039205]
 [-0.03680381 -0.04862117  0.99813892]]

 t_gt:
[ 0.73598017 -0.66257423  0.13902726]

Pose Error in degrees for R and t:
29.34787365664632 60.77945417995446

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[-8.91462593e-01 -4.53093856e-01 -6.35429628e-04]
 [ 4.53094163e-01 -8.91460348e-01 -2.03157450e-03]
 [ 3.54033606e-04 -2.09898213e-03  9.99997734e-01]]

 t_estimated:
[[8.01562506e-01]
 [5.97910549e-01]
 [7.24740059e-04]]

 R_gt:
[[ 0.97377724 -0.2190489   0.06144529]
 [ 0.21644629  0.97519536  0.04631853]
 [-0.07006658 -0.03180469  0.99703499]]

 t_gt:
[ 0.59472594 -0.71872885  0.36018037]

Pose Error in degrees for R and t:
140.4965325552847 87.2925985692419

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999654e-01 -1.38220332e-04  8.19845755e-04]
 [ 1.39003833e-04  9.99999534e-01 -9.55688914e-04]
 [-8.19713277e-04  9.55802545e-04  9.99999207e-01]]

 t_estimated:
[[-0.38963938]
 [-0.92096581]
 [-0.00177109]]

 R_gt:
[[ 0.93829401 -0.34562639 -0.01213715]
 [ 0.34577478  0.93821935  0.013562  ]
 [ 0.00669947 -0.01692231  0.99983381]]

 t_gt:
[ 0.71147583 -0.70189866  0.03377007]

Pose Error in degrees for R and t:
20.248824617625896 68.33705048417563

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 0.84364936  0.53687525  0.00455276]
 [ 0.53689267 -0.84363852 -0.00450595]
 [ 0.00142175  0.00624579 -0.99997948]]

 t_estimated:
[[-0.77055305]
 [ 0.63735757]
 [-0.00482998]]

 R_gt:
[[ 0.87275726 -0.4879897   0.01267869]
 [ 0.48662727  0.8717871   0.05640985]
 [-0.03858073 -0.04306288  0.99832677]]

 t_gt:
[ 0.73406985 -0.66569223  0.13414659]

Pose Error in degrees for R and t:
177.9513093147501 7.874026261235389

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.99999872e-01 -2.56118570e-04  4.35924324e-04]
 [ 2.56123194e-04  9.99999967e-01 -1.05515542e-05]
 [-4.35921607e-04  1.06632032e-05  9.99999905e-01]]

 t_estimated:
[[0.71764386]
 [0.69640817]
 [0.00171636]]

 R_gt:
[[ 0.98757308 -0.15534951 -0.02379916]
 [ 0.15555934  0.98780035  0.00720704]
 [ 0.02238959 -0.01082003  0.99968983]]

 t_gt:
[ 0.65265978 -0.75687494 -0.03428623]

Pose Error in degrees for R and t:
9.046463787506498 86.63047252485327

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[-0.98858298  0.15048645  0.00758439]
 [ 0.15049979  0.98860929  0.00121712]
 [-0.00731484  0.00234467 -0.9999705 ]]

 t_estimated:
[[ 0.99986351]
 [-0.01609784]
 [ 0.00371899]]

 R_gt:
[[ 0.95078685 -0.30916068  0.02058162]
 [ 0.30957658  0.95063101 -0.02155124]
 [-0.01290281  0.02686139  0.99955506]]

 t_gt:
[ 0.70132755 -0.71276169 -0.01050848]

Pose Error in degrees for R and t:
178.48478190616774 44.54770099742533

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.99999764e-01  5.90545062e-04  3.52434751e-04]
 [-5.90445770e-04  9.99999786e-01 -2.81769214e-04]
 [-3.52601073e-04  2.81561054e-04  9.99999898e-01]]

 t_estimated:
[[9.99595501e-01]
 [2.84396052e-02]
 [1.55402767e-04]]

 R_gt:
[[ 0.8827387  -0.46840746 -0.03698611]
 [ 0.46899642  0.8831572   0.00874758]
 [ 0.02856784 -0.02506823  0.99927661]]

 t_gt:
[ 0.76059167 -0.6492022   0.00606756]

Pose Error in degrees for R and t:
28.079793222842902 42.11315427898368

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.97736547e-01 -6.72441836e-02 -4.89108843e-05]
 [ 6.72441881e-02  9.97736543e-01  9.52537650e-05]
 [ 4.23949149e-05 -9.83271353e-05  9.99999994e-01]]

 t_estimated:
[[0.88897411]
 [0.45795636]
 [0.00099773]]

 R_gt:
[[ 0.99836865  0.04602618  0.0338052 ]
 [-0.04398735  0.99730295 -0.05875539]
 [-0.0364168   0.05717182  0.99769967]]

 t_gt:
[-0.7387876   0.63491612 -0.22599647]

Pose Error in degrees for R and t:
7.522542709089503 68.51703062571337

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.97731259e-01 -6.73225871e-02 -6.36900179e-05]
 [ 6.73225943e-02  9.97731253e-01  1.19387906e-04]
 [ 5.55080187e-05 -1.23404823e-04  9.99999991e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189838e-04]]

 R_gt:
[[ 0.99527748  0.05492807  0.08004274]
 [-0.05016881  0.99691822 -0.06030226]
 [-0.08310696  0.05600122  0.99496561]]

 t_gt:
[-0.70745592  0.51541133  0.48358792]

Pose Error in degrees for R and t:
8.969619160582464 45.13172364261974

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 8.79523767e-01 -4.75854957e-01  4.65084652e-05]
 [ 4.75854959e-01  8.79523764e-01 -7.39498038e-05]
 [-5.71591967e-06  8.71718939e-05  9.99999996e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99443828  0.02474865  0.10237313]
 [-0.0187958   0.99809803 -0.05871013]
 [-0.10363052  0.05645895  0.99301211]]

 t_gt:
[-0.3114143   0.15250292  0.93795735]

Pose Error in degrees for R and t:
30.41349500909999 71.92794844097718

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[ 9.99751716e-01 -2.22823237e-02 -6.61704403e-05]
 [ 2.22823273e-02  9.99751717e-01  5.38105225e-05]
 [ 6.49549878e-05 -5.52715936e-05  9.99999996e-01]]

 t_estimated:
[[-9.43597253e-01]
 [-3.31095372e-01]
 [-2.79187849e-04]]

 R_gt:
[[ 0.99599338  0.08803943 -0.01564804]
 [-0.08735483  0.99537013  0.04008931]
 [ 0.01910404 -0.03856191  0.99907332]]

 t_gt:
[-0.81706334  0.49812147  0.29031449]

Pose Error in degrees for R and t:
6.773392857127891 52.70118421356473

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[ 9.99940482e-01 -1.09093274e-02 -1.34775080e-04]
 [ 1.09093470e-02  9.99940481e-01  1.46072792e-04]
 [ 1.33173502e-04 -1.47534406e-04  9.99999980e-01]]

 t_estimated:
[[-9.95497655e-01]
 [-9.47856938e-02]
 [-3.01954179e-04]]

 R_gt:
[[ 0.97631628  0.216342   -0.00159773]
 [-0.21627864  0.97616492  0.01801164]
 [ 0.00545584 -0.01723979  0.99983685]]

 t_gt:
[-0.81025146  0.58487875  0.03754217]

Pose Error in degrees for R and t:
13.158469605507996 41.309563702797995

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.99991926e-01  4.01563273e-03 -1.47515052e-04]
 [-4.01560106e-03  9.99991914e-01  2.14393256e-04]
 [ 1.48374783e-04 -2.13799164e-04  9.99999966e-01]]

 t_estimated:
[[-9.96100149e-01]
 [-8.82292071e-02]
 [-3.15489150e-04]]

 R_gt:
[[ 0.96423055  0.26443524  0.01822908]
 [-0.26467599  0.96425833  0.01233271]
 [-0.01431592 -0.01671684  0.99975813]]

 t_gt:
[-0.76961498  0.63605172  0.05595525]

Pose Error in degrees for R and t:
15.1645018929655 44.72621227517082

Number of keypoints:
Image1: 905
Image2: 905

 R_estimated:
[[ 9.99890134e-01 -1.48229792e-02  6.86465404e-07]
 [ 1.48229792e-02  9.99890133e-01 -1.91888394e-05]
 [-4.01954217e-07  1.91969067e-05  1.00000000e+00]]

 t_estimated:
[[9.08062461e-01]
 [4.18834258e-01]
 [6.56248421e-04]]

 R_gt:
[[ 0.99981135 -0.01493235 -0.01241192]
 [ 0.01517414  0.99969023  0.01969538]
 [ 0.01211346 -0.01988031  0.99972807]]

 t_gt:
[ 0.17559489 -0.10534673  0.97880974]

Pose Error in degrees for R and t:
1.337035670735325 83.34038608147382

Number of keypoints:
Image1: 502
Image2: 502

 R_estimated:
[[-0.7667697  -0.64179986  0.01253657]
 [-0.64179322  0.76686093  0.00507682]
 [-0.01287211 -0.00415314 -0.99990853]]

 t_estimated:
[[0.93771056]
 [0.34735264]
 [0.00671211]]

 R_gt:
[[ 0.99393664 -0.10357065 -0.03689093]
 [ 0.10485352  0.99388065  0.03472584]
 [ 0.03306855 -0.03838391  0.99871453]]

 t_gt:
[ 0.94131495 -0.19502141  0.27548651]

Pose Error in degrees for R and t:
179.5969732858504 35.23537361006453

Number of keypoints:
Image1: 405
Image2: 405

 R_estimated:
[[ 8.01765480e-01  5.97638234e-01  8.09521001e-04]
 [-5.97638031e-01  8.01765885e-01 -5.00172637e-04]
 [-9.47968614e-04 -8.27793824e-05  9.99999547e-01]]

 t_estimated:
[[0.16366162]
 [0.98651588]
 [0.00113654]]

 R_gt:
[[ 0.9873487  -0.12681193 -0.09518863]
 [ 0.13311504  0.98909169  0.06305718]
 [ 0.08615365 -0.07493043  0.9934599 ]]

 t_gt:
[ 0.94693504 -0.18340308  0.26396465]

Pose Error in degrees for R and t:
44.660225202448814 88.5300230480593

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99928636e-01  1.19459745e-02 -1.26451240e-04]
 [-1.19459693e-02  9.99928643e-01  4.15358879e-05]
 [ 1.26938404e-04 -4.00223411e-05  9.99999991e-01]]

 t_estimated:
[[-0.62973751]
 [ 0.77680735]
 [-0.00100642]]

 R_gt:
[[ 0.99568603  0.04732892 -0.07980628]
 [-0.04963526  0.9983991  -0.02714791]
 [ 0.07839385  0.03099161  0.9964406 ]]

 t_gt:
[-0.19844732  0.52872963 -0.8252658 ]

Pose Error in degrees for R and t:
5.265763858934874 57.55285489053473

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.24272314  0.30560497  0.92070141]
 [ 0.56203956  0.81786802 -0.12330222]
 [-0.79069401  0.48754231 -0.37027758]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.98637125  0.0449663  -0.15827297]
 [-0.0493956   0.99848799 -0.02415531]
 [ 0.15694662  0.03164348  0.98709989]]

 t_gt:
[ 0.05356239  0.34833177 -0.93583976]

Pose Error in degrees for R and t:
121.7934746568102 80.05532499456287

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 7.92251804e-01 -6.10193207e-01 -1.15283457e-03]
 [ 6.10194081e-01  7.92251696e-01  6.58366975e-04]
 [ 5.11604088e-04 -1.22504526e-03  9.99999119e-01]]

 t_estimated:
[[0.63331013]
 [0.77389695]
 [0.00133892]]

 R_gt:
[[ 0.9672534   0.05578846 -0.24760734]
 [-0.06281245  0.99781501 -0.0205491 ]
 [ 0.24591947  0.03542851  0.96864211]]

 t_gt:
[ 0.15672576  0.28945169 -0.94427472]

Pose Error in degrees for R and t:
43.38725631172139 71.21623267910097

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99692032e-01  2.48155744e-02 -1.67028907e-04]
 [-2.48154926e-02  9.99691935e-01  4.75197549e-04]
 [ 1.78769751e-04 -4.70906299e-04  9.99999873e-01]]

 t_estimated:
[[ 0.02790433]
 [-0.99960918]
 [-0.00168471]]

 R_gt:
[[ 0.99304495 -0.11559947  0.02233208]
 [ 0.11595608  0.99313503 -0.01539138]
 [-0.0204      0.01787434  0.99963257]]

 t_gt:
[ 0.81951057 -0.56867345 -0.07080203]

Pose Error in degrees for R and t:
8.224287853084546 53.74085342158636

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.92788122e-01  1.19881537e-01  4.01729183e-04]
 [-1.19881516e-01  9.92788203e-01 -7.60478027e-05]
 [-4.07948722e-04  2.73394516e-05  9.99999916e-01]]

 t_estimated:
[[ 9.78863257e-01]
 [-2.04515821e-01]
 [ 5.77625917e-05]]

 R_gt:
[[ 0.97242541 -0.2290874   0.04366947]
 [ 0.23104489  0.97181806 -0.04677218]
 [-0.0317232   0.05557256  0.99795085]]

 t_gt:
[ 0.85554627 -0.4979854  -0.14160198]

Pose Error in degrees for R and t:
20.524323672780366 20.06558185149506

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 8.16634324e-01 -5.77154849e-01  8.13440450e-04]
 [ 5.77155352e-01  8.16634107e-01 -6.58656779e-04]
 [-2.84136262e-04  1.00736324e-03  9.99999452e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.94390629 -0.3265684   0.04892032]
 [ 0.32999567  0.93823612 -0.10399092]
 [-0.01193776  0.11430173  0.99337526]]

 t_gt:
[ 0.88086481 -0.39535532 -0.26032931]

Pose Error in degrees for R and t:
17.296037070938457 61.99655198133954

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-9.50243037e-01  3.11131542e-01  1.53405865e-02]
 [ 3.11154010e-01  9.50359016e-01 -9.60493234e-04]
 [-1.48779045e-02  3.86058300e-03 -9.99881865e-01]]

 t_estimated:
[[ 0.99282013]
 [-0.11937994]
 [ 0.00752456]]

 R_gt:
[[ 9.88675786e-01 -1.49995795e-01  4.66764696e-03]
 [ 1.50066894e-01  9.88333762e-01 -2.59994010e-02]
 [-7.13907121e-04  2.64049432e-02  9.99650815e-01]]

 t_gt:
[ 0.85223981 -0.50529176 -0.1355269 ]

Pose Error in degrees for R and t:
178.72970268223497 25.11971738508796

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.76788452  0.64047652  0.01196632]
 [ 0.64049329  0.76795838 -0.00287643]
 [-0.01103193  0.00545558 -0.99992426]]

 t_estimated:
[[ 0.96145315]
 [-0.27490579]
 [ 0.00588544]]

 R_gt:
[[ 0.97313084 -0.22670607  0.04027452]
 [ 0.22845571  0.97246624 -0.04602097]
 [-0.02873214  0.05398565  0.9981276 ]]

 t_gt:
[ 0.84664757 -0.51081192 -0.14919479]

Pose Error in degrees for R and t:
176.43982880379417 17.53006079180282

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.91840416e-01  1.27485559e-01  1.45210634e-04]
 [-1.27485642e-01  9.91839725e-01  1.17072218e-03]
 [ 5.22449710e-06 -1.17968185e-03  9.99999304e-01]]

 t_estimated:
[[0.61812492]
 [0.78607868]
 [0.00137667]]

 R_gt:
[[ 0.94560143 -0.3197531   0.05997942]
 [ 0.32412422  0.94180533 -0.08914414]
 [-0.02798553  0.10373666  0.99421062]]

 t_gt:
[ 0.86965123 -0.43794237 -0.22784474]

Pose Error in degrees for R and t:
26.879904036399015 78.87312269288053

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-9.67002908e-01  2.54765246e-01 -2.11359367e-04]
 [-2.54763234e-01 -9.66997974e-01 -3.25760774e-03]
 [-1.03430932e-03 -3.09626956e-03  9.99994672e-01]]

 t_estimated:
[[0.78935165]
 [0.61394017]
 [0.00120145]]

 R_gt:
[[ 0.99627305 -0.08612852  0.00468093]
 [ 0.08604627  0.9961679   0.01566456]
 [-0.00601255 -0.01520243  0.99986626]]

 t_gt:
[ 0.473721   -0.86607157  0.15971362]

Pose Error in degrees for R and t:
170.1793628513981 80.93285737971479

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.98954232e-01 -4.57211367e-02  1.40474151e-04]
 [ 4.57211246e-02  9.98954239e-01  8.79584513e-05]
 [-1.44348809e-04 -8.14438310e-05  9.99999986e-01]]

 t_estimated:
[[ 9.97474866e-01]
 [-7.10193118e-02]
 [ 3.85076595e-04]]

 R_gt:
[[ 9.71167869e-01 -2.38392050e-01  1.47733463e-03]
 [ 2.38392249e-01  9.71169323e-01 -5.10489433e-04]
 [-1.31322532e-03  8.48833022e-04  9.99999114e-01]]

 t_gt:
[ 0.67182256 -0.74065267 -0.0093845 ]

Pose Error in degrees for R and t:
11.171327629114234 43.72023131993433

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.14609651 -0.98406017 -0.10139718]
 [-0.98432822  0.13436854  0.11420616]
 [-0.09876114  0.11649323 -0.98826897]]

 t_estimated:
[[8.84778204e-01]
 [4.66011821e-01]
 [7.15839971e-04]]

 R_gt:
[[ 0.93739736 -0.34693197 -0.03037829]
 [ 0.34727333  0.93774087  0.00661743]
 [ 0.0261914  -0.016752    0.99951659]]

 t_gt:
[ 0.74063191 -0.67057152 -0.04240532]

Pose Error in degrees for R and t:
179.34674435153676 69.95425030932392

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 1.00000000e+00 -2.87312749e-09  3.04812219e-13]
 [ 2.87312760e-09  1.00000000e+00  1.26111318e-12]
 [-3.04812070e-13 -1.26111328e-12  1.00000000e+00]]

 t_estimated:
[[-1.76703364e-01]
 [ 9.84264011e-01]
 [-5.27472740e-04]]

 R_gt:
[[ 0.99561767 -0.00619247 -0.09331163]
 [ 0.00497193  0.99990026 -0.01330266]
 [ 0.09338483  0.01278054  0.99554827]]

 t_gt:
[ 0.37004164 -0.01623743 -0.92887326]

Pose Error in degrees for R and t:
5.417544791096233 85.36087504292655

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.53318859e-01 -3.01965087e-01 -4.89866248e-04]
 [ 3.01965399e-01  9.53318555e-01  7.93765286e-04]
 [ 2.27309180e-04 -9.04634073e-04  9.99999565e-01]]

 t_estimated:
[[9.74288183e-01]
 [2.25304142e-01]
 [7.61162643e-04]]

 R_gt:
[[ 0.98294867  0.01309903 -0.18341404]
 [-0.01400217  0.99989641 -0.00363104]
 [ 0.18334726  0.00613783  0.9830292 ]]

 t_gt:
[ 0.3100866   0.08661985 -0.94675409]

Pose Error in degrees for R and t:
21.152104177129544 71.28210051507625

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.9858639  -0.16665517 -0.01727503]
 [ 0.16694834  0.98581567  0.01719615]
 [ 0.01416417 -0.0198371   0.99970289]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.96657474  0.02597444 -0.2550645 ]
 [-0.02847144  0.99957668 -0.00610217]
 [ 0.25479731  0.01316086  0.96690516]]

 t_gt:
[ 0.31059532  0.12576511 -0.94218559]

Pose Error in degrees for R and t:
17.871477545000733 71.8994789297473

Number of keypoints:
Image1: 431
Image2: 431

 R_estimated:
[[ 9.99999829e-01  5.83305367e-04  3.87922613e-05]
 [-5.83293747e-04  9.99999785e-01 -2.98884981e-04]
 [-3.89665942e-05  2.98862303e-04  9.99999955e-01]]

 t_estimated:
[[-0.34702006]
 [-0.9378566 ]
 [-0.00143985]]

 R_gt:
[[ 0.99423434 -0.09819651  0.04307615]
 [ 0.10058832  0.99327    -0.05741199]
 [-0.03714822  0.06141503  0.99742087]]

 t_gt:
[ 0.64074689 -0.50409921 -0.57907461]

Pose Error in degrees for R and t:
7.057318814498127 75.4482389177846

Number of keypoints:
Image1: 608
Image2: 608

 R_estimated:
[[-0.77982565  0.62574207  0.01785545]
 [ 0.62574541  0.78000359 -0.00608997]
 [-0.01773807  0.00642386 -0.99982203]]

 t_estimated:
[[ 0.93482053]
 [-0.35498802]
 [ 0.00969941]]

 R_gt:
[[ 0.99148839 -0.12724906  0.02753239]
 [ 0.12870991  0.98985489 -0.0601776 ]
 [-0.01959502  0.06320997  0.99780848]]

 t_gt:
[ 0.68734574 -0.45597379 -0.56537044]

Pose Error in degrees for R and t:
176.4685876099789 36.972298473539226

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.99879140e-01 -1.55423181e-02 -3.76237211e-04]
 [ 1.55425122e-02  9.99879073e-01  5.18664748e-04]
 [ 3.68130461e-04 -5.24449734e-04  9.99999795e-01]]

 t_estimated:
[[0.99609992]
 [0.08822478]
 [0.00115198]]

 R_gt:
[[ 0.98198927 -0.18874909  0.00845291]
 [ 0.18891557  0.98157549 -0.02863558]
 [-0.00289167  0.02971699  0.99955467]]

 t_gt:
[ 0.91140053 -0.38048405 -0.15678315]

Pose Error in degrees for R and t:
10.147163346706174 29.06168288204438

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.07686008 -0.99699772  0.00938504]
 [-0.99699996  0.07693976  0.00844689]
 [-0.00914361 -0.00870766 -0.99992028]]

 t_estimated:
[[0.71445165]
 [0.69964994]
 [0.00698548]]

 R_gt:
[[ 0.99748602  0.03955455  0.0588035 ]
 [-0.03746157  0.99863939 -0.03629305]
 [-0.06015901  0.03399979  0.99760902]]

 t_gt:
[-0.66488961  0.54922283  0.50623719]

Pose Error in degrees for R and t:
178.14204602220676 84.99564609296584

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.91827331e-01 -1.27586789e-01 -3.96124461e-04]
 [ 1.27586960e-01  9.91827291e-01  4.39709197e-04]
 [ 3.36785966e-04 -4.86655915e-04  9.99999825e-01]]

 t_estimated:
[[8.99567302e-01]
 [4.36781701e-01]
 [6.43818303e-04]]

 R_gt:
[[ 0.99466273  0.01726664  0.10172358]
 [-0.01468362  0.99955267 -0.02608841]
 [-0.10212802  0.02445599  0.99447072]]

 t_gt:
[-0.22351269  0.11705773  0.96764641]

Pose Error in degrees for R and t:
10.228735064666948 81.41288132225789

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99840155e-01 -1.78791491e-02  2.33842223e-05]
 [ 1.78791473e-02  9.99840152e-01  7.51432735e-05]
 [-2.47239821e-05 -7.47131722e-05  9.99999997e-01]]

 t_estimated:
[[0.62997125]
 [0.77661735]
 [0.0013077 ]]

 R_gt:
[[ 0.99693458 -0.00812684  0.07781675]
 [ 0.00945313  0.99981605 -0.0166997 ]
 [-0.0776657   0.01738502  0.99682766]]

 t_gt:
[ 0.22843369 -0.20710014  0.95127682]

Pose Error in degrees for R and t:
4.593974821904018 89.1011686149532

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.99059130e-01 -4.33687062e-02 -9.78797547e-05]
 [ 4.33687085e-02  9.99059135e-01  2.20719973e-05]
 [ 9.68304291e-05 -2.62961489e-05  9.99999995e-01]]

 t_estimated:
[[-0.55719601]
 [-0.83038013]
 [-0.00120439]]

 R_gt:
[[ 0.99500711  0.0984067   0.01664439]
 [-0.09860075  0.99506319  0.01125826]
 [-0.01545351 -0.01284407  0.99979771]]

 t_gt:
[-0.83356815  0.53529559  0.13646529]

Pose Error in degrees for R and t:
8.220732070935059 88.86560277731631

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 0.78020488 -0.62550616 -0.00473132]
 [ 0.62551781  0.78020857  0.00143478]
 [ 0.00279395 -0.00407895  0.99998778]]

 t_estimated:
[[-0.26405703]
 [-0.96450306]
 [-0.00277955]]

 R_gt:
[[ 0.97724944  0.21179121  0.01129908]
 [-0.21207083  0.97651284  0.03806253]
 [-0.00297136 -0.03959263  0.99921145]]

 t_gt:
[-0.81888925  0.55621669  0.14157467]

Pose Error in degrees for R and t:
51.0029310057072 71.29880510239173

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-8.49001214e-01 -5.28387420e-01 -1.91665466e-03]
 [ 5.28386199e-01 -8.49003376e-01  1.13697551e-03]
 [-2.22800984e-03 -4.74402834e-05  9.99997517e-01]]

 t_estimated:
[[0.99307682]
 [0.1174607 ]
 [0.00118647]]

 R_gt:
[[ 0.94702141  0.31769511  0.04711449]
 [-0.31843692  0.94790053  0.00898712]
 [-0.04180329 -0.02351389  0.99884897]]

 t_gt:
[-0.77604023  0.6248833   0.08533711]

Pose Error in degrees for R and t:
166.66249843107872 45.79984112470796

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.40195085 -0.91565625 -0.00302461]
 [-0.91565754  0.40193762  0.00417452]
 [-0.00260672  0.00444746 -0.99998671]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.9938646   0.07592037 -0.08043499]
 [-0.08316164  0.99238371 -0.09087273]
 [ 0.07292386  0.09700503  0.99260897]]

 t_gt:
[-0.2371503   0.65332545 -0.71897538]

Pose Error in degrees for R and t:
173.3312451172712 75.78614492682064

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.73144218e-01 -2.30196232e-01 -1.62733245e-04]
 [ 2.30196269e-01  9.73144187e-01  2.64032586e-04]
 [ 9.75836044e-05 -2.94402370e-04  9.99999952e-01]]

 t_estimated:
[[-0.86262656]
 [-0.505839  ]
 [-0.00152405]]

 R_gt:
[[ 0.98740351  0.11430626 -0.10940128]
 [-0.12733837  0.98449167 -0.12066779]
 [ 0.0939115   0.13307913  0.98664679]]

 t_gt:
[-0.24484343  0.7073346  -0.66312099]

Pose Error in degrees for R and t:
22.33802682173159 81.62922774306715

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.03520122  0.99937688  0.00259531]
 [ 0.99937439 -0.03520979  0.0033329 ]
 [ 0.00342221  0.00247637 -0.99999108]]

 t_estimated:
[[-0.0347184 ]
 [-0.99939406]
 [-0.00247989]]

 R_gt:
[[ 0.99178012  0.07450313 -0.10402689]
 [-0.09058451  0.98301697 -0.15960034]
 [ 0.09036995  0.16771212  0.98168513]]

 t_gt:
[-0.13068257  0.6632481  -0.73690164]

Pose Error in degrees for R and t:
177.1491529186382 48.967905305581965

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.74194362e-01 -2.25710485e-01 -3.48476030e-04]
 [ 2.25710694e-01  9.74194069e-01  7.73056455e-04]
 [ 1.64996334e-04 -8.31762007e-04  9.99999640e-01]]

 t_estimated:
[[0.94441566]
 [0.32875229]
 [0.00099622]]

 R_gt:
[[ 0.9998217   0.00912904 -0.01651292]
 [-0.00986689  0.9989305  -0.04516335]
 [ 0.01608279  0.04531764  0.99884324]]

 t_gt:
[-0.23318893  0.81377295 -0.53234998]

Pose Error in degrees for R and t:
13.8724284673392 87.31917803967245

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99409290e-01 -3.43666979e-02  1.52369124e-05]
 [ 3.43666966e-02  9.99409287e-01  8.04263755e-05]
 [-1.79919007e-05 -7.98552245e-05  9.99999997e-01]]

 t_estimated:
[[-0.6392213 ]
 [ 0.76902232]
 [-0.00089259]]

 R_gt:
[[ 0.99968184 -0.01636551 -0.01914128]
 [ 0.01456782  0.99578498 -0.09054878]
 [ 0.02054326  0.09024121  0.99570802]]

 t_gt:
[ 0.11251762  0.83294642 -0.54179336]

Pose Error in degrees for R and t:
5.424275252265845 55.311511770283474

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.84141496e-01 -1.77385147e-01 -1.57137705e-04]
 [ 1.77385206e-01  9.84141355e-01  5.30340494e-04]
 [ 6.05711874e-05 -5.49803991e-04  9.99999847e-01]]

 t_estimated:
[[1.69730346e-01]
 [9.85490401e-01]
 [5.27416051e-04]]

 R_gt:
[[ 9.94073614e-01 -1.08706405e-01  3.69034972e-04]
 [ 1.07380424e-01  9.81416995e-01 -1.59028275e-01]
 [ 1.69250360e-02  1.58125513e-01  9.87273940e-01]]

 t_gt:
[ 0.59369611  0.61440308 -0.51964774]

Pose Error in degrees for R and t:
10.003180354876227 45.091025070238814

Number of keypoints:
Image1: 489
Image2: 489

 R_estimated:
[[ 9.99649754e-01 -2.64644241e-02  5.94401702e-05]
 [ 2.64644241e-02  9.99649756e-01  1.47164209e-06]
 [-5.94582978e-05  1.01923213e-07  9.99999998e-01]]

 t_estimated:
[[9.85440295e-01]
 [1.70021087e-01]
 [5.05747892e-04]]

 R_gt:
[[ 0.99502418 -0.09605126 -0.02648955]
 [ 0.09648641  0.9952107   0.0156861 ]
 [ 0.02485553 -0.01816403  0.99952531]]

 t_gt:
[ 0.97699093 -0.19279253  0.09121271]

Pose Error in degrees for R and t:
4.381296463467764 21.559951766490954

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[-0.1577078   0.98748532  0.00100001]
 [-0.98748454 -0.15770588 -0.00177335]
 [-0.00159345 -0.00126717  0.99999793]]

 t_estimated:
[[0.15520615]
 [0.98788145]
 [0.00113289]]

 R_gt:
[[ 0.98945919 -0.11440083 -0.08879253]
 [ 0.11932054  0.99148099  0.05221962]
 [ 0.08206143 -0.06226344  0.99467953]]

 t_gt:
[ 0.96463196 -0.19101204  0.18165787]

Pose Error in degrees for R and t:
105.92506732793383 87.77781959630794

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 0.95163673 -0.30714936 -0.00684117]
 [ 0.30719061  0.95162838  0.00611229]
 [ 0.00463287 -0.00791822  0.99995792]]

 t_estimated:
[[0.9381724 ]
 [0.34615326]
 [0.00323508]]

 R_gt:
[[ 0.98416573 -0.09492404 -0.14969383]
 [ 0.10780444  0.99091561  0.08040618]
 [ 0.14070147 -0.09527103  0.98545719]]

 t_gt:
[ 0.97056309 -0.16416333  0.17623195]

Pose Error in degrees for R and t:
15.185948093562093 31.317517784581558

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999843e-01 -5.49878868e-04 -1.08298413e-04]
 [ 5.49761703e-04  9.99999267e-01 -1.07894903e-03]
 [ 1.08891625e-04  1.07888932e-03  9.99999412e-01]]

 t_estimated:
[[-0.79818553]
 [-0.60240417]
 [-0.00301202]]

 R_gt:
[[ 0.98834614  0.15201931  0.00791518]
 [-0.15173509  0.98800199 -0.02881396]
 [-0.0122004   0.02727633  0.99955354]]

 t_gt:
[-0.31799715  0.94230531 -0.10458736]

Pose Error in degrees for R and t:
8.923710096331014 71.7289371727935

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.97949674 -0.20085961  0.01554234]
 [ 0.19838499  0.94824318 -0.2479481 ]
 [ 0.03506484  0.24594773  0.96864863]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.97259764  0.23208053  0.01391015]
 [-0.22813743  0.96418393 -0.13529225]
 [-0.04481021  0.1284112   0.99070835]]

 t_gt:
[-0.24979158  0.94264838 -0.22140055]

Pose Error in degrees for R and t:
25.941421523489087 69.21060196644554

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.6904775  -0.72334462 -0.00365784]
 [ 0.72334199  0.69048631 -0.00223981]
 [ 0.00414584 -0.00109934  0.9999908 ]]

 t_estimated:
[[ 0.87504653]
 [-0.484038  ]
 [-0.00088573]]

 R_gt:
[[ 0.97037177  0.24155177  0.00555317]
 [-0.23448827  0.94704249 -0.21937942]
 [-0.05825085  0.21157713  0.97562356]]

 t_gt:
[-0.21089473  0.91745159 -0.33735143]

Pose Error in degrees for R and t:
61.47087330923965 51.07332343464649

Number of keypoints:
Image1: 375
Image2: 375

 R_estimated:
[[ 9.98135319e-01 -6.10400164e-02 -3.22780581e-05]
 [ 6.10400177e-02  9.98135319e-01  4.05221709e-05]
 [ 2.97443958e-05 -4.24168632e-05  9.99999999e-01]]

 t_estimated:
[[-0.06948049]
 [-0.99758073]
 [-0.00226726]]

 R_gt:
[[ 0.99921948 -0.0388821   0.00699909]
 [ 0.03904821  0.99891418 -0.02542607]
 [-0.00600178  0.02568     0.99965187]]

 t_gt:
[-0.00577803 -0.9163558  -0.40032321]

Pose Error in degrees for R and t:
1.9732737465241692 23.73057305378554

Number of keypoints:
Image1: 364
Image2: 364

 R_estimated:
[[ 9.89337483e-01 -1.45641148e-01  3.03524438e-05]
 [ 1.45641140e-01  9.89337464e-01  2.01037065e-04]
 [-5.93080788e-05 -1.94472939e-04  9.99999979e-01]]

 t_estimated:
[[-4.66502574e-01]
 [-8.84519840e-01]
 [ 3.15415325e-05]]

 R_gt:
[[ 0.99632146 -0.02882189  0.08070405]
 [ 0.03243543  0.99851274 -0.04382602]
 [-0.07932112  0.04628363  0.99577397]]

 t_gt:
[-0.76098776 -0.20537625  0.61540086]

Pose Error in degrees for R and t:
8.457763160725811 57.54197926278168

Number of keypoints:
Image1: 304
Image2: 304

 R_estimated:
[[ 9.89909232e-01 -1.41702869e-01  9.62504419e-05]
 [ 1.41702846e-01  9.89909216e-01  2.19117417e-04]
 [-1.26328766e-04 -2.03267393e-04  9.99999971e-01]]

 t_estimated:
[[7.38243089e-01]
 [6.74534667e-01]
 [3.53833511e-04]]

 R_gt:
[[ 0.99339198 -0.06434346  0.09504216]
 [ 0.06759634  0.99721861 -0.03141407]
 [-0.09275601  0.03763165  0.99497733]]

 t_gt:
[-0.5323053  -0.54878456  0.64458248]

Pose Error in degrees for R and t:
7.205880334337391 40.27798046825383

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-4.84899950e-01  8.74555579e-01  4.95757449e-03]
 [ 8.74566959e-01  4.84904689e-01  2.76971251e-04]
 [-2.16172436e-03  4.47003419e-03 -9.99987673e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98950285 -0.11287648  0.09023981]
 [ 0.09421095  0.97735567  0.18947168]
 [-0.10958297 -0.17897974  0.97773041]]

 t_gt:
[ 0.35471524 -0.34756395  0.86797258]

Pose Error in degrees for R and t:
179.8203167707349 69.85223579345892

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.39151636 -0.92016867 -0.00213673]
 [ 0.92017029 -0.39151178 -0.00227142]
 [ 0.00125354 -0.00285546  0.99999514]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97878351 -0.15004544  0.13953382]
 [ 0.11433985  0.96507281  0.2357134 ]
 [-0.17002719 -0.21475726  0.96175327]]

 t_gt:
[ 0.37415736 -0.28082915  0.88382196]

Pose Error in degrees for R and t:
106.1543775688382 68.03934590682594

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99994119e-01 -3.32193392e-03 -8.52106810e-04]
 [ 3.32223030e-03  9.99994421e-01  3.46638972e-04]
 [ 8.50950544e-04 -3.49467828e-04  9.99999577e-01]]

 t_estimated:
[[9.99998579e-01]
 [6.93672749e-04]
 [1.53630463e-03]]

 R_gt:
[[ 0.98406513 -0.10458502  0.14379858]
 [ 0.06757127  0.96801586  0.24161927]
 [-0.16446896 -0.22805155  0.95965698]]

 t_gt:
[ 0.27821527 -0.13278833  0.95129571]

Pose Error in degrees for R and t:
17.04015390756419 73.76460730859068

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.92204769e-01  1.24617151e-01  5.12594061e-04]
 [-1.24616925e-01  9.92204827e-01 -4.52002426e-04]
 [-5.64925556e-04  3.84601067e-04  9.99999766e-01]]

 t_estimated:
[[0.37586536]
 [0.92667267]
 [0.0017321 ]]

 R_gt:
[[ 0.99769314 -0.0673275   0.00867693]
 [ 0.06740759  0.99768203 -0.00924705]
 [-0.0080345   0.00981156  0.9999196 ]]

 t_gt:
[ 0.42162047 -0.90385951  0.07262341]

Pose Error in degrees for R and t:
11.043085600761229 47.23573253242569

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.94527873e-01 -1.04471533e-01  9.64646252e-05]
 [ 1.04471522e-01  9.94527873e-01  1.07299348e-04]
 [-1.07146486e-04 -9.66343863e-05  9.99999990e-01]]

 t_estimated:
[[-0.42919473]
 [-0.9032114 ]
 [-0.00102105]]

 R_gt:
[[ 0.99551274 -0.08206531  0.04712349]
 [ 0.08389048  0.99574387 -0.03814602]
 [-0.04379333  0.04192846  0.99816053]]

 t_gt:
[-0.04771469 -0.94458912  0.32476868]

Pose Error in degrees for R and t:
3.687445725496138 29.154296163693115

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.86850231e-01 -1.61637311e-01  2.34383346e-05]
 [ 1.61637289e-01  9.86850157e-01  3.94025805e-04]
 [-8.68193957e-05 -3.85055948e-04  9.99999922e-01]]

 t_estimated:
[[-7.10037507e-01]
 [-7.04163857e-01]
 [ 3.68289169e-05]]

 R_gt:
[[ 0.99149653 -0.07631053  0.10540928]
 [ 0.08108967  0.99582958 -0.04181305]
 [-0.10177954  0.05000567  0.99354979]]

 t_gt:
[-0.49403214 -0.53555155  0.68492101]

Pose Error in degrees for R and t:
8.07701671849677 43.28747881765689

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99619758e-01  2.75740579e-02 -1.06954473e-04]
 [-2.75740371e-02  9.99619746e-01  1.91395051e-04]
 [ 1.12191341e-04 -1.88373108e-04  9.99999976e-01]]

 t_estimated:
[[-7.58010700e-01]
 [-6.52241765e-01]
 [-6.78005992e-04]]

 R_gt:
[[ 0.99960934  0.01051534  0.02590347]
 [-0.01073739  0.99990743  0.00842852]
 [-0.0258126  -0.00870298  0.99962848]]

 t_gt:
[-0.19231928  0.70379154  0.6838792 ]

Pose Error in degrees for R and t:
1.840217778661154 71.71608924285992

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-4.87413151e-01 -8.73167592e-01 -2.60303713e-03]
 [ 8.73171085e-01 -4.87413577e-01 -5.10908702e-04]
 [-8.22646718e-04 -2.52192038e-03  9.99996482e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99947686  0.03132175  0.00802286]
 [-0.03136151  0.9994961   0.00491475]
 [-0.00786476 -0.0051628   0.99995546]]

 t_gt:
[-0.27251111  0.96014623  0.06210394]

Pose Error in degrees for R and t:
120.96775547445611 74.82138152613906

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99239670e-01  3.89876303e-02  2.13737711e-04]
 [-3.89874989e-02  9.99239526e-01 -5.87815500e-04]
 [-2.36492703e-04  5.79035467e-04  9.99999804e-01]]

 t_estimated:
[[-0.88823855]
 [-0.45938032]
 [-0.00141177]]

 R_gt:
[[ 0.99939832 -0.02877428  0.01933559]
 [ 0.02835921  0.99936896  0.02138165]
 [-0.0199385  -0.02081942  0.99958427]]

 t_gt:
[0.68089396 0.44516899 0.58155653]

Pose Error in degrees for R and t:
4.215903858214057 35.8924246855181

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99998706e-01 -1.60855018e-03 -1.42061625e-05]
 [ 1.60855018e-03  9.99998706e-01  2.75963203e-08]
 [ 1.42060998e-05 -5.04476100e-08  1.00000000e+00]]

 t_estimated:
[[ 9.99971591e-01]
 [ 7.53767673e-03]
 [-1.02356240e-05]]

 R_gt:
[[ 0.98911105 -0.14690667 -0.0088437 ]
 [ 0.14680447  0.98910067 -0.01130945]
 [ 0.01040896  0.00988876  0.99989666]]

 t_gt:
[ 0.83025073 -0.55118303 -0.08295173]

Pose Error in degrees for R and t:
8.393353447689748 34.30253548343913

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 8.51396873e-01  5.24520843e-01  1.11813781e-03]
 [-5.24520766e-01  8.51397568e-01 -3.84253904e-04]
 [-1.15352899e-03 -2.59333928e-04  9.99999301e-01]]

 t_estimated:
[[0.74466333]
 [0.66743847]
 [0.00155556]]

 R_gt:
[[ 0.96150968 -0.27475463 -0.00309261]
 [ 0.27427063  0.9603749  -0.04954908]
 [ 0.01658357  0.04679464  0.99876668]]

 t_gt:
[ 0.87514934 -0.45628613 -0.16098635]

Pose Error in degrees for R and t:
47.65981001790516 69.70228294793836

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.27447801e-01  3.73949909e-01  1.42898732e-03]
 [-3.73948667e-01  9.27448791e-01 -1.06555357e-03]
 [-1.72377622e-03  4.53877415e-04  9.99998411e-01]]

 t_estimated:
[[0.65313357]
 [0.75724208]
 [0.00098216]]

 R_gt:
[[ 9.31909320e-01 -3.61624793e-01  2.78203354e-02]
 [ 3.62693129e-01  9.29080720e-01 -7.25434684e-02]
 [ 3.84971561e-04  7.76952963e-02  9.96977378e-01]]

 t_gt:
[ 0.88622454 -0.42832726 -0.17647044]

Pose Error in degrees for R and t:
43.43784655893079 75.26775568634514

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.98060041 -0.19600195 -0.00246273]
 [ 0.19600573 -0.98060175 -0.0013984 ]
 [-0.00214086 -0.00185398  0.99999599]]

 t_estimated:
[[0.81301263]
 [0.58224485]
 [0.00118342]]

 R_gt:
[[ 0.9982829  -0.00271974 -0.05851706]
 [ 0.0031384   0.99997006  0.0070651 ]
 [ 0.05849605 -0.0072374   0.99826043]]

 t_gt:
[ 0.7243749   0.06597003 -0.68624264]

Pose Error in degrees for R and t:
168.5305807927198 51.20582802200158

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99997180e-01  2.11008358e-04 -2.36535035e-03]
 [-2.03357462e-04  9.99994749e-01  3.23434606e-03]
 [ 2.36602040e-03 -3.23385593e-03  9.99991972e-01]]

 t_estimated:
[[0.70667389]
 [0.70753874]
 [0.00097014]]

 R_gt:
[[ 9.93714846e-01  2.91900434e-03 -1.11908116e-01]
 [-3.10800862e-04  9.99727241e-01  2.33142881e-02]
 [ 1.11945338e-01 -2.31325276e-02  9.93444371e-01]]

 t_gt:
[ 0.69595833  0.064509   -0.71517871]

Pose Error in degrees for R and t:
6.396130397126627 57.53635369045844

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.98837409e-01 -4.82023764e-02 -6.01413793e-04]
 [ 4.82026865e-02  9.98837444e-01  5.12108918e-04]
 [ 5.76029749e-04 -5.40503306e-04  9.99999688e-01]]

 t_estimated:
[[-0.90273464]
 [-0.43019206]
 [-0.00222897]]

 R_gt:
[[ 0.99485938  0.04698405 -0.08971243]
 [-0.0457785   0.99883152  0.01544906]
 [ 0.090334   -0.01126282  0.99584722]]

 t_gt:
[ 0.31437988  0.59521349 -0.73951754]

Pose Error in degrees for R and t:
7.504632996421388 57.438175006723185

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99954497e-01  9.53328590e-03 -3.47114852e-04]
 [-9.53382060e-03  9.99953315e-01 -1.57277604e-03]
 [ 3.32104923e-04  1.57601381e-03  9.99998703e-01]]

 t_estimated:
[[ 1.79798228e-01]
 [ 9.83703351e-01]
 [-5.61673203e-04]]

 R_gt:
[[ 0.97614617  0.2166424   0.01431102]
 [-0.21581866  0.97539935 -0.04492209]
 [-0.02369091  0.04076161  0.99888809]]

 t_gt:
[-0.39874641  0.91529488 -0.056891  ]

Pose Error in degrees for R and t:
12.23309719418728 34.03286352592003

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.69733520e-01 -2.44161651e-01  1.40991040e-03]
 [-2.44162701e-01 -9.69734079e-01  6.25368542e-04]
 [ 1.21454715e-03 -9.50688371e-04 -9.99998811e-01]]

 t_estimated:
[[0.48050307]
 [0.8769918 ]
 [0.00147394]]

 R_gt:
[[ 0.9385143   0.34507033  0.01085742]
 [-0.34016655  0.9296343  -0.14165659]
 [-0.05897436  0.12925254  0.98985631]]

 t_gt:
[-0.28241651  0.95075338 -0.12770642]

Pose Error in degrees for R and t:
172.46047693474523 45.7402225526183

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.99432793 -0.10632862 -0.00248962]
 [ 0.10633178  0.99433001  0.00117415]
 [ 0.00235066 -0.00143222  0.99999621]]

 t_estimated:
[[-0.38263465]
 [-0.92389924]
 [-0.00096139]]

 R_gt:
[[ 0.92846045  0.37137358  0.00655656]
 [-0.36113641  0.90671227 -0.21783917]
 [-0.08684431  0.1998862   0.97596299]]

 t_gt:
[-0.23282391  0.95605486 -0.1781913 ]

Pose Error in degrees for R and t:
30.566769959738306 37.4352734362575

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.88827108e-01 -1.49066889e-01 -1.12616533e-04]
 [ 1.49066907e-01  9.88827096e-01  1.78431137e-04]
 [ 8.47601047e-05 -1.93224943e-04  9.99999978e-01]]

 t_estimated:
[[-0.33070202]
 [-0.94373471]
 [-0.00098717]]

 R_gt:
[[ 0.99767304  0.06383543 -0.02395115]
 [-0.06513213  0.996195   -0.05791347]
 [ 0.02016321  0.05933849  0.99803482]]

 t_gt:
[-0.41219337  0.76778242 -0.49051685]

Pose Error in degrees for R and t:
12.789047779141079 53.999981367147974

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.73163470e-01 -2.30114842e-01  1.40154479e-04]
 [ 2.30114840e-01  9.73163480e-01  2.58681956e-05]
 [-1.42345876e-04  7.07764243e-06  9.99999990e-01]]

 t_estimated:
[[0.86071716]
 [0.50908271]
 [0.00087471]]

 R_gt:
[[ 0.99770494  0.05993391 -0.03151399]
 [-0.06218576  0.99515803 -0.0761138 ]
 [ 0.02679969  0.07789832  0.99660181]]

 t_gt:
[-0.32205854  0.77393831 -0.54525022]

Pose Error in degrees for R and t:
17.458208478433285 83.32021247239723

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-9.05525715e-01  4.24291300e-01 -2.68662525e-04]
 [ 4.24288768e-01  9.05522173e-01  2.93860288e-03]
 [ 1.49010351e-03  2.54698999e-03 -9.99995646e-01]]

 t_estimated:
[[8.23480840e-01]
 [5.67343720e-01]
 [6.40342799e-04]]

 R_gt:
[[ 0.9995725   0.0138304  -0.02576614]
 [-0.01469125  0.99932959 -0.03350383]
 [ 0.02528557  0.03386749  0.99910643]]

 t_gt:
[-0.02088453  0.81195389 -0.58334785]

Pose Error in degrees for R and t:
178.9410058086819 63.699092799962095

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 1.46724314e-01  9.89177358e-01 -3.60896600e-04]
 [-9.89168996e-01  1.46721548e-01 -4.18148336e-03]
 [-4.08327735e-03  9.70513005e-04  9.99991192e-01]]

 t_estimated:
[[0.03293664]
 [0.9994568 ]
 [0.00113575]]

 R_gt:
[[ 0.99971207 -0.02295359 -0.00703528]
 [ 0.02232283  0.99658962 -0.07942864]
 [ 0.00883377  0.07924936  0.99681547]]

 t_gt:
[ 0.1044207   0.4970224  -0.86143198]

Pose Error in degrees for R and t:
82.95495607657529 60.05203327428437

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.99986382 -0.01631933 -0.00245547]
 [ 0.01632453  0.99986451  0.00211328]
 [ 0.00242065 -0.00215308  0.99999475]]

 t_estimated:
[[-0.99965835]
 [ 0.02471432]
 [-0.00850792]]

 R_gt:
[[ 0.9984707  -0.05490387 -0.00646928]
 [ 0.0536408   0.9904658  -0.12688133]
 [ 0.0133737   0.12634039  0.99189623]]

 t_gt:
[ 0.11398774  0.59393165 -0.79639939]

Pose Error in degrees for R and t:
7.7275951341377835 84.69287127738222

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 8.39154117e-01 -5.43892938e-01  9.16448951e-04]
 [ 5.43893700e-01  8.39152575e-01 -1.61229385e-03]
 [ 1.07874743e-04  1.85141383e-03  9.99998280e-01]]

 t_estimated:
[[-0.33987466]
 [-0.94046767]
 [-0.00240361]]

 R_gt:
[[ 0.9993027  -0.03321134 -0.01703365]
 [ 0.02975389  0.98435696 -0.17365103]
 [ 0.02253397  0.17302302  0.98465934]]

 t_gt:
[ 0.0026638   0.74967761 -0.66179785]

Pose Error in degrees for R and t:
32.64352283754648 45.22195928417835

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.97637461e-01 -6.86985936e-02 -2.17058411e-05]
 [ 6.86985962e-02  9.97637447e-01  1.62770135e-04]
 [ 1.04724805e-05 -1.63876745e-04  9.99999987e-01]]

 t_estimated:
[[ 0.98879387]
 [-0.14927143]
 [ 0.00217452]]

 R_gt:
[[ 0.99868902  0.00998413 -0.05020032]
 [-0.0094151   0.99988952  0.0115451 ]
 [ 0.0503104  -0.01105642  0.99867252]]

 t_gt:
[ 0.52158702  0.29983997 -0.79877592]

Pose Error in degrees for R and t:
5.376205464327602 62.014535669395734

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.94029114 -0.26557723  0.212888  ]
 [ 0.13298181 -0.86238858 -0.48846881]
 [ 0.31331837 -0.43099267  0.84621328]]

 t_estimated:
[[0.83031938]
 [0.55728643]
 [0.00124673]]

 R_gt:
[[ 0.99896449  0.03160252  0.03274125]
 [-0.03181176  0.99947616  0.00591021]
 [-0.03253699 -0.00694572  0.9994471 ]]

 t_gt:
[-0.321705    0.58535417  0.744222  ]

Pose Error in degrees for R and t:
170.27331649751025 86.55904572524238

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999739e-01 -5.90493477e-04  4.15713720e-04]
 [ 5.90768939e-04  9.99999606e-01 -6.62813133e-04]
 [-4.15322169e-04  6.63058551e-04  9.99999694e-01]]

 t_estimated:
[[9.99983476e-01]
 [5.69096287e-03]
 [8.12994696e-04]]

 R_gt:
[[ 0.98496229  0.05636563  0.1633186 ]
 [-0.05883353  0.99821443  0.01031458]
 [-0.1624453  -0.01976771  0.98651998]]

 t_gt:
[-0.37046622  0.30738974  0.87650803]

Pose Error in degrees for R and t:
9.97892279652588 68.40778876305149

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.61008215e-01  2.76519820e-01 -3.00601149e-06]
 [-2.76519805e-01  9.61008158e-01 -3.43557901e-04]
 [-9.21117675e-05  3.30993187e-04  9.99999941e-01]]

 t_estimated:
[[1.82208774e-01]
 [9.83259855e-01]
 [1.42908379e-04]]

 R_gt:
[[ 0.99751953 -0.06766316 -0.0194228 ]
 [ 0.06860319  0.99624933  0.05272882]
 [ 0.01578271 -0.05393007  0.99842032]]

 t_gt:
[ 0.54163031 -0.72668957  0.42256227]

Pose Error in degrees for R and t:
20.221170920376533 51.991781649700265

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.91045746e-01 -1.33522554e-01 -2.40058600e-04]
 [ 1.33522693e-01  9.91045503e-01  7.07726902e-04]
 [ 1.43411493e-04 -7.33443006e-04  9.99999721e-01]]

 t_estimated:
[[7.27795732e-01]
 [6.85793590e-01]
 [7.24174858e-04]]

 R_gt:
[[ 0.99717453 -0.07257146 -0.01944045]
 [ 0.07479436  0.98334187  0.16566175]
 [ 0.00709515 -0.16664773  0.98599053]]

 t_gt:
[ 0.32003117 -0.64667492  0.6923811 ]

Pose Error in degrees for R and t:
10.150868879876288 77.87373370199145

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 5.10841779e-01  8.59673457e-01  1.49172812e-03]
 [ 8.59671599e-01 -5.10843835e-01  1.82141132e-03]
 [ 2.32785908e-03  3.51943301e-04 -9.99997229e-01]]

 t_estimated:
[[0.02934303]
 [0.99956846]
 [0.00137136]]

 R_gt:
[[ 0.98228205 -0.17542886 -0.06593832]
 [ 0.18584567  0.95718421  0.22194368]
 [ 0.02418065 -0.23026454  0.9728269 ]]

 t_gt:
[ 0.5477839  -0.60461753  0.57824774]

Pose Error in degrees for R and t:
167.2609936074744 54.02090878481267

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.4135644   0.91040877 -0.01097087]
 [ 0.91041514 -0.41336922  0.01643643]
 [ 0.01042885 -0.01678557 -0.99980472]]

 t_estimated:
[[-0.64725983]
 [ 0.76220023]
 [ 0.01027243]]

 R_gt:
[[ 0.99038269  0.08051227 -0.11252504]
 [-0.09475933  0.98728816 -0.12760714]
 [ 0.1008201   0.13704241  0.98542073]]

 t_gt:
[-0.15850439  0.61537365 -0.77213446]

Pose Error in degrees for R and t:
178.04754069841871 55.68795060873279

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-2.27420546e-01  9.73796640e-01  1.79867189e-05]
 [-9.73794274e-01 -2.27419952e-01 -2.20851468e-03]
 [-2.14655363e-03 -5.19776976e-04  9.99997561e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97629874  0.1510865  -0.15496888]
 [-0.17776122  0.96822226 -0.17592204]
 [ 0.12346508  0.1993006   0.97212955]]

 t_gt:
[-0.20955846  0.71700075 -0.66482718]

Pose Error in degrees for R and t:
94.29687741623721 44.35775568153311

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.2127736   0.97709992  0.00177451]
 [ 0.97709986 -0.21277624  0.00145864]
 [ 0.00180281  0.00142351 -0.99999736]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97450276  0.15619946 -0.16108228]
 [-0.18604327  0.96381677 -0.19090898]
 [ 0.12543463  0.21601026  0.96830082]]

 t_gt:
[-0.19919007  0.73554013 -0.6475369 ]

Pose Error in degrees for R and t:
176.03716186821785 78.61443999820942

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.95223488e-01  9.76226329e-02  1.73398943e-04]
 [-9.76225879e-02  9.95223476e-01 -2.51465906e-04]
 [-1.97119463e-04  2.33337123e-04  9.99999953e-01]]

 t_estimated:
[[-0.99879412]
 [-0.0490737 ]
 [-0.00144334]]

 R_gt:
[[ 9.94797106e-01 -1.01825354e-01 -3.23800020e-03]
 [ 1.01875053e-01  9.94044561e-01  3.86934221e-02]
 [-7.22231996e-04 -3.88215465e-02  9.99245990e-01]]

 t_gt:
[ 0.71727932 -0.66007451  0.22318606]

Pose Error in degrees for R and t:
11.66643197735091 46.81594553109107

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.98734752  0.1585675   0.00110314]
 [-0.15856385  0.98734461 -0.0028496 ]
 [-0.00154103  0.00263863  0.99999533]]

 t_estimated:
[[-0.99526533]
 [-0.09718079]
 [-0.00167553]]

 R_gt:
[[ 0.98164291 -0.18861166 -0.02834694]
 [ 0.1897755   0.98073279  0.04635203]
 [ 0.01905788 -0.05087972  0.99852325]]

 t_gt:
[ 0.76870946 -0.63203229  0.09808644]

Pose Error in degrees for R and t:
20.30343011447249 45.26628588780843

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.95592718e-01  9.37822968e-02  1.43424446e-04]
 [-9.37823181e-02  9.95592715e-01  1.50297471e-04]
 [-1.28697092e-04 -1.63085745e-04  9.99999978e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075932e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96801982 -0.2504442  -0.01465566]
 [ 0.25086971  0.96663009  0.05188063]
 [ 0.00117344 -0.05389793  0.99854588]]

 t_gt:
[ 0.77023522 -0.62432046  0.13023698]

Pose Error in degrees for R and t:
20.143247386827348 39.78989770351003

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-0.50815101 -0.86121019  0.00997775]
 [-0.86126684  0.50809728 -0.00752232]
 [ 0.00140863 -0.01241598 -0.99992193]]

 t_estimated:
[[0.85399895]
 [0.52027191]
 [0.00171142]]

 R_gt:
[[ 0.9961597  -0.0873795  -0.00538431]
 [ 0.0868166   0.99391835 -0.06774414]
 [ 0.01127132  0.06701689  0.99768833]]

 t_gt:
[ 0.86862461  0.20666745 -0.45031084]

Pose Error in degrees for R and t:
177.92080226313968 31.944922869506033

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[-4.82242174e-01  8.76024329e-01  4.88472224e-03]
 [ 8.76032138e-01  4.82251786e-01 -9.52774628e-04]
 [-3.19031978e-03  3.81970556e-03 -9.99987616e-01]]

 t_estimated:
[[ 0.48968693]
 [-0.87188853]
 [ 0.00413464]]

 R_gt:
[[ 0.98950558 -0.14154775  0.02900022]
 [ 0.14416761  0.98058092 -0.13295081]
 [-0.00961722  0.13573685  0.99069824]]

 t_gt:
[ 0.845598    0.31488464 -0.43105881]

Pose Error in degrees for R and t:
174.83104355679677 82.0822317220607

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 0.10371572  0.99459176  0.00550294]
 [-0.99460552  0.10372346 -0.00113914]
 [-0.00170376 -0.00535511  0.99998421]]

 t_estimated:
[[0.7040856 ]
 [0.71011394]
 [0.00129096]]

 R_gt:
[[ 0.98587202 -0.1622553   0.04157977]
 [ 0.16736372  0.96419078 -0.20573139]
 [-0.00670907  0.20978292  0.97772457]]

 t_gt:
[ 0.73855603  0.45023731 -0.50181804]

Pose Error in degrees for R and t:
94.25866788447141 32.95704692720419

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99999979e-01  1.98204563e-04  5.94080819e-05]
 [-1.98234626e-04  9.99999852e-01  5.06457352e-04]
 [-5.93076909e-05 -5.06469118e-04  9.99999870e-01]]

 t_estimated:
[[0.73822348]
 [0.67455271]
 [0.002175  ]]

 R_gt:
[[ 0.99763181 -0.05381891  0.04282217]
 [ 0.05241189  0.99806968  0.03334206]
 [-0.04453379 -0.03101885  0.99852657]]

 t_gt:
[ 0.51698776 -0.72598999  0.45349993]

Pose Error in degrees for R and t:
4.347794623876235 83.85300255250799

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.46623677 -0.88448299  0.01769486]
 [-0.88443297  0.46647698  0.01332469]
 [-0.0200397  -0.00943746 -0.99975464]]

 t_estimated:
[[0.85103327]
 [0.52499422]
 [0.01111024]]

 R_gt:
[[ 0.99775586 -0.06371528  0.02056724]
 [ 0.06273508  0.99700568  0.04521992]
 [-0.02338713 -0.0438273   0.99876574]]

 t_gt:
[ 0.45847365 -0.83076056  0.31565614]

Pose Error in degrees for R and t:
176.3360671257756 87.56642398864192

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-3.51336691e-01 -9.36248040e-01 -1.46176388e-03]
 [ 9.36249173e-01 -3.51336055e-01 -6.79763559e-04]
 [ 1.22856945e-04 -1.60740110e-03  9.99998701e-01]]

 t_estimated:
[[8.55041044e-01]
 [5.18559816e-01]
 [7.28314348e-04]]

 R_gt:
[[ 0.99099748 -0.13031223 -0.03069424]
 [ 0.13019882  0.99147159 -0.00569442]
 [ 0.03117432  0.0016469   0.99951302]]

 t_gt:
[ 0.65006092 -0.75491251 -0.08676349]

Pose Error in degrees for R and t:
103.09253265549266 80.54352733316878

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-1.49412726e-01 -9.88762872e-01 -4.88051920e-03]
 [-9.88774602e-01  1.49406913e-01  1.53676038e-03]
 [-7.90308300e-04  5.05534498e-03 -9.99986909e-01]]

 t_estimated:
[[6.81305573e-01]
 [7.31999068e-01]
 [2.85336000e-04]]

 R_gt:
[[ 0.99403962  0.10298741  0.03577411]
 [-0.10077418  0.99316208 -0.05894996]
 [-0.04160071  0.05499389  0.9976195 ]]

 t_gt:
[-0.53403972  0.84382313 -0.05257471]

Pose Error in degrees for R and t:
179.38505691696537 75.29641253569851

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.99810202 -0.06154254  0.00220757]
 [-0.0615359   0.99810049  0.00295706]
 [-0.00238536  0.00281561 -0.99999319]]

 t_estimated:
[[9.33695613e-01]
 [3.58066669e-01]
 [8.73491896e-04]]

 R_gt:
[[ 0.97604504  0.21639784  0.02256808]
 [-0.2156466   0.97595946 -0.03164384]
 [-0.02887317  0.0260195   0.99924408]]

 t_gt:
[-0.50873578  0.8609153   0.00357204]

Pose Error in degrees for R and t:
178.45559583845036 80.40189270502866

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 1.20113390e-01 -9.92760162e-01 -1.84323602e-04]
 [-9.92760121e-01 -1.20113317e-01 -3.65303229e-04]
 [ 3.40518774e-04  2.26866930e-04 -9.99999916e-01]]

 t_estimated:
[[0.66171911]
 [0.74975145]
 [0.00076482]]

 R_gt:
[[ 0.95008767  0.30906658  0.04256203]
 [-0.30757545  0.95075929 -0.03815911]
 [-0.05225878  0.02316358  0.99836512]]

 t_gt:
[-0.48497687  0.87279666  0.05498565]

Pose Error in degrees for R and t:
179.52901041834858 70.51839776643688

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.03760230e-01  4.28037927e-01  9.89839828e-04]
 [-4.28038736e-01  9.03760001e-01  8.37620023e-04]
 [-5.36044505e-04 -1.18069745e-03  9.99999159e-01]]

 t_estimated:
[[-0.25646918]
 [ 0.966549  ]
 [ 0.00256818]]

 R_gt:
[[ 0.99307647  0.11135669  0.03741931]
 [-0.11196846  0.99360303  0.01466631]
 [-0.03554649 -0.01875502  0.99919108]]

 t_gt:
[-0.55722648  0.77861406  0.28854599]

Pose Error in degrees for R and t:
19.060006072973714 26.334290466822278

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.88892656e-01 -1.48631440e-01 -1.03982905e-04]
 [ 1.48631439e-01  9.88892661e-01 -1.89616645e-05]
 [ 1.05646231e-04  3.29592204e-06  9.99999994e-01]]

 t_estimated:
[[-4.11340380e-01]
 [-9.11481359e-01]
 [-9.07811135e-04]]

 R_gt:
[[ 0.96900627  0.24099227  0.05431358]
 [-0.24267094  0.96974087  0.02670071]
 [-0.04623514 -0.03905305  0.9981668 ]]

 t_gt:
[-0.53128737  0.82374945  0.19791556]

Pose Error in degrees for R and t:
22.818136626914313 57.82736987608138

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.03143307 -0.99950421 -0.00181812]
 [ 0.99950503 -0.03143534  0.00123406]
 [-0.0012906  -0.00177843  0.99999759]]

 t_estimated:
[[ 0.85987783]
 [-0.51049818]
 [ 0.0013162 ]]

 R_gt:
[[ 0.95963424  0.27648179  0.0515878 ]
 [-0.27828406  0.95997497  0.03169942]
 [-0.04075891 -0.04477673  0.99816504]]

 t_gt:
[-0.51402088  0.83707452  0.18731999]

Pose Error in degrees for R and t:
107.95657652041892 29.64883334653253

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 9.99999926e-01  1.80528780e-04 -3.40345052e-04]
 [-1.80528213e-04  9.99999984e-01  1.69865283e-06]
 [ 3.40345353e-04 -1.63721082e-06  9.99999942e-01]]

 t_estimated:
[[0.72582059]
 [0.68788292]
 [0.00124684]]

 R_gt:
[[ 0.99719749 -0.07475735 -0.00296994]
 [ 0.07476762  0.99719426  0.00371567]
 [ 0.00268342 -0.00392764  0.99998925]]

 t_gt:
[ 0.79198928 -0.61030351  0.01681067]

Pose Error in degrees for R and t:
4.3055247740853355 81.08055170759643

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999789e-01  4.86855733e-04 -4.29130055e-04]
 [-4.86491247e-04  9.99999521e-01  8.49056698e-04]
 [ 4.29543218e-04 -8.48847751e-04  9.99999547e-01]]

 t_estimated:
[[9.15038985e-01]
 [4.03364570e-01]
 [8.24294878e-04]]

 R_gt:
[[ 0.99464005 -0.10134314  0.02051872]
 [ 0.10067867  0.99443149  0.03116632]
 [-0.02356375 -0.02893376  0.99930414]]

 t_gt:
[ 0.64042866 -0.73997894  0.20562657]

Pose Error in degrees for R and t:
6.1983046492438305 73.27936840190105

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.98291414 -0.18376578  0.01048453]
 [ 0.18329539 -0.98241935 -0.03542624]
 [ 0.01681034 -0.03289919  0.99931729]]

 t_estimated:
[[8.25845269e-01]
 [5.63896247e-01]
 [7.84278507e-04]]

 R_gt:
[[ 0.99277721 -0.11658541 -0.02831515]
 [ 0.11695256  0.99306941  0.01165483]
 [ 0.02675971 -0.0148814   0.99953179]]

 t_gt:
[ 0.62954596 -0.77694609  0.00516385]

Pose Error in degrees for R and t:
162.69647667615493 85.30827200517332

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99902663e-01 -1.39503682e-02  2.29444501e-04]
 [ 1.39504209e-02  9.99902662e-01 -2.29487677e-04]
 [-2.26220729e-04  2.32666187e-04  9.99999947e-01]]

 t_estimated:
[[ 0.99995472]
 [-0.0094533 ]
 [-0.00109463]]

 R_gt:
[[ 0.98941903 -0.14306996 -0.02410496]
 [ 0.14320466  0.98968433  0.00396872]
 [ 0.02328952 -0.00737837  0.99970181]]

 t_gt:
[ 0.80555658 -0.59251332 -0.00256254]

Pose Error in degrees for R and t:
7.5649150634927675 35.794093628206625

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99998170e-01  1.87571305e-03  3.77014094e-04]
 [-1.87562735e-03  9.99998215e-01 -2.27532207e-04]
 [-3.77440206e-04  2.26824653e-04  9.99999903e-01]]

 t_estimated:
[[-0.02421922]
 [-0.99970587]
 [-0.00126826]]

 R_gt:
[[ 0.97048502 -0.23905557 -0.03179096]
 [ 0.24033639  0.96961505  0.04565606]
 [ 0.01991146 -0.05194811  0.99845174]]

 t_gt:
[ 0.7838491  -0.59566095  0.17540987]

Pose Error in degrees for R and t:
14.34910619226532 54.8107443511974

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-2.43066709e-01 -9.70006982e-01 -2.24263385e-03]
 [ 9.70009446e-01 -2.43067220e-01 -4.57566439e-05]
 [-5.00726510e-04 -2.18649793e-03  9.99997484e-01]]

 t_estimated:
[[9.96018994e-01]
 [8.91378866e-02]
 [7.75112058e-04]]

 R_gt:
[[ 0.96694932 -0.24959861 -0.05205446]
 [ 0.25430621  0.95882905  0.12638776]
 [ 0.01836644 -0.13544724  0.99061456]]

 t_gt:
[ 0.67319175 -0.63599303  0.37726083]

Pose Error in degrees for R and t:
89.66456818402555 52.112493780975846

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 1.00000000e+00 -3.52440299e-13 -1.26071029e-15]
 [ 3.52329277e-13  1.00000000e+00  7.72277207e-16]
 [ 1.17332359e-15 -5.58689379e-16  1.00000000e+00]]

 t_estimated:
[[-0.91716793]
 [-0.398498  ]
 [-0.00152621]]

 R_gt:
[[ 0.99147074 -0.12925159 -0.01676423]
 [ 0.12934295  0.99158966  0.00452372]
 [ 0.01604049 -0.00665311  0.99984882]]

 t_gt:
[ 0.76569165 -0.64150245 -0.04680712]

Pose Error in degrees for R and t:
7.495721039229891 63.47687727042595

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-4.45821744e-01 -8.95119659e-01 -1.94141890e-03]
 [ 8.95121584e-01 -4.45821983e-01 -3.31913589e-04]
 [-5.68424845e-04 -1.88578026e-03  9.99998060e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97838393 -0.20527265 -0.02510895]
 [ 0.20609077  0.97786584  0.03612251]
 [ 0.01713937 -0.04051623  0.9990316 ]]

 t_gt:
[ 0.76496051 -0.63969235  0.07502742]

Pose Error in degrees for R and t:
104.61916156170447 40.26784171882479

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.66304992  0.73872984  0.12100833]
 [-0.74819528  0.65914673  0.07569283]
 [-0.02384569 -0.14072599  0.98976137]]

 t_estimated:
[[0.67719918]
 [0.73363244]
 [0.05643326]]

 R_gt:
[[ 0.97550302 -0.21996034  0.00342985]
 [ 0.21995214  0.97550752  0.00244433]
 [-0.00388196 -0.00162954  0.99999073]]

 t_gt:
[ 0.75520947 -0.6551844   0.01980052]

Pose Error in degrees for R and t:
61.52907378860309 88.17309475492674

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.90841632e-01  1.35029056e-01 -1.22185712e-04]
 [-1.35029047e-01  9.90841637e-01  7.66409802e-05]
 [ 1.31415450e-04 -5.94404536e-05  9.99999990e-01]]

 t_estimated:
[[-0.81923139]
 [-0.57346197]
 [-0.00113782]]

 R_gt:
[[ 0.9876018  -0.00879712  0.15673695]
 [ 0.00949682  0.99994738 -0.00371756]
 [-0.1566964   0.00516131  0.98763254]]

 t_gt:
[-0.1753173  -0.06099685  0.98262059]

Pose Error in degrees for R and t:
12.249156822891551 79.77659509264745

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.96941145e-01 -7.81558061e-02  1.51905813e-04]
 [ 7.81559119e-02  9.96940738e-01 -9.04217352e-04]
 [-8.07712575e-05  9.13323820e-04  9.99999580e-01]]

 t_estimated:
[[-0.4636464 ]
 [-0.88601879]
 [-0.0016522 ]]

 R_gt:
[[ 9.73567502e-01  3.78900618e-02  2.25236001e-01]
 [-3.86653179e-02  9.99252074e-01 -9.69808130e-04]
 [-2.25104408e-01 -7.76408216e-03  9.74302875e-01]]

 t_gt:
[-0.36156306  0.14496656  0.9210086 ]

Pose Error in degrees for R and t:
14.630466393289495 87.84100677704932

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 5.85731860e-01 -8.10504040e-01 -1.17882959e-03]
 [ 8.10504882e-01  5.85730950e-01  1.04411250e-03]
 [-1.55780426e-04 -1.56701709e-03  9.99998760e-01]]

 t_estimated:
[[ 0.5347447 ]
 [-0.84501319]
 [ 0.00090148]]

 R_gt:
[[ 0.96905802  0.08988387  0.22989004]
 [-0.09147385  0.99580044 -0.00375595]
 [-0.22926267 -0.01738799  0.97320883]]

 t_gt:
[-0.51601737  0.27925503  0.80977942]

Pose Error in degrees for R and t:
60.76177956805068 59.25742326541867

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999025e-01  1.39016152e-03  1.34662074e-04]
 [-1.39010132e-03  9.99998934e-01 -4.46140871e-04]
 [-1.35282138e-04  4.45953242e-04  9.99999891e-01]]

 t_estimated:
[[-0.29621654]
 [-0.95511892]
 [-0.00190154]]

 R_gt:
[[ 0.99876447 -0.01786332 -0.04638607]
 [ 0.01383728  0.99622462 -0.0856968 ]
 [ 0.04774199  0.08494803  0.99524073]]

 t_gt:
[ 0.15529765  0.0846353  -0.98423549]

Pose Error in degrees for R and t:
5.660673700317676 82.82115318758565

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99999830e-01  1.17800244e-04  5.70384722e-04]
 [-1.17640697e-04  9.99999954e-01 -2.79744535e-04]
 [-5.70417650e-04  2.79677387e-04  9.99999798e-01]]

 t_estimated:
[[0.8475719 ]
 [0.5306791 ]
 [0.00125128]]

 R_gt:
[[ 0.98248026 -0.18333412 -0.03349285]
 [ 0.18061745  0.98095912 -0.07138407]
 [ 0.04594303  0.06408428  0.99688598]]

 t_gt:
[ 0.64825709 -0.64014284 -0.41228618]

Pose Error in degrees for R and t:
11.438728982935523 77.92346023731977

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.97403239  0.2264007   0.00190312]
 [-0.22639679  0.97403297 -0.00206796]
 [-0.00232189  0.0015834   0.99999605]]

 t_estimated:
[[-8.30093504e-01]
 [-5.57623865e-01]
 [-6.32606728e-04]]

 R_gt:
[[ 0.9480052  -0.31812438  0.00910442]
 [ 0.31711041  0.94179035 -0.11167255]
 [ 0.02695193  0.10875223  0.99370329]]

 t_gt:
[ 0.69941011 -0.64591217 -0.30597872]

Pose Error in degrees for R and t:
32.27641138965213 77.27885664352839

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.98272662e-01 -5.87510319e-02 -9.33933586e-05]
 [ 5.87510334e-02  9.98272666e-01  1.29511874e-05]
 [ 9.24711415e-05 -1.84157727e-05  9.99999996e-01]]

 t_estimated:
[[ 8.49977323e-01]
 [-5.26819005e-01]
 [-5.34576614e-04]]

 R_gt:
[[ 0.99924174 -0.03626138 -0.01415889]
 [ 0.03635453  0.99931819  0.00642841]
 [ 0.01391526 -0.00693811  0.99987917]]

 t_gt:
[ 0.5810489  -0.79520365 -0.17330125]

Pose Error in degrees for R and t:
1.5628785574976514 24.090842120639888

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 9.99957707e-01  9.19649265e-03  9.52686358e-05]
 [-9.19648464e-03  9.99957708e-01 -8.42147708e-05]
 [-9.60390872e-05  8.33350725e-05  9.99999992e-01]]

 t_estimated:
[[ 9.62181984e-01]
 [-2.72407422e-01]
 [ 1.60933966e-04]]

 R_gt:
[[ 0.9969367  -0.07519386 -0.02152851]
 [ 0.07498713  0.99713259 -0.01021867]
 [ 0.02223544  0.00857208  0.99971654]]

 t_gt:
[ 0.58256973 -0.75806807 -0.29316431]

Pose Error in degrees for R and t:
5.023500345666183 39.915259485296644

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.99841403e-01 -1.78092212e-02  2.77211338e-06]
 [ 1.78092209e-02  9.99841400e-01  7.78829789e-05]
 [-4.15870892e-06 -7.78212578e-05  9.99999997e-01]]

 t_estimated:
[[ 9.42843961e-01]
 [-3.33234550e-01]
 [ 2.75466106e-06]]

 R_gt:
[[ 0.99483365 -0.09844351 -0.02480228]
 [ 0.09864236  0.99509945  0.006942  ]
 [ 0.02399792 -0.00935335  0.99966862]]

 t_gt:
[ 0.54857751 -0.82249166 -0.15023378]

Pose Error in degrees for R and t:
4.86412610864058 37.69234598104336

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.92383026e-01 -1.23190605e-01  6.70356469e-05]
 [ 1.23190596e-01  9.92383023e-01  1.15427164e-04]
 [-8.07445800e-05 -1.06289797e-04  9.99999991e-01]]

 t_estimated:
[[ 0.99390095]
 [-0.11026984]
 [ 0.00120655]]

 R_gt:
[[ 0.99832449 -0.05743652 -0.00695361]
 [ 0.05767078  0.99752299  0.04027938]
 [ 0.00462284 -0.04061168  0.99916487]]

 t_gt:
[ 0.44306511 -0.85184762  0.27937242]

Pose Error in degrees for R and t:
4.439860225971069 57.680973461266916

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.31430006 -0.94927613  0.00950265]
 [-0.94932251 -0.31426815  0.00472136]
 [-0.0014955  -0.01050501 -0.9999437 ]]

 t_estimated:
[[0.59004297]
 [0.80736026]
 [0.0043254 ]]

 R_gt:
[[ 0.99065339 -0.11667599 -0.07066335]
 [ 0.12053131  0.99129421  0.05301126]
 [ 0.06386256 -0.06103267  0.99609128]]

 t_gt:
[ 0.55933505 -0.8231882  -0.09749604]

Pose Error in degrees for R and t:
179.08667859457847 70.42749631866607

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.86365598e-01  1.64567564e-01 -6.51498054e-04]
 [-1.64566256e-01  9.86364543e-01  1.71366706e-03]
 [ 9.24628593e-04 -1.58308764e-03  9.99998319e-01]]

 t_estimated:
[[-8.58021296e-01]
 [-5.13613680e-01]
 [-6.66165603e-04]]

 R_gt:
[[ 9.97125924e-01 -7.57695229e-02 -3.01990182e-04]
 [ 7.57616638e-02  9.96944195e-01  1.90855094e-02]
 [-1.14474218e-03 -1.90529507e-02  9.99818216e-01]]

 t_gt:
[ 0.45852265 -0.87555253  0.1521997 ]

Pose Error in degrees for R and t:
13.853453916332015 86.77987717466347

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99999775e-01 -5.18613586e-04 -4.25396534e-04]
 [ 5.18725535e-04  9.99999831e-01  2.63094627e-04]
 [ 4.25260017e-04 -2.63315232e-04  9.99999875e-01]]

 t_estimated:
[[-0.98242307]
 [-0.18665277]
 [-0.00237806]]

 R_gt:
[[ 0.98670972  0.15956416 -0.03067727]
 [-0.15873655  0.98693123  0.02775904]
 [ 0.03470567 -0.02252019  0.99914334]]

 t_gt:
[-0.28737261  0.95668539 -0.0465838 ]

Pose Error in degrees for R and t:
9.484622669033952 84.03826333651986

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999983e-01 -7.52168489e-05 -1.66614953e-04]
 [ 7.52343644e-05  9.99999992e-01  1.05121587e-04]
 [ 1.66607045e-04 -1.05134120e-04  9.99999981e-01]]

 t_estimated:
[[-0.90694813]
 [-0.42124014]
 [-0.00135856]]

 R_gt:
[[ 0.96921028  0.24600575 -0.01052245]
 [-0.24616635  0.96904904 -0.01859297]
 [ 0.00562289  0.02061011  0.99977159]]

 t_gt:
[-0.1584897   0.98454885 -0.07446189]

Pose Error in degrees for R and t:
14.304528266334403 74.28286174659677

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999879e-01  4.61897243e-04  1.68561919e-04]
 [-4.61881607e-04  9.99999889e-01 -9.27926920e-05]
 [-1.68604761e-04  9.27148251e-05  9.99999981e-01]]

 t_estimated:
[[-9.99324448e-01]
 [-3.67510432e-02]
 [-9.22424506e-05]]

 R_gt:
[[ 0.96901232  0.24362482  0.04076554]
 [-0.24513033  0.96877733  0.03718279]
 [-0.03043339 -0.04602351  0.9984766 ]]

 t_gt:
[-0.16119911  0.96214425  0.21975736]

Pose Error in degrees for R and t:
14.477010913280203 82.7782328126054

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99410390e-01 -3.43345414e-02 -1.04794455e-04]
 [ 3.43345682e-02  9.99410360e-01  2.65182754e-04]
 [ 9.56277360e-05 -2.68624472e-04  9.99999959e-01]]

 t_estimated:
[[-0.88038697]
 [-0.47424995]
 [-0.00240366]]

 R_gt:
[[ 0.99830007 -0.05137598 -0.02751481]
 [ 0.05187688  0.99849518  0.01781936]
 [ 0.02655827 -0.01921733  0.99946262]]

 t_gt:
[ 0.57885864 -0.80585459 -0.12458351]

Pose Error in degrees for R and t:
2.112363638467564 82.6954345591859

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.89527363 -0.44548733 -0.00511571]
 [ 0.44545405 -0.89528127  0.00649143]
 [-0.00747185  0.00353279  0.99996584]]

 t_estimated:
[[0.72793704]
 [0.68564349]
 [0.00081334]]

 R_gt:
[[ 0.9933771  -0.10088674 -0.05497701]
 [ 0.10416494  0.99272358  0.06041972]
 [ 0.04848123 -0.06574687  0.99665773]]

 t_gt:
[ 0.560928   -0.82778936  0.0111603 ]

Pose Error in degrees for R and t:
147.67536758523525 80.83726999589274

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.9999968   0.00124535 -0.00220342]
 [-0.00123751  0.99999293  0.00355184]
 [ 0.00220783 -0.0035491   0.99999126]]

 t_estimated:
[[-8.38696064e-01]
 [-5.44599384e-01]
 [-6.50656372e-04]]

 R_gt:
[[ 0.98614845 -0.13430994 -0.09732039]
 [ 0.13981823  0.9888033   0.05214908]
 [ 0.08922644 -0.06503449  0.99388604]]

 t_gt:
[ 0.59482938 -0.78530536 -0.17167845]

Pose Error in degrees for R and t:
10.050909475034711 85.92325835323416

Number of keypoints:
Image1: 593
Image2: 593

 R_estimated:
[[ 9.99831351e-01 -1.83648783e-02  1.52042637e-05]
 [ 1.83648781e-02  9.99831351e-01  1.41644808e-05]
 [-1.54618285e-05 -1.38828675e-05  1.00000000e+00]]

 t_estimated:
[[ 9.84327281e-01]
 [-1.76351140e-01]
 [ 2.82859886e-04]]

 R_gt:
[[ 0.9987242  -0.05017186 -0.00577944]
 [ 0.05012763  0.99871358 -0.00766328]
 [ 0.00615616  0.0073639   0.99995361]]

 t_gt:
[ 0.54049103 -0.81442456 -0.21114468]

Pose Error in degrees for R and t:
1.903720264903405 47.500401232849136

Number of keypoints:
Image1: 486
Image2: 486

 R_estimated:
[[ 9.99672497e-01  2.55907393e-02  1.16861603e-04]
 [-2.55907381e-02  9.99672503e-01 -1.17582406e-05]
 [-1.17124234e-04  8.76381501e-06  9.99999993e-01]]

 t_estimated:
[[ 9.99855637e-01]
 [-1.69896729e-02]
 [ 2.36586198e-04]]

 R_gt:
[[ 0.99785031 -0.06552306  0.00186569]
 [ 0.0654707   0.99764246  0.02062483]
 [-0.00321288 -0.02045817  0.99978529]]

 t_gt:
[ 0.38228371 -0.90134014  0.20358073]

Pose Error in degrees for R and t:
5.354589381441999 66.57238583675031

Number of keypoints:
Image1: 368
Image2: 368

 R_estimated:
[[-0.53397425 -0.84549421 -0.00332364]
 [ 0.8454582  -0.53398269  0.00793222]
 [-0.00848141  0.00142561  0.99996302]]

 t_estimated:
[[9.84528663e-01]
 [1.75220932e-01]
 [9.68071448e-04]]

 R_gt:
[[ 0.99361217 -0.10721435  0.03522121]
 [ 0.10693883  0.99422012  0.00959583]
 [-0.03604638 -0.00576781  0.99933282]]

 t_gt:
[ 0.24422054 -0.90138771  0.35757031]

Pose Error in degrees for R and t:
116.1308671897703 85.24781129200635

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 0.13432933 -0.99092766 -0.00424357]
 [ 0.99083553  0.13437558 -0.01371705]
 [ 0.01416283 -0.00236208  0.99989691]]

 t_estimated:
[[ 0.64140654]
 [-0.76711455]
 [-0.01152859]]

 R_gt:
[[ 0.9724463  -0.2321772   0.02101717]
 [ 0.2310123   0.97181815  0.04692403]
 [-0.03132052 -0.04077587  0.99867722]]

 t_gt:
[ 0.80479506 -0.55529307  0.20965335]

Pose Error in degrees for R and t:
68.97112356019557 19.98917883883367

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-9.58528614e-01  2.84992283e-01  1.51490114e-03]
 [ 2.84994708e-01  9.58527506e-01  1.74276442e-03]
 [-9.55400000e-04  2.10222837e-03 -9.99997334e-01]]

 t_estimated:
[[9.88835211e-01]
 [1.49010399e-01]
 [9.08987162e-04]]

 R_gt:
[[ 0.89935964 -0.43522415 -0.04163182]
 [ 0.43631161  0.89953467  0.02164199]
 [ 0.02802971 -0.03762782  0.9988989 ]]

 t_gt:
[ 0.89972597 -0.43542924  0.02990907]

Pose Error in degrees for R and t:
177.81789933178095 34.429305156599575

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-0.63774591 -0.77024163  0.00282671]
 [-0.77023999  0.63772051 -0.00654974]
 [ 0.00324223 -0.00635432 -0.99997455]]

 t_estimated:
[[0.87826275]
 [0.47817716]
 [0.00106975]]

 R_gt:
[[ 0.77064848 -0.63344767 -0.06960109]
 [ 0.63400228  0.77315113 -0.0166537 ]
 [ 0.06436089 -0.03129301  0.99743585]]

 t_gt:
[ 0.95047361 -0.31051798 -0.01336015]

Pose Error in degrees for R and t:
176.34875256130707 46.66453698003887

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.35757093e-01  3.52645049e-01 -3.64293770e-04]
 [-3.52645143e-01  9.35757098e-01 -2.38490559e-04]
 [ 2.56787966e-04  3.51635661e-04  9.99999905e-01]]

 t_estimated:
[[-0.99321455]
 [-0.11629035]
 [-0.00118664]]

 R_gt:
[[ 0.99508092  0.0844262  -0.05183574]
 [-0.08657155  0.99541608 -0.04064693]
 [ 0.04816602  0.04493458  0.99782746]]

 t_gt:
[-0.79527218  0.19783248 -0.57306585]

Pose Error in degrees for R and t:
16.177398858225043 39.86561994839766

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.04574506 -0.98209244  0.18276169]
 [ 0.99546856  0.06008398  0.07370394]
 [-0.08336513  0.17856193  0.98039068]]

 t_estimated:
[[9.88439785e-01]
 [1.51611587e-01]
 [8.46992104e-04]]

 R_gt:
[[ 0.93918432  0.33198174 -0.08787422]
 [-0.33415197  0.94245644 -0.01082859]
 [ 0.07922292  0.03953374  0.99607207]]

 t_gt:
[-0.9421981   0.29219614 -0.16396386]

Pose Error in degrees for R and t:
107.42602945641525 27.4833909781095

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 1.32742525e-01 -9.91149066e-01 -1.71809765e-03]
 [ 9.91150503e-01  1.32742878e-01 -9.24782309e-05]
 [ 3.19724938e-04 -1.69061755e-03  9.99998520e-01]]

 t_estimated:
[[9.83190771e-01]
 [1.82578624e-01]
 [9.76356277e-04]]

 R_gt:
[[ 8.05435190e-01  5.90048643e-01 -5.58273899e-02]
 [-5.90964237e-01  8.06698168e-01  1.50589546e-04]
 [ 4.51245472e-02  3.28708059e-02  9.98439869e-01]]

 t_gt:
[-0.88792655  0.45504241 -0.06725212]

Pose Error in degrees for R and t:
118.6223487873854 37.8158121638639

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999997e-01  7.77721047e-05  2.12244319e-05]
 [-7.77720603e-05  9.99999997e-01 -2.09500071e-06]
 [-2.12245948e-05  2.09335004e-06  1.00000000e+00]]

 t_estimated:
[[9.99996197e-01]
 [2.67785284e-03]
 [6.59813114e-04]]

 R_gt:
[[ 0.99711485 -0.06442301  0.04014236]
 [ 0.06432422  0.99792198  0.00373515]
 [-0.04029981 -0.00114147  0.99918643]]

 t_gt:
[ 0.47872091 -0.75463435  0.44872406]

Pose Error in degrees for R and t:
4.358943915747555 61.5107175516912

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 1.00000000e+00  3.78237108e-10 -6.15566840e-11]
 [-3.78236942e-10  1.00000000e+00  3.80747632e-10]
 [ 6.15566719e-11 -3.80747624e-10  1.00000000e+00]]

 t_estimated:
[[9.18022980e-01]
 [3.96526558e-01]
 [7.04483135e-04]]

 R_gt:
[[ 0.9937903  -0.10629592  0.03290687]
 [ 0.10587367  0.99427695  0.01429228]
 [-0.03423842 -0.01071966  0.99935572]]

 t_gt:
[ 0.52345313 -0.8033336   0.28399285]

Pose Error in degrees for R and t:
6.42894415948292 80.66544490380168

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.98735682e-01 -5.02664507e-02 -5.66630325e-04]
 [ 5.02667105e-02  9.98735727e-01  4.53922057e-04]
 [ 5.43096899e-04 -4.81830798e-04  9.99999736e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075937e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98964112 -0.14299233  0.01284458]
 [ 0.14255645  0.98933029  0.03005674]
 [-0.01700653 -0.02791409  0.99946605]]

 t_gt:
[ 0.54630653 -0.8156273   0.19052895]

Pose Error in degrees for R and t:
5.645457347768901 57.048947213140195

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[-0.94302887  0.33267176 -0.00510479]
 [-0.3326872  -0.94303385  0.0025278 ]
 [-0.00397306  0.00408209  0.99998378]]

 t_estimated:
[[6.47684740e-01]
 [7.61908259e-01]
 [5.32413855e-04]]

 R_gt:
[[ 0.99632361  0.08421811 -0.01576081]
 [-0.08433665  0.99641257 -0.00703531]
 [ 0.01511192  0.00833853  0.99985097]]

 t_gt:
[ 0.15796732  0.95219088 -0.26149349]

Pose Error in degrees for R and t:
155.73204565331164 34.141310082615334

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[-0.75592367  0.65464605  0.00423679]
 [-0.65465704 -0.75592335 -0.00201145]
 [ 0.0018859  -0.00429415  0.999989  ]]

 t_estimated:
[[0.48532391]
 [0.87433354]
 [0.00125083]]

 R_gt:
[[ 0.99439115  0.10210011  0.02760291]
 [-0.10241922  0.99468726  0.01039451]
 [-0.02639492 -0.01316298  0.9995642 ]]

 t_gt:
[0.42649067 0.80936555 0.40377359]

Pose Error in degrees for R and t:
133.23742520799328 23.773442256898136

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 7.89909829e-01 -6.13222550e-01 -7.52675162e-04]
 [ 6.13222996e-01  7.89908939e-01  1.19356405e-03]
 [-1.37375551e-04 -1.40436569e-03  9.99999004e-01]]

 t_estimated:
[[7.70117037e-01]
 [6.37902254e-01]
 [6.81519502e-04]]

 R_gt:
[[ 0.9822783   0.18552777  0.02663414]
 [-0.18680251  0.98067312  0.05817753]
 [-0.01532614 -0.06212164  0.99795045]]

 t_gt:
[0.16265204 0.77756617 0.60740033]

Pose Error in degrees for R and t:
48.68790333660799 51.56062011370787

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 9.92556113e-01 -1.21788178e-01 -5.63716888e-05]
 [ 1.21788186e-01  9.92556097e-01  1.77441689e-04]
 [ 3.43417636e-05 -1.82986239e-04  9.99999983e-01]]

 t_estimated:
[[0.99454543]
 [0.1042969 ]
 [0.00124163]]

 R_gt:
[[ 0.9994875  -0.00899197  0.03073006]
 [ 0.00762375  0.99898652  0.04436395]
 [-0.03109835 -0.0441076   0.99854288]]

 t_gt:
[-0.03055482 -0.08613778  0.99581458]

Pose Error in degrees for R and t:
7.21192444656252 87.81445968211932

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.79338146e-01 -2.02229534e-01 -1.07951464e-04]
 [ 2.02229556e-01  9.79338109e-01  2.73810685e-04]
 [ 5.03483754e-05 -2.89984225e-04  9.99999957e-01]]

 t_estimated:
[[0.91007723]
 [0.41443768]
 [0.00092011]]

 R_gt:
[[ 0.99355663 -0.1121012  -0.01668632]
 [ 0.11321652  0.98846115  0.10063789]
 [ 0.00521121 -0.10187837  0.99478382]]

 t_gt:
[ 0.52808724 -0.615601    0.58494382]

Pose Error in degrees for R and t:
7.804486448931395 76.93771504209786

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999832e-01  3.46928502e-04  4.64345183e-04]
 [-3.46928568e-04  9.99999940e-01  5.97808254e-08]
 [-4.64345134e-04 -2.20875425e-07  9.99999892e-01]]

 t_estimated:
[[0.83227882]
 [0.55435631]
 [0.00102026]]

 R_gt:
[[ 0.96336395 -0.26738708 -0.02082266]
 [ 0.26784766  0.95524479  0.12556057]
 [-0.01368345 -0.12653823  0.9918671 ]]

 t_gt:
[ 0.62833075 -0.65463102  0.42030786]

Pose Error in degrees for R and t:
17.22615555481786 80.76545296233007

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99138934e-01 -4.14896118e-02  5.18422288e-05]
 [ 4.14896113e-02  9.99138935e-01  1.09410396e-05]
 [-5.22515288e-05 -8.78070477e-06  9.99999999e-01]]

 t_estimated:
[[9.78468305e-01]
 [2.06396704e-01]
 [4.21451718e-04]]

 R_gt:
[[ 0.99258506 -0.1110355  -0.04946274]
 [ 0.11195489  0.99358062  0.01621869]
 [ 0.04734524 -0.0216367   0.99864416]]

 t_gt:
[ 0.70724528 -0.6858329  -0.17157317]

Pose Error in degrees for R and t:
5.014005671628888 56.606149900449175

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-5.87416421e-01 -8.09282121e-01 -2.09694756e-03]
 [ 8.09284608e-01 -5.87416235e-01 -7.68230849e-04]
 [-6.10065552e-04 -2.14829880e-03  9.99997506e-01]]

 t_estimated:
[[9.88621047e-01]
 [1.50425477e-01]
 [7.75389057e-04]]

 R_gt:
[[ 0.96528414 -0.22567351 -0.1315226 ]
 [ 0.22253956  0.97417246 -0.03824569]
 [ 0.13675733  0.00764888  0.99057472]]

 t_gt:
[ 0.75622892 -0.54423788 -0.363212  ]

Pose Error in degrees for R and t:
113.13380608008222 48.28122712292134

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.87583494e-01  1.57092976e-01  7.99445000e-04]
 [-1.57092344e-01  9.87583594e-01 -8.00080689e-04]
 [-9.15205823e-04  6.64559793e-04  9.99999360e-01]]

 t_estimated:
[[0.61972477]
 [0.78481878]
 [0.00082962]]

 R_gt:
[[ 0.91300138 -0.38454132 -0.1362198 ]
 [ 0.38250614  0.92300343 -0.04187592]
 [ 0.14183478 -0.01387287  0.98979314]]

 t_gt:
[ 0.81877141 -0.53889891 -0.19799328]

Pose Error in degrees for R and t:
32.73884205427671 85.16361280395093

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 0.99657615 -0.0826272  -0.00295492]
 [ 0.08263345  0.99657789  0.0020572 ]
 [ 0.00277483 -0.00229433  0.99999352]]

 t_estimated:
[[-0.17493627]
 [-0.9845772 ]
 [-0.00224277]]

 R_gt:
[[ 0.99364665  0.10908956  0.02767878]
 [-0.10701439  0.99194287 -0.06780904]
 [-0.03485263  0.06441565  0.99731385]]

 t_gt:
[-0.69088342  0.7166994  -0.09498455]

Pose Error in degrees for R and t:
11.793979399602343 54.22721936862176

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.91763161 -0.39742645 -0.00210921]
 [ 0.39742722 -0.91758141 -0.00979547]
 [ 0.0019576  -0.00982689  0.9999498 ]]

 t_estimated:
[[9.92944933e-01]
 [1.18573321e-01]
 [8.53045475e-04]]

 R_gt:
[[ 0.97196415  0.23461005  0.01561168]
 [-0.23239609  0.96864122 -0.08790472]
 [-0.03574574  0.08181083  0.99600566]]

 t_gt:
[-0.63503662  0.76820654 -0.08116161]

Pose Error in degrees for R and t:
170.1307821319111 57.34788560019774

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 0.84071778 -0.54145811  0.00408956]
 [-0.54145852 -0.84072674 -0.00110299]
 [ 0.00403542 -0.00128703 -0.99999103]]

 t_estimated:
[[ 0.12857942]
 [ 0.99169822]
 [-0.00140842]]

 R_gt:
[[ 0.95429885  0.29880524  0.00545437]
 [-0.29636015  0.94852728 -0.11165625]
 [-0.03853673  0.10493646  0.99373114]]

 t_gt:
[-0.60754806  0.78678718 -0.10886359]

Pose Error in degrees for R and t:
174.3685441434074 45.388931016962076

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999964e-01 -2.42395849e-04 -1.12631410e-04]
 [ 2.42398230e-04  9.99999970e-01  2.11311508e-05]
 [ 1.12626285e-04 -2.11584517e-05  9.99999993e-01]]

 t_estimated:
[[-0.9851149 ]
 [-0.17189244]
 [-0.00127616]]

 R_gt:
[[ 0.99007577  0.14039716  0.00612067]
 [-0.13986735  0.98869366 -0.05406358]
 [-0.01364119  0.05267164  0.99851906]]

 t_gt:
[-0.65065468  0.74597633 -0.14201339]

Pose Error in degrees for R and t:
8.656668776436081 59.14126338498666

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999429e-01 -1.01423508e-03 -3.35924928e-04]
 [ 1.01423549e-03  9.99999486e-01  1.04825570e-06]
 [ 3.35923692e-04 -1.38896209e-06  9.99999944e-01]]

 t_estimated:
[[-0.99715097]
 [-0.07541937]
 [-0.00136169]]

 R_gt:
[[ 0.96977937  0.24388428  0.00699795]
 [-0.24284171  0.96761258 -0.06895494]
 [-0.02358774  0.0651723   0.99759515]]

 t_gt:
[-0.62497978  0.77628673 -0.08233583]

Pose Error in degrees for R and t:
14.706051054863623 55.61407790926418

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.29780416e-01  3.68114579e-01  1.87995639e-04]
 [-3.68114347e-01  9.29780217e-01 -7.58786369e-04]
 [-4.54114950e-04  6.36300813e-04  9.99999694e-01]]

 t_estimated:
[[-9.20709436e-01]
 [ 3.90248668e-01]
 [-3.33639913e-04]]

 R_gt:
[[ 0.96643314  0.25367921 -0.04065928]
 [-0.25595558  0.96436572 -0.06698048]
 [ 0.02221879  0.07513935  0.99692565]]

 t_gt:
[-0.60510982  0.75717937 -0.24601118]

Pose Error in degrees for R and t:
8.144275558506264 31.493367109520545

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.99999966e-01  2.00389738e-04 -1.69524353e-04]
 [-2.00373988e-04  9.99999976e-01  9.29202607e-05]
 [ 1.69542969e-04 -9.28862893e-05  9.99999981e-01]]

 t_estimated:
[[-0.52986457]
 [-0.84808158]
 [-0.00108169]]

 R_gt:
[[ 0.99673079  0.0705329   0.03942843]
 [-0.06852462  0.99638772 -0.05014739]
 [-0.04282254  0.04728192  0.99796308]]

 t_gt:
[-5.57550616e-02  9.98444178e-01 -7.71860780e-04]

Pose Error in degrees for R and t:
5.411417734491673 35.19266850420136

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99999801e-01  6.30239227e-04 -3.37448577e-05]
 [-6.30230513e-04  9.99999768e-01  2.57628404e-04]
 [ 3.39072174e-05 -2.57607086e-04  9.99999966e-01]]

 t_estimated:
[[0.89973138]
 [0.43643741]
 [0.00241451]]

 R_gt:
[[ 0.99433361  0.07359579  0.07671536]
 [-0.07428123  0.99721871  0.00612561]
 [-0.07605084 -0.01178945  0.99703437]]

 t_gt:
[-0.09281994  0.82581317  0.55625269]

Pose Error in degrees for R and t:
6.09919487417467 73.84446207822154

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999489e-01  4.52002288e-04 -9.04565581e-04]
 [-4.50856685e-04  9.99999097e-01  1.26627070e-03]
 [ 9.05137122e-04 -1.26586222e-03  9.99998789e-01]]

 t_estimated:
[[9.50711526e-01]
 [3.10075357e-01]
 [9.31157222e-04]]

 R_gt:
[[ 9.97898698e-01 -5.28836880e-05  6.48003018e-02]
 [-4.22124312e-03  9.97823279e-01  6.58111137e-02]
 [-6.46627216e-02 -6.59462946e-02  9.95725519e-01]]

 t_gt:
[0.28709464 0.34145153 0.89497906]

Pose Error in degrees for R and t:
5.285393736204789 67.68779404465072

Number of keypoints:
Image1: 399
Image2: 399

 R_estimated:
[[ 0.52791434  0.83281306 -0.16651985]
 [ 0.82944102 -0.46341535  0.31188749]
 [ 0.18257612 -0.30276828 -0.93541292]]

 t_estimated:
[[-0.47021791]
 [ 0.86320211]
 [ 0.18378582]]

 R_gt:
[[ 0.99819453  0.05991546  0.00436533]
 [-0.05986851  0.99815583 -0.01010857]
 [-0.00496247  0.00982911  0.99993965]]

 t_gt:
[ 0.01804967  0.97530934 -0.22010428]

Pose Error in degrees for R and t:
159.92403297137056 37.53796770556414

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.98244177e-01  5.92330700e-02  8.30093728e-05]
 [-5.92330747e-02  9.98244178e-01  5.59927749e-05]
 [-7.95469992e-05 -6.08113619e-05  9.99999995e-01]]

 t_estimated:
[[0.96765063]
 [0.25229175]
 [0.00106452]]

 R_gt:
[[ 9.91942394e-01  1.26689624e-01  5.38428949e-04]
 [-1.26657224e-01  9.91770345e-01 -1.87109299e-02]
 [-2.90428517e-03  1.84925097e-02  9.99824401e-01]]

 t_gt:
[ 0.14059735  0.97948012 -0.14439902]

Pose Error in degrees for R and t:
4.028399474789206 67.47973669952943

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.03962418 -0.99912198 -0.01360831]
 [-0.96016698 -0.04184222  0.27627629]
 [-0.27660312  0.00211903 -0.96098191]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.98613715  0.16341261  0.02883343]
 [-0.16375277  0.98645154  0.0098805 ]
 [-0.02682755 -0.01446414  0.99953553]]

 t_gt:
[0.20027773 0.9441767  0.26157063]

Pose Error in degrees for R and t:
168.38538094317008 32.60244755272434

Number of keypoints:
Image1: 306
Image2: 306

 R_estimated:
[[ 9.99999996e-01 -8.50680905e-05 -5.70910855e-07]
 [ 8.50680862e-05  9.99999996e-01 -7.63842058e-06]
 [ 5.71560639e-07  7.63837198e-06  1.00000000e+00]]

 t_estimated:
[[ 9.93910413e-01]
 [-1.10191157e-01]
 [-2.24136765e-05]]

 R_gt:
[[ 9.99395249e-01 -3.45931645e-02  3.67142844e-03]
 [ 3.45928822e-02  9.99402082e-01  7.61203500e-06]
 [-3.66945043e-03  1.19531297e-04  9.99993036e-01]]

 t_gt:
[ 0.46775413 -0.88182393  0.05993861]

Pose Error in degrees for R and t:
1.9879889996420324 55.800680502880816

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.99995408e-01  3.02995986e-03  5.81278570e-05]
 [-3.02995826e-03  9.99995409e-01 -2.76711964e-05]
 [-5.82114328e-05  2.74949444e-05  9.99999998e-01]]

 t_estimated:
[[ 9.78890794e-01]
 [-2.04383771e-01]
 [ 2.96407883e-04]]

 R_gt:
[[ 0.99692371 -0.07720151 -0.01362209]
 [ 0.0774253   0.99685755  0.01679367]
 [ 0.01228262 -0.01779678  0.9997654 ]]

 t_gt:
[ 0.52583273 -0.85054716  0.00833444]

Pose Error in degrees for R and t:
4.772250392194669 46.4827187044144

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99999620e-01 -8.67668951e-04  7.87943373e-05]
 [ 8.67675641e-04  9.99999620e-01 -8.49049526e-05]
 [-7.87206380e-05  8.49732883e-05  9.99999993e-01]]

 t_estimated:
[[ 9.42677693e-01]
 [-3.33704607e-01]
 [ 4.24839754e-05]]

 R_gt:
[[ 0.99425643 -0.1028588  -0.02959528]
 [ 0.10374418  0.99414738  0.03014115]
 [ 0.02632232 -0.03303818  0.99910736]]

 t_gt:
[ 0.51449954 -0.85718442 -0.02291491]

Pose Error in degrees for R and t:
6.362870112590551 39.55148934787587

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.61417728  0.78886529 -0.02185922]
 [ 0.78827135  0.61456409  0.03064735]
 [ 0.03761052  0.00159191 -0.99929121]]

 t_estimated:
[[8.01490828e-01]
 [5.98006744e-01]
 [6.22275488e-04]]

 R_gt:
[[ 0.97639181 -0.21587102 -0.00761175]
 [ 0.21576641  0.9763633  -0.01261212]
 [ 0.01015452  0.0106717   0.9998918 ]]

 t_gt:
[ 0.84713708 -0.52726945 -0.06592187]

Pose Error in degrees for R and t:
178.06100658178826 68.67726523357906

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[ 0.99373503 -0.11173959  0.00222457]
 [ 0.11174424  0.99373481 -0.0020875 ]
 [-0.00197737  0.002323    0.99999535]]

 t_estimated:
[[0.92067987]
 [0.3903164 ]
 [0.00129673]]

 R_gt:
[[ 0.89171509 -0.44521265 -0.08142303]
 [ 0.44318267  0.89542369 -0.04249593]
 [ 0.09182734  0.0018087   0.99577319]]

 t_gt:
[ 0.91369574 -0.3899532  -0.11444035]

Pose Error in degrees for R and t:
20.71426717879838 46.459451686785876

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-9.24134511e-01  3.46007921e-02 -3.80497294e-01]
 [-3.19880657e-02 -9.99401213e-01 -1.31901022e-02]
 [-3.80725846e-01 -1.80561844e-05  9.24687964e-01]]

 t_estimated:
[[7.96080246e-01]
 [6.05190666e-01]
 [7.06998442e-04]]

 R_gt:
[[ 0.772423   -0.63334387 -0.04732216]
 [ 0.62753301  0.77256219 -0.09669548]
 [ 0.09780127  0.04499343  0.99418813]]

 t_gt:
[ 0.94936787 -0.28625774 -0.12944939]

Pose Error in degrees for R and t:
144.41721367174247 54.37758812580406

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.28784607e-01 -3.70619811e-01 -3.30116731e-04]
 [ 3.70619916e-01  9.28784558e-01  3.49057408e-04]
 [ 1.77239731e-04 -4.46546983e-04  9.99999885e-01]]

 t_estimated:
[[-0.47087529]
 [-0.8821987 ]
 [-0.00138493]]

 R_gt:
[[ 0.99821192  0.01076633 -0.0587969 ]
 [-0.01531686  0.9968742  -0.0775022 ]
 [ 0.05777878  0.07826435  0.99525655]]

 t_gt:
[ 0.06752265  0.16912536 -0.98327885]

Pose Error in degrees for R and t:
23.178779402603475 79.65149077938518

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-0.31305385 -0.94972583 -0.0042577 ]
 [ 0.94973085 -0.31303537 -0.00449112]
 [ 0.00293253 -0.00544963  0.99998085]]

 t_estimated:
[[0.55346848]
 [0.83286822]
 [0.00177963]]

 R_gt:
[[ 0.97719336  0.17567858 -0.11929213]
 [-0.1823799   0.98206981 -0.04770546]
 [ 0.10877293  0.06837462  0.99171184]]

 t_gt:
[-0.84354896  0.24077813 -0.48005317]

Pose Error in degrees for R and t:
118.71916234371857 74.50254150253463

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-4.02824826e-01 -9.15274922e-01 -1.99427286e-03]
 [ 9.15276749e-01 -4.02821825e-01 -1.74649925e-03]
 [ 7.95190326e-04 -2.52884484e-03  9.99996486e-01]]

 t_estimated:
[[9.81110503e-01]
 [1.93446191e-01]
 [8.67471709e-04]]

 R_gt:
[[ 0.88798933  0.43909474 -0.13663791]
 [-0.44584136  0.89484606 -0.0218065 ]
 [ 0.11269516  0.08028297  0.99038039]]

 t_gt:
[-0.90490057  0.36231436 -0.22334564]

Pose Error in degrees for R and t:
140.24420161645546 35.123594254869325

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.82517555e-01  1.86169721e-01  2.97650493e-04]
 [-1.86169240e-01  9.82516949e-01 -1.20834081e-03]
 [-5.17403126e-04  1.13180270e-03  9.99999226e-01]]

 t_estimated:
[[0.73907247]
 [0.67362545]
 [0.00079813]]

 R_gt:
[[ 0.9997208  -0.02295118  0.00578555]
 [ 0.02272468  0.99907504  0.03652522]
 [-0.00661833 -0.03638397  0.99931591]]

 t_gt:
[ 0.42090958 -0.52278802  0.74130144]

Pose Error in degrees for R and t:
12.233692688654322 87.67951841803809

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.49000641e-01  3.15274130e-01  8.02899848e-05]
 [-3.15274094e-01  9.49000610e-01 -2.96901653e-04]
 [-1.69800655e-04  2.56446507e-04  9.99999953e-01]]

 t_estimated:
[[-7.13151964e-01]
 [ 7.01009373e-01]
 [-3.68954420e-04]]

 R_gt:
[[ 0.9986846  -0.03187927  0.04018226]
 [ 0.02844012  0.99610863  0.08342088]
 [-0.04268591 -0.0821689   0.99570323]]

 t_gt:
[ 0.19984394 -0.24908222  0.94763941]

Pose Error in degrees for R and t:
20.795211711162764 71.48954467742061

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.99998822e-01  7.63008008e-04 -1.33202190e-03]
 [-7.58359892e-04  9.99993634e-01  3.48654336e-03]
 [ 1.33467368e-03 -3.48552910e-03  9.99993035e-01]]

 t_estimated:
[[-0.79786704]
 [-0.60283287]
 [-0.0008443 ]]

 R_gt:
[[ 0.99885858 -0.03708854  0.03013017]
 [ 0.03486845  0.99685842  0.07112305]
 [-0.03267423 -0.06999115  0.9970123 ]]

 t_gt:
[ 0.32579816 -0.13692697  0.93547131]

Pose Error in degrees for R and t:
4.77164909827357 79.73568752718627

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.99998267  0.0049469   0.00319145]
 [ 0.00495592  0.99998373  0.00282429]
 [-0.00317743  0.00284006 -0.99999092]]

 t_estimated:
[[0.97126015]
 [0.23801697]
 [0.00127966]]

 R_gt:
[[ 0.99970732  0.02332799 -0.00630132]
 [-0.02374696  0.99671432 -0.07743844]
 [ 0.00447465  0.07756612  0.99697739]]

 t_gt:
[-0.10724445  0.48124858 -0.8699991 ]

Pose Error in degrees for R and t:
179.87527584413056 89.46887396266737

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.80474262e-01 -1.96647374e-01 -1.80435002e-04]
 [ 1.96647377e-01  9.80474278e-01 -1.63337544e-06]
 [ 1.77233077e-04 -3.38805873e-05  9.99999984e-01]]

 t_estimated:
[[ 1.93999297e-01]
 [-9.81001528e-01]
 [-5.23964173e-04]]

 R_gt:
[[ 0.99897159  0.04481459  0.00694107]
 [-0.04345422  0.98973683 -0.13614039]
 [-0.01297074  0.13569893  0.99066602]]

 t_gt:
[-0.13909971  0.48831071 -0.86151258]

Pose Error in degrees for R and t:
15.931856138603077 59.630975452607906

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 8.50777658e-01 -5.25525734e-01  2.82033606e-04]
 [ 5.25525420e-01  8.50777559e-01  7.60822520e-04]
 [-6.39779675e-04 -4.99074972e-04  9.99999671e-01]]

 t_estimated:
[[ 0.68546074]
 [-0.7281085 ]
 [ 0.00126001]]

 R_gt:
[[ 0.99468979  0.10189547 -0.01447467]
 [-0.10279761  0.97685755 -0.18757111]
 [-0.00497269  0.18806318  0.98214501]]

 t_gt:
[-0.20022541  0.57255698 -0.7950398 ]

Pose Error in degrees for R and t:
39.11856160403365 56.28019148665386

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99998587e-01  1.67523300e-03  1.42918932e-04]
 [-1.67523688e-03  9.99998596e-01  2.70285063e-05]
 [-1.42873452e-04 -2.72678912e-05  9.99999989e-01]]

 t_estimated:
[[0.99996801]
 [0.00792878]
 [0.00105377]]

 R_gt:
[[ 0.99052068 -0.13720256  0.00667824]
 [ 0.13671711  0.98939842  0.04900828]
 [-0.01333054 -0.0476303   0.99877565]]

 t_gt:
[ 0.59886142 -0.76107105  0.24927063]

Pose Error in degrees for R and t:
8.459819622997472 53.62479062227322

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99994397e-01  3.32041108e-03  4.25663189e-04]
 [-3.32043788e-03  9.99994485e-01  6.22631421e-05]
 [-4.25454102e-04 -6.36761814e-05  9.99999907e-01]]

 t_estimated:
[[0.99993138]
 [0.01161303]
 [0.0015429 ]]

 R_gt:
[[ 0.9810606  -0.19081678  0.03330309]
 [ 0.18917392  0.98081811  0.04701309]
 [-0.0416348  -0.03982222  0.99833907]]

 t_gt:
[ 0.61070697 -0.74531529  0.26747358]

Pose Error in degrees for R and t:
11.623923557876699 52.95641439531049

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-1.55427328e-01 -9.87847259e-01 -3.71674837e-04]
 [-9.87847167e-01  1.55427507e-01 -5.14081696e-04]
 [ 5.65602687e-04  2.87255591e-04 -9.99999799e-01]]

 t_estimated:
[[8.65903398e-01]
 [5.00210773e-01]
 [6.99122733e-04]]

 R_gt:
[[ 0.97311699 -0.22910933  0.02350883]
 [ 0.22729992  0.97182964  0.06232861]
 [-0.03712642 -0.05530901  0.99777934]]

 t_gt:
[ 0.6184112  -0.74716842  0.24353015]

Pose Error in degrees for R and t:
176.49985030065267 80.68205317236193

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[ 9.93112666e-01 -1.17163222e-01 -1.12915031e-04]
 [ 1.17163238e-01  9.93112660e-01  1.41505355e-04]
 [ 9.55581233e-05 -1.53760251e-04  9.99999984e-01]]

 t_estimated:
[[0.61745443]
 [0.78660588]
 [0.00110204]]

 R_gt:
[[ 0.99713647  0.03533356  0.06686309]
 [-0.03315819  0.99889292 -0.03337206]
 [-0.06796869  0.03105863  0.99720388]]

 t_gt:
[-0.67081966  0.67050706  0.31689316]

Pose Error in degrees for R and t:
9.694773352842839 83.47864913338742

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 8.61688862e-01 -5.07436519e-01 -6.96409155e-04]
 [ 5.07436937e-01  8.61688615e-01  6.97077576e-04]
 [ 2.46365222e-04 -9.54047712e-04  9.99999515e-01]]

 t_estimated:
[[0.48053441]
 [0.8769753 ]
 [0.00100111]]

 R_gt:
[[ 0.99223821  0.07476951  0.09936817]
 [-0.06625566  0.99405555 -0.08638718]
 [-0.10523735  0.07913315  0.99129361]]

 t_gt:
[-0.69042832  0.71857389  0.0834284 ]

Pose Error in degrees for R and t:
35.35980842296286 72.63363832871842

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.34841987 -0.93733365 -0.00303815]
 [-0.9373337  -0.34842668  0.00209545]
 [-0.00302271  0.00211766 -0.99999319]]

 t_estimated:
[[0.39979476]
 [0.91660261]
 [0.00195022]]

 R_gt:
[[ 0.97598028  0.11305476  0.18622831]
 [-0.09466235  0.98996827 -0.10488665]
 [-0.19621783  0.08473897  0.9768921 ]]

 t_gt:
[-0.70428015  0.59949862  0.38025106]

Pose Error in degrees for R and t:
178.20511697045737 74.4144999881297

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.97128410e-01 -7.57292402e-02 -1.26557063e-04]
 [ 7.57292587e-02  9.97128406e-01  1.48019581e-04]
 [ 1.14984232e-04 -1.57178602e-04  9.99999981e-01]]

 t_estimated:
[[-0.57153976]
 [-0.82057224]
 [-0.00187202]]

 R_gt:
[[ 0.99973041  0.02272779  0.00479145]
 [-0.02276332  0.99971152  0.00767395]
 [-0.00461461 -0.00778092  0.99995957]]

 t_gt:
[-0.94603682  0.19104524  0.2617557 ]

Pose Error in degrees for R and t:
5.669640111125425 67.45299626288364

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-1.31120828e-01  9.91366390e-01  9.03884074e-05]
 [ 9.91356924e-01  1.31119177e-01  4.38308731e-03]
 [ 4.33339380e-03  6.64321213e-04 -9.99990390e-01]]

 t_estimated:
[[-0.22088537]
 [-0.97529386]
 [-0.00339824]]

 R_gt:
[[ 0.99010923  0.13564302  0.03584412]
 [-0.13333526  0.98922834 -0.06040186]
 [-0.04365102  0.0550254   0.99753062]]

 t_gt:
[-0.76253708  0.64678717  0.01426749]

Pose Error in degrees for R and t:
176.26990933546637 62.45644567179406

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.97266327e-01 -7.38856560e-02 -8.85030642e-04]
 [ 7.38861145e-02  9.97266562e-01  4.97043002e-04]
 [ 8.45887117e-04 -5.61075724e-04  9.99999485e-01]]

 t_estimated:
[[-0.01245232]
 [-0.99992169]
 [-0.00124523]]

 R_gt:
[[ 0.96434632  0.26365668  0.02286798]
 [-0.26131483  0.96231196 -0.07530451]
 [-0.04185996  0.06664393  0.99689801]]

 t_gt:
[-0.67307054  0.73943373 -0.01462204]

Pose Error in degrees for R and t:
20.00121816722329 43.03169470455828

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-1.82802050e-01 -9.83149426e-01 -7.85846590e-04]
 [-9.83149079e-01  1.82800942e-01  1.30558308e-03]
 [-1.13992976e-03  1.01126761e-03 -9.99998839e-01]]

 t_estimated:
[[0.82511197]
 [0.56496836]
 [0.00099291]]

 R_gt:
[[ 0.97342559 -0.22861437 -0.01333069]
 [ 0.22881117  0.97334145  0.01583962]
 [ 0.00935392 -0.01846827  0.99978528]]

 t_gt:
[ 0.64040289 -0.7673273   0.0330599 ]

Pose Error in degrees for R and t:
179.83963987789517 84.5532115318003

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.41898618e-01  3.35896257e-01  8.35925776e-04]
 [-3.35895330e-01  9.41898702e-01 -1.07812280e-03]
 [-1.14949482e-03  7.34698810e-04  9.99999069e-01]]

 t_estimated:
[[0.49917031]
 [0.86650331]
 [0.00100639]]

 R_gt:
[[ 0.94800012 -0.3171531  -0.02662217]
 [ 0.31627294  0.94810641 -0.03261402]
 [ 0.03558376  0.02249842  0.99911274]]

 t_gt:
[ 0.66936773 -0.73083016 -0.1335444 ]

Pose Error in degrees for R and t:
38.17397535998885 72.58607796156677

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999947e-01  2.95554746e-04  1.38124941e-04]
 [-2.95556150e-04  9.99999956e-01  1.01416152e-05]
 [-1.38121938e-04 -1.01824383e-05  9.99999990e-01]]

 t_estimated:
[[9.59174394e-01]
 [2.82814291e-01]
 [7.48185954e-04]]

 R_gt:
[[ 8.98289633e-01 -4.33134526e-01 -7.39626231e-02]
 [ 4.31625764e-01  9.01329090e-01 -3.61195045e-02]
 [ 8.23094858e-02  5.21308724e-04  9.96606561e-01]]

 t_gt:
[ 0.72618062 -0.67387956 -0.13619117]

Pose Error in degrees for R and t:
26.1069997108374 59.612260170732156

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.69498937e-01 -2.45095503e-01 -7.59597915e-05]
 [ 2.45095514e-01  9.69498915e-01  2.08809566e-04]
 [ 2.24646496e-05 -2.21058057e-04  9.99999975e-01]]

 t_estimated:
[[0.96573348]
 [0.25952981]
 [0.00176551]]

 R_gt:
[[ 0.99987045 -0.00498268 -0.01530247]
 [ 0.00537147  0.99966233  0.02543455]
 [ 0.01517088 -0.0255141   0.99955863]]

 t_gt:
[0.97853364 0.19375586 0.07021812]

Pose Error in degrees for R and t:
13.992626692611744 5.49049077359985

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-4.27641983e-04 -9.99997667e-01 -2.11717824e-03]
 [-9.99999873e-01  4.27073774e-04  2.68824833e-04]
 [-2.67920015e-04  2.11729293e-03 -9.99997723e-01]]

 t_estimated:
[[0.74493567]
 [0.6671356 ]
 [0.0009725 ]]

 R_gt:
[[ 9.98163394e-01  2.91831874e-02 -5.30859156e-02]
 [-2.91587933e-02  9.99574330e-01  1.23285196e-03]
 [ 5.30992430e-02  3.17950098e-04  9.98588194e-01]]

 t_gt:
[ 0.67386653  0.51579666 -0.52901579]

Pose Error in degrees for R and t:
177.7889907420689 32.265969722724414

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.86985787  0.49329323  0.00301376]
 [-0.49329942  0.86985769  0.00181506]
 [-0.00172619 -0.00306553  0.99999381]]

 t_estimated:
[[-0.403933  ]
 [ 0.91476386]
 [ 0.00672394]]

 R_gt:
[[ 0.99834742  0.05637954 -0.01111632]
 [-0.05630748  0.99839069  0.00670076]
 [ 0.01147683 -0.00606328  0.99991526]]

 t_gt:
[ 0.58944512  0.79617223 -0.13661708]

Pose Error in degrees for R and t:
26.340065194818425 60.705768689709785

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[ 9.99088979e-01  4.26587944e-02 -1.19973082e-03]
 [-4.26581959e-02  9.99089589e-01  5.20133035e-04]
 [ 1.22082682e-03 -4.68480830e-04  9.99999145e-01]]

 t_estimated:
[[0.72630154]
 [0.68737557]
 [0.00094941]]

 R_gt:
[[ 0.99820642 -0.03854546  0.04580068]
 [ 0.03914025  0.99915961 -0.01215834]
 [-0.04529382  0.01392839  0.99887706]]

 t_gt:
[0.70447375 0.29134599 0.64717405]

Pose Error in degrees for R and t:
5.441779155337289 44.55813385395949

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[-7.65600720e-01 -6.43311223e-01 -2.49156955e-03]
 [ 6.43308118e-01 -7.65604771e-01  1.99983203e-03]
 [-3.19407192e-03 -7.17740734e-05  9.99994896e-01]]

 t_estimated:
[[7.84569233e-01]
 [6.20040850e-01]
 [6.79869353e-04]]

 R_gt:
[[ 0.99357506 -0.00890342  0.11282237]
 [ 0.01477284  0.99857494 -0.05129685]
 [-0.11220606  0.0526334   0.99229011]]

 t_gt:
[-0.00718054  0.76986452  0.63816695]

Pose Error in degrees for R and t:
139.3632898059066 61.82620162731211

Number of keypoints:
Image1: 378
Image2: 378

 R_estimated:
[[ 6.58480089e-01  7.52597316e-01  1.11910723e-03]
 [ 7.52594208e-01 -6.58480725e-01  2.25652538e-03]
 [ 2.43516548e-03 -6.43643415e-04 -9.99996828e-01]]

 t_estimated:
[[0.41730229]
 [0.90876706]
 [0.0011069 ]]

 R_gt:
[[ 0.99008954  0.03485755  0.13604296]
 [-0.02175086  0.99507965 -0.096669  ]
 [-0.13874356  0.0927519   0.98597474]]

 t_gt:
[-0.36262645  0.87622224  0.31739036]

Pose Error in degrees for R and t:
171.86149081838883 49.811198966395025

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 1.39180589e-02  9.99903089e-01  3.17081730e-04]
 [-9.99900686e-01  1.39187265e-02 -2.21067079e-03]
 [-2.21486992e-03 -2.86281993e-04  9.99997506e-01]]

 t_estimated:
[[0.01013461]
 [0.99994801]
 [0.00112607]]

 R_gt:
[[ 0.9836484  -0.17612147 -0.03762998]
 [ 0.17360816  0.98286054 -0.06201778]
 [ 0.04790794  0.05447146  0.99736593]]

 t_gt:
[ 0.62684086 -0.66398585 -0.40766817]

Pose Error in degrees for R and t:
99.35080914030631 48.84809779112138

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 2.20406266e-01  9.75403406e-01  3.04533421e-03]
 [ 9.75407625e-01 -2.20408340e-01  3.58797779e-04]
 [ 1.02118963e-03  2.89136093e-03 -9.99995299e-01]]

 t_estimated:
[[8.53935882e-01]
 [5.20377793e-01]
 [6.79344377e-04]]

 R_gt:
[[ 0.96168274 -0.26778762 -0.05878556]
 [ 0.26286337  0.96152508 -0.07983525]
 [ 0.07790252  0.06132402  0.99507349]]

 t_gt:
[ 0.64644965 -0.66420257 -0.37541683]

Pose Error in degrees for R and t:
179.16748965895687 78.1040362140178

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.92240644 -0.38621523 -0.002037  ]
 [ 0.38621843  0.92240611  0.00151305]
 [ 0.00129457 -0.00218238  0.99999678]]

 t_estimated:
[[0.91345957]
 [0.40692398]
 [0.0021194 ]]

 R_gt:
[[ 0.92641667 -0.36537806 -0.09083426]
 [ 0.36274304  0.93082215 -0.04459208]
 [ 0.1008444   0.00836213  0.99486742]]

 t_gt:
[ 0.71359352 -0.66581922 -0.21787396]

Pose Error in degrees for R and t:
5.891687177643613 67.63910613586654

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.94638649e-01  1.03411480e-01  1.51228000e-04]
 [-1.03411434e-01  9.94638624e-01 -2.87006399e-04]
 [-1.80096967e-04  2.69828953e-04  9.99999947e-01]]

 t_estimated:
[[0.79272915]
 [0.60957329]
 [0.00094793]]

 R_gt:
[[ 0.99958455 -0.02580946  0.01286178]
 [ 0.02557401  0.99950768  0.01822526]
 [-0.01332551 -0.01788851  0.99975154]]

 t_gt:
[ 0.63386513 -0.32787899  0.70050722]

Pose Error in degrees for R and t:
7.518245019901282 72.34521802494086

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.85846036e-01  1.67651838e-01  6.74564963e-04]
 [-1.67651745e-01  9.85846264e-01 -1.91241016e-04]
 [-6.97079256e-04  7.54422036e-05  9.99999754e-01]]

 t_estimated:
[[-0.58248643]
 [ 0.81283426]
 [ 0.00316743]]

 R_gt:
[[ 0.99996065 -0.00642414 -0.006213  ]
 [ 0.00646091  0.99996249  0.00582928]
 [ 0.00617606 -0.00586853  0.99996451]]

 t_gt:
[ 0.240057    0.96406288 -0.11382179]

Pose Error in degrees for R and t:
10.033758804754727 49.95172150442165

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999993e-01 -4.23499556e-05  1.08731666e-04]
 [ 4.23525351e-05  9.99999999e-01 -2.37216035e-05]
 [-1.08730661e-04  2.37262084e-05  9.99999994e-01]]

 t_estimated:
[[-0.88429576]
 [-0.46692492]
 [-0.00145746]]

 R_gt:
[[ 0.99683892  0.07867645  0.01111404]
 [-0.07896449  0.99647148  0.02846508]
 [-0.00883568 -0.02925181  0.99953353]]

 t_gt:
[-0.5428063   0.80521611  0.2387223 ]

Pose Error in degrees for R and t:
4.850292866468146 84.0489993183322

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99816785e-01  1.91408201e-02 -1.58440406e-04]
 [-1.91408033e-02  9.99816792e-01  1.06814258e-04]
 [ 1.60455891e-04 -1.03762012e-04  9.99999982e-01]]

 t_estimated:
[[-9.99996601e-01]
 [ 2.58718165e-03]
 [ 3.22611559e-04]]

 R_gt:
[[ 0.99005505  0.13821959 -0.02620351]
 [-0.13914515  0.9895569  -0.0376308 ]
 [ 0.02072912  0.04090259  0.99894779]]

 t_gt:
[-0.60029034  0.7276746  -0.33187525]

Pose Error in degrees for R and t:
7.363676427365962 52.982145806421606

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.97471425e-01  7.10686621e-02  3.32121211e-05]
 [-7.10686521e-02  9.97471397e-01 -2.40900161e-04]
 [-5.02485929e-05  2.37930686e-04  9.99999970e-01]]

 t_estimated:
[[-7.99742030e-01]
 [-6.00343521e-01]
 [-5.84786467e-04]]

 R_gt:
[[ 0.99237081  0.12320925 -0.00429505]
 [-0.12280374  0.98484163 -0.12250314]
 [-0.01086332  0.12209629  0.99245867]]

 t_gt:
[-0.41525853  0.69374303 -0.58845642]

Pose Error in degrees for R and t:
7.646814099911194 85.17915867977136

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.81731069 -0.56170437 -0.12841898]
 [ 0.56048347  0.82671928 -0.04892347]
 [ 0.13364697 -0.03199104  0.99051252]]

 t_estimated:
[[ 0.89660733]
 [-0.42919184]
 [-0.10903967]]

 R_gt:
[[ 0.98193628  0.18888397 -0.0111174 ]
 [-0.18788769  0.96645068 -0.17513103]
 [-0.02233477  0.17405652  0.98448184]]

 t_gt:
[-0.42029711  0.71802481 -0.55478888]

Pose Error in degrees for R and t:
46.89364133036615 51.3531907670738

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 1.00000000e+00 -1.39728796e-08  3.09656999e-12]
 [ 1.39728790e-08  1.00000000e+00  1.65769601e-11]
 [-3.09657008e-12 -1.65769609e-11  1.00000000e+00]]

 t_estimated:
[[-3.94891198e-02]
 [ 9.99219963e-01]
 [-2.72340521e-04]]

 R_gt:
[[ 9.99815086e-01  8.93666270e-05 -1.92809675e-02]
 [-6.52431986e-04  9.99573672e-01 -2.92151548e-02]
 [ 1.92701084e-02  2.92220640e-02  9.99387099e-01]]

 t_gt:
[ 0.11501416  0.18141219 -0.97665826]

Pose Error in degrees for R and t:
2.004752613367981 79.8052323506144

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.28186556  0.4363019   0.85451299]
 [ 0.77178591  0.42600328 -0.47208868]
 [-0.56999852  0.79256663 -0.21665601]]

 t_estimated:
[[9.99991799e-01]
 [3.97137331e-03]
 [7.94274661e-04]]

 R_gt:
[[ 0.99393606 -0.03636164  0.10377934]
 [ 0.02455387  0.99330729  0.11286351]
 [-0.10718853 -0.10963142  0.98817525]]

 t_gt:
[ 0.05624798 -0.29705056  0.95320362]

Pose Error in degrees for R and t:
104.42111445255924 86.79980361980263

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 7.42329845e-01  6.70034597e-01 -1.98101314e-04]
 [-6.70034596e-01  7.42329688e-01 -5.23617044e-04]
 [-2.03785049e-04  5.21431293e-04  9.99999843e-01]]

 t_estimated:
[[-8.26337782e-01]
 [-5.63174445e-01]
 [-6.43947493e-04]]

 R_gt:
[[ 0.98086806 -0.14116312  0.13405543]
 [ 0.10140335  0.95830274  0.2671593 ]
 [-0.16617894 -0.24845534  0.95428251]]

 t_gt:
[ 0.28552083 -0.40209239  0.86994228]

Pose Error in degrees for R and t:
52.01186658983088 89.42424306094344

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.31862554e-01 -3.62810592e-01  8.08970721e-04]
 [ 3.62810180e-01  9.31862864e-01  6.13363930e-04]
 [-9.76384704e-04 -2.78068065e-04  9.99999485e-01]]

 t_estimated:
[[0.90548199]
 [0.42438357]
 [0.00097784]]

 R_gt:
[[ 0.99708661 -0.07297098  0.02224404]
 [ 0.07234471  0.99699286  0.0277844 ]
 [-0.02420548 -0.02609502  0.99936592]]

 t_gt:
[ 0.88604351 -0.21763862  0.40934134]

Pose Error in degrees for R and t:
17.218885584330675 44.73786592586542

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-2.02693884e-01 -9.79237713e-01 -2.94802983e-03]
 [ 9.79241402e-01 -2.02696532e-01  6.25925458e-04]
 [-1.21048524e-03 -2.75996160e-03  9.99995459e-01]]

 t_estimated:
[[ 0.9961953 ]
 [-0.08713668]
 [ 0.00146025]]

 R_gt:
[[ 0.99238148 -0.10274817  0.06798773]
 [ 0.09859768  0.9932047   0.06183253]
 [-0.0738785  -0.05465776  0.99576816]]

 t_gt:
[ 0.7522207  -0.20261477  0.62698586]

Pose Error in degrees for R and t:
96.0116341185273 39.83168163232205

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-8.94974644e-01  4.46108842e-01 -2.69952519e-03]
 [-4.46106986e-01 -8.94978714e-01 -1.28785937e-03]
 [-2.99054303e-03  5.16755602e-05  9.99995527e-01]]

 t_estimated:
[[0.8376288 ]
 [0.54623861]
 [0.0011704 ]]

 R_gt:
[[ 0.97812741 -0.20527799  0.03359669]
 [ 0.20420681  0.97838056  0.03272966]
 [-0.03958902 -0.02515297  0.99889864]]

 t_gt:
[ 0.97512944 -0.13127473  0.17857639]

Pose Error in degrees for R and t:
165.33271672959756 41.81528260423966

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 0.25343907  0.96734993  0.00165914]
 [-0.96734985  0.25344133 -0.00132728]
 [-0.00170443 -0.00126858  0.99999774]]

 t_estimated:
[[0.24706246]
 [0.96899823]
 [0.0016043 ]]

 R_gt:
[[ 0.99821186 -0.05868626  0.01132882]
 [ 0.058579    0.9982369   0.00952609]
 [-0.01186865 -0.00884478  0.99988958]]

 t_gt:
[ 0.40279289 -0.89835632  0.17525354]

Pose Error in degrees for R and t:
78.68315838337162 39.58235393659837

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-0.15986311 -0.98712861 -0.00457093]
 [-0.98713538  0.1598479   0.00352022]
 [-0.00274425  0.00507488 -0.99998336]]

 t_estimated:
[[7.58943628e-01]
 [6.51155914e-01]
 [7.38272012e-04]]

 R_gt:
[[ 0.98535958 -0.16247791  0.05163323]
 [ 0.15985037  0.98579558  0.05151672]
 [-0.05927033 -0.04250808  0.99733596]]

 t_gt:
[ 0.48949963 -0.79675973  0.35435018]

Pose Error in degrees for R and t:
175.85940474193958 81.54395799522962

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.59415070e-01  2.81997655e-01  2.16565504e-04]
 [-2.81997731e-01  9.59414931e-01  5.19367866e-04]
 [-6.13156577e-05 -5.59360339e-04  9.99999842e-01]]

 t_estimated:
[[0.69896857]
 [0.71515197]
 [0.00077064]]

 R_gt:
[[ 0.95494912 -0.29582337  0.02366459]
 [ 0.29248108  0.9516615   0.09377864]
 [-0.05026243 -0.08263157  0.99531159]]

 t_gt:
[ 0.64168595 -0.7059456   0.29979986]

Pose Error in degrees for R and t:
33.965672612395615 86.78349985581357

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.81521863  0.57915181  0.00133049]
 [-0.57915118  0.81520716  0.004604  ]
 [ 0.00158179 -0.00452382  0.99998852]]

 t_estimated:
[[0.40237622]
 [0.91547341]
 [0.00135026]]

 R_gt:
[[ 0.99814649 -0.06057945  0.00581876]
 [ 0.06051114  0.99810484  0.01120199]
 [-0.00648583 -0.01082866  0.99991971]]

 t_gt:
[ 0.46245632 -0.87275989  0.15628288]

Pose Error in degrees for R and t:
38.86531506457669 52.21530091457737

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 8.61757863e-01  5.07319520e-01  5.38770614e-04]
 [-5.07319594e-01  8.61757988e-01  2.46493931e-06]
 [-4.63039368e-04 -2.75453070e-04  9.99999855e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9954209  -0.09406497  0.01698111]
 [ 0.0940171   0.99556506  0.00359059]
 [-0.01724298 -0.00197787  0.99984866]]

 t_gt:
[ 0.42558291 -0.89995276  0.09467953]

Pose Error in degrees for R and t:
35.89447235241211 78.64459056198945

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.81816538e-01  1.89829503e-01  1.02239406e-03]
 [-1.89830005e-01  9.81816885e-01  4.17137344e-04]
 [-9.24618772e-04 -6.03633411e-04  9.99999390e-01]]

 t_estimated:
[[0.97237798]
 [0.23340731]
 [0.00144421]]

 R_gt:
[[ 0.99540779 -0.09256937  0.02435818]
 [ 0.09218963  0.99560959  0.01625592]
 [-0.0257556  -0.01393618  0.99957035]]

 t_gt:
[ 0.28145657 -0.93872595  0.19893665]

Pose Error in degrees for R and t:
16.324025445985846 86.85494640522347

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.79778381e-01  2.00085791e-01 -3.18390153e-05]
 [-2.00085709e-01  9.79778098e-01  7.66459221e-04]
 [ 1.84552770e-04 -7.44589642e-04  9.99999706e-01]]

 t_estimated:
[[-0.77441634]
 [ 0.63266685]
 [ 0.00346282]]

 R_gt:
[[ 0.9953429   0.07775583  0.0569885 ]
 [-0.07378616  0.99490254 -0.06873835]
 [-0.06204156  0.06421367  0.99600503]]

 t_gt:
[-0.43163365  0.90063244 -0.05053325]

Pose Error in degrees for R and t:
8.84580202036364 25.325876540530643

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.99470716  0.10273345 -0.00187204]
 [-0.10273058  0.99470798  0.00156797]
 [ 0.00202321 -0.00136735  0.99999702]]

 t_estimated:
[[-0.81591636]
 [-0.57815811]
 [-0.00370088]]

 R_gt:
[[ 0.9840109   0.1183617   0.13309063]
 [-0.10535613  0.98930541 -0.10087364]
 [-0.14360636  0.08523873  0.98595719]]

 t_gt:
[-0.43906481  0.8620584   0.25313517]

Pose Error in degrees for R and t:
9.769706019763477 81.88833937831711

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-9.03093173e-01 -4.29443513e-01 -9.94779783e-04]
 [ 4.29444606e-01 -9.03089418e-01 -2.61413481e-03]
 [ 2.24248142e-04 -2.78801012e-03  9.99996088e-01]]

 t_estimated:
[[0.86928968]
 [0.49430198]
 [0.00100264]]

 R_gt:
[[ 0.97972087  0.08780899  0.18010346]
 [-0.07040313  0.99240553 -0.10087184]
 [-0.18759209  0.08614661  0.97846184]]

 t_gt:
[-0.33109135  0.79438476  0.50924589]

Pose Error in degrees for R and t:
159.28420559542013 83.95196202161914

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99999344e-01  1.14365426e-03 -7.08220399e-05]
 [-1.14366902e-03  9.99999324e-01 -2.08650901e-04]
 [ 7.05833675e-05  2.08731761e-04  9.99999976e-01]]

 t_estimated:
[[ 2.26052761e-01]
 [ 9.74114597e-01]
 [-9.49065410e-04]]

 R_gt:
[[ 0.9851984  -0.13824516 -0.1013572 ]
 [ 0.14356005  0.98851879  0.04713391]
 [ 0.09367735 -0.06098689  0.99373274]]

 t_gt:
[ 0.58662295 -0.80348118 -0.10144709]

Pose Error in degrees for R and t:
10.404033556541352 49.46000223894629

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.65541455 -0.7552681   0.00136588]
 [-0.75525225  0.65541082  0.00553926]
 [-0.00507884  0.00259892 -0.99998373]]

 t_estimated:
[[0.88098916]
 [0.47313057]
 [0.00235961]]

 R_gt:
[[ 0.94353846 -0.29184416 -0.15672317]
 [ 0.31025519  0.94434477  0.1093439 ]
 [ 0.11608995 -0.15179492  0.98157056]]

 t_gt:
[ 0.64309991 -0.75716151  0.11458163]

Pose Error in degrees for R and t:
176.16538120440754 77.9597866062675

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.9845205   0.17516087  0.00616963]
 [-0.17520235 -0.98450767 -0.00698425]
 [ 0.00485068 -0.00795707  0.99995658]]

 t_estimated:
[[0.58371582]
 [0.81195745]
 [0.00097124]]

 R_gt:
[[ 0.88309093 -0.39428791 -0.25433772]
 [ 0.42636588  0.90062441  0.08419476]
 [ 0.19586604 -0.18279332  0.96344322]]

 t_gt:
[ 0.71380639 -0.7000169   0.02137218]

Pose Error in degrees for R and t:
165.4900308562185 81.27436372362601

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.99942014  0.03399528  0.00192489]
 [-0.03344141 -0.96935693 -0.2433697 ]
 [-0.00640751 -0.24329295  0.96993169]]

 t_estimated:
[[0.70534998]
 [0.7088401 ]
 [0.00520721]]

 R_gt:
[[ 0.98335403 -0.17400329 -0.05232129]
 [ 0.17653199  0.98310673  0.04834663]
 [ 0.04302537 -0.05677902  0.99745881]]

 t_gt:
[ 0.60046659 -0.7949163   0.08687896]

Pose Error in degrees for R and t:
171.5805889419529 81.98241309068116

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.78083693e-01  2.08211916e-01 -2.95781764e-04]
 [-2.08212013e-01  9.78080695e-01 -2.43138763e-03]
 [-2.16945442e-04  2.43968591e-03  9.99997000e-01]]

 t_estimated:
[[0.17173165]
 [0.98514323]
 [0.00102833]]

 R_gt:
[[ 0.9535534  -0.27048    -0.13257071]
 [ 0.28079695  0.95748146  0.06619699]
 [ 0.10902959 -0.10034776  0.98895983]]

 t_gt:
[ 0.65432142 -0.75614678  0.01027229]

Pose Error in degrees for R and t:
29.370472597619344 50.76262917921998

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-7.38730323e-01 -6.73993200e-01 -3.26734285e-03]
 [ 6.74000893e-01 -7.38725368e-01 -2.76162612e-03]
 [-5.52351821e-04 -4.24228896e-03  9.99990849e-01]]

 t_estimated:
[[0.97910355]
 [0.20335991]
 [0.000992  ]]

 R_gt:
[[ 0.94042364 -0.30383612 -0.15259694]
 [ 0.3294145   0.92534851  0.18765734]
 [ 0.08418884 -0.22674568  0.97030804]]

 t_gt:
[ 0.57045201 -0.76016749  0.31101429]

Pose Error in degrees for R and t:
119.35023727245806 66.15570496352589

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.85133349e-01 -1.71791321e-01 -1.63122925e-04]
 [ 1.71791361e-01  9.85133317e-01  2.74400743e-04]
 [ 1.13558162e-04 -2.98344432e-04  9.99999949e-01]]

 t_estimated:
[[9.89005102e-01]
 [1.47879100e-01]
 [8.24584093e-04]]

 R_gt:
[[ 0.99886178 -0.0280709   0.03857022]
 [ 0.02848882  0.99954081 -0.01032997]
 [-0.03826251  0.01141659  0.99920254]]

 t_gt:
[ 0.14188807 -0.88702966  0.43937019]

Pose Error in degrees for R and t:
8.584213630492524 89.45469773597486

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.01325132e-01 -4.33141068e-01 -1.34951179e-03]
 [ 4.33142109e-01  9.01325446e-01  5.94555433e-04]
 [ 9.58822939e-04 -1.12041814e-03  9.99998913e-01]]

 t_estimated:
[[9.89163597e-01]
 [1.46814634e-01]
 [9.17591463e-04]]

 R_gt:
[[ 0.99927    -0.02492899  0.02895806]
 [ 0.02548398  0.99949476 -0.01898722]
 [-0.02847022  0.01971175  0.99940014]]

 t_gt:
[-0.07963782 -0.98733116  0.13724063]

Pose Error in degrees for R and t:
24.309331957693576 77.07922353250838

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.9263205   0.37673349 -0.00148303]
 [-0.37673014 -0.92632062 -0.00212271]
 [-0.00217345 -0.00140761  0.99999665]]

 t_estimated:
[[0.87070836]
 [0.49179884]
 [0.00092628]]

 R_gt:
[[ 0.99658349 -0.04642705  0.06830664]
 [ 0.04556095  0.99886124  0.0141713 ]
 [-0.06888671 -0.01101125  0.99756393]]

 t_gt:
[-0.12065336 -0.8026609   0.58410465]

Pose Error in degrees for R and t:
160.51707624670357 60.04890998265989

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.98532223e-01  5.41606506e-02  1.51703623e-04]
 [-5.41605797e-02  9.98532143e-01 -4.37885819e-04]
 [-1.75197124e-04  4.29026745e-04  9.99999893e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99865801  0.03274655 -0.04012868]
 [-0.03358348  0.99922816 -0.02035316]
 [ 0.0394317   0.02167333  0.99898707]]

 t_gt:
[ 0.35611376  0.5648467  -0.74439989]

Pose Error in degrees for R and t:
2.843057125413132 55.508591358378176

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.09622557  0.99535754 -0.0020037 ]
 [ 0.99534745 -0.09621428  0.00512423]
 [ 0.00490766 -0.00248746 -0.99998486]]

 t_estimated:
[[-0.08940204]
 [-0.99599464]
 [-0.00139691]]

 R_gt:
[[ 0.99590061  0.0879732   0.02107992]
 [-0.08730237  0.99570177 -0.03092002]
 [-0.02370981  0.02895351  0.99929947]]

 t_gt:
[-0.06915348  0.99116974 -0.11313858]

Pose Error in degrees for R and t:
178.1650538944056 11.22825671333988

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99765754e-01  2.16429661e-02  1.41332791e-04]
 [-2.16426343e-02  9.99763703e-01 -2.03332001e-03]
 [-1.85306471e-04  2.02978490e-03  9.99997923e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.98635565  0.14727192  0.07358011]
 [-0.13697544  0.98207741 -0.12946593]
 [-0.09132852  0.11761994  0.98884965]]

 t_gt:
[-0.22069206  0.96136103 -0.16455997]

Pose Error in degrees for R and t:
10.963246124500646 16.25418007434778

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.98922585e-01 -4.64075361e-02  9.44731569e-05]
 [ 4.64075416e-02  9.98922588e-01 -5.64518735e-05]
 [-9.17515780e-05  6.07753183e-05  9.99999994e-01]]

 t_estimated:
[[ 9.98567710e-01]
 [-5.35014365e-02]
 [ 3.54263691e-04]]

 R_gt:
[[ 0.98422434 -0.1765771  -0.01110188]
 [ 0.17675911  0.98408255  0.01835774]
 [ 0.00768213 -0.0200294   0.99977023]]

 t_gt:
[ 0.98222361 -0.15442778  0.10671848]

Pose Error in degrees for R and t:
7.617566969903067 8.460823229941603

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 7.24799218e-01  6.88959697e-01  7.92990029e-04]
 [-6.88957934e-01  7.24799325e-01 -1.70405401e-03]
 [-1.74878317e-03  6.88760245e-04  9.99998234e-01]]

 t_estimated:
[[0.68888444]
 [0.72486915]
 [0.00171539]]

 R_gt:
[[ 0.97907467 -0.20112139  0.03102267]
 [ 0.19951619  0.97870419  0.04828151]
 [-0.0400732  -0.04108183  0.99835229]]

 t_gt:
[ 0.95496334 -0.16139858  0.24898899]

Pose Error in degrees for R and t:
55.20413733869575 57.22825328149579

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.02304868e-01 -4.31097865e-01  7.45960483e-04]
 [-4.31060911e-01 -9.02247674e-01 -1.16458729e-02]
 [ 5.69355205e-03  1.01865734e-02 -9.99931906e-01]]

 t_estimated:
[[ 0.31915701]
 [ 0.94767909]
 [-0.00656827]]

 R_gt:
[[ 0.96476665 -0.25692698  0.05669566]
 [ 0.25213987  0.96439464  0.07980102]
 [-0.07518073 -0.06269403  0.99519713]]

 t_gt:
[ 0.93993185 -0.1343046   0.31383179]

Pose Error in degrees for R and t:
175.79620428156196 80.17456932521259

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[-8.02835495e-01 -5.96199467e-01 -1.16781932e-03]
 [-5.96196848e-01  8.02835847e-01 -1.98011798e-03]
 [ 2.11811249e-03 -8.93458802e-04 -9.99997358e-01]]

 t_estimated:
[[9.44988617e-01]
 [3.27103185e-01]
 [1.42536578e-04]]

 R_gt:
[[ 0.99688679  0.07786195 -0.0124693 ]
 [-0.07763207  0.99682183  0.01793167]
 [ 0.01382698 -0.01690666  0.99976138]]

 t_gt:
[-0.63263625  0.77181393  0.06383277]

Pose Error in degrees for R and t:
179.50164650391883 69.79609484423646

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999983e-01  1.81170928e-04  1.57056225e-05]
 [-1.81170566e-04  9.99999983e-01 -2.29949661e-05]
 [-1.57097883e-05  2.29921203e-05  1.00000000e+00]]

 t_estimated:
[[5.23890610e-03]
 [9.99985860e-01]
 [9.13379625e-04]]

 R_gt:
[[ 0.98876501  0.14926639  0.00797111]
 [-0.14936494  0.98868995  0.01356722]
 [-0.00585455 -0.01460509  0.99987598]]

 t_gt:
[-0.64215209  0.76049881  0.09634444]

Pose Error in degrees for R and t:
8.6245238235079 40.780983546076634

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.9850161   0.1724406   0.00274407]
 [-0.17242823  0.98501295 -0.00424177]
 [-0.0034344   0.00370506  0.99998724]]

 t_estimated:
[[0.80721752]
 [0.59025254]
 [0.00134761]]

 R_gt:
[[ 8.88788516e-01  4.58207934e-01  1.00082458e-02]
 [-4.58237064e-01  8.88829405e-01  7.17853085e-04]
 [-8.56574610e-03 -5.22320381e-03  9.99949561e-01]]

 t_gt:
[-0.58633277  0.80985057  0.01886601]

Pose Error in degrees for R and t:
17.352348064101484 89.7282052018942

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-0.00361596 -0.99999256  0.00134531]
 [-0.99998725  0.00362068  0.00352072]
 [-0.00352557 -0.00133256 -0.9999929 ]]

 t_estimated:
[[0.72115281]
 [0.69277114]
 [0.00260304]]

 R_gt:
[[ 0.99276853 -0.11988012  0.00614856]
 [ 0.11968966  0.99249018  0.02524934]
 [-0.00912995 -0.02433039  0.9996621 ]]

 t_gt:
[ 0.63775704 -0.74544952  0.19383234]

Pose Error in degrees for R and t:
178.482368858229 86.78969502048932

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.97450267 -0.2242716   0.00684113]
 [-0.22424705  0.97452338  0.00417596]
 [-0.00760339  0.00253538 -0.99996788]]

 t_estimated:
[[0.94867977]
 [0.31622659]
 [0.00272609]]

 R_gt:
[[ 0.96361334 -0.26729379  0.00182534]
 [ 0.26573807  0.95869938  0.10139342]
 [-0.02885258 -0.09721913  0.99484421]]

 t_gt:
[ 0.66595334 -0.66730392  0.33348406]

Pose Error in degrees for R and t:
178.02909392162172 65.06016530336291

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-5.72926209e-01  8.19604673e-01  1.93352667e-03]
 [ 8.19606448e-01  5.72921638e-01  2.46316422e-03]
 [ 9.11061635e-04  2.99594226e-03 -9.99995097e-01]]

 t_estimated:
[[0.71261597]
 [0.70155098]
 [0.00216873]]

 R_gt:
[[ 9.33759178e-01 -3.57899965e-01  2.35827158e-04]
 [ 3.51904548e-01  9.18240339e-01  1.81654599e-01]
 [-6.52309589e-02 -1.69538243e-01  9.83362196e-01]]

 t_gt:
[ 0.6469069  -0.61537801  0.45035693]

Pose Error in degrees for R and t:
177.01446066668268 88.26631784201528

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.98738661e-01 -5.02103048e-02 -1.06779733e-04]
 [ 5.02103078e-02  9.98738667e-01  2.54527945e-05]
 [ 1.05367056e-04 -3.07821332e-05  9.99999994e-01]]

 t_estimated:
[[-9.97679606e-01]
 [-6.80827399e-02]
 [-3.79550483e-04]]

 R_gt:
[[ 0.99169561  0.12789206  0.01352398]
 [-0.12811942  0.99160285  0.0175337 ]
 [-0.01116727 -0.01912108  0.99975527]]

 t_gt:
[-0.75228497  0.64398733  0.13909578]

Pose Error in degrees for R and t:
10.311841850325862 45.03763525259566

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99999918e-01 -3.74662835e-04 -1.55721428e-04]
 [ 3.74666019e-04  9.99999930e-01  2.04144117e-05]
 [ 1.55713768e-04 -2.04727536e-05  9.99999988e-01]]

 t_estimated:
[[-9.63866357e-01]
 [-2.66386167e-01]
 [-2.35344433e-04]]

 R_gt:
[[ 0.98289302  0.18417352  0.00123545]
 [-0.1838826   0.98167475 -0.04999928]
 [-0.0104218   0.04891616  0.99874887]]

 t_gt:
[-0.63816903  0.74069943 -0.21001104]

Pose Error in degrees for R and t:
11.011948575623157 65.30126567167336

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 5.59339396e-01  8.28938229e-01  9.23430938e-04]
 [-8.28937522e-01  5.59340137e-01 -1.09311718e-03]
 [-1.42263860e-03 -1.54043052e-04  9.99998976e-01]]

 t_estimated:
[[-0.78838672]
 [ 0.61517925]
 [ 0.00092679]]

 R_gt:
[[ 0.98431534  0.17583482  0.01432679]
 [-0.17282694  0.97739806 -0.12175268]
 [-0.03541089  0.11736634  0.9924571 ]]

 t_gt:
[-0.53905486  0.7378802  -0.40614365]

Pose Error in degrees for R and t:
46.412702411205785 28.533751349065493

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.76968349e-01  2.13383552e-01 -5.52999171e-04]
 [-2.13383039e-01  9.76968236e-01  8.62968843e-04]
 [ 7.24405982e-04 -7.25092602e-04  9.99999475e-01]]

 t_estimated:
[[-7.65486087e-01]
 [-6.43452073e-01]
 [-6.93375079e-04]]

 R_gt:
[[ 0.99710766 -0.00925715  0.07543161]
 [ 0.00378006  0.9973668   0.07243533]
 [-0.07590259 -0.07194009  0.99451691]]

 t_gt:
[-0.07247794 -0.19072452  0.9789643 ]

Pose Error in degrees for R and t:
14.03556420408979 79.77441818369779

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.79960761e-01  1.99190517e-01  2.09596781e-04]
 [-1.99190606e-01  9.79960602e-01  5.66329853e-04]
 [-9.25890510e-05 -5.96730744e-04  9.99999818e-01]]

 t_estimated:
[[0.7350605 ]
 [0.67800101]
 [0.00083911]]

 R_gt:
[[ 0.98515508 -0.09497752  0.14299944]
 [ 0.05715974  0.96695909  0.24844606]
 [-0.16187076 -0.23658297  0.95803198]]

 t_gt:
[ 0.18023373 -0.3133676   0.93237147]

Pose Error in degrees for R and t:
22.9970841775908 85.45750352658722

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.9747181  -0.22343111 -0.00178055]
 [ 0.22343359 -0.97471823 -0.00134245]
 [-0.00143559 -0.00170634  0.99999751]]

 t_estimated:
[[0.84623252]
 [0.53281307]
 [0.00087061]]

 R_gt:
[[ 0.96921768 -0.21678644  0.11670926]
 [ 0.16028323  0.91539991  0.36926226]
 [-0.18688665 -0.33918819  0.92196697]]

 t_gt:
[ 0.37570363 -0.41358779  0.82933221]

Pose Error in degrees for R and t:
156.24931210152724 84.35930938270397

Number of keypoints:
Image1: 443
Image2: 443

 R_estimated:
[[-0.66555451 -0.7417759   0.0824967 ]
 [-0.7418791   0.66959391  0.03548794]
 [-0.08156339 -0.03758342 -0.99595929]]

 t_estimated:
[[0.91649625]
 [0.39741817]
 [0.045754  ]]

 R_gt:
[[ 0.99971616 -0.02172254  0.00977791]
 [ 0.02144123  0.99937577  0.02807363]
 [-0.01038122 -0.02785703  0.99955804]]

 t_gt:
[-0.0487758  -0.67249327  0.73849423]

Pose Error in degrees for R and t:
173.66973967452384 73.84869795915026

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 1.17848945e-01 -9.93022212e-01 -4.30253040e-03]
 [ 9.93031085e-01  1.17851903e-01 -4.39799066e-04]
 [ 9.43791639e-04 -4.22071658e-03  9.99990647e-01]]

 t_estimated:
[[0.97085196]
 [0.23967365]
 [0.00173677]]

 R_gt:
[[ 0.99754266 -0.05436223  0.04419733]
 [ 0.05363612  0.99840752  0.01745907]
 [-0.04507564 -0.01504579  0.99887006]]

 t_gt:
[-0.18221528 -0.65373989  0.73445337]

Pose Error in degrees for R and t:
80.17867045741588 70.59079184885371

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[-0.86706284 -0.49787751  0.01788907]
 [-0.49786582  0.86723715  0.00541781]
 [-0.01821147 -0.00420878 -0.9998253 ]]

 t_estimated:
[[0.96737267]
 [0.25317156]
 [0.00970999]]

 R_gt:
[[ 0.99300117 -0.11494117  0.02715368]
 [ 0.11440148  0.993219    0.02065939]
 [-0.02934453 -0.01740908  0.99941786]]

 t_gt:
[ 0.07590289 -0.94316236  0.32354831]

Pose Error in degrees for R and t:
177.08145504016827 80.66458012105329

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.98664284e-01  5.16685414e-02  9.39458020e-05]
 [-5.16685319e-02  9.98664284e-01 -1.01248413e-04]
 [-9.90516750e-05  9.62591318e-05  9.99999990e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99938437 -0.02792829 -0.02123895]
 [ 0.02843821  0.99930607  0.0240977 ]
 [ 0.02055015 -0.02468638  0.99948363]]

 t_gt:
[ 0.44476295 -0.89418612 -0.05115766]

Pose Error in degrees for R and t:
4.935901477033185 63.77173956903559

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99999982e-01 -1.86470472e-04  4.26730744e-05]
 [ 1.86474190e-04  9.99999979e-01 -8.71318081e-05]
 [-4.26568259e-05  8.71397639e-05  9.99999995e-01]]

 t_estimated:
[[ 7.80523346e-01]
 [-6.25126176e-01]
 [-7.56045618e-04]]

 R_gt:
[[ 0.99891373 -0.03952653 -0.02468879]
 [ 0.03984539  0.99912784  0.01252921]
 [ 0.02417164 -0.0134988   0.99961591]]

 t_gt:
[ 0.51101858 -0.8268752  -0.23481359]

Pose Error in degrees for R and t:
2.767193867802577 23.660313072516743

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-0.29412171  0.95576382 -0.00281763]
 [-0.95575917 -0.29413038 -0.00342399]
 [-0.00410128  0.00168591  0.99999017]]

 t_estimated:
[[0.55971435]
 [0.82868463]
 [0.00128081]]

 R_gt:
[[ 9.87435340e-01 -1.58024215e-01 -5.27975388e-04]
 [ 1.57996306e-01  9.87309163e-01 -1.61020945e-02]
 [ 3.06474429e-03  1.58169286e-02  9.99870125e-01]]

 t_gt:
[ 0.67315029 -0.73676437 -0.06361573]

Pose Error in degrees for R and t:
116.19748783483581 76.47586658481897

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 4.22527517e-01  9.06349965e-01  4.88772653e-04]
 [-9.06349378e-01  4.22527799e-01 -1.03106492e-03]
 [-1.14102569e-03 -7.34549032e-06  9.99999349e-01]]

 t_estimated:
[[-4.28884961e-02]
 [ 9.99079591e-01]
 [ 7.39949078e-04]]

 R_gt:
[[ 0.99888892  0.01912936  0.04306004]
 [-0.02430241  0.99210657  0.12301769]
 [-0.04036657 -0.12392675  0.99146989]]

 t_gt:
[-0.14970335  0.05554068  0.98716976]

Pose Error in degrees for R and t:
64.15024724898215 86.40860850944061

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 7.00404858e-01  7.13745120e-01  9.68317336e-04]
 [-7.13737515e-01  7.00402634e-01 -3.86138087e-03]
 [-3.43425376e-03  2.01340551e-03  9.99992076e-01]]

 t_estimated:
[[0.72124925]
 [0.69266896]
 [0.00303827]]

 R_gt:
[[ 9.94433462e-01  3.66673343e-04  1.05357698e-01]
 [-2.41928532e-02  9.74067254e-01  2.24960517e-01]
 [-1.02542673e-01 -2.26256623e-01  9.68655069e-01]]

 t_gt:
[-0.06974522  0.01881369  0.99738741]

Pose Error in degrees for R and t:
46.99784544755177 88.03771215552169

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99990788e-01  4.28955643e-03 -1.55731001e-04]
 [-4.28933474e-03  9.99989825e-01  1.39704886e-03]
 [ 1.61722137e-04 -1.39636800e-03  9.99999012e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075938e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99316557 -0.04305367  0.10848532]
 [ 0.00638056  0.94811609  0.3178615 ]
 [-0.11654182 -0.31499545  0.94191028]]

 t_gt:
[ 0.0215344  -0.06415411  0.99770763]

Pose Error in degrees for R and t:
19.626164871470113 88.73315731402818

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.96615921  0.25794024 -0.00179384]
 [ 0.25792515 -0.9659665   0.0195789 ]
 [ 0.0033174  -0.01937901 -0.99980671]]

 t_estimated:
[[-0.09513113]
 [ 0.99541217]
 [ 0.01023094]]

 R_gt:
[[ 0.99851153  0.03388647 -0.04274445]
 [-0.0318312   0.99834522  0.0478939 ]
 [ 0.04429628 -0.04646188  0.997938  ]]

 t_gt:
[0.39209811 0.9060882  0.15894416]

Pose Error in degrees for R and t:
175.86732751079296 29.973492241656757

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 0.98528403 -0.17041274 -0.01322424]
 [ 0.17056058  0.98528589  0.01099081]
 [ 0.01115668 -0.01308461  0.99985215]]

 t_estimated:
[[-0.54871236]
 [-0.83601053]
 [ 0.00106401]]

 R_gt:
[[ 0.99176535  0.1200688  -0.04455151]
 [-0.11827267  0.99213537  0.04096989]
 [ 0.04912008 -0.03536321  0.99816626]]

 t_gt:
[-0.28634245  0.95803214  0.01350667]

Pose Error in degrees for R and t:
16.849141498909198 49.92491486610445

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.99997643 -0.00647544 -0.00228087]
 [ 0.00647818  0.9999783   0.00119551]
 [ 0.00227308 -0.00121026  0.99999668]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99469962  0.08106986 -0.06324325]
 [-0.07774463  0.9955433   0.05337657]
 [ 0.06728814 -0.04817706  0.99656997]]

 t_gt:
[1.16429921e-01 9.93198638e-01 7.33621735e-04]

Pose Error in degrees for R and t:
6.74552966806519 83.13620095741156

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-9.80827226e-01 -1.94878935e-01 -3.92207200e-04]
 [-1.94879281e-01  9.80823559e-01  2.68547036e-03]
 [-1.38655543e-04  2.71041550e-03 -9.99996317e-01]]

 t_estimated:
[[0.87991267]
 [0.47513457]
 [0.00091372]]

 R_gt:
[[ 0.99817277 -0.00537836  0.06018995]
 [-0.00315972  0.99002523  0.14085518]
 [-0.06034733 -0.14078722  0.98819914]]

 t_gt:
[-0.06661062 -0.07957004  0.99460124]

Pose Error in degrees for R and t:
175.7673397283729 84.51937095482101

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.06481274e-02  9.95878170e-01  3.09625026e-03]
 [-9.95882687e-01 -9.06452639e-02 -1.05326096e-03]
 [-7.68259178e-04 -3.17897816e-03  9.99994652e-01]]

 t_estimated:
[[0.12073187]
 [0.99268425]
 [0.00134147]]

 R_gt:
[[ 0.99536759 -0.04081714  0.08705531]
 [ 0.01849589  0.96979375  0.24322647]
 [-0.09435324 -0.24048894  0.96605553]]

 t_gt:
[ 0.02683809 -0.13667853  0.99025183]

Pose Error in degrees for R and t:
97.76739016406127 82.46625889664986

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.97115073 -0.23823469 -0.01051124]
 [ 0.23812688 -0.97117675  0.01055023]
 [-0.0127217   0.00774286  0.9998891 ]]

 t_estimated:
[[8.08805488e-01]
 [5.88075704e-01]
 [8.05583156e-04]]

 R_gt:
[[ 0.99116742 -0.09016873  0.09725081]
 [ 0.05458387  0.94567519  0.32049893]
 [-0.12086647 -0.31235896  0.94224361]]

 t_gt:
[ 0.10861152 -0.19742881  0.97428199]

Pose Error in degrees for R and t:
162.07256238101928 88.42573613246738

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.99864762e-01  1.64455507e-02  3.39260084e-05]
 [-1.64455515e-02  9.99864762e-01  2.60653479e-05]
 [-3.34927613e-05 -2.66197548e-05  9.99999999e-01]]

 t_estimated:
[[0.99998621]
 [0.00509191]
 [0.00128339]]

 R_gt:
[[ 0.99869572 -0.04719393 -0.01956263]
 [ 0.04752234  0.99873097  0.01671197]
 [ 0.01874925 -0.01761947  0.99966875]]

 t_gt:
[ 0.54629644 -0.83392907 -0.07824652]

Pose Error in degrees for R and t:
3.9424380884006496 57.18404955344997

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[-0.89780911 -0.44038     0.0020641 ]
 [ 0.44034853 -0.89778541 -0.00863257]
 [ 0.00565473 -0.00684148  0.99996061]]

 t_estimated:
[[0.84048438]
 [0.54183511]
 [0.00085328]]

 R_gt:
[[ 0.99670611 -0.07291662 -0.03552945]
 [ 0.07398961  0.99681055  0.02990212]
 [ 0.03323663 -0.03243178  0.99892168]]

 t_gt:
[ 0.51495152 -0.85198792 -0.09455962]

Pose Error in degrees for R and t:
149.66196488511767 88.34340890498972

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99996265e-01  1.49243674e-04 -2.72895215e-03]
 [-1.38487554e-04  9.99992224e-01  3.94124771e-03]
 [ 2.72951913e-03 -3.94085507e-03  9.99988510e-01]]

 t_estimated:
[[-0.70475609]
 [-0.70944925]
 [-0.00078219]]

 R_gt:
[[ 0.99617397 -0.06859605 -0.05416359]
 [ 0.07104454  0.99647234  0.04466553]
 [ 0.05090911 -0.04834296  0.99753307]]

 t_gt:
[ 0.48624404 -0.86364818 -0.1329607 ]

Pose Error in degrees for R and t:
5.500810617068741 74.32769346272414

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.73821912e-01  2.27311851e-01  4.54628692e-04]
 [-2.27311835e-01  9.73822018e-01 -8.79356034e-05]
 [-4.62716235e-04 -1.77088647e-05  9.99999893e-01]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.99718663  0.04323705  0.0612406 ]
 [-0.03940241  0.99726684 -0.06248983]
 [-0.06377478  0.05990131  0.99616502]]

 t_gt:
[-0.78543798  0.61859115  0.02078858]

Pose Error in degrees for R and t:
11.867133268540547 52.30408818872607

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-2.91732851e-01 -9.56497010e-01 -2.32665277e-03]
 [ 9.56499687e-01 -2.91730565e-01 -1.27539391e-03]
 [ 5.41154734e-04 -2.59751694e-03  9.99996480e-01]]

 t_estimated:
[[9.93902231e-01]
 [1.10262234e-01]
 [7.71064570e-04]]

 R_gt:
[[ 0.98951803  0.11843557  0.08262748]
 [-0.11559172  0.99255363 -0.03839869]
 [-0.08656075  0.02844511  0.99584009]]

 t_gt:
[-0.74209372  0.60286749  0.29299778]

Pose Error in degrees for R and t:
113.78173726617666 47.865816925394036

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-5.45904021e-01 -8.37846051e-01 -1.67200589e-03]
 [ 8.37845371e-01 -5.45906128e-01  1.27797075e-03]
 [-1.98350101e-03 -7.03233029e-04  9.99997786e-01]]

 t_estimated:
[[0.99998991]
 [0.00431583]
 [0.00124406]]

 R_gt:
[[ 0.99495953  0.08911586 -0.04598203]
 [-0.08437257  0.99175759  0.09642144]
 [ 0.05419511 -0.09205599  0.99427812]]

 t_gt:
[-0.82821447  0.37810831  0.41363618]

Pose Error in degrees for R and t:
128.15136581285043 34.303925842038595

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99995364e-01  3.04289506e-03  1.14309246e-04]
 [-3.04289601e-03  9.99995370e-01  8.09867046e-06]
 [-1.14284073e-04 -8.44646406e-06  9.99999993e-01]]

 t_estimated:
[[ 9.99958628e-01]
 [-9.08699702e-03]
 [ 4.10290150e-04]]

 R_gt:
[[ 0.99271508 -0.11243416 -0.0432853 ]
 [ 0.11263558  0.99363375  0.00223923]
 [ 0.04275855 -0.00709878  0.99906025]]

 t_gt:
[ 0.62216954 -0.76334404 -0.17381291]

Pose Error in degrees for R and t:
7.090403296531922 51.02295417468546

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99999999e-01 -8.44557817e-06 -3.22328435e-05]
 [ 8.44710237e-06  9.99999999e-01  4.72874041e-05]
 [ 3.22324441e-05 -4.72876764e-05  9.99999998e-01]]

 t_estimated:
[[-0.34801553]
 [-0.93748808]
 [-0.0011336 ]]

 R_gt:
[[ 0.95666965 -0.28917367 -0.03407504]
 [ 0.29006127  0.95668677  0.02480191]
 [ 0.0254272  -0.03361082  0.99911109]]

 t_gt:
[ 0.70801372 -0.70487332  0.04324555]

Pose Error in degrees for R and t:
17.012971851120113 65.52088350221854

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.68065788e-01 -2.50694221e-01  1.01907322e-03]
 [ 2.50695416e-01  9.68065154e-01 -1.29102734e-03]
 [-6.62876182e-04  1.50527638e-03  9.99998647e-01]]

 t_estimated:
[[-0.60257911]
 [-0.79805865]
 [-0.0008967 ]]

 R_gt:
[[ 0.91671105 -0.3967355  -0.04733081]
 [ 0.39742325  0.91761789  0.00573087]
 [ 0.04115887 -0.02406327  0.99886283]]

 t_gt:
[ 7.58049731e-01 -6.52196539e-01 -5.28249290e-04]

Pose Error in degrees for R and t:
9.322503550281445 86.34740562053375

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 0.98183767 -0.18955701  0.00793272]
 [ 0.18961686  0.98182854 -0.00762619]
 [-0.00634298  0.00899186  0.99993945]]

 t_estimated:
[[-0.88615694]
 [-0.46338406]
 [-0.00104131]]

 R_gt:
[[ 0.98984516 -0.14015558 -0.02373381]
 [ 0.1403735   0.9900676   0.00780978]
 [ 0.02240449 -0.01106147  0.99968735]]

 t_gt:
[ 0.51892576 -0.85435228  0.02825308]

Pose Error in degrees for R and t:
3.501704594254127 86.33137473724838

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.99326667 -0.11583728  0.00174513]
 [ 0.11584004  0.99326664 -0.00157296]
 [-0.00155118  0.00176453  0.99999724]]

 t_estimated:
[[0.80227058]
 [0.59695983]
 [0.00094206]]

 R_gt:
[[ 0.95401395 -0.29700433 -0.04056053]
 [ 0.29863919  0.95339846  0.04296196]
 [ 0.02591098 -0.05309922  0.99825246]]

 t_gt:
[ 0.58755722 -0.8010434   0.1144814 ]

Pose Error in degrees for R and t:
11.253731538522649 89.61594307721121

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.85744623e-01  1.68248213e-01 -2.76549130e-04]
 [-1.68247780e-01  9.85744028e-01  1.18143136e-03]
 [ 4.71380370e-04 -1.11806084e-03  9.99999264e-01]]

 t_estimated:
[[4.59241601e-01]
 [8.88311404e-01]
 [3.19297688e-05]]

 R_gt:
[[ 0.93519554 -0.34593275 -0.07576682]
 [ 0.35048997  0.93475195  0.0582731 ]
 [ 0.05066513 -0.08105113  0.99542106]]

 t_gt:
[ 0.59415406 -0.79548231  0.119117  ]

Pose Error in degrees for R and t:
30.58542230894481 64.29282375422729

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99999933e-01 -3.66450559e-04 -1.07460894e-05]
 [ 3.66451290e-04  9.99999931e-01  6.80734854e-05]
 [ 1.07211430e-05 -6.80774188e-05  9.99999998e-01]]

 t_estimated:
[[-1.38875217e-01]
 [ 9.90309818e-01]
 [-3.71487479e-04]]

 R_gt:
[[ 0.99717006  0.01262557 -0.07412069]
 [-0.01440295  0.99962032 -0.0234958 ]
 [ 0.0737967   0.0244968   0.99697207]]

 t_gt:
[ 0.42690716  0.30868075 -0.84998028]

Pose Error in degrees for R and t:
4.530547041531585 75.71658469689876

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99998818e-01 -3.05669115e-04 -1.50683328e-03]
 [ 3.08159528e-04  9.99998587e-01  1.65279079e-03]
 [ 1.50632594e-03 -1.65325319e-03  9.99997499e-01]]

 t_estimated:
[[-0.9998686 ]
 [-0.0156984 ]
 [-0.00404254]]

 R_gt:
[[ 0.99159832 -0.00786279 -0.12912049]
 [ 0.00413973  0.99956864 -0.02907329]
 [ 0.12929454  0.02829524  0.99120251]]

 t_gt:
[ 0.61308417  0.13580941 -0.77825677]

Pose Error in degrees for R and t:
7.549691069312243 52.26650656763223

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.98112077 -0.06144099 -0.18337675]
 [ 0.07457528  0.99505512  0.06560364]
 [ 0.17843923 -0.07804047  0.98085123]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.98299412  0.00842741 -0.18344244]
 [-0.00999445  0.99992078 -0.00762203]
 [ 0.18336456  0.00932624  0.98300073]]

 t_gt:
[ 0.61746202  0.17518152 -0.76684555]

Pose Error in degrees for R and t:
6.420170694883495 60.21615513350956

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99466409e-01 -3.26633989e-02  1.24394649e-05]
 [ 3.26633951e-02  9.99466382e-01  2.30708807e-04]
 [-1.99685607e-05 -2.30179388e-04  9.99999973e-01]]

 t_estimated:
[[0.7063069 ]
 [0.7079046 ]
 [0.00127977]]

 R_gt:
[[ 0.99488098 -0.09268209 -0.04028245]
 [ 0.09401825  0.99503496  0.03265829]
 [ 0.03705591 -0.03627881  0.99865479]]

 t_gt:
[ 0.62248603 -0.75819782  0.19402888]

Pose Error in degrees for R and t:
4.577071169745734 84.44407792705296

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-7.91271439e-01  6.11460847e-01  2.26768690e-03]
 [-6.11464874e-01 -7.91262941e-01 -3.69671821e-03]
 [-4.66061843e-04 -4.31171843e-03  9.99990596e-01]]

 t_estimated:
[[0.66775386]
 [0.74438135]
 [0.00109468]]

 R_gt:
[[ 0.99419376 -0.03162207 -0.10286082]
 [ 0.04154195  0.9945354   0.09578018]
 [ 0.0992699  -0.09949767  0.9900737 ]]

 t_gt:
[ 0.43053415 -0.76995433  0.4709678 ]

Pose Error in degrees for R and t:
144.5129468504346 73.43318679100707

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.7908412  -0.61009444  0.04852801]
 [ 0.61183674  0.79006102 -0.03820194]
 [-0.0150333   0.05990289  0.998091  ]]

 t_estimated:
[[-0.18992668]
 [-0.98128785]
 [-0.03165445]]

 R_gt:
[[ 0.98822941  0.04296315 -0.14682309]
 [-0.01054947  0.97660809  0.21477191]
 [ 0.15261583 -0.21069572  0.96556521]]

 t_gt:
[ 0.20114455 -0.46484677  0.86224031]

Pose Error in degrees for R and t:
43.36773303781925 67.00492288368048

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-0.94192946 -0.33551193 -0.01416451]
 [-0.33551982  0.94203126 -0.00188662]
 [ 0.0139764   0.00297541 -0.9998979 ]]

 t_estimated:
[[ 0.98358472]
 [ 0.18032124]
 [-0.00673406]]

 R_gt:
[[ 0.99964374  0.02155162 -0.01572197]
 [-0.02116703  0.99948252  0.02421608]
 [ 0.01623576 -0.02387448  0.99958374]]

 t_gt:
[0.88757244 0.43745944 0.14437588]

Pose Error in degrees for R and t:
178.51443838503891 18.02646363117397

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.07765089  0.9969171   0.01125292]
 [-0.99697983  0.07763174  0.00212904]
 [ 0.00124889 -0.01138425  0.99993442]]

 t_estimated:
[[0.01260621]
 [0.99991974]
 [0.00126096]]

 R_gt:
[[ 0.9889652   0.10940267 -0.09989   ]
 [-0.10788363  0.99395143  0.02049864]
 [ 0.10152754 -0.00949559  0.99478754]]

 t_gt:
[-0.0264999   0.70458656 -0.70912308]

Pose Error in degrees for R and t:
79.5004330212514 45.307490876607375

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 5.38816407e-01  8.42423152e-01 -3.34143663e-04]
 [ 8.42415442e-01 -5.38809687e-01  4.51044045e-03]
 [ 3.61965962e-03 -2.71178710e-03 -9.99989772e-01]]

 t_estimated:
[[8.20008874e-01]
 [5.72350355e-01]
 [7.19937554e-04]]

 R_gt:
[[ 0.98503642  0.08663633 -0.14898526]
 [-0.084807    0.99622293  0.01859828]
 [ 0.15003285 -0.00568469  0.98866505]]

 t_gt:
[ 0.26702452  0.34569897 -0.89954996]

Pose Error in degrees for R and t:
175.01726558388106 65.40661731615099

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.96439320e-01 -8.43130029e-02 -3.61486407e-06]
 [ 8.43130029e-02  9.96439316e-01  8.00716527e-05]
 [-3.14908880e-06 -8.00913231e-05  9.99999997e-01]]

 t_estimated:
[[9.66296422e-01]
 [2.57430986e-01]
 [7.15660126e-04]]

 R_gt:
[[ 0.9965624  -0.06198475  0.05496317]
 [ 0.06149354  0.99805153  0.01058715]
 [-0.05551157 -0.00717101  0.9984319 ]]

 t_gt:
[ 0.6327411  -0.16947613  0.75559019]

Pose Error in degrees for R and t:
3.459278341844302 55.3662996930578

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-0.00412318  0.99998634  0.00321245]
 [-0.99999016 -0.0041179  -0.00164749]
 [-0.00163424 -0.00321921  0.99999348]]

 t_estimated:
[[0.04132597]
 [0.99914333]
 [0.00218538]]

 R_gt:
[[ 9.87701863e-01 -1.33066436e-01  8.20928080e-02]
 [ 1.32552530e-01  9.91107197e-01  1.16994940e-02]
 [-8.29183118e-02 -6.74038796e-04  9.96556203e-01]]

 t_gt:
[ 0.84776424 -0.13427208  0.51309531]

Pose Error in degrees for R and t:
97.9563641990871 84.3759257153831

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.94325686e-01 -1.06378675e-01 -8.67082997e-05]
 [ 1.06378692e-01  9.94325664e-01  2.20620769e-04]
 [ 6.27469425e-05 -2.28592813e-04  9.99999972e-01]]

 t_estimated:
[[-0.99364229]
 [-0.11257432]
 [-0.00142415]]

 R_gt:
[[ 0.98294245 -0.12699241  0.13303106]
 [ 0.13035774  0.99132415 -0.01686823]
 [-0.129735    0.03392061  0.99096757]]

 t_gt:
[0.77623446 0.12425381 0.61807851]

Pose Error in degrees for R and t:
7.825027098378022 38.171221269701405

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.64728111e-01 -2.63248279e-01 -1.20863523e-04]
 [ 2.63248285e-01  9.64728117e-01  3.53350238e-05]
 [ 1.07298554e-04 -6.59058058e-05  9.99999992e-01]]

 t_estimated:
[[8.89900637e-01]
 [4.56153986e-01]
 [6.29811247e-04]]

 R_gt:
[[ 0.99486161  0.04464643 -0.09087542]
 [-0.04732483  0.99849978 -0.02754064]
 [ 0.08950888  0.0317001   0.99548181]]

 t_gt:
[ 0.13800018  0.38837316 -0.91111044]

Pose Error in degrees for R and t:
18.70721238936188 72.57899607257578

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-5.19598958e-01 -8.54402358e-01 -3.67874337e-03]
 [-8.54407987e-01  5.19602720e-01 -7.87146176e-05]
 [ 1.97873902e-03  3.10224769e-03 -9.99993230e-01]]

 t_estimated:
[[ 8.32255027e-01]
 [ 5.54392540e-01]
 [-6.93868767e-04]]

 R_gt:
[[ 0.99362123  0.00317131 -0.11272691]
 [-0.00442038  0.99993174 -0.01083122]
 [ 0.11268528  0.01126042  0.99356726]]

 t_gt:
[ 0.4475185  -0.12629651 -0.88531146]

Pose Error in degrees for R and t:
173.86271216393993 72.35935645424335

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.98565927e-01  5.35340297e-02  4.44127279e-04]
 [-5.35340117e-02  9.98566025e-01 -5.23398579e-05]
 [-4.46292375e-04  2.84888838e-05  9.99999900e-01]]

 t_estimated:
[[-0.03861882]
 [ 0.99925349]
 [ 0.00102228]]

 R_gt:
[[ 0.98923758 -0.04731118 -0.13845677]
 [ 0.05155276  0.99829978  0.02720155]
 [ 0.13693432 -0.03404634  0.98999494]]

 t_gt:
[ 0.59632744 -0.53027991 -0.60265812]

Pose Error in degrees for R and t:
10.05775204697973 56.39050322372042

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.99546574  0.0951104  -0.00140138]
 [-0.09510599  0.99546283  0.00293484]
 [ 0.00167416 -0.00278825  0.99999471]]

 t_estimated:
[[0.59712116]
 [0.80215037]
 [0.00105685]]

 R_gt:
[[ 0.99215091  0.10262797 -0.07144844]
 [-0.09474529  0.98982839  0.10612612]
 [ 0.08161249 -0.09852406  0.99178255]]

 t_gt:
[-0.61241139  0.25408841  0.74859292]

Pose Error in degrees for R and t:
7.1696999367817185 80.7306704698761

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.87089482e-01 -1.60169766e-01 -2.74049551e-05]
 [ 1.60169750e-01  9.87089265e-01  6.58223603e-04]
 [-7.83763837e-05 -6.54115040e-04  9.99999783e-01]]

 t_estimated:
[[0.23688003]
 [0.9715378 ]
 [0.00146561]]

 R_gt:
[[ 0.98482572  0.13509029 -0.10894968]
 [-0.11414038  0.9770686   0.17974645]
 [ 0.1307328  -0.16458338  0.97766059]]

 t_gt:
[-0.23984971  0.39781818  0.88555791]

Pose Error in degrees for R and t:
20.4032109744381 70.67187283490865

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.63042284e-01  2.69349482e-01  6.45272858e-04]
 [-2.69349676e-01  9.63042417e-01  2.33973624e-04]
 [-5.58404459e-04 -3.99130529e-04  9.99999764e-01]]

 t_estimated:
[[-0.22500673]
 [ 0.97435657]
 [ 0.00111718]]

 R_gt:
[[ 0.96595192  0.23515108 -0.10789637]
 [-0.21099902  0.95733665  0.19744565]
 [ 0.14972265 -0.16795738  0.97435744]]

 t_gt:
[-0.45749429  0.78483408  0.41801249]

Pose Error in degrees for R and t:
13.257824969159902 29.759729907784187

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.29478232 -0.9178742   0.26572607]
 [-0.93644521  0.33283894  0.11085395]
 [-0.19019396 -0.21616012 -0.95765394]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99637328 -0.04188324 -0.07407072]
 [ 0.04515378  0.99805206  0.04305708]
 [ 0.07212395 -0.04624569  0.99632329]]

 t_gt:
[ 0.91052615 -0.31559661 -0.26709718]

Pose Error in degrees for R and t:
165.7110380918432 62.19384046136406

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.95530360e-01 -9.44420536e-02 -8.05008884e-06]
 [ 9.44420490e-02  9.95530277e-01  4.08712277e-04]
 [-3.05855196e-05 -4.07645747e-04  9.99999916e-01]]

 t_estimated:
[[0.84095491]
 [0.54110425]
 [0.00101658]]

 R_gt:
[[ 0.99162708 -0.01109615 -0.12866601]
 [ 0.01490843  0.99947618  0.02871278]
 [ 0.12828097 -0.03039     0.99127261]]

 t_gt:
[ 0.76221481  0.10342245 -0.63900891]

Pose Error in degrees for R and t:
8.89377410950194 45.86901842064449

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 7.92598139e-01 -6.09743514e-01 -1.01881005e-03]
 [ 6.09744360e-01  7.92597246e-01  1.19210471e-03]
 [ 8.06279250e-05 -1.56607366e-03  9.99998770e-01]]

 t_estimated:
[[0.93513196]
 [0.35429799]
 [0.00107363]]

 R_gt:
[[ 0.98104276 -0.01913269 -0.19284865]
 [ 0.02405859  0.99944074  0.02323675]
 [ 0.19229693 -0.02743529  0.98095382]]

 t_gt:
[ 0.75751779  0.0683401  -0.64922756]

Pose Error in degrees for R and t:
37.94058493227951 42.95451991272804

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.99537625e-01  3.04060621e-02  8.38234634e-05]
 [-3.04060648e-02  9.99537628e-01  3.12270549e-05]
 [-8.28352140e-05 -3.37613579e-05  9.99999996e-01]]

 t_estimated:
[[0.82121391]
 [0.57061958]
 [0.00100809]]

 R_gt:
[[ 0.98648196 -0.16236307 -0.02215888]
 [ 0.16318519  0.98568283  0.04243007]
 [ 0.01495355 -0.04547234  0.99885383]]

 t_gt:
[ 0.5296419  -0.8340005   0.15466939]

Pose Error in degrees for R and t:
11.448379450844413 87.66215382995638

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 6.69426997e-01  7.42877797e-01  2.72050419e-04]
 [-7.42877832e-01  6.69427013e-01  4.11396268e-05]
 [-1.51556184e-04 -2.29640202e-04  9.99999962e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.96048135 -0.27359208 -0.05122205]
 [ 0.27568155  0.96044145  0.03939545]
 [ 0.03841843 -0.05195986  0.9979098 ]]

 t_gt:
[ 0.59224287 -0.80178943  0.079888  ]

Pose Error in degrees for R and t:
64.03073270560856 53.856074833886844

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.45499673 -0.71804851  0.52667287]
 [-0.65126653 -0.67168415 -0.35311798]
 [ 0.60731366 -0.18233689 -0.77325505]]

 t_estimated:
[[0.5307768 ]
 [0.84751074]
 [0.00123724]]

 R_gt:
[[ 0.93464016 -0.35055329 -0.05967005]
 [ 0.35417576  0.93268706  0.06822442]
 [ 0.031738   -0.0848992   0.99588389]]

 t_gt:
[ 0.6259097  -0.76574682  0.14788121]

Pose Error in degrees for R and t:
170.23044305230002 71.54393720476394

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-9.99961330e-01 -8.77539418e-03 -5.75406536e-04]
 [-8.77635907e-03  9.99960048e-01  1.69637473e-03]
 [ 5.60497190e-04  1.70135910e-03 -9.99998396e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075770e-03]
 [7.75189838e-04]]

 R_gt:
[[ 0.99801217  0.04380843  0.04531475]
 [-0.03963281  0.99521765 -0.08927827]
 [-0.0490089   0.0873047   0.99497497]]

 t_gt:
[-0.62233542  0.64631258 -0.44156389]

Pose Error in degrees for R and t:
177.35056783809202 51.634886901851615

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 7.60626145e-01  6.49168359e-01  5.32068999e-03]
 [ 6.49174433e-01 -7.60639223e-01  7.27264352e-04]
 [ 4.51924251e-03  2.90087963e-03 -9.99985581e-01]]

 t_estimated:
[[-0.99856362]
 [-0.0534211 ]
 [-0.00410932]]

 R_gt:
[[ 0.9911257   0.08576518  0.10155581]
 [-0.0728367   0.98950336 -0.1248073 ]
 [-0.11119362  0.11630254  0.98696933]]

 t_gt:
[-0.74291758  0.66675623 -0.05924187]

Pose Error in degrees for R and t:
171.31317394611344 45.05116478767762

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.99890222  0.04655943 -0.00515558]
 [-0.04646387  0.99876982  0.01731925]
 [ 0.00595561 -0.01706069  0.99983672]]

 t_estimated:
[[0.99794443]
 [0.0638221 ]
 [0.005802  ]]

 R_gt:
[[ 0.98890706  0.13265984  0.06681051]
 [-0.12887005  0.98995328 -0.05818298]
 [-0.07385723  0.0489271   0.99606728]]

 t_gt:
[-0.75542483  0.64814388  0.09613969]

Pose Error in degrees for R and t:
7.692987172405243 44.60634468155606

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 8.21074147e-01  5.70821366e-01  4.61286956e-04]
 [-5.70821529e-01  8.21073612e-01  9.51423998e-04]
 [ 1.64342600e-04 -1.04450217e-03  9.99999441e-01]]

 t_estimated:
[[0.46269849]
 [0.88651476]
 [0.00129607]]

 R_gt:
[[ 0.99528708 -0.09536992  0.017552  ]
 [ 0.09635495  0.99299648 -0.06837082]
 [-0.0109086   0.0697389   0.99750535]]

 t_gt:
[ 0.49832769 -0.71387018 -0.49199479]

Pose Error in degrees for R and t:
40.51551147318657 66.23923573432934

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99238523e-01 -3.90174498e-02  1.13028330e-04]
 [ 3.90174695e-02  9.99238513e-01 -1.77013864e-04]
 [-1.06035631e-04  1.81289151e-04  9.99999978e-01]]

 t_estimated:
[[ 0.6380673 ]
 [-0.7699795 ]
 [-0.00130311]]

 R_gt:
[[ 9.85604775e-01 -1.69068351e-01 -2.95237099e-04]
 [ 1.68623683e-01  9.83138971e-01 -7.07329576e-02]
 [ 1.22483992e-02  6.96640365e-02  9.97494936e-01]]

 t_gt:
[ 0.54495723 -0.75656964 -0.36141944]

Pose Error in degrees for R and t:
8.517914331904814 21.450561597673143

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-9.94947595e-01  1.00382890e-01  1.59930349e-03]
 [-1.00390802e-01 -9.94929726e-01 -6.04374637e-03]
 [ 9.84505853e-04 -6.17376627e-03  9.99980457e-01]]

 t_estimated:
[[0.77208553]
 [0.63551692]
 [0.00147548]]

 R_gt:
[[ 0.94860399 -0.31628791  0.01066266]
 [ 0.31643098  0.94744893 -0.04702312]
 [ 0.00477034  0.04798072  0.99883655]]

 t_gt:
[ 0.66609187 -0.73521255 -0.12563493]

Pose Error in degrees for R and t:
167.31006118543337 87.31445166531502

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999774e-01  1.24973268e-04 -6.61304262e-04]
 [-1.24395776e-04  9.99999611e-01  8.73231615e-04]
 [ 6.61413135e-04 -8.73149154e-04  9.99999400e-01]]

 t_estimated:
[[0.6130053 ]
 [0.79007761]
 [0.00136681]]

 R_gt:
[[ 0.95082375  0.30806088 -0.03213076]
 [-0.30768961  0.95135123  0.01607731]
 [ 0.03552063 -0.00540027  0.99935427]]

 t_gt:
[-0.54123712  0.83778234 -0.07199396]

Pose Error in degrees for R and t:
18.041180546928658 70.72919428783534

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.95044232e-01 -9.94324770e-02  3.98521858e-04]
 [ 9.94327428e-02  9.95044029e-01 -7.14479605e-04]
 [-3.25504319e-04  7.50564931e-04  9.99999665e-01]]

 t_estimated:
[[-8.82352662e-01]
 [-4.70588087e-01]
 [-7.94912308e-04]]

 R_gt:
[[ 0.86620564  0.49576698 -0.06247373]
 [-0.49382301  0.86842063  0.04454469]
 [ 0.07633725 -0.00773278  0.99705276]]

 t_gt:
[-0.42729528  0.89926048 -0.0935379 ]

Pose Error in degrees for R and t:
35.678876133288846 87.3587727010989

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.94281646e-01  1.06788742e-01 -4.15199052e-04]
 [-1.06788170e-01  9.94281052e-01  1.21493936e-03]
 [ 5.42566396e-04 -1.16365356e-03  9.99999176e-01]]

 t_estimated:
[[-0.66082358]
 [ 0.75054019]
 [ 0.00127639]]

 R_gt:
[[ 0.81592123  0.5747983  -0.06228621]
 [-0.56852467  0.81723895  0.0943459 ]
 [ 0.10513215 -0.04156698  0.99358975]]

 t_gt:
[-0.38754315  0.91971401 -0.06274108]

Pose Error in degrees for R and t:
29.555927395806712 18.86201526972298

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 8.66131551e-02 -9.96240846e-01 -1.52884104e-03]
 [ 9.96242008e-01  8.66128230e-02  2.82226613e-04]
 [-1.48748442e-04 -1.54754021e-03  9.99998791e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99347114 -0.11118257 -0.02553843]
 [ 0.11066189  0.99363709 -0.02097231]
 [ 0.02770766  0.01801005  0.99945361]]

 t_gt:
[ 0.75315345 -0.61283203 -0.23915846]

Pose Error in degrees for R and t:
78.6800964275062 41.31737350346234

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.83388449e-01  1.81513228e-01  3.25386322e-04]
 [-1.81513200e-01  9.83388502e-01 -1.11958661e-04]
 [-3.40303145e-04  5.10369412e-05  9.99999941e-01]]

 t_estimated:
[[0.41582279]
 [0.90944467]
 [0.00134136]]

 R_gt:
[[ 0.9631541  -0.26840096 -0.01715284]
 [ 0.26818392  0.96326679 -0.01392455]
 [ 0.02025962  0.00881178  0.99975631]]

 t_gt:
[ 0.8580408  -0.50781513 -0.07674485]

Pose Error in degrees for R and t:
26.05350019681745 83.9647794468959

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.98958643e-01  4.56171940e-02  8.37965583e-04]
 [-4.56161967e-02  9.98958351e-01 -1.17301558e-03]
 [-8.90602396e-04  1.13356925e-03  9.99998961e-01]]

 t_estimated:
[[ 9.98132741e-01]
 [-6.10821712e-02]
 [-2.64462043e-05]]

 R_gt:
[[ 0.87749513 -0.47939514 -0.01351993]
 [ 0.47941391  0.87758623 -0.00199726]
 [ 0.01282184 -0.00472844  0.99990604]]

 t_gt:
[ 0.91961789 -0.39255763 -0.01419285]

Pose Error in degrees for R and t:
31.27366929032872 19.630393389075817

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99999419e-01  1.05003468e-03  2.45159295e-04]
 [-1.04999238e-03  9.99999434e-01 -1.72617089e-04]
 [-2.45340410e-04  1.72359573e-04  9.99999955e-01]]

 t_estimated:
[[ 0.29612135]
 [-0.95514347]
 [-0.00361956]]

 R_gt:
[[ 0.99063181 -0.13546108 -0.01732679]
 [ 0.13584299  0.99046014  0.02316261]
 [ 0.01402372 -0.02529873  0.99958162]]

 t_gt:
[ 0.6717036  -0.7275645   0.13951407]

Pose Error in degrees for R and t:
8.033824557762545 26.705369577977354

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 7.37217900e-02 -9.97276831e-01 -2.00520699e-03]
 [ 9.97278791e-01  7.37223070e-02 -1.85062495e-04]
 [ 3.32387023e-04 -1.98610726e-03  9.99997972e-01]]

 t_estimated:
[[9.8935862e-01]
 [1.4549537e-01]
 [7.8685886e-04]]

 R_gt:
[[ 0.98961769 -0.11145698 -0.09074649]
 [ 0.11741862  0.99106777  0.06322572]
 [ 0.08288889 -0.0732239   0.9938651 ]]

 t_gt:
[ 0.62554619 -0.75500722  0.19661143]

Pose Error in degrees for R and t:
79.38320063982354 59.389831452986876

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.37958933 -0.92514277 -0.00477341]
 [ 0.92514917  0.3795634   0.00553502]
 [-0.00330887 -0.00651715  0.99997329]]

 t_estimated:
[[ 0.95403713]
 [-0.29962306]
 [ 0.0062585 ]]

 R_gt:
[[ 0.99046134 -0.01192772 -0.13727346]
 [ 0.03608529  0.98392964  0.17487255]
 [ 0.13298126 -0.17815726  0.97497499]]

 t_gt:
[ 0.33322305 -0.64902437  0.68390772]

Pose Error in degrees for R and t:
67.32072780228864 58.89218847239134

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 7.97141151e-01 -6.03790095e-01 -1.87289935e-03]
 [ 6.03787300e-01  7.97143269e-01 -1.87243150e-03]
 [ 2.62352471e-03  3.61759357e-04  9.99996493e-01]]

 t_estimated:
[[ 0.75002007]
 [-0.66141251]
 [-0.00183972]]

 R_gt:
[[ 0.99877163  0.0323278  -0.03755462]
 [-0.03673693  0.99168137 -0.12336507]
 [ 0.03325367  0.12459183  0.9916508 ]]

 t_gt:
[-0.09023965  0.49819311 -0.86235748]

Pose Error in degrees for R and t:
39.77817635126083 66.6962126617713

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99980774e-01  5.64030835e-03  2.57656728e-03]
 [ 5.64005344e-03 -9.99984089e-01  1.06188988e-04]
 [ 2.57712522e-03 -9.16549688e-05 -9.99996675e-01]]

 t_estimated:
[[0.87159921]
 [0.49021834]
 [0.00089948]]

 R_gt:
[[ 0.99554515 -0.06209784 -0.07096105]
 [ 0.04655273  0.97810897 -0.2028199 ]
 [ 0.08200254  0.19861184  0.97664195]]

 t_gt:
[ 0.21367832  0.07266437 -0.97419786]

Pose Error in degrees for R and t:
168.42203878638372 77.23299001492553

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 8.12263596e-01  5.83289248e-01 -1.22645770e-03]
 [-5.83288252e-01  8.12264504e-01  1.09102848e-03]
 [ 1.63259323e-03 -1.70824350e-04  9.99998653e-01]]

 t_estimated:
[[-0.7084096 ]
 [-0.70580035]
 [-0.00130462]]

 R_gt:
[[ 0.9843287  -0.1686251  -0.05160124]
 [ 0.14660619  0.94513528 -0.29193755]
 [ 0.0979981   0.27979727  0.9550446 ]]

 t_gt:
[ 0.35125731 -0.10730749 -0.93010935]

Pose Error in degrees for R and t:
47.9999073954878 80.1026845480948

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.64828323e-01 -2.62880517e-01 -3.76168871e-04]
 [ 2.62880599e-01  9.64828356e-01  1.84624171e-04]
 [ 3.14404296e-04 -2.77018128e-04  9.99999912e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.99985371  0.01288302  0.01124721]
 [-0.01270158  0.99979069 -0.01605138]
 [-0.01145173  0.01590601  0.99980782]]

 t_gt:
[-0.53053502  0.82569899 -0.19171274]

Pose Error in degrees for R and t:
16.014852916621496 34.64091212530685

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99505297e-01 -3.14509239e-02 -2.16062609e-05]
 [ 3.14509233e-02  9.99505297e-01 -2.88011217e-05]
 [ 2.25013942e-05  2.81073369e-05  9.99999999e-01]]

 t_estimated:
[[-0.99450686]
 [-0.10466042]
 [-0.00151882]]

 R_gt:
[[ 0.99980485 -0.01684348  0.01028936]
 [ 0.01726237  0.99896734 -0.04203806]
 [-0.00957133  0.04220703  0.99906338]]

 t_gt:
[-0.31400676  0.84792455 -0.4271109 ]

Pose Error in degrees for R and t:
2.612441440038476 77.04495758670407

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.86056942e-01 -1.66408239e-01 -7.20489073e-05]
 [ 1.66408250e-01  9.86056923e-01  1.98103978e-04]
 [ 3.80781897e-05 -2.07331335e-04  9.99999978e-01]]

 t_estimated:
[[9.62209855e-01]
 [2.72307778e-01]
 [8.18367923e-04]]

 R_gt:
[[ 0.99730022 -0.05402561  0.04973031]
 [ 0.0572361   0.99620541 -0.06556443]
 [-0.0459991   0.06823343  0.99660835]]

 t_gt:
[-0.12436078  0.95925232 -0.2537112 ]

Pose Error in degrees for R and t:
7.94534143031659 81.87442880806614

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.92520191e-01 -1.22080199e-01  3.07833532e-04]
 [ 1.22080261e-01  9.92520213e-01 -1.90134928e-04]
 [-2.82319293e-04  2.26293153e-04  9.99999935e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9919974  -0.12616914 -0.00476648]
 [ 0.12623354  0.99184469  0.01756612]
 [ 0.00251269 -0.01802756  0.99983454]]

 t_gt:
[ 0.64271523 -0.7615272   0.08362694]

Pose Error in degrees for R and t:
1.0847044939110773 50.17719369762034

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 8.73479285e-01  4.86860853e-01  6.70168509e-04]
 [-4.86860604e-01  8.73479534e-01 -5.05864680e-04]
 [-8.31664187e-04  1.15583674e-04  9.99999647e-01]]

 t_estimated:
[[0.27266162]
 [0.96210924]
 [0.0012022 ]]

 R_gt:
[[ 0.99218691 -0.12436948 -0.00989437]
 [ 0.12458268  0.99189261  0.02507281]
 [ 0.00669634 -0.0261093   0.99963698]]

 t_gt:
[ 0.6609312  -0.7455032   0.08599377]

Pose Error in degrees for R and t:
36.319363769759825 57.524320318403554

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.94010425 -0.34088302 -0.00166148]
 [ 0.34088541  0.94010371  0.00146574]
 [ 0.00106232 -0.00194432  0.99999755]]

 t_estimated:
[[8.56885602e-01]
 [5.15506044e-01]
 [7.63712658e-04]]

 R_gt:
[[ 0.99662188 -0.03844243 -0.07257797]
 [ 0.04173053  0.99814423  0.0443521 ]
 [ 0.07073983 -0.04723091  0.9963762 ]]

 t_gt:
[ 0.73691296 -0.65227128 -0.17748651]

Pose Error in degrees for R and t:
18.254998993719763 72.83857855377826

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.19086343 -0.98159583 -0.00638517]
 [-0.98160605 -0.1908875   0.00339482]
 [-0.00455119  0.00561977 -0.99997385]]

 t_estimated:
[[0.79980342]
 [0.60026146]
 [0.00081779]]

 R_gt:
[[ 0.99987532  0.01205084 -0.0102529 ]
 [-0.01288551  0.99624308 -0.08562855]
 [ 0.00918146  0.08575058  0.99627441]]

 t_gt:
[-0.06278717  0.42030245 -0.90520916]

Pose Error in degrees for R and t:
175.76719391309626 78.3850390204549

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-0.97910426 -0.203351   -0.00179616]
 [ 0.20335407 -0.97910373 -0.00173323]
 [-0.00140617 -0.00206227  0.99999688]]

 t_estimated:
[[0.91388971]
 [0.40596144]
 [0.00095296]]

 R_gt:
[[ 0.99798169  0.01306671 -0.06213572]
 [-0.02419138  0.98303492 -0.1818164 ]
 [ 0.05870604  0.18295265  0.98136694]]

 t_gt:
[ 0.01949619  0.37836897 -0.92544952]

Pose Error in degrees for R and t:
169.3994326817432 80.18086047552795

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99979905e-01  6.33869005e-03 -1.06768861e-04]
 [-6.33842982e-03  9.99977306e-01  2.28296178e-03]
 [ 1.21237425e-04 -2.28223915e-03  9.99997388e-01]]

 t_estimated:
[[9.97458238e-01]
 [7.12470170e-02]
 [9.62797527e-04]]

 R_gt:
[[ 0.98973562 -0.13856364 -0.03498592]
 [ 0.12381979  0.95366236 -0.274219  ]
 [ 0.07136091  0.26707291  0.96103032]]

 t_gt:
[ 0.32394911 -0.0954164  -0.9412506 ]

Pose Error in degrees for R and t:
18.056934868029263 71.61374858853515

Number of keypoints:
Image1: 367
Image2: 367

 R_estimated:
[[ 0.99978765  0.02057767 -0.00109852]
 [-0.02057357  0.99978181  0.00361405]
 [ 0.00117265 -0.00359068  0.99999287]]

 t_estimated:
[[0.68864912]
 [0.72508559]
 [0.00364365]]

 R_gt:
[[ 0.99953307 -0.02658028 -0.0151223 ]
 [ 0.0267227   0.99959931  0.00929233]
 [ 0.01486922 -0.00969151  0.99984206]]

 t_gt:
[ 0.20260152 -0.94193241 -0.26779835]

Pose Error in degrees for R and t:
2.8405420371807493 57.01386869082357

Number of keypoints:
Image1: 588
Image2: 588

 R_estimated:
[[ 9.98389619e-01 -5.67288733e-02  6.01448257e-05]
 [ 5.67288698e-02  9.98389619e-01  5.81931622e-05]
 [-6.33492022e-05 -5.46875010e-05  9.99999996e-01]]

 t_estimated:
[[ 9.91824084e-01]
 [-1.27609469e-01]
 [ 9.00143237e-04]]

 R_gt:
[[ 0.9985389  -0.02307998  0.04887116]
 [ 0.02299068  0.99973277  0.0023832 ]
 [-0.04891319 -0.00125543  0.99880143]]

 t_gt:
[-0.47283052 -0.28343766  0.83432272]

Pose Error in degrees for R and t:
3.402294180314195 64.4026297128153

Number of keypoints:
Image1: 484
Image2: 484

 R_estimated:
[[ 9.96876351e-01  7.89780876e-02 -4.30657177e-05]
 [-7.89780916e-02  9.96876347e-01 -1.01746375e-04]
 [ 3.48954612e-05  1.04829803e-04  9.99999994e-01]]

 t_estimated:
[[-0.22295499]
 [ 0.97482809]
 [-0.00112658]]

 R_gt:
[[ 0.99900943  0.00232045  0.0444595 ]
 [-0.00149871  0.9998271  -0.01850095]
 [-0.04449435  0.01841607  0.99883967]]

 t_gt:
[-0.92242454  0.03951359  0.38415054]

Pose Error in degrees for R and t:
5.210831176476158 75.89230129847262

Number of keypoints:
Image1: 466
Image2: 466

 R_estimated:
[[ 9.99826969e-01 -1.86017199e-02  8.71127692e-05]
 [ 1.86017187e-02  9.99826973e-01  1.49720830e-05]
 [-8.73762028e-05 -1.33490451e-05  9.99999996e-01]]

 t_estimated:
[[0.35460704]
 [0.93501492]
 [0.0009764 ]]

 R_gt:
[[ 0.99872609 -0.04887366  0.01257025]
 [ 0.04943898  0.99755413 -0.04942639]
 [-0.01012336  0.04998407  0.99869812]]

 t_gt:
[ 0.5095103   0.45302974 -0.73154856]

Pose Error in degrees for R and t:
3.4083856079892563 52.87533884033281

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.98414407e-01 -5.62863629e-02 -7.18692383e-04]
 [ 5.62871671e-02  9.98413955e-01  1.15264341e-03]
 [ 6.52674400e-04 -1.19126894e-03  9.99999077e-01]]

 t_estimated:
[[-0.7323889 ]
 [-0.68088599]
 [-0.00087293]]

 R_gt:
[[ 0.99270949 -0.09905317  0.06867425]
 [ 0.10193757  0.99399376 -0.03982921]
 [-0.06431726  0.04653918  0.9968436 ]]

 t_gt:
[0.92555675 0.19342477 0.32547128]

Pose Error in degrees for R and t:
5.279359236361729 35.91854274696562

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[-9.57587220e-01 -2.88141257e-01 -1.15422381e-03]
 [ 2.88143119e-01 -9.57585121e-01 -2.06834631e-03]
 [-5.09291640e-04 -2.31320364e-03  9.99997195e-01]]

 t_estimated:
[[9.04477391e-01]
 [4.26520835e-01]
 [7.91318803e-04]]

 R_gt:
[[ 0.98005043 -0.17412332  0.09582681]
 [ 0.1782118   0.98333995 -0.03583249]
 [-0.08799118  0.05219525  0.9947528 ]]

 t_gt:
[ 0.96126178 -0.0065249   0.27555982]

Pose Error in degrees for R and t:
153.12281668422466 29.90254614535911

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 1.00000000e+00  1.30343014e-10 -6.38316067e-15]
 [-1.30343125e-10  1.00000000e+00 -9.85930901e-14]
 [ 6.38298618e-15  9.85929884e-14  1.00000000e+00]]

 t_estimated:
[[-2.01508434e-01]
 [ 9.79486779e-01]
 [-3.25908961e-05]]

 R_gt:
[[ 0.99858918  0.00637739 -0.05270702]
 [-0.0069941   0.99990946 -0.01152932]
 [ 0.05262962  0.01188197  0.99854288]]

 t_gt:
[ 0.16857292  0.14526642 -0.97492607]

Pose Error in degrees for R and t:
3.1168085748323353 83.77982290535729

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.27311894 -0.96197894 -0.00159972]
 [-0.96189501 -0.2731165   0.01285976]
 [-0.01280773 -0.00197348 -0.99991603]]

 t_estimated:
[[0.61591515]
 [0.78777995]
 [0.00716109]]

 R_gt:
[[ 0.99819179 -0.02888182 -0.05272414]
 [ 0.02717475  0.99909302 -0.03280821]
 [ 0.05362453  0.03131649  0.99806929]]

 t_gt:
[ 0.44789084 -0.20828348 -0.86948938]

Pose Error in degrees for R and t:
177.23460101179498 83.94087337088212

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.01027472e-01  4.33761810e-01 -4.32478795e-04]
 [-4.33761700e-01  9.01027569e-01  3.26603341e-04]
 [ 5.31343374e-04 -1.06685845e-04  9.99999853e-01]]

 t_estimated:
[[0.71438077]
 [0.6997568 ]
 [0.0007312 ]]

 R_gt:
[[ 0.97770436 -0.17592332  0.11465103]
 [ 0.1787534   0.98378335 -0.01480518]
 [-0.11018633  0.03496969  0.99329465]]

 t_gt:
[ 0.66958095 -0.70882821  0.22186463]

Pose Error in degrees for R and t:
36.5494192637086 88.99673503936151

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 8.98279597e-01 -4.39423561e-01 -8.36126321e-04]
 [ 4.39423755e-01  8.98279890e-01  5.46939715e-05]
 [ 7.27041640e-04 -4.16544247e-04  9.99999649e-01]]

 t_estimated:
[[ 3.01841992e-01]
 [-9.53357507e-01]
 [-9.35655409e-04]]

 R_gt:
[[ 0.9587682   0.27815597 -0.05825338]
 [-0.27714996  0.9605055   0.02486669]
 [ 0.06286876 -0.00769728  0.99799249]]

 t_gt:
[-0.49871135  0.85517965 -0.14126127]

Pose Error in degrees for R and t:
42.34854401922588 15.051720433169413

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 2.70725775e-01 -9.62656402e-01  4.53593242e-04]
 [-9.62655577e-01 -2.70724828e-01  1.51890987e-03]
 [-1.33938936e-03 -8.47862117e-04 -9.99998744e-01]]

 t_estimated:
[[0.4226893 ]
 [0.90627238]
 [0.00203069]]

 R_gt:
[[ 0.9032173   0.42709022 -0.04234813]
 [-0.42374989  0.90308079  0.06987024]
 [ 0.0680843  -0.0451633   0.99665716]]

 t_gt:
[-0.4652983   0.88484271 -0.02347055]

Pose Error in degrees for R and t:
179.18973566870469 52.75789905476371

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.97093574 -0.2392834  -0.00521944]
 [-0.23929657  0.97094435  0.00205613]
 [ 0.00457579  0.00324537 -0.99998426]]

 t_estimated:
[[ 0.99631925]
 [-0.0856377 ]
 [-0.0037599 ]]

 R_gt:
[[ 0.86975423  0.48996903 -0.05881183]
 [-0.48351372  0.86994361  0.09702826]
 [ 0.09870277 -0.05595443  0.99354295]]

 t_gt:
[-0.40927     0.91101156 -0.05055693]

Pose Error in degrees for R and t:
175.59708961462457 60.948837820998676

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99710945e-01  2.40419205e-02  1.16029402e-04]
 [-2.40419172e-02  9.99710951e-01 -2.96667629e-05]
 [-1.16709110e-04  2.68686182e-05  9.99999993e-01]]

 t_estimated:
[[8.01126594e-01]
 [5.98494529e-01]
 [6.92326043e-04]]

 R_gt:
[[ 0.99143754 -0.13051271  0.00434113]
 [ 0.13045886  0.99139083  0.01118917]
 [-0.00576324 -0.01052785  0.99992752]]

 t_gt:
[ 0.82126919 -0.56523925  0.07759838]

Pose Error in degrees for R and t:
8.901979406959178 71.3551130586954

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-3.16077711e-01  9.48732000e-01 -1.57218758e-03]
 [ 9.48724703e-01  3.16081468e-01  3.73413693e-03]
 [ 4.03963456e-03 -3.11295744e-04 -9.99991792e-01]]

 t_estimated:
[[-0.20667899]
 [-0.97840697]
 [-0.00189614]]

 R_gt:
[[ 0.97149641 -0.23703239  0.00327355]
 [ 0.23704421  0.97149225 -0.0035407 ]
 [-0.00234098  0.00421633  0.99998817]]

 t_gt:
[ 0.82281723 -0.5681315  -0.01408552]

Pose Error in degrees for R and t:
179.90555397447787 67.30462967700174

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 8.86907428e-01 -4.29001441e-01  1.71327107e-01]
 [ 4.61946839e-01  8.24116014e-01 -3.27777232e-01]
 [-5.76507590e-04  3.69852078e-01  9.29090474e-01]]

 t_estimated:
[[0.88547684]
 [0.46468172]
 [0.00129078]]

 R_gt:
[[ 0.93674647 -0.34811913 -0.0363445 ]
 [ 0.34840257  0.93734422  0.00154848]
 [ 0.03352845 -0.0141138   0.9993383 ]]

 t_gt:
[ 0.8702849  -0.49187663 -0.02572086]

Pose Error in degrees for R and t:
23.788814967583633 57.17889179387646

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-1.47322862e-01 -9.89086470e-01 -1.98213395e-03]
 [ 9.89088435e-01 -1.47322149e-01 -5.01732461e-04]
 [ 2.04244555e-04 -2.03442243e-03  9.99997910e-01]]

 t_estimated:
[[9.96320981e-01]
 [8.56949048e-02]
 [9.41702250e-04]]

 R_gt:
[[ 0.99836107 -0.04649359  0.03339056]
 [ 0.0469222   0.99882395 -0.01217947]
 [-0.03278408  0.01372695  0.99936796]]

 t_gt:
[ 0.63204556 -0.76178208  0.1421495 ]

Pose Error in degrees for R and t:
95.81296229812132 55.62733622448555

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 7.36147477e-01  6.76820652e-01  8.34640037e-04]
 [-6.76819053e-01  7.36147700e-01 -1.59151520e-03]
 [-1.69158870e-03  6.06689619e-04  9.99998385e-01]]

 t_estimated:
[[-9.23952398e-01]
 [ 3.82507021e-01]
 [ 5.88102802e-04]]

 R_gt:
[[ 0.95331353 -0.20104881  0.22533032]
 [ 0.19991188  0.97941048  0.02809904]
 [-0.22634083  0.01825905  0.97387748]]

 t_gt:
[ 0.54478249 -0.61415884  0.57098245]

Pose Error in degrees for R and t:
55.743230262954356 42.44399475673637

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.11364318  0.9934948  -0.00730078]
 [ 0.99349746 -0.11358609  0.00780968]
 [ 0.00692961 -0.00814083 -0.99994285]]

 t_estimated:
[[-0.02019787]
 [-0.99979459]
 [-0.00168316]]

 R_gt:
[[ 0.89918227 -0.33969995  0.27581815]
 [ 0.33266025  0.9401823   0.07344762]
 [-0.28426993  0.02571068  0.95839962]]

 t_gt:
[ 0.66605305 -0.61769033  0.41812916]

Pose Error in degrees for R and t:
170.67369707501803 52.885715438171246

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.68292409e-01  2.49819539e-01  8.83490375e-05]
 [-2.49819554e-01  9.68292378e-01  2.47682227e-04]
 [-2.36718397e-05 -2.61900138e-04  9.99999965e-01]]

 t_estimated:
[[-8.58021296e-01]
 [-5.13613680e-01]
 [-6.66165602e-04]]

 R_gt:
[[ 0.99297996 -0.11496912 -0.02782339]
 [ 0.11662916  0.99084011  0.06807519]
 [ 0.01974158 -0.07084181  0.99729197]]

 t_gt:
[ 0.74599182 -0.61031881  0.2664717 ]

Pose Error in degrees for R and t:
21.535194621785337 70.92616791374863

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-6.24397852e-01  7.81106275e-01  5.56421461e-04]
 [-7.81105470e-01 -6.24395749e-01 -2.04768357e-03]
 [-1.25203129e-03 -1.71319307e-03  9.99997749e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.97440014 -0.21176146 -0.07551218]
 [ 0.2180399   0.97198128  0.08781317]
 [ 0.05480117 -0.10202922  0.99327081]]

 t_gt:
[ 0.7995708  -0.58278359  0.14508556]

Pose Error in degrees for R and t:
141.1637056130954 70.56813112756065

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 9.21125503e-01  3.89265720e-01  8.63513305e-05]
 [-3.89265725e-01  9.21125504e-01  4.82635046e-05]
 [-6.07530849e-05 -7.80703582e-05  9.99999995e-01]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 0.97250077 -0.22014892 -0.07600942]
 [ 0.22614015  0.97063027  0.08207958]
 [ 0.05570773 -0.09701101  0.99372258]]

 t_gt:
[ 0.79176649 -0.59870519  0.12106992]

Pose Error in degrees for R and t:
36.396181857533506 68.13282265892195

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.90262200e-01 -1.39210705e-01 -1.07512283e-03]
 [ 1.39211614e-01  9.90262313e-01  8.23180757e-04]
 [ 9.50058043e-04 -9.64834371e-04  9.99999083e-01]]

 t_estimated:
[[-0.64100141]
 [-0.76753915]
 [-0.00092363]]

 R_gt:
[[ 9.75820809e-01  2.18571361e-01 -3.87744113e-04]
 [-2.18518676e-01  9.75541324e-01 -2.38466569e-02]
 [-4.83430724e-03  2.33547245e-02  9.99715920e-01]]

 t_gt:
[-0.58306663  0.80889127 -0.07568492]

Pose Error in degrees for R and t:
20.676235512175865 75.69761891084568

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 4.41882222e-02  9.99023204e-01  1.99248188e-04]
 [-9.99021835e-01  4.41884924e-02 -1.65868496e-03]
 [-1.66586924e-03 -1.25758951e-04  9.99998605e-01]]

 t_estimated:
[[-2.57094613e-01]
 [ 9.66385819e-01]
 [ 8.99068433e-04]]

 R_gt:
[[ 0.91217552  0.40875305 -0.02926569]
 [-0.40912477  0.91244544 -0.00779118]
 [ 0.02351806  0.01907956  0.9995413 ]]

 t_gt:
[-0.51307822  0.85358963 -0.09019694]

Pose Error in degrees for R and t:
63.345757618415604 16.917359358841807

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-2.74309040e-01 -9.61639744e-01 -1.88510639e-03]
 [ 9.61641350e-01 -2.74307055e-01 -1.24629694e-03]
 [ 6.81390690e-04 -2.15466678e-03  9.99997447e-01]]

 t_estimated:
[[ 9.97618901e-01]
 [-6.89649608e-02]
 [ 6.02909145e-04]]

 R_gt:
[[ 0.85360021  0.51865809 -0.04857237]
 [-0.52071488  0.8522022  -0.05106529]
 [ 0.01490709  0.06888282  0.99751365]]

 t_gt:
[-0.43915512  0.8893584  -0.12721799]

Pose Error in degrees for R and t:
137.30258896763746 60.03170383504943

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.54421264e-01  2.98462761e-01  1.77777691e-04]
 [-2.98462814e-01  9.54421071e-01  6.06247815e-04]
 [ 1.12676224e-05 -6.31675835e-04  9.99999800e-01]]

 t_estimated:
[[-7.72150428e-01]
 [-6.35439323e-01]
 [-7.63749187e-04]]

 R_gt:
[[ 9.93734388e-01 -1.11755896e-01 -9.43210283e-04]
 [ 1.11748961e-01  9.93718228e-01 -6.02067269e-03]
 [ 1.61052356e-03  5.87727262e-03  9.99981545e-01]]

 t_gt:
[ 0.63742633 -0.7702565  -0.01981402]

Pose Error in degrees for R and t:
23.784841751066455 89.84400550886652

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.95219032  0.30549478 -0.00255468]
 [-0.30548592 -0.95219071 -0.00334873]
 [-0.00345556 -0.00240821  0.99999113]]

 t_estimated:
[[0.64907948]
 [0.76071861]
 [0.00173906]]

 R_gt:
[[ 0.98111947 -0.19066261 -0.03242592]
 [ 0.19110789  0.98150533  0.01121363]
 [ 0.02968885 -0.01719941  0.99941108]]

 t_gt:
[ 0.67183727 -0.73910464 -0.04856973]

Pose Error in degrees for R and t:
173.22486480914154 82.74651316686467

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.66859045e-01  2.55310583e-01  3.05498050e-04]
 [-2.55310237e-01  9.66858786e-01 -8.77473406e-04]
 [-5.19401721e-04  7.70396320e-04  9.99999568e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96573232 -0.25870553 -0.02079597]
 [ 0.25663681  0.96380957 -0.07216921]
 [ 0.03871382  0.06435897  0.99717499]]

 t_gt:
[ 0.64707367 -0.67725615 -0.35017107]

Pose Error in degrees for R and t:
30.043932988770262 83.48175416319368

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 0.92766789  0.37339769 -0.00253978]
 [-0.37339014  0.92766955  0.0030015 ]
 [ 0.00347683 -0.00183607  0.99999227]]

 t_estimated:
[[-0.23181863]
 [-0.97275792]
 [-0.00146721]]

 R_gt:
[[ 0.99970094  0.01500644  0.01930723]
 [-0.01541541  0.99965449  0.02125224]
 [-0.01898183 -0.02154287  0.99958705]]

 t_gt:
[-0.38786183  0.33939272  0.85695728]

Pose Error in degrees for R and t:
21.119139078743707 76.02546089136668

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.99999769e-01 -6.70335644e-04  1.08570603e-04]
 [ 6.70339828e-04  9.99999775e-01 -3.85091200e-05]
 [-1.08544765e-04  3.85818904e-05  9.99999993e-01]]

 t_estimated:
[[9.99993440e-01]
 [3.55338946e-03]
 [7.01975139e-04]]

 R_gt:
[[ 0.99428289 -0.10300886  0.02812813]
 [ 0.10208867  0.99424755  0.03239307]
 [-0.03130246 -0.02933588  0.99907875]]

 t_gt:
[ 0.77774738 -0.51722376  0.35719545]

Pose Error in degrees for R and t:
6.344645819802049 39.09012188683142

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.82710731e-01 -1.85146731e-01 -5.54270914e-04]
 [ 1.85146315e-01  9.82710697e-01 -7.26120463e-04]
 [ 6.79126787e-04  6.10945153e-04  9.99999583e-01]]

 t_estimated:
[[-0.15701042]
 [-0.98758834]
 [-0.00412281]]

 R_gt:
[[ 0.97408452 -0.22404283  0.03107231]
 [ 0.22338899  0.97445377  0.02319023]
 [-0.03547343 -0.01564758  0.99924811]]

 t_gt:
[ 0.81677778 -0.56148396  0.13270198]

Pose Error in degrees for R and t:
3.2059725351819215 64.80341959214243

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.14470377 -0.98803397 -0.05338242]
 [-0.9881671   0.14707506 -0.04352825]
 [ 0.05085861  0.04645205 -0.99762498]]

 t_estimated:
[[ 0.76576091]
 [ 0.64235092]
 [-0.03155201]]

 R_gt:
[[ 9.97593853e-01  6.90966602e-02  5.69537351e-03]
 [-6.90959225e-02  9.97609593e-01 -2.84234687e-04]
 [-5.70102419e-03 -1.08463447e-04  9.99984411e-01]]

 t_gt:
[-0.95266409  0.30385816  0.01006785]

Pose Error in degrees for R and t:
176.2948895445721 57.68002425260653

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99986689e-01  5.09100698e-03 -8.38906155e-04]
 [-5.08897884e-03  9.99984166e-01  2.40224970e-03]
 [ 8.51122742e-04 -2.39794855e-03  9.99996763e-01]]

 t_estimated:
[[-0.99977823]
 [-0.02101774]
 [-0.00132258]]

 R_gt:
[[ 0.99132535  0.13141267 -0.00233803]
 [-0.13142072  0.99131922 -0.00350194]
 [ 0.00185753  0.00377971  0.99999153]]

 t_gt:
[-0.95729281  0.28710732 -0.03405681]

Pose Error in degrees for R and t:
7.268600198637259 17.993567916071136

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.61011756e-01 -2.76504331e-01  1.32666199e-03]
 [ 2.76506872e-01  9.61008801e-01 -2.45637564e-03]
 [-5.95735348e-04  2.72743703e-03  9.99996103e-01]]

 t_estimated:
[[-0.66436296]
 [-0.74740833]
 [-0.00162834]]

 R_gt:
[[ 9.94177994e-01  1.03703544e-01  2.92468535e-02]
 [-1.03742063e-01  9.94603440e-01 -1.84479631e-04]
 [-2.91086809e-02 -2.85001080e-03  9.99572038e-01]]

 t_gt:
[-0.97717464  0.20717814  0.04697821]

Pose Error in degrees for R and t:
22.066530439253444 60.37801457422589

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 0.97673885 -0.21189845  0.03286728]
 [-0.2130917  -0.94205041  0.25910028]
 [-0.02394031 -0.26007705 -0.96529104]]

 t_estimated:
[[0.13657443]
 [0.98250802]
 [0.12659151]]

 R_gt:
[[ 0.99946126  0.03051682 -0.0120198 ]
 [-0.03065412  0.99946381 -0.01143512]
 [ 0.01166457  0.0117975   0.99986204]]

 t_gt:
[ 0.3724039   0.79817288 -0.47353498]

Pose Error in degrees for R and t:
165.59584559207534 39.18348727668695

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.46962566e-01 -3.21343264e-01 -6.37257273e-04]
 [ 3.21343726e-01  9.46962240e-01  8.51751412e-04]
 [ 3.29753997e-04 -1.01135533e-03  9.99999434e-01]]

 t_estimated:
[[0.9999161 ]
 [0.01287446]
 [0.0014305 ]]

 R_gt:
[[ 9.98854991e-01  4.78297276e-02  4.77219316e-04]
 [-4.78167987e-02  9.98749200e-01 -1.45391948e-02]
 [-1.17131492e-03  1.45005442e-02  9.99893707e-01]]

 t_gt:
[ 0.45826851  0.86777267 -0.19225131]

Pose Error in degrees for R and t:
21.50383440190306 62.02234748821035

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 5.43337782e-01  8.39513863e-01  7.26435181e-04]
 [-8.39512662e-01  5.43338242e-01 -1.42972808e-03]
 [-1.59497656e-03  1.66973752e-04  9.99998714e-01]]

 t_estimated:
[[0.2539821 ]
 [0.9672082 ]
 [0.00117707]]

 R_gt:
[[ 0.99917171 -0.03901879 -0.01149603]
 [ 0.03865259  0.99878681 -0.03047292]
 [ 0.01267236  0.03000355  0.99946964]]

 t_gt:
[ 0.88921209 -0.38350493 -0.24945105]

Pose Error in degrees for R and t:
59.341198493327646 81.640785841447

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[-0.14851068  0.98862812 -0.02364373]
 [ 0.98859568  0.14902445  0.02168632]
 [ 0.0249632  -0.02015344 -0.99948521]]

 t_estimated:
[[ 0.75777051]
 [-0.65231719]
 [-0.01631379]]

 R_gt:
[[ 0.99783992  0.02612788  0.0602898 ]
 [-0.0255763   0.99962438 -0.00991218]
 [-0.06052602  0.00834874  0.9981315 ]]

 t_gt:
[-0.64811743  0.38595473  0.65649276]

Pose Error in degrees for R and t:
178.8721863222368 41.096890799402

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 0.48630341  0.87351986 -0.02172674]
 [ 0.87348582 -0.48532774  0.03846438]
 [ 0.02305481 -0.03768335 -0.99902374]]

 t_estimated:
[[ 0.49595892]
 [-0.8680449 ]
 [-0.0228647 ]]

 R_gt:
[[ 0.99824434  0.0308335   0.05058894]
 [-0.02956515  0.99923451 -0.02564176]
 [-0.05134053  0.02410077  0.99839029]]

 t_gt:
[-0.87587803  0.32838999  0.35355012]

Pose Error in degrees for R and t:
179.82390574228535 43.31939173136573

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99980744e-01 -6.20406688e-03  1.45847595e-04]
 [ 6.20405406e-03  9.99980751e-01  8.81896519e-05]
 [-1.46391922e-04 -8.72831074e-05  9.99999985e-01]]

 t_estimated:
[[-8.44341203e-01]
 [-5.35805429e-01]
 [-6.88695924e-04]]

 R_gt:
[[ 0.99974281  0.02157423  0.00710363]
 [-0.02169647  0.99961195  0.01752463]
 [-0.0067219  -0.01767459  0.99982076]]

 t_gt:
[-0.96768125 -0.15732291  0.19708499]

Pose Error in degrees for R and t:
1.9229951133012455 25.682174955516786

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.95986172 -0.2781895  -0.03572237]
 [-0.27845229  0.9604468   0.00250481]
 [ 0.03361262  0.01235124 -0.99935861]]

 t_estimated:
[[ 0.98731047]
 [ 0.15774164]
 [-0.01831954]]

 R_gt:
[[ 0.99958175 -0.01646447  0.02377192]
 [ 0.01565114  0.99929753  0.0340601 ]
 [-0.02431566 -0.03367321  0.99913616]]

 t_gt:
[ 0.1058504  -0.40148983  0.90972612]

Pose Error in degrees for R and t:
179.63054573828333 88.59555223336136

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99650653e-01  2.64305110e-02 -7.09989217e-06]
 [-2.64305109e-02  9.99650653e-01  1.01904544e-05]
 [ 7.36675076e-06 -9.99924066e-06  1.00000000e+00]]

 t_estimated:
[[ 6.34570890e-01]
 [-7.72864333e-01]
 [ 7.13043442e-04]]

 R_gt:
[[ 0.99996376  0.00816223  0.00272064]
 [-0.00789541  0.99622473 -0.08644671]
 [-0.00341544  0.08642217  0.99625267]]

 t_gt:
[-0.09069264  0.44893233 -0.88895141]

Pose Error in degrees for R and t:
5.072766109527463 66.09956334144056

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.89021373e-01  1.47771418e-01  5.75257790e-04]
 [-1.47770973e-01  9.89021321e-01 -7.52046339e-04]
 [-6.80073173e-04  6.58783500e-04  9.99999552e-01]]

 t_estimated:
[[0.99527161]
 [0.09712362]
 [0.00119781]]

 R_gt:
[[ 0.99834461 -0.03234753 -0.04757229]
 [ 0.02411574  0.98609432 -0.1644297 ]
 [ 0.05222976  0.16301139  0.98524016]]

 t_gt:
[ 0.150349    0.14030666 -0.97862619]

Pose Error in degrees for R and t:
14.103213639797865 80.6715991275269

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-9.97777688e-01 -6.32967447e-02 -2.08136120e-02]
 [-6.33150934e-02  9.97993562e-01  2.23113935e-04]
 [ 2.07577284e-02  1.54043390e-03 -9.99783348e-01]]

 t_estimated:
[[ 0.99512779]
 [ 0.09818463]
 [-0.00896957]]

 R_gt:
[[ 0.99773777  0.03699088 -0.05613094]
 [-0.03641286  0.99927354  0.01127465]
 [ 0.05650712 -0.00920539  0.99836045]]

 t_gt:
[ 0.12020091  0.72198224 -0.68139077]

Pose Error in degrees for R and t:
175.5988486418509 78.66094004609086

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.77783644e-01 -2.09616250e-01 -4.15314978e-04]
 [ 2.09616494e-01  9.77783447e-01  6.75215511e-04]
 [ 2.64551968e-04 -7.47271553e-04  9.99999686e-01]]

 t_estimated:
[[-3.02964412e-01]
 [-9.53001849e-01]
 [-1.99668573e-04]]

 R_gt:
[[ 0.98270625  0.14860211 -0.11047868]
 [-0.14931353  0.9887883   0.00184974]
 [ 0.1095156   0.0146781   0.99387692]]

 t_gt:
[-0.17864672  0.87306929 -0.45369083]

Pose Error in degrees for R and t:
21.628332107771268 38.93836771652784

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.98508244  0.17207457  0.00171342]
 [-0.17206466  0.98507382 -0.00483027]
 [-0.00251901  0.00446339  0.99998687]]

 t_estimated:
[[0.00624337]
 [0.99997997]
 [0.00104056]]

 R_gt:
[[ 0.97862617  0.14096321 -0.14973499]
 [-0.13799077  0.98997564  0.03010609]
 [ 0.15247818 -0.00880023  0.98826756]]

 t_gt:
[-0.01529986  0.86885641 -0.4948277 ]

Pose Error in degrees for R and t:
9.131163012897032 29.746562162930886

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-4.33723311e-03 -9.99989366e-01 -1.56757522e-03]
 [ 9.99990560e-01 -4.33681683e-03 -2.68860601e-04]
 [ 2.62059455e-04 -1.56872654e-03  9.99998735e-01]]

 t_estimated:
[[9.99998387e-01]
 [1.71920353e-03]
 [5.20133974e-04]]

 R_gt:
[[ 0.99765055 -0.05586237 -0.03966452]
 [ 0.05557575  0.99841926 -0.0082988 ]
 [ 0.04006515  0.00607649  0.99917913]]

 t_gt:
[ 0.83355441 -0.43951175 -0.33468861]

Pose Error in degrees for R and t:
87.07598025422625 33.63082708542078

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-6.94055529e-01 -7.19911919e-01 -3.70820076e-03]
 [ 7.19918259e-01 -6.94058611e-01 -5.88337362e-04]
 [-2.15015759e-03 -3.07794023e-03  9.99992952e-01]]

 t_estimated:
[[0.94608155]
 [0.32391267]
 [0.00320706]]

 R_gt:
[[ 0.99293982 -0.07958351 -0.08796735]
 [ 0.07957518  0.99682192 -0.00361192]
 [ 0.0879745  -0.00341341  0.99611728]]

 t_gt:
[ 0.84795129 -0.36168446 -0.38750867]

Pose Error in degrees for R and t:
129.4261975652161 46.85601344247868

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999257e-01 -9.72185324e-04  7.35564452e-04]
 [ 9.72188415e-04  9.99999527e-01 -3.84427529e-06]
 [-7.35560367e-04  4.55937967e-06  9.99999729e-01]]

 t_estimated:
[[0.63480962]
 [0.77266815]
 [0.0008255 ]]

 R_gt:
[[ 0.98950756  0.03490979 -0.14020325]
 [-0.03413686  0.99938589  0.0079099 ]
 [ 0.14039316 -0.00303958  0.99009192]]

 t_gt:
[ 0.54876512  0.43090238 -0.71636582]

Pose Error in degrees for R and t:
8.367449918961912 47.10049362084233

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99996077e-01  2.80070926e-03  4.77417029e-05]
 [-2.80070980e-03  9.99996078e-01  1.12488315e-05]
 [-4.77100110e-05 -1.13824980e-05  9.99999999e-01]]

 t_estimated:
[[-0.56524277]
 [-0.8249241 ]
 [-0.0009176 ]]

 R_gt:
[[ 0.9999588  -0.00605349  0.00671871]
 [ 0.00620251  0.99972834 -0.02245768]
 [-0.00658048  0.02249751  0.99972572]]

 t_gt:
[ 0.83487166 -0.41372558 -0.36307088]

Pose Error in degrees for R and t:
1.4372163257457664 82.51423829067426

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.35455409 -0.93471229  0.02458319]
 [-0.93376621  0.35531984  0.04276077]
 [-0.04870391 -0.00779395 -0.99878285]]

 t_estimated:
[[0.82421152]
 [0.56558127]
 [0.02816379]]

 R_gt:
[[ 0.99246283 -0.12254375  0.00109169]
 [ 0.12252437  0.99205147 -0.02865098]
 [ 0.00242788  0.02856918  0.99958982]]

 t_gt:
[ 0.71229735 -0.69617799 -0.08926755]

Pose Error in degrees for R and t:
178.34384159798836 78.9991050705901

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.95606484e-01 -9.36337875e-02  6.65933603e-04]
 [ 9.36338148e-02  9.95606704e-01 -9.83209952e-06]
 [-6.62087342e-04  7.21428056e-05  9.99999778e-01]]

 t_estimated:
[[0.98912487]
 [0.14706906]
 [0.0016377 ]]

 R_gt:
[[ 0.98707762 -0.15993788  0.0099048 ]
 [ 0.16003983  0.98705354 -0.01050951]
 [-0.00809558  0.0119587   0.99989618]]

 t_gt:
[ 0.70725229 -0.70665683  0.02074425]

Pose Error in degrees for R and t:
3.917211026795831 53.43977248805272

Number of keypoints:
Image1: 355
Image2: 355

 R_estimated:
[[ 6.24455972e-01 -7.81059961e-01 -2.75485999e-04]
 [ 7.81057882e-01  6.24455055e-01 -2.11415005e-03]
 [ 1.82330658e-03  1.10502311e-03  9.99997727e-01]]

 t_estimated:
[[-0.30887717]
 [-0.95109702]
 [-0.00305819]]

 R_gt:
[[ 0.99863283 -0.02266732  0.04710708]
 [ 0.02232834  0.99972145  0.00768588]
 [-0.04726772 -0.00662302  0.99885988]]

 t_gt:
[-0.218377   -0.29677225  0.92964387]

Pose Error in degrees for R and t:
50.14243689312683 69.7041423579978

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[-9.33383823e-01 -3.58878642e-01  8.71495270e-04]
 [-3.58870367e-01  9.33374311e-01  4.94533533e-03]
 [-2.58820652e-03  4.30314217e-03 -9.99987392e-01]]

 t_estimated:
[[0.97146596]
 [0.23716561]
 [0.00252373]]

 R_gt:
[[ 0.99623426  0.01046676  0.0860663 ]
 [-0.00880311  0.99976716 -0.01970461]
 [-0.08625282  0.01887368  0.99609444]]

 t_gt:
[-0.65574883  0.17976504  0.7332653 ]

Pose Error in degrees for R and t:
175.24237283763927 53.66161241323104

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.77647955e-01  2.10248214e-01  4.04923356e-04]
 [-2.10248250e-01  9.77648030e-01  4.84508746e-05]
 [-3.85685812e-04 -1.32502326e-04  9.99999917e-01]]

 t_estimated:
[[0.3333705 ]
 [0.94279517]
 [0.00116972]]

 R_gt:
[[ 0.99890943 -0.00603731  0.04629092]
 [ 0.00649525  0.99993161 -0.00976699]
 [-0.046229    0.01005703  0.99888038]]

 t_gt:
[-0.87216761 -0.25093733  0.41994538]

Pose Error in degrees for R and t:
12.78132240153598 58.207385719075624

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 8.94004176e-01 -4.48057960e-01  7.73741186e-04]
 [ 4.48057758e-01  8.94004510e-01  4.26859416e-04]
 [-8.82985869e-04 -3.49333596e-05  9.99999610e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99181985 -0.10455842 -0.0732111 ]
 [ 0.11245919  0.98712467  0.11374176]
 [ 0.06037562 -0.12104503  0.9908091 ]]

 t_gt:
[ 0.72268975 -0.61094262  0.32321608]

Pose Error in degrees for R and t:
21.784464188689213 44.24987966318152

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[-8.05654000e-01 -5.92384710e-01 -1.41020594e-03]
 [ 5.92384741e-01 -8.05655090e-01  4.40054224e-04]
 [-1.39682099e-03 -4.80853036e-04  9.99998909e-01]]

 t_estimated:
[[8.62593062e-01]
 [5.05897972e-01]
 [6.71603286e-04]]

 R_gt:
[[ 0.97049558 -0.21540709 -0.10833903]
 [ 0.23013197  0.96158908  0.14961662]
 [ 0.07194859 -0.17013472  0.98279008]]

 t_gt:
[ 0.77943022 -0.56489199  0.27089772]

Pose Error in degrees for R and t:
130.90726550784262 67.24848613625525

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 7.90898303e-01  6.11947607e-01 -3.67230324e-05]
 [-6.11947587e-01  7.90898290e-01  2.16301825e-04]
 [ 1.61409568e-04 -1.48600175e-04  9.99999976e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.95129542 -0.27685418 -0.13560545]
 [ 0.29564743  0.94394347  0.14684373]
 [ 0.0873494  -0.17978306  0.9798208 ]]

 t_gt:
[ 0.80980801 -0.54990498  0.20448837]

Pose Error in degrees for R and t:
55.64982385208917 36.07399027643178

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.92611859e-01  1.21332585e-01  3.18052024e-04]
 [-1.21332603e-01  9.92611907e-01  3.95844265e-05]
 [-3.10899346e-04 -7.78820513e-05  9.99999949e-01]]

 t_estimated:
[[0.36454025]
 [0.9311857 ]
 [0.00189411]]

 R_gt:
[[ 0.99451081 -0.10461563  0.00156137]
 [ 0.1045862   0.99442549  0.01335104]
 [-0.00294865 -0.01311422  0.99990895]]

 t_gt:
[ 0.59304557 -0.79029546  0.15404559]

Pose Error in degrees for R and t:
12.996110471781618 58.70590339838817

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-9.73622709e-01  2.27886004e-01 -1.12601133e-02]
 [-2.27866959e-01 -9.73687767e-01 -2.96345835e-03]
 [-1.16391652e-02 -3.19482577e-04  9.99932212e-01]]

 t_estimated:
[[0.67720969]
 [0.7357887 ]
 [0.00142157]]

 R_gt:
[[ 0.96976302 -0.24402122 -0.00355242]
 [ 0.24404451  0.96957745  0.01899314]
 [-0.0011905  -0.01928611  0.99981321]]

 t_gt:
[ 0.69488742 -0.7135528   0.0892965 ]

Pose Error in degrees for R and t:
179.0387378336809 86.88658236254209

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.99997312 -0.00702613 -0.00209687]
 [ 0.00703346  0.99996912  0.00350649]
 [ 0.00207217 -0.00352115  0.99999165]]

 t_estimated:
[[-0.00980801]
 [-0.9999505 ]
 [ 0.00167464]]

 R_gt:
[[ 0.95278011 -0.30283136 -0.02241741]
 [ 0.30352123  0.95197649  0.04018388]
 [ 0.00917229 -0.04509083  0.99893985]]

 t_gt:
[ 0.69826706 -0.70625711  0.11672193]

Pose Error in degrees for R and t:
17.420999460328005 45.60756434278381

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99889181e-01  1.48868954e-02 -8.15275324e-05]
 [-1.48869026e-02  9.99889180e-01 -8.92436274e-05]
 [ 8.01899369e-05  9.04474299e-05  9.99999993e-01]]

 t_estimated:
[[-9.98592704e-01]
 [-5.30323069e-02]
 [-4.30669264e-04]]

 R_gt:
[[ 0.99768811  0.0679169  -0.00235196]
 [-0.06794869  0.99751845 -0.01843184]
 [ 0.00109503  0.01854938  0.99982776]]

 t_gt:
[-0.94131955  0.25099984 -0.22564703]

Pose Error in degrees for R and t:
3.221538555541543 22.06154719656015

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 7.98613036e-01  6.01841004e-01  2.15027440e-03]
 [-6.01837975e-01  7.98615894e-01 -1.92511142e-03]
 [-2.87585431e-03  2.43302285e-04  9.99995835e-01]]

 t_estimated:
[[-0.5012439 ]
 [ 0.86529707]
 [ 0.00394196]]

 R_gt:
[[ 9.97028029e-01  7.66474224e-02  7.78391218e-03]
 [-7.66433214e-02  9.97058058e-01 -8.49492396e-04]
 [-7.82499300e-03  2.51035854e-04  9.99969700e-01]]

 t_gt:
[-0.98799601  0.15414782 -0.01011636]

Pose Error in degrees for R and t:
32.607225662926595 51.05524631724556

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.45512428  0.89007004  0.02524294]
 [ 0.89040995  0.4551123   0.00655077]
 [-0.00565773  0.02545798 -0.99965988]]

 t_estimated:
[[9.58331445e-01]
 [2.85657180e-01]
 [9.03906022e-04]]

 R_gt:
[[ 0.99609354  0.06177775  0.06310898]
 [-0.06085663  0.99801188 -0.01642374]
 [-0.0639984   0.01251913  0.99787183]]

 t_gt:
[-0.99177309  0.12492146  0.02794211]

Pose Error in degrees for R and t:
175.4532137200093 23.83154207404188

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.75923785 -0.65075129  0.00897984]
 [-0.65076826 -0.75895087  0.02223157]
 [-0.00765196 -0.02272284 -0.99971252]]

 t_estimated:
[[0.35518601]
 [0.93471423]
 [0.01233692]]

 R_gt:
[[ 0.99877634 -0.02304341 -0.04376906]
 [ 0.02215134  0.99953964 -0.02074058]
 [ 0.04422727  0.01974599  0.99882612]]

 t_gt:
[ 0.46701851 -0.22002627 -0.85643573]

Pose Error in degrees for R and t:
179.40668263476527 87.11399297332481

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-4.07465390e-01 -9.13216975e-01 -2.59078481e-03]
 [ 9.13220417e-01 -4.07461616e-01 -1.87149029e-03]
 [ 6.53431340e-04 -3.12852511e-03  9.99994893e-01]]

 t_estimated:
[[0.99987733]
 [0.01562308]
 [0.00111593]]

 R_gt:
[[ 0.99120772 -0.10899821  0.07501673]
 [ 0.110772    0.9936467  -0.01989988]
 [-0.07237068  0.0280354   0.99698305]]

 t_gt:
[ 0.66016393 -0.72577981  0.19346126]

Pose Error in degrees for R and t:
107.79942834856266 49.53677020283338

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 7.49264335e-01  6.62271056e-01  6.53465174e-05]
 [-6.62270946e-01  7.49264262e-01 -5.09733443e-04]
 [-3.86543516e-04  3.38647989e-04  9.99999868e-01]]

 t_estimated:
[[0.63950718]
 [0.7687839 ]
 [0.00137528]]

 R_gt:
[[ 0.93726481 -0.2613661   0.2307027 ]
 [ 0.25889002  0.96501468  0.04149712]
 [-0.23347633  0.02083291  0.9721392 ]]

 t_gt:
[ 0.62246803 -0.63989422  0.45063172]

Pose Error in degrees for R and t:
58.231063671609945 84.6495187263858

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-2.22269212e-01 -9.74984321e-01 -1.40382163e-03]
 [ 9.74985164e-01 -2.22269788e-01  2.66304967e-04]
 [-5.71670303e-04 -1.30951387e-03  9.99998979e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075938e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99928505 -0.02639264 -0.02708187]
 [ 0.02306272  0.99290371 -0.11666658]
 [ 0.02996808  0.11595823  0.9928022 ]]

 t_gt:
[ 0.28934255  0.2039642  -0.93524301]

Pose Error in degrees for R and t:
101.59384626627367 73.18702822087808

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-9.14106597e-01  4.05472944e-01 -9.06004379e-04]
 [ 4.05473185e-01  9.14106935e-01 -9.19985418e-05]
 [ 7.90881966e-04 -4.51456955e-04 -9.99999585e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99684616 -0.0718011  -0.03381336]
 [ 0.06572293  0.98565638 -0.15544586]
 [ 0.04448891  0.15273324  0.98726597]]

 t_gt:
[ 0.41225971  0.09186103 -0.90642345]

Pose Error in degrees for R and t:
179.58379431562662 65.67953949362432

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 9.99997190e-01 -2.36961586e-03  7.29997323e-05]
 [ 2.36964985e-03  9.99997082e-01 -4.69228280e-04]
 [-7.18876285e-05  4.69399945e-04  9.99999887e-01]]

 t_estimated:
[[ 9.82303165e-01]
 [-1.87297866e-01]
 [ 4.37924969e-05]]

 R_gt:
[[ 0.98503873 -0.16267525 -0.05689491]
 [ 0.14782051  0.96725055 -0.20634086]
 [ 0.08859765  0.19484339  0.97682553]]

 t_gt:
[ 0.52949353 -0.04108296 -0.84731859]

Pose Error in degrees for R and t:
15.201132391163453 58.14436464625347

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.97826949e-01  6.58891510e-02 -1.47830569e-05]
 [-6.58891377e-02  9.97826849e-01  4.47981235e-04]
 [ 4.42680344e-05 -4.46033706e-04  9.99999900e-01]]

 t_estimated:
[[-9.99658315e-01]
 [ 2.61365704e-02]
 [ 3.64512362e-04]]

 R_gt:
[[ 0.98914178  0.13695737  0.05330864]
 [-0.13809644  0.9902502   0.01827852]
 [-0.05028546 -0.02544194  0.99841016]]

 t_gt:
[-0.85410235  0.47226181  0.21789436]

Pose Error in degrees for R and t:
5.240490137265611 29.9761743648744

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.97298973e-01  7.34490193e-02  9.61070270e-06]
 [-7.34490186e-02  9.97298971e-01 -5.90951941e-05]
 [-1.39252280e-05  5.82296797e-05  9.99999998e-01]]

 t_estimated:
[[-0.82554098]
 [-0.56434073]
 [-0.00127408]]

 R_gt:
[[ 0.96650811  0.25262591  0.04518025]
 [-0.25478717  0.96565021  0.05101251]
 [-0.03074063 -0.0608153   0.99767543]]

 t_gt:
[-0.82974641  0.52258528  0.1960243 ]

Pose Error in degrees for R and t:
11.204731576876727 67.05646646515667

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-0.77785804  0.62835743 -0.01018834]
 [ 0.62833933  0.7779214   0.00529   ]
 [ 0.01124973 -0.00228686 -0.9999341 ]]

 t_estimated:
[[ 0.80092913]
 [-0.59871852]
 [-0.00697578]]

 R_gt:
[[ 0.91583608  0.39786968  0.05426561]
 [-0.39773206  0.91739771 -0.0137848 ]
 [-0.05526717 -0.00895832  0.99843064]]

 t_gt:
[-0.78570464  0.61497999  0.06684183]

Pose Error in degrees for R and t:
177.5861603962442 3.6604571664164243

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99997636e-01 -2.17421891e-03 -2.73851948e-05]
 [ 2.17422815e-03  9.99997578e-01  3.41995970e-04]
 [ 2.66415543e-05 -3.42054703e-04  9.99999941e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99818014 -0.00165363 -0.06029271]
 [ 0.0033272   0.99961234  0.02766431]
 [ 0.06022349 -0.02781546  0.99779725]]

 t_gt:
[ 0.98829961 -0.02636386 -0.15022926]

Pose Error in degrees for R and t:
3.7935010621480387 88.83363018349604

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99996636e-01  2.59300868e-03  5.85473309e-05]
 [-2.59300831e-03  9.99996638e-01 -6.38440483e-06]
 [-5.85636889e-05  6.23256964e-06  9.99999998e-01]]

 t_estimated:
[[-0.74305688]
 [ 0.66922752]
 [-0.00100088]]

 R_gt:
[[ 0.98983569  0.07379558 -0.12157571]
 [-0.06521961  0.99519227  0.07307409]
 [ 0.12638431 -0.06440281  0.98988807]]

 t_gt:
[ 0.72491555  0.65582509 -0.21069147]

Pose Error in degrees for R and t:
9.022360071458262 84.28694826175035

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.87728603e-01 -1.56179512e-01  4.08853587e-04]
 [ 1.56178771e-01  9.87706569e-01 -6.62761240e-03]
 [ 6.31269894e-04  6.61013659e-03  9.99977954e-01]]

 t_estimated:
[[ 0.28111586]
 [ 0.95961447]
 [-0.01067433]]

 R_gt:
[[ 0.97828911  0.14504466 -0.14803225]
 [-0.1261921   0.98349297  0.12968795]
 [ 0.16439979 -0.10819235  0.98044147]]

 t_gt:
[ 0.36993777  0.92802116 -0.04384944]

Pose Error in degrees for R and t:
20.428785379012197 5.728541073234628

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.97274760e-01 -7.37769829e-02 -1.00484290e-04]
 [ 7.37769850e-02  9.97274765e-01  1.78276101e-05]
 [ 9.88951789e-05 -2.51924535e-05  9.99999995e-01]]

 t_estimated:
[[ 9.96615553e-01]
 [ 8.22035556e-02]
 [-1.24625272e-04]]

 R_gt:
[[ 0.98826951 -0.15113382 -0.02194206]
 [ 0.15133956  0.98844963  0.00800766]
 [ 0.02047872 -0.01123387  0.99972748]]

 t_gt:
[ 0.68176551 -0.73060999  0.0374812 ]

Pose Error in degrees for R and t:
4.663130185862068 51.72805438263793

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-8.85054409e-01 -4.65484723e-01 -1.63274604e-03]
 [ 4.65487489e-01 -8.85051051e-01 -2.45637947e-03]
 [-3.01656480e-04 -2.93405233e-03  9.99995650e-01]]

 t_estimated:
[[0.90765797]
 [0.419709  ]
 [0.00116608]]

 R_gt:
[[ 0.97389208 -0.22548675 -0.02622536]
 [ 0.22698435  0.96891657  0.09837834]
 [ 0.00322684 -0.10176186  0.99480337]]

 t_gt:
[ 0.5486651  -0.75252386  0.36424504]

Pose Error in degrees for R and t:
139.1991750727135 79.47969591083083

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-1.02785268e-01 -9.94703499e-01  3.70360422e-04]
 [-9.94700528e-01  1.02784026e-01 -2.51081679e-03]
 [ 2.45945111e-03 -6.26472683e-04 -9.99996779e-01]]

 t_estimated:
[[0.6910681 ]
 [0.72278926]
 [0.00075527]]

 R_gt:
[[ 0.95303218 -0.28870646 -0.0915248 ]
 [ 0.30034326  0.93983294  0.16281152]
 [ 0.0390138  -0.18265334  0.98240251]]

 t_gt:
[ 0.56014589 -0.72549581  0.39986548]

Pose Error in degrees for R and t:
176.18311282210863 82.12689279943227

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 1.00000000e+00 -5.87527589e-06 -6.02350436e-06]
 [ 5.87532443e-06  1.00000000e+00  8.05888016e-06]
 [ 6.02345701e-06 -8.05891555e-06  1.00000000e+00]]

 t_estimated:
[[ 0.37122447]
 [-0.92854149]
 [-0.00175971]]

 R_gt:
[[ 0.999076   -0.04020809  0.0151734 ]
 [ 0.04008338  0.99916085  0.00836817]
 [-0.01549825 -0.00775175  0.99984974]]

 t_gt:
[ 0.74366317 -0.56417161  0.35871364]

Pose Error in degrees for R and t:
2.506192594197011 36.93750277873683

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 7.16897681e-01  6.97178059e-01  6.85149297e-04]
 [-6.97178211e-01  7.16897860e-01 -2.30176121e-05]
 [-5.07229439e-04 -4.61169889e-04  9.99999765e-01]]

 t_estimated:
[[0.01674659]
 [0.99985919]
 [0.00107619]]

 R_gt:
[[ 0.99594434 -0.08356342  0.03332203]
 [ 0.083779    0.99647031 -0.00514815]
 [-0.03277376  0.00791927  0.99943101]]

 t_gt:
[ 0.76515689 -0.60837074  0.21076047]

Pose Error in degrees for R and t:
49.036476206388386 53.46993686067994

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-8.88806904e-01 -4.58280370e-01 -1.17886206e-03]
 [ 4.58281770e-01 -8.88805569e-01 -1.57440917e-03]
 [-3.26258348e-04 -1.93959673e-03  9.99998066e-01]]

 t_estimated:
[[0.70095817]
 [0.71320198]
 [0.00076524]]

 R_gt:
[[ 0.98489038 -0.17119158  0.02615346]
 [ 0.17162219  0.98504433 -0.01524115]
 [-0.02315266  0.01949977  0.9995411 ]]

 t_gt:
[ 0.78336952 -0.61858074  0.06074585]

Pose Error in degrees for R and t:
142.8580025391885 83.80095743027378

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99999241e-01 -1.23202226e-03  1.00953563e-05]
 [ 1.23202232e-03  9.99999241e-01 -5.94903986e-06]
 [-1.00880193e-05  5.96147305e-06  1.00000000e+00]]

 t_estimated:
[[ 5.46358632e-01]
 [-8.37551335e-01]
 [ 7.94299751e-05]]

 R_gt:
[[ 0.99932229 -0.03543785 -0.00997958]
 [ 0.03491239  0.99820495 -0.04866324]
 [ 0.01168564  0.048282    0.99876539]]

 t_gt:
[ 0.52833413 -0.10303398 -0.84276156]

Pose Error in degrees for R and t:
3.448685730135922 67.982533946591

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99977031e-01 -6.77769218e-03 -9.77445082e-06]
 [ 6.77769231e-03  9.99977031e-01  1.35939966e-05]
 [ 9.68209039e-06 -1.36599326e-05  1.00000000e+00]]

 t_estimated:
[[ 6.66158638e-01]
 [-7.45810075e-01]
 [-2.65420957e-05]]

 R_gt:
[[ 0.99395618 -0.10299997 -0.03797577]
 [ 0.09960391  0.99160235 -0.08248705]
 [ 0.0461527   0.07820689  0.99586824]]

 t_gt:
[ 0.63990738 -0.24757494 -0.72747866]

Pose Error in degrees for R and t:
7.5299523736738925 52.3422792254874

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99939733e-01 -1.09785891e-02  3.87842502e-05]
 [ 1.09785904e-02  9.99939733e-01 -3.37327020e-05]
 [-3.84115753e-05  3.41564654e-05  9.99999999e-01]]

 t_estimated:
[[ 6.44153910e-01]
 [-7.64895901e-01]
 [ 1.10204782e-05]]

 R_gt:
[[ 0.97974366 -0.19761411 -0.03242878]
 [ 0.19126423  0.9713764  -0.14087534]
 [ 0.05933905  0.13181967  0.98949586]]

 t_gt:
[ 0.62739467 -0.31272034 -0.7131493 ]

Pose Error in degrees for R and t:
13.495883828390628 49.959467026008824

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.88117784e-01  1.53697933e-01  4.35709617e-04]
 [-1.53697727e-01  9.88117799e-01 -4.73152493e-04]
 [-5.03254988e-04  4.00562815e-04  9.99999793e-01]]

 t_estimated:
[[ 0.96949215]
 [-0.24511134]
 [ 0.00232331]]

 R_gt:
[[ 0.99586541 -0.04675963  0.07789567]
 [ 0.03726112  0.99217015  0.11920843]
 [-0.08286017 -0.11581257  0.98980862]]

 t_gt:
[ 0.18116369 -0.23141043  0.95583939]

Pose Error in degrees for R and t:
13.918138790640418 76.43320375812328

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.1039617  -0.99457223 -0.00424838]
 [-0.99457489  0.10397542 -0.0031469 ]
 [ 0.00357155  0.00389818 -0.99998602]]

 t_estimated:
[[ 0.84429751]
 [ 0.53587296]
 [-0.00137356]]

 R_gt:
[[ 0.99428611 -0.07258976  0.07828899]
 [ 0.05975025  0.98604144  0.1554132 ]
 [-0.08847784 -0.14984637  0.98474251]]

 t_gt:
[ 0.25606482 -0.27265038  0.92741176]

Pose Error in degrees for R and t:
170.84525593604232 86.05406861750879

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.05839251e-01  4.23621589e-01 -1.31044278e-05]
 [-4.23621567e-01  9.05839193e-01 -3.51800896e-04]
 [-1.37159950e-04  3.24226378e-04  9.99999938e-01]]

 t_estimated:
[[-8.60346309e-01]
 [-5.09709497e-01]
 [-6.76905042e-04]]

 R_gt:
[[ 0.99047748 -0.07695746  0.11416997]
 [ 0.05280068  0.97811848  0.20123641]
 [-0.12715804 -0.1932901   0.97286661]]

 t_gt:
[ 0.19748622 -0.17765804  0.96407303]

Pose Error in degrees for R and t:
31.73324662311425 85.41113917690954

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.98561909e-01 -5.36107372e-02 -5.82268944e-05]
 [ 5.36107382e-02  9.98561910e-01  1.57952714e-05]
 [ 5.72963627e-05 -1.88941431e-05  9.99999998e-01]]

 t_estimated:
[[ 6.50403429e-01]
 [-7.59588884e-01]
 [-3.26603464e-04]]

 R_gt:
[[ 0.99889078 -0.04565103 -0.01161095]
 [ 0.04522578  0.99838054 -0.03450466]
 [ 0.01316728  0.03394207  0.99933668]]

 t_gt:
[ 0.65137514 -0.28260277 -0.7041634 ]

Pose Error in degrees for R and t:
2.1378321274738923 50.31632778917901

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.90305563e-01  1.38906058e-01  2.19560991e-06]
 [-1.38906057e-01  9.90305562e-01 -4.13981215e-05]
 [-7.92477456e-06  4.06918065e-05  9.99999999e-01]]

 t_estimated:
[[8.26267981e-01]
 [5.63276850e-01]
 [6.43010102e-04]]

 R_gt:
[[ 0.9881486  -0.14686836 -0.04463816]
 [ 0.14258016  0.98590601 -0.08752583]
 [ 0.05686403  0.08012548  0.99516177]]

 t_gt:
[ 0.65138697 -0.36436945 -0.6655298 ]

Pose Error in degrees for R and t:
17.265516131848525 70.57629269265281

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 1.61537020e-01  9.86866639e-01  1.66772922e-04]
 [ 9.86863944e-01 -1.61536970e-01  2.31594253e-03]
 [ 2.31246641e-03 -2.09528269e-04 -9.99997304e-01]]

 t_estimated:
[[-0.69434988]
 [-0.71963688]
 [-0.00099862]]

 R_gt:
[[ 0.98197301 -0.18642813 -0.0312301 ]
 [ 0.18207166  0.97725027 -0.10877257]
 [ 0.05079851  0.10112664  0.99357663]]

 t_gt:
[ 0.61441428 -0.424978   -0.66474716]

Pose Error in degrees for R and t:
177.00686137614255 83.100694043484

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99999759e-01  6.92724347e-04  4.84649814e-05]
 [-6.92724289e-04  9.99999760e-01 -1.20047909e-06]
 [-4.84658014e-05  1.16690594e-06  9.99999999e-01]]

 t_estimated:
[[ 9.99996513e-01]
 [-2.53282050e-03]
 [ 7.48027348e-04]]

 R_gt:
[[ 0.99749707 -0.07069551 -0.00139436]
 [ 0.07069255  0.99749272 -0.00311906]
 [ 0.00161212  0.00301371  0.99999401]]

 t_gt:
[ 0.67663381 -0.72604976 -0.1225497 ]

Pose Error in degrees for R and t:
4.098525645152257 47.282918996153185

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 0.99999753 -0.00106934  0.00194765]
 [ 0.00107252  0.9999981  -0.00163026]
 [-0.0019459   0.00163234  0.99999677]]

 t_estimated:
[[0.63804492]
 [0.76999872]
 [0.0008046 ]]

 R_gt:
[[ 0.9928588  -0.11333907  0.03722619]
 [ 0.11299775  0.99353255  0.01115004]
 [-0.038249   -0.00686315  0.99924404]]

 t_gt:
[ 0.69183899 -0.69175725  0.20695586]

Pose Error in degrees for R and t:
6.786256235048262 84.77533248742778

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 0.72151884 -0.69228354 -0.01241244]
 [-0.69237886 -0.72150795 -0.00614801]
 [-0.00469951  0.01303001 -0.99990406]]

 t_estimated:
[[6.95227816e-01]
 [7.18789219e-01]
 [5.84925480e-04]]

 R_gt:
[[ 0.98589167 -0.15978366  0.04986885]
 [ 0.15978082  0.98714354  0.00408607]
 [-0.04988051  0.00393962  0.99874724]]

 t_gt:
[ 0.73800697 -0.65689544  0.15438296]

Pose Error in degrees for R and t:
179.47349608640664 87.64999008684694

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.91127677e-01 -1.32913235e-01 -9.45079417e-06]
 [ 1.32913236e-01  9.91127672e-01  1.01614244e-04]
 [-4.13893430e-06 -1.01968825e-04  9.99999995e-01]]

 t_estimated:
[[-9.79024550e-01]
 [-2.03740885e-01]
 [-7.63074474e-04]]

 R_gt:
[[ 0.9976515  -0.06697752 -0.0143126 ]
 [ 0.06821403  0.99039502  0.12026582]
 [ 0.00612044 -0.12096003  0.99263788]]

 t_gt:
[ 0.22305053 -0.7269997   0.64939964]

Pose Error in degrees for R and t:
7.895770610768281 85.94305333152704

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 8.34197556e-01  5.51436735e-01  5.65377728e-03]
 [-5.51446691e-01  8.34210098e-01  2.45569986e-04]
 [-4.58102179e-03 -3.32261065e-03  9.99983987e-01]]

 t_estimated:
[[-0.78020004]
 [ 0.62550031]
 [ 0.00610474]]

 R_gt:
[[ 0.9880558  -0.13148174 -0.08036326]
 [ 0.14179129  0.97994126  0.1400348 ]
 [ 0.06033964 -0.14975674  0.98688004]]

 t_gt:
[ 0.42102559 -0.79599157  0.43489639]

Pose Error in degrees for R and t:
42.36722567474632 34.540842966926114

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-8.88056964e-01 -4.59731393e-01 -1.36931578e-03]
 [ 4.59733288e-01 -8.88055109e-01 -1.85143879e-03]
 [-3.64863339e-04 -2.27370316e-03  9.99997349e-01]]

 t_estimated:
[[8.91912303e-01]
 [4.52207873e-01]
 [6.94635750e-04]]

 R_gt:
[[ 0.96433276 -0.23696441 -0.11794151]
 [ 0.25289932  0.95636491  0.14631376]
 [ 0.07812331 -0.17092216  0.98218238]]

 t_gt:
[ 0.55651736 -0.76801223  0.31693161]

Pose Error in degrees for R and t:
138.50601017044576 81.41458452641028

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-3.20140236e-01 -9.47367873e-01 -2.08382347e-03]
 [ 9.47359461e-01 -3.20146300e-01  4.04940155e-03]
 [-4.50340131e-03 -6.77753513e-04  9.99989630e-01]]

 t_estimated:
[[ 0.92601007]
 [-0.37748937]
 [ 0.00266935]]

 R_gt:
[[ 0.99249697  0.12029798  0.02189543]
 [-0.12136765  0.9909791   0.05684155]
 [-0.0148603  -0.05907212  0.99814316]]

 t_gt:
[-0.83335978  0.41701986  0.36277529]

Pose Error in degrees for R and t:
115.6427624898853 21.85148618187325

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 8.84040483e-01 -4.67410136e-01  4.35213518e-04]
 [ 4.67410220e-01  8.84039212e-01 -1.53555625e-03]
 [ 3.32988740e-04  1.56091713e-03  9.99998726e-01]]

 t_estimated:
[[-0.51741849]
 [-0.85573058]
 [-0.00180916]]

 R_gt:
[[ 0.96459616  0.26154123  0.03395142]
 [-0.26264276  0.96431237  0.03349378]
 [-0.02398039 -0.04122586  0.99886249]]

 t_gt:
[-0.83210098  0.53229297  0.15579523]

Pose Error in degrees for R and t:
43.156540543329946 88.55388472502588

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 7.32509174e-01 -6.80755607e-01 -1.45371860e-03]
 [ 6.80755995e-01  7.32510200e-01 -2.85378496e-04]
 [ 1.25913671e-03 -7.80585284e-04  9.99998903e-01]]

 t_estimated:
[[-0.30149722]
 [-0.95346583]
 [-0.00153044]]

 R_gt:
[[ 0.93208427  0.36157611  0.0219954 ]
 [-0.3619058   0.93211807  0.01345068]
 [-0.01563862 -0.02049816  0.99966754]]

 t_gt:
[-0.79455848  0.60306248  0.07065737]

Pose Error in degrees for R and t:
64.13008733651878 70.39398689143603

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.96810683e-01 -7.97967968e-02  9.65752218e-04]
 [ 7.97988345e-02  9.96808343e-01 -2.29655392e-03]
 [-7.79412221e-04  2.36629538e-03  9.99996897e-01]]

 t_estimated:
[[0.67855867]
 [0.73454536]
 [0.00111973]]

 R_gt:
[[ 0.99443395  0.07254226 -0.07641401]
 [-0.07006887  0.9969426   0.03457409]
 [ 0.07868848 -0.02902779  0.99647611]]

 t_gt:
[-0.02834223  0.93601172 -0.35082586]

Pose Error in degrees for R and t:
9.964082539255047 48.09339440088299

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99213391e-01 -3.96558771e-02  1.00793162e-04]
 [ 3.96558757e-02  9.99213396e-01  1.60562885e-05]
 [-1.01350604e-04 -1.20466174e-05  9.99999995e-01]]

 t_estimated:
[[0.57567716]
 [0.81767644]
 [0.00102433]]

 R_gt:
[[ 0.98835546  0.12962769 -0.07969825]
 [-0.12114789  0.98723995  0.10334711]
 [ 0.09207772 -0.09248915  0.99144685]]

 t_gt:
[-0.12849462  0.98343898  0.12781589]

Pose Error in degrees for R and t:
12.10513038952459 43.08891995591918

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 8.28304157e-01 -5.60278041e-01  8.60414366e-04]
 [ 5.60278031e-01  8.28304565e-01  2.75177817e-04]
 [-8.66861235e-04  2.54140337e-04  9.99999592e-01]]

 t_estimated:
[[0.68209935]
 [0.73125887]
 [0.00097009]]

 R_gt:
[[ 0.9881014   0.1034734  -0.11379527]
 [-0.09542011  0.99267694  0.07408285]
 [ 0.12062791 -0.06234319  0.99073809]]

 t_gt:
[ 0.3759898   0.88493507 -0.27481192]

Pose Error in degrees for R and t:
40.54499541197716 25.403054036287003

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.87356592e-01  1.58514779e-01 -1.59654522e-04]
 [-1.58514788e-01  9.87356602e-01 -4.90431080e-05]
 [ 1.49861889e-04  7.37306389e-05  9.99999986e-01]]

 t_estimated:
[[-0.96674328]
 [-0.25574657]
 [-0.00106119]]

 R_gt:
[[ 0.97749425  0.21007635 -0.0193297 ]
 [-0.20891656  0.97667149  0.0496625 ]
 [ 0.0293117  -0.04450681  0.99857916]]

 t_gt:
[-0.89846983  0.43539669  0.05640642]

Pose Error in degrees for R and t:
4.267149522895479 40.783902997062654

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 4.16283983e-01  9.09234646e-01  6.23061378e-05]
 [ 9.09230223e-01 -4.16282170e-01  3.09121278e-03]
 [ 2.83657469e-03 -1.23017174e-03 -9.99995220e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.96158338  0.27443571  0.00646633]
 [-0.27373559  0.95683334  0.09766636]
 [ 0.0206172  -0.09568483  0.99519803]]

 t_gt:
[-0.91039242  0.3600242   0.20388286]

Pose Error in degrees for R and t:
174.90507982449813 59.04579118327798

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 0.95128394 -0.30827953 -0.00475345]
 [ 0.30828866  0.95129196  0.00130731]
 [ 0.0041189  -0.00270905  0.99998785]]

 t_estimated:
[[-0.00729147]
 [-0.99997287]
 [-0.00104164]]

 R_gt:
[[ 0.96662122  0.25571225 -0.01594242]
 [-0.25276911  0.96196093  0.10362755]
 [ 0.04183515 -0.09613853  0.99448789]]

 t_gt:
[-0.95753231  0.22640646  0.17852726]

Pose Error in degrees for R and t:
33.227644102255525 77.31419760614374

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99592388e-01  2.85487469e-02  1.66599972e-04]
 [-2.85487305e-02  9.99592397e-01 -1.00101412e-04]
 [-1.69389835e-04  9.53043914e-05  9.99999981e-01]]

 t_estimated:
[[0.67038611]
 [0.742012  ]
 [0.00080479]]

 R_gt:
[[ 0.9888532  -0.12668445 -0.07823859]
 [ 0.12341735  0.99132092 -0.04529885]
 [ 0.08329893  0.03513857  0.99590555]]

 t_gt:
[ 0.73115677 -0.50433194 -0.45941166]

Pose Error in degrees for R and t:
10.244884044910762 83.36365486819683

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99985206e-01 -5.06371941e-03  1.98641476e-03]
 [ 5.06543375e-03  9.99986802e-01 -8.58954410e-04]
 [-1.98203904e-03  8.69003755e-04  9.99997658e-01]]

 t_estimated:
[[0.35294705]
 [0.93564264]
 [0.0011099 ]]

 R_gt:
[[ 0.95275977 -0.29114915 -0.08649706]
 [ 0.28837753  0.95653966 -0.04324886]
 [ 0.09533093  0.01626252  0.99531325]]

 t_gt:
[ 0.79707698 -0.56240347 -0.21993322]

Pose Error in degrees for R and t:
17.5213946288537 75.81067236561672

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.94737780e-01  1.02450795e-01  7.63771132e-04]
 [-1.02450922e-01  9.94738052e-01  1.28363904e-04]
 [-7.46601224e-04 -2.05937482e-04  9.99999700e-01]]

 t_estimated:
[[-0.6435444 ]
 [ 0.76540593]
 [ 0.00208942]]

 R_gt:
[[ 0.94589517 -0.30104596 -0.12105479]
 [ 0.29894348  0.95360668 -0.03560212]
 [ 0.12615692 -0.00251263  0.9920075 ]]

 t_gt:
[ 0.81584954 -0.53719284 -0.21404062]

Pose Error in degrees for R and t:
24.50476343721095 20.503105002292482

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[-0.82110777 -0.56762482 -0.05986729]
 [-0.56752408  0.82310586 -0.02032638]
 [ 0.06081488  0.01728598 -0.99799937]]

 t_estimated:
[[ 0.9428794 ]
 [ 0.33162384]
 [-0.03168686]]

 R_gt:
[[ 0.99919585  0.03133507 -0.0250272 ]
 [-0.03028759  0.99869134  0.04122165]
 [ 0.02628665 -0.04042974  0.99883658]]

 t_gt:
[ 0.6579464  -0.164865    0.73479661]

Pose Error in degrees for R and t:
175.67114984023584 57.15231806102492

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.10189658 -0.99478773 -0.00380386]
 [-0.99478954  0.10190794 -0.00292169]
 [ 0.0032941   0.00348633 -0.9999885 ]]

 t_estimated:
[[ 0.63744482]
 [ 0.77049491]
 [-0.00130253]]

 R_gt:
[[ 0.99158381  0.11638151 -0.0567168 ]
 [-0.11017422  0.98861909  0.10243785]
 [ 0.06799372 -0.09532685  0.99312169]]

 t_gt:
[0.11813111 0.21139782 0.97023502]

Pose Error in degrees for R and t:
179.1268627391748 76.29521702618206

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 8.99240115e-01 -4.37447553e-01 -2.61796395e-03]
 [ 4.37454251e-01  8.99235316e-01  3.10253372e-03]
 [ 9.96969860e-04 -3.93516224e-03  9.99991760e-01]]

 t_estimated:
[[-0.33414913]
 [-0.94251847]
 [-0.00181603]]

 R_gt:
[[ 0.9787368   0.17055681 -0.11394942]
 [-0.15865948  0.98157952  0.10644233]
 [ 0.13000554 -0.08609965  0.98776792]]

 t_gt:
[0.58234304 0.64467433 0.49524902]

Pose Error in degrees for R and t:
36.5039740588322 36.572238974334404

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 1.00000000e+00 -7.72039099e-11 -6.58089035e-15]
 [ 7.72038544e-11  1.00000000e+00 -2.99131379e-15]
 [ 6.58197455e-15  2.98952486e-15  1.00000000e+00]]

 t_estimated:
[[7.62922225e-01]
 [6.46489943e-01]
 [6.57525998e-04]]

 R_gt:
[[ 0.99781957 -0.05693674  0.03336436]
 [ 0.05574826  0.99781328  0.03551919]
 [-0.03531379 -0.0335819   0.99881162]]

 t_gt:
[ 0.59509892 -0.50160325  0.62789446]

Pose Error in degrees for R and t:
4.271560191274017 82.52199423182833

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.98616469e-01  5.25827827e-02  4.45293770e-04]
 [-5.25827642e-02  9.98616568e-01 -5.31622411e-05]
 [-4.47473155e-04  2.96739122e-05  9.99999899e-01]]

 t_estimated:
[[0.56876594]
 [0.8224986 ]
 [0.0011622 ]]

 R_gt:
[[ 0.99694116 -0.05187841  0.05845484]
 [ 0.04627711  0.99455192  0.0934131 ]
 [-0.06298301 -0.090422    0.99390963]]

 t_gt:
[ 0.45678139 -0.38632828  0.80131219]

Pose Error in degrees for R and t:
8.596181855153663 86.73113631761068

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.98823830e-01 -4.84865632e-02 -9.53102839e-05]
 [ 4.84866160e-02  9.98823611e-01  6.65559372e-04]
 [ 6.29274754e-05 -6.69397834e-04  9.99999774e-01]]

 t_estimated:
[[-0.548566  ]
 [-0.8361065 ]
 [-0.00112266]]

 R_gt:
[[ 0.99371127 -0.09067187  0.06569235]
 [ 0.07949616  0.98450046  0.15633023]
 [-0.07884999 -0.15012469  0.98551762]]

 t_gt:
[ 0.49381475 -0.38331727  0.78052217]

Pose Error in degrees for R and t:
9.961839253049698 87.20699609498308

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.70185582e-01  2.42361343e-01 -9.57403743e-04]
 [-2.42358609e-01  9.70183903e-01  2.34492280e-03]
 [ 1.49717634e-03 -2.04297525e-03  9.99996792e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.98569838 -0.1662774  -0.02738627]
 [ 0.16682538  0.98580026  0.01917286]
 [ 0.02380965 -0.02346753  0.99944074]]

 t_gt:
[ 0.69662036 -0.7174377  -0.00179385]

Pose Error in degrees for R and t:
23.681872945470218 86.52489400393983

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999983e-01  6.93938160e-05  1.70316341e-04]
 [-6.93787415e-05  9.99999994e-01 -8.85130799e-05]
 [-1.70322482e-04  8.85012621e-05  9.99999982e-01]]

 t_estimated:
[[ 9.98871242e-01]
 [ 4.74999183e-02]
 [-1.04050841e-05]]

 R_gt:
[[ 0.97532108 -0.21783245 -0.03602845]
 [ 0.21858307  0.97564513  0.01839122]
 [ 0.03114557 -0.02581202  0.99918178]]

 t_gt:
[ 0.71466187 -0.6991286  -0.02185432]

Pose Error in degrees for R and t:
12.825370038526424 47.10578785510167

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999201e-01 -1.17047968e-03 -4.78134542e-04]
 [ 1.17058329e-03  9.99999291e-01  2.16461327e-04]
 [ 4.77880839e-04 -2.17020850e-04  9.99999862e-01]]

 t_estimated:
[[9.99996288e-01]
 [2.70591067e-03]
 [3.20966217e-04]]

 R_gt:
[[ 0.95843039 -0.2853236  -0.00133537]
 [ 0.28529865  0.95826311  0.01830584]
 [-0.00394276 -0.01792583  0.9998316 ]]

 t_gt:
[ 0.74012366 -0.67187593  0.02827917]

Pose Error in degrees for R and t:
16.54446618324475 42.41218270505664

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.95432859e-01  9.54642144e-02 -8.54883057e-05]
 [-9.54642182e-02  9.95432861e-01 -4.24628392e-05]
 [ 8.10441872e-05  5.04299796e-05  9.99999995e-01]]

 t_estimated:
[[-9.93953326e-01]
 [ 1.09802562e-01]
 [-4.27161603e-04]]

 R_gt:
[[ 0.95465166  0.29757357  0.00951457]
 [-0.29683953  0.95378675 -0.04665343]
 [-0.02295783  0.0417131   0.99886567]]

 t_gt:
[-0.89540778  0.42888423 -0.11959605]

Pose Error in degrees for R and t:
12.131654614234403 20.423782899286564

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.9470786  -0.32099192 -0.00251243]
 [ 0.3209398  -0.94702057  0.01223483]
 [-0.0063066   0.01078101  0.999922  ]]

 t_estimated:
[[9.04898444e-01]
 [4.25626959e-01]
 [7.05849020e-04]]

 R_gt:
[[ 0.83548937  0.54950231  0.00233442]
 [-0.54854324  0.83426791 -0.0556466 ]
 [-0.03252651  0.04521171  0.99844713]]

 t_gt:
[-0.84036891  0.53811356 -0.06491449]

Pose Error in degrees for R and t:
165.39825828393026 57.89593347738205

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 7.85406640e-01 -6.18977399e-01  1.84084150e-03]
 [ 6.18978307e-01  7.85408076e-01  9.54978831e-05]
 [-1.50492281e-03  1.06443629e-03  9.99998301e-01]]

 t_estimated:
[[9.99964655e-01]
 [8.35625060e-03]
 [9.28472289e-04]]

 R_gt:
[[ 0.70085359  0.71326897 -0.00717256]
 [-0.71300944  0.70023793 -0.03582093]
 [-0.02052888  0.03021934  0.99933205]]

 t_gt:
[-0.7877108   0.61504648 -0.0350647 ]

Pose Error in degrees for R and t:
83.77202110961487 38.50295691271722

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 1.74002930e-01  9.84745114e-01  2.03138957e-04]
 [-9.84744075e-01  1.74003042e-01 -1.43103641e-03]
 [-1.44455291e-03  4.89646442e-05  9.99998955e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99034184 -0.08556571  0.10909471]
 [ 0.06285902  0.97842934  0.19678846]
 [-0.12357868 -0.18802943  0.97435769]]

 t_gt:
[ 0.21953503 -0.23694246  0.94639455]

Pose Error in degrees for R and t:
85.10447751514822 76.43285321670298

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99994684e-01  3.24880085e-03 -2.79067084e-04]
 [-3.24888656e-03  9.99994675e-01 -3.07242180e-04]
 [ 2.78067430e-04  3.08147204e-04  9.99999914e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.96923796 -0.1521802   0.1934431 ]
 [ 0.07860062  0.93616833  0.34265438]
 [-0.23323925 -0.31690786  0.91932955]]

 t_gt:
[ 0.24651364 -0.13134586  0.96019753]

Pose Error in degrees for R and t:
24.240931157952485 82.59930347263355

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 7.18717215e-01  6.95302421e-01 -3.29789760e-04]
 [-6.95302444e-01  7.18717266e-01  5.49018578e-05]
 [ 2.75198989e-04  1.89844716e-04  9.99999944e-01]]

 t_estimated:
[[-0.90452512]
 [-0.42641898]
 [-0.00107682]]

 R_gt:
[[ 0.96924554 -0.17380623  0.17422541]
 [ 0.09776442  0.92163602  0.37554042]
 [-0.22584368 -0.34695722  0.91028227]]

 t_gt:
[ 0.27760502 -0.14065156  0.95034341]

Pose Error in degrees for R and t:
57.30605383123848 78.92186014213435

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-9.97862014e-01  6.30854534e-02  1.70770999e-02]
 [ 6.30925606e-02  9.98007672e-01 -1.22796002e-04]
 [-1.70508233e-02  9.54904491e-04 -9.99854168e-01]]

 t_estimated:
[[ 0.99933083]
 [-0.03547566]
 [ 0.00890936]]

 R_gt:
[[ 0.98658146 -0.16326759 -0.00106576]
 [ 0.16325169  0.98654518 -0.00879849]
 [ 0.00248768  0.00850654  0.99996115]]

 t_gt:
[ 0.69511887 -0.71633903 -0.0605652 ]

Pose Error in degrees for R and t:
179.11068223963318 43.98458088096248

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.98570349e-01  5.34529810e-02  1.93317662e-04]
 [-5.34529771e-02  9.98570367e-01 -2.48591557e-05]
 [-1.94370085e-04  1.44902112e-05  9.99999981e-01]]

 t_estimated:
[[ 9.99038469e-01]
 [-4.38414971e-02]
 [ 2.45256262e-04]]

 R_gt:
[[ 0.95988926 -0.27897635 -0.02801009]
 [ 0.2789101   0.96029653 -0.00633647]
 [ 0.02866531 -0.00173029  0.999588  ]]

 t_gt:
[ 0.7533522  -0.65068363 -0.09524325]

Pose Error in degrees for R and t:
19.335061640593548 38.63571612678456

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.19141293e-01  3.93927913e-01  2.88787489e-04]
 [-3.93928004e-01  9.19141212e-01  4.00349723e-04]
 [-1.07727552e-04 -4.81739441e-04  9.99999878e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557444e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.91846992 -0.39227832 -0.05029659]
 [ 0.39186977  0.91984103 -0.01815581]
 [ 0.05338628 -0.00303398  0.99856993]]

 t_gt:
[ 0.78977284 -0.6013664  -0.12090208]

Pose Error in degrees for R and t:
46.39706416466775 37.975101140254054

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.97278932e-01 -7.37140863e-02  9.82507617e-04]
 [ 7.37148381e-02  9.97279077e-01 -7.52266545e-04]
 [-9.24381648e-04  8.22644966e-04  9.99999234e-01]]

 t_estimated:
[[0.73429435]
 [0.67882607]
 [0.00264135]]

 R_gt:
[[ 0.99661061  0.07982863  0.01988346]
 [-0.07943974  0.9966468  -0.01964554]
 [-0.02138551  0.01799912  0.9996087 ]]

 t_gt:
[-0.75705935  0.65305283  0.01957422]

Pose Error in degrees for R and t:
8.927645635040307 83.53804710354392

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.92129985e-01  1.25212185e-01 -3.41700395e-05]
 [-1.25212189e-01  9.92129961e-01 -2.20362388e-04]
 [ 6.30906400e-06  2.22906638e-04  9.99999975e-01]]

 t_estimated:
[[-0.64037017]
 [-0.76806585]
 [-0.00094589]]

 R_gt:
[[ 0.99458182  0.02731874  0.10030506]
 [-0.03990359  0.99126745  0.12569166]
 [-0.09599627 -0.12901354  0.98698486]]

 t_gt:
[-0.22084072  0.05434788  0.97379448]

Pose Error in degrees for R and t:
10.647970775302538 84.33246250226388

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.94482752e-01  1.04900209e-01 -5.03833515e-05]
 [-1.04900207e-01  9.94482752e-01  4.46769258e-05]
 [ 5.47919930e-05 -3.91452081e-05  9.99999998e-01]]

 t_estimated:
[[-6.12420059e-01]
 [-7.90532269e-01]
 [-6.34202259e-04]]

 R_gt:
[[ 0.97982327 -0.04355087  0.1950633 ]
 [-0.01810096  0.95262311  0.30361325]
 [-0.19904427 -0.3010185   0.93261411]]

 t_gt:
[ 0.03244078 -0.00366958  0.99946692]

Pose Error in degrees for R and t:
22.200572829593 88.99152328345119

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[-0.93740537  0.34787773  0.0158825 ]
 [ 0.34790115  0.93753025 -0.00135276]
 [-0.01536092  0.00425746 -0.99987295]]

 t_estimated:
[[ 0.98749852]
 [-0.15743156]
 [ 0.00787198]]

 R_gt:
[[ 0.98697414 -0.16080983 -0.00480438]
 [ 0.16076065  0.98695083 -0.0091513 ]
 [ 0.00621223  0.00825931  0.99994639]]

 t_gt:
[ 0.71993402 -0.68785891 -0.09243984]

Pose Error in degrees for R and t:
179.31121032068793 35.065400204066904

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99459030e-01  3.28879688e-02  1.72463804e-04]
 [-3.28879660e-02  9.99459044e-01 -1.91551863e-05]
 [-1.73000484e-04  1.34728402e-05  9.99999985e-01]]

 t_estimated:
[[ 9.89316291e-01]
 [-1.45784864e-01]
 [ 2.23068009e-04]]

 R_gt:
[[ 9.58779827e-01 -2.81098856e-01 -4.15346736e-02]
 [ 2.81333618e-01  9.59609395e-01 -1.84159510e-04]
 [ 3.99086118e-02 -1.15082410e-02  9.99137417e-01]]

 t_gt:
[ 0.75983809 -0.64319732 -0.09456897]

Pose Error in degrees for R and t:
18.379537085229064 32.27793654417341

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-2.83372764e-01 -9.59009636e-01 -6.27623181e-04]
 [ 9.59008189e-01 -2.83373430e-01  1.67111778e-03]
 [-1.78046978e-03 -1.28346506e-04  9.99998407e-01]]

 t_estimated:
[[9.04029559e-01]
 [4.27469282e-01]
 [7.55246080e-04]]

 R_gt:
[[ 0.93237242 -0.36037374 -0.02850631]
 [ 0.35960499  0.93266028 -0.02877752]
 [ 0.03695693  0.01658046  0.99917995]]

 t_gt:
[ 0.75793587 -0.63630026 -0.14371916]

Pose Error in degrees for R and t:
85.38136708694114 65.6009662624908

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99999345e-01 -3.77753618e-04 -1.08004906e-03]
 [ 3.80800621e-04  9.99995945e-01  2.82235832e-03]
 [ 1.07897853e-03 -2.82276776e-03  9.99995434e-01]]

 t_estimated:
[[6.61132175e-01]
 [7.50269234e-01]
 [5.68325961e-04]]

 R_gt:
[[ 9.96293220e-01  8.60223199e-02  2.11906897e-04]
 [-8.59114534e-02  9.94882207e-01  5.31729999e-02]
 [ 4.36406964e-03 -5.29939349e-02  9.98585154e-01]]

 t_gt:
[-0.39567191  0.37161791  0.83984753]

Pose Error in degrees for R and t:
5.734759169169539 88.98584825601789

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 7.90773311e-01  6.12107649e-01  1.34015052e-03]
 [-6.12109034e-01  7.90772448e-01  1.21076851e-03]
 [-3.18633439e-04 -1.77776167e-03  9.99998369e-01]]

 t_estimated:
[[0.78247563]
 [0.62268055]
 [0.00090268]]

 R_gt:
[[ 0.98817816  0.13408354 -0.07433319]
 [-0.12835854  0.98872633  0.07709336]
 [ 0.08383261 -0.06664123  0.99424885]]

 t_gt:
[0.02201812 0.85400011 0.51980671]

Pose Error in degrees for R and t:
30.78106409880447 56.66953681148001

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 2.56274672e-01  9.66603856e-01  5.26441213e-04]
 [-9.66601304e-01  2.56275206e-01 -2.22205650e-03]
 [-2.28276221e-03  6.05980387e-05  9.99997393e-01]]

 t_estimated:
[[0.04604047]
 [0.9989386 ]
 [0.00139517]]

 R_gt:
[[ 0.96877819  0.20478985 -0.13974913]
 [-0.18639831  0.97328009  0.13409326]
 [ 0.16347662 -0.10385765  0.98106591]]

 t_gt:
[0.43379095 0.81373463 0.38686092]

Pose Error in degrees for R and t:
64.65496401673394 33.55220273272631

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 9.96369133e-01 -8.51383956e-02 -7.33320627e-05]
 [ 8.51384031e-02  9.96369129e-01  1.05348464e-04]
 [ 6.40966043e-05 -1.11209332e-04  9.99999992e-01]]

 t_estimated:
[[-0.28945443]
 [-0.95719057]
 [-0.0015315 ]]

 R_gt:
[[ 0.99890522 -0.01630135  0.04384643]
 [ 0.01442142  0.99897812  0.04284645]
 [-0.04449959 -0.04216669  0.99811925]]

 t_gt:
[ 0.33115294 -0.36572832  0.86981637]

Pose Error in degrees for R and t:
5.325387343701577 75.35165004843203

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.85391303e-01 -1.70304976e-01  4.41380663e-04]
 [ 1.70304150e-01  9.85390406e-01  1.49837214e-03]
 [-6.90112502e-04 -1.40131392e-03  9.99998780e-01]]

 t_estimated:
[[0.83608636]
 [0.54859   ]
 [0.00293364]]

 R_gt:
[[ 0.99916736 -0.03152766  0.02586518]
 [ 0.02930598  0.99618594  0.08218777]
 [-0.028358   -0.08136137  0.99628121]]

 t_gt:
[ 0.53106857 -0.39275105  0.75080809]

Pose Error in degrees for R and t:
9.405793399066162 76.65803317015036

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-9.95170743e-01 -9.76960198e-02 -9.52257003e-03]
 [ 9.77029345e-02 -9.95215589e-01 -2.62553250e-04]
 [-9.45135973e-03 -1.19166835e-03  9.99954625e-01]]

 t_estimated:
[[0.79093718]
 [0.61189419]
 [0.00196751]]

 R_gt:
[[ 0.99269059 -0.09505156  0.07436892]
 [ 0.07948066  0.97859409  0.18983437]
 [-0.09082027 -0.18253662  0.97899548]]

 t_gt:
[ 0.42967332 -0.36783326  0.82466935]

Pose Error in degrees for R and t:
169.3405859451677 83.31607349049332

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.69181719e-01  2.46346694e-01  3.20321344e-04]
 [-2.46346600e-01  9.69181747e-01 -3.05689889e-04]
 [-3.85755293e-04  2.17358978e-04  9.99999902e-01]]

 t_estimated:
[[0.13583387]
 [0.99073026]
 [0.00164799]]

 R_gt:
[[ 0.99987655  0.01487514 -0.00502551]
 [-0.01485651  0.99988331  0.00365386]
 [ 0.00508004 -0.00357891  0.9999809 ]]

 t_gt:
[-0.7813968  -0.62402928 -0.00254759]

Pose Error in degrees for R and t:
13.414998574748983 43.581953075913084

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99998357e-01 -1.81258323e-03 -1.74689860e-05]
 [ 1.81258234e-03  9.99998356e-01 -5.05087166e-05]
 [ 1.75605085e-05  5.04769696e-05  9.99999999e-01]]

 t_estimated:
[[ 9.74327725e-01]
 [-2.25133409e-01]
 [ 6.58106034e-04]]

 R_gt:
[[ 0.99968872  0.01440711 -0.02036525]
 [-0.01427299  0.99987647  0.00671701]
 [ 0.02045982 -0.00642483  0.99976935]]

 t_gt:
[-0.46750591 -0.88301616 -0.04148124]

Pose Error in degrees for R and t:
1.5381871077687006 75.12359359979831

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 4.37894306e-01 -8.99025516e-01 -1.30306674e-03]
 [ 8.99026274e-01  4.37894689e-01 -9.47085886e-06]
 [ 5.79120548e-04 -1.16734400e-03  9.99999151e-01]]

 t_estimated:
[[ 9.06086413e-01]
 [-4.23092648e-01]
 [ 1.51085273e-04]]

 R_gt:
[[ 0.9993026   0.02622064 -0.02659372]
 [-0.02748733  0.99844832 -0.04844632]
 [ 0.02528303  0.04914301  0.99847105]]

 t_gt:
[-0.62085007 -0.40993169 -0.66820745]

Pose Error in degrees for R and t:
65.63859203916226 67.09491599145885

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99998516e-01  1.71117628e-03  1.97174973e-04]
 [-1.71119656e-03  9.99998531e-01  1.02744039e-04]
 [-1.96998870e-04 -1.03081292e-04  9.99999975e-01]]

 t_estimated:
[[-9.99985494e-01]
 [-5.38203182e-03]
 [-2.12039842e-04]]

 R_gt:
[[ 0.99378485 -0.09529815 -0.05752277]
 [ 0.09477202  0.99542962 -0.01180379]
 [ 0.05838526  0.00627856  0.99827491]]

 t_gt:
[ 0.74154936 -0.57125618 -0.3518109 ]

Pose Error in degrees for R and t:
6.501832698859772 42.40559502552952

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99998429e-01  1.74963353e-03  2.84405800e-04]
 [-1.74963657e-03  9.99998469e-01  1.04504070e-05]
 [-2.84387080e-04 -1.09479974e-05  9.99999960e-01]]

 t_estimated:
[[-9.99964951e-01]
 [-8.33597707e-03]
 [-7.80509921e-04]]

 R_gt:
[[ 0.95812964 -0.25893935 -0.12222024]
 [ 0.2551003   0.96580287 -0.04635365]
 [ 0.13004298  0.01323401  0.99141978]]

 t_gt:
[ 0.78359279 -0.53952168 -0.30805632]

Pose Error in degrees for R and t:
16.825898012488512 38.84665795239716

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.7523107   0.65433692 -0.07662776]
 [-0.64914741  0.75609333  0.08324974]
 [ 0.11241111 -0.01288696  0.99357821]]

 t_estimated:
[[0.27289337]
 [0.96204346]
 [0.00125757]]

 R_gt:
[[ 0.92201092 -0.365932   -0.1264501 ]
 [ 0.36211156  0.9306378  -0.05281669]
 [ 0.13700617  0.00290828  0.99056599]]

 t_gt:
[ 0.82121323 -0.52698252 -0.2188567 ]

Pose Error in degrees for R and t:
62.366052727000486 73.55160355508383

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.99947347e-01 -1.02292425e-02 -8.15465344e-04]
 [ 1.02297615e-02  9.99947473e-01  6.34930418e-04]
 [ 8.08927653e-04 -6.43239003e-04  9.99999466e-01]]

 t_estimated:
[[-0.99895923]
 [-0.04542625]
 [-0.00411339]]

 R_gt:
[[ 0.99868069  0.00318357 -0.05125078]
 [-0.00239748  0.99987886  0.01539565]
 [ 0.0512932  -0.01525303  0.99856631]]

 t_gt:
[ 0.97653612 -0.19491079 -0.09158052]

Pose Error in degrees for R and t:
3.103881149271515 14.919393090577941

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 5.42625684e-01 -8.39973649e-01 -1.27892843e-03]
 [ 8.39974497e-01  5.42625808e-01  2.78301684e-04]
 [ 4.60213493e-04 -1.22528091e-03  9.99999143e-01]]

 t_estimated:
[[9.94282481e-01]
 [1.06778975e-01]
 [7.73760686e-04]]

 R_gt:
[[ 0.99672279  0.06861983 -0.04282639]
 [-0.06559513  0.99549669  0.06843828]
 [ 0.04732977 -0.06540509  0.99673543]]

 t_gt:
[ 0.68412083 -0.08124171  0.72482996]

Pose Error in degrees for R and t:
61.14455770128953 47.77101242845926

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.78883935e-01 -2.04416816e-01 -8.30134415e-05]
 [ 2.04416831e-01  9.78883889e-01  3.00093137e-04]
 [ 1.99164370e-05 -3.10725696e-04  9.99999952e-01]]

 t_estimated:
[[-0.89526536]
 [-0.44553112]
 [-0.00140104]]

 R_gt:
[[ 0.98535653  0.12318278 -0.11788816]
 [-0.11080111  0.9881315   0.10639416]
 [ 0.1295944  -0.09177503  0.98731099]]

 t_gt:
[0.87467263 0.01937752 0.48432665]

Pose Error in degrees for R and t:
20.66097079114548 37.59189442777192

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99621190e-01 -2.75222841e-02  1.02931049e-05]
 [ 2.75222834e-02  9.99621189e-01  5.76769353e-05]
 [-1.18766068e-05 -5.73717970e-05  9.99999998e-01]]

 t_estimated:
[[5.95587318e-01]
 [8.03290469e-01]
 [4.12124209e-04]]

 R_gt:
[[ 0.99771511 -0.05578626  0.03812038]
 [ 0.05232291  0.99487689  0.08650052]
 [-0.04274988 -0.08430866  0.995522  ]]

 t_gt:
[ 0.29951473 -0.40308718  0.86476104]

Pose Error in degrees for R and t:
5.632048231184736 81.659678800507

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.98814432e-01  4.86795083e-02  1.92047124e-04]
 [-4.86798164e-02  9.98811931e-01  2.23628736e-03]
 [-8.29575892e-05 -2.24298491e-03  9.99997481e-01]]

 t_estimated:
[[0.61674353]
 [0.78715951]
 [0.00270502]]

 R_gt:
[[ 0.99299614 -0.08686506  0.08009045]
 [ 0.07709221  0.99002153  0.11795612]
 [-0.08953763 -0.11095536  0.98978381]]

 t_gt:
[ 0.38129677 -0.38380548  0.84101494]

Pose Error in degrees for R and t:
11.038186368326311 86.29158572014758

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 8.73306893e-01  4.87169638e-01  9.02341534e-04]
 [-4.87169820e-01  8.73307258e-01 -2.04724350e-05]
 [-7.97994959e-04 -4.21714844e-04  9.99999593e-01]]

 t_estimated:
[[0.28691022]
 [0.95795673]
 [0.00119252]]

 R_gt:
[[ 0.99422038 -0.08490621  0.06571636]
 [ 0.07385549  0.98508647  0.15540191]
 [-0.07793077 -0.14964956  0.98566322]]

 t_gt:
[ 0.43887371 -0.36175576  0.82250996]

Pose Error in degrees for R and t:
35.06293662203538 77.3116318167246

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99999976e-01 -2.17527440e-04  8.19147303e-06]
 [ 2.17527332e-04  9.99999976e-01  1.32113052e-05]
 [-8.19434666e-06 -1.32095230e-05  1.00000000e+00]]

 t_estimated:
[[ 9.98778263e-01]
 [-4.94161324e-02]
 [ 1.66780453e-04]]

 R_gt:
[[ 0.99957806 -0.02654959  0.01179254]
 [ 0.02663776  0.99961767 -0.00746295]
 [-0.01158881  0.00777405  0.99990247]]

 t_gt:
[ 0.79319545 -0.58634621  0.16443569]

Pose Error in degrees for R and t:
1.7096344027727723 34.79201269766774

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99995567e-01 -2.22166415e-03  1.98247805e-03]
 [ 2.22168400e-03  9.99997532e-01 -7.81127367e-06]
 [-1.98245581e-03  1.22156788e-05  9.99998035e-01]]

 t_estimated:
[[0.643482  ]
 [0.76546073]
 [0.0008839 ]]

 R_gt:
[[ 9.82914111e-01 -1.82886640e-01 -2.08314866e-02]
 [ 1.82840036e-01  9.83134003e-01 -4.11853424e-03]
 [ 2.12339846e-02  2.40236063e-04  9.99774778e-01]]

 t_gt:
[ 0.75458158 -0.65418395 -0.05147808]

Pose Error in degrees for R and t:
10.494732911429123 89.1268954078465

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999929e-01  2.46310887e-04  2.86377643e-04]
 [-2.46327920e-04  9.99999968e-01  5.94442073e-05]
 [-2.86362992e-04 -5.95147459e-05  9.99999957e-01]]

 t_estimated:
[[8.67559003e-01]
 [4.97333879e-01]
 [6.23809676e-04]]

 R_gt:
[[ 0.96460679 -0.26107428 -0.03707217]
 [ 0.26164191  0.96509834  0.01131247]
 [ 0.0328253  -0.02061133  0.99924835]]

 t_gt:
[ 0.75386119 -0.65666334 -0.02205841]

Pose Error in degrees for R and t:
15.333444093102473 70.8874799994317

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.90906006e-01  1.34555826e-01  1.32333632e-04]
 [-1.34555791e-01  9.90905990e-01 -2.42806992e-04]
 [-1.63801284e-04  2.22792650e-04  9.99999962e-01]]

 t_estimated:
[[-7.51806560e-01]
 [ 6.59383698e-01]
 [ 1.86258717e-04]]

 R_gt:
[[ 0.9990167   0.04192016 -0.01444639]
 [-0.04143456  0.99861475  0.03244314]
 [ 0.01578608 -0.03181401  0.99936919]]

 t_gt:
[-0.90434569  0.35752251  0.23310195]

Pose Error in degrees for R and t:
5.72320039292231 23.69738190595882

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.89982542e-01  1.41187612e-01  7.90203439e-04]
 [-1.41186989e-01  9.89982627e-01 -7.95741520e-04]
 [-8.94636521e-04  6.76203769e-04  9.99999371e-01]]

 t_estimated:
[[0.71464438]
 [0.69948755]
 [0.00075784]]

 R_gt:
[[ 0.99968477  0.01950287 -0.01577902]
 [-0.01947314  0.99980812  0.00203913]
 [ 0.01581568 -0.00173201  0.99987323]]

 t_gt:
[-0.58534771 -0.67640992 -0.44703207]

Pose Error in degrees for R and t:
7.066225516236005 26.900377162126937

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.70125168e-01  2.42604789e-01  2.74742836e-04]
 [-2.42603688e-01  9.70123165e-01 -2.12014078e-03]
 [-7.80890698e-04  1.99014831e-03  9.99997715e-01]]

 t_estimated:
[[8.92324158e-01]
 [4.51394629e-01]
 [6.97673305e-04]]

 R_gt:
[[ 0.99736686 -0.06679017 -0.02827851]
 [ 0.0663858   0.99768267 -0.01498205]
 [ 0.02921313  0.01306438  0.99948777]]

 t_gt:
[ 0.42710047 -0.84904995 -0.31096521]

Pose Error in degrees for R and t:
17.95021169801128 89.86469747102667

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 9.99818906e-01 -1.90303541e-02 -7.81674264e-07]
 [ 1.90303541e-02  9.99818904e-01  7.24755856e-05]
 [-5.97703353e-07 -7.24773363e-05  9.99999997e-01]]

 t_estimated:
[[-8.85469027e-01]
 [ 4.64698340e-01]
 [ 2.33163351e-04]]

 R_gt:
[[ 0.99927278  0.02554059 -0.02831148]
 [-0.02576545  0.99963959 -0.00761312]
 [ 0.02810735  0.00833767  0.99956935]]

 t_gt:
[-0.22326382  0.85960606 -0.45959839]

Pose Error in degrees for R and t:
3.0633106409494446 53.341550438478606

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.93034660e-01  1.17822583e-01  4.60078848e-05]
 [-1.17822581e-01  9.93034661e-01 -2.92049689e-05]
 [-4.91284291e-05  2.35807786e-05  9.99999999e-01]]

 t_estimated:
[[-7.53142868e-01]
 [ 6.57856960e-01]
 [-2.01933280e-04]]

 R_gt:
[[ 0.9967356   0.07946738 -0.01419771]
 [-0.07996163  0.99605454 -0.03848342]
 [ 0.01108348  0.03949499  0.99915786]]

 t_gt:
[-0.41198306  0.84822676 -0.33283828]

Pose Error in degrees for R and t:
3.2147434494651 29.731245947271656

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.93414239e-01  1.14577970e-01  1.96239722e-04]
 [-1.14577970e-01  9.93414258e-01 -1.32540313e-05]
 [-1.96465958e-04 -9.31800559e-06  9.99999981e-01]]

 t_estimated:
[[-8.48529800e-01]
 [ 5.29147502e-01]
 [ 3.14971795e-04]]

 R_gt:
[[ 0.98703271  0.1594348  -0.01860313]
 [-0.16003197  0.9864192  -0.03696807]
 [ 0.01245642  0.0394668   0.99914283]]

 t_gt:
[-0.55104414  0.81172609 -0.19352291]

Pose Error in degrees for R and t:
3.534397479079073 26.228421654476247

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99999997e-01  4.24377528e-05  6.45163918e-05]
 [-4.24485134e-05  9.99999985e-01  1.66795874e-04]
 [-6.45093124e-05 -1.66798612e-04  9.99999984e-01]]

 t_estimated:
[[0.75423838]
 [0.65659967]
 [0.00116074]]

 R_gt:
[[ 0.99868792 -0.04644759 -0.02159331]
 [ 0.04680319  0.99877104  0.01626944]
 [ 0.02081053 -0.01725861  0.99963459]]

 t_gt:
[ 0.99344636 -0.0886061   0.07220307]

Pose Error in degrees for R and t:
3.089876361803522 46.27479012833232

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99387399e-01 -3.49949811e-02  4.22000685e-04]
 [ 3.49949744e-02  9.99387488e-01  2.31951148e-05]
 [-4.22553917e-04 -8.41300227e-06  9.99999911e-01]]

 t_estimated:
[[0.81932013]
 [0.57333568]
 [0.00085174]]

 R_gt:
[[ 0.99868321 -0.03174625 -0.04031359]
 [ 0.03236901  0.9993646   0.01488542]
 [ 0.0398148  -0.01617053  0.99907588]]

 t_gt:
[ 0.98758472  0.14766357 -0.05359009]

Pose Error in degrees for R and t:
2.4910505115134365 26.649995797536267

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 1.34421342e-02 -9.99837507e-01  1.20112181e-02]
 [-9.99909650e-01 -1.34410344e-02  1.72288520e-04]
 [-1.08173294e-05 -1.20124488e-02 -9.99927848e-01]]

 t_estimated:
[[0.09839634]
 [0.99514479]
 [0.00223628]]

 R_gt:
[[ 0.99916906 -0.00862745 -0.03983949]
 [ 0.00879143  0.99995292  0.00397381]
 [ 0.03980234 -0.00432099  0.99919846]]

 t_gt:
[ 0.95966787  0.25988963 -0.10721457]

Pose Error in degrees for R and t:
179.05286090413387 69.34035778639984

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.14318304e-01 -4.04996301e-01 -1.90013198e-04]
 [ 4.04996341e-01  9.14318258e-01  2.95034222e-04]
 [ 5.42447678e-05 -3.46709839e-04  9.99999938e-01]]

 t_estimated:
[[-7.58345958e-01]
 [-6.51851937e-01]
 [-6.78305866e-04]]

 R_gt:
[[ 0.95043389  0.3100795  -0.02295396]
 [-0.31053235  0.95035632 -0.01981096]
 [ 0.01567158  0.0259574   0.99954025]]

 t_gt:
[-0.89826679  0.4298349  -0.09142613]

Pose Error in degrees for R and t:
42.00759361161445 66.35489523071591

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-9.99430597e-01  3.35693200e-02 -3.40339531e-03]
 [ 3.35686039e-02  9.99436380e-01  2.67349948e-04]
 [ 3.41045185e-03  1.52950489e-04 -9.99994173e-01]]

 t_estimated:
[[ 9.99872408e-01]
 [ 1.59432957e-02]
 [-9.89612722e-04]]

 R_gt:
[[ 0.83323237  0.5528233  -0.01049777]
 [-0.5529164   0.83297908 -0.02071999]
 [-0.00270983  0.02306952  0.99973016]]

 t_gt:
[-0.84847177  0.52771188 -0.0401973 ]

Pose Error in degrees for R and t:
179.59861815629975 32.86935460470658

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-0.10027583  0.99489829  0.01105254]
 [ 0.99494174  0.10033454 -0.00488988]
 [-0.00597388  0.0105063  -0.99992696]]

 t_estimated:
[[9.99975848e-01]
 [6.89638530e-03]
 [8.62048145e-04]]

 R_gt:
[[ 0.79044927  0.61248692 -0.00699668]
 [-0.61237477  0.78994639 -0.03135954]
 [-0.01368018  0.02907335  0.9994836 ]]

 t_gt:
[-0.82582997  0.56237484 -0.04170607]

Pose Error in degrees for R and t:
178.0708930871683 34.71775158109883

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999990e-01 -3.01817831e-05  1.38559985e-04]
 [ 3.02057222e-05  9.99999985e-01 -1.72771531e-04]
 [-1.38554769e-04  1.72775714e-04  9.99999975e-01]]

 t_estimated:
[[8.15306758e-01]
 [5.79029202e-01]
 [2.71706493e-04]]

 R_gt:
[[ 0.99638971 -0.08386223 -0.01318424]
 [ 0.0836809   0.99639713 -0.01371591]
 [ 0.01428674  0.01256333  0.9998189 ]]

 t_gt:
[ 0.70807797 -0.69243206 -0.13843205]

Pose Error in degrees for R and t:
4.926460891999898 79.84423994946287

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.29927913e-01 -3.67738285e-01  1.62196434e-03]
 [-3.67738785e-01 -9.29929129e-01  1.11677439e-05]
 [ 1.50420508e-03 -6.06844394e-04 -9.99998685e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99583139 -0.0689208  -0.05974255]
 [ 0.06412167  0.99482295 -0.07882716]
 [ 0.0648659   0.07466756  0.99509727]]

 t_gt:
[ 0.64110435 -0.32105897 -0.69706983]

Pose Error in degrees for R and t:
175.01670042879033 71.4713599920678

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-1.52606031e-01 -9.88286808e-01 -7.64959305e-04]
 [-9.88287097e-01  1.52605894e-01  2.35235781e-04]
 [-1.15743120e-04  7.91897810e-04 -9.99999680e-01]]

 t_estimated:
[[0.71473829]
 [0.69939115]
 [0.00109622]]

 R_gt:
[[ 0.98895755 -0.08575257 -0.12086724]
 [ 0.0674342   0.98664855 -0.14824332]
 [ 0.13196589  0.13845515  0.98153695]]

 t_gt:
[ 0.54369071 -0.10307553 -0.83293208]

Pose Error in degrees for R and t:
169.0570530827808 71.60336116719344

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99999997e-01 -7.42634485e-05  3.35114257e-05]
 [ 7.42618801e-05  9.99999996e-01  4.67995386e-05]
 [-3.35149011e-05 -4.67970499e-05  9.99999998e-01]]

 t_estimated:
[[-0.63631306]
 [-0.77142992]
 [-0.00125329]]

 R_gt:
[[ 0.98951155 -0.1420645  -0.02616225]
 [ 0.14221927  0.98982614  0.00417829]
 [ 0.02530225 -0.00785454  0.99964882]]

 t_gt:
[ 0.70629033 -0.70290318 -0.08414922]

Pose Error in degrees for R and t:
8.308951282349158 84.66814082746214

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.86751838e-01  1.62236403e-01  3.99250021e-04]
 [-1.62236396e-01  9.86751919e-01 -5.17827236e-05]
 [-4.02361767e-04 -1.36761866e-05  9.99999919e-01]]

 t_estimated:
[[0.24209174]
 [0.97025277]
 [0.00107241]]

 R_gt:
[[ 0.9849654  -0.16592259 -0.04808917]
 [ 0.16388246  0.98551445 -0.04364649]
 [ 0.05463462  0.03510873  0.99788882]]

 t_gt:
[ 0.73938404 -0.6154572  -0.27299026]

Pose Error in degrees for R and t:
19.20305656117749 65.26367095335186

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-1.63227601e-01 -9.86585451e-01 -2.42870142e-03]
 [ 9.86588423e-01 -1.63227559e-01 -2.16926098e-04]
 [-1.82414872e-04 -2.43153703e-03  9.99997027e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075938e-03]
 [7.75189838e-04]]

 R_gt:
[[ 0.98189854 -0.15354851 -0.11090325]
 [ 0.14216156  0.98434525 -0.10419241]
 [ 0.12516545  0.08654075  0.98835417]]

 t_gt:
[ 0.70746824 -0.4120791  -0.57417724]

Pose Error in degrees for R and t:
91.16867460877066 45.11049808206978

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 7.07944868e-02  9.97490916e-01  1.18140347e-04]
 [ 9.97488366e-01 -7.07945730e-02  2.25583590e-03]
 [ 2.25853951e-03 -4.18571236e-05 -9.99997449e-01]]

 t_estimated:
[[0.99988064]
 [0.01532462]
 [0.00196578]]

 R_gt:
[[ 0.95071198  0.30992037  0.00982705]
 [-0.30983704  0.95074542 -0.00910016]
 [-0.0121631   0.00560741  0.9999107 ]]

 t_gt:
[-0.91573409  0.40150494 -0.014995  ]

Pose Error in degrees for R and t:
179.35625427156955 24.563466799290413

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.93677728e-01 -1.12264346e-01  1.13579245e-03]
 [-1.12269740e-01  9.93649054e-01 -7.55401167e-03]
 [-2.80532915e-04 -7.63376828e-03 -9.99970823e-01]]

 t_estimated:
[[0.99930799]
 [0.03701141]
 [0.00370114]]

 R_gt:
[[ 8.90066868e-01  4.55828410e-01  3.81307174e-04]
 [-4.55761762e-01  8.89921612e-01  1.79340021e-02]
 [ 7.83527060e-03 -1.61361607e-02  9.99839105e-01]]

 t_gt:
[-0.88652518  0.46218992  0.02129726]

Pose Error in degrees for R and t:
179.93909104706484 29.689005175975232

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 3.76126567e-01  9.26567328e-01  1.33899842e-03]
 [-9.26566476e-01  3.76128299e-01 -1.43802034e-03]
 [-1.83605787e-03 -6.99793389e-04  9.99998070e-01]]

 t_estimated:
[[-0.17007178]
 [ 0.98543016]
 [ 0.00172753]]

 R_gt:
[[ 0.8576097   0.513723    0.02438552]
 [-0.5134214   0.85795182 -0.01782585]
 [-0.03007924  0.0027683   0.99954455]]

 t_gt:
[-0.86473507  0.50218287  0.00675456]

Pose Error in degrees for R and t:
37.02993519097903 50.06300509589134

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 1.49034632e-02  9.99887888e-01  1.44873579e-03]
 [-9.99888782e-01  1.49042517e-02 -5.34957362e-04]
 [-5.56489709e-04 -1.44060195e-03  9.99998807e-01]]

 t_estimated:
[[0.62955352]
 [0.77695654]
 [0.00095099]]

 R_gt:
[[ 0.99232784  0.12195037 -0.0203447 ]
 [-0.12062422  0.99105627  0.05706683]
 [ 0.02712294 -0.05417585  0.99816251]]

 t_gt:
[-0.86617004  0.46609738  0.18028504]

Pose Error in degrees for R and t:
82.23352012967203 79.45594239921154

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.06665776e-01 -4.21849691e-01  9.48316029e-05]
 [ 4.21849700e-01  9.06665734e-01 -2.77324953e-04]
 [ 3.10088810e-05  2.91445727e-04  9.99999957e-01]]

 t_estimated:
[[-0.4053146 ]
 [-0.91417673]
 [-0.00098617]]

 R_gt:
[[ 0.95338779  0.29977242 -0.03448314]
 [-0.29664456  0.95204927  0.0748575 ]
 [ 0.05527085 -0.06113958  0.99659716]]

 t_gt:
[-0.84669326  0.53163303  0.02183666]

Pose Error in degrees for R and t:
42.5848028538575 81.78714838862894

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.99413746 -0.10810966 -0.00173521]
 [ 0.10811364  0.99413566  0.00239377]
 [ 0.00146624 -0.00256734  0.99999563]]

 t_estimated:
[[-0.76726164]
 [-0.64133359]
 [-0.00089949]]

 R_gt:
[[ 0.91780419  0.39702785  0.0021715 ]
 [-0.39182566  0.90486818  0.16638977]
 [ 0.0640959  -0.15356395  0.9860574 ]]

 t_gt:
[-0.85099866  0.49151335  0.18497542]

Pose Error in degrees for R and t:
31.03878884078211 70.27243119775372

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-6.94906306e-01 -7.19099593e-01  1.00105905e-03]
 [-7.19099351e-01  6.94906974e-01  6.48150065e-04]
 [-1.16172736e-03 -2.69457347e-04 -9.99999289e-01]]

 t_estimated:
[[0.94453783]
 [0.32839891]
 [0.0015638 ]]

 R_gt:
[[ 0.99973329 -0.00365336 -0.02280373]
 [ 0.00392548  0.99992129  0.0119256 ]
 [ 0.02275749 -0.01201151  0.99966922]]

 t_gt:
[ 0.28150247 -0.75643623 -0.5903902 ]

Pose Error in degrees for R and t:
179.13328820476517 89.05150280754735

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-9.98303992e-01  5.82153959e-02 -3.28179667e-04]
 [ 5.82156194e-02  9.98303774e-01 -7.18622410e-04]
 [ 2.85788112e-04 -7.36508803e-04 -9.99999688e-01]]

 t_estimated:
[[9.99470270e-01]
 [3.25324862e-02]
 [9.03680172e-04]]

 R_gt:
[[ 0.99783587  0.06364593 -0.01651183]
 [-0.06336105  0.99784137  0.01725424]
 [ 0.01757381 -0.01617134  0.99971433]]

 t_gt:
[-0.91200208  0.39205399 -0.12060626]

Pose Error in degrees for R and t:
178.97860081306638 25.98961799221479

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-9.99709041e-01 -2.41197892e-02  2.63585998e-04]
 [-2.41178532e-02  9.99692256e-01  5.80707212e-03]
 [-4.03570236e-04  5.79902537e-03 -9.99983104e-01]]

 t_estimated:
[[0.99914461]
 [0.04133577]
 [0.00118102]]

 R_gt:
[[ 0.99882    -0.02999633 -0.03820813]
 [ 0.02965469  0.99951555 -0.00947458]
 [ 0.03847336  0.00832986  0.99922512]]

 t_gt:
[ 0.24048856 -0.83816398 -0.48953692]

Pose Error in degrees for R and t:
177.8208826120793 78.1670738397503

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99812973e-01  1.93395473e-02 -4.02489534e-05]
 [-1.93395458e-02  9.99812973e-01  3.65732705e-05]
 [ 4.09487362e-05 -3.57880338e-05  9.99999999e-01]]

 t_estimated:
[[-0.78710951]
 [ 0.61681265]
 [-0.00088323]]

 R_gt:
[[ 0.99959033  0.02857294  0.0019255 ]
 [-0.02846237  0.99865786 -0.04326873]
 [-0.00315975  0.04319652  0.99906162]]

 t_gt:
[-0.19377752  0.78975004 -0.58201817]

Pose Error in degrees for R and t:
2.539533063977059 50.195801337866904

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.96639362e-01 -8.19141315e-02 -2.37556730e-04]
 [ 8.19142416e-02  9.96639257e-01  4.98652164e-04]
 [ 1.95911704e-04 -5.16435654e-04  9.99999847e-01]]

 t_estimated:
[[-0.64571837]
 [ 0.76357484]
 [ 0.00111848]]

 R_gt:
[[ 9.93879115e-01  1.10480630e-01  9.47234365e-04]
 [-1.10262652e-01  9.92391664e-01 -5.47888594e-02]
 [-6.99354584e-03  5.43494692e-02  9.98498201e-01]]

 t_gt:
[-0.50470064  0.80546143 -0.31065922]

Pose Error in degrees for R and t:
11.4848754254707 19.85130215581701

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99635343e-01  2.70033370e-02 -4.92701700e-06]
 [-2.70033370e-02  9.99635343e-01 -7.34361890e-06]
 [ 4.72691811e-06  7.47398690e-06  1.00000000e+00]]

 t_estimated:
[[-9.65491469e-01]
 [-2.60433586e-01]
 [-7.54879960e-04]]

 R_gt:
[[ 0.96786065  0.2507154  -0.01976785]
 [-0.25148543  0.96543083 -0.06854987]
 [ 0.00189735  0.07131876  0.99745247]]

 t_gt:
[-0.63102777  0.74660385 -0.21068139]

Pose Error in degrees for R and t:
13.639029182875861 65.4825567634182

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.99999814 -0.00104654  0.00162053]
 [ 0.00104873  0.99999853 -0.00135285]
 [-0.00161911  0.00135455  0.99999777]]

 t_estimated:
[[-0.58150675]
 [-0.81353654]
 [-0.00286457]]

 R_gt:
[[ 0.99535807 -0.04784995 -0.08350156]
 [ 0.04572403  0.99858373 -0.02719491]
 [ 0.08468448  0.0232516   0.99613606]]

 t_gt:
[ 0.71894492 -0.22184819 -0.65871207]

Pose Error in degrees for R and t:
5.741651369670557 76.36694680601141

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.16719085e-01 -3.99531715e-01  7.26147130e-04]
 [ 3.99532318e-01  9.16718412e-01 -1.13104685e-03]
 [-2.13783357e-04  1.32697148e-03  9.99999097e-01]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.98527794 -0.14368957 -0.09263829]
 [ 0.13731809  0.98791604 -0.07186441]
 [ 0.10184532  0.0580858   0.99310285]]

 t_gt:
[ 0.7832277  -0.35621108 -0.50957633]

Pose Error in degrees for R and t:
16.83290129555017 70.42295527335956

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.94504746  0.10934518 -0.30810539]
 [-0.02334674  0.96257645  0.27000279]
 [ 0.32609849 -0.2479722   0.91223328]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.95157458 -0.29452088 -0.0881136 ]
 [ 0.28836056  0.9544812  -0.076246  ]
 [ 0.10655964  0.0471462   0.99318726]]

 t_gt:
[ 0.83767428 -0.46184852 -0.29154371]

Pose Error in degrees for R and t:
30.977128210007034 72.41930092595646

Number of keypoints:
Image1: 423
Image2: 423

 R_estimated:
[[ 9.99980983e-01 -6.16715884e-03 -2.52095059e-05]
 [ 6.16716322e-03  9.99980967e-01  1.77817860e-04]
 [ 2.41123951e-05 -1.77969949e-04  9.99999984e-01]]

 t_estimated:
[[-5.83293201e-01]
 [ 8.12261617e-01]
 [-3.28180522e-04]]

 R_gt:
[[ 0.9986481   0.02339931 -0.04641859]
 [-0.02383947  0.99967593 -0.00894764]
 [ 0.04619412  0.01004143  0.99888178]]

 t_gt:
[ 0.65936955  0.53442142 -0.52879632]

Pose Error in degrees for R and t:
3.203167197316043 87.15364878698124

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-8.51550396e-01 -5.24270206e-01 -1.63517257e-03]
 [ 5.24272175e-01 -8.51540667e-01 -4.14480223e-03]
 [ 7.80580382e-04 -4.38678346e-03  9.99990073e-01]]

 t_estimated:
[[0.92120305]
 [0.38907955]
 [0.00143044]]

 R_gt:
[[ 0.9970725   0.06269748 -0.04378134]
 [-0.06318759  0.99795237 -0.00988375]
 [ 0.04307116  0.01262083  0.99899168]]

 t_gt:
[ 0.64650594  0.65025914 -0.39899013]

Pose Error in degrees for R and t:
151.9929629227538 32.00573584953106

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99998794e-01  6.02735865e-04  1.43143718e-03]
 [-6.00752597e-04  9.99998860e-01 -1.38553427e-03]
 [-1.43227066e-03  1.38467266e-03  9.99998016e-01]]

 t_estimated:
[[-9.84432238e-01]
 [-1.75762676e-01]
 [-8.06250809e-04]]

 R_gt:
[[ 0.99360293  0.04111438 -0.10518623]
 [-0.04068904  0.99915337  0.00619211]
 [ 0.10535161 -0.00187376  0.99443306]]

 t_gt:
[ 0.89936221  0.28649961 -0.3302508 ]

Pose Error in degrees for R and t:
6.555960346339195 20.698898681026883

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999942e-01  3.22914245e-04  1.05607688e-04]
 [-3.22890299e-04  9.99999922e-01 -2.26678727e-04]
 [-1.05680878e-04  2.26644614e-04  9.99999969e-01]]

 t_estimated:
[[ 9.28051738e-01]
 [ 3.72451292e-01]
 [-8.28329881e-05]]

 R_gt:
[[ 0.99600705 -0.0831218  -0.03257105]
 [ 0.0832212   0.99652928  0.00168767]
 [ 0.0323189  -0.00439088  0.99946818]]

 t_gt:
[ 0.83785389 -0.50459449 -0.20829128]

Pose Error in degrees for R and t:
5.144834421302365 53.86767323439929

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999588e-01  8.95310423e-04  1.48852553e-04]
 [-8.95315009e-04  9.99999599e-01  3.07454292e-05]
 [-1.48824966e-04 -3.08786865e-05  9.99999988e-01]]

 t_estimated:
[[9.50589658e-01]
 [3.10449778e-01]
 [4.87819927e-04]]

 R_gt:
[[ 9.94065039e-01 -1.04455947e-01 -3.03969215e-02]
 [ 1.04480833e-01  9.94526421e-01 -7.95852238e-04]
 [ 3.03146848e-02 -2.38428761e-03  9.99537632e-01]]

 t_gt:
[ 0.86460922 -0.47798445 -0.15486046]

Pose Error in degrees for R and t:
6.297307675775197 47.66820328938988

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.88551553  0.4644697  -0.01140833]
 [ 0.46452718 -0.88555415  0.00288885]
 [-0.00876092 -0.0078576  -0.99993075]]

 t_estimated:
[[0.2985185 ]
 [0.95440325]
 [0.00106996]]

 R_gt:
[[ 0.97596519 -0.21159595 -0.05213213]
 [ 0.21112382  0.97735184 -0.01447884]
 [ 0.05401629  0.00312474  0.99853514]]

 t_gt:
[ 0.83257888 -0.53486621 -0.14398107]

Pose Error in degrees for R and t:
179.38202458664884 74.80577594328896

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99953117e-01 -9.68299185e-03  5.18299243e-05]
 [ 9.68299179e-03  9.99953119e-01  1.36834564e-06]
 [-5.18407441e-05 -8.66412755e-07  9.99999999e-01]]

 t_estimated:
[[9.88041946e-01]
 [1.54185078e-01]
 [2.74625704e-04]]

 R_gt:
[[ 0.99475367 -0.10138684 -0.01363615]
 [ 0.10130819  0.9948346  -0.00630644]
 [ 0.0142049   0.0048927   0.99988741]]

 t_gt:
[ 0.69970336 -0.70707403 -0.10228156]

Pose Error in degrees for R and t:
5.332698534882453 54.3883760247342

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999176e-01  6.12741721e-05 -1.28236812e-03]
 [-5.99532900e-05  9.99999468e-01  1.03004658e-03]
 [ 1.28243055e-03 -1.02996885e-03  9.99998647e-01]]

 t_estimated:
[[8.28637643e-01]
 [5.59784991e-01]
 [6.49402541e-04]]

 R_gt:
[[ 0.99329178 -0.10177624 -0.05490878]
 [ 0.09793255  0.99282197 -0.06865699]
 [ 0.06150334  0.06281896  0.99612847]]

 t_gt:
[ 0.69246418 -0.47389037 -0.54398647]

Pose Error in degrees for R and t:
7.641003156883568 72.05090480267712

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.65598875e-01 -2.60035521e-01  5.82986009e-04]
 [ 2.60034977e-01  9.65598805e-01  8.70769550e-04]
 [-7.89361607e-04 -6.89217344e-04  9.99999451e-01]]

 t_estimated:
[[0.78977456]
 [0.61339157]
 [0.00263258]]

 R_gt:
[[ 0.98789162 -0.10067568 -0.11804965]
 [ 0.08512293  0.98783869 -0.13010542]
 [ 0.12971382  0.11848108  0.98444767]]

 t_gt:
[ 0.60103746 -0.20865978 -0.77150183]

Pose Error in degrees for R and t:
14.051231610546536 69.83878045735906

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.87020917e-01  1.60591351e-01  3.58171385e-04]
 [-1.60591269e-01  9.87020964e-01 -2.47474502e-04]
 [-3.93264930e-04  1.86743313e-04  9.99999905e-01]]

 t_estimated:
[[-0.55177001]
 [ 0.83399575]
 [ 0.00097056]]

 R_gt:
[[ 0.99676959 -0.08021803  0.0038694 ]
 [ 0.08030404  0.99617242 -0.03448993]
 [-0.00108747  0.03468916  0.99939744]]

 t_gt:
[ 0.38331989 -0.83101831 -0.40308116]

Pose Error in degrees for R and t:
13.985810826244645 25.18191813017169

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.31466907e-01  3.63824764e-01  9.70365826e-04]
 [-3.63823852e-01  9.31467234e-01 -9.98534620e-04]
 [-1.26715559e-03  5.77059722e-04  9.99999031e-01]]

 t_estimated:
[[0.14108647]
 [0.98999656]
 [0.00119565]]

 R_gt:
[[ 0.98628661 -0.16375158 -0.02058362]
 [ 0.16310835  0.9861579  -0.02977521]
 [ 0.02517557  0.02600938  0.99934449]]

 t_gt:
[ 0.48242928 -0.83235825 -0.27284012]

Pose Error in degrees for R and t:
30.813194739131955 40.86145391441331

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 7.03229065e-01  7.10962916e-01  7.83770516e-04]
 [-7.10960668e-01  7.03229013e-01 -1.97066815e-03]
 [-1.95224214e-03  8.28601112e-04  9.99997751e-01]]

 t_estimated:
[[0.31222473]
 [0.95000762]
 [0.00111112]]

 R_gt:
[[ 0.95105946 -0.30603419 -0.04275869]
 [ 0.30462113  0.95177181 -0.03652693]
 [ 0.05187536  0.021714    0.9984176 ]]

 t_gt:
[ 0.63184186 -0.74530419 -0.21283218]

Pose Error in degrees for R and t:
63.181092144576986 59.269238698139574

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-1.14768374e-01  9.93314204e-01  1.24544561e-02]
 [-9.93390364e-01 -1.14783752e-01  5.24635435e-04]
 [ 1.95069702e-03 -1.23119251e-02  9.99922303e-01]]

 t_estimated:
[[0.14176911]
 [0.98989663]
 [0.00248718]]

 R_gt:
[[ 0.99732364  0.03089024 -0.06626797]
 [-0.03666083  0.99547132 -0.08771363]
 [ 0.06325815  0.08990856  0.99393929]]

 t_gt:
[-0.08578318  0.35485227 -0.93097858]

Pose Error in degrees for R and t:
94.86497690571504 70.31856734366353

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 7.74585274e-01  6.32469430e-01  2.70529153e-04]
 [-6.32469455e-01  7.74585301e-01  8.59512341e-06]
 [-2.04111753e-04 -1.77759082e-04  9.99999963e-01]]

 t_estimated:
[[0.68044758]
 [0.7327963 ]
 [0.0008252 ]]

 R_gt:
[[ 0.99008138  0.10082281 -0.09785039]
 [-0.11364976  0.98418656 -0.135869  ]
 [ 0.08260451  0.14564156  0.98588271]]

 t_gt:
[-0.27099729  0.52882855 -0.80430146]

Pose Error in degrees for R and t:
34.37608233127593 78.31912413250738

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999352e-01  7.02765548e-04  8.95718996e-04]
 [-7.02107718e-04  9.99999484e-01 -7.34519121e-04]
 [-8.96234729e-04  7.33889753e-04  9.99999329e-01]]

 t_estimated:
[[-9.55296643e-01]
 [-2.95647840e-01]
 [-8.23531589e-04]]

 R_gt:
[[ 0.99125389  0.1237694  -0.04580467]
 [-0.12754507  0.98759191 -0.09161974]
 [ 0.03389633  0.09666012  0.99474038]]

 t_gt:
[-0.50401712  0.6380304  -0.58213739]

Pose Error in degrees for R and t:
9.279364372078456 72.94239841471409

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-1.57271462e-01 -9.87555325e-01 -4.09691493e-04]
 [-9.87550844e-01  1.57269459e-01  3.10606344e-03]
 [-3.00297753e-03  8.93086317e-04 -9.99995092e-01]]

 t_estimated:
[[0.55221149]
 [0.83369644]
 [0.00356605]]

 R_gt:
[[ 0.94836135  0.31696583 -0.01199969]
 [-0.31715094  0.94817134 -0.01966396]
 [ 0.00514513  0.02245472  0.99973337]]

 t_gt:
[-0.90190021  0.42575786 -0.07284403]

Pose Error in degrees for R and t:
178.89849113802853 81.75845318338216

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-9.84063952e-01 -1.77814897e-01 -3.38160133e-05]
 [-1.77814828e-01  9.84063361e-01  1.08991133e-03]
 [-1.60525372e-04  1.07855544e-03 -9.99999405e-01]]

 t_estimated:
[[9.99963649e-01]
 [8.47426822e-03]
 [9.41585357e-04]]

 R_gt:
[[ 0.84014199  0.54231554 -0.00743573]
 [-0.54236408  0.84002315 -0.01422539]
 [-0.00146822  0.01598471  0.99987058]]

 t_gt:
[-0.85438603  0.51872274 -0.03084194]

Pose Error in degrees for R and t:
179.72290318096475 31.7896120241148

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.80862678 -0.58692619 -0.04050168]
 [-0.58543217 -0.80956082  0.04336419]
 [-0.05824015 -0.01135446 -0.99823803]]

 t_estimated:
[[0.23332883]
 [0.97220347]
 [0.01944407]]

 R_gt:
[[ 0.81678461  0.57692228  0.00486099]
 [-0.57641499  0.81636931 -0.03589446]
 [-0.02467714  0.0265165   0.99934324]]

 t_gt:
[-0.83865533  0.54345827 -0.03619867]

Pose Error in degrees for R and t:
179.16053689714542 70.61187119208637

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99361026e-01  3.57426736e-02  3.83113856e-05]
 [-3.57426711e-02  9.99361024e-01 -6.53726679e-05]
 [-4.06234995e-05  6.39615452e-05  9.99999997e-01]]

 t_estimated:
[[-2.29856531e-01]
 [-9.73224524e-01]
 [ 2.80617532e-05]]

 R_gt:
[[ 0.99547665  0.01555901 -0.09372898]
 [-0.02854729  0.98989791 -0.13887438]
 [ 0.09062206  0.14092161  0.98586454]]

 t_gt:
[ 0.07103726  0.41464936 -0.90720429]

Pose Error in degrees for R and t:
9.674316850887905 65.17167773322512

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.99853129e-01  1.71382901e-02 -9.31006762e-06]
 [-1.71382869e-02  9.99853091e-01  2.73276869e-04]
 [ 1.39921982e-05 -2.73077174e-04  9.99999963e-01]]

 t_estimated:
[[-4.63519831e-01]
 [-8.86086462e-01]
 [ 3.85806674e-04]]

 R_gt:
[[ 0.99599601  0.06103864 -0.06531521]
 [-0.07130034  0.98311507 -0.16852276]
 [ 0.05392558  0.17250511  0.98353115]]

 t_gt:
[-0.12969699  0.62074821 -0.77320783]

Pose Error in degrees for R and t:
10.807145079067814 60.645104558240405

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 7.29097302e-02 -9.97333383e-01 -3.20858125e-03]
 [-9.97338379e-01 -7.29074901e-02 -8.09806476e-04]
 [ 5.73717426e-04  3.25908400e-03 -9.99994525e-01]]

 t_estimated:
[[ 7.02089848e-01]
 [ 7.12088351e-01]
 [-1.62999552e-04]]

 R_gt:
[[ 0.98951633  0.11681451 -0.08492857]
 [-0.12748666  0.98280293 -0.13358588]
 [ 0.06786287  0.14301269  0.98739141]]

 t_gt:
[-0.22218787  0.75080562 -0.62203172]

Pose Error in degrees for R and t:
170.99773077379925 67.74400333501909

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.98273458  0.15538414  0.10044164]
 [ 0.15516289  0.98783768 -0.01005929]
 [-0.10078309  0.0056992  -0.9948921 ]]

 t_estimated:
[[ 0.99536955]
 [-0.08016095]
 [ 0.05304405]]

 R_gt:
[[ 9.98047636e-01 -5.34810164e-02 -3.22851900e-02]
 [ 5.34664935e-02  9.98568982e-01 -1.35779356e-03]
 [ 3.23111768e-02 -3.70385755e-04  9.99478361e-01]]

 t_gt:
[ 0.99141714 -0.08084457 -0.10274337]

Pose Error in degrees for R and t:
176.0573351597967 8.93797997836889

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999989e-01  1.46771910e-04  3.04723658e-08]
 [-1.46771910e-04  9.99999989e-01 -1.72384266e-07]
 [-3.04976652e-08  1.72379790e-07  1.00000000e+00]]

 t_estimated:
[[7.97776355e-01]
 [6.02953013e-01]
 [7.42758608e-04]]

 R_gt:
[[ 0.9971597  -0.05351481 -0.0530218 ]
 [ 0.05407232  0.99849562  0.00912181]
 [ 0.05245417 -0.01196343  0.99855158]]

 t_gt:
[ 0.99392504  0.05605823 -0.09471263]

Pose Error in degrees for R and t:
4.367926948147004 34.24284449271951

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.56559727  0.77159529  0.29110211]
 [ 0.79376954 -0.41361435 -0.44592945]
 [-0.22367306  0.48328447 -0.84640799]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 9.97798599e-01 -3.39712656e-02 -5.69559458e-02]
 [ 3.40628941e-02  9.99419627e-01  6.40323693e-04]
 [ 5.69008239e-02 -2.57832756e-03  9.98376505e-01]]

 t_gt:
[ 0.97454686  0.17179618 -0.14402948]

Pose Error in degrees for R and t:
149.5457755813165 33.312256614794045

Number of keypoints:
Image1: 347
Image2: 347

 R_estimated:
[[ 9.81312331e-01 -1.92416280e-01 -1.44346834e-03]
 [ 1.92420596e-01  9.81304469e-01  3.98159779e-03]
 [ 6.50357692e-04 -4.18494404e-03  9.99991032e-01]]

 t_estimated:
[[0.86423095]
 [0.50309096]
 [0.00208751]]

 R_gt:
[[ 0.99972504  0.01570606 -0.01745192]
 [-0.016127    0.99957618 -0.02423602]
 [ 0.01706419  0.02451039  0.99955386]]

 t_gt:
[ 0.01270703  0.77702069 -0.62934678]

Pose Error in degrees for R and t:
12.151628118898849 66.38554981127938

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.99024759e-01 -4.41534185e-02 -8.09265790e-05]
 [ 4.41534310e-02  9.99024749e-01  1.60440597e-04]
 [ 7.37636544e-05 -1.63857315e-04  9.99999984e-01]]

 t_estimated:
[[-8.81145479e-01]
 [ 4.72845134e-01]
 [-3.51123610e-04]]

 R_gt:
[[ 0.99600814  0.08857939 -0.01102828]
 [-0.08906141  0.99445412 -0.05595347]
 [ 0.00601138  0.05671308  0.99837254]]

 t_gt:
[-0.40338737  0.8209227  -0.40418381]

Pose Error in degrees for R and t:
8.303643397326264 41.94779614264041

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.97526638e-01 -7.02892127e-02 -1.81989546e-04]
 [ 7.02892590e-02  9.97526617e-01  2.62029662e-04]
 [ 1.63121557e-04 -2.74173478e-04  9.99999949e-01]]

 t_estimated:
[[-9.97063280e-01]
 [-7.65781728e-02]
 [-7.73516897e-04]]

 R_gt:
[[ 0.98343993  0.17988329 -0.02208136]
 [-0.18072479  0.98249636 -0.04516956]
 [ 0.0135699   0.04841194  0.99873505]]

 t_gt:
[-0.57138452  0.79300144 -0.21134911]

Pose Error in degrees for R and t:
14.710433626746216 59.393210844061066

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 5.55129069e-01  8.31764218e-01 -5.67297434e-05]
 [ 8.31757861e-01 -5.55124557e-01  3.94802172e-03]
 [ 3.25233112e-03 -2.23884703e-03 -9.99992205e-01]]

 t_estimated:
[[0.26697149]
 [0.96370198]
 [0.0021705 ]]

 R_gt:
[[ 0.99937974  0.03137438 -0.01604316]
 [-0.03082002  0.99895637  0.03370304]
 [ 0.01708306 -0.03318681  0.9993028 ]]

 t_gt:
[-0.93330806  0.19036873  0.30445985]

Pose Error in degrees for R and t:
177.65865021200906 86.27044294924022

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.99972058 -0.02285986  0.00601564]
 [ 0.02293824  0.99964842 -0.01329924]
 [-0.00570951  0.01343351  0.99989347]]

 t_estimated:
[[-9.58008584e-01]
 [-2.86737951e-01]
 [-9.49463413e-04]]

 R_gt:
[[ 0.99867958  0.050084   -0.01145356]
 [-0.04999265  0.99871697  0.00811102]
 [ 0.0118446  -0.00752742  0.99990132]]

 t_gt:
[-0.97864445  0.07703228 -0.19058085]

Pose Error in degrees for R and t:
4.46726538428251 23.702841395899835

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.89283785 -0.45035464 -0.00461126]
 [-0.45026707  0.89279815 -0.01307804]
 [ 0.01000668 -0.00960027 -0.99990385]]

 t_estimated:
[[0.99965046]
 [0.02630659]
 [0.00263066]]

 R_gt:
[[ 0.99802594 -0.05734888 -0.02561701]
 [ 0.05705863  0.99829971 -0.01192488]
 [ 0.02625651  0.01044025  0.99960024]]

 t_gt:
[ 0.38425039 -0.86986724 -0.30932609]

Pose Error in degrees for R and t:
177.95564675268574 68.87406285655481

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.82020818  0.40156677  0.40743425]
 [ 0.39960859  0.91182852 -0.09424291]
 [-0.40935499  0.08551542 -0.90835874]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 9.99113639e-01 -4.21004889e-02  9.54093609e-04]
 [ 4.21065323e-02  9.99082408e-01 -7.79394867e-03]
 [-6.24403885e-04  7.82693357e-03  9.99969021e-01]]

 t_gt:
[ 0.74103323 -0.66746035 -0.07325591]

Pose Error in degrees for R and t:
155.15201884625614 81.46286172711072

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.97864065e-01 -6.53243726e-02  1.83252315e-04]
 [ 6.53243555e-02  9.97864078e-01  9.78002409e-05]
 [-1.89249641e-04 -8.56205067e-05  9.99999978e-01]]

 t_estimated:
[[0.99987417]
 [0.01580829]
 [0.00131736]]

 R_gt:
[[ 0.97765977 -0.20846017 -0.02696358]
 [ 0.20858224  0.97800338  0.00173848]
 [ 0.02600811 -0.0073252   0.99963528]]

 t_gt:
[ 0.74086206 -0.67004158 -0.04655854]

Pose Error in degrees for R and t:
8.437071537652036 43.10393965815748

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.96580951e-01  8.26219564e-02 -1.40790274e-04]
 [-8.26219114e-02  9.96580920e-01  2.99967639e-04]
 [ 1.65092814e-04 -2.87309674e-04  9.99999945e-01]]

 t_estimated:
[[8.91239795e-01]
 [4.53532022e-01]
 [5.77648990e-04]]

 R_gt:
[[ 0.96382381 -0.26391608 -0.03732363]
 [ 0.26444623  0.96434877  0.00995828]
 [ 0.03336484 -0.01946858  0.99925345]]

 t_gt:
[ 0.74611443 -0.66513965 -0.03004165]

Pose Error in degrees for R and t:
20.182368640378524 68.69777634994125

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 1.00000000e+00 -2.51503369e-05  8.37297958e-06]
 [ 2.51505585e-05  9.99999999e-01 -2.64693149e-05]
 [-8.37231386e-06  2.64695255e-05  1.00000000e+00]]

 t_estimated:
[[ 9.35063222e-01]
 [ 3.54480614e-01]
 [-5.15875313e-04]]

 R_gt:
[[ 0.99522711 -0.0913659  -0.03429111]
 [ 0.09163155  0.99577307  0.00626855]
 [ 0.03357343 -0.00937976  0.99939171]]

 t_gt:
[ 0.81104781 -0.55442931 -0.18657329]

Pose Error in degrees for R and t:
5.617377976957526 55.80973882246427

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999965e-01  2.28180256e-05  2.64813793e-04]
 [-2.27419841e-05  9.99999959e-01 -2.87150359e-04]
 [-2.64820334e-04  2.87144326e-04  9.99999924e-01]]

 t_estimated:
[[9.67665465e-01]
 [2.52235875e-01]
 [7.81494642e-04]]

 R_gt:
[[ 9.93882570e-01 -1.07622745e-01 -2.48179606e-02]
 [ 1.07674206e-01  9.94185414e-01  7.34021272e-04]
 [ 2.45948132e-02 -3.40112488e-03  9.99691088e-01]]

 t_gt:
[ 0.83840743 -0.53100959 -0.12288934]

Pose Error in degrees for R and t:
6.347380688357366 47.369928521678425

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999924e-01 -3.02240408e-04  2.45561193e-04]
 [ 3.02240767e-04  9.99999954e-01 -1.42338677e-06]
 [-2.45560752e-04  1.49760526e-06  9.99999970e-01]]

 t_estimated:
[[0.64445726]
 [0.76463983]
 [0.00087089]]

 R_gt:
[[ 0.96853491 -0.24314895 -0.05309515]
 [ 0.24311994  0.96997021 -0.0070909 ]
 [ 0.05322429 -0.00603972  0.99856396]]

 t_gt:
[ 0.81680135 -0.56647807 -0.10926188]

Pose Error in degrees for R and t:
14.397295868286664 84.65533889519709

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[-5.83180573e-01 -8.12339776e-01 -2.12312296e-03]
 [ 8.12342492e-01 -5.83179533e-01 -1.14386354e-03]
 [-3.08956006e-04 -2.39178199e-03  9.99997092e-01]]

 t_estimated:
[[9.94534115e-01]
 [1.04408386e-01]
 [8.84816828e-04]]

 R_gt:
[[ 0.99959287  0.02348826 -0.01623001]
 [-0.02369827  0.99963608 -0.01291064]
 [ 0.01592111  0.01329034  0.99978531]]

 t_gt:
[ 0.68872265  0.6683239  -0.28107699]

Pose Error in degrees for R and t:
127.02931346540383 41.019339577199815

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.99963285e-01 -8.56811031e-03 -1.24903599e-04]
 [ 8.56815050e-03  9.99963240e-01  3.24846785e-04]
 [ 1.22115685e-04 -3.25905051e-04  9.99999939e-01]]

 t_estimated:
[[-0.88455285]
 [-0.4664388 ]
 [-0.00105054]]

 R_gt:
[[ 0.99844562  0.05046735 -0.02363475]
 [-0.0509299   0.99851321 -0.01941129]
 [ 0.0226198   0.02058515  0.99953188]]

 t_gt:
[ 0.6823805   0.65082931 -0.3328334 ]

Pose Error in degrees for R and t:
3.8265929262470175 24.929923764844574

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-3.02771379e-01  9.53059752e-01  2.56905755e-03]
 [ 9.53063117e-01  3.02769022e-01  1.27087277e-03]
 [ 4.33386649e-04  2.83325789e-03 -9.99995892e-01]]

 t_estimated:
[[0.88527851]
 [0.46505948]
 [0.00128116]]

 R_gt:
[[ 9.96780748e-01  5.44140187e-02 -5.88898650e-02]
 [-5.43529936e-02  9.98518900e-01  2.63415302e-03]
 [ 5.89462234e-02  5.75241337e-04  9.98261275e-01]]

 t_gt:
[ 0.8891199   0.41635683 -0.19003366]

Pose Error in degrees for R and t:
177.30993401291744 11.331737528034065

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-9.74635184e-01 -2.23789902e-01 -2.08279247e-03]
 [-2.23792174e-01  9.74636446e-01  9.27524775e-04]
 [ 1.82239477e-03  1.37011093e-03 -9.99997401e-01]]

 t_estimated:
[[ 9.91524248e-01]
 [ 1.29921720e-01]
 [-1.08329680e-04]]

 R_gt:
[[ 0.99913034  0.04121729  0.00627308]
 [-0.04090967  0.99823332 -0.04309827]
 [-0.00803923  0.04280314  0.99905193]]

 t_gt:
[-0.33398453  0.79097345 -0.51265519]

Pose Error in degrees for R and t:
180.0 76.80101683530928

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.93928203e-01 -1.10030245e-01 -2.68443552e-04]
 [ 1.10030338e-01  9.93928163e-01  3.61474611e-04]
 [ 2.27040466e-04 -3.88816745e-04  9.99999899e-01]]

 t_estimated:
[[-9.45968883e-01]
 [-3.24256287e-01]
 [-8.55706502e-04]]

 R_gt:
[[ 0.99300053  0.1180659   0.00345762]
 [-0.11773799  0.9917371  -0.05095439]
 [-0.00944555  0.05019017  0.99869536]]

 t_gt:
[-0.54420268  0.79254403 -0.27516796]

Pose Error in degrees for R and t:
13.419320449974226 75.04579754968066

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.98298296e-01  5.83138540e-02 -7.81798342e-05]
 [-5.83138362e-02  9.98298277e-01  2.14338034e-04]
 [ 9.05456707e-05 -2.09414328e-04  9.99999974e-01]]

 t_estimated:
[[-9.16348675e-01]
 [ 4.00381153e-01]
 [-1.94692715e-04]]

 R_gt:
[[ 0.96018606  0.27872801 -0.01880484]
 [-0.2793484   0.95729998 -0.07444524]
 [-0.00274911  0.07673366  0.99704848]]

 t_gt:
[-0.65066769  0.73174299 -0.20293781]

Pose Error in degrees for R and t:
13.616771969769099 27.220335078271635

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.97715011e-01  6.75629871e-02  1.50696325e-05]
 [-6.75629866e-02  9.97715010e-01 -3.10403550e-05]
 [-1.71323777e-05  2.99512788e-05  9.99999999e-01]]

 t_estimated:
[[-9.98730597e-01]
 [-5.03633379e-02]
 [-8.53615895e-04]]

 R_gt:
[[ 0.99965255 -0.00919198 -0.02467246]
 [ 0.00935128  0.99993682  0.00635438]
 [ 0.02461289 -0.00658287  0.99967517]]

 t_gt:
[ 0.40708994 -0.6486042  -0.64310992]

Pose Error in degrees for R and t:
4.641354673114143 68.07711595263585

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.50581696 -0.86212804  0.02973961]
 [ 0.86214939  0.50639183  0.01630186]
 [-0.02911419  0.01739422  0.99942474]]

 t_estimated:
[[ 0.95432721]
 [-0.29856928]
 [ 0.01076852]]

 R_gt:
[[ 0.9983122   0.05070742 -0.02830562]
 [-0.04991607  0.99836154  0.02799717]
 [ 0.02967961 -0.0265365   0.9992072 ]]

 t_gt:
[-0.9364623   0.2814901  -0.20928852]

Pose Error in degrees for R and t:
62.5904574142824 11.48136965702694

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-9.98503821e-01  5.46637061e-02  1.41386911e-03]
 [ 5.46791202e-02  9.98382445e-01  1.55784457e-02]
 [-5.60006517e-04  1.56324467e-02 -9.99877649e-01]]

 t_estimated:
[[0.99668124]
 [0.08139087]
 [0.00142791]]

 R_gt:
[[ 0.99894458 -0.01365295 -0.04385491]
 [ 0.01354233  0.99990471 -0.00281861]
 [ 0.04388913  0.00222202  0.99903356]]

 t_gt:
[ 0.13007163 -0.80244489 -0.58237752]

Pose Error in degrees for R and t:
177.5525356584859 86.35945895830086

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-8.43221700e-01 -5.37565964e-01 -8.83475158e-06]
 [ 5.37546212e-01 -8.43190577e-01 -8.58606800e-03]
 [ 4.60812854e-03 -7.24470794e-03  9.99963139e-01]]

 t_estimated:
[[0.92030407]
 [0.39120258]
 [0.00097801]]

 R_gt:
[[ 0.9533623   0.30139032  0.01628325]
 [-0.30099829  0.9533516  -0.02280776]
 [-0.02239801  0.01684351  0.99960693]]

 t_gt:
[-0.91760935  0.39538561 -0.04078355]

Pose Error in degrees for R and t:
165.01975353566664 46.38226706396793

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 1.08979947e-01  9.94042128e-01  1.90256701e-03]
 [ 9.93984619e-01 -1.08994154e-01  1.07168639e-02]
 [ 1.08603829e-02  7.23199085e-04 -9.99940763e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91502213  0.40324937  0.01118369]
 [-0.40303085  0.91501625 -0.01763949]
 [-0.01734592  0.01163263  0.99978132]]

 t_gt:
[-0.89641861  0.4425191  -0.02470889]

Pose Error in degrees for R and t:
179.27932160284178 26.483729330131233

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.25562044  0.96524447 -0.05441781]
 [ 0.96433347  0.25856969  0.05659211]
 [ 0.06869602 -0.03801082 -0.99691325]]

 t_estimated:
[[ 0.96681352]
 [ 0.25328049]
 [-0.03347537]]

 R_gt:
[[ 0.86924176  0.49369706  0.02610145]
 [-0.49320209  0.86960283 -0.0233153 ]
 [-0.03420832  0.00739312  0.99938718]]

 t_gt:
[-8.68455536e-01  4.95766978e-01  2.91722119e-04]

Pose Error in degrees for R and t:
177.4951879543725 44.43245692057517

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999155e-01 -1.11308090e-03  6.71153643e-04]
 [ 1.11308146e-03  9.99999381e-01 -4.60540708e-07]
 [-6.71152715e-04  1.20758899e-06  9.99999775e-01]]

 t_estimated:
[[0.56671322]
 [0.82391384]
 [0.00145311]]

 R_gt:
[[ 0.9889854  -0.14574922 -0.02577152]
 [ 0.14584418  0.98930651  0.00183125]
 [ 0.02523017 -0.0055696   0.99966567]]

 t_gt:
[ 0.70331214 -0.70303161 -0.10534978]

Pose Error in degrees for R and t:
8.458323976204717 79.5828077186728

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.94341732 -0.33160178 -0.00200359]
 [-0.33160519  0.94341671  0.00170568]
 [ 0.00132462  0.00227357 -0.99999654]]

 t_estimated:
[[ 9.99468016e-01]
 [ 3.26140060e-02]
 [-1.07892688e-04]]

 R_gt:
[[ 0.98124867 -0.18757669 -0.04432977]
 [ 0.18611192  0.98189914 -0.03518198]
 [ 0.05012728  0.026272    0.998397  ]]

 t_gt:
[ 0.74332168 -0.6330503  -0.21614856]

Pose Error in degrees for R and t:
176.93575659425287 43.755029251039524

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 7.45429992e-01  6.66583862e-01  2.84968119e-04]
 [-6.66579950e-01  7.45426957e-01 -3.13408597e-03]
 [-2.30155405e-03  2.14628765e-03  9.99995048e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97948313 -0.17631549 -0.09760411]
 [ 0.16655381  0.98089712 -0.10050879]
 [ 0.1134614   0.08219029  0.99013758]]

 t_gt:
[ 0.72980382 -0.46369428 -0.50236839]

Pose Error in degrees for R and t:
52.29805140690789 43.28328022809513

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 7.52990307e-02  9.97159649e-01  1.64005659e-03]
 [ 9.97160756e-01 -7.53000574e-02  5.73394547e-04]
 [ 6.95262261e-04  1.59222401e-03 -9.99998491e-01]]

 t_estimated:
[[9.48224373e-01]
 [3.17599874e-01]
 [9.26364923e-04]]

 R_gt:
[[ 9.88950163e-01 -1.48214884e-01 -3.17630305e-03]
 [ 1.48214498e-01  9.88955411e-01 -4.98186995e-04]
 [ 3.21484784e-03  2.21104100e-05  9.99994607e-01]]

 t_gt:
[ 0.66455283 -0.74668234 -0.02889685]

Pose Error in degrees for R and t:
179.91804472240165 66.86043473067369

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 8.83606599e-01  4.68224819e-01  2.21294005e-03]
 [-4.68223856e-01  8.83609352e-01 -9.66847831e-04]
 [-2.40807667e-03 -1.81838196e-04  9.99997084e-01]]

 t_estimated:
[[0.11368858]
 [0.99350338]
 [0.00509284]]

 R_gt:
[[ 9.59553560e-01 -2.80603900e-01 -2.27466456e-02]
 [ 2.80514308e-01  9.59823291e-01 -7.12911001e-03]
 [ 2.38339640e-02  4.60484160e-04  9.99715154e-01]]

 t_gt:
[ 0.74610663 -0.65994636 -0.0882932 ]

Pose Error in degrees for R and t:
44.23953315012717 55.16013223200644

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99887443e-01  1.46480075e-02  3.24625849e-03]
 [-1.46477877e-02  9.99892711e-01 -9.14673563e-05]
 [-3.24725001e-03  4.39065557e-05  9.99994727e-01]]

 t_estimated:
[[0.99976862]
 [0.02144718]
 [0.00164978]]

 R_gt:
[[ 0.91757289 -0.39468601 -0.04777813]
 [ 0.39479622  0.91873764 -0.00750803]
 [ 0.04685866 -0.01197272  0.99882961]]

 t_gt:
[ 0.7864106  -0.6112135  -0.08931079]

Pose Error in degrees for R and t:
24.282234200851633 39.3784282863007

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 3.96114884e-01  9.18199750e-01  1.48921644e-03]
 [ 9.18199543e-01 -3.96116600e-01  1.11271901e-03]
 [ 1.61160167e-03  9.26633288e-04 -9.99998272e-01]]

 t_estimated:
[[0.69532376]
 [0.71869599]
 [0.00097384]]

 R_gt:
[[ 0.99207082 -0.07547389  0.10049184]
 [ 0.056864    0.98263436  0.17662668]
 [-0.11207784 -0.16951203  0.97913489]]

 t_gt:
[ 0.2093459  -0.24743144  0.94601902]

Pose Error in degrees for R and t:
175.02857443265378 88.20385379417695

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-6.21683977e-01 -7.83259869e-01 -3.60697312e-03]
 [ 7.83264161e-01 -6.21688941e-01  3.38354750e-04]
 [-2.50743500e-03 -2.61486305e-03  9.99993438e-01]]

 t_estimated:
[[0.99993858]
 [0.01101524]
 [0.00122392]]

 R_gt:
[[ 0.96886258 -0.14611211  0.19989134]
 [ 0.06928119  0.9350486   0.34768316]
 [-0.23770929 -0.32300803  0.91605649]]

 t_gt:
[ 0.23008616 -0.11603711  0.96622758]

Pose Error in degrees for R and t:
123.29976269283895 76.70431559199905

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 3.79710712e-01  9.25104377e-01  1.29113027e-03]
 [-9.25104401e-01  3.79711904e-01 -8.47105487e-04]
 [-1.27391853e-03 -8.72775268e-04  9.99998808e-01]]

 t_estimated:
[[0.00900864]
 [0.99995879]
 [0.00112608]]

 R_gt:
[[ 0.9691172  -0.16985998  0.17877136]
 [ 0.09121233  0.92043798  0.38009852]
 [-0.2291108  -0.3520538   0.90750557]]

 t_gt:
[ 0.266823   -0.13006189  0.954929  ]

Pose Error in degrees for R and t:
78.9310951043875 82.72813685659627

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 0.99852571 -0.05414169  0.00388335]
 [-0.05421752 -0.99135329  0.11949524]
 [-0.0026199  -0.11952962 -0.99282718]]

 t_estimated:
[[0.04044793]
 [0.99735076]
 [0.06046008]]

 R_gt:
[[ 0.99974576 -0.00398562 -0.02221852]
 [ 0.00432533  0.99987454  0.01528531]
 [ 0.02215508 -0.01537766  0.99963615]]

 t_gt:
[ 0.81453546 -0.52467615 -0.24748114]

Pose Error in degrees for R and t:
172.29039486677723 59.648557025335464

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.99580630e-01  2.89574522e-02 -1.71967923e-04]
 [-2.89573506e-02  9.99580487e-01  5.66701870e-04]
 [ 1.88306023e-04 -5.61484477e-04  9.99999825e-01]]

 t_estimated:
[[0.99753278]
 [0.07012873]
 [0.00321168]]

 R_gt:
[[ 0.99819911  0.05683567 -0.01920404]
 [-0.0567106   0.99836643  0.00702659]
 [ 0.01957159 -0.00592605  0.99979052]]

 t_gt:
[ 0.30285629  0.90185224 -0.30812434]

Pose Error in degrees for R and t:
1.967649039996493 68.63147706889305

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.99900155 -0.04454057  0.0034695 ]
 [ 0.04455749  0.9989945  -0.00496212]
 [-0.003245    0.00511176  0.99998167]]

 t_estimated:
[[-0.55791424]
 [-0.82989744]
 [-0.00139479]]

 R_gt:
[[ 0.99372057  0.11066024 -0.01657098]
 [-0.11055831  0.99384614  0.0069503 ]
 [ 0.01723725 -0.00507552  0.99983866]]

 t_gt:
[ 0.39160564  0.91549482 -0.09227275]

Pose Error in degrees for R and t:
9.001842365597412 12.007475695914463

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-0.33108467  0.9435988  -0.00206066]
 [-0.94359934 -0.33108743 -0.00117926]
 [-0.001795    0.001554    0.99999718]]

 t_estimated:
[[1.99386594e-01]
 [9.79920902e-01]
 [1.06224025e-04]]

 R_gt:
[[ 0.99768991 -0.05155811  0.04424146]
 [ 0.05000207  0.99811477  0.03557692]
 [-0.04599241 -0.03328159  0.99838732]]

 t_gt:
[ 0.55015464 -0.47788686  0.68480218]

Pose Error in degrees for R and t:
112.28206211706409 68.9903538715371

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.41586002 -0.90937163  0.0101829 ]
 [-0.9093357   0.41595152  0.00963931]
 [-0.01300131 -0.00525107 -0.99990169]]

 t_estimated:
[[0.83741895]
 [0.54651973]
 [0.0067592 ]]

 R_gt:
[[ 0.99820012 -0.03811313  0.04629951]
 [ 0.03466778  0.99672642  0.07303446]
 [-0.04893146 -0.07129772  0.99625389]]

 t_gt:
[ 0.51733322 -0.38448766  0.76454926]

Pose Error in degrees for R and t:
174.6714863698504 76.80521264294896

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.24725169 -0.96894435  0.00366772]
 [-0.96894866  0.24724044 -0.00326395]
 [ 0.00225578 -0.00436085 -0.99998795]]

 t_estimated:
[[0.79028214]
 [0.6127393 ]
 [0.00216516]]

 R_gt:
[[ 0.99273714 -0.09647056  0.07187449]
 [ 0.08324006  0.98217158  0.1685508 ]
 [-0.08685361 -0.16134362  0.98306878]]

 t_gt:
[ 0.47654193 -0.37708832  0.7941739 ]

Pose Error in degrees for R and t:
170.51193728032726 81.53152301151559

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99997049e-01  4.67498962e-04  2.38406568e-03]
 [-4.63332721e-04  9.99998365e-01 -1.74778918e-03]
 [-2.38487888e-03  1.74667940e-03  9.99995631e-01]]

 t_estimated:
[[-8.32824450e-01]
 [-5.53536735e-01]
 [-7.19813699e-04]]

 R_gt:
[[ 0.99873473  0.05012024 -0.00394379]
 [-0.04984746  0.99739583  0.05212696]
 [ 0.00654531 -0.05186421  0.99863288]]

 t_gt:
[0.02727586 0.07258765 0.996989  ]

Pose Error in degrees for R and t:
4.213528406930641 86.35274737064974

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 3.44616382e-01 -9.38741562e-01 -1.95657584e-03]
 [ 9.38743449e-01  3.44616767e-01  1.47652543e-04]
 [ 5.35661260e-04 -1.88760623e-03  9.99998075e-01]]

 t_estimated:
[[ 8.50282914e-01]
 [-5.26325908e-01]
 [ 7.30572923e-05]]

 R_gt:
[[ 0.99096427  0.11718066 -0.06525136]
 [-0.1104179   0.98893702  0.09905433]
 [ 0.07613633 -0.09095492  0.99294017]]

 t_gt:
[0.17622308 0.27324917 0.94566395]

Pose Error in degrees for R and t:
76.6457140559856 89.65104089276764

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 8.31441098e-01 -5.55612840e-01  2.67974575e-04]
 [-5.55612526e-01 -8.31439871e-01  1.56902999e-03]
 [-6.48968461e-04 -1.45344605e-03 -9.99998733e-01]]

 t_estimated:
[[0.28315474]
 [0.9590725 ]
 [0.0018268 ]]

 R_gt:
[[ 0.97512774  0.18404827 -0.12349977]
 [-0.17018974  0.97870623  0.11475579]
 [ 0.14199036 -0.09088392  0.98568597]]

 t_gt:
[0.50370397 0.74511419 0.43713517]

Pose Error in degrees for R and t:
176.45447271538723 30.902415912372987

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.98674205e-01  5.14764700e-02  7.45682354e-05]
 [-5.14764711e-02  9.98674208e-01  1.37784173e-05]
 [-7.37601091e-05 -1.75986595e-05  9.99999997e-01]]

 t_estimated:
[[7.06789864e-01]
 [7.07423371e-01]
 [5.12330001e-04]]

 R_gt:
[[ 0.9845749  -0.15137634 -0.08774239]
 [ 0.14789356  0.98798073 -0.04495669]
 [ 0.09349324  0.03128572  0.99512786]]

 t_gt:
[ 0.72196188 -0.52832678 -0.44681299]

Pose Error in degrees for R and t:
12.883831258293764 82.16644881340976

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 7.29501464e-01  6.83979230e-01 -1.64541480e-04]
 [-6.83978792e-01  7.29500675e-01 -1.33325121e-03]
 [-7.91883018e-04  1.08515159e-03  9.99999098e-01]]

 t_estimated:
[[0.72010572]
 [0.69386393]
 [0.00077182]]

 R_gt:
[[ 0.95160945 -0.29476649 -0.08690055]
 [ 0.29160425  0.95536558 -0.04736876]
 [ 0.09698458  0.01973565  0.99509037]]

 t_gt:
[ 0.79258016 -0.56175779 -0.23716   ]

Pose Error in degrees for R and t:
60.48882589886086 79.58509536204643

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-9.99811920e-01 -1.93736371e-02  8.87095945e-04]
 [-1.93733356e-02  9.99812259e-01  3.47259495e-04]
 [-8.93657080e-04  3.30008175e-04 -9.99999546e-01]]

 t_estimated:
[[0.69293714]
 [0.72099758]
 [0.00077946]]

 R_gt:
[[ 0.94454388 -0.29934464 -0.13502158]
 [ 0.29652256  0.95414388 -0.04102182]
 [ 0.14110952 -0.00128972  0.98999321]]

 t_gt:
[ 0.81476765 -0.52281348 -0.25063868]

Pose Error in degrees for R and t:
172.01316167407583 79.19656844511528

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-1.06120804e-01  9.94350467e-01  2.35025757e-03]
 [ 9.94352763e-01  1.06118129e-01  1.23543848e-03]
 [ 9.79053891e-04  2.46809083e-03 -9.99996475e-01]]

 t_estimated:
[[-0.23308838]
 [-0.97245475]
 [-0.00125316]]

 R_gt:
[[ 9.75672702e-01  2.19231519e-01  9.89286645e-04]
 [-2.18586731e-01  9.72434974e-01  8.11840557e-02]
 [ 1.68361834e-02 -7.94245527e-02  9.96698995e-01]]

 t_gt:
[-0.89377796  0.39388571  0.21451109]

Pose Error in degrees for R and t:
176.59917607758146 79.92276238669729

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.83574639 -0.54911143  0.00214666]
 [ 0.54911437  0.83574646 -0.0011287 ]
 [-0.00117428  0.00212207  0.99999706]]

 t_estimated:
[[-0.08187261]
 [-0.99664156]
 [-0.00157447]]

 R_gt:
[[ 0.96882299  0.24741875  0.01291475]
 [-0.24746217  0.96381925  0.09906967]
 [ 0.01206414 -0.09917565  0.9949966 ]]

 t_gt:
[-0.91704159  0.30427864  0.25777747]

Pose Error in degrees for R and t:
48.004738159226264 76.78639649858266

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-6.77858424e-01  7.35191894e-01 -9.14484066e-04]
 [-7.35188257e-01 -6.77858229e-01 -2.53915010e-03]
 [-2.48665312e-03 -1.04886634e-03  9.99996358e-01]]

 t_estimated:
[[0.4129414 ]
 [0.91075613]
 [0.00163218]]

 R_gt:
[[ 0.97239757  0.23321642 -0.00730942]
 [-0.23125565  0.96744527  0.10280527]
 [ 0.03104815 -0.09827646  0.99467496]]

 t_gt:
[-0.95722666  0.16937146  0.23458565]

Pose Error in degrees for R and t:
119.30839706447333 76.07571065286945

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 7.59871746e-01 -6.50065058e-01  3.21717481e-03]
 [-6.50067481e-01 -7.59876395e-01 -3.67088990e-04]
 [ 2.68328692e-03 -1.81244017e-03 -9.99994758e-01]]

 t_estimated:
[[0.12599019]
 [0.99203084]
 [0.00113505]]

 R_gt:
[[ 0.99896135  0.04401887 -0.01181242]
 [-0.04395789  0.99901976  0.00535699]
 [ 0.01203614 -0.00483227  0.99991525]]

 t_gt:
[ 0.61252159  0.76790085 -0.18747155]

Pose Error in degrees for R and t:
179.90918090260345 32.99266889455431

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[-6.71818830e-01  7.40715389e-01  4.14312810e-04]
 [-7.40713748e-01 -6.71815913e-01 -2.55382203e-03]
 [-1.61331334e-03 -2.02259292e-03  9.99996653e-01]]

 t_estimated:
[[0.45698775]
 [0.88947214]
 [0.00122517]]

 R_gt:
[[ 0.99653546  0.03150412 -0.07697112]
 [-0.02898017  0.99901238  0.03369487]
 [ 0.07795669 -0.03134703  0.99646383]]

 t_gt:
[ 0.96180268  0.16671489 -0.21712151]

Pose Error in degrees for R and t:
130.5250888697229 54.01635584002263

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 8.49401142e-01 -5.27747395e-01 -6.22200377e-04]
 [ 5.27747729e-01  8.49400912e-01  6.52405552e-04]
 [ 1.84192237e-04 -8.82518857e-04  9.99999594e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.98499177  0.11712996 -0.12677592]
 [-0.10767488  0.99103825  0.07904932]
 [ 0.13489823 -0.06421211  0.9887759 ]]

 t_gt:
[ 0.70840105  0.67990351 -0.18947073]

Pose Error in degrees for R and t:
39.249823495414496 26.013836383319877

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999819e-01  6.01973432e-04  1.61928449e-05]
 [-6.01977248e-04  9.99999791e-01  2.36722384e-04]
 [-1.60503409e-05 -2.36732088e-04  9.99999972e-01]]

 t_estimated:
[[-9.99953935e-01]
 [-9.55065839e-03]
 [-9.55065841e-04]]

 R_gt:
[[ 0.99349004 -0.09096093 -0.06858727]
 [ 0.08919245  0.99560845 -0.02844273]
 [ 0.07087365  0.02213938  0.99724022]]

 t_gt:
[ 0.72267219 -0.48838407 -0.48910726]

Pose Error in degrees for R and t:
6.730789031529192 44.1509333533035

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-2.19496471e-01 -9.75612804e-01 -9.77346272e-04]
 [-9.75613236e-01  2.19496693e-01 -1.24211780e-04]
 [ 3.35706877e-04  9.26247912e-04 -9.99999515e-01]]

 t_estimated:
[[7.88035376e-01]
 [6.15629514e-01]
 [7.39939320e-04]]

 R_gt:
[[ 0.95651273 -0.27062695 -0.10883842]
 [ 0.26747278  0.96261053 -0.04288866]
 [ 0.11637595  0.01191175  0.99313403]]

 t_gt:
[ 0.78896281 -0.55149175 -0.27091424]

Pose Error in degrees for R and t:
173.86775125652483 73.6194643992568

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.08816868 -0.0705562   0.9936036 ]
 [-0.29070294 -0.95588749 -0.04208207]
 [ 0.9527424  -0.28513317 -0.10479023]]

 t_estimated:
[[0.64744796]
 [0.76210918]
 [0.00086211]]

 R_gt:
[[ 0.93138323 -0.34500344 -0.1161831 ]
 [ 0.34199699  0.93859742 -0.04553434]
 [ 0.1247586   0.00267438  0.99218374]]

 t_gt:
[ 0.81807393 -0.5376476  -0.20418156]

Pose Error in degrees for R and t:
174.13947190829316 83.12301266955777

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.98420147e-01  5.61890447e-02  3.27993846e-05]
 [-5.61890423e-02  9.98420145e-01 -6.96574074e-05]
 [-3.66615496e-05  6.77043929e-05  9.99999997e-01]]

 t_estimated:
[[ 4.49250419e-01]
 [-8.93405877e-01]
 [-1.14554854e-05]]

 R_gt:
[[ 0.99893331 -0.02730681 -0.0372391 ]
 [ 0.02830679  0.99924638  0.02658364]
 [ 0.03648466 -0.02760828  0.99895224]]

 t_gt:
[ 0.68793807 -0.67168127 -0.27492813]

Pose Error in degrees for R and t:
5.484573615800041 24.612727921193084

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.53666932 -0.843756   -0.00786455]
 [-0.84373516  0.53671825 -0.00667102]
 [ 0.00984976  0.00305547 -0.99994682]]

 t_estimated:
[[7.67156147e-01]
 [6.41460037e-01]
 [6.83131030e-04]]

 R_gt:
[[ 0.99810644 -0.01788618 -0.05885754]
 [ 0.02070559  0.99864973  0.0476426 ]
 [ 0.05792541 -0.04877099  0.9971283 ]]

 t_gt:
[ 0.53586208 -0.77975236 -0.3237871 ]

Pose Error in degrees for R and t:
177.8156384397763 84.87601338586471

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.90388005e-01  1.38316884e-01  1.97232586e-04]
 [-1.38316622e-01  9.90387556e-01 -1.00033571e-03]
 [-3.33700017e-04  9.63439947e-04  9.99999480e-01]]

 t_estimated:
[[-0.61488498]
 [-0.78861439]
 [-0.00195202]]

 R_gt:
[[ 0.99832722  0.03423991 -0.04658846]
 [-0.03224182  0.9985566   0.04296701]
 [ 0.04799281 -0.04139302  0.99798922]]

 t_gt:
[-0.67202008 -0.53800193 -0.50886436]

Pose Error in degrees for R and t:
7.076405110856775 33.01957673684858

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[ 9.58493964e-01  2.85112737e-01  2.20106172e-04]
 [-2.85112631e-01  9.58493930e-01 -4.16306516e-04]
 [-3.29664720e-04  3.36272232e-04  9.99999889e-01]]

 t_estimated:
[[-3.83478018e-01]
 [ 9.23549941e-01]
 [ 3.39726324e-04]]

 R_gt:
[[ 9.99893906e-01  2.74903075e-04 -1.45497624e-02]
 [-3.95634992e-04  9.99965630e-01 -8.29314060e-03]
 [ 1.45464088e-02  8.29817215e-03  9.99859983e-01]]

 t_gt:
[-0.32214164 -0.83737167 -0.44162591]

Pose Error in degrees for R and t:
16.57416854344721 49.46063313129572

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.91700813e-01  1.28567082e-01  4.78211539e-05]
 [-1.28567074e-01  9.91700806e-01 -1.38745491e-04]
 [-6.52623797e-05  1.31445790e-04  9.99999989e-01]]

 t_estimated:
[[0.52642112]
 [0.85022342]
 [0.00096947]]

 R_gt:
[[ 0.99960984  0.0074947  -0.0269124 ]
 [-0.0079571   0.99982164 -0.01713528]
 [ 0.02677807  0.01734295  0.99949103]]

 t_gt:
[-0.28194181 -0.8416646  -0.46055349]

Pose Error in degrees for R and t:
7.179936296381519 30.177807423346533

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 3.79806191e-02  9.99278256e-01  6.63066973e-04]
 [-9.99276908e-01  3.79817266e-02 -1.74631507e-03]
 [-1.77023910e-03 -5.96261388e-04  9.99998255e-01]]

 t_estimated:
[[0.3290422 ]
 [0.94431442]
 [0.00122321]]

 R_gt:
[[ 0.99929402  0.0103896  -0.0361132 ]
 [-0.01322215  0.99677915 -0.07910228]
 [ 0.03517539  0.07952448  0.99621229]]

 t_gt:
[-0.24068621 -0.20123566 -0.9495127 ]

Pose Error in degrees for R and t:
87.2595596767425 74.31269695933088

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.99995530e-01  2.97877896e-03  2.57264827e-04]
 [-2.97874802e-03  9.99995556e-01 -1.20582428e-04]
 [-2.57622872e-04  1.19815561e-04  9.99999960e-01]]

 t_estimated:
[[6.28227014e-01]
 [7.78029768e-01]
 [7.06572536e-04]]

 R_gt:
[[ 0.99930227 -0.01339301  0.03485546]
 [ 0.01122855  0.99803832  0.06158256]
 [-0.03561218 -0.06114916  0.99749301]]

 t_gt:
[ 0.3355298  -0.35566671  0.87230783]

Pose Error in degrees for R and t:
4.150520494856333 86.2551145407363

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[-9.83692966e-01  1.79827430e-01  3.20068480e-03]
 [ 1.79828763e-01  9.83697921e-01  1.31281124e-04]
 [-3.12489904e-03  7.04715506e-04 -9.99994869e-01]]

 t_estimated:
[[0.82209349]
 [0.5693463 ]
 [0.0026605 ]]

 R_gt:
[[ 0.99866995 -0.03983838  0.03272591]
 [ 0.03621058  0.99383271  0.10480652]
 [-0.03670052 -0.10348251  0.99395406]]

 t_gt:
[ 0.49252845 -0.39003338  0.77800365]

Pose Error in degrees for R and t:
178.37377113108136 79.34410023794456

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.78084723e-01 -2.08206791e-01 -4.53758477e-04]
 [ 2.08207123e-01  9.78084360e-01  8.81836680e-04]
 [ 2.60209685e-04 -9.56986733e-04  9.99999508e-01]]

 t_estimated:
[[-0.39232688]
 [-0.91982521]
 [-0.00109895]]

 R_gt:
[[ 0.99223149 -0.09716613  0.07768736]
 [ 0.07906962  0.97467531  0.20917716]
 [-0.09604607 -0.20141003  0.97478614]]

 t_gt:
[ 0.40106158 -0.36003214  0.84233394]

Pose Error in degrees for R and t:
14.579650628434976 80.04389153592813

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.70107560e-01 -2.42674575e-01 -6.09895914e-04]
 [ 2.42674792e-01  9.70107648e-01  3.09621341e-04]
 [ 5.16527464e-04 -4.48372367e-04  9.99999766e-01]]

 t_estimated:
[[-0.48440044]
 [-0.8748439 ]
 [-0.00208793]]

 R_gt:
[[ 0.99558403  0.09107054 -0.02279263]
 [-0.08948329  0.99399528  0.0629788 ]
 [ 0.02839092 -0.06066054  0.99775524]]

 t_gt:
[-0.43004882  0.3601621   0.82785341]

Pose Error in degrees for R and t:
19.59952685459606 83.77124464743385

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.02567424e-01  4.30548318e-01  4.37605095e-04]
 [-4.30547668e-01  9.02567175e-01 -1.09560598e-03]
 [-8.66679304e-04  8.00448410e-04  9.99999304e-01]]

 t_estimated:
[[-0.98211256]
 [-0.18829173]
 [-0.00106984]]

 R_gt:
[[ 0.98713099  0.13521219 -0.08539552]
 [-0.12941507  0.98910701  0.07013118]
 [ 0.09394694 -0.05817719  0.99387608]]

 t_gt:
[0.1141508  0.96372705 0.24124627]

Pose Error in degrees for R and t:
18.980757794348985 72.9126758295568

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-1.92347761e-01 -9.81325022e-01  1.88128559e-03]
 [-9.81242083e-01  1.92355991e-01  1.27729113e-02]
 [-1.28962541e-02  6.10844307e-04 -9.99916653e-01]]

 t_estimated:
[[0.95925814]
 [0.28252888]
 [0.00111671]]

 R_gt:
[[ 0.96241947  0.22486397 -0.15227081]
 [-0.20328074  0.96830807  0.14511001]
 [ 0.18007498 -0.10870281  0.97762877]]

 t_gt:
[0.315714   0.90108989 0.29725694]

Pose Error in degrees for R and t:
177.72625204338135 56.09848226810362

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.69002648e-01  2.47049591e-01  6.06123320e-04]
 [-2.47049552e-01  9.69002838e-01 -1.38680886e-04]
 [-6.21596273e-04 -1.53603486e-05  9.99999807e-01]]

 t_estimated:
[[-8.05964021e-01]
 [-5.91964023e-01]
 [-7.69784165e-04]]

 R_gt:
[[ 0.99485638 -0.0997739  -0.01745164]
 [ 0.09953167  0.9949322  -0.01423123]
 [ 0.01878387  0.01242159  0.99974662]]

 t_gt:
[ 0.7337004  -0.66429966 -0.14279245]

Pose Error in degrees for R and t:
20.065819729800236 78.5808648864146

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99999574e-01 -1.62741399e-04  9.08671460e-04]
 [ 1.64514698e-04  9.99998082e-01 -1.95179547e-03]
 [-9.08352079e-04  1.95194413e-03  9.99997682e-01]]

 t_estimated:
[[0.74958666]
 [0.66190565]
 [0.00085962]]

 R_gt:
[[ 0.97824273 -0.20473723 -0.0335017 ]
 [ 0.204368    0.97879185 -0.01411555]
 [ 0.03568282  0.00696192  0.99933919]]

 t_gt:
[ 0.74899851 -0.65353365 -0.10906422]

Pose Error in degrees for R and t:
11.983567831562276 82.60159899999417

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 4.84254500e-01  8.74927030e-01  5.21072000e-04]
 [-8.74925206e-01  4.84254586e-01 -1.83827524e-03]
 [-1.86068820e-03  4.34294031e-04  9.99998175e-01]]

 t_estimated:
[[0.27724018]
 [0.96079999]
 [0.00112243]]

 R_gt:
[[ 0.97364247 -0.2208112  -0.05710447]
 [ 0.21662871  0.97364507 -0.07131871]
 [ 0.0713478   0.05706888  0.99581793]]

 t_gt:
[ 0.77110387 -0.57466743 -0.27414625]

Pose Error in degrees for R and t:
73.85719495273256 70.20430687752281

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99829882e-01  1.84440529e-02  1.51689289e-04]
 [-1.84440297e-02  9.99829883e-01 -1.52535856e-04]
 [-1.54476863e-04  1.49712145e-04  9.99999977e-01]]

 t_estimated:
[[ 9.64264951e-01]
 [-2.64939349e-01]
 [-4.95455900e-04]]

 R_gt:
[[ 0.98657181 -0.16333066 -0.00105883]
 [ 0.1632753   0.98637268 -0.02025754]
 [ 0.00435281  0.01981324  0.99979441]]

 t_gt:
[ 0.7212356  -0.67771581 -0.14324976]

Pose Error in degrees for R and t:
10.519676968947255 28.944753883244072

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999986e-01  6.96494375e-05  1.55209358e-04]
 [-6.96550062e-05  9.99999997e-01  3.58734725e-05]
 [-1.55206859e-04 -3.58842831e-05  9.99999987e-01]]

 t_estimated:
[[ 9.98975332e-01]
 [-4.52551984e-02]
 [ 5.03907233e-04]]

 R_gt:
[[ 0.95952303 -0.27868342 -0.04063728]
 [ 0.27860605  0.96037454 -0.00765965]
 [ 0.04116155 -0.00397198  0.99914393]]

 t_gt:
[ 0.76046965 -0.6383017  -0.11940204]

Pose Error in degrees for R and t:
16.363242246924415 37.952887533438016

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999595e-01 -7.16062916e-04  5.44991315e-04]
 [ 7.16237319e-04  9.99999692e-01 -3.19883914e-04]
 [-5.44762090e-04  3.20274127e-04  9.99999800e-01]]

 t_estimated:
[[0.51348105]
 [0.8580992 ]
 [0.00172309]]

 R_gt:
[[ 0.92979549 -0.36610774 -0.03804422]
 [ 0.36482477  0.93035182 -0.03672132]
 [ 0.04883846  0.02026441  0.99860044]]

 t_gt:
[ 0.76949229 -0.61501882 -0.17214372]

Pose Error in degrees for R and t:
21.62424546426446 82.36140382411601

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 1.69802059e-01  9.85478174e-01  1.71958042e-04]
 [-9.85475267e-01  1.69801978e-01 -2.40570874e-03]
 [-2.39997227e-03  2.39033900e-04  9.99997091e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.9965084   0.08347009  0.00197861]
 [-0.08332453  0.99572286 -0.03991661]
 [-0.00530141  0.03961246  0.99920176]]

 t_gt:
[-0.68923196  0.67241879 -0.26983749]

Pose Error in degrees for R and t:
75.46405929011654 48.045008903436184

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.26693328 -0.9637079  -0.0037019 ]
 [ 0.96222886 -0.26673292  0.05449003]
 [-0.05349989  0.01098313  0.99850745]]

 t_estimated:
[[0.99355912]
 [0.11217603]
 [0.01602515]]

 R_gt:
[[ 0.99662979  0.06372866  0.05166708]
 [-0.06565405  0.99717637  0.03645489]
 [-0.04919695 -0.03972392  0.99799901]]

 t_gt:
[-0.62304021  0.39478082  0.67525477]

Pose Error in degrees for R and t:
109.15055497838402 55.672583310145384

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 9.85952652e-01  1.64299403e-01  3.00511983e-02]
 [-1.64193493e-01  9.86410051e-01 -5.97555881e-03]
 [-3.06245848e-02  9.57406837e-04  9.99530499e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98634583 -0.02149216  0.16328215]
 [-0.01847085  0.97075665  0.23935499]
 [-0.16365088 -0.23910179  0.95710447]]

 t_gt:
[-0.01413189 -0.0171266   0.99975345]

Pose Error in degrees for R and t:
18.695534882533966 89.23164465201391

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.93724068e-01 -1.11859128e-01 -1.14457249e-04]
 [ 1.11859075e-01  9.93724000e-01 -3.98754729e-04]
 [ 1.58343272e-04  3.83449089e-04  9.99999914e-01]]

 t_estimated:
[[-0.3231338 ]
 [-0.94635122]
 [-0.00198033]]

 R_gt:
[[ 0.99926035 -0.03656405 -0.01190774]
 [ 0.03605603  0.99853349 -0.04039802]
 [ 0.01336717  0.03993936  0.99911194]]

 t_gt:
[ 0.57199918 -0.16391609 -0.80370919]

Pose Error in degrees for R and t:
4.954986189767118 88.38871864795803

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99441371e-01  3.34207341e-02  3.03499736e-05]
 [-3.34207325e-02  9.99441370e-01 -5.29371597e-05]
 [-3.21022180e-05  5.18932691e-05  9.99999998e-01]]

 t_estimated:
[[ 6.21758773e-01]
 [-7.83208759e-01]
 [-2.60104092e-04]]

 R_gt:
[[ 0.99270502 -0.11256274 -0.04318647]
 [ 0.10880569  0.99073789 -0.08124569]
 [ 0.05193197  0.07595483  0.99575742]]

 t_gt:
[ 0.64236715 -0.27601695 -0.71496789]

Pose Error in degrees for R and t:
9.819589297117773 51.992670787367956

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.98704069e-01 -5.08938410e-02  1.79755284e-05]
 [ 5.08938407e-02  9.98704069e-01  1.25935722e-05]
 [-1.85931686e-05 -1.16624081e-05  1.00000000e+00]]

 t_estimated:
[[ 6.42841090e-01]
 [-7.65999554e-01]
 [ 1.26755146e-04]]

 R_gt:
[[ 0.98187069 -0.18800251 -0.02419462]
 [ 0.18339033  0.97446192 -0.12959083]
 [ 0.04793977  0.12280443  0.99127195]]

 t_gt:
[ 0.60338546 -0.35352348 -0.71480566]

Pose Error in degrees for R and t:
10.892560953275412 48.80763511960301

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 3.74624865e-01  9.27175967e-01  9.68252318e-04]
 [-9.27173599e-01  3.74626100e-01 -2.09846273e-03]
 [-2.30837680e-03 -1.11601669e-04  9.99997329e-01]]

 t_estimated:
[[-0.01058758]
 [ 0.99994232]
 [ 0.00180276]]

 R_gt:
[[ 0.99826792 -0.04866634  0.0330802 ]
 [ 0.0483317   0.99877169  0.01083576]
 [-0.03356641 -0.0092184   0.99939398]]

 t_gt:
[ 0.63341928 -0.59400458  0.49592195]

Pose Error in degrees for R and t:
70.80140733811562 53.145665910976504

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99997444e-01  2.26114885e-03 -1.85240741e-07]
 [-2.26114885e-03  9.99997444e-01  1.19824546e-05]
 [ 2.12334380e-07 -1.19820051e-05  1.00000000e+00]]

 t_estimated:
[[ 6.98207306e-01]
 [-7.15895420e-01]
 [-5.52257919e-04]]

 R_gt:
[[ 0.99476786 -0.09032089  0.04775066]
 [ 0.09051588  0.99589231 -0.00195066]
 [-0.04737738  0.00626319  0.99885679]]

 t_gt:
[ 0.72663153 -0.61915614  0.29774535]

Pose Error in degrees for R and t:
5.983788994065185 18.116530929798227

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.95223101e-01  9.76264002e-02  2.53961134e-04]
 [-9.76264125e-02  9.95223132e-01  3.65854955e-05]
 [-2.49176285e-04 -6.12040447e-05  9.99999967e-01]]

 t_estimated:
[[-0.01490659]
 [-0.99988823]
 [-0.00114666]]

 R_gt:
[[ 0.98742735 -0.15114345  0.04629644]
 [ 0.15187867  0.9883158  -0.01280239]
 [-0.04382008  0.01967286  0.99884514]]

 t_gt:
[ 0.77182938 -0.61945422  0.1433732 ]

Pose Error in degrees for R and t:
14.580658831228376 52.57551739042901

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 8.55072129e-01 -5.18508294e-01 -8.95561987e-04]
 [ 5.18507992e-01  8.55072598e-01 -5.60338962e-04]
 [ 1.05631091e-03  1.47741824e-05  9.99999442e-01]]

 t_estimated:
[[ 0.51078683]
 [-0.85970506]
 [-0.00200693]]

 R_gt:
[[ 0.9886542  -0.15000873  0.00776104]
 [ 0.14991825  0.98863403  0.0112366 ]
 [-0.00935928 -0.00994535  0.99990689]]

 t_gt:
[ 0.62438819 -0.75749513  0.19063187]

Pose Error in degrees for R and t:
22.622225726109665 14.12418966490933

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 8.78797490e-01  4.77190481e-01  2.05326152e-03]
 [-4.77191611e-01  8.78799273e-01  6.95536869e-05]
 [-1.77121438e-03 -1.04092278e-03  9.99997890e-01]]

 t_estimated:
[[-0.14366786]
 [ 0.98962022]
 [ 0.00337038]]

 R_gt:
[[ 0.96987793 -0.24342076 -0.00908945]
 [ 0.24331815  0.96635678  0.08336216]
 [-0.01150898 -0.08306305  0.99647778]]

 t_gt:
[ 0.57338098 -0.74372563  0.34366619]

Pose Error in degrees for R and t:
42.86731787622592 35.192131666679806

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.98047903  0.04148883  0.19219666]
 [ 0.0483804   0.8965268  -0.44033968]
 [-0.19057864  0.44104238  0.87701848]]

 t_estimated:
[[-0.78446454]
 [-0.58834841]
 [-0.19611614]]

 R_gt:
[[ 0.94947338 -0.30751997 -0.06270637]
 [ 0.31375439  0.93494077  0.16565823]
 [ 0.00768341 -0.17696252  0.98418735]]

 t_gt:
[ 0.55350256 -0.71293453  0.4305337 ]

Pose Error in degrees for R and t:
42.684354704361624 84.30782563242953

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.92524073e-01  1.22048809e-01  2.30436784e-04]
 [-1.22048854e-01  9.92524076e-01  1.91545400e-04]
 [-2.05336168e-04 -2.18237966e-04  9.99999955e-01]]

 t_estimated:
[[0.08109655]
 [0.99670548]
 [0.00123562]]

 R_gt:
[[ 0.9978902  -0.04666382  0.0451367 ]
 [ 0.04283501  0.99568154  0.0823593 ]
 [-0.04878439 -0.08025214  0.99557955]]

 t_gt:
[ 0.14785368 -0.50305535  0.85151313]

Pose Error in degrees for R and t:
10.98143106220426 60.76745243956887

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.93694824e-01 -1.12118672e-01 -2.82298977e-05]
 [ 1.12118675e-01  9.93694808e-01  1.75975193e-04]
 [ 8.32179785e-06 -1.78030737e-04  9.99999984e-01]]

 t_estimated:
[[3.33162589e-01]
 [9.42869390e-01]
 [5.34924831e-05]]

 R_gt:
[[ 0.99464466 -0.06127367  0.08322722]
 [ 0.04753734  0.98629162  0.15801824]
 [-0.0917683  -0.15321535  0.9839226 ]]

 t_gt:
[ 0.02966113 -0.43565569  0.89962455]

Pose Error in degrees for R and t:
10.792979860643145 66.36952892445187

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[-0.17364145  0.98480532  0.00266803]
 [-0.98463281 -0.17355852 -0.01938221]
 [-0.01862464 -0.00599259  0.99980859]]

 t_estimated:
[[0.1967368 ]
 [0.98031395]
 [0.01670925]]

 R_gt:
[[ 0.99261166 -0.083433    0.08809046]
 [ 0.06467068  0.97812735  0.19769954]
 [-0.10265867 -0.19054094  0.97629627]]

 t_gt:
[ 0.06817297 -0.45667521  0.88701759]

Pose Error in degrees for R and t:
104.84460235101143 65.20003380107843

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 7.05579519e-01 -7.08624183e-01 -3.05120263e-03]
 [ 7.08628939e-01  7.05580912e-01  7.76236548e-04]
 [ 1.60281034e-03 -2.70986709e-03  9.99995044e-01]]

 t_estimated:
[[9.99472407e-01]
 [3.24674970e-02]
 [8.77499918e-04]]

 R_gt:
[[ 0.99832502  0.01973163 -0.05440041]
 [-0.01797103  0.99930529  0.0326739 ]
 [ 0.0550064  -0.03164108  0.99798424]]

 t_gt:
[ 0.94926417  0.29194272 -0.11690592]

Pose Error in degrees for R and t:
46.325709364406954 16.63669595591307

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.75772688  0.65254692 -0.00569915]
 [-0.65253854 -0.75774754 -0.00348058]
 [-0.00658975  0.00108159  0.9999777 ]]

 t_estimated:
[[0.33510449]
 [0.94217784]
 [0.00242829]]

 R_gt:
[[ 0.98887412  0.08919763 -0.11904902]
 [-0.08115862  0.99418715  0.07075981]
 [ 0.12466755 -0.06031047  0.99036339]]

 t_gt:
[ 0.47854412  0.83970364 -0.25669696]

Pose Error in degrees for R and t:
134.49073620835847 18.031013967557957

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.60936751 -0.79254135 -0.02344013]
 [ 0.79286437  0.60931089  0.01031197]
 [ 0.00610967 -0.02486862  0.99967206]]

 t_estimated:
[[0.75271397]
 [0.65834386]
 [0.00224691]]

 R_gt:
[[ 0.97837916  0.15921646 -0.13200766]
 [-0.13981216  0.9794822   0.14515282]
 [ 0.15240961 -0.12355795  0.98056358]]

 t_gt:
[0.19253383 0.97755682 0.08551831]

Pose Error in degrees for R and t:
61.80977113511269 37.937339640933956

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.52566651e-01 -3.04329861e-01  3.33576833e-04]
 [ 3.04329761e-01  9.52566688e-01  3.17619531e-04]
 [-4.14415287e-04 -2.01036415e-04  9.99999894e-01]]

 t_estimated:
[[0.72296877]
 [0.69087973]
 [0.00116693]]

 R_gt:
[[ 0.98867148  0.14151384  0.05002566]
 [-0.14179457  0.98989386  0.00208663]
 [-0.04922509 -0.0091572   0.99874614]]

 t_gt:
[-0.86009486  0.49303098  0.13098583]

Pose Error in degrees for R and t:
26.02000738155322 73.67749048470607

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-0.38481921  0.92293234 -0.01049111]
 [ 0.92290862  0.38491236  0.00906455]
 [ 0.01240413 -0.00619412 -0.99990388]]

 t_estimated:
[[ 0.78210955]
 [-0.62310703]
 [-0.00650333]]

 R_gt:
[[ 0.96818526  0.24669146  0.0419637 ]
 [-0.24783584  0.96848824  0.02463117]
 [-0.03456561 -0.03424861  0.99881573]]

 t_gt:
[-0.8329496   0.53834259  0.12799307]

Pose Error in degrees for R and t:
179.8977342345868 8.982798334470225

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99696885e-01  2.46173248e-02 -3.55442100e-04]
 [-2.46169256e-02  9.99696367e-01  1.08695138e-03]
 [ 3.82092011e-04 -1.07787202e-03  9.99999346e-01]]

 t_estimated:
[[-9.85651432e-01]
 [ 1.68793524e-01]
 [ 3.71930388e-05]]

 R_gt:
[[ 9.20365097e-01  3.87676615e-01  5.13358628e-02]
 [-3.87070883e-01  9.21794727e-01 -2.16728522e-02]
 [-5.57234896e-02  7.55324150e-05  9.98446271e-01]]

 t_gt:
[-0.78708143  0.61470212  0.05142106]

Pose Error in degrees for R and t:
21.638684206641024 28.41216278177519

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.98431496e-01 -5.59870028e-02 -4.89844650e-05]
 [ 5.59870036e-02  9.98431497e-01  1.63579338e-05]
 [ 4.79918010e-05 -1.90747698e-05  9.99999999e-01]]

 t_estimated:
[[9.93968167e-01]
 [1.09666975e-01]
 [6.62221485e-04]]

 R_gt:
[[ 0.9999414   0.00350455 -0.01019168]
 [-0.00366582  0.99986817 -0.01579174]
 [ 0.01013538  0.01582852  0.99982322]]

 t_gt:
[-0.04930171 -0.79839265 -0.60011541]

Pose Error in degrees for R and t:
3.5809676923325515 82.12808275149627

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 0.51677812 -0.85611305  0.00329058]
 [ 0.85611368  0.51675685 -0.00563251]
 [ 0.00312164  0.00572787  0.99997872]]

 t_estimated:
[[ 0.6542523 ]
 [-0.75623318]
 [-0.00808104]]

 R_gt:
[[ 0.99970702  0.00325518 -0.02394323]
 [-0.00513552  0.99687207 -0.07885795]
 [ 0.02361185  0.07895882  0.99659795]]

 t_gt:
[-0.01818878  0.24589374 -0.96912612]

Pose Error in degrees for R and t:
59.26780850516715 79.0459605624405

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.87748289 -0.47960488  0.00171484]
 [-0.47960345  0.87745357 -0.0074682 ]
 [ 0.00207709 -0.00737566 -0.99997064]]

 t_estimated:
[[0.86694572]
 [0.49840103]
 [0.00123673]]

 R_gt:
[[ 0.99873318 -0.04987375 -0.006659  ]
 [ 0.04844236  0.98886443 -0.14071086]
 [ 0.01360223  0.14021012  0.99002798]]

 t_gt:
[ 0.14294152  0.38098881 -0.91346332]

Pose Error in degrees for R and t:
177.4166702952983 71.7793033189392

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999930e-01 -3.73748225e-04  2.62478517e-06]
 [ 3.73748153e-04  9.99999930e-01  2.71430362e-05]
 [-2.63492965e-06 -2.71420533e-05  1.00000000e+00]]

 t_estimated:
[[1.61289378e-01]
 [9.86907128e-01]
 [2.39091692e-04]]

 R_gt:
[[ 0.99591409  0.06717345 -0.06036145]
 [-0.06558444  0.99745659  0.02794907]
 [ 0.06208503 -0.02387608  0.99778545]]

 t_gt:
[-0.05138905  0.96840135 -0.24404507]

Pose Error in degrees for R and t:
5.405011435589921 18.670480415939924

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-8.51699156e-01 -5.24029080e-01 -1.43878680e-03]
 [ 5.24030901e-01 -8.51697803e-01 -1.57070453e-03]
 [-4.02316704e-04 -2.09173647e-03  9.99997731e-01]]

 t_estimated:
[[9.07899355e-01]
 [4.19187574e-01]
 [7.34257175e-04]]

 R_gt:
[[ 0.99310644  0.09689283 -0.06596903]
 [-0.09167736  0.99273171  0.07797125]
 [ 0.07304411 -0.07138598  0.9947706 ]]

 t_gt:
[0.03182228 0.99414904 0.10322319]

Pose Error in degrees for R and t:
153.85028609092393 63.5317292310014

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-3.28670883e-01 -9.44443643e-01 -1.28690200e-03]
 [ 9.44443711e-01 -3.28672080e-01  8.60392181e-04]
 [-1.23556068e-03 -9.32620647e-04  9.99998802e-01]]

 t_estimated:
[[9.95977345e-01]
 [8.96022264e-02]
 [7.53840200e-04]]

 R_gt:
[[ 0.98970457  0.09932088 -0.10306088]
 [-0.09441318  0.99420278  0.05146633]
 [ 0.10757539 -0.04120634  0.99334353]]

 t_gt:
[ 0.36509866  0.86647684 -0.34047153]

Pose Error in degrees for R and t:
114.8851026225884 63.83155779653268

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.94907532e-01  1.00791871e-01 -3.91457168e-05]
 [-1.00791872e-01  9.94907532e-01 -1.82834344e-05]
 [ 3.71035469e-05  2.21358967e-05  9.99999999e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99132624  0.12775753  0.03082424]
 [-0.12927071  0.9901658   0.05348961]
 [-0.02368783 -0.05701101  0.99809352]]

 t_gt:
[-0.83925353  0.4255892   0.33841888]

Pose Error in degrees for R and t:
3.8880428444086936 33.10539853917802

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 6.81164541e-01 -7.32128246e-01 -1.76051206e-03]
 [ 7.32129236e-01  6.81165742e-01 -1.16753357e-04]
 [ 1.28467893e-03 -1.20939410e-03  9.99998443e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.96535485  0.25754151  0.04200356]
 [-0.25929388  0.96481367  0.04361409]
 [-0.0292937  -0.05299407  0.99816538]]

 t_gt:
[-0.83250658  0.52403211  0.1797864 ]

Pose Error in degrees for R and t:
62.14455957080336 58.67547981949678

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 1.51891781e-01 -9.88383975e-01 -5.09948683e-03]
 [ 9.88396996e-01  1.51892430e-01  2.62002869e-04]
 [ 5.15614011e-04 -5.08011354e-03  9.99986963e-01]]

 t_estimated:
[[ 0.96207152]
 [-0.27279381]
 [ 0.00138593]]

 R_gt:
[[ 0.92484989  0.3781275   0.04090374]
 [-0.37896835  0.92528865  0.01497216]
 [-0.03218618 -0.02934885  0.99905148]]

 t_gt:
[-0.79378809  0.60119229  0.09202338]

Pose Error in degrees for R and t:
103.54207185241182 21.94317723391024

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.95312333 -0.30257731  0.00169699]
 [ 0.30257952  0.95312335 -0.0012347 ]
 [-0.00124385  0.00169029  0.9999978 ]]

 t_estimated:
[[0.71231957]
 [0.7018549 ]
 [0.00073014]]

 R_gt:
[[ 0.99704277 -0.07670999 -0.00451186]
 [ 0.07671613  0.99032534  0.11562727]
 [-0.0044015  -0.1156321   0.99328213]]

 t_gt:
[ 0.23893047 -0.72538035  0.6455506 ]

Pose Error in degrees for R and t:
14.808618298745774 70.2178023414444

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-0.99956201  0.02956009  0.00140929]
 [ 0.02956419  0.99955844  0.00298174]
 [-0.00132052  0.00302209 -0.99999456]]

 t_estimated:
[[9.99994892e-01]
 [3.10075877e-03]
 [7.75190034e-04]]

 R_gt:
[[ 0.98772427 -0.13736264 -0.07436982]
 [ 0.14757894  0.97664916  0.15613256]
 [ 0.05118612 -0.16519218  0.98493193]]

 t_gt:
[ 0.40832148 -0.77048197  0.4895213 ]

Pose Error in degrees for R and t:
176.33236158537494 66.02676858317537

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.82961452e-01 -1.83811807e-01 -5.89508686e-05]
 [ 1.83811814e-01  9.82961332e-01  4.86136507e-04]
 [-3.14112053e-05 -4.88689313e-04  9.99999880e-01]]

 t_estimated:
[[7.88020607e-01]
 [6.15648506e-01]
 [6.62574041e-04]]

 R_gt:
[[ 0.96200857 -0.24485089 -0.12077649]
 [ 0.26207249  0.95217208  0.15712061]
 [ 0.0765286  -0.18280328  0.98016574]]

 t_gt:
[ 0.55730754 -0.75776433  0.33941349]

Pose Error in degrees for R and t:
12.166273808523004 88.4458466963689

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999998e-01 -5.12940354e-05  3.68495688e-05]
 [ 5.12940571e-05  9.99999999e-01 -5.89222378e-07]
 [-3.68495385e-05  5.91112542e-07  9.99999999e-01]]

 t_estimated:
[[-0.62628471]
 [-0.77959399]
 [-0.00081547]]

 R_gt:
[[ 9.97503822e-01 -7.01875426e-02 -7.77154964e-03]
 [ 7.01795450e-02  9.97533339e-01 -1.36906946e-03]
 [ 7.84755242e-03  8.20397395e-04  9.99968006e-01]]

 t_gt:
[ 0.67860458 -0.72430844 -0.12195534]

Pose Error in degrees for R and t:
4.047486069274957 81.96567733516406

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.79478309e-01  2.01547218e-01  9.79865574e-04]
 [-2.01547804e-01  9.79478530e-01  5.39967339e-04]
 [-8.50928377e-04 -7.26376051e-04  9.99999374e-01]]

 t_estimated:
[[0.07386967]
 [0.99724054]
 [0.00738697]]

 R_gt:
[[ 0.99225853 -0.11971203  0.03305974]
 [ 0.11949265  0.99279872  0.00856432]
 [-0.03384765 -0.00454796  0.99941586]]

 t_gt:
[ 0.69126822 -0.70264433  0.16863923]

Pose Error in degrees for R and t:
18.594865289201365 49.5792294735049

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999930e-01 -2.40222446e-06  3.73908032e-04]
 [ 2.54777707e-06  9.99999924e-01 -3.89273824e-04]
 [-3.73907068e-04  3.89274749e-04  9.99999854e-01]]

 t_estimated:
[[8.69774142e-01]
 [4.93449553e-01]
 [6.93047125e-04]]

 R_gt:
[[ 0.98477618 -0.16723577  0.04741502]
 [ 0.16699052  0.98591592  0.00911579]
 [-0.04827243 -0.00105854  0.99883293]]

 t_gt:
[ 0.72921293 -0.66562004  0.15874025]

Pose Error in degrees for R and t:
10.009584013784753 72.18704075951325

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99119564e-01  4.19533940e-02  9.25992683e-05]
 [-4.19533855e-02  9.99119565e-01 -9.17100082e-05]
 [-9.63652867e-05  8.77444106e-05  9.99999992e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99801644 -0.05776307 -0.02503604]
 [ 0.05675104  0.99760982 -0.03942068]
 [ 0.0272534   0.03792215  0.99890972]]

 t_gt:
[ 0.64027731 -0.31410043 -0.70098922]

Pose Error in degrees for R and t:
6.285681514647013 50.30082827603416

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 0.95261484  0.30416485 -0.0029518 ]
 [-0.30414403  0.95260744  0.00595525]
 [ 0.00462328 -0.00477529  0.99997791]]

 t_estimated:
[[-0.93541378]
 [-0.35355249]
 [-0.00130462]]

 R_gt:
[[ 0.98638611 -0.15935084 -0.0406134 ]
 [ 0.15523936  0.98379607 -0.08970467]
 [ 0.05424999  0.08217903  0.99513986]]

 t_gt:
[ 0.64467382 -0.40288234 -0.64967798]

Pose Error in degrees for R and t:
27.395977034681376 62.629079083300105

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.11575830e-01 -4.11131616e-01 -5.47493297e-04]
 [ 4.11131795e-01  9.11575876e-01  2.64115636e-04]
 [ 3.90495393e-04 -4.65853333e-04  9.99999815e-01]]

 t_estimated:
[[ 7.74812860e-01]
 [-6.32190660e-01]
 [ 1.94871323e-05]]

 R_gt:
[[ 0.98178682 -0.1856662  -0.04029427]
 [ 0.18088253  0.97833733 -0.10069322]
 [ 0.05811758  0.09157145  0.99410212]]

 t_gt:
[ 0.62168091 -0.44433918 -0.64503918]

Pose Error in degrees for R and t:
15.030139035662426 40.30774677427489

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.99752732e-01 -2.22367926e-02 -2.47026414e-05]
 [ 2.22367928e-02  9.99752732e-01  8.13365940e-06]
 [ 2.45156667e-05 -8.68095572e-06  1.00000000e+00]]

 t_estimated:
[[-9.80196471e-01]
 [-1.98026526e-01]
 [-6.10766963e-04]]

 R_gt:
[[ 0.9980511   0.05717809 -0.0250303 ]
 [-0.05678458  0.99825547  0.01617153]
 [ 0.02591071 -0.01471827  0.99955534]]

 t_gt:
[-0.78471385  0.61453472  0.08106326]

Pose Error in degrees for R and t:
4.851112816338734 49.65188130013541

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.98682440e-01 -5.13155515e-02 -3.13509394e-04]
 [ 5.13158281e-02  9.98682024e-01  9.48978981e-04]
 [ 2.64398816e-04 -9.63816638e-04  9.99999501e-01]]

 t_estimated:
[[0.24314993]
 [0.96998519]
 [0.00261452]]

 R_gt:
[[ 0.9967818   0.0699436  -0.03917765]
 [-0.07073095  0.99731283 -0.01906976]
 [ 0.03773708  0.02177959  0.99904964]]

 t_gt:
[-0.48059986  0.80357156 -0.35113605]

Pose Error in degrees for R and t:
7.413767028219015 48.57213118471814

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 7.74839660e-01 -6.32157580e-01 -5.43510126e-04]
 [ 6.32157753e-01  7.74839676e-01  2.28858390e-04]
 [ 2.76458643e-04 -5.20912697e-04  9.99999826e-01]]

 t_estimated:
[[-0.20506059]
 [-0.97874865]
 [-0.00110844]]

 R_gt:
[[ 0.98841519  0.14823648 -0.03261061]
 [-0.14955518  0.98783664 -0.04257098]
 [ 0.02590197  0.04695472  0.99856037]]

 t_gt:
[-0.53993977  0.79940202 -0.26347952]

Pose Error in degrees for R and t:
47.87201428465206 47.82469503829092

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.98771301e-01 -4.95569210e-02 -2.49068198e-05]
 [ 4.95569243e-02  9.98771288e-01  1.57427327e-04]
 [ 1.70746029e-05 -1.58468201e-04  9.99999987e-01]]

 t_estimated:
[[5.45274957e-01]
 [8.38256937e-01]
 [7.27046534e-04]]

 R_gt:
[[ 0.99405374 -0.08703633 -0.06542561]
 [ 0.08890903  0.99569338  0.02627224]
 [ 0.06285699 -0.03193206  0.99751145]]

 t_gt:
[ 0.63693329 -0.76859366 -0.05983112]

Pose Error in degrees for R and t:
4.60457124315549 72.72137336252072

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.17402293 -0.98470917  0.0079919 ]
 [-0.98472065  0.17406644  0.00511066]
 [-0.00642363 -0.00698042 -0.999955  ]]

 t_estimated:
[[0.75659121]
 [0.65386689]
 [0.00527431]]

 R_gt:
[[ 0.97620506 -0.20107357 -0.08119435]
 [ 0.20427127  0.97835373  0.0331322 ]
 [ 0.07277426 -0.04892978  0.99614755]]

 t_gt:
[ 0.67613018 -0.73650177  0.02032545]

Pose Error in degrees for R and t:
178.64759904493843 88.2758682527865

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999822e-01 -5.95987382e-04  6.81635430e-06]
 [ 5.95987685e-04  9.99999821e-01 -4.45417944e-05]
 [-6.78980673e-06  4.45458489e-05  9.99999999e-01]]

 t_estimated:
[[ 0.9988339 ]
 [-0.04826527]
 [-0.00114138]]

 R_gt:
[[ 0.96068885 -0.27628062 -0.02729617]
 [ 0.27592395  0.9610447  -0.01615265]
 [ 0.03069531  0.00798653  0.99949665]]

 t_gt:
[ 0.66584416 -0.74196454 -0.07835926]

Pose Error in degrees for R and t:
16.099861485462952 45.49525949122839

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.15232606 -0.98832688  0.00259816]
 [-0.9883004   0.15230048 -0.00817791]
 [ 0.00768675 -0.00381347 -0.99996318]]

 t_estimated:
[[8.79952316e-01]
 [4.75061333e-01]
 [8.06555744e-04]]

 R_gt:
[[ 0.99810885  0.00244785 -0.06142838]
 [-0.00197597  0.99996814  0.00773448]
 [ 0.06144442 -0.00759911  0.99808121]]

 t_gt:
[ 0.61682692  0.1507885  -0.77252015]

Pose Error in degrees for R and t:
177.4213513771189 52.13602166958913

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.91956702 -0.3927447   0.01216946]
 [-0.39243578  0.91952024  0.02183319]
 [-0.01976494  0.01530135 -0.99968756]]

 t_estimated:
[[0.91353129]
 [0.40675481]
 [0.00333406]]

 R_gt:
[[ 9.87041249e-01  1.17970543e-01 -1.08781787e-01]
 [-1.18641742e-01  9.92937169e-01  3.01268019e-04]
 [ 1.08047471e-01  1.26083255e-02  9.94065616e-01]]

 t_gt:
[-0.09779751  0.84409136 -0.5272053 ]

Pose Error in degrees for R and t:
174.68862878219633 75.38993223878587

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-9.66038325e-01  2.58397997e-01  6.56192516e-04]
 [ 2.58398804e-01  9.66036248e-01  2.00616318e-03]
 [-1.15517211e-04  2.10758987e-03 -9.99997772e-01]]

 t_estimated:
[[8.70332878e-01]
 [4.92463354e-01]
 [7.25277399e-04]]

 R_gt:
[[ 0.97922597  0.13743037 -0.1490996 ]
 [-0.13536138  0.99050545  0.02397964]
 [ 0.1509786  -0.00329914  0.98853134]]

 t_gt:
[-0.00138614  0.85740775 -0.51463581]

Pose Error in degrees for R and t:
171.33541626401234 65.12359547364049

Number of keypoints:
Image1: 640
Image2: 640

 R_estimated:
[[ 0.15733055  0.98719761 -0.0262293 ]
 [ 0.98719565 -0.15651184  0.03080245]
 [ 0.02630291 -0.03073962 -0.99918128]]

 t_estimated:
[[ 0.65411907]
 [-0.75612521]
 [-0.02007255]]

 R_gt:
[[ 0.99742358  0.04098984  0.05888535]
 [-0.03989602  0.99901053 -0.01964737]
 [-0.05963237  0.01724732  0.99807179]]

 t_gt:
[-0.7072184   0.49639178  0.50342559]

Pose Error in degrees for R and t:
179.3098733973846 32.00039736377346

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 9.53375514e-01 -3.01786258e-01 -4.28349326e-04]
 [ 3.01786380e-01  9.53375538e-01  2.52530647e-04]
 [ 3.32167490e-04 -3.70026528e-04  9.99999876e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99911821  0.02978567  0.02961797]
 [-0.02911612  0.99931583 -0.02279736]
 [-0.03027739  0.0219152   0.99930134]]

 t_gt:
[-0.96331606  0.23440917  0.13066942]

Pose Error in degrees for R and t:
19.373968329941682 15.705293763999464

Number of keypoints:
Image1: 408
Image2: 408

 R_estimated:
[[ 8.48020797e-01 -5.29959285e-01 -1.97069849e-03]
 [ 5.29960130e-01  8.48022552e-01 -1.08293407e-04]
 [ 1.72858786e-03 -9.52556564e-04  9.99998052e-01]]

 t_estimated:
[[ 0.6507709 ]
 [-0.75927053]
 [-0.00234318]]

 R_gt:
[[ 9.99681216e-01  2.52492758e-02 -3.39490138e-04]
 [-2.52465442e-02  9.99649352e-01  7.97315958e-03]
 [ 5.40293248e-04 -7.96205731e-03  9.99968901e-01]]

 t_gt:
[-0.98727673 -0.15243263  0.04526534]

Pose Error in degrees for R and t:
33.45229385463154 58.20649666513536

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99990748e-01  4.29950681e-03 -1.33552179e-04]
 [-4.29945501e-03  9.99990683e-01  3.85726498e-04]
 [ 1.35209368e-04 -3.85148728e-04  9.99999917e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99977725  0.02103117 -0.00188216]
 [-0.02104739  0.99974017 -0.00868805]
 [ 0.0017      0.0087263   0.99996069]]

 t_gt:
[ 0.61079494  0.74718179 -0.26200938]

Pose Error in degrees for R and t:
1.0959114579409337 20.581434748657482

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.92073247 -0.39016247  0.00499665]
 [ 0.39014608  0.92074447  0.00395795]
 [-0.00614488 -0.00169479  0.99997968]]

 t_estimated:
[[ 0.51009675]
 [-0.85997916]
 [ 0.0153996 ]]

 R_gt:
[[ 0.99948462  0.03118473  0.00755269]
 [-0.03100513  0.99925519 -0.02295109]
 [-0.00826227  0.02270544  0.99970835]]

 t_gt:
[ 0.71606523  0.66026651 -0.22649223]

Pose Error in degrees for R and t:
24.790076880980706 78.10956800955363

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99774251e-01  2.12380599e-02  6.26073683e-04]
 [-2.12379784e-02  9.99774439e-01 -1.36679720e-04]
 [-6.28835278e-04  1.23352325e-04  9.99999795e-01]]

 t_estimated:
[[0.95491212]
 [0.29683507]
 [0.00563775]]

 R_gt:
[[ 9.96896927e-01 -7.87155190e-02 -4.71950625e-04]
 [ 7.86415329e-02  9.96186442e-01 -3.77617852e-02]
 [ 3.44390493e-03  3.76079381e-02  9.99286698e-01]]

 t_gt:
[ 0.83638008 -0.52399391 -0.16093089]

Pose Error in degrees for R and t:
6.124319801035786 50.04226024086322

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999973e-01  2.11283680e-04 -9.58979904e-05]
 [-2.11273635e-04  9.99999972e-01  1.04738605e-04]
 [ 9.59201173e-05 -1.04718341e-04  9.99999990e-01]]

 t_estimated:
[[-9.99622007e-01]
 [-2.74895062e-02]
 [ 4.12824784e-04]]

 R_gt:
[[ 0.99585642  0.09037344  0.01020789]
 [-0.09045325  0.99587116  0.00763459]
 [-0.00947558 -0.00852677  0.999919  ]]

 t_gt:
[-0.94018623  0.32624849  0.09803972]

Pose Error in degrees for R and t:
5.226570691768864 21.423998507720434

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.40801991  0.91264498  0.02447226]
 [ 0.91293478  0.40810156  0.00178677]
 [-0.00835648  0.02307062 -0.99969891]]

 t_estimated:
[[9.25267911e-01]
 [3.79313756e-01]
 [6.05210338e-04]]

 R_gt:
[[ 0.98695213  0.16099224  0.00298616]
 [-0.16097799  0.98694728 -0.00468702]
 [-0.00370141  0.00414461  0.9999853 ]]

 t_gt:
[-0.94516847  0.32600629 -0.01940262]

Pose Error in degrees for R and t:
178.6538292447016 41.3327176169236

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-4.94741872e-01 -8.69039731e-01 -6.52388890e-04]
 [-8.69034354e-01  4.94741232e-01 -3.22570489e-03]
 [ 3.12602939e-03 -1.02894292e-03 -9.99994585e-01]]

 t_estimated:
[[8.05100162e-01]
 [5.93138535e-01]
 [6.38377136e-04]]

 R_gt:
[[ 0.98828017  0.15079907  0.02373192]
 [-0.15094556  0.98853168  0.00447585]
 [-0.02278521 -0.0080063   0.99970828]]

 t_gt:
[-0.96242771  0.26519922  0.05832906]

Pose Error in degrees for R and t:
178.77845705324236 51.86521001722008

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999903e-01  4.32629372e-04  8.50391658e-05]
 [-4.32629319e-04  9.99999906e-01 -6.43728212e-07]
 [-8.50394364e-05  6.06937713e-07  9.99999996e-01]]

 t_estimated:
[[9.99999604e-01]
 [8.70645917e-04]
 [1.84492987e-04]]

 R_gt:
[[ 0.99141846 -0.13071143 -0.00212598]
 [ 0.1307064   0.99141757 -0.00231264]
 [ 0.00240905  0.00201486  0.9999953 ]]

 t_gt:
[ 0.67778424 -0.73512267 -0.01425407]

Pose Error in degrees for R and t:
7.5376705669380595 47.379342876306005

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99997764e-01  2.11290862e-03  8.75007583e-05]
 [-2.11291038e-03  9.99997768e-01  2.00491704e-05]
 [-8.74582009e-05 -2.02340068e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99932520e-01]
 [-1.16170025e-02]
 [-1.57627114e-05]]

 R_gt:
[[ 0.97866346 -0.20357419 -0.02786313]
 [ 0.20426515  0.97860339  0.0247206 ]
 [ 0.02223461 -0.02988352  0.99930587]]

 t_gt:
[ 0.67547576 -0.73597659  0.04550775]

Pose Error in degrees for R and t:
12.081281959663409 46.844612097082184

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.91720103e-01  1.28414722e-01 -9.47003129e-04]
 [-1.28413718e-01 -9.91720125e-01 -1.05418865e-03]
 [-1.07453540e-03 -9.23851887e-04  9.99998996e-01]]

 t_estimated:
[[8.55546490e-01]
 [5.17725563e-01]
 [6.66313466e-04]]

 R_gt:
[[ 0.96072107 -0.2761121  -0.02788612]
 [ 0.27450669  0.96024904 -0.05065824]
 [ 0.04076484  0.04101374  0.99832636]]

 t_gt:
[ 0.68867981 -0.67489713 -0.26501695]

Pose Error in degrees for R and t:
171.3876970128941 76.13650556891712

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 0.65088779  0.75915351  0.00557098]
 [ 0.75916911 -0.65083992 -0.00834596]
 [-0.00271005  0.0096616  -0.99994965]]

 t_estimated:
[[-0.99886265]
 [-0.04752903]
 [-0.00379572]]

 R_gt:
[[ 0.99247249 -0.12145389 -0.01575161]
 [ 0.12221452  0.99048141  0.06332505]
 [ 0.00790928 -0.06477355  0.99786849]]

 t_gt:
[ 0.74362912 -0.60865733  0.27668032]

Pose Error in degrees for R and t:
176.9457359073636 44.36461415420213

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.69296111e-01  2.45896411e-01  6.70464769e-05]
 [-2.45896416e-01  9.69296001e-01  4.64706088e-04]
 [ 4.92816775e-05 -4.66924292e-04  9.99999890e-01]]

 t_estimated:
[[-7.63924259e-01]
 [-6.45305563e-01]
 [-6.75763944e-04]]

 R_gt:
[[ 0.97777128 -0.20184291 -0.05678015]
 [ 0.20569105  0.97589483  0.0729443 ]
 [ 0.04068808 -0.08300193  0.99571867]]

 t_gt:
[ 0.79537543 -0.59138157  0.13283735]

Pose Error in degrees for R and t:
26.539112275619612 76.93392742197979

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.91338152e-01 -1.31329653e-01  1.09098042e-03]
 [ 1.31330112e-01  9.91338627e-01 -3.59427549e-04]
 [-1.03432753e-03  4.99592822e-04  9.99999340e-01]]

 t_estimated:
[[0.98973322]
 [0.14292286]
 [0.00109959]]

 R_gt:
[[ 0.97975896 -0.19333779 -0.05190089]
 [ 0.1965226   0.97830592  0.06554603]
 [ 0.03810164 -0.0744193   0.99649894]]

 t_gt:
[ 0.77557752 -0.62073901  0.11472836]

Pose Error in degrees for R and t:
6.107860921067776 47.232641086863815

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 7.66287265e-01 -6.42498053e-01 -2.82124867e-04]
 [ 6.42498086e-01  7.66287026e-01  6.34876489e-04]
 [-1.91718283e-04 -6.67762455e-04  9.99999759e-01]]

 t_estimated:
[[0.9999066 ]
 [0.01361961]
 [0.00113497]]

 R_gt:
[[ 0.99594218 -0.05821754  0.06862221]
 [ 0.05908957  0.99819539 -0.01074631]
 [-0.06787281  0.01475767  0.99758485]]

 t_gt:
[ 0.52272315 -0.70307639  0.48212456]

Pose Error in degrees for R and t:
36.82149567643972 59.09301205978046

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 7.56265283e-01  6.54265094e-01 -9.58485530e-05]
 [-6.54264935e-01  7.56264978e-01 -8.23082814e-04]
 [-4.66027450e-04  6.85179304e-04  9.99999657e-01]]

 t_estimated:
[[0.74056003]
 [0.67198966]
 [0.00085713]]

 R_gt:
[[ 0.94329165 -0.21826764  0.25011955]
 [ 0.21191373  0.97588196  0.05240053]
 [-0.25552507  0.00357539  0.96679536]]

 t_gt:
[ 0.53219522 -0.58941978  0.60774383]

Pose Error in degrees for R and t:
55.36124032413889 89.91746134392429

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.96804248  0.25074466 -0.00456858]
 [ 0.25069874 -0.96802529 -0.00878496]
 [-0.00662528  0.00735887 -0.99995098]]

 t_estimated:
[[0.85722254]
 [0.5149454 ]
 [0.00086602]]

 R_gt:
[[ 0.88620816 -0.35306698  0.29996471]
 [ 0.34078643  0.9354104   0.09419434]
 [-0.31384735  0.01874826  0.94928858]]

 t_gt:
[ 0.65880349 -0.5989121   0.45528262]

Pose Error in degrees for R and t:
179.52534007173193 75.12397175503101

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.84513327e-01 -1.75309731e-01 -8.42771917e-05]
 [ 1.75309558e-01  9.84512845e-01 -1.00836547e-03]
 [ 2.59748257e-04  9.77974646e-04  9.99999488e-01]]

 t_estimated:
[[-0.26570913]
 [-0.96404723]
 [-0.00340653]]

 R_gt:
[[ 0.9992265  -0.02905631 -0.02650198]
 [ 0.02844077  0.99932433 -0.0233128 ]
 [ 0.02716173  0.0225417   0.99937724]]

 t_gt:
[ 0.53528833 -0.30403191 -0.7880552 ]

Pose Error in degrees for R and t:
8.676665243620565 81.16701919317826

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 8.37303004e-01  5.46739051e-01  2.99921590e-04]
 [-5.46737987e-01  8.37302246e-01 -1.58855332e-03]
 [-1.11964916e-03  1.16612194e-03  9.99998693e-01]]

 t_estimated:
[[0.72608257]
 [0.6876064 ]
 [0.00124117]]

 R_gt:
[[ 0.98156709 -0.15185752  0.11603779]
 [ 0.15430497  0.98794663 -0.01234834]
 [-0.11276326  0.03002543  0.99316889]]

 t_gt:
[ 0.64908524 -0.70524324  0.28516718]

Pose Error in degrees for R and t:
42.478081945185835 89.2387259687156

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.67415331e-01  2.53193733e-01 -7.14283472e-04]
 [-2.53193260e-01  9.67415472e-01  6.91166317e-04]
 [ 8.66007862e-04 -4.87793131e-04  9.99999506e-01]]

 t_estimated:
[[-0.11452952]
 [-0.99341907]
 [-0.00124489]]

 R_gt:
[[ 0.92150796 -0.29784723  0.24921872]
 [ 0.29449728  0.95426173  0.05153301]
 [-0.25316875  0.02590533  0.96707597]]

 t_gt:
[ 0.64977681 -0.63012825  0.42512174]

Pose Error in degrees for R and t:
35.34475465878777 56.562051173361716

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99285303e-01  3.78005551e-02  4.52617936e-05]
 [-3.78005620e-02  9.99285290e-01  1.62964645e-04]
 [-3.90692905e-05 -1.64559096e-04  9.99999986e-01]]

 t_estimated:
[[-0.98359833]
 [ 0.18036486]
 [ 0.00168677]]

 R_gt:
[[ 9.98190130e-01  6.01425800e-02  7.22842122e-04]
 [-6.01237059e-02  9.98072689e-01 -1.53722770e-02]
 [-1.64614832e-03  1.53008657e-02  9.99881325e-01]]

 t_gt:
[-0.94619372  0.25657758 -0.19719378]

Pose Error in degrees for R and t:
1.5601350008928152 12.41406902150468

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99997035e-01  2.43000511e-03 -1.55855125e-04]
 [-2.43000146e-03  9.99997047e-01  2.36265987e-05]
 [ 1.55912078e-04 -2.32478004e-05  9.99999988e-01]]

 t_estimated:
[[-9.99269493e-01]
 [ 3.82160734e-02]
 [ 1.07681874e-04]]

 R_gt:
[[ 9.96331155e-01  8.55788234e-02 -2.98674418e-04]
 [-8.55769117e-02  9.96324438e-01  3.73653916e-03]
 [ 6.16896172e-04 -3.69677810e-03  9.99992785e-01]]

 t_gt:
[-0.98390121  0.1786181   0.00582943]

Pose Error in degrees for R and t:
4.774950261170003 8.10588763776976

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.99934669 -0.03611952  0.00125581]
 [ 0.03607975 -0.9990689  -0.02365542]
 [ 0.00210906 -0.02359465  0.99971938]]

 t_estimated:
[[0.91000825]
 [0.41455931]
 [0.0050556 ]]

 R_gt:
[[ 0.9967181   0.05980467  0.05456556]
 [-0.05953983  0.99820506 -0.00645276]
 [-0.05485353  0.00318307  0.99848834]]

 t_gt:
[-0.99123944  0.10858099  0.07519669]

Pose Error in degrees for R and t:
178.61101483561097 31.0583168093023

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99997989e-01  1.98231077e-03  3.05473066e-04]
 [-1.98223311e-03  9.99998003e-01 -2.54303972e-04]
 [-3.05976566e-04  2.53697941e-04  9.99999921e-01]]

 t_estimated:
[[-0.82766572]
 [ 0.56120886]
 [ 0.00375254]]

 R_gt:
[[ 9.94090540e-01 -1.06087355e-01  2.29917821e-02]
 [ 1.06070033e-01  9.94356714e-01  1.93526628e-03]
 [-2.30676447e-02  5.14692840e-04  9.99734223e-01]]

 t_gt:
[ 0.56630724 -0.79912071  0.20174785]

Pose Error in degrees for R and t:
6.339384900777739 23.59042192088722

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.6386076   0.73407838  0.23088797]
 [ 0.68875629 -0.41142362 -0.59694671]
 [-0.34321291  0.54024025 -0.76833936]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.97057363 -0.24047069  0.01267609]
 [ 0.23997744  0.97025955  0.03173482]
 [-0.01993004 -0.02775816  0.99941579]]

 t_gt:
[ 0.67248532 -0.71808412  0.17921686]

Pose Error in degrees for R and t:
142.3106283815906 81.94031678459757

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99980800e-01  6.14940676e-03  7.63859427e-04]
 [-6.15066430e-03  9.99979715e-01  1.65500915e-03]
 [-7.53666607e-04 -1.65967562e-03  9.99998339e-01]]

 t_estimated:
[[0.98587456]
 [0.16746362]
 [0.00270103]]

 R_gt:
[[ 0.9480449  -0.31805516  0.00715679]
 [ 0.3174299   0.9472035   0.04520863]
 [-0.02115764 -0.04058698  0.99895233]]

 t_gt:
[ 0.69007565 -0.70089775  0.18038276]

Pose Error in degrees for R and t:
19.054494478672833 55.70594266305574

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-6.52762579e-01 -7.57554919e-01  3.40006134e-03]
 [-7.57562529e-01  6.52757014e-01 -2.70095877e-03]
 [-1.73289284e-04 -4.33884388e-03 -9.99990572e-01]]

 t_estimated:
[[0.96664678]
 [0.25609347]
 [0.00318489]]

 R_gt:
[[ 0.99338819 -0.10617114 -0.04367633]
 [ 0.11012553  0.98875039  0.10121503]
 [ 0.03243918 -0.10535524  0.99390566]]

 t_gt:
[ 0.70857758 -0.59881561  0.37327962]

Pose Error in degrees for R and t:
179.41586588643494 57.80649722372207

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[-0.17128425 -0.98521863 -0.00244284]
 [-0.98521833  0.1712767   0.00302376]
 [-0.00256067  0.00292465 -0.99999244]]

 t_estimated:
[[8.44451585e-01]
 [5.35631313e-01]
 [7.85975542e-04]]

 R_gt:
[[ 0.97194556 -0.2171231  -0.09043856]
 [ 0.22795388  0.96430266  0.1347532 ]
 [ 0.05795183 -0.1515884   0.98674353]]

 t_gt:
[ 0.78391262 -0.56550217  0.25629728]

Pose Error in degrees for R and t:
177.92330137316452 68.94419732798423

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[ 9.05094746e-01  4.25209785e-01  3.74471450e-04]
 [-4.25209478e-01  9.05094702e-01 -6.92890771e-04]
 [-6.33556061e-04  4.67902987e-04  9.99999690e-01]]

 t_estimated:
[[0.81299744]
 [0.58226661]
 [0.0008715 ]]

 R_gt:
[[ 0.9588498  -0.26519139 -0.10139516]
 [ 0.27705846  0.95199994  0.13013369]
 [ 0.06201823 -0.15287036  0.98629778]]

 t_gt:
[ 0.8023018  -0.56036124  0.20568692]

Pose Error in degrees for R and t:
42.055669182642234 70.96359099502322

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.87154557e-01 -1.59768209e-01  4.93126999e-06]
 [ 1.59768204e-01  9.87154534e-01  2.15795986e-04]
 [-3.93452637e-05 -2.12236131e-04  9.99999977e-01]]

 t_estimated:
[[ 0.9398932 ]
 [-0.34146657]
 [ 0.00116429]]

 R_gt:
[[ 0.99877983 -0.02308267  0.04365992]
 [ 0.02459155  0.99910647 -0.03437636]
 [-0.04282754  0.03540874  0.99845553]]

 t_gt:
[-0.55120104  0.75125332  0.363037  ]

Pose Error in degrees for R and t:
8.451385218836124 39.26967583279814

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.59706209e-01 -2.81005259e-01 -1.93032071e-04]
 [ 2.81005312e-01  9.59706149e-01  3.50381126e-04]
 [ 8.67951262e-05 -3.90505980e-04  9.99999920e-01]]

 t_estimated:
[[9.73416114e-01]
 [2.29041974e-01]
 [9.17826813e-04]]

 R_gt:
[[ 0.99792083 -0.01651927  0.06230654]
 [ 0.02104722  0.99712888 -0.07273484]
 [-0.06092546  0.07389557  0.99540331]]

 t_gt:
[-0.54088375  0.8391987   0.0564829 ]

Pose Error in degrees for R and t:
16.203888734999794 70.47358604124042

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 7.65380123e-01  6.43578438e-01  2.50057227e-04]
 [-6.43578105e-01  7.65380034e-01 -7.91682774e-04]
 [-7.00898772e-04  4.45006903e-04  9.99999655e-01]]

 t_estimated:
[[5.73080034e-02]
 [9.98356354e-01]
 [6.19397544e-04]]

 R_gt:
[[ 0.99752186 -0.02665706  0.06511409]
 [ 0.03214278  0.99588713 -0.08471728]
 [-0.06258803  0.08660027  0.99427515]]

 t_gt:
[-0.52055822  0.85281424 -0.04155743]

Pose Error in degrees for R and t:
42.16994088402975 34.75927885588885

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 0.88734804 -0.46099059  0.01005615]
 [-0.46101024 -0.88653287  0.03910287]
 [-0.00911095 -0.03933385 -0.99918459]]

 t_estimated:
[[0.23030233]
 [0.97291198]
 [0.02007775]]

 R_gt:
[[ 0.9973191  -0.01644383  0.07130967]
 [ 0.01692724  0.99983766 -0.00618725]
 [-0.07119757  0.00737759  0.99743497]]

 t_gt:
[-0.31438663 -0.11639724  0.94213201]

Pose Error in degrees for R and t:
177.09562145320345 80.40211459740526

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.98954650e-01 -4.57042329e-02  8.54608353e-04]
 [-4.57100891e-02 -9.98552843e-01  2.83338706e-02]
 [-4.41606220e-04 -2.83433160e-02 -9.99598150e-01]]

 t_estimated:
[[-0.01524693]
 [ 0.99977628]
 [ 0.01466009]]

 R_gt:
[[ 0.99598254  0.01253961  0.08866219]
 [-0.0098757   0.99948853 -0.03041781]
 [-0.08899968  0.02941957  0.99559645]]

 t_gt:
[-0.70366462  0.19702609  0.6826689 ]

Pose Error in degrees for R and t:
179.95618507594355 77.42492205170565

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-5.07880589e-01  8.61427436e-01 -2.83581656e-04]
 [-8.61425011e-01 -5.07879893e-01 -2.22833824e-03]
 [-2.06357712e-03 -8.87445406e-04  9.99997477e-01]]

 t_estimated:
[[0.12462456]
 [0.99220325]
 [0.00119831]]

 R_gt:
[[ 0.99896659 -0.00401817  0.04527458]
 [ 0.00418936  0.99998501 -0.00368186]
 [-0.04525934  0.00386692  0.99896771]]

 t_gt:
[-0.85969142 -0.28781978  0.42200763]

Pose Error in degrees for R and t:
120.77205368061698 66.90799951475219

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.85005874  0.52592549 -0.02832883]
 [-0.5263983   0.85014492 -0.01258743]
 [ 0.01746356  0.0256123   0.9995194 ]]

 t_estimated:
[[-0.32518897]
 [ 0.94400892]
 [-0.05567123]]

 R_gt:
[[ 0.99952308 -0.00444495 -0.03054971]
 [ 0.00356514  0.99957928 -0.02878526]
 [ 0.03066515  0.02866278  0.99911855]]

 t_gt:
[ 0.03270315  0.29937027 -0.9535764 ]

Pose Error in degrees for R and t:
31.98562908570308 71.03077350177941

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.79450639e-01 -2.01682128e-01 -8.74992896e-04]
 [ 2.01682454e-01  9.79450916e-01  3.01631607e-04]
 [ 7.96178889e-04 -4.71903985e-04  9.99999572e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99751942  0.05546706 -0.04333626]
 [-0.05729208  0.99747009 -0.04207413]
 [ 0.04089304  0.0444528   0.99817397]]

 t_gt:
[-0.25343171  0.77275963 -0.58190628]

Pose Error in degrees for R and t:
15.262171027296107 39.595915374523024

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.87224537e-01 -1.59332874e-01 -8.64944220e-04]
 [ 1.59332583e-01  9.87224884e-01 -3.95808018e-04]
 [ 9.16959686e-04  2.52937590e-04  9.99999548e-01]]

 t_estimated:
[[ 0.9324659 ]
 [-0.36125266]
 [-0.00196469]]

 R_gt:
[[ 0.99441379  0.1023715  -0.02571584]
 [-0.1036554   0.99309728 -0.05490102]
 [ 0.01991708  0.05725928  0.9981607 ]]

 t_gt:
[-0.34275384  0.87895701 -0.3315937 ]

Pose Error in degrees for R and t:
15.471107761168842 50.47013397819792

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 0.85452942  0.51934233 -0.00793857]
 [ 0.51940057 -0.85437888  0.01611733]
 [ 0.00158787 -0.01789603 -0.99983859]]

 t_estimated:
[[-0.9964286 ]
 [ 0.08367846]
 [ 0.01131166]]

 R_gt:
[[ 0.99955712 -0.02961255  0.00297436]
 [ 0.02967517  0.99928298 -0.02349258]
 [-0.00227666  0.02357116  0.99971967]]

 t_gt:
[ 0.71950881 -0.63891096 -0.27221289]

Pose Error in degrees for R and t:
179.67121003571984 39.332445176167475

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.98803446 -0.09571481  0.12094042]
 [ 0.12745828  0.94825099 -0.29081687]
 [-0.08684639  0.30275195  0.94910429]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.98810996 -0.15370132 -0.0038509 ]
 [ 0.15362032  0.98799228 -0.01646875]
 [ 0.00633563  0.01568183  0.99985721]]

 t_gt:
[ 0.69835619 -0.71398394 -0.05025497]

Pose Error in degrees for R and t:
17.73671503822392 89.03415126101773

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.93439239e-01  1.14360436e-01  4.11363890e-04]
 [-1.14360423e-01  9.93439324e-01 -5.49720141e-05]
 [-4.14951688e-04  7.56760747e-06  9.99999914e-01]]

 t_estimated:
[[0.49437347]
 [0.86924907]
 [0.00096369]]

 R_gt:
[[ 9.85876593e-01 -1.67467826e-01 -4.51029500e-04]
 [ 1.67462251e-01  9.85855411e-01 -6.71799888e-03]
 [ 1.56969144e-03  6.54774025e-03  9.99977194e-01]]

 t_gt:
[ 0.70312876 -0.71105741 -0.00270226]

Pose Error in degrees for R and t:
16.212051064889458 74.30714528077254

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.94796212e-01  1.01884417e-01  2.48038176e-04]
 [-1.01884387e-01  9.94796237e-01 -1.32750254e-04]
 [-2.60272626e-04  1.06788232e-04  9.99999960e-01]]

 t_estimated:
[[0.61217292]
 [0.79072335]
 [0.00094471]]

 R_gt:
[[ 0.99603264 -0.07992974 -0.03911237]
 [ 0.079823    0.99680047 -0.00427607]
 [ 0.03932957  0.00113736  0.99922574]]

 t_gt:
[ 0.81355224 -0.51995973 -0.26033561]

Pose Error in degrees for R and t:
10.674140602392507 85.02940875476226

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999421e-01 -1.00038012e-03  3.96024938e-04]
 [ 1.00038067e-03  9.99999500e-01 -1.18408567e-06]
 [-3.96023555e-04  1.58026068e-06  9.99999922e-01]]

 t_estimated:
[[0.58864928]
 [0.80838738]
 [0.0013631 ]]

 R_gt:
[[ 0.98976777 -0.11454357 -0.08508069]
 [ 0.11460888  0.99340207 -0.00412054]
 [ 0.08499124 -0.0056734   0.99636579]]

 t_gt:
[ 0.84124988 -0.44564734 -0.3060998 ]

Pose Error in degrees for R and t:
8.171046378977456 82.26866068439703

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 5.55479518e-02 -9.98455627e-01 -8.86006910e-04]
 [-9.98455788e-01 -5.55473119e-02 -7.31197041e-04]
 [ 6.80852498e-04  9.25255225e-04 -9.99999340e-01]]

 t_estimated:
[[0.64148423]
 [0.76713578]
 [0.00082665]]

 R_gt:
[[ 0.99012467 -0.02184667 -0.13847689]
 [ 0.02501952  0.99946176  0.02121934]
 [ 0.13793915 -0.02447493  0.99013809]]

 t_gt:
[ 0.8143355  -0.00103588 -0.5803935 ]

Pose Error in degrees for R and t:
175.4312536423703 58.59333418357599

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.96597903e-01 -8.24173391e-02 -3.22657267e-05]
 [ 8.24173408e-02  9.96597902e-01  5.43819684e-05]
 [ 2.76739384e-05 -5.68562111e-05  9.99999998e-01]]

 t_estimated:
[[-0.89856455]
 [-0.43883989]
 [-0.00114148]]

 R_gt:
[[ 0.99959633  0.01435177  0.02450435]
 [-0.01343124  0.99921316 -0.03733022]
 [-0.02502023  0.03698639  0.99900255]]

 t_gt:
[-0.5442402   0.81249939 -0.20891946]

Pose Error in degrees for R and t:
6.089048730891468 82.3734156837996

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.92383313e-01 -1.23188307e-01 -2.57966635e-05]
 [ 1.23188309e-01  9.92383310e-01  8.46838463e-05]
 [ 1.51681186e-05 -8.72166833e-05  9.99999996e-01]]

 t_estimated:
[[-0.98497655]
 [ 0.17268463]
 [-0.00110157]]

 R_gt:
[[ 0.9997547  -0.0042125   0.0217279 ]
 [ 0.00537282  0.99854795 -0.05360535]
 [-0.02147078  0.05370912  0.99832601]]

 t_gt:
[-0.45139222  0.82989912 -0.32789102]

Pose Error in degrees for R and t:
7.567913410703347 53.964757021339125

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.97156597e-01  7.53570431e-02  1.90735300e-04]
 [-7.53570268e-02  9.97156613e-01 -9.13731810e-05]
 [-1.97078579e-04  7.67401251e-05  9.99999978e-01]]

 t_estimated:
[[-4.09737701e-01]
 [ 9.12203328e-01]
 [ 3.24866056e-04]]

 R_gt:
[[ 0.99754652 -0.04771234  0.05122057]
 [ 0.05192718  0.99507932 -0.08439047]
 [-0.04694104  0.08684295  0.9951158 ]]

 t_gt:
[-0.22720385  0.90724904 -0.35394575]

Pose Error in degrees for R and t:
9.141018165793293 22.989772102973077

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.99863124  0.05228935  0.00121472]
 [-0.05228686  0.99863011 -0.00199443]
 [-0.00131735  0.00192819  0.99999727]]

 t_estimated:
[[-0.10658456]
 [-0.99430257]
 [-0.00146006]]

 R_gt:
[[ 0.99922913  0.02721123 -0.02827517]
 [-0.03068604  0.99093345 -0.13080582]
 [ 0.02446099  0.13157312  0.99100432]]

 t_gt:
[-0.08097002  0.48083762 -0.87306302]

Pose Error in degrees for R and t:
7.711116709056983 62.08292320211383

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-9.15783653e-01 -4.01671133e-01 -7.76115455e-04]
 [-4.01670950e-01  9.15783981e-01 -3.86064133e-04]
 [ 8.65824918e-04 -4.18081896e-05 -9.99999624e-01]]

 t_estimated:
[[0.93101722]
 [0.364974  ]
 [0.00095293]]

 R_gt:
[[ 0.9968546  -0.03108476 -0.07290257]
 [ 0.01536022  0.97820633 -0.20706711]
 [ 0.07775113  0.20529697  0.97560694]]

 t_gt:
[ 0.13535482  0.20681893 -0.9689711 ]

Pose Error in degrees for R and t:
173.25872287836117 78.4292485889064

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-9.77529228e-01 -2.10799175e-01  5.61669930e-04]
 [-2.10798683e-01  9.77529147e-01  8.25674415e-04]
 [-7.23100214e-04  6.88721592e-04 -9.99999501e-01]]

 t_estimated:
[[0.99992827]
 [0.01190391]
 [0.00132266]]

 R_gt:
[[ 0.98750369 -0.15098485 -0.04515967]
 [ 0.13062252  0.94448986 -0.30145952]
 [ 0.0881692   0.29179434  0.95240883]]

 t_gt:
[ 0.31258155 -0.05237567 -0.94844587]

Pose Error in degrees for R and t:
174.35483567235366 71.89971348411068

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 5.25762333e-01  8.50630858e-01  1.05485281e-03]
 [-8.50629901e-01  5.25763346e-01 -1.29406562e-03]
 [-1.65537509e-03 -2.16918378e-04  9.99998606e-01]]

 t_estimated:
[[-0.11923226]
 [ 0.99286544]
 [ 0.00137658]]

 R_gt:
[[ 0.99213959  0.11450099 -0.05047148]
 [-0.11535169  0.99322264 -0.01425358]
 [ 0.04849752  0.01996392  0.99862329]]

 t_gt:
[-0.32614276  0.89494574 -0.30447171]

Pose Error in degrees for R and t:
51.76225808961007 22.02377927517126

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-5.80023935e-01 -8.14599018e-01 -8.21368121e-04]
 [-8.14599302e-01  5.80024117e-01  2.02866972e-05]
 [ 4.59887795e-04  6.80852668e-04 -9.99999662e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99100928  0.0843755  -0.10383599]
 [-0.08314586  0.99640724  0.0161227 ]
 [ 0.10482471 -0.00734433  0.99446352]]

 t_gt:
[-0.00152781  0.88257883 -0.47016196]

Pose Error in degrees for R and t:
174.93971008404927 68.28994045913242

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 1.00000000e+00  7.99956854e-06  1.99547956e-06]
 [-7.99956636e-06  1.00000000e+00 -1.09699692e-06]
 [-1.99548833e-06  1.09698095e-06  1.00000000e+00]]

 t_estimated:
[[-0.99996829]
 [-0.00772653]
 [-0.001927  ]]

 R_gt:
[[ 0.97964678  0.10226974 -0.17272096]
 [-0.09873766  0.99469248  0.02894012]
 [ 0.17476555 -0.01129775  0.98454538]]

 t_gt:
[ 0.17372865  0.76186562 -0.62400251]

Pose Error in degrees for R and t:
11.63769204302993 79.72299875293895

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-2.29366065e-01  9.73340232e-01 -3.16014309e-05]
 [ 9.73335662e-01  2.29365088e-01  3.05699904e-03]
 [ 2.98274842e-03  6.70413043e-04 -9.99995327e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.97969752  0.19831508  0.02937844]
 [-0.19798517  0.98010887 -0.0137323 ]
 [-0.03151706  0.00763706  0.9994736 ]]

 t_gt:
[-0.90157738  0.43256525  0.00674823]

Pose Error in degrees for R and t:
178.36456260672776 86.81468308910738

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.06019628e-01 -4.23234634e-01 -9.37026758e-04]
 [ 4.23234037e-01  9.06020062e-01 -7.73044504e-04]
 [ 1.17614425e-03  3.03811876e-04  9.99999262e-01]]

 t_estimated:
[[-0.62766261]
 [-0.77848164]
 [-0.00244687]]

 R_gt:
[[ 0.96813333  0.24849675  0.0310969 ]
 [-0.24788028  0.96853247 -0.02237622]
 [-0.0356785   0.0139545   0.99926612]]

 t_gt:
[-0.90205756  0.43132645 -0.01580013]

Pose Error in degrees for R and t:
39.47565051942326 76.67662558092307

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-1.63904668e-01 -9.86475162e-01  1.41959382e-03]
 [-9.86469554e-01  1.63908672e-01  3.43022553e-03]
 [-3.61651602e-03 -8.38156106e-04 -9.99993109e-01]]

 t_estimated:
[[0.49488109]
 [0.86895489]
 [0.00317938]]

 R_gt:
[[ 0.9567137   0.29009543  0.02331433]
 [-0.28987566  0.95698453 -0.01235581]
 [-0.02589498  0.00506247  0.99965212]]

 t_gt:
[-9.10942190e-01  4.12533117e-01  8.68460650e-04]

Pose Error in degrees for R and t:
179.06781260787784 84.70218374480305

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.83854896 -0.54477827 -0.00722997]
 [ 0.54480505  0.83855956  0.00230751]
 [ 0.00480568 -0.00587388  0.9999712 ]]

 t_estimated:
[[0.80887227]
 [0.58797542]
 [0.00324848]]

 R_gt:
[[ 0.99434112 -0.10013649 -0.03547364]
 [ 0.09948558  0.99484431 -0.0196503 ]
 [ 0.03725807  0.0160092   0.99917793]]

 t_gt:
[ 0.75349889 -0.59014417 -0.28977455]

Pose Error in degrees for R and t:
27.362196181805334 74.83778269072992

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-6.26429098e-01 -7.79477728e-01  1.02830848e-03]
 [-7.79476863e-01  6.26429937e-01  1.16342537e-03]
 [-1.55102738e-03 -7.27391629e-05 -9.99998795e-01]]

 t_estimated:
[[0.9619754 ]
 [0.27312872]
 [0.0020083 ]]

 R_gt:
[[ 0.9583625  -0.28545131 -0.00765911]
 [ 0.28538114  0.9583715  -0.00903162]
 [ 0.00991839  0.00646895  0.9999299 ]]

 t_gt:
[ 0.87030594 -0.48986678 -0.05097162]

Pose Error in degrees for R and t:
179.43150271713316 45.30651653169919

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-9.54393004e-01  2.98553081e-01 -2.29211429e-04]
 [ 2.98552764e-01  9.54392693e-01  9.13727526e-04]
 [ 4.91553881e-04  8.03623452e-04 -9.99999556e-01]]

 t_estimated:
[[0.9790416 ]
 [0.20365762]
 [0.00106072]]

 R_gt:
[[ 0.86833261 -0.49585331 -0.0112934 ]
 [ 0.49591411  0.86836553  0.00331398]
 [ 0.00816292 -0.00847837  0.99993105]]

 t_gt:
[ 0.92457268 -0.38099207 -0.00322411]

Pose Error in degrees for R and t:
179.36881799872708 34.14704155048921

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.93815303e-01  1.11045685e-01  1.65328952e-05]
 [-1.11045686e-01  9.93815298e-01  9.96562357e-05]
 [-5.36424918e-06 -1.00875799e-04  9.99999995e-01]]

 t_estimated:
[[9.04898444e-01]
 [4.25626959e-01]
 [7.05849020e-04]]

 R_gt:
[[ 9.95251508e-01 -9.01613931e-02 -3.66696438e-02]
 [ 9.02557886e-02  9.95917820e-01  9.31759930e-04]
 [ 3.64365965e-02 -4.23764489e-03  9.99327034e-01]]

 t_gt:
[ 0.64843373 -0.70505187 -0.28711593]

Pose Error in degrees for R and t:
11.742148120691057 73.35296773588539

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.96087659e-01  8.83678408e-02  7.07960907e-04]
 [-8.83676050e-02  9.96087867e-01 -3.57750828e-04]
 [-7.36804938e-04  2.93790375e-04  9.99999685e-01]]

 t_estimated:
[[-0.69932816]
 [-0.71480002]
 [-0.00103146]]

 R_gt:
[[ 0.9871749  -0.15816301 -0.02168443]
 [ 0.15605621  0.98468506 -0.07773278]
 [ 0.03364674  0.07335154  0.99673901]]

 t_gt:
[ 0.55867689 -0.64250346 -0.52447063]

Pose Error in degrees for R and t:
14.858219761120791 86.03747583117082

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.72848737e-01  2.31441633e-01  3.25149093e-04]
 [-2.31441624e-01  9.72848791e-01 -6.48651712e-05]
 [-3.31333404e-04 -1.21490345e-05  9.99999945e-01]]

 t_estimated:
[[0.99985943]
 [0.01672405]
 [0.00119458]]

 R_gt:
[[ 0.97075996 -0.23930091 -0.01895443]
 [ 0.23629377  0.96649962 -0.10021769]
 [ 0.04230184  0.09280788  0.99478532]]

 t_gt:
[ 0.59678365 -0.67641505 -0.43163868]

Pose Error in degrees for R and t:
27.78791636240068 54.20607075868733

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-5.26285866e-01  8.50307148e-01  9.70053239e-04]
 [-8.50306281e-01 -5.26282560e-01 -2.42822041e-03]
 [-1.55421107e-03 -2.10278044e-03  9.99996581e-01]]

 t_estimated:
[[0.52874361]
 [0.84878038]
 [0.00143569]]

 R_gt:
[[ 0.94847587  0.31346505 -0.04618444]
 [-0.31270378  0.94957035  0.02306313]
 [ 0.05108455 -0.00743241  0.99866737]]

 t_gt:
[-0.51679986  0.85009192 -0.10129972]

Pose Error in degrees for R and t:
103.53200049450521 63.37550693799729

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99934864e-01  1.09048570e-03  1.13612789e-02]
 [-9.60554461e-04  9.99934151e-01 -1.14355083e-02]
 [-1.13730010e-02  1.14238503e-02  9.99870067e-01]]

 t_estimated:
[[0.83526185]
 [0.54984161]
 [0.00344194]]

 R_gt:
[[ 0.86732854  0.49526153 -0.04957596]
 [-0.49293922  0.86849354  0.05225885]
 [ 0.06893812 -0.020888    0.99740267]]

 t_gt:
[-0.4346682   0.89863712 -0.0592865 ]

Pose Error in degrees for R and t:
30.01370670503413 82.48173440082067

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-1.53974708e-01  9.88074665e-01 -4.96069766e-04]
 [ 9.88070358e-01  1.53975502e-01  2.91775727e-03]
 [ 2.95934463e-03 -4.08910072e-05 -9.99995620e-01]]

 t_estimated:
[[0.66608735]
 [0.74587277]
 [0.00120887]]

 R_gt:
[[ 0.83072354  0.55292665 -0.06458292]
 [-0.54624007  0.83200015  0.09694389]
 [ 0.10733615 -0.04525492  0.99319294]]

 t_gt:
[-0.39121265  0.9180576  -0.06420983]

Pose Error in degrees for R and t:
173.15580900840445 64.9066229337803

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.98535197e-01 -5.41042987e-02  4.30099468e-04]
 [ 5.41045063e-02  9.98535160e-01 -4.86500411e-04]
 [-4.03147677e-04  5.09058103e-04  9.99999789e-01]]

 t_estimated:
[[7.89996680e-01]
 [6.13110715e-01]
 [7.04724960e-04]]

 R_gt:
[[ 9.90970675e-01 -1.34049010e-01 -2.67202562e-03]
 [ 1.34074959e-01  9.90847388e-01  1.56942846e-02]
 [ 5.43753718e-04 -1.59109021e-02  9.99873141e-01]]

 t_gt:
[ 0.80785231 -0.58374272  0.08135776]

Pose Error in degrees for R and t:
4.69902307728103 73.71836452317103

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 8.59619423e-01 -5.10934876e-01 -2.89948769e-05]
 [ 5.10934835e-01  8.59619373e-01 -3.58084150e-04]
 [ 2.07882239e-04  2.93001598e-04  9.99999935e-01]]

 t_estimated:
[[-0.27236671]
 [-0.96219268]
 [-0.00127274]]

 R_gt:
[[ 0.97163705 -0.23570742 -0.01909611]
 [ 0.23560963  0.97182084 -0.00725334]
 [ 0.02026866  0.00254927  0.99979127]]

 t_gt:
[ 0.82130077 -0.56758419 -0.05756065]

Pose Error in degrees for R and t:
17.133124220124454 71.18559894521704

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-1.07583479e-01  9.94195296e-01  1.22846146e-03]
 [-9.94196054e-01 -1.07583419e-01 -1.14820561e-04]
 [ 1.80080228e-05 -1.23368433e-03  9.99999239e-01]]

 t_estimated:
[[0.3909678 ]
 [0.92040336]
 [0.00135753]]

 R_gt:
[[ 0.9319452  -0.36102135 -0.03380525]
 [ 0.36127067  0.93246024  0.00138081]
 [ 0.03102384 -0.01349939  0.99942719]]

 t_gt:
[ 0.87549822 -0.4825461  -0.02553692]

Pose Error in degrees for R and t:
117.36377681319145 84.15255415970282

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-9.92865646e-01  1.18708814e-01 -1.12261742e-02]
 [ 1.18693913e-01  9.92928904e-01  1.98684178e-03]
 [ 1.13826484e-02  6.40188408e-04 -9.99935011e-01]]

 t_estimated:
[[ 0.99153985]
 [-0.12967004]
 [-0.00586575]]

 R_gt:
[[ 0.96521979  0.25489039 -0.05814204]
 [-0.25367737  0.96689779  0.02748956]
 [ 0.06322292 -0.01178419  0.99792951]]

 t_gt:
[-0.49988428  0.8550361  -0.13794556]

Pose Error in degrees for R and t:
175.77710194401598 52.71943098703647

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 8.87538121e-01 -4.60733278e-01 -9.64543509e-04]
 [ 4.60733593e-01  8.87538473e-01  1.21460907e-04]
 [ 8.00108392e-04 -5.52198781e-04  9.99999527e-01]]

 t_estimated:
[[ 0.00778623]
 [-0.99996913]
 [-0.00105891]]

 R_gt:
[[ 0.92457556  0.37856715 -0.04296464]
 [-0.37486834  0.9240465   0.0749158 ]
 [ 0.06806209 -0.05315954  0.99626286]]

 t_gt:
[-0.47834348  0.87811964 -0.00966494]

Pose Error in degrees for R and t:
49.834823376682415 28.138910649590837

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.23669927e-01 -3.83185461e-01 -1.66376391e-03]
 [ 3.83186642e-01  9.23670827e-01  4.48657159e-04]
 [ 1.36485129e-03 -1.05194323e-03  9.99998515e-01]]

 t_estimated:
[[ 9.77694257e-01]
 [-2.10033187e-01]
 [-3.25920760e-05]]

 R_gt:
[[ 0.88479017  0.46247291 -0.05714334]
 [-0.45726191  0.88528876  0.08470756]
 [ 0.08976308 -0.04881936  0.99476505]]

 t_gt:
[-0.41600249  0.90795993 -0.05050434]

Pose Error in degrees for R and t:
50.297214724167354 53.31442132010639

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 9.97384224e-01 -7.22821490e-02 -1.69219961e-05]
 [ 7.22821503e-02  9.97384220e-01  9.14786139e-05]
 [ 1.02654611e-05 -9.24624846e-05  9.99999996e-01]]

 t_estimated:
[[9.06006541e-01]
 [4.23262808e-01]
 [8.62042379e-04]]

 R_gt:
[[ 0.9991137  -0.04166663  0.00596023]
 [ 0.041882    0.99821801 -0.04251737]
 [-0.00417929  0.04272955  0.99907815]]

 t_gt:
[ 0.36630164  0.50383306 -0.78228854]

Pose Error in degrees for R and t:
3.023276565046822 57.01283786051538

Number of keypoints:
Image1: 383
Image2: 383

 R_estimated:
[[ 9.95441459e-01 -9.53744791e-02 -1.01731439e-04]
 [ 9.53745039e-02  9.95441424e-01  2.75660180e-04]
 [ 7.49767422e-05 -2.84106157e-04  9.99999957e-01]]

 t_estimated:
[[8.07212669e-01]
 [5.90260237e-01]
 [7.48111834e-04]]

 R_gt:
[[ 0.99566939 -0.07756036  0.05124109]
 [ 0.08000002  0.99566791 -0.0473954 ]
 [-0.04734314  0.05128922  0.99756135]]

 t_gt:
[0.78801961 0.61563825 0.00382537]

Pose Error in degrees for R and t:
4.127850508707918 1.8316498036671691

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[ 0.9782663  -0.20734553 -0.00169818]
 [ 0.20734777  0.97826648  0.00126583]
 [ 0.00139881 -0.00159043  0.99999776]]

 t_estimated:
[[0.66108469]
 [0.75031085]
 [0.00081115]]

 R_gt:
[[ 0.98292344 -0.16471713  0.08203302]
 [ 0.16818548  0.98505047 -0.0372918 ]
 [-0.074665    0.05045096  0.99593208]]

 t_gt:
[0.97613405 0.01450639 0.21668382]

Pose Error in degrees for R and t:
5.7925673350360745 48.97658945412827

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-2.99882936e-01 -9.53975848e-01 -5.53906665e-04]
 [-9.53975699e-01  2.99883256e-01 -6.31225695e-04]
 [ 7.68281402e-04  3.39119683e-04 -9.99999647e-01]]

 t_estimated:
[[0.81638644]
 [0.5775054 ]
 [0.00083818]]

 R_gt:
[[ 0.9999382   0.01084149 -0.00237148]
 [-0.01096383  0.99815566 -0.05971114]
 [ 0.00171945  0.05973324  0.99821239]]

 t_gt:
[-0.11365221  0.47647508 -0.87181115]

Pose Error in degrees for R and t:
177.83243751134526 79.53399714721614

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.64520676  0.76395306  0.00916303]
 [ 0.76397234 -0.64501434 -0.01740019]
 [-0.00738264  0.01822702 -0.99980662]]

 t_estimated:
[[-0.86478696]
 [-0.50213436]
 [-0.00214587]]

 R_gt:
[[ 0.99829942  0.02925735 -0.05040955]
 [-0.0371203   0.98594721 -0.16288083]
 [ 0.04493614  0.16447537  0.98535708]]

 t_gt:
[-0.04370929  0.45799997 -0.88787698]

Pose Error in degrees for R and t:
171.48926871734255 79.03128187756005

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.64033778e-01  2.65779713e-01  1.35974942e-04]
 [-2.65779400e-01  9.64033216e-01 -1.12630423e-03]
 [-4.30433176e-04  1.04965598e-03  9.99999356e-01]]

 t_estimated:
[[-0.943025  ]
 [-0.33272051]
 [-0.00095063]]

 R_gt:
[[ 0.99192269 -0.11851914 -0.04518745]
 [ 0.10355177  0.96240081 -0.25112004]
 [ 0.07325141  0.24441316  0.96690058]]

 t_gt:
[ 0.30566151 -0.07132594 -0.94946493]

Pose Error in degrees for R and t:
26.336170720678112 74.71549131243027

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.90783048e-01 -1.35458159e-01 -1.96854204e-04]
 [ 1.35458198e-01  9.90783042e-01  2.01366398e-04]
 [ 1.67763085e-04 -2.26175929e-04  9.99999960e-01]]

 t_estimated:
[[0.86407819]
 [0.50335655]
 [0.00103359]]

 R_gt:
[[ 0.99997959  0.00432833 -0.00476855]
 [-0.0042632   0.999897    0.01364535]
 [ 0.00482761 -0.01362512  0.99989522]]

 t_gt:
[ 0.79542808 -0.54610818  0.26279276]

Pose Error in degrees for R and t:
8.072408915648117 65.62565985842203

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.45310854  0.89142809  0.00697251]
 [ 0.89145259 -0.45307381 -0.00603253]
 [-0.0022185   0.00894905 -0.9999575 ]]

 t_estimated:
[[-0.78570525]
 [-0.61860017]
 [-0.00103792]]

 R_gt:
[[ 0.99312243  0.09251808 -0.07174827]
 [-0.09115617  0.99559218  0.02204852]
 [ 0.07347327 -0.01535651  0.9971788 ]]

 t_gt:
[-0.02942988  0.76371191 -0.64488603]

Pose Error in degrees for R and t:
177.40104299084473 63.343553396148295

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.08999428e-01  4.16796914e-01  6.10400200e-04]
 [-4.16794011e-01  9.08997019e-01 -2.67821263e-03]
 [-1.67112272e-03  2.18008260e-03  9.99996227e-01]]

 t_estimated:
[[9.97678292e-01]
 [6.80981071e-02]
 [8.20459122e-04]]

 R_gt:
[[ 0.98728201  0.08896247 -0.13175844]
 [-0.08739661  0.99601756  0.01763547]
 [ 0.13280334 -0.00589627  0.99112458]]

 t_gt:
[ 0.25524059  0.40226557 -0.87922389]

Pose Error in degrees for R and t:
21.00647541752662 73.66098860514687

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-3.96778403e-01 -9.17912834e-01 -1.71119320e-03]
 [ 9.17914389e-01 -3.96778249e-01 -4.43118104e-04]
 [-2.72220447e-04 -1.74654855e-03  9.99998438e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99641177  0.08291547  0.01698384]
 [-0.08295311  0.9965522   0.00154115]
 [-0.01679819 -0.00294419  0.99985496]]

 t_gt:
[-0.47535874  0.8528391   0.21610076]

Pose Error in degrees for R and t:
118.1377045908513 61.80041738867089

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.37788171  0.92583792 -0.00543708]
 [ 0.9258261   0.37790935  0.00552769]
 [ 0.00717247 -0.00294498 -0.99996994]]

 t_estimated:
[[ 0.47736357]
 [-0.87869362]
 [-0.0046416 ]]

 R_gt:
[[ 0.99352784  0.09225325  0.06626543]
 [-0.10028179  0.98638676  0.1303232 ]
 [-0.0533406  -0.13612506  0.98925482]]

 t_gt:
[-0.33477675  0.47954521  0.8111479 ]

Pose Error in degrees for R and t:
178.14318921949933 54.20064374220926

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-9.64543703e-01  2.63920515e-01 -1.18622091e-03]
 [-2.63919297e-01 -9.64544150e-01 -1.08944623e-03]
 [-1.43168965e-03 -7.37751914e-04  9.99998703e-01]]

 t_estimated:
[[0.6460603 ]
 [0.76328576]
 [0.0009687 ]]

 R_gt:
[[ 0.99072041  0.06606948  0.11877751]
 [-0.09173882  0.96986582  0.22570906]
 [-0.10028533 -0.23451023  0.96692729]]

 t_gt:
[-0.19687997  0.27616089  0.94073027]

Pose Error in degrees for R and t:
160.26823047412697 85.15246057748553

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.98812648e-01 -4.87161542e-02  1.75397798e-04]
 [ 4.87162219e-02  9.98812578e-01 -4.04574114e-04]
 [-1.55480232e-04  4.12638460e-04  9.99999903e-01]]

 t_estimated:
[[ 6.68704360e-01]
 [ 7.43528296e-01]
 [-3.88291787e-04]]

 R_gt:
[[ 0.99629562 -0.06098002 -0.06062611]
 [ 0.06307889  0.99745171  0.03332095]
 [ 0.05844018 -0.03702175  0.99760391]]

 t_gt:
[ 0.66149665 -0.74353942  0.09783314]

Pose Error in degrees for R and t:
4.0607767811069415 83.65384942220626

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99697145e-01  2.46045264e-02 -4.84785397e-04]
 [-2.46035136e-02  9.99695297e-01  1.99488739e-03]
 [ 5.33720941e-04 -1.98235580e-03  9.99997893e-01]]

 t_estimated:
[[0.63487673]
 [0.7726127 ]
 [0.00107606]]

 R_gt:
[[ 0.9922968   0.01786538 -0.12258771]
 [-0.00365451  0.99333731  0.11518346]
 [ 0.12382893 -0.11384826  0.98575057]]

 t_gt:
[ 0.30097114 -0.73862947  0.6031939 ]

Pose Error in degrees for R and t:
9.61753869181087 67.7315980802137

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-5.83201640e-01  8.12303450e-01  6.24114446e-03]
 [-8.12327325e-01 -5.83188186e-01 -3.98201367e-03]
 [ 4.05158267e-04 -7.39216909e-03  9.99972595e-01]]

 t_estimated:
[[0.35927034]
 [0.93323252]
 [0.00137202]]

 R_gt:
[[ 0.98332174  0.07497104 -0.16570127]
 [-0.03687922  0.97435002  0.22199098]
 [ 0.17809425 -0.21217829  0.96086562]]

 t_gt:
[ 0.20328594 -0.36253063  0.90953085]

Pose Error in degrees for R and t:
123.03441144923113 74.68991209992679

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.97826421e-01 -6.58958645e-02 -4.10938851e-04]
 [ 6.58960443e-02  9.97826396e-01  4.40729831e-04]
 [ 3.81003360e-04 -4.66851114e-04  9.99999818e-01]]

 t_estimated:
[[-0.80083739]
 [-0.59888085]
 [-0.00109618]]

 R_gt:
[[ 0.99782349  0.00349955 -0.06586121]
 [-0.00479136  0.99979825 -0.01947742]
 [ 0.06577973  0.0197515   0.99763793]]

 t_gt:
[ 0.51182375  0.22511313 -0.82907209]

Pose Error in degrees for R and t:
5.614463100649518 57.05766181019723

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999963e-01 -1.41201486e-04 -2.31151146e-04]
 [ 1.41258070e-04  9.99999960e-01  2.44795782e-04]
 [ 2.31116571e-04 -2.44828425e-04  9.99999943e-01]]

 t_estimated:
[[-0.49960156]
 [ 0.86625224]
 [-0.00231176]]

 R_gt:
[[ 0.9928035  -0.0090725  -0.11941489]
 [ 0.00719374  0.99984327 -0.01615549]
 [ 0.11954264  0.01518168  0.99271236]]

 t_gt:
[ 0.65453824  0.10636828 -0.74850884]

Pose Error in degrees for R and t:
6.925189147346077 76.51821692713803

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999979e-01 -1.99458439e-04 -5.01423278e-05]
 [ 1.99462665e-04  9.99999977e-01  8.42905863e-05]
 [ 5.01255141e-05 -8.43005860e-05  9.99999995e-01]]

 t_estimated:
[[-0.99996843]
 [-0.0077093 ]
 [-0.00192691]]

 R_gt:
[[ 0.9855171   0.00343531 -0.16954435]
 [-0.00294563  0.99999026  0.00313446]
 [ 0.16955316 -0.00258927  0.9855176 ]]

 t_gt:
[ 0.66213211  0.13622687 -0.73690115]

Pose Error in degrees for R and t:
9.7620034956985 48.567176715644024

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 3.19086742e-01  9.47725464e-01 -3.09094889e-04]
 [-9.47724367e-01  3.19085831e-01 -1.65998408e-03]
 [-1.47458138e-03  8.22615669e-04  9.99998574e-01]]

 t_estimated:
[[0.36985136]
 [0.92909041]
 [0.00099156]]

 R_gt:
[[ 0.99934197 -0.0352335   0.00867025]
 [ 0.03534065  0.99929728 -0.01253538]
 [-0.00822224  0.01283452  0.99988354]]

 t_gt:
[ 0.64523805 -0.76363855 -0.02289156]

Pose Error in degrees for R and t:
73.41794509694782 61.9092292601941

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 6.42438232e-01  7.66337175e-01  6.72213752e-04]
 [ 7.66333122e-01 -6.42437294e-01  2.80522109e-03]
 [ 2.58160039e-03 -1.28704161e-03 -9.99995839e-01]]

 t_estimated:
[[-0.63069009]
 [-0.77603431]
 [-0.00086514]]

 R_gt:
[[ 0.9849067  -0.17098905  0.02688233]
 [ 0.17211222  0.98394294 -0.04726396]
 [-0.01836927  0.05117768  0.99852012]]

 t_gt:
[ 0.7276739  -0.68153814 -0.07743682]

Pose Error in degrees for R and t:
177.00251634137464 85.98444748627017

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.54433473e-02 -9.95434691e-01 -5.86859458e-04]
 [-9.95427169e-01 -9.54402748e-02 -3.98821618e-03]
 [ 3.91399871e-03  9.64824551e-04 -9.99991875e-01]]

 t_estimated:
[[ 0.67782025]
 [ 0.73522683]
 [-0.001106  ]]

 R_gt:
[[ 0.95482643 -0.29538552  0.03247253]
 [ 0.29675614  0.95353345 -0.05205116]
 [-0.01558836  0.05933635  0.99811653]]

 t_gt:
[ 0.77681525 -0.6269506  -0.05908479]

Pose Error in degrees for R and t:
178.3388130631451 86.235506116447

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99875415e-01  1.57833668e-02  2.00511240e-04]
 [-1.57833927e-02  9.99875426e-01  1.28302640e-04]
 [-1.98461214e-04 -1.31451403e-04  9.99999972e-01]]

 t_estimated:
[[0.71885053]
 [0.69516184]
 [0.00198303]]

 R_gt:
[[ 0.99120869 -0.13178312 -0.01177115]
 [ 0.13166917  0.99124447 -0.00996224]
 [ 0.01298005  0.00832522  0.99988106]]

 t_gt:
[ 0.48849137 -0.87201706 -0.031023  ]

Pose Error in degrees for R and t:
8.521289755920941 75.22035690117056

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99969705e-01 -7.29499380e-03  2.71519574e-03]
 [ 7.29615264e-03  9.99973296e-01 -4.17139043e-04]
 [-2.71208020e-03  4.36936888e-04  9.99996227e-01]]

 t_estimated:
[[0.36721932]
 [0.93013352]
 [0.00126922]]

 R_gt:
[[ 0.95645098 -0.29062862 -0.0271508 ]
 [ 0.29135279  0.95620021  0.02819375]
 [ 0.01776753 -0.03487615  0.99923445]]

 t_gt:
[ 0.57547792 -0.81214039  0.09619333]

Pose Error in degrees for R and t:
16.672128041465445 57.047040622507616

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999772e-01 -4.14526803e-04 -5.33214850e-04]
 [ 4.15763684e-04  9.99997219e-01  2.32165202e-03]
 [ 5.32250980e-04 -2.32187319e-03  9.99997163e-01]]

 t_estimated:
[[-7.06853740e-01]
 [-7.07359689e-01]
 [-2.48092793e-04]]

 R_gt:
[[ 0.9295819  -0.36393917 -0.0585344 ]
 [ 0.36615416  0.92997975  0.03270266]
 [ 0.04253445 -0.05183266  0.99774965]]

 t_gt:
[ 0.60217477 -0.7946535   0.07688532]

Pose Error in degrees for R and t:
21.731454318655693 82.15826030318854

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 1.76652737e-01  9.84266787e-01  3.56411457e-03]
 [ 9.84272532e-01 -1.76655794e-01  5.59656136e-04]
 [ 1.18047244e-03  3.40919528e-03 -9.99993492e-01]]

 t_estimated:
[[-0.76711508]
 [-0.64150559]
 [-0.00224303]]

 R_gt:
[[ 0.99024511 -0.13540905 -0.03285221]
 [ 0.13578009  0.99069521  0.00931749]
 [ 0.03128518 -0.01368626  0.99941658]]

 t_gt:
[ 0.64436882 -0.76154131 -0.06959639]

Pose Error in degrees for R and t:
178.42899339074845 89.67822978166367

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.78232146 -0.62286363  0.00374619]
 [-0.62287246  0.78232107 -0.00190798]
 [-0.00174231 -0.00382605 -0.99999116]]

 t_estimated:
[[0.95237627]
 [0.30491413]
 [0.00261209]]

 R_gt:
[[ 0.94637123 -0.32143114 -0.03263636]
 [ 0.32237448  0.94615353  0.02947816]
 [ 0.02140387 -0.03841769  0.9990323 ]]

 t_gt:
[ 0.73357252 -0.67740121  0.05476264]

Pose Error in degrees for R and t:
179.30620033150234 60.512681890266485

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.79189609e-01 -2.02946326e-01 -7.06683624e-04]
 [ 2.02947323e-01  9.79187821e-01  1.89586848e-03]
 [ 3.07216456e-04 -1.99983426e-03  9.99997953e-01]]

 t_estimated:
[[0.99993858]
 [0.01101524]
 [0.00122391]]

 R_gt:
[[ 0.9183225  -0.39411238 -0.03687113]
 [ 0.39501587  0.91842479  0.02139368]
 [ 0.02543167 -0.03421006  0.99909079]]

 t_gt:
[ 0.74973401 -0.66077061  0.03579258]

Pose Error in degrees for R and t:
11.776146791879517 42.059185774187256

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 8.44711629e-01  5.35220836e-01  9.58893942e-04]
 [-5.35220811e-01  8.44712135e-01 -3.04964513e-04]
 [-9.73212710e-04 -2.55612923e-04  9.99999494e-01]]

 t_estimated:
[[-0.0656226 ]
 [ 0.99784351]
 [ 0.00141676]]

 R_gt:
[[ 0.99728366  0.04727534  0.05648132]
 [-0.04316609  0.99647887 -0.07188294]
 [-0.05968063  0.06924974  0.99581294]]

 t_gt:
[-0.7517957   0.64657576 -0.12939479]

Pose Error in degrees for R and t:
30.20339814249564 46.02591872351454

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-8.18609149e-01 -5.74316851e-01 -6.26230815e-03]
 [-5.74329039e-01  8.18624530e-01  1.82689829e-04]
 [ 5.02155722e-03  3.74617699e-03 -9.99980375e-01]]

 t_estimated:
[[ 0.92122706]
 [ 0.38901938]
 [-0.0021492 ]]

 R_gt:
[[ 0.98949228  0.11631562  0.08587227]
 [-0.11069047  0.99155304 -0.06760597]
 [-0.09301161  0.05739056  0.9940096 ]]

 t_gt:
[-0.74938017  0.63690564  0.18105403]

Pose Error in degrees for R and t:
176.52341906868756 63.70648163829674

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99983282e-01 -5.72462940e-03  8.15585530e-04]
 [ 5.72473435e-03  9.99983606e-01 -1.26399267e-04]
 [-8.14848570e-04  1.31066164e-04  9.99999659e-01]]

 t_estimated:
[[0.9976057 ]
 [0.06846314]
 [0.00978045]]

 R_gt:
[[ 0.9929143   0.11842828 -0.00978458]
 [-0.1177296   0.9915556   0.0543937 ]
 [ 0.01614332 -0.05285592  0.9984721 ]]

 t_gt:
[-0.8039703   0.54089693  0.24710781]

Pose Error in degrees for R and t:
7.79445469526972 40.306315800409166

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.69801458 -0.71605821 -0.00602442]
 [ 0.7160756  -0.69794247 -0.01058558]
 [ 0.00337519 -0.01170282  0.99992582]]

 t_estimated:
[[0.93568496]
 [0.3528312 ]
 [0.00194934]]

 R_gt:
[[ 0.97358737 -0.22722701  0.0222403 ]
 [ 0.22675022  0.97370384  0.02203462]
 [-0.02666274 -0.01640932  0.99951045]]

 t_gt:
[ 0.8679717  -0.48623342  0.10100585]

Pose Error in degrees for R and t:
121.16196834566414 50.14949772803372

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99987214e-01  5.05688979e-03  1.25649787e-05]
 [-5.05690496e-03  9.99985080e-01  2.06597988e-03]
 [-2.11735861e-06 -2.06601700e-03  9.99997866e-01]]

 t_estimated:
[[0.98697249]
 [0.1608858 ]
 [0.00103132]]

 R_gt:
[[ 0.91988882 -0.38991142  0.04211529]
 [ 0.38902888  0.92080681  0.02776524]
 [-0.04960622 -0.00915716  0.99872724]]

 t_gt:
[ 0.90206184 -0.42487785  0.07591604]

Pose Error in degrees for R and t:
23.398277240870076 34.71130439875431

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-1.09571182e-02  9.99939655e-01 -7.92430523e-04]
 [-9.99939745e-01 -1.09576430e-02 -6.60916688e-04]
 [-6.69559975e-04  7.85141033e-04  9.99999468e-01]]

 t_estimated:
[[ 5.64395162e-03]
 [ 9.99984067e-01]
 [-1.09785515e-04]]

 R_gt:
[[ 0.81837856 -0.57423781  0.02252776]
 [ 0.57330474  0.81850454  0.0370533 ]
 [-0.03971606 -0.01740788  0.99906   ]]

 t_gt:
[ 0.94022573 -0.3371778   0.04781951]

Pose Error in degrees for R and t:
125.67519813947756 70.61761732110257

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 0.08743297  0.9961159   0.01042086]
 [ 0.99616604 -0.08739683 -0.00387504]
 [-0.00294924  0.01071971 -0.99993819]]

 t_estimated:
[[-0.23010092]
 [-0.97316567]
 [-0.00146561]]

 R_gt:
[[ 0.99527985 -0.09470373  0.02119985]
 [ 0.09582     0.9935939  -0.0599166 ]
 [-0.01538909  0.06166486  0.99797758]]

 t_gt:
[ 0.50298221 -0.76887864 -0.39475883]

Pose Error in degrees for R and t:
176.13714287782682 50.72166724070531

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.99882712  0.04840754 -0.00104876]
 [-0.04840564  0.9988262   0.00176621]
 [ 0.00113303 -0.00171337  0.99999789]]

 t_estimated:
[[-0.2998261 ]
 [-0.95399214]
 [-0.00181713]]

 R_gt:
[[ 0.98406462 -0.17706145 -0.01633548]
 [ 0.17585     0.98269553 -0.05818326]
 [ 0.02635535  0.05438374  0.99817221]]

 t_gt:
[ 0.5781424  -0.75221205 -0.31611452]

Pose Error in degrees for R and t:
13.419933385957147 56.9865000760483

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.10034221e-01  4.14532289e-01 -8.35040297e-04]
 [-4.14526937e-01  9.10029790e-01  3.63310538e-03]
 [ 2.26595104e-03 -2.96010353e-03  9.99993052e-01]]

 t_estimated:
[[8.14292598e-01]
 [5.80454270e-01]
 [6.37161657e-04]]

 R_gt:
[[ 0.93905173 -0.34376436  0.00281443]
 [ 0.34369847  0.93863106 -0.02903247]
 [ 0.00733972  0.02822967  0.99957447]]

 t_gt:
[ 0.69340122 -0.71695522 -0.07190241]

Pose Error in degrees for R and t:
44.63595758096291 81.46428111774027

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.93122362e-01 -1.17081055e-01 -1.67842289e-05]
 [ 1.17081056e-01  9.93122361e-01  5.88115322e-05]
 [ 9.78307678e-06 -6.03721630e-05  9.99999998e-01]]

 t_estimated:
[[1.04072679e-01]
 [9.94569651e-01]
 [2.95585657e-04]]

 R_gt:
[[ 0.99859314  0.02883141  0.04450714]
 [-0.0245304   0.99524022 -0.09431392]
 [-0.04701369  0.09308942  0.99454751]]

 t_gt:
[-0.5120712   0.60151832 -0.61315479]

Pose Error in degrees for R and t:
10.19728794509489 56.99050572684538

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 0.99974261 -0.02260372 -0.00194746]
 [ 0.02260638  0.99974352  0.00135533]
 [ 0.00191633 -0.001399    0.99999719]]

 t_estimated:
[[-0.99872547]
 [-0.05032337]
 [-0.00387103]]

 R_gt:
[[ 0.99198001  0.07376141  0.10263872]
 [-0.05877074  0.98810662 -0.14208913]
 [-0.11189813  0.1349181   0.98451824]]

 t_gt:
[-0.717824    0.67122144 -0.18490669]

Pose Error in degrees for R and t:
11.43480925227717 46.85502046535112

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-8.92908198e-01 -4.50237918e-01 -8.75428418e-04]
 [-4.50238710e-01  8.92905394e-01  2.24983594e-03]
 [-2.31286691e-04  2.40304871e-03 -9.99997086e-01]]

 t_estimated:
[[9.99994884e-01]
 [3.10316489e-03]
 [7.75791221e-04]]

 R_gt:
[[ 0.9857036   0.13810122  0.09651858]
 [-0.12917284  0.98721814 -0.09334233]
 [-0.10817533  0.07954048  0.99094515]]

 t_gt:
[-0.74420944  0.65843508  0.112319  ]

Pose Error in degrees for R and t:
175.44777983381755 42.09150257275509

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.81623096e-01  1.90829864e-01  2.44920017e-04]
 [-1.90829863e-01  9.81623127e-01 -2.90890153e-05]
 [-2.45970206e-04 -1.81836040e-05  9.99999970e-01]]

 t_estimated:
[[0.42869683]
 [0.9034479 ]
 [0.0009555 ]]

 R_gt:
[[ 0.98689321 -0.15839572 -0.03087175]
 [ 0.1594527   0.98657109  0.03540753]
 [ 0.02484918 -0.03986625  0.99889623]]

 t_gt:
[ 0.54220729 -0.8338312   0.10361846]

Pose Error in degrees for R and t:
20.329083739599827 58.61531305318508

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999787e-01 -3.16321396e-04 -5.70403212e-04]
 [ 3.16630925e-04  9.99999803e-01  5.42641523e-04]
 [ 5.70231450e-04 -5.42822015e-04  9.99999690e-01]]

 t_estimated:
[[0.9999938 ]
 [0.00332104]
 [0.00117021]]

 R_gt:
[[ 0.95352061 -0.29544745 -0.05924527]
 [ 0.29771112  0.95405987  0.03373985]
 [ 0.04655556 -0.04981001  0.99767336]]

 t_gt:
[ 0.6184991  -0.7835011   0.05987393]

Pose Error in degrees for R and t:
17.678920129593653 51.97805209462666

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 7.82355814e-01 -6.22830492e-01  1.24863715e-03]
 [ 6.22828131e-01  7.82356532e-01  1.83766285e-03]
 [-2.12143189e-03 -6.60019869e-04  9.99997532e-01]]

 t_estimated:
[[0.50833199]
 [0.86116025]
 [0.00126921]]

 R_gt:
[[ 0.9313231  -0.35750363 -0.06948588]
 [ 0.36138959  0.93080888  0.05471045]
 [ 0.04511911 -0.07606426  0.99608179]]

 t_gt:
[ 0.63405217 -0.76629019  0.1038133 ]

Pose Error in degrees for R and t:
18.135527728055347 70.27792977098166

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-4.88801987e-01 -8.72393651e-01  1.39087161e-03]
 [-8.72390112e-01  4.88803966e-01  2.48510133e-03]
 [-2.84785018e-03  1.33982312e-06 -9.99995945e-01]]

 t_estimated:
[[0.83922368]
 [0.54378286]
 [0.00195209]]

 R_gt:
[[ 0.99747036 -0.02895964 -0.06492499]
 [ 0.03186689  0.9985129   0.04421813]
 [ 0.06354838 -0.04617481  0.99690994]]

 t_gt:
[ 0.94268295 -0.26473651 -0.20313405]

Pose Error in degrees for R and t:
178.27337710009994 49.70177552231924

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.79618531e-01 -2.00866835e-01  2.18218411e-04]
 [ 2.00866798e-01  9.79618546e-01  1.83221525e-04]
 [-2.50573931e-04 -1.35654368e-04  9.99999959e-01]]

 t_estimated:
[[0.87252289]
 [0.48857219]
 [0.00101574]]

 R_gt:
[[ 0.99049901 -0.00557299 -0.1374113 ]
 [ 0.00869859  0.99971634  0.02216064]
 [ 0.13724886 -0.02314453  0.99026598]]

 t_gt:
[ 0.71235618  0.11787775 -0.6918479 ]

Pose Error in degrees for R and t:
13.744796899666863 47.278443893898405

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-8.58585127e-02  9.96306928e-01  9.06606099e-04]
 [-9.96306011e-01 -8.58568764e-02 -1.71140427e-03]
 [-1.62724557e-03 -1.05019573e-03  9.99998125e-01]]

 t_estimated:
[[0.20148097]
 [0.97949188]
 [0.00103286]]

 R_gt:
[[ 0.98145664 -0.02063817 -0.19057343]
 [ 0.02384953  0.99960923  0.01457889]
 [ 0.19019781 -0.01885246  0.98156474]]

 t_gt:
[ 0.75127988  0.06299144 -0.65697079]

Pose Error in degrees for R and t:
96.69988945165673 77.73757150318

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.56534121  0.82480216 -0.00952428]
 [ 0.82480876 -0.5651453   0.01735789]
 [ 0.00893422 -0.01766884 -0.99980398]]

 t_estimated:
[[-0.58210627]
 [ 0.81304658]
 [ 0.01037074]]

 R_gt:
[[ 0.99192034  0.11206122 -0.05947512]
 [-0.10490572  0.98813226  0.11220981]
 [ 0.07134366 -0.10506462  0.99190289]]

 t_gt:
[-0.56882783  0.32040362  0.75748031]

Pose Error in degrees for R and t:
171.5842286659406 53.1675539787786

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.71413963  0.69997926 -0.00579855]
 [ 0.69998044 -0.7140249   0.01399378]
 [ 0.00565505 -0.01405238 -0.99988527]]

 t_estimated:
[[-0.41021974]
 [ 0.91195384]
 [ 0.00774356]]

 R_gt:
[[ 0.98697966  0.12901097 -0.09606296]
 [-0.11269649  0.98077743  0.15929748]
 [ 0.1147674  -0.14639771  0.98254534]]

 t_gt:
[-0.21238427  0.54323257  0.81227538]

Pose Error in degrees for R and t:
168.66341954225877 53.92688565433983

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 8.31429281e-01 -5.55630576e-01 -1.16678456e-04]
 [-5.55630258e-01 -8.31428540e-01 -1.26465919e-03]
 [ 6.05673518e-04  1.11630477e-03 -9.99999194e-01]]

 t_estimated:
[[0.26543999]
 [0.96412685]
 [0.00101701]]

 R_gt:
[[ 0.96737215  0.23667358 -0.09042832]
 [-0.21859957  0.96011209  0.17435298]
 [ 0.12808645 -0.14889636  0.98052254]]

 t_gt:
[-0.44729337  0.82766608  0.33896532]

Pose Error in degrees for R and t:
172.9376603171428 47.188365849910014

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-4.63497559e-01 -8.86097888e-01 -7.38400622e-04]
 [-8.86097353e-01  4.63498107e-01 -9.92972814e-04]
 [ 1.22211840e-03  1.94054361e-04 -9.99999234e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99166915  0.08196695 -0.09937555]
 [-0.08360135  0.99642238 -0.01239282]
 [ 0.09800387  0.02059648  0.99497288]]

 t_gt:
[-0.03060107  0.60771529 -0.79356519]

Pose Error in degrees for R and t:
174.5960076657421 70.22465186912682

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.64439902  0.7306221   0.22570167]
 [-0.62129736  0.67230901 -0.40248004]
 [-0.44580208  0.11912989  0.88716885]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.99089552  0.04302356 -0.12757786]
 [-0.04457066  0.9989631  -0.0092928 ]
 [ 0.12704622  0.0148949   0.99178516]]

 t_gt:
[ 0.29033638  0.19442258 -0.93696566]

Pose Error in degrees for R and t:
54.224094756593836 75.8825967161298

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.99991208  0.0129408   0.00289246]
 [ 0.01292584 -0.99990328  0.00513296]
 [ 0.00295861 -0.00509512 -0.99998264]]

 t_estimated:
[[0.01232951]
 [0.99992323]
 [0.00123295]]

 R_gt:
[[ 0.98937944 -0.01309383 -0.14476734]
 [ 0.01730868  0.99946044  0.02789303]
 [ 0.14432459 -0.0301031   0.98907264]]

 t_gt:
[ 0.55642521 -0.37526836 -0.74132627]

Pose Error in degrees for R and t:
177.98857700727245 68.32797143450155

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-9.81558935e-01 -1.91159639e-01 -2.21554586e-04]
 [-1.91159556e-01  9.81555463e-01  2.62632873e-03]
 [-2.84579939e-04  2.62024871e-03 -9.99996527e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10076120e-03]
 [7.75189842e-04]]

 R_gt:
[[ 0.9988102   0.0310198   0.03763661]
 [-0.03448211  0.99486693  0.09513905]
 [-0.0344916  -0.09632271  0.99475179]]

 t_gt:
[-0.22935122  0.19233868  0.95415085]

Pose Error in degrees for R and t:
177.41291334939334 76.81982396027416

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 7.28995562e-01 -6.84518107e-01 -6.57206031e-04]
 [ 6.84518416e-01  7.28995348e-01  5.65583095e-04]
 [ 9.19482702e-05 -8.62177197e-04  9.99999624e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99447048  0.0142263   0.1040558 ]
 [-0.03590074  0.97714537  0.20951926]
 [-0.09869686 -0.21209628  0.97225137]]

 t_gt:
[-0.10351738  0.06877366  0.99224711]

Pose Error in degrees for R and t:
46.54927315439188 84.11486737566753

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.96399206e-01 -8.47843272e-02  4.90805110e-04]
 [ 8.47843084e-02  9.96399326e-01  5.88997171e-05]
 [-4.94031654e-04 -1.70750595e-05  9.99999878e-01]]

 t_estimated:
[[0.72480769]
 [0.68895071]
 [0.0008535 ]]

 R_gt:
[[ 0.99322443 -0.02473883  0.11355614]
 [-0.0114093   0.95160835  0.30710187]
 [-0.11565787 -0.3063161   0.94487725]]

 t_gt:
[-0.0130688  -0.01296805  0.9998305 ]

Pose Error in degrees for R and t:
19.612080300372874 88.99421498388055

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 9.91382998e-01  1.30994611e-01  4.04032631e-04]
 [-1.30994370e-01  9.91382945e-01 -5.74988887e-04]
 [-4.75871505e-04  5.17108207e-04  9.99999753e-01]]

 t_estimated:
[[0.55714017]
 [0.83041791]
 [0.00096225]]

 R_gt:
[[ 0.99940485 -0.03084007 -0.01548648]
 [ 0.03111488  0.99935756  0.01784244]
 [ 0.0149262  -0.01831264  0.99972025]]

 t_gt:
[ 0.44011897 -0.89557252 -0.06515484]

Pose Error in degrees for R and t:
9.405987310352943 60.09560737384183

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.97286676e-01 -7.36157822e-02 -5.04296382e-05]
 [ 7.36157818e-02  9.97286677e-01 -8.69383102e-06]
 [ 5.09328095e-05  4.95782460e-06  9.99999999e-01]]

 t_estimated:
[[ 5.25677977e-01]
 [-8.50683442e-01]
 [-5.88843230e-04]]

 R_gt:
[[ 0.99912034 -0.0297679  -0.0295624 ]
 [ 0.03031718  0.99937379  0.01831009]
 [ 0.02899912 -0.01918998  0.99939475]]

 t_gt:
[ 0.43308527 -0.84675264 -0.30894517]

Pose Error in degrees for R and t:
3.1944965021367215 18.528850865501873

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-0.98359867 -0.17975713  0.01486685]
 [-0.17975196  0.98371051  0.00169424]
 [-0.01492923 -0.0010059  -0.99988805]]

 t_estimated:
[[0.99631054]
 [0.08544899]
 [0.007986  ]]

 R_gt:
[[ 0.99068481 -0.13612262 -0.00399943]
 [ 0.13610741  0.99068676 -0.00405436]
 [ 0.00451413  0.00347288  0.99998364]]

 t_gt:
[ 0.63835592 -0.76909308 -0.03158414]

Pose Error in degrees for R and t:
179.4066266308852 55.247663535772084

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.96575727e-01 -8.26850036e-02 -1.02945411e-04]
 [ 8.26850042e-02  9.96575732e-01  1.57729838e-06]
 [ 1.02462480e-04 -1.00839390e-05  9.99999995e-01]]

 t_estimated:
[[-0.67901712]
 [-0.73412204]
 [-0.00076544]]

 R_gt:
[[ 0.99520654 -0.08088681  0.05496298]
 [ 0.07994153  0.99661435  0.01918545]
 [-0.05632896 -0.01469965  0.99830443]]

 t_gt:
[-0.04162009 -0.88491539  0.46388847]

Pose Error in degrees for R and t:
3.345476891940451 47.34817018912015

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 8.97131590e-01 -4.41763248e-01 -3.78540492e-04]
 [ 4.41763325e-01  8.97131620e-01  1.47690785e-04]
 [ 2.74356283e-04 -2.99723375e-04  9.99999917e-01]]

 t_estimated:
[[9.49874948e-01]
 [3.12628745e-01]
 [9.22208688e-04]]

 R_gt:
[[ 0.97648004 -0.21426879  0.02395561]
 [ 0.21290174  0.97580857  0.04970047]
 [-0.03402501 -0.04343118  0.9984771 ]]

 t_gt:
[ 0.34426763 -0.89943257  0.26925981]

Pose Error in degrees for R and t:
14.22842705731017 87.35938933815682

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.90309960e-01 -1.38874698e-01 -3.26206053e-05]
 [ 1.38874701e-01  9.90309955e-01  1.01351610e-04]
 [ 1.82293360e-05 -1.04899685e-04  9.99999994e-01]]

 t_estimated:
[[9.04046150e-01]
 [4.27434099e-01]
 [8.05833142e-04]]

 R_gt:
[[ 9.34526888e-01 -3.55891432e-01 -4.35682406e-04]
 [ 3.54956548e-01  9.31982584e-01  7.35775163e-02]
 [-2.57798532e-02 -6.89137209e-02  9.97289538e-01]]

 t_gt:
[ 0.49954483 -0.8385822   0.21733583]

Pose Error in degrees for R and t:
13.536076172090587 84.64375026765447

Number of keypoints:
Image1: 304
Image2: 304

 R_estimated:
[[ 0.33022278  0.9432076   0.03622633]
 [ 0.94323528 -0.32830268 -0.050245  ]
 [-0.03549827  0.050762   -0.9980797 ]]

 t_estimated:
[[ 0.56434111]
 [-0.82493483]
 [ 0.03164855]]

 R_gt:
[[ 0.99882554 -0.04713845 -0.01130625]
 [ 0.04735982  0.99867419  0.02018262]
 [ 0.01033876 -0.02069474  0.99973176]]

 t_gt:
[ 0.53263281 -0.84133099  0.09200242]

Pose Error in degrees for R and t:
177.76276546397838 4.018414276345631

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 0.96616274 -0.25790434  0.00386208]
 [ 0.2579141   0.96616516 -0.00227994]
 [-0.0031434   0.00319887  0.99998994]]

 t_estimated:
[[ 0.99376344]
 [-0.11147614]
 [ 0.0027005 ]]

 R_gt:
[[ 0.9964691  -0.07776061 -0.03167211]
 [ 0.07879535  0.99634971  0.03284722]
 [ 0.02900174 -0.03522664  0.9989578 ]]

 t_gt:
[ 0.51999405 -0.85370482 -0.02818283]

Pose Error in degrees for R and t:
10.839812775654194 52.27713904680575

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99999786e-01  5.62077676e-04  3.35617302e-04]
 [-5.61855082e-04  9.99999622e-01 -6.62965365e-04]
 [-3.35989813e-04  6.62776654e-04  9.99999724e-01]]

 t_estimated:
[[-0.47433277]
 [-0.88034501]
 [-0.00104331]]

 R_gt:
[[ 0.99591836 -0.07124927 -0.05541311]
 [ 0.07422705  0.99579527  0.05367661]
 [ 0.05135557 -0.05757087  0.99701958]]

 t_gt:
[ 0.47428797 -0.87732807 -0.07311887]

Pose Error in degrees for R and t:
6.13625714765985 56.807249534485784

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 8.51201138e-01  5.24839607e-01  9.33002144e-05]
 [-5.24839345e-01  8.51200867e-01 -8.63977148e-04]
 [-5.32866651e-04  6.86450709e-04  9.99999622e-01]]

 t_estimated:
[[0.63593903]
 [0.77173851]
 [0.00110406]]

 R_gt:
[[ 0.98869068 -0.08552957 -0.12318968]
 [ 0.10388934  0.98301377  0.15129606]
 [ 0.10815681 -0.16238237  0.98078195]]

 t_gt:
[ 0.6925605  -0.64262708  0.32770474]

Pose Error in degrees for R and t:
38.768140069515596 86.8384186560516

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[ 7.41914285e-01 -6.70491588e-01  2.05504315e-03]
 [ 6.70494712e-01  7.41911615e-01 -1.99906797e-03]
 [-1.84302125e-04  2.86103265e-03  9.99995890e-01]]

 t_estimated:
[[-0.63381111]
 [-0.77348674]
 [-0.00131769]]

 R_gt:
[[ 0.96901591 -0.18078299 -0.16830215]
 [ 0.21345233  0.95577226  0.2023262 ]
 [ 0.12428162 -0.2319818   0.96474747]]

 t_gt:
[ 0.74525185 -0.57855996  0.33146351]

Pose Error in degrees for R and t:
34.12332917101735 88.55156795133607

Number of keypoints:
Image1: 20
Image2: 20

 R_estimated:
[[ 0.72963242 -0.68382365 -0.0046625 ]
 [ 0.68380638  0.72951291  0.01482385]
 [-0.00673554 -0.01400421  0.99987925]]

 t_estimated:
[[ 0.65811785]
 [-0.75277751]
 [ 0.01438465]]

 R_gt:
[[ 0.93361273 -0.27763013 -0.22647318]
 [ 0.3246762   0.92286938  0.20711214]
 [ 0.15150471 -0.26689289  0.95174226]]

 t_gt:
[ 0.80408862 -0.53873936  0.25139888]

Pose Error in degrees for R and t:
30.414249368452957 20.22334886768551

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.42600384e-01 -3.33922919e-01 -2.83328515e-05]
 [ 3.33922916e-01  9.42600356e-01  2.35602931e-04]
 [-5.19666626e-05 -2.31540402e-04  9.99999972e-01]]

 t_estimated:
[[0.94082577]
 [0.33888928]
 [0.00096003]]

 R_gt:
[[ 0.99838104  0.0021112   0.0568468 ]
 [-0.01007974  0.99006467  0.14024818]
 [-0.05598563 -0.14059376  0.98848326]]

 t_gt:
[-0.09060843 -0.04325571  0.99494676]

Pose Error in degrees for R and t:
21.6593785401872 84.32126317875425

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.41995448e-01 -3.35625562e-01 -2.42763428e-04]
 [ 3.35625640e-01  9.41995346e-01  4.45346872e-04]
 [ 7.92122253e-05 -5.00992357e-04  9.99999871e-01]]

 t_estimated:
[[0.80401852]
 [0.59460366]
 [0.00084102]]

 R_gt:
[[ 9.94806699e-01 -2.41811925e-02  9.88699978e-02]
 [-4.40194180e-05  9.71267857e-01  2.37986070e-01]
 [-1.01784040e-01 -2.36755146e-01  9.66223084e-01]]

 t_gt:
[-0.01509735 -0.06922101  0.9974871 ]

Pose Error in degrees for R and t:
24.038089226032895 86.99295751356513

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.44445751  0.89579813  0.00179995]
 [ 0.89579832  0.44445199  0.00279363]
 [ 0.00170254  0.00285404 -0.99999448]]

 t_estimated:
[[0.77517788]
 [0.63174254]
 [0.0007838 ]]

 R_gt:
[[ 0.99211096 -0.08265176  0.09425886]
 [ 0.04831378  0.94588544  0.32088149]
 [-0.11567937 -0.31379617  0.94241695]]

 t_gt:
[ 0.09596481 -0.18292585  0.97843185]

Pose Error in degrees for R and t:
175.46867673856963 87.68431385907905

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99997749e-01 -2.09621547e-03  3.28963505e-04]
 [ 2.09621518e-03  9.99997803e-01  1.23318421e-06]
 [-3.28965368e-04 -5.43603141e-07  9.99999946e-01]]

 t_estimated:
[[0.14654839]
 [0.98920162]
 [0.00192827]]

 R_gt:
[[ 0.98975314 -0.12944458 -0.06028808]
 [ 0.1314477   0.99085286  0.03052087]
 [ 0.05578497 -0.03813344  0.99771383]]

 t_gt:
[ 0.54295499 -0.83823641 -0.0505926 ]

Pose Error in degrees for R and t:
8.345016893601207 41.434460306599675

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.91995271e-01 -1.26275021e-01  2.28276064e-05]
 [ 1.26275002e-01  9.91995190e-01  4.07690574e-04]
 [-7.41260117e-05 -4.01544566e-04  9.99999917e-01]]

 t_estimated:
[[0.66148081]
 [0.74995913]
 [0.00210663]]

 R_gt:
[[ 0.95348576 -0.26979027 -0.13445844]
 [ 0.28706181  0.94878732  0.13190179]
 [ 0.09198677 -0.16436401  0.98210068]]

 t_gt:
[ 0.60175943 -0.77338151  0.19941573]

Pose Error in degrees for R and t:
14.12012052667438 79.54098577922828

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.97925196  0.20235101 -0.01093967]
 [-0.20225717  0.97929011  0.00910531]
 [ 0.01255558 -0.00670377  0.9998987 ]]

 t_estimated:
[[-0.9976057 ]
 [-0.06846314]
 [-0.00978045]]

 R_gt:
[[ 0.89500221 -0.3858151  -0.22386973]
 [ 0.41681584  0.90210194  0.11169769]
 [ 0.15885782 -0.19328119  0.96819666]]

 t_gt:
[ 0.68694219 -0.72041661  0.09544809]

Pose Error in degrees for R and t:
38.171303053820345 50.4382847939042

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.68775270e-01 -2.47940255e-01 -3.26108094e-04]
 [ 2.47940386e-01  9.68775185e-01  4.54224395e-04]
 [ 2.03304917e-04 -5.20896728e-04  9.99999844e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99482277  0.08305802  0.05855487]
 [-0.07741193  0.99266657 -0.09284812]
 [-0.06583748  0.08783419  0.99395714]]

 t_gt:
[-0.44319035  0.87837787 -0.17898219]

Pose Error in degrees for R and t:
19.992058553377532 50.02578853912511

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-4.38477957e-03 -9.99985290e-01 -3.19266933e-03]
 [ 9.99990355e-01 -4.38395232e-03 -2.66059606e-04]
 [ 2.52059182e-04 -3.19380515e-03  9.99994868e-01]]

 t_estimated:
[[ 0.81936615]
 [-0.57326993]
 [ 0.00083875]]

 R_gt:
[[ 0.9851156   0.10948998  0.13250615]
 [-0.09687037  0.99043943 -0.09821502]
 [-0.14199272  0.08391754  0.98630425]]

 t_gt:
[-0.45731212  0.848368    0.26671588]

Pose Error in degrees for R and t:
96.5869244595282 30.590521630042918

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-1.60757115e-02 -9.99853950e-01 -5.80081864e-03]
 [ 9.99870756e-01 -1.60742499e-02 -2.98499721e-04]
 [ 2.05212317e-04 -5.80486752e-03  9.99983131e-01]]

 t_estimated:
[[0.93866498]
 [0.34481571]
 [0.00319274]]

 R_gt:
[[ 0.98210259  0.06022988  0.17845671]
 [-0.04036407  0.99278302 -0.11292978]
 [-0.18397068  0.10370445  0.97744622]]

 t_gt:
[-0.28827981  0.80553536  0.51769444]

Pose Error in degrees for R and t:
94.4890652042814 89.49487689298857

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.97184684e-01  7.49846648e-02 -7.47509187e-05]
 [-7.49846088e-02  9.97184521e-01  5.83174408e-04]
 [ 1.18269597e-04 -5.75927420e-04  9.99999827e-01]]

 t_estimated:
[[0.63535414]
 [0.77222001]
 [0.00117412]]

 R_gt:
[[ 9.77998547e-01 -2.06376059e-01 -3.04818436e-02]
 [ 2.06498092e-01  9.78446641e-01  8.79209705e-04]
 [ 2.96429148e-02 -7.15456457e-03  9.99534817e-01]]

 t_gt:
[ 0.62021255 -0.78056472 -0.07781459]

Pose Error in degrees for R and t:
16.308951613739076 77.94770071303357

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.10686809e-01  4.13097359e-01  3.27549569e-04]
 [-4.13097366e-01  9.10686864e-01 -4.80257491e-05]
 [-3.18134400e-04 -9.15734482e-05  9.99999945e-01]]

 t_estimated:
[[0.55878349]
 [0.82931306]
 [0.00093286]]

 R_gt:
[[ 0.91627258 -0.39716007 -0.05204329]
 [ 0.39666603  0.91774678 -0.01993562]
 [ 0.05567964 -0.00237808  0.99844526]]

 t_gt:
[ 0.71528494 -0.69278117 -0.09176984]

Pose Error in degrees for R and t:
47.905860701935566 79.92549310773667

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.96365582e-01 -8.51752053e-02  9.00427259e-04]
 [ 8.51753925e-02  9.96365958e-01 -1.71578383e-04]
 [-8.82540845e-04  2.47649041e-04  9.99999580e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.88430024 -0.46262236 -0.06320004]
 [ 0.4602264   0.88643856 -0.04916982]
 [ 0.0787694   0.01439458  0.99678842]]

 t_gt:
[ 0.7310601  -0.66709385 -0.1433071 ]

Pose Error in degrees for R and t:
23.104524714521013 70.27151791830313

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 5.93790112e-01 -8.04619588e-01 -7.88402458e-04]
 [ 8.04619766e-01  5.93788968e-01  1.30142978e-03]
 [-5.79011213e-04 -1.40714034e-03  9.99998842e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 9.98677012e-01 -4.60476952e-02  2.29208928e-02]
 [ 4.60610747e-02  9.98938527e-01 -6.89379970e-05]
 [-2.28930380e-02  1.12544923e-03  9.99737238e-01]]

 t_gt:
[ 0.36436774 -0.89170669  0.26850573]

Pose Error in degrees for R and t:
50.94968076495501 27.23496746442959

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.02550026  0.9996742   0.0011114 ]
 [-0.99967416  0.02550149 -0.00111358]
 [-0.00114156 -0.00108264  0.99999876]]

 t_estimated:
[[0.55323165]
 [0.83302696]
 [0.00090843]]

 R_gt:
[[ 0.997519   -0.06647952  0.02317859]
 [ 0.06670893  0.99772928 -0.0092512 ]
 [-0.02250993  0.01077444  0.99968884]]

 t_gt:
[ 0.32486232 -0.94242741  0.07934131]

Pose Error in degrees for R and t:
92.3648895526653 52.751636572900885

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 2.86742938e-01  9.58007136e-01  9.02198357e-04]
 [-9.58005899e-01  2.86744068e-01 -1.59278025e-03]
 [-1.78459488e-03 -4.07592858e-04  9.99998325e-01]]

 t_estimated:
[[0.13776739]
 [0.99046406]
 [0.00104369]]

 R_gt:
[[ 0.99618465 -0.07753128  0.04008104]
 [ 0.07695627  0.99691129  0.01569149]
 [-0.04117386 -0.0125472   0.99907368]]

 t_gt:
[ 0.16944372 -0.93090671  0.32357614]

Pose Error in degrees for R and t:
77.79943102595902 26.058223988370703

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 9.93431389e-01 -1.14429312e-01 -9.13700690e-05]
 [ 1.14429322e-01  9.93431385e-01  1.15715456e-04]
 [ 7.75286542e-05 -1.25410781e-04  9.99999989e-01]]

 t_estimated:
[[5.81445871e-02]
 [9.98308031e-01]
 [5.31688737e-04]]

 R_gt:
[[ 0.99764191  0.05170396  0.04515366]
 [-0.04955283  0.99763982 -0.04753995]
 [-0.04750473  0.04519053  0.99784892]]

 t_gt:
[-0.77097619  0.63518984 -0.04614729]

Pose Error in degrees for R and t:
10.195555967558915 53.89530997094085

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 0.99618032  0.08730182 -0.00177707]
 [-0.08728965  0.9961646   0.00605114]
 [ 0.00229853 -0.00587291  0.99998011]]

 t_estimated:
[[-0.99374716]
 [-0.11163239]
 [-0.00218887]]

 R_gt:
[[ 0.98875872  0.08050282  0.12599984]
 [-0.07318833  0.99541082 -0.061654  ]
 [-0.13038512  0.05173968  0.99011235]]

 t_gt:
[-0.7496156   0.52408624  0.40424011]

Pose Error in degrees for R and t:
8.333241307562204 46.72202469659888

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.76171705  0.6478997   0.0036207 ]
 [ 0.64790903 -0.76171294 -0.00269937]
 [ 0.00100901  0.00440204 -0.9999898 ]]

 t_estimated:
[[0.94577661]
 [0.32481217]
 [0.00191066]]

 R_gt:
[[ 0.97493012  0.18615274  0.12189765]
 [-0.17622162  0.98042532 -0.08782067]
 [-0.13585896  0.06413843  0.98865035]]

 t_gt:
[-0.73736889  0.63548925  0.228999  ]

Pose Error in degrees for R and t:
173.11215884913105 60.624309721604575

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99231544e-01 -3.91959260e-02 -4.02582361e-06]
 [ 3.91959262e-02  9.99231544e-01  3.49186019e-05]
 [ 2.65406300e-06 -3.50495644e-05  9.99999999e-01]]

 t_estimated:
[[ 9.18101172e-01]
 [-3.96345266e-01]
 [-8.17636660e-04]]

 R_gt:
[[ 9.97846505e-01 -6.53817631e-02  5.39069643e-03]
 [ 6.53796401e-02  9.97860704e-01  7.19518222e-04]
 [-5.42665251e-03 -3.64448664e-04  9.99985233e-01]]

 t_gt:
[ 0.47200832 -0.88051796  0.0435461 ]

Pose Error in degrees for R and t:
1.5330216266614876 38.52790183052307

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-0.68414622 -0.72911311  0.01838532]
 [-0.72908276  0.68435879  0.00955926]
 [-0.01955194 -0.00686449 -0.99978528]]

 t_estimated:
[[0.90238725]
 [0.43079857]
 [0.01048063]]

 R_gt:
[[ 0.98423741 -0.16895471  0.05226395]
 [ 0.16677043  0.98502684  0.04369967]
 [-0.05886412 -0.0342941   0.99767646]]

 t_gt:
[ 0.5003496  -0.80111315  0.32843263]

Pose Error in degrees for R and t:
174.9871231519827 83.69431821666531

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 6.79161470e-01 -7.33988753e-01 -4.56667782e-04]
 [ 7.33988596e-01  6.79160502e-01  1.32409474e-03]
 [-6.61719926e-04 -1.23446307e-03  9.99999019e-01]]

 t_estimated:
[[0.99460324]
 [0.10374546]
 [0.00112767]]

 R_gt:
[[ 0.95659681 -0.29052949  0.02269343]
 [ 0.28828848  0.95483719  0.07194636]
 [-0.04257048 -0.06228118  0.9971502 ]]

 t_gt:
[ 0.64609865 -0.72076222  0.25111423]

Pose Error in degrees for R and t:
30.663402163178358 55.380826045526696

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.96740343e-01 -7.95551294e-02 -1.34040734e-02]
 [ 7.95355886e-02  9.96830050e-01 -1.98548925e-03]
 [ 1.35195390e-02  9.12916364e-04  9.99908190e-01]]

 t_estimated:
[[ 0.99732383]
 [-0.07207215]
 [-0.01227913]]

 R_gt:
[[ 0.99257477 -0.1214453   0.00695848]
 [ 0.12112476  0.99199785  0.03561217]
 [-0.01122752 -0.0345049   0.99934152]]

 t_gt:
[ 0.93735277 -0.19665887  0.28756751]

Pose Error in degrees for R and t:
3.442837723269604 19.00559038055037

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.41277884e-01  3.37632847e-01  6.77104878e-05]
 [-3.37632854e-01  9.41277872e-01  1.52372744e-04]
 [-1.22883405e-05 -1.66286379e-04  9.99999986e-01]]

 t_estimated:
[[2.78953030e-01]
 [9.60304312e-01]
 [9.14333504e-04]]

 R_gt:
[[ 0.98767012 -0.14596051  0.05660579]
 [ 0.14225358  0.98770839  0.06476835]
 [-0.06536378 -0.05591646  0.99629308]]

 t_gt:
[ 0.86451584 -0.18959964  0.46547217]

Pose Error in degrees for R and t:
28.454806335464216 86.58822317887235

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 7.64137841e-01  6.45052974e-01 -1.45983298e-04]
 [-6.45052952e-01  7.64137854e-01  1.73092635e-04]
 [ 2.23205283e-04 -3.80996752e-05  9.99999974e-01]]

 t_estimated:
[[8.70295254e-01]
 [4.92529731e-01]
 [7.96973675e-04]]

 R_gt:
[[ 0.9706268  -0.23578263  0.04785855]
 [ 0.23292806  0.97073724  0.05842702]
 [-0.0602345  -0.04556279  0.99714354]]

 t_gt:
[ 0.95781569 -0.12988227  0.25635855]

Pose Error in degrees for R and t:
53.904654145946644 39.66264240169227

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 1.00000000e+00 -1.09397991e-10 -2.86461393e-14]
 [ 1.09397991e-10  1.00000000e+00  2.40575246e-14]
 [ 2.86454888e-14 -2.40573078e-14  1.00000000e+00]]

 t_estimated:
[[-7.35973281e-01]
 [-6.77010211e-01]
 [-7.10398930e-04]]

 R_gt:
[[ 9.99999019e-01  1.43865366e-03  6.97727114e-04]
 [-1.43338692e-03  9.99971428e-01 -7.44299718e-03]
 [-7.07901195e-04  7.44253561e-03  9.99971770e-01]]

 t_gt:
[-0.10088069  0.19210549 -0.97617548]

Pose Error in degrees for R and t:
0.4355358250836543 86.8403463418112

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-4.05611629e-01 -9.14044487e-01 -1.37188965e-03]
 [-9.14045511e-01  4.05611006e-01  7.18048885e-04]
 [-9.98750849e-05  1.54521855e-03 -9.99998801e-01]]

 t_estimated:
[[0.92982565]
 [0.36799915]
 [0.00094256]]

 R_gt:
[[ 0.99096392 -0.04376671  0.12678724]
 [ 0.02251373  0.98612833  0.16444947]
 [-0.13222505 -0.16010883  0.978203  ]]

 t_gt:
[ 0.05072269 -0.24980063  0.96696787]

Pose Error in degrees for R and t:
168.67056488427153 87.48667470933528

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 6.41003188e-01  7.67538043e-01  5.14648353e-04]
 [-7.67538165e-01  6.41003245e-01  6.74799425e-05]
 [-2.78097841e-04 -4.38267111e-04  9.99999865e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.97670667 -0.16611596  0.13583007]
 [ 0.11773517  0.94407681  0.30799063]
 [-0.17939519 -0.2848238   0.94164303]]

 t_gt:
[ 0.31080872 -0.39790696  0.86317321]

Pose Error in degrees for R and t:
61.46894179813389 83.38945429800712

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.81579373e-01  1.91054760e-01  1.15962126e-04]
 [-1.91054694e-01  9.81579297e-01 -4.32518185e-04]
 [-1.96460680e-04  4.02395820e-04  9.99999900e-01]]

 t_estimated:
[[-0.67449092]
 [-0.73828265]
 [-0.00085056]]

 R_gt:
[[ 0.9943673  -0.02643272  0.10264408]
 [ 0.01490439  0.99365366  0.11149299]
 [-0.10493982 -0.1093351   0.98844978]]

 t_gt:
[ 0.00995855 -0.23455796  0.97205112]

Pose Error in degrees for R and t:
14.995463889850084 80.46637811598634

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.99404146  0.10898165 -0.00214124]
 [-0.10897848  0.99404291  0.00154542]
 [ 0.0022969  -0.00130286  0.99999651]]

 t_estimated:
[[-0.50986364]
 [-0.8602545 ]
 [-0.00112305]]

 R_gt:
[[ 0.98124522 -0.1223688   0.14894721]
 [ 0.07674794  0.95679288  0.2804605 ]
 [-0.17683058 -0.26376912  0.94823802]]

 t_gt:
[ 0.22400363 -0.32872161  0.91747724]

Pose Error in degrees for R and t:
22.09838471641777 80.35503071877899

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.09524641e-01 -4.15649878e-01  3.27417820e-04]
 [ 4.15649893e-01  9.09524692e-01  2.35681883e-05]
 [-3.07590706e-04  1.14655334e-04  9.99999946e-01]]

 t_estimated:
[[0.91462167]
 [0.40430968]
 [0.00093807]]

 R_gt:
[[ 0.96183643 -0.24882401  0.11384171]
 [ 0.18666645  0.90086929  0.39190774]
 [-0.20007269 -0.35570062  0.91293345]]

 t_gt:
[ 0.404011   -0.41523155  0.81508151]

Pose Error in degrees for R and t:
26.60764164370396 78.32267834066772

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-6.81161360e-02 -9.97677343e-01 -3.34870202e-04]
 [-9.97676944e-01  6.81164217e-02 -9.32243791e-04]
 [ 9.52888668e-04  2.70591435e-04 -9.99999509e-01]]

 t_estimated:
[[7.62988778e-01]
 [6.46411353e-01]
 [6.98068416e-04]]

 R_gt:
[[ 0.99284531 -0.11625876  0.0272397 ]
 [ 0.11519068  0.99261819  0.0379478 ]
 [-0.03144988 -0.03453792  0.99890781]]

 t_gt:
[ 0.5447618  -0.76445105  0.34474508]

Pose Error in degrees for R and t:
177.3997085760567 85.51132490053287

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-8.87642483e-01 -4.60519403e-01 -3.56392889e-03]
 [ 4.60523475e-01 -8.87647447e-01 -3.72750097e-04]
 [-2.99185373e-03 -1.97214174e-03  9.99993580e-01]]

 t_estimated:
[[0.85693844]
 [0.51541799]
 [0.00089638]]

 R_gt:
[[ 0.96638198 -0.25687896  0.01086403]
 [ 0.25465973  0.96214222  0.09710941]
 [-0.03539776 -0.09107761  0.99521398]]

 t_gt:
[ 0.65652026 -0.67562909  0.33541986]

Pose Error in degrees for R and t:
137.76771955634138 77.60402506287035

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.31024354e-01 -3.64957032e-01 -1.29100708e-04]
 [ 3.64957002e-01  9.31023972e-01  8.65697487e-04]
 [-1.95746531e-04 -8.53101651e-04  9.99999617e-01]]

 t_estimated:
[[9.28662918e-01]
 [3.70923673e-01]
 [9.02490688e-04]]

 R_gt:
[[ 0.93355691 -0.35838264  0.0057531 ]
 [ 0.35039474  0.91589383  0.1958623 ]
 [-0.07546218 -0.18083376  0.98061369]]

 t_gt:
[ 0.63140018 -0.61245832  0.47563497]

Pose Error in degrees for R and t:
11.259215712281271 68.92363672808698

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99801043e-01 -1.99462246e-02  1.51661618e-04]
 [ 1.99462349e-02  9.99801052e-01 -6.63757548e-05]
 [-1.50307500e-04  6.93876271e-05  9.99999986e-01]]

 t_estimated:
[[9.99713798e-01]
 [2.39169985e-02]
 [5.47264357e-04]]

 R_gt:
[[ 0.98150443 -0.18988979 -0.02430971]
 [ 0.19022382  0.98166528  0.01220214]
 [ 0.02154706 -0.01659997  0.99963009]]

 t_gt:
[ 0.98667261 -0.15052433  0.06180277]

Pose Error in degrees for R and t:
9.939328874723948 10.63463967303951

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.91484094e-01 -1.30227042e-01  4.56146639e-04]
 [ 1.30226892e-01  9.91484159e-01  3.44991236e-04]
 [-4.97189355e-04 -2.82650764e-04  9.99999836e-01]]

 t_estimated:
[[ 0.9803706 ]
 [-0.19716046]
 [ 0.00111402]]

 R_gt:
[[ 0.97437204 -0.22482939  0.0070934 ]
 [ 0.22430015  0.97349174  0.04477156]
 [-0.01697164 -0.04203309  0.99897191]]

 t_gt:
[ 0.96966873 -0.14472562  0.19696966]

Pose Error in degrees for R and t:
6.073073619563846 11.653146122125893

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 8.22769495e-01  5.68374902e-01  5.73569752e-04]
 [-5.68374741e-01  8.22769694e-01 -4.29922415e-04]
 [-7.16272920e-04  2.77244891e-05  9.99999743e-01]]

 t_estimated:
[[0.46048004]
 [0.88766939]
 [0.00109176]]

 R_gt:
[[ 0.96234596 -0.26893577  0.03953741]
 [ 0.26534311  0.96098038  0.07817267]
 [-0.05901867 -0.06473763  0.99615562]]

 t_gt:
[ 0.9487476  -0.13048386  0.28784016]

Pose Error in degrees for R and t:
50.395512101321934 71.25438096482542

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999999e-01 -4.78964017e-06  3.84841597e-05]
 [ 4.78964933e-06  1.00000000e+00 -2.37934254e-07]
 [-3.84841586e-05  2.38118579e-07  9.99999999e-01]]

 t_estimated:
[[-0.75434968]
 [-0.65647207]
 [-0.00098866]]

 R_gt:
[[ 0.99897723  0.03946364 -0.02211105]
 [-0.03989278  0.99901689 -0.01931773]
 [ 0.02132715  0.02017965  0.99956879]]

 t_gt:
[ 0.23497403  0.76965735 -0.59364532]

Pose Error in degrees for R and t:
2.8299884391288095 47.00580772431734

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.98274497e-01  5.87199096e-02  3.79640534e-05]
 [-5.87199078e-02  9.98274496e-01 -4.76130513e-05]
 [-4.06943804e-05  4.53016491e-05  9.99999998e-01]]

 t_estimated:
[[-0.86768714]
 [-0.49710948]
 [-0.00109158]]

 R_gt:
[[ 0.9939902   0.10462728  0.03223512]
 [-0.10262856  0.9930029  -0.05840861]
 [-0.03812059  0.05474942  0.99777274]]

 t_gt:
[-0.19364128  0.96887528 -0.15421983]

Pose Error in degrees for R and t:
4.6151216433455255 71.73281169537329

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.77983511 -0.62525608  0.03019986]
 [-0.62587256 -0.7778729   0.05654464]
 [-0.01186323 -0.06299676 -0.99794322]]

 t_estimated:
[[0.32929675]
 [0.94360546]
 [0.03424   ]]

 R_gt:
[[ 0.98239281  0.15756147  0.10040663]
 [-0.14432066  0.9812492  -0.12775818]
 [-0.1186528   0.11101831  0.98671012]]

 t_gt:
[-0.29113725  0.95652465 -0.01731187]

Pose Error in degrees for R and t:
179.255839534769 36.281579430328435

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.99353982 -0.11339292 -0.00454661]
 [ 0.11341901  0.99352936  0.00596208]
 [ 0.00384113 -0.00643923  0.99997189]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99890631 -0.03286755  0.03324716]
 [ 0.03323548  0.9993919  -0.01059971]
 [-0.03287898  0.01169367  0.99939066]]

 t_gt:
[ 0.21020928 -0.9250857   0.31627283]

Pose Error in degrees for R and t:
5.183318687347659 39.246143119915736

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99789919e-01 -2.04955437e-02  2.24233729e-04]
 [ 2.04955914e-02  9.99789921e-01 -2.12891931e-04]
 [-2.19823287e-04  2.17443009e-04  9.99999952e-01]]

 t_estimated:
[[ 9.60208159e-01]
 [ 2.79285055e-01]
 [-3.86711143e-04]]

 R_gt:
[[ 0.9991999  -0.02656917  0.02990123]
 [ 0.02691853  0.99957345 -0.01137047]
 [-0.02958624  0.01216715  0.99948822]]

 t_gt:
[-0.09446477 -0.96718197  0.23587168]

Pose Error in degrees for R and t:
1.8512311018505672 68.84350633101342

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99974346 -0.02259754  0.0015394 ]
 [ 0.02259542  0.99974374  0.00138164]
 [-0.00157023 -0.0013465   0.99999786]]

 t_estimated:
[[-0.99228224]
 [-0.12398678]
 [ 0.00180119]]

 R_gt:
[[ 0.99745542 -0.02592805  0.06641566]
 [ 0.02464176  0.99949423  0.02010738]
 [-0.06690374 -0.01841892  0.99758925]]

 t_gt:
[-0.3096565  -0.68288469  0.66165047]

Pose Error in degrees for R and t:
3.8751696247411975 66.85078420556349

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.98079341e-01 -6.19485930e-02 -4.08690732e-05]
 [ 6.19486029e-02  9.98079290e-01  3.17201662e-04]
 [ 2.11403789e-05 -3.19124208e-04  9.99999949e-01]]

 t_estimated:
[[0.56343042]
 [0.82616212]
 [0.00151868]]

 R_gt:
[[ 0.9835519  -0.17286757 -0.0523594 ]
 [ 0.1763639   0.98170587  0.07176419]
 [ 0.03899577 -0.07981734  0.9960462 ]]

 t_gt:
[ 0.57681389 -0.79666455  0.18058605]

Pose Error in degrees for R and t:
8.26753040596381 70.55478745965377

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 8.81910940e-01  4.71414163e-01  1.33440687e-03]
 [-4.71413375e-01  8.81911938e-01 -8.73504608e-04]
 [-1.58861180e-03  1.41296022e-04  9.99998728e-01]]

 t_estimated:
[[0.86393763]
 [0.50359804]
 [0.00088909]]

 R_gt:
[[ 0.94777817 -0.28187568 -0.14920278]
 [ 0.29392396  0.95357638  0.06558169]
 [ 0.12379065 -0.10601087  0.98662874]]

 t_gt:
[ 0.67038151 -0.74194149 -0.01055744]

Pose Error in degrees for R and t:
45.91115538481187 78.14016739438773

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.82430597e-01  1.86628116e-01 -2.63246998e-04]
 [-1.86628031e-01  9.82430596e-01  3.18575585e-04]
 [ 3.18077066e-04 -2.63849133e-04  9.99999915e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.93493941 -0.31583147 -0.16167069]
 [ 0.34339379  0.92010785  0.18836727]
 [ 0.08926238 -0.23162894  0.9686994 ]]

 t_gt:
[ 0.58295134 -0.75585254  0.29808502]

Pose Error in degrees for R and t:
33.47170185274645 54.49065601035098

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 6.57202991e-01 -7.53710008e-01 -2.33504091e-03]
 [ 7.53713581e-01  6.57200858e-01  1.69406085e-03]
 [ 2.57760270e-04 -2.87329390e-03  9.99995839e-01]]

 t_estimated:
[[8.88746770e-01]
 [4.58397793e-01]
 [8.01394743e-04]]

 R_gt:
[[ 0.97433823 -0.22463442 -0.01428404]
 [ 0.22501594  0.97366383  0.03670752]
 [ 0.00566271 -0.0389792   0.99922429]]

 t_gt:
[ 0.61866323 -0.77901625  0.10192887]

Pose Error in degrees for R and t:
35.97403212715836 78.8827555727454

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.99652834  0.08323675  0.00170719]
 [-0.08323312  0.9965279  -0.00209531]
 [-0.00187567  0.00194594  0.99999635]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.93706201 -0.34672167 -0.04120864]
 [ 0.34549483  0.93780116 -0.03410025]
 [ 0.05046913  0.01771633  0.99856859]]

 t_gt:
[ 0.69030377 -0.70932291 -0.1426244 ]

Pose Error in degrees for R and t:
25.227637689211715 45.15820399217419

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.99886237 -0.0475674   0.003364  ]
 [ 0.04758257  0.9988568  -0.00458202]
 [-0.0031422   0.00473688  0.99998384]]

 t_estimated:
[[9.20509367e-01]
 [3.90719803e-01]
 [7.35818838e-04]]

 R_gt:
[[ 0.89108145 -0.44665137 -0.08047843]
 [ 0.44419735  0.89468649 -0.04717441]
 [ 0.0930741   0.00628867  0.99563902]]

 t_gt:
[ 0.73216696 -0.66179059 -0.16113586]

Pose Error in degrees for R and t:
24.396403152507563 65.46347196123318

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[-0.97701769 -0.21196116  0.0225588 ]
 [-0.21198608  0.97727181  0.00130847]
 [-0.02232342 -0.00350375 -0.99974466]]

 t_estimated:
[[0.99376008]
 [0.11041779]
 [0.01577397]]

 R_gt:
[[ 0.99633752  0.04083502  0.07514297]
 [-0.03801233  0.99853049 -0.03861942]
 [-0.07660941  0.03562156  0.996424  ]]

 t_gt:
[-0.68406295  0.66826878  0.29236059]

Pose Error in degrees for R and t:
174.6050870120934 53.03019842224361

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-3.64824897e-01  9.31062009e-01  5.13134804e-03]
 [-9.31075979e-01 -3.64822616e-01 -1.40701469e-03]
 [ 5.62013895e-04 -5.29098888e-03  9.99985845e-01]]

 t_estimated:
[[0.44291566]
 [0.89656275]
 [0.00097559]]

 R_gt:
[[ 0.99260933  0.07659532  0.09414107]
 [-0.06856346  0.99395282 -0.08577511]
 [-0.10014179  0.07868531  0.99185725]]

 t_gt:
[-0.66947167  0.74038197  0.06035085]

Pose Error in degrees for R and t:
107.38608039111884 68.44844427618362

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 7.13125308e-01  7.01030428e-01  2.93844001e-03]
 [ 7.01035033e-01 -7.13126287e-01 -8.83867293e-04]
 [ 1.47586095e-03  2.69025752e-03 -9.99995292e-01]]

 t_estimated:
[[-9.10306688e-01]
 [-4.13933546e-01]
 [-8.67785213e-04]]

 R_gt:
[[ 0.97695531  0.11346041  0.18079432]
 [-0.09400718  0.98916284 -0.11278022]
 [-0.19163138  0.09318523  0.97703329]]

 t_gt:
[-0.69827727  0.63016737  0.3395555 ]

Pose Error in degrees for R and t:
170.31574807076422 68.00631500914973

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-8.07995918e-02 -9.96724992e-01 -3.27362700e-03]
 [ 9.96730163e-01 -8.07970362e-02 -9.05759932e-04]
 [ 6.38294202e-04 -3.33610781e-03  9.99994231e-01]]

 t_estimated:
[[9.99965745e-01]
 [8.22640923e-03]
 [9.14045471e-04]]

 R_gt:
[[ 0.99005441 -0.13297758 -0.04592525]
 [ 0.13499146  0.98987191  0.0439454 ]
 [ 0.039617   -0.04970774  0.99797833]]

 t_gt:
[ 0.68701272 -0.71857938  0.1079685 ]

Pose Error in degrees for R and t:
86.9793523915004 47.064349086594675

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-5.85287411e-01 -8.10818071e-01  3.56417865e-03]
 [-8.10803603e-01  5.85298260e-01  4.84392402e-03]
 [-6.01364869e-03 -5.47611465e-05 -9.99981916e-01]]

 t_estimated:
[[0.89225503]
 [0.45152052]
 [0.00319177]]

 R_gt:
[[ 0.9594411  -0.27976012 -0.03472716]
 [ 0.28132049  0.95809449  0.05396476]
 [ 0.01817502 -0.06154526  0.99793958]]

 t_gt:
[ 0.69943988 -0.69661404  0.15972706]

Pose Error in degrees for R and t:
179.51618747262117 71.93757356127357

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.97853906  0.20603842  0.0030773 ]
 [ 0.2060426   0.9785424   0.00110691]
 [-0.0027832   0.00171721 -0.99999465]]

 t_estimated:
[[ 0.76526544]
 [-0.64370679]
 [ 0.00322261]]

 R_gt:
[[ 0.91212351 -0.4051553  -0.06228986]
 [ 0.40927933  0.90859565  0.08332872]
 [ 0.02283492 -0.10150024  0.99457351]]

 t_gt:
[ 0.73323677 -0.65025575  0.1988248 ]

Pose Error in degrees for R and t:
177.13674502750916 11.381330664883874

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99999703e-01  7.70000509e-04  1.67923981e-05]
 [-7.69999809e-04  9.99999703e-01 -4.17002172e-05]
 [-1.68245023e-05  4.16872747e-05  9.99999999e-01]]

 t_estimated:
[[ 1.37032312e-02]
 [-9.99906086e-01]
 [-2.01169723e-04]]

 R_gt:
[[ 0.99996138 -0.00224425  0.00852414]
 [ 0.00307401  0.99512157 -0.09860184]
 [-0.00826094  0.09862438  0.99508996]]

 t_gt:
[ 0.09255976  0.32658773 -0.94062381]

Pose Error in degrees for R and t:
5.681054203538872 71.02839891740746

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.95383739e-01 -9.59708098e-02 -9.02903627e-04]
 [ 9.59719679e-02  9.95383134e-01  1.34101644e-03]
 [ 7.70036607e-04 -1.42147940e-03  9.99998693e-01]]

 t_estimated:
[[-1.39508305e-01]
 [-9.90220417e-01]
 [ 9.79341557e-04]]

 R_gt:
[[ 0.99865561  0.05019542  0.01288621]
 [-0.04770659  0.98757634 -0.14972103]
 [-0.02024091  0.14890478  0.9886438 ]]

 t_gt:
[-0.1603006   0.4933405  -0.85493793]

Pose Error in degrees for R and t:
12.058524517326557 62.160922085398205

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-8.87158829e-02  9.96048989e-01  3.98801196e-03]
 [ 9.96056273e-01  8.87198550e-02 -8.30025381e-04]
 [-1.18056178e-03  3.89864789e-03 -9.99991703e-01]]

 t_estimated:
[[-0.855469  ]
 [-0.51785328]
 [-0.00087921]]

 R_gt:
[[ 0.99344913  0.11376749 -0.01076226]
 [-0.11363213  0.97347705 -0.19857152]
 [-0.01211315  0.19849381  0.98002662]]

 t_gt:
[-0.23414047  0.60156316 -0.76374079]

Pose Error in degrees for R and t:
172.04257156739774 83.65297496672461

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.99999943e-01 -3.32547633e-04  5.36517849e-05]
 [ 3.32549568e-04  9.99999944e-01 -3.60528221e-05]
 [-5.36397926e-05  3.60706619e-05  9.99999998e-01]]

 t_estimated:
[[-5.34910048e-02]
 [-9.98568312e-01]
 [ 1.94890922e-04]]

 R_gt:
[[ 0.99932541 -0.01904066  0.03144335]
 [ 0.01724766  0.99826388  0.0563284 ]
 [-0.03246002 -0.05574778  0.99791649]]

 t_gt:
[ 0.15241804 -0.28781693  0.9454788 ]

Pose Error in degrees for R and t:
3.836918015593289 73.7734452045108

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.96866916e-01  7.90969078e-02  1.73741628e-04]
 [-7.90968854e-02  9.96866925e-01 -1.32428397e-04]
 [-1.83671959e-04  1.18271066e-04  9.99999976e-01]]

 t_estimated:
[[ 0.60714922]
 [-0.79458728]
 [ 0.00093568]]

 R_gt:
[[ 0.99805654 -0.0387958   0.04878615]
 [ 0.03462035  0.99589045  0.08369692]
 [-0.05183222 -0.08184499  0.99529655]]

 t_gt:
[ 0.23637541 -0.25157839  0.93852809]

Pose Error in degrees for R and t:
8.662267901218192 69.86127728636698

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-9.64574609e-01 -2.63804191e-01 -1.78122626e-03]
 [ 2.63804798e-01 -9.64576081e-01 -1.10802839e-04]
 [-1.68889799e-03 -5.76773639e-04  9.99998407e-01]]

 t_estimated:
[[9.46189316e-01]
 [3.23612648e-01]
 [7.95117072e-04]]

 R_gt:
[[ 0.99866632 -0.03242722  0.04019439]
 [ 0.02984703  0.99755462  0.06320633]
 [-0.04214484 -0.06192288  0.99719111]]

 t_gt:
[ 0.2721665  -0.02930723  0.96180377]

Pose Error in degrees for R and t:
162.92665963583448 75.59339249015004

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99997869e-01 -1.78705764e-03 -1.03384902e-03]
 [ 1.78788380e-03  9.99998083e-01  7.98735490e-04]
 [ 1.03241966e-03 -8.00582190e-04  9.99999147e-01]]

 t_estimated:
[[-9.98845058e-01]
 [-4.80388276e-02]
 [-9.06392974e-04]]

 R_gt:
[[ 0.99247507  0.11933237 -0.02743147]
 [-0.1206165   0.99137652 -0.05123327]
 [ 0.02108153  0.05415725  0.99830928]]

 t_gt:
[-0.53166147  0.71794447 -0.44932374]

Pose Error in degrees for R and t:
7.758250200591164 60.20055967144327

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999314e-01 -1.17170957e-03 -7.92147587e-07]
 [ 1.17170984e-03  9.99999148e-01  5.74868894e-04]
 [ 1.18567525e-07 -5.74869428e-04  9.99999835e-01]]

 t_estimated:
[[-4.99852691e-01]
 [-8.66110031e-01]
 [ 8.37446157e-04]]

 R_gt:
[[ 0.99466692  0.10271726 -0.00932163]
 [-0.10304836  0.98591615 -0.1317228 ]
 [-0.00433966  0.13198245  0.99124192]]

 t_gt:
[-0.32275758  0.64757111 -0.69027473]

Pose Error in degrees for R and t:
9.695972552240226 66.41465376713505

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.298332    0.85260748 -0.4290204 ]
 [ 0.88595526 -0.08014881  0.45679257]
 [ 0.35507929 -0.51636872 -0.77928303]]

 t_estimated:
[[0.74663565]
 [0.61811057]
 [0.24591569]]

 R_gt:
[[ 0.98604246  0.16442695 -0.02613006]
 [-0.16642274  0.96891308 -0.18306119]
 [-0.00478256  0.18485556  0.98275366]]

 t_gt:
[-0.32706804  0.67703134 -0.65928375]

Pose Error in degrees for R and t:
149.6634123895819 89.30376187459483

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-9.68348696e-01 -2.49363730e-01  1.08872959e-02]
 [-2.49352011e-01  9.68409835e-01  2.44268318e-03]
 [-1.11524810e-02 -3.49400042e-04 -9.99937748e-01]]

 t_estimated:
[[0.9912022 ]
 [0.13221898]
 [0.00602823]]

 R_gt:
[[ 0.97924645 -0.2026649  -0.00180611]
 [ 0.20264902  0.97895303  0.02415915]
 [-0.00312829 -0.0240232   0.99970653]]

 t_gt:
[ 0.70455424 -0.70085751  0.11136462]

Pose Error in degrees for R and t:
179.14940140287362 52.67320253911171

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-3.40909678e-01 -9.40094074e-01 -1.92955999e-03]
 [ 9.40095675e-01 -3.40906978e-01 -1.59830877e-03]
 [ 8.44760142e-04 -2.35884993e-03  9.99996861e-01]]

 t_estimated:
[[9.99997824e-01]
 [2.07515748e-03]
 [2.12403392e-04]]

 R_gt:
[[ 0.96336429 -0.26818279 -0.00257116]
 [ 0.26818139  0.96317361  0.01936727]
 [-0.00271723 -0.01934591  0.99980865]]

 t_gt:
[ 0.70071092 -0.70922999  0.07744046]

Pose Error in degrees for R and t:
94.3792748749608 45.63281089340451

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.46804725  0.88354747 -0.01660245]
 [-0.88364715 -0.46814688 -0.00249215]
 [-0.00997432  0.01350427  0.99985906]]

 t_estimated:
[[0.32692596]
 [0.94504827]
 [0.00178648]]

 R_gt:
[[ 0.93032518 -0.36477525  0.03786724]
 [ 0.36279156  0.93050414  0.05044528]
 [-0.05363693 -0.0331917   0.99800855]]

 t_gt:
[ 0.69681186 -0.69602296  0.17322031]

Pose Error in degrees for R and t:
139.320029161009 64.55401830301432

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.99239092e-01 -3.90028915e-02  1.05742211e-04]
 [ 3.90028799e-02  9.99239092e-01  1.09266946e-04]
 [-1.09923478e-04 -1.05059553e-04  9.99999988e-01]]

 t_estimated:
[[ 0.95085186]
 [-0.309644  ]
 [ 0.0011552 ]]

 R_gt:
[[ 0.99945977 -0.03207903  0.00721718]
 [ 0.03199322  0.99942144  0.01162223]
 [-0.00758657 -0.01138474  0.9999071 ]]

 t_gt:
[ 0.84325489 -0.35324434  0.40514149]

Pose Error in degrees for R and t:
0.8681670946501577 24.264442041035526

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99274146e-01  3.80936580e-02  2.32537732e-04]
 [-3.80935000e-02  9.99273968e-01 -6.49726389e-04]
 [-2.57119357e-04  6.40396607e-04  9.99999762e-01]]

 t_estimated:
[[7.96002161e-01]
 [6.05293310e-01]
 [7.53789925e-04]]

 R_gt:
[[ 0.99975014  0.0171902  -0.01428353]
 [-0.01685834  0.99959375  0.02302289]
 [ 0.01467326 -0.02277673  0.99963353]]

 t_gt:
[-0.28325673  0.94790849  0.14572275]

Pose Error in degrees for R and t:
1.9962919973820914 69.61054465019342

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.98086707e-01 -6.18298040e-02 -3.16116365e-05]
 [ 6.18298117e-02  9.98086623e-01  4.08779368e-04]
 [ 6.27640338e-06 -4.09951795e-04  9.99999916e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99561542  0.09261833  0.01313446]
 [-0.09292365  0.99536117  0.02493813]
 [-0.01076434 -0.02604999  0.9996033 ]]

 t_gt:
[-0.56406938  0.79940307  0.20683442]

Pose Error in degrees for R and t:
9.010599436289175 58.42131785126253

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-3.44435189e-01  9.38810074e-01  2.14484367e-04]
 [-9.38808302e-01 -3.44434075e-01 -2.03458905e-03]
 [-1.83621697e-03 -9.02143769e-04  9.99997907e-01]]

 t_estimated:
[[0.28327067]
 [0.95903925]
 [0.0012003 ]]

 R_gt:
[[ 0.99542206 -0.06763487 -0.06754541]
 [ 0.06203727  0.99471685 -0.0817939 ]
 [ 0.07271979  0.07722867  0.99435742]]

 t_gt:
[ 0.71980257  0.02583248 -0.69369802]

Pose Error in degrees for R and t:
113.9822146009566 76.83002371902951

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-8.67398801e-01 -4.97610452e-01 -1.77721145e-03]
 [ 4.97611815e-01 -8.67399747e-01 -4.00570656e-04]
 [-1.34222462e-03 -1.23181592e-03  9.99998341e-01]]

 t_estimated:
[[0.99783205]
 [0.06580298]
 [0.00107874]]

 R_gt:
[[ 0.99384236 -0.00154426 -0.11079805]
 [-0.01225753  0.9922347  -0.12377735]
 [ 0.11012832  0.12437207  0.98610506]]

 t_gt:
[ 0.24290921  0.13382773 -0.96077326]

Pose Error in degrees for R and t:
150.5752856620338 75.51346737613004

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-0.0989535   0.99508908  0.00243396]
 [ 0.99508965  0.09894758  0.00244048]
 [ 0.00218766  0.00266351 -0.99999406]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.95663665  0.23105732 -0.17736995]
 [-0.24665523  0.96647638 -0.07130802]
 [ 0.15494797  0.11196466  0.98155719]]

 t_gt:
[-0.78716352  0.25437137 -0.5618441 ]

Pose Error in degrees for R and t:
176.40910932923015 75.95503256774344

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.99928023e-01  1.19944802e-02  2.83773639e-04]
 [-1.19944497e-02  9.99928058e-01 -1.08797278e-04]
 [-2.85058191e-04  1.05385739e-04  9.99999954e-01]]

 t_estimated:
[[8.62231044e-01]
 [5.06514941e-01]
 [4.91873348e-04]]

 R_gt:
[[ 0.98000898 -0.1909392  -0.05589488]
 [ 0.19278678  0.98078939  0.02973743]
 [ 0.04914283 -0.03991969  0.99799371]]

 t_gt:
[ 0.66325777 -0.74797683 -0.02489551]

Pose Error in degrees for R and t:
12.310769160238017 78.87163448463353

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 6.34375099e-01 -7.73002083e-01 -6.00117546e-03]
 [-7.73016484e-01 -6.34385923e-01 -1.28203781e-04]
 [-3.70795944e-03  4.72033684e-03 -9.99981985e-01]]

 t_estimated:
[[0.38329559]
 [0.92362419]
 [0.00168853]]

 R_gt:
[[ 0.95321465 -0.29447716 -0.06829536]
 [ 0.29790837  0.95344048  0.04693055]
 [ 0.05129541 -0.06508155  0.99656064]]

 t_gt:
[ 0.65322599 -0.75554349  0.04949582]

Pose Error in degrees for R and t:
178.65194996177593 63.42454328158814

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.99762047  0.06889169  0.00270634]
 [-0.06889901 -0.99761996 -0.00271027]
 [ 0.00251319 -0.00289029  0.99999267]]

 t_estimated:
[[0.41880622]
 [0.90807509]
 [0.00099243]]

 R_gt:
[[ 0.88709062 -0.42137325 -0.18845302]
 [ 0.45001917  0.88034262  0.14993287]
 [ 0.10272515 -0.21781281  0.97056921]]

 t_gt:
[ 0.69262577 -0.69427126  0.19559388]

Pose Error in degrees for R and t:
157.8749945759744 70.1121382293424

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.93937433e-01 -1.09947165e-01  1.42445383e-05]
 [ 1.09947163e-01  9.93937430e-01  8.53303275e-05]
 [-2.35400073e-05 -8.32468601e-05  9.99999996e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.97859842 -0.20334884 -0.03155041]
 [ 0.20190421  0.97842947 -0.04371227]
 [ 0.03975839  0.036407    0.99854597]]

 t_gt:
[ 0.65417956 -0.70872866 -0.26410753]

Pose Error in degrees for R and t:
6.211769632608221 66.07666191871786

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-9.80225328e-01  1.97882670e-01  8.69029965e-04]
 [ 1.97884147e-01  9.80222909e-01  2.21645441e-03]
 [-4.13245164e-04  2.34459201e-03 -9.99997166e-01]]

 t_estimated:
[[9.75440715e-01]
 [2.20260807e-01]
 [7.67459256e-04]]

 R_gt:
[[ 0.95982675 -0.27707378 -0.04430063]
 [ 0.27406848  0.95959851 -0.0636897 ]
 [ 0.06015788  0.04899008  0.99698552]]

 t_gt:
[ 0.65057957 -0.70231446 -0.28896474]

Pose Error in degrees for R and t:
177.3695811454318 61.33499363711952

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.12251209e-02  9.95830294e-01  4.55494634e-05]
 [ 9.95822858e-01  9.12242626e-02  3.86910944e-03]
 [ 3.84882118e-03  3.98319173e-04 -9.99992514e-01]]

 t_estimated:
[[-0.89004127]
 [-0.4558748 ]
 [-0.00217083]]

 R_gt:
[[ 0.92060354 -0.38222134 -0.07998469]
 [ 0.38059256  0.92406834 -0.03531016]
 [ 0.08740792  0.00206554  0.99616956]]

 t_gt:
[ 0.71167042 -0.68135142 -0.17112994]

Pose Error in degrees for R and t:
177.00854446039898 71.18983698216691

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 9.99999446e-01 -1.84347054e-04 -1.03608333e-03]
 [ 1.85598526e-04  9.99999253e-01  1.20792096e-03]
 [ 1.03585988e-03 -1.20811259e-03  9.99998734e-01]]

 t_estimated:
[[-0.70357991]
 [-0.71061571]
 [-0.00078176]]

 R_gt:
[[ 0.99760049 -0.05904568  0.03616788]
 [ 0.05926507  0.99823023 -0.00502381]
 [-0.03580785  0.00715539  0.99933266]]

 t_gt:
[0.86221467 0.03884577 0.50505135]

Pose Error in degrees for R and t:
4.014214506586314 50.60699501730288

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.35595047e-01  3.53074908e-01  1.28886147e-04]
 [-3.53074928e-01  9.35594917e-01  4.97173998e-04]
 [ 5.49544401e-05 -5.10659998e-04  9.99999868e-01]]

 t_estimated:
[[0.52806604]
 [0.84920256]
 [0.00113076]]

 R_gt:
[[ 0.9939185  -0.0394319   0.10282726]
 [ 0.04403679  0.99810916 -0.04289921]
 [-0.10094155  0.04716658  0.99377426]]

 t_gt:
[0.45205759 0.62904438 0.63241371]

Pose Error in degrees for R and t:
23.936115139224157 39.32014514509148

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 8.85050747e-01 -4.65493370e-01  1.04814431e-03]
 [ 4.65493650e-01  8.85051219e-01 -2.70628692e-05]
 [-9.15063810e-04  5.11856531e-04  9.99999450e-01]]

 t_estimated:
[[7.73625589e-01]
 [6.33642637e-01]
 [6.76246144e-04]]

 R_gt:
[[ 0.99063872 -0.00264105  0.13649145]
 [ 0.01425373  0.99635001 -0.08417243]
 [-0.13577116  0.08533043  0.98705924]]

 t_gt:
[-0.08417649  0.89344707  0.44121044]

Pose Error in degrees for R and t:
28.72800320788303 59.9137278542679

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 7.13348595e-01 -7.00809216e-01 -4.73714832e-04]
 [-7.00809355e-01 -7.13348246e-01 -7.26780978e-04]
 [ 1.71411163e-04  8.50431975e-04 -9.99999624e-01]]

 t_estimated:
[[0.24940168]
 [0.96839752]
 [0.00224686]]

 R_gt:
[[ 0.99700987  0.07479394  0.01940807]
 [-0.07369066  0.99590218 -0.0524306 ]
 [-0.02325075  0.05084328  0.99843649]]

 t_gt:
[-0.73818339  0.65769268 -0.15008541]

Pose Error in degrees for R and t:
177.672901145417 63.09795384716676

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 0.8832362  -0.46892012 -0.00278003]
 [ 0.46892558  0.88323586  0.00179235]
 [ 0.00161496 -0.0028867   0.99999453]]

 t_estimated:
[[-0.63732786]
 [-0.77058732]
 [-0.00289694]]

 R_gt:
[[ 0.97898572  0.20347805  0.01355153]
 [-0.20160544  0.97569215 -0.0859122 ]
 [-0.03070269  0.08137591  0.99621034]]

 t_gt:
[-0.66119361  0.74185259 -0.11170383]

Pose Error in degrees for R and t:
39.99425535897067 81.37646394332903

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 4.83203246e-01 -8.75507849e-01 -7.93763105e-04]
 [ 8.75508166e-01  4.83203305e-01  1.28122871e-04]
 [ 2.71376377e-04 -7.56855468e-04  9.99999677e-01]]

 t_estimated:
[[-0.2065801 ]
 [-0.97842915]
 [-0.00102776]]

 R_gt:
[[ 0.95763442  0.28794625  0.00476608]
 [-0.28592176  0.95262056 -0.10374384]
 [-0.0344135   0.09798605  0.99459292]]

 t_gt:
[-0.62234952  0.77545323 -0.1065522 ]

Pose Error in degrees for R and t:
78.02096730988099 50.94607755071816

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[ 9.97371748e-01  7.24535513e-02  2.81920948e-04]
 [-7.24535604e-02  9.97371787e-01  2.22627046e-05]
 [-2.79566987e-04 -4.26303690e-05  9.99999960e-01]]

 t_estimated:
[[0.19633767]
 [0.98053431]
 [0.00199823]]

 R_gt:
[[ 0.99942057 -0.03051328  0.0150744 ]
 [ 0.02987983  0.99872844  0.04061872]
 [-0.01629534 -0.04014511  0.99906173]]

 t_gt:
[ 0.28041493 -0.42268518  0.86180317]

Pose Error in degrees for R and t:
6.384822693638897 69.04226259266251

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 2.03991937e-01 -9.78971397e-01 -1.51445572e-03]
 [ 9.78972568e-01  2.03991657e-01  3.38969861e-04]
 [-2.29054668e-05 -1.55175772e-03  9.99998796e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98921468 -0.14245859 -0.03407306]
 [ 0.14492272  0.98566699  0.08636887]
 [ 0.02128017 -0.09037515  0.99568037]]

 t_gt:
[ 0.62123255 -0.67713183  0.39441426]

Pose Error in degrees for R and t:
70.12014913022196 51.725076921343

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[-9.21564198e-01  3.88223122e-01  1.49532910e-03]
 [-3.88225984e-01 -9.21556147e-01 -3.85400315e-03]
 [-1.18183409e-04 -4.13223693e-03  9.99991455e-01]]

 t_estimated:
[[0.63620235]
 [0.77152158]
 [0.00100985]]

 R_gt:
[[ 9.54843558e-01 -2.95581251e-01 -3.00751871e-02]
 [ 2.97106720e-01  9.49666717e-01  9.93077051e-02]
 [-7.93019983e-04 -1.03758858e-01  9.94602043e-01]]

 t_gt:
[ 0.67380123 -0.66954401  0.31257435]

Pose Error in degrees for R and t:
174.44935311463806 84.97570930617475

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-0.381502   -0.9243641  -0.00268986]
 [-0.92436486  0.38150669 -0.00150196]
 [ 0.00241456  0.00191341 -0.99999525]]

 t_estimated:
[[ 8.54481456e-01]
 [ 5.19481750e-01]
 [-3.89969951e-04]]

 R_gt:
[[ 0.99713187  0.07425797 -0.01459102]
 [-0.07437903  0.99719938 -0.00788607]
 [ 0.0139645   0.00894852  0.99986268]]

 t_gt:
[ 0.19290722  0.93728478 -0.29031714]

Pose Error in degrees for R and t:
178.87373357837456 49.31867998384536

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99999777e-01  6.31856774e-04  2.14726166e-04]
 [-6.31896653e-04  9.99999783e-01  1.85703723e-04]
 [-2.14608781e-04 -1.85839367e-04  9.99999960e-01]]

 t_estimated:
[[0.94657644]
 [0.32247685]
 [0.00131127]]

 R_gt:
[[ 0.99425192  0.104523    0.02316911]
 [-0.10476185  0.99445367  0.00931409]
 [-0.02206648 -0.01168801  0.99968823]]

 t_gt:
[0.40771041 0.85891194 0.30990724]

Pose Error in degrees for R and t:
6.136737056751142 48.44683951330754

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-7.19129871e-01 -6.94875513e-01 -4.99448133e-04]
 [-6.94873080e-01  7.19125011e-01  3.25918546e-03]
 [-1.90556252e-03  2.69083068e-03 -9.99994564e-01]]

 t_estimated:
[[0.93719611]
 [0.34879951]
 [0.00153449]]

 R_gt:
[[ 0.98326026  0.18103997  0.02055686]
 [-0.18182342  0.98222943  0.04654966]
 [-0.01176388 -0.04950849  0.99870469]]

 t_gt:
[0.20598208 0.85637878 0.47348366]

Pose Error in degrees for R and t:
178.0745171340722 60.496504861100654

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 1.00000000e+00  8.63198402e-15  9.25366554e-17]
 [-8.57647287e-15  1.00000000e+00 -2.20743562e-16]
 [ 3.37024245e-16  1.15792792e-16  1.00000000e+00]]

 t_estimated:
[[-0.16466688]
 [-0.98634854]
 [-0.00117362]]

 R_gt:
[[ 0.9962139  -0.07710794  0.040169  ]
 [ 0.07671177  0.99698995  0.01131481]
 [-0.04092092 -0.00819063  0.99912821]]

 t_gt:
[ 0.49514623 -0.75645681  0.42732108]

Pose Error in degrees for R and t:
5.018811823119344 48.38711468400147

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-4.16125200e-01  9.09306754e-01 -1.02182177e-03]
 [-9.09304665e-01 -4.16126439e-01 -1.95273868e-03]
 [-2.20084552e-03  1.16563528e-04  9.99997571e-01]]

 t_estimated:
[[0.44683707]
 [0.89461486]
 [0.00094071]]

 R_gt:
[[ 0.99219304 -0.11956057  0.03549563]
 [ 0.11928357  0.99281273  0.00981839]
 [-0.03641466 -0.0055071   0.99932058]]

 t_gt:
[ 0.54529128 -0.80164028  0.24501078]

Pose Error in degrees for R and t:
121.46154201779724 61.75307066195676

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.30477521 -0.95241422 -0.00438364]
 [ 0.95241986 -0.30475648 -0.00446119]
 [ 0.00291296 -0.00553473  0.99998044]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98701335 -0.16001629  0.01418822]
 [ 0.15963272  0.98686237  0.02493595]
 [-0.0179913  -0.02234712  0.99958817]]

 t_gt:
[ 0.57360351 -0.80318346  0.16085816]

Pose Error in degrees for R and t:
98.55925392250258 55.163623232107554

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99743121e-01 -2.26459187e-02  9.23925735e-04]
 [ 2.26507583e-02  9.99727668e-01 -5.61550894e-03]
 [-7.96505761e-04  5.63499405e-03  9.99983806e-01]]

 t_estimated:
[[-0.99920856]
 [-0.03976442]
 [-0.0010196 ]]

 R_gt:
[[ 0.98913882  0.13511817 -0.05786613]
 [-0.13570471  0.99072968 -0.00631098]
 [ 0.0564767   0.01409462  0.99830477]]

 t_gt:
[-0.96417125  0.1916703  -0.18340202]

Pose Error in degrees for R and t:
9.681451509645528 17.064795403045892

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.44593136  0.89506577 -0.00157818]
 [ 0.895065   -0.44592571  0.00298391]
 [ 0.00196704 -0.00274319 -0.9999943 ]]

 t_estimated:
[[-0.85006487]
 [-0.52667674]
 [ 0.00115019]]

 R_gt:
[[ 0.9180082   0.39053371 -0.06887582]
 [-0.39116501  0.92030887  0.00463921]
 [ 0.06519867  0.02268301  0.99761462]]

 t_gt:
[-0.94373954  0.31859699 -0.08860946]

Pose Error in degrees for R and t:
178.1934045641362 50.62892755589712

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.9147463  -0.39387848 -0.08999419]
 [ 0.40361973  0.90088258  0.15969248]
 [ 0.01817477 -0.18240154  0.98305613]]

 t_estimated:
[[-2.32514445e-01]
 [-9.72592829e-01]
 [ 4.70491096e-04]]

 R_gt:
[[ 0.776402    0.62982848 -0.02272471]
 [-0.62995531  0.77662893  0.00197337]
 [ 0.01889049  0.012784    0.99973968]]

 t_gt:
[-0.87632229  0.48108083 -0.02490925]

Pose Error in degrees for R and t:
63.55439366141885 74.68355440357979

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.99617749 -0.01108138  0.08664646]
 [ 0.0322337   0.96854998 -0.24672238]
 [-0.08118741  0.24857222  0.96520488]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.95890949 -0.28055397  0.04221237]
 [ 0.27796293  0.95882277  0.05827822]
 [-0.05682468 -0.04415005  0.99740705]]

 t_gt:
[ 0.81362388 -0.53119759  0.23631612]

Pose Error in degrees for R and t:
22.95663439295128 76.93879994411886

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.99479062 -0.05836528  0.08357695]
 [ 0.08333056  0.93783547 -0.33692824]
 [-0.05871652  0.34213757  0.93781355]]

 t_estimated:
[[0.96989926]
 [0.24349792]
 [0.0020462 ]]

 R_gt:
[[ 0.88407654 -0.46732482  0.00383328]
 [ 0.46672759  0.88330941  0.04392308]
 [-0.02391234 -0.03704245  0.9990269 ]]

 t_gt:
[ 0.89793302 -0.43049417  0.09160269]

Pose Error in degrees for R and t:
32.58477723648832 39.98010635586451

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[-4.79144349e-01  8.77736110e-01  1.21438604e-04]
 [ 8.77735792e-01  4.79144047e-01  9.28191115e-04]
 [ 7.56520274e-04  5.51328536e-04 -9.99999562e-01]]

 t_estimated:
[[9.98413770e-01]
 [5.62966176e-02]
 [7.96077607e-04]]

 R_gt:
[[ 0.74528212 -0.66330382 -0.0676883 ]
 [ 0.66534353  0.74645718  0.01094782]
 [ 0.04326418 -0.05319545  0.99764645]]

 t_gt:
[ 0.95402681 -0.29837307  0.0283964 ]

Pose Error in degrees for R and t:
176.06611390020356 20.652180465489334

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.86882735 -0.49504291 -0.0084591 ]
 [ 0.49481757 -0.86877066  0.01982702]
 [-0.01716425  0.01304054  0.99976764]]

 t_estimated:
[[ 0.99995888]
 [-0.0041276 ]
 [ 0.00807472]]

 R_gt:
[[ 0.99803802  0.03195324 -0.05384754]
 [-0.03590671  0.99660238 -0.07412403]
 [ 0.05129607  0.07591233  0.99579451]]

 t_gt:
[-0.20101486  0.19901655 -0.95915871]

Pose Error in degrees for R and t:
152.36672179882999 77.90267042365059

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 7.65001312e-01 -6.44013048e-01 -4.49302985e-03]
 [ 6.44020183e-01  7.65008476e-01  1.87903996e-04]
 [ 3.31619329e-03 -3.03734871e-03  9.99989889e-01]]

 t_estimated:
[[9.97415461e-01]
 [7.18437704e-02]
 [9.33035979e-04]]

 R_gt:
[[ 0.96686859  0.23072431 -0.10923389]
 [-0.23551195  0.97131117 -0.03299317]
 [ 0.0984879   0.05762673  0.99346804]]

 t_gt:
[-0.9104705   0.25879586 -0.322596  ]

Pose Error in degrees for R and t:
53.96540514780059 27.148675913430395

Number of keypoints:
Image1: 19
Image2: 19

 R_estimated:
[[-2.95369458e-01  9.55383096e-01  1.53147245e-04]
 [-9.55371986e-01 -2.95365242e-01 -4.87252563e-03]
 [-4.60989425e-03 -1.58550784e-03  9.99988117e-01]]

 t_estimated:
[[0.03504504]
 [0.99937852]
 [0.00379596]]

 R_gt:
[[ 0.85824148  0.50099874 -0.11145906]
 [-0.50518118  0.86294187 -0.01107047]
 [ 0.09063606  0.06580799  0.99370786]]

 t_gt:
[-0.90318264  0.3987157  -0.1590186 ]

Pose Error in degrees for R and t:
77.11143666520148 68.51779675084983

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.92651035  0.37619714  0.00736769]
 [-0.37626753 -0.9263881  -0.01509431]
 [ 0.00114691 -0.01675726  0.99985893]]

 t_estimated:
[[8.87270152e-01]
 [4.61249396e-01]
 [8.19270686e-04]]

 R_gt:
[[ 0.97608083 -0.21727417  0.00762289]
 [ 0.21724272  0.97610616  0.00477206]
 [-0.00847702 -0.00300221  0.99995958]]

 t_gt:
[ 0.83630561 -0.546948    0.03795809]

Pose Error in degrees for R and t:
170.4423705613746 60.673833541605454

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 0.78253808 -0.62245204 -0.01369744]
 [ 0.62259593  0.78244295  0.01254352]
 [ 0.00290973 -0.01834375  0.99982751]]

 t_estimated:
[[0.90556817]
 [0.42419923]
 [0.00114339]]

 R_gt:
[[ 0.89365522 -0.44344685 -0.0688226 ]
 [ 0.44353423  0.89613448 -0.01484349]
 [ 0.06825656 -0.01725947  0.99751848]]

 t_gt:
[ 0.91183316 -0.40715081 -0.0528063 ]

Pose Error in degrees for R and t:
12.6726852747437 49.23533396235968

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 7.46892867e-01  6.64944029e-01  6.94819488e-04]
 [-6.64934281e-01  7.46886865e-01 -4.73424469e-03]
 [-3.66695929e-03  3.07396430e-03  9.99988552e-01]]

 t_estimated:
[[7.51331175e-01]
 [6.59924986e-01]
 [6.92471129e-04]]

 R_gt:
[[ 0.77770816 -0.62649308 -0.05174507]
 [ 0.62270386  0.77903846 -0.07307796]
 [ 0.08609425  0.02461155  0.99598272]]

 t_gt:
[ 0.94972414 -0.29795401 -0.09616374]

Pose Error in degrees for R and t:
80.55737989971587 58.877906897929634

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.99574028 -0.09213994 -0.00339415]
 [ 0.09215334  0.99573667  0.00402975]
 [ 0.00300838 -0.00432537  0.99998612]]

 t_estimated:
[[-0.50358717]
 [-0.86394394]
 [-0.0009123 ]]

 R_gt:
[[ 0.99087895  0.13334881 -0.01940675]
 [-0.1338107   0.99069668 -0.02478802]
 [ 0.01592053  0.02715854  0.99950398]]

 t_gt:
[-0.60012769  0.77288346 -0.20615021]

Pose Error in degrees for R and t:
13.106592342470666 68.57251945843089

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.76509028e-01 -2.15475225e-01 -7.38445684e-04]
 [ 2.15475208e-01  9.76509306e-01 -1.04140182e-04]
 [ 7.43538711e-04 -5.74229097e-05  9.99999722e-01]]

 t_estimated:
[[-0.64466147]
 [-0.76446581]
 [-0.00190166]]

 R_gt:
[[ 0.91142283  0.40477689 -0.07391404]
 [-0.40525258  0.91415944  0.00913436]
 [ 0.07126643  0.02162876  0.99722311]]

 t_gt:
[-0.4653479   0.87132324 -0.15571495]

Pose Error in degrees for R and t:
36.60721626922283 68.54263101219068

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.98116122e-01  6.13515410e-02 -4.41953890e-04]
 [-6.13515272e-02  9.98116220e-01  4.47016150e-05]
 [ 4.43863859e-04 -1.75028565e-05  9.99999901e-01]]

 t_estimated:
[[-9.99032684e-01]
 [ 4.39689957e-02]
 [-6.51291914e-04]]

 R_gt:
[[ 8.11955216e-01  5.80125661e-01 -6.46661947e-02]
 [-5.78390762e-01  8.14527081e-01  4.48393778e-02]
 [ 7.86849499e-02  9.94931710e-04  9.96899016e-01]]

 t_gt:
[-0.39314819  0.91569317 -0.08330973]

Pose Error in degrees for R and t:
32.24979551433253 64.33654508507567

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99998973e-01 -1.43337492e-03  3.52972906e-06]
 [ 1.43337468e-03  9.99998970e-01  6.77390538e-05]
 [-3.62682089e-06 -6.77339248e-05  9.99999998e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075945e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.999371   -0.03462312  0.00769925]
 [ 0.03463931  0.99939764 -0.00200217]
 [-0.00762519  0.00226811  0.99996825]]

 t_gt:
[ 0.48286527 -0.87047733  0.09544811]

Pose Error in degrees for R and t:
1.956664085807168 61.299075324476796

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.93118354e-01  1.17114988e-01  1.21279895e-04]
 [-1.17114968e-01  9.93118351e-01 -1.60366456e-04]
 [-1.39226605e-04  1.45059180e-04  9.99999980e-01]]

 t_estimated:
[[6.82903918e-01]
 [7.30507875e-01]
 [6.94520058e-04]]

 R_gt:
[[ 0.99705626 -0.07657337 -0.00411982]
 [ 0.07663026  0.99693279  0.0159022 ]
 [ 0.00288939 -0.0161715   0.99986464]]

 t_gt:
[ 0.52313051 -0.84776095  0.08738333]

Pose Error in degrees for R and t:
11.159635280665261 74.81197488117417

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.70867950e-01  2.39614988e-01  2.83269408e-04]
 [-2.39614911e-01  9.70867970e-01 -2.80427932e-04]
 [-3.42211931e-04  2.04382918e-04  9.99999921e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99393772 -0.10721069 -0.02436005]
 [ 0.10789631  0.99374505  0.0287964 ]
 [ 0.02112087 -0.03125002  0.999288  ]]

 t_gt:
[ 0.52350464 -0.85201376  0.00392957]

Pose Error in degrees for R and t:
20.1578160797924 84.84806291882177

Number of keypoints:
Image1: 412
Image2: 412

 R_estimated:
[[ 9.99748161e-01  2.24413524e-02 -2.64082753e-05]
 [-2.24413516e-02  9.99748161e-01  3.15635486e-05]
 [ 2.71099534e-05 -3.09629623e-05  9.99999999e-01]]

 t_estimated:
[[-0.50581262]
 [-0.86264216]
 [-0.00144971]]

 R_gt:
[[ 0.99875793  0.04968321  0.00380715]
 [-0.0496423   0.9987167  -0.01000005]
 [-0.00429864  0.00979875  0.99994257]]

 t_gt:
[-0.05470976  0.95869473 -0.27912587]

Pose Error in degrees for R and t:
1.6780348819716837 36.97167270146517

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.97601382e-01  6.92200360e-02 -2.62084041e-04]
 [-6.92200124e-02  9.97601414e-01  9.79936345e-05]
 [ 2.68238533e-04 -7.96171247e-05  9.99999961e-01]]

 t_estimated:
[[0.86947209]
 [0.49398111]
 [0.00096713]]

 R_gt:
[[ 0.99191266  0.12684028 -0.00442687]
 [-0.12689611  0.99178751 -0.01592009]
 [ 0.00237148  0.01635273  0.99986379]]

 t_gt:
[ 0.06750016  0.9810772  -0.18146971]

Pose Error in degrees for R and t:
3.4533347327111525 57.101831567758886

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-8.13262717e-01 -5.81896569e-01 -3.68198243e-04]
 [ 5.81895243e-01 -8.13259129e-01 -2.74133078e-03]
 [ 1.29573040e-03 -2.44367493e-03  9.99996175e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.98834232  0.1477627   0.03666575]
 [-0.14790504  0.98899997  0.00118395]
 [-0.03608692 -0.00659291  0.99932716]]

 t_gt:
[0.22998819 0.93626764 0.26553408]

Pose Error in degrees for R and t:
152.9277789504797 45.31667717776094

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.99986814e-01 -5.13534978e-03 -4.65889849e-06]
 [ 5.13534986e-03  9.99986814e-01  1.71594088e-05]
 [ 4.57071750e-06 -1.71831076e-05  1.00000000e+00]]

 t_estimated:
[[ 6.06240726e-01]
 [-7.95281162e-01]
 [-2.34782836e-04]]

 R_gt:
[[ 0.99610769 -0.0565057  -0.06765788]
 [ 0.05854168  0.99787879  0.02849227]
 [ 0.06590488 -0.032342    0.9973018 ]]

 t_gt:
[ 0.51672466 -0.72219605 -0.45981354]

Pose Error in degrees for R and t:
5.172850872906498 27.412320702107348

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 8.72279285e-01 -4.89007731e-01 -5.36830571e-04]
 [ 4.89007731e-01  8.72279439e-01 -1.40176191e-04]
 [ 5.36813510e-04 -1.40241512e-04  9.99999846e-01]]

 t_estimated:
[[ 0.41635164]
 [-0.90920316]
 [-0.00096087]]

 R_gt:
[[ 0.99224346 -0.08369756 -0.09191696]
 [ 0.088418    0.99490055  0.04853397]
 [ 0.08738574 -0.056284    0.99458293]]

 t_gt:
[ 0.55059807 -0.75235165 -0.36167493]

Pose Error in degrees for R and t:
25.02878695783736 23.988027271533625

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-9.82745525e-01 -1.84961200e-01 -7.66317004e-04]
 [-1.84956221e-01  9.82737115e-01 -4.35414416e-03]
 [ 1.55843589e-03 -4.13728060e-03 -9.99990227e-01]]

 t_estimated:
[[0.99428699]
 [0.10673221]
 [0.00127399]]

 R_gt:
[[ 0.98790189 -0.11918837 -0.09922278]
 [ 0.12284368  0.99192457  0.03155838]
 [ 0.09466066 -0.04336589  0.99456477]]

 t_gt:
[ 0.57615622 -0.73398247 -0.3596022 ]

Pose Error in degrees for R and t:
174.56846341644146 60.39175797303365

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99994420e-01  3.34043662e-03  3.92769346e-05]
 [-3.34042944e-03  9.99994404e-01 -1.81483737e-04]
 [-3.98829497e-05  1.81351522e-04  9.99999983e-01]]

 t_estimated:
[[ 0.36810812]
 [-0.92978181]
 [-0.00148223]]

 R_gt:
[[ 0.99777231  0.03831199  0.05459974]
 [-0.03662697  0.99883178 -0.03151961]
 [-0.05574385  0.02945096  0.99801075]]

 t_gt:
[0.05154244 0.94047984 0.33591822]

Pose Error in degrees for R and t:
4.104862535292732 31.133407352769346

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99999998e-01  5.93105692e-05  2.44607396e-05]
 [-5.93100605e-05  9.99999998e-01 -2.07996472e-05]
 [-2.44619732e-05  2.07981964e-05  9.99999999e-01]]

 t_estimated:
[[0.99750117]
 [0.0706426 ]
 [0.00102391]]

 R_gt:
[[ 0.99514874  0.03999896  0.08988643]
 [-0.04107351  0.99910446  0.01013971]
 [-0.08940004 -0.013782    0.99590045]]

 t_gt:
[-0.04238354  0.65183887  0.75717219]

Pose Error in degrees for R and t:
5.685211776616777 89.73957672763147

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.99936229  0.03560026  0.00276308]
 [-0.03561217 -0.99935605 -0.00438765]
 [ 0.0026051  -0.00448325  0.99998656]]

 t_estimated:
[[7.79279006e-01]
 [6.26676656e-01]
 [7.74631219e-04]]

 R_gt:
[[ 0.99670387 -0.05676647  0.05795654]
 [ 0.05224258  0.99567634  0.07680232]
 [-0.06206508 -0.07352107  0.99536081]]

 t_gt:
[ 0.47259116 -0.05557924  0.87952746]

Pose Error in degrees for R and t:
178.92240670126392 70.4802685027275

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.08761368e-01 -4.17314910e-01 -1.02039513e-03]
 [ 4.17315497e-01  9.08761564e-01  4.42027710e-04]
 [ 7.42831121e-04 -8.27524407e-04  9.99999382e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98989135  0.1405764   0.01879647]
 [-0.13903637  0.98801341 -0.06707004]
 [-0.02799877  0.06377869  0.997571  ]]

 t_gt:
[-0.65698942  0.74515477 -0.11449573]

Pose Error in degrees for R and t:
32.954535673544335 42.18987469807404

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 3.87813380e-01 -9.21732696e-01 -3.10164773e-03]
 [ 9.21737839e-01  3.87812514e-01  9.00398193e-04]
 [ 3.72931348e-04 -3.20809254e-03  9.99994785e-01]]

 t_estimated:
[[ 6.95520162e-02]
 [-9.97578103e-01]
 [-6.67389562e-04]]

 R_gt:
[[ 0.9662429   0.25730349  0.01301315]
 [-0.25560653  0.96374346 -0.07657266]
 [-0.03224372  0.07066235  0.99697889]]

 t_gt:
[-0.62158425  0.78077597 -0.06341847]

Pose Error in degrees for R and t:
82.17394725014285 34.70693528503047

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-8.79403081e-01 -4.76076984e-01 -9.63102666e-04]
 [ 4.76077734e-01 -8.79398906e-01 -2.74883912e-03]
 [ 4.61707606e-04 -2.87584932e-03  9.99995758e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96020816  0.2785369  -0.02042731]
 [-0.27924329  0.95624106 -0.08732275]
 [-0.00478866  0.08955299  0.99597066]]

 t_gt:
[-0.6055294   0.77483417 -0.18156583]

Pose Error in degrees for R and t:
167.810264457042 52.895941362248884

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99957411e-01  9.22897424e-03 -5.27180553e-05]
 [-9.22897486e-03  9.99957412e-01 -1.15451213e-05]
 [ 5.26092606e-05  1.20311632e-05  9.99999999e-01]]

 t_estimated:
[[-4.18308969e-01]
 [-9.08304752e-01]
 [-2.89465651e-04]]

 R_gt:
[[ 0.98896622  0.06354162  0.13382832]
 [-0.05803356  0.99731582 -0.04466928]
 [-0.13630706  0.03640949  0.98999685]]

 t_gt:
[-0.4108175   0.50801352  0.75706753]

Pose Error in degrees for R and t:
8.640086237641865 73.15392165143545

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.97336605  0.22719023 -0.03071032]
 [-0.22918001  0.9677309  -0.10475415]
 [ 0.00592021  0.10900233  0.99402386]]

 t_estimated:
[[-0.84515425]
 [-0.50709255]
 [-0.16903085]]

 R_gt:
[[ 0.95761463  0.17652651  0.22762331]
 [-0.15941091  0.9829492  -0.09165096]
 [-0.23992077  0.05148127  0.96942575]]

 t_gt:
[-0.37471018  0.64813364  0.66295932]

Pose Error in degrees for R and t:
15.158450740858877 82.87488641568186

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.99806139  0.06169816 -0.00817331]
 [ 0.06209478  0.99603224 -0.06374963]
 [ 0.00420764 -0.06413356 -0.99793245]]

 t_estimated:
[[8.65048340e-01]
 [5.01687869e-01]
 [8.07043956e-04]]

 R_gt:
[[ 0.91076754  0.34585712  0.2255765 ]
 [-0.32361634  0.9371758  -0.13028652]
 [-0.25646553  0.04566064  0.96547415]]

 t_gt:
[-0.32457237  0.82593007  0.46096887]

Pose Error in degrees for R and t:
165.38930587661181 82.30149487406091

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99987945e-01  4.90966964e-03 -7.56781163e-05]
 [-4.90964769e-03  9.99987906e-01  2.87632175e-04]
 [ 7.70893800e-05 -2.87257155e-04  9.99999956e-01]]

 t_estimated:
[[0.67452991]
 [0.73824662]
 [0.00114945]]

 R_gt:
[[ 0.99858556 -0.05231082 -0.00950201]
 [ 0.052626    0.99794175  0.03665868]
 [ 0.00756576 -0.03710794  0.99928314]]

 t_gt:
[ 0.463518   -0.85427689  0.23529144]

Pose Error in degrees for R and t:
3.9314411809424543 71.47370680346152

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.41094338e-01 -3.38144112e-01 -8.03975111e-05]
 [ 3.38144121e-01  9.41094303e-01  2.58841075e-04]
 [-1.18639458e-05 -2.70779816e-04  9.99999963e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99267201 -0.10347359 -0.06241738]
 [ 0.10713721  0.99252087  0.05851827]
 [ 0.05589567 -0.0647774   0.99633351]]

 t_gt:
[ 0.54771618 -0.83556305 -0.04291129]

Pose Error in degrees for R and t:
14.551880228234127 66.00445014949351

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 8.80588930e-01 -4.73717788e-01  1.24335396e-02]
 [ 4.73685145e-01  8.80676218e-01  5.63757041e-03]
 [-1.36205401e-02  9.25200935e-04  9.99906808e-01]]

 t_estimated:
[[0.983726  ]
 [0.17928372]
 [0.01185386]]

 R_gt:
[[ 0.99437045 -0.09857157 -0.0388692 ]
 [ 0.09962103  0.99468523  0.0260423 ]
 [ 0.03609563 -0.02976856  0.9989049 ]]

 t_gt:
[ 0.53311094 -0.8419847  -0.08279187]

Pose Error in degrees for R and t:
22.819124098164757 68.13014673403923

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-7.16145257e-01 -6.97949942e-01 -1.35987075e-03]
 [ 6.97949863e-01 -7.16146365e-01  6.10103636e-04]
 [-1.39968829e-03 -5.12198778e-04  9.99998889e-01]]

 t_estimated:
[[9.94266496e-01]
 [1.06927536e-01]
 [7.97966690e-04]]

 R_gt:
[[ 0.90670984 -0.42166009  0.00886979]
 [ 0.42146597  0.90666817  0.01785315]
 [-0.01556929 -0.01244866  0.99980142]]

 t_gt:
[ 0.89315483 -0.44788329  0.04092693]

Pose Error in degrees for R and t:
110.80435380104558 32.84134082876314

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 5.70043809e-01  8.21568997e-01  8.62776797e-03]
 [-8.21475583e-01  5.70109097e-01 -1.23888944e-02]
 [-1.50971006e-02 -2.52881472e-05  9.99886032e-01]]

 t_estimated:
[[-0.91934488]
 [ 0.39326462]
 [ 0.01216256]]

 R_gt:
[[ 0.8053344  -0.5925583   0.01763871]
 [ 0.59203767  0.80544423  0.0274193 ]
 [-0.03045379 -0.01163817  0.99946813]]

 t_gt:
[ 0.93159492 -0.36077486  0.04441179]

Pose Error in degrees for R and t:
91.58380780004677 3.803993126046468

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99255073e-01 -3.85914264e-02 -1.54825074e-05]
 [ 3.85914293e-02  9.99255031e-01  2.91453928e-04]
 [ 4.22335056e-06 -2.91834309e-04  9.99999957e-01]]

 t_estimated:
[[0.86797067]
 [0.49661412]
 [0.00115278]]

 R_gt:
[[ 6.57080038e-01 -7.50377135e-01 -7.19668213e-02]
 [ 7.52336641e-01  6.58779689e-01  1.79111249e-04]
 [ 4.72765599e-02 -5.42606281e-02  9.97407115e-01]]

 t_gt:
[ 0.97055568 -0.24007667  0.01961804]

Pose Error in degrees for R and t:
46.7527671591404 43.67977161548981

Number of keypoints:
Image1: 324
Image2: 324

 R_estimated:
[[ 9.99659077e-01  2.61099351e-02  3.25472687e-05]
 [-2.61099344e-02  9.99659077e-01 -2.26631452e-05]
 [-3.31279058e-05  2.18056118e-05  9.99999999e-01]]

 t_estimated:
[[ 7.88045819e-01]
 [-6.15616588e-01]
 [ 5.98087823e-05]]

 R_gt:
[[ 0.99923633 -0.03297459 -0.02098318]
 [ 0.03335743  0.99927925  0.01817802]
 [ 0.02036854 -0.01886506  0.99961508]]

 t_gt:
[ 0.56657089 -0.8082114  -0.1605981 ]

Pose Error in degrees for R and t:
3.751149583375292 19.261545734697968

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[-0.67971141  0.73280592  0.03143065]
 [ 0.7328146   0.68029571 -0.01343515]
 [-0.03122749  0.01390082 -0.99941563]]

 t_estimated:
[[ 0.9201074 ]
 [-0.39128755]
 [ 0.01721683]]

 R_gt:
[[ 9.97171126e-01 -7.03009195e-02 -2.66168857e-02]
 [ 7.03073274e-02  9.97525654e-01 -6.86718209e-04]
 [ 2.65996709e-02 -1.18706896e-03  9.99645292e-01]]

 t_gt:
[ 0.5746753  -0.76891011 -0.28022409]

Pose Error in degrees for R and t:
179.44596786636183 34.43143725272063

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.96985472e-01  7.75877308e-02  3.35074553e-04]
 [-7.75875021e-02  9.96985335e-01 -6.48658851e-04]
 [-3.84392384e-04  6.20705853e-04  9.99999733e-01]]

 t_estimated:
[[ 0.84729373]
 [-0.53111986]
 [-0.0022433 ]]

 R_gt:
[[ 0.99396257 -0.10575243 -0.02925205]
 [ 0.10593773  0.99436183  0.00486576]
 [ 0.02857296 -0.00793602  0.99956064]]

 t_gt:
[ 0.56561544 -0.80282046 -0.18856957]

Pose Error in degrees for R and t:
10.667272943263015 25.03366351212188

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.99999770e-01 -4.12638021e-04 -5.38817616e-04]
 [ 4.12919681e-04  9.99999778e-01  5.22731281e-04]
 [ 5.38601797e-04 -5.22953649e-04  9.99999718e-01]]

 t_estimated:
[[-9.99963460e-01]
 [-4.61811902e-04]
 [-8.53607989e-03]]

 R_gt:
[[ 0.99772783  0.06263422  0.02482879]
 [-0.06311072  0.99782897  0.01883635]
 [-0.02359464 -0.02036024  0.99951342]]

 t_gt:
[-0.18523697  0.45432891  0.87136244]

Pose Error in degrees for R and t:
4.047406444265184 79.77102860810528

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-1.39059590e-01 -9.90281777e-01 -2.10555516e-03]
 [ 9.90284013e-01 -1.39059426e-01 -2.24671964e-04]
 [-7.03087407e-05 -2.11634040e-03  9.99997758e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98420685  0.17325489  0.03632676]
 [-0.17489037  0.98341389  0.04807331]
 [-0.02739486 -0.05366705  0.99818232]]

 t_gt:
[-0.30818483  0.78523371  0.53705691]

Pose Error in degrees for R and t:
108.06436426234727 72.22185404316369

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99993095e-01  3.68456069e-03  4.84146408e-04]
 [-3.68470491e-03  9.99993167e-01  2.97334349e-04]
 [-4.83047553e-04 -2.99116233e-04  9.99999839e-01]]

 t_estimated:
[[-0.99976284]
 [ 0.02163648]
 [ 0.00247426]]

 R_gt:
[[ 0.96618607  0.25618667  0.02920874]
 [-0.25708589  0.96583239  0.03280148]
 [-0.01980629 -0.03920145  0.99903483]]

 t_gt:
[-0.15006572  0.94701653  0.28397178]

Pose Error in degrees for R and t:
14.875011563955127 80.1410735130907

Number of keypoints:
Image1: 580
Image2: 580

 R_estimated:
[[-0.82334651  0.5650288   0.05331956]
 [ 0.56506532  0.82489417 -0.01583677]
 [-0.05293123  0.01708989 -0.99845191]]

 t_estimated:
[[ 0.95681466]
 [-0.28933038]
 [ 0.02817149]]

 R_gt:
[[ 0.99897126 -0.04457584 -0.00840814]
 [ 0.04446528  0.99892832 -0.01287664]
 [ 0.00897429  0.01248924  0.99988195]]

 t_gt:
[ 0.53088207 -0.77765818 -0.33676695]

Pose Error in degrees for R and t:
177.07266607762017 43.65839307347844

Number of keypoints:
Image1: 473
Image2: 473

 R_estimated:
[[-0.95076122  0.30721779  0.04086959]
 [ 0.30722466  0.95161637 -0.00626837]
 [-0.04081792  0.00659642 -0.99914483]]

 t_estimated:
[[ 0.98730597]
 [-0.15744463]
 [ 0.02093086]]

 R_gt:
[[ 0.99810555 -0.0613021  -0.00528188]
 [ 0.06136155  0.99804429  0.01196775]
 [ 0.00453857 -0.01226852  0.99991448]]

 t_gt:
[ 0.43107773 -0.90124861  0.04385132]

Pose Error in degrees for R and t:
178.01721270611168 55.35986338537843

Number of keypoints:
Image1: 367
Image2: 367

 R_estimated:
[[-0.99613487  0.08760274  0.00640973]
 [ 0.08764602  0.99612837  0.00681458]
 [-0.00578794  0.00735003 -0.99995624]]

 t_estimated:
[[0.99843261]
 [0.0559288 ]
 [0.00207144]]

 R_gt:
[[ 0.99273769 -0.11758019  0.02543247]
 [ 0.11734875  0.99303735  0.01036603]
 [-0.02647428 -0.00730599  0.99962296]]

 t_gt:
[ 0.34877868 -0.90303342  0.25076698]

Pose Error in degrees for R and t:
178.16034991590993 72.64772290139909

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.97300263e-01 -7.34314727e-02  5.88969879e-05]
 [ 7.34314630e-02  9.97300254e-01  1.53123490e-04]
 [-6.99820644e-05 -1.48385205e-04  9.99999987e-01]]

 t_estimated:
[[ 0.97302162]
 [-0.23070746]
 [ 0.00172941]]

 R_gt:
[[ 0.9986798  -0.03803728 -0.03455505]
 [ 0.03821292  0.99925979  0.00444441]
 [ 0.03436012 -0.0057586   0.99939269]]

 t_gt:
[ 0.61058819 -0.69687119 -0.37623479]

Pose Error in degrees for R and t:
2.845185304855085 41.04114778827218

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-9.19198324e-01  3.93794207e-01  7.50507743e-04]
 [-3.93794415e-01 -9.19192411e-01 -3.35723602e-03]
 [-6.32199077e-04 -3.38151149e-03  9.99994083e-01]]

 t_estimated:
[[0.63944755]
 [0.76883378]
 [0.00120259]]

 R_gt:
[[ 0.9942038  -0.09365817 -0.05280936]
 [ 0.09616936  0.99424464  0.04719932]
 [ 0.0480845  -0.05200506  0.99748832]]

 t_gt:
[ 0.57730174 -0.81515597 -0.04736516]

Pose Error in degrees for R and t:
162.27860944308406 75.070980205036

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.17877237e-01 -3.96861949e-01 -1.40414935e-03]
 [ 3.96863275e-01  9.17877361e-01  8.31081321e-04]
 [ 9.59012344e-04 -1.32008593e-03  9.99998669e-01]]

 t_estimated:
[[9.05170198e-01]
 [4.25048720e-01]
 [7.06060997e-04]]

 R_gt:
[[ 0.98373653 -0.14273276 -0.1090471 ]
 [ 0.14896396  0.98751359  0.05125963]
 [ 0.10036855 -0.06667016  0.99271378]]

 t_gt:
[ 0.60944193 -0.76679224 -0.20151972]

Pose Error in degrees for R and t:
16.44116889256168 76.9628765578667

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999996e-01 -3.55890294e-05 -8.43064867e-05]
 [ 3.55991470e-05  9.99999992e-01  1.20010872e-04]
 [ 8.43022150e-05 -1.20013873e-04  9.99999989e-01]]

 t_estimated:
[[4.72543402e-01]
 [8.81307010e-01]
 [8.29089337e-04]]

 R_gt:
[[ 0.99517266  0.09672196  0.0165929 ]
 [-0.09568906  0.99391193 -0.05462578]
 [-0.02177529  0.05277462  0.99836898]]

 t_gt:
[-0.51331938  0.8438116  -0.15647747]

Pose Error in degrees for R and t:
6.426994114019123 59.93635689723023

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99999956e-01  2.66449440e-04 -1.28765989e-04]
 [-2.66436926e-04  9.99999960e-01  9.71895495e-05]
 [ 1.28791880e-04 -9.71552372e-05  9.99999987e-01]]

 t_estimated:
[[-0.75590447]
 [-0.6546801 ]
 [-0.00155107]]

 R_gt:
[[ 0.98024634  0.19703724  0.01714529]
 [-0.19627719  0.97980036 -0.03831775]
 [-0.02434944  0.03419562  0.99911835]]

 t_gt:
[-0.50489563  0.86267633 -0.02949501]

Pose Error in degrees for R and t:
11.584764655787595 79.45087965953253

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999997e-01 -4.73743230e-05 -6.36296513e-05]
 [ 4.73691366e-05  9.99999996e-01 -8.15082250e-05]
 [ 6.36335124e-05  8.15052107e-05  9.99999995e-01]]

 t_estimated:
[[-9.99996995e-01]
 [-2.32557421e-03]
 [-7.75191469e-04]]

 R_gt:
[[ 0.94839659  0.31434524  0.04162172]
 [-0.3132456   0.94916972 -0.03089301]
 [-0.04921675  0.01626114  0.99865535]]

 t_gt:
[-0.48209226  0.87449405  0.05335928]

Pose Error in degrees for R and t:
18.541246152487947 61.31356976282278

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99999994e-01 -1.11347990e-04 -1.69557860e-05]
 [ 1.11345341e-04  9.99999982e-01 -1.56129011e-04]
 [ 1.69731703e-05  1.56127122e-04  9.99999988e-01]]

 t_estimated:
[[ 0.81722426]
 [ 0.57631766]
 [-0.00157067]]

 R_gt:
[[ 0.99840016 -0.03899059  0.04095805]
 [ 0.03771514  0.99879323  0.03145341]
 [-0.04213457 -0.02985674  0.99866589]]

 t_gt:
[ 0.41282906 -0.78808936  0.45660412]

Pose Error in degrees for R and t:
3.6886320047267476 83.25024944793674

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.33119442 -0.94356024 -0.0020814 ]
 [ 0.94351053 -0.3311522  -0.01122923]
 [ 0.0099062  -0.00568288  0.99993478]]

 t_estimated:
[[8.30521221e-01]
 [5.56986371e-01]
 [8.26389275e-04]]

 R_gt:
[[ 0.99903766 -0.04382739  0.00183629]
 [ 0.0437566   0.99862774  0.02875452]
 [-0.00309381 -0.02864533  0.99958453]]

 t_gt:
[ 0.4026227  -0.89509391  0.19157725]

Pose Error in degrees for R and t:
106.84628533964178 80.5602663680644

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.99994763 -0.00919602 -0.00449162]
 [ 0.00921643  0.9999472   0.004544  ]
 [ 0.00444959 -0.00458516  0.99997959]]

 t_estimated:
[[ 0.86433787]
 [-0.50290443]
 [-0.00268026]]

 R_gt:
[[ 0.98881598 -0.14448088 -0.03700462]
 [ 0.14415633  0.98949075 -0.01128   ]
 [ 0.03824575  0.00582058  0.99925144]]

 t_gt:
[ 0.67841802 -0.7266699  -0.10816582]

Pose Error in degrees for R and t:
8.038337025498882 17.802170717905668

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.93329100e-01  1.15313846e-01  1.22897798e-04]
 [-1.15313821e-01  9.93329091e-01 -1.99848113e-04]
 [-1.45123212e-04  1.84343132e-04  9.99999972e-01]]

 t_estimated:
[[7.96323615e-01]
 [6.04870332e-01]
 [7.62762083e-04]]

 R_gt:
[[ 0.99669858 -0.08100869  0.00546122]
 [ 0.0807006   0.99581066  0.04302373]
 [-0.00892363 -0.04244044  0.99905971]]

 t_gt:
[ 0.67408474 -0.65297077  0.34530992]

Pose Error in degrees for R and t:
11.533590690175393 81.83117688575051

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.94399758e-01  1.05684016e-01  9.62149198e-05]
 [-1.05684033e-01  9.94399740e-01  2.04492744e-04]
 [-7.40644769e-05 -2.13515916e-04  9.99999974e-01]]

 t_estimated:
[[-0.64647151]
 [-0.76293766]
 [-0.00084396]]

 R_gt:
[[ 0.98374746 -0.17840493 -0.02031621]
 [ 0.17917922  0.98271353  0.04658782]
 [ 0.01165421 -0.04947064  0.99870841]]

 t_gt:
[ 0.76409501 -0.63364599  0.12104372]

Pose Error in degrees for R and t:
16.626262657926834 89.39062349780693

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.60984897  0.79250549  0.00439089]
 [ 0.79251696  0.60984639  0.00205946]
 [-0.00104564  0.00473581 -0.99998824]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96787861 -0.25041283 -0.02247957]
 [ 0.25137167  0.96556657  0.06704463]
 [ 0.00491696 -0.070542    0.99749678]]

 t_gt:
[ 0.76884341 -0.61944286  0.15865169]

Pose Error in degrees for R and t:
177.73294736696445 39.9110235401774

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.95975772e-01 -8.96228197e-02 -1.07382518e-04]
 [ 8.96228282e-02  9.95975774e-01  7.66084263e-05]
 [ 1.00084523e-04 -8.59240615e-05  9.99999991e-01]]

 t_estimated:
[[ 9.06451815e-01]
 [ 4.22309045e-01]
 [-4.21968779e-04]]

 R_gt:
[[ 0.9962786  -0.08557095 -0.01033731]
 [ 0.08593299  0.99540944  0.04212906]
 [ 0.00668418 -0.04286023  0.99905899]]

 t_gt:
[ 0.61184016 -0.70700928  0.35466814]

Pose Error in degrees for R and t:
2.490177724752365 75.17440947759026

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.91628120e-01 -4.52767479e-01 -9.51410319e-04]
 [ 4.52768110e-01  8.91628108e-01  5.96926056e-04]
 [ 5.78035477e-04 -9.63004309e-04  9.99999369e-01]]

 t_estimated:
[[8.83149675e-01]
 [4.69090776e-01]
 [7.04563001e-04]]

 R_gt:
[[ 0.99467985 -0.10106162 -0.01998625]
 [ 0.10290217  0.98392896  0.14592703]
 [ 0.00491693 -0.14720679  0.98909336]]

 t_gt:
[ 0.40999443 -0.66729389  0.62179051]

Pose Error in degrees for R and t:
22.6406297733317 87.1625201766897

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-1.59173204e-01  9.87250304e-01  8.53021846e-04]
 [ 9.87242278e-01  1.59168228e-01  4.26130753e-03]
 [ 4.07120318e-03  1.52042520e-03 -9.99990557e-01]]

 t_estimated:
[[-0.94468166]
 [-0.32798719]
 [-0.000982  ]]

 R_gt:
[[ 0.98334538 -0.17205775 -0.05854475]
 [ 0.18097838  0.95656204  0.22854997]
 [ 0.01667768 -0.23533904  0.97176999]]

 t_gt:
[ 0.50967091 -0.61207438  0.60464909]

Pose Error in degrees for R and t:
169.51249543160483 73.66111917738286

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999976e-01  2.17544098e-04 -5.36520481e-06]
 [-2.17544089e-04  9.99999976e-01  1.64861218e-06]
 [ 5.36556333e-06 -1.64744497e-06  1.00000000e+00]]

 t_estimated:
[[-2.17234744e-01]
 [ 9.76119382e-01]
 [-1.31856175e-04]]

 R_gt:
[[ 0.99866607  0.02994637 -0.0420682 ]
 [-0.02964894  0.99953094  0.00768411]
 [ 0.04227924 -0.00642601  0.99908462]]

 t_gt:
[-0.01270706  0.7376033  -0.67511474]

Pose Error in degrees for R and t:
2.9802575334259895 43.71068372463504

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.95889939e-01  9.05715804e-02 -1.31267173e-04]
 [-9.05715787e-02  9.95889948e-01  1.88430346e-05]
 [ 1.32434302e-04 -6.87651344e-06  9.99999991e-01]]

 t_estimated:
[[-0.94162232]
 [-0.33666943]
 [-0.00105209]]

 R_gt:
[[ 9.97216710e-01  2.80951946e-02  6.90544723e-02]
 [-2.81387822e-02  9.99603688e-01 -3.40690077e-04]
 [-6.90366580e-02 -1.60237958e-03  9.97612553e-01]]

 t_gt:
[-0.35862038  0.41648007  0.83542551]

Pose Error in degrees for R and t:
5.345858181336467 78.66238373770193

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.68079189 -0.73243687 -0.00765731]
 [ 0.73128339 -0.67904891 -0.06416528]
 [ 0.04179733 -0.04928287  0.99790991]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.98095116  0.07130659  0.18069429]
 [-0.07419578  0.99720111  0.00926721]
 [-0.17952683 -0.02249746  0.98349525]]

 t_gt:
[-0.42293151  0.33877791  0.84045135]

Pose Error in degrees for R and t:
137.66294013769686 65.2559681340101

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.94363680e-01  1.06022511e-01  3.14573780e-04]
 [-1.06022332e-01  9.94363604e-01 -5.37302664e-04]
 [-3.69766895e-04  5.00922409e-04  9.99999806e-01]]

 t_estimated:
[[0.87984274]
 [0.47526365]
 [0.00110408]]

 R_gt:
[[ 9.85337519e-01 -7.07788418e-03  1.70470318e-01]
 [ 6.91676525e-03  9.99974987e-01  1.53300345e-03]
 [-1.70476304e-01 -3.30883401e-04  9.85361733e-01]]

 t_gt:
[-0.19615256 -0.04932604  0.97933197]

Pose Error in degrees for R and t:
11.74646885802676 78.75848855460335

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99153463e-01  4.11382443e-02  5.34248336e-05]
 [-4.11382348e-02  9.99153450e-01 -1.67579205e-04]
 [-6.02735211e-05  1.65239539e-04  9.99999985e-01]]

 t_estimated:
[[-1.46460210e-01]
 [-9.89216559e-01]
 [ 8.02676686e-05]]

 R_gt:
[[ 9.74011425e-01  2.19818254e-02  2.25430395e-01]
 [-2.26555174e-02  9.99743884e-01  4.02087475e-04]
 [-2.25363687e-01 -5.49800905e-03  9.74259281e-01]]

 t_gt:
[-0.33194764  0.06672346  0.94093504]

Pose Error in degrees for R and t:
13.068018253906663 89.0080860542412

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-1.12422723e-01 -9.93660300e-01 -5.83303750e-04]
 [-9.93660300e-01  1.12422341e-01  6.51843461e-04]
 [-5.82134596e-04  6.52887796e-04 -9.99999617e-01]]

 t_estimated:
[[0.77058487]
 [0.63733669]
 [0.00095037]]

 R_gt:
[[ 0.97315976  0.08726438  0.21294346]
 [-0.08851939  0.99606777 -0.00365188]
 [-0.21242465 -0.01529546  0.97705805]]

 t_gt:
[-0.55008851  0.2833395   0.78557073]

Pose Error in degrees for R and t:
170.61829690465837 75.96227868840921

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.93772031e-01  1.11430505e-01  6.26561393e-04]
 [-1.11429958e-01  9.93771927e-01 -8.49811574e-04]
 [-7.17354056e-04  7.74701265e-04  9.99999443e-01]]

 t_estimated:
[[ 0.28435205]
 [-0.9587018 ]
 [-0.00589705]]

 R_gt:
[[ 0.99132049 -0.13125465 -0.00747635]
 [ 0.13134667  0.9912455   0.01347136]
 [ 0.00564285 -0.01433697  0.99988092]]

 t_gt:
[ 0.75995792 -0.64895432  0.03636267]

Pose Error in degrees for R and t:
13.97458542355513 33.06681919764903

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99997970e-01  5.82886071e-04 -1.92870200e-03]
 [-5.77393512e-04  9.99995780e-01  2.84713304e-03]
 [ 1.93035342e-03 -2.84601364e-03  9.99994087e-01]]

 t_estimated:
[[-0.82461303]
 [-0.56569585]
 [-0.00125193]]

 R_gt:
[[ 0.97906309 -0.20067328 -0.03414971]
 [ 0.20205208  0.97841769  0.04329761]
 [ 0.02472421 -0.04929199  0.99847795]]

 t_gt:
[ 0.76987988 -0.63369704  0.07558461]

Pose Error in degrees for R and t:
12.028209968274595 73.9504939963087

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.99996622 -0.00805469  0.00163751]
 [-0.00804094 -0.99993371 -0.00824069]
 [ 0.00170378  0.00822724 -0.9999647 ]]

 t_estimated:
[[ 0.14422705]
 [ 0.98953658]
 [-0.00398833]]

 R_gt:
[[ 0.97158295 -0.2366535   0.00467426]
 [ 0.2365405   0.97146226  0.01759087]
 [-0.00870375 -0.01598532  0.99983387]]

 t_gt:
[ 0.76317064 -0.64288273  0.06536338]

Pose Error in degrees for R and t:
179.5064742839187 58.24104536017622

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.80455141e-01 -1.96739749e-01  1.08960948e-03]
 [ 1.96741157e-01  9.80454486e-01 -1.38509077e-03]
 [-7.95810094e-04  1.57239039e-03  9.99998447e-01]]

 t_estimated:
[[-0.69248405]
 [-0.72143278]
 [-0.00076181]]

 R_gt:
[[ 0.98925457 -0.14192103 -0.03513421]
 [ 0.14177761  0.98987622 -0.00656522]
 [ 0.03571058  0.00151311  0.99936063]]

 t_gt:
[ 0.8418093  -0.5305799  -0.09920727]

Pose Error in degrees for R and t:
3.81543361609446 78.45799987204998

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.28231629e-01 -3.71995678e-01  2.29308278e-03]
 [ 3.71996513e-01  9.28234125e-01  6.68448045e-05]
 [-2.15338367e-03  7.90971337e-04  9.99997369e-01]]

 t_estimated:
[[0.94852369]
 [0.31670288]
 [0.00144598]]

 R_gt:
[[ 0.96446971 -0.26123112 -0.03943654]
 [ 0.26245962  0.96447621  0.0299944 ]
 [ 0.03020007 -0.03927956  0.99877126]]

 t_gt:
[ 0.82759965 -0.55079802  0.10816816]

Pose Error in degrees for R and t:
7.273540617622967 52.35878197711211

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-9.46280143e-01  3.23347703e-01  3.91595312e-04]
 [ 3.23345584e-01  9.46277177e-01 -2.67157819e-03]
 [-1.23440638e-03 -2.40144078e-03 -9.99996355e-01]]

 t_estimated:
[[ 0.78733275]
 [-0.61652088]
 [ 0.00302496]]

 R_gt:
[[ 0.9588297  -0.27649348 -0.06477676]
 [ 0.28169147  0.95493077  0.09357777]
 [ 0.03598378 -0.10797301  0.99350228]]

 t_gt:
[ 0.74763418 -0.60518102  0.27349417]

Pose Error in degrees for R and t:
176.18635268292022 15.725563180497103

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999892e-01 -3.00049985e-04  3.54754844e-04]
 [ 3.00175247e-04  9.99999893e-01 -3.53094782e-04]
 [-3.54648860e-04  3.53201232e-04  9.99999875e-01]]

 t_estimated:
[[0.73501151]
 [0.67805387]
 [0.00101078]]

 R_gt:
[[ 0.9978993  -0.06412651  0.00917774]
 [ 0.06409812  0.99793865  0.00341427]
 [-0.00937781 -0.00281908  0.99995178]]

 t_gt:
[ 0.74308282 -0.66731637  0.05016759]

Pose Error in degrees for R and t:
3.6995517243478497 84.62069661042734

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-8.08303946e-01 -5.88764860e-01 -8.18369858e-04]
 [ 5.88762390e-01 -8.08294528e-01 -4.33632392e-03]
 [ 1.89159127e-03 -3.98689313e-03  9.99990263e-01]]

 t_estimated:
[[8.73666821e-01]
 [4.86524138e-01]
 [7.41652649e-04]]

 R_gt:
[[ 0.99559527 -0.09346239  0.0074277 ]
 [ 0.09317306  0.99511246  0.03273224]
 [-0.01045055 -0.03189614  0.99943606]]

 t_gt:
[ 0.62129185 -0.75945496  0.19293676]

Pose Error in degrees for R and t:
138.58248159895555 80.01141337550304

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.60525015e-01  2.78193536e-01  2.27166309e-04]
 [-2.78193620e-01  9.60524867e-01  5.37416736e-04]
 [-6.86930269e-05 -5.79398437e-04  9.99999830e-01]]

 t_estimated:
[[0.73015901]
 [0.68327571]
 [0.00145812]]

 R_gt:
[[ 9.93056398e-01 -1.12840032e-01 -3.32483245e-02]
 [ 1.12803261e-01  9.93612855e-01 -2.98146445e-03]
 [ 3.33728832e-02 -7.90033808e-04  9.99442248e-01]]

 t_gt:
[ 0.62930173 -0.77299168 -0.08039403]

Pose Error in degrees for R and t:
22.71278281803626 86.05531702943232

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.99999986e-01  1.65459215e-04 -2.55348202e-05]
 [-1.65458358e-04  9.99999986e-01  3.35479210e-05]
 [ 2.55403706e-05 -3.35436956e-05  9.99999999e-01]]

 t_estimated:
[[-0.98287334]
 [-0.18427487]
 [-0.0016666 ]]

 R_gt:
[[ 9.99672778e-01  9.79444004e-03 -2.36591510e-02]
 [-9.77552787e-03  9.99952148e-01  9.04944257e-04]
 [ 2.36673902e-02 -6.74241492e-04  9.99720323e-01]]

 t_gt:
[-0.0228575   0.82436292 -0.56559996]

Pose Error in degrees for R and t:
1.461116530604298 82.61703750291188

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 8.00271011e-01  5.99638481e-01  2.96562094e-05]
 [-5.99638327e-01  8.00270839e-01 -6.79029114e-04]
 [-4.30904986e-04  5.25624316e-04  9.99999769e-01]]

 t_estimated:
[[-7.20398650e-02]
 [ 9.97401753e-01]
 [ 4.24315838e-05]]

 R_gt:
[[ 9.98476935e-01 -5.51707286e-02 -4.57076569e-04]
 [ 5.51725871e-02  9.98409803e-01  1.15572388e-02]
 [-1.81526566e-04 -1.15655115e-02  9.99933231e-01]]

 t_gt:
[ 0.95381316 -0.22646083  0.19737261]

Pose Error in degrees for R and t:
40.01271993174551 72.86784809893523

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99943985e-01  1.05793033e-02  3.24832358e-04]
 [-1.05793222e-02  9.99944036e-01  5.63784254e-05]
 [-3.24217734e-04 -5.98117735e-05  9.99999946e-01]]

 t_estimated:
[[9.67287297e-01]
 [2.53682029e-01]
 [8.44489222e-04]]

 R_gt:
[[ 0.98926241 -0.14606037 -0.00508051]
 [ 0.14590268  0.98901629 -0.02367885]
 [ 0.00848264  0.02268378  0.99970668]]

 t_gt:
[ 0.91899485 -0.36396177 -0.15159254]

Pose Error in degrees for R and t:
9.108854599048145 37.20534969579042

Number of keypoints:
Image1: 412
Image2: 412

 R_estimated:
[[-0.58065537 -0.81397952  0.01663363]
 [-0.81395818  0.58084063  0.00981053]
 [-0.01764706 -0.00784255 -0.99981352]]

 t_estimated:
[[0.87944896]
 [0.47588541]
 [0.01012965]]

 R_gt:
[[ 0.99340508 -0.10913281  0.03518925]
 [ 0.10815471  0.99372299  0.02858468]
 [-0.03808767 -0.0245907   0.99897187]]

 t_gt:
[ 0.3782267  -0.78601596  0.48900253]

Pose Error in degrees for R and t:
176.32515119724403 87.91001517806534

Number of keypoints:
Image1: 372
Image2: 372

 R_estimated:
[[ 5.96071014e-01  8.02931699e-01  1.82487918e-04]
 [-8.02930715e-01  5.96070613e-01 -1.44649879e-03]
 [-1.27021542e-03  7.15690849e-04  9.99998937e-01]]

 t_estimated:
[[0.59509662]
 [0.80365342]
 [0.00109192]]

 R_gt:
[[ 0.98596082 -0.16114507  0.04375589]
 [ 0.16073371  0.98691476  0.01278975]
 [-0.04524434 -0.00557737  0.99896078]]

 t_gt:
[ 0.42284148 -0.83505253  0.35198345]

Pose Error in degrees for R and t:
62.724801387775805 65.22367499502248

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.93189975e-01  1.16505637e-01  3.31622004e-04]
 [-1.16505538e-01  9.93189995e-01 -3.05209214e-04]
 [-3.64922251e-04  2.64494932e-04  9.99999898e-01]]

 t_estimated:
[[0.73297471]
 [0.68025533]
 [0.00087662]]

 R_gt:
[[ 0.9810583  -0.16868848  0.09523487]
 [ 0.1706611   0.98524576 -0.01290138]
 [-0.09165297  0.02891042  0.99537135]]

 t_gt:
[ 0.2167306  -0.8389018   0.49927109]

Pose Error in degrees for R and t:
17.36695876082912 65.70896802115986

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999998e-01 -5.78250156e-06  6.52750586e-05]
 [ 5.78709175e-06  9.99999998e-01 -7.03207259e-05]
 [-6.52746518e-05  7.03211035e-05  9.99999995e-01]]

 t_estimated:
[[-0.83621595]
 [-0.54839907]
 [-0.00115918]]

 R_gt:
[[ 0.99434618  0.09784241  0.04126881]
 [-0.09716593  0.99510375 -0.01808748]
 [-0.04283615  0.01397535  0.99898496]]

 t_gt:
[-0.56320093  0.81078025  0.15949955]

Pose Error in degrees for R and t:
6.162868093424463 88.5020269263692

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999907e-01 -2.47506792e-04 -3.53794372e-04]
 [ 2.47610461e-04  9.99999926e-01  2.93005835e-04]
 [ 3.53721825e-04 -2.93093410e-04  9.99999894e-01]]

 t_estimated:
[[-9.48062619e-01]
 [-3.18082519e-01]
 [-8.83562553e-04]]

 R_gt:
[[ 9.71335830e-01  2.35235034e-01  3.42203148e-02]
 [-2.35346435e-01  9.71910977e-01 -7.59433957e-04]
 [-3.34369370e-02 -7.31534340e-03  9.99414166e-01]]

 t_gt:
[-0.527955    0.84483891  0.08666442]

Pose Error in degrees for R and t:
13.769505219453231 76.60109331511816

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999956e-01  1.02241424e-04  2.78878370e-04]
 [-1.02126203e-04  9.99999909e-01 -4.13143042e-04]
 [-2.78920585e-04  4.13114543e-04  9.99999876e-01]]

 t_estimated:
[[0.94866321]
 [0.31628103]
 [0.00210573]]

 R_gt:
[[ 0.95775912  0.28166968  0.05797868]
 [-0.2820398   0.9594011  -0.00186271]
 [-0.05614911 -0.01456899  0.99831623]]

 t_gt:
[-0.50996999  0.84752025  0.14710554]

Pose Error in degrees for R and t:
16.7084332635018 77.5595123506124

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.9653228  -0.26050783 -0.01695745]
 [ 0.26060637  0.96543747  0.00384764]
 [ 0.01536901 -0.00813343  0.99984881]]

 t_estimated:
[[0.99992265]
 [0.01236168]
 [0.00137352]]

 R_gt:
[[ 0.98860616 -0.12962917  0.07651527]
 [ 0.11284038  0.97463897  0.19324653]
 [-0.09962493 -0.18241186  0.97816182]]

 t_gt:
[ 0.41440977 -0.39511659  0.81984597]

Pose Error in degrees for R and t:
14.549051858547545 65.75624430857464

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.87017939e-01 -6.11299039e-02  1.48521793e-01]
 [-6.18231890e-02 -9.98087116e-01  5.13530984e-05]
 [ 1.48234549e-01 -9.23277731e-03 -9.88909134e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97528549 -0.17539806  0.13436219]
 [ 0.13290065  0.95150961  0.27742759]
 [-0.17650715 -0.25271443  0.95130456]]

 t_gt:
[ 0.39400862 -0.28741358  0.8730124 ]

Pose Error in degrees for R and t:
164.7064780902858 73.49834947190658

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 2.38187269e-02  9.99716294e-01 -6.65985824e-06]
 [ 9.99716097e-01 -2.38187180e-02  6.28168854e-04]
 [ 6.27832009e-04 -2.16201499e-05 -9.99999803e-01]]

 t_estimated:
[[0.99990407]
 [0.01374439]
 [0.00171805]]

 R_gt:
[[ 0.98124433 -0.13098492  0.14142558]
 [ 0.08799869  0.95714312  0.27592046]
 [-0.17150614 -0.25830101  0.95071876]]

 t_gt:
[ 0.32093439 -0.1710456   0.93152806]

Pose Error in degrees for R and t:
175.22146431903917 71.32781624925234

Number of keypoints:
Image1: 502
Image2: 502

 R_estimated:
[[ 9.99510517e-01 -3.12846129e-02  1.98054603e-05]
 [ 3.12846118e-02  9.99510515e-01  5.44328349e-05]
 [-2.14986760e-05 -5.37865847e-05  9.99999998e-01]]

 t_estimated:
[[9.99931085e-01]
 [1.17287279e-02]
 [5.11768798e-04]]

 R_gt:
[[ 0.99854414 -0.05303619  0.00986534]
 [ 0.0532459   0.99832987 -0.02243364]
 [-0.0086593   0.02292706  0.99969992]]

 t_gt:
[ 0.36742232 -0.90169438 -0.22792124]

Pose Error in degrees for R and t:
1.8835262192973492 69.10204692849763

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[-8.35032313e-01  5.50196271e-01 -2.25830887e-03]
 [-5.50196627e-01 -8.35034972e-01 -5.16544351e-04]
 [-2.16996766e-03  8.11182696e-04  9.99997317e-01]]

 t_estimated:
[[0.64857441]
 [0.76115079]
 [0.00084012]]

 R_gt:
[[ 0.99559921 -0.04933902  0.07968155]
 [ 0.0528967   0.99766592 -0.04317423]
 [-0.07736516  0.04719876  0.99588491]]

 t_gt:
[-0.58416328 -0.46115045  0.66790233]

Pose Error in degrees for R and t:
149.58500556976318 43.17081169694447

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.99327240e-01 -3.66751544e-02 -2.82686623e-05]
 [ 3.66751646e-02  9.99327076e-01  5.72538924e-04]
 [ 7.25168617e-06 -5.73190501e-04  9.99999836e-01]]

 t_estimated:
[[-0.97844359]
 [-0.20651148]
 [-0.00107137]]

 R_gt:
[[ 0.99183503 -0.06800829  0.10788579]
 [ 0.07190045  0.99687897 -0.03260956]
 [-0.10533195  0.04010046  0.99362866]]

 t_gt:
[-0.49838858 -0.52145186  0.69260146]

Pose Error in degrees for R and t:
6.76139942216979 53.51667043996323

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999903e-01 -3.44806779e-04 -2.75855692e-04]
 [ 3.44929659e-04  9.99999841e-01  4.45528948e-04]
 [ 2.75702027e-04 -4.45624056e-04  9.99999863e-01]]

 t_estimated:
[[-8.65603140e-01]
 [-5.00730068e-01]
 [-7.76325686e-04]]

 R_gt:
[[ 0.99736225  0.0706525  -0.01661193]
 [-0.07026817  0.99727161  0.02264712]
 [ 0.01816689 -0.02141917  0.9996044 ]]

 t_gt:
[-0.64675587  0.75384237  0.11588152]

Pose Error in degrees for R and t:
4.357601307435654 79.49785059327652

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.90391734e-01 -1.38290139e-01 -2.23756957e-04]
 [ 1.38290034e-01  9.90391680e-01 -4.31498181e-04]
 [ 2.81278973e-04  3.96408875e-04  9.99999882e-01]]

 t_estimated:
[[-0.51928408]
 [-0.85460069]
 [-0.00130473]]

 R_gt:
[[ 9.91187818e-01  8.06467805e-02 -1.05085819e-01]
 [-8.11284869e-02  9.96704327e-01 -3.11522654e-04]
 [ 1.04714146e-01  8.83418941e-03  9.94462425e-01]]

 t_gt:
[-0.34241549  0.70030795 -0.62635486]

Pose Error in degrees for R and t:
13.958797666980265 65.174534077701

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-1.49085413e-01  9.88824319e-01 -7.45196574e-05]
 [-9.88822423e-01 -1.49085274e-01 -1.94848636e-03]
 [-1.93782048e-03 -2.16804185e-04  9.99998099e-01]]

 t_estimated:
[[0.42352912]
 [0.90588173]
 [0.00117647]]

 R_gt:
[[ 0.97847015  0.09244158 -0.18452817]
 [-0.09140078  0.99571407  0.01415489]
 [ 0.18504503  0.00301671  0.98272456]]

 t_gt:
[-0.14050933  0.57158071 -0.80842601]

Pose Error in degrees for R and t:
93.73215531314807 62.78545892007365

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.64369141  0.76511239 -0.01626044]
 [ 0.76498691 -0.64270217  0.04158057]
 [ 0.02136319 -0.03920408 -0.99900283]]

 t_estimated:
[[0.11980261]
 [0.9926502 ]
 [0.01711466]]

 R_gt:
[[ 0.9876926   0.15616598  0.00866867]
 [-0.15514003  0.98523117 -0.0724653 ]
 [-0.01985742  0.07022969  0.99733288]]

 t_gt:
[-0.29479794  0.93011601 -0.2190397 ]

Pose Error in degrees for R and t:
178.49112848229103 27.845112095359973

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.85547635  0.41380817  0.3113246 ]
 [-0.10436605  0.72663534 -0.67904993]
 [-0.50721587  0.54841944  0.66480687]]

 t_estimated:
[[-0.99560595]
 [-0.09363437]
 [-0.00118525]]

 R_gt:
[[ 0.97816708  0.20766112  0.00811418]
 [-0.20417194  0.96754982 -0.1488622 ]
 [-0.03876435  0.14395691  0.98882471]]

 t_gt:
[-0.23015886  0.92697664 -0.29621142]

Pose Error in degrees for R and t:
41.118842620006475 81.79578552361653

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.99999582  0.00239463 -0.0016183 ]
 [-0.00239252  0.99999628  0.0013071 ]
 [ 0.00162142 -0.00130322  0.99999784]]

 t_estimated:
[[-3.11317526e-01]
 [-9.50305943e-01]
 [-1.13219500e-04]]

 R_gt:
[[ 9.76643035e-01  2.14863596e-01 -9.37060802e-04]
 [-2.08597984e-01  9.47101086e-01 -2.43894675e-01]
 [-5.15166988e-02  2.38394382e-01  9.69800901e-01]]

 t_gt:
[-0.1919446   0.88864029 -0.41650416]

Pose Error in degrees for R and t:
18.75203443211847 38.309160441842785

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 7.93673090e-01  6.08275468e-01  9.16410715e-03]
 [ 6.08344089e-01 -7.93599934e-01 -1.07988511e-02]
 [ 7.03958611e-04  1.41456879e-02 -9.99899697e-01]]

 t_estimated:
[[0.9603633 ]
 [0.27874952]
 [0.00101733]]

 R_gt:
[[ 0.99964645  0.02095864 -0.01635573]
 [-0.02161705  0.99891977 -0.04112488]
 [ 0.01547648  0.04146394  0.99901997]]

 t_gt:
[-0.27872059  0.84080282 -0.46407484]

Pose Error in degrees for R and t:
177.30031570422713 88.06465256073706

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-9.84616222e-01  1.73873864e-01 -1.72850966e-02]
 [ 1.73847794e-01  9.84767931e-01  3.01108510e-03]
 [ 1.75453578e-02 -4.02126764e-05 -9.99846068e-01]]

 t_estimated:
[[ 0.99995522]
 [-0.00451893]
 [-0.00831504]]

 R_gt:
[[ 0.99902264 -0.04125362 -0.01585941]
 [ 0.03947112  0.99422518 -0.0997837 ]
 [ 0.0198852   0.09906091  0.99488241]]

 t_gt:
[ 0.34345634  0.74285539 -0.57463346]

Pose Error in degrees for R and t:
178.47806848010256 69.82661944228607

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.63650240e-01 -2.67166991e-01  1.15094294e-04]
 [ 2.67166904e-01  9.63650142e-01  4.98656996e-04]
 [-2.44135322e-04 -4.49781547e-04  9.99999869e-01]]

 t_estimated:
[[0.58849472]
 [0.80850058]
 [0.00088249]]

 R_gt:
[[ 0.99346482 -0.11395405  0.00649619]
 [ 0.11347108  0.97990472 -0.1640421 ]
 [ 0.01232786  0.16370765  0.98643161]]

 t_gt:
[ 0.63296372  0.58220337 -0.51029028]

Pose Error in degrees for R and t:
13.008648076976815 32.567567310593006

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.28644558e-01  3.70970538e-01  3.80813447e-04]
 [-3.70970457e-01  9.28644630e-01 -2.67237321e-04]
 [-4.52777536e-04  1.06897945e-04  9.99999892e-01]]

 t_estimated:
[[-2.57574519e-01]
 [ 9.66258009e-01]
 [ 9.09739493e-04]]

 R_gt:
[[ 0.99961821  0.02119786  0.01770733]
 [-0.02055715  0.99915331 -0.03564396]
 [-0.01844763  0.03526643  0.99920768]]

 t_gt:
[-0.75242891  0.23847197 -0.61398848]

Pose Error in degrees for R and t:
20.701122993104462 64.93327740389701

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-9.69836941e-01  2.43700565e-01  5.13257755e-03]
 [ 2.43705011e-01  9.69849373e-01  2.49802779e-04]
 [-4.91695004e-03  1.49310283e-03 -9.99986797e-01]]

 t_estimated:
[[0.97985708]
 [0.19968651]
 [0.00232194]]

 R_gt:
[[ 0.99608269  0.06493256  0.06003109]
 [-0.06008472  0.99503737 -0.07931169]
 [-0.06488241  0.07539467  0.9950411 ]]

 t_gt:
[-0.81295422  0.58212561 -0.01533653]

Pose Error in degrees for R and t:
175.60853083422325 47.1272861048695

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.98815116e-01 -4.86233609e-02 -2.03284524e-03]
 [ 4.86231810e-02  9.98817184e-01 -1.37821176e-04]
 [ 2.03714208e-03  3.88144721e-05  9.99997924e-01]]

 t_estimated:
[[ 0.80589718]
 [ 0.59202249]
 [-0.00625307]]

 R_gt:
[[ 0.99263688  0.05856763  0.1060328 ]
 [-0.04981864  0.99527231 -0.08336586]
 [-0.11041365  0.07746946  0.99086144]]

 t_gt:
[-0.7182546   0.41458635  0.5587741 ]

Pose Error in degrees for R and t:
9.816259657856348 70.31255355392486

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.85371869e-01 -1.70417304e-01 -4.72264250e-04]
 [ 1.70417762e-01  9.85371156e-01  1.21314463e-03]
 [ 2.58614734e-04 -1.27588081e-03  9.99999153e-01]]

 t_estimated:
[[-0.96953284]
 [-0.24495871]
 [-0.00114467]]

 R_gt:
[[ 0.99389001  0.0845226  -0.07098212]
 [-0.09044635  0.99228072 -0.0848412 ]
 [ 0.06326342  0.09074185  0.99386323]]

 t_gt:
[-0.29007734  0.68797039 -0.66524573]

Pose Error in degrees for R and t:
16.158413642530032 83.484231238006

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.75049861  0.66079403 -0.01015293]
 [-0.66086827 -0.75045757  0.00815864]
 [-0.00222816  0.0128328   0.99991517]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99033329  0.11044366 -0.08392096]
 [-0.118822    0.98761679 -0.10243837]
 [ 0.07156833  0.11141923  0.99119332]]

 t_gt:
[-0.29955904  0.73928301 -0.60309619]

Pose Error in degrees for R and t:
132.08660103499972 78.37361559289519

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 1.00000000e+00 -5.32907052e-14  1.02999206e-17]
 [ 5.31241717e-14  1.00000000e+00  9.53013710e-17]
 [ 9.48676901e-17 -4.98732999e-18  1.00000000e+00]]

 t_estimated:
[[-6.52044647e-01]
 [ 7.58180194e-01]
 [-7.56355327e-04]]

 R_gt:
[[ 0.99430303  0.06356398 -0.08557145]
 [-0.07496347  0.98768114 -0.13735381]
 [ 0.07578717  0.14298574  0.98681891]]

 t_gt:
[-0.13167365  0.66779166 -0.73260928]

Pose Error in degrees for R and t:
10.133155837015538 53.6499033077854

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99004046e-01 -4.46196541e-02  4.41378879e-05]
 [ 4.46196502e-02  9.99004044e-01  8.37097943e-05]
 [-4.78290306e-05 -8.16570061e-05  9.99999996e-01]]

 t_estimated:
[[ 8.64613518e-01]
 [-5.02437482e-01]
 [ 2.04923175e-04]]

 R_gt:
[[ 0.99375138 -0.11030647  0.01706752]
 [ 0.11117083  0.99180698 -0.06292335]
 [-0.00998643  0.06442753  0.9978732 ]]

 t_gt:
[ 0.81122759 -0.43477744 -0.39099664]

Pose Error in degrees for R and t:
5.337836270586456 23.108001331676295

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.82442126  0.56597472  0.00148599]
 [ 0.56594729 -0.82440238  0.00802381]
 [ 0.00576633 -0.00577401 -0.9999667 ]]

 t_estimated:
[[-0.99465043]
 [-0.10329033]
 [-0.00127519]]

 R_gt:
[[ 0.97196925 -0.23491082 -0.00966839]
 [ 0.23331294  0.9687984  -0.08363125]
 [ 0.02901211  0.07903155  0.99645027]]

 t_gt:
[ 0.86354353 -0.40836855 -0.29585082]

Pose Error in degrees for R and t:
176.2290514197425 35.277331293969574

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.17153067  0.98517815  0.00111094]
 [-0.98517627 -0.17152758 -0.00245276]
 [-0.00222584 -0.00151519  0.99999637]]

 t_estimated:
[[0.40118278]
 [0.91599675]
 [0.00152515]]

 R_gt:
[[ 0.93126598 -0.36428662 -0.00620412]
 [ 0.363624    0.93036881 -0.0468021 ]
 [ 0.02282153  0.04132942  0.99888561]]

 t_gt:
[ 0.89281743 -0.44038087 -0.09456073]

Pose Error in degrees for R and t:
121.25075601502809 87.40082058366961

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 6.40560641e-01  7.67877865e-01  6.75649289e-03]
 [-7.67824184e-01  6.40595951e-01 -9.10226735e-03]
 [-1.13176116e-02  6.42755574e-04  9.99935747e-01]]

 t_estimated:
[[0.44612142]
 [0.89497141]
 [0.00136429]]

 R_gt:
[[ 0.99874502 -0.04978488  0.0054569 ]
 [ 0.05006534  0.99534823 -0.08230939]
 [-0.00133305  0.08247926  0.99659181]]

 t_gt:
[ 0.34283523  0.37011445 -0.86341143]

Pose Error in degrees for R and t:
53.19865997328518 61.117821397137426

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.46689599e-01 -3.22147163e-01  9.69635128e-05]
 [ 3.22147071e-01  9.46689489e-01  5.25877336e-04]
 [-2.61204230e-04 -4.66606092e-04  9.99999857e-01]]

 t_estimated:
[[0.97986816]
 [0.19964274]
 [0.00107915]]

 R_gt:
[[ 0.99813372 -0.06060692 -0.00741741]
 [ 0.05928424  0.99101532 -0.11988814]
 [ 0.01461688  0.11922435  0.99275916]]

 t_gt:
[ 0.16436629  0.61405226 -0.77196085]

Pose Error in degrees for R and t:
16.827137670482802 73.57169695731191

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 2.39433842e-01 -9.70908511e-01 -2.84564617e-03]
 [-9.70912595e-01 -2.39434031e-01 -2.79138223e-04]
 [-4.10326856e-04  2.82970884e-03 -9.99995912e-01]]

 t_estimated:
[[0.58552346]
 [0.81065496]
 [0.00090779]]

 R_gt:
[[ 0.99851893 -0.05255892 -0.01406481]
 [ 0.04947525  0.98468453 -0.16717664]
 [ 0.02263552  0.16623241  0.98582659]]

 t_gt:
[ 0.1099025   0.74440636 -0.65862024]

Pose Error in degrees for R and t:
171.68358337082503 48.14795854683756

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.95460532e-01 -9.51737826e-02  5.29709189e-04]
 [ 9.51741590e-02  9.95460363e-01 -7.37747497e-04]
 [-4.57090282e-04  7.84813143e-04  9.99999588e-01]]

 t_estimated:
[[-0.98827203]
 [-0.14973819]
 [-0.02994764]]

 R_gt:
[[ 0.9987492   0.04439753 -0.02301305]
 [-0.04546476  0.99780683 -0.04811495]
 [ 0.02082638  0.04910137  0.99857713]]

 t_gt:
[-0.35500229  0.74666769 -0.56254843]

Pose Error in degrees for R and t:
8.589208518819644 75.1741955002127

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 1.85046125e-01 -9.82729777e-01 -3.41622683e-04]
 [-9.82729795e-01 -1.85046006e-01 -3.53392576e-04]
 [ 2.84073494e-04  4.01116716e-04 -9.99999879e-01]]

 t_estimated:
[[0.65645975]
 [0.75436054]
 [0.00087411]]

 R_gt:
[[ 0.99935974  0.02508964 -0.02549277]
 [-0.02707678  0.99636206 -0.08080996]
 [ 0.02337333  0.08144923  0.99640385]]

 t_gt:
[-0.14247907  0.68700719 -0.71254532]

Pose Error in degrees for R and t:
175.4944667816746 64.9065124085812

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 4.13001020e-01 -9.10730530e-01  2.42971759e-04]
 [ 9.10729580e-01  4.13000952e-01  1.35891266e-03]
 [-1.33795082e-03 -3.39950747e-04  9.99999047e-01]]

 t_estimated:
[[0.97456604]
 [0.22409807]
 [0.00104232]]

 R_gt:
[[ 0.99972499 -0.0234086   0.00150464]
 [ 0.02339777  0.99970683  0.00627787]
 [-0.00165074 -0.00624069  0.99997943]]

 t_gt:
[0.82718278 0.48562331 0.28273423]

Pose Error in degrees for R and t:
64.26601420282881 23.75644137030122

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.84911884 -0.52815493 -0.00704008]
 [ 0.52818027  0.8491292   0.00228004]
 [ 0.00477373 -0.00565446  0.99997262]]

 t_estimated:
[[-0.28633722]
 [-0.95812838]
 [-0.00100118]]

 R_gt:
[[ 9.78630390e-01  2.05625604e-01  9.04052968e-04]
 [-2.05436080e-01  9.77901948e-01 -3.87678219e-02]
 [-8.85535994e-03  3.77539864e-02  9.99247703e-01]]

 t_gt:
[-0.37189272  0.92257919 -0.1026813 ]

Pose Error in degrees for R and t:
43.81744214503673 38.980529545712535

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 5.33230606e-01 -8.45969883e-01  2.79183602e-04]
 [-8.45969929e-01 -5.33230574e-01  1.86269625e-04]
 [-8.70926046e-06 -3.35505597e-04 -9.99999944e-01]]

 t_estimated:
[[0.09672989]
 [0.99530985]
 [0.0012801 ]]

 R_gt:
[[ 0.94635604  0.32306028  0.00661163]
 [-0.31909469  0.93757129 -0.13834272]
 [-0.05089263  0.12881072  0.99036198]]

 t_gt:
[-0.27495026  0.94989629 -0.14865864]

Pose Error in degrees for R and t:
174.01516316814354 23.269773541151277

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-0.99551651 -0.09335725  0.01520855]
 [-0.0935686   0.99551673 -0.01383347]
 [-0.01384891 -0.01519449 -0.99978865]]

 t_estimated:
[[0.99537121]
 [0.09479726]
 [0.01579954]]

 R_gt:
[[ 0.94120458  0.33783171 -0.00195905]
 [-0.33060086  0.91983662 -0.21119407]
 [-0.06954586  0.19942404  0.97744127]]

 t_gt:
[-0.2292473   0.9471714  -0.22430341]

Pose Error in degrees for R and t:
177.6285107943077 81.8398322169131

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 1.00000000e+00 -7.54951657e-15  5.81457625e-16]
 [ 7.38298311e-15  1.00000000e+00  8.14235832e-17]
 [-4.58617519e-16  2.43240757e-16  1.00000000e+00]]

 t_estimated:
[[ 9.25531621e-01]
 [-3.78669778e-01]
 [ 6.46970742e-04]]

 R_gt:
[[ 0.99865052 -0.01177985  0.05058855]
 [ 0.0101091   0.99939825  0.03316528]
 [-0.05094923 -0.03260915  0.99816912]]

 t_gt:
[ 0.12766261 -0.01371109  0.99172288]

Pose Error in degrees for R and t:
3.5241834580276237 82.87760284991374

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-9.67004203e-01 -2.54759712e-01  6.00077494e-04]
 [ 2.54746446e-01 -9.66973152e-01 -8.19581781e-03]
 [ 2.66822301e-03 -7.77252267e-03  9.99966234e-01]]

 t_estimated:
[[9.59436649e-01]
 [2.81923318e-01]
 [7.47807209e-04]]

 R_gt:
[[ 0.99904217  0.02371017  0.03679179]
 [-0.02500133  0.99907326  0.03503127]
 [-0.03592819 -0.03591745  0.99870928]]

 t_gt:
[-0.21551105  0.66226297  0.71760905]

Pose Error in degrees for R and t:
166.651870202168 88.88121794707133

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.90084609 -0.43331416  0.02674264]
 [-0.43369321 -0.90100247  0.01023463]
 [ 0.01966037 -0.02081793 -0.99958996]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817877e-04]]

 R_gt:
[[ 0.99889775 -0.02342507  0.04066349]
 [ 0.02149927  0.9986553   0.04716261]
 [-0.04171457 -0.0462362   0.9980588 ]]

 t_gt:
[0.33188059 0.30615251 0.89225888]

Pose Error in degrees for R and t:
175.96741484695931 63.280034468802754

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99349985e-01 -3.60500510e-02  4.63611233e-05]
 [ 3.60500195e-02  9.99349830e-01  5.60067034e-04]
 [-6.65214259e-05 -5.58031663e-04  9.99999842e-01]]

 t_estimated:
[[-0.56378768]
 [-0.82591655]
 [ 0.00230573]]

 R_gt:
[[ 9.96469890e-01 -8.08852016e-02  2.24766934e-02]
 [ 8.08727156e-02  9.96724102e-01  1.52296251e-03]
 [-2.25269102e-02  2.99093917e-04  9.99746011e-01]]

 t_gt:
[ 0.39681895 -0.85241777  0.3404683 ]

Pose Error in degrees for R and t:
2.8772749062287373 61.243427329137866

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.90018848 -0.43548607 -0.00354611]
 [-0.43541303  0.90014102 -0.01271355]
 [ 0.00872857 -0.00990057 -0.99991289]]

 t_estimated:
[[ 0.96385628]
 [ 0.26641779]
 [-0.00162093]]

 R_gt:
[[ 0.9924839  -0.10885296  0.05590735]
 [ 0.11032727  0.99360623 -0.02397768]
 [-0.05293997  0.02996511  0.99814781]]

 t_gt:
[ 0.23487361 -0.88791704  0.39552207]

Pose Error in degrees for R and t:
177.69648797877306 89.38041355411266

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-2.02837370e-01 -9.79212390e-01 -3.10962720e-04]
 [-9.79212279e-01  2.02837508e-01 -5.07439643e-04]
 [ 5.59966089e-04  2.01570791e-04 -9.99999823e-01]]

 t_estimated:
[[0.63809258]
 [0.76995914]
 [0.00088501]]

 R_gt:
[[ 0.98849082 -0.09662621  0.11639806]
 [ 0.10180515  0.99402492 -0.03938321]
 [-0.11189679  0.05077998  0.99242173]]

 t_gt:
[-0.31260731 -0.62997523  0.71092044]

Pose Error in degrees for R and t:
176.58032424029307 46.85096438161714

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99916316e-01 -1.29306817e-02  3.98526725e-04]
 [ 1.29307911e-02  9.99916357e-01 -2.73100457e-04]
 [-3.94962016e-04  2.78230868e-04  9.99999883e-01]]

 t_estimated:
[[9.97282246e-01]
 [7.36717057e-02]
 [7.75491638e-04]]

 R_gt:
[[ 0.99066043 -0.13600738  0.00966724]
 [ 0.13626815  0.99003508 -0.03550854]
 [-0.00474062  0.03649403  0.99932276]]

 t_gt:
[ 0.84303422 -0.49779129 -0.20370846]

Pose Error in degrees for R and t:
7.387439476630817 36.494692962588786

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 8.72481710e-01  4.88646346e-01  6.43305330e-04]
 [-4.88645517e-01  8.72481698e-01 -1.11592659e-03]
 [-1.10656558e-03  6.59277270e-04  9.99999170e-01]]

 t_estimated:
[[0.65102932]
 [0.75905197]
 [0.00096449]]

 R_gt:
[[ 0.97125314 -0.23532523  0.03589694]
 [ 0.23720547  0.96941984 -0.06290926]
 [-0.01999475  0.06961555  0.99737329]]

 t_gt:
[ 0.8581212  -0.47132532 -0.20366749]

Pose Error in degrees for R and t:
43.120512063065924 78.42179866097577

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.71652510e-01  2.36411720e-01  9.47454741e-04]
 [-2.36411248e-01  9.71652911e-01 -5.84269275e-04]
 [-1.05872526e-03  3.43717750e-04  9.99999380e-01]]

 t_estimated:
[[-0.74386732]
 [-0.6683265 ]
 [-0.00104918]]

 R_gt:
[[ 0.94405138 -0.32501537  0.05596059]
 [ 0.32948796  0.93684258 -0.11731263]
 [-0.01429741  0.1291873   0.99151709]]

 t_gt:
[ 0.87186476 -0.39204136 -0.29352242]

Pose Error in degrees for R and t:
33.667305575315524 67.2797467485768

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.95216326 -0.24469774 -0.1830523 ]
 [ 0.25988507  0.96352931  0.06380456]
 [ 0.16076343 -0.10832492  0.98103049]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.99601162  0.0297499  -0.08411682]
 [-0.0325093   0.99897089 -0.03162696]
 [ 0.08308988  0.03423548  0.99595401]]

 t_gt:
[-0.04019466  0.42995749 -0.90195396]

Pose Error in degrees for R and t:
18.62436839688887 80.32007515483257

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-8.52343459e-01 -5.22979485e-01 -1.75663970e-03]
 [ 5.22981579e-01 -8.52343334e-01 -1.05344573e-03]
 [-9.46329627e-04 -1.81658778e-03  9.99997902e-01]]

 t_estimated:
[[9.07742733e-01]
 [4.19526558e-01]
 [7.72941230e-04]]

 R_gt:
[[ 0.98586606  0.0330216  -0.16424584]
 [-0.03685902  0.99911301 -0.02036746]
 [ 0.16342711  0.02613415  0.98620883]]

 t_gt:
[ 0.14394698  0.27931061 -0.9493497 ]

Pose Error in degrees for R and t:
150.58178509706437 75.69336359579258

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99953907e-01 -9.59957708e-03  1.79156213e-04]
 [ 9.59936455e-03  9.99953262e-01  1.15161581e-03]
 [-1.90202864e-04 -1.14984294e-03  9.99999321e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96698568  0.04286267 -0.2511988 ]
 [-0.04882413  0.99865374 -0.01754288]
 [ 0.2501091   0.02922832  0.9677759 ]]

 t_gt:
[ 0.21662499  0.2325316  -0.94815751]

Pose Error in degrees for R and t:
14.95063957309639 76.53257909127606

Number of keypoints:
Image1: 613
Image2: 613

 R_estimated:
[[ 9.99999965e-01 -2.65048554e-04  1.12832375e-05]
 [ 2.65048718e-04  9.99999965e-01 -1.45423343e-05]
 [-1.12793827e-05  1.45453244e-05  1.00000000e+00]]

 t_estimated:
[[9.12142473e-01]
 [4.09872318e-01]
 [8.89788582e-04]]

 R_gt:
[[ 0.99974165 -0.01938323 -0.01191506]
 [ 0.01946208  0.99978967  0.00651886]
 [ 0.01178652 -0.00674906  0.99990789]]

 t_gt:
[ 0.78604823 -0.36956553  0.49552952]

Pose Error in degrees for R and t:
1.344986527042048 55.53142048858828

Number of keypoints:
Image1: 429
Image2: 429

 R_estimated:
[[-9.93450709e-01 -1.11392030e-01  2.54461032e-02]
 [-1.11420149e-01  9.93773340e-01  3.14509252e-04]
 [-2.53226928e-02 -2.52275919e-03 -9.99676146e-01]]

 t_estimated:
[[0.99729807]
 [0.07229584]
 [0.01303356]]

 R_gt:
[[ 0.9943798  -0.09916965 -0.03706516]
 [ 0.10028752  0.99451691  0.02962813]
 [ 0.03392441 -0.03317828  0.99887413]]

 t_gt:
[ 0.9465147  -0.22454116  0.23171358]

Pose Error in degrees for R and t:
179.52097962006823 21.44891867219145

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.97965559e-01 -6.37553152e-02  4.97123147e-05]
 [ 6.37553180e-02  9.97965559e-01 -5.70411063e-05]
 [-4.59745042e-05  6.00944840e-05  9.99999997e-01]]

 t_estimated:
[[9.63439542e-01]
 [2.67925692e-01]
 [2.68221747e-04]]

 R_gt:
[[ 0.98621021 -0.14054507 -0.08738737]
 [ 0.14480601  0.9884602   0.04446646]
 [ 0.08013039 -0.05650751  0.99518185]]

 t_gt:
[ 0.97097335 -0.18416481  0.15262396]

Pose Error in degrees for R and t:
7.249161434364896 27.60383427973057

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[ 9.99781218e-01 -2.09168417e-02 -4.74866713e-05]
 [ 2.09168433e-02  9.99781218e-01  3.39561308e-05]
 [ 4.67660271e-05 -3.49419730e-05  9.99999998e-01]]

 t_estimated:
[[-8.95879956e-01]
 [-4.44295479e-01]
 [-7.95172762e-04]]

 R_gt:
[[ 0.99647119  0.0826286  -0.01478839]
 [-0.08209884  0.99606234  0.03344267]
 [ 0.01749322 -0.0321099   0.99933078]]

 t_gt:
[-0.81186551  0.52980183  0.24532513]

Pose Error in degrees for R and t:
6.283094527385656 60.54430470980106

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-6.30695337e-01 -7.76027656e-01 -2.11393553e-03]
 [ 7.76030231e-01 -6.30690334e-01 -2.60449891e-03]
 [ 6.87924480e-04 -3.28312319e-03  9.99994374e-01]]

 t_estimated:
[[ 9.22399027e-01]
 [-3.86238226e-01]
 [-2.59524071e-04]]

 R_gt:
[[ 0.97644629  0.21571326 -0.00453883]
 [-0.21549681  0.97607394  0.02899437]
 [ 0.01068454 -0.02733343  0.9995683 ]]

 t_gt:
[-0.81431467  0.57593352  0.07205698]

Pose Error in degrees for R and t:
141.5581070746067 13.197391908803885

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-9.27344859e-01  3.74176546e-01 -4.83994604e-03]
 [-3.74178004e-01 -9.27356684e-01 -6.34799990e-04]
 [-4.72588357e-03  1.22232284e-03  9.99988086e-01]]

 t_estimated:
[[0.90688532]
 [0.42136769]
 [0.00288055]]

 R_gt:
[[ 0.96261634  0.26974625  0.02461698]
 [-0.26997479  0.96284502  0.00643948]
 [-0.02196504 -0.01284425  0.99967528]]

 t_gt:
[-0.7674172   0.63922555  0.04961387]

Pose Error in degrees for R and t:
142.37273858284541 64.7564139330971

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.80808617  0.58905591  0.00314333]
 [-0.58900493  0.80806899 -0.00988466]
 [-0.00836264  0.00613622  0.99994621]]

 t_estimated:
[[0.70907673]
 [0.7051301 ]
 [0.00131554]]

 R_gt:
[[ 0.9886624  -0.13531262  0.06509038]
 [ 0.12033832  0.9732926   0.19549958]
 [-0.08980538 -0.18545054  0.97854131]]

 t_gt:
[ 0.44181396 -0.41843832  0.79354256]

Pose Error in degrees for R and t:
45.12199116536559 88.8958144638745

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 1.00000000e+00 -9.32608490e-10 -8.40735305e-13]
 [ 9.32608435e-10  1.00000000e+00  1.86160348e-12]
 [ 8.39330612e-13 -1.86280033e-12  1.00000000e+00]]

 t_estimated:
[[ 6.48690958e-01]
 [-7.61051759e-01]
 [ 5.11335109e-04]]

 R_gt:
[[ 0.97480463 -0.18170998  0.12937278]
 [ 0.13675502  0.94505173  0.29694442]
 [-0.17622109 -0.27177078  0.94609039]]

 t_gt:
[ 0.39316152 -0.2832209   0.87476279]

Pose Error in degrees for R and t:
21.096841990165956 61.89860343146714

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-0.99901414  0.04434539 -0.00205788]
 [-0.04435017 -0.99901331  0.00233961]
 [-0.0019521   0.00242857  0.99999515]]

 t_estimated:
[[ 7.31815841e-01]
 [ 6.81502149e-01]
 [-6.28926221e-04]]

 R_gt:
[[ 0.97983841 -0.14339151  0.1391283 ]
 [ 0.09805869  0.95185765  0.29043213]
 [-0.17407544 -0.27093407  0.94672703]]

 t_gt:
[ 0.33890639 -0.18551958  0.92234752]

Pose Error in degrees for R and t:
175.45149168951176 83.04989349778357

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99844437e-01 -1.76380498e-02 -4.49468978e-06]
 [ 1.76380497e-02  9.99844437e-01 -3.67455556e-06]
 [ 4.55880257e-06  3.59470638e-06  1.00000000e+00]]

 t_estimated:
[[0.64202463]
 [0.76668361]
 [0.0007925 ]]

 R_gt:
[[ 0.99810093  0.04479866  0.04227642]
 [-0.04263879  0.99780346 -0.05068541]
 [-0.04445395  0.04878703  0.99781966]]

 t_gt:
[-0.76649897  0.63742557  0.0785364 ]

Pose Error in degrees for R and t:
5.1674966466889565 89.80833147834119

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.96703248e-01 -8.11325045e-02 -3.90921501e-04]
 [ 8.11327264e-02  9.96703132e-01  5.89739083e-04]
 [ 3.41785676e-04 -6.19511387e-04  9.99999750e-01]]

 t_estimated:
[[8.47416539e-01]
 [5.30928182e-01]
 [6.89517119e-04]]

 R_gt:
[[ 0.99572758  0.04140529  0.08253257]
 [-0.03718259  0.99795043 -0.05206215]
 [-0.08451922  0.048772    0.9952282 ]]

 t_gt:
[-0.61156213  0.41500645  0.67361815]

Pose Error in degrees for R and t:
8.915662030700794 72.69580494276158

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 8.64414931e-01 -5.02777661e-01 -1.20484712e-03]
 [ 5.02778570e-01  8.64415023e-01  6.14254814e-04]
 [ 7.32654354e-04 -1.13674235e-03  9.99999086e-01]]

 t_estimated:
[[9.91585400e-01]
 [1.29452798e-01]
 [6.06472897e-04]]

 R_gt:
[[ 0.99584506  0.01328356  0.09009531]
 [-0.00850322  0.99854569 -0.05323319]
 [-0.09067165  0.05224639  0.99450969]]

 t_gt:
[-0.13642256  0.05571209  0.98908293]

Pose Error in degrees for R and t:
31.390792252999432 82.677005224052

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99937429e-01  1.11863283e-02 -6.24285146e-05]
 [-1.11863254e-02  9.99937430e-01  4.56013626e-05]
 [ 6.29347203e-05 -4.49001636e-05  9.99999997e-01]]

 t_estimated:
[[-9.97534116e-01]
 [-7.01815816e-02]
 [-4.83235902e-04]]

 R_gt:
[[ 0.99234063  0.12234558  0.0170324 ]
 [-0.12225724  0.99247988 -0.00614111]
 [-0.01765615  0.0040115   0.99983569]]

 t_gt:
[-0.83533173  0.54970113  0.00704056]

Pose Error in degrees for R and t:
6.4690864663109835 37.37405247294691

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99960381e-01 -8.90022814e-03 -1.50907205e-04]
 [ 8.90024800e-03  9.99960383e-01  1.31486379e-04]
 [ 1.49730968e-04 -1.32824281e-04  9.99999980e-01]]

 t_estimated:
[[-9.77804771e-01]
 [-2.09517740e-01]
 [-3.81591389e-04]]

 R_gt:
[[ 0.97559117  0.21942637  0.00854234]
 [-0.21958665  0.97511918  0.03040952]
 [-0.00165681 -0.03154363  0.99950051]]

 t_gt:
[-0.81445198  0.57090866  0.10359186]

Pose Error in degrees for R and t:
13.315539736697435 47.41213801028256

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.96315608 -0.26885092 -0.0070385 ]
 [-0.26886675  0.96317638  0.00139034]
 [ 0.00640553  0.00323153 -0.99997426]]

 t_estimated:
[[ 0.99103205]
 [ 0.13359071]
 [-0.00299916]]

 R_gt:
[[ 9.41850107e-01  3.34836021e-01  2.83402572e-02]
 [-3.34996160e-01  9.42218463e-01  9.67311421e-04]
 [-2.63790254e-02 -1.04051544e-02  9.99598010e-01]]

 t_gt:
[-0.77326656  0.63337404  0.02993585]

Pose Error in degrees for R and t:
178.78555605783225 47.01484603568046

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99910844e-01 -1.33530532e-02 -4.89740705e-06]
 [ 1.33530534e-02  9.99910843e-01  3.61035667e-05]
 [ 4.41487756e-06 -3.61657432e-05  9.99999999e-01]]

 t_estimated:
[[4.15119802e-01]
 [9.09766530e-01]
 [6.41329122e-04]]

 R_gt:
[[ 0.99776972  0.02259759  0.06280384]
 [-0.02118298  0.99950873 -0.02309077]
 [-0.06329446  0.0217093   0.9977584 ]]

 t_gt:
[-0.48650051  0.32099304  0.81257659]

Pose Error in degrees for R and t:
4.337392754328263 84.80222787218875

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.91777178e-01 -1.27976660e-01 -5.42708261e-05]
 [ 1.27976668e-01  9.91777161e-01  1.88451579e-04]
 [ 2.97071622e-05 -1.93847375e-04  9.99999981e-01]]

 t_estimated:
[[0.97683876]
 [0.21397421]
 [0.00103369]]

 R_gt:
[[ 0.99461618 -0.00538327  0.10349046]
 [ 0.00698946  0.99986098 -0.01516338]
 [-0.10339348  0.01580493  0.99451473]]

 t_gt:
[ 0.02397302 -0.10409246  0.99427866]

Pose Error in degrees for R and t:
9.220062133475894 89.87552741717334

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99406403e-01  3.44504773e-02  7.48749552e-05]
 [-3.44504755e-02  9.99406406e-01 -2.55465947e-05]
 [-7.57106023e-05  2.29519525e-05  9.99999997e-01]]

 t_estimated:
[[0.4564509 ]
 [0.88974783]
 [0.00117099]]

 R_gt:
[[ 0.99729757 -0.03493773  0.0646233 ]
 [ 0.03432961  0.99935595  0.01050541]
 [-0.06494833 -0.00825789  0.99785364]]

 t_gt:
[ 0.44737439 -0.43568713  0.78104602]

Pose Error in degrees for R and t:
5.454211558805626 79.48268598088544

Number of keypoints:
Image1: 412
Image2: 412

 R_estimated:
[[ 9.99837461e-01  1.80290593e-02  6.19667801e-05]
 [-1.80290504e-02  9.99837453e-01 -1.41570281e-04]
 [-6.45090866e-05  1.40430068e-04  9.99999988e-01]]

 t_estimated:
[[ 8.65027918e-01]
 [-5.01723582e-01]
 [ 3.85028279e-04]]

 R_gt:
[[ 0.99540968 -0.0904875   0.03120435]
 [ 0.09167365  0.99502787 -0.03893104]
 [-0.02752633  0.04161351  0.99875387]]

 t_gt:
[ 0.5569248  -0.67517966 -0.48370157]

Pose Error in degrees for R and t:
6.879926285317766 34.88287840903854

Number of keypoints:
Image1: 677
Image2: 677

 R_estimated:
[[-0.8622066   0.50626279  0.01725573]
 [ 0.50626707  0.8623653  -0.00444195]
 [-0.01712954  0.00490613 -0.99984124]]

 t_estimated:
[[ 0.95878727]
 [-0.28397861]
 [ 0.00911671]]

 R_gt:
[[ 0.99075617 -0.13404174  0.02090872]
 [ 0.13509935  0.98888293 -0.06211032]
 [-0.01235055  0.0643619   0.99784989]]

 t_gt:
[ 0.65176373 -0.47539561 -0.59093405]

Pose Error in degrees for R and t:
177.10619654192055 41.016765298557175

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 2.82014761e-01  9.59406324e-01  2.67944558e-03]
 [ 9.59409973e-01 -2.82012401e-01 -1.22880065e-03]
 [-4.23282233e-04  2.91722673e-03 -9.99995655e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.84372974e-01 -1.75989954e-01  6.18032122e-03]
 [ 1.76096111e-01  9.83933848e-01 -2.93896122e-02]
 [-9.08378340e-04  3.00190929e-02  9.99548291e-01]]

 t_gt:
[ 0.86432362 -0.46024648 -0.2027754 ]

Pose Error in degrees for R and t:
178.35391405115314 30.374942035092275

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.84266131e-01 -1.76692266e-01 -1.59488385e-04]
 [ 1.76692333e-01  9.84265922e-01  6.42944033e-04]
 [ 4.33757438e-05 -6.61008411e-04  9.99999781e-01]]

 t_estimated:
[[-0.38147445]
 [-0.92437889]
 [-0.00096089]]

 R_gt:
[[ 0.99557199 -0.00407036 -0.09391602]
 [ 0.00368604  0.99998431 -0.00426592]
 [ 0.09393372  0.00390063  0.99557108]]

 t_gt:
[ 0.3890159  -0.03925365 -0.92039436]

Pose Error in degrees for R and t:
11.31694082053876 83.61377676289128

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-9.88797886e-01 -1.49257303e-01  9.99413342e-04]
 [-1.49246322e-01  9.88773580e-01  7.23488504e-03]
 [-2.06805294e-03  7.00468026e-03 -9.99973328e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.98325651  0.01454603 -0.1816477 ]
 [-0.01400655  0.99989307  0.00425166]
 [ 0.18169134 -0.00163635  0.98335423]]

 t_gt:
[ 0.31912404  0.08503713 -0.94389011]

Pose Error in degrees for R and t:
169.66013296433994 70.85836666673819

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.85718284e-01 -1.68402662e-01 -8.88719965e-05]
 [ 1.68402677e-01  9.85718266e-01  1.95642746e-04]
 [ 5.46559910e-05 -2.07814914e-04  9.99999977e-01]]

 t_estimated:
[[-2.25232291e-02]
 [ 9.99746320e-01]
 [ 2.74650192e-05]]

 R_gt:
[[ 0.96670913  0.02530995 -0.25462567]
 [-0.02654134  0.99964634 -0.00140146]
 [ 0.25450151  0.00811337  0.96703867]]

 t_gt:
[ 0.31980473  0.10279452 -0.94189077]

Pose Error in degrees for R and t:
18.5030204875325 84.5176255162521

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 8.93236673e-01  4.49585893e-01 -8.78139924e-04]
 [-4.49572505e-01  8.93222216e-01  6.21578459e-03]
 [ 3.57890315e-03 -5.15737918e-03  9.99980296e-01]]

 t_estimated:
[[0.576928  ]
 [0.81679452]
 [0.0008917 ]]

 R_gt:
[[ 0.98846597 -0.1513641  -0.00495236]
 [ 0.15117097  0.9881172  -0.02777559]
 [ 0.00909816  0.02670651  0.99960188]]

 t_gt:
[ 0.8473524  -0.51046492 -0.14635393]

Pose Error in degrees for R and t:
35.47006919324251 85.88343146835626

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.98174819 -0.19006506  0.00676416]
 [-0.19005085  0.98177056  0.0026909 ]
 [-0.0071523   0.00135625 -0.9999735 ]]

 t_estimated:
[[0.9967743 ]
 [0.0801676 ]
 [0.00376294]]

 R_gt:
[[ 0.97189458 -0.23325803  0.03182122]
 [ 0.23455336  0.97101155 -0.04605239]
 [-0.0201556   0.05222239  0.99843231]]

 t_gt:
[ 0.84946857 -0.50547962 -0.15130599]

Pose Error in degrees for R and t:
178.3668653252487 36.32827813917962

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 6.93717477e-01  7.20247222e-01  3.21208598e-05]
 [-7.20234947e-01  6.93705914e-01 -5.80742688e-03]
 [-4.20506551e-03  4.00557896e-03  9.99983136e-01]]

 t_estimated:
[[0.91753357]
 [0.39765639]
 [0.00124551]]

 R_gt:
[[ 0.93874406 -0.34083929  0.05087844]
 [ 0.34380952  0.93637622 -0.07066669]
 [-0.02355615  0.08383001  0.99620179]]

 t_gt:
[ 0.87895144 -0.44443799 -0.1729718 ]

Pose Error in degrees for R and t:
66.27443649806501 50.985399735528475

Number of keypoints:
Image1: 571
Image2: 571

 R_estimated:
[[ 9.99935784e-01  1.13326001e-02 -3.11586702e-05]
 [-1.13326032e-02  9.99935779e-01 -1.01377009e-04]
 [ 3.00078041e-05  1.01723608e-04  9.99999994e-01]]

 t_estimated:
[[-0.27262268]
 [-0.96211962]
 [-0.00164792]]

 R_gt:
[[ 0.99984219  0.00113979 -0.01770606]
 [-0.00173445  0.99943336 -0.03362651]
 [ 0.01765782  0.03365227  0.99927764]]

 t_gt:
[-0.73475743  0.23009533 -0.63811257]

Pose Error in degrees for R and t:
2.244726432924766 88.85308339252975

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-0.45387954 -0.8910595  -0.00251541]
 [-0.89105554  0.4538623   0.00538853]
 [-0.00365985  0.00468712 -0.99998232]]

 t_estimated:
[[8.68548183e-01]
 [4.95604228e-01]
 [7.09018925e-04]]

 R_gt:
[[ 0.99724083 -0.07375582  0.0084393 ]
 [ 0.07413296  0.99538783 -0.06088968]
 [-0.00391002  0.06134661  0.99810874]]

 t_gt:
[-0.47350448 -0.29522286 -0.82984153]

Pose Error in degrees for R and t:
178.51969615274234 56.07111186584308

Number of keypoints:
Image1: 348
Image2: 348

 R_estimated:
[[-0.10006835  0.99489498  0.01304972]
 [ 0.99490121  0.1002174  -0.01131622]
 [-0.01256626  0.01185079 -0.99985081]]

 t_estimated:
[[-0.6903357 ]
 [ 0.72343505]
 [-0.00885169]]

 R_gt:
[[ 0.99135619 -0.13075686  0.01070451]
 [ 0.1311662   0.98616978 -0.10131459]
 [ 0.00269024  0.1018428   0.99479615]]

 t_gt:
[ 0.03394671 -0.30962308 -0.95025321]

Pose Error in degrees for R and t:
174.92268713105733 76.17156041905923

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.99999935e-01 -3.11812786e-04  1.81226526e-04]
 [ 3.11839053e-04  9.99999941e-01 -1.44928531e-04]
 [-1.81181324e-04  1.44985035e-04  9.99999973e-01]]

 t_estimated:
[[-0.24603113]
 [-0.9692614 ]
 [-0.00100704]]

 R_gt:
[[ 0.97511635 -0.21879461  0.0357356 ]
 [ 0.21687049  0.97486794  0.05098588]
 [-0.0459924  -0.04196759  0.99805934]]

 t_gt:
[ 0.61347178 -0.72670872  0.30910647]

Pose Error in degrees for R and t:
13.07105825339151 56.41824566421762

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.42199406  0.90659796  0.00107584]
 [ 0.90659798  0.4219921   0.00166358]
 [ 0.0010542   0.00167737 -0.99999804]]

 t_estimated:
[[-0.30616381]
 [-0.95197809]
 [-0.00119595]]

 R_gt:
[[ 0.94481772 -0.32753633  0.00636525]
 [ 0.32757892  0.94479392 -0.00757971]
 [-0.00353095  0.00924683  0.999951  ]]

 t_gt:
[ 0.70288331 -0.71124313  0.00939497]

Pose Error in degrees for R and t:
179.47578638116903 62.49156406876011

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.99998390e-01 -4.93328254e-04  1.72504392e-03]
 [ 4.96422347e-04  9.99998268e-01 -1.79366351e-03]
 [-1.72415607e-03  1.79451697e-03  9.99996903e-01]]

 t_estimated:
[[-0.6402075 ]
 [-0.76820116]
 [-0.00115909]]

 R_gt:
[[ 0.87421818 -0.48549472  0.00620673]
 [ 0.48425716  0.87277411  0.06133199]
 [-0.03519329 -0.05061233  0.99809803]]

 t_gt:
[ 0.7370472  -0.6610547   0.14059909]

Pose Error in degrees for R and t:
29.224030234890463 87.9485518838819

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-0.87983659 -0.47511391  0.01242355]
 [-0.4751162   0.8799181   0.00295536]
 [-0.01233583 -0.0033024  -0.99991846]]

 t_estimated:
[[0.97668732]
 [0.21453269]
 [0.00759023]]

 R_gt:
[[ 0.9929644  -0.11046614 -0.04265708]
 [ 0.10957589  0.99371868 -0.0226734 ]
 [ 0.04489491  0.01783973  0.99883184]]

 t_gt:
[ 0.6284098  -0.68408378 -0.37031137]

Pose Error in degrees for R and t:
178.00910377539918 62.3421354001963

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.91812431e-01  1.27702610e-01  3.79785695e-04]
 [-1.27702480e-01  9.91812459e-01 -3.49822085e-04]
 [-4.21349378e-04  2.98458318e-04  9.99999867e-01]]

 t_estimated:
[[-9.33390782e-01]
 [-3.58861349e-01]
 [-4.24995970e-04]]

 R_gt:
[[ 0.95548237 -0.29441823  0.01930827]
 [ 0.29460396  0.95558909 -0.00756541]
 [-0.01622359  0.01291651  0.99978442]]

 t_gt:
[ 0.69173754 -0.72142521  0.03232395]

Pose Error in degrees for R and t:
24.493972354890737 67.24548934691721

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99999885e-01 -1.13357148e-04  4.65087097e-04]
 [ 1.13441139e-04  9.99999977e-01 -1.80569854e-04]
 [-4.65066618e-04  1.80622593e-04  9.99999876e-01]]

 t_estimated:
[[0.73962069]
 [0.67302334]
 [0.00090837]]

 R_gt:
[[ 0.89784303 -0.43725336 -0.05185011]
 [ 0.43686855  0.89932153 -0.01913817]
 [ 0.05499794 -0.00546801  0.99847113]]

 t_gt:
[ 0.75696841 -0.649454   -0.07216876]

Pose Error in degrees for R and t:
26.123940427652613 82.95168648248612

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 7.60461343e-01 -6.49383044e-01 -4.55335167e-04]
 [ 6.49383198e-01  7.60461245e-01  3.97097264e-04]
 [ 8.83965172e-05 -5.97664126e-04  9.99999817e-01]]

 t_estimated:
[[-0.61680419]
 [-0.78711579]
 [-0.00115075]]

 R_gt:
[[ 0.98221393  0.18773639  0.003316  ]
 [-0.18741701  0.98131428 -0.04356201]
 [-0.01143131  0.04216513  0.99904474]]

 t_gt:
[-0.79884972  0.57843938 -0.16506666]

Pose Error in degrees for R and t:
51.37032889484032 87.8437353023458

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.98784741 -0.1553968  -0.0030552 ]
 [ 0.15540378  0.98784859  0.00219857]
 [ 0.00267642 -0.00264664  0.99999292]]

 t_estimated:
[[-0.02016394]
 [-0.99979528]
 [-0.00168033]]

 R_gt:
[[ 0.96604345  0.25835479 -0.00352569]
 [-0.25837336  0.96585557 -0.01911275]
 [-0.00153204  0.01937422  0.99981137]]

 t_gt:
[-0.78678753  0.61421432 -0.0608781 ]

Pose Error in degrees for R and t:
23.947147174187528 53.264518439120735

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.99759505  0.06760068 -0.01530598]
 [-0.06678419  0.99657722  0.04872089]
 [ 0.01854715 -0.04758152  0.99869515]]

 t_estimated:
[[-0.99682918]
 [-0.07895677]
 [-0.0098696 ]]

 R_gt:
[[ 9.22953767e-01  3.84892982e-01 -3.62599105e-03]
 [-3.84890478e-01  9.22960883e-01  1.25030698e-03]
 [ 3.82757297e-03  2.41606544e-04  9.99992910e-01]]

 t_gt:
[-0.76304894  0.64620188 -0.01339606]

Pose Error in degrees for R and t:
18.99240026480967 44.78626359047616

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99158185e-01  4.10227849e-02  2.30417737e-04]
 [-4.10226076e-02  9.99157954e-01 -7.27642288e-04]
 [-2.60073628e-04  7.17577411e-04  9.99999709e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98296651  0.18342037  0.01162652]
 [-0.18291889  0.98249973 -0.03513472]
 [-0.01786737  0.0324098   0.9993142 ]]

 t_gt:
[-0.81578976  0.56760146 -0.11097589]

Pose Error in degrees for R and t:
8.465429389854789 35.500383729180584

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.98603699e-01 -5.28244914e-02 -4.73991756e-04]
 [ 5.28246429e-02  9.98603755e-01  3.13146157e-04]
 [ 4.56788160e-04 -3.37747356e-04  9.99999839e-01]]

 t_estimated:
[[-0.98914795]
 [-0.14691717]
 [-0.00129607]]

 R_gt:
[[ 0.96736296  0.25333835 -0.00534339]
 [-0.25337258  0.96734299 -0.00702136]
 [ 0.00339078  0.00814567  0.99996066]]

 t_gt:
[-0.79299226  0.60831373 -0.03343161]

Pose Error in degrees for R and t:
17.711825738803867 45.96813922826259

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99796598e-01  2.01676915e-02 -1.61689838e-04]
 [-2.01676932e-02  9.99796611e-01 -8.90578125e-06]
 [ 1.61477344e-04  1.21648808e-05  9.99999987e-01]]

 t_estimated:
[[-9.99425619e-01]
 [-3.38816134e-02]
 [-6.84923091e-04]]

 R_gt:
[[ 9.24241782e-01  3.81807560e-01 -4.84819402e-04]
 [-3.81808052e-01  9.24241090e-01 -1.33855660e-03]
 [-6.36225980e-05  1.42212742e-03  9.99998783e-01]]

 t_gt:
[-0.76185361  0.64761461 -0.013206  ]

Pose Error in degrees for R and t:
21.29024407307792 42.312620646533965

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.99999978e-01 -3.42888669e-05  2.08420379e-04]
 [ 3.43395591e-05  9.99999970e-01 -2.43222052e-04]
 [-2.08412033e-04  2.43229203e-04  9.99999949e-01]]

 t_estimated:
[[-0.10508232]
 [-0.99446252]
 [-0.00141347]]

 R_gt:
[[ 0.99514559 -0.08640271 -0.04711463]
 [ 0.0847051   0.99572272 -0.03691132]
 [ 0.05010423  0.03274105  0.99820711]]

 t_gt:
[ 0.57308915 -0.58004317 -0.57889442]

Pose Error in degrees for R and t:
5.990653668794029 58.840121537705606

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.91397447e-01 -1.30885736e-01  1.60701612e-04]
 [ 1.30885758e-01  9.91397447e-01 -1.39645307e-04]
 [-1.41041590e-04  1.59477553e-04  9.99999977e-01]]

 t_estimated:
[[ 9.92548550e-01]
 [-1.21848872e-01]
 [ 4.78656339e-04]]

 R_gt:
[[ 0.96020329 -0.27834178  0.02313017]
 [ 0.27872175  0.96025187 -0.01520279]
 [-0.01797847  0.02104431  0.99961631]]

 t_gt:
[ 0.68412999 -0.72902131  0.02222807]

Pose Error in degrees for R and t:
8.79676541812727 39.83670571203064

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999854e-01  2.29523109e-04  4.89180773e-04]
 [-2.29302583e-04  9.99999872e-01 -4.50816915e-04]
 [-4.89284183e-04  4.50704679e-04  9.99999779e-01]]

 t_estimated:
[[9.49450752e-01]
 [3.13915449e-01]
 [5.99953312e-04]]

 R_gt:
[[ 0.90855542 -0.4151147  -0.0469715 ]
 [ 0.41370983  0.90965938 -0.03693362]
 [ 0.05805996  0.01412397  0.99821364]]

 t_gt:
[ 0.74913679 -0.65240396 -0.11473071]

Pose Error in degrees for R and t:
24.755261273855034 59.575670103530726

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 9.99999948e-01  2.74495246e-04  1.68620121e-04]
 [-2.74471554e-04  9.99999952e-01 -1.40516740e-04]
 [-1.68658684e-04  1.40470452e-04  9.99999976e-01]]

 t_estimated:
[[0.84023834]
 [0.54221627]
 [0.00102706]]

 R_gt:
[[ 0.97786762 -0.20812012  0.02147705]
 [ 0.20703172  0.97732878  0.04432568]
 [-0.0302152  -0.03889745  0.99878614]]

 t_gt:
[ 0.62360195 -0.73758248  0.25902259]

Pose Error in degrees for R and t:
12.33030997430921 82.85902694093

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 0.99519137 -0.09774432 -0.00633896]
 [-0.09777889 -0.99519354 -0.00539418]
 [-0.00578124  0.00598806 -0.99996536]]

 t_estimated:
[[0.28475669]
 [0.95859904]
 [0.0012274 ]]

 R_gt:
[[ 0.94679669 -0.32139865  0.01670766]
 [ 0.32163231  0.94676084 -0.01396324]
 [-0.01132986  0.01859429  0.99976288]]

 t_gt:
[ 0.69953118 -0.71455845  0.00789573]

Pose Error in degrees for R and t:
178.82903288989718 60.9371214381102

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99990497e-01 -4.97314001e-04 -4.33120159e-03]
 [ 5.16812218e-04  9.99989733e-01  4.50184800e-03]
 [ 4.32891829e-03 -4.50404363e-03  9.99980487e-01]]

 t_estimated:
[[0.93344868]
 [0.35870956]
 [0.00100479]]

 R_gt:
[[ 0.8730127  -0.48769707 -0.00139848]
 [ 0.48699182  0.87159021  0.05629611]
 [-0.0262354  -0.04982822  0.99841354]]

 t_gt:
[ 0.74354974 -0.65695128  0.12469485]

Pose Error in degrees for R and t:
29.31722006547806 62.707314250112816

Number of keypoints:
Image1: 562
Image2: 562

 R_estimated:
[[ 9.99999831e-01 -5.80801356e-04  1.23026285e-06]
 [ 5.80801407e-04  9.99999830e-01 -4.15970828e-05]
 [-1.20610300e-06  4.15977903e-05  9.99999999e-01]]

 t_estimated:
[[ 0.1212105 ]
 [-0.99262494]
 [ 0.00193299]]

 R_gt:
[[ 0.99988379  0.00764495 -0.01316967]
 [-0.00800695  0.99958603 -0.02765083]
 [ 0.01295281  0.02775342  0.99953094]]

 t_gt:
[-0.81136972  0.29169293 -0.50655148]

Pose Error in degrees for R and t:
1.8177167965591865 67.11595764162975

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 0.274208    0.96166674  0.00265614]
 [-0.96166845  0.27421198 -0.00126221]
 [-0.00194217 -0.00220822  0.99999568]]

 t_estimated:
[[0.68051095]
 [0.73273621]
 [0.00158258]]

 R_gt:
[[ 0.99814733 -0.06084091  0.00153539]
 [ 0.06083896  0.99680101 -0.05183618]
 [ 0.00162289  0.05183395  0.99865461]]

 t_gt:
[-0.62245659 -0.19708059 -0.75743451]

Pose Error in degrees for R and t:
77.6249105190773 55.3058684870768

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[-0.88210243  0.47072554  0.01768528]
 [ 0.47072644  0.88226838 -0.00437225]
 [-0.01766129  0.00446816 -0.99983404]]

 t_estimated:
[[ 0.96354999]
 [-0.26737076]
 [ 0.00918071]]

 R_gt:
[[ 0.99199256 -0.12590317  0.01001696]
 [ 0.12628054  0.98726369 -0.09676224]
 [ 0.00229268  0.09725217  0.99525741]]

 t_gt:
[-0.03934764 -0.31707521 -0.94758381]

Pose Error in degrees for R and t:
177.39154038270271 87.81284800176637

Number of keypoints:
Image1: 399
Image2: 399

 R_estimated:
[[ 9.99998548e-01 -1.70389975e-03  3.91174186e-05]
 [ 1.70390494e-03  9.99998540e-01 -1.32981978e-04]
 [-3.88907736e-05  1.33048437e-04  9.99999990e-01]]

 t_estimated:
[[ 8.04037901e-01]
 [-5.94578008e-01]
 [ 2.16706380e-04]]

 R_gt:
[[ 0.99606776 -0.08358489  0.02938247]
 [ 0.08456451  0.99584299 -0.03384604]
 [-0.02643078  0.03619876  0.99899512]]

 t_gt:
[ 0.46078659 -0.76209421 -0.45484956]

Pose Error in degrees for R and t:
5.376498723360401 34.561699054313245

Number of keypoints:
Image1: 642
Image2: 642

 R_estimated:
[[ 9.99999615e-01 -8.76410045e-04  4.21446524e-05]
 [ 8.76415690e-04  9.99999607e-01 -1.34099689e-04]
 [-4.20271095e-05  1.34136574e-04  9.99999990e-01]]

 t_estimated:
[[ 9.64206014e-01]
 [-2.65153776e-01]
 [ 4.88297090e-04]]

 R_gt:
[[ 0.99079313 -0.13389421  0.02004404]
 [ 0.13491442  0.98881187 -0.06364408]
 [-0.01129729  0.06576391  0.99777127]]

 t_gt:
[ 0.61975326 -0.48472041 -0.6172131 ]

Pose Error in degrees for R and t:
8.577558420184378 43.465069846461226

Number of keypoints:
Image1: 402
Image2: 402

 R_estimated:
[[ 9.99999891e-01 -4.59865631e-04  8.49642808e-05]
 [ 4.59882334e-04  9.99999875e-01 -1.96673094e-04]
 [-8.48738269e-05  1.96712146e-04  9.99999977e-01]]

 t_estimated:
[[ 9.83945637e-01]
 [-1.78468186e-01]
 [ 3.01385396e-04]]

 R_gt:
[[ 9.86928022e-01 -1.61057767e-01  5.74679762e-03]
 [ 1.61160677e-01  9.86377061e-01 -3.29850322e-02]
 [-3.55216877e-04  3.34810155e-02  9.99439004e-01]]

 t_gt:
[ 0.80315429 -0.52311964 -0.28511231]

Pose Error in degrees for R and t:
9.441780019617372 27.928294375863143

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.73709738e-01  2.27791144e-01  7.35752149e-04]
 [-2.27792182e-01  9.73707724e-01  1.99736880e-03]
 [-2.61424626e-04 -2.11245604e-03  9.99997735e-01]]

 t_estimated:
[[0.51037967]
 [0.8599455 ]
 [0.00251634]]

 R_gt:
[[ 0.99756841  0.03089009  0.06248083]
 [-0.02890439  0.99905598 -0.0324449 ]
 [-0.06342418  0.03055977  0.99751902]]

 t_gt:
[-0.6006442   0.45884174  0.65474484]

Pose Error in degrees for R and t:
12.149814943336928 84.85538493641776

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.96842879e-01 -7.93994246e-02 -7.40225559e-05]
 [ 7.93994375e-02  9.96842863e-01  1.91097874e-04]
 [ 5.86157953e-05 -1.96371904e-04  9.99999979e-01]]

 t_estimated:
[[-0.9983493 ]
 [-0.05741718]
 [-0.00139676]]

 R_gt:
[[ 0.99414209  0.00643474  0.10789164]
 [-0.00405614  0.99974433 -0.02225816]
 [-0.10800715  0.02168998  0.99391318]]

 t_gt:
[-0.10446916  0.00968449  0.99448097]

Pose Error in degrees for R and t:
7.97677030136282 84.12539731430093

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99993046e-01 -3.72920209e-03 -2.70812064e-06]
 [ 3.72920222e-03  9.99993045e-01  4.72382941e-05]
 [ 2.53194066e-06 -4.72480647e-05  9.99999999e-01]]

 t_estimated:
[[0.62725385]
 [0.77881423]
 [0.0010056 ]]

 R_gt:
[[ 0.99695408 -0.02073425  0.07518732]
 [ 0.02106158  0.99977222 -0.00357049]
 [-0.07509619  0.00514345  0.99716341]]

 t_gt:
[ 0.33772265 -0.32876677  0.88196135]

Pose Error in degrees for R and t:
4.427773948773741 87.51696900179711

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.99695088e-01  2.46923682e-02 -1.34904712e-04]
 [-2.46923304e-02  9.99695060e-01  2.74951238e-04]
 [ 1.41652771e-04 -2.71536291e-04  9.99999953e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99392954  0.10841732  0.01867325]
 [-0.10849377  0.99409167  0.00312654]
 [-0.01822436 -0.00513264  0.99982076]]

 t_gt:
[-0.83754471  0.54139041  0.07358862]

Pose Error in degrees for R and t:
4.933981645841267 33.30028150382508

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 3.53262064e-01  9.35524315e-01  4.11878541e-04]
 [-9.35523484e-01  3.53262300e-01 -1.24845376e-03]
 [-1.31346001e-03  5.57093030e-05  9.99999136e-01]]

 t_estimated:
[[0.00728388]
 [0.99997293]
 [0.00104055]]

 R_gt:
[[ 0.9769468   0.21309777  0.01277444]
 [-0.21342035  0.97634421  0.03470408]
 [-0.00507601 -0.03662969  0.99931598]]

 t_gt:
[-0.81741947  0.56082814  0.13151883]

Pose Error in degrees for R and t:
57.032603865675675 56.28957277937691

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99996965e-01  2.30404950e-03 -8.72718150e-04]
 [-2.30279734e-03  9.99996322e-01  1.43307720e-03]
 [ 8.76016820e-04 -1.43106316e-03  9.99998592e-01]]

 t_estimated:
[[-9.99982376e-01]
 [-5.87731035e-03]
 [-8.39615765e-04]]

 R_gt:
[[ 0.94358745  0.32836537  0.0426467 ]
 [-0.32892314  0.94433386  0.00660072]
 [-0.03810465 -0.02025443  0.99906812]]

 t_gt:
[-0.77580871  0.62729729  0.06796291]

Pose Error in degrees for R and t:
19.225176755383707 39.46156054537176

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999812e-01  3.88858005e-04 -4.74554360e-04]
 [-3.88556089e-04  9.99999722e-01  6.36136852e-04]
 [ 4.74801595e-04 -6.35952341e-04  9.99999685e-01]]

 t_estimated:
[[9.86086442e-01]
 [1.66230579e-01]
 [9.60633740e-04]]

 R_gt:
[[ 0.98837281 -0.15204831  0.00111701]
 [ 0.15202861  0.98806249 -0.02488977]
 [ 0.00267976  0.0247696   0.99969018]]

 t_gt:
[ 0.85412002 -0.50321452 -0.13135501]

Pose Error in degrees for R and t:
8.88963641977039 40.67134724017038

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-2.84998206e-01  9.58507869e-01  6.22001595e-03]
 [ 9.58526419e-01  2.85003690e-01  4.76696721e-06]
 [-1.76815832e-03  5.96340819e-03 -9.99980656e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97261394 -0.22967911  0.03565568]
 [ 0.2311524   0.97187957 -0.0449315 ]
 [-0.02433427  0.05194291  0.99835377]]

 t_gt:
[ 0.84868669 -0.5075773  -0.14864784]

Pose Error in degrees for R and t:
176.63299549447953 59.839200140361505

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.62404316e-01 -2.71620908e-01 -1.19278776e-04]
 [ 2.71620925e-01  9.62404304e-01  1.68993433e-04]
 [ 6.88922581e-05 -1.95038621e-04  9.99999979e-01]]

 t_estimated:
[[9.99997625e-01]
 [2.09996051e-03]
 [5.83373643e-04]]

 R_gt:
[[ 0.94193856 -0.33116337  0.05552695]
 [ 0.33471051  0.93921946 -0.07638807]
 [-0.02685583  0.09053823  0.99553111]]

 t_gt:
[ 0.87516943 -0.4432497  -0.19392825]

Pose Error in degrees for R and t:
6.588430384818377 29.058598747116207

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999861e-01 -5.26353092e-04  2.22608774e-05]
 [ 5.26353753e-04  9.99999861e-01 -2.96966804e-05]
 [-2.22452434e-05  2.97083934e-05  9.99999999e-01]]

 t_estimated:
[[1.65508593e-01]
 [9.86208282e-01]
 [3.60325053e-04]]

 R_gt:
[[ 0.99588736 -0.00597876 -0.09040384]
 [ 0.00548516  0.99996905 -0.00570472]
 [ 0.09043563  0.00518509  0.99588838]]

 t_gt:
[ 0.41081045 -0.05201209 -0.91023597]

Pose Error in degrees for R and t:
5.206934608463452 89.06203051721084

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.91031603e-01 -1.33627682e-01 -6.64977567e-05]
 [ 1.33627691e-01  9.91031591e-01  1.59607316e-04]
 [ 4.45734219e-05 -1.67061836e-04  9.99999985e-01]]

 t_estimated:
[[5.22494776e-02]
 [9.98634063e-01]
 [1.10992671e-05]]

 R_gt:
[[ 9.83566639e-01  1.30213428e-02 -1.80078384e-01]
 [-1.27896310e-02  9.99916125e-01  2.45363483e-03]
 [ 1.80095125e-01 -1.09320819e-04  9.83648893e-01]]

 t_gt:
[ 0.32608922  0.07713486 -0.94218684]

Pose Error in degrees for R and t:
13.355107168108182 84.60295154842808

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999603e-01 -8.91065491e-04  2.08593781e-06]
 [ 8.91067730e-04  9.99998213e-01 -1.66704049e-03]
 [-6.00491824e-07  1.66704169e-03  9.99998610e-01]]

 t_estimated:
[[8.05168238e-01]
 [5.93045994e-01]
 [7.46909312e-04]]

 R_gt:
[[ 0.96706162  0.02426372 -0.25338296]
 [-0.02598912  0.99965622 -0.00345885]
 [ 0.25321231  0.00993017  0.96736003]]

 t_gt:
[ 0.32073798  0.10859435 -0.94092211]

Pose Error in degrees for R and t:
14.754575142694197 71.2193062700895

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.83524934e-01  1.80772521e-01  1.86977126e-05]
 [-1.80772496e-01  9.83524842e-01 -4.35847401e-04]
 [-9.71788985e-05  4.25286754e-04  9.99999905e-01]]

 t_estimated:
[[-0.55081603]
 [ 0.83462609]
 [-0.00099497]]

 R_gt:
[[ 0.99631433  0.03962398 -0.07608813]
 [-0.04206275  0.99864326 -0.03071529]
 [ 0.07476742  0.03380316  0.99662828]]

 t_gt:
[-0.15022053  0.51379159 -0.84466088]

Pose Error in degrees for R and t:
9.336625463522713 59.175630945916254

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.96266330e-01 -8.63330560e-02 -4.68067258e-05]
 [ 8.63330622e-02  9.96266319e-01  1.52488675e-04]
 [ 3.34671511e-05 -1.55960301e-04  9.99999987e-01]]

 t_estimated:
[[-3.71117897e-02]
 [ 9.99311091e-01]
 [ 2.43621923e-04]]

 R_gt:
[[ 0.98692299  0.03709914 -0.15686902]
 [-0.04147438  0.99883473 -0.0247027 ]
 [ 0.15577053  0.03088628  0.98731062]]

 t_gt:
[ 0.10162388  0.30839366 -0.94581496]

Pose Error in degrees for R and t:
11.639238000458434 72.29120195424333

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-1.17668016e-02  9.99930334e-01 -9.32465450e-04]
 [-9.99927188e-01 -1.17692500e-02 -2.66528315e-03]
 [-2.67607189e-03  9.01035697e-04  9.99996013e-01]]

 t_estimated:
[[5.58918919e-03]
 [9.99984052e-01]
 [8.10634691e-04]]

 R_gt:
[[ 0.96846484  0.04832831 -0.24442063]
 [-0.05519103  0.99824946 -0.02130425]
 [ 0.24296277  0.03412322  0.96943551]]

 t_gt:
[ 0.18368467  0.26303678 -0.94713864]

Pose Error in degrees for R and t:
88.58280301583768 74.73454511489425

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.97507335e-01  7.05622501e-02  2.90915141e-04]
 [-7.05622038e-02  9.97507367e-01 -1.66585373e-04]
 [-3.01944635e-04  1.45642518e-04  9.99999944e-01]]

 t_estimated:
[[ 9.57012950e-01]
 [-2.90044974e-01]
 [-3.54550999e-04]]

 R_gt:
[[ 0.99183735 -0.12647254  0.01622891]
 [ 0.12687129  0.99156699 -0.02645672]
 [-0.01274641  0.0282993   0.99951799]]

 t_gt:
[ 0.83541649 -0.53166844 -0.13931246]

Pose Error in degrees for R and t:
11.461207007869408 17.491500048936906

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.21412239e-01  3.88586366e-01  3.49223463e-04]
 [-3.88585156e-01  9.21411010e-01 -1.82402737e-03]
 [-1.03057051e-03  1.54497809e-03  9.99998275e-01]]

 t_estimated:
[[7.89524142e-01]
 [6.13719171e-01]
 [6.39290803e-04]]

 R_gt:
[[ 0.97093489 -0.23612446  0.03913054]
 [ 0.23812664  0.96947047 -0.05851573]
 [-0.02411968  0.066133    0.99751912]]

 t_gt:
[ 0.85935485 -0.47851101 -0.18037862]

Pose Error in degrees for R and t:
36.80349483836282 67.37521130597753

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-6.85323051e-01  7.28235086e-01 -2.44456119e-03]
 [ 7.28230844e-01  6.85327406e-01  2.48670046e-03]
 [ 3.48622730e-03 -7.60117092e-05 -9.99993920e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.94314486 -0.32805485  0.05346289]
 [ 0.33214888  0.93625194 -0.11450451]
 [-0.01249099  0.12575161  0.99198367]]

 t_gt:
[ 0.87657085 -0.39016039 -0.28177724]

Pose Error in degrees for R and t:
175.63015119068965 28.938669977336744

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.34898724 -0.93707325 -0.01008076]
 [-0.93710724  0.34888883  0.01032493]
 [-0.00615815  0.01305003 -0.99989588]]

 t_estimated:
[[7.72872146e-01]
 [6.34561394e-01]
 [6.95028909e-04]]

 R_gt:
[[ 0.99821676  0.04480161  0.03943703]
 [-0.04252362  0.99747903 -0.05680512]
 [-0.04188282  0.05502695  0.99760536]]

 t_gt:
[-0.76464168  0.63946906 -0.08001521]

Pose Error in degrees for R and t:
179.92656491257912 79.32467118343398

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.90578661e-01 -1.36944891e-01 -1.15588524e-04]
 [ 1.36944909e-01  9.90578651e-01  1.69988015e-04]
 [ 9.12205338e-05 -1.84215761e-04  9.99999979e-01]]

 t_estimated:
[[9.84343310e-01]
 [1.76260503e-01]
 [6.95806044e-04]]

 R_gt:
[[ 0.99565763  0.04704457  0.08033026]
 [-0.04273663  0.99759771 -0.05452079]
 [-0.08270177  0.05085163  0.99527592]]

 t_gt:
[-0.66120519  0.46024732  0.59243573]

Pose Error in degrees for R and t:
11.84380039678307 55.29736972746706

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.74161139e-01 -2.25851252e-01  1.13453177e-03]
 [ 2.25852272e-01  9.74161176e-01 -8.68688191e-04]
 [-9.09022492e-04  1.10247886e-03  9.99998979e-01]]

 t_estimated:
[[0.88016602]
 [0.47466509]
 [0.00090917]]

 R_gt:
[[ 0.9952302   0.01765937  0.09594162]
 [-0.01234173  0.99836864 -0.05573657]
 [-0.09676937  0.05428685  0.99382473]]

 t_gt:
[-0.213792    0.09040482  0.97268697]

Pose Error in degrees for R and t:
15.264706775202798 81.69884758413896

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.99374091  0.11170232 -0.00126112]
 [-0.1116987  -0.9937386  -0.00264644]
 [-0.00154884 -0.00248901  0.9999957 ]]

 t_estimated:
[[0.59503181]
 [0.8037005 ]
 [0.00163022]]

 R_gt:
[[ 0.98850547 -0.13809019  0.06155081]
 [ 0.12339343  0.97213776  0.19930495]
 [-0.08735825 -0.1894184   0.97800231]]

 t_gt:
[ 0.44602834 -0.41610397  0.79241164]

Pose Error in degrees for R and t:
178.82188120512686 86.11637750143889

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-9.99372988e-01 -3.53977409e-02 -7.94114341e-04]
 [ 3.54004696e-02 -9.99366226e-01 -3.73538382e-03]
 [-6.61386904e-04 -3.76115371e-03  9.99992708e-01]]

 t_estimated:
[[0.77358886]
 [0.63368449]
 [0.00205742]]

 R_gt:
[[ 0.97386213 -0.18623122  0.13004295]
 [ 0.1370821   0.93838033  0.31725646]
 [-0.18111278 -0.29113665  0.93938122]]

 t_gt:
[ 0.38402358 -0.26807128  0.88355174]

Pose Error in degrees for R and t:
168.5636795309066 82.58694286252856

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 2.86209347e-01 -9.58164592e-01 -2.19649054e-03]
 [-9.58166839e-01 -2.86210238e-01  9.57287073e-05]
 [-7.20381937e-04  2.07720594e-03 -9.99997583e-01]]

 t_estimated:
[[8.04787645e-01]
 [5.93562508e-01]
 [6.28368592e-04]]

 R_gt:
[[ 0.97717566 -0.15589566  0.14431149]
 [ 0.10491305  0.9448376   0.31028342]
 [-0.18472279 -0.28806027  0.93962711]]

 t_gt:
[ 0.3452261  -0.1867288   0.91975611]

Pose Error in degrees for R and t:
160.2433268677823 80.35306254147132

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[ 9.99711790e-01 -2.40069913e-02 -4.14150407e-05]
 [ 2.40069903e-02  9.99711790e-01 -2.40180936e-05]
 [ 4.19797067e-05  2.30169208e-05  9.99999999e-01]]

 t_estimated:
[[-0.87830212]
 [-0.47810486]
 [-0.00106147]]

 R_gt:
[[ 0.99656024  0.08148841 -0.01502331]
 [-0.08086506  0.99599049  0.03824746]
 [ 0.0180785  -0.03690154  0.99915517]]

 t_gt:
[-0.80465947  0.511739    0.30107529]

Pose Error in degrees for R and t:
6.477208105240367 62.49993391519766

Number of keypoints:
Image1: 317
Image2: 317

 R_estimated:
[[ 9.99794487e-01 -2.02721498e-02 -1.52354704e-04]
 [ 2.02721740e-02  9.99794486e-01  1.59534344e-04]
 [ 1.49089289e-04 -1.62590119e-04  9.99999976e-01]]

 t_estimated:
[[-9.92027650e-01]
 [-1.26020139e-01]
 [-2.58817850e-04]]

 R_gt:
[[ 0.97653621  0.21534133 -0.00214716]
 [-0.21522245  0.97624401  0.02500908]
 [ 0.00748061 -0.02396021  0.99968423]]

 t_gt:
[-0.81158466  0.58065807  0.06454879]

Pose Error in degrees for R and t:
13.670244669045749 42.95214221583755

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.99935142e-01 -1.13858757e-02 -2.71571712e-04]
 [ 1.13859376e-02  9.99935152e-01  2.27262208e-04]
 [ 2.68966522e-04 -2.30339567e-04  9.99999937e-01]]

 t_estimated:
[[-0.93677856]
 [-0.3499213 ]
 [-0.00100913]]

 R_gt:
[[ 0.96455896  0.26286054  0.02303162]
 [-0.26313877  0.96470664  0.009953  ]
 [-0.01960333 -0.01566097  0.99968524]]

 t_gt:
[-0.76888795  0.63662575  0.05932095]

Pose Error in degrees for R and t:
15.967997092384705 60.16863153628275

Number of keypoints:
Image1: 573
Image2: 573

 R_estimated:
[[ 9.99999871e-01 -5.07522626e-04  1.05780062e-05]
 [ 5.07522974e-04  9.99999871e-01 -3.28922735e-05]
 [-1.05613112e-05  3.28976379e-05  9.99999999e-01]]

 t_estimated:
[[9.52454420e-01]
 [3.04680674e-01]
 [5.14538281e-04]]

 R_gt:
[[ 9.99481621e-01 -2.76837705e-02 -1.64567604e-02]
 [ 2.76702781e-02  9.99616008e-01 -1.07398196e-03]
 [ 1.64801962e-02  6.18583921e-04  9.99864277e-01]]

 t_gt:
[ 0.81072459 -0.39577903 -0.43137523]

Pose Error in degrees for R and t:
1.821462159761015 49.3550231702734

Number of keypoints:
Image1: 414
Image2: 414

 R_estimated:
[[ 9.99999791e-01  6.38013675e-04  1.00357616e-04]
 [-6.38013045e-04  9.99999796e-01 -6.31456219e-06]
 [-1.00361625e-04  6.25053141e-06  9.99999995e-01]]

 t_estimated:
[[9.32369888e-01]
 [3.61504839e-01]
 [8.02044738e-04]]

 R_gt:
[[ 0.9942006  -0.09976191 -0.04015775]
 [ 0.10077343  0.99461973  0.02400597]
 [ 0.03754681 -0.02791296  0.99890437]]

 t_gt:
[ 0.95377897 -0.26161472  0.14786284]

Pose Error in degrees for R and t:
6.3865259930763765 37.36189392256799

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 9.93465423e-01 -1.14133490e-01  7.24293989e-07]
 [ 1.14133479e-01  9.93465328e-01 -4.36740904e-04]
 [ 4.91272026e-05  4.33969653e-04  9.99999905e-01]]

 t_estimated:
[[ 0.99636006]
 [-0.08523763]
 [-0.00108143]]

 R_gt:
[[ 0.9852403  -0.14999297 -0.08248893]
 [ 0.15293682  0.98776309  0.03056716]
 [ 0.07689398 -0.04273113  0.99612225]]

 t_gt:
[ 0.98066322 -0.18083173  0.07483006]

Pose Error in degrees for R and t:
5.50401378380442 7.056071612545152

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999317e-01  1.09186354e-03 -4.16435925e-04]
 [-1.09173140e-03  9.99999354e-01  3.17415363e-04]
 [ 4.16782230e-04 -3.16960510e-04  9.99999863e-01]]

 t_estimated:
[[0.02848575]
 [0.99959084]
 [0.00258961]]

 R_gt:
[[ 0.98215182  0.18807282  0.00245501]
 [-0.18792031  0.9817399  -0.02952188]
 [-0.00796338  0.02853305  0.99956093]]

 t_gt:
[-0.35764821  0.92939555 -0.09116832]

Pose Error in degrees for R and t:
10.911882523789952 23.278996729286828

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.90717776  0.35981262 -0.21809033]
 [-0.25981263  0.88676573  0.38228777]
 [ 0.33094699 -0.29014034  0.89793801]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.95446311  0.29818349  0.00929505]
 [-0.29400317  0.94545728 -0.14025578]
 [-0.05061062  0.13113506  0.99007224]]

 t_gt:
[-0.2691865   0.94919077 -0.16301999]

Pose Error in degrees for R and t:
33.56470263713333 39.254480913632484

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 9.99999505e-01  8.93336172e-04 -4.37218063e-04]
 [-8.93439021e-04  9.99999573e-01 -2.35096293e-04]
 [ 4.37007857e-04  2.35486804e-04  9.99999877e-01]]

 t_estimated:
[[-0.58977919]
 [-0.80756307]
 [-0.00154994]]

 R_gt:
[[ 9.50703474e-01  3.10100647e-01 -4.23727599e-04]
 [-3.03117474e-01  9.29004331e-01 -2.12296749e-01]
 [-6.54394004e-02  2.01958429e-01  9.77205283e-01]]

 t_gt:
[-0.22421616  0.94123671 -0.25258776]

Pose Error in degrees for R and t:
21.75696521898764 51.135666352957195

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99502658e-01  3.15345448e-02  9.92582461e-05]
 [-3.15345447e-02  9.99502663e-01 -2.96508306e-06]
 [-9.93023838e-05 -1.66455192e-07  9.99999995e-01]]

 t_estimated:
[[-6.58908970e-01]
 [ 7.52222658e-01]
 [ 2.06162323e-04]]

 R_gt:
[[ 0.99859593  0.04502133 -0.02791852]
 [-0.04623055  0.99794747 -0.04433199]
 [ 0.02586549  0.04556006  0.99862646]]

 t_gt:
[-0.34264085  0.73507471 -0.58503198]

Pose Error in degrees for R and t:
3.1127264250950804 38.86849090984498

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.67576502e-01 -2.52578092e-01 -1.39690034e-04]
 [ 2.52578080e-01  9.67576511e-01 -9.57772464e-05]
 [ 1.59352030e-04  5.73891725e-05  9.99999986e-01]]

 t_estimated:
[[ 0.34666812]
 [-0.93798512]
 [-0.00226436]]

 R_gt:
[[ 0.99954148  0.01406637 -0.02683009]
 [-0.01620545  0.99656395 -0.08122708]
 [ 0.02559544  0.08162486  0.99633453]]

 t_gt:
[-0.04555391  0.61760697 -0.78516652]

Pose Error in degrees for R and t:
16.250632536865137 53.60701428016357

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.26659892  0.95278938  0.14531832]
 [ 0.95207039  0.28380045 -0.11410207]
 [-0.14995665  0.10793378 -0.98278345]]

 t_estimated:
[[ 0.78129566]
 [-0.61729515]
 [ 0.09232435]]

 R_gt:
[[ 0.99919528 -0.03973655  0.00535893]
 [ 0.03959688  0.9989278   0.02398618]
 [-0.00630689 -0.02375463  0.99969814]]

 t_gt:
[ 0.85284224 -0.03680126  0.52087022]

Pose Error in degrees for R and t:
169.917408931896 42.51264796570111

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99843045e-01 -1.77152114e-02  2.39003355e-04]
 [ 1.77152921e-02  9.99843014e-01 -3.39767017e-04]
 [-2.32946790e-04  3.43947703e-04  9.99999914e-01]]

 t_estimated:
[[0.64960771]
 [0.7602691 ]
 [0.00084474]]

 R_gt:
[[ 0.99931552 -0.03684712 -0.00345084]
 [ 0.03645207  0.99611452 -0.08016686]
 [ 0.00639131  0.07998547  0.99677545]]

 t_gt:
[ 0.2340888   0.42862398 -0.87263046]

Pose Error in degrees for R and t:
4.711049864461468 61.49742129002422

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.84447952e-01 -1.75676432e-01 -1.44544894e-04]
 [ 1.75676480e-01  9.84447852e-01  4.47702074e-04]
 [ 6.36462079e-05 -4.66132528e-04  9.99999889e-01]]

 t_estimated:
[[9.11738339e-01]
 [4.10770730e-01]
 [7.79916784e-04]]

 R_gt:
[[ 0.99814692 -0.06034167 -0.00793899]
 [ 0.05891286  0.99067651 -0.1228364 ]
 [ 0.01527662  0.12214004  0.99239535]]

 t_gt:
[ 0.16582387  0.58991034 -0.79025833]

Pose Error in degrees for R and t:
9.747194919492813 66.86558464151344

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.9991035  -0.04228242 -0.00209579]
 [ 0.04228557  0.99910447  0.00148168]
 [ 0.00203127 -0.00156898  0.99999671]]

 t_estimated:
[[-0.94299928]
 [-0.33276953]
 [-0.00409851]]

 R_gt:
[[ 0.99899107 -0.04156221 -0.01703421]
 [ 0.03800736  0.98426665 -0.17255351]
 [ 0.02393832  0.17173197  0.9848534 ]]

 t_gt:
[ 0.0503468   0.74011068 -0.67059778]

Pose Error in degrees for R and t:
10.059373668701097 73.08127801598692

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99963352e-01 -8.56012150e-03  1.38639250e-04]
 [ 8.56011187e-03  9.99963359e-01  6.99103727e-05]
 [-1.39232611e-04 -6.87210432e-05  9.99999988e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99562835 -0.08865242  0.02941409]
 [ 0.08849845  0.99605605  0.00646044]
 [-0.02987023 -0.00382908  0.99954637]]

 t_gt:
[ 0.39265014 -0.82338392  0.40971306]

Pose Error in degrees for R and t:
4.902490971111643 79.7865907137784

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99570914e-01  2.92904767e-02  2.37181404e-04]
 [-2.92904717e-02  9.99570942e-01 -2.42393159e-05]
 [-2.37789620e-04  1.72817600e-05  9.99999972e-01]]

 t_estimated:
[[0.63754221]
 [0.77041475]
 [0.00102199]]

 R_gt:
[[ 0.99162041 -0.11999852  0.04784993]
 [ 0.1208603   0.9925481  -0.0155602 ]
 [-0.04562548  0.02121327  0.99873409]]

 t_gt:
[ 0.29895377 -0.88154806  0.36537605]

Pose Error in degrees for R and t:
9.065215428736359 60.7784092844283

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.86132890e-01 -1.65957475e-01  1.99417641e-04]
 [ 1.65957438e-01  9.86132898e-01  1.90326490e-04]
 [-2.28238400e-04 -1.54592371e-04  9.99999962e-01]]

 t_estimated:
[[0.69270605]
 [0.72121878]
 [0.00134135]]

 R_gt:
[[ 0.98719835 -0.10717398  0.11812282]
 [ 0.11198758  0.99309729 -0.03488298]
 [-0.11356923  0.0476648   0.99238673]]

 t_gt:
[-0.21870598 -0.67362332  0.70597402]

Pose Error in degrees for R and t:
7.771948608139738 50.47745546623855

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 5.53721121e-01  8.32702177e-01 -5.74637192e-05]
 [-8.32701950e-01  5.53720916e-01 -7.80374743e-04]
 [-6.18000884e-04  4.79960129e-04  9.99999694e-01]]

 t_estimated:
[[-9.68027526e-02]
 [ 9.95303554e-01]
 [ 2.50838879e-04]]

 R_gt:
[[ 9.99210085e-01 -5.59367985e-04  3.97351052e-02]
 [-2.53725047e-04  9.99790950e-01  2.04339673e-02]
 [-3.97388344e-02 -2.04281769e-02  9.99001371e-01]]

 t_gt:
[0.00992239 0.24824102 0.96864748]

Pose Error in degrees for R and t:
56.43958337936837 75.73792015386437

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 4.55453538e-01 -8.90257756e-01  1.78963004e-03]
 [-8.90259545e-01 -4.55452311e-01  1.06567495e-03]
 [-1.33634256e-04 -2.07860065e-03 -9.99997831e-01]]

 t_estimated:
[[0.52840443]
 [0.84899126]
 [0.00161099]]

 R_gt:
[[ 0.99933379  0.02798562  0.02345487]
 [-0.02849984  0.99935459  0.02185938]
 [-0.02282881 -0.02251345  0.99948614]]

 t_gt:
[-0.2616369   0.83646852  0.48152522]

Pose Error in degrees for R and t:
178.116339179314 55.06267038687344

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 1.56053488e-01 -9.87748606e-01 -1.11976984e-05]
 [-9.87747527e-01 -1.56053301e-01 -1.47992661e-03]
 [ 1.46004801e-03  2.42008209e-04 -9.99998905e-01]]

 t_estimated:
[[7.57421432e-01]
 [6.52925959e-01]
 [6.82976945e-04]]

 R_gt:
[[ 0.99920208 -0.0274778   0.02898788]
 [ 0.02647541  0.99905781  0.0343959 ]
 [-0.0299063  -0.03360033  0.99898791]]

 t_gt:
[0.50565297 0.35484675 0.78638341]

Pose Error in degrees for R and t:
177.48726404263004 52.03222832476855

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99952598e-01 -9.71396573e-03  6.63901009e-04]
 [ 9.71360058e-03  9.99952670e-01  5.51037172e-04]
 [-6.69222343e-04 -5.44562183e-04  9.99999628e-01]]

 t_estimated:
[[0.58689403]
 [0.80966326]
 [0.00089466]]

 R_gt:
[[ 0.99698667  0.07220296 -0.02834211]
 [-0.07184895  0.99732608  0.0133715 ]
 [ 0.02923157 -0.0112946   0.99950879]]

 t_gt:
[-0.62509399  0.77541781 -0.0893573 ]

Pose Error in degrees for R and t:
5.028463372980331 74.87751130885873

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.92191174e-01 -1.24725669e-01 -4.26736855e-04]
 [ 1.24725813e-01  9.92191193e-01  3.28965078e-04]
 [ 3.82374159e-04 -3.79621348e-04  9.99999855e-01]]

 t_estimated:
[[-0.68730827]
 [ 0.72636234]
 [-0.00225503]]

 R_gt:
[[ 0.98985092  0.072981   -0.12193673]
 [-0.07481553  0.99714203 -0.01052687]
 [ 0.12082007  0.01954388  0.99248147]]

 t_gt:
[-0.23178381  0.59634749 -0.76853493]

Pose Error in degrees for R and t:
13.392609652527977 53.5440667280913

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.99221761  0.08622667 -0.08982856]
 [-0.06513463  0.9742735   0.21575132]
 [ 0.10612111 -0.20822131  0.97230767]]

 t_estimated:
[[8.25178206e-01]
 [5.64871990e-01]
 [7.50162006e-04]]

 R_gt:
[[ 0.97402929  0.09149104 -0.2071141 ]
 [-0.09211465  0.995726    0.00665477]
 [ 0.20683737  0.01259618  0.97829393]]

 t_gt:
[-0.07251916  0.49734561 -0.86451623]

Pose Error in degrees for R and t:
13.949454528493012 77.2647202814903

Number of keypoints:
Image1: 549
Image2: 549

 R_estimated:
[[ 7.63358514e-01  6.45974940e-01  3.95150567e-04]
 [-6.45974350e-01  7.63358438e-01 -1.01705442e-03]
 [-9.58633190e-04  5.21120022e-04  9.99999405e-01]]

 t_estimated:
[[0.22488259]
 [0.97438522]
 [0.00112785]]

 R_gt:
[[ 0.99848799 -0.05369151  0.0118658 ]
 [ 0.05394335  0.99829975 -0.02208242]
 [-0.01066043  0.02268851  0.99968522]]

 t_gt:
[ 0.32798131 -0.93309879 -0.14749548]

Pose Error in degrees for R and t:
43.344937845143534 33.32093189389627

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.89571315e-01 -1.44043668e-01  1.86318939e-04]
 [ 1.44043678e-01  9.89571330e-01 -3.90694380e-05]
 [-1.78748175e-04  6.55000604e-05  9.99999982e-01]]

 t_estimated:
[[0.97272098]
 [0.23197485]
 [0.00125357]]

 R_gt:
[[ 0.99574386 -0.05644506  0.07286112]
 [ 0.05969512  0.99727977 -0.04323267]
 [-0.07022339  0.04739826  0.99640483]]

 t_gt:
[-0.51614225 -0.58995823  0.62092388]

Pose Error in degrees for R and t:
6.9263371709209745 50.34677386976652

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 0.87559101  0.48303255  0.00446439]
 [-0.48304875  0.87558516  0.0038107 ]
 [-0.00206826 -0.00549313  0.99998277]]

 t_estimated:
[[0.86157763]
 [0.50762289]
 [0.00172661]]

 R_gt:
[[ 0.99146506 -0.06475249  0.11316405]
 [ 0.06904576  0.99701891 -0.03443939]
 [-0.11059663  0.04195807  0.99297876]]

 t_gt:
[-0.52317489 -0.47400757  0.70824068]

Pose Error in degrees for R and t:
33.39474382020858 46.35801431525576

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.98782361e-01 -4.93192070e-02  1.18815198e-03]
 [ 4.93197742e-02  9.98782937e-01 -4.52863776e-04]
 [-1.16437104e-03  5.10911739e-04  9.99999192e-01]]

 t_estimated:
[[ 0.99956617]
 [-0.02941255]
 [ 0.00154067]]

 R_gt:
[[ 0.98873137 -0.12155614  0.08737096]
 [ 0.10281711  0.97562998  0.1938349 ]
 [-0.10880406 -0.18266777  0.97713565]]

 t_gt:
[ 0.3775442  -0.36312448  0.85182216]

Pose Error in degrees for R and t:
12.810141630341455 67.08449580681126

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 8.30898821e-01  5.56423530e-01 -6.99902248e-05]
 [-5.56423476e-01  8.30898669e-01 -5.63911385e-04]
 [-2.55618779e-04  5.07497509e-04  9.99999839e-01]]

 t_estimated:
[[-8.28455963e-01]
 [ 5.60053872e-01]
 [-6.14840221e-04]]

 R_gt:
[[ 0.97610247 -0.1647091   0.14176047]
 [ 0.12450432  0.95851738  0.25640219]
 [-0.17811206 -0.23262545  0.95611719]]

 t_gt:
[ 0.38500756 -0.28277166  0.87852682]

Pose Error in degrees for R and t:
45.47511119367993 61.453663477383465

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.17317874  0.984888    0.0021787 ]
 [ 0.98488824 -0.17318258  0.00171967]
 [ 0.002071    0.00184797 -0.99999615]]

 t_estimated:
[[-0.76586095]
 [-0.64300338]
 [-0.00191491]]

 R_gt:
[[ 0.98142641 -0.11868502  0.15071592]
 [ 0.07575452  0.96156647  0.26391045]
 [-0.17624676 -0.24759225  0.95269845]]

 t_gt:
[ 0.2922086  -0.14340891  0.94554112]

Pose Error in degrees for R and t:
174.7410425859251 82.33450448305123

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.36715794e-01  3.50090721e-01  9.06688979e-05]
 [-3.50090731e-01  9.36715784e-01  1.44406408e-04]
 [-3.43756441e-05 -1.67010104e-04  9.99999985e-01]]

 t_estimated:
[[4.88152019e-01]
 [8.72758550e-01]
 [3.46526951e-04]]

 R_gt:
[[ 0.99359767 -0.11148728  0.0183033 ]
 [ 0.11241068  0.99177615 -0.06118706]
 [-0.01133072  0.06285283  0.9979585 ]]

 t_gt:
[ 0.81169753 -0.44755053 -0.37529408]

Pose Error in degrees for R and t:
27.171477839413605 89.68497558862587

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 3.77867942e-01  9.25859500e-01 -6.77711410e-05]
 [-9.25858352e-01  3.77867357e-01 -1.60374782e-03]
 [-1.45923665e-03  6.68751364e-04  9.99998712e-01]]

 t_estimated:
[[0.59027308]
 [0.80720309]
 [0.00093103]]

 R_gt:
[[ 0.97245196 -0.23302864 -0.00601686]
 [ 0.23146474  0.9683378  -0.09352135]
 [ 0.0276197   0.08955276  0.99559895]]

 t_gt:
[ 0.85961387 -0.39215881 -0.32752933]

Pose Error in degrees for R and t:
81.3999047825036 79.01510620196659

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 6.42534357e-01  7.66253634e-01  2.22879467e-03]
 [ 7.66254931e-01 -6.42536562e-01  3.84409984e-04]
 [ 1.72663761e-03  1.46082828e-03 -9.99997442e-01]]

 t_estimated:
[[8.29622515e-01]
 [5.58324157e-01]
 [7.86372052e-04]]

 R_gt:
[[ 0.92977668 -0.36811825 -0.00216692]
 [ 0.36731446  0.9281029  -0.06086326]
 [ 0.02441644  0.05579378  0.99814309]]

 t_gt:
[ 0.89453114 -0.42772582 -0.12986404]

Pose Error in degrees for R and t:
177.1852849723107 59.78730770400112

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999935e-01  2.92644567e-04  2.10631996e-04]
 [-2.92592838e-04  9.99999927e-01 -2.45578267e-04]
 [-2.10703847e-04  2.45516622e-04  9.99999948e-01]]

 t_estimated:
[[6.01694431e-03]
 [9.99981532e-01]
 [8.56087105e-04]]

 R_gt:
[[ 0.99435435  0.08618999 -0.06188669]
 [-0.09077066  0.99300801 -0.07546819]
 [ 0.05494991  0.08065955  0.99522534]]

 t_gt:
[-0.32972654  0.71258383 -0.61927756]

Pose Error in degrees for R and t:
7.551772387178661 44.76048193048366

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.1343943   0.99092622  0.00184571]
 [ 0.99092623 -0.13439729  0.00160249]
 [ 0.001836    0.0016136  -0.99999701]]

 t_estimated:
[[-0.38562361]
 [-0.92265536]
 [-0.00123421]]

 R_gt:
[[ 0.99245825  0.10144225 -0.06882484]
 [-0.10747849  0.99007617 -0.09054166]
 [ 0.05895694  0.09725646  0.99351107]]

 t_gt:
[-0.32335878  0.75236823 -0.57391737]

Pose Error in degrees for R and t:
178.35857996993468 55.335260302144185

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.96393953e-01  8.48468988e-02 -3.06532266e-04]
 [-8.48468897e-02  9.96394000e-01  4.24413440e-05]
 [ 3.09027927e-04 -1.62799892e-05  9.99999952e-01]]

 t_estimated:
[[-0.99997051]
 [-0.00741749]
 [-0.00198963]]

 R_gt:
[[ 0.99582856  0.05608514 -0.07197631]
 [-0.06415042  0.99127858 -0.11511632]
 [ 0.06489274  0.11925406  0.99074096]]

 t_gt:
[-0.13811865  0.68060519 -0.71951359]

Pose Error in degrees for R and t:
7.920716701918524 82.27042132441656

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.96230362e-01  8.67471226e-02  5.92122685e-05]
 [-8.67471217e-02  9.96230363e-01 -1.77023609e-05]
 [-6.05246886e-05  1.24991355e-05  9.99999998e-01]]

 t_estimated:
[[0.4381831 ]
 [0.89888525]
 [0.00093829]]

 R_gt:
[[ 0.99954484  0.02568399  0.01584697]
 [-0.02514433  0.99912967 -0.03330448]
 [-0.01668724  0.03289159  0.99931963]]

 t_gt:
[-0.79185172  0.35556623 -0.49653147]

Pose Error in degrees for R and t:
4.103824460963186 88.40532728853482

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.91502972e-01 -1.30083631e-01  3.23596279e-04]
 [ 1.30083732e-01  9.91502962e-01 -3.13137600e-04]
 [-2.80112594e-04  3.52571472e-04  9.99999899e-01]]

 t_estimated:
[[9.23027749e-01]
 [3.84732496e-01]
 [8.25606215e-04]]

 R_gt:
[[ 0.99543914  0.07174706  0.06287913]
 [-0.06684162  0.99479496 -0.07690982]
 [-0.06806977  0.07235661  0.99505369]]

 t_gt:
[-0.7983713   0.59971841  0.05423179]

Pose Error in degrees for R and t:
12.782042684093998 59.59274782476202

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.95085547e-01 -9.90189371e-02 -7.17678354e-05]
 [ 9.90189452e-02  9.95085541e-01  1.20278768e-04]
 [ 5.95052596e-05 -1.26794039e-04  9.99999990e-01]]

 t_estimated:
[[8.19679997e-01]
 [5.72821296e-01]
 [6.81930114e-04]]

 R_gt:
[[ 0.99202166  0.05721921  0.11233952]
 [-0.04877673  0.99587554 -0.07651363]
 [-0.11625278  0.07042477  0.99071965]]

 t_gt:
[-0.64173189  0.37811221  0.66724159]

Pose Error in degrees for R and t:
11.717917532161842 72.00288813085274

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 8.88275215e-01 -4.59309570e-01 -1.36417581e-03]
 [ 4.59311540e-01  8.88272661e-01  2.14225240e-03]
 [ 2.27803054e-04 -2.52949140e-03  9.99996775e-01]]

 t_estimated:
[[-0.38213088]
 [-0.92410737]
 [-0.00124879]]

 R_gt:
[[ 0.99971428  0.01677067 -0.01700049]
 [-0.01755291  0.99874088 -0.04698433]
 [ 0.01619148  0.04726844  0.99875051]]

 t_gt:
[-0.26478277  0.80770879 -0.52677946]

Pose Error in degrees for R and t:
28.48016955867311 49.86654706689001

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.94880568e-01 -1.01057688e-01 -3.47660218e-06]
 [ 1.01057687e-01  9.94880561e-01  1.18725996e-04]
 [-8.53937069e-06 -1.18469524e-04  9.99999993e-01]]

 t_estimated:
[[-0.19232324]
 [ 0.98133104]
 [-0.0010791 ]]

 R_gt:
[[ 0.9994643  -0.02835075 -0.01631802]
 [ 0.0266645   0.99505734 -0.09564323]
 [ 0.0189486   0.09515665  0.99528171]]

 t_gt:
[ 0.22123954  0.79914998 -0.55893861]

Pose Error in degrees for R and t:
6.991252717287822 42.073629790295826

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.79081514e-01 -2.03468345e-01 -1.47608260e-04]
 [ 2.03468397e-01  9.79081331e-01  5.98850929e-04]
 [ 2.26732842e-05 -6.16357490e-04  9.99999810e-01]]

 t_estimated:
[[ 0.05690772]
 [ 0.99837881]
 [-0.0011256 ]]

 R_gt:
[[ 0.99384713 -0.11071311  0.00309562]
 [ 0.10971139  0.98025313 -0.16451623]
 [ 0.01518027  0.16384304  0.98636892]]

 t_gt:
[ 0.60406051  0.60259439 -0.52152747]

Pose Error in degrees for R and t:
10.914232450638908 50.46271578852727

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.96350251 -0.22189882  0.14974587]
 [ 0.24867839  0.94900065 -0.19379585]
 [-0.09910585  0.22396135  0.96954595]]

 t_estimated:
[[-0.97404437]
 [-0.22635395]
 [-0.00120401]]

 R_gt:
[[ 0.98961459  0.14362398  0.00596798]
 [-0.14258233  0.98601906 -0.08623141]
 [-0.01826925  0.08448553  0.99625686]]

 t_gt:
[-0.28390477  0.91512055 -0.28627341]

Pose Error in degrees for R and t:
24.065794143151585 86.00098244752277

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.21316415 -0.97697218 -0.00929574]
 [-0.97682403  0.21292374  0.02186977]
 [-0.01938688  0.01374215 -0.99971761]]

 t_estimated:
[[0.82149419]
 [0.57021361]
 [0.00193293]]

 R_gt:
[[ 0.98336327  0.18160558  0.00388807]
 [-0.17864643  0.97077385 -0.16026197]
 [-0.03287889  0.15690163  0.98706635]]

 t_gt:
[-0.21368206  0.90408682 -0.37009053]

Pose Error in degrees for R and t:
175.33324863530893 70.16767563786648

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.93489496 -0.12175473  0.33338745]
 [-0.12845721 -0.75956502 -0.63762036]
 [ 0.33086274 -0.63893408  0.69447324]]

 t_estimated:
[[0.77533375]
 [0.60542207]
 [0.17978233]]

 R_gt:
[[ 0.98286582  0.18409788 -0.00904501]
 [-0.18016874  0.94921953 -0.25791827]
 [-0.038895    0.25512933  0.96612439]]

 t_gt:
[-0.16953738  0.8502071  -0.49840242]

Pose Error in degrees for R and t:
172.44426067939037 72.9214705057843

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99994314e-01  3.37064277e-03  1.00377681e-04]
 [-3.37064560e-03  9.99994319e-01  2.80349556e-05]
 [-1.00282615e-04 -2.83731338e-05  9.99999995e-01]]

 t_estimated:
[[9.95925884e-01]
 [9.01749751e-02]
 [3.27843431e-04]]

 R_gt:
[[ 0.98926481 -0.1415513  -0.03630949]
 [ 0.14096331  0.98984646 -0.01827109]
 [ 0.03852777  0.0129569   0.99917402]]

 t_gt:
[ 0.84703044 -0.50438978 -0.16772115]

Pose Error in degrees for R and t:
8.638112305019662 37.05654263190379

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.2067266   0.97834751  0.0100131 ]
 [ 0.97839776 -0.20670104 -0.00353475]
 [-0.00138849  0.01052752 -0.99994362]]

 t_estimated:
[[-0.03138541]
 [-0.99950444]
 [-0.00241426]]

 R_gt:
[[ 0.96268393 -0.26778597 -0.03911795]
 [ 0.26858861  0.96310781  0.01685952]
 [ 0.03316148 -0.02673713  0.99909262]]

 t_gt:
[ 0.842719   -0.53455415  0.06384787]

Pose Error in degrees for R and t:
178.2614627132287 59.49018070325514

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.88581532  0.4640355   0.00151022]
 [ 0.46402605 -0.88581121  0.004282  ]
 [ 0.00332477 -0.00309228 -0.99998969]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.95462142 -0.29085254 -0.06405428]
 [ 0.29528887  0.952343    0.07646619]
 [ 0.03876141 -0.0919108   0.99501282]]

 t_gt:
[ 0.77522374 -0.59051586  0.22431935]

Pose Error in degrees for R and t:
174.34914452464537 39.32510379643089

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.93322670e-01  1.15369054e-01  2.31942161e-04]
 [-1.15369010e-01  9.93322684e-01 -1.93595883e-04]
 [-2.52728384e-04  1.65544242e-04  9.99999954e-01]]

 t_estimated:
[[0.75409636]
 [0.65676312]
 [0.00094498]]

 R_gt:
[[ 0.99103346 -0.1331042  -0.01167258]
 [ 0.13321502  0.99104308  0.00927273]
 [ 0.01033493 -0.01074498  0.99988942]]

 t_gt:
[ 0.76435224 -0.64479841 -0.0008189 ]

Pose Error in degrees for R and t:
14.303989153864162 81.20412707807003

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-8.54890843e-01  5.18807420e-01  7.12301116e-04]
 [ 5.18807434e-01  8.54887399e-01  2.52592843e-03]
 [ 7.01533162e-04  2.52894020e-03 -9.99996556e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9780861  -0.20653686 -0.02629608]
 [ 0.20750733  0.9773307   0.04202611]
 [ 0.01702117 -0.0465621   0.99877046]]

 t_gt:
[ 0.76547703 -0.63715019  0.08991419]

Pose Error in degrees for R and t:
178.1266599609541 40.22031130544918

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.94113188e-01  1.08346215e-01  2.59692512e-04]
 [-1.08346207e-01  9.94113222e-01 -4.43858725e-05]
 [-2.62972801e-04  1.59878826e-05  9.99999965e-01]]

 t_estimated:
[[9.55056811e-01]
 [2.96421552e-01]
 [8.67050942e-04]]

 R_gt:
[[ 0.9729564  -0.23089094  0.00681626]
 [ 0.23081243  0.97293943  0.01066232]
 [-0.00909308 -0.00880139  0.99992005]]

 t_gt:
[ 0.75971876 -0.64835067  0.04968724]

Pose Error in degrees for R and t:
19.580725953128074 57.762327233841184

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.56404493 -0.82573903 -0.00289444]
 [-0.82573342 -0.56401635 -0.00706171]
 [ 0.00419862  0.00637316 -0.99997088]]

 t_estimated:
[[ 0.5105454 ]
 [ 0.85984465]
 [-0.00325039]]

 R_gt:
[[ 9.85246718e-01 -2.62832551e-03  1.71118521e-01]
 [ 2.43924979e-03  9.99997201e-01  1.31457178e-03]
 [-1.71121764e-01 -8.77391857e-04  9.85249063e-01]]

 t_gt:
[-0.2233103  -0.01983525  0.97454557]

Pose Error in degrees for R and t:
175.78254038598604 82.28573353094215

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.42743292  0.902433   -0.05399787]
 [-0.90340549 -0.42861685 -0.01208828]
 [-0.03405326  0.04361504  0.99846788]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.73982982e-01  2.56351997e-02  2.25167215e-01]
 [-2.61111824e-02  9.99659475e-01 -8.66147515e-04]
 [-2.25113015e-01 -5.03574265e-03  9.74319420e-01]]

 t_gt:
[-0.34847359  0.08432451  0.93351783]

Pose Error in degrees for R and t:
114.51728516035605 76.80150367531164

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999922e-01 -4.40972840e-05  3.93522208e-04]
 [ 4.42799060e-05  9.99999891e-01 -4.64073522e-04]
 [-3.93501701e-04  4.64090911e-04  9.99999815e-01]]

 t_estimated:
[[-0.2284298 ]
 [-0.97355969]
 [ 0.00116352]]

 R_gt:
[[ 0.9745281   0.09062813  0.20513825]
 [-0.09139643  0.99579851 -0.00574936]
 [-0.2047975  -0.01314537  0.97871636]]

 t_gt:
[-0.57340515  0.30103908  0.76195932]

Pose Error in degrees for R and t:
12.942270977938419 80.72285657428357

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.99976186  0.02178577 -0.00126906]
 [-0.02178287  0.99976018  0.00225627]
 [ 0.00131791 -0.00222809  0.99999665]]

 t_estimated:
[[0.64628147]
 [0.76309761]
 [0.00151709]]

 R_gt:
[[ 0.99355875  0.10449831  0.04383041]
 [-0.10472062  0.99449837  0.00281067]
 [-0.0432957  -0.00738209  0.9990347 ]]

 t_gt:
[-0.55734408  0.78283916  0.27664134]

Pose Error in degrees for R and t:
5.413004479461238 76.25499437512032

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99999657e-01  7.23373757e-05 -8.25044144e-04]
 [-7.14246862e-05  9.99999386e-01  1.10620695e-03]
 [ 8.25123657e-04 -1.10614764e-03  9.99999048e-01]]

 t_estimated:
[[-4.44220174e-01]
 [-8.95917547e-01]
 [-4.30553514e-04]]

 R_gt:
[[ 0.97059766  0.23635436  0.04556102]
 [-0.23728396  0.97130685  0.01612443]
 [-0.04044299 -0.02646118  0.99883097]]

 t_gt:
[-0.53213539  0.83273147  0.15293864]

Pose Error in degrees for R and t:
13.981949454503996 59.353533541850474

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999917e-01  4.08638995e-04  4.13768621e-07]
 [-4.08638996e-04  9.99999917e-01  2.57976583e-06]
 [-4.12714395e-07 -2.57993470e-06  1.00000000e+00]]

 t_estimated:
[[0.70727963]
 [0.70693274]
 [0.00127542]]

 R_gt:
[[ 0.95925619  0.27635203  0.05880199]
 [-0.27776738  0.96049305  0.01728213]
 [-0.05170331 -0.03291092  0.99812025]]

 t_gt:
[-0.51236585  0.83936994  0.18149201]

Pose Error in degrees for R and t:
16.453894530538154 76.63087712764727

Number of keypoints:
Image1: 508
Image2: 508

 R_estimated:
[[ 0.26397111 -0.96449338  0.00847164]
 [-0.96449747 -0.26387909  0.01060474]
 [-0.00799271 -0.01097022 -0.99990788]]

 t_estimated:
[[0.61978816]
 [0.78473076]
 [0.00776405]]

 R_gt:
[[ 0.99354613 -0.10797102  0.03477555]
 [ 0.1070743   0.99389297  0.02668281]
 [-0.03744376 -0.02278705  0.99903816]]

 t_gt:
[ 0.3772369  -0.79774632  0.47041805]

Pose Error in degrees for R and t:
176.8379012412821 67.1352736833788

Number of keypoints:
Image1: 441
Image2: 441

 R_estimated:
[[ 9.99999945e-01 -1.75736455e-04  2.81332946e-04]
 [ 1.75692505e-04  9.99999972e-01  1.56238527e-04]
 [-2.81360395e-04 -1.56189090e-04  9.99999948e-01]]

 t_estimated:
[[0.7062489]
 [0.7079631]
 [0.0008571]]

 R_gt:
[[ 0.98562968 -0.16413912  0.03990292]
 [ 0.1635159   0.98636879  0.01842403]
 [-0.04238223 -0.011634    0.9990338 ]]

 t_gt:
[ 0.42749847 -0.83177046  0.35412279]

Pose Error in degrees for R and t:
9.749078716102881 73.3431584304239

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-8.43984429e-01 -5.36367639e-01  1.96644429e-04]
 [-5.36366552e-01  8.43983356e-01  1.73720688e-03]
 [-1.09774618e-03  1.36070207e-03 -9.99998472e-01]]

 t_estimated:
[[0.92988668]
 [0.36784468]
 [0.0010275 ]]

 R_gt:
[[ 0.98100728 -0.17581252  0.08194656]
 [ 0.17720794  0.98412217 -0.01002605]
 [-0.07888264  0.02435805  0.99658589]]

 t_gt:
[ 0.2637078  -0.85793711  0.44091056]

Pose Error in degrees for R and t:
175.78336105794972 85.99082655870585

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.99943184e-01 -1.06594366e-02  7.07685301e-05]
 [ 1.06594443e-02  9.99943181e-01 -1.09355285e-04]
 [-6.95988433e-05  1.10103425e-04  9.99999992e-01]]

 t_estimated:
[[-0.94147788]
 [-0.33706414]
 [-0.00267891]]

 R_gt:
[[ 0.99973338  0.00672218 -0.02207862]
 [-0.00654016  0.99994388  0.00830711]
 [ 0.02213273 -0.00816032  0.99972223]]

 t_gt:
[ 0.02979988  0.91893037 -0.39329243]

Pose Error in degrees for R and t:
1.6806997433957216 70.32156950720042

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.96468685e-01  8.39647794e-02  2.75584763e-04]
 [-8.39647636e-02  9.96468722e-01 -6.84617932e-05]
 [-2.80359976e-04  4.50806235e-05  9.99999960e-01]]

 t_estimated:
[[0.74705715]
 [0.66475736]
 [0.00180556]]

 R_gt:
[[ 0.99807861 -0.06177037  0.00502401]
 [ 0.0617383   0.99807269  0.00630946]
 [-0.0054046  -0.00598662  0.99996781]]

 t_gt:
[ 0.94542748 -0.28618329  0.15577552]

Pose Error in degrees for R and t:
8.369111585903028 58.91379400058741

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.08068401 -0.99588796  0.04119774]
 [-0.9966689   0.08011658 -0.01524612]
 [ 0.0118828  -0.04229062 -0.99903469]]

 t_estimated:
[[0.93504938]
 [0.35451565]
 [0.0011473 ]]

 R_gt:
[[ 9.87962595e-01 -1.54697334e-01 -8.84447104e-04]
 [ 1.54684110e-01  9.87925945e-01 -8.72476322e-03]
 [ 2.22362357e-03  8.48362226e-03  9.99961240e-01]]

 t_gt:
[ 0.91521144 -0.40136364 -0.03598956]

Pose Error in degrees for R and t:
179.435406667155 44.484756067561385

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.99999899e-01  4.38264128e-04  9.77466367e-05]
 [-4.38262125e-04  9.99999904e-01 -2.05075810e-05]
 [-9.77556150e-05  2.04647403e-05  9.99999995e-01]]

 t_estimated:
[[ 9.99134860e-01]
 [ 4.15875570e-02]
 [-7.94457965e-05]]

 R_gt:
[[ 0.99759877 -0.06913062  0.00408497]
 [ 0.06911188  0.99759879  0.00463557]
 [-0.00439596 -0.00434207  0.99998035]]

 t_gt:
[ 0.77216586 -0.63457478  0.03278311]

Pose Error in degrees for R and t:
4.004237936652838 41.831897965785345

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 0.91111018  0.41212856  0.00531996]
 [-0.41210888  0.91112384 -0.00442853]
 [-0.00667227  0.00184248  0.99997604]]

 t_estimated:
[[0.35569724]
 [0.93460047]
 [0.00119361]]

 R_gt:
[[ 0.99524547 -0.09641588  0.01378535]
 [ 0.09595073  0.99489669  0.03120299]
 [-0.01672395 -0.02973164  0.99941835]]

 t_gt:
[ 0.6301982  -0.75188141  0.19371263]

Pose Error in degrees for R and t:
29.924854451008837 61.424411563482806

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.99962624  0.02625996 -0.00760235]
 [-0.02622628  0.99964592  0.00449684]
 [ 0.00771774 -0.00429578  0.99996099]]

 t_estimated:
[[-0.14920592]
 [-0.98880534]
 [-0.00126446]]

 R_gt:
[[ 0.99290257 -0.11485188 -0.03086954]
 [ 0.11503682  0.99335234  0.00428329]
 [ 0.03017145 -0.00780441  0.99951377]]

 t_gt:
[ 0.63201547 -0.77403035 -0.03786117]

Pose Error in degrees for R and t:
8.211697442330635 47.84699329124349

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99022220e-01 -4.42097416e-02  3.20556706e-04]
 [ 4.42097477e-02  9.99022271e-01 -1.18822579e-05]
 [-3.19717977e-04  2.60423708e-05  9.99999949e-01]]

 t_estimated:
[[ 9.18159716e-01]
 [ 3.96210452e-01]
 [-1.13917564e-04]]

 R_gt:
[[ 0.99809431 -0.04487068  0.04237378]
 [ 0.04349173  0.99851125  0.03293402]
 [-0.04378766 -0.03102729  0.99855856]]

 t_gt:
[ 0.45583951 -0.75978927  0.46360609]

Pose Error in degrees for R and t:
3.061941258255686 83.25537629253108

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999937e-01  1.54281240e-04 -3.21151061e-04]
 [-1.54052853e-04  9.99999735e-01  7.11054569e-04]
 [ 3.21260679e-04 -7.11005050e-04  9.99999696e-01]]

 t_estimated:
[[0.79825997]
 [0.6023122 ]
 [0.00101936]]

 R_gt:
[[ 0.99868394 -0.04902364  0.01512033]
 [ 0.04843165  0.99813006  0.03729816]
 [-0.0169206  -0.03651614  0.99918909]]

 t_gt:
[ 0.4044058  -0.87191553  0.27607835]

Pose Error in degrees for R and t:
3.610858509186528 78.34237765638015

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-6.29663667e-01  7.76867828e-01  2.10492847e-04]
 [-7.76867135e-01 -6.29662690e-01 -1.53326552e-03]
 [-1.05860516e-03 -1.12896656e-03  9.99998802e-01]]

 t_estimated:
[[0.76003302]
 [0.64988331]
 [0.00122389]]

 R_gt:
[[ 0.99002665 -0.13714654 -0.03223028]
 [ 0.13699173  0.990548   -0.00698071]
 [ 0.03288304  0.00249724  0.9994557 ]]

 t_gt:
[ 0.66417608 -0.74192385 -0.09175588]

Pose Error in degrees for R and t:
136.9133637056175 88.70961691035163

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.27955056e-01  5.60791026e-01  1.96236076e-03]
 [-5.60790178e-01  8.27957339e-01 -1.01033640e-03]
 [-2.19133857e-03 -2.63959508e-04  9.99997564e-01]]

 t_estimated:
[[0.77153905]
 [0.63618132]
 [0.00090238]]

 R_gt:
[[ 0.99423386  0.10242666  0.03175498]
 [-0.10060841  0.99344096 -0.05434885]
 [-0.03711268  0.05084039  0.99801705]]

 t_gt:
[-0.53330027  0.84435669 -0.05150351]

Pose Error in degrees for R and t:
28.491991666749655 82.78138847117641

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.97033323e-01 -7.69709382e-02  1.68190314e-04]
 [ 7.69709314e-02  9.97033336e-01  4.67462797e-05]
 [-1.71289454e-04 -3.36618335e-05  9.99999985e-01]]

 t_estimated:
[[-9.44123519e-01]
 [-3.29590841e-01]
 [-8.11800102e-04]]

 R_gt:
[[ 0.9777003   0.20874855  0.02295208]
 [-0.20796581  0.97759867 -0.03244016]
 [-0.02920895  0.02694375  0.99921039]]

 t_gt:
[-0.50879226  0.86086679  0.00622955]

Pose Error in degrees for R and t:
16.600500569847036 78.6603989710343

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 5.63183435e-01  8.26329688e-01  1.91451917e-03]
 [ 8.26327880e-01 -5.63186412e-01  1.81664281e-03]
 [ 2.57937706e-03  5.58917431e-04 -9.99996517e-01]]

 t_estimated:
[[8.48408008e-01]
 [5.29342346e-01]
 [7.30127373e-04]]

 R_gt:
[[ 0.94868581  0.31251782  0.04823977]
 [-0.31118265  0.94976802 -0.03325793]
 [-0.05621046  0.01654027  0.99828197]]

 t_gt:
[-0.48438253  0.87186812  0.07224641]

Pose Error in degrees for R and t:
177.36837129078887 87.09870899577894

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.98330436e-01 -5.77610705e-02 -1.17353977e-05]
 [ 5.77610707e-02  9.98330435e-01  2.31128166e-05]
 [ 1.03807837e-05 -2.37520774e-05  1.00000000e+00]]

 t_estimated:
[[-7.93262715e-01]
 [-6.08879034e-01]
 [-7.66843356e-04]]

 R_gt:
[[ 0.99863596  0.04161619 -0.03153666]
 [-0.04154619  0.99913279  0.00287541]
 [ 0.0316288  -0.00156081  0.99949821]]

 t_gt:
[-0.26770665  0.83059077 -0.48831559]

Pose Error in degrees for R and t:
5.9766530762134 72.96276392485906

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.96830614e-01 -7.95532988e-02  4.37251267e-06]
 [ 7.95532983e-02  9.96830612e-01  6.75012154e-05]
 [-9.72859883e-06 -6.69394302e-05  9.99999998e-01]]

 t_estimated:
[[ 2.98994923e-02]
 [-9.99552904e-01]
 [ 1.14756742e-04]]

 R_gt:
[[ 9.94520048e-01  3.03788883e-02  1.00026533e-01]
 [-3.02500696e-02  9.99538511e-01 -2.80673920e-03]
 [-1.00066355e-01 -2.35124195e-04  9.94980706e-01]]

 t_gt:
[-0.35757368  0.32486892  0.87555768]

Pose Error in degrees for R and t:
8.52601028419997 70.4083385951915

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.83752271 -0.21573421  0.50201042]
 [-0.3632978  -0.46639277 -0.80653115]
 [ 0.40813039 -0.85786743  0.31223878]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.97788377  0.07865189  0.19379724]
 [-0.08083975  0.99672194  0.00339748]
 [-0.19289484 -0.0189889   0.98103551]]

 t_gt:
[-0.4375283   0.34935726  0.82856412]

Pose Error in degrees for R and t:
165.13139702735677 89.66093370504996

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 8.99085469e-02  9.95950014e-01  1.48157148e-04]
 [-9.95946102e-01  8.99086092e-02 -2.79367892e-03]
 [-2.79568516e-03  1.03619078e-04  9.99996087e-01]]

 t_estimated:
[[-0.04745147]
 [ 0.99887289]
 [ 0.00114637]]

 R_gt:
[[ 0.99516241 -0.09781797 -0.00914799]
 [ 0.09814043  0.99408303  0.04655129]
 [ 0.0045401  -0.0472235   0.99887357]]

 t_gt:
[ 0.63416213 -0.68580557  0.35708417]

Pose Error in degrees for R and t:
90.50402256774409 44.38013916050096

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.05491746  0.99846732 -0.0068622 ]
 [ 0.99845112 -0.05485263  0.00930297]
 [ 0.00891231 -0.00736247 -0.99993318]]

 t_estimated:
[[-0.25007726]
 [-0.9682089 ]
 [-0.00573462]]

 R_gt:
[[ 0.99331437 -0.11280899 -0.0245313 ]
 [ 0.11512475  0.98375867  0.13770712]
 [ 0.00859848 -0.13961027  0.99016895]]

 t_gt:
[ 0.45371688 -0.67538494  0.58137439]

Pose Error in degrees for R and t:
172.8967765670207 57.51250822435875

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-4.83171683e-01 -8.75511415e-01 -4.98859339e-03]
 [ 8.75525443e-01 -4.83167442e-01 -2.10302259e-03]
 [-5.69105628e-04 -5.38376140e-03  9.99985346e-01]]

 t_estimated:
[[0.94338246]
 [0.33170545]
 [0.00101439]]

 R_gt:
[[ 0.98359373 -0.1722057  -0.05374449]
 [ 0.18005061  0.95558192  0.2333318 ]
 [ 0.01117641 -0.23918051  0.97091031]]

 t_gt:
[ 0.49544672 -0.60783886  0.62053564]

Pose Error in degrees for R and t:
109.16528954050214 74.54973840319516

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.98610864e-01  5.26910100e-02 -1.42120359e-05]
 [-5.26910118e-02  9.98610816e-01 -3.07487999e-04]
 [-2.00956047e-06  3.07809702e-04  9.99999953e-01]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 9.95644287e-01 -9.32356082e-02  9.07301619e-04]
 [ 9.31181970e-02  9.94785980e-01  4.16115570e-02]
 [-4.78184420e-03 -4.13454125e-02  9.99132953e-01]]

 t_gt:
[ 0.70048729 -0.65712089  0.27840563]

Pose Error in degrees for R and t:
8.706497985696592 74.67818311072307

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-1.84239610e-01 -9.82880683e-01 -1.15286091e-03]
 [-9.82881161e-01  1.84240191e-01 -4.19689046e-04]
 [ 6.24907572e-04  1.05580193e-03 -9.99999247e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.982669   -0.18374596 -0.02449778]
 [ 0.18471623  0.98171134  0.04607424]
 [ 0.0155833  -0.04980115  0.99863766]]

 t_gt:
[ 0.76671454 -0.63299499  0.10708017]

Pose Error in degrees for R and t:
179.19063527297456 72.6597681055063

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 1.24189464e-01 -9.92258519e-01  9.57948409e-05]
 [-9.92257033e-01 -1.24189444e-01 -1.72122547e-03]
 [ 1.71979734e-03  1.18704964e-04 -9.99998514e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96777281 -0.25111348 -0.01895026]
 [ 0.25180349  0.96598841  0.05884399]
 [ 0.00352936 -0.06172062  0.99808685]]

 t_gt:
[ 0.77030143 -0.62174585  0.14166087]

Pose Error in degrees for R and t:
177.89656895004356 75.77141122217598

Number of keypoints:
Image1: 628
Image2: 628

 R_estimated:
[[ 9.99705124e-01 -2.42830031e-02  3.55845390e-05]
 [ 2.42830013e-02  9.99705123e-01  5.04522242e-05]
 [-3.67991774e-05 -4.95732477e-05  9.99999998e-01]]

 t_estimated:
[[ 9.87429991e-01]
 [-1.58055204e-01]
 [ 7.52268761e-04]]

 R_gt:
[[ 0.99905082 -0.04262212 -0.00899839]
 [ 0.0424816   0.99898207 -0.01514068]
 [ 0.0096343   0.01474435  0.99984467]]

 t_gt:
[ 0.53554061 -0.75146244 -0.38535756]

Pose Error in degrees for R and t:
1.4576621801657152 49.66229603367218

Number of keypoints:
Image1: 484
Image2: 484

 R_estimated:
[[ 9.93204725e-01 -1.16380136e-01 -1.94594617e-04]
 [ 1.16380152e-01  9.93204740e-01  7.05523508e-05]
 [ 1.85061403e-04 -9.27198792e-05  9.99999979e-01]]

 t_estimated:
[[ 9.39262764e-01]
 [-3.43198801e-01]
 [-2.07523556e-04]]

 R_gt:
[[ 0.99806174 -0.06155427 -0.00914187]
 [ 0.0616118   0.9980808   0.00621663]
 [ 0.00874167 -0.00676744  0.99993844]]

 t_gt:
[ 0.46285664 -0.88385339 -0.06757893]

Pose Error in degrees for R and t:
3.2134931204135313 42.430570889222324

Number of keypoints:
Image1: 397
Image2: 397

 R_estimated:
[[ 0.77058743  0.63733295 -0.001312  ]
 [-0.63732717  0.77058692  0.00314401]
 [ 0.00301479 -0.00158656  0.9999942 ]]

 t_estimated:
[[-0.98386308]
 [-0.1788842 ]
 [-0.00372675]]

 R_gt:
[[ 0.9928928  -0.11776826  0.01716798]
 [ 0.11751321  0.99295603  0.01514339]
 [-0.01883127 -0.01301832  0.99973752]]

 t_gt:
[ 0.37243687 -0.90187417  0.21889212]

Pose Error in degrees for R and t:
46.368372211501416 78.11713098414533

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99839675e-01  1.79031873e-02 -3.16155207e-04]
 [-1.79030922e-02  9.99839681e-01  3.01271930e-04]
 [ 3.21498249e-04 -2.95563473e-04  9.99999905e-01]]

 t_estimated:
[[-0.99675809]
 [-0.08044697]
 [-0.00126315]]

 R_gt:
[[ 0.99761302  0.06838232  0.0096254 ]
 [-0.06860871  0.99731331  0.02565056]
 [-0.00784527 -0.02624927  0.99962478]]

 t_gt:
[-0.14006215  0.45761304  0.87805062]

Pose Error in degrees for R and t:
3.294996169051516 84.16376938494606

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.98953989  0.14424971 -0.00167945]
 [-0.14424338  0.98953632  0.00342267]
 [ 0.00215559 -0.00314462  0.99999273]]

 t_estimated:
[[-0.59149118]
 [-0.80629845]
 [ 0.0045808 ]]

 R_gt:
[[ 0.98346636  0.17885766  0.02837194]
 [-0.18034513  0.98153297  0.06377051]
 [-0.01644088 -0.06783282  0.99756056]]

 t_gt:
[-0.30421698  0.76618507  0.56604989]

Pose Error in degrees for R and t:
4.380625676635305 64.19948372430994

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.14789244 -0.98862544  0.02734153]
 [-0.95346139 -0.14986781 -0.26163146]
 [ 0.26275314  0.01262423 -0.9647805 ]]

 t_estimated:
[[ 0.43298396]
 [ 0.87593331]
 [-0.21275742]]

 R_gt:
[[ 0.96326549  0.26786056  0.01925128]
 [-0.26852169  0.961748    0.0541795 ]
 [-0.00400146 -0.05735763  0.99834573]]

 t_gt:
[-0.15215457  0.9445454   0.2910034 ]

Pose Error in degrees for R and t:
174.007951749663 45.60787280175588

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 1.28711636e-01  9.91681549e-01  1.00959072e-03]
 [-9.91681087e-01  1.28712871e-01 -1.27230446e-03]
 [-1.39166818e-03 -8.37431631e-04  9.99998681e-01]]

 t_estimated:
[[0.32719418]
 [0.94495634]
 [0.00122087]]

 R_gt:
[[ 0.99843531 -0.04534128 -0.0327592 ]
 [ 0.04577273  0.99887377  0.01251895]
 [ 0.03215367 -0.01399948  0.99938446]]

 t_gt:
[ 0.59580065 -0.75993639 -0.25984277]

Pose Error in degrees for R and t:
85.2383059834054 58.43392948191931

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.67842836e-01 -2.51555488e-01  2.85368169e-04]
 [ 2.51555365e-01  9.67842825e-01  4.06774268e-04]
 [-3.78517834e-04 -3.21907667e-04  9.99999877e-01]]

 t_estimated:
[[ 0.99294432]
 [-0.11856584]
 [ 0.00192881]]

 R_gt:
[[ 0.99347952 -0.09929173 -0.05603968]
 [ 0.10240364  0.99318401  0.05568445]
 [ 0.05012831 -0.06106071  0.99687425]]

 t_gt:
[ 0.56999503 -0.82125005 -0.02557363]

Pose Error in degrees for R and t:
9.870224973280957 48.44825290144293

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.45970229e-01 -3.24253485e-01  6.64788245e-05]
 [ 3.24253460e-01  9.45970207e-01  2.45363903e-04]
 [-1.42447088e-04 -2.10550959e-04  9.99999968e-01]]

 t_estimated:
[[9.48524530e-01]
 [3.16702681e-01]
 [7.91756703e-04]]

 R_gt:
[[ 0.9846026  -0.13974405 -0.10502903]
 [ 0.14577466  0.9879461   0.05207821]
 [ 0.09648513 -0.06658796  0.99310416]]

 t_gt:
[ 0.60320869 -0.77465623 -0.18986048]

Pose Error in degrees for R and t:
12.622380061479335 70.93308388914296

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99597170e-01 -2.83809405e-02  1.43303667e-04]
 [ 2.83809471e-02  9.99597179e-01 -4.37514784e-05]
 [-1.42004233e-04  4.78009478e-05  9.99999989e-01]]

 t_estimated:
[[0.75541187]
 [0.65524884]
 [0.00136477]]

 R_gt:
[[ 0.99847489 -0.05455543 -0.00854328]
 [ 0.05484458  0.99775207  0.03851092]
 [ 0.00642352 -0.03892084  0.99922169]]

 t_gt:
[ 0.45309728 -0.85517741  0.25174284]

Pose Error in degrees for R and t:
2.721832083448326 77.42394505756717

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99998548e-01 -1.48486310e-04 -1.69752438e-03]
 [ 1.51233622e-04  9.99998679e-01  1.61840873e-03]
 [ 1.69728183e-03 -1.61866310e-03  9.99997250e-01]]

 t_estimated:
[[-0.90690827]
 [-0.421318  ]
 [-0.00292004]]

 R_gt:
[[ 0.99086094 -0.11451922 -0.07127705]
 [ 0.11867994  0.99128726  0.05715099]
 [ 0.06411105 -0.06508748  0.99581714]]

 t_gt:
[ 0.55836484 -0.82533102 -0.08400838]

Pose Error in degrees for R and t:
8.423931528353684 80.88517375524142

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.9968993  -0.04248941 -0.06623011]
 [-0.04276914  0.99908103  0.00281084]
 [ 0.06604981  0.00563473 -0.99780042]]

 t_estimated:
[[ 0.99901076]
 [ 0.02868914]
 [-0.033977  ]]

 R_gt:
[[ 0.99582103 -0.08968385 -0.0172567 ]
 [ 0.09005579  0.99569296  0.02206827]
 [ 0.01520369 -0.02352979  0.99960679]]

 t_gt:
[ 0.50099546 -0.86467008  0.03673133]

Pose Error in degrees for R and t:
175.3185946398274 61.67676693749767

Number of keypoints:
Image1: 311
Image2: 311

 R_estimated:
[[ 9.99875352e-01  1.57886364e-02  1.43333208e-05]
 [-1.57886362e-02  9.99875352e-01 -1.42538466e-05]
 [-1.45565830e-05  1.40257663e-05  1.00000000e+00]]

 t_estimated:
[[ 6.92758529e-01]
 [-7.21169602e-01]
 [-1.61465134e-04]]

 R_gt:
[[ 0.99921727 -0.03138986 -0.02408966]
 [ 0.03191295  0.9992567   0.02166185]
 [ 0.02339282 -0.02241367  0.99947559]]

 t_gt:
[ 0.5497982  -0.81334775 -0.19022981]

Pose Error in degrees for R and t:
3.292002157643035 14.654315147191364

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.99401008e-01  3.46066138e-02  8.87204761e-05]
 [-3.46066056e-02  9.99401008e-01 -9.24760727e-05]
 [-9.18676169e-05  8.93503657e-05  9.99999992e-01]]

 t_estimated:
[[ 8.84250681e-01]
 [-4.67012531e-01]
 [-1.72007390e-04]]

 R_gt:
[[ 0.99718117 -0.06875642 -0.03004296]
 [ 0.0688947   0.99761731  0.00359813]
 [ 0.02972474 -0.00565738  0.99954199]]

 t_gt:
[ 0.57307252 -0.7684587  -0.28470881]

Pose Error in degrees for R and t:
6.18039531241487 30.04086363729482

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 9.99689038e-01  2.49362663e-02  9.85336839e-05]
 [-2.49362513e-02  9.99689032e-01 -1.50247377e-04]
 [-1.02249652e-04  1.47743595e-04  9.99999984e-01]]

 t_estimated:
[[ 9.06597619e-01]
 [-4.21995969e-01]
 [-3.99998680e-04]]

 R_gt:
[[ 0.99346779 -0.10873526 -0.03463533]
 [ 0.10900498  0.99402382  0.00600456]
 [ 0.03377623 -0.00974121  0.99938209]]

 t_gt:
[ 0.57252352 -0.79311083 -0.20782692]

Pose Error in degrees for R and t:
7.942016382085413 31.370254617342912

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-8.18242192e-01 -5.74873622e-01  1.82152593e-04]
 [-5.74871919e-01  8.18240464e-01  2.19540028e-03]
 [-1.41112233e-03  1.69165472e-03 -9.99997574e-01]]

 t_estimated:
[[0.99961549]
 [0.02770789]
 [0.00106569]]

 R_gt:
[[ 0.90414237 -0.42715358  0.00815357]
 [ 0.42698598  0.90410481  0.01664957]
 [-0.01448394 -0.01157109  0.99982869]]

 t_gt:
[ 0.89568369 -0.44321257  0.03624   ]

Pose Error in degrees for R and t:
179.04568517102584 27.98170771677999

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99986110e-01 -5.27073402e-03  1.23974532e-05]
 [ 5.27074600e-03  9.99985188e-01 -1.35753924e-03]
 [-5.24204128e-06  1.35758573e-03  9.99999078e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.80006087 -0.59979869  0.01211084]
 [ 0.5993485   0.80001542  0.02750705]
 [-0.02618816 -0.0147482   0.99954841]]

 t_gt:
[ 0.93347803 -0.35616353  0.04202749]

Pose Error in degrees for R and t:
36.58898683527325 69.49490139472032

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.20904776  0.97790335 -0.0020196 ]
 [-0.97790063 -0.20905276 -0.00270358]
 [-0.00306604  0.00140979  0.99999431]]

 t_estimated:
[[0.03075464]
 [0.99952578]
 [0.00153773]]

 R_gt:
[[ 0.64763799 -0.75902283 -0.06671538]
 [ 0.76062662  0.64918637 -0.00205408]
 [ 0.04486982 -0.04941385  0.99777052]]

 t_gt:
[ 0.97200944 -0.23445746  0.01507823]

Pose Error in degrees for R and t:
151.61052066746592 78.20390790729114

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.85432479e-01  1.70067043e-01  1.71875234e-04]
 [-1.70066961e-01  9.85432423e-01 -4.09694029e-04]
 [-2.39046880e-04  3.74495504e-04  9.99999901e-01]]

 t_estimated:
[[-9.98326144e-01]
 [ 5.78310462e-02]
 [-6.92573524e-04]]

 R_gt:
[[ 0.99575224 -0.06451616 -0.06568671]
 [ 0.06627141  0.9974904   0.02489847]
 [ 0.06391499 -0.02914685  0.99752994]]

 t_gt:
[ 0.52908782 -0.72623752 -0.4389136 ]

Pose Error in degrees for R and t:
14.135063825342046 55.25693567556812

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.6344773  -0.77293205 -0.00382236]
 [ 0.77294031 -0.63445988 -0.00489295]
 [ 0.00135679 -0.00605892  0.99998072]]

 t_estimated:
[[ 9.54117716e-01]
 [-2.99431770e-01]
 [ 4.57119272e-06]]

 R_gt:
[[ 0.99147072 -0.08600349 -0.09792582]
 [ 0.09126032  0.9945442   0.05052894]
 [ 0.09304579 -0.05903492  0.99391051]]

 t_gt:
[ 0.54375309 -0.75190958 -0.37277952]

Pose Error in degrees for R and t:
124.35189403946983 41.9311492459889

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.6627734  -0.74881034  0.00380703]
 [-0.74880883  0.66278273  0.00209602]
 [-0.00409276 -0.00146156 -0.99999056]]

 t_estimated:
[[0.94870237]
 [0.31615552]
 [0.00308215]]

 R_gt:
[[ 0.98728328 -0.12007245 -0.10418771]
 [ 0.12405065  0.9917416   0.03256168]
 [ 0.09941705 -0.04507288  0.99402439]]

 t_gt:
[ 0.57163611 -0.73099408 -0.37266582]

Pose Error in degrees for R and t:
175.82750285110112 71.93738821141066

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[-0.13387884 -0.99073185 -0.0229533 ]
 [-0.99073188  0.13434346 -0.02005432]
 [ 0.02295208  0.02005571 -0.99953538]]

 t_estimated:
[[ 0.7661908 ]
 [ 0.64245771]
 [-0.01413346]]

 R_gt:
[[ 0.99912977  0.0417032   0.00151179]
 [-0.04168869  0.99909739 -0.00821112]
 [-0.00185269  0.00814135  0.99996642]]

 t_gt:
[-0.06730953  0.94684777 -0.31456115]

Pose Error in degrees for R and t:
178.01975126924023 55.86231255806365

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-0.32906216 -0.943059    0.04855743]
 [-0.94294209  0.3309164   0.03680437]
 [-0.05077714 -0.03367592 -0.99814208]]

 t_estimated:
[[0.83872334]
 [0.54366381]
 [0.03119005]]

 R_gt:
[[ 0.99265459  0.12034278 -0.0125122 ]
 [-0.12057758  0.99249941 -0.02017761]
 [ 0.00999042  0.021538    0.99971822]]

 t_gt:
[ 0.08564588  0.96022637 -0.26576326]

Pose Error in degrees for R and t:
177.74193960307 54.15571778738617

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999938e-01 -3.41070477e-04 -8.53059196e-05]
 [ 3.41071469e-04  9.99999942e-01  1.16107515e-05]
 [ 8.53019546e-05 -1.16398461e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99999212e-01]
 [-1.21755843e-03]
 [-3.04336269e-04]]

 R_gt:
[[ 9.89949326e-01  1.37767056e-01  3.19786661e-02]
 [-1.37805983e-01  9.90458720e-01 -9.64846372e-04]
 [-3.18063799e-02 -3.45082145e-03  9.99488156e-01]]

 t_gt:
[0.28976838 0.92985979 0.22670478]

Pose Error in degrees for R and t:
8.150801303224641 73.22781617935357

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99999963e-01  2.70161985e-04  2.68674894e-05]
 [-2.70160871e-04  9.99999963e-01 -4.14479121e-05]
 [-2.68786860e-05  4.14406520e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99911090e-01]
 [-1.33343534e-02]
 [-7.93785854e-05]]

 R_gt:
[[ 0.99917779 -0.03889928  0.01147099]
 [ 0.03900273  0.99919951 -0.00892465]
 [-0.01111507  0.0093637   0.9998947 ]]

 t_gt:
[ 0.50786912 -0.86070994  0.0353179 ]

Pose Error in degrees for R and t:
2.3954933115475443 58.71481408630798

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-0.93421725 -0.35635408  0.01580846]
 [-0.3562762   0.93434985  0.00759146]
 [-0.01747588  0.0014599  -0.99984622]]

 t_estimated:
[[0.98777105]
 [0.15568516]
 [0.00839584]]

 R_gt:
[[ 0.99667457 -0.08143461  0.0032757 ]
 [ 0.08138661  0.99660121  0.01279858]
 [-0.00430619 -0.01249009  0.99991301]]

 t_gt:
[ 0.53215078 -0.83852751  0.11699214]

Pose Error in degrees for R and t:
178.67622242960078 66.66670922303923

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.72090387e-01 -2.34606537e-01 -2.30029739e-04]
 [ 2.34605272e-01  9.72087571e-01 -2.47386415e-03]
 [ 8.03993751e-04  2.35085337e-03  9.99996914e-01]]

 t_estimated:
[[-0.23626105]
 [-0.9716746 ]
 [-0.00540322]]

 R_gt:
[[ 0.99313753 -0.11570052 -0.01708278]
 [ 0.11610308  0.99292747  0.02480414]
 [ 0.01409219 -0.02661773  0.99954677]]

 t_gt:
[ 0.53521626 -0.84448224  0.01983163]

Pose Error in degrees for R and t:
7.149538973308119 46.052095416799325

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999906e-01 -4.03526564e-04 -1.56777337e-04]
 [ 4.03539508e-04  9.99999915e-01  8.25375790e-05]
 [ 1.56744018e-04 -8.26008371e-05  9.99999984e-01]]

 t_estimated:
[[-9.99966473e-01]
 [-8.18618915e-03]
 [-1.98521636e-04]]

 R_gt:
[[ 0.98470783  0.17328198 -0.01802587]
 [-0.173649    0.98457573 -0.02135002]
 [ 0.01404969  0.02415357  0.99960955]]

 t_gt:
[-0.58886819  0.79468455 -0.14734559]

Pose Error in degrees for R and t:
10.14111010171946 54.38243158119858

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.99549606 -0.09464945 -0.00539227]
 [-0.09465689  0.9955093   0.00114043]
 [ 0.00526012  0.00164571 -0.99998481]]

 t_estimated:
[[ 0.99909982]
 [-0.0423316 ]
 [-0.00275427]]

 R_gt:
[[ 0.90028735  0.42929116 -0.07206489]
 [-0.42943773  0.90298393  0.01424361]
 [ 0.07118846  0.01812464  0.99729793]]

 t_gt:
[-0.45282978  0.87968758 -0.14524104]

Pose Error in degrees for R and t:
175.47289100382773 60.70799868332866

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.95591624 -0.29363024 -0.00232846]
 [ 0.29363369  0.95591713  0.00130425]
 [ 0.00184284 -0.00193047  0.99999644]]

 t_estimated:
[[-9.93892846e-01]
 [-1.10346799e-01]
 [-7.71655936e-04]]

 R_gt:
[[ 0.80345001  0.59261614 -0.05722769]
 [-0.5903825   0.80544528  0.05202066]
 [ 0.07692219 -0.00800915  0.9970046 ]]

 t_gt:
[-0.38943     0.91833328 -0.07076909]

Pose Error in degrees for R and t:
53.55994034911731 73.39504979794422

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.95475086  0.29740107  0.00184457]
 [ 0.29739616 -0.95475081  0.00253455]
 [ 0.00251489 -0.00187129 -0.99999509]]

 t_estimated:
[[0.52714554]
 [0.84977013]
 [0.00288058]]

 R_gt:
[[ 0.97580198 -0.21847862  0.00879416]
 [ 0.21845242  0.9758396   0.00389339]
 [-0.00943262 -0.00187784  0.99995413]]

 t_gt:
[ 0.83465446 -0.54937731  0.03919829]

Pose Error in degrees for R and t:
179.8020963406415 88.4673188108845

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 7.51377800e-01  6.59872249e-01  1.30639489e-04]
 [-6.59871647e-01  7.51376815e-01  1.51362814e-03]
 [ 9.00641724e-04 -1.22351188e-03  9.99998846e-01]]

 t_estimated:
[[0.67131945]
 [0.74116772]
 [0.00077609]]

 R_gt:
[[ 0.90372607 -0.42146546 -0.07513574]
 [ 0.42146963  0.90669054 -0.01659188]
 [ 0.07511794 -0.0166725   0.99703605]]

 t_gt:
[ 0.9059326  -0.41838747 -0.06510034]

Pose Error in degrees for R and t:
66.38540901069561 72.66101929489407

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.95703837e-01 -9.25825417e-02 -1.53025167e-03]
 [ 9.25832557e-02 -9.95704865e-01 -4.02383613e-04]
 [-1.48642533e-03 -5.42330588e-04  9.99998748e-01]]

 t_estimated:
[[8.38567407e-01]
 [5.44797434e-01]
 [6.78452595e-04]]

 R_gt:
[[ 0.7765766  -0.62754298 -0.05584295]
 [ 0.62379451  0.77830536 -0.07155962]
 [ 0.08836996  0.02073785  0.9958724 ]]

 t_gt:
[ 0.94998873 -0.29814205 -0.09291245]

Pose Error in degrees for R and t:
135.91049343694092 50.64380596271224

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.82066824e-01 -1.88532975e-01 -2.63423268e-04]
 [ 1.88533064e-01  9.82066775e-01  3.64555863e-04]
 [ 1.89968437e-04 -4.07682215e-04  9.99999899e-01]]

 t_estimated:
[[-0.15310558]
 [-0.98820894]
 [-0.00133426]]

 R_gt:
[[ 0.99782749  0.04458854 -0.04851359]
 [-0.04803911  0.99621438 -0.07244738]
 [ 0.0451005   0.07462069  0.9961919 ]]

 t_gt:
[-0.35385412  0.22036294 -0.90897054]

Pose Error in degrees for R and t:
14.421993846637342 80.65523604254875

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 4.18227319e-01  9.08342355e-01 -2.74337580e-04]
 [ 9.08337653e-01 -4.18224139e-01  3.35820311e-03]
 [ 2.93566353e-03 -1.65368344e-03 -9.99994324e-01]]

 t_estimated:
[[-9.99971146e-01]
 [-7.55011771e-03]
 [-8.38901968e-04]]

 R_gt:
[[ 0.96138182  0.25575934 -0.10164621]
 [-0.26013034  0.96503942 -0.03213329]
 [ 0.08987481  0.05733319  0.99430137]]

 t_gt:
[-0.92023174  0.27096163 -0.28240634]

Pose Error in degrees for R and t:
179.01174126442933 23.307252252079046

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-0.7483097  -0.6624848  -0.03385971]
 [ 0.6633483  -0.74743083 -0.03627914]
 [-0.00127341 -0.04960881  0.99876791]]

 t_estimated:
[[0.97925654]
 [0.2026048 ]
 [0.00281396]]

 R_gt:
[[ 0.84277123  0.52933586 -0.09767772]
 [-0.53274036  0.84621105 -0.01072386]
 [ 0.0769797   0.06107442  0.99515988]]

 t_gt:
[-0.89776146  0.4186932  -0.13682238]

Pose Error in degrees for R and t:
170.52328562870065 37.373585714154956

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.35771571 -0.93382985 -0.00113179]
 [ 0.9338252  -0.3577093  -0.00381388]
 [ 0.00315667 -0.00242118  0.99999209]]

 t_estimated:
[[ 9.98946357e-01]
 [ 4.58917324e-02]
 [-3.52571430e-04]]

 R_gt:
[[ 0.98728804  0.06730611  0.14398323]
 [-0.06211386  0.99725701 -0.04026819]
 [-0.1462991   0.03081215  0.98875954]]

 t_gt:
[-0.38293232  0.47990824  0.78933574]

Pose Error in degrees for R and t:
114.91500182556615 68.8516894104138

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999600e-01 -2.80171249e-04  8.49054457e-04]
 [ 2.81096346e-04  9.99999367e-01 -1.08963859e-03]
 [-8.48748634e-04  1.08987682e-03  9.99999046e-01]]

 t_estimated:
[[0.98418034]
 [0.17715246]
 [0.00246045]]

 R_gt:
[[ 0.95599499  0.18737182  0.22575619]
 [-0.17099473  0.98113372 -0.09021304]
 [-0.23840035  0.04764024  0.9699969 ]]

 t_gt:
[-0.36917892  0.66580385  0.64839198]

Pose Error in degrees for R and t:
17.487280409133064 75.88939588188494

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-2.19722636e-01 -9.75561246e-01 -1.48927326e-03]
 [-9.75562158e-01  2.19723365e-01 -3.43189586e-04]
 [ 6.62030592e-04  1.37747211e-03 -9.99998832e-01]]

 t_estimated:
[[7.95471415e-01]
 [6.05990824e-01]
 [5.91720378e-04]]

 R_gt:
[[ 0.90629713  0.36676651  0.21001853]
 [-0.34689654  0.92939161 -0.12607359]
 [-0.24142848  0.04140484  0.96953486]]

 t_gt:
[-0.31521912  0.85210741  0.41779165]

Pose Error in degrees for R and t:
172.79671607661513 74.58142318697833

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 7.16765508e-01 -6.97307375e-01  3.10351989e-03]
 [-6.97313931e-01 -7.16753586e-01  4.19274036e-03]
 [-6.99169762e-04 -5.16933932e-03 -9.99986394e-01]]

 t_estimated:
[[0.14337856]
 [0.98966174]
 [0.00349704]]

 R_gt:
[[ 0.99064558  0.13441499  0.02351112]
 [-0.1324937   0.98871633 -0.0699088 ]
 [-0.03264345  0.06613977  0.99727622]]

 t_gt:
[-0.66206729  0.74226044 -0.10351976]

Pose Error in degrees for R and t:
177.27962117713713 50.260470219780714

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.97291158  0.23092925 -0.01071195]
 [ 0.23092906  0.97296976  0.00127143]
 [ 0.01071601 -0.00123672 -0.99994182]]

 t_estimated:
[[ 0.99809762]
 [-0.06148665]
 [-0.00453167]]

 R_gt:
[[ 0.96582484  0.25872824  0.01553653]
 [-0.2566456   0.96299346 -0.08233149]
 [-0.03626407  0.07553139  0.9964834 ]]

 t_gt:
[-0.62005058  0.78212772 -0.06175357]

Pose Error in degrees for R and t:
178.59208392844423 48.1885388037368

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.54688966e-01 -2.97605169e-01 -3.75605059e-04]
 [ 2.97605398e-01  9.54688472e-01  9.73955096e-04]
 [ 6.87317493e-05 -1.04160628e-03  9.99999455e-01]]

 t_estimated:
[[-8.33272784e-01]
 [-5.52861817e-01]
 [-5.26949255e-04]]

 R_gt:
[[ 0.95730487  0.28884088 -0.01177482]
 [-0.28855772  0.95233275 -0.09898336]
 [-0.0173774   0.09815522  0.99501883]]

 t_gt:
[-0.60266963  0.78222721 -0.15782873]

Pose Error in degrees for R and t:
34.608940674328224 85.99705111876892

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.46488100e-01 -3.22738481e-01 -3.86182350e-04]
 [ 3.22738570e-01  9.46488129e-01  1.94858082e-04]
 [ 3.02628808e-04 -3.09066795e-04  9.99999906e-01]]

 t_estimated:
[[ 7.45631123e-01]
 [-6.66358934e-01]
 [ 2.20024257e-05]]

 R_gt:
[[ 0.99738182  0.05330841  0.04886757]
 [-0.0513115   0.99783097 -0.04124413]
 [-0.05096015  0.03862889  0.99795259]]

 t_gt:
[-0.01212067  0.98801682  0.15386962]

Pose Error in degrees for R and t:
22.136423949718296 48.13267333037202

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99985031e-01 -5.47140141e-03  4.70827978e-05]
 [ 5.47140740e-03  9.99985024e-01 -1.28096229e-04]
 [-4.63812268e-05  1.28351920e-04  9.99999991e-01]]

 t_estimated:
[[ 0.62475252]
 [-0.78082212]
 [-0.00105398]]

 R_gt:
[[ 0.99489726  0.0564951   0.08359305]
 [-0.05737354  0.99831994  0.00814951]
 [-0.08299248 -0.01290284  0.99646591]]

 t_gt:
[-0.07620855  0.75011807  0.65689812]

Pose Error in degrees for R and t:
6.002322562563286 50.65320977497672

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99999932e-01 -1.11997368e-05  3.69392730e-04]
 [ 1.13521385e-05  9.99999915e-01 -4.12574264e-04]
 [-3.69388077e-04  4.12578429e-04  9.99999847e-01]]

 t_estimated:
[[9.49140865e-01]
 [3.14850403e-01]
 [9.17931204e-04]]

 R_gt:
[[ 0.99770152 -0.0311522   0.06016999]
 [ 0.02663341  0.99686594  0.07449549]
 [-0.06230163 -0.07272103  0.99540383]]

 t_gt:
[0.3993955  0.11717677 0.9092595 ]

Pose Error in degrees for R and t:
5.744538304567959 65.36662335494078

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[-0.306725   -0.95154041  0.02214987]
 [-0.95152583  0.30711086  0.01677814]
 [-0.02276755 -0.0159299  -0.99961386]]

 t_estimated:
[[0.79697136]
 [0.60384294]
 [0.0145036 ]]

 R_gt:
[[ 0.99955539 -0.01920957  0.02280435]
 [ 0.01825015  0.99896922  0.04154633]
 [-0.02357961 -0.04111144  0.99887604]]

 t_gt:
[ 0.10504578 -0.25383903  0.96152542]

Pose Error in degrees for R and t:
175.9386359150898 86.81185884971077

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.24078176e-01 -3.82202691e-01 -7.92658557e-04]
 [ 3.82203345e-01  9.24077727e-01  9.78961096e-04]
 [ 3.58316553e-04 -1.20759334e-03  9.99999207e-01]]

 t_estimated:
[[-0.50834153]
 [-0.86115391]
 [-0.0016809 ]]

 R_gt:
[[ 0.99185137 -0.12450695 -0.02700632]
 [ 0.12653385  0.98741099  0.09490504]
 [ 0.01484979 -0.09754856  0.99511991]]

 t_gt:
[ 0.57752887 -0.65211463  0.49112821]

Pose Error in degrees for R and t:
16.229706049145953 74.50444501042963

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99999881e-01 -1.37891021e-04  4.68725866e-04]
 [ 1.37984994e-04  9.99999970e-01 -2.00461488e-04]
 [-4.68698211e-04  2.00526141e-04  9.99999870e-01]]

 t_estimated:
[[0.75355966]
 [0.65737845]
 [0.00118651]]

 R_gt:
[[ 0.95934147 -0.28105319 -0.02594452]
 [ 0.28216928  0.95284497  0.11165361]
 [-0.00666051 -0.11443403  0.99340857]]

 t_gt:
[ 0.65242737 -0.66591793  0.36178977]

Pose Error in degrees for R and t:
17.672172773445997 86.8866132188414

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 9.88448923e-01  1.51553687e-01  4.54060225e-04]
 [-1.51553647e-01  9.88449026e-01 -1.22602904e-04]
 [-4.67396309e-04  5.23722255e-05  9.99999889e-01]]

 t_estimated:
[[-8.24686105e-01]
 [ 5.65590303e-01]
 [ 6.61359457e-04]]

 R_gt:
[[ 0.99799847  0.06070827  0.01772209]
 [-0.05988709  0.99724939 -0.04366377]
 [-0.02032427  0.04251508  0.99888888]]

 t_gt:
[-0.78149698  0.60814139 -0.13937904]

Pose Error in degrees for R and t:
5.904001286378223 8.75192639434

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.71900713  0.69497364 -0.00635537]
 [ 0.69494755 -0.71880483  0.01917062]
 [ 0.0087548  -0.01820046 -0.99979603]]

 t_estimated:
[[-0.41123629]
 [ 0.91148008]
 [ 0.00942212]]

 R_gt:
[[ 0.98168093  0.19016088  0.01189968]
 [-0.18850142  0.97841478 -0.08468151]
 [-0.0277461   0.08088769  0.99633721]]

 t_gt:
[-0.67198991  0.72909027 -0.12983431]

Pose Error in degrees for R and t:
176.30549065218236 20.003022335991137

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.73135318e-01 -2.30233151e-01 -5.91752803e-04]
 [ 2.30233556e-01  9.73135116e-01  7.45153454e-04]
 [ 4.04296405e-04 -8.61376495e-04  9.99999547e-01]]

 t_estimated:
[[-0.90449568]
 [-0.42648098]
 [-0.00123731]]

 R_gt:
[[ 0.95871038  0.28425954  0.00842073]
 [-0.28195938  0.95397717 -0.10210929]
 [-0.0370589   0.09551867  0.99473729]]

 t_gt:
[-0.63124366  0.7695803  -0.09632034]

Pose Error in degrees for R and t:
30.37325112952808 75.94430457622317

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.88256418e-01  1.52804568e-01 -1.25281459e-04]
 [-1.52804605e-01  9.88255635e-01 -1.24578495e-03]
 [-6.65515246e-05  1.25029856e-03  9.99999216e-01]]

 t_estimated:
[[-9.98888630e-01]
 [-4.71253271e-02]
 [-8.41523698e-04]]

 R_gt:
[[ 0.94959309 -0.30974267  0.04829625]
 [ 0.30700503  0.95002385  0.05660227]
 [-0.06341507 -0.03892207  0.99722718]]

 t_gt:
[ 0.8281657  -0.51724821  0.21586074]

Pose Error in degrees for R and t:
27.115982699109903 36.577508538935646

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 6.64642193e-01  7.47161764e-01 -2.32819540e-04]
 [-7.47160308e-01  6.64641456e-01  1.79139997e-03]
 [ 1.49320708e-03 -1.01668649e-03  9.99998368e-01]]

 t_estimated:
[[7.52106574e-01]
 [6.59041141e-01]
 [6.89373579e-04]]

 R_gt:
[[ 0.87107305 -0.49080216  0.01855408]
 [ 0.4896079   0.87070726  0.04639973]
 [-0.03892863 -0.03133288  0.99875001]]

 t_gt:
[ 0.90222534 -0.42035838  0.09637565]

Pose Error in degrees for R and t:
77.76227067328374 66.32159825578059

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.87174994e-01  1.59641608e-01 -2.97549935e-04]
 [-1.59641756e-01  9.87174853e-01 -5.65619942e-04]
 [ 2.03437336e-04  6.05867256e-04  9.99999796e-01]]

 t_estimated:
[[-0.96099415]
 [-0.27656518]
 [-0.00139679]]

 R_gt:
[[ 0.72770457 -0.6828712  -0.06428784]
 [ 0.68506494  0.7282275   0.01926733]
 [ 0.03365888 -0.05806193  0.99774513]]

 t_gt:
[ 0.95688036 -0.28767827  0.04026407]

Pose Error in degrees for R and t:
52.533142410412445 32.85450798156687

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-7.67134268e-01  6.41476169e-01  3.65240184e-03]
 [-6.41486549e-01 -7.67123133e-01 -4.13594602e-03]
 [ 1.48731135e-04 -5.51579258e-03  9.99984777e-01]]

 t_estimated:
[[0.6257115 ]
 [0.78005363]
 [0.00120677]]

 R_gt:
[[ 0.98637292  0.1561471  -0.05182019]
 [-0.15610471  0.98772813  0.00488771]
 [ 0.05194845  0.0032675   0.99864472]]

 t_gt:
[-0.9786336   0.19073442 -0.07678966]

Pose Error in degrees for R and t:
131.1351985924639 62.37699049292444

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 6.34536872e-01 -7.72891685e-01  1.18370893e-03]
 [ 7.72892512e-01  6.34536758e-01 -5.18400825e-04]
 [-3.50439136e-04  1.24382420e-03  9.99999165e-01]]

 t_estimated:
[[-0.05634372]
 [-0.99841079]
 [-0.00112687]]

 R_gt:
[[ 0.90711417  0.41649572 -0.06061263]
 [-0.4166658   0.9089999   0.01041553]
 [ 0.05943634  0.01580658  0.99810677]]

 t_gt:
[-0.94040725  0.333856   -0.06460945]

Pose Error in degrees for R and t:
75.33082905000765 73.7238845224262

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 6.90158595e-01  7.23655498e-01  1.95808495e-03]
 [ 7.23656980e-01 -6.90159815e-01 -7.14780105e-05]
 [ 1.29966609e-03  1.46631301e-03 -9.99998080e-01]]

 t_estimated:
[[-0.99432771]
 [-0.10635206]
 [-0.00128135]]

 R_gt:
[[ 7.64081144e-01  6.44965813e-01 -1.41131866e-02]
 [-6.45040864e-01  7.64147251e-01 -9.95512154e-04]
 [ 1.01435278e-02  9.86440183e-03  9.99899683e-01]]

 t_gt:
[-0.86975656  0.49314229 -0.0182816 ]

Pose Error in degrees for R and t:
179.9596104312375 35.668937216694594

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999885e-01 -4.79103298e-04 -2.03521354e-05]
 [ 4.79102297e-04  9.99999884e-01 -4.91690648e-05]
 [ 2.03756901e-05  4.91593084e-05  9.99999999e-01]]

 t_estimated:
[[ 9.47503842e-01]
 [-3.19744262e-01]
 [-2.74111296e-04]]

 R_gt:
[[ 0.99520141 -0.09051717  0.0371724 ]
 [ 0.09009943  0.99585133  0.01277063]
 [-0.03817357 -0.0093605   0.99922721]]

 t_gt:
[ 0.5300336  -0.77308597  0.34842857]

Pose Error in degrees for R and t:
5.626700568503801 41.46994784484932

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999899e-01  4.06660755e-04  1.90412627e-04]
 [-4.06640855e-04  9.99999912e-01 -1.04535081e-04]
 [-1.90455120e-04  1.04457640e-04  9.99999976e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10078067e-03]
 [7.75189841e-04]]

 R_gt:
[[ 0.99069161 -0.1311086   0.03663946]
 [ 0.13081082  0.99135307  0.01041959]
 [-0.03768832 -0.00553071  0.9992739 ]]

 t_gt:
[ 0.56159896 -0.7942612   0.23185288]

Pose Error in degrees for R and t:
7.857066980343218 55.991700138660455

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99897732e-01  1.42962608e-02  3.78575715e-04]
 [-1.42960948e-02  9.99897710e-01 -4.37677929e-04]
 [-3.84794148e-04  4.32221014e-04  9.99999833e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98501763 -0.1717356   0.01577326]
 [ 0.17124413  0.98481694  0.02852777]
 [-0.02043247 -0.02539971  0.9994683 ]]

 t_gt:
[ 0.58201952 -0.79458639  0.17287495]

Pose Error in degrees for R and t:
10.858885314023338 54.57148736673088

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[-2.35390277e-01 -9.71900530e-01  8.81581304e-04]
 [-9.71899045e-01  2.35391510e-01  1.75616233e-03]
 [-1.91433186e-03 -4.43424488e-04 -9.99998069e-01]]

 t_estimated:
[[0.86009709]
 [0.51012655]
 [0.00197723]]

 R_gt:
[[ 0.99729416  0.0727616  -0.01044427]
 [-0.07288608  0.99726715 -0.01211042]
 [ 0.00953483  0.0128392   0.99987201]]

 t_gt:
[ 0.1502065   0.93796639 -0.31250128]

Pose Error in degrees for R and t:
179.2076559864584 52.62307547721762

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999935e-01  3.22054067e-04 -1.61903025e-04]
 [-3.22007156e-04  9.99999906e-01  2.89692610e-04]
 [ 1.61996306e-04 -2.89640457e-04  9.99999945e-01]]

 t_estimated:
[[9.62981922e-01]
 [2.69564795e-01]
 [7.98954918e-04]]

 R_gt:
[[ 0.99427294  0.10559665  0.016465  ]
 [-0.10572346  0.99437106  0.00700076]
 [-0.01563208 -0.00870097  0.99984025]]

 t_gt:
[0.40250063 0.8886586  0.21972515]

Pose Error in degrees for R and t:
6.133458740786343 51.14677907743808

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99962523e-01 -8.65743243e-03 -4.41806698e-05]
 [ 8.65742670e-03  9.99962516e-01 -1.28342469e-04]
 [ 4.52901300e-05  1.27955168e-04  9.99999991e-01]]

 t_estimated:
[[ 0.67856469]
 [-0.73453294]
 [-0.00336561]]

 R_gt:
[[ 0.98383283  0.17836839  0.01604059]
 [-0.17888988  0.9830047   0.04123097]
 [-0.00841245 -0.04343445  0.99902069]]

 t_gt:
[0.24397068 0.88216059 0.40282875]

Pose Error in degrees for R and t:
11.085962159800044 61.067304211641144

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 8.17861426e-02 -9.96648852e-01 -1.44681824e-03]
 [ 9.96649815e-01  8.17854437e-02  5.35905827e-04]
 [-4.15781255e-04 -1.48580080e-03  9.99998810e-01]]

 t_estimated:
[[9.99969267e-01]
 [7.79196832e-03]
 [8.65774257e-04]]

 R_gt:
[[ 0.99552252 -0.07156274 -0.06176634]
 [ 0.06692537  0.99499942 -0.07414651]
 [ 0.06676439  0.06968084  0.99533186]]

 t_gt:
[ 0.76530539  0.02025348 -0.64334863]

Pose Error in degrees for R and t:
81.48694518611835 40.10344349150321

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 6.94750874e-02  9.97583264e-01  9.18293371e-04]
 [-9.97582068e-01  6.94766035e-02 -1.73748904e-03]
 [-1.79708989e-03 -7.95360798e-04  9.99998069e-01]]

 t_estimated:
[[0.20367555]
 [0.97903788]
 [0.00105082]]

 R_gt:
[[ 0.99368601 -0.0272981  -0.10882939]
 [ 0.01295468  0.9913772  -0.13039171]
 [ 0.11145138  0.12815847  0.98547058]]

 t_gt:
[ 0.38477372  0.10997733 -0.91643558]

Pose Error in degrees for R and t:
87.62006441304723 79.33432212333351

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.90511734  0.42516047  0.00108315]
 [ 0.42514684 -0.90510386  0.00609604]
 [ 0.00357216 -0.00505713 -0.99998083]]

 t_estimated:
[[-0.98192441]
 [-0.18925359]
 [-0.00274281]]

 R_gt:
[[ 0.96537434  0.19682602 -0.17120846]
 [-0.21207892  0.97431269 -0.07573361]
 [ 0.15190459  0.10942103  0.98231973]]

 t_gt:
[-0.74498173  0.23891164 -0.62283501]

Pose Error in degrees for R and t:
177.14519608941762 46.52727588641477

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.96423492e-01  8.44997057e-02  1.57313298e-04]
 [-8.44996990e-02  9.96423504e-01 -4.87796319e-05]
 [-1.60872532e-04  3.53122448e-05  9.99999986e-01]]

 t_estimated:
[[0.70033019]
 [0.71381755]
 [0.00146041]]

 R_gt:
[[ 0.9994941  -0.03143424  0.0050039 ]
 [ 0.03139255  0.99947448  0.0081901 ]
 [-0.00525821 -0.00802779  0.99995411]]

 t_gt:
[ 0.9108656  -0.30973332  0.27274371]

Pose Error in degrees for R and t:
6.669442937535523 65.34131139235588

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.45262140e-01 -3.26311295e-01 -6.52443150e-04]
 [ 3.26311845e-01  9.45261539e-01  1.09691846e-03]
 [ 2.58792534e-04 -1.24977541e-03  9.99999186e-01]]

 t_estimated:
[[-0.7599737 ]
 [-0.64995317]
 [-0.00092454]]

 R_gt:
[[ 0.99935923  0.03265165 -0.01471275]
 [-0.03233706  0.99925383  0.02115476]
 [ 0.015392   -0.02066518  0.99966749]]

 t_gt:
[-0.41899684  0.90470594  0.07712852]

Pose Error in degrees for R and t:
20.95402446264681 74.35589100460452

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 0.99354337 -0.11344008 -0.00170633]
 [ 0.11344306  0.99354293  0.00176513]
 [ 0.00149507 -0.0019473   0.99999699]]

 t_estimated:
[[0.9797604 ]
 [0.2001661 ]
 [0.00175584]]

 R_gt:
[[ 0.99461948  0.10272006  0.01346859]
 [-0.10298681  0.99446381  0.02087707]
 [-0.01124983 -0.02215116  0.99969173]]

 t_gt:
[-0.57704788  0.79857531  0.17115263]

Pose Error in degrees for R and t:
12.494537923420479 66.09505853137865

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 3.08391529e-01  9.51250822e-01 -4.06673967e-03]
 [-9.51259507e-01  3.08389263e-01 -1.18861137e-03]
 [ 1.23471308e-04  4.23508245e-03  9.99991024e-01]]

 t_estimated:
[[-0.15980699]
 [ 0.98714298]
 [-0.00323537]]

 R_gt:
[[ 0.97826214 -0.20716427 -0.00934054]
 [ 0.20728603  0.97816847  0.01481115]
 [ 0.0060678  -0.01642515  0.99984652]]

 t_gt:
[ 0.72049602 -0.69098732  0.05849792]

Pose Error in degrees for R and t:
84.00493716454511 37.114348267984305

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 8.98950930e-01  4.38042059e-01  2.52602402e-03]
 [-4.38041597e-01  8.98954380e-01 -7.62756484e-04]
 [-2.60489978e-03 -4.20822944e-04  9.99996519e-01]]

 t_estimated:
[[0.02742987]
 [0.99961146]
 [0.00495333]]

 R_gt:
[[ 0.96424568 -0.26491026 -0.0073701 ]
 [ 0.26499961  0.96410092  0.01686591]
 [ 0.0026369  -0.01821545  0.99983079]]

 t_gt:
[ 0.70037676 -0.71178874  0.05319004]

Pose Error in degrees for R and t:
41.359085318093356 46.20839061469193

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99996179e-01 -2.74041758e-03  3.63783466e-04]
 [ 2.74030334e-03  9.99996196e-01  3.14163255e-04]
 [-3.64643020e-04 -3.13165177e-04  9.99999884e-01]]

 t_estimated:
[[-0.01544911]
 [-0.99987987]
 [-0.00124943]]

 R_gt:
[[ 0.93032986 -0.36482108  0.03732611]
 [ 0.3626309   0.93033168  0.05461044]
 [-0.05464926 -0.03726987  0.99780948]]

 t_gt:
[ 0.69399638 -0.69759475  0.17813083]

Pose Error in degrees for R and t:
21.524647868318645 46.641050994187495

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99998573e-01 -1.56683586e-03  6.30922209e-04]
 [ 1.56749764e-03  9.99998220e-01 -1.04979010e-03]
 [-6.29276238e-04  1.05077757e-03  9.99999250e-01]]

 t_estimated:
[[-9.99968091e-01]
 [-7.92962017e-03]
 [-9.68078625e-04]]

 R_gt:
[[ 0.98998417  0.13837842 -0.02797167]
 [-0.13951081  0.98925749 -0.04365875]
 [ 0.02162988  0.04712367  0.99865485]]

 t_gt:
[-0.56506199  0.73578985 -0.3732536 ]

Pose Error in degrees for R and t:
8.598386149508102 55.973881658685414

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.96465427  0.19997588  0.17161525]
 [-0.11559567  0.90636287 -0.40637912]
 [-0.23681171  0.37217738  0.89744315]]

 t_estimated:
[[-0.78446454]
 [-0.58834841]
 [-0.19611614]]

 R_gt:
[[ 0.99312462  0.11663267 -0.00998823]
 [-0.11692013  0.98415537 -0.13329901]
 [-0.00571637  0.1335511   0.99102589]]

 t_gt:
[-0.3659386   0.67768355 -0.63783536]

Pose Error in degrees for R and t:
19.968034751652947 89.22982862312568

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.9977216   0.06739234  0.00314242]
 [-0.06738242  0.9977222  -0.00316482]
 [-0.00334855  0.00294587  0.99999005]]

 t_estimated:
[[0.93263172]
 [0.36081933]
 [0.00273551]]

 R_gt:
[[ 0.98280631  0.18341318 -0.02123877]
 [-0.18419603  0.96598015 -0.1815341 ]
 [-0.01277965  0.18232558  0.98315497]]

 t_gt:
[-0.37707325  0.70597858 -0.59950814]

Pose Error in degrees for R and t:
12.39900394025264 84.3426094988438

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-1.99600589e-01 -9.79876802e-01 -1.02862905e-03]
 [-9.79877327e-01  1.99600291e-01  3.85928521e-04]
 [-1.72847747e-04  1.08496185e-03 -9.99999396e-01]]

 t_estimated:
[[0.76376711]
 [0.64549144]
 [0.00077304]]

 R_gt:
[[ 0.99757473 -0.06145702  0.03271172]
 [ 0.06162252  0.9980916  -0.00406094]
 [-0.03239992  0.00606631  0.99945631]]

 t_gt:
[ 0.89537389 -0.03616691  0.44384406]

Pose Error in degrees for R and t:
178.76854835220834 48.6349019035829

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[-0.88199589 -0.47123105 -0.00495438]
 [ 0.47120094 -0.88200435  0.00616444]
 [-0.00727466  0.0031025   0.99996873]]

 t_estimated:
[[0.84786933]
 [0.530204  ]
 [0.00114268]]

 R_gt:
[[ 0.99412014 -0.04549932  0.09826989]
 [ 0.04968593  0.99794093 -0.04057628]
 [-0.09622072  0.0452201   0.99433205]]

 t_gt:
[0.55724488 0.56061237 0.6125291 ]

Pose Error in degrees for R and t:
149.19000668365877 39.60930613603893

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.97286273e-01 -7.36209713e-02 -2.03218506e-04]
 [ 7.36210383e-02  9.97286230e-01  3.44601960e-04]
 [ 1.77297087e-04 -3.58627961e-04  9.99999920e-01]]

 t_estimated:
[[-9.98574055e-01]
 [-5.33777250e-02]
 [-8.21195769e-04]]

 R_gt:
[[ 0.98972581 -0.01073158  0.14258132]
 [ 0.0221592   0.9966443  -0.07879741]
 [-0.1412575   0.08114846  0.98664105]]

 t_gt:
[-0.0174147   0.85805369  0.51326463]

Pose Error in degrees for R and t:
9.947692189803163 88.34778631251866

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.04235839e-01  4.27033301e-01  3.25869048e-04]
 [-4.27033412e-01  9.04235741e-01  4.35871164e-04]
 [-1.08530938e-04 -5.33287299e-04  9.99999852e-01]]

 t_estimated:
[[8.18323625e-01]
 [5.74757247e-01]
 [7.42580422e-04]]

 R_gt:
[[ 0.98083068 -0.19176188 -0.03461894]
 [ 0.18957463  0.98014244 -0.05815024]
 [ 0.04508302  0.05047305  0.99770707]]

 t_gt:
[ 0.6457206  -0.68014892 -0.34704806]

Pose Error in degrees for R and t:
36.48731041024667 82.11239931890638

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-1.09536907e-01 -9.93982728e-01 -4.34480942e-05]
 [-9.93982523e-01  1.09536912e-01 -6.40069579e-04]
 [ 6.40977277e-04 -2.69245956e-05 -9.99999794e-01]]

 t_estimated:
[[9.13014550e-01]
 [4.07926264e-01]
 [7.71127154e-04]]

 R_gt:
[[ 0.9616302  -0.27010858 -0.04805718]
 [ 0.26608901  0.96091566 -0.07640166]
 [ 0.06681639  0.06068318  0.9959185 ]]

 t_gt:
[ 0.64954515 -0.68077111 -0.33858793]

Pose Error in degrees for R and t:
174.84448484469837 71.63443735066456

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-5.71728660e-01 -8.20441549e-01  1.41547890e-03]
 [-8.20441851e-01  5.71729751e-01  5.10342917e-04]
 [-1.22797793e-03 -8.69540456e-04 -9.99998868e-01]]

 t_estimated:
[[0.932841  ]
 [0.36028306]
 [0.00194748]]

 R_gt:
[[ 0.92419172 -0.37249404 -0.08437687]
 [ 0.37006294  0.92799261 -0.04340043]
 [ 0.09446815  0.00888511  0.99548848]]

 t_gt:
[ 0.71321432 -0.67167815 -0.20043401]

Pose Error in degrees for R and t:
174.741947910152 64.98022971016985

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.98602134e-01  5.28561139e-02  9.18830691e-05]
 [-5.28561235e-02  9.98602133e-01  1.05311887e-04]
 [-8.61882517e-05 -1.10021258e-04  9.99999990e-01]]

 t_estimated:
[[0.75984738]
 [0.65010084]
 [0.00092395]]

 R_gt:
[[ 0.97983062 -0.19553122 -0.04123418]
 [ 0.19737987  0.97920314  0.04691268]
 [ 0.03120394 -0.05410553  0.99804725]]

 t_gt:
[ 0.64779545 -0.75750752  0.0808914 ]

Pose Error in degrees for R and t:
14.807578072459243 89.9910700161494

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.99654787 -0.08301274 -0.00111024]
 [ 0.08301402  0.9965477   0.00115991]
 [ 0.00101012 -0.00124808  0.99999871]]

 t_estimated:
[[0.38953177]
 [0.92101155]
 [0.00165056]]

 R_gt:
[[ 0.94941823 -0.30248773 -0.08429466]
 [ 0.30786763  0.94951944  0.0602397 ]
 [ 0.06181846 -0.08314456  0.99461824]]

 t_gt:
[ 0.65812985 -0.75025585  0.06309728]

Pose Error in degrees for R and t:
14.304062237878753 64.2447570924169

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.83179157  0.55508566 -0.00163938]
 [ 0.55507521  0.83178877  0.00435331]
 [ 0.00378008  0.00271107 -0.99998918]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.88438536 -0.42890618 -0.18412613]
 [ 0.4578808   0.8737767   0.16388315]
 [ 0.0905953  -0.2292438   0.96914417]]

 t_gt:
[ 0.69054229 -0.68688208  0.22659293]

Pose Error in degrees for R and t:
168.68774739215488 48.214511978459164

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.66715184e-01 -2.55854815e-01 -2.59494198e-04]
 [ 2.55854875e-01  9.66715175e-01  2.32398309e-04]
 [ 1.91396753e-04 -2.91055830e-04  9.99999939e-01]]

 t_estimated:
[[ 9.95205013e-01]
 [-9.78103947e-02]
 [ 3.29616582e-04]]

 R_gt:
[[ 0.98821226 -0.14625125 -0.04524281]
 [ 0.148138    0.98809053  0.04161014]
 [ 0.03861794 -0.04782114  0.99810878]]

 t_gt:
[ 0.68285594 -0.72668674  0.07506089]

Pose Error in degrees for R and t:
7.253549706626785 41.350344304831346

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.72703897e-01  2.32049486e-01  4.04965105e-04]
 [-2.32049050e-01  9.72703659e-01 -9.10609585e-04]
 [-6.05217526e-04  7.91781724e-04  9.99999503e-01]]

 t_estimated:
[[0.77363797]
 [0.63362733]
 [0.00082969]]

 R_gt:
[[ 0.95765233 -0.2860827  -0.03254737]
 [ 0.28738193  0.95666954  0.04686313]
 [ 0.01773041 -0.05423228  0.99837094]]

 t_gt:
[ 0.70034594 -0.69987359  0.14033007]

Pose Error in degrees for R and t:
30.273535671336163 84.34883436678075

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.85906942e-01  1.67294639e-01  7.11740954e-05]
 [-1.67294654e-01  9.85906845e-01  4.38261807e-04]
 [ 3.14782287e-06 -4.43992404e-04  9.99999901e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.91437857 -0.40010639 -0.0618663 ]
 [ 0.4043983   0.90991227  0.09231079]
 [ 0.01935882 -0.10942563  0.99380686]]

 t_gt:
[ 0.71612828 -0.66346217  0.21674461]

Pose Error in degrees for R and t:
34.00984015322242 44.41942704384512

Number of keypoints:
Image1: 372
Image2: 372

 R_estimated:
[[ 9.99813363e-01  1.93193743e-02  2.75151048e-05]
 [-1.93193741e-02  9.99813363e-01 -5.07870018e-06]
 [-2.76080868e-05  4.54617771e-06  1.00000000e+00]]

 t_estimated:
[[-6.12844772e-01]
 [ 7.90203319e-01]
 [ 8.61074223e-06]]

 R_gt:
[[ 0.99692268  0.0332267   0.07100171]
 [-0.03045214  0.99874294 -0.03981019]
 [-0.07223432  0.03752531  0.99668201]]

 t_gt:
[-0.62414215  0.72156114  0.29965995]

Pose Error in degrees for R and t:
4.722688911722622 17.695596016445148

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[-8.61254495e-01 -5.08173006e-01 -9.43891046e-04]
 [-5.08173859e-01  8.61252409e-01  1.90192666e-03]
 [-1.53579352e-04  2.11770364e-03 -9.99997746e-01]]

 t_estimated:
[[8.99959076e-01]
 [4.35973790e-01]
 [7.18243476e-04]]

 R_gt:
[[ 0.9931572   0.07428341  0.09011906]
 [-0.06676684  0.99424778 -0.08374401]
 [-0.0958213   0.07715265  0.99240436]]

 t_gt:
[-0.64717264  0.76010885  0.05832758]

Pose Error in degrees for R and t:
176.09253659503977 75.46333669432451

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-8.77181701e-01 -4.80156549e-01 -1.39679903e-03]
 [ 4.80158364e-01 -8.77180357e-01 -1.60187788e-03]
 [-4.56092522e-04 -2.07582270e-03  9.99997741e-01]]

 t_estimated:
[[8.75027143e-01]
 [4.84073293e-01]
 [7.39043195e-04]]

 R_gt:
[[ 0.97888485  0.10853752  0.17321703]
 [-0.0893395   0.98933485 -0.11504047]
 [-0.18385542  0.09713622  0.97814201]]

 t_gt:
[-0.68604833  0.65337633  0.32005791]

Pose Error in degrees for R and t:
157.1856942195123 73.51332537169627

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.84375058e-01 -1.76084063e-01  3.83441776e-04]
 [ 1.76084041e-01  9.84375133e-01  9.05273372e-05]
 [-3.93390971e-04 -2.15948753e-05  9.99999922e-01]]

 t_estimated:
[[-0.40316161]
 [-0.91512828]
 [-0.00097147]]

 R_gt:
[[ 0.97403048 -0.22611517 -0.0116805 ]
 [ 0.22635598  0.97366698  0.02712667]
 [ 0.00523885 -0.02906668  0.99956385]]

 t_gt:
[ 0.62832558 -0.77410759  0.07722959]

Pose Error in degrees for R and t:
3.39105568763839 62.9340381128606

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-8.33045868e-01 -5.53202138e-01 -1.40539018e-03]
 [ 5.53203652e-01 -8.33045290e-01 -1.12461144e-03]
 [-5.48616211e-04 -1.71431990e-03  9.99998380e-01]]

 t_estimated:
[[9.40639659e-01]
 [3.39406063e-01]
 [7.45947390e-04]]

 R_gt:
[[ 0.9437574  -0.32884777 -0.03437601]
 [ 0.32789918  0.94422055 -0.03048596]
 [ 0.04248423  0.01749912  0.99894475]]

 t_gt:
[ 0.67847956 -0.7222237  -0.13438161]

Pose Error in degrees for R and t:
127.2462922524756 66.86010864897132

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 8.29087813e-01  5.59117875e-01  7.74214800e-04]
 [-5.59118117e-01  8.29088003e-01  1.22072925e-04]
 [-5.73639048e-04 -5.34086695e-04  9.99999693e-01]]

 t_estimated:
[[0.64295276]
 [0.76590504]
 [0.00110524]]

 R_gt:
[[ 0.89547339 -0.43885282 -0.07440027]
 [ 0.43686663  0.89854397 -0.04202761]
 [ 0.08529657  0.00513172  0.99634276]]

 t_gt:
[ 0.72854235 -0.66868501 -0.14861498]

Pose Error in degrees for R and t:
60.19842452663179 87.48418421673134

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99586944e-01  2.87391965e-02 -8.88242283e-06]
 [-2.87391969e-02  9.99586943e-01 -3.93638554e-05]
 [ 7.74746831e-06  3.96028696e-05  9.99999999e-01]]

 t_estimated:
[[-1.63822325e-01]
 [-9.86489652e-01]
 [-6.42450666e-04]]

 R_gt:
[[ 0.99924147 -0.01487132  0.03599497]
 [ 0.01279031  0.9982703   0.05739415]
 [-0.03678594 -0.05689013  0.99770283]]

 t_gt:
[ 0.09015586 -0.22416081  0.97037305]

Pose Error in degrees for R and t:
4.588672352006829 78.12721584509497

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 0.08583805  0.99629574  0.00515973]
 [-0.99628694  0.08586953 -0.00622561]
 [-0.00664561 -0.00460618  0.99996731]]

 t_estimated:
[[0.07386967]
 [0.99724054]
 [0.00738697]]

 R_gt:
[[ 0.99810444 -0.03932684  0.04733318]
 [ 0.03553806  0.99629067  0.07838453]
 [-0.05023958 -0.07655444  0.9957989 ]]

 t_gt:
[ 0.257798   -0.25056534  0.93314372]

Pose Error in degrees for R and t:
87.3391400727921 77.05960121056324

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99999816e-01 -5.96439509e-04  1.08497425e-04]
 [ 5.96435521e-04  9.99999821e-01  3.67882587e-05]
 [-1.08519348e-04 -3.67235403e-05  9.99999993e-01]]

 t_estimated:
[[ 3.08265147e-01]
 [-9.51300473e-01]
 [-9.86671546e-05]]

 R_gt:
[[ 0.99906192 -0.02592581  0.03467715]
 [ 0.02398592  0.99818718  0.05520964]
 [-0.03604536 -0.05432631  0.99787203]]

 t_gt:
[0.24652456 0.07776911 0.96601118]

Pose Error in degrees for R and t:
3.9859592065291722 89.89011696269145

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99999598e-01  7.28202330e-04  5.23792329e-04]
 [-7.28065717e-04  9.99999701e-01 -2.60957788e-04]
 [-5.23982202e-04  2.60576327e-04  9.99999829e-01]]

 t_estimated:
[[0.97735711]
 [0.21159278]
 [0.00125948]]

 R_gt:
[[ 9.99983528e-01  5.73277990e-03  2.82426415e-04]
 [-5.68500520e-03  9.96014948e-01 -8.89988495e-02]
 [-7.92241517e-04  8.89952314e-02  9.96031372e-01]]

 t_gt:
[ 0.02695261  0.3775671  -0.92558989]

Pose Error in degrees for R and t:
5.099311081829441 83.96897150475176

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-5.40877068e-01 -8.41099068e-01 -2.08686503e-03]
 [ 8.41100480e-01 -5.40878797e-01  3.30617755e-04]
 [-1.40682333e-03 -1.57643962e-03  9.99997768e-01]]

 t_estimated:
[[0.99841597]
 [0.05624879]
 [0.00127838]]

 R_gt:
[[ 0.9988993   0.04594716  0.00946652]
 [-0.044101    0.98851933 -0.14451612]
 [-0.0159983   0.14393904  0.98945747]]

 t_gt:
[-0.141151    0.48455011 -0.8633004 ]

Pose Error in degrees for R and t:
125.50355879754217 83.40931305085344

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-0.18654071 -0.98244502 -0.00208629]
 [ 0.98244599 -0.18653668 -0.00198496]
 [ 0.00156094 -0.00241994  0.99999585]]

 t_estimated:
[[ 9.39040644e-01]
 [-3.43806133e-01]
 [-1.11836202e-04]]

 R_gt:
[[ 0.99423419  0.10652182 -0.01233227]
 [-0.10688914  0.97523875 -0.19360834]
 [-0.00859696  0.19381005  0.98100182]]

 t_gt:
[-0.21374173  0.58421372 -0.78294879]

Pose Error in degrees for R and t:
107.34118623921765 66.3292123178418

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.39592580e-01  3.42294707e-01 -3.41707332e-04]
 [-3.42294877e-01  9.39592128e-01 -9.21489642e-04]
 [ 5.64449215e-06  9.82789500e-04  9.99999517e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.97990489 -0.19776324 -0.02601767]
 [ 0.19824856  0.97999368  0.01759659]
 [ 0.02201677 -0.02240049  0.99950694]]

 t_gt:
[ 0.98396359 -0.15304607  0.09161089]

Pose Error in degrees for R and t:
31.491783156568214 42.1015929684592

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-8.19662637e-01 -5.72846535e-01 -9.22443120e-05]
 [-5.72846007e-01  8.19661640e-01  1.49948235e-03]
 [-7.83364147e-04  1.28191145e-03 -9.99998872e-01]]

 t_estimated:
[[0.94517447]
 [0.32656309]
 [0.00132749]]

 R_gt:
[[ 0.96962696 -0.24457776 -0.00253514]
 [ 0.24440806  0.96844785  0.04873775]
 [-0.00946503 -0.04787741  0.99880842]]

 t_gt:
[ 0.97040528 -0.13732347  0.19863498]

Pose Error in degrees for R and t:
178.940456029063 29.235315151412042

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.88886620e-01  1.48671611e-01  6.94803423e-05]
 [-1.48671610e-01  9.88886623e-01 -1.28928141e-05]
 [-7.06249765e-05  2.41977699e-06  9.99999998e-01]]

 t_estimated:
[[9.27178455e-01]
 [3.74619650e-01]
 [4.79586546e-04]]

 R_gt:
[[ 0.95894669 -0.28116782  0.03697882]
 [ 0.27752604  0.95725146  0.08155077]
 [-0.05832835 -0.06794058  0.99598275]]

 t_gt:
[ 0.94963317 -0.12534408  0.28720325]

Pose Error in degrees for R and t:
25.32252025336438 33.52335197449202

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 6.52322945e-01 -7.57941081e-01  3.04673186e-04]
 [ 7.57940765e-01  6.52322969e-01  7.35562336e-04]
 [-7.56258229e-04 -2.48899962e-04  9.99999683e-01]]

 t_estimated:
[[9.48764391e-01]
 [3.15983334e-01]
 [8.14390035e-04]]

 R_gt:
[[ 0.99256166 -0.12084598  0.01472437]
 [ 0.12034302  0.99223746  0.03134627]
 [-0.01839817 -0.02934224  0.99939999]]

 t_gt:
[ 0.59568539 -0.761209    0.25635868]

Pose Error in degrees for R and t:
42.39682232870228 71.0438453966931

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.99825606  0.05703331  0.01523297]
 [-0.056916    0.9983467  -0.00802681]
 [-0.01566558  0.00714581  0.99985175]]

 t_estimated:
[[9.84010823e-01]
 [1.78105959e-01]
 [9.84010823e-04]]

 R_gt:
[[ 0.96514864 -0.2616145   0.00669885]
 [ 0.25970744  0.9606343   0.09866226]
 [-0.03224688 -0.09348476  0.9950989 ]]

 t_gt:
[ 0.66521134 -0.66818441  0.33320184]

Pose Error in degrees for R and t:
19.360061236397733 57.59534388076704

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.22946929  0.78925749  0.56957568]
 [ 0.86311641  0.10546321 -0.49387   ]
 [-0.44985988  0.60493812 -0.65702052]]

 t_estimated:
[[8.07334421e-01]
 [5.90093670e-01]
 [7.70357272e-04]]

 R_gt:
[[ 0.9334671  -0.35865184  0.00261476]
 [ 0.35162148  0.91655633  0.19048879]
 [-0.07071574 -0.1768966   0.98168596]]

 t_gt:
[ 0.64016485 -0.61122283  0.46539834]

Pose Error in degrees for R and t:
137.79482747801336 80.99579663289569

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.11997201 -0.99269996 -0.01239019]
 [-0.99277576  0.11994068  0.0032439 ]
 [-0.00173413  0.01268985 -0.99991798]]

 t_estimated:
[[8.89135547e-01]
 [4.57643296e-01]
 [7.69148397e-04]]

 R_gt:
[[ 0.99272665 -0.03073691  0.11640676]
 [ 0.0150712   0.9909838   0.13313114]
 [-0.11944883 -0.13040855  0.98423831]]

 t_gt:
[ 0.00995476 -0.21962888  0.97553271]

Pose Error in degrees for R and t:
170.28279859681166 84.78402633607797

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-1.52728109e-01 -9.88267884e-01  8.45644449e-04]
 [-9.88266939e-01  1.52729242e-01  1.49527359e-03]
 [-1.60688550e-03 -6.07352144e-04 -9.99998525e-01]]

 t_estimated:
[[0.76563482]
 [0.64327309]
 [0.00174802]]

 R_gt:
[[ 0.97894504 -0.13518114  0.15295289]
 [ 0.08565734  0.95217272  0.2933083 ]
 [-0.1852878  -0.27403058  0.94370291]]

 t_gt:
[ 0.24300922 -0.33571817  0.91007683]

Pose Error in degrees for R and t:
161.60565953259922 88.37766456528107

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 4.90339794e-01  8.71529721e-01  1.68263771e-03]
 [ 8.71527774e-01 -4.90342398e-01  1.91629659e-03]
 [ 2.49517804e-03  5.26829027e-04 -9.99996748e-01]]

 t_estimated:
[[0.84719794]
 [0.53127641]
 [0.00101582]]

 R_gt:
[[ 0.95797925 -0.26436999  0.11129174]
 [ 0.20063035  0.89485724  0.39872079]
 [-0.20500013 -0.35963799  0.91029379]]

 t_gt:
[ 0.41972722 -0.42188245  0.80364436]

Pose Error in degrees for R and t:
165.31213546242202 82.39908553476936

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 4.86445083e-02  9.98816142e-01  1.60497844e-04]
 [-9.98814466e-01  4.86447209e-02 -1.83147803e-03]
 [-1.83711719e-03 -7.12162201e-05  9.99998310e-01]]

 t_estimated:
[[0.05228526]
 [0.99863167]
 [0.00101899]]

 R_gt:
[[ 0.98344239 -0.17433303 -0.04949347]
 [ 0.17704337  0.98254908  0.05703029]
 [ 0.0386877  -0.06484866  0.9971446 ]]

 t_gt:
[ 0.58755403 -0.79812385  0.13333639]

Pose Error in degrees for R and t:
97.42224372107661 39.988319869632996

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.82593171e-01  1.85768234e-01  9.08019827e-04]
 [-1.85768307e-01  9.82593576e-01 -4.24961635e-06]
 [-8.93003893e-04 -1.64505662e-04  9.99999588e-01]]

 t_estimated:
[[0.57160363]
 [0.8205294 ]
 [0.00089416]]

 R_gt:
[[ 0.94994521 -0.27911568 -0.14034867]
 [ 0.28980838  0.9550605   0.06220968]
 [ 0.11667793 -0.09976986  0.98814576]]

 t_gt:
[ 0.6665979  -0.74537141 -0.0082889 ]

Pose Error in degrees for R and t:
28.7121975115175 76.66896815453646

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-9.52789921e-01 -3.03630142e-01 -3.22863867e-04]
 [-3.03630188e-01  9.52788018e-01  1.92409410e-03]
 [-2.76592141e-04  1.93128868e-03 -9.99998097e-01]]

 t_estimated:
[[9.99983503e-01]
 [5.68633998e-03]
 [8.12334283e-04]]

 R_gt:
[[ 0.93801601 -0.30991077 -0.15518059]
 [ 0.33596051  0.92305632  0.18734465]
 [ 0.08518032 -0.22786762  0.96995889]]

 t_gt:
[ 0.57622135 -0.75805379  0.3054888 ]

Pose Error in degrees for R and t:
174.92995664462023 55.099750215991406

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99893932e-01  1.45640236e-02  1.19139941e-04]
 [-1.45640387e-02  9.99893931e-01  1.27342452e-04]
 [-1.17272686e-04 -1.29064104e-04  9.99999985e-01]]

 t_estimated:
[[0.94130678]
 [0.33755062]
 [0.00105752]]

 R_gt:
[[ 0.99912939 -0.03461229  0.02329163]
 [ 0.0348337   0.99935045 -0.00918785]
 [-0.02295939  0.00999214  0.99968619]]

 t_gt:
[ 0.25594537 -0.95012287  0.17820913]

Pose Error in degrees for R and t:
3.1669301186177385 85.43425414436463

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.87409632e-01  1.58176774e-01  1.52561206e-03]
 [-1.58176455e-01  9.87410807e-01 -3.28050482e-04]
 [-1.55829580e-03  8.26042969e-05  9.99998782e-01]]

 t_estimated:
[[0.83147407]
 [0.555562  ]
 [0.00131701]]

 R_gt:
[[ 0.999127   -0.03144457  0.02750724]
 [ 0.03155795  0.99949515 -0.00369754]
 [-0.02737784  0.00456212  0.99961423]]

 t_gt:
[-0.04324541 -0.96332976  0.26481238]

Pose Error in degrees for R and t:
11.00911424040818 55.19410299867831

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.76228005 -0.64721638 -0.00633055]
 [ 0.64724563  0.76226405  0.00515789]
 [ 0.00148728 -0.00802918  0.99996666]]

 t_estimated:
[[-0.45286813]
 [-0.89157562]
 [-0.00183649]]

 R_gt:
[[ 0.99800603 -0.02226627  0.05906278]
 [ 0.02073667  0.9994359   0.02638325]
 [-0.05961814 -0.0251057   0.99790541]]

 t_gt:
[-0.35290057 -0.66137328  0.66185087]

Pose Error in degrees for R and t:
39.27766105028705 41.55958411797111

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99999424e-01 -1.07142958e-03 -6.77305978e-05]
 [ 1.07144422e-03  9.99999403e-01  2.16531239e-04]
 [ 6.74985593e-05 -2.16603684e-04  9.99999974e-01]]

 t_estimated:
[[-0.01913948]
 [ 0.99981523]
 [ 0.00178464]]

 R_gt:
[[ 0.99881237  0.03648799 -0.032297  ]
 [-0.03716621  0.99909559 -0.02067209]
 [ 0.0315134   0.02184898  0.99926419]]

 t_gt:
[ 0.30598513  0.66358058 -0.68266676]

Pose Error in degrees for R and t:
3.092678645424798 48.97538015530025

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.55334473  0.83291837 -0.00752339]
 [ 0.83289813  0.55338919  0.00641181]
 [ 0.00950388 -0.00271828 -0.99995114]]

 t_estimated:
[[ 0.20387625]
 [-0.9789886 ]
 [-0.00397374]]

 R_gt:
[[ 0.9946098   0.09996973  0.02753792]
 [-0.09863767  0.99405611 -0.04606875]
 [-0.03197984  0.04310521  0.99855849]]

 t_gt:
[-0.15367681  0.97894263 -0.134368  ]

Pose Error in degrees for R and t:
177.84388558929882 8.4397337631691

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.90984433e-01 -1.33975042e-01  7.36072986e-04]
 [ 1.33977046e-01  9.90972188e-01 -4.92674651e-03]
 [-6.93667857e-05  4.98094598e-03  9.99987593e-01]]

 t_estimated:
[[0.85212192]
 [0.52334228]
 [0.00104044]]

 R_gt:
[[ 0.98424343  0.15476824  0.08551657]
 [-0.14285981  0.98100876 -0.13119957]
 [-0.10419741  0.11691534  0.98766031]]

 t_gt:
[-0.25793775  0.96069971 -0.10258749]

Pose Error in degrees for R and t:
18.504789280900088 73.5682130498323

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.96341968e-01 -8.54556599e-02 -1.16681826e-04]
 [ 8.54556692e-02  9.96341971e-01  7.71699145e-05]
 [ 1.09660394e-04 -8.68587480e-05  9.99999990e-01]]

 t_estimated:
[[-0.99994559]
 [ 0.01027372]
 [-0.00180545]]

 R_gt:
[[ 0.998303    0.04260237  0.03970895]
 [-0.04053629  0.99785257 -0.05145142]
 [-0.04181603  0.04975444  0.99788602]]

 t_gt:
[-0.71090773  0.68905454 -0.14076236]

Pose Error in degrees for R and t:
8.186944947096292 44.093739081193775

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-5.33133514e-01 -8.46026796e-01 -2.70515415e-03]
 [ 8.46028745e-01 -5.33136869e-01  6.65095831e-04]
 [-2.00490631e-03 -1.93405329e-03  9.99996120e-01]]

 t_estimated:
[[0.98020309]
 [0.19798804]
 [0.00162285]]

 R_gt:
[[ 0.98905767  0.07699202  0.12584572]
 [-0.06875186  0.9952752  -0.06856133]
 [-0.13053016  0.0591591   0.98967799]]

 t_gt:
[-0.75212833  0.54648806  0.36831206]

Pose Error in degrees for R and t:
126.57630554668877 51.06467897517029

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.46216578 -0.88671369 -0.01190066]
 [ 0.88674338 -0.46195528 -0.01683718]
 [ 0.00943219 -0.0183344   0.99978742]]

 t_estimated:
[[9.87980517e-01]
 [1.54575651e-01]
 [9.31178621e-04]]

 R_gt:
[[ 0.97819159  0.16189064  0.1301245 ]
 [-0.1502573   0.98409268 -0.09478321]
 [-0.14339907  0.07316279  0.98695732]]

 t_gt:
[-0.72980078  0.64116441  0.23727417]

Pose Error in degrees for R and t:
126.84780365615495 51.55964536460629

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.06722801  0.99773695  0.0011749 ]
 [-0.99773542  0.0672303  -0.00202897]
 [-0.00210336 -0.00103583  0.99999725]]

 t_estimated:
[[0.2504665 ]
 [0.9681244 ]
 [0.00129775]]

 R_gt:
[[ 9.98859405e-01 -3.75578757e-02  2.95164776e-02]
 [ 3.75519968e-02  9.99294633e-01  7.14480866e-04]
 [-2.95214560e-02  3.95244020e-04  9.99563921e-01]]

 t_gt:
[ 0.25339392 -0.88794458  0.38385668]

Pose Error in degrees for R and t:
88.30808296887218 37.28085099853012

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99804792e-01  1.97577671e-02  9.41912963e-05]
 [-1.97577671e-02  9.99804796e-01 -1.51408341e-06]
 [-9.42028247e-05 -3.47221844e-07  9.99999996e-01]]

 t_estimated:
[[9.85865418e-01]
 [1.67539119e-01]
 [1.47876015e-04]]

 R_gt:
[[ 0.99820131 -0.0535607   0.02694604]
 [ 0.0539292   0.99845774 -0.01319227]
 [-0.02619721  0.01462187  0.99954988]]

 t_gt:
[ 0.24707794 -0.96363936  0.10174322]

Pose Error in degrees for R and t:
4.548753966103042 85.2876484523413

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.34593831  0.93815185  0.01406367]
 [-0.93825487 -0.34593239 -0.00292853]
 [ 0.00211767 -0.0142084   0.99989681]]

 t_estimated:
[[0.38080354]
 [0.92465535]
 [0.00107269]]

 R_gt:
[[ 0.99606717 -0.07071292  0.05339908]
 [ 0.06992561  0.9974166   0.01645678]
 [-0.05442395 -0.01265766  0.99843739]]

 t_gt:
[ 0.09908975 -0.90033155  0.42377391]

Pose Error in degrees for R and t:
114.28219558578574 37.4100492983519

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.99963656 -0.02675906  0.00327028]
 [ 0.0267463   0.9996347   0.003887  ]
 [-0.00337309 -0.00379812  0.9999871 ]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.97688279 -0.21224541 -0.02555153]
 [ 0.21268431  0.97699148  0.01589685]
 [ 0.02158991 -0.02096297  0.99954643]]

 t_gt:
[ 0.61537421 -0.78822658 -0.00366575]

Pose Error in degrees for R and t:
10.880062776925175 87.3707660951388

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.62183763  0.78304055  0.01286333]
 [ 0.78146169 -0.61933965 -0.07573657]
 [-0.05133804  0.05714805 -0.99704489]]

 t_estimated:
[[0.6761729 ]
 [0.73672569]
 [0.00504607]]

 R_gt:
[[ 0.91614688 -0.39644518 -0.05921297]
 [ 0.39552612  0.91805749 -0.02700801]
 [ 0.06506792  0.00132345  0.9978796 ]]

 t_gt:
[ 0.71494211 -0.68939115 -0.11660884]

Pose Error in degrees for R and t:
176.9412536689365 88.5642406601397

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.15683689e-01 -4.01899573e-01 -3.37964721e-04]
 [ 4.01898858e-01  9.15683149e-01 -1.29561523e-03]
 [ 8.30175808e-04  1.05054610e-03  9.99999104e-01]]

 t_estimated:
[[-0.12873694]
 [-0.99167674]
 [-0.00201151]]

 R_gt:
[[ 0.88471278 -0.45992791 -0.07583522]
 [ 0.45737705  0.88791245 -0.04916705]
 [ 0.08994893  0.00881387  0.99590723]]

 t_gt:
[ 0.72937778 -0.6657714  -0.15734194]

Pose Error in degrees for R and t:
6.303819585285361 55.48314523711156

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-4.79756360e-01 -8.77399832e-01 -1.83572642e-03]
 [ 8.77401752e-01 -4.79755232e-01 -1.04070837e-03]
 [ 3.24179960e-05 -2.10995603e-03  9.99997774e-01]]

 t_estimated:
[[0.97917564]
 [0.20301233]
 [0.00102531]]

 R_gt:
[[ 0.99488361  0.08427572  0.05571788]
 [-0.0796652   0.99357754 -0.08035954]
 [-0.06213295  0.07550878  0.99520762]]

 t_gt:
[-0.43412897  0.89282271 -0.11999852]

Pose Error in degrees for R and t:
123.46284529480211 75.8797645025689

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.2863326   0.9581248   0.00324353]
 [ 0.95812575 -0.28634001  0.00210641]
 [ 0.00294696  0.00250458 -0.99999252]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98487314  0.11325027  0.1311469 ]
 [-0.10056577  0.98992967 -0.09962543]
 [-0.14110829  0.08492974  0.98634438]]

 t_gt:
[-0.45133248  0.85570141  0.2531286 ]

Pose Error in degrees for R and t:
171.04587389816533 31.44596795883151

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.85943614  0.51103924  0.01443645]
 [-0.51112853 -0.85949869 -0.00310155]
 [ 0.0108231  -0.01004447  0.99989098]]

 t_estimated:
[[0.03372298]
 [0.99942652]
 [0.00306573]]

 R_gt:
[[ 0.98144955  0.07388859  0.17691003]
 [-0.05523741  0.99260087 -0.10812844]
 [-0.18359089  0.09635     0.97826932]]

 t_gt:
[-0.317828    0.80560233  0.49999024]

Pose Error in degrees for R and t:
145.71755344943543 37.254443311488934

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 2.58851819e-01 -9.65904413e-01  4.93972900e-03]
 [-9.65916997e-01 -2.58846833e-01  1.63432968e-03]
 [-2.99973039e-04 -5.19441742e-03 -9.99986464e-01]]

 t_estimated:
[[0.63813366]
 [0.76992213]
 [0.00231208]]

 R_gt:
[[ 0.98741234 -0.13447108 -0.08328118]
 [ 0.1379544   0.98972637  0.0375692 ]
 [ 0.07737493 -0.04858515  0.99581734]]

 t_gt:
[ 0.56907526 -0.81693553 -0.09364661]

Pose Error in degrees for R and t:
179.38566524562117 74.57081427257461

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 1.29873613e-02  9.99915515e-01  5.40584152e-04]
 [-9.99913998e-01  1.29883237e-02 -1.81657713e-03]
 [-1.82344494e-03 -5.16945117e-04  9.99998204e-01]]

 t_estimated:
[[0.06880533]
 [0.99762959]
 [0.00101813]]

 R_gt:
[[ 0.94868886 -0.28087354 -0.14526168]
 [ 0.29805585  0.94770012  0.11413687]
 [ 0.10560811 -0.15157562  0.98278799]]

 t_gt:
[ 0.62699838 -0.76642511  0.13951912]

Pose Error in degrees for R and t:
106.61456308807918 43.83597635359025

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-5.73609148e-01  8.19128071e-01  1.32195974e-03]
 [ 8.19128559e-01  5.73606076e-01  2.11514921e-03]
 [ 9.74293955e-04  2.29612392e-03 -9.99996889e-01]]

 t_estimated:
[[-0.10176532]
 [-0.99480789]
 [-0.00103842]]

 R_gt:
[[ 0.88891121 -0.39039282 -0.23964821]
 [ 0.42100003  0.90243448  0.09150111]
 [ 0.18054587 -0.18222837  0.96653882]]

 t_gt:
[ 0.70274444 -0.71008971  0.04385043]

Pose Error in degrees for R and t:
165.24819816774078 50.591710829183775

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99706198e-01  2.42387650e-02 -1.26836289e-06]
 [-2.42387651e-02  9.99706197e-01 -3.90399347e-05]
 [ 3.21710440e-07  3.90592083e-05  9.99999999e-01]]

 t_estimated:
[[-6.33394970e-01]
 [-7.73828503e-01]
 [-5.09782728e-04]]

 R_gt:
[[ 0.99983244  0.00196169  0.01819589]
 [-0.00209888  0.99996998  0.00750033]
 [-0.01817999 -0.00753663  0.99980621]]

 t_gt:
[-0.29775312 -0.11189354  0.94806272]

Pose Error in degrees for R and t:
1.7008069054384274 74.05595676720466

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.88301239e-01  1.52514377e-01 -1.60754155e-04]
 [-1.52514430e-01  9.88301166e-01 -3.92582522e-04]
 [ 9.89990401e-05  4.12507121e-04  9.99999910e-01]]

 t_estimated:
[[-0.62528517]
 [-0.78039467]
 [-0.00161572]]

 R_gt:
[[ 0.98998519 -0.05429467  0.13031081]
 [ 0.02885356  0.98141737  0.18970433]
 [-0.13818921 -0.18404357  0.97315538]]

 t_gt:
[ 0.0828576  -0.26707854  0.96010607]

Pose Error in degrees for R and t:
17.38583233673996 81.07938915091552

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 7.23388968e-01  6.90438618e-01  1.70762408e-03]
 [ 6.90438981e-01 -7.23390490e-01  4.61423755e-04]
 [ 1.55386380e-03  8.45221374e-04 -9.99998436e-01]]

 t_estimated:
[[9.15675054e-01]
 [4.01918440e-01]
 [8.73735738e-04]]

 R_gt:
[[ 0.97496448 -0.17967059  0.13100488]
 [ 0.12859812  0.93624072  0.32698316]
 [-0.18139992 -0.30194952  0.9359065 ]]

 t_gt:
[ 0.32958271 -0.4024254   0.85406618]

Pose Error in degrees for R and t:
166.32672582800146 81.90616509587673

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-8.75813755e-01 -4.82647988e-01  1.08912778e-03]
 [-4.82646202e-01  8.75814030e-01  1.55857509e-03]
 [-1.70611652e-03  8.39358118e-04 -9.99998192e-01]]

 t_estimated:
[[0.98426807]
 [0.17666507]
 [0.00241085]]

 R_gt:
[[ 0.99048528 -0.13741071  0.00760501]
 [ 0.13700619  0.98977069  0.03980478]
 [-0.01299714 -0.0383829   0.9991784 ]]

 t_gt:
[ 0.93711403 -0.18889683  0.29348813]

Pose Error in degrees for R and t:
178.77969896451944 27.163484879810778

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.91119785e-01 -1.32962249e-01  1.61639204e-03]
 [-1.32960886e-01 -9.91120855e-01 -9.24073417e-04]
 [ 1.72490674e-03  7.00950528e-04 -9.99998267e-01]]

 t_estimated:
[[0.00519744]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.98584908 -0.15807655  0.05580288]
 [ 0.15433313  0.9858108   0.06602384]
 [-0.06544749 -0.0564769   0.99625634]]

 t_gt:
[ 0.87932323 -0.17788151  0.44175653]

Pose Error in degrees for R and t:
176.30526108608402 80.04645884724107

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.70823125 -0.69398839 -0.12957086]
 [ 0.70279958  0.71046689  0.03618753]
 [ 0.06694208 -0.11669149  0.99090961]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.96975491 -0.23687226  0.05888589]
 [ 0.23246489  0.96986043  0.07301052]
 [-0.07440521 -0.05711323  0.99559105]]

 t_gt:
[ 0.93846665 -0.13157475  0.31932497]

Pose Error in degrees for R and t:
32.49567544992345 82.79689009543593

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.99898513e-01  1.42465629e-02 -2.64309715e-06]
 [-1.42465623e-02  9.99898498e-01  1.70221200e-04]
 [ 5.06789591e-06 -1.70166270e-04  9.99999986e-01]]

 t_estimated:
[[-8.44096188e-01]
 [-5.36191318e-01]
 [-7.04587803e-04]]

 R_gt:
[[ 0.99797009 -0.06297967  0.00945975]
 [ 0.06292861  0.99800162  0.00563968]
 [-0.00979647 -0.00503225  0.99993955]]

 t_gt:
[ 0.43455268 -0.89354225  0.11289915]

Pose Error in degrees for R and t:
4.469967431415742 83.55636125712566

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[-0.63532458  0.77210403  0.01476614]
 [ 0.77215835  0.63542376 -0.00284883]
 [-0.01158235  0.00959187 -0.99988692]]

 t_estimated:
[[0.90637274]
 [0.42238729]
 [0.00879974]]

 R_gt:
[[ 0.98446338 -0.16789062  0.0514309 ]
 [ 0.16529895  0.9849183   0.05109896]
 [-0.05923378 -0.04180363  0.9973692 ]]

 t_gt:
[ 0.4915831  -0.79912573  0.34604064]

Pose Error in degrees for R and t:
177.41372450682144 83.62345912121069

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.66272379e-01  2.57515725e-01  1.82790916e-03]
 [-2.57516618e-01  9.66273833e-01  2.67283928e-04]
 [-1.69743097e-03 -7.28986061e-04  9.99998294e-01]]

 t_estimated:
[[0.70276012]
 [0.71142645]
 [0.00078785]]

 R_gt:
[[ 0.95478008 -0.29652455  0.02163883]
 [ 0.29374817  0.95206633  0.08532625]
 [-0.04590367 -0.07511101  0.99611891]]

 t_gt:
[ 0.64416177 -0.71439079  0.27331558]

Pose Error in degrees for R and t:
32.4968549147265 86.82820656167142

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.93809519 -0.3461808  -0.01167369]
 [ 0.34633846  0.93796285  0.01659396]
 [ 0.00520498 -0.01960976  0.99979416]]

 t_estimated:
[[-0.99576374]
 [-0.09171508]
 [-0.00655108]]

 R_gt:
[[ 0.98693015 -0.061505   -0.1489437 ]
 [ 0.08480887  0.9841807   0.15555106]
 [ 0.137021   -0.16615065  0.97653442]]

 t_gt:
[ 0.67968091 -0.68359602  0.26595177]

Pose Error in degrees for R and t:
19.588588206127767 51.986450173338625

Number of keypoints:
Image1: 22
Image2: 22

 R_estimated:
[[ 1.60392678e-01  9.73430853e-01  1.63421431e-01]
 [ 9.87053173e-01 -1.58099915e-01 -2.70268548e-02]
 [-4.71860038e-04  1.65640552e-01 -9.86186080e-01]]

 t_estimated:
[[-0.07929478]
 [-0.99684864]
 [-0.00226557]]

 R_gt:
[[ 0.9699691  -0.1609002  -0.18240381]
 [ 0.19863305  0.95681272  0.21226018]
 [ 0.14037453 -0.2421181   0.96003884]]

 t_gt:
[ 0.7304251  -0.59207114  0.34048632]

Pose Error in degrees for R and t:
171.64097033585477 57.892124183118526

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 0.94975991  0.31297261  0.0020613 ]
 [-0.31296165  0.94975559 -0.00439593]
 [-0.00333353  0.00352997  0.99998821]]

 t_estimated:
[[-0.99993843]
 [-0.01102873]
 [-0.00122541]]

 R_gt:
[[ 0.93611431 -0.25763223 -0.23940423]
 [ 0.31033189  0.92538679  0.21761018]
 [ 0.16547833 -0.27800399  0.94621873]]

 t_gt:
[ 0.79405508 -0.54983799  0.25914225]

Pose Error in degrees for R and t:
39.9394850122708 37.97682278745911

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[-0.87043154  0.48269806  0.09670321]
 [ 0.48184384  0.87561426 -0.03355863]
 [-0.10087339  0.01738536 -0.99474736]]

 t_estimated:
[[ 0.95115333]
 [-0.30334465]
 [ 0.05735303]]

 R_gt:
[[ 0.99894665 -0.04459681 -0.01086533]
 [ 0.04480383  0.99880466  0.01957466]
 [ 0.00997982 -0.020041    0.99974851]]

 t_gt:
[ 0.51197305 -0.85488793  0.08396557]

Pose Error in degrees for R and t:
175.0184218645469 41.31370587627632

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.97805139e-01 -6.62185651e-02  7.69821372e-05]
 [ 6.62185627e-02  9.97805142e-01  3.32951476e-05]
 [-7.90179292e-05 -2.81244229e-05  9.99999996e-01]]

 t_estimated:
[[ 9.65513410e-01]
 [-2.60352343e-01]
 [ 7.16237395e-04]]

 R_gt:
[[ 0.99639265 -0.07881833 -0.03144431]
 [ 0.07979466  0.99632665  0.03107955]
 [ 0.0288791  -0.03347651  0.99902147]]

 t_gt:
[ 0.51059386 -0.85845725 -0.04842578]

Pose Error in degrees for R and t:
2.6461459176587714 44.2376861425253

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.87444605e-01  1.57965581e-01  1.64139884e-04]
 [-1.57965550e-01  9.87444606e-01 -1.84823017e-04]
 [-1.91274718e-04  1.56574044e-04  9.99999969e-01]]

 t_estimated:
[[0.55062353]
 [0.83475312]
 [0.00097976]]

 R_gt:
[[ 0.99541924 -0.07630836 -0.05758729]
 [ 0.0793405   0.99547233  0.05233236]
 [ 0.05333364 -0.05666235  0.99696731]]

 t_gt:
[ 0.47749781 -0.87252739 -0.10340116]

Pose Error in degrees for R and t:
14.276133509453597 62.25581314124554

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.00167174  0.99996217  0.00853632]
 [ 0.99999093  0.00170511 -0.00390301]
 [-0.00391742  0.00852972 -0.99995595]]

 t_estimated:
[[0.99335967]
 [0.11502059]
 [0.0026141 ]]

 R_gt:
[[ 9.98308373e-01 -9.43779566e-04  5.81329927e-02]
 [-7.18897485e-03  9.90191160e-01  1.39532393e-01]
 [-5.76947545e-02 -1.39714488e-01  9.88509944e-01]]

 t_gt:
[-0.08206705 -0.05861316  0.99490175]

Pose Error in degrees for R and t:
177.18909729758346 85.08584679896045

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.52726983e-01 -3.03827358e-01 -4.82589769e-04]
 [ 3.03827674e-01  9.52726628e-01  8.46523966e-04]
 [ 2.02578982e-04 -9.53130350e-04  9.99999525e-01]]

 t_estimated:
[[0.77241584]
 [0.63511538]
 [0.00149019]]

 R_gt:
[[ 0.9951342  -0.03579965  0.0917927 ]
 [ 0.01228087  0.96945448  0.24496442]
 [-0.09775878 -0.24264503  0.9651764 ]]

 t_gt:
[ 0.01261518 -0.11262786  0.99355716]

Pose Error in degrees for R and t:
22.189853964177594 86.54256943580319

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 2.25349196e-01 -9.74273146e-01 -3.09458239e-03]
 [-9.74276900e-01 -2.25352694e-01  8.28006236e-04]
 [-1.50407672e-03  2.82838960e-03 -9.99994869e-01]]

 t_estimated:
[[0.73645169]
 [0.67648961]
 [0.00084455]]

 R_gt:
[[ 0.99134674 -0.08894678  0.09653911]
 [ 0.05330718  0.94484983  0.32313478]
 [-0.11995704 -0.31519292  0.94141596]]

 t_gt:
[ 0.1056999  -0.19294087  0.97550056]

Pose Error in degrees for R and t:
161.52790308846005 87.02754989503914

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999977e-01 -1.96427947e-04 -8.19225724e-05]
 [ 1.96453287e-04  9.99999933e-01  3.09425312e-04]
 [ 8.18617871e-05 -3.09441399e-04  9.99999949e-01]]

 t_estimated:
[[0.54991891]
 [0.83521742]
 [0.00103194]]

 R_gt:
[[ 0.99895794  0.02354338  0.03911068]
 [-0.02777545  0.99338141  0.11145685]
 [-0.03622828 -0.11242713  0.99299942]]

 t_gt:
[-0.17805816  0.10268935  0.97864712]

Pose Error in degrees for R and t:
6.929275708511749 89.36172841948562

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.38074948e-01  3.46431920e-01  5.62259427e-04]
 [ 3.46432369e-01  9.38073371e-01  1.72185913e-03]
 [ 6.90663699e-05  1.81001778e-03 -9.99998360e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99440482  0.00685526  0.10541356]
 [-0.02981866  0.9755272   0.21784794]
 [-0.10134139 -0.21977127  0.97027331]]

 t_gt:
[-0.08493386  0.0424653   0.99548126]

Pose Error in degrees for R and t:
176.33403862925738 85.17974786950555

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.99651314  0.08342826  0.00113703]
 [-0.08342626  0.99651249 -0.00170496]
 [-0.0012753   0.00160416  0.9999979 ]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99319911 -0.03506609  0.11102664]
 [-0.00167588  0.94916725  0.31476955]
 [-0.11642104 -0.31281385  0.94265227]]

 t_gt:
[ 0.00642651 -0.04016786  0.99917228]

Pose Error in degrees for R and t:
20.389325056625058 89.59454465084036

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[-0.29731267 -0.95476859 -0.00470341]
 [-0.9547712   0.29732762 -0.00287097]
 [ 0.00413957  0.0036371  -0.99998482]]

 t_estimated:
[[ 0.79170036]
 [ 0.61090772]
 [-0.00151499]]

 R_gt:
[[ 0.9955689  -0.06615528  0.06682937]
 [ 0.0651164   0.99772255  0.01759505]
 [-0.06784137 -0.01316631  0.99760956]]

 t_gt:
[-0.15628543 -0.81924413  0.55173718]

Pose Error in degrees for R and t:
176.6788631717926 51.314166923951746

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99999880e-01  4.36757679e-04  2.20652051e-04]
 [-4.36748124e-04  9.99999904e-01 -4.33509000e-05]
 [-2.20670963e-04  4.32545255e-05  9.99999975e-01]]

 t_estimated:
[[-9.75284013e-01]
 [-2.20954775e-01]
 [-2.85704585e-04]]

 R_gt:
[[ 0.97944858 -0.19825741  0.03707778]
 [ 0.19677027  0.97962433  0.04020427]
 [-0.04429264 -0.03208257  0.99850341]]

 t_gt:
[ 0.29129415 -0.9100532   0.29487435]

Pose Error in degrees for R and t:
11.84424152243896 85.23332844631739

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999526e-01 -7.14771586e-04  6.61133978e-04]
 [ 7.14929216e-04  9.99999716e-01 -2.38217663e-04]
 [-6.60963519e-04  2.38690214e-04  9.99999753e-01]]

 t_estimated:
[[0.60167047]
 [0.79874329]
 [0.00134339]]

 R_gt:
[[ 0.9384352  -0.34514177  0.01468699]
 [ 0.34299335  0.93597479  0.07940816]
 [-0.04115433 -0.0694828   0.99673398]]

 t_gt:
[ 0.47048537 -0.84541833  0.25280697]

Pose Error in degrees for R and t:
20.639269062860752 66.93000007478751

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 9.99907490e-01  1.36018794e-02  2.78573014e-05]
 [-1.36018780e-02  9.99907489e-01 -5.26366117e-05]
 [-2.85706811e-05  5.22528307e-05  9.99999998e-01]]

 t_estimated:
[[ 7.99330308e-01]
 [-6.00891546e-01]
 [-6.38806958e-04]]

 R_gt:
[[ 0.99939672 -0.0299848  -0.0176094 ]
 [ 0.03027104  0.99941016  0.01623633]
 [ 0.01711209 -0.01675975  0.99971282]]

 t_gt:
[ 0.44172085 -0.88705688 -0.13421173]

Pose Error in degrees for R and t:
2.857918636731984 27.601484288856287

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.95892078e-01 -9.05480770e-02 -1.18185146e-04]
 [ 9.05480658e-02  9.95892082e-01 -9.69346464e-05]
 [ 1.26476897e-04  8.58350101e-05  9.99999988e-01]]

 t_estimated:
[[ 0.150607  ]
 [-0.98859235]
 [-0.0016444 ]]

 R_gt:
[[ 0.99906621 -0.02753803 -0.03333097]
 [ 0.02837492  0.999287    0.02491027]
 [ 0.03262073 -0.02583317  0.99913299]]

 t_gt:
[ 0.40227286 -0.87392038 -0.27283644]

Pose Error in degrees for R and t:
4.310269112665856 22.33394355462525

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.99992618e-01  3.82795819e-03  3.32722438e-04]
 [-3.82790058e-03  9.99992658e-01 -1.73602155e-04]
 [-3.33384537e-04  1.72327245e-04  9.99999930e-01]]

 t_estimated:
[[0.9999445 ]
 [0.01044032]
 [0.00141335]]

 R_gt:
[[ 9.91731401e-01 -1.28124049e-01 -7.34830104e-03]
 [ 1.28132151e-01  9.91757220e-01  6.98322941e-04]
 [ 7.19826759e-03 -1.63322937e-03  9.99972594e-01]]

 t_gt:
[ 0.6242403  -0.78075009 -0.0274471 ]

Pose Error in degrees for R and t:
7.593654098275857 51.97424862243185

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[-0.83464306  0.55078764 -0.00198424]
 [ 0.55077938  0.83464333  0.00354826]
 [ 0.00361047  0.00186866 -0.99999174]]

 t_estimated:
[[9.47309069e-01]
 [3.20319685e-01]
 [9.09999105e-04]]

 R_gt:
[[ 0.98783636 -0.15250484 -0.03035985]
 [ 0.1533316   0.98780359  0.02706576]
 [ 0.02586216 -0.03139245  0.99917237]]

 t_gt:
[ 0.5486241  -0.83143738  0.08788329]

Pose Error in degrees for R and t:
177.8151837102257 75.31700808082215

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-2.18635313e-01 -9.75804771e-01 -1.91023342e-03]
 [-9.75805900e-01  2.18637139e-01 -8.03828559e-04]
 [ 1.20202771e-03  1.68827174e-03 -9.99997852e-01]]

 t_estimated:
[[7.45967595e-01]
 [6.65982201e-01]
 [2.34900209e-04]]

 R_gt:
[[ 0.95389213 -0.29525437 -0.05399887]
 [ 0.29710749  0.95436755  0.03013921]
 [ 0.04263576 -0.04479365  0.99808635]]

 t_gt:
[ 0.61707598 -0.78399741  0.06756703]

Pose Error in degrees for R and t:
179.06303522011277 86.4572209523842

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999894e-01 -2.35313037e-04  3.95285973e-04]
 [ 2.35572163e-04  9.99999757e-01 -6.55623186e-04]
 [-3.95131600e-04  6.55716235e-04  9.99999707e-01]]

 t_estimated:
[[7.69342819e-01]
 [6.38835743e-01]
 [7.21033570e-04]]

 R_gt:
[[ 0.932851   -0.35284688 -0.07272674]
 [ 0.35687974  0.93266701  0.05262344]
 [ 0.04926175 -0.07504496  0.99596267]]

 t_gt:
[ 0.63066714 -0.76922927  0.10269022]

Pose Error in degrees for R and t:
21.44677673844438 89.64832346669664

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 6.86531310e-01  7.27100056e-01 -5.18228992e-04]
 [-7.27100110e-01  6.86530585e-01 -1.08883783e-03]
 [-4.35913995e-04  1.12432562e-03  9.99999273e-01]]

 t_estimated:
[[-4.98337010e-02]
 [ 9.98757528e-01]
 [-5.18724995e-05]]

 R_gt:
[[ 0.99874612  0.02234106  0.04479787]
 [-0.01798801  0.99528239 -0.09533516]
 [-0.04671633  0.09441051  0.99443645]]

 t_gt:
[-0.46032784  0.56703432 -0.68305956]

Pose Error in degrees for R and t:
45.855990454131664 53.89229111091795

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-8.70733697e-01 -4.91752505e-01 -1.51741863e-03]
 [-4.91754300e-01  8.70733184e-01  1.19641343e-03]
 [ 7.32927457e-04  1.78795463e-03 -9.99998133e-01]]

 t_estimated:
[[9.07421875e-01]
 [4.20220231e-01]
 [7.05067502e-04]]

 R_gt:
[[ 0.99226793  0.06888582  0.10324538]
 [-0.05305602  0.987426   -0.14890902]
 [-0.11220499  0.14228085  0.98344619]]

 t_gt:
[-0.70233532  0.67011318 -0.24015293]

Pose Error in degrees for R and t:
176.2021088324113 69.15208292412755

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 7.75079517e-01 -6.31863579e-01 -3.99675097e-04]
 [ 6.31863675e-01  7.75079130e-01  7.98614051e-04]
 [-1.94835306e-04 -8.71529569e-04  9.99999601e-01]]

 t_estimated:
[[0.99428319]
 [0.10675462]
 [0.00209323]]

 R_gt:
[[ 0.98471885  0.13806688  0.10614483]
 [-0.12601779  0.98558123 -0.11291282]
 [-0.12020445  0.0978121   0.98791913]]

 t_gt:
[-0.73860115  0.66899697  0.08313482]

Pose Error in degrees for R and t:
47.62354799597968 48.48729010503933

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.98425181e-01  5.60962155e-02  6.11147681e-04]
 [-5.60957280e-02  9.98425084e-01 -7.87631817e-04]
 [-6.54368339e-04  7.52108665e-04  9.99999503e-01]]

 t_estimated:
[[0.67321485]
 [0.73944645]
 [0.00083837]]

 R_gt:
[[ 0.99533371 -0.09478506  0.01806722]
 [ 0.09578908  0.9931629  -0.06671121]
 [-0.01162107  0.06813035  0.99760899]]

 t_gt:
[ 0.50351759 -0.73122205 -0.46020033]

Pose Error in degrees for R and t:
9.528722318923625 78.33963557435128

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 2.25239514e-01  9.74295360e-01  3.96389062e-03]
 [ 9.74303421e-01 -2.25237359e-01 -9.87767981e-04]
 [-6.95615043e-05  4.08451658e-03 -9.99991656e-01]]

 t_estimated:
[[-0.56626146]
 [-0.82422501]
 [-0.00104863]]

 R_gt:
[[ 0.9843591  -0.1759547  -0.00880002]
 [ 0.17501924  0.98239642 -0.06529789]
 [ 0.02013407  0.0627366   0.9978272 ]]

 t_gt:
[ 0.56637528 -0.74939828 -0.34295955]

Pose Error in degrees for R and t:
177.437586813832 72.70353583888426

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.66031527e-01  2.58417881e-01  1.81319027e-03]
 [-2.58415402e-01  9.66032737e-01 -1.49340875e-03]
 [-2.13752469e-03  9.74123640e-04  9.99997241e-01]]

 t_estimated:
[[0.57949449]
 [0.81497317]
 [0.00220774]]

 R_gt:
[[ 0.94431782 -0.32893583  0.00807093]
 [ 0.32901091  0.94366652 -0.03527807]
 [ 0.00398721  0.03596984  0.99934512]]

 t_gt:
[ 0.68052921 -0.72696121 -0.09169179]

Pose Error in degrees for R and t:
34.245629703796354 78.56282159481239

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.0349058  -0.99938485 -0.00339337]
 [ 0.99938962 -0.03491035  0.00128844]
 [-0.00140611 -0.00334632  0.99999341]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.99265556  0.06931328 -0.09914423]
 [-0.07156125  0.99724903 -0.01930214]
 [ 0.09753325  0.02625472  0.99488606]]

 t_gt:
[ 0.02109848  0.53501616 -0.84457833]

Pose Error in degrees for R and t:
96.17945966673683 88.37762736201219

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.98219618 -0.18785296 -0.00138896]
 [ 0.18785522  0.98219521  0.00172659]
 [ 0.00103988 -0.00195677  0.99999754]]

 t_estimated:
[[-0.80599993]
 [-0.59191343]
 [-0.00161162]]

 R_gt:
[[ 0.99176464  0.02580707 -0.12544955]
 [-0.02726578  0.99957835 -0.00993125]
 [ 0.12513962  0.01326953  0.99205004]]

 t_gt:
[ 0.35446172  0.05983807 -0.93315395]

Pose Error in degrees for R and t:
14.277254620271375 71.36058694422633

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.99999880e-01  4.84447776e-04  6.95627958e-05]
 [-4.84453260e-04  9.99999880e-01  7.88443885e-05]
 [-6.95245914e-05 -7.88780790e-05  9.99999994e-01]]

 t_estimated:
[[1.25202550e-02]
 [9.99921569e-01]
 [3.15088709e-04]]

 R_gt:
[[ 0.98868631 -0.02892365 -0.14718109]
 [ 0.03337003  0.9990556   0.02782742]
 [ 0.14623711 -0.03242441  0.98871786]]

 t_gt:
[ 0.57102661 -0.44077191 -0.69256678]

Pose Error in degrees for R and t:
8.808060912854193 64.29064757839626

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.70521928e-01 -2.41012788e-01 -1.51067783e-04]
 [ 2.41012816e-01  9.70521913e-01  1.99933793e-04]
 [ 9.84279925e-05 -2.30449402e-04  9.99999969e-01]]

 t_estimated:
[[-7.36856602e-01]
 [ 6.76049064e-01]
 [-1.02132252e-04]]

 R_gt:
[[ 0.99178787  0.11016122 -0.06496438]
 [-0.10286203  0.98896324  0.10663834]
 [ 0.07599426 -0.09907904  0.99217357]]

 t_gt:
[-0.60731029  0.3105997   0.73123323]

Pose Error in degrees for R and t:
21.30996892735653 48.89761989089259

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.980309   -0.19590197  0.02483325]
 [ 0.19705124  0.96228318 -0.18756835]
 [ 0.01284839  0.18876836  0.98193759]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.98581025  0.13459868 -0.10030984]
 [-0.11666582  0.97901009  0.16712067]
 [ 0.12069813 -0.15304544  0.98082103]]

 t_gt:
[-0.23761931  0.5025138   0.83127429]

Pose Error in degrees for R and t:
28.2939743737056 73.54186783766775

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 5.15388633e-01  8.56953762e-01 -2.19237213e-03]
 [-8.56956500e-01  5.15385897e-01 -1.71300970e-03]
 [-3.38052431e-04  2.76163328e-03  9.99996130e-01]]

 t_estimated:
[[-0.52936996]
 [ 0.84838947]
 [-0.00165929]]

 R_gt:
[[ 0.96594814  0.2386793  -0.09988078]
 [-0.21752392  0.95816903  0.18600027]
 [ 0.14009688 -0.15794012  0.97745967]]

 t_gt:
[-0.45563978  0.81012743  0.36889827]

Pose Error in degrees for R and t:
47.176519814579756 21.891206720690892

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.58128329 -0.81305437  0.03243979]
 [-0.81299363  0.58197834  0.01850876]
 [-0.03392789 -0.01561451 -0.9993023 ]]

 t_estimated:
[[0.8777038 ]
 [0.47885013]
 [0.01840099]]

 R_gt:
[[ 0.99720016 -0.03726054 -0.06484005]
 [ 0.04011612  0.9982554   0.04331237]
 [ 0.06311274 -0.04579151  0.99695582]]

 t_gt:
[ 0.93882618 -0.30461939 -0.16066249]

Pose Error in degrees for R and t:
180.0 47.53125517924844

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.991463   -0.13033283 -0.00380332]
 [ 0.13035178  0.9914539   0.0052517 ]
 [ 0.00308635 -0.00570264  0.99997898]]

 t_estimated:
[[-0.98854238]
 [-0.15067404]
 [-0.00901649]]

 R_gt:
[[ 0.99142263 -0.00961138 -0.13034092]
 [ 0.0127168   0.99965347  0.02301326]
 [ 0.13007459 -0.02447209  0.99120305]]

 t_gt:
[ 0.74054067  0.11023207 -0.66290905]

Pose Error in degrees for R and t:
10.048743820203166 42.039115907547604

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 6.37382808e-01 -7.70543392e-01 -2.45705604e-03]
 [ 7.70545608e-01  6.37384861e-01 -6.88079484e-05]
 [ 1.61910984e-03 -1.84941674e-03  9.99996979e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.98156635 -0.02053771 -0.19001764]
 [ 0.02445336  0.99953377  0.01828225]
 [ 0.18955396 -0.02259026  0.98161138]]

 t_gt:
[ 0.76005102  0.06695183 -0.64640537]

Pose Error in degrees for R and t:
50.215205585173855 44.182540540295555

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999914e-01  4.04045557e-04 -9.73260975e-05]
 [-4.04037089e-04  9.99999915e-01  8.70116130e-05]
 [ 9.73612458e-05 -8.69722821e-05  9.99999991e-01]]

 t_estimated:
[[-0.32307794]
 [ 0.94637108]
 [-0.0015559 ]]

 R_gt:
[[ 0.99754727  0.00661983 -0.06968378]
 [-0.00818202  0.99972074 -0.02216239]
 [ 0.06951767  0.02267769  0.99732278]]

 t_gt:
[ 0.48659785  0.25869187 -0.83444655]

Pose Error in degrees for R and t:
4.208874743746006 84.89922410958907

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99997940e-01 -5.57615838e-04  1.95192821e-03]
 [ 5.63438324e-04  9.99995390e-01 -2.98366258e-03]
 [-1.95025548e-03  2.98475623e-03  9.99993644e-01]]

 t_estimated:
[[0.75238715]
 [0.65872064]
 [0.00082769]]

 R_gt:
[[ 0.99197536 -0.01142681 -0.12591482]
 [ 0.00827509  0.99963944 -0.02552004]
 [ 0.12616022  0.02427276  0.99171216]]

 t_gt:
[ 0.63826894  0.11140148 -0.76171023]

Pose Error in degrees for R and t:
7.479763495000851 56.428487875996936

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.01407428  0.99989961 -0.00164104]
 [-0.99989531 -0.0140797  -0.00333738]
 [-0.00336016  0.0015939   0.99999308]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.98410455  0.00359873 -0.17755334]
 [-0.00440455  0.99998127 -0.00414805]
 [ 0.17753567  0.00486435  0.98410257]]

 t_gt:
[ 0.64411797  0.14651153 -0.75076388]

Pose Error in degrees for R and t:
91.03468486616569 81.29348962548127

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 7.01835938e-01  7.12338161e-01  8.13396354e-04]
 [-7.12337903e-01  7.01836394e-01 -6.22377426e-04]
 [-1.01421435e-03 -1.42606209e-04  9.99999476e-01]]

 t_estimated:
[[0.0146216 ]
 [0.99989247]
 [0.00112474]]

 R_gt:
[[ 0.99565667 -0.07574189 -0.05414225]
 [ 0.07793321  0.99617241  0.03957425]
 [ 0.05093776 -0.04362176  0.99774845]]

 t_gt:
[ 0.62412229 -0.76142957  0.17520382]

Pose Error in degrees for R and t:
49.980263935686125 41.233907684510726

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.95331099  0.30182405 -0.01002031]
 [-0.30188233 -0.95333265  0.00489147]
 [-0.00807633  0.00768805  0.99993783]]

 t_estimated:
[[0.65195158]
 [0.75825982]
 [0.00108478]]

 R_gt:
[[ 0.99366263 -0.00421721 -0.11232761]
 [ 0.01653861  0.99390567  0.10898813]
 [ 0.11118371 -0.11015502  0.98767609]]

 t_gt:
[ 0.36593454 -0.74327054  0.56003645]

Pose Error in degrees for R and t:
163.09035460279998 71.06998015864814

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.99999549 -0.00136333 -0.0026778 ]
 [ 0.00136985  0.9999961   0.00243361]
 [ 0.00267447 -0.00243727  0.99999345]]

 t_estimated:
[[-0.95007231]
 [-0.3120176 ]
 [-0.00275978]]

 R_gt:
[[ 0.98577478  0.06078688 -0.15669293]
 [-0.02475994  0.97465656  0.22233081]
 [ 0.16623643 -0.21528752  0.96229759]]

 t_gt:
[ 0.19243703 -0.41209926  0.89058531]

Pose Error in degrees for R and t:
15.790362422588062 86.74931694919682

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.02555614 -0.99966789 -0.00331662]
 [ 0.99967274 -0.02555221 -0.0012219 ]
 [ 0.00113675 -0.00334676  0.99999375]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99672225  0.07638671  0.02662908]
 [-0.07680109  0.99693539  0.01487862]
 [-0.02541115 -0.01687538  0.99953448]]

 t_gt:
[-0.46394008  0.78801998  0.40470251]

Pose Error in degrees for R and t:
95.87261606280244 62.536688984322346

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-6.73293054e-01 -7.39375550e-01 -5.09605663e-04]
 [-7.39375683e-01  6.73293088e-01  1.27720953e-04]
 [ 2.48680221e-04  4.62783666e-04 -9.99999862e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.99390816  0.07878826  0.07706515]
 [-0.08947097  0.98511676  0.14676624]
 [-0.06435489 -0.15276749  0.98616478]]

 t_gt:
[-0.28960977  0.39012361  0.87403075]

Pose Error in degrees for R and t:
172.814432735329 88.29849114194187

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-6.28399227e-01 -7.77887500e-01 -2.33420407e-03]
 [ 7.77890925e-01 -6.28395000e-01 -2.33077566e-03]
 [ 3.46279086e-04 -3.28041378e-03  9.99994559e-01]]

 t_estimated:
[[0.81022301]
 [0.58612105]
 [0.00089115]]

 R_gt:
[[ 0.99061526  0.05292392  0.1260177 ]
 [-0.0826967   0.96616497  0.24430928]
 [-0.10882347 -0.25243734  0.96147428]]

 t_gt:
[-0.16394812  0.2293227   0.95944365]

Pose Error in degrees for R and t:
133.3827350732663 89.86069472114629

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 8.71920248e-01 -4.89647122e-01  8.82045296e-04]
 [ 4.89647649e-01  8.71920238e-01 -5.27234651e-04]
 [-5.10914215e-04  8.91597973e-04  9.99999472e-01]]

 t_estimated:
[[-0.63746476]
 [-0.77047906]
 [-0.00083657]]

 R_gt:
[[ 0.99980923  0.0141162  -0.01349208]
 [-0.01384938  0.99971015  0.01966969]
 [ 0.01376679 -0.01947828  0.99971542]]

 t_gt:
[ 0.98228184 -0.18740143  0.00175854]

Pose Error in degrees for R and t:
30.151740135632334 61.198105292394736

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-9.94543375e-01  1.04065359e-01  7.34004415e-03]
 [ 1.04070824e-01  9.94569822e-01  3.65493774e-04]
 [-7.26215116e-03  1.12738385e-03 -9.99972995e-01]]

 t_estimated:
[[0.77719592]
 [0.62925783]
 [0.00104182]]

 R_gt:
[[ 0.99109107  0.10297668 -0.08445788]
 [-0.10164952  0.99462143  0.01988381]
 [ 0.08605226 -0.01112049  0.99622921]]

 t_gt:
[-0.04232824  0.74553072 -0.66512575]

Pose Error in degrees for R and t:
175.47916176957247 64.18029143109814

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-4.16848712e-02 -9.99129523e-01 -1.60246444e-03]
 [ 9.99130397e-01 -4.16862549e-02  8.39985802e-04]
 [-9.06055355e-04 -1.56605624e-03  9.99998363e-01]]

 t_estimated:
[[9.96648255e-01]
 [8.18019506e-02]
 [8.34713781e-04]]

 R_gt:
[[ 0.98566413  0.08975269 -0.14286384]
 [-0.08793603  0.99594525  0.01899957]
 [ 0.14399052 -0.00616317  0.98956081]]

 t_gt:
[ 0.25554255  0.38000531 -0.8889848 ]

Pose Error in degrees for R and t:
97.77178574967984 73.43940791692444

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-8.40614628e-01  5.41633682e-01  3.60940617e-05]
 [-5.41630986e-01 -8.40610230e-01 -3.21197933e-03]
 [-1.70937515e-03 -2.71958647e-03  9.99994841e-01]]

 t_estimated:
[[0.2687985 ]
 [0.96319462]
 [0.00186666]]

 R_gt:
[[ 0.97627074 -0.21579043  0.01818911]
 [ 0.21531748  0.97622699  0.02485719]
 [-0.02312097 -0.02035026  0.99952592]]

 t_gt:
[ 0.86483347 -0.4901487   0.10870754]

Pose Error in degrees for R and t:
159.65723085285023 76.14652466155904

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.68080674e-01  2.50637938e-01  6.57855078e-04]
 [-2.50637736e-01  9.68080877e-01 -3.74942752e-04]
 [-7.30831799e-04  1.98091525e-04  9.99999713e-01]]

 t_estimated:
[[8.63778637e-01]
 [5.03870871e-01]
 [7.82408185e-04]]

 R_gt:
[[ 0.91537703 -0.40110959  0.0345768 ]
 [ 0.40002233  0.91586029  0.0343894 ]
 [-0.04546184 -0.01764716  0.99880977]]

 t_gt:
[ 0.90436116 -0.41821376  0.08501845]

Pose Error in degrees for R and t:
38.24042583055825 55.21429763300936

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.69013420e-01  2.47007105e-01  6.94234542e-04]
 [-2.47006827e-01  9.69013629e-01 -4.62656494e-04]
 [-7.87002174e-04  2.76839680e-04  9.99999652e-01]]

 t_estimated:
[[0.51590327]
 [0.85664575]
 [0.00136844]]

 R_gt:
[[ 0.83191348 -0.55410753  0.0297267 ]
 [ 0.55322598  0.83236984  0.03318387]
 [-0.04313083 -0.01116043  0.99900675]]

 t_gt:
[ 0.9366969  -0.3472504   0.04490078]

Pose Error in degrees for R and t:
48.00095263974873 79.29013109795575

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.89994081e-01 -1.41108810e-01 -1.50690661e-04]
 [ 1.41108756e-01  9.89994047e-01 -3.23970629e-04]
 [ 1.94897968e-04  2.99465233e-04  9.99999936e-01]]

 t_estimated:
[[-0.64813926]
 [-0.76152013]
 [-0.00161022]]

 R_gt:
[[ 0.99723603  0.04820353  0.05655197]
 [-0.04369224  0.9959605  -0.07844452]
 [-0.06010472  0.07575712  0.99531322]]

 t_gt:
[-0.72488656  0.65870181 -0.20162192]

Pose Error in degrees for R and t:
12.091798832093449 88.19702914412234

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.98070219 -0.19374572 -0.02618798]
 [ 0.19424341  0.98078817  0.01800161]
 [ 0.02219712 -0.02274106  0.99949494]]

 t_estimated:
[[-0.97753753]
 [-0.20947233]
 [-0.0232747 ]]

 R_gt:
[[ 0.99033227  0.10233515  0.09365285]
 [-0.09412532  0.99164246 -0.08823426]
 [-0.10189906  0.0785663   0.99168678]]

 t_gt:
[-0.75485733  0.64542671  0.11668232]

Pose Error in degrees for R and t:
19.196020258455903 53.1310624794428

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99974379e-01  7.08609892e-03  1.01430232e-03]
 [-7.09418185e-03  9.99941211e-01  8.20047770e-03]
 [-9.56133297e-04 -8.20746324e-03  9.99965861e-01]]

 t_estimated:
[[0.9998123 ]
 [0.01929462]
 [0.00175406]]

 R_gt:
[[ 0.99200231  0.12517004  0.01626579]
 [-0.12559589  0.9916698   0.02858609]
 [-0.01255138 -0.03039982  0.99945867]]

 t_gt:
[-0.78087789  0.57588132  0.24205461]

Pose Error in degrees for R and t:
6.950215494581716 39.718315249208324

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.91884400e-01 -1.27142757e-01 -2.37318970e-04]
 [ 1.27142755e-01  9.91884428e-01 -2.41391287e-05]
 [ 2.38462106e-04 -6.23016234e-06  9.99999972e-01]]

 t_estimated:
[[ 0.85168759]
 [-0.52404812]
 [-0.00135089]]

 R_gt:
[[ 0.99157275 -0.12328724 -0.03978461]
 [ 0.12364207  0.99230509  0.00658726]
 [ 0.03866603 -0.01145013  0.99918563]]

 t_gt:
[ 0.63515363 -0.76364966 -0.11584068]

Pose Error in degrees for R and t:
2.308428674156609 19.729285982049706

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-0.75886033 -0.65122441  0.00614535]
 [-0.6512504   0.75879436 -0.01020014]
 [ 0.00197953 -0.01174265 -0.99992909]]

 t_estimated:
[[0.99844139]
 [0.05546897]
 [0.00616322]]

 R_gt:
[[ 0.95256072 -0.30241711 -0.03424146]
 [ 0.30333768  0.9525303   0.02588981]
 [ 0.02478694 -0.03504781  0.99907764]]

 t_gt:
[ 0.72024556 -0.69203024  0.04837853]

Pose Error in degrees for R and t:
179.0310305114407 47.07543000556107

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99676483e-01  2.54270554e-02  6.28011329e-04]
 [-2.54267768e-02  9.99676587e-01 -4.47607561e-04]
 [-6.39189564e-04  4.31494449e-04  9.99999703e-01]]

 t_estimated:
[[ 9.99806272e-01]
 [ 1.96722948e-02]
 [-6.46797129e-04]]

 R_gt:
[[ 0.91891781 -0.39208906 -0.04307682]
 [ 0.39298764  0.91942782  0.01453613]
 [ 0.03390624 -0.03028631  0.99896539]]

 t_gt:
[ 0.75188983 -0.65897864  0.02021975]

Pose Error in degrees for R and t:
24.722658606206043 42.373471699792596

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99748880e-01 -2.24092624e-02 -3.72204959e-05]
 [ 2.24092670e-02  9.99748873e-01  1.26954166e-04]
 [ 3.43661996e-05 -1.27756370e-04  9.99999991e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075937e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99242926 -0.12272618 -0.00490537]
 [ 0.1226839   0.99241347 -0.00803912]
 [ 0.00585525  0.0073763   0.99995547]]

 t_gt:
[ 0.43999297 -0.89799792  0.0024342 ]

Pose Error in degrees for R and t:
5.78972407193594 64.07411567522765

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999611e-01  8.81692358e-04  1.65237186e-05]
 [-8.81694798e-04  9.99999600e-01  1.48250573e-04]
 [-1.63930006e-05 -1.48265084e-04  9.99999989e-01]]

 t_estimated:
[[9.99988804e-01]
 [4.66785751e-03]
 [7.76573423e-04]]

 R_gt:
[[ 0.96049561 -0.27725987 -0.02403293]
 [ 0.27791457  0.96012147  0.03049597]
 [ 0.01461976 -0.03597028  0.99924525]]

 t_gt:
[ 0.55323622 -0.82619073  0.10648268]

Pose Error in degrees for R and t:
16.32338827102035 56.670287227212334

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99999830e-01 -4.17695317e-04  4.06047869e-04]
 [ 4.17834661e-04  9.99999854e-01 -3.43148527e-04]
 [-4.05904478e-04  3.43318129e-04  9.99999859e-01]]

 t_estimated:
[[4.22777761e-01]
 [9.06233160e-01]
 [6.52146689e-04]]

 R_gt:
[[ 0.92884118 -0.36650178 -0.05415028]
 [ 0.36839207  0.92918211  0.03012383]
 [ 0.03927547 -0.0479294   0.99807801]]

 t_gt:
[ 0.59985976 -0.79654131  0.07543349]

Pose Error in degrees for R and t:
21.848431368465043 62.08276840126981

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.99547031e-01 -3.00953713e-02  2.80083860e-05]
 [ 3.00953708e-02  9.99547032e-01  1.61154340e-05]
 [-2.84806991e-05 -1.52652114e-05  9.99999999e-01]]

 t_estimated:
[[-0.71649087]
 [-0.69759606]
 [-0.00075579]]

 R_gt:
[[ 9.99780571e-01 -2.09154296e-02  3.20497861e-04]
 [ 2.09174923e-02  9.99721282e-01 -1.10073862e-02]
 [-9.05148140e-05  1.10119848e-02  9.99939036e-01]]

 t_gt:
[ 0.64284598 -0.71350052 -0.27868629]

Pose Error in degrees for R and t:
0.8227165778582313 87.85936077185971

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 5.61276099e-01 -8.27628341e-01 -6.85595100e-04]
 [-8.27628247e-01 -5.61274857e-01 -1.42148523e-03]
 [ 7.91654173e-04  1.36526356e-03 -9.99998755e-01]]

 t_estimated:
[[0.63138109]
 [0.77547221]
 [0.00087328]]

 R_gt:
[[ 0.98947873 -0.14282911  0.02303369]
 [ 0.14367939  0.9887803  -0.0408831 ]
 [-0.01693708  0.0437625   0.99889844]]

 t_gt:
[ 0.71123793 -0.69941603 -0.07041186]

Pose Error in degrees for R and t:
178.29929968709266 84.6420862331304

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.95170969e-01 -9.81543238e-02 -6.86202427e-04]
 [ 9.81551438e-02  9.95170294e-01  1.28569867e-03]
 [ 5.56691387e-04 -1.34684429e-03  9.99998938e-01]]

 t_estimated:
[[9.99828148e-01]
 [1.85153361e-02]
 [9.25766804e-04]]

 R_gt:
[[ 0.96164178 -0.27364092  0.01913578]
 [ 0.27428019  0.96020259 -0.05274098]
 [-0.00394307  0.05596718  0.99842441]]

 t_gt:
[ 0.77020064 -0.63206538 -0.08534825]

Pose Error in degrees for R and t:
10.794728862884398 40.686640376636106

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.95587018e-01 -9.38426153e-02 -2.32308677e-04]
 [ 9.38426191e-02  9.95587044e-01  5.45890458e-06]
 [ 2.30771231e-04 -2.72352692e-05  9.99999973e-01]]

 t_estimated:
[[-0.72847971]
 [-0.68506682]
 [-0.00087971]]

 R_gt:
[[ 0.96102117  0.27058391 -0.05678211]
 [-0.2695711   0.9626566   0.0249489 ]
 [ 0.06141212 -0.00866933  0.99807453]]

 t_gt:
[-0.49330399  0.8586102  -0.13942631]

Pose Error in degrees for R and t:
21.3615197364157 76.77823127940353

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-1.21482233e-02  9.99926166e-01  2.89043638e-04]
 [-9.99924528e-01 -1.21476725e-02 -1.83646848e-03]
 [-1.83282168e-03 -3.11331653e-04  9.99998272e-01]]

 t_estimated:
[[0.00962577]
 [0.99995279]
 [0.00133019]]

 R_gt:
[[ 0.91273188  0.40666131 -0.03933307]
 [-0.40331101  0.91220347  0.07229093]
 [ 0.06527677 -0.05011881  0.99660798]]

 t_gt:
[-0.46889502  0.88317677 -0.01167305]

Pose Error in degrees for R and t:
66.91786079141359 28.525331805592042

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.59943903e-01 -2.80192244e-01 -9.63319908e-05]
 [ 2.80192217e-01  9.59943888e-01 -2.30063984e-04]
 [ 1.56935450e-04  1.93857045e-04  9.99999969e-01]]

 t_estimated:
[[-0.76466456]
 [-0.64442765]
 [-0.00105471]]

 R_gt:
[[ 0.88067256  0.47057942 -0.05451011]
 [-0.46460054  0.8804466   0.09465509]
 [ 0.09253556 -0.05803505  0.99401667]]

 t_gt:
[-0.41515495  0.90865911 -0.0445532 ]

Pose Error in degrees for R and t:
44.66130031158493 74.45091682759333

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-8.99763465e-02 -9.95942439e-01 -1.70722125e-03]
 [ 9.95943328e-01 -8.99780039e-02  9.20032967e-04]
 [-1.06991224e-03 -1.61751441e-03  9.99998119e-01]]

 t_estimated:
[[0.90445042]
 [0.42657662]
 [0.00134993]]

 R_gt:
[[ 0.99080558 -0.13491203 -0.01011673]
 [ 0.13507252  0.99068049  0.01752667]
 [ 0.00765728 -0.01873097  0.99979549]]

 t_gt:
[ 0.80286672 -0.59215463  0.06897769]

Pose Error in degrees for R and t:
87.40792014578027 61.72871074653163

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.06797215e-01 -4.21565361e-01 -1.20694646e-03]
 [ 4.21565955e-01  9.06797700e-01  2.76825155e-04]
 [ 9.77756375e-04 -7.59831816e-04  9.99999233e-01]]

 t_estimated:
[[-0.52709422]
 [-0.84980496]
 [-0.00179284]]

 R_gt:
[[ 0.97126945 -0.23593572 -0.03113454]
 [ 0.2359065   0.97176403 -0.00463858]
 [ 0.03134952 -0.00283882  0.99950468]]

 t_gt:
[ 0.82100528 -0.56750552 -0.06235232]

Pose Error in degrees for R and t:
11.41723812114683 87.15503212923282

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.09419946  0.99555147  0.00192976]
 [ 0.99555197  0.09419594  0.0018435 ]
 [ 0.00165353  0.00209483 -0.99999644]]

 t_estimated:
[[0.91150436]
 [0.41128855]
 [0.0012351 ]]

 R_gt:
[[ 9.27162119e-01 -3.72907549e-01 -3.62138184e-02]
 [ 3.73152468e-01  9.27769885e-01  3.75510130e-05]
 [ 3.35830611e-02 -1.35475280e-02  9.99344279e-01]]

 t_gt:
[ 0.8803589  -0.47342521 -0.02892699]

Pose Error in degrees for R and t:
178.26716466165567 52.576553288091695

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99200451e-01 -3.99583990e-02 -1.33590942e-03]
 [ 3.99588595e-02  9.99201275e-01  3.19797982e-04]
 [ 1.32206378e-03 -3.72923705e-04  9.99999057e-01]]

 t_estimated:
[[-0.36407682]
 [-0.9313593 ]
 [-0.00423345]]

 R_gt:
[[ 0.99987797  0.01294346 -0.00877192]
 [-0.01356053  0.99713494 -0.07441353]
 [ 0.00778373  0.07452326  0.99718918]]

 t_gt:
[-0.08273872  0.44413368 -0.89213204]

Pose Error in degrees for R and t:
5.27911253557704 67.68192658512318

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 2.89194995e-01  9.57269767e-01 -9.20965009e-04]
 [-9.57269435e-01  2.89193403e-01 -1.55094204e-03]
 [-1.21833292e-03  1.33013633e-03  9.99998373e-01]]

 t_estimated:
[[0.47323811]
 [0.88093385]
 [0.00111089]]

 R_gt:
[[ 0.99804031  0.02324857 -0.05811443]
 [-0.03286763  0.9848108  -0.1704913 ]
 [ 0.05326838  0.17206724  0.98364356]]

 t_gt:
[-0.01364381  0.42097328 -0.90697042]

Pose Error in degrees for R and t:
72.20359099174252 68.69175482872738

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-1.31032264e-01  9.91377780e-01  8.02373334e-04]
 [-9.91376479e-01 -1.31030541e-01 -1.91706842e-03]
 [-1.79540362e-03 -1.04665187e-03  9.99997841e-01]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.99073069 -0.13000687 -0.03938843]
 [ 0.11530481  0.95811437 -0.26214866]
 [ 0.07182014  0.25517797  0.96422312]]

 t_gt:
[ 0.31867696 -0.09046451 -0.94353652]

Pose Error in degrees for R and t:
105.49356704241426 84.96724835635851

Number of keypoints:
Image1: 388
Image2: 388

 R_estimated:
[[ 9.99267647e-01 -3.82644386e-02  5.08987609e-05]
 [ 3.82644372e-02  9.99267648e-01  2.70695680e-05]
 [-5.18972869e-05 -2.51021311e-05  9.99999998e-01]]

 t_estimated:
[[-8.95283587e-01]
 [-4.45495860e-01]
 [-8.58373526e-04]]

 R_gt:
[[ 0.99927076 -0.03798299 -0.00396322]
 [ 0.03783894  0.99879047 -0.03140235]
 [ 0.00515181  0.03122963  0.99949863]]

 t_gt:
[ 0.35919337  0.54672001 -0.75635795]

Pose Error in degrees for R and t:
1.8157653700610346 55.63296425454616

Number of keypoints:
Image1: 387
Image2: 387

 R_estimated:
[[ 0.00588419 -0.99993933  0.00931244]
 [-0.99994733 -0.00596204 -0.00835421]
 [ 0.00840922 -0.00926279 -0.99992174]]

 t_estimated:
[[0.674229  ]
 [0.73852186]
 [0.00084596]]

 R_gt:
[[ 0.996517   -0.0725034   0.04119259]
 [ 0.07452933  0.99596497 -0.04998502]
 [-0.03740187  0.05288115  0.99789929]]

 t_gt:
[ 0.66767682  0.71897623 -0.19308248]

Pose Error in degrees for R and t:
179.5039697571255 11.191665724090738

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 9.82777121e-01 -1.84794531e-01  3.35208601e-04]
 [ 1.84794512e-01  9.82777178e-01  8.77108220e-05]
 [-3.45643843e-04 -2.42554793e-05  9.99999940e-01]]

 t_estimated:
[[-0.66617698]
 [-0.74579325]
 [-0.00081241]]

 R_gt:
[[ 0.98397136 -0.1620128   0.07451449]
 [ 0.16507783  0.98558701 -0.03697362]
 [-0.06744985  0.04868263  0.9965338 ]]

 t_gt:
[0.98363513 0.02032398 0.17902198]

Pose Error in degrees for R and t:
4.910545587847674 47.88830889576137

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.84678947 -0.53190464  0.00500552]
 [-0.5319057   0.84680271  0.00122699]
 [-0.00489133 -0.00162346 -0.99998672]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.99248494  0.11299245 -0.04698259]
 [-0.11367854  0.99344287 -0.01220583]
 [ 0.04529426  0.01745586  0.99882064]]

 t_gt:
[-0.33180623  0.89736156 -0.29094135]

Pose Error in degrees for R and t:
177.5142248993186 73.20606695082917

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 2.86877449e-01 -9.57960475e-01 -3.61343079e-03]
 [ 9.57966892e-01  2.86878728e-01  1.70358198e-04]
 [ 8.73420010e-04 -3.51041899e-03  9.99993457e-01]]

 t_estimated:
[[9.99892252e-01]
 [1.46468592e-02]
 [9.76457278e-04]]

 R_gt:
[[ 0.9903659   0.07243139 -0.11802772]
 [-0.07087413  0.99733444  0.01733749]
 [ 0.11896778 -0.008805    0.99285864]]

 t_gt:
[ 0.08451666  0.80705097 -0.58440197]

Pose Error in degrees for R and t:
77.69114979139637 84.50507005603502

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 1.54053530e-01  9.88062075e-01  9.19411924e-04]
 [-9.88061116e-01  1.54054806e-01 -1.53197945e-03]
 [-1.65533062e-03 -6.72428330e-04  9.99998404e-01]]

 t_estimated:
[[0.18969038]
 [0.98184339]
 [0.00105834]]

 R_gt:
[[ 0.9801854   0.09849902 -0.17185858]
 [-0.09588902  0.99511571  0.02343832]
 [ 0.17332766 -0.00649347  0.98484233]]

 t_gt:
[ 0.19241905  0.7505607  -0.63216575]

Pose Error in degrees for R and t:
76.09176746262493 39.39724812688134

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-0.24332728 -0.96993333 -0.00460202]
 [-0.9699394   0.24330833  0.00431512]
 [-0.00306567  0.00551367 -0.9999801 ]]

 t_estimated:
[[0.8551609 ]
 [0.51836186]
 [0.00090781]]

 R_gt:
[[ 0.99889149  0.03245694 -0.03410107]
 [-0.03678948  0.99012945 -0.13524347]
 [ 0.02937573  0.13634805  0.99022539]]

 t_gt:
[-0.0883135   0.50165549 -0.86054779]

Pose Error in degrees for R and t:
173.69922430011968 79.41257565661583

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.98773675 -0.15612083 -0.00154875]
 [-0.15612482 -0.98773301 -0.00292108]
 [-0.00107371  0.00312706 -0.99999453]]

 t_estimated:
[[0.71870244]
 [0.69531733]
 [0.0007795 ]]

 R_gt:
[[ 0.99631137 -0.04500233 -0.07306167]
 [ 0.02840617  0.97641283 -0.21403817]
 [ 0.08097119  0.21117397  0.97408927]]

 t_gt:
[ 0.16663041  0.16009738 -0.97293532]

Pose Error in degrees for R and t:
167.22904775773387 76.68421992227923

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 4.06252219e-01  9.13758049e-01  2.31574698e-03]
 [ 9.13760983e-01 -4.06251001e-01 -9.95078674e-04]
 [ 3.15133814e-05  2.52029215e-03 -9.99996824e-01]]

 t_estimated:
[[8.24464271e-01]
 [5.65913496e-01]
 [7.62686652e-04]]

 R_gt:
[[ 0.98620309 -0.15840147 -0.04809111]
 [ 0.13638449  0.94212144 -0.30627994]
 [ 0.09382272  0.29549491  0.95072626]]

 t_gt:
[ 0.32359661 -0.06010525 -0.94428417]

Pose Error in degrees for R and t:
167.42063354635107 76.5816593421141

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.99582701e-01 -2.88864118e-02  1.86144016e-06]
 [ 2.88864118e-02  9.99582701e-01 -3.60420934e-06]
 [-1.75655071e-06  3.65647563e-06  1.00000000e+00]]

 t_estimated:
[[-8.53752135e-01]
 [ 5.20679156e-01]
 [-7.13094652e-04]]

 R_gt:
[[ 0.99968356  0.01162812  0.02232834]
 [-0.01066691  0.99902927 -0.04273676]
 [-0.02280288  0.04248568  0.99883716]]

 t_gt:
[-0.53671678  0.81145882 -0.23123512]

Pose Error in degrees for R and t:
3.59139656816978 28.24915953008697

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.90193474e-01 -1.39702822e-01 -7.82617236e-05]
 [ 1.39702832e-01  9.90193466e-01  1.39697406e-04]
 [ 5.79781254e-05 -1.49260844e-04  9.99999987e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99978805 -0.00739722  0.01921869]
 [ 0.0084126   0.99854178 -0.05332768]
 [-0.01879662  0.05347792  0.99839255]]

 t_gt:
[-0.44698219  0.84051999 -0.30615857]

Pose Error in degrees for R and t:
8.247292060743353 52.707595784978245

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 7.32491896e-03 -9.99972062e-01 -1.49055742e-03]
 [ 9.99973098e-01  7.32548452e-03 -3.74317159e-04]
 [ 3.85225756e-04 -1.48777548e-03  9.99998819e-01]]

 t_estimated:
[[ 9.88627513e-01]
 [-1.50384700e-01]
 [ 2.85890627e-04]]

 R_gt:
[[ 0.99778811 -0.04837371  0.04559813]
 [ 0.0522697   0.9947001  -0.08854073]
 [-0.04107347  0.09072837  0.99502814]]

 t_gt:
[-0.23706539  0.89440565 -0.37926052]

Pose Error in degrees for R and t:
86.8449213836588 68.34710720183101

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.55163059e-01 -2.96080049e-01 -3.67129159e-04]
 [ 2.96080086e-01  9.55163117e-01  4.88132883e-05]
 [ 3.36215591e-04 -1.55324283e-04  9.99999931e-01]]

 t_estimated:
[[-0.50346421]
 [-0.86401558]
 [-0.00093407]]

 R_gt:
[[ 0.9498311   0.31018179 -0.04011056]
 [-0.30962277  0.95065763  0.01962396]
 [ 0.04421851 -0.00622091  0.9990024 ]]

 t_gt:
[-0.53351928  0.84120137 -0.08796267]

Pose Error in degrees for R and t:
35.373129455122715 62.73407087044168

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-6.04237065e-01 -7.96802244e-01 -1.93739548e-03]
 [ 7.96804576e-01 -6.04234682e-01 -1.70775177e-03]
 [ 1.90098903e-04 -2.57561250e-03  9.99996665e-01]]

 t_estimated:
[[ 9.95265368e-01]
 [-9.71927538e-02]
 [ 6.44549517e-04]]

 R_gt:
[[ 0.8647699   0.49887781 -0.05739275]
 [-0.49692639  0.86660612  0.04536515]
 [ 0.07236826 -0.01071112  0.99732038]]

 t_gt:
[-0.42926271  0.89971118 -0.07907795]

Pose Error in degrees for R and t:
157.08945597618265 59.02081216720858

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.06491646  0.99784313  0.00974425]
 [ 0.99788614 -0.06488354 -0.00365814]
 [-0.00301801  0.00996113 -0.99994583]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.82491546  0.5617476  -0.06288109]
 [-0.5551426   0.82607765  0.09702579]
 [ 0.10644832 -0.04512979  0.99329309]]

 t_gt:
[-0.39194148  0.91788535 -0.06219607]

Pose Error in degrees for R and t:
173.84183902612608 72.44956748934798

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.98175241  0.1901252  -0.00382344]
 [-0.19009753  0.98174282  0.00663015]
 [ 0.00501419 -0.00578234  0.99997071]]

 t_estimated:
[[-8.01117160e-01]
 [-5.98507234e-01]
 [-6.21502839e-04]]

 R_gt:
[[ 0.99502868 -0.09285598 -0.03596698]
 [ 0.0924948   0.9956465  -0.01158649]
 [ 0.0368868   0.00820193  0.99928578]]

 t_gt:
[ 0.63946683 -0.66203773 -0.39088133]

Pose Error in degrees for R and t:
16.40709066245083 83.3496216768553

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99998270e-01  1.65546348e-03 -8.48694761e-04]
 [-1.65441315e-03  9.99997867e-01  1.23679065e-03]
 [ 8.50740412e-04 -1.23538442e-03  9.99998875e-01]]

 t_estimated:
[[0.99999806]
 [0.00142518]
 [0.00136016]]

 R_gt:
[[ 0.98618415 -0.164715   -0.01757662]
 [ 0.16281993  0.98339318 -0.08017408]
 [ 0.03049085  0.07620396  0.9966258 ]]

 t_gt:
[ 0.56386369 -0.64741577 -0.51274805]

Pose Error in degrees for R and t:
10.657002549821463 55.78897652388149

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.99862948  0.05230036 -0.00195726]
 [-0.05229384 -0.99862647 -0.00324517]
 [-0.0021243  -0.00313837  0.99999282]]

 t_estimated:
[[0.81324938]
 [0.58191267]
 [0.0017572 ]]

 R_gt:
[[ 0.96971035 -0.2431837  -0.02286439]
 [ 0.23976218  0.9655637  -0.10100571]
 [ 0.04664068  0.09246306  0.99462326]]

 t_gt:
[ 0.59726787 -0.67484986 -0.43341521]

Pose Error in degrees for R and t:
169.0032647358544 84.70622224164049

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.99920058e-01  1.25432731e-02 -1.59485790e-03]
 [-1.25427573e-02 -9.99921281e-01 -3.33022995e-04]
 [-1.59890955e-03 -3.12992457e-04  9.99998673e-01]]

 t_estimated:
[[0.77710444]
 [0.62937052]
 [0.00120109]]

 R_gt:
[[ 0.99296597 -0.1101628  -0.04338435]
 [ 0.10966187  0.99387337 -0.01377215]
 [ 0.04463565  0.00891807  0.99896384]]

 t_gt:
[ 0.77819625 -0.57388625 -0.25507875]

Pose Error in degrees for R and t:
174.40647968137307 75.92178050962019

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.83644212e-01  4.68158981e-01  2.74393541e-04]
 [-4.68158837e-01  8.83644211e-01 -4.60978246e-04]
 [-4.58277370e-04  2.78880998e-04  9.99999856e-01]]

 t_estimated:
[[0.84343972]
 [0.53722275]
 [0.00107445]]

 R_gt:
[[ 9.54526795e-01 -2.97616359e-01 -1.74081417e-02]
 [ 2.97656144e-01  9.54673263e-01 -3.64050970e-04]
 [ 1.67278480e-02 -4.83460205e-03  9.99848272e-01]]

 t_gt:
[ 0.8775841  -0.47824985 -0.03351464]

Pose Error in degrees for R and t:
45.242879403335166 61.10365234563314

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.97198747  0.2348877   0.00825415]
 [-0.23437891  0.97130346 -0.0404488 ]
 [-0.01751821  0.03738113  0.99914752]]

 t_estimated:
[[0.89634511]
 [0.44324758]
 [0.00984995]]

 R_gt:
[[ 0.86984392 -0.49308693 -0.01538216]
 [ 0.4932435   0.86984791  0.00869833]
 [ 0.00909197 -0.01515302  0.99984388]]

 t_gt:
[ 0.92451564 -0.38109158  0.00632766]

Pose Error in degrees for R and t:
43.25071836695875 48.71313083536423

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.88455745e-01 -1.51508639e-01 -6.11179263e-04]
 [ 1.51508153e-01  9.88455703e-01 -7.76048409e-04]
 [ 7.21701667e-04  6.74490867e-04  9.99999512e-01]]

 t_estimated:
[[-0.59077473]
 [-0.80682949]
 [-0.00337586]]

 R_gt:
[[ 0.97595995  0.21584019  0.0302348 ]
 [-0.21550014  0.9764024  -0.01410658]
 [-0.03256564  0.00725222  0.99944278]]

 t_gt:
[-0.89588733  0.44421592  0.00762289]

Pose Error in degrees for R and t:
21.26007846028092 80.16360763254178

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.83718888e-01 -1.79712683e-01 -7.08502442e-04]
 [ 1.79712322e-01  9.83719058e-01 -5.43967630e-04]
 [ 7.94725237e-04  4.07784613e-04  9.99999601e-01]]

 t_estimated:
[[-0.58964822]
 [-0.80765758]
 [-0.00205357]]

 R_gt:
[[ 0.96362977  0.26530373  0.03211445]
 [-0.26479235  0.96411234 -0.01932195]
 [-0.03608722  0.01011607  0.99929697]]

 t_gt:
[-0.89585725  0.44432954 -0.00332289]

Pose Error in degrees for R and t:
25.81883064453402 80.24814941247027

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99998686e-01  1.62116090e-03  9.90394443e-06]
 [-1.62115523e-03  9.99998536e-01 -5.47545255e-04]
 [-1.07915889e-05  5.47528479e-04  9.99999850e-01]]

 t_estimated:
[[0.39951145]
 [0.91671203]
 [0.00544532]]

 R_gt:
[[ 0.94778535  0.3179433   0.02481214]
 [-0.31754319  0.94805893 -0.01875903]
 [-0.02948767  0.00990036  0.99951555]]

 t_gt:
[-0.89949764  0.43685574 -0.00781407]

Pose Error in degrees for R and t:
18.521997224267498 87.64627138561175

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.57284270e-01  2.89148438e-01  8.47535806e-05]
 [-2.89148416e-01  9.57284259e-01 -2.03559483e-04]
 [-1.39992175e-04  1.70357927e-04  9.99999976e-01]]

 t_estimated:
[[-9.99691212e-01]
 [-2.48370487e-02]
 [-7.76157773e-04]]

 R_gt:
[[ 0.99311145 -0.11127732 -0.03670001]
 [ 0.11430938  0.98891484  0.09476999]
 [ 0.02574722 -0.09831097  0.99482205]]

 t_gt:
[ 0.71590813 -0.59757849  0.36107547]

Pose Error in degrees for R and t:
24.01247127258915 45.48264885604644

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 6.50837612e-01  7.59216931e-01  2.32923236e-04]
 [-7.59216958e-01  6.50837526e-01  3.54337227e-04]
 [ 1.17423639e-04 -4.07455265e-04  9.99999910e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.97200341 -0.21941319 -0.08407109]
 [ 0.22872985  0.96545773  0.12479488]
 [ 0.05378524 -0.14053051  0.98861403]]

 t_gt:
[ 0.78823171 -0.56773126  0.23742787]

Pose Error in degrees for R and t:
62.953180821765166 69.38692685881165

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[-0.94408072  0.32970879  0.0019239 ]
 [ 0.32971114  0.94408127  0.00105845]
 [-0.00146734  0.00163359 -0.99999759]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.96092052 -0.26047602 -0.09372252]
 [ 0.27062039  0.95518493  0.11994331]
 [ 0.05827963 -0.14061916  0.98834673]]

 t_gt:
[ 0.80196638 -0.56574712  0.19178146]

Pose Error in degrees for R and t:
174.49687806385217 37.19121822809365

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-0.95721381  0.28936448  0.00315002]
 [-0.28937673 -0.95720422 -0.00460247]
 [ 0.00168342 -0.00531709  0.99998445]]

 t_estimated:
[[0.55313584]
 [0.83309031]
 [0.00112885]]

 R_gt:
[[ 0.99449001 -0.1044836   0.00856925]
 [ 0.10443531  0.99451437  0.00588893]
 [-0.00913831 -0.0049612   0.99994584]]

 t_gt:
[ 0.59309094 -0.79405719  0.13310266]

Pose Error in degrees for R and t:
169.17438379225288 70.53012224550639

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99998858e-01  1.50523004e-03  1.38698359e-04]
 [-1.50527116e-03  9.99998823e-01  2.96807433e-04]
 [-1.38251432e-04 -2.97015873e-04  9.99999946e-01]]

 t_estimated:
[[9.99899354e-01]
 [1.41725993e-02]
 [6.47498345e-04]]

 R_gt:
[[ 0.97070213 -0.24024972  0.00410251]
 [ 0.24005202  0.97037358  0.02740453]
 [-0.01056533 -0.02561724  0.99961509]]

 t_gt:
[ 0.68499291 -0.71533142  0.13815089]

Pose Error in degrees for R and t:
14.07183624996423 47.55553149462433

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.99999811  0.00135497  0.00139579]
 [-0.00135308  0.99999817 -0.00135612]
 [-0.00139762  0.00135423  0.99999811]]

 t_estimated:
[[ 9.99976170e-01]
 [-6.83169314e-03]
 [-9.94011980e-04]]

 R_gt:
[[ 0.95014814 -0.31165812 -0.00943267]
 [ 0.3117725   0.94922399  0.04210361]
 [-0.00416861 -0.04294573  0.99906837]]

 t_gt:
[ 0.69855935 -0.70135076  0.14185183]

Pose Error in degrees for R and t:
18.425728979640738 45.316246997281816

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999976e-01 -3.25635651e-06 -2.17025245e-04]
 [ 3.23034058e-06  9.99999993e-01 -1.19875386e-04]
 [ 2.17025634e-04  1.19874682e-04  9.99999969e-01]]

 t_estimated:
[[-0.94985256]
 [-0.3126946 ]
 [-0.00148424]]

 R_gt:
[[ 9.98139911e-01  6.09624195e-02  5.94158920e-05]
 [-6.09594221e-02  9.98103823e-01 -8.47580352e-03]
 [-5.76355887e-04  8.45672014e-03  9.99963714e-01]]

 t_gt:
[-0.95450907  0.26950254 -0.12759627]

Pose Error in degrees for R and t:
3.5283763128093253 34.65808514090308

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99958559e-01  9.10352967e-03  7.59358394e-05]
 [-9.10349382e-03  9.99958457e-01 -4.59843469e-04]
 [-8.01188834e-05  4.59133131e-04  9.99999891e-01]]

 t_estimated:
[[-9.99986300e-01]
 [ 5.21712827e-03]
 [-4.26985159e-04]]

 R_gt:
[[ 0.99535534  0.09615076 -0.00466912]
 [-0.09611219  0.99534091  0.00761133]
 [ 0.00537907 -0.00712675  0.99995967]]

 t_gt:
[-0.97799053  0.20764604  0.02043615]

Pose Error in degrees for R and t:
5.024091823738388 11.748240727606596

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.98691555  0.16099633  0.00882443]
 [-0.1608919   0.98690515 -0.0114899 ]
 [-0.01055871  0.00991979  0.99989505]]

 t_estimated:
[[0.97070805]
 [0.24025818]
 [0.001372  ]]

 R_gt:
[[ 9.96715063e-01  6.55266247e-02  4.75873640e-02]
 [-6.55731838e-02  9.97847513e-01 -5.44922980e-04]
 [-4.75210108e-02 -2.57709959e-03  9.98866425e-01]]

 t_gt:
[-0.9867645   0.12205635  0.10676177]

Pose Error in degrees for R and t:
5.952016375044949 21.814976098471945

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 5.36968906e-01  8.43601730e-01 -7.17703123e-04]
 [ 8.43594026e-01 -5.36959906e-01  4.81444727e-03]
 [ 3.67609824e-03 -3.19065855e-03 -9.99988153e-01]]

 t_estimated:
[[-0.57449496]
 [-0.81850726]
 [-0.00118453]]

 R_gt:
[[ 0.99936663 -0.03095683 -0.01755149]
 [ 0.03057766  0.99930104 -0.02148801]
 [ 0.01820433  0.02093858  0.99961487]]

 t_gt:
[ 0.56505733 -0.35788008 -0.74339227]

Pose Error in degrees for R and t:
179.68441087144706 88.2341751217582

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999997e-01  7.53961135e-05  2.77808188e-05]
 [-7.54275293e-05  9.99999356e-01  1.13258301e-03]
 [-2.76954085e-05 -1.13258510e-03  9.99999358e-01]]

 t_estimated:
[[0.75783716]
 [0.65244254]
 [0.0012547 ]]

 R_gt:
[[ 0.97556877 -0.16979626  0.13940661]
 [ 0.17195041  0.985099   -0.00346275]
 [-0.1367414   0.02734995  0.99022938]]

 t_gt:
[ 0.6335214  -0.69388194  0.34231346]

Pose Error in degrees for R and t:
12.729445343712774 88.40597091846526

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 6.66458072e-01 -7.45542296e-01  5.68709515e-04]
 [ 7.45542513e-01  6.66457888e-01 -4.95120612e-04]
 [-9.88758402e-06  7.53974250e-04  9.99999716e-01]]

 t_estimated:
[[-0.15411918]
 [-0.9880517 ]
 [-0.00105561]]

 R_gt:
[[ 0.91667087 -0.30987287  0.25237334]
 [ 0.30552579  0.95045935  0.05727681]
 [-0.25761909  0.02460319  0.96593335]]

 t_gt:
[ 0.65725312 -0.62943752  0.4145199 ]

Pose Error in degrees for R and t:
33.42376237768817 58.65540984830062

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.91125065 -0.41177453  0.00799938]
 [ 0.41179703  0.91127462 -0.00132949]
 [-0.00674218  0.00450562  0.99996712]]

 t_estimated:
[[0.99314058]
 [0.11684007]
 [0.00449385]]

 R_gt:
[[ 0.9972357  -0.06441008 -0.03705399]
 [ 0.06416823  0.9979094  -0.00764994]
 [ 0.03746899  0.00525178  0.99928314]]

 t_gt:
[ 0.82968215 -0.4727468  -0.29688043]

Pose Error in degrees for R and t:
20.789376700332518 39.87713207263074

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.99808615 -0.06114923  0.00920864]
 [ 0.06063227  0.99697407  0.048646  ]
 [-0.01215544 -0.04799456  0.99877363]]

 t_estimated:
[[0.80084654]
 [0.57714719]
 [0.15983096]]

 R_gt:
[[ 0.99181033 -0.09647359 -0.08370077]
 [ 0.09648366  0.99532735 -0.00392875]
 [ 0.08368937 -0.00417861  0.99648217]]

 t_gt:
[ 0.85183104 -0.40500801 -0.33219331]

Pose Error in degrees for R and t:
6.419841737326573 66.71269940119979

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-6.94978050e-01 -7.19030944e-01 -1.01991716e-04]
 [-7.19030836e-01  6.94978012e-01 -4.68212829e-04]
 [ 4.07541513e-04 -2.52062450e-04 -9.99999885e-01]]

 t_estimated:
[[8.63568321e-01]
 [5.04231167e-01]
 [8.27965792e-04]]

 R_gt:
[[ 0.99052945  0.00766565 -0.13708695]
 [-0.00567564  0.99987332  0.01490524]
 [ 0.1371844  -0.01398584  0.99044661]]

 t_gt:
[ 0.70921655  0.22840008 -0.66696723]

Pose Error in degrees for R and t:
173.0530665379638 43.35858225259849

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.99678521e-01  2.53544063e-02 -9.08262013e-05]
 [-2.53543697e-02  9.99678453e-01  3.83620918e-04]
 [ 1.00523477e-04 -3.81194751e-04  9.99999922e-01]]

 t_estimated:
[[-9.10116977e-01]
 [-4.14350514e-01]
 [-8.59815947e-04]]

 R_gt:
[[ 0.99980847 -0.01922409  0.00347428]
 [ 0.01929639  0.99956329 -0.0223967 ]
 [-0.00304132  0.0224598   0.99974205]]

 t_gt:
[ 0.75682726 -0.57410924 -0.31242772]

Pose Error in degrees for R and t:
2.878544593381951 63.21458910177398

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99443668e-01  3.33411795e-02  8.49028640e-04]
 [-3.33386768e-02  9.99440166e-01 -2.80854032e-03]
 [-9.42193371e-04  2.77867234e-03  9.99995696e-01]]

 t_estimated:
[[0.89147081]
 [0.45307693]
 [0.00104879]]

 R_gt:
[[ 0.9902589  -0.13922726 -0.00183198]
 [ 0.1391406   0.98996755 -0.02456791]
 [ 0.00523505  0.02407411  0.99969607]]

 t_gt:
[ 0.70534643 -0.70480602 -0.075729  ]

Pose Error in degrees for R and t:
9.992372420717933 71.97782943392613

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.97479869e-01  7.09447780e-02 -8.65206145e-04]
 [-7.09421472e-02  9.97476600e-01  2.76493607e-03]
 [ 1.05918066e-03 -2.69658849e-03  9.99995803e-01]]

 t_estimated:
[[0.60971054]
 [0.7926237 ]
 [0.00085875]]

 R_gt:
[[ 0.98624159 -0.16521892  0.00552132]
 [ 0.16526625  0.98620234 -0.00959269]
 [-0.00385991  0.01037317  0.99993803]]

 t_gt:
[ 0.70572043 -0.70843021  0.00923704]

Pose Error in degrees for R and t:
13.603338338801649 82.459587464617

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99095616e-01  4.25199401e-02 -7.17667189e-05]
 [-4.25199496e-02  9.99095609e-01 -1.35450349e-04]
 [ 6.59424730e-05  1.38379367e-04  9.99999988e-01]]

 t_estimated:
[[-0.88421771]
 [-0.46707277]
 [-0.00143595]]

 R_gt:
[[ 0.99943292  0.00414586 -0.03341529]
 [-0.00498641  0.9996719  -0.02514272]
 [ 0.03329994  0.0252943   0.99912573]]

 t_gt:
[-0.03760558  0.42638973 -0.9037575 ]

Pose Error in degrees for R and t:
3.2302153308066455 80.5256671259981

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.5563454   0.83092291  0.00684918]
 [ 0.83094735  0.55634885  0.0015662 ]
 [-0.00250914  0.00656265 -0.99997532]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99704703  0.06265902 -0.04441351]
 [-0.06419046  0.99736043 -0.03394524]
 [ 0.04216879  0.03669518  0.99843652]]

 t_gt:
[-0.26629839  0.80109556 -0.53603271]

Pose Error in degrees for R and t:
179.05940293934106 36.97848110685025

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.32994267e-01 -3.59886667e-01 -1.81211443e-03]
 [ 3.59888286e-01  9.32995174e-01  6.53587349e-04]
 [ 1.45547664e-03 -1.26195201e-03  9.99998145e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99422055  0.10400723 -0.02662505]
 [-0.10528564  0.99306782 -0.0522656 ]
 [ 0.02100551  0.05476593  0.99827835]]

 t_gt:
[-0.34154267  0.88181278 -0.32519968]

Pose Error in degrees for R and t:
27.310913106062312 28.43871996843419

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.99633261e-01 -2.70803147e-02  1.74031448e-05]
 [ 2.70803136e-02  9.99633259e-01  5.96816137e-05]
 [-1.90129593e-05 -5.91884435e-05  9.99999998e-01]]

 t_estimated:
[[2.28644842e-01]
 [9.73509883e-01]
 [2.10468629e-04]]

 R_gt:
[[ 0.99712568 -0.01135431  0.07490546]
 [ 0.01208671  0.99988321 -0.00931195]
 [-0.07478997  0.01019106  0.99714652]]

 t_gt:
[-0.36571302 -0.03540629  0.93005397]

Pose Error in degrees for R and t:
4.417191345093348 83.22959675214611

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.96625531e-01 -8.20806878e-02 -5.58862121e-04]
 [ 8.20811559e-02  9.96625266e-01  8.73670846e-04]
 [ 4.85264606e-04 -9.16594719e-04  9.99999462e-01]]

 t_estimated:
[[-0.9805443 ]
 [-0.19629018]
 [-0.00174258]]

 R_gt:
[[ 0.99682864  0.01597045  0.07795573]
 [-0.01352736  0.99940377 -0.0317507 ]
 [-0.07841592  0.0305951   0.99645121]]

 t_gt:
[-0.76541823  0.24119014  0.59662572]

Pose Error in degrees for R and t:
7.389838629970618 45.40076388947821

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.92389518  0.38264412 -0.00108452]
 [-0.38264197 -0.923895   -0.00177407]
 [-0.00168082 -0.00122407  0.99999784]]

 t_estimated:
[[0.90427774]
 [0.4269437 ]
 [0.00091619]]

 R_gt:
[[ 9.99493147e-01  9.94056055e-04  3.18078306e-02]
 [-1.08992549e-03  9.99994997e-01  3.02709159e-03]
 [-3.18043782e-02 -3.06020635e-03  9.99488831e-01]]

 t_gt:
[-0.89795899 -0.28032414  0.33924627]

Pose Error in degrees for R and t:
157.4444278145035 21.349643848177735

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[-1.78095980e-01 -9.84010416e-01 -2.30720218e-03]
 [ 9.84012510e-01 -1.78097993e-01  6.96819280e-04]
 [-1.09658551e-03 -2.14621510e-03  9.99997096e-01]]

 t_estimated:
[[ 0.9919754 ]
 [-0.12642465]
 [ 0.00127128]]

 R_gt:
[[ 0.99860086 -0.02343208  0.0474106 ]
 [ 0.02485465  0.99925187 -0.02964532]
 [-0.04668125  0.03078233  0.99843568]]

 t_gt:
[-0.58396989  0.64869265  0.48803383]

Pose Error in degrees for R and t:
98.91705685939537 48.64869786344624

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.92626156e-01  1.21214954e-01  4.99050781e-04]
 [-1.21214830e-01  9.92626260e-01 -2.70568791e-04]
 [-5.28167894e-04  2.08081303e-04  9.99999839e-01]]

 t_estimated:
[[-0.0455697 ]
 [ 0.99896043]
 [ 0.00120523]]

 R_gt:
[[ 0.99753725 -0.02419267  0.06584344]
 [ 0.02877099  0.99716852 -0.06949379]
 [-0.06397668  0.07121765  0.99540663]]

 t_gt:
[-0.55891084  0.81585887  0.14830028]

Pose Error in degrees for R and t:
10.0873118747114 32.790239925705194

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 8.91065888e-01 -4.53873834e-01 -3.55141375e-04]
 [ 4.53873956e-01  8.91065794e-01  4.27130657e-04]
 [ 1.22590902e-04 -5.41790979e-04  9.99999846e-01]]

 t_estimated:
[[ 9.99934500e-01]
 [-1.14199826e-02]
 [ 7.61421742e-04]]

 R_gt:
[[ 0.99726013 -0.02614646  0.06921067]
 [ 0.03151668  0.99648189 -0.07767002]
 [-0.06693636  0.07963926  0.99457408]]

 t_gt:
[-0.54912396  0.83524148  0.02888843]

Pose Error in degrees for R and t:
26.025871743382588 56.040659912507806

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.89653709  0.42998794 -0.10645007]
 [ 0.42922352  0.90266024  0.03117152]
 [ 0.10949162 -0.01774445 -0.99382932]]

 t_estimated:
[[ 0.96612104]
 [-0.25123782]
 [-0.05907366]]

 R_gt:
[[ 0.99960715  0.02582979 -0.01091763]
 [-0.02595456  0.99959705 -0.01148298]
 [ 0.01061735  0.01176293  0.99987405]]

 t_gt:
[ 0.46807778  0.74171219 -0.48038133]

Pose Error in degrees for R and t:
173.1848442653301 72.88733945648923

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-0.50785684  0.85054113 -0.13660603]
 [ 0.85038041  0.5203228   0.07821346]
 [ 0.137603   -0.07644585 -0.98753301]]

 t_estimated:
[[ 0.85730656]
 [-0.50866265]
 [-0.07929547]]

 R_gt:
[[ 9.99116691e-01  4.20258339e-02  6.09464232e-04]
 [-4.20072622e-02  9.98946124e-01 -1.84900402e-02]
 [-1.38584143e-03  1.84485781e-02  9.99828487e-01]]

 t_gt:
[ 0.53756399  0.80120234 -0.26286835]

Pose Error in degrees for R and t:
171.51427842982343 85.74705764415495

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.0152658  -0.9998811  -0.00217913]
 [ 0.99988282  0.01526327  0.00117365]
 [-0.00114025 -0.00219679  0.99999694]]

 t_estimated:
[[ 0.9740093 ]
 [-0.22650467]
 [ 0.0012305 ]]

 R_gt:
[[ 0.99834205 -0.05661819 -0.01037594]
 [ 0.05619315  0.997714   -0.03755007]
 [ 0.01247768  0.03690665  0.9992403 ]]

 t_gt:
[ 0.86228016 -0.44326808 -0.24492106]

Pose Error in degrees for R and t:
85.91744833496332 19.953511793320313

Number of keypoints:
Image1: 546
Image2: 546

 R_estimated:
[[ 0.66039434  0.75080093 -0.01331427]
 [ 0.75078622 -0.6598404   0.03050745]
 [ 0.01411973 -0.03014311 -0.99944586]]

 t_estimated:
[[ 0.40327425]
 [-0.91492872]
 [-0.01659248]]

 R_gt:
[[ 0.9977214   0.04144268  0.05323783]
 [-0.04016758  0.9988857  -0.02478118]
 [-0.05420491  0.02258657  0.99827419]]

 t_gt:
[-0.73920421  0.52707285  0.41925093]

Pose Error in degrees for R and t:
179.3981579926673 38.06679103610538

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.95329432e-01 -9.65364318e-02  2.00113022e-04]
 [ 9.65363467e-02  9.95329380e-01  3.98304142e-04]
 [-2.37629231e-04 -3.77125655e-04  9.99999901e-01]]

 t_estimated:
[[0.99986564]
 [0.01631102]
 [0.0016311 ]]

 R_gt:
[[ 0.99945162  0.02656031  0.01978148]
 [-0.02611554  0.99940955 -0.02234167]
 [-0.02036317  0.02181273  0.99955409]]

 t_gt:
[-0.9860763   0.16624192 -0.00414303]

Pose Error in degrees for R and t:
7.25545970671453 10.505005146246633

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.99922720e-01  1.24318445e-02  6.04351529e-05]
 [-1.24318583e-02  9.99922694e-01  2.32381659e-04]
 [-5.75415482e-05 -2.33115021e-04  9.99999971e-01]]

 t_estimated:
[[9.99678151e-01]
 [2.53629342e-02]
 [5.62813205e-04]]

 R_gt:
[[ 9.99711636e-01  2.24334653e-02 -8.58046444e-03]
 [-2.24259292e-02  9.99747843e-01  9.51218783e-04]
 [ 8.60006642e-03 -7.58318956e-04  9.99962169e-01]]

 t_gt:
[-0.97552794 -0.19431737 -0.1028883 ]

Pose Error in degrees for R and t:
0.7598065499548361 11.420518068331049

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 1.00000000e+00 -1.11730070e-12 -1.34359754e-15]
 [ 1.11730070e-12  1.00000000e+00  1.45033725e-15]
 [-7.30183058e-16 -9.23414990e-16  1.00000000e+00]]

 t_estimated:
[[2.38145343e-01]
 [9.71229286e-01]
 [6.84968408e-04]]

 R_gt:
[[ 0.99790068  0.01901657 -0.06190946]
 [-0.01857258  0.99979826  0.00772883]
 [ 0.06204423 -0.00656173  0.99805154]]

 t_gt:
[ 0.39343722  0.4324778  -0.81127684]

Pose Error in degrees for R and t:
3.7356781038209346 59.12447625898574

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.97674294e-01  6.81611689e-02  2.39373456e-04]
 [-6.81611849e-02  9.97674320e-01  5.90854140e-05]
 [-2.34789419e-04 -7.52639771e-05  9.99999970e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98460071  0.1336715  -0.112674  ]
 [-0.13475754  0.99087682 -0.00205657]
 [ 0.11137083  0.0172089   0.99362906]]

 t_gt:
[-0.13480885  0.85402417 -0.50246323]

Pose Error in degrees for R and t:
7.5297061566919865 31.499578297203218

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 4.98024917e-01  8.67158756e-01  2.62183153e-03]
 [ 8.67160850e-01 -4.98027845e-01  5.70908817e-04]
 [ 1.80081369e-03  1.98922284e-03 -9.99996400e-01]]

 t_estimated:
[[8.63724171e-01]
 [5.03964277e-01]
 [7.51064496e-04]]

 R_gt:
[[ 0.97846891  0.13952555 -0.15209657]
 [-0.1370169   0.99020383  0.02689755]
 [ 0.15435901 -0.0054775   0.98799864]]

 t_gt:
[-0.00588214  0.85821086 -0.5132636 ]

Pose Error in degrees for R and t:
174.8046476101401 64.72004290807757

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-4.77161677e-01 -8.78813914e-01 -1.68505295e-03]
 [ 8.78815521e-01 -4.77160537e-01 -1.04958224e-03]
 [ 1.18346703e-04 -1.98167111e-03  9.99998029e-01]]

 t_estimated:
[[9.34312585e-01]
 [3.56453572e-01]
 [9.18694774e-04]]

 R_gt:
[[ 0.99284656 -0.07654315  0.09163674]
 [ 0.07756126  0.99695894 -0.00759744]
 [-0.09077592  0.01465105  0.99576337]]

 t_gt:
[ 0.50285919 -0.68204412  0.53098818]

Pose Error in degrees for R and t:
114.15626559938632 76.8678129120597

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.10376028  0.99445009  0.01740197]
 [ 0.99426465  0.10416506 -0.02423719]
 [-0.02591536  0.01478731 -0.99955477]]

 t_estimated:
[[0.996906  ]
 [0.07799577]
 [0.00975086]]

 R_gt:
[[ 0.93695178 -0.23083662  0.26236756]
 [ 0.22272069  0.97299151  0.06069054]
 [-0.26928987  0.00157162  0.96305735]]

 t_gt:
[ 0.5382544  -0.5859765   0.60573405]

Pose Error in degrees for R and t:
168.02972742905794 60.21202835826489

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-9.91498747e-01 -1.30108672e-01 -1.40292574e-03]
 [ 1.30109680e-01 -9.91499392e-01 -6.52591051e-04]
 [-1.30609226e-03 -8.29577428e-04  9.99998803e-01]]

 t_estimated:
[[0.86099531]
 [0.50861215]
 [0.00086794]]

 R_gt:
[[ 0.88012496 -0.3630931   0.30585162]
 [ 0.34867601  0.93160982  0.10260847]
 [-0.32219041  0.01633609  0.94653425]]

 t_gt:
[ 0.66201293 -0.59381827  0.45729503]

Pose Error in degrees for R and t:
151.47882186379283 74.43307640154427

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-1.75272706e-01 -9.84517658e-01 -2.11196819e-03]
 [ 9.84519010e-01 -1.75275061e-01  9.85712961e-04]
 [-1.34062717e-03 -1.90650426e-03  9.99997284e-01]]

 t_estimated:
[[0.82901066]
 [0.55923141]
 [0.00124428]]

 R_gt:
[[ 0.99130658 -0.12968487 -0.02222224]
 [ 0.13071485  0.98995969  0.0537879 ]
 [ 0.01502421 -0.05622421  0.99830506]]

 t_gt:
[ 0.76751356 -0.61017433  0.19649486]

Pose Error in degrees for R and t:
92.64819644290446 72.82490609869993

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.32224598e-01  3.61880096e-01  3.07763953e-04]
 [-3.61879998e-01  9.32224628e-01 -3.31087057e-04]
 [-4.06718952e-04  1.97273880e-04  9.99999898e-01]]

 t_estimated:
[[0.57877694]
 [0.8154853 ]
 [0.0009951 ]]

 R_gt:
[[ 0.97769757 -0.20279126 -0.05461629]
 [ 0.20601202  0.97660104  0.06172739]
 [ 0.04082014 -0.07160189  0.99659746]]

 t_gt:
[ 0.80092011 -0.59044285  0.09951993]

Pose Error in degrees for R and t:
33.361408693527636 88.97754070046537

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 9.28175446e-01 -3.72142676e-01 -4.12339812e-04]
 [ 3.72142706e-01  9.28175526e-01 -3.97144417e-06]
 [ 3.84201666e-04 -1.49763057e-04  9.99999915e-01]]

 t_estimated:
[[ 5.82176214e-01]
 [-8.13062313e-01]
 [-7.28215507e-04]]

 R_gt:
[[ 0.98219219 -0.18283078 -0.04326552]
 [ 0.18499707  0.98131556  0.05287547]
 [ 0.03279058 -0.05993798  0.99766313]]

 t_gt:
[ 0.77031858 -0.63124763  0.09019823]

Pose Error in degrees for R and t:
11.89326159537642 15.921356689359914

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.75842918e-01 -2.18473320e-01  9.15436202e-05]
 [ 2.18473336e-01  9.75842889e-01 -2.40621227e-04]
 [-3.67628724e-05  2.54808360e-04  9.99999967e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99346171 -0.11407663 -0.00447574]
 [ 0.11403525  0.993441   -0.00838567]
 [ 0.00540313  0.00781979  0.99995485]]

 t_gt:
[ 0.6401325  -0.76567466 -0.06302938]

Pose Error in degrees for R and t:
6.093634743165645 40.38283529395395

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999983e-01 -1.79054262e-04  5.31264922e-05]
 [ 1.79050729e-04  9.99999982e-01  6.65017044e-05]
 [-5.31383986e-05 -6.64921909e-05  9.99999996e-01]]

 t_estimated:
[[9.99987666e-01]
 [4.96173147e-03]
 [2.20906985e-04]]

 R_gt:
[[ 0.98036062 -0.19474697 -0.03108149]
 [ 0.1953535   0.98057039  0.01785682]
 [ 0.02699949 -0.02357808  0.99935747]]

 t_gt:
[ 0.6668765  -0.74516663  0.00155916]

Pose Error in degrees for R and t:
11.426694047949113 48.45781503896442

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99998749e-01 -3.37707643e-04  1.54541770e-03]
 [ 3.40908490e-04  9.99997797e-01 -2.07139153e-03]
 [-1.54471477e-03  2.07191579e-03  9.99996661e-01]]

 t_estimated:
[[0.70751987]
 [0.70669142]
 [0.00169556]]

 R_gt:
[[ 0.96355434 -0.26614743 -0.02700271]
 [ 0.26400889  0.96236074 -0.06450215]
 [ 0.04315393  0.05502157  0.99755185]]

 t_gt:
[ 0.66507137 -0.67542119 -0.31856914]

Pose Error in degrees for R and t:
15.868938768176122 89.58154735861993

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.88069569e-01  1.54008200e-01  3.23841912e-05]
 [-1.54008172e-01  9.88069478e-01 -4.35742568e-04]
 [-9.91057596e-05  4.25556541e-04  9.99999905e-01]]

 t_estimated:
[[-9.54459334e-01]
 [ 2.98340477e-01]
 [-5.82919514e-04]]

 R_gt:
[[ 0.99435413  0.10530717  0.01302277]
 [-0.10544436  0.99437161  0.01030035]
 [-0.01186559 -0.0116145   0.99986197]]

 t_gt:
[-0.93231505  0.3419551   0.11770875]

Pose Error in degrees for R and t:
2.9715448106496742 7.339217635168635

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99994976e-01 -2.95857318e-03  1.13814502e-03]
 [ 2.95858222e-03  9.99995623e-01 -6.26272116e-06]
 [-1.13812151e-03  9.62998531e-06  9.99999352e-01]]

 t_estimated:
[[0.42736474]
 [0.90407876]
 [0.00098699]]

 R_gt:
[[ 0.9845658   0.17472986  0.00999874]
 [-0.17465735  0.98459858 -0.00771763]
 [-0.01119352  0.00585319  0.99992054]]

 t_gt:
[-0.93928338  0.3428767  -0.01350205]

Pose Error in degrees for R and t:
10.25255051204521 84.75340798654999

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.12529481 -0.99210789 -0.00481075]
 [-0.99211866  0.12528673  0.00194764]
 [-0.00132955  0.00501687 -0.99998653]]

 t_estimated:
[[7.87282583e-01]
 [6.16591899e-01]
 [7.51941340e-04]]

 R_gt:
[[ 0.98439258  0.17411667  0.02557432]
 [-0.17431394  0.9846733   0.00570439]
 [-0.02418913 -0.01007311  0.99965664]]

 t_gt:
[-0.95499412  0.28915454  0.0661505 ]

Pose Error in degrees for R and t:
178.7827549694965 55.00463679354382

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99019748e-01 -4.42667105e-02 -4.80474449e-05]
 [ 4.42667184e-02  9.99019733e-01  1.77751342e-04]
 [ 4.01318783e-05 -1.79704003e-04  9.99999983e-01]]

 t_estimated:
[[0.74506465]
 [0.66699174]
 [0.00082687]]

 R_gt:
[[ 0.99452871 -0.08358061 -0.06265871]
 [ 0.08504004  0.99615576  0.02100141]
 [ 0.06066208 -0.02621525  0.99781317]]

 t_gt:
[ 0.63365826 -0.77183056 -0.05248624]

Pose Error in degrees for R and t:
4.430179010152943 87.55091155987891

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99997291e-01 -2.32711826e-03  4.68412109e-05]
 [ 2.32710412e-03  9.99997247e-01  2.99561973e-04]
 [-4.75381981e-05 -2.99452157e-04  9.99999954e-01]]

 t_estimated:
[[0.73682114]
 [0.67608716]
 [0.000872  ]]

 R_gt:
[[ 0.97709653 -0.19473792 -0.08577938]
 [ 0.19814401  0.97961311  0.03309464]
 [ 0.07758591 -0.04933406  0.99576374]]

 t_gt:
[ 0.67355489 -0.73901311  0.01354356]

Pose Error in degrees for R and t:
12.392702048574476 89.80886227542229

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99953928e-01 -9.59872164e-03  7.68850838e-05]
 [ 9.59871798e-03  9.99953930e-01  4.77637181e-05]
 [-7.73400123e-05 -4.70235193e-05  9.99999996e-01]]

 t_estimated:
[[9.36418641e-01]
 [3.50884592e-01]
 [3.61823895e-04]]

 R_gt:
[[ 0.95787301 -0.28178343 -0.05547453]
 [ 0.2825154   0.95924537  0.005675  ]
 [ 0.05161517 -0.02110895  0.99844293]]

 t_gt:
[ 0.68321139 -0.72815797 -0.05484678]

Pose Error in degrees for R and t:
16.169662949655418 67.4026498167154

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[ 9.60458094e-01 -2.78424378e-01 -3.40095798e-04]
 [ 2.78424447e-01  9.60458118e-01  1.74160229e-04]
 [ 2.78157317e-04 -2.61964586e-04  9.99999927e-01]]

 t_estimated:
[[ 3.25611636e-01]
 [-9.45503328e-01]
 [-7.19808237e-04]]

 R_gt:
[[ 0.99843134  0.04889297 -0.02729973]
 [-0.04850432  0.9987141   0.01474364]
 [ 0.0279855  -0.01339638  0.99951867]]

 t_gt:
[-0.73830218  0.67199229  0.05776029]

Pose Error in degrees for R and t:
19.038562020421164 28.858741935703293

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[-0.67535551  0.73681465 -0.03160864]
 [ 0.73683838  0.67594114  0.01314453]
 [ 0.03105067 -0.01441323 -0.99941389]]

 t_estimated:
[[ 0.92391734]
 [-0.38223923]
 [-0.01642919]]

 R_gt:
[[ 0.99736519  0.06462906 -0.0329767 ]
 [-0.06543523  0.99756909 -0.02396553]
 [ 0.03134793  0.02606024  0.9991686 ]]

 t_gt:
[-0.42084765  0.82413565 -0.37906158]

Pose Error in degrees for R and t:
176.9309693271003 45.76381393024619

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.96801703e-01 -7.99123418e-02  6.19247818e-04]
 [ 7.99139918e-02  9.96795985e-01 -3.39371661e-03]
 [-3.46063897e-04  3.43234906e-03  9.99994050e-01]]

 t_estimated:
[[-0.88150395]
 [-0.47216512]
 [-0.00329889]]

 R_gt:
[[ 0.98901895  0.14490433 -0.02908575]
 [-0.14603438  0.988412   -0.04141983]
 [ 0.02274648  0.04521209  0.99871827]]

 t_gt:
[-0.5251273   0.81098704 -0.25795609]

Pose Error in degrees for R and t:
13.240656704322546 85.36355419649165

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.99999513 -0.00201166  0.00238707]
 [ 0.00201437  0.99999733 -0.00113147]
 [-0.00238479  0.00113628  0.99999651]]

 t_estimated:
[[-0.63120309]
 [-0.77561717]
 [-0.00081132]]

 R_gt:
[[ 9.97960597e-01 -6.36224635e-02 -5.13369144e-03]
 [ 6.36181446e-02  9.97973488e-01 -8.12284727e-04]
 [ 5.17515775e-03  4.84355249e-04  9.99986982e-01]]

 t_gt:
[ 0.66674216 -0.7403307  -0.08582159]

Pose Error in degrees for R and t:
3.5588837726379605 81.17406655779655

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.99618088e-01  2.76339846e-02  2.01231143e-04]
 [-2.76339460e-02  9.99618091e-01 -1.92209688e-04]
 [-2.06465810e-04  1.86575470e-04  9.99999961e-01]]

 t_estimated:
[[ 0.60335884]
 [-0.79746872]
 [-0.00132519]]

 R_gt:
[[ 0.99233837 -0.11889709  0.03357174]
 [ 0.11865644  0.99289458  0.00904917]
 [-0.03440922 -0.0049954   0.99939507]]

 t_gt:
[ 0.68109198 -0.70849332  0.18479973]

Pose Error in degrees for R and t:
8.637530204291762 12.657009052441152

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999952e-01 -1.80810158e-04 -2.50624100e-04]
 [ 1.80943027e-04  9.99999843e-01  5.30229969e-04]
 [ 2.50528190e-04 -5.30275293e-04  9.99999828e-01]]

 t_estimated:
[[-0.56744436]
 [-0.8234111 ]
 [-0.00102798]]

 R_gt:
[[ 0.98575754 -0.16419609  0.03637206]
 [ 0.16400224  0.98642521  0.00825172]
 [-0.0372329  -0.00216879  0.99930398]]

 t_gt:
[ 0.73489569 -0.66742614  0.12029412]

Pose Error in degrees for R and t:
9.678575692860923 82.3899635716873

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.84771326e-01 -1.73854611e-01  1.02417949e-04]
 [ 1.73854605e-01  9.84771330e-01  6.42412150e-05]
 [-1.12026891e-04 -4.54570745e-05  9.99999993e-01]]

 t_estimated:
[[0.9840983 ]
 [0.17762095]
 [0.00115207]]

 R_gt:
[[ 0.99641807 -0.08438286 -0.00558152]
 [ 0.08449891  0.99080765  0.10564336]
 [-0.00338396 -0.10573627  0.99438873]]

 t_gt:
[ 0.28818758 -0.74360211  0.60332729]

Pose Error in degrees for R and t:
7.961254788211204 81.24436008817437

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 4.55135302e-01 -8.90422178e-01 -4.48699552e-04]
 [ 8.90421913e-01  4.55134586e-01  1.15113216e-03]
 [-8.20774922e-04 -9.23452797e-04  9.99999237e-01]]

 t_estimated:
[[ 0.95003635]
 [-0.31213706]
 [ 0.00117635]]

 R_gt:
[[ 0.98644472 -0.14609581 -0.07471685]
 [ 0.1564807   0.97458517  0.16030526]
 [ 0.04939816 -0.1698237   0.98423634]]

 t_gt:
[ 0.41618775 -0.7651842   0.49120352]

Pose Error in degrees for R and t:
55.02199170303564 50.59383443036183

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.97828780e-01  6.58613644e-02  8.21067469e-05]
 [-6.58614151e-02  9.97828150e-01  1.12085704e-03]
 [-8.10724967e-06 -1.12383108e-03  9.99999368e-01]]

 t_estimated:
[[5.50343117e-01]
 [8.34938417e-01]
 [5.41125910e-04]]

 R_gt:
[[ 0.96021801 -0.2514196  -0.12153263]
 [ 0.26873484  0.95026905  0.15738735]
 [ 0.07591832 -0.18378654  0.98003029]]

 t_gt:
[ 0.56632966 -0.75112664  0.33923368]

Pose Error in degrees for R and t:
22.14373892413623 71.62196239482475

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 8.95494238e-01 -4.45072611e-01 -6.64247651e-04]
 [ 4.45072681e-01  8.95494448e-01 -4.69804185e-05]
 [ 6.15739781e-04 -2.53567789e-04  9.99999778e-01]]

 t_estimated:
[[-0.16535816]
 [-0.98623258]
 [-0.00140588]]

 R_gt:
[[ 0.9915404   0.12679487  0.02774988]
 [-0.12822873  0.99004101  0.0580881 ]
 [-0.02010795 -0.06115615  0.99792571]]

 t_gt:
[-0.83240536  0.42197739  0.35921637]

Pose Error in degrees for R and t:
33.957802821167746 73.79780764116832

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-5.82913857e-01 -8.12529236e-01 -2.77036777e-03]
 [ 8.12533561e-01 -5.82913558e-01 -9.97923383e-04]
 [-8.04043011e-04 -2.83272016e-03  9.99995665e-01]]

 t_estimated:
[[0.96523394]
 [0.26138194]
 [0.00170838]]

 R_gt:
[[ 0.96399128  0.26289753  0.04007018]
 [-0.26453838  0.96340081  0.04334466]
 [-0.02720751 -0.05238391  0.99825609]]

 t_gt:
[-0.83034109  0.5272695   0.18033455]

Pose Error in degrees for R and t:
140.97732805770744 48.44439432331533

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-7.92361461e-01  6.10049565e-01 -1.68627252e-03]
 [-6.10045565e-01 -7.92362804e-01 -2.36546472e-03]
 [-2.77919035e-03 -8.45600008e-04  9.99995781e-01]]

 t_estimated:
[[0.46320877]
 [0.88624709]
 [0.00193225]]

 R_gt:
[[ 0.92831162  0.37010375  0.0355069 ]
 [-0.37082496  0.92855951  0.01626743]
 [-0.02694896 -0.028269    0.99923701]]

 t_gt:
[-0.7943039   0.60070841  0.09072331]

Pose Error in degrees for R and t:
120.66647320707644 80.5246744518215

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99998997e-01 -1.41409239e-03  8.46416898e-05]
 [ 1.41408224e-03  9.99998993e-01  1.19850684e-04]
 [-8.48110845e-05 -1.19730874e-04  9.99999989e-01]]

 t_estimated:
[[0.05170424]
 [0.99866168]
 [0.00122945]]

 R_gt:
[[ 0.99660211  0.06375392 -0.05214087]
 [-0.06228137  0.99762477  0.02942735]
 [ 0.05389356 -0.02608046  0.99820637]]

 t_gt:
[-0.05080283  0.98858661 -0.14182942]

Pose Error in degrees for R and t:
5.045391829498599 10.113289822457826

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.94122986e-01 -1.08256537e-01 -1.07781987e-04]
 [ 1.08256464e-01  9.94119806e-01  2.51974259e-03]
 [-1.65630398e-04 -2.51660213e-03  9.99996820e-01]]

 t_estimated:
[[0.71790614]
 [0.69613759]
 [0.00179603]]

 R_gt:
[[ 0.99531903  0.07850537 -0.0563625 ]
 [-0.07469685  0.99496792  0.0667706 ]
 [ 0.06132053 -0.06224867  0.99617583]]

 t_gt:
[0.14994508 0.98054283 0.12669738]

Pose Error in degrees for R and t:
11.692996554380535 37.77084622599676

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99980410e-01 -6.01325759e-03 -1.73804315e-03]
 [ 6.01464602e-03  9.99981596e-01  7.94731497e-04]
 [ 1.73323224e-03 -8.05169642e-04  9.99998174e-01]]

 t_estimated:
[[-0.999349  ]
 [-0.03555743]
 [-0.00610305]]

 R_gt:
[[ 0.99092976  0.0968683  -0.09313744]
 [-0.09320424  0.99472144  0.04293055]
 [ 0.09680458 -0.03386076  0.99472774]]

 t_gt:
[ 0.36485169  0.87415881 -0.3205146 ]

Pose Error in degrees for R and t:
8.192986986927727 66.81253000288069

Number of keypoints:
Image1: 350
Image2: 350

 R_estimated:
[[ 0.89219585 -0.4505433   0.03158017]
 [-0.45040627 -0.88238093  0.13615461]
 [-0.03347781 -0.13570049 -0.99018413]]

 t_estimated:
[[0.23112342]
 [0.97035395]
 [0.0706766 ]]

 R_gt:
[[ 0.99995377  0.00244193 -0.00924116]
 [-0.00264774  0.99974677 -0.02235835]
 [ 0.00918416  0.02238208  0.99970727]]

 t_gt:
[ 0.00206748 -0.58951534 -0.80775454]

Pose Error in degrees for R and t:
173.3355134296219 51.04940526010008

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 3.48597584e-01  9.37272431e-01  3.38712644e-04]
 [ 9.37268882e-01 -3.48597221e-01  2.64939626e-03]
 [ 2.60128036e-03 -6.06108313e-04 -9.99996433e-01]]

 t_estimated:
[[-0.19949994]
 [-0.97989674]
 [-0.00146691]]

 R_gt:
[[ 0.99968426  0.00155443 -0.02506249]
 [-0.00363024  0.9965416  -0.08301467]
 [ 0.02484677  0.0830793   0.99623294]]

 t_gt:
[-0.05049974  0.33776534 -0.93987465]

Pose Error in degrees for R and t:
177.01876647123552 71.36599507900881

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.97819296e-01 -6.60049222e-02  4.83544932e-05]
 [ 6.60049126e-02  9.97819282e-01  1.79550998e-04]
 [-6.01002953e-05 -1.75967816e-04  9.99999983e-01]]

 t_estimated:
[[5.83884982e-01]
 [8.11836289e-01]
 [4.10048154e-04]]

 R_gt:
[[ 0.99878336 -0.04815026 -0.01057683]
 [ 0.04613641  0.98854827 -0.14368243]
 [ 0.01737505  0.14301929  0.98956739]]

 t_gt:
[ 0.10144673  0.44294571 -0.89079047]

Pose Error in degrees for R and t:
8.362380764726352 65.26213705189218

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.96837670e-01  7.94647602e-02  1.04443486e-04]
 [-7.94647606e-02  9.96837676e-01 -6.82200497e-08]
 [-1.04118623e-04 -8.23157230e-06  9.99999995e-01]]

 t_estimated:
[[0.68467379]
 [0.72884629]
 [0.00220863]]

 R_gt:
[[ 0.99862917 -0.0493385  -0.01750796]
 [ 0.04875392  0.99828619 -0.03236811]
 [ 0.01907516  0.03147062  0.99932228]]

 t_gt:
[ 0.64161432 -0.31281816 -0.70033982]

Pose Error in degrees for R and t:
7.666279241194461 77.892100545545

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 0.96041384  0.27855014 -0.00388182]
 [-0.27853863  0.96041952  0.00325312]
 [ 0.00463433 -0.00204311  0.99998717]]

 t_estimated:
[[-0.97227704]
 [-0.23377153]
 [-0.00531299]]

 R_gt:
[[ 0.98734577 -0.15212602 -0.04480603]
 [ 0.14794006  0.98530934 -0.08531678]
 [ 0.05712783  0.07760879  0.99534608]]

 t_gt:
[ 0.64755822 -0.39148407 -0.65376493]

Pose Error in degrees for R and t:
25.42307142051402 57.68221432306535

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 0.5978385   0.80161229  0.00262048]
 [ 0.80161539 -0.59782881 -0.00367205]
 [-0.00137696  0.00429591 -0.99998982]]

 t_estimated:
[[0.8929397 ]
 [0.4501691 ]
 [0.00254539]]

 R_gt:
[[ 0.98182407 -0.18625884 -0.03645774]
 [ 0.18161397  0.97779925 -0.10452239]
 [ 0.05511717  0.09600079  0.99385444]]

 t_gt:
[ 0.61488916 -0.43924263 -0.65496353]

Pose Error in degrees for R and t:
175.76018556114775 69.53358044038062

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 0.2610908  -0.96530361 -0.00453121]
 [-0.96528199 -0.26104083 -0.00940059]
 [ 0.0078916   0.0068283  -0.99994555]]

 t_estimated:
[[ 0.64346509]
 [ 0.76546374]
 [-0.00423533]]

 R_gt:
[[ 0.99933541 -0.0342544  -0.01243172]
 [ 0.03368296  0.99848245 -0.04356661]
 [ 0.01390493  0.04311866  0.99897374]]

 t_gt:
[ 0.54138956 -0.11502868 -0.83286598]

Pose Error in degrees for R and t:
176.98105818170276 74.70181710670079

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99824975e-01 -1.87087913e-02 -7.94294976e-06]
 [ 1.87087914e-02  9.99824975e-01  1.10197279e-05]
 [ 7.73539376e-06 -1.11664022e-05  1.00000000e+00]]

 t_estimated:
[[ 6.72108760e-01]
 [-7.40452439e-01]
 [-1.97792206e-05]]

 R_gt:
[[ 0.99347366 -0.10596901 -0.04219371]
 [ 0.10219575  0.99127106 -0.08329081]
 [ 0.05065116  0.07843507  0.99563226]]

 t_gt:
[ 0.63736139 -0.2491486  -0.72917449]

Pose Error in degrees for R and t:
7.269689584826818 52.20244883673134

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.27452965  0.96155536 -0.00668972]
 [-0.96149438  0.27440686 -0.01514671]
 [-0.01272869  0.01059034  0.9998629 ]]

 t_estimated:
[[0.50447315]
 [0.8634252 ]
 [0.00194028]]

 R_gt:
[[ 0.98121813 -0.19083051 -0.02817416]
 [ 0.1853423   0.97315078 -0.1364739 ]
 [ 0.05346031  0.12868977  0.99024289]]

 t_gt:
[ 0.61273944 -0.32500695 -0.72036162]

Pose Error in degrees for R and t:
85.18842894335647 88.44745553112674

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.98178513  0.18583498 -0.03953884]
 [ 0.18582735  0.98257467  0.0039005 ]
 [ 0.03957471 -0.00351795 -0.99921042]]

 t_estimated:
[[ 0.99184806]
 [-0.12590916]
 [-0.01960397]]

 R_gt:
[[ 0.98889396  0.1389387   0.05278544]
 [-0.13976143  0.99010998  0.01220462]
 [-0.05056807 -0.0194478   0.99853119]]

 t_gt:
[-0.85737592  0.47953332  0.18696079]

Pose Error in degrees for R and t:
179.40251928847775 23.87516953206378

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99965574e-01 -8.29616980e-03 -1.56230063e-04]
 [ 8.29621675e-03  9.99965540e-01  3.02287554e-04]
 [ 1.53716850e-04 -3.03573266e-04  9.99999942e-01]]

 t_estimated:
[[-9.54006505e-01]
 [-2.99784626e-01]
 [-8.75265868e-04]]

 R_gt:
[[ 0.9680777   0.24716959  0.04160817]
 [-0.24866539  0.96793265  0.03567279]
 [-0.03145688 -0.04488042  0.99849674]]

 t_gt:
[-0.83435685  0.52989468  0.1518561 ]

Pose Error in degrees for R and t:
15.166431430340658 50.43191702319084

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.92671962e-01  1.20840261e-01 -9.02280204e-05]
 [-1.20840251e-01  9.92671961e-01  1.08265828e-04]
 [ 1.02649697e-04 -9.65692753e-05  9.99999990e-01]]

 t_estimated:
[[-9.80828496e-01]
 [ 1.94872320e-01]
 [-4.89766963e-04]]

 R_gt:
[[ 0.92030846  0.38761492  0.05279193]
 [-0.38708099  0.92182053 -0.02039475]
 [-0.05656995 -0.00166575  0.99839706]]

 t_gt:
[-0.78772396  0.61353438  0.05537622]

Pose Error in degrees for R and t:
16.195758321891986 26.854586317904545

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.36388549  0.93144237  0.00156937]
 [ 0.93144213 -0.36388745  0.00121839]
 [ 0.00170593  0.00101842 -0.99999803]]

 t_estimated:
[[0.82571332]
 [0.56408854]
 [0.00127622]]

 R_gt:
[[ 0.99793118  0.02695082 -0.05838391]
 [-0.02502149  0.99912457  0.03352857]
 [ 0.05923666 -0.03199846  0.99773022]]

 t_gt:
[ 0.90006085  0.41309879 -0.13870778]

Pose Error in degrees for R and t:
176.53780180496884 12.56771953920227

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[-7.80110677e-01 -6.25637884e-01 -2.13740258e-03]
 [ 6.25641156e-01 -7.80109416e-01 -1.56314194e-03]
 [-6.89447062e-04 -2.55667074e-03  9.99996494e-01]]

 t_estimated:
[[9.96223377e-01]
 [8.68227022e-02]
 [8.95079404e-04]]

 R_gt:
[[ 0.98770668  0.09424155 -0.1247254 ]
 [-0.08647191  0.99404461  0.06632253]
 [ 0.13023339 -0.05472147  0.98997162]]

 t_gt:
[ 0.41188248  0.85848559 -0.30554103]

Pose Error in degrees for R and t:
146.55676024320599 61.014418397450754

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-8.73467673e-01  4.86863909e-01  4.21405314e-03]
 [-4.86881510e-01 -8.73447808e-01 -5.94322516e-03]
 [ 7.87213647e-04 -7.24295961e-03  9.99973460e-01]]

 t_estimated:
[[0.7311684 ]
 [0.68219606]
 [0.00113889]]

 R_gt:
[[ 0.97849275  0.15898466 -0.13144367]
 [-0.14000151  0.9797882   0.1428815 ]
 [ 0.15150321 -0.12140536  0.98097239]]

 t_gt:
[0.17456663 0.98069691 0.08809122]

Pose Error in degrees for R and t:
142.38997470760307 37.177668507921666

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.95860252e-01 -9.08969782e-02 -3.11532704e-04]
 [ 9.08970819e-02  9.95860235e-01  3.36712476e-04]
 [ 2.79636885e-04 -3.63635985e-04  9.99999895e-01]]

 t_estimated:
[[8.14378520e-01]
 [5.80334012e-01]
 [2.45176588e-04]]

 R_gt:
[[ 0.99815012 -0.03980189  0.04595842]
 [ 0.03591534  0.99594112  0.08252358]
 [-0.04905709 -0.0807198   0.99552826]]

 t_gt:
[ 0.13436982 -0.46421519  0.87547074]

Pose Error in degrees for R and t:
6.206896160591547 80.80718954424981

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-8.14335172e-01  5.80394551e-01 -6.26509493e-04]
 [-5.80385202e-01 -8.14327343e-01 -4.89860676e-03]
 [-3.35330848e-03 -3.62549094e-03  9.99987805e-01]]

 t_estimated:
[[0.55462959]
 [0.83209044]
 [0.00339501]]

 R_gt:
[[ 0.99460078 -0.06498152  0.08090953]
 [ 0.05076732  0.98468829  0.16676835]
 [-0.09050913 -0.16175916  0.98267083]]

 t_gt:
[ 0.04959497 -0.43209833  0.90046175]

Pose Error in degrees for R and t:
148.0107668815672 70.79306313860216

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-0.18870841  0.69773097  0.69105761]
 [ 0.94807506  0.31289321 -0.05702208]
 [-0.25601331  0.64441394 -0.72054691]]

 t_estimated:
[[-0.09191423]
 [-0.99573747]
 [-0.00765952]]

 R_gt:
[[ 0.9918368  -0.08922715  0.09109442]
 [ 0.06908876  0.97648253  0.20422474]
 [-0.10717549 -0.19626389  0.97467602]]

 t_gt:
[ 0.08045447 -0.45120879  0.8887844 ]

Pose Error in degrees for R and t:
144.50926759709608 64.20942903533175

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.98064114e-01 -6.21934288e-02  4.41991091e-05]
 [ 6.21934246e-02  9.98064111e-01  8.93024662e-05]
 [-4.96675711e-05 -8.63806928e-05  9.99999995e-01]]

 t_estimated:
[[9.96908429e-01]
 [7.85678020e-02]
 [8.27218101e-04]]

 R_gt:
[[ 0.98795556 -0.15348606  0.01963921]
 [ 0.15330568  0.98812449  0.01035308]
 [-0.02099528 -0.00721705  0.99975289]]

 t_gt:
[ 0.60556532 -0.76405287  0.22251708]

Pose Error in degrees for R and t:
5.409905924390397 57.054073232713826

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.99942585 -0.03386146 -0.00116804]
 [ 0.03386372  0.99942451  0.0019731 ]
 [ 0.00110056 -0.00201153  0.99999737]]

 t_estimated:
[[-9.99486330e-01]
 [-3.20425842e-02]
 [-5.90200406e-04]]

 R_gt:
[[ 0.96476493 -0.26305307 -0.0056122 ]
 [ 0.26271699  0.96192865  0.07530912]
 [-0.01441169 -0.07412977  0.99714387]]

 t_gt:
[ 0.60354314 -0.73655903  0.30531373]

Pose Error in degrees for R and t:
13.972949635939257 54.562675120496685

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.1860715  -0.98253137 -0.00308271]
 [ 0.98247882 -0.18609363  0.01022356]
 [-0.01061864 -0.00112638  0.99994299]]

 t_estimated:
[[0.91325849]
 [0.40737186]
 [0.00266256]]

 R_gt:
[[ 0.94628429 -0.31976576 -0.0479293 ]
 [ 0.32325981  0.9323841   0.16174806]
 [-0.00703323 -0.168553    0.98566693]]

 t_gt:
[ 0.55847356 -0.7092495   0.43020046]

Pose Error in degrees for R and t:
82.2452779799514 77.15890447539537

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.2219601  -0.97503337 -0.00660667]
 [-0.97503779  0.22199204 -0.00456485]
 [ 0.00591751  0.00542854 -0.99996776]]

 t_estimated:
[[ 0.81143055]
 [ 0.58444325]
 [-0.00255872]]

 R_gt:
[[ 0.99817622 -0.04648274  0.03851973]
 [ 0.04592012  0.99882608  0.01538904]
 [-0.03919005 -0.0135914   0.9991387 ]]

 t_gt:
[ 0.56883288 -0.56517078  0.59750409]

Pose Error in degrees for R and t:
178.19933342487445 82.54605117182199

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999584e-01 -2.63843402e-04  8.73496673e-04]
 [ 2.64231696e-04  9.99999866e-01 -4.44442359e-04]
 [-8.73379293e-04  4.44672980e-04  9.99999520e-01]]

 t_estimated:
[[7.27675145e-01]
 [6.85921541e-01]
 [7.23400620e-04]]

 R_gt:
[[ 9.94617803e-01 -8.90225983e-02  5.30022859e-02]
 [ 8.88550436e-02  9.96028579e-01  5.53181443e-03]
 [-5.32839661e-02 -7.91939459e-04  9.98579348e-01]]

 t_gt:
[ 0.70080609 -0.60371168  0.380004  ]

Pose Error in degrees for R and t:
5.912233508307164 84.48333788230651

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99998564e-01 -9.19015214e-04 -1.42411347e-03]
 [ 9.20021018e-04  9.99999328e-01  7.05773129e-04]
 [ 1.42346390e-03 -7.07082330e-04  9.99998737e-01]]

 t_estimated:
[[-0.86357517]
 [-0.50421435]
 [-0.0024105 ]]

 R_gt:
[[ 0.98911125 -0.1372558   0.05310243]
 [ 0.13773673  0.9904539  -0.00546468]
 [-0.0518454   0.01271975  0.9985737 ]]

 t_gt:
[ 0.7610728  -0.6121824   0.21447819]

Pose Error in degrees for R and t:
8.462247159960878 69.56836974364148

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.83179648e-01 -1.82641123e-01 -5.61100582e-06]
 [ 1.82641123e-01  9.83179643e-01  9.58720225e-05]
 [-1.19935472e-05 -9.52842217e-05  9.99999995e-01]]

 t_estimated:
[[-6.31095573e-01]
 [-7.75704927e-01]
 [-4.94258641e-04]]

 R_gt:
[[ 0.99522668  0.09285782 -0.03003133]
 [-0.0906539   0.99356523  0.06790297]
 [ 0.03614399 -0.06485654  0.99724025]]

 t_gt:
[-0.41523948  0.39169556  0.82106684]

Pose Error in degrees for R and t:
16.35451733333332 87.58196221506087

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 8.51985148e-01 -5.23555336e-01  3.33427945e-03]
 [ 5.23565165e-01  8.51977643e-01 -3.68977923e-03]
 [-9.08927944e-04  4.88934967e-03  9.99987634e-01]]

 t_estimated:
[[-0.33549514]
 [-0.94204003]
 [-0.00189545]]

 R_gt:
[[ 0.98618556  0.13941463 -0.08945059]
 [-0.1335291   0.98865787  0.06874476]
 [ 0.09801987 -0.05585111  0.99361621]]

 t_gt:
[0.11153895 0.98895897 0.09756647]

Pose Error in degrees for R and t:
39.989821613998856 14.246802065046504

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99996803e-01  8.69050602e-04  2.37457301e-03]
 [-8.57994478e-04  9.99988806e-01 -4.65310582e-03]
 [-2.37859022e-03  4.65105357e-03  9.99986355e-01]]

 t_estimated:
[[0.67396152]
 [0.73876551]
 [0.00117825]]

 R_gt:
[[ 0.95992194  0.22954741 -0.16080678]
 [-0.20684774  0.9673923   0.14617174]
 [ 0.18911747 -0.10705112  0.97610161]]

 t_gt:
[0.34324727 0.9289573  0.13863496]

Pose Error in degrees for R and t:
18.03308313494518 23.396279696431375

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.83745126e-01  1.79570030e-01  3.62643284e-04]
 [-1.79570218e-01  9.83744989e-01  5.76898086e-04]
 [-2.53154907e-04 -6.32640614e-04  9.99999768e-01]]

 t_estimated:
[[0.2144453 ]
 [0.97673352]
 [0.00220226]]

 R_gt:
[[ 0.99936848 -0.00860847  0.03448517]
 [ 0.00630725  0.9977803   0.06628735]
 [-0.03497862 -0.066028    0.99720478]]

 t_gt:
[ 0.31368137 -0.33070566  0.89007739]

Pose Error in degrees for R and t:
11.576860859644317 75.29847872742384

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.9606228  -0.27785391  0.0010252 ]
 [ 0.27784745 -0.96061599 -0.00420869]
 [ 0.00215423 -0.00375812  0.99999062]]

 t_estimated:
[[7.77337939e-01]
 [6.29082919e-01]
 [6.40361162e-04]]

 R_gt:
[[ 0.99842972 -0.04025992  0.03896104]
 [ 0.03545234  0.99249482  0.11703499]
 [-0.04337946 -0.11547001  0.99236419]]

 t_gt:
[ 0.45318049 -0.37620419  0.8081447 ]

Pose Error in degrees for R and t:
161.73564456096773 83.33129412494817

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.8261925  -0.56335138 -0.00641638]
 [-0.56332031  0.82621622 -0.006082  ]
 [ 0.00872761 -0.00141042 -0.99996092]]

 t_estimated:
[[0.72291069]
 [0.69093921]
 [0.00177619]]

 R_gt:
[[ 0.99212604 -0.09558624  0.08092748]
 [ 0.07588138  0.97282333  0.21876158]
 [-0.09963736 -0.21089792  0.97241722]]

 t_gt:
[ 0.37844043 -0.35311133  0.85562564]

Pose Error in degrees for R and t:
171.81411902778865 88.21667158774231

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.98113956e-01  6.13881658e-02  1.54954386e-04]
 [-6.13881492e-02  9.98113963e-01 -1.09713998e-04]
 [-1.61397277e-04  9.99947092e-05  9.99999982e-01]]

 t_estimated:
[[0.8710219 ]
 [0.49123984]
 [0.00206403]]

 R_gt:
[[ 0.99988663  0.00828016 -0.01259227]
 [-0.00832283  0.9999595  -0.00331046]
 [ 0.01256474  0.00341415  0.999915  ]]

 t_gt:
[-0.60003227 -0.75031472 -0.2774691 ]

Pose Error in degrees for R and t:
3.135851081693026 26.89988495395847

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.14903257 -0.98870723  0.01572605]
 [-0.98868674  0.14926465  0.01478484]
 [-0.01696522 -0.01334471 -0.99976702]]

 t_estimated:
[[0.77408173]
 [0.63297086]
 [0.01205663]]

 R_gt:
[[ 0.99954398  0.01394177 -0.02681599]
 [-0.01413583  0.99987491 -0.00702911]
 [ 0.02671486  0.00740409  0.99961524]]

 t_gt:
[-0.42929587 -0.84983086 -0.30576553]

Pose Error in degrees for R and t:
179.79398340357102 29.083202379636134

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99599771e-01 -2.82876657e-02  3.25099629e-04]
 [ 2.82878679e-02  9.99599617e-01 -6.34913006e-04]
 [-3.07009257e-04  6.43855271e-04  9.99999746e-01]]

 t_estimated:
[[-0.07788662]
 [-0.9969487 ]
 [-0.00519244]]

 R_gt:
[[ 0.99924932  0.01915008 -0.0336828 ]
 [-0.02124991  0.99777774 -0.06315177]
 [ 0.03239902  0.06382035  0.99743454]]

 t_gt:
[-0.42647783 -0.30003618 -0.8532848 ]

Pose Error in degrees for R and t:
4.937156258018734 70.31990121821778

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 0.9624102   0.27154626  0.00540616]
 [ 0.27158497 -0.96195611 -0.02969919]
 [-0.00286422  0.03005103 -0.99954426]]

 t_estimated:
[[-0.15500004]
 [ 0.98778684]
 [-0.01587901]]

 R_gt:
[[ 0.99881078 -0.02580202 -0.04137789]
 [ 0.02681731  0.99934845  0.02416607]
 [ 0.04072664 -0.02524755  0.99885054]]

 t_gt:
[ 0.65932103 -0.65377252 -0.37131828]

Pose Error in degrees for R and t:
179.9434108095998 42.090541049511025

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.92695571e-01 -1.20646184e-01  3.06355922e-05]
 [ 1.20640326e-01  9.92644801e-01 -1.01099091e-02]
 [ 1.18931169e-03  1.00397578e-02  9.99948893e-01]]

 t_estimated:
[[0.99221286]
 [0.12453701]
 [0.00204159]]

 R_gt:
[[ 0.99829035 -0.0109551  -0.05741383]
 [ 0.01388738  0.99860637  0.05092494]
 [ 0.05677514 -0.05163627  0.99705077]]

 t_gt:
[ 0.47362188 -0.82744644 -0.30168643]

Pose Error in degrees for R and t:
7.843462301232218 68.51423227650483

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.41012395e-01  3.38369977e-01  1.19609197e-03]
 [-3.38371968e-01  9.41003166e-01  4.17762497e-03]
 [ 2.88056534e-04 -4.33592087e-03  9.99990558e-01]]

 t_estimated:
[[0.81911529]
 [0.57362377]
 [0.00243061]]

 R_gt:
[[ 0.99836111  0.03424187 -0.04586904]
 [-0.03256521  0.99879216  0.03681027]
 [ 0.04707413 -0.0352574   0.99826908]]

 t_gt:
[-0.62852986 -0.52972348 -0.56951141]

Pose Error in degrees for R and t:
18.15194648294752 34.90673023808392

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999888e-01  1.45640184e-04 -4.49333471e-04]
 [-1.45310709e-04  9.99999721e-01  7.33198111e-04]
 [ 4.49440129e-04 -7.33132736e-04  9.99999630e-01]]

 t_estimated:
[[7.91613183e-01]
 [6.11022182e-01]
 [6.78913536e-04]]

 R_gt:
[[ 0.99293472 -0.0913226  -0.07577372]
 [ 0.08885793  0.99541888 -0.03529686]
 [ 0.07865009  0.02831368  0.99649977]]

 t_gt:
[ 0.71512353 -0.4426582  -0.54097325]

Pose Error in degrees for R and t:
7.056926808839189 72.82687354528451

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999866e-01 -3.14120864e-04  4.11551069e-04]
 [ 3.13989374e-04  9.99999900e-01  3.19524532e-04]
 [-4.11651397e-04 -3.19395267e-04  9.99999864e-01]]

 t_estimated:
[[0.72099132]
 [0.6929436 ]
 [0.00082493]]

 R_gt:
[[ 0.95574011 -0.27480408 -0.10508688]
 [ 0.27163155  0.96140979 -0.04368253]
 [ 0.11303563  0.01320348  0.99350313]]

 t_gt:
[ 0.79003496 -0.55289633 -0.26485922]

Pose Error in degrees for R and t:
17.184530668240004 79.26517152228418

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999972e-01 -1.58677089e-04  1.75241016e-04]
 [ 1.58703634e-04  9.99999976e-01 -1.51474865e-04]
 [-1.75216976e-04  1.51502672e-04  9.99999973e-01]]

 t_estimated:
[[0.45384775]
 [0.89107864]
 [0.00103855]]

 R_gt:
[[ 9.35545539e-01 -3.31345100e-01 -1.22333947e-01]
 [ 3.28443706e-01  9.43508965e-01 -4.37608573e-02]
 [ 1.29923129e-01  7.59871586e-04  9.91523366e-01]]

 t_gt:
[ 0.81566023 -0.53533231 -0.2193575 ]

Pose Error in degrees for R and t:
20.71968727697593 83.85382123771464

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[ 9.97778641e-01 -6.66166489e-02 -7.82871764e-05]
 [ 6.66166077e-02  9.97778547e-01 -4.45646106e-04]
 [ 1.07800715e-04  4.39440940e-04  9.99999898e-01]]

 t_estimated:
[[-0.91605703]
 [-0.40104544]
 [-0.00144261]]

 R_gt:
[[ 0.99884013  0.04810756  0.00166429]
 [-0.04811313  0.99883407  0.00399853]
 [-0.00146971 -0.00407348  0.99999012]]

 t_gt:
[0.42700369 0.90167512 0.06818964]

Pose Error in degrees for R and t:
6.58321141414247 41.16032914256409

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99328792e-01  3.66327772e-02 -7.56850112e-05]
 [-3.66328165e-02  9.99328608e-01 -6.08173948e-04]
 [ 5.33550962e-05  6.10538292e-04  9.99999812e-01]]

 t_estimated:
[[0.62843915]
 [0.77785825]
 [0.00087894]]

 R_gt:
[[ 0.99759802  0.02481606 -0.06467952]
 [-0.02337005  0.99946253  0.02300874]
 [ 0.06521663 -0.02144204  0.99764122]]

 t_gt:
[ 0.97336659  0.14065086 -0.18103814]

Pose Error in degrees for R and t:
4.008474887581805 43.86711339068424

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 0.01133872  0.99993066  0.00318022]
 [ 0.99992702 -0.0113253  -0.00420676]
 [-0.00417045  0.00322769 -0.99998609]]

 t_estimated:
[[0.71227847]
 [0.70189515]
 [0.00160816]]

 R_gt:
[[ 0.98627524  0.12053905 -0.11283193]
 [-0.11237323  0.99074387  0.07615008]
 [ 0.12096723 -0.06242545  0.99069145]]

 t_gt:
[ 0.68538352  0.71670785 -0.12876057]

Pose Error in degrees for R and t:
172.73291253847324 7.679695417900394

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.99970548 -0.02423628 -0.00124607]
 [ 0.02423817  0.99970504  0.00153059]
 [ 0.0012086  -0.00156034  0.99999805]]

 t_estimated:
[[-0.59077789]
 [-0.8068338 ]
 [-0.00084397]]

 R_gt:
[[ 0.99660701  0.08167549  0.01017068]
 [-0.08134277  0.9962453  -0.02966148]
 [-0.01255538  0.02873363  0.9995085 ]]

 t_gt:
[-0.72823364  0.67034533 -0.14252335]

Pose Error in degrees for R and t:
6.357074155828789 83.6551313152312

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-2.30793630e-01 -9.72999797e-01 -2.38632127e-03]
 [ 9.73002611e-01 -2.30794088e-01 -8.53152352e-05]
 [-4.67737136e-04 -2.34158704e-03  9.99997149e-01]]

 t_estimated:
[[0.99989414]
 [0.01450739]
 [0.00111595]]

 R_gt:
[[ 0.99614052  0.04036918  0.07794516]
 [-0.0477529   0.99430269  0.09530367]
 [-0.07365354 -0.09865815  0.99239161]]

 t_gt:
[-0.32991121  0.12523816  0.93566767]

Pose Error in degrees for R and t:
106.0414339747806 70.91228699987586

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 1.00000000e+00  2.34988791e-06 -5.57478878e-11]
 [-2.34988791e-06  1.00000000e+00 -1.53056134e-09]
 [ 5.57443882e-11  1.53056144e-09  1.00000000e+00]]

 t_estimated:
[[9.98914753e-01]
 [4.65694489e-02]
 [7.76157535e-04]]

 R_gt:
[[ 0.98222749 -0.03793644  0.18381964]
 [-0.0159332   0.9589735   0.28304963]
 [-0.18701466 -0.28094865  0.94132526]]

 t_gt:
[ 0.02475634 -0.01463035  0.99958645]

Pose Error in degrees for R and t:
19.735229006587534 88.57754472030389

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.98978210e-01 -4.51944133e-02  3.99216097e-05]
 [ 4.51944132e-02  9.98978210e-01  2.58642159e-06]
 [-3.99977100e-05 -7.79545086e-07  9.99999999e-01]]

 t_estimated:
[[ 9.47012855e-01]
 [-3.21195619e-01]
 [-1.64666089e-04]]

 R_gt:
[[ 0.98594483 -0.16700309  0.00466928]
 [ 0.16706212  0.98575809 -0.01926511]
 [-0.00138562  0.01977452  0.99980316]]

 t_gt:
[ 0.72063634 -0.68428778 -0.11150558]

Pose Error in degrees for R and t:
7.117225015819845 25.54319349842497

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.90688672  0.42123205  0.01095613]
 [ 0.42123958  0.90694776 -0.00172381]
 [-0.01066276  0.00305186 -0.99993849]]

 t_estimated:
[[ 0.97391712]
 [-0.2268305 ]
 [ 0.00577623]]

 R_gt:
[[ 0.95792014 -0.28430807 -0.03945918]
 [ 0.28423306  0.95872505 -0.0076124 ]
 [ 0.03999442 -0.00392249  0.99919185]]

 t_gt:
[ 0.76442376 -0.63424692 -0.11570287]

Pose Error in degrees for R and t:
178.40900668485867 27.416402159358416

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 5.04637800e-01  8.63330740e-01  8.51341806e-04]
 [-8.63329942e-01  5.04638499e-01 -1.18183813e-03]
 [-1.44993704e-03 -1.38588677e-04  9.99998939e-01]]

 t_estimated:
[[0.39470836]
 [0.91880577]
 [0.0011231 ]]

 R_gt:
[[ 0.92721247 -0.37204661 -0.04310786]
 [ 0.37082967  0.92808857 -0.0337324 ]
 [ 0.05255801  0.01529166  0.99850065]]

 t_gt:
[ 0.77495665 -0.60969636 -0.16647085]

Pose Error in degrees for R and t:
81.56622053010481 75.25618021797686

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99999820e-01 -5.33859303e-04  2.75653600e-04]
 [ 5.33837792e-04  9.99999854e-01  7.81046849e-05]
 [-2.75695256e-04 -7.79575165e-05  9.99999959e-01]]

 t_estimated:
[[0.60807616]
 [0.79387721]
 [0.00153555]]

 R_gt:
[[ 0.99355022 -0.11157519 -0.02021416]
 [ 0.11127226  0.99366782 -0.01554324]
 [ 0.02182013  0.01319345  0.99967503]]

 t_gt:
[ 0.72768991 -0.66764683 -0.15721039]

Pose Error in degrees for R and t:
6.536810185984745 84.96408833001894

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99999981e-01 -1.22658589e-05  1.93932020e-04]
 [ 1.23751590e-05  9.99999841e-01 -5.63608921e-04]
 [-1.93925076e-04  5.63611310e-04  9.99999822e-01]]

 t_estimated:
[[7.44004570e-01]
 [6.68174276e-01]
 [5.80189100e-04]]

 R_gt:
[[ 0.97801185 -0.20582377 -0.03358965]
 [ 0.20522632  0.97850182 -0.02041427]
 [ 0.03706874  0.01307144  0.99922759]]

 t_gt:
[ 0.74825993 -0.65040133 -0.13071032]

Pose Error in degrees for R and t:
12.074737265089716 82.98948247030815

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-4.76833809e-01  8.78989172e-01  2.74844662e-03]
 [ 8.78993458e-01  4.76831972e-01  1.33097941e-03]
 [-1.40630737e-04  3.05052258e-03 -9.99995337e-01]]

 t_estimated:
[[-0.06365194]
 [-0.99797151]
 [-0.00113664]]

 R_gt:
[[ 0.97466552 -0.21353868 -0.06655005]
 [ 0.20805144  0.97478118 -0.08073442]
 [ 0.08210994  0.06484322  0.99451182]]

 t_gt:
[ 0.76241558 -0.55209986 -0.33750294]

Pose Error in degrees for R and t:
178.57360746945534 59.81230518669438

Number of keypoints:
Image1: 341
Image2: 341

 R_estimated:
[[-0.13646656 -0.98911216  0.05508195]
 [-0.98910203  0.13914505  0.04812301]
 [-0.05526343 -0.04791449 -0.99732149]]

 t_estimated:
[[0.75771174]
 [0.65154418]
 [0.03692014]]

 R_gt:
[[ 9.99711955e-01 -1.37054889e-04 -2.40083924e-02]
 [ 2.72884352e-04  9.99984291e-01  5.65524126e-03]
 [ 2.40079967e-02 -5.66048633e-03  9.99696013e-01]]

 t_gt:
[ 0.72236113 -0.09024466 -0.68560215]

Pose Error in degrees for R and t:
176.63067795880184 62.40423070633637

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.99999911e-01  4.21189079e-04 -7.92108478e-06]
 [-4.21189040e-04  9.99999911e-01  4.93868450e-06]
 [ 7.92316420e-06 -4.93534779e-06  1.00000000e+00]]

 t_estimated:
[[-0.07649265]
 [-0.99706961]
 [-0.00103539]]

 R_gt:
[[ 9.97379973e-01  6.78131563e-02 -2.52157453e-02]
 [-6.78344950e-02  9.97696647e-01  1.95961100e-05]
 [ 2.51584440e-02  1.69088880e-03  9.99682723e-01]]

 t_gt:
[ 0.30250632  0.86849171 -0.39269846]

Pose Error in degrees for R and t:
4.1259128889652965 27.29220783562822

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99990735e-01  4.29671981e-03 -2.59521459e-04]
 [-4.29665394e-03  9.99990737e-01  2.53823470e-04]
 [ 2.60609664e-04 -2.52706045e-04  9.99999934e-01]]

 t_estimated:
[[9.99861006e-01]
 [1.66715372e-02]
 [1.69086649e-04]]

 R_gt:
[[ 0.99419878  0.10677857 -0.01296385]
 [-0.10654292  0.99415056  0.01772134]
 [ 0.0147809  -0.01623754  0.99975898]]

 t_gt:
[0.51980302 0.85428441 0.00172318]

Pose Error in degrees for R and t:
6.0059056030690225 57.72569048071475

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.11094772  0.77440611  0.62288504]
 [ 0.63694445  0.42570398 -0.64271136]
 [-0.76288425  0.46805053 -0.44602279]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.99108036 -0.08026101  0.10638631]
 [ 0.05887229  0.9798638   0.19079433]
 [-0.11955698 -0.18282792  0.97584833]]

 t_gt:
[ 0.20747905 -0.234441    0.94973147]

Pose Error in degrees for R and t:
119.45700509733597 83.83794584441227

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-6.48505227e-01  7.61209670e-01  8.99271169e-04]
 [ 7.61206025e-01  6.48497303e-01  4.07868528e-03]
 [ 2.52155975e-03  3.32957935e-03 -9.99991278e-01]]

 t_estimated:
[[ 0.67929549]
 [-0.73386254]
 [-0.00184742]]

 R_gt:
[[ 0.96844844 -0.15104031  0.1982272 ]
 [ 0.07412258  0.93398957  0.34952991]
 [-0.23793543 -0.32380775  0.9157161 ]]

 t_gt:
[ 0.23892866 -0.1209673   0.96347289]

Pose Error in degrees for R and t:
176.70182466386214 75.56410796432915

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.99959958e-01  8.94154223e-03 -3.61464643e-04]
 [-8.94183615e-03  9.99959685e-01 -8.19875472e-04]
 [ 3.54119119e-04  8.23074801e-04  9.99999599e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.96919269 -0.17166414  0.17662759]
 [ 0.09429805  0.92108489  0.37777277]
 [-0.22753935 -0.34947774  0.90889594]]

 t_gt:
[ 0.27164596 -0.1348519   0.95290264]

Pose Error in degrees for R and t:
26.105070920764167 82.55795465222717

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.90892852e-01  1.34652609e-01  1.73843807e-04]
 [-1.34652606e-01  9.90892867e-01 -2.95725552e-05]
 [-1.76242610e-04  5.89471190e-06  9.99999984e-01]]

 t_estimated:
[[0.71393802]
 [0.70020844]
 [0.00080762]]

 R_gt:
[[ 9.90375615e-01 -1.38221535e-01 -7.20181284e-03]
 [ 1.38218662e-01  9.90402006e-01 -8.52947496e-04]
 [ 7.25054902e-03 -1.49818028e-04  9.99973978e-01]]

 t_gt:
[ 0.64609116 -0.76207357 -0.04254507]

Pose Error in degrees for R and t:
15.689094805960957 85.84955126196334

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-8.14400830e-01 -5.80300111e-01  1.75197888e-03]
 [-5.80299135e-01  8.14402702e-01  1.07348747e-03]
 [-2.04976123e-03 -1.42422741e-04 -9.99997889e-01]]

 t_estimated:
[[0.96742759]
 [0.25314028]
 [0.00196233]]

 R_gt:
[[ 0.96002422 -0.27944017 -0.01639491]
 [ 0.27933957  0.96015832 -0.00813495]
 [ 0.01801475  0.00323127  0.99983255]]

 t_gt:
[ 0.73820684 -0.67003994 -0.07808426]

Pose Error in degrees for R and t:
179.06838206081684 57.01671563721583

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.85172809  0.52396732  0.00418428]
 [ 0.52397741  0.85173031  0.00177645]
 [-0.00263307  0.00370552 -0.99998967]]

 t_estimated:
[[9.69437585e-01]
 [2.45336784e-01]
 [7.93970176e-04]]

 R_gt:
[[ 0.91772047 -0.39417249 -0.04919044]
 [ 0.39443803  0.9189113  -0.00457752]
 [ 0.04700579 -0.01520139  0.99877949]]

 t_gt:
[ 0.78317926 -0.61678749 -0.07876191]

Pose Error in degrees for R and t:
177.4398853037506 52.56505709967336

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.75769929e-01  2.18797911e-01  7.20879093e-04]
 [-2.18797708e-01  9.75770178e-01 -3.50779849e-04]
 [-7.80162219e-04  1.84553735e-04  9.99999679e-01]]

 t_estimated:
[[0.66998163]
 [0.74237651]
 [0.00131627]]

 R_gt:
[[ 0.97567231  0.21890999 -0.01193143]
 [-0.21767043  0.97376635  0.06633273]
 [ 0.02613904 -0.0621214   0.99772585]]

 t_gt:
[-0.89869714  0.41957069  0.12768667]

Pose Error in degrees for R and t:
3.8915840978216227 73.11431786948721

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-2.85868847e-01  9.58268718e-01 -2.57748615e-04]
 [-9.58266780e-01 -2.85868794e-01 -1.95214786e-03]
 [-1.94436452e-03 -3.11066324e-04  9.99998061e-01]]

 t_estimated:
[[0.03107209]
 [0.99951654]
 [0.00109857]]

 R_gt:
[[ 0.9644951   0.2638616   0.01126688]
 [-0.26360774  0.95920965  0.10212108]
 [ 0.01613866 -0.10146426  0.9947074 ]]

 t_gt:
[-0.91187355  0.33450625  0.23789115]

Pose Error in degrees for R and t:
91.43159697207807 72.16529004467046

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.15278119  0.98825385  0.00349821]
 [ 0.98825799 -0.15278712  0.00149614]
 [ 0.00201305  0.00322855 -0.99999276]]

 t_estimated:
[[-0.25339458]
 [-0.96736169]
 [-0.00159368]]

 R_gt:
[[ 0.96917     0.2461836  -0.0101887 ]
 [-0.24381771  0.96418117  0.10444525]
 [ 0.03553685 -0.09874112  0.99447769]]

 t_gt:
[-0.95669119  0.20190116  0.20970906]

Pose Error in degrees for R and t:
174.71682276600671 87.31902874166704

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.8888688  -0.45812959 -0.00543473]
 [ 0.4581467   0.88887331  0.00241796]
 [ 0.00372305 -0.00463915  0.99998231]]

 t_estimated:
[[-0.26328315]
 [-0.9647166 ]
 [-0.0019648 ]]

 R_gt:
[[ 0.98368874 -0.1595423  -0.08308352]
 [ 0.15668116  0.98684273 -0.03992446]
 [ 0.08836004  0.02625542  0.99574234]]

 t_gt:
[ 0.73332535 -0.54873547 -0.40140168]

Pose Error in degrees for R and t:
18.85230976353785 70.30027795007275

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.11842129e-01  4.10541023e-01  1.03742589e-07]
 [-4.10540897e-01  9.11841849e-01  7.83183775e-04]
 [ 3.21434472e-04 -7.14182552e-04  9.99999693e-01]]

 t_estimated:
[[-9.93902231e-01]
 [-1.10262234e-01]
 [-7.71064570e-04]]

 R_gt:
[[ 0.95375155 -0.28843779 -0.08462633]
 [ 0.2857844   0.95736446 -0.04221562]
 [ 0.09319492  0.01607742  0.99551739]]

 t_gt:
[ 0.79203462 -0.56654324 -0.22739813]

Pose Error in degrees for R and t:
41.30571563768674 43.56763325910478

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.269036    0.96307104  0.01066742]
 [-0.96301447  0.26915883 -0.01251647]
 [-0.01492548 -0.0069055   0.99986476]]

 t_estimated:
[[0.49400744]
 [0.86945309]
 [0.0028229 ]]

 R_gt:
[[ 0.94490543 -0.29797415 -0.13552032]
 [ 0.29526657  0.95457218 -0.04012792]
 [ 0.14132112 -0.00209735  0.98996119]]

 t_gt:
[ 0.81783954 -0.51885404 -0.24885532]

Pose Error in degrees for R and t:
92.10271226273595 87.26004958770373

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-0.68567777 -0.72783807 -0.00988679]
 [ 0.72779925 -0.68574646  0.00774897]
 [-0.01241982 -0.0018823   0.9999211 ]]

 t_estimated:
[[0.98384258]
 [0.17888047]
 [0.00745335]]

 R_gt:
[[ 0.99825707  0.05888296  0.00408786]
 [-0.05901493  0.99699216  0.05024414]
 [-0.00111773 -0.05039688  0.99872809]]

 t_gt:
[-0.16775454  0.13067401  0.97712984]

Pose Error in degrees for R and t:
136.67169991532995 82.27687514007776

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-0.99168258 -0.12863789  0.00423672]
 [-0.12836205  0.99089448  0.04063631]
 [-0.00942551  0.03975448 -0.99916502]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9907293   0.11616379 -0.07044197]
 [-0.10937829  0.98958871  0.09354995]
 [ 0.0805754  -0.08497655  0.99311886]]

 t_gt:
[0.21059379 0.3200538  0.92369682]

Pose Error in degrees for R and t:
176.2589461491311 77.74275935329385

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 3.00850694e-01 -9.53670594e-01 -1.12143582e-03]
 [ 9.53670823e-01  3.00849234e-01  1.30349382e-03]
 [-9.05720614e-04 -1.46163764e-03  9.99998522e-01]]

 t_estimated:
[[0.40015621]
 [0.91644608]
 [0.00126232]]

 R_gt:
[[ 0.97473886  0.18130572 -0.13043721]
 [-0.16644808  0.97907788  0.11705954]
 [ 0.1489312  -0.09239132  0.98452107]]

 t_gt:
[0.61924083 0.64896951 0.44201739]

Pose Error in degrees for R and t:
83.07956799629076 32.531428934958264

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99999995e-01 -1.40951684e-05  9.63083520e-05]
 [ 1.40952265e-05  1.00000000e+00 -6.02365103e-07]
 [-9.63083435e-05  6.03722588e-07  9.99999995e-01]]

 t_estimated:
[[8.16630243e-01]
 [5.77161037e-01]
 [4.28507663e-04]]

 R_gt:
[[ 0.99800341 -0.04106865  0.04798185]
 [ 0.03939217  0.99859641  0.03538088]
 [-0.04936704 -0.03342023  0.99822105]]

 t_gt:
[ 0.49567559 -0.4491281   0.74336374]

Pose Error in degrees for R and t:
4.120082700537062 81.61158639163484

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 8.03769594e-01 -5.94939501e-01 -1.19570627e-03]
 [ 5.94938996e-01  8.03770479e-01 -7.80328747e-04]
 [ 1.42532180e-03 -8.41677703e-05  9.99998981e-01]]

 t_estimated:
[[ 0.9810636 ]
 [-0.19368219]
 [-0.00119168]]

 R_gt:
[[ 0.99852046 -0.03484405  0.04173047]
 [ 0.0317194   0.99680349  0.07332507]
 [-0.04415184 -0.07189269  0.99643438]]

 t_gt:
[ 0.52298138 -0.38515602  0.76035868]

Pose Error in degrees for R and t:
34.932610949610556 54.07188645113182

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999969e-01 -2.31931277e-04  8.98236200e-05]
 [ 2.31924622e-04  9.99999970e-01  7.40933350e-05]
 [-8.98408019e-05 -7.40725004e-05  9.99999993e-01]]

 t_estimated:
[[7.06544639e-01]
 [7.07668441e-01]
 [2.27460679e-04]]

 R_gt:
[[ 0.99254337 -0.09421157  0.07733742]
 [ 0.07960095  0.98150828  0.17407884]
 [-0.09230821 -0.16662445  0.98168957]]

 t_gt:
[ 0.45847822 -0.36937008  0.80830901]

Pose Error in degrees for R and t:
12.0650372791261 86.40361010237058

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.99824287e-01  1.87455116e-02  2.97877357e-05]
 [-1.87455109e-02  9.99824287e-01 -2.34020049e-05]
 [-3.02211842e-05  2.28395065e-05  9.99999999e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99976757 -0.00622804 -0.02064774]
 [ 0.00639164  0.99994883  0.00782491]
 [ 0.02059776 -0.00795471  0.99975652]]

 t_gt:
[ 0.34615975 -0.72899474 -0.59054221]

Pose Error in degrees for R and t:
1.9146748997826295 69.87889459995014

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.90342418e-01 -1.38642007e-01 -5.37549307e-04]
 [ 1.38642411e-01  9.90342180e-01  8.05075976e-04]
 [ 4.20740403e-04 -8.71828021e-04  9.99999531e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99805955  0.05850616 -0.02130423]
 [-0.05804297  0.99807806  0.02172718]
 [ 0.0225342  -0.02044906  0.99953668]]

 t_gt:
[-0.92032573  0.3622765  -0.14750013]

Pose Error in degrees for R and t:
11.436032850713598 23.17428704894035

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-3.61421913e-01  9.32402206e-01  5.71643511e-04]
 [ 9.32400996e-01  3.61420251e-01  1.94560943e-03]
 [ 1.60748698e-03  1.23618686e-03 -9.99997944e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.9989996  -0.02170448 -0.03910115]
 [ 0.02143908  0.99974436 -0.00721233]
 [ 0.03924722  0.00636671  0.99920904]]

 t_gt:
[ 0.18499355 -0.82738487 -0.53029394]

Pose Error in degrees for R and t:
178.33184843488286 34.23207545734573

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.85944225e-01 -1.67074628e-01 -2.31091330e-04]
 [ 1.67074688e-01  9.85944204e-01  2.72731546e-04]
 [ 1.82276636e-04 -3.07507604e-04  9.99999936e-01]]

 t_estimated:
[[ 7.18420583e-01]
 [-6.95608936e-01]
 [-2.71976407e-04]]

 R_gt:
[[ 0.99945924  0.03272054  0.00332911]
 [-0.03252897  0.99836887 -0.04692837]
 [-0.00485864  0.0467943   0.99889217]]

 t_gt:
[-0.22267593  0.77768934 -0.58789005]

Pose Error in degrees for R and t:
11.803640249196949 45.510162996940544

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[-0.79703948  0.60378499 -0.01310521]
 [ 0.60379158  0.79713271  0.00389462]
 [ 0.0127981  -0.00480865 -0.99990654]]

 t_estimated:
[[ 0.95562943]
 [-0.29451404]
 [-0.0058194 ]]

 R_gt:
[[ 0.99370436  0.11201784  0.00200618]
 [-0.11173455  0.99217817 -0.05566028]
 [-0.0082257   0.05508568  0.99844814]]

 t_gt:
[-0.51125969  0.80062318 -0.31243569]

Pose Error in degrees for R and t:
179.49294154512356 43.73446853213071

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.60441847  0.67162507 -0.42848346]
 [ 0.73281472 -0.25773127  0.62972786]
 [ 0.31250743 -0.69461814 -0.64795428]]

 t_estimated:
[[-0.75470107]
 [-0.6471113 ]
 [-0.10804291]]

 R_gt:
[[ 0.9645971   0.2630835  -0.0184062 ]
 [-0.26372299  0.96182964 -0.0730406 ]
 [-0.00151301  0.07530912  0.99715852]]

 t_gt:
[-0.63945973  0.73965566 -0.20976359]

Pose Error in degrees for R and t:
135.17172659766473 88.47432679772561

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.96401553e-01 -8.47554919e-02 -6.71677133e-04]
 [ 8.47557081e-02  9.96401716e-01  3.00186731e-04]
 [ 6.43817774e-04 -3.56034996e-04  9.99999729e-01]]

 t_estimated:
[[-0.62717381]
 [-0.77887817]
 [-0.00134493]]

 R_gt:
[[ 0.99972301  0.01838015 -0.01475122]
 [-0.01847368  0.99980959 -0.00628292]
 [ 0.01463228  0.00655352  0.99987148]]

 t_gt:
[ 0.7389409   0.62169484 -0.25973426]

Pose Error in degrees for R and t:
5.984491526070331 18.680455711643873

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 0.8871296   0.4615158  -0.00205794]
 [ 0.46151059 -0.88713101 -0.00255873]
 [-0.00300655  0.00132016 -0.99999461]]

 t_estimated:
[[0.03944287]
 [0.99921942]
 [0.00219127]]

 R_gt:
[[ 0.99880202  0.04299761 -0.02335208]
 [-0.0433334   0.99896131 -0.0140677 ]
 [ 0.02272317  0.01506308  0.99962828]]

 t_gt:
[ 0.72881306  0.60823753 -0.31444973]

Pose Error in degrees for R and t:
179.384840137336 50.51915721871918

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.99914288 -0.01786851  0.03733917]
 [ 0.00373547 -0.93727416 -0.34857307]
 [ 0.04122552 -0.34813483  0.93653756]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99677681  0.0616511  -0.05135177]
 [-0.06113337  0.99806254  0.01158109]
 [ 0.05196692 -0.00840365  0.99861295]]

 t_gt:
[ 0.87259547  0.46249944 -0.15707139]

Pose Error in degrees for R and t:
177.6784459855075 20.86113747909137

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99996899e-01  2.46940811e-03  3.21348567e-04]
 [-2.46921587e-03  9.99996773e-01 -5.97254596e-04]
 [-3.22822396e-04  5.96459265e-04  9.99999770e-01]]

 t_estimated:
[[ 0.17541459]
 [-0.98447723]
 [-0.00585755]]

 R_gt:
[[ 0.99581342 -0.08784074 -0.0253004 ]
 [ 0.08806045  0.99608546  0.00773994]
 [ 0.02452191 -0.00993579  0.99964994]]

 t_gt:
[ 0.81569524 -0.56551659 -0.12178777]

Pose Error in degrees for R and t:
5.412948307679093 45.529942355566845

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99999957e-01 -2.28803221e-04  1.85537045e-04]
 [ 2.28810868e-04  9.99999973e-01 -4.11949195e-05]
 [-1.85527614e-04  4.12373706e-05  9.99999982e-01]]

 t_estimated:
[[0.59735877]
 [0.80197354]
 [0.00096974]]

 R_gt:
[[ 9.94344551e-01 -1.05108739e-01 -1.52160833e-02]
 [ 1.05132403e-01  9.94457960e-01  7.72667498e-04]
 [ 1.50506624e-02 -2.36841066e-03  9.99883731e-01]]

 t_gt:
[ 0.83415345 -0.54683368 -0.07183977]

Pose Error in degrees for R and t:
6.085795943258371 86.578952791116

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999910e-01 -1.89067888e-04  3.79946532e-04]
 [ 1.89216194e-04  9.99999906e-01 -3.90336855e-04]
 [-3.79872696e-04  3.90408712e-04  9.99999852e-01]]

 t_estimated:
[[0.56843162]
 [0.82272998]
 [0.00093492]]

 R_gt:
[[ 0.96632455 -0.25309652 -0.04647016]
 [ 0.2532449   0.96739873 -0.0027657 ]
 [ 0.04565416 -0.00909673  0.99891602]]

 t_gt:
[ 0.81097331 -0.5798919  -0.07776681]

Pose Error in degrees for R and t:
14.906114180204442 89.0726683697614

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.81716929e-01  1.90346206e-01  4.40557576e-04]
 [-1.90346091e-01  9.81717007e-01 -2.89766467e-04]
 [-4.87658812e-04  2.00610234e-04  9.99999861e-01]]

 t_estimated:
[[0.67343345]
 [0.73924627]
 [0.00153053]]

 R_gt:
[[ 0.98845597 -0.15050743 -0.01742299]
 [ 0.15068626  0.98853709  0.00944605]
 [ 0.01580129 -0.01196296  0.99980281]]

 t_gt:
[ 0.70103535 -0.71289112 -0.01832202]

Pose Error in degrees for R and t:
19.66958484211809 86.85118738270475

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.99998083  0.00477961  0.0039361 ]
 [-0.00475729  0.99997267 -0.00566014]
 [-0.00396305  0.0056413   0.99997623]]

 t_estimated:
[[-0.22848605]
 [-0.97341754]
 [-0.0158877 ]]

 R_gt:
[[ 0.98333455 -0.1760126  -0.04552356]
 [ 0.17447362  0.98400849 -0.03585468]
 [ 0.05110723  0.02731418  0.9983192 ]]

 t_gt:
[ 0.74289877 -0.63042403 -0.22509324]

Pose Error in degrees for R and t:
10.903127342754146 63.4165993385497

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.70580012e-01 -2.40778785e-01 -1.30282041e-04]
 [ 2.40778813e-01  9.70579972e-01  2.84815410e-04]
 [ 5.78716319e-05 -3.07805299e-04  9.99999951e-01]]

 t_estimated:
[[8.57669912e-01]
 [5.14200228e-01]
 [6.69531547e-04]]

 R_gt:
[[ 0.98056423 -0.16675555 -0.10338094]
 [ 0.15636121  0.98245627 -0.1016415 ]
 [ 0.11851637  0.08350121  0.98943419]]

 t_gt:
[ 0.72290202 -0.44683215 -0.52702344]

Pose Error in degrees for R and t:
9.517913302866654 67.05189326415972

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.98015948e-01  6.29615943e-02 -6.90869024e-05]
 [-6.29615788e-02  9.98015930e-01  2.07176393e-04]
 [ 8.19939851e-05 -2.02415523e-04  9.99999976e-01]]

 t_estimated:
[[-9.80271942e-01]
 [ 1.97653406e-01]
 [ 2.23572054e-04]]

 R_gt:
[[ 0.95193579  0.30596872  0.01418666]
 [-0.30564578  0.95191048 -0.02115889]
 [-0.01997839  0.0158065   0.99967521]]

 t_gt:
[-0.91519888  0.4010122  -0.04000279]

Pose Error in degrees for R and t:
14.2755454208772 12.473431236562462

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.94617834e-01 -1.03609413e-01 -6.72996432e-04]
 [ 1.03609773e-01  9.94617887e-01  5.23658469e-04]
 [ 6.15118342e-04 -5.90569060e-04  9.99999636e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.90365664  0.42824666  0.00310225]
 [-0.4282328   0.90365833 -0.00412623]
 [-0.00456994  0.00240103  0.999986  ]]

 t_gt:
[-0.8909601   0.45392619 -0.01187928]

Pose Error in degrees for R and t:
31.305086307597357 27.182337194135606

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.02766877  0.99960568  0.00478866]
 [ 0.99961625 -0.02766202 -0.00146937]
 [-0.00133632  0.00482748 -0.99998745]]

 t_estimated:
[[-9.80492042e-01]
 [-1.96557297e-01]
 [-7.64814385e-04]]

 R_gt:
[[ 0.86394531  0.50299406  0.02441323]
 [-0.50258174  0.86426866 -0.0212474 ]
 [-0.0317862   0.00608738  0.99947574]]

 t_gt:
[-0.86671219  0.49880761  0.00096841]

Pose Error in degrees for R and t:
178.04804845933634 41.25698735098739

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.38178336 -0.9242164  -0.00809423]
 [-0.92422047 -0.38168361 -0.01158226]
 [ 0.00761508  0.01190277 -0.99990016]]

 t_estimated:
[[ 0.60423819]
 [ 0.79677601]
 [-0.00664869]]

 R_gt:
[[ 0.99569383  0.02160399 -0.09015228]
 [-0.03461142  0.98877972 -0.14531594]
 [ 0.08600209  0.14781115  0.98526896]]

 t_gt:
[ 0.04419908  0.44411844 -0.89487723]

Pose Error in degrees for R and t:
169.35534582088283 67.26189826921217

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 6.94411966e-01  7.19577651e-01  1.59511994e-04]
 [-7.19576852e-01  6.94411495e-01 -1.35227904e-03]
 [-1.08383674e-03  8.24257608e-04  9.99999073e-01]]

 t_estimated:
[[-7.83636875e-01]
 [ 6.21219144e-01]
 [ 1.51602485e-04]]

 R_gt:
[[ 0.99582667  0.06785017 -0.06103128]
 [-0.07740448  0.98222176 -0.17101972]
 [ 0.04834312  0.17503004  0.9833754 ]]

 t_gt:
[-0.14411914  0.6451789  -0.75031584]

Pose Error in degrees for R and t:
43.03852771591925 59.09468768254225

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.97469448e-01 -7.10963240e-02 -1.16732076e-04]
 [ 7.10951215e-02  9.97459810e-01 -4.40583640e-03]
 [ 4.29674327e-04  4.38638812e-03  9.99990287e-01]]

 t_estimated:
[[-0.60438721]
 [-0.79666444]
 [-0.00647043]]

 R_gt:
[[ 0.98837862  0.13030304 -0.07827914]
 [-0.13950739  0.98208138 -0.12670026]
 [ 0.06036793  0.13614942  0.98884747]]

 t_gt:
[-0.25895001  0.77460512 -0.57700242]

Pose Error in degrees for R and t:
14.498294281348912 62.81527272031335

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.76466897 -0.64441452 -0.00336077]
 [ 0.6444224  -0.76464888 -0.00564545]
 [ 0.0010682  -0.00648266  0.99997842]]

 t_estimated:
[[9.99500647e-01]
 [3.15905571e-02]
 [7.02483661e-04]]

 R_gt:
[[ 0.94916495  0.31405715 -0.0212814 ]
 [-0.31442817  0.94912681 -0.01709912]
 [ 0.01482837  0.0229218   0.99962733]]

 t_gt:
[-0.90051036  0.4272753  -0.0807274 ]

Pose Error in degrees for R and t:
158.19541603464225 27.548514907783687

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.90218744e-01 -1.39521911e-01  6.89432960e-04]
 [ 1.39522489e-01  9.90218514e-01 -8.77167151e-04]
 [-5.60305244e-04  9.64778757e-04  9.99999378e-01]]

 t_estimated:
[[-8.42605021e-01]
 [-5.38531658e-01]
 [-6.56745924e-04]]

 R_gt:
[[ 8.36401149e-01  5.48022290e-01 -1.02320561e-02]
 [-5.48117011e-01  8.36278281e-01 -1.43266900e-02]
 [ 7.05558628e-04  1.75920122e-02  9.99845258e-01]]

 t_gt:
[-0.85198239  0.52252863 -0.03301273]

Pose Error in degrees for R and t:
41.26869364013452 64.11870359211915

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 0.93947843 -0.34247405  0.00958137]
 [ 0.34255542  0.9394569  -0.00874771]
 [-0.00600542  0.01150043  0.99991583]]

 t_estimated:
[[7.61404037e-01]
 [6.48277281e-01]
 [6.77405727e-04]]

 R_gt:
[[ 0.80356911  0.59520352 -0.00280069]
 [-0.5949991   0.80315049 -0.03040882]
 [-0.0158504   0.0261017   0.99953337]]

 t_gt:
[-0.83247272  0.55281248 -0.03724967]

Pose Error in degrees for R and t:
56.568373428209526 74.00833307388787

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.2862713  -0.9538532  -0.09062461]
 [ 0.92787551 -0.2523961  -0.27448724]
 [ 0.23894724 -0.16266618  0.95731078]]

 t_estimated:
[[ 0.98089703]
 [-0.16276207]
 [-0.10653419]]

 R_gt:
[[ 0.99684323  0.04465904 -0.0656469 ]
 [-0.0507025   0.99432771 -0.09349183]
 [ 0.06109915  0.09652494  0.99345345]]

 t_gt:
[-0.16859175  0.41756302 -0.89287062]

Pose Error in degrees for R and t:
108.7967035695092 82.05552799458096

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.66750373 -0.6243301  -0.40577173]
 [-0.53261667  0.78115952 -0.3257442 ]
 [ 0.52034436 -0.00131468 -0.85395551]]

 t_estimated:
[[0.86893412]
 [0.49492688]
 [0.00093736]]

 R_gt:
[[ 0.98950356  0.11892501 -0.08210376]
 [-0.12869788  0.98360425 -0.12632582]
 [ 0.06573388  0.13556643  0.98858457]]

 t_gt:
[-0.3620063   0.58250444 -0.72776371]

Pose Error in degrees for R and t:
144.76390697411287 88.45599586726325

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-8.36740101e-01 -5.47596073e-01 -2.13158892e-03]
 [-5.47600220e-01  8.36733473e-01  3.33081720e-03]
 [-4.03706244e-05  3.95428689e-03 -9.99992181e-01]]

 t_estimated:
[[9.61986331e-01]
 [2.73096368e-01]
 [8.20107405e-04]]

 R_gt:
[[ 0.99254222  0.11853362 -0.02850154]
 [-0.12014007  0.990721   -0.0635498 ]
 [ 0.02070322  0.06649978  0.99757101]]

 t_gt:
[-0.58774671  0.66313335 -0.4634738 ]

Pose Error in degrees for R and t:
177.50383376772953 67.37580840203157

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999887e-01 -3.54826657e-04  3.16409263e-04]
 [ 3.54926921e-04  9.99999887e-01 -3.16878470e-04]
 [-3.16296790e-04  3.16990736e-04  9.99999900e-01]]

 t_estimated:
[[ 9.99997038e-01]
 [-2.43151013e-03]
 [-1.07638951e-04]]

 R_gt:
[[ 0.99727461 -0.07268568  0.01262888]
 [ 0.0730513   0.99683552 -0.03133281]
 [-0.01031087  0.03217096  0.99942944]]

 t_gt:
[ 0.33942821 -0.88549153 -0.31732197]

Pose Error in degrees for R and t:
4.578304145932862 70.02473469738838

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.94747733e-01  1.02356837e-01  1.57198234e-04]
 [-1.02356854e-01  9.94747739e-01  1.03295326e-04]
 [-1.45799605e-04 -1.18843108e-04  9.99999982e-01]]

 t_estimated:
[[-0.42471988]
 [-0.90532396]
 [-0.00124187]]

 R_gt:
[[ 0.98776014 -0.15463338 -0.02043678]
 [ 0.15384305  0.98744548 -0.03581268]
 [ 0.02571812  0.03223009  0.99915002]]

 t_gt:
[ 0.46058913 -0.83098077 -0.31197535]

Pose Error in degrees for R and t:
14.940056112726106 56.146392060346614

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.65406180e-01  2.60750331e-01  4.14733105e-04]
 [-2.60749724e-01  9.65405753e-01 -1.14579826e-03]
 [-6.99153001e-04  9.98019180e-04  9.99999258e-01]]

 t_estimated:
[[0.81286927]
 [0.58244549]
 [0.00089602]]

 R_gt:
[[ 0.95439632 -0.29667205 -0.03336607]
 [ 0.29559503  0.95471876 -0.03367113]
 [ 0.04184408  0.02227313  0.99887647]]

 t_gt:
[ 0.61926566 -0.75952864 -0.19906351]

Pose Error in degrees for R and t:
32.46009709030692 86.51314014086024

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99999954e-01  2.88921698e-04 -9.24180581e-05]
 [-2.88904117e-04  9.99999940e-01  1.90191426e-04]
 [ 9.24730030e-05 -1.90164717e-04  9.99999978e-01]]

 t_estimated:
[[ 9.99767574e-01]
 [-2.15510491e-02]
 [ 5.92362831e-04]]

 R_gt:
[[ 0.99581667 -0.09072829 -0.01084613]
 [ 0.09062977  0.99584052 -0.00927692]
 [ 0.01164262  0.00825517  0.99989822]]

 t_gt:
[ 0.70450102 -0.70354775 -0.09326773]

Pose Error in degrees for R and t:
5.283776626992549 43.99138669177024

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.98653073e-01  5.18845520e-02  1.82825795e-04]
 [-5.18845605e-02  9.98653088e-01  4.20753447e-05]
 [-1.80396485e-04 -5.15045083e-05  9.99999982e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99493425 -0.08462322 -0.05426762]
 [ 0.08053906  0.99403847 -0.07349933]
 [ 0.06016335  0.06875622  0.99581743]]

 t_gt:
[ 0.67747212 -0.41074948 -0.61017735]

Pose Error in degrees for R and t:
9.334869330290461 83.01846698116037

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.94252079 -0.33328152 -0.02404143]
 [ 0.33363046  0.94262443  0.01224331]
 [ 0.01858157 -0.01956052  0.99963599]]

 t_estimated:
[[0.71595795]
 [0.69814251]
 [0.00111346]]

 R_gt:
[[ 0.98858146 -0.09253044 -0.11893091]
 [ 0.07546766  0.98716695 -0.14073159]
 [ 0.13042614  0.13014929  0.98287818]]

 t_gt:
[ 0.57009933 -0.14870235 -0.80800641]

Pose Error in degrees for R and t:
18.025513045571316 72.33494154407303

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-0.1009051  -0.99489478 -0.00159534]
 [-0.99489175  0.10090925 -0.00278069]
 [ 0.00292748  0.00130661 -0.99999486]]

 t_estimated:
[[8.31947866e-01]
 [5.54853409e-01]
 [6.64495101e-04]]

 R_gt:
[[ 0.99862189 -0.05246226 -0.00129169]
 [ 0.05244651  0.99857707 -0.00967061]
 [ 0.00179789  0.00958918  0.9999522 ]]

 t_gt:
[ 0.73899102 -0.66750268 -0.09128228]

Pose Error in degrees for R and t:
179.38519832953855 75.85508647692143

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-0.28846665  0.95718897 -0.02400534]
 [-0.95738279 -0.28871878 -0.00772406]
 [-0.01432418  0.02075417  0.99968199]]

 t_estimated:
[[0.7329215 ]
 [0.6803108 ]
 [0.00181416]]

 R_gt:
[[ 0.9767649  -0.21224734 -0.02968682]
 [ 0.21248182  0.97715292  0.0049042 ]
 [ 0.02796794 -0.01109762  0.99954708]]

 t_gt:
[ 0.73838009 -0.67308006 -0.04192938]

Pose Error in degrees for R and t:
119.0518135899551 85.22776502430109

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-2.59089003e-01 -9.65852293e-01 -1.49570705e-03]
 [ 9.65841257e-01 -2.59093203e-01  4.62376146e-03]
 [-4.85339813e-03 -2.46649828e-04  9.99988192e-01]]

 t_estimated:
[[9.93547333e-01]
 [1.13414365e-01]
 [9.37308805e-04]]

 R_gt:
[[ 0.96360576 -0.26477856 -0.03681307]
 [ 0.26529945  0.96411464  0.00997897]
 [ 0.03284969 -0.01938289  0.99927208]]

 t_gt:
[ 0.74606504 -0.66525565 -0.02866834]

Pose Error in degrees for R and t:
89.66408003087622 48.25822869161044

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 8.70083554e-01 -4.92900352e-01  1.96276657e-03]
 [ 4.92903344e-01  8.70082717e-01 -1.53596077e-03]
 [-9.50693667e-04  2.30386841e-03  9.99996894e-01]]

 t_estimated:
[[0.75651406]
 [0.65397693]
 [0.00080738]]

 R_gt:
[[ 0.9991652   0.03684844 -0.01762308]
 [-0.03620784  0.99871541  0.03544359]
 [ 0.01890643 -0.03477623  0.9992166 ]]

 t_gt:
[-0.92310728  0.2719687   0.27185653]

Pose Error in degrees for R and t:
31.715436362255584 58.65011303819394

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-7.65751793e-01 -6.43134693e-01 -1.39918432e-03]
 [ 6.43132915e-01 -7.65753021e-01  1.53730381e-03]
 [-2.06012304e-03  2.77331662e-04  9.99997839e-01]]

 t_estimated:
[[8.51611854e-01]
 [5.24172486e-01]
 [6.73743556e-04]]

 R_gt:
[[ 0.99925004  0.03571788 -0.01496241]
 [-0.03563123  0.99934653  0.00609137]
 [ 0.01517076 -0.00555296  0.9998703 ]]

 t_gt:
[-0.90056182 -0.27789682 -0.3343079 ]

Pose Error in degrees for R and t:
142.0200134940244 24.101957799759003

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 0.18914334  0.98194799 -0.0017158 ]
 [-0.98153721  0.18901301 -0.0293052 ]
 [-0.02845188  0.00722701  0.99956904]]

 t_estimated:
[[0.65492477]
 [0.75568242]
 [0.00419824]]

 R_gt:
[[ 0.99767968 -0.06198776 -0.0281613 ]
 [ 0.06162002  0.9980056  -0.01372701]
 [ 0.028956    0.01196018  0.99951011]]

 t_gt:
[ 0.40438634 -0.85834867 -0.3157677 ]

Pose Error in degrees for R and t:
82.68114697629106 67.34868317408454

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[-0.65349236  0.75442713 -0.06154222]
 [ 0.75442652  0.65578321  0.02808924]
 [ 0.06154964 -0.02807298 -0.99770915]]

 t_estimated:
[[ 0.9140283 ]
 [-0.40425074]
 [-0.03366918]]

 R_gt:
[[ 0.99951863  0.02062949 -0.0231656 ]
 [-0.02102536  0.99963411 -0.01700693]
 [ 0.02280701  0.01748431  0.99958684]]

 t_gt:
[-0.1015688   0.80840207 -0.57980158]

Pose Error in degrees for R and t:
175.33314191389613 66.41479206659676

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 8.06731104e-01 -5.90907771e-01  3.59604794e-03]
 [ 5.90918630e-01  8.06712830e-01 -5.43897095e-03]
 [ 3.12952184e-04  6.51275876e-03  9.99978743e-01]]

 t_estimated:
[[-0.62588507]
 [-0.77991147]
 [-0.00244486]]

 R_gt:
[[ 0.99668446  0.08000925 -0.01479557]
 [-0.08064906  0.99551549 -0.04942904]
 [ 0.01077492  0.05045879  0.99866817]]

 t_gt:
[-0.37648768  0.83224773 -0.40696528]

Pose Error in degrees for R and t:
40.91294991578967 65.64138301455846

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.99945694e-01  1.04208372e-02 -1.22334281e-04]
 [-1.04208275e-02  9.99945699e-01  7.94547831e-05]
 [ 1.23155624e-04 -7.81756438e-05  9.99999989e-01]]

 t_estimated:
[[-9.74968810e-01]
 [ 2.22340360e-01]
 [-7.64609732e-04]]

 R_gt:
[[ 0.98541351  0.16890194 -0.02081662]
 [-0.16963984  0.98464586 -0.04116802]
 [ 0.01354335  0.04409838  0.9989356 ]]

 t_gt:
[-0.56199653  0.80097483 -0.20639579]

Pose Error in degrees for R and t:
9.527357668590518 43.43324056581077

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.94047355e-01  1.08948721e-01  1.80106313e-04]
 [-1.08948779e-01  9.94047305e-01  3.45364994e-04]
 [-1.41407120e-04 -3.62931521e-04  9.99999924e-01]]

 t_estimated:
[[0.27149595]
 [0.96243812]
 [0.00167732]]

 R_gt:
[[ 0.99809939 -0.05160031 -0.03371261]
 [ 0.05124096  0.99862142 -0.01145746]
 [ 0.03425817  0.00970843  0.99936559]]

 t_gt:
[ 0.98346348 -0.02749669 -0.17900703]

Pose Error in degrees for R and t:
9.429183078105618 76.09916233631924

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99926944e-01 -1.20868488e-02  1.22541567e-04]
 [ 1.20868515e-02  9.99926951e-01 -2.10131590e-05]
 [-1.22278633e-04  2.24927656e-05  9.99999992e-01]]

 t_estimated:
[[ 0.81149687]
 [ 0.58435615]
 [-0.00084474]]

 R_gt:
[[ 9.96724561e-01 -6.09242185e-02 -5.31923513e-02]
 [ 6.10638402e-02  9.98134212e-01  9.98406152e-04]
 [ 5.30330674e-02 -4.24374051e-03  9.98583714e-01]]

 t_gt:
[ 0.9901158   0.04759318 -0.13193025]

Pose Error in degrees for R and t:
4.149183432039522 33.757313394717926

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.49921514 -0.86639163  0.01223868]
 [-0.86647537 -0.49919906  0.00455404]
 [ 0.00216396 -0.01287796 -0.99991473]]

 t_estimated:
[[0.59311246]
 [0.80511209]
 [0.00348295]]

 R_gt:
[[ 0.99674217 -0.04210754 -0.06879564]
 [ 0.04193157  0.99911251 -0.00400108]
 [ 0.06890411  0.00110331  0.99762267]]

 t_gt:
[ 0.96960082  0.16165286 -0.18369157]

Pose Error in degrees for R and t:
178.46382437483658 45.203471694936454

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-1.00718974e-02  9.99949245e-01  2.53267565e-04]
 [-9.99947632e-01 -1.00714211e-02 -1.81644681e-03]
 [-1.81380385e-03 -2.71549368e-04  9.99998318e-01]]

 t_estimated:
[[0.1084047 ]
 [0.99410631]
 [0.00102959]]

 R_gt:
[[ 0.98575248 -0.16505814 -0.03237299]
 [ 0.16459974  0.98622497 -0.01634045]
 [ 0.03462446  0.01077983  0.99934187]]

 t_gt:
[ 0.69377779 -0.6909531  -0.20311621]

Pose Error in degrees for R and t:
100.08465282525445 52.27435005436308

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.98488931e-01  5.49517547e-02  3.99183751e-04]
 [-5.49516068e-02  9.98488949e-01 -3.72616566e-04]
 [-4.19056499e-04  3.50117728e-04  9.99999851e-01]]

 t_estimated:
[[-0.24863169]
 [-0.96859724]
 [-0.00129105]]

 R_gt:
[[ 0.95707115 -0.28558525 -0.04955497]
 [ 0.28133236  0.95640995 -0.0783054 ]
 [ 0.06975799  0.06100193  0.99569651]]

 t_gt:
[ 0.7400391  -0.56432819 -0.36589044]

Pose Error in degrees for R and t:
20.353057351180716 68.71041017086829

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99990613e-01  7.28918681e-04 -4.27111211e-03]
 [-7.01154452e-04  9.99978640e-01  6.49836384e-03]
 [ 4.27575765e-03 -6.49530813e-03  9.99969764e-01]]

 t_estimated:
[[-0.75090221]
 [-0.66041294]
 [-0.00079377]]

 R_gt:
[[ 0.9231392  -0.38397038  0.01949903]
 [ 0.38433864  0.92034908 -0.07239802]
 [ 0.00985319  0.07432811  0.99718512]]

 t_gt:
[ 0.75651486 -0.62373493 -0.1965706 ]

Pose Error in degrees for R and t:
23.141719009230524 81.02578080140854

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.71665787e-01 -2.36359038e-01  6.51275540e-05]
 [ 2.36359042e-01  9.71665786e-01 -5.53831398e-05]
 [-5.01919103e-05  6.92073884e-05  9.99999996e-01]]

 t_estimated:
[[-8.30736934e-01]
 [-5.56664749e-01]
 [-7.10031567e-04]]

 R_gt:
[[ 0.99632348  0.08140912 -0.02668643]
 [-0.08280055  0.99499027 -0.05601785]
 [ 0.02199196  0.05802073  0.99807273]]

 t_gt:
[-0.5203768   0.71448435 -0.4676752 ]

Pose Error in degrees for R and t:
18.72362468353049 87.99996899373706

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.95281662 -0.30353691 -0.00241577]
 [ 0.3035441   0.95281065  0.00358302]
 [ 0.00121419 -0.00414725  0.99999066]]

 t_estimated:
[[-0.95808178]
 [-0.28649177]
 [-0.00133252]]

 R_gt:
[[ 0.98917496  0.12758136 -0.07250178]
 [-0.13656107  0.98116917 -0.13659418]
 [ 0.05370862  0.14501644  0.98797057]]

 t_gt:
[-0.40130927  0.69458567 -0.59707757]

Pose Error in degrees for R and t:
26.855095434908666 79.26366960840735

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 8.62004918e-01 -5.06892085e-01  2.81695675e-03]
 [ 5.06899904e-01  8.61990570e-01 -4.97440273e-03]
 [ 9.32952195e-05  5.71587472e-03  9.99983660e-01]]

 t_estimated:
[[-0.304229  ]
 [-0.95258587]
 [-0.00498736]]

 R_gt:
[[ 0.97867893  0.14466422 -0.14581055]
 [-0.17591986  0.95679859 -0.23149291]
 [ 0.10602218  0.25220708  0.96184687]]

 t_gt:
[-0.25491306  0.64834534 -0.71740341]

Pose Error in degrees for R and t:
42.69709577767635 57.556021207216816

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.39640513e-01  3.42163171e-01  2.66489354e-04]
 [-3.42163078e-01  9.39640523e-01 -3.39720339e-04]
 [-3.66643984e-04  2.28032176e-04  9.99999907e-01]]

 t_estimated:
[[-2.17358575e-01]
 [ 9.76091651e-01]
 [ 5.82211731e-04]]

 R_gt:
[[ 0.98737585 -0.14152323  0.07114565]
 [ 0.13787683  0.98898654  0.05380644]
 [-0.07797619 -0.04331777  0.99601329]]

 t_gt:
[ 0.54726161 -0.67987506  0.48813383]

Pose Error in degrees for R and t:
28.507915562869233 38.529441407973664

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-7.94524421e-01  6.07179576e-01  7.99415601e-03]
 [ 6.07197207e-01  7.94551116e-01 -2.75211416e-04]
 [-6.51886833e-03  4.63536701e-03 -9.99968008e-01]]

 t_estimated:
[[0.95783725]
 [0.2873054 ]
 [0.00184505]]

 R_gt:
[[ 0.9731898  -0.2156589   0.07996338]
 [ 0.20996274  0.97490779  0.07395879]
 [-0.09390567 -0.05518643  0.9940497 ]]

 t_gt:
[ 0.62105049 -0.65092938  0.43656297]

Pose Error in degrees for R and t:
175.99116254947026 65.87961180564632

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.68961139  0.72411567  0.00962446]
 [ 0.72411915  0.68966465 -0.00375885]
 [-0.00935949  0.00437711 -0.99994662]]

 t_estimated:
[[ 0.90947376]
 [-0.41572723]
 [ 0.00532486]]

 R_gt:
[[ 0.96554037 -0.25373091  0.05791275]
 [ 0.2496588   0.96585348  0.06926448]
 [-0.07350939 -0.05241857  0.99591525]]

 t_gt:
[ 0.70808804 -0.62602298  0.32665969]

Pose Error in degrees for R and t:
177.30437290901924 25.044171316475804

Number of keypoints:
Image1: 709
Image2: 709

 R_estimated:
[[ 9.99327401e-01  3.66707624e-02  6.84197300e-06]
 [-3.66707619e-02  9.99327400e-01 -5.54104369e-05]
 [-8.86931405e-06  5.51222675e-05  9.99999998e-01]]

 t_estimated:
[[-2.76568881e-01]
 [-9.60994022e-01]
 [-3.80160692e-04]]

 R_gt:
[[ 9.99216683e-01 -1.89456650e-05 -3.95792593e-02]
 [ 1.42882674e-03  9.99364441e-01  3.56347070e-02]
 [ 3.95530545e-02 -3.56626816e-02  9.98581022e-01]]

 t_gt:
[ 0.67641903 -0.73103214 -0.08971791]

Pose Error in degrees for R and t:
3.7313817456049527 58.970778666657296

Number of keypoints:
Image1: 633
Image2: 633

 R_estimated:
[[ 9.98654149e-01  5.18457575e-02  1.38168930e-03]
 [-5.18448819e-02  9.98654930e-01 -6.62206436e-04]
 [-1.41416342e-03  5.89681687e-04  9.99998826e-01]]

 t_estimated:
[[0.21087102]
 [0.97751226]
 [0.00178704]]

 R_gt:
[[ 0.99769221  0.06518984 -0.0189529 ]
 [-0.06426551  0.99687659  0.0459018 ]
 [ 0.02188599 -0.04457853  0.99876595]]

 t_gt:
[-0.95351421  0.15505116  0.25839849]

Pose Error in degrees for R and t:
3.0061617717885123 87.18895373667247

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[ 9.37649185e-01  3.47558925e-01  4.09863715e-03]
 [ 3.47582017e-01 -9.37551781e-01 -1.35425393e-02]
 [-8.64145841e-04  1.41227635e-02 -9.99899895e-01]]

 t_estimated:
[[9.93621021e-01]
 [1.12768100e-01]
 [7.88588112e-04]]

 R_gt:
[[ 0.98868332  0.14937137 -0.01391012]
 [-0.14780884  0.98577863  0.07996218]
 [ 0.02565557 -0.07700159  0.9967009 ]]

 t_gt:
[-0.94658166  0.20436301  0.24943722]

Pose Error in degrees for R and t:
176.15209545112472 23.465343236174476

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999998e-01  2.02004717e-05  5.90343099e-05]
 [-2.02063847e-05  9.99999995e-01  1.00164339e-04]
 [-5.90322862e-05 -1.00165531e-04  9.99999993e-01]]

 t_estimated:
[[0.79269642]
 [0.60961577]
 [0.00099615]]

 R_gt:
[[ 0.99944381 -0.02983604 -0.01490823]
 [ 0.03067563  0.99774604  0.05968511]
 [ 0.01309401 -0.06010984  0.99810558]]

 t_gt:
[ 0.73181312 -0.03548349  0.68058099]

Pose Error in degrees for R and t:
3.9268720666081554 56.0028059319774

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999893e-01 -3.99992946e-04  2.33796339e-04]
 [ 4.00072373e-04  9.99999862e-01 -3.39779077e-04]
 [-2.33660398e-04  3.39872576e-04  9.99999915e-01]]

 t_estimated:
[[ 0.99984189]
 [-0.01770553]
 [-0.0016429 ]]

 R_gt:
[[ 0.99722592 -0.0651101  -0.03608966]
 [ 0.06632071  0.99723908  0.03342308]
 [ 0.03381434 -0.03572486  0.99878971]]

 t_gt:
[0.996731   0.03128193 0.07449001]

Pose Error in degrees for R and t:
4.702673600899086 5.191923540072973

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999953e-01  1.14091457e-04  2.85945781e-04]
 [-1.13983043e-04  9.99999922e-01 -3.79129529e-04]
 [-2.85989014e-04  3.79096918e-04  9.99999887e-01]]

 t_estimated:
[[-0.32369893]
 [-0.94615868]
 [-0.00165776]]

 R_gt:
[[ 0.99928467 -0.03686887 -0.0084032 ]
 [ 0.03707517  0.99897824  0.02587031]
 [ 0.00744063 -0.02616337  0.99963086]]

 t_gt:
[0.92172126 0.34170834 0.18348112]

Pose Error in degrees for R and t:
2.650224982586326 51.53952113942944

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.98485019e-01 -5.50242345e-02 -2.33715964e-06]
 [ 5.50242342e-02  9.98485006e-01  1.64684555e-04]
 [-6.72802273e-06 -1.64563662e-04  9.99999986e-01]]

 t_estimated:
[[-4.55300384e-01]
 [ 8.90337784e-01]
 [ 4.36765214e-04]]

 R_gt:
[[ 0.99545361  0.0561535  -0.07693415]
 [-0.05426193  0.99817657  0.02645859]
 [ 0.07827981 -0.02216435  0.99668479]]

 t_gt:
[ 0.68898902  0.39886306 -0.60514659]

Pose Error in degrees for R and t:
7.8565589031978345 87.64094877587684

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 8.28632800e-01 -5.59790211e-01 -1.61297194e-03]
 [ 5.59792106e-01  8.28632292e-01  1.14998811e-03]
 [ 6.92808548e-04 -1.85584683e-03  9.99998038e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075876e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98140573  0.12469787 -0.14592197]
 [-0.11331225  0.99000908  0.08392634]
 [ 0.15492986 -0.06583119  0.98573026]]

 t_gt:
[ 0.86770771  0.25322517 -0.42773864]

Pose Error in degrees for R and t:
41.98533034145311 29.754840528927183

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 1.00000000e+00 -1.31872291e-12  5.37113756e-16]
 [ 1.31888944e-12  1.00000000e+00  2.29867124e-15]
 [-5.36680075e-16 -2.29823756e-15  1.00000000e+00]]

 t_estimated:
[[-0.87718356]
 [-0.48015421]
 [-0.00096982]]

 R_gt:
[[ 0.95941722  0.2245259  -0.17060439]
 [-0.20636467  0.97135398  0.11783763]
 [ 0.19217475 -0.07784873  0.978268  ]]

 t_gt:
[ 0.53839206  0.77028847 -0.34174502]

Pose Error in degrees for R and t:
17.3464117058988 32.66989918968182

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 8.89866684e-01 -4.56219665e-01 -9.49841745e-04]
 [ 4.56220069e-01  8.89866949e-01  2.50639918e-04]
 [ 7.30885915e-04 -6.56372979e-04  9.99999517e-01]]

 t_estimated:
[[ 2.41195369e-01]
 [-9.70476387e-01]
 [-6.13637620e-04]]

 R_gt:
[[ 0.99895986  0.03963535 -0.02252841]
 [-0.04185867  0.99319133 -0.10872089]
 [ 0.01806532  0.10955153  0.99381669]]

 t_gt:
[-0.20436001  0.61905751 -0.7582907 ]

Pose Error in degrees for R and t:
30.15599873286924 49.48809194061162

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.85203006e-01 -1.71391155e-01 -3.31366744e-04]
 [ 1.71391152e-01  9.85203061e-01 -3.74761980e-05]
 [ 3.32886619e-04 -1.98716650e-05  9.99999944e-01]]

 t_estimated:
[[-0.27804714]
 [-0.9605669 ]
 [-0.00100411]]

 R_gt:
[[ 0.99650446  0.08250763 -0.01302102]
 [-0.08337194  0.99202798 -0.09450455]
 [ 0.00511995  0.09526101  0.99543923]]

 t_gt:
[-0.32573123  0.80165114 -0.50125305]

Pose Error in degrees for R and t:
15.621332789016625 47.23697943960776

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-9.59785579e-01  2.78752814e-01 -3.32943177e-02]
 [ 2.78900348e-01  9.60320023e-01  2.21548608e-04]
 [ 3.20349572e-02 -9.07315765e-03 -9.99445566e-01]]

 t_estimated:
[[ 0.98625946]
 [-0.16467403]
 [-0.01321892]]

 R_gt:
[[ 0.98128263  0.18642635 -0.0482614 ]
 [-0.19013822  0.97768026 -0.08938247]
 [ 0.0305205   0.09688619  0.99482705]]

 t_gt:
[-0.43857561  0.83112603 -0.34187857]

Pose Error in degrees for R and t:
176.65251041361233 55.60500317943286

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999449e-01 -1.04871081e-03  4.80119372e-05]
 [ 1.04871755e-03  9.99999440e-01 -1.40621214e-04]
 [-4.78644394e-05  1.40671488e-04  9.99999989e-01]]

 t_estimated:
[[ 9.27867846e-01]
 [-3.72908687e-01]
 [-6.09118797e-04]]

 R_gt:
[[ 0.99121716 -0.1299966   0.02428485]
 [ 0.1299844   0.99151285  0.00205666]
 [-0.02434659  0.00111831  0.99970258]]

 t_gt:
[ 0.71571261 -0.6850484   0.13588289]

Pose Error in degrees for R and t:
7.540147558291791 23.15208756273723

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-7.09780276e-01  7.04420884e-01 -1.78265153e-03]
 [-7.04419757e-01 -7.09782438e-01 -1.30267004e-03]
 [-2.18292273e-03  3.31125460e-04  9.99997563e-01]]

 t_estimated:
[[0.85824638]
 [0.51323704]
 [0.00095044]]

 R_gt:
[[ 0.98040183 -0.19644942  0.01479033]
 [ 0.19644356  0.98051228  0.00185766]
 [-0.01486764  0.00108483  0.99988915]]

 t_gt:
[ 0.78622891 -0.61681239  0.03723677]

Pose Error in degrees for R and t:
146.54776589359503 69.00769650360057

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999224e-01  1.23059435e-03  1.91504570e-04]
 [-1.23059407e-03  9.99999243e-01 -1.59728491e-06]
 [-1.91506390e-04  1.36161928e-06  9.99999982e-01]]

 t_estimated:
[[9.99996446e-01]
 [2.66220821e-03]
 [1.45708099e-04]]

 R_gt:
[[ 0.96520549 -0.26128239 -0.01048667]
 [ 0.26131243  0.96525216  0.00157971]
 [ 0.00970955 -0.00426449  0.99994379]]

 t_gt:
[ 0.84343697 -0.53697321 -0.01654817]

Pose Error in degrees for R and t:
15.230567010468917 32.64786319798173

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-2.19097361e-01 -9.75702965e-01  2.64573039e-04]
 [-9.75702175e-01  2.19097521e-01  1.24188218e-03]
 [-1.26967543e-03  1.39486202e-05 -9.99999194e-01]]

 t_estimated:
[[0.80870587]
 [0.58821124]
 [0.00153598]]

 R_gt:
[[ 0.99178766  0.10091007 -0.07857767]
 [-0.0954083   0.99291121  0.0708789 ]
 [ 0.08517227 -0.06279999  0.99438486]]

 t_gt:
[0.25695601 0.94181782 0.21668597]

Pose Error in degrees for R and t:
178.78143144567528 40.34833023644435

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999932e-01 -2.91607315e-04 -2.25743688e-04]
 [ 2.91655202e-04  9.99999935e-01  2.12125070e-04]
 [ 2.25681816e-04 -2.12190895e-04  9.99999952e-01]]

 t_estimated:
[[-0.9820998 ]
 [ 0.18835766]
 [-0.0011682 ]]

 R_gt:
[[ 0.98030993  0.17537042 -0.09075517]
 [-0.16738197  0.98184368  0.0892582 ]
 [ 0.10476016 -0.07230998  0.99186516]]

 t_gt:
[-0.04708753  0.94656255  0.31906442]

Pose Error in degrees for R and t:
12.312648383537903 77.04626317727941

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.72986649 -0.68358513  0.00250416]
 [-0.68358155  0.72983495 -0.00756419]
 [ 0.00334315 -0.00723264 -0.99996826]]

 t_estimated:
[[8.71575335e-01]
 [4.90261126e-01]
 [6.80918231e-04]]

 R_gt:
[[ 0.95089103  0.26829806 -0.15434244]
 [-0.24951773  0.959511    0.13069055]
 [ 0.18315673 -0.08576079  0.97933554]]

 t_gt:
[ 0.07447772  0.99353035 -0.08573517]

Pose Error in degrees for R and t:
173.22268270835832 56.499527131312654

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999856e-01 -5.36173017e-04 -6.08313218e-06]
 [ 5.36172653e-04  9.99999854e-01 -5.97857038e-05]
 [ 6.11518678e-06  5.97824336e-05  9.99999998e-01]]

 t_estimated:
[[ 9.95507876e-01]
 [-9.46780096e-02]
 [-3.77466155e-04]]

 R_gt:
[[ 0.9867415  -0.1616428  -0.0146403 ]
 [ 0.16176895  0.98679665  0.00785078]
 [ 0.01317834 -0.01011363  0.9998615 ]]

 t_gt:
[ 0.72974429 -0.68208953 -0.04719265]

Pose Error in degrees for R and t:
9.324708402762509 37.71504953056091

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.09521449 -0.99545583 -0.0013789 ]
 [-0.9954561   0.0952127   0.00130501]
 [-0.00116779  0.00149689 -0.9999982 ]]

 t_estimated:
[[8.48910396e-01]
 [5.28536166e-01]
 [8.13132563e-04]]

 R_gt:
[[ 0.95675935 -0.28705476  0.04703657]
 [ 0.28317331  0.95612451  0.07509077]
 [-0.0665274  -0.05852328  0.99606617]]

 t_gt:
[ 0.70993309 -0.66356059  0.23597108]

Pose Error in degrees for R and t:
174.9509935703996 75.3954805050011

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-0.18817547 -0.98213352 -0.00193201]
 [ 0.98213384 -0.18817833  0.00142404]
 [-0.00176216 -0.00162952  0.99999712]]

 t_estimated:
[[0.99988949]
 [0.01482887]
 [0.0010592 ]]

 R_gt:
[[ 0.91878831 -0.38682118  0.07873548]
 [ 0.37844428  0.91986814  0.10306787]
 [-0.11229482 -0.06489983  0.99155295]]

 t_gt:
[ 0.74027981 -0.61326524  0.27548421]

Pose Error in degrees for R and t:
78.5376277389191 42.99646665861136

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[-7.69846977e-03 -9.99970207e-01 -5.64317405e-04]
 [ 9.99964678e-01 -7.69652134e-03 -3.37719456e-03]
 [ 3.37275066e-03 -5.90296702e-04  9.99994138e-01]]

 t_estimated:
[[ 0.82354533]
 [-0.56724436]
 [-0.00263076]]

 R_gt:
[[ 0.99874816  0.04784584 -0.01461153]
 [-0.04743093  0.99849584  0.02753114]
 [ 0.01590715 -0.02680386  0.99951422]]

 t_gt:
[-0.90258787  0.34383847  0.25905644]

Pose Error in degrees for R and t:
93.18597880223636 20.108380049444712

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 3.54492607e-01  9.35056418e-01  2.11817150e-03]
 [ 9.35058767e-01 -3.54492421e-01 -4.75149130e-04]
 [ 3.06584502e-04  2.14905169e-03 -9.99997644e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9898592   0.13989308  0.02466403]
 [-0.14118377  0.98802932  0.0621734 ]
 [-0.01567168 -0.06502549  0.9977609 ]]

 t_gt:
[-0.89527248  0.24846717  0.36979895]

Pose Error in degrees for R and t:
177.73593392415933 26.59276106478421

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.87759992e-01 -1.55980730e-01 -4.57898886e-04]
 [ 1.55980845e-01  9.87760055e-01  2.25451690e-04]
 [ 4.17128109e-04 -2.94115615e-04  9.99999870e-01]]

 t_estimated:
[[-0.30532583]
 [-0.95224734]
 [-0.00106819]]

 R_gt:
[[ 0.972909    0.23113236 -0.00517234]
 [-0.23065232  0.97193032  0.04638087]
 [ 0.01574723 -0.04393058  0.99891027]]

 t_gt:
[-0.89022741  0.44873848  0.07828751]

Pose Error in degrees for R and t:
22.485893348011455 81.04931896865146

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999322e-01  1.16305704e-03  4.87642710e-05]
 [-1.16306369e-03  9.99999314e-01  1.36593313e-04]
 [-4.86053717e-05 -1.36649937e-04  9.99999989e-01]]

 t_estimated:
[[0.99991637]
 [0.01287831]
 [0.00118737]]

 R_gt:
[[ 0.9934467  -0.11412325 -0.00625589]
 [ 0.11386766  0.99297887 -0.0320468 ]
 [ 0.00986871  0.03112408  0.99946667]]

 t_gt:
[ 0.65671945 -0.68683552 -0.31141056]

Pose Error in degrees for R and t:
6.875727734142626 49.650421173089

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.91055164 -0.41338997  0.00210959]
 [-0.41338471  0.91055296  0.00252648]
 [-0.00296531  0.00142842 -0.99999458]]

 t_estimated:
[[0.99655869]
 [0.08285994]
 [0.00223946]]

 R_gt:
[[ 0.96072824 -0.27215731  0.0541542 ]
 [ 0.27347762  0.9616996  -0.01853336]
 [-0.04703644  0.03261538  0.9983602 ]]

 t_gt:
[ 0.70296939 -0.71022073  0.03769009]

Pose Error in degrees for R and t:
177.2879730227005 50.07488732187458

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99749247e-01 -2.23877007e-02  4.84092611e-04]
 [ 2.23878103e-02  9.99749337e-01 -2.22122408e-04]
 [-4.78998457e-04  2.32904483e-04  9.99999858e-01]]

 t_estimated:
[[ 9.99975547e-01]
 [ 6.97197639e-03]
 [-5.44861852e-04]]

 R_gt:
[[ 0.91090323 -0.41012858  0.04527778]
 [ 0.40913404  0.91198706  0.02982269]
 [-0.05352435 -0.00864104  0.998529  ]]

 t_gt:
[ 0.75477469 -0.64427017  0.12341444]

Pose Error in degrees for R and t:
23.1219312693582 41.39254161775981

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99031567e-01 -4.39923745e-02 -7.73916964e-04]
 [ 4.39932050e-02  9.99031235e-01  1.09098783e-03]
 [ 7.25172075e-04 -1.12397837e-03  9.99999105e-01]]

 t_estimated:
[[-0.99742105]
 [-0.07175366]
 [-0.00162893]]

 R_gt:
[[ 0.9864074   0.16409695  0.00852866]
 [-0.16401559  0.98641277 -0.00947487]
 [-0.00996695  0.00794789  0.99991824]]

 t_gt:
[-0.87204332  0.4892518  -0.0131577 ]

Pose Error in degrees for R and t:
11.991211911051852 33.41432629538249

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99932695e-01 -1.16002977e-02 -1.96525989e-04]
 [ 1.16003136e-02  9.99932711e-01  8.00392366e-05]
 [ 1.95584286e-04 -8.23136127e-05  9.99999977e-01]]

 t_estimated:
[[-9.87745857e-01]
 [ 1.56069546e-01]
 [-6.47244016e-04]]

 R_gt:
[[ 0.95957334  0.27966745  0.03171895]
 [-0.28051551  0.9594861   0.02641505]
 [-0.02304603 -0.03424383  0.99914754]]

 t_gt:
[-0.88023785  0.44762361  0.15752595]

Pose Error in degrees for R and t:
17.10119999654046 20.080735598834693

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 6.20441014e-01  7.84252543e-01  9.46803598e-04]
 [-7.84252565e-01  6.20441557e-01 -4.35570391e-04]
 [-9.29033485e-04 -4.72287415e-04  9.99999457e-01]]

 t_estimated:
[[-0.07854043]
 [ 0.99691029]
 [ 0.00113125]]

 R_gt:
[[ 0.9448481   0.32447846  0.04446073]
 [-0.32663179  0.94352566  0.05540991]
 [-0.023969   -0.06687592  0.99747327]]

 t_gt:
[-0.88621662  0.39932566  0.23485981]

Pose Error in degrees for R and t:
32.87020337398927 62.09795405511734

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.17798633 -0.98357025  0.03017322]
 [-0.9832252   0.17899875  0.03503776]
 [-0.03986306 -0.02343083 -0.99893039]]

 t_estimated:
[[0.73506262]
 [0.67747419]
 [0.02667686]]

 R_gt:
[[ 0.99969674  0.02069433 -0.0133523 ]
 [-0.02105869  0.99939566 -0.02764617]
 [ 0.01277286  0.0279191   0.99952869]]

 t_gt:
[-0.30941732  0.70669544 -0.63627232]

Pose Error in degrees for R and t:
178.98331081210907 76.44650850591592

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 1.00000000e+00  3.23688285e-10 -1.07492195e-11]
 [-3.23688285e-10  1.00000000e+00 -3.34185002e-11]
 [ 1.07491693e-11  3.34185003e-11  1.00000000e+00]]

 t_estimated:
[[2.89639780e-03]
 [9.99995737e-01]
 [3.70821846e-04]]

 R_gt:
[[ 0.99142226  0.11743049 -0.05736365]
 [-0.1226171   0.98767372 -0.09729141]
 [ 0.04523171  0.10349122  0.99360217]]

 t_gt:
[-0.43382234  0.72419449 -0.53604153]

Pose Error in degrees for R and t:
9.477941290883107 43.719157367458216

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.27561539e-01 -3.73670412e-01  1.23057163e-04]
 [ 3.73670397e-01  9.27561544e-01  1.29727505e-04]
 [-1.62618422e-04 -7.43474252e-05  9.99999984e-01]]

 t_estimated:
[[0.44384635]
 [0.89610242]
 [0.00093441]]

 R_gt:
[[ 0.98832309  0.11311413 -0.10209227]
 [-0.13026648  0.97481679 -0.18100449]
 [ 0.07904613  0.19218973  0.97816931]]

 t_gt:
[-0.27966359  0.6556649  -0.70135   ]

Pose Error in degrees for R and t:
31.34533234993622 62.434658156849046

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.26511193  0.96411769 -0.01388336]
 [ 0.96408095 -0.26480443  0.02065251]
 [ 0.01623508 -0.01885991 -0.99969032]]

 t_estimated:
[[-0.75463419]
 [-0.6561412 ]
 [-0.00244235]]

 R_gt:
[[ 0.98227547  0.18734197 -0.00602651]
 [-0.18715015  0.98203985  0.02393052]
 [ 0.01040213 -0.02237909  0.99969471]]

 t_gt:
[-0.94707973  0.30605344  0.09680535]

Pose Error in degrees for R and t:
177.22814010212804 59.092869237893915

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.24755862e-01 -3.80559455e-01 -1.04733525e-03]
 [ 3.80559798e-01  9.24756303e-01  1.42638637e-04]
 [ 9.14247390e-04 -5.30479606e-04  9.99999441e-01]]

 t_estimated:
[[9.99988849e-01]
 [4.65833315e-03]
 [7.76388858e-04]]

 R_gt:
[[ 0.9675757   0.25191107  0.01839061]
 [-0.25173419  0.96772899 -0.01141872]
 [-0.02067267  0.00641893  0.99976577]]

 t_gt:
[-0.93008766  0.36733364 -0.00171322]

Pose Error in degrees for R and t:
36.977681680813525 21.818255038577707

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 9.81458868e-01 -1.91672868e-01 -4.24558854e-05]
 [ 1.91672873e-01  9.81458828e-01  2.81485520e-04]
 [-1.22844334e-05 -2.84404101e-04  9.99999959e-01]]

 t_estimated:
[[-8.57845411e-01]
 [-5.13907391e-01]
 [-6.66546551e-04]]

 R_gt:
[[ 0.91131662  0.41117826  0.02084976]
 [-0.41167171  0.91072614  0.03320463]
 [-0.00533443 -0.0388431   0.99923038]]

 t_gt:
[-0.87364364  0.47595028  0.1010847 ]

Pose Error in degrees for R and t:
35.42292521627628 59.68262397475242

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 6.22610438e-01 -7.82531192e-01 -1.08475922e-03]
 [ 7.82531776e-01  6.22610613e-01  2.08707995e-04]
 [ 5.12062087e-04 -9.78802336e-04  9.99999390e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99750077 -0.02293959 -0.06683069]
 [ 0.01816654  0.9972998  -0.07115341]
 [ 0.0682826   0.06976216  0.99522316]]

 t_gt:
[ 0.31331829  0.08341564 -0.94597753]

Pose Error in degrees for R and t:
50.60235348277149 85.15935208099594

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.19286199e-01 -3.93589734e-01 -7.01395781e-05]
 [ 3.93589739e-01  9.19286195e-01  9.50091948e-05]
 [ 2.70837021e-05 -1.14946860e-04  9.99999993e-01]]

 t_estimated:
[[9.40232315e-01]
 [3.40532858e-01]
 [7.53391278e-04]]

 R_gt:
[[ 0.99424368  0.01519163 -0.10606676]
 [-0.02340206  0.99678689 -0.07659927]
 [ 0.1045618   0.07864084  0.99140402]]

 t_gt:
[ 0.18003857  0.36090923 -0.91505773]

Pose Error in degrees for R and t:
25.409066350081083 73.05281056766312

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 8.83352701e-01 -4.68708870e-01 -2.75523230e-05]
 [ 4.68708867e-01  8.83352684e-01  1.82685939e-04]
 [-6.12881014e-05 -1.74290135e-04  9.99999983e-01]]

 t_estimated:
[[-0.17173165]
 [-0.98514323]
 [-0.00102833]]

 R_gt:
[[ 0.98999535  0.05560319 -0.12968451]
 [-0.07146882  0.99006636 -0.12108081]
 [ 0.12166418  0.12913836  0.98413414]]

 t_gt:
[ 0.0381087   0.57780775 -0.81528273]

Pose Error in degrees for R and t:
33.1952880423548 54.9053064252921

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99798964e-01  2.00503901e-02  1.18000223e-04]
 [-2.00503883e-02  9.99798971e-01 -1.62942273e-05]
 [-1.18303208e-04  1.39250013e-05  9.99999993e-01]]

 t_estimated:
[[0.94620956]
 [0.32355297]
 [0.00097326]]

 R_gt:
[[ 0.99793918 -0.06401745 -0.00428995]
 [ 0.06399653  0.99793853 -0.00460057]
 [ 0.00457473  0.00431724  0.99998   ]]

 t_gt:
[ 0.85326991 -0.5151199  -0.08112926]

Pose Error in degrees for R and t:
4.833060206262589 50.16158926576415

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999877e-01  4.43904818e-04  2.20110223e-04]
 [-4.43881423e-04  9.99999896e-01 -1.06325499e-04]
 [-2.20157399e-04  1.06227783e-04  9.99999970e-01]]

 t_estimated:
[[ 9.97571124e-01]
 [ 6.96551501e-02]
 [-1.11424457e-04]]

 R_gt:
[[ 0.98821288 -0.1483016  -0.03798823]
 [ 0.14827616  0.98893913 -0.00348761]
 [ 0.03808486 -0.00218545  0.99927219]]

 t_gt:
[ 0.85238426 -0.49814683 -0.15903083]

Pose Error in degrees for R and t:
8.833842188849944 35.349985170168836

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99999804e-01 -5.61473352e-05  6.23294015e-04]
 [ 5.66749156e-05  9.99999640e-01 -8.46453663e-04]
 [-6.23246265e-04  8.46488823e-04  9.99999448e-01]]

 t_estimated:
[[0.67215207]
 [0.74041248]
 [0.00097824]]

 R_gt:
[[ 9.84892035e-01 -1.69453218e-01 -3.57024316e-02]
 [ 1.69343507e-01  9.85537795e-01 -6.08563552e-03]
 [ 3.62167378e-02 -5.16424230e-05  9.99343885e-01]]

 t_gt:
[ 0.87017771 -0.47462371 -0.1323748 ]

Pose Error in degrees for R and t:
9.977455037445804 76.50591754580356

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99921384e-01  1.25193790e-02  7.00962060e-04]
 [-1.25190789e-02  9.99921540e-01 -4.30853678e-04]
 [-7.06301083e-04  4.22044406e-04  9.99999662e-01]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.99416102 -0.10466381 -0.02628394]
 [ 0.10332181  0.99348569 -0.04807884]
 [ 0.0311447   0.04508208  0.99849739]]

 t_gt:
[ 0.75530475 -0.50309877 -0.42000757]

Pose Error in degrees for R and t:
7.390912061186163 61.15347010000619

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 0.96398971  0.10853903 -0.24278205]
 [-0.0666282   0.98237701  0.17463131]
 [ 0.25745782 -0.15216665  0.95423309]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.96613002 -0.25671898 -0.02625603]
 [ 0.25549701  0.96587705 -0.04247575]
 [ 0.03626484  0.0343291   0.99875161]]

 t_gt:
[ 0.80038953 -0.57211952 -0.17904147]

Pose Error in degrees for R and t:
26.400283182362195 77.60256440556087

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.74454994e-01  2.24582854e-01  8.34565405e-05]
 [-2.24582869e-01  9.74454952e-01  2.86923863e-04]
 [-1.68864591e-05 -2.98337301e-04  9.99999955e-01]]

 t_estimated:
[[9.99974549e-01]
 [7.07946583e-03]
 [8.84933229e-04]]

 R_gt:
[[ 0.92233928 -0.38531934  0.02863206]
 [ 0.38522972  0.92277955  0.00881283]
 [-0.02981708  0.00290146  0.99955081]]

 t_gt:
[ 0.80578529 -0.5917426   0.02346835]

Pose Error in degrees for R and t:
35.68421957553543 36.717188286420125

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 0.45384067 -0.89086319  0.01978442]
 [-0.89088052 -0.45315266  0.03137781]
 [-0.01898798 -0.03186609 -0.99931177]]

 t_estimated:
[[0.53103912]
 [0.84714356]
 [0.01858079]]

 R_gt:
[[ 0.99846906 -0.01156458 -0.0540947 ]
 [ 0.0111587   0.99990765 -0.00780634]
 [ 0.05417961  0.0071899   0.99850525]]

 t_gt:
[ 0.85501587  0.29639741 -0.42555427]

Pose Error in degrees for R and t:
179.86750498700582 45.79474144918099

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[ 9.99875682e-01  1.57675804e-02  6.32829347e-05]
 [-1.57675921e-02  9.99875666e-01  1.88227298e-04]
 [-6.03071774e-05 -1.89201717e-04  9.99999980e-01]]

 t_estimated:
[[6.37284111e-01]
 [7.70628929e-01]
 [1.27128557e-04]]

 R_gt:
[[ 0.99311141 -0.05270138 -0.10465482]
 [ 0.04997036  0.99834305 -0.02855447]
 [ 0.10598579  0.02312716  0.99409858]]

 t_gt:
[ 0.91400966  0.15571376 -0.37461923]

Pose Error in degrees for R and t:
7.328150039219573 45.37740940970157

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.99649575e-01  2.64692573e-02 -3.25022017e-04]
 [-2.64693993e-02  9.99649527e-01 -4.40517271e-04]
 [ 3.13247940e-04  4.48966040e-04  9.99999850e-01]]

 t_estimated:
[[ 0.69602715]
 [ 0.71801375]
 [-0.00156812]]

 R_gt:
[[ 0.9917416  -0.08570604 -0.09541252]
 [ 0.08452217  0.99628761 -0.01638499]
 [ 0.09646222  0.00818442  0.99530316]]

 t_gt:
[ 0.97531906  0.11086941 -0.19094688]

Pose Error in degrees for R and t:
8.46697137965911 40.645547526150054

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[-0.19348195  0.98109685 -0.00370319]
 [-0.9810967  -0.19349356 -0.0030835 ]
 [-0.00374175  0.00303658  0.99998839]]

 t_estimated:
[[0.11275328]
 [0.99362068]
 [0.00215247]]

 R_gt:
[[ 0.99290687  0.10874242  0.04805985]
 [-0.10845794  0.99406468 -0.00849353]
 [-0.04869776  0.0032223   0.99880755]]

 t_gt:
[-0.82494687  0.54999566  0.1302591 ]

Pose Error in degrees for R and t:
94.9485969152972 63.015336656504225

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.29526163e-01  3.68755384e-01  7.60812035e-04]
 [-3.68755681e-01  9.29526311e-01  2.91464202e-04]
 [-5.99715811e-04 -5.51477361e-04  9.99999668e-01]]

 t_estimated:
[[-0.40433122]
 [ 0.91460979]
 [ 0.00227803]]

 R_gt:
[[ 0.97464137  0.22259502  0.0229256 ]
 [-0.2233402   0.97400294  0.03790724]
 [-0.01389057 -0.04206617  0.99901745]]

 t_gt:
[-0.81596834  0.56644577  0.1154766 ]

Pose Error in degrees for R and t:
9.098802908124952 31.97693080744968

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-4.75243019e-01  8.79854458e-01  4.54414730e-04]
 [-8.79852876e-01 -4.75241023e-01 -2.21027949e-03]
 [-1.72876774e-03 -1.45023800e-03  9.99997454e-01]]

 t_estimated:
[[0.4053146 ]
 [0.91417673]
 [0.00098617]]

 R_gt:
[[ 0.91851194  0.39536748  0.00459365]
 [-0.39511427  0.91736385  0.04824573]
 [ 0.0148619  -0.04612896  0.99882398]]

 t_gt:
[-0.78974114  0.61305708  0.02167829]

Pose Error in degrees for R and t:
95.11237817427363 76.09160449236202

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 5.60071992e-01 -8.28443785e-01 -5.08650129e-04]
 [ 8.28443913e-01  5.60071708e-01  6.04172280e-04]
 [-2.15642224e-04 -7.59768076e-04  9.99999688e-01]]

 t_estimated:
[[ 8.81802137e-01]
 [-4.71619189e-01]
 [ 5.76763841e-04]]

 R_gt:
[[ 0.99695514 -0.07788752 -0.00379769]
 [ 0.07785149  0.99692604 -0.00880398]
 [ 0.00447141  0.00848135  0.99995343]]

 t_gt:
[ 0.69114118 -0.71723159 -0.08889715]

Pose Error in degrees for R and t:
51.47617315370127 18.619700699919772

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-7.08961950e-01 -7.05244719e-01 -1.68496529e-03]
 [ 7.05245594e-01 -7.08963075e-01  1.02932533e-04]
 [-1.26717080e-03 -1.11533909e-03  9.99998575e-01]]

 t_estimated:
[[9.84901422e-01]
 [1.73114073e-01]
 [8.40359575e-04]]

 R_gt:
[[ 0.98463767 -0.17220752  0.02888379]
 [ 0.17281801  0.98474754 -0.02016397]
 [-0.02497082  0.02484486  0.9993796 ]]

 t_gt:
[ 0.75432895 -0.65494659  0.0450865 ]

Pose Error in degrees for R and t:
125.22442928455165 50.979598079335936

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.64593705  0.7633662  -0.00611304]
 [-0.76338632 -0.64593972  0.00179262]
 [-0.00258023  0.00582453  0.99997971]]

 t_estimated:
[[ 4.89922120e-01]
 [ 8.71766099e-01]
 [-4.30604717e-04]]

 R_gt:
[[ 0.98942047 -0.12267559  0.07744776]
 [ 0.12619328  0.99110398 -0.04228186]
 [-0.07157167  0.05160807  0.99609876]]

 t_gt:
[ 0.79479185 -0.55198306  0.25223126]

Pose Error in degrees for R and t:
137.4452476176749 84.72577594375262

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 0.10892393 -0.99387883  0.01845102]
 [-0.9938911  -0.10855579  0.01990272]
 [-0.01777793 -0.02050619 -0.99963165]]

 t_estimated:
[[0.67125588]
 [0.74109603]
 [0.01386467]]

 R_gt:
[[ 0.99706191 -0.03852045 -0.06621704]
 [ 0.03531819  0.9981797  -0.04888037]
 [ 0.06797828  0.04639909  0.99660662]]

 t_gt:
[ 0.82779269  0.11914981 -0.54823588]

Pose Error in degrees for R and t:
176.94958115724526 50.47899591020848

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99999990e-01  8.16152782e-05  1.12122844e-04]
 [-8.16361370e-05  9.99999979e-01  1.86043336e-04]
 [-1.12107658e-04 -1.86052488e-04  9.99999976e-01]]

 t_estimated:
[[7.46857006e-01]
 [6.64984662e-01]
 [1.06772565e-04]]

 R_gt:
[[ 0.99340698 -0.08251388 -0.07959306]
 [ 0.07984954  0.99615251 -0.03610476]
 [ 0.08226542  0.02951147  0.99617303]]

 t_gt:
[ 0.95743327  0.05016408 -0.28426238]

Pose Error in degrees for R and t:
6.858342377360052 41.54857064787022

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 0.97398895  0.22640794 -0.00921774]
 [-0.22645546  0.97401125 -0.00447399]
 [ 0.00796524  0.00644503  0.99994751]]

 t_estimated:
[[ 0.03594075]
 [ 0.99886221]
 [-0.03134558]]

 R_gt:
[[ 0.99271329 -0.06872707 -0.09898432]
 [ 0.06538388  0.99718693 -0.03664146]
 [ 0.1012235   0.02990277  0.99441335]]

 t_gt:
[ 0.9475708   0.15367442 -0.28016736]

Pose Error in degrees for R and t:
17.802447805908514 78.67710435761317

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-7.53164815e-01  6.57831107e-01 -9.98175284e-04]
 [ 6.57831736e-01  7.53164750e-01 -5.16369126e-04]
 [ 4.12106764e-04 -1.04554244e-03 -9.99999369e-01]]

 t_estimated:
[[0.91295923]
 [0.4080495 ]
 [0.00103043]]

 R_gt:
[[ 0.99986971 -0.01588141  0.0026276 ]
 [ 0.01595569  0.99938032 -0.03136366]
 [-0.00212759  0.03140139  0.99950408]]

 t_gt:
[ 0.15282407 -0.80182729 -0.57768314]

Pose Error in degrees for R and t:
179.2829348071232 79.14884009519272

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.82413426e-01  1.86718598e-01  1.60265082e-04]
 [-1.86718494e-01  9.82413323e-01 -5.17102357e-04]
 [-2.53999179e-04  4.78083843e-04  9.99999853e-01]]

 t_estimated:
[[9.58692142e-01]
 [2.84444703e-01]
 [7.67256359e-04]]

 R_gt:
[[ 0.99471735 -0.10241335 -0.00705609]
 [ 0.10197574  0.99369258 -0.04666701]
 [ 0.01179081  0.04570063  0.99888523]]

 t_gt:
[ 0.5619559  -0.76481085 -0.31507129]

Pose Error in degrees for R and t:
16.843040200709172 71.2793368505358

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 0.89126053 -0.45348217 -0.00292918]
 [ 0.45348819  0.89126035  0.00185824]
 [ 0.00176799 -0.00298453  0.99999398]]

 t_estimated:
[[0.9917439 ]
 [0.12822978]
 [0.00107442]]

 R_gt:
[[ 0.97905016 -0.20240376  0.02221397]
 [ 0.20316825  0.978304   -0.04053842]
 [-0.01352717  0.04420213  0.99893079]]

 t_gt:
[ 0.68710371 -0.72281626 -0.07365559]

Pose Error in degrees for R and t:
15.52133120956987 53.937656241561484

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.98421546e-01 -5.61639442e-02 -1.67518851e-04]
 [ 5.61639589e-02  9.98421556e-01  8.46648145e-05]
 [ 1.62499322e-04 -9.39396968e-05  9.99999982e-01]]

 t_estimated:
[[ 8.72375887e-01]
 [-4.88835653e-01]
 [-1.28013001e-04]]

 R_gt:
[[ 0.9980469   0.06184809 -0.00887006]
 [-0.06154275  0.99761357  0.03130214]
 [ 0.01078431 -0.03069391  0.99947042]]

 t_gt:
[-0.52606602  0.79209642  0.30957681]

Pose Error in degrees for R and t:
7.007708967647984 32.20228494885297

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-6.30617394e-01  7.76093783e-01  3.77002303e-04]
 [-7.76090674e-01 -6.30613324e-01 -3.17824266e-03]
 [-2.22887169e-03 -2.29684307e-03  9.99994878e-01]]

 t_estimated:
[[0.11041542]
 [0.99388394]
 [0.00177365]]

 R_gt:
[[ 0.98517887  0.16936888 -0.02716417]
 [-0.16844545  0.98514772  0.03331288]
 [ 0.03240271 -0.02824281  0.99907565]]

 t_gt:
[-0.62453239  0.77919807  0.05300627]

Pose Error in degrees for R and t:
119.38647182504867 45.12451257825706

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 8.99223810e-01  4.37488426e-01  6.45440570e-04]
 [-4.37487487e-01  8.99223674e-01 -1.21766997e-03]
 [-1.11311196e-03  8.12585656e-04  9.99999050e-01]]

 t_estimated:
[[0.30447696]
 [0.95251914]
 [0.00102864]]

 R_gt:
[[ 0.99043394  0.1330425   0.03661646]
 [-0.1355764   0.98763574  0.07870473]
 [-0.02569285 -0.08291466  0.99622503]]

 t_gt:
[-0.63151947  0.61208156  0.47596148]

Pose Error in degrees for R and t:
18.883441872766614 66.9692020109283

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.37971736e-01 -5.45713523e-01  3.46960260e-04]
 [ 5.45713168e-01  8.37971683e-01  7.72758469e-04]
 [-7.12447619e-04 -4.58208974e-04  9.99999641e-01]]

 t_estimated:
[[ 0.91278937]
 [-0.40842868]
 [ 0.00125849]]

 R_gt:
[[ 9.93539250e-01 -1.13488815e-01  4.14707901e-04]
 [ 1.13489148e-01  9.93538956e-01  5.40072116e-04]
 [-4.73279748e-04 -4.88941963e-04  9.99998978e-01]]

 t_gt:
[ 0.76654922 -0.64200995 -0.01501736]

Pose Error in degrees for R and t:
26.5570052688013 15.867961304042792

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.40309740e-01  3.40315145e-01  1.78713243e-03]
 [ 3.40314720e-01 -9.40311434e-01  5.46462603e-04]
 [ 1.86643055e-03  9.43433620e-05 -9.99998254e-01]]

 t_estimated:
[[0.71910912]
 [0.6948967 ]
 [0.00080708]]

 R_gt:
[[ 9.86460807e-01 -1.62837001e-01 -1.94771680e-02]
 [ 1.62813646e-01  9.86652828e-01 -2.79980912e-03]
 [ 1.96721286e-02 -4.09371674e-04  9.99806693e-01]]

 t_gt:
[ 0.83260796 -0.5466095  -0.0893423 ]

Pose Error in degrees for R and t:
179.87003898408796 77.359868771484

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.99940233 -0.03305245 -0.01012523]
 [-0.03294704  0.99940292 -0.01040642]
 [ 0.01046314 -0.0100666  -0.99989459]]

 t_estimated:
[[0.9976041 ]
 [0.06917298]
 [0.00108083]]

 R_gt:
[[ 0.97253671 -0.22923078 -0.04031196]
 [ 0.22947292  0.97331408  0.00141848]
 [ 0.03891045 -0.01062897  0.9991857 ]]

 t_gt:
[ 0.85756046 -0.50615183 -0.09165362]

Pose Error in degrees for R and t:
177.0664852791397 34.875672198149104

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-9.50607440e-01 -3.10394233e-01 -9.56889899e-04]
 [ 3.10395550e-01 -9.50599329e-01 -3.93930836e-03]
 [ 3.13119701e-04 -4.04175020e-03  9.99991783e-01]]

 t_estimated:
[[9.31374886e-01]
 [3.64060648e-01]
 [8.16279479e-04]]

 R_gt:
[[ 0.99360078  0.10034909 -0.05185281]
 [-0.09719285  0.99344515  0.0601671 ]
 [ 0.05755033 -0.05474307  0.99684041]]

 t_gt:
[-0.23944388  0.9182245   0.31548439]

Pose Error in degrees for R and t:
167.59732395909532 83.59619596345338

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.18169018e-01  3.96188908e-01 -6.04841679e-05]
 [-3.96188910e-01  9.18168983e-01 -2.55653217e-04]
 [-4.57522819e-05  2.58696020e-04  9.99999965e-01]]

 t_estimated:
[[-4.53794275e-01]
 [ 8.91106423e-01]
 [-3.15040227e-04]]

 R_gt:
[[ 0.97749792  0.19183773 -0.08773656]
 [-0.18650477  0.98026962  0.0654762 ]
 [ 0.09856531 -0.04764028  0.99398905]]

 t_gt:
[-0.12112109  0.98794722 -0.09638447]

Pose Error in degrees for R and t:
13.901865426099645 20.713529609937382

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-8.86779932e-01 -4.62188957e-01 -1.64929839e-03]
 [ 4.62188126e-01 -8.86781466e-01  8.76538234e-04]
 [-1.86769353e-03  1.50103845e-05  9.99998256e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 9.75653872e-01  2.18154581e-01 -2.25681365e-02]
 [-2.18113016e-01  9.75914551e-01  4.31811464e-03]
 [ 2.29658666e-02  7.08942274e-04  9.99736071e-01]]

 t_gt:
[-0.07654164  0.98832109 -0.13176799]

Pose Error in degrees for R and t:
165.07400553777853 69.73527278388869

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 5.62288402e-01 -8.26900498e-01  8.20482462e-03]
 [-8.26932470e-01 -5.62300385e-01  9.83482448e-04]
 [ 3.80033392e-03 -7.33783667e-03 -9.99965856e-01]]

 t_estimated:
[[0.45529973]
 [0.89033743]
 [0.00119188]]

 R_gt:
[[ 0.99873024  0.01119814 -0.04913192]
 [-0.01459608  0.99748454 -0.06935127]
 [ 0.04823139  0.06997961  0.99638234]]

 t_gt:
[ 0.15440653  0.34517709 -0.9257491 ]

Pose Error in degrees for R and t:
175.43347549348712 67.8815901008779

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.60373439e-01 -2.78716445e-01 -1.50333859e-05]
 [ 2.78716385e-01  9.60373265e-01 -6.06810219e-04]
 [ 1.83565649e-04  5.78574367e-04  9.99999816e-01]]

 t_estimated:
[[0.71473829]
 [0.69939115]
 [0.00109622]]

 R_gt:
[[ 0.99386413 -0.00553634 -0.11047572]
 [-0.00991202  0.99027099 -0.13879492]
 [ 0.11016946  0.13903717  0.98413956]]

 t_gt:
[ 0.24844074  0.26836268 -0.93073018]

Pose Error in degrees for R and t:
19.21183385596066 68.63916295023401

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.98391721  0.17862153  0.001124  ]
 [-0.17861119  0.98389973 -0.00627449]
 [-0.00222666  0.00597282  0.99997968]]

 t_estimated:
[[0.97815481]
 [0.20787384]
 [0.0012753 ]]

 R_gt:
[[ 0.98676153 -0.00760744 -0.16200564]
 [-0.01762945  0.98794926 -0.15376718]
 [ 0.16122314  0.15458722  0.97473602]]

 t_gt:
[ 0.28533489  0.27308961 -0.91869803]

Pose Error in degrees for R and t:
16.179396583196027 70.44580918288206

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 0.53269981 -0.84623342 -0.01095031]
 [ 0.84626045  0.5327593  -0.00328251]
 [ 0.00861165 -0.00751823  0.99993466]]

 t_estimated:
[[0.84804578]
 [0.52992229]
 [0.0008506 ]]

 R_gt:
[[ 0.99159993  0.12919728  0.00625513]
 [-0.12924887  0.99157312  0.00886243]
 [-0.00505726 -0.00959516  0.99994052]]

 t_gt:
[-0.93255196  0.34443248  0.10822706]

Pose Error in degrees for R and t:
65.2414086469019 52.53820736339728

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.85209119e-01 -1.71355717e-01 -4.57897280e-04]
 [ 1.71355854e-01  9.85209162e-01  2.79044035e-04]
 [ 4.03308805e-04 -3.53380108e-04  9.99999856e-01]]

 t_estimated:
[[-0.72522265]
 [-0.68851384]
 [-0.00089534]]

 R_gt:
[[ 0.95720543  0.28878137  0.0190452 ]
 [-0.28909014  0.95716587  0.01614943]
 [-0.01356523 -0.02096295  0.99968831]]

 t_gt:
[-0.87157449  0.48085794  0.09556964]

Pose Error in degrees for R and t:
26.701429247112383 72.48697269321917

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.97938222e-01 -6.41770654e-02 -7.80556608e-04]
 [ 6.41777114e-02  9.97938138e-01  8.32806772e-04]
 [ 7.25500113e-04 -8.81184046e-04  9.99999349e-01]]

 t_estimated:
[[0.12145438]
 [0.99259614]
 [0.0013216 ]]

 R_gt:
[[ 0.9088819   0.41497771  0.04157635]
 [-0.41664983  0.90786894  0.04666445]
 [-0.01838049 -0.05973318  0.99804499]]

 t_gt:
[-0.84318579  0.5102822   0.16926252]

Pose Error in degrees for R and t:
28.49464640778311 66.15152611371762

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99530689e-01  3.06332551e-02 -7.41673186e-05]
 [-3.06332502e-02  9.99530690e-01  6.68006049e-05]
 [ 7.61788311e-05 -6.44972686e-05  9.99999995e-01]]

 t_estimated:
[[-0.92473277]
 [-0.38061465]
 [-0.00134019]]

 R_gt:
[[ 0.99572227  0.09182662  0.01030804]
 [-0.09167246  0.99568339 -0.01451426]
 [-0.01159595  0.01350765  0.99984129]]

 t_gt:
[-0.22519192  0.96101974 -0.16040464]

Pose Error in degrees for R and t:
3.6558729896006534 80.94857627064079

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999904e-01  4.06916271e-04 -1.63599673e-04]
 [-4.06959741e-04  9.99999882e-01 -2.65768007e-04]
 [ 1.63491509e-04  2.65834560e-04  9.99999951e-01]]

 t_estimated:
[[-0.65551853]
 [-0.7551775 ]
 [-0.0015509 ]]

 R_gt:
[[ 0.99071077  0.11069308  0.07898778]
 [-0.10232428  0.9893914  -0.103114  ]
 [-0.08956445  0.09407396  0.99152819]]

 t_gt:
[-0.08946222  0.97040663 -0.22429329]

Pose Error in degrees for R and t:
9.642926183365926 47.63607846879001

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.05779537e-01  4.23749201e-01  2.12603028e-04]
 [-4.23748683e-01  9.05779026e-01 -1.18742840e-03]
 [-6.95743199e-04  9.85458092e-04  9.99999272e-01]]

 t_estimated:
[[-0.98395087]
 [-0.17843669]
 [-0.00101964]]

 R_gt:
[[ 0.98731763  0.09402888  0.12791958]
 [-0.07586205  0.98721982 -0.14014601]
 [-0.13946346  0.1286648   0.98183222]]

 t_gt:
[ 0.16833706  0.97229368 -0.1621963 ]

Pose Error in degrees for R and t:
22.873161453973147 70.18630040718983

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999809e-01  6.15296024e-04 -5.48853132e-05]
 [-6.15296084e-04  9.99999811e-01 -1.08108627e-06]
 [ 5.48846376e-05  1.11485679e-06  9.99999998e-01]]

 t_estimated:
[[ 1.56707828e-01]
 [-9.87644798e-01]
 [-6.39818032e-04]]

 R_gt:
[[ 0.99870131  0.00954839  0.0500534 ]
 [-0.00459512  0.99515903 -0.09816648]
 [-0.05074896  0.09780861  0.99390989]]

 t_gt:
[ 0.34353837  0.681209   -0.64647946]

Pose Error in degrees for R and t:
6.338695511342709 51.790131185817856

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 1.42905848e-01  9.89736286e-01  5.12006457e-05]
 [-9.89734884e-01  1.42905733e-01 -1.67679149e-03]
 [-1.66689825e-03  1.88948246e-04  9.99998593e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99292475  0.04417693  0.1102193 ]
 [-0.03395     0.99508574 -0.09300829]
 [-0.113786    0.08860732  0.98954604]]

 t_gt:
[0.20650252 0.97207722 0.11145662]

Pose Error in degrees for R and t:
79.88246959986604 13.22940509745702

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.5704672   0.82102004  0.0222096 ]
 [-0.73837215  0.5245084  -0.42390742]
 [-0.35968561  0.22542633  0.90543317]]

 t_estimated:
[[-0.99871869]
 [-0.04665381]
 [-0.01960614]]

 R_gt:
[[ 0.97964047  0.13465146  0.1489024 ]
 [-0.1124071   0.98244432 -0.14888926]
 [-0.16633782  0.1291194   0.977579  ]]

 t_gt:
[-0.11009745  0.9914511   0.07002337]

Pose Error in degrees for R and t:
49.148789421858865 86.42652256288588

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-9.97897321e-01 -6.48092052e-02 -8.39216732e-04]
 [ 6.48107694e-02 -9.97895579e-01 -1.99441934e-03]
 [-7.08193934e-04 -2.04461600e-03  9.99997659e-01]]

 t_estimated:
[[7.79975608e-01]
 [6.25809575e-01]
 [6.53245903e-04]]

 R_gt:
[[ 9.98703867e-01 -5.08765008e-02 -1.86844055e-03]
 [ 5.09044271e-02  9.98448345e-01  2.25707669e-02]
 [ 7.16712925e-04 -2.26369730e-02  9.99743479e-01]]

 t_gt:
[ 0.69799213 -0.67359346  0.24306139]

Pose Error in degrees for R and t:
173.36660582419637 82.9327420139743

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.98928639e-01 -4.62767270e-02  1.95582032e-04]
 [ 4.62766720e-02  9.98928623e-01  2.77039604e-04]
 [-2.08192976e-04 -2.67691909e-04  9.99999942e-01]]

 t_estimated:
[[ 0.98807671]
 [-0.15395805]
 [ 0.001159  ]]

 R_gt:
[[ 0.99670024 -0.0797319  -0.01523152]
 [ 0.07913304  0.99619521 -0.03649573]
 [ 0.01808238  0.0351694   0.99921808]]

 t_gt:
[ 0.80505028 -0.46743732 -0.36523473]

Pose Error in degrees for R and t:
2.9754085992681087 29.888836687640843

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 9.25513873e-01  3.78713087e-01 -6.84636991e-04]
 [-3.78713428e-01  9.25513871e-01 -4.63387135e-04]
 [ 4.58150259e-04  6.88152444e-04  9.99999658e-01]]

 t_estimated:
[[-0.99977216]
 [-0.02127175]
 [-0.00177265]]

 R_gt:
[[ 0.99536277 -0.0907166  -0.03200894]
 [ 0.08210989  0.97454432 -0.20861483]
 [ 0.05011865  0.20501893  0.97747429]]

 t_gt:
[ 0.55508023  0.02884094 -0.83129666]

Pose Error in degrees for R and t:
29.802862697975517 56.35168891364511

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.74166567 -0.31343221 -0.59303649]
 [ 0.05001513 -0.90749304  0.41707896]
 [-0.66890247  0.27967235  0.68873279]]

 t_estimated:
[[0.68059601]
 [0.73265829]
 [0.00094659]]

 R_gt:
[[ 0.99268886 -0.07482633  0.0947052 ]
 [ 0.06552755  0.99305074  0.09776025]
 [-0.1013629  -0.0908399   0.99069386]]

 t_gt:
[ 0.21286807 -0.46832969  0.85752812]

Pose Error in degrees for R and t:
161.93120512599492 78.61289311796862

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.12771552  0.99180322 -0.00388773]
 [ 0.99176768 -0.12767242  0.00982956]
 [ 0.00925264 -0.00511111 -0.99994413]]

 t_estimated:
[[0.99970424]
 [0.02423525]
 [0.0020196 ]]

 R_gt:
[[ 0.97913608 -0.12363995  0.1612626 ]
 [ 0.0906126   0.97598157  0.19811217]
 [-0.18188444 -0.17936661  0.96682277]]

 t_gt:
[ 0.22798027 -0.38340369  0.8950009 ]

Pose Error in degrees for R and t:
177.8026572409183 77.26579769165755

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.13766267 -0.99046929  0.0044234 ]
 [ 0.99027801 -0.13754333  0.02076757]
 [-0.01996123  0.00723932  0.99977455]]

 t_estimated:
[[0.99993187]
 [0.01140794]
 [0.00247221]]

 R_gt:
[[ 0.97626082 -0.08679594  0.19844461]
 [ 0.03366419  0.96586724  0.25684162]
 [-0.21396465 -0.24406485  0.94586026]]

 t_gt:
[ 0.08209512 -0.2027483   0.97578354]

Pose Error in degrees for R and t:
95.55420222756597 85.28560373430898

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.89448984e-01 -1.44881703e-01  1.21954082e-05]
 [ 1.44881698e-01  9.89448969e-01  1.75586911e-04]
 [-3.75060648e-05 -1.71967400e-04  9.99999985e-01]]

 t_estimated:
[[0.74220997]
 [0.67016676]
 [0.00093761]]

 R_gt:
[[ 0.99819863 -0.04539913  0.03922435]
 [ 0.04231671  0.99619791  0.07615361]
 [-0.04253214 -0.07435784  0.9963242 ]]

 t_gt:
[ 0.15166778 -0.53587242  0.83056465]

Pose Error in degrees for R and t:
7.603600988265414 75.77231418096216

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 1.00000000e+00 -2.95198067e-05 -2.00323786e-07]
 [ 2.95198074e-05  1.00000000e+00  3.57141329e-06]
 [ 2.00218358e-07 -3.57141921e-06  1.00000000e+00]]

 t_estimated:
[[-1.14305988e-01]
 [ 9.93445531e-01]
 [-3.44454301e-04]]

 R_gt:
[[ 0.99527839 -0.05339254  0.08106462]
 [ 0.04117293  0.98849151  0.145562  ]
 [-0.08790355 -0.14153801  0.98602205]]

 t_gt:
[-0.00749919 -0.43813711  0.89887688]

Pose Error in degrees for R and t:
9.970222672283986 64.232663420171

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-4.65806344e-01  8.79818631e-01  9.45707482e-02]
 [ 8.83793304e-01  4.67877441e-01  3.09171350e-04]
 [-4.39755049e-02  8.37250080e-02 -9.95518095e-01]]

 t_estimated:
[[ 0.44559611]
 [ 0.89510624]
 [-0.01513031]]

 R_gt:
[[ 0.99410489 -0.06836674  0.08415546]
 [ 0.052014    0.98171529  0.18311204]
 [-0.09513526 -0.1776559   0.97948309]]

 t_gt:
[ 0.03470696 -0.45737113  0.88859838]

Pose Error in degrees for R and t:
176.23657057587138 65.95994284561128

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99829860e-01 -1.84458511e-02 -2.65692023e-05]
 [ 1.84458504e-02  9.99829860e-01 -2.61360241e-05]
 [ 2.70467831e-05  2.56414858e-05  9.99999999e-01]]

 t_estimated:
[[-0.72527704]
 [-0.6884566 ]
 [-0.00085629]]

 R_gt:
[[ 0.99469275  0.10146751  0.01707253]
 [-0.10199165  0.99422875  0.03328988]
 [-0.01359521 -0.03485396  0.9992998 ]]

 t_gt:
[-0.91603191  0.17219954  0.36226077]

Pose Error in degrees for R and t:
7.22329102689995 56.940150093107874

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 4.70714038e-01  8.82285451e-01  8.22472436e-04]
 [-8.82284968e-01  4.70714678e-01 -9.63010518e-04]
 [-1.23680002e-03 -2.72352497e-04  9.99999198e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99053782  0.13188854  0.03794789]
 [-0.13413984  0.98885292  0.06463845]
 [-0.02899863 -0.06911664  0.99718706]]

 t_gt:
[-0.8634106   0.07131572  0.49943588]

Pose Error in degrees for R and t:
54.42097782685092 86.18997638876813

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.51644729e-01 -3.07200638e-01 -2.79443706e-04]
 [ 3.07200741e-01  9.51644618e-01  4.75660291e-04]
 [ 1.19807954e-04 -5.38504922e-04  9.99999848e-01]]

 t_estimated:
[[-4.34276834e-01]
 [-9.00779417e-01]
 [-2.72827209e-04]]

 R_gt:
[[ 0.97793468  0.2037885   0.04597926]
 [-0.20642134  0.97646447  0.06251119]
 [-0.03215717 -0.07062195  0.99698488]]

 t_gt:
[-0.91812829  0.15253277  0.36575156]

Pose Error in degrees for R and t:
30.06515147693796 74.8573165133169

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 0.92656985  0.37563613 -0.01912611]
 [ 0.37558062 -0.92130815  0.10065031]
 [ 0.02018685 -0.10044294 -0.99473801]]

 t_estimated:
[[-0.19810695]
 [ 0.9788253 ]
 [ 0.05152341]]

 R_gt:
[[ 0.99969387  0.00447811  0.02429874]
 [-0.00461433  0.99997337  0.00554495]
 [-0.02427311 -0.00565579  0.99968985]]

 t_gt:
[-0.21217094  0.09061537  0.97302227]

Pose Error in degrees for R and t:
174.07239947971848 79.57999317176652

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.54964595e-01 -2.96719767e-01  5.20266663e-05]
 [ 2.96719021e-01  9.54961770e-01 -2.41660458e-03]
 [ 6.67370871e-04  2.32320912e-03  9.99997079e-01]]

 t_estimated:
[[-0.13376189]
 [-0.99099898]
 [-0.00536405]]

 R_gt:
[[ 0.99928267  0.00301672  0.03774486]
 [-0.00342323  0.99993599  0.01069021]
 [-0.03770962 -0.01081145  0.99923031]]

 t_gt:
[-0.16883424  0.03320871  0.98508486]

Pose Error in degrees for R and t:
17.596091208160956 89.10556212158876

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.95182032e-01 -9.80444638e-02 -7.78388924e-05]
 [ 9.80444709e-02  9.95182030e-01  9.28711511e-05]
 [ 6.83583648e-05 -1.00055374e-04  9.99999993e-01]]

 t_estimated:
[[ 9.94679871e-01]
 [-1.03013351e-01]
 [ 4.52480204e-04]]

 R_gt:
[[ 0.9995782  -0.02484335  0.01501949]
 [ 0.02456163  0.99952506  0.01861163]
 [-0.01547463 -0.01823487  0.99971414]]

 t_gt:
[ 0.35773206 -0.62560794  0.69328383]

Pose Error in degrees for R and t:
4.427739761218637 65.12824936710479

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 9.99969239e-01 -7.84218626e-03 -1.46285609e-04]
 [ 7.84206007e-03  9.99968894e-01 -8.44101105e-04]
 [ 1.52900657e-04  8.42927959e-04  9.99999633e-01]]

 t_estimated:
[[-0.84432179]
 [-0.53583158]
 [-0.00228736]]

 R_gt:
[[ 0.99802319  0.06149671 -0.01295067]
 [-0.0605705   0.99619246  0.06269862]
 [ 0.01675653 -0.06179062  0.99794857]]

 t_gt:
[-0.93340016 -0.05686601  0.35430269]

Pose Error in degrees for R and t:
5.4241742700981295 35.1397814197404

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.53164248e-01 -3.02452380e-01  6.87937861e-04]
 [ 3.02452580e-01  9.53164411e-01 -2.05034280e-04]
 [-5.93704780e-04  4.03499926e-04  9.99999742e-01]]

 t_estimated:
[[ 0.86220856]
 [-0.50655197]
 [ 0.00122778]]

 R_gt:
[[ 0.99489974  0.10027913 -0.01083523]
 [-0.09829875  0.98806257  0.118617  ]
 [ 0.02259921 -0.11694711  0.99288107]]

 t_gt:
[-0.88975182  0.00868768  0.45636193]

Pose Error in degrees for R and t:
24.29927176244042 39.55693905244839

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.96667917e-01 -8.15659862e-02  2.28763616e-04]
 [ 8.15661545e-02  9.96667558e-01 -8.61390100e-04]
 [-1.57741141e-04  8.77179245e-04  9.99999603e-01]]

 t_estimated:
[[-0.34319273]
 [-0.93926433]
 [-0.00112892]]

 R_gt:
[[ 0.97262648  0.2289628   0.03968041]
 [-0.23177103  0.96816454  0.0945545 ]
 [-0.01676782 -0.10116267  0.99472868]]

 t_gt:
[-0.9091046   0.33900561  0.24208268]

Pose Error in degrees for R and t:
18.975679135931106 89.61662660376052

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.97732271e-01  6.73076126e-02 -3.24006693e-05]
 [-6.73076202e-02  9.97732188e-01 -4.06983418e-04]
 [ 4.93410850e-06  4.08241301e-04  9.99999917e-01]]

 t_estimated:
[[-0.47303215]
 [-0.88104379]
 [-0.00155469]]

 R_gt:
[[ 0.99552606  0.03124605  0.08916774]
 [-0.02659455  0.99824604 -0.0528918 ]
 [-0.09066447  0.0502837   0.99461096]]

 t_gt:
[-0.82238897  0.56658857  0.05151479]

Pose Error in degrees for R and t:
6.333463485267479 83.6700994206966

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.06636595  0.99773842 -0.01065874]
 [-0.99769359 -0.06620284  0.01498964]
 [ 0.0142501   0.01162896  0.99983084]]

 t_estimated:
[[ 0.14406807]
 [ 0.98945609]
 [-0.01486711]]

 R_gt:
[[ 0.9870164   0.01184061  0.16018152]
 [ 0.00876101  0.99182586 -0.1272994 ]
 [-0.16038057  0.12704881  0.97884484]]

 t_gt:
[-0.59925116  0.77694696 -0.19300639]

Pose Error in degrees for R and t:
94.41146808190683 46.741472025753886

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.99999447  0.00297822 -0.00148021]
 [-0.00297488  0.99999304  0.00225298]
 [ 0.00148691 -0.00224856  0.99999637]]

 t_estimated:
[[9.99995468e-01]
 [2.87710306e-03]
 [8.86519280e-04]]

 R_gt:
[[ 0.9760159  -0.03656256  0.21460675]
 [ 0.06964381  0.98643061 -0.1486788 ]
 [-0.20625896  0.16005813  0.96531814]]

 t_gt:
[-0.35940237  0.93151568 -0.05575368]

Pose Error in degrees for R and t:
15.622521070263241 69.09803133771099

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.99980905 -0.01950508  0.00118781]
 [ 0.01950658  0.99980894 -0.00125857]
 [-0.00116303  0.0012815   0.9999985 ]]

 t_estimated:
[[ 0.9999275 ]
 [-0.01192612]
 [ 0.0016643 ]]

 R_gt:
[[ 0.99513635 -0.00184219  0.09849676]
 [ 0.00707864  0.9985773  -0.05284475]
 [-0.09825968  0.05328523  0.99373422]]

 t_gt:
[-0.62809465  0.77461521  0.07394852]

Pose Error in degrees for R and t:
6.382031839357956 50.419315921517644

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.99629566 -0.08597992 -0.00155162]
 [-0.08538424  0.99121582 -0.10099863]
 [ 0.01022185 -0.10049201 -0.99488535]]

 t_estimated:
[[0.99099678]
 [0.13387689]
 [0.00153881]]

 R_gt:
[[ 0.98421977 -0.03779768  0.17286759]
 [ 0.05947458  0.99074802 -0.12198911]
 [-0.16665798  0.1303449   0.97736197]]

 t_gt:
[-0.28261113  0.95468973 -0.09326561]

Pose Error in degrees for R and t:
171.01708589251697 81.23400231826885

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.99999991e-01 -1.01179934e-04  9.26425655e-05]
 [ 1.01191440e-04  9.99999987e-01 -1.24197353e-04]
 [-9.26299981e-05  1.24206726e-04  9.99999988e-01]]

 t_estimated:
[[9.99995266e-01]
 [2.93409180e-03]
 [9.27266546e-04]]

 R_gt:
[[ 0.9811984  -0.07425838  0.17814545]
 [ 0.09011744  0.99249559 -0.08263962]
 [-0.17067361  0.0971402   0.98052865]]

 t_gt:
[0.13401092 0.94346869 0.30316316]

Pose Error in degrees for R and t:
12.272706815024183 82.12226539351991

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 0.9822171  -0.18773817 -0.00198679]
 [ 0.18774197  0.98221648  0.00193361]
 [ 0.00158844 -0.00227223  0.99999616]]

 t_estimated:
[[0.94444909]
 [0.32865531]
 [0.00126438]]

 R_gt:
[[ 0.99099663  0.12094026  0.05743418]
 [-0.1198985   0.99255918 -0.02124374]
 [-0.05957551  0.01416687  0.99812265]]

 t_gt:
[-0.52968386  0.79392743  0.29852008]

Pose Error in degrees for R and t:
18.11179103863435 76.17521439196622

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-4.26136297e-01  9.04658047e-01 -1.29389496e-03]
 [-9.04657209e-01 -4.26137854e-01 -1.36518529e-03]
 [-1.78640348e-03  5.88776399e-04  9.99998231e-01]]

 t_estimated:
[[0.51869674]
 [0.85495783]
 [0.00089862]]

 R_gt:
[[ 0.98555636  0.1508276   0.07700787]
 [-0.14871711  0.98834652 -0.03247463]
 [-0.08100792  0.02055431  0.99650063]]

 t_gt:
[-0.51169732  0.79489579  0.32604682]

Pose Error in degrees for R and t:
106.66549884739511 65.51344897237013

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99999905e-01 -4.26610300e-04 -9.38367388e-05]
 [ 4.26612742e-04  9.99999909e-01  2.60090918e-05]
 [ 9.38256344e-05 -2.60491213e-05  9.99999995e-01]]

 t_estimated:
[[-8.42572281e-01]
 [ 5.38583250e-01]
 [-1.85765652e-04]]

 R_gt:
[[ 0.98405135  0.15182015  0.09269712]
 [-0.15072638  0.98839936 -0.01872615]
 [-0.094464    0.00445659  0.99551829]]

 t_gt:
[-0.4967603   0.74657845  0.44254924]

Pose Error in degrees for R and t:
10.291745526083261 34.85821722548243

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-9.85689069e-01  1.68525379e-01 -4.03176440e-03]
 [-1.68526130e-01 -9.85697174e-01 -1.55261847e-04]
 [-4.00026434e-03  5.26417745e-04  9.99991860e-01]]

 t_estimated:
[[0.74999377]
 [0.66144353]
 [0.00134167]]

 R_gt:
[[ 9.96382697e-01  8.49749672e-02  4.37114858e-04]
 [-8.49762451e-02  9.96360996e-01  6.69269208e-03]
 [ 1.33509374e-04 -6.70569755e-03  9.99977663e-01]]

 t_gt:
[-0.90092623  0.43266666  0.03363749]

Pose Error in degrees for R and t:
165.42406745414394 67.07913569383798

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.87402376 -0.48585845  0.0049028 ]
 [ 0.48587839  0.87401546 -0.00437741]
 [-0.00215832  0.00620813  0.9999784 ]]

 t_estimated:
[[-0.41985957]
 [-0.90758725]
 [-0.00182312]]

 R_gt:
[[ 0.97713643  0.20588968  0.05303852]
 [-0.20747051  0.97789079  0.0261991 ]
 [-0.04647145 -0.03660433  0.99824896]]

 t_gt:
[-0.85306443  0.4923741   0.17276812]

Pose Error in degrees for R and t:
41.1430169087498 84.89275925093493

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-6.21562387e-01  7.83364558e-01  4.10696731e-04]
 [-7.83362961e-01 -6.21559854e-01 -2.41234253e-03]
 [-1.63447104e-03 -1.82114599e-03  9.99997006e-01]]

 t_estimated:
[[8.19231742e-01]
 [5.73462219e-01]
 [6.60670759e-04]]

 R_gt:
[[ 0.94639603  0.31973538  0.04584442]
 [-0.32207611  0.94487965  0.05889783]
 [-0.02448495 -0.07050614  0.99721153]]

 t_gt:
[-0.82097879  0.54683303  0.16421773]

Pose Error in degrees for R and t:
109.74039464898915 68.96885930779906

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.99557857e-01 -2.97336420e-02 -3.24739746e-05]
 [ 2.97336440e-02  9.99557856e-01  6.22887002e-05]
 [ 3.06075465e-05 -6.32267293e-05  9.99999998e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99867643  0.0483328   0.01757243]
 [-0.04860357  0.99870109  0.015263  ]
 [-0.01681142 -0.01609628  0.99972903]]

 t_gt:
[-0.92854606 -0.05910627  0.36648146]

Pose Error in degrees for R and t:
4.676428351055849 21.806992052314687

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 4.67721817e-01 -8.83847477e-01 -7.06681390e-03]
 [ 8.83875224e-01  4.67715138e-01  2.67185881e-03]
 [ 9.43740174e-04 -7.49586837e-03  9.99971460e-01]]

 t_estimated:
[[-0.13199246]
 [-0.99125   ]
 [-0.00119409]]

 R_gt:
[[ 0.98723743  0.15800715  0.01990927]
 [-0.15824285  0.98733997  0.01083988]
 [-0.0179442  -0.01385295  0.9997429 ]]

 t_gt:
[-0.97370224  0.18594336  0.13163971]

Pose Error in degrees for R and t:
71.2247128463942 86.79250072337864

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.85100893  0.52506791 -0.00935356]
 [ 0.52505145  0.85105945  0.00433394]
 [ 0.01023605 -0.00122288 -0.99994686]]

 t_estimated:
[[ 0.93824444]
 [-0.34592258]
 [-0.00591111]]

 R_gt:
[[ 0.96740049  0.25144715  0.03016928]
 [-0.25257129  0.96665617  0.04221901]
 [-0.0185471  -0.04846224  0.9986523 ]]

 t_gt:
[-0.94711185  0.21289417  0.240115  ]

Pose Error in degrees for R and t:
179.96910508127846 15.487941494482197

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99998372e-01  1.67114564e-03  6.79917903e-04]
 [-1.67084600e-03  9.99998507e-01 -4.41018467e-04]
 [-6.80653894e-04  4.39881711e-04  9.99999672e-01]]

 t_estimated:
[[-9.99998900e-01]
 [ 1.21409622e-03]
 [ 8.52584592e-04]]

 R_gt:
[[ 0.98127187 -0.18479363  0.05437003]
 [ 0.18355609  0.9826392   0.02697918]
 [-0.05841166 -0.01649457  0.99815574]]

 t_gt:
[ 0.62725961 -0.71705843  0.30392859]

Pose Error in degrees for R and t:
11.259552593772337 51.10682329414382

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.37283614e-01  3.48567182e-01  5.88061966e-04]
 [-3.48567079e-01  9.37283797e-01 -2.73261373e-04]
 [-6.46430900e-04  5.11443652e-05  9.99999790e-01]]

 t_estimated:
[[0.62022257]
 [0.78442538]
 [0.00089241]]

 R_gt:
[[ 0.94622874 -0.32121726  0.03833708]
 [ 0.31836045  0.94567845  0.06587249]
 [-0.05741401 -0.05012636  0.99709101]]

 t_gt:
[ 0.70568521 -0.66110604  0.25484737]

Pose Error in degrees for R and t:
39.31051538646457 85.37240227884426

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.21831498 -0.97584856 -0.00762659]
 [-0.9758776   0.21829841  0.00295159]
 [-0.00121543  0.00808699 -0.99996656]]

 t_estimated:
[[7.77575364e-01]
 [6.28789309e-01]
 [7.47668619e-04]]

 R_gt:
[[ 0.86967354 -0.49239236 -0.03488628]
 [ 0.49362389  0.86772192  0.05825204]
 [ 0.00158791 -0.06788146  0.99769196]]

 t_gt:
[ 0.82255238 -0.55479159  0.12495547]

Pose Error in degrees for R and t:
178.62971220819563 73.09157577537555

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.89280400e-01 -1.46027890e-01  3.80388281e-04]
 [ 1.46028060e-01  9.89280339e-01 -4.66120370e-04]
 [-3.08244073e-04  5.16671109e-04  9.99999819e-01]]

 t_estimated:
[[0.46758657]
 [0.8839466 ]
 [0.00110262]]

 R_gt:
[[ 0.99955556 -0.00816944  0.02866974]
 [ 0.00644758  0.99819823  0.05966052]
 [-0.02910585 -0.05944979  0.99780648]]

 t_gt:
[-0.18546687 -0.43212535  0.88253596]

Pose Error in degrees for R and t:
8.8403573031382 62.113313621105405

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-3.79240648e-01  9.25297572e-01 -9.66250943e-04]
 [-9.25296176e-01 -3.79241779e-01 -1.63109912e-03]
 [-1.87569478e-03  2.75489214e-04  9.99998203e-01]]

 t_estimated:
[[0.30127685]
 [0.95353617]
 [0.0010144 ]]

 R_gt:
[[ 0.99914896 -0.02241878  0.03462389]
 [ 0.01940497  0.99618935  0.08503725]
 [-0.03639802 -0.08429275  0.99577546]]

 t_gt:
[ 0.0056257  -0.51434158  0.85756696]

Pose Error in degrees for R and t:
113.57090644779012 60.79876398819167

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99969393e-01  7.80731426e-03  5.08389642e-04]
 [-7.80728472e-03  9.99969521e-01 -6.00653883e-05]
 [-5.08843097e-04  5.60944072e-05  9.99999869e-01]]

 t_estimated:
[[-0.84141614]
 [ 0.54038537]
 [ 0.00158987]]

 R_gt:
[[ 0.99466219 -0.10016032  0.0247697 ]
 [ 0.09833929  0.99294733  0.06622257]
 [-0.03122801 -0.06343412  0.99749654]]

 t_gt:
[ 0.5436416  -0.70985289  0.44784226]

Pose Error in degrees for R and t:
7.361173453520069 32.827033210099565

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99932076e-01 -1.16546547e-02  1.10859905e-04]
 [ 1.16547608e-02  9.99931572e-01 -1.00925245e-03]
 [-9.90898307e-05  1.01047594e-03  9.99999485e-01]]

 t_estimated:
[[0.6950216 ]
 [0.71898786]
 [0.00119831]]

 R_gt:
[[ 0.99994139  0.00440635 -0.00988834]
 [-0.00481327  0.99912719 -0.04149781]
 [ 0.00969728  0.04154363  0.99908946]]

 t_gt:
[ 0.04929033  0.58782958 -0.8074818 ]

Pose Error in degrees for R and t:
2.5653858441391018 62.8750473839002

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.88495701e-01  1.51246220e-01 -9.11285563e-04]
 [-1.51245434e-01  9.88495852e-01  8.77419188e-04]
 [ 1.03350833e-03 -7.29497315e-04  9.99999200e-01]]

 t_estimated:
[[7.72827449e-01]
 [6.34615798e-01]
 [7.23621206e-04]]

 R_gt:
[[ 0.99624186 -0.05612339  0.06598408]
 [ 0.05393075  0.99794759  0.03454909]
 [-0.06778806 -0.03086147  0.99722294]]

 t_gt:
[ 0.31683864 -0.48035965  0.81784344]

Pose Error in degrees for R and t:
12.611307182108694 86.59517627435895

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.94002278 -0.34110786 -0.00161049]
 [ 0.34110993 -0.94002258 -0.00125286]
 [-0.00108653 -0.00172707  0.99999792]]

 t_estimated:
[[0.87052033]
 [0.49213116]
 [0.00112616]]

 R_gt:
[[ 0.98460089 -0.10578194  0.13918369]
 [ 0.08694696  0.9870141   0.13507121]
 [-0.1516642  -0.12088987  0.98101205]]

 t_gt:
[ 0.2521574  -0.40008005  0.88110873]

Pose Error in degrees for R and t:
154.5973622432596 88.6472036225972

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[-0.17308194 -0.98490622 -0.0015403 ]
 [-0.98490483  0.17308486 -0.00202546]
 [ 0.00226149  0.00116648 -0.99999676]]

 t_estimated:
[[9.80232940e-01]
 [1.97845181e-01]
 [8.17542068e-04]]

 R_gt:
[[ 0.99550404 -0.09127331 -0.02532978]
 [ 0.09204325  0.99527054  0.03107244]
 [ 0.02237446 -0.03326476  0.9991956 ]]

 t_gt:
[ 0.42247798 -0.90635086  0.00636138]

Pose Error in degrees for R and t:
180.0 76.4192889431602

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.52725792  0.84968659  0.00563773]
 [-0.84969512  0.52727247 -0.00139488]
 [-0.00415783 -0.00405489  0.99998314]]

 t_estimated:
[[0.04281675]
 [0.99905746]
 [0.00713612]]

 R_gt:
[[ 0.98207551 -0.17185219 -0.07742607]
 [ 0.17593306  0.98316596  0.04933097]
 [ 0.06764545 -0.06206836  0.99577667]]

 t_gt:
[ 0.48755176 -0.86777762 -0.0962044 ]

Pose Error in degrees for R and t:
68.41018778937057 32.1378333031164

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.27011401  0.96282715 -0.00151826]
 [-0.96282685  0.27011048 -0.00218657]
 [-0.00169519  0.00205244  0.99999646]]

 t_estimated:
[[9.11311215e-01]
 [4.11717388e-01]
 [8.13670728e-04]]

 R_gt:
[[ 0.95766896 -0.26118482 -0.12104991]
 [ 0.26519549  0.96402651  0.01801268]
 [ 0.11199069 -0.0493513   0.99248304]]

 t_gt:
[ 0.56871526 -0.78987423 -0.22948127]

Pose Error in degrees for R and t:
89.86841765554041 78.87880722919755

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-8.37704599e-01 -5.46120826e-01 -1.74612057e-03]
 [ 5.46123394e-01 -8.37702864e-01 -1.77467555e-03]
 [-4.93542922e-04 -2.44025116e-03  9.99996901e-01]]

 t_estimated:
[[9.99871781e-01]
 [1.59819665e-02]
 [9.98872908e-04]]

 R_gt:
[[ 9.86123294e-01  1.65822954e-01 -7.99419184e-03]
 [-1.65821062e-01  9.86156010e-01  8.56932206e-04]
 [ 8.02627201e-03  4.80612867e-04  9.99967086e-01]]

 t_gt:
[-0.65856272  0.75041843 -0.0562789 ]

Pose Error in degrees for R and t:
156.44348107426336 49.71866178576732

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99944389e-01  1.05413497e-02 -3.14637961e-04]
 [-1.05413628e-02  9.99944437e-01 -4.00766530e-05]
 [ 3.14198017e-04  4.33911372e-05  9.99999950e-01]]

 t_estimated:
[[-0.99817002]
 [-0.06045617]
 [-0.0012863 ]]

 R_gt:
[[ 0.94274781  0.33342261 -0.00750934]
 [-0.33349258  0.94267518 -0.01209142]
 [ 0.003047    0.01390363  0.99989851]]

 t_gt:
[-0.6113066   0.79032023 -0.04120887]

Pose Error in degrees for R and t:
18.892876819738987 55.77382257383424

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.81434843  0.58034802 -0.00572785]
 [ 0.58034269  0.81436782  0.0027232 ]
 [ 0.00624498 -0.00110648 -0.99997989]]

 t_estimated:
[[ 0.95027607]
 [-0.31139544]
 [-0.00287616]]

 R_gt:
[[ 0.8983625   0.43707374  0.04372639]
 [-0.43546673  0.89923624 -0.04174805]
 [-0.05756746  0.01846331  0.99817089]]

 t_gt:
[-0.59829198  0.79727335  0.08001197]

Pose Error in degrees for R and t:
176.98466593044063 35.21042876310997

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.99916215 -0.04080119  0.00320253]
 [ 0.04082004  0.99914815 -0.00605822]
 [-0.00295262  0.00618387  0.99997652]]

 t_estimated:
[[-9.17896190e-01]
 [-3.96819786e-01]
 [-8.01656299e-04]]

 R_gt:
[[ 0.999786    0.00943255 -0.01838908]
 [-0.00973045  0.99982133 -0.01620654]
 [ 0.01823338  0.01638268  0.9996998 ]]

 t_gt:
[ 0.73537809  0.06034123 -0.67496518]

Pose Error in degrees for R and t:
3.1910216697929283 45.700883212903136

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.91664876e-01  1.28834490e-01  1.56465538e-03]
 [ 1.28834548e-01 -9.91666101e-01  6.38225657e-05]
 [ 1.55983825e-03  1.38291073e-04 -9.99998774e-01]]

 t_estimated:
[[0.65476729]
 [0.7558292 ]
 [0.00142341]]

 R_gt:
[[ 0.99986247  0.01432247  0.00827452]
 [-0.01428347  0.99988659 -0.00472688]
 [-0.00834058  0.0046082   0.99995496]]

 t_gt:
[0.99919954 0.00664748 0.03944721]

Pose Error in degrees for R and t:
179.70549826827022 48.75168626714894

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-0.55276469  0.83250161  0.03731306]
 [ 0.8331557   0.55302485  0.00388536]
 [-0.01740048  0.03323528 -0.99929607]]

 t_estimated:
[[0.99822532]
 [0.05941817]
 [0.00396121]]

 R_gt:
[[ 0.9983685   0.0569437  -0.00418837]
 [-0.05701261  0.99819921 -0.01861164]
 [ 0.00312127  0.01882034  0.99981843]]

 t_gt:
[ 0.76197375  0.58665419 -0.2742861 ]

Pose Error in degrees for R and t:
177.93452247149352 37.402048455035064

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[-4.35264538e-01 -9.00302194e-01 -8.60812058e-04]
 [-9.00301778e-01  4.35262642e-01  1.77220806e-03]
 [-1.22084348e-03  1.54636995e-03 -9.99998059e-01]]

 t_estimated:
[[8.55032967e-01]
 [5.18573003e-01]
 [8.16650398e-04]]

 R_gt:
[[ 0.99069222 -0.13610932  0.00180538]
 [ 0.13596556  0.99010748  0.03466105]
 [-0.00650433 -0.03409349  0.9993966 ]]

 t_gt:
[ 0.50971102 -0.83461383  0.20884068]

Pose Error in degrees for R and t:
178.72713613180878 89.81768030228929

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-9.01945745e-01 -4.31846735e-01 -1.50694050e-03]
 [ 4.31848224e-01 -9.01945890e-01 -8.49711573e-04]
 [-9.92233621e-04 -1.41716332e-03  9.99998504e-01]]

 t_estimated:
[[9.03901810e-01]
 [4.27739250e-01]
 [8.07055188e-04]]

 R_gt:
[[ 0.96761485 -0.25220971  0.01054626]
 [ 0.25176312  0.96725131  0.03224647]
 [-0.01833412 -0.02854713  0.99942368]]

 t_gt:
[ 0.5874781  -0.7953179   0.14946211]

Pose Error in degrees for R and t:
139.82110676111915 78.99150916741516

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-2.15248656e-01 -9.76559024e-01 -6.98671844e-04]
 [-9.76559274e-01  2.15248584e-01  1.77420355e-04]
 [-2.28733232e-05  7.20483962e-04 -9.99999740e-01]]

 t_estimated:
[[0.745978  ]
 [0.66597015]
 [0.00076198]]

 R_gt:
[[ 0.92809862 -0.37225265 -0.00785652]
 [ 0.37209103  0.92651837  0.05579263]
 [-0.0134894  -0.05470486  0.99841074]]

 t_gt:
[ 0.63943342 -0.75878888  0.12395298]

Pose Error in degrees for R and t:
177.8688730249276 88.38215192490424

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 3.03659567e-01  9.52780595e-01 -7.50404508e-05]
 [-9.52779328e-01  3.03659033e-01 -1.65632448e-03]
 [-1.55532711e-03  5.74455765e-04  9.99998625e-01]]

 t_estimated:
[[0.14609473]
 [0.98927005]
 [0.00104353]]

 R_gt:
[[ 0.99386461  0.10971061  0.01408105]
 [-0.10960747  0.99394354 -0.00790855]
 [-0.01486261  0.00631822  0.99986947]]

 t_gt:
[-0.79703492  0.60278018  0.03730129]

Pose Error in degrees for R and t:
66.03098211257279 61.32056056201038

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-9.72861290e-01  2.31111801e-01 -1.13245909e-02]
 [ 2.31099325e-01  9.72927163e-01  2.41613630e-03]
 [ 1.15763998e-02 -2.66539845e-04 -9.99932956e-01]]

 t_estimated:
[[ 0.99296749]
 [-0.11826255]
 [-0.00543377]]

 R_gt:
[[ 0.98008288  0.19858316  0.00154237]
 [-0.1985224   0.97992192 -0.01849628]
 [-0.00518414  0.01782224  0.99982714]]

 t_gt:
[-0.76301553  0.64490185 -0.04369093]

Pose Error in degrees for R and t:
179.6493513887611 33.52136529709624

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.41415068e-01 -3.37246842e-01 -1.49563850e-03]
 [ 3.37247991e-01  9.41415660e-01  5.90258046e-04]
 [ 1.20895484e-03 -1.06007890e-03  9.99998707e-01]]

 t_estimated:
[[-0.28253228]
 [-0.9592563 ]
 [-0.00169181]]

 R_gt:
[[ 9.16918514e-01  3.99074342e-01 -1.33202631e-04]
 [-3.99011577e-01  9.16768063e-01 -1.80146098e-02]
 [-7.06652878e-03  1.65714385e-02  9.99837570e-01]]

 t_gt:
[-0.67930207  0.73361957 -0.01873551]

Pose Error in degrees for R and t:
43.24305501861441 59.21801659050373

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.82221050e-01  1.87727882e-01  2.27264801e-04]
 [-1.87727878e-01  9.82221076e-01 -4.22264628e-05]
 [-2.31151362e-04 -1.18821810e-06  9.99999973e-01]]

 t_estimated:
[[-9.97986577e-01]
 [ 6.34254524e-02]
 [ 6.33177345e-05]]

 R_gt:
[[ 0.99308498  0.11656191 -0.01398376]
 [-0.11715749  0.99161423 -0.05454682]
 [ 0.00750833  0.05580938  0.99841301]]

 t_gt:
[-0.53133967  0.76060127 -0.37304673]

Pose Error in degrees for R and t:
5.22191345243075 54.65575325925188

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.72349172e-01 -2.33530307e-01 -8.26982428e-04]
 [ 2.33530358e-01  9.72349511e-01 -3.64374532e-05]
 [ 8.12625209e-04 -1.57695575e-04  9.99999657e-01]]

 t_estimated:
[[ 0.53135745]
 [-0.84714411]
 [-0.00247301]]

 R_gt:
[[ 0.98582905  0.16418445 -0.03444752]
 [-0.1661218   0.98402474 -0.0640321 ]
 [ 0.02338464  0.06884752  0.99735347]]

 t_gt:
[-0.50221979  0.77074751 -0.39207596]

Pose Error in degrees for R and t:
23.39045179129398 23.24540969628577

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-9.77528961e-01  2.10801161e-01 -3.23966678e-05]
 [ 2.10800344e-01  9.77525580e-01  2.63728726e-03]
 [ 5.87611787e-04  2.57119545e-03 -9.99996522e-01]]

 t_estimated:
[[ 0.70635043]
 [-0.70786107]
 [-0.00133363]]

 R_gt:
[[ 0.95821794  0.28141821 -0.05121505]
 [-0.2843613   0.95657033 -0.06411883]
 [ 0.03094603  0.0760038   0.996627  ]]

 t_gt:
[-0.50461787  0.82088496 -0.26741109]

Pose Error in degrees for R and t:
178.02453753768089 20.421204073694806

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.95996726 -0.28005546 -0.00563841]
 [-0.28008143  0.95996571  0.00449859]
 [ 0.00415282  0.00589771 -0.99997399]]

 t_estimated:
[[ 0.99820001]
 [ 0.05985418]
 [-0.00377047]]

 R_gt:
[[ 9.85448659e-01 -1.69968996e-01  8.16367126e-04]
 [ 1.69892150e-01  9.85126524e-01  2.57214263e-02]
 [-5.17624658e-03 -2.52086148e-02  9.99668487e-01]]

 t_gt:
[ 0.74685904 -0.65410134  0.11980401]

Pose Error in degrees for R and t:
179.8745640425247 45.096706226258746

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.90773559e-01  1.35527164e-01  3.78017198e-04]
 [-1.35527093e-01  9.90773619e-01 -2.06243083e-04]
 [-4.02481008e-04  1.53108621e-04  9.99999907e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.95643857 -0.29103321 -0.02289388]
 [ 0.29185774  0.95501996  0.05248481]
 [ 0.00658912 -0.05688039  0.99835903]]

 t_gt:
[ 0.78610294 -0.6072432   0.11531636]

Pose Error in degrees for R and t:
24.963531429356117 52.97177585018191

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 6.40198776e-01  7.68209208e-01  3.73355735e-04]
 [-7.68208607e-01  6.40198777e-01 -1.03059528e-03]
 [-1.03073467e-03  3.72970747e-04  9.99999399e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.93371106 -0.35769147 -0.01551064]
 [ 0.35766007  0.9338396  -0.00484422]
 [ 0.01621654 -0.0010245   0.99986746]]

 t_gt:
[ 0.81630411 -0.57760807  0.00406448]

Pose Error in degrees for R and t:
71.15817879183165 35.460855696455596

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999511e-01 -9.57403782e-04 -2.49225826e-04]
 [ 9.57486609e-04  9.99999486e-01  3.32429102e-04]
 [ 2.48907429e-04 -3.32667570e-04  9.99999914e-01]]

 t_estimated:
[[-0.62705879]
 [ 0.77897062]
 [ 0.0014307 ]]

 R_gt:
[[ 0.97993421  0.19926615  0.00462905]
 [-0.1992441   0.97993721 -0.00485994]
 [-0.00550518  0.00383994  0.99997767]]

 t_gt:
[-0.75506197  0.65564425  0.00346924]

Pose Error in degrees for R and t:
11.555671380720701 10.198314435363942

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-3.82267710e-01  9.24051588e-01  2.44616810e-04]
 [-9.24049944e-01 -3.82266498e-01 -2.00656166e-03]
 [-1.76065768e-03 -9.93081879e-04  9.99997957e-01]]

 t_estimated:
[[0.5947007 ]
 [0.80394622]
 [0.00124484]]

 R_gt:
[[ 0.96114685  0.27579058  0.01170365]
 [-0.27563886  0.96117194 -0.01309178]
 [-0.01485994  0.00935695  0.99984562]]

 t_gt:
[-0.73616307  0.67677131  0.00667296]

Pose Error in degrees for R and t:
96.47100703858958 83.89796752672751

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-1.52428352e-01 -9.88314523e-01  4.06411385e-05]
 [-9.88314498e-01  1.52428357e-01  2.19289697e-04]
 [-2.22922054e-04 -6.74025934e-06 -9.99999975e-01]]

 t_estimated:
[[0.80384966]
 [0.59483104]
 [0.0013258 ]]

 R_gt:
[[ 0.91633022  0.39987592  0.02094538]
 [-0.3996967   0.91656427 -0.01235027]
 [-0.02413682  0.00294575  0.99970452]]

 t_gt:
[-0.69100678  0.72211591  0.03253068]

Pose Error in degrees for R and t:
179.28081014693495 82.76810605712207

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.65251282e-01 -2.61322501e-01  7.16152101e-04]
 [ 2.61323041e-01  9.65251064e-01 -8.07694735e-04]
 [-4.80197769e-04  9.66775423e-04  9.99999417e-01]]

 t_estimated:
[[8.27839177e-01]
 [5.60964995e-01]
 [7.56017513e-04]]

 R_gt:
[[ 0.99656871  0.08213484 -0.01023478]
 [-0.082083    0.99661059  0.00551654]
 [ 0.01065311 -0.00465634  0.99993296]]

 t_gt:
[-0.6438514   0.7611579  -0.07806422]

Pose Error in degrees for R and t:
19.871404795686853 83.91052032309796

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 7.50399893e-01 -6.60984085e-01 -2.00978446e-04]
 [ 6.60984040e-01  7.50399918e-01 -2.49856143e-04]
 [ 3.15965143e-04  5.46484777e-05  9.99999949e-01]]

 t_estimated:
[[-0.3065859 ]
 [-0.95184225]
 [-0.00118832]]

 R_gt:
[[ 0.97802621  0.20695708 -0.02515682]
 [-0.20717171  0.97828497 -0.00619544]
 [ 0.02332709  0.0112717   0.9996647 ]]

 t_gt:
[-0.58853354  0.79657997 -0.13816161]

Pose Error in degrees for R and t:
53.34600215689762 54.716805945417214

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-7.97636149e-01  6.03137868e-01 -1.13368885e-03]
 [-6.03136278e-01 -7.97636806e-01 -1.46817281e-03]
 [-1.78978257e-03 -4.87298833e-04  9.99998280e-01]]

 t_estimated:
[[0.540462  ]
 [0.84136786]
 [0.00097381]]

 R_gt:
[[ 0.95346718  0.29482083 -0.06309999]
 [-0.29390625  0.95554425  0.02353343]
 [ 0.06723211 -0.0038917   0.99772977]]

 t_gt:
[-0.57355745  0.8014529  -0.16942579]

Pose Error in degrees for R and t:
125.80183933928517 68.64375138987911

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.98674508e-01 -5.14698476e-02 -2.85377531e-04]
 [ 5.14698768e-02  9.98674543e-01  9.59379644e-05]
 [ 2.80061363e-04 -1.10499146e-04  9.99999955e-01]]

 t_estimated:
[[-0.73138178]
 [-0.68196767]
 [-0.00088662]]

 R_gt:
[[ 0.98268089  0.18398435 -0.0220886 ]
 [-0.18456609  0.98241939 -0.02805245]
 [ 0.01653867  0.03164369  0.99936221]]

 t_gt:
[-0.61816497  0.76075351 -0.19780334]

Pose Error in degrees for R and t:
13.724772773328574 86.18590749871149

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.96467928e-01 -8.39709556e-02 -7.38997774e-04]
 [ 8.39715447e-02  9.96467827e-01  8.05815176e-04]
 [ 6.68722435e-04 -8.65023764e-04  9.99999402e-01]]

 t_estimated:
[[0.63949368]
 [0.7687957 ]
 [0.00100234]]

 R_gt:
[[ 0.94255978  0.33275235  0.02927774]
 [-0.33128756  0.94242536 -0.04564069]
 [-0.042779    0.03331979  0.99852795]]

 t_gt:
[-0.63662526  0.76993977  0.04360074]

Pose Error in degrees for R and t:
24.4269576629574 79.34748149393647

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.85506227e-01 -1.69638329e-01 -5.60989317e-04]
 [ 1.69638647e-01  9.85506163e-01  5.76727577e-04]
 [ 4.55023326e-04 -6.63534087e-04  9.99999676e-01]]

 t_estimated:
[[-9.94278008e-01]
 [-1.06820459e-01]
 [-7.94885926e-04]]

 R_gt:
[[ 0.92233594  0.38336646  0.04821909]
 [-0.38044575  0.92285473 -0.05999657]
 [-0.06749998  0.03699205  0.99703261]]

 t_gt:
[-0.63642101  0.76720792  0.07975149]

Pose Error in degrees for R and t:
32.552886576257094 56.580659074683496

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 0.98348003  0.17780759 -0.03393354]
 [ 0.17368668 -0.87412155  0.45359062]
 [ 0.05098982 -0.45199112 -0.8905639 ]]

 t_estimated:
[[-0.08895934]
 [ 0.96937686]
 [ 0.22889898]]

 R_gt:
[[ 0.99950682  0.03010735  0.00894046]
 [-0.02981099  0.99905598 -0.03160111]
 [-0.00988317  0.03131837  0.99946034]]

 t_gt:
[-0.4386422   0.86913726 -0.22845885]

Pose Error in degrees for R and t:
154.7900390830864 33.978344910545076

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99052289e-01  4.35256107e-02  2.11661139e-04]
 [-4.35255734e-02  9.99052297e-01 -1.77625975e-04]
 [-2.19191826e-04  1.68244964e-04  9.99999962e-01]]

 t_estimated:
[[-0.65850512]
 [-0.75257541]
 [-0.00112228]]

 R_gt:
[[ 0.99865682 -0.05174201 -0.00265635]
 [ 0.05168479  0.99849129 -0.01855514]
 [ 0.00361166  0.01839216  0.99982414]]

 t_gt:
[ 0.4261685  -0.80127462 -0.41992783]

Pose Error in degrees for R and t:
5.5622918102589605 71.16422539529715

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 7.63303693e-01  6.46039785e-01  2.61870109e-04]
 [-6.46039792e-01  7.63303729e-01 -6.59440725e-05]
 [-2.42488925e-04 -1.18843157e-04  9.99999964e-01]]

 t_estimated:
[[0.74953856]
 [0.6619597 ]
 [0.00113739]]

 R_gt:
[[ 0.97593146 -0.21647555  0.02637215]
 [ 0.21646555  0.97628538  0.0032502 ]
 [-0.0264507   0.00253585  0.9996472 ]]

 t_gt:
[ 0.57176435 -0.81061549  0.12644387]

Pose Error in degrees for R and t:
52.76766242944673 83.8062135367287

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 0.59156839 -0.80586376 -0.02510859]
 [-0.80597325 -0.59025199 -0.04482987]
 [ 0.02130637  0.04675678 -0.99867905]]

 t_estimated:
[[ 0.54544646]
 [ 0.83785859]
 [-0.02193499]]

 R_gt:
[[ 0.99944876 -0.00402434 -0.0329521 ]
 [ 0.00465964  0.99980426  0.01921598]
 [ 0.0328678  -0.0193591   0.99927167]]

 t_gt:
[-0.49817505 -0.79551271 -0.34493644]

Pose Error in degrees for R and t:
177.1912100935477 21.457558204953195

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.63140908e-01  2.68995093e-01  1.10972778e-03]
 [-2.68995183e-01  9.63141520e-01 -7.09576854e-05]
 [-1.08791217e-03 -2.30169178e-04  9.99999382e-01]]

 t_estimated:
[[0.12773278]
 [0.99180748]
 [0.00150274]]

 R_gt:
[[ 0.99611808 -0.06853458 -0.0552411 ]
 [ 0.06962201  0.99741088  0.01798984]
 [ 0.05386546 -0.02176589  0.99831088]]

 t_gt:
[ 0.09253539 -0.94180158 -0.3231826 ]

Pose Error in degrees for R and t:
19.857513711067995 22.668263496312857

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.08405658  0.99645954  0.00169399]
 [-0.99646015  0.08405858 -0.00114679]
 [-0.00128513 -0.00159159  0.99999791]]

 t_estimated:
[[0.14500275]
 [0.9894305 ]
 [0.00121851]]

 R_gt:
[[ 0.98764883 -0.12506508 -0.09438782]
 [ 0.13006395  0.99030458  0.04878882]
 [ 0.08737118 -0.06046309  0.99433883]]

 t_gt:
[ 0.20745203 -0.95182769 -0.22580459]

Pose Error in degrees for R and t:
92.68984980479767 24.222177886338056

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[-0.90104582 -0.43322025 -0.02089609]
 [-0.43323996  0.90127056 -0.00380925]
 [ 0.02048328  0.00562072 -0.9997744 ]]

 t_estimated:
[[ 0.97473057]
 [ 0.22319047]
 [-0.00929111]]

 R_gt:
[[ 9.99999404e-01  1.12512257e-04  1.31645982e-03]
 [-1.11994735e-04  9.99999938e-01  2.45983100e-06]
 [-1.31693179e-03 -3.07437500e-06  9.99999345e-01]]

 t_gt:
[ 0.97004559 -0.24008635  0.03701494]

Pose Error in degrees for R and t:
178.85873267353102 26.924473204547542

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.92568274e-01 -1.21689028e-01  4.69384890e-05]
 [ 1.21689005e-01  9.92568219e-01  3.40583582e-04]
 [-8.80349375e-05 -3.32340560e-04  9.99999941e-01]]

 t_estimated:
[[-5.53485636e-01]
 [-8.32858722e-01]
 [ 2.99888624e-06]]

 R_gt:
[[ 0.99850633  0.0545212   0.00327988]
 [-0.05454652  0.9984752   0.00846664]
 [-0.00281386 -0.00863327  0.9999587 ]]

 t_gt:
[0.55824745 0.81916335 0.13164798]

Pose Error in degrees for R and t:
10.128297331070048 7.594214285427344

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-5.93955110e-01 -8.04489131e-01 -3.81639937e-03]
 [ 8.04492470e-01 -5.93962087e-01  9.51116562e-04]
 [-3.03195947e-03 -2.50534402e-03  9.99992265e-01]]

 t_estimated:
[[0.99922504]
 [0.03930699]
 [0.00206879]]

 R_gt:
[[ 9.97348285e-01  6.91610825e-02  2.26212494e-02]
 [-6.91684786e-02  9.97604707e-01 -4.82396118e-04]
 [-2.25998906e-02 -1.08335390e-03  9.99743225e-01]]

 t_gt:
[0.59236016 0.76236703 0.2605877 ]

Pose Error in degrees for R and t:
130.40920223523375 51.50791232125913

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99888765e-01  1.49122827e-02  2.86846854e-04]
 [-1.49122355e-02  9.99888793e-01 -1.65716951e-04]
 [-2.89286172e-04  1.61420989e-04  9.99999945e-01]]

 t_estimated:
[[-0.3928689 ]
 [-0.91959255]
 [-0.00188904]]

 R_gt:
[[ 0.99467376 -0.09848559 -0.03043598]
 [ 0.09903338  0.99493903  0.01704767]
 [ 0.02860332 -0.01996965  0.99939134]]

 t_gt:
[ 0.81789334 -0.57331324 -0.04860459]

Pose Error in degrees for R and t:
6.828186990417765 78.1130362442346

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.31691132  0.94838241  0.01174795]
 [ 0.94842882 -0.31678587 -0.01137932]
 [-0.00707036  0.01474833 -0.99986624]]

 t_estimated:
[[-0.81199742]
 [-0.58365475]
 [-0.00270532]]

 R_gt:
[[ 0.98721469 -0.14186269 -0.0726914 ]
 [ 0.1426235   0.98976274  0.00536421]
 [ 0.07118647 -0.01566178  0.99734026]]

 t_gt:
[ 0.85132001 -0.49162584 -0.18318917]

Pose Error in degrees for R and t:
178.0245286350675 66.18189993568326

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999577e-01  4.11321972e-04  8.23038394e-04]
 [-4.10787015e-04  9.99999704e-01 -6.50041372e-04]
 [-8.23305527e-04  6.49703003e-04  9.99999450e-01]]

 t_estimated:
[[0.94608155]
 [0.32391267]
 [0.00320706]]

 R_gt:
[[ 0.97895731 -0.16419817 -0.12117838]
 [ 0.16652333  0.98599471  0.00924905]
 [ 0.11796217 -0.02923347  0.99258779]]

 t_gt:
[ 0.87204597 -0.43145477 -0.23104675]

Pose Error in degrees for R and t:
11.877363643771572 46.80119037541559

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.97478949  0.22312118  0.00154789]
 [-0.22311318  0.97478356 -0.00418507]
 [-0.00244264  0.00373421  0.99999004]]

 t_estimated:
[[-9.72028275e-01]
 [-2.34862638e-01]
 [-7.57621415e-04]]

 R_gt:
[[ 0.98653522 -0.15163161  0.0612848 ]
 [ 0.15149514  0.98843446  0.00690949]
 [-0.06162332  0.00246868  0.99809589]]

 t_gt:
[ 0.65665176 -0.72469911  0.20885321]

Pose Error in degrees for R and t:
21.886157289733596 62.08004612289306

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 1.11794116e-01 -9.93729917e-01 -1.71077615e-03]
 [ 9.93731355e-01  1.11793491e-01  4.57106721e-04]
 [-2.62986985e-04 -1.75115375e-03  9.99998432e-01]]

 t_estimated:
[[ 9.86009261e-01]
 [-1.66688562e-01]
 [ 8.12211020e-04]]

 R_gt:
[[ 0.94873583 -0.30513804  0.08240009]
 [ 0.30498592  0.95224275  0.01473615]
 [-0.08296168  0.01114985  0.99648968]]

 t_gt:
[ 0.75366409 -0.6422041   0.13987254]

Pose Error in degrees for R and t:
65.94669797272444 31.757704315986537

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.99998388e-01  1.79580264e-03 -7.93812020e-06]
 [-1.79579968e-03  9.99998323e-01  3.59017349e-04]
 [ 8.58283119e-06 -3.59002514e-04  9.99999936e-01]]

 t_estimated:
[[9.99765678e-01]
 [2.16349524e-02]
 [7.19164264e-04]]

 R_gt:
[[ 0.89676138 -0.44060731  0.04103765]
 [ 0.43549441  0.89518557  0.09480474]
 [-0.07850796 -0.06714471  0.99464916]]

 t_gt:
[ 0.80074363 -0.56777619  0.19089221]

Pose Error in degrees for R and t:
26.80601642901782 37.96287828481283

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99998030e-01 -1.97394889e-03 -2.09939573e-04]
 [ 1.97392827e-03  9.99998047e-01 -9.83847276e-05]
 [ 2.10133369e-04  9.79701281e-05  9.99999973e-01]]

 t_estimated:
[[-0.99662879]
 [-0.08201006]
 [-0.00232514]]

 R_gt:
[[ 0.9998461   0.01448064  0.00986905]
 [-0.0146727   0.99969865  0.01970072]
 [-0.00958002 -0.01984161  0.99975704]]

 t_gt:
[-0.84629601 -0.12540009  0.51774306]

Pose Error in degrees for R and t:
1.587536939328641 31.51282201613534

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.89247492 -0.45107604 -0.00434946]
 [-0.45106975 -0.89227352 -0.01959679]
 [ 0.00495873  0.01945155 -0.9997985 ]]

 t_estimated:
[[ 0.33706151]
 [ 0.94144893]
 [-0.00796552]]

 R_gt:
[[ 0.99789265 -0.00143777  0.06487476]
 [ 0.00117054  0.99999172  0.00415748]
 [-0.06488081 -0.00407229  0.99788454]]

 t_gt:
[-0.84724159 -0.17747981  0.50068214]

Pose Error in degrees for R and t:
179.9587055932436 62.828922437129634

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.17564234  0.9844216  -0.00799296]
 [ 0.98443392  0.17568487  0.00496724]
 [ 0.0062941  -0.00699608 -0.99995572]]

 t_estimated:
[[9.98875956e-01]
 [4.73919249e-02]
 [9.11383171e-04]]

 R_gt:
[[ 0.99540494  0.06884694  0.06654618]
 [-0.0676488   0.99750705 -0.02008767]
 [-0.06776269  0.01549387  0.99758136]]

 t_gt:
[-0.96610378  0.25812886  0.00360366]

Pose Error in degrees for R and t:
176.92133517882388 17.677401131063

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[-0.99617699 -0.08721371  0.00501682]
 [-0.08720204  0.99618751  0.00249885]
 [-0.00521563  0.00205182 -0.99998429]]

 t_estimated:
[[0.96399025]
 [0.26592835]
 [0.00221607]]

 R_gt:
[[ 0.9959098  -0.06783586  0.05968069]
 [ 0.06844137  0.99762174 -0.00815438]
 [-0.05898493  0.01220536  0.99818344]]

 t_gt:
[ 0.13605124 -0.76199678  0.63312792]

Pose Error in degrees for R and t:
176.3271482940262 85.98133615156048

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 3.74860449e-01  9.27080653e-01  1.05200877e-03]
 [ 9.27078380e-01 -3.74861871e-01  2.06269918e-03]
 [ 2.30664648e-03  2.02070244e-04 -9.99997319e-01]]

 t_estimated:
[[-0.0938693 ]
 [-0.99558351]
 [-0.00142226]]

 R_gt:
[[ 0.98519395 -0.16085299  0.05931336]
 [ 0.16038171  0.98697314  0.01267078]
 [-0.06057812 -0.00297039  0.9981583 ]]

 t_gt:
[ 0.45497673 -0.80329222  0.38434071]

Pose Error in degrees for R and t:
178.49824610714123 40.84430937345001

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.96564225e-01 -8.28235568e-02  6.87624255e-05]
 [ 8.28235303e-02  9.96564176e-01  3.25536512e-04]
 [-9.54882618e-05 -3.18722895e-04  9.99999945e-01]]

 t_estimated:
[[9.06855523e-01]
 [4.21440827e-01]
 [8.30780820e-04]]

 R_gt:
[[ 0.95284169 -0.29867387  0.05372171]
 [ 0.29764266  0.95430994  0.02647041]
 [-0.05917338 -0.00923274  0.99820491]]

 t_gt:
[ 0.635541   -0.73904422  0.22338597]

Pose Error in degrees for R and t:
13.066854699051358 74.62912294040478

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.28238139 -0.95794918  0.0509325 ]
 [-0.95873951  0.27999944 -0.04918201]
 [ 0.03285279 -0.06271909 -0.99749036]]

 t_estimated:
[[0.80821242]
 [0.5888834 ]
 [0.00300451]]

 R_gt:
[[ 0.98904912  0.1475537   0.00302991]
 [-0.14745476  0.98883066 -0.02169556]
 [-0.00619722  0.02101139  0.99976046]]

 t_gt:
[-0.70273289  0.70640598 -0.0845995 ]

Pose Error in degrees for R and t:
179.58189177729005 81.24434845914449

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-8.46114182e-01  5.33001455e-01 -4.89110381e-04]
 [-5.32998073e-01 -8.46111477e-01 -2.90224889e-03]
 [-1.96074479e-03 -2.19493905e-03  9.99995669e-01]]

 t_estimated:
[[0.23181863]
 [0.97275792]
 [0.00146721]]

 R_gt:
[[ 9.87908684e-01  1.53463214e-01  2.20367871e-02]
 [-1.53435814e-01  9.88153875e-01 -2.91228334e-03]
 [-2.22229613e-02 -5.04194241e-04  9.99752637e-01]]

 t_gt:
[-0.70032898  0.70951469  0.07828297]

Pose Error in degrees for R and t:
138.96442228508295 58.132843735712754

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.27563424  0.96126146  0.00147295]
 [-0.96126157  0.27563586 -0.00103729]
 [-0.0014031  -0.00112998  0.99999838]]

 t_estimated:
[[0.02085982]
 [0.9997813 ]
 [0.00148999]]

 R_gt:
[[ 0.99878175  0.03607118  0.03368469]
 [-0.03638443  0.99929994  0.00871971]
 [-0.03334601 -0.00993482  0.99939428]]

 t_gt:
[-0.51407241  0.67994027  0.52288697]

Pose Error in degrees for R and t:
71.9443436908884 47.94472663730436

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.99899409e-01  1.41834680e-02 -2.51978063e-05]
 [-1.41834692e-02  9.99899408e-01 -4.63769833e-05]
 [ 2.45374852e-05  4.67297105e-05  9.99999999e-01]]

 t_estimated:
[[-7.70417284e-01]
 [-6.37539638e-01]
 [-6.46905621e-04]]

 R_gt:
[[ 0.99909598  0.02501134  0.03435406]
 [-0.02460167  0.99962182 -0.01230751]
 [-0.03464953  0.01145201  0.99933415]]

 t_gt:
[-0.94978015  0.30616386 -0.06466345]

Pose Error in degrees for R and t:
2.1789015757481667 57.54905844147523

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.95421456e-01  9.55813248e-02 -5.79512157e-04]
 [-9.55804691e-02  9.95420780e-01  1.35830736e-03]
 [ 7.06687260e-04 -1.29669825e-03  9.99998910e-01]]

 t_estimated:
[[-0.97811426]
 [-0.20806514]
 [-0.00117811]]

 R_gt:
[[ 0.99560053  0.07870835  0.05083598]
 [-0.0765315   0.99611934 -0.0434565 ]
 [-0.05405976  0.0393755   0.99776076]]

 t_gt:
[-0.87390433  0.41609082 -0.25131583]

Pose Error in degrees for R and t:
4.04418799149196 39.780585761928776

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-3.02088165e-01  9.53279965e-01  2.20662418e-04]
 [-9.53277016e-01 -3.02086636e-01 -2.56810003e-03]
 [-2.38145914e-03 -9.86145038e-04  9.99996678e-01]]

 t_estimated:
[[0.07656022]
 [0.99706337]
 [0.00178047]]

 R_gt:
[[ 0.98641764  0.14556144  0.07610485]
 [-0.13851756  0.98618286 -0.09086024]
 [-0.08827944  0.07908476  0.99295147]]

 t_gt:
[-0.85737728  0.4169055  -0.30181785]

Pose Error in degrees for R and t:
99.54838263321037 69.54309110741981

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99998944e-01  1.45129096e-03 -7.39206669e-05]
 [-1.45129974e-03  9.99998940e-01 -1.18806346e-04]
 [ 7.37481660e-05  1.18913501e-04  9.99999990e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96951796  0.24233805 -0.03616569]
 [-0.24184166  0.97015664  0.01758728]
 [ 0.03934797 -0.00830635  0.99919092]]

 t_gt:
[-0.62588362  0.77385944 -0.09701163]

Pose Error in degrees for R and t:
14.120609807915008 39.660515442915674

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.50114873 -0.8329519  -0.23460835]
 [ 0.80271349 -0.34618149 -0.48560213]
 [ 0.32326615 -0.43168218  0.84211014]]

 t_estimated:
[[9.99967893e-01]
 [7.96434605e-03]
 [8.84927339e-04]]

 R_gt:
[[ 0.93100272  0.36125264 -0.05225404]
 [-0.36285428  0.93150972 -0.02503466]
 [ 0.03963086  0.04226823  0.99832011]]

 t_gt:
[-0.53349898  0.82757781 -0.17462475]

Pose Error in degrees for R and t:
139.53212079041458 58.19396818069284

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.506531    0.86220341  0.00562434]
 [ 0.86222019  0.50653171  0.00140266]
 [-0.00163953  0.00555991 -0.9999832 ]]

 t_estimated:
[[-0.00624358]
 [-0.99997997]
 [-0.00103951]]

 R_gt:
[[ 0.91461236  0.39834485 -0.06932609]
 [-0.40150046  0.91501536 -0.03931661]
 [ 0.04777192  0.06379277  0.99681922]]

 t_gt:
[-0.49968224  0.83872723 -0.21645853]

Pose Error in degrees for R and t:
178.7110168864333 33.34607295081246

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99988029e-01  4.88047360e-03  3.50357435e-04]
 [-4.88046438e-03  9.99988090e-01 -2.71604606e-05]
 [-3.50485818e-04  2.54502285e-05  9.99999938e-01]]

 t_estimated:
[[-0.99917161]
 [ 0.0405925 ]
 [ 0.00288854]]

 R_gt:
[[ 0.99864325 -0.05147722  0.00781374]
 [ 0.0513565   0.99856822  0.0149614 ]
 [-0.00857227 -0.01454059  0.99985682]]

 t_gt:
[ 0.36006879 -0.82546346  0.43469592]

Pose Error in degrees for R and t:
3.367083052720548 66.91959619001449

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.72617365 -0.68680622  0.0311295 ]
 [-0.68673745  0.72676007  0.01454212]
 [-0.03261129 -0.01081769 -0.99940957]]

 t_estimated:
[[0.91478194]
 [0.40355922]
 [0.01771901]]

 R_gt:
[[ 0.98783675 -0.14067473  0.06625073]
 [ 0.14125841  0.9899646  -0.00418085]
 [-0.06499674  0.0134879   0.9977942 ]]

 t_gt:
[ 0.42456066 -0.82348439  0.37632659]

Pose Error in degrees for R and t:
174.714237189297 86.40382808791868

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.03091619e-01  4.29447889e-01  1.95381693e-04]
 [-4.29447908e-01  9.03091628e-01  7.05720279e-05]
 [-1.46140563e-04 -1.47639266e-04  9.99999978e-01]]

 t_estimated:
[[8.78360317e-01]
 [4.77998509e-01]
 [7.61144122e-04]]

 R_gt:
[[ 0.96263271 -0.26719751  0.04407844]
 [ 0.2650728   0.9630015   0.04863056]
 [-0.05544101 -0.03512932  0.9978439 ]]

 t_gt:
[ 0.602599   -0.73812951  0.30337976]

Pose Error in degrees for R and t:
41.048367652872436 79.82209702102728

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 8.36583899e-01  5.47838787e-01  2.05823861e-04]
 [-5.47838458e-01  8.36583714e-01 -8.45215331e-04]
 [-6.35230632e-04  5.94335311e-04  9.99999622e-01]]

 t_estimated:
[[3.91997204e-03]
 [9.99992216e-01]
 [4.50266551e-04]]

 R_gt:
[[ 0.96848236 -0.16651587  0.18524441]
 [ 0.16378424  0.98603809  0.0300642 ]
 [-0.18766437  0.00122403  0.98223275]]

 t_gt:
[ 0.51498518 -0.62218315  0.58964259]

Pose Error in degrees for R and t:
44.08841319829927 51.691599632675256

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-5.62954274e-01  8.26487578e-01 -8.76785869e-04]
 [ 8.26484650e-01  5.62954686e-01  2.26810749e-03]
 [ 2.36815338e-03  5.52190743e-04 -9.99997043e-01]]

 t_estimated:
[[-5.00689571e-01]
 [-8.65626875e-01]
 [-2.57255054e-04]]

 R_gt:
[[ 0.92168707 -0.30755906  0.23643407]
 [ 0.29962844  0.9515067   0.06970524]
 [-0.24640697  0.00659627  0.96914395]]

 t_gt:
[ 0.65116401 -0.63453235  0.41635817]

Pose Error in degrees for R and t:
168.45535652325353 77.10705336268437

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 8.36394491e-01  5.48127885e-01  2.76882751e-04]
 [-5.48127665e-01  8.36394461e-01 -6.06624767e-04]
 [-5.64091150e-04  3.55610518e-04  9.99999778e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.85665707 -0.43625779  0.27535193]
 [ 0.41956729  0.89973493  0.12017411]
 [-0.30016931  0.01258124  0.95380249]]

 t_gt:
[ 0.7279984  -0.57904341  0.36705186]

Pose Error in degrees for R and t:
61.51313745672431 54.962681838056334

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.86571676e-01 -1.63328871e-01 -8.78387669e-05]
 [ 1.63328892e-01  9.86571601e-01  3.85621908e-04]
 [ 2.36760422e-05 -3.94790261e-04  9.99999922e-01]]

 t_estimated:
[[9.08765513e-01]
 [4.17306386e-01]
 [7.88858953e-04]]

 R_gt:
[[ 0.98896409 -0.13933411  0.0503733 ]
 [ 0.13979029  0.99016442 -0.00563575]
 [-0.04909177  0.01261588  0.99871436]]

 t_gt:
[ 0.63105948 -0.73006572  0.26223649]

Pose Error in degrees for R and t:
3.2198773585820732 74.39339347281908

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.93414096e-01  1.14579012e-01  2.90319048e-04]
 [-1.14579006e-01  9.93414138e-01 -3.51780016e-05]
 [-2.92437708e-04  1.68185456e-06  9.99999957e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.96638415 -0.24757608  0.06933877]
 [ 0.25050178  0.96740425 -0.0371233 ]
 [-0.05788742  0.05324602  0.99690194]]

 t_gt:
[ 0.67819919 -0.7297757   0.08644817]

Pose Error in degrees for R and t:
21.493070480085983 81.3975909759591

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 0.99885033 -0.04770258 -0.00474142]
 [ 0.04778857  0.99865574  0.02007398]
 [ 0.00377747 -0.02027749  0.99978725]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97221533 -0.22475488  0.06544037]
 [ 0.22701939  0.97344611 -0.02942075]
 [-0.05708967  0.0434611   0.9974227 ]]

 t_gt:
[ 0.64118901 -0.75945143  0.11004622]

Pose Error in degrees for R and t:
11.475725946921854 50.28895172656927

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.98725855e-01  5.04642576e-02  1.57783399e-04]
 [-5.04642459e-02  9.98725865e-01 -7.74605152e-05]
 [-1.61491349e-04  6.93993990e-05  9.99999985e-01]]

 t_estimated:
[[-0.45058256]
 [-0.89273427]
 [-0.00093676]]

 R_gt:
[[ 0.99782521 -0.06220625  0.02182475]
 [ 0.06292174  0.99744665 -0.03376844]
 [-0.01966817  0.03506853  0.99919139]]

 t_gt:
[ 0.87519571 -0.45909359 -0.1525305 ]

Pose Error in degrees for R and t:
6.875279573537533 89.10365472842933

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99989874e-01  4.47954990e-03  4.30398139e-04]
 [-4.47920979e-03  9.99989658e-01 -7.87974047e-04]
 [-4.33923457e-04  7.86038224e-04  9.99999597e-01]]

 t_estimated:
[[ 0.31236208]
 [-0.9499552 ]
 [-0.00387852]]

 R_gt:
[[ 0.98505909 -0.17218689 -0.00340548]
 [ 0.17207063  0.98483129 -0.02233362]
 [ 0.00719915  0.0214137   0.99974475]]

 t_gt:
[ 0.85191398 -0.51548388 -0.09229812]

Pose Error in degrees for R and t:
10.246626870674318 40.87402644982964

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99998865e-01  1.32073954e-03  7.25264457e-04]
 [-1.32047005e-03  9.99999059e-01 -3.71934874e-04]
 [-7.25755004e-04  3.70976762e-04  9.99999668e-01]]

 t_estimated:
[[9.66776875e-01]
 [2.55621262e-01]
 [4.94405259e-04]]

 R_gt:
[[ 0.97884663 -0.19852633 -0.04947698]
 [ 0.19705045  0.97983224 -0.03315024]
 [ 0.05506051  0.02270024  0.99822417]]

 t_gt:
[ 0.87364172 -0.44641172 -0.19356322]

Pose Error in degrees for R and t:
11.99614561950235 43.07934156324474

Number of keypoints:
Image1: 515
Image2: 515

 R_estimated:
[[ 0.98483381  0.17025538  0.03339858]
 [ 0.17096705 -0.91952919 -0.35388746]
 [-0.02954028  0.3542304  -0.9346915 ]]

 t_estimated:
[[-0.09164353]
 [ 0.9787792 ]
 [-0.1832832 ]]

 R_gt:
[[ 0.999904    0.01054615 -0.00905109]
 [-0.01067821  0.99983652 -0.0146109 ]
 [ 0.00889577  0.01470594  0.99985265]]

 t_gt:
[-0.78719627  0.07309905 -0.61235492]

Pose Error in degrees for R and t:
158.38876974358743 75.17167750221617

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.93047234e-01  1.17715260e-01  5.56251716e-04]
 [-1.17714478e-01  9.93046663e-01 -1.27545011e-03]
 [-7.02523852e-04  1.20110332e-03  9.99999032e-01]]

 t_estimated:
[[-9.65869079e-01]
 [-2.59029572e-01]
 [-7.76218194e-04]]

 R_gt:
[[ 9.98613043e-01  1.71272197e-03 -5.26315528e-02]
 [-2.38805207e-04  9.99608306e-01  2.80079230e-02]
 [ 5.26596824e-02 -2.79567442e-02  9.98221085e-01]]

 t_gt:
[-0.61798494 -0.63448137 -0.46424994]

Pose Error in degrees for R and t:
7.554201308427018 40.394338998978185

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.90912648e-01  1.34506712e-01  2.62316955e-04]
 [-1.34506653e-01  9.90912663e-01 -2.34049178e-04]
 [-2.91414378e-04  1.96638915e-04  9.99999938e-01]]

 t_estimated:
[[0.99092485]
 [0.13441306]
 [0.00103834]]

 R_gt:
[[ 0.99642536 -0.02344657 -0.08115883]
 [ 0.02324324  0.99972406 -0.00344421]
 [ 0.08121687  0.00154606  0.99669577]]

 t_gt:
[-0.34223698 -0.61360375 -0.71159278]

Pose Error in degrees for R and t:
10.201572888482236 65.01718768241479

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.59528419  0.80351388  0.00147385]
 [ 0.80350387 -0.59528452  0.00422721]
 [ 0.00427399 -0.00133215 -0.99998998]]

 t_estimated:
[[-0.92304725]
 [-0.38468067]
 [-0.00213302]]

 R_gt:
[[ 0.99914146  0.02339547  0.03419346]
 [-0.0237591   0.99966512  0.01028277]
 [-0.03394117 -0.01108525  0.99936184]]

 t_gt:
[0.25670638 0.38635936 0.88590534]

Pose Error in degrees for R and t:
179.8405960887401 67.20303534308191

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.68168089e-01 -2.50294924e-01 -1.73272123e-03]
 [ 2.50292642e-01  9.68169172e-01 -1.43125180e-03]
 [ 2.03580234e-03  9.52004947e-04  9.99997475e-01]]

 t_estimated:
[[-0.05953383]
 [-0.99819275]
 [-0.00818228]]

 R_gt:
[[ 0.99868268  0.04722207  0.02007772]
 [-0.04716396  0.99888157 -0.00334958]
 [-0.02021333  0.0023983   0.99979241]]

 t_gt:
[0.53132301 0.80545318 0.26256625]

Pose Error in degrees for R and t:
17.246527760758937 33.09382030951437

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99925200e-01  1.22232195e-02 -4.32360777e-04]
 [-1.22228075e-02  9.99924854e-01  9.43130118e-04]
 [ 4.43856374e-04 -9.37774909e-04  9.99999462e-01]]

 t_estimated:
[[ 9.78134469e-01]
 [-2.07971411e-01]
 [ 9.23435078e-04]]

 R_gt:
[[ 0.99738834  0.06440187  0.03270544]
 [-0.06420519  0.99791189 -0.00700475]
 [-0.03308763  0.00488741  0.99943996]]

 t_gt:
[0.53112894 0.77260143 0.34783484]

Pose Error in degrees for R and t:
3.5685866352070854 68.95152254308394

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.99855845e-01  1.69564127e-02 -8.77201576e-04]
 [-1.69552050e-02 -9.99855317e-01 -1.36629954e-03]
 [-9.00242199e-04 -1.35122945e-03  9.99998682e-01]]

 t_estimated:
[[0.80651164]
 [0.59121761]
 [0.00084099]]

 R_gt:
[[ 0.97668924  0.21463067  0.00321817]
 [-0.21463702  0.97669245  0.00172406]
 [-0.0027717  -0.00237452  0.99999314]]

 t_gt:
[-0.34157917  0.9396561   0.01923772]

Pose Error in degrees for R and t:
166.6342717385718 73.73562745243747

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.81402855 -0.58077369 -0.00770966]
 [ 0.5807689   0.81406267 -0.00307551]
 [ 0.00806233 -0.00197398  0.99996555]]

 t_estimated:
[[0.7437091 ]
 [0.66850256]
 [0.00104454]]

 R_gt:
[[ 0.92290306  0.38381326 -0.03059599]
 [-0.38319668  0.92334956  0.02419304]
 [ 0.03753683 -0.010604    0.99923831]]

 t_gt:
[-0.25088918  0.96589176 -0.06409163]

Pose Error in degrees for R and t:
58.090255665498425 62.67446073226473

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.18454436 -0.98282198  0.00208379]
 [-0.98282261  0.18453987 -0.00217873]
 [ 0.00175676 -0.00245007 -0.99999546]]

 t_estimated:
[[0.69445647]
 [0.71953407]
 [0.00096452]]

 R_gt:
[[ 0.8656996   0.49994666 -0.02481852]
 [-0.49764777  0.86494391  0.06495229]
 [ 0.05393967 -0.04387851  0.99757951]]

 t_gt:
[-0.20773272  0.97695156 -0.04911987]

Pose Error in degrees for R and t:
179.6777424902057 56.03811894166111

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.79262870e-01  2.02593709e-01  1.44433272e-04]
 [ 2.02593599e-01  9.79260940e-01  1.96103740e-03]
 [ 2.55855979e-04  1.94963237e-03 -9.99998067e-01]]

 t_estimated:
[[0.89707405]
 [0.44187858]
 [0.00121063]]

 R_gt:
[[ 0.99251573 -0.07703144  0.09474707]
 [ 0.08758765  0.98974687 -0.11283093]
 [-0.08508452  0.12028436  0.989086  ]]

 t_gt:
[ 0.49876306  0.32257043 -0.8044773 ]

Pose Error in degrees for R and t:
174.16953232555932 53.914600635514894

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.15220627  0.98834714  0.00178509]
 [ 0.98834749 -0.15220871  0.00132115]
 [ 0.00157746  0.0015632  -0.99999753]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953484e-04]]

 R_gt:
[[ 0.98521221 -0.07014422  0.15632305]
 [ 0.10051895  0.97547869 -0.19580043]
 [-0.1387558   0.20861744  0.96810371]]

 t_gt:
[ 0.1665238   0.46366051 -0.8702234 ]

Pose Error in degrees for R and t:
165.52043824100645 76.23001128202777

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.99829195 -0.05807806  0.0063339 ]
 [-0.05806113  0.99830904  0.00282395]
 [-0.0064872   0.00245137 -0.99997595]]

 t_estimated:
[[0.99991546]
 [0.01283973]
 [0.00205119]]

 R_gt:
[[ 0.96272488 -0.12823172  0.23815212]
 [ 0.1848182   0.95474142 -0.23305064]
 [-0.19748924  0.26837758  0.94285221]]

 t_gt:
[ 0.42946842  0.14031951 -0.89211396]

Pose Error in degrees for R and t:
167.32712117375615 64.57026480419484

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.99577396  0.09155631  0.0071874 ]
 [-0.09162433 -0.99574557 -0.00978527]
 [ 0.00626092 -0.01040246  0.99992629]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.97520373 -0.21614973 -0.04751804]
 [ 0.21576542  0.97635693 -0.01313473]
 [ 0.04923352  0.00255618  0.99878386]]

 t_gt:
[ 0.76106681 -0.6245298  -0.1753278 ]

Pose Error in degrees for R and t:
172.76272453731147 72.67818444924482

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 7.70192128e-01  6.37806427e-01  2.65483578e-03]
 [ 6.37808198e-01 -7.70195204e-01  2.25084635e-04]
 [ 2.18830221e-03  1.51991761e-03 -9.99996451e-01]]

 t_estimated:
[[-7.73246267e-01]
 [-6.34105421e-01]
 [-7.24691910e-04]]

 R_gt:
[[ 0.92045115 -0.38967119 -0.03041728]
 [ 0.38976554  0.9209085  -0.00301295]
 [ 0.02918486 -0.00908181  0.99953236]]

 t_gt:
[ 0.81019447 -0.58512906 -0.03476924]

Pose Error in degrees for R and t:
179.3086388344464 75.20145877102581

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-9.91433237e-01  1.30606171e-01 -1.47129603e-03]
 [-1.30605351e-01 -9.91434230e-01 -6.40330201e-04]
 [-1.54232432e-03 -4.42685509e-04  9.99998713e-01]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 0.84423936 -0.53593007 -0.00617719]
 [ 0.53595751  0.84423562  0.00403742]
 [ 0.00305008 -0.00671875  0.99997183]]

 t_gt:
[ 0.84661652 -0.53192521  0.0172056 ]

Pose Error in degrees for R and t:
155.09608178958624 63.01662639410761

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.92070561e-01  1.25682145e-01  2.01784244e-05]
 [-1.25682146e-01  9.92070550e-01  1.48658780e-04]
 [-1.33466634e-06 -1.50016067e-04  9.99999989e-01]]

 t_estimated:
[[9.95833670e-01]
 [9.11847698e-02]
 [7.99866401e-04]]

 R_gt:
[[ 0.98353488 -0.1717964  -0.05607663]
 [ 0.17252579  0.98496892  0.0084093 ]
 [ 0.05378872 -0.01794625  0.9983909 ]]

 t_gt:
[ 0.75398327 -0.63017141 -0.18545407]

Pose Error in degrees for R and t:
17.44473273022845 46.113537908402755

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99306184e-01 -3.72443400e-02  1.03669805e-04]
 [ 3.72443486e-02  9.99306185e-01 -8.25608602e-05]
 [-1.00522953e-04  8.63646925e-05  9.99999991e-01]]

 t_estimated:
[[ 9.73632902e-01]
 [-2.28120509e-01]
 [ 7.33213050e-05]]

 R_gt:
[[ 0.93117768 -0.35894671 -0.06376349]
 [ 0.35950588  0.93313832 -0.00286842]
 [ 0.06053029 -0.0202532   0.99796069]]

 t_gt:
[ 0.80949671 -0.57933466 -0.09532277]

Pose Error in degrees for R and t:
19.289130488656934 23.029470244383116

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.34685498  0.9379102   0.00400876]
 [ 0.93790543 -0.34682409 -0.00681586]
 [-0.00500233  0.00612395 -0.99996874]]

 t_estimated:
[[-0.94068502]
 [-0.33927814]
 [ 0.00142859]]

 R_gt:
[[ 8.41172916e-01 -5.38445670e-01 -5.00442672e-02]
 [ 5.39117237e-01  8.42230468e-01 -8.50322340e-05]
 [ 4.21953526e-02 -2.69084673e-02  9.98746894e-01]]

 t_gt:
[ 0.8572969  -0.51410384 -0.02718941]

Pose Error in degrees for R and t:
178.19266712535946 50.797656569659466

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999939e-01 -3.09517806e-04 -1.61603748e-04]
 [ 3.09565689e-04  9.99999908e-01  2.96360488e-04]
 [ 1.61512004e-04 -2.96410497e-04  9.99999943e-01]]

 t_estimated:
[[0.37522726]
 [0.92693126]
 [0.00171337]]

 R_gt:
[[ 0.98484209  0.17262895 -0.01691555]
 [-0.17192377  0.98442316  0.03678827]
 [ 0.02300317 -0.03332233  0.9991794 ]]

 t_gt:
[-0.3885672   0.92126467 -0.01693929]

Pose Error in degrees for R and t:
10.204238964676474 44.91792275857022

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99998315e-01  6.89201593e-04 -1.70148551e-03]
 [-6.88244542e-04  9.99999605e-01  5.63001100e-04]
 [ 1.70187286e-03 -5.61829113e-04  9.99998394e-01]]

 t_estimated:
[[-0.73549122]
 [-0.67753131]
 [-0.00199862]]

 R_gt:
[[ 0.95672755  0.29037297 -0.01885967]
 [-0.28912018  0.95592379  0.05117233]
 [ 0.03288703 -0.04350472  0.99851186]]

 t_gt:
[-0.34478505  0.9382183  -0.02949056]

Pose Error in degrees for R and t:
17.088889816778128 67.54070609742416

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.9933595  -0.11486588  0.00653696]
 [ 0.11490705  0.99335618 -0.0063136 ]
 [-0.00576831  0.00702282  0.9999587 ]]

 t_estimated:
[[0.62386535]
 [0.78153066]
 [0.00135918]]

 R_gt:
[[ 0.91664142  0.3996238  -0.00836494]
 [-0.39954751  0.91666392  0.00940428]
 [ 0.0114263  -0.00527754  0.9999207 ]]

 t_gt:
[-0.27868341  0.95990922 -0.03016368]

Pose Error in degrees for R and t:
30.17567013211992 54.809517609419146

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99984588e-01  5.38642580e-03  1.34537413e-03]
 [-5.38574201e-03  9.99985366e-01 -5.11354754e-04]
 [-1.34810881e-03  5.04101035e-04  9.99998964e-01]]

 t_estimated:
[[0.99994669]
 [0.01001741]
 [0.00250435]]

 R_gt:
[[ 0.99456121 -0.02856966  0.10015989]
 [ 0.04155645  0.99063311 -0.13008217]
 [-0.0955062   0.13353668  0.98643069]]

 t_gt:
[-0.12167088  0.55564723 -0.82246724]

Pose Error in degrees for R and t:
9.664763159035829 83.21419276991767

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.35186224  0.93604004 -0.00469158]
 [-0.93603002  0.35181545 -0.00858417]
 [-0.00638455  0.0074119   0.99995215]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.98013315 -0.08348235  0.17991481]
 [ 0.11682337  0.97604847 -0.18352732]
 [-0.16028499  0.20089982  0.9664097 ]]

 t_gt:
[ 0.30142929  0.14880073 -0.9418061 ]

Pose Error in degrees for R and t:
76.39732496454585 71.04035479607496

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.9991322  -0.0416218  -0.00157176]
 [ 0.04162453 -0.9991318  -0.00174342]
 [-0.00149783 -0.00180733  0.99999725]]

 t_estimated:
[[0.8151402 ]
 [0.57926228]
 [0.00128747]]

 R_gt:
[[ 0.97025833 -0.10362963  0.21876751]
 [ 0.14979985  0.96694595 -0.20633998]
 [-0.19015414  0.23297492  0.95371026]]

 t_gt:
[ 0.49973004 -0.07934878 -0.86253908]

Pose Error in degrees for R and t:
170.2965968322866 68.88286578275884

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99877545e-01  1.56487425e-02  1.11684453e-04]
 [-1.56487298e-02  9.99877545e-01 -1.13044896e-04]
 [-1.13439787e-04  1.11283333e-04  9.99999987e-01]]

 t_estimated:
[[-9.94605633e-01]
 [-1.03728653e-01]
 [ 2.24533268e-05]]

 R_gt:
[[ 0.99413046 -0.10771195 -0.01013526]
 [ 0.10775448  0.99417001  0.0036982 ]
 [ 0.00967842 -0.0047681   0.99994138]]

 t_gt:
[ 0.55453581 -0.83041735 -0.05382435]

Pose Error in degrees for R and t:
7.109373646962052 62.26339750722326

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 4.94958523e-04 -9.99997780e-01 -2.04828951e-03]
 [-9.99997868e-01 -4.99063168e-04  2.00391226e-03]
 [-2.00493004e-03  2.04729329e-03 -9.99995894e-01]]

 t_estimated:
[[0.74333131]
 [0.66892302]
 [0.0007516 ]]

 R_gt:
[[ 0.95259073 -0.3041409   0.00827755]
 [ 0.30400955  0.95256317  0.01418459]
 [-0.0121986  -0.01099529  0.99986532]]

 t_gt:
[ 0.63291015 -0.77248887  0.05182354]

Pose Error in degrees for R and t:
179.04190070831632 87.35000179476945

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 1.98979819e-01  9.80003487e-01  4.43370432e-04]
 [ 9.80000615e-01 -1.98980309e-01  2.37314036e-03]
 [ 2.41390781e-03 -3.77037423e-05 -9.99997086e-01]]

 t_estimated:
[[-0.60829097]
 [-0.793713  ]
 [-0.00133397]]

 R_gt:
[[ 0.90064695 -0.43360819  0.02863444]
 [ 0.43347125  0.90109844  0.01118415]
 [-0.03065116  0.00233996  0.99952748]]

 t_gt:
[ 0.67571358 -0.73427445  0.06520882]

Pose Error in degrees for R and t:
179.16013499605657 80.11415530645993

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-5.66782235e-01 -8.23867628e-01 -1.72497943e-04]
 [-8.23865820e-01  5.66780526e-01  2.22404732e-03]
 [-1.73455211e-03  1.40266567e-03 -9.99997512e-01]]

 t_estimated:
[[9.78904402e-01]
 [2.04316781e-01]
 [9.08074584e-04]]

 R_gt:
[[ 0.9913261  -0.13097193 -0.01095757]
 [ 0.13131925  0.99046495  0.04165648]
 [ 0.00539802 -0.04273406  0.99907271]]

 t_gt:
[ 0.56351873 -0.79780235  0.21437828]

Pose Error in degrees for R and t:
179.2327402934019 67.11882712027516

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.60348247e-01  2.78802073e-01  8.05989279e-04]
 [-2.78801833e-01  9.60348572e-01 -3.98276391e-04]
 [-8.85070937e-04  1.57772745e-04  9.99999596e-01]]

 t_estimated:
[[0.64147974]
 [0.76713947]
 [0.00087874]]

 R_gt:
[[ 0.93930109 -0.34307453  0.0037424 ]
 [ 0.34207944  0.93730504  0.06664766]
 [-0.02637172 -0.06132287  0.99776945]]

 t_gt:
[ 0.71078999 -0.67662932  0.19222475]

Pose Error in degrees for R and t:
36.44125399943036 86.39125995311217

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 9.97862785e-01  6.53371141e-02  9.61607216e-04]
 [-6.53372794e-02  9.97863227e-01  1.41463434e-04]
 [-9.50309667e-04 -2.03989895e-04  9.99999528e-01]]

 t_estimated:
[[0.94199006]
 [0.33563898]
 [0.00110046]]

 R_gt:
[[ 0.86357126 -0.50354066 -0.02629059]
 [ 0.50358847  0.8586836   0.09519355]
 [-0.02535754 -0.09544631  0.99511262]]

 t_gt:
[ 0.79434342 -0.57997849  0.1806751 ]

Pose Error in degrees for R and t:
34.517044523970206 56.37196492481132

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99409893e-01 -3.43491611e-02 -1.88771795e-05]
 [ 3.43491619e-02  9.99409893e-01  4.22632029e-05]
 [ 1.74143343e-05 -4.28866784e-05  9.99999999e-01]]

 t_estimated:
[[ 6.76170488e-02]
 [ 9.97711347e-01]
 [-4.57175359e-05]]

 R_gt:
[[ 0.99765082 -0.01335571  0.06718448]
 [ 0.01879413  0.99653834 -0.08097557]
 [-0.06587027  0.08204773  0.99444881]]

 t_gt:
[ 0.17907723  0.26038637 -0.94875196]

Pose Error in degrees for R and t:
6.1321966266661105 74.22011123393618

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.87454893 -0.47159101 -0.11298712]
 [ 0.47635677  0.87906721  0.01802954]
 [ 0.0908207  -0.0695899   0.99343286]]

 t_estimated:
[[-0.76621604]
 [-0.63368262]
 [-0.10658013]]

 R_gt:
[[ 0.99387191  0.03411488  0.10514087]
 [-0.01659872  0.98645734 -0.16317584]
 [-0.10928365  0.16043004  0.98097863]]

 t_gt:
[-0.53694775  0.64515318 -0.54356644]

Pose Error in degrees for R and t:
34.361693682834115 86.52982229715872

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-0.27493794  0.96145365  0.00400142]
 [-0.96144632 -0.27495483  0.00456165]
 [ 0.00548602 -0.00259298  0.99998159]]

 t_estimated:
[[0.09079801]
 [0.99586812]
 [0.00155018]]

 R_gt:
[[ 0.98423417  0.08015606  0.15765919]
 [-0.0476226   0.97859031 -0.20023108]
 [-0.17033338  0.18956552  0.96698025]]

 t_gt:
[-0.70841612  0.68952708 -0.1506619 ]

Pose Error in degrees for R and t:
103.04888457734525 51.52876092527738

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.96379955e-01 -8.50111856e-02 -2.89007639e-04]
 [ 8.50111499e-02  9.96379991e-01 -1.33514249e-04]
 [ 2.99311633e-04  1.08462049e-04  9.99999949e-01]]

 t_estimated:
[[-0.05218098]
 [-0.99863602]
 [-0.00179934]]

 R_gt:
[[ 0.99581884  0.08682731  0.02838909]
 [-0.08496706  0.99450227 -0.06121061]
 [-0.03354884  0.05854224  0.9977212 ]]

 t_gt:
[-0.82800168  0.33183085 -0.45199723]

Pose Error in degrees for R and t:
10.544041017677905 73.30009071429271

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.96090393e-01  8.83396934e-02 -1.66245825e-04]
 [-8.83397021e-02  9.96090405e-01 -4.57712912e-05]
 [ 1.61552450e-04  6.02784501e-05  9.99999985e-01]]

 t_estimated:
[[8.36543522e-01]
 [5.47900090e-01]
 [6.53039440e-04]]

 R_gt:
[[ 0.99748332  0.06637828  0.02490778]
 [-0.06382543  0.9936989  -0.09214256]
 [-0.03086812  0.09032133  0.99543461]]

 t_gt:
[-0.62390644  0.33871816 -0.70428032]

Pose Error in degrees for R and t:
5.635124840489712 70.3179007133081

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 7.04338087e-01  7.09864665e-01  1.29599277e-04]
 [-7.09864398e-01  7.04337638e-01  1.01430194e-03]
 [ 6.28735458e-04 -8.06409401e-04  9.99999477e-01]]

 t_estimated:
[[0.71520383]
 [0.69891554]
 [0.00074038]]

 R_gt:
[[ 0.99710772 -0.06968461  0.03033068]
 [ 0.07299963  0.98919197 -0.12716305]
 [-0.02114167  0.12901004  0.99141787]]

 t_gt:
[ 0.44879868  0.0883197  -0.88925777]

Pose Error in degrees for R and t:
49.8750029370296 67.53914393153657

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99972295e-01  7.41291308e-03 -6.76507021e-04]
 [-7.41210668e-03  9.99971826e-01  1.18683351e-03]
 [ 6.85285855e-04 -1.18178629e-03  9.99999067e-01]]

 t_estimated:
[[0.99129211]
 [0.13165598]
 [0.00258149]]

 R_gt:
[[ 0.98921053 -0.14590334 -0.01326957]
 [ 0.14524886  0.98853213 -0.04131853]
 [ 0.01914644  0.03894621  0.99905755]]

 t_gt:
[ 0.51879949 -0.68411337 -0.51267533]

Pose Error in degrees for R and t:
9.156829946566088 64.98277196776658

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-1.51860147e-01 -9.88400697e-01 -1.59929216e-03]
 [-9.88401853e-01  1.51860782e-01 -2.82361959e-04]
 [ 5.21956515e-04  1.53786381e-03 -9.99998681e-01]]

 t_estimated:
[[7.08289530e-01]
 [7.05921760e-01]
 [6.40546867e-04]]

 R_gt:
[[ 0.95019649 -0.30927858 -0.03840199]
 [ 0.30845554  0.9508861  -0.0259265 ]
 [ 0.04453431  0.01279079  0.99892607]]

 t_gt:
[ 0.63017184 -0.74946749 -0.2029333 ]

Pose Error in degrees for R and t:
177.37079694455838 85.24752347677433

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99994219e-01 -3.34057774e-03  6.35136350e-04]
 [ 3.34076945e-03  9.99994374e-01 -3.01018842e-04]
 [-6.34127200e-04  3.03138946e-04  9.99999753e-01]]

 t_estimated:
[[ 0.06528786]
 [-0.99786587]
 [-0.00109894]]

 R_gt:
[[ 0.90851596 -0.41762716  0.01364724]
 [ 0.4177855   0.90731031 -0.0473603 ]
 [ 0.00739661  0.04872991  0.9987841 ]]

 t_gt:
[ 0.59868181 -0.79121269 -0.12475006]

Pose Error in degrees for R and t:
24.672064745631985 34.02967078944448

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-9.99977906e-01 -6.58752927e-03  8.89701736e-04]
 [-6.58225524e-03  9.99961481e-01  5.80611859e-03]
 [-9.27915442e-04  5.80013407e-03 -9.99982749e-01]]

 t_estimated:
[[0.75844861]
 [0.65173215]
 [0.00095282]]

 R_gt:
[[ 0.99765748 -0.0637446  -0.02482506]
 [ 0.06077428  0.9924941  -0.1061279 ]
 [ 0.03140473  0.10437047  0.99404239]]

 t_gt:
[ 0.57941361 -0.31291051 -0.75257351]

Pose Error in degrees for R and t:
178.42767705869295 76.41989883923902

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.09738051e-01 -4.15182242e-01 -6.20076832e-04]
 [ 4.15182439e-01  9.09738144e-01  2.25497632e-04]
 [ 4.70484934e-04 -4.62588787e-04  9.99999782e-01]]

 t_estimated:
[[0.41013304]
 [0.91202465]
 [0.00139028]]

 R_gt:
[[ 0.99538157 -0.0757256  -0.05899834]
 [ 0.06273878  0.9783479  -0.19723202]
 [ 0.07265708  0.19261918  0.97857946]]

 t_gt:
[ 0.4444734  -0.03943462 -0.89492363]

Pose Error in degrees for R and t:
23.681739851229057 81.65787506433504

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 7.97697363e-01 -6.03057433e-01 -8.06441991e-04]
 [ 6.03057577e-01  7.97697657e-01 -7.70881668e-05]
 [ 6.89785479e-04 -4.24837926e-04  9.99999672e-01]]

 t_estimated:
[[-0.09128382]
 [-0.99582353]
 [-0.00165971]]

 R_gt:
[[ 0.99094352 -0.06199502 -0.11911616]
 [ 0.03531643  0.97614281 -0.21424133]
 [ 0.12955732  0.20809403  0.96949014]]

 t_gt:
[ 0.37415765  0.09598137 -0.92238475]

Pose Error in degrees for R and t:
36.992545038690544 82.63417011449073

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-2.66371502e-01 -9.63869756e-01 -1.14708468e-03]
 [-9.63870389e-01  2.66370917e-01  6.38072563e-04]
 [-3.09468849e-04  1.27560530e-03 -9.99999139e-01]]

 t_estimated:
[[7.76782689e-01]
 [6.29768360e-01]
 [6.83787578e-04]]

 R_gt:
[[ 9.95090881e-01 -9.89634479e-02  4.92612159e-04]
 [ 9.89107353e-02  9.94365222e-01 -3.81229531e-02]
 [ 3.28327195e-03  3.79848933e-02  9.99272820e-01]]

 t_gt:
[ 0.75140184 -0.64037284 -0.15911602]

Pose Error in degrees for R and t:
178.58781456575423 79.6138963868068

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.0980405   0.99484833  0.02578506]
 [ 0.99508104 -0.09762776 -0.01680933]
 [-0.0142054   0.02730622 -0.99952618]]

 t_estimated:
[[0.06563294]
 [0.99784321]
 [0.00111242]]

 R_gt:
[[ 0.98818107 -0.15328541 -0.00113734]
 [ 0.15229799  0.98260343 -0.10627976]
 [ 0.01740912  0.10485031  0.99433634]]

 t_gt:
[ 0.75737303 -0.56518987 -0.32702675]

Pose Error in degrees for R and t:
174.12265618933753 59.027536963968636

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.08277736 -0.99654478  0.00681261]
 [ 0.99649217  0.08285349  0.01177543]
 [-0.01229919  0.00581398  0.99990746]]

 t_estimated:
[[0.9868225 ]
 [0.16177418]
 [0.00323548]]

 R_gt:
[[ 0.98043743 -0.19351164 -0.03598053]
 [ 0.18128782  0.95900252 -0.21782386]
 [ 0.07665713  0.20703981  0.97532445]]

 t_gt:
[ 0.69486663 -0.35747395 -0.62399739]

Pose Error in degrees for R and t:
75.32136022376974 51.2545868083961

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999995e-01  1.00142445e-04 -1.90011509e-06]
 [-1.00140960e-04  9.99999702e-01  7.65980285e-04]
 [ 1.97682166e-06 -7.65980091e-04  9.99999707e-01]]

 t_estimated:
[[0.78217208]
 [0.62305479]
 [0.00309245]]

 R_gt:
[[ 0.98640003 -0.16313863  0.02003614]
 [ 0.16269936  0.98643251  0.02189915]
 [-0.02333687 -0.01834129  0.99955923]]

 t_gt:
[ 0.43134835 -0.87367913  0.2249964 ]

Pose Error in degrees for R and t:
9.531524649514106 78.0964074268771

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.91871842  0.37904475 -0.1108221 ]
 [-0.34498032  0.90689143  0.2419432 ]
 [ 0.19221091 -0.18404623  0.96394084]]

 t_estimated:
[[0.18992668]
 [0.98128785]
 [0.03165445]]

 R_gt:
[[ 0.9666992  -0.25369245  0.0336448 ]
 [ 0.25259653  0.96698687  0.03365334]
 [-0.04107201 -0.02403462  0.99886652]]

 t_gt:
[ 0.36205099 -0.89509534  0.26023721]

Pose Error in degrees for R and t:
39.39555246808906 36.74123067668474

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.99999334 -0.001885    0.00312619]
 [ 0.00189985  0.99998691 -0.00475184]
 [-0.0031172   0.00475775  0.99998382]]

 t_estimated:
[[8.65880134e-01]
 [5.00250896e-01]
 [7.96577860e-04]]

 R_gt:
[[ 0.92565608 -0.37701364  0.03195914]
 [ 0.37706914  0.9261741   0.00450216]
 [-0.0312979   0.00788417  0.99947895]]

 t_gt:
[ 0.48826739 -0.87131099  0.04911339]

Pose Error in degrees for R and t:
22.11080714839533 89.25204249086093

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 5.07151512e-01 -8.61852650e-01 -2.71191566e-03]
 [ 8.61855812e-01  5.07153387e-01 -4.61547136e-06]
 [ 1.37933507e-03 -2.33493953e-03  9.99996323e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99565915 -0.08989653  0.02412415]
 [ 0.09089224  0.99488806 -0.04399649]
 [-0.02004609  0.04599739  0.99874022]]

 t_gt:
[ 0.79741597 -0.5669423  -0.20664995]

Pose Error in degrees for R and t:
54.41357072354599 37.29808330249533

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.98370970e-01  5.70524998e-02  6.47524007e-04]
 [-5.70523712e-02  9.98371164e-01 -2.15371968e-04]
 [-6.58756805e-04  1.78078341e-04  9.99999767e-01]]

 t_estimated:
[[0.00834173]
 [0.99996466]
 [0.00104272]]

 R_gt:
[[ 0.98948226 -0.10818321  0.09602623]
 [ 0.1179018   0.98776365 -0.1020872 ]
 [-0.08380746  0.11233522  0.99013024]]

 t_gt:
[ 0.81236971 -0.53689315 -0.22759877]

Pose Error in degrees for R and t:
12.654742404640364 57.97191260813745

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 8.05098423e-01 -5.93128660e-01 -3.86302264e-03]
 [ 5.93141238e-01  8.05081860e-01  5.16443199e-03]
 [ 4.68768262e-05 -6.44919407e-03  9.99979203e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98685699 -0.08665394  0.13639995]
 [ 0.11178198  0.97560279 -0.18895354]
 [-0.11669846  0.20171655  0.97246705]]

 t_gt:
[ 0.64301679 -0.28660072 -0.7102038 ]

Pose Error in degrees for R and t:
33.52477100547935 50.09068961010852

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[-0.99401339  0.10306049  0.03627547]
 [ 0.10278848  0.99465985 -0.00929026]
 [-0.03703921 -0.00550594 -0.99929864]]

 t_estimated:
[[ 0.99830766]
 [-0.05460599]
 [ 0.01999995]]

 R_gt:
[[ 0.99553454 -0.0939166  -0.00946908]
 [ 0.0937948   0.99551205 -0.01262205]
 [ 0.01061141  0.01167748  0.9998756 ]]

 t_gt:
[ 0.97727028 -0.16776035 -0.12961201]

Pose Error in degrees for R and t:
178.45696523922643 10.83125405625948

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.73691638e-01  2.27869657e-01  1.16975180e-04]
 [-2.27869665e-01  9.73691641e-01  6.14345259e-05]
 [-9.98986908e-05 -8.64733793e-05  9.99999991e-01]]

 t_estimated:
[[7.14797427e-01]
 [6.99331230e-01]
 [6.84711789e-04]]

 R_gt:
[[ 0.96884837 -0.24736241 -0.01201234]
 [ 0.24637644  0.96763671 -0.05457108]
 [ 0.0251223   0.04991105  0.99843843]]

 t_gt:
[ 0.97382731 -0.09326972 -0.20727068]

Pose Error in degrees for R and t:
27.65862975460479 50.896670640908276

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.99903713e-01 -1.38745780e-02  2.44833979e-04]
 [ 1.38745960e-02  9.99903741e-01 -7.21095116e-05]
 [-2.43809922e-04  7.54995410e-05  9.99999967e-01]]

 t_estimated:
[[ 9.97836850e-01]
 [-6.57388728e-02]
 [ 1.45657278e-04]]

 R_gt:
[[ 0.9366817  -0.35016858  0.0031113 ]
 [ 0.35003507  0.93599334 -0.03730957]
 [ 0.01015126  0.03603572  0.99929904]]

 t_gt:
[ 0.99150368 -0.07963076 -0.10285622]

Pose Error in degrees for R and t:
19.821051342542503 5.968749557745005

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 8.78668820e-01 -4.77430716e-01 -1.00799013e-03]
 [ 4.77430636e-01  8.78669378e-01 -3.34222611e-04]
 [ 1.04525820e-03 -1.87574381e-04  9.99999436e-01]]

 t_estimated:
[[ 9.16924658e-01]
 [-3.99059716e-01]
 [-7.17227304e-04]]

 R_gt:
[[ 0.98889611 -0.14195924 -0.04394462]
 [ 0.14245454  0.98976649  0.00833237]
 [ 0.04231213 -0.01450139  0.99899946]]

 t_gt:
[ 0.58948083 -0.79057019 -0.16586479]

Pose Error in degrees for R and t:
20.490138238174556 31.11706679276343

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 2.20147167e-01  9.75462527e-01  2.84323617e-03]
 [ 9.75465962e-01 -2.20149585e-01  5.63673480e-04]
 [ 1.17577962e-03  2.64938899e-03 -9.99995799e-01]]

 t_estimated:
[[0.6143012 ]
 [0.78907055]
 [0.00130425]]

 R_gt:
[[ 0.97194061 -0.22306608 -0.07464807]
 [ 0.22387039  0.97461564  0.00246221]
 [ 0.0722043  -0.01910507  0.99720745]]

 t_gt:
[ 0.61323199 -0.76842012 -0.18296734]

Pose Error in degrees for R and t:
176.9601337868779 76.7107481627954

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-9.78847253e-01 -2.04588508e-01 -1.26382242e-03]
 [-2.04590654e-01  9.78845775e-01  1.90098650e-03]
 [ 8.48167246e-04  2.11934167e-03 -9.99997394e-01]]

 t_estimated:
[[9.79006298e-01]
 [2.03828482e-01]
 [7.86982554e-04]]

 R_gt:
[[ 0.91711308 -0.39490874 -0.05432229]
 [ 0.39700163  0.91714703  0.03507347]
 [ 0.03597037 -0.05373346  0.99790737]]

 t_gt:
[ 0.70909827 -0.70465993  0.02518   ]

Pose Error in degrees for R and t:
177.6029443305472 56.59169651153539

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.232416    0.9723888  -0.02104354]
 [ 0.93649393 -0.21789008  0.27477815]
 [ 0.26260602 -0.08356998 -0.96127735]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99746808 -0.01626623  0.06923643]
 [ 0.02202546  0.99628494 -0.08325006]
 [-0.06762673  0.08456552  0.99411985]]

 t_gt:
[-0.06147338  0.25109215 -0.96600919]

Pose Error in degrees for R and t:
173.0317205394516 87.62103973630445

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.7950891   0.60647766  0.00426273]
 [ 0.6064766  -0.7949973  -0.01286212]
 [-0.00441173  0.01281177 -0.99990819]]

 t_estimated:
[[-0.40540395]
 [ 0.91411448]
 [-0.00650867]]

 R_gt:
[[ 0.98808426 -0.06784619  0.1381565 ]
 [ 0.08643696  0.98729287 -0.13334624]
 [-0.12735441  0.14370046  0.98139191]]

 t_gt:
[ 0.48296829 -0.27210375 -0.83228672]

Pose Error in degrees for R and t:
169.2039305849711 63.952626265997885

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.37594108e-01  3.47731554e-01  2.34550515e-04]
 [-3.47731140e-01  9.37593701e-01 -1.05149826e-03]
 [-5.85552209e-04  9.04318055e-04  9.99999420e-01]]

 t_estimated:
[[9.12063846e-01]
 [4.10047452e-01]
 [7.92672929e-04]]

 R_gt:
[[ 0.98277176 -0.09846446  0.15641205]
 [ 0.11763989  0.98596548 -0.11846393]
 [-0.14255299  0.13482437  0.98056132]]

 t_gt:
[ 0.71918932 -0.52953287 -0.44984627]

Pose Error in degrees for R and t:
28.856808919945504 63.99456596015129

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 0.51288405  0.8584527  -0.00298552]
 [-0.85841895  0.51282457 -0.01130785]
 [-0.0081762   0.00836244  0.99993161]]

 t_estimated:
[[0.55416238]
 [0.83240777]
 [0.00116421]]

 R_gt:
[[ 0.97104458 -0.23355282  0.0502415 ]
 [ 0.23407537  0.97220676 -0.00468023]
 [-0.0477522   0.01630567  0.99872556]]

 t_gt:
[ 0.59413486 -0.79363259  0.13096213]

Pose Error in degrees for R and t:
72.7146050604532 70.65677736801761

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 2.72508163e-01  9.62153466e-01  9.84001477e-05]
 [-9.62152225e-01  2.72507644e-01  1.63694559e-03]
 [ 1.54817808e-03 -5.40756956e-04  9.99998655e-01]]

 t_estimated:
[[0.48840477]
 [0.87261653]
 [0.00108534]]

 R_gt:
[[ 0.92552172 -0.37759114  0.02888972]
 [ 0.37708143  0.92592715  0.02164534]
 [-0.03492289 -0.00913937  0.9993475 ]]

 t_gt:
[ 0.65722297 -0.74695172  0.10060364]

Pose Error in degrees for R and t:
96.37990014986572 70.68858683941896

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-2.52791800e-01  9.67520322e-01 -8.55416444e-04]
 [-9.67518435e-01 -2.52793022e-01 -1.94073798e-03]
 [-2.09394675e-03  3.37028532e-04  9.99997751e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.84125321 -0.53752208  0.05798966]
 [ 0.53882937  0.84237042 -0.00860773]
 [-0.04422201  0.03848785  0.99828013]]

 t_gt:
[ 0.72303414 -0.69001764  0.03312531]

Pose Error in degrees for R and t:
137.2501091418609 46.728210844382765

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.98475853e-01  5.51902770e-02  6.90635308e-05]
 [-5.51902640e-02  9.98475840e-01 -1.77299710e-04]
 [-7.87434870e-05  1.73217844e-04  9.99999982e-01]]

 t_estimated:
[[ 0.56259071]
 [-0.8267349 ]
 [ 0.00104885]]

 R_gt:
[[ 0.99495043  0.05165023 -0.08604968]
 [-0.04587591  0.99664466  0.06778746]
 [ 0.08926288 -0.06349795  0.99398193]]

 t_gt:
[-0.67928455 -0.49646237 -0.54046056]

Pose Error in degrees for R and t:
6.308842549408666 88.41174501803438

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99999901e-01  4.45771210e-04 -1.64903179e-05]
 [-4.45772019e-04  9.99999899e-01 -4.91323360e-05]
 [ 1.64684144e-05  4.91396820e-05  9.99999999e-01]]

 t_estimated:
[[-3.81177681e-02]
 [-9.99273253e-01]
 [-3.72571944e-05]]

 R_gt:
[[ 0.98380614  0.09577266 -0.1515032 ]
 [-0.07844728  0.9900909   0.11647376]
 [ 0.16115803 -0.10270238  0.98156981]]

 t_gt:
[-0.72812925 -0.46859981 -0.50024196]

Pose Error in degrees for R and t:
12.103796219349897 60.2621388057174

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-9.22111492e-01  3.86866989e-01  6.65796817e-03]
 [ 3.86876145e-01  9.22131682e-01  9.48544259e-05]
 [-6.10282734e-03  2.66327541e-03 -9.99977831e-01]]

 t_estimated:
[[ 0.95726465]
 [-0.28919263]
 [ 0.00346594]]

 R_gt:
[[ 0.97910796  0.0754579  -0.188823  ]
 [-0.05226382  0.99078797  0.12493432]
 [ 0.19651146 -0.11245545  0.97403114]]

 t_gt:
[-0.18530745 -0.7424591  -0.64375123]

Pose Error in degrees for R and t:
168.09623051311215 87.98883597060912

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 0.26605979  0.9639553  -0.00153579]
 [-0.96395535  0.26605664 -0.0019871 ]
 [-0.00150687  0.00200912  0.99999685]]

 t_estimated:
[[4.36305112e-01]
 [8.99798721e-01]
 [3.32214466e-04]]

 R_gt:
[[ 0.98227601 -0.17341958 -0.0711301 ]
 [ 0.17516662  0.98435439  0.01905539]
 [ 0.06671257 -0.03117622  0.99728481]]

 t_gt:
[ 0.8086654  -0.58623138 -0.04891874]

Pose Error in degrees for R and t:
84.7096283947989 79.93986723322755

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99954403e-01  9.54770699e-03  1.80912551e-04]
 [-9.54769474e-03  9.99954417e-01 -6.84511251e-05]
 [-1.81557856e-04  6.67207061e-05  9.99999981e-01]]

 t_estimated:
[[9.63072924e-01]
 [2.69240672e-01]
 [5.14389940e-05]]

 R_gt:
[[ 0.97602474 -0.20492277 -0.07337458]
 [ 0.20808976  0.97735477  0.03841435]
 [ 0.06384081 -0.05276165  0.9965648 ]]

 t_gt:
[ 0.80440599 -0.59166858  0.05347232]

Pose Error in degrees for R and t:
13.359251013370807 52.01878118893563

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.74979389 -0.66163494 -0.00695268]
 [ 0.66166315  0.74979574  0.00286645]
 [ 0.00331655 -0.00674958  0.99997172]]

 t_estimated:
[[0.94416176]
 [0.32947311]
 [0.00245875]]

 R_gt:
[[ 0.98998863 -0.14085523 -0.00906029]
 [ 0.14103174  0.98457143  0.10357783]
 [-0.00566905 -0.10381878  0.99457996]]

 t_gt:
[ 0.61478351 -0.6283365   0.47669118]

Pose Error in degrees for R and t:
33.766519317714135 67.99996507222862

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99731992e-01 -2.31500620e-02 -1.38340969e-04]
 [ 2.31500680e-02  9.99732000e-01  4.16044849e-05]
 [ 1.37340747e-04 -4.47959374e-05  9.99999990e-01]]

 t_estimated:
[[-9.53265019e-01]
 [-3.02135057e-01]
 [-4.59376583e-04]]

 R_gt:
[[ 0.98060439  0.19548091  0.01418928]
 [-0.19597867  0.97889606  0.05792087]
 [-0.0025678  -0.05957791  0.9982201 ]]

 t_gt:
[-0.74050693  0.62666544  0.24277543]

Pose Error in degrees for R and t:
13.076735233048149 58.90556031440901

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.97119175e-01 -7.58492841e-02 -4.87674792e-04]
 [ 7.58489995e-02  9.97119148e-01 -5.77885448e-04]
 [ 5.30102071e-04  5.39231016e-04  9.99999714e-01]]

 t_estimated:
[[-0.88694319]
 [-0.46187373]
 [-0.00210705]]

 R_gt:
[[ 0.96062332  0.27616854  0.03054059]
 [-0.27767053  0.95815447  0.06956213]
 [-0.01005242 -0.07530327  0.99710943]]

 t_gt:
[-0.7079798   0.66902449  0.22620972]

Pose Error in degrees for R and t:
20.9127599708517 71.43040047982136

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-9.98076386e-01 -6.19919771e-02 -7.22801952e-04]
 [-6.19922462e-02  9.98076568e-01  3.56067628e-04]
 [ 6.99338355e-04  4.00190807e-04 -9.99999675e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.89543802  0.44245506  0.04922986]
 [-0.4450181   0.89264372  0.0717408 ]
 [-0.01220291 -0.08614792  0.99620719]]

 t_gt:
[-0.64767734  0.74470809  0.16100909]

Pose Error in degrees for R and t:
178.09072779476332 49.81632342227767

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 0.10564874 -0.99438728  0.00568167]
 [-0.99440164 -0.10565791 -0.00133875]
 [ 0.00193155 -0.00550843 -0.99998296]]

 t_estimated:
[[0.72658897]
 [0.68707141]
 [0.0011607 ]]

 R_gt:
[[ 0.9967727  -0.03917834 -0.07006508]
 [ 0.04199417  0.99834838  0.0391816 ]
 [ 0.06841414 -0.04199687  0.99677311]]

 t_gt:
[ 0.50615812 -0.70204893 -0.50093039]

Pose Error in degrees for R and t:
179.23011507519368 83.3865539293565

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.95897136 -0.28047928  0.04129531]
 [ 0.28110753  0.95962241 -0.01016756]
 [-0.03677612  0.02135882  0.99909525]]

 t_estimated:
[[0.93429003]
 [0.3565054 ]
 [0.00245866]]

 R_gt:
[[ 0.98768646 -0.12642643 -0.09215375]
 [ 0.13187159  0.98970681  0.05559323]
 [ 0.08417682 -0.06706078  0.99419221]]

 t_gt:
[ 0.45398765 -0.84577623 -0.28028161]

Pose Error in degrees for R and t:
12.334818213765095 82.99573542447986

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.13449552e-01  4.06950681e-01  1.02911082e-03]
 [-4.06951475e-01  9.13449486e-01  7.30553971e-04]
 [-6.42741313e-04 -1.08612236e-03  9.99999204e-01]]

 t_estimated:
[[0.69594513]
 [0.71809326]
 [0.0015624 ]]

 R_gt:
[[ 0.95097913 -0.2799218  -0.13146651]
 [ 0.28367435  0.95886388  0.01035677]
 [ 0.12315995 -0.04714286  0.9912668 ]]

 t_gt:
[ 0.62127596 -0.7180525  -0.3137145 ]

Pose Error in degrees for R and t:
41.13604198933108 85.19614795010753

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99989635e-01  4.55290270e-03  3.07285744e-05]
 [-4.55290232e-03  9.99989635e-01 -1.22646280e-05]
 [-3.07840956e-05  1.21245967e-05  9.99999999e-01]]

 t_estimated:
[[1.54938224e-01]
 [9.87924131e-01]
 [2.42542129e-04]]

 R_gt:
[[ 0.9991604  -0.01123938 -0.03939277]
 [ 0.00736692  0.9952472  -0.09709854]
 [ 0.04029731  0.09672731  0.99449451]]

 t_gt:
[ 0.20300056  0.19857837 -0.95883127]

Pose Error in degrees for R and t:
6.067359542560331 76.85593204294885

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.96833311  0.24954647 -0.00758567]
 [ 0.24961381  0.96829556 -0.00983178]
 [ 0.00489168 -0.01141393 -0.99992289]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99520451  0.01305161 -0.09694252]
 [-0.02381764  0.99356379 -0.11074771]
 [ 0.09487283  0.11252616  0.98910939]]

 t_gt:
[ 0.11780312  0.33974407 -0.93311113]

Pose Error in degrees for R and t:
174.98492893631456 80.21085155729135

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 7.82529864e-01  6.22612474e-01  8.48140709e-04]
 [-6.22612565e-01  7.82530229e-01 -1.84206559e-04]
 [-7.78385045e-04 -3.83915929e-04  9.99999623e-01]]

 t_estimated:
[[0.22038602]
 [0.9754122 ]
 [0.00102031]]

 R_gt:
[[ 0.99192206  0.02042531 -0.1251962 ]
 [-0.03751377  0.99003987 -0.13569851]
 [ 0.12117837  0.13929898  0.98280799]]

 t_gt:
[ 0.11152767  0.37925361 -0.91854683]

Pose Error in degrees for R and t:
38.29795455087088 66.82314799960707

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.82093494e-01  1.88394110e-01 -1.70040936e-04]
 [-1.88393896e-01  9.82093164e-01  8.70345701e-04]
 [ 3.30964044e-04 -8.22726176e-04  9.99999607e-01]]

 t_estimated:
[[7.45663666e-01]
 [6.66322113e-01]
 [7.34644005e-04]]

 R_gt:
[[ 0.98502629 -0.16945831 -0.03175472]
 [ 0.16985262  0.98541689  0.01014269]
 [ 0.02957307 -0.01538412  0.99944379]]

 t_gt:
[ 0.73160602 -0.68092941 -0.03298151]

Pose Error in degrees for R and t:
20.714018404233205 84.73343745914754

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.14388680e-01  4.04837093e-01  5.19005502e-04]
 [-4.04837229e-01  9.14388748e-01  1.86289294e-04]
 [-3.99155975e-04 -3.80453571e-04  9.99999848e-01]]

 t_estimated:
[[0.71196621]
 [0.70221325]
 [0.00081275]]

 R_gt:
[[ 0.93095185 -0.35174172 -0.09801556]
 [ 0.35418405  0.93513999  0.00816195]
 [ 0.08878777 -0.04231282  0.99515066]]

 t_gt:
[ 0.83040649 -0.55535855 -0.04474305]

Pose Error in degrees for R and t:
44.94257908638611 78.3925749484811

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.89303444  0.4499737  -0.00362716]
 [-0.44993854  0.89302654  0.00767584]
 [ 0.00669307 -0.00522279  0.99996396]]

 t_estimated:
[[0.66077624]
 [0.75058249]
 [0.00082391]]

 R_gt:
[[ 0.9012322  -0.41374502 -0.12882516]
 [ 0.42263863  0.90489154  0.0504652 ]
 [ 0.09569374 -0.09992591  0.99038208]]

 t_gt:
[ 0.84130846 -0.53684693  0.06320954]

Pose Error in degrees for R and t:
52.08617458388572 81.19797194388056

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-0.2673555  -0.96358767 -0.00445431]
 [ 0.9635003  -0.26725973 -0.01547299]
 [ 0.01371913 -0.00842852  0.99987036]]

 t_estimated:
[[ 0.99940947]
 [-0.03428716]
 [-0.00225695]]

 R_gt:
[[ 0.99306099  0.11714799 -0.01036766]
 [-0.11656656  0.99214913  0.04530259]
 [ 0.01559331 -0.04378015  0.99891965]]

 t_gt:
[-0.76358244  0.60692164  0.2204268 ]

Pose Error in degrees for R and t:
112.2450651382343 38.33121125787234

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99992366e-01  3.90523227e-03 -1.26971116e-04]
 [-3.90521359e-03  9.99992364e-01  1.47030744e-04]
 [ 1.27544335e-04 -1.46533773e-04  9.99999981e-01]]

 t_estimated:
[[-9.99730354e-01]
 [ 2.32210866e-02]
 [-2.29349238e-05]]

 R_gt:
[[ 0.97030986  0.24171236  0.00869693]
 [-0.24184738  0.96911904  0.04814084]
 [ 0.00320787 -0.04881538  0.99880315]]

 t_gt:
[-0.72463024  0.67303116  0.14812182]

Pose Error in degrees for R and t:
14.055817184582851 42.263475911918256

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.95490927e-01  9.48566687e-02 -1.65730848e-04]
 [-9.48566828e-02  9.95490936e-01 -7.96266379e-05]
 [ 1.57430440e-04  9.49882741e-05  9.99999983e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.8919453   0.4503352   0.04039729]
 [-0.4506027   0.89271995 -0.00272173]
 [-0.03728934 -0.01577655  0.99918037]]

 t_gt:
[-0.64057094  0.76498766  0.06680376]

Pose Error in degrees for R and t:
21.46797503277682 50.34645074610051

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99993886e-01 -3.49684077e-03  1.83845303e-05]
 [ 3.49684088e-03  9.99993886e-01 -6.13712129e-06]
 [-1.83629574e-05  6.20137155e-06  1.00000000e+00]]

 t_estimated:
[[-0.69173969]
 [-0.72214583]
 [-0.00126692]]

 R_gt:
[[ 0.97783543 -0.20621885 -0.03622253]
 [ 0.20628197  0.97848973 -0.00202306]
 [ 0.03586019 -0.00549432  0.99934085]]

 t_gt:
[ 0.6282495  -0.76686034 -0.13125469]

Pose Error in degrees for R and t:
11.889272234134435 83.1444759593423

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.99951382 -0.03115105 -0.00131504]
 [ 0.03115263  0.99951392  0.00119823]
 [ 0.00127707 -0.00123862  0.99999842]]

 t_estimated:
[[-0.55325065]
 [-0.83301435]
 [-0.00089668]]

 R_gt:
[[ 0.93706081 -0.34681058 -0.04049877]
 [ 0.34546708  0.93771316 -0.03667792]
 [ 0.05069683  0.02037802  0.99850552]]

 t_gt:
[ 0.65791985 -0.73701071 -0.15477945]

Pose Error in degrees for R and t:
18.73923063190547 75.51747563481676

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999576e-01  9.16757199e-04 -9.21168550e-05]
 [-9.16754887e-04  9.99999579e-01  2.51423964e-05]
 [ 9.21398657e-05 -2.50579371e-05  9.99999995e-01]]

 t_estimated:
[[-0.00626656]
 [-0.99997982]
 [-0.00104542]]

 R_gt:
[[ 0.86815199 -0.49253228 -0.06102845]
 [ 0.49234506  0.87018923 -0.01912734]
 [ 0.06252659 -0.01344173  0.99795188]]

 t_gt:
[ 0.71257241 -0.69598873 -0.08854515]

Pose Error in degrees for R and t:
29.80750479362213 46.24295481043118

Number of keypoints:
Image1: 419
Image2: 419

 R_estimated:
[[ 9.99998858e-01 -1.50786532e-03  1.00239797e-04]
 [ 1.50787043e-03  9.99998862e-01 -5.09208238e-05]
 [-1.00162901e-04  5.10719142e-05  9.99999994e-01]]

 t_estimated:
[[9.99721126e-01]
 [2.36023275e-02]
 [7.75455738e-04]]

 R_gt:
[[ 0.99982693 -0.01564555 -0.01007742]
 [ 0.01558564  0.99986101 -0.00602094]
 [ 0.01017056  0.00586383  0.99993151]]

 t_gt:
[ 0.79368579 -0.38120098 -0.47407667]

Pose Error in degrees for R and t:
1.05207719319847 38.36252205691846

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[-4.17088936e-01  9.08865662e-01  1.64400272e-04]
 [-9.08862872e-01 -4.17088092e-01  2.40922004e-03]
 [ 2.25822676e-03  8.55441720e-04  9.99997084e-01]]

 t_estimated:
[[0.93745132]
 [0.34811512]
 [0.00094597]]

 R_gt:
[[ 0.99869447  0.02998406 -0.04135621]
 [-0.02924697  0.99940523  0.01830628]
 [ 0.04188013 -0.01707201  0.99897722]]

 t_gt:
[ 0.59955149  0.60490381 -0.52405095]

Pose Error in degrees for R and t:
112.96880770722439 39.45438335826303

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.99947056e-01 -1.02719722e-02 -6.08924275e-04]
 [ 1.02720371e-02  9.99947236e-01  1.03573328e-04]
 [ 6.07828244e-04 -1.09822737e-04  9.99999809e-01]]

 t_estimated:
[[-0.60359052]
 [-0.79729365]
 [-0.00114892]]

 R_gt:
[[ 0.9921379   0.12473659 -0.01013113]
 [-0.12444443  0.99189755  0.02556879]
 [ 0.0132387  -0.02410645  0.99962212]]

 t_gt:
[-0.11680251  0.99169052  0.05391744]

Pose Error in degrees for R and t:
7.901351895160473 43.92655878588899

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999987e-01 -1.45656639e-04  6.24712563e-05]
 [ 1.45659927e-04  9.99999988e-01 -5.26278345e-05]
 [-6.24635900e-05  5.26369334e-05  9.99999997e-01]]

 t_estimated:
[[ 1.89935657e-03]
 [-9.99997902e-01]
 [ 7.67061901e-04]]

 R_gt:
[[ 0.99412041  0.07331019 -0.07968182]
 [-0.06767251  0.99515663  0.07129707]
 [ 0.08452278 -0.06548509  0.99426662]]

 t_gt:
[-0.93429674  0.12099982 -0.33533364]

Pose Error in degrees for R and t:
7.363584393349032 82.93291723686254

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 2.22949826e-01 -9.74828510e-01 -1.65838534e-03]
 [ 9.74829806e-01  2.22950305e-01 -1.06963680e-04]
 [ 4.74008761e-04 -1.59279592e-03  9.99998619e-01]]

 t_estimated:
[[ 7.23867772e-01]
 [-6.89938725e-01]
 [ 6.09107834e-05]]

 R_gt:
[[ 0.98124176  0.13560186 -0.13702931]
 [-0.11718988  0.98395504  0.13453164]
 [ 0.15307346 -0.11594982  0.98138857]]

 t_gt:
[-0.94051613 -0.05604691 -0.33509425]

Pose Error in degrees for R and t:
85.02134215182376 50.046866243245695

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.1139801   0.99346287 -0.00632999]
 [-0.99346505  0.11393739 -0.00674299]
 [-0.00597768  0.00705719  0.99995723]]

 t_estimated:
[[0.05823431]
 [0.9983024 ]
 [0.0010399 ]]

 R_gt:
[[ 0.96652149  0.16009831 -0.20051034]
 [-0.12734159  0.97772557  0.16684462]
 [ 0.22275535 -0.13572554  0.96537921]]

 t_gt:
[-0.83865096 -0.15203135 -0.52302107]

Pose Error in degrees for R and t:
76.39901666270889 78.39546749840338

Number of keypoints:
Image1: 388
Image2: 388

 R_estimated:
[[ 9.99999998e-01  6.97097443e-05  6.79983893e-06]
 [-6.97096003e-05  9.99999997e-01 -2.11819982e-05]
 [-6.80131551e-06  2.11815241e-05  1.00000000e+00]]

 t_estimated:
[[-0.81693815]
 [-0.57671568]
 [-0.00333046]]

 R_gt:
[[ 0.99988548 -0.00618183 -0.01388325]
 [ 0.00621491  0.99997803  0.00233247]
 [ 0.01386907 -0.00241902  0.99990107]]

 t_gt:
[ 0.56900793 -0.42949986 -0.70125591]

Pose Error in degrees for R and t:
0.8812829798470282 77.59565002735259

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.83632903e-01  1.80183964e-01  2.26924732e-04]
 [-1.80183942e-01  9.83632927e-01 -1.11092991e-04]
 [-2.43227813e-04  6.83865284e-05  9.99999968e-01]]

 t_estimated:
[[0.99395481]
 [0.10978361]
 [0.00118047]]

 R_gt:
[[ 0.99729387 -0.0570944  -0.04632362]
 [ 0.05822028  0.99803166  0.0233162 ]
 [ 0.04490147 -0.02595025  0.99865443]]

 t_gt:
[ 0.63708077 -0.71590983 -0.28565927]

Pose Error in degrees for R and t:
14.008622957056698 56.337684295686856

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.99642383  0.08431667  0.00549977]
 [ 0.08434234  0.99642615  0.00461494]
 [-0.00509099  0.0050623  -0.99997423]]

 t_estimated:
[[0.99982845]
 [0.01845837]
 [0.0015382 ]]

 R_gt:
[[ 0.98254246 -0.167489   -0.08098977]
 [ 0.16969463  0.98527103  0.02111877]
 [ 0.07625968 -0.03449337  0.99649111]]

 t_gt:
[ 0.67586903 -0.70624552 -0.21075655]

Pose Error in degrees for R and t:
175.73627591650856 48.517386080383524

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.93691043e-01  1.12151889e-01 -2.54741732e-04]
 [-1.12151417e-01  9.93690103e-01  1.42776530e-03]
 [ 4.13260914e-04 -1.39018795e-03  9.99998948e-01]]

 t_estimated:
[[0.68448319]
 [0.72902678]
 [0.00164583]]

 R_gt:
[[ 0.9974604   0.00329556  0.07115378]
 [-0.00461334  0.99982122  0.01834709]
 [-0.07108055 -0.01862864  0.99729618]]

 t_gt:
[-0.06197934  0.1017104   0.99288144]

Pose Error in degrees for R and t:
7.505063992028288 88.08826340016617

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.02195202e-01  4.31327960e-01  9.24035279e-05]
 [-4.31327969e-01  9.02195189e-01  1.57605918e-04]
 [-1.53861792e-05 -1.82047529e-04  9.99999983e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99135965 -0.07970006  0.10418247]
 [ 0.07905803  0.99681759  0.01027655]
 [-0.10466918 -0.00195132  0.99450425]]

 t_gt:
[ 0.54444977 -0.48883786  0.68162453]

Pose Error in degrees for R and t:
30.696630395427455 57.08053889989194

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 7.48669732e-01  6.62943109e-01  2.58985741e-04]
 [-6.62942028e-01  7.48669119e-01 -1.55489634e-03]
 [-1.22470244e-03  9.92411295e-04  9.99998758e-01]]

 t_estimated:
[[0.24892296]
 [0.96852258]
 [0.00117292]]

 R_gt:
[[ 0.98749211 -0.11137674  0.11160174]
 [ 0.11227726  0.99367535 -0.00181247]
 [-0.1106943   0.01431989  0.99375076]]

 t_gt:
[ 0.64172513 -0.59424054  0.48483712]

Pose Error in degrees for R and t:
48.359825658228516 65.46641359224294

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.98635987e-01  5.22126792e-02 -3.76869239e-05]
 [-5.22126784e-02  9.98635988e-01  2.17118881e-05]
 [ 3.87691543e-05 -1.97145375e-05  9.99999999e-01]]

 t_estimated:
[[-9.97348661e-01]
 [-7.27705082e-02]
 [-3.18758934e-04]]

 R_gt:
[[ 0.99325388  0.11593684  0.00239071]
 [-0.11568096  0.99207352 -0.04906227]
 [-0.00806047  0.04845471  0.99879232]]

 t_gt:
[-0.32947744  0.93236764 -0.14877906]

Pose Error in degrees for R and t:
4.619639099310452 74.88231849879631

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 2.25628491e-01  9.74212335e-01  1.45295121e-03]
 [ 9.74210501e-01 -2.25631214e-01  2.11076022e-03]
 [ 2.38415979e-03  9.39232688e-04 -9.99996717e-01]]

 t_estimated:
[[7.82794523e-01]
 [6.22279805e-01]
 [7.60733258e-04]]

 R_gt:
[[ 0.96055976  0.27785784  0.01097486]
 [-0.27728097  0.96004966 -0.0376653 ]
 [-0.0210027   0.03313705  0.99922975]]

 t_gt:
[-0.2962756   0.95508922  0.00503443]

Pose Error in degrees for R and t:
177.88225253296923 68.75149921369429

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 4.76197853e-01  8.79336970e-01  1.44861901e-03]
 [ 8.79335570e-01 -4.76199803e-01  1.64386858e-03]
 [ 2.13534651e-03  4.91015534e-04 -9.99997600e-01]]

 t_estimated:
[[8.59292638e-01]
 [5.11483713e-01]
 [7.57753649e-04]]

 R_gt:
[[ 0.88723269  0.45998489 -0.03508989]
 [-0.46117629  0.88629407 -0.04241284]
 [ 0.01159009  0.05381231  0.99848393]]

 t_gt:
[-0.19611831  0.97781746 -0.07355699]

Pose Error in degrees for R and t:
178.33212585416908 70.63657535502072

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 0.95239276 -0.30486776  0.001919  ]
 [ 0.30487183  0.95239036 -0.00240135]
 [-0.00109555  0.00287208  0.99999528]]

 t_estimated:
[[-0.56048778]
 [-0.82816137]
 [-0.00147886]]

 R_gt:
[[ 0.99673505 -0.06383021 -0.04945197]
 [ 0.06496408  0.99765226  0.02167608]
 [ 0.04795227 -0.0248181   0.99854183]]

 t_gt:
[ 0.62835406 -0.71722575 -0.30126134]

Pose Error in degrees for R and t:
14.422656774374364 75.98124988117424

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 4.92829479e-02 -9.98784777e-01 -4.01177764e-04]
 [ 9.98783459e-01  4.92822029e-02  1.69287135e-03]
 [-1.67104321e-03 -4.84119406e-04  9.99998487e-01]]

 t_estimated:
[[9.63960876e-01]
 [2.66042560e-01]
 [8.86808533e-04]]

 R_gt:
[[ 0.97608528 -0.19948998 -0.08638804]
 [ 0.2023144   0.97899606  0.02518793]
 [ 0.07954734 -0.04206378  0.99594329]]

 t_gt:
[ 0.69057974 -0.70090438 -0.17841713]

Pose Error in degrees for R and t:
75.71254186579128 61.375761589871445

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 7.32264735e-01  6.81018139e-01  1.62883639e-03]
 [-6.81019708e-01  7.32264755e-01  6.96884073e-04]
 [-7.18148787e-04 -1.61957331e-03  9.99998431e-01]]

 t_estimated:
[[0.50394474]
 [0.86373507]
 [0.00119136]]

 R_gt:
[[ 0.95271659 -0.27902527 -0.12031594]
 [ 0.28653572  0.95675899  0.05009154]
 [ 0.10113611 -0.08219808  0.9914716 ]]

 t_gt:
[ 0.70546753 -0.70200331 -0.09750346]

Pose Error in degrees for R and t:
59.85257364014668 75.46659646132406

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 4.94763510e-01 -8.69027251e-01 -8.40766295e-04]
 [ 8.69027656e-01  4.94763216e-01  5.41704090e-04]
 [-5.47753798e-05 -9.98664579e-04  9.99999500e-01]]

 t_estimated:
[[9.99988849e-01]
 [4.65833315e-03]
 [7.76388858e-04]]

 R_gt:
[[ 0.98929971 -0.11755468 -0.0864093 ]
 [ 0.12012314  0.9924401   0.02514586]
 [ 0.08280045 -0.03525575  0.99594246]]

 t_gt:
[ 0.61369716 -0.7617399  -0.20767312]

Pose Error in degrees for R and t:
53.73293211092516 52.411896987625965

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999509e-01  9.91433813e-04  7.13079426e-07]
 [-9.91433940e-04  9.99999487e-01  2.07599935e-04]
 [-5.07257465e-07 -2.07600540e-04  9.99999978e-01]]

 t_estimated:
[[-0.97910355]
 [-0.20335991]
 [-0.000992  ]]

 R_gt:
[[ 0.98254599 -0.1534959  -0.1050825 ]
 [ 0.16821679  0.97431989  0.14967495]
 [ 0.07941009 -0.16473884  0.9831356 ]]

 t_gt:
[ 0.47392063 -0.81981423  0.32140919]

Pose Error in degrees for R and t:
14.099689509691771 72.6853574614417

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.02320452  0.98962524  0.14178661]
 [ 0.9994379  -0.01953077 -0.02724751]
 [-0.02419562  0.14233917 -0.98952217]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.95956225 -0.19226845 -0.20560437]
 [ 0.22418023  0.96368828  0.14507868]
 [ 0.17024448 -0.18530408  0.96782218]]

 t_gt:
[ 0.57196035 -0.81089048  0.12376585]

Pose Error in degrees for R and t:
172.76060458549236 85.43644338991946

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.95135276e-01 -9.85178816e-02 -1.01215591e-04]
 [ 9.85178973e-02  9.95135266e-01  1.64220937e-04]
 [ 8.45445051e-05 -1.73393595e-04  9.99999981e-01]]

 t_estimated:
[[-2.94903693e-01]
 [-9.55526703e-01]
 [-7.29281378e-04]]

 R_gt:
[[ 0.99838791  0.02830534 -0.04919487]
 [-0.0288589   0.99952809 -0.01059266]
 [ 0.04887185  0.01199633  0.99873379]]

 t_gt:
[-0.13858424  0.56847448 -0.81094462]

Pose Error in degrees for R and t:
7.840348135275817 59.88533691919826

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.00865445e-01 -4.34098123e-01 -5.18571079e-04]
 [ 4.34098307e-01  9.00865450e-01  3.16533344e-04]
 [ 3.29756238e-04 -5.10264780e-04  9.99999815e-01]]

 t_estimated:
[[ 9.84965650e-01]
 [-1.72750012e-01]
 [ 3.20375354e-04]]

 R_gt:
[[ 0.99505008  0.04763058 -0.08721315]
 [-0.05146005  0.99778312 -0.04220672]
 [ 0.08500942  0.04648646  0.99529532]]

 t_gt:
[-0.09822415  0.53805495 -0.83716718]

Pose Error in degrees for R and t:
29.097267896191646 79.0492806138763

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.86139663  0.50730971  0.02515374]
 [ 0.50777376  0.86130976  0.0176437 ]
 [-0.01271434  0.02797063 -0.99952788]]

 t_estimated:
[[9.74735982e-01]
 [2.23358383e-01]
 [8.93433531e-04]]

 R_gt:
[[ 0.9918142   0.04205511 -0.12057071]
 [-0.05395169  0.99380497 -0.09717358]
 [ 0.11573737  0.10288395  0.98793772]]

 t_gt:
[ 0.01185035  0.44392302 -0.89598656]

Pose Error in degrees for R and t:
176.0479535548495 83.69019619553401

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-2.69723999e-01 -9.62936796e-01 -1.30063539e-03]
 [ 9.62937251e-01 -2.69724900e-01  5.73154954e-04]
 [-9.02725746e-04 -1.09783662e-03  9.99998990e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075921e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98722334 -0.1593155  -0.00289358]
 [ 0.15905572  0.98419753  0.07783054]
 [-0.00955226 -0.0772973   0.99696212]]

 t_gt:
[ 0.62240348 -0.68269861  0.38280089]

Pose Error in degrees for R and t:
96.54785306366153 51.64148705197102

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.99999583  0.00239057 -0.00162216]
 [-0.00238683  0.9999945   0.00230195]
 [ 0.00162765 -0.00229807  0.99999603]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96754821 -0.25267335 -0.00220698]
 [ 0.2498374   0.95530947  0.15800301]
 [-0.03781487 -0.15342717  0.98743621]]

 t_gt:
[ 0.58318098 -0.63542658  0.50609585]

Pose Error in degrees for R and t:
17.279076750127707 54.43684218763045

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.99996689  0.00775562 -0.00246523]
 [-0.00774523  0.99996119  0.00419762]
 [ 0.00249769 -0.00417839  0.99998815]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.96389773 -0.26467577 -0.0291124 ]
 [ 0.26607494  0.95319493  0.14360861]
 [-0.01025992 -0.14617008  0.98920601]]

 t_gt:
[ 0.61232388 -0.67056593  0.4188088 ]

Pose Error in degrees for R and t:
17.883643236215274 52.36954996169206

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 1.00000000e+00  3.13138404e-13 -2.54136989e-16]
 [-3.13027382e-13  1.00000000e+00 -6.47160277e-15]
 [ 1.56786476e-15  7.15183121e-15  1.00000000e+00]]

 t_estimated:
[[-4.59978549e-01]
 [ 8.87929820e-01]
 [-6.07832297e-04]]

 R_gt:
[[ 0.99934088  0.00521353  0.03593329]
 [-0.0066473   0.99918078  0.03991997]
 [-0.03569529 -0.04013323  0.99855691]]

 t_gt:
[ 0.06293565 -0.29763585  0.95260275]

Pose Error in degrees for R and t:
3.0972325906665867 72.91393751175937

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.90884280e-01 -1.34715663e-01 -1.84382612e-04]
 [ 1.34715722e-01  9.90884227e-01  3.51557504e-04]
 [ 1.35341520e-04 -3.73192040e-04  9.99999921e-01]]

 t_estimated:
[[0.60623908]
 [0.79528138]
 [0.00130374]]

 R_gt:
[[ 0.99500646  0.06256127  0.07776422]
 [-0.06977883  0.99313746  0.09385744]
 [-0.07135776 -0.09881542  0.99254461]]

 t_gt:
[-0.23141122 -0.00441508  0.97284601]

Pose Error in degrees for R and t:
13.494748710635701 81.80552879410332

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.35758935  0.93363167  0.02148859]
 [-0.93387711  0.35744855  0.01020208]
 [ 0.00184392 -0.02371585  0.99971704]]

 t_estimated:
[[0.22810539]
 [0.97362055]
 [0.00556355]]

 R_gt:
[[ 0.99082866  0.079861    0.10900076]
 [-0.09707206  0.98183081  0.16304943]
 [-0.09399886 -0.17213559  0.98057866]]

 t_gt:
[-0.20683529  0.00205289  0.97837362]

Pose Error in degrees for R and t:
64.57387881895126 87.72256459101943

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 1.00000000e+00 -1.81203934e-05 -1.02186401e-05]
 [ 1.81202304e-05  1.00000000e+00 -1.59441416e-05]
 [ 1.02189291e-05  1.59439564e-05  1.00000000e+00]]

 t_estimated:
[[0.82176575]
 [0.56982464]
 [0.00096498]]

 R_gt:
[[ 9.99986331e-01 -5.10839960e-03 -2.23475225e-04]
 [ 5.10208071e-03  9.99762763e-01 -2.11435397e-02]
 [ 3.31162650e-04  2.11421944e-02  9.99776423e-01]]

 t_gt:
[ 0.35784194 -0.42079046 -0.83359734]

Pose Error in degrees for R and t:
1.2469402261818454 86.934297628802

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.98857703e-01 -4.77833596e-02  1.97703311e-04]
 [ 4.77833654e-02  9.98857722e-01 -2.49308814e-05]
 [-1.96286197e-04  3.43493324e-05  9.99999980e-01]]

 t_estimated:
[[0.99771865]
 [0.06748781]
 [0.00170123]]

 R_gt:
[[ 0.9963834  -0.08421219 -0.01129924]
 [ 0.08378151  0.9958937  -0.03430271]
 [ 0.01414165  0.03323229  0.99934743]]

 t_gt:
[ 0.71121582 -0.62545129 -0.32090925]

Pose Error in degrees for R and t:
2.936950023695609 48.176589584112676

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.99999938e-01  2.32348263e-04  2.63792924e-04]
 [-2.32280905e-04  9.99999940e-01 -2.55344685e-04]
 [-2.63852237e-04  2.55283395e-04  9.99999933e-01]]

 t_estimated:
[[ 9.99997187e-01]
 [ 2.37121151e-03]
 [-5.03259545e-05]]

 R_gt:
[[ 9.66961148e-01 -2.54919376e-01  9.46962532e-04]
 [ 2.54777201e-01  9.66283547e-01 -3.72017675e-02]
 [ 8.56849474e-03  3.62139445e-02  9.99307150e-01]]

 t_gt:
[ 0.81340431 -0.56936958 -0.11912896]

Pose Error in degrees for R and t:
14.933629126439676 35.70251364087499

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 7.08507746e-01 -7.05701594e-01 -1.42615571e-03]
 [ 7.05702777e-01  7.08507768e-01  5.77327062e-04]
 [ 6.03021768e-04 -1.41548274e-03  9.99998816e-01]]

 t_estimated:
[[-0.02044781]
 [-0.99979034]
 [-0.0010762 ]]

 R_gt:
[[ 0.97722051 -0.2057142  -0.05217099]
 [ 0.20760025  0.97763323  0.03368549]
 [ 0.04407401 -0.0437485   0.99807051]]

 t_gt:
[ 0.97315941 -0.17178423  0.15313703]

Pose Error in degrees for R and t:
33.12516138952697 81.27544562555472

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-2.94851764e-01  9.55538326e-01  2.99078888e-03]
 [ 9.55542678e-01  2.94852812e-01  9.41483663e-05]
 [-7.91880137e-04  2.88558622e-03 -9.99995523e-01]]

 t_estimated:
[[8.38800355e-01]
 [5.44438739e-01]
 [6.51242511e-04]]

 R_gt:
[[ 0.93005293 -0.3613216  -0.0666939 ]
 [ 0.36459498  0.93004297  0.04570323]
 [ 0.04551418 -0.06682215  0.99672664]]

 t_gt:
[ 0.98604891 -0.07461351  0.1487964 ]

Pose Error in degrees for R and t:
175.5677159077705 38.13364124766755

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-6.93803860e-01  7.20147381e-01  4.89427824e-03]
 [ 7.20158538e-01  6.93809062e-01  8.16166224e-04]
 [-2.80793462e-03  4.09091553e-03 -9.99987690e-01]]

 t_estimated:
[[ 0.99999057]
 [-0.00391875]
 [ 0.00187258]]

 R_gt:
[[ 0.92201613 -0.38632298 -0.02529631]
 [ 0.38711237  0.91903845  0.07423589]
 [-0.00543068 -0.07824001  0.99692019]]

 t_gt:
[ 0.97862294 -0.06727528  0.19434807]

Pose Error in degrees for R and t:
177.98580686348035 11.694780357754585

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.86803202 -0.49650095  0.00268747]
 [ 0.49650678  0.86802983 -0.0022877 ]
 [-0.00119696  0.00332014  0.99999377]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.96958796  0.2340521   0.07153814]
 [-0.23212953  0.97208176 -0.03422694]
 [-0.07755103  0.01658043  0.99685017]]

 t_gt:
[-0.72458654  0.67608613  0.13372317]

Pose Error in degrees for R and t:
43.47993503377938 69.6143847408912

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.76028375e-01 -2.17643008e-01 -3.62511981e-04]
 [ 2.17643034e-01  9.76028436e-01  3.30760842e-05]
 [ 3.46623223e-04 -1.11181404e-04  9.99999934e-01]]

 t_estimated:
[[-0.38147445]
 [-0.92437889]
 [-0.00096089]]

 R_gt:
[[ 0.93375746  0.35215484  0.0638997 ]
 [-0.35326542  0.93549923  0.00663167]
 [-0.05744339 -0.02876526  0.99793466]]

 t_gt:
[-0.68086123  0.71602243  0.15407743]

Pose Error in degrees for R and t:
33.44592260644993 66.27840233446133

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 8.27385707e-01 -5.61633883e-01 -5.22487277e-04]
 [ 5.61633847e-01  8.27385866e-01 -2.26731398e-04]
 [ 5.59638624e-04 -1.05852221e-04  9.99999838e-01]]

 t_estimated:
[[-0.00728388]
 [-0.99997293]
 [-0.00104055]]

 R_gt:
[[ 0.89234918  0.44604387  0.0689752 ]
 [-0.44702682  0.89451898 -0.00133208]
 [-0.06229329 -0.02964407  0.9976177 ]]

 t_gt:
[-0.64028914  0.75753944  0.127137  ]

Pose Error in degrees for R and t:
60.84326756061936 41.15017446814232

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 6.43059695e-01  7.65810860e-01  2.82043168e-03]
 [-7.65813703e-01  6.43062486e-01 -1.09568736e-04]
 [-1.89762273e-03 -2.08946599e-03  9.99996017e-01]]

 t_estimated:
[[0.21004261]
 [0.97768966]
 [0.00224143]]

 R_gt:
[[ 0.99230176 -0.12356365  0.0083073 ]
 [ 0.12177718  0.98575407  0.11601127]
 [-0.02252362 -0.11410528  0.99321374]]

 t_gt:
[ 0.42618674 -0.65012046  0.62905345]

Pose Error in degrees for R and t:
57.39708199126283 56.996606889052046

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99993255e-01  3.60035115e-03  7.25730871e-04]
 [-3.60030097e-03  9.99993516e-01 -7.04388433e-05]
 [-7.25979770e-04  6.78255186e-05  9.99999734e-01]]

 t_estimated:
[[-0.99996747]
 [ 0.00793473]
 [ 0.00144937]]

 R_gt:
[[ 0.98495121 -0.17260966 -0.00885476]
 [ 0.1723211   0.97677136  0.12736955]
 [-0.01333592 -0.12697817  0.99181672]]

 t_gt:
[ 0.50341393 -0.69388014  0.51488326]

Pose Error in degrees for R and t:
12.542568866162101 59.45885079491529

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99687619e-01  2.49931980e-02  6.33228435e-05]
 [-2.49932070e-02  9.99687611e-01  1.44743272e-04]
 [-5.96854649e-05 -1.46280698e-04  9.99999988e-01]]

 t_estimated:
[[9.91056195e-01]
 [1.33442706e-01]
 [8.13675037e-04]]

 R_gt:
[[ 9.91524255e-01 -1.29921698e-01  1.42372217e-03]
 [ 1.29928730e-01  9.91484945e-01 -8.72317656e-03]
 [-2.78283503e-04  8.83387655e-03  9.99960704e-01]]

 t_gt:
[ 0.76459257 -0.64322819 -0.04069027]

Pose Error in degrees for R and t:
8.91225822120139 47.78712909118667

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.90682917e-01 -1.36188184e-01 -3.68327021e-04]
 [ 1.36188582e-01  9.90681846e-01  1.46634567e-03]
 [ 1.65195940e-04 -1.50284554e-03  9.99998857e-01]]

 t_estimated:
[[0.53847483]
 [0.84264034]
 [0.00145534]]

 R_gt:
[[ 0.96195808 -0.27319078 -0.00187515]
 [ 0.27314604  0.96188752 -0.01283139]
 [ 0.00530875  0.01183125  0.99991529]]

 t_gt:
[ 0.83031224 -0.55576837 -0.04126867]

Pose Error in degrees for R and t:
8.06812568745187 88.78118837061082

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-9.86057613e-01  1.66374318e-01 -3.15751129e-03]
 [ 1.66372466e-01  9.86062621e-01  8.42300933e-04]
 [ 3.25364110e-03  3.05234309e-04 -9.99994660e-01]]

 t_estimated:
[[0.98978927]
 [0.14252965]
 [0.00158366]]

 R_gt:
[[ 0.92607322 -0.37715226  0.01206224]
 [ 0.37713409  0.92401312 -0.06301631]
 [ 0.01262055  0.0629063   0.9979393 ]]

 t_gt:
[ 0.87504351 -0.46548848 -0.13273783]

Pose Error in degrees for R and t:
179.87626157811408 36.91260476779515

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.65235738  0.75789684 -0.00471531]
 [-0.7579089  -0.65235883  0.00143625]
 [-0.00198755  0.00451073  0.99998785]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99982308 -0.00346936  0.01853958]
 [ 0.00400337  0.99957561 -0.02885016]
 [-0.01843059  0.02891904  0.99941188]]

 t_gt:
[ 0.02234312  0.3898259  -0.92061748]

Pose Error in degrees for R and t:
130.94048913602953 75.49792639931094

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 7.27488175e-01 -6.86116634e-01  2.21816030e-03]
 [ 6.86119204e-01  7.27488858e-01 -6.31685334e-04]
 [-1.18027709e-03  1.98146599e-03  9.99997340e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 9.79473591e-01 -2.01577804e-01 -4.09275414e-04]
 [ 2.01577333e-01  9.79456682e-01  5.58454182e-03]
 [-7.24679220e-04 -5.55243063e-03  9.99984239e-01]]

 t_gt:
[ 0.99227582 -0.12255788  0.01919029]

Pose Error in degrees for R and t:
31.696945728342094 83.3186888642873

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 5.72799425e-01 -8.19691236e-01 -2.66405358e-03]
 [ 8.19693772e-01  5.72801944e-01 -2.29861294e-04]
 [ 1.71439036e-03 -2.05204371e-03  9.99996425e-01]]

 t_estimated:
[[-0.06192989]
 [-0.99807946]
 [-0.00144023]]

 R_gt:
[[ 0.92542829 -0.37781735 -0.02896921]
 [ 0.37851781  0.92527254  0.02437564]
 [ 0.01759583 -0.03352365  0.99928283]]

 t_gt:
[ 0.9963453  -0.04501201  0.07259451]

Pose Error in degrees for R and t:
32.886547238219855 89.03265501684227

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.98517058e-01 -5.44397241e-02 -3.56662091e-05]
 [ 5.44397265e-02  9.98517056e-01  7.16965126e-05]
 [ 3.17101797e-05 -7.35318495e-05  9.99999997e-01]]

 t_estimated:
[[-6.08907329e-02]
 [ 9.98144437e-01]
 [-3.30390375e-05]]

 R_gt:
[[ 0.99843037  0.02255579 -0.05127171]
 [-0.02507112  0.99848676 -0.04894466]
 [ 0.05008984  0.05015394  0.99748506]]

 t_gt:
[-0.04811372  0.43999191 -0.89671188]

Pose Error in degrees for R and t:
6.054428724911163 63.75983174768743

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.97630295e-01 -6.88025545e-02 -5.00750323e-05]
 [ 6.88025593e-02  9.97630291e-01  1.01352934e-04]
 [ 4.29830283e-05 -1.04558048e-04  9.99999994e-01]]

 t_estimated:
[[9.16252293e-03]
 [9.99958019e-01]
 [9.61851528e-05]]

 R_gt:
[[ 0.99751335  0.02293728 -0.06664951]
 [-0.0275893   0.99718456 -0.06973036]
 [ 0.06486192  0.07139645  0.99533765]]

 t_gt:
[ 0.00403568  0.38882191 -0.9213041 ]

Pose Error in degrees for R and t:
7.730401548785122 67.12301148925954

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-8.99265161e-01  4.37403636e-01  4.78667517e-04]
 [-4.37403081e-01 -8.99260829e-01 -2.91660036e-03]
 [-8.45284652e-04 -2.83216774e-03  9.99995632e-01]]

 t_estimated:
[[0.49557064]
 [0.86856663]
 [0.00131801]]

 R_gt:
[[ 0.99828488 -0.00846957  0.05793021]
 [ 0.00433374  0.99745748  0.07113073]
 [-0.05838549 -0.07075701  0.99578351]]

 t_gt:
[-0.0400932  -0.24514817  0.96865624]

Pose Error in degrees for R and t:
154.4519785197257 76.61343255547551

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.81358157e-01 -1.92187846e-01 -5.48193915e-06]
 [ 1.92187844e-01  9.81358141e-01  1.80275077e-04]
 [-2.92669330e-05 -1.77967979e-04  9.99999984e-01]]

 t_estimated:
[[0.95363101]
 [0.3009763 ]
 [0.00107877]]

 R_gt:
[[ 0.99675037 -0.06675047 -0.04508095]
 [ 0.07173512  0.99018819  0.11992561]
 [ 0.03663433 -0.12277004  0.99175886]]

 t_gt:
[ 0.33080252 -0.79963965  0.50114482]

Pose Error in degrees for R and t:
10.212307484773676 85.6797262307263

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-9.99993715e-01 -3.54313613e-03  1.25908043e-04]
 [-3.54299859e-03  9.99993144e-01  1.07626641e-03]
 [-1.29720538e-04  1.07581356e-03 -9.99999413e-01]]

 t_estimated:
[[0.99498707]
 [0.0999987 ]
 [0.00099999]]

 R_gt:
[[ 0.98974024 -0.10366289 -0.09832519]
 [ 0.11962685  0.97753007  0.17356559]
 [ 0.07812288 -0.18354738  0.97990182]]

 t_gt:
[ 0.36921803 -0.8076241   0.45980577]

Pose Error in degrees for R and t:
174.93865592885666 73.31764050391442

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.16135825e-01 -4.00867957e-01  1.74620141e-04]
 [ 4.00867825e-01  9.16135751e-01  5.21367076e-04]
 [-3.68975108e-04 -4.07643460e-04  9.99999849e-01]]

 t_estimated:
[[7.94635455e-01]
 [6.07086424e-01]
 [7.53208962e-04]]

 R_gt:
[[ 0.96464092 -0.15172915 -0.21551161]
 [ 0.1865645   0.97066227  0.1516862 ]
 [ 0.18617377 -0.18653002  0.96464842]]

 t_gt:
[ 0.54652332 -0.82943911  0.11551201]

Pose Error in degrees for R and t:
20.502922569802024 86.03383257798603

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.99019082  0.13970185 -0.00235315]
 [-0.13968569  0.99017762  0.00601578]
 [ 0.00317045 -0.00562807  0.99997914]]

 t_estimated:
[[0.67710043]
 [0.73588218]
 [0.00352573]]

 R_gt:
[[ 0.99538259  0.046162    0.08416081]
 [-0.04262729  0.99815186 -0.04332925]
 [-0.08600584  0.03954187  0.9955104 ]]

 t_gt:
[-0.47402735  0.75207987  0.45790168]

Pose Error in degrees for R and t:
7.923631064466318 76.46186591703659

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.06826378  0.99765726  0.00447816]
 [ 0.99766567  0.06825484  0.00211996]
 [ 0.00180934  0.00461242 -0.99998773]]

 t_estimated:
[[0.86928968]
 [0.49430198]
 [0.00100264]]

 R_gt:
[[ 0.99146483  0.01339077  0.12968859]
 [-0.00759142  0.998954   -0.04510915]
 [-0.13015681  0.04374014  0.99052875]]

 t_gt:
[-0.12901594  0.4407706   0.88829959]

Pose Error in degrees for R and t:
172.6973665247818 83.87993955331514

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.4613311  -0.88722703  0.00134763]
 [-0.88721352  0.46133171  0.00502314]
 [-0.00507837  0.0011217  -0.99998648]]

 t_estimated:
[[0.87566419]
 [0.48291716]
 [0.00179904]]

 R_gt:
[[ 0.98537777 -0.05630367  0.16081667]
 [ 0.06338741  0.99721716 -0.03926004]
 [-0.15815903  0.04887966  0.98620383]]

 t_gt:
[ 0.48559656 -0.31027093  0.81726858]

Pose Error in degrees for R and t:
173.24941533633088 73.92742957451242

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99634284e-01  2.70334667e-02  7.00307001e-04]
 [-2.70329523e-02  9.99634274e-01 -7.33843918e-04]
 [-7.19889225e-04  7.14644174e-04  9.99999486e-01]]

 t_estimated:
[[9.77966300e-01]
 [2.08761279e-01]
 [8.02927997e-04]]

 R_gt:
[[ 0.98928706 -0.13484722 -0.05592134]
 [ 0.13619147  0.99046061  0.02094326]
 [ 0.05256273 -0.02833512  0.99821581]]

 t_gt:
[ 0.65724505 -0.73505103 -0.16652005]

Pose Error in degrees for R and t:
9.969638104794925 60.71332585555014

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 6.15344071e-01 -7.88258478e-01 -4.96869940e-04]
 [ 7.88258539e-01  6.15344184e-01 -1.02221238e-04]
 [ 3.86322785e-04 -3.28760740e-04  9.99999871e-01]]

 t_estimated:
[[-0.00729147]
 [-0.99997287]
 [-0.00104164]]

 R_gt:
[[ 0.98171813 -0.18447388 -0.04689452]
 [ 0.18572255  0.98231347  0.02380455]
 [ 0.04167366 -0.03207784  0.99861613]]

 t_gt:
[ 0.63098701 -0.77259435 -0.07038014]

Pose Error in degrees for R and t:
41.451646772607425 39.82126655511864

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 5.13319600e-01  8.58197058e-01  8.92693189e-04]
 [-8.58197293e-01  5.13319946e-01 -1.97358066e-04]
 [-6.27609331e-04 -6.64799115e-04  9.99999582e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.97536886 -0.21759856 -0.03613587]
 [ 0.21822739  0.97579172  0.01442713]
 [ 0.03212156 -0.02195744  0.9992426 ]]

 t_gt:
[ 0.60201828 -0.79553908 -0.068495  ]

Pose Error in degrees for R and t:
71.7373721384693 89.60705296467823

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.54445068e-02  9.96342903e-01  2.35926398e-04]
 [-9.96342187e-01  8.54447299e-02 -1.20165637e-03]
 [-1.21742047e-03 -1.32388487e-04  9.99999250e-01]]

 t_estimated:
[[-4.26240152e-02]
 [ 9.99090915e-01]
 [ 7.33395859e-04]]

 R_gt:
[[ 0.99503263  0.09901451  0.01029108]
 [-0.09891245  0.99504646 -0.0099184 ]
 [-0.01122301  0.00885178  0.99989732]]

 t_gt:
[-0.38073292  0.92467762  0.00370555]

Pose Error in degrees for R and t:
79.42141194976301 19.937004431768116

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.48740756  0.86946762  0.08037366]
 [-0.87204652 -0.48938872  0.00579265]
 [ 0.04437049 -0.06726619  0.99674797]]

 t_estimated:
[[0.55175424]
 [0.83400476]
 [0.00182097]]

 R_gt:
[[ 0.98370194  0.17944474  0.01137633]
 [-0.1784968   0.98220699 -0.05837295]
 [-0.02164922  0.05539168  0.9982295 ]]

 t_gt:
[-0.31680972  0.94460386 -0.08576218]

Pose Error in degrees for R and t:
109.19574435312161 52.204366372535524

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.23921516  0.97072318 -0.02173981]
 [ 0.9706457  -0.23850058  0.03105483]
 [ 0.02496069 -0.02853044 -0.99928123]]

 t_estimated:
[[-7.99824929e-01]
 [-6.00232916e-01]
 [-7.28438004e-04]]

 R_gt:
[[ 0.95070197  0.30925271  0.02300334]
 [-0.30774741  0.95000097 -0.05280313]
 [-0.03818378  0.04312168  0.99833943]]

 t_gt:
[-0.28104069  0.95944624  0.02188692]

Pose Error in degrees for R and t:
178.87356291959944 69.44393213421966

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[-8.73317037e-01 -4.87139998e-01 -3.46045319e-03]
 [ 4.87151999e-01 -8.73302226e-01 -5.11383522e-03]
 [-5.30867801e-04 -6.15176611e-03  9.99980937e-01]]

 t_estimated:
[[9.99932965e-01]
 [1.15445191e-02]
 [8.88039934e-04]]

 R_gt:
[[ 0.99141229 -0.12869028  0.02322586]
 [ 0.12940773  0.99105589 -0.03260895]
 [-0.01882252  0.03533611  0.99919878]]

 t_gt:
[ 0.62245893 -0.78191807 -0.03389715]

Pose Error in degrees for R and t:
143.44247070643848 52.16713179562846

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.97852917e-01 -6.54946817e-02 -5.83505699e-05]
 [ 6.54946816e-02  9.97852918e-01 -3.27524299e-06]
 [ 5.84397974e-05 -5.53441224e-07  9.99999998e-01]]

 t_estimated:
[[9.98134499e-01]
 [6.10534162e-02]
 [3.88124396e-05]]

 R_gt:
[[ 0.99266818 -0.11942788  0.0186467 ]
 [ 0.11999527  0.99222434 -0.03307247]
 [-0.01455271  0.03506826  0.99927977]]

 t_gt:
[ 0.56907034 -0.81831065 -0.08078751]

Pose Error in degrees for R and t:
3.8057388330533364 58.79879866704127

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.90345244e-01  1.38622250e-01  4.11669678e-04]
 [-1.38622212e-01  9.90345328e-01 -1.18723565e-04]
 [-4.24152870e-04  6.05107563e-05  9.99999908e-01]]

 t_estimated:
[[0.74027593]
 [0.67230232]
 [0.00106417]]

 R_gt:
[[ 0.99485317 -0.08634684  0.05301969]
 [ 0.08887949  0.99491223 -0.04743092]
 [-0.04865491  0.05190048  0.99746676]]

 t_gt:
[ 0.34666968 -0.92836227  0.13402847]

Pose Error in degrees for R and t:
13.616994228690203 68.44672094796587

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99658206e-01  2.61420841e-02 -2.52091102e-04]
 [-2.61418631e-02  9.99657887e-01  8.43568584e-04]
 [ 2.74057499e-04 -8.36690125e-04  9.99999612e-01]]

 t_estimated:
[[-0.98457177]
 [-0.17497456]
 [-0.00152542]]

 R_gt:
[[ 0.99642248 -0.08346751  0.01334916]
 [ 0.08383208  0.9960413  -0.02957232]
 [-0.01082837  0.03058506  0.99947346]]

 t_gt:
[ 0.55615517 -0.82081296 -0.130221  ]

Pose Error in degrees for R and t:
6.580134376559173 66.18688889030625

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999953e-01 -2.66984407e-04  1.52731596e-04]
 [ 2.66987838e-04  9.99999964e-01 -2.24396646e-05]
 [-1.52725600e-04  2.24804410e-05  9.99999988e-01]]

 t_estimated:
[[9.12672207e-01]
 [4.08691851e-01]
 [6.42590687e-04]]

 R_gt:
[[ 0.99962857 -0.0194799   0.01909128]
 [ 0.01983017  0.99963544 -0.01834738]
 [-0.0187275   0.01871949  0.99964944]]

 t_gt:
[-0.18989602 -0.96973936  0.15344405]

Pose Error in degrees for R and t:
1.8738716286660824 55.28192971204541

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-7.19297669e-01 -6.94698297e-01 -2.26698376e-03]
 [ 6.94701799e-01 -7.19296092e-01 -1.59447560e-03]
 [-5.22953071e-04 -2.72178028e-03  9.99996159e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99785902 -0.01304185  0.06411127]
 [ 0.01503092  0.99941801 -0.03063499]
 [-0.06367511  0.03153351  0.99747246]]

 t_gt:
[-0.46208717 -0.53491804  0.70734584]

Pose Error in degrees for R and t:
135.22732336790358 62.40652310749163

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.6734205  -0.73925107 -0.00356167]
 [-0.73923159  0.67334514  0.01195692]
 [-0.00644094  0.01068493 -0.99992217]]

 t_estimated:
[[0.95525584]
 [0.29577876]
 [0.00109548]]

 R_gt:
[[ 0.97786461  0.1870727  -0.09372287]
 [-0.1853029   0.98230106  0.02731632]
 [ 0.09717401 -0.00934444  0.99522375]]

 t_gt:
[-0.16702625  0.94166257 -0.29218801]

Pose Error in degrees for R and t:
175.41868626432876 83.18575146936882

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.89025035e-01 -1.47746978e-01 -5.58068494e-04]
 [ 1.47747307e-01  9.89024958e-01  6.05158719e-04]
 [ 4.62533297e-04 -6.80970240e-04  9.99999661e-01]]

 t_estimated:
[[-1.31750874e-01]
 [-9.91282693e-01]
 [-5.74711953e-04]]

 R_gt:
[[ 0.93280587  0.34216088 -0.11312712]
 [-0.33604287  0.93924761  0.06992579]
 [ 0.13017975 -0.02721124  0.99111721]]

 t_gt:
[-0.17091788  0.96983315 -0.17381235]

Pose Error in degrees for R and t:
29.389584137652697 20.15559602717974

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-6.98563734e-01  7.15546726e-01  1.26155398e-03]
 [-7.15547689e-01 -6.98561363e-01 -1.87815247e-03]
 [-4.62632986e-04 -2.21471123e-03  9.99997441e-01]]

 t_estimated:
[[0.67539364]
 [0.73745684]
 [0.00091269]]

 R_gt:
[[ 0.90148775  0.42354564 -0.08903799]
 [-0.42252161  0.90582252  0.03098419]
 [ 0.09377576  0.00968798  0.99554678]]

 t_gt:
[-0.09294264  0.98623759 -0.13673724]

Pose Error in degrees for R and t:
109.32369401712504 48.362922049794236

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.96476329e-01 -8.38737113e-02 -3.55040393e-04]
 [ 8.38737962e-02  9.96476358e-01  2.31569092e-04]
 [ 3.34366799e-04 -2.60531704e-04  9.99999910e-01]]

 t_estimated:
[[-9.52925126e-01]
 [ 3.03205313e-01]
 [ 4.91410858e-04]]

 R_gt:
[[ 9.79620243e-01  2.00519867e-01 -1.16188063e-02]
 [-2.00543040e-01  9.79683742e-01 -7.87596814e-04]
 [ 1.12246854e-02  3.10195155e-03  9.99932185e-01]]

 t_gt:
[-0.37842799  0.92373751 -0.05917157]

Pose Error in degrees for R and t:
16.39264678670708 50.15845731817297

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999847e-01 -1.50197723e-05 -5.52072849e-04]
 [ 1.51555550e-05  9.99999970e-01  2.45947307e-04]
 [ 5.52069138e-04 -2.45955637e-04  9.99999817e-01]]

 t_estimated:
[[-0.81342877]
 [-0.58166345]
 [-0.00112507]]

 R_gt:
[[ 0.94246755  0.33412607  0.01066352]
 [-0.33394244  0.94245886 -0.01593227]
 [-0.01537376  0.01145534  0.99981571]]

 t_gt:
[-0.31489843  0.94909473  0.00762739]

Pose Error in degrees for R and t:
19.549065359613245 72.78759575347354

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.85447678 -0.51948314 -0.0025887 ]
 [ 0.51947416 -0.85447919  0.00345043]
 [-0.00400443  0.00160355  0.9999907 ]]

 t_estimated:
[[0.87064953]
 [0.49190296]
 [0.00093518]]

 R_gt:
[[ 0.9251833   0.37949619  0.00409957]
 [-0.37927543  0.92492357 -0.02580688]
 [-0.01358557  0.02232117  0.99965814]]

 t_gt:
[-0.26733661  0.96340782 -0.0194037 ]

Pose Error in degrees for R and t:
171.0046132521152 76.04684381203606

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-8.55498538e-01 -5.17805173e-01  2.35233456e-04]
 [-5.17803586e-01  8.55496883e-01  2.12820102e-03]
 [-1.30323499e-03  1.69886813e-03 -9.99997708e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99661002  0.07376221  0.03644691]
 [-0.07205767  0.99633778 -0.04602674]
 [-0.03970869  0.04324356  0.99827486]]

 t_gt:
[-0.31165167  0.94476979 -0.10140652]

Pose Error in degrees for R and t:
178.54371210248897 72.01312118986036

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.87780968  0.47899862  0.0032371 ]
 [ 0.4790058   0.87780953  0.00196825]
 [-0.00189877  0.00327833 -0.99999282]]

 t_estimated:
[[0.90003876]
 [0.43580824]
 [0.00118426]]

 R_gt:
[[ 0.985472    0.1653335   0.03887217]
 [-0.16348788  0.98544132 -0.0466614 ]
 [-0.04602127  0.03962793  0.99815458]]

 t_gt:
[-0.29564288  0.95485359 -0.0291533 ]

Pose Error in degrees for R and t:
176.8825671376199 81.37258168000666

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999778e-01 -6.05939599e-04 -2.77092338e-04]
 [ 6.05978817e-04  9.99999806e-01  1.41471705e-04]
 [ 2.77006561e-04 -1.41639585e-04  9.99999952e-01]]

 t_estimated:
[[9.99999995e-01]
 [1.65853479e-05]
 [1.03292189e-04]]

 R_gt:
[[ 0.95181657  0.30585611 -0.02232081]
 [-0.30621888  0.95184019 -0.01519058]
 [ 0.0166003   0.02129284  0.99963535]]

 t_gt:
[-0.23328528  0.96731719 -0.09937519]

Pose Error in degrees for R and t:
17.92444271023482 76.50977296731578

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99992714e-01 -3.68776933e-03 -9.86211775e-04]
 [ 3.68783476e-03  9.99993198e-01  6.45333701e-05]
 [ 9.85967083e-04 -6.81698860e-05  9.99999512e-01]]

 t_estimated:
[[ 0.99953713]
 [-0.02971196]
 [-0.0065365 ]]

 R_gt:
[[ 0.9962554  -0.08612778 -0.00758915]
 [ 0.08582073  0.99571926 -0.03431515]
 [ 0.01051159  0.03353598  0.99938237]]

 t_gt:
[ 0.68429397 -0.59782474 -0.41754921]

Pose Error in degrees for R and t:
5.129613309105556 45.21333153849171

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-6.18884064e-01 -7.85482106e-01 -6.13530532e-04]
 [ 7.85462687e-01 -6.18862860e-01 -7.55832956e-03]
 [ 5.55724136e-03 -5.15963506e-03  9.99971247e-01]]

 t_estimated:
[[9.61332106e-01]
 [2.75390392e-01]
 [8.44755805e-04]]

 R_gt:
[[ 0.98149365 -0.15880996  0.10700264]
 [ 0.16388104  0.98565428 -0.04033872]
 [-0.09906158  0.05712858  0.99344055]]

 t_gt:
[ 0.71550788 -0.68989363  0.1099784 ]

Pose Error in degrees for R and t:
119.0499820090992 60.135962192165884

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.99740614  0.07074674  0.01326223]
 [-0.07071927  0.99749305 -0.00252983]
 [-0.01340795  0.00158537  0.99990885]]

 t_estimated:
[[0.97454109]
 [0.22419226]
 [0.00273778]]

 R_gt:
[[ 0.9618115  -0.15984415  0.22218715]
 [ 0.17345862  0.98389974 -0.04304524]
 [-0.21172892  0.079942    0.97405408]]

 t_gt:
[ 0.62165561 -0.61812076  0.48111436]

Pose Error in degrees for R and t:
18.453564045745395 62.058602528696674

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.97145076e-01 -7.55095802e-02  3.73579114e-05]
 [ 7.55095784e-02  9.97145075e-01  4.92733336e-05]
 [-4.09718661e-05 -4.63117819e-05  9.99999998e-01]]

 t_estimated:
[[-4.48910815e-01]
 [-8.93576222e-01]
 [-7.84438341e-04]]

 R_gt:
[[ 0.99694711  0.07156073 -0.03123305]
 [-0.07053823  0.99697313  0.03268769]
 [ 0.03347812 -0.03038454  0.99897707]]

 t_gt:
[-0.167314    0.98455803 -0.05149293]

Pose Error in degrees for R and t:
8.796496824326141 36.42563753860986

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-0.21041822 -0.97752356 -0.01310958]
 [-0.97753842  0.2105475  -0.00940172]
 [ 0.0119506   0.01083683 -0.99986986]]

 t_estimated:
[[ 0.72167694]
 [ 0.69219608]
 [-0.00685395]]

 R_gt:
[[ 0.98791014  0.15472329  0.00974919]
 [-0.15497379  0.9872902   0.0352161 ]
 [-0.00417664 -0.03630084  0.99933242]]

 t_gt:
[-0.28714353  0.9337632   0.21362322]

Pose Error in degrees for R and t:
179.32255031930518 64.04543938736376

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[ 8.15635731e-01 -5.78565602e-01 -4.45629819e-04]
 [ 5.78565770e-01  8.15635569e-01  5.18906563e-04]
 [ 6.32500425e-05 -6.81064893e-04  9.99999766e-01]]

 t_estimated:
[[-0.50239017]
 [-0.86464002]
 [-0.00132208]]

 R_gt:
[[ 0.98355839  0.18028225  0.0105552 ]
 [-0.18054964  0.98289726  0.03626271]
 [-0.0038372  -0.03757135  0.99928602]]

 t_gt:
[-0.1882605   0.96474877  0.18389618]

Pose Error in degrees for R and t:
45.79434827984351 42.28363473604473

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99996168e-01  5.33555022e-04  2.71631824e-03]
 [-5.26474863e-04  9.99996464e-01 -2.60657577e-03]
 [-2.71769939e-03  2.60513571e-03  9.99992914e-01]]

 t_estimated:
[[0.87110614]
 [0.4910934 ]
 [0.00116927]]

 R_gt:
[[ 0.96154361 -0.26306061 -0.07894873]
 [ 0.26136164  0.96473304 -0.0313104 ]
 [ 0.08440097  0.00947193  0.9963866 ]]

 t_gt:
[ 0.8721756  -0.44705733 -0.19861892]

Pose Error in degrees for R and t:
16.050827004373637 57.317833077411755

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.6528061   0.75750851 -0.00500494]
 [ 0.75746909 -0.65266333  0.01646688]
 [ 0.00920726 -0.01454077 -0.99985189]]

 t_estimated:
[[9.73358246e-01]
 [2.29287873e-01]
 [8.92170711e-04]]

 R_gt:
[[ 0.88081515 -0.4710839  -0.04738865]
 [ 0.46632437  0.88049441 -0.08527073]
 [ 0.08189603  0.05300935  0.99522978]]

 t_gt:
[ 0.91582805 -0.36315261 -0.17140349]

Pose Error in degrees for R and t:
178.79101989105627 36.09810424358849

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 1.00000000e+00 -1.56899462e-05  1.31457315e-05]
 [ 1.56902759e-05  1.00000000e+00 -2.50776184e-05]
 [-1.31453380e-05  2.50778246e-05  1.00000000e+00]]

 t_estimated:
[[9.33670941e-01]
 [3.58131191e-01]
 [7.90576580e-04]]

 R_gt:
[[ 0.70872091 -0.70365889 -0.0507795 ]
 [ 0.69879955  0.71006832 -0.08649459]
 [ 0.09691927  0.02581628  0.99495681]]

 t_gt:
[ 0.96116953 -0.25899473 -0.09526205]

Pose Error in degrees for R and t:
45.01801149342754 36.4296443426618

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 0.97416491 -0.22581474  0.00322879]
 [ 0.22582265  0.97416563 -0.00233636]
 [-0.0026178   0.00300513  0.99999206]]

 t_estimated:
[[9.34581373e-01]
 [3.55748659e-01]
 [7.41143039e-04]]

 R_gt:
[[ 0.99875264 -0.04164596  0.02753938]
 [ 0.04271662  0.99830559 -0.0395163 ]
 [-0.02584645  0.04064435  0.99883968]]

 t_gt:
[ 0.63624754 -0.77009047 -0.04636536]

Pose Error in degrees for R and t:
10.93013900588633 71.29884527135339

Number of keypoints:
Image1: 349
Image2: 349

 R_estimated:
[[ 9.67232729e-01 -2.53890246e-01 -7.68148444e-04]
 [ 2.53890236e-01  9.67233031e-01 -1.12160103e-04]
 [ 7.71454904e-04 -8.65404671e-05  9.99999699e-01]]

 t_estimated:
[[ 0.74310142]
 [-0.66917587]
 [-0.00198368]]

 R_gt:
[[ 0.99622373 -0.07976334 -0.03427818]
 [ 0.07960232  0.99680957 -0.0060441 ]
 [ 0.03465146  0.00329303  0.99939417]]

 t_gt:
[ 0.60358024 -0.73676173 -0.30475079]

Pose Error in degrees for R and t:
10.321452083355064 19.584351585182308

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999981e-01 -1.94221550e-04  2.39952859e-05]
 [ 1.94221348e-04  9.99999981e-01  8.42165372e-06]
 [-2.39969211e-05 -8.41699316e-06  1.00000000e+00]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98529903 -0.15859511 -0.06350919]
 [ 0.16046952  0.98671031  0.02556342]
 [ 0.05861063 -0.03537894  0.99765393]]

 t_gt:
[ 0.54581365 -0.81696783 -0.18614786]

Pose Error in degrees for R and t:
9.982287108200946 57.102805336288036

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99169898e-01 -4.07371385e-02  2.83229394e-05]
 [ 4.07371379e-02  9.99169898e-01  2.27046237e-05]
 [-2.92243499e-05 -2.15319810e-05  9.99999999e-01]]

 t_estimated:
[[ 9.90956802e-01]
 [-1.34178498e-01]
 [ 8.64372096e-04]]

 R_gt:
[[ 0.99926469  0.03832203  0.00137755]
 [-0.03825574  0.9987236  -0.03297879]
 [-0.00263861  0.03290272  0.99945527]]

 t_gt:
[ 0.45414066  0.72197554 -0.52202258]

Pose Error in degrees for R and t:
4.908868637700543 69.34690263884794

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99999999e-01  4.21305117e-07  4.38576126e-05]
 [-4.19125023e-07  9.99999999e-01 -4.97084613e-05]
 [-4.38576335e-05  4.97084429e-05  9.99999998e-01]]

 t_estimated:
[[9.99994949e-01]
 [3.09998624e-03]
 [7.01363626e-04]]

 R_gt:
[[ 0.99858472  0.02875884  0.04475025]
 [-0.02475311  0.99584561 -0.08762207]
 [-0.04708371  0.08639059  0.99514858]]

 t_gt:
[ 0.56776209  0.69404254 -0.44266371]

Pose Error in degrees for R and t:
5.847944636619258 55.277643399442134

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-0.1475178  -0.98904499  0.00533857]
 [-0.98905737  0.14752629  0.00123193]
 [-0.00200601 -0.00509842 -0.99998499]]

 t_estimated:
[[0.83589236]
 [0.54887421]
 [0.00459041]]

 R_gt:
[[ 0.99933012 -0.03239907  0.01704484]
 [ 0.03375788  0.99566488 -0.08666853]
 [-0.01416143  0.08718574  0.99609141]]

 t_gt:
[ 0.80221271 -0.23285862 -0.54975597]

Pose Error in degrees for R and t:
177.69723415010833 57.300717750228536

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999839e-01  5.65455764e-04 -4.42813633e-05]
 [-5.65441845e-04  9.99999791e-01  3.13714930e-04]
 [ 4.44587459e-05 -3.13689841e-04  9.99999950e-01]]

 t_estimated:
[[9.76373318e-01]
 [2.16089131e-01]
 [7.94445336e-04]]

 R_gt:
[[ 0.95445838 -0.29811501  0.01173337]
 [ 0.29833909  0.95396035 -0.03088442]
 [-0.00198581  0.03297924  0.99945422]]

 t_gt:
[ 0.86578333 -0.494247   -0.0783526 ]

Pose Error in degrees for R and t:
17.49230536683883 42.39925684749708

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.94838157 -0.20331403 -0.24338408]
 [ 0.23855248  0.96304291  0.12506423]
 [ 0.208962   -0.17666849  0.96183321]]

 t_estimated:
[[0.99981909]
 [0.01890414]
 [0.00210046]]

 R_gt:
[[ 0.87315877 -0.4872843  -0.01210758]
 [ 0.48710605  0.87321236 -0.01506028]
 [ 0.01791183  0.00725296  0.99981318]]

 t_gt:
[ 0.90786852 -0.41805727 -0.0316681 ]

Pose Error in degrees for R and t:
22.370887114172337 25.87677673361252

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99999802e-01  5.60450074e-04  2.86811975e-04]
 [-5.60428722e-04  9.99999840e-01 -7.45226285e-05]
 [-2.86853696e-04  7.43618761e-05  9.99999956e-01]]

 t_estimated:
[[9.37481804e-01]
 [3.48033456e-01]
 [7.61561173e-04]]

 R_gt:
[[ 0.86479077 -0.50210609 -0.00508341]
 [ 0.50175103  0.86448308 -0.03022704]
 [ 0.01957161  0.02358996  0.99953016]]

 t_gt:
[ 0.90820039 -0.41494158 -0.05473157]

Pose Error in degrees for R and t:
30.21774205262154 45.0113976922622

Number of keypoints:
Image1: 751
Image2: 751

 R_estimated:
[[ 9.99995243e-01 -3.08399338e-03  5.58184570e-05]
 [ 3.08399475e-03  9.99995244e-01 -2.44816917e-05]
 [-5.57426902e-05  2.46537191e-05  9.99999998e-01]]

 t_estimated:
[[ 9.19626889e-01]
 [-3.92792037e-01]
 [ 8.95150650e-04]]

 R_gt:
[[ 0.9989881  -0.04077736 -0.0189675 ]
 [ 0.04105078  0.99905556  0.01425664]
 [ 0.01836797 -0.0150211   0.99971769]]

 t_gt:
[ 0.82006142 -0.56640254 -0.08177667]

Pose Error in degrees for R and t:
2.5616622450908353 12.431056331762898

Number of keypoints:
Image1: 567
Image2: 567

 R_estimated:
[[ 0.87170802  0.48995894  0.00808442]
 [ 0.48997138 -0.87124739 -0.02925804]
 [-0.00729171  0.0294656  -0.9995392 ]]

 t_estimated:
[[-0.26465629]
 [ 0.9642229 ]
 [-0.01520661]]

 R_gt:
[[ 0.99833686 -0.01538618 -0.05555112]
 [ 0.01813115  0.9986213   0.0492627 ]
 [ 0.05471773 -0.05018772  0.99723983]]

 t_gt:
[ 0.71398726 -0.69972487 -0.0246435 ]

Pose Error in degrees for R and t:
178.18023097898578 30.313434983648495

Number of keypoints:
Image1: 505
Image2: 505

 R_estimated:
[[ 2.72899389e-01  9.62042579e-01 -1.44452840e-05]
 [-9.62041487e-01  2.72899057e-01 -1.51038564e-03]
 [-1.44911319e-03  4.26080282e-04  9.99998859e-01]]

 t_estimated:
[[0.40159973]
 [0.91581451]
 [0.00119661]]

 R_gt:
[[ 0.99812704  0.05933076 -0.01489168]
 [-0.0581447   0.99582758  0.07033023]
 [ 0.01900266 -0.06933297  0.99741191]]

 t_gt:
[-0.84629141 -0.20816991  0.49036328]

Pose Error in degrees for R and t:
70.90070081494387 57.99936563257834

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[-6.66207646e-01  7.45762490e-01 -2.38328961e-03]
 [-7.45762092e-01 -6.66211221e-01 -1.22981056e-03]
 [-2.50492086e-03  9.58057844e-04  9.99996404e-01]]

 t_estimated:
[[0.56396141]
 [0.82580064]
 [0.00091552]]

 R_gt:
[[ 0.99958204  0.0282193  -0.00612276]
 [-0.02810579  0.99944502  0.01786449]
 [ 0.00662238 -0.01768483  0.99982159]]

 t_gt:
[0.22316157 0.95228162 0.20822736]

Pose Error in degrees for R and t:
130.16524324093527 24.15526227317563

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[-6.89751684e-01 -7.24044560e-01 -1.44561330e-03]
 [ 7.24045943e-01 -6.89749439e-01 -1.78398223e-03]
 [ 2.94571665e-04 -2.27719519e-03  9.99997364e-01]]

 t_estimated:
[[0.68921343]
 [0.72455771]
 [0.00098179]]

 R_gt:
[[ 0.99307926  0.11729779 -0.0059215 ]
 [-0.11697304  0.99233675  0.03980768]
 [ 0.01054523 -0.03883925  0.99919028]]

 t_gt:
[-0.20549687  0.96005452  0.18991142]

Pose Error in degrees for R and t:
140.34705352934537 56.34642339040036

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.79246511e-01  2.02672798e-01 -8.10866937e-05]
 [-2.02672776e-01  9.79246493e-01  2.25605690e-04]
 [ 1.25127997e-04 -2.04489519e-04  9.99999971e-01]]

 t_estimated:
[[-9.22485641e-01]
 [-3.86030337e-01]
 [-9.06174500e-04]]

 R_gt:
[[ 0.98281591  0.1822377   0.02933805]
 [-0.18352046  0.98177103  0.04944733]
 [-0.01979243 -0.05398111  0.998346  ]]

 t_gt:
[-0.23906766  0.92217343  0.3040441 ]

Pose Error in degrees for R and t:
3.482202859759727 82.19939973797328

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999850e-01  5.38204544e-04  1.03100159e-04]
 [-5.38202983e-04  9.99999855e-01 -1.51738830e-05]
 [-1.03108310e-04  1.51183919e-05  9.99999995e-01]]

 t_estimated:
[[9.99989253e-01]
 [4.58256818e-03]
 [7.02654126e-04]]

 R_gt:
[[ 0.99316933 -0.10651919  0.04764255]
 [ 0.10823538  0.99350827 -0.03502669]
 [-0.04360221  0.03994374  0.99824977]]

 t_gt:
[ 0.76967005 -0.63540654 -0.06218148]

Pose Error in degrees for R and t:
7.06324874141616 39.940968703444604

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.82311229  0.56717789  0.02820273]
 [-0.56781888 -0.82273055 -0.02638475]
 [ 0.0082384  -0.03773165  0.99925395]]

 t_estimated:
[[0.52534718]
 [0.85085132]
 [0.00789752]]

 R_gt:
[[ 0.96885699 -0.15183998  0.1956046 ]
 [ 0.1623204   0.98598223 -0.03862082]
 [-0.18699795  0.06916923  0.97992164]]

 t_gt:
[ 0.63976837 -0.59084804  0.49152318]

Pose Error in degrees for R and t:
154.51453621155048 80.63394059869087

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.99850229  0.05414866  0.00781632]
 [-0.05405728  0.99847203 -0.01146371]
 [-0.00842512  0.01102401  0.99990374]]

 t_estimated:
[[0.94836322]
 [0.31718153]
 [0.00175496]]

 R_gt:
[[ 0.94328192 -0.14082324  0.30065   ]
 [ 0.16167522  0.98579458 -0.04551149]
 [-0.28996946  0.09153825  0.95264799]]

 t_gt:
[ 0.53184995 -0.44249438  0.72203487]

Pose Error in degrees for R and t:
20.878825184234536 68.57376683577819

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.87822823e-01  1.55582999e-01  8.80581841e-06]
 [-1.55582997e-01  9.87822819e-01 -9.64785781e-05]
 [-2.37090149e-05  9.39337058e-05  9.99999995e-01]]

 t_estimated:
[[-0.79634026]
 [-0.60484829]
 [-0.00085152]]

 R_gt:
[[ 0.99726922  0.02469178  0.06960298]
 [-0.02240243  0.99918833 -0.03346896]
 [-0.07037207  0.03181817  0.99701353]]

 t_gt:
[-0.3988602   0.89574277  0.19635538]

Pose Error in degrees for R and t:
8.792759415564788 77.03667913290322

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.50923146e-01  3.09427114e-01  1.76123185e-04]
 [-3.09427049e-01  9.50923130e-01 -3.20572226e-04]
 [-2.66673349e-04  2.50342272e-04  9.99999933e-01]]

 t_estimated:
[[-0.85546735]
 [-0.51785583]
 [-0.00097412]]

 R_gt:
[[ 0.98750718  0.12813461  0.09171257]
 [-0.12015331  0.98886305 -0.08782419]
 [-0.10194479  0.07570672  0.99190481]]

 t_gt:
[-0.35009827  0.93670742 -0.00322641]

Pose Error in degrees for R and t:
13.068815086019738 79.30513084917567

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.42051318e-01  3.35468755e-01  1.70278918e-04]
 [-3.35468761e-01  9.42051331e-01  7.02135604e-06]
 [-1.58056036e-04 -6.37377356e-05  9.99999985e-01]]

 t_estimated:
[[-0.57157365]
 [ 0.82054933]
 [ 0.00153615]]

 R_gt:
[[ 0.97333046  0.21752537  0.07286974]
 [-0.21402009  0.97539203 -0.05297255]
 [-0.0825996   0.03596422  0.99593359]]

 t_gt:
[-0.30251563  0.95241683  0.03723548]

Pose Error in degrees for R and t:
8.787587537255442 17.355528130129425

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999908e-01  4.28342688e-04 -3.25181163e-05]
 [-4.28341308e-04  9.99999907e-01  4.24183166e-05]
 [ 3.25362828e-05 -4.24043839e-05  9.99999999e-01]]

 t_estimated:
[[-0.951708  ]
 [-0.30700258]
 [-0.00113705]]

 R_gt:
[[ 9.98881128e-01  4.00896466e-02  2.50891156e-02]
 [-4.00654358e-02  9.99196621e-01 -1.40154744e-03]
 [-2.51249247e-02  3.94989247e-04  9.99684130e-01]]

 t_gt:
[-0.62135533  0.73927466  0.25959688]

Pose Error in degrees for R and t:
2.6911259358461317 68.64813661179444

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99999994e-01  1.08338785e-04 -8.33486413e-06]
 [-1.08338721e-04  9.99999994e-01  7.62571487e-06]
 [ 8.33569024e-06 -7.62481184e-06  1.00000000e+00]]

 t_estimated:
[[-9.99988652e-01]
 [-4.71932691e-03]
 [-6.51000630e-04]]

 R_gt:
[[ 0.99096772  0.13403049  0.00450098]
 [-0.13396034  0.9908986  -0.01324531]
 [-0.00623521  0.01252315  0.99990135]]

 t_gt:
[-0.62937847  0.77640279 -0.03288545]

Pose Error in degrees for R and t:
7.736262608048793 51.264312690803045

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-0.52719559 -0.84974287  0.00136425]
 [-0.84974149  0.52718951 -0.0032576 ]
 [ 0.0020489  -0.00287666 -0.99999376]]

 t_estimated:
[[0.93349376]
 [0.35859235]
 [0.00096137]]

 R_gt:
[[ 0.98877894  0.14818509 -0.01896517]
 [-0.14817821  0.98896021  0.00176331]
 [ 0.01901671  0.00106654  0.9998177 ]]

 t_gt:
[-0.59922484  0.79745324 -0.07069599]

Pose Error in degrees for R and t:
179.04758955518656 74.12854840848398

Number of keypoints:
Image1: 351
Image2: 351

 R_estimated:
[[ 9.98439755e-01 -5.58392623e-02 -1.81839775e-04]
 [ 5.58392989e-02  9.98439749e-01  2.02768950e-04]
 [ 1.70233591e-04 -2.12606387e-04  9.99999963e-01]]

 t_estimated:
[[-0.76023042]
 [-0.64965236]
 [-0.00123251]]

 R_gt:
[[ 9.89230541e-01  1.46352372e-01  1.82155540e-03]
 [-1.46361332e-01  9.89209047e-01  6.56785190e-03]
 [-8.40291889e-04 -6.76242836e-03  9.99976937e-01]]

 t_gt:
[-0.95985277  0.26985133  0.07656972]

Pose Error in degrees for R and t:
11.623270530806963 56.33711812496727

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 0.78151977  0.62387826  0.00166674]
 [ 0.62387176 -0.78152018  0.0032006 ]
 [ 0.00329937 -0.0014615  -0.99999349]]

 t_estimated:
[[8.53065204e-01]
 [5.21803894e-01]
 [6.73295347e-04]]

 R_gt:
[[ 0.97769098  0.20948214  0.01538412]
 [-0.20986891  0.97725464  0.03047086]
 [-0.0086512  -0.03301914  0.99941718]]

 t_gt:
[-0.95202194  0.21976943  0.21296859]

Pose Error in degrees for R and t:
178.3464057886822 45.787870368291365

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.92884987e-01 -1.19077284e-01  4.75862523e-05]
 [ 1.19077282e-01  9.92884987e-01  5.26335264e-05]
 [-5.35151329e-05 -4.65925967e-05  9.99999997e-01]]

 t_estimated:
[[-0.8696101 ]
 [-0.49373799]
 [-0.00103272]]

 R_gt:
[[ 0.97670632  0.20576209  0.0608787 ]
 [-0.20782087  0.97771879  0.02960847]
 [-0.05342927 -0.04157007  0.99770537]]

 t_gt:
[-0.94634226  0.09040424  0.31026343]

Pose Error in degrees for R and t:
19.17970192298879 38.922875342175665

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-0.14705119  0.98912768  0.00154355]
 [-0.98912822 -0.14704911 -0.0013873 ]
 [-0.00114524 -0.00173077  0.99999785]]

 t_estimated:
[[-0.03485207]
 [ 0.99939151]
 [ 0.00139324]]

 R_gt:
[[ 0.99853392 -0.01141671 -0.05291923]
 [ 0.01252863  0.9997059   0.0207386 ]
 [ 0.05266595 -0.02137081  0.99838381]]

 t_gt:
[-0.1792147  -0.66970156 -0.72068156]

Pose Error in degrees for R and t:
99.18596037269025 48.39035159638165

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.24261642e-01  3.81759444e-01  3.78831144e-04]
 [-3.81759288e-01  9.24261687e-01 -4.24713377e-04]
 [-5.12277455e-04  2.47923976e-04  9.99999838e-01]]

 t_estimated:
[[-0.7134049 ]
 [-0.70075027]
 [-0.00158183]]

 R_gt:
[[ 0.99029607 -0.0403605  -0.13298891]
 [ 0.04932971  0.99667424  0.06485949]
 [ 0.12992852 -0.07079111  0.98899327]]

 t_gt:
[ 0.08203357 -0.80112824 -0.59284403]

Pose Error in degrees for R and t:
26.422672388975833 59.74791203673221

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.95796556  0.27416487  0.08447256]
 [-0.265037    0.95848294 -0.1051943 ]
 [-0.10980609  0.07838416  0.99085748]]

 t_estimated:
[[0.93083498]
 [0.36417339]
 [0.0303971 ]]

 R_gt:
[[ 0.98594008 -0.10341987 -0.13125033]
 [ 0.11019911  0.99286877  0.04546769]
 [ 0.12561182 -0.05929268  0.99030659]]

 t_gt:
[ 0.25433486 -0.87645144 -0.40883573]

Pose Error in degrees for R and t:
26.777499565311068 84.55651193620668

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 0.98720916 -0.15940216 -0.00300318]
 [ 0.15940769  0.98721138  0.00169768]
 [ 0.00269416 -0.0021547   0.99999405]]

 t_estimated:
[[-0.68348448]
 [-0.72993488]
 [-0.00663577]]

 R_gt:
[[ 0.99885611  0.04701242  0.00870274]
 [-0.0468779   0.99878592 -0.01512763]
 [-0.00940381  0.0147036   0.99984778]]

 t_gt:
[-0.31609137  0.94772346  0.04366341]

Pose Error in degrees for R and t:
11.92204532421234 61.57404756421021

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.99965817e-01  8.26826296e-03  1.09235015e-05]
 [-8.26826155e-03  9.99965810e-01 -1.22949033e-04]
 [-1.19397030e-05  1.22854511e-04  9.99999992e-01]]

 t_estimated:
[[-9.81329214e-01]
 [-1.92334780e-01]
 [-5.53382838e-04]]

 R_gt:
[[ 0.99544157  0.09520862 -0.00570217]
 [-0.09509194  0.99530182  0.01821336]
 [ 0.00741    -0.01758697  0.99981754]]

 t_gt:
[-0.26904929  0.95029554  0.15668715]

Pose Error in degrees for R and t:
5.106558879261978 85.34450480522702

Number of keypoints:
Image1: 399
Image2: 399

 R_estimated:
[[-0.81961036 -0.57286384 -0.00811671]
 [-0.5728653   0.81964609 -0.00237521]
 [ 0.00801351  0.00270303 -0.99996424]]

 t_estimated:
[[ 0.95096149]
 [ 0.30928522]
 [-0.00385994]]

 R_gt:
[[ 9.94379917e-01  1.05862271e-01 -6.92622613e-04]
 [-1.05742058e-01  9.93519398e-01  4.16732310e-02]
 [ 5.09975106e-03 -4.13648661e-02  9.99131446e-01]]

 t_gt:
[-0.17633884  0.95639388  0.23284191]

Pose Error in degrees for R and t:
179.93031606730645 82.69169982765544

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 9.99938883e-01 -1.10558078e-02  8.92103862e-06]
 [ 1.10558075e-02  9.99938882e-01  2.86670836e-05]
 [-9.23743115e-06 -2.85667023e-05  1.00000000e+00]]

 t_estimated:
[[ 9.74337154e-01]
 [ 2.25092988e-01]
 [-5.06199346e-04]]

 R_gt:
[[ 0.9993823  -0.03037    -0.01770777]
 [ 0.03005398  0.99939002 -0.01783157]
 [ 0.01823772  0.01728776  0.99968389]]

 t_gt:
[ 0.64160688  0.16191823 -0.74974869]

Pose Error in degrees for R and t:
1.8112440500650986 48.549893484863325

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.98855438e-01 -4.78309516e-02  1.22383517e-04]
 [ 4.78309242e-02  9.98855423e-01  2.17868724e-04]
 [-1.32664308e-04 -2.11765643e-04  9.99999969e-01]]

 t_estimated:
[[9.59080860e-01]
 [2.83130877e-01]
 [8.99959976e-04]]

 R_gt:
[[ 0.99654865 -0.08178223  0.01421453]
 [ 0.08220732  0.99608437 -0.03252222]
 [-0.01149979  0.03357802  0.99936986]]

 t_gt:
[ 0.96877102 -0.16649262 -0.18374686]

Pose Error in degrees for R and t:
2.833398324970642 28.136676407996433

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 8.50893252e-01  5.25338216e-01  6.57463485e-04]
 [-5.25338157e-01  8.50893499e-01 -2.73717219e-04]
 [-7.03225520e-04 -1.12486520e-04  9.99999746e-01]]

 t_estimated:
[[0.72042801]
 [0.69352923]
 [0.00082623]]

 R_gt:
[[ 0.98484638 -0.1707477   0.03035792]
 [ 0.17157041  0.98480248 -0.02695081]
 [-0.0252952   0.03175098  0.99917559]]

 t_gt:
[ 0.91516697 -0.40262306  0.01908109]

Pose Error in degrees for R and t:
41.6108251190645 67.66031979464577

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 8.99325723e-01  4.37277016e-01 -1.43331938e-03]
 [-4.37276620e-01  8.99326861e-01  5.95225284e-04]
 [ 1.54930096e-03  9.14556462e-05  9.99998796e-01]]

 t_estimated:
[[0.95591871]
 [0.29362691]
 [0.00163126]]

 R_gt:
[[ 0.99237967  0.12234825 -0.01456112]
 [-0.12217551  0.99243337  0.01217624]
 [ 0.01594167 -0.0103049   0.99981995]]

 t_gt:
[-0.33813556  0.93239271 -0.12770346]

Pose Error in degrees for R and t:
18.93366546196457 87.1533577704011

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.96415984e-01 -8.45883316e-02  7.42773744e-06]
 [ 8.45883316e-02  9.96415984e-01 -7.35177098e-06]
 [-6.77924227e-06  7.95372203e-06  1.00000000e+00]]

 t_estimated:
[[-7.74720354e-01]
 [-6.32303676e-01]
 [-6.59336471e-04]]

 R_gt:
[[ 0.9470629   0.32101309 -0.00474747]
 [-0.32103448  0.9467852  -0.02310265]
 [-0.00292091  0.02340357  0.99972136]]

 t_gt:
[-0.31215162  0.94674385 -0.07897756]

Pose Error in degrees for R and t:
23.61809520654774 69.09942810999169

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.98552321e-01 -5.37885615e-02  2.29939193e-04]
 [ 5.37886610e-02  9.98552240e-01 -4.50918249e-04]
 [-2.05352052e-04  4.62633585e-04  9.99999872e-01]]

 t_estimated:
[[-7.58345958e-01]
 [-6.51851937e-01]
 [-6.78305866e-04]]

 R_gt:
[[ 0.89569614  0.44463805 -0.00511417]
 [-0.44209217  0.88921574 -0.11768171]
 [-0.04777706  0.10766735  0.9930376 ]]

 t_gt:
[-0.22160137  0.96906824 -0.10862589]

Pose Error in degrees for R and t:
30.243754969139452 62.38262078416024

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.26256553e-01  3.76893617e-01 -1.33679243e-05]
 [-3.76893567e-01  9.26256412e-01 -5.46883355e-04]
 [-1.93734720e-04  5.11592576e-04  9.99999850e-01]]

 t_estimated:
[[-3.61393352e-01]
 [ 9.32413374e-01]
 [-3.81064013e-04]]

 R_gt:
[[ 0.99956628 -0.010833   -0.02740647]
 [ 0.00968587  0.99908575 -0.04164981]
 [ 0.02783245  0.04136725  0.99875621]]

 t_gt:
[-0.0644667   0.15573449 -0.98569306]

Pose Error in degrees for R and t:
22.903303151733102 80.27715593041614

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999773e-01 -6.74094855e-04  1.90182608e-06]
 [ 6.74094648e-04  9.99999767e-01  1.06861886e-04]
 [-1.97386068e-06 -1.06860579e-04  9.99999994e-01]]

 t_estimated:
[[-0.05292257]
 [-0.99859775]
 [ 0.00131992]]

 R_gt:
[[ 0.9999181  -0.00854399  0.00962877]
 [ 0.00896489  0.998964   -0.04462275]
 [-0.00923677  0.04470673  0.9989583 ]]

 t_gt:
[-0.60295665  0.07058716 -0.79464503]

Pose Error in degrees for R and t:
2.6617328005234593 87.7289435232185

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.72211471e-01  2.34103855e-01 -4.90102241e-04]
 [-2.34103560e-01  9.72211486e-01  5.91090952e-04]
 [ 6.14859699e-04 -4.59930724e-04  9.99999705e-01]]

 t_estimated:
[[8.57777318e-01]
 [5.14020838e-01]
 [8.06940092e-04]]

 R_gt:
[[ 0.98916249 -0.07213128  0.12788843]
 [ 0.07891297  0.99568748 -0.04877622]
 [-0.1238177   0.0583402   0.99058917]]

 t_gt:
[ 0.02547741 -0.78190527  0.62287643]

Pose Error in degrees for R and t:
19.547546315957327 67.69362913612464

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99996026e-01 -2.81891627e-03 -2.83549264e-05]
 [ 2.81891648e-03  9.99996027e-01  7.58974092e-06]
 [ 2.83334189e-05 -7.66964094e-06  1.00000000e+00]]

 t_estimated:
[[ 3.18482124e-01]
 [-9.47928861e-01]
 [ 1.06727213e-04]]

 R_gt:
[[ 0.99482573  0.09219205  0.04267813]
 [-0.08937395  0.99395196 -0.06380006]
 [-0.04830096  0.059656    0.99704972]]

 t_gt:
[-0.3023516   0.9508564  -0.06675041]

Pose Error in degrees for R and t:
6.950018838789696 3.933009656093711

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.95937101e-01  9.00513974e-02 -1.91045066e-04]
 [-9.00513281e-02  9.95937066e-01  3.44697327e-04]
 [ 2.21309338e-04 -3.26092995e-04  9.99999922e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98057799  0.19388582  0.02956675]
 [-0.19240705  0.98020671 -0.04662123]
 [-0.03802071  0.0400267   0.99847475]]

 t_gt:
[-0.27011085  0.96177593 -0.04502432]

Pose Error in degrees for R and t:
6.774580583425717 74.50453320411252

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 1.00000000e+00 -3.88578059e-16 -2.77555756e-17]
 [ 5.55111512e-17  1.00000000e+00  2.97491524e-16]
 [ 1.07395646e-15 -1.45796732e-15  1.00000000e+00]]

 t_estimated:
[[-7.43320621e-01]
 [-6.68935297e-01]
 [-1.49480606e-04]]

 R_gt:
[[ 0.93017845  0.36704044  0.00695608]
 [-0.36418648  0.92499918 -0.10837076]
 [-0.04621017  0.0982704   0.99408638]]

 t_gt:
[-0.22991784  0.96736082 -0.1065403 ]

Pose Error in degrees for R and t:
22.387070605307013 61.56358414250701

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.98320878e-01 -5.79259741e-02  7.27058804e-05]
 [ 5.79259843e-02  9.98320870e-01 -1.46620814e-04]
 [-6.40906443e-05  1.50586180e-04  9.99999987e-01]]

 t_estimated:
[[-0.80261554]
 [-0.59649483]
 [-0.00148492]]

 R_gt:
[[ 0.99864184  0.01756839  0.04904243]
 [-0.01424072  0.99762304 -0.06742291]
 [-0.05011039  0.06663373  0.99651898]]

 t_gt:
[-0.23379865  0.85644618 -0.46025876]

Pose Error in degrees for R and t:
6.3793675863020365 71.18389076465917

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-0.53715399 -0.84347052 -0.00480445]
 [-0.84347321  0.53716735 -0.0020448 ]
 [ 0.00430552  0.00295406 -0.99998637]]

 t_estimated:
[[ 0.83172567]
 [ 0.55518424]
 [-0.00169653]]

 R_gt:
[[ 0.99704395  0.06652013  0.03845685]
 [-0.0639026   0.99579155 -0.0656982 ]
 [-0.04266488  0.0630465   0.99709877]]

 t_gt:
[-0.17915899  0.93538091 -0.30490098]

Pose Error in degrees for R and t:
180.0 68.23411801711207

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99857570e-01  1.68770995e-02 -4.75552083e-05]
 [-1.68771026e-02  9.99857569e-01 -6.46190603e-05]
 [ 4.64578526e-05  6.54124508e-05  9.99999997e-01]]

 t_estimated:
[[-9.99657285e-01]
 [-2.61706857e-02]
 [-6.37845241e-04]]

 R_gt:
[[ 0.99510395  0.09430296  0.02957745]
 [-0.09319851  0.9949689  -0.03675579]
 [-0.03289476  0.03381964  0.99888649]]

 t_gt:
[-0.10442287  0.99018836 -0.09285941]

Pose Error in degrees for R and t:
5.17680015020746 85.49578675770915

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.96619594e-01  8.21489462e-02  9.67108213e-04]
 [-8.21479908e-02  9.96619651e-01 -9.89471337e-04]
 [-1.04512308e-03  9.06680526e-04  9.99999043e-01]]

 t_estimated:
[[0.99664988]
 [0.0817764 ]
 [0.00127776]]

 R_gt:
[[ 0.99712989 -0.0726849   0.02120628]
 [ 0.07294931  0.99726412 -0.01201016]
 [-0.02027543  0.01352303  0.99970325]]

 t_gt:
[ 0.83963373 -0.53039678  0.11702329]

Pose Error in degrees for R and t:
8.985331761639069 37.47711337736447

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 8.91561655e-01 -4.52898227e-01 -1.00588852e-03]
 [ 4.52898767e-01  8.91561865e-01  3.83874132e-04]
 [ 7.22955931e-04 -7.97813127e-04  9.99999420e-01]]

 t_estimated:
[[ 9.83983614e-01]
 [-1.78258855e-01]
 [ 1.65615122e-04]]

 R_gt:
[[ 0.98521688 -0.16826507  0.03217508]
 [ 0.16880833  0.9855346  -0.01499067]
 [-0.02918765  0.02020045  0.99936952]]

 t_gt:
[ 0.86241241 -0.50129235  0.07036203]

Pose Error in degrees for R and t:
17.350149731905795 20.286420447416916

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.49089792  0.87096877  0.0207999 ]
 [ 0.87103869  0.49114064 -0.00851318]
 [-0.01763039  0.01393842 -0.99974741]]

 t_estimated:
[[ 0.9991124 ]
 [-0.04177296]
 [ 0.00542543]]

 R_gt:
[[ 0.97270417 -0.22497393  0.05687083]
 [ 0.2246969   0.97436348  0.01128875]
 [-0.05795276  0.00179821  0.9983176 ]]

 t_gt:
[ 0.86365971 -0.45467266  0.21763428]

Pose Error in degrees for R and t:
175.99108410553157 27.98543559625354

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999994e-01  1.09015644e-04 -2.17968166e-05]
 [-1.09011332e-04  9.99999975e-01  1.97735422e-04]
 [ 2.18183723e-05 -1.97733044e-04  9.99999980e-01]]

 t_estimated:
[[-9.99992520e-01]
 [-3.81525297e-03]
 [-6.36008236e-04]]

 R_gt:
[[ 0.99374644  0.11155572  0.00489224]
 [-0.11131479  0.99315196 -0.03547839]
 [-0.00881685  0.03471264  0.99935783]]

 t_gt:
[-0.64189882  0.75462513 -0.13603977]

Pose Error in degrees for R and t:
6.718391697011827 50.27514987828223

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 1.00000000e+00  2.35988912e-06 -5.59172454e-06]
 [-2.35988357e-06  1.00000000e+00  9.91713004e-07]
 [ 5.59172688e-06 -9.91699808e-07  1.00000000e+00]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.9859947   0.1624596  -0.03772353]
 [-0.16293661  0.98658668 -0.00992372]
 [ 0.03560504  0.0159316   0.9992387 ]]

 t_gt:
[-0.60624893  0.77492241 -0.17876656]

Pose Error in degrees for R and t:
9.629303659869807 39.977386755930915

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.76683773e-01 -2.14682877e-01 -2.64736686e-04]
 [ 2.14682786e-01  9.76683771e-01 -3.35330103e-04]
 [ 3.30553656e-04  2.70677061e-04  9.99999909e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.99004397  0.13379606 -0.04373234]
 [-0.13609756  0.98918374 -0.05471656]
 [ 0.03593834  0.06012327  0.99754337]]

 t_gt:
[-0.51252758  0.7815749  -0.35560675]

Pose Error in degrees for R and t:
20.549430298358665 39.29240037454878

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-0.10352382 -0.99459832  0.00754946]
 [-0.99455309  0.10360566  0.01140251]
 [-0.01212308 -0.00632791 -0.99990649]]

 t_estimated:
[[0.73374278]
 [0.67937211]
 [0.0086635 ]]

 R_gt:
[[ 0.9983206  -0.03332346  0.04737059]
 [ 0.03430406  0.99921064 -0.02004049]
 [-0.04666547  0.02163182  0.99867599]]

 t_gt:
[-0.41605683 -0.61599006  0.66891925]

Pose Error in degrees for R and t:
178.03547306781448 44.112867997340885

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99998655e-01  1.62578162e-03  2.16437205e-04]
 [-1.62579587e-03  9.99998676e-01  6.56666516e-05]
 [-2.16330159e-04 -6.60184460e-05  9.99999974e-01]]

 t_estimated:
[[0.99992539]
 [0.012171  ]
 [0.00103705]]

 R_gt:
[[ 0.99730057 -0.07150497 -0.01666216]
 [ 0.07141157  0.99742803 -0.00610343]
 [ 0.01705555  0.00489692  0.99984223]]

 t_gt:
[-0.03508369 -0.95619617 -0.29061663]

Pose Error in degrees for R and t:
4.316205421755247 87.30494011644909

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.96264537e-01  8.63212464e-02  2.36937978e-03]
 [ 8.63512330e-02 -9.96070158e-01 -1.96902187e-02]
 [ 6.60384268e-04  1.98212655e-02 -9.99803321e-01]]

 t_estimated:
[[ 0.02822206]
 [ 0.99954888]
 [-0.0102736 ]]

 R_gt:
[[ 0.9947564  -0.07404194 -0.07055102]
 [ 0.07683774  0.99632745  0.03778417]
 [ 0.06749428 -0.04300622  0.99679165]]

 t_gt:
[-0.12298981 -0.93503393 -0.33254332]

Pose Error in degrees for R and t:
178.6471138069966 20.8256310824606

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99979805e-01 -6.32468365e-03  6.22120351e-04]
 [ 6.32505647e-03  9.99979817e-01 -5.99150918e-04]
 [-6.18318355e-04  6.03073765e-04  9.99999627e-01]]

 t_estimated:
[[8.56339533e-01]
 [5.16412640e-01]
 [7.67329331e-04]]

 R_gt:
[[ 9.97102616e-01 -7.21382278e-02  2.41463307e-02]
 [ 7.21484640e-02  9.97394318e-01  4.61031133e-04]
 [-2.41177878e-02  1.28280998e-03  9.99708186e-01]]

 t_gt:
[ 0.75791064 -0.64913803  0.06474006]

Pose Error in degrees for R and t:
4.00844831213119 71.70826853247411

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99999784e-01  4.19446511e-04 -5.05857131e-04]
 [-4.18942419e-04  9.99999416e-01  9.96205738e-04]
 [ 5.06274691e-04 -9.95993598e-04  9.99999376e-01]]

 t_estimated:
[[8.72654644e-01]
 [4.88337221e-01]
 [7.94044262e-04]]

 R_gt:
[[ 9.90197328e-01 -1.37718311e-01  2.33193232e-02]
 [ 1.37670876e-01  9.90471622e-01  3.61713824e-03]
 [-2.35956874e-02 -3.71203491e-04  9.99721809e-01]]

 t_gt:
[ 0.79369965 -0.60766662  0.02796672]

Pose Error in degrees for R and t:
8.057841479761285 66.67777970646647

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 4.80744338e-01  8.76851780e-01  3.97967846e-03]
 [ 8.76857142e-01 -4.80750504e-01  7.10746525e-04]
 [ 2.53645178e-03  3.14792211e-03 -9.99991828e-01]]

 t_estimated:
[[-0.99573023]
 [-0.09225616]
 [-0.00318125]]

 R_gt:
[[ 0.98535032 -0.16400147  0.04678767]
 [ 0.16263167  0.98617689  0.03174306]
 [-0.05134762 -0.02366873  0.99840064]]

 t_gt:
[ 0.69919702 -0.69766421  0.15616716]

Pose Error in degrees for R and t:
179.83951216496285 50.77668486859005

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-3.02482999e-01 -9.53153656e-01 -1.46401999e-03]
 [-9.53154722e-01  3.02483160e-01  1.15358643e-04]
 [ 3.32886880e-04  1.43033159e-03 -9.99998922e-01]]

 t_estimated:
[[0.792285  ]
 [0.61015052]
 [0.00091067]]

 R_gt:
[[ 0.99013299  0.14012734  0.00109011]
 [-0.14002734  0.98906562  0.04628666]
 [ 0.00540798 -0.04598223  0.99892695]]

 t_gt:
[-0.62378085  0.77001709  0.13405647]

Pose Error in degrees for R and t:
178.6011611802914 88.60964997514347

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99966623  0.00778011  0.02463532]
 [-0.00712111  0.99961743 -0.0267259 ]
 [-0.02483383  0.02654155  0.9993392 ]]

 t_estimated:
[[-0.99675383]
 [-0.08048323]
 [-0.00206367]]

 R_gt:
[[ 0.97463543  0.22367236  0.00762417]
 [-0.22374187  0.97302035  0.05631608]
 [ 0.00517772 -0.05659369  0.99838345]]

 t_gt:
[-0.59222196  0.79844223  0.10845809]

Pose Error in degrees for R and t:
13.459732734955816 58.27691015337766

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.93487571  0.35496766  0.00231741]
 [-0.35497272  0.93487372  0.00234401]
 [-0.00133444 -0.00301398  0.99999457]]

 t_estimated:
[[-0.74822222]
 [ 0.66341183]
 [ 0.0069468 ]]

 R_gt:
[[ 0.95573284  0.29423518  0.00103048]
 [-0.29422366  0.95571791 -0.00595747]
 [-0.00273696  0.00538991  0.99998179]]

 t_gt:
[-0.52228968  0.85247653 -0.02229903]

Pose Error in degrees for R and t:
3.7118464778421663 17.025046840525018

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99998818e-01  1.53750485e-03 -2.61518643e-05]
 [-1.53751120e-03  9.99998788e-01 -2.44485354e-04]
 [ 2.57759352e-05  2.44525274e-04  9.99999970e-01]]

 t_estimated:
[[-0.04033306]
 [-0.99918139]
 [-0.00313013]]

 R_gt:
[[ 0.99685674  0.04217467  0.06708077]
 [-0.04278519  0.99905495  0.00769523]
 [-0.0666937  -0.01054029  0.99771685]]

 t_gt:
[-0.14536525  0.67570876  0.722694  ]

Pose Error in degrees for R and t:
4.531242342806995 47.81282775071229

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.23668865 -0.97158266 -0.00236941]
 [-0.97158414 -0.23668344 -0.00228276]
 [ 0.00165709  0.00284238 -0.99999459]]

 t_estimated:
[[ 6.72256932e-01]
 [ 7.40317742e-01]
 [-5.07978626e-04]]

 R_gt:
[[ 0.98525539  0.12645261  0.11525131]
 [-0.12060574  0.99109722 -0.05639773]
 [-0.12135751  0.04166704  0.99173325]]

 t_gt:
[-0.25693887  0.92098061  0.29287734]

Pose Error in degrees for R and t:
178.19984393886682 59.40671246924264

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.26254048  0.96401235  0.04186508]
 [ 0.96418803  0.26378478 -0.02755035]
 [-0.03760225  0.03313273 -0.99874336]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.96798429  0.227274    0.10655791]
 [-0.22321271  0.97354967 -0.04876058]
 [-0.1148217   0.02341437  0.99310955]]

 t_gt:
[-0.23534732  0.95279621  0.19180987]

Pose Error in degrees for R and t:
170.82562790460756 79.22921883184338

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-4.86200318e-01 -8.73847331e-01  3.04860022e-04]
 [ 8.73774191e-01 -4.86155049e-01  1.31123029e-02]
 [-1.13099417e-02  6.64158467e-03  9.99913984e-01]]

 t_estimated:
[[0.99962372]
 [0.02726247]
 [0.00302916]]

 R_gt:
[[ 0.99425912  0.0478616   0.09569057]
 [-0.04912563  0.99873327  0.01089395]
 [-0.09504862 -0.01553281  0.99535086]]

 t_gt:
[-0.59302918  0.32773932  0.7354613 ]

Pose Error in degrees for R and t:
121.91386955534735 54.43379894125922

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.46056417e-01  3.24001613e-01 -4.58932197e-04]
 [-3.24001774e-01  9.46056415e-01 -3.32489756e-04]
 [ 3.26448532e-04  4.63248913e-04  9.99999839e-01]]

 t_estimated:
[[-0.99987712]
 [-0.01559871]
 [-0.00155987]]

 R_gt:
[[ 0.98984525  0.09977471  0.10124904]
 [-0.1018025   0.99469067  0.01504329]
 [-0.09921157 -0.02519785  0.99474709]]

 t_gt:
[-0.70573511  0.43779076  0.55702531]

Pose Error in degrees for R and t:
14.36778241766207 45.7371947765252

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99171365  0.1283909  -0.00445121]
 [-0.12834377  0.99168309  0.00961935]
 [ 0.00564923 -0.00896836  0.99994383]]

 t_estimated:
[[0.68773068]
 [0.72596516]
 [0.00104566]]

 R_gt:
[[ 0.98964998  0.12968705  0.06143607]
 [-0.13059332  0.99137558  0.01095414]
 [-0.05948681 -0.01886443  0.99805102]]

 t_gt:
[-0.79242936  0.52509202  0.31037734]

Pose Error in degrees for R and t:
3.7790550880162543 80.59251024130023

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999975e-01  1.04968064e-05  2.21256748e-04]
 [-1.03675214e-05  9.99999829e-01 -5.84314201e-04]
 [-2.21262844e-04  5.84311893e-04  9.99999805e-01]]

 t_estimated:
[[-0.73489198]
 [-0.67818006]
 [-0.002363  ]]

 R_gt:
[[ 9.96378957e-01  8.20305787e-02  2.23293514e-02]
 [-8.20471725e-02  9.96629444e-01 -1.95584606e-04]
 [-2.22709157e-02 -1.63725332e-03  9.99750706e-01]]

 t_gt:
[-0.80647461  0.5535619   0.20776891]

Pose Error in degrees for R and t:
4.873478963071814 77.4808374211289

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99935876e-01  1.13243881e-02 -3.50439898e-05]
 [-1.13243956e-02  9.99935853e-01 -2.21083670e-04]
 [ 3.25381045e-05  2.21466345e-04  9.99999975e-01]]

 t_estimated:
[[-0.77663612]
 [-0.62994883]
 [-0.00089999]]

 R_gt:
[[ 0.99232338  0.12312173 -0.0116049 ]
 [-0.12321236  0.99235212 -0.0075531 ]
 [ 0.01058592  0.00892527  0.99990431]]

 t_gt:
[-0.75523331  0.63652553 -0.15639023]

Pose Error in degrees for R and t:
6.473942326869896 79.29783714625518

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 2.76024062e-01  9.61149218e-01  1.70212173e-03]
 [ 9.61150147e-01 -2.76025406e-01  6.08157164e-04]
 [ 1.05435863e-03  1.46812854e-03 -9.99998366e-01]]

 t_estimated:
[[8.06510756e-01]
 [5.91219042e-01]
 [6.66537815e-04]]

 R_gt:
[[ 0.99746724  0.07110894 -0.00131141]
 [-0.0710383   0.99702587  0.02989738]
 [ 0.00343355 -0.02972913  0.99955186]]

 t_gt:
[-0.85806217  0.33937752  0.38542472]

Pose Error in degrees for R and t:
178.5802107305028 60.5849211015414

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 8.67821230e-01 -4.96876340e-01 -4.63801848e-04]
 [ 4.96876532e-01  8.67821100e-01  4.99530741e-04]
 [ 1.54292023e-04 -6.63955636e-04  9.99999768e-01]]

 t_estimated:
[[0.94489959]
 [0.32735866]
 [0.00103268]]

 R_gt:
[[ 0.9983828  -0.05560333 -0.01181265]
 [ 0.05660854  0.99147148  0.11739403]
 [ 0.00518407 -0.11787338  0.9930149 ]]

 t_gt:
[ 0.41150196 -0.63455786  0.65421897]

Pose Error in degrees for R and t:
27.392518495352608 79.52679824894311

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.88370330e-01  1.52066055e-01  7.60190786e-05]
 [-1.52066057e-01  9.88370332e-01  2.67604636e-05]
 [-7.10656439e-05 -3.80091698e-05  9.99999997e-01]]

 t_estimated:
[[0.66227258]
 [0.74926254]
 [0.00082066]]

 R_gt:
[[ 0.96954122 -0.23955381 -0.05102118]
 [ 0.24414177  0.96190452  0.12302724]
 [ 0.01960578 -0.13173694  0.9910908 ]]

 t_gt:
[ 0.76435978 -0.5591739   0.32105867]

Pose Error in degrees for R and t:
24.03991164426796 84.97962749173811

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.26073447  0.96540853  0.00197574]
 [-0.96540878  0.26073737 -0.00138568]
 [-0.0018529  -0.0015461   0.99999709]]

 t_estimated:
[[0.04669352]
 [0.99890787]
 [0.00166763]]

 R_gt:
[[ 0.87404777 -0.48359801 -0.04661713]
 [ 0.48574909  0.87170971  0.06457967]
 [ 0.00940597 -0.07908959  0.9968226 ]]

 t_gt:
[ 0.89882312 -0.4242267   0.11022117]

Pose Error in degrees for R and t:
104.0014068759281 67.56653206925128

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.98282963e-01  5.85757754e-02  6.38350932e-05]
 [-5.85757436e-02  9.98282879e-01 -4.19834386e-04]
 [-8.83176053e-05  4.15374327e-04  9.99999910e-01]]

 t_estimated:
[[-9.92871577e-01]
 [-1.19185351e-01]
 [-9.39813186e-04]]

 R_gt:
[[ 0.98775239  0.15179532  0.03610542]
 [-0.15095287  0.98822372 -0.02503021]
 [-0.03947847  0.01927289  0.99903412]]

 t_gt:
[-0.85575373  0.51528334 -0.04656864]

Pose Error in degrees for R and t:
5.908463257604666 37.97464795539557

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-9.89597980e-01  1.43493934e-01 -1.02629997e-02]
 [ 1.43487409e-01  9.89651190e-01  1.37307706e-03]
 [ 1.03538181e-02 -1.13816949e-04 -9.99946391e-01]]

 t_estimated:
[[ 0.99202125]
 [-0.12597313]
 [-0.0049602 ]]

 R_gt:
[[ 0.94383817  0.32717694  0.04608848]
 [-0.32696253  0.94495734 -0.01233529]
 [-0.04758707 -0.00342642  0.99886035]]

 t_gt:
[-0.84271206  0.53594413  0.05099281]

Pose Error in degrees for R and t:
177.85480006171346 25.3437757379414

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.94920104e-01  1.00667500e-01  2.00339843e-04]
 [-1.00667275e-01  9.94919719e-01 -9.23794624e-04]
 [-2.92318156e-04  8.98934178e-04  9.99999553e-01]]

 t_estimated:
[[-9.86807188e-01]
 [-1.61898054e-01]
 [-7.70943115e-04]]

 R_gt:
[[ 0.84457847  0.53095547  0.06909167]
 [-0.52978101  0.84737586 -0.0358594 ]
 [-0.07758577 -0.00631693  0.99696473]]

 t_gt:
[-0.79154139  0.60930962  0.04694702]

Pose Error in degrees for R and t:
26.672820253524247 46.967233566381644

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-2.19981519e-01 -9.75502666e-01 -1.63684907e-03]
 [ 9.75504036e-01 -2.19981345e-01 -2.88114287e-04]
 [-7.90200043e-05 -1.66013269e-03  9.99998619e-01]]

 t_estimated:
[[9.99489093e-01]
 [3.19528026e-02]
 [7.56271206e-04]]

 R_gt:
[[ 0.99993575  0.00936843 -0.00636023]
 [-0.00935014  0.99995311  0.00288995]
 [ 0.00638705 -0.00283083  0.99997527]]

 t_gt:
[ 0.14787667 -0.35890416 -0.92158575]

Pose Error in degrees for R and t:
103.24440818781552 82.20459249846026

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.09368305 -0.99560057 -0.00172987]
 [ 0.99560057 -0.09368578  0.00157293]
 [-0.00172807 -0.0015749   0.99999727]]

 t_estimated:
[[0.99879412]
 [0.0490737 ]
 [0.00144334]]

 R_gt:
[[ 0.99614418 -0.08714892 -0.0101239 ]
 [ 0.08746605  0.9954875   0.03681228]
 [ 0.00686978 -0.03755604  0.99927077]]

 t_gt:
[ 0.71969585 -0.67296047  0.1707691 ]

Pose Error in degrees for R and t:
90.38237616962262 46.681775805909396

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.93419971 -0.35644422  0.01477902]
 [ 0.3565187   0.93428438 -0.00266562]
 [-0.01285767  0.00775922  0.99988723]]

 t_estimated:
[[0.99526533]
 [0.09718079]
 [0.00167553]]

 R_gt:
[[ 0.9840959  -0.17415168 -0.03503805]
 [ 0.175605    0.98348313  0.04386729]
 [ 0.0268201  -0.04932213  0.99842287]]

 t_gt:
[ 0.76781102 -0.63729017  0.06578358]

Pose Error in degrees for R and t:
11.503530924749434 45.38386405093333

Number of keypoints:
Image1: 397
Image2: 397

 R_estimated:
[[ 9.96556149e-01 -8.29206917e-02 -2.09150519e-05]
 [ 8.29206932e-02  9.96556145e-01  8.71031321e-05]
 [ 1.36203715e-05 -8.85374525e-05  9.99999996e-01]]

 t_estimated:
[[-3.48728347e-01]
 [ 9.37223844e-01]
 [ 7.62310370e-05]]

 R_gt:
[[ 0.99986631  0.01490289 -0.00680566]
 [-0.01554978  0.99405675 -0.10774046]
 [ 0.00515993  0.107832    0.99415574]]

 t_gt:
[ 0.00330518  0.66617161 -0.74579117]

Pose Error in degrees for R and t:
8.375750427564604 51.45402190164337

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.80644486e-01 -1.95796084e-01 -5.34707599e-04]
 [ 1.95796577e-01  9.80643890e-01  1.12331861e-03]
 [ 3.04416356e-04 -1.20627012e-03  9.99999226e-01]]

 t_estimated:
[[-9.99994884e-01]
 [-3.10316489e-03]
 [-7.75791221e-04]]

 R_gt:
[[ 0.99877482  0.04904517  0.00661087]
 [-0.04779399  0.99058274 -0.12830302]
 [-0.01284016  0.12782984  0.99171304]]

 t_gt:
[-0.08944325  0.85477901 -0.51122671]

Pose Error in degrees for R and t:
15.919326927320757 84.99820905233264

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.59503047 -0.80370201 -0.00134495]
 [-0.80369871  0.5950208   0.00431736]
 [-0.0026696   0.00364989 -0.99998978]]

 t_estimated:
[[0.83248115]
 [0.55404981]
 [0.0019842 ]]

 R_gt:
[[ 0.99535805  0.09502508 -0.0153015 ]
 [-0.09603664  0.99107303 -0.0924682 ]
 [ 0.00637846  0.09350869  0.99559814]]

 t_gt:
[-0.0693676   0.9282805  -0.36535386]

Pose Error in degrees for R and t:
177.0719634564797 62.88091038257354

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[-8.08409486e-01 -5.88618578e-01 -1.50722366e-03]
 [ 5.88619519e-01 -8.08410171e-01 -2.37307740e-04]
 [-1.07877119e-03 -1.07902309e-03  9.99998836e-01]]

 t_estimated:
[[9.41188385e-01]
 [3.37881455e-01]
 [7.39346728e-04]]

 R_gt:
[[ 0.99996963 -0.00714864 -0.00314435]
 [ 0.00747843  0.99256916  0.12145434]
 [ 0.00225314 -0.1214749   0.99259148]]

 t_gt:
[ 0.10661993 -0.58789377  0.80188098]

Pose Error in degrees for R and t:
143.58531133109508 84.39348343614675

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-9.70909638e-01 -2.39442122e-01 -1.39432017e-03]
 [ 2.39444855e-01 -9.70907182e-01 -2.32482059e-03]
 [-7.97095487e-04 -2.59105351e-03  9.99996326e-01]]

 t_estimated:
[[0.827799  ]
 [0.56102418]
 [0.00083113]]

 R_gt:
[[ 0.99260065 -0.11274623 -0.04507693]
 [ 0.11909263  0.97637349  0.18031198]
 [ 0.02368267 -0.18434579  0.9825754 ]]

 t_gt:
[ 0.51580013 -0.61826766  0.59303907]

Pose Error in degrees for R and t:
159.51330993710607 85.37645003825148

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99322289e-01  3.68044319e-02  6.29238676e-04]
 [-3.68061459e-02  9.99318002e-01  2.97283053e-03]
 [-5.19396198e-04 -2.99397566e-03  9.99995383e-01]]

 t_estimated:
[[0.81623584]
 [0.57771759]
 [0.00119858]]

 R_gt:
[[ 0.93995416 -0.32747571 -0.09615207]
 [ 0.33940244  0.92653671  0.16228415]
 [ 0.03594524 -0.18517404  0.98204838]]

 t_gt:
[ 0.79057016 -0.51722762  0.3278329 ]

Pose Error in degrees for R and t:
24.239204518814578 69.70381890234988

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999207e-01  1.24695788e-03  1.76170682e-04]
 [-1.24697959e-03  9.99999215e-01  1.23170778e-04]
 [-1.76016955e-04 -1.23390361e-04  9.99999977e-01]]

 t_estimated:
[[0.87031536]
 [0.49249265]
 [0.00147013]]

 R_gt:
[[ 0.9965929  -0.07855637  0.02512949]
 [ 0.07832309  0.99687684  0.01015915]
 [-0.02584875 -0.00815717  0.99963238]]

 t_gt:
[ 0.82267401 -0.45389174  0.3423299 ]

Pose Error in degrees for R and t:
4.823761716145329 60.465288897021146

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-5.43840103e-01 -8.39188201e-01  1.05130631e-03]
 [-8.39188612e-01  5.43840478e-01  8.66050928e-05]
 [-6.44420896e-04 -8.35144958e-04 -9.99999444e-01]]

 t_estimated:
[[0.89227552]
 [0.45148828]
 [0.00165422]]

 R_gt:
[[ 0.99282417 -0.11685737  0.02541626]
 [ 0.1164974   0.99307481  0.01523009]
 [-0.02702037 -0.01216033  0.99956118]]

 t_gt:
[ 0.87427986 -0.39880408  0.27674903]

Pose Error in degrees for R and t:
178.24916835596505 53.09421602798193

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 1.00000000e+00  9.14213150e-13 -4.18046674e-15]
 [-9.14157638e-13  1.00000000e+00  2.59558000e-15]
 [ 4.17938253e-15 -2.59200213e-15  1.00000000e+00]]

 t_estimated:
[[0.92187953]
 [0.38747394]
 [0.00144338]]

 R_gt:
[[ 0.99523788 -0.08633486 -0.04526917]
 [ 0.08456854  0.99563165 -0.03958265]
 [ 0.04848879  0.03556508  0.9981908 ]]

 t_gt:
[ 0.88844842  0.02407827 -0.45834445]

Pose Error in degrees for R and t:
5.995464512449311 34.13573111033089

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[-0.75770114 -0.65250507 -0.01123014]
 [-0.65251756  0.75776759 -0.00301869]
 [ 0.01047955  0.0050406  -0.99993238]]

 t_estimated:
[[ 0.93646124]
 [ 0.35073443]
 [-0.00507041]]

 R_gt:
[[ 0.99029772  0.1369618   0.02353943]
 [-0.13735672  0.99039068  0.01610303]
 [-0.02110775 -0.01917922  0.99959346]]

 t_gt:
[-0.87776314  0.45762874  0.14180199]

Pose Error in degrees for R and t:
179.1143271206586 48.531820347272294

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.56103393e-01  2.93029250e-01  4.00285554e-04]
 [-2.93028642e-01  9.56102975e-01 -1.14702331e-03]
 [-7.18825591e-04  9.79377750e-04  9.99999262e-01]]

 t_estimated:
[[-9.99991799e-01]
 [-3.97137331e-03]
 [-7.94274661e-04]]

 R_gt:
[[ 0.94454813  0.32354712  0.0560942 ]
 [-0.32161971  0.94598998 -0.04078098]
 [-0.06625885  0.0204784   0.99759175]]

 t_gt:
[-0.82690873  0.56213983 -0.01485806]

Pose Error in degrees for R and t:
4.315359954200942 34.44380855082796

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.97369872  0.22781093 -0.0036027 ]
 [-0.22775496  0.97364659  0.01183185]
 [ 0.00620318 -0.01070012  0.99992351]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.907316    0.41487383  0.0682568 ]
 [-0.41453649  0.90981952 -0.01970429]
 [-0.07027536 -0.01041687  0.99747353]]

 t_gt:
[-0.80035004  0.59657724  0.05945931]

Pose Error in degrees for R and t:
12.202362189489422 37.017656330017786

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99997921e-01  2.00401290e-03  3.77684038e-04]
 [-2.00372962e-03  9.99997712e-01 -7.48935328e-04]
 [-3.79184050e-04  7.48176994e-04  9.99999648e-01]]

 t_estimated:
[[ 0.03545681]
 [-0.99934552]
 [ 0.00716605]]

 R_gt:
[[ 0.99731519  0.05104056  0.05250824]
 [-0.05123329  0.99868422  0.00231721]
 [-0.05232159 -0.00499987  0.99861701]]

 t_gt:
[-0.7324549   0.42450193  0.53226678]

Pose Error in degrees for R and t:
4.112288381293243 63.488311956178656

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999994e-01 -7.03554999e-05 -8.56392272e-05]
 [ 7.03391168e-05  9.99999979e-01 -1.91291965e-04]
 [ 8.56526838e-05  1.91285940e-04  9.99999978e-01]]

 t_estimated:
[[-0.78087278]
 [-0.62468886]
 [-0.00123513]]

 R_gt:
[[ 9.95528392e-01  9.28379677e-02  1.74510777e-02]
 [-9.28431678e-02  9.95680800e-01 -5.07943544e-04]
 [-1.74228124e-02 -1.11448458e-03  9.99846682e-01]]

 t_gt:
[-0.82189363  0.55301694  0.13661303]

Pose Error in degrees for R and t:
5.425592127624107 72.77276427475292

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.5309702  -0.40018583 -0.74694173]
 [-0.51366542 -0.54905427  0.65930816]
 [-0.67395733  0.73375112  0.08596984]]

 t_estimated:
[[0.67581908]
 [0.73555426]
 [0.04720692]]

 R_gt:
[[ 0.99360592  0.10820282 -0.03224244]
 [-0.10788767  0.99409841  0.01136249]
 [ 0.03328048 -0.00781086  0.9994149 ]]

 t_gt:
[-0.81326838  0.56979183 -0.11803308]

Pose Error in degrees for R and t:
170.39087028992802 82.17883989502505

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999958e-01 -5.42839464e-05  2.86131081e-04]
 [ 5.43906021e-05  9.99999929e-01 -3.72756386e-04]
 [-2.86110826e-04  3.72771933e-04  9.99999890e-01]]

 t_estimated:
[[0.56459576]
 [0.82536668]
 [0.0012133 ]]

 R_gt:
[[ 9.97797863e-01  5.88810974e-02 -3.05509371e-02]
 [-5.88930352e-02  9.98264911e-01  5.01420919e-04]
 [ 3.05274631e-02  1.29930317e-03  9.99532174e-01]]

 t_gt:
[-0.53856921  0.79391587 -0.28220699]

Pose Error in degrees for R and t:
3.8137169062482887 69.46035498958489

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99999140e-01 -1.28104034e-03 -2.80062242e-04]
 [ 1.28129444e-03  9.99998766e-01  9.09012853e-04]
 [ 2.78897414e-04 -9.09370913e-04  9.99999548e-01]]

 t_estimated:
[[0.48298397]
 [0.87562169]
 [0.00362478]]

 R_gt:
[[ 0.9880177   0.15406248  0.0092872 ]
 [-0.15334398  0.9866836  -0.05424062]
 [-0.01752022  0.05216667  0.99848392]]

 t_gt:
[-0.51696561  0.84970304 -0.10368848]

Pose Error in degrees for R and t:
9.4802905432569 60.39903838871383

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999944e-01 -9.06072229e-06 -3.35815135e-04]
 [ 9.33979987e-06  9.99999655e-01  8.31053028e-04]
 [ 3.35807489e-04 -8.31056117e-04  9.99999598e-01]]

 t_estimated:
[[-7.25282583e-01]
 [-6.88451240e-01]
 [-2.52709371e-04]]

 R_gt:
[[ 0.96385687  0.26640273 -0.00320461]
 [-0.26640149  0.96356651 -0.02389563]
 [-0.00327811  0.0238858   0.99970844]]

 t_gt:
[-0.48241586  0.87459804 -0.04850987]

Pose Error in degrees for R and t:
15.518695774721726 75.39119779732991

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 0.95796013 -0.28669402 -0.01090542]
 [ 0.28678414  0.95796318  0.00783604]
 [ 0.00820045 -0.01063412  0.99990983]]

 t_estimated:
[[-0.4825731 ]
 [-0.87585512]
 [-0.00100327]]

 R_gt:
[[ 0.99762751  0.06376766  0.02593275]
 [-0.06443435  0.99759038  0.02572157]
 [-0.02422975 -0.02733025  0.999332  ]]

 t_gt:
[-0.84531102 -0.08096087  0.52810474]

Pose Error in degrees for R and t:
20.459889348573782 61.42527414596264

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[-0.13840403 -0.99035321 -0.00669725]
 [-0.9903626   0.13836404  0.00610789]
 [-0.0051223   0.00747807 -0.99995892]]

 t_estimated:
[[0.71788509]
 [0.69616092]
 [0.00098746]]

 R_gt:
[[ 0.99756112  0.02547802  0.06498616]
 [-0.02729157  0.99925894  0.02715379]
 [-0.06424585 -0.02886051  0.99751642]]

 t_gt:
[-0.47612573 -0.5762153   0.66428926]

Pose Error in degrees for R and t:
176.21614908282268 42.073471840175884

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 0.11728881  0.99307248  0.00709809]
 [-0.99307724  0.11723734  0.00728053]
 [ 0.00639794 -0.00790288  0.9999483 ]]

 t_estimated:
[[0.03747348]
 [0.99929274]
 [0.00312279]]

 R_gt:
[[ 0.99752042 -0.04832266  0.05117537]
 [ 0.04689419  0.99848626  0.02875169]
 [-0.05248667 -0.02627943  0.9982752 ]]

 t_gt:
[ 0.31390748 -0.86135983  0.39940123]

Pose Error in degrees for R and t:
86.03861026830936 32.03327761288301

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99999993e-01 -7.54544942e-05  9.09315327e-05]
 [ 7.54663769e-05  9.99999989e-01 -1.30681550e-04]
 [-9.09216711e-05  1.30688412e-04  9.99999987e-01]]

 t_estimated:
[[-0.79640355]
 [-0.60476433]
 [-0.00122196]]

 R_gt:
[[ 0.99952568 -0.03016338  0.00623202]
 [ 0.03010377  0.99950372  0.0093652 ]
 [-0.00651206 -0.00917348  0.9999375 ]]

 t_gt:
[ 0.82917136 -0.42545847  0.36257407]

Pose Error in degrees for R and t:
1.8387730085844332 66.20308978893905

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-5.26188685e-01 -8.50366964e-01 -1.22261463e-03]
 [-8.50367839e-01  5.26188266e-01  6.68106553e-04]
 [ 7.51897291e-05  1.39122227e-03 -9.99999029e-01]]

 t_estimated:
[[8.43538714e-01]
 [5.37067858e-01]
 [7.43861300e-04]]

 R_gt:
[[ 0.99940381  0.02943727 -0.01802083]
 [-0.03021221  0.99855589 -0.04441453]
 [ 0.01668671  0.04493345  0.99885087]]

 t_gt:
[-0.30071953  0.72565506 -0.61886387]

Pose Error in degrees for R and t:
177.84183451038245 82.20685151634808

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.9239037  -0.36980509 -0.09821485]
 [ 0.38000705  0.91681429  0.12266296]
 [ 0.0446834  -0.1506511   0.98757665]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.99259568  0.10659112 -0.05823552]
 [-0.11266933  0.98711391 -0.11363466]
 [ 0.04537284  0.11935486  0.99181429]]

 t_gt:
[-0.38415294  0.72825157 -0.56751754]

Pose Error in degrees for R and t:
32.051125816080734 84.68975830844076

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.95519627  0.29200263  0.04831711]
 [-0.28919045  0.95553468 -0.05763999]
 [-0.0629997   0.04108465  0.99716753]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.97904305 -0.1838275   0.08764971]
 [ 0.1901152   0.97928389 -0.06972026]
 [-0.0730183   0.08492222  0.99370841]]

 t_gt:
[ 0.88938114 -0.40311578 -0.21563596]

Pose Error in degrees for R and t:
27.779416721968182 66.1658459201754

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99999951e-01 -6.16078259e-05  3.05608594e-04]
 [ 6.17171629e-05  9.99999934e-01 -3.57771575e-04]
 [-3.05586532e-04  3.57790419e-04  9.99999889e-01]]

 t_estimated:
[[-0.8485505 ]
 [-0.52911288]
 [-0.0012711 ]]

 R_gt:
[[ 0.94403661 -0.31567659  0.09562082]
 [ 0.32045265  0.94645476 -0.03917807]
 [-0.07813408  0.06762773  0.99464703]]

 t_gt:
[ 0.93794476 -0.3450666  -0.03447724]

Pose Error in degrees for R and t:
19.501223756534223 52.17364194312753

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.97103688e-01 -7.60509479e-02  6.98744721e-04]
 [ 7.60511650e-02  9.97103874e-01 -2.89519791e-04]
 [-6.74702814e-04  3.41821601e-04  9.99999714e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.94096184 -0.33259459  0.06301787]
 [ 0.33506584  0.9415988  -0.03352542]
 [-0.04818759  0.05266167  0.99744927]]

 t_gt:
[ 0.97824216 -0.20280654 -0.04372404]

Pose Error in degrees for R and t:
15.694244339643197 78.65321799353495

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.99918189e-01 -1.27911046e-02 -5.10070400e-05]
 [ 1.27911104e-02  9.99918184e-01  1.14463839e-04]
 [ 4.95387479e-05 -1.15106911e-04  9.99999992e-01]]

 t_estimated:
[[-0.96951994]
 [-0.24500981]
 [-0.00112922]]

 R_gt:
[[ 0.99816192  0.05960246 -0.0109684 ]
 [-0.05949235  0.99817664  0.01015295]
 [ 0.01155399 -0.0094819   0.99988791]]

 t_gt:
[-0.76032159  0.64095538  0.1052961 ]

Pose Error in degrees for R and t:
4.233421816317238 54.55032328658003

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99999964e-01  2.48376653e-04 -1.01879855e-04]
 [-2.48360539e-04  9.99999957e-01  1.58147657e-04]
 [ 1.01919131e-04 -1.58122349e-04  9.99999982e-01]]

 t_estimated:
[[-9.98461167e-01]
 [ 5.54553770e-02]
 [-7.35823068e-06]]

 R_gt:
[[ 0.98073456  0.19529467  0.00443897]
 [-0.19526536  0.98072982 -0.00633727]
 [-0.00559039  0.00534861  0.99996959]]

 t_gt:
[-0.81197743  0.5836242  -0.008686  ]

Pose Error in degrees for R and t:
11.256247149068288 32.531800875852035

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 7.53188482e-01 -6.57804023e-01 -9.89142659e-04]
 [ 6.57804633e-01  7.53188435e-01  4.96105745e-04]
 [ 4.18670456e-04 -1.02432376e-03  9.99999388e-01]]

 t_estimated:
[[-0.50288199]
 [-0.8643542 ]
 [-0.00123445]]

 R_gt:
[[ 0.95672903  0.29078833  0.01057736]
 [-0.29089557  0.95669556  0.01066388]
 [-0.00701867 -0.0132785   0.99988695]]

 t_gt:
[-0.79302724  0.60772555  0.04215985]

Pose Error in degrees for R and t:
58.047671769343104 82.73012575991368

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99994814e-01 -1.78034513e-03 -2.68374904e-03]
 [ 1.78294830e-03  9.99997942e-01  9.67894613e-04]
 [ 2.68202033e-03 -9.72674579e-04  9.99995930e-01]]

 t_estimated:
[[9.54398150e-01]
 [2.98535741e-01]
 [7.63518520e-04]]

 R_gt:
[[ 0.99955232  0.01039165  0.02808695]
 [-0.01003791  0.99986985 -0.01271135]
 [-0.02821536  0.01242328  0.99952407]]

 t_gt:
[-0.9358059   0.19186761  0.29572646]

Pose Error in degrees for R and t:
2.0475039581242935 33.31889215911573

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-1.93428858e-01  9.81113282e-01  1.41583662e-03]
 [ 9.81114160e-01  1.93427846e-01  8.20756673e-04]
 [ 5.31393046e-04  1.54785538e-03 -9.99998661e-01]]

 t_estimated:
[[8.51879967e-01]
 [5.23736450e-01]
 [8.08235262e-04]]

 R_gt:
[[ 0.98918721 -0.05180372  0.13720954]
 [ 0.05472781  0.99834644 -0.01762547]
 [-0.13606927  0.02494275  0.99038474]]

 t_gt:
[-0.00741953 -0.58994927  0.80740622]

Pose Error in degrees for R and t:
173.11983720399917 71.66056097590577

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.99839306  0.05664446  0.00164254]
 [-0.05663741  0.99838657 -0.00405661]
 [-0.00186968  0.00395706  0.99999042]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.96556058 -0.15249093  0.21080777]
 [ 0.15493727  0.98791196  0.00495863]
 [-0.20901598  0.02787392  0.97751452]]

 t_gt:
[ 0.34887513 -0.69667848  0.62683749]

Pose Error in degrees for R and t:
17.133058353396702 46.77758841380457

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999965e-01  2.63013234e-04 -1.57667438e-05]
 [-2.63011650e-04  9.99999960e-01  1.00420032e-04]
 [ 1.57931549e-05 -1.00415882e-04  9.99999995e-01]]

 t_estimated:
[[ 9.93659500e-01]
 [-1.12429367e-01]
 [ 6.59850723e-04]]

 R_gt:
[[ 0.99995168  0.00291408  0.00943162]
 [-0.0028485   0.99997228 -0.00697898]
 [-0.00945203  0.00695211  0.99993069]]

 t_gt:
[0.76952959 0.63753322 0.03708901]

Pose Error in degrees for R and t:
0.6913950166188221 46.13214936420082

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[-0.5717514  -0.81961831 -0.03641665]
 [-0.81972511  0.57253485 -0.015956  ]
 [ 0.03392764  0.02072878 -0.9992093 ]]

 t_estimated:
[[ 0.90044517]
 [ 0.43454732]
 [-0.01916024]]

 R_gt:
[[ 0.99770932  0.0540532   0.04067382]
 [-0.0534044   0.9984309  -0.01686596]
 [-0.04152247  0.01465469  0.99902935]]

 t_gt:
[-0.34876141  0.91427934  0.20605525]

Pose Error in degrees for R and t:
179.3930527287109 85.4511491364447

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99999250e-01  1.21660002e-03 -1.40872368e-04]
 [-1.21661940e-03  9.99999250e-01 -1.37556335e-04]
 [ 1.40704911e-04  1.37727619e-04  9.99999981e-01]]

 t_estimated:
[[-0.27898077]
 [-0.96029572]
 [-0.0013648 ]]

 R_gt:
[[ 0.98983304  0.13589958  0.04197997]
 [-0.13467717  0.99041403 -0.03071114]
 [-0.04575233  0.0247448   0.99864646]]

 t_gt:
[-0.62964632  0.77516545  0.05161421]

Pose Error in degrees for R and t:
8.267209574217347 55.3334604820029

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99999966e-01 -2.60353852e-04  5.20391398e-06]
 [ 2.60353100e-04  9.99999956e-01  1.43879684e-04]
 [-5.24137338e-06 -1.43878324e-04  9.99999990e-01]]

 t_estimated:
[[9.55905252e-01]
 [2.93674302e-01]
 [7.43616590e-04]]

 R_gt:
[[ 0.99867241 -0.04267957 -0.02882933]
 [ 0.04216374  0.99894414 -0.01824216]
 [ 0.02957643  0.01700278  0.99941722]]

 t_gt:
[ 0.8987889   0.05722885 -0.43463016]

Pose Error in degrees for R and t:
3.1121281628044857 28.879133788745925

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99999586e-01 -9.08494573e-04 -5.62891527e-05]
 [ 9.08494594e-04  9.99999587e-01  3.39073891e-07]
 [ 5.62888214e-05 -3.90212142e-07  9.99999998e-01]]

 t_estimated:
[[ 9.99327507e-01]
 [-3.66659188e-02]
 [-3.78633037e-04]]

 R_gt:
[[ 0.99981145 -0.01918426 -0.00295401]
 [ 0.01911285  0.99955949 -0.02271204]
 [ 0.00338702  0.02265143  0.99973782]]

 t_gt:
[ 0.85016586  0.42377636 -0.31246059]

Pose Error in degrees for R and t:
1.6773107912467646 33.470043412252686

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.97901280e-01  6.47536415e-02 -4.64005192e-05]
 [-6.47536424e-02  9.97901280e-01 -1.66852823e-05]
 [ 4.52227048e-05  1.96548672e-05  9.99999999e-01]]

 t_estimated:
[[7.89826735e-01]
 [6.13329767e-01]
 [5.71128645e-04]]

 R_gt:
[[ 0.99713239  0.07142594  0.02498444]
 [-0.07112452  0.9973865  -0.01273251]
 [-0.0258294   0.0109193   0.99960591]]

 t_gt:
[-0.31941277  0.94650706  0.04582438]

Pose Error in degrees for R and t:
1.6530917875007791 70.83641426102508

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.50191491 -0.86491359 -0.00242936]
 [ 0.86491612 -0.50190842 -0.00283615]
 [ 0.00123371 -0.0035247   0.99999303]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99536514 -0.0278871   0.09203806]
 [ 0.029198    0.99949058 -0.01293013]
 [-0.0916317   0.01555679  0.99567187]]

 t_gt:
[-0.05154631 -0.47665755  0.87757653]

Pose Error in degrees for R and t:
118.57304368139121 86.99955249140652

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.21617341 -0.97634761  0.00379523]
 [ 0.97632968  0.21619416  0.00635956]
 [-0.00702965  0.00233063  0.99997258]]

 t_estimated:
[[0.99563795]
 [0.09328157]
 [0.00190371]]

 R_gt:
[[ 0.97343923 -0.12526862  0.19163651]
 [ 0.12592385  0.99200059  0.00880586]
 [-0.19120675  0.01555932  0.98142598]]

 t_gt:
[ 0.31983531 -0.64564977  0.69342754]

Pose Error in degrees for R and t:
70.92206078666698 74.95764451834816

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.01233658 -0.99992141  0.00223355]
 [ 0.99991857 -0.01232919  0.00329381]
 [-0.00326601  0.002274    0.99999208]]

 t_estimated:
[[9.99977089e-01]
 [6.71689060e-03]
 [8.39611326e-04]]

 R_gt:
[[ 0.94587443 -0.23204436  0.22688414]
 [ 0.23264947  0.97225321  0.02445704]
 [-0.22626481  0.0296514   0.97361418]]

 t_gt:
[ 0.52714121 -0.68146635  0.50766698]

Pose Error in degrees for R and t:
77.99480108796946 58.46777480231703

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.95979613e-01  8.95801119e-02  1.16778718e-04]
 [-8.95794269e-02  9.95975678e-01 -2.82388566e-03]
 [-3.69272756e-04  2.80207157e-03  9.99996006e-01]]

 t_estimated:
[[-0.51367198]
 [-0.85796807]
 [-0.00564717]]

 R_gt:
[[ 0.97154785 -0.21883685  0.09058508]
 [ 0.22644169  0.97035824 -0.08443535]
 [-0.06942289  0.10254551  0.99230262]]

 t_gt:
[ 0.88045381 -0.3948141  -0.26253175]

Pose Error in degrees for R and t:
19.346244542970044 83.56684343584733

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-0.13779623 -0.99045588 -0.00305857]
 [-0.99045904  0.13778989  0.00219719]
 [-0.00175478  0.00333215 -0.99999291]]

 t_estimated:
[[8.48572900e-01]
 [5.29078035e-01]
 [6.82681336e-04]]

 R_gt:
[[ 0.91534588 -0.36888687  0.16143953]
 [ 0.38801828  0.91520981 -0.10878115]
 [-0.10762297  0.16221409  0.98086861]]

 t_gt:
[ 0.92290374 -0.31132269 -0.22655434]

Pose Error in degrees for R and t:
179.27452866639547 51.80918229049317

Number of keypoints:
Image1: 24
Image2: 24

 R_estimated:
[[ 0.91453591 -0.40446589 -0.00560521]
 [-0.40441941 -0.91453981  0.00786586]
 [-0.00830766 -0.00492675 -0.99995335]]

 t_estimated:
[[-0.00352157]
 [ 0.99995314]
 [ 0.00901751]]

 R_gt:
[[ 0.88002551 -0.44757755  0.15883458]
 [ 0.46058597  0.88587233 -0.05559096]
 [-0.11582596  0.12207896  0.98573861]]

 t_gt:
[ 0.95998323 -0.26841995 -0.07989326]

Pose Error in degrees for R and t:
176.99507268313116 74.18641088854083

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 4.69779291e-02  9.98894777e-01 -1.51602233e-03]
 [-9.98895703e-01  4.69768477e-02 -7.41218524e-04]
 [-6.69181362e-04  1.54916910e-03  9.99998576e-01]]

 t_estimated:
[[2.91364631e-01]
 [9.56612070e-01]
 [8.95868123e-06]]

 R_gt:
[[ 0.98950011  0.14425074  0.00897988]
 [-0.14404418  0.9893603  -0.02039853]
 [-0.0118274   0.01889051  0.99975195]]

 t_gt:
[-0.82534954  0.55417408 -0.10811671]

Pose Error in degrees for R and t:
79.02599192209765 73.16293813890036

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99528838e-01  3.06935582e-02 -8.92336051e-05]
 [-3.06935426e-02  9.99528828e-01  1.71432405e-04]
 [ 9.44534312e-05 -1.68612737e-04  9.99999981e-01]]

 t_estimated:
[[-9.99846590e-01]
 [-1.75117578e-02]
 [-3.67979838e-04]]

 R_gt:
[[ 0.98067422  0.1937894   0.02687264]
 [-0.19309002  0.98082128 -0.02655562]
 [-0.03150312  0.02085299  0.99928646]]

 t_gt:
[-0.782241    0.62131549 -0.04545417]

Pose Error in degrees for R and t:
9.646794529355931 39.533063854392786

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.95722867e-01  9.23902591e-02 -1.06419549e-04]
 [-9.23902540e-02  9.95722872e-01  5.20499269e-05]
 [ 1.10773285e-04 -4.19951733e-05  9.99999993e-01]]

 t_estimated:
[[-9.99984178e-01]
 [-5.56872653e-03]
 [-7.95532361e-04]]

 R_gt:
[[ 0.94946015  0.31343137  0.01684833]
 [-0.31307429  0.94950014 -0.02081732]
 [-0.02252236  0.01448963  0.9996408 ]]

 t_gt:
[-0.77040648  0.637247   -0.01975129]

Pose Error in degrees for R and t:
13.048826846194428 39.92712826396348

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.96025846e-01  8.90646561e-02  1.76216703e-05]
 [-8.90646556e-02  9.96025846e-01 -2.43955652e-05]
 [-1.97244217e-05  2.27291455e-05  1.00000000e+00]]

 t_estimated:
[[-9.76806900e-01]
 [ 2.14121834e-01]
 [-3.47385917e-04]]

 R_gt:
[[ 0.99033737  0.13819086  0.01160741]
 [-0.13784138  0.99009015 -0.02684502]
 [-0.01520262  0.02498591  0.9995722 ]]

 t_gt:
[-0.81584942  0.56020454 -0.14338966]

Pose Error in degrees for R and t:
3.2840328865429047 23.518801043092132

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99530389e-01  3.06430064e-02 -8.59517435e-05]
 [-3.06429912e-02  9.99530378e-01  1.73095442e-04]
 [ 9.12155435e-05 -1.70380336e-04  9.99999981e-01]]

 t_estimated:
[[-9.99987218e-01]
 [-5.03937222e-03]
 [-4.10795714e-04]]

 R_gt:
[[ 0.9813668   0.19056756  0.02452683]
 [-0.18992441  0.98144574 -0.02633721]
 [-0.02909136  0.02118791  0.99935189]]

 t_gt:
[-0.78020666  0.62347942 -0.05050716]

Pose Error in degrees for R and t:
9.44465640607627 39.006415347609355

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.91256542e-01  1.31947620e-01 -5.41590395e-04]
 [-1.31947480e-01  9.91256667e-01  2.86704248e-04]
 [ 5.74685033e-04 -2.12735974e-04  9.99999812e-01]]

 t_estimated:
[[-0.99861987]
 [-0.05249315]
 [-0.00167802]]

 R_gt:
[[ 0.94989623  0.31234781  0.01162846]
 [-0.31188574  0.94962852 -0.03055041]
 [-0.02058562  0.02539345  0.99946556]]

 t_gt:
[-0.76708605  0.63939456 -0.05247474]

Pose Error in degrees for R and t:
10.778403225773431 42.89926844034025

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 7.60214970e-01  6.49671499e-01  3.77322926e-04]
 [-6.49671112e-01  7.60214979e-01 -7.94691119e-04]
 [-8.03134711e-04  3.59000280e-04  9.99999613e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075964e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97376769 -0.21230566  0.08187075]
 [ 0.21891958  0.97223765 -0.08263517]
 [-0.06205383  0.09839045  0.9932112 ]]

 t_gt:
[ 0.87416057 -0.38556304 -0.29527012]

Pose Error in degrees for R and t:
53.393914900932394 29.222353705030415

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.0195273  -0.87226121 -0.48865026]
 [-0.69162971 -0.34114936  0.63660463]
 [-0.72198825  0.35039621 -0.59662004]]

 t_estimated:
[[0.79359253]
 [0.608449  ]
 [0.00084156]]

 R_gt:
[[ 0.9180713  -0.36937596  0.14390213]
 [ 0.38465357  0.91783566 -0.09807492]
 [-0.0958519   0.14539163  0.9847205 ]]

 t_gt:
[ 0.92338962 -0.32023983 -0.21165555]

Pose Error in degrees for R and t:
159.63587767140518 57.46821614797599

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-0.98537352  0.17039689  0.00198245]
 [-0.16541653 -0.95364838 -0.25138045]
 [-0.04094389 -0.24803157  0.96788632]]

 t_estimated:
[[0.77746791]
 [0.6101664 ]
 [0.15244877]]

 R_gt:
[[ 0.89224248 -0.42962847  0.13900655]
 [ 0.43957926  0.89682751 -0.04970401]
 [-0.10331123  0.10545248  0.98904379]]

 t_gt:
[ 0.96184175 -0.26478152 -0.06892896]

Pose Error in degrees for R and t:
165.04356527147164 54.849077444887754

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 2.63069353e-01 -9.64775255e-01 -1.79532296e-03]
 [-9.64776905e-01 -2.63069271e-01 -2.85902383e-04]
 [-1.96462757e-04  1.80729828e-03 -9.99998348e-01]]

 t_estimated:
[[0.66589691]
 [0.74604328]
 [0.00085262]]

 R_gt:
[[ 0.99577447 -0.01885451  0.08988072]
 [ 0.02020414  0.99969634 -0.01411851]
 [-0.08958651  0.01587447  0.99585238]]

 t_gt:
[-0.16486221 -0.36744213  0.91531783]

Pose Error in degrees for R and t:
177.63436828686048 67.47239253861564

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 8.57788338e-01  5.14002979e-01 -3.24325616e-04]
 [-5.14003077e-01  8.57788240e-01 -4.14676969e-04]
 [ 6.50575018e-05  5.22409433e-04  9.99999861e-01]]

 t_estimated:
[[8.97054517e-01]
 [4.41919122e-01]
 [8.26017051e-04]]

 R_gt:
[[ 0.97555306 -0.11156301  0.18934255]
 [ 0.11177843  0.99368748  0.00958053]
 [-0.18921639  0.01181786  0.98186506]]

 t_gt:
[ 0.27055198 -0.61862816  0.7376319 ]

Pose Error in degrees for R and t:
38.9136654050599 88.2766016076047

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.90852738  0.41782211 -0.00163736]
 [-0.41780847  0.90851896  0.00541939]
 [ 0.00375191 -0.00423956  0.99998397]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.94806578 -0.21343865  0.23583084]
 [ 0.21426938  0.97651768  0.02241106]
 [-0.23507594  0.0292848   0.97153593]]

 t_gt:
[ 0.48487087 -0.67002879  0.56210467]

Pose Error in degrees for R and t:
39.642737384211514 80.89177818021989

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999999e-01  4.75665560e-05  9.69737705e-06]
 [-4.75660465e-05  9.99999997e-01 -5.25348090e-05]
 [-9.69987593e-06  5.25343477e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99987895e-01]
 [-4.85185890e-03]
 [-8.17948588e-04]]

 R_gt:
[[ 0.99870951 -0.03882592 -0.03273977]
 [ 0.03854935  0.99921547 -0.00905932]
 [ 0.03306681  0.00778659  0.99942308]]

 t_gt:
[ 0.92364177  0.06602768 -0.37752645]

Pose Error in degrees for R and t:
2.9527972641729856 22.538970531730072

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-0.69137782 -0.72112254  0.04448585]
 [-0.72124831  0.69249005  0.01607492]
 [-0.04239799 -0.0209715  -0.99888068]]

 t_estimated:
[[0.92676938]
 [0.3749335 ]
 [0.02287772]]

 R_gt:
[[ 0.99956546 -0.02901051 -0.0052588 ]
 [ 0.02891833  0.99943664 -0.01701873]
 [ 0.0057502   0.01686029  0.99984176]]

 t_gt:
[ 0.92332565  0.30566438 -0.23246295]

Pose Error in degrees for R and t:
177.96781350636962 15.204579127577315

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 9.99999371e-01 -1.11392309e-03 -1.32917460e-04]
 [ 1.11390867e-03  9.99999374e-01 -1.08534449e-04]
 [ 1.33038275e-04  1.08386323e-04  9.99999985e-01]]

 t_estimated:
[[ 9.99994915e-01]
 [-3.05623819e-03]
 [-9.10466286e-04]]

 R_gt:
[[ 0.99828938  0.0544405   0.02132037]
 [-0.05424409  0.99848088 -0.00964612]
 [-0.02181257  0.00847356  0.99972601]]

 t_gt:
[-0.15003509  0.98740315  0.05024442]

Pose Error in degrees for R and t:
3.45248860608624 81.19350795657142

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 0.87693637 -0.48037279  0.01498649]
 [-0.48006981 -0.87405788  0.07453727]
 [-0.02270661 -0.072559   -0.99710561]]

 t_estimated:
[[0.0185899 ]
 [0.99858365]
 [0.04985084]]

 R_gt:
[[ 0.99948249 -0.03155508  0.00633769]
 [ 0.03153915  0.99949995  0.00255347]
 [-0.00641481 -0.00235208  0.99997605]]

 t_gt:
[ 0.88672225 -0.42554066  0.1806621 ]

Pose Error in degrees for R and t:
175.41552715908608 66.45634339374257

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.91307755e-01 -1.31563348e-01  1.42325101e-04]
 [ 1.31563284e-01  9.91307697e-01  3.89844708e-04]
 [-1.92377243e-04 -3.67731325e-04  9.99999914e-01]]

 t_estimated:
[[-8.49430800e-01]
 [-5.27699488e-01]
 [-7.51708673e-04]]

 R_gt:
[[ 0.99981198  0.01740697 -0.00856266]
 [-0.01775004  0.99897388 -0.04168503]
 [ 0.00782851  0.04182988  0.99909372]]

 t_gt:
[-0.21880638  0.74644617 -0.62844402]

Pose Error in degrees for R and t:
8.91368571812935 78.02024978984916

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.48275268  0.87575592 -0.00119111]
 [ 0.87574988 -0.48274308  0.00461261]
 [ 0.00346452 -0.00326987 -0.99998865]]

 t_estimated:
[[-7.70603793e-01]
 [-6.37314101e-01]
 [-7.28358973e-04]]

 R_gt:
[[ 0.99288555  0.10608557 -0.05406425]
 [-0.11178337  0.9868945  -0.11637477]
 [ 0.0410102   0.12159154  0.99173261]]

 t_gt:
[-0.38288607  0.73085673 -0.56501919]

Pose Error in degrees for R and t:
175.7641025258159 80.19355709670481

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.95046931e-01  9.94058420e-02  2.89348649e-04]
 [-9.94058450e-02  9.95046973e-01 -4.23586713e-06]
 [-2.88336567e-04 -2.45480604e-05  9.99999958e-01]]

 t_estimated:
[[0.9346139 ]
 [0.35566127]
 [0.00138238]]

 R_gt:
[[ 9.99987443e-01 -6.31402340e-04  5.12514922e-03]
 [ 6.87685609e-04  9.99938325e-01 -1.11571946e-02]
 [-5.11788825e-03  1.11596068e-02  9.99924938e-01]]

 t_gt:
[ 0.84047928  0.53167722 -0.10446971]

Pose Error in degrees for R and t:
5.784351961203875 12.972940301185023

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 8.64727621e-01  5.02240962e-01  3.96541580e-04]
 [-5.02240806e-01  8.64727694e-01 -4.33787625e-04]
 [-5.60766401e-04  1.75948779e-04  9.99999827e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99859105  0.03847549  0.03655682]
 [-0.03765069  0.99902665 -0.02301186]
 [-0.03740684  0.02160244  0.99906686]]

 t_gt:
[-0.12632778  0.98275305  0.13504714]

Pose Error in degrees for R and t:
28.07011158355532 82.92461357930287

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.96132468e-01  8.78372802e-02 -2.17205228e-03]
 [-8.78365144e-02  9.96134804e-01  4.45669659e-04]
 [ 2.20280328e-03 -2.53160516e-04  9.99997542e-01]]

 t_estimated:
[[-0.45810323]
 [-0.88889598]
 [-0.00231551]]

 R_gt:
[[ 0.99170612  0.12351835  0.03553069]
 [-0.12254081  0.99205413 -0.02852568]
 [-0.03877139  0.02393451  0.99896177]]

 t_gt:
[-0.6071234   0.79387158  0.03419216]

Pose Error in degrees for R and t:
3.399183453688896 64.68318100000444

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-0.78505486 -0.1471621   0.6016911 ]
 [-0.44485979 -0.54198434 -0.7129886 ]
 [ 0.43103205 -0.82740334  0.36002094]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99973229  0.01686978  0.01589959]
 [-0.01660825  0.99972781 -0.01639841]
 [-0.0161724   0.01612946  0.99973897]]

 t_gt:
[-0.90618776  0.40617366 -0.11767203]

Pose Error in degrees for R and t:
168.65292441669257 68.36766597833919

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 3.45211922e-01  9.38524738e-01  2.10846814e-04]
 [ 9.38517686e-01 -3.45210183e-01  3.80566581e-03]
 [ 3.64449798e-03 -1.11587775e-03 -9.99992736e-01]]

 t_estimated:
[[-8.46448710e-01]
 [-5.32469648e-01]
 [-8.09224389e-04]]

 R_gt:
[[ 0.99160762 -0.03556019  0.12430443]
 [ 0.03871585  0.99898383 -0.02306707]
 [-0.12335713  0.02768612  0.99197631]]

 t_gt:
[-0.15191479 -0.51509682  0.84356219]

Pose Error in degrees for R and t:
174.90394688917112 66.28553913559823

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.99883538 -0.04812828  0.00339922]
 [ 0.04813957  0.9988351  -0.0033208 ]
 [-0.00323543  0.00348057  0.99998871]]

 t_estimated:
[[-0.62548084]
 [-0.78023898]
 [-0.00092118]]

 R_gt:
[[ 9.69048513e-01 -1.38717647e-01  2.04215429e-01]
 [ 1.41728603e-01  9.89905666e-01 -1.18741302e-04]
 [-2.02138409e-01  2.90574973e-02  9.78926251e-01]]

 t_gt:
[ 0.31565753 -0.69061946  0.65069585]

Pose Error in degrees for R and t:
12.76923295339411 70.07370261087506

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.81768997e-01  1.90077911e-01  1.56737434e-04]
 [-1.90077862e-01  9.81768978e-01 -2.83039176e-04]
 [-2.07679446e-04  2.48086772e-04  9.99999948e-01]]

 t_estimated:
[[-6.91853412e-01]
 [ 7.22037987e-01]
 [-2.62535452e-05]]

 R_gt:
[[ 0.99739107  0.07038601 -0.01598448]
 [-0.07014209  0.99741812  0.01537437]
 [ 0.01702618 -0.01421339  0.99975376]]

 t_gt:
[-0.79222312  0.59991042  0.11175874]

Pose Error in degrees for R and t:
7.046725223789033 11.110476064837554

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99999848e-01 -5.44774048e-04 -8.21437668e-05]
 [ 5.44776236e-04  9.99999851e-01  2.66237752e-05]
 [ 8.21292506e-05 -2.66685211e-05  9.99999996e-01]]

 t_estimated:
[[-9.99994803e-01]
 [-3.18149950e-03]
 [-5.21437582e-04]]

 R_gt:
[[ 0.9798451   0.19973103  0.00332647]
 [-0.1997107   0.97983848 -0.00562186]
 [-0.00438176  0.00484512  0.99997825]]

 t_gt:
[-0.81617599  0.57763811 -0.0138195 ]

Pose Error in degrees for R and t:
11.558252477914499 35.477727230061994

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.84585592e-01  1.74903434e-01  5.94331484e-06]
 [-1.74903431e-01  9.84585577e-01 -1.78402628e-04]
 [-3.70549344e-05  1.74613151e-04  9.99999984e-01]]

 t_estimated:
[[-9.89708356e-01]
 [ 1.43097181e-01]
 [-7.53381335e-04]]

 R_gt:
[[ 0.95432135  0.29860434  0.01023579]
 [-0.29873145  0.95422211  0.01479076]
 [-0.00534985 -0.01717227  0.99983801]]

 t_gt:
[-0.7965757   0.60276626  0.04626002]

Pose Error in degrees for R and t:
7.37978681256933 29.002692205747824

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.95291093e-01 -9.69308087e-02 -2.42901184e-04]
 [ 9.69300354e-02  9.95288719e-01 -2.22144195e-03]
 [ 4.57082974e-04  2.18743697e-03  9.99997503e-01]]

 t_estimated:
[[-0.04993699]
 [-0.99873989]
 [-0.0049937 ]]

 R_gt:
[[ 0.97943806 -0.18165627  0.08776965]
 [ 0.18769428  0.97999105 -0.06623509]
 [-0.07398154  0.0813478   0.99393635]]

 t_gt:
[ 0.89425649 -0.40832386 -0.18324016]

Pose Error in degrees for R and t:
8.067850596746021 68.64976962413036

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999560e-01 -9.19982765e-04  1.85437734e-04]
 [ 9.20029026e-04  9.99999546e-01 -2.49540317e-04]
 [-1.85208077e-04  2.49710815e-04  9.99999952e-01]]

 t_estimated:
[[ 8.01059919e-01]
 [-5.98583752e-01]
 [-7.05868194e-04]]

 R_gt:
[[ 0.94871105 -0.30395754  0.08693665]
 [ 0.30735621  0.95116708 -0.02849779]
 [-0.07402908  0.05375655  0.99580642]]

 t_gt:
[ 9.38004262e-01 -3.46623527e-01 -3.67485340e-04]

Pose Error in degrees for R and t:
18.531653202315862 16.48761827271768

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99971983  0.01918577  0.01386263]
 [-0.01904674  0.99976765 -0.01009269]
 [-0.01405304  0.00982582  0.99985297]]

 t_estimated:
[[ 0.9989263 ]
 [ 0.04616621]
 [-0.00386293]]

 R_gt:
[[ 0.95101397 -0.3042151   0.05502088]
 [ 0.30599223  0.95164379 -0.02723663]
 [-0.04407425  0.04273877  0.99811399]]

 t_gt:
[ 0.9818674  -0.1884955  -0.02014608]

Pose Error in degrees for R and t:
19.042851691746232 13.54436483966436

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.9769671  -0.21328528  0.00668418]
 [ 0.21333366  0.97694961 -0.00762927]
 [-0.00490289  0.00887951  0.99994856]]

 t_estimated:
[[9.07421875e-01]
 [4.20220231e-01]
 [7.05067502e-04]]

 R_gt:
[[ 0.9977672   0.05081934  0.04333753]
 [-0.05100308  0.99869379  0.00315663]
 [-0.04312025 -0.00536018  0.99905564]]

 t_gt:
[-0.77156264  0.4117572   0.48491969]

Pose Error in degrees for R and t:
15.401898826046201 58.21304985530725

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.54056696e-01  2.99625438e-01  6.46877270e-04]
 [-2.99625613e-01  9.54056841e-01  1.90758645e-04]
 [-5.60001542e-04 -3.75815560e-04  9.99999773e-01]]

 t_estimated:
[[-0.52982695]
 [ 0.84810336]
 [ 0.0020246 ]]

 R_gt:
[[ 0.99626621  0.08622564  0.00435785]
 [-0.08623572  0.99627276  0.00194889]
 [-0.00417296 -0.00231788  0.9999894 ]]

 t_gt:
[-0.84510976  0.52855529  0.08011743]

Pose Error in degrees for R and t:
12.490377607705998 26.337836196267002

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.90970666e-01  1.34078668e-01 -2.22512780e-04]
 [-1.34078711e-01  9.90970667e-01 -1.89810377e-04]
 [ 1.95054115e-04  2.17930742e-04  9.99999957e-01]]

 t_estimated:
[[-0.92582733]
 [ 0.37794494]
 [-0.00117421]]

 R_gt:
[[ 0.99439867  0.09792603 -0.03977419]
 [-0.09766257  0.99518288  0.00852152]
 [ 0.04041778 -0.00458915  0.99917271]]

 t_gt:
[-0.81798294  0.55052933 -0.16679739]

Pose Error in degrees for R and t:
3.1239269077198863 15.077118817652908

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 0.97316485  0.23006595 -0.00445225]
 [-0.23004273  0.97316677  0.00517549]
 [ 0.00552349 -0.0040124   0.9999767 ]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.992348    0.12306588  0.01000594]
 [-0.12322869  0.99222189  0.01765517]
 [-0.0077557  -0.01875253  0.99979419]]

 t_gt:
[-0.87940159  0.46046113  0.12094786]

Pose Error in degrees for R and t:
6.324778796447189 62.92908661861561

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 7.16223126e-01  6.97871131e-01  5.63951339e-04]
 [ 6.97862157e-01 -7.16217598e-01  4.55643867e-03]
 [ 3.58371888e-03 -2.86986645e-03 -9.99989460e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.94738465  0.31616114  0.05003799]
 [-0.31431116  0.94841218 -0.04152144]
 [-0.06058364  0.02360849  0.99788417]]

 t_gt:
[-0.82895803  0.55830294 -0.03356219]

Pose Error in degrees for R and t:
177.2857920211563 34.18286371898941

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.6449795   0.75100569  0.14139275]
 [-0.76132546  0.6154272   0.20404145]
 [ 0.06621934 -0.23924845  0.96869767]]

 t_estimated:
[[0.11016693]
 [0.99388796]
 [0.00706862]]

 R_gt:
[[ 0.91438994  0.40037497  0.05992316]
 [-0.39995353  0.91633068 -0.01940694]
 [-0.06267891 -0.006221    0.99801442]]

 t_gt:
[-0.80273457  0.59469823  0.04417265]

Pose Error in degrees for R and t:
30.2596550430131 59.80524412332525

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99993693e-01 -3.54104504e-03  2.74443632e-04]
 [ 3.54100612e-03  9.99993721e-01  1.42177576e-04]
 [-2.74945366e-04 -1.41204872e-04  9.99999952e-01]]

 t_estimated:
[[ 9.08122047e-02]
 [-9.95867950e-01]
 [ 4.11255795e-04]]

 R_gt:
[[ 0.99629594 -0.08231116  0.02490105]
 [ 0.0821424   0.99659107  0.00774034]
 [-0.02545426 -0.00566624  0.99966005]]

 t_gt:
[ 0.83236132 -0.46453869  0.30228866]

Pose Error in degrees for R and t:
4.749471486979507 57.42983163286688

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99967550e-01 -7.90847428e-03 -1.53465313e-03]
 [ 7.90970403e-03  9.99968400e-01  7.96909796e-04]
 [ 1.52830230e-03 -8.09022588e-04  9.99998505e-01]]

 t_estimated:
[[-0.08495437]
 [-0.99634806]
 [-0.00856114]]

 R_gt:
[[ 0.99448588 -0.10309888  0.01923055]
 [ 0.10276466  0.99454998  0.01763117]
 [-0.02094463 -0.01555717  0.99965937]]

 t_gt:
[ 0.88398611 -0.36442003  0.29285934]

Pose Error in degrees for R and t:
5.667544279501338 73.41224836764643

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.96819367e-01  7.96939913e-02  1.33970531e-04]
 [-7.96940890e-02  9.96818800e-01  1.06364314e-03]
 [-4.87783769e-05 -1.07093674e-03  9.99999425e-01]]

 t_estimated:
[[0.77462105]
 [0.63242489]
 [0.00099438]]

 R_gt:
[[ 0.99625054 -0.06402636 -0.05818258]
 [ 0.06094324  0.99671704 -0.05331789]
 [ 0.0614043   0.04957298  0.99688152]]

 t_gt:
[ 0.74926696  0.210885   -0.62779498]

Pose Error in degrees for R and t:
9.34990853618579 44.508814063221976

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.88020347e-01 -1.54323667e-01 -2.31190839e-06]
 [ 1.54323666e-01  9.88020341e-01  1.09690618e-04]
 [-1.46436458e-05 -1.08733344e-04  9.99999994e-01]]

 t_estimated:
[[2.27222923e-01]
 [9.73842688e-01]
 [4.03313273e-04]]

 R_gt:
[[ 0.99989448 -0.01236163 -0.00761739]
 [ 0.01319438  0.99251132  0.12143486]
 [ 0.00605885 -0.12152173  0.99257079]]

 t_gt:
[ 0.13575822 -0.60578549  0.78396023]

Pose Error in degrees for R and t:
10.72265615837819 56.02879351345476

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.99387534 -0.11048799 -0.0020542 ]
 [-0.11049289 -0.99387391 -0.00244487]
 [-0.00177149  0.00265687 -0.9999949 ]]

 t_estimated:
[[0.65573461]
 [0.75498972]
 [0.00162713]]

 R_gt:
[[ 0.99389803 -0.10009698 -0.04633119]
 [ 0.10708163  0.97636322  0.18774665]
 [ 0.02644233 -0.19156147  0.98112408]]

 t_gt:
[ 0.47085786 -0.62330057  0.62433106]

Pose Error in degrees for R and t:
169.3241822596735 80.74597714616021

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 8.39970729e-01  5.42631355e-01  6.22632108e-04]
 [-5.42631618e-01  8.39970705e-01  3.76223696e-04]
 [-3.18841957e-04 -6.53876760e-04  9.99999735e-01]]

 t_estimated:
[[0.68081645]
 [0.73245364]
 [0.00079442]]

 R_gt:
[[ 0.94610336 -0.30951713 -0.09533145]
 [ 0.32186561  0.93125918  0.17075724]
 [ 0.03592554 -0.19223758  0.98069026]]

 t_gt:
[ 0.76985627 -0.53182514  0.35282198]

Pose Error in degrees for R and t:
52.58633648543243 82.24867508215706

Number of keypoints:
Image1: 420
Image2: 420

 R_estimated:
[[ 9.93440691e-01 -1.14348556e-01 -2.83027538e-05]
 [ 1.14348558e-01  9.93440687e-01  9.64765855e-05]
 [ 1.70851489e-05 -9.90801448e-05  9.99999995e-01]]

 t_estimated:
[[-4.74907661e-01]
 [ 8.80035610e-01]
 [-1.97489930e-04]]

 R_gt:
[[ 0.99965134  0.01244774 -0.02328222]
 [-0.01445783  0.99599421 -0.08824399]
 [ 0.02209068  0.08855072  0.99582639]]

 t_gt:
[ 0.071618    0.72821817 -0.68159311]

Pose Error in degrees for R and t:
9.016040633096639 52.62850140750105

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 3.56015653e-01 -9.34479939e-01 -3.13365274e-04]
 [ 9.34479947e-01  3.56015514e-01  4.26453113e-04]
 [-2.86948980e-04 -4.44657549e-04  9.99999860e-01]]

 t_estimated:
[[0.87559362]
 [0.48304713]
 [0.00113126]]

 R_gt:
[[ 0.99917735  0.04034663  0.00406997]
 [-0.03937672  0.98930996 -0.1404099 ]
 [-0.00969186  0.14013504  0.99008474]]

 t_gt:
[-0.04944265  0.81970687 -0.57064531]

Pose Error in degrees for R and t:
71.83839481099416 69.38909274034312

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 7.61750426e-01  6.47866625e-01  2.26391469e-03]
 [ 6.47864120e-01 -7.61753784e-01  1.80383751e-03]
 [ 2.89319170e-03  9.26351083e-05 -9.99995810e-01]]

 t_estimated:
[[-9.92291876e-01]
 [-1.23919137e-01]
 [-9.38781339e-04]]

 R_gt:
[[ 0.99614973  0.08593637 -0.01735571]
 [-0.08737804  0.98933376 -0.11654819]
 [ 0.0071562   0.1176168   0.99303261]]

 t_gt:
[-0.0343448   0.88308426 -0.46795579]

Pose Error in degrees for R and t:
173.98566502280008 85.70385297256206

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99993924e-01  3.48608227e-03 -1.64189673e-06]
 [-3.48608224e-03  9.99993923e-01  1.42373207e-05]
 [ 1.69151923e-06 -1.42315104e-05  1.00000000e+00]]

 t_estimated:
[[ 0.58385035]
 [-0.81186087]
 [ 0.00083625]]

 R_gt:
[[ 9.99999739e-01 -2.46274231e-04 -5.63190684e-04]
 [ 2.51667016e-04  9.99939706e-01  1.09706143e-02]
 [ 5.60820408e-04 -1.09701810e-02  9.99938976e-01]]

 t_gt:
[ 0.52049403 -0.72698831  0.44785484]

Pose Error in degrees for R and t:
0.6660979476238118 26.55847673349324

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 4.37567497e-01  8.99185410e-01  5.33912380e-04]
 [-8.99104239e-01  4.37535829e-01 -1.31896228e-02]
 [-1.20935222e-02  5.29130736e-03  9.99912871e-01]]

 t_estimated:
[[0.99849028]
 [0.05490974]
 [0.00144499]]

 R_gt:
[[ 0.9942596  -0.1067491  -0.0072788 ]
 [ 0.10695582  0.99345596  0.04007462]
 [ 0.00295406 -0.04062214  0.99916999]]

 t_gt:
[ 0.72521558 -0.6641214   0.18167316]

Pose Error in degrees for R and t:
70.24869221655102 46.53459379954541

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.82326549e-01 -9.83236677e-01 -1.63274928e-03]
 [ 9.83237514e-01  1.82327907e-01 -7.24503819e-04]
 [ 1.01005449e-03 -1.47328406e-03  9.99998405e-01]]

 t_estimated:
[[ 9.35709970e-01]
 [-3.52770252e-01]
 [-2.49034747e-05]]

 R_gt:
[[ 0.98134754 -0.18912925 -0.0344559 ]
 [ 0.19072816  0.98029969  0.05133733]
 [ 0.02406847 -0.0569508   0.99808704]]

 t_gt:
[ 0.76807895 -0.63368803  0.09216403]

Pose Error in degrees for R and t:
68.61197661649473 19.568262996918232

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 9.99993797e-01  3.52213167e-03  2.84588594e-05]
 [-3.52213151e-03  9.99993797e-01 -5.81999557e-06]
 [-2.84791817e-05  5.71972362e-06  1.00000000e+00]]

 t_estimated:
[[-5.76898018e-01]
 [ 8.16816077e-01]
 [-4.15090949e-04]]

 R_gt:
[[ 0.99759304  0.06699884  0.01786989]
 [-0.06743641  0.99740752  0.02511356]
 [-0.0161409  -0.02625693  0.99952546]]

 t_gt:
[-0.87220174 -0.05604432  0.48592505]

Pose Error in degrees for R and t:
4.057203425618409 62.79394912476374

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99998488e-01 -1.73732289e-03  6.90603914e-05]
 [ 1.73733408e-03  9.99998478e-01 -1.62296747e-04]
 [-6.87783244e-05  1.62416483e-04  9.99999984e-01]]

 t_estimated:
[[-0.76164945]
 [ 0.64798764]
 [-0.00146247]]

 R_gt:
[[ 0.9968706   0.04884888  0.06215356]
 [-0.05052773  0.99839061  0.02573327]
 [-0.06079632 -0.0287923   0.99773478]]

 t_gt:
[-0.68159054 -0.41343335  0.60374432]

Pose Error in degrees for R and t:
4.856433648011252 75.50175172332521

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999861e-01 -5.25449391e-04 -4.84777025e-05]
 [ 5.25468077e-04  9.99999787e-01  3.86250957e-04]
 [ 4.82747369e-05 -3.86276377e-04  9.99999924e-01]]

 t_estimated:
[[5.56551277e-01]
 [8.30813166e-01]
 [3.99157515e-04]]

 R_gt:
[[ 0.99830117 -0.03063379  0.04955927]
 [ 0.02920925  0.99914563  0.02924265]
 [-0.05041224 -0.02774438  0.99834378]]

 t_gt:
[ 0.18143381 -0.87615758  0.4465755 ]

Pose Error in degrees for R and t:
3.696652815346291 51.18794444788443

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99938641e-01 -1.10773675e-02 -8.39959535e-05]
 [ 1.10773865e-02  9.99938618e-01  2.29233027e-04]
 [ 8.14514991e-05 -2.30149417e-04  9.99999970e-01]]

 t_estimated:
[[-7.33093989e-01]
 [-6.80127143e-01]
 [-5.22697219e-04]]

 R_gt:
[[ 0.99749376  0.0629175  -0.03238834]
 [-0.06310756  0.9979952  -0.00487867]
 [ 0.03201637  0.00691059  0.99946403]]

 t_gt:
[-0.5057938   0.80829805 -0.30137499]

Pose Error in degrees for R and t:
4.642904939616222 79.70050630809511

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.86401527 -0.50344799 -0.00421095]
 [ 0.50343499 -0.86402475  0.00379906]
 [-0.005551    0.0011625   0.99998392]]

 t_estimated:
[[0.87960065]
 [0.47571191]
 [0.00093277]]

 R_gt:
[[ 0.98824958  0.15237436  0.0120603 ]
 [-0.15148181  0.98688204 -0.05582873]
 [-0.02040853  0.05334594  0.99836731]]

 t_gt:
[-0.51037055  0.85518139 -0.09048037]

Pose Error in degrees for R and t:
158.533498276604 87.58216323031392

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 3.21589250e-01  9.46878370e-01  1.30647605e-03]
 [-9.46878493e-01  3.21590449e-01 -8.38719310e-04]
 [-1.21431539e-03 -9.67350956e-04  9.99998795e-01]]

 t_estimated:
[[0.53942626]
 [0.84203124]
 [0.00164459]]

 R_gt:
[[ 9.61651745e-01  2.74274308e-01  6.28855623e-04]
 [-2.74178510e-01  9.61372501e-01 -2.42746910e-02]
 [-7.26170323e-03  2.31712048e-02  9.99705245e-01]]

 t_gt:
[-0.47854084  0.87752074 -0.03091953]

Pose Error in degrees for R and t:
55.3384673449371 61.268116943385614

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999963e-01 -2.70707917e-04  1.25187871e-05]
 [ 2.70711805e-04  9.99999915e-01 -3.11571511e-04]
 [-1.24344411e-05  3.11574889e-04  9.99999951e-01]]

 t_estimated:
[[-9.30673159e-01]
 [-3.65850828e-01]
 [-8.02304447e-04]]

 R_gt:
[[ 9.87638500e-01  1.56638559e-01  5.79358930e-03]
 [-1.56746176e-01  9.86949858e-01  3.68819323e-02]
 [ 5.92652320e-05 -3.73348710e-02  9.99302996e-01]]

 t_gt:
[-0.61503961  0.77944017  0.1191608 ]

Pose Error in degrees for R and t:
9.287251886282185 73.31280665591876

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999975e-01 -2.17079005e-04 -5.63614899e-05]
 [ 2.17077271e-04  9.99999976e-01 -3.07643061e-05]
 [ 5.63681668e-05  3.07520705e-05  9.99999998e-01]]

 t_estimated:
[[-9.37896060e-01]
 [-3.46915427e-01]
 [-8.16271593e-04]]

 R_gt:
[[ 0.97544787  0.2201728  -0.00493631]
 [-0.21977672  0.97463829  0.04218282]
 [ 0.01409902 -0.04006302  0.99909748]]

 t_gt:
[-0.58642845  0.80862167  0.04725109]

Pose Error in degrees for R and t:
12.955799445692431 74.36863546996176

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.31550046e-01 -3.63612954e-01  3.61453017e-04]
 [-3.63612934e-01 -9.31550116e-01 -1.21374416e-04]
 [ 3.80844910e-04 -1.83626494e-05 -9.99999927e-01]]

 t_estimated:
[[0.59555844]
 [0.80331138]
 [0.0009893 ]]

 R_gt:
[[ 0.95278018  0.3035867   0.00659371]
 [-0.30351303  0.95277238 -0.01023242]
 [-0.0093885   0.00774776  0.99992578]]

 t_gt:
[-0.51528789  0.85698559 -0.00735458]

Pose Error in degrees for R and t:
179.5766394935471 67.57120662834937

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[-0.03113018  0.9994837   0.00795261]
 [ 0.99950747  0.03116051 -0.00371895]
 [-0.00396483  0.00783292 -0.99996146]]

 t_estimated:
[[0.87983141]
 [0.47528483]
 [0.00100611]]

 R_gt:
[[ 0.99762552 -0.06064394  0.03266465]
 [ 0.06078736  0.99814548 -0.00342603]
 [-0.03239674  0.005404    0.99946087]]

 t_gt:
[ 0.70784276 -0.70499651  0.04402893]

Pose Error in degrees for R and t:
178.0050612618688 73.2765543461425

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[-0.98932314 -0.14565732 -0.00486563]
 [ 0.14562067 -0.98931437  0.00718973]
 [-0.00586088  0.00640443  0.99996232]]

 t_estimated:
[[8.75613031e-01]
 [4.83012584e-01]
 [8.14523750e-04]]

 R_gt:
[[ 9.91084125e-01 -1.30791213e-01  2.54427379e-02]
 [ 1.30820334e-01  9.91406318e-01  5.16022317e-04]
 [-2.52914186e-02  2.81711756e-03  9.99676297e-01]]

 t_gt:
[ 0.78375701 -0.6208856   0.01503376]

Pose Error in degrees for R and t:
164.10488436255878 67.27027892759702

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.9814864   0.18924768 -0.02949178]
 [-0.18947637 -0.98187184  0.0051375 ]
 [-0.02798489  0.01063038  0.99955182]]

 t_estimated:
[[0.7146653 ]
 [0.69945997]
 [0.00304104]]

 R_gt:
[[ 0.98535746 -0.16045614  0.05767363]
 [ 0.15908322  0.98687731  0.02768612]
 [-0.06135823 -0.01810555  0.9979518 ]]

 t_gt:
[ 0.69558599 -0.70260243  0.1500332 ]

Pose Error in degrees for R and t:
178.31964017981815 89.64905218091997

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-1.31519438e-01 -9.91313565e-01  2.32410880e-04]
 [-9.91313051e-01  1.31519607e-01  1.01393922e-03]
 [-1.03569829e-03 -9.70392225e-05 -9.99999459e-01]]

 t_estimated:
[[0.78374956]
 [0.62107473]
 [0.00167364]]

 R_gt:
[[ 0.9850555   0.16916693  0.03235797]
 [-0.16810564  0.98521303 -0.03312483]
 [-0.03748328  0.02719071  0.99892642]]

 t_gt:
[-0.84946817  0.51933123 -0.09326791]

Pose Error in degrees for R and t:
179.58300215494623 69.91688703364892

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.97346099e-01 -7.28018726e-02 -8.04142003e-04]
 [ 7.28019433e-02  9.97346416e-01  5.89781308e-05]
 [ 7.97714427e-04 -1.17364709e-04  9.99999675e-01]]

 t_estimated:
[[-0.89596673]
 [-0.44411699]
 [-0.00192946]]

 R_gt:
[[ 9.45669874e-01  3.22413777e-01  4.19386880e-02]
 [-3.22061331e-01  9.46598855e-01 -1.50823879e-02]
 [-4.45611768e-02  7.55633189e-04  9.99005361e-01]]

 t_gt:
[-0.84057565  0.54051028  0.03579401]

Pose Error in degrees for R and t:
23.127737909656492 59.135536511671226

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.95863528e-01  9.08599960e-02  5.43144302e-04]
 [-9.08592401e-02  9.95862917e-01 -1.28378847e-03]
 [-6.57542285e-04  1.22912844e-03  9.99999028e-01]]

 t_estimated:
[[-9.86786957e-01]
 [-1.62021314e-01]
 [-7.71530068e-04]]

 R_gt:
[[ 0.84433481  0.53229207  0.06135756]
 [-0.53077062  0.84655983 -0.0402351 ]
 [-0.0733585   0.00140449  0.99730411]]

 t_gt:
[-0.78877981  0.61392157  0.03044193]

Pose Error in degrees for R and t:
27.256690370388842 47.24492674665434

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-9.96270706e-01 -8.62434226e-02  2.59842693e-03]
 [-8.62428036e-02  9.96274087e-01  3.49531067e-04]
 [-2.61889017e-03  1.24131939e-04 -9.99996563e-01]]

 t_estimated:
[[0.99770562]
 [0.06767383]
 [0.00193354]]

 R_gt:
[[ 0.99878349 -0.04872063 -0.0075991 ]
 [ 0.04928084  0.99154246  0.12006225]
 [ 0.00168506 -0.12029152  0.99273686]]

 t_gt:
[ 0.35909516 -0.63365138  0.6852274 ]

Pose Error in degrees for R and t:
179.81460201443363 71.53564857345427

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 6.01280595e-01  7.99037152e-01  1.12947672e-03]
 [-7.99037650e-01  6.01280994e-01 -1.68011246e-05]
 [-6.92557608e-04 -8.92392235e-04  9.99999362e-01]]

 t_estimated:
[[0.65298895]
 [0.75736698]
 [0.00083502]]

 R_gt:
[[ 0.974963   -0.2171645  -0.04780554]
 [ 0.2217464   0.96553474  0.13628061]
 [ 0.01656296 -0.14347009  0.98951632]]

 t_gt:
[ 0.72788483 -0.57594955  0.37210993]

Pose Error in degrees for R and t:
66.24498003591953 87.7416004069865

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 8.66176673e-01  4.99736758e-01  1.06969497e-03]
 [-4.99735772e-01  8.66177246e-01 -1.06607204e-03]
 [-1.45930083e-03  3.88841885e-04  9.99998860e-01]]

 t_estimated:
[[0.68894254]
 [0.72481538]
 [0.00091982]]

 R_gt:
[[ 0.88502679 -0.46192045 -0.05794258]
 [ 0.46543393  0.88060039  0.08896296]
 [ 0.00993033 -0.10570338  0.99434864]]

 t_gt:
[ 0.88252915 -0.44333657  0.15682786]

Pose Error in degrees for R and t:
57.992921594641274 73.33239259174185

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-0.88692114  0.45962221  0.04602528]
 [-0.46191918 -0.88223426 -0.09106796]
 [-0.00125178 -0.10203006  0.99478053]]

 t_estimated:
[[8.17053059e-01]
 [5.76561970e-01]
 [7.70804772e-04]]

 R_gt:
[[ 0.99668486  0.08027485  0.0132676 ]
 [-0.08033217  0.99676107  0.00385998]
 [-0.01291506 -0.00491296  0.99990495]]

 t_gt:
[-0.80597431  0.56898367  0.16328808]

Pose Error in degrees for R and t:
147.8810381041914 70.71037007399885

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.91364538  0.40648995 -0.00424785]
 [-0.4064975  -0.91365128  0.00105978]
 [-0.00345026  0.00269501  0.99999042]]

 t_estimated:
[[0.69722903]
 [0.71684803]
 [0.00075458]]

 R_gt:
[[ 0.99303573  0.11721121 -0.01189294]
 [-0.1172629   0.9930945  -0.00371541]
 [ 0.0113755   0.00508406  0.99992252]]

 t_gt:
[-0.75792833  0.63576721 -0.14609824]

Pose Error in degrees for R and t:
149.28170059790406 85.82451890131506

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999997e-01 -7.07960767e-05 -2.49755647e-06]
 [ 7.07980076e-05  9.99999692e-01  7.81766639e-04]
 [ 2.44220969e-06 -7.81766814e-04  9.99999694e-01]]

 t_estimated:
[[0.74047788]
 [0.67208032]
 [0.00074345]]

 R_gt:
[[ 0.9987114   0.05074899 -0.00102578]
 [-0.0506872   0.99815677  0.03337478]
 [ 0.00271705 -0.03328037  0.99944187]]

 t_gt:
[-0.73425728 -0.02452369  0.67842821]

Pose Error in degrees for R and t:
3.4599928104747355 55.96641350873615

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999855e-01  5.22715809e-04  1.31685039e-04]
 [-5.22675571e-04  9.99999817e-01 -3.05410956e-04]
 [-1.31844658e-04  3.05342083e-04  9.99999945e-01]]

 t_estimated:
[[0.99998417]
 [0.0054578 ]
 [0.00136521]]

 R_gt:
[[ 0.99614871  0.04472479  0.07541642]
 [-0.04556798  0.99891621  0.00948735]
 [-0.07491047 -0.01288642  0.99710611]]

 t_gt:
[-0.65973038  0.35593024  0.66186818]

Pose Error in degrees for R and t:
5.0518588272306 48.938119368655165

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.38230156e-01 -3.46011716e-01  2.58853862e-04]
 [ 3.46011808e-01  9.38230006e-01 -5.33420568e-04]
 [-5.82946941e-05  5.90037756e-04  9.99999824e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99191586  0.10503145  0.071224  ]
 [-0.10644139  0.99418525  0.01629532]
 [-0.06909831 -0.02374389  0.99732634]]

 t_gt:
[-0.75539342  0.50362602  0.41921547]

Pose Error in degrees for R and t:
26.646976417049657 79.77847507651991

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 0.99430477 -0.10517742 -0.01719688]
 [ 0.10558199  0.99410611  0.02460649]
 [ 0.01450747 -0.02628203  0.99954929]]

 t_estimated:
[[-0.46744856]
 [-0.88021328]
 [-0.08195382]]

 R_gt:
[[ 0.99105137  0.12979035  0.03116806]
 [-0.13033163  0.9913407   0.01598751]
 [-0.02882303 -0.01990611  0.99938617]]

 t_gt:
[-0.81421881  0.55124652  0.18214007]

Pose Error in degrees for R and t:
13.785234678380952 83.13466569783358

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999972e-01  2.37075322e-04 -1.62390118e-05]
 [-2.37075676e-04  9.99999972e-01 -2.18134605e-05]
 [ 1.62338399e-05  2.18173097e-05  1.00000000e+00]]

 t_estimated:
[[ 0.04189776]
 [-0.99912129]
 [-0.00111016]]

 R_gt:
[[ 0.99611407  0.06247854  0.06206418]
 [-0.06326947  0.99793662  0.01085442]
 [-0.06125743 -0.01473778  0.99801274]]

 t_gt:
[-0.27209063  0.76202441  0.58760998]

Pose Error in degrees for R and t:
5.097259874530513 39.33915924644357

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99977585e-01 -6.67029245e-03  5.80602314e-04]
 [ 6.67475055e-03  9.99945331e-01 -8.04878936e-03]
 [-5.26882794e-04  8.05248432e-03  9.99967439e-01]]

 t_estimated:
[[-0.87208414]
 [-0.48933913]
 [-0.00405779]]

 R_gt:
[[ 0.98339021  0.14560936  0.10835865]
 [-0.14005007  0.98848467 -0.05729159]
 [-0.11545316  0.04116523  0.9924587 ]]

 t_gt:
[-0.27592986  0.92819342  0.24963911]

Pose Error in degrees for R and t:
11.00283505065257 77.60909513393996

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.93451214  0.35592917  0.00121608]
 [ 0.35592316 -0.93450849  0.00354751]
 [ 0.0023991  -0.00288236 -0.99999297]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9647803   0.24328212  0.1000551 ]
 [-0.23987326  0.96976066 -0.04497878]
 [-0.10797187  0.01939594  0.99396484]]

 t_gt:
[-0.24351398  0.95469747  0.17103709]

Pose Error in degrees for R and t:
177.2799045507463 76.08867767708249

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.80312684e-01  1.97451300e-01  1.58982257e-04]
 [-1.97451308e-01  9.80312695e-01  3.38660229e-05]
 [-1.49165434e-04 -6.45905463e-05  9.99999987e-01]]

 t_estimated:
[[0.56744624]
 [0.82340995]
 [0.00090404]]

 R_gt:
[[ 0.9968543  -0.07765604  0.0159244 ]
 [ 0.07776396  0.99695184 -0.00632674]
 [-0.01538387  0.00754468  0.99985268]]

 t_gt:
[ 0.82610168 -0.55281719  0.10931227]

Pose Error in degrees for R and t:
15.874910690056312 89.21663076022868

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99980293e-01  6.27762922e-03  7.24254263e-05]
 [-6.27762337e-03  9.99980292e-01 -8.06632093e-05]
 [-7.29303727e-05  8.02069601e-05  9.99999994e-01]]

 t_estimated:
[[ 9.90812940e-01]
 [-1.35237533e-01]
 [-7.26789441e-04]]

 R_gt:
[[ 0.98582497 -0.1652576   0.0289901 ]
 [ 0.16561816  0.98613329 -0.01051204]
 [-0.02685066  0.0151645   0.9995236 ]]

 t_gt:
[ 0.86413014 -0.49781066  0.07391648]

Pose Error in degrees for R and t:
10.040092070576812 22.562686739024002

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.28860738  0.93512596 -0.2055364 ]
 [ 0.86306646 -0.16115344  0.47869181]
 [ 0.41451425 -0.31554556 -0.85358593]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.97421186 -0.21960785  0.05183689]
 [ 0.21916098  0.97558527  0.01421096]
 [-0.05369157 -0.00248411  0.99855439]]

 t_gt:
[ 0.86506448 -0.451618    0.21841387]

Pose Error in degrees for R and t:
152.24785721520462 65.01575403879272

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 1.91172081e-01  9.81556466e-01  3.72638956e-04]
 [-9.81554915e-01  1.91172442e-01 -1.74553192e-03]
 [-1.78457645e-03 -3.20686282e-05  9.99998407e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9988145   0.0210794   0.04388279]
 [-0.01769498  0.99694025 -0.07613349]
 [-0.04535352  0.07526642  0.99613116]]

 t_gt:
[-0.24820287  0.80744083 -0.53519589]

Pose Error in degrees for R and t:
77.99630603186533 36.35879514189129

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 8.95049818e-01 -4.45965352e-01 -8.53046798e-04]
 [ 4.45965834e-01  8.95049852e-01  4.87813227e-04]
 [ 5.45971612e-04 -8.17046866e-04  9.99999517e-01]]

 t_estimated:
[[-0.30524587]
 [-0.95227284]
 [-0.00117856]]

 R_gt:
[[ 0.99682196  0.07157691  0.03498895]
 [-0.06863365  0.99450078 -0.07910478]
 [-0.04045785  0.07645093  0.99625182]]

 t_gt:
[-0.2120078   0.91171121 -0.3519025 ]

Pose Error in degrees for R and t:
30.91268603663226 36.57586256262794

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.22702006  0.97388899  0.00146085]
 [-0.9738877  -0.22701593 -0.00255432]
 [-0.00215598 -0.00200258  0.99999567]]

 t_estimated:
[[0.35361364]
 [0.93538982]
 [0.0018098 ]]

 R_gt:
[[ 0.99469469  0.09986382  0.02470286]
 [-0.09850225  0.99381485 -0.05128987]
 [-0.02967208  0.04858393  0.99837825]]

 t_gt:
[-0.141003    0.97298217 -0.18282189]

Pose Error in degrees for R and t:
97.46188797932273 30.691706084185498

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.80393238e-01 -1.97050890e-01  2.11619336e-04]
 [ 1.97050835e-01  9.80393239e-01  2.56555142e-04]
 [-2.58024586e-04 -2.09825159e-04  9.99999945e-01]]

 t_estimated:
[[ 0.72190586]
 [-0.6919899 ]
 [ 0.00137874]]

 R_gt:
[[ 0.99505309  0.09018502  0.04167548]
 [-0.08729228  0.99394843 -0.06668051]
 [-0.04743721  0.06271209  0.996903  ]]

 t_gt:
[-0.29217656  0.95336863 -0.07563804]

Pose Error in degrees for R and t:
17.066911626345956 29.454120687832734

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.91763636 -0.39736374 -0.00675038]
 [-0.39735462 -0.91703999 -0.0338669 ]
 [ 0.00726711  0.03375979 -0.99940355]]

 t_estimated:
[[ 0.2024601 ]
 [ 0.97914315]
 [-0.01698838]]

 R_gt:
[[ 0.98087452  0.19359273  0.02021347]
 [-0.19235905  0.97998162 -0.05132243]
 [-0.02974436  0.0464527   0.99847668]]

 t_gt:
[-0.25814561  0.96236675 -0.08491814]

Pose Error in degrees for R and t:
175.56654136799497 26.941038726424747

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99999781e-01  6.18358305e-04 -2.36740564e-04]
 [-6.18424140e-04  9.99999770e-01 -2.78116303e-04]
 [ 2.36568534e-04  2.78262649e-04  9.99999933e-01]]

 t_estimated:
[[-0.62970286]
 [-0.77683463]
 [-0.0015063 ]]

 R_gt:
[[ 0.9288355   0.3704373   0.0063982 ]
 [-0.36779771  0.92402182 -0.10444474]
 [-0.04460242  0.09465917  0.99450922]]

 t_gt:
[-0.23114168  0.96774099 -0.10025416]

Pose Error in degrees for R and t:
22.492001187805833 52.693897018674896

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.88738919e-01 -1.49649020e-01  7.21911307e-04]
 [ 1.49649231e-01  9.88739119e-01 -2.48207230e-04]
 [-6.76637981e-04  3.53445621e-04  9.99999709e-01]]

 t_estimated:
[[0.86943887]
 [0.49403938]
 [0.00106935]]

 R_gt:
[[ 0.99808556 -0.02918762  0.05452588]
 [ 0.03033925  0.99933113 -0.02039893]
 [-0.05389392  0.02201474  0.99830399]]

 t_gt:
[-0.46192254 -0.4725739   0.75053413]

Pose Error in degrees for R and t:
7.6446518124154155 50.63332659051052

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.76006046e-01  2.17735238e-01  1.88789468e-03]
 [-2.17734465e-01  9.76007855e-01 -6.08008659e-04]
 [-1.97498495e-03  1.82360388e-04  9.99998033e-01]]

 t_estimated:
[[9.96302826e-01]
 [8.59051991e-02]
 [9.87416082e-04]]

 R_gt:
[[ 9.96828662e-01 -7.95715826e-02 -7.75090836e-04]
 [ 7.95594768e-02  9.96767848e-01 -1.11610164e-02]
 [ 1.66078847e-03  1.10647293e-02  9.99937396e-01]]

 t_gt:
[ 0.01305959 -0.98463221 -0.17415184]

Pose Error in degrees for R and t:
17.151645818713128 85.8857405523506

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.81514404e-01  1.91388261e-01  8.66126659e-05]
 [-1.91388217e-01  9.81514347e-01 -3.70355553e-04]
 [-1.55893279e-04  3.46932666e-04  9.99999928e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99526275 -0.07599374 -0.06063656]
 [ 0.07803902  0.99643342  0.03209545]
 [ 0.05798101 -0.0366754   0.99764411]]

 t_gt:
[-0.1383556  -0.94164597 -0.306856  ]

Pose Error in degrees for R and t:
15.950024895053204 81.86461782851758

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.96376112e-01 -8.50557267e-02 -4.08350931e-04]
 [ 8.50559704e-02  9.96375981e-01  6.22017850e-04]
 [ 3.53964879e-04 -6.54496412e-04  9.99999723e-01]]

 t_estimated:
[[8.30067793e-01]
 [5.57661879e-01]
 [8.29800626e-04]]

 R_gt:
[[ 9.92903606e-01  1.18921026e-01 -4.56225688e-04]
 [-1.18852429e-01  9.92186853e-01 -3.79583925e-02]
 [-4.06122335e-03  3.77437265e-02  9.99279407e-01]]

 t_gt:
[-0.63611846  0.75381634 -0.16466403]

Pose Error in degrees for R and t:
11.916083517550275 83.81244324035023

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.21451869 -0.72437412  0.65518232]
 [ 0.97205871  0.22379251 -0.07084327]
 [-0.09530786  0.65207289  0.75214185]]

 t_estimated:
[[0.93539241]
 [0.35360939]
 [0.00119463]]

 R_gt:
[[ 0.98663145  0.15692547 -0.04396034]
 [-0.1577749   0.9873365  -0.01656276]
 [ 0.04080521  0.02327657  0.99889574]]

 t_gt:
[-0.59325226  0.77254927 -0.226317  ]

Pose Error in degrees for R and t:
92.85044455550022 73.6195952735295

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.96407747 -0.26560782 -0.00266958]
 [ 0.26561935  0.96405979  0.00592339]
 [ 0.00100033 -0.0064197   0.99997889]]

 t_estimated:
[[-8.69219688e-01]
 [-4.94425485e-01]
 [-7.57160007e-04]]

 R_gt:
[[ 0.99042287  0.13054384 -0.04495915]
 [-0.13304663  0.98940758 -0.05808165]
 [ 0.03690075  0.06350702  0.99729942]]

 t_gt:
[-0.50541643  0.77634709 -0.37661577]

Pose Error in degrees for R and t:
23.410563286852597 86.80368541505152

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 1.31202568e-01 -9.91355187e-01 -8.83257932e-04]
 [-9.91355555e-01 -1.31202712e-01  1.05858620e-04]
 [-2.20829328e-04  8.61733735e-04 -9.99999604e-01]]

 t_estimated:
[[0.73378155]
 [0.6793845 ]
 [0.00115738]]

 R_gt:
[[ 0.99799342 -0.01913591 -0.06035549]
 [ 0.02044626  0.99956776  0.02117507]
 [ 0.05992432 -0.02236608  0.99795225]]

 t_gt:
[-0.03955412 -0.70168052 -0.71139294]

Pose Error in degrees for R and t:
178.63750805911184 59.5651492931479

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 0.95956705  0.28147823 -0.00104112]
 [-0.28147513  0.95956545  0.00242731]
 [ 0.00168226 -0.00203612  0.99999651]]

 t_estimated:
[[-0.67773242]
 [-0.73530678]
 [-0.00164498]]

 R_gt:
[[ 0.99020689 -0.037182   -0.1345638 ]
 [ 0.04652114  0.99667272  0.06694379]
 [ 0.13162674 -0.07254809  0.98864081]]

 t_gt:
[ 0.0567951  -0.79010263 -0.61033774]

Pose Error in degrees for R and t:
20.585976517608664 57.079151211702516

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.46105933  0.53111986 -0.71086988]
 [ 0.38470642  0.60226038  0.69948796]
 [ 0.79964071 -0.59598166  0.07335255]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.98488533 -0.10022592 -0.14126892]
 [ 0.10786583  0.99303179  0.04748049]
 [ 0.1355252  -0.06199985  0.98883211]]

 t_gt:
[ 0.24426307 -0.86107791 -0.44596006]

Pose Error in degrees for R and t:
78.69947033277731 65.68022408905952

Number of keypoints:
Image1: 429
Image2: 429

 R_estimated:
[[ 0.99948026 -0.03219824 -0.00157725]
 [ 0.03220211  0.99947828  0.00248694]
 [ 0.00149635 -0.00253644  0.99999566]]

 t_estimated:
[[-0.89963877]
 [-0.4366325 ]
 [-0.00146521]]

 R_gt:
[[ 0.9905407   0.13720111 -0.00225405]
 [-0.13720975  0.99053535 -0.00377532]
 [ 0.00171527  0.00404888  0.99998999]]

 t_gt:
[-0.96116392  0.27589469 -0.00678473]

Pose Error in degrees for R and t:
9.738429394470732 41.905650054822196

Number of keypoints:
Image1: 388
Image2: 388

 R_estimated:
[[-5.36943298e-01  8.43618203e-01  4.71881809e-04]
 [-8.43617096e-01 -5.36941467e-01 -2.01430361e-03]
 [-1.44593028e-03 -1.47965439e-03  9.99997860e-01]]

 t_estimated:
[[0.65027595]
 [0.75969738]
 [0.00104211]]

 R_gt:
[[ 9.77745587e-01  2.09693077e-01  6.55501803e-03]
 [-2.09793432e-01  9.77403624e-01  2.58751532e-02]
 [-9.79774777e-04 -2.66741924e-02  9.99643280e-01]]

 t_gt:
[-0.95861878  0.22872491  0.16951385]

Pose Error in degrees for R and t:
110.37369079621155 63.29298549784238

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.99936367e-01  1.12693986e-02 -5.12461355e-04]
 [-1.12693358e-02  9.99936491e-01  1.25323495e-04]
 [ 5.13841130e-04 -1.19540421e-04  9.99999861e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.9739514   0.22003645  0.05479012]
 [-0.22173503  0.97473194  0.02705766]
 [-0.04745084 -0.03850138  0.99813066]]

 t_gt:
[-0.95329404  0.12448667  0.27519729]

Pose Error in degrees for R and t:
12.627486284885375 83.175724826957

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999995e-01  9.82539726e-05  5.85587339e-07]
 [-9.82538689e-05  9.99999980e-01 -1.74517127e-04]
 [-6.02734329e-07  1.74517069e-04  9.99999985e-01]]

 t_estimated:
[[0.68656518]
 [0.72706759]
 [0.00098786]]

 R_gt:
[[ 0.99828708  0.05446405  0.02134881]
 [-0.05425971  0.99847688 -0.00999613]
 [-0.02185999  0.00882051  0.99972209]]

 t_gt:
[-0.64647508  0.757044    0.09462746]

Pose Error in degrees for R and t:
3.3901586052184545 83.87670375443469

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-0.52570374 -0.85066386  0.00256506]
 [-0.85066594  0.52569407 -0.00363363]
 [ 0.00174257 -0.00409222 -0.99999011]]

 t_estimated:
[[8.24137437e-01]
 [5.66389275e-01]
 [8.20854021e-04]]

 R_gt:
[[ 0.99022221  0.13945733 -0.00354648]
 [-0.13947447  0.99021069 -0.00551452]
 [ 0.0027422   0.00595564  0.99997806]]

 t_gt:
[-0.63151672  0.77432945 -0.04000673]

Pose Error in degrees for R and t:
179.72869734405333 85.3012068784651

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999919e-01 -3.64918980e-04 -1.69578930e-04]
 [ 3.64934329e-04  9.99999929e-01  9.04887320e-05]
 [ 1.69545897e-04 -9.05506098e-05  9.99999982e-01]]

 t_estimated:
[[-0.99992751]
 [-0.01196722]
 [-0.00132969]]

 R_gt:
[[ 9.88502124e-01  1.49557329e-01 -2.22736359e-02]
 [-1.49606652e-01  9.88745828e-01 -5.49705816e-04]
 [ 2.19410681e-02  3.87573180e-03  9.99751245e-01]]

 t_gt:
[-0.59631394  0.79737853 -0.09272096]

Pose Error in degrees for R and t:
8.717184108579564 54.06609530547542

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 0.99911357 -0.04206129  0.00170947]
 [-0.04207067 -0.99627982  0.07521027]
 [-0.00146033 -0.07521552 -0.99716623]]

 t_estimated:
[[0.04773449]
 [0.99811925]
 [0.03846268]]

 R_gt:
[[ 0.99959905 -0.0137304  -0.02476694]
 [ 0.01261981  0.99892972 -0.04450299]
 [ 0.02535218  0.0441735   0.99870275]]

 t_gt:
[-0.02533955  0.08886909 -0.99572094]

Pose Error in degrees for R and t:
178.25789671222148 87.1802373540472

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.96900468e-01  7.86724729e-02 -3.14204533e-04]
 [-7.86723681e-02  9.96900470e-01  3.32870406e-04]
 [ 3.39418385e-04 -3.07119449e-04  9.99999895e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99942282 -0.01210321  0.03173477]
 [ 0.01362991  0.99873938 -0.04831807]
 [-0.03110942  0.04872357  0.99832838]]

 t_gt:
[-0.86519176 -0.0402074  -0.49982655]

Pose Error in degrees for R and t:
6.221417723320735 68.40866729404313

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.8739246   0.48604555  0.0039392 ]
 [-0.48571524  0.87357918 -0.03066145]
 [-0.01834406  0.02488246  0.99952206]]

 t_estimated:
[[8.63339738e-01]
 [5.04622480e-01]
 [8.06106198e-04]]

 R_gt:
[[ 0.98639926 -0.08671686  0.1396272 ]
 [ 0.09309123  0.99486284 -0.03977142]
 [-0.13546087  0.05222841  0.98940564]]

 t_gt:
[ 0.13528682 -0.7843975   0.60532474]

Pose Error in degrees for R and t:
35.00257262122688 73.8270225340135

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.48742981e-01 -3.16048535e-01  2.82001005e-04]
 [ 3.16048436e-01  9.48742993e-01  3.45972946e-04]
 [-3.76890720e-04 -2.39113427e-04  9.99999900e-01]]

 t_estimated:
[[9.31452270e-01]
 [3.63862443e-01]
 [8.89639226e-04]]

 R_gt:
[[ 0.99118547  0.13220163 -0.00855296]
 [-0.13224416  0.99120502 -0.00472016]
 [ 0.00785345  0.00580946  0.99995199]]

 t_gt:
[-0.3557185  0.9216404 -0.1550591]

Pose Error in degrees for R and t:
26.028949492837445 89.77783076738463

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.99983393 -0.01653419  0.00766361]
 [-0.01651001  0.99985855  0.00320867]
 [-0.00771558  0.00308161 -0.99996549]]

 t_estimated:
[[ 0.9924399 ]
 [-0.12262134]
 [ 0.00520075]]

 R_gt:
[[ 0.94691361  0.32141586 -0.00674207]
 [-0.32144739  0.94626156 -0.03547589]
 [-0.00502306  0.03575998  0.99934781]]

 t_gt:
[-0.3050105   0.94695564 -0.10121075]

Pose Error in degrees for R and t:
179.66472508704942 65.20657327540748

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.80331495  0.59551569  0.00679418]
 [ 0.59550465 -0.80334303  0.00376746]
 [ 0.00770164  0.00101951 -0.99996982]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.89755542  0.44085056 -0.00658588]
 [-0.43794051  0.88970264 -0.12897992]
 [-0.05100167  0.11865114  0.99162564]]

 t_gt:
[-0.21964924  0.96828747 -0.1190529 ]

Pose Error in degrees for R and t:
172.83384545973914 35.81121027958424

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 8.12388362e-01  5.83116663e-01  3.26607854e-04]
 [-5.83116565e-01  8.12388422e-01 -3.51529618e-04]
 [-4.70315217e-04  9.51281205e-05  9.99999885e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075938e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99956406 -0.02560605 -0.01466658]
 [ 0.02533426  0.9995107  -0.0184103 ]
 [ 0.01513082  0.01803086  0.99972246]]

 t_gt:
[ 0.52600205  0.34744887 -0.77627387]

Pose Error in degrees for R and t:
37.1535500981952 58.2324099949769

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[-0.86930785 -0.49425183 -0.00435721]
 [-0.49425121  0.86931816 -0.00129275]
 [ 0.00442674  0.00102976 -0.99998967]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9967173  -0.07998388  0.01250389]
 [ 0.08036986  0.99617752 -0.0342369 ]
 [-0.00971769  0.03512924  0.99933452]]

 t_gt:
[ 0.9518448  -0.13109966 -0.27713597]

Pose Error in degrees for R and t:
179.82761747647965 17.969923121634043

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.93176798e-01  1.16618320e-01 -1.22474096e-04]
 [-1.16618204e-01  9.93176565e-01  7.10747071e-04]
 [ 2.04524531e-04 -6.91614792e-04  9.99999740e-01]]

 t_estimated:
[[9.73198539e-01]
 [2.29965630e-01]
 [6.42022519e-04]]

 R_gt:
[[ 0.98376755 -0.1767688   0.03087534]
 [ 0.17777396  0.98349921 -0.03356979]
 [-0.02443082  0.03851407  0.99895897]]

 t_gt:
[ 0.9152352  -0.40151462 -0.03362338]

Pose Error in degrees for R and t:
17.11843130225766 37.02722906341164

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-6.05070936e-01 -7.96169348e-01 -1.87916713e-03]
 [ 7.96171400e-01 -6.05070647e-01 -7.83328131e-04]
 [-5.13367024e-04 -1.97010821e-03  9.99997928e-01]]

 t_estimated:
[[9.99988849e-01]
 [4.65833315e-03]
 [7.76388858e-04]]

 R_gt:
[[ 0.9990138   0.04059695  0.01803716]
 [-0.04019637  0.99894751 -0.02205839]
 [-0.01891365  0.02131236  0.99959425]]

 t_gt:
[-0.31810509  0.94478066  0.07873158]

Pose Error in degrees for R and t:
129.55695890956562 71.72130988283423

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 0.97907757 -0.20290996 -0.01531867]
 [ 0.20310762  0.97907437  0.01267575]
 [ 0.01242609 -0.01552188  0.99980231]]

 t_estimated:
[[-0.60464348]
 [-0.7963597 ]
 [-0.0147474 ]]

 R_gt:
[[ 9.95899082e-01  9.04769269e-02  5.55469431e-04]
 [-9.04740731e-02  9.95758063e-01  1.67439392e-02]
 [ 9.61467870e-04 -1.67255494e-02  9.99859587e-01]]

 t_gt:
[-0.25306069  0.93923466  0.23194512]

Pose Error in degrees for R and t:
16.92372792277017 53.24620061373992

Number of keypoints:
Image1: 374
Image2: 374

 R_estimated:
[[ 6.76306832e-01  7.36618579e-01  1.46243685e-03]
 [-7.36619771e-01  6.76303595e-01  2.18174682e-03]
 [ 6.18063939e-04 -2.55279018e-03  9.99996551e-01]]

 t_estimated:
[[0.7153556 ]
 [0.69876005]
 [0.00087345]]

 R_gt:
[[ 0.99438893  0.10564771  0.00548002]
 [-0.10576888  0.99388876  0.03156667]
 [-0.00211085 -0.03196799  0.99948714]]

 t_gt:
[-0.16864829  0.95999125  0.2235499 ]

Pose Error in degrees for R and t:
41.407154996246454 56.608609136331566

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999629e-01 -2.76867032e-04  8.15679126e-04]
 [ 2.77821996e-04  9.99999276e-01 -1.17087878e-03]
 [-8.15354358e-04  1.17110496e-03  9.99998982e-01]]

 t_estimated:
[[-8.55168226e-01]
 [-5.18350050e-01]
 [-7.29043671e-04]]

 R_gt:
[[ 0.95490426 -0.29621654  0.02031718]
 [ 0.29675481  0.95438907 -0.03285031]
 [-0.00965878  0.0373983   0.99925368]]

 t_gt:
[ 0.86651599 -0.49384284 -0.07258988]

Pose Error in degrees for R and t:
17.367835163627174 60.988801430354286

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-5.53486367e-01 -8.32857084e-01 -1.38554502e-03]
 [ 8.32856492e-01 -5.53487846e-01  1.12563560e-03]
 [-1.70437591e-03 -5.30936205e-04  9.99998407e-01]]

 t_estimated:
[[9.83448888e-01]
 [1.81183814e-01]
 [8.42715414e-04]]

 R_gt:
[[ 0.86927421 -0.49428605 -0.00652886]
 [ 0.49406496  0.86916711 -0.02117958]
 [ 0.01614312  0.01518607  0.99975472]]

 t_gt:
[ 0.91028962 -0.4120144  -0.04021128]

Pose Error in degrees for R and t:
93.99524156049422 34.861205487843236

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999262e-01 -2.68341650e-04 -1.18498565e-03]
 [ 2.69701726e-04  9.99999305e-01  1.14774693e-03]
 [ 1.18467683e-03 -1.14806568e-03  9.99998639e-01]]

 t_estimated:
[[9.52678230e-01]
 [3.03979567e-01]
 [7.83452491e-04]]

 R_gt:
[[ 8.50049143e-01 -5.26702354e-01 -8.06880000e-08]
 [ 5.26456933e-01  8.49653830e-01 -3.05298588e-02]
 [ 1.60806298e-02  2.59521961e-02  9.99533982e-01]]

 t_gt:
[ 0.91465428 -0.40094772 -0.05146336]

Pose Error in degrees for R and t:
31.817037705424053 41.45715721740594

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99741741e-01  2.27255527e-02  2.81095621e-06]
 [-2.27255526e-02  9.99741740e-01 -4.73803657e-05]
 [-3.88697525e-06  4.73042488e-05  9.99999999e-01]]

 t_estimated:
[[ 0.54261754]
 [-0.83997923]
 [-0.00104893]]

 R_gt:
[[ 0.99880174  0.04865765 -0.00530886]
 [-0.04880085  0.99831698 -0.03133889]
 [ 0.00377559  0.03156114  0.99949458]]

 t_gt:
[ 0.36545729  0.77537132 -0.51501484]

Pose Error in degrees for R and t:
2.3518951746341377 63.09888539537512

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99985561e-01 -5.37376807e-03 -6.65781146e-06]
 [ 5.37376626e-03  9.99985531e-01 -2.47279365e-04]
 [ 7.98653708e-06  2.47240017e-04  9.99999969e-01]]

 t_estimated:
[[-0.19422819]
 [-0.98095481]
 [-0.00175187]]

 R_gt:
[[ 0.99818914  0.04740977  0.03704524]
 [-0.04396447  0.99507652 -0.08882612]
 [-0.04107405  0.08703739  0.99535761]]

 t_gt:
[ 0.34405909  0.82894762 -0.4409866 ]

Pose Error in degrees for R and t:
6.2411419150761445 28.452356775128283

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 4.05566104e-01  9.14065474e-01  6.66653259e-04]
 [-9.14064365e-01  4.05566651e-01 -1.42390725e-03]
 [-1.57191679e-03 -3.18754718e-05  9.99998764e-01]]

 t_estimated:
[[-0.08643857]
 [ 0.99625652]
 [ 0.00114684]]

 R_gt:
[[ 0.99960821 -0.02054369  0.01904121]
 [ 0.02219984  0.99557938 -0.0912709 ]
 [-0.01708262  0.09165784  0.99564384]]

 t_gt:
[ 0.80620404 -0.10578195 -0.58210414]

Pose Error in degrees for R and t:
67.48285219703857 79.87823699235948

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 0.38838126 -0.92142751 -0.01146023]
 [-0.92143839 -0.38818341 -0.01627665]
 [ 0.01054908  0.01688144 -0.99980185]]

 t_estimated:
[[ 0.592899  ]
 [ 0.80522597]
 [-0.00905048]]

 R_gt:
[[ 0.99723281  0.02036231  0.07149903]
 [-0.01819795  0.99936025 -0.03079607]
 [-0.07208006  0.02940847  0.99696519]]

 t_gt:
[-0.42056679  0.86750797  0.26561907]

Pose Error in degrees for R and t:
179.69860617225504 63.46257077636174

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.79560562e-01  2.01149427e-01  1.14062737e-04]
 [-2.01149370e-01  9.79560504e-01 -3.88443451e-04]
 [-1.89866530e-04  3.57560238e-04  9.99999918e-01]]

 t_estimated:
[[-0.56315999]
 [-0.82634709]
 [-0.00114738]]

 R_gt:
[[ 0.98852228  0.11609832  0.09667189]
 [-0.10786172  0.99039747 -0.08647786]
 [-0.10578395  0.07505767  0.99155252]]

 t_gt:
[-0.35189058  0.93601336  0.00721102]

Pose Error in degrees for R and t:
9.038666549984946 54.878690747591406

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.85901474e-01  1.67326808e-01 -1.50448600e-04]
 [-1.67326822e-01  9.85901480e-01 -8.52394746e-05]
 [ 1.34064648e-04  1.09211810e-04  9.99999985e-01]]

 t_estimated:
[[-0.678806  ]
 [-0.73431708]
 [-0.00091742]]

 R_gt:
[[ 0.97572216  0.20300842  0.08218988]
 [-0.19851753  0.97828159 -0.05962645]
 [-0.0925101   0.04186151  0.99483127]]

 t_gt:
[-0.30505991  0.95129979  0.04435277]

Pose Error in degrees for R and t:
6.158624513845974 60.55947248951334

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999985e-01  1.73845261e-04 -1.51857337e-05]
 [-1.73846892e-04  9.99999979e-01 -1.07520736e-04]
 [ 1.51670414e-05  1.07523375e-04  9.99999994e-01]]

 t_estimated:
[[-0.58904352]
 [-0.80810063]
 [-0.00104812]]

 R_gt:
[[ 0.99395298 -0.1044489   0.03389545]
 [ 0.10591885  0.99335858 -0.04495132]
 [-0.02897483  0.04826952  0.99841348]]

 t_gt:
[ 0.77003846 -0.58858038 -0.2461989 ]

Pose Error in degrees for R and t:
6.856268481838844 88.72196568717564

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 7.59403541e-01  6.50619151e-01 -9.91377026e-04]
 [-6.50618613e-01  7.59404188e-01  8.36890692e-04]
 [ 1.29735298e-03  9.47059058e-06  9.99999158e-01]]

 t_estimated:
[[-0.95969169]
 [-0.28105257]
 [-0.00114249]]

 R_gt:
[[ 0.96885    -0.15961208  0.18935221]
 [ 0.17042118  0.98447014 -0.04214342]
 [-0.17968468  0.07310008  0.98100379]]

 t_gt:
[ 0.66459084 -0.62015188  0.4168101 ]

Pose Error in degrees for R and t:
51.34787870973143 62.35556134684243

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.27280123  0.96205705  0.00507145]
 [ 0.96204971 -0.27275699 -0.00799829]
 [-0.00631154  0.00706093 -0.99995515]]

 t_estimated:
[[0.79726258]
 [0.60362807]
 [0.00235132]]

 R_gt:
[[ 0.94478836 -0.14363031  0.29452727]
 [ 0.1653004   0.98497987 -0.04991371]
 [-0.28293543  0.09584365  0.95433825]]

 t_gt:
[ 0.54291884 -0.47854725  0.6900954 ]

Pose Error in degrees for R and t:
165.931795747134 81.62757182808889

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.94023275e-01 -1.09168345e-01 -2.82854538e-05]
 [ 1.09168348e-01  9.94023244e-01  2.48318718e-04]
 [ 1.00785507e-06 -2.49922462e-04  9.99999969e-01]]

 t_estimated:
[[-0.73865986]
 [-0.67407758]
 [-0.0010091 ]]

 R_gt:
[[ 0.99931795  0.03421864 -0.01383471]
 [-0.03398403  0.99928075  0.01683922]
 [ 0.01440004 -0.0163572   0.99976255]]

 t_gt:
[ 0.15796055  0.98617477 -0.05007783]

Pose Error in degrees for R and t:
8.314347105531548 38.6122663835918

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-2.43122552e-01  9.69995216e-01  8.40642019e-04]
 [-9.69994639e-01 -2.43121018e-01 -1.60315716e-03]
 [-1.35067703e-03 -1.20518191e-03  9.99998362e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99176011  0.12793773 -0.00656844]
 [-0.12763887  0.99122181  0.03447987]
 [ 0.01092137 -0.03335704  0.99938428]]

 t_gt:
[-0.23605118  0.96229958  0.1351272 ]

Pose Error in degrees for R and t:
96.74353825781881 16.06495760816113

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 8.09077863e-01 -5.87701239e-01 -5.15718346e-04]
 [-5.87701418e-01 -8.09077838e-01 -3.09121054e-04]
 [-2.35585458e-04  5.53191405e-04 -9.99999819e-01]]

 t_estimated:
[[0.58535481]
 [0.81077671]
 [0.00092766]]

 R_gt:
[[ 0.98255732  0.1841076   0.02617571]
 [-0.18520947  0.98147949  0.04895139]
 [-0.01667886 -0.05294571  0.99845816]]

 t_gt:
[-0.23597324  0.92887011  0.28551172]

Pose Error in degrees for R and t:
176.85735892325016 52.030417531364876

Number of keypoints:
Image1: 374
Image2: 374

 R_estimated:
[[ 9.98921836e-01  4.64237278e-02  5.30966218e-05]
 [-4.64237233e-02  9.98921834e-01 -8.28079307e-05]
 [-5.68836277e-05  8.02537073e-05  9.99999995e-01]]

 t_estimated:
[[ 3.85858839e-01]
 [-9.22557646e-01]
 [-5.87798797e-04]]

 R_gt:
[[ 0.99892211 -0.04087696 -0.02198036]
 [ 0.04131559  0.99894866  0.01986366]
 [ 0.02114518 -0.02075078  0.99956117]]

 t_gt:
[ 0.82148216 -0.56991608 -0.01904532]

Pose Error in degrees for R and t:
5.297785768940491 32.56644441762205

Number of keypoints:
Image1: 514
Image2: 514

 R_estimated:
[[ 9.99923608e-01  1.23603691e-02  5.46618372e-06]
 [-1.23603689e-02  9.99923607e-01 -4.32517091e-05]
 [-6.00037323e-06  4.31808410e-05  9.99999999e-01]]

 t_estimated:
[[ 4.50864833e-02]
 [-9.98983070e-01]
 [-1.87601535e-04]]

 R_gt:
[[ 0.99885369 -0.0080506  -0.04716643]
 [ 0.01045246  0.99864864  0.05090183]
 [ 0.04669321 -0.05133698  0.99758959]]

 t_gt:
[ 0.67129771 -0.72534365  0.1524335 ]

Pose Error in degrees for R and t:
4.169891096902209 40.98826946594315

Number of keypoints:
Image1: 381
Image2: 381

 R_estimated:
[[ 9.98707811e-01  5.08194498e-02  3.04029458e-04]
 [-5.08195472e-02  9.98707800e-01  3.21535966e-04]
 [-2.87296310e-04 -3.36571120e-04  9.99999902e-01]]

 t_estimated:
[[-0.02399467]
 [-0.99969116]
 [ 0.00646889]]

 R_gt:
[[ 0.99774122  0.06704946 -0.00404227]
 [-0.06653627  0.99477485  0.07743495]
 [ 0.0092128  -0.0769906   0.99698881]]

 t_gt:
[-0.80925186 -0.14625009  0.56896602]

Pose Error in degrees for R and t:
4.525091256550485 80.25268995633449

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.88446765e-01 -1.51568431e-01 -6.64511401e-05]
 [ 1.51568439e-01  9.88446755e-01  1.44607594e-04]
 [ 4.37654677e-05 -1.53008804e-04  9.99999987e-01]]

 t_estimated:
[[-0.65732057]
 [-0.75361037]
 [-0.00103469]]

 R_gt:
[[ 0.9968802   0.07548853 -0.02305788]
 [-0.07477413  0.9967362   0.03040732]
 [ 0.02527865 -0.02858888  0.99927181]]

 t_gt:
[-0.2148648   0.97621285  0.02901022]

Pose Error in degrees for R and t:
13.208279326014253 53.524493489634914

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 1.48625584e-01  9.88892991e-01  1.04332995e-03]
 [-9.88892901e-01  1.48626606e-01 -9.80732332e-04]
 [-1.12490592e-03 -8.85979665e-04  9.99998975e-01]]

 t_estimated:
[[0.13792344]
 [0.9904423 ]
 [0.00108601]]

 R_gt:
[[ 0.98743336  0.15766073  0.01087624]
 [-0.15796843  0.98668064  0.03880995]
 [-0.00461267 -0.04004082  0.99918719]]

 t_gt:
[-0.29498567  0.92913774  0.22290472]

Pose Error in degrees for R and t:
72.40034127466501 28.38007034752789

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 5.54500771e-01 -8.32183209e-01  2.99605944e-05]
 [-8.32183166e-01 -5.54500730e-01  3.44018782e-04]
 [-2.69673482e-04 -2.15691382e-04 -9.99999940e-01]]

 t_estimated:
[[0.50119018]
 [0.86533618]
 [0.00130518]]

 R_gt:
[[ 9.84493026e-01  1.75302765e-01  6.53776483e-03]
 [-1.75424649e-01  9.83865008e-01  3.51537501e-02]
 [-2.69769840e-04 -3.57561233e-02  9.99360800e-01]]

 t_gt:
[-0.16984422  0.97200902  0.16233114]

Pose Error in degrees for R and t:
178.0918388217102 40.86947443100831

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.99637374  0.07530321  0.03960812]
 [-0.07301745  0.99574052 -0.05629618]
 [-0.04367869  0.05319995  0.99762816]]

 t_estimated:
[[0.34030116]
 [0.94030584]
 [0.00447765]]

 R_gt:
[[ 0.99714704 -0.07519031 -0.00677769]
 [ 0.07494047  0.9966852  -0.0316641 ]
 [ 0.00913529  0.03106629  0.99947616]]

 t_gt:
[ 0.65305037 -0.63183776 -0.41750002]

Pose Error in degrees for R and t:
9.121223182802659 68.05253143078345

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.96752772  0.2527576  -0.00192598]
 [-0.25275151  0.96752678  0.00293493]
 [ 0.00260526 -0.00235283  0.99999384]]

 t_estimated:
[[-0.66724791]
 [-0.74483488]
 [-0.00110839]]

 R_gt:
[[ 0.98323282 -0.15510417  0.09589764]
 [ 0.15966092  0.9862878  -0.04177094]
 [-0.08810371  0.05638106  0.99451391]]

 t_gt:
[ 0.70692248 -0.70315918  0.07633987]

Pose Error in degrees for R and t:
24.50536533527348 87.02155148655382

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-4.40364064e-01 -8.97816768e-01 -2.13105221e-03]
 [ 8.97818963e-01 -4.40364708e-01 -1.82588627e-04]
 [-7.74509054e-04 -1.99370456e-03  9.99997713e-01]]

 t_estimated:
[[0.97505222]
 [0.22197256]
 [0.00116216]]

 R_gt:
[[ 0.96271852 -0.16535077  0.21408706]
 [ 0.17896932  0.98279105 -0.04574032]
 [-0.20284047  0.08234991  0.97574316]]

 t_gt:
[ 0.63352127 -0.63865454  0.43677361]

Pose Error in degrees for R and t:
106.62791335025815 61.54553788345053

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 6.89763274e-01  7.24034687e-01 -6.30409006e-04]
 [-7.24034853e-01  6.89762432e-01 -1.14803504e-03]
 [-3.96384745e-04  1.24831050e-03  9.99999142e-01]]

 t_estimated:
[[-2.46918815e-01]
 [ 9.69035999e-01]
 [-5.75805503e-04]]

 R_gt:
[[ 0.99735691  0.06094457  0.03955714]
 [-0.05915985  0.99724038 -0.04483865]
 [-0.04218025  0.04238011  0.99821031]]

 t_gt:
[-0.30457387  0.94738709 -0.09845034]

Pose Error in degrees for R and t:
43.06896676443657 6.629280784283589

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 1.95773104e-02 -9.99807002e-01 -1.63948805e-03]
 [ 9.99808343e-01  1.95771586e-02  1.08600317e-04]
 [-7.64828402e-05 -1.64129993e-03  9.99998650e-01]]

 t_estimated:
[[ 7.53926466e-01]
 [-6.56958800e-01]
 [ 1.35476277e-04]]

 R_gt:
[[ 0.9861255   0.15897346  0.04778654]
 [-0.15624004  0.98610968 -0.05635589]
 [-0.05608192  0.04810748  0.99726687]]

 t_gt:
[-0.30513355  0.95185138 -0.02953774]

Pose Error in degrees for R and t:
98.03151614152755 31.198325838496505

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99428679e-01  3.37967615e-02 -3.08214903e-04]
 [-3.37966835e-02  9.99428696e-01  2.55016199e-04]
 [ 3.16657540e-04 -2.44453861e-04  9.99999920e-01]]

 t_estimated:
[[0.97968122]
 [0.20055673]
 [0.00130909]]

 R_gt:
[[ 0.95607787  0.29301763 -0.00748385]
 [-0.29310775  0.95590522 -0.01823713]
 [ 0.00180935  0.01962932  0.99980576]]

 t_gt:
[-0.24817294  0.96596472 -0.07295447]

Pose Error in degrees for R and t:
15.14900036366049 87.16297812695998

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[ 9.99994053e-01 -3.44843201e-03  5.55679361e-05]
 [ 3.44843622e-03  9.99994051e-01 -7.58434175e-05]
 [-5.53060647e-05  7.60345889e-05  9.99999996e-01]]

 t_estimated:
[[ 5.95013681e-01]
 [-8.03715494e-01]
 [-3.51941616e-04]]

 R_gt:
[[ 0.99879406 -0.03287755  0.03644878]
 [ 0.03456153  0.99831616 -0.04658535]
 [-0.03485546  0.04778949  0.99824909]]

 t_gt:
[ 0.65606801 -0.75333826  0.04534559]

Pose Error in degrees for R and t:
3.805112684264564 5.238596280719495

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[-0.92687183  0.3729589   0.04254733]
 [ 0.37297058  0.92780902 -0.00796077]
 [-0.04244484  0.00849029 -0.99906274]]

 t_estimated:
[[ 0.98119134]
 [-0.1917878 ]
 [ 0.02193165]]

 R_gt:
[[ 0.99677987 -0.07754211 -0.02040296]
 [ 0.07710015  0.99678919 -0.02161762]
 [ 0.02201417  0.01997577  0.99955846]]

 t_gt:
[ 0.61238558 -0.72064251 -0.32505119]

Pose Error in degrees for R and t:
178.48785353150666 42.94996764879004

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-0.83712018 -0.54682871 -0.01442779]
 [-0.5460443   0.83691166 -0.03760974]
 [ 0.03264087 -0.02360566 -0.99918834]]

 t_estimated:
[[0.99993236]
 [0.01157329]
 [0.00115733]]

 R_gt:
[[ 0.9873095  -0.14734353 -0.05924116]
 [ 0.14917401  0.98842238  0.02772683]
 [ 0.0544701  -0.03621289  0.99785869]]

 t_gt:
[ 0.54411591 -0.82388371 -0.15859858]

Pose Error in degrees for R and t:
175.85256967751286 57.69944693526665

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.94342079  0.32936143 -0.03844816]
 [-0.33048959 -0.94339779  0.02787894]
 [-0.02708966  0.03900829  0.99887162]]

 t_estimated:
[[0.817844  ]
 [0.57543897]
 [0.00109191]]

 R_gt:
[[ 0.96221382 -0.26110167 -0.07726733]
 [ 0.25980914  0.96529623 -0.02651015]
 [ 0.08150816  0.0054337   0.99665771]]

 t_gt:
[ 0.87277454 -0.45213915 -0.18394235]

Pose Error in degrees for R and t:
175.7588116354814 63.037060083870834

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-9.35470468e-01 -3.53404870e-01  2.63685023e-05]
 [-3.53404492e-01  9.35469573e-01  1.39394766e-03]
 [-5.17294822e-04  1.29467812e-03 -9.99999028e-01]]

 t_estimated:
[[9.74435346e-01]
 [2.24666377e-01]
 [8.81044616e-04]]

 R_gt:
[[ 0.88388607 -0.46464151 -0.05341726]
 [ 0.45939519  0.88393614 -0.08725168]
 [ 0.08775896  0.05258059  0.99475297]]

 t_gt:
[ 0.91454382 -0.36225559 -0.17994579]

Pose Error in degrees for R and t:
175.1884897992979 35.941312470880774

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.27164718e-01  3.74653926e-01 -1.44476870e-04]
 [-3.74653749e-01  9.27164545e-01  6.88871807e-04]
 [ 3.92042359e-04 -5.84568834e-04  9.99999752e-01]]

 t_estimated:
[[9.80914692e-01]
 [1.94436974e-01]
 [7.93620301e-04]]

 R_gt:
[[ 0.70770617 -0.7047112  -0.05033229]
 [ 0.699712    0.70897658 -0.08806444]
 [ 0.09774569  0.02710488  0.99484268]]

 t_gt:
[ 0.96168846 -0.25666469 -0.09632518]

Pose Error in degrees for R and t:
66.97899547682422 26.702371753899524

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.98222274  0.18056262  0.05133835]
 [ 0.18005782  0.98355162 -0.01433186]
 [-0.05308171 -0.00483321 -0.99857848]]

 t_estimated:
[[ 0.9966471 ]
 [-0.07660797]
 [ 0.02873641]]

 R_gt:
[[ 0.99537736 -0.09451081  0.01713533]
 [ 0.09504892  0.99489487 -0.03391427]
 [-0.01384307  0.03538564  0.99927718]]

 t_gt:
[ 0.56570896 -0.81765863 -0.10680701]

Pose Error in degrees for R and t:
175.95982470892918 51.43646335272837

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.98655337e-01 -5.18412305e-02  7.47858101e-05]
 [ 5.18412189e-02  9.98655329e-01  1.48962666e-04]
 [-8.24076557e-05 -1.44885373e-04  9.99999986e-01]]

 t_estimated:
[[0.9497251 ]
 [0.31308322]
 [0.00106589]]

 R_gt:
[[ 0.9993671  -0.03166388  0.01626006]
 [ 0.03193068  0.99935473 -0.01642395]
 [-0.01572964  0.016933    0.9997325 ]]

 t_gt:
[ 0.07616946 -0.99272206  0.09327987]

Pose Error in degrees for R and t:
1.7556601261386862 76.2099300885544

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99987391e-01  4.92657374e-03  9.72827170e-04]
 [-4.92560839e-03  9.99987377e-01 -9.92234712e-04]
 [-9.77703208e-04  9.87430435e-04  9.99999035e-01]]

 t_estimated:
[[0.04588471]
 [0.99890678]
 [0.00893564]]

 R_gt:
[[ 0.99792545 -0.02503666  0.05932491]
 [ 0.02702772  0.99909022 -0.03299534]
 [-0.05844539  0.03453008  0.99769295]]

 t_gt:
[-0.31638073 -0.72555445  0.61112517]

Pose Error in degrees for R and t:
4.208313926186341 42.79260937103482

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-2.10050023e-01 -9.77690061e-01 -1.06451340e-03]
 [-9.77690602e-01  2.10049583e-01  5.10134858e-04]
 [-2.75153183e-04  1.14791859e-03 -9.99999303e-01]]

 t_estimated:
[[0.67517517]
 [0.73765685]
 [0.00093256]]

 R_gt:
[[ 0.97926195  0.20235102 -0.00998891]
 [-0.20241727  0.97928029 -0.00611879]
 [ 0.00854398  0.00801483  0.99993095]]

 t_gt:
[-0.38125876  0.9224599  -0.06090561]

Pose Error in degrees for R and t:
179.29264984396926 64.97677386827856

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999980e-01  1.97395555e-04  3.44648992e-05]
 [-1.97395520e-04  9.99999981e-01 -1.01629088e-06]
 [-3.44650992e-05  1.00948764e-06  9.99999999e-01]]

 t_estimated:
[[-9.99997491e-01]
 [ 2.22157189e-03]
 [ 2.89155904e-04]]

 R_gt:
[[ 0.94528976  0.32616799  0.00658874]
 [-0.32602604  0.9452142  -0.01666155]
 [-0.01166265  0.01360332  0.99983911]]

 t_gt:
[-0.31640316  0.94860209 -0.00656638]

Pose Error in degrees for R and t:
19.04962995874316 71.427289956177

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.87185223 -0.48965486 -0.01057409]
 [ 0.4897151   0.8718734   0.00398687]
 [ 0.00726708 -0.00865425  0.99993614]]

 t_estimated:
[[8.13998698e-01]
 [5.80866328e-01]
 [6.54866209e-04]]

 R_gt:
[[ 9.26759268e-01  3.75657158e-01 -2.63033519e-04]
 [-3.75391532e-01  9.26077537e-01 -3.82402945e-02]
 [-1.41225755e-02  3.55388645e-02  9.99267913e-01]]

 t_gt:
[-0.26602086  0.96325453 -0.03706228]

Pose Error in degrees for R and t:
51.45396414480868 69.94285341320483

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.6075309  -0.79428299 -0.00455307]
 [ 0.79429403  0.60753229  0.00123036]
 [ 0.00178889 -0.00436396  0.99998888]]

 t_estimated:
[[0.97679173]
 [0.21418807]
 [0.00117686]]

 R_gt:
[[ 0.97434581  0.20361038 -0.0958779 ]
 [-0.20153064  0.97899146  0.03101016]
 [ 0.1001774  -0.01089242  0.99490962]]

 t_gt:
[-0.21073869  0.93855072 -0.27333451]

Pose Error in degrees for R and t:
64.51608908264384 89.70531950850273

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.67902425e-01 -2.51323245e-01 -1.23332116e-03]
 [ 2.51324167e-01  9.67902748e-01  6.57847039e-04]
 [ 1.02840269e-03 -9.46695158e-04  9.99999023e-01]]

 t_estimated:
[[0.72345777]
 [0.69036823]
 [0.00075204]]

 R_gt:
[[ 0.93230936  0.34048384 -0.12194654]
 [-0.33330373  0.93977262  0.07573532]
 [ 0.14038811 -0.02996403  0.98964241]]

 t_gt:
[-0.1658082   0.96718541 -0.19250982]

Pose Error in degrees for R and t:
35.280490410556304 56.79651829715278

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 1.58229362e-01 -9.87400910e-01 -1.70620800e-03]
 [ 9.87402376e-01  1.58229351e-01  1.42302057e-04]
 [ 1.29463004e-04 -1.70723020e-03  9.99998534e-01]]

 t_estimated:
[[9.88371320e-01]
 [1.52057126e-01]
 [8.73891530e-04]]

 R_gt:
[[ 0.89055272  0.44163477 -0.10897417]
 [-0.4398249   0.89712728  0.0414464 ]
 [ 0.11606765  0.01101932  0.99318006]]

 t_gt:
[-0.09045963  0.98128799 -0.16997332]

Pose Error in degrees for R and t:
107.28124384907119 86.57995610242637

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999993e-01 -8.13716515e-05 -8.99514463e-05]
 [ 8.13782130e-05  9.99999994e-01  7.29439481e-05]
 [ 8.99455102e-05 -7.29512677e-05  9.99999993e-01]]

 t_estimated:
[[-9.92268841e-01]
 [-1.24106688e-01]
 [ 2.76475928e-04]]

 R_gt:
[[ 0.99576448  0.0910777   0.01259163]
 [-0.09092905  0.99578698 -0.01188056]
 [-0.01362003  0.01068471  0.99985019]]

 t_gt:
[-0.36862684  0.92917253  0.02743486]

Pose Error in degrees for R and t:
5.32060804777075 75.4947930164194

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-0.17790119 -0.97784121  0.11035276]
 [-0.97071656  0.19278083  0.143335  ]
 [-0.16143276 -0.08162179 -0.98350259]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.98373864  0.1792925   0.01061318]
 [-0.17830167  0.98199737 -0.06236597]
 [-0.02160317  0.0594591   0.9979967 ]]

 t_gt:
[-0.31232616  0.94554754 -0.09160907]

Pose Error in degrees for R and t:
171.61150401027712 68.5225722023408

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.28866595  0.13941297 -0.94722542]
 [-0.7605448  -0.63436138  0.1384097 ]
 [-0.58158712  0.76036153  0.28914834]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.94925095  0.31372312  0.0223734 ]
 [-0.31235784  0.9486631  -0.04970579]
 [-0.03681867  0.04019371  0.99851353]]

 t_gt:
[-0.28009822  0.95969503  0.02303107]

Pose Error in degrees for R and t:
129.86237158149137 61.31849497969873

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-0.67642983 -0.73597721 -0.02793253]
 [-0.73585636  0.67693987 -0.01636561]
 [ 0.03095337  0.00948414 -0.99947583]]

 t_estimated:
[[ 0.91815276]
 [ 0.39597622]
 [-0.01408341]]

 R_gt:
[[ 0.99116677 -0.12948674  0.02867916]
 [ 0.13032882  0.99102362 -0.02976312]
 [-0.02456858  0.03323869  0.99914599]]

 t_gt:
[ 0.62152208 -0.7833448   0.00901282]

Pose Error in degrees for R and t:
178.82138565933596 74.90980035891941

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 8.22791478e-01  5.68343143e-01  5.05732024e-04]
 [-5.68342981e-01  8.22791630e-01 -4.34737298e-04]
 [-6.63192039e-04  7.02688981e-05  9.99999778e-01]]

 t_estimated:
[[0.76519843]
 [0.64379372]
 [0.00101004]]

 R_gt:
[[ 0.99001126 -0.13844057  0.02669188]
 [ 0.13940442  0.98948898 -0.03844848]
 [-0.0210895   0.04178683  0.99890452]]

 t_gt:
[ 0.591727   -0.8033576  -0.06690085]

Pose Error in degrees for R and t:
42.70308124561672 86.30325734700152

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 5.54126694e-01 -8.32432237e-01  4.21737395e-04]
 [-8.32432072e-01 -5.54126851e-01 -5.27129790e-04]
 [ 6.72495845e-04 -5.89710462e-05 -9.99999772e-01]]

 t_estimated:
[[0.11412895]
 [0.99346535]
 [0.00108694]]

 R_gt:
[[ 0.99396229 -0.09453858  0.05569293]
 [ 0.09713482  0.99421113 -0.04592114]
 [-0.05102952  0.05105462  0.99739145]]

 t_gt:
[ 0.37878228 -0.91485613  0.13986513]

Pose Error in degrees for R and t:
178.97519030268884 30.060631051287814

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[-9.45897426e-01 -3.24462724e-01 -1.41423694e-03]
 [ 3.24465613e-01 -9.45892632e-01 -3.03239478e-03]
 [-3.53817229e-04 -3.32720568e-03  9.99994402e-01]]

 t_estimated:
[[0.88860496]
 [0.4586719 ]
 [0.00114955]]

 R_gt:
[[ 0.99863204  0.01789066 -0.04913337]
 [-0.02038717  0.99850162 -0.05077373]
 [ 0.04815186  0.05170605  0.99750057]]

 t_gt:
[-0.01017525  0.40065974 -0.91617042]

Pose Error in degrees for R and t:
162.17288429779825 79.99835790369933

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.98733675e-01 -5.03095056e-02 -2.35426580e-05]
 [ 5.03095068e-02  9.98733673e-01  5.53197015e-05]
 [ 2.07297385e-05 -5.64340682e-05  9.99999998e-01]]

 t_estimated:
[[-3.01552501e-02]
 [ 9.99545222e-01]
 [ 9.74603222e-05]]

 R_gt:
[[ 0.99812579  0.02033561 -0.05772724]
 [-0.02407279  0.99760923 -0.06477714]
 [ 0.05627166  0.06604533  0.99622908]]

 t_gt:
[ 0.00120088  0.37879643 -0.92547924]

Pose Error in degrees for R and t:
6.486271469245562 67.75933922060607

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.60950464 -0.79276983 -0.00448169]
 [ 0.7927808  -0.60948189 -0.00551597]
 [ 0.00164139 -0.00691501  0.99997474]]

 t_estimated:
[[0.9545949 ]
 [0.29788777]
 [0.00338509]]

 R_gt:
[[ 0.99749695 -0.01465899  0.06917597]
 [ 0.00840938  0.99592725  0.08977323]
 [-0.07021012 -0.08896694  0.99355742]]

 t_gt:
[-0.01080313 -0.26488425  0.9642197 ]

Pose Error in degrees for R and t:
126.99402784188398 85.0690897955164

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.97205202e-01  7.47112054e-02 -1.42632640e-04]
 [-7.47111919e-02  9.97205209e-01  9.76693272e-05]
 [ 1.49531005e-04 -8.67401066e-05  9.99999985e-01]]

 t_estimated:
[[-0.97607849]
 [-0.21741312]
 [-0.00152037]]

 R_gt:
[[ 0.99975616  0.00929227  0.02006189]
 [-0.00878667  0.99964431 -0.02518233]
 [-0.02028928  0.02500149  0.99948204]]

 t_gt:
[-0.4226181   0.44242175 -0.79098479]

Pose Error in degrees for R and t:
4.197731583492127 71.48682353830145

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.47945803e-01  3.18431493e-01 -3.73347055e-04]
 [-3.18431293e-01  9.47945806e-01  5.09759372e-04]
 [ 5.16236213e-04 -3.64338872e-04  9.99999800e-01]]

 t_estimated:
[[-9.43275077e-01]
 [-3.32010996e-01]
 [-9.09619168e-04]]

 R_gt:
[[ 9.82408883e-01 -1.86737569e-01 -1.43528374e-03]
 [ 1.86740619e-01  9.82404443e-01  2.98435958e-03]
 [ 8.53184152e-04 -3.19900829e-03  9.99994656e-01]]

 t_gt:
[ 0.99205155 -0.12581796  0.0018894 ]

Pose Error in degrees for R and t:
29.33107241527834 26.618927717380537

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.66636476  0.74558018 -0.00825881]
 [-0.74561128  0.6663802  -0.00111588]
 [ 0.00467153  0.00690145  0.99996527]]

 t_estimated:
[[0.06063584]
 [0.99815927]
 [0.00116607]]

 R_gt:
[[ 0.92755228 -0.37283384 -0.02536236]
 [ 0.373477    0.92719073  0.02884441]
 [ 0.01276095 -0.03622636  0.99926245]]

 t_gt:
[ 0.99508193 -0.05360314  0.08329858]

Pose Error in degrees for R and t:
70.16217020313125 89.6029202575302

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 6.95442319e-01  7.18580484e-01  1.43848459e-03]
 [ 7.18578590e-01 -6.95443797e-01  1.65395997e-03]
 [ 2.18888854e-03 -1.16569534e-04 -9.99997598e-01]]

 t_estimated:
[[-0.96460101]
 [-0.2637115 ]
 [-0.00106624]]

 R_gt:
[[ 0.99030042 -0.13892837  0.0020779 ]
 [ 0.13893852  0.9902796  -0.00638104]
 [-0.00117101  0.00660816  0.9999767 ]]

 t_gt:
[ 0.7689906  -0.6388684  -0.02237468]

Pose Error in degrees for R and t:
179.66174320751745 55.021549509957694

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 1.00000000e+00  1.09426357e-13 -1.25854188e-15]
 [-1.09426357e-13  1.00000000e+00 -9.06393694e-15]
 [ 1.25824373e-15  9.06906657e-15  1.00000000e+00]]

 t_estimated:
[[9.95581268e-01]
 [9.39035750e-02]
 [2.39581854e-04]]

 R_gt:
[[ 9.60533054e-01 -2.78166487e-01 -7.48090013e-04]
 [ 2.78121089e-01  9.60420368e-01 -1.55111049e-02]
 [ 5.03314050e-03  1.46912759e-02  9.99878074e-01]]

 t_gt:
[ 0.83423229 -0.54946128 -0.04635503]

Pose Error in degrees for R and t:
16.17491341699409 38.83650694411585

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 8.75240374e-01 -4.83668625e-01  4.35310599e-03]
 [-4.83663658e-01 -8.75251180e-01 -2.19935219e-03]
 [ 4.87381881e-03 -1.80477334e-04 -9.99988107e-01]]

 t_estimated:
[[0.96170877]
 [0.27406209]
 [0.00249147]]

 R_gt:
[[ 0.9264096  -0.37623496  0.01463102]
 [ 0.37634247  0.92408544 -0.06655625]
 [ 0.01152091  0.06716488  0.99767494]]

 t_gt:
[ 0.87536165 -0.46300105 -0.13918337]

Pose Error in degrees for R and t:
176.12803984376188 44.38914921010043

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.32490445 -0.94571844  0.00732989]
 [-0.94572669 -0.32483716  0.00904674]
 [-0.00617465 -0.0098714  -0.99993221]]

 t_estimated:
[[0.56648985]
 [0.82404138]
 [0.00671217]]

 R_gt:
[[ 0.99257923 -0.12147137  0.00565368]
 [ 0.1200837   0.98644512  0.11182826]
 [-0.01916105 -0.11031817  0.99371122]]

 t_gt:
[ 0.42239687 -0.6654921   0.61538699]

Pose Error in degrees for R and t:
173.72374800453588 72.24310535019553

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.77229899e-01  2.12182563e-01  5.33664371e-04]
 [-2.12182870e-01  9.77229790e-01  6.06270204e-04]
 [-3.92872756e-04 -7.05699808e-04  9.99999674e-01]]

 t_estimated:
[[0.24035881]
 [0.97068272]
 [0.00164549]]

 R_gt:
[[ 0.98642229 -0.16373201 -0.01277659]
 [ 0.16408649  0.97932258  0.11833121]
 [-0.00686273 -0.11882025  0.99289225]]

 t_gt:
[ 0.50064331 -0.7121962   0.49206996]

Pose Error in degrees for R and t:
22.74491843026237 55.23772199435081

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.24305212e-01  5.66145659e-01 -1.00587613e-04]
 [-5.66145668e-01  8.24305194e-01 -1.70854731e-04]
 [-1.38137726e-05  1.97783686e-04  9.99999980e-01]]

 t_estimated:
[[-9.99819049e-01]
 [-1.89965619e-02]
 [-9.99819049e-04]]

 R_gt:
[[ 0.98990455 -0.1309049  -0.05436052]
 [ 0.13228887  0.99095187  0.02268342]
 [ 0.05089967 -0.02964559  0.99826447]]

 t_gt:
[ 0.6529857 -0.7400772 -0.1609205]

Pose Error in degrees for R and t:
42.179758127389505 50.308942069153176

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 6.71137447e-01 -7.41332781e-01 -4.84027232e-04]
 [ 7.41332918e-01  6.71137127e-01  6.79400891e-04]
 [-1.78813506e-04 -8.14796700e-04  9.99999652e-01]]

 t_estimated:
[[0.50891773]
 [0.86081402]
 [0.00140198]]

 R_gt:
[[ 0.98410224 -0.1738794  -0.03618747]
 [ 0.17474033  0.98436606  0.02214108]
 [ 0.03177204 -0.02811183  0.99910027]]

 t_gt:
[ 0.61580139 -0.78613751 -0.05269221]

Pose Error in degrees for R and t:
37.87493700895504 68.69086263155003

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.17745759 -0.98412118 -0.00378377]
 [ 0.98411762 -0.17747236  0.00400911]
 [-0.00461696 -0.00301222  0.9999848 ]]

 t_estimated:
[[0.99961697]
 [0.02761373]
 [0.00184092]]

 R_gt:
[[ 0.97911736 -0.20069339 -0.03244172]
 [ 0.2011463   0.97949583  0.01132465]
 [ 0.02950315 -0.0176134   0.99940993]]

 t_gt:
[ 0.58368627 -0.80807602 -0.07952038]

Pose Error in degrees for R and t:
88.64331760566536 55.87485685594306

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.96572085e-01  8.27289498e-02  1.64161978e-05]
 [-8.27289495e-02  9.96572085e-01 -1.87171002e-05]
 [-1.79083705e-05  1.72948448e-05  1.00000000e+00]]

 t_estimated:
[[-7.15172575e-01]
 [-6.98947586e-01]
 [-6.78443760e-04]]

 R_gt:
[[ 0.99548735  0.05266016  0.07894444]
 [-0.0478363   0.99694068 -0.06180265]
 [-0.08195742  0.05774714  0.99496128]]

 t_gt:
[-0.49540598  0.84464882  0.20283314]

Pose Error in degrees for R and t:
6.045179152783708 76.33750730465844

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.20357308e-01  3.91078356e-01  3.79674619e-04]
 [-3.91077098e-01  9.20356117e-01 -1.82224963e-03]
 [-1.06207825e-03  1.52863872e-03  9.99998268e-01]]

 t_estimated:
[[0.86410818]
 [0.50330511]
 [0.00101065]]

 R_gt:
[[ 0.99080741  0.0312069   0.13163721]
 [-0.02407364  0.99817211 -0.05543604]
 [-0.13312756  0.05175745  0.98974658]]

 t_gt:
[-0.27014429  0.61116565  0.74397487]

Pose Error in degrees for R and t:
22.904769219279643 85.70332797353687

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.87683416  0.48032989  0.02109636]
 [ 0.48038919  0.87705189 -0.00249263]
 [-0.01969989  0.00794885 -0.99977434]]

 t_estimated:
[[ 0.97808295]
 [-0.20809384]
 [ 0.00712076]]

 R_gt:
[[ 0.98620736 -0.04271308  0.15991365]
 [ 0.05173371  0.99727036 -0.05266887]
 [-0.1572283   0.0602157   0.98572542]]

 t_gt:
[ 0.4635572  -0.19129136  0.86517185]

Pose Error in degrees for R and t:
169.1381168602609 60.04202683005062

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.34430215e-01 -3.56103485e-01 -5.52101268e-03]
 [ 3.56111413e-01 -9.34443373e-01 -4.93247669e-04]
 [-4.98342650e-03 -2.42700115e-03  9.99984637e-01]]

 t_estimated:
[[0.50247359]
 [0.86459142]
 [0.00140356]]

 R_gt:
[[ 0.99796893 -0.05643751 -0.02954787]
 [ 0.05980479  0.98979696  0.12932778]
 [ 0.0219476  -0.13083221  0.99116124]]

 t_gt:
[ 0.23600524 -0.74410035  0.62499295]

Pose Error in degrees for R and t:
155.8246829832153 58.40718004908752

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.98789921e-01  4.91796990e-02  2.24835682e-04]
 [-4.91797186e-02  9.98789942e-01  8.25873018e-05]
 [-2.20501999e-04 -9.35447203e-05  9.99999971e-01]]

 t_estimated:
[[6.87776377e-02]
 [9.97631592e-01]
 [9.18313675e-04]]

 R_gt:
[[ 0.99008597 -0.09715771 -0.10143933]
 [ 0.11361699  0.97858471  0.17165173]
 [ 0.08259045 -0.1814749   0.97992128]]

 t_gt:
[ 0.36361447 -0.81166908  0.45714092]

Pose Error in degrees for R and t:
14.552686306901855 38.342319911745534

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.75118854  0.66008452  0.00204932]
 [ 0.66006972 -0.75118737  0.00504975]
 [ 0.00487269 -0.00244062 -0.99998515]]

 t_estimated:
[[0.80739709]
 [0.59000777]
 [0.00088091]]

 R_gt:
[[ 0.96808697 -0.1427758  -0.20596809]
 [ 0.17562834  0.97278319  0.15115566]
 [ 0.17878057 -0.18250589  0.96681391]]

 t_gt:
[ 0.53109591 -0.8371817   0.13062901]

Pose Error in degrees for R and t:
166.77840641426383 86.2718070728443

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99169433e-01 -4.07483746e-02  1.15906828e-04]
 [ 4.07483703e-02  9.99169440e-01  3.84784609e-05]
 [-1.17378495e-04 -3.37234877e-05  9.99999993e-01]]

 t_estimated:
[[0.58548478]
 [0.81068237]
 [0.00128885]]

 R_gt:
[[ 0.9913632  -0.10555583 -0.0778266 ]
 [ 0.10863318  0.99341517  0.03641172]
 [ 0.07347145 -0.04455152  0.99630203]]

 t_gt:
[ 0.58351367 -0.80256608 -0.12409468]

Pose Error in degrees for R and t:
6.241482977520042 71.99212338137703

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.06790508  0.9976817   0.00448684]
 [ 0.99768836 -0.06791595  0.00231626]
 [ 0.00261562  0.00431918 -0.99998725]]

 t_estimated:
[[-0.99892175]
 [-0.04630763]
 [-0.00330769]]

 R_gt:
[[ 0.98480761 -0.14238338 -0.0994053 ]
 [ 0.15686905  0.97496283  0.15760813]
 [ 0.07447638 -0.17080748  0.98248605]]

 t_gt:
[ 0.44545021 -0.81603355  0.36832507]

Pose Error in degrees for R and t:
169.7347139003393 65.89565827794456

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-6.35146313e-01  7.72390964e-01 -1.16648271e-03]
 [-7.72388740e-01 -6.35147318e-01 -1.87582135e-03]
 [-2.18975583e-03 -2.90442901e-04  9.99997560e-01]]

 t_estimated:
[[0.40899022]
 [0.91253806]
 [0.00113925]]

 R_gt:
[[ 0.96164782 -0.18225451 -0.20498122]
 [ 0.21361     0.96641797  0.1428555 ]
 [ 0.1720619  -0.18116219  0.96828455]]

 t_gt:
[ 0.56499995 -0.81706329  0.11481565]

Pose Error in degrees for R and t:
141.37229317849483 59.04323617105242

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.82126106e-01  1.88222015e-01  8.85946680e-04]
 [-1.88215769e-01  9.82116041e-01 -4.78601707e-03]
 [-1.77093622e-03  4.53372317e-03  9.99988154e-01]]

 t_estimated:
[[0.95091432]
 [0.30945008]
 [0.00161172]]

 R_gt:
[[ 0.99633153 -0.07323322 -0.04428126]
 [ 0.07417506  0.99704466  0.02001107]
 [ 0.04268488 -0.02322275  0.99881806]]

 t_gt:
[ 0.63194449 -0.73635927 -0.24170475]

Pose Error in degrees for R and t:
15.368545862072121 68.1196802393284

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.68761258e-01  2.47994659e-01  5.23045000e-04]
 [-2.47994455e-01  9.68761358e-01 -4.24996869e-04]
 [-6.12102739e-04  2.82008241e-04  9.99999773e-01]]

 t_estimated:
[[0.97931693]
 [0.20232959]
 [0.00104294]]

 R_gt:
[[ 0.97373659 -0.20896666 -0.09038829]
 [ 0.21211258  0.97688249  0.02661987]
 [ 0.082736   -0.04509305  0.99555076]]

 t_gt:
[ 0.69474548 -0.69850851 -0.17150679]

Pose Error in degrees for R and t:
27.083524515360125 57.393374165100404

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.8821518   0.47096     0.00220938]
 [ 0.47087819 -0.88206931  0.01508169]
 [ 0.0090517  -0.01226399 -0.99988382]]

 t_estimated:
[[0.86705068]
 [0.4982162 ]
 [0.00193107]]

 R_gt:
[[ 0.9528948  -0.28007066 -0.11641253]
 [ 0.28684542  0.95687804  0.04587807]
 [ 0.09854367 -0.07710843  0.99214034]]

 t_gt:
[ 0.70183052 -0.70526239 -0.10019421]

Pose Error in degrees for R and t:
174.2738930139443 75.11048154086788

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99756077e-01 -2.20858618e-02 -2.20073026e-05]
 [ 2.20857898e-02  9.99754558e-01 -1.74390623e-03]
 [ 6.05175731e-05  1.74299481e-03  9.99998479e-01]]

 t_estimated:
[[-0.18466557]
 [-0.98279643]
 [-0.00312992]]

 R_gt:
[[ 9.95194636e-01  9.79115059e-02 -1.03158552e-04]
 [-9.77976151e-02  9.93989403e-01 -4.92115369e-02]
 [-4.71530987e-03  4.89847122e-02  9.98788652e-01]]

 t_gt:
[-0.33572934  0.91701556 -0.21533295]

Pose Error in degrees for R and t:
7.40207952371145 33.01078914698144

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99998664e-01  9.04057685e-04 -1.36192718e-03]
 [-9.02235542e-04  9.99998698e-01  1.33793627e-03]
 [ 1.36313498e-03 -1.33670570e-03  9.99998178e-01]]

 t_estimated:
[[-0.42943199]
 [-0.90309732]
 [-0.00184306]]

 R_gt:
[[ 0.96919338  0.2460327   0.01154099]
 [-0.2454595   0.96868755 -0.03734524]
 [-0.02036793  0.03336213  0.99923583]]

 t_gt:
[-0.32009791  0.94738107  0.00253704]

Pose Error in degrees for R and t:
14.370953430010383 44.100378872882985

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 8.64533712e-01  5.02574774e-01 -2.41990217e-04]
 [-5.02570281e-01  8.64527832e-01  3.83941673e-03]
 [ 2.13880127e-03 -3.19768811e-03  9.99992600e-01]]

 t_estimated:
[[0.42215147]
 [0.90652481]
 [0.00095726]]

 R_gt:
[[ 0.89997028  0.43425749 -0.03838373]
 [-0.43577494  0.89861304 -0.05094778]
 [ 0.01236804  0.0625776   0.9979633 ]]

 t_gt:
[-0.2140104   0.97278129 -0.08886002]

Pose Error in degrees for R and t:
5.794454302441429 37.681541294518574

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.92710235e-01  1.20525453e-01  7.05726350e-05]
 [-1.20525428e-01  9.92710196e-01 -2.96184630e-04]
 [-1.05755961e-04  2.85519717e-04  9.99999954e-01]]

 t_estimated:
[[-0.72636477]
 [-0.6873081 ]
 [-0.00134163]]

 R_gt:
[[ 0.99751603  0.00772659  0.07001914]
 [-0.00900402  0.99979942  0.01793825]
 [-0.06986647 -0.01852391  0.99738417]]

 t_gt:
[-0.10664255  0.16492517  0.98052387]

Pose Error in degrees for R and t:
7.6589744400479285 87.86761751757392

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.98361029e-01 -5.72298033e-02  7.01125409e-05]
 [ 5.72297935e-02  9.98361023e-01  1.34365975e-04]
 [-7.76873664e-05 -1.30133227e-04  9.99999989e-01]]

 t_estimated:
[[ 0.81277189]
 [-0.58258126]
 [ 0.00096105]]

 R_gt:
[[ 0.99179812 -0.07309635  0.10484882]
 [ 0.07298759  0.99732138  0.00487517]
 [-0.10492399  0.00281755  0.99447572]]

 t_gt:
[ 0.54083382 -0.46837097  0.69866116]

Pose Error in degrees for R and t:
6.0904612671884175 44.511469334891

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.74761463 -0.66412402  0.00341273]
 [-0.66402372  0.7475751   0.01428187]
 [-0.0120362   0.0084112  -0.99989218]]

 t_estimated:
[[0.9440961 ]
 [0.32966242]
 [0.00228811]]

 R_gt:
[[ 9.86939361e-01 -1.07182406e-01  1.20260502e-01]
 [ 1.08018121e-01  9.94149613e-01 -4.35742186e-04]
 [-1.19510006e-01  1.34200082e-02  9.92742459e-01]]

 t_gt:
[ 0.62108084 -0.57075313  0.53712145]

Pose Error in degrees for R and t:
173.18595300126802 66.4572541732955

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 8.95117635e-01  4.45829942e-01  2.85616841e-04]
 [-4.45829894e-01  8.95117678e-01 -2.17509442e-04]
 [-3.52632905e-04  6.73600113e-05  9.99999936e-01]]

 t_estimated:
[[-3.19465350e-01]
 [ 9.47597652e-01]
 [ 7.61546184e-04]]

 R_gt:
[[ 0.97339109  0.21626612  0.07575088]
 [-0.21532144  0.97632679 -0.02050794]
 [-0.07839238  0.00365127  0.99691572]]

 t_gt:
[-0.72800957  0.65924602  0.18814025]

Pose Error in degrees for R and t:
14.691452961431864 30.972200875878716

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999924e-01 -1.85275470e-04 -3.41794145e-04]
 [ 1.85359807e-04  9.99999952e-01  2.46733071e-04]
 [ 3.41748415e-04 -2.46796407e-04  9.99999911e-01]]

 t_estimated:
[[-9.94179054e-01]
 [-1.07740431e-01]
 [-8.86668756e-05]]

 R_gt:
[[ 0.94507244  0.32046868  0.06432561]
 [-0.32212226  0.94654529  0.01695391]
 [-0.05545395 -0.03674283  0.99778469]]

 t_gt:
[-0.6911381   0.69939293  0.18214736]

Pose Error in degrees for R and t:
19.156160193995476 52.2841439951104

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.99767556 -0.06015209  0.03201875]
 [ 0.06117689  0.99761222 -0.03205075]
 [-0.03001437  0.03393506  0.99897325]]

 t_estimated:
[[-8.13305771e-01]
 [-5.81836166e-01]
 [-6.32430615e-04]]

 R_gt:
[[ 0.90081919  0.42776872  0.07442092]
 [-0.42959245  0.90297026  0.00971376]
 [-0.06304376 -0.04072046  0.99717937]]

 t_gt:
[-0.64706242  0.74709494  0.15218204]

Pose Error in degrees for R and t:
29.175303620227876 84.7514455408586

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.24615218e-01  3.80900877e-01  1.10486561e-03]
 [-3.80900620e-01  9.24615878e-01 -4.42444570e-04]
 [-1.19010381e-03 -1.17530122e-05  9.99999292e-01]]

 t_estimated:
[[0.45734699]
 [0.88928581]
 [0.00211735]]

 R_gt:
[[ 0.97693369 -0.20631543 -0.05509049]
 [ 0.20876939  0.97700965  0.04320999]
 [ 0.04490863 -0.05371401  0.99754653]]

 t_gt:
[ 0.96543919 -0.17730349  0.19102523]

Pose Error in degrees for R and t:
34.61611254485934 73.48468094658772

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[-2.92886072e-01  9.56132208e-01  5.38055289e-03]
 [ 9.56146190e-01  2.92889833e-01  9.28775890e-05]
 [-1.48710598e-03  5.17179770e-03 -9.99985520e-01]]

 t_estimated:
[[-0.01358107]
 [-0.99990633]
 [-0.00169763]]

 R_gt:
[[ 0.92649305 -0.36931167 -0.07225083]
 [ 0.37298576  0.92669125  0.04610755]
 [ 0.04992669 -0.06966653  0.99632031]]

 t_gt:
[ 0.98613471 -0.0715599   0.14972481]

Pose Error in degrees for R and t:
175.3955281732266 86.68035880476197

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 0.99993256  0.01130175  0.00267293]
 [-0.01129532  0.9999333  -0.00240905]
 [-0.00269998  0.00237869  0.99999353]]

 t_estimated:
[[9.99993272e-01]
 [3.55869492e-03]
 [8.89673730e-04]]

 R_gt:
[[ 0.91696181 -0.39745863 -0.03474994]
 [ 0.39897166  0.91382565  0.07579047]
 [ 0.00163225 -0.08336142  0.99651835]]

 t_gt:
[ 0.97867818 -0.05996366  0.19645198]

Pose Error in degrees for R and t:
24.653095294483418 11.865497561668107

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99672364e-01 -2.55961638e-02 -2.85417752e-05]
 [ 2.55961666e-02  9.99672359e-01  1.02257382e-04]
 [ 2.59150271e-05 -1.02954439e-04  9.99999994e-01]]

 t_estimated:
[[0.99986457]
 [0.01634066]
 [0.00195352]]

 R_gt:
[[ 9.99961682e-01 -2.81698294e-04 -8.71462292e-03]
 [ 2.23541960e-05  9.99561413e-01 -2.96203383e-02]
 [ 8.71957721e-03  2.96196229e-02  9.99523123e-01]]

 t_gt:
[ 0.15726966 -0.13629961 -0.97810463]

Pose Error in degrees for R and t:
2.2967994072730957 81.19277857212712

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.41704986e-01  3.36439585e-01  3.55037001e-04]
 [-3.36439704e-01  9.41704942e-01  3.57111384e-04]
 [-2.14193693e-04 -4.55742114e-04  9.99999873e-01]]

 t_estimated:
[[0.62865216]
 [0.77768608]
 [0.00090324]]

 R_gt:
[[ 0.99574341 -0.09144232 -0.01160046]
 [ 0.09085898  0.99491275 -0.04352687]
 [ 0.01552111  0.04228716  0.99898527]]

 t_gt:
[ 0.70562092 -0.60079604 -0.37569035]

Pose Error in degrees for R and t:
25.026781637934413 88.62591892950732

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 0.99004362  0.08109241 -0.11505499]
 [-0.05355136  0.97290659  0.22491115]
 [ 0.13017634 -0.2165105   0.96756257]]

 t_estimated:
[[0.82943309]
 [0.55561778]
 [0.05770295]]

 R_gt:
[[ 0.96609497 -0.25810925 -0.00630112]
 [ 0.25760225  0.96526479 -0.04363825]
 [ 0.0173456   0.04053586  0.99902787]]

 t_gt:
[ 0.81509567 -0.55921644 -0.15131431]

Pose Error in degrees for R and t:
25.050035051630925 69.10690294309833

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.99999983e-01  1.71872661e-04  6.62490209e-05]
 [-1.71879630e-04  9.99999980e-01  1.05199435e-04]
 [-6.62309386e-05 -1.05210820e-04  9.99999992e-01]]

 t_estimated:
[[0.70651976]
 [0.70769213]
 [0.00129233]]

 R_gt:
[[ 0.99964983 -0.00902542  0.0248792 ]
 [ 0.00810146  0.99928177  0.03701097]
 [-0.02519534 -0.03679601  0.99900543]]

 t_gt:
[ 0.27401301 -0.45738701  0.84599881]

Pose Error in degrees for R and t:
2.5974842773581854 82.58817433021798

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[-0.25001373 -0.96817198  0.01166801]
 [-0.96750426  0.24933459 -0.04204488]
 [ 0.03779744 -0.02180065 -0.99904759]]

 t_estimated:
[[0.90451837]
 [0.42643296]
 [0.00120122]]

 R_gt:
[[ 0.99572097  0.05467788  0.07450481]
 [-0.0612042   0.99420804  0.08834655]
 [-0.06924254 -0.09252818  0.99329977]]

 t_gt:
[-0.20007198 -0.06046575  0.97791364]

Pose Error in degrees for R and t:
174.43530220713268 78.13662341297218

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.14355587e-01 -4.04911745e-01 -5.82553710e-04]
 [ 4.04912125e-01  9.14355180e-01  8.80463964e-04]
 [ 1.76150802e-04 -1.04094021e-03  9.99999443e-01]]

 t_estimated:
[[0.95614275]
 [0.29289939]
 [0.00099288]]

 R_gt:
[[ 0.99190534  0.07081514  0.10539982]
 [-0.08662509  0.98427866  0.15391871]
 [-0.09284344 -0.16180339  0.98244625]]

 t_gt:
[-0.17149935 -0.04225632  0.98427759]

Pose Error in degrees for R and t:
30.353000952505038 79.89937631291069

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-7.42930537e-01 -6.69363049e-01 -2.70652108e-03]
 [ 6.69368260e-01 -7.42927746e-01 -2.12048813e-03]
 [-5.91373208e-04 -3.38703469e-03  9.99994089e-01]]

 t_estimated:
[[0.90215498]
 [0.43141034]
 [0.00122957]]

 R_gt:
[[ 9.87254285e-01 -1.59145265e-01 -7.88810490e-04]
 [ 1.58627292e-01  9.83622504e-01  8.55789467e-02]
 [-1.28435698e-02 -8.46135492e-02  9.96331229e-01]]

 t_gt:
[ 0.59625222 -0.68229041  0.42304029]

Pose Error in degrees for R and t:
128.86869791105414 75.87223775741325

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.87495441 -0.48419477  0.00319429]
 [-0.48420427  0.87494714 -0.00370371]
 [-0.00100151 -0.00478727 -0.99998804]]

 t_estimated:
[[0.78863321]
 [0.61486058]
 [0.00203389]]

 R_gt:
[[ 0.96883233 -0.2477044   0.0023882 ]
 [ 0.24450076  0.95776466  0.15134224]
 [-0.03977583 -0.14604133  0.98847865]]

 t_gt:
[ 0.57018078 -0.64738002  0.50575981]

Pose Error in degrees for R and t:
176.57252696578107 86.98234300932967

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 9.95718291e-01 -9.24396295e-02 -1.99123494e-05]
 [ 9.24396305e-02  9.95718289e-01  5.43651785e-05]
 [ 1.48015935e-05 -5.59730928e-05  9.99999998e-01]]

 t_estimated:
[[8.31532007e-01]
 [5.55476309e-01]
 [7.69612163e-04]]

 R_gt:
[[ 0.99871411  0.0246323  -0.04431373]
 [-0.02522639  0.9995991  -0.01287287]
 [ 0.04397971  0.01397429  0.99893416]]

 t_gt:
[-0.13015077  0.54991502 -0.82501773]

Pose Error in degrees for R and t:
7.233544300053455 78.66148430932182

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 5.95684734e-01 -8.03214762e-01 -2.39670839e-03]
 [ 8.03218334e-01  5.95681773e-01  1.88000745e-03]
 [-8.23742381e-05 -3.04497186e-03  9.99995361e-01]]

 t_estimated:
[[0.52479183]
 [0.85123014]
 [0.00088948]]

 R_gt:
[[ 0.99496974  0.04580588 -0.08908155]
 [-0.05012941  0.99764078 -0.04691189]
 [ 0.0867234   0.05114243  0.99491904]]

 t_gt:
[-0.07365997  0.5152984  -0.85383943]

Pose Error in degrees for R and t:
56.468704260056676 66.47045509138454

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.94059182e-01 -1.08840873e-01 -8.71920453e-05]
 [ 1.08840885e-01  9.94059174e-01  1.40380825e-04]
 [ 7.13948810e-05 -1.49036907e-04  9.99999986e-01]]

 t_estimated:
[[-1.69389599e-01]
 [ 9.85549113e-01]
 [-3.30399561e-04]]

 R_gt:
[[ 0.99207005  0.04312023 -0.11806006]
 [-0.0549074   0.99362405 -0.09847846]
 [ 0.11306117  0.10418014  0.98811078]]

 t_gt:
[ 0.00483365  0.44712739 -0.89445723]

Pose Error in degrees for R and t:
12.666242242524802 63.88700995173361

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.26748433 -0.9635246  -0.00851357]
 [ 0.96349498  0.2675596  -0.00944887]
 [ 0.0113821  -0.00567536  0.99991912]]

 t_estimated:
[[9.51156214e-01]
 [3.08708596e-01]
 [9.27052840e-04]]

 R_gt:
[[ 0.99426632  0.10686307 -0.00395899]
 [-0.10664102  0.99359221  0.03746693]
 [ 0.0079381  -0.03682939  0.99929011]]

 t_gt:
[-0.76311272  0.60473498  0.22793547]

Pose Error in degrees for R and t:
80.64010145656533 57.38840837283182

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.99520433  0.0974914   0.00798487]
 [-0.09758119 -0.99515814 -0.01175516]
 [ 0.00680018 -0.01247796  0.99989902]]

 t_estimated:
[[0.64400661]
 [0.76501866]
 [0.00139094]]

 R_gt:
[[ 0.97027811  0.24144943  0.01621454]
 [-0.24191766  0.96946636  0.04015153]
 [-0.00602365 -0.04288029  0.99906182]]

 t_gt:
[-0.72397524  0.67354946  0.14896636]

Pose Error in degrees for R and t:
160.40205312393888 87.17759938953203

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.09580813e-01 -4.15526431e-01 -7.27530823e-04]
 [ 4.15526501e-01  9.09581070e-01 -5.92815715e-05]
 [ 6.86381324e-04 -2.48386957e-04  9.99999734e-01]]

 t_estimated:
[[-0.24530946]
 [-0.96944411]
 [-0.00117937]]

 R_gt:
[[ 0.88798292  0.45640843  0.05636565]
 [-0.4566046   0.88961219 -0.0101022 ]
 [-0.05475334 -0.01676582  0.99835902]]

 t_gt:
[-0.63773644  0.76517502  0.0883143 ]

Pose Error in degrees for R and t:
51.83813233177066 54.16480379161734

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 5.05486725e-01 -8.62833620e-01  1.14711133e-03]
 [-8.62833058e-01 -5.05487832e-01 -1.07956277e-03]
 [ 1.51133387e-03 -4.44060927e-04 -9.99998759e-01]]

 t_estimated:
[[0.41291134]
 [0.91077059]
 [0.00107529]]

 R_gt:
[[ 0.98713767 -0.15816263 -0.0233307 ]
 [ 0.15859221  0.98718205  0.01790854]
 [ 0.02019965 -0.02137802  0.99956661]]

 t_gt:
[ 0.71513154 -0.69863939  0.02213317]

Pose Error in degrees for R and t:
179.66363895701107 70.06276843420687

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 7.62250104e-01  6.47282195e-01  7.33393730e-04]
 [-6.47281882e-01  7.62250457e-01 -6.37564966e-04]
 [-9.71714157e-04  1.12714884e-05  9.99999528e-01]]

 t_estimated:
[[0.46337769]
 [0.88616033]
 [0.00099012]]

 R_gt:
[[ 0.93632518 -0.33966981 -0.08899255]
 [ 0.34192067  0.93966533  0.01093774]
 [ 0.07990858 -0.04067011  0.99597127]]

 t_gt:
[ 0.82320119 -0.56674805 -0.03371114]

Pose Error in degrees for R and t:
60.507690390645806 83.06115054536191

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.16429338  0.98639051 -0.00643735]
 [ 0.98635394  0.16435081  0.00973216]
 [ 0.01065769 -0.00475057 -0.99993192]]

 t_estimated:
[[-0.46523335]
 [-0.8851785 ]
 [-0.00411711]]

 R_gt:
[[ 0.90085175 -0.41492357 -0.12769239]
 [ 0.42361676  0.90448628  0.04951973]
 [ 0.09494925 -0.09870258  0.99057601]]

 t_gt:
[ 0.84005586 -0.53848231  0.06590106]

Pose Error in degrees for R and t:
171.59425417540888 85.09179290807982

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99939763e-01 -1.09759302e-02 -9.32686043e-06]
 [ 1.09759307e-02  9.99939761e-01  5.49884360e-05]
 [ 8.72274935e-06 -5.50874946e-05  9.99999998e-01]]

 t_estimated:
[[1.54144103e-01]
 [9.88048375e-01]
 [5.78830274e-05]]

 R_gt:
[[ 0.9989851  -0.00654279 -0.04456979]
 [ 0.00240397  0.99572916 -0.09229435]
 [ 0.04498368  0.09209439  0.99473455]]

 t_gt:
[ 0.15666996  0.2363176  -0.95896221]

Pose Error in degrees for R and t:
5.896691255272441 75.07304107933267

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 7.60963183e-01 -6.48793984e-01 -1.18382635e-03]
 [ 6.48794828e-01  7.60963195e-01  5.35970831e-04]
 [ 5.53113631e-04 -1.17591448e-03  9.99999156e-01]]

 t_estimated:
[[0.89274874]
 [0.45055326]
 [0.00120025]]

 R_gt:
[[ 0.99518251  0.01776119 -0.09642331]
 [-0.0277039   0.99431797 -0.10278088]
 [ 0.0940505   0.10495736  0.99002013]]

 t_gt:
[ 0.08967323  0.36113684 -0.9281912 ]

Pose Error in degrees for R and t:
42.504604477780326 76.01587838413181

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.99993125 -0.00475561 -0.01071784]
 [ 0.00486325  0.99993778  0.01003955]
 [ 0.01066943 -0.01009098  0.99989216]]

 t_estimated:
[[-0.95551121]
 [-0.29482161]
 [-0.00886255]]

 R_gt:
[[ 0.9911804   0.02885533 -0.12933936]
 [-0.04556393  0.9907066  -0.12815572]
 [ 0.12444019  0.13291855  0.98328421]]

 t_gt:
[ 0.0803854   0.40478147 -0.91087329]

Pose Error in degrees for R and t:
10.786521774640237 79.15954636249381

Number of keypoints:
Image1: 430
Image2: 430

 R_estimated:
[[ 9.99975764e-01  6.96210731e-03  7.14149286e-07]
 [-6.96210730e-03  9.99975764e-01 -1.24957767e-05]
 [-8.01128916e-07  1.24905018e-05  1.00000000e+00]]

 t_estimated:
[[-0.57357405]
 [-0.81915287]
 [-0.00117659]]

 R_gt:
[[ 0.99982098 -0.00372819 -0.01856559]
 [ 0.00377213  0.99998953  0.00239035]
 [ 0.01855494 -0.00246066  0.99982545]]

 t_gt:
[ 0.37402466 -0.22238985 -0.9003601 ]

Pose Error in degrees for R and t:
1.2353004298342594 88.20633786843752

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[-6.32465828e-01 -7.74583388e-01 -2.74792397e-03]
 [ 7.74588000e-01 -6.32464553e-01 -1.42092648e-03]
 [-6.37338463e-04 -3.02719638e-03  9.99995215e-01]]

 t_estimated:
[[0.99423066]
 [0.1072564 ]
 [0.00120513]]

 R_gt:
[[ 0.99604864 -0.06128035 -0.06428997]
 [ 0.06309701  0.9976512   0.02663458]
 [ 0.06250643 -0.03058583  0.99757589]]

 t_gt:
[ 0.63268757 -0.67629239 -0.37727317]

Pose Error in degrees for R and t:
125.69152376787305 56.21720695265709

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 6.81009411e-01  7.32274663e-01 -7.73009994e-06]
 [-7.32273994e-01  6.81008776e-01 -1.35825056e-03]
 [-9.89348208e-04  9.30641969e-04  9.99999078e-01]]

 t_estimated:
[[0.73959758]
 [0.67304892]
 [0.00075623]]

 R_gt:
[[ 0.97860639 -0.18298769 -0.0940559 ]
 [ 0.18597171  0.98226319  0.02394485]
 [ 0.08800477 -0.04092366  0.99527957]]

 t_gt:
[ 0.68838807 -0.69232897 -0.21633875]

Pose Error in degrees for R and t:
57.98399676647844 87.53579239500303

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.99971147  0.02398373  0.00132722]
 [-0.02398119  0.9997106  -0.00190052]
 [-0.00137242  0.00186814  0.99999731]]

 t_estimated:
[[0.99926236]
 [0.03830358]
 [0.00275031]]

 R_gt:
[[ 0.99338145  0.08766373 -0.07422712]
 [-0.08170643  0.99345376  0.07982205]
 [ 0.08073995 -0.07322996  0.99404165]]

 t_gt:
[-0.95579342  0.28268903 -0.08090648]

Pose Error in degrees for R and t:
7.283010140097097 19.181430797546973

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 6.81593705e-01 -7.31728641e-01  1.79374275e-03]
 [ 7.31726354e-01  6.81596062e-01  1.83050639e-03]
 [-2.56204195e-03  6.48672068e-05  9.99996716e-01]]

 t_estimated:
[[ 0.83914044]
 [-0.54390961]
 [ 0.0023782 ]]

 R_gt:
[[ 0.98066119  0.14639264 -0.12990083]
 [-0.12847631  0.98220407  0.13699432]
 [ 0.14764499 -0.11765707  0.98201795]]

 t_gt:
[-0.96622042  0.06721424 -0.24879782]

Pose Error in degrees for R and t:
55.9996370863067 32.011168169917205

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.95400720e-01 -9.57982201e-02 -3.27923916e-04]
 [ 9.57982110e-02  9.95400774e-01 -4.32821346e-05]
 [ 3.30562071e-04  1.16685434e-05  9.99999945e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.96366026  0.17930109 -0.19801606]
 [-0.14414421  0.97311137  0.1796519 ]
 [ 0.22490482 -0.14458074  0.96359521]]

 t_gt:
[-0.91237451 -0.0221706  -0.4087557 ]

Pose Error in degrees for R and t:
21.518106009773927 68.3311839091095

Number of keypoints:
Image1: 376
Image2: 376

 R_estimated:
[[ 9.99999497e-01 -1.00290021e-03  2.93218369e-05]
 [ 1.00289532e-03  9.99999483e-01  1.66409448e-04]
 [-2.94887138e-05 -1.66379958e-04  9.99999986e-01]]

 t_estimated:
[[-0.17128435]
 [-0.98521982]
 [ 0.00189323]]

 R_gt:
[[ 0.99980236 -0.01835915 -0.00768454]
 [ 0.01824564  0.99972727 -0.01461692]
 [ 0.00795003  0.01447442  0.99986303]]

 t_gt:
[ 0.74746671 -0.40279041 -0.52825505]

Pose Error in degrees for R and t:
1.3762815314908365 74.46615000473406

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.91527408e-01  1.29895863e-01 -6.80439935e-04]
 [-1.29895215e-01  9.91527297e-01  9.23864542e-04]
 [ 7.94680951e-04 -8.27651124e-04  9.99999342e-01]]

 t_estimated:
[[9.21313533e-01]
 [3.88819454e-01]
 [8.97966406e-04]]

 R_gt:
[[ 9.99353066e-01  1.90391448e-02 -3.05234150e-02]
 [-1.90135732e-02  9.99818614e-01  1.14934063e-03]
 [ 3.05389769e-02 -5.67469680e-04  9.99533645e-01]]

 t_gt:
[ 0.67855216  0.43495707 -0.59192847]

Pose Error in degrees for R and t:
6.59743045197346 37.462884422345226

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.95102406e-01 -9.88491701e-02  2.07902511e-04]
 [ 9.88491694e-02  9.95102428e-01  1.35367552e-05]
 [-2.08222390e-04  7.08053280e-06  9.99999978e-01]]

 t_estimated:
[[9.43887455e-01]
 [3.30266093e-01]
 [8.83394978e-04]]

 R_gt:
[[ 0.99300852  0.11733171 -0.01297587]
 [-0.11712566  0.99299452  0.01563767]
 [ 0.01471848 -0.01400733  0.99979312]]

 t_gt:
[-0.09549515  0.99532917 -0.01416021]

Pose Error in degrees for R and t:
12.460768850337415 76.19759093320083

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.56207804e-01  2.92688630e-01  4.60030495e-05]
 [-2.92688626e-01  9.56207726e-01  3.91625302e-04]
 [ 7.06358021e-05 -3.87939740e-04  9.99999922e-01]]

 t_estimated:
[[8.76624087e-01]
 [4.81175366e-01]
 [6.91343917e-04]]

 R_gt:
[[ 9.75581618e-01 -2.18087098e-01 -2.60456782e-02]
 [ 2.18148579e-01  9.75915747e-01 -4.98993172e-04]
 [ 2.55273759e-02 -5.19535840e-03  9.99660212e-01]]

 t_gt:
[ 0.63348324 -0.76856446 -0.08948554]

Pose Error in degrees for R and t:
29.656302035047432 79.31260046350744

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999812e-01  6.11496994e-04  3.60100682e-05]
 [-6.11492297e-04  9.99999805e-01 -1.30311098e-04]
 [-3.60897460e-05  1.30289054e-04  9.99999991e-01]]

 t_estimated:
[[-0.00760021]
 [-0.99997053]
 [-0.00108574]]

 R_gt:
[[ 0.93144768 -0.36036495 -0.05040597]
 [ 0.35895838  0.93269952 -0.03493577]
 [ 0.05960374  0.01444709  0.99811813]]

 t_gt:
[ 0.6655309  -0.72884743 -0.16077946]

Pose Error in degrees for R and t:
21.422292012597133 43.619065662686026

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.95321935e-01  9.66138563e-02  8.77674932e-05]
 [-9.66138517e-02  9.95321938e-01 -5.45623655e-05]
 [-9.26283920e-05  4.58275636e-05  9.99999995e-01]]

 t_estimated:
[[0.77523361]
 [0.63167375]
 [0.00106167]]

 R_gt:
[[ 0.86561098 -0.49727479 -0.0585982 ]
 [ 0.49732112  0.86743982 -0.01483479]
 [ 0.05820737 -0.01630104  0.99817144]]

 t_gt:
[ 0.71522923 -0.69457913 -0.07750469]

Pose Error in degrees for R and t:
35.56006086680536 83.35945644001927

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[-0.39082217 -0.92046001 -0.00337779]
 [-0.92045711  0.39083199 -0.00301161]
 [ 0.00409221  0.00193211 -0.99998976]]

 t_estimated:
[[ 0.86320721]
 [ 0.5048476 ]
 [-0.00148927]]

 R_gt:
[[ 0.99446887  0.05195769 -0.09127646]
 [-0.04581508  0.99662221  0.06814788]
 [ 0.09450928 -0.06358826  0.99349083]]

 t_gt:
[-0.60760557 -0.47558177 -0.63611119]

Pose Error in degrees for R and t:
177.38447696305678 40.21398269196262

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.74783742e-01  2.23151643e-01 -3.80343226e-05]
 [-2.23151641e-01  9.74783665e-01 -3.88595397e-04]
 [-4.96404650e-05  3.87283897e-04  9.99999924e-01]]

 t_estimated:
[[2.72221289e-01]
 [9.62234674e-01]
 [4.59488688e-05]]

 R_gt:
[[ 0.9826192   0.10217589 -0.1549832 ]
 [-0.08320302  0.9887458   0.12433202]
 [ 0.16594242 -0.10927543  0.98006233]]

 t_gt:
[-0.77600583 -0.44761263 -0.44436233]

Pose Error in degrees for R and t:
13.71292352672533 50.06081711913784

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.72782487 -0.65944087  0.18817197]
 [-0.67882095 -0.73174817  0.06121062]
 [ 0.09732971 -0.17228569 -0.9802268 ]]

 t_estimated:
[[9.66538342e-01]
 [2.56521941e-01]
 [3.55586843e-04]]

 R_gt:
[[ 0.97693677  0.08776904 -0.19465996]
 [-0.06315414  0.98959914  0.12924907]
 [ 0.20397917 -0.11397383  0.97231773]]

 t_gt:
[-0.29613604 -0.67102155 -0.67973048]

Pose Error in degrees for R and t:
170.1348337009502 62.70317611503202

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-9.47206859e-01 -3.20620662e-01 -1.24763018e-03]
 [ 3.20622553e-01 -9.47205222e-01 -1.85651767e-03]
 [-5.86523893e-04 -2.15852465e-03  9.99997498e-01]]

 t_estimated:
[[8.90789927e-01]
 [4.54414534e-01]
 [8.59006680e-04]]

 R_gt:
[[ 0.97207159 -0.22637009  0.06191848]
 [ 0.2270632   0.97387087 -0.00431268]
 [-0.05932429  0.01825177  0.99807302]]

 t_gt:
[ 0.58310456 -0.79243342  0.17899259]

Pose Error in degrees for R and t:
148.20249433402205 80.82304340281487

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99994059e-01 -3.44686911e-03  2.65210421e-05]
 [ 3.44687067e-03  9.99994058e-01 -5.89906491e-05]
 [-2.63175515e-05  5.90817133e-05  9.99999998e-01]]

 t_estimated:
[[-9.77566388e-01]
 [-2.10625415e-01]
 [-9.44508587e-04]]

 R_gt:
[[ 0.92696308 -0.3739354   0.03020488]
 [ 0.37353748  0.92743901  0.01811136]
 [-0.03478491 -0.00550556  0.99937973]]

 t_gt:
[ 0.65992312 -0.74538542  0.09435063]

Pose Error in degrees for R and t:
21.84809218862244 60.77695862804471

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 1.71302170e-01  9.85218299e-01  6.85265998e-04]
 [ 9.85216877e-01 -1.71303117e-01  1.71689288e-03]
 [ 1.80890249e-03  3.81028149e-04 -9.99998291e-01]]

 t_estimated:
[[-0.54291222]
 [-0.83978896]
 [-0.00090788]]

 R_gt:
[[ 0.84988508 -0.52434606  0.05250496]
 [ 0.52560108  0.85063417 -0.01284258]
 [-0.03792819  0.03851155  0.99853821]]

 t_gt:
[ 0.71819756 -0.69537177  0.02550226]

Pose Error in degrees for R and t:
177.1177188874642 78.81227684924532

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.91432910e-01 -1.30616881e-01 -1.20376016e-04]
 [ 1.30616906e-01  9.91432888e-01  2.30567772e-04]
 [ 8.92286982e-05 -2.44315620e-04  9.99999966e-01]]

 t_estimated:
[[0.83259438]
 [0.55388194]
 [0.00118098]]

 R_gt:
[[ 0.99698651 -0.03322461 -0.07009925]
 [ 0.0368508   0.99801334  0.05108737]
 [ 0.06826293 -0.05351672  0.99623154]]

 t_gt:
[ 0.45446956 -0.76030302 -0.46410854]

Pose Error in degrees for R and t:
7.402205201329667 87.51961224883983

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.99903863 -0.04375906 -0.00263686]
 [ 0.04376666  0.99903758  0.00289565]
 [ 0.00250762 -0.00300827  0.99999233]]

 t_estimated:
[[-0.64524258]
 [-0.76397681]
 [-0.00119934]]

 R_gt:
[[ 0.98797172 -0.12981358 -0.08402021]
 [ 0.13450407  0.98950568  0.05278939]
 [ 0.07628513 -0.06345475  0.99506522]]

 t_gt:
[ 0.41736901 -0.87258304 -0.25377539]

Pose Error in degrees for R and t:
7.4852691035149626 66.56969148430052

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 8.65706366e-01 -5.00552064e-01 -3.43821493e-04]
 [ 5.00551741e-01  8.65706311e-01 -7.33513271e-04]
 [ 6.64810018e-04  4.62906661e-04  9.99999672e-01]]

 t_estimated:
[[-0.4729613 ]
 [-0.88108114]
 [-0.0019071 ]]

 R_gt:
[[ 0.94772767 -0.28964989 -0.13384588]
 [ 0.29347402  0.95592033  0.00935404]
 [ 0.12523644 -0.04814496  0.9909581 ]]

 t_gt:
[ 0.61751216 -0.72612642 -0.30235601]

Pose Error in degrees for R and t:
15.100378066371782 69.61702295833533

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99870751e-01 -1.60769344e-02 -1.17103211e-04]
 [ 1.60769395e-02  9.99870757e-01  4.31098234e-05]
 [ 1.16395003e-04 -4.49869127e-05  9.99999992e-01]]

 t_estimated:
[[-9.77781528e-01]
 [-2.09626256e-01]
 [-3.41351357e-04]]

 R_gt:
[[ 0.98262671  0.18539157  0.00863036]
 [-0.18558098  0.980993    0.05667418]
 [ 0.00204074 -0.05729031  0.99835518]]

 t_gt:
[-0.74482051  0.62435157  0.23543049]

Pose Error in degrees for R and t:
12.073353395478847 53.32245368469165

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.95846437e-01  9.10486799e-02  1.09745329e-04]
 [-9.10483350e-02  9.95844839e-01 -1.80477031e-03]
 [-2.73611274e-04  1.78728196e-03  9.99998365e-01]]

 t_estimated:
[[0.65466634]
 [0.75591742]
 [0.00091134]]

 R_gt:
[[ 0.96324445  0.26689144  0.03045991]
 [-0.268344    0.96121389  0.06371529]
 [-0.01227329 -0.06954555  0.99750296]]

 t_gt:
[-0.71112588  0.66673916  0.22306698]

Pose Error in degrees for R and t:
11.117954687569357 87.78480276875673

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.66934357e-01 -2.55025128e-01 -3.64119824e-04]
 [ 2.55025135e-01  9.66934424e-01 -2.56298421e-05]
 [ 3.58616246e-04 -6.80773325e-05  9.99999933e-01]]

 t_estimated:
[[-0.70318361]
 [-0.71100763]
 [-0.000978  ]]

 R_gt:
[[ 0.89238802  0.44858856  0.04910296]
 [-0.45100129  0.89030495  0.06288796]
 [-0.01550544 -0.07826562  0.99681235]]

 t_gt:
[-0.64564567  0.74891838  0.14920766]

Pose Error in degrees for R and t:
41.79270674421869 85.49045582214494

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999537e-01  9.61431037e-04  3.64061719e-05]
 [-9.61439512e-04  9.99999511e-01  2.33510031e-04]
 [-3.61816503e-05 -2.33544925e-04  9.99999972e-01]]

 t_estimated:
[[9.63734141e-01]
 [2.66863112e-01]
 [7.64588976e-04]]

 R_gt:
[[ 0.97949873 -0.18744381 -0.07379932]
 [ 0.18876503  0.9819568   0.01128936]
 [ 0.07035159 -0.02498816  0.99720869]]

 t_gt:
[ 0.81525097 -0.57306347 -0.08345128]

Pose Error in degrees for R and t:
11.719878166918626 50.7509944318784

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999412e-01  1.08361413e-03  5.12073758e-05]
 [-1.08362514e-03  9.99999390e-01  2.15380886e-04]
 [-5.09739547e-05 -2.15436249e-04  9.99999975e-01]]

 t_estimated:
[[9.78754032e-01]
 [2.05037489e-01]
 [4.15067810e-04]]

 R_gt:
[[ 0.971571   -0.22243003 -0.08108261]
 [ 0.22573801  0.97359103  0.0341004 ]
 [ 0.07135593 -0.05143394  0.99612347]]

 t_gt:
[ 0.8171521  -0.57600739  0.02186166]

Pose Error in degrees for R and t:
13.974179338713535 47.02361396204549

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-6.76436617e-01 -7.36498476e-01 -1.87032875e-03]
 [ 7.36500398e-01 -6.76436836e-01 -6.08973172e-04]
 [-8.16651446e-04 -1.78942962e-03  9.99998066e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.98602912 -0.16561013 -0.01787135]
 [ 0.16655935  0.98152122  0.09419695]
 [ 0.00194154 -0.09585773  0.99539334]]

 t_gt:
[ 0.66618413 -0.6324824   0.39517683]

Pose Error in degrees for R and t:
123.05006280869983 56.18658292072102

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[-0.80482662 -0.58972455 -0.0669259 ]
 [-0.59006689  0.80718277 -0.01664458]
 [ 0.06383715  0.02609476 -0.99761911]]

 t_estimated:
[[ 0.95045496]
 [ 0.30914429]
 [-0.03263705]]

 R_gt:
[[ 0.994188   -0.10732494 -0.00851376]
 [ 0.10727016  0.99420708 -0.00669288]
 [ 0.00918306  0.00574078  0.99994208]]

 t_gt:
[ 0.98197146 -0.1774641  -0.06510406]

Pose Error in degrees for R and t:
175.48396169093976 28.287297719929704

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-9.87910923e-01  1.54775724e-01  8.74552344e-03]
 [ 1.54782271e-01  9.87948604e-01  7.27366778e-05]
 [-8.62886980e-03  1.42550934e-03 -9.99961755e-01]]

 t_estimated:
[[ 0.99784859]
 [-0.06539873]
 [ 0.00460481]]

 R_gt:
[[ 0.96369782 -0.26675428 -0.011371  ]
 [ 0.2660177   0.96293719 -0.04457046]
 [ 0.02283957  0.03992801  0.99894222]]

 t_gt:
[ 0.98279382 -0.09557486 -0.15805617]

Pose Error in degrees for R and t:
179.70938502061156 9.528950511326364

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 4.56141755e-01 -8.89907126e-01 -7.41906344e-05]
 [ 8.89906663e-01  4.56141429e-01  1.06248855e-03]
 [-9.11674710e-04 -5.50668132e-04  9.99999433e-01]]

 t_estimated:
[[9.91349837e-01]
 [1.31243317e-01]
 [8.32345341e-04]]

 R_gt:
[[ 0.93789311 -0.34691469 -0.00276741]
 [ 0.34658371  0.93729533 -0.03682638]
 [ 0.01537015  0.03358078  0.99931849]]

 t_gt:
[ 0.99171091 -0.08101183 -0.09973237]

Pose Error in degrees for R and t:
42.61892446031871 13.488396242017783

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99998734 -0.00305754 -0.00399692]
 [ 0.00307309  0.99998771  0.00388964]
 [ 0.00398498 -0.00390187  0.99998445]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99531207 -0.09467581  0.01975789]
 [ 0.09544404  0.99453    -0.04244301]
 [-0.01563283  0.04412981  0.99890317]]

 t_gt:
[ 0.80235083 -0.55896418 -0.20926582]

Pose Error in degrees for R and t:
6.063975336877817 36.826780098163425

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 0.99658427 -0.08063131  0.0178432 ]
 [ 0.08020071  0.9964979   0.02365955]
 [-0.01968841 -0.0221477   0.99956083]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.98911782 -0.11806406  0.08778719]
 [ 0.1263782   0.98731657 -0.09609597]
 [-0.07532962  0.10614573  0.9914926 ]]

 t_gt:
[ 0.817848   -0.5345216  -0.21309931]

Pose Error in degrees for R and t:
8.362462840526492 79.97815189498264

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 9.99680764e-01  2.52659711e-02  1.92265258e-06]
 [-2.52659712e-02  9.99680762e-01  7.44344189e-05]
 [-4.13809132e-08 -7.44592344e-05  9.99999997e-01]]

 t_estimated:
[[8.13305771e-01]
 [5.81836166e-01]
 [6.32430615e-04]]

 R_gt:
[[ 0.98632826 -0.10147647  0.12984371]
 [ 0.12415273  0.97569725 -0.18055755]
 [-0.10836651  0.19421015  0.97495585]]

 t_gt:
[ 0.70370514 -0.34357401 -0.62189707]

Pose Error in degrees for R and t:
15.13500256438591 68.15911048579828

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.67154163e-01 -2.54190137e-01 -4.46971130e-04]
 [ 2.54190147e-01  9.67154263e-01 -3.49671983e-05]
 [ 4.41178351e-04 -7.97969857e-05  9.99999899e-01]]

 t_estimated:
[[ 8.98256977e-01]
 [-4.39469759e-01]
 [-8.57122344e-04]]

 R_gt:
[[ 0.98559186 -0.16892505  0.00851182]
 [ 0.16864173  0.98530571  0.02707137]
 [-0.01296008 -0.02524603  0.99959676]]

 t_gt:
[ 0.47366382 -0.85850618  0.19649359]

Pose Error in degrees for R and t:
5.266757514691137 36.62176658768341

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.82341781e-01  1.87094994e-01  2.95961652e-04]
 [-1.87094922e-01  9.82341806e-01 -2.56106160e-04]
 [-3.38651684e-04  1.96210859e-04  9.99999923e-01]]

 t_estimated:
[[-9.98913067e-01]
 [-4.66055863e-02]
 [-7.76759772e-04]]

 R_gt:
[[ 0.96293099 -0.26810643  0.02972454]
 [ 0.26709029  0.96306717  0.03411618]
 [-0.0377737  -0.02491255  0.99897545]]

 t_gt:
[ 0.40931546 -0.8803863   0.23954292]

Pose Error in degrees for R and t:
26.437621865341875 68.40609112534314

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.959429    0.28194691 -0.00138797]
 [-0.2819424  -0.95942731 -0.00277683]
 [-0.00211458 -0.00227285  0.99999518]]

 t_estimated:
[[0.73184773]
 [0.68146691]
 [0.00132581]]

 R_gt:
[[ 0.92348036 -0.38290464  0.02384488]
 [ 0.38215782  0.9235879   0.03065244]
 [-0.03376024 -0.0191945   0.9992461 ]]

 t_gt:
[ 0.49406919 -0.86166189  0.11590691]

Pose Error in degrees for R and t:
173.878631004429 76.97024842389251

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.94810118e-01  1.01748692e-01  1.82765128e-04]
 [-1.01748723e-01  9.94810117e-01  1.66945503e-04]
 [-1.64830112e-04 -1.84675194e-04  9.99999969e-01]]

 t_estimated:
[[0.31333901]
 [0.94964008]
 [0.00154478]]

 R_gt:
[[ 9.93504926e-01 -1.13787228e-01  6.11716623e-04]
 [ 1.13773184e-01  9.93264821e-01 -2.19248625e-02]
 [ 1.88721403e-03  2.18524070e-02  9.99759036e-01]]

 t_gt:
[ 0.75041932 -0.65873073 -0.05426474]

Pose Error in degrees for R and t:
12.43846726171398 67.0140566811417

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-1.38225401e-01  9.90400777e-01  1.97196165e-04]
 [-9.90398832e-01 -1.38224728e-01 -2.01942988e-03]
 [-1.97278753e-03 -4.74439357e-04  9.99997942e-01]]

 t_estimated:
[[0.09961204]
 [0.99502575]
 [0.00109464]]

 R_gt:
[[ 0.98732939 -0.15857767 -0.00588808]
 [ 0.15760688  0.9842585  -0.07996931]
 [ 0.01847694  0.07802809  0.99678017]]

 t_gt:
[ 0.76563585 -0.59756837 -0.23814657]

Pose Error in degrees for R and t:
107.12177184665565 58.762277323848366

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.67485516 -0.7379493   0.00115348]
 [ 0.73794794  0.67484839 -0.00353546]
 [ 0.00183056  0.00323713  0.99999308]]

 t_estimated:
[[-0.05491632]
 [-0.99847848]
 [-0.00499239]]

 R_gt:
[[ 0.97693757 -0.21145077 -0.0296919 ]
 [ 0.20178386  0.9597234  -0.19548544]
 [ 0.06983057  0.18498502  0.98025703]]

 t_gt:
[ 0.73065181 -0.42103896 -0.53747011]

Pose Error in degrees for R and t:
37.177296387023176 67.48303939051037

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.89918825e-01 -1.41635680e-01 -2.33129066e-04]
 [-1.41576101e-01 -9.89451920e-01 -3.06774321e-02]
 [ 4.11434895e-03  3.04011730e-02 -9.99529310e-01]]

 t_estimated:
[[ 0.00501658]
 [ 0.99982462]
 [-0.01804342]]

 R_gt:
[[ 0.99763795 -0.00951878  0.06802957]
 [ 0.01539781  0.99614029 -0.08641715]
 [-0.0669449   0.08726126  0.99393277]]

 t_gt:
[-0.16737479  0.37772678 -0.91066358]

Pose Error in degrees for R and t:
173.5489544068172 66.84297673071197

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.13786896 -0.9904469  -0.00266091]
 [-0.99044854  0.1378735  -0.00160782]
 [ 0.00195933  0.00241383 -0.99999517]]

 t_estimated:
[[8.67359090e-01]
 [4.97682830e-01]
 [9.85712768e-05]]

 R_gt:
[[ 0.98750278 -0.06972695  0.14133291]
 [ 0.08880874  0.98705555 -0.13354747]
 [-0.13019256  0.14443063  0.980913  ]]

 t_gt:
[ 0.43519657 -0.24145944 -0.86735304]

Pose Error in degrees for R and t:
179.53061991754595 75.09506762147558

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.59337452e-01  2.82261631e-01  1.60047185e-04]
 [-2.82261548e-01  9.59337402e-01 -4.10193784e-04]
 [-2.69321217e-04  3.48339094e-04  9.99999903e-01]]

 t_estimated:
[[-0.59352194]
 [-0.80481701]
 [-0.00113544]]

 R_gt:
[[ 0.98300852 -0.09894463  0.15460851]
 [ 0.11806427  0.98575168 -0.11981054]
 [-0.14055068  0.13602888  0.98068375]]

 t_gt:
[ 0.70422278 -0.50336367 -0.50069481]

Pose Error in degrees for R and t:
25.291301031978037 89.29595919432359

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.63054127e-01  2.69307214e-01  6.11001315e-04]
 [-2.69307219e-01  9.63054316e-01 -7.63017711e-05]
 [-6.08976071e-04 -9.10643292e-05  9.99999810e-01]]

 t_estimated:
[[0.61204457]
 [0.79082047]
 [0.00210325]]

 R_gt:
[[ 0.99002714 -0.13097557 -0.05188171]
 [ 0.13170633  0.99122909  0.01089585]
 [ 0.04999965 -0.01762073  0.9985939 ]]

 t_gt:
[ 0.56624735 -0.79936533 -0.20094526]

Pose Error in degrees for R and t:
23.3755974118554 73.38085959824568

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.82350002e-01  1.87051934e-01 -2.15840332e-04]
 [-1.87051268e-01  9.82348551e-01  1.77429508e-03]
 [ 5.43915764e-04 -1.70260557e-03  9.99998403e-01]]

 t_estimated:
[[0.7591163 ]
 [0.65095206]
 [0.00196662]]

 R_gt:
[[ 0.97377179 -0.21044044 -0.0865019 ]
 [ 0.21058785  0.97754627 -0.00753578]
 [ 0.08614462 -0.01087785  0.99622362]]

 t_gt:
[ 0.5974922  -0.75729641 -0.26363842]

Pose Error in degrees for R and t:
23.478838170822115 87.71237020365042

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.66110722  0.75022964 -0.00962993]
 [ 0.75020513  0.66117139  0.00668266]
 [ 0.01138057 -0.00280647 -0.9999313 ]]

 t_estimated:
[[-0.14111232]
 [-0.98999114]
 [-0.00220488]]

 R_gt:
[[ 0.92414079 -0.37761956 -0.05802429]
 [ 0.37973461  0.92458229  0.03080247]
 [ 0.04201772 -0.05049957  0.99783985]]

 t_gt:
[ 0.69663157 -0.71741988  0.0036301 ]

Pose Error in degrees for R and t:
175.73368852317856 52.270957766858004

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[-9.68941602e-01 -2.47289279e-01 -4.28468566e-04]
 [-2.47289478e-01  9.68941519e-01  4.96814645e-04]
 [ 2.92304048e-04  5.87340146e-04 -9.99999785e-01]]

 t_estimated:
[[9.79822216e-01]
 [1.99868858e-01]
 [9.29622596e-04]]

 R_gt:
[[ 0.9927469  -0.11859428 -0.01974796]
 [ 0.11923976  0.99222748  0.03557963]
 [ 0.01537508 -0.03767612  0.99917184]]

 t_gt:
[ 0.56261517 -0.8135371   0.14704269]

Pose Error in degrees for R and t:
179.2444979586786 67.12022166602114

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.88239892e-01 -1.52910879e-01  4.23788294e-04]
 [ 1.52910466e-01  9.88239656e-01  8.78890215e-04]
 [-5.53196273e-04 -8.03752706e-04  9.99999524e-01]]

 t_estimated:
[[-0.63187655]
 [-0.7750686 ]
 [-0.00083251]]

 R_gt:
[[ 0.94417507 -0.32936166  0.00741657]
 [ 0.32826519  0.94245754  0.06336357]
 [-0.02785999 -0.0573912   0.99796339]]

 t_gt:
[ 0.69970916 -0.68804453  0.19235857]

Pose Error in degrees for R and t:
11.025124931652453 84.779335097937

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.44027791e-01  3.29862109e-01  1.58718852e-03]
 [-3.29862652e-01  9.44028932e-01  8.54582916e-05]
 [-1.47016243e-03 -6.04229215e-04  9.99998737e-01]]

 t_estimated:
[[0.9410852 ]
 [0.33816773]
 [0.00111239]]

 R_gt:
[[ 0.86620738 -0.49912251 -0.02369567]
 [ 0.49911175  0.8619715   0.08883299]
 [-0.02391438 -0.08877493  0.99576446]]

 t_gt:
[ 0.79279901 -0.58539911  0.16963963]

Pose Error in degrees for R and t:
49.534055221228584 56.74836915691506

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.64867952e-01 -2.62735248e-01 -1.56886213e-04]
 [ 2.62735250e-01  9.64867964e-01 -8.59586387e-06]
 [ 1.53632917e-04 -3.29256648e-05  9.99999988e-01]]

 t_estimated:
[[ 9.96100087e-01]
 [-8.82299907e-02]
 [ 2.92292871e-04]]

 R_gt:
[[ 0.99418942 -0.10761836 -0.00237666]
 [ 0.10762319  0.99418978  0.00195934]
 [ 0.00215181 -0.0022033   0.99999568]]

 t_gt:
[ 0.55685829 -0.83060637 -0.00137858]

Pose Error in degrees for R and t:
9.055744452105897 51.09944581790438

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99998092e-01  1.75495659e-04 -1.94534134e-03]
 [-1.67159564e-04  9.99990808e-01  4.28449245e-03]
 [ 1.94607537e-03 -4.28415909e-03  9.99988929e-01]]

 t_estimated:
[[0.74237957]
 [0.66997866]
 [0.00108061]]

 R_gt:
[[ 0.96020342 -0.27928618  0.00275729]
 [ 0.27920392  0.96008647  0.016705  ]
 [-0.00731271 -0.01526962  0.99985692]]

 t_gt:
[ 0.62023582 -0.78274094  0.05122654]

Pose Error in degrees for R and t:
16.24517915761519 86.33550187963648

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.90714425 -0.42081543  0.0019221 ]
 [-0.42080586  0.9071419   0.00400023]
 [-0.00342697  0.00281996 -0.99999015]]

 t_estimated:
[[0.96180441]
 [0.27373476]
 [0.00124425]]

 R_gt:
[[ 0.89893783 -0.43687379  0.03243999]
 [ 0.43673349  0.89951539  0.01163258]
 [-0.03426244  0.00371072  0.99940639]]

 t_gt:
[ 0.67549575 -0.73415052  0.06876413]

Pose Error in degrees for R and t:
177.83680382386586 63.33213755004512

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.80935008  0.58730286  0.00527241]
 [ 0.58729856 -0.80919133 -0.01702354]
 [-0.00573159  0.01687448 -0.99984119]]

 t_estimated:
[[-0.30423812]
 [ 0.95255554]
 [-0.00878173]]

 R_gt:
[[ 0.99383876 -0.0386854   0.1038673 ]
 [ 0.05260879  0.98946694 -0.13485864]
 [-0.09755625  0.13949248  0.98540631]]

 t_gt:
[-0.039674    0.51624162 -0.85552356]

Pose Error in degrees for R and t:
169.67613663418072 59.247396379772134

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 7.47000761e-01  6.64823182e-01  1.45019117e-05]
 [-6.64823182e-01  7.47000761e-01 -6.73169287e-06]
 [-1.53083245e-05 -4.61262736e-06  1.00000000e+00]]

 t_estimated:
[[-9.99977050e-01]
 [-6.72253479e-03]
 [-8.40316849e-04]]

 R_gt:
[[ 0.97955026 -0.08149677  0.18395643]
 [ 0.11728185  0.97417678 -0.19293581]
 [-0.16348258  0.21056461  0.96381358]]

 t_gt:
[ 0.22583265  0.22509007 -0.94780487]

Pose Error in degrees for R and t:
49.79299882133117 76.90630130278785

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-0.99469958 -0.10244074  0.00886793]
 [-0.1023944   0.9947285   0.00553207]
 [-0.00938789  0.00459472 -0.99994538]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.96769049 -0.10600034  0.22877923]
 [ 0.15829955  0.96164279 -0.22401881]
 [-0.1962576   0.25299728  0.94735208]]

 t_gt:
[ 0.4269236   0.00885233 -0.90424437]

Pose Error in degrees for R and t:
167.80165463585485 64.84226413964444

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 7.93115969e-01  6.09070161e-01  7.73416736e-04]
 [-6.09070425e-01  7.93116131e-01  1.43321647e-04]
 [-5.26116351e-04 -5.84735947e-04  9.99999691e-01]]

 t_estimated:
[[0.46886007]
 [0.88327188]
 [0.0010083 ]]

 R_gt:
[[ 0.99770176 -0.06489164 -0.01953331]
 [ 0.06275218  0.99347806 -0.09521485]
 [ 0.02558379  0.09377019  0.99526494]]

 t_gt:
[ 0.61899241 -0.38147352 -0.68653212]

Pose Error in degrees for R and t:
41.55406744838291 87.28223059264316

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[-9.64997498e-01  2.62259069e-01 -1.00302364e-04]
 [-2.62249276e-01 -9.64964630e-01 -8.28129155e-03]
 [-2.26863205e-03 -7.96512140e-03  9.99965704e-01]]

 t_estimated:
[[0.88600103]
 [0.46367387]
 [0.00295334]]

 R_gt:
[[ 0.99553066 -0.07736429 -0.05416918]
 [ 0.06572098  0.97940122 -0.19093315]
 [ 0.06782367  0.1865195   0.98010731]]

 t_gt:
[ 0.46952485 -0.07619081 -0.8796257 ]

Pose Error in degrees for R and t:
169.00326695800345 67.78556872475836

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.95838905e-01  9.11301285e-02  4.19311767e-04]
 [-9.11300735e-02  9.95838987e-01 -1.48443713e-04]
 [-4.31094700e-04  1.09614112e-04  9.99999901e-01]]

 t_estimated:
[[0.3260887 ]
 [0.94533858]
 [0.00106218]]

 R_gt:
[[ 0.99164281 -0.06953667 -0.1086806 ]
 [ 0.04522223  0.97622497 -0.21199121]
 [ 0.1208377   0.2053047   0.97120972]]

 t_gt:
[ 0.40567613  0.05378209 -0.91243321]

Pose Error in degrees for R and t:
16.22052940540792 79.50442901648302

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 1.00000000e+00 -2.44249065e-15 -3.15096256e-17]
 [ 2.33146835e-15  1.00000000e+00  3.02668589e-16]
 [-7.43518745e-16  4.33762184e-16  1.00000000e+00]]

 t_estimated:
[[-7.40251949e-01]
 [-6.72329563e-01]
 [-1.00712937e-04]]

 R_gt:
[[ 0.99116491 -0.13259045 -0.00367094]
 [ 0.13244739  0.99083166 -0.0266596 ]
 [ 0.00717228  0.02593736  0.99963787]]

 t_gt:
[ 0.46191699 -0.80033502 -0.38222578]

Pose Error in degrees for R and t:
7.770654917686225 78.68560915827145

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999906e-01 -4.34542616e-04 -6.47758035e-06]
 [ 4.34542101e-04  9.99999902e-01 -7.92355299e-05]
 [ 6.51201093e-06  7.92327077e-05  9.99999997e-01]]

 t_estimated:
[[0.99944096]
 [0.03340986]
 [0.00124627]]

 R_gt:
[[ 0.95359163 -0.29783278 -0.04426307]
 [ 0.29700832  0.95456497 -0.02433459]
 [ 0.0495003   0.0100584   0.99872226]]

 t_gt:
[ 0.62466112 -0.74960105 -0.21885326]

Pose Error in degrees for R and t:
17.527931333587834 53.20203965004084

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999920e-01 -3.99477134e-04 -8.04341159e-07]
 [ 3.99477108e-04  9.99999920e-01 -3.18701077e-05]
 [ 8.17072474e-07  3.18697839e-05  9.99999999e-01]]

 t_estimated:
[[ 1.06797267e-01]
 [-9.94280575e-01]
 [-6.93527715e-04]]

 R_gt:
[[ 0.91158021 -0.41095545  0.01178471]
 [ 0.41105781  0.91054417 -0.04407272]
 [ 0.00738196  0.04501944  0.99895873]]

 t_gt:
[ 0.5925596  -0.79679519 -0.11828158]

Pose Error in degrees for R and t:
24.39675086863094 31.173500009005433

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 6.32717797e-01  7.74380881e-01  1.56244636e-03]
 [-7.74382343e-01  6.32715319e-01  1.81989306e-03]
 [ 4.20706644e-04 -2.36140960e-03  9.99997123e-01]]

 t_estimated:
[[0.10927065]
 [0.99401047]
 [0.00176243]]

 R_gt:
[[ 0.99515612  0.09368641  0.0297759 ]
 [-0.09149713  0.99348758 -0.0679094 ]
 [-0.03594407  0.06485631  0.99724679]]

 t_gt:
[-0.8181131   0.34018593 -0.46364262]

Pose Error in degrees for R and t:
45.627161727843244 75.64462148935337

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.72329831 -0.69053242 -0.00212682]
 [ 0.69051983 -0.72329914  0.0045523 ]
 [-0.00468183  0.00182406  0.99998738]]

 t_estimated:
[[0.9788273 ]
 [0.20468468]
 [0.00114349]]

 R_gt:
[[ 0.99864783  0.04793962  0.0201064 ]
 [-0.0459406   0.99485883 -0.09024798]
 [-0.02432917  0.0892019   0.99571639]]

 t_gt:
[-0.5087119   0.32169571 -0.79857628]

Pose Error in degrees for R and t:
139.0778567530997 64.34138824235984

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 5.73856898e-01  8.18955589e-01  6.90282235e-05]
 [ 8.18950067e-01 -5.73853334e-01  3.62469222e-03]
 [ 3.00807403e-03 -2.02352396e-03 -9.99993428e-01]]

 t_estimated:
[[-7.82785207e-01]
 [-6.22291528e-01]
 [-7.57045655e-04]]

 R_gt:
[[ 0.99550464 -0.09084193  0.02680636]
 [ 0.09355498  0.98726996 -0.12863204]
 [-0.01477961  0.13056072  0.99132969]]

 t_gt:
[ 0.55500219  0.05954211 -0.82971519]

Pose Error in degrees for R and t:
173.01259250590533 61.909089984197536

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.98217736e-01 -5.96770592e-02 -1.11585123e-05]
 [ 5.96770601e-02  9.98217729e-01  1.17418274e-04]
 [ 4.13144746e-06 -1.17874911e-04  9.99999993e-01]]

 t_estimated:
[[2.40935821e-01]
 [9.70541012e-01]
 [2.72753305e-04]]

 R_gt:
[[ 0.99736422 -0.01854971  0.07015159]
 [ 0.02388831  0.99681703 -0.07605369]
 [-0.06851734  0.07752902  0.99463216]]

 t_gt:
[ 0.58675347 -0.01141414 -0.80968518]

Pose Error in degrees for R and t:
6.3388397040941795 82.52629388041346

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.43057034e-01 -3.32631071e-01 -4.89800705e-05]
 [ 3.32631074e-01  9.43057016e-01  1.80775801e-04]
 [-1.39406490e-05 -1.86774184e-04  9.99999982e-01]]

 t_estimated:
[[5.63007713e-01]
 [8.26451483e-01]
 [5.11864844e-04]]

 R_gt:
[[ 0.99403759  0.02295526  0.1065971 ]
 [-0.00518023  0.98642751 -0.1641152 ]
 [-0.10891675  0.16258445  0.98066423]]

 t_gt:
[-0.46552933  0.61452748 -0.63689749]

Pose Error in degrees for R and t:
23.151768300623335 75.79130265932275

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.15105914  0.98840574  0.01533704]
 [ 0.98817449 -0.15057448 -0.02895675]
 [-0.02631165  0.01952986 -0.999463  ]]

 t_estimated:
[[-9.05170201e-01]
 [-4.25048713e-01]
 [-7.06062135e-04]]

 R_gt:
[[ 0.98428906  0.06706026  0.1633335 ]
 [-0.03224664  0.97778115 -0.20713269]
 [-0.17359463  0.19861171  0.96458093]]

 t_gt:
[-0.69640596  0.68828869 -0.20316847]

Pose Error in degrees for R and t:
162.86623777582406 70.24778227874471

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-3.22667746e-01 -9.46510137e-01 -2.02116988e-03]
 [ 9.46512295e-01 -3.22667038e-01 -6.76188759e-04]
 [-1.21453817e-05 -2.13124644e-03  9.99997729e-01]]

 t_estimated:
[[9.90889344e-01]
 [1.34676064e-01]
 [8.16218570e-04]]

 R_gt:
[[ 0.98541979 -0.16341199 -0.04737623]
 [ 0.16388768  0.98645835  0.00632377]
 [ 0.04570059 -0.01399486  0.99885681]]

 t_gt:
[ 0.75201272 -0.63571873 -0.17417968]

Pose Error in degrees for R and t:
99.42441448791756 48.74563235515569

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 7.83593190e-01 -6.21273817e-01 -7.45941523e-04]
 [ 6.21274171e-01  7.83593168e-01  3.90254735e-04]
 [ 3.42059632e-04 -7.69235154e-04  9.99999646e-01]]

 t_estimated:
[[ 9.87087606e-01]
 [-1.60180573e-01]
 [ 4.91917387e-04]]

 R_gt:
[[ 0.9327396  -0.35463813 -0.0650404 ]
 [ 0.35513118  0.93480692 -0.00420826]
 [ 0.06229275 -0.01917173  0.99787306]]

 t_gt:
[ 0.80868098 -0.57935443 -0.1018995 ]

Pose Error in degrees for R and t:
17.981400184201593 27.00206331056404

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.97479021e-01 -7.09619345e-02  8.23317164e-05]
 [ 7.09619820e-02  9.97478253e-01 -1.23757507e-03]
 [ 5.69662450e-06  1.24029759e-03  9.99999231e-01]]

 t_estimated:
[[7.85627485e-01]
 [6.18699403e-01]
 [7.10332265e-04]]

 R_gt:
[[ 0.84163111 -0.53792444 -0.04788918]
 [ 0.53846742  0.842644   -0.00184638]
 [ 0.04134601 -0.0242323   0.99884988]]

 t_gt:
[ 0.85697699 -0.51445849 -0.03037929]

Pose Error in degrees for R and t:
28.644075535418583 69.20974671131012

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999453e-01 -8.51474900e-04 -6.06693778e-04]
 [ 8.52086140e-04  9.99999129e-01  1.00794836e-03]
 [ 6.05835006e-04 -1.00846477e-03  9.99999308e-01]]

 t_estimated:
[[0.11622799]
 [0.993221  ]
 [0.00176103]]

 R_gt:
[[ 0.98556226  0.16902428 -0.0098737 ]
 [-0.16856723  0.9850202   0.03631998]
 [ 0.01586501 -0.03413137  0.9992913 ]]

 t_gt:
[-0.3998994   0.91630343  0.0216445 ]

Pose Error in degrees for R and t:
9.990882996828914 30.271043026280328

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99996047e-01  2.17143692e-03 -1.78654951e-03]
 [-2.17127937e-03  9.99997639e-01  9.01246362e-05]
 [ 1.78674099e-03 -8.62451819e-05  9.99998400e-01]]

 t_estimated:
[[0.62559881]
 [0.78014396]
 [0.00123636]]

 R_gt:
[[ 0.95949026  0.2813747  -0.01432833]
 [-0.28056704  0.95889619  0.04242967]
 [ 0.02567815 -0.03669149  0.99899665]]

 t_gt:
[-0.35174324  0.93586284 -0.02091495]

Pose Error in degrees for R and t:
16.395318296828183 59.334056289372114

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.99571003  0.08709749  0.0312339 ]
 [-0.08623083  0.99587884 -0.0280993 ]
 [-0.03355256  0.02528543  0.99911705]]

 t_estimated:
[[0.67962263]
 [0.73356093]
 [0.00119863]]

 R_gt:
[[ 0.91759255  0.3974867  -0.00520107]
 [-0.39745262  0.91759867  0.00650236]
 [ 0.00735736 -0.00389922  0.99996561]]

 t_gt:
[-0.28067489  0.95949856 -0.02416846]

Pose Error in degrees for R and t:
18.669820517751088 59.13154930525889

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.96855867e-01  7.92361355e-02 -1.26934770e-04]
 [-7.92361820e-02  9.96855784e-01 -4.16925962e-04]
 [ 9.35000574e-05  4.25672917e-04  9.99999905e-01]]

 t_estimated:
[[-0.39965099]
 [-0.91666487]
 [-0.00214572]]

 R_gt:
[[ 0.99319524 -0.08049027  0.08416888]
 [ 0.0884914   0.99142944 -0.09610192]
 [-0.0757122   0.10289602  0.99180616]]

 t_gt:
[ 0.60866756  0.20431136 -0.76666855]

Pose Error in degrees for R and t:
11.920903489774929 64.60257210395079

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.999997    0.00135409  0.00203982]
 [-0.00135153  0.9999983  -0.00125581]
 [-0.00204152  0.00125305  0.99999713]]

 t_estimated:
[[0.91016787]
 [0.41423804]
 [0.0011367 ]]

 R_gt:
[[ 0.98612396 -0.07273863  0.14922897]
 [ 0.1004288   0.97714441 -0.18735602]
 [-0.13219047  0.19974275  0.97088988]]

 t_gt:
[ 0.18854069  0.46314083 -0.86599826]

Pose Error in degrees for R and t:
14.650136295388013 68.74804490199404

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.00134178  0.99999386  0.00323634]
 [ 0.9999976   0.00134737 -0.0017268 ]
 [-0.00173115  0.00323401 -0.99999327]]

 t_estimated:
[[-0.99617055]
 [-0.08742374]
 [-0.00115031]]

 R_gt:
[[ 0.96369018 -0.13638094  0.22956995]
 [ 0.18875489  0.95604199 -0.22439918]
 [-0.18887515  0.2595833   0.94707012]]

 t_gt:
[ 0.46402016  0.12318019 -0.87721829]

Pose Error in degrees for R and t:
161.12005930581907 61.83560484828713

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.98153495 -0.19127125 -0.00210797]
 [ 0.19127467  0.98153531  0.00156024]
 [ 0.00177062 -0.00193463  0.99999656]]

 t_estimated:
[[-0.68472959]
 [-0.72879635]
 [-0.00112992]]

 R_gt:
[[ 9.74443528e-01  2.24590488e-01 -4.36939851e-03]
 [-2.24586809e-01  9.74452963e-01  1.21241789e-03]
 [ 4.53128952e-03 -1.99788876e-04  9.99989882e-01]]

 t_gt:
[-0.33351116  0.94266238 -0.01256741]

Pose Error in degrees for R and t:
24.006341913404373 62.70127787187579

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.94212180e-01 -1.07434010e-01 -2.73960293e-04]
 [ 1.07434019e-01  9.94212216e-01  1.83910400e-05]
 [ 2.70398847e-04 -4.77172512e-05  9.99999962e-01]]

 t_estimated:
[[-0.76938321]
 [-0.6387868 ]
 [-0.00094635]]

 R_gt:
[[ 0.92180329  0.38626661 -0.03280458]
 [-0.38552914  0.92230935  0.02666919]
 [ 0.04055766 -0.01193672  0.99910554]]

 t_gt:
[-0.25026183  0.96573178 -0.06878334]

Pose Error in degrees for R and t:
28.975806657212853 64.89462525887176

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.91801107 -0.39654571  0.00267982]
 [ 0.39655176  0.91800945 -0.00231368]
 [-0.00154262  0.00318667  0.99999373]]

 t_estimated:
[[0.70607939]
 [0.70813194]
 [0.00102628]]

 R_gt:
[[ 0.86551539  0.50018889 -0.02635597]
 [-0.49786639  0.86487781  0.06414167]
 [ 0.05487838 -0.04239306  0.99759221]]

 t_gt:
[-0.20909036  0.97650899 -0.05207133]

Pose Error in degrees for R and t:
53.49134770353152 57.0566621126282

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.9280954   0.37199594  0.01606056]
 [ 0.37201615  0.92822447 -0.0018217 ]
 [-0.01558547  0.00428408 -0.99986936]]

 t_estimated:
[[ 0.98552825]
 [-0.16931308]
 [ 0.00819427]]

 R_gt:
[[ 0.97481139 -0.21643828 -0.0538357 ]
 [ 0.21604301  0.97629574 -0.01312958]
 [ 0.0554018   0.00116834  0.9984637 ]]

 t_gt:
[ 0.7608628  -0.61954521 -0.19300658]

Pose Error in degrees for R and t:
177.91151881100916 31.44214366962091

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 8.85815765e-01  4.64037100e-01  3.01822578e-05]
 [-4.64036532e-01  8.85814780e-01 -1.50734563e-03]
 [-7.26200186e-04  1.32122486e-03  9.99998863e-01]]

 t_estimated:
[[0.91327765]
 [0.40733592]
 [0.00117388]]

 R_gt:
[[ 9.22521680e-01 -3.83672218e-01 -4.18254069e-02]
 [ 3.84014484e-01  9.23326536e-01  1.48937104e-04]
 [ 3.85618616e-02 -1.61983081e-02  9.99124720e-01]]

 t_gt:
[ 0.81011193 -0.58456203 -0.04478716]

Pose Error in degrees for R and t:
50.28574887154638 59.88803208422171

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.91361473e-01  1.31157430e-01 -3.97673867e-04]
 [-1.31156963e-01  9.91361077e-01  1.03243215e-03]
 [ 5.29649541e-04 -9.71355762e-04  9.99999388e-01]]

 t_estimated:
[[9.83640229e-01]
 [1.80144104e-01]
 [4.28085151e-05]]

 R_gt:
[[ 0.8424298  -0.53858421 -0.01545931]
 [ 0.53869692  0.84248967  0.00404194]
 [ 0.01084779 -0.01173264  0.99987293]]

 t_gt:
[ 0.84926904 -0.5278721   0.00965143]

Pose Error in degrees for R and t:
40.138779760967225 42.244509439773054

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99988646e-01 -4.71424546e-03 -6.94967343e-04]
 [ 4.71547217e-03  9.99987308e-01  1.77420180e-03]
 [ 6.86594500e-04 -1.77745875e-03  9.99998185e-01]]

 t_estimated:
[[-0.97831055]
 [-0.20712849]
 [-0.0025016 ]]

 R_gt:
[[ 0.98781988 -0.14451135  0.05770505]
 [ 0.14548898  0.98927321 -0.01309253]
 [-0.05519359  0.02132864  0.99824765]]

 t_gt:
[ 0.6392212  -0.73069061  0.23976551]

Pose Error in degrees for R and t:
8.783775593831857 61.666053086105315

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.84912718 -0.52814378  0.00686863]
 [-0.52813618  0.8491543   0.00302481]
 [-0.00743006 -0.00105912 -0.99997184]]

 t_estimated:
[[0.95586655]
 [0.29377068]
 [0.00423425]]

 R_gt:
[[ 0.96852998 -0.23905649  0.06930025]
 [ 0.2423198   0.9692354  -0.0431743 ]
 [-0.05684671  0.05860854  0.99666119]]

 t_gt:
[ 0.66812823 -0.74072661  0.07020516]

Pose Error in degrees for R and t:
176.87386365296908 65.08110381656435

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.04263552 -0.99885638 -0.02163686]
 [ 0.99894026 -0.04224331 -0.01827179]
 [ 0.01733689 -0.02239296  0.99959891]]

 t_estimated:
[[ 0.99999421]
 [-0.0022507 ]
 [-0.00255121]]

 R_gt:
[[ 0.97722708 -0.20254946  0.06326417]
 [ 0.20478378  0.97831516 -0.03102523]
 [-0.05560769  0.04327421  0.99751439]]

 t_gt:
[ 0.61142543 -0.78270912  0.11629863]

Pose Error in degrees for R and t:
80.84325061681227 52.201466087136005

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.17660466e-01  3.97365358e-01 -2.03541347e-04]
 [-3.97365183e-01  9.17660369e-01  5.98613933e-04]
 [ 4.24650267e-04 -4.68444096e-04  9.99999800e-01]]

 t_estimated:
[[-7.40830352e-01]
 [-6.71691922e-01]
 [-5.93018645e-04]]

 R_gt:
[[ 0.96374185 -0.17344781  0.20277486]
 [ 0.16761273  0.98479086  0.04573639]
 [-0.20762395 -0.01008951  0.97815635]]

 t_gt:
[ 0.48585856 -0.57726084  0.65628606]

Pose Error in degrees for R and t:
35.381749952105224 88.42912612722007

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.49784682e-01  3.12903957e-01  4.14645537e-04]
 [-3.12903768e-01  9.49784722e-01 -4.62012186e-04]
 [-5.38389438e-04  3.09067946e-04  9.99999807e-01]]

 t_estimated:
[[ 0.99988638]
 [-0.01503149]
 [ 0.00113462]]

 R_gt:
[[ 9.16519569e-01 -3.11910892e-01  2.50406654e-01]
 [ 3.00713486e-01  9.50110726e-01  8.28279145e-02]
 [-2.63749061e-01 -6.11500214e-04  9.64590948e-01]]

 t_gt:
[ 0.63832511 -0.61154786  0.46749359]

Pose Error in degrees for R and t:
39.37583121744791 49.61086428358564

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[-4.62631276e-01 -8.86550737e-01 -3.04529842e-04]
 [-8.86550355e-01  4.62630681e-01  1.14970374e-03]
 [-8.78385852e-04  8.01869948e-04 -9.99999293e-01]]

 t_estimated:
[[0.96698659]
 [0.25482515]
 [0.00104201]]

 R_gt:
[[ 0.85214561 -0.44306737  0.27845974]
 [ 0.42436994  0.89643949  0.12769662]
 [-0.30619987  0.00935489  0.95192056]]

 t_gt:
[ 0.72896298 -0.56577308  0.38537488]

Pose Error in degrees for R and t:
163.18759772771898 55.86631159638699

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.99185612e-01 -4.03498753e-02  7.00810086e-06]
 [ 4.03498749e-02  9.99185611e-01  5.57635545e-05]
 [-9.25244601e-06 -5.54353653e-05  9.99999998e-01]]

 t_estimated:
[[-0.65064218]
 [-0.75938342]
 [-0.00125254]]

 R_gt:
[[ 0.99870908 -0.04891544  0.01366835]
 [ 0.04879148  0.99876456  0.00932391]
 [-0.01410787 -0.00864486  0.99986297]]

 t_gt:
[ 0.25625969 -0.82695408  0.50047769]

Pose Error in degrees for R and t:
1.066430908199743 62.57320096508276

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 0.28630511  0.95813406 -0.00291812]
 [-0.9580104   0.28621571 -0.01722305]
 [-0.01566678  0.00772663  0.99984741]]

 t_estimated:
[[0.98298877]
 [0.18357019]
 [0.00592162]]

 R_gt:
[[ 0.98824799 -0.13908341  0.06340383]
 [ 0.13974745  0.99016775 -0.00612863]
 [-0.0619291   0.01491673  0.99796859]]

 t_gt:
[ 0.41397941 -0.83434473  0.36399164]

Pose Error in degrees for R and t:
81.43031695120357 75.17119997465242

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99685249e-01 -2.50875928e-02  1.21133932e-04]
 [ 2.50858812e-02  9.99654770e-01  7.81278570e-03]
 [-3.17096099e-04 -7.80728787e-03  9.99969472e-01]]

 t_estimated:
[[0.89611598]
 [0.4438177 ]
 [0.00141343]]

 R_gt:
[[ 0.9612903  -0.27211308  0.04329073]
 [ 0.27007218  0.96165928  0.04765485]
 [-0.05459976 -0.03411933  0.99792523]]

 t_gt:
[ 0.61080621 -0.736278    0.2912224 ]

Pose Error in degrees for R and t:
14.707087591700628 77.23271726115868

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-3.69003060e-01 -9.29426545e-01 -1.74360791e-03]
 [ 9.29427589e-01 -3.69004292e-01  4.35951844e-04]
 [-1.04858402e-03 -1.45968973e-03  9.99998385e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.97028713  0.24130331 -0.01779593]
 [-0.24106348  0.97039939  0.01461862]
 [ 0.02079716 -0.0098951   0.999735  ]]

 t_gt:
[-0.62294418  0.78061815 -0.05075288]

Pose Error in degrees for R and t:
125.61535740033096 57.788898988177145

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99998487e-01 -1.63727749e-03 -5.87260021e-04]
 [ 1.63782148e-03  9.99998229e-01  9.27021220e-04]
 [ 5.85741191e-04 -9.27981645e-04  9.99999398e-01]]

 t_estimated:
[[0.00814874]
 [0.99996455]
 [0.00211843]]

 R_gt:
[[ 0.92575237  0.37515681 -0.04733337]
 [-0.37645987  0.92616683 -0.02219563]
 [ 0.03551176  0.03836673  0.99863177]]

 t_gt:
[-0.53048374  0.83336819 -0.15519169]

Pose Error in degrees for R and t:
22.38369078591478 34.035892189142785

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.01216894  0.99983988 -0.01311987]
 [-0.99987954  0.01204091 -0.00979389]
 [-0.00963435  0.01323747  0.99986597]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.90794386  0.41408124 -0.06462284]
 [-0.41726543  0.90755934 -0.04719201]
 [ 0.03910883  0.06981168  0.996793  ]]

 t_gt:
[-0.4921962   0.84602955 -0.20488263]

Pose Error in degrees for R and t:
64.7947806614562 32.57047699607246

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.99962119e-01 -8.70406740e-03 -1.95886928e-05]
 [ 8.70406697e-03  9.99962119e-01 -2.16862019e-05]
 [ 1.97767089e-05  2.15148791e-05  1.00000000e+00]]

 t_estimated:
[[-3.68300000e-01]
 [-9.29706931e-01]
 [-3.63633524e-04]]

 R_gt:
[[ 0.99904907  0.01152473  0.04204519]
 [-0.01099258  0.99985708 -0.01288443]
 [-0.04218868  0.01241034  0.99903263]]

 t_gt:
[-0.95897978  0.27844447 -0.05316442]

Pose Error in degrees for R and t:
2.768337137476782 84.58667574508821

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 0.28122726 -0.95963894 -0.00207903]
 [ 0.95963803  0.28123124 -0.00196135]
 [ 0.00246687 -0.00144354  0.99999592]]

 t_estimated:
[[ 0.63644005]
 [-0.77132377]
 [-0.00192334]]

 R_gt:
[[ 0.99603033  0.07156572  0.05292452]
 [-0.06929782  0.99664683 -0.04352564]
 [-0.05586286  0.03968536  0.99764864]]

 t_gt:
[-0.87073833  0.41492272 -0.26392026]

Pose Error in degrees for R and t:
77.80010975117732 29.10793160441145

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.62214601e-01 -2.72291693e-01 -5.43988874e-04]
 [ 2.72291652e-01  9.62214755e-01 -1.50169673e-04]
 [ 5.64324076e-04 -3.62817677e-06  9.99999841e-01]]

 t_estimated:
[[-0.34221639]
 [-0.93962001]
 [-0.00147507]]

 R_gt:
[[ 0.98840753  0.13004575  0.07834999]
 [-0.12325978  0.98864107 -0.08599472]
 [-0.08864373  0.07534038  0.99320956]]

 t_gt:
[-0.85643201  0.41555296 -0.30633306]

Pose Error in degrees for R and t:
24.041474030399943 84.4378777032216

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99791590e-01  2.04149758e-02 -6.62243913e-05]
 [-2.04149741e-02  9.99791592e-01  2.65313690e-05]
 [ 6.67522269e-05 -2.51738704e-05  9.99999997e-01]]

 t_estimated:
[[-0.37109848]
 [-0.92858802]
 [-0.00319341]]

 R_gt:
[[ 0.99021525  0.13928324  0.00861446]
 [-0.13913707  0.99014769 -0.01577551]
 [-0.0107266   0.01442267  0.99983906]]

 t_gt:
[-0.71007417  0.7033912  -0.03217909]

Pose Error in degrees for R and t:
6.910374485481298 67.07347112945223

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99669315e-01  2.56975352e-02 -9.47484299e-04]
 [-2.56960112e-02  9.99668543e-01  1.58697899e-03]
 [ 9.87951697e-04 -1.56210763e-03  9.99998292e-01]]

 t_estimated:
[[0.97422903]
 [0.22551598]
 [0.00451032]]

 R_gt:
[[ 0.99144381  0.12742555  0.02833186]
 [-0.12741969  0.99184658 -0.00202512]
 [-0.02835853 -0.00160252  0.99959695]]

 t_gt:
[-0.69621521  0.706511    0.12699048]

Pose Error in degrees for R and t:
6.087517484614175 58.77696975627393

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.97714137e-01 -6.75685015e-02  9.99558917e-04]
 [ 6.75690684e-02  9.97714450e-01 -5.44690639e-04]
 [-9.60470445e-04  6.10984815e-04  9.99999352e-01]]

 t_estimated:
[[0.99747581]
 [0.07097685]
 [0.00207359]]

 R_gt:
[[ 0.99940644  0.0073117   0.03366737]
 [-0.00772586  0.99989648  0.01216911]
 [-0.03357496 -0.01242165  0.99935894]]

 t_gt:
[-0.07366161  0.43873112  0.8955942 ]

Pose Error in degrees for R and t:
4.751386363520622 87.68010042804379

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.73551896e-01  2.28461735e-01  1.39345717e-03]
 [-2.28460048e-01  9.73552459e-01 -1.27113039e-03]
 [-1.64700831e-03  9.19162106e-04  9.99998221e-01]]

 t_estimated:
[[-0.92398108]
 [-0.38243637]
 [-0.00117504]]

 R_gt:
[[ 0.9995057   0.0100067   0.0297808 ]
 [-0.01039573  0.9998615   0.01295617]
 [-0.02964633 -0.01325833  0.99947206]]

 t_gt:
[0.50887941 0.07123654 0.85788525]

Pose Error in degrees for R and t:
12.750419855850978 60.102729575368485

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999993e-01 -5.40784255e-05 -1.01678696e-04]
 [ 5.41007057e-05  9.99999975e-01  2.19133024e-04]
 [ 1.01666843e-04 -2.19138523e-04  9.99999971e-01]]

 t_estimated:
[[0.71936608]
 [0.69463075]
 [0.00074895]]

 R_gt:
[[ 0.99888821  0.04384115  0.01732606]
 [-0.04381591  0.99903808 -0.00182209]
 [-0.01738931  0.00106164  0.99984789]]

 t_gt:
[0.6048622  0.7592364  0.24021199]

Pose Error in degrees for R and t:
2.7088206053156805 15.701171673597464

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-3.55490922e-01  9.34665641e-01  5.13253795e-03]
 [ 9.34679722e-01  3.55484697e-01  2.10896585e-03]
 [ 1.46639224e-04  5.54699736e-03 -9.99984605e-01]]

 t_estimated:
[[ 9.91816253e-01]
 [-1.27669909e-01]
 [ 9.56812428e-04]]

 R_gt:
[[ 9.97896037e-01  5.77841357e-02  2.93847820e-02]
 [-5.77485980e-02  9.98329176e-01 -2.03793793e-03]
 [-2.94525064e-02  3.37022293e-04  9.99565971e-01]]

 t_gt:
[0.62837582 0.69146649 0.35639573]

Pose Error in degrees for R and t:
178.40628749876586 57.63608751451773

Number of keypoints:
Image1: 401
Image2: 401

 R_estimated:
[[ 0.09499257 -0.9954722  -0.00339225]
 [ 0.99547591  0.09499877 -0.00171633]
 [ 0.00203082 -0.00321386  0.99999277]]

 t_estimated:
[[9.99994892e-01]
 [3.10075932e-03]
 [7.75189830e-04]]

 R_gt:
[[ 0.99991513  0.0013138  -0.0129818 ]
 [-0.00152013  0.99987308 -0.01584611]
 [ 0.01295886  0.01586445  0.99978961]]

 t_gt:
[-0.58707855 -0.23641542 -0.77423932]

Pose Error in degrees for R and t:
84.635610440943 53.95582712259877

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 9.98053880e-01 -6.23574558e-02  1.85875831e-05]
 [ 6.23574549e-02  9.98053879e-01  4.43536589e-05]
 [-2.13171907e-05 -4.31082670e-05  9.99999999e-01]]

 t_estimated:
[[ 6.04849036e-01]
 [-7.96340137e-01]
 [-1.73913732e-04]]

 R_gt:
[[ 0.99846486 -0.0052566  -0.05514662]
 [ 0.00667041  0.99965257  0.0255036 ]
 [ 0.05499275 -0.02583165  0.99815194]]

 t_gt:
[-0.50980712 -0.70930042 -0.4868158 ]

Pose Error in degrees for R and t:
4.752219861153168 75.13320413525544

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.31337959e-01  3.64156002e-01  1.11063388e-04]
 [-3.64155957e-01  9.31337935e-01 -2.99117347e-04]
 [-2.12362924e-04  2.38134945e-04  9.99999949e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.95568357e-01 -3.61131301e-02 -8.68347089e-02]
 [ 3.60173098e-02  9.99347921e-01 -2.66536943e-03]
 [ 8.68743099e-02 -4.73957037e-04  9.96218761e-01]]

 t_gt:
[-0.22772458 -0.67848874 -0.6984229 ]

Pose Error in degrees for R and t:
23.9453635608326 76.68122266239116

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.02560766  0.99967142  0.00114209]
 [-0.99966663 -0.02560374 -0.00332821]
 [-0.00329788 -0.00122693  0.99999381]]

 t_estimated:
[[0.24878193]
 [0.96855877]
 [0.00120768]]

 R_gt:
[[ 0.99766281 -0.06777227  0.00868043]
 [ 0.06796222  0.9974021  -0.02387679]
 [-0.00703886  0.02441079  0.99967752]]

 t_gt:
[ 0.86021856 -0.48841237 -0.14655164]

Pose Error in degrees for R and t:
95.36558522353059 74.97584509885377

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-4.27911657e-01 -9.03819281e-01 -1.52346599e-03]
 [ 9.03813654e-01 -4.27914369e-01  3.18941829e-03]
 [-3.53457073e-03 -1.21400951e-05  9.99993753e-01]]

 t_estimated:
[[0.97880149]
 [0.20480693]
 [0.00132604]]

 R_gt:
[[ 0.98433298 -0.17539665 -0.01803482]
 [ 0.17508657  0.98439687 -0.01752001]
 [ 0.02082676  0.01408724  0.99968405]]

 t_gt:
[ 0.84750685 -0.5204893  -0.10403376]

Pose Error in degrees for R and t:
105.25102641453739 43.713594113393874

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-4.95472227e-02 -9.98770166e-01 -1.79677862e-03]
 [ 9.98771716e-01 -4.95477941e-02  2.74909001e-04]
 [-3.63597326e-04 -1.78095069e-03  9.99998348e-01]]

 t_estimated:
[[9.99836179e-01]
 [1.80859498e-02]
 [7.16710511e-04]]

 R_gt:
[[ 0.97785202 -0.19922203 -0.06416166]
 [ 0.19785833  0.97985807 -0.02700364]
 [ 0.06824994  0.01370993  0.99757434]]

 t_gt:
[ 0.8718305  -0.44615941 -0.20212215]

Pose Error in degrees for R and t:
81.45350187177772 30.291135996814432

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 8.80959881e-01  4.73190681e-01  5.17557521e-04]
 [-4.73190951e-01  8.80959585e-01  7.30261533e-04]
 [-1.10394307e-04 -8.88234649e-04  9.99999599e-01]]

 t_estimated:
[[0.62315167]
 [0.7821005 ]
 [0.00090312]]

 R_gt:
[[ 0.99434403 -0.10242521 -0.02809771]
 [ 0.10304426  0.99444299  0.02154569]
 [ 0.02573417 -0.02431988  0.99937243]]

 t_gt:
[ 0.81552142 -0.57871399  0.00386407]

Pose Error in degrees for R and t:
34.19766331444814 86.81359922954836

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.74637391 -0.66500343 -0.02638995]
 [-0.66492425 -0.74679866  0.01294253]
 [-0.0283148   0.00788736 -0.99956794]]

 t_estimated:
[[0.13896766]
 [0.99014456]
 [0.01737096]]

 R_gt:
[[ 0.98712217 -0.14108899 -0.07539805]
 [ 0.14224189  0.98977986  0.01011589]
 [ 0.07319908 -0.02071092  0.99710184]]

 t_gt:
[ 0.85040794 -0.4978821  -0.17005807]

Pose Error in degrees for R and t:
179.57810246178548 67.80561033490855

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.54775906 -0.83652424 -0.01368231]
 [ 0.83663476  0.5477145   0.00714916]
 [ 0.00151355 -0.01536312  0.99988083]]

 t_estimated:
[[0.98475308]
 [0.17393737]
 [0.00267596]]

 R_gt:
[[ 0.98082885 -0.14487651 -0.13032844]
 [ 0.14833918  0.98878709  0.01721036]
 [ 0.12637341 -0.03621375  0.99132131]]

 t_gt:
[ 0.87544454 -0.40925097 -0.25711963]

Pose Error in degrees for R and t:
48.77686694694235 37.79349130255552

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 9.99931582e-01 -1.16974630e-02  3.64614702e-05]
 [ 1.16974617e-02  9.99931582e-01  3.55999291e-05]
 [-3.68754045e-05 -3.51709868e-05  9.99999999e-01]]

 t_estimated:
[[-0.40154627]
 [-0.91583815]
 [-0.001039  ]]

 R_gt:
[[ 9.99995052e-01 -2.39193408e-04  3.14740060e-03]
 [ 2.47784077e-04  9.99996199e-01 -2.72180918e-03]
 [-3.14723139e-03  2.72236574e-03  9.99991154e-01]]

 t_gt:
[ 0.96497009 -0.25978349  0.03667794]

Pose Error in degrees for R and t:
0.6986791257146704 81.39633316033803

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99778231e-01 -2.10589992e-02 -8.50064983e-05]
 [ 2.10589560e-02  9.99778120e-01 -4.79904471e-04]
 [ 9.50939449e-05  4.78007895e-04  9.99999881e-01]]

 t_estimated:
[[-0.96254605]
 [-0.27106182]
 [-0.00553187]]

 R_gt:
[[ 0.99870981  0.05035793  0.00650837]
 [-0.05041274  0.99869232  0.00854218]
 [-0.00607055 -0.00885892  0.99994249]]

 t_gt:
[0.6313727  0.74716863 0.2076236 ]

Pose Error in degrees for R and t:
4.1445271501421255 35.766791172856784

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.88308216 -0.46783658 -0.03598378]
 [-0.46780231  0.88377784 -0.00988578]
 [ 0.0364266   0.00810334 -0.99930348]]

 t_estimated:
[[ 0.97256132]
 [ 0.2319251 ]
 [-0.01830916]]

 R_gt:
[[ 9.97670041e-01  6.50191657e-02  2.06692724e-02]
 [-6.49949368e-02  9.97883689e-01 -1.86258840e-03]
 [-2.07472334e-02  5.14913007e-04  9.99785178e-01]]

 t_gt:
[0.6568     0.72021556 0.22339048]

Pose Error in degrees for R and t:
179.0016844090817 36.704926942614435

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 0.63201243  0.77248528 -0.06186102]
 [ 0.74906241 -0.58848074  0.30429578]
 [ 0.19866    -0.23865648 -0.95056683]]

 t_estimated:
[[-0.69631062]
 [-0.69631062]
 [-0.17407766]]

 R_gt:
[[ 0.99961362 -0.00710714 -0.02687307]
 [ 0.00733319  0.99993863  0.00835192]
 [ 0.02681189 -0.00854572  0.99960383]]

 t_gt:
[-0.46733665 -0.77547021 -0.42454965]

Pose Error in degrees for R and t:
161.37820179449528 20.06830235354327

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99991877e-01  3.99677444e-03  5.21847387e-04]
 [-3.99604039e-03  9.99991036e-01 -1.40019253e-03]
 [-5.27438963e-04  1.39809583e-03  9.99998884e-01]]

 t_estimated:
[[-0.01790065]
 [-0.9998365 ]
 [-0.00255713]]

 R_gt:
[[ 0.99536862 -0.08349838 -0.04763386]
 [ 0.08450591  0.99623109  0.01954992]
 [ 0.04582239 -0.02348484  0.99867425]]

 t_gt:
[ 0.17141258 -0.95880285 -0.22652776]

Pose Error in degrees for R and t:
5.880586330845428 17.028941947219142

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.14856287  0.9693035  -0.19590764]
 [ 0.89659788  0.2156001   0.38681887]
 [ 0.41718259 -0.11818345 -0.90110563]]

 t_estimated:
[[-0.78446454]
 [-0.58834841]
 [-0.19611614]]

 R_gt:
[[ 0.9861109  -0.13956497 -0.09004334]
 [ 0.14394814  0.98860093  0.04414389]
 [ 0.08285562 -0.05649173  0.9949593 ]]

 t_gt:
[ 0.25812062 -0.94403642 -0.20535086]

Pose Error in degrees for R and t:
151.65319018021543 66.84571233684397

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[-9.66939113e-01 -2.55003484e-01 -1.40568186e-03]
 [-2.55007259e-01  9.66919207e-01  6.20849570e-03]
 [-2.24007239e-04  6.36169640e-03 -9.99979739e-01]]

 t_estimated:
[[9.40023272e-01]
 [3.41109191e-01]
 [8.76887380e-04]]

 R_gt:
[[ 0.99524937 -0.07836624  0.05775772]
 [ 0.07921802  0.99677766 -0.01259661]
 [-0.0565843   0.01711252  0.99825091]]

 t_gt:
[ 0.26284647 -0.82223047  0.5048255 ]

Pose Error in degrees for R and t:
176.87614176935125 88.11199731775822

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 1.14299787e-01  9.93446115e-01  6.13418102e-04]
 [-9.93446190e-01  1.14300047e-01 -4.07533291e-04]
 [-4.74976083e-04 -5.62816908e-04  9.99999729e-01]]

 t_estimated:
[[8.76023422e-01]
 [4.82267852e-01]
 [8.27217584e-04]]

 R_gt:
[[ 0.98253833 -0.17658177  0.05862568]
 [ 0.17565351  0.98423445  0.020668  ]
 [-0.0613509  -0.01000837  0.99806583]]

 t_gt:
[ 0.49403295 -0.78417312  0.37550494]

Pose Error in degrees for R and t:
93.64064390811032 86.8521006466674

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.97208298e-01 -7.46692576e-02  3.34928840e-04]
 [ 7.46693183e-02  9.97208335e-01 -1.72610109e-04]
 [-3.21105162e-04  1.97137141e-04  9.99999929e-01]]

 t_estimated:
[[-0.61794831]
 [-0.7862176 ]
 [-0.00133042]]

 R_gt:
[[ 0.95210407 -0.30071761  0.05537292]
 [ 0.29973744  0.95368223  0.02544319]
 [-0.06045886 -0.00762656  0.99814098]]

 t_gt:
[ 0.63990372 -0.73642535  0.21954712]

Pose Error in degrees for R and t:
13.654416593397732 79.43965199904403

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-9.98906467e-01  4.66873016e-02 -2.48330032e-03]
 [ 4.66855891e-02  9.98909357e-01  7.43198388e-04]
 [ 2.51528985e-03  6.26451337e-04 -9.99996640e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075305e-03]
 [7.75189831e-04]]

 R_gt:
[[ 0.99970396  0.02404029  0.00393466]
 [-0.02411428  0.99950607  0.0201619 ]
 [-0.00344783 -0.020251    0.99978975]]

 t_gt:
[-0.90783643 -0.04675171  0.41671008]

Pose Error in degrees for R and t:
180.0 24.816898063604732

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99942724e-01  1.07027136e-02  5.45528675e-07]
 [-1.07027125e-02  9.99942644e-01 -3.99879386e-04]
 [-4.82529191e-06  3.99850644e-04  9.99999920e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 9.97962992e-01  3.02385229e-03  6.37253536e-02]
 [-3.04905919e-03  9.99995266e-01  3.10357354e-04]
 [-6.37242264e-02 -5.04555463e-04  9.97968271e-01]]

 t_gt:
[-0.92111929 -0.129726    0.36702919]

Pose Error in degrees for R and t:
3.6796514114079364 35.34596821456162

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.82170135  0.56769469  0.05029543]
 [-0.47401324  0.729756   -0.49271455]
 [-0.31641483  0.38102351  0.86873629]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99531701  0.07292558  0.06345559]
 [-0.07197555  0.99725964 -0.01711786]
 [-0.06453011  0.01246941  0.99783853]]

 t_gt:
[-0.96931213  0.2446236   0.02435738]

Pose Error in degrees for R and t:
40.32464622974133 53.62289887154073

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999753e-01  7.00618304e-04  5.98803736e-05]
 [-7.00617047e-04  9.99999754e-01 -2.10094702e-05]
 [-5.98950786e-05  2.09675118e-05  9.99999998e-01]]

 t_estimated:
[[ 8.29536795e-01]
 [-5.58451978e-01]
 [ 3.07394008e-04]]

 R_gt:
[[ 0.98751296 -0.1460777   0.05898847]
 [ 0.14572433  0.98927176  0.01027774]
 [-0.05985577 -0.00155321  0.99820609]]

 t_gt:
[ 0.65117229 -0.72201225  0.23382249]

Pose Error in degrees for R and t:
9.106313793240107 19.360328440578115

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 1.00000000e+00 -1.60718661e-12  5.96623445e-14]
 [ 1.60771396e-12  1.00000000e+00 -6.96797763e-15]
 [-5.96614771e-14  6.96990209e-15  1.00000000e+00]]

 t_estimated:
[[9.69583474e-01]
 [2.44759302e-01]
 [8.77781589e-04]]

 R_gt:
[[ 0.94930108 -0.30538173  0.07462904]
 [ 0.30468865  0.9522253   0.02076926]
 [-0.07740535  0.00302297  0.99699523]]

 t_gt:
[ 0.7558186  -0.63857861  0.14476047]

Pose Error in degrees for R and t:
18.33002478323554 54.78415727268027

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 8.51815831e-01  5.23841141e-01  4.98000492e-04]
 [-5.23841068e-01  8.51815977e-01 -2.78487802e-04]
 [-5.70088143e-04 -2.36527908e-05  9.99999837e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.90148458 -0.43151074  0.03352625]
 [ 0.42685544  0.89921415  0.0959597 ]
 [-0.07155383 -0.07219546  0.99482101]]

 t_gt:
[ 0.79861577 -0.5693994   0.19492862]

Pose Error in degrees for R and t:
57.348021803132795 37.15569188803785

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.87998264  0.47499989 -0.0023804 ]
 [-0.47498843  0.87998223  0.00415614]
 [ 0.00406888 -0.00252667  0.99998853]]

 t_estimated:
[[-0.83852087]
 [-0.54486882]
 [-0.00084871]]

 R_gt:
[[ 9.97316830e-01  7.22396951e-02 -1.19662555e-02]
 [-7.22288792e-02  9.97388077e-01  1.32129074e-03]
 [ 1.20304179e-02 -4.53017016e-04  9.99927252e-01]]

 t_gt:
[-0.62495017  0.76699181 -0.14546772]

Pose Error in degrees for R and t:
24.221891176725485 83.90096676955336

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[-0.13830661 -0.71174267 -0.68868981]
 [-0.60704923 -0.48851199  0.62677529]
 [-0.78253595  0.50475579 -0.3644984 ]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.97962698  0.19902324 -0.02684586]
 [-0.19933081  0.97988818 -0.00931293]
 [ 0.02445251  0.01447505  0.99959536]]

 t_gt:
[-0.58701518  0.79488717 -0.15351729]

Pose Error in degrees for R and t:
177.67522488208104 86.86786708688197

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-8.84934812e-01 -4.65710530e-01 -2.01996723e-03]
 [ 4.65711061e-01 -8.84936809e-01  2.27822033e-04]
 [-1.89364247e-03 -7.39113432e-04  9.99997934e-01]]

 t_estimated:
[[0.99977638]
 [0.02111337]
 [0.00119275]]

 R_gt:
[[ 0.9553363   0.28765965 -0.06772173]
 [-0.28723301  0.95772508  0.01616075]
 [ 0.06950833  0.00401313  0.99757327]]

 t_gt:
[-0.56353059  0.80189574 -0.1984855 ]

Pose Error in degrees for R and t:
168.97581958184125 56.85836310135098

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.99998116 -0.00543419  0.00285635]
 [ 0.00544149  0.99998193 -0.00255365]
 [-0.00284242  0.00256915  0.99999266]]

 t_estimated:
[[-0.72553569]
 [-0.68818361]
 [-0.00113188]]

 R_gt:
[[ 0.98205365  0.18857668  0.00329144]
 [-0.18854193  0.98202467 -0.00891516]
 [-0.00491358  0.00813517  0.99995406]]

 t_gt:
[-0.75875059  0.65117507 -0.01638818]

Pose Error in degrees for R and t:
11.186009001068259 84.12311904553323

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.95060948e-01 -8.68857031e-01 -1.45529848e-03]
 [ 8.68858180e-01  4.95060882e-01  4.30492635e-04]
 [ 3.46424795e-04 -1.47756808e-03  9.99998848e-01]]

 t_estimated:
[[-0.24895955]
 [-0.96851336]
 [-0.00101203]]

 R_gt:
[[ 0.96508379  0.26192986  0.00277452]
 [-0.26185626  0.96497555 -0.01593513]
 [-0.00685004  0.01465295  0.99986862]]

 t_gt:
[-0.73941066  0.67280875 -0.02450045]

Pose Error in degrees for R and t:
75.51556616628908 62.126816922449386

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99997595e-01 -2.14288705e-03 -4.67832776e-04]
 [ 2.14295139e-03  9.99997694e-01  1.37057461e-04]
 [ 4.67537999e-04 -1.38059674e-04  9.99999881e-01]]

 t_estimated:
[[-9.99995190e-01]
 [ 2.97224130e-03]
 [-8.86760844e-04]]

 R_gt:
[[ 0.91640276  0.39992063  0.0164518 ]
 [-0.39976969  0.91654009 -0.01176452]
 [-0.01978299  0.00420493  0.99979431]]

 t_gt:
[-0.69066069  0.72277293  0.02423028]

Pose Error in degrees for R and t:
23.72317191064102 46.14909673595436

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99965006e-01  8.36568094e-03 -3.68612653e-05]
 [-8.36568236e-03  9.99965006e-01 -3.82939084e-05]
 [ 3.65396208e-05  3.86009380e-05  9.99999999e-01]]

 t_estimated:
[[-7.20327200e-01]
 [-6.93634395e-01]
 [-2.25025083e-04]]

 R_gt:
[[ 0.99980833  0.01913249  0.00406516]
 [-0.01899962  0.99935629 -0.03042379]
 [-0.00464448  0.03034194  0.99952902]]

 t_gt:
[-0.38960611  0.82262996 -0.41410993]

Pose Error in degrees for R and t:
1.8613540461004465 73.14998434775742

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99057687e-01 -4.34020064e-02  5.42256381e-05]
 [ 4.34020127e-02  9.99057681e-01 -1.22839536e-04]
 [-4.88430579e-05  1.25077285e-04  9.99999991e-01]]

 t_estimated:
[[ 9.69109089e-01]
 [-2.46631338e-01]
 [ 7.46243975e-04]]

 R_gt:
[[ 0.99763608 -0.0686444  -0.00327397]
 [ 0.0686009   0.99757127 -0.01205028]
 [ 0.00409375  0.01179857  0.99992206]]

 t_gt:
[ 0.46850769 -0.85706235 -0.21434708]

Pose Error in degrees for R and t:
1.611898433929349 48.29822110598325

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.98062504e-01 -6.22190688e-02  1.57912588e-04]
 [ 6.22190988e-02  9.98062496e-01 -1.92606752e-04]
 [-1.45622819e-04  2.02058756e-04  9.99999969e-01]]

 t_estimated:
[[9.50283948e-01]
 [3.11383286e-01]
 [9.31436043e-04]]

 R_gt:
[[ 9.72925374e-01 -2.30016700e-01  2.25198399e-02]
 [ 2.29956441e-01  9.73186770e-01  5.25328018e-03]
 [-2.31242640e-02  6.83338520e-05  9.99732988e-01]]

 t_gt:
[ 0.58245816 -0.80553501  0.10888454]

Pose Error in degrees for R and t:
9.819547530344062 72.3758327180288

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[-9.97492404e-01 -6.94521727e-02 -1.36124726e-02]
 [-6.94600786e-02  9.97584726e-01  1.08289025e-04]
 [ 1.35720738e-02  1.05354090e-03 -9.99907340e-01]]

 t_estimated:
[[ 0.99939229]
 [ 0.03425705]
 [-0.00644248]]

 R_gt:
[[ 0.98350963  0.17945777 -0.02244937]
 [-0.18002511  0.98330636 -0.02647274]
 [ 0.01732366  0.03007794  0.99939719]]

 t_gt:
[-0.61428757  0.76434264 -0.19603855]

Pose Error in degrees for R and t:
178.0202510573712 54.09329369708737

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.86181904e-01  1.65665912e-01 -2.40808362e-04]
 [-1.65665842e-01  9.86181904e-01  2.85564743e-04]
 [ 2.84789193e-04 -2.41725062e-04  9.99999930e-01]]

 t_estimated:
[[0.50710578]
 [0.86188327]
 [0.00098276]]

 R_gt:
[[ 0.94100915  0.33769227  0.02159817]
 [-0.33659254  0.94067837 -0.04277684]
 [-0.03476285  0.0329836   0.99885141]]

 t_gt:
[-0.63080649  0.77545221  0.02751462]

Pose Error in degrees for R and t:
10.547305958779843 69.60497221669726

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.96198644e-01  8.71106337e-02 -9.45686942e-06]
 [-8.71106308e-02  9.96198629e-01  1.69704451e-04]
 [ 2.42039826e-05 -1.68235550e-04  9.99999986e-01]]

 t_estimated:
[[-7.10342683e-01]
 [ 7.03855781e-01]
 [ 5.58545290e-04]]

 R_gt:
[[ 0.91745346  0.39521348  0.04567709]
 [-0.39226002  0.91776343 -0.06200148]
 [-0.06642444  0.03896655  0.99703082]]

 t_gt:
[-0.62605809  0.77637262  0.07277922]

Pose Error in degrees for R and t:
18.750952585224066 7.60205568920146

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-0.88581099 -0.46403895  0.00259793]
 [ 0.46398282 -0.88576861 -0.01157204]
 [ 0.00767104 -0.00904525  0.99992967]]

 t_estimated:
[[8.46729513e-01]
 [5.32023011e-01]
 [8.04875963e-04]]

 R_gt:
[[ 0.98997572 -0.1410923   0.00634499]
 [ 0.14086742  0.98964339  0.02763086]
 [-0.01017789 -0.02646007  0.99959791]]

 t_gt:
[ 0.52372644 -0.82889379  0.19658509]

Pose Error in degrees for R and t:
144.2578689118549 89.8497536184274

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 8.48928195e-01  5.28508023e-01  4.34676296e-04]
 [-5.28507967e-01  8.48928306e-01 -2.44506013e-04]
 [-4.98232401e-04 -2.21618373e-05  9.99999876e-01]]

 t_estimated:
[[-1.90042412e-01]
 [ 9.81775567e-01]
 [ 7.85403532e-04]]

 R_gt:
[[ 0.96987185 -0.24354308  0.00590899]
 [ 0.24328996  0.96954725  0.02810797]
 [-0.01257472 -0.02582389  0.9995865 ]]

 t_gt:
[ 0.58894237 -0.79814753  0.12691498]

Pose Error in degrees for R and t:
46.02370410191275 26.436787712298322

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.29318644  0.71997119 -0.62903354]
 [-0.16310911  0.68596873  0.70911376]
 [ 0.94203882 -0.10530144  0.31855058]]

 t_estimated:
[[0.74728339]
 [0.66450505]
 [0.00075943]]

 R_gt:
[[ 0.92224591 -0.38658246 -0.00401781]
 [ 0.38635037  0.92121882  0.04572324]
 [-0.01397371 -0.04372076  0.99894576]]

 t_gt:
[ 0.65127417 -0.75171341  0.1037733 ]

Pose Error in degrees for R and t:
92.70602696781253 89.26933413190736

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-9.95436077e-01 -9.54123828e-02 -1.86938829e-03]
 [ 9.54111446e-02 -9.95437675e-01  7.40881503e-04]
 [-1.93154880e-03  5.59139700e-04  9.99997978e-01]]

 t_estimated:
[[9.21404880e-01]
 [3.88603119e-01]
 [8.14681591e-04]]

 R_gt:
[[ 0.99988749  0.01258611 -0.00819625]
 [-0.01277478  0.99964515 -0.02335942]
 [ 0.00789952  0.02346229  0.99969303]]

 t_gt:
[ 0.72936512  0.18805738 -0.65776967]

Pose Error in degrees for R and t:
175.25358403031203 41.87658635094672

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.25034038e-01 -3.79884223e-01  8.15651018e-05]
 [ 3.79884089e-01  9.25033484e-01 -1.06441010e-03]
 [ 3.28902153e-04  1.01560086e-03  9.99999430e-01]]

 t_estimated:
[[-0.16393191]
 [-0.98646746]
 [-0.002876  ]]

 R_gt:
[[ 0.99997724  0.00575621  0.00344052]
 [-0.00573672  0.99996715 -0.00569883]
 [-0.00347315  0.0056795   0.99997807]]

 t_gt:
[ 0.98826025 -0.1452459  -0.04738472]

Pose Error in degrees for R and t:
22.658213830359674 88.93476667918823

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.71396922  0.70011864 -0.0090468 ]
 [-0.7001187  -0.71401694 -0.00368859]
 [-0.00904202  0.0037003   0.99995227]]

 t_estimated:
[[0.44497586]
 [0.89554187]
 [0.00111803]]

 R_gt:
[[ 9.98205179e-01  5.98777908e-02 -1.21610661e-03]
 [-5.98900307e-02  9.98085981e-01 -1.54380953e-02]
 [ 2.89249858e-04  1.54832362e-02  9.99880440e-01]]

 t_gt:
[ 0.75218898  0.62566797 -0.20676393]

Pose Error in degrees for R and t:
132.12617540899504 26.518963454969484

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.84960661e-01 -1.72778514e-01 -2.85359304e-04]
 [ 1.72778543e-01  9.84960694e-01  7.81293890e-05]
 [ 2.67568618e-04 -1.26258339e-04  9.99999956e-01]]

 t_estimated:
[[-0.43292364]
 [-0.90143005]
 [-0.00098841]]

 R_gt:
[[ 9.86960535e-01  1.60963487e-01 -1.29002672e-04]
 [-1.60961055e-01  9.86948336e-01  4.94875222e-03]
 [ 9.23579353e-04 -4.86269011e-03  9.99987766e-01]]

 t_gt:
[-0.67649808  0.73643749  0.00318989]

Pose Error in degrees for R and t:
19.214173414341104 68.22405274661315

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-0.38125588 -0.92446762 -0.00188878]
 [ 0.92446669 -0.38125899  0.00170784]
 [-0.00229896 -0.00109499  0.99999676]]

 t_estimated:
[[ 0.75900769]
 [-0.65107938]
 [ 0.00172338]]

 R_gt:
[[ 0.94498642  0.32702964 -0.00736729]
 [-0.32708797  0.94494985 -0.00910317]
 [ 0.00398417  0.01101262  0.99993078]]

 t_gt:
[-0.61290608  0.78928734 -0.03703547]

Pose Error in degrees for R and t:
131.5045030599638 11.719717271545843

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 8.58203172e-01 -5.13309389e-01  8.86610631e-04]
 [ 5.13310111e-01  8.58202534e-01 -1.06826388e-03]
 [-2.12541611e-04  1.37189365e-03  9.99999036e-01]]

 t_estimated:
[[-0.55417344]
 [-0.83240044]
 [-0.00114027]]

 R_gt:
[[ 0.89586876  0.44176033  0.04762486]
 [-0.44035374  0.89704605 -0.03738724]
 [-0.05923849  0.01252322  0.99816521]]

 t_gt:
[-0.59682104  0.79712067  0.09166941]

Pose Error in degrees for R and t:
57.174550693855245 70.55597701609298

Number of keypoints:
Image1: 359
Image2: 359

 R_estimated:
[[-0.96584558  0.25788209  0.02528134]
 [ 0.25788019  0.96617095 -0.0033917 ]
 [-0.02530076  0.0032437  -0.99967462]]

 t_estimated:
[[ 0.9828749 ]
 [-0.18379868]
 [ 0.01322806]]

 R_gt:
[[ 0.99535333 -0.09318866 -0.02426417]
 [ 0.09416841  0.99462748  0.04299882]
 [ 0.02012581 -0.04508359  0.99878011]]

 t_gt:
[ 0.43048987 -0.89602524  0.10870716]

Pose Error in degrees for R and t:
179.86922652553943 53.896626924384975

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 7.68478507e-01  6.39874686e-01  1.08164204e-03]
 [-6.39874789e-01  7.68479127e-01 -2.94139094e-04]
 [-1.01943149e-03 -4.66075903e-04  9.99999372e-01]]

 t_estimated:
[[0.73049279]
 [0.68291868]
 [0.00153465]]

 R_gt:
[[ 0.97965865 -0.18210795 -0.08430032]
 [ 0.1873214   0.98054502  0.05867815]
 [ 0.07197372 -0.07327587  0.9947106 ]]

 t_gt:
[ 0.5061221  -0.86054326 -0.05749535]

Pose Error in degrees for R and t:
50.78187613661814 77.40542938346121

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 4.13616368e-01  9.10450736e-01  9.78712489e-04]
 [-9.10446313e-01  4.13617425e-01 -2.85234852e-03]
 [-3.00173534e-03  2.88712857e-04  9.99995453e-01]]

 t_estimated:
[[0.74657171]
 [0.66530331]
 [0.0014783 ]]

 R_gt:
[[ 0.95547634 -0.26563947 -0.12845761]
 [ 0.27094502  0.96225972  0.02543157]
 [ 0.11685405 -0.05910343  0.99138802]]

 t_gt:
[ 0.57875387 -0.78924893 -0.20525615]

Pose Error in degrees for R and t:
81.50364698154836 84.64582193972802

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.77243643e-01  2.12119600e-01  3.71388347e-04]
 [-2.12119862e-01  9.77243204e-01  9.40158384e-04]
 [-1.63510719e-04 -9.97542649e-04  9.99999489e-01]]

 t_estimated:
[[0.68932436]
 [0.72445091]
 [0.00167775]]

 R_gt:
[[ 0.98426273 -0.17640639 -0.01035542]
 [ 0.17664215  0.98382076  0.02988724]
 [ 0.00491522 -0.0312466   0.99949955]]

 t_gt:
[ 0.75415483 -0.65005007  0.09319554]

Pose Error in degrees for R and t:
22.484822726061427 87.18654703988253

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.88502392e-01  1.51204635e-01  4.22524868e-04]
 [-1.51204557e-01  9.88502472e-01 -2.11701788e-04]
 [-4.49677168e-04  1.45380038e-04  9.99999888e-01]]

 t_estimated:
[[0.362537  ]
 [0.93196823]
 [0.00146217]]

 R_gt:
[[ 0.95556162 -0.29362435 -0.02621257]
 [ 0.29448402  0.95484861  0.03928971]
 [ 0.01349181 -0.04526285  0.99888352]]

 t_gt:
[ 0.79265803 -0.60471082  0.07757623]

Pose Error in degrees for R and t:
25.948734237372477 73.97301960828602

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.98382731e-01  5.68498567e-02 -1.25321248e-04]
 [-5.68498300e-02  9.98382719e-01  2.06883192e-04]
 [ 1.36879849e-04 -1.99424115e-04  9.99999971e-01]]

 t_estimated:
[[9.53196316e-01]
 [3.02351603e-01]
 [5.39414909e-04]]

 R_gt:
[[ 0.93694815 -0.3481928  -0.02982833]
 [ 0.34772109  0.93738572 -0.01993897]
 [ 0.03490258  0.00830996  0.999356  ]]

 t_gt:
[ 0.81658551 -0.57514922 -0.04890275]

Pose Error in degrees for R and t:
23.71613986582567 52.811255257211194

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.80638805e-01 -1.95824331e-01 -6.04879052e-04]
 [ 1.95824409e-01  9.80638973e-01  7.27952548e-05]
 [ 5.78912890e-04 -1.89835935e-04  9.99999814e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99167293  0.12738615 -0.01890551]
 [-0.12819057  0.99047423 -0.05028472]
 [ 0.01231868  0.05228832  0.99855598]]

 t_gt:
[-0.53024985  0.76843705 -0.35824517]

Pose Error in degrees for R and t:
18.890048718511373 40.11593822262752

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-0.66708183 -0.74497428 -0.00389139]
 [ 0.74497296 -0.66709146  0.00206894]
 [-0.00413722 -0.00151883  0.99999029]]

 t_estimated:
[[0.91353366]
 [0.40675694]
 [0.00224829]]

 R_gt:
[[ 0.98509649  0.16827267 -0.03561885]
 [-0.17021433  0.98350291 -0.06123061]
 [ 0.02472721  0.06638005  0.99748754]]

 t_gt:
[-0.50073741  0.77459441 -0.386349  ]

Pose Error in degrees for R and t:
141.6330655203071 81.76477270489947

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99358680e-01 -3.58082047e-02 -4.63643756e-05]
 [ 3.58082050e-02  9.99358681e-01  5.98944705e-06]
 [ 4.61201698e-05 -7.64583096e-06  9.99999999e-01]]

 t_estimated:
[[-9.17695534e-01]
 [-3.97283977e-01]
 [-5.89931825e-04]]

 R_gt:
[[ 0.95736179  0.28383973 -0.053787  ]
 [-0.28689375  0.95597521 -0.06166916]
 [ 0.03391432  0.07447082  0.99664616]]

 t_gt:
[-0.50501622  0.81894421 -0.27256007]

Pose Error in degrees for R and t:
19.237462979321204 82.05291409110787

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.95138592e-01 -9.84843423e-02  1.33836766e-04]
 [ 9.84843690e-02  9.95138576e-01 -2.10488657e-04]
 [-1.12456292e-04  2.22646215e-04  9.99999969e-01]]

 t_estimated:
[[-0.89218804]
 [-0.45166246]
 [-0.00123743]]

 R_gt:
[[ 0.99358224  0.11175052  0.01753205]
 [-0.11164252  0.99372278 -0.00705765]
 [-0.01821143  0.00505494  0.99982077]]

 t_gt:
[-0.80207852  0.5945527   0.05636608]

Pose Error in degrees for R and t:
12.113050705846064 63.44876064808869

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.79544476e-01  2.01226024e-01 -8.41030834e-04]
 [-2.01225985e-01  9.79544836e-01  1.31170507e-04]
 [ 8.50222329e-04  4.07499127e-05  9.99999638e-01]]

 t_estimated:
[[0.4216022 ]
 [0.90677935]
 [0.00167302]]

 R_gt:
[[ 0.97910352  0.20307807  0.01086138]
 [-0.20291231  0.97908714 -0.01462677]
 [-0.01360448  0.01211762  0.99983382]]

 t_gt:
[-7.66947544e-01  6.41709748e-01  2.53528854e-04]

Pose Error in degrees for R and t:
1.0835649866163786 75.01638573607877

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 8.50487092e-01  5.25995918e-01  2.00475780e-05]
 [-5.25995852e-01  8.50487003e-01 -4.70871756e-04]
 [-2.64726826e-04  3.89925407e-04  9.99999889e-01]]

 t_estimated:
[[-9.44420750e-01]
 [ 3.28738558e-01]
 [-6.38233256e-04]]

 R_gt:
[[ 0.91517313  0.40304849  0.00343882]
 [-0.40291753  0.91503683 -0.01909376]
 [-0.0108429   0.01608836  0.99981147]]

 t_gt:
[-0.67624017  0.7365571  -0.01352288]

Pose Error in degrees for R and t:
8.041452835326272 28.261151636157713

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.97999187  0.1989883   0.0044265 ]
 [ 0.1988897  -0.97987878  0.01674699]
 [ 0.00766989 -0.01553153 -0.99984996]]

 t_estimated:
[[8.95496713e-01]
 [4.45067229e-01]
 [8.93709295e-04]]

 R_gt:
[[ 0.9953564   0.09622204  0.00272679]
 [-0.09619111  0.99531546 -0.00963523]
 [-0.00364087  0.00932866  0.99994995]]

 t_gt:
[-0.87135344  0.48638152 -0.06462358]

Pose Error in degrees for R and t:
179.61014432682265 55.67548764735833

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.98755750e-01  4.98691897e-02  1.23574099e-04]
 [-4.98691972e-02  9.98755756e-01  5.86717830e-05]
 [-1.20494429e-04 -6.47613218e-05  9.99999991e-01]]

 t_estimated:
[[-0.98999355]
 [-0.14110831]
 [-0.00109918]]

 R_gt:
[[ 0.97590336  0.21299588  0.04738718]
 [-0.21397238  0.97670004  0.01652399]
 [-0.04276351 -0.026265    0.99874029]]

 t_gt:
[-0.84846636  0.51277804  0.13100959]

Pose Error in degrees for R and t:
9.899709747783296 39.87231700982098

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.43049728  0.90258949  0.0020734 ]
 [-0.90221062 -0.43024754 -0.03005077]
 [-0.02623143 -0.01480742  0.99954622]]

 t_estimated:
[[0.94703933]
 [0.32110916]
 [0.00232688]]

 R_gt:
[[ 0.94144811  0.33399127  0.04610104]
 [-0.33604785  0.94062178  0.047975  ]
 [-0.02734049 -0.06065753  0.99778442]]

 t_gt:
[-0.81218954  0.5646023   0.14687542]

Pose Error in degrees for R and t:
95.96227384844735 54.01774168206699

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.98356392e-01  5.73082810e-02 -5.24072625e-04]
 [-5.73083092e-02  9.98356528e-01 -3.88424114e-05]
 [ 5.20985335e-04  6.88122857e-05  9.99999862e-01]]

 t_estimated:
[[-0.94805346]
 [-0.31810719]
 [-0.00156703]]

 R_gt:
[[ 0.99213312  0.1122944   0.05533658]
 [-0.11114076  0.99352702 -0.02352056]
 [-0.05761973  0.01718571  0.99819122]]

 t_gt:
[-0.52484342  0.79857568  0.294646  ]

Pose Error in degrees for R and t:
4.67872847255403 75.93129494344788

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.69150212e-01 -2.46469863e-01 -6.87537827e-04]
 [ 2.46470246e-01  9.69150208e-01  5.40427069e-04]
 [ 5.33128442e-04 -6.93212626e-04  9.99999618e-01]]

 t_estimated:
[[9.94628251e-01]
 [1.03506983e-01]
 [9.72956737e-04]]

 R_gt:
[[ 0.98510109  0.1538557   0.07684236]
 [-0.1513829   0.98778016 -0.03706725]
 [-0.08160574  0.02488309  0.99635357]]

 t_gt:
[-0.50575672  0.80571138  0.30828448]

Pose Error in degrees for R and t:
23.579940103554364 65.20687089085342

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99973565e-01 -7.22616978e-03 -8.07807709e-04]
 [ 7.22635475e-03  9.99973864e-01  2.26297464e-04]
 [ 8.06151332e-04 -2.32128987e-04  9.99999648e-01]]

 t_estimated:
[[-0.99982928]
 [-0.01836421]
 [-0.00204047]]

 R_gt:
[[ 0.98339362  0.1548764   0.09461626]
 [-0.15305924  0.98786949 -0.0262154 ]
 [-0.09752861  0.0112992   0.99516809]]

 t_gt:
[-0.49409502  0.75762434  0.42646861]

Pose Error in degrees for R and t:
10.888967567628034 61.36505184713146

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99580531e-01  2.89610706e-02  1.32930538e-04]
 [-2.89610565e-02  9.99580535e-01 -1.07256719e-04]
 [-1.35981048e-04  1.03361919e-04  9.99999985e-01]]

 t_estimated:
[[ 0.61962534]
 [-0.78489699]
 [ 0.00107856]]

 R_gt:
[[ 0.99464947  0.00823409  0.10297897]
 [-0.00283381  0.99861781 -0.05248412]
 [-0.10326817  0.05191167  0.9932971 ]]

 t_gt:
[-0.6683753   0.73061979  0.13953203]

Pose Error in degrees for R and t:
6.76202750914625 9.085774504308379

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99998762e-01  1.56289847e-03 -1.83591826e-04]
 [-1.56280064e-03  9.99998637e-01  5.31807664e-04]
 [ 1.84422737e-04 -5.31520089e-04  9.99999842e-01]]

 t_estimated:
[[9.99998476e-01]
 [1.51332534e-03]
 [8.70425975e-04]]

 R_gt:
[[ 0.98414251 -0.02970475  0.17487504]
 [ 0.05249025  0.99049259 -0.12715798]
 [-0.16943453  0.13432054  0.97634481]]

 t_gt:
[-0.35819247  0.92569524 -0.12159968]

Pose Error in degrees for R and t:
12.754966553648101 69.09025474592438

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.85815858  0.51334616  0.00629079]
 [ 0.5084975  -0.85161221  0.12722793]
 [ 0.07066928 -0.10598288 -0.99185356]]

 t_estimated:
[[0.95670132]
 [0.29106913]
 [0.00115964]]

 R_gt:
[[ 0.98008067 -0.06761609  0.18673613]
 [ 0.08633952  0.99181963 -0.09401918]
 [-0.17885104  0.1082691   0.97789997]]

 t_gt:
[0.02694707 0.96871938 0.24669133]

Pose Error in degrees for R and t:
178.4025987242285 72.05941009237912

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999666e-01 -8.01301849e-04  1.60703977e-04]
 [ 8.01300884e-04  9.99999679e-01  6.06675805e-06]
 [-1.60708787e-04 -5.93798379e-06  9.99999987e-01]]

 t_estimated:
[[0.0644268 ]
 [0.99792125]
 [0.00153847]]

 R_gt:
[[ 0.99987634  0.00704583 -0.01406183]
 [-0.00764829  0.99903558 -0.04325369]
 [ 0.01374465  0.04335743  0.99896465]]

 t_gt:
[ 0.03010857  0.60496347 -0.79568378]

Pose Error in degrees for R and t:
2.651278593256822 52.81277070230484

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.90333786 -0.42888653 -0.00608768]
 [ 0.42889633 -0.90299941 -0.0252982 ]
 [ 0.00535288 -0.0254638   0.99966141]]

 t_estimated:
[[0.88478853]
 [0.46598862]
 [0.0019662 ]]

 R_gt:
[[ 0.99735212 -0.04604662  0.05631196]
 [ 0.04474512  0.99870721  0.02416921]
 [-0.05735093 -0.02158438  0.99812048]]

 t_gt:
[ 0.30972503 -0.43378417  0.84610974]

Pose Error in degrees for R and t:
152.0532608246286 85.78115160109081

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.52900413 -0.84851525  0.01328538]
 [-0.84856465  0.5287277  -0.01962265]
 [ 0.00962577 -0.02165396 -0.99971919]]

 t_estimated:
[[0.97267165]
 [0.23201342]
 [0.00892359]]

 R_gt:
[[ 0.98599291 -0.0990132   0.1342228 ]
 [ 0.08227108  0.98873828  0.12501532]
 [-0.14508877 -0.11222088  0.98303385]]

 t_gt:
[ 0.24552457 -0.3893145   0.8877792 ]

Pose Error in degrees for R and t:
169.57946595886534 81.00137421696165

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.98939279e-01 -4.60465594e-02  1.75437862e-04]
 [ 4.60465314e-02  9.98939283e-01  1.60430547e-04]
 [-1.82639047e-04 -1.52182070e-04  9.99999972e-01]]

 t_estimated:
[[0.65066802]
 [0.75936085]
 [0.00148894]]

 R_gt:
[[ 0.99945785 -0.00488289  0.03257927]
 [ 0.002881    0.99812005  0.0612149 ]
 [-0.03281651 -0.0610877   0.99759235]]

 t_gt:
[-0.23319971 -0.39301561  0.88946985]

Pose Error in degrees for R and t:
4.6419878956894385 63.329953130038746

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99998385e-01 -1.78688409e-03  1.91083583e-04]
 [ 1.78685237e-03  9.99998390e-01  1.66075464e-04]
 [-1.91380033e-04 -1.65733758e-04  9.99999968e-01]]

 t_estimated:
[[-8.29551754e-03]
 [ 9.99965223e-01]
 [ 8.58875529e-04]]

 R_gt:
[[ 0.99902141 -0.01699605  0.04085309]
 [ 0.01316363  0.99564216  0.09231386]
 [-0.04224338 -0.09168514  0.99489113]]

 t_gt:
[-0.06278534 -0.47415883  0.87819782]

Pose Error in degrees for R and t:
5.831003354252982 61.77942322842817

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99975926e-01  6.93128676e-03  3.23027009e-04]
 [-6.93141475e-03  9.99975899e-01  3.96812601e-04]
 [-3.20268802e-04 -3.99042082e-04  9.99999869e-01]]

 t_estimated:
[[0.99972647]
 [0.02332501]
 [0.00171313]]

 R_gt:
[[ 0.99431591 -0.10180426  0.03117819]
 [ 0.09897041  0.99171426  0.08189811]
 [-0.03925765 -0.078346    0.996152  ]]

 t_gt:
[ 0.4907316  -0.69371723  0.52719911]

Pose Error in degrees for R and t:
7.939494125035711 61.619840982179966

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.50222249e-01  3.11572470e-01  5.23701919e-04]
 [-3.11572444e-01  9.50222392e-01 -1.32575909e-04]
 [-5.38940293e-04 -3.71945082e-05  9.99999854e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97845102 -0.20072222  0.04842626]
 [ 0.19911356  0.97931195  0.03607327]
 [-0.05466531 -0.02565351  0.99817435]]

 t_gt:
[ 0.64431543 -0.70157909  0.30437543]

Pose Error in degrees for R and t:
29.890576410793237 45.79480070021767

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99803553e-01  1.98159484e-02  4.29209145e-04]
 [-1.98162059e-02  9.99803457e-01  6.04103222e-04]
 [-4.17153909e-04 -6.12489845e-04  9.99999725e-01]]

 t_estimated:
[[0.63524494]
 [0.77231023]
 [0.00087862]]

 R_gt:
[[ 0.94179372 -0.33520838  0.02571771]
 [ 0.3331732   0.94082871  0.06194583]
 [-0.04496071 -0.04977193  0.99774779]]

 t_gt:
[ 0.72379905 -0.65334412  0.22193781]

Pose Error in degrees for R and t:
21.024593944036024 87.44377938634928

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-1.66254096e-02  9.99853059e-01  4.17816590e-03]
 [ 9.99861679e-01  1.66272193e-02 -3.98788789e-04]
 [-4.68201472e-04  4.17095795e-03 -9.99991192e-01]]

 t_estimated:
[[0.7011397 ]
 [0.71302342]
 [0.00084884]]

 R_gt:
[[ 0.86098965 -0.50620638 -0.04952539]
 [ 0.50842021  0.85930558  0.055694  ]
 [ 0.0143648  -0.07313133  0.9972189 ]]

 t_gt:
[ 0.83339749 -0.54003719  0.11750941]

Pose Error in degrees for R and t:
176.18129850478297 78.4999586833689

Number of keypoints:
Image1: 389
Image2: 389

 R_estimated:
[[ 9.93548973e-01 -1.13403722e-01  1.84650664e-04]
 [ 1.13403746e-01  9.93548979e-01 -1.27879649e-04]
 [-1.68957451e-04  1.47994771e-04  9.99999975e-01]]

 t_estimated:
[[0.98854409]
 [0.15092824]
 [0.00112158]]

 R_gt:
[[ 0.99876569  0.04754339  0.0143593 ]
 [-0.04777782  0.99872332  0.01642414]
 [-0.01355862 -0.01709019  0.99976157]]

 t_gt:
[-0.92637677 -0.05367609  0.37275321]

Pose Error in degrees for R and t:
9.32764808002351 22.56460497771312

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[-0.89496769  0.44588133 -0.0149225 ]
 [ 0.44587293  0.89508702  0.0040695 ]
 [ 0.01517145 -0.00301147 -0.99988037]]

 t_estimated:
[[ 0.97530669]
 [-0.22073153]
 [-0.00737903]]

 R_gt:
[[ 0.98542117  0.16942628  0.01549206]
 [-0.16956481  0.98548615  0.00806757]
 [-0.01389886 -0.01057684  0.99984695]]

 t_gt:
[-0.97258303  0.20889636  0.10219861]

Pose Error in degrees for R and t:
179.81249319779477 5.479229683259858

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-6.46983889e-01 -7.62500439e-01 -2.21974544e-03]
 [-7.62502717e-01  6.46984942e-01  3.02165211e-04]
 [ 1.20574077e-03  1.88805795e-03 -9.99997491e-01]]

 t_estimated:
[[8.50825650e-01]
 [5.25448077e-01]
 [1.76584783e-04]]

 R_gt:
[[ 0.96758558  0.25140356  0.02397511]
 [-0.25218694  0.96690208  0.0387692 ]
 [-0.01343419 -0.04355942  0.99896023]]

 t_gt:
[-0.95153676  0.21575556  0.21915138]

Pose Error in degrees for R and t:
178.1353482131083 45.87829096302972

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.95925838 -0.28251665 -0.00277636]
 [ 0.28252832  0.9592421   0.00568779]
 [ 0.0010563  -0.00624046  0.99997997]]

 t_estimated:
[[0.95263849]
 [0.30410313]
 [0.00108998]]

 R_gt:
[[ 0.99556382  0.09284073  0.01524597]
 [-0.09327853  0.99515479  0.03107356]
 [-0.0122866  -0.03235718  0.99940058]]

 t_gt:
[-0.91834761  0.13644108  0.37151245]

Pose Error in degrees for R and t:
21.819533294875125 33.59638187767776

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-2.28811174e-01 -9.73470508e-01 -7.84836856e-04]
 [ 9.73466686e-01 -2.28807776e-01 -3.10039735e-03]
 [ 2.83856861e-03 -1.47341809e-03  9.99994886e-01]]

 t_estimated:
[[ 0.98113514]
 [-0.19331922]
 [-0.00123559]]

 R_gt:
[[ 0.99174811  0.12159659  0.04060282]
 [-0.1239566   0.99036199  0.06178049]
 [-0.03269888 -0.06630428  0.99726345]]

 t_gt:
[-0.85707049  0.04055697  0.51360034]

Pose Error in degrees for R and t:
110.3504924785331 31.856025946115654

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 6.31011736e-01  7.75770594e-01  2.04316149e-03]
 [-7.75771049e-01  6.31014052e-01 -7.38792370e-04]
 [-1.86239701e-03 -1.11883888e-03  9.99997640e-01]]

 t_estimated:
[[-0.11469173]
 [ 0.99339865]
 [ 0.00221868]]

 R_gt:
[[ 0.97825006  0.20282675  0.04344435]
 [-0.20494951  0.97740301  0.05174301]
 [-0.03196799 -0.05952149  0.99771418]]

 t_gt:
[-0.93381328  0.15228187  0.32373291]

Pose Error in degrees for R and t:
39.273247695433746 74.98359921272598

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-6.39065049e-02 -9.97954230e-01 -1.82039318e-03]
 [ 9.97955811e-01 -6.39071205e-02  2.81977536e-04]
 [-3.97736761e-04 -1.79865175e-03  9.99998303e-01]]

 t_estimated:
[[0.98534667]
 [0.17056053]
 [0.00102747]]

 R_gt:
[[ 0.99839569 -0.04132681  0.03871209]
 [ 0.038519    0.9967564   0.07067093]
 [-0.04150692 -0.06906615  0.99674773]]

 t_gt:
[ 0.15065336 -0.51771264  0.84218596]

Pose Error in degrees for R and t:
91.46077260480142 86.50222587111384

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.89490720e-01 -1.44596380e-01  3.99344050e-05]
 [ 1.44596369e-01  9.89490701e-01  2.05580490e-04]
 [-6.92409170e-05 -1.97645617e-04  9.99999978e-01]]

 t_estimated:
[[4.07038849e-01]
 [9.13410737e-01]
 [4.47673742e-04]]

 R_gt:
[[ 0.99554208 -0.05165115  0.07891547]
 [ 0.03988009  0.98876496  0.14405918]
 [-0.08546888 -0.14027087  0.98641716]]

 t_gt:
[ 0.00605825 -0.43274223  0.90149734]

Pose Error in degrees for R and t:
11.012357410372209 66.89596577152356

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 6.62411736e-01 -7.49137653e-01  1.86229670e-03]
 [-7.49139392e-01 -6.62412262e-01  4.06851984e-04]
 [ 9.28820030e-04 -1.66462335e-03 -9.99998183e-01]]

 t_estimated:
[[0.39676409]
 [0.91791911]
 [0.00166519]]

 R_gt:
[[ 0.99392815 -0.07188345  0.08330447]
 [ 0.05548772  0.98123404  0.18466505]
 [-0.09501482 -0.17892243  0.97926436]]

 t_gt:
[ 0.04896166 -0.45608009  0.88859086]

Pose Error in degrees for R and t:
168.25576990432327 66.56310869855703

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.83640127 -0.54811059 -0.00277546]
 [ 0.54811267 -0.83636147 -0.00848484]
 [ 0.00232935 -0.008618    0.99996015]]

 t_estimated:
[[0.93957435]
 [0.34232554]
 [0.00364176]]

 R_gt:
[[ 0.99298938 -0.07637408  0.09021728]
 [ 0.06799712  0.99338442  0.09254387]
 [-0.09668825 -0.08576012  0.99161243]]

 t_gt:
[ 0.23588191 -0.49553191  0.83594728]

Pose Error in degrees for R and t:
142.71117609202813 86.84486398243324

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.20613297e-01  3.90474916e-01 -7.04817768e-04]
 [-3.90474398e-01  9.20613466e-01  7.68677993e-04]
 [ 9.49014202e-04 -4.32441887e-04  9.99999456e-01]]

 t_estimated:
[[-0.99970305]
 [-0.02428428]
 [-0.00202369]]

 R_gt:
[[ 0.97877386 -0.12701094  0.16084047]
 [ 0.09486388  0.97644614  0.19379265]
 [-0.18166549 -0.17442057  0.96776756]]

 t_gt:
[ 0.23783332 -0.39558914  0.88709895]

Pose Error in degrees for R and t:
32.80329686778848 76.70579477639659

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 7.05036725e-01 -7.08919082e-01 -1.88931663e-02]
 [-7.08688221e-01 -7.05289545e-01  1.81014469e-02]
 [-2.61576138e-02  6.27179556e-04 -9.99657634e-01]]

 t_estimated:
[[0.13896766]
 [0.99014456]
 [0.01737096]]

 R_gt:
[[ 0.97415133 -0.1009772   0.20207353]
 [ 0.04695106  0.96550248  0.25612828]
 [-0.2209661  -0.24001952  0.94528472]]

 t_gt:
[ 0.11738308 -0.23443261  0.96501946]

Pose Error in degrees for R and t:
161.29356578237426 78.51879863528353

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.99187982  0.1271486   0.00276843]
 [-0.12713198  0.99187044 -0.00552133]
 [-0.00344796  0.00512454  0.99998093]]

 t_estimated:
[[0.70560524]
 [0.70837523]
 [0.01804951]]

 R_gt:
[[ 0.9963811   0.02352931  0.08167404]
 [-0.0191915   0.99838459 -0.05348419]
 [-0.08280133  0.05172296  0.99522369]]

 t_gt:
[-0.84151962  0.53959478 -0.02611905]

Pose Error in degrees for R and t:
8.055271108686428 77.75944912994943

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99989129e-01  4.65104494e-03  3.31217006e-04]
 [-4.65097693e-03  9.99989163e-01 -2.05807735e-04]
 [-3.32170638e-04  2.04265015e-04  9.99999924e-01]]

 t_estimated:
[[ 0.77407166]
 [-0.63309701]
 [ 0.00111562]]

 R_gt:
[[ 0.98708721  0.01150099  0.15977112]
 [ 0.00818574  0.99249496 -0.12201207]
 [-0.15997643  0.1217436   0.97958533]]

 t_gt:
[-0.63466234  0.75544303 -0.16281752]

Pose Error in degrees for R and t:
11.576198178067298 14.134654031623203

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-6.84522612e-01 -7.28986955e-01 -2.61020889e-03]
 [ 7.28991600e-01 -6.84519183e-01 -2.17591454e-03]
 [-2.00524745e-04 -3.39228306e-03  9.99994226e-01]]

 t_estimated:
[[0.9412834 ]
 [0.33761522]
 [0.00123312]]

 R_gt:
[[ 0.97450536 -0.03182944  0.22209305]
 [ 0.06796881  0.98525279 -0.15702896]
 [-0.21382017  0.16812043  0.96229768]]

 t_gt:
[-0.41044876  0.90954699 -0.06523863]

Pose Error in degrees for R and t:
130.81421510536768 85.4486717063609

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[-0.88678631  0.46172997  0.02038328]
 [ 0.46180418  0.88698111 -0.00118386]
 [-0.01862621  0.00836325 -0.99979154]]

 t_estimated:
[[ 0.97174797]
 [-0.23585326]
 [ 0.00889523]]

 R_gt:
[[ 0.99799009  0.06279478 -0.00854157]
 [-0.0620764   0.99577761  0.06762481]
 [ 0.01275145 -0.06695841  0.9976741 ]]

 t_gt:
[-0.91371763 -0.06362613  0.40133752]

Pose Error in degrees for R and t:
179.63182910767244 29.619492484697226

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.29664811e-01  3.68406438e-01 -1.85735311e-04]
 [-3.68406485e-01  9.29664693e-01 -4.69303660e-04]
 [-2.22928605e-07  5.04721192e-04  9.99999873e-01]]

 t_estimated:
[[-0.97217942]
 [-0.23423513]
 [-0.00103644]]

 R_gt:
[[ 0.99377652  0.11123044 -0.00596598]
 [-0.10984285  0.9874654   0.11333786]
 [ 0.01849715 -0.11197736  0.99353885]]

 t_gt:
[-0.89955536  0.06466732  0.4319934 ]

Pose Error in degrees for R and t:
16.587904560213623 30.80288466864921

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.08015511 -0.99670868 -0.01212336]
 [-0.99670263  0.08029663 -0.01167526]
 [ 0.0126103   0.01114755 -0.99985835]]

 t_estimated:
[[ 0.79224106]
 [ 0.61015925]
 [-0.00773262]]

 R_gt:
[[ 0.97057106  0.23504995  0.05238783]
 [-0.23938438  0.96538694  0.10355215]
 [-0.02623514 -0.11304444  0.99324355]]

 t_gt:
[-0.89458485  0.34688429  0.28176097]

Pose Error in degrees for R and t:
175.03587828829106 60.04954487856953

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.99209758e-01 -3.97474419e-02 -3.48297840e-05]
 [ 3.97474440e-02  9.99209756e-01  6.40223418e-05]
 [ 3.22575357e-05 -6.53561436e-05  9.99999997e-01]]

 t_estimated:
[[ 9.38767015e-01]
 [-3.44552028e-01]
 [ 6.26473385e-04]]

 R_gt:
[[ 0.99966558  0.01089831  0.0234354 ]
 [-0.01094432  0.99993788  0.00183145]
 [-0.02341384 -0.00208778  0.99972345]]

 t_gt:
[-0.34731963  0.32507028  0.87960127]

Pose Error in degrees for R and t:
3.202204944992033 64.05521500447898

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 0.1019738  -0.99465421  0.01625863]
 [-0.99463568 -0.10165952  0.01911016]
 [-0.01735515 -0.01812015 -0.99968518]]

 t_estimated:
[[0.65309981]
 [0.75714712]
 [0.01374343]]

 R_gt:
[[ 0.99909634  0.01350386  0.04030381]
 [-0.01389514  0.99985933  0.00944516]
 [-0.04016962 -0.00999813  0.99914265]]

 t_gt:
[-0.29390963  0.21097232  0.93225952]

Pose Error in degrees for R and t:
176.60434347964707 88.88823210873511

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-0.54164093  0.84053416  0.01128863]
 [-0.84060402 -0.54163876 -0.00351379]
 [ 0.0031609  -0.01139249  0.99993011]]

 t_estimated:
[[8.38993234e-01]
 [5.44141461e-01]
 [6.50886915e-04]]

 R_gt:
[[ 0.99961768 -0.00841911  0.02631607]
 [ 0.00812766  0.99990452  0.01117584]
 [-0.02640647 -0.01095803  0.99959115]]

 t_gt:
[ 0.05601163 -0.27828025  0.95886537]

Pose Error in degrees for R and t:
123.26790611568023 84.04160159638784

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999816e-01 -6.05564234e-04  2.51742067e-05]
 [ 6.05563959e-04  9.99999817e-01  1.09359513e-05]
 [-2.51808245e-05 -1.09207047e-05  1.00000000e+00]]

 t_estimated:
[[ 2.72641199e-01]
 [-9.62115780e-01]
 [-5.38469106e-05]]

 R_gt:
[[ 0.99841452  0.01342849  0.05466064]
 [-0.00770548  0.99459175 -0.10358006]
 [-0.05575542  0.10299532  0.99311792]]

 t_gt:
[ 0.28100496  0.71275375 -0.642665  ]

Pose Error in degrees for R and t:
6.756178836071507 52.47529186882188

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.98647577e-01  5.19899047e-02 -2.56916857e-04]
 [-5.19899234e-02  9.98647607e-01 -6.66834643e-05]
 [ 2.53102537e-04  7.99503678e-05  9.99999965e-01]]

 t_estimated:
[[-0.00867646]
 [-0.99996177]
 [-0.00108456]]

 R_gt:
[[ 0.99260488  0.03051857  0.11749079]
 [-0.01766572  0.99389475 -0.10891427]
 [-0.12009743  0.10603341  0.98708311]]

 t_gt:
[0.33837763 0.94094837 0.01080464]

Pose Error in degrees for R and t:
9.362728532793833 19.28975470373387

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 6.04888526e-01  7.96306208e-01  2.50883962e-03]
 [ 7.96294768e-01 -6.04893421e-01  4.31188546e-03]
 [ 4.95116174e-03 -6.10434179e-04 -9.99987557e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98038059  0.12550278  0.15199833]
 [-0.10228136  0.98307506 -0.15199757]
 [-0.16850168  0.13346883  0.97662364]]

 t_gt:
[-0.08353947  0.99496972  0.05528477]

Pose Error in degrees for R and t:
168.65827954402474 85.38780811912984

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-5.53044486e-01 -8.33149675e-01 -1.84801681e-03]
 [-8.33151709e-01  5.53042685e-01  1.42086140e-03]
 [-1.61758035e-04  2.32547793e-03 -9.99997283e-01]]

 t_estimated:
[[0.4293189 ]
 [0.90315243]
 [0.00098921]]

 R_gt:
[[ 0.9993923  -0.03465149 -0.00399044]
 [ 0.03472759  0.99917525  0.02103983]
 [ 0.00325809 -0.02116588  0.99977048]]

 t_gt:
[ 0.64799164 -0.66430273  0.37257043]

Pose Error in degrees for R and t:
179.66375297265103 71.25220559727687

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.65006498e-01  2.62225513e-01  4.89074213e-04]
 [-2.62225459e-01  9.65006621e-01 -1.73940855e-04]
 [-5.17571584e-04  3.96063453e-05  9.99999865e-01]]

 t_estimated:
[[-9.62312488e-01]
 [-2.71946083e-01]
 [-6.55396075e-05]]

 R_gt:
[[ 0.99677651 -0.07993208 -0.00692026]
 [ 0.07983582  0.99672047 -0.01319076]
 [ 0.00795184  0.01259548  0.99988917]]

 t_gt:
[ 0.80777561 -0.55079896 -0.21004539]

Pose Error in degrees for R and t:
19.80293969534252 51.13178918901381

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-0.13034393 -0.99074173 -0.03796429]
 [-0.99143974  0.13053789 -0.00266526]
 [ 0.00759637  0.0372919  -0.99927554]]

 t_estimated:
[[ 0.9473131 ]
 [ 0.31915136]
 [-0.02720851]]

 R_gt:
[[ 0.99600256 -0.08659243 -0.02196896]
 [ 0.08094099  0.97876944 -0.18830719]
 [ 0.0378079   0.18577565  0.98186512]]

 t_gt:
[ 0.58831408 -0.01741444 -0.80844498]

Pose Error in degrees for R and t:
169.91800995292934 54.98741308257218

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999929e-01 -3.72998802e-04 -5.54842919e-05]
 [ 3.72999581e-04  9.99999930e-01  1.40213564e-05]
 [ 5.54790581e-05 -1.40420510e-05  9.99999998e-01]]

 t_estimated:
[[-0.8935338 ]
 [-0.44899433]
 [-0.0012034 ]]

 R_gt:
[[ 0.99544954  0.09500909 -0.00727574]
 [-0.09506466  0.99544091 -0.00770839]
 [ 0.0065097   0.00836458  0.9999432 ]]

 t_gt:
[-0.19633664  0.95169822 -0.23605595]

Pose Error in degrees for R and t:
5.508735264671688 75.4284030992531

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999961e-01 -2.79625607e-04 -1.90892876e-07]
 [ 2.79625615e-04  9.99999960e-01  3.94840765e-05]
 [ 1.79852110e-07 -3.94841284e-05  9.99999999e-01]]

 t_estimated:
[[-2.06549018e-01]
 [-9.78436187e-01]
 [-3.63334809e-04]]

 R_gt:
[[ 0.99090901  0.11297841  0.07304133]
 [-0.10546191  0.98941625 -0.09965696]
 [-0.0835274   0.09104844  0.99233681]]

 t_gt:
[-0.08252026  0.9735188  -0.21319371]

Pose Error in degrees for R and t:
9.496154865899898 20.7064747685121

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999995e-01 -9.54041265e-05 -4.27519318e-07]
 [ 9.54041713e-05  9.99999990e-01  1.06086484e-04]
 [ 4.17398225e-07 -1.06086524e-04  9.99999994e-01]]

 t_estimated:
[[-0.60711812]
 [-0.79461068]
 [-0.00120682]]

 R_gt:
[[ 0.98969602  0.09011297  0.11126847]
 [-0.07428181  0.98749848 -0.13902649]
 [-0.12240558  0.1293289   0.98401716]]

 t_gt:
[ 0.21587759  0.94513472 -0.24518813]

Pose Error in degrees for R and t:
11.309050685890943 28.141990121431835

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99872305e-01 -1.59804027e-02  1.26681860e-05]
 [ 1.59804020e-02  9.99872304e-01  5.49996382e-05]
 [-1.35454847e-05 -5.47901724e-05  9.99999998e-01]]

 t_estimated:
[[-6.80643200e-01]
 [ 7.32615051e-01]
 [ 1.43742024e-04]]

 R_gt:
[[ 0.99277815  0.10909066 -0.04990484]
 [-0.10641329  0.99288278  0.05348031]
 [ 0.05538367 -0.04778313  0.99732078]]

 t_gt:
[-0.27908646  0.94432263  0.17425707]

Pose Error in degrees for R and t:
8.252853396521504 28.138724758437874

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.86652825  0.49910429  0.00486831]
 [-0.49911999  0.86652844  0.00277355]
 [-0.00283424 -0.00483323  0.9999843 ]]

 t_estimated:
[[-0.42696775]
 [ 0.90424699]
 [ 0.00599382]]

 R_gt:
[[ 0.975708    0.20286762 -0.08270076]
 [-0.19799386  0.97814611  0.06347531]
 [ 0.09377023 -0.04555911  0.99455124]]

 t_gt:
[-0.15227471  0.98102148 -0.12003865]

Pose Error in degrees for R and t:
19.316776729533657 17.939438665351105

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999698e-01 -7.73504246e-04 -6.97698689e-05]
 [ 7.73492550e-04  9.99999687e-01 -1.67507867e-04]
 [ 6.98994151e-05  1.67453850e-04  9.99999984e-01]]

 t_estimated:
[[-0.93250866]
 [-0.36114443]
 [-0.00151653]]

 R_gt:
[[ 9.74900615e-01  2.22640438e-01  1.81472693e-04]
 [-2.22608223e-01  9.74772115e-01 -1.62274262e-02]
 [-3.78997828e-03  1.57802545e-02  9.99868469e-01]]

 t_gt:
[-0.11114588  0.99024437 -0.08403974]

Pose Error in degrees for R and t:
12.941142374379215 75.29458910628297

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99977948e-01  6.64086446e-03  3.99871901e-05]
 [-6.64086442e-03  9.99977949e-01 -1.24130956e-06]
 [-3.99945517e-05  9.75732678e-07  9.99999999e-01]]

 t_estimated:
[[ 9.99085364e-01]
 [-4.27601495e-02]
 [ 7.47741047e-05]]

 R_gt:
[[ 9.94484690e-01 -1.04876426e-01 -9.00082702e-04]
 [ 1.04876949e-01  9.94483124e-01  1.92984165e-03]
 [ 6.92345016e-04 -2.01256552e-03  9.99997107e-01]]

 t_gt:
[ 0.7708356  -0.63670668 -0.02042254]

Pose Error in degrees for R and t:
6.402001322779054 37.12176645701858

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99610272e-01  2.79155532e-02  1.64284278e-04]
 [-2.79156019e-02  9.99610238e-01  3.01991071e-04]
 [-1.55789999e-04 -3.06459471e-04  9.99999941e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98758059 -0.15591969 -0.01930204]
 [ 0.15592762  0.98776791 -0.00107322]
 [ 0.01923404 -0.00194906  0.99981308]]

 t_gt:
[ 0.84178977 -0.53458099 -0.07492094]

Pose Error in degrees for R and t:
10.62960349110165 32.85251022408643

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.13268111 -0.99112846 -0.00775242]
 [-0.99111051  0.13274778 -0.0088312 ]
 [ 0.00978197  0.00651178 -0.99993095]]

 t_estimated:
[[ 0.78855177]
 [ 0.61495766]
 [-0.00363057]]

 R_gt:
[[ 9.74923838e-01 -2.18952661e-01 -3.97924988e-02]
 [ 2.19140182e-01  9.75693003e-01  3.68434804e-04]
 [ 3.87446635e-02 -9.07920287e-03  9.99207772e-01]]

 t_gt:
[ 0.86058897 -0.50010863 -0.09632226]

Pose Error in degrees for R and t:
177.80197916772275 68.19659374579436

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 0.95102106  0.30911957 -0.00200739]
 [-0.3091162   0.95102253  0.00182118]
 [ 0.00247204 -0.00111146  0.99999633]]

 t_estimated:
[[-0.83989252]
 [ 0.5427357 ]
 [-0.00430259]]

 R_gt:
[[ 0.99736618  0.07208902 -0.00793819]
 [-0.07176214  0.99678047  0.0357527 ]
 [ 0.0104893  -0.03508801  0.99932923]]

 t_gt:
[-0.55746205  0.76976395  0.31096546]

Pose Error in degrees for R and t:
14.020828335940225 27.791687181704546

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[-0.3895045   0.92101216 -0.00477924]
 [-0.92101711 -0.38951698 -0.00200205]
 [-0.00370551  0.00362196  0.99998658]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9849349   0.17125602 -0.02395748]
 [-0.17031851  0.98469869  0.03687524]
 [ 0.02990506 -0.03223856  0.99903197]]

 t_gt:
[-0.63293643  0.77040106  0.07663999]

Pose Error in degrees for R and t:
103.11364901028533 39.95779036559444

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 0.9681633  -0.25031151 -0.00199299]
 [ 0.25031577  0.96816154  0.00228959]
 [ 0.00135642 -0.00271557  0.99999539]]

 t_estimated:
[[-8.01117160e-01]
 [-5.98507234e-01]
 [-6.21502839e-04]]

 R_gt:
[[ 0.99128041  0.12251155  0.04851489]
 [-0.12649619  0.98787291  0.0900277 ]
 [-0.03689772 -0.09537899  0.99475653]]

 t_gt:
[-0.61617095  0.56907155  0.54450981]

Pose Error in degrees for R and t:
22.41577468031657 81.2169622910246

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.82438517 -0.56595038  0.00944761]
 [ 0.56499715 -0.82377486 -0.04661758]
 [ 0.03416594 -0.03309297  0.99886813]]

 t_estimated:
[[8.54301294e-01]
 [5.19777698e-01]
 [6.66381664e-04]]

 R_gt:
[[ 0.999342   -0.03625317 -0.00159163]
 [ 0.03617953  0.99879458 -0.03318834]
 [ 0.00279307  0.03310833  0.99944777]]

 t_gt:
[ 0.37454802 -0.80121876 -0.46665006]

Pose Error in degrees for R and t:
143.45685043497755 84.44566034233814

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.28139062e-01  3.72229933e-01 -1.66075778e-03]
 [-3.72232646e-01  9.28117056e-01 -6.44886143e-03]
 [-8.59081634e-04  6.60362846e-03  9.99977827e-01]]

 t_estimated:
[[9.05837182e-01]
 [4.23625349e-01]
 [7.51108774e-04]]

 R_gt:
[[ 0.99345506 -0.11385927 -0.00921256]
 [ 0.11331552  0.99247102 -0.04650176]
 [ 0.01443834  0.0451537   0.99887522]]

 t_gt:
[ 0.58701506 -0.75191869 -0.30005267]

Pose Error in degrees for R and t:
28.472852402331668 77.7027856449553

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-5.18187998e-01 -8.55252171e-01  4.99230575e-03]
 [-8.55266198e-01  5.18172263e-01 -4.15164683e-03]
 [ 9.63830597e-04 -6.42108392e-03 -9.99978920e-01]]

 t_estimated:
[[0.91713176]
 [0.39856966]
 [0.00340098]]

 R_gt:
[[ 0.97585504 -0.21729537  0.02214142]
 [ 0.2180565   0.97505529 -0.0414552 ]
 [-0.01258105  0.04528169  0.99889448]]

 t_gt:
[ 0.70278905 -0.70751326 -0.07424645]

Pose Error in degrees for R and t:
179.72787552489032 68.75821971615305

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 8.89683584e-01  4.56576850e-01  8.37037152e-04]
 [-4.56577103e-01  8.89683839e-01  1.29375228e-04]
 [-6.85628692e-04 -4.97275014e-04  9.99999641e-01]]

 t_estimated:
[[0.05904187]
 [0.99825437]
 [0.00150628]]

 R_gt:
[[ 0.99720164 -0.03784322 -0.06447767]
 [ 0.03461551  0.9981251  -0.05046423]
 [ 0.066266    0.04809116  0.99664227]]

 t_gt:
[ 0.81698974  0.13684347 -0.56018   ]

Pose Error in degrees for R and t:
29.62035570349464 79.39731551868954

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 0.30070368 -0.95371548  0.00201841]
 [-0.9537071  -0.30068975  0.00533237]
 [-0.00447865 -0.00352844 -0.99998375]]

 t_estimated:
[[0.61186964]
 [0.79095065]
 [0.00355174]]

 R_gt:
[[ 0.99364412 -0.08092306 -0.0782498 ]
 [ 0.07784231  0.9960948  -0.04166101]
 [ 0.08131592  0.03530433  0.99606281]]

 t_gt:
[ 0.95099521  0.06474643 -0.3023508 ]

Pose Error in degrees for R and t:
175.82776726496647 50.800506047943834

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 7.85765550e-01 -6.18475964e-01  7.74488907e-03]
 [ 6.18524453e-01  7.85703047e-01 -9.91074952e-03]
 [ 4.43774208e-05  1.25779288e-02  9.99920894e-01]]

 t_estimated:
[[ 0.83978993]
 [-0.54261304]
 [-0.01799911]]

 R_gt:
[[ 0.99179166 -0.07572031 -0.10303366]
 [ 0.0725494   0.99677882 -0.03418915]
 [ 0.10529116  0.02643355  0.99408957]]

 t_gt:
[ 0.95275025  0.13340954 -0.27288982]

Pose Error in degrees for R and t:
34.50863730348193 42.89249342455937

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 0.62437946 -0.77441408  0.10214268]
 [ 0.77925908  0.6265663  -0.01303667]
 [-0.05390339  0.08773544  0.99468433]]

 t_estimated:
[[8.51252223e-01]
 [5.24756078e-01]
 [8.43659289e-04]]

 R_gt:
[[ 0.99321623  0.1155363   0.01318793]
 [-0.1155031   0.99330147 -0.00317393]
 [-0.01346566  0.00162969  0.99990754]]

 t_gt:
[-0.9377056   0.3451281   0.03993504]

Pose Error in degrees for R and t:
57.99850163027991 51.89662621289437

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.34052805e-01 -3.57134182e-01 -7.30171284e-04]
 [ 3.57134458e-01  9.34052941e-01  2.86085914e-04]
 [ 5.79847577e-04 -5.27988676e-04  9.99999693e-01]]

 t_estimated:
[[-0.00833304]
 [-0.99996474]
 [-0.00104163]]

 R_gt:
[[ 0.96008483  0.27889626  0.02133896]
 [-0.27921684  0.96012731  0.01387602]
 [-0.01661821 -0.01928056  0.9996758 ]]

 t_gt:
[-0.87607622  0.47242583  0.09645877]

Pose Error in degrees for R and t:
37.15909318682191 62.27623370479501

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 7.67826957e-01  6.40657237e-01  2.64253513e-04]
 [ 6.40652974e-01 -7.67823231e-01  3.35445534e-03]
 [ 2.35195607e-03 -2.40634643e-03 -9.99994339e-01]]

 t_estimated:
[[-0.78956463]
 [-0.61366662]
 [-0.00098819]]

 R_gt:
[[ 0.9105055   0.41171043  0.03840892]
 [-0.41297241  0.91009656  0.03430361]
 [-0.0208328  -0.04709604  0.9986724 ]]

 t_gt:
[-0.8455088   0.51412013  0.14420598]

Pose Error in degrees for R and t:
178.1580127569639 69.39379833646865

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.93280863e-01 -1.15728465e-01 -2.22886971e-04]
 [ 1.15728527e-01  9.93280837e-01  2.93165618e-04]
 [ 1.87461750e-04 -3.16990179e-04  9.99999932e-01]]

 t_estimated:
[[-0.98227491]
 [ 0.18742985]
 [-0.00245906]]

 R_gt:
[[ 0.99847049  0.01338533 -0.05366338]
 [-0.01726083  0.9972254  -0.07241319]
 [ 0.05254507  0.07322865  0.99592989]]

 t_gt:
[ 0.13722952  0.35757082 -0.92374843]

Pose Error in degrees for R and t:
9.132646382814317 86.24408628871882

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99996720e-01  6.68644006e-04 -2.47249434e-03]
 [-6.60871457e-04  9.99994842e-01  3.14308815e-03]
 [ 2.47458319e-03 -3.14144384e-03  9.99992004e-01]]

 t_estimated:
[[0.88535447]
 [0.46491223]
 [0.00202136]]

 R_gt:
[[ 0.99336464 -0.00962126 -0.11460903]
 [-0.0067916   0.98984809 -0.14196392]
 [ 0.11481081  0.14180095  0.98321453]]

 t_gt:
[ 0.25536833  0.25394316 -0.93289865]

Pose Error in degrees for R and t:
10.566586872152998 69.98494470028172

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999990e-01  1.40688676e-04  5.45825972e-07]
 [-1.40688645e-04  9.99999988e-01 -5.71155225e-05]
 [-5.53861472e-07  5.71154452e-05  9.99999998e-01]]

 t_estimated:
[[-0.97014156]
 [-0.24253538]
 [-0.00139388]]

 R_gt:
[[ 0.98664195  0.0065576  -0.16277388]
 [-0.03141574  0.98809269 -0.15061855]
 [ 0.15984698  0.15371974  0.97509912]]

 t_gt:
[ 0.24262591  0.32969489 -0.91237818]

Pose Error in degrees for R and t:
12.8570838686997 71.69517528122515

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.98778319e-01  4.94147166e-02 -2.35534322e-04]
 [-4.94146411e-02  9.98778300e-01  3.16244158e-04]
 [ 2.50873685e-04 -3.04218964e-04  9.99999922e-01]]

 t_estimated:
[[-0.92904593]
 [-0.36996183]
 [-0.00138045]]

 R_gt:
[[ 0.99771039 -0.02329284 -0.0635078 ]
 [ 0.01899018  0.99753743 -0.06752359]
 [ 0.06492421  0.06616287  0.99569432]]

 t_gt:
[ 0.3262084   0.07143349 -0.942595  ]

Pose Error in degrees for R and t:
6.6843766824685655 70.84110553638939

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 7.90959634e-01 -6.11867757e-01 -8.40252700e-04]
 [ 6.11868321e-01  7.90958588e-01  1.29229018e-03]
 [-1.26105601e-04 -1.53627337e-03  9.99998812e-01]]

 t_estimated:
[[7.23879986e-01]
 [6.89925535e-01]
 [7.22435116e-04]]

 R_gt:
[[ 0.99422634  0.01788884 -0.1058077 ]
 [-0.02614503  0.99667666 -0.07716473]
 [ 0.10407597  0.07948604  0.99138786]]

 t_gt:
[ 0.16506202  0.37710998 -0.9113411 ]

Pose Error in degrees for R and t:
39.690066807739306 67.72796672568224

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.24346704 -0.96990771 -0.00168137]
 [ 0.96990809 -0.24346381 -0.00191797]
 [ 0.0014509  -0.00209774  0.99999675]]

 t_estimated:
[[0.92500102]
 [0.37996196]
 [0.00142308]]

 R_gt:
[[ 0.99101041  0.05435108 -0.12225559]
 [-0.06888741  0.99062078 -0.11801029]
 [ 0.1146945   0.12537174  0.98545816]]

 t_gt:
[ 0.03108874  0.58750786 -0.80862105]

Pose Error in degrees for R and t:
107.9447168050452 75.47295156965305

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.54868089 -0.83603032  0.00160696]
 [-0.83600755  0.54864926 -0.00868182]
 [ 0.00637661 -0.00610698 -0.99996102]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.76420535e-01  2.15877128e-01 -7.08802643e-04]
 [-2.15784258e-01  9.76085885e-01  2.63298743e-02]
 [ 6.37632917e-03 -2.55553275e-02  9.99652172e-01]]

 t_gt:
[-0.94284674  0.31663151  0.10384846]

Pose Error in degrees for R and t:
179.56842222367283 55.50222920239012

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.92972401  0.36789521  0.01632115]
 [ 0.36821506 -0.9280352  -0.05628793]
 [-0.00556145  0.05834193 -0.99828117]]

 t_estimated:
[[-9.92230030e-01]
 [-1.24414715e-01]
 [-7.38978088e-04]]

 R_gt:
[[ 0.96368053  0.26626924  0.02050972]
 [-0.26596612  0.96384345 -0.01636904]
 [-0.02412679  0.01031996  0.9996547 ]]

 t_gt:
[-0.92751006  0.37340728 -0.01709086]

Pose Error in degrees for R and t:
175.72724874485405 29.08982182847881

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.99787701  0.06508672  0.00227906]
 [-0.06510818  0.99781609  0.01113427]
 [-0.00154939 -0.01125902  0.99993541]]

 t_estimated:
[[8.01117160e-01]
 [5.98507234e-01]
 [6.21502839e-04]]

 R_gt:
[[ 0.90514982  0.42462858  0.01988357]
 [-0.42507186  0.9045875   0.03217263]
 [-0.00432529 -0.03757129  0.99928391]]

 t_gt:
[-0.87412128  0.47688736  0.09214362]

Pose Error in degrees for R and t:
21.470983171655856 65.49354521462651

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99211382e-01  3.97065788e-02  4.51050817e-05]
 [-3.97065789e-02  9.99211383e-01  2.05062065e-06]
 [-4.49880880e-05 -3.83997198e-06  9.99999999e-01]]

 t_estimated:
[[8.23731952e-01]
 [5.66979077e-01]
 [6.30574881e-04]]

 R_gt:
[[ 0.99704692 -0.0766442  -0.00480556]
 [ 0.07662537  0.99705226 -0.00402133]
 [ 0.00509929  0.00364104  0.9999803 ]]

 t_gt:
[ 0.6961583  -0.71582449 -0.05439592]

Pose Error in degrees for R and t:
6.680494033063581 80.35424853538231

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.84189807e-01 -1.77116940e-01  1.18273790e-04]
 [ 1.77116930e-01  9.84189812e-01  8.84711461e-05]
 [-1.32073598e-04 -6.61241096e-05  9.99999989e-01]]

 t_estimated:
[[9.84725296e-01]
 [1.74113230e-01]
 [8.21288821e-04]]

 R_gt:
[[ 0.98581694 -0.163457    0.03805128]
 [ 0.16435935  0.9861574  -0.02189111]
 [-0.03394638  0.02783459  0.99903628]]

 t_gt:
[ 0.75747888 -0.64816273  0.07817171]

Pose Error in degrees for R and t:
2.625629421515422 50.71937831657169

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.50114201 -0.86535746 -0.00362623]
 [ 0.86536326 -0.50112802 -0.0041387 ]
 [ 0.00176425 -0.00521209  0.99998486]]

 t_estimated:
[[0.96178776]
 [0.2737936 ]
 [0.00117006]]

 R_gt:
[[ 0.99163456 -0.09896787  0.08286468]
 [ 0.10292219  0.99367661 -0.04487912]
 [-0.07789923  0.05303218  0.99555017]]

 t_gt:
[ 0.79839058 -0.49051961  0.349232  ]

Pose Error in degrees for R and t:
114.36810255166527 50.654901238012215

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.70685640e-01 -2.40352055e-01 -5.27430881e-04]
 [ 2.40352183e-01  9.70685732e-01  1.93570869e-04]
 [ 4.65444475e-04 -3.14665626e-04  9.99999842e-01]]

 t_estimated:
[[-0.64718315]
 [-0.76233371]
 [-0.00113167]]

 R_gt:
[[ 0.99248602  0.11440537  0.04338653]
 [-0.1139222   0.993398   -0.01347613]
 [-0.04464153  0.0084326   0.99896751]]

 t_gt:
[-0.81795701  0.56758684  0.09376304]

Pose Error in degrees for R and t:
20.633395644112454 84.45823483081583

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.54455647e-01 -2.98352750e-01  2.33559951e-04]
 [ 2.98352819e-01  9.54455584e-01 -3.64158192e-04]
 [-1.14275001e-04  4.17256113e-04  9.99999906e-01]]

 t_estimated:
[[8.93472691e-01]
 [4.49116823e-01]
 [7.93492621e-04]]

 R_gt:
[[ 0.97463625  0.22278813  0.02117658]
 [-0.22349356  0.97385968  0.04060406]
 [-0.01157652 -0.04430583  0.99895147]]

 t_gt:
[-0.81343018  0.56918737  0.11982102]

Pose Error in degrees for R and t:
30.371651639795314 61.89746198143995

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.55780508e-01 -2.94079142e-01 -1.03838654e-03]
 [ 2.94079566e-01  9.55780901e-01  2.78626950e-04]
 [ 9.10531649e-04 -5.71674471e-04  9.99999422e-01]]

 t_estimated:
[[-0.19969636]
 [-0.97985728]
 [-0.0010347 ]]

 R_gt:
[[ 0.92271137  0.38548043  0.00270203]
 [-0.38525018  0.92186729  0.04175598]
 [ 0.01360486 -0.03956823  0.99912445]]

 t_gt:
[-0.78471586  0.6196171   0.01719517]

Pose Error in degrees for R and t:
39.846638913907405 63.227491085628145

Number of keypoints:
Image1: 347
Image2: 347

 R_estimated:
[[ 4.56076937e-01  8.89940090e-01  6.80652776e-04]
 [-8.89938966e-01  4.56077443e-01 -1.41518466e-03]
 [-1.56985994e-03  3.96936574e-05  9.99998767e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9986113  -0.01159134 -0.05141049]
 [ 0.01138423  0.99992666 -0.00431502]
 [ 0.05145776  0.00372427  0.99866775]]

 t_gt:
[ 0.85812588  0.32734251 -0.39555891]

Pose Error in degrees for R and t:
63.58952964164848 70.59297253058295

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.99974028e-01 -7.19690573e-03  3.85796797e-04]
 [ 7.19672691e-03  9.99973996e-01  4.62896035e-04]
 [-3.89118183e-04 -4.60107538e-04  9.99999818e-01]]

 t_estimated:
[[0.60828873]
 [0.79371503]
 [0.00113065]]

 R_gt:
[[ 0.99325518 -0.0462459  -0.10633683]
 [ 0.04325587  0.99860679 -0.03025423]
 [ 0.1075884   0.02545006  0.99387004]]

 t_gt:
[ 0.90066831  0.18822637 -0.39162153]

Pose Error in degrees for R and t:
6.730797037119039 45.827438785815396

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.94859792e-01  1.01261377e-01  3.58075501e-04]
 [-1.01261624e-01  9.94859541e-01  7.59030236e-04]
 [-2.79374382e-04 -7.91387969e-04  9.99999648e-01]]

 t_estimated:
[[0.61566078]
 [0.78801032]
 [0.00124435]]

 R_gt:
[[ 0.99135793 -0.08609482 -0.0989909 ]
 [ 0.08503422  0.99626752 -0.01488195]
 [ 0.09990248  0.00633517  0.99497684]]

 t_gt:
[ 0.97393137  0.11790359 -0.19379479]

Pose Error in degrees for R and t:
12.180375527117132 46.189181427749496

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999508e-01  9.78629529e-04 -1.59626840e-04]
 [-9.78571522e-04  9.99999455e-01  3.63061578e-04]
 [ 1.59982056e-04 -3.62905193e-04  9.99999921e-01]]

 t_estimated:
[[ 0.99999748]
 [-0.00163155]
 [ 0.00154362]]

 R_gt:
[[ 0.99263793 -0.12056328 -0.01160464]
 [ 0.12000528  0.99194594 -0.04051828]
 [ 0.01639614  0.03882843  0.99911083]]

 t_gt:
[ 0.76509057 -0.57900463 -0.28176243]

Pose Error in degrees for R and t:
7.3796141202768055 40.03974386633366

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-9.46290323e-01 -3.23317016e-01 -8.55395452e-04]
 [ 3.23318059e-01 -9.46288703e-01 -1.76701729e-03]
 [-2.38144296e-04 -1.94867616e-03  9.99998073e-01]]

 t_estimated:
[[8.55663112e-01]
 [5.17532794e-01]
 [6.66923704e-04]]

 R_gt:
[[ 0.96197949 -0.27262281 -0.01651753]
 [ 0.27194363  0.96168809 -0.0346957 ]
 [ 0.02534317  0.02888553  0.99926112]]

 t_gt:
[ 0.79467148 -0.59076264 -0.13963075]

Pose Error in degrees for R and t:
145.33615809941608 68.02889764187584

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-7.12297625e-01 -7.01875522e-01  1.68710416e-03]
 [-7.01875808e-01  7.12299154e-01  5.15010054e-04]
 [-1.56319582e-03 -8.17297162e-04 -9.99998444e-01]]

 t_estimated:
[[0.99998032]
 [0.0057207 ]
 [0.00257451]]

 R_gt:
[[ 0.91902086 -0.39093895  0.05067112]
 [ 0.38954811  0.92032959  0.035297  ]
 [-0.06043305 -0.01269982  0.99809113]]

 t_gt:
[ 0.7942893  -0.59897292  0.10166589]

Pose Error in degrees for R and t:
176.3627429502397 37.710742224156256

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999807e-01  6.19494074e-04  4.98805708e-05]
 [-6.19492881e-04  9.99999808e-01 -2.39313629e-05]
 [-4.98953866e-05  2.39004576e-05  9.99999998e-01]]

 t_estimated:
[[ 9.99914069e-01]
 [-1.30975510e-02]
 [-5.56443675e-04]]

 R_gt:
[[ 0.99815912 -0.05978787 -0.01026239]
 [ 0.05971149  0.99818632 -0.00759739]
 [ 0.01069849  0.00697177  0.99991798]]

 t_gt:
[ 0.85849836 -0.48352012 -0.17084745]

Pose Error in degrees for R and t:
3.5379449347035004 30.134123166902686

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99209135e-01  3.97621380e-02  2.77064031e-04]
 [-3.97621301e-02  9.99209173e-01 -3.39873941e-05]
 [-2.78196333e-04  2.29438586e-05  9.99999961e-01]]

 t_estimated:
[[9.67005299e-01]
 [2.54754986e-01]
 [8.05955661e-04]]

 R_gt:
[[ 9.88286343e-01 -1.46717074e-01 -4.20234968e-02]
 [ 1.46810986e-01  9.89164456e-01 -8.65767013e-04]
 [ 4.16953682e-02 -5.31341357e-03  9.99116129e-01]]

 t_gt:
[ 0.8470524  -0.50546743 -0.16433174]

Pose Error in degrees for R and t:
10.991885549009579 46.35394933058231

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999866e-01 -5.15201634e-04 -5.14148900e-05]
 [ 5.15201663e-04  9.99999867e-01  5.63155400e-07]
 [ 5.14145930e-05 -5.89644361e-07  9.99999999e-01]]

 t_estimated:
[[9.41272248e-01]
 [3.37647506e-01]
 [8.47065658e-04]]

 R_gt:
[[ 9.85945144e-01 -1.63247105e-01 -3.55554165e-02]
 [ 1.63114890e-01  9.86584815e-01 -6.61737219e-03]
 [ 3.61594316e-02  7.25916526e-04  9.99345292e-01]]

 t_gt:
[ 0.86537931 -0.48186358 -0.1375723 ]

Pose Error in degrees for R and t:
9.590592384108529 49.32700794366518

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[-0.96360255 -0.26556827  0.03071831]
 [-0.26529111  0.96408278  0.01284592]
 [-0.03302646  0.00422906 -0.99944553]]

 t_estimated:
[[0.99511065]
 [0.09791388]
 [0.01294845]]

 R_gt:
[[ 0.99896491  0.03863704 -0.02399831]
 [-0.03786553  0.9987769   0.03178702]
 [ 0.02519748 -0.03084584  0.99920666]]

 t_gt:
[-0.92903699  0.28832613  0.2318584 ]

Pose Error in degrees for R and t:
179.32454067449572 26.714039225482857

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.93372820e-01  1.14936249e-01 -3.15827542e-04]
 [-1.14936398e-01  9.93372724e-01 -5.04540170e-04]
 [ 2.55744512e-04  5.37496571e-04  9.99999823e-01]]

 t_estimated:
[[-0.89941807]
 [ 0.43706303]
 [-0.00480001]]

 R_gt:
[[ 0.9915094   0.12861461  0.01917742]
 [-0.12964185  0.98916862  0.06883744]
 [-0.01011695 -0.0707392   0.99744425]]

 t_gt:
[-0.88758704  0.22027661  0.40455834]

Pose Error in degrees for R and t:
4.212349397144991 26.792515785264527

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.96778812e-01  8.01997495e-02 -3.04892115e-05]
 [-8.01997479e-02  9.96778811e-01  5.16917518e-05]
 [ 3.45366655e-05 -4.90800159e-05  9.99999998e-01]]

 t_estimated:
[[-9.95808052e-01]
 [-9.14664683e-02]
 [ 4.56214259e-04]]

 R_gt:
[[ 0.97632063  0.21602722 -0.01144257]
 [-0.21502245  0.97486886  0.0582659 ]
 [ 0.0237417  -0.05442694  0.99823554]]

 t_gt:
[-0.90422007  0.41508399  0.10045567]

Pose Error in degrees for R and t:
8.560820573247295 30.400507169776994

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99994209e-01  3.39536000e-03  2.33162063e-04]
 [-3.39529426e-03  9.99994196e-01 -2.81767251e-04]
 [-2.34117411e-04  2.80973965e-04  9.99999933e-01]]

 t_estimated:
[[ 0.6107304 ]
 [-0.79183686]
 [-0.00166018]]

 R_gt:
[[ 0.98696066 -0.16081119 -0.00697263]
 [ 0.16090611  0.98683239  0.0164925 ]
 [ 0.00422854 -0.01739853  0.99983984]]

 t_gt:
[ 0.71870286 -0.69497745  0.02173807]

Pose Error in degrees for R and t:
9.509424175054711 8.425834955452805

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-1.90459489e-02  9.99818587e-01  2.11784099e-04]
 [-9.99816024e-01 -1.90454175e-02 -2.27814602e-03]
 [-2.27369921e-03 -2.55134589e-04  9.99997383e-01]]

 t_estimated:
[[0.00900864]
 [0.99995879]
 [0.00112608]]

 R_gt:
[[ 0.95710412 -0.28489018  0.05283631]
 [ 0.28041872  0.95665732  0.07857183]
 [-0.07293051 -0.06038449  0.99550646]]

 t_gt:
[ 0.70211426 -0.66448333  0.25592474]

Pose Error in degrees for R and t:
107.6420050941872 48.86445170809475

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-7.49248814e-01 -6.62288588e-01 -2.01206651e-04]
 [-6.62108953e-01  7.49038448e-01  2.35188964e-02]
 [-1.54255851e-02  1.77547259e-02 -9.99723372e-01]]

 t_estimated:
[[9.99978451e-01]
 [6.50881802e-03]
 [8.55855015e-04]]

 R_gt:
[[ 0.92130107 -0.38091253  0.07818119]
 [ 0.37248949  0.9222207   0.10373547]
 [-0.11161466 -0.06644999  0.99152717]]

 t_gt:
[ 0.73683376 -0.61548196  0.27974626]

Pose Error in degrees for R and t:
172.33861037206088 42.85719586424552

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 6.98631992e-01  7.15478355e-01  2.01605424e-03]
 [ 7.15479443e-01 -6.98633743e-01  2.44234010e-04]
 [ 1.58322767e-03  1.27181567e-03 -9.99997938e-01]]

 t_estimated:
[[-0.68130718]
 [-0.73199712]
 [-0.00085915]]

 R_gt:
[[ 0.99243625  0.10236896 -0.06774635]
 [-0.09822819  0.99323984  0.06185754]
 [ 0.07362107 -0.05473529  0.99578242]]

 t_gt:
[0.00494263 0.99157974 0.1294032 ]

Pose Error in degrees for R and t:
175.36362429293183 43.171240257444964

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.57100923  0.82058551 -0.02424622]
 [ 0.82089105 -0.57038928  0.0281772 ]
 [ 0.00929202 -0.03599295 -0.99930884]]

 t_estimated:
[[0.93189699]
 [0.36272123]
 [0.00114063]]

 R_gt:
[[ 0.98093196  0.17163728 -0.0911825 ]
 [-0.16320373  0.98219075  0.09309122]
 [ 0.10553697 -0.07643466  0.99147302]]

 t_gt:
[0.01937659 0.91740822 0.39747542]

Pose Error in degrees for R and t:
171.01552754447638 69.43475418233326

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.34398510e-01 -3.56229383e-01 -2.25580426e-04]
 [ 3.56229428e-01  9.34398498e-01  2.05919053e-04]
 [ 1.37427594e-04 -2.72768843e-04  9.99999953e-01]]

 t_estimated:
[[-0.29074484]
 [-0.95679992]
 [-0.00115929]]

 R_gt:
[[ 0.95246893  0.2641143  -0.1518128 ]
 [-0.24590992  0.96072725  0.12857314]
 [ 0.17980799 -0.08512971  0.98001069]]

 t_gt:
[ 0.0712675   0.99109126 -0.11251249]

Pose Error in degrees for R and t:
37.527537611960256 14.334630453773508

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-1.49885552e-01 -9.88699549e-01 -2.74262524e-03]
 [-9.88703227e-01  1.49886362e-01 -9.08649154e-05]
 [ 5.00920221e-04  2.69802309e-03 -9.99996235e-01]]

 t_estimated:
[[8.60803406e-01]
 [5.08937153e-01]
 [6.85899128e-04]]

 R_gt:
[[ 0.99145966 -0.13000967  0.01025923]
 [ 0.12997277  0.99150882  0.00406233]
 [-0.01070038 -0.00269282  0.99993952]]

 t_gt:
[ 0.72797169 -0.68369735  0.05113849]

Pose Error in degrees for R and t:
179.52999405138777 73.81637733623198

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.95406266e-01 -9.57411223e-02 -5.76270716e-05]
 [ 9.57411088e-02  9.95406248e-01 -2.03982885e-04]
 [ 7.68918975e-05  1.97528562e-04  9.99999978e-01]]

 t_estimated:
[[ 0.78868798]
 [-0.61479221]
 [-0.00134347]]

 R_gt:
[[ 9.80866628e-01 -1.94635469e-01  4.14048711e-03]
 [ 1.94636916e-01  9.80875077e-01  1.90233650e-05]
 [-4.06352885e-03  7.88146771e-04  9.99991929e-01]]

 t_gt:
[ 0.79257245 -0.60972103 -0.00831762]

Pose Error in degrees for R and t:
5.734592689776696 0.5418781497932105

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.97181597 -0.2357346   0.00170593]
 [ 0.23573855  0.97181279 -0.00268906]
 [-0.00102393  0.00301543  0.99999493]]

 t_estimated:
[[-0.84895634]
 [-0.52846108]
 [-0.00142442]]

 R_gt:
[[ 9.61868947e-01 -2.72380195e-01 -2.48414043e-02]
 [ 2.72480464e-01  9.62161206e-01  7.17588665e-04]
 [ 2.37063833e-02 -7.45778183e-03  9.99691040e-01]]

 t_gt:
[ 0.83933544 -0.54114908 -0.0517077 ]

Pose Error in degrees for R and t:
2.663930614858694 64.7537675836064

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.54630956 -0.83749972 -0.0118353 ]
 [-0.83750947 -0.54601918 -0.02099856]
 [ 0.01112399  0.02138389 -0.99970945]]

 t_estimated:
[[ 0.47067413]
 [ 0.88222398]
 [-0.01211225]]

 R_gt:
[[ 0.99887071  0.04550517 -0.01369018]
 [-0.04666178  0.99374644 -0.10143949]
 [ 0.00898968  0.10196371  0.99474794]]

 t_gt:
[-0.25917779  0.65967199 -0.70545003]

Pose Error in degrees for R and t:
173.17543448619008 62.06077415980696

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.54020167  0.84153344 -0.00190295]
 [-0.84153478  0.54019662 -0.00261259]
 [-0.00117061  0.00301273  0.99999478]]

 t_estimated:
[[-0.44862325]
 [ 0.89372018]
 [-0.00119607]]

 R_gt:
[[ 0.99614519  0.08696358 -0.01153595]
 [-0.08761547  0.9928383  -0.08121154]
 [ 0.00439202  0.08191019  0.99663024]]

 t_gt:
[-0.35551871  0.82513203 -0.43904849]

Pose Error in degrees for R and t:
52.46607217229435 26.174310536143935

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.99960136 -0.02819409 -0.00148757]
 [ 0.028197    0.99960045  0.00196843]
 [ 0.00143148 -0.00200959  0.99999696]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.97972705  0.19511095 -0.04547861]
 [-0.19811275  0.97729912 -0.075074  ]
 [ 0.02979862  0.0825619   0.99614054]]

 t_gt:
[-0.46576571  0.8354639  -0.29165456]

Pose Error in degrees for R and t:
13.940591065841584 82.76124382299213

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.72312185 -0.69071724  0.00211763]
 [-0.69071932  0.72311161 -0.00405249]
 [ 0.00126784 -0.00439314 -0.99998955]]

 t_estimated:
[[0.91294151]
 [0.40808906]
 [0.00105178]]

 R_gt:
[[ 0.99914005  0.03612801 -0.02040668]
 [-0.03687916  0.99860752 -0.03772353]
 [ 0.01901537  0.03844425  0.99908012]]

 t_gt:
[-0.38139977  0.68878161 -0.61653395]

Pose Error in degrees for R and t:
178.1711160531016 86.1146667308139

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 0.99981308  0.00412704  0.0188882 ]
 [-0.00368803  0.99972361 -0.02321866]
 [-0.01897881  0.02314466  0.99955196]]

 t_estimated:
[[0.18992668]
 [0.98128785]
 [0.03165445]]

 R_gt:
[[ 0.98911139  0.13177855 -0.06552179]
 [-0.13830807  0.98450111 -0.10784005]
 [ 0.05029509  0.11572803  0.99200666]]

 t_gt:
[-0.43451777  0.72368026 -0.53617273]

Pose Error in degrees for R and t:
10.139854470822186 52.36421524489271

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.99504885 -0.09935932 -0.00234866]
 [ 0.09935141 -0.99504703  0.00327118]
 [-0.00266205  0.00302165  0.99999189]]

 t_estimated:
[[0.81098065]
 [0.58507205]
 [0.00104105]]

 R_gt:
[[ 0.98633755  0.12089945 -0.11190969]
 [-0.14112691  0.97052398 -0.19536277]
 [ 0.08499246  0.20848741  0.97432548]]

 t_gt:
[-0.27339994  0.65405594 -0.70531078]

Pose Error in degrees for R and t:
178.0650615104846 80.78071002792908

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-8.36041669e-01 -5.48662767e-01 -1.86986153e-03]
 [ 5.48664478e-01 -8.36042469e-01 -5.30253241e-04]
 [-1.27235344e-03 -1.46924040e-03  9.99998111e-01]]

 t_estimated:
[[ 9.61250998e-01]
 [-2.75673640e-01]
 [ 7.50159140e-04]]

 R_gt:
[[ 0.98603798  0.16628975  0.00879204]
 [-0.1662488   0.98607106 -0.00511692]
 [-0.00952004  0.003585    0.99994869]]

 t_gt:
[-0.87505623  0.48397541  0.00666345]

Pose Error in degrees for R and t:
156.29663785332033 12.95078313918805

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.82695029e-01 -1.85230183e-01 -5.08524365e-04]
 [ 1.85230343e-01  9.82695089e-01  2.87095796e-04]
 [ 4.46545589e-04 -3.76321754e-04  9.99999829e-01]]

 t_estimated:
[[ 0.26688261]
 [-0.96372817]
 [-0.001295  ]]

 R_gt:
[[ 0.95763911  0.28588464  0.03462786]
 [-0.2870399   0.95728143  0.03492858]
 [-0.02316372 -0.04338851  0.99879006]]

 t_gt:
[-0.8721853   0.45257782  0.18565051]

Pose Error in degrees for R and t:
27.47352022267357 47.99669211011432

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.42556982e-01 -3.34045053e-01 -4.88468036e-04]
 [ 3.34045369e-01  9.42556586e-01  8.80142573e-04]
 [ 1.66401492e-04 -9.92755012e-04  9.99999493e-01]]

 t_estimated:
[[-8.26186490e-01]
 [-5.63396373e-01]
 [-6.40951505e-04]]

 R_gt:
[[ 0.93966476  0.33836664  0.05038108]
 [-0.34121843  0.93757643  0.06722896]
 [-0.02448762 -0.08036292  0.99646478]]

 t_gt:
[-0.87326767  0.41101225  0.26167252]

Pose Error in degrees for R and t:
39.692387776023985 60.67575540396889

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-0.99991424  0.01300104 -0.00157609]
 [-0.0129993  -0.9999149  -0.00110424]
 [-0.00159031 -0.00108365  0.99999815]]

 t_estimated:
[[8.82618034e-01]
 [4.70090040e-01]
 [8.72152207e-04]]

 R_gt:
[[ 0.99265061 -0.12025404 -0.01356044]
 [ 0.11958713  0.99192197 -0.04230076]
 [ 0.01853752  0.04036857  0.99901271]]

 t_gt:
[ 0.66383021 -0.62392024 -0.41237481]

Pose Error in degrees for R and t:
173.856857782765 73.00728150305744

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.99876019  0.04974388  0.00190269]
 [-0.04975131 -0.9987533  -0.00408191]
 [ 0.00169727 -0.00417151  0.99998986]]

 t_estimated:
[[8.25113672e-01]
 [5.64966368e-01]
 [6.56937637e-04]]

 R_gt:
[[ 0.96337728 -0.2636556   0.04888757]
 [ 0.26566562  0.96321385 -0.04049652]
 [-0.03641198  0.05200112  0.99798211]]

 t_gt:
[ 0.70856707 -0.70331757 -0.05724601]

Pose Error in degrees for R and t:
167.4979819950666 79.20707640803408

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-2.65107277e-01  9.64218907e-01 -1.75425241e-04]
 [-9.64216893e-01 -2.65107088e-01 -2.00372436e-03]
 [-1.97853539e-03 -3.62053927e-04  9.99997977e-01]]

 t_estimated:
[[0.58774175]
 [0.80904805]
 [0.00094224]]

 R_gt:
[[ 0.91130929 -0.40917656  0.04572466]
 [ 0.40888695  0.91244526  0.01594709]
 [-0.04824602  0.00416346  0.99882706]]

 t_gt:
[ 0.75888875 -0.64487684  0.09067374]

Pose Error in degrees for R and t:
129.5462923479152 85.66313493421255

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 2.90616328e-01 -9.56836735e-01 -2.36928389e-03]
 [ 9.56838416e-01  2.90619063e-01 -8.98282004e-04]
 [ 1.54806828e-03 -2.00596642e-03  9.99996790e-01]]

 t_estimated:
[[ 9.17991776e-01]
 [-3.96599078e-01]
 [-5.20667081e-04]]

 R_gt:
[[ 0.99609097  0.08323487 -0.02959241]
 [-0.08486076  0.99466131 -0.0587297 ]
 [ 0.02454749  0.0610116   0.99783491]]

 t_gt:
[-0.51304024  0.70963871 -0.48291057]

Pose Error in degrees for R and t:
78.0071917886667 41.222399273315894

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.24964524e-01 -3.80052876e-01 -6.63078500e-04]
 [ 3.80053339e-01  9.24964198e-01  8.31651540e-04]
 [ 2.97252313e-04 -1.02125337e-03  9.99999434e-01]]

 t_estimated:
[[0.72780976]
 [0.68577819]
 [0.00110609]]

 R_gt:
[[ 0.98988361  0.11949211 -0.07651563]
 [-0.12967522  0.98075145 -0.14598733]
 [ 0.05759898  0.15443311  0.98632294]]

 t_gt:
[-0.37228998  0.67599945 -0.63594412]

Pose Error in degrees for R and t:
31.00851549527178 78.9347961026455

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-4.77552579e-02  9.98858994e-01  3.81828551e-04]
 [-9.98857412e-01 -4.77544793e-02 -1.83878375e-03]
 [-1.81845166e-03 -4.69203870e-04  9.99998237e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97778469  0.14573539 -0.15066443]
 [-0.17795957  0.95695716 -0.22926991]
 [ 0.11076768  0.25098893  0.96163094]]

 t_gt:
[-0.25176883  0.64557528 -0.72100279]

Pose Error in degrees for R and t:
84.4736770586749 49.96595707104066

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.98982569e-01  4.50975694e-02  1.88722298e-04]
 [-4.50975570e-02  9.98982585e-01 -6.98347803e-05]
 [-1.91679668e-04  6.12528137e-05  9.99999980e-01]]

 t_estimated:
[[ 9.68858458e-01]
 [-2.47615172e-01]
 [ 1.24279626e-04]]

 R_gt:
[[ 0.98648967 -0.15943034 -0.03766403]
 [ 0.15896652  0.98716966 -0.01502381]
 [ 0.03957625  0.00883427  0.99917788]]

 t_gt:
[ 0.67744749 -0.70126976 -0.22200366]

Pose Error in degrees for R and t:
11.977669512425196 33.90453153500197

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.00231615  0.99977229  0.0212134 ]
 [ 0.99948112 -0.00163291 -0.03216873]
 [-0.03212676  0.0212769  -0.99925731]]

 t_estimated:
[[7.37735186e-01]
 [6.75090167e-01]
 [2.47418242e-04]]

 R_gt:
[[ 0.95534859 -0.29073672 -0.05274148]
 [ 0.28630658  0.95495422 -0.07804417]
 [ 0.07305625  0.0594602   0.99555415]]

 t_gt:
[ 0.73786795 -0.56762103 -0.36518112]

Pose Error in degrees for R and t:
177.68241104967015 80.73125743968913

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.19308941  0.98118008  0.0014607 ]
 [-0.98117964  0.19309152 -0.00147611]
 [-0.00173038 -0.00114819  0.99999784]]

 t_estimated:
[[-0.00404837]
 [ 0.99999043]
 [ 0.00165761]]

 R_gt:
[[ 0.92343558 -0.383701    0.00627295]
 [ 0.38312011  0.92085474 -0.07243295]
 [ 0.02201624  0.06929116  0.99735453]]

 t_gt:
[ 0.75479554 -0.62110588 -0.21097671]

Pose Error in degrees for R and t:
101.5054926427786 51.354109665066005

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99987519e-01 -4.84702055e-03 -1.21203328e-03]
 [ 4.84712286e-03  9.99988249e-01  8.14887165e-05]
 [ 1.21162406e-03 -8.73625736e-05  9.99999262e-01]]

 t_estimated:
[[-0.99981044]
 [-0.01888915]
 [-0.00472087]]

 R_gt:
[[ 0.99522308  0.0524014  -0.08237788]
 [-0.05063624  0.99844409  0.02337375]
 [ 0.08347388 -0.01909103  0.99632711]]

 t_gt:
[ 0.63573183  0.30128748 -0.7106834 ]

Pose Error in degrees for R and t:
5.824583837222547 50.3610727480199

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999282e-01  4.04423532e-04 -1.12809360e-03]
 [-4.02869952e-04  9.99998971e-01  1.37706076e-03]
 [ 1.12864936e-03 -1.37660529e-03  9.99998416e-01]]

 t_estimated:
[[-0.981303  ]
 [-0.19246025]
 [-0.00186435]]

 R_gt:
[[ 0.98013556  0.12868228 -0.15091687]
 [-0.11621977  0.98925402  0.08871351]
 [ 0.16071115 -0.06941145  0.98455726]]

 t_gt:
[ 0.84495728  0.22761844 -0.48398041]

Pose Error in degrees for R and t:
12.229790186102315 29.300580890249567

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-9.87939485e-01 -1.54829728e-01 -1.82464102e-03]
 [ 1.54828632e-01 -9.87941073e-01  7.28049891e-04]
 [-1.91536157e-03  4.36762562e-04  9.99998070e-01]]

 t_estimated:
[[0.82702153]
 [0.5621696 ]
 [0.00085436]]

 R_gt:
[[ 0.96041162  0.22033449 -0.17047796]
 [-0.20225443  0.97229327  0.11721655]
 [ 0.19158111 -0.07809538  0.97836408]]

 t_gt:
[ 0.5558671   0.71385391 -0.42593938]

Pose Error in degrees for R and t:
176.59465210530055 30.609554995465444

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99999929e-01  2.83682160e-04  2.48658414e-04]
 [-2.83782911e-04  9.99999878e-01  4.05237692e-04]
 [-2.48543424e-04 -4.05308228e-04  9.99999887e-01]]

 t_estimated:
[[0.800269  ]
 [0.59963411]
 [0.00290867]]

 R_gt:
[[ 0.99946223 -0.02889127 -0.01549449]
 [ 0.02970153  0.99804777  0.05495095]
 [ 0.0138772  -0.05538056  0.99836883]]

 t_gt:
[ 0.79103061 -0.0206541   0.61142782]

Pose Error in degrees for R and t:
3.6696578167686544 51.50613609956737

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-0.41880476 -0.90806976 -0.00344906]
 [ 0.9080732  -0.41881023  0.00102355]
 [-0.00237396 -0.00270333  0.99999353]]

 t_estimated:
[[0.99981909]
 [0.01890414]
 [0.00210046]]

 R_gt:
[[ 0.998365   -0.0523663  -0.02290744]
 [ 0.05295882  0.99825503  0.02610592]
 [ 0.02150065 -0.02727643  0.99939651]]

 t_gt:
[0.98879724 0.10696982 0.10410316]

Pose Error in degrees for R and t:
111.74763585590892 7.752844211297969

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.90574045e-01  1.36977707e-01  4.11977715e-04]
 [-1.36977817e-01  9.90574083e-01  2.51711872e-04]
 [-3.73615532e-04 -3.05771055e-04  9.99999883e-01]]

 t_estimated:
[[0.68617723]
 [0.72743242]
 [0.0016954 ]]

 R_gt:
[[ 9.99698129e-01 -2.45524539e-02 -8.16327795e-04]
 [ 2.45634811e-02  9.99480759e-01  2.08771931e-02]
 [ 3.03664163e-04 -2.08902412e-02  9.99781677e-01]]

 t_gt:
[0.87376373 0.44295268 0.20082297]

Pose Error in degrees for R and t:
9.35509661830462 22.7626753027384

Number of keypoints:
Image1: 563
Image2: 563

 R_estimated:
[[ 9.99901245e-01  1.40534969e-02  8.28429749e-06]
 [-1.40534966e-02  9.99901244e-01 -3.78842303e-05]
 [-8.81588527e-06  3.77640657e-05  9.99999999e-01]]

 t_estimated:
[[-2.83711620e-02]
 [-9.99597425e-01]
 [-2.57004951e-04]]

 R_gt:
[[ 0.99927556 -0.00839804 -0.03712524]
 [ 0.00972487  0.99931599  0.03567881]
 [ 0.03680023 -0.03601409  0.99867296]]

 t_gt:
[ 0.73259985 -0.68064177  0.00492337]

Pose Error in degrees for R and t:
3.236953931355372 48.73201492841465

Number of keypoints:
Image1: 595
Image2: 595

 R_estimated:
[[-0.12277858 -0.99209985 -0.02575466]
 [-0.99213106  0.123341   -0.0215163 ]
 [ 0.02452292  0.02291025 -0.99943671]]

 t_estimated:
[[ 0.76390428]
 [ 0.64512679]
 [-0.01617642]]

 R_gt:
[[ 0.99828276  0.05385558 -0.02306294]
 [-0.05277779  0.99759065  0.04502437]
 [ 0.0254317  -0.04372929  0.99871944]]

 t_gt:
[-0.95675376  0.0982245   0.27381415]

Pose Error in degrees for R and t:
178.72058079400057 47.783773380908556

Number of keypoints:
Image1: 442
Image2: 442

 R_estimated:
[[-7.93549745e-01 -6.08398949e-01 -1.13807795e-02]
 [-6.08430069e-01  7.93606992e-01 -8.90468616e-04]
 [ 9.57362633e-03  6.21777728e-03 -9.99934840e-01]]

 t_estimated:
[[ 0.96327535]
 [ 0.26847825]
 [-0.00447479]]

 R_gt:
[[ 0.99030303  0.13884676 -0.00479836]
 [-0.1379964   0.98706085  0.08165402]
 [ 0.01607407 -0.08019949  0.99664897]]

 t_gt:
[-0.93320745  0.16717775  0.31808089]

Pose Error in degrees for R and t:
179.72103281234544 31.18769479901917

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 8.45319648e-01  5.34260002e-01  9.71178010e-04]
 [-5.34258589e-01  8.45319947e-01 -1.39532183e-03]
 [-1.56642079e-03  6.60632765e-04  9.99998555e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.98719914 -0.14297879  0.07068231]
 [ 0.13949435  0.98885496  0.05202418]
 [-0.07733292 -0.04149937  0.99614151]]

 t_gt:
[ 0.55112155 -0.67555216  0.48979007]

Pose Error in degrees for R and t:
40.72437958287964 47.765299333419684

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.03863122  0.9992187   0.00834425]
 [ 0.99922546  0.03869138 -0.00717337]
 [-0.00749062  0.00806067 -0.99993946]]

 t_estimated:
[[ 0.53366258]
 [-0.84566532]
 [ 0.00737675]]

 R_gt:
[[ 0.97539435 -0.20788147  0.07343692]
 [ 0.20305337  0.97679687  0.0680938 ]
 [-0.08588833 -0.05150692  0.99497254]]

 t_gt:
[ 0.62633111 -0.651554    0.42800318]

Pose Error in degrees for R and t:
178.4517102328727 27.32670380275366

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.99981306  0.01923446  0.00197025]
 [-0.01923739  0.99981385  0.00148098]
 [-0.0019414  -0.00151861  0.99999696]]

 t_estimated:
[[0.99891239]
 [0.0463413 ]
 [0.00514903]]

 R_gt:
[[ 0.96841785 -0.2432324   0.05482485]
 [ 0.23974656  0.96877827  0.06317212]
 [-0.06847859 -0.04803333  0.99649535]]

 t_gt:
[ 0.71207684 -0.61870872  0.33188265]

Pose Error in degrees for R and t:
15.799157918393783 46.81631621542781

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99996627e-01 -2.59556408e-03  9.38862571e-05]
 [ 2.59556998e-03  9.99996630e-01 -6.28184307e-05]
 [-9.37228914e-05  6.30619071e-05  9.99999994e-01]]

 t_estimated:
[[ 7.34764233e-01]
 [-6.78322573e-01]
 [ 8.94977192e-05]]

 R_gt:
[[ 0.99135914 -0.13008885 -0.01686607]
 [ 0.12896352  0.99006181 -0.05609136]
 [ 0.02399564  0.05343155  0.99828298]]

 t_gt:
[ 0.6791117  -0.54811667 -0.48823705]

Pose Error in degrees for R and t:
8.033576111332788 29.45488045271882

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.97779401  0.209532   -0.00390114]
 [-0.20954173 -0.97779706  0.00227474]
 [-0.00333789  0.00304168  0.9999898 ]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96905425 -0.24122359  0.05239833]
 [ 0.24375628  0.96859992 -0.04895541]
 [-0.03894444  0.06021374  0.9974253 ]]

 t_gt:
[ 0.69881083 -0.70538145 -0.11874524]

Pose Error in degrees for R and t:
178.0470237592719 82.04945733863427

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.14519643  0.98940153 -0.00161585]
 [-0.98940062  0.14519244 -0.00236054]
 [-0.00210092  0.00194146  0.99999591]]

 t_estimated:
[[0.72876613]
 [0.68476224]
 [0.000772  ]]

 R_gt:
[[ 0.91090182 -0.40907898  0.05396759]
 [ 0.40983892  0.91215181 -0.00335656]
 [-0.04785416  0.02517625  0.99853706]]

 t_gt:
[ 0.76669624 -0.64052054  0.04370718]

Pose Error in degrees for R and t:
105.87079436755741 83.09798748082544

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.98017281e-01 -6.29402594e-02 -1.74910650e-04]
 [ 6.29402787e-02  9.98017289e-01  1.06937299e-04]
 [ 1.67833192e-04 -1.17734197e-04  9.99999979e-01]]

 t_estimated:
[[-0.16789594]
 [-0.98579929]
 [-0.00327177]]

 R_gt:
[[ 0.99995542  0.00935209 -0.00159073]
 [-0.00935476  0.99995585 -0.00114558]
 [ 0.00157971  0.00116069  0.99999719]]

 t_gt:
[-0.34348617  0.93788532  0.04887092]

Pose Error in degrees for R and t:
4.1460265039938 29.881615758057556

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.01682774  0.99982795 -0.00780395]
 [-0.99983308  0.01688235  0.00698539]
 [ 0.00711593  0.0076851   0.99994515]]

 t_estimated:
[[-0.0225998 ]
 [ 0.99970558]
 [-0.00883152]]

 R_gt:
[[ 0.99371383  0.10260313 -0.044781  ]
 [-0.10556155  0.99197169 -0.06963427]
 [ 0.03727669  0.07392365  0.99656613]]

 t_gt:
[-0.46961735  0.7475121  -0.46977144]

Pose Error in degrees for R and t:
83.14234871588138 40.35438378978544

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.88647749e-01  1.50249841e-01  7.83487900e-04]
 [-1.50249145e-01  9.88647771e-01 -8.82923480e-04]
 [-9.07252679e-04  7.55181923e-04  9.99999303e-01]]

 t_estimated:
[[0.2307956 ]
 [0.97300172]
 [0.00101672]]

 R_gt:
[[ 0.99017244  0.10971495 -0.08672985]
 [-0.12194539  0.9809358  -0.1513087 ]
 [ 0.06847559  0.16039807  0.98467349]]

 t_gt:
[-0.32054775  0.67914501 -0.66031143]

Pose Error in degrees for R and t:
10.20892341656947 54.11523776485406

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-3.11750642e-01  9.50162593e-01 -1.60730914e-03]
 [-9.50158781e-01 -3.11754080e-01 -2.77218458e-03]
 [-3.13511128e-03  6.62968574e-04  9.99994866e-01]]

 t_estimated:
[[0.01413739]
 [0.99989924]
 [0.00128522]]

 R_gt:
[[ 0.99895735  0.04403564  0.01204444]
 [-0.0431137   0.99673105 -0.06832255]
 [-0.01501377  0.06773384  0.99759035]]

 t_gt:
[-0.4015438   0.76542194 -0.50288353]

Pose Error in degrees for R and t:
105.70912258952973 40.62197008893075

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.50937326 -0.86042493 -0.01441582]
 [-0.86043906  0.50950239 -0.00720769]
 [ 0.01354657  0.00873253 -0.99987011]]

 t_estimated:
[[ 0.8731374 ]
 [ 0.48741486]
 [-0.00760537]]

 R_gt:
[[ 0.99552811  0.09445696 -0.00115222]
 [-0.09441464  0.99454376 -0.04436976]
 [-0.0030458   0.04428142  0.99901455]]

 t_gt:
[-0.45007068  0.86448743 -0.22382552]

Pose Error in degrees for R and t:
177.86451229216684 88.27555169444983

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.99996851  0.00778506  0.00154032]
 [-0.00777603  0.99995304 -0.0057833 ]
 [-0.00158527  0.00577114  0.99998209]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.97876005  0.20356938 -0.02424605]
 [-0.20440275  0.97810101 -0.0392044 ]
 [ 0.0157341   0.04332849  0.99893658]]

 t_gt:
[-0.53002337  0.83476262 -0.14915292]

Pose Error in degrees for R and t:
11.579860274540701 55.319024865811514

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99802956e-01 -1.98506800e-02  1.62576382e-05]
 [ 1.98506785e-02  9.99802952e-01  9.00864998e-05]
 [-1.80427130e-05 -8.97460237e-05  9.99999996e-01]]

 t_estimated:
[[-7.98522041e-01]
 [ 6.01965414e-01]
 [ 4.35874783e-04]]

 R_gt:
[[ 0.99446984  0.09778011 -0.03833454]
 [-0.09644267  0.99471175  0.03531428]
 [ 0.04158456 -0.03142305  0.99863999]]

 t_gt:
[-0.20127734  0.9519527   0.23081051]

Pose Error in degrees for R and t:
7.347215324375617 42.78838398028692

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 6.72829209e-01  7.39797669e-01  5.14170383e-04]
 [-7.39797244e-01  6.72829385e-01 -8.10430493e-04]
 [-9.45503532e-04  1.64899475e-04  9.99999539e-01]]

 t_estimated:
[[-2.59265952e-01]
 [ 9.65805711e-01]
 [ 7.02716558e-04]]

 R_gt:
[[ 0.97911705  0.18567413 -0.08279044]
 [-0.1776128   0.97940803  0.09598437]
 [ 0.09890811 -0.07927553  0.99193347]]

 t_gt:
[-0.15850089  0.92858546  0.33556894]

Pose Error in degrees for R and t:
37.89768251499528 20.254717601793807

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.98135938 -0.11005536  0.15754866]
 [ 0.16724287  0.89292245 -0.41799439]
 [-0.09467622  0.43655161  0.8946838 ]]

 t_estimated:
[[-0.71974214]
 [-0.66847518]
 [-0.18738243]]

 R_gt:
[[ 0.95317804  0.27605472 -0.12346902]
 [-0.26382078  0.95865326  0.10668517]
 [ 0.14781602 -0.06911662  0.98659621]]

 t_gt:
[-0.06702086  0.99481518 -0.07649158]

Pose Error in degrees for R and t:
41.78127326226176 52.95526862448

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.13055801  0.99142551  0.00548388]
 [ 0.99143648  0.13057155 -0.0021868 ]
 [-0.00288409  0.00515142 -0.99998257]]

 t_estimated:
[[-3.43740126e-01]
 [-9.39064720e-01]
 [-4.21040071e-04]]

 R_gt:
[[ 0.98809062 -0.15386461 -0.00181298]
 [ 0.1538544   0.98769338  0.02812194]
 [-0.00253531 -0.02806559  0.99960216]]

 t_gt:
[ 0.70084256 -0.70785171  0.08812294]

Pose Error in degrees for R and t:
179.27610082098568 64.92692917486252

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99841018e-01  1.78304972e-02  1.13511416e-04]
 [-1.78304922e-02  9.99841023e-01 -4.43958132e-05]
 [-1.14284970e-04  4.23647906e-05  9.99999993e-01]]

 t_estimated:
[[ 8.63611730e-01]
 [-5.04157491e-01]
 [ 6.21671587e-05]]

 R_gt:
[[ 0.95738854 -0.28221954  0.06131863]
 [ 0.277026    0.9574224   0.0812439 ]
 [-0.08163608 -0.06079515  0.99480594]]

 t_gt:
[ 0.6927368  -0.66283102  0.28420198]

Pose Error in degrees for R and t:
18.254327977493123 21.180865399486446

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-8.14020504e-01 -5.80835783e-01  6.41938422e-04]
 [-5.80724309e-01  8.13884969e-01  1.87225743e-02]
 [-1.13972051e-02  1.48677701e-02 -9.99824511e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075937e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.92915576 -0.36224552  0.07381317]
 [ 0.35431228  0.92956289  0.10186443]
 [-0.10551331 -0.0684946   0.99205612]]

 t_gt:
[ 0.72870783 -0.62030516  0.2901834 ]

Pose Error in degrees for R and t:
172.9527092265126 43.36405037588976

Number of keypoints:
Image1: 383
Image2: 383

 R_estimated:
[[ 9.96608088e-01 -8.22939892e-02 -1.37470196e-04]
 [ 8.22939954e-02  9.96608096e-01  3.95398426e-05]
 [ 1.33750018e-04 -5.07186986e-05  9.99999990e-01]]

 t_estimated:
[[-0.5501929 ]
 [-0.83503675]
 [-0.00117855]]

 R_gt:
[[ 0.99857681  0.05311265 -0.00485062]
 [-0.05300059  0.99837698  0.02082312]
 [ 0.00594904 -0.0205364   0.99977149]]

 t_gt:
[-0.89892226  0.36757899  0.23837883]

Pose Error in degrees for R and t:
7.857429298363003 79.20137498964885

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.99906493e-01  1.36740511e-02 -1.58426630e-04]
 [-1.36740571e-02  9.99906505e-01 -3.68662443e-05]
 [ 1.57907707e-04  3.90291318e-05  9.99999987e-01]]

 t_estimated:
[[-0.94127991]
 [-0.33762499]
 [-0.00122348]]

 R_gt:
[[ 0.98894971  0.14562042  0.02780628]
 [-0.14706249  0.98731512  0.05983873]
 [-0.0187402  -0.06326698  0.99782083]]

 t_gt:
[-0.89651726  0.25631502  0.36133005]

Pose Error in degrees for R and t:
8.527235298708144 40.808925822551664

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99216618e-01  3.95740755e-02 -2.04840880e-04]
 [-3.95741179e-02  9.99216616e-01 -2.07118505e-04]
 [ 1.96483888e-04  2.15062649e-04  9.99999958e-01]]

 t_estimated:
[[-0.99475117]
 [-0.10231726]
 [-0.00113686]]

 R_gt:
[[ 9.69342801e-01  2.45709707e-01  5.42880310e-05]
 [-2.45529241e-01  9.68624728e-01  3.84761270e-02]
 [ 9.40122951e-03 -3.73096390e-02  9.99259617e-01]]

 t_gt:
[-0.87779616  0.47459654  0.06505409]

Pose Error in degrees for R and t:
12.158811676885932 34.456561009924044

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 8.29471846e-01 -5.58548372e-01 -4.16061485e-04]
 [ 5.58548516e-01  8.29471454e-01  8.14466588e-04]
 [-1.09807861e-04 -9.07967629e-04  9.99999582e-01]]

 t_estimated:
[[ 0.91749816]
 [-0.39773884]
 [ 0.00096806]]

 R_gt:
[[ 0.99092083 -0.12551572  0.04819552]
 [ 0.12397453  0.99171156  0.03373142]
 [-0.05203063 -0.02744898  0.99826784]]

 t_gt:
[ 0.57814959 -0.72248701  0.37915111]

Pose Error in degrees for R and t:
26.98850158133668 35.09704449582237

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.10126257e-01 -4.14331018e-01 -6.99368126e-05]
 [ 4.14331018e-01  9.10126203e-01  3.20558231e-04]
 [-6.91658924e-05 -3.20725454e-04  9.99999946e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9820421  -0.1828559   0.04645874]
 [ 0.18079452  0.98247881  0.04526812]
 [-0.05392338 -0.03605562  0.99789359]]

 t_gt:
[ 0.65828251 -0.6800721   0.32274769]

Pose Error in degrees for R and t:
14.470397033034175 48.972544722278194

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-5.32991253e-01 -8.46118766e-01 -1.83230427e-03]
 [ 8.46120749e-01 -5.32990140e-01 -1.09067663e-03]
 [-5.37581418e-05 -2.13167176e-03  9.99997727e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97560052 -0.21754424  0.02965327]
 [ 0.21661434  0.97574461  0.03163527]
 [-0.0358166  -0.02444012  0.99905989]]

 t_gt:
[ 0.75634342 -0.62553455  0.19144493]

Pose Error in degrees for R and t:
109.6843396787381 41.014080305268955

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 7.88845914e-01 -6.14577218e-01  4.11918493e-03]
 [-6.14584800e-01 -7.88850368e-01  7.87466916e-04]
 [ 2.76546133e-03 -3.15277851e-03 -9.99991206e-01]]

 t_estimated:
[[0.23401653]
 [0.97223129]
 [0.00160915]]

 R_gt:
[[ 0.99884729  0.02948712 -0.03788517]
 [-0.0290977   0.99951846  0.01079205]
 [ 0.03818499 -0.00967799  0.99922309]]

 t_gt:
[ 0.10094505  0.97991948 -0.17195321]

Pose Error in degrees for R and t:
179.93600234750917 12.56377412367755

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-0.94736419 -0.31929781 -0.02345203]
 [-0.31944316  0.94760177  0.00263672]
 [ 0.02138128  0.00998952 -0.99972149]]

 t_estimated:
[[ 0.98496726]
 [ 0.17231663]
 [-0.01210299]]

 R_gt:
[[ 0.99551924  0.02090073 -0.09221948]
 [-0.02170818  0.99973458 -0.00775054]
 [ 0.09203341  0.00971765  0.99570825]]

 t_gt:
[ 0.61329449  0.66124484 -0.43200131]

Pose Error in degrees for R and t:
173.39657991459475 43.67678801920424

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99992505e-01  3.72996189e-03 -1.03836554e-03]
 [-3.74449160e-03  9.99889857e-01 -1.43614813e-02]
 [ 9.84683398e-04  1.43652618e-02  9.99896329e-01]]

 t_estimated:
[[ 0.70963603]
 [ 0.70329606]
 [-0.04232432]]

 R_gt:
[[ 0.99087527 -0.02692787 -0.13206496]
 [ 0.02371217  0.99938397 -0.02585886]
 [ 0.13267944  0.02249166  0.99090301]]

 t_gt:
[ 0.8492335   0.37503726 -0.3716847 ]

Pose Error in degrees for R and t:
7.753559172235505 28.098375359802766

Number of keypoints:
Image1: 787
Image2: 787

 R_estimated:
[[ 9.99960593e-01  8.87764815e-03  1.49376888e-06]
 [-8.87764809e-03  9.99960592e-01 -3.71667066e-05]
 [-1.82366296e-06  3.71519808e-05  9.99999999e-01]]

 t_estimated:
[[-1.76572504e-01]
 [-9.84287606e-01]
 [-2.44598957e-04]]

 R_gt:
[[ 0.9992306   0.00704685 -0.03860084]
 [-0.00558873  0.99927189  0.03775374]
 [ 0.03883828 -0.03750919  0.99854065]]

 t_gt:
[ 0.53577382 -0.8395567   0.08994976]

Pose Error in degrees for R and t:
3.0998500092101566 42.9675088938581

Number of keypoints:
Image1: 642
Image2: 642

 R_estimated:
[[ 9.96790035e-01  8.00600892e-02 -8.77124051e-05]
 [-8.00601127e-02  9.96789989e-01 -3.08544487e-04]
 [ 6.27287482e-05  3.14576335e-04  9.99999949e-01]]

 t_estimated:
[[-0.99689364]
 [-0.07874388]
 [-0.00157487]]

 R_gt:
[[ 0.99706089  0.07548308 -0.01307861]
 [-0.07474997  0.99596767  0.04962129]
 [ 0.0167717  -0.04849743  0.99868257]]

 t_gt:
[-0.93900433  0.16407186  0.30224376]

Pose Error in degrees for R and t:
2.9704447786760744 22.67716878311802

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 7.09712476e-01  7.04488122e-01  2.16490650e-03]
 [ 7.04485368e-01 -7.09715767e-01  1.97387867e-03]
 [ 2.92704235e-03  1.24258632e-04 -9.99995708e-01]]

 t_estimated:
[[ 9.94460479e-01]
 [-1.05109852e-01]
 [ 5.23569730e-04]]

 R_gt:
[[ 0.98608865  0.16463778 -0.02289806]
 [-0.16233961  0.98347144  0.08019907]
 [ 0.0357236  -0.07536581  0.99651616]]

 t_gt:
[-0.94897187  0.25284173  0.18847665]

Pose Error in degrees for R and t:
175.14841597093923 14.024427436327388

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.54768040e-01 -2.97350177e-01 -9.29070787e-04]
 [ 2.97350493e-01  9.54768368e-01  2.20202102e-04]
 [ 8.21570265e-04 -4.86501586e-04  9.99999544e-01]]

 t_estimated:
[[ 9.99999487e-01]
 [-9.01596683e-04]
 [-4.62701880e-04]]

 R_gt:
[[ 0.99555437 -0.07971785  0.05017319]
 [ 0.08100392  0.99642162 -0.0241286 ]
 [-0.04807044  0.0280864   0.99844888]]

 t_gt:
[ 0.7561681  -0.58660155  0.29001454]

Pose Error in degrees for R and t:
13.092741384954516 40.83792348462207

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 7.26712150e-01  6.86941918e-01  5.01500689e-04]
 [-6.86940870e-01  7.26712036e-01 -1.36296513e-03]
 [-1.30072447e-03  6.45982001e-04  9.99998945e-01]]

 t_estimated:
[[0.95330661]
 [0.30200171]
 [0.00121286]]

 R_gt:
[[ 0.99513505  0.02025866  0.09641471]
 [-0.01554143  0.99865652 -0.04943049]
 [-0.09728795  0.04769215  0.99411297]]

 t_gt:
[-0.0954419   0.61977682  0.77895285]

Pose Error in degrees for R and t:
42.78185436965371 84.42589897953806

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 8.57869154e-01  5.13868170e-01 -1.37887498e-04]
 [-5.13867953e-01  8.57868474e-01 -1.18630223e-03]
 [-4.91313620e-04  1.08854806e-03  9.99999287e-01]]

 t_estimated:
[[-9.99973671e-01]
 [-7.20051484e-03]
 [-9.00066261e-04]]

 R_gt:
[[ 0.99005819  0.07864503  0.11662302]
 [-0.07092745  0.99509713 -0.06891553]
 [-0.12147176  0.05995898  0.99078232]]

 t_gt:
[-0.33062133  0.76471928  0.55307682]

Pose Error in degrees for R and t:
27.6970201566013 71.05814571856502

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-9.96800391e-01  7.99140048e-02 -1.65295032e-03]
 [-7.99142649e-02 -9.96801736e-01  9.18358526e-05]
 [-1.64032478e-03  2.23636324e-04  9.99998630e-01]]

 t_estimated:
[[8.44232820e-01]
 [5.35976351e-01]
 [5.44468512e-04]]

 R_gt:
[[ 0.99623634  0.05096422 -0.07011467]
 [-0.05040218  0.9986813   0.00977322]
 [ 0.07052009 -0.00620183  0.99749135]]

 t_gt:
[ 0.58474409  0.33831542 -0.73730389]

Pose Error in degrees for R and t:
172.51229811731184 47.577852693465076

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99998899e-01 -1.43977686e-03 -3.59392763e-04]
 [ 1.43974855e-03  9.99998960e-01 -7.90139945e-05]
 [ 3.59506152e-04  7.84964722e-05  9.99999932e-01]]

 t_estimated:
[[-0.96469798]
 [-0.26335231]
 [-0.0018327 ]]

 R_gt:
[[ 0.97935305  0.13869318 -0.14708203]
 [-0.12698902  0.98814859  0.08623435]
 [ 0.15729994 -0.06577546  0.98535782]]

 t_gt:
[ 0.76713598  0.34340205 -0.54182785]

Pose Error in degrees for R and t:
12.502621346232553 33.952872225534584

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99999660e-01 -8.19530410e-04  9.56356168e-05]
 [ 8.19568949e-04  9.99999583e-01 -4.03632948e-04]
 [-9.53047874e-05  4.03711190e-04  9.99999914e-01]]

 t_estimated:
[[-9.53749657e-01]
 [-3.00600660e-01]
 [-9.13795321e-04]]

 R_gt:
[[ 0.96310505  0.22353938 -0.1498639 ]
 [-0.20970997  0.97235703  0.10267807]
 [ 0.16867435 -0.06746077  0.98336067]]

 t_gt:
[ 0.42526176  0.84883819 -0.31404803]

Pose Error in degrees for R and t:
16.42637826861662 48.66445558806259

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.39975136 -0.91658795  0.00808553]
 [-0.91661355 -0.39969009  0.00821196]
 [-0.00429528 -0.01069405 -0.99993359]]

 t_estimated:
[[0.50829576]
 [0.86115828]
 [0.00646861]]

 R_gt:
[[ 0.99742702  0.05862111 -0.04127881]
 [-0.05958873  0.99796708 -0.02261925]
 [ 0.03986939  0.02502162  0.9988913 ]]

 t_gt:
[-0.26054309  0.78377179 -0.56375445]

Pose Error in degrees for R and t:
178.23359893279272 57.39312237472173

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.54136884e-01 -5.20048149e-01  3.25569065e-04]
 [ 5.20048207e-01  8.54136901e-01 -1.25660203e-04]
 [-2.12731197e-04  2.76642623e-04  9.99999939e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99620844  0.06954761 -0.05226479]
 [-0.07270663  0.99547396 -0.0611915 ]
 [ 0.047773    0.06475978  0.99675682]]

 t_gt:
[-0.19091478  0.781706   -0.59370639]

Pose Error in degrees for R and t:
35.71087343470436 38.75018027517939

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 8.34208345e-01  5.51449392e-01  7.75671506e-05]
 [-5.51449352e-01  8.34208324e-01 -2.90571570e-04]
 [-2.24942678e-04  1.99622874e-04  9.99999955e-01]]

 t_estimated:
[[0.86667206]
 [0.49887444]
 [0.00195637]]

 R_gt:
[[ 0.99978451  0.01781507  0.01066307]
 [-0.01774051  0.99981819 -0.00699866]
 [-0.01078594  0.0068079   0.99991893]]

 t_gt:
[-0.17746386  0.97434237  0.13843239]

Pose Error in degrees for R and t:
32.4554537301979 70.57684078868782

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99999887e-01  4.59697301e-04  1.24984979e-04]
 [-4.59710499e-04  9.99999889e-01  1.05590836e-04]
 [-1.24936426e-04 -1.05648281e-04  9.99999987e-01]]

 t_estimated:
[[0.9983917 ]
 [0.05668274]
 [0.0010422 ]]

 R_gt:
[[ 9.87075642e-01 -1.56817230e-01 -3.30223693e-02]
 [ 1.56738572e-01  9.87627884e-01 -4.95671260e-03]
 [ 3.33927967e-02 -2.82470316e-04  9.99442268e-01]]

 t_gt:
[ 0.66907201 -0.72427748 -0.16662766]

Pose Error in degrees for R and t:
9.25001972285569 51.18790929658282

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 4.91196125e-01 -8.71046943e-01 -1.89474313e-03]
 [ 8.71046189e-01  4.91198906e-01 -1.47342443e-03]
 [ 2.21411760e-03 -9.26668413e-04  9.99997119e-01]]

 t_estimated:
[[ 0.87768822]
 [-0.47923062]
 [-0.00118039]]

 R_gt:
[[ 0.95407571 -0.29385107 -0.05822936]
 [ 0.29017396  0.95482785 -0.0640456 ]
 [ 0.07441937  0.04420837  0.99624646]]

 t_gt:
[ 0.74207521 -0.58695065 -0.32374886]

Pose Error in degrees for R and t:
43.824277047489055 21.096178059322714

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.82789943e-01 -1.84726619e-01 -6.29420353e-05]
 [ 1.84726483e-01  9.82789537e-01 -9.23430900e-04]
 [ 2.32441041e-04  8.95911541e-04  9.99999572e-01]]

 t_estimated:
[[ 0.52539235]
 [-0.8508553 ]
 [-0.00285191]]

 R_gt:
[[ 0.92138659 -0.38790413 -0.02402573]
 [ 0.38572911  0.92028016 -0.0655535 ]
 [ 0.04753992  0.05113396  0.99755899]]

 t_gt:
[ 0.76302701 -0.60875496 -0.21727215]

Pose Error in degrees for R and t:
12.76626519915421 23.15119373030012

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999998e-01  4.41177269e-05  5.31635470e-05]
 [-4.41180661e-05  9.99999999e-01  6.38080707e-06]
 [-5.31632655e-05 -6.38315252e-06  9.99999999e-01]]

 t_estimated:
[[7.53013436e-03]
 [9.99971293e-01]
 [8.42891270e-04]]

 R_gt:
[[ 0.99644837  0.07876589 -0.0297876 ]
 [-0.08044307  0.99494609 -0.06008775]
 [ 0.02490379  0.0622707   0.99774779]]

 t_gt:
[-0.49247315  0.70021438 -0.51688492]

Pose Error in degrees for R and t:
5.972036947029847 45.88903559959425

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.17751604 -0.98404805  0.01172573]
 [-0.98408654  0.17759291  0.00586877]
 [-0.00785755 -0.01049733 -0.99991403]]

 t_estimated:
[[0.62350166]
 [0.78178678]
 [0.00742381]]

 R_gt:
[[ 0.98786218  0.13658281 -0.07399115]
 [-0.14546244  0.98050055 -0.13213051]
 [ 0.0545019   0.14129028  0.98846627]]

 t_gt:
[-0.41572447  0.70587051 -0.57351547]

Pose Error in degrees for R and t:
172.84452618942842 73.23914592281675

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.99971013  0.01760631 -0.01642179]
 [-0.01743179  0.99979068  0.010711  ]
 [ 0.01660694 -0.01042163  0.99980778]]

 t_estimated:
[[-0.56205415]
 [-0.82708781]
 [-0.00456955]]

 R_gt:
[[ 0.98039919  0.13968259 -0.13895441]
 [-0.16905127  0.95860742 -0.22911259]
 [ 0.1012006   0.24811275  0.96343002]]

 t_gt:
[-0.25666275  0.64831852 -0.71680355]

Pose Error in degrees for R and t:
17.627060029863326 67.12745307066247

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.85822931e-01 -1.67788119e-01 -5.43515206e-04]
 [ 1.67788365e-01  9.85822939e-01  4.44781365e-04]
 [ 4.61180729e-04 -5.29671197e-04  9.99999753e-01]]

 t_estimated:
[[8.45127390e-01]
 [5.34564549e-01]
 [6.60772002e-04]]

 R_gt:
[[ 0.99901515  0.00409668 -0.04418209]
 [-0.00697672  0.99784685 -0.06522826]
 [ 0.04381855  0.06547237  0.99689184]]

 t_gt:
[ 0.21970331  0.26718851 -0.93826476]

Pose Error in degrees for R and t:
10.953038946881367 70.85943629885621

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99745046e-01 -2.25789942e-02  1.80622702e-04]
 [ 2.25789566e-02  9.99745041e-01  2.07311484e-04]
 [-1.85257535e-04 -2.03180357e-04  9.99999962e-01]]

 t_estimated:
[[0.71595795]
 [0.69814251]
 [0.00111346]]

 R_gt:
[[ 0.99403795 -0.0037999  -0.10896709]
 [-0.01074338  0.99111663 -0.13256052]
 [ 0.10850151  0.13294109  0.98516698]]

 t_gt:
[ 0.25464325  0.26092035 -0.9311699 ]

Pose Error in degrees for R and t:
10.008437516440747 68.6885986942056

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-8.11897762e-03 -9.99965391e-01 -1.81623677e-03]
 [ 9.99966984e-01 -8.11835526e-03 -3.49777373e-04]
 [ 3.35020412e-04 -1.81901664e-03  9.99998289e-01]]

 t_estimated:
[[9.98131074e-01]
 [6.11075148e-02]
 [4.79596039e-04]]

 R_gt:
[[ 0.98769066 -0.01765769 -0.15541713]
 [-0.00667732  0.98794268 -0.15467508]
 [ 0.15627282  0.15380972  0.97566524]]

 t_gt:
[ 0.31563491  0.23638826 -0.9189642 ]

Pose Error in degrees for R and t:
90.83904093133323 70.78891307587881

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[-6.62745967e-01  7.48841836e-01 -1.92029189e-03]
 [-7.48837916e-01 -6.62748727e-01 -2.42907368e-03]
 [-3.09166300e-03 -1.71871405e-04  9.99995206e-01]]

 t_estimated:
[[0.42471988]
 [0.90532396]
 [0.00124187]]

 R_gt:
[[ 0.9955401  -0.08526841 -0.04035564]
 [ 0.08494376  0.99633812 -0.00971194]
 [ 0.04103639  0.00624037  0.99913813]]

 t_gt:
[ 0.48072404 -0.79186696 -0.37663126]

Pose Error in degrees for R and t:
136.40512908241874 59.12339743549303

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 0.06588523  0.99782637  0.00129331]
 [ 0.99782517 -0.06588766  0.00193813]
 [ 0.00201913  0.0011628  -0.99999729]]

 t_estimated:
[[-0.98562172]
 [-0.16896372]
 [-0.00104299]]

 R_gt:
[[ 0.97179691 -0.22886292 -0.05685369]
 [ 0.22862587  0.9734546  -0.01073564]
 [ 0.05780136 -0.00256514  0.9983249 ]]

 t_gt:
[ 0.63786098 -0.74474445 -0.19618632]

Pose Error in degrees for R and t:
177.89563573504975 59.82450737910904

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.59830741  0.51986922 -0.60972472]
 [ 0.41267741  0.45233683  0.79062555]
 [ 0.68682283 -0.72465674  0.05609819]]

 t_estimated:
[[-0.71196786]
 [-0.69662682]
 [-0.08839027]]

 R_gt:
[[ 0.92571424 -0.36725875 -0.09040638]
 [ 0.36250226  0.92971507 -0.06497287]
 [ 0.10791349  0.02737438  0.99378316]]

 t_gt:
[ 0.73362245 -0.6141779  -0.2908326 ]

Pose Error in degrees for R and t:
88.65744624219953 86.0574586072959

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-0.86850929 -0.49544795 -0.01493088]
 [-0.49359208  0.86722808 -0.06543935]
 [ 0.04537027 -0.04946492 -0.99774484]]

 t_estimated:
[[0.75891666]
 [0.65118705]
 [0.00096187]]

 R_gt:
[[ 9.89591467e-01  1.43881255e-01  2.60044594e-03]
 [-1.43903300e-01  9.89367325e-01  2.10909700e-02]
 [ 4.61025401e-04 -2.12458320e-02  9.99774339e-01]]

 t_gt:
[-0.92211684  0.34912042  0.16677969]

Pose Error in degrees for R and t:
178.83313339134472 61.815864655857716

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99720751e-01  2.36299531e-02 -2.14391471e-04]
 [-2.36299263e-02  9.99720766e-01  1.26736134e-04]
 [ 2.17326375e-04 -1.21634688e-04  9.99999969e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10076005e-03]
 [-7.75189852e-04]]

 R_gt:
[[ 0.95405438  0.2990233   0.01910515]
 [-0.29935508  0.95397645  0.01779274]
 [-0.01290542 -0.0226938   0.99965895]]

 t_gt:
[-0.86761329  0.48763598  0.09725397]

Pose Error in degrees for R and t:
16.12720878834331 30.000456012438054

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 8.67040673e-01 -4.98213395e-01 -4.88711349e-03]
 [ 4.98237306e-01  8.67003586e-01  8.02295889e-03]
 [ 2.39999336e-04 -9.39117393e-03  9.99955873e-01]]

 t_estimated:
[[-0.27955362]
 [-0.96012054]
 [ 0.00428001]]

 R_gt:
[[ 0.90803033  0.41661211  0.04375442]
 [-0.41855816  0.90655899  0.05440899]
 [-0.01699916 -0.0677186   0.99755958]]

 t_gt:
[-0.84157848  0.50815889  0.18308523]

Pose Error in degrees for R and t:
54.70558195800482 75.41334960709915

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99921280e-01  1.25463759e-02  1.46316775e-04]
 [-1.25463757e-02  9.99921291e-01 -2.61886723e-06]
 [-1.46338116e-04  7.82915836e-07  9.99999989e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.9982074   0.02859709 -0.05258505]
 [-0.03346389  0.99499747 -0.09413468]
 [ 0.04962994  0.09572608  0.99417018]]

 t_gt:
[-0.11332228  0.37402735 -0.92046814]

Pose Error in degrees for R and t:
6.28425346123161 72.45003535033892

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.81080083e-01 -1.93601584e-01  5.45552463e-04]
 [ 1.93602053e-01  9.81079626e-01 -1.00577413e-03]
 [-3.40510941e-04  1.09236505e-03  9.99999345e-01]]

 t_estimated:
[[-0.14411049]
 [-0.98955869]
 [-0.00240184]]

 R_gt:
[[ 0.99087733  0.07120201 -0.11442291]
 [-0.08968472  0.98212219 -0.16550728]
 [ 0.10059389  0.17425973  0.97954887]]

 t_gt:
[-0.14263088  0.45812901 -0.87736779]

Pose Error in degrees for R and t:
19.581581315577928 64.48904650858324

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.95103998 -0.30904459 -0.0037933 ]
 [ 0.30899512 -0.95101079  0.0100246 ]
 [-0.00670552  0.00836168  0.99994256]]

 t_estimated:
[[0.86893412]
 [0.49492688]
 [0.00093736]]

 R_gt:
[[ 0.98022166  0.14371733 -0.13605904]
 [-0.16860181  0.9664374  -0.19383453]
 [ 0.10363586  0.21294105  0.97155342]]

 t_gt:
[-0.26839954  0.57892495 -0.76993999]

Pose Error in degrees for R and t:
171.24159391113238 86.9858668937276

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.91843059e-01 -1.27463148e-01 -7.01842527e-04]
 [ 1.27464336e-01  9.91841045e-01  2.04578305e-03]
 [ 4.35354279e-04 -2.11855561e-03  9.99997661e-01]]

 t_estimated:
[[0.9288187 ]
 [0.37052606]
 [0.00250355]]

 R_gt:
[[ 0.99769225 -0.02112571 -0.06453325]
 [ 0.01882297  0.99917139 -0.03608869]
 [ 0.06524234  0.03479037  0.99726238]]

 t_gt:
[ 0.7933178   0.21368411 -0.57007541]

Pose Error in degrees for R and t:
7.508376510628477 35.45249390209672

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 0.08549157 -0.99631047  0.00752612]
 [-0.99631255 -0.08543193  0.00791817]
 [-0.00724598 -0.0081753  -0.99994033]]

 t_estimated:
[[0.67795323]
 [0.73508006]
 [0.00606005]]

 R_gt:
[[ 0.99363447 -0.07028427 -0.08803861]
 [ 0.06668437  0.99683899 -0.04318987]
 [ 0.09079656  0.037044    0.99517943]]

 t_gt:
[ 0.93493001  0.09857327 -0.34086534]

Pose Error in degrees for R and t:
175.45594317675702 45.23243516190915

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99810238e-01 -1.94796742e-02  1.72192669e-04]
 [ 1.94796127e-02  9.99810192e-01  3.51757519e-04]
 [-1.79012107e-04 -3.48336522e-04  9.99999923e-01]]

 t_estimated:
[[7.37164349e-01]
 [6.75713482e-01]
 [1.13239748e-04]]

 R_gt:
[[ 0.99101081 -0.08012338 -0.10713293]
 [ 0.07718584  0.99652554 -0.03129469]
 [ 0.10926881  0.02274338  0.99375145]]

 t_gt:
[ 0.95603008  0.12029975 -0.26745927]

Pose Error in degrees for R and t:
7.270854623037497 38.185889429532885

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-1.63832779e-01 -9.86485928e-01 -2.08184609e-03]
 [ 9.86488064e-01 -1.63833145e-01  5.40928418e-06]
 [-3.46411576e-04 -2.05283011e-03  9.99997833e-01]]

 t_estimated:
[[9.96168465e-01]
 [8.74499034e-02]
 [9.50542429e-04]]

 R_gt:
[[ 0.99998461  0.00462819  0.00319046]
 [-0.00453821  0.99960427 -0.02777035]
 [-0.00331716  0.02775678  0.99960967]]

 t_gt:
[-0.3736648  -0.58072764 -0.72327728]

Pose Error in degrees for R and t:
99.70341384992044 64.93126766989458

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.12575917  0.99199758  0.01119958]
 [ 0.99202414  0.12584356 -0.00717657]
 [-0.00852853  0.01020773 -0.99991153]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.99560833 -0.09337379 -0.00678623]
 [ 0.09297038  0.99462243 -0.04564857]
 [ 0.0110121   0.04481815  0.99893512]]

 t_gt:
[ 0.53832298 -0.77627567 -0.32803118]

Pose Error in degrees for R and t:
177.90983307638675 89.58780885405454

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 1.17013289e-01  9.93129954e-01  8.86015834e-04]
 [ 9.93127448e-01 -1.17015057e-01  2.31255435e-03]
 [ 2.40034419e-03  6.09327053e-04 -9.99996934e-01]]

 t_estimated:
[[-0.16142764]
 [-0.98688389]
 [-0.00114488]]

 R_gt:
[[ 0.98211509 -0.18747802  0.0174237 ]
 [ 0.18800845  0.98148158 -0.03669411]
 [-0.01022193  0.03931454  0.99917428]]

 t_gt:
[ 0.67119845 -0.73751103 -0.07463321]

Pose Error in degrees for R and t:
177.88886744547057 51.71502487505059

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99866698e-01 -1.63274818e-02  1.59664414e-05]
 [ 1.63274736e-02  9.99866608e-01  4.23103112e-04]
 [-2.28725200e-05 -4.22786020e-04  9.99999910e-01]]

 t_estimated:
[[-0.0118475 ]
 [-0.99992911]
 [-0.00118475]]

 R_gt:
[[ 9.96472176e-01 -8.37735243e-02  5.01718379e-03]
 [ 8.37676550e-02  9.96484282e-01  1.40194366e-03]
 [-5.11688081e-03 -9.76480774e-04  9.99986958e-01]]

 t_gt:
[ 0.79153178 -0.60913902  0.04926558]

Pose Error in degrees for R and t:
3.8806859991667424 53.15446366542626

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-6.89830903e-02  9.97613763e-01  2.84834123e-03]
 [ 9.97617826e-01  6.89825961e-02  2.71474021e-04]
 [ 7.43402473e-05  2.86028310e-03 -9.99995907e-01]]

 t_estimated:
[[9.99901500e-01]
 [1.40042227e-02]
 [9.33614846e-04]]

 R_gt:
[[ 9.90025943e-01 -1.38998910e-01 -2.29574442e-02]
 [ 1.39047281e-01  9.90285753e-01  5.10669136e-04]
 [ 2.26635594e-02 -3.69797295e-03  9.99736814e-01]]

 t_gt:
[ 0.86527919 -0.49448692 -0.08230801]

Pose Error in degrees for R and t:
179.07721285335623 30.885793253340474

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.99331306  0.11540153 -0.00341352]
 [-0.11538281  0.99330723  0.0052493 ]
 [ 0.00399645 -0.00482033  0.9999804 ]]

 t_estimated:
[[9.99929266e-01]
 [1.18635676e-02]
 [8.47397683e-04]]

 R_gt:
[[ 9.79741756e-01 -1.96246125e-01 -3.99138452e-02]
 [ 1.96431859e-01  9.80517792e-01  7.39391016e-04]
 [ 3.89915197e-02 -8.56326082e-03  9.99203590e-01]]

 t_gt:
[ 0.86496116 -0.49078765 -0.10473619]

Pose Error in degrees for R and t:
18.07014577949416 30.7967729811494

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.77673676e-01  2.10126394e-01 -1.04021256e-03]
 [-2.10125462e-01  9.77673980e-01  9.37173568e-04]
 [ 1.21391365e-03 -6.97674783e-04  9.99999020e-01]]

 t_estimated:
[[-0.99530439]
 [-0.09677168]
 [-0.0021001 ]]

 R_gt:
[[ 0.99816435 -0.05686372 -0.02085798]
 [ 0.05681399  0.99837983 -0.00295275]
 [ 0.0209928   0.00176241  0.99977859]]

 t_gt:
[ 0.86229462 -0.4485937  -0.23497164]

Pose Error in degrees for R and t:
15.431001395549409 35.47774728514316

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.14352875  0.98917177 -0.03063841]
 [-0.98915935  0.14436031  0.02690519]
 [ 0.03103682  0.02644461  0.99916835]]

 t_estimated:
[[ 0.04585182]
 [ 0.99828694]
 [-0.03634287]]

 R_gt:
[[ 9.90091470e-01 -1.33123730e-01 -4.46922979e-02]
 [ 1.33270367e-01  9.91079513e-01  3.21756010e-04]
 [ 4.42519756e-02 -6.27476536e-03  9.99000741e-01]]

 t_gt:
[ 0.85429102 -0.48527238 -0.18627285]

Pose Error in degrees for R and t:
89.35750989301995 63.991747940386134

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.96323897e-01 -8.56661638e-02 -2.40023127e-05]
 [ 8.56661634e-02  9.96323897e-01 -1.53937611e-05]
 [ 2.52328022e-05  1.32809860e-05  1.00000000e+00]]

 t_estimated:
[[ 9.71189773e-01]
 [-2.38306132e-01]
 [-7.82680546e-04]]

 R_gt:
[[ 0.98804537 -0.15025886 -0.03448274]
 [ 0.15010661  0.98864468 -0.00697586]
 [ 0.03514023  0.00171623  0.99938074]]

 t_gt:
[ 0.86559649 -0.47864369 -0.1471154 ]

Pose Error in degrees for R and t:
4.2357116196822195 17.285249499747163

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 0.98838756 -0.14479334 -0.0460968 ]
 [ 0.14648497  0.98856837  0.03570334]
 [ 0.04040023 -0.04204123  0.99829873]]

 t_estimated:
[[ 0.85203175]
 [ 0.52347258]
 [-0.00428501]]

 R_gt:
[[ 9.99049382e-01 -7.61335707e-04 -4.36041868e-02]
 [ 1.11361578e-03  9.99966998e-01  8.07826335e-03]
 [ 4.35976018e-02 -8.11907187e-03  9.99016050e-01]]

 t_gt:
[ 0.80713208  0.54203508 -0.23395677]

Pose Error in degrees for R and t:
8.51105068669987 13.481519116264499

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 0.4695371  -0.88284446  0.01098087]
 [-0.88286249 -0.46934136  0.01650816]
 [-0.00942036 -0.01744579 -0.99980343]]

 t_estimated:
[[0.53473183]
 [0.84496532]
 [0.00977128]]

 R_gt:
[[ 0.9937134  -0.03209025 -0.1072619 ]
 [ 0.02924816  0.99918143 -0.02795989]
 [ 0.10807187  0.02464637  0.99383689]]

 t_gt:
[ 0.87032488  0.25877033 -0.41901374]

Pose Error in degrees for R and t:
176.65482511337655 47.1604143924812

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99999773e-01 -2.10347543e-04  6.40827011e-04]
 [ 2.10697066e-04  9.99999829e-01 -5.45406644e-04]
 [-6.40712176e-04  5.45541541e-04  9.99999646e-01]]

 t_estimated:
[[6.92103565e-01]
 [7.21798198e-01]
 [1.28377892e-04]]

 R_gt:
[[ 0.98934729 -0.0798688  -0.12171047]
 [ 0.07891004  0.99680094 -0.01268405]
 [ 0.12233484  0.00294449  0.99248469]]

 t_gt:
[ 0.96227773  0.14161715 -0.23230614]

Pose Error in degrees for R and t:
8.40527793878284 39.80881525114749

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99043963e-01 -4.37168171e-02  2.83800286e-05]
 [ 4.37168164e-02  9.99043963e-01  2.50379313e-05]
 [-2.94474749e-05 -2.37733096e-05  9.99999999e-01]]

 t_estimated:
[[9.99996603e-01]
 [2.55118126e-03]
 [5.34376271e-04]]

 R_gt:
[[ 0.99676986 -0.08014452 -0.00520573]
 [ 0.08007481  0.99671117 -0.01245012]
 [ 0.00618626  0.01199296  0.99990897]]

 t_gt:
[ 0.68243199 -0.72007403 -0.12561837]

Pose Error in degrees for R and t:
2.228412708343094 47.11527872186308

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 7.29297154e-01  6.84195213e-01  1.60344570e-03]
 [ 6.84195448e-01 -7.29298537e-01  4.83231040e-04]
 [ 1.50001497e-03  7.44651228e-04 -9.99998598e-01]]

 t_estimated:
[[0.24193299]
 [0.97029211]
 [0.00128007]]

 R_gt:
[[ 0.98286574 -0.18262433  0.0249497 ]
 [ 0.18307852  0.98294622 -0.01728837]
 [-0.02136748  0.02156033  0.99953925]]

 t_gt:
[ 0.74896479 -0.66162937  0.03603233]

Pose Error in degrees for R and t:
178.4534389958916 62.56588390245032

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 1.88338891e-01 -9.82101900e-01 -2.07859278e-03]
 [ 9.82103946e-01  1.88337257e-01  9.57537351e-04]
 [-5.48922790e-04 -2.22173569e-03  9.99997381e-01]]

 t_estimated:
[[-0.07730498]
 [-0.99700684]
 [-0.00113684]]

 R_gt:
[[ 0.98577943 -0.15079472  0.07416725]
 [ 0.15418448  0.98713674 -0.04229044]
 [-0.06683605  0.05312504  0.99634896]]

 t_gt:
[ 0.78316861 -0.59842957  0.16890526]

Pose Error in degrees for R and t:
70.51358945307287 57.594792890087454

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-6.99797036e-01 -7.14313924e-01 -6.30286141e-03]
 [ 7.14281869e-01 -6.99825380e-01  6.77125803e-03]
 [-9.24770628e-03  2.36486678e-04  9.99957211e-01]]

 t_estimated:
[[ 0.99837569]
 [-0.05667705]
 [ 0.0058039 ]]

 R_gt:
[[ 0.98786312  0.15520138 -0.00633991]
 [-0.15509255  0.98778495  0.01499837]
 [ 0.00859122 -0.01383269  0.99986697]]

 t_gt:
[-0.95390146  0.29221018  0.06844862]

Pose Error in degrees for R and t:
143.33782402722957 14.415378838373526

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-3.10493079e-01 -9.50575350e-01 -7.43508736e-04]
 [-9.50575346e-01  3.10493503e-01 -5.43856639e-04]
 [ 7.47831347e-04  5.37897352e-04 -9.99999576e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.97118678  0.23774267  0.01661979]
 [-0.23775264  0.97132435 -0.00139712]
 [-0.01647431 -0.0025946   0.99986073]]

 t_gt:
[-0.93331172  0.35746937  0.03383627]

Pose Error in degrees for R and t:
179.2596106806236 61.658025327789304

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[-7.26842754e-01  6.86802909e-01 -1.17221253e-03]
 [-6.86801748e-01 -7.26843690e-01 -1.26873314e-03]
 [-1.72338490e-03 -1.17091877e-04  9.99998508e-01]]

 t_estimated:
[[4.26264404e-01]
 [9.04598289e-01]
 [7.70670765e-04]]

 R_gt:
[[ 0.91717704  0.39789862  0.02152203]
 [-0.39844032  0.91650861  0.03545384]
 [-0.00561767 -0.04109174  0.99913947]]

 t_gt:
[-0.87255542  0.47586888  0.11043485]

Pose Error in degrees for R and t:
113.16598295068833 86.63962638972795

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.85692217e-01 -1.68553468e-01  7.62239206e-04]
 [ 1.68551162e-01  9.85689844e-01  2.45695099e-03]
 [-1.16545905e-03 -2.29332117e-03  9.99996691e-01]]

 t_estimated:
[[0.96979486]
 [0.24346335]
 [0.01495055]]

 R_gt:
[[ 0.99740221 -0.0240241  -0.06792103]
 [ 0.01897627  0.99707826 -0.07400062]
 [ 0.0695008   0.0725192   0.99494336]]

 t_gt:
[ 0.32542529  0.07026895 -0.94295316]

Pose Error in degrees for R and t:
10.319460907230686 71.42135662803925

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.93000845 -0.35989064 -0.07458556]
 [ 0.36753517  0.91146416  0.18479982]
 [ 0.00147433 -0.19927821  0.97994185]]

 t_estimated:
[[0.7094349 ]
 [0.704769  ]
 [0.00166928]]

 R_gt:
[[ 0.9940333   0.01369152 -0.10822815]
 [-0.02215568  0.9967557  -0.07738447]
 [ 0.10681792  0.0793205   0.99110954]]

 t_gt:
[ 0.19040639  0.34903882 -0.91756052]

Pose Error in degrees for R and t:
27.794714140831854 67.69474491139601

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 4.17766955e-01 -9.08552473e-01 -1.78171291e-03]
 [ 9.08554203e-01  4.17766530e-01  6.22282238e-04]
 [ 1.78963955e-04 -1.87875171e-03  9.99998219e-01]]

 t_estimated:
[[7.26933278e-01]
 [6.86707721e-01]
 [7.18313515e-04]]

 R_gt:
[[ 0.98910483  0.05498028 -0.13656723]
 [-0.07204214  0.98975054 -0.12330825]
 [ 0.12838775  0.13180302  0.9829273 ]]

 t_gt:
[ 0.05134059  0.56304101 -0.82483269]

Pose Error in degrees for R and t:
69.69115714642264 64.95225771571324

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 8.33629888e-01  5.52322359e-01  1.10565688e-03]
 [-5.52323394e-01  8.33629129e-01  1.15966085e-03]
 [-2.81201165e-04 -1.57740810e-03  9.99998716e-01]]

 t_estimated:
[[0.67986889]
 [0.7333319 ]
 [0.00161615]]

 R_gt:
[[ 0.99832504  0.02496164 -0.05218882]
 [-0.01991096  0.99526261  0.09515879]
 [ 0.05431784 -0.09396031  0.99409279]]

 t_gt:
[-0.45996962 -0.30594979  0.83356024]

Pose Error in degrees for R and t:
32.80837865253768 57.606254590786364

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99186018e-01  4.03398265e-02 -1.98286926e-06]
 [-4.03398251e-02  9.99185970e-01 -3.09401253e-04]
 [-1.04999377e-05  3.09229394e-04  9.99999952e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.9949161   0.08060976 -0.06036729]
 [-0.07190127  0.9882806   0.13465496]
 [ 0.07051433 -0.12963004  0.98905189]]

 t_gt:
[-0.8729078  -0.1153458   0.47405414]

Pose Error in degrees for R and t:
8.75356133216764 83.09087504935769

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-9.98132531e-01 -6.10852034e-02  2.18513986e-04]
 [-6.10845965e-02  9.98130287e-01  2.14512011e-03]
 [-3.49140525e-04  2.12776632e-03 -9.99997675e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9917707   0.11104447 -0.06372473]
 [-0.09341782  0.96800375  0.23289826]
 [ 0.08754811 -0.22502745  0.9704112 ]]

 t_gt:
[-0.77049736 -0.11540093  0.62691023]

Pose Error in degrees for R and t:
176.04379846849625 39.6132976049005

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999582e-01 -5.15407912e-04 -7.55443721e-04]
 [ 5.15963330e-04  9.99999597e-01  7.35211063e-04]
 [ 7.55064482e-04 -7.35600536e-04  9.99999444e-01]]

 t_estimated:
[[9.99996551e-01]
 [2.62507032e-03]
 [8.19331935e-05]]

 R_gt:
[[ 0.99771197  0.01789479  0.06519914]
 [-0.01133915  0.99496749 -0.09956078]
 [-0.06665105  0.09859326  0.99289277]]

 t_gt:
[ 0.18572302  0.79373733 -0.57921327]

Pose Error in degrees for R and t:
6.948524646219737 79.17799635946983

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.98047817e-01  6.24544191e-02  2.76631033e-05]
 [-6.24544196e-02  9.98047817e-01  1.54684517e-05]
 [-2.66430267e-05 -1.71659375e-05  9.99999999e-01]]

 t_estimated:
[[-5.80832365e-01]
 [-8.14022887e-01]
 [-7.08842016e-04]]

 R_gt:
[[ 0.99252423  0.00904441  0.12171326]
 [ 0.00637349  0.99204927 -0.12569137]
 [-0.12188147  0.12552758  0.98457518]]

 t_gt:
[ 0.5476026   0.80285276 -0.23570923]

Pose Error in degrees for R and t:
10.666284042002408 13.726674512551282

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-3.39800130e-01 -9.40496211e-01 -1.65809204e-03]
 [ 9.40497589e-01 -3.39800312e-01 -1.79220062e-04]
 [-3.94864402e-04 -1.62033056e-03  9.99998609e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98282068  0.10672071  0.15058007]
 [-0.08297208  0.98426214 -0.15602842]
 [-0.16486145  0.14085426  0.97620741]]

 t_gt:
[-0.02226381  0.99964703 -0.01449633]

Pose Error in degrees for R and t:
115.81709607983684 88.90127070541824

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99523434e-01 -3.08690959e-02 -5.62317873e-05]
 [ 3.08691025e-02  9.99523429e-01  1.19139378e-04]
 [ 5.25272639e-05 -1.20818425e-04  9.99999991e-01]]

 t_estimated:
[[0.26589008]
 [0.96400125]
 [0.00201393]]

 R_gt:
[[ 0.993897    0.10428756 -0.03596296]
 [-0.10402237  0.99453373  0.00916198]
 [ 0.03672097 -0.00536455  0.99931055]]

 t_gt:
[-0.14048531  0.9481243  -0.28517395]

Pose Error in degrees for R and t:
8.034330791486228 28.828725372458464

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-7.84199060e-01 -6.20500700e-01 -3.27343150e-03]
 [ 6.20502787e-01 -7.84204108e-01  4.56851126e-04]
 [-2.85051487e-03 -1.67291115e-03  9.99994538e-01]]

 t_estimated:
[[0.94319958]
 [0.3322247 ]
 [0.00113776]]

 R_gt:
[[ 0.99132716  0.12167376  0.04965418]
 [-0.11740053  0.98974177 -0.08142284]
 [-0.05905236  0.07488676  0.99544182]]

 t_gt:
[-0.08093885  0.97311478 -0.21563052]

Pose Error in degrees for R and t:
148.5737327706986 75.71732765724933

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99998318e-01 -1.81958725e-03 -2.31102278e-04]
 [ 1.81973974e-03  9.99998126e-01  6.61375220e-04]
 [ 2.29898415e-04 -6.61794653e-04  9.99999755e-01]]

 t_estimated:
[[-0.00339948]
 [-0.99999368]
 [-0.00103666]]

 R_gt:
[[ 0.99228617  0.10061759  0.07242054]
 [-0.0906535   0.98739821 -0.12972121]
 [-0.08455981  0.12215579  0.98890189]]

 t_gt:
[ 0.22796339  0.90716487 -0.35367299]

Pose Error in degrees for R and t:
10.258007035448975 24.8286721725179

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99998594e-01 -1.66990812e-03 -1.52698313e-04]
 [ 1.66986076e-03  9.99998558e-01 -3.09759112e-04]
 [ 1.53215362e-04  3.09503691e-04  9.99999940e-01]]

 t_estimated:
[[ 9.99969893e-01]
 [-7.75637105e-03]
 [-2.27408412e-04]]

 R_gt:
[[ 0.99649693 -0.00568449  0.08343999]
 [ 0.01394406  0.995016   -0.09874146]
 [-0.08246328  0.0995588   0.99160902]]

 t_gt:
[-0.77812607  0.32254174 -0.53896814]

Pose Error in degrees for R and t:
7.43427832601817 38.69528789365108

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.85140182e-01  1.71752212e-01  6.96025921e-06]
 [-1.71752200e-01  9.85140128e-01 -3.30793265e-04]
 [-6.36713056e-05  3.24682297e-04  9.99999945e-01]]

 t_estimated:
[[-4.50184244e-01]
 [-8.92935609e-01]
 [-3.81818031e-04]]

 R_gt:
[[ 0.98327503  0.0379986   0.17811882]
 [-0.0109053   0.98852218 -0.15068676]
 [-0.1818011   0.14622319  0.97240277]]

 t_gt:
[-0.85191354  0.51914046 -0.06882227]

Pose Error in degrees for R and t:
15.907715330480105 85.41059095931509

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.88984354e-01  1.48020038e-01  1.24989760e-04]
 [-1.48019384e-01  9.88981893e-01 -2.25330021e-03]
 [-4.57146191e-04  2.20997775e-03  9.99997454e-01]]

 t_estimated:
[[-0.59379082]
 [-0.80461438]
 [-0.00285802]]

 R_gt:
[[ 0.96978246  0.01919005  0.24321647]
 [ 0.03655671  0.97421761 -0.22263061]
 [-0.24121843  0.22479406  0.94407716]]

 t_gt:
[-0.68068421  0.6952787  -0.23077378]

Pose Error in degrees for R and t:
21.15408961346644 81.10711784835493

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[-0.82450691  0.56447839 -0.0394018 ]
 [ 0.5644769   0.82535828  0.01222829]
 [ 0.03942321 -0.0121591  -0.99914862]]

 t_estimated:
[[ 0.9616444 ]
 [-0.27355783]
 [-0.02015362]]

 R_gt:
[[ 0.99871717  0.04424374  0.02464116]
 [-0.04476518  0.99877657  0.02101234]
 [-0.02368156 -0.0220892   0.99947526]]

 t_gt:
[-0.8712987  -0.09354626  0.48175479]

Pose Error in degrees for R and t:
178.59448997154405 34.71466516200524

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-0.66286296  0.74873965  0.00127531]
 [-0.74874007 -0.66285913 -0.00246539]
 [-0.00100058 -0.00258909  0.99999615]]

 t_estimated:
[[0.80214542]
 [0.59712804]
 [0.00090946]]

 R_gt:
[[ 0.98957918  0.14195362  0.02413088]
 [-0.14226956  0.98975645  0.01193803]
 [-0.0221889  -0.01524677  0.9996382 ]]

 t_gt:
[-0.97533987  0.14963554  0.16223856]

Pose Error in degrees for R and t:
123.35047733135272 46.14264929585559

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.46103814  0.88735025 -0.00730479]
 [ 0.88733722 -0.460919    0.01365073]
 [ 0.00874606 -0.01277532 -0.99988014]]

 t_estimated:
[[-0.45333756]
 [-0.89133803]
 [-0.00125798]]

 R_gt:
[[ 0.9685747   0.24619451  0.03536703]
 [-0.24761213  0.96787123  0.04373553]
 [-0.02346255 -0.0511183   0.99841688]]

 t_gt:
[-0.94370009  0.20500735  0.2596192 ]

Pose Error in degrees for R and t:
177.655428753714 75.8325116912989

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.51852562 -0.8549583  -0.01332263]
 [ 0.85501982  0.51859197 -0.00186374]
 [ 0.00850243 -0.01042471  0.99990951]]

 t_estimated:
[[0.50055151]
 [0.86570514]
 [0.00166991]]

 R_gt:
[[ 0.99962725 -0.01376289  0.0235893 ]
 [ 0.01254134  0.99861034  0.05118225]
 [-0.02426202 -0.05086777  0.99841014]]

 t_gt:
[-0.10914378 -0.48988624  0.86492722]

Pose Error in degrees for R and t:
58.09828270071784 61.4917838972485

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 4.01113788e-02  9.99194819e-01  8.89536006e-04]
 [-9.99194000e-01  4.01127025e-02 -1.52383662e-03]
 [-1.55829135e-03 -8.27695852e-04  9.99998443e-01]]

 t_estimated:
[[0.01821453]
 [0.9998335 ]
 [0.00110059]]

 R_gt:
[[ 0.99920943 -0.02815168  0.02807723]
 [ 0.02600681  0.99691824  0.07400663]
 [-0.03007441 -0.07321877  0.996862  ]]

 t_gt:
[ 0.10229763 -0.5597378   0.82233132]

Pose Error in degrees for R and t:
89.34583962947444 56.15995674826547

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99999794e-01  4.23551737e-04 -4.83195155e-04]
 [-4.23194082e-04  9.99999637e-01  7.40049914e-04]
 [ 4.83508429e-04 -7.39845276e-04  9.99999609e-01]]

 t_estimated:
[[9.16224072e-01]
 [4.00665507e-01]
 [7.75458866e-04]]

 R_gt:
[[ 0.99487512 -0.09892591  0.02093313]
 [ 0.09772018  0.99383291  0.05240827]
 [-0.02598909 -0.05009423  0.99840635]]

 t_gt:
[ 0.59534784 -0.71359249  0.36925155]

Pose Error in degrees for R and t:
6.515260646415905 74.93904786771047

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99997685e-01 -2.14114984e-03 -2.10950065e-04]
 [ 2.14120062e-03  9.99997679e-01  2.40793953e-04]
 [ 2.10433999e-04 -2.41245083e-04  9.99999949e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.99992183e-01 -7.88337632e-04 -4.00440292e-03]
 [ 6.53279319e-04  9.99427833e-01 -3.38253420e-02]
 [ 4.02954420e-03  3.38227529e-02  9.99420156e-01]]

 t_gt:
[ 0.1706165   0.54615213 -0.82012673]

Pose Error in degrees for R and t:
1.9649648826840147 56.88284066863898

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-8.73598915e-01 -4.86643239e-01 -1.81474829e-03]
 [ 4.86645306e-01 -8.73599152e-01 -9.31513454e-04]
 [-1.13204784e-03 -1.69690788e-03  9.99997919e-01]]

 t_estimated:
[[9.04590046e-01]
 [4.26281766e-01]
 [8.39137334e-04]]

 R_gt:
[[ 0.99502498 -0.06597284  0.07466359]
 [ 0.06259464  0.99694524  0.04671938]
 [-0.07751835 -0.04181334  0.99611422]]

 t_gt:
[ 0.31701616 -0.50371038  0.80360227]

Pose Error in degrees for R and t:
147.22071489372985 85.8296868548376

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-2.84524376e-02  9.99595026e-01 -4.93025596e-04]
 [-9.99593939e-01 -2.84531666e-02 -1.54071317e-03]
 [-1.55411736e-03  4.48988353e-04  9.99998692e-01]]

 t_estimated:
[[1.55037735e-02]
 [9.99879647e-01]
 [5.70397286e-04]]

 R_gt:
[[ 0.98341578 -0.11433063  0.14079571]
 [ 0.09373752  0.98496712  0.14509625]
 [-0.15526794 -0.12949209  0.97934937]]

 t_gt:
[ 0.26823477 -0.41780675  0.86803665]

Pose Error in degrees for R and t:
98.1853442505185 65.60010979043876

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 6.48863759e-01  7.60903037e-01  1.54602027e-03]
 [-7.60902051e-01  6.48865507e-01 -1.27370895e-03]
 [-1.97232824e-03 -3.49906419e-04  9.99997994e-01]]

 t_estimated:
[[-0.59656895]
 [ 0.80255859]
 [ 0.00228077]]

 R_gt:
[[ 0.99452107  0.02829899  0.10063664]
 [-0.02328817  0.9984463  -0.05062476]
 [-0.10191233  0.04800302  0.99363427]]

 t_gt:
[-0.75521058  0.63935947  0.14448684]

Pose Error in degrees for R and t:
48.45349757036881 15.423122559107355

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99998721e-01  1.36744543e-03  8.29949535e-04]
 [-1.36696930e-03  9.99998901e-01 -5.73985537e-04]
 [-8.30733517e-04  5.72850287e-04  9.99999491e-01]]

 t_estimated:
[[ 0.98019871]
 [-0.1980123 ]
 [ 0.00127631]]

 R_gt:
[[ 0.98416284 -0.0075959   0.17710752]
 [ 0.03249924  0.98988002 -0.13813789]
 [-0.17426571  0.14170653  0.97444891]]

 t_gt:
[-0.48633585  0.8606322  -0.15096242]

Pose Error in degrees for R and t:
12.981366722335656 49.660590560688966

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999623e-01 -2.83004761e-04  8.21113977e-04]
 [ 2.83888786e-04  9.99999380e-01 -1.07669989e-03]
 [-8.20808757e-04  1.07693259e-03  9.99999083e-01]]

 t_estimated:
[[9.41849913e-01]
 [3.36032893e-01]
 [7.98177892e-04]]

 R_gt:
[[ 0.97736396 -0.05619588  0.20396871]
 [ 0.08160195  0.98961155 -0.11836295]
 [-0.1951978   0.13232774  0.97179535]]

 t_gt:
[-0.14529374  0.97832902  0.14751968]

Pose Error in degrees for R and t:
14.139730444022735 78.92909830196878

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.62147093e-01 -2.72528933e-01  9.75406845e-04]
 [ 2.72530404e-01  9.62145042e-01 -2.02416831e-03]
 [-3.86838429e-04  2.21337568e-03  9.99997476e-01]]

 t_estimated:
[[-0.94240112]
 [-0.33448245]
 [-0.0012718 ]]

 R_gt:
[[ 0.99036382  0.12577244  0.05797564]
 [-0.12452947  0.99191046 -0.02460207]
 [-0.06060007  0.01714511  0.99801415]]

 t_gt:
[-0.53470863  0.79835309  0.27698199]

Pose Error in degrees for R and t:
23.277586864970225 76.31860530343215

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-2.68267232e-01 -9.63343675e-01 -1.28685407e-03]
 [-9.63343027e-01  2.68268936e-01 -1.41075479e-03]
 [ 1.70426468e-03  8.61222607e-04 -9.99998177e-01]]

 t_estimated:
[[0.60306918]
 [0.79768845]
 [0.00083528]]

 R_gt:
[[ 0.98632357  0.14511851  0.07814388]
 [-0.14301006  0.98920446 -0.03197327]
 [-0.08193944  0.0203603   0.99642963]]

 t_gt:
[-0.51685349  0.78620506  0.33873894]

Pose Error in degrees for R and t:
177.35055573138268 71.59503678406031

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.62065424e-01 -2.72818830e-01 -8.14085739e-05]
 [ 2.72818834e-01  9.62065425e-01  3.97320096e-05]
 [ 6.74807339e-05 -6.04345849e-05  9.99999996e-01]]

 t_estimated:
[[-0.92220357]
 [-0.3867036 ]
 [-0.00094766]]

 R_gt:
[[ 0.98433843  0.14785531  0.09600578]
 [-0.14665238  0.98899546 -0.0195091 ]
 [-0.09783367  0.00512416  0.99518944]]

 t_gt:
[-0.50069878  0.73414914  0.45861287]

Pose Error in degrees for R and t:
24.953361915741766 79.78086137772011

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 8.52535173e-01  5.22669826e-01  1.78048955e-04]
 [-5.22668018e-01  8.52533027e-01 -2.36232158e-03]
 [-1.38650682e-03  1.92090174e-03  9.99997194e-01]]

 t_estimated:
[[-0.40919223]
 [ 0.91244767]
 [ 0.00097984]]

 R_gt:
[[ 9.97255056e-01  7.40455822e-02 -6.33354048e-04]
 [-7.40150167e-02  9.97022263e-01  2.15962673e-02]
 [ 2.23106125e-03 -2.14901064e-02  9.99765795e-01]]

 t_gt:
[-0.92040102  0.35809054  0.15694944]

Pose Error in degrees for R and t:
27.299430728701626 45.29041382912266

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.97580814e-01  6.95161233e-02 -1.68286260e-04]
 [-6.95160585e-02  9.97580766e-01  3.64386183e-04]
 [ 1.93209851e-04 -3.51806068e-04  9.99999919e-01]]

 t_estimated:
[[-9.69904017e-01]
 [-2.43486892e-01]
 [-5.75331783e-04]]

 R_gt:
[[ 0.97855057  0.19830035  0.0558358 ]
 [-0.2006302   0.97886049  0.03972495]
 [-0.04677827 -0.05007611  0.9976492 ]]

 t_gt:
[-0.85612497  0.46768345  0.21982315]

Pose Error in degrees for R and t:
8.492472799390006 44.24541430691545

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.98124336e-01 -6.12193466e-02 -2.82742930e-05]
 [ 6.12193464e-02  9.98124337e-01 -6.39408976e-06]
 [ 2.86127019e-05  4.65116287e-06  1.00000000e+00]]

 t_estimated:
[[-8.99380029e-01]
 [-4.37167001e-01]
 [-7.58970489e-04]]

 R_gt:
[[ 0.95106001  0.30530426  0.04767597]
 [-0.3078972   0.94935382  0.06265555]
 [-0.02613255 -0.0742679   0.99689555]]

 t_gt:
[-0.82824589  0.53206299  0.17583433]

Pose Error in degrees for R and t:
21.85927916945137 59.191253824409316

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.96624235e-01  8.20983041e-02  5.92668276e-05]
 [-8.20983028e-02  9.96624236e-01 -2.48089233e-05]
 [-6.11035274e-05  1.98594683e-05  9.99999998e-01]]

 t_estimated:
[[-1.79348597e-01]
 [ 9.83785463e-01]
 [ 4.94473385e-04]]

 R_gt:
[[ 9.99378975e-01 -1.15347773e-03  3.52296787e-02]
 [ 9.49638346e-04  9.99982223e-01  5.82543958e-03]
 [-3.52358253e-02 -5.78787168e-03  9.99362625e-01]]

 t_gt:
[-0.1001284  -0.04748649  0.9938407 ]

Pose Error in degrees for R and t:
5.188300989410894 88.38019286174882

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 0.98348471  0.18091091 -0.00539228]
 [ 0.18088646 -0.98146525  0.06329339]
 [ 0.00615813 -0.06322347 -0.9979804 ]]

 t_estimated:
[[-0.0582537 ]
 [ 0.99780678]
 [ 0.03143458]]

 R_gt:
[[ 0.99919496 -0.00738691  0.03943346]
 [ 0.00704829  0.9999368   0.00874271]
 [-0.03949693 -0.00845714  0.99918421]]

 t_gt:
[-0.01915081 -0.14042708  0.98990579]

Pose Error in degrees for R and t:
176.07364349612297 83.8065208677141

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.99997431e-01 -2.26579620e-03  6.21972731e-05]
 [ 2.26578969e-03  9.99997428e-01  1.04510381e-04]
 [-6.24339123e-05 -1.04369187e-04  9.99999993e-01]]

 t_estimated:
[[0.93436854]
 [0.35630587]
 [0.00124582]]

 R_gt:
[[ 0.99906678 -0.04136844  0.01243504]
 [ 0.04104584  0.99884069  0.02514981]
 [-0.0134617  -0.02461574  0.99960657]]

 t_gt:
[ 0.46389035 -0.70762546  0.53298401]

Pose Error in degrees for R and t:
2.746614135855073 79.51503838853391

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.94364385e-01  1.06016193e-01  1.93451130e-04]
 [-1.06016094e-01  9.94364305e-01 -4.65620223e-04]
 [-2.41724182e-04  4.42487234e-04  9.99999873e-01]]

 t_estimated:
[[-0.34738741]
 [-0.93771895]
 [-0.00227051]]

 R_gt:
[[ 0.99823002  0.05751072 -0.01512424]
 [-0.05656871  0.9967893   0.05666272]
 [ 0.01833351 -0.05570639  0.99827972]]

 t_gt:
[-0.94865915 -0.07509078  0.30725752]

Pose Error in degrees for R and t:
4.405209843540568 66.46753277652259

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.99997617e-01 -2.18142606e-03 -8.18191488e-05]
 [ 2.18142719e-03  9.99997621e-01  1.36812644e-05]
 [ 8.17891094e-05 -1.38597143e-05  9.99999997e-01]]

 t_estimated:
[[ 2.00892694e-01]
 [-9.79613167e-01]
 [-4.09980925e-04]]

 R_gt:
[[ 0.99556213  0.09297675 -0.01455282]
 [-0.0904607   0.98809806  0.12441915]
 [ 0.025947   -0.12254919  0.99212392]]

 t_gt:
[-0.8753219  -0.03916754  0.48195173]

Pose Error in degrees for R and t:
8.998302970379052 82.08670795563492

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 0.99998757  0.00313536  0.00387755]
 [-0.00312588  0.99999211 -0.00244925]
 [-0.0038852   0.0024371   0.99998948]]

 t_estimated:
[[-0.48109739]
 [-0.87666635]
 [-0.00118789]]

 R_gt:
[[ 0.97500181  0.22072629  0.02555067]
 [-0.22214462  0.97085469  0.08996983]
 [-0.00494761 -0.09339639  0.99561752]]

 t_gt:
[-0.92181675  0.32456468  0.2119237 ]

Pose Error in degrees for R and t:
13.772110772111803 80.86872943795568

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99992165e-01  3.95816080e-03  5.70524447e-05]
 [-3.95815921e-03  9.99992166e-01 -2.79287060e-05]
 [-5.71625440e-05  2.77026645e-05  9.99999998e-01]]

 t_estimated:
[[ 9.96644928e-01]
 [-8.18466424e-02]
 [-1.21147545e-04]]

 R_gt:
[[ 9.97938736e-01 -6.41784443e-02 -5.17816300e-04]
 [ 6.41806008e-02  9.97881750e-01  1.05795787e-02]
 [-1.61701565e-04 -1.05897543e-02  9.99943672e-01]]

 t_gt:
[ 0.74600713 -0.64332325  0.1720714 ]

Pose Error in degrees for R and t:
3.9538427313770157 37.23719869432728

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.00608646  0.99997516 -0.00355424]
 [-0.99997996 -0.00609261 -0.00172037]
 [-0.00174198  0.00354369  0.9999922 ]]

 t_estimated:
[[7.20023296e-01]
 [6.93949597e-01]
 [6.39847807e-04]]

 R_gt:
[[ 0.99489481 -0.09951981 -0.01669536]
 [ 0.0994232   0.99502341 -0.00653823]
 [ 0.01726285  0.00484552  0.99983884]]

 t_gt:
[ 0.86335715 -0.48483854 -0.13980712]

Pose Error in degrees for R and t:
96.0607998344417 73.43551485903288

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 2.72791733e-01  9.62072965e-01  5.29147954e-04]
 [-9.62073091e-01  2.72791797e-01 -5.01573022e-05]
 [-1.92602206e-04 -4.95396511e-04  9.99999859e-01]]

 t_estimated:
[[0.79575126]
 [0.605623  ]
 [0.00084816]]

 R_gt:
[[ 0.99055426 -0.13698422  0.00622864]
 [ 0.1371072   0.99013772 -0.02877386]
 [-0.00222644  0.02935739  0.99956633]]

 t_gt:
[ 0.91301652 -0.39239372 -0.11148095]

Pose Error in degrees for R and t:
82.06273991859226 60.738469039492635

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.97238109e-01  7.42708146e-02 -1.83588705e-05]
 [-7.42708162e-02  9.97238102e-01 -1.13285934e-04]
 [ 9.89432661e-06  1.14336579e-04  9.99999993e-01]]

 t_estimated:
[[-3.55608203e-01]
 [-9.34635050e-01]
 [-3.61197905e-04]]

 R_gt:
[[ 0.9974098   0.01202427  0.07091777]
 [-0.00708559  0.99755954 -0.06945919]
 [-0.07157993  0.06877744  0.99506071]]

 t_gt:
[-0.76907648  0.53425068 -0.35085265]

Pose Error in degrees for R and t:
6.794633504726385 76.95520451086463

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99996567e-01  2.27163556e-03  1.30636219e-03]
 [-2.27034594e-03  9.99996935e-01 -9.87824981e-04]
 [-1.30860217e-03  9.84855695e-04  9.99998659e-01]]

 t_estimated:
[[0.99993029]
 [0.01170758]
 [0.0015337 ]]

 R_gt:
[[ 0.98756762  0.01325067  0.15663567]
 [ 0.0061697   0.99240581 -0.12284754]
 [-0.15707393  0.12228697  0.97998645]]

 t_gt:
[-0.68559034  0.70589692 -0.17797588]

Pose Error in degrees for R and t:
11.388713371386814 47.34742215399869

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.39858476 -0.9163906  -0.03685724]
 [ 0.91692146 -0.39903159  0.00536903]
 [-0.01962733 -0.03165518  0.99930612]]

 t_estimated:
[[0.99522177]
 [0.09631178]
 [0.01605196]]

 R_gt:
[[ 0.97282    -0.02135194  0.23057731]
 [ 0.06426707  0.98151838 -0.18025382]
 [-0.22246772  0.19017333  0.95621203]]

 t_gt:
[-0.48269832  0.86283794 -0.15004343]

Pose Error in degrees for R and t:
112.22485284799797 66.44064299845301

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.99772449 -0.0655442  -0.01580488]
 [ 0.06676371  0.99314011  0.09599654]
 [ 0.00940444 -0.0968333   0.99525618]]

 t_estimated:
[[-0.5898931 ]
 [-0.80442589]
 [ 0.07017924]]

 R_gt:
[[ 0.99302358 -0.07158609  0.09370034]
 [ 0.06249467  0.99335922  0.09660357]
 [-0.09999468 -0.09007315  0.99090345]]

 t_gt:
[ 0.20713335 -0.46517296  0.86064504]

Pose Error in degrees for R and t:
6.2925549262100064 71.79546857229995

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[ 9.39315704e-01  3.43053936e-01  7.32677275e-05]
 [-3.43053861e-01  9.39315603e-01 -4.97346705e-04]
 [-2.39438265e-04  4.42030794e-04  9.99999874e-01]]

 t_estimated:
[[-0.82654033]
 [-0.56287639]
 [-0.00111708]]

 R_gt:
[[ 0.98086654 -0.11433705  0.15757137]
 [ 0.08267121  0.97739382  0.19459179]
 [-0.17625825 -0.17784135  0.96814516]]

 t_gt:
[ 0.21273406 -0.3760598   0.90184436]

Pose Error in degrees for R and t:
29.54928832946029 88.00372814709016

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.99984051e-01  5.64781914e-03  2.25610746e-05]
 [-5.64776578e-03  9.99982229e-01 -1.90907079e-03]
 [-3.33427602e-05  1.90891292e-03  9.99998177e-01]]

 t_estimated:
[[-0.39114168]
 [-0.92032602]
 [-0.00286319]]

 R_gt:
[[ 0.9786995  -0.07186421  0.19230825]
 [ 0.02084338  0.96667417  0.25516151]
 [-0.20423697 -0.24571717  0.9475812 ]]

 t_gt:
[ 0.0508437  -0.17674357  0.98294284]

Pose Error in degrees for R and t:
18.9634855133892 81.95445314311806

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-6.96329125e-01 -7.17719427e-01 -2.13880637e-03]
 [ 7.17721179e-01 -6.96330599e-01 -7.57832346e-05]
 [-1.43492522e-03 -1.58783670e-03  9.99997710e-01]]

 t_estimated:
[[0.99589268]
 [0.0905357 ]
 [0.00102881]]

 R_gt:
[[ 0.99812734 -0.04754068  0.03849526]
 [ 0.0442003   0.99553517  0.08340107]
 [-0.04228799 -0.08154231  0.99577159]]

 t_gt:
[ 0.14881994 -0.55000069  0.82179795]

Pose Error in degrees for R and t:
131.54941782038088 84.30347062547214

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-1.37002756e-01 -9.90567397e-01 -2.54509545e-03]
 [ 9.90570651e-01 -1.37001847e-01 -5.28975236e-04]
 [ 1.75302846e-04 -2.59356792e-03  9.99996621e-01]]

 t_estimated:
[[0.94878244]
 [0.31592861]
 [0.00099662]]

 R_gt:
[[ 0.99530755 -0.05277653  0.0810998 ]
 [ 0.04018434  0.98791007  0.14973202]
 [-0.08802158 -0.14577001  0.98539408]]

 t_gt:
[-0.02015618 -0.44174917  0.89691215]

Pose Error in degrees for R and t:
95.57086042968069 80.92129027137094

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.06223389  0.99806054 -0.00145267]
 [-0.99805757  0.06222944 -0.00292823]
 [-0.00283215  0.00163209  0.99999466]]

 t_estimated:
[[0.09394744]
 [0.99557664]
 [0.00101688]]

 R_gt:
[[ 0.99454526 -0.06476744  0.08175646]
 [ 0.04900771  0.98210308  0.18185714]
 [-0.0920719  -0.17685872  0.97991995]]

 t_gt:
[ 0.02751173 -0.46168563  0.88661687]

Pose Error in degrees for R and t:
90.32397077943683 62.8605854753911

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.78926738 -0.61392258 -0.01249242]
 [ 0.61401998  0.78926593  0.00622499]
 [ 0.00603818 -0.01258378  0.99990259]]

 t_estimated:
[[9.91169809e-01]
 [1.32598631e-01]
 [1.13307938e-04]]

 R_gt:
[[ 0.99341178  0.11310114  0.01849199]
 [-0.11371346  0.99284979  0.03630395]
 [-0.01425387 -0.03816652  0.99917011]]

 t_gt:
[-0.91220358  0.20549723  0.35447923]

Pose Error in degrees for R and t:
44.44301854039021 28.734144277658636

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-9.02829790e-01 -4.29998096e-01  8.45139888e-05]
 [-4.29997924e-01  9.02829575e-01  7.37710833e-04]
 [-3.93515982e-04  6.29686477e-04 -9.99999724e-01]]

 t_estimated:
[[0.97698288]
 [0.21331504]
 [0.00106658]]

 R_gt:
[[ 0.98832761  0.14807698  0.03582541]
 [-0.1501691   0.98650671  0.06522022]
 [-0.02568479 -0.06983807  0.9972274 ]]

 t_gt:
[-0.87936499  0.11363659  0.46238938]

Pose Error in degrees for R and t:
177.40842306003944 33.44752414313792

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.77718626e-01  2.09919671e-01 -1.39640083e-04]
 [-2.09919286e-01  9.77717749e-01  1.37718908e-03]
 [ 4.25627665e-04 -1.31719027e-03  9.99999042e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.9766247   0.20979059  0.04682154]
 [-0.21265098  0.97475989  0.06799703]
 [-0.03137522 -0.07636315  0.99658577]]

 t_gt:
[-0.9104971   0.16299676  0.38003565]

Pose Error in degrees for R and t:
4.676413992020302 78.66023373879447

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 8.98097184e-01 -4.39796456e-01  7.25272691e-04]
 [ 4.39796943e-01  8.98096907e-01 -7.70729479e-04]
 [-3.12401068e-04  1.01116269e-03  9.99999440e-01]]

 t_estimated:
[[-8.37531061e-01]
 [-5.46389311e-01]
 [-6.64707191e-04]]

 R_gt:
[[ 0.98396543  0.17721665 -0.02013408]
 [-0.17755284  0.98397555 -0.01635842]
 [ 0.0169128   0.01967008  0.9996631 ]]

 t_gt:
[-0.62961677  0.7603145  -0.15970156]

Pose Error in degrees for R and t:
36.338978907784686 83.56926248740325

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-8.54134079e-01  5.20050494e-01 -1.56808044e-03]
 [-5.20049218e-01 -8.54135499e-01 -1.16631657e-03]
 [-1.94589668e-03 -1.80711721e-04  9.99998090e-01]]

 t_estimated:
[[0.50960925]
 [0.86040537]
 [0.00100515]]

 R_gt:
[[ 9.37910898e-01  3.46874598e-01  5.46808287e-04]
 [-3.46729624e-01  9.37565189e-01 -2.73915547e-02]
 [-1.00138004e-02  2.55002228e-02  9.99624306e-01]]

 t_gt:
[-0.61980846  0.7846333  -0.01371336]

Pose Error in degrees for R and t:
128.3721018976293 68.94715856096774

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.57862776  0.81555845  0.0073703 ]
 [-0.81559023 -0.5785856  -0.00716086]
 [-0.00157575 -0.01015461  0.9999472 ]]

 t_estimated:
[[0.33063049]
 [0.94375492]
 [0.00318176]]

 R_gt:
[[ 0.90739352  0.41837897  0.03992918]
 [-0.41598809  0.90760885 -0.05657081]
 [-0.05990765  0.0347214   0.99760028]]

 t_gt:
[-0.61060613  0.78915022  0.06634824]

Pose Error in degrees for R and t:
100.71055782269244 57.1057282171298

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99890616e-01 -1.47888151e-02 -2.18413517e-04]
 [ 1.47888151e-02  9.99890639e-01 -1.42324024e-06]
 [ 2.18410679e-04 -1.80699256e-06  9.99999976e-01]]

 t_estimated:
[[7.40733570e-01]
 [6.71798526e-01]
 [7.19599870e-04]]

 R_gt:
[[ 0.99916933  0.0382761   0.01401479]
 [-0.03784129  0.99883146 -0.03008041]
 [-0.01515063  0.02952477  0.99944887]]

 t_gt:
[-0.45955646  0.88319122 -0.09370763]

Pose Error in degrees for R and t:
3.5791403283188035 75.35376143927317

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[-0.98674066 -0.16228121 -0.00277286]
 [-0.1622901   0.98673738  0.00335744]
 [ 0.00219124  0.00376293 -0.99999052]]

 t_estimated:
[[ 0.99851306]
 [ 0.05450375]
 [-0.00100555]]

 R_gt:
[[ 9.99336479e-01 -3.64425316e-02 -6.86742537e-04]
 [ 3.64163859e-02  9.99065706e-01 -2.32807657e-02]
 [ 1.53456263e-03  2.32404743e-02  9.99727645e-01]]

 t_gt:
[ 0.31359079 -0.60419281 -0.73253797]

Pose Error in degrees for R and t:
179.68697185467124 73.6842626808027

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 5.78798470e-01  8.15470461e-01 -5.08356846e-04]
 [ 8.15462303e-01 -5.78789640e-01  4.87700428e-03]
 [ 3.68282125e-03 -3.23734846e-03 -9.99987978e-01]]

 t_estimated:
[[-9.65053794e-01]
 [-2.62051613e-01]
 [-3.56277621e-04]]

 R_gt:
[[ 0.98005664 -0.19655598  0.02924407]
 [ 0.19653845  0.98049042  0.00349173]
 [-0.02935916  0.00232543  0.99956581]]

 t_gt:
[ 0.55623787 -0.81655463  0.1543955 ]

Pose Error in degrees for R and t:
179.50578500890302 71.16311693325358

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999075e-01  1.35944166e-03 -5.15594942e-05]
 [-1.35944577e-03  9.99999073e-01 -7.97172588e-05]
 [ 5.14510754e-05  7.97872774e-05  9.99999995e-01]]

 t_estimated:
[[-0.00678587]
 [-0.99997628]
 [-0.00117687]]

 R_gt:
[[ 0.99530726 -0.03310757  0.09093118]
 [ 0.0385383   0.99753549 -0.05863482]
 [-0.08876638  0.06186364  0.99412945]]

 t_gt:
[ 0.83461462 -0.19656659  0.51456779]

Pose Error in degrees for R and t:
6.568073925054892 79.0301297178026

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 6.86708625e-01 -7.26932543e-01 -5.85364421e-04]
 [ 7.26932756e-01  6.86708179e-01  8.03007294e-04]
 [-1.81757598e-04 -9.76952607e-04  9.99999506e-01]]

 t_estimated:
[[ 8.24033055e-01]
 [-5.66541433e-01]
 [ 5.73955025e-04]]

 R_gt:
[[ 0.99166111 -0.10608623  0.07317074]
 [ 0.10983822  0.99272502 -0.04932174]
 [-0.06740585  0.05694694  0.99609881]]

 t_gt:
[ 0.89142476 -0.45146995  0.03920175]

Pose Error in degrees for R and t:
40.72806458588854 7.9610699859837855

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 8.56126498e-01 -5.16764228e-01  1.46669903e-03]
 [ 5.16765716e-01  8.56126369e-01 -9.13670164e-04]
 [-7.83527660e-04  1.54015701e-03  9.99998507e-01]]

 t_estimated:
[[-0.08333884]
 [-0.99651969]
 [-0.00177317]]

 R_gt:
[[ 0.9807259  -0.19125081  0.04000455]
 [ 0.19299089  0.98014685 -0.04545152]
 [-0.03051819  0.05229571  0.99816532]]

 t_gt:
[ 0.87832666 -0.4695114  -0.0900074 ]

Pose Error in degrees for R and t:
20.30757365222961 66.74411465431106

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999425e-01 -1.05143324e-03 -2.10480588e-04]
 [ 1.05144811e-03  9.99999445e-01  7.05537072e-05]
 [ 2.10406289e-04 -7.07749761e-05  9.99999975e-01]]

 t_estimated:
[[-9.99993248e-01]
 [-3.57048333e-03]
 [-8.69083996e-04]]

 R_gt:
[[ 9.88073424e-01  1.53983633e-01 -1.74793863e-04]
 [-1.53952711e-01  9.87851890e-01 -2.11437583e-02]
 [-3.08401073e-03  2.09187385e-02  9.99776404e-01]]

 t_gt:
[-0.76263631  0.63991381 -0.0943195 ]

Pose Error in degrees for R and t:
9.000634681866801 40.49802668605904

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 1.00000000e+00 -5.20451737e-14 -4.78675259e-17]
 [ 5.20590515e-14  1.00000000e+00  1.83196286e-17]
 [ 3.32307966e-17 -5.35573850e-16  1.00000000e+00]]

 t_estimated:
[[-9.99563626e-01]
 [ 2.95370334e-02]
 [-3.48870770e-04]]

 R_gt:
[[ 0.9732549   0.22934861 -0.01317432]
 [-0.22962582  0.97292542 -0.02623109]
 [ 0.00680102  0.02855451  0.99956901]]

 t_gt:
[-0.7406912   0.66315478 -0.10771389]

Pose Error in degrees for R and t:
13.375554329080035 40.53640269494948

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99857491e-01 -1.68744996e-02  4.99151007e-04]
 [ 1.68748267e-02  9.99857393e-01 -6.58639988e-04]
 [-4.87965604e-04  6.66969212e-04  9.99999659e-01]]

 t_estimated:
[[-9.99765622e-01]
 [-2.16481789e-02]
 [-2.41087494e-04]]

 R_gt:
[[ 9.20485258e-01  3.90776367e-01  9.54163710e-04]
 [-3.90711271e-01  9.20371094e-01 -1.61814815e-02]
 [-7.20147173e-03  1.45217678e-02  9.99868914e-01]]

 t_gt:
[-0.69022841  0.72343917 -0.01484966]

Pose Error in degrees for R and t:
23.98530515116324 47.59172200819884

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[-0.84155598 -0.54016302  0.00272769]
 [-0.54016733  0.84155684 -0.00115749]
 [-0.00167028 -0.0024475  -0.99999561]]

 t_estimated:
[[0.96965154]
 [0.24447805]
 [0.00252341]]

 R_gt:
[[ 0.99812889  0.05704247  0.02197092]
 [-0.05627247  0.99782915 -0.03419872]
 [-0.02387429  0.0328987   0.99917359]]

 t_gt:
[-0.81555783  0.44075062 -0.37497242]

Pose Error in degrees for R and t:
179.14514741177254 46.84304454546026

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99889891e-01  1.48384030e-02 -1.65837146e-04]
 [-1.48384329e-02  9.99889888e-01 -1.80418303e-04]
 [ 1.63141766e-04  1.82859201e-04  9.99999970e-01]]

 t_estimated:
[[-0.32674307]
 [-0.94511197]
 [-0.00152684]]

 R_gt:
[[ 0.99029217  0.13095822  0.04659155]
 [-0.12669932  0.98829974 -0.08491772]
 [-0.05716708  0.07819119  0.99529844]]

 t_gt:
[-0.82529797  0.41272111 -0.38541476]

Pose Error in degrees for R and t:
8.600864264421022 83.11835486052006

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.90709747  0.42091889 -0.00121574]
 [-0.42091361 -0.90709522 -0.00316177]
 [-0.00243364 -0.00235631  0.99999426]]

 t_estimated:
[[0.7394526 ]
 [0.67320624]
 [0.00179044]]

 R_gt:
[[ 0.987941    0.14883942  0.04264846]
 [-0.14242456  0.98166327 -0.12669893]
 [-0.0607241   0.11909723  0.99102459]]

 t_gt:
[-0.7566229   0.41979473 -0.5012925 ]

Pose Error in degrees for R and t:
146.76128623661083 73.87249328376168

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.90909762 -0.41655995 -0.00439604]
 [ 0.41649326 -0.90907005  0.01118044]
 [-0.00865363  0.00833319  0.99992783]]

 t_estimated:
[[8.26017272e-01]
 [5.63644288e-01]
 [7.62712163e-04]]

 R_gt:
[[ 0.9963261   0.08508477 -0.00972346]
 [-0.0850122   0.99634978  0.00762389]
 [ 0.01033681 -0.00676938  0.99992289]]

 t_gt:
[-0.64068323  0.7661989  -0.04964112]

Pose Error in degrees for R and t:
160.26479631305205 84.41112561445848

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.84475421e-01 -1.75522438e-01 -1.34911696e-04]
 [ 1.75522414e-01  9.84475419e-01 -1.76457780e-04]
 [ 1.63789548e-04  1.50038321e-04  9.99999975e-01]]

 t_estimated:
[[-0.79044553]
 [-0.61253175]
 [-0.00084721]]

 R_gt:
[[ 0.97671773  0.21280653 -0.02709731]
 [-0.21300901  0.97703794 -0.00477729]
 [ 0.0254582   0.01043821  0.99962132]]

 t_gt:
[-0.58972909  0.79555107 -0.13898955]

Pose Error in degrees for R and t:
22.4582876755259 88.7947625302167

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-0.07295308 -0.99733283  0.00225332]
 [-0.99733486  0.07295055 -0.00118412]
 [ 0.00101658 -0.0023337  -0.99999676]]

 t_estimated:
[[0.7911492 ]
 [0.61162257]
 [0.00088003]]

 R_gt:
[[ 0.95250707  0.29886199 -0.05840736]
 [-0.29756778  0.95423134  0.02993061]
 [ 0.06467936 -0.0111285   0.99784334]]

 t_gt:
[-0.5832384   0.79989735 -0.14141146]

Pose Error in degrees for R and t:
178.2641532540298 88.41372206815976

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-9.73963589e-01  2.26291820e-01  1.36725692e-02]
 [ 2.26311343e-01  9.74055009e-01 -1.22311426e-04]
 [-1.33455126e-02  2.97513063e-03 -9.99906519e-01]]

 t_estimated:
[[ 0.99469573]
 [-0.10262778]
 [ 0.00692424]]

 R_gt:
[[ 0.98387595 -0.177882   -0.01862645]
 [ 0.1784642   0.98326732  0.03655158]
 [ 0.01181386 -0.03928592  0.99915791]]

 t_gt:
[ 0.73211411 -0.66895452  0.1284865 ]

Pose Error in degrees for R and t:
179.6652012683841 37.08196424325597

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99999988e-01  8.55534980e-05  1.28127319e-04]
 [-8.56088165e-05  9.99999903e-01  4.31802424e-04]
 [-1.28090364e-04 -4.31813387e-04  9.99999899e-01]]

 t_estimated:
[[0.79238047]
 [0.61002666]
 [0.00081773]]

 R_gt:
[[ 0.97592035 -0.21733303  0.0185931 ]
 [ 0.21670828  0.97575074  0.03078424]
 [-0.02483167 -0.02601265  0.99935308]]

 t_gt:
[ 0.67070528 -0.70866472  0.218972  ]

Pose Error in degrees for R and t:
12.706798153340364 84.29949880966356

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999720e-01  7.22097311e-04  1.96337838e-04]
 [-7.22126469e-04  9.99999728e-01  1.48483020e-04]
 [-1.96230566e-04 -1.48624759e-04  9.99999970e-01]]

 t_estimated:
[[9.28512047e-01]
 [3.71301762e-01]
 [6.16607992e-04]]

 R_gt:
[[ 0.95082916 -0.30696474  0.04119377]
 [ 0.30609179  0.95164113  0.02620654]
 [-0.04724552 -0.01230779  0.9988074 ]]

 t_gt:
[ 0.69083811 -0.6972967   0.19110213]

Pose Error in degrees for R and t:
18.116032781426014 67.50133856479438

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.77488409e-01  2.10988856e-01  3.35921583e-04]
 [-2.10988642e-01  9.77488341e-01 -5.79358521e-04]
 [-4.50597623e-04  4.95440601e-04  9.99999776e-01]]

 t_estimated:
[[-9.29175614e-01]
 [ 3.69638508e-01]
 [ 2.27752357e-04]]

 R_gt:
[[ 0.99468569  0.10092796  0.02034063]
 [-0.10079828  0.99487989 -0.00730406]
 [-0.02097443  0.00521507  0.99976627]]

 t_gt:
[-0.80949492  0.58265987  0.07228731]

Pose Error in degrees for R and t:
6.503890275855787 14.635472863084367

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.35777636 -0.93380304 -0.00282135]
 [ 0.9337994  -0.35775927 -0.0051957 ]
 [ 0.00384239 -0.00449347  0.99998252]]

 t_estimated:
[[9.93902231e-01]
 [1.10262234e-01]
 [7.71064570e-04]]

 R_gt:
[[ 0.97568707  0.21796263  0.02295501]
 [-0.21779748  0.97594788 -0.00946044]
 [-0.02446536  0.00423118  0.99969172]]

 t_gt:
[-0.76508352  0.64169202  0.05365212]

Pose Error in degrees for R and t:
123.55931322033449 46.399769559258495

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-9.21327714e-01 -3.88786854e-01 -1.58408504e-04]
 [-3.88786285e-01  9.21325497e-01  2.13369161e-03]
 [-6.83605454e-04  2.02741627e-03 -9.99997711e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.91183701  0.41040602  0.01093791]
 [-0.40999309  0.91166216 -0.02787591]
 [-0.02141187  0.02093455  0.99955073]]

 t_gt:
[-0.66886835  0.74331766 -0.00969474]

Pose Error in degrees for R and t:
179.36317756364937 48.15288872757129

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 8.65901665e-01 -5.00201928e-01 -3.51236633e-03]
 [-5.00207101e-01 -8.65905493e-01 -7.30130616e-04]
 [-2.67616456e-03  2.38913190e-03 -9.99993565e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99451668  0.1038856  -0.01202178]
 [-0.10440923  0.99285611 -0.05775301]
 [ 0.00593688  0.05869221  0.9982577 ]]

 t_gt:
[-0.52409172  0.74600838 -0.41085201]

Pose Error in degrees for R and t:
176.53603691932474 42.07248661490864

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999874e-01 -2.00148358e-04  4.60522200e-04]
 [ 2.00375840e-04  9.99999858e-01 -4.93972671e-04]
 [-4.60423267e-04  4.94064886e-04  9.99999772e-01]]

 t_estimated:
[[-0.58141183]
 [-0.81360877]
 [-0.00102607]]

 R_gt:
[[ 0.98662781  0.15924499 -0.03474109]
 [-0.16115272  0.98500427 -0.0616177 ]
 [ 0.02440843  0.06639284  0.99749482]]

 t_gt:
[-0.50888284  0.76715538 -0.39052641]

Pose Error in degrees for R and t:
10.084979257536292 70.8590533182943

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.61820576 -0.78601439 -0.00173848]
 [ 0.78601527 -0.61819984 -0.00299215]
 [ 0.00127715 -0.00321624  0.99999401]]

 t_estimated:
[[9.61466966e-01]
 [2.74919460e-01]
 [7.51146067e-04]]

 R_gt:
[[ 0.95872689  0.28000737 -0.04938765]
 [-0.28282736  0.95699694 -0.06454951]
 [ 0.02918954  0.07585311  0.99669145]]

 t_gt:
[-0.51030975  0.81922006 -0.26165331]

Pose Error in degrees for R and t:
144.58461764332532 74.59602707573822

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.96503492e-01  8.35510710e-02  9.30088330e-05]
 [-8.35510559e-02  9.96503486e-01 -1.55434921e-04]
 [-1.05670380e-04  1.47120456e-04  9.99999984e-01]]

 t_estimated:
[[-5.06305635e-01]
 [-8.62353822e-01]
 [-6.99721038e-04]]

 R_gt:
[[ 0.99694493 -0.01317705  0.07698413]
 [ 0.01604043  0.99919674 -0.03669789]
 [-0.07643877  0.03782142  0.99635648]]

 t_gt:
[-0.18838476  0.5302734   0.82663251]

Pose Error in degrees for R and t:
7.452831543060098 68.74733195236807

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.81028080e-01  1.93865692e-01 -1.31651124e-05]
 [-1.93865687e-01  9.81028032e-01 -3.09298538e-04]
 [-4.70470309e-05  3.05982814e-04  9.99999952e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075899e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99268015  0.04012917  0.11390521]
 [-0.0307838   0.996102   -0.08265238]
 [-0.11677781  0.07854172  0.99004723]]

 t_gt:
[-0.3013075   0.9521354   0.05149732]

Pose Error in degrees for R and t:
12.19082377100034 72.64365167014427

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-8.55836956e-01  5.17241119e-01 -2.17479156e-03]
 [-5.17241365e-01 -8.55839429e-01 -4.91307678e-04]
 [-2.11539690e-03  7.04412889e-04  9.99997514e-01]]

 t_estimated:
[[0.85992204]
 [0.51042445]
 [0.00098728]]

 R_gt:
[[ 0.9822918   0.1417827   0.12247255]
 [-0.12826135  0.98539133 -0.11203268]
 [-0.13656774  0.09434008  0.98612805]]

 t_gt:
[-0.30665468  0.95132697  0.0306578 ]

Pose Error in degrees for R and t:
141.17234293747393 77.17865898370337

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99999935e-01 -2.47672063e-04 -2.62661248e-04]
 [ 2.47796596e-04  9.99999857e-01  4.74190445e-04]
 [ 2.62543766e-04 -4.74255501e-04  9.99999853e-01]]

 t_estimated:
[[0.38370915]
 [0.92345348]
 [0.00098135]]

 R_gt:
[[ 0.98889264  0.14862925  0.00106703]
 [-0.1486188   0.98867     0.02108067]
 [ 0.00207914 -0.02100497  0.99977683]]

 t_gt:
[-0.6982956  0.7102671  0.0889039]

Pose Error in degrees for R and t:
8.643390190935081 67.16718791165476

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.85270239e-01 -1.71003717e-01 -5.33812480e-04]
 [ 1.71003902e-01  9.85270299e-01  3.22328618e-04]
 [ 4.70830190e-04 -4.08864811e-04  9.99999806e-01]]

 t_estimated:
[[-0.60359104]
 [-0.79729361]
 [-0.00086474]]

 R_gt:
[[ 9.48491509e-01  3.16415335e-01 -1.56407412e-02]
 [-3.16468384e-01  9.48603154e-01 -9.79898428e-04]
 [ 1.45273183e-02  5.87913721e-03  9.99876766e-01]]

 t_gt:
[-0.61091325  0.79006924 -0.05075031]

Pose Error in degrees for R and t:
28.308472215028868 74.86278736653264

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99865796e-01  1.63682496e-02  6.85504753e-04]
 [-1.63682394e-02  9.99866031e-01 -2.04042395e-05]
 [-6.85746898e-04  9.18099523e-06  9.99999765e-01]]

 t_estimated:
[[0.63633799]
 [0.77140973]
 [0.00100053]]

 R_gt:
[[ 0.89198948  0.45013378  0.04164514]
 [-0.44956908  0.89296064 -0.0225555 ]
 [-0.04733954  0.00139804  0.99887806]]

 t_gt:
[-0.58880396  0.80331284  0.08943366]

Pose Error in degrees for R and t:
25.94841914763247 75.81258221223435

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99791771e-01  2.04055033e-02  1.76081444e-04]
 [-2.04054899e-02  9.99791783e-01 -7.79498249e-05]
 [-1.77635387e-04  7.43405653e-05  9.99999981e-01]]

 t_estimated:
[[-9.10565321e-01]
 [-4.13365043e-01]
 [-3.71865466e-04]]

 R_gt:
[[ 9.93324407e-01 -1.15313364e-01 -2.95385611e-03]
 [ 1.15348789e-01  9.92854858e-01  3.05532672e-02]
 [-5.90844181e-04 -3.06915149e-02  9.99528491e-01]]

 t_gt:
[ 0.49505055 -0.8488854   0.18525263]

Pose Error in degrees for R and t:
7.990489140840663 84.26398492975659

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.72004038e-01  2.34961101e-01  1.19629201e-03]
 [-2.34960390e-01  9.72004690e-01 -7.05817219e-04]
 [-1.32864103e-03  4.04975950e-04  9.99999035e-01]]

 t_estimated:
[[8.62925590e-01]
 [5.05330438e-01]
 [7.57616848e-04]]

 R_gt:
[[ 0.96699015 -0.2544692   0.01323374]
 [ 0.25394008  0.96667326  0.03251513]
 [-0.02106731 -0.02808122  0.99938317]]

 t_gt:
[ 0.58824565 -0.79309682  0.15800158]

Pose Error in degrees for R and t:
28.3899027177936 83.86013011900015

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.05494772 -0.99848121 -0.00400229]
 [-0.99848694 -0.05495575  0.00192329]
 [-0.00214032  0.00389056 -0.99999014]]

 t_estimated:
[[0.50506285]
 [0.86308208]
 [0.00091331]]

 R_gt:
[[ 0.93442072 -0.35607006 -0.00855461]
 [ 0.35595889  0.93276127  0.05699405]
 [-0.01231516 -0.05630176  0.99833775]]

 t_gt:
[ 0.62953523 -0.76570918  0.1318137 ]

Pose Error in degrees for R and t:
177.5582366158849 69.95277023378344

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.34807390e-01 -3.55154999e-01 -2.66266975e-04]
 [ 3.55155038e-01  9.34807405e-01  1.18673776e-04]
 [ 2.06760755e-04 -2.05503181e-04  9.99999958e-01]]

 t_estimated:
[[ 7.76642388e-01]
 [-6.29941724e-01]
 [-1.60385759e-04]]

 R_gt:
[[ 0.99788149 -0.05747635  0.03047971]
 [ 0.0587807   0.99731077 -0.04377568]
 [-0.02788166  0.04547477  0.9985762 ]]

 t_gt:
[ 0.88194535 -0.41505341 -0.22338992]

Pose Error in degrees for R and t:
17.734404275497727 18.835139464410844

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99993791e-01  3.48275452e-03  5.37926404e-04]
 [-3.48278872e-03  9.99993933e-01  6.26594463e-05]
 [-5.37704913e-04 -6.45325413e-05  9.99999853e-01]]

 t_estimated:
[[0.99981772]
 [0.01904415]
 [0.0013603 ]]

 R_gt:
[[ 0.98618397 -0.16538392  0.00945405]
 [ 0.16557763  0.98585392 -0.02597511]
 [-0.0050251   0.02718016  0.99961805]]

 t_gt:
[ 0.85566713 -0.51188921 -0.07617868]

Pose Error in degrees for R and t:
9.853775257261656 32.25738442239357

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 5.54413339e-01 -8.32240983e-01 -8.92585746e-04]
 [ 8.32241461e-01  5.54412981e-01  6.30359380e-04]
 [-2.97497855e-05 -1.09232651e-03  9.99999403e-01]]

 t_estimated:
[[ 9.89595930e-01]
 [-1.43873536e-01]
 [ 5.48924497e-04]]

 R_gt:
[[ 0.97968835 -0.19607213 -0.04202837]
 [ 0.19461602  0.98020479 -0.0363711 ]
 [ 0.04832795  0.02745229  0.99845484]]

 t_gt:
[ 0.87324405 -0.4445985  -0.19944174]

Pose Error in degrees for R and t:
45.16339674006803 21.872489547647874

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 0.98252049  0.18612127  0.00351573]
 [-0.18611575  0.98252611 -0.00183797]
 [-0.00379638  0.00115151  0.99999213]]

 t_estimated:
[[-0.78764647]
 [ 0.61580119]
 [ 0.02004824]]

 R_gt:
[[ 9.99322636e-01 -1.04599932e-02 -3.52961770e-02]
 [ 1.04440364e-02  9.99945034e-01 -6.34286246e-04]
 [ 3.53008183e-02  2.64447511e-04  9.99376086e-01]]

 t_gt:
[-0.21890682 -0.60066243 -0.76895023]

Pose Error in degrees for R and t:
11.543226735489506 77.70861023670489

Number of keypoints:
Image1: 453
Image2: 453

 R_estimated:
[[ 9.95961739e-01  8.97786107e-02  1.27685018e-04]
 [-8.97786421e-02  9.95961708e-01  2.66129504e-04]
 [-1.03276651e-04 -2.76518191e-04  9.99999956e-01]]

 t_estimated:
[[9.94636604e-01]
 [1.03426741e-01]
 [9.66605058e-04]]

 R_gt:
[[ 0.99787149 -0.01396057 -0.06370636]
 [ 0.01541515  0.99962903  0.02241945]
 [ 0.06337017 -0.02335431  0.99771621]]

 t_gt:
[-0.34859297 -0.7556096  -0.55456025]

Pose Error in degrees for R and t:
7.135422494076135 64.82340712826627

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 7.72768825e-01  6.34687320e-01  5.90637158e-04]
 [-6.34687169e-01  7.72769050e-01 -4.39956641e-04]
 [-7.35661017e-04 -3.48850490e-05  9.99999729e-01]]

 t_estimated:
[[0.47209693]
 [0.88154593]
 [0.00111871]]

 R_gt:
[[ 0.99369739 -0.06471938 -0.09152763]
 [ 0.06599459  0.99775981  0.01096766]
 [ 0.09061341 -0.01693908  0.99574149]]

 t_gt:
[-0.04093931 -0.83100935 -0.55474988]

Pose Error in degrees for R and t:
43.464975705073485 41.190784346687586

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99579764e-01 -2.89878140e-02 -4.47779975e-05]
 [ 2.89878146e-02  9.99579765e-01  1.47576239e-05]
 [ 4.43313890e-05 -1.60494385e-05  9.99999999e-01]]

 t_estimated:
[[-0.49186488]
 [-0.87067077]
 [-0.00116556]]

 R_gt:
[[ 0.99894621  0.03806073  0.02562897]
 [-0.03823253  0.99924886  0.00627857]
 [-0.02537003 -0.00725154  0.99965189]]

 t_gt:
[0.07437036 0.76090969 0.64458164]

Pose Error in degrees for R and t:
4.135091452160915 45.58636982259195

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.98762908e-01 -4.97233133e-02  4.95859115e-04]
 [ 4.97226891e-02  9.98762341e-01  1.20042195e-03]
 [-5.54934367e-04 -1.17428147e-03  9.99999157e-01]]

 t_estimated:
[[-7.55249126e-01]
 [-6.55437446e-01]
 [-7.15847184e-04]]

 R_gt:
[[ 0.9983822   0.05373403  0.01861585]
 [-0.05364731  0.99854683 -0.00510549]
 [-0.01886216  0.00409878  0.99981373]]

 t_gt:
[0.4313949  0.87970335 0.20005111]

Pose Error in degrees for R and t:
6.028271095896687 25.505447679702204

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.99999727 -0.00174793 -0.00155038]
 [ 0.00175234  0.99999442  0.00284513]
 [ 0.0015454  -0.00284784  0.99999475]]

 t_estimated:
[[0.55650363]
 [0.83068827]
 [0.01614621]]

 R_gt:
[[ 0.99710173  0.06981792  0.03023889]
 [-0.06946439  0.99750502 -0.01258523]
 [-0.0310418   0.01044783  0.99946354]]

 t_gt:
[0.46820271 0.84638897 0.25379509]

Pose Error in degrees for R and t:
4.566003442416553 14.593053869184834

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 0.89235688 -0.45125506  0.00824983]
 [ 0.45131236  0.89233574 -0.00735372]
 [-0.00404322  0.01028539  0.99993893]]

 t_estimated:
[[9.96874692e-01]
 [7.89943770e-02]
 [8.58634532e-04]]

 R_gt:
[[ 0.99860917 -0.00942334  0.05188446]
 [ 0.01003776  0.99988228 -0.01158857]
 [-0.05176818  0.01209296  0.99858573]]

 t_gt:
[-0.99516169  0.02210455  0.09573193]

Pose Error in degrees for R and t:
26.395029837638116 8.018464079400374

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-9.29391539e-01  3.69095329e-01  6.71058583e-05]
 [-3.69094742e-01 -9.29389704e-01 -1.96191417e-03]
 [-6.61765863e-04 -1.84815485e-03  9.99998073e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99664294  0.05759489  0.05818522]
 [-0.05518738  0.99758433 -0.04217075]
 [-0.06047226  0.03881853  0.99741434]]

 t_gt:
[-0.87403052  0.39719475 -0.27983385]

Pose Error in degrees for R and t:
155.11588442764082 62.40083181473692

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.99998147 -0.00597118  0.00118211]
 [ 0.00597355  0.99998014 -0.00201103]
 [-0.00117008  0.00201805  0.99999728]]

 t_estimated:
[[ 9.99998184e-01]
 [-4.67308033e-04]
 [ 1.84783296e-03]]

 R_gt:
[[ 0.99103308  0.10382756  0.08409635]
 [-0.09727856  0.99215138 -0.07856187]
 [-0.09159255  0.06967673  0.99335557]]

 t_gt:
[-0.85438448  0.41138113 -0.31747869]

Pose Error in degrees for R and t:
8.921520827855076 31.22238331084196

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.30509889e-01  3.66266522e-01  4.24756002e-04]
 [-3.66266387e-01  9.30509968e-01 -3.63751865e-04]
 [-5.28469824e-04  1.82900861e-04  9.99999844e-01]]

 t_estimated:
[[0.09690126]
 [0.99529328]
 [0.00119792]]

 R_gt:
[[ 9.98242144e-01 -5.92624109e-02  7.48161695e-04]
 [ 5.92384996e-02  9.98077174e-01  1.82537432e-02]
 [-1.82892731e-03 -1.81768271e-02  9.99833413e-01]]

 t_gt:
[ 0.48043228 -0.81522727  0.32340273]

Pose Error in degrees for R and t:
24.904858700141425 40.14206338918295

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.97543396e-01 -7.00511605e-02  9.01750099e-05]
 [ 7.00511554e-02  9.97543399e-01  5.88320905e-05]
 [-9.40747421e-05 -5.23706997e-05  9.99999994e-01]]

 t_estimated:
[[ 9.22733764e-01]
 [ 3.85437933e-01]
 [-2.75986051e-05]]

 R_gt:
[[ 0.98670216 -0.15108301  0.05993357]
 [ 0.15151648  0.98845023 -0.00274138]
 [-0.05882707  0.01178624  0.99819859]]

 t_gt:
[ 0.4777827  -0.81272467  0.33347009]

Pose Error in degrees for R and t:
5.815573129019694 82.66895057035126

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.79214567  0.60981252  0.02517782]
 [ 0.60981612  0.79249816 -0.00842415]
 [-0.02509053  0.00868069 -0.99964749]]

 t_estimated:
[[ 0.94993235]
 [-0.31210655]
 [ 0.01476588]]

 R_gt:
[[ 0.96407146 -0.26195354  0.04411564]
 [ 0.25997909  0.96452588  0.04583784]
 [-0.05455823 -0.03272162  0.99797433]]

 t_gt:
[ 0.59697315 -0.74347371  0.30144634]

Pose Error in degrees for R and t:
176.52196966063275 36.52682917119749

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 0.99859906  0.05199693 -0.00980962]
 [-0.05179919  0.99846836  0.01943647]
 [ 0.01080523 -0.01890111  0.99976297]]

 t_estimated:
[[0.99689076]
 [0.07818751]
 [0.00977344]]

 R_gt:
[[ 0.96508288 -0.17844209  0.19176233]
 [ 0.17092684  0.98373788  0.05517956]
 [-0.19848881 -0.02047541  0.9798891 ]]

 t_gt:
[ 0.49804149 -0.58920097  0.6362365 ]

Pose Error in degrees for R and t:
17.737910873015718 62.82930092790995

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[ 1.00000000e+00  2.21290763e-11  4.72990245e-14]
 [-2.21291874e-11  1.00000000e+00 -2.45833627e-14]
 [-4.72993498e-14  2.45828748e-14  1.00000000e+00]]

 t_estimated:
[[ 7.91380594e-01]
 [-6.11323680e-01]
 [ 3.37194433e-04]]

 R_gt:
[[ 0.91915568 -0.31403755  0.23776796]
 [ 0.30173294  0.94937153  0.08747489]
 [-0.25319977 -0.00866036  0.9673759 ]]

 t_gt:
[ 0.64158034 -0.61349632  0.46043124]

Pose Error in degrees for R and t:
23.371573274156898 28.001620002004568

Number of keypoints:
Image1: 21
Image2: 21

 R_estimated:
[[ 0.38299765  0.92357591 -0.01789817]
 [ 0.9206542  -0.38005795  0.08917284]
 [ 0.07555554 -0.05063101 -0.99585534]]

 t_estimated:
[[-0.99376008]
 [-0.11041779]
 [-0.01577397]]

 R_gt:
[[ 0.85334323 -0.45731859  0.25032821]
 [ 0.44063193  0.88928481  0.12254246]
 [-0.27865232  0.00573133  0.96037505]]

 t_gt:
[ 0.74823779 -0.56506872  0.34761696]

Pose Error in degrees for R and t:
178.32125730936656 46.633820428719595

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999391e-01  1.08230295e-03  2.16809939e-04]
 [-1.08229527e-03  9.99999414e-01 -3.55391305e-05]
 [-2.16848276e-04  3.53044565e-05  9.99999976e-01]]

 t_estimated:
[[0.99997187]
 [0.00740396]
 [0.00119784]]

 R_gt:
[[ 0.98930928 -0.13727384  0.04921721]
 [ 0.1369225   0.99052564  0.01045992]
 [-0.0501871  -0.00361009  0.99873357]]

 t_gt:
[ 0.65587568 -0.72337734  0.21575985]

Pose Error in degrees for R and t:
8.449487904674244 49.401085785854455

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.96847206e-01  7.93450038e-02  1.32949857e-04]
 [-7.93450007e-02  9.96847215e-01 -2.83384520e-05]
 [-1.34779209e-04  1.77002002e-05  9.99999991e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.95549454 -0.29018792  0.05312004]
 [ 0.28858397  0.95678182  0.03587518]
 [-0.06123523 -0.01894912  0.99794362]]

 t_gt:
[ 0.75270177 -0.63759593  0.16404718]

Pose Error in degrees for R and t:
21.69867306126003 50.74905110167003

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.62906597 -0.77735064 -0.0014122 ]
 [ 0.77732575 -0.62905866  0.00706279]
 [-0.00637862  0.00334523  0.99997406]]

 t_estimated:
[[ 0.97809458]
 [-0.20814667]
 [ 0.0024396 ]]

 R_gt:
[[ 0.91139053 -0.41093875  0.02227563]
 [ 0.40773603  0.90898256  0.08660468]
 [-0.05583817 -0.06984877  0.99599433]]

 t_gt:
[ 0.79689165 -0.57573768  0.18300225]

Pose Error in degrees for R and t:
104.8349129682022 25.878746981923776

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.94649816e-01 -1.03303831e-01 -2.47069636e-04]
 [ 1.03303946e-01  9.94649704e-01  5.10202066e-04]
 [ 1.93041912e-04 -5.32995660e-04  9.99999839e-01]]

 t_estimated:
[[-8.24934484e-01]
 [-5.65227944e-01]
 [-6.84761695e-04]]

 R_gt:
[[ 0.99896968  0.04486148 -0.00681122]
 [-0.04475614  0.99888709  0.01486898]
 [ 0.00747042 -0.01454873  0.99986647]]

 t_gt:
[-0.98041577  0.09366525  0.17323896]

Pose Error in degrees for R and t:
8.545820287272038 40.91185891112923

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 5.42750936e-01 -8.39893696e-01  4.39563964e-05]
 [ 8.39890923e-01  5.42749277e-01  2.54146596e-03]
 [-2.15841854e-03 -1.34246445e-03  9.99996770e-01]]

 t_estimated:
[[ 0.53651804]
 [-0.84388477]
 [ 0.00262268]]

 R_gt:
[[ 0.99888083  0.01383481  0.04522501]
 [-0.01414881  0.999878    0.00664411]
 [-0.04512806 -0.00727664  0.9989549 ]]

 t_gt:
[-0.94173962 -0.08943323  0.32423477]

Pose Error in degrees for R and t:
57.98099525539198 64.59978062472499

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.91479292  0.40388226 -0.00574796]
 [-0.40389628 -0.91480359  0.00148029]
 [-0.0046604   0.00367574  0.99998238]]

 t_estimated:
[[0.6022663 ]
 [0.79829481]
 [0.00083416]]

 R_gt:
[[ 0.99520898  0.07813384  0.05876915]
 [-0.07728553  0.99687074 -0.01657263]
 [-0.05988033  0.01195105  0.9981345 ]]

 t_gt:
[-0.97470582  0.22253876  0.0206169 ]

Pose Error in degrees for R and t:
151.73304503442344 65.83512803644851

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 9.97440896e-01 -7.14941534e-02  4.95110258e-04]
 [ 7.14946336e-02  9.97440451e-01 -1.03161067e-03]
 [-4.20088868e-04  1.06436840e-03  9.99999345e-01]]

 t_estimated:
[[-0.82060504]
 [-0.5714928 ]
 [-0.00183171]]

 R_gt:
[[ 0.99667512 -0.05908116  0.05609809]
 [ 0.05956899  0.99819816 -0.00705991]
 [-0.05558046  0.01037762  0.99839981]]

 t_gt:
[ 0.0486922  -0.71215742  0.70032912]

Pose Error in degrees for R and t:
3.28225941830465 68.54607101124465

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.92288985e-01  1.23945302e-01  3.62832508e-04]
 [-1.23945216e-01  9.92289031e-01 -2.50203817e-04]
 [-3.91046306e-04  2.03303138e-04  9.99999903e-01]]

 t_estimated:
[[0.55313584]
 [0.83309031]
 [0.00112885]]

 R_gt:
[[ 0.98660237 -0.1523094   0.0584656 ]
 [ 0.15225689  0.98832561  0.00538265]
 [-0.05860448  0.00359177  0.99827526]]

 t_gt:
[ 0.44348777 -0.81678744  0.36902151]

Pose Error in degrees for R and t:
16.232714965467398 64.23174862388922

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-8.42929696e-01 -5.38023105e-01  8.16285114e-04]
 [-5.38023450e-01  8.42929828e-01 -2.68403676e-04]
 [-5.43663692e-04 -6.65425962e-04 -9.99999631e-01]]

 t_estimated:
[[0.97214017]
 [0.23439547]
 [0.00150254]]

 R_gt:
[[ 0.95648937 -0.28680013  0.05359996]
 [ 0.28531483  0.95783972  0.03373364]
 [-0.06101627 -0.01697325  0.99799208]]

 t_gt:
[ 0.62267963 -0.73946879  0.2558437 ]

Pose Error in degrees for R and t:
176.36444862355654 64.38078550414484

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.82554572e-01  1.85974272e-01  2.88813526e-04]
 [-1.85974286e-01  9.82554612e-01  2.20847854e-05]
 [-2.79667860e-04 -7.54113961e-05  9.99999958e-01]]

 t_estimated:
[[-0.09689894]
 [ 0.99529327]
 [ 0.00138023]]

 R_gt:
[[ 0.99953395 -0.01587956 -0.02608247]
 [ 0.01568585  0.99984824 -0.00764624]
 [ 0.0262002   0.00723301  0.99963058]]

 t_gt:
[-0.25010255 -0.72355088 -0.64336835]

Pose Error in degrees for R and t:
11.728060009491358 45.829280071309526

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-0.94896572 -0.31536511  0.00298603]
 [-0.31535862  0.94896941  0.00245073]
 [-0.00360653  0.00138399 -0.99999254]]

 t_estimated:
[[0.99394362]
 [0.10985946]
 [0.0026428 ]]

 R_gt:
[[ 0.99363525 -0.10272676 -0.04621215]
 [ 0.10366846  0.99444149  0.01844878]
 [ 0.04406035 -0.02312322  0.9987614 ]]

 t_gt:
[ 0.27151959 -0.9420874  -0.19684625]

Pose Error in degrees for R and t:
177.82956132546306 80.45293465293996

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-8.75539354e-01  4.82897806e-01 -1.55096011e-02]
 [ 4.82837896e-01  8.75676356e-01  7.64757835e-03]
 [ 1.72743898e-02 -7.92867373e-04 -9.99850472e-01]]

 t_estimated:
[[0.93506152]
 [0.35448029]
 [0.00191611]]

 R_gt:
[[ 0.98043689 -0.17322066 -0.09347445]
 [ 0.1769623   0.98365529  0.03328237]
 [ 0.08618122 -0.04917368  0.99506521]]

 t_gt:
[ 0.37240156 -0.90214705 -0.2178251 ]

Pose Error in degrees for R and t:
173.4475441922157 88.39507034241659

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[ 9.99854805e-01 -1.70368656e-02 -3.37932061e-04]
 [ 1.70369658e-02  9.99854817e-01  2.95871622e-04]
 [ 3.32842274e-04 -3.01586000e-04  9.99999899e-01]]

 t_estimated:
[[-0.8798609 ]
 [-0.47522819]
 [-0.00172184]]

 R_gt:
[[ 0.99907014  0.01393831  0.04079822]
 [-0.0142069   0.99987901  0.00629145]
 [-0.04070618 -0.00686479  0.99914837]]

 t_gt:
[-0.73724003  0.26304389  0.6223223 ]

Pose Error in degrees for R and t:
2.975148116208121 58.493770512565774

Number of keypoints:
Image1: 333
Image2: 333

 R_estimated:
[[ 1.38983941e-02 -9.99903366e-01 -3.06012737e-04]
 [-9.99902953e-01 -1.38980938e-02 -9.62586343e-04]
 [ 9.58240331e-04  3.19361444e-04 -9.99999490e-01]]

 t_estimated:
[[0.64511538]
 [0.76408471]
 [0.00083781]]

 R_gt:
[[ 0.99672562 -0.00469172  0.08072169]
 [ 0.00672125  0.99966712 -0.0248901 ]
 [-0.08057881  0.02535082  0.99642637]]

 t_gt:
[-0.70125342  0.44562691  0.55647129]

Pose Error in degrees for R and t:
177.8299093906024 83.60244985820263

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.98281906e-01  5.85927444e-02 -3.56225354e-04]
 [-5.85921123e-02  9.98280753e-01  1.58188603e-03]
 [ 4.48299958e-04 -1.55829620e-03  9.99998685e-01]]

 t_estimated:
[[5.39909690e-01]
 [8.41722874e-01]
 [3.61606527e-04]]

 R_gt:
[[ 0.99506176 -0.00555616  0.09910549]
 [ 0.01200529  0.99783967 -0.06459299]
 [-0.09853337  0.06546393  0.99297813]]

 t_gt:
[-0.68457826  0.63002363  0.3666372 ]

Pose Error in degrees for R and t:
7.874625391536764 80.74507300422337

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99808059e-01  1.95919495e-02  2.26083251e-06]
 [-1.95919481e-02  9.99808021e-01 -2.78540242e-04]
 [-7.71754484e-06  2.78442485e-04  9.99999961e-01]]

 t_estimated:
[[-0.69234589]
 [ 0.72153803]
 [-0.00632779]]

 R_gt:
[[ 9.99993172e-01 -3.84316386e-03  3.51147612e-04]
 [ 3.84032267e-03  9.99981032e-01  5.00353814e-03]
 [-3.69563170e-04 -5.00161699e-03  9.99986677e-01]]

 t_gt:
[ 0.94403428 -0.31454489  0.09930155]

Pose Error in degrees for R and t:
1.375597406071704 28.21463626168955

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-9.97924422e-01 -3.85805664e-02 -5.15595639e-02]
 [-3.86014004e-02  9.99254513e-01 -5.92030446e-04]
 [ 5.15439678e-02  1.39946973e-03 -9.98669746e-01]]

 t_estimated:
[[ 0.99949464]
 [ 0.01863405]
 [-0.02575352]]

 R_gt:
[[ 9.98482279e-01  5.50582996e-02  1.32889209e-03]
 [-5.50678253e-02  9.98452934e-01  7.79385194e-03]
 [-8.97016431e-04 -7.85413677e-03  9.99967983e-01]]

 t_gt:
[0.54313569 0.83493337 0.08882505]

Pose Error in degrees for R and t:
177.1165544011749 56.211291452721916

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99492859e-01 -3.18437494e-02 -1.38797677e-05]
 [ 3.18437516e-02  9.99492839e-01  2.02292769e-04]
 [ 7.43096821e-06 -2.02632162e-04  9.99999979e-01]]

 t_estimated:
[[-0.69454663]
 [-0.71944714]
 [-0.0008893 ]]

 R_gt:
[[ 0.99753241  0.06696364  0.02109857]
 [-0.067021    0.99774972  0.00204615]
 [-0.02091377 -0.00345442  0.99977512]]

 t_gt:
[0.61078841 0.74400735 0.27090697]

Pose Error in degrees for R and t:
5.794897985675649 16.31415796677861

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99925718e-01 -1.21784427e-02 -4.93777719e-04]
 [ 1.21788770e-02  9.99925442e-01  8.86259351e-04]
 [ 4.82947645e-04 -8.92207176e-04  9.99999485e-01]]

 t_estimated:
[[-8.13519705e-01]
 [-5.81537007e-01]
 [-6.32105443e-04]]

 R_gt:
[[ 0.99775023  0.06561667 -0.01375822]
 [-0.06582055  0.99772052 -0.01490609]
 [ 0.01274818  0.01577821  0.9997941 ]]

 t_gt:
[-0.38423994  0.89209878 -0.23773818]

Pose Error in degrees for R and t:
4.620315181250883 78.1089453128367

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-6.92147600e-01  7.21755892e-01 -3.62843452e-04]
 [ 7.21752986e-01  6.92146087e-01  2.53382664e-03]
 [ 2.07994498e-03  1.49189868e-03 -9.99996724e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99429283  0.10657583  0.00480217]
 [-0.10634873  0.99373012 -0.03451266]
 [-0.00844934  0.03380499  0.99939258]]

 t_gt:
[-0.41095441  0.90736523 -0.0883448 ]

Pose Error in degrees for R and t:
178.96295606573932 25.218142021716798

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-2.92287469e-01 -9.56330497e-01  1.29080003e-04]
 [-9.56328500e-01  2.92287130e-01  2.00832960e-03]
 [-1.95835527e-03  4.63566692e-04 -9.99997975e-01]]

 t_estimated:
[[0.83857812]
 [0.54477909]
 [0.00157562]]

 R_gt:
[[ 0.99884355  0.0476516  -0.00643073]
 [-0.04786422  0.99811861 -0.03833207]
 [ 0.00459289  0.03859565  0.99924402]]

 t_gt:
[-0.40220995  0.86424019 -0.30218546]

Pose Error in degrees for R and t:
178.505758060294 82.35358084678414

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.96227455 -0.26269808 -0.07083361]
 [ 0.24739533 -0.95315248  0.1740572 ]
 [-0.11323972  0.14996691  0.98218465]]

 t_estimated:
[[0.83912216]
 [0.54394211]
 [0.00099365]]

 R_gt:
[[ 0.99508516 -0.09383541 -0.03162837]
 [ 0.09425618  0.99547431  0.0120608 ]
 [ 0.03035372 -0.01498226  0.99942773]]

 t_gt:
[ 0.82053326 -0.56349809 -0.09589094]

Pose Error in degrees for R and t:
159.89569895711466 67.54721250277525

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999052e-01  1.31756457e-03  3.99184336e-04]
 [-1.31750481e-03  9.99999121e-01 -1.49936776e-04]
 [-3.99381536e-04  1.49410706e-04  9.99999909e-01]]

 t_estimated:
[[-0.99314058]
 [-0.11684007]
 [-0.00449385]]

 R_gt:
[[ 0.98712867 -0.14463345 -0.06825093]
 [ 0.14505396  0.98942222  0.0012295 ]
 [ 0.06735087 -0.01111378  0.99766765]]

 t_gt:
[ 0.85068312 -0.49033617 -0.18949586]

Pose Error in degrees for R and t:
9.288017456521654 38.121312837164346

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.9999891  -0.00430269  0.00181397]
 [ 0.00430554  0.9999895  -0.00157076]
 [-0.0018072   0.00157855  0.99999712]]

 t_estimated:
[[-0.01443037]
 [ 0.99985915]
 [ 0.00857018]]

 R_gt:
[[ 0.97772828 -0.17552683 -0.11505541]
 [ 0.1771473   0.98417666  0.00393179]
 [ 0.11254528 -0.02422615  0.99335131]]

 t_gt:
[ 0.87196336 -0.43627253 -0.22214002]

Pose Error in degrees for R and t:
12.000189198304971 63.211549086190075

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.97141916 -0.23735939 -0.00230823]
 [ 0.2373655  -0.97141615 -0.00287728]
 [-0.0015593  -0.00334294  0.9999932 ]]

 t_estimated:
[[0.84697528]
 [0.53162971]
 [0.00165102]]

 R_gt:
[[ 0.98389713  0.17726979 -0.02286466]
 [-0.17647765  0.98375183  0.03299612]
 [ 0.02834319 -0.0284284   0.99919414]]

 t_gt:
[-0.37474129  0.92556592 -0.05382093]

Pose Error in degrees for R and t:
176.45787220022828 79.94619747552568

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.97944782  0.03494909 -0.19864676]
 [ 0.02426249  0.95730699  0.28805323]
 [ 0.20023313 -0.28695277  0.93678429]]

 t_estimated:
[[0.63691274]
 [0.77093492]
 [0.00122956]]

 R_gt:
[[ 0.95440186  0.2977452  -0.02157279]
 [-0.29621769  0.95351438  0.05537611]
 [ 0.03705746 -0.0464605   0.99823233]]

 t_gt:
[-0.33837594  0.9403918  -0.03413181]

Pose Error in degrees for R and t:
24.01141354244504 59.37459880062285

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.98416819 -0.1772101  -0.00309137]
 [ 0.17722187  0.9841625   0.00407302]
 [ 0.00232063 -0.00455639  0.99998693]]

 t_estimated:
[[0.68397678]
 [0.72950297]
 [0.00108396]]

 R_gt:
[[ 0.91621085  0.40041871 -0.01492621]
 [-0.40028479  0.9163222   0.01122709]
 [ 0.0181731  -0.00431057  0.99982508]]

 t_gt:
[-0.2763889   0.95998321 -0.04518195]

Pose Error in degrees for R and t:
33.81983164201717 59.25500304478772

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.0877218   0.99594763  0.01982925]
 [ 0.9959736  -0.08732006 -0.02029268]
 [-0.01847896  0.02152952 -0.99959742]]

 t_estimated:
[[ 0.64376159]
 [-0.76507834]
 [ 0.01503818]]

 R_gt:
[[ 0.98693458 -0.15865434 -0.02808312]
 [ 0.15879382  0.98730729  0.00278563]
 [ 0.02728402 -0.00720769  0.99960068]]

 t_gt:
[ 0.74443375 -0.65654081 -0.12154244]

Pose Error in degrees for R and t:
179.6563868031773 11.560046509953365

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-4.22486652e-01 -9.06368789e-01  8.04819503e-04]
 [-9.06364986e-01  4.22487236e-01  2.65471882e-03]
 [-2.74618025e-03  3.92123048e-04 -9.99996152e-01]]

 t_estimated:
[[0.93526893]
 [0.35392836]
 [0.00259737]]

 R_gt:
[[ 0.93461488 -0.35063461 -0.0595766 ]
 [ 0.35095918  0.93637546 -0.0052718 ]
 [ 0.05763375 -0.01598074  0.99820949]]

 t_gt:
[ 0.80578124 -0.58349186 -0.10126131]

Pose Error in degrees for R and t:
177.42504305249543 56.84917705961524

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.99607305 -0.08848873 -0.00286685]
 [ 0.0884828  -0.99607542  0.00213432]
 [-0.00304446  0.00187227  0.99999361]]

 t_estimated:
[[0.99812928]
 [0.06113041]
 [0.00100214]]

 R_gt:
[[ 0.85051921 -0.52456068 -0.03813028]
 [ 0.52480758  0.85121112 -0.00400089]
 [ 0.034556   -0.01660754  0.9992642 ]]

 t_gt:
[ 0.85205292 -0.52255832 -0.0306368 ]

Pose Error in degrees for R and t:
143.27230197614648 35.066670000364454

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 1.00000000e+00 -8.50778797e-06  1.44319313e-05]
 [ 8.50821163e-06  1.00000000e+00 -2.93563504e-05]
 [-1.44316815e-05  2.93564732e-05  9.99999999e-01]]

 t_estimated:
[[-9.85115836e-01]
 [-1.71890092e-01]
 [-7.65767848e-04]]

 R_gt:
[[ 0.99477432 -0.10114597  0.01390562]
 [ 0.10097246  0.99480821  0.0126802 ]
 [-0.0151156  -0.0112099   0.99982286]]

 t_gt:
[ 0.04751166 -0.95511063  0.29241464]

Pose Error in degrees for R and t:
5.899668385160674 83.27260217492473

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 6.50741375e-02  9.97880198e-01  6.82992911e-04]
 [-9.97877548e-01  6.50755798e-02 -2.35989016e-03]
 [-2.39933382e-03 -5.27975475e-04  9.99996982e-01]]

 t_estimated:
[[0.07851145]
 [0.9969117 ]
 [0.00173743]]

 R_gt:
[[ 0.97164724 -0.23570623  0.01857632]
 [ 0.23616234  0.97130473 -0.02816646]
 [-0.0114041   0.03175547  0.99943061]]

 t_gt:
[ 0.36132483 -0.92269336 -0.13446681]

Pose Error in degrees for R and t:
99.93067595444673 26.91117129203863

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-9.88867361e-01 -1.48799453e-01  2.54265505e-04]
 [-1.48798279e-01  9.88864064e-01  2.63356836e-03]
 [-6.43307552e-04  2.56641553e-03 -9.99996500e-01]]

 t_estimated:
[[0.99995429]
 [0.00950326]
 [0.00105592]]

 R_gt:
[[ 0.93738678 -0.34826305  0.0042904 ]
 [ 0.3482094   0.93683413 -0.03303189]
 [ 0.00748476  0.03245831  0.99944518]]

 t_gt:
[ 0.42715051 -0.89111607 -0.1531489 ]

Pose Error in degrees for R and t:
179.82147068696403 65.26002950803854

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.21088177e-01  3.89354027e-01  1.11638652e-04]
 [-3.89353531e-01  9.21087393e-01 -1.35723316e-03]
 [-6.31273151e-04  1.20666451e-03  9.99999073e-01]]

 t_estimated:
[[0.73456327]
 [0.67853973]
 [0.0007949 ]]

 R_gt:
[[ 0.97696262 -0.20332132 -0.06483895]
 [ 0.20296788  0.97911081 -0.01207267]
 [ 0.06593898 -0.00136473  0.99782268]]

 t_gt:
[ 0.75150651 -0.61490916 -0.2390077 ]

Pose Error in degrees for R and t:
34.84944746029784 82.26457896201863

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.84981399e-01  1.72540670e-01  6.43123470e-03]
 [ 1.72658135e-01 -9.84478857e-01 -3.14729692e-02]
 [ 9.01047395e-04  3.21106942e-02 -9.99483913e-01]]

 t_estimated:
[[8.09803416e-01]
 [5.86700949e-01]
 [6.50444511e-04]]

 R_gt:
[[ 9.29508938e-01 -3.64728532e-01 -5.46455416e-02]
 [ 3.65276886e-01  9.30899227e-01  2.96886360e-05]
 [ 5.08589039e-02 -1.99878633e-02  9.98505419e-01]]

 t_gt:
[ 0.80521961 -0.58862924 -0.07167293]

Pose Error in degrees for R and t:
179.01181468119245 72.14111764708434

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-6.25181406e-01 -7.80476655e-01 -2.09767478e-03]
 [ 7.80479442e-01 -6.25178355e-01 -1.96589318e-03]
 [ 2.22912865e-04 -2.86623190e-03  9.99995868e-01]]

 t_estimated:
[[9.98120678e-01]
 [6.12725327e-02]
 [8.88007721e-04]]

 R_gt:
[[ 0.84710679 -0.53051261 -0.03107882]
 [ 0.53081587  0.8474863   0.00176948]
 [ 0.02539981 -0.01799625  0.99951522]]

 t_gt:
[ 0.8493111  -0.52783951 -0.00749121]

Pose Error in degrees for R and t:
96.6454977042559 35.37640782970479

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999648e-01  8.38395305e-04  1.30698919e-05]
 [-8.38400758e-04  9.99999559e-01  4.22961086e-04]
 [-1.27152776e-05 -4.22971895e-04  9.99999910e-01]]

 t_estimated:
[[0.98969419]
 [0.14316331]
 [0.00311225]]

 R_gt:
[[ 0.99051138 -0.13742497  0.0016555 ]
 [ 0.13742047  0.99016352 -0.02634246]
 [ 0.00198162  0.02632028  0.99965196]]

 t_gt:
[ 0.82349521 -0.54681927 -0.1511434 ]

Pose Error in degrees for R and t:
8.094720844993539 42.586752648035315

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.96186831e-01  8.72421578e-02 -7.77543635e-04]
 [-8.72411560e-02  9.96186449e-01  1.24072707e-03]
 [ 8.82822139e-04 -1.16816216e-03  9.99998928e-01]]

 t_estimated:
[[0.14828187]
 [0.98894442]
 [0.00119582]]

 R_gt:
[[ 0.96995745 -0.24230388  0.02174762]
 [ 0.24323252  0.96762377 -0.06740188]
 [-0.00471065  0.07066678  0.99748922]]

 t_gt:
[ 0.85856211 -0.4762367  -0.18992029]

Pose Error in degrees for R and t:
19.512745007445393 69.88597617694197

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.46261324 -0.85990334 -0.21576661]
 [ 0.88655808 -0.44817011 -0.11470973]
 [ 0.00193913 -0.24435587  0.96968368]]

 t_estimated:
[[0.89946577]
 [0.43698742]
 [0.00182078]]

 R_gt:
[[ 0.95309016 -0.29652268  0.06077351]
 [ 0.30155024  0.9475586  -0.10583215]
 [-0.02620454  0.11919448  0.99252547]]

 t_gt:
[ 0.86638933 -0.45046662 -0.21552111]

Pose Error in degrees for R and t:
101.85791460079167 54.40536119050618

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.98615432e-01 -5.25943805e-02 -1.02501324e-03]
 [ 5.25954981e-02  9.98615298e-01  1.09574560e-03]
 [ 9.65963836e-04 -1.14813955e-03  9.99998874e-01]]

 t_estimated:
[[-0.79834492]
 [-0.60219984]
 [-0.00086029]]

 R_gt:
[[ 0.97942253  0.20152163  0.01095634]
 [-0.20157951  0.97946167  0.00451634]
 [-0.00982139 -0.00663131  0.99993012]]

 t_gt:
[-0.34979936  0.93503925  0.05781003]

Pose Error in degrees for R and t:
14.65974353947327 73.50870450639077

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.98826575e-01 -4.84234990e-02 -7.98461354e-04]
 [ 4.84245213e-02  9.98825979e-01  1.31508421e-03]
 [ 7.33842965e-04 -1.35220617e-03  9.99998817e-01]]

 t_estimated:
[[0.74883777]
 [0.66275254]
 [0.00103717]]

 R_gt:
[[ 0.92374684  0.38225022 -0.02401282]
 [-0.38194935  0.92404006  0.0162699 ]
 [ 0.02840717 -0.00585662  0.99957983]]

 t_gt:
[-0.25182769  0.96650586 -0.04948982]

Pose Error in degrees for R and t:
25.293604834193065 63.13275615386549

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.05086542  0.99870191  0.00268388]
 [-0.99868581  0.05088111 -0.006145  ]
 [-0.00627359 -0.00236779  0.99997752]]

 t_estimated:
[[0.67178614]
 [0.74074432]
 [0.00111223]]

 R_gt:
[[ 0.86670942  0.49837885 -0.02080479]
 [-0.49673257  0.86614964  0.0551557 ]
 [ 0.04550801 -0.03746892  0.99826101]]

 t_gt:
[-0.20858062  0.97721034 -0.03942171]

Pose Error in degrees for R and t:
57.329468174214014 54.28896585460889

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[-9.17551159e-01  3.97607732e-01  2.82162033e-03]
 [-3.97617694e-01 -9.17531470e-01 -6.01415662e-03]
 [ 1.97650276e-04 -6.64022255e-03  9.99977934e-01]]

 t_estimated:
[[0.56017712]
 [0.82837003]
 [0.00216285]]

 R_gt:
[[ 0.99246489 -0.10886599 -0.05623737]
 [ 0.10994477  0.99380146  0.01646121]
 [ 0.05409726 -0.02251963  0.99828196]]

 t_gt:
[ 0.5136577  -0.82207582 -0.24565649]

Pose Error in degrees for R and t:
162.87418727721885 66.8104044349649

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-0.4069446   0.91342321 -0.00735761]
 [-0.91341874 -0.40698581 -0.00536197]
 [-0.0078922   0.00453856  0.99995856]]

 t_estimated:
[[0.73549122]
 [0.67753131]
 [0.00199862]]

 R_gt:
[[ 0.97677152 -0.19067111 -0.09779508]
 [ 0.1902048   0.98164266 -0.01415551]
 [ 0.09869849 -0.00477425  0.99510606]]

 t_gt:
[ 0.56442374 -0.7414894  -0.36279376]

Pose Error in degrees for R and t:
125.09427303368508 84.95266819613433

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[-5.35532979e-01  8.44514252e-01 -3.26724699e-04]
 [-8.44513957e-01 -5.35533068e-01 -7.13629155e-04]
 [-7.77641873e-04 -1.06248379e-04  9.99999692e-01]]

 t_estimated:
[[9.75986078e-01]
 [2.17831243e-01]
 [8.50903294e-04]]

 R_gt:
[[ 0.93613889 -0.34446596 -0.0706284 ]
 [ 0.34689171  0.93756671  0.02519276]
 [ 0.05754021 -0.04808381  0.99718489]]

 t_gt:
[ 0.66737139 -0.74389683 -0.03511325]

Pose Error in degrees for R and t:
142.66198532871303 60.7073001271783

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999955e-01 -2.34759117e-05  2.99401038e-04]
 [ 2.34764696e-05  1.00000000e+00 -1.85980838e-06]
 [-2.99400995e-04  1.86683718e-06  9.99999955e-01]]

 t_estimated:
[[-7.83283544e-01]
 [-6.21664251e-01]
 [-6.70619472e-04]]

 R_gt:
[[ 0.99156476  0.12930236 -0.00896413]
 [-0.12935426  0.99158306 -0.00552048]
 [ 0.00817543  0.00663254  0.99994379]]

 t_gt:
[-0.40887103  0.90688052 -0.10194215]

Pose Error in degrees for R and t:
7.458047273070092 75.91004985905339

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99824533e-01  1.87316889e-02  1.65137377e-04]
 [-1.87316255e-02  9.99824476e-01 -3.77764878e-04]
 [-1.72184565e-04  3.74605301e-04  9.99999915e-01]]

 t_estimated:
[[0.05349462]
 [0.99856617]
 [0.00198128]]

 R_gt:
[[ 0.9662616   0.25714955 -0.01458629]
 [-0.25754317  0.96533997 -0.04231529]
 [ 0.00320007  0.0446452   0.99899712]]

 t_gt:
[-0.32790779  0.93783254 -0.11378313]

Pose Error in degrees for R and t:
14.078065691676917 23.2601718594726

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.38560137e-01  3.45115334e-01  5.24410239e-04]
 [-3.45115052e-01  9.38560221e-01 -5.59602764e-04]
 [-6.85318084e-04  3.44238980e-04  9.99999706e-01]]

 t_estimated:
[[0.6216871 ]
 [0.78326419]
 [0.00153883]]

 R_gt:
[[ 0.92456842  0.37989069 -0.02926478]
 [-0.3808811   0.91945986 -0.09758435]
 [-0.01016273  0.1013691   0.99479655]]

 t_gt:
[-0.25593064  0.95917009 -0.12038372]

Pose Error in degrees for R and t:
6.236797416925606 53.70167952446657

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.93018477e-01  1.17958895e-01 -6.13498511e-05]
 [-1.17958890e-01  9.93018477e-01  7.24627185e-05]
 [ 6.94691578e-05 -6.47200580e-05  9.99999995e-01]]

 t_estimated:
[[-0.70144159]
 [-0.71272583]
 [-0.00125904]]

 R_gt:
[[ 0.99705787 -0.0223796   0.07330673]
 [ 0.0282018   0.99644629 -0.0793734 ]
 [-0.07126986  0.08120794  0.99414528]]

 t_gt:
[ 0.09809414  0.14194219 -0.98500251]

Pose Error in degrees for R and t:
10.30405646998438 80.28583785145656

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 7.43235526e-01  6.69029786e-01  3.12770224e-04]
 [-6.69029139e-01  7.43235331e-01 -1.11972802e-03]
 [-9.81593280e-04  6.22969252e-04  9.99999324e-01]]

 t_estimated:
[[-9.99339434e-01]
 [-3.63306104e-02]
 [-8.84264412e-04]]

 R_gt:
[[ 0.98883381 -0.06905135  0.13205393]
 [ 0.08616054  0.98794853 -0.12858175]
 [-0.12158376  0.1385239   0.98286763]]

 t_gt:
[ 0.55305474 -0.30710238 -0.77447955]

Pose Error in degrees for R and t:
47.59897372333093 57.2586594690144

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-3.75645173e-01 -9.26762531e-01 -1.38355931e-03]
 [-9.26758470e-01  3.75647640e-01 -2.75492918e-03]
 [ 3.07289593e-03  2.47349456e-04 -9.99995248e-01]]

 t_estimated:
[[9.20653840e-01]
 [3.90379395e-01]
 [6.58850829e-04]]

 R_gt:
[[ 0.9822916  -0.09872729  0.15923418]
 [ 0.11858004  0.98561762 -0.12040504]
 [-0.14505701  0.13715572  0.97987062]]

 t_gt:
[ 0.73622365 -0.51825835 -0.43518159]

Pose Error in degrees for R and t:
177.0295816834949 61.627430044076824

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999875e-01 -4.89738482e-04  9.64041705e-05]
 [ 4.89736100e-04  9.99999880e-01  2.47300745e-05]
 [-9.64162702e-05 -2.46828589e-05  9.99999995e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99049552 -0.13264117  0.03639521]
 [ 0.13259908  0.99116342  0.00359036]
 [-0.03655005  0.00126941  0.99933109]]

 t_gt:
[ 0.67842585 -0.71006244  0.18854628]

Pose Error in degrees for R and t:
7.877491118972106 47.43961894023631

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.97673836 -0.21442587 -0.00192776]
 [ 0.21443016  0.97673638  0.00239943]
 [ 0.00136841 -0.00275699  0.99999526]]

 t_estimated:
[[0.99875492]
 [0.04986442]
 [0.0014666 ]]

 R_gt:
[[ 0.95327922 -0.30080977 -0.0277789 ]
 [ 0.30139931  0.95328532  0.02015274]
 [ 0.0204179  -0.02758394  0.99941112]]

 t_gt:
[ 0.78078417 -0.62473709 -0.00892445]

Pose Error in degrees for R and t:
5.450996180198312 41.52670567363827

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.97681850e-01 -6.80508040e-02 -1.15583201e-04]
 [ 6.80508455e-02  9.97681773e-01  4.03492903e-04]
 [ 8.78572367e-05 -4.10423080e-04  9.99999912e-01]]

 t_estimated:
[[9.99991799e-01]
 [3.97137331e-03]
 [7.94274661e-04]]

 R_gt:
[[ 0.87819293 -0.47730832 -0.03089308]
 [ 0.47798923  0.87813082  0.02031078]
 [ 0.01743292 -0.03260388  0.99931668]]

 t_gt:
[ 0.83577359 -0.54901712  0.0079184 ]

Pose Error in degrees for R and t:
24.728232793622517 33.53041875385646

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-6.78065653e-01  7.35001297e-01 -2.51456028e-04]
 [-7.34999117e-01 -6.78064404e-01 -2.22758880e-03]
 [-1.80778404e-03 -1.32563150e-03  9.99997487e-01]]

 t_estimated:
[[0.55588891]
 [0.83125577]
 [0.00117293]]

 R_gt:
[[ 0.99180887 -0.12752972 -0.00715065]
 [ 0.12758223  0.99180014  0.00740997]
 [ 0.00614644 -0.00826175  0.99994652]]

 t_gt:
[ 0.74071514 -0.66978936  0.05218531]

Pose Error in degrees for R and t:
140.02252142102842 81.66563185298037

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.90125891e-01  1.40180891e-01  1.92132041e-04]
 [-1.40180886e-01  9.90125910e-01 -3.78603268e-05]
 [-1.95542206e-04  1.05532502e-05  9.99999981e-01]]

 t_estimated:
[[-0.87049406]
 [-0.49217807]
 [-0.00091824]]

 R_gt:
[[ 0.98325586 -0.18194844 -0.01012815]
 [ 0.18125489  0.98222479 -0.04880127]
 [ 0.01882715  0.04614784  0.99875668]]

 t_gt:
[ 0.76998462 -0.62331221 -0.13640222]

Pose Error in degrees for R and t:
18.745343368385196 68.69323831119469

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-4.25802735e-01 -9.04814269e-01 -1.78014707e-03]
 [ 9.04815922e-01 -4.25802781e-01 -3.71844983e-04]
 [-4.21540925e-04 -1.76903802e-03  9.99998346e-01]]

 t_estimated:
[[0.78051583]
 [0.62513536]
 [0.00090337]]

 R_gt:
[[ 0.9722577  -0.23137674 -0.03433595]
 [ 0.2230976   0.9613837  -0.16114606]
 [ 0.07029507  0.14901525  0.98633273]]

 t_gt:
[ 0.75810362 -0.47908633 -0.4424423 ]

Pose Error in degrees for R and t:
102.29750570234569 73.03314875310143

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999977e-01  2.09793444e-05  2.13666236e-04]
 [-2.09182689e-05  9.99999959e-01 -2.85843803e-04]
 [-2.13672224e-04  2.85839327e-04  9.99999936e-01]]

 t_estimated:
[[-0.56749738]
 [-0.82337379]
 [-0.00152466]]

 R_gt:
[[ 0.9832475  -0.18065954 -0.02425776]
 [ 0.18109057  0.98331979  0.01698918]
 [ 0.02078378 -0.02109691  0.99956125]]

 t_gt:
[ 0.57851633 -0.81566887  0.00177556]

Pose Error in degrees for R and t:
10.564179480926633 69.92248294252418

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.99998071 -0.00109955 -0.00611339]
 [ 0.00115913  0.99995178  0.00975122]
 [ 0.00610238 -0.00975812  0.99993377]]

 t_estimated:
[[0.66227112]
 [0.74924568]
 [0.00527891]]

 R_gt:
[[ 0.95727348 -0.28865576  0.01751387]
 [ 0.28873615  0.95740622 -0.00226874]
 [-0.01611297  0.00722855  0.99984419]]

 t_gt:
[ 0.51310417 -0.85608948  0.06192665]

Pose Error in degrees for R and t:
16.789286508360764 72.46547880864499

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99977982e-01  6.62709498e-03  3.41765457e-04]
 [-6.62691600e-03  9.99977905e-01 -5.22198855e-04]
 [-3.45218567e-04  5.19922506e-04  9.99999805e-01]]

 t_estimated:
[[9.58398431e-01]
 [2.85432814e-01]
 [7.45255390e-04]]

 R_gt:
[[ 0.92305988 -0.38427183  0.01721188]
 [ 0.38377867  0.92305091  0.0262691 ]
 [-0.02598176 -0.01764288  0.99950672]]

 t_gt:
[ 0.51473438 -0.8505121   0.10806336]

Pose Error in degrees for R and t:
23.03890276732691 75.4847846792138

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-6.33806844e-02  9.97989102e-01 -8.00769939e-04]
 [ 9.97981561e-01  6.33833497e-02  3.91862218e-03]
 [ 3.96149771e-03 -5.50788677e-04 -9.99992002e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99487257 -0.09910377  0.02015378]
 [ 0.09988902  0.99408709 -0.04258661]
 [-0.01581287  0.04438204  0.99888987]]

 t_gt:
[ 0.8105494  -0.55076916 -0.19915571]

Pose Error in degrees for R and t:
177.71965657552124 71.32028782675702

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999057e-01  1.37298038e-03  3.26344651e-05]
 [-1.37299273e-03  9.99998985e-01  3.81491315e-04]
 [-3.21106519e-05 -3.81535762e-04  9.99999927e-01]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.98740589 -0.13818238  0.0770353 ]
 [ 0.14476824  0.98557227 -0.08769372]
 [-0.06380524  0.09774122  0.99316502]]

 t_gt:
[ 0.82519282 -0.53182467 -0.19031377]

Pose Error in degrees for R and t:
10.628646449781254 35.339623738494566

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.99473530e-01 -3.24440036e-02  2.24528654e-04]
 [ 3.24427577e-02  9.99464560e-01  4.24989490e-03]
 [-3.62292038e-04 -4.24037312e-03  9.99990944e-01]]

 t_estimated:
[[0.00728388]
 [0.99997293]
 [0.00104055]]

 R_gt:
[[ 0.9833279  -0.12843048  0.12872695]
 [ 0.14901535  0.97485363 -0.16569783]
 [-0.10420902  0.18211798  0.97773936]]

 t_gt:
[ 0.7781058  -0.42642495 -0.46120834]

Pose Error in degrees for R and t:
13.776526300288932 65.08800542867179

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999732e-01 -7.25228572e-04 -1.01394375e-04]
 [ 7.25219300e-04  9.99999733e-01 -9.14569109e-05]
 [ 1.01460675e-04  9.13833532e-05  9.99999991e-01]]

 t_estimated:
[[-9.81687898e-01]
 [-1.90494232e-01]
 [-9.04616987e-04]]

 R_gt:
[[ 9.91183209e-01  1.30037373e-01 -2.54296658e-02]
 [-1.29971699e-01  9.91508375e-01  4.23049152e-03]
 [ 2.57632545e-02 -8.88836319e-04  9.99667294e-01]]

 t_gt:
[-0.65231544  0.74038809 -0.16220372]

Pose Error in degrees for R and t:
7.655377666315638 60.034579260869045

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-9.99171910e-01  3.88278288e-02 -1.21611490e-02]
 [ 3.88232142e-02  9.99245905e-01  6.15384351e-04]
 [ 1.21758724e-02  1.42739866e-04 -9.99925861e-01]]

 t_estimated:
[[ 0.99853228]
 [-0.05384278]
 [-0.00585215]]

 R_gt:
[[ 0.97314254  0.22662003 -0.04044506]
 [-0.22512339  0.97357242  0.03841249]
 [ 0.04808138 -0.02827647  0.998443  ]]

 t_gt:
[-0.65231174  0.75333952 -0.08348024]

Pose Error in degrees for R and t:
176.7138326121653 46.25677100534972

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.89840810e-01 -1.42178258e-01 -7.17289939e-04]
 [ 1.42178354e-01  9.89841052e-01  8.38988842e-05]
 [ 6.98074431e-04 -1.85029642e-04  9.99999739e-01]]

 t_estimated:
[[-0.85241289]
 [-0.52286692]
 [-0.00156499]]

 R_gt:
[[ 0.92317724  0.38057833 -0.05389054]
 [-0.37931481  0.92469942  0.03239459]
 [ 0.06216104 -0.00946462  0.99802091]]

 t_gt:
[-0.57085752  0.8132953  -0.11257195]

Pose Error in degrees for R and t:
30.729936360647482 86.47194530262078

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.98246758e-01 -5.91877019e-02  4.74550238e-04]
 [ 5.91875920e-02  9.98246848e-01  2.42332954e-04]
 [-4.88061410e-04 -2.13820600e-04  9.99999858e-01]]

 t_estimated:
[[8.06552520e-01]
 [5.91161934e-01]
 [7.74786283e-04]]

 R_gt:
[[ 0.99233002 -0.12354578 -0.00422819]
 [ 0.12347381  0.99224196 -0.01451718]
 [ 0.0059883   0.0138842   0.99988497]]

 t_gt:
[ 0.98006006 -0.1576332  -0.12097132]

Pose Error in degrees for R and t:
3.8070750501451376 45.7980555683066

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-8.53277053e-01 -5.21457376e-01  6.89741602e-04]
 [-5.21457288e-01  8.53277327e-01  3.15155402e-04]
 [-7.52880979e-04 -9.07559130e-05 -9.99999712e-01]]

 t_estimated:
[[0.98812951]
 [0.15361779]
 [0.00128435]]

 R_gt:
[[ 0.95547038 -0.29489741 -0.01058017]
 [ 0.29443089  0.95512128 -0.03246339]
 [ 0.01967743  0.02790262  0.99941612]]

 t_gt:
[ 0.98972941 -0.09607072 -0.10585892]

Pose Error in degrees for R and t:
178.72526911879376 15.616155449360974

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.99084992  0.13496412  0.00105561]
 [-0.13496278  0.99084988 -0.0012535 ]
 [-0.00121513  0.00109956  0.99999866]]

 t_estimated:
[[-0.58496838]
 [ 0.81104875]
 [ 0.00345316]]

 R_gt:
[[ 0.9452163  -0.32554166 -0.02429432]
 [ 0.32461099  0.94517485 -0.03568534]
 [ 0.03457881  0.02584405  0.99906782]]

 t_gt:
[ 0.99037859 -0.08805547 -0.10675432]

Pose Error in degrees for R and t:
26.847781668756046 49.37344282428499

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99325482e-01  3.67230443e-02  4.39973660e-06]
 [-3.67230446e-02  9.99325470e-01  1.50006914e-04]
 [ 1.11194171e-06 -1.50067304e-04  9.99999989e-01]]

 t_estimated:
[[0.63353808]
 [0.77371089]
 [0.00097935]]

 R_gt:
[[ 0.99683711 -0.02305479  0.07605895]
 [ 0.0282838   0.99725625 -0.06839866]
 [-0.07427317  0.07033354  0.99475449]]

 t_gt:
[ 8.91131524e-01 -4.53744463e-01 -7.54770661e-04]

Pose Error in degrees for R and t:
6.880366095105267 77.67257808325671

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 8.67445144e-01  4.97532697e-01  3.70061750e-04]
 [-4.97531216e-01  8.67443980e-01 -1.90546224e-03]
 [-1.26903761e-03  1.46876670e-03  9.99998116e-01]]

 t_estimated:
[[0.02400525]
 [0.99971132]
 [0.00100796]]

 R_gt:
[[ 0.9934421   0.00311807  0.11429594]
 [ 0.01471068  0.98783336 -0.15481649]
 [-0.11338807  0.15548248  0.98130863]]

 t_gt:
[-0.34796678  0.55276736 -0.75721025]

Pose Error in degrees for R and t:
32.06486357999322 57.07836024782452

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.01510145  0.99988497 -0.00141164]
 [-0.99988407 -0.01510416 -0.00192593]
 [-0.00194703  0.0013824   0.99999715]]

 t_estimated:
[[0.01013461]
 [0.99994801]
 [0.00112607]]

 R_gt:
[[ 0.98412693  0.05324894  0.16929237]
 [-0.01673374  0.97751634 -0.21019204]
 [-0.17667882  0.20402295  0.96289049]]

 t_gt:
[-0.68689624  0.68328401 -0.24758132]

Pose Error in degrees for R and t:
89.88460838620094 47.46750267453022

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.97885413e-01  6.49976978e-02 -3.07732495e-05]
 [-6.49976988e-02  9.97885413e-01 -3.50764075e-05]
 [ 2.84282911e-05  3.70024258e-05  9.99999999e-01]]

 t_estimated:
[[-9.04987317e-01]
 [-4.25438359e-01]
 [-3.98353075e-04]]

 R_gt:
[[ 0.99538477  0.09217495  0.02667453]
 [-0.0899507   0.99310868 -0.07512818]
 [-0.03341522  0.07238248  0.99681693]]

 t_gt:
[-0.78783273  0.33821605 -0.51471303]

Pose Error in degrees for R and t:
4.813293635895906 55.29902023206059

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99756898e-01  2.20485896e-02 -7.25979161e-05]
 [-2.20486085e-02  9.99756863e-01 -2.71395342e-04]
 [ 6.65963803e-05  2.72930049e-04  9.99999961e-01]]

 t_estimated:
[[-0.31981656]
 [-0.94747794]
 [-0.00171025]]

 R_gt:
[[ 0.99974324  0.00812443  0.02114007]
 [-0.00625102  0.99616993 -0.08721268]
 [-0.02176697  0.0870587   0.99596466]]

 t_gt:
[-0.15350305  0.24246487 -0.95793925]

Pose Error in degrees for R and t:
5.204693657192129 79.68854109314887

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 5.07127387e-01  8.61863941e-01  3.51563616e-03]
 [-8.61870550e-01  5.07118179e-01  3.21062670e-03]
 [ 9.84280374e-04 -4.65822000e-03  9.99988666e-01]]

 t_estimated:
[[0.5600411 ]
 [0.82846317]
 [0.00165693]]

 R_gt:
[[ 0.989804   -0.13905467  0.03084262]
 [ 0.14185539  0.98188555 -0.12560607]
 [-0.01281727  0.12870114  0.99160023]]

 t_gt:
[ 0.73317311 -0.00077796 -0.6800416 ]

Pose Error in degrees for R and t:
68.02315999359232 65.86827850193119

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.83417582e-01  1.81353238e-01  9.28891767e-04]
 [-1.81353299e-01  9.83418009e-01 -1.88650828e-05]
 [-9.16910136e-04 -1.49905332e-04  9.99999568e-01]]

 t_estimated:
[[-0.90199241]
 [ 0.43173916]
 [ 0.00331415]]

 R_gt:
[[ 0.99406502 -0.1086333  -0.00588343]
 [ 0.108647    0.99407792  0.00198213]
 [ 0.00563405 -0.0026097   0.99998068]]

 t_gt:
[ 0.30563009 -0.94466015 -0.11919499]

Pose Error in degrees for R and t:
16.69046320067104 46.849439733959436

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-8.86378458e-01 -4.62956165e-01 -2.19519724e-03]
 [-4.62957512e-01  8.86380464e-01  1.21111130e-04]
 [ 1.88971080e-03  1.12363335e-03 -9.99997583e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96005786 -0.27427305 -0.05534697]
 [ 0.27347156  0.96163468 -0.02172639]
 [ 0.05918332  0.00572225  0.99823119]]

 t_gt:
[ 0.61071514 -0.75001196 -0.25398637]

Pose Error in degrees for R and t:
176.47743963342106 52.54129106623703

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999860e-01 -1.38917296e-04  5.11362737e-04]
 [ 1.39266675e-04  9.99999757e-01 -6.83258124e-04]
 [-5.11267696e-04  6.83329244e-04  9.99999636e-01]]

 t_estimated:
[[9.99981828e-01]
 [5.97791078e-03]
 [7.80113941e-04]]

 R_gt:
[[ 0.91768024 -0.39730293  0.00380892]
 [ 0.39725218  0.91729919 -0.02744683]
 [ 0.00741076  0.0267001   0.99961616]]

 t_gt:
[ 0.57987473 -0.81038878 -0.08375753]

Pose Error in degrees for R and t:
23.45538824867856 54.90355984729059

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.92350875e-01  1.23449159e-01  2.12440861e-04]
 [-1.23449184e-01  9.92350889e-01  1.05731365e-04]
 [-1.97763429e-04 -1.31148264e-04  9.99999972e-01]]

 t_estimated:
[[0.06176029]
 [0.9980904 ]
 [0.00110286]]

 R_gt:
[[ 0.99786906 -0.0648356  -0.00736489]
 [ 0.06398813  0.99438746 -0.08425631]
 [ 0.01278704  0.08360643  0.99641594]]

 t_gt:
[ 0.67235461 -0.47783653 -0.56534196]

Pose Error in degrees for R and t:
11.83196799872665 64.14961018967391

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.39186718  0.68438709  0.6148613 ]
 [ 0.56268262  0.35046556 -0.748707  ]
 [-0.72789311  0.63936547 -0.24775677]]

 t_estimated:
[[-0.80581035]
 [-0.59217313]
 [-0.00081231]]

 R_gt:
[[ 0.99487747 -0.08894136 -0.04804354]
 [ 0.07843559  0.97900085 -0.18816046]
 [ 0.06376996  0.18342922  0.98096221]]

 t_gt:
[ 0.5131161  -0.15204868 -0.84474438]

Pose Error in degrees for R and t:
99.92193791729484 71.17075001855191

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.48207820e-01 -3.17650578e-01 -2.01782522e-04]
 [ 3.17650642e-01  9.48207620e-01  6.16490170e-04]
 [-4.49673382e-06 -6.48657148e-04  9.99999790e-01]]

 t_estimated:
[[8.23573964e-01]
 [5.67208528e-01]
 [6.40913591e-04]]

 R_gt:
[[ 0.99205985 -0.0829958  -0.09449369]
 [ 0.06075913  0.97412181 -0.21770475]
 [ 0.11011709  0.21023478  0.97142931]]

 t_gt:
[ 0.4460927  -0.00505041 -0.89497251]

Pose Error in degrees for R and t:
19.848316152742033 68.65689282528416

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.56016362e-01  2.93310860e-01 -1.20662407e-03]
 [-2.93309322e-01  9.56016708e-01  1.30214570e-03]
 [ 1.53548624e-03 -8.90958506e-04  9.99998424e-01]]

 t_estimated:
[[-9.07152915e-01]
 [-4.20800536e-01]
 [-7.04858520e-04]]

 R_gt:
[[ 0.99518552 -0.01810556  0.09632428]
 [ 0.03015501  0.99167989 -0.12514628]
 [-0.09325714  0.1274478   0.98745151]]

 t_gt:
[-0.20128268  0.59865954 -0.77530126]

Pose Error in degrees for R and t:
20.59056604366475 86.05633468002665

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.93125474e-01  1.17054597e-01  1.18651737e-04]
 [-1.17054578e-01  9.93125472e-01 -1.52756985e-04]
 [-1.35716969e-04  1.37818124e-04  9.99999981e-01]]

 t_estimated:
[[ 1.86079211e-01]
 [-9.82534739e-01]
 [-1.20761835e-04]]

 R_gt:
[[ 0.98156603 -0.08329285  0.17201887]
 [ 0.11323198  0.97851152 -0.17232013]
 [-0.15396907  0.18862177  0.96990461]]

 t_gt:
[ 0.37258848  0.06144183 -0.92596043]

Pose Error in degrees for R and t:
18.77344538554279 89.48008771160315

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 5.53679685e-01 -8.32729023e-01 -1.08664799e-03]
 [ 8.32729113e-01  5.53680393e-01 -4.96793923e-04]
 [ 1.01535041e-03 -6.29818716e-04  9.99999286e-01]]

 t_estimated:
[[ 8.49511972e-01]
 [-5.27569294e-01]
 [-2.23272163e-04]]

 R_gt:
[[ 0.97325101 -0.10127831  0.20621725]
 [ 0.14078521  0.97222649 -0.1869619 ]
 [-0.18155416  0.21099339  0.96047892]]

 t_gt:
[ 0.57477102 -0.18253895 -0.79769531]

Pose Error in degrees for R and t:
51.72857292308195 54.214322340345724

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-0.68847283  0.50571164  0.51986623]
 [-0.72495349 -0.50076437 -0.47294553]
 [ 0.02115643 -0.70248899  0.71138009]]

 t_estimated:
[[0.67064667]
 [0.74177586]
 [0.00127016]]

 R_gt:
[[ 0.99461174 -0.09865014 -0.03185772]
 [ 0.09891378  0.99507366  0.00682742]
 [ 0.03102747 -0.00994249  0.99946946]]

 t_gt:
[ 0.55421736 -0.82044062 -0.14042904]

Pose Error in degrees for R and t:
143.40813148345293 76.28589060242165

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-9.46157511e-02 -9.95512408e-01 -1.70448604e-03]
 [-9.95513609e-01  9.46143560e-02  8.81519477e-04]
 [-7.16294728e-04  1.78024468e-03 -9.99998159e-01]]

 t_estimated:
[[0.83792673]
 [0.54578112]
 [0.00132793]]

 R_gt:
[[ 0.95873192 -0.28421721 -0.00737972]
 [ 0.28426226  0.95775388  0.04363364]
 [-0.00533308 -0.04393156  0.99902035]]

 t_gt:
[ 0.66875148 -0.731149    0.13487994]

Pose Error in degrees for R and t:
178.36016503423195 80.70622901574507

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-9.83607162e-01  1.80317093e-01  1.64205471e-03]
 [-1.80324374e-01 -9.83551932e-01 -1.04267558e-02]
 [-2.65076197e-04 -1.05519341e-02  9.99944292e-01]]

 t_estimated:
[[0.95298433]
 [0.30301748]
 [0.00112646]]

 R_gt:
[[ 0.87210887 -0.48885034 -0.02124131]
 [ 0.48912836  0.86977951  0.06509542]
 [-0.01334638 -0.06716062  0.9976534 ]]

 t_gt:
[ 0.7902573 -0.5999726  0.1246045]

Pose Error in degrees for R and t:
161.08837720089267 55.14922723333169

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-6.53284069e-01  7.57112283e-01 -9.57050399e-04]
 [-7.57109178e-01 -6.53284303e-01 -2.30484190e-03]
 [-2.37025011e-03 -7.81124852e-04  9.99996886e-01]]

 t_estimated:
[[0.52582178]
 [0.85059405]
 [0.00110467]]

 R_gt:
[[ 0.981536   -0.18784351 -0.03607936]
 [ 0.18792783  0.98218238 -0.00107318]
 [ 0.03563745 -0.00572753  0.9993481 ]]

 t_gt:
[ 0.61614296 -0.77518311 -0.1394955 ]

Pose Error in degrees for R and t:
141.63127008678333 70.39469129564569

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99995011e-01  2.86267625e-03 -1.33533222e-03]
 [-2.86134348e-03  9.99995407e-01  9.98926163e-04]
 [ 1.33818569e-03 -9.95100335e-04  9.99998610e-01]]

 t_estimated:
[[-0.20437143]
 [-0.97889273]
 [-0.0011612 ]]

 R_gt:
[[ 0.94107295 -0.33662795 -0.03263647]
 [ 0.33552914  0.94138375 -0.03487861]
 [ 0.04246443  0.02187292  0.99885857]]

 t_gt:
[ 0.64951907 -0.74687489 -0.14248815]

Pose Error in degrees for R and t:
19.99667442301382 53.23511716415049

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.02181935  0.99960235  0.01786239]
 [ 0.9996035   0.02213047 -0.01740912]
 [-0.0177975   0.01747546 -0.99968888]]

 t_estimated:
[[-0.89245246]
 [-0.45108313]
 [-0.00725312]]

 R_gt:
[[ 0.87163743 -0.48633948 -0.06102149]
 [ 0.48598675  0.8737023  -0.02149016]
 [ 0.06376531 -0.01092386  0.9979049 ]]

 t_gt:
[ 0.70919711 -0.69866521 -0.0943736 ]

Pose Error in degrees for R and t:
178.96106005434132 71.51332430465095

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.81105772e-01  1.93472117e-01 -6.32484602e-05]
 [-1.93472127e-01  9.81105705e-01 -3.61704933e-04]
 [-7.92639399e-06  3.67107612e-04  9.99999933e-01]]

 t_estimated:
[[-0.97435185]
 [-0.22502755]
 [-0.00103923]]

 R_gt:
[[ 0.99146686  0.11131334 -0.06784358]
 [-0.10562518  0.9909898   0.08234569]
 [ 0.0763986  -0.07447626  0.99429209]]

 t_gt:
[-0.86528838  0.50115781 -0.01081034]

Pose Error in degrees for R and t:
7.860126889129603 43.08574447024417

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.60909257e-01  2.76863500e-01 -4.94183966e-05]
 [-2.76863495e-01  9.60909162e-01 -4.33351212e-04]
 [-7.24925434e-05  4.30093341e-04  9.99999905e-01]]

 t_estimated:
[[-9.99996820e-01]
 [-2.39999219e-03]
 [-7.74277003e-04]]

 R_gt:
[[ 0.97703313  0.16364953 -0.13647132]
 [-0.14355551  0.97881358  0.14599817]
 [ 0.15747282 -0.1230534   0.97982696]]

 t_gt:
[-0.94491675  0.24389828 -0.21827956]

Pose Error in degrees for R and t:
13.572074968306785 19.17890293120591

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99984950e-01 -5.48241713e-03  2.07245650e-04]
 [ 5.48267234e-03  9.99984187e-01 -1.25157068e-03]
 [-2.00380741e-04  1.25268811e-03  9.99999195e-01]]

 t_estimated:
[[ 9.99999702e-01]
 [-8.14143375e-05]
 [ 7.67905165e-04]]

 R_gt:
[[ 0.95663361  0.20927027 -0.20262726]
 [-0.17026822  0.96612415  0.19393886]
 [ 0.23634871 -0.15102666  0.95985887]]

 t_gt:
[-0.91979307  0.15698846 -0.35963222]

Pose Error in degrees for R and t:
19.949780920039252 23.061965270489964

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.91035208e-01  1.33600477e-01  3.58896040e-04]
 [-1.33600352e-01  9.91035227e-01 -3.53051728e-04]
 [-4.02846498e-04  3.01938055e-04  9.99999873e-01]]

 t_estimated:
[[0.65113263]
 [0.75896351]
 [0.00082947]]

 R_gt:
[[ 0.98345587 -0.17787317 -0.03428822]
 [ 0.17843409  0.98385106  0.01404265]
 [ 0.03123607 -0.01992858  0.99931235]]

 t_gt:
[ 0.73685566 -0.67592422 -0.01304571]

Pose Error in degrees for R and t:
18.071156705985793 88.09617653599308

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 0.9214423   0.38851268  0.00141119]
 [-0.38849684  0.92142793 -0.00638576]
 [-0.00378126  0.00533587  0.99997862]]

 t_estimated:
[[7.87794851e-01]
 [6.15937335e-01]
 [6.87430062e-04]]

 R_gt:
[[ 0.92983116 -0.35331131 -0.1028793 ]
 [ 0.35634546  0.93427548  0.01216257]
 [ 0.09181979 -0.04797008  0.99461889]]

 t_gt:
[ 0.83379602 -0.55099261 -0.03451588]

Pose Error in degrees for R and t:
44.12192563075471 71.49064057375274

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-2.00508132e-01  9.79689241e-01  2.34096419e-03]
 [ 9.79691850e-01  2.00506041e-01  1.09851489e-03]
 [ 6.06825753e-04  2.51368471e-03 -9.99996657e-01]]

 t_estimated:
[[9.62135575e-01]
 [2.72570326e-01]
 [7.43781769e-04]]

 R_gt:
[[ 0.90405101 -0.40777807 -0.12809919]
 [ 0.41658814  0.90768549  0.05060874]
 [ 0.09563604 -0.09911704  0.99046885]]

 t_gt:
[ 0.84146658 -0.5367839   0.06162003]

Pose Error in degrees for R and t:
172.20975605260213 48.44494527732916

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.99999856e-01 -5.31296204e-04 -6.91311555e-05]
 [ 5.31300604e-04  9.99999857e-01  6.36462558e-05]
 [ 6.90973305e-05 -6.36829761e-05  9.99999996e-01]]

 t_estimated:
[[-9.90300919e-01]
 [-1.38939044e-01]
 [-1.79915809e-04]]

 R_gt:
[[ 0.99569486  0.09262219  0.00350105]
 [-0.0926753   0.99547732  0.02087773]
 [-0.0015516  -0.02111243  0.99977634]]

 t_gt:
[-0.76520057  0.61830706  0.17934454]

Pose Error in degrees for R and t:
5.482124134309283 47.7907968532309

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.25584097  0.73388389  0.62925339]
 [-0.83109705 -0.16550376  0.53092956]
 [ 0.49378446 -0.65880417  0.56758609]]

 t_estimated:
[[0.60555669]
 [0.79580171]
 [0.00084931]]

 R_gt:
[[ 0.9672869   0.25322141  0.0153244 ]
 [-0.25355447  0.96695561  0.02656022]
 [-0.00809322 -0.02957703  0.99953055]]

 t_gt:
[-0.71973049  0.6864039   0.1041043 ]

Pose Error in degrees for R and t:
87.40494150598325 83.6563107681222

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 3.23368248e-01  9.46267225e-01  3.36369920e-03]
 [ 9.46273194e-01 -3.23365678e-01 -1.29660934e-03]
 [-1.39234049e-04  3.60226068e-03 -9.99993502e-01]]

 t_estimated:
[[-8.01642509e-01]
 [-5.97803395e-01]
 [-6.23361204e-04]]

 R_gt:
[[ 0.8772249   0.47461505  0.07223168]
 [-0.47432779  0.88006807 -0.02216603]
 [-0.07408954 -0.01481685  0.99714192]]

 t_gt:
[-0.63032358  0.76952619  0.10257497]

Pose Error in degrees for R and t:
177.16656702028135 87.40906935046442

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999976e-01  2.17019224e-04  4.08651331e-05]
 [-2.17019581e-04  9.99999976e-01  8.72795069e-06]
 [-4.08632380e-05 -8.73681902e-06  9.99999999e-01]]

 t_estimated:
[[9.75519947e-01]
 [2.19910945e-01]
 [9.30286234e-05]]

 R_gt:
[[ 0.98480867 -0.15939121 -0.06889556]
 [ 0.16174183  0.98637805  0.02997047]
 [ 0.06318061 -0.04065808  0.99717324]]

 t_gt:
[ 0.79742289 -0.60331699 -0.01119585]

Pose Error in degrees for R and t:
10.217099433893013 49.81746138333966

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.90375148e-01 -1.38409001e-01  1.20050024e-04]
 [ 1.38408926e-01  9.90375041e-01  4.96546169e-04]
 [-1.87621006e-04 -4.75150991e-04  9.99999870e-01]]

 t_estimated:
[[0.9617448 ]
 [0.27394442]
 [0.00117573]]

 R_gt:
[[ 0.98114215 -0.18279636 -0.06281171]
 [ 0.18606845  0.98121655  0.05090807]
 [ 0.0523259  -0.06163557  0.99672609]]

 t_gt:
[ 0.78438556 -0.60882278  0.11863434]

Pose Error in degrees for R and t:
5.3496535257520215 54.00358612946769

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.87779223e-01 -1.55859559e-01 -7.12503772e-05]
 [ 1.55859576e-01  9.87779095e-01  5.02551613e-04]
 [-7.94783988e-06 -5.07515095e-04  9.99999871e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 9.93189732e-01 -1.16504241e-01  9.23981802e-04]
 [ 1.15641440e-01  9.86734796e-01  1.13939319e-01]
 [-1.41870696e-02 -1.13056650e-01  9.93486886e-01]]

 t_gt:
[ 0.55889447 -0.61028182  0.56142058]

Pose Error in degrees for R and t:
6.900698575308294 62.981768558706364

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.39272358e-01  3.43172458e-01  3.19264585e-04]
 [-3.43172491e-01  9.39272399e-01  5.22486695e-05]
 [-2.81946108e-04 -1.58638554e-04  9.99999948e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.98171013 -0.19008289 -0.0106051 ]
 [ 0.18991089  0.98168029 -0.01541543]
 [ 0.01334061  0.0131208   0.99982451]]

 t_gt:
[ 0.98118558 -0.17450861 -0.08259294]

Pose Error in degrees for R and t:
31.042535809773234 50.93007848075668

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99919550e-01  1.26837758e-02  1.22636109e-04]
 [-1.26837696e-02  9.99919556e-01 -5.15620440e-05]
 [-1.23280245e-04  5.00024077e-05  9.99999991e-01]]

 t_estimated:
[[ 9.99930901e-01]
 [-1.17549836e-02]
 [ 1.17235354e-04]]

 R_gt:
[[ 0.98059172 -0.19535202 -0.01667729]
 [ 0.19496701  0.98055785 -0.02223698]
 [ 0.02069729  0.01855401  0.99961316]]

 t_gt:
[ 0.97602332 -0.17210802 -0.13325657]

Pose Error in degrees for R and t:
12.088344861372358 12.050661941521257

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-4.80296791e-01 -8.77105498e-01  9.68260255e-04]
 [ 8.77096304e-01 -4.80285971e-01  5.24017787e-03]
 [-4.13114700e-03  3.36609811e-03  9.99985801e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.95075882 -0.30934528  0.01902716]
 [ 0.30973705  0.95054316 -0.02305722]
 [-0.01095338  0.02781507  0.99955271]]

 t_gt:
[ 0.99252784 -0.08880468 -0.0836793 ]

Pose Error in degrees for R and t:
100.67880714631399 39.63214537319436

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.90073275e-01 -1.40549688e-01 -8.33994483e-04]
 [-1.40552089e-01  9.90061421e-01  4.84694984e-03]
 [ 1.44468474e-04  4.91605516e-03 -9.99987906e-01]]

 t_estimated:
[[9.99992164e-01]
 [3.88195716e-03]
 [7.76391432e-04]]

 R_gt:
[[ 9.87163442e-01  1.59710343e-01  9.63411084e-04]
 [-1.59489938e-01  9.85451825e-01  5.87094206e-02]
 [ 8.42769001e-03 -5.81099624e-02  9.98274351e-01]]

 t_gt:
[-0.74955291  0.60931676  0.25865715]

Pose Error in degrees for R and t:
179.9799056221734 41.67047523370446

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.79913786e-01 -1.99419662e-01 -8.77591881e-04]
 [ 1.99420136e-01  9.79913961e-01  4.89043358e-04]
 [ 7.62439675e-04 -6.54229821e-04  9.99999495e-01]]

 t_estimated:
[[8.23274563e-01]
 [5.67643006e-01]
 [6.40680594e-04]]

 R_gt:
[[ 0.96731036  0.25305553  0.01651528]
 [-0.253591    0.96556785  0.05804583]
 [-0.00125709 -0.0603361   0.9981769 ]]

 t_gt:
[-0.71945609  0.66888569  0.18701566]

Pose Error in degrees for R and t:
26.411333601966625 77.73099556414256

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.98337374e-01 -5.76409618e-02 -8.29495262e-05]
 [ 5.76408887e-02  9.98337130e-01 -7.09589396e-04]
 [ 1.23713007e-04  7.03628330e-04  9.99999745e-01]]

 t_estimated:
[[-0.8478539 ]
 [-0.53022675]
 [-0.00183313]]

 R_gt:
[[ 0.89112059  0.45214461  0.03832078]
 [-0.45344774  0.89047426  0.03794052]
 [-0.01696886 -0.05118621  0.99854496]]

 t_gt:
[-0.64427333  0.75775764  0.10351439]

Pose Error in degrees for R and t:
30.406652634156007 81.70461318058533

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.96375646e-01 -8.50620823e-02 -1.18265352e-04]
 [ 8.50621065e-02  9.96375627e-01  2.17429916e-04]
 [ 9.93416731e-05 -2.26701773e-04  9.99999969e-01]]

 t_estimated:
[[0.84094323]
 [0.54112259]
 [0.00091258]]

 R_gt:
[[ 9.97461128e-01 -5.45585143e-02 -4.57825737e-02]
 [ 5.46459098e-02  9.98505518e-01  6.75520160e-04]
 [ 4.56772671e-02 -3.17569253e-03  9.98951100e-01]]

 t_gt:
[ 0.54254915 -0.73087845 -0.4140738 ]

Pose Error in degrees for R and t:
3.147189506545439 86.53835711890392

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999698e-01  7.74773864e-04 -6.26150147e-05]
 [-7.74748935e-04  9.99999621e-01  3.97179353e-04]
 [ 6.29227151e-05 -3.97130722e-04  9.99999919e-01]]

 t_estimated:
[[0.93827289]
 [0.34589404]
 [0.00114072]]

 R_gt:
[[ 0.98847245 -0.1503045  -0.0182235 ]
 [ 0.14926473  0.98758103 -0.04902422]
 [ 0.02536512  0.04573895  0.9986319 ]]

 t_gt:
[ 0.70452238 -0.61150956 -0.3601448 ]

Pose Error in degrees for R and t:
9.173964279702783 63.31366564992768

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.57853246 -0.81352352 -0.05898874]
 [-0.80658834  0.58135617 -0.10695909]
 [ 0.1213072  -0.01429967 -0.99251201]]

 t_estimated:
[[0.99990759]
 [0.01355453]
 [0.00104266]]

 R_gt:
[[ 0.96721232 -0.21464807  0.13574529]
 [ 0.22280765  0.9736838  -0.04790995]
 [-0.12188917  0.07658454  0.9895843 ]]

 t_gt:
[ 0.71128027 -0.69554102  0.10150404]

Pose Error in degrees for R and t:
178.76837580036397 45.420951704809596

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99995721e-01 -1.85650990e-03  2.26103174e-03]
 [ 1.85861351e-03  9.99997842e-01 -9.28628008e-04]
 [-2.25930286e-03  9.32826418e-04  9.99997013e-01]]

 t_estimated:
[[0.64652138]
 [0.76289522]
 [0.00099465]]

 R_gt:
[[ 0.97364423 -0.22498556  0.03739283]
 [ 0.22498154  0.97435227  0.00436158]
 [-0.03741391  0.00416693  0.9992909 ]]

 t_gt:
[ 0.59487453 -0.79439432  0.12272719]

Pose Error in degrees for R and t:
13.058102525837063 77.21351578897817

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.99999929e-01 -2.15149310e-04  3.10880826e-04]
 [ 2.15236267e-04  9.99999938e-01 -2.79704280e-04]
 [-3.10820629e-04  2.79771173e-04  9.99999913e-01]]

 t_estimated:
[[0.54119844]
 [0.84089435]
 [0.00096989]]

 R_gt:
[[ 0.93103871 -0.36384171  0.02803121]
 [ 0.3633311   0.93140601  0.02173243]
 [-0.03401511 -0.01004866  0.99937109]]

 t_gt:
[ 0.64866405 -0.75399904  0.10353932]

Pose Error in degrees for R and t:
21.41013755864582 73.56800304811138

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.73065241e-01 -2.30529892e-01 -8.06899952e-05]
 [ 2.30529901e-01  9.73065234e-01  1.21725318e-04]
 [ 5.04553048e-05 -1.37048132e-04  9.99999989e-01]]

 t_estimated:
[[9.09268791e-01]
 [4.16208506e-01]
 [8.63503125e-04]]

 R_gt:
[[ 0.84168693 -0.53702446  0.05628231]
 [ 0.53810301  0.842864   -0.00489465]
 [-0.04480911  0.0344052   0.99840219]]

 t_gt:
[ 0.72418367 -0.68863039  0.03669064]

Pose Error in degrees for R and t:
19.488491729303295 68.16743660941121

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99289405e-01  3.76919696e-02 -6.63430988e-06]
 [-3.76919701e-02  9.99289399e-01 -1.12437500e-04]
 [ 2.39160471e-06  1.12607662e-04  9.99999994e-01]]

 t_estimated:
[[-1.67135987e-01]
 [-9.85933827e-01]
 [-2.24057065e-04]]

 R_gt:
[[ 0.99523133  0.05187512 -0.08260058]
 [-0.04755233  0.99743646  0.05346037]
 [ 0.08516283 -0.04927756  0.99514754]]

 t_gt:
[-0.52700661 -0.25188105 -0.81167726]

Pose Error in degrees for R and t:
5.692783998857834 70.3300350320556

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.91887677e-01  1.27112557e-01  1.11068345e-03]
 [ 1.27116708e-01 -9.91815290e-01 -1.19905765e-02]
 [-4.22560022e-04  1.20344915e-02 -9.99927494e-01]]

 t_estimated:
[[-0.18595148]
 [ 0.98254075]
 [-0.00597747]]

 R_gt:
[[ 0.98223348  0.11274303 -0.15002414]
 [-0.09393703  0.98743869  0.12704065]
 [ 0.16246333 -0.11069045  0.9804857 ]]

 t_gt:
[-0.82601553 -0.3338172  -0.45416343]

Pose Error in degrees for R and t:
173.26703189418 80.1147529671708

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.09126119e-01 -4.16520899e-01 -2.01522152e-04]
 [ 4.16520941e-01  9.09126086e-01  2.55764311e-04]
 [ 7.66778652e-05 -3.16460212e-04  9.99999947e-01]]

 t_estimated:
[[ 3.18385483e-01]
 [-9.47961327e-01]
 [ 7.61556667e-05]]

 R_gt:
[[ 0.97434467  0.11249948 -0.19492414]
 [-0.08684899  0.98696284  0.13550034]
 [ 0.2076276  -0.11509492  0.97141378]]

 t_gt:
[-0.51575787 -0.48014955 -0.70954227]

Pose Error in degrees for R and t:
33.301652606263204 73.08819377992116

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.79447412e-01 -2.01699689e-01  5.22482230e-05]
 [ 2.01699688e-01  9.79447413e-01  2.99370550e-05]
 [-5.72126816e-05 -1.87833207e-05  9.99999998e-01]]

 t_estimated:
[[0.81596179]
 [0.57810523]
 [0.00084408]]

 R_gt:
[[ 0.99565435 -0.07528464 -0.05479861]
 [ 0.08067622  0.99130687  0.10392984]
 [ 0.04649738 -0.10789921  0.99307354]]

 t_gt:
[ 0.4052116  -0.83485833  0.37257901]

Pose Error in degrees for R and t:
9.827122122455082 81.27545319174857

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.80925863e-01 -1.94382219e-01 -6.56911827e-05]
 [ 1.94382198e-01  9.80925838e-01 -2.47624820e-04]
 [ 1.12572041e-04  2.30132394e-04  9.99999967e-01]]

 t_estimated:
[[-0.94912685]
 [-0.31489203]
 [-0.00111269]]

 R_gt:
[[ 0.98929862 -0.11128507 -0.09435686]
 [ 0.12630334  0.97696356  0.17201371]
 [ 0.07303973 -0.18209075  0.98056505]]

 t_gt:
[ 0.37489243 -0.8074515   0.45549725]

Pose Error in degrees for R and t:
12.117913928460233 84.1417751433333

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 7.96504167e-01  6.04631530e-01  1.35091914e-03]
 [-6.04633015e-01  7.96501504e-01  2.06692688e-03]
 [ 1.73720035e-04 -2.46312618e-03  9.99996951e-01]]

 t_estimated:
[[7.98235526e-01]
 [6.02345006e-01]
 [7.33672359e-04]]

 R_gt:
[[ 0.9622447  -0.15635563 -0.22279548]
 [ 0.19266258  0.96946053  0.15174595]
 [ 0.19226479 -0.18894094  0.96298232]]

 t_gt:
[ 0.55784502 -0.82396209  0.09947564]

Pose Error in degrees for R and t:
49.794131745382806 87.07981655010066

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 8.03730208e-01  5.94993878e-01 -1.92930279e-04]
 [-5.94993316e-01  8.03728907e-01 -1.67278522e-03]
 [-8.40233322e-04  1.45926024e-03  9.99998582e-01]]

 t_estimated:
[[0.92581977]
 [0.37796388]
 [0.00102646]]

 R_gt:
[[ 0.98573589 -0.16389306 -0.03824835]
 [ 0.162479    0.98599667 -0.03756775]
 [ 0.04386867  0.03081805  0.99856165]]

 t_gt:
[ 0.54259997 -0.77434489 -0.32553841]

Pose Error in degrees for R and t:
46.00508634084461 77.91625072967231

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.23780031e-01  3.82923443e-01 -3.00605166e-04]
 [-3.82923392e-01  9.23780077e-01  2.13277859e-04]
 [ 3.59362155e-04 -8.19130771e-05  9.99999932e-01]]

 t_estimated:
[[0.63429167]
 [0.77309341]
 [0.00080699]]

 R_gt:
[[ 0.94990424 -0.31046489 -0.03595461]
 [ 0.31049427  0.95056309 -0.00492708]
 [ 0.03570572 -0.00648312  0.99934108]]

 t_gt:
[ 0.61933041 -0.78134305 -0.07702516]

Pose Error in degrees for R and t:
40.65914976827936 77.80279006794454

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 3.21143861e-01 -9.47028507e-01  1.90476387e-03]
 [-9.47004256e-01 -3.21149290e-01 -6.78772597e-03]
 [ 7.03988355e-03  3.76017036e-04 -9.99975149e-01]]

 t_estimated:
[[9.07421875e-01]
 [4.20220231e-01]
 [7.05067502e-04]]

 R_gt:
[[ 0.89125919 -0.45310317 -0.01882747]
 [ 0.4519743   0.89090227 -0.04486899]
 [ 0.03710252  0.03148089  0.99881538]]

 t_gt:
[ 0.68436859 -0.72134352 -0.10631636]

Pose Error in degrees for R and t:
176.89241431797126 71.46928853638636

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-2.99989787e-02  9.99549427e-01 -1.00226412e-03]
 [-9.99545957e-01 -3.00016713e-02 -2.78922768e-03]
 [-2.81804053e-03  9.18135067e-04  9.99995608e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99594451  0.03470058  0.08301794]
 [-0.0325018   0.99908795 -0.02769173]
 [-0.08390217  0.02488279  0.9961627 ]]

 t_gt:
[-0.42117987  0.61991103  0.66205576]

Pose Error in degrees for R and t:
89.89308608685916 51.83268575607458

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 1.99497585e-02  9.99800623e-01  8.48855875e-04]
 [ 9.99800134e-01 -1.99508415e-02  1.28713775e-03]
 [ 1.30381651e-03  8.23008130e-04 -9.99998811e-01]]

 t_estimated:
[[0.99894282]
 [0.04585311]
 [0.00327522]]

 R_gt:
[[ 0.99198024 -0.00745167  0.12617803]
 [ 0.01240649  0.99918061 -0.03852391]
 [-0.12578759  0.03978124  0.99125868]]

 t_gt:
[0.08944665 0.18014053 0.97956556]

Pose Error in degrees for R and t:
173.34455400008304 84.21358573097608

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 1.23900120e-01  9.92294528e-01  5.74771474e-04]
 [ 9.92281441e-01 -1.23901438e-01  5.09656912e-03]
 [ 5.12851266e-03 -6.11304591e-05 -9.99986847e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98465226 -0.07107032  0.15940677]
 [ 0.07647849  0.99667766 -0.02804444]
 [-0.15688282  0.03980632  0.98681433]]

 t_gt:
[ 0.51220909 -0.3985763   0.76077512]

Pose Error in degrees for R and t:
172.69922240040037 59.23218166020163

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.01040019 -0.99967138  0.02343013]
 [-0.99991504 -0.01058114 -0.00761207]
 [ 0.00785749 -0.02334897 -0.9996965 ]]

 t_estimated:
[[0.48755937]
 [0.87307143]
 [0.00566929]]

 R_gt:
[[ 0.98419677  0.17555717 -0.02314908]
 [-0.17393761  0.98295717  0.05949056]
 [ 0.03319882 -0.054523    0.99796086]]

 t_gt:
[-0.74707998  0.6617441   0.06297813]

Pose Error in degrees for R and t:
178.06615357744172 77.65128273866509

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 8.87939343e-01 -4.59960320e-01 -4.75910469e-04]
 [ 4.59960259e-01  8.87939471e-01 -2.37031926e-04]
 [ 5.31604971e-04 -8.42992975e-06  9.99999859e-01]]

 t_estimated:
[[-0.11234671]
 [-0.99366847]
 [-0.00109074]]

 R_gt:
[[ 0.96655372  0.23470994 -0.10336363]
 [-0.22226704  0.96770056  0.11896394]
 [ 0.12794783 -0.09201054  0.98750428]]

 t_gt:
[-0.79750482  0.58486469 -0.14805189]

Pose Error in degrees for R and t:
41.62989015309812 60.56715698491028

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.76659096e-01  2.14794416e-01 -6.08203098e-04]
 [-2.14793969e-01  9.76659115e-01  7.23785064e-04]
 [ 7.49472090e-04 -5.76252909e-04  9.99999553e-01]]

 t_estimated:
[[-0.99216093]
 [-0.12496226]
 [-0.00106346]]

 R_gt:
[[ 0.9421371   0.29557192 -0.15815439]
 [-0.26433448  0.94517335  0.19176303]
 [ 0.20616323 -0.13886096  0.96861435]]

 t_gt:
[-0.84502998  0.48948518 -0.21524077]

Pose Error in degrees for R and t:
14.916160965879177 38.97072080540437

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-9.42873209e-01 -3.33151681e-01 -2.62245254e-04]
 [-3.33151553e-01  9.42871334e-01  1.92084707e-03]
 [-3.92669896e-04  1.89848265e-03 -9.99998121e-01]]

 t_estimated:
[[9.97439116e-01]
 [7.15145027e-02]
 [9.40980298e-04]]

 R_gt:
[[ 0.99091619 -0.12328303 -0.0537266 ]
 [ 0.12498325  0.99171918  0.02953263]
 [ 0.04964098 -0.03597826  0.99811913]]

 t_gt:
[ 0.6383723  -0.75911067 -0.12740408]

Pose Error in degrees for R and t:
177.40268033592608 54.385396257819984

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 8.94633741e-01  4.46799677e-01  7.19788364e-04]
 [-4.46799873e-01  8.94633923e-01  1.29759689e-04]
 [-5.85970501e-04 -4.37688745e-04  9.99999733e-01]]

 t_estimated:
[[0.57664149]
 [0.81699662]
 [0.00105419]]

 R_gt:
[[ 0.98791404 -0.15347192 -0.02174423]
 [ 0.15397236  0.98779275  0.02362932]
 [ 0.01785356 -0.02669104  0.99948455]]

 t_gt:
[ 0.56967828 -0.82186702 -0.00111845]

Pose Error in degrees for R and t:
35.430381683373795 69.9424625422557

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 0.98300088 -0.17638174  0.050978  ]
 [ 0.18067628  0.97866776 -0.09780335]
 [-0.0326398   0.10535129  0.99389926]]

 t_estimated:
[[ 0.98321384]
 [ 0.18245   ]
 [-0.00159668]]

 R_gt:
[[ 0.98527146 -0.16920594 -0.02467474]
 [ 0.16946628  0.9854959   0.0088993 ]
 [ 0.0228119  -0.01294939  0.99965634]]

 t_gt:
[ 0.53926515 -0.83853561 -0.07778906]

Pose Error in degrees for R and t:
7.5240885252971115 67.83059458684237

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.89926549e-01  1.41581236e-01  4.25236778e-04]
 [-1.41581380e-01  9.89926565e-01  3.30236480e-04]
 [-3.74197894e-04 -3.87115469e-04  9.99999855e-01]]

 t_estimated:
[[0.36138069]
 [0.93241734]
 [0.00137932]]

 R_gt:
[[ 0.9910254  -0.133589    0.00482874]
 [ 0.1320494   0.98394917  0.1200308 ]
 [-0.02078516 -0.1183155   0.99275848]]

 t_gt:
[ 0.4558437  -0.65487365  0.60278273]

Pose Error in degrees for R and t:
17.22253616446083 63.5733973127252

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999558e-01 -9.10822358e-04 -2.32716845e-04]
 [ 9.11138944e-04  9.99998655e-01  1.36392811e-03]
 [ 2.31474236e-04 -1.36413955e-03  9.99999043e-01]]

 t_estimated:
[[0.65042026]
 [0.75957408]
 [0.00083237]]

 R_gt:
[[ 0.98262167 -0.18552436 -0.00603035]
 [ 0.18455172  0.9729586   0.13889217]
 [-0.01990059 -0.13759114  0.99028876]]

 t_gt:
[ 0.50836108 -0.68459965  0.52239097]

Pose Error in degrees for R and t:
13.272619232971874 79.1101791580453

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999990e-01 -1.39395470e-04 -1.32967717e-07]
 [ 1.39395476e-04  9.99999989e-01  4.03256444e-05]
 [ 1.27346503e-07 -4.03256625e-05  9.99999999e-01]]

 t_estimated:
[[9.42622137e-01]
 [3.33860694e-01]
 [7.36999325e-04]]

 R_gt:
[[ 9.89227750e-01 -1.46371125e-01  1.93067431e-03]
 [ 1.46382252e-01  9.89195968e-01 -8.01825304e-03]
 [-7.35859553e-04  8.21442849e-03  9.99966518e-01]]

 t_gt:
[ 0.77348381 -0.6330242  -0.03167263]

Pose Error in degrees for R and t:
8.422384932908388 58.819375572305866

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.99999626  0.00245825 -0.00120265]
 [-0.00245517  0.99999372  0.00255527]
 [ 0.00120892 -0.00255231  0.99999601]]

 t_estimated:
[[0.98867585]
 [0.15004295]
 [0.00267934]]

 R_gt:
[[ 9.61989597e-01 -2.73082821e-01 -6.04828009e-04]
 [ 2.72975155e-01  9.61668165e-01 -2.60418236e-02]
 [ 7.69354960e-03  2.48869424e-02  9.99661213e-01]]

 t_gt:
[ 0.83699777 -0.54134544 -0.07987398]

Pose Error in degrees for R and t:
16.070480539279306 41.74801817631714

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 4.53583606e-01 -8.91155001e-01 -1.02311347e-02]
 [ 8.91201251e-01  4.53608117e-01 -8.45741179e-05]
 [ 4.71629438e-03 -9.07963858e-03  9.99947657e-01]]

 t_estimated:
[[0.93598883]
 [0.35201912]
 [0.00272883]]

 R_gt:
[[ 0.92836345 -0.37114332  0.01983906]
 [ 0.37157391  0.92556592 -0.07253104]
 [ 0.00855669  0.07470714  0.99716863]]

 t_gt:
[ 0.87468812 -0.46068644 -0.15062768]

Pose Error in degrees for R and t:
41.44816995630081 48.99561115430406

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999875e-01 -4.99873084e-04  2.04274391e-06]
 [ 4.99873466e-04  9.99999857e-01 -1.91331011e-04]
 [-1.94710239e-06  1.91332008e-04  9.99999982e-01]]

 t_estimated:
[[-0.75244063]
 [-0.65865909]
 [-0.0011377 ]]

 R_gt:
[[ 0.99969958  0.01703832  0.01761697]
 [-0.01684999  0.99979891 -0.01083131]
 [-0.01779769  0.01053022  0.99978631]]

 t_gt:
[-0.83901787  0.36174178 -0.40643806]

Pose Error in degrees for R and t:
1.5462493534974957 66.82698152131445

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 7.67351828e-01 -6.40709179e-01  2.57472501e-02]
 [ 6.40939467e-01  7.67590882e-01 -9.14584802e-04]
 [-1.91773715e-02  1.72042371e-02  9.99668066e-01]]

 t_estimated:
[[-0.0140173 ]
 [-0.99990107]
 [-0.00116811]]

 R_gt:
[[ 9.88182012e-01 -1.52679639e-01  1.36555119e-02]
 [ 1.52672213e-01  9.88275200e-01  1.59253476e-03]
 [-1.37391703e-02  5.10388293e-04  9.99904933e-01]]

 t_gt:
[ 0.99001628 -0.14044404  0.01196828]

Pose Error in degrees for R and t:
31.088214684547303 82.73037157435813

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.00844869  0.999963    0.00162091]
 [ 0.99996265 -0.00845162  0.00180704]
 [ 0.00182067  0.00160558 -0.99999705]]

 t_estimated:
[[-0.05355429]
 [-0.99856432]
 [-0.00111571]]

 R_gt:
[[ 0.94056897 -0.33891678 -0.02159224]
 [ 0.33942327  0.94023672  0.02730596]
 [ 0.0110465  -0.03301218  0.9993939 ]]

 t_gt:
[ 0.99342953 -0.07725792  0.08443331]

Pose Error in degrees for R and t:
178.1023086748599 88.63334378923194

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.92563842e-01 -1.21725173e-01 -4.55228487e-05]
 [ 1.21725180e-01  9.92563818e-01  2.20241419e-04]
 [ 1.83754077e-05 -2.24144946e-04  9.99999975e-01]]

 t_estimated:
[[0.97981504]
 [0.19990044]
 [0.0015144 ]]

 R_gt:
[[ 0.99900014  0.01098853 -0.04334829]
 [-0.01331174  0.99846893 -0.05369022]
 [ 0.04269126  0.05421445  0.99761664]]

 t_gt:
[ 0.01783882  0.35651374 -0.93411976]

Pose Error in degrees for R and t:
8.649625547702064 84.98989879913412

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-2.62142277e-01 -9.65029188e-01  3.04321927e-04]
 [-9.65024746e-01  2.62142006e-01  2.96797587e-03]
 [-2.94395890e-03  4.84353760e-04 -9.99995549e-01]]

 t_estimated:
[[0.83539791]
 [0.54963994]
 [0.00250224]]

 R_gt:
[[ 0.99964588  0.01585897 -0.02139569]
 [-0.0167158   0.99904062 -0.04047867]
 [ 0.02073326  0.04082257  0.998951  ]]

 t_gt:
[-0.12498181  0.45055402 -0.88395737]

Pose Error in degrees for R and t:
177.74165384583196 81.89306494789773

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.35102618e-01 -3.54376873e-01 -3.54461991e-04]
 [ 3.54376828e-01  9.35102684e-01 -1.85064104e-04]
 [ 3.97040798e-04  4.74408121e-05  9.99999920e-01]]

 t_estimated:
[[ 6.31737197e-01]
 [-7.75182475e-01]
 [-4.93490266e-04]]

 R_gt:
[[ 0.99499516 -0.03500603  0.09359396]
 [ 0.02155473  0.98976878  0.1410425 ]
 [-0.09757447 -0.13831817  0.9855693 ]]

 t_gt:
[ 0.05553575 -0.28819452  0.95596009]

Pose Error in degrees for R and t:
21.45059523863424 75.04765356382381

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.92671495e-01 -1.20844127e-01 -1.75547329e-05]
 [ 1.20844129e-01  9.92671488e-01  1.18209664e-04]
 [ 3.14113915e-06 -1.19464750e-04  9.99999993e-01]]

 t_estimated:
[[9.93547314e-01]
 [1.13414939e-01]
 [8.86622215e-04]]

 R_gt:
[[ 0.99918076  0.01577437 -0.03728529]
 [-0.01646358  0.99969738 -0.01825389]
 [ 0.03698602  0.01885366  0.9991384 ]]

 t_gt:
[-0.06400058  0.48957237 -0.86961073]

Pose Error in degrees for R and t:
8.216881366997018 89.49385375798829

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.89254050e-01 -1.46204678e-01  7.85718000e-04]
 [ 1.46205219e-01  9.89254047e-01 -6.81195188e-04]
 [-6.77680788e-04  7.88751170e-04  9.99999459e-01]]

 t_estimated:
[[0.3104012 ]
 [0.95060367]
 [0.00194001]]

 R_gt:
[[ 0.99563453  0.03850994 -0.08503487]
 [-0.04351858  0.9973754  -0.05786511]
 [ 0.08258362  0.06131284  0.99469595]]

 t_gt:
[-0.04901603  0.48719825 -0.87191473]

Pose Error in degrees for R and t:
12.277195554286456 63.49817703119059

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.90748848e-01 -1.35708163e-01 -1.21307819e-04]
 [ 1.35708191e-01  9.90748818e-01  2.56798908e-04]
 [ 8.53358703e-05 -2.70885687e-04  9.99999960e-01]]

 t_estimated:
[[-3.18724939e-02]
 [ 9.99491943e-01]
 [ 5.07913058e-06]]

 R_gt:
[[ 0.99348073  0.03692398 -0.10786577]
 [-0.046884    0.99471828 -0.09131399]
 [ 0.10392489  0.09577552  0.98996311]]

 t_gt:
[ 0.01579756  0.42805626 -0.90361401]

Pose Error in degrees for R and t:
13.047299941686145 64.70172223877233

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 8.07091631e-01 -5.90424272e-01 -1.50951681e-03]
 [ 5.90426202e-01  8.07089007e-01  2.05805829e-03]
 [ 3.18686033e-06 -2.55229990e-03  9.99996743e-01]]

 t_estimated:
[[7.71799202e-01]
 [6.35865883e-01]
 [7.55185129e-04]]

 R_gt:
[[ 0.98770306 -0.15609081 -0.00882492]
 [ 0.15633446  0.98558266  0.06469821]
 [-0.00140129 -0.06528183  0.99786603]]

 t_gt:
[ 0.65750371 -0.68060703  0.32320728]

Pose Error in degrees for R and t:
27.423107047183564 85.70279238050732

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.99999546 -0.00189038 -0.0023469 ]
 [ 0.00189513  0.99999615  0.00202472]
 [ 0.00234307 -0.00202916  0.9999952 ]]

 t_estimated:
[[-0.99998696]
 [-0.00447217]
 [-0.00246481]]

 R_gt:
[[ 0.96661815 -0.2560497  -0.00935214]
 [ 0.25435049  0.95452242  0.15553479]
 [-0.03089767 -0.15272119  0.98778592]]

 t_gt:
[ 0.59710134 -0.63465468  0.49059497]

Pose Error in degrees for R and t:
17.209938769175235 53.45424802214739

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99978749  0.00796562  0.01901356]
 [-0.00758631  0.99977242 -0.01993867]
 [-0.01916806  0.01979019  0.99962039]]

 t_estimated:
[[-0.99602336]
 [ 0.08063019]
 [ 0.03789776]]

 R_gt:
[[ 0.96035179 -0.27681989 -0.03310527]
 [ 0.278618    0.94876169  0.14907012]
 [-0.00985618 -0.15238303  0.98827172]]

 t_gt:
[ 0.62627888 -0.66130659  0.41285392]

Pose Error in degrees for R and t:
19.451894472588855 48.58842215214406

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.96955528 -0.24485795 -0.00267128]
 [-0.2446996   0.96922286 -0.02700296]
 [ 0.00920096 -0.02552721 -0.99963178]]

 t_estimated:
[[9.70369033e-01]
 [2.41625755e-01]
 [9.66503021e-04]]

 R_gt:
[[ 0.99982245 -0.00178513 -0.0187712 ]
 [ 0.00124131  0.9995808  -0.02892183]
 [ 0.01881424  0.02889391  0.99940493]]

 t_gt:
[ 0.21711106 -0.15921841 -0.96307439]

Pose Error in degrees for R and t:
178.382942053932 80.13799676642532

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99999965e-01 -2.14220262e-04 -1.57290065e-04]
 [ 2.14235920e-04  9.99999972e-01  9.95383525e-05]
 [ 1.57268737e-04 -9.95720462e-05  9.99999983e-01]]

 t_estimated:
[[9.91412185e-01]
 [1.30771599e-01]
 [8.17322494e-04]]

 R_gt:
[[ 0.99336936 -0.11429875 -0.01235674]
 [ 0.11373841  0.99273543 -0.03922015]
 [ 0.01674996  0.0375555   0.99915413]]

 t_gt:
[ 0.73312154 -0.61046566 -0.29977405]

Pose Error in degrees for R and t:
6.9499091914299225 49.70305995770748

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99999603e-01 -2.00947384e-04  8.68135509e-04]
 [ 2.01901680e-04  9.99999375e-01 -1.09929963e-03]
 [-8.67914065e-04  1.09947447e-03  9.99999019e-01]]

 t_estimated:
[[0.57352698]
 [0.8191861 ]
 [0.00096716]]

 R_gt:
[[ 0.96447189 -0.26380151 -0.01421779]
 [ 0.26300021  0.96384761 -0.04275035]
 [ 0.02498151  0.03749276  0.99898449]]

 t_gt:
[ 0.82059924 -0.54909939 -0.15845107]

Pose Error in degrees for R and t:
15.478393484979902 88.81572785609043

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[-0.62113173  0.78348863  0.01846456]
 [ 0.78352292  0.62132359 -0.00698795]
 [-0.01694745  0.01012697 -0.9998051 ]]

 t_estimated:
[[ 0.9573668 ]
 [-0.28874329]
 [ 0.00872513]]

 R_gt:
[[ 0.97563269 -0.21761182 -0.0280299 ]
 [ 0.21856999  0.97510336  0.03743649]
 [ 0.01918593 -0.04265066  0.99890584]]

 t_gt:
[ 0.97076889 -0.16489211  0.17440857]

Pose Error in degrees for R and t:
178.89917899030002 11.8982911916914

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 9.57919054e-01  2.87035290e-01  1.35249772e-03]
 [-2.87034626e-01  9.57919976e-01 -6.65808426e-04]
 [-1.48669510e-03  2.49576900e-04  9.99998864e-01]]

 t_estimated:
[[0.77253911]
 [0.63496365]
 [0.00211655]]

 R_gt:
[[ 0.92062682 -0.38644047 -0.05577156]
 [ 0.38887564  0.92031584  0.04235475]
 [ 0.03496042 -0.06068079  0.9975453 ]]

 t_gt:
[ 0.98892677 -0.06055587  0.13548736]

Pose Error in degrees for R and t:
39.7221334367055 43.46284518074192

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[ 0.35666366  0.93423126  0.00172547]
 [ 0.93423134 -0.35666581  0.00114356]
 [ 0.00168377  0.00120412 -0.99999786]]

 t_estimated:
[[-0.86844406]
 [-0.49578509]
 [-0.00143103]]

 R_gt:
[[ 9.01692524e-01 -4.31081401e-01 -3.34703838e-02]
 [ 4.32377927e-01  8.98813953e-01  7.20026968e-02]
 [-9.54577602e-04 -7.93966430e-02  9.96842846e-01]]

 t_gt:
[ 0.98348102 -0.03711476  0.17716538]

Pose Error in degrees for R and t:
175.8189487581649 33.28502373876449

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.99653563  0.0831586   0.00117309]
 [-0.08315442  0.99653139 -0.00324528]
 [-0.00143889  0.00313648  0.99999405]]

 t_estimated:
[[0.85277669]
 [0.52227472]
 [0.00102007]]

 R_gt:
[[ 0.99770594 -0.00500276  0.067505  ]
 [ 0.00368871  0.99980153  0.01957682]
 [-0.06759058 -0.01928319  0.99752694]]

 t_gt:
[ 0.02609856 -0.01210071  0.99958613]

Pose Error in degrees for R and t:
6.426170491838727 89.02844634399855

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 7.63330788e-01  6.46007575e-01 -5.67673166e-04]
 [-6.46005808e-01  7.63325916e-01 -3.16875792e-03]
 [-1.61372198e-03  2.78553064e-03  9.99994818e-01]]

 t_estimated:
[[0.66791642]
 [0.7442359 ]
 [0.00076134]]

 R_gt:
[[ 0.99137905 -0.08604918  0.0988077 ]
 [ 0.08527515  0.99628453  0.01204086]
 [-0.09947758 -0.00351145  0.99503305]]

 t_gt:
[ 0.56668146 -0.5290988   0.63160635]

Pose Error in degrees for R and t:
45.506861485713465 89.1521288760429

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99984901e-01 -5.38982322e-03 -1.07161903e-03]
 [ 5.39006857e-03  9.99985448e-01  2.26196436e-04]
 [ 1.07038427e-03 -2.31969121e-04  9.99999400e-01]]

 t_estimated:
[[9.99888328e-01]
 [1.49186244e-02]
 [8.75436528e-04]]

 R_gt:
[[ 0.98824075 -0.11517446  0.10057074]
 [ 0.11615878  0.99322303 -0.00396238]
 [-0.09943288  0.01559695  0.9949216 ]]

 t_gt:
[ 0.66845481 -0.6172867   0.41487987]

Pose Error in degrees for R and t:
8.624716962778189 48.7356351727339

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-9.16192999e-01 -4.00737229e-01  2.48527694e-04]
 [-4.00735534e-01  9.16190615e-01  2.40618223e-03]
 [-1.19194554e-03  2.10493343e-03 -9.99997074e-01]]

 t_estimated:
[[9.73184267e-01]
 [2.30025372e-01]
 [8.42583781e-04]]

 R_gt:
[[ 0.99415248 -0.09882431 -0.04352706]
 [ 0.09981938  0.99477647  0.02132996]
 [ 0.0411914  -0.02554989  0.99882436]]

 t_gt:
[ 0.64820165 -0.74393118 -0.16248391]

Pose Error in degrees for R and t:
177.94448408441312 62.64130127532562

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.00733411e-01  4.34371671e-01  7.57859408e-04]
 [-4.34371142e-01  9.00733656e-01 -7.68923578e-04]
 [-1.01662810e-03  3.63402901e-04  9.99999417e-01]]

 t_estimated:
[[9.76225068e-01]
 [2.16757820e-01]
 [8.14879023e-04]]

 R_gt:
[[ 0.97051099 -0.2204295  -0.0975675 ]
 [ 0.22438277  0.97399296  0.0314656 ]
 [ 0.08809435 -0.05243052  0.99473058]]

 t_gt:
[ 0.69607667 -0.7004904  -0.15744989]

Pose Error in degrees for R and t:
39.06834563684007 58.15909494455137

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.29848526e-01 -3.67908138e-01  5.03191565e-03]
 [ 3.67903902e-01  9.29862120e-01  1.77660884e-03]
 [-5.33261661e-03  1.99284292e-04  9.99985762e-01]]

 t_estimated:
[[0.99920692]
 [0.03979143]
 [0.00147376]]

 R_gt:
[[ 0.95584351 -0.27698089 -0.09821591]
 [ 0.28173578  0.95873345  0.03812751]
 [ 0.08360171 -0.06411455  0.99443421]]

 t_gt:
[ 0.69044986 -0.71759098 -0.09133549]

Pose Error in degrees for R and t:
8.23660835403141 48.607497064249344

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-3.65025674e-01 -9.30997451e-01 -5.04634804e-05]
 [-9.30986678e-01  3.65021189e-01  4.83082920e-03]
 [-4.47906943e-03  1.81035751e-03 -9.99988330e-01]]

 t_estimated:
[[0.78921073]
 [0.61412038]
 [0.00160758]]

 R_gt:
[[ 0.98747259 -0.12798457 -0.09228075]
 [ 0.12944993  0.9915352   0.01005289]
 [ 0.09021216 -0.02187185  0.9956829 ]]

 t_gt:
[ 0.62971742 -0.72385729 -0.28193368]

Pose Error in degrees for R and t:
176.35133332065215 87.01979179440238

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.84768189  0.52954636  0.03187584]
 [ 0.53046088 -0.84530632 -0.06378469]
 [-0.0068321   0.07097802 -0.99745448]]

 t_estimated:
[[-0.98766015]
 [-0.15660815]
 [-0.00114313]]

 R_gt:
[[ 0.9812809  -0.16112195 -0.10547953]
 [ 0.17493227  0.97481004  0.13836766]
 [ 0.08052754 -0.15422953  0.98474831]]

 t_gt:
[ 0.49041639 -0.82448055  0.28235367]

Pose Error in degrees for R and t:
174.4583561452203 69.17179437706304

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-5.64349000e-01 -8.25533618e-01 -2.10995567e-03]
 [ 8.25530608e-01 -5.64352759e-01  2.27568336e-03]
 [-3.06941242e-03 -4.57553357e-04  9.99995185e-01]]

 t_estimated:
[[0.97574574]
 [0.21890473]
 [0.00098164]]

 R_gt:
[[ 0.95813564 -0.20238292 -0.20252862]
 [ 0.23453599  0.9605052   0.14974261]
 [ 0.16422387 -0.19097316  0.96775985]]

 t_gt:
[ 0.5706933  -0.80810587  0.14585628]

Pose Error in degrees for R and t:
112.14765495980629 67.66033719633928

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.90106344e-01 -1.40318806e-01  2.44223814e-04]
 [ 1.40318798e-01  9.90106374e-01  4.99406475e-05]
 [-2.48815167e-04 -1.51773600e-05  9.99999969e-01]]

 t_estimated:
[[-8.05155915e-01]
 [-5.93062821e-01]
 [-6.64868634e-04]]

 R_gt:
[[ 9.81116176e-01  1.92899655e-01 -1.41661300e-02]
 [-1.92866701e-01  9.81218696e-01  3.65577488e-03]
 [ 1.46045967e-02 -8.54053499e-04  9.99893034e-01]]

 t_gt:
[-0.38460788  0.92057659 -0.06793763]

Pose Error in degrees for R and t:
19.206677856234574 76.3349615473261

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.44822498e-01 -3.27582155e-01 -6.15208870e-04]
 [ 3.27582261e-01  9.44822659e-01  7.69126382e-05]
 [ 5.56068073e-04 -2.74200304e-04  9.99999808e-01]]

 t_estimated:
[[-0.15312485]
 [-0.9882063 ]
 [-0.00103898]]

 R_gt:
[[ 0.94138103  0.33714874  0.01146827]
 [-0.33696176  0.9413894  -0.01560384]
 [-0.01605636  0.01082475  0.99981295]]

 t_gt:
[-0.31543393  0.94890626  0.00885101]

Pose Error in degrees for R and t:
38.8377449999584 27.19909747544712

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99804192e-01 -1.97854745e-02 -3.35165705e-04]
 [ 1.97855252e-02  9.99804236e-01  1.48816031e-04]
 [ 3.32155696e-04 -1.55418321e-04  9.99999933e-01]]

 t_estimated:
[[-9.93521777e-01]
 [-1.13640441e-01]
 [-5.73928301e-04]]

 R_gt:
[[ 0.92436072  0.38143406  0.0080694 ]
 [-0.38118283  0.92422687 -0.02249036]
 [-0.01603661  0.01771298  0.99971501]]

 t_gt:
[-0.27092     0.96257425 -0.00729213]

Pose Error in degrees for R and t:
23.591965771006116 80.80577213566787

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 2.96450988e-01 -9.55047998e-01 -3.65466239e-04]
 [ 9.55047737e-01  2.96450545e-01  9.45901671e-04]
 [-7.95038831e-04 -6.29451189e-04  9.99999486e-01]]

 t_estimated:
[[ 9.54988229e-01]
 [-2.96642623e-01]
 [ 7.98133506e-04]]

 R_gt:
[[ 0.97653478 -0.21347542 -0.02844689]
 [ 0.2138613   0.97679984  0.01127398]
 [ 0.02537974 -0.01709252  0.9995312 ]]

 t_gt:
[ 0.82634663 -0.56299761 -0.01359935]

Pose Error in degrees for R and t:
60.43777873952896 17.03039159096959

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.93337747e-01  1.15238697e-01  4.03482235e-04]
 [-1.15238577e-01  9.93337795e-01 -3.08856880e-04]
 [-4.36386418e-04  2.60302479e-04  9.99999871e-01]]

 t_estimated:
[[9.99992164e-01]
 [3.88195716e-03]
 [7.76391432e-04]]

 R_gt:
[[ 0.97464461 -0.22247677 -0.02392248]
 [ 0.22244081  0.97493754 -0.004168  ]
 [ 0.02425009 -0.00125796  0.99970477]]

 t_gt:
[ 0.82267192 -0.56585372 -0.05495881]

Pose Error in degrees for R and t:
19.52364864732328 34.87252043305734

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.31203627e-01  3.64499353e-01  1.64761337e-04]
 [-3.64498985e-01  9.31203170e-01 -1.07078214e-03]
 [-5.43725676e-04  9.37060870e-04  9.99999413e-01]]

 t_estimated:
[[-9.99994884e-01]
 [-3.10316489e-03]
 [-7.75791221e-04]]

 R_gt:
[[ 0.95759292 -0.28546417 -0.03907374]
 [ 0.28460139  0.95828826 -0.02621251]
 [ 0.04492602  0.01398115  0.9988926 ]]

 t_gt:
[ 0.8321352  -0.54121164 -0.12099987]

Pose Error in degrees for R and t:
38.03872331357132 33.86450956560987

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-0.96397755 -0.26471461  0.02595096]
 [-0.26472813  0.9643185   0.00297551]
 [-0.02581265 -0.00400162 -0.99965879]]

 t_estimated:
[[0.98859978]
 [0.14999741]
 [0.01308619]]

 R_gt:
[[ 0.99441382 -0.10479143  0.01268533]
 [ 0.10518226  0.99381841 -0.03554634]
 [-0.00888129  0.03668254  0.99928668]]

 t_gt:
[ 0.58102939 -0.8047949  -0.12128484]

Pose Error in degrees for R and t:
178.1698910385004 63.121423709174366

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99184974e-01 -4.03656567e-02 -4.20776635e-05]
 [ 4.03656509e-02  9.99184967e-01 -1.30072050e-04]
 [ 4.72938125e-05  1.28267545e-04  9.99999991e-01]]

 t_estimated:
[[ 9.91659070e-01]
 [-1.28885231e-01]
 [-9.41787972e-04]]

 R_gt:
[[ 0.99847005 -0.0545999   0.00885791]
 [ 0.05476982  0.99829201 -0.02035219]
 [-0.00773154  0.02080698  0.99975309]]

 t_gt:
[ 0.34352745 -0.93403205 -0.09784187]

Pose Error in degrees for R and t:
1.5082706124118561 62.539487313918855

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-9.97121238e-01 -7.56423060e-02 -5.24193649e-03]
 [-7.56474419e-02  9.97134316e-01  7.88248021e-04]
 [ 5.16728985e-03  1.18251793e-03 -9.99985950e-01]]

 t_estimated:
[[ 0.99686991]
 [ 0.0790452 ]
 [-0.00149697]]

 R_gt:
[[ 0.99782349 -0.04671756  0.0465611 ]
 [ 0.04856054  0.99804788 -0.03928227]
 [-0.04463504  0.04145723  0.99814212]]

 t_gt:
[-0.00525417 -0.95437097  0.29857737]

Pose Error in degrees for R and t:
177.77165674505792 85.34687413511679

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.96695147e-01  8.12329024e-02  1.67843245e-05]
 [-8.12329035e-02  9.96695093e-01  3.26191606e-04]
 [ 9.76863699e-06 -3.26477030e-04  9.99999947e-01]]

 t_estimated:
[[0.23844605]
 [0.97115446]
 [0.00157911]]

 R_gt:
[[ 0.9926857   0.11923214  0.01896544]
 [-0.11991225  0.9919747   0.04006411]
 [-0.01403648 -0.04204476  0.9990164 ]]

 t_gt:
[-0.37021492  0.82204763  0.43264143]

Pose Error in degrees for R and t:
3.3555647475815875 44.70467136562149

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.98978711e-01  4.51801218e-02 -5.39196149e-04]
 [-4.51796217e-02  9.98978468e-01  9.06252516e-04]
 [ 5.79589942e-04 -8.80966293e-04  9.99999444e-01]]

 t_estimated:
[[-9.93892846e-01]
 [-1.10346799e-01]
 [-7.71655936e-04]]

 R_gt:
[[ 9.77874844e-01  2.09048271e-01  7.71923986e-03]
 [-2.09189241e-01  9.77369743e-01  3.14126891e-02]
 [-9.78311024e-04 -3.23309915e-02  9.99476724e-01]]

 t_gt:
[-0.16825662  0.97306068  0.15761543]

Pose Error in degrees for R and t:
9.65486429356004 86.5754959030267

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.81458084  0.57998002  0.00901319]
 [-0.57997971 -0.8146257   0.00291421]
 [ 0.00903256 -0.0028536   0.99995513]]

 t_estimated:
[[0.65977535]
 [0.75146075]
 [0.00179775]]

 R_gt:
[[ 0.97408911  0.22315356  0.03677888]
 [-0.2229423   0.97478129 -0.00982092]
 [-0.03804343  0.00136831  0.99927491]]

 t_gt:
[-0.12694231  0.98016813  0.15217123]

Pose Error in degrees for R and t:
131.6686783131401 49.225922892637016

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 8.62298315e-01  5.06399985e-01  8.19618434e-04]
 [-5.06399078e-01  8.62298542e-01 -1.09413604e-03]
 [-1.26082626e-03  5.28417647e-04  9.99999066e-01]]

 t_estimated:
[[0.80424493]
 [0.59429562]
 [0.0016752 ]]

 R_gt:
[[ 0.99117241 -0.12747256  0.03642344]
 [ 0.12853451  0.99129745 -0.02846235]
 [-0.03247847  0.03289245  0.99893009]]

 t_gt:
[ 0.62499985 -0.77785675  0.06568145]

Pose Error in degrees for R and t:
37.866451206345765 87.67968155549701

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-2.63752703e-02 -9.99650474e-01 -1.80991362e-03]
 [ 9.99651644e-01 -2.63769658e-02  9.19426366e-04]
 [-9.66845032e-04 -1.78503300e-03  9.99997939e-01]]

 t_estimated:
[[ 9.91918910e-01]
 [-1.26869945e-01]
 [ 9.44809002e-04]]

 R_gt:
[[ 0.98264835 -0.18029003  0.04355568]
 [ 0.1823125   0.98206657 -0.04804151]
 [-0.03411406  0.05514814  0.99789445]]

 t_gt:
[ 0.62805758 -0.77768309 -0.02743516]

Pose Error in degrees for R and t:
81.13080465641268 43.81153408000714

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.99729402  0.07293108  0.00925716]
 [ 0.07290993 -0.99733513  0.00260314]
 [ 0.00942234 -0.00192116 -0.99995376]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99124844 -0.11970629  0.05565027]
 [ 0.12221812  0.99152065 -0.04415274]
 [-0.04989413  0.0505675   0.99747278]]

 t_gt:
[ 0.471914   -0.87509644  0.10725395]

Pose Error in degrees for R and t:
177.26710430896608 29.305278707570245

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.25930616 -0.96579227 -0.00236959]
 [-0.96579102  0.25929707  0.00356927]
 [-0.00283275  0.00321406 -0.99999082]]

 t_estimated:
[[0.79916863]
 [0.60110627]
 [0.0008649 ]]

 R_gt:
[[ 0.99321615  0.11549601  0.01351673]
 [-0.11535135  0.99326396 -0.01104689]
 [-0.01470095  0.00941289  0.99984789]]

 t_gt:
[-0.38587147  0.92220431  0.02534595]

Pose Error in degrees for R and t:
179.71213810673456 75.75975042498283

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99999006e-01 -1.37386505e-03 -3.16005235e-04]
 [ 1.37394607e-03  9.99999023e-01  2.56316661e-04]
 [ 3.15652782e-04 -2.56750580e-04  9.99999917e-01]]

 t_estimated:
[[-7.95842954e-01]
 [-6.05502698e-01]
 [-6.89638608e-04]]

 R_gt:
[[ 0.98229385  0.1867647   0.01470455]
 [-0.18570005  0.98104889 -0.05531065]
 [-0.02475532  0.05160102  0.99836074]]

 t_gt:
[-0.31792784  0.94621995 -0.05991414]

Pose Error in degrees for R and t:
11.311611608944554 71.34452669074953

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.52970449 -0.84781352 -0.02500774]
 [-0.84717173  0.52740457  0.06437761]
 [-0.04139101  0.05528696 -0.99761222]]

 t_estimated:
[[0.79856103]
 [0.60191324]
 [0.00085499]]

 R_gt:
[[ 0.95076791  0.30887863  0.02516499]
 [-0.30705066  0.94990026 -0.05840161]
 [-0.04194226  0.04779896  0.99797606]]

 t_gt:
[-0.28142098  0.95930504  0.02315309]

Pose Error in degrees for R and t:
179.86712781239268 69.34706130966534

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 0.08808166 -0.99611132 -0.00196344]
 [-0.99611275 -0.08807946 -0.00117864]
 [ 0.00100112  0.00205962 -0.99999738]]

 t_estimated:
[[0.56648897]
 [0.82406879]
 [0.00093326]]

 R_gt:
[[ 0.99978866  0.02049124  0.00135794]
 [-0.02050916  0.99968309  0.01465892]
 [-0.00105686 -0.01468377  0.99989105]]

 t_gt:
[0.34887013 0.83694486 0.4216787 ]

Pose Error in degrees for R and t:
179.45732029961772 27.41128076592428

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.95734086e-01 -9.22688523e-02 -2.97243796e-04]
 [ 9.22689372e-02  9.95734082e-01  2.85776637e-04]
 [ 2.69607496e-04 -3.11983907e-04  9.99999915e-01]]

 t_estimated:
[[-0.51164485]
 [-0.85919643]
 [-0.00101921]]

 R_gt:
[[ 0.99475822  0.10212848 -0.00513705]
 [-0.10187157  0.99410853  0.03702987]
 [ 0.0088891  -0.03631287  0.9993012 ]]

 t_gt:
[-0.15899862  0.96539383  0.20672249]

Pose Error in degrees for R and t:
11.35001121426997 41.55469766972184

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-2.81622280e-01  9.59525292e-01  3.25678435e-04]
 [-9.59524410e-01 -2.81621515e-01 -1.49301564e-03]
 [-1.34086821e-03 -7.32962876e-04  9.99998832e-01]]

 t_estimated:
[[0.49084348]
 [0.87124717]
 [0.00102259]]

 R_gt:
[[ 0.98382072  0.17640855  0.03125541]
 [-0.17773466  0.98297876  0.04651707]
 [-0.02251789 -0.05131909  0.99842876]]

 t_gt:
[-0.23655768  0.92005594  0.31230998]

Pose Error in degrees for R and t:
96.18990728531537 46.70123148023583

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99883925e-01  1.52345931e-02 -2.11349253e-04]
 [-1.52344873e-02  9.99883827e-01  4.93720154e-04]
 [ 2.18846326e-04 -4.90443048e-04  9.99999856e-01]]

 t_estimated:
[[ 6.94395656e-01]
 [-7.19593351e-01]
 [-2.85877005e-04]]

 R_gt:
[[ 0.99211737 -0.10589593  0.0670127 ]
 [ 0.10797989  0.99375116 -0.02828156]
 [-0.06359867  0.03529485  0.99735099]]

 t_gt:
[ 0.73357705 -0.66482147  0.14098625]

Pose Error in degrees for R and t:
8.17613432878807 8.97609482330303

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.99999792  0.00154543  0.00133446]
 [-0.00154389  0.99999814 -0.00115831]
 [-0.00133625  0.00115625  0.99999844]]

 t_estimated:
[[9.95363321e-01]
 [9.61826546e-02]
 [8.69074406e-04]]

 R_gt:
[[ 0.96903553 -0.14621604  0.19897639]
 [ 0.15507938  0.98745834 -0.02962386]
 [-0.19214849  0.0595641   0.97955624]]

 t_gt:
[ 0.60544528 -0.58148497  0.54342546]

Pose Error in degrees for R and t:
14.510348980480229 56.82613140761671

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.70539613  0.70878112  0.00675449]
 [ 0.70876793  0.70542677 -0.00459231]
 [-0.00801974  0.00154797 -0.99996664]]

 t_estimated:
[[-0.00199252]
 [-0.99998525]
 [ 0.00505293]]

 R_gt:
[[ 0.94217903 -0.14099395  0.30400855]
 [ 0.16033471  0.98627276 -0.03948964]
 [-0.29426683  0.08594906  0.95185055]]

 t_gt:
[ 0.52354719 -0.43819591  0.73067276]

Pose Error in degrees for R and t:
162.0127976456298 63.842619259033974

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-1.21208273e-01  9.92627080e-01  1.83845254e-04]
 [-9.92625470e-01 -1.21207736e-01 -1.83345479e-03]
 [-1.79765341e-03 -4.04719369e-04  9.99998302e-01]]

 t_estimated:
[[-5.03312115e-01]
 [ 8.64104495e-01]
 [ 5.79292686e-04]]

 R_gt:
[[ 0.99741321  0.03287326  0.06392677]
 [-0.03073012  0.99894168 -0.03422242]
 [-0.06498512  0.03217063  0.99736791]]

 t_gt:
[-0.3743625   0.91806003  0.13045498]

Pose Error in degrees for R and t:
95.20086644842061 10.949025578215927

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.79665839e-01  2.00636094e-01  5.01004011e-05]
 [-2.00636092e-01  9.79665839e-01 -4.27641139e-05]
 [-5.76616762e-05  3.18425929e-05  9.99999998e-01]]

 t_estimated:
[[-6.93006902e-01]
 [-7.20930621e-01]
 [-6.87777196e-04]]

 R_gt:
[[ 0.98700866  0.13708675  0.08379359]
 [-0.12984747  0.9877547  -0.08648942]
 [-0.09462418  0.07448707  0.992723  ]]

 t_gt:
[-0.34083316  0.94002435 -0.0136736 ]

Pose Error in degrees for R and t:
7.924010292750559 63.80144640242335

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.9955632  -0.09408139  0.00161652]
 [-0.09407387  0.99555623  0.00423015]
 [-0.00200731  0.00405931 -0.99998975]]

 t_estimated:
[[8.01490828e-01]
 [5.98006744e-01]
 [6.22275488e-04]]

 R_gt:
[[ 0.96968947  0.23683263  0.0601016 ]
 [-0.23448216  0.97114066 -0.04363876]
 [-0.06870254  0.02822429  0.99723821]]

 t_gt:
[-0.29574439  0.95480447  0.02972686]

Pose Error in degrees for R and t:
176.3073848564462 70.49059446389471

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99995549e-01  2.98303502e-03 -6.62808887e-05]
 [-2.98303328e-03  9.99995550e-01  2.62537291e-05]
 [ 6.63589095e-05 -2.60558941e-05  9.99999997e-01]]

 t_estimated:
[[ 9.99770031e-01]
 [-2.14444001e-02]
 [ 1.50675032e-04]]

 R_gt:
[[ 0.99585762  0.09034997 -0.01018729]
 [-0.09044498  0.99585777 -0.00931142]
 [ 0.00930423  0.0101941   0.99990489]]

 t_gt:
[ 0.05870004  0.97390392 -0.21923836]

Pose Error in degrees for R and t:
5.0775905887816535 87.83549708707505

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.96715985e-01  8.09758856e-02 -3.87983673e-04]
 [-8.09755681e-02  9.96715786e-01  7.74071473e-04]
 [ 4.49390574e-04 -7.40112213e-04  9.99999625e-01]]

 t_estimated:
[[-0.68532904]
 [-0.72823267]
 [-0.00112904]]

 R_gt:
[[ 0.99464709  0.09984127  0.02662453]
 [-0.09794482  0.99307294 -0.06491049]
 [-0.03292152  0.06195589  0.99753541]]

 t_gt:
[ 0.03517018  0.98244837 -0.18318914]

Pose Error in degrees for R and t:
4.2027954448787295 42.32415310878223

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 1.00000000e+00  6.88699042e-10  1.59548026e-12]
 [-6.88698765e-10  1.00000000e+00  5.22250927e-12]
 [-1.59547939e-12 -5.22250922e-12  1.00000000e+00]]

 t_estimated:
[[0.93328948]
 [0.35912289]
 [0.00122572]]

 R_gt:
[[ 0.99932888  0.02889457  0.02250108]
 [-0.02715238  0.99687099 -0.07423731]
 [-0.02457548  0.0735781   0.99698631]]

 t_gt:
[ 0.76393366  0.4294342  -0.48165509]

Pose Error in degrees for R and t:
4.730873326349383 29.934030186635542

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999612e-01  6.41826635e-04  6.03037359e-04]
 [-6.41339438e-04  9.99999468e-01 -8.07750369e-04]
 [-6.03555474e-04  8.07363304e-04  9.99999492e-01]]

 t_estimated:
[[-0.00778594]
 [-0.99996526]
 [-0.00297711]]

 R_gt:
[[ 0.96698384 -0.2535124   0.02598527]
 [ 0.2543032   0.96653219 -0.03385364]
 [-0.01653283  0.03934372  0.99908905]]

 t_gt:
[ 0.85924503 -0.5065751  -0.07127169]

Pose Error in degrees for R and t:
14.94333647090094 59.99473036495526

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.99999790e-01 -1.36942814e-04  6.33463474e-04]
 [ 1.37424157e-04  9.99999702e-01 -7.59878704e-04]
 [-6.33359225e-04  7.59965598e-04  9.99999511e-01]]

 t_estimated:
[[8.87179266e-01]
 [4.61424289e-01]
 [7.58921528e-04]]

 R_gt:
[[ 0.86227954 -0.50643059  0.00155205]
 [ 0.50634785  0.86207679 -0.02087059]
 [ 0.00923204  0.01878282  0.99978093]]

 t_gt:
[ 0.91464204 -0.40277725 -0.03464714]

Pose Error in degrees for R and t:
30.4411208712766 51.275673264022096

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 0.99981541 -0.00545024 -0.01842384]
 [ 0.00581198  0.99979026  0.019638  ]
 [ 0.01831295 -0.01974146  0.99963739]]

 t_estimated:
[[0.99981909]
 [0.01890414]
 [0.00210046]]

 R_gt:
[[ 0.81723693 -0.57616868  0.01242747]
 [ 0.57626779  0.81676618 -0.02840503]
 [ 0.00621598  0.03037568  0.99951913]]

 t_gt:
[ 0.92719492 -0.37225667 -0.04164801]

Pose Error in degrees for R and t:
35.012461642906885 23.088166337357634

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.94256367e-01  1.07024606e-01 -9.74580631e-05]
 [-1.07024602e-01  9.94256372e-01  4.01819837e-05]
 [ 1.01198761e-04 -2.95207828e-05  9.99999994e-01]]

 t_estimated:
[[-9.99961616e-01]
 [-8.75617531e-03]
 [-3.10992979e-04]]

 R_gt:
[[ 0.96312442  0.26126198  0.06428953]
 [-0.26001681  0.96522171 -0.02717448]
 [-0.06915332  0.00945693  0.99756142]]

 t_gt:
[-0.72334292  0.68099694  0.11409729]

Pose Error in degrees for R and t:
9.835105480971258 44.16661258212368

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.93639833e-01 -1.12604907e-01  1.28402907e-04]
 [ 1.12604981e-01  9.93639172e-01 -1.14652841e-03]
 [ 1.51856682e-06  1.15369510e-03  9.99999334e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.9275713   0.36848355  0.06190462]
 [-0.365898    0.92934758 -0.04929781]
 [-0.07569616  0.02307646  0.99686333]]

 t_gt:
[-0.68872351  0.72212853  0.06473266]

Pose Error in degrees for R and t:
28.395815666743857 83.0932915702604

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.87052706e-01 -1.60394472e-01 -7.54345068e-04]
 [ 1.60394736e-01  9.87052905e-01  3.02872309e-04]
 [ 6.95999447e-04 -4.19943910e-04  9.99999670e-01]]

 t_estimated:
[[-0.66239065]
 [-0.74915771]
 [-0.00116052]]

 R_gt:
[[ 0.89600819  0.44170463  0.04547672]
 [-0.43896809  0.8965518  -0.0591718 ]
 [-0.06690874  0.0330558   0.99721085]]

 t_gt:
[-0.66210006  0.74884069  0.02934498]

Pose Error in degrees for R and t:
35.649550411072724 82.96561741965041

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 2.41453536e-01  9.70411592e-01 -1.23793971e-03]
 [-9.70374483e-01  2.41455184e-01  8.52978376e-03]
 [ 8.57630800e-03 -8.58281338e-04  9.99962854e-01]]

 t_estimated:
[[8.22104447e-01]
 [5.69336402e-01]
 [5.83357871e-04]]

 R_gt:
[[ 0.96816065 -0.23535054 -0.08529873]
 [ 0.23383871  0.97188825 -0.02745052]
 [ 0.08936144  0.00663088  0.99597757]]

 t_gt:
[ 0.86111122 -0.45437638 -0.22809993]

Pose Error in degrees for R and t:
89.72188557986182 63.314218442502934

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.65983604  0.75130305 -0.01265422]
 [-0.75135004  0.65947813 -0.02370029]
 [-0.00946092  0.02514605  0.99963902]]

 t_estimated:
[[7.48848170e-01]
 [6.62741217e-01]
 [7.05794693e-04]]

 R_gt:
[[ 0.88447075 -0.46231017 -0.06310568]
 [ 0.45683446  0.88552949 -0.08450062]
 [ 0.09494762  0.04591045  0.99442322]]

 t_gt:
[ 0.91458246 -0.36191918 -0.18042571]

Pose Error in degrees for R and t:
76.28641341949348 63.583232144059814

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.87191328 -0.48965853 -0.00132847]
 [-0.48965156  0.87191069 -0.0036205 ]
 [ 0.00293112 -0.00250628 -0.99999256]]

 t_estimated:
[[9.75504869e-01]
 [2.19975884e-01]
 [9.28168286e-04]]

 R_gt:
[[ 0.70459523 -0.70763418 -0.05292203]
 [ 0.70177783  0.70592744 -0.09578357]
 [ 0.10513834  0.03034944  0.99399461]]

 t_gt:
[ 0.96251411 -0.25012578 -0.10489847]

Pose Error in degrees for R and t:
174.07223346777056 27.89356309874743

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 9.99999997e-01  1.33818089e-05  7.53920035e-05]
 [-1.33764540e-05  9.99999997e-01 -7.10271757e-05]
 [-7.53929538e-05  7.10261670e-05  9.99999995e-01]]

 t_estimated:
[[0.99841616]
 [0.05624667]
 [0.00122175]]

 R_gt:
[[ 0.99883938 -0.018336    0.04454625]
 [ 0.02081778  0.99821993 -0.05590259]
 [-0.04344154  0.05676644  0.99744273]]

 t_gt:
[ 0.7332126  -0.65385481  0.18674361]

Pose Error in degrees for R and t:
4.243894870522952 45.93274263002575

Number of keypoints:
Image1: 413
Image2: 413

 R_estimated:
[[-0.59628495  0.80229588  0.02766894]
 [ 0.80232499  0.59674935 -0.01283838]
 [-0.0268116   0.01454415 -0.99953469]]

 t_estimated:
[[ 0.89753181]
 [-0.44068842]
 [ 0.01517785]]

 R_gt:
[[ 0.99732782 -0.07285916  0.00531833]
 [ 0.07303126  0.99616765 -0.04813281]
 [-0.00179098  0.04839273  0.99882661]]

 t_gt:
[ 0.63394499 -0.69443688 -0.34039854]

Pose Error in degrees for R and t:
176.8269802876035 29.55883673477833

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.99999803e-01 -4.03769339e-04  4.80554732e-04]
 [ 4.04030115e-04  9.99999771e-01 -5.42683914e-04]
 [-4.80335503e-04  5.42877966e-04  9.99999737e-01]]

 t_estimated:
[[0.01964222]
 [0.99980381]
 [0.0025557 ]]

 R_gt:
[[ 0.99314088 -0.10937624 -0.04131525]
 [ 0.11007416  0.99381014  0.01500904]
 [ 0.03941816 -0.01945348  0.99903359]]

 t_gt:
[ 0.54119357 -0.82566748 -0.15931959]

Pose Error in degrees for R and t:
6.779636393152921 35.38470359810465

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 0.80673786  0.59087759  0.00614025]
 [ 0.59090835 -0.80671314 -0.00642069]
 [ 0.00115958  0.00880813 -0.99996054]]

 t_estimated:
[[-0.76160704]
 [ 0.64798911]
 [-0.00805182]]

 R_gt:
[[ 9.99868325e-01 -1.06739117e-03  1.62152866e-02]
 [ 1.05301211e-03  9.99998835e-01  9.21916382e-04]
 [-1.62164419e-02 -9.04071006e-04  9.99868213e-01]]

 t_gt:
[-0.53803078 -0.56620365  0.6244488 ]

Pose Error in degrees for R and t:
179.30039644868103 87.83105024379029

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 0.62207725 -0.78280913  0.01515787]
 [ 0.78286317  0.62218493  0.00334327]
 [-0.01204814  0.00978676  0.99987952]]

 t_estimated:
[[ 0.98000096]
 [-0.19894411]
 [ 0.00440027]]

 R_gt:
[[ 0.99714207 -0.06116098 -0.04435029]
 [ 0.06234113  0.99772215  0.02572908]
 [ 0.04267529 -0.02842028  0.99868497]]

 t_gt:
[ 0.40753202 -0.86666361 -0.28777046]

Pose Error in degrees for R and t:
48.12808967048741 55.212589391335314

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.40180366e-01  3.40676976e-01  2.77599990e-04]
 [-3.40676844e-01  9.40180355e-01 -4.33241337e-04]
 [-4.08589406e-04  3.12753111e-04  9.99999868e-01]]

 t_estimated:
[[-9.99926409e-01]
 [-1.21062070e-02]
 [-7.85527298e-04]]

 R_gt:
[[ 0.99362357 -0.08267919 -0.07666105]
 [ 0.08678629  0.99487407  0.05188954]
 [ 0.071978   -0.05821087  0.99570641]]

 t_gt:
[ 0.45423897 -0.85125249 -0.26274733]

Pose Error in degrees for R and t:
25.349342011590284 63.660206953055045

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.91806192e-01  1.27751622e-01 -3.14299877e-05]
 [-1.27751623e-01  9.91806192e-01 -3.16136477e-05]
 [ 2.71337617e-05  3.53698435e-05  9.99999999e-01]]

 t_estimated:
[[-0.56389478]
 [-0.82584572]
 [-0.00123217]]

 R_gt:
[[ 0.99584094  0.08369385  0.03597975]
 [-0.08173749  0.99525398 -0.0528034 ]
 [-0.04022692  0.04964365  0.99795635]]

 t_gt:
[-0.3223025   0.94020997 -0.11011951]

Pose Error in degrees for R and t:
4.486368160594456 53.51673305469706

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.05361302e-01  4.24642084e-01 -1.13556243e-04]
 [-4.24642099e-01  9.05361250e-01 -3.06962847e-04]
 [-2.75399214e-05  3.26133044e-04  9.99999946e-01]]

 t_estimated:
[[-0.8999685 ]
 [ 0.43595351]
 [-0.00111198]]

 R_gt:
[[ 0.98493731  0.16993256  0.03196506]
 [-0.16865373  0.98489619 -0.03920084]
 [-0.03814286  0.03321923  0.9987196 ]]

 t_gt:
[-0.29404824  0.95534992 -0.02902001]

Pose Error in degrees for R and t:
15.642165980099476 47.06606863997039

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999193e-01 -1.24302118e-03 -2.62865183e-04]
 [ 1.24307354e-03  9.99999208e-01  1.99136417e-04]
 [ 2.62617444e-04 -1.99463017e-04  9.99999946e-01]]

 t_estimated:
[[ 9.49362121e-01]
 [-3.14183910e-01]
 [ 1.81925518e-04]]

 R_gt:
[[ 0.94790197  0.31718975 -0.02952784]
 [-0.31779986  0.94797085 -0.01884689]
 [ 0.02201513  0.02724865  0.99938658]]

 t_gt:
[-0.22209905  0.9688246  -0.10977662]

Pose Error in degrees for R and t:
18.69532569512373 58.985064500510155

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.57302101 -0.81953795 -0.00211516]
 [-0.81953768  0.57302398 -0.00122402]
 [ 0.00221517  0.00103206 -0.99999701]]

 t_estimated:
[[9.15746451e-01]
 [4.01756054e-01]
 [7.14868424e-04]]

 R_gt:
[[ 9.95307123e-01 -9.67662845e-02 -5.32984646e-04]
 [ 9.66614386e-02  9.94450399e-01 -4.15403727e-02]
 [ 4.54892762e-03  4.12935456e-02  9.99136205e-01]]

 t_gt:
[ 0.70032456 -0.58886445 -0.4034652 ]

Pose Error in degrees for R and t:
178.63272925148271 66.14324345234036

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999723e-01  6.69524937e-05 -7.41367130e-04]
 [-6.60255061e-05  9.99999216e-01  1.25032972e-03]
 [ 7.41450262e-04 -1.25028042e-03  9.99998944e-01]]

 t_estimated:
[[-0.7020174 ]
 [-0.7121589 ]
 [-0.00112683]]

 R_gt:
[[ 0.97839135 -0.16376859  0.12622333]
 [ 0.17027548  0.98447821 -0.04253737]
 [-0.11729768  0.06311004  0.99108933]]

 t_gt:
[ 0.71096795 -0.6837708   0.16426221]

Pose Error in degrees for R and t:
12.362937874868152 89.2927514068621

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.53501856 -0.84483903 -0.00147127]
 [ 0.84483534 -0.53500863 -0.00435995]
 [ 0.00289632 -0.00357563  0.99998941]]

 t_estimated:
[[0.98396237]
 [0.17837233]
 [0.00116583]]

 R_gt:
[[ 0.95796743 -0.15300606  0.24267015]
 [ 0.17021864  0.98406025 -0.05149784]
 [-0.23092345  0.0906398   0.96874094]]

 t_gt:
[ 0.60252499 -0.58773262  0.53993889]

Pose Error in degrees for R and t:
113.52610205585322 60.74770675097438

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 2.56215449e-01 -9.66618272e-01 -1.66144287e-03]
 [ 9.66619676e-01  2.56214685e-01  6.61218601e-04]
 [-2.13459919e-04 -1.77539779e-03  9.99998401e-01]]

 t_estimated:
[[ 0.85330028]
 [-0.52141886]
 [ 0.00100301]]

 R_gt:
[[ 0.98601214  0.12513494  0.11010903]
 [-0.12169044  0.99186045 -0.03748772]
 [-0.11390377  0.02356438  0.99321164]]

 t_gt:
[-0.43341195  0.74065162  0.51340945]

Pose Error in degrees for R and t:
82.49690564254728 40.93045769241675

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-1.58857756e-01 -9.87286951e-01 -5.35621754e-03]
 [-9.87301459e-01  1.58854288e-01  1.06965557e-03]
 [-2.05198861e-04  5.45812448e-03 -9.99985083e-01]]

 t_estimated:
[[8.73224442e-01]
 [4.87317771e-01]
 [6.80611412e-04]]

 R_gt:
[[ 0.94559604  0.3074866   0.10631162]
 [-0.30345116  0.95139139 -0.05265487]
 [-0.11733395  0.01752929  0.99293796]]

 t_gt:
[-0.35160015  0.89825627  0.2636532 ]

Pose Error in degrees for R and t:
176.60575034101836 82.47898386805439

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99984653e-01 -5.51169689e-03 -5.60584535e-04]
 [ 5.51147311e-03  9.99984732e-01 -3.99955490e-04]
 [ 5.62780410e-04  3.96859706e-04  9.99999763e-01]]

 t_estimated:
[[-9.99971562e-01]
 [-7.48844931e-03]
 [-8.93225926e-04]]

 R_gt:
[[ 0.8882826   0.44586399  0.1102739 ]
 [-0.43788407  0.89455279 -0.08963726]
 [-0.13861186  0.03133611  0.9898511 ]]

 t_gt:
[-0.27565215  0.94028488  0.19970036]

Pose Error in degrees for R and t:
27.889877316265654 74.42945396164875

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 6.20000232e-01  7.84600786e-01  1.14823757e-03]
 [-7.84601298e-01  6.20000647e-01 -7.50236971e-06]
 [-7.17794404e-04 -8.96257220e-04  9.99999341e-01]]

 t_estimated:
[[0.23379788]
 [0.97228457]
 [0.00112403]]

 R_gt:
[[ 0.99712176  0.06485663 -0.03925199]
 [-0.063638    0.99747355  0.03155898]
 [ 0.04119968 -0.02896954  0.99873057]]

 t_gt:
[-0.09540487  0.97702993 -0.19055296]

Pose Error in degrees for R and t:
48.0814119498673 21.962094854291806

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-0.7691632  -0.63900725 -0.00759691]
 [-0.63900763  0.76919568 -0.00269326]
 [ 0.00756453  0.00278292 -0.99996752]]

 t_estimated:
[[ 0.92269093]
 [ 0.38552928]
 [-0.00293699]]

 R_gt:
[[ 0.98837157  0.15185682  0.00777538]
 [-0.15203488  0.98780305  0.03363861]
 [-0.00257242 -0.03442909  0.99940442]]

 t_gt:
[-0.27928112  0.9401872   0.19506431]

Pose Error in degrees for R and t:
179.51466290920297 84.01854049467346

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 6.56067977e-01  7.54701681e-01  4.26080436e-04]
 [ 7.54678739e-01 -6.56052238e-01  7.44725291e-03]
 [ 5.89998531e-03 -4.56435030e-03 -9.99972178e-01]]

 t_estimated:
[[0.65780052]
 [0.75319153]
 [0.00099366]]

 R_gt:
[[ 0.9832631   0.18159126  0.01476871]
 [-0.18205152  0.9824548   0.04049306]
 [-0.00715683 -0.04250264  0.99907108]]

 t_gt:
[-0.20169143  0.95514276  0.21684758]

Pose Error in degrees for R and t:
177.69449985014896 54.05926004901012

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999834e-01 -5.75956118e-04 -2.16799903e-05]
 [ 5.75956476e-04  9.99999834e-01  1.65074552e-05]
 [ 2.16704791e-05 -1.65199392e-05  1.00000000e+00]]

 t_estimated:
[[-9.99991654e-01]
 [-4.00465278e-03]
 [-8.09114660e-04]]

 R_gt:
[[ 0.99497978  0.09869748  0.01655112]
 [-0.09840259  0.99498985 -0.01770704]
 [-0.01821656  0.01598972  0.99970631]]

 t_gt:
[-0.66393926  0.74756564  0.01817358]

Pose Error in degrees for R and t:
5.856603339830876 48.62952272959642

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999960e-01  2.10634636e-04 -1.87968020e-04]
 [-2.10577879e-04  9.99999932e-01  3.01919089e-04]
 [ 1.88031602e-04 -3.01879495e-04  9.99999937e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.98646838  0.16209075 -0.02463392]
 [-0.16180946  0.98673686  0.01301607]
 [ 0.02641597 -0.00885398  0.99961147]]

 t_gt:
[-0.63261022  0.77295558 -0.04841469]

Pose Error in degrees for R and t:
9.442592893818645 59.96244303950007

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.76183179e-01 -2.16947570e-01 -3.91235834e-04]
 [ 2.16947709e-01  9.76183160e-01  3.58531778e-04]
 [ 3.04135235e-04 -4.34870409e-04  9.99999859e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.99028002  0.13443652 -0.03566823]
 [-0.13564274  0.99017937 -0.03387355]
 [ 0.0307635   0.03838211  0.99878957]]

 t_gt:
[-0.54671834  0.79607203 -0.25955419]

Pose Error in degrees for R and t:
20.48874126216414 37.99000087131639

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.97285993e-01  7.36239764e-02  3.97130103e-04]
 [-7.36238585e-02  9.97286035e-01 -3.03579486e-04]
 [-4.18403035e-04  2.73517319e-04  9.99999875e-01]]

 t_estimated:
[[0.43778352]
 [0.89907971]
 [0.00111965]]

 R_gt:
[[ 0.99811517 -0.02708574  0.05507097]
 [ 0.02798548  0.99948624 -0.01563982]
 [-0.05461966  0.01715062  0.99836009]]

 t_gt:
[-0.4672123  -0.39396959  0.79151793]

Pose Error in degrees for R and t:
6.651152344336627 56.091952306726625

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.76443459e-01 -2.15768787e-01 -1.41517477e-03]
 [ 2.15768194e-01  9.76444454e-01 -5.61009679e-04]
 [ 1.50288794e-03  2.42444527e-04  9.99998841e-01]]

 t_estimated:
[[ 0.92609722]
 [-0.37726501]
 [-0.00387873]]

 R_gt:
[[ 0.99578634 -0.0907345   0.01334476]
 [ 0.09090229  0.99577967 -0.01262745]
 [-0.01214267  0.01378597  0.99983068]]

 t_gt:
[ 0.06403477 -0.99794663  0.0014428 ]

Pose Error in degrees for R and t:
7.33194062943876 64.16460662016331

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.90530588e-01  1.37291558e-01  4.26130737e-04]
 [-1.37291593e-01  9.90530674e-01  5.36810691e-05]
 [-4.14725608e-04 -1.11676909e-04  9.99999908e-01]]

 t_estimated:
[[ 9.79492070e-01]
 [-2.01482152e-01]
 [ 4.77130012e-04]]

 R_gt:
[[ 0.99593014 -0.08166591 -0.03812904]
 [ 0.08244665  0.99640727  0.01937792]
 [ 0.03640946 -0.02244319  0.9990846 ]]

 t_gt:
[-0.15720881 -0.96205434 -0.22301756]

Pose Error in degrees for R and t:
12.838997710596727 87.72214535898118

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99979694e-01 -6.26346245e-03 -1.17460344e-03]
 [ 6.26273910e-03  9.99980198e-01 -6.18494143e-04]
 [ 1.17845410e-03  6.11125349e-04  9.99999119e-01]]

 t_estimated:
[[ 0.99994892]
 [-0.00835867]
 [-0.00568327]]

 R_gt:
[[ 0.99686891 -0.01286019  0.07802307]
 [ 0.00443857  0.99423111  0.10717354]
 [-0.07895096 -0.10649231  0.99117334]]

 t_gt:
[-0.03528883 -0.18496228  0.98211183]

Pose Error in degrees for R and t:
7.687492931127246 87.74640023378217

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999022e-01 -1.39485376e-03 -1.03095733e-04]
 [ 1.39480485e-03  9.99998915e-01 -4.72944834e-04]
 [ 1.03755310e-04  4.72800573e-04  9.99999883e-01]]

 t_estimated:
[[ 9.99996572e-01]
 [-2.59124332e-03]
 [ 3.75129681e-04]]

 R_gt:
[[ 0.99320293  0.07450191  0.08943184]
 [-0.08848493  0.98244137  0.16425903]
 [-0.07562437 -0.17105608  0.98235428]]

 t_gt:
[-0.39633781  0.2959507   0.86909696]

Pose Error in degrees for R and t:
11.819780689653447 66.62313373682694

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99973756e-01 -6.82920122e-03 -2.41861883e-03]
 [ 6.83100595e-03  9.99976396e-01  7.38710987e-04]
 [ 2.41351693e-03 -7.55213199e-04  9.99996802e-01]]

 t_estimated:
[[0.99974938]
 [0.02236286]
 [0.00103806]]

 R_gt:
[[ 0.97267259  0.19686003  0.123109  ]
 [-0.21456155  0.96471969  0.15257977]
 [-0.08872853 -0.17482435  0.98059302]]

 t_gt:
[-0.54252066  0.61814016  0.56883572]

Pose Error in degrees for R and t:
16.778414765009188 58.131546291126966

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999999e-01  2.27810237e-05 -3.93799734e-05]
 [-2.27876616e-05  9.99999986e-01 -1.68570234e-04]
 [ 3.93761326e-05  1.68571131e-04  9.99999985e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.99472333  0.09634194  0.03524957]
 [-0.09428707  0.99397177 -0.05593736]
 [-0.04042555  0.05231841  0.99781164]]

 t_gt:
[-0.31753504  0.94701587 -0.04829539]

Pose Error in degrees for R and t:
6.654413799965484 77.81124852286163

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.82118863e-01  1.88261889e-01  1.59516551e-05]
 [-1.88261887e-01  9.82118859e-01 -8.79914143e-05]
 [-3.22318512e-05  8.34149390e-05  9.99999996e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97929853  0.20233942  0.00568261]
 [-0.2019277   0.97848773 -0.04226113]
 [-0.01411118  0.04023844  0.9990908 ]]

 t_gt:
[-0.25996363  0.95860245 -0.11619062]

Pose Error in degrees for R and t:
2.5719467480287994 75.10313171216336

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.99998544e-01 -1.70673781e-03 -6.44907052e-06]
 [ 1.70674560e-03  9.99997402e-01  1.51115782e-03]
 [ 3.86990357e-06 -1.51116663e-03  9.99998858e-01]]

 t_estimated:
[[-6.16863374e-01]
 [-7.87070242e-01]
 [-1.05115925e-04]]

 R_gt:
[[ 0.9166535   0.39956313  0.00972003]
 [-0.39743935  0.91381363 -0.08357715]
 [-0.04227723  0.0727486   0.99645367]]

 t_gt:
[-0.23398542  0.9700012  -0.06594307]

Pose Error in degrees for R and t:
24.12448407181429 51.74845549008175

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.97949270e-01  6.40096490e-02  1.39965455e-04]
 [-6.40096071e-02  9.97949241e-01 -2.85995680e-04]
 [-1.57984903e-04  2.76450046e-04  9.99999949e-01]]

 t_estimated:
[[8.63021427e-01]
 [5.05166868e-01]
 [6.72658945e-04]]

 R_gt:
[[ 0.9994271  -0.03352295 -0.00466029]
 [ 0.03351152  0.99943515 -0.0025404 ]
 [ 0.00474321  0.00238288  0.99998558]]

 t_gt:
[ 0.69306588 -0.71230191 -0.11084078]

Pose Error in degrees for R and t:
5.599131334189647 76.21820864197807

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.92512169e-01  1.22145778e-01  6.16946855e-05]
 [-1.22145788e-01  9.92512146e-01  2.16994479e-04]
 [-3.47277652e-05 -2.22905407e-04  9.99999975e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075934e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99925088  0.02437549  0.03007723]
 [-0.02418682  0.99968618 -0.00661226]
 [-0.03022907  0.00587974  0.99952527]]

 t_gt:
[-0.71902962 -0.25724747  0.64561609]

Pose Error in degrees for R and t:
5.894204123391218 44.00137423546706

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-9.60795821e-01 -2.77107409e-01 -9.10348438e-03]
 [ 2.77255588e-01 -9.60374302e-01 -2.84699778e-02]
 [-8.53510658e-04 -2.98778277e-02  9.99553194e-01]]

 t_estimated:
[[9.59234172e-01]
 [2.82611471e-01]
 [7.47649394e-04]]

 R_gt:
[[ 0.99530739  0.09478827 -0.0194329 ]
 [-0.09507883  0.9953625  -0.01462224]
 [ 0.0179568   0.01640075  0.99970409]]

 t_gt:
[-0.79142564  0.49318863 -0.36112386]

Pose Error in degrees for R and t:
169.34089744341867 51.68008669251289

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 9.92051095e-01 -1.25835655e-01 -1.13445361e-04]
 [ 1.25835672e-01  9.92051086e-01  1.61027573e-04]
 [ 9.22805839e-05 -1.74023053e-04  9.99999981e-01]]

 t_estimated:
[[-0.89469291]
 [-0.44667977]
 [-0.00133337]]

 R_gt:
[[ 0.99855581  0.01794557  0.05063355]
 [-0.01455765  0.99767978 -0.06651342]
 [-0.05170963  0.06568106  0.99649907]]

 t_gt:
[-0.22127185  0.86095001 -0.45804349]

Pose Error in degrees for R and t:
9.469956995568978 79.28126814482364

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[-0.95100078  0.30885815 -0.01428807]
 [ 0.30885016  0.95110653  0.00281804]
 [ 0.01445985 -0.00173292 -0.99989395]]

 t_estimated:
[[ 0.98429629]
 [-0.17637074]
 [-0.0073603 ]]

 R_gt:
[[ 0.99754802  0.060456    0.03524098]
 [-0.05844584  0.99674499 -0.05553545]
 [-0.03848416  0.05334008  0.99783393]]

 t_gt:
[-0.10370398  0.95367392 -0.28240314]

Pose Error in degrees for R and t:
178.25641536221852 74.44299080394536

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 1.30994074e-01  9.91383140e-01 -1.47634733e-04]
 [-9.91381576e-01  1.30993599e-01 -1.80196493e-03]
 [-1.76709845e-03  3.82409082e-04  9.99998366e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99473177  0.09797302  0.03016069]
 [-0.09709488  0.99484351 -0.02934217]
 [-0.03288005  0.02625983  0.99911376]]

 t_gt:
[-0.14458277  0.98780433 -0.05777914]

Pose Error in degrees for R and t:
76.90191060183322 9.311670885576953

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.53760153  0.84319296  0.00319732]
 [ 0.84319404  0.53758144  0.00547831]
 [ 0.00290045  0.00564111 -0.99997988]]

 t_estimated:
[[-0.07386967]
 [-0.99724054]
 [-0.00738697]]

 R_gt:
[[ 0.95719964 -0.27597043  0.08722745]
 [ 0.28273913  0.95601849 -0.07801243]
 [-0.06186099  0.09933682  0.9931289 ]]

 t_gt:
[ 0.86191287 -0.46112727 -0.21087403]

Pose Error in degrees for R and t:
173.6742357543323 66.56282268696306

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-4.51446882e-02 -9.98978208e-01 -2.12044168e-03]
 [ 9.98979995e-01 -4.51466100e-02  8.67321179e-04]
 [-9.62165711e-04 -2.07912388e-03  9.99997376e-01]]

 t_estimated:
[[0.99756353]
 [0.06975251]
 [0.00126172]]

 R_gt:
[[ 0.88788433 -0.42568835  0.17450418]
 [ 0.44930808  0.88387351 -0.12995907]
 [-0.09891667  0.19379514  0.97604276]]

 t_gt:
[ 0.90019647 -0.32424999 -0.29070303]

Pose Error in degrees for R and t:
67.37594688978318 28.95275975017333

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 5.02311138e-01  8.64685987e-01  1.29020757e-03]
 [ 8.64686683e-01 -5.02309253e-01 -1.53421379e-03]
 [-6.78529964e-04  1.88627798e-03 -9.99997991e-01]]

 t_estimated:
[[7.58010699e-01]
 [6.52241765e-01]
 [6.78005991e-04]]

 R_gt:
[[ 0.8059758  -0.5557221   0.20389917]
 [ 0.58141356  0.80788247 -0.09635392]
 [-0.11117987  0.19620848  0.9742389 ]]

 t_gt:
[ 0.94546302 -0.25779541 -0.19910098]

Pose Error in degrees for R and t:
167.43784338469519 56.74328996608109

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99646087e-01 -2.66023476e-02  1.28944262e-04]
 [ 2.66023341e-02  9.99646090e-01  1.05467916e-04]
 [-1.31704322e-04 -1.02000372e-04  9.99999986e-01]]

 t_estimated:
[[0.99778978]
 [0.06643871]
 [0.00120798]]

 R_gt:
[[ 9.96535222e-01 -8.25845549e-02  9.96275443e-03]
 [ 8.25981407e-02  9.96582894e-01 -9.04961620e-04]
 [-9.85329778e-03  1.72434994e-03  9.99950229e-01]]

 t_gt:
[ 0.82937398 -0.55486552  0.06529216]

Pose Error in degrees for R and t:
3.2620250605043686 37.743858376919

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.72156215e-01  2.34330923e-01  1.14532792e-03]
 [-2.34330101e-01  9.72156752e-01 -8.07794566e-04]
 [-1.30272952e-03  5.16917701e-04  9.99999018e-01]]

 t_estimated:
[[-9.55972448e-01]
 [-2.93456434e-01]
 [-8.50132000e-06]]

 R_gt:
[[ 0.98784049 -0.15209584  0.03221554]
 [ 0.15195707  0.98836414  0.00672675]
 [-0.03286281 -0.00174916  0.99945865]]

 t_gt:
[ 0.85786991 -0.47874563  0.18671328]

Pose Error in degrees for R and t:
22.372149682488704 47.18677883309975

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 8.21914646e-01 -5.69608989e-01  1.38359333e-03]
 [ 5.69609997e-01  8.21914983e-01 -4.59901434e-04]
 [-8.75232099e-04  1.16610832e-03  9.99998937e-01]]

 t_estimated:
[[0.71369917]
 [0.70045186]
 [0.00082796]]

 R_gt:
[[ 0.97878354 -0.20111484  0.03919991]
 [ 0.20064935  0.97954037  0.01550601]
 [-0.04151583 -0.00731096  0.99911101]]

 t_gt:
[ 0.87914082 -0.43221583  0.20075083]

Pose Error in degrees for R and t:
23.248071035869486 71.04279108461124

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 0.5322765  -0.84656734 -0.00233762]
 [ 0.8465673   0.53228009 -0.00130933]
 [ 0.0023527  -0.00128203  0.99999641]]

 t_estimated:
[[-0.1736044 ]
 [-0.98481041]
 [-0.00315644]]

 R_gt:
[[ 0.99878101  0.04928317  0.00287865]
 [-0.04925329  0.9987399  -0.00958489]
 [-0.00334697  0.00943212  0.99994982]]

 t_gt:
[-0.24921054  0.96720594  0.04905897]

Pose Error in degrees for R and t:
60.66758897633134 24.576705206946905

Number of keypoints:
Image1: 562
Image2: 562

 R_estimated:
[[ 9.99694978e-01 -2.46971282e-02 -5.30360336e-05]
 [ 2.46971285e-02  9.99694979e-01  4.81918334e-06]
 [ 5.29008365e-05 -6.12755112e-06  9.99999999e-01]]

 t_estimated:
[[-9.65686385e-01]
 [-2.59710622e-01]
 [-4.46022355e-04]]

 R_gt:
[[ 0.99585875  0.09041569 -0.0094977 ]
 [-0.09018689  0.99567574  0.02227145]
 [ 0.01147015 -0.02132222  0.99970647]]

 t_gt:
[-0.19841159  0.96356578  0.17937063]

Pose Error in degrees for R and t:
6.740838542614663 86.63337401031583

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.99664230e-01 -2.59116865e-02  1.09688614e-04]
 [ 2.59117380e-02  9.99664111e-01 -4.97527647e-04]
 [-9.67599907e-05  5.00202815e-04  9.99999870e-01]]

 t_estimated:
[[-0.93160236]
 [-0.36347764]
 [-0.00101814]]

 R_gt:
[[ 0.99547755  0.09484976 -0.00526799]
 [-0.09444101  0.99412423  0.05288037]
 [ 0.01025163 -0.0521443   0.99858636]]

 t_gt:
[-0.07847142  0.95412945  0.28892771]

Pose Error in degrees for R and t:
7.571800733883273 74.09788409614671

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[-0.95991366 -0.26394371  0.09433703]
 [-0.26404307  0.96444048  0.01165448]
 [-0.09405857 -0.01372175 -0.9954721 ]]

 t_estimated:
[[0.98992574]
 [0.13329075]
 [0.04775575]]

 R_gt:
[[ 9.99680627e-01 -2.52709248e-02 -1.56794757e-04]
 [ 2.52631390e-02  9.99525292e-01 -1.76183321e-02]
 [ 6.00959839e-04  1.76096506e-02  9.99845190e-01]]

 t_gt:
[ 0.65408035  0.53912058 -0.53059202]

Pose Error in degrees for R and t:
174.70365411635805 46.051466638217455

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.93705070e-01  1.12020679e-01  1.26571449e-03]
 [-1.12019267e-01  9.93705385e-01 -1.13641774e-03]
 [-1.38504960e-03  9.87479657e-04  9.99998553e-01]]

 t_estimated:
[[8.91162823e-01]
 [4.53682892e-01]
 [8.10148021e-04]]

 R_gt:
[[ 0.99593602 -0.08743447  0.0216185 ]
 [ 0.0880433   0.99569288 -0.02903284]
 [-0.01898741  0.03081839  0.99934526]]

 t_gt:
[ 0.96763524 -0.24332996 -0.06687735]

Pose Error in degrees for R and t:
11.636211779073832 41.24722623791699

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 0.99651193  0.08315801  0.00698033]
 [-0.08306978  0.99647027 -0.01209999]
 [-0.0079619   0.01147793  0.99990243]]

 t_estimated:
[[9.04589095e-01]
 [4.26283998e-01]
 [7.22515252e-04]]

 R_gt:
[[ 0.98126251 -0.18969464  0.03374781]
 [ 0.19078204  0.98109181 -0.03256071]
 [-0.02693388  0.03838955  0.99889959]]

 t_gt:
[ 0.91049658 -0.41336554 -0.01117672]

Pose Error in degrees for R and t:
15.852885000706202 49.653683993490304

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-8.39758996e-01 -5.42959309e-01 -1.31327237e-04]
 [-5.42959273e-01  8.39758785e-01  6.40693973e-04]
 [-2.37587556e-04  6.09333869e-04 -9.99999786e-01]]

 t_estimated:
[[0.94452198]
 [0.32844684]
 [0.00094927]]

 R_gt:
[[ 0.98629904  0.1645735  -0.011391  ]
 [-0.16490641  0.98545219 -0.04109153]
 [ 0.00446339  0.04240679  0.99909039]]

 t_gt:
[-0.37057785  0.89902045 -0.23331157]

Pose Error in degrees for R and t:
178.8842950213914 86.84943822152832

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.98172473e-01  6.04292211e-02 -1.53619552e-04]
 [-6.04292185e-02  9.98172485e-01  2.15579617e-05]
 [ 1.54641541e-04 -1.22354545e-05  9.99999988e-01]]

 t_estimated:
[[-9.58426069e-01]
 [-2.85340305e-01]
 [-6.16408896e-04]]

 R_gt:
[[ 0.9458116   0.32444802 -0.01319487]
 [-0.3246563   0.94407717 -0.05757726]
 [-0.00622441  0.05874087  0.99825344]]

 t_gt:
[-0.28907882  0.94704816 -0.13976131]

Pose Error in degrees for R and t:
15.855000275383842 89.6037496770893

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.37920982  0.92527639  0.00796922]
 [ 0.92530895 -0.37921184 -0.00131392]
 [ 0.00180629  0.00787224 -0.99996738]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.90291065  0.42972488 -0.00944004]
 [-0.42519013  0.8897363  -0.16607625]
 [-0.06296809  0.15396515  0.98606809]]

 t_gt:
[-0.21594076  0.9658785  -0.14299762]

Pose Error in degrees for R and t:
171.04440128101854 35.89275224038244

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99998762e-01 -1.55313195e-03  2.52864165e-04]
 [ 1.55332145e-03  9.99998512e-01 -7.50950883e-04]
 [-2.51697463e-04  7.51342733e-04  9.99999686e-01]]

 t_estimated:
[[-9.99997288e-01]
 [-2.13496899e-03]
 [-9.30293418e-04]]

 R_gt:
[[ 0.99947883  0.02538159  0.01996337]
 [-0.02551439  0.99965431  0.00641758]
 [-0.01979448 -0.00692425  0.99978019]]

 t_gt:
[-0.56613642  0.72603337  0.39033972]

Pose Error in degrees for R and t:
1.9588669352142705 55.651737988583875

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.99056335  0.13701299 -0.00341827]
 [-0.13699089  0.99055397  0.00602817]
 [ 0.00421192 -0.00550301  0.99997599]]

 t_estimated:
[[-0.99964906]
 [-0.02600602]
 [-0.00504409]]

 R_gt:
[[ 0.9918744   0.12685675  0.00961153]
 [-0.12665365  0.99175778 -0.01939189]
 [-0.01199308  0.01801703  0.9997665 ]]

 t_gt:
[-0.626183    0.77889483 -0.03489544]

Pose Error in degrees for R and t:
1.739316644144283 52.70756904958896

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999254e-01  1.21555124e-03  1.22571432e-04]
 [-1.21556280e-03  9.99999257e-01  9.42020409e-05]
 [-1.22456834e-04 -9.43509639e-05  9.99999988e-01]]

 t_estimated:
[[-9.99685370e-01]
 [ 2.50822922e-02]
 [ 2.00416921e-04]]

 R_gt:
[[ 9.88743031e-01  1.48183717e-01 -2.07164942e-02]
 [-1.48205619e-01  9.88956139e-01  4.75772616e-04]
 [ 2.05575141e-02  2.59926468e-03  9.99785635e-01]]

 t_gt:
[-0.59654062  0.79801179 -0.08553636]

Pose Error in degrees for R and t:
8.537399684150111 51.94979293380885

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.79558435e-01  2.01159694e-01  2.23657653e-04]
 [-2.01159639e-01  9.79558441e-01 -2.45009724e-04]
 [-2.68371823e-04  1.95010449e-04  9.99999945e-01]]

 t_estimated:
[[-0.55768884]
 [-0.83004851]
 [-0.00162119]]

 R_gt:
[[ 0.99669541 -0.03796529 -0.07180669]
 [ 0.03937251  0.99905745  0.01827617]
 [ 0.07104471 -0.02104347  0.99725088]]

 t_gt:
[ 0.20465736 -0.69835871 -0.68586476]

Pose Error in degrees for R and t:
14.464357574164147 62.18304421114034

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99985351e-01 -5.41273847e-03  2.75691046e-05]
 [ 5.41273310e-03  9.99985333e-01  1.91047511e-04]
 [-2.86027904e-05 -1.90895488e-04  9.99999981e-01]]

 t_estimated:
[[ 5.14466047e-01]
 [-8.57510738e-01]
 [ 1.43875942e-04]]

 R_gt:
[[ 0.99124074 -0.04158051 -0.12535104]
 [ 0.0494713   0.99694177  0.06050006]
 [ 0.12245158 -0.06617137  0.99026615]]

 t_gt:
[ 0.0691197  -0.79151206 -0.60723235]

Pose Error in degrees for R and t:
8.32417626169887 44.42212373870436

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.86154365e-01  1.65829860e-01  1.63082030e-04]
 [-1.65829871e-01  9.86154375e-01  5.27177979e-05]
 [-1.52081872e-04 -7.90317584e-05  9.99999985e-01]]

 t_estimated:
[[ 6.90920338e-01]
 [-7.22930891e-01]
 [ 1.15028184e-04]]

 R_gt:
[[ 0.98081509 -0.10526428 -0.1640782 ]
 [ 0.11545542  0.99185278  0.05383674]
 [ 0.15707395 -0.07174744  0.98497696]]

 t_gt:
[ 0.2751136  -0.83170933 -0.4822573 ]

Pose Error in degrees for R and t:
18.765353047971583 37.69335267973999

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-9.71795214e-01  2.35826101e-01 -3.33820699e-04]
 [-2.35824899e-01 -9.71793258e-01 -2.11690157e-03]
 [-8.23625348e-04 -1.97847158e-03  9.99997704e-01]]

 t_estimated:
[[0.60014567]
 [0.7998902 ]
 [0.00091208]]

 R_gt:
[[ 9.97821371e-01  6.08547864e-02 -2.54947287e-02]
 [-6.08389842e-02  9.98147398e-01  1.39761873e-03]
 [ 2.55328389e-02  1.56346102e-04  9.99673888e-01]]

 t_gt:
[-0.57343137  0.79030142 -0.21587064]

Pose Error in degrees for R and t:
162.87377374604924 73.27280477952661

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.99911516  0.03948163 -0.01449471]
 [ 0.03944664  0.99921805  0.00269212]
 [ 0.01458966  0.00211797 -0.99989132]]

 t_estimated:
[[ 0.99998154]
 [ 0.00127861]
 [-0.00593968]]

 R_gt:
[[ 0.98763554  0.15658487  0.00761022]
 [-0.15600963  0.98646493 -0.05047764]
 [-0.01541071  0.04866591  0.99869586]]

 t_gt:
[-0.52322004  0.84669525 -0.09668472]

Pose Error in degrees for R and t:
179.87428993577768 58.563483851121056

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999633e-01  6.62537856e-04 -5.44063570e-04]
 [-6.61966422e-04  9.99999230e-01  1.04981521e-03]
 [ 5.44758693e-04 -1.04945467e-03  9.99999301e-01]]

 t_estimated:
[[-8.01523678e-01]
 [-5.97962691e-01]
 [-6.43519297e-04]]

 R_gt:
[[ 9.65110014e-01  2.61845385e-01 -6.36665254e-04]
 [-2.61773615e-01  9.64779970e-01 -2.59761116e-02]
 [-6.18695088e-03  2.52366579e-02  9.99662199e-01]]

 t_gt:
[-0.48719802  0.87226107 -0.04241125]

Pose Error in degrees for R and t:
15.22103149786863 82.46963959417386

Number of keypoints:
Image1: 367
Image2: 367

 R_estimated:
[[-0.72897396  0.68449854  0.00766283]
 [-0.6845114  -0.72900116  0.00120695]
 [ 0.00641237 -0.00436546  0.99996991]]

 t_estimated:
[[0.47599477]
 [0.87944755]
 [0.00099373]]

 R_gt:
[[ 0.99785366  0.05845069  0.02953295]
 [-0.05930836  0.99781613  0.02906891]
 [-0.02777015 -0.03075838  0.99914128]]

 t_gt:
[-0.80195822 -0.1167595   0.58585854]

Pose Error in degrees for R and t:
133.42792046827114 61.06418111730661

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.86571661e-01 -1.63326588e-01  8.85326769e-04]
 [ 1.63326776e-01  9.86572017e-01 -1.43180374e-04]
 [-8.50053454e-04  2.85855266e-04  9.99999598e-01]]

 t_estimated:
[[0.5882903 ]
 [0.80864929]
 [0.00091807]]

 R_gt:
[[ 0.99773665  0.0082511   0.0667339 ]
 [-0.01017832  0.99953931  0.02859206]
 [-0.06646857 -0.0292064   0.99736146]]

 t_gt:
[-0.28748545 -0.67466355  0.67983911]

Pose Error in degrees for R and t:
10.748524396323585 44.433214209991604

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.90782103e-01  1.35461798e-01  9.61857134e-04]
 [-1.35459545e-01  9.90780626e-01 -2.11271143e-03]
 [-1.23918110e-03  1.96294395e-03  9.99997306e-01]]

 t_estimated:
[[0.65210675]
 [0.75812669]
 [0.00084143]]

 R_gt:
[[ 0.9965964  -0.06280418  0.05339806]
 [ 0.0612179   0.99764783  0.03084026]
 [-0.05521005 -0.02746555  0.99809696]]

 t_gt:
[ 0.39848318 -0.83561624  0.3780961 ]

Pose Error in degrees for R and t:
11.880964621362264 68.0787880214938

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999887e-01  4.72147912e-04 -4.80474397e-05]
 [-4.72146857e-04  9.99999888e-01  2.19630273e-05]
 [ 4.80578041e-05 -2.19403394e-05  9.99999999e-01]]

 t_estimated:
[[-2.42896481e-01]
 [-9.70052189e-01]
 [-2.26315067e-04]]

 R_gt:
[[ 0.99971518  0.02087051 -0.01160795]
 [-0.02093281  0.99976662 -0.00526015]
 [ 0.01149403  0.00550243  0.99991922]]

 t_gt:
[-0.41490098  0.43997794 -0.79641483]

Pose Error in degrees for R and t:
1.3782256375550694 70.98332407744505

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-9.49432959e-01 -3.13968364e-01  9.60289520e-04]
 [ 3.13958773e-01 -9.49420747e-01 -5.48936065e-03]
 [ 2.63520438e-03 -4.91028861e-03  9.99984472e-01]]

 t_estimated:
[[8.65144112e-01]
 [5.01522875e-01]
 [6.86077805e-04]]

 R_gt:
[[ 0.99756686 -0.06879868 -0.01132956]
 [ 0.06913397  0.9970815   0.03239057]
 [ 0.00906794 -0.03309381  0.99941084]]

 t_gt:
[ 0.71616908 -0.68040616  0.15540048]

Pose Error in degrees for R and t:
157.74945887036995 73.83187491639943

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99871818e-01  1.60066769e-02  3.66476653e-04]
 [-1.60066608e-02  9.99871884e-01 -4.69678460e-05]
 [-3.67181501e-04  4.10957581e-05  9.99999932e-01]]

 t_estimated:
[[0.99975939]
 [0.0219023 ]
 [0.00120609]]

 R_gt:
[[ 0.98649788 -0.15980902 -0.0358344 ]
 [ 0.16107579  0.98629316  0.03576314]
 [ 0.02962698 -0.0410518   0.99871799]]

 t_gt:
[ 0.76808763 -0.63960934  0.03068036]

Pose Error in degrees for R and t:
10.565405986624759 41.06795788714792

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 0.22760985  0.97374764  0.00304826]
 [-0.97374852  0.22761667 -0.0021129 ]
 [-0.00275127 -0.00248732  0.99999312]]

 t_estimated:
[[0.25186251]
 [0.96776019]
 [0.00234359]]

 R_gt:
[[ 0.99973842 -0.01592224 -0.01643173]
 [ 0.01739889  0.99541522  0.09404786]
 [ 0.01485875 -0.09430832  0.99543208]]

 t_gt:
[ 0.18872213 -0.67656549  0.71178866]

Pose Error in degrees for R and t:
77.96415612819997 52.73135605148444

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 0.28394006  0.95870782  0.01604235]
 [ 0.95880316 -0.28373815 -0.01375383]
 [-0.00863407  0.01928672 -0.99977671]]

 t_estimated:
[[0.33449576]
 [0.94239672]
 [0.00100148]]

 R_gt:
[[ 0.99608653 -0.07721542 -0.0429965 ]
 [ 0.08405681  0.97797796  0.19103256]
 [ 0.02729885 -0.19389878  0.98064129]]

 t_gt:
[ 0.38864561 -0.63084012  0.67156186]

Pose Error in degrees for R and t:
171.07947665464135 62.365550106144866

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.90359145e-01 -1.38521042e-01  8.27917537e-04]
 [ 1.38520661e-01  9.90359417e-01  5.01888978e-04]
 [-8.89458113e-04 -3.82366655e-04  9.99999531e-01]]

 t_estimated:
[[0.67223215]
 [0.74033989]
 [0.00088452]]

 R_gt:
[[ 0.9581238  -0.26997337 -0.09546598]
 [ 0.28347933  0.94136971  0.18292731]
 [ 0.04048269 -0.2023295   0.97847995]]

 t_gt:
[ 0.72610593 -0.56087499  0.39773033]

Pose Error in degrees for R and t:
14.490374377789335 85.80073357117301

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.91171337e-01 -1.32587180e-01 -1.43884073e-04]
 [ 1.32587189e-01  9.91171345e-01  5.52892542e-05]
 [ 1.35283124e-04 -7.38783088e-05  9.99999988e-01]]

 t_estimated:
[[-0.53507894]
 [-0.84480103]
 [-0.00131916]]

 R_gt:
[[ 0.98882101  0.146385    0.0283827 ]
 [-0.14672922  0.98912131  0.01041997]
 [-0.02654946 -0.01446771  0.9995427 ]]

 t_gt:
[-0.88232406  0.45588271  0.116941  ]

Pose Error in degrees for R and t:
16.14179652032846 85.01881659315099

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 9.98004342e-01  6.31451207e-02 -1.65072667e-04]
 [-6.31450903e-02  9.98004341e-01  1.83237982e-04]
 [ 1.76313823e-04 -1.72448773e-04  9.99999970e-01]]

 t_estimated:
[[-9.97938096e-01]
 [-6.41829352e-02]
 [-3.27919867e-04]]

 R_gt:
[[ 0.94578963  0.32037769  0.05329103]
 [-0.31866929  0.94709706 -0.0381748 ]
 [-0.06270308  0.01912379  0.99784933]]

 t_gt:
[-0.82780421  0.56080003 -0.01560536]

Pose Error in degrees for R and t:
15.497848447945909 37.804331163004434

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 6.36160930e-01 -7.71554854e-01 -1.54236417e-03]
 [ 7.71556101e-01  6.36161162e-01  3.97915367e-04]
 [ 6.74178651e-04 -1.44315870e-03  9.99998731e-01]]

 t_estimated:
[[-0.26908773]
 [-0.9631149 ]
 [-0.00121759]]

 R_gt:
[[ 0.90154249  0.42710085  0.06932802]
 [-0.42679316  0.90412951 -0.01994557]
 [-0.07120063 -0.01160653  0.99739437]]

 t_gt:
[-0.80146794  0.59481118  0.06203872]

Pose Error in degrees for R and t:
75.90329184398605 69.06664052636222

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.91013089e-01 -1.33764819e-01 -1.75998032e-04]
 [ 1.33764816e-01  9.91013104e-01 -3.22950370e-05]
 [ 1.78736296e-04  8.46246002e-06  9.99999984e-01]]

 t_estimated:
[[-0.69372798]
 [-0.72023624]
 [-0.00111366]]

 R_gt:
[[ 0.99856568  0.05129734  0.01537797]
 [-0.05135392  0.99867538  0.00328299]
 [-0.01518839 -0.00406899  0.99987569]]

 t_gt:
[-0.84402893  0.4876036   0.2232888 ]

Pose Error in degrees for R and t:
10.668255207300271 76.46212817287989

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.06710568 -0.99774178  0.00285865]
 [-0.99774479 -0.06710111  0.00166324]
 [-0.00146767 -0.00296382 -0.99999453]]

 t_estimated:
[[0.6296693 ]
 [0.77685876]
 [0.00265332]]

 R_gt:
[[ 9.96322711e-01  8.26103563e-02 -2.27412383e-02]
 [-8.26300327e-02  9.96581109e-01  9.89181910e-05]
 [ 2.26710887e-02  1.78028655e-03  9.99741345e-01]]

 t_gt:
[-0.82578352  0.54881094 -0.12995436]

Pose Error in degrees for R and t:
179.25776384188777 84.60814655714522

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.95739078e-01 -9.22153020e-02 -1.61216966e-04]
 [ 9.22153258e-02  9.95739078e-01  1.46975266e-04]
 [ 1.46976665e-04 -1.61215691e-04  9.99999976e-01]]

 t_estimated:
[[0.59807249]
 [0.8014409 ]
 [0.00133086]]

 R_gt:
[[ 0.99544717  0.07842191 -0.05417991]
 [-0.0788483   0.99687057 -0.00578425]
 [ 0.05355645  0.01003008  0.99851432]]

 t_gt:
[-0.78305806  0.5199022  -0.34135286]

Pose Error in degrees for R and t:
10.286489866977806 87.01302802181608

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.98553678e-01 -5.37637752e-02 -9.72600233e-05]
 [ 5.37637793e-02  9.98553681e-01  4.06710107e-05]
 [ 9.49327272e-05 -4.58412537e-05  9.99999994e-01]]

 t_estimated:
[[-4.80404042e-01]
 [-8.77047063e-01]
 [-6.37045855e-04]]

 R_gt:
[[ 0.99760888  0.03408091  0.06013337]
 [-0.03430688  0.99940781  0.00271339]
 [-0.06000529 -0.0047701   0.99818605]]

 t_gt:
[-0.70021346  0.31811341  0.63914394]

Pose Error in degrees for R and t:
6.113325380612245 86.73364491803494

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99111490e-01 -4.21430401e-02 -4.40440665e-04]
 [ 4.21431858e-02  9.99111528e-01  3.26783341e-04]
 [ 4.26277702e-04 -3.45054563e-04  9.99999850e-01]]

 t_estimated:
[[-8.50139050e-01]
 [-5.26558101e-01]
 [-4.02247351e-04]]

 R_gt:
[[ 0.99427054  0.09903264  0.04024219]
 [-0.09946095  0.99500287  0.0087519 ]
 [-0.03917401 -0.01270389  0.99915154]]

 t_gt:
[-0.80463189  0.53298867  0.26170708]

Pose Error in degrees for R and t:
8.4546630292483 66.21572196188279

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.99868221  0.01337318 -0.04954804]
 [-0.00951947  0.99696921  0.07721247]
 [ 0.05043044 -0.07663905  0.99578272]]

 t_estimated:
[[ 0.62905616]
 [ 0.77735547]
 [-0.00261087]]

 R_gt:
[[ 0.9926197   0.12124717 -0.00240547]
 [-0.12117416  0.99241988  0.02047531]
 [ 0.00487058 -0.02003179  0.99978742]]

 t_gt:
[-0.82756586  0.55914613  0.04990342]

Pose Error in degrees for R and t:
7.57404724668134 85.06299589199708

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99922272e-01  1.24603015e-02 -4.36295832e-04]
 [-1.24643460e-02  9.99861871e-01 -1.09944669e-02]
 [ 2.99241195e-04  1.09990505e-02  9.99939464e-01]]

 t_estimated:
[[-0.53752748]
 [-0.84318036]
 [-0.01053975]]

 R_gt:
[[ 0.99655519  0.07533264  0.03468337]
 [-0.07516522  0.99715219 -0.00611204]
 [-0.03504428  0.00348407  0.9993789 ]]

 t_gt:
[-0.80420919  0.5203763   0.28715166]

Pose Error in degrees for R and t:
4.1460330272400165 89.45493442621186

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.24970818 -0.96832005  0.00145112]
 [-0.96831929  0.2497045  -0.00232734]
 [ 0.00189126 -0.0019863  -0.99999624]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99186359  0.12691786 -0.00995388]
 [-0.12702545  0.99183805 -0.0110014 ]
 [ 0.00847763  0.01217623  0.99988993]]

 t_gt:
[-0.7555652   0.63501923 -0.16084717]

Pose Error in degrees for R and t:
179.16794507948282 76.93509174630475

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.9994122  -0.02488075  0.023584  ]
 [ 0.02540393  0.99943184 -0.02215016]
 [-0.02301949  0.02273627  0.99947645]]

 t_estimated:
[[0.74887989]
 [0.66270532]
 [0.00076261]]

 R_gt:
[[ 9.96094604e-01  8.82972841e-02 -6.61602461e-04]
 [-8.82524134e-02  9.95772578e-01  2.54468469e-02]
 [ 2.90761356e-03 -2.52884980e-02  9.99675372e-01]]

 t_gt:
[-0.85153651  0.47163141  0.22901832]

Pose Error in degrees for R and t:
7.2049143242526075 71.03616543800328

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-1.72404424e-01 -9.85026091e-01 -5.60749203e-04]
 [-9.85024057e-01  1.72405214e-01 -2.01222413e-03]
 [ 2.07876935e-03  2.05435114e-04 -9.99997818e-01]]

 t_estimated:
[[7.36347133e-01]
 [6.76603858e-01]
 [3.43870030e-04]]

 R_gt:
[[ 9.99480539e-01 -3.20643148e-02 -3.34444108e-03]
 [ 3.22366840e-02  9.93165961e-01  1.12176255e-01]
 [-2.76085253e-04 -1.12226031e-01  9.93682344e-01]]

 t_gt:
[ 0.27216732 -0.64065582  0.71797288]

Pose Error in degrees for R and t:
176.02354080527076 76.53721804585139

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-8.82193816e-01 -4.70881193e-01 -2.22992403e-03]
 [-4.70886330e-01  8.82187352e-01  3.39709329e-03]
 [ 3.67583437e-04  4.04693543e-03 -9.99991744e-01]]

 t_estimated:
[[8.84371590e-01]
 [4.66783391e-01]
 [3.96462001e-04]]

 R_gt:
[[ 0.98356949 -0.17470151 -0.04550276]
 [ 0.17967416  0.971813    0.15263533]
 [ 0.01755409 -0.15830327  0.987234  ]]

 t_gt:
[ 0.65316194 -0.60532844  0.45492523]

Pose Error in degrees for R and t:
179.63899141275095 72.82681354942036

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.90997718e-01 -1.33878685e-01 -1.43784659e-04]
 [ 1.33878672e-01  9.90997725e-01 -9.65881816e-05]
 [ 1.55421369e-04  7.64689683e-05  9.99999985e-01]]

 t_estimated:
[[-0.65388279]
 [-0.75659452]
 [-0.00142535]]

 R_gt:
[[ 0.90568792 -0.41681663 -0.07741271]
 [ 0.4235214   0.89772668  0.12131425]
 [ 0.01892969 -0.14265898  0.98959062]]

 t_gt:
[ 0.85018965 -0.47459854  0.22788984]

Pose Error in degrees for R and t:
19.155312727073564 78.62845106575796

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99484688e-01  3.20991498e-02 -6.25120431e-05]
 [-3.20991469e-02  9.99484689e-01  4.64067472e-05]
 [ 6.39694471e-05 -4.43762500e-05  9.99999997e-01]]

 t_estimated:
[[-9.87065023e-01]
 [-1.60319797e-01]
 [-4.50867156e-04]]

 R_gt:
[[ 0.99003654  0.13569066  0.03763243]
 [-0.1352705   0.99071679 -0.01351587]
 [-0.0391168   0.00829166  0.99919954]]

 t_gt:
[-0.86157012  0.50695532  0.02632934]

Pose Error in degrees for R and t:
6.377319334727788 39.72337571438325

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-9.68092075e-01 -2.50493012e-01 -7.14037289e-03]
 [-2.50490109e-01  9.68118269e-01 -1.31250866e-03]
 [ 7.24149969e-03  5.17963555e-04 -9.99973646e-01]]

 t_estimated:
[[ 0.99210471]
 [ 0.1253801 ]
 [-0.00284224]]

 R_gt:
[[ 0.94320515  0.32877665  0.04765279]
 [-0.32889255  0.9443507  -0.00561824]
 [-0.04684915 -0.01037256  0.99884789]]

 t_gt:
[-0.84486223  0.5303341   0.07038149]

Pose Error in degrees for R and t:
177.66351212655184 39.47532072162874

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.82391939e-01  1.86830901e-01 -5.41426081e-04]
 [-1.86829113e-01  9.82389494e-01  2.40094563e-03]
 [ 9.80462129e-04 -2.25751548e-03  9.99996971e-01]]

 t_estimated:
[[-9.99938759e-01]
 [-1.10287362e-02]
 [-9.19061359e-04]]

 R_gt:
[[ 0.84784274  0.52506903  0.07393174]
 [-0.52450666  0.85093203 -0.02840017]
 [-0.07782395 -0.01469782  0.9968587 ]]

 t_gt:
[-0.79604503  0.6020362   0.06216693]

Pose Error in degrees for R and t:
21.435655940203624 37.87990825750175

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99392191e-01 -3.48604184e-02  1.15027050e-05]
 [ 3.48604174e-02  9.99392188e-01  7.89470507e-05]
 [-1.42478407e-05 -7.84980769e-05  9.99999997e-01]]

 t_estimated:
[[ 7.37308992e-01]
 [-6.75555658e-01]
 [ 4.85218356e-05]]

 R_gt:
[[ 0.99722342 -0.07347323  0.01210366]
 [ 0.07303588  0.99677364  0.03329506]
 [-0.01451158 -0.03231882  0.99937208]]

 t_gt:
[ 0.74187842 -0.51550212  0.4288053 ]

Pose Error in degrees for R and t:
2.9939896351672326 26.457536341034718

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99479465e-01  3.22613841e-02  3.63631592e-05]
 [-3.22613850e-02  9.99479466e-01  2.43794359e-05]
 [-3.55577165e-05 -2.55398714e-05  9.99999999e-01]]

 t_estimated:
[[-0.85614293]
 [-0.51673771]
 [-0.00118991]]

 R_gt:
[[ 0.99946569  0.00469459  0.03234959]
 [-0.00553152  0.99965162  0.02583298]
 [-0.0322176  -0.0259979   0.99914222]]

 t_gt:
[-0.21037581  0.53673311  0.81710439]

Pose Error in degrees for R and t:
2.8348765058606635 84.36385274551967

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.93701409e-01 -1.12060277e-01 -6.60469053e-05]
 [ 1.12060290e-01  9.93701380e-01  2.43508275e-04]
 [ 3.83432960e-05 -2.49375752e-04  9.99999968e-01]]

 t_estimated:
[[-5.49331622e-01]
 [-8.35604162e-01]
 [-6.72904351e-04]]

 R_gt:
[[ 0.99647124  0.08356524 -0.00781436]
 [-0.08320554  0.99578495  0.03860064]
 [ 0.01100621 -0.03781407  0.99922353]]

 t_gt:
[-0.57210685  0.80229633  0.17033597]

Pose Error in degrees for R and t:
11.44046906366862 69.13051580579416

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.83309778e-01  1.81937455e-01  8.01604992e-04]
 [-1.81937310e-01  9.83310100e-01 -2.51102209e-04]
 [-8.33911182e-04  1.01069402e-04  9.99999647e-01]]

 t_estimated:
[[0.4387022 ]
 [0.89863193]
 [0.00101083]]

 R_gt:
[[ 0.99633497 -0.08301477  0.02061519]
 [ 0.08291543  0.99654146  0.00562197]
 [-0.02100926 -0.00389207  0.99977162]]

 t_gt:
[ 0.78807009 -0.60895247  0.0901245 ]

Pose Error in degrees for R and t:
15.28751351962611 78.38087123164883

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 0.48181747  0.87626897 -0.00215089]
 [ 0.87622429 -0.48176449  0.01157446]
 [ 0.00910612 -0.00746144 -0.9999307 ]]

 t_estimated:
[[0.62954463]
 [0.77696377]
 [0.00092716]]

 R_gt:
[[ 0.98957066 -0.14199227  0.02425225]
 [ 0.14183722  0.98985843  0.00800029]
 [-0.02514111 -0.00447619  0.99967368]]

 t_gt:
[ 0.7980965  -0.60072086  0.04665214]

Pose Error in degrees for R and t:
179.8008960319363 87.95168204182534

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.49405142  0.86942879  0.00260307]
 [-0.86943111  0.49404262  0.00338072]
 [ 0.00165327 -0.00393344  0.9999909 ]]

 t_estimated:
[[0.72101276]
 [0.69292135]
 [0.00078032]]

 R_gt:
[[ 0.98502872 -0.16903651  0.03384913]
 [ 0.16785763  0.98518598  0.03510311]
 [-0.03928037 -0.02889468  0.99881103]]

 t_gt:
[ 0.70925062 -0.68809843  0.15324526]

Pose Error in degrees for R and t:
70.1374341961761 88.0114238145797

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 8.21935285e-01 -5.69579775e-01  1.12525397e-03]
 [ 5.69579692e-01  8.21936004e-01  4.24308376e-04]
 [-1.16656422e-03  2.92167781e-04  9.99999277e-01]]

 t_estimated:
[[0.72471496]
 [0.68904836]
 [0.00075886]]

 R_gt:
[[ 0.99585255 -0.03803799 -0.08264573]
 [ 0.04169216  0.99820695  0.04295185]
 [ 0.08086303 -0.04621871  0.99565284]]

 t_gt:
[ 0.23457019 -0.84006186 -0.48915529]

Pose Error in degrees for R and t:
32.86670282837117 65.8442844265421

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[ 9.84461925e-01  1.75597904e-01  3.06439246e-04]
 [-1.75597913e-01  9.84461971e-01  4.78866374e-06]
 [-3.00836905e-04 -5.85243493e-05  9.99999953e-01]]

 t_estimated:
[[0.95269192]
 [0.30393462]
 [0.00136294]]

 R_gt:
[[ 0.99189418 -0.10209926 -0.07564007]
 [ 0.10465087  0.9940389   0.0305674 ]
 [ 0.07206695 -0.03823519  0.99666617]]

 t_gt:
[ 0.37463548 -0.89529707 -0.24102163]

Pose Error in degrees for R and t:
16.724972976418805 85.15434100001929

Number of keypoints:
Image1: 421
Image2: 421

 R_estimated:
[[ 3.47516016e-01  9.37673848e-01  6.10596855e-04]
 [-9.37672137e-01  3.47516548e-01 -1.79226708e-03]
 [-1.89275448e-03  5.03018571e-05  9.99998207e-01]]

 t_estimated:
[[0.00834173]
 [0.99996466]
 [0.00104272]]

 R_gt:
[[ 0.98711321 -0.13880922 -0.07962563]
 [ 0.14100623  0.98974984  0.02263905]
 [ 0.07566671 -0.03357481  0.99656817]]

 t_gt:
[ 0.3992109  -0.88512333 -0.23913876]

Pose Error in degrees for R and t:
77.84983956936286 28.114055053053146

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.52030207e-01  3.06003931e-01  2.81350160e-04]
 [-3.06003854e-01  9.52030231e-01 -2.83998585e-04]
 [-3.54758541e-04  1.84280998e-04  9.99999920e-01]]

 t_estimated:
[[-8.07762648e-01]
 [ 5.89507721e-01]
 [ 3.89385669e-04]]

 R_gt:
[[ 0.9925455   0.12181137  0.00397896]
 [-0.12182409  0.99062813  0.06175934]
 [ 0.00358168 -0.06178439  0.99808372]]

 t_gt:
[-0.63132645  0.73733615  0.24033793]

Pose Error in degrees for R and t:
11.384504996358425 19.139891807221527

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999487e-01 -9.97536658e-04 -1.76348617e-04]
 [ 9.97540089e-04  9.99999502e-01  1.93683902e-05]
 [ 1.76329209e-04 -1.95442950e-05  9.99999984e-01]]

 t_estimated:
[[-9.99700545e-01]
 [ 2.44651469e-02]
 [ 5.25585255e-04]]

 R_gt:
[[ 0.97457153  0.22321666  0.01961343]
 [-0.22404235  0.97222193  0.06774071]
 [-0.00394769 -0.07041278  0.99751024]]

 t_gt:
[-0.59553701  0.78588263  0.16650574]

Pose Error in degrees for R and t:
13.608151771170746 52.07184210085001

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.90985995e-01  1.33965460e-01 -1.13874847e-04]
 [-1.33965473e-01  9.90985993e-01 -1.16969987e-04]
 [ 9.71784398e-05  1.31170916e-04  9.99999987e-01]]

 t_estimated:
[[-0.99995131]
 [-0.00979144]
 [-0.00122393]]

 R_gt:
[[ 0.95833365  0.28564219 -0.00222385]
 [-0.28564496  0.95833446 -0.00103547]
 [ 0.00183585  0.00162707  0.99999676]]

 t_gt:
[-0.52914373  0.84811377 -0.02664482]

Pose Error in degrees for R and t:
8.899669500849273 58.61096201566483

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99881231e-01  1.54117354e-02 -4.07612708e-05]
 [-1.54117454e-02  9.99881199e-01 -2.56049123e-04]
 [ 3.68102670e-05  2.56646915e-04  9.99999966e-01]]

 t_estimated:
[[ 0.5166637 ]
 [-0.85618483]
 [-0.00248272]]

 R_gt:
[[ 0.99864575  0.05107382  0.00987427]
 [-0.05080309  0.99837123 -0.02598278]
 [-0.01118605  0.02544574  0.99961299]]

 t_gt:
[-0.78811921  0.60699756 -0.10208855]

Pose Error in degrees for R and t:
2.578400475372975 22.082846283432783

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99999713e-01  7.57247828e-04 -7.71399316e-07]
 [-7.57247900e-04  9.99999709e-01 -9.76699697e-05]
 [ 6.97438719e-07  9.76705258e-05  9.99999995e-01]]

 t_estimated:
[[ 0.55807523]
 [-0.82978895]
 [ 0.00152914]]

 R_gt:
[[ 9.98520010e-01  5.42689502e-02 -3.44601762e-03]
 [-5.43769869e-02  9.96889220e-01 -5.70683110e-02]
 [ 3.38453562e-04  5.71716064e-02  9.98363777e-01]]

 t_gt:
[-0.80791316  0.5270964  -0.26352555]

Pose Error in degrees for R and t:
4.488596667445638 27.2948992821787

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-4.86851164e-01 -8.73483156e-01 -1.76636182e-03]
 [ 8.73484937e-01 -4.86850390e-01 -8.73129829e-04]
 [-9.72897400e-05 -1.96797471e-03  9.99998059e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99981833 -0.01376981  0.01324567]
 [ 0.01479294  0.99664755 -0.08047571]
 [-0.0120933   0.08065743  0.99666813]]

 t_gt:
[-0.85631487  0.34429003 -0.38495353]

Pose Error in degrees for R and t:
118.37485861070367 31.180408241096547

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.99700940e-01 -2.44544256e-02 -1.11762790e-04]
 [ 2.44544339e-02  9.99700943e-01  7.31105097e-05]
 [ 1.09941491e-04 -7.58217410e-05  9.99999991e-01]]

 t_estimated:
[[-0.83592832]
 [-0.54883782]
 [-0.00094457]]

 R_gt:
[[ 0.99022684  0.1381301   0.01926019]
 [-0.13769705  0.99022447 -0.02227184]
 [-0.02214837  0.0194024   0.99956629]]

 t_gt:
[-0.84471954  0.53125899 -0.06490598]

Pose Error in degrees for R and t:
9.482413398259663 65.50516143213137

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99263542e-01 -3.83709737e-02 -2.05165208e-04]
 [ 3.83709963e-02  9.99263556e-01  1.07482442e-04]
 [ 2.00889909e-04 -1.15275680e-04  9.99999973e-01]]

 t_estimated:
[[-0.38634098]
 [-0.92235532]
 [-0.00114114]]

 R_gt:
[[ 0.96786584  0.2503161   0.02402521]
 [-0.25029881  0.96816135 -0.00376084]
 [-0.0242027  -0.00237279  0.99970385]]

 t_gt:
[-0.8282703   0.55984532  0.02327067]

Pose Error in degrees for R and t:
16.755615544236036 78.67300718107414

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.05305794  0.99858966  0.00188211]
 [ 0.99859022 -0.05306072  0.00145846]
 [ 0.00155627  0.00180208 -0.99999717]]

 t_estimated:
[[-9.98914753e-01]
 [-4.65694524e-02]
 [-7.76157539e-04]]

 R_gt:
[[ 0.90086729  0.43121186  0.04995456]
 [-0.42781928  0.90144126 -0.06613793]
 [-0.07355111  0.03820994  0.99655918]]

 t_gt:
[-0.77589689  0.62941929 -0.04260719]

Pose Error in degrees for R and t:
175.29127732582086 41.7741875022115

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99999971e-01  2.39999545e-04  6.37939998e-06]
 [-2.39999773e-04  9.99999971e-01  3.56631659e-05]
 [-6.37084065e-06 -3.56646960e-05  9.99999999e-01]]

 t_estimated:
[[9.54578994e-01]
 [2.97957952e-01]
 [5.06096915e-05]]

 R_gt:
[[ 0.9988828  -0.03541004 -0.03129722]
 [ 0.03583693  0.99927035  0.01316251]
 [ 0.03080805 -0.01426955  0.99942402]]

 t_gt:
[ 0.9866016   0.02183375 -0.16168047]

Pose Error in degrees for R and t:
2.8301486360713786 18.50670498222142

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.99998288e-01 -1.83954204e-03  2.00836275e-04]
 [ 1.83962100e-03  9.99998230e-01 -3.93688540e-04]
 [-2.00111713e-04  3.94057328e-04  9.99999902e-01]]

 t_estimated:
[[ 0.9267521 ]
 [-0.37566397]
 [-0.00266968]]

 R_gt:
[[ 0.9993397  -0.03359847 -0.01383831]
 [ 0.03366244  0.99942361  0.00441236]
 [ 0.01368134 -0.00487506  0.99989488]]

 t_gt:
[ 0.96600083  0.24040166 -0.09512849]

Pose Error in degrees for R and t:
2.0102224721999935 36.37167907250577

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.85229619e-01 -1.71238423e-01  2.06615447e-05]
 [ 1.71238415e-01  9.85229599e-01  2.05746374e-04]
 [-5.55880500e-05 -1.99169372e-04  9.99999979e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.99382698e-01  2.87535687e-02  2.01863885e-02]
 [-2.87352952e-02  9.99586159e-01 -1.20145982e-03]
 [-2.02130937e-02  6.21558585e-04  9.99796177e-01]]

 t_gt:
[0.23844692 0.96272943 0.1276523 ]

Pose Error in degrees for R and t:
11.564923880842189 76.02314921062852

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-4.94817205e-01 -8.68994306e-01 -2.19779053e-03]
 [ 8.68996593e-01 -4.94818034e-01 -1.86997229e-04]
 [-9.25006863e-04 -2.00240193e-03  9.99997567e-01]]

 t_estimated:
[[0.97432716]
 [0.22513336]
 [0.00125074]]

 R_gt:
[[ 0.99762125 -0.00819829  0.06844842]
 [ 0.00881112  0.99992415 -0.00864498]
 [-0.06837189  0.00922804  0.99761741]]

 t_gt:
[-0.34913985 -0.28044058  0.89412217]

Pose Error in degrees for R and t:
119.2134338342237 66.28455163712741

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-0.12422742  0.99221458 -0.00881874]
 [ 0.99223212  0.12427852  0.00550172]
 [ 0.00655487 -0.00806677 -0.99994598]]

 t_estimated:
[[8.67895837e-01]
 [4.96745577e-01]
 [8.05098179e-04]]

 R_gt:
[[ 0.98064673 -0.09241571  0.17260717]
 [ 0.09246113  0.99568594  0.00780221]
 [-0.17258233  0.00830823  0.98495985]]

 t_gt:
[ 0.20362577 -0.60538595  0.76944421]

Pose Error in degrees for R and t:
173.124757722024 82.91294025586446

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.27312843e-01  3.74287026e-01 -3.37835557e-04]
 [-3.74286612e-01  9.27312632e-01  9.03179091e-04]
 [ 6.51327396e-04 -7.11082245e-04  9.99999535e-01]]

 t_estimated:
[[-0.88663829]
 [-0.46246247]
 [-0.00100754]]

 R_gt:
[[ 0.95620672 -0.18541066  0.22647852]
 [ 0.18531693  0.9824357   0.02187349]
 [-0.2265553   0.02105509  0.97377039]]

 t_gt:
[ 0.42477443 -0.67356514  0.60487741]

Pose Error in degrees for R and t:
35.28786073069696 86.23110987250247

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999999e-01  3.20940430e-05  3.58348603e-05]
 [-3.20925494e-05  9.99999999e-01 -4.16775928e-05]
 [-3.58361979e-05  4.16764427e-05  9.99999998e-01]]

 t_estimated:
[[ 8.29705824e-01]
 [-5.58200891e-01]
 [-1.01085133e-04]]

 R_gt:
[[ 0.97682214 -0.19622227  0.08552692]
 [ 0.20306435  0.97586304 -0.08034833]
 [-0.06769685  0.09585298  0.99309064]]

 t_gt:
[ 0.88005116 -0.37944368 -0.28553887]

Pose Error in degrees for R and t:
13.372272042570387 19.60669660784497

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.75264149  0.65842529  0.00263045]
 [-0.65842856 -0.7526234  -0.00546386]
 [-0.0016178  -0.00584429  0.99998161]]

 t_estimated:
[[0.48253675]
 [0.87587056]
 [0.00300887]]

 R_gt:
[[ 0.92927887 -0.34863829  0.12203105]
 [ 0.35846746  0.93089721 -0.07022609]
 [-0.08911561  0.1090033   0.99003896]]

 t_gt:
[ 0.93189708 -0.33684297 -0.13455348]

Pose Error in degrees for R and t:
159.66665604163828 81.12734294653043

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-9.90819037e-01 -1.35193316e-01 -6.35328399e-04]
 [ 1.35193950e-01 -9.90818551e-01 -1.09265994e-03]
 [-4.81774844e-04 -1.16852082e-03  9.99999201e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.91470936 -0.39117541  0.10143246]
 [ 0.39667995  0.91705909 -0.0405836 ]
 [-0.07714439  0.0773576   0.9940139 ]]

 t_gt:
[ 0.96796378 -0.24613772 -0.04962198]

Pose Error in degrees for R and t:
149.00907851165553 51.04649564801298

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.99984533e-01  5.56110632e-03 -9.22606906e-05]
 [-5.56109790e-03  9.99984533e-01  9.11998121e-05]
 [ 9.27664354e-05 -9.06853308e-05  9.99999992e-01]]

 t_estimated:
[[-9.97835447e-01]
 [-6.57593461e-02]
 [-3.59114867e-04]]

 R_gt:
[[ 0.98917177  0.14647498  0.00919784]
 [-0.14637899  0.98917362 -0.01038307]
 [-0.01061951  0.00892473  0.9999036 ]]

 t_gt:
[-0.83745113  0.54414212 -0.05084254]

Pose Error in degrees for R and t:
8.14135770754949 36.881904131825785

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99357755e-01  3.58339474e-02 -7.07526986e-05]
 [-3.58339327e-02  9.99357738e-01  1.99498516e-04]
 [ 7.78560762e-05 -1.96835042e-04  9.99999978e-01]]

 t_estimated:
[[-9.99992264e-01]
 [ 3.93343749e-03]
 [ 2.34721903e-06]]

 R_gt:
[[ 0.98015647  0.19552732  0.03260928]
 [-0.19473499  0.9805127  -0.02595417]
 [-0.03704874  0.01908926  0.99913168]]

 t_gt:
[-0.78530718  0.6183573  -0.03044475]

Pose Error in degrees for R and t:
9.510255164771726 38.02581322720161

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99946747e-01  1.03191763e-02 -1.30029261e-04]
 [-1.03191654e-02  9.99946752e-01  8.42296391e-05]
 [ 1.30891517e-04 -8.28833602e-05  9.99999988e-01]]

 t_estimated:
[[-9.97434705e-01]
 [-7.15805686e-02]
 [-4.80564615e-04]]

 R_gt:
[[ 0.95098173  0.30873186  0.01785778]
 [-0.30853568  0.95112458 -0.01294506]
 [-0.02098156  0.00680192  0.99975696]]

 t_gt:
[-0.77351303  0.63376382 -0.00458343]

Pose Error in degrees for R and t:
17.434045794403232 43.4340872556879

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.47094869 -0.88214606 -0.00506537]
 [-0.88215338 -0.47091382 -0.00675214]
 [ 0.00357102  0.00764835 -0.99996437]]

 t_estimated:
[[ 0.59215347]
 [ 0.80582005]
 [-0.00288256]]

 R_gt:
[[ 0.99991895 -0.00976612 -0.00813105]
 [ 0.01075819  0.99112832  0.13246958]
 [ 0.00676541 -0.13254592  0.99115442]]

 t_gt:
[ 0.06348191 -0.34740129  0.93556528]

Pose Error in degrees for R and t:
174.17208614970465 75.81528742328761

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[ 9.99261573e-01  3.84227520e-02  1.46473753e-05]
 [-3.84227504e-02  9.99261569e-01 -9.47021593e-05]
 [-1.82752768e-05  9.40694362e-05  9.99999995e-01]]

 t_estimated:
[[-3.61349427e-02]
 [-9.99346878e-01]
 [-2.89960755e-04]]

 R_gt:
[[ 9.98395344e-01  1.16061190e-02 -5.54232002e-02]
 [-6.48382574e-04  9.81047898e-01  1.93761531e-01]
 [ 5.66217165e-02 -1.93414335e-01  9.79481839e-01]]

 t_gt:
[-0.10670589 -0.353226    0.92943276]

Pose Error in degrees for R and t:
11.777412740775913 69.1095911454475

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.89588812e-01 -1.43923438e-01 -1.63096321e-04]
 [-1.43920342e-01 -9.89558708e-01 -7.77808073e-03]
 [ 9.58054736e-04  7.72057455e-03 -9.99969737e-01]]

 t_estimated:
[[ 0.14967042]
 [ 0.98872957]
 [-0.00354924]]

 R_gt:
[[ 0.99600826  0.06784527 -0.05800763]
 [-0.05259855  0.97113033  0.23267828]
 [ 0.07211822 -0.22869804  0.9708225 ]]

 t_gt:
[-0.61432739 -0.22774052  0.75547079]

Pose Error in degrees for R and t:
167.40037740764708 71.3490628383445

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-2.44423333e-01 -9.69665405e-01 -2.49737951e-03]
 [-9.69667756e-01  2.44425745e-01 -7.06394239e-04]
 [ 1.29538990e-03  2.24896915e-03 -9.99996632e-01]]

 t_estimated:
[[8.45731527e-01]
 [5.33608208e-01]
 [6.81491964e-04]]

 R_gt:
[[ 0.98103828 -0.17874818  0.07491659]
 [ 0.18308949  0.98151695 -0.05569534]
 [-0.06357649  0.06835567  0.99563309]]

 t_gt:
[ 0.90298829 -0.40521118 -0.14288472]

Pose Error in degrees for R and t:
179.18323501337576 56.81362108213186

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-9.89955672e-01 -1.41364740e-01 -1.94387050e-03]
 [ 1.41365154e-01 -9.89957518e-01 -7.62395555e-05]
 [-1.91357163e-03 -3.50269332e-04  9.99998108e-01]]

 t_estimated:
[[8.23274563e-01]
 [5.67643006e-01]
 [6.40680594e-04]]

 R_gt:
[[ 0.95808064 -0.27794708  0.06948072]
 [ 0.27928494  0.96015552 -0.01014977]
 [-0.06389042  0.02912953  0.99753173]]

 t_gt:
[ 0.93611137 -0.34615123  0.06224806]

Pose Error in degrees for R and t:
155.69187680396473 54.954536832445605

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.76408294e-01  2.15931855e-01  5.26838354e-04]
 [-2.15931786e-01  9.76408434e-01 -1.84159180e-04]
 [-5.54175246e-04  6.60534035e-05  9.99999844e-01]]

 t_estimated:
[[-9.76473373e-01]
 [ 2.15637484e-01]
 [ 4.75902134e-04]]

 R_gt:
[[ 0.9668177  -0.25387518  0.02848243]
 [ 0.25426948  0.96706925 -0.01113583]
 [-0.02471636  0.01800818  0.99953154]]

 t_gt:
[ 0.98900639 -0.1457118   0.0251878 ]

Pose Error in degrees for R and t:
27.2457548802696 4.328778074565436

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99999998e-01  5.79179377e-05  4.04595955e-06]
 [-5.79180635e-05  9.99999998e-01  3.10928813e-05]
 [-4.04415871e-06 -3.10931156e-05  1.00000000e+00]]

 t_estimated:
[[-9.99998644e-01]
 [ 1.64185063e-03]
 [ 1.25985844e-04]]

 R_gt:
[[ 0.99810335  0.06148575  0.0031081 ]
 [-0.06150613  0.99808262  0.00681208]
 [-0.00268242 -0.0069914   0.99997264]]

 t_gt:
[-0.75618448  0.63910776  0.14045036]

Pose Error in degrees for R and t:
3.5481969057056415 40.77759912750708

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.98305792e-01  5.81839263e-02 -4.20842654e-04]
 [-5.81838334e-02  9.98305859e-01  2.29804621e-04]
 [ 4.33500622e-04 -2.04929045e-04  9.99999885e-01]]

 t_estimated:
[[-0.63157162]
 [-0.77531615]
 [-0.0014678 ]]

 R_gt:
[[ 0.98074682  0.19482445  0.01338823]
 [-0.19475628  0.98083147 -0.00630169]
 [-0.01435965  0.00357242  0.99989053]]

 t_gt:
[-0.81079301  0.58511975  0.01579803]

Pose Error in degrees for R and t:
7.945767181271176 86.65214329596105

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-9.97903634e-01 -6.47157137e-02  4.63227049e-04]
 [ 6.47142216e-02 -9.97900121e-01 -2.72368031e-03]
 [ 6.38519244e-04 -2.68799310e-03  9.99996183e-01]]

 t_estimated:
[[9.58459084e-01]
 [2.85229083e-01]
 [7.44723453e-04]]

 R_gt:
[[ 0.95795376  0.28604821  0.02238821]
 [-0.28620459  0.95815948  0.00404833]
 [-0.02029258 -0.01028595  0.99974125]]

 t_gt:
[-0.78991427  0.61101562  0.05191685]

Pose Error in degrees for R and t:
167.08108022136383 54.353517633768185

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.97999303e-01  6.32195212e-02 -8.26266607e-04]
 [-6.32186848e-02  9.97999195e-01  1.00206399e-03]
 [ 8.87963415e-04 -9.47823675e-04  9.99999157e-01]]

 t_estimated:
[[-0.94459446]
 [-0.32823746]
 [-0.00121569]]

 R_gt:
[[ 0.999846    0.01621905 -0.00685326]
 [-0.01635191  0.99966669 -0.01997437]
 [ 0.00652666  0.02008371  0.9997775 ]]

 t_gt:
[-0.62611997  0.41037876 -0.66299552]

Pose Error in degrees for R and t:
2.9662726984593277 62.771919189736785

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.98103935e-01  6.15507653e-02  1.95299988e-04]
 [-6.15507054e-02  9.98103913e-01 -2.99134967e-04]
 [-2.13341669e-04  2.86546936e-04  9.99999936e-01]]

 t_estimated:
[[0.94700451]
 [0.32121594]
 [0.00166433]]

 R_gt:
[[ 0.99590222 -0.02103581  0.08795615]
 [ 0.02371549  0.99928267 -0.02952238]
 [-0.08727185  0.03148824  0.99568696]]

 t_gt:
[-0.40965306 -0.50947008  0.75671964]

Pose Error in degrees for R and t:
7.163671034754259 56.61008571270393

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.08312639 -0.99643552  0.01436172]
 [-0.996401    0.08286641 -0.01783813]
 [ 0.01658444 -0.01579285 -0.99973774]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.97492706 -0.12186171  0.18618868]
 [ 0.12589284  0.99199411 -0.00993314]
 [-0.18348769  0.03312435  0.98246334]]

 t_gt:
[ 0.27063596 -0.7140729   0.64564392]

Pose Error in degrees for R and t:
173.1616962076598 86.86178867037286

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99985268e-01  5.42813049e-03 -8.43111055e-06]
 [-5.42813035e-03  9.99985267e-01  1.63062218e-05]
 [ 8.51949863e-06 -1.62602164e-05  1.00000000e+00]]

 t_estimated:
[[ 9.99986577e-01]
 [-5.14862661e-03]
 [-5.80157026e-04]]

 R_gt:
[[ 0.99981278 -0.01804431 -0.00695233]
 [ 0.01785494  0.99949305 -0.02639566]
 [ 0.00742518  0.02626721  0.99962715]]

 t_gt:
[ 0.86968459  0.2598119  -0.4196981 ]

Pose Error in degrees for R and t:
2.0596358416835048 29.706103464929438

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.90550633e-01  1.37147385e-01  1.95709948e-04]
 [-1.37147358e-01  9.90550645e-01 -1.45861979e-04]
 [-2.13865204e-04  1.17642574e-04  9.99999970e-01]]

 t_estimated:
[[3.28384795e-01]
 [9.44543996e-01]
 [2.57847971e-04]]

 R_gt:
[[ 0.99984542  0.00927505  0.01492598]
 [-0.00879804  0.99945777 -0.03173765]
 [-0.01521155  0.03160193  0.99938456]]

 t_gt:
[ 0.5051945   0.81633279 -0.27996303]

Pose Error in degrees for R and t:
7.6307623221157215 20.46462393450665

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99999990e-01 -1.39931490e-04  7.46466037e-06]
 [ 1.39932107e-04  9.99999987e-01 -8.26538872e-05]
 [-7.45309439e-06  8.26549309e-05  9.99999997e-01]]

 t_estimated:
[[-0.79810272]
 [-0.60252055]
 [-0.00101342]]

 R_gt:
[[ 0.99338804  0.11197798  0.02530894]
 [-0.11158677  0.99362068 -0.01636771]
 [-0.02697958  0.01343618  0.99954519]]

 t_gt:
[-0.53024902  0.84673404  0.04332951]

Pose Error in degrees for R and t:
6.6546287661898225 85.00749776546749

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99520450e-01 -3.09656189e-02 -2.03114790e-05]
 [ 3.09656215e-02  9.99520440e-01  1.43163357e-04]
 [ 1.58685965e-05 -1.43723661e-04  9.99999990e-01]]

 t_estimated:
[[9.73305910e-01]
 [2.29510015e-01]
 [8.70570666e-04]]

 R_gt:
[[ 0.99998144 -0.00586477 -0.0016062 ]
 [ 0.00583777  0.99985581 -0.01597381]
 [ 0.00169991  0.01596532  0.99987095]]

 t_gt:
[ 0.86204132  0.42915624 -0.26964735]

Pose Error in degrees for R and t:
1.7122232763703267 20.398549072013154

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.99145893e-01  4.13217172e-02  1.86615920e-05]
 [-4.13217165e-02  9.99145892e-01 -3.69169442e-05]
 [-2.01711245e-05  3.61142842e-05  9.99999999e-01]]

 t_estimated:
[[ 0.96704251]
 [-0.25461278]
 [-0.00105755]]

 R_gt:
[[ 0.99927087  0.02553751  0.0283782 ]
 [-0.02476436  0.99932132 -0.02729227]
 [-0.02905601  0.02657049  0.99922508]]

 t_gt:
[ 0.16370691  0.98616585 -0.02601844]

Pose Error in degrees for R and t:
2.4364990991107245 84.67808819093023

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.96727273e-01  8.08377614e-02  7.40579281e-07]
 [-8.08377611e-02  9.96727269e-01 -8.97297304e-05]
 [-7.99170610e-06  8.93762027e-05  9.99999996e-01]]

 t_estimated:
[[0.63195046]
 [0.77500737]
 [0.00148157]]

 R_gt:
[[ 0.99213082  0.12157025  0.02996525]
 [-0.12077767  0.99231346 -0.0269705 ]
 [-0.03301449  0.02313942  0.99918689]]

 t_gt:
[-0.56770732  0.82295968  0.02111309]

Pose Error in degrees for R and t:
3.2757156555976557 73.7954003808693

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.98755575e-01 -4.98724443e-02 -2.01361479e-04]
 [ 4.98724129e-02  9.98755584e-01 -1.58374257e-04]
 [ 2.09009413e-04  1.48134789e-04  9.99999967e-01]]

 t_estimated:
[[-0.50966244]
 [-0.86037075]
 [-0.00252308]]

 R_gt:
[[ 9.99817639e-01  1.91277234e-02  6.69135223e-04]
 [-1.91124177e-02  9.99647494e-01 -1.84353015e-02]
 [-1.02191733e-03  1.84191060e-02  9.99829909e-01]]

 t_gt:
[-0.73815373  0.44500941 -0.50704605]

Pose Error in degrees for R and t:
4.090597458897693 89.6914876353708

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.90713464e-01  1.35965994e-01  2.85069721e-04]
 [-1.35965719e-01  9.90713196e-01 -8.28973730e-04]
 [-3.95134572e-04  7.82515726e-04  9.99999616e-01]]

 t_estimated:
[[8.39548225e-01]
 [5.43284572e-01]
 [8.07257908e-04]]

 R_gt:
[[ 0.99425971 -0.02405642  0.1042601 ]
 [ 0.02694187  0.99928975 -0.02635207]
 [-0.10355254  0.02901033  0.99420178]]

 t_gt:
[-0.30536857 -0.47661833  0.82436946]

Pose Error in degrees for R and t:
11.124786041850664 59.026234478774704

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.93467268e-01  1.14117262e-01 -1.95226444e-04]
 [-1.14117136e-01  9.93467140e-01  5.66753212e-04]
 [ 2.58627382e-04 -5.40772082e-04  9.99999820e-01]]

 t_estimated:
[[-0.61794312]
 [-0.78622227]
 [-0.00091956]]

 R_gt:
[[ 0.97262816 -0.1288489   0.19337258]
 [ 0.1324112   0.9911793  -0.00555789]
 [-0.19095167  0.03101051  0.98110982]]

 t_gt:
[ 0.29179575 -0.70537311  0.64599072]

Pose Error in degrees for R and t:
17.995030103365274 68.0576894362014

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.99999384e-01  1.10860260e-03 -4.70069119e-05]
 [-1.10859882e-03  9.99999382e-01  8.03891338e-05]
 [ 4.70960025e-05 -8.03369725e-05  9.99999996e-01]]

 t_estimated:
[[9.87891639e-01]
 [1.55145345e-01]
 [1.79140672e-04]]

 R_gt:
[[ 0.99793913  0.06285349  0.01291988]
 [-0.06292186  0.9980058   0.00499813]
 [-0.01257968 -0.00580022  0.99990455]]

 t_gt:
[-0.75791725  0.63368339  0.15494127]

Pose Error in degrees for R and t:
3.630037020987183 49.428283263385055

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 0.98883671 -0.14892392 -0.00486159]
 [ 0.14897236  0.98876969  0.01190534]
 [ 0.003034   -0.01249668  0.99991731]]

 t_estimated:
[[-9.01435404e-01]
 [-4.32913402e-01]
 [-4.47119452e-04]]

 R_gt:
[[ 0.98115082  0.19293156  0.01103797]
 [-0.19288005  0.98120569 -0.00560633]
 [-0.01191207  0.00337138  0.99992413]]

 t_gt:
[-0.8075812   0.58971054  0.0073538 ]

Pose Error in degrees for R and t:
19.73225599047621 61.79124652094869

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[-0.98620589 -0.1651383  -0.01128215]
 [-0.16521647  0.98623668  0.00638172]
 [ 0.010073    0.00815769 -0.99991599]]

 t_estimated:
[[ 0.99995053]
 [-0.00669573]
 [-0.00735511]]

 R_gt:
[[ 0.95833801  0.28397273  0.03078688]
 [-0.28405652  0.95880608 -0.00173734]
 [-0.03001158 -0.00708041  0.99952434]]

 t_gt:
[-0.78678644  0.61499036  0.05247814]

Pose Error in degrees for R and t:
178.90038855757004 37.6973972247513

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99819074e-01  1.90210437e-02  1.34853190e-04]
 [-1.90210427e-02  9.99819084e-01 -8.68931665e-06]
 [-1.34994073e-04  6.12269624e-06  9.99999991e-01]]

 t_estimated:
[[ 9.67187803e-01]
 [-2.54061903e-01]
 [ 5.50015580e-04]]

 R_gt:
[[ 0.98039232 -0.17775018  0.08505636]
 [ 0.18321547  0.9811531  -0.06139994]
 [-0.07253879  0.07578053  0.99448252]]

 t_gt:
[ 0.90322105 -0.40268829 -0.14843814]

Pose Error in degrees for R and t:
12.98863085251791 12.62788203310351

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.06127866  0.83298696 -0.54988876]
 [ 0.69483069  0.35991147  0.62263476]
 [ 0.71655791 -0.42023381 -0.55673001]]

 t_estimated:
[[0.64629658]
 [0.73473697]
 [0.20606387]]

 R_gt:
[[ 0.95314636 -0.29194835  0.07922519]
 [ 0.29423923  0.95554857 -0.0187125 ]
 [-0.07024061  0.0411472   0.99668117]]

 t_gt:
[ 0.93691709 -0.34788456  0.03409841]

Pose Error in degrees for R and t:
131.07693265107827 69.08705168056517

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-3.44374867e-01 -9.28098111e-01 -1.41562168e-01]
 [ 9.37510797e-01 -3.47955703e-01  5.78361715e-04]
 [-4.97941402e-02 -1.32516888e-01  9.89929198e-01]]

 t_estimated:
[[0.96090228]
 [0.24051637]
 [0.1371812 ]]

 R_gt:
[[ 0.95958379 -0.27769648  0.04564604]
 [ 0.27879696  0.96014727 -0.01970117]
 [-0.03835589  0.0316319   0.99876316]]

 t_gt:
[ 0.9854758  -0.1694659   0.01089735]

Pose Error in degrees for R and t:
94.74638668213231 24.81310235141158

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.88947125e-01  1.48268622e-01  1.47424945e-05]
 [-1.48268619e-01  9.88947117e-01 -1.29547836e-04]
 [-3.37874266e-05  1.25930111e-04  9.99999992e-01]]

 t_estimated:
[[-5.68344333e-01]
 [-8.22790596e-01]
 [-5.95431827e-04]]

 R_gt:
[[ 0.99978862 -0.01936947 -0.00701975]
 [ 0.0200114   0.99402525  0.10730716]
 [ 0.00489981 -0.10742444  0.99420071]]

 t_gt:
[ 0.29296931 -0.40358966  0.86676662]

Pose Error in degrees for R and t:
11.462416442564592 80.50007991762584

Number of keypoints:
Image1: 372
Image2: 372

 R_estimated:
[[ 0.92069269 -0.39028511 -0.00158475]
 [-0.39028333 -0.92065277 -0.00879803]
 [ 0.00197474  0.00871878 -0.99996004]]

 t_estimated:
[[ 0.25538172]
 [ 0.96683189]
 [-0.00403511]]

 R_gt:
[[ 0.99891659  0.01321535 -0.04464015]
 [-0.00445359  0.98159468  0.19092774]
 [ 0.04634154 -0.19052093  0.98058784]]

 t_gt:
[-0.10750799 -0.3257901   0.93930977]

Pose Error in degrees for R and t:
170.2580270048458 69.74309939236623

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 0.23490951 -0.97200967 -0.003836  ]
 [-0.9720146  -0.23489785 -0.00325782]
 [ 0.00226557  0.00449394 -0.99998734]]

 t_estimated:
[[ 0.79552161]
 [ 0.60592441]
 [-0.0009862 ]]

 R_gt:
[[ 0.99615147  0.06094041 -0.06301226]
 [-0.0445473   0.97101351  0.23483865]
 [ 0.07549684 -0.23112808  0.96998917]]

 t_gt:
[-0.53690953 -0.24720619  0.80660849]

Pose Error in degrees for R and t:
172.17676286027745 54.710582396079936

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 7.14957492e-01 -6.99167726e-01 -5.25428314e-04]
 [ 6.99167714e-01  7.14957657e-01 -2.36055537e-04]
 [ 5.40701409e-04 -1.98592839e-04  9.99999834e-01]]

 t_estimated:
[[-0.00715972]
 [-0.99997366]
 [-0.00119329]]

 R_gt:
[[ 9.89427564e-01  1.44919073e-01  5.54277944e-03]
 [-1.44911879e-01  9.89442893e-01 -1.65304460e-03]
 [-5.72365929e-03  8.31479121e-04  9.99982641e-01]]

 t_gt:
[-0.85097567  0.52489183 -0.0181378 ]

Pose Error in degrees for R and t:
52.69395420909406 58.75064641325634

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.98735817e-01  5.02669524e-02 -3.32973248e-05]
 [-5.02669486e-02  9.98735812e-01  1.07281180e-04]
 [ 3.86479287e-05 -1.05471802e-04  9.99999994e-01]]

 t_estimated:
[[-9.99999101e-01]
 [-1.30811798e-03]
 [-2.96326867e-04]]

 R_gt:
[[ 0.97911306  0.20062359  0.03295643]
 [-0.1998715   0.97950902 -0.02472542]
 [-0.03724096  0.01762159  0.99915029]]

 t_gt:
[-0.78903092  0.61370059 -0.02831594]

Pose Error in degrees for R and t:
8.991893430136043 37.97905026924577

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99999867e-01  4.80900041e-04 -1.85020462e-04]
 [-4.80865293e-04  9.99999867e-01  1.87806809e-04]
 [ 1.85110754e-04 -1.87717814e-04  9.99999965e-01]]

 t_estimated:
[[-9.95809214e-01]
 [-9.14537794e-02]
 [-4.65279604e-04]]

 R_gt:
[[ 0.95202912  0.30552529  0.01713246]
 [-0.30550096  0.95218267 -0.0040972 ]
 [-0.01756479 -0.00133381  0.99984485]]

 t_gt:
[-0.77586832  0.63077414  0.01234198]

Pose Error in degrees for R and t:
17.792083072937466 44.36299584703134

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.64912267e-01  2.62572478e-01 -1.02787341e-04]
 [-2.62572480e-01  9.64912272e-01 -8.69302712e-06]
 [ 9.68982169e-05  3.53771355e-05  9.99999995e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9751657  -0.20514813  0.08346398]
 [ 0.21184204  0.97391914 -0.08126746]
 [-0.06461539  0.09693142  0.99319124]]

 t_gt:
[ 0.87502843 -0.38327687 -0.29567565]

Pose Error in degrees for R and t:
28.091937502930968 29.119540988166854

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99999997e-01  4.05358654e-05 -6.68208899e-05]
 [-4.05298157e-05  9.99999995e-01  9.05356125e-05]
 [ 6.68245595e-05 -9.05329040e-05  9.99999994e-01]]

 t_estimated:
[[9.99998647e-01]
 [1.57600819e-03]
 [4.70803458e-04]]

 R_gt:
[[ 0.92383986 -0.35907803  0.13260317]
 [ 0.37141381  0.92469456 -0.08362518]
 [-0.09258967  0.12650779  0.98763534]]

 t_gt:
[ 0.92869153 -0.32623161 -0.17636604]

Pose Error in degrees for R and t:
23.35691241623416 21.860512230374436

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.28078856  0.95965195  0.01503088]
 [ 0.95972508 -0.28059014 -0.014034  ]
 [-0.00925024  0.0183661  -0.99978854]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.90422951 -0.40977337  0.1202284 ]
 [ 0.41710327  0.907853   -0.04277173]
 [-0.09162329  0.08882346  0.99182453]]

 t_gt:
[ 0.96508043 -0.25643879 -0.05346887]

Pose Error in degrees for R and t:
171.99280325714747 51.66802689094423

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.25459154e-01  3.78847201e-01  3.89600059e-04]
 [-3.78846900e-01  9.25459113e-01 -6.76022091e-04]
 [-6.16668002e-04  4.78032058e-04  9.99999696e-01]]

 t_estimated:
[[-9.87512172e-01]
 [-1.57540852e-01]
 [-7.68491962e-04]]

 R_gt:
[[ 0.99649611 -0.01093446  0.08293225]
 [ 0.01214792  0.9998268  -0.01412877]
 [-0.08276366  0.01508684  0.99645497]]

 t_gt:
[-0.27856179 -0.26967114  0.92178132]

Pose Error in degrees for R and t:
23.413261612212406 71.52692357873853

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.36843469  0.92921476  0.02856251]
 [ 0.92452169 -0.36300404 -0.11613665]
 [-0.09754759  0.06919543 -0.99282247]]

 t_estimated:
[[8.72711396e-01]
 [4.88235776e-01]
 [8.04342300e-04]]

 R_gt:
[[ 0.97752604 -0.10232555  0.1843207 ]
 [ 0.10259979  0.99468996  0.00807944]
 [-0.18416877  0.01101377  0.98283323]]

 t_gt:
[ 0.23752189 -0.60692254  0.75843812]

Pose Error in degrees for R and t:
167.67081858167768 84.9270992594314

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 2.90296192e-01 -9.56934230e-01 -2.23619662e-03]
 [ 9.56936777e-01  2.90296244e-01  3.08424789e-04]
 [ 3.54017240e-04 -2.22943332e-03  9.99997452e-01]]

 t_estimated:
[[9.35875632e-01]
 [3.52329650e-01]
 [7.86450111e-04]]

 R_gt:
[[ 0.95125843 -0.1982291   0.23625026]
 [ 0.19906517  0.97977094  0.02055937]
 [-0.23554663  0.02747258  0.97147513]]

 t_gt:
[ 0.44928016 -0.6680049   0.59322575]

Pose Error in degrees for R and t:
62.88481739706219 79.30511066144949

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.99997489e-01 -2.23829201e-03  1.11895726e-04]
 [ 2.23827870e-03  9.99997488e-01  1.18854882e-04]
 [-1.12161477e-04 -1.18604130e-04  9.99999987e-01]]

 t_estimated:
[[ 0.06600996]
 [-0.99781841]
 [-0.00105187]]

 R_gt:
[[ 0.99880052 -0.03501399 -0.03422953]
 [ 0.03510653  0.99938129  0.00209213]
 [ 0.03413543 -0.00329147  0.99941144]]

 t_gt:
[ 0.95251897  0.06455273 -0.29755766]

Pose Error in degrees for R and t:
2.725180690573049 89.92991743660534

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 9.99999991e-01 -1.31488047e-04  1.64771049e-05]
 [ 1.31487327e-04  9.99999990e-01  4.36771533e-05]
 [-1.64828478e-05 -4.36749864e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99947819e-01]
 [ 1.02148621e-02]
 [-1.23737710e-04]]

 R_gt:
[[ 0.99945085 -0.03235588 -0.00715382]
 [ 0.03229862  0.99944609 -0.00805919]
 [ 0.00740987  0.00782338  0.99994146]]

 t_gt:
[ 0.94901354  0.27330949 -0.1570835 ]

Pose Error in degrees for R and t:
1.9465077734996534 17.866251999586485

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.99998026e-01 -1.98506186e-03 -8.32524657e-05]
 [ 1.98505156e-03  9.99998022e-01 -1.23565240e-04]
 [ 8.34975857e-05  1.23399736e-04  9.99999989e-01]]

 t_estimated:
[[ 0.90683955]
 [-0.42147259]
 [-0.0017006 ]]

 R_gt:
[[ 0.99887029  0.04259171  0.02109573]
 [-0.04244978  0.99907334 -0.00713065]
 [-0.02137971  0.00622667  0.99975194]]

 t_gt:
[0.02683925 0.99670065 0.07659942]

Pose Error in degrees for R and t:
2.853084727900035 66.67954418747381

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.99999996e-01  8.86685104e-05  2.40328705e-05]
 [-8.86685061e-05  9.99999996e-01 -1.83008692e-07]
 [-2.40328867e-05  1.80877734e-07  1.00000000e+00]]

 t_estimated:
[[-9.88300502e-01]
 [-1.52518384e-01]
 [-5.09897000e-04]]

 R_gt:
[[ 0.99023347  0.1377866   0.02129269]
 [-0.13730097  0.99026689 -0.02283606]
 [-0.02423169  0.01968882  0.99951204]]

 t_gt:
[-0.8543812   0.51530101 -0.06706444]

Pose Error in degrees for R and t:
8.101915467764412 40.019406080268816

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[-9.37313009e-01 -3.48189023e-01 -1.44474230e-02]
 [-3.48216735e-01  9.37413839e-01 -6.32205924e-04]
 [ 1.37633415e-02  4.43825964e-03 -9.99895431e-01]]

 t_estimated:
[[ 0.98567238]
 [ 0.16853474]
 [-0.00678198]]

 R_gt:
[[ 0.96908118  0.24564381  0.02325261]
 [-0.24564716  0.96935522 -0.00275935]
 [-0.0232177  -0.00303768  0.99972536]]

 t_gt:
[-0.83264252  0.55321242  0.02573816]

Pose Error in degrees for R and t:
179.5053756798959 43.31010609976351

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 8.30128806e-01 -5.57570554e-01 -1.11482498e-03]
 [ 5.57571088e-01  8.30129168e-01  2.16112353e-04]
 [ 8.04950851e-04 -8.00995268e-04  9.99999355e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.90689035  0.41965507  0.03794243]
 [-0.41711285  0.90685045 -0.06033849]
 [-0.05972868  0.03889347  0.99745636]]

 t_gt:
[-0.77822334  0.62560026 -0.05470604]

Pose Error in degrees for R and t:
58.78832510351641 39.07496185129169

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.99998127e-01  1.93219103e-03 -1.14018846e-04]
 [-1.93220312e-03  9.99998128e-01 -1.05937984e-04]
 [ 1.13813940e-04  1.06158093e-04  9.99999988e-01]]

 t_estimated:
[[ 1.84120795e-01]
 [-9.82903329e-01]
 [-7.60876533e-04]]

 R_gt:
[[ 0.99920879  0.03826983  0.01076279]
 [-0.03792234  0.99880313 -0.03089055]
 [-0.01193333  0.030458    0.99946451]]

 t_gt:
[-0.79481885  0.59010059 -0.14157783]

Pose Error in degrees for R and t:
2.7932206703072384 43.4273346383722

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 9.99987016e-01  5.09530063e-03 -7.78175032e-05]
 [-5.09532551e-03  9.99986967e-01 -3.22854873e-04]
 [ 7.61714463e-05  3.23247186e-04  9.99999945e-01]]

 t_estimated:
[[ 0.27036154]
 [-0.96275725]
 [-0.00176569]]

 R_gt:
[[ 0.99919191  0.03910957 -0.00918964]
 [-0.03960753  0.99726269 -0.06244838]
 [ 0.00672197  0.06276255  0.9980059 ]]

 t_gt:
[-0.79806174  0.49474208 -0.34398797]

Pose Error in degrees for R and t:
4.10173055249528 46.25307023095706

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.78890867e-01 -2.04378077e-01 -1.50767114e-03]
 [-2.04381683e-01  9.78887135e-01  2.84695557e-03]
 [ 8.93984581e-04  3.09499917e-03 -9.99994811e-01]]

 t_estimated:
[[8.80532043e-01]
 [4.73985830e-01]
 [8.68732842e-04]]

 R_gt:
[[ 0.999203   -0.03505539  0.01908155]
 [ 0.0366184   0.99536456 -0.08893444]
 [-0.01587632  0.08956187  0.99585461]]

 t_gt:
[-0.8377341   0.28213919 -0.46754578]

Pose Error in degrees for R and t:
179.5912525591024 52.819505499007114

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99727100e-01  2.33606740e-02 -5.88466729e-05]
 [-2.33606695e-02  9.99727099e-01  7.69807045e-05]
 [ 6.06289347e-05 -7.55849988e-05  9.99999995e-01]]

 t_estimated:
[[-9.79361488e-01]
 [-2.02116346e-01]
 [-2.43191711e-04]]

 R_gt:
[[ 9.91379056e-01  1.24647831e-01  4.03828835e-02]
 [-1.24716264e-01  9.92192188e-01 -8.32363837e-04]
 [-4.01707233e-02 -4.21144186e-03  9.99183430e-01]]

 t_gt:
[-0.86326655  0.48838272  0.12748795]

Pose Error in degrees for R and t:
6.27064128381759 41.69391059020487

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.94144402 -0.3369836   0.0111899 ]
 [-0.33714081  0.94127752 -0.01824038]
 [-0.00438609 -0.02094487 -0.99977101]]

 t_estimated:
[[0.87976457]
 [0.47535666]
 [0.00709488]]

 R_gt:
[[ 0.94110018  0.33455944  0.04899388]
 [-0.3350637   0.94219322  0.00222409]
 [-0.04541692 -0.01850971  0.99879608]]

 t_gt:
[-0.84589997  0.52569735  0.08997526]

Pose Error in degrees for R and t:
176.55126657953898 60.41852452422214

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.43419503 -0.89762501  0.07578929]
 [-0.88908474  0.44055524  0.12425541]
 [-0.14492413 -0.01343202 -0.98935159]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.85053307  0.51998857  0.07877346]
 [-0.51997115  0.85389154 -0.02236381]
 [-0.07889179 -0.02193864  0.99664162]]

 t_gt:
[-0.7991846   0.59626004  0.07601282]

Pose Error in degrees for R and t:
169.84630197991828 77.9202409681015

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.85611116e-01 -1.69028634e-01  2.22544506e-04]
 [ 1.69028683e-01  9.85611107e-01 -2.23736315e-04]
 [-1.81524493e-04  2.58133404e-04  9.99999950e-01]]

 t_estimated:
[[7.68409035e-01]
 [6.39958569e-01]
 [7.64586104e-04]]

 R_gt:
[[ 9.99151361e-01 -4.08830726e-02 -4.84776613e-03]
 [ 4.11695547e-02  9.92287926e-01  1.16915079e-01]
 [ 3.02217570e-05 -1.17014942e-01  9.93129888e-01]]

 t_gt:
[ 0.32174325 -0.63698817  0.70051934]

Pose Error in degrees for R and t:
9.98170093481196 80.80006823277304

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.92800189e-01  1.19781909e-01 -2.79799631e-04]
 [-1.19781795e-01  9.92800164e-01  3.94631279e-04]
 [ 3.25054807e-04 -3.58275107e-04  9.99999883e-01]]

 t_estimated:
[[-0.88110542]
 [ 0.47291573]
 [-0.0019904 ]]

 R_gt:
[[ 0.98002254 -0.19375394 -0.04489115]
 [ 0.19826926  0.9695442   0.14377755]
 [ 0.0156665  -0.14980579  0.98859101]]

 t_gt:
[ 0.69235756 -0.59063049  0.41448357]

Pose Error in degrees for R and t:
20.174609589941785 27.103693700092062

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.58519599e-01  2.85012420e-01  2.84565853e-03]
 [-2.85009951e-01  9.58523746e-01 -1.24718026e-03]
 [-3.08309314e-03  3.84405722e-04  9.99995173e-01]]

 t_estimated:
[[0.572675  ]
 [0.819782  ]
 [0.00090185]]

 R_gt:
[[ 0.89616561 -0.43809545 -0.07042453]
 [ 0.44345632  0.88974958  0.1081247 ]
 [ 0.0152909  -0.1281288   0.99163962]]

 t_gt:
[ 0.86657811 -0.459313    0.19512549]

Pose Error in degrees for R and t:
43.45666935090212 83.11326113697886

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.94960894 -0.31342436 -0.00283418]
 [ 0.31343212 -0.94960615 -0.00291041]
 [-0.00177916 -0.00365208  0.99999175]]

 t_estimated:
[[0.8537033 ]
 [0.52075901]
 [0.0008537 ]]

 R_gt:
[[ 0.99691209  0.06942773  0.03670468]
 [-0.06913135  0.99756476 -0.00928144]
 [-0.03725929  0.0067165   0.99928334]]

 t_gt:
[-0.81343486  0.49739143  0.30153854]

Pose Error in degrees for R and t:
165.71477074818281 64.2049360884333

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.91639855e-01  1.29036281e-01 -1.90791453e-04]
 [-1.29036221e-01  9.91639836e-01  2.98957750e-04]
 [ 2.27772801e-04 -2.71839412e-04  9.99999937e-01]]

 t_estimated:
[[0.63774117]
 [0.77025008]
 [0.00101001]]

 R_gt:
[[ 0.99134985  0.13074826 -0.01147338]
 [-0.13089137  0.99131366 -0.01280606]
 [ 0.00969947  0.01419809  0.99985229]]

 t_gt:
[-0.75445856  0.63313404 -0.17301318]

Pose Error in degrees for R and t:
0.9955793599256929 89.63631183749098

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 8.99144644e-03  9.99959576e-01  1.03151009e-05]
 [-9.99957964e-01  8.99145047e-03 -1.79570374e-03]
 [-1.79572390e-03  5.83130672e-06  9.99998388e-01]]

 t_estimated:
[[-0.00432055]
 [ 0.99999014]
 [ 0.00102859]]

 R_gt:
[[ 0.99478654  0.10181209 -0.00592318]
 [-0.10167762  0.99462002  0.01979071]
 [ 0.00790727 -0.01908517  0.99978674]]

 t_gt:
[-0.83979215  0.53673332  0.0816485 ]

Pose Error in degrees for R and t:
83.65285766563844 57.28637778715352

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 1.49566529e-01  9.88749844e-01  1.89702584e-03]
 [ 9.88751367e-01 -1.49567697e-01  4.88786626e-04]
 [ 7.67021486e-04  1.80258077e-03 -9.99998081e-01]]

 t_estimated:
[[-7.00983990e-01]
 [-7.13176862e-01]
 [-4.57472963e-04]]

 R_gt:
[[ 0.99720706  0.03731965  0.06469172]
 [-0.03783174  0.99926168  0.00671306]
 [-0.06439357 -0.0091409   0.99788277]]

 t_gt:
[-0.68315399  0.32685383  0.65304456]

Pose Error in degrees for R and t:
177.88348104439737 75.78999493242848

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.98020190e-01 -6.28913726e-02 -6.13075363e-04]
 [ 6.28915960e-02  9.98020302e-01  3.52188240e-04]
 [ 5.89712057e-04 -3.90048262e-04  9.99999750e-01]]

 t_estimated:
[[-0.75676811]
 [-0.65368216]
 [-0.00128489]]

 R_gt:
[[ 0.99332827  0.10258177  0.05268057]
 [-0.10341677  0.99454765  0.01337475]
 [-0.05102128 -0.01873332  0.99852213]]

 t_gt:
[-0.78311153  0.52457592  0.33400066]

Pose Error in degrees for R and t:
10.026219776383533 75.5639797217558

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99999866e-01 -5.18218259e-04 -1.86806342e-05]
 [ 5.18218259e-04  9.99999866e-01 -1.71563930e-09]
 [ 1.86806325e-05 -7.96500665e-09  1.00000000e+00]]

 t_estimated:
[[-9.99999363e-01]
 [ 1.10004583e-03]
 [ 2.51528796e-04]]

 R_gt:
[[ 0.99205858  0.1252762   0.01121098]
 [-0.12546609  0.99192969  0.01824118]
 [-0.00883585 -0.01950289  0.99977144]]

 t_gt:
[-0.8243401   0.55679218  0.10220502]

Pose Error in degrees for R and t:
7.335931534974758 34.413761496148325

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999963e-01  1.15443355e-04 -2.46876876e-04]
 [-1.15482348e-04  9.99999981e-01 -1.57936342e-04]
 [ 2.46858638e-04  1.57964846e-04  9.99999957e-01]]

 t_estimated:
[[-0.74400047]
 [-0.66817566]
 [-0.0021432 ]]

 R_gt:
[[ 9.95219127e-01  9.75152082e-02  5.61779434e-03]
 [-9.76758347e-02  9.93300067e-01  6.17608744e-02]
 [ 4.42278405e-04 -6.20147078e-02  9.98074482e-01]]

 t_gt:
[-0.65095966  0.69921869  0.29554143]

Pose Error in degrees for R and t:
6.637343124882133 89.055723668211

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.97644094e-01  6.86021762e-02 -6.16641348e-05]
 [-6.86021856e-02  9.97644081e-01 -1.65890812e-04]
 [ 5.01383884e-05  1.69730283e-04  9.99999984e-01]]

 t_estimated:
[[-9.40579457e-01]
 [-3.39572378e-01]
 [-9.40284612e-04]]

 R_gt:
[[ 0.97466653  0.22247933  0.02299233]
 [-0.22356431  0.97213758  0.07048234]
 [-0.00667048 -0.0738378   0.99724814]]

 t_gt:
[-0.60216722  0.77983477  0.17103325]

Pose Error in degrees for R and t:
9.929835955036804 72.45739215520067

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.98971947e-01  4.53321436e-02 -2.13437302e-04]
 [-4.53321409e-02  9.98971970e-01  1.74846846e-05]
 [ 2.14010501e-04 -7.79113953e-06  9.99999977e-01]]

 t_estimated:
[[-0.88254593]
 [-0.47022451]
 [-0.00125811]]

 R_gt:
[[ 0.95856588  0.28484093 -0.00410718]
 [-0.28480403  0.958554    0.00783376]
 [ 0.00616831 -0.00634028  0.99996028]]

 t_gt:
[-0.53371527  0.84518231 -0.02854605]

Pose Error in degrees for R and t:
13.95927541183032 85.77698966231502

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 0.97962511 -0.20081201  0.00302871]
 [-0.20079829 -0.97962314 -0.00430658]
 [ 0.00383181  0.00361068 -0.99998614]]

 t_estimated:
[[ 0.14711588]
 [ 0.98911783]
 [-0.00168553]]

 R_gt:
[[ 0.99502501 -0.05547866 -0.08274308]
 [ 0.05956668  0.99707978  0.04778563]
 [ 0.07985103 -0.05247595  0.99542478]]

 t_gt:
[ 0.34283151 -0.8728387  -0.34730268]

Pose Error in degrees for R and t:
177.84226298283468 35.676876114491975

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[-0.32164682  0.94673378  0.0154429 ]
 [ 0.94673372  0.3218273  -0.01106611]
 [-0.01544661  0.01106093 -0.99981951]]

 t_estimated:
[[ 0.8057105 ]
 [-0.59222235]
 [ 0.01016241]]

 R_gt:
[[ 0.99101218 -0.1149319  -0.06844791]
 [ 0.11743792  0.99250452  0.03379301]
 [ 0.06405085 -0.04152796  0.99708214]]

 t_gt:
[ 0.41914278 -0.89325108 -0.16254797]

Pose Error in degrees for R and t:
176.7332990779197 30.110544073782627

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99908753e-01  1.35084193e-02  8.56806281e-05]
 [-1.35084263e-02  9.99908754e-01  8.08744761e-05]
 [-8.45803237e-05 -8.20245070e-05  9.99999993e-01]]

 t_estimated:
[[ 8.76203784e-01]
 [-4.81940762e-01]
 [-1.73405067e-04]]

 R_gt:
[[ 0.98531574 -0.15402494 -0.07368543]
 [ 0.15617598  0.98742804  0.02435744]
 [ 0.06900816 -0.03550734  0.99698449]]

 t_gt:
[ 0.43436652 -0.88173107 -0.18405447]

Pose Error in degrees for R and t:
10.680683854934825 36.33488841998992

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 9.99261129e-01 -3.84331124e-02  3.02250773e-04]
 [ 3.84332493e-02  9.99261063e-01 -4.61038254e-04]
 [-2.84308294e-04  4.72314085e-04  9.99999848e-01]]

 t_estimated:
[[-0.84478422]
 [-0.53510591]
 [-0.00113852]]

 R_gt:
[[ 0.99571651 -0.091266    0.01484768]
 [ 0.09117353  0.99581193  0.00683042]
 [-0.01540847 -0.00544714  0.99986671]]

 t_gt:
[ 0.81587887 -0.57407766  0.06911231]

Pose Error in degrees for R and t:
3.1707175045611713 67.53444563602841

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-8.84129239e-02 -9.96083757e-01  5.50815227e-04]
 [-9.96083717e-01  8.84132368e-02  5.72357954e-04]
 [-6.18815819e-04 -4.98054239e-04 -9.99999685e-01]]

 t_estimated:
[[0.55968898]
 [0.82870078]
 [0.00180545]]

 R_gt:
[[ 0.98912693 -0.144883    0.02522886]
 [ 0.14465528  0.98942518  0.01067928]
 [-0.02650954 -0.0069133   0.9996246 ]]

 t_gt:
[ 0.79504007 -0.60277888  0.06759364]

Pose Error in degrees for R and t:
178.5179037003102 86.8800709428619

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.94761130e-01 -1.02195864e-01  2.50992082e-03]
 [ 1.02196360e-01  9.94764243e-01 -6.99223003e-05]
 [-2.48963372e-03  3.26060758e-04  9.99996848e-01]]

 t_estimated:
[[0.99681843]
 [0.07969643]
 [0.0012261 ]]

 R_gt:
[[ 0.98448418 -0.17392655  0.02325859]
 [ 0.17290503  0.98410791  0.04045445]
 [-0.02992515 -0.03580474  0.99891036]]

 t_gt:
[ 0.71586396 -0.6793363   0.16137218]

Pose Error in degrees for R and t:
4.879231581571093 48.727305170143005

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 7.76928079e-01  6.29589266e-01  3.42248817e-04]
 [-6.29589243e-01  7.76928151e-01 -1.84915330e-04]
 [-3.82323447e-04 -7.18102613e-05  9.99999924e-01]]

 t_estimated:
[[0.83123193]
 [0.55592508]
 [0.00088523]]

 R_gt:
[[ 0.99672264 -0.08045644  0.00849076]
 [ 0.08009446  0.99610961  0.03676365]
 [-0.01141538 -0.03596314  0.99928795]]

 t_gt:
[ 0.75286086 -0.52488873  0.39710495]

Pose Error in degrees for R and t:
43.67665339938753 70.4666974562141

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-4.50131995e-01 -8.92961950e-01 -3.78404866e-04]
 [-8.92962005e-01  4.50132043e-01 -4.67810616e-05]
 [ 2.12105863e-04  3.16843515e-04 -9.99999927e-01]]

 t_estimated:
[[0.85068939]
 [0.52566737]
 [0.00117336]]

 R_gt:
[[ 0.99959365 -0.01582588  0.02374505]
 [ 0.0152163   0.9995554   0.02564306]
 [-0.02413947 -0.02527108  0.99938905]]

 t_gt:
[0.20644053 0.33599174 0.91896238]

Pose Error in degrees for R and t:
178.08682215612396 69.30979368137095

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999990e-01 -1.59230267e-05  1.41097304e-04]
 [ 1.59451002e-05  9.99999988e-01 -1.56442524e-04]
 [-1.41094811e-04  1.56444773e-04  9.99999978e-01]]

 t_estimated:
[[-8.41291710e-01]
 [-5.40580929e-01]
 [-7.20013873e-04]]

 R_gt:
[[ 0.99791789  0.06438144 -0.00391669]
 [-0.06418759  0.99722273  0.03777837]
 [ 0.00633828 -0.03744726  0.99927853]]

 t_gt:
[-0.53568144  0.81165316  0.23294752]

Pose Error in degrees for R and t:
4.287152050402773 89.32776692632874

Number of keypoints:
Image1: 336
Image2: 336

 R_estimated:
[[ 6.15958767e-01 -7.87777743e-01 -1.01264731e-03]
 [ 7.87778049e-01  6.15959191e-01 -1.43934475e-04]
 [ 7.37137795e-04 -7.09083622e-04  9.99999477e-01]]

 t_estimated:
[[ 8.37546716e-01]
 [-5.46365568e-01]
 [-4.05586300e-04]]

 R_gt:
[[ 0.99795635  0.05388637  0.03435159]
 [-0.05480716  0.99814676  0.02644646]
 [-0.03286245 -0.02827428  0.99905957]]

 t_gt:
[-0.79989598 -0.13593442  0.58454106]

Pose Error in degrees for R and t:
55.14833545327325 53.421937491094

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99999923e-01  3.88604394e-04  5.16538679e-05]
 [-3.88594106e-04  9.99999905e-01 -1.99038719e-04]
 [-5.17312103e-05  1.99018632e-04  9.99999979e-01]]

 t_estimated:
[[7.08786735e-01]
 [7.05422800e-01]
 [1.92154674e-04]]

 R_gt:
[[ 0.99783048 -0.00517381  0.06563068]
 [ 0.00349616  0.99966514  0.02564639]
 [-0.06574134 -0.0253608   0.99751379]]

 t_gt:
[-0.1479755  -0.75678738  0.63669153]

Pose Error in degrees for R and t:
4.051260968653755 50.31131946014381

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999848e-01 -4.86759607e-04  2.57228740e-04]
 [ 4.86655581e-04  9.99999800e-01  4.04319996e-04]
 [-2.57425495e-04 -4.04194753e-04  9.99999885e-01]]

 t_estimated:
[[0.6715691 ]
 [0.74094003]
 [0.00167931]]

 R_gt:
[[ 0.99572852 -0.07529202  0.05344959]
 [ 0.07373575  0.99681097  0.03051239]
 [-0.05557698 -0.02644066  0.998104  ]]

 t_gt:
[ 0.46372631 -0.81804765  0.34022925]

Pose Error in degrees for R and t:
5.507694484228697 72.89470592255144

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-2.83512939e-01 -9.58968411e-01 -2.16405371e-05]
 [-9.58968083e-01  2.83512861e-01 -8.20822603e-04]
 [ 7.93278318e-04 -2.11961244e-04 -9.99999663e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.97601667e-01  6.63445924e-02 -1.97332210e-02]
 [-6.63551623e-02  9.97796330e-01  1.29393948e-04]
 [ 1.96984023e-02  1.17979544e-03  9.99805612e-01]]

 t_gt:
[-0.59617034  0.78573257 -0.16494018]

Pose Error in degrees for R and t:
179.04872770258964 89.53134928900121

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999995e-01  7.98371023e-05 -5.70372106e-05]
 [-7.98305161e-05  9.99999990e-01  1.15463734e-04]
 [ 5.70464283e-05 -1.15459180e-04  9.99999992e-01]]

 t_estimated:
[[0.50727394]
 [0.86178441]
 [0.00088464]]

 R_gt:
[[ 0.98705119  0.16034967  0.00411548]
 [-0.15997622  0.98597022 -0.04764892]
 [-0.01169843  0.04637391  0.99885602]]

 t_gt:
[-0.52673413  0.84415989 -0.09972587]

Pose Error in degrees for R and t:
9.617309575858558 62.60017243386271

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99953134e-01  9.68127466e-03 -5.93001665e-05]
 [-9.68127388e-03  9.99953135e-01  1.33468818e-05]
 [ 5.94266022e-05 -1.27721551e-05  9.99999998e-01]]

 t_estimated:
[[-0.60325846]
 [ 0.79754527]
 [ 0.00088338]]

 R_gt:
[[ 0.96572922  0.25949533  0.00544042]
 [-0.25922369  0.96534827 -0.0301065 ]
 [-0.01306514  0.02766451  0.99953213]]

 t_gt:
[-0.49199029  0.8701165  -0.02903149]

Pose Error in degrees for R and t:
14.586266254340634 7.807968817781149

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 5.87453102e-01 -8.09257673e-01 -9.33913267e-04]
 [ 8.09258071e-01  5.87453288e-01  8.91614573e-05]
 [ 4.76475826e-04 -8.08155024e-04  9.99999560e-01]]

 t_estimated:
[[ 7.63034739e-01]
 [-6.46357474e-01]
 [-4.70549291e-05]]

 R_gt:
[[ 9.98068262e-01  5.52257479e-02  2.84659298e-02]
 [-5.52681645e-02  9.98471708e-01  6.84934610e-04]
 [-2.83851555e-02 -2.25720748e-03  9.99594095e-01]]

 t_gt:
[-0.80740909  0.49881245  0.31508204]

Pose Error in degrees for R and t:
57.21381132337388 20.197652499819842

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.44821881e-01  3.27583326e-01  8.81513559e-04]
 [-3.27583960e-01  9.44821809e-01  7.06533675e-04]
 [-6.01424584e-04 -9.56318178e-04  9.99999362e-01]]

 t_estimated:
[[-0.30263221]
 [ 0.95310353]
 [ 0.002722  ]]

 R_gt:
[[ 0.99610656  0.08755047 -0.01030819]
 [-0.08757092  0.99615716 -0.00143701]
 [ 0.01014223  0.00233459  0.99994592]]

 t_gt:
[-0.82716825  0.56023765 -0.04389147]

Pose Error in degrees for R and t:
14.11363476351043 38.35576602500399

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 8.61998870e-01 -5.06909456e-01 -8.66543124e-04]
 [ 5.06910183e-01  8.61997994e-01  1.23476380e-03]
 [ 1.21044990e-04 -1.50362453e-03  9.99998862e-01]]

 t_estimated:
[[ 8.55704198e-02]
 [-9.96331665e-01]
 [ 9.56865012e-04]]

 R_gt:
[[ 9.94950748e-01  8.66943659e-02 -5.05659028e-02]
 [-8.67626537e-02  9.96229160e-01  8.63910332e-04]
 [ 5.04498457e-02  3.52865992e-03  9.98720589e-01]]

 t_gt:
[-0.79928165  0.52873237 -0.28564125]

Pose Error in degrees for R and t:
35.54925444793431 53.45449826716305

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-9.94128792e-01  1.08202054e-01 -5.11270555e-04]
 [ 1.08201834e-01  9.94128850e-01  4.38593553e-04]
 [ 5.55725532e-04  3.80698067e-04 -9.99999773e-01]]

 t_estimated:
[[0.98762699]
 [0.15681406]
 [0.00150783]]

 R_gt:
[[ 0.98697225  0.15846048  0.02784656]
 [-0.15863268  0.98733029  0.00403632]
 [-0.02685276 -0.0084009   0.9996031 ]]

 t_gt:
[-0.88296921  0.46305643  0.0770981 ]

Pose Error in degrees for R and t:
178.4797919701313 36.93533502424276

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[-8.95493885e-01 -4.45027753e-01 -6.40321527e-03]
 [-4.45034746e-01  8.95513227e-01 -3.66301246e-04]
 [ 5.89717819e-03  2.52163276e-03 -9.99979432e-01]]

 t_estimated:
[[ 0.97613081]
 [ 0.21716703]
 [-0.0026674 ]]

 R_gt:
[[ 0.94630789  0.31843794  0.05565622]
 [-0.31680866  0.94779793 -0.03623384]
 [-0.06428823  0.01665595  0.99779227]]

 t_gt:
[-0.82891091  0.55934357 -0.0064407 ]

Pose Error in degrees for R and t:
177.3259243557661 46.55662819498068

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99975916e-01 -6.87504182e-03 -9.48860951e-04]
 [ 6.87404116e-03  9.99975818e-01 -1.05385211e-03]
 [ 9.56083283e-04  1.04730422e-03  9.99998995e-01]]

 t_estimated:
[[-0.99980741]
 [-0.01938662]
 [-0.00304829]]

 R_gt:
[[ 0.89384629  0.44312221  0.06841583]
 [-0.44289133  0.89636763 -0.01934942]
 [-0.06989876 -0.01300464  0.99746844]]

 t_gt:
[-0.8003996   0.59620102  0.06248854]

Pose Error in degrees for R and t:
27.03725704388364 37.95475739305015

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.88079877e-01 -1.53942012e-01 -1.18528824e-04]
 [ 1.53942041e-01  9.88079836e-01  2.91304897e-04]
 [ 7.22718787e-05 -3.06079075e-04  9.99999951e-01]]

 t_estimated:
[[9.35504482e-01]
 [3.53314048e-01]
 [7.40700302e-04]]

 R_gt:
[[ 0.99980072 -0.01662647 -0.01106331]
 [ 0.01771979  0.99406414  0.10734396]
 [ 0.00921203 -0.10751772  0.99415991]]

 t_gt:
[ 0.17376157 -0.6366901   0.75128732]

Pose Error in degrees for R and t:
10.000733456336215 86.4545469276836

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-7.36765017e-01 -6.76148312e-01 -8.77285619e-04]
 [-6.76148300e-01  7.36762062e-01  2.26710457e-03]
 [-8.86548170e-04  2.26349852e-03 -9.99997045e-01]]

 t_estimated:
[[0.94468166]
 [0.32798719]
 [0.000982  ]]

 R_gt:
[[ 0.99485913 -0.08978156 -0.04683475]
 [ 0.09715167  0.97669793  0.19136997]
 [ 0.02856136 -0.19493602  0.98039931]]

 t_gt:
[ 0.43103895 -0.62997889  0.6460124 ]

Pose Error in degrees for R and t:
177.97802909852197 78.39262702472014

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.10191696e-01 -4.14187175e-01 -2.44508516e-04]
 [ 4.14187088e-01  9.10190669e-01  1.41497582e-03]
 [-3.63515466e-04 -1.38917151e-03  9.99998969e-01]]

 t_estimated:
[[9.56646477e-01]
 [2.91250684e-01]
 [7.46796625e-04]]

 R_gt:
[[ 0.95209054 -0.29058619 -0.0952995 ]
 [ 0.3034359   0.93643639  0.176106  ]
 [ 0.03806755 -0.19658682  0.97974667]]

 t_gt:
[ 0.74959782 -0.54610695  0.37399239]

Pose Error in degrees for R and t:
13.43919068002749 56.059933869588015

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99733229e-01  2.30969215e-02 -5.31173349e-05]
 [-2.30969242e-02  9.99733229e-01 -5.03846298e-05]
 [ 5.19394350e-05  5.15980357e-05  9.99999997e-01]]

 t_estimated:
[[-0.860298  ]
 [-0.50979027]
 [-0.00111266]]

 R_gt:
[[ 0.99905387  0.03558661 -0.02504018]
 [-0.03565861  0.99936172 -0.00245865]
 [ 0.02493644  0.00334909  0.99968378]]

 t_gt:
[-0.49573865  0.52414412 -0.69247103]

Pose Error in degrees for R and t:
1.6056529560317 80.79020834915414

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.99505883  0.0992767  -0.00143811]
 [-0.09927386 -0.99505829 -0.00192401]
 [-0.00162201 -0.00177174  0.99999712]]

 t_estimated:
[[0.80102005]
 [0.5986365 ]
 [0.00110848]]

 R_gt:
[[ 0.99884735 -0.04401579 -0.01917661]
 [ 0.04464884  0.99842793  0.03391787]
 [ 0.01765302 -0.03473428  0.99924149]]

 t_gt:
[ 0.69965957 -0.70036473  0.14130013]

Pose Error in degrees for R and t:
176.84793344319706 81.87494921462611

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999312e-01  1.07043098e-03  4.80304182e-04]
 [-1.07035984e-03  9.99999416e-01 -1.48349114e-04]
 [-4.80462699e-04  1.47834914e-04  9.99999874e-01]]

 t_estimated:
[[0.99999046]
 [0.0041826 ]
 [0.00126029]]

 R_gt:
[[ 0.98888789 -0.14202808 -0.04392807]
 [ 0.1436049   0.98901377  0.03508263]
 [ 0.03846294 -0.04100059  0.99841962]]

 t_gt:
[ 7.64820307e-01 -6.44243630e-01  2.07715929e-04]

Pose Error in degrees for R and t:
8.891927181062028 40.34866840180362

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.98304594  0.18334321  0.00243739]
 [-0.18332934  0.98303862 -0.00504116]
 [-0.00332031  0.00450885  0.99998432]]

 t_estimated:
[[3.92958454e-01]
 [9.19555945e-01]
 [7.18854635e-04]]

 R_gt:
[[ 0.98824911  0.15262271 -0.00825552]
 [-0.15278557  0.98793258 -0.02538489]
 [ 0.00428198  0.02634777  0.99964427]]

 t_gt:
[-0.36575745  0.91020717 -0.19427919]

Pose Error in degrees for R and t:
2.2165267638738744 46.12246367985108

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.99998312  0.00163964 -0.00557338]
 [-0.00160114  0.99997488  0.00690503]
 [ 0.00558456 -0.00689599  0.99996063]]

 t_estimated:
[[0.2587642 ]
 [0.96592943]
 [0.00462968]]

 R_gt:
[[ 0.94584023  0.32445942 -0.01053411]
 [-0.3245707   0.94454683 -0.04984268]
 [-0.00622124  0.05056395  0.99870191]]

 t_gt:
[-0.29436372  0.94756216 -0.12440237]

Pose Error in degrees for R and t:
19.14416984684994 33.01463338770974

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99996963e-01 -5.06151762e-04  2.41186664e-03]
 [ 5.13787313e-04  9.99994855e-01 -3.16625935e-03]
 [-2.41025163e-03  3.16748892e-03  9.99992079e-01]]

 t_estimated:
[[-0.66098892]
 [-0.75039189]
 [-0.00237809]]

 R_gt:
[[ 0.8993921   0.43710017 -0.00609003]
 [-0.43311369  0.88912885 -0.1478594 ]
 [-0.05921478  0.13562145  0.98898982]]

 t_gt:
[-0.21694365  0.96782754 -0.12745711]

Pose Error in degrees for R and t:
27.247287358330126 54.36994009447025

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.97072219e-01 -7.64655860e-02 -7.03393408e-05]
 [ 7.64655961e-02  9.97072208e-01  1.54054396e-04]
 [ 5.83535422e-05 -1.58981898e-04  9.99999986e-01]]

 t_estimated:
[[9.92117880e-01]
 [1.25306722e-01]
 [5.81151074e-04]]

 R_gt:
[[ 0.99969199 -0.0241234  -0.00584134]
 [ 0.02402938  0.99958771 -0.01572595]
 [ 0.00621835  0.01558013  0.99985977]]

 t_gt:
[ 0.59676113  0.50924484 -0.62011761]

Pose Error in degrees for R and t:
3.157450922942137 49.041758462630824

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 2.37150288e-01 -9.71465775e-01 -3.74006799e-03]
 [ 9.71471498e-01  2.37154883e-01 -8.30598433e-04]
 [ 1.69387334e-03 -3.43639279e-03  9.99992661e-01]]

 t_estimated:
[[9.99982376e-01]
 [5.87731035e-03]
 [8.39615765e-04]]

 R_gt:
[[ 0.99646265 -0.08185187  0.0190593 ]
 [ 0.08237998  0.99618622 -0.02875832]
 [-0.01663331  0.03022706  0.99940452]]

 t_gt:
[ 0.98000456 -0.17808054 -0.08876027]

Pose Error in degrees for R and t:
71.59916717080671 11.80035303280012

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99547819e-01 -3.00664861e-02  4.06035256e-04]
 [ 3.00663995e-02  9.99547880e-01  2.17874931e-04]
 [-4.12402412e-04 -2.05568394e-04  9.99999894e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98248272 -0.18315611  0.03438337]
 [ 0.18420386  0.98242207 -0.03024338]
 [-0.02823938  0.03604614  0.99895052]]

 t_gt:
[ 0.911613   -0.41094416  0.0093076 ]

Pose Error in degrees for R and t:
9.244499565747324 24.44743760128912

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[-5.63879965e-01 -8.25854578e-01 -1.89771179e-03]
 [ 8.25856684e-01 -5.63879400e-01 -8.71629316e-04]
 [-3.50241527e-04 -2.05873228e-03  9.99997819e-01]]

 t_estimated:
[[9.90254225e-01]
 [1.39268631e-01]
 [9.04341758e-04]]

 R_gt:
[[ 9.98530914e-01  5.41822063e-02 -2.42945219e-04]
 [-5.41820352e-02  9.98473954e-01 -1.06737814e-02]
 [-3.36470830e-04  1.06710908e-02  9.99942399e-01]]

 t_gt:
[-0.2773098   0.95807454 -0.0720587 ]

Pose Error in degrees for R and t:
127.43188089669087 81.88024108764985

Number of keypoints:
Image1: 648
Image2: 648

 R_estimated:
[[-0.84320802 -0.53748391 -0.01054901]
 [-0.53748629  0.84326768 -0.00284889]
 [ 0.01042687  0.00326774 -0.9999403 ]]

 t_estimated:
[[ 0.95547587]
 [ 0.29502366]
 [-0.00518585]]

 R_gt:
[[ 0.99611967  0.08741691 -0.01021608]
 [-0.08721711  0.99601604  0.01857733]
 [ 0.0117987  -0.01761391  0.99977443]]

 t_gt:
[-0.17383293  0.97731492  0.12098617]

Pose Error in degrees for R and t:
179.05778178992534 83.0149452758108

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[-6.86106299e-01 -7.27493938e-01 -3.27355895e-03]
 [ 7.27498383e-01 -6.86109349e-01 -2.53985934e-04]
 [-2.06124617e-03 -2.55577019e-03  9.99994610e-01]]

 t_estimated:
[[0.95830657]
 [0.28573361]
 [0.00219795]]

 R_gt:
[[ 0.99617588  0.0867464  -0.01044927]
 [-0.08593642  0.99436029  0.06214294]
 [ 0.01578054 -0.06100774  0.99801206]]

 t_gt:
[-0.01837042  0.94543853  0.32528221]

Pose Error in degrees for R and t:
138.2967127965265 75.32984737643402

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[-4.02923737e-01 -9.15233310e-01  6.71146548e-04]
 [-9.15233326e-01  4.02924047e-01  4.14474261e-04]
 [-6.49761733e-04 -4.47254169e-04 -9.99999689e-01]]

 t_estimated:
[[0.92003628]
 [0.39182721]
 [0.00216479]]

 R_gt:
[[ 0.99718778 -0.02954121 -0.0688873 ]
 [ 0.03113067  0.99927039  0.02213066]
 [ 0.06818322 -0.02421274  0.99737832]]

 t_gt:
[ 0.1121965 -0.7141122 -0.6909817]

Pose Error in degrees for R and t:
177.47867307769025 79.74207971243366

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 6.85807739e-01  7.27782192e-01 -9.09205964e-04]
 [-7.27735203e-01  6.85748108e-01 -1.22884892e-02]
 [-8.31985730e-03  9.08920214e-03  9.99924080e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.9904129  -0.0357521  -0.13343585]
 [ 0.04491307  0.99678905  0.06628936]
 [ 0.13063661 -0.07164608  0.98883752]]

 t_gt:
[ 0.04818593 -0.78078309 -0.62294131]

Pose Error in degrees for R and t:
49.81911942652748 61.78146034692203

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.0149918  -0.99988334 -0.00292571]
 [ 0.99988418 -0.01499935  0.00257813]
 [-0.00262171 -0.00288672  0.9999924 ]]

 t_estimated:
[[0.99998962]
 [0.00406154]
 [0.00206628]]

 R_gt:
[[ 0.98230883 -0.10281653 -0.15652013]
 [ 0.11210727  0.99235033  0.0517065 ]
 [ 0.15000681 -0.06833842  0.98632057]]

 t_gt:
[ 0.26064241 -0.84323283 -0.47013183]

Pose Error in degrees for R and t:
85.06658552039299 75.15272192005948

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 1.00000000e+00 -2.22910238e-05 -1.84656741e-08]
 [ 2.22910238e-05  1.00000000e+00  3.04964600e-09]
 [ 1.84656057e-08 -3.05005766e-09  1.00000000e+00]]

 t_estimated:
[[ 5.95427213e-02]
 [-9.98225414e-01]
 [-8.28574112e-04]]

 R_gt:
[[ 0.99988953  0.00595684  0.01361827]
 [-0.00607071  0.99994677  0.00835867]
 [-0.013567   -0.0084412   0.99987187]]

 t_gt:
[-0.33650449  0.73431517  0.58953028]

Pose Error in degrees for R and t:
0.9792517040962466 41.102306218864626

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 5.79327802e-01 -8.15094655e-01  4.27062766e-05]
 [ 8.15094647e-01  5.79327787e-01 -1.79010931e-04]
 [ 1.21169920e-04  1.38515666e-04  9.99999983e-01]]

 t_estimated:
[[-0.01012321]
 [-0.99994813]
 [-0.0011248 ]]

 R_gt:
[[ 0.99348145  0.11315534  0.01378172]
 [-0.11286312  0.99340085 -0.02041875]
 [-0.016001    0.01872911  0.9996967 ]]

 t_gt:
[-0.62114054  0.78339693 -0.02176408]

Pose Error in degrees for R and t:
61.10109574691669 39.00929339281742

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999894e-01  1.22154481e-04  4.44679239e-04]
 [-1.22012837e-04  9.99999942e-01 -3.18544199e-04]
 [-4.44718125e-04  3.18489908e-04  9.99999850e-01]]

 t_estimated:
[[-8.45607136e-01]
 [-5.33805095e-01]
 [-8.31472111e-04]]

 R_gt:
[[ 9.89351860e-01  1.43422122e-01 -2.47396886e-02]
 [-1.43445452e-01  9.89657481e-01  8.20998315e-04]
 [ 2.46019560e-02  2.73555744e-03  9.99693213e-01]]

 t_gt:
[-0.58967558  0.80101374 -0.10324582]

Pose Error in degrees for R and t:
8.366346794730703 85.92084749738652

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.02146047 -0.99976776 -0.00196839]
 [ 0.99976914 -0.02145833 -0.00109818]
 [ 0.00105569 -0.0019915   0.99999746]]

 t_estimated:
[[9.85604736e-01]
 [1.69063586e-01]
 [8.99274394e-04]]

 R_gt:
[[ 0.99662322 -0.0285603   0.07698688]
 [ 0.02044643  0.99434689  0.10419748]
 [-0.07952766 -0.10227128  0.99157155]]

 t_gt:
[ 0.0628078  -0.29579115  0.95318559]

Pose Error in degrees for R and t:
90.06608696699148 89.26926855505877

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 8.85901788e-01  4.63872828e-01  1.46660108e-04]
 [-4.63872553e-01  8.85901532e-01 -8.54451318e-04]
 [-5.26283164e-04  6.88928352e-04  9.99999624e-01]]

 t_estimated:
[[-9.99920638e-01]
 [-1.25663276e-02]
 [-8.97594827e-04]]

 R_gt:
[[ 0.99431456  0.04063172  0.0984322 ]
 [-0.05664894  0.98452469  0.16583756]
 [-0.09017066 -0.1704709   0.98122756]]

 t_gt:
[-0.27231804  0.12145557  0.9545111 ]

Pose Error in degrees for R and t:
27.17617368104709 74.34088571094921

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 3.64594860e-01  9.31166252e-01 -3.57095463e-06]
 [-9.31165533e-01  3.64594573e-01 -1.24414708e-03]
 [-1.15720582e-03  4.56934780e-04  9.99999226e-01]]

 t_estimated:
[[-1.06595794e-01]
 [ 9.94302020e-01]
 [ 9.10437110e-04]]

 R_gt:
[[ 0.97519718  0.17496036  0.13557394]
 [-0.19544069  0.96816743  0.15638825]
 [-0.10389642 -0.17900618  0.97834593]]

 t_gt:
[-0.51944582  0.56386718  0.64205128]

Pose Error in degrees for R and t:
58.94792530464298 51.931032953643424

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[ 9.99194423e-01 -4.01310401e-02  6.16779895e-05]
 [ 4.01310357e-02  9.99194423e-01  7.04783093e-05]
 [-6.44566710e-05 -6.79463320e-05  9.99999996e-01]]

 t_estimated:
[[5.61528791e-01]
 [8.27457193e-01]
 [1.00523933e-04]]

 R_gt:
[[ 0.99775078 -0.02641998  0.06161245]
 [ 0.02773814  0.99940182 -0.02064618]
 [-0.06103053  0.02230895  0.99788627]]

 t_gt:
[-0.47412953 -0.38054893  0.79396707]

Pose Error in degrees for R and t:
3.7977252560772863 54.475887915587336

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 0.91911651 -0.39397238 -0.00325555]
 [ 0.39398189  0.9191129   0.0031224 ]
 [ 0.00176208 -0.00415247  0.99998983]]

 t_estimated:
[[-0.28902696]
 [-0.95732006]
 [-0.00130781]]

 R_gt:
[[ 0.99622586 -0.08599031  0.01186855]
 [ 0.08615399  0.99618362 -0.0140102 ]
 [-0.01061881  0.01498089  0.99983185]]

 t_gt:
[ 0.04132006 -0.99731129 -0.0605214 ]

Pose Error in degrees for R and t:
18.310837890061684 19.458564572232397

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.67687441 -0.73609573 -0.00202715]
 [-0.73603167  0.67684749 -0.01161269]
 [ 0.00992013 -0.00636828 -0.99993052]]

 t_estimated:
[[9.67340467e-01]
 [2.53479030e-01]
 [8.95685618e-04]]

 R_gt:
[[ 0.99595052 -0.07728506 -0.04592957]
 [ 0.0784067   0.99665264  0.02315309]
 [ 0.04398618 -0.02666053  0.99867653]]

 t_gt:
[-0.16160209 -0.94833093 -0.27304434]

Pose Error in degrees for R and t:
177.81733532817321 66.61230343045341

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-7.61107989e-01 -6.48624920e-01  5.84374046e-04]
 [-6.48624373e-01  7.61105305e-01 -2.26673552e-03]
 [ 1.02549096e-03 -2.10426976e-03 -9.99997260e-01]]

 t_estimated:
[[8.96526420e-01]
 [4.42989525e-01]
 [8.11336127e-04]]

 R_gt:
[[ 0.9958443   0.08937985  0.01747224]
 [-0.08919202  0.9959509  -0.0112371 ]
 [-0.01840552  0.009632    0.99978417]]

 t_gt:
[-0.66962993  0.74141369  0.04360618]

Pose Error in degrees for R and t:
179.2492583989531 74.22460298863251

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.99999465e-01 -1.00574744e-03 -2.42429457e-04]
 [ 1.00619274e-03  9.99997794e-01  1.84377089e-03]
 [ 2.40574554e-04 -1.84401384e-03  9.99998271e-01]]

 t_estimated:
[[0.70893387]
 [0.70525421]
 [0.00541115]]

 R_gt:
[[ 0.98631038  0.16307268 -0.0244684 ]
 [-0.16272069  0.98654616  0.01576387]
 [ 0.02670955 -0.01156617  0.99957687]]

 t_gt:
[-0.6352073   0.77083014 -0.04829679]

Pose Error in degrees for R and t:
9.57042356744916 84.66091020043359

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.90645434e-01 -1.36460605e-01 -3.57499878e-04]
 [ 1.36460840e-01  9.90645185e-01  7.45829650e-04]
 [ 2.52379167e-04 -7.87637470e-04  9.99999658e-01]]

 t_estimated:
[[-8.65483614e-01]
 [-5.00936528e-01]
 [-8.41910131e-04]]

 R_gt:
[[ 0.98897267  0.1441597  -0.03392733]
 [-0.14481584  0.98929898 -0.01775578]
 [ 0.03100508  0.02247234  0.99926687]]

 t_gt:
[-0.57296328  0.79526818 -0.19814542]

Pose Error in degrees for R and t:
16.302380906104087 84.39450948625328

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99903536e-01  1.38891732e-02  9.70372319e-05]
 [-1.38891705e-02  9.99903540e-01 -2.87390903e-05]
 [-9.74270339e-05  2.73885514e-05  9.99999995e-01]]

 t_estimated:
[[ 9.99078948e-01]
 [-4.29095942e-02]
 [ 1.51364622e-04]]

 R_gt:
[[ 0.99672118 -0.08003479  0.01199689]
 [ 0.08008098  0.99678323 -0.00344854]
 [-0.01168311  0.00439738  0.99992183]]

 t_gt:
[ 0.83015527 -0.55237874  0.07563036]

Pose Error in degrees for R and t:
5.433788107254467 31.449050778348166

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.99974414  0.02234427 -0.0035208 ]
 [-0.02232174  0.99973091  0.00631322]
 [ 0.00366092 -0.00623301  0.99997387]]

 t_estimated:
[[-0.65131946]
 [-0.75880321]
 [-0.00080212]]

 R_gt:
[[ 0.9870306  -0.15801395  0.02835567]
 [ 0.15812313  0.98741797 -0.00165667]
 [-0.02773757  0.00611806  0.99959625]]

 t_gt:
[ 0.86462467 -0.48808528  0.11915095]

Pose Error in degrees for R and t:
10.550127176411157 78.87899129917311

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 8.13903862e-01  5.80999381e-01  4.71624727e-04]
 [-5.80999192e-01  8.13903990e-01 -4.83175825e-04]
 [-6.64582103e-04  1.19245085e-04  9.99999772e-01]]

 t_estimated:
[[0.55491444]
 [0.83190691]
 [0.0009295 ]]

 R_gt:
[[ 0.97660903 -0.21020063  0.04531113]
 [ 0.20975177  0.97764888  0.01447974]
 [-0.04734298 -0.0046375   0.99886808]]

 t_gt:
[ 0.87262197 -0.44254802  0.20659658]

Pose Error in degrees for R and t:
47.720360232301545 83.32347466004414

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.04152905e-01 -4.27208917e-01 -2.56762436e-04]
 [ 4.27208949e-01  9.04152923e-01  8.27070903e-05]
 [ 1.96819301e-04 -1.84471066e-04  9.99999964e-01]]

 t_estimated:
[[ 8.00988517e-01]
 [-5.98679690e-01]
 [-1.53472452e-04]]

 R_gt:
[[ 0.95684978 -0.27676131  0.08855497]
 [ 0.28380727  0.95551343 -0.08029875]
 [-0.06239282  0.1019668   0.99282951]]

 t_gt:
[ 0.85197864 -0.47171283 -0.22719905]

Pose Error in degrees for R and t:
11.287073546137773 15.233100056036866

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.97371121  0.22769867 -0.00630769]
 [-0.22764136  0.97370641  0.00867435]
 [ 0.00811698 -0.00701042  0.99994248]]

 t_estimated:
[[-0.64544433]
 [-0.76380575]
 [ 0.00154913]]

 R_gt:
[[ 0.88622477 -0.42559215  0.18296777]
 [ 0.45095655  0.88296268 -0.13044055]
 [-0.10603979  0.1981102   0.97442778]]

 t_gt:
[ 0.89457941 -0.34223499 -0.28740718]

Pose Error in degrees for R and t:
41.71418762854349 71.55190746828843

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.09977249  0.99499724 -0.00509363]
 [-0.99491192  0.0998333   0.01354954]
 [ 0.01399027  0.00371584  0.99989523]]

 t_estimated:
[[-0.07446553]
 [ 0.99716615]
 [-0.01070286]]

 R_gt:
[[ 0.81300155 -0.54480902  0.20545292]
 [ 0.57032551  0.81619363 -0.09250303]
 [-0.11729258  0.19238052  0.97428546]]

 t_gt:
[ 0.94530292 -0.26828426 -0.1855423 ]

Pose Error in degrees for R and t:
119.20761088999082 70.37086038793139

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.99974215e-01 -7.18112590e-03 -1.46321119e-05]
 [ 7.18112676e-03  9.99974214e-01  5.98505145e-05]
 [ 1.42019405e-05 -5.99540464e-05  9.99999998e-01]]

 t_estimated:
[[-6.23647111e-01]
 [ 7.81705999e-01]
 [ 1.09536685e-04]]

 R_gt:
[[ 0.99861019  0.02619291  0.04573629]
 [-0.02321701  0.99765244 -0.06441997]
 [-0.0473161   0.06326813  0.9968741 ]]

 t_gt:
[-0.31163114  0.85388815 -0.41684657]

Pose Error in degrees for R and t:
4.889641870182871 30.481647239770094

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-0.92130438 -0.38874369  0.00875185]
 [-0.3887689   0.92133436 -0.00132213]
 [-0.00754941 -0.00462053 -0.99996083]]

 t_estimated:
[[0.99755155]
 [0.06939489]
 [0.00867436]]

 R_gt:
[[ 0.99712644  0.07082843  0.02687056]
 [-0.0694935   0.99644074 -0.04769486]
 [-0.03015328  0.04569028  0.99849994]]

 t_gt:
[-0.20280079  0.94284334 -0.26442065]

Pose Error in degrees for R and t:
178.44675229059817 82.00021359544769

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[-9.92925955e-01 -1.18376272e-01 -9.22533398e-03]
 [-1.18379574e-01  9.92968399e-01 -1.89247225e-04]
 [ 9.18286749e-03  9.04182627e-04 -9.99957428e-01]]

 t_estimated:
[[ 0.99797809]
 [ 0.06340943]
 [-0.00435626]]

 R_gt:
[[ 0.99422108  0.1039877   0.0266932 ]
 [-0.10333762  0.99434042 -0.0246692 ]
 [-0.02910773  0.0217684   0.99933852]]

 t_gt:
[-0.19655709  0.97819112 -0.06713745]

Pose Error in degrees for R and t:
179.00939932491187 82.30841353621906

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-6.39219560e-01 -7.69018407e-01 -3.00732787e-03]
 [ 7.69020187e-01 -6.39224034e-01  7.65624679e-04]
 [-2.51113572e-03 -1.82329357e-03  9.99995185e-01]]

 t_estimated:
[[0.99834238]
 [0.05751767]
 [0.0020542 ]]

 R_gt:
[[ 0.99910476 -0.04201035 -0.00511341]
 [ 0.04199651  0.99911296 -0.00288826]
 [ 0.00523015  0.00267158  0.99998277]]

 t_gt:
[ 0.6959858  -0.71007285 -0.10677226]

Pose Error in degrees for R and t:
127.32706917287035 49.17346982565621

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.23393665  0.97221031 -0.00898654]
 [ 0.97218775  0.23401737  0.00931937]
 [ 0.01116339 -0.00655647 -0.99991619]]

 t_estimated:
[[ 0.96620306]
 [-0.25776235]
 [-0.00319776]]

 R_gt:
[[ 0.99943554  0.011178    0.03166671]
 [-0.01104062  0.9999287  -0.00448988]
 [-0.03171389  0.00413739  0.99948829]]

 t_gt:
[-0.32964262 -0.63354021  0.69997324]

Pose Error in degrees for R and t:
179.1544367117452 80.94182417883007

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-1.86157419e-01 -9.82517677e-01 -2.10474040e-03]
 [ 9.82519779e-01 -1.86155770e-01 -9.55647810e-04]
 [ 5.47131297e-04 -2.24585000e-03  9.99997328e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9962775   0.08390845 -0.01977461]
 [-0.08414503  0.99638732 -0.01145628]
 [ 0.01874192  0.01307715  0.99973913]]

 t_gt:
[-0.81198167  0.43035892 -0.39430569]

Pose Error in degrees for R and t:
105.55401677215723 35.81127027629374

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-1.52995431e-01 -9.88226123e-01 -1.23622424e-03]
 [-9.88226768e-01  1.52994653e-01  7.01243547e-04]
 [-5.03851493e-04  1.32895694e-03 -9.99998990e-01]]

 t_estimated:
[[0.79174122]
 [0.61085588]
 [0.00096793]]

 R_gt:
[[ 0.99491861  0.09290222  0.03880488]
 [-0.09038219  0.99395561 -0.06230534]
 [-0.04435787  0.05848154  0.99730297]]

 t_gt:
[-0.29629972  0.95274659 -0.06693588]

Pose Error in degrees for R and t:
179.52738813245938 69.67570114666893

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.89470476 -0.4466462  -0.00324992]
 [ 0.44662823 -0.89453735 -0.01805961]
 [ 0.00515908 -0.01760953  0.99983163]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9800974   0.19819808  0.01122905]
 [-0.19743096  0.9790867  -0.04909306]
 [-0.02072464  0.04589828  0.99873117]]

 t_gt:
[-0.25163899  0.96146171 -0.11076641]

Pose Error in degrees for R and t:
164.89855671541886 75.59689903737572

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 1.00000000e+00  5.55111512e-16  8.67361738e-17]
 [-6.10622664e-16  1.00000000e+00 -2.71050543e-17]
 [ 1.10154941e-16 -7.50267903e-16  1.00000000e+00]]

 t_estimated:
[[-0.79070664]
 [-0.61219397]
 [-0.00124384]]

 R_gt:
[[ 0.91906914  0.39397625  0.00966306]
 [-0.39135113  0.91528491 -0.09538076]
 [-0.04642192  0.08388036  0.99539428]]

 t_gt:
[-0.22915231  0.9704091  -0.07612749]

Pose Error in degrees for R and t:
23.812136970200314 65.61967625195781

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.99995032e-01 -3.15152686e-03  6.93804648e-05]
 [ 3.15153208e-03  9.99995031e-01 -7.51384037e-05]
 [-6.91433194e-05  7.53566851e-05  9.99999995e-01]]

 t_estimated:
[[9.76732140e-01]
 [2.14461472e-01]
 [7.77034320e-04]]

 R_gt:
[[ 0.99991733 -0.01080838  0.00701786]
 [ 0.01078378  0.99993577  0.003372  ]
 [-0.00705427 -0.00329618  0.99996923]]

 t_gt:
[-0.16219506 -0.94904919  0.27018215]

Pose Error in degrees for R and t:
0.6252685485693925 68.79255737268352

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[ 9.99995143e-01 -2.99278195e-03 -8.70622461e-04]
 [ 2.99627850e-03  9.99987338e-01  4.04296022e-03]
 [ 8.58511739e-04 -4.04554921e-03  9.99991448e-01]]

 t_estimated:
[[-0.57497673]
 [-0.8181693 ]
 [-0.00086854]]

 R_gt:
[[ 0.99684911 -0.05817254 -0.05392955]
 [ 0.05984138  0.9977604   0.02987405]
 [ 0.05207132 -0.03300784  0.99809749]]

 t_gt:
[ 0.40434119 -0.84878189 -0.34070148]

Pose Error in degrees for R and t:
4.662938880512266 62.467193339843824

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 9.99443744e-01 -3.33491646e-02 -1.90291430e-04]
 [ 3.33490833e-02  9.99443678e-01 -4.15793181e-04]
 [ 2.04051922e-04  4.09215849e-04  9.99999895e-01]]

 t_estimated:
[[-0.08585641]
 [-0.99630421]
 [-0.00256989]]

 R_gt:
[[ 0.99327397 -0.08534427 -0.07825536]
 [ 0.08943296  0.99471993  0.05032465]
 [ 0.07354688 -0.05698503  0.99566167]]

 t_gt:
[ 0.47023682 -0.83793625 -0.27702017]

Pose Error in degrees for R and t:
6.183544663121262 37.32788361795518

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.94797146e-01 -1.01875578e-01 -6.28000397e-05]
 [ 1.01875577e-01  9.94797148e-01 -3.17283228e-05]
 [ 6.57056416e-05  2.51654547e-05  9.99999998e-01]]

 t_estimated:
[[ 2.90585792e-01]
 [-9.56848547e-01]
 [-8.69356778e-04]]

 R_gt:
[[ 0.99881079 -0.0251149   0.04179836]
 [ 0.02727542  0.99827854 -0.05193082]
 [-0.04042116  0.0530097   0.997776  ]]

 t_gt:
[ 0.68366564 -0.72018321  0.11805692]

Pose Error in degrees for R and t:
5.786278233409847 27.418450399097903

Number of keypoints:
Image1: 395
Image2: 395

 R_estimated:
[[-0.69624832  0.71699929  0.03391583]
 [ 0.71702346  0.69691598 -0.01361851]
 [-0.03340094  0.01483658 -0.9993319 ]]

 t_estimated:
[[ 0.91876642]
 [-0.39436739]
 [ 0.01851009]]

 R_gt:
[[ 0.99718552 -0.07471853 -0.00622383]
 [ 0.07446058  0.99662263 -0.03464792]
 [ 0.00879246  0.03408707  0.99938025]]

 t_gt:
[ 0.62465497 -0.71123882 -0.3224058 ]

Pose Error in degrees for R and t:
177.53502968542267 31.958288484282455

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99999965e-01  2.60377173e-04  5.15824891e-05]
 [-2.60373643e-04  9.99999964e-01 -6.84171906e-05]
 [-5.16003015e-05  6.84037575e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99992964e-01]
 [-3.70797234e-03]
 [-5.68333408e-04]]

 R_gt:
[[ 0.99179173 -0.11808453 -0.04905459]
 [ 0.11908383  0.99272203  0.01796761]
 [ 0.04657604 -0.0236618   0.99863508]]

 t_gt:
[ 0.54096364 -0.81952095 -0.18906018]

Pose Error in degrees for R and t:
7.4582906654316465 57.036405150894915

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.89298988e-01  1.45901126e-01  6.10752663e-04]
 [-1.45901070e-01  9.89299176e-01 -1.36366260e-04]
 [-6.24113097e-04  4.57975360e-05  9.99999804e-01]]

 t_estimated:
[[0.90556817]
 [0.42419923]
 [0.00114339]]

 R_gt:
[[ 0.96278348 -0.25835985 -0.07936826]
 [ 0.25729278  0.96604591 -0.02357027]
 [ 0.08276282  0.00227249  0.99656655]]

 t_gt:
[ 0.87183576 -0.45497395 -0.18138666]

Pose Error in degrees for R and t:
23.835110404788335 53.394658584470704

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.99230375  0.12380289 -0.0024734 ]
 [-0.12378277  0.99228404  0.0070852 ]
 [ 0.00333148 -0.00672451  0.99997184]]

 t_estimated:
[[7.42068599e-01]
 [6.70323578e-01]
 [7.03382558e-04]]

 R_gt:
[[ 0.8855566  -0.46061897 -0.06017083]
 [ 0.4553434   0.88636161 -0.08382671]
 [ 0.09194531  0.04683455  0.99466168]]

 t_gt:
[ 0.91446008 -0.36352154 -0.17780569]

Pose Error in degrees for R and t:
34.9625308316495 64.22806891738144

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 5.42341150e-01 -8.40156287e-01 -1.86838803e-03]
 [ 8.40157886e-01  5.42341873e-01  1.39277589e-04]
 [ 8.96290120e-04 -1.64527690e-03  9.99998245e-01]]

 t_estimated:
[[9.77461337e-01]
 [2.11113089e-01]
 [7.73308021e-04]]

 R_gt:
[[ 0.70733313 -0.70492492 -0.05254602]
 [ 0.69924375  0.70865308 -0.09417343]
 [ 0.10362194  0.0298698   0.99416749]]

 t_gt:
[ 0.96175837 -0.2535377  -0.10363146]

Pose Error in degrees for R and t:
13.836423660136271 27.56624725413384

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 1.79787385e-01  9.83704928e-01  1.05358587e-03]
 [-9.83705136e-01  1.79788129e-01 -6.59330359e-04]
 [-8.38008756e-04 -9.17878551e-04  9.99999228e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96626767  0.25077402  0.05864872]
 [-0.25003485  0.96803489 -0.01973057]
 [-0.06172227  0.00440193  0.99808338]]

 t_gt:
[-0.72949431  0.67353004  0.11914422]

Pose Error in degrees for R and t:
65.20905548469175 48.00308043944885

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99129910e-01  4.17056142e-02 -2.54088295e-04]
 [-4.17055927e-02  9.99129939e-01  8.94132925e-05]
 [ 2.57596259e-04 -7.87385920e-05  9.99999964e-01]]

 t_estimated:
[[-9.97721750e-01]
 [-6.74623492e-02]
 [-3.75345752e-04]]

 R_gt:
[[ 0.93450029  0.34965075  0.06673252]
 [-0.34810758  0.93684224 -0.03387358]
 [-0.07436183  0.00842477  0.9971958 ]]

 t_gt:
[-0.6993968   0.70792824  0.09839578]

Pose Error in degrees for R and t:
18.56098896619083 49.457797856080354

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.97993492e-01 -6.33150698e-02 -4.38746868e-04]
 [ 6.33150730e-02  9.97993588e-01 -6.61750116e-06]
 [ 4.38285549e-04 -2.11750669e-05  9.99999904e-01]]

 t_estimated:
[[-0.97246549]
 [-0.23304457]
 [-0.0010453 ]]

 R_gt:
[[ 0.90273838  0.42716482  0.05092969]
 [-0.42497401  0.90390088 -0.04857946]
 [-0.06678775  0.02221147  0.99752019]]

 t_gt:
[-0.67179711  0.73906351  0.04973713]

Pose Error in degrees for R and t:
29.159736094924064 61.24843085763205

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 3.66130958e-01 -9.30563158e-01 -5.74475104e-04]
 [-9.30563164e-01 -3.66131196e-01  3.82477430e-04]
 [-5.66252662e-04  3.94548543e-04 -9.99999762e-01]]

 t_estimated:
[[0.55002469]
 [0.83514778]
 [0.00101107]]

 R_gt:
[[ 0.99787422  0.0542179  -0.03616997]
 [-0.05334274  0.99826993  0.02473188]
 [ 0.03744881 -0.02274871  0.99903951]]

 t_gt:
[-5.43639698e-05  9.67297065e-01 -2.53646180e-01]

Pose Error in degrees for R and t:
179.93527702540473 36.142788939104996

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 5.29654101e-02  9.98590336e-01  3.46490673e-03]
 [-9.98595918e-01  5.29682858e-02 -7.43457181e-04]
 [-9.25939326e-04 -3.42066420e-03  9.99993721e-01]]

 t_estimated:
[[0.20966867]
 [0.97777196]
 [0.00102277]]

 R_gt:
[[ 9.89309298e-01  1.45735841e-01  5.40488757e-03]
 [-1.45833241e-01  9.88849588e-01  3.01794986e-02]
 [-9.46490528e-04 -3.06437526e-02  9.99529758e-01]]

 t_gt:
[-0.26931035  0.94699924  0.17511245]

Pose Error in degrees for R and t:
78.59279570825221 29.58056105890843

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.81842065e-01 -1.89699934e-01 -3.07257428e-04]
 [ 1.89700024e-01  9.81842051e-01  2.95654695e-04]
 [ 2.45592587e-04 -3.48572957e-04  9.99999909e-01]]

 t_estimated:
[[-0.56130746]
 [-0.82760676]
 [-0.00098996]]

 R_gt:
[[ 0.98338327  0.18059112  0.0185968 ]
 [-0.18123788  0.98251624  0.0426199 ]
 [-0.01057505 -0.04528198  0.99891761]]

 t_gt:
[-0.20882932  0.94664751  0.24545634]

Pose Error in degrees for R and t:
21.526067313552435 48.20423118114154

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99644017  0.0836217  -0.01069569]
 [-0.08415135  0.99421573 -0.06673548]
 [ 0.00505329  0.06739797  0.99771337]]

 t_estimated:
[[-0.84515425]
 [-0.50709255]
 [-0.16903085]]

 R_gt:
[[ 0.98718285  0.11339532  0.11229804]
 [-0.11011432  0.99330145 -0.03501866]
 [-0.11551634  0.02220466  0.9930569 ]]

 t_gt:
[-0.43941463  0.71023821  0.54997861]

Pose Error in degrees for R and t:
7.517916029681733 85.31102583516059

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99173789 -0.12824961 -0.00282893]
 [ 0.12827153  0.99169017  0.00985011]
 [ 0.00154215 -0.01013159  0.99994748]]

 t_estimated:
[[0.94545941]
 [0.32570851]
 [0.00452373]]

 R_gt:
[[ 0.95069769  0.28497657  0.12231573]
 [-0.28027277  0.95837445 -0.05444866]
 [-0.13274074  0.01748245  0.99099674]]

 t_gt:
[-0.36644983  0.87296512  0.32194165]

Pose Error in degrees for R and t:
25.147420576063258 86.5214476388284

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999606e-01 -7.61809099e-04 -4.54593444e-04]
 [ 7.61829462e-04  9.99999709e-01  4.46209264e-05]
 [ 4.54559319e-04 -4.49672315e-05  9.99999896e-01]]

 t_estimated:
[[-9.21819906e-01]
 [-3.87617744e-01]
 [-7.38323552e-04]]

 R_gt:
[[ 0.89578828  0.42807226  0.11965818]
 [-0.41878866  0.90304995 -0.0954801 ]
 [-0.1489296   0.03541834  0.98821331]]

 t_gt:
[-0.29172975  0.92997487  0.22369733]

Pose Error in degrees for R and t:
26.72963606151966 84.73757125652057

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.36819624  0.39597334 -0.84121141]
 [-0.83093742 -0.54604519  0.10666605]
 [-0.41710254  0.73826808  0.53008085]]

 t_estimated:
[[0.1277649 ]
 [0.99180212]
 [0.00216551]]

 R_gt:
[[ 0.99468181 -0.10254365  0.0095974 ]
 [ 0.10288571  0.99355282 -0.04761331]
 [-0.00465277  0.04834744  0.99881972]]

 t_gt:
[ 0.71354058 -0.58381318 -0.38732676]

Pose Error in degrees for R and t:
137.77069551949504 60.744797393098004

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.13417211  0.9908804  -0.01240506]
 [-0.99022532  0.13358109 -0.04012374]
 [-0.03810075  0.01766729  0.99911771]]

 t_estimated:
[[0.02240813]
 [0.99974742]
 [0.0017237 ]]

 R_gt:
[[ 0.9751726  -0.1656841   0.14692939]
 [ 0.17418377  0.98359513 -0.04691388]
 [-0.13674618  0.07134197  0.98803448]]

 t_gt:
[ 0.7066784  -0.67573454  0.2097343 ]

Pose Error in degrees for R and t:
92.31339120955337 48.748385488266386

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-7.89095758e-01  6.14270181e-01  1.71792115e-04]
 [-6.14268996e-01 -7.89093619e-01 -2.20476309e-03]
 [-1.21876016e-03 -1.84529577e-03  9.99997555e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.95308923 -0.14953534  0.26317326]
 [ 0.16991424  0.98384717 -0.05632836]
 [-0.25049932  0.0984035   0.96310354]]

 t_gt:
[ 0.58049473 -0.5576253   0.59336321]

Pose Error in degrees for R and t:
151.71845602113785 56.401008862392395

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.98347124e-01 -5.74711450e-02 -2.95502558e-04]
 [ 5.74711073e-02  9.98347161e-01 -1.34377494e-04]
 [ 3.02736968e-04  1.17172526e-04  9.99999947e-01]]

 t_estimated:
[[ 0.1839457 ]
 [-0.98293473]
 [-0.00181613]]

 R_gt:
[[ 0.99533887  0.09066401  0.03286635]
 [-0.08878761  0.99454938 -0.05464584]
 [-0.03764151  0.05147346  0.99796466]]

 t_gt:
[-0.32927976  0.93644561 -0.12101427]

Pose Error in degrees for R and t:
9.205319225040565 11.241347174063772

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99903446e-01 -1.38941153e-02 -2.29787131e-04]
 [ 1.38941244e-02  9.99903471e-01  3.79041296e-05]
 [ 2.29238306e-04 -4.10931608e-05  9.99999973e-01]]

 t_estimated:
[[-0.01930134]
 [-0.99981288]
 [-0.00128676]]

 R_gt:
[[ 0.98359296  0.17856301  0.02571113]
 [-0.17779834  0.98362428 -0.02948738]
 [-0.03055536  0.02443224  0.99923397]]

 t_gt:
[-0.29999115  0.95363786 -0.0240861 ]

Pose Error in degrees for R and t:
11.290406638825091 18.62337671883737

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99512783e-01  3.12116296e-02 -1.78018663e-04]
 [-3.12115959e-02  9.99512782e-01  1.89114420e-04]
 [ 1.83834498e-04 -1.83466034e-04  9.99999966e-01]]

 t_estimated:
[[-9.89144956e-01]
 [-1.46941002e-01]
 [-7.73373695e-04]]

 R_gt:
[[ 0.94358531  0.32901325 -0.03738502]
 [-0.3297326   0.94395591 -0.01489197]
 [ 0.03039088  0.02637889  0.99918958]]

 t_gt:
[-0.2138584   0.97035751 -0.11256505]

Pose Error in degrees for R and t:
17.600483798169947 86.04122430659922

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.92352665e-01  1.23287857e-01 -6.02430371e-03]
 [-1.23286850e-01  9.92370929e-01  5.39735919e-04]
 [ 6.04488675e-03  2.07109050e-04  9.99981708e-01]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99766964  0.03948409  0.05564472]
 [-0.037625    0.99871144 -0.03406262]
 [-0.05691804  0.03189053  0.99786917]]

 t_gt:
[-0.35063898  0.93563873  0.04040386]

Pose Error in degrees for R and t:
6.332071978399753 71.74785439375486

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-1.53516677e-01 -9.88144100e-01 -1.96657571e-03]
 [ 9.88146047e-01 -1.53516089e-01 -4.47232625e-04]
 [ 1.40029268e-04 -2.01192169e-03  9.99997966e-01]]

 t_estimated:
[[0.82166321]
 [0.56997199]
 [0.00122861]]

 R_gt:
[[ 0.9867417   0.14444416  0.07400924]
 [-0.13846422  0.98709701 -0.08042599]
 [-0.08467091  0.06911282  0.99400918]]

 t_gt:
[-0.33036329  0.94352572 -0.024886  ]

Pose Error in degrees for R and t:
107.12229434801905 74.55547178932282

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 5.09219697e-01 -8.60634800e-01 -1.74388847e-03]
 [ 8.60636298e-01  5.09216894e-01  1.82128012e-03]
 [-6.79439582e-04 -2.42828543e-03  9.99996821e-01]]

 t_estimated:
[[ 0.52233387]
 [-0.85274011]
 [ 0.00127287]]

 R_gt:
[[ 0.96618579  0.25439355  0.04207027]
 [-0.25319038  0.96689087 -0.0318918 ]
 [-0.04879093  0.02016234  0.9986054 ]]

 t_gt:
[-0.28669155  0.95800741  0.00545445]

Pose Error in degrees for R and t:
74.15808458417358 14.83366832120368

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 8.98530914e-01  4.38910220e-01  1.23541581e-04]
 [-4.38909962e-01  8.98529998e-01  1.37449261e-03]
 [ 4.92273038e-04 -1.28924773e-03  9.99999048e-01]]

 t_estimated:
[[0.6498834 ]
 [0.76003313]
 [0.0011015 ]]

 R_gt:
[[ 0.99130763 -0.10347139  0.08126046]
 [ 0.10554685  0.9941784  -0.02167128]
 [-0.07854471  0.03006021  0.99645717]]

 t_gt:
[ 0.69878051 -0.66186597  0.2713655 ]

Pose Error in degrees for R and t:
32.40092737956007 87.21345002139131

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.99603858  0.08608227 -0.02229328]
 [-0.08585938  0.99624904  0.01077083]
 [ 0.02313684 -0.00881408  0.99969345]]

 t_estimated:
[[-0.23306882]
 [-0.97245957]
 [-0.00114812]]

 R_gt:
[[ 0.96987836 -0.13023046  0.20585767]
 [ 0.13800284  0.99014621 -0.02379726]
 [-0.20072976  0.05149053  0.97829246]]

 t_gt:
[ 0.55220056 -0.53308029  0.64101478]

Pose Error in degrees for R and t:
18.426664859622313 67.11005205398925

Number of keypoints:
Image1: 24
Image2: 24

 R_estimated:
[[ 9.99770885e-01  2.04627664e-02  6.28114571e-03]
 [-2.04624729e-02  9.99790616e-01 -1.10990097e-04]
 [-6.28210170e-03 -1.75631062e-05  9.99980267e-01]]

 t_estimated:
[[0.96184958]
 [0.27357005]
 [0.00219579]]

 R_gt:
[[ 0.94157265 -0.13277798  0.30953609]
 [ 0.15108604  0.98787108 -0.03583342]
 [-0.30102439  0.08050671  0.95021183]]

 t_gt:
[ 0.49399538 -0.40581901  0.768947  ]

Pose Error in degrees for R and t:
20.178628379239147 68.5420818328089

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.81172965e-01  1.93131010e-01  1.57276803e-04]
 [-1.93131031e-01  9.81172966e-01  1.27501642e-04]
 [-1.29691227e-04 -1.55476196e-04  9.99999980e-01]]

 t_estimated:
[[0.37064726]
 [0.92877309]
 [0.00107746]]

 R_gt:
[[ 0.99991226  0.01170408  0.00626284]
 [-0.01178304  0.99984754  0.01282822]
 [-0.0061132  -0.01290075  0.999898  ]]

 t_gt:
[0.574397   0.55796038 0.59895602]

Pose Error in degrees for R and t:
10.493721056879902 42.96563601266034

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.82561569e-01  1.85936185e-01 -7.05311814e-04]
 [-1.85935710e-01  9.82561672e-01  6.87713038e-04]
 [ 8.20883093e-04 -5.44577749e-04  9.99999515e-01]]

 t_estimated:
[[0.55469991]
 [0.83204986]
 [0.00102343]]

 R_gt:
[[ 0.99619356  0.08708304 -0.00393925]
 [-0.08689761  0.99562995  0.03420563]
 [ 0.00689955 -0.03373225  0.9994066 ]]

 t_gt:
[-0.10594246  0.96587861  0.236336  ]

Pose Error in degrees for R and t:
6.040629034975017 41.829324883615904

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 2.35877701e-01  9.71782389e-01  8.35943248e-04]
 [-9.71782648e-01  2.35877981e-01 -2.52723940e-04]
 [-4.42773279e-04 -7.52743201e-04  9.99999619e-01]]

 t_estimated:
[[0.67207131]
 [0.74048575]
 [0.00100609]]

 R_gt:
[[ 0.98565512  0.16622041  0.02923775]
 [-0.16741018  0.9848793   0.04456145]
 [-0.02138947 -0.04881669  0.99857856]]

 t_gt:
[-0.2268881   0.92168501  0.3146721 ]

Pose Error in degrees for R and t:
66.80699572428561 57.972500838569225

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.22144585 -0.97510065  0.01185189]
 [-0.97511886  0.22128961 -0.01319508]
 [ 0.01024383 -0.014479   -0.9998427 ]]

 t_estimated:
[[8.53317907e-01]
 [5.21390459e-01]
 [7.34352760e-04]]

 R_gt:
[[ 0.95620659 -0.29156327  0.02569068]
 [ 0.29235786  0.95562415 -0.03616817]
 [-0.01400532  0.04209509  0.99901577]]

 t_gt:
[ 0.86680011 -0.4928384  -0.07594656]

Pose Error in degrees for R and t:
179.39438274049576 61.14209539826247

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 7.51669733e-01 -6.59539652e-01 -2.44513800e-04]
 [ 6.59539652e-01  7.51669492e-01  6.49425197e-04]
 [-2.44528105e-04 -6.49419811e-04  9.99999759e-01]]

 t_estimated:
[[9.43513179e-01]
 [3.31334059e-01]
 [7.88890618e-04]]

 R_gt:
[[ 8.65818139e-01 -5.00359414e-01 -4.06948170e-04]
 [ 5.00211048e-01  8.65580475e-01 -2.36444062e-02]
 [ 1.21832614e-02  2.02690049e-02  9.99720344e-01]]

 t_gt:
[ 0.91249216 -0.40697949 -0.04154215]

Pose Error in degrees for R and t:
11.327014437891544 43.44211457795063

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 1.00000000e+00 -8.67241792e-09 -1.10716807e-12]
 [ 8.67241789e-09  1.00000000e+00  7.26517961e-12]
 [ 1.10716807e-12 -7.26517967e-12  1.00000000e+00]]

 t_estimated:
[[9.80900148e-01]
 [1.94509590e-01]
 [9.58497044e-04]]

 R_gt:
[[ 0.83403237 -0.55165327  0.00830113]
 [ 0.55158349  0.83340628 -0.0344979 ]
 [ 0.01211284  0.03335077  0.99937011]]

 t_gt:
[ 0.9209458  -0.38581735 -0.05480689]

Pose Error in degrees for R and t:
33.54994404057582 34.07977671961335

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 1.00000000e+00 -3.21562221e-12 -3.43200132e-15]
 [ 3.21555282e-12  1.00000000e+00  2.19854517e-15]
 [ 3.43151343e-15 -2.19854517e-15  1.00000000e+00]]

 t_estimated:
[[-0.10604127]
 [-0.99436112]
 [-0.00109712]]

 R_gt:
[[ 0.99787333  0.06456535 -0.00898342]
 [-0.06477443  0.99758076 -0.02527931]
 [ 0.00732904  0.02580751  0.99963991]]

 t_gt:
[ 0.22097835  0.87352657 -0.43372791]

Pose Error in degrees for R and t:
4.013981301484275 26.93033892404642

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99999987e-01  8.62919524e-05  1.35496338e-04]
 [-8.62660765e-05  9.99999978e-01 -1.90965426e-04]
 [-1.35512814e-04  1.90953735e-04  9.99999973e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99711056  0.06894507  0.03190897]
 [-0.06614624  0.99445691 -0.08173069]
 [-0.03736768  0.07938327  0.99614342]]

 t_gt:
[ 0.16856602  0.92002069 -0.35376182]

Pose Error in degrees for R and t:
6.341443502640008 80.14567775024905

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.99821052  0.05971888  0.00306819]
 [-0.05971003  0.99821155 -0.00290081]
 [-0.00323594  0.00271242  0.99999109]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99973808 -0.00257826  0.02277816]
 [ 0.00458342  0.99607316 -0.08842221]
 [-0.0224598   0.08850363  0.99582283]]

 t_gt:
[ 0.80652816  0.0786263  -0.58594388]

Pose Error in degrees for R and t:
6.209464838279779 36.26268915869367

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99826133e-01 -1.86467887e-02  3.25959241e-05]
 [ 1.86467867e-02  9.99826132e-01  5.87516571e-05]
 [-3.36857865e-05 -5.81336328e-05  9.99999998e-01]]

 t_estimated:
[[9.65433079e-01]
 [2.60650897e-01]
 [2.82930983e-04]]

 R_gt:
[[ 0.9914438  -0.12686098  0.03079043]
 [ 0.12771856  0.99142425 -0.02770348]
 [-0.02701111  0.03140009  0.99914102]]

 t_gt:
[ 0.61952506 -0.78407456  0.03762701]

Pose Error in degrees for R and t:
6.683144138202761 66.81190686364155

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99477741e-01 -3.23146728e-02  8.34339120e-05]
 [ 3.23146730e-02  9.99477745e-01 -4.95012630e-07]
 [-8.33743420e-05  3.19089369e-06  9.99999997e-01]]

 t_estimated:
[[9.80624536e-01]
 [1.95896526e-01]
 [2.65534414e-04]]

 R_gt:
[[ 0.9866359  -0.15935071  0.03404242]
 [ 0.1608107   0.98593014 -0.0456368 ]
 [-0.02629047  0.05050204  0.99837794]]

 t_gt:
[ 0.61284356 -0.78793656 -0.05982257]

Pose Error in degrees for R and t:
8.055637210004495 63.4742793723086

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.98382844e-01 -5.68457708e-02  5.05327389e-04]
 [ 5.68459526e-02  9.98382899e-01 -3.53033467e-04]
 [-4.84441764e-04  3.81188373e-04  9.99999810e-01]]

 t_estimated:
[[0.9450809 ]
 [0.3268351 ]
 [0.00095258]]

 R_gt:
[[ 0.9928989  -0.10597938  0.05405195]
 [ 0.10838376  0.99314863 -0.04369182]
 [-0.04905147  0.04924084  0.99758156]]

 t_gt:
[ 0.42796974 -0.89530574  0.12356994]

Pose Error in degrees for R and t:
4.900824312885555 83.57131743946044

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.91995111e-01  1.26276232e-01  1.15877374e-04]
 [-1.26276267e-01  9.91995043e-01  3.72196478e-04]
 [-6.79502114e-05 -3.83849649e-04  9.99999924e-01]]

 t_estimated:
[[0.44207291]
 [0.89697787]
 [0.00149766]]

 R_gt:
[[ 0.99260319  0.12044722  0.01519653]
 [-0.1210008   0.99170843  0.0432786 ]
 [-0.00985858 -0.04479674  0.99894754]]

 t_gt:
[-0.36455585  0.833556    0.41507038]

Pose Error in degrees for R and t:
2.6260362045316405 54.045496555252456

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999993e-01  1.15308684e-04 -1.84604580e-05]
 [-1.15309104e-04  9.99999993e-01 -2.27456841e-05]
 [ 1.84578351e-05  2.27478126e-05  1.00000000e+00]]

 t_estimated:
[[3.37777939e-01]
 [9.41225409e-01]
 [8.90981545e-04]]

 R_gt:
[[ 0.97890441  0.20417215  0.00774217]
 [-0.20431372  0.97845195  0.02980051]
 [-0.00149104 -0.03075338  0.99952647]]

 t_gt:
[-0.15937833  0.97550213  0.15163821]

Pose Error in degrees for R and t:
11.912442508237902 30.177985334829962

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99999966e-01 -2.44005961e-04 -9.39133296e-05]
 [ 2.43995378e-04  9.99999964e-01 -1.12687364e-04]
 [ 9.39408226e-05  1.12664445e-04  9.99999989e-01]]

 t_estimated:
[[ 9.99998418e-01]
 [-1.47545995e-03]
 [-9.93884148e-04]]

 R_gt:
[[ 0.97611646  0.21361568  0.03956537]
 [-0.21293917  0.97684726 -0.02062886]
 [-0.0430558   0.01171122  0.99900427]]

 t_gt:
[-0.13100599  0.98056456  0.14604991]

Pose Error in degrees for R and t:
12.596560324381793 82.38026925686073

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99973339e-01 -7.22465848e-03  1.06096909e-03]
 [ 7.22561953e-03  9.99973486e-01 -9.04799936e-04]
 [-1.05440409e-03  9.12441972e-04  9.99999028e-01]]

 t_estimated:
[[-0.79726375]
 [-0.60363052]
 [-0.00084188]]

 R_gt:
[[ 0.99130406  0.13043561  0.01735189]
 [-0.13020736  0.99139271 -0.01367371]
 [-0.01898506  0.01129617  0.9997563 ]]

 t_gt:
[-0.39513344  0.91750008  0.04542215]

Pose Error in degrees for R and t:
7.9915208412602485 76.18169379883798

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.12920079  0.9916114   0.00374076]
 [-0.99160592  0.1292172  -0.00454041]
 [-0.0049857  -0.00312274  0.9999827 ]]

 t_estimated:
[[0.61158483]
 [0.79117721]
 [0.00161795]]

 R_gt:
[[ 0.98145647  0.19116744  0.01403793]
 [-0.19032021  0.98057943 -0.04733658]
 [-0.02281324  0.04378728  0.99877997]]

 t_gt:
[-0.32539544  0.94424811 -0.05013289]

Pose Error in degrees for R and t:
71.61484721522577 56.77148773958349

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.68800539 -0.7257047  -0.0011252 ]
 [-0.72562578  0.68795191 -0.01376226]
 [ 0.01076142 -0.00865203 -0.99990466]]

 t_estimated:
[[8.14349988e-01]
 [5.80373676e-01]
 [7.02631569e-04]]

 R_gt:
[[ 0.94984359  0.31123313  0.0304925 ]
 [-0.30875021  0.94880131 -0.06669811]
 [-0.04968929  0.0539385   0.99730746]]

 t_gt:
[-0.28293787  0.95855037  0.03357616]

Pose Error in degrees for R and t:
179.50136345225775 70.97803877066286

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 6.35469106e-01 -7.72125089e-01 -1.36468982e-03]
 [ 7.72125807e-01  6.35469699e-01 -1.33465850e-06]
 [ 8.68249555e-04 -1.05286410e-03  9.99999069e-01]]

 t_estimated:
[[-0.01286894]
 [-0.99991636]
 [-0.00128689]]

 R_gt:
[[ 9.81628727e-01  1.90774842e-01 -3.35434914e-03]
 [-1.90771925e-01  9.81633674e-01  1.07459649e-03]
 [ 3.49722080e-03 -4.14508737e-04  9.99993236e-01]]

 t_gt:
[-0.3917607   0.91999467 -0.01154775]

Pose Error in degrees for R and t:
61.54321479486134 23.81395899769041

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99990478e-01  4.35008243e-03 -3.48684323e-04]
 [-4.35000332e-03  9.99990513e-01  2.27323268e-04]
 [ 3.49669890e-04 -2.25804326e-04  9.99999913e-01]]

 t_estimated:
[[-9.97010606e-01]
 [-7.72632243e-02]
 [-4.95452111e-04]]

 R_gt:
[[ 0.94042741  0.33950809  0.01820898]
 [-0.33917752  0.94053101 -0.01898025]
 [-0.02357042  0.01167441  0.99965359]]

 t_gt:
[-0.31554677  0.9484341   0.03004996]

Pose Error in degrees for R and t:
19.65033278192585 76.03615845068835

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99999387e-01 -1.03754511e-03 -3.85667939e-04]
 [ 1.03742868e-03  9.99999416e-01 -3.01975860e-04]
 [ 3.85981028e-04  3.01575572e-04  9.99999880e-01]]

 t_estimated:
[[-0.90569837]
 [-0.42391968]
 [-0.00160368]]

 R_gt:
[[ 0.92115023  0.38868139  0.02027358]
 [-0.38801357  0.9211531  -0.03036623]
 [-0.03047739  0.02010592  0.99933288]]

 t_gt:
[-0.27131672  0.96214914  0.0256177 ]

Pose Error in degrees for R and t:
23.01355179748767 80.66631827517824

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.96914604e-01  7.84934089e-02  2.38761396e-04]
 [-7.84933769e-02  9.96914625e-01 -1.40323204e-04]
 [-2.49039174e-04  1.21149063e-04  9.99999962e-01]]

 t_estimated:
[[0.45140756]
 [0.89231727]
 [0.00104979]]

 R_gt:
[[ 0.99500269 -0.09859106  0.01580739]
 [ 0.09908421  0.99448934 -0.03427124]
 [-0.01234075  0.03566679  0.99928831]]

 t_gt:
[ 0.56606895 -0.81756111 -0.10563988]

Pose Error in degrees for R and t:
10.400193558565794 61.69877759433625

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99994769e-01  3.22944892e-03  1.78692603e-04]
 [-3.22942940e-03  9.99994779e-01 -1.09386484e-04]
 [-1.79044928e-04  1.08808837e-04  9.99999978e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99910836 -0.04106036  0.00988465]
 [ 0.04120285  0.99904469 -0.01462367]
 [-0.00927407  0.01501869  0.99984399]]

 t_gt:
[ 0.2177379  -0.97597329 -0.00814532]

Pose Error in degrees for R and t:
2.731552634930367 12.940219758939568

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 8.30023257e-01  5.57728429e-01  6.25951745e-04]
 [-5.57727111e-01  8.30022996e-01 -1.51524335e-03]
 [-1.36464863e-03  9.08576959e-04  9.99998656e-01]]

 t_estimated:
[[0.00728388]
 [0.99997293]
 [0.00104055]]

 R_gt:
[[ 0.99805094 -0.03441067  0.05206427]
 [ 0.03628263  0.99871331 -0.03545968]
 [-0.05077693  0.03727998  0.99801381]]

 t_gt:
[-0.17967988 -0.86886829  0.46128412]

Pose Error in degrees for R and t:
36.09245900529988 29.579274679782298

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.95370990e-01 -9.61071858e-02  3.63336130e-05]
 [ 9.61071779e-02  9.95370975e-01  1.78637558e-04]
 [-5.33337768e-05 -1.74318722e-04  9.99999983e-01]]

 t_estimated:
[[9.99982376e-01]
 [5.87731035e-03]
 [8.39615765e-04]]

 R_gt:
[[ 0.98474285 -0.17349334 -0.01349114]
 [ 0.17352957  0.98482673  0.00160873]
 [ 0.01300724 -0.00392488  0.99990743]]

 t_gt:
[ 0.81206369 -0.58279371 -0.03006757]

Pose Error in degrees for R and t:
4.5449328276623415 36.04073732973622

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.94609836e-01 -1.03686270e-01  6.57297771e-04]
 [ 1.03686733e-01  9.94609748e-01 -7.15063905e-04]
 [-5.79612462e-04  7.79362652e-04  9.99999528e-01]]

 t_estimated:
[[-8.13818751e-01]
 [-5.81118440e-01]
 [-6.32337802e-04]]

 R_gt:
[[ 0.98368038 -0.17961771 -0.01055093]
 [ 0.17932395  0.98349366 -0.02413069]
 [ 0.01471181  0.02184525  0.99965293]]

 t_gt:
[ 0.80347013 -0.57963421 -0.13586736]

Pose Error in degrees for R and t:
4.635057451470346 71.52100256767258

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.78575554  0.61835877  0.01485492]
 [ 0.61852609  0.78565862  0.01288466]
 [-0.00370356  0.01931235 -0.99980664]]

 t_estimated:
[[9.99967893e-01]
 [7.96434605e-03]
 [8.84927339e-04]]

 R_gt:
[[ 0.96885166 -0.24655033 -0.02326442]
 [ 0.24561724  0.96866461 -0.03688862]
 [ 0.03163072  0.03002548  0.99904889]]

 t_gt:
[ 0.81454658 -0.55902756 -0.15492594]

Pose Error in degrees for R and t:
179.82459658784632 35.910805172310305

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.71152635  0.70265667 -0.00196217]
 [ 0.70263351  0.71152133  0.00659927]
 [ 0.00603315  0.00331687 -0.9999763 ]]

 t_estimated:
[[ 0.21324716]
 [-0.9769794 ]
 [-0.00607434]]

 R_gt:
[[ 0.97638908 -0.21038187 -0.04904006]
 [ 0.21264147  0.97602026  0.04657355]
 [ 0.03806648 -0.05590067  0.99771067]]

 t_gt:
[ 0.96252928 -0.17351949  0.20839475]

Pose Error in degrees for R and t:
176.34129375712567 68.0673938446789

Number of keypoints:
Image1: 24
Image2: 24

 R_estimated:
[[ 0.86709697  0.49808167  0.00758272]
 [-0.49789399  0.86704714 -0.01818884]
 [-0.01563411  0.0119961   0.99980582]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.92324699 -0.37845763 -0.06622975]
 [ 0.38165431  0.92322357  0.04470577]
 [ 0.04422703 -0.06655063  0.9968029 ]]

 t_gt:
[ 0.98711239 -0.06643613  0.14558627]

Pose Error in degrees for R and t:
52.54410745146389 37.64586889348339

Number of keypoints:
Image1: 20
Image2: 20

 R_estimated:
[[-0.85725247  0.51485658  0.00639662]
 [ 0.51481973  0.85727308 -0.00659685]
 [-0.00888008 -0.00236206 -0.99995778]]

 t_estimated:
[[ 0.88562812]
 [-0.46431924]
 [ 0.00839477]]

 R_gt:
[[ 0.91014977 -0.41271224 -0.03601575]
 [ 0.41427696  0.90699695  0.07570956]
 [ 0.00142078 -0.0838274   0.99647953]]

 t_gt:
[ 0.98008795 -0.04901405  0.19241943]

Pose Error in degrees for R and t:
178.0786801407019 26.827801755958685

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999964e-01  2.62610487e-04 -4.53460111e-05]
 [-2.62610722e-04  9.99999966e-01 -5.18134922e-06]
 [ 4.53446489e-05  5.19325739e-06  9.99999999e-01]]

 t_estimated:
[[ 2.24869072e-01]
 [ 9.74388985e-01]
 [-7.90006722e-05]]

 R_gt:
[[ 9.99892341e-01  7.93293283e-04 -1.46321968e-02]
 [-1.26744953e-03  9.99472612e-01 -3.24408357e-02]
 [ 1.45975488e-02  3.24548641e-02  9.99365961e-01]]

 t_gt:
[ 0.14157243 -0.09449377 -0.98540762]

Pose Error in degrees for R and t:
2.0395096209865367 86.55096993485857

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.92218346e-01 -1.24502498e-01  1.37205429e-03]
 [-1.24501736e-01 -9.92219191e-01 -6.27969688e-04]
 [ 1.43956240e-03  4.52259903e-04 -9.99998862e-01]]

 t_estimated:
[[0.65669997]
 [0.75415143]
 [0.00087794]]

 R_gt:
[[ 0.99463098 -0.1025093  -0.01417551]
 [ 0.10183264  0.99390534 -0.04223006]
 [ 0.01841819  0.04055843  0.99900709]]

 t_gt:
[ 0.71833515 -0.60132895 -0.3498544 ]

Pose Error in degrees for R and t:
177.53578393898397 88.97260715933673

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.23974427 -0.97055884  0.02319949]
 [ 0.96294837 -0.24076847 -0.12149481]
 [ 0.12350357 -0.00678778  0.99232091]]

 t_estimated:
[[0.97777509]
 [0.20960763]
 [0.00452863]]

 R_gt:
[[ 0.96526949 -0.26103732 -0.01070973]
 [ 0.26031478  0.964459   -0.04534207]
 [ 0.02216506  0.04097777  0.99891436]]

 t_gt:
[ 0.81776226 -0.55189112 -0.16334344]

Pose Error in degrees for R and t:
88.87246297558183 46.9083580567804

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.99931699 -0.03692853  0.00135646]
 [ 0.03693033  0.99931696 -0.00133045]
 [-0.0013064   0.00137963  0.99999819]]

 t_estimated:
[[7.92098140e-01]
 [6.10393384e-01]
 [6.72980578e-04]]

 R_gt:
[[ 0.98785538 -0.15460996 -0.01541362]
 [ 0.15523732  0.98630216  0.05574937]
 [ 0.00658364 -0.0574645   0.99832593]]

 t_gt:
[ 0.67995286 -0.68493796  0.26177107]

Pose Error in degrees for R and t:
7.608291288750206 83.06842236362792

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 8.69101446e-01 -4.94630561e-01  1.81239416e-03]
 [ 4.94632628e-01  8.69101659e-01 -9.32540522e-04]
 [-1.11389173e-03  1.70694160e-03  9.99997923e-01]]

 t_estimated:
[[0.5158315 ]
 [0.85668931]
 [0.00113619]]

 R_gt:
[[ 0.96572133 -0.25909147 -0.01595261]
 [ 0.25844433  0.95391689  0.15247459]
 [-0.02428647 -0.15137164  0.98817839]]

 t_gt:
[ 0.60830412 -0.63961689  0.46995355]

Pose Error in degrees for R and t:
17.047505473229144 76.48873333789815

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.93975327e-01  1.09589142e-01 -1.80785999e-03]
 [-1.09588112e-01  9.93976866e-01  6.59727816e-04]
 [ 1.86927002e-03 -4.57633209e-04  9.99998148e-01]]

 t_estimated:
[[ 0.4293106 ]
 [ 0.90314396]
 [-0.00483716]]

 R_gt:
[[ 0.95684255 -0.28824383 -0.03698019]
 [ 0.29049053  0.9450725   0.14984556]
 [-0.00824282 -0.15412048  0.98801743]]

 t_gt:
[ 0.63868374 -0.65520981  0.40346397]

Pose Error in degrees for R and t:
24.81933095176521 71.3669050492898

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.98190024e-01 -6.01388005e-02 -7.43752390e-06]
 [ 6.01388009e-02  9.98190022e-01  6.77881774e-05]
 [ 3.34736246e-06 -6.81127662e-05  9.99999998e-01]]

 t_estimated:
[[1.05012842e-01]
 [9.94470810e-01]
 [3.34011820e-04]]

 R_gt:
[[ 0.99885776  0.02209803 -0.04238671]
 [-0.02282441  0.99959972 -0.01672545]
 [ 0.042       0.01767358  0.99896136]]

 t_gt:
[-0.12540946  0.53179126 -0.83753837]

Pose Error in degrees for R and t:
5.407822543693257 58.97570220246395

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.93312501e-01 -1.15456799e-01 -5.07548987e-05]
 [ 1.15456805e-01  9.93312493e-01  1.30701450e-04]
 [ 3.53251040e-05 -1.35687382e-04  9.99999990e-01]]

 t_estimated:
[[-1.06336240e-01]
 [ 9.94330228e-01]
 [-4.54252577e-05]]

 R_gt:
[[ 0.99513882  0.04369184 -0.08826478]
 [-0.04838228  0.99748835 -0.05173346]
 [ 0.08578253  0.05575222  0.99475325]]

 t_gt:
[-0.06900193  0.50677998 -0.85930948]

Pose Error in degrees for R and t:
10.975508813308164 59.250666169357125

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.41820143e-01  3.36116544e-01  6.97395064e-04]
 [-3.36116756e-01  9.41820303e-01  2.09111694e-04]
 [-5.86534931e-04 -4.31351772e-04  9.99999735e-01]]

 t_estimated:
[[-0.39059179]
 [ 0.92056322]
 [ 0.00118793]]

 R_gt:
[[ 0.99242448  0.04119688 -0.1157538 ]
 [-0.052401    0.99405078 -0.09548342]
 [ 0.11113164  0.10082554  0.9886778 ]]

 t_gt:
[ 0.00982407  0.4392121  -0.89832968]

Pose Error in degrees for R and t:
19.01817112776119 66.4581903593094

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999987e-01  9.51745999e-05  1.28750808e-04]
 [-9.51813637e-05  9.99999994e-01  5.25285779e-05]
 [-1.28745808e-04 -5.25408319e-05  9.99999990e-01]]

 t_estimated:
[[0.58294157]
 [0.81251353]
 [0.0009445 ]]

 R_gt:
[[ 0.98635507 -0.13352268 -0.09630539]
 [ 0.13427513  0.99094309  0.00135092]
 [ 0.09525201 -0.01426417  0.99535076]]

 t_gt:
[ 0.63241824 -0.70254799 -0.32630277]

Pose Error in degrees for R and t:
9.495077155323502 78.31826891552183

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.95309900e-01  9.67373456e-02 -2.98126803e-04]
 [-9.67377781e-02  9.95302601e-01 -3.81254660e-03]
 [-7.20892558e-05  3.82350550e-03  9.99992688e-01]]

 t_estimated:
[[0.99161267]
 [0.12924012]
 [0.00114372]]

 R_gt:
[[ 0.9796839  -0.16991339 -0.10652737]
 [ 0.18296583  0.97476563  0.12788637]
 [ 0.08210894 -0.14477979  0.9860508 ]]

 t_gt:
[ 0.50702401 -0.8275124   0.24114286]

Pose Error in degrees for R and t:
18.543273160549184 66.66543971324488

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 7.89955938e-01  6.13162297e-01  1.27055780e-03]
 [ 6.13162709e-01 -7.89956635e-01  8.01403575e-05]
 [ 1.05282461e-03  7.15751309e-04 -9.99999190e-01]]

 t_estimated:
[[0.94558109]
 [0.32538472]
 [0.0010919 ]]

 R_gt:
[[ 0.95780025 -0.21152149 -0.19462089]
 [ 0.24255561  0.95808903  0.15241927]
 [ 0.15422346 -0.19319393  0.96896352]]

 t_gt:
[ 0.56482084 -0.80713332  0.17179414]

Pose Error in degrees for R and t:
167.2096674598815 74.23796315512746

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 0.64737116  0.7621212   0.00904776]
 [ 0.76212213 -0.64714102 -0.01945139]
 [-0.00896914  0.01948776 -0.99976986]]

 t_estimated:
[[-9.80543380e-01]
 [-1.96300188e-01]
 [-9.57561894e-04]]

 R_gt:
[[ 0.99537234 -0.08686435 -0.04110193]
 [ 0.0877514   0.99593602  0.02030194]
 [ 0.03917159 -0.02381459  0.99894892]]

 t_gt:
[ 0.64182471 -0.74434084 -0.18443904]

Pose Error in degrees for R and t:
179.1138957051442 61.11546215839401

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 7.85378884e-01 -6.19014476e-01  1.04247833e-03]
 [ 6.19015228e-01  7.85378685e-01 -6.84434680e-04]
 [-3.95065288e-04  1.18285051e-03  9.99999222e-01]]

 t_estimated:
[[-0.30572609]
 [-0.9521184 ]
 [-0.00145584]]

 R_gt:
[[ 0.97201374 -0.21512178 -0.09441196]
 [ 0.2186657   0.97537417  0.02883726]
 [ 0.0858824  -0.04867499  0.99511544]]

 t_gt:
[ 0.69551588 -0.69922871 -0.16533869]

Pose Error in degrees for R and t:
26.307099648670047 63.04105929253269

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-6.92974374e-01  7.20961988e-01 -5.73595817e-04]
 [-7.20958775e-01 -6.92973305e-01 -2.53859101e-03]
 [-2.22771421e-03 -1.34563958e-03  9.99996613e-01]]

 t_estimated:
[[0.50763023]
 [0.86157425]
 [0.00116429]]

 R_gt:
[[ 0.95422667 -0.2798753  -0.10546474]
 [ 0.28531042  0.95758954  0.04025513]
 [ 0.08972448 -0.06850258  0.99360836]]

 t_gt:
[ 0.69651909 -0.7108742  -0.09756555]

Pose Error in degrees for R and t:
150.3924415864793 74.98865218682913

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.76979987e-01  2.13329392e-01  8.22191764e-04]
 [-2.13328663e-01  9.76980084e-01 -8.92364665e-04]
 [-9.93632591e-04  6.96425350e-04  9.99999264e-01]]

 t_estimated:
[[-9.99716594e-01]
 [-2.38020727e-02]
 [ 4.39393150e-04]]

 R_gt:
[[ 0.99786191 -0.01527535  0.06355991]
 [ 0.01433628  0.99978152  0.01520411]
 [-0.06377768 -0.01426041  0.99786198]]

 t_gt:
[ 0.15498337 -0.15837209  0.97514021]

Pose Error in degrees for R and t:
13.676287490427937 81.33010607154944

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-1.51339789e-01  9.88481796e-01 -8.11071022e-05]
 [-9.88479941e-01 -1.51339663e-01 -1.92690139e-03]
 [-1.91698167e-03 -2.11444107e-04  9.99998140e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99143093 -0.09224715  0.09250029]
 [ 0.0917342   0.9957357   0.00979496]
 [-0.09300918 -0.00122664  0.99566371]]

 t_gt:
[ 0.59694697 -0.56729598  0.56730026]

Pose Error in degrees for R and t:
104.0868630887863 55.738428476323676

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.9942641   0.10687623 -0.00404641]
 [-0.10685407  0.99426035  0.00534499]
 [ 0.00459444 -0.00488195  0.99997753]]

 t_estimated:
[[-0.65809218]
 [-0.75293488]
 [-0.00193557]]

 R_gt:
[[ 0.98854879 -0.12087986  0.09033716]
 [ 0.12196613  0.99251236 -0.00657576]
 [-0.08886581  0.01751869  0.995889  ]]

 t_gt:
[ 0.694997   -0.63302635  0.34096452]

Pose Error in degrees for R and t:
14.220548898698848 88.93449106466446

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99989889e-01  4.49629220e-03  7.28319389e-05]
 [-4.49629966e-03  9.99989886e-01  1.02567789e-04]
 [-7.23700275e-05 -1.02894226e-04  9.99999992e-01]]

 t_estimated:
[[ 8.51390856e-01]
 [-5.24531798e-01]
 [ 5.60022316e-05]]

 R_gt:
[[ 0.9902631  -0.12645728 -0.05821815]
 [ 0.12816888  0.99139347  0.02667726]
 [ 0.05434369 -0.03387898  0.99794728]]

 t_gt:
[ 0.64673932 -0.74619901 -0.15784579]

Pose Error in degrees for R and t:
8.421091540437443 19.605677274889718

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.06778232 -0.99768476  0.00553848]
 [-0.99769042 -0.06780511 -0.00403528]
 [ 0.00440148 -0.00525217 -0.99997652]]

 t_estimated:
[[8.13306417e-01]
 [5.81835262e-01]
 [6.32435684e-04]]

 R_gt:
[[ 0.98584719 -0.1645901  -0.0318826 ]
 [ 0.16531251  0.98600579  0.02152804]
 [ 0.02789305 -0.02649306  0.99925956]]

 t_gt:
[ 0.60157167 -0.79770079 -0.04224902]

Pose Error in degrees for R and t:
179.84336845233008 88.56144190965132

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 5.63532638e-01  8.26084526e-01  3.91435657e-03]
 [ 8.26090377e-01 -5.63537617e-01  2.08516025e-04]
 [ 2.37813903e-03  3.11610670e-03 -9.99992317e-01]]

 t_estimated:
[[-0.57185691]
 [-0.82035184]
 [-0.00159292]]

 R_gt:
[[ 0.98226484 -0.18473963 -0.03205549]
 [ 0.18517695  0.98264043  0.01122326]
 [ 0.02942615 -0.01696022  0.99942318]]

 t_gt:
[ 0.56412696 -0.82141835 -0.08386102]

Pose Error in degrees for R and t:
178.5683826988079 69.42790384985288

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-3.51306364e-01  9.36260173e-01  8.52327781e-04]
 [-9.36260540e-01 -3.51306017e-01 -5.32847336e-04]
 [-1.99455861e-04 -9.85193529e-04  9.99999495e-01]]

 t_estimated:
[[9.10768927e-01]
 [4.12915553e-01]
 [8.40968539e-04]]

 R_gt:
[[ 0.98492385  0.16825429 -0.04019925]
 [-0.16485386  0.9833347   0.07664325]
 [ 0.05242567 -0.06886114  0.99624807]]

 t_gt:
[-0.74484607  0.65713389  0.11566929]

Pose Error in degrees for R and t:
101.05071497566767 65.98695808153197

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.36009061  0.932017   -0.04097641]
 [ 0.93261676  0.36074206  0.00954698]
 [ 0.02367986 -0.03477751 -0.9991145 ]]

 t_estimated:
[[-0.11163259]
 [-0.99374895]
 [-0.00109444]]

 R_gt:
[[ 0.9683549   0.21958205 -0.11862335]
 [-0.20393676  0.97017002  0.13106657]
 [ 0.14386528 -0.10272804  0.98425078]]

 t_gt:
[-0.8073826   0.56636987 -0.16540408]

Pose Error in degrees for R and t:
167.76089215123963 61.80211523199743

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 4.46671802e-01  8.94691131e-01  3.47583870e-03]
 [ 8.94696194e-01 -4.46675136e-01  2.07475553e-04]
 [ 1.73819726e-03  3.01714618e-03 -9.99993938e-01]]

 t_estimated:
[[-0.42628543]
 [-0.90458782]
 [-0.00126871]]

 R_gt:
[[ 0.94386167  0.28112437 -0.17347548]
 [-0.24496233  0.94795829  0.2033883 ]
 [ 0.22162541 -0.14947559  0.96360792]]

 t_gt:
[-0.86199726  0.46063953 -0.21159383]

Pose Error in degrees for R and t:
165.206980097181 87.19347095837053

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-8.06009082e-02  9.96746270e-01  6.05164826e-04]
 [-9.96742641e-01 -8.05989056e-02 -2.81502679e-03]
 [-2.75709183e-03 -8.30087303e-04  9.99995855e-01]]

 t_estimated:
[[0.025734  ]
 [0.99966687]
 [0.00197954]]

 R_gt:
[[ 0.99621206  0.02543876  0.08315072]
 [-0.02436399  0.99960621 -0.01391959]
 [-0.0834726   0.01184144  0.99643933]]

 t_gt:
[-0.33177579  0.45256088  0.82771582]

Pose Error in degrees for R and t:
93.28132176628871 63.543982549507575

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.93825577  0.34593821 -0.00169136]
 [-0.34593349  0.93825553  0.00256692]
 [ 0.00247492 -0.00182333  0.99999528]]

 t_estimated:
[[-0.97841211]
 [-0.20665527]
 [-0.00182881]]

 R_gt:
[[ 0.99176558 -0.0271157   0.1251667 ]
 [ 0.03131007  0.99900791 -0.03166852]
 [-0.12418483  0.035326    0.99163013]]

 t_gt:
[ 0.29296518 -0.089423    0.95193221]

Pose Error in degrees for R and t:
23.175777436184745 74.34157374595634

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-6.06312499e-02  9.98148176e-01  4.90621242e-03]
 [ 9.98160119e-01  6.06281582e-02  7.76601199e-04]
 [ 4.77708448e-04  4.94427188e-03 -9.99987663e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98406434 -0.08573881  0.15577918]
 [ 0.08979776  0.99577538 -0.01919604]
 [-0.15347654  0.03287923  0.987605  ]]

 t_gt:
[ 0.53516036 -0.47418958  0.69910487]

Pose Error in degrees for R and t:
172.30605504098446 61.95819493115664

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.07195678  0.99739807 -0.00439542]
 [-0.99740681 -0.07196206 -0.00105523]
 [-0.00136879  0.00430809  0.99998978]]

 t_estimated:
[[ 2.55957530e-01]
 [ 9.66687682e-01]
 [-8.17529852e-04]]

 R_gt:
[[ 0.98609862 -0.1638686  -0.02752053]
 [ 0.16292213  0.98606387 -0.03367837]
 [ 0.03265568  0.02872631  0.99905314]]

 t_gt:
[ 0.54238096 -0.7974895  -0.26426009]

Pose Error in degrees for R and t:
103.54974631776538 50.810982936054124

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.66124195e-01 -2.58077463e-01 -2.49795905e-04]
 [ 2.58077513e-01  9.66124195e-01  1.90690417e-04]
 [ 1.92120969e-04 -2.48697331e-04  9.99999951e-01]]

 t_estimated:
[[ 9.99910906e-01]
 [-1.33268612e-02]
 [ 7.58377219e-04]]

 R_gt:
[[ 0.94850093 -0.31484371 -0.0349427 ]
 [ 0.31491178  0.9491145  -0.0036859 ]
 [ 0.03432515 -0.007508    0.9993819 ]]

 t_gt:
[ 0.6205472  -0.78088098 -0.07173605]

Pose Error in degrees for R and t:
3.9470289848329476 50.88756592704357

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-8.72396526e-01  4.88785643e-01  3.59120530e-03]
 [ 4.88786784e-01  8.72403063e-01 -6.12526351e-04]
 [-3.43237259e-03  1.22096783e-03 -9.99993364e-01]]

 t_estimated:
[[ 0.75436647]
 [-0.65644467]
 [ 0.00340931]]

 R_gt:
[[ 0.89196161 -0.45201829 -0.00926254]
 [ 0.45158049  0.89171758 -0.0302455 ]
 [ 0.02193143  0.02279493  0.99949898]]

 t_gt:
[ 0.68033852 -0.72963116 -0.06912213]

Pose Error in degrees for R and t:
179.7138888772822 7.274273888931828

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-6.92743470e-01 -7.21183360e-01 -1.02278055e-03]
 [-7.21184068e-01  6.92743063e-01  7.67063915e-04]
 [ 1.55330398e-04  1.26899155e-03 -9.99999183e-01]]

 t_estimated:
[[0.80821689]
 [0.58888414]
 [0.00096242]]

 R_gt:
[[ 0.99532776 -0.07884566 -0.0557208 ]
 [ 0.08334185  0.9930094   0.08358834]
 [ 0.0487404  -0.08784056  0.99494205]]

 t_gt:
[ 0.45539754 -0.84892685  0.2682094 ]

Pose Error in degrees for R and t:
179.13692213928528 82.43785621439

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.99938381 -0.03507114  0.00141652]
 [-0.0350355   0.99918257  0.02016704]
 [-0.00212265  0.02010499 -0.99979562]]

 t_estimated:
[[0.82021877]
 [0.57204934]
 [0.0008446 ]]

 R_gt:
[[ 0.98959828 -0.1141408  -0.087563  ]
 [ 0.12771895  0.9772005   0.16961234]
 [ 0.06620613 -0.17903061  0.98161385]]

 t_gt:
[ 0.37261013 -0.80177071  0.46725306]

Pose Error in degrees for R and t:
175.91344956454878 81.22028562733784

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-2.04109125e-01 -9.78945935e-01 -2.07884320e-03]
 [ 9.78947769e-01 -2.04110442e-01  4.40224205e-04]
 [-8.55269300e-04 -1.94522513e-03  9.99997742e-01]]

 t_estimated:
[[0.97261683]
 [0.23241246]
 [0.00097652]]

 R_gt:
[[ 0.96310566 -0.16035336 -0.21613788]
 [ 0.19436207  0.96993177  0.14647994]
 [ 0.18615006 -0.18308423  0.96531334]]

 t_gt:
[ 0.55696732 -0.82388651  0.10487337]

Pose Error in degrees for R and t:
92.32921002111634 69.49208852732009

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[-0.48393576  0.87510083  0.00217191]
 [ 0.87510289  0.48393094  0.00240211]
 [ 0.00105104  0.00306311 -0.99999476]]

 t_estimated:
[[-0.87926594]
 [-0.47632901]
 [-0.00143906]]

 R_gt:
[[ 0.99886844  0.014774   -0.04521047]
 [-0.01714849  0.99846945 -0.0525794 ]
 [ 0.044365    0.05329548  0.99759264]]

 t_gt:
[-0.00383662  0.38692738 -0.92210221]

Pose Error in degrees for R and t:
179.36680466856586 79.65328409970756

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.95404630e-01 -9.57506398e-02 -1.19885923e-03]
 [ 9.57516555e-02  9.95404916e-01  8.20530081e-04]
 [ 1.11478410e-03 -9.31552198e-04  9.99998945e-01]]

 t_estimated:
[[0.79878389]
 [0.60161571]
 [0.0016852 ]]

 R_gt:
[[ 0.99892208  0.01798219 -0.04281652]
 [-0.02032188  0.99828891 -0.05483651]
 [ 0.0417571   0.05564743  0.99757668]]

 t_gt:
[-0.03023157  0.38678177 -0.9216756 ]

Pose Error in degrees for R and t:
7.705136035134772 78.05384885529563

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.57645103  0.81696855  0.01632753]
 [ 0.81692409  0.5766399  -0.01102015]
 [-0.01841823  0.00698578 -0.99980597]]

 t_estimated:
[[ 0.2985751 ]
 [-0.95429032]
 [ 0.01352404]]

 R_gt:
[[ 0.99610824 -0.0212326   0.0855502 ]
 [ 0.01117974  0.99314918  0.11631649]
 [-0.08743344 -0.11490757  0.98952083]]

 t_gt:
[ 0.00157708 -0.24972513  0.96831548]

Pose Error in degrees for R and t:
177.52726083952535 75.41140745412072

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-2.99048033e-01  9.54236736e-01 -1.58902460e-03]
 [ 9.54227190e-01  2.99052160e-01  4.27498506e-03]
 [ 4.55454904e-03 -2.37864605e-04 -9.99989600e-01]]

 t_estimated:
[[-0.1991538 ]
 [-0.97996315]
 [-0.00316117]]

 R_gt:
[[ 0.99968746  0.01700805  0.01832284]
 [-0.01666549  0.99968698 -0.01866655]
 [-0.01863492  0.01835529  0.99965828]]

 t_gt:
[-0.68422755  0.41808971 -0.59752294]

Pose Error in degrees for R and t:
178.73818154402113 74.24305456565082

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.93398639 -0.35729774 -0.00278225]
 [ 0.35728883 -0.93398832  0.00324189]
 [-0.00375691  0.00203382  0.99999087]]

 t_estimated:
[[9.41626985e-01]
 [3.36656960e-01]
 [8.43751779e-04]]

 R_gt:
[[ 0.98548156 -0.16977036  0.00226415]
 [ 0.16976801  0.98548306  0.00147481]
 [-0.00248256 -0.00106897  0.99999643]]

 t_gt:
[ 0.9913921  -0.1309172  -0.00154831]

Pose Error in degrees for R and t:
149.29123502960644 27.19627863451962

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 3.24857500e-01  9.45762496e-01  9.51902529e-04]
 [ 9.45760901e-01 -3.24858731e-01  1.76749911e-03]
 [ 1.98086821e-03  3.26086853e-04 -9.99997985e-01]]

 t_estimated:
[[0.8648356 ]
 [0.50205391]
 [0.00112316]]

 R_gt:
[[ 0.9303597  -0.36550764 -0.02891189]
 [ 0.36635397  0.92987828  0.0333315 ]
 [ 0.01470127 -0.04160228  0.99902651]]

 t_gt:
[ 0.99342212 -0.06176396  0.09642463]

Pose Error in degrees for R and t:
177.45187551691308 34.08099294722233

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99999566e-01  9.05933633e-04  2.19082000e-04]
 [-9.05999808e-04  9.99999544e-01  3.02146233e-04]
 [-2.18808176e-04 -3.02344590e-04  9.99999930e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.98948325 -0.1446181   0.00314438]
 [ 0.14463962  0.98945173 -0.00797524]
 [-0.00195669  0.00834599  0.99996278]]

 t_gt:
[ 0.77388632 -0.63268438 -0.02846825]

Pose Error in degrees for R and t:
8.383063919716147 39.85945267028926

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.16592473e-01  9.93163531e-01 -5.69181699e-03]
 [-9.93179442e-01  1.16595643e-01  2.27250737e-04]
 [ 8.89338206e-04  5.62649990e-03  9.99983776e-01]]

 t_estimated:
[[0.61969816]
 [0.78483979]
 [0.00083405]]

 R_gt:
[[ 9.60174412e-01 -2.79401389e-01 -1.57290696e-04]
 [ 2.79338656e-01  9.59969122e-01 -2.07071570e-02]
 [ 5.93640096e-03  1.98385946e-02  9.99785750e-01]]

 t_gt:
[ 0.83756256 -0.54292894 -0.06096819]

Pose Error in degrees for R and t:
99.53106703202087 84.67109585688497

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.15457489  0.98740041 -0.03386777]
 [ 0.9879035   0.15490149  0.00722572]
 [ 0.01238084 -0.03234118 -0.9994002 ]]

 t_estimated:
[[0.95157828]
 [0.30739821]
 [0.00226028]]

 R_gt:
[[ 0.92686191 -0.37499054  0.01756188]
 [ 0.37527027  0.92428476 -0.06977823]
 [ 0.00993435  0.07126567  0.9974081 ]]

 t_gt:
[ 0.87605879 -0.460107   -0.14430016]

Pose Error in degrees for R and t:
179.04494973563948 46.22118187783338

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.99728438 -0.0736153  -0.00215591]
 [ 0.07362191  0.99728119  0.00316938]
 [ 0.00191674 -0.0033195   0.99999265]]

 t_estimated:
[[0.75108649]
 [0.66020159]
 [0.00171481]]

 R_gt:
[[ 0.99038274 -0.1382656   0.00498144]
 [ 0.1370023   0.98508336  0.10411685]
 [-0.01930274 -0.10243362  0.99455209]]

 t_gt:
[ 0.49829239 -0.65953216  0.56278062]

Pose Error in degrees for R and t:
6.896291093703182 86.5487966259765

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.99998091  0.00565591 -0.00248964]
 [-0.00564459  0.99997382  0.00452778]
 [ 0.00251519 -0.00451364  0.99998665]]

 t_estimated:
[[ 0.9998178 ]
 [-0.01850988]
 [ 0.0046642 ]]

 R_gt:
[[ 0.98108915 -0.19353751  0.00298508]
 [ 0.19134221  0.97205645  0.13599035]
 [-0.0292217  -0.13284765  0.99070505]]

 t_gt:
[ 0.51646775 -0.67160393  0.53123368]

Pose Error in degrees for R and t:
13.741698485041711 57.90783455329816

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.77377724e-01 -2.11500970e-01 -3.51611405e-04]
 [ 2.11501036e-01  9.77377760e-01  1.62942971e-04]
 [ 3.09194570e-04 -2.33623007e-04  9.99999925e-01]]

 t_estimated:
[[-0.48682276]
 [-0.8735001 ]
 [-0.00107892]]

 R_gt:
[[ 0.98492445  0.17288775  0.00582573]
 [-0.1729347   0.98325637  0.05744691]
 [ 0.00420398 -0.05758809  0.99833165]]

 t_gt:
[-0.74709634  0.61645251  0.24866315]

Pose Error in degrees for R and t:
22.41684062258369 79.91924022137968

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99957266e-01 -9.24381431e-03 -1.36807996e-04]
 [ 9.24381457e-03  9.99957275e-01  1.25530767e-06]
 [ 1.36790547e-04 -2.51988178e-06  9.99999991e-01]]

 t_estimated:
[[-9.69017742e-01]
 [-2.46990292e-01]
 [-6.41367832e-04]]

 R_gt:
[[ 0.96542589  0.25918549  0.02785631]
 [-0.26044104  0.96357857  0.06070817]
 [-0.0111066  -0.06586398  0.99776599]]

 t_gt:
[-0.71424591  0.66519447  0.21764443]

Pose Error in degrees for R and t:
16.066776201966483 58.151111344860354

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99610318e-01  2.79097416e-02 -5.09087196e-04]
 [-2.79095445e-02  9.99610377e-01  3.90226000e-04]
 [ 5.19779950e-04 -3.75865544e-04  9.99999794e-01]]

 t_estimated:
[[-0.80774105]
 [-0.58953641]
 [-0.00110537]]

 R_gt:
[[ 0.89105927  0.45145453  0.04692184]
 [-0.4534999   0.88979443  0.05100682]
 [-0.01872308 -0.06672844  0.99759445]]

 t_gt:
[-0.6447751   0.75282295  0.13237328]

Pose Error in degrees for R and t:
25.642578831395344 85.59256278279534

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99715250e-01 -2.38621806e-02  1.19509423e-04]
 [ 2.38621873e-02  9.99715256e-01 -5.51552219e-05]
 [-1.18159270e-04  5.79912727e-05  9.99999991e-01]]

 t_estimated:
[[ 9.97156168e-01]
 [-7.53629604e-02]
 [ 4.20940663e-05]]

 R_gt:
[[ 0.98151708 -0.19086274 -0.0140019 ]
 [ 0.19079242  0.98161073 -0.00615213]
 [ 0.01491855  0.00336705  0.99988319]]

 t_gt:
[ 0.98095501 -0.1907513  -0.0366226 ]

Pose Error in degrees for R and t:
9.67458562575222 7.003184412343527

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.69713009  0.71691014  0.0070346 ]
 [ 0.71693534 -0.69703747 -0.01193646]
 [-0.00365399  0.01336462 -0.99990401]]

 t_estimated:
[[-0.76953727]
 [ 0.63854841]
 [-0.00826492]]

 R_gt:
[[ 0.98477194 -0.1738118  -0.00367376]
 [ 0.17375169  0.98470448 -0.01295251]
 [ 0.00586994  0.01211714  0.99990933]]

 t_gt:
[ 0.97642351 -0.19298421 -0.09671724]

Pose Error in degrees for R and t:
178.6496567435063 29.09381846859991

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 8.73367810e-01  4.87061257e-01 -2.90453466e-05]
 [-4.87061258e-01  8.73367807e-01 -6.48399127e-05]
 [-6.21373865e-06  7.07759556e-05  9.99999997e-01]]

 t_estimated:
[[9.39135914e-01]
 [3.43544908e-01]
 [7.94525515e-04]]

 R_gt:
[[ 0.94913977 -0.3147129   0.00948501]
 [ 0.31479174  0.94912196 -0.00854741]
 [-0.00631192  0.01110028  0.99991875]]

 t_gt:
[ 0.99497098 -0.09437093 -0.03356905]

Pose Error in degrees for R and t:
47.49950230270757 25.582341331677732

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.80729965 -0.59000917  0.0125083 ]
 [-0.59000396  0.80738784  0.00449591]
 [-0.01275168 -0.0037504  -0.99991166]]

 t_estimated:
[[0.95317748]
 [0.3023266 ]
 [0.0071641 ]]

 R_gt:
[[ 0.98746161 -0.14420697 -0.06422157]
 [ 0.14647646  0.98869239  0.03212884]
 [ 0.05886217 -0.04113179  0.99741901]]

 t_gt:
[ 0.79124618 -0.61118387  0.01958989]

Pose Error in degrees for R and t:
178.05146673606262 55.280364944473114

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.89722057e-01 -1.43004148e-01  2.50439658e-04]
 [ 1.43003860e-01  9.89721694e-01  9.29232325e-04]
 [-3.80749640e-04 -8.83867891e-04  9.99999537e-01]]

 t_estimated:
[[0.98338589]
 [0.18151282]
 [0.00229763]]

 R_gt:
[[ 0.98584499 -0.16067198 -0.04790393]
 [ 0.1633987   0.98474465  0.05982129]
 [ 0.03756266 -0.06680089  0.99705943]]

 t_gt:
[ 0.75776502 -0.6228411   0.19457937]

Pose Error in degrees for R and t:
4.5030280530221285 50.76009611907381

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.95547383e-01 -9.42624231e-02 -6.20824884e-05]
 [ 9.42624401e-02  9.95547308e-01  3.87666081e-04]
 [ 2.52637101e-05 -3.91792000e-04  9.99999923e-01]]

 t_estimated:
[[0.74100598]
 [0.67149788]
 [0.00085793]]

 R_gt:
[[ 0.99529441 -0.09630368  0.01074422]
 [ 0.0944085   0.98870556  0.11640082]
 [-0.02183247 -0.11483777  0.99314433]]

 t_gt:
[ 0.50467799 -0.59049881  0.62977082]

Pose Error in degrees for R and t:
6.691461225230717 88.73887542038743

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 0.98927822  0.14603319  0.00170434]
 [ 0.14603459 -0.98902676 -0.02235983]
 [-0.00157964  0.02236899 -0.99974853]]

 t_estimated:
[[-0.04444452]
 [ 0.99895489]
 [-0.01066856]]

 R_gt:
[[ 0.99413217  0.05012776 -0.09585875]
 [-0.04383666  0.99681361  0.06664715]
 [ 0.09889443 -0.06205414  0.99316126]]

 t_gt:
[-0.51041945 -0.44104449 -0.73820847]

Pose Error in degrees for R and t:
177.18860132533393 65.79374699962936

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.94461335e-01  1.05102838e-01  2.15676877e-04]
 [-1.05102701e-01  9.94461210e-01 -5.69311329e-04]
 [-2.74318525e-04  5.43489882e-04  9.99999815e-01]]

 t_estimated:
[[ 0.93087127]
 [-0.36534446]
 [ 0.00144985]]

 R_gt:
[[ 0.98165841  0.10715048 -0.15768994]
 [-0.08656101  0.98744917  0.13211087]
 [ 0.16986754 -0.11603764  0.97861227]]

 t_gt:
[-0.81430899 -0.43226585 -0.38735914]

Pose Error in degrees for R and t:
11.908877310649993 53.083354195030225

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 7.24698146e-01 -6.89065961e-01 -8.36211054e-04]
 [ 6.89066181e-01  7.24698418e-01 -3.35413221e-05]
 [ 6.29113011e-04 -5.51897423e-04  9.99999650e-01]]

 t_estimated:
[[ 3.76547010e-01]
 [-9.26397318e-01]
 [-5.98910530e-04]]

 R_gt:
[[ 0.97476566  0.09945647 -0.19985212]
 [-0.07307571  0.98810555  0.13530894]
 [ 0.21093222 -0.11729037  0.97043891]]

 t_gt:
[-0.398003   -0.60941255 -0.68571857]

Pose Error in degrees for R and t:
50.41658286111675 65.4742599511795

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.98439093e-01 -5.58359524e-02  1.31325601e-03]
 [ 5.58368690e-02  9.98439679e-01 -6.71935162e-04]
 [-1.27368876e-03  7.44214437e-04  9.99998912e-01]]

 t_estimated:
[[8.59275636e-01]
 [5.11512194e-01]
 [8.10637392e-04]]

 R_gt:
[[ 0.97634832 -0.21470857  0.02537792]
 [ 0.2144666   0.97665817  0.01194143]
 [-0.02734973 -0.00621534  0.99960649]]

 t_gt:
[ 0.59334124 -0.79652934  0.11613434]

Pose Error in degrees for R and t:
9.322721005621995 84.1166574547329

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999893e-01 -1.04032842e-04 -4.49645971e-04]
 [ 1.04243268e-04  9.99999885e-01  4.67983491e-04]
 [ 4.49597233e-04 -4.68030313e-04  9.99999789e-01]]

 t_estimated:
[[9.70873397e-01]
 [2.39591155e-01]
 [9.62213475e-04]]

 R_gt:
[[ 0.93674665 -0.34862027  0.03115004]
 [ 0.34823356  0.93724887  0.01724479]
 [-0.03520756 -0.00530681  0.99936601]]

 t_gt:
[ 0.63904208 -0.76224716  0.10297807]

Pose Error in degrees for R and t:
20.49427118129255 64.03000754727717

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 5.58315832e-01 -8.29626367e-01 -1.87699581e-03]
 [ 8.29628377e-01  5.58315509e-01  7.40619475e-04]
 [ 4.33518425e-04 -1.97070857e-03  9.99997964e-01]]

 t_estimated:
[[9.81235477e-01]
 [1.92810862e-01]
 [9.54509218e-04]]

 R_gt:
[[ 0.84475828 -0.53303123  0.04754611]
 [ 0.53340578  0.84584198  0.00547936]
 [-0.04313749  0.02073257  0.99885366]]

 t_gt:
[ 0.72374162 -0.68839808  0.04802242]

Pose Error in degrees for R and t:
23.982391158465393 54.726775285893154

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99917578e-01  1.28387868e-02  4.47315090e-05]
 [-1.28387872e-02  9.99917579e-01  8.71778583e-06]
 [-4.46158964e-05 -9.29136562e-06  9.99999999e-01]]

 t_estimated:
[[3.95284129e-01]
 [9.18558681e-01]
 [6.37641197e-04]]

 R_gt:
[[ 0.99670661 -0.05338602 -0.06105075]
 [ 0.05381958  0.99853622  0.00546199]
 [ 0.06066988 -0.00872901  0.99811966]]

 t_gt:
[ 0.5662001  -0.69786643 -0.43863412]

Pose Error in degrees for R and t:
5.1849498777758845 65.3230820195332

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999768e-01  4.13220732e-04 -5.42036639e-04]
 [-4.11739120e-04  9.99996187e-01  2.73068638e-03]
 [ 5.43162948e-04 -2.73046256e-03  9.99996125e-01]]

 t_estimated:
[[0.7829193 ]
 [0.62211769]
 [0.00263609]]

 R_gt:
[[ 0.98678613 -0.15624952 -0.04289379]
 [ 0.15410273  0.98681437 -0.04950432]
 [ 0.05006367  0.04224044  0.99785228]]

 t_gt:
[ 0.69044025 -0.59740845 -0.40791592]

Pose Error in degrees for R and t:
9.749203902453413 80.33859706559316

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999640e-01 -5.51729984e-04 -6.44849284e-04]
 [ 5.52155711e-04  9.99999630e-01  6.60204496e-04]
 [ 6.44484790e-04 -6.60560315e-04  9.99999574e-01]]

 t_estimated:
[[ 0.98897773]
 [-0.14805893]
 [ 0.00126827]]

 R_gt:
[[ 0.97052148 -0.21808233  0.10260615]
 [ 0.22416354  0.97316995 -0.05188566]
 [-0.08853761  0.07335673  0.99336803]]

 t_gt:
[ 0.72689794 -0.6865065  -0.01811671]

Pose Error in degrees for R and t:
14.408041921647818 34.86449041187172

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.90595979e-01  1.36819601e-01  5.71652425e-05]
 [-1.36819504e-01  9.90595633e-01 -8.45178589e-04]
 [-1.72264637e-04  8.29409192e-04  9.99999641e-01]]

 t_estimated:
[[-0.99993714]
 [-0.01112587]
 [-0.00139073]]

 R_gt:
[[ 0.99265216  0.10012221 -0.06794314]
 [-0.09469167  0.99237243  0.07893217]
 [ 0.07532868 -0.07191905  0.99456202]]

 t_gt:
[-0.90416711  0.42166848 -0.06839247]

Pose Error in degrees for R and t:
6.427191586800857 25.905747136909415

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-8.99593680e-01 -4.36724980e-01 -1.58220450e-03]
 [ 4.36726926e-01 -8.99593317e-01 -1.20680712e-03]
 [-8.96297780e-04 -1.77662737e-03  9.99998020e-01]]

 t_estimated:
[[9.99691212e-01]
 [2.48370487e-02]
 [7.76157773e-04]]

 R_gt:
[[ 0.97931032  0.15587957 -0.12904626]
 [-0.13808244  0.98090263  0.13697864]
 [ 0.14793499 -0.11632492  0.98213205]]

 t_gt:
[-0.94962746  0.17645331 -0.25898247]

Pose Error in degrees for R and t:
162.70106013503866 19.064292403026887

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-7.68719523e-01  6.39583372e-01 -1.84552637e-03]
 [-6.39579447e-01 -7.68721501e-01 -2.32036769e-03]
 [-2.90276439e-03 -6.03351205e-04  9.99995605e-01]]

 t_estimated:
[[0.54807133]
 [0.83642942]
 [0.00190966]]

 R_gt:
[[ 0.96034358  0.19552731 -0.19876954]
 [-0.15879269  0.96953308  0.18652075]
 [ 0.2291842  -0.14756012  0.96213269]]

 t_gt:
[-0.9175616   0.08351009 -0.38872454]

Pose Error in degrees for R and t:
130.36965450207288 64.29223234046704

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.97715637e-01  6.75532974e-02  2.42782783e-04]
 [-6.75532662e-02  9.97715660e-01 -1.34456562e-04]
 [-2.51311169e-04  1.17748644e-04  9.99999961e-01]]

 t_estimated:
[[0.57978477]
 [0.81476882]
 [0.00118082]]

 R_gt:
[[ 0.98379926 -0.17629004 -0.03257757]
 [ 0.17660855  0.98425454  0.00718577]
 [ 0.0307979  -0.01282287  0.99944419]]

 t_gt:
[ 0.60184115 -0.79261917 -0.0976836 ]

Pose Error in degrees for R and t:
14.170314347452038 72.72379141492037

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 8.96225497e-01 -4.43597546e-01  1.03728218e-03]
 [ 4.43597904e-01  8.96225910e-01 -1.32902565e-04]
 [-8.70683912e-04  5.79246867e-04  9.99999453e-01]]

 t_estimated:
[[9.99974549e-01]
 [7.07946583e-03]
 [8.84933229e-04]]

 R_gt:
[[ 0.94348549 -0.33081131 -0.0199937 ]
 [ 0.33020161  0.94347695 -0.02858954]
 [ 0.0283209   0.02037168  0.99939159]]

 t_gt:
[ 0.6404709  -0.76094225 -0.10374925]

Pose Error in degrees for R and t:
7.3134189485610515 50.58181573671292

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-8.44149594e-01  5.36103985e-01 -1.99475877e-03]
 [-5.36102458e-01 -8.44151951e-01 -1.27970276e-03]
 [-2.36993326e-03 -1.08654846e-05  9.99997192e-01]]

 t_estimated:
[[0.54737102]
 [0.83688957]
 [0.00090475]]

 R_gt:
[[ 0.87174846 -0.48615267 -0.06091561]
 [ 0.48595641  0.87377589 -0.01898548]
 [ 0.0624559  -0.01305236  0.99796313]]

 t_gt:
[ 0.70871511 -0.69992124 -0.08850508]

Pose Error in degrees for R and t:
176.69733461760433 78.58542171550805

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.93522574e-01  1.13631974e-01 -8.18223849e-04]
 [-1.13630785e-01  9.93522092e-01  1.37711873e-03]
 [ 9.69408190e-04 -1.27522312e-03  9.99998717e-01]]

 t_estimated:
[[-9.52562433e-01]
 [-3.04341858e-01]
 [-9.19461807e-04]]

 R_gt:
[[ 9.95137588e-01  9.84965097e-02 -5.43921726e-04]
 [-9.84387717e-02  9.94719168e-01  2.90278973e-02]
 [ 3.40018933e-03 -2.88328973e-02  9.99578620e-01]]

 t_gt:
[-0.76452982  0.61103985  0.20524244]

Pose Error in degrees for R and t:
1.8092279386499805 57.17269941240035

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.93331915e-01 -1.15288876e-01 -4.25073886e-04]
 [ 1.15288947e-01  9.93331987e-01  1.46677125e-04]
 [ 4.05329247e-04 -1.94705390e-04  9.99999899e-01]]

 t_estimated:
[[-0.80551466]
 [-0.59257487]
 [-0.00107545]]

 R_gt:
[[ 0.96946668  0.24460754  0.01735575]
 [-0.24506201  0.96896194  0.03251574]
 [-0.00886358 -0.03577518  0.99932   ]]

 t_gt:
[-0.72271315  0.67882203  0.1299475 ]

Pose Error in degrees for R and t:
20.90310511731188 79.64402081789645

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.25048248 -0.96811198 -0.00420872]
 [ 0.96811955 -0.25047184 -0.00289853]
 [ 0.00175194 -0.00480057  0.99998694]]

 t_estimated:
[[0.99886731]
 [0.04756511]
 [0.00128554]]

 R_gt:
[[ 0.88220249  0.4660873   0.06695235]
 [-0.4661097   0.88457707 -0.01623729]
 [-0.06679333 -0.01688235  0.99762412]]

 t_gt:
[-0.63359786  0.76713897  0.10025747]

Pose Error in degrees for R and t:
132.3638288594869 53.397332226724096

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.13047710e-01  4.07851854e-01  8.63360060e-04]
 [-4.07851291e-01  9.13048054e-01 -7.58457361e-04]
 [-1.09762746e-03  3.40385241e-04  9.99999340e-01]]

 t_estimated:
[[0.83981703]
 [0.54286792]
 [0.00133371]]

 R_gt:
[[ 0.98211053 -0.1848922  -0.0356934 ]
 [ 0.18567545  0.98240746  0.02002644]
 [ 0.03136214 -0.02629442  0.99916185]]

 t_gt:
[ 0.74423337 -0.6679013   0.00495412]

Pose Error in degrees for R and t:
34.83332728552672 74.7848541259825

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.26505502e-01  3.76281054e-01  3.49889689e-04]
 [-3.76281109e-01  9.26505541e-01  1.02769445e-04]
 [-2.85504540e-04 -2.26873337e-04  9.99999934e-01]]

 t_estimated:
[[0.72225637]
 [0.69162496]
 [0.00080609]]

 R_gt:
[[ 0.928666   -0.35491084 -0.10778718]
 [ 0.35894754  0.93314296  0.02003932]
 [ 0.09346897 -0.05729911  0.99397149]]

 t_gt:
[ 0.83621362 -0.54805688 -0.01950491]

Pose Error in degrees for R and t:
43.51921446736508 77.00329193655992

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99997410e-01 -2.24980893e-03  3.43268305e-04]
 [ 2.25016663e-03  9.99996922e-01 -1.04525921e-03]
 [-3.40915615e-04  1.04602891e-03  9.99999395e-01]]

 t_estimated:
[[ 0.99721963]
 [-0.07448374]
 [-0.00227513]]

 R_gt:
[[ 0.90895093 -0.39745552 -0.12585299]
 [ 0.40576394  0.91271017  0.04813143]
 [ 0.09573665 -0.09481453  0.99088028]]

 t_gt:
[ 0.84237921 -0.53617833  0.053945  ]

Pose Error in degrees for R and t:
24.897993663530695 28.375614588086616

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[-4.24182537e-01  9.05576588e-01  4.67558228e-04]
 [ 9.05575422e-01  4.24181007e-01  1.90499040e-03]
 [ 1.52678538e-03  1.23147290e-03 -9.99998076e-01]]

 t_estimated:
[[0.07263369]
 [0.9973581 ]
 [0.00108408]]

 R_gt:
[[ 0.99765222 -0.06736229 -0.01245366]
 [ 0.06598999  0.99382395 -0.0892188 ]
 [ 0.01838669  0.08818697  0.99593384]]

 t_gt:
[ 0.65485305 -0.44484944 -0.61096355]

Pose Error in degrees for R and t:
178.04784242992287 66.62345675470672

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-0.99664739 -0.08177339  0.00266496]
 [-0.08176119  0.99664221  0.00440631]
 [-0.00301633  0.00417365 -0.99998674]]

 t_estimated:
[[0.99839966]
 [0.05651319]
 [0.00209308]]

 R_gt:
[[ 0.995321   -0.08223518 -0.05073543]
 [ 0.07142297  0.97977699 -0.18691364]
 [ 0.06508019  0.18241515  0.98106456]]

 t_gt:
[ 0.49417199 -0.11803189 -0.86131441]

Pose Error in degrees for R and t:
176.40174018942108 60.99355600843895

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-0.99487218  0.10109272 -0.00309962]
 [-0.10110235 -0.99487111  0.00312878]
 [-0.00276743  0.00342612  0.9999903 ]]

 t_estimated:
[[0.73302123]
 [0.68020529]
 [0.00080024]]

 R_gt:
[[ 0.99179993 -0.07675143 -0.10220004]
 [ 0.05369435  0.9758438  -0.21177   ]
 [ 0.11598441  0.20454609  0.97196053]]

 t_gt:
[ 0.42957876  0.0170177  -0.90286903]

Pose Error in degrees for R and t:
177.9786252534826 70.98938232513622

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99999991e-01  1.34423119e-04 -1.61073527e-05]
 [-1.34425662e-04  9.99999978e-01 -1.57938611e-04]
 [ 1.60861218e-05  1.57940775e-04  9.99999987e-01]]

 t_estimated:
[[-0.25591315]
 [-0.96669837]
 [-0.00164786]]

 R_gt:
[[ 0.99293409 -0.11866233 -0.00148907]
 [ 0.11863947  0.9928813  -0.01058632]
 [ 0.00273404  0.01033535  0.99994318]]

 t_gt:
[ 0.37866159 -0.8924776  -0.24515125]

Pose Error in degrees for R and t:
6.848465205118337 39.98112673880761

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999852e-01 -5.40371008e-04 -6.16307051e-05]
 [ 5.40365567e-04  9.99999850e-01 -8.82732360e-05]
 [ 6.16783961e-05  8.82399198e-05  9.99999994e-01]]

 t_estimated:
[[9.99966915e-01]
 [8.11460516e-03]
 [5.66987021e-04]]

 R_gt:
[[ 0.95683917 -0.28636783 -0.04953116]
 [ 0.28571298  0.95810654 -0.01998486]
 [ 0.05317873  0.00497029  0.99857232]]

 t_gt:
[ 0.61718049 -0.75294391 -0.22839375]

Pose Error in degrees for R and t:
16.879466340659448 52.34389222788137

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99998940e-01 -1.45557586e-03  4.06600301e-05]
 [ 1.45558936e-03  9.99998885e-01 -3.33768401e-04]
 [-4.01741596e-05  3.33827231e-04  9.99999943e-01]]

 t_estimated:
[[9.99952848e-01]
 [9.69248159e-03]
 [5.97899726e-04]]

 R_gt:
[[ 0.91500515 -0.40330699  0.01047527]
 [ 0.40340866  0.91427538 -0.03691352]
 [ 0.00530916  0.03800246  0.9992632 ]]

 t_gt:
[ 0.58382983 -0.80554536 -0.10118993]

Pose Error in degrees for R and t:
23.812647200104266 54.83492840513698

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.98627741e-01  5.23699246e-02  1.62195957e-04]
 [-5.23699112e-02  9.98627751e-01 -8.52510901e-05]
 [-1.66437976e-04  7.66399156e-05  9.99999983e-01]]

 t_estimated:
[[-0.83646496]
 [-0.54801904]
 [ 0.00122663]]

 R_gt:
[[ 0.99513296  0.09409828  0.02926272]
 [-0.09172516  0.99303387 -0.07395711]
 [-0.03601764  0.07091338  0.99683241]]

 t_gt:
[-0.79867179  0.34019248 -0.49637934]

Pose Error in degrees for R and t:
5.118379911550167 61.247950179758824

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.89767808e-01  1.42687358e-01  6.46334150e-05]
 [-1.42687311e-01  9.89767702e-01 -4.76262864e-04]
 [-1.31928756e-04  4.62167283e-04  9.99999884e-01]]

 t_estimated:
[[-9.07173558e-01]
 [-4.20755736e-01]
 [-8.63974817e-04]]

 R_gt:
[[ 0.99941419  0.02789516  0.01983754]
 [-0.02601166  0.99563766 -0.08959687]
 [-0.02224998  0.0890294   0.99578057]]

 t_gt:
[-0.35075846  0.28886376 -0.89080089]

Pose Error in degrees for R and t:
8.467653558761459 78.61344248817569

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.21906831 -0.97567729  0.00793053]
 [-0.97569307  0.21901018 -0.00758779]
 [ 0.00566637 -0.0094     -0.99993976]]

 t_estimated:
[[0.90087342]
 [0.43408007]
 [0.0012582 ]]

 R_gt:
[[ 0.99291493 -0.11521103  0.02910566]
 [ 0.11802987  0.9845677  -0.12920848]
 [-0.01376983  0.13172935  0.99119021]]

 t_gt:
[ 0.64977201  0.02851957 -0.75959395]

Pose Error in degrees for R and t:
176.31882467750347 53.35991560087091

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 6.40022780e-01  7.68352577e-01 -2.27114180e-03]
 [-7.68355794e-01  6.40021649e-01 -1.28949761e-03]
 [ 4.62791107e-04  2.57035281e-03  9.99996590e-01]]

 t_estimated:
[[ 2.40122819e-01]
 [ 9.70742220e-01]
 [-7.58103785e-04]]

 R_gt:
[[ 0.99702166 -0.02142585  0.07408775]
 [ 0.02676262  0.99705901 -0.07181864]
 [-0.07233122  0.07358789  0.9946617 ]]

 t_gt:
[ 0.88004732 -0.2910607  -0.37523378]

Pose Error in degrees for R and t:
51.90376151678301 85.93196296061198

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.26552839 -0.96400987 -0.01340338]
 [ 0.96389158 -0.26515333 -0.02463199]
 [ 0.02019153 -0.0194599   0.99960673]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99355162  0.01036689  0.11290842]
 [ 0.00782802  0.98716346 -0.15952577]
 [-0.11311293  0.1593805   0.98071539]]

 t_gt:
[-0.39824789  0.58976379 -0.70255056]

Pose Error in degrees for R and t:
105.98149962591673 66.61162024299914

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[-0.55670547 -0.83067302 -0.00783253]
 [ 0.83070934 -0.55669174 -0.00403754]
 [-0.00100642 -0.00875428  0.99996117]]

 t_estimated:
[[0.97766903]
 [0.21013953]
 [0.00215596]]

 R_gt:
[[ 0.98410847  0.0591594   0.16742295]
 [-0.02320676  0.97763132 -0.20904076]
 [-0.17604506  0.20183392  0.96346783]]

 t_gt:
[-0.69131025  0.68725619 -0.22308984]

Pose Error in degrees for R and t:
126.83927522106416 57.86378607252094

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.99999519e-01  9.41275180e-05 -9.76181991e-04]
 [-9.30016279e-05  9.99999331e-01  1.15334210e-03]
 [ 9.76289899e-04 -1.15325076e-03  9.99998858e-01]]

 t_estimated:
[[9.80433659e-01]
 [1.96847495e-01]
 [9.50954082e-04]]

 R_gt:
[[ 0.99390554 -0.10692105 -0.02683401]
 [ 0.10751646  0.99396561  0.02177872]
 [ 0.02434407 -0.02453009  0.9994022 ]]

 t_gt:
[ 0.55970132 -0.82853215  0.0163985 ]

Pose Error in degrees for R and t:
6.446468978361721 67.3145886952022

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 6.94753457e-01  7.19247628e-01  6.95381073e-04]
 [-7.19246627e-01  6.94753705e-01 -1.25639120e-03]
 [-1.38677497e-03  3.72731641e-04  9.99998969e-01]]

 t_estimated:
[[0.70962548]
 [0.70457836]
 [0.00100942]]

 R_gt:
[[ 0.95198923 -0.30609629  0.00461733]
 [ 0.30535866  0.95055119  0.0566465 ]
 [-0.02172742 -0.05251668  0.99838362]]

 t_gt:
[ 0.68003883 -0.71019743  0.18211757]

Pose Error in degrees for R and t:
63.88543919008412 88.98964990596336

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 0.92025453 -0.39128915  0.00493921]
 [-0.39130841 -0.92025169  0.0038156 ]
 [ 0.00305231 -0.00544408 -0.99998052]]

 t_estimated:
[[0.53084981]
 [0.8474638 ]
 [0.00189589]]

 R_gt:
[[ 0.86940924 -0.49351542 -0.02386642]
 [ 0.49378841  0.86616346  0.07704189]
 [-0.01734808 -0.07876567  0.99674168]]

 t_gt:
[ 0.79096164 -0.59356772  0.14851615]

Pose Error in degrees for R and t:
175.30786562360746 85.24680643251983

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.97867209  0.20542062  0.00182072]
 [-0.20540908  0.9786627  -0.00514132]
 [-0.00283801  0.00465768  0.99998513]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.99618238 -0.01244205  0.08640468]
 [ 0.02213799  0.99344113 -0.11218162]
 [-0.08444198  0.11366561  0.98992323]]

 t_gt:
[-0.23658791  0.5831475  -0.77715195]

Pose Error in degrees for R and t:
15.040185789929254 76.79787194189586

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.13288447e-01 -4.07312850e-01 -6.75085331e-04]
 [ 4.07308776e-01  9.13284709e-01 -3.25590667e-03]
 [ 1.94271773e-03  2.69861377e-03  9.99994472e-01]]

 t_estimated:
[[-0.04993699]
 [-0.99873989]
 [-0.0049937 ]]

 R_gt:
[[ 0.98326589 -0.08448276  0.16139938]
 [ 0.11058332  0.98085939 -0.16026728]
 [-0.14477035  0.17543303  0.97378867]]

 t_gt:
[ 0.42506736 -0.05904402 -0.90323393]

Pose Error in degrees for R and t:
22.508159351030947 87.57833105438965

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-5.68595382e-01  8.22579960e-01 -7.84223689e-03]
 [-8.22604885e-01 -5.68613399e-01 -8.26367691e-05]
 [-4.52717632e-03  6.40407549e-03  9.99969246e-01]]

 t_estimated:
[[ 5.59188307e-01]
 [ 8.29040430e-01]
 [-6.34232398e-04]]

 R_gt:
[[ 0.97641072 -0.1018562   0.19038443]
 [ 0.13440827  0.97679717 -0.16673948]
 [-0.16898366  0.18839613  0.96744511]]

 t_gt:
[ 0.63730824 -0.30392468 -0.70814405]

Pose Error in degrees for R and t:
131.95312227360787 83.98097994148918

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999940e-01  3.39194150e-04 -6.56317528e-05]
 [-3.39206683e-04  9.99999924e-01 -1.91041157e-04]
 [ 6.55669478e-05  1.91063409e-04  9.99999980e-01]]

 t_estimated:
[[-0.27205231]
 [-0.96228146]
 [-0.00139023]]

 R_gt:
[[ 0.99601501 -0.03652468  0.08135592]
 [ 0.04315835  0.99575128 -0.0813443 ]
 [-0.0780383   0.08453202  0.9933603 ]]

 t_gt:
[ 0.3718866  -0.132926   -0.91871162]

Pose Error in degrees for R and t:
6.993334664128029 88.39454327772083

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.98479849  0.17369708 -0.00112525]
 [-0.17369382  0.98479643  0.00253891]
 [ 0.00154914 -0.00230487  0.99999614]]

 t_estimated:
[[-0.44049576]
 [-0.89775421]
 [ 0.00093134]]

 R_gt:
[[ 0.98901978 -0.07548177  0.12704987]
 [ 0.09098166  0.98847647 -0.12098399]
 [-0.11645287  0.13121559  0.98449026]]

 t_gt:
[ 0.62472966 -0.3849493  -0.6793577 ]

Pose Error in degrees for R and t:
18.003722985812313 85.99943133261638

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99998983e-01 -1.34058030e-03 -4.87421831e-04]
 [ 1.34072639e-03  9.99999056e-01  2.99507303e-04]
 [ 4.87019858e-04 -3.00160497e-04  9.99999836e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98168993 -0.10485502  0.15902972]
 [ 0.12412407  0.98540351 -0.11650112]
 [-0.14449237  0.1341071   0.9803763 ]]

 t_gt:
[ 0.75257984 -0.54150695 -0.37469162]

Pose Error in degrees for R and t:
13.150504764581145 41.3570616523187

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999994e-01 -7.86433267e-05  7.20162544e-05]
 [ 7.86502852e-05  9.99999992e-01 -9.66265759e-05]
 [-7.20086548e-05  9.66322395e-05  9.99999993e-01]]

 t_estimated:
[[-9.99999593e-01]
 [-9.00079166e-04]
 [-6.49777708e-05]]

 R_gt:
[[ 9.92466890e-01  1.22240330e-01 -8.19696270e-03]
 [-1.22239220e-01  9.92500208e-01  6.89962828e-04]
 [ 8.21952701e-03  3.17452546e-04  9.99966306e-01]]

 t_gt:
[-0.42701147  0.90061549 -0.08095026]

Pose Error in degrees for R and t:
7.042037957844227 64.77298135119018

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99988994e-01 -4.68953798e-03 -1.39386642e-04]
 [ 4.68953675e-03  9.99989004e-01 -9.14151391e-06]
 [ 1.39427979e-04  8.48775452e-06  9.99999990e-01]]

 t_estimated:
[[-0.99986974]
 [-0.0160189 ]
 [ 0.00197408]]

 R_gt:
[[ 0.9679993   0.25083528 -0.00768037]
 [-0.25095096  0.96741471 -0.03364343]
 [-0.0010089   0.03449356  0.99940413]]

 t_gt:
[-0.34149071  0.93593064 -0.08612741]

Pose Error in degrees for R and t:
14.934158448620675 70.95663882169404

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.90713844 -0.42027769  0.02159894]
 [-0.42018784 -0.90739484 -0.00876272]
 [ 0.02328154 -0.00112661 -0.99972831]]

 t_estimated:
[[0.41163422]
 [0.91134738]
 [0.00179753]]

 R_gt:
[[ 0.92745951  0.37296516 -0.02676156]
 [-0.37381588  0.92308933 -0.09037723]
 [-0.00900476  0.09382482  0.99554799]]

 t_gt:
[-0.26292898  0.95774642 -0.1165768 ]

Pose Error in degrees for R and t:
174.66226561355037 40.14639535000683

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.97221166e-01  7.44831377e-02  1.48575258e-03]
 [-7.44821182e-02  9.97222082e-01 -7.30140479e-04]
 [-1.53600843e-03  6.17449540e-04  9.99998630e-01]]

 t_estimated:
[[0.5858795 ]
 [0.81039536]
 [0.00213825]]

 R_gt:
[[ 0.99118157 -0.12017572 -0.05584599]
 [ 0.12114028  0.99253417  0.01420526]
 [ 0.05372139 -0.02084443  0.99833855]]

 t_gt:
[ 0.54453297 -0.80802497 -0.22489882]

Pose Error in degrees for R and t:
11.709431935303932 70.35022303226184

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.87874588e-01  1.55251516e-01  8.75133725e-04]
 [-1.55251288e-01  9.87874958e-01 -3.23680212e-04]
 [-9.14774536e-04  1.83889818e-04  9.99999565e-01]]

 t_estimated:
[[0.58150205]
 [0.81354374]
 [0.00139784]]

 R_gt:
[[ 0.97547745 -0.19904137 -0.09395411]
 [ 0.19871782  0.9799722  -0.01289109]
 [ 0.09463763 -0.00609584  0.99549333]]

 t_gt:
[ 0.58000786 -0.74678423 -0.32542925]

Pose Error in degrees for R and t:
21.147155923337635 74.29283852388599

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.97786281e-01  6.64905782e-02  1.24116812e-03]
 [-6.64894472e-02  9.97786694e-01 -9.31349293e-04]
 [-1.30034699e-03  8.46762965e-04  9.99998796e-01]]

 t_estimated:
[[-0.09688693]
 [-0.99529296]
 [-0.00220198]]

 R_gt:
[[ 0.93033655 -0.36079303 -0.06558991]
 [ 0.36312355  0.93133413  0.02755991]
 [ 0.05114175 -0.0494574   0.99746643]]

 t_gt:
[ 0.68312284 -0.73013335 -0.01576295]

Pose Error in degrees for R and t:
25.40028026031734 48.65850174638862

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99408893e-01  3.43779878e-02  1.33006274e-04]
 [-3.43779834e-02  9.99408902e-01 -3.51613313e-05]
 [-1.34136430e-04  3.05680598e-05  9.99999991e-01]]

 t_estimated:
[[9.44500046e-01]
 [3.28510595e-01]
 [6.72865733e-04]]

 R_gt:
[[ 0.99320653 -0.11619079 -0.00632836]
 [ 0.11614352  0.99320565 -0.00724626]
 [ 0.00712695  0.00646203  0.99995412]]

 t_gt:
[ 0.98263807 -0.17318101 -0.0665639 ]

Pose Error in degrees for R and t:
8.659031069567726 29.405682227175763

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-7.54104010e-01 -6.56751853e-01 -2.03595990e-03]
 [-6.56754717e-01  7.54102974e-01  1.39494622e-03]
 [ 6.19189906e-04  2.38906081e-03 -9.99996954e-01]]

 t_estimated:
[[8.21889183e-01]
 [5.69646978e-01]
 [7.00672790e-04]]

 R_gt:
[[ 0.95883293 -0.28376492 -0.01082002]
 [ 0.28320152  0.95834383 -0.03704143]
 [ 0.0208809   0.03245301  0.99925578]]

 t_gt:
[ 0.9875635  -0.09633644 -0.1242482 ]

Pose Error in degrees for R and t:
178.3718331347143 40.82560753301124

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[-1.00900697e-01  9.94896046e-01 -9.52129625e-04]
 [-9.94893608e-01 -1.00902666e-01 -2.31514562e-03]
 [-2.39940164e-03  7.13667871e-04  9.99996867e-01]]

 t_estimated:
[[0.69688469]
 [0.7171823 ]
 [0.00112765]]

 R_gt:
[[ 0.94144517 -0.33673908 -0.01696333]
 [ 0.33600327  0.94118594 -0.03563659]
 [ 0.02796656  0.0278502   0.99922108]]

 t_gt:
[ 0.99151915 -0.08494375 -0.09835818]

Pose Error in degrees for R and t:
115.46753340530967 50.95404938499116

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.90039533e-01 -1.40789436e-01 -2.41878627e-04]
 [ 1.40789464e-01  9.90039553e-01  1.01102786e-04]
 [ 2.25235204e-04 -1.34149717e-04  9.99999966e-01]]

 t_estimated:
[[-0.73430314]
 [-0.67882086]
 [-0.00106504]]

 R_gt:
[[ 0.99086753  0.13234613 -0.02583802]
 [-0.1324715   0.99118135 -0.00320191]
 [ 0.02518653  0.00659607  0.99966057]]

 t_gt:
[-0.6221364   0.75930054 -0.19081138]

Pose Error in degrees for R and t:
15.772779666694241 86.6526467225734

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.77807063 -0.6278132  -0.02136998]
 [-0.62793946  0.77826154 -0.00101162]
 [ 0.01726654  0.01263194 -0.99977112]]

 t_estimated:
[[ 0.94018748]
 [ 0.34051467]
 [-0.00986218]]

 R_gt:
[[ 0.97432687  0.22117691 -0.04205662]
 [-0.22004864  0.97503134  0.02984683]
 [ 0.0476089  -0.01982592  0.99866969]]

 t_gt:
[-0.63829496  0.76210383 -0.10852325]

Pose Error in degrees for R and t:
176.83391339920726 70.15120263097702

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.99950704 -0.03040755 -0.00781382]
 [-0.03041973  0.99953617  0.00144478]
 [ 0.00776626  0.00168176 -0.99996843]]

 t_estimated:
[[ 0.99875872]
 [-0.04962434]
 [-0.00429491]]

 R_gt:
[[ 0.92558231  0.37470287 -0.05381238]
 [-0.37353699  0.92710771  0.03067245]
 [ 0.06138428 -0.00828792  0.99807956]]

 t_gt:
[-0.56364878  0.81765219 -0.1172389 ]

Pose Error in degrees for R and t:
176.1986051366711 52.91342750835225

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-8.04766855e-02 -9.96750011e-01 -3.59424284e-03]
 [-9.96756370e-01  8.04779355e-02 -2.04280830e-04]
 [ 4.92874164e-04  3.56614461e-03 -9.99993520e-01]]

 t_estimated:
[[7.34231851e-01]
 [6.78898436e-01]
 [7.09402754e-04]]

 R_gt:
[[ 0.99506686 -0.09688788  0.02134277]
 [ 0.09771632  0.9943301  -0.04195302]
 [-0.0171575   0.04383191  0.99889224]]

 t_gt:
[ 0.80644447 -0.55890009 -0.19307516]

Pose Error in degrees for R and t:
178.99195141441598 77.72852986757718

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-4.71437439e-01 -8.81896726e-01 -2.21491773e-03]
 [-8.81899419e-01  4.71437030e-01  7.36092340e-04]
 [ 3.95036809e-04  2.30035614e-03 -9.99997276e-01]]

 t_estimated:
[[8.01642509e-01]
 [5.97803395e-01]
 [6.23361204e-04]]

 R_gt:
[[ 0.98842858 -0.12773636  0.08180983]
 [ 0.13510045  0.98656262 -0.09187752]
 [-0.06897523  0.10186664  0.99240478]]

 t_gt:
[ 0.82098797 -0.53278908 -0.20521832]

Pose Error in degrees for R and t:
179.2284257467121 70.15311017570835

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.99991231e-01  4.16520520e-03  4.34876802e-04]
 [-4.16531328e-03  9.99991294e-01  2.47934742e-04]
 [-4.33840317e-04 -2.49743966e-04  9.99999875e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075922e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98481353 -0.11492195  0.13013859]
 [ 0.13651126  0.97569338 -0.17142814]
 [-0.10727517  0.18659004  0.97656433]]

 t_gt:
[ 0.75285282 -0.39987355 -0.5227942 ]

Pose Error in degrees for R and t:
14.531379380609495 41.30523739443669

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99992021e-01 -3.99139731e-03  1.64072778e-04]
 [ 3.99141520e-03  9.99992028e-01 -1.08851253e-04]
 [-1.63637001e-04  1.09505267e-04  9.99999981e-01]]

 t_estimated:
[[9.99838426e-01]
 [1.79747976e-02]
 [1.66570859e-04]]

 R_gt:
[[ 0.98476989 -0.17369795 -0.00762169]
 [ 0.1738347   0.98446453  0.02473305]
 [ 0.00320743 -0.02568164  0.99966488]]

 t_gt:
[ 0.5247284  -0.84370842  0.11320872]

Pose Error in degrees for R and t:
9.892534801427887 59.36966989666566

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999975e-01  1.59287199e-05  2.21847865e-04]
 [-1.58949093e-05  9.99999988e-01 -1.52405302e-04]
 [-2.21850290e-04  1.52401772e-04  9.99999964e-01]]

 t_estimated:
[[8.01556484e-01]
 [5.97918635e-01]
 [7.13806096e-04]]

 R_gt:
[[ 0.95928922 -0.28133414  0.02481736]
 [ 0.28091767  0.95954451  0.01896327]
 [-0.02914888 -0.01121982  0.99951191]]

 t_gt:
[ 0.46387063 -0.87021555  0.16597873]

Pose Error in degrees for R and t:
16.42878783344405 81.4668791122967

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999745e-01 -7.14712993e-04 -7.96442157e-06]
 [ 7.14712173e-04  9.99999739e-01 -1.02483246e-04]
 [ 8.03766560e-06  1.02477528e-04  9.99999995e-01]]

 t_estimated:
[[0.99886639]
 [0.04758415]
 [0.00129457]]

 R_gt:
[[ 0.92318248 -0.38390479  0.01874715]
 [ 0.38302001  0.92293716  0.03850753]
 [-0.03208588 -0.02836831  0.99908307]]

 t_gt:
[ 0.50154621 -0.85361407  0.14069261]

Pose Error in degrees for R and t:
22.65044001260367 62.57795872579519

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99985777e-01 -5.26229917e-03  8.68456470e-04]
 [ 5.26499991e-03  9.99981218e-01 -3.13740090e-03]
 [-8.51930216e-04  3.14192870e-03  9.99994701e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.99215399 -0.12501015 -0.00197453]
 [ 0.12499224  0.99213026 -0.00738944]
 [ 0.00288335  0.0070856   0.99997034]]

 t_gt:
[ 0.7467327  -0.66510261  0.0053654 ]

Pose Error in degrees for R and t:
6.885902539666511 50.91523469852217

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.99953167  0.0302323  -0.00473806]
 [-0.03021768  0.99953845  0.00312615]
 [ 0.00483039 -0.00298152  0.99998389]]

 t_estimated:
[[-0.86950342]
 [-0.49387794]
 [-0.00695603]]

 R_gt:
[[ 0.98496605 -0.17259349 -0.00730823]
 [ 0.17180929  0.98314058 -0.06257933]
 [ 0.01798645  0.06038307  0.99801323]]

 t_gt:
[ 0.77028646 -0.61382415 -0.17285451]

Pose Error in degrees for R and t:
12.241520804230639 68.5671758252437

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.51177124 -0.85900765  0.01400176]
 [-0.85513756  0.510898    0.08788051]
 [-0.0826435   0.03300128 -0.99603261]]

 t_estimated:
[[0.99940325]
 [0.03433065]
 [0.00381452]]

 R_gt:
[[ 0.97352573 -0.22701612 -0.02667536]
 [ 0.21899735  0.95977939 -0.17567643]
 [ 0.06548403  0.16518347  0.984086  ]]

 t_gt:
[ 0.7534029  -0.46381216 -0.46611409]

Pose Error in degrees for R and t:
176.4174990712112 42.67145723241857

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.84133052e-01  1.77432018e-01  1.26392410e-04]
 [-1.77431682e-01  9.84132166e-01 -1.37023220e-03]
 [-3.67509900e-04  1.32606478e-03  9.99999053e-01]]

 t_estimated:
[[7.55592324e-01]
 [6.55041873e-01]
 [6.19550731e-04]]

 R_gt:
[[ 0.98820188 -0.15030387  0.02943873]
 [ 0.15013202  0.98863336  0.0080043 ]
 [-0.03030798 -0.00348989  0.99953425]]

 t_gt:
[ 0.71059367 -0.68643327  0.15448626]

Pose Error in degrees for R and t:
18.94214353339203 84.98754457948561

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-8.47756485e-01 -5.30383116e-01 -1.64081916e-03]
 [ 5.30384019e-01 -8.47757496e-01 -1.39765264e-04]
 [-1.31688761e-03 -9.88751172e-04  9.99998644e-01]]

 t_estimated:
[[9.85492137e-01]
 [1.69719198e-01]
 [8.00562256e-04]]

 R_gt:
[[ 0.94355308 -0.32915535 -0.03695295]
 [ 0.32978031  0.94397923  0.01215553]
 [ 0.03088105 -0.02365576  0.99924261]]

 t_gt:
[ 0.7969768  -0.60293052 -0.03609394]

Pose Error in degrees for R and t:
128.73347935711524 46.91704026198665

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.97348196  0.2286042   0.00854365]
 [-0.22850852  0.97348113 -0.01087882]
 [-0.01080402  0.00863804  0.99990432]]

 t_estimated:
[[8.08506583e-01]
 [5.88486759e-01]
 [6.62710314e-04]]

 R_gt:
[[ 0.87508817 -0.48283571 -0.03301759]
 [ 0.4835862   0.87506257  0.02024727]
 [ 0.01911534 -0.03368455  0.99924952]]

 t_gt:
[ 0.83889214 -0.54424471  0.00759423]

Pose Error in degrees for R and t:
42.22547697740672 69.02417250346097

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99999857e-01  5.33893514e-04 -5.57194767e-07]
 [-5.33893379e-04  9.99999834e-01  2.18965698e-04]
 [ 6.74099040e-07 -2.18965369e-04  9.99999976e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.98850318 -0.15115403 -0.00372437]
 [ 0.15096273  0.98803348 -0.03163612]
 [ 0.00846258  0.03071025  0.99949296]]

 t_gt:
[ 0.84252472 -0.50814342 -0.17872426]

Pose Error in degrees for R and t:
8.912100612239614 41.40606153989347

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99998286e-01  7.21534516e-05 -1.85020846e-03]
 [-6.83306767e-05  9.99997863e-01  2.06611195e-03]
 [ 1.85035358e-03 -2.06598198e-03  9.99996154e-01]]

 t_estimated:
[[0.94758877]
 [0.31948521]
 [0.00217337]]

 R_gt:
[[ 0.97025737 -0.24123207  0.02018412]
 [ 0.24206279  0.96762902 -0.07141833]
 [-0.00230223  0.07418084  0.99724198]]

 t_gt:
[ 0.859737   -0.46772343 -0.20515137]

Pose Error in degrees for R and t:
14.676393489432662 48.33297437245126

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.76681988e-02  9.95219007e-01 -2.28095101e-04]
 [-9.95218221e-01  9.76678238e-02 -1.29988534e-03]
 [-1.27139305e-03  3.53961861e-04  9.99999129e-01]]

 t_estimated:
[[0.9918433 ]
 [0.1274527 ]
 [0.00163401]]

 R_gt:
[[ 0.95630411 -0.28416576  0.06880335]
 [ 0.29043501  0.95034594 -0.11176136]
 [-0.03362792  0.12686088  0.99135077]]

 t_gt:
[ 0.86515555 -0.44625287 -0.22883238]

Pose Error in degrees for R and t:
101.36355438265565 36.78877711215537

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.99365204  0.11238501 -0.00502385]
 [-0.11233964  0.99363309  0.00854949]
 [ 0.0059527  -0.00793084  0.99995083]]

 t_estimated:
[[7.95087018e-01]
 [6.06494949e-01]
 [7.14363898e-04]]

 R_gt:
[[ 0.97457574 -0.21633289 -0.05833153]
 [ 0.2158614   0.97631859 -0.01435532]
 [ 0.06005509  0.00139805  0.99819447]]

 t_gt:
[ 0.7607859  -0.61364045 -0.21130596]

Pose Error in degrees for R and t:
19.214051834952333 76.5515619278833

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 6.18373067e-02  9.98069810e-01  5.72725285e-03]
 [ 9.98085879e-01 -6.18411611e-02  4.98200115e-04]
 [ 8.51418461e-04  5.68548285e-03 -9.99983475e-01]]

 t_estimated:
[[8.05970314e-01]
 [5.91955598e-01]
 [6.50500657e-04]]

 R_gt:
[[ 0.9243113  -0.37863446 -0.04779371]
 [ 0.37915106  0.92533303  0.00186283]
 [ 0.04351971 -0.0198433   0.99885617]]

 t_gt:
[ 0.81001071 -0.58406993 -0.05239248]

Pose Error in degrees for R and t:
177.9606689043828 72.11743488120968

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 8.32852973e-01  5.53494010e-01  5.53474525e-04]
 [-5.53494226e-01  8.32852933e-01  3.66468255e-04]
 [-2.58124897e-04 -6.11559130e-04  9.99999780e-01]]

 t_estimated:
[[7.63866411e-01]
 [6.45373962e-01]
 [7.45235523e-04]]

 R_gt:
[[ 0.84267993 -0.53796921 -0.02187269]
 [ 0.5381352   0.84285579  0.00202901]
 [ 0.01734431 -0.01348026  0.99975948]]

 t_gt:
[ 8.50707138e-01 -5.25639443e-01  7.35101626e-04]

Pose Error in degrees for R and t:
66.1734769583624 71.90502012316027

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 6.37507721e-01  7.70441861e-01  1.80137903e-03]
 [ 7.70440506e-01 -6.37510123e-01  1.50685036e-03]
 [ 2.30933796e-03  4.27226631e-04 -9.99997242e-01]]

 t_estimated:
[[0.79002826]
 [0.61306967]
 [0.00096699]]

 R_gt:
[[ 0.98308673  0.18270708  0.01256306]
 [-0.18280829  0.98312023  0.00738446]
 [-0.01100233 -0.00955571  0.99989342]]

 t_gt:
[-0.36482942  0.92780128  0.07800179]

Pose Error in degrees for R and t:
179.80024903569068 73.70059797311688

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.99986031 -0.01637479 -0.00334934]
 [ 0.01639474  0.99984748  0.0060194 ]
 [ 0.00325026 -0.00607347  0.99997627]]

 t_estimated:
[[0.76215379]
 [0.64738932]
 [0.00294268]]

 R_gt:
[[ 9.28400282e-01  3.70906344e-01 -2.23776733e-02]
 [-3.70790838e-01  9.28669927e-01  9.25617667e-03]
 [ 2.42145420e-02 -2.95442454e-04  9.99706008e-01]]

 t_gt:
[-0.25877715  0.96467862 -0.04929053]

Pose Error in degrees for R and t:
22.739784931802333 64.71319767790054

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.79218267  0.61001824  0.01800996]
 [-0.61027885  0.79170914  0.02750212]
 [ 0.00251815 -0.0327778   0.99945949]]

 t_estimated:
[[0.73813038]
 [0.67465731]
 [0.00102376]]

 R_gt:
[[ 0.86960175  0.49343747 -0.01764662]
 [-0.49214954  0.86910147  0.04949526]
 [ 0.03975945 -0.03435531  0.99861794]]

 t_gt:
[-0.21272952  0.97654743 -0.03318549]

Pose Error in degrees for R and t:
8.377131118184124 59.88224767543098

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999956e-01 -2.03500591e-04 -2.13863202e-04]
 [ 2.03571148e-04  9.99999925e-01  3.29945259e-04]
 [ 2.13796042e-04 -3.29988781e-04  9.99999923e-01]]

 t_estimated:
[[0.10422483]
 [0.99455219]
 [0.00176652]]

 R_gt:
[[ 0.98298771  0.18155667 -0.02777309]
 [-0.18069868  0.98305583  0.03081785]
 [ 0.03289796 -0.025275    0.99914   ]]

 t_gt:
[-0.36288772  0.92801366 -0.08428015]

Pose Error in degrees for R and t:
10.713030555672022 27.750049908632743

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99998921e-01  3.10862864e-04 -1.43563025e-03]
 [-3.08068834e-04  9.99998059e-01  1.94601569e-03]
 [ 1.43623241e-03 -1.94557132e-03  9.99997076e-01]]

 t_estimated:
[[0.70870556]
 [0.70550357]
 [0.00106733]]

 R_gt:
[[ 0.95207804  0.30494413 -0.02358006]
 [-0.30311192  0.95103367  0.06047796]
 [ 0.04086813 -0.0504323   0.99789172]]

 t_gt:
[-0.33201332  0.94249934 -0.03823792]

Pose Error in degrees for R and t:
18.057284526686797 64.5580660327885

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.99643389 -0.08434672 -0.00226495]
 [ 0.084352    0.99643325  0.00234991]
 [ 0.00205866 -0.00253258  0.99999467]]

 t_estimated:
[[0.63646261]
 [0.77130638]
 [0.00134844]]

 R_gt:
[[ 0.91403724  0.4051554  -0.01964001]
 [-0.40490266  0.91422621  0.01566611]
 [ 0.02430264 -0.00636722  0.99968491]]

 t_gt:
[-0.27221953  0.96067725 -0.05473339]

Pose Error in degrees for R and t:
28.76258121580267 55.41382348041176

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99997554e-01 -2.21115643e-03 -4.78857239e-05]
 [ 2.21115749e-03  9.99997555e-01  2.22715014e-05]
 [ 4.78363610e-05 -2.23773298e-05  9.99999999e-01]]

 t_estimated:
[[-6.75809256e-01]
 [ 7.37076427e-01]
 [ 4.35573649e-04]]

 R_gt:
[[ 0.99512794 -0.0984417   0.00549283]
 [ 0.09836045  0.99505981  0.01346273]
 [-0.00679044 -0.01285646  0.99989377]]

 t_gt:
[ 0.07868249 -0.96720676  0.24149563]

Pose Error in degrees for R and t:
5.58323386400528 40.006236695149255

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999838e-01 -3.01773632e-05  5.67607019e-04]
 [ 3.06091097e-05  9.99999710e-01 -7.60650076e-04]
 [-5.67583901e-04  7.60667327e-04  9.99999550e-01]]

 t_estimated:
[[0.929195  ]
 [0.36958494]
 [0.00190378]]

 R_gt:
[[ 0.97000842 -0.24285188  0.01029694]
 [ 0.24306609  0.96936018 -0.03548308]
 [-0.00136437  0.03692148  0.99931694]]

 t_gt:
[ 0.39035529 -0.90268006 -0.18108412]

Pose Error in degrees for R and t:
14.21512559882694 88.352261983946

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99984300e-01 -5.37039414e-03 -1.59968227e-03]
 [ 5.37070678e-03  9.99985559e-01  1.91206114e-04]
 [ 1.59863232e-03 -1.99794536e-04  9.99998702e-01]]

 t_estimated:
[[ 0.99993842]
 [-0.01078097]
 [-0.00263264]]

 R_gt:
[[ 0.93891083 -0.34414034  0.00367414]
 [ 0.34408586  0.93843429 -0.03074177]
 [ 0.00713138  0.03012845  0.99951974]]

 t_gt:
[ 0.41268906 -0.90025149 -0.13869029]

Pose Error in degrees for R and t:
19.90430883265145 64.99266066126796

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.16147935 -0.98677235 -0.01430891]
 [-0.95015071  0.15153514  0.27248987]
 [-0.26671717  0.05759711 -0.96205225]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.98617446 -0.16100779 -0.03919828]
 [ 0.16117607  0.98692451  0.00116665]
 [ 0.03849839 -0.00746758  0.99923068]]

 t_gt:
[ 0.74971094 -0.63933884 -0.17081963]

Pose Error in degrees for R and t:
170.94732507053337 80.94119985197678

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.13339662 -0.9910606  -0.00205562]
 [-0.99106172 -0.13339323 -0.0017067 ]
 [ 0.00141724  0.00226492 -0.99999643]]

 t_estimated:
[[7.60629421e-01]
 [6.49186282e-01]
 [2.32242723e-04]]

 R_gt:
[[ 0.93333756 -0.35308323 -0.06490022]
 [ 0.35364935  0.93537304 -0.00292881]
 [ 0.0617398  -0.02021843  0.9978876 ]]

 t_gt:
[ 0.80832343 -0.58016137 -0.10013001]

Pose Error in degrees for R and t:
177.80590101651532 76.22093998407658

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99967602e-01  8.03531897e-03  4.77075645e-04]
 [-8.03500638e-03  9.99967505e-01 -6.53571757e-04]
 [-4.82311800e-04  6.49717277e-04  9.99999673e-01]]

 t_estimated:
[[9.90967132e-01]
 [1.34103353e-01]
 [6.58383464e-04]]

 R_gt:
[[ 0.84601159 -0.53135388 -0.04390278]
 [ 0.53176645  0.84688648 -0.00261347]
 [ 0.03856992 -0.02113449  0.9990329 ]]

 t_gt:
[ 0.85425332 -0.51894935 -0.03070563]

Pose Error in degrees for R and t:
32.68619764019523 39.02021308243982

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[-0.15669169  0.98763184  0.0055732 ]
 [-0.98764541 -0.15670064  0.00120561]
 [ 0.00206403 -0.00531544  0.99998374]]

 t_estimated:
[[7.37242141e-01]
 [6.75628244e-01]
 [7.08205707e-04]]

 R_gt:
[[ 0.99746846 -0.05044839  0.05011436]
 [ 0.05072393  0.99870427 -0.00424377]
 [-0.04983518  0.00677469  0.99873406]]

 t_gt:
[-0.03848576 -0.67251086  0.73908592]

Pose Error in degrees for R and t:
101.94253746688652 61.16968669746939

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99999832e-01  5.59629976e-04  1.50112069e-04]
 [-5.59657716e-04  9.99999826e-01  1.84812140e-04]
 [-1.50008616e-04 -1.84896121e-04  9.99999972e-01]]

 t_estimated:
[[9.46134605e-01]
 [3.23772298e-01]
 [8.99367495e-04]]

 R_gt:
[[ 0.98756901 -0.14447515  0.0619223 ]
 [ 0.14468858  0.98947695  0.0010451 ]
 [-0.06142198  0.00792651  0.99808064]]

 t_gt:
[ 0.41397989 -0.82664616  0.3811519 ]

Pose Error in degrees for R and t:
9.072056605951474 82.85514101634944

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-0.31154609 -0.95022811 -0.00236185]
 [-0.95022872  0.31153887  0.00298689]
 [-0.00210242  0.00317486 -0.99999275]]

 t_estimated:
[[8.84175370e-01]
 [4.67154512e-01]
 [7.59600833e-04]]

 R_gt:
[[ 0.95923303 -0.27790782  0.05137972]
 [ 0.27630844  0.96039047  0.03611763]
 [-0.05938155 -0.02044838  0.99802552]]

 t_gt:
[ 0.61110761 -0.74471184  0.26823826]

Pose Error in degrees for R and t:
176.42063914897054 78.89342615991087

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.99580502 -0.09149292 -0.00118517]
 [ 0.09149469  0.99580438  0.00153634]
 [ 0.00103963 -0.00163834  0.99999812]]

 t_estimated:
[[ 0.60679971]
 [-0.79481082]
 [-0.00835915]]

 R_gt:
[[ 9.99445734e-01  3.32732269e-02 -5.27610140e-04]
 [-3.32621389e-02  9.99331515e-01  1.51523912e-02]
 [ 1.03115184e-03 -1.51261833e-02  9.99885476e-01]]

 t_gt:
[-0.96532396  0.02710234  0.2596442 ]

Pose Error in degrees for R and t:
7.198135774346857 52.44881380481386

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.13274044 -0.98295859  0.12717068]
 [-0.99089823  0.12871317 -0.03941596]
 [ 0.02237572 -0.1312453  -0.99109737]]

 t_estimated:
[[0.91000825]
 [0.41455931]
 [0.0050556 ]]

 R_gt:
[[ 0.9985153   0.00689028  0.05403995]
 [-0.00716851  0.99996184  0.00495373]
 [-0.05400358 -0.00533363  0.9985261 ]]

 t_gt:
[-0.92041675 -0.12809182  0.36935821]

Pose Error in degrees for R and t:
173.45684225519585 27.27451261006201

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999949e-01 -3.17853592e-04 -2.98815785e-05]
 [ 3.17854664e-04  9.99999949e-01  3.58684998e-05]
 [ 2.98701760e-05 -3.58779960e-05  9.99999999e-01]]

 t_estimated:
[[-8.45451885e-01]
 [-5.34051599e-01]
 [-1.41722708e-05]]

 R_gt:
[[ 0.99522486  0.07570006  0.06161881]
 [-0.07472503  0.99704257 -0.01798611]
 [-0.06279853  0.01329542  0.99793757]]

 t_gt:
[-0.97184801  0.2348764   0.01856147]

Pose Error in degrees for R and t:
5.6881310361292865 45.87593581129797

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99997208e-01  2.25534255e-03  7.04852195e-04]
 [-2.25522429e-03  9.99997443e-01 -1.68533989e-04]
 [-7.05230494e-04  1.66943918e-04  9.99999737e-01]]

 t_estimated:
[[0.99997748]
 [0.00645886]
 [0.00182447]]

 R_gt:
[[ 0.98804287 -0.14337657  0.0567162 ]
 [ 0.14286615  0.98965736  0.0129672 ]
 [-0.05798848 -0.00471066  0.99830562]]

 t_gt:
[ 0.64968112 -0.7191223   0.24653104]

Pose Error in degrees for R and t:
8.989746029530858 49.798958921381576

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.19847018  0.98010519  0.00184723]
 [ 0.98010593  0.19846693  0.00180283]
 [ 0.00140035  0.00216829 -0.99999667]]

 t_estimated:
[[9.97071171e-01]
 [7.64738586e-02]
 [9.10812082e-04]]

 R_gt:
[[ 0.95182589 -0.29902781  0.06790143]
 [ 0.29751136  0.95419313  0.03167362]
 [-0.0742622  -0.00994683  0.99718855]]

 t_gt:
[ 0.75223356 -0.63647991  0.17040539]

Pose Error in degrees for R and t:
177.53381997809203 45.451600022316306

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.70884516e-01  2.39547448e-01  5.27010369e-04]
 [-2.39547158e-01  9.70884569e-01 -5.58757602e-04]
 [-6.45515193e-04  4.16245268e-04  9.99999705e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.90534338 -0.42367162  0.02927088]
 [ 0.41941195  0.90280737  0.09503508]
 [-0.06669011 -0.07376319  0.99504347]]

 t_gt:
[ 0.79715629 -0.57097996  0.19627465]

Pose Error in degrees for R and t:
39.25997047030036 55.961636261683346

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.94291164  0.32850114  0.05481464]
 [ 0.32815076  0.94449766 -0.0155322 ]
 [-0.05687465  0.00334198 -0.99837573]]

 t_estimated:
[[0.30757362]
 [0.95152373]
 [0.00102867]]

 R_gt:
[[ 0.99590506 -0.08610822 -0.02755984]
 [ 0.08629472  0.99625417  0.00564863]
 [ 0.0269703  -0.00800316  0.99960373]]

 t_gt:
[ 0.8311574  -0.54187552 -0.12469282]

Pose Error in degrees for R and t:
178.37827566303918 74.92438374836392

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-5.85899415e-01  8.10383688e-01 -3.92762746e-04]
 [-8.10381810e-01 -5.85898989e-01 -1.92270449e-03]
 [-1.78824765e-03 -8.08223650e-04  9.99998074e-01]]

 t_estimated:
[[0.61217292]
 [0.79072335]
 [0.00094471]]

 R_gt:
[[ 0.98661958 -0.15116993 -0.06107468]
 [ 0.15124698  0.98849095 -0.00339559]
 [ 0.06088487 -0.00588679  0.99812779]]

 t_gt:
[ 0.84935157 -0.49292045 -0.18876264]

Pose Error in degrees for R and t:
134.59721436149854 82.52994578813833

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 8.76852596e-01 -4.80759321e-01 -7.41056871e-07]
 [ 4.80758988e-01  8.76851988e-01  1.17795401e-03]
 [-5.65662570e-04 -1.03324830e-03  9.99999306e-01]]

 t_estimated:
[[0.99814332]
 [0.06089469]
 [0.0013238 ]]

 R_gt:
[[ 0.9768882  -0.18505054 -0.10698611]
 [ 0.1856933   0.98259972 -0.00400905]
 [ 0.1058655  -0.0159508   0.99425299]]

 t_gt:
[ 0.86888929 -0.44123567 -0.22437132]

Pose Error in degrees for R and t:
19.036301771663442 32.84825130817923

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.89960455e-01  1.41344565e-01  1.05531167e-04]
 [-1.41344563e-01  9.89960461e-01 -2.89274101e-05]
 [-1.08560415e-04  1.37207353e-05  9.99999994e-01]]

 t_estimated:
[[-8.88299339e-01]
 [ 4.59264349e-01]
 [ 7.36051324e-04]]

 R_gt:
[[ 0.99758392  0.0680512  -0.01397852]
 [-0.06826388  0.99754962 -0.01531968]
 [ 0.01290191  0.01623697  0.99978489]]

 t_gt:
[-0.39030655  0.88778848 -0.24391066]

Pose Error in degrees for R and t:
4.382085943842752 41.03932499199871

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.96093063e-01 -8.83060085e-02 -8.11100669e-04]
 [ 8.83061731e-02  9.96093365e-01  1.69250906e-04]
 [ 7.92986122e-04 -2.40214850e-04  9.99999657e-01]]

 t_estimated:
[[-0.65284892]
 [-0.75748405]
 [-0.00248849]]

 R_gt:
[[ 0.99342394  0.11439195  0.00487306]
 [-0.11420048  0.99301891 -0.0295503 ]
 [-0.00822026  0.02879871  0.99955165]]

 t_gt:
[-0.41358275  0.90770153 -0.07090301]

Pose Error in degrees for R and t:
11.75926538594271 65.33033893800511

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.8186277   0.57424059 -0.0098196 ]
 [ 0.57424993  0.8186773   0.00212174]
 [ 0.00925747 -0.00390199 -0.99994954]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99760378  0.06893856 -0.00584017]
 [-0.0691177   0.99681205 -0.03984752]
 [ 0.0030746   0.040155    0.99918848]]

 t_gt:
[-0.40329781  0.88114194 -0.24685979]

Pose Error in degrees for R and t:
179.88110685289348 78.26323983712348

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.99807947 -0.0602236   0.01450854]
 [ 0.06106903  0.99585608 -0.06738867]
 [-0.01039003  0.06814527  0.99762131]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 9.99975060e-01 -7.13028236e-03  9.22636398e-04]
 [ 7.12045846e-03  9.99916363e-01  1.07466457e-02]
 [-9.99632247e-04 -1.07400631e-02  9.99942424e-01]]

 t_gt:
[ 0.90859743 -0.37602268  0.18181762]

Pose Error in degrees for R and t:
5.490794307316679 66.71661782643382

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.78281532e-01 -2.07280016e-01  4.88899327e-04]
 [ 2.07280198e-01  9.78281551e-01 -3.56504468e-04]
 [-4.04384940e-04  4.50100886e-04  9.99999817e-01]]

 t_estimated:
[[-0.43685176]
 [-0.89953281]
 [-0.00112301]]

 R_gt:
[[ 9.98695272e-01  5.10772255e-02  3.95309694e-04]
 [-5.10780096e-02  9.98662520e-01  7.94068991e-03]
 [ 1.06532190e-05 -7.95124906e-03  9.99968712e-01]]

 t_gt:
[0.59871058 0.79827976 0.0655368 ]

Pose Error in degrees for R and t:
14.898477978954947 11.564340993282997

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-1.52490036e-01 -9.88304797e-01  6.46615091e-04]
 [-9.88304538e-01  1.52489293e-01 -1.07514625e-03]
 [ 9.63970317e-04 -8.03001719e-04 -9.99999213e-01]]

 t_estimated:
[[0.68595776]
 [0.7276408 ]
 [0.00090615]]

 R_gt:
[[ 0.99803299  0.06085645  0.01508381]
 [-0.06098074  0.99810697  0.0078952 ]
 [-0.01457474 -0.00880006  0.9998559 ]]

 t_gt:
[0.68755655 0.68344505 0.24529342]

Pose Error in degrees for R and t:
179.05412872561303 14.266607000676713

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[-9.92173907e-01  1.24773040e-01 -4.75676875e-03]
 [-1.24775602e-01 -9.92184957e-01  2.44410082e-04]
 [-4.68909861e-03  8.36025989e-04  9.99988657e-01]]

 t_estimated:
[[0.91309803]
 [0.4077356 ]
 [0.00191425]]

 R_gt:
[[ 9.99031594e-01 -1.04330992e-03  4.39842234e-02]
 [ 5.46582655e-04  9.99936579e-01  1.12936482e-02]
 [-4.39928721e-02 -1.12606750e-02  9.98967966e-01]]

 t_gt:
[-0.63190549  0.14256168  0.76182125]

Pose Error in degrees for R and t:
172.88207568958606 58.84159715739725

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[-0.05979576  0.99801417 -0.01980345]
 [ 0.99811994  0.06004598  0.01229081]
 [ 0.01345552 -0.01903128 -0.99972834]]

 t_estimated:
[[0.90472447]
 [0.42599598]
 [0.00103397]]

 R_gt:
[[ 0.99632895 -0.01359475  0.08452185]
 [ 0.01585934  0.9995316  -0.02618964]
 [-0.08412626  0.0274327   0.99607729]]

 t_gt:
[-0.67485732  0.43369075  0.59705941]

Pose Error in degrees for R and t:
176.73474511360234 64.83717862507704

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[-0.50163484  0.86502519 -0.00969043]
 [ 0.86501292  0.50170372  0.00678389]
 [ 0.01072996 -0.00497931 -0.99993003]]

 t_estimated:
[[ 0.91967927]
 [-0.39263372]
 [-0.0053661 ]]

 R_gt:
[[ 0.99463894 -0.00718133  0.10316384]
 [ 0.01391251  0.99780948 -0.06467454]
 [-0.10247262  0.0657618   0.9925589 ]]

 t_gt:
[-0.67633795  0.64290496  0.35949992]

Pose Error in degrees for R and t:
173.68730309866416 28.792555138825957

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.98269352e-01  5.88072514e-02  8.79659653e-05]
 [-5.88072451e-02  9.98269354e-01 -7.30926749e-05]
 [-9.21121066e-05  6.77931411e-05  9.99999993e-01]]

 t_estimated:
[[9.13457240e-01]
 [4.06934111e-01]
 [7.06660778e-04]]

 R_gt:
[[ 9.99573878e-01 -1.09640923e-02 -2.70742040e-02]
 [ 1.09797284e-02  9.99939042e-01  3.92412945e-04]
 [ 2.70671616e-02 -6.89196308e-04  9.99632795e-01]]

 t_gt:
[-0.36928541 -0.74791826 -0.5515855 ]

Pose Error in degrees for R and t:
4.2925106220029665 50.05367712218602

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.97684555e-01  6.80109351e-02  2.02129768e-04]
 [-6.80109273e-02  9.97684575e-01 -4.54109546e-05]
 [-2.04750193e-04  3.15587751e-05  9.99999979e-01]]

 t_estimated:
[[ 9.06975318e-01]
 [-4.21183319e-01]
 [-6.19388965e-04]]

 R_gt:
[[ 0.99435953 -0.09494844 -0.04728185]
 [ 0.09596163  0.99519163  0.01961917]
 [ 0.04519106 -0.0240443   0.998688  ]]

 t_gt:
[ 0.23102301 -0.95110088 -0.20502557]

Pose Error in degrees for R and t:
9.831552741458848 52.39263641057569

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.99714333  0.07414687 -0.01440221]
 [-0.07395737  0.99717307  0.01327304]
 [ 0.01534565 -0.01216997  0.99980818]]

 t_estimated:
[[-0.64722664]
 [-0.76228915]
 [-0.0035957 ]]

 R_gt:
[[ 0.98336449 -0.15637043 -0.09243349]
 [ 0.16044377  0.98629906  0.0383691 ]
 [ 0.08516671 -0.05256048  0.99497916]]

 t_gt:
[ 0.31699338 -0.92352526 -0.21590804]

Pose Error in degrees for R and t:
14.166028682557757 60.026257229980324

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-0.95394647 -0.2999361   0.0049469 ]
 [-0.29996148  0.95393491 -0.00559389]
 [-0.00304121 -0.00682015 -0.99997212]]

 t_estimated:
[[0.96783467]
 [0.25152765]
 [0.00546799]]

 R_gt:
[[ 0.99884988  0.04668854  0.01094445]
 [-0.04676322  0.99888376  0.00668119]
 [-0.01062011 -0.00718447  0.99991796]]

 t_gt:
[-0.05335909  0.94935566  0.30963953]

Pose Error in degrees for R and t:
179.08982989549764 79.11493167854532

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99997997e-01  1.95677691e-03  4.19781984e-04]
 [-1.95677290e-03  9.99998085e-01 -9.97301430e-06]
 [-4.19800695e-04  9.15157632e-06  9.99999912e-01]]

 t_estimated:
[[-0.85328149]
 [-0.5214498 ]
 [-0.00089443]]

 R_gt:
[[ 0.99797739  0.06129291  0.01694163]
 [-0.06124408  0.99811696 -0.003412  ]
 [-0.01711852  0.0023676   0.99985106]]

 t_gt:
[0.2875249  0.93921791 0.18761435]

Pose Error in degrees for R and t:
3.534579054960541 42.6706001651193

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.38618784e-01  3.44955331e-01  7.73400303e-04]
 [-3.44955833e-01  9.38618694e-01  6.49060842e-04]
 [-5.02030985e-04 -8.76009644e-04  9.99999490e-01]]

 t_estimated:
[[-0.77163836]
 [ 0.63605783]
 [ 0.00216134]]

 R_gt:
[[ 0.99710074  0.07136567  0.02642677]
 [-0.07090905  0.9973229  -0.01786135]
 [-0.02763091  0.0159355   0.99949164]]

 t_gt:
[0.42095669 0.89343961 0.15671993]

Pose Error in degrees for R and t:
16.200577242110565 75.88956456367079

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[-5.61079972e-01 -8.27752484e-01 -3.88449017e-03]
 [ 8.27761563e-01 -5.61072389e-01 -2.92731625e-03]
 [ 2.43613122e-04 -4.85789018e-03  9.99988171e-01]]

 t_estimated:
[[0.99976923]
 [0.02144916]
 [0.00119162]]

 R_gt:
[[ 0.99955799 -0.00679359 -0.02897066]
 [ 0.00660055  0.99995523 -0.0067389 ]
 [ 0.02901506  0.00654492  0.9995565 ]]

 t_gt:
[-0.32004188 -0.4950032  -0.80780259]

Pose Error in degrees for R and t:
123.74998155430305 70.63723913170469

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[-8.81874881e-01 -4.71483500e-01  6.27200867e-05]
 [-4.71470996e-01  8.81852446e-01  7.16681352e-03]
 [-3.43434419e-03  6.29066212e-03 -9.99974316e-01]]

 t_estimated:
[[0.98410351]
 [0.17758756]
 [0.00171433]]

 R_gt:
[[ 0.99820077 -0.01085371 -0.05897094]
 [ 0.01227173  0.9996424   0.02375122]
 [ 0.05869233 -0.02443233  0.99797673]]

 t_gt:
[-0.41192532 -0.74911749 -0.51878754]

Pose Error in degrees for R and t:
177.1691371311761 57.36396813747642

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99766289e-01  2.16021572e-02  8.45003661e-04]
 [-2.16005212e-02  9.99764877e-01 -1.89959597e-03]
 [-8.85840352e-04  1.88089950e-03  9.99997839e-01]]

 t_estimated:
[[-9.00414772e-01]
 [-4.35031856e-01]
 [-7.22644279e-04]]

 R_gt:
[[ 0.99469612 -0.04983228 -0.08998351]
 [ 0.05019515  0.99873804  0.00178085]
 [ 0.08978065 -0.00628762  0.99594116]]

 t_gt:
[-0.13051708 -0.75131514 -0.64690869]

Pose Error in degrees for R and t:
6.642525648821387 63.58734469758155

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999373e-01 -1.52580588e-05  1.11929300e-03]
 [ 1.68784188e-05  9.99998952e-01 -1.44766868e-03]
 [-1.11926974e-03  1.44768666e-03  9.99998326e-01]]

 t_estimated:
[[-0.60990278]
 [-0.79247499]
 [-0.0014081 ]]

 R_gt:
[[ 0.99763441 -0.05139176  0.04567259]
 [ 0.05384509  0.99707453 -0.05424322]
 [-0.0427523   0.05657448  0.99748263]]

 t_gt:
[ 0.9146148  -0.35789069 -0.18813297]

Pose Error in degrees for R and t:
4.980260000127342 74.10103901034736

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-9.62551214e-01 -2.70841371e-01  1.18368920e-02]
 [-2.70829822e-01  9.62623735e-01  2.59856345e-03]
 [-1.20982717e-02 -7.04532942e-04 -9.99926565e-01]]

 t_estimated:
[[0.99384669]
 [0.11058604]
 [0.00628443]]

 R_gt:
[[ 0.98793701 -0.15313865  0.02301714]
 [ 0.15377838  0.98767124 -0.02926756]
 [-0.018252    0.03245347  0.99930708]]

 t_gt:
[ 0.86395065 -0.50115181 -0.04935727]

Pose Error in degrees for R and t:
178.37434156219146 36.591692646476446

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-1.54992344e-01 -9.87915563e-01 -4.62486840e-04]
 [-9.87914143e-01  1.54992911e-01 -1.68634338e-03]
 [ 1.73764705e-03  1.95526976e-04 -9.99998471e-01]]

 t_estimated:
[[8.44878374e-01]
 [5.34958036e-01]
 [6.58004964e-04]]

 R_gt:
[[ 0.98161137 -0.18936786 -0.02409851]
 [ 0.18833042  0.98129849 -0.03980982]
 [ 0.03118563  0.03453946  0.99891607]]

 t_gt:
[ 0.87860216 -0.44401277 -0.17581499]

Pose Error in degrees for R and t:
177.3111719750178 59.690679100746344

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.17804982e-01 -3.97031202e-01  4.90509937e-04]
 [-3.97025167e-01 -9.17796611e-01 -4.51648320e-03]
 [ 2.24337311e-03  3.95050599e-03 -9.99989680e-01]]

 t_estimated:
[[ 0.31642696]
 [ 0.94861558]
 [-0.0015664 ]]

 R_gt:
[[ 0.96483109 -0.17614905  0.19512208]
 [ 0.16950506  0.98424043  0.0503684 ]
 [-0.20091908 -0.01552258  0.97948467]]

 t_gt:
[ 0.49357652 -0.58832595  0.64051135]

Pose Error in degrees for R and t:
176.06506664092223 66.23930459918455

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[-1.93966068e-01 -9.81007841e-01 -8.83665330e-04]
 [-9.81008227e-01  1.93965849e-01  3.27521114e-04]
 [-1.49899885e-04  9.30410941e-04 -9.99999556e-01]]

 t_estimated:
[[9.11361767e-01]
 [4.11605666e-01]
 [7.10890614e-04]]

 R_gt:
[[ 0.91687275 -0.31382052  0.24670191]
 [ 0.30223585  0.94947778  0.08452907]
 [-0.26076438 -0.0029404   0.96539845]]

 t_gt:
[ 0.63935129 -0.61339842  0.46365106]

Pose Error in degrees for R and t:
166.8888121945361 70.69895167085086

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[ 0.9743728  -0.22468002 -0.01079521]
 [ 0.22474206  0.97440592  0.00491088]
 [ 0.00941554 -0.00721116  0.99992967]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.85306334 -0.45003837  0.26409834]
 [ 0.43318457  0.89295319  0.12241102]
 [-0.29091727  0.00997818  0.95669617]]

 t_gt:
[ 0.73977542 -0.56869303  0.35961169]

Pose Error in degrees for R and t:
22.230552109073706 55.68835328040024

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99998648e-01  1.64426325e-03  1.04980430e-05]
 [-1.64426390e-03  9.99998646e-01  6.25226425e-05]
 [-1.03952252e-05 -6.25398196e-05  9.99999998e-01]]

 t_estimated:
[[9.94037395e-01]
 [1.09039551e-01]
 [1.86203557e-04]]

 R_gt:
[[ 0.99739572 -0.07165364 -0.00813805]
 [ 0.07180262  0.99722368  0.01972744]
 [ 0.00670155 -0.02026117  0.99977151]]

 t_gt:
[ 0.58606833 -0.78982991  0.180811  ]

Pose Error in degrees for R and t:
4.381601729584624 60.232291925719906

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.99958503 -0.02826011  0.00558052]
 [-0.02816757  0.99947487  0.016018  ]
 [-0.00603026  0.01585416 -0.99985613]]

 t_estimated:
[[0.97215211]
 [0.23434809]
 [0.00112128]]

 R_gt:
[[ 9.85863104e-01 -1.61193059e-01  4.57196904e-02]
 [ 1.61366990e-01  9.86894823e-01 -1.23475903e-04]
 [-4.51005825e-02  7.49953241e-03  9.98954400e-01]]

 t_gt:
[ 0.53413555 -0.80407005  0.26109494]

Pose Error in degrees for R and t:
176.986339811638 70.66314075289837

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999864e-01 -3.57043190e-04  3.79701431e-04]
 [ 3.57086626e-04  9.99999930e-01 -1.14334921e-04]
 [-3.79660582e-04  1.14470492e-04  9.99999921e-01]]

 t_estimated:
[[0.63908782]
 [0.76913251]
 [0.00139293]]

 R_gt:
[[ 0.96317473 -0.2658881   0.03996263]
 [ 0.26423225  0.96353268  0.0422641 ]
 [-0.04974292 -0.03014908  0.99830661]]

 t_gt:
[ 0.61378223 -0.7377741   0.28099955]

Pose Error in degrees for R and t:
15.716368139367223 79.93333599870701

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 0.82259871  0.56841805  0.01524065]
 [ 0.56845358 -0.8214062  -0.04639386]
 [-0.01385235  0.04682713 -0.99880695]]

 t_estimated:
[[-0.41704603]
 [ 0.90854759]
 [-0.02477666]]

 R_gt:
[[ 0.99882026 -0.00145819  0.04853963]
 [ 0.00206172  0.99992146 -0.01237532]
 [-0.04851746  0.01246027  0.99874434]]

 t_gt:
[-0.98219221  0.18781082 -0.00505485]

Pose Error in degrees for R and t:
175.69364199544586 54.522748908798306

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.97442138e-01  7.14785144e-02 -5.76212235e-05]
 [-7.14785224e-02  9.97442128e-01 -1.49703330e-04]
 [ 4.67732642e-05  1.53439089e-04  9.99999987e-01]]

 t_estimated:
[[-0.79570982]
 [-0.6056775 ]
 [-0.00080865]]

 R_gt:
[[ 0.99634517  0.0640889   0.05646838]
 [-0.06167688  0.99714923 -0.04345946]
 [-0.05909274  0.0398178   0.99745754]]

 t_gt:
[-0.87126167  0.40720118 -0.2740261 ]

Pose Error in degrees for R and t:
4.113039298998125 63.45756727868691

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999963e-01  1.00718816e-04 -2.50925336e-04]
 [-1.00634249e-04  9.99999938e-01  3.37011615e-04]
 [ 2.50959264e-04 -3.36986351e-04  9.99999912e-01]]

 t_estimated:
[[-0.75882441]
 [-0.65129471]
 [-0.00084283]]

 R_gt:
[[ 0.99003983  0.11435483  0.0821289 ]
 [-0.10763292  0.9907972  -0.08207216]
 [-0.09075801  0.07241497  0.99323676]]

 t_gt:
[-0.85584496  0.41117628 -0.31378891]

Pose Error in degrees for R and t:
9.248613770121075 67.54835534910188

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.93100788e-01 -1.17263781e-01 -1.75782109e-04]
 [ 1.17263774e-01  9.93100803e-01 -4.76875719e-05]
 [ 1.80161379e-04  2.67456917e-05  9.99999983e-01]]

 t_estimated:
[[-0.38232081]
 [-0.92402877]
 [-0.00127573]]

 R_gt:
[[ 0.99598855  0.08893068 -0.00999496]
 [-0.08934818  0.99447712 -0.05507051]
 [ 0.00504224  0.05574302  0.998432  ]]

 t_gt:
[-0.51785833  0.7370794  -0.43420813]

Pose Error in degrees for R and t:
12.27644413794961 61.14853380412777

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-9.89358774e-01  1.44032702e-01 -2.05863237e-02]
 [ 1.44020655e-01  9.89572508e-01  2.07439512e-03]
 [ 2.06704407e-02 -9.12534806e-04 -9.99785927e-01]]

 t_estimated:
[[ 0.99612225]
 [-0.08741475]
 [-0.00995594]]

 R_gt:
[[ 0.98873077  0.14727548 -0.02688586]
 [-0.14853076  0.9874866  -0.05298773]
 [ 0.01874487  0.05638466  0.99823297]]

 t_gt:
[-0.53000992  0.7723886  -0.35000763]

Pose Error in degrees for R and t:
177.73582224183656 53.70177789803353

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 8.84542480e-01  4.66459377e-01  5.00628883e-04]
 [-4.66459238e-01  8.84542617e-01 -3.71275332e-04]
 [-6.16012442e-04  9.48858355e-05  9.99999806e-01]]

 t_estimated:
[[-8.13756007e-01]
 [ 5.81206376e-01]
 [ 5.55717309e-04]]

 R_gt:
[[ 0.96098602  0.27326896 -0.04277798]
 [-0.27548484  0.95946126 -0.05951396]
 [ 0.02477956  0.06897642  0.99731061]]

 t_gt:
[-0.5236715   0.81740604 -0.24003236]

Pose Error in degrees for R and t:
12.57929912781036 25.698412272818974

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.23156356 -0.97273232 -0.01304415]
 [-0.97269457  0.23172806 -0.01293726]
 [ 0.01560719  0.00969218 -0.99983122]]

 t_estimated:
[[ 0.76032871]
 [ 0.64949177]
 [-0.00779037]]

 R_gt:
[[ 0.99411929  0.10565067  0.02375376]
 [-0.10549971  0.99439075 -0.00751605]
 [-0.02441424  0.00496644  0.99968916]]

 t_gt:
[-0.80648946  0.58402751  0.0921229 ]

Pose Error in degrees for R and t:
179.82192854641386 76.43232629273243

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.98679251e-01  5.13785086e-02 -4.97431299e-05]
 [-5.13785044e-02  9.98679249e-01  8.39749659e-05]
 [ 5.39919401e-05 -8.13083285e-05  9.99999995e-01]]

 t_estimated:
[[-9.78705892e-01]
 [ 2.05267486e-01]
 [ 1.90630415e-04]]

 R_gt:
[[ 0.97759478  0.20956589  0.0197458 ]
 [-0.20938611  0.97777341 -0.01079911]
 [-0.02156952  0.00642306  0.99974619]]

 t_gt:
[-0.76771555  0.63940646  0.04209765]

Pose Error in degrees for R and t:
9.239185354532063 28.039330657926136

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.97664144e-01 -6.83084325e-02 -4.62128413e-04]
 [ 6.83084805e-02  9.97664244e-01  8.88781240e-05]
 [ 4.54977869e-04 -1.20237807e-04  9.99999889e-01]]

 t_estimated:
[[-9.99987772e-01]
 [-4.87798933e-03]
 [-8.12998190e-04]]

 R_gt:
[[ 0.91300862  0.40785751  0.0081735 ]
 [-0.40762239  0.9129059  -0.02112717]
 [-0.01607856  0.01595721  0.99974344]]

 t_gt:
[-0.67285566  0.73974684 -0.00631515]

Pose Error in degrees for R and t:
28.013505997312038 47.99125002409369

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.33932012  0.94064082 -0.00753002]
 [ 0.94064809  0.33935682  0.00425589]
 [ 0.00655863 -0.00563899 -0.99996259]]

 t_estimated:
[[-0.00900864]
 [-0.99995879]
 [-0.00112608]]

 R_gt:
[[ 0.99465121 -0.10307679 -0.0066786 ]
 [ 0.10320041  0.99441933  0.02189131]
 [ 0.00438506 -0.02246286  0.99973773]]

 t_gt:
[ 0.49430218 -0.86198198  0.112483  ]

Pose Error in degrees for R and t:
178.51314708690995 30.97779938003601

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-7.34921265e-01 -6.78152436e-01 -8.65213136e-05]
 [-6.78152288e-01  7.34921007e-01  7.66072514e-04]
 [-4.55927611e-04  6.21677608e-04 -9.99999703e-01]]

 t_estimated:
[[0.98959989]
 [0.14384314]
 [0.00109574]]

 R_gt:
[[ 0.96661908 -0.25590078  0.01274093]
 [ 0.25540878  0.96632226  0.03142191]
 [-0.02035217 -0.02711799  0.99942492]]

 t_gt:
[ 0.59137567 -0.79201251  0.1516278 ]

Pose Error in degrees for R and t:
178.47749740454992 61.87050769007489

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 6.26819664e-01  7.79162202e-01  1.83648302e-03]
 [-7.79161831e-01  6.26821895e-01 -1.07353669e-03]
 [-1.98760698e-03 -7.58003564e-04  9.99997737e-01]]

 t_estimated:
[[-0.59283177]
 [ 0.80532427]
 [ 0.00182154]]

 R_gt:
[[ 0.93886247 -0.34410742 -0.01124009]
 [ 0.34421256  0.93744873  0.05203199]
 [-0.00736821 -0.05271896  0.99858204]]

 t_gt:
[ 0.625269   -0.77148568  0.11767972]

Pose Error in degrees for R and t:
71.38678045024052 7.359877063490645

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.69887460e-01 -2.43553056e-01 -4.72395350e-04]
 [ 2.43553157e-01  9.69887536e-01  1.66570125e-04]
 [ 4.17601699e-04 -2.76607654e-04  9.99999875e-01]]

 t_estimated:
[[-0.11562713]
 [-0.99329208]
 [-0.00110121]]

 R_gt:
[[ 0.98818291  0.15325106  0.00300392]
 [-0.15327636  0.98811191  0.01192102]
 [-0.00114164 -0.01224067  0.99992435]]

 t_gt:
[-0.68644119  0.72515283  0.0543311 ]

Pose Error in degrees for R and t:
22.923192742635536 50.135276715826

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-9.95120796e-01 -9.84989895e-02 -5.70526806e-03]
 [-9.84983091e-02  9.95137138e-01 -4.00803359e-04]
 [ 5.71700285e-03  1.63111499e-04 -9.99983645e-01]]

 t_estimated:
[[ 0.99786848]
 [ 0.06522453]
 [-0.00206483]]

 R_gt:
[[ 0.94686103  0.3214625  -0.01077973]
 [-0.32151574  0.94689712 -0.00362025]
 [ 0.00904369  0.00689461  0.99993594]]

 t_gt:
[-0.61292972  0.78918247 -0.03883526]

Pose Error in degrees for R and t:
179.08935328669062 55.93943006123157

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-3.42838819e-01  9.39393488e-01  1.19120625e-03]
 [-9.39394243e-01 -3.42838494e-01 -4.73479133e-04]
 [-3.63918581e-05 -1.28133932e-03  9.99999178e-01]]

 t_estimated:
[[0.6711372 ]
 [0.74133267]
 [0.00085604]]

 R_gt:
[[ 0.89445631  0.44494019  0.0444753 ]
 [-0.44406835  0.89554228 -0.02840449]
 [-0.05246742  0.00565671  0.99860707]]

 t_gt:
[-0.59249592  0.80011522  0.09361736]

Pose Error in degrees for R and t:
83.68134667697102 78.72106277021614

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 8.30075887e-01 -5.57650371e-01 -2.93920400e-04]
 [ 5.57650445e-01  8.30075823e-01  3.30443224e-04]
 [ 5.97044316e-05 -4.38197794e-04  9.99999902e-01]]

 t_estimated:
[[0.81934195]
 [0.57330392]
 [0.00117722]]

 R_gt:
[[ 0.99761843 -0.02038391  0.06588104]
 [ 0.02231466  0.9993394  -0.0286951 ]
 [-0.06525259  0.03009839  0.99741394]]

 t_gt:
[0.32647324 0.04687906 0.94404321]

Pose Error in degrees for R and t:
32.922907756221974 72.81364671905392

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-6.25118627e-01  7.80529033e-01 -1.06345782e-03]
 [-7.80525067e-01 -6.25119014e-01 -2.61479268e-03]
 [-2.70570930e-03 -8.04500122e-04  9.99996016e-01]]

 t_estimated:
[[0.65120324]
 [0.75890156]
 [0.00166321]]

 R_gt:
[[ 0.99397415  0.02663042  0.10632828]
 [-0.01917864  0.99732738 -0.07049502]
 [-0.10792215  0.06803281  0.99182835]]

 t_gt:
[-0.27668496  0.95977673  0.04768719]

Pose Error in degrees for R and t:
127.47794230345282 56.751096746243675

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.64944119e-01  2.62454722e-01 -6.05131706e-04]
 [-2.62454620e-01  9.64944306e-01  2.44384804e-04]
 [ 6.48058340e-04 -7.69980675e-05  9.99999787e-01]]

 t_estimated:
[[ 0.68165917]
 [ 0.73166867]
 [-0.00131782]]

 R_gt:
[[ 0.9839352   0.13301684  0.11907127]
 [-0.11979214  0.98645106 -0.11209101]
 [-0.13236797  0.0960278   0.98653742]]

 t_gt:
[-0.30245947  0.95314857  0.00510691]

Pose Error in degrees for R and t:
12.311135869602458 60.57999289154927

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-2.85886560e-01 -9.58261670e-01 -1.85637964e-03]
 [ 9.58263457e-01 -2.85885726e-01 -7.05604908e-04]
 [ 1.45441695e-04 -1.98062373e-03  9.99998028e-01]]

 t_estimated:
[[9.95301681e-01]
 [9.68192297e-02]
 [7.74553838e-04]]

 R_gt:
[[ 0.99513353 -0.02773362  0.09454971]
 [ 0.03205072  0.99849676 -0.04444876]
 [-0.09317455  0.0472637   0.99452765]]

 t_gt:
[ 0.61498943 -0.08782547  0.78362918]

Pose Error in degrees for R and t:
105.02223686833183 52.82843163979591

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.82632171e-01 -1.85563901e-01 -2.33420076e-04]
 [ 1.85563881e-01  9.82632197e-01 -1.03318402e-04]
 [ 2.48538247e-04  5.82096505e-05  9.99999967e-01]]

 t_estimated:
[[ 0.46174666]
 [-0.8870111 ]
 [-0.0011522 ]]

 R_gt:
[[ 0.99116283 -0.09858809  0.08875679]
 [ 0.10315384  0.99348702 -0.04840014]
 [-0.08340796  0.0571287   0.99487678]]

 t_gt:
[ 0.8815744  -0.45153275  0.13763991]

Pose Error in degrees for R and t:
7.59363533003682 36.15538007220512

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-1.00138702e-01  9.94973077e-01 -9.03212059e-04]
 [-9.94966555e-01 -1.00141352e-01 -3.64199182e-03]
 [-3.71413269e-03  5.33961455e-04  9.99992960e-01]]

 t_estimated:
[[0.16325759]
 [0.98658248]
 [0.00140739]]

 R_gt:
[[ 0.97911901 -0.19426167  0.05991283]
 [ 0.19664393  0.97978411 -0.03678181]
 [-0.05155682  0.04779528  0.99752673]]

 t_gt:
[ 0.8750927  -0.48394512 -0.00314541]

Pose Error in degrees for R and t:
107.07622303004695 70.4523507834526

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99675406e-01  2.54770697e-02  4.17755006e-05]
 [-2.54770646e-02  9.99675400e-01 -1.19551607e-04]
 [-4.48077649e-05  1.18448485e-04  9.99999992e-01]]

 t_estimated:
[[-9.71504140e-01]
 [-2.37022284e-01]
 [-3.77292761e-04]]

 R_gt:
[[ 0.99896014  0.04162264  0.01865507]
 [-0.04121553  0.99891355 -0.02174159]
 [-0.01954157  0.02095012  0.99958951]]

 t_gt:
[-0.47492897  0.87765287  0.06455939]

Pose Error in degrees for R and t:
1.8726111275080601 75.32429261349894

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99853373e-01 -1.71238802e-02 -7.33632452e-05]
 [ 1.71238734e-02  9.99853371e-01 -9.29515394e-05]
 [ 7.49441791e-05  9.16816472e-05  9.99999993e-01]]

 t_estimated:
[[-0.36073169]
 [-0.93266883]
 [-0.00122049]]

 R_gt:
[[ 0.99961868 -0.02742023  0.00346233]
 [ 0.02749049  0.99936554 -0.0226601 ]
 [-0.00283949  0.02274738  0.99973756]]

 t_gt:
[ 0.1479049  -0.35996782 -0.92116628]

Pose Error in degrees for R and t:
1.4350966940260848 73.5307300347346

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.92615225e-01 -1.21305373e-01 -1.44931061e-04]
 [ 1.21305299e-01  9.92615147e-01 -4.41484188e-04]
 [ 1.97415171e-04  4.20643021e-04  9.99999892e-01]]

 t_estimated:
[[-0.60699133]
 [-0.79470706]
 [-0.0014855 ]]

 R_gt:
[[ 0.98316057 -0.18030696  0.02977564]
 [ 0.18025532  0.98360997  0.00442444]
 [-0.03008623  0.00101696  0.99954722]]

 t_gt:
[ 0.54248701 -0.821136    0.17732318]

Pose Error in degrees for R and t:
3.8357879908106183 71.15468725344277

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.98558047e-01  5.36826089e-02 -6.25596327e-05]
 [-5.36826032e-02  9.98558045e-01  8.93910020e-05]
 [ 6.72681667e-05 -8.59037404e-05  9.99999994e-01]]

 t_estimated:
[[0.3373598 ]
 [0.94137524]
 [0.00101006]]

 R_gt:
[[ 0.98410735  0.17625434 -0.02163763]
 [-0.17671069  0.98403014 -0.02140997]
 [ 0.01751879  0.02489279  0.99953612]]

 t_gt:
[-0.61828929  0.76492075 -0.18059512]

Pose Error in degrees for R and t:
7.301507042449886 59.24893237206373

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 4.43912982e-01  8.96068447e-01  1.61351574e-03]
 [ 8.96067314e-01 -4.43915307e-01  1.60281167e-03]
 [ 2.15249329e-03  7.34309809e-04 -9.99997414e-01]]

 t_estimated:
[[-0.4983778 ]
 [-0.86695939]
 [-0.00099081]]

 R_gt:
[[ 0.94052426  0.3395396   0.01127104]
 [-0.33901909  0.94018983 -0.03331198]
 [-0.0219075   0.02750942  0.99938088]]

 t_gt:
[-0.62322201  0.78196359  0.0112813 ]

Pose Error in degrees for R and t:
178.03790337479413 68.44822505345243

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 6.45807110e-01  7.63500143e-01  8.41486167e-04]
 [-7.63499760e-01  6.45807643e-01 -7.77943017e-04]
 [-1.13739780e-03 -1.40073355e-04  9.99999343e-01]]

 t_estimated:
[[-0.23184867]
 [ 0.97275112]
 [ 0.00120743]]

 R_gt:
[[ 0.91306688  0.40542431  0.04405134]
 [-0.40270283  0.9133983  -0.05944121]
 [-0.06433576  0.03653441  0.99725932]]

 t_gt:
[-0.61671136  0.78380168  0.07295218]

Pose Error in degrees for R and t:
26.236118027187196 25.107164005513713

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99781473e-01  2.09043690e-02  1.14980825e-04]
 [-2.09043695e-02  9.99781480e-01  2.55428321e-06]
 [-1.14902304e-04 -4.95732668e-06  9.99999993e-01]]

 t_estimated:
[[9.99769395e-01]
 [2.14736938e-02]
 [1.92833755e-04]]

 R_gt:
[[ 0.98233668 -0.18630318 -0.01750476]
 [ 0.18679916  0.98183872  0.03315961]
 [ 0.0110092  -0.03584477  0.99929611]]

 t_gt:
[ 0.73647587 -0.66790059  0.10729443]

Pose Error in degrees for R and t:
12.144564787766155 43.78143712241533

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-9.99972638e-01 -7.39285957e-03  2.62443970e-04]
 [-7.39254160e-03  9.99971964e-01  1.19257074e-03]
 [-2.71253120e-04  1.19059799e-03 -9.99999254e-01]]

 t_estimated:
[[9.99992708e-01]
 [3.71162684e-03]
 [8.99112542e-04]]

 R_gt:
[[ 0.97470746 -0.2234527   0.00383848]
 [ 0.22322705  0.97426121  0.03137511]
 [-0.0107498  -0.02972477  0.99950011]]

 t_gt:
[ 0.69848832 -0.69590028  0.16684387]

Pose Error in degrees for R and t:
179.5509088702626 45.889027232900574

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.78122725e-01 -2.08027865e-01  5.85555437e-04]
 [-2.08028434e-01 -9.78122059e-01  1.18650554e-03]
 [ 3.25918476e-04 -1.28236021e-03 -9.99999125e-01]]

 t_estimated:
[[0.18279631]
 [0.9831477 ]
 [0.00247022]]

 R_gt:
[[ 0.94881478 -0.31351836  0.03817674]
 [ 0.3129295   0.94955138  0.0206651 ]
 [-0.04272869 -0.00766098  0.99905663]]

 t_gt:
[ 0.70338595 -0.69203861  0.16226759]

Pose Error in degrees for R and t:
178.86924031886969 56.53695841180764

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 0.9997806  -0.02082468 -0.00225344]
 [ 0.02083036  0.99977983  0.00252739]
 [ 0.00220031 -0.00257378  0.99999427]]

 t_estimated:
[[-0.58452761]
 [-0.81137327]
 [-0.00094127]]

 R_gt:
[[ 0.99526084  0.09687335 -0.0085594 ]
 [-0.09682327  0.99528271  0.00608507]
 [ 0.00910878 -0.00522697  0.99994498]]

 t_gt:
[-0.64029735  0.76679823 -0.04516401]

Pose Error in degrees for R and t:
6.764039683064191 75.64993790918027

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 1.94993085e-01  9.80804161e-01  9.45908790e-04]
 [-9.80802256e-01  1.94994641e-01 -2.00624786e-03]
 [-2.15218340e-03 -5.36545015e-04  9.99997540e-01]]

 t_estimated:
[[-0.52409143]
 [ 0.85166125]
 [ 0.00113433]]

 R_gt:
[[ 9.75135351e-01  2.19907365e-01 -2.74367069e-02]
 [-2.20012322e-01  9.75497150e-01 -8.07721325e-04]
 [ 2.65865012e-02  6.82394489e-03  9.99623888e-01]]

 t_gt:
[-0.59135188  0.79560702 -0.13157667]

Pose Error in degrees for R and t:
66.06587041952976 9.119156240034222

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 0.97587117 -0.21816974 -0.00879944]
 [ 0.2182401   0.97586208  0.00802864]
 [ 0.00683543 -0.00975531  0.99992905]]

 t_estimated:
[[-0.7817696 ]
 [-0.62356655]
 [-0.00102729]]

 R_gt:
[[ 0.95139407  0.3039841  -0.04944318]
 [-0.30263603  0.95253573  0.03296964]
 [ 0.0571189  -0.01640355  0.99823328]]

 t_gt:
[-0.59061937  0.79911152 -0.11220315]

Pose Error in degrees for R and t:
30.400031768900785 87.91078025687933

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.98080420e-01  6.19311830e-02 -6.14570238e-05]
 [-6.19311811e-02  9.98080421e-01  3.20939211e-05]
 [ 6.33266667e-05 -2.82262082e-05  9.99999998e-01]]

 t_estimated:
[[-7.79845658e-01]
 [-6.25971614e-01]
 [-5.36341235e-04]]

 R_gt:
[[ 0.99825127  0.05297792  0.02621228]
 [-0.05206849  0.99805719 -0.03422819]
 [-0.02797501  0.03280352  0.99907033]]

 t_gt:
[-0.81652607  0.43964381 -0.37416373]

Pose Error in degrees for R and t:
2.5322958477649316 68.79164959030737

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 1.51898808e-01  9.88395720e-01  8.08053654e-04]
 [-9.88389259e-01  1.51900745e-01 -3.58277410e-03]
 [-3.66394254e-03 -2.54452437e-04  9.99993255e-01]]

 t_estimated:
[[0.10278546]
 [0.99469802]
 [0.00331566]]

 R_gt:
[[ 0.98987028  0.13221538  0.05172441]
 [-0.12723558  0.98778467 -0.08996164]
 [-0.06298695  0.08246992  0.9946013 ]]

 t_gt:
[-0.82311288  0.40951383 -0.39342549]

Pose Error in degrees for R and t:
73.97798923600499 71.2503250472454

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.13142869 -0.99132423 -0.00166723]
 [ 0.99132443 -0.13142573 -0.0017776 ]
 [ 0.00154306 -0.0018864   0.99999703]]

 t_estimated:
[[ 8.33924922e-01]
 [-5.51877459e-01]
 [-7.03783400e-04]]

 R_gt:
[[ 0.99038222  0.1297035   0.04816329]
 [-0.12263046  0.98409764 -0.12850552]
 [-0.06406487  0.1213627   0.99053874]]

 t_gt:
[-0.72780508  0.41471316 -0.54618015]

Pose Error in degrees for R and t:
105.04897054156842 33.34027277479774

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999881e-01 -4.50374923e-04 -1.86531742e-04]
 [ 4.50382597e-04  9.99999898e-01  4.11007273e-05]
 [ 1.86513212e-04 -4.11847331e-05  9.99999982e-01]]

 t_estimated:
[[-9.99995199e-01]
 [-3.00976401e-03]
 [-7.37535147e-04]]

 R_gt:
[[ 0.9849633   0.17272547  0.0035631 ]
 [-0.17264361  0.98484141 -0.0167523 ]
 [-0.00640266  0.01588559  0.99985342]]

 t_gt:
[-0.76148036  0.64626682 -0.04986841]

Pose Error in degrees for R and t:
10.019179479240371 40.57383839964245

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-8.41729635e-01  5.39897499e-01 -1.38269338e-03]
 [ 5.39895339e-01  8.41730520e-01  1.65987062e-03]
 [ 2.06001521e-03  6.50652583e-04 -9.99997666e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.69012904e-01  2.46955927e-01 -5.11200790e-03]
 [-2.47007910e-01  9.68759450e-01 -2.22012331e-02]
 [-5.30184460e-04  2.27760834e-02  9.99740883e-01]]

 t_gt:
[-0.74039614  0.66888715 -0.06635916]

Pose Error in degrees for R and t:
179.8671174040837 42.40727324476667

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.75617623e-01  2.19477125e-01  2.10484057e-04]
 [-2.19477089e-01  9.75617637e-01 -1.84575365e-04]
 [-2.45862029e-04  1.33878551e-04  9.99999961e-01]]

 t_estimated:
[[-9.53726138e-01]
 [ 3.00676661e-01]
 [ 1.22774285e-05]]

 R_gt:
[[ 0.91753592  0.39751743  0.01038794]
 [-0.39736086  0.91754967 -0.01438487]
 [-0.01525003  0.00907139  0.9998434 ]]

 t_gt:
[-0.69014604  0.72362879  0.0077338 ]

Pose Error in degrees for R and t:
10.788052474390394 28.861543657814757

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.80191297e-01  1.98053061e-01  8.02563685e-05]
 [-1.98052958e-01  9.80191069e-01 -7.02640285e-04]
 [-2.17826635e-04  6.72826881e-04  9.99999750e-01]]

 t_estimated:
[[7.94301054e-01]
 [6.07523986e-01]
 [6.64687075e-04]]

 R_gt:
[[ 0.99700221  0.0167434   0.07553549]
 [-0.01221938  0.99812489 -0.05997094]
 [-0.07639836  0.0588694   0.9953378 ]]

 t_gt:
[-0.8190116   0.54651933 -0.17474729]

Pose Error in degrees for R and t:
11.93244038795493 71.41964500310507

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.14702866e-01  5.79878633e-01  1.10470231e-04]
 [-5.79878437e-01  8.14702721e-01 -6.88842011e-04]
 [-4.89445162e-04  4.97142256e-04  9.99999757e-01]]

 t_estimated:
[[-5.22714930e-01]
 [ 8.52507496e-01]
 [ 2.65589705e-04]]

 R_gt:
[[ 0.98773421  0.01080024  0.15577003]
 [ 0.00798709  0.99280389 -0.11948222]
 [-0.15593955  0.11926186  0.98053976]]

 t_gt:
[-0.66061746  0.72907224 -0.17899232]

Pose Error in degrees for R and t:
37.06255975676518 14.803761439822333

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.15093195 -0.98851203  0.00796922]
 [-0.9885222   0.15086997 -0.00788143]
 [ 0.00658857 -0.00906731 -0.99993719]]

 t_estimated:
[[9.43909630e-01]
 [3.30202812e-01]
 [8.44985111e-04]]

 R_gt:
[[ 0.97333494 -0.0272795   0.22776015]
 [ 0.0665274   0.98379789 -0.16647429]
 [-0.21952824  0.17718866  0.95938021]]

 t_gt:
[-0.45016838  0.88853492 -0.08862354]

Pose Error in degrees for R and t:
176.62212570914392 82.43814667899856

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99150494e-01  4.12094102e-02  2.73522573e-04]
 [-4.12093546e-02  9.99150513e-01 -2.05774777e-04]
 [-2.81770077e-04  1.94328282e-04  9.99999941e-01]]

 t_estimated:
[[ 9.96898626e-01]
 [-7.86932553e-02]
 [-7.08317063e-04]]

 R_gt:
[[ 0.9981852  -0.06012263 -0.00327093]
 [ 0.06013839  0.99817732  0.00504769]
 [ 0.00296048 -0.0052356   0.99998156]]

 t_gt:
[ 0.77576826 -0.62700683  0.0710355 ]

Pose Error in degrees for R and t:
5.820651728222729 34.64872125994869

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99965822e-01 -8.26712142e-03  9.87871520e-05]
 [ 8.26712237e-03  9.99965827e-01 -9.24588837e-06]
 [-9.87073393e-05  1.00622578e-05  9.99999995e-01]]

 t_estimated:
[[ 9.96047825e-01]
 [ 8.88181691e-02]
 [-2.50647479e-04]]

 R_gt:
[[ 0.99567872 -0.09124784 -0.01725005]
 [ 0.09110681  0.99580215 -0.00880313]
 [ 0.01798023  0.00719244  0.9998125 ]]

 t_gt:
[ 0.88518227 -0.43138422 -0.17424121]

Pose Error in degrees for R and t:
4.886924244627246 32.49772370369115

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.79755954e-01  2.00195092e-01  4.43105032e-04]
 [-2.00195123e-01  9.79756047e-01  2.77434615e-05]
 [-4.28580730e-04 -1.15889288e-04  9.99999901e-01]]

 t_estimated:
[[8.92781186e-01]
 [4.50489988e-01]
 [7.24353435e-04]]

 R_gt:
[[ 0.9901058  -0.1397195   0.01298971]
 [ 0.14003965  0.98974078 -0.0283326 ]
 [-0.00889907  0.02987073  0.99951447]]

 t_gt:
[ 0.91662441 -0.39712804 -0.04570562]

Pose Error in degrees for R and t:
19.671190470406657 50.25218235792297

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 3.11985789e-01  9.50075836e-01  4.55775930e-03]
 [ 9.50084322e-01 -3.11992282e-01  7.72594450e-04]
 [ 2.15600904e-03  4.08921717e-03 -9.99989315e-01]]

 t_estimated:
[[-0.38337695]
 [-0.92358993]
 [-0.00193625]]

 R_gt:
[[ 0.99831436  0.05539766 -0.01727762]
 [-0.05455299  0.99744516  0.04610434]
 [ 0.01978754 -0.0450833   0.99878677]]

 t_gt:
[-0.97660759 -0.06410558  0.2052513 ]

Pose Error in degrees for R and t:
177.3705141974807 64.32799954487493

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 0.72874354  0.68475812  0.00625922]
 [ 0.68476471 -0.72861639 -0.01467795]
 [-0.00549027  0.01498255 -0.99987268]]

 t_estimated:
[[-0.48385535]
 [ 0.87511456]
 [-0.00764889]]

 R_gt:
[[ 0.99593399  0.08797859 -0.01936104]
 [-0.08460253  0.98729708  0.13448589]
 [ 0.03094676 -0.13230152  0.99072577]]

 t_gt:
[-0.85134273 -0.08065817  0.51837228]

Pose Error in degrees for R and t:
173.24492034498573 70.28287644584088

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[-9.49705595e-02  9.95479785e-01 -7.68454582e-04]
 [-9.95473346e-01 -9.49727283e-02 -3.60527791e-03]
 [-3.66196351e-03  4.22580794e-04  9.99993206e-01]]

 t_estimated:
[[0.04072457]
 [0.99916824]
 [0.00208443]]

 R_gt:
[[ 0.97785615  0.2089043   0.01248755]
 [-0.20916082  0.97357364  0.09167936]
 [ 0.00699535 -0.09226153  0.99571025]]

 t_gt:
[-0.93260781  0.29957295  0.20124295]

Pose Error in degrees for R and t:
83.5076158005721 74.8252900932843

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.93557323e-01 -1.13330685e-01 -4.54937386e-05]
 [ 1.13330679e-01  9.93557318e-01 -1.12148721e-04]
 [ 5.79105282e-05  1.06270346e-04  9.99999993e-01]]

 t_estimated:
[[-0.8168014 ]
 [-0.57691555]
 [-0.00198253]]

 R_gt:
[[ 0.9988435  -0.00583136  0.04772902]
 [ 0.00561435  0.99997369  0.00466814]
 [-0.04775485 -0.00439514  0.99884931]]

 t_gt:
[-0.05282159 -0.12165787  0.9911656 ]

Pose Error in degrees for R and t:
6.763863710568569 83.60593183133106

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 9.98962969e-01  4.55300322e-02 -5.71700826e-05]
 [-4.55300338e-02  9.98962970e-01 -2.65712011e-05]
 [ 5.59010079e-05  2.91466018e-05  9.99999998e-01]]

 t_estimated:
[[-2.28922437e-01]
 [ 9.73444285e-01]
 [-8.61073763e-04]]

 R_gt:
[[ 0.99919239 -0.01119332  0.03859488]
 [ 0.01091306  0.99991297  0.00746521]
 [-0.03867524 -0.00703707  0.99922624]]

 t_gt:
[ 0.04435555 -0.2249611   0.97335764]

Pose Error in degrees for R and t:
3.9507914487341873 76.70415191943448

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.98430857e-01  5.59984164e-02 -2.18490312e-05]
 [-5.59984051e-02  9.98430795e-01  3.55528088e-04]
 [ 4.17237555e-05 -3.53746703e-04  9.99999937e-01]]

 t_estimated:
[[0.78964505]
 [0.6135625 ]
 [0.0013237 ]]

 R_gt:
[[ 0.99838021 -0.05614074  0.00916382]
 [ 0.05586083  0.99803789  0.02829978]
 [-0.01073474 -0.02774181  0.99955653]]

 t_gt:
[ 0.52840125 -0.74223666  0.4121612 ]

Pose Error in degrees for R and t:
6.638860528627518 87.8443929518947

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.08120772 -0.99669544 -0.00187264]
 [ 0.99669487  0.08121145 -0.00200733]
 [ 0.00215277 -0.00170344  0.99999623]]

 t_estimated:
[[ 0.83883726]
 [-0.544381  ]
 [-0.00117486]]

 R_gt:
[[ 0.9918164   0.12573277  0.02217035]
 [-0.12652218  0.99120616  0.03876459]
 [-0.01710156 -0.04125272  0.99900137]]

 t_gt:
[-0.90682385  0.23794163  0.34792856]

Pose Error in degrees for R and t:
92.62131129398254 27.049080139062553

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 8.48738070e-01 -5.28811555e-01 -1.42395043e-03]
 [ 5.28812849e-01  8.48738126e-01  7.50534887e-04]
 [ 8.11669498e-04 -1.39001081e-03  9.99998705e-01]]

 t_estimated:
[[-0.42321171]
 [-0.90602996]
 [-0.00125237]]

 R_gt:
[[ 0.98555615  0.16529955  0.03680369]
 [-0.16745735  0.98364149  0.06639278]
 [-0.02522718 -0.07159753  0.99711338]]

 t_gt:
[-0.88767167  0.155631    0.43337975]

Pose Error in degrees for R and t:
41.73102574726778 76.46001243887329

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 8.09432707e-01 -5.87212039e-01 -8.45058931e-04]
 [ 5.87212642e-01  8.09432042e-01  1.04019397e-03]
 [ 7.32033529e-05 -1.33819631e-03  9.99999102e-01]]

 t_estimated:
[[ 2.86639610e-01]
 [-9.58038162e-01]
 [ 7.83560271e-04]]

 R_gt:
[[ 0.97531516  0.21596786  0.0460278 ]
 [-0.21877935  0.97334709  0.06879529]
 [-0.02994329 -0.07716712  0.99656819]]

 t_gt:
[-0.91007147  0.17875835  0.37391894]

Pose Error in degrees for R and t:
48.748827014275435 64.41644644432827

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 8.54251936e-01 -5.19859134e-01 -3.33175653e-04]
 [ 5.19859240e-01  8.54251752e-01  5.61404703e-04]
 [-7.23547737e-06 -6.52785496e-04  9.99999787e-01]]

 t_estimated:
[[0.98229372]
 [0.18734468]
 [0.00101267]]

 R_gt:
[[ 0.99818647 -0.04676132  0.03792132]
 [ 0.04351669  0.99565654  0.08230083]
 [-0.04160514 -0.0805013   0.99588523]]

 t_gt:
[ 0.13827619 -0.55238635  0.82203955]

Pose Error in degrees for R and t:
29.182191042385774 88.09894139321457

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.98633706e-01 -5.22559190e-02 -2.01635111e-04]
 [ 5.22560050e-02  9.98633621e-01  4.48004290e-04]
 [ 1.77948725e-04 -4.57928830e-04  9.99999879e-01]]

 t_estimated:
[[-1.05377494e-01]
 [ 9.94432247e-01]
 [-3.00314596e-04]]

 R_gt:
[[ 0.99594151 -0.05036221  0.07459561]
 [ 0.03940809  0.9891308   0.14166061]
 [-0.08091884 -0.13814605  0.98710023]]

 t_gt:
[-0.02487985 -0.45200145  0.89167016]

Pose Error in degrees for R and t:
9.204312114706106 63.440251071270055

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.91118598e-01 -1.32980882e-01  9.94236652e-05]
 [ 1.32980867e-01  9.91118594e-01  1.43725868e-04]
 [-1.17653436e-04 -1.29227936e-04  9.99999985e-01]]

 t_estimated:
[[3.65265138e-01]
 [9.30903454e-01]
 [3.73235247e-04]]

 R_gt:
[[ 0.99504076 -0.06133844  0.07830961]
 [ 0.04700032  0.98373819  0.1733492 ]
 [-0.08767006 -0.16880841  0.98174185]]

 t_gt:
[ 0.0281867  -0.46915529  0.88266575]

Pose Error in degrees for R and t:
11.844259215449716 64.77885306313988

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 0.10722188  0.96956058  0.22012666]
 [ 0.88792228  0.00623256 -0.45995127]
 [-0.44732258  0.24477221 -0.86022618]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.99383311 -0.06874787  0.08701105]
 [ 0.06027221  0.9935023   0.09655033]
 [-0.09308365 -0.09070985  0.99151677]]

 t_gt:
[ 0.21549185 -0.48138622  0.84960613]

Pose Error in degrees for R and t:
151.5901741499183 86.72202240287527

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-0.82655375  0.56277998  0.00935936]
 [ 0.56277484  0.82660314 -0.00342412]
 [-0.0096635   0.00243699 -0.99995034]]

 t_estimated:
[[ 0.7618352 ]
 [-0.64773884]
 [ 0.00644386]]

 R_gt:
[[ 0.98226105 -0.10657056  0.1542917 ]
 [ 0.0758966   0.97834266  0.19257369]
 [-0.17147315 -0.17744719  0.9690768 ]]

 t_gt:
[ 0.201542   -0.36916053  0.90724932]

Pose Error in degrees for R and t:
173.58384975835497 66.51508621171794

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[-0.93325539 -0.35921212  0.00101617]
 [-0.35920223  0.93324469  0.00530109]
 [-0.00285255  0.00458226 -0.99998543]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.81813186e-01 -4.70444455e-02  1.83929621e-01]
 [-9.52670450e-04  9.67578152e-01  2.52571243e-01]
 [-1.89848464e-01 -2.48152311e-01  9.49935609e-01]]

 t_gt:
[-0.00797126 -0.1214219   0.99256898]

Pose Error in degrees for R and t:
166.5375789667934 89.56579172684776

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-0.34754429 -0.93765884 -0.00297737]
 [-0.93765045  0.34752088  0.006393  ]
 [-0.00495975  0.00501359 -0.99997513]]

 t_estimated:
[[0.85764483]
 [0.51424177]
 [0.00086282]]

 R_gt:
[[ 0.9999924  -0.00387623 -0.0010995 ]
 [ 0.00384579  0.99961839 -0.02736247]
 [ 0.00120577  0.02735831  0.99962467]]

 t_gt:
[ 0.32082075  0.48886733 -0.81122302]

Pose Error in degrees for R and t:
179.121858444916 58.274765858355146

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99365109e-01  3.56267974e-02  3.31062714e-04]
 [-3.56266134e-02  9.99365022e-01 -5.45862780e-04]
 [-3.50299839e-04  5.33721574e-04  9.99999796e-01]]

 t_estimated:
[[9.12834478e-01]
 [4.08328916e-01]
 [8.43654786e-04]]

 R_gt:
[[ 0.99374398 -0.07489477  0.08285061]
 [ 0.07022948  0.9958509   0.05787474]
 [-0.08684021 -0.05169363  0.99488033]]

 t_gt:
[ 0.31893447 -0.5169204   0.79440173]

Pose Error in degrees for R and t:
8.498374188452226 85.36941326109864

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.31859471  0.94787274  0.00588966]
 [ 0.9478846   0.31860929 -0.00170515]
 [-0.00349276  0.00503946 -0.9999812 ]]

 t_estimated:
[[0.99507651]
 [0.09910039]
 [0.00135754]]

 R_gt:
[[ 0.97939977 -0.12546405  0.15822598]
 [ 0.09991014  0.98200801  0.16024393]
 [-0.17548317 -0.14113378  0.97431322]]

 t_gt:
[ 0.27021746 -0.41004872  0.8711157 ]

Pose Error in degrees for R and t:
176.91945218319117 76.73626998002815

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99956790e-01  9.29616899e-03  1.46889138e-05]
 [-9.29616926e-03  9.99956790e-01  1.78687217e-05]
 [-1.45221684e-05 -1.80045002e-05  1.00000000e+00]]

 t_estimated:
[[2.63344705e-02]
 [9.99653186e-01]
 [5.02682395e-05]]

 R_gt:
[[ 0.99962726 -0.01853143  0.02004961]
 [ 0.01755026  0.9986928   0.04800377]
 [-0.02091275 -0.04763376  0.99864583]]

 t_gt:
[-0.0127581  -0.56771814  0.82312413]

Pose Error in degrees for R and t:
3.3675946147034344 55.401941506281226

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-3.63760709e-01 -9.31491803e-01  1.08075467e-03]
 [-9.31484946e-01  3.63762193e-01  3.58635456e-03]
 [-3.73379756e-03  2.97868173e-04 -9.99992985e-01]]

 t_estimated:
[[0.8021155 ]
 [0.59716546]
 [0.00203571]]

 R_gt:
[[ 0.9989022  -0.04159717  0.02151206]
 [ 0.03999609  0.9967356   0.07013115]
 [-0.02435888 -0.06919294  0.99730544]]

 t_gt:
[ 0.23294601 -0.62210231  0.74747901]

Pose Error in degrees for R and t:
176.49002679367064 79.44806253054257

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999891e-01 -4.61488620e-05 -4.65138090e-04]
 [ 4.63763682e-05  9.99999879e-01  4.89116431e-04]
 [ 4.65115462e-04 -4.89137949e-04  9.99999772e-01]]

 t_estimated:
[[0.95620903]
 [0.29268149]
 [0.00135383]]

 R_gt:
[[ 0.99480734 -0.10073461  0.01451126]
 [ 0.10001335  0.99401679  0.04390998]
 [-0.01884735 -0.04223088  0.99892919]]

 t_gt:
[ 0.64585217 -0.71302997  0.27287953]

Pose Error in degrees for R and t:
6.334663530067273 65.84236822420114

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[ 9.87604825e-01 -1.56960768e-01 -1.64482590e-04]
 [ 1.56960787e-01  9.87604829e-01  1.15510806e-04]
 [ 1.44313135e-04 -1.39896346e-04  9.99999980e-01]]

 t_estimated:
[[ 7.53758507e-01]
 [-6.57151295e-01]
 [-5.37721031e-04]]

 R_gt:
[[ 0.99894365  0.0372422   0.02691415]
 [-0.03801989  0.99885778  0.02893986]
 [-0.0258049  -0.02993215  0.99921821]]

 t_gt:
[-0.7705759  -0.16273874  0.61622146]

Pose Error in degrees for R and t:
11.414432496494264 61.691715265403516

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 2.63874098e-01  9.64556871e-01 -7.08698420e-04]
 [-9.64556737e-01  2.63873255e-01 -1.09830794e-03]
 [-8.72373909e-04  9.73394852e-04  9.99999146e-01]]

 t_estimated:
[[7.87407143e-02]
 [9.96895099e-01]
 [2.48707296e-04]]

 R_gt:
[[ 0.99165606  0.12655062  0.02456391]
 [-0.12697895  0.99176457  0.01671839]
 [-0.02224542 -0.01969761  0.99955825]]

 t_gt:
[-0.97239222  0.10457689  0.2086074 ]

Pose Error in degrees for R and t:
67.43576185676669 88.41057084283553

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 0.42008516  0.90747912 -0.00317999]
 [ 0.90746753 -0.42005308  0.0076225 ]
 [ 0.0055815  -0.00608783 -0.99996589]]

 t_estimated:
[[-0.59624087]
 [-0.80280513]
 [-0.00086671]]

 R_gt:
[[ 0.97005569  0.23987562  0.03810909]
 [-0.24153222  0.96923902  0.04731239]
 [-0.02558686 -0.05509903  0.99815292]]

 t_gt:
[-0.93982284  0.19442147  0.28095075]

Pose Error in degrees for R and t:
178.0260322148111 66.1693477497549

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.60257802e-01 -2.79114475e-01 -2.51998967e-04]
 [ 2.79114581e-01  9.60257178e-01  1.09670276e-03]
 [-6.41217968e-05 -1.12345397e-03  9.99999367e-01]]

 t_estimated:
[[ 0.14695017]
 [-0.98914333]
 [ 0.00105829]]

 R_gt:
[[ 9.98080506e-01  6.19348483e-02  7.83245650e-05]
 [-6.18880731e-02  9.97271882e-01  4.02374570e-02]
 [ 2.41398672e-03 -4.01657312e-02  9.99189585e-01]]

 t_gt:
[-0.90279338  0.2450333   0.35344418]

Pose Error in degrees for R and t:
19.883743397925524 67.99641216200678

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-7.14460581e-01 -6.99673250e-01 -1.84980426e-03]
 [ 6.99675681e-01 -7.14457528e-01 -2.09349510e-03]
 [ 1.43155943e-04 -2.78998277e-03  9.99996098e-01]]

 t_estimated:
[[0.9886182 ]
 [0.1504419 ]
 [0.00113114]]

 R_gt:
[[ 0.98077213  0.18704044  0.05570135]
 [-0.18971278  0.98070095  0.0472817 ]
 [-0.04578289 -0.05694035  0.99732723]]

 t_gt:
[-0.86331727  0.44134575  0.24473909]

Pose Error in degrees for R and t:
146.49748521343443 38.11091700224273

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.11780084 -0.9929743   0.01118085]
 [ 0.99303491 -0.1177687   0.00349299]
 [-0.0021517   0.01151445  0.99993139]]

 t_estimated:
[[9.99148879e-01]
 [4.12421266e-02]
 [7.78153332e-04]]

 R_gt:
[[ 0.95517657  0.29135412  0.05245399]
 [-0.29452212  0.95315722  0.06890481]
 [-0.02992155 -0.0812658   0.99624306]]

 t_gt:
[-0.83354288  0.51487402  0.20027731]

Pose Error in degrees for R and t:
113.9042893002955 35.762833983617185

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99906097e-01 -1.37034871e-02 -1.04160005e-04]
 [ 1.37034886e-02  9.99906103e-01  1.33505986e-05]
 [ 1.03967275e-04 -1.47767004e-05  9.99999994e-01]]

 t_estimated:
[[-9.38737391e-01]
 [ 3.44633101e-01]
 [-3.69334856e-04]]

 R_gt:
[[ 0.99007219  0.12945085  0.05477272]
 [-0.12807796  0.99137139 -0.02788754]
 [-0.05790927  0.02059535  0.99810936]]

 t_gt:
[-0.54114736  0.80552694  0.24142469]

Pose Error in degrees for R and t:
8.91744609406743 38.23144830456727

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.65246113e-01 -2.61342322e-01 -3.62319578e-04]
 [ 2.61342425e-01  9.65246115e-01  2.72683918e-04]
 [ 2.78463717e-04 -3.57896569e-04  9.99999897e-01]]

 t_estimated:
[[-0.9496403 ]
 [-0.31333946]
 [-0.00129662]]

 R_gt:
[[ 0.98712589  0.13998691  0.0773794 ]
 [-0.13821228  0.99000969 -0.02787131]
 [-0.08050819  0.01681787  0.99661171]]

 t_gt:
[-0.52225207  0.7750621   0.35571268]

Pose Error in degrees for R and t:
23.632947085640353 75.36663456934521

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.47048199e-01 -3.21090322e-01  8.45552573e-04]
 [ 3.21091392e-01  9.47046146e-01 -1.97859453e-03]
 [-1.65469752e-04  2.14532404e-03  9.99997685e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9851527   0.14229138  0.096064  ]
 [-0.14122931  0.98981607 -0.01780597]
 [-0.0976194   0.00397524  0.99521629]]

 t_gt:
[-0.50323937  0.72373384  0.47218584]

Pose Error in degrees for R and t:
27.457399779343405 88.30159558038399

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.51909477e-01  3.06379366e-01 -1.77563054e-04]
 [-3.06379334e-01  9.51909486e-01  1.87190822e-04]
 [ 2.26375361e-04 -1.23787067e-04  9.99999967e-01]]

 t_estimated:
[[0.92769796]
 [0.37333042]
 [0.00093802]]

 R_gt:
[[ 0.99450815  0.01582137  0.10345499]
 [-0.01014362  0.99842447 -0.05517629]
 [-0.10416496  0.05382345  0.99310243]]

 t_gt:
[-0.70724629  0.69839688  0.10974735]

Pose Error in degrees for R and t:
18.369297048126565 66.71686166812002

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.14346301  0.98965461 -0.00145364]
 [ 0.98957178 -0.14343157  0.01323172]
 [ 0.01288633 -0.00333674 -0.9999114 ]]

 t_estimated:
[[7.79912638e-01]
 [6.25888050e-01]
 [6.52646559e-04]]

 R_gt:
[[ 0.98393916 -0.0194541   0.17744128]
 [ 0.04370483  0.99004289 -0.13380573]
 [-0.17307224  0.139412    0.97499315]]

 t_gt:
[-0.42640887  0.89522379 -0.12942121]

Pose Error in degrees for R and t:
168.02534370544032 76.84043500668832

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.41687608 -0.90885536  0.01400948]
 [ 0.9071784  -0.41504263  0.06904317]
 [-0.05693572  0.04149154  0.9975153 ]]

 t_estimated:
[[0.98494144]
 [0.17288272]
 [0.00138911]]

 R_gt:
[[ 0.97901186 -0.06549138  0.1929942 ]
 [ 0.08700822  0.99063685 -0.10520423]
 [-0.18429745  0.11978837  0.97554386]]

 t_gt:
[-0.04825057  0.98179717  0.18370139]

Pose Error in degrees for R and t:
110.38965530358897 82.96550048624167

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.99017557  0.13982283  0.00138489]
 [-0.13981984  0.99017481 -0.0020629 ]
 [-0.00165972  0.00184899  0.99999691]]

 t_estimated:
[[0.62826316]
 [0.7779924 ]
 [0.00363705]]

 R_gt:
[[ 9.97047359e-01  2.53454224e-04  7.67950265e-02]
 [ 7.24467936e-03  9.95225220e-01 -9.73358316e-02]
 [-7.64519983e-02  9.76043452e-02  9.92284021e-01]]

 t_gt:
[-0.74034127  0.39234472 -0.54585751]

Pose Error in degrees for R and t:
10.793526229388718 80.68435677355752

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999892e-01 -1.85026167e-04  4.27382648e-04]
 [ 1.85205223e-04  9.99999895e-01 -4.18957574e-04]
 [-4.27305085e-04  4.19036682e-04  9.99999821e-01]]

 t_estimated:
[[ 0.37335666]
 [-0.92768733]
 [ 0.00100669]]

 R_gt:
[[ 0.98390869  0.03831514  0.17451605]
 [-0.01256937  0.98915919 -0.14630359]
 [-0.17822976  0.14175594  0.9737238 ]]

 t_gt:
[-0.83150318  0.55169304 -0.06509416]

Pose Error in degrees for R and t:
13.213101994063667 34.68314948898063

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.97040500e-01  7.68764911e-02 -4.96143528e-04]
 [-7.68762182e-02  9.97040494e-01  5.47451856e-04]
 [ 5.36761366e-04 -5.07690035e-04  9.99999727e-01]]

 t_estimated:
[[-3.98716493e-01]
 [-9.17074006e-01]
 [-6.52359720e-04]]

 R_gt:
[[ 0.96933081  0.0167247   0.24519094]
 [ 0.04010513  0.97354234 -0.22495766]
 [-0.24246635  0.22789145  0.94301402]]

 t_gt:
[-0.65151414  0.72791632 -0.21369875]

Pose Error in degrees for R and t:
20.128288762129618 65.94306164875121

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999711e-01 -7.57819993e-04 -5.71042794e-05]
 [ 7.57827215e-04  9.99999705e-01  1.26553314e-04]
 [ 5.70083579e-05 -1.26596553e-04  9.99999990e-01]]

 t_estimated:
[[0.00839642]
 [0.99996377]
 [0.0013992 ]]

 R_gt:
[[ 0.99466571  0.10021708 -0.02444922]
 [-0.10003792  0.99494774  0.00843513]
 [ 0.02517039 -0.005945    0.99966568]]

 t_gt:
[-0.16954517  0.94711466 -0.27244863]

Pose Error in degrees for R and t:
5.975931404078749 19.04272059611234

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.77674032e-01  2.10127295e-01  7.78382711e-05]
 [-2.10127252e-01  9.77673973e-01 -3.75397741e-04]
 [-1.54981764e-04  3.50660681e-04  9.99999927e-01]]

 t_estimated:
[[-9.99982376e-01]
 [-5.87731035e-03]
 [-8.39615765e-04]]

 R_gt:
[[ 0.99142033  0.11639018  0.05950204]
 [-0.11101355  0.9900179  -0.08683656]
 [-0.06901508  0.07948526  0.99444359]]

 t_gt:
[-0.07663568  0.96946801 -0.23293506]

Pose Error in degrees for R and t:
8.209791692724368 85.92098947636649

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 1.00000000e+00  1.00736086e-12  2.75278932e-15]
 [-1.00747188e-12  1.00000000e+00  2.05586416e-15]
 [-2.75343984e-15 -2.06020097e-15  1.00000000e+00]]

 t_estimated:
[[0.71710156]
 [0.69696696]
 [0.00154882]]

 R_gt:
[[ 0.99178112  0.09170232  0.08922271]
 [-0.07979361  0.98843858 -0.12892678]
 [-0.10001439  0.12074752  0.98763224]]

 t_gt:
[ 0.24507011  0.91394427 -0.32349112]

Pose Error in degrees for R and t:
10.286874141897782 35.685802764065336

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.96488379e-01  8.37311777e-02  5.73000546e-06]
 [-8.37311505e-02  9.96488105e-01 -7.41790414e-04]
 [-6.78208673e-05  7.38705748e-04  9.99999725e-01]]

 t_estimated:
[[-0.61898029]
 [-0.78540368]
 [-0.00211298]]

 R_gt:
[[ 0.99796682  0.01689923  0.06145008]
 [-0.0103358   0.99435334 -0.10561489]
 [-0.06288867  0.10476464  0.99250545]]

 t_gt:
[ 0.21887745  0.76413443 -0.60678764]

Pose Error in degrees for R and t:
8.054685597089668 42.74745274334257

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.26812000e-01  3.75525628e-01  1.38263687e-04]
 [-3.75525611e-01  9.26812007e-01 -1.36636326e-04]
 [-1.79454888e-04  7.47146312e-05  9.99999981e-01]]

 t_estimated:
[[0.72173231]
 [0.6921713 ]
 [0.00117037]]

 R_gt:
[[ 0.99225135  0.02163788  0.12235012]
 [-0.00701248  0.99290248 -0.11872855]
 [-0.12405119  0.11695026  0.98535931]]

 t_gt:
[ 0.42783993  0.8992646  -0.09097346]

Pose Error in degrees for R and t:
23.36119603715277 21.389200529348717

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-0.92386575 -0.38271192 -0.00191606]
 [ 0.38270989 -0.92380778 -0.01059875]
 [ 0.0022862  -0.01052512  0.999942  ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98112878  0.11725297  0.15374485]
 [-0.09303799  0.98333203 -0.15620922]
 [-0.16949871  0.13895736  0.97568404]]

 t_gt:
[-0.0571219   0.99792596  0.0296793 ]

Pose Error in degrees for R and t:
163.75855811998082 86.9042771957721

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-4.87151687e-01 -8.73300799e-01 -5.38033106e-03]
 [-8.73313225e-01  4.87159115e-01 -8.05952490e-05]
 [ 2.69146122e-03  4.65945216e-03 -9.99985523e-01]]

 t_estimated:
[[ 9.09352562e-01]
 [ 4.16025451e-01]
 [-8.61556878e-04]]

 R_gt:
[[ 0.99870958  0.02921336 -0.04153099]
 [-0.02501963  0.99485906  0.09812549]
 [ 0.04418414 -0.0969586   0.99430645]]

 t_gt:
[-0.55855411 -0.25987368  0.78770742]

Pose Error in degrees for R and t:
179.5555849365038 51.923334989408666

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.89251274e-01  1.46225421e-01  2.06246221e-04]
 [-1.46225193e-01  9.89250951e-01 -8.65841125e-04]
 [-3.30637253e-04  8.26376043e-04  9.99999604e-01]]

 t_estimated:
[[-0.10896689]
 [-0.99404421]
 [-0.00152264]]

 R_gt:
[[ 0.99511193  0.07494418 -0.06430392]
 [-0.06516033  0.98762281  0.14266749]
 [ 0.07420028 -0.13778024  0.98767914]]

 t_gt:
[-0.83579573 -0.15378065  0.52706452]

Pose Error in degrees for R and t:
10.04979372561726 75.92827886216669

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.96772324 -0.25162044 -0.01410234]
 [-0.25162326  0.96782393 -0.00160343]
 [ 0.01405204  0.0019968  -0.99989927]]

 t_estimated:
[[ 9.99957857e-01]
 [ 9.17952017e-03]
 [-1.44519219e-04]]

 R_gt:
[[ 0.99202167  0.10781218 -0.06532722]
 [-0.08890195  0.96574452  0.24378875]
 [ 0.08937311 -0.23603532  0.9676258 ]]

 t_gt:
[-0.74718431 -0.13639216  0.6504712 ]

Pose Error in degrees for R and t:
176.51576943492628 41.53949026507547

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.97766280e-01  6.68012693e-02  2.00164790e-04]
 [-6.68012457e-02  9.97766295e-01 -1.22508976e-04]
 [-2.07901436e-04  1.08864068e-04  9.99999972e-01]]

 t_estimated:
[[0.01823906]
 [0.99983228]
 [0.0016581 ]]

 R_gt:
[[ 0.99630131 -0.08553083 -0.00828886]
 [ 0.08539796  0.99623064 -0.01524199]
 [ 0.0095616   0.01447789  0.99984957]]

 t_gt:
[ 0.6745998  -0.71956091 -0.16476408]

Pose Error in degrees for R and t:
8.789596315556123 44.97547767185174

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.43455052  0.90064674  0.00114011]
 [ 0.90064651  0.43454787  0.0020043 ]
 [ 0.00130974  0.0018978  -0.99999734]]

 t_estimated:
[[ 2.43309876e-01]
 [-9.69948197e-01]
 [-8.94522235e-04]]

 R_gt:
[[ 0.98167486 -0.18948969  0.02022994]
 [ 0.18978091  0.9817325  -0.01358124]
 [-0.01728654  0.0171715   0.99970288]]

 t_gt:
[ 0.74085613 -0.67088141  0.03240879]

Pose Error in degrees for R and t:
178.60795399244833 33.80366964841463

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-9.83866050e-01 -1.78906545e-01 -2.09339158e-04]
 [-1.78906576e-01  9.83866057e-01  1.41244145e-04]
 [ 1.80692190e-04  1.76417471e-04 -9.99999968e-01]]

 t_estimated:
[[0.98448898]
 [0.17544356]
 [0.00100253]]

 R_gt:
[[ 0.98317064 -0.17048687  0.06565479]
 [ 0.17365263  0.98373557 -0.04593084]
 [-0.05675604  0.05655841  0.99678489]]

 t_gt:
[ 0.78401416 -0.61424064  0.08961157]

Pose Error in degrees for R and t:
176.7665045156314 48.38066071954232

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 9.99968403e-01  7.94791171e-03  1.51600578e-04]
 [-7.94791343e-03  9.99968415e-01  1.07657776e-05]
 [-1.51510224e-04 -1.19703457e-05  9.99999988e-01]]

 t_estimated:
[[0.6875531 ]
 [0.72613358]
 [0.00087411]]

 R_gt:
[[ 9.98878674e-01 -7.60286418e-03 -4.67271735e-02]
 [ 7.65208217e-03  9.99971218e-01  8.87939430e-04]
 [ 4.67191294e-02 -1.24415870e-03  9.98907626e-01]]

 t_gt:
[ 0.8492323   0.42021499 -0.31972467]

Pose Error in degrees for R and t:
2.83108320755782 27.2840300620038

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.99240856e-01  3.89577979e-02  4.21299593e-05]
 [-3.89578076e-02  9.99240822e-01  2.61207809e-04]
 [-3.19218941e-05 -2.62650806e-04  9.99999965e-01]]

 t_estimated:
[[5.72237451e-01]
 [8.20087927e-01]
 [3.02951814e-04]]

 R_gt:
[[ 0.99356093 -0.03918936 -0.10630623]
 [ 0.03618294  0.99889332 -0.03005289]
 [ 0.10736567  0.02601263  0.99387948]]

 t_gt:
[ 0.8864313   0.22499236 -0.4044972 ]

Pose Error in degrees for R and t:
7.722252354080595 46.239917107363375

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.99999778e-01  9.10227357e-05  6.59421967e-04]
 [-9.10599557e-05  9.99999994e-01  5.64136630e-05]
 [-6.59416828e-04 -5.64736975e-05  9.99999781e-01]]

 t_estimated:
[[ 7.43813623e-01]
 [ 6.68387074e-01]
 [-1.19052562e-04]]

 R_gt:
[[ 0.99051736 -0.08389018 -0.10880117]
 [ 0.08293265  0.99646687 -0.01329703]
 [ 0.10953247  0.00414805  0.99397463]]

 t_gt:
[ 0.9688593   0.13014302 -0.21065245]

Pose Error in degrees for R and t:
7.945859693270911 36.13189809884677

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999916e-01 -4.07417654e-04  4.69205250e-05]
 [ 4.07417674e-04  9.99999917e-01 -4.14424877e-07]
 [-4.69203522e-05  4.33541093e-07  9.99999999e-01]]

 t_estimated:
[[ 9.67142630e-01]
 [ 2.54234397e-01]
 [-6.36139938e-05]]

 R_gt:
[[ 0.99815525 -0.05792543 -0.01821195]
 [ 0.05779959  0.99830195 -0.00733014]
 [ 0.01860568  0.00626312  0.99980796]]

 t_gt:
[ 0.85243134 -0.45985538 -0.24878474]

Pose Error in degrees for R and t:
3.480791725967638 44.96590324141496

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999889e-01  2.82304499e-04 -3.77666882e-04]
 [-2.82303854e-04  9.99999960e-01  1.76126587e-06]
 [ 3.77667364e-04 -1.65464886e-06  9.99999929e-01]]

 t_estimated:
[[-0.69644119]
 [-0.717613  ]
 [-0.00111431]]

 R_gt:
[[ 0.98915758 -0.14049087 -0.04278456]
 [ 0.14057283  0.99007028 -0.00108305]
 [ 0.04251195 -0.00494304  0.99908418]]

 t_gt:
[ 0.85065343 -0.49757104 -0.16974038]

Pose Error in degrees for R and t:
8.45472686566996 76.3979142710051

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999822e-01  5.87545021e-04  1.05569959e-04]
 [-5.87550150e-04  9.99999826e-01  4.85644571e-05]
 [-1.05541406e-04 -4.86264761e-05  9.99999993e-01]]

 t_estimated:
[[ 9.99998902e-01]
 [-1.44674438e-03]
 [-3.20295630e-04]]

 R_gt:
[[ 0.9871043  -0.15660382 -0.03319337]
 [ 0.15646493  0.98766059 -0.00675343]
 [ 0.03384163  0.00147238  0.99942647]]

 t_gt:
[ 0.86606699 -0.48271409 -0.13005794]

Pose Error in degrees for R and t:
9.248778090966908 29.910421720539652

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.53264855 -0.84598415 -0.02441986]
 [ 0.84632624  0.53256257  0.01044041]
 [ 0.00417268 -0.02622824  0.99964727]]

 t_estimated:
[[0.521641  ]
 [0.85315116]
 [0.00487515]]

 R_gt:
[[ 0.99753302 -0.01995604 -0.06730658]
 [ 0.01505539  0.99725139 -0.07255367]
 [ 0.06856917  0.07136121  0.99509122]]

 t_gt:
[ 0.31070513  0.09579303 -0.94566697]

Pose Error in degrees for R and t:
57.108548721322414 76.16113179371052

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.92429602  0.38166419  0.00305095]
 [-0.38162579  0.92427413 -0.00889382]
 [-0.00621437  0.0070562   0.99995579]]

 t_estimated:
[[0.14833808]
 [0.98893468]
 [0.00200323]]

 R_gt:
[[ 0.99358305  0.00872597 -0.11277916]
 [-0.01786313  0.9966145  -0.08025764]
 [ 0.11169759  0.08175762  0.99037403]]

 t_gt:
[ 0.21661631  0.31203504 -0.92504676]

Pose Error in degrees for R and t:
23.056367396452934 70.19246562794045

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999991e-01  1.28668715e-04  4.06172006e-05]
 [-1.28669239e-04  9.99999992e-01  1.29148089e-05]
 [-4.06155385e-05 -1.29200350e-05  9.99999999e-01]]

 t_estimated:
[[-1.18046555e-01]
 [ 9.93008054e-01]
 [ 1.23899144e-04]]

 R_gt:
[[ 0.9880868   0.05562874 -0.14349827]
 [-0.0735957   0.98966153 -0.12310422]
 [ 0.13516669  0.13219801  0.98196399]]

 t_gt:
[ 0.05801814  0.55694468 -0.82852068]

Pose Error in degrees for R and t:
11.519396404227393 56.900198367824316

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.92152937e-01 -1.25029860e-01 -2.87545856e-04]
 [ 1.25029903e-01  9.92152965e-01  1.35091218e-04]
 [ 2.68399038e-04 -1.69982979e-04  9.99999950e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99155873  0.12957624 -0.00464897]
 [-0.12953037  0.99153461  0.00903548]
 [ 0.00578054 -0.00835693  0.99994801]]

 t_gt:
[-0.95895015  0.27988642  0.04558721]

Pose Error in degrees for R and t:
14.637345730753964 16.656166691496963

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.31648333 -0.94859276 -0.0031739 ]
 [ 0.94859744 -0.31647749 -0.00221236]
 [ 0.00109416 -0.00371093  0.99999252]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97337371  0.22885019  0.01304753]
 [-0.22892843  0.97343228  0.00481981]
 [-0.01159778 -0.007678    0.99990326]]

 t_gt:
[-0.93273937  0.35689543  0.05121449]

Pose Error in degrees for R and t:
121.68551285426845 21.31623584309128

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-3.86486767e-01 -9.22294925e-01  2.25300671e-04]
 [-9.22294173e-01  3.86486111e-01 -1.39472911e-03]
 [ 1.19927600e-03 -7.46837841e-04 -9.99999002e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.92071351  0.38971031  0.02031655]
 [-0.39018064  0.92022943  0.03062556]
 [-0.00676075 -0.03612437  0.99932404]]

 t_gt:
[-0.8701352   0.4823077   0.10121274]

Pose Error in degrees for R and t:
178.27773469192846 65.85583244487486

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.93365510e-01  1.14999527e-01  2.67234167e-04]
 [-1.14999553e-01  9.93365540e-01  8.33300667e-05]
 [-2.55878295e-04 -1.13509024e-04  9.99999961e-01]]

 t_estimated:
[[0.00867646]
 [0.99996177]
 [0.00108456]]

 R_gt:
[[ 0.99797186  0.0341499  -0.05373109]
 [-0.03877785  0.9954008  -0.087594  ]
 [ 0.05049235  0.08949969  0.99470616]]

 t_gt:
[-0.15943475  0.41384561 -0.89627695]

Pose Error in degrees for R and t:
7.432537183561402 65.70251237822184

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.89576502e-01 -1.44008112e-01 -1.03850028e-04]
 [ 1.44008127e-01  9.89576492e-01  1.58767791e-04]
 [ 7.99036969e-05 -1.72068124e-04  9.99999982e-01]]

 t_estimated:
[[-4.05669962e-01]
 [ 9.14019608e-01]
 [-1.95277278e-04]]

 R_gt:
[[ 0.99108083  0.06341095 -0.11720988]
 [-0.08215197  0.98325072 -0.16269564]
 [ 0.10493062  0.17087404  0.97968985]]

 t_gt:
[-0.11279221  0.43871656 -0.89151876]

Pose Error in degrees for R and t:
17.016111500610325 63.45336732441256

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 2.21009105e-01  9.75271361e-01 -8.64765327e-04]
 [ 9.75262298e-01 -2.21002975e-01  4.59732009e-03]
 [ 4.29251891e-03 -1.85942262e-03 -9.99989058e-01]]

 t_estimated:
[[-9.25046089e-01]
 [-3.79853939e-01]
 [-8.47888257e-04]]

 R_gt:
[[ 0.9794869   0.13028949 -0.15372433]
 [-0.16072866  0.96526079 -0.2060045 ]
 [ 0.12154479  0.22648633  0.96640088]]

 t_gt:
[-0.20982138  0.54974366 -0.80855235]

Pose Error in degrees for R and t:
175.42904520412492 89.19540969529

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.97262678e-01  7.39400084e-02 -1.61233250e-04]
 [-7.39399971e-02  9.97262689e-01  7.46274856e-05]
 [ 1.66309862e-04 -6.25016201e-05  9.99999984e-01]]

 t_estimated:
[[0.73255104]
 [0.68071158]
 [0.00084983]]

 R_gt:
[[ 0.98735863  0.15847259  0.00301113]
 [-0.15849502  0.98698927  0.02705482]
 [ 0.00131498 -0.02718942  0.99962918]]

 t_gt:
[-0.9156322   0.35562416  0.18748104]

Pose Error in degrees for R and t:
5.122330662199049 64.6269296329155

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-8.76931073e-01  4.80562040e-01 -7.21240595e-03]
 [ 4.80543784e-01  8.76960706e-01  4.19412762e-03]
 [ 8.34053514e-03  2.12083984e-04 -9.99965195e-01]]

 t_estimated:
[[ 0.94202155]
 [-0.33552019]
 [-0.00464745]]

 R_gt:
[[ 0.95122217  0.3080171   0.01737624]
 [-0.30830424  0.95112966  0.01735559]
 [-0.011181   -0.02186578  0.99969776]]

 t_gt:
[-0.86496946  0.49341248  0.09149838]

Pose Error in degrees for R and t:
179.93432076416508 11.247157231362971

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 5.95108657e-01  8.03644936e-01  7.09295211e-04]
 [ 8.03639736e-01 -5.95107611e-01  3.17901983e-03]
 [ 2.97691017e-03 -1.32184440e-03 -9.99994695e-01]]

 t_estimated:
[[-0.77453175]
 [-0.63253426]
 [-0.00099299]]

 R_gt:
[[ 0.9039824   0.42534741  0.04352764]
 [-0.42726676  0.90247895  0.05454528]
 [-0.01608333 -0.06790592  0.99756139]]

 t_gt:
[-0.8422597   0.50776458  0.18103516]

Pose Error in degrees for R and t:
177.40847533126583 70.67060151750101

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.62128099e-01  2.72597289e-01  4.89374379e-04]
 [-2.72597030e-01  9.62128148e-01 -5.35026360e-04]
 [-6.16687600e-04  3.81361892e-04  9.99999737e-01]]

 t_estimated:
[[0.14108647]
 [0.98999656]
 [0.00119565]]

 R_gt:
[[ 0.99440957 -0.09933233 -0.03580897]
 [ 0.09934049  0.9950522  -0.00156437]
 [ 0.03578931 -0.00200036  0.99935691]]

 t_gt:
[ 0.52966251 -0.81194679 -0.24535695]

Pose Error in degrees for R and t:
21.62149821670937 43.16474687630459

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999919e-01  3.98908192e-04  4.89365008e-05]
 [-3.98904217e-04  9.99999917e-01 -8.11995282e-05]
 [-4.89688879e-05  8.11800007e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99998049e-01]
 [-1.96896320e-03]
 [ 1.56130670e-04]]

 R_gt:
[[ 0.96808104 -0.24286684 -0.0619189 ]
 [ 0.24266825  0.97004867 -0.01082882]
 [ 0.06269564 -0.00454126  0.99802221]]

 t_gt:
[ 0.6562588  -0.73091426 -0.18731988]

Pose Error in degrees for R and t:
14.539171048823516 48.877781634869486

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99983708e-01 -5.68731221e-03 -4.88113932e-04]
 [ 5.68721801e-03  9.99983809e-01 -1.94144917e-04]
 [ 4.89210192e-04  1.91365744e-04  9.99999862e-01]]

 t_estimated:
[[9.99880582e-01]
 [1.54477816e-02]
 [4.32962965e-04]]

 R_gt:
[[ 0.92075717 -0.37969296 -0.08965846]
 [ 0.3746802   0.92465709 -0.06800435]
 [ 0.10872506  0.02902354  0.99364739]]

 t_gt:
[ 0.74535426 -0.60147217 -0.28753827]

Pose Error in degrees for R and t:
22.821335666685655 42.62096630721465

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 8.24786106e-01 -5.65281531e-01 -1.35893271e-02]
 [ 5.65343679e-01  8.24854957e-01  9.07941257e-04]
 [ 1.06959814e-02 -8.43149754e-03  9.99907249e-01]]

 t_estimated:
[[8.28637643e-01]
 [5.59784991e-01]
 [6.49402541e-04]]

 R_gt:
[[ 0.99917845 -0.00664789 -0.03999232]
 [ 0.00401381  0.99783924 -0.06559198]
 [ 0.04034277  0.06537739  0.99704533]]

 t_gt:
[ 0.33372561  0.12458584 -0.93440119]

Pose Error in degrees for R and t:
34.38487059765766 69.77717225025138

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-9.99782410e-01 -2.08534123e-02  5.18198022e-04]
 [-2.08523071e-02  9.99780458e-01  2.05368034e-03]
 [-5.60910499e-04  2.04242785e-03 -9.99997757e-01]]

 t_estimated:
[[0.99993858]
 [0.01101524]
 [0.00122392]]

 R_gt:
[[ 0.99464286 -0.00587544 -0.10320605]
 [-0.00734307  0.99184543 -0.12723552]
 [ 0.10311308  0.12731155  0.98648893]]

 t_gt:
[ 0.28238012  0.23400906 -0.93032319]

Pose Error in degrees for R and t:
174.02158843368815 73.51276013518611

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-7.58081608e-01 -6.52157424e-01 -1.72346656e-03]
 [ 6.52158307e-01 -7.58082804e-01  6.45901358e-05]
 [-1.34865330e-03 -1.07500844e-03  9.99998513e-01]]

 t_estimated:
[[9.87712686e-01]
 [1.56278780e-01]
 [7.69846209e-04]]

 R_gt:
[[ 0.98854342 -0.03023918 -0.14787457]
 [ 0.00628968  0.98712727 -0.15981497]
 [ 0.15080393  0.1570541   0.97600844]]

 t_gt:
[ 0.35805151  0.18847251 -0.91448195]

Pose Error in degrees for R and t:
138.50464676028898 67.51743589403844

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99843854e-01  1.76706529e-02  1.28619433e-04]
 [-1.76706259e-02  9.99843841e-01 -2.08466768e-04]
 [-1.32283091e-04  2.06161431e-04  9.99999970e-01]]

 t_estimated:
[[ 0.60165727]
 [-0.79875138]
 [-0.00218459]]

 R_gt:
[[ 0.99554067 -0.09431862 -0.00154947]
 [ 0.09432343  0.99553452  0.00370286]
 [ 0.00119304 -0.00383257  0.99999177]]

 t_gt:
[ 0.78010871 -0.62519943 -0.02358147]

Pose Error in degrees for R and t:
6.429528112407136 14.352618077682903

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99716445e-01  2.38030183e-02  6.67089179e-04]
 [-2.38021047e-02  9.99715784e-01 -1.34557535e-03]
 [-6.98928337e-04  1.32931568e-03  9.99998872e-01]]

 t_estimated:
[[-9.48907122e-01]
 [-3.15554614e-01]
 [-7.47759749e-04]]

 R_gt:
[[ 9.88740367e-01 -1.47279840e-01 -2.64734977e-02]
 [ 1.47347854e-01  9.89083789e-01  6.79295334e-04]
 [ 2.60844709e-02 -4.57254339e-03  9.99649057e-01]]

 t_gt:
[ 0.85033928 -0.51500292 -0.10814393]

Pose Error in degrees for R and t:
9.96043912471865 49.88674428422416

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.91217381e-01 -1.23231846e-01  4.79793246e-02]
 [ 1.23098949e-01  9.92377881e-01  5.72621762e-03]
 [-4.83192729e-02  2.30278012e-04  9.98831915e-01]]

 t_estimated:
[[0.68845573]
 [0.72527751]
 [0.00111581]]

 R_gt:
[[ 9.77121928e-01 -2.08355758e-01 -4.26609204e-02]
 [ 2.08535204e-01  9.78014241e-01 -2.30923169e-04]
 [ 4.17719137e-02 -8.67061051e-03  9.99088590e-01]]

 t_gt:
[ 0.86115897 -0.49481757 -0.11645088]

Pose Error in degrees for R and t:
7.183962552660018 76.47557651892969

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.97743277  0.21124158  0.00147607]
 [-0.21123773  0.97743175 -0.00240684]
 [-0.00195118  0.00204072  0.99999601]]

 t_estimated:
[[-9.90822136e-01]
 [-1.35171928e-01]
 [ 2.10747980e-04]]

 R_gt:
[[ 0.99935151  0.03577746  0.00401309]
 [-0.03569659  0.99918856 -0.01868328]
 [-0.00467885  0.01852775  0.99981792]]

 t_gt:
[-0.9250501   0.21676224 -0.31192377]

Pose Error in degrees for R and t:
10.19089673515617 27.477236996263255

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.25451946  0.96705385  0.0051678 ]
 [ 0.96706401 -0.25450019 -0.00410515]
 [-0.00265469  0.00604244 -0.99997822]]

 t_estimated:
[[ 0.84798413]
 [-0.53000611]
 [ 0.00405378]]

 R_gt:
[[ 0.99737963 -0.07197019 -0.00736296]
 [ 0.0716519   0.99674715 -0.03690193]
 [ 0.00999393  0.03627779  0.999292  ]]

 t_gt:
[ 0.47110798 -0.81716191 -0.33211999]

Pose Error in degrees for R and t:
178.2725091731395 33.7729969456977

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-3.42339201e-01 -9.39576423e-01 -1.33597382e-04]
 [ 9.39572316e-01 -3.42338118e-01  2.91122608e-03]
 [-2.78105486e-03  8.71102406e-04  9.99995753e-01]]

 t_estimated:
[[9.90165775e-01]
 [1.39896518e-01]
 [8.37703702e-04]]

 R_gt:
[[ 0.9871997  -0.15910859  0.01102009]
 [ 0.15937495  0.98675342 -0.03029609]
 [-0.00605408  0.03166421  0.99948064]]

 t_gt:
[ 0.63625423 -0.76710751 -0.082016  ]

Pose Error in degrees for R and t:
100.86789459957672 58.49232430308035

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99996707e-01  2.56649233e-03  8.50053962e-06]
 [-2.56649420e-03  9.99996681e-01  2.27571982e-04]
 [-7.91644965e-06 -2.27593049e-04  9.99999974e-01]]

 t_estimated:
[[7.25833037e-01]
 [6.87870681e-01]
 [5.74319652e-04]]

 R_gt:
[[ 0.99747739 -0.02897701 -0.06480386]
 [ 0.02595622  0.99855934 -0.04697448]
 [ 0.06607163  0.04517375  0.99679176]]

 t_gt:
[ 0.79046574  0.18862366 -0.58273925]

Pose Error in degrees for R and t:
4.9106391350318175 45.31890359288406

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 3.53801698e-01  9.35318056e-01  2.11962931e-03]
 [-9.35319711e-01  3.53803371e-01 -4.62080310e-04]
 [-1.18212405e-03 -1.81904628e-03  9.99997647e-01]]

 t_estimated:
[[-0.02683567]
 [ 0.99963865]
 [ 0.00155165]]

 R_gt:
[[ 0.99353509 -0.07442167 -0.08573569]
 [ 0.07087193  0.99652653 -0.04373817]
 [ 0.08869245  0.03738026  0.99535808]]

 t_gt:
[ 0.93650645  0.09141898 -0.33852361]

Pose Error in degrees for R and t:
73.64384988051616 86.23129406859142

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.81030089e-01  1.93852258e-01  1.12540753e-03]
 [-1.93850863e-01  9.81030228e-01 -1.23913879e-03]
 [-1.34426865e-03  9.97471214e-04  9.99998599e-01]]

 t_estimated:
[[0.3302996 ]
 [0.94387535]
 [0.00122721]]

 R_gt:
[[ 0.99147704 -0.07523435 -0.10637305]
 [ 0.07206723  0.99684377 -0.03331392]
 [ 0.10854377  0.02536383  0.99376804]]

 t_gt:
[ 0.95099131  0.14038895 -0.2755113 ]

Pose Error in degrees for R and t:
16.702925775129508 63.49450733273755

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 6.97179268e-01  7.16896033e-01  1.07121153e-03]
 [-7.16896096e-01  6.97179915e-01 -3.92360440e-04]
 [-1.02810881e-03 -4.94401799e-04  9.99999349e-01]]

 t_estimated:
[[-0.5184859 ]
 [ 0.85508558]
 [ 0.00100878]]

 R_gt:
[[ 0.99604097  0.04755331 -0.07511906]
 [-0.04644713  0.99878554  0.01640192]
 [ 0.07580764 -0.01284799  0.99703981]]

 t_gt:
[ 0.66483475  0.24155977 -0.70685475]

Pose Error in degrees for R and t:
43.32188264535155 82.01775503537728

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 2.31797197e-01  9.72764046e-01  4.12612345e-04]
 [-9.72763221e-01  2.31797539e-01 -1.27117950e-03]
 [-1.33220024e-03 -1.06718269e-04  9.99999107e-01]]

 t_estimated:
[[2.19759472e-01]
 [9.75553660e-01]
 [9.11315570e-04]]

 R_gt:
[[ 0.97984678  0.1352695  -0.14698019]
 [-0.12276983  0.98824853  0.09106357]
 [ 0.15757184 -0.07118362  0.98493931]]

 t_gt:
[ 0.83575076  0.31774432 -0.44783837]

Pose Error in degrees for R and t:
69.76416205179683 60.44672250638801

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99995944 -0.00785185  0.00441115]
 [ 0.00849528  0.98496439 -0.17254848]
 [-0.00299     0.17257895  0.98499115]]

 t_estimated:
[[-0.99522177]
 [-0.09631178]
 [-0.01605196]]

 R_gt:
[[ 0.96251787  0.22424376 -0.15256239]
 [-0.20905403  0.97176296  0.10942087]
 [ 0.17279149 -0.0734263   0.98221811]]

 t_gt:
[ 0.44685867  0.84494004 -0.29392798]

Pose Error in degrees for R and t:
22.26910977999232 58.5749311941984

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.66903237e-01 -2.55143327e-01  1.15178561e-04]
 [ 2.55143300e-01  9.66903229e-01  2.04720606e-04]
 [-1.63599619e-04 -1.68557979e-04  9.99999972e-01]]

 t_estimated:
[[0.98293538]
 [0.18394772]
 [0.00112851]]

 R_gt:
[[ 0.99499698 -0.08772072  0.04781339]
 [ 0.08883453  0.99581088 -0.0216804 ]
 [-0.04571154  0.02581969  0.99862063]]

 t_gt:
[ 0.74512695 -0.61470432  0.25869755]

Pose Error in degrees for R and t:
10.167752648346992 51.710870880947915

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 7.10919665e-01  7.03269517e-01  2.28403546e-03]
 [ 7.03269558e-01 -7.10922697e-01  9.20575731e-04]
 [ 2.27118550e-03  9.51837221e-04 -9.99996968e-01]]

 t_estimated:
[[0.95837811]
 [0.28549954]
 [0.00118465]]

 R_gt:
[[ 0.99555367 -0.00739527  0.09390667]
 [ 0.01162827  0.99893736 -0.04460944]
 [-0.09347753  0.04550307  0.99458031]]

 t_gt:
[0.20955522 0.3723657  0.90411857]

Pose Error in degrees for R and t:
175.56243897058258 72.04834337146306

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.99116668  0.13260781  0.00194517]
 [-0.13260083  0.99116382 -0.00336213]
 [-0.00237383  0.0030745   0.99999246]]

 t_estimated:
[[-0.85411499]
 [-0.52007992]
 [-0.00211415]]

 R_gt:
[[ 0.99084131  0.07451414  0.11260728]
 [-0.06689928  0.99530521 -0.06995815]
 [-0.11729104  0.06178372  0.99117355]]

 t_gt:
[-0.32573707  0.77689257  0.53882584]

Pose Error in degrees for R and t:
8.22252377289182 82.70555338728416

Number of keypoints:
Image1: 798
Image2: 798

 R_estimated:
[[ 9.99996089e-01  2.79267973e-03 -1.53065329e-04]
 [-2.79270292e-03  9.99996089e-01 -1.51462937e-04]
 [ 1.52641743e-04  1.51889810e-04  9.99999977e-01]]

 t_estimated:
[[-0.14997757]
 [-0.98868634]
 [-0.00245943]]

 R_gt:
[[ 0.99919573  0.01375666 -0.03764826]
 [-0.01240028  0.99927459  0.03601998]
 [ 0.03811653 -0.03552397  0.99864146]]

 t_gt:
[ 0.11425687 -0.99115591  0.06749319]

Pose Error in degrees for R and t:
3.044200909089293 15.710879396604795

Number of keypoints:
Image1: 617
Image2: 617

 R_estimated:
[[ 9.84900184e-01 -1.73122567e-01 -4.51522176e-04]
 [ 1.73122506e-01  9.84900284e-01 -1.70190794e-04]
 [ 4.74168187e-04  8.94522932e-05  9.99999884e-01]]

 t_estimated:
[[-0.37928109]
 [-0.92527915]
 [-0.00208396]]

 R_gt:
[[ 0.99622914  0.08658533 -0.00545467]
 [-0.08619795  0.99497458  0.05094113]
 [ 0.00983892 -0.05027817  0.9986865 ]]

 t_gt:
[-0.93467051  0.17536714  0.30925297]

Pose Error in degrees for R and t:
15.214013211907337 78.95412916787461

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.26818986e-01 -3.75508345e-01  2.23118114e-04]
 [ 3.75508282e-01  9.26818996e-01  2.80778821e-04]
 [-3.12224897e-04 -1.76448443e-04  9.99999936e-01]]

 t_estimated:
[[-0.34082217]
 [-0.94012721]
 [-0.00104227]]

 R_gt:
[[ 0.98327093  0.18023916 -0.02628225]
 [-0.17771865  0.98095208  0.07841624]
 [ 0.03991557 -0.07243302  0.99657432]]

 t_gt:
[-0.94255071  0.298895    0.14919766]

Pose Error in degrees for R and t:
32.71949769763568 87.70254848693101

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 0.83565956  0.54895658 -0.01788198]
 [ 0.54892744 -0.83361774  0.06131979]
 [ 0.01875516 -0.06105838 -0.99795797]]

 t_estimated:
[[-0.25275762]
 [ 0.96697313]
 [ 0.03281097]]

 R_gt:
[[ 0.9989932   0.0287208  -0.03446739]
 [-0.02818097  0.9994732   0.01607021]
 [ 0.0349114  -0.01508363  0.99927652]]

 t_gt:
[ 0.14164684  0.98951148 -0.02834085]

Pose Error in degrees for R and t:
174.91275771146016 23.059470106357203

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 8.99112990e-01  4.37716146e-01  6.37766272e-04]
 [-4.37715887e-01  8.99113199e-01 -5.07524665e-04]
 [-7.95575813e-04  1.77161589e-04  9.99999668e-01]]

 t_estimated:
[[0.12373917]
 [0.99231421]
 [0.00105919]]

 R_gt:
[[ 0.99581509  0.01172232 -0.09064549]
 [-0.01298973  0.99982612 -0.01340186]
 [ 0.09047327  0.01452256  0.99579348]]

 t_gt:
[ 0.6962392   0.56749865 -0.43954097]

Pose Error in degrees for R and t:
25.789519464425403 49.54704426320721

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999461e-01 -1.03804567e-03 -1.53533758e-05]
 [ 1.03805689e-03  9.99999180e-01  7.50027070e-04]
 [ 1.45748008e-05 -7.50042604e-04  9.99999719e-01]]

 t_estimated:
[[0.52421846]
 [0.85158314]
 [0.00107806]]

 R_gt:
[[ 0.99214937 -0.03540298 -0.1199498 ]
 [ 0.03168151  0.99895938 -0.03278629]
 [ 0.12098535  0.02872819  0.99223849]]

 t_gt:
[ 0.88169448  0.32844697 -0.33872914]

Pose Error in degrees for R and t:
7.393238864506999 42.137639727983036

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.98060671e-01  6.22486051e-02  8.60666390e-05]
 [-6.22486009e-02  9.98060674e-01 -5.08918691e-05]
 [-8.90676756e-05  4.54356451e-05  9.99999995e-01]]

 t_estimated:
[[ 8.16815115e-01]
 [-5.76899529e-01]
 [ 3.40993428e-05]]

 R_gt:
[[ 0.98880034 -0.13615492  0.06112129]
 [ 0.13344038  0.98996495  0.04650622]
 [-0.06683954 -0.03782843  0.99704674]]

 t_gt:
[ 0.56093507 -0.68630868  0.46296031]

Pose Error in degrees for R and t:
12.150017991470468 31.33655711383765

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 8.54387775e-01  2.36564213e-01 -4.62665001e-01]
 [-4.01417340e-04  8.90663916e-01  4.54662103e-01]
 [ 5.19635804e-01 -3.88272021e-01  7.61067322e-01]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.97870723 -0.19594935  0.06113082]
 [ 0.19248854  0.97957305  0.05817834]
 [-0.0712825  -0.04517144  0.99643354]]

 t_gt:
[ 0.63938978 -0.66236473  0.39045317]

Pose Error in degrees for R and t:
45.60294363230424 84.4804083860764

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 8.98216196e-01 -4.39553930e-01 -8.88084107e-05]
 [ 4.39553904e-01  8.98216027e-01  5.78567008e-04]
 [-1.74542264e-04 -5.58714341e-04  9.99999829e-01]]

 t_estimated:
[[9.98634617e-01]
 [5.22311718e-02]
 [8.97711187e-04]]

 R_gt:
[[ 0.97256383 -0.22889708  0.04154272]
 [ 0.22694458  0.97277823  0.04687906]
 [-0.05114246 -0.03616432  0.99803682]]

 t_gt:
[ 0.73360116 -0.62446838  0.26808315]

Pose Error in degrees for R and t:
13.370048854950845 45.55506498541402

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 1.00000000e+00  1.86331965e-05  1.15675077e-05]
 [-1.86325073e-05  9.99999998e-01 -5.95806382e-05]
 [-1.15686179e-05  5.95804227e-05  9.99999998e-01]]

 t_estimated:
[[0.68282007]
 [0.73058616]
 [0.00078305]]

 R_gt:
[[ 0.99712071  0.07086137 -0.02700758]
 [-0.07236995  0.99559206 -0.05966688]
 [ 0.02266002  0.06144885  0.99785299]]

 t_gt:
[-0.47399835  0.69748034 -0.53744464]

Pose Error in degrees for R and t:
5.564582022025444 79.31012060578448

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99998391e-01  1.62393924e-03 -7.61561658e-04]
 [-1.62302911e-03  9.99997970e-01  1.19418585e-03]
 [ 7.63499397e-04 -1.19294790e-03  9.99998997e-01]]

 t_estimated:
[[-0.99917289]
 [-0.04063957]
 [-0.00140136]]

 R_gt:
[[ 0.98797604  0.13788048 -0.06995795]
 [-0.14595894  0.98099806 -0.12782684]
 [ 0.05100346  0.1365005   0.98932667]]

 t_gt:
[-0.42460918  0.71451132 -0.55604012]

Pose Error in degrees for R and t:
11.687544620784346 66.67165872150218

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-1.58681886e-02  9.99873989e-01 -4.55377097e-04]
 [-9.99871436e-01 -1.58691946e-02 -2.29779747e-03]
 [-2.30473439e-03  4.18856668e-04  9.99997256e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.98282235  0.13327281 -0.12766526]
 [-0.15975105  0.96072566 -0.22690597]
 [ 0.09241097  0.24340284  0.96551315]]

 t_gt:
[-0.25980147  0.64965132 -0.71446229]

Pose Error in degrees for R and t:
83.45047546333086 49.642922537582066

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 1.55460786e-01 -9.87839192e-01 -2.38215359e-03]
 [ 9.87842025e-01  1.55461009e-01  9.24499589e-05]
 [ 2.79006308e-04 -2.36756377e-03  9.99997158e-01]]

 t_estimated:
[[ 9.87932716e-01]
 [-1.54880950e-01]
 [ 9.16037202e-04]]

 R_gt:
[[ 0.98761842 -0.15293811 -0.03493773]
 [ 0.15268423  0.98822631 -0.0098055 ]
 [ 0.03602603  0.00434988  0.99934136]]

 t_gt:
[ 0.66640412 -0.71805595 -0.20075161]

Pose Error in degrees for R and t:
72.28715207425118 39.70070282242098

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.27169610e-01  3.74640916e-01  8.35782627e-04]
 [-3.74640262e-01  9.27169869e-01 -8.41978859e-04]
 [-1.09035220e-03  4.67539389e-04  9.99999296e-01]]

 t_estimated:
[[0.92310904]
 [0.38453606]
 [0.00131405]]

 R_gt:
[[ 0.95517423 -0.29103575 -0.05422029]
 [ 0.28703498  0.9552816  -0.07105094]
 [ 0.07247479  0.0523022   0.99599767]]

 t_gt:
[ 0.73989596 -0.57677556 -0.34624257]

Pose Error in degrees for R and t:
39.1629985576813 62.56392654227854

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99847263e-01  1.74727939e-02  3.91230294e-04]
 [-1.74727333e-02  9.99847328e-01 -1.57876161e-04]
 [-3.93929102e-04  1.51016185e-04  9.99999911e-01]]

 t_estimated:
[[ 0.70892963]
 [-0.70527861]
 [-0.00093197]]

 R_gt:
[[ 0.92272667 -0.38538043 -0.00764552]
 [ 0.38407006  0.92090931 -0.06645847]
 [ 0.03265295  0.05838586  0.9977596 ]]

 t_gt:
[ 0.75771111 -0.61798077 -0.20969891]

Pose Error in degrees for R and t:
23.9589694128126 13.292766163025297

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.02456861  0.99969756  0.00108395]
 [ 0.9996964   0.02456652  0.00189774]
 [ 0.00187053  0.00113025 -0.99999761]]

 t_estimated:
[[7.94026088e-01]
 [6.07883294e-01]
 [6.86873779e-04]]

 R_gt:
[[ 0.99785668  0.0499853  -0.04223032]
 [-0.05068394  0.99859274 -0.01563142]
 [ 0.04138909  0.01773679  0.99898534]]

 t_gt:
[-0.20343942  0.76036166 -0.61681646]

Pose Error in degrees for R and t:
178.9178762967946 72.5273043850353

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-0.34011718 -0.94036537 -0.00576876]
 [-0.94037101  0.34013748 -0.00297586]
 [ 0.00476057  0.00441263 -0.99997893]]

 t_estimated:
[[ 0.8651358 ]
 [ 0.50153257]
 [-0.00226253]]

 R_gt:
[[ 0.99545496  0.0773994  -0.05548924]
 [-0.08065045  0.99499802 -0.05894407]
 [ 0.05064958  0.06315041  0.99671732]]

 t_gt:
[-0.20753879  0.7965125  -0.56788686]

Pose Error in degrees for R and t:
175.12286458368877 77.21973622771762

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-4.87340758e-01  8.73211641e-01 -6.44489394e-04]
 [-8.73209990e-01 -4.87341107e-01 -1.72025895e-03]
 [-1.81623631e-03 -2.75577724e-04  9.99998313e-01]]

 t_estimated:
[[0.73613437]
 [0.67683465]
 [0.00102241]]

 R_gt:
[[ 0.99948062  0.03105108 -0.0086346 ]
 [-0.03124039  0.99925382 -0.02268135]
 [ 0.00792346  0.02293828  0.99970499]]

 t_gt:
[-0.18050313  0.92508441 -0.3341219 ]

Pose Error in degrees for R and t:
117.3853116928324 60.46777340380386

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 1.00000000e+00  1.39332990e-14 -1.89258331e-15]
 [-1.38222767e-14  1.00000000e+00 -2.86375741e-15]
 [ 1.89540224e-15  2.85741483e-15  1.00000000e+00]]

 t_estimated:
[[-0.92101065]
 [-0.38953575]
 [-0.00113516]]

 R_gt:
[[ 0.99998572  0.00479267  0.00255777]
 [-0.00481997  0.99993488  0.01046448]
 [-0.00250765 -0.01047612  0.99994236]]

 t_gt:
[-0.21892188  0.6967207   0.6831204 ]

Pose Error in degrees for R and t:
0.6707408171686651 85.95478413716128

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.79462865e-01 -2.01624335e-01 -3.51420374e-04]
 [ 2.01624541e-01  9.79462627e-01  7.11132918e-04]
 [ 2.00821421e-04 -7.67383257e-04  9.99999685e-01]]

 t_estimated:
[[-0.70551756]
 [-0.70869199]
 [-0.00079361]]

 R_gt:
[[ 0.99589486  0.0862539  -0.02747637]
 [-0.08739803  0.99521972 -0.04359216]
 [ 0.0235848   0.04581439  0.99867143]]

 t_gt:
[-0.52262983  0.77388505 -0.35771495]

Pose Error in degrees for R and t:
16.88005603976521 79.66298913210015

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.54635488 -0.83408371 -0.07616237]
 [ 0.83669914  0.54764302  0.00465513]
 [ 0.03782702 -0.06626834  0.99708456]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.99071859  0.11292488 -0.07567061]
 [-0.1224405   0.98312836 -0.13589786]
 [ 0.05904726  0.14390138  0.98782861]]

 t_gt:
[-0.36081072  0.7012463  -0.61487336]

Pose Error in degrees for R and t:
64.34732229085091 46.44195090995641

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.88514298e-01 -1.51127218e-01 -2.15470705e-04]
 [ 1.51127273e-01  9.88514277e-01  2.67289095e-04]
 [ 1.72601211e-04 -2.96782592e-04  9.99999941e-01]]

 t_estimated:
[[0.87040757]
 [0.49233077]
 [0.00103867]]

 R_gt:
[[ 0.99237208 -0.12233537 -0.01521646]
 [ 0.12137622  0.99118838 -0.05303023]
 [ 0.02157037  0.05077859  0.99847724]]

 t_gt:
[ 0.66912674 -0.56811084 -0.47908191]

Pose Error in degrees for R and t:
3.59507119487992 72.40919464168292

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999883e-01  4.15688946e-04 -2.46120541e-04]
 [-4.15335627e-04  9.99998886e-01  1.43386720e-03]
 [ 2.46716310e-04 -1.43376481e-03  9.99998942e-01]]

 t_estimated:
[[-8.01504622e-01]
 [-5.97988061e-01]
 [-7.87259675e-04]]

 R_gt:
[[ 0.96805535 -0.24595438  0.04872774]
 [ 0.24836267  0.9672846  -0.0517295 ]
 [-0.03441003  0.06217944  0.99747179]]

 t_gt:
[ 0.70511259 -0.69912433 -0.11849642]

Pose Error in degrees for R and t:
14.936930216303965 81.54748416162342

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 1.60264294e-02 -9.99870969e-01 -1.09469044e-03]
 [ 9.99871153e-01  1.60254156e-02  9.28709385e-04]
 [-9.11046684e-04 -1.10943328e-03  9.99998970e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91321039 -0.40433645  0.05059086]
 [ 0.40475926  0.91442085  0.00204719]
 [-0.047089    0.01860686  0.99871764]]

 t_gt:
[ 0.7626565  -0.64410097  0.05906775]

Pose Error in degrees for R and t:
65.26114222765429 40.473947412226394

Number of keypoints:
Image1: 387
Image2: 387

 R_estimated:
[[ 9.84633921e-01 -1.74631063e-01 -1.84616303e-04]
 [ 1.74631066e-01  9.84633937e-01  1.91476305e-07]
 [ 1.81746040e-04 -3.24282759e-05  9.99999983e-01]]

 t_estimated:
[[0.94737523]
 [0.32012305]
 [0.00118127]]

 R_gt:
[[ 9.98146176e-01  6.08374181e-02  1.98437909e-03]
 [-6.08622182e-02  9.98013966e-01  1.62494358e-02]
 [-9.93106627e-04 -1.63404443e-02  9.99865394e-01]]

 t_gt:
[-0.90512294  0.37259523  0.2047566 ]

Pose Error in degrees for R and t:
13.578317796337274 42.44098064601313

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 7.47856879e-01  6.63859896e-01 -3.56630483e-04]
 [-6.63859970e-01  7.47856610e-01 -6.55991431e-04]
 [-1.68777939e-04  7.27340407e-04  9.99999721e-01]]

 t_estimated:
[[-4.14423879e-02]
 [ 9.99140895e-01]
 [-2.01626474e-05]]

 R_gt:
[[ 0.98840268  0.14937435  0.0273232 ]
 [-0.15069406  0.98704108  0.05514909]
 [-0.01873204 -0.05862694  0.99810318]]

 t_gt:
[-0.90437449  0.26523568  0.33430048]

Pose Error in degrees for R and t:
33.14548484562147 72.39335055439197

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99608906e-01  2.79639067e-02 -2.34795027e-04]
 [-2.79640835e-02  9.99608619e-01 -7.86816958e-04]
 [ 2.12700657e-04  7.93075067e-04  9.99999663e-01]]

 t_estimated:
[[-0.98329857]
 [-0.1819928 ]
 [-0.00159648]]

 R_gt:
[[ 0.96605499  0.25829432  0.00462313]
 [-0.25830003  0.96546602  0.0339912 ]
 [ 0.00431548 -0.03403092  0.99941046]]

 t_gt:
[-0.86729082  0.49372217  0.06360069]

Pose Error in degrees for R and t:
13.521122097086108 40.28386793908729

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.91060904e-01  1.33409861e-01  3.06906021e-04]
 [-1.33409802e-01  9.91060938e-01 -2.04193033e-04]
 [-3.31403933e-04  1.61423461e-04  9.99999932e-01]]

 t_estimated:
[[-0.02016394]
 [-0.99979528]
 [-0.00168033]]

 R_gt:
[[ 0.98710749 -0.15999393 -0.00478665]
 [ 0.1600578   0.98689537  0.02049225]
 [ 0.00144651 -0.02099467  0.99977831]]

 t_gt:
[ 0.71152536 -0.70192775  0.03207949]

Pose Error in degrees for R and t:
16.919639864091767 46.57669448781292

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.98854501e-01  4.78466491e-02  6.20240761e-04]
 [-4.78466564e-02  9.98854693e-01 -3.15787200e-06]
 [-6.19681488e-04 -2.65221919e-05  9.99999808e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.95701963 -0.28437725  0.05696446]
 [ 0.2796215   0.95685112  0.07904131]
 [-0.07698363 -0.05971609  0.99524203]]

 t_gt:
[ 0.69942644 -0.6650001   0.26187309]

Pose Error in degrees for R and t:
19.946819055019525 46.11591978523891

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-9.60372478e-01  2.78710609e-01  2.25830947e-03]
 [-2.78719252e-01 -9.60354656e-01 -5.87484149e-03]
 [ 5.31397362e-04 -6.27147040e-03  9.99980193e-01]]

 t_estimated:
[[0.63687962]
 [0.77095954]
 [0.00239428]]

 R_gt:
[[ 0.924078   -0.37428422  0.07741976]
 [ 0.36605519  0.92494349  0.10239531]
 [-0.10993351 -0.06628133  0.99172589]]

 t_gt:
[ 0.73469752 -0.61793158  0.27996449]

Pose Error in degrees for R and t:
174.39556398977493 89.55216856238161

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999765e-01 -6.38168422e-04  2.49786687e-04]
 [ 6.38269171e-04  9.99999715e-01 -4.03470057e-04]
 [-2.49529134e-04  4.03629394e-04  9.99999887e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075958e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99381733  0.09776893 -0.05261173]
 [-0.09530748  0.99431658  0.04743386]
 [ 0.05695015 -0.04212581  0.99748778]]

 t_gt:
[-0.1081675   0.98409466  0.14091661]

Pose Error in degrees for R and t:
6.919132227049996 83.97247239337844

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999303e-01 -1.17142990e-03  1.48867103e-04]
 [ 1.17141416e-03  9.99999308e-01  1.05780517e-04]
 [-1.48990914e-04 -1.05606058e-04  9.99999983e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98069244  0.17278297 -0.0915841 ]
 [-0.1640388   0.98179822  0.09572698]
 [ 0.10645718 -0.07885456  0.99118508]]

 t_gt:
[-0.01035446  0.93056895  0.36597023]

Pose Error in degrees for R and t:
12.410108722118203 21.42975679417253

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99977083e-01 -6.76841802e-03  1.49480240e-04]
 [ 6.76841728e-03  9.99977094e-01  5.42529705e-06]
 [-1.49513536e-04 -4.41342808e-06  9.99999989e-01]]

 t_estimated:
[[-5.31293026e-01]
 [ 8.47188041e-01]
 [ 3.78896559e-04]]

 R_gt:
[[ 0.95254519  0.26907289 -0.14232411]
 [-0.25297943  0.95981623  0.1214667 ]
 [ 0.16928804 -0.07969817  0.98233902]]

 t_gt:
[ 0.0168095   0.99161039 -0.12816506]

Pose Error in degrees for R and t:
18.996442705892182 33.787982473406835

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 7.77856657e-01  6.28440959e-01  9.90638796e-04]
 [ 6.28431549e-01 -7.77852055e-01  4.46866505e-03]
 [ 3.57886258e-03 -2.85343219e-03 -9.99989525e-01]]

 t_estimated:
[[-0.95903013]
 [-0.28329461]
 [-0.0023192 ]]

 R_gt:
[[ 9.99135316e-01  4.15798265e-02 -8.31222656e-04]
 [-4.15023387e-02  9.95564011e-01 -8.44476563e-02]
 [-2.68305837e-03  8.44104838e-02  9.96427011e-01]]

 t_gt:
[-0.3201914   0.70678434 -0.6308196 ]

Pose Error in degrees for R and t:
175.640548562918 83.78221122111039

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.48204321 -0.87614351 -0.00262729]
 [ 0.87614506 -0.48203274 -0.00377671]
 [ 0.00204251 -0.00412242  0.99998942]]

 t_estimated:
[[ 9.94376156e-01]
 [-1.05905662e-01]
 [ 2.26084960e-04]]

 R_gt:
[[ 0.99608591  0.08811344 -0.00709586]
 [-0.08838743  0.99407244 -0.06331767]
 [ 0.00147447  0.06369739  0.99796785]]

 t_gt:
[-0.39735226  0.850064   -0.34569116]

Pose Error in degrees for R and t:
123.91817178505904 60.97295849874591

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.08105743  0.88732566 -0.45396351]
 [-0.97234033 -0.17049697 -0.15964042]
 [-0.21905244  0.42846698  0.87660257]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.97974209  0.19726024 -0.03454184]
 [-0.1989638   0.97841353 -0.05587255]
 [ 0.02277569  0.06161332  0.99784005]]

 t_gt:
[-0.50050741  0.83735672 -0.21983189]

Pose Error in degrees for R and t:
88.76855335370489 54.36597782328362

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99999937e-01  3.49597210e-04  6.79688701e-05]
 [-3.49603520e-04  9.99999935e-01  9.28525876e-05]
 [-6.79364046e-05 -9.28763439e-05  9.99999993e-01]]

 t_estimated:
[[5.99533256e-01]
 [8.00349837e-01]
 [1.13258505e-04]]

 R_gt:
[[ 0.99711011 -0.03469179 -0.06759614]
 [ 0.03253926  0.99893664 -0.03266727]
 [ 0.0686575   0.03037317  0.99717789]]

 t_gt:
[ 0.8708094   0.09229953 -0.48287865]

Pose Error in degrees for R and t:
4.730975066186083 53.42343778564827

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.94523329e-01  1.04514364e-01  3.08589760e-04]
 [-1.04514515e-01  9.94523224e-01  5.22157480e-04]
 [-2.52326726e-04 -5.51549905e-04  9.99999816e-01]]

 t_estimated:
[[0.48807014]
 [0.87280296]
 [0.00158981]]

 R_gt:
[[ 0.99437943 -0.07941638 -0.07002633]
 [ 0.07861587  0.99680568 -0.01410415]
 [ 0.07092359  0.00852008  0.99744526]]

 t_gt:
[ 0.97794866  0.01534753 -0.20828074]

Pose Error in degrees for R and t:
11.31059735569112 60.63497895646623

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999958e-01 -2.89810442e-04 -1.51442283e-06]
 [ 2.89811239e-04  9.99999804e-01  5.55792622e-04]
 [ 1.35334803e-06 -5.55793037e-04  9.99999846e-01]]

 t_estimated:
[[6.33746440e-01]
 [7.73540752e-01]
 [3.93837472e-04]]

 R_gt:
[[ 0.99393521 -0.05648316 -0.09436333]
 [ 0.05403082  0.99813751 -0.02834347]
 [ 0.09578918  0.02307358  0.99513438]]

 t_gt:
[ 0.95239658  0.16960748 -0.25332599]

Pose Error in degrees for R and t:
6.4830942609403905 42.72011483037488

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.16841297e-01 -3.99251845e-01 -2.34026657e-05]
 [ 3.99251823e-01  9.16841224e-01  3.89833278e-04]
 [-1.34185127e-04 -3.66758805e-04  9.99999924e-01]]

 t_estimated:
[[8.10570051e-01]
 [5.85641140e-01]
 [8.04865200e-04]]

 R_gt:
[[ 0.99822248 -0.05890404 -0.00914548]
 [ 0.05857123  0.99772997 -0.03322505]
 [ 0.0110809   0.03263094  0.99940563]]

 t_gt:
[ 0.49348641 -0.76998253 -0.40447257]

Pose Error in degrees for R and t:
20.260718363753856 87.06209280544029

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.94091292e-01  1.08547167e-01  1.24613871e-04]
 [-1.08547196e-01  9.94091262e-01  2.62425526e-04]
 [-9.53920129e-05 -2.74401416e-04  9.99999958e-01]]

 t_estimated:
[[7.58345948e-01]
 [6.51851949e-01]
 [6.78305865e-04]]

 R_gt:
[[ 0.99111262 -0.13242396 -0.01267054]
 [ 0.13170472  0.99018865 -0.04669181]
 [ 0.01872904  0.04460891  0.99882857]]

 t_gt:
[ 0.62190104 -0.73057587 -0.2819539 ]

Pose Error in degrees for R and t:
14.102290662022563 89.72484043265692

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.72519175e-01 -2.32822755e-01 -1.36302115e-04]
 [ 2.32822795e-01  9.72519024e-01  5.41583577e-04]
 [ 6.46341878e-06 -5.58434653e-04  9.99999844e-01]]

 t_estimated:
[[9.88023261e-01]
 [1.54302897e-01]
 [8.07868570e-04]]

 R_gt:
[[ 0.97188937 -0.23465982  0.01915687]
 [ 0.23530693  0.97086361 -0.04531992]
 [-0.00796426  0.04855425  0.9987881 ]]

 t_gt:
[ 0.72122816 -0.6867962  -0.09022703]

Pose Error in degrees for R and t:
2.8553454789820263 52.6600672101821

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-0.24881083  0.96854755  0.00296981]
 [ 0.96855059  0.24881468 -0.00100107]
 [-0.00170852  0.00262733 -0.99999509]]

 t_estimated:
[[0.80851357]
 [0.58847506]
 [0.00170572]]

 R_gt:
[[ 9.92027277e-01 -1.26009745e-01  2.09381674e-03]
 [ 1.26009144e-01  9.92028621e-01  1.53042622e-04]
 [-2.09607157e-03  1.12392758e-04  9.99998185e-01]]

 t_gt:
[ 0.75785738 -0.65240462 -0.00451776]

Pose Error in degrees for R and t:
179.73978800360553 76.77318916088525

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999693e-01  7.42451093e-04  2.48959826e-04]
 [-7.42457447e-04  9.99999724e-01  2.54292873e-05]
 [-2.48940878e-04 -2.56141216e-05  9.99999969e-01]]

 t_estimated:
[[9.85261569e-01]
 [1.71052356e-01]
 [8.55261779e-04]]

 R_gt:
[[ 0.98511957 -0.17093892 -0.0178963 ]
 [ 0.17086745  0.98527916 -0.00543178]
 [ 0.01856091  0.00229325  0.99982549]]

 t_gt:
[ 0.82362502 -0.55861117 -0.09795608]

Pose Error in degrees for R and t:
9.942912434643345 44.28705253414981

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999231e-01  7.28883713e-04 -1.00297133e-03]
 [-7.28878010e-04  9.99999734e-01  6.05129736e-06]
 [ 1.00297548e-03 -5.32024896e-06  9.99999497e-01]]

 t_estimated:
[[0.69644119]
 [0.717613  ]
 [0.00111431]]

 R_gt:
[[ 9.66813846e-01 -2.51902358e-01 -4.26276614e-02]
 [ 2.52165223e-01  9.67683840e-01  8.35031268e-04]
 [ 4.10394422e-02 -1.15554916e-02  9.99090848e-01]]

 t_gt:
[ 0.85033007 -0.51797598 -0.09294977]

Pose Error in degrees for R and t:
14.838437125565045 77.26776470781512

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.12026093  0.99272491 -0.00587878]
 [ 0.99271991 -0.12021632  0.0074304 ]
 [ 0.00666962 -0.00672957 -0.99995511]]

 t_estimated:
[[0.80676545]
 [0.59087047]
 [0.00126254]]

 R_gt:
[[ 0.9982932   0.01536792 -0.05635615]
 [-0.01927308  0.99740282 -0.06940411]
 [ 0.05514293  0.07037126  0.99599573]]

 t_gt:
[ 0.12609206  0.37566625 -0.91813706]

Pose Error in degrees for R and t:
179.6672837357988 71.18354085790943

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-4.89462770e-01  8.72020278e-01  2.61364085e-03]
 [ 8.72024052e-01  4.89458779e-01  2.03859288e-03]
 [ 4.98424872e-04  3.27697300e-03 -9.99994506e-01]]

 t_estimated:
[[-8.23212579e-01]
 [-5.67732813e-01]
 [-7.09666016e-04]]

 R_gt:
[[ 0.99327327 -0.01080266 -0.11528351]
 [-0.00533662  0.9903085  -0.13878361]
 [ 0.11566429  0.13846464  0.98358979]]

 t_gt:
[ 0.25588546  0.2531978  -0.93295954]

Pose Error in degrees for R and t:
178.36537473961386 69.2840805725808

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-6.83586720e-01  7.29869143e-01 -4.79251372e-04]
 [ 7.29865342e-01  6.83585028e-01  2.84464009e-03]
 [ 2.40382409e-03  1.59476922e-03 -9.99995839e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.98663275  0.01472777 -0.16229537]
 [-0.03857534  0.98871093 -0.14478512]
 [ 0.15833049  0.14911024  0.97606237]]

 t_gt:
[ 0.22255601  0.35752126 -0.9069991 ]

Pose Error in degrees for R and t:
174.79738136631207 73.96104784369302

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.92316685e-01 -1.23723327e-01  3.67680572e-04]
 [ 1.23723655e-01  9.92316132e-01 -1.07260372e-03]
 [-2.32149262e-04  1.10985336e-03  9.99999357e-01]]

 t_estimated:
[[ 0.61459459]
 [ 0.78884257]
 [-0.00093848]]

 R_gt:
[[ 0.99486431  0.0993518   0.01933436]
 [-0.09907786  0.99497222 -0.01461368]
 [-0.02068843  0.01262333  0.99970584]]

 t_gt:
[-0.93866427  0.34106213 -0.05085286]

Pose Error in degrees for R and t:
12.871554257920396 72.07294434304127

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.8320748  -0.55457827  0.00971968]
 [ 0.55465568  0.83202809 -0.00929164]
 [-0.00293411  0.01312242  0.99990959]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96373806  0.26583844  0.02323387]
 [-0.26612817  0.96388078  0.01041196]
 [-0.01962627 -0.01621757  0.99967502]]

 t_gt:
[-0.88125646  0.46353721  0.09230552]

Pose Error in degrees for R and t:
49.141027480061844 64.58466013953408

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.48428223  0.87490626 -0.00312355]
 [ 0.87489953 -0.48425339  0.00703341]
 [ 0.00464098 -0.00613895 -0.99997039]]

 t_estimated:
[[0.69459325]
 [0.71940015]
 [0.00190822]]

 R_gt:
[[ 0.91578879  0.40022048  0.03399241]
 [-0.40102859  0.91581319  0.02148096]
 [-0.02253426 -0.03330314  0.99919102]]

 t_gt:
[-0.84949529  0.51467869  0.11603279]

Pose Error in degrees for R and t:
179.01820148878215 77.31608360011394

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.08960929 -0.97358233 -0.21001817]
 [-0.98109488  0.12260188 -0.1497385 ]
 [ 0.17153138  0.19262979 -0.9661629 ]]

 t_estimated:
[[ 0.78080132]
 [ 0.61561569]
 [-0.10661437]]

 R_gt:
[[ 9.86217457e-01 -1.63107650e-01 -2.77580000e-02]
 [ 1.63184207e-01  9.86594810e-01  5.14354024e-04]
 [ 2.73028823e-02 -5.03682417e-03  9.99614582e-01]]

 t_gt:
[ 0.66779714 -0.73381971 -0.12472211]

Pose Error in degrees for R and t:
164.2637959674036 85.24109329222519

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999868e-01 -3.10235696e-04 -4.08628804e-04]
 [ 3.10410548e-04  9.99999860e-01  4.27907502e-04]
 [ 4.08495995e-04 -4.28034288e-04  9.99999825e-01]]

 t_estimated:
[[ 9.99998385e-01]
 [-1.64911831e-03]
 [-7.15108389e-04]]

 R_gt:
[[ 0.95119806 -0.30316666 -0.05754896]
 [ 0.30040183  0.95239379 -0.05200435]
 [ 0.07057577  0.03217863  0.99698673]]

 t_gt:
[ 0.74848766 -0.60009217 -0.28223325]

Pose Error in degrees for R and t:
18.123010532620484 41.4375154598296

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-0.84973028  0.52721667 -0.00102006]
 [-0.52721382 -0.84972988 -0.00217038]
 [-0.00201103 -0.00130645  0.99999712]]

 t_estimated:
[[0.55159344]
 [0.83411241]
 [0.00108242]]

 R_gt:
[[ 0.91777996 -0.39535725 -0.03706313]
 [ 0.39271253  0.91752086 -0.06270372]
 [ 0.05879712  0.04299282  0.99734414]]

 t_gt:
[ 0.76774939 -0.60148829 -0.22084547]

Pose Error in degrees for R and t:
171.4267092492153 85.49981214540983

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.95323092e-01 -9.66019627e-02 -5.45261197e-05]
 [ 9.66019716e-02  9.95323074e-01  1.94185496e-04]
 [ 3.55124051e-05 -1.98544639e-04  9.99999980e-01]]

 t_estimated:
[[3.91548032e-01]
 [9.20157648e-01]
 [2.03954855e-04]]

 R_gt:
[[ 0.99847258 -0.00308457 -0.05515471]
 [-0.00251414  0.99486844 -0.10115078]
 [ 0.05518374  0.10113522  0.99334114]]

 t_gt:
[ 0.08277277  0.25042873 -0.96459013]

Pose Error in degrees for R and t:
8.625434780425733 74.77283423470818

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.08731606  0.99617919  0.00171297]
 [-0.99618004 -0.08731395 -0.00126741]
 [-0.001113   -0.0018171   0.99999773]]

 t_estimated:
[[0.00867646]
 [0.99996177]
 [0.00108456]]

 R_gt:
[[ 0.99430881  0.0239505  -0.10380455]
 [-0.04181254  0.9839481  -0.17348728]
 [ 0.0979819   0.17684003  0.97934978]]

 t_gt:
[-0.00977532  0.3709341  -0.92860774]

Pose Error in degrees for R and t:
93.67691542606094 68.29499135181709

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 7.72227665e-01 -6.35344718e-01  1.23420619e-03]
 [ 6.35345891e-01  7.72225627e-01 -1.78335869e-03]
 [ 1.79961875e-04  2.16130675e-03  9.99997648e-01]]

 t_estimated:
[[-0.04896067]
 [-0.99879771]
 [-0.00244803]]

 R_gt:
[[ 0.98442996  0.04751983 -0.16922736]
 [-0.08873304  0.96543556 -0.24507591]
 [ 0.15173169  0.25627673  0.95461984]]

 t_gt:
[-0.00780689  0.42514286 -0.90509259]

Pose Error in degrees for R and t:
46.58334139357384 65.03694447184141

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.96961431 -0.24443894  0.00988384]
 [ 0.2445757   0.96948994 -0.01649188]
 [-0.00555103  0.01840811  0.99981515]]

 t_estimated:
[[-0.23332883]
 [-0.97220347]
 [-0.01944407]]

 R_gt:
[[ 0.99804521  0.06147852  0.01125818]
 [-0.06128909  0.99798361 -0.01651268]
 [-0.01225092  0.01579169  0.99980026]]

 t_gt:
[-0.92599203  0.29968075 -0.22963059]

Pose Error in degrees for R and t:
17.674428457177747 85.93862195008465

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.976726   -0.21448659 -0.00135146]
 [ 0.21448817  0.97672589  0.00116399]
 [ 0.00107035 -0.00142678  0.99999841]]

 t_estimated:
[[9.99996327e-01]
 [2.67327497e-03]
 [4.46416956e-04]]

 R_gt:
[[ 0.97660835  0.21486062  0.0084988 ]
 [-0.21493576  0.9765843   0.00926683]
 [-0.00630833 -0.01087545  0.99992121]]

 t_gt:
[-0.919727    0.38589054  0.07204678]

Pose Error in degrees for R and t:
24.805411030207768 23.26905692222094

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.26347515 -0.96466033 -0.00336008]
 [ 0.9644377  -0.26333535 -0.02268074]
 [ 0.02099438 -0.0092164   0.99973711]]

 t_estimated:
[[ 0.9495952 ]
 [-0.31335214]
 [-0.00891048]]

 R_gt:
[[ 0.93184633  0.36229974  0.02006711]
 [-0.36235318  0.93204039 -0.00106618]
 [-0.01908849 -0.00627675  0.99979796]]

 t_gt:
[-0.85979593  0.50904415  0.04031153]

Pose Error in degrees for R and t:
126.54014730119947 12.491699875864578

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.80817983  0.5889038   0.0061381 ]
 [-0.58887336  0.80820202 -0.00613696]
 [-0.0085749   0.0013452   0.99996233]]

 t_estimated:
[[0.78977456]
 [0.61339157]
 [0.00263258]]

 R_gt:
[[ 0.99753496  0.00587526 -0.06994079]
 [-0.010621    0.99765184 -0.06767152]
 [ 0.06937888  0.06824759  0.99525348]]

 t_gt:
[ 0.18933147  0.27760164 -0.94185504]

Pose Error in degrees for R and t:
36.05498301182117 71.498579242186

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.08379845e-01 -4.18145660e-01 -5.14468579e-04]
 [ 4.18145859e-01  9.08379824e-01  3.68721577e-04]
 [ 3.13153551e-04 -5.50062155e-04  9.99999800e-01]]

 t_estimated:
[[9.21432230e-01]
 [3.88538454e-01]
 [7.18185682e-04]]

 R_gt:
[[ 0.99310451 -0.01578797 -0.11617008]
 [ 0.00411988  0.99497989 -0.09999955]
 [ 0.11716477  0.09883175  0.98818249]]

 t_gt:
[ 0.31643299  0.18425167 -0.93054902]

Pose Error in degrees for R and t:
25.68059570176352 68.74667609773927

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.75699984  0.65340357  0.00387538]
 [-0.65337216  0.75700478 -0.00697006]
 [-0.00748794  0.00274427  0.9999682 ]]

 t_estimated:
[[0.0419209 ]
 [0.99911483]
 [0.00349341]]

 R_gt:
[[ 0.9859401   0.04635534 -0.16054861]
 [-0.06603124  0.99064042 -0.11947147]
 [ 0.15350673  0.12839287  0.97977114]]

 t_gt:
[ 0.11481466  0.48756333 -0.8655054 ]

Pose Error in degrees for R and t:
39.24656441003689 60.7302925115609

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99975277e-01 -7.03033558e-03  1.41125974e-04]
 [ 7.03034190e-03  9.99975286e-01 -4.43718123e-05]
 [-1.40810537e-04  4.53628791e-05  9.99999989e-01]]

 t_estimated:
[[8.20623560e-01]
 [5.71468719e-01]
 [6.90179613e-04]]

 R_gt:
[[ 9.98112595e-01 -5.67636989e-02 -2.34439848e-02]
 [ 5.67604756e-02  9.98387181e-01 -7.49954880e-04]
 [ 2.34479551e-02 -5.82083074e-04  9.99724651e-01]]

 t_gt:
[ 0.88853692 -0.40870409 -0.20847808]

Pose Error in degrees for R and t:
3.156051892698195 60.30064865337728

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99997697e-01  2.13548357e-03  2.12817888e-04]
 [-2.13548285e-03  9.99997720e-01 -3.61403684e-06]
 [-2.12825120e-04  3.15955957e-06  9.99999977e-01]]

 t_estimated:
[[9.99969968e-01]
 [7.70068638e-03]
 [8.73362112e-04]]

 R_gt:
[[ 0.99214594 -0.11866914 -0.03955008]
 [ 0.11870354  0.99292842 -0.00146906]
 [ 0.03944473 -0.00323693  0.99921553]]

 t_gt:
[ 0.86680277 -0.46515206 -0.1796845 ]

Pose Error in degrees for R and t:
7.306151407401775 30.340600686076176

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.92754889 -0.37368862 -0.0031419 ]
 [ 0.37369934 -0.92754061 -0.0041497 ]
 [-0.00136355 -0.00502318  0.99998645]]

 t_estimated:
[[0.84684923]
 [0.53183152]
 [0.00127538]]

 R_gt:
[[ 0.98683551 -0.15729284 -0.03762834]
 [ 0.1569902   0.98754007 -0.01085897]
 [ 0.03886764  0.00480919  0.99923212]]

 t_gt:
[ 0.85405996 -0.49745451 -0.1520546 ]

Pose Error in degrees for R and t:
149.01316871207408 62.70937809229031

Number of keypoints:
Image1: 398
Image2: 398

 R_estimated:
[[ 9.98162051e-01 -6.06012554e-02  8.93615797e-05]
 [ 6.06012165e-02  9.98161982e-01  3.88375787e-04]
 [-1.12733392e-04 -3.82246551e-04  9.99999921e-01]]

 t_estimated:
[[0.80794674]
 [0.58925044]
 [0.0024457 ]]

 R_gt:
[[ 0.99840523  0.03432976 -0.04480891]
 [-0.03308585  0.99905469  0.0281893 ]
 [ 0.04573459 -0.02666169  0.99859763]]

 t_gt:
[0.23254    0.97129669 0.0500789 ]

Pose Error in degrees for R and t:
6.197145477206237 40.50587090825324

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 8.07056231e-01 -5.90473797e-01 -9.66821991e-04]
 [ 5.90474537e-01  8.07055760e-01  9.05843090e-04]
 [ 2.45402648e-04 -1.30195008e-03  9.99999122e-01]]

 t_estimated:
[[9.69001245e-01]
 [2.47054142e-01]
 [9.15015340e-04]]

 R_gt:
[[ 0.99503714  0.00429963 -0.09940673]
 [-0.00658732  0.9997206  -0.02270327]
 [ 0.09928191  0.02324506  0.9947878 ]]

 t_gt:
[ 0.74948497  0.48435613 -0.4512997 ]

Pose Error in degrees for R and t:
36.95054695820878 32.27433425499083

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.14108566e-01  4.05446275e-01 -4.34125757e-03]
 [-4.05438378e-01  9.14118663e-01  2.60597446e-03]
 [ 5.02500720e-03 -6.22031149e-04  9.99987181e-01]]

 t_estimated:
[[-0.99842201]
 [-0.05581241]
 [-0.00620138]]

 R_gt:
[[ 0.99177629 -0.04073034 -0.12132858]
 [ 0.03845514  0.99903866 -0.02104893]
 [ 0.12206933  0.01621102  0.99238989]]

 t_gt:
[ 0.91572423  0.28670144 -0.28151629]

Pose Error in degrees for R and t:
27.052627915175396 21.79242206256171

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.03505389e-01  4.28576724e-01  5.28514623e-05]
 [-4.28576727e-01  9.03505385e-01  8.85124491e-05]
 [-9.81720532e-06 -1.02622382e-04  9.99999995e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.99293687 -0.11720773 -0.01844131]
 [ 0.11680932  0.9929248  -0.02137661]
 [ 0.02081629  0.01907148  0.99960178]]

 t_gt:
[ 0.65911182 -0.72205556 -0.2102555 ]

Pose Error in degrees for R and t:
32.13796768279293 88.3371091976569

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-9.43307694e-01 -3.31919531e-01 -1.40327260e-04]
 [-3.31919536e-01  9.43307380e-01  7.79645368e-04]
 [-1.26407785e-04  7.82022833e-04 -9.99999686e-01]]

 t_estimated:
[[9.90165775e-01]
 [1.39896518e-01]
 [8.37703702e-04]]

 R_gt:
[[ 0.97895257 -0.20408696 -0.00137938]
 [ 0.2040407   0.97883531 -0.01580613]
 [ 0.00457652  0.01519141  0.99987468]]

 t_gt:
[ 0.7210391  -0.69138506 -0.04570911]

Pose Error in degrees for R and t:
179.69019168358068 51.88895350786582

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 4.05276841e-01  9.14193266e-01  1.16398142e-03]
 [-9.14191573e-01  4.05278371e-01 -1.79150024e-03]
 [-2.10951395e-03 -3.38048445e-04  9.99997718e-01]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.96842155 -0.24634184  0.03842099]
 [ 0.24806635  0.96747856 -0.04949562]
 [-0.02497795  0.05746393  0.99803529]]

 t_gt:
[ 0.77151477 -0.63437015 -0.04836821]

Pose Error in degrees for R and t:
80.47974807738483 51.398726944294204

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99299609 -0.11807422  0.00415188]
 [ 0.11808538  0.99300017 -0.00255258]
 [-0.00382142  0.00302498  0.99998812]]

 t_estimated:
[[ 0.99955613]
 [-0.02957994]
 [ 0.00354482]]

 R_gt:
[[ 0.99850781  0.03470222 -0.04217918]
 [-0.03961051  0.99177146 -0.12173363]
 [ 0.03760796  0.12322304  0.99166552]]

 t_gt:
[-0.11848048  0.55118807 -0.8259262 ]

Pose Error in degrees for R and t:
11.537631440677727 82.08755077022685

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.15381240e-01 -9.09646728e-01 -1.12056309e-03]
 [ 9.09647418e-01  4.15380954e-01  4.88147664e-04]
 [ 2.14186386e-05 -1.22208470e-03  9.99999253e-01]]

 t_estimated:
[[ 6.67062043e-01]
 [-7.45002063e-01]
 [ 3.96773562e-04]]

 R_gt:
[[ 0.99682806  0.07685806 -0.02065656]
 [-0.07879269  0.98963801 -0.12003055]
 [ 0.01121746  0.12127702  0.99255514]]

 t_gt:
[-0.27212921  0.74802643 -0.60531162]

Pose Error in degrees for R and t:
70.24723736096986 42.34957730114216

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.79917419 -0.59275114 -0.0998334 ]
 [ 0.59291421  0.80465872 -0.03125849]
 [ 0.09886032 -0.03421166  0.99451305]]

 t_estimated:
[[ 0.83556464]
 [-0.54199608]
 [-0.08984417]]

 R_gt:
[[ 0.98537051  0.16419866 -0.04564297]
 [-0.16792249  0.98116224 -0.09551161]
 [ 0.02910069  0.10177822  0.99438077]]

 t_gt:
[-0.40410246  0.82348044 -0.39822252]

Pose Error in degrees for R and t:
46.52987037834216 41.56539715550139

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-8.74499557e-01 -4.85026151e-01 -3.96048383e-04]
 [-4.85025727e-01  8.74496941e-01  2.26808166e-03]
 [-7.53735820e-04  2.17553007e-03 -9.99997349e-01]]

 t_estimated:
[[9.42457497e-01]
 [3.34325173e-01]
 [7.38024665e-04]]

 R_gt:
[[ 0.99264684  0.09068688 -0.08018546]
 [-0.08517291  0.99392537  0.06970958]
 [ 0.0860198  -0.06236776  0.99434009]]

 t_gt:
[0.77584572 0.52307931 0.35277677]

Pose Error in degrees for R and t:
176.33383398505666 24.995556875205242

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-9.90934305e-01  1.34344956e-01  7.97236063e-04]
 [ 1.34347311e-01  9.90914442e-01  6.27446378e-03]
 [ 5.29498291e-05  6.32468793e-03 -9.99979998e-01]]

 t_estimated:
[[9.59114389e-01]
 [2.83017361e-01]
 [8.73510372e-04]]

 R_gt:
[[ 0.97967383  0.18022496 -0.0880922 ]
 [-0.17315866  0.98145578  0.08222972]
 [ 0.10127744 -0.06530527  0.99271282]]

 t_gt:
[-0.1012493   0.97418491  0.20177301]

Pose Error in degrees for R and t:
174.25648411990738 79.70141987540964

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.35115357  0.93629211 -0.00694631]
 [ 0.93629064  0.35119028  0.00502225]
 [ 0.00714177 -0.00474018 -0.99996326]]

 t_estimated:
[[ 0.88292788]
 [-0.46949317]
 [-0.00381186]]

 R_gt:
[[ 0.9521049   0.26590328 -0.1509743 ]
 [-0.24723051  0.9599756   0.13161907]
 [ 0.1799284  -0.08798977  0.9797365 ]]

 t_gt:
[ 0.04656746  0.99866922 -0.02216449]

Pose Error in degrees for R and t:
167.9602266658765 64.68033229386947

Number of keypoints:
Image1: 363
Image2: 363

 R_estimated:
[[-0.36685445 -0.92988936  0.02689966]
 [-0.92989571  0.36737949  0.01806333]
 [-0.02667928 -0.01838726 -0.99947492]]

 t_estimated:
[[0.8350434 ]
 [0.54996408]
 [0.01555722]]

 R_gt:
[[ 0.9987929  -0.03786249 -0.03129661]
 [ 0.03822298  0.99920877  0.01100705]
 [ 0.0308551  -0.01218997  0.99944895]]

 t_gt:
[ 0.93347823  0.35536378 -0.04832156]

Pose Error in degrees for R and t:
179.2410081633704 13.048219384080939

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.95499403e-01  9.47677647e-02  9.80046861e-05]
 [-9.47677817e-02  9.95499389e-01  1.86754996e-04]
 [-7.98652515e-05 -1.95202174e-04  9.99999978e-01]]

 t_estimated:
[[0.61079756]
 [0.79178639]
 [0.00081279]]

 R_gt:
[[ 0.99829204 -0.00191285 -0.05838023]
 [ 0.0037849   0.99948135  0.03197625]
 [ 0.05828942 -0.03214321  0.99778155]]

 t_gt:
[0.58035886 0.81149963 0.06820525]

Pose Error in degrees for R and t:
6.7770659160537585 4.3859276443585955

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.3282638   0.94452555  0.01069399]
 [ 0.94447999  0.32837557 -0.01127099]
 [-0.01415738  0.0064004  -0.99987929]]

 t_estimated:
[[0.69263608]
 [0.72128526]
 [0.00168525]]

 R_gt:
[[ 0.99323708 -0.01790337 -0.1147165 ]
 [ 0.018271    0.9998314   0.00215125]
 [ 0.11465928 -0.00423297  0.99339585]]

 t_gt:
[ 0.78832964  0.54872424 -0.278277  ]

Pose Error in degrees for R and t:
175.3988325512905 19.72161828722139

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999996e-01  1.65553178e-05 -8.65481217e-05]
 [-1.65452729e-05  9.99999993e-01  1.16061072e-04]
 [ 8.65500425e-05 -1.16059640e-04  9.99999990e-01]]

 t_estimated:
[[-0.65318626]
 [-0.75719681]
 [-0.00083208]]

 R_gt:
[[ 0.98638166 -0.16188407  0.02907563]
 [ 0.16062024  0.98614271  0.04152321]
 [-0.03539454 -0.03628704  0.99871452]]

 t_gt:
[ 0.66070521 -0.71023037  0.24298446]

Pose Error in degrees for R and t:
9.728854767393013 83.9141543701345

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 6.15192096e-01 -7.88375945e-01 -1.43321523e-03]
 [ 7.88376243e-01  6.15193198e-01 -4.78719336e-04]
 [ 1.25911507e-03 -8.35408484e-04  9.99998858e-01]]

 t_estimated:
[[ 9.52651642e-01]
 [-3.04063884e-01]
 [-5.81528763e-05]]

 R_gt:
[[ 0.9576417  -0.27882656  0.07195612]
 [ 0.27325348  0.95873947  0.07843114]
 [-0.09085463 -0.05544595  0.99431953]]

 t_gt:
[ 0.68387998 -0.6639699   0.30241056]

Pose Error in degrees for R and t:
36.471756374826846 31.419759416908253

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.99946402  0.0160991   0.02850423]
 [-0.01492599  0.99905171 -0.04090097]
 [-0.02913567  0.0404536   0.99875654]]

 t_estimated:
[[ 0.7764439 ]
 [ 0.63018443]
 [-0.00156382]]

 R_gt:
[[ 0.93907072 -0.33652022  0.07000495]
 [ 0.32996114  0.93962961  0.09067733]
 [-0.09629303 -0.06205243  0.99341735]]

 t_gt:
[ 0.72297952 -0.62911458  0.28550913]

Pose Error in degrees for R and t:
21.741631551073645 80.53481113581525

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.76277077  0.6466647   0.00234703]
 [ 0.64666817  0.7627705   0.00120023]
 [-0.0010141   0.00243326 -0.99999653]]

 t_estimated:
[[0.95837811]
 [0.28549955]
 [0.00118465]]

 R_gt:
[[ 0.99546289  0.07899781  0.0530525 ]
 [-0.07781866  0.99668028 -0.02392491]
 [-0.05476682  0.01968788  0.99830469]]

 t_gt:
[-0.48236724  0.80372475  0.34835094]

Pose Error in degrees for R and t:
176.56719349558088 76.56073596739638

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.96914517e-01 -7.84942681e-02  3.10489993e-04]
 [ 7.84946979e-02  9.96912948e-01 -1.77660909e-03]
 [-1.70077864e-04  1.79549921e-03  9.99998374e-01]]

 t_estimated:
[[-0.85411499]
 [-0.52007992]
 [-0.00211415]]

 R_gt:
[[ 0.98439295  0.15983089  0.07365663]
 [-0.15673202  0.98656404 -0.04612127]
 [-0.08003798  0.03385677  0.99621672]]

 t_gt:
[-0.49977506  0.8264348   0.25928828]

Pose Error in degrees for R and t:
14.485728124928615 89.79975388882731

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.41469174e-01 -3.37098456e-01 -6.51941738e-04]
 [ 3.37098836e-01  9.41469072e-01  6.01395916e-04]
 [ 4.11053348e-04 -7.85964517e-04  9.99999607e-01]]

 t_estimated:
[[ 9.96756223e-01]
 [-8.04773088e-02]
 [ 6.59934071e-04]]

 R_gt:
[[ 0.98050139  0.15459309  0.12132367]
 [-0.15006875  0.98762111 -0.04563859]
 [-0.1268781   0.02654162  0.99156352]]

 t_gt:
[-0.47287909  0.74417245  0.47179734]

Pose Error in degrees for R and t:
29.447734763895145 57.932172963965336

Number of keypoints:
Image1: 661
Image2: 661

 R_estimated:
[[ 0.60428717  0.79567025 -0.04178359]
 [ 0.79545697 -0.59945828  0.08887055]
 [ 0.04566414 -0.08694038 -0.9951664 ]]

 t_estimated:
[[-0.44071464]
 [ 0.89630294]
 [ 0.04910862]]

 R_gt:
[[ 0.99657121  0.07751707  0.0289537 ]
 [-0.07789957  0.99688455  0.01232593]
 [-0.02790772 -0.01453889  0.99950416]]

 t_gt:
[-0.92085758  0.26763061  0.28354043]

Pose Error in degrees for R and t:
174.40179494451664 48.72774533882664

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 1.19595429e-01  9.92822328e-01 -8.70925372e-04]
 [-9.92820677e-01  1.19593362e-01 -2.12882950e-03]
 [-2.00939257e-03  1.11927099e-03  9.99997355e-01]]

 t_estimated:
[[0.34082217]
 [0.94012721]
 [0.00104227]]

 R_gt:
[[ 0.98535282  0.17047526  0.00434344]
 [-0.17051898  0.98466598  0.03681926]
 [ 0.0019996  -0.03702043  0.99931226]]

 t_gt:
[-0.92906699  0.34308177  0.13830916]

Pose Error in degrees for R and t:
73.34155218586521 89.65404389815288

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 9.42597788e-01 -3.33929639e-01 -6.36585188e-04]
 [ 3.33929712e-01  9.42597978e-01  8.06615501e-06]
 [ 5.97350382e-04 -2.20177848e-04  9.99999797e-01]]

 t_estimated:
[[-0.33861297]
 [-0.94092455]
 [-0.00149829]]

 R_gt:
[[ 0.96054431  0.27468054  0.04366248]
 [-0.27597946  0.96078046  0.02710467]
 [-0.03450505 -0.0380863   0.99867823]]

 t_gt:
[-0.85433954  0.50025675  0.14087987]

Pose Error in degrees for R and t:
35.62009122884917 79.53560411709918

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.27862465e-01  3.72921425e-01  9.25749418e-04]
 [-3.72918360e-01  9.27860923e-01 -2.45050462e-03]
 [-1.77281238e-03  1.92850230e-03  9.99996569e-01]]

 t_estimated:
[[-0.98387678]
 [-0.17884388]
 [-0.00115728]]

 R_gt:
[[ 0.98816614 -0.15109363 -0.02641948]
 [ 0.14932376  0.98699735 -0.0594934 ]
 [ 0.03506592  0.05484386  0.99787913]]

 t_gt:
[ 0.70027766 -0.53965079 -0.46732026]

Pose Error in degrees for R and t:
30.75701833774448 53.70570917048455

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.98976533  0.14269508  0.00164749]
 [-0.14269143  0.98976487 -0.00215637]
 [-0.00193834  0.00189922  0.99999632]]

 t_estimated:
[[-0.22055649]
 [-0.97537361]
 [-0.00107066]]

 R_gt:
[[ 0.96820547 -0.24944583  0.01887284]
 [ 0.2501027   0.96681728 -0.05209592]
 [-0.00525099  0.05515919  0.99846381]]

 t_gt:
[ 0.71710984 -0.66885309 -0.19593118]

Pose Error in degrees for R and t:
22.879121451043815 60.36794776995111

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.97328668e-01 -7.30445993e-02  1.17082674e-04]
 [ 7.30446089e-02  9.97328671e-01 -8.00465352e-05]
 [-1.10922940e-04  8.83849625e-05  9.99999990e-01]]

 t_estimated:
[[9.07421875e-01]
 [4.20220231e-01]
 [7.05067502e-04]]

 R_gt:
[[ 0.90678894 -0.41856777  0.05034844]
 [ 0.4197673   0.90749577 -0.01573365]
 [-0.03910551  0.03540218  0.99860766]]

 t_gt:
[ 0.77761446 -0.62871641  0.00560502]

Pose Error in degrees for R and t:
20.82862584462743 63.8049093056429

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999989e-01 -1.47438804e-04  4.09638138e-06]
 [ 1.47438828e-04  9.99999989e-01 -5.86275495e-06]
 [-4.09551694e-06  5.86335885e-06  1.00000000e+00]]

 t_estimated:
[[ 0.16082289]
 [-0.98698194]
 [-0.00162877]]

 R_gt:
[[ 0.99958969 -0.02688811  0.01001064]
 [ 0.0267278   0.9995189   0.0157268 ]
 [-0.01042923 -0.01545287  0.99982544]]

 t_gt:
[ 0.69289217 -0.34265754  0.63441805]

Pose Error in degrees for R and t:
1.863901464645126 63.34633379900664

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99998845e-01 -7.76924085e-04  1.30644406e-03]
 [ 7.77820155e-04  9.99999463e-01 -6.85516712e-04]
 [-1.30591076e-03  6.86532099e-04  9.99998912e-01]]

 t_estimated:
[[-0.68282007]
 [-0.73058616]
 [-0.00078305]]

 R_gt:
[[ 0.9989409   0.04263318 -0.01733672]
 [-0.04331213  0.99822856 -0.04079236]
 [ 0.01556605  0.04149921  0.99901641]]

 t_gt:
[-0.40241633  0.76756316 -0.49890669]

Pose Error in degrees for R and t:
3.565021104319634 73.4051396046435

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-9.89766396e-01 -1.42688121e-01 -1.60671722e-03]
 [ 1.42689194e-01 -9.89767379e-01 -5.73662374e-04]
 [-1.50842149e-03 -7.97052925e-04  9.99998545e-01]]

 t_estimated:
[[7.79627685e-01]
 [6.26242860e-01]
 [7.43845137e-04]]

 R_gt:
[[ 0.99209922  0.11070428 -0.0590432 ]
 [-0.11668181  0.98707755 -0.10983321]
 [ 0.04612051  0.1158543   0.99219449]]

 t_gt:
[-0.39949333  0.73459061 -0.5484357 ]

Pose Error in degrees for R and t:
178.359287891959 81.47921892068038

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.92834165e-01 -1.19500297e-01 -2.56450821e-05]
 [ 1.19500299e-01  9.92834132e-01  2.56436963e-04]
 [-5.18298031e-06 -2.57663973e-04  9.99999967e-01]]

 t_estimated:
[[0.99981909]
 [0.01890414]
 [0.00210046]]

 R_gt:
[[ 0.99930798  0.03381777 -0.01548471]
 [-0.03452321  0.99826132 -0.04778751]
 [ 0.01384221  0.04828872  0.99873684]]

 t_gt:
[-0.26816649  0.81211747 -0.51821998]

Pose Error in degrees for R and t:
9.284165582652353 75.29430486185487

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.97672735e-01  6.81843996e-02  2.89573689e-05]
 [-6.81843997e-02  9.97672736e-01  2.70194537e-06]
 [-2.87057469e-05 -4.67009804e-06  1.00000000e+00]]

 t_estimated:
[[0.5189021 ]
 [0.85483313]
 [0.0009681 ]]

 R_gt:
[[ 0.99943693 -0.01324968  0.0308226 ]
 [ 0.01355043  0.99986237 -0.00956694]
 [-0.03069168  0.00997882  0.99947851]]

 t_gt:
[0.11476398 0.31594944 0.94180952]

Pose Error in degrees for R and t:
5.029538854336281 70.69801523367379

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999875e-01  3.31669916e-04 -3.74691679e-04]
 [-3.31878312e-04  9.99999790e-01 -5.56254008e-04]
 [ 3.74507108e-04  5.56378291e-04  9.99999775e-01]]

 t_estimated:
[[-0.72475965]
 [-0.68899979]
 [-0.00165622]]

 R_gt:
[[ 0.99201543 -0.0633904   0.10902826]
 [ 0.05495262  0.99538063  0.07873822]
 [-0.11351516 -0.0721184   0.9909147 ]]

 t_gt:
[ 0.17431966 -0.3285515   0.92825997]

Pose Error in degrees for R and t:
8.486047616296114 84.34750748491743

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.17322265e-01 -3.98145306e-01 -4.21611189e-04]
 [ 3.98145423e-01  9.17322278e-01  2.43504837e-04]
 [ 2.89803029e-04 -3.91234974e-04  9.99999881e-01]]

 t_estimated:
[[ 8.20965250e-01]
 [-5.70978158e-01]
 [-4.07292679e-05]]

 R_gt:
[[ 0.98531617 -0.16830757 -0.02872227]
 [ 0.16758627  0.98551666 -0.02589313]
 [ 0.03266441  0.02069995  0.9992522 ]]

 t_gt:
[ 0.71019428 -0.65700263 -0.25292615]

Pose Error in degrees for R and t:
13.96547189197687 16.626713269450068

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99999979e-01  1.81387680e-04  9.61878972e-05]
 [-1.81375315e-04  9.99999975e-01 -1.28547149e-04]
 [-9.62112117e-05  1.28529700e-04  9.99999987e-01]]

 t_estimated:
[[ 0.23160405]
 [-0.97280879]
 [-0.00161844]]

 R_gt:
[[ 0.95988098 -0.27731391 -0.04154028]
 [ 0.27388146  0.95897071 -0.073226  ]
 [ 0.06014273  0.0589113   0.99645036]]

 t_gt:
[ 0.73818197 -0.57830662 -0.34734541]

Pose Error in degrees for R and t:
16.743388473845737 42.76794634995944

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 1.00000000e+00 -4.73898698e-13 -1.24845880e-16]
 [ 4.74065232e-13  1.00000000e+00 -6.01515365e-16]
 [-1.62630326e-18  6.49003420e-16  1.00000000e+00]]

 t_estimated:
[[-0.33368246]
 [-0.94268468]
 [-0.00126875]]

 R_gt:
[[ 0.91843521 -0.39477013  0.02515372]
 [ 0.39551475  0.91537869 -0.0751561 ]
 [ 0.00664445  0.07897537  0.99685483]]

 t_gt:
[ 0.76572363 -0.61622907 -0.18419839]

Pose Error in degrees for R and t:
23.746743817473345 70.99595773076382

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-6.02386287e-01 -7.98202187e-01 -2.00722327e-03]
 [ 7.98196499e-01 -6.02389592e-01  3.02128439e-03]
 [-3.62072622e-03  2.17821701e-04  9.99993421e-01]]

 t_estimated:
[[0.99997437]
 [0.00691065]
 [0.00187348]]

 R_gt:
[[ 0.99587149  0.08515916 -0.03143799]
 [-0.08695192  0.99434848 -0.0609095 ]
 [ 0.02607398  0.06339125  0.99764727]]

 t_gt:
[-0.5094007   0.70916753 -0.48743444]

Pose Error in degrees for R and t:
132.021709162754 59.64208887617228

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.26093100e-01 -3.77292142e-01  1.48677359e-03]
 [-3.77293049e-01 -9.26093847e-01  3.75450707e-04]
 [ 1.23523727e-03 -9.08651650e-04 -9.99998824e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99059117  0.11097982 -0.08008188]
 [-0.12222872  0.98065346 -0.15290136]
 [ 0.0615641   0.16125058  0.98499048]]

 t_gt:
[-0.34413121  0.6567034  -0.67105466]

Pose Error in degrees for R and t:
170.36526670167459 49.16776286299356

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.54432625e-01 -2.98426307e-01  3.21929486e-04]
 [-2.98426105e-01 -9.54432581e-01 -5.55894952e-04]
 [ 4.73153668e-04  4.34492115e-04 -9.99999794e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97859374  0.1454369  -0.14560999]
 [-0.17597743  0.95818582 -0.22563464]
 [ 0.10670651  0.24642851  0.96326867]]

 t_gt:
[-0.2605059   0.64709686 -0.71652099]

Pose Error in degrees for R and t:
165.28925164881628 49.85573696881598

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-6.49813069e-01  7.60093926e-01 -4.46672939e-04]
 [ 7.60085463e-01  6.49808404e-01  4.37345089e-03]
 [ 3.61448529e-03  2.50241594e-03 -9.99990337e-01]]

 t_estimated:
[[8.47972649e-01]
 [5.30039449e-01]
 [7.54291049e-04]]

 R_gt:
[[ 0.98812165 -0.1384706   0.06664457]
 [ 0.13410089  0.98875973  0.06610683]
 [-0.07504927 -0.05638389  0.99558496]]

 t_gt:
[ 0.53811036 -0.67522607  0.50448687]

Pose Error in degrees for R and t:
177.88758755684168 84.33067851728097

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 1.00000000e+00 -2.42345033e-12  1.55040911e-17]
 [ 2.42353360e-12  1.00000000e+00  8.91702077e-16]
 [ 1.78134417e-16  4.52735722e-16  1.00000000e+00]]

 t_estimated:
[[ 9.89779511e-01]
 [-1.42605261e-01]
 [ 5.08263328e-04]]

 R_gt:
[[ 0.96870953 -0.23197009  0.08827411]
 [ 0.22412385  0.97035684  0.09042703]
 [-0.10663382 -0.06781213  0.99198353]]

 t_gt:
[ 0.61814844 -0.64343864  0.45152987]

Pose Error in degrees for R and t:
15.088487305525492 45.265877579144835

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 6.76654535e-02  9.97708018e-01  3.11869889e-04]
 [-9.97706896e-01  6.76658496e-02 -1.51045826e-03]
 [-1.52809926e-03 -2.08948896e-04  9.99998811e-01]]

 t_estimated:
[[2.37022397e-01]
 [9.71503701e-01]
 [9.70309284e-04]]

 R_gt:
[[ 0.96045634 -0.27092101  0.06422042]
 [ 0.26478156  0.96007843  0.09021743]
 [-0.086099   -0.06964433  0.99385005]]

 t_gt:
[ 0.69316469 -0.62429708  0.36024417]

Pose Error in degrees for R and t:
101.84827520584184 63.77726675098256

Number of keypoints:
Image1: 505
Image2: 505

 R_estimated:
[[ 9.87284488e-01  1.58963329e-01  1.49271438e-05]
 [-1.58963329e-01  9.87284485e-01  7.26159726e-05]
 [-3.19406074e-06 -7.40654918e-05  9.99999997e-01]]

 t_estimated:
[[0.54804912]
 [0.8364456 ]
 [0.00095813]]

 R_gt:
[[ 0.99930753 -0.01619708 -0.03352512]
 [ 0.01731422  0.99929529  0.03332448]
 [ 0.03296209 -0.0338818   0.99888147]]

 t_gt:
[ 0.76370867 -0.64551677  0.00756102]

Pose Error in degrees for R and t:
10.462445886753805 83.02809985384728

Number of keypoints:
Image1: 611
Image2: 611

 R_estimated:
[[ 9.99982031e-01  5.99474554e-03  1.10988993e-05]
 [-5.99474526e-03  9.99982031e-01 -2.56639472e-05]
 [-1.12525487e-05  2.55969510e-05  1.00000000e+00]]

 t_estimated:
[[-3.10719854e-01]
 [-9.50501530e-01]
 [ 1.16029453e-04]]

 R_gt:
[[ 0.99882083  0.04130849 -0.02554052]
 [-0.04009803  0.99812522  0.04624645]
 [ 0.02740254 -0.04516815  0.99860296]]

 t_gt:
[-0.91941944 -0.041063    0.39112879]

Pose Error in degrees for R and t:
3.6251182523754237 71.04910386457112

Number of keypoints:
Image1: 486
Image2: 486

 R_estimated:
[[ 9.99400670e-01  3.46159436e-02 -1.93908300e-04]
 [-3.46159487e-02  9.99400688e-01 -2.25056570e-05]
 [ 1.93013034e-04  2.92044885e-05  9.99999981e-01]]

 t_estimated:
[[-0.80174748]
 [-0.59766116]
 [-0.00145461]]

 R_gt:
[[ 0.99160867  0.12925018  0.00256688]
 [-0.12897946  0.98778541  0.0874354 ]
 [ 0.00876553 -0.08703277  0.99616593]]

 t_gt:
[-0.90729727  0.13236331  0.39911355]

Pose Error in degrees for R and t:
7.40735420392741 49.62900269013911

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 8.03847825e-01  5.94834185e-01  9.83410921e-04]
 [-5.94834058e-01  8.03848395e-01 -4.48728496e-04]
 [-1.05743234e-03 -2.24256883e-04  9.99999416e-01]]

 t_estimated:
[[-0.09400365]
 [ 0.9955708 ]
 [ 0.00144644]]

 R_gt:
[[ 0.99513014  0.06233298 -0.07636057]
 [-0.06144413  0.9980133   0.01393773]
 [ 0.07707774 -0.00917851  0.99698177]]

 t_gt:
[ 0.50347291  0.39387947 -0.76900845]

Pose Error in degrees for R and t:
33.246889753765345 69.89788978397385

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.92637951 -0.37616557  0.0179017 ]
 [-0.37441112  0.92508292  0.06354459]
 [-0.04046384  0.05216381 -0.99781843]]

 t_estimated:
[[0.96669935]
 [0.25549068]
 [0.01472646]]

 R_gt:
[[ 0.98126347  0.15504122 -0.11438818]
 [-0.14913633  0.98708218  0.05853801]
 [ 0.12198614 -0.04038167  0.99170939]]

 t_gt:
[ 0.36772807  0.71659773 -0.59267508]

Pose Error in degrees for R and t:
175.30488563527106 58.005455041531526

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-4.53139915e-01  8.91291180e-01  1.62557406e-02]
 [ 8.91404518e-01  4.53208170e-01 -5.82991050e-04]
 [-7.88684921e-03  1.42262641e-02 -9.99867697e-01]]

 t_estimated:
[[ 0.55918387]
 [-0.82901286]
 [ 0.00714656]]

 R_gt:
[[ 0.96141935  0.2292358  -0.15206568]
 [-0.21385614  0.97054033  0.11098461]
 [ 0.17302745 -0.0741821   0.98211844]]

 t_gt:
[ 0.37162301  0.88963347 -0.26542158]

Pose Error in degrees for R and t:
169.9091392059949 57.88577722864863

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.21830123 -0.97587142 -0.00442015]
 [-0.97587847  0.21828716  0.00345468]
 [-0.00240646  0.00506769 -0.99998426]]

 t_estimated:
[[7.50814435e-01]
 [6.60512796e-01]
 [7.28239025e-04]]

 R_gt:
[[ 0.99588084 -0.00767332  0.09034619]
 [ 0.01323268  0.99804537 -0.06108643]
 [-0.08970072  0.06203075  0.99403519]]

 t_gt:
[-0.47107283  0.86613438 -0.16703781]

Pose Error in degrees for R and t:
178.2494066314778 77.39179966332581

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99998657e-01  1.20974194e-03  1.10551145e-03]
 [-1.20869189e-03  9.99998818e-01 -9.50004344e-04]
 [-1.10665940e-03  9.48666846e-04  9.99998938e-01]]

 t_estimated:
[[0.99999823]
 [0.00155384]
 [0.00105827]]

 R_gt:
[[ 0.98573333 -0.04984222  0.160765  ]
 [ 0.06844068  0.99131422 -0.11230266]
 [-0.15377046  0.12170376  0.98058291]]

 t_gt:
[-0.11975412  0.99025343 -0.07111324]

Pose Error in degrees for R and t:
11.755203435294415 83.20654855941073

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.99989441  0.01030019 -0.01025036]
 [-0.01013955  0.99982687  0.01560221]
 [ 0.01040929 -0.01549663  0.99982574]]

 t_estimated:
[[ 9.98344707e-01]
 [ 5.75138835e-02]
 [-1.07419667e-05]]

 R_gt:
[[ 0.98500272 -0.07654126  0.15463423]
 [ 0.08678975  0.99438007 -0.06063131]
 [-0.14912341  0.07314333  0.98611003]]

 t_gt:
[0.27101094 0.90100318 0.33874229]

Pose Error in degrees for R and t:
11.740333605117314 71.19314859961312

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-9.51162470e-01 -3.08690670e-01 -1.61249965e-04]
 [-3.08690666e-01  9.51162484e-01 -4.86222184e-05]
 [ 1.68384142e-04  3.52872972e-06 -9.99999986e-01]]

 t_estimated:
[[9.75700960e-01]
 [2.19104777e-01]
 [8.55878035e-04]]

 R_gt:
[[ 0.99345896  0.11036361  0.02927724]
 [-0.10963555  0.99364568 -0.02545212]
 [-0.03190055  0.02207605  0.99924626]]

 t_gt:
[-0.57033801  0.81403264  0.10984268]

Pose Error in degrees for R and t:
178.48637533155312 67.78848302652356

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.99073958 -0.13576489  0.00172439]
 [ 0.13576815  0.99073873 -0.00194106]
 [-0.00144489  0.0021572   0.99999663]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99171097  0.10439365  0.07491193]
 [-0.10304544  0.9944407  -0.02166407]
 [-0.07675692  0.01376497  0.99695451]]

 t_gt:
[-0.54618315  0.71012176  0.44430963]

Pose Error in degrees for R and t:
14.435482992919972 89.25857259760764

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.49628700e-01 -3.13377147e-01 -3.09913980e-04]
 [ 3.13377245e-01  9.49628656e-01  3.44311824e-04]
 [ 1.86403739e-04 -4.24088378e-04  9.99999893e-01]]

 t_estimated:
[[ 5.03486133e-02]
 [-9.98731698e-01]
 [-1.12383404e-04]]

 R_gt:
[[ 0.99291169  0.09888983  0.0659358 ]
 [-0.09785719  0.99502436 -0.01872384]
 [-0.06745957  0.01213986  0.99764714]]

 t_gt:
[-0.54815304  0.71532923  0.43339629]

Pose Error in degrees for R and t:
24.234413607650342 42.092001394149946

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 8.96749906e-01  4.42537681e-01  8.40281533e-05]
 [-4.42536853e-01  8.96748565e-01 -1.77361827e-03]
 [-8.60245044e-04  1.55330647e-03  9.99998424e-01]]

 t_estimated:
[[0.55627389]
 [0.830997  ]
 [0.00183009]]

 R_gt:
[[ 0.99942553  0.03315208 -0.00706096]
 [-0.0323101   0.99473811  0.09722433]
 [ 0.01024572 -0.09694086  0.99523707]]

 t_gt:
[-0.60476591 -0.1774107   0.77639142]

Pose Error in degrees for R and t:
25.032404444876658 61.156268403501606

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 0.89306708 -0.4490846  -0.02746281]
 [-0.44924995 -0.88672862 -0.10902678]
 [ 0.02461019  0.10970589 -0.99365938]]

 t_estimated:
[[ 0.17898961]
 [ 0.9820179 ]
 [-0.0600297 ]]

 R_gt:
[[ 0.98755654  0.15597727  0.02009187]
 [-0.15684122  0.98619978  0.05301349]
 [-0.01154602 -0.05550557  0.99839185]]

 t_gt:
[-0.9093748   0.35959544  0.20911381]

Pose Error in degrees for R and t:
176.8043202664427 79.75792218776444

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.9998154   0.01918362 -0.0010709 ]
 [-0.01918481  0.99981534 -0.00111117]
 [ 0.00104939  0.00113151  0.99999881]]

 t_estimated:
[[-0.81844739]
 [-0.5745666 ]
 [-0.00413357]]

 R_gt:
[[ 0.96217386  0.2672413   0.05293738]
 [-0.27150547  0.95664893  0.10538954]
 [-0.02247904 -0.11577677  0.99302137]]

 t_gt:
[-0.84875446  0.44877784  0.27966821]

Pose Error in degrees for R and t:
16.10646014445943 64.1732053856509

Number of keypoints:
Image1: 336
Image2: 336

 R_estimated:
[[-0.88244087  0.45789601  0.10783946]
 [ 0.45838155  0.88849024 -0.0217131 ]
 [-0.10575665  0.0302711  -0.99393118]]

 t_estimated:
[[ 0.97768718]
 [-0.20348761]
 [ 0.05215916]]

 R_gt:
[[ 0.99922069 -0.03555717 -0.01716402]
 [ 0.03524621  0.99921435 -0.01811633]
 [ 0.01779548  0.01749655  0.99968892]]

 t_gt:
[ 0.73264419  0.00077518 -0.68061141]

Pose Error in degrees for R and t:
174.41864083823086 47.10640565808122

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 2.99381971e-01  9.54130402e-01  2.36869432e-03]
 [-9.54133338e-01  2.99380815e-01  8.36835585e-04]
 [ 8.93086401e-05 -2.51058370e-03  9.99996844e-01]]

 t_estimated:
[[0.41396183]
 [0.91029363]
 [0.00105603]]

 R_gt:
[[ 0.99637595 -0.08398101  0.01352866]
 [ 0.08443675  0.9957185  -0.03762613]
 [-0.01031067  0.03863176  0.99920095]]

 t_gt:
[ 0.94918978 -0.18876348 -0.2518077 ]

Pose Error in degrees for R and t:
77.44352316282348 77.2420811930151

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.86876866e-01 -1.61474520e-01 -1.78200278e-04]
 [ 1.61474583e-01  9.86876777e-01  4.31559282e-04]
 [ 1.06175888e-04 -4.54670687e-04  9.99999891e-01]]

 t_estimated:
[[-0.48835932]
 [-0.87264206]
 [-0.00100074]]

 R_gt:
[[ 0.9858963  -0.16523711  0.02654868]
 [ 0.16604144  0.98561132 -0.03164258]
 [-0.02093681  0.03560503  0.99914626]]

 t_gt:
[ 0.91863581 -0.39281195 -0.04250906]

Pose Error in degrees for R and t:
2.405521168856877 83.92687908824087

Number of keypoints:
Image1: 396
Image2: 396

 R_estimated:
[[ 9.71942898e-01 -2.35216922e-01 -4.73528598e-05]
 [ 2.35216924e-01  9.71942898e-01  4.52398197e-05]
 [ 3.53831046e-05 -5.51087155e-05  9.99999998e-01]]

 t_estimated:
[[-0.57961228]
 [-0.81489193]
 [-0.00085868]]

 R_gt:
[[ 0.9987873   0.04805735  0.01069913]
 [-0.0483672   0.99835373  0.0308286 ]
 [-0.00920037 -0.03130888  0.99946657]]

 t_gt:
[-0.82262355 -0.13791709  0.55160617]

Pose Error in degrees for R and t:
16.474185216255638 53.934014353666505

Number of keypoints:
Image1: 366
Image2: 366

 R_estimated:
[[ 0.20879674  0.80867815  0.54994869]
 [-0.80725997 -0.17490718  0.56368326]
 [ 0.55202831 -0.56164679  0.61629345]]

 t_estimated:
[[0.69026303]
 [0.72355807]
 [0.00081207]]

 R_gt:
[[ 0.99483402  0.09988953  0.01811767]
 [-0.10047225  0.99433685  0.03465283]
 [-0.01455353 -0.03629379  0.99923524]]

 t_gt:
[-0.92712459 -0.01667861  0.3743819 ]

Pose Error in degrees for R and t:
94.20479626592098 49.32830817494876

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[ 9.93468392e-01  1.14107589e-01  1.14677554e-04]
 [-1.14107590e-01  9.93468398e-01  1.90866449e-06]
 [-1.13710733e-04 -1.49817771e-05  9.99999993e-01]]

 t_estimated:
[[-8.54438959e-01]
 [ 5.19551793e-01]
 [-1.04302662e-05]]

 R_gt:
[[ 0.97090659  0.2374538   0.03091485]
 [-0.23876912  0.96979997  0.04978062]
 [-0.01816099 -0.05571282  0.99828085]]

 t_gt:
[-0.94371771  0.19080234  0.2701691 ]

Pose Error in degrees for R and t:
7.974738256695645 25.112252673765585

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.15415561e-01 -4.02509883e-01 -3.79679472e-04]
 [ 4.02510040e-01  9.15415417e-01  5.30272044e-04]
 [ 1.34124704e-04 -6.38244080e-04  9.99999787e-01]]

 t_estimated:
[[0.87852729]
 [0.47768979]
 [0.00150691]]

 R_gt:
[[ 9.99165363e-01 -2.75301016e-03  4.07605738e-02]
 [-7.53416740e-05  9.97602016e-01  6.92155483e-02]
 [-4.08524323e-02 -6.91601039e-02  9.96767988e-01]]

 t_gt:
[-0.24794943 -0.36638544  0.89681815]

Pose Error in degrees for R and t:
24.09235961481513 66.95228967024156

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 4.25522444e-01  9.04947005e-01  1.25183391e-03]
 [ 9.04945419e-01 -4.25524104e-01  1.73944799e-03]
 [ 2.10679375e-03  3.92667202e-04 -9.99997704e-01]]

 t_estimated:
[[-4.74603642e-01]
 [-8.80199417e-01]
 [-6.08015225e-04]]

 R_gt:
[[ 0.99888426 -0.01345772  0.04527865]
 [ 0.00882982  0.99485713  0.10090233]
 [-0.04640399 -0.10038868  0.99386493]]

 t_gt:
[-0.09794118 -0.45109379  0.8870862 ]

Pose Error in degrees for R and t:
176.48785787997957 63.70478198877912

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.26123099  0.96422386 -0.04506359]
 [ 0.95712813 -0.25269037  0.14160975]
 [ 0.12515636 -0.08012448 -0.98889633]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.99342942 -0.10932616  0.03387212]
 [ 0.10550584  0.98945655  0.09921904]
 [-0.04436131 -0.09499225  0.9944886 ]]

 t_gt:
[ 0.45225216 -0.67921575  0.57804321]

Pose Error in degrees for R and t:
169.08326980670626 87.95152188649706

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99285508e-01  3.77951293e-02  5.16913013e-05]
 [-3.77951121e-02  9.99285464e-01 -3.00144250e-04]
 [-6.29983568e-05  2.97976120e-04  9.99999954e-01]]

 t_estimated:
[[-0.25014394]
 [-0.96820419]
 [-0.00294287]]

 R_gt:
[[ 0.99848932 -0.04412814  0.03271911]
 [ 0.04336498  0.99877948  0.02366735]
 [-0.03372356 -0.02221269  0.99918426]]

 t_gt:
[ 0.40344413 -0.63267857  0.66102244]

Pose Error in degrees for R and t:
5.218799965245545 59.356308444929134

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.60109619 -0.79917428 -0.00195918]
 [ 0.79916287 -0.60106958 -0.00735289]
 [ 0.00469864 -0.00598549  0.99997105]]

 t_estimated:
[[9.73882288e-01]
 [2.27051555e-01]
 [9.38229565e-04]]

 R_gt:
[[ 0.98843656 -0.10195078  0.11225   ]
 [ 0.08914133  0.98950149  0.11376346]
 [-0.1226691  -0.10244113  0.98714545]]

 t_gt:
[ 0.28142432 -0.48950903  0.82533706]

Pose Error in degrees for R and t:
121.67135885038212 80.5780024019609

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.83186437  0.55497771  0.00118494]
 [-0.55496836  0.83185977 -0.0044107 ]
 [-0.00343354  0.0030115   0.99998957]]

 t_estimated:
[[0.81817693]
 [0.57496543]
 [0.00112079]]

 R_gt:
[[ 0.9738565  -0.14038066  0.17859544]
 [ 0.10167678  0.97241766  0.20991661]
 [-0.20313691 -0.18626947  0.96126946]]

 t_gt:
[ 0.25348901 -0.37946042  0.8898051 ]

Pose Error in degrees for R and t:
43.723069257640894 89.43961084245989

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.09285711e-01  4.16172417e-01  1.24003149e-04]
 [-4.16171661e-01  9.09284554e-01 -1.65794933e-03]
 [-8.02746930e-04  1.45594304e-03  9.99998618e-01]]

 t_estimated:
[[0.81031638]
 [0.58599151]
 [0.00114451]]

 R_gt:
[[ 0.99368618 -0.07305504  0.08515346]
 [ 0.06548283  0.99391559  0.08857163]
 [-0.09110469 -0.08243538  0.99242361]]

 t_gt:
[ 0.23921433 -0.49745455  0.83385579]

Pose Error in degrees for R and t:
29.431929193719213 84.45022299375951

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.80856415 -0.58840548  0.00173209]
 [-0.58837469  0.80854617  0.00826505]
 [-0.00626368  0.00566371 -0.99996434]]

 t_estimated:
[[0.99519718]
 [0.09788109]
 [0.00136431]]

 R_gt:
[[ 0.97922908 -0.12596508  0.15888251]
 [ 0.09476228  0.977082    0.19060771]
 [-0.17925016 -0.17159142  0.96872337]]

 t_gt:
[ 0.24009092 -0.39895162  0.88498246]

Pose Error in degrees for R and t:
167.17150842067608 78.39897863674868

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-8.77635763e-01 -4.79326341e-01 -1.31394765e-03]
 [ 4.79328060e-01 -8.77633916e-01 -1.82219330e-03]
 [-2.79739778e-04 -2.22903399e-03  9.99997477e-01]]

 t_estimated:
[[0.9258871 ]
 [0.37779916]
 [0.00093054]]

 R_gt:
[[ 0.9729917  -0.10621742  0.2049535 ]
 [ 0.05174761  0.96561572  0.25477241]
 [-0.22496637 -0.23728486  0.94503209]]

 t_gt:
[ 0.13125745 -0.24256595  0.96121446]

Pose Error in degrees for R and t:
147.1815642753647 88.2359958749687

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.97459407e-01 -7.12371454e-02 -1.24677861e-05]
 [ 7.12371464e-02  9.97459401e-01  1.07461997e-04]
 [ 4.78082454e-06 -1.08077150e-04  9.99999994e-01]]

 t_estimated:
[[3.02345902e-01]
 [9.53198274e-01]
 [7.26117313e-05]]

 R_gt:
[[ 0.99876794 -0.03035541  0.03927532]
 [ 0.02678262  0.99571768  0.08848414]
 [-0.04179323 -0.08732283  0.99530356]]

 t_gt:
[-0.03916122 -0.49977719  0.86526826]

Pose Error in degrees for R and t:
6.063574469961868 60.78001185715637

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-8.04343376e-01 -5.94159849e-01 -2.41007567e-03]
 [-5.94162903e-01  8.04344353e-01  7.78363136e-04]
 [ 1.47605864e-03  2.05804879e-03 -9.99996793e-01]]

 t_estimated:
[[9.00930277e-01]
 [4.33963298e-01]
 [7.02205983e-04]]

 R_gt:
[[ 0.99722692 -0.05146681  0.05376739]
 [ 0.04424078  0.99080446  0.12786088]
 [-0.05985394 -0.12512742  0.99033417]]

 t_gt:
[ 0.00675286 -0.51525948  0.85700762]

Pose Error in degrees for R and t:
174.74020448190583 77.47192043978924

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 2.15376753e-01  9.76527852e-01  2.49158186e-03]
 [ 9.76530583e-01 -2.15378396e-01  4.07825271e-04]
 [ 9.34885640e-04  2.34526980e-03 -9.99996813e-01]]

 t_estimated:
[[-9.73941544e-01]
 [-2.26797914e-01]
 [-7.58521452e-04]]

 R_gt:
[[ 0.99578896 -0.07454196  0.05336445]
 [ 0.06577245  0.98641315  0.15054065]
 [-0.06386138 -0.14639602  0.98716281]]

 t_gt:
[ 0.14123541 -0.55118637  0.82234187]

Pose Error in degrees for R and t:
175.52910795011132 89.24534248319257

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.26202608  0.96482737 -0.02122442]
 [ 0.96481306 -0.26139716  0.02841283]
 [ 0.02186547 -0.0279225  -0.99937092]]

 t_estimated:
[[ 0.63370402]
 [-0.77338051]
 [-0.01737238]]

 R_gt:
[[ 0.99656775  0.08171778  0.01324597]
 [-0.08213649  0.99600835  0.0349545 ]
 [-0.01033752 -0.03592164  0.99930143]]

 t_gt:
[-0.89295356  0.07477025  0.44389566]

Pose Error in degrees for R and t:
176.7653314734442 50.846096084536846

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-2.83319426e-01 -9.59025370e-01 -6.65578342e-04]
 [ 9.59024299e-01 -2.83317830e-01 -1.84392552e-03]
 [ 1.57980114e-03 -1.16072572e-03  9.99998078e-01]]

 t_estimated:
[[ 0.69488952]
 [-0.71911437]
 [-0.00175673]]

 R_gt:
[[ 0.99247881  0.11581206  0.03967399]
 [-0.11797065  0.99136728  0.05721905]
 [-0.0327053  -0.06146824  0.99757283]]

 t_gt:
[-0.862918    0.02152663  0.50488527]

Pose Error in degrees for R and t:
113.22872422208337 51.97540206513103

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.94705517e-01  1.02766334e-01 -1.23569515e-04]
 [-1.02766387e-01  9.94705370e-01 -5.44144030e-04]
 [ 6.69955725e-05  5.53961861e-04  9.99999844e-01]]

 t_estimated:
[[-0.99994508]
 [-0.01041609]
 [-0.00115734]]

 R_gt:
[[ 0.97810171  0.20428753  0.03980904]
 [-0.20596009  0.97758177  0.04375735]
 [-0.02997823 -0.05099746  0.99824886]]

 t_gt:
[-0.94487701  0.15374115  0.28908666]

Pose Error in degrees for R and t:
6.860855331001673 19.45744417085945

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.95357624e-01 -9.62453439e-02 -1.83313335e-04]
 [ 9.62453649e-02  9.95357633e-01  1.09746543e-04]
 [ 1.71899733e-04 -1.26880117e-04  9.99999977e-01]]

 t_estimated:
[[9.53602302e-01]
 [3.01068719e-01]
 [5.25419892e-04]]

 R_gt:
[[ 0.99955898  0.01951594  0.02238393]
 [-0.01940773  0.99979804 -0.00510989]
 [-0.02247936  0.00467316  0.99973547]]

 t_gt:
[-0.5025413   0.59879649  0.62361446]

Pose Error in degrees for R and t:
6.769845061519626 72.6253846867206

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99375284e-01  3.53417878e-02 -3.31480555e-06]
 [-3.53417877e-02  9.99375284e-01  1.32847473e-05]
 [ 3.78224145e-06 -1.31592970e-05  1.00000000e+00]]

 t_estimated:
[[-3.45627786e-01]
 [ 9.38371678e-01]
 [ 1.67480379e-04]]

 R_gt:
[[ 0.99891718  0.02163338  0.04118347]
 [-0.021863    0.99974737  0.00510872]
 [-0.0410625  -0.00600316  0.99913839]]

 t_gt:
[-0.37838889  0.35702914  0.8540211 ]

Pose Error in degrees for R and t:
2.5032838099528334 62.22822785957689

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99991463e-01  4.13130110e-03  7.97502315e-05]
 [-4.13135911e-03  9.99991191e-01  7.41469380e-04]
 [-7.66862957e-05 -7.41792527e-04  9.99999722e-01]]

 t_estimated:
[[0.60305569]
 [0.79769271]
 [0.00319077]]

 R_gt:
[[ 9.99519504e-01  8.72195695e-03  2.97502318e-02]
 [-8.71569821e-03  9.99961459e-01 -3.85956069e-04]
 [-2.97519917e-02  1.26160559e-04  9.99556381e-01]]

 t_gt:
[-0.3293857   0.23082491  0.91554624]

Pose Error in degrees for R and t:
1.7227160828289318 89.33596862646276

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 8.73621141e-01  4.86606708e-01  1.18865090e-04]
 [-4.86604987e-01  8.73618653e-01 -2.45682629e-03]
 [-1.29935091e-03  2.08849504e-03  9.99996975e-01]]

 t_estimated:
[[0.38147445]
 [0.92437889]
 [0.00096089]]

 R_gt:
[[ 0.99822305  0.05909924 -0.00767371]
 [-0.058361    0.99548232  0.07488792]
 [ 0.01206513 -0.07430702  0.99716212]]

 t_gt:
[-0.88051892 -0.09809386  0.46374996]

Pose Error in degrees for R and t:
26.12306129563296 64.77805970888154

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.98501043e-01  5.47326319e-02  7.87291577e-05]
 [-5.47326068e-02  9.98501005e-01 -2.92141658e-04]
 [-9.46008248e-05  2.87394698e-04  9.99999954e-01]]

 t_estimated:
[[-0.34903864]
 [-0.93710751]
 [-0.00124571]]

 R_gt:
[[ 0.99269559  0.12058823 -0.00381231]
 [-0.11956128  0.98749074  0.10280035]
 [ 0.01616135 -0.10159407  0.99469441]]

 t_gt:
[-0.91702047  0.11989264  0.38039351]

Pose Error in degrees for R and t:
7.022744824739103 78.0387901398952

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[-8.88541314e-01 -4.58790375e-01 -2.39263089e-03]
 [ 4.58792858e-01 -8.88543059e-01 -5.87817206e-04]
 [-1.85627069e-03 -1.62002184e-03  9.99996965e-01]]

 t_estimated:
[[0.9886182 ]
 [0.1504419 ]
 [0.00113114]]

 R_gt:
[[ 0.96874648  0.24077976  0.05963337]
 [-0.24611129  0.96300388  0.10979046]
 [-0.03099171 -0.12103586  0.99216443]]

 t_gt:
[-0.88217687  0.35933107  0.30437668]

Pose Error in degrees for R and t:
166.85753275587697 35.14146540621376

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.98442908e-01  5.57831425e-02 -8.20591007e-06]
 [-5.57831428e-02  9.98442907e-01 -4.66619970e-05]
 [ 5.59017988e-06  4.70470914e-05  9.99999999e-01]]

 t_estimated:
[[-3.29571327e-01]
 [-9.44130655e-01]
 [-2.15213523e-04]]

 R_gt:
[[ 0.99802634  0.00945297  0.06208866]
 [-0.00420502  0.99644679 -0.08411872]
 [-0.06266242  0.0836923   0.99451933]]

 t_gt:
[-0.65571552  0.49091109 -0.5736231 ]

Pose Error in degrees for R and t:
6.622335901354285 75.68482049075305

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999999e-01 -5.06986578e-05 -2.50315807e-06]
 [ 5.06988021e-05  9.99999997e-01  5.76822054e-05]
 [ 2.50023365e-06 -5.76823323e-05  9.99999998e-01]]

 t_estimated:
[[0.99996451]
 [0.00836378]
 [0.00101595]]

 R_gt:
[[ 0.98678674  0.03082947  0.15906819]
 [-0.00937342  0.99094928 -0.13390497]
 [-0.16175628  0.13064534  0.97814408]]

 t_gt:
[-0.74278016  0.64477574 -0.18039368]

Pose Error in degrees for R and t:
12.059545563853849 42.47735392504075

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-2.52287576e-01  9.67652149e-01 -5.44688065e-04]
 [-9.67649330e-01 -2.52288156e-01 -2.33672159e-03]
 [-2.39855202e-03 -6.24587844e-05  9.99997122e-01]]

 t_estimated:
[[0.23611489]
 [0.97172384]
 [0.00159352]]

 R_gt:
[[ 0.97202829  0.00137902  0.2348632 ]
 [ 0.04896799  0.9768172  -0.20839695]
 [-0.22970622  0.21406983  0.94942619]]

 t_gt:
[-0.57109524  0.78589306 -0.23711246]

Pose Error in degrees for R and t:
107.0795825563886 51.06420806145604

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.97508243e-01  7.05499934e-02  5.20000967e-05]
 [-7.05499944e-02  9.97508245e-01  1.65012522e-05]
 [-5.07063620e-05 -2.01287416e-05  9.99999999e-01]]

 t_estimated:
[[-9.49183139e-02]
 [-9.95485056e-01]
 [-1.32375694e-04]]

 R_gt:
[[ 0.99582128  0.02090617  0.08890723]
 [-0.01219675  0.99517112 -0.09739879]
 [-0.09051441  0.09590788  0.99126574]]

 t_gt:
[ 0.07602183  0.95363369 -0.29121036]

Pose Error in degrees for R and t:
8.182769859884653 16.96063626753332

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.17463845 -0.98463159 -0.00143167]
 [ 0.98463146 -0.1746403   0.00128498]
 [-0.00151526 -0.00118526  0.99999815]]

 t_estimated:
[[9.96963463e-01]
 [7.78649311e-02]
 [9.51619065e-04]]

 R_gt:
[[ 0.99291187 -0.00339705  0.11880416]
 [ 0.01996066  0.99016115 -0.13850313]
 [-0.11716529  0.13989386  0.98321021]]

 t_gt:
[ 0.64398597  0.63461101 -0.4272598 ]

Pose Error in degrees for R and t:
99.80095486778778 46.287681035316936

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.06859274 -0.99763567  0.00425493]
 [ 0.99762961  0.06861458  0.00521643]
 [-0.00549605  0.00388703  0.99997734]]

 t_estimated:
[[ 0.99958987]
 [-0.02860689]
 [ 0.00131523]]

 R_gt:
[[ 0.984785    0.09707375  0.14413558]
 [-0.0761615   0.98662545 -0.14411823]
 [-0.15619875  0.13094861  0.97900706]]

 t_gt:
[ 0.03811636  0.99886955 -0.02840376]

Pose Error in degrees for R and t:
91.64362160335578 89.45632261827912

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999764e-01  6.08017181e-04  3.20629907e-04]
 [-6.07931449e-04  9.99999779e-01 -2.67414174e-04]
 [-3.20792429e-04  2.67219190e-04  9.99999913e-01]]

 t_estimated:
[[0.99999052]
 [0.00414681]
 [0.00132555]]

 R_gt:
[[ 0.99441927 -0.09218742  0.05128554]
 [ 0.09415694  0.99485435 -0.0374071 ]
 [-0.04757376  0.04202707  0.99798287]]

 t_gt:
[ 0.39899216 -0.90493584 -0.14797423]

Pose Error in degrees for R and t:
6.486854707663173 66.73155398109712

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999953e-01  3.08099330e-04  3.67650590e-08]
 [-3.08099328e-04  9.99999951e-01 -5.58987866e-05]
 [-5.39874360e-08  5.58987726e-05  9.99999998e-01]]

 t_estimated:
[[-4.95800099e-02]
 [-9.98770112e-01]
 [-2.92106674e-04]]

 R_gt:
[[ 0.9902613  -0.08583004  0.10961457]
 [ 0.09857324  0.98826489 -0.11668357]
 [-0.09831291  0.12635162  0.9871017 ]]

 t_gt:
[-0.13811877 -0.59488161 -0.79185799]

Pose Error in degrees for R and t:
10.644467960260213 53.042015689018115

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999732e-01 -6.78011208e-04  2.76608847e-04]
 [ 6.78158187e-04  9.99999629e-01 -5.31615518e-04]
 [-2.76248303e-04  5.31802960e-04  9.99999820e-01]]

 t_estimated:
[[9.99995025e-01]
 [3.05277347e-03]
 [7.94632063e-04]]

 R_gt:
[[ 0.97751971 -0.04456108  0.20607828]
 [ 0.07983167  0.98286287 -0.16614878]
 [-0.19514344  0.17886531  0.96432657]]

 t_gt:
[-0.89593786  0.0548279  -0.44078255]

Pose Error in degrees for R and t:
15.731351183608515 26.347825041148404

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.98522365e-01  5.43386837e-02 -6.28022983e-04]
 [-5.43383077e-02  9.98522402e-01  6.00930358e-04]
 [ 6.59748782e-04 -5.65916696e-04  9.99999622e-01]]

 t_estimated:
[[-0.89642207]
 [-0.44319998]
 [-0.00111357]]

 R_gt:
[[ 0.99675729  0.07196412  0.03598959]
 [-0.0709067   0.99703728 -0.02983674]
 [-0.03802983  0.02718879  0.99890671]]

 t_gt:
[-0.24102998  0.96129055 -0.13351036]

Pose Error in degrees for R and t:
2.9008548013086557 77.88756983816056

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999994e-01 -1.03398847e-04 -2.06671768e-05]
 [ 1.03400888e-04  9.99999990e-01  9.87896993e-05]
 [ 2.06569619e-05 -9.87918358e-05  9.99999995e-01]]

 t_estimated:
[[-0.50084421]
 [-0.8655366 ]
 [-0.00121564]]

 R_gt:
[[ 0.99196573  0.0890786   0.08982165]
 [-0.07710504  0.98864834 -0.12895412]
 [-0.10028966  0.12099292  0.98757337]]

 t_gt:
[-0.02666938  0.94574603 -0.32381043]

Pose Error in degrees for R and t:
10.240300261795241 36.406453511205235

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 7.74722224e-01  6.32295796e-01  2.73915503e-03]
 [ 6.32301669e-01 -7.74716765e-01 -2.92132856e-03]
 [ 2.74925558e-04  3.99519046e-03 -9.99991981e-01]]

 t_estimated:
[[-9.12443307e-01]
 [-4.09202627e-01]
 [-6.49447270e-04]]

 R_gt:
[[ 0.98407979  0.09468571  0.15040475]
 [-0.07329021  0.98716038 -0.14192913]
 [-0.16191245  0.128647    0.97838342]]

 t_gt:
[ 0.10220234  0.99430559 -0.03018412]

Pose Error in degrees for R and t:
169.40968646356552 59.992940754170306

Number of keypoints:
Image1: 445
Image2: 445

 R_estimated:
[[ 9.99953201e-01  9.67453089e-03 -1.20239653e-05]
 [-9.67453159e-03  9.99953199e-01 -5.91399331e-05]
 [ 1.14512515e-05  5.92534916e-05  9.99999998e-01]]

 t_estimated:
[[ 4.75813783e-01]
 [-8.79545964e-01]
 [-3.75811999e-04]]

 R_gt:
[[ 0.99852118  0.04328383 -0.03288822]
 [-0.04169809  0.99800281  0.04745078]
 [ 0.03487568 -0.04600961  0.99833186]]

 t_gt:
[-0.9540271  -0.11783652  0.27558455]

Pose Error in degrees for R and t:
3.80997576949964 69.48820614569539

Number of keypoints:
Image1: 350
Image2: 350

 R_estimated:
[[ 0.65362393  0.75679902  0.0055683 ]
 [ 0.75681433 -0.65362897 -0.00111372]
 [ 0.00279674  0.00494212 -0.99998388]]

 t_estimated:
[[-0.90231358]
 [-0.43106479]
 [-0.00365309]]

 R_gt:
[[ 0.99641882  0.07597726 -0.03708625]
 [-0.06965702  0.98635242  0.14918775]
 [ 0.04791444 -0.1460696   0.98811354]]

 t_gt:
[-0.79115439 -0.15365296  0.59200126]

Pose Error in degrees for R and t:
171.4362136588712 38.92755081628801

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-3.33549560e-01 -9.42731090e-01  1.66797111e-03]
 [-9.42731614e-01  3.33551216e-01  8.31078227e-04]
 [-1.33983708e-03 -1.29524332e-03 -9.99998264e-01]]

 t_estimated:
[[0.80873229]
 [0.58816894]
 [0.00306338]]

 R_gt:
[[ 0.98332527  0.18107101 -0.01685901]
 [-0.17785471  0.97689416  0.11851611]
 [ 0.03792821 -0.11354182  0.99280889]]

 t_gt:
[-0.93555296  0.22581895  0.271563  ]

Pose Error in degrees for R and t:
177.32215743037605 51.4673656750344

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.74964376  0.66005984 -0.04853089]
 [ 0.54232259 -0.57058418  0.61670082]
 [ 0.37936849 -0.48862532 -0.78570023]]

 t_estimated:
[[0.91000825]
 [0.41455931]
 [0.0050556 ]]

 R_gt:
[[ 0.99788581 -0.02744827  0.05890968]
 [ 0.02814423  0.99954314 -0.0109991 ]
 [-0.05858043  0.01263401  0.99820223]]

 t_gt:
[ 0.64627773 -0.75640596  0.10087177]

Pose Error in degrees for R and t:
145.45921390932068 74.0348333483081

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.99250164e-01  3.87064697e-02 -9.58649547e-04]
 [-3.87040823e-02  9.99247846e-01  2.39494520e-03]
 [ 1.05062837e-03 -2.35604573e-03  9.99996673e-01]]

 t_estimated:
[[0.98629753]
 [0.16497211]
 [0.00117837]]

 R_gt:
[[ 0.99699505  0.04154773  0.06537581]
 [-0.03937097  0.9986388  -0.03422668]
 [-0.066709    0.03154966  0.99727335]]

 t_gt:
[-0.91929699  0.33221212 -0.21101693]

Pose Error in degrees for R and t:
4.346432987832397 31.55444515030044

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.99391234e-01 -3.48787177e-02  7.97362412e-04]
 [ 3.48799560e-02  9.99390235e-01 -1.59584367e-03]
 [-7.41215228e-04  1.62268414e-03  9.99998409e-01]]

 t_estimated:
[[-2.51486976e-01]
 [-9.67860357e-01]
 [ 7.93469002e-04]]

 R_gt:
[[ 0.99327854  0.07601125  0.08729031]
 [-0.07059689  0.99547968 -0.0635216 ]
 [-0.09172363  0.05693312  0.99415533]]

 t_gt:
[-0.87414928  0.38968864 -0.28983754]

Pose Error in degrees for R and t:
8.71319776020012 80.93487587959771

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99989023e-01  4.68480664e-03  7.84787482e-05]
 [-4.68480726e-03  9.99989026e-01  7.71019842e-06]
 [-7.84417662e-05 -8.07777160e-06  9.99999997e-01]]

 t_estimated:
[[ 9.98873831e-01]
 [-4.74453435e-02]
 [-9.02538935e-05]]

 R_gt:
[[ 0.98892945 -0.14811815 -0.00891257]
 [ 0.14833023  0.98842058  0.03197673]
 [ 0.00407195 -0.0329451   0.99944897]]

 t_gt:
[ 0.69785024 -0.69869059  0.157596  ]

Pose Error in degrees for R and t:
8.997931081222472 43.09685865814682

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 7.78566681e-01  6.27561798e-01  3.34762705e-04]
 [-6.27561881e-01  7.78566487e-01  5.56630177e-04]
 [ 8.86848119e-05 -6.43458023e-04  9.99999789e-01]]

 t_estimated:
[[9.02470807e-01]
 [4.30750370e-01]
 [7.49300248e-04]]

 R_gt:
[[ 0.97959741 -0.19712446  0.03912201]
 [ 0.19621938  0.98022123  0.02579948]
 [-0.04343417 -0.01759719  0.99890092]]

 t_gt:
[ 0.61380376 -0.73390244  0.29091605]

Pose Error in degrees for R and t:
50.285040739509995 76.22974818555781

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.25070232  0.96805597  0.00399929]
 [-0.96803741 -0.25066249 -0.00847891]
 [-0.00720558 -0.00599715  0.99995606]]

 t_estimated:
[[0.13399667]
 [0.99095645]
 [0.00708527]]

 R_gt:
[[ 0.95611058 -0.2890235   0.04814399]
 [ 0.28784882  0.95720884  0.02991579]
 [-0.05473097 -0.01474565  0.99839251]]

 t_gt:
[ 0.65726949 -0.71695523  0.23231878]

Pose Error in degrees for R and t:
121.30892797685996 51.62882420432166

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[ 9.99999044e-01  1.38295555e-03  4.52197255e-07]
 [-1.38295555e-03  9.99999044e-01 -5.57938354e-07]
 [-4.52968427e-07  5.57312451e-07  1.00000000e+00]]

 t_estimated:
[[ 4.85060456e-01]
 [-8.74480613e-01]
 [-1.04460586e-04]]

 R_gt:
[[ 0.97377789 -0.17448391  0.14598531]
 [ 0.16901129  0.98438546  0.04918771]
 [-0.15228817 -0.02322594  0.98806369]]

 t_gt:
[ 0.5458021  -0.6440548   0.53599765]

Pose Error in degrees for R and t:
13.375444410966438 34.11592643470922

Number of keypoints:
Image1: 26
Image2: 26

 R_estimated:
[[ 7.90519132e-01 -6.12437305e-01 -2.21971149e-04]
 [ 6.12437255e-01  7.90518766e-01  8.30251521e-04]
 [-3.33004645e-04 -7.92273113e-04  9.99999631e-01]]

 t_estimated:
[[ 8.59504716e-01]
 [-5.11127172e-01]
 [ 8.10242567e-04]]

 R_gt:
[[ 0.93651006 -0.29658057  0.18705639]
 [ 0.28658201  0.95478975  0.07904262]
 [-0.20204133 -0.02041857  0.97916419]]

 t_gt:
[ 0.6511731  -0.63598909  0.41411529]

Pose Error in degrees for R and t:
23.685381820736755 27.737008592087598

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[ 0.25994558  0.96562119  0.00200132]
 [ 0.9656212  -0.25994875  0.00153298]
 [ 0.00200052  0.00153403 -0.99999682]]

 t_estimated:
[[0.79371133]
 [0.60829329]
 [0.00126024]]

 R_gt:
[[ 0.87607678 -0.44493925  0.18579036]
 [ 0.42978014  0.89526492  0.11743329]
 [-0.21858168 -0.0230321   0.97554679]]

 t_gt:
[ 0.75665615 -0.57442999  0.31225257]

Pose Error in degrees for R and t:
175.98566072721962 75.43144863450318

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.74709337e-01  2.23476379e-01  1.26549850e-04]
 [-2.23476368e-01  9.74709343e-01 -9.87582513e-05]
 [-1.45419458e-04  6.79796888e-05  9.99999987e-01]]

 t_estimated:
[[-5.58808988e-01]
 [ 8.29296163e-01]
 [ 6.22790836e-04]]

 R_gt:
[[ 0.99621724 -0.03666378  0.07878447]
 [ 0.04157123  0.99723554 -0.06158352]
 [-0.07630861  0.06462625  0.99498763]]

 t_gt:
[ 0.96546536 -0.21608703  0.14554394]

Pose Error in degrees for R and t:
16.201524134904403 44.05931949325877

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999905e-01  2.95640530e-04  3.19326516e-04]
 [-2.95487249e-04  9.99999841e-01 -4.79954193e-04]
 [-3.19468359e-04  4.79859791e-04  9.99999834e-01]]

 t_estimated:
[[-0.35869607]
 [-0.93345288]
 [-0.00168807]]

 R_gt:
[[ 0.99142423 -0.11943887  0.05303764]
 [ 0.12181726  0.99157052 -0.04414399]
 [-0.04731766  0.05022748  0.99761519]]

 t_gt:
[ 0.88026788 -0.47215343 -0.04689988]

Pose Error in degrees for R and t:
7.983633213633864 82.81557600013664

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.8122369   0.58332535  0.00165932]
 [-0.58331432  0.81223425 -0.00446375]
 [-0.00395158  0.00265772  0.99998866]]

 t_estimated:
[[0.61217292]
 [0.79072335]
 [0.00094471]]

 R_gt:
[[ 0.98228194 -0.18603672  0.02264631]
 [ 0.18693497  0.98121007 -0.04777777]
 [-0.01333232  0.05116563  0.99860093]]

 t_gt:
[ 0.88088941 -0.45364001 -0.13507256]

Pose Error in degrees for R and t:
46.51673328548768 79.60546746422476

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.86763677e-01 -1.62164811e-01 -1.42806429e-04]
 [ 1.62164817e-01  9.86763685e-01  3.13012813e-05]
 [ 1.35840232e-04 -5.40451459e-05  9.99999989e-01]]

 t_estimated:
[[-0.53483788]
 [-0.84495395]
 [-0.00112361]]

 R_gt:
[[ 0.99221493  0.11318442  0.05195617]
 [-0.11135629  0.99309846 -0.03682678]
 [-0.05576501  0.03075461  0.99797053]]

 t_gt:
[-0.7702066   0.60293929  0.20795674]

Pose Error in degrees for R and t:
16.201243410579803 84.39015315545305

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.86310183e-01 -1.64900374e-01 -2.99079541e-04]
 [ 1.64900534e-01  9.86310002e-01  6.27098828e-04]
 [ 1.91576312e-04 -6.67832335e-04  9.99999759e-01]]

 t_estimated:
[[-0.8981787 ]
 [-0.43962891]
 [-0.00120291]]

 R_gt:
[[ 0.99045447  0.1014386   0.09332545]
 [-0.09986913  0.9947717  -0.02135449]
 [-0.0950032   0.01182961  0.99540711]]

 t_gt:
[-0.75295198  0.48852813  0.44091221]

Pose Error in degrees for R and t:
16.240513808834024 62.549380862499156

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.54643947e-01 -2.97749699e-01 -2.23732984e-04]
 [ 2.97749782e-01  9.54643749e-01  6.16067212e-04]
 [ 3.01514672e-05 -6.54741282e-04  9.99999785e-01]]

 t_estimated:
[[-0.911219  ]
 [-0.41192092]
 [-0.0010402 ]]

 R_gt:
[[ 0.98689505  0.08979806  0.13406821]
 [-0.08264692  0.99488975 -0.0580018 ]
 [-0.13859149  0.04616134  0.98927401]]

 t_gt:
[-0.72585007  0.53149125  0.43664486]

Pose Error in degrees for R and t:
23.81365829380672 63.76704793486088

Number of keypoints:
Image1: 366
Image2: 366

 R_estimated:
[[-3.71205494e-01 -9.28549418e-01 -1.56803337e-03]
 [-9.28550278e-01  3.71206468e-01 -3.73366512e-04]
 [ 9.28753388e-04  1.31740213e-03 -9.99998701e-01]]

 t_estimated:
[[8.37225086e-01]
 [5.46858004e-01]
 [6.91350195e-04]]

 R_gt:
[[ 0.99884076 -0.01707877 -0.04500466]
 [ 0.01809171  0.99959115  0.02216872]
 [ 0.04460799 -0.02295753  0.99874112]]

 t_gt:
[-0.11179472 -0.85090874 -0.51327989]

Pose Error in degrees for R and t:
178.5140179043688 55.99408716003529

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 9.93203255e-01 -1.16392312e-01  3.51683860e-04]
 [ 1.16392291e-01  9.93203317e-01  8.07641962e-05]
 [-3.58693908e-04 -3.92819724e-05  9.99999935e-01]]

 t_estimated:
[[ 0.88980825]
 [-0.45633311]
 [ 0.001173  ]]

 R_gt:
[[ 0.99720805 -0.02648188 -0.06982017]
 [ 0.02776218  0.99946284  0.01740589]
 [ 0.06932139 -0.01929499  0.99740785]]

 t_gt:
[-0.19975524 -0.79643531 -0.57077897]

Pose Error in degrees for R and t:
6.592848313786681 79.33732779243438

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 6.81626604e-01  7.31690891e-01  3.68962982e-03]
 [ 7.31700149e-01 -6.81619649e-01 -3.08951836e-03]
 [ 2.54351740e-04  4.80560060e-03 -9.99988421e-01]]

 t_estimated:
[[-8.97818109e-01]
 [-4.40365803e-01]
 [-7.76659264e-04]]

 R_gt:
[[ 0.98973502 -0.10999072 -0.09125253]
 [ 0.11338978  0.99300588  0.03290894]
 [ 0.08699467 -0.04291641  0.99528365]]

 t_gt:
[ 0.16955777 -0.93324419 -0.31671034]

Pose Error in degrees for R and t:
176.2113189960422 74.99028821402955

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.58491257 -0.81077288 -0.02290474]
 [-0.81081713  0.58521894 -0.00971469]
 [ 0.02128069  0.01288931 -0.99969045]]

 t_estimated:
[[ 0.88891199]
 [ 0.45792169]
 [-0.01196654]]

 R_gt:
[[ 0.99847745  0.05277534  0.01602181]
 [-0.05248813  0.99846315 -0.01781211]
 [-0.01693801  0.016943    0.99971303]]

 t_gt:
[-0.46772514  0.88119068  0.06881989]

Pose Error in degrees for R and t:
178.96322606265488 89.25091092617896

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.98088717e-01  6.17972523e-02  1.13059653e-04]
 [-6.17972357e-02  9.98088714e-01 -1.44417569e-04]
 [-1.21768172e-04  1.37154772e-04  9.99999983e-01]]

 t_estimated:
[[-9.44635946e-01]
 [-3.28120142e-01]
 [-3.18656835e-04]]

 R_gt:
[[ 0.99996142  0.00728596  0.00476268]
 [-0.00715157  0.99959233 -0.0276201 ]
 [-0.00496178  0.02758394  0.99960676]]

 t_gt:
[-0.41083858  0.82482119 -0.38843489]

Pose Error in degrees for R and t:
3.5139122543744645 83.24775985285709

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999176e-01  1.27739513e-03  1.25078789e-04]
 [-1.27732609e-03  9.99999033e-01 -5.50448479e-04]
 [-1.25781808e-04  5.50288260e-04  9.99999841e-01]]

 t_estimated:
[[-0.35136101]
 [-0.93623487]
 [-0.00311756]]

 R_gt:
[[ 0.99034554 -0.13711814  0.02034513]
 [ 0.13721047  0.99053616 -0.00318646]
 [-0.01971509  0.00594702  0.99978767]]

 t_gt:
[ 0.52803707 -0.83778379  0.13890705]

Pose Error in degrees for R and t:
8.042920576352827 53.244772186529794

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 4.82838580e-03  9.99988044e-01  7.73850360e-04]
 [ 9.99982729e-01 -4.83095039e-03  3.34718916e-03]
 [ 3.35088757e-03  7.57675474e-04 -9.99994099e-01]]

 t_estimated:
[[0.63217954]
 [0.77482147]
 [0.00084403]]

 R_gt:
[[ 0.99816436  0.06050502  0.0028595 ]
 [-0.06049849  0.9981661  -0.00221862]
 [-0.0029879   0.0020417   0.99999308]]

 t_gt:
[-0.13029961  0.99141805 -0.01059496]

Pose Error in degrees for R and t:
179.89386391741976 46.70220775528542

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.83327127e-01  1.81789221e-01  4.52113280e-03]
 [ 1.81788151e-01 -9.83337504e-01  6.49765291e-04]
 [ 4.56391976e-03  1.82956536e-04 -9.99989569e-01]]

 t_estimated:
[[0.72634186]
 [0.68733317]
 [0.00078017]]

 R_gt:
[[ 0.99736493  0.07042385  0.01744723]
 [-0.07039536  0.99751666 -0.00228804]
 [-0.01756424  0.00105414  0.99984532]]

 t_gt:
[0.15408503 0.96824326 0.1968827 ]

Pose Error in degrees for R and t:
179.83555415190875 38.96067431902016

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.93471645 -0.35481439 -0.02029567]
 [ 0.35501912  0.93482931  0.00745563]
 [ 0.01632762 -0.01417425  0.99976622]]

 t_estimated:
[[0.86495855]
 [0.50183916]
 [0.00204   ]]

 R_gt:
[[ 0.99887091  0.04133321  0.02344553]
 [-0.04072691  0.99883735 -0.02580047]
 [-0.02448442  0.02481703  0.99939166]]

 t_gt:
[0.82768611 0.55962409 0.0419116 ]

Pose Error in degrees for R and t:
23.36332213579269 4.555431178528199

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.99685887 -0.07823249 -0.01233179]
 [ 0.07707624  0.99411821 -0.07608041]
 [ 0.01821122  0.07489095  0.99702542]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.99901297 -0.00556069 -0.04405749]
 [ 0.00723826  0.99924984  0.03802645]
 [ 0.04381259 -0.03830824  0.9983049 ]]

 t_gt:
[-0.39315871 -0.89209392 -0.2226986 ]

Pose Error in degrees for R and t:
7.871614125458604 21.77781499585081

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99994972e-01  3.17097102e-03 -1.02562111e-05]
 [-3.17097523e-03  9.99994875e-01 -4.40988824e-04]
 [ 8.85779579e-06  4.41019129e-04  9.99999903e-01]]

 t_estimated:
[[-0.02257187]
 [-0.99974118]
 [-0.00284148]]

 R_gt:
[[ 0.99615677 -0.04411115 -0.07566592]
 [ 0.04549112  0.99882618  0.01661992]
 [ 0.07484274 -0.01999791  0.99699445]]

 t_gt:
[-0.05471491 -0.83334609 -0.55003689]

Pose Error in degrees for R and t:
5.231656677554474 33.287372604299705

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.77294794e-01  2.11883667e-01  4.43806027e-04]
 [-2.11883216e-01  9.77294585e-01 -8.92840758e-04]
 [-6.22907600e-04  7.78533576e-04  9.99999503e-01]]

 t_estimated:
[[9.97402418e-01]
 [7.20241454e-02]
 [9.69481052e-04]]

 R_gt:
[[ 0.98745278 -0.11667514 -0.10641165]
 [ 0.12296919  0.99090556  0.05461853]
 [ 0.09907109 -0.0670192   0.99282054]]

 t_gt:
[ 0.18749375 -0.94632064 -0.26329328]

Pose Error in degrees for R and t:
20.34168190128759 83.18906208299796

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.99980424e-01 -6.25665108e-03  7.61281082e-05]
 [ 6.25665357e-03  9.99980426e-01 -3.25057756e-05]
 [-7.59232408e-05  3.29814465e-05  9.99999997e-01]]

 t_estimated:
[[-0.99987225]
 [ 0.01570815]
 [-0.00295654]]

 R_gt:
[[ 0.99999353 -0.00316334  0.00206841]
 [ 0.00316624  0.99999449 -0.0011671 ]
 [-0.00206424  0.0011738   0.99999631]]

 t_gt:
[ 0.94821527 -0.31603512  0.03177433]

Pose Error in degrees for R and t:
0.22064735993246146 17.607249173590468

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99875586e-01  1.57391231e-02 -1.04498008e-03]
 [-1.57387022e-02  9.99876055e-01  4.09745725e-04]
 [ 1.05129960e-03 -3.93248117e-04  9.99999370e-01]]

 t_estimated:
[[-0.96783467]
 [-0.25152765]
 [-0.00546799]]

 R_gt:
[[ 0.99903479  0.04264852  0.01048681]
 [-0.0427136   0.99906857  0.00614053]
 [-0.01021453 -0.00658093  0.99992576]]

 t_gt:
[0.75649006 0.59281755 0.2762067 ]

Pose Error in degrees for R and t:
1.7119630845901255 28.020738240166317

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.52842448  0.84897893 -0.00153243]
 [ 0.84813031 -0.5279753  -0.04378423]
 [-0.03798098  0.02183696 -0.99903984]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99822408  0.05725966  0.01647616]
 [-0.05720183  0.99835478 -0.00394596]
 [-0.01667422  0.00299734  0.99985631]]

 t_gt:
[0.76311765 0.62930418 0.14706358]

Pose Error in degrees for R and t:
177.17705551853453 8.868251699521531

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99399223e-01 -3.46581812e-02  6.60339017e-05]
 [ 3.46581251e-02  9.99398970e-01  7.16511506e-04]
 [-9.08271989e-05 -7.13792431e-04  9.99999741e-01]]

 t_estimated:
[[0.97283329]
 [0.23150311]
 [0.00130058]]

 R_gt:
[[ 0.99381447 -0.10706356 -0.02949504]
 [ 0.10771339  0.99395136  0.02142774]
 [ 0.02702325 -0.02447237  0.99933533]]

 t_gt:
[ 0.81559781 -0.57861711 -0.0015639 ]

Pose Error in degrees for R and t:
4.663547793821855 48.73923903078459

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99926986e-01  1.20728533e-02  5.18006819e-04]
 [-1.20728494e-02  9.99927120e-01 -1.07943058e-05]
 [-5.18099385e-04  4.53969936e-06  9.99999866e-01]]

 t_estimated:
[[-8.44878374e-01]
 [-5.34958036e-01]
 [-6.58004964e-04]]

 R_gt:
[[ 0.98692825 -0.14085662 -0.07831169]
 [ 0.14198644  0.98982833  0.00902006]
 [ 0.07624489 -0.02002064  0.99688721]]

 t_gt:
[ 0.85088896 -0.49357084 -0.17993279]

Pose Error in degrees for R and t:
9.935623130832372 62.951819721221895

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-5.54354376e-01 -8.32280665e-01  3.47455882e-04]
 [-8.32279352e-01  5.54352644e-01 -2.05586834e-03]
 [ 1.51844638e-03 -1.42885997e-03 -9.99997826e-01]]

 t_estimated:
[[0.7989736 ]
 [0.60136486]
 [0.00121981]]

 R_gt:
[[ 0.98204254 -0.13079121 -0.13596245]
 [ 0.13440278  0.99076951  0.01769408]
 [ 0.1323939  -0.03565037  0.99055508]]

 t_gt:
[ 0.87370146 -0.39116184 -0.28920267]

Pose Error in degrees for R and t:
173.8672611839832 62.45270505770618

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 2.46740133e-01  9.69081675e-01 -1.14195184e-04]
 [-9.69079953e-01  2.46739469e-01 -1.91794819e-03]
 [-1.83047199e-03  5.83899056e-04  9.99998154e-01]]

 t_estimated:
[[-4.85283459e-02]
 [ 9.98821539e-01]
 [ 7.29752945e-04]]

 R_gt:
[[ 0.98582252 -0.15269536  0.06955557]
 [ 0.15207136  0.9882673   0.01421585]
 [-0.07091031 -0.00343682  0.99747738]]

 t_gt:
[ 0.64121084 -0.72207722  0.25971744]

Pose Error in degrees for R and t:
84.56850571003301 41.22272027767351

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 2.05792653e-01  9.78595584e-01  2.57603194e-04]
 [-9.78593460e-01  2.05792745e-01 -2.04596591e-03]
 [-2.05518607e-03  1.68955951e-04  9.99997874e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.94974298 -0.2964853   0.10041508]
 [ 0.29529286  0.95502817  0.02687996]
 [-0.10386934  0.00412214  0.9945826 ]]

 t_gt:
[ 0.73362068 -0.6505287   0.19650216]

Pose Error in degrees for R and t:
95.51916328656162 49.779124162897624

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-0.09069276  0.99587671  0.00210027]
 [ 0.99587729  0.0906886   0.00199917]
 [ 0.00180045  0.00227292 -0.9999958 ]]

 t_estimated:
[[8.13305771e-01]
 [5.81836166e-01]
 [6.32430615e-04]]

 R_gt:
[[ 0.89604948 -0.43952915  0.0625186 ]
 [ 0.43300603  0.89632442  0.09542737]
 [-0.09798049 -0.05843665  0.99347171]]

 t_gt:
[ 0.79521106 -0.57186978  0.20150515]

Pose Error in degrees for R and t:
179.51874431612347 71.6909350548748

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-2.52302701e-01 -9.67648336e-01  2.09878254e-04]
 [-9.67644486e-01  2.52301072e-01 -2.88406623e-03]
 [ 2.73780939e-03 -9.30745236e-04 -9.99995819e-01]]

 t_estimated:
[[8.05103813e-01]
 [5.93133579e-01]
 [6.38464563e-04]]

 R_gt:
[[ 0.9997315  -0.00616868  0.02235363]
 [ 0.005934    0.99992685  0.01054277]
 [-0.02241766 -0.01040676  0.99969459]]

 t_gt:
[-0.62719587 -0.3889901   0.67476814]

Pose Error in degrees for R and t:
178.70992438934962 42.67164987093657

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-8.05893944e-01 -5.92057258e-01 -1.77595279e-03]
 [ 5.92059701e-01 -8.05892608e-01 -1.55433340e-03]
 [-5.10972860e-04 -2.30409795e-03  9.99997215e-01]]

 t_estimated:
[[9.99979910e-01]
 [6.29620348e-03]
 [7.32992109e-04]]

 R_gt:
[[ 9.97942364e-01 -2.80239150e-03  6.40640109e-02]
 [ 2.73900287e-03  9.99995692e-01  1.07672667e-03]
 [-6.40665875e-02 -8.98677596e-04  9.97945290e-01]]

 t_gt:
[-0.87045898 -0.13685221  0.47283468]

Pose Error in degrees for R and t:
143.561133958301 29.43001115374227

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.98102629  0.19387004 -0.00135289]
 [-0.19386581 -0.98102416 -0.00276546]
 [-0.00186335 -0.00245071  0.99999526]]

 t_estimated:
[[0.87706204]
 [0.48037467]
 [0.00153376]]

 R_gt:
[[ 0.99537581  0.06263419  0.07283208]
 [-0.06050891  0.99768475 -0.03103063]
 [-0.07460727  0.02648098  0.99686116]]

 t_gt:
[-0.94918467  0.302179   -0.08795631]

Pose Error in degrees for R and t:
165.29050104918514 46.569861205322056

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.55994649e-01  2.93383469e-01 -6.09373890e-04]
 [-2.93381878e-01  9.55993427e-01  1.90821929e-03]
 [ 1.14239743e-03 -1.64546818e-03  9.99997994e-01]]

 t_estimated:
[[-0.97215211]
 [-0.23434809]
 [-0.00112128]]

 R_gt:
[[ 0.99445998 -0.0874666   0.05829625]
 [ 0.08869404  0.99588121 -0.01882052]
 [-0.05641023  0.02388782  0.99812214]]

 t_gt:
[ 0.35215245 -0.84691583  0.39839959]

Pose Error in degrees for R and t:
22.405659058277404 81.70213285550595

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.99854551  0.053854   -0.00256989]
 [-0.05384414  0.99854227  0.00376143]
 [ 0.00276872 -0.00361758  0.99998962]]

 t_estimated:
[[-8.88096548e-01]
 [-4.59656298e-01]
 [-7.80401185e-04]]

 R_gt:
[[ 0.97955927 -0.19363766  0.05447168]
 [ 0.19252534  0.98097323  0.02500378]
 [-0.05827724 -0.01400541  0.99820204]]

 t_gt:
[ 0.54806826 -0.76709632  0.33344328]

Pose Error in degrees for R and t:
14.656723548817856 82.2762417943325

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.94213907e-01  1.07418151e-01  2.16687419e-04]
 [-1.07418223e-01  9.94213861e-01  3.51509349e-04]
 [-1.77675151e-04 -3.72751661e-04  9.99999915e-01]]

 t_estimated:
[[9.24575424e-01]
 [3.80998329e-01]
 [7.48108789e-04]]

 R_gt:
[[ 0.95165786 -0.30306844  0.0499709 ]
 [ 0.30221157  0.95293674  0.02406671]
 [-0.0549142  -0.00780129  0.99846067]]

 t_gt:
[ 0.64975541 -0.73284908  0.20186663]

Pose Error in degrees for R and t:
24.002962380545096 71.23516538140709

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.98715266 -0.1068269   0.11881766]
 [ 0.11292188  0.99254835 -0.04578673]
 [-0.11304102  0.05861561  0.99185984]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.975748    0.21811815  0.01839594]
 [-0.21805096  0.97592083 -0.00562404]
 [-0.01918021  0.00147622  0.99981468]]

 t_gt:
[-0.74759363  0.66261242  0.04526096]

Pose Error in degrees for R and t:
19.922295167225094 82.4889709219531

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99993386e-01 -3.55668839e-03 -7.60188486e-04]
 [ 3.55723368e-03  9.99993416e-01  7.17163962e-04]
 [ 7.57632752e-04 -7.19863387e-04  9.99999454e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293276e-01]
 [-7.66953483e-04]]

 R_gt:
[[ 0.94998469  0.30949013  0.04175633]
 [-0.30910057  0.95090041 -0.0156539 ]
 [-0.04455071  0.00196443  0.99900507]]

 t_gt:
[-0.72394902  0.68572109  0.07539491]

Pose Error in degrees for R and t:
18.41391540424993 52.79897004560015

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 5.99747144e-01 -8.00187616e-01 -1.77254204e-03]
 [ 8.00189123e-01  5.99747696e-01  2.60734669e-04]
 [ 8.54441351e-04 -1.57474373e-03  9.99998395e-01]]

 t_estimated:
[[-0.07900148]
 [-0.99687396]
 [-0.00103949]]

 R_gt:
[[ 0.91236738  0.40771348  0.03679535]
 [-0.4072035   0.91310108 -0.02078356]
 [-0.04207126  0.00397925  0.99910647]]

 t_gt:
[-0.68686859  0.72478542  0.05382962]

Pose Error in degrees for R and t:
77.24030539339603 48.06308022887081

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.25299765e-01 -3.79236512e-01  1.16144564e-04]
 [ 3.79236530e-01  9.25299720e-01 -2.86588582e-04]
 [ 1.21632144e-06  3.09226609e-04  9.99999952e-01]]

 t_estimated:
[[8.40740840e-01]
 [5.41437101e-01]
 [8.40740840e-04]]

 R_gt:
[[ 0.99781015  0.06361946 -0.01812506]
 [-0.06367578  0.99796654 -0.00261026]
 [ 0.0179217   0.0037595   0.99983166]]

 t_gt:
[-0.58944731  0.76058602 -0.27214108]

Pose Error in degrees for R and t:
25.956835353463326 85.18195181126525

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-2.54680758e-01 -9.67024410e-01 -1.22525563e-03]
 [-9.67025071e-01  2.54679903e-01  8.11912160e-04]
 [-4.73090891e-04  1.39163132e-03 -9.99998920e-01]]

 t_estimated:
[[6.37084234e-01]
 [7.70793830e-01]
 [7.42123763e-04]]

 R_gt:
[[ 0.98097487  0.19216403 -0.0275882 ]
 [-0.1925157   0.98123502 -0.01071435]
 [ 0.0250109   0.01582147  0.99956159]]

 t_gt:
[-0.58111638  0.79659514 -0.16655309]

Pose Error in degrees for R and t:
178.29988442245198 75.89693249639336

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.56472318e-01 -2.91822216e-01  7.07175054e-04]
 [ 2.91822904e-01  9.56471560e-01 -1.24371278e-03]
 [-3.13449809e-04  1.39594672e-03  9.99998977e-01]]

 t_estimated:
[[-0.79255835]
 [-0.60979545]
 [-0.00087867]]

 R_gt:
[[ 0.95734505  0.28073241 -0.06840577]
 [-0.28082579  0.95972162  0.00843361]
 [ 0.06801896  0.01113724  0.99762147]]

 t_gt:
[-0.55651949  0.80152888 -0.21871788]

Pose Error in degrees for R and t:
33.52442414360979 87.2772934695537

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999992e-01 -4.97997945e-05 -1.19581982e-04]
 [ 4.98046534e-05  9.99999998e-01  4.06300814e-05]
 [ 1.19579958e-04 -4.06360368e-05  9.99999992e-01]]

 t_estimated:
[[-9.98796053e-01]
 [-4.90529648e-02]
 [-5.01705640e-04]]

 R_gt:
[[ 0.98204109  0.1877182  -0.01890738]
 [-0.18806744  0.98197746 -0.0187181 ]
 [ 0.01505269  0.02193866  0.99964575]]

 t_gt:
[-0.64630336  0.74877293 -0.14707505]

Pose Error in degrees for R and t:
10.940747737176695 52.492194735404276

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.88811822e-01  1.49168255e-01 -1.07276586e-04]
 [-1.49168267e-01  9.88811821e-01 -1.05153879e-04]
 [ 9.03907361e-05  1.19979661e-04  9.99999989e-01]]

 t_estimated:
[[-8.45131481e-01]
 [ 5.34558386e-01]
 [-3.34875702e-04]]

 R_gt:
[[ 0.9474251   0.31812573  0.03440041]
 [-0.31665054  0.94759924 -0.04228166]
 [-0.04604887  0.029166    0.99851296]]

 t_gt:
[-0.65588716  0.75176094  0.06831922]

Pose Error in degrees for R and t:
10.418860934826638 17.030667792464005

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.99977009 -0.02057378 -0.00604097]
 [ 0.02063989  0.99972543  0.01109365]
 [ 0.00581108 -0.01121578  0.99992022]]

 t_estimated:
[[ 0.12173591]
 [ 0.99251998]
 [-0.00918979]]

 R_gt:
[[ 0.93309645  0.35487274  0.05828093]
 [-0.35217986  0.93450369 -0.05169391]
 [-0.07280857  0.02771041  0.99696052]]

 t_gt:
[-0.66241344  0.74002727  0.11648212]

Pose Error in degrees for R and t:
22.49839305925353 49.248324911393894

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[-0.31483207 -0.94913164  0.00546882]
 [-0.94906823  0.314875    0.01110085]
 [-0.01225817 -0.00169538 -0.99992343]]

 t_estimated:
[[0.82172128]
 [0.56985004]
 [0.006714  ]]

 R_gt:
[[ 0.99997567  0.0067895   0.00129426]
 [-0.00674669  0.99949711 -0.03099988]
 [-0.0015044   0.03098981  0.9995187 ]]

 t_gt:
[-0.27804699  0.68225611 -0.67617784]

Pose Error in degrees for R and t:
179.6474052827144 81.03873636736854

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99998991e-01  1.42036368e-03  1.47446040e-05]
 [-1.42036192e-03  9.99998984e-01 -1.18366165e-04]
 [-1.49127120e-05  1.18345103e-04  9.99999993e-01]]

 t_estimated:
[[0.99992249]
 [0.01239739]
 [0.00114513]]

 R_gt:
[[ 0.99586833 -0.09080046 -0.00132054]
 [ 0.09079179  0.99585386 -0.00569461]
 [ 0.001833    0.00555077  0.99998312]]

 t_gt:
[ 0.49424852 -0.86716205 -0.06122397]

Pose Error in degrees for R and t:
5.300853337688764 61.09298552207626

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999894e-01 -2.56124654e-05  4.59989918e-04]
 [ 2.58965005e-05  9.99999809e-01 -6.17485728e-04]
 [-4.59974015e-04  6.17497574e-04  9.99999704e-01]]

 t_estimated:
[[-0.41656215]
 [-0.90905081]
 [-0.01012895]]

 R_gt:
[[ 9.69679661e-01 -2.43359904e-01  2.22992215e-02]
 [ 2.43309440e-01  9.69936178e-01  4.99669422e-03]
 [-2.28435771e-02  5.80319823e-04  9.99739287e-01]]

 t_gt:
[ 0.59020113 -0.80105057  0.09990297]

Pose Error in degrees for R and t:
14.142145130837685 61.2278080776917

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99999980e-01 -1.91453358e-04  5.01704009e-05]
 [ 1.91453337e-04  9.99999982e-01  4.31776243e-07]
 [-5.01704826e-05 -4.22170944e-07  9.99999999e-01]]

 t_estimated:
[[ 4.49915175e-01]
 [-8.93071260e-01]
 [ 2.43728043e-04]]

 R_gt:
[[ 0.99936205 -0.0256413   0.02483022]
 [ 0.02578262  0.99965209 -0.00538556]
 [-0.02468325  0.00602266  0.99967716]]

 t_gt:
[ 0.73555351 -0.6623197   0.14245578]

Pose Error in degrees for R and t:
2.0630875986683295 22.7100929378425

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.92362215e-01 -1.23358089e-01 -1.26157851e-04]
 [ 1.23358101e-01  9.92362217e-01  9.71673543e-05]
 [ 1.13207905e-04 -1.11987804e-04  9.99999987e-01]]

 t_estimated:
[[ 3.65145380e-01]
 [-9.30950418e-01]
 [-4.13893406e-04]]

 R_gt:
[[ 0.99485409 -0.04204041  0.09217615]
 [ 0.04575503  0.99820813 -0.03855839]
 [-0.0903896   0.04257777  0.9949955 ]]

 t_gt:
[ 0.76316842 -0.55249915  0.33513977]

Pose Error in degrees for R and t:
7.3346068809581855 37.54471377051257

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.95118874e-01 -9.86831714e-02 -2.42046867e-04]
 [ 9.86831364e-02  9.95118895e-01 -1.52463626e-04]
 [ 2.55911005e-04  1.27833487e-04  9.99999959e-01]]

 t_estimated:
[[ 0.2979497 ]
 [-0.95458107]
 [-0.00097616]]

 R_gt:
[[ 0.9912317   0.00548803  0.13201995]
 [ 0.00532442  0.99666603 -0.08140656]
 [-0.13202693  0.08139627  0.98789845]]

 t_gt:
[0.03188665 0.99705163 0.06979458]

Pose Error in degrees for R and t:
10.574552513942129 19.55268825492598

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 7.67016044e-01  6.41626685e-01  1.25865925e-03]
 [ 6.41626302e-01 -7.67017040e-01  7.41191826e-04]
 [ 1.44098154e-03  2.39082855e-04 -9.99998933e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99154014  0.00634388  0.12965135]
 [-0.00552633  0.99996258 -0.0066639 ]
 [-0.12968913  0.0058905   0.99153736]]

 t_gt:
[-0.12209607  0.10642291  0.98679619]

Pose Error in degrees for R and t:
177.1349739552428 86.97961189765995

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-1.84450569e-02  9.99829362e-01 -1.01321793e-03]
 [-9.99815103e-01 -1.84502837e-02 -5.41732235e-03]
 [-5.43509210e-03  9.13107770e-04  9.99984813e-01]]

 t_estimated:
[[0.00981764]
 [0.99994878]
 [0.00246159]]

 R_gt:
[[ 0.9769346  -0.0204258   0.21256072]
 [ 0.03153561  0.99830069 -0.04900358]
 [-0.21119835  0.05457684  0.97591853]]

 t_gt:
[0.1730065  0.01806404 0.98475502]

Pose Error in degrees for R and t:
93.18841123087532 88.72874863936148

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 6.21203195e-01 -7.83649509e-01  1.92868200e-04]
 [ 7.83649529e-01  6.21203149e-01 -2.50878747e-04]
 [ 7.67906737e-05  3.06987753e-04  9.99999950e-01]]

 t_estimated:
[[ 8.58698183e-01]
 [-5.12481413e-01]
 [-4.81717080e-04]]

 R_gt:
[[ 0.97407792 -0.09134886  0.20695306]
 [ 0.10263027  0.99372788 -0.0444201 ]
 [-0.20159808  0.06450841  0.9773418 ]]

 t_gt:
[ 0.67027473 -0.33309479  0.66315884]

Pose Error in degrees for R and t:
47.47529921250745 41.759313294743464

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 0.92649508  0.37609565  0.01260628]
 [ 0.37620452 -0.92494194 -0.05433762]
 [-0.00877607  0.05508607 -0.99844304]]

 t_estimated:
[[-9.87944426e-01]
 [-1.54806107e-01]
 [-9.38218827e-04]]

 R_gt:
[[ 0.99124347  0.13092439 -0.01719231]
 [-0.13033113  0.99095321  0.03205377]
 [ 0.02123276 -0.02953248  0.99933823]]

 t_gt:
[-0.72007565  0.6922014   0.04845898]

Pose Error in degrees for R and t:
178.76708143608016 52.82926008002885

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 9.92150965e-01 -1.25044640e-01  5.48577835e-04]
 [ 1.25044643e-01  9.92151116e-01  2.95713296e-05]
 [-5.47969848e-04  3.92574964e-05  9.99999849e-01]]

 t_estimated:
[[0.3373598 ]
 [0.94137524]
 [0.00101006]]

 R_gt:
[[ 9.56117548e-01  2.91035412e-01 -3.37339838e-02]
 [-2.90841949e-01  9.56712612e-01  1.06256847e-02]
 [ 3.53656640e-02 -3.48478018e-04  9.99373578e-01]]

 t_gt:
[-0.61573472  0.78247241 -0.09277761]

Pose Error in degrees for R and t:
24.189417309217266 58.07678297353233

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 0.9983337  -0.05758914  0.00364887]
 [ 0.0576082   0.99832491 -0.00535484]
 [-0.00333438  0.00555612  0.99997901]]

 t_estimated:
[[-7.73063829e-01]
 [-6.34327806e-01]
 [-7.41903867e-04]]

 R_gt:
[[ 8.94458390e-01  4.47125240e-01  4.71967043e-03]
 [-4.47131969e-01  8.94468714e-01  2.93718283e-04]
 [-4.09097080e-03 -2.37304015e-03  9.99987973e-01]]

 t_gt:
[-0.58327907  0.81180265  0.027604  ]

Pose Error in degrees for R and t:
29.864354809610155 86.32725980709404

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.88192175e-01  1.53219426e-01  1.79307801e-04]
 [-1.53219395e-01  9.88192181e-01 -1.73066279e-04]
 [-2.03707683e-04  1.43549310e-04  9.99999969e-01]]

 t_estimated:
[[-1.93262907e-01]
 [ 9.81146558e-01]
 [ 9.38289946e-04]]

 R_gt:
[[ 0.99754885 -0.06787577 -0.01702443]
 [ 0.06781915  0.99769063 -0.00382548]
 [ 0.01724559  0.00266206  0.9998481 ]]

 t_gt:
[ 0.51402718 -0.81213977 -0.27605263]

Pose Error in degrees for R and t:
12.743915743786163 26.307355459616115

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-6.83119216e-01  7.30306874e-01 -7.95119987e-05]
 [-7.30299561e-01 -6.83112855e-01 -4.40202978e-03]
 [-3.26914828e-03 -2.94904356e-03  9.99990308e-01]]

 t_estimated:
[[0.31549867]
 [0.94892292]
 [0.00242691]]

 R_gt:
[[ 0.97537129 -0.220472    0.00664322]
 [ 0.22030437  0.97522839  0.0198937 ]
 [-0.01086404 -0.01794076  0.99978043]]

 t_gt:
[ 0.58080197 -0.8072231   0.10516622]

Pose Error in degrees for R and t:
145.82315181056683 54.3737789123201

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 7.32487085e-01  6.80780621e-01  6.45740347e-04]
 [-6.80780438e-01  7.32485092e-01  1.89320208e-03]
 [ 8.15860110e-04 -1.82635347e-03  9.99997999e-01]]

 t_estimated:
[[8.52762519e-01]
 [5.22298309e-01]
 [7.49351950e-04]]

 R_gt:
[[ 0.95473215 -0.2971843  -0.01294119]
 [ 0.29741107  0.95448697  0.02236376]
 [ 0.00570709 -0.02520033  0.99966597]]

 t_gt:
[ 0.61964395 -0.78391885  0.0388923 ]

Pose Error in degrees for R and t:
60.21689483806169 83.16567684608734

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.98579364e-01  5.32846515e-02 -2.53340474e-05]
 [-5.32846526e-02  9.98579363e-01 -4.44475047e-05]
 [ 2.29296871e-05  4.57342769e-05  9.99999999e-01]]

 t_estimated:
[[-9.11795934e-01]
 [-4.10643523e-01]
 [-2.70164650e-04]]

 R_gt:
[[ 0.99604956  0.0834148   0.03043339]
 [-0.08161328  0.99507348 -0.05628059]
 [-0.03497866  0.05357499  0.99795044]]

 t_gt:
[-0.84118953  0.33541252 -0.42414457]

Pose Error in degrees for R and t:
4.035342166041311 50.99613577799231

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 7.33951330e-01 -6.79201579e-01  8.12911607e-04]
 [ 6.79202053e-01  7.33950556e-01 -1.07370521e-03]
 [ 1.32625348e-04  1.34017860e-03  9.99999093e-01]]

 t_estimated:
[[-0.22884862]
 [-0.97346053]
 [-0.00170783]]

 R_gt:
[[ 0.99635398  0.08099642  0.02678484]
 [-0.07812038  0.99240441 -0.09502469]
 [-0.0342785   0.09258496  0.9951139 ]]

 t_gt:
[-0.68375171  0.34175163 -0.64473981]

Pose Error in degrees for R and t:
47.66474381094574 79.91523211572337

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99993603e-01  3.51763796e-03  6.48738125e-04]
 [-3.51571381e-03  9.99989487e-01 -2.94365203e-03]
 [-6.59086007e-04  2.94135242e-03  9.99995457e-01]]

 t_estimated:
[[-0.45687802]
 [-0.88952767]
 [-0.0017306 ]]

 R_gt:
[[ 0.99828607 -0.04720305  0.03458179]
 [ 0.05113473  0.99103988 -0.12338592]
 [-0.02844781  0.12494221  0.99175555]]

 t_gt:
[ 0.3072919   0.12785599 -0.94298703]

Pose Error in degrees for R and t:
7.801989650542817 75.37483126462769

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[-0.9717396   0.23432276 -0.02854812]
 [ 0.23429039  0.97215615  0.00452077]
 [ 0.02881254 -0.00229554 -0.9995822 ]]

 t_estimated:
[[ 0.99223894]
 [-0.12351011]
 [-0.01439226]]

 R_gt:
[[ 0.99641856  0.0844984  -0.00320962]
 [-0.08452454  0.99637938 -0.00920218]
 [ 0.00242084  0.00944082  0.99995238]]

 t_gt:
[-0.80136904  0.59076045 -0.0938603 ]

Pose Error in degrees for R and t:
178.24600075448166 29.915301751287235

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.97807822e-01  6.61781690e-02  2.03823190e-05]
 [-6.61781676e-02  9.97807820e-01 -6.42445301e-05]
 [-2.45892227e-05  6.27548301e-05  9.99999998e-01]]

 t_estimated:
[[-9.86920783e-01]
 [ 1.61205969e-01]
 [-5.80796401e-05]]

 R_gt:
[[ 0.97035684  0.2412535   0.01432685]
 [-0.24125277  0.97046074 -0.00185007]
 [-0.01435008 -0.00166035  0.99989593]]

 t_gt:
[-0.75266841  0.6569174   0.0441564 ]

Pose Error in degrees for R and t:
10.200045047989105 31.927220347189007

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.90687723 -0.42132639  0.0075998 ]
 [ 0.42137544  0.90686125 -0.00673871]
 [-0.00405277  0.00931355  0.99994842]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.92261937  0.38551705  0.01225839]
 [-0.38499446  0.92237478 -0.03168014]
 [-0.02352125  0.02450926  0.9994229 ]]

 t_gt:
[-0.66948257  0.74270631 -0.01343233]

Pose Error in degrees for R and t:
47.60350929662661 48.14970447446672

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.00506392e-01  4.34842266e-01  6.64557403e-04]
 [-4.34842086e-01  9.00506634e-01 -4.02880050e-04]
 [-7.73627624e-04  7.38185332e-05  9.99999698e-01]]

 t_estimated:
[[0.58576182]
 [0.81048255]
 [0.00105899]]

 R_gt:
[[ 0.97161118 -0.23556283  0.02198378]
 [ 0.23484258  0.97153684  0.03106569]
 [-0.02867511 -0.02502072  0.99927556]]

 t_gt:
[ 0.71238964 -0.68246804  0.16351876]

Pose Error in degrees for R and t:
39.44078891778336 82.20294635256154

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-3.34959378e-01 -9.42230726e-01 -1.86406683e-03]
 [-9.42232448e-01  3.34959686e-01  1.53856450e-04]
 [ 4.79418964e-04  1.80791991e-03 -9.99998251e-01]]

 t_estimated:
[[7.94854797e-01]
 [6.06799345e-01]
 [6.36934524e-04]]

 R_gt:
[[ 9.19142557e-01 -3.93925590e-01  2.74528170e-04]
 [ 3.93066887e-01  9.17183048e-01  6.53837365e-02]
 [-2.60087744e-02 -5.99891140e-02  9.97860346e-01]]

 t_gt:
[ 0.7805556  -0.60360072  0.16247808]

Pose Error in degrees for R and t:
177.32313652212468 75.26982474132426

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.99918605 -0.04028938  0.00200148]
 [ 0.04029275  0.99918652 -0.0016718 ]
 [-0.0019325   0.00175108  0.9999966 ]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.90306592 -0.42901888  0.02037004]
 [ 0.42704012  0.90194801  0.06424033]
 [-0.04593287 -0.04931378  0.99772722]]

 t_gt:
[ 0.77582852 -0.60487866  0.17947678]

Pose Error in degrees for R and t:
23.386503525544814 72.52391843546953

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 6.03875953e-01 -7.97078061e-01  6.30996114e-04]
 [ 7.97078310e-01  6.03875807e-01 -4.21986522e-04]
 [-4.46870890e-05  7.57780829e-04  9.99999712e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99826741  0.05785795 -0.01071406]
 [-0.05825398  0.99744328 -0.04139482]
 [ 0.00829156  0.04194838  0.99908553]]

 t_gt:
[-0.46415492  0.68457385 -0.56206659]

Pose Error in degrees for R and t:
56.22938810596827 62.93837565178478

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.9894757   0.14467374  0.00270967]
 [-0.14466147  0.98947194 -0.00428256]
 [-0.00330072  0.0038455   0.99998716]]

 t_estimated:
[[0.22614951]
 [0.97409189]
 [0.00117786]]

 R_gt:
[[ 0.98887862  0.14713587 -0.02169025]
 [-0.14780803  0.98844422 -0.0336257 ]
 [ 0.01649221  0.036459    0.99919867]]

 t_gt:
[-0.56128033  0.78152779 -0.27235768]

Pose Error in degrees for R and t:
2.1932625248991457 50.652231934016065

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-0.6078056  -0.79390952 -0.01673411]
 [ 0.7940357  -0.6078691  -0.00157074]
 [-0.00892512 -0.01424219  0.99985874]]

 t_estimated:
[[ 0.9784673 ]
 [-0.20582855]
 [ 0.01537376]]

 R_gt:
[[ 0.96232163  0.26809904 -0.04538402]
 [-0.26986312  0.96212645 -0.03856827]
 [ 0.03332465  0.04936324  0.99822496]]

 t_gt:
[-0.53851482  0.80942132 -0.23417712]

Pose Error in degrees for R and t:
143.08120066606963 45.80349798594192

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99978597e-01  6.51129633e-03  6.38572422e-04]
 [-6.51047630e-03  9.99977990e-01 -1.27793511e-03]
 [-6.46879381e-04  1.27375035e-03  9.99998980e-01]]

 t_estimated:
[[0.56795426]
 [0.82305967]
 [0.00086184]]

 R_gt:
[[ 0.99652487 -0.08260824  0.01073952]
 [ 0.08309088  0.99489092 -0.05735518]
 [-0.00594768  0.05804881  0.99829589]]

 t_gt:
[ 0.74012886 -0.62266706 -0.25395866]

Pose Error in degrees for R and t:
6.080925389278987 84.7010883997615

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 6.54484542e-01  7.56074096e-01  1.39478326e-03]
 [-7.56072988e-01  6.54485998e-01 -1.30950386e-03]
 [-1.90294806e-03 -1.97507913e-04  9.99998170e-01]]

 t_estimated:
[[0.07263369]
 [0.9973581 ]
 [0.00108408]]

 R_gt:
[[ 9.89489748e-01 -1.44605751e-01 -9.13259080e-04]
 [ 1.42961313e-01  9.79145877e-01 -1.44344268e-01]
 [ 2.17665752e-02  1.42696767e-01  9.89526893e-01]]

 t_gt:
[ 0.72588478 -0.49331829 -0.47929986]

Pose Error in degrees for R and t:
57.9720975485664 63.90818312077088

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-0.99785577 -0.06539607  0.00268631]
 [-0.0653892   0.99785653  0.00256823]
 [-0.00284851  0.00238706 -0.99999309]]

 t_estimated:
[[0.99839966]
 [0.05651319]
 [0.00209308]]

 R_gt:
[[ 0.98614534 -0.1613962  -0.03831684]
 [ 0.14762365  0.95921912 -0.2410516 ]
 [ 0.07565843  0.23205593  0.96975496]]

 t_gt:
[ 0.63610306 -0.2612211  -0.72604162]

Pose Error in degrees for R and t:
176.42034068072024 51.77122620053603

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999977e-01  1.47066436e-04  1.57549545e-04]
 [-1.47070274e-04  9.99999989e-01  2.43504445e-05]
 [-1.57545962e-04 -2.43736148e-05  9.99999987e-01]]

 t_estimated:
[[0.87658916]
 [0.48123783]
 [0.00126099]]

 R_gt:
[[ 0.98197303 -0.18262682 -0.04875866]
 [ 0.18194386  0.98314075 -0.01814315]
 [ 0.05125054  0.00894494  0.99864527]]

 t_gt:
[ 0.64955899 -0.71596948 -0.25585313]

Pose Error in degrees for R and t:
10.934557684687258 77.02521970830777

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999964e-01 -8.28031488e-05  2.54628443e-04]
 [ 8.28900357e-05  9.99999938e-01 -3.41238605e-04]
 [-2.54600171e-04  3.41259699e-04  9.99999909e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.52780837e-01 -3.03459929e-01  1.10140187e-02]
 [ 3.03660714e-01  9.52137387e-01 -3.49900600e-02]
 [ 1.30960706e-04  3.66833683e-02  9.99326384e-01]]

 t_gt:
[ 0.58099417 -0.80951571 -0.08443991]

Pose Error in degrees for R and t:
17.794079527250915 54.66081660082151

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99999953e-01 -3.06246905e-04  3.49171294e-06]
 [ 3.06250643e-04  9.99999319e-01 -1.12593345e-03]
 [-3.14689693e-06  1.12593447e-03  9.99999366e-01]]

 t_estimated:
[[-0.80301863]
 [-0.59595252]
 [-0.00129228]]

 R_gt:
[[ 0.92312712 -0.38421183  0.01472668]
 [ 0.38430474  0.92319792 -0.00392818]
 [-0.0120862   0.00928708  0.99988375]]

 t_gt:
[ 0.5452085  -0.8379023   0.02583463]

Pose Error in degrees for R and t:
22.59721384945511 86.4738536121083

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-4.43912061e-01 -8.96067841e-01 -2.12291414e-03]
 [ 8.96070186e-01 -4.43909273e-01 -1.66684134e-03]
 [ 5.51221646e-04 -2.64221104e-03  9.99996357e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99584283 -0.08376293  0.03579265]
 [ 0.08510879  0.99565059 -0.03790587]
 [-0.0324618   0.04079406  0.99863968]]

 t_gt:
[ 0.79455651 -0.60338884 -0.06783702]

Pose Error in degrees for R and t:
111.53770599036528 37.568130354488545

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.40012018  0.91644987  0.00484452]
 [ 0.91642583 -0.40014591  0.0068516 ]
 [ 0.00821767  0.00169818 -0.99996479]]

 t_estimated:
[[8.56136612e-01]
 [5.16749123e-01]
 [6.66773063e-04]]

 R_gt:
[[ 0.98976209 -0.09803826  0.10372878]
 [ 0.10902049  0.98835945 -0.10612037]
 [-0.0921172   0.11634268  0.98892779]]

 t_gt:
[ 0.81173198 -0.54079551 -0.2205253 ]

Pose Error in degrees for R and t:
171.70546827358461 65.45858885350503

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.98984785  0.14212184  0.00161824]
 [ 0.14205702 -0.98963561  0.02100407]
 [ 0.00458661 -0.02056095 -0.99977808]]

 t_estimated:
[[-9.99991799e-01]
 [-3.97137332e-03]
 [-7.94274662e-04]]

 R_gt:
[[ 0.9878565  -0.06463766  0.14128718]
 [ 0.09164686  0.97672477 -0.1939371 ]
 [-0.12546274  0.20452992  0.97078649]]

 t_gt:
[ 0.53553836 -0.17529883 -0.82611681]

Pose Error in degrees for R and t:
169.13346626289822 57.71157167474861

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99999988e-01 -1.52989237e-04 -4.60554956e-06]
 [ 1.52989327e-04  9.99999988e-01  1.95438342e-05]
 [ 4.60255951e-06 -1.95445386e-05  1.00000000e+00]]

 t_estimated:
[[ 9.99765922e-01]
 [-2.16356065e-02]
 [ 4.06812869e-05]]

 R_gt:
[[ 0.99816211 -0.05895254 -0.01402141]
 [ 0.0585863   0.99796432 -0.02521557]
 [ 0.01547931  0.02434832  0.99958411]]

 t_gt:
[ 0.91708453 -0.11776606 -0.38090304]

Pose Error in degrees for R and t:
3.74569593701166 23.16114167941745

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.87951890e-01  1.54759472e-01  7.54238882e-04]
 [-1.54759019e-01  9.87952051e-01 -6.25302529e-04]
 [-8.41923339e-04  5.01043545e-04  9.99999520e-01]]

 t_estimated:
[[-9.53312532e-01]
 [-3.01985396e-01]
 [ 1.90928085e-04]]

 R_gt:
[[ 0.97943908 -0.20127916 -0.01363298]
 [ 0.1998535   0.97728334 -0.07055263]
 [ 0.02752403  0.06637802  0.99741526]]

 t_gt:
[ 0.94291992 -0.08374657 -0.32231743]

Pose Error in degrees for R and t:
20.89047971745423 29.112196443445825

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.97601195e-01  6.92220615e-02 -4.02525658e-04]
 [-6.92216336e-02  9.97600810e-01  9.94325697e-04]
 [ 4.70389198e-04 -9.64077020e-04  9.99999425e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 9.40706430e-01 -3.39222868e-01 -6.73593130e-04]
 [ 3.38868167e-01  9.39811896e-01 -4.38424509e-02]
 [ 1.55056162e-02  4.10146263e-02  9.99038256e-01]]

 t_gt:
[ 0.98887937 -0.08071333 -0.12491174]

Pose Error in degrees for R and t:
23.93374524723358 13.135011254147198

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.30815863  0.95113433  0.01953833]
 [ 0.95112498  0.30845714 -0.01467885]
 [-0.01998829  0.01405998 -0.99970135]]

 t_estimated:
[[ 0.8385585 ]
 [-0.54466579]
 [ 0.01260213]]

 R_gt:
[[ 0.98858056 -0.14364915 -0.04554493]
 [ 0.1433719   0.98962507 -0.00928915]
 [ 0.04640725  0.00265321  0.99891933]]

 t_gt:
[ 0.60260802 -0.75347163 -0.26295263]

Pose Error in degrees for R and t:
179.4642583958691 24.16105581737042

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.66179058  0.74967718 -0.00416559]
 [ 0.74967387 -0.66173222  0.00997777]
 [ 0.0047236  -0.00972603 -0.99994154]]

 t_estimated:
[[9.80433659e-01]
 [1.96847495e-01]
 [9.50954082e-04]]

 R_gt:
[[ 0.96711285 -0.24527321 -0.06733935]
 [ 0.24677635  0.9689587   0.01486265]
 [ 0.06160411 -0.03099143  0.9976193 ]]

 t_gt:
[ 0.64273115 -0.75995614 -0.0967643 ]

Pose Error in degrees for R and t:
176.6481934558197 61.28404235672975

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-2.75356223e-01  9.61338408e-01  2.72330715e-03]
 [-9.61342234e-01 -2.75354394e-01 -1.03242410e-03]
 [-2.42634350e-04 -2.90231458e-03  9.99995759e-01]]

 t_estimated:
[[7.83282872e-01]
 [6.21665005e-01]
 [7.51711009e-04]]

 R_gt:
[[ 0.89897808 -0.43669601 -0.03369625]
 [ 0.43782692  0.89809148  0.04168895]
 [ 0.01205765 -0.05223112  0.99856256]]

 t_gt:
[ 0.73920695 -0.67066144  0.06153305]

Pose Error in degrees for R and t:
131.9504215311546 80.6695859383462

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99680768e-01  2.52657901e-02  3.29606774e-05]
 [-2.52657880e-02  9.99680767e-01 -6.30896618e-05]
 [-3.45441654e-05  6.22367441e-05  9.99999997e-01]]

 t_estimated:
[[ 3.26948437e-01]
 [-9.45042063e-01]
 [-4.67546918e-04]]

 R_gt:
[[ 0.99414477 -0.08003223  0.07259768]
 [ 0.08441822  0.99465227 -0.05949556]
 [-0.06744775  0.06527522  0.99558576]]

 t_gt:
[ 0.74118458 -0.58016834 -0.33771307]

Pose Error in degrees for R and t:
8.189342836017607 37.74242363228651

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.88777898e-01 -1.49392988e-01  6.49589132e-05]
 [ 1.49392973e-01  9.88777884e-01  1.89419363e-04]
 [-9.25278612e-05 -1.77589274e-04  9.99999980e-01]]

 t_estimated:
[[ 6.28169640e-01]
 [-7.78076305e-01]
 [ 4.09907553e-04]]

 R_gt:
[[ 0.98989392 -0.1006007   0.0999442 ]
 [ 0.10768944  0.9918396  -0.06824535]
 [-0.0922631   0.07831921  0.99264985]]

 t_gt:
[ 0.76496001 -0.61194185 -0.20090635]

Pose Error in degrees for R and t:
7.420641841522753 16.946026436260382

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.46623819e-01  3.22340315e-01  2.58126724e-04]
 [-3.22340155e-01  9.46623765e-01 -5.22049190e-04]
 [-4.12626392e-04  4.10979589e-04  9.99999830e-01]]

 t_estimated:
[[ 8.14201522e-01]
 [-5.80581869e-01]
 [ 7.59087253e-04]]

 R_gt:
[[ 0.98040693 -0.11694383  0.15851148]
 [ 0.13277813  0.98674809 -0.0932567 ]
 [-0.14550524  0.11247661  0.98294325]]

 t_gt:
[ 0.79341307 -0.58502528 -0.16805093]

Pose Error in degrees for R and t:
28.066802189943736 9.760287046802276

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-6.85613713e-01  7.27959830e-01 -2.88475022e-03]
 [-7.27956998e-01 -6.85619483e-01 -2.12911321e-03]
 [-3.52774984e-03  6.40224902e-04  9.99993573e-01]]

 t_estimated:
[[0.42233171]
 [0.90644066]
 [0.00112322]]

 R_gt:
[[ 0.9931148  -0.04513561  0.10810742]
 [ 0.05979346  0.98884171 -0.13644321]
 [-0.10074338  0.14196827  0.98473184]]

 t_gt:
[ 0.02508661  0.51767059 -0.85521215]

Pose Error in degrees for R and t:
136.47283290750772 61.38824710058182

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.86080082 -0.50890157  0.00641374]
 [-0.50890158  0.86082292  0.00175244]
 [-0.00641291 -0.00175546 -0.9999779 ]]

 t_estimated:
[[ 0.99977587]
 [-0.02067263]
 [ 0.00456559]]

 R_gt:
[[ 0.97958997 -0.07505912  0.1864644 ]
 [ 0.11286737  0.97300946 -0.2012792 ]
 [-0.16632372  0.21821824  0.96162217]]

 t_gt:
[ 0.13428812  0.33443616 -0.93280178]

Pose Error in degrees for R and t:
172.9684630867516 82.92978745589215

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-4.22335520e-01 -9.06437608e-01 -1.88979466e-03]
 [ 9.06439472e-01 -4.22333545e-01 -1.36355593e-03]
 [ 4.37854695e-04 -2.28886257e-03  9.99997285e-01]]

 t_estimated:
[[0.99039965]
 [0.13823002]
 [0.0009981 ]]

 R_gt:
[[ 0.96587568 -0.1072714   0.23574735]
 [ 0.16368075  0.95821241 -0.2346011 ]
 [-0.20072999  0.26518424  0.94307182]]

 t_gt:
[ 0.37948117  0.07699384 -0.92199023]

Pose Error in degrees for R and t:
108.20267553144654 67.32145010927155

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.87862948e-01 -1.55328007e-01  7.35924981e-05]
 [ 1.55327992e-01  9.87862938e-01  1.77865304e-04]
 [-1.00326764e-04 -1.64275568e-04  9.99999981e-01]]

 t_estimated:
[[-0.55870869]
 [-0.82936341]
 [-0.00096662]]

 R_gt:
[[ 0.99475267 -0.09333975 -0.04189708]
 [ 0.09246912  0.99546667 -0.02226086]
 [ 0.04378646  0.01826976  0.99887413]]

 t_gt:
[ 0.53315182 -0.72461397 -0.43667348]

Pose Error in degrees for R and t:
4.518121932242768 72.3312232482527

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 2.36567755e-01 -9.71614727e-01 -7.20677236e-04]
 [ 9.71613695e-01  2.36566160e-01  1.81102609e-03]
 [-1.58913178e-03 -1.12865025e-03  9.99998100e-01]]

 t_estimated:
[[ 0.98145741]
 [-0.1916773 ]
 [ 0.0010805 ]]

 R_gt:
[[ 0.96589709 -0.25861724 -0.01263084]
 [ 0.25887392  0.96552906  0.02717998]
 [ 0.00516742 -0.02952267  0.99955113]]

 t_gt:
[ 0.6541205  -0.75343046  0.06684989]

Pose Error in degrees for R and t:
61.33595149842562 38.14231012844075

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.63371533e-01  2.68166299e-01  1.45816956e-03]
 [-2.68166273e-01  9.63372619e-01 -2.16530360e-04]
 [-1.46282678e-03 -1.82432713e-04  9.99998913e-01]]

 t_estimated:
[[9.56864602e-01]
 [2.90533147e-01]
 [7.89492246e-04]]

 R_gt:
[[ 8.79558154e-01 -4.75226226e-01 -2.32089435e-02]
 [ 4.75791564e-01  8.78411230e-01  4.49127276e-02]
 [-9.55307660e-04 -5.05451356e-02  9.98720989e-01]]

 t_gt:
[ 0.78147    -0.61810826  0.08512826]

Pose Error in degrees for R and t:
44.05955766259876 55.37190865298165

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.00982549  0.99994712  0.0030365 ]
 [-0.99995118 -0.00982862  0.00101775]
 [ 0.00104754 -0.00302635  0.99999487]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.90438760e-01  1.37948643e-01  2.15784167e-04]
 [-1.37829927e-01  9.89647822e-01 -4.00111332e-02]
 [-5.73342141e-03  3.95977574e-02  9.99199048e-01]]

 t_gt:
[-0.36872073  0.92055599 -0.12892517]

Pose Error in degrees for R and t:
82.66519783062557 23.349559144677176

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 7.79788727e-01 -6.26033420e-01  3.42041483e-03]
 [ 6.26038829e-01  7.79791557e-01 -7.15219789e-04]
 [-2.21945912e-03  2.69903282e-03  9.99993895e-01]]

 t_estimated:
[[8.13818751e-01]
 [5.81118440e-01]
 [6.32337802e-04]]

 R_gt:
[[ 0.96436785  0.26382539 -0.0197504 ]
 [-0.26447581  0.95943232 -0.09769192]
 [-0.00682527  0.09943384  0.99502081]]

 t_gt:
[-0.29447455  0.94003437 -0.17210496]

Pose Error in degrees for R and t:
54.38310770274013 72.15075310298516

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.80621694e-01  1.95910904e-01 -1.02280173e-04]
 [-1.95910926e-01  9.80621646e-01 -3.09342847e-04]
 [ 3.96945148e-05  3.23386110e-04  9.99999947e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.94270127  0.33352706 -0.00858487]
 [-0.33288797  0.93854819 -0.09118084]
 [-0.0223551   0.08881336  0.99579759]]

 t_gt:
[-0.29010669  0.95383152 -0.07774027]

Pose Error in degrees for R and t:
9.734036017089613 73.30913121473563

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.99718463e-01 -2.37275263e-02  7.03676403e-07]
 [ 2.37275263e-02  9.99718462e-01  4.70984465e-05]
 [-1.82100792e-06 -4.70684900e-05  9.99999999e-01]]

 t_estimated:
[[4.45764401e-01]
 [8.95150277e-01]
 [2.82800687e-04]]

 R_gt:
[[ 0.99724018 -0.04000766  0.06253813]
 [ 0.04339579  0.99760887 -0.05378124]
 [-0.06023651  0.0563476   0.99659302]]

 t_gt:
[ 0.81171486 -0.58359752  0.02308489]

Pose Error in degrees for R and t:
4.844761939807484 80.76017046014061

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.99990738e-01 -4.29047483e-03 -3.41388057e-04]
 [ 4.29082678e-03  9.99990257e-01  1.03697163e-03]
 [ 3.36935630e-04 -1.03842686e-03  9.99999404e-01]]

 t_estimated:
[[-0.00455408]
 [-0.99998782]
 [ 0.00190406]]

 R_gt:
[[ 0.99333939 -0.0294722   0.11139233]
 [ 0.04436898  0.99002561 -0.13371857]
 [-0.10633977  0.13777145  0.98473965]]

 t_gt:
[ 0.40930555 -0.00274114 -0.91239325]

Pose Error in degrees for R and t:
10.255623393255249 89.95071680992109

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-1.58951651e-01 -9.87286366e-01 -6.06207016e-05]
 [-9.87281867e-01  1.58950740e-01  3.02939390e-03]
 [-2.98124359e-03  5.41376880e-04 -9.99995410e-01]]

 t_estimated:
[[0.50662962]
 [0.86215708]
 [0.00340639]]

 R_gt:
[[ 0.98743175  0.01930204  0.15686469]
 [ 0.01257298  0.97977579 -0.19970314]
 [-0.15754566  0.19916586  0.96721915]]

 t_gt:
[-0.56415399  0.6326567  -0.53054291]

Pose Error in degrees for R and t:
179.55336300114624 75.05894995531507

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[-0.63368218 -0.77351385  0.01110046]
 [-0.773529    0.6337494   0.00381922]
 [-0.00998913 -0.00616636 -0.99993109]]

 t_estimated:
[[0.90150833]
 [0.43270454]
 [0.00703613]]

 R_gt:
[[ 0.99489934  0.09851562 -0.02168067]
 [-0.09770321  0.99457137  0.03579761]
 [ 0.02508978 -0.0334972   0.99912477]]

 t_gt:
[-0.74358309  0.66595479  0.05990336]

Pose Error in degrees for R and t:
179.69600600635803 67.55705762143725

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 8.96022420e-01 -4.44003195e-01 -2.23287969e-03]
 [ 4.44007718e-01  8.96020038e-01  2.28873535e-03]
 [ 9.84499135e-04 -3.04217400e-03  9.99994888e-01]]

 t_estimated:
[[-0.63300462]
 [-0.77414754]
 [-0.00085541]]

 R_gt:
[[ 0.96585525  0.25700294 -0.03275743]
 [-0.25594393  0.96611891  0.03327993]
 [ 0.04020131 -0.02375913  0.99890935]]

 t_gt:
[-0.63953275  0.76676962 -0.05533723]

Pose Error in degrees for R and t:
41.301050276664434 79.12200525074493

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.35303813e-01 -3.53844777e-01  8.06408596e-04]
 [ 3.53845668e-01  9.35302222e-01 -1.73131790e-03]
 [-1.41617954e-04  1.90465243e-03  9.99998176e-01]]

 t_estimated:
[[-0.68594942]
 [-0.72764848]
 [-0.00104248]]

 R_gt:
[[ 0.90795388  0.41855084 -0.02084442]
 [-0.41802029  0.90807761  0.02559384]
 [ 0.02964031 -0.01452425  0.99945592]]

 t_gt:
[-0.58742267  0.80892633 -0.02393306]

Pose Error in degrees for R and t:
45.49736414072307 79.30115408056321

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.98746129e-01  5.00616548e-02 -2.23382062e-06]
 [-5.00616548e-02  9.98746129e-01 -7.77775714e-06]
 [ 1.84165231e-06  7.87983359e-06  1.00000000e+00]]

 t_estimated:
[[-8.94611263e-01]
 [-4.46845226e-01]
 [-1.81633194e-04]]

 R_gt:
[[ 0.99761334  0.06793995  0.01239946]
 [-0.06699906  0.99564288 -0.06485607]
 [-0.01675223  0.06387062  0.9978176 ]]

 t_gt:
[-0.72655648  0.32312658 -0.60638676]

Pose Error in degrees for R and t:
3.9158940917510225 59.62162582769516

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.80350576 -0.59529576 -0.00120692]
 [ 0.59529609 -0.80349939 -0.00336064]
 [ 0.00103081 -0.00341876  0.99999362]]

 t_estimated:
[[9.99993834e-01]
 [3.49955381e-03]
 [2.90692114e-04]]

 R_gt:
[[ 0.99888087 -0.04487353  0.01498835]
 [ 0.04581085  0.99652843 -0.06951487]
 [-0.01181742  0.07012373  0.99746877]]

 t_gt:
[ 0.53444384  0.03749862 -0.84437174]

Pose Error in degrees for R and t:
140.89153619670554 57.70176423491984

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999894e-01  1.65033099e-04  4.29213116e-04]
 [-1.64788883e-04  9.99999825e-01 -5.68957046e-04]
 [-4.29306938e-04  5.68886256e-04  9.99999746e-01]]

 t_estimated:
[[-7.97540070e-01]
 [-6.03265466e-01]
 [-7.84098037e-04]]

 R_gt:
[[ 9.76518796e-01 -2.14428496e-01  2.08093319e-02]
 [ 2.15435973e-01  9.71917002e-01 -9.46766788e-02]
 [ 7.68153220e-05  9.69374638e-02  9.95291210e-01]]

 t_gt:
[ 0.90994489 -0.07012315 -0.40875792]

Pose Error in degrees for R and t:
13.618079942017253 46.914094837455906

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99818311e-01 -1.90612019e-02  1.24872686e-04]
 [ 1.90612299e-02  9.99818293e-01 -2.26535107e-04]
 [-1.20531965e-04  2.28874175e-04  9.99999967e-01]]

 t_estimated:
[[ 9.99350406e-01]
 [ 3.60352633e-02]
 [-4.75161525e-04]]

 R_gt:
[[ 9.88187680e-01 -1.53245029e-01 -6.01572189e-04]
 [ 1.53214820e-01  9.88056057e-01 -1.64414067e-02]
 [ 3.11355636e-03  1.61540476e-02  9.99865056e-01]]

 t_gt:
[ 0.74672445 -0.66227216 -0.06162943]

Pose Error in degrees for R and t:
7.77834063684557 43.746723005467146

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.82237458e-01  1.87642019e-01  2.22121530e-04]
 [-1.87641983e-01  9.82237475e-01 -1.69870478e-04]
 [-2.50050930e-04  1.25173822e-04  9.99999961e-01]]

 t_estimated:
[[7.67912122e-01]
 [6.40554763e-01]
 [7.53593839e-04]]

 R_gt:
[[ 0.95968703 -0.28015233  0.022696  ]
 [ 0.28040015  0.95984589 -0.00850416]
 [-0.019403    0.01452504  0.99970643]]

 t_gt:
[ 0.77845019 -0.62728944  0.02287477]

Pose Error in degrees for R and t:
27.128418037828308 78.69770993828949

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 8.20784960e-01 -5.71237254e-01  2.22756280e-04]
 [-5.71235857e-01 -8.20783704e-01 -1.92556864e-03]
 [ 1.28279126e-03  1.45323140e-03 -9.99998121e-01]]

 t_estimated:
[[9.84577223e-01]
 [1.74948781e-01]
 [7.84523684e-04]]

 R_gt:
[[ 0.89090718 -0.4523729  -0.0405389 ]
 [ 0.45254581  0.89172553 -0.00531324]
 [ 0.03855227 -0.0136127   0.99916384]]

 t_gt:
[ 0.83926705 -0.54199774 -0.04323499]

Pose Error in degrees for R and t:
179.4264923544505 42.99044202854899

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.96595982e-01  8.24390287e-02  5.04350776e-04]
 [-8.24387693e-02  9.96595998e-01 -5.15193109e-04]
 [-5.45105985e-04  4.71861325e-04  9.99999740e-01]]

 t_estimated:
[[0.31434071]
 [0.94930893]
 [0.0015717 ]]

 R_gt:
[[ 0.98595556 -0.16558684 -0.02173657]
 [ 0.1639441   0.98445241 -0.06304615]
 [ 0.03183821  0.05859708  0.99777393]]

 t_gt:
[ 0.5838475  -0.59529401 -0.55203907]

Pose Error in degrees for R and t:
14.722055618680775 67.51394682970168

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999911e-01  4.20840779e-04  8.04111882e-06]
 [-4.20841025e-04  9.99999911e-01  3.05977019e-05]
 [-8.02824134e-06 -3.06010832e-05  9.99999999e-01]]

 t_estimated:
[[0.99970186]
 [0.02438822]
 [0.00118594]]

 R_gt:
[[ 0.94840762 -0.31679055 -0.0129018 ]
 [ 0.31619774  0.94805292 -0.03484518]
 [ 0.0232712   0.02896692  0.9993093 ]]

 t_gt:
[ 0.62233615 -0.76559302 -0.16298787]

Pose Error in degrees for R and t:
18.60321430208096 52.89440609148764

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.8994735   0.43690346  0.00792421]
 [ 0.43692758  0.89949538  0.0015306 ]
 [-0.00645907  0.00483904 -0.99996743]]

 t_estimated:
[[0.98982693]
 [0.14226257]
 [0.0020037 ]]

 R_gt:
[[ 0.90827126 -0.41756693  0.02608909]
 [ 0.41832843  0.90737703 -0.04083205]
 [-0.00662222  0.04799967  0.99882516]]

 t_gt:
[ 0.58691112 -0.80642874 -0.07216664]

Pose Error in degrees for R and t:
178.02758667950764 62.22042950709848

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.99980051  0.01803786 -0.00857726]
 [-0.01798984  0.99982225  0.00564264]
 [ 0.00867751 -0.00548721  0.99994729]]

 t_estimated:
[[-0.86950342]
 [-0.49387794]
 [-0.00695603]]

 R_gt:
[[ 0.99844105 -0.05552835 -0.00568079]
 [ 0.05506065  0.99648452 -0.06315072]
 [ 0.00916755  0.06273988  0.99798784]]

 t_gt:
[ 0.69889977 -0.53498855 -0.47468554]

Pose Error in degrees for R and t:
5.754856750101764 70.11247783930718

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.54030874 -0.84141906 -0.00896773]
 [ 0.84146625 -0.54026497 -0.00695059]
 [ 0.00100341 -0.01130151  0.99993563]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99351325 -0.11093176 -0.02501916]
 [ 0.10484942  0.97876194 -0.17615694]
 [ 0.04402891  0.17239102  0.98404362]]

 t_gt:
[ 0.60740733 -0.30443736 -0.73373989]

Pose Error in degrees for R and t:
116.75980183591396 52.7069825833163

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.63488863e-02  9.95347533e-01  4.25149470e-04]
 [ 9.95346904e-01 -9.63493217e-02  1.16175637e-03]
 [ 1.19731420e-03  3.11237275e-04 -9.99999235e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075947e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99115984 -0.10895178 -0.07572014]
 [ 0.08803554  0.9670091  -0.23904757]
 [ 0.09926637  0.23026829  0.968051  ]]

 t_gt:
[ 0.50122203 -0.07439498 -0.86211476]

Pose Error in degrees for R and t:
173.37924921931196 59.97879448601269

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999917e-01  2.63195011e-04 -3.10716666e-04]
 [-2.63058202e-04  9.99999868e-01  4.40260284e-04]
 [ 3.10832499e-04 -4.40178510e-04  9.99999855e-01]]

 t_estimated:
[[-0.80086207]
 [-0.59884365]
 [-0.00249725]]

 R_gt:
[[ 0.99194682 -0.12544418  0.01744932]
 [ 0.12610583  0.99102931 -0.04426692]
 [-0.01173984  0.04611129  0.99886704]]

 t_gt:
[ 0.84255203 -0.50610971 -0.1842798 ]

Pose Error in degrees for R and t:
7.750855644861936 68.20867938634765

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 8.34928832e-01 -5.50355712e-01 -1.56069544e-03]
 [ 5.50357171e-01  8.34929025e-01  7.12166474e-04]
 [ 9.11125037e-04 -1.45354825e-03  9.99998529e-01]]

 t_estimated:
[[9.59377148e-01]
 [2.82125729e-01]
 [7.48344110e-04]]

 R_gt:
[[ 0.98312961 -0.17103749  0.06483427]
 [ 0.17620897  0.98068751 -0.08487304]
 [-0.04906546  0.09486529  0.99428053]]

 t_gt:
[ 0.846669   -0.49756634 -0.18862484]

Pose Error in degrees for R and t:
24.168416453189913 47.79714731639493

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.81147717e-01 -1.93257586e-01 -8.13683805e-04]
 [ 1.93258933e-01  9.81145360e-01  2.18363197e-03]
 [ 3.76338647e-04 -2.29971718e-03  9.99997285e-01]]

 t_estimated:
[[0.00624337]
 [0.99997997]
 [0.00104056]]

 R_gt:
[[ 0.97934725 -0.16390964  0.11837707]
 [ 0.18179859  0.97010062 -0.16079534]
 [-0.0884808   0.17899562  0.97986295]]

 t_gt:
[ 0.8158572  -0.4202744  -0.39717307]

Pose Error in degrees for R and t:
11.696139128349287 65.4438020292794

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-3.14653749e-01  9.49206296e-01 -6.52389348e-04]
 [-9.49205876e-01 -3.14654262e-01 -9.48969029e-04]
 [-1.10604447e-03  3.20655140e-04  9.99999337e-01]]

 t_estimated:
[[8.82634543e-01]
 [4.70059287e-01]
 [7.27645955e-04]]

 R_gt:
[[ 0.98983722 -0.1419905   0.00785212]
 [ 0.14191701  0.98983332  0.00940205]
 [-0.00910633 -0.0081922   0.99992477]]

 t_gt:
[ 0.71695775 -0.69359812  0.06995167]

Pose Error in degrees for R and t:
116.5027168857452 72.13168477007157

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-1.16649964e-01  9.93166782e-01  3.53972130e-03]
 [ 9.93172760e-01  1.16652088e-01 -3.98921630e-04]
 [-8.09111591e-04  3.46902058e-03 -9.99993656e-01]]

 t_estimated:
[[9.92541479e-01]
 [1.21904857e-01]
 [7.86482947e-04]]

 R_gt:
[[ 0.93960476 -0.33872969 -0.04903451]
 [ 0.33901675  0.94077673 -0.00262469]
 [ 0.04701919 -0.01415845  0.99879356]]

 t_gt:
[ 0.79992656 -0.59406249 -0.08489555]

Pose Error in degrees for R and t:
177.87225072769425 43.82365436138731

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 6.99687514e-01  7.14443775e-01  2.73406101e-03]
 [-7.14435047e-01  6.99692642e-01 -3.57355382e-03]
 [-4.46610565e-03  5.47061982e-04  9.99989877e-01]]

 t_estimated:
[[-0.59924237]
 [ 0.80055617]
 [ 0.00429006]]

 R_gt:
[[ 0.86888239 -0.49334798 -0.04061491]
 [ 0.49423246  0.86920037  0.01500906]
 [ 0.02789796 -0.03311518  0.99906232]]

 t_gt:
[ 0.84202898 -0.53941861 -0.00384197]

Pose Error in degrees for R and t:
75.24722129450049 20.539453227662108

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999882e-01 -8.77093713e-05 -4.77801277e-04]
 [ 8.75411021e-05  9.99999934e-01 -3.52183492e-04]
 [ 4.77832135e-04  3.52141623e-04  9.99999824e-01]]

 t_estimated:
[[0.79522966]
 [0.60630769]
 [0.00087871]]

 R_gt:
[[ 0.97615418  0.21316089 -0.04104448]
 [-0.21326326  0.97699254  0.00193703]
 [ 0.04051307  0.00686339  0.99915487]]

 t_gt:
[-0.31672751  0.93377757 -0.16656273]

Pose Error in degrees for R and t:
12.537988817375323 71.69115278141818

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.99018835  0.13908462  0.01350909]
 [ 0.1390337   0.99027677 -0.0046421 ]
 [-0.01402338 -0.00271833 -0.99989797]]

 t_estimated:
[[0.79999872]
 [0.59999904]
 [0.00178571]]

 R_gt:
[[ 0.9383339   0.3437284  -0.03713537]
 [-0.34205955  0.93861085  0.04476078]
 [ 0.0502414  -0.02929659  0.99830692]]

 t_gt:
[-0.29176817  0.95292654 -0.08247636]

Pose Error in degrees for R and t:
178.12808146504454 70.23314565218864

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 4.37451343e-01  8.99241891e-01  5.87083342e-04]
 [ 8.99240169e-01 -4.37451665e-01  1.77724965e-03]
 [ 1.85499792e-03 -2.49531320e-04 -9.99998248e-01]]

 t_estimated:
[[0.61921649]
 [0.78521921]
 [0.00131748]]

 R_gt:
[[ 0.89583866  0.44251758 -0.04063681]
 [-0.4414994   0.89669714  0.03180765]
 [ 0.05051437 -0.01055244  0.9986676 ]]

 t_gt:
[-0.24567957  0.96522807 -0.08931031]

Pose Error in degrees for R and t:
177.435088079677 52.72299392638461

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 5.86272637e-01 -8.10102191e-01 -4.33983682e-03]
 [ 8.10109266e-01  5.86278886e-01 -2.10764029e-04]
 [ 2.71509510e-03 -3.39217684e-03  9.99990561e-01]]

 t_estimated:
[[-0.03328563]
 [-0.99944491]
 [-0.00139032]]

 R_gt:
[[ 0.97307159  0.23017677 -0.01228769]
 [-0.23017378  0.97314796  0.0017241 ]
 [ 0.01235404  0.00115166  0.99992285]]

 t_gt:
[-0.32635193  0.94413227 -0.04592024]

Pose Error in degrees for R and t:
67.41569749971215 21.143249776654066

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-4.27818473e-01 -9.03864510e-01 -5.48770684e-04]
 [-9.03863904e-01  4.27818823e-01 -1.04822049e-03]
 [ 1.18222372e-03  4.75659245e-05 -9.99999300e-01]]

 t_estimated:
[[0.76098062]
 [0.6487741 ]
 [0.00081213]]

 R_gt:
[[ 0.92228539  0.38488582 -0.0353847 ]
 [-0.38390565  0.92283404  0.03152262]
 [ 0.04478594 -0.01548799  0.99887714]]

 t_gt:
[-0.25371714  0.96435907 -0.07509456]

Pose Error in degrees for R and t:
178.70476498635594 64.37263754238177

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-5.45368473e-01  8.38188525e-01 -3.63658086e-03]
 [-8.38193512e-01 -5.45372869e-01 -2.65366872e-04]
 [-2.20572001e-03  2.90343576e-03  9.99993352e-01]]

 t_estimated:
[[0.60288737]
 [0.79782526]
 [0.00129098]]

 R_gt:
[[ 0.86605839  0.49897831 -0.03104052]
 [-0.49658136  0.86576265  0.06213627]
 [ 0.05787752 -0.03839897  0.99758535]]

 t_gt:
[-0.210535    0.97564481 -0.06158098]

Pose Error in degrees for R and t:
93.22686402506615 49.353841656436956

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.88251050e-01 -1.52839330e-01  3.71573568e-05]
 [ 1.52839322e-01  9.88251039e-01  1.61019095e-04]
 [-6.13308471e-05 -1.53448184e-04  9.99999986e-01]]

 t_estimated:
[[ 9.93735488e-01]
 [-1.11755522e-01]
 [ 6.94467062e-04]]

 R_gt:
[[ 9.76421591e-01 -2.13747775e-01 -3.01949640e-02]
 [ 2.13825009e-01  9.76871436e-01 -7.19637360e-04]
 [ 2.96493660e-02 -5.75371999e-03  9.99542971e-01]]

 t_gt:
[ 0.75939727 -0.64508768 -0.0847211 ]

Pose Error in degrees for R and t:
3.956023066625653 34.241493663497906

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-6.68717311e-01  7.43489368e-01 -6.38107596e-03]
 [-7.43500461e-01 -6.68734842e-01 -8.80084952e-04]
 [-4.92158163e-03  4.15580488e-03  9.99979253e-01]]

 t_estimated:
[[8.16356270e-01]
 [5.77548180e-01]
 [7.34794124e-04]]

 R_gt:
[[ 0.91526464 -0.40272117 -0.01029397]
 [ 0.40279476  0.91526768  0.00642681]
 [ 0.00683315 -0.01002787  0.99992596]]

 t_gt:
[ 0.80878397 -0.58806987  0.00650598]

Pose Error in degrees for R and t:
155.72264918667858 71.29945740157042

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.70218034e-01 -2.42232497e-01  6.20061976e-04]
 [ 2.42232802e-01  9.70218040e-01 -4.74520913e-04]
 [-4.86650929e-04  6.10588097e-04  9.99999695e-01]]

 t_estimated:
[[8.01117160e-01]
 [5.98507234e-01]
 [6.21502839e-04]]

 R_gt:
[[ 0.85110641 -0.52466369  0.01856055]
 [ 0.52458282  0.85130722  0.00940127]
 [-0.02073379  0.00173579  0.99978316]]

 t_gt:
[ 0.83867771 -0.54290196  0.04332627]

Pose Error in degrees for R and t:
17.666777336503557 69.69757879639197

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99799254e-01 -2.00362466e-02 -1.73005280e-05]
 [ 2.00362442e-02  9.99799246e-01 -1.32288707e-04]
 [ 1.99476240e-05  1.31915513e-04  9.99999991e-01]]

 t_estimated:
[[ 0.01882618]
 [-0.99982226]
 [-0.00101144]]

 R_gt:
[[ 0.98790026 -0.15500094  0.00514395]
 [ 0.15505978  0.98658638 -0.05101956]
 [ 0.00283313  0.05119887  0.99868474]]

 t_gt:
[ 0.47974046 -0.75546525 -0.44623016]

Pose Error in degrees for R and t:
8.310048768243538 40.10955385467537

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.23872341 -0.97106719  0.0062971 ]
 [-0.97108182  0.23869459 -0.00499878]
 [ 0.00335107 -0.00730833 -0.99996768]]

 t_estimated:
[[0.7094501 ]
 [0.70475176]
 [0.00234917]]

 R_gt:
[[ 9.65943986e-01 -2.58749240e-01  1.95951556e-04]
 [ 2.58474673e-01  9.64886146e-01 -4.67374459e-02]
 [ 1.19040376e-02  4.51960958e-02  9.98906942e-01]]

 t_gt:
[ 0.4433389  -0.85218115 -0.27791708]

Pose Error in degrees for R and t:
178.14129562584608 73.33937491010126

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.20001134e-01  3.91915696e-01 -2.76910665e-05]
 [-3.91915666e-01  9.20001031e-01 -4.62327162e-04]
 [-1.55717462e-04  4.36194076e-04  9.99999893e-01]]

 t_estimated:
[[-0.96759027]
 [-0.25252314]
 [-0.00106771]]

 R_gt:
[[ 0.94381076 -0.32622554  0.05289619]
 [ 0.32803464  0.94419079 -0.0299423 ]
 [-0.04017624  0.04561102  0.99815126]]

 t_gt:
[ 0.3455527  -0.93756926 -0.03946158]

Pose Error in degrees for R and t:
42.3222942760279 84.40170067708011

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 7.09186369e-01 -7.05018997e-01 -1.70527284e-03]
 [ 7.05020085e-01  7.09187336e-01  5.23463650e-05]
 [ 1.17245272e-03 -1.23937493e-03  9.99998545e-01]]

 t_estimated:
[[0.65669997]
 [0.75415143]
 [0.00087794]]

 R_gt:
[[ 0.99394219 -0.10979193 -0.00494338]
 [ 0.10972666  0.99389196 -0.01179426]
 [ 0.00620971  0.01118013  0.99991768]]

 t_gt:
[ 0.75819397 -0.64468892 -0.09756069]

Pose Error in degrees for R and t:
38.536254277893796 89.33379376809638

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.54865765 -0.83599131 -0.00966022]
 [ 0.83593933 -0.54836475 -0.02239503]
 [ 0.01342473 -0.02036256  0.99970253]]

 t_estimated:
[[0.96956731]
 [0.24465717]
 [0.00906138]]

 R_gt:
[[ 0.96336394 -0.26812004 -0.00649181]
 [ 0.26801241  0.96331619 -0.01381956]
 [ 0.00996046  0.01157282  0.99988339]]

 t_gt:
[ 0.82602699 -0.56134792 -0.05067471]

Pose Error in degrees for R and t:
107.72090551333858 48.46390193546516

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 8.72659346e-01  4.88304774e-01  4.91052499e-03]
 [ 4.88307086e-01 -8.72671503e-01  7.97999625e-04]
 [ 4.67494225e-03  1.70146232e-03 -9.99987625e-01]]

 t_estimated:
[[0.96772116]
 [0.25201072]
 [0.00252011]]

 R_gt:
[[ 0.92557027 -0.37847411  0.0087471 ]
 [ 0.37834968  0.92397902 -0.05579889]
 [ 0.01303677  0.05495517  0.99840366]]

 t_gt:
[ 0.87441027 -0.4707298  -0.11755909]

Pose Error in degrees for R and t:
176.82028579141274 43.34281220894855

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.87315280e-01 -1.58770951e-01 -5.68819077e-04]
 [ 1.58771443e-01  9.87314898e-01  9.59675263e-04]
 [ 4.09234994e-04 -1.03781428e-03  9.99999378e-01]]

 t_estimated:
[[0.73349208]
 [0.67969396]
 [0.00234448]]

 R_gt:
[[ 0.99257841 -0.1215363   0.00413172]
 [ 0.12039084  0.98687695  0.10760785]
 [-0.01715516 -0.10631267  0.99418454]]

 t_gt:
[ 0.42857992 -0.67173329  0.60422979]

Pose Error in degrees for R and t:
6.499583700187332 81.90606204228519

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.88814704e-01 -1.49149186e-01  2.61196609e-05]
 [ 1.49149165e-01  9.88814634e-01  3.81266387e-04]
 [-8.26930741e-05 -3.73106084e-04  9.99999927e-01]]

 t_estimated:
[[0.85788896]
 [0.51383389]
 [0.00112436]]

 R_gt:
[[ 9.88164566e-01 -1.52608612e-01 -1.55121371e-02]
 [ 1.53393038e-01  9.82500428e-01  1.05659935e-01]
 [-8.84185282e-04 -1.06788507e-01  9.94281032e-01]]

 t_gt:
[ 0.49946422 -0.72943935  0.46739033]

Pose Error in degrees for R and t:
6.1142138965933395 86.89306355584009

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-9.60204785e-01 -2.79296224e-01 -6.24989799e-04]
 [ 2.79296894e-01 -9.60203304e-01 -1.69115016e-03]
 [-1.27785415e-04 -1.79840819e-03  9.99998375e-01]]

 t_estimated:
[[8.14857234e-01]
 [5.79661319e-01]
 [6.66277378e-04]]

 R_gt:
[[ 0.9989396  -0.04143576  0.02009562]
 [ 0.0419312   0.99881002 -0.02489194]
 [-0.01904082  0.02570733  0.9994881 ]]

 t_gt:
[ 0.85130285  0.07525751 -0.51924923]

Pose Error in degrees for R and t:
161.39588039755793 42.526211616483785

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.99997655 -0.00483754 -0.00484839]
 [ 0.00485512 -0.99998166 -0.00362166]
 [-0.00483078 -0.00364512  0.99998169]]

 t_estimated:
[[0.961631  ]
 [0.27433032]
 [0.00294979]]

 R_gt:
[[ 0.97186303 -0.23411575 -0.02595582]
 [ 0.23472603  0.9717746   0.02361511]
 [ 0.01969353 -0.0290427   0.99938397]]

 t_gt:
[ 0.98860044 -0.12120549  0.08932188]

Pose Error in degrees for R and t:
166.15677770068933 23.410479809989187

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.24800222  0.96846771 -0.02377395]
 [ 0.9686     -0.24744147  0.02422293]
 [ 0.01757646 -0.02903479 -0.99942386]]

 t_estimated:
[[-0.23141788]
 [-0.97285379]
 [-0.00112339]]

 R_gt:
[[ 0.91508146 -0.401334   -0.03947989]
 [ 0.40245685  0.91506408  0.02618779]
 [ 0.02561634 -0.03985295  0.99887722]]

 t_gt:
[ 0.99643969 -0.03203834  0.07798386]

Pose Error in degrees for R and t:
175.36638502727558 78.49152122263133

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.98523997e-01  5.42663176e-02 -2.23465666e-03]
 [ 5.43117926e-02 -9.97489533e-01  4.54407317e-02]
 [ 2.36854553e-04 -4.54950293e-02 -9.98964537e-01]]

 t_estimated:
[[-0.05221441]
 [ 0.99836631]
 [ 0.02320286]]

 R_gt:
[[ 0.99862152  0.02173404 -0.04777678]
 [-0.02371232  0.99886756 -0.04124415]
 [ 0.04682659  0.04232027  0.99800603]]

 t_gt:
[-0.05089685  0.44834381 -0.89241097]

Pose Error in degrees for R and t:
179.71422747732504 64.56020651495786

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.94772472e-01 -1.02116240e-01 -4.30298408e-05]
 [ 1.02116249e-01  9.94772417e-01  3.31422888e-04]
 [ 8.96123950e-06 -3.34084411e-04  9.99999944e-01]]

 t_estimated:
[[0.36090081]
 [0.9326033 ]
 [0.00130136]]

 R_gt:
[[ 0.9969625   0.01961852 -0.0753813 ]
 [-0.02603973  0.99602674 -0.08515925]
 [ 0.07341177  0.08686364  0.99351099]]

 t_gt:
[ 0.04094338  0.36335617 -0.9307502 ]

Pose Error in degrees for R and t:
9.706970932123248 69.36383459657843

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.83116514 -0.55601815 -0.00288695]
 [-0.55602388  0.83116437  0.00179695]
 [ 0.00140039  0.00309877 -0.99999422]]

 t_estimated:
[[8.77080767e-01]
 [4.80342326e-01]
 [7.60035327e-04]]

 R_gt:
[[ 0.99951756  0.0022533   0.03098662]
 [-0.00297784  0.99972333  0.02331647]
 [-0.03092515 -0.02339761  0.99924746]]

 t_gt:
[-0.19681695 -0.13238217  0.97146181]

Pose Error in degrees for R and t:
178.04169523266057 76.38038891971229

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.50298813e-01 -3.11335399e-01 -1.56028137e-03]
 [ 3.11336792e-01  9.50299348e-01  7.41892268e-04]
 [ 1.25175704e-03 -1.19079234e-03  9.99998508e-01]]

 t_estimated:
[[-0.57773405]
 [-0.81622319]
 [-0.00175278]]

 R_gt:
[[ 0.99874612 -0.04695451 -0.0173243 ]
 [ 0.04888507  0.98942109  0.13659148]
 [ 0.01072732 -0.13726758  0.99047528]]

 t_gt:
[ 0.15413135 -0.68336178  0.7136247 ]

Pose Error in degrees for R and t:
17.256668444427664 62.12928989634387

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 5.80573518e-02  9.98312149e-01  1.48218047e-03]
 [-9.98312778e-01  5.80587039e-02 -8.86084161e-04]
 [-9.70642060e-04 -1.42823600e-03  9.99998509e-01]]

 t_estimated:
[[0.71307334]
 [0.70108892]
 [0.00085603]]

 R_gt:
[[ 0.99015173 -0.09061454 -0.10671412]
 [ 0.10764054  0.98015395  0.16647171]
 [ 0.08951124 -0.17631916  0.98025401]]

 t_gt:
[ 0.36587766 -0.8223963   0.43565796]

Pose Error in degrees for R and t:
92.96399077976177 71.62093012375425

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.94118131e-01 -1.08288528e-01  1.65433493e-03]
 [ 1.08287215e-01  9.94119275e-01  8.63758413e-04]
 [-1.73814137e-03 -6.79534576e-04  9.99998259e-01]]

 t_estimated:
[[0.44847312]
 [0.89379529]
 [0.00135468]]

 R_gt:
[[ 0.97070475 -0.13616609 -0.19796425]
 [ 0.16701643  0.97470301  0.14852483]
 [ 0.17273241 -0.1772365   0.96889169]]

 t_gt:
[ 0.5164171  -0.84511521  0.13817981]

Pose Error in degrees for R and t:
14.612510805593825 58.42773015837034

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.96884648e-01  7.88732450e-02 -9.59551479e-05]
 [-7.88732702e-02  9.96884607e-01 -2.95780623e-04]
 [ 7.23270323e-05  3.02427458e-04  9.99999952e-01]]

 t_estimated:
[[-0.69441944]
 [-0.71956729]
 [-0.00213612]]

 R_gt:
[[ 0.99592406  0.05601692  0.0707062 ]
 [-0.05017472  0.9953798  -0.08186037]
 [-0.0749647   0.07798002  0.99413249]]

 t_gt:
[-0.46497186  0.88394649 -0.04939406]

Pose Error in degrees for R and t:
6.372162552093154 71.75578152658915

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999696e-01 -7.38591951e-04  2.51866273e-04]
 [ 7.38592257e-04  9.99999727e-01 -1.12205768e-06]
 [-2.51865375e-04  1.30808382e-06  9.99999968e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99124479  0.04265618  0.12496137]
 [-0.03431614  0.99708421 -0.06814605]
 [-0.12750379  0.0632622   0.98981867]]

 t_gt:
[-0.35056906  0.74794435  0.5636316 ]

Pose Error in degrees for R and t:
8.476275658429772 56.0845233332262

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-6.17118470e-01 -7.86863923e-01 -3.15592918e-03]
 [ 7.86869771e-01 -6.17117564e-01 -1.36944248e-03]
 [-8.70014447e-04 -3.32841352e-03  9.99994082e-01]]

 t_estimated:
[[0.99984232]
 [0.01769632]
 [0.00147469]]

 R_gt:
[[ 0.98662705 -0.03195045  0.15983367]
 [ 0.04337426  0.99670774 -0.06849616]
 [-0.15711919  0.07451267  0.98476431]]

 t_gt:
[ 0.45210999 -0.03494889  0.89127725]

Pose Error in degrees for R and t:
126.17278238740333 63.080731261450715

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.95206008e-01  9.78005198e-02  2.46254788e-04]
 [-9.78005113e-02  9.95206038e-01 -4.64167438e-05]
 [-2.49613834e-04  2.21103781e-05  9.99999969e-01]]

 t_estimated:
[[0.99887529]
 [0.04740003]
 [0.00117811]]

 R_gt:
[[ 0.98809744 -0.14487474 -0.05173032]
 [ 0.14588366  0.98916778  0.01628496]
 [ 0.0488099  -0.02363823  0.99852742]]

 t_gt:
[ 0.66774596 -0.72713299 -0.15935166]

Pose Error in degrees for R and t:
14.320901180328626 50.77694496005243

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 8.56397000e-01  5.16317132e-01  8.93253017e-04]
 [-5.16316687e-01  8.56397456e-01 -6.89751232e-04]
 [-1.12110999e-03  1.29499447e-04  9.99999363e-01]]

 t_estimated:
[[0.50763023]
 [0.86157425]
 [0.00116429]]

 R_gt:
[[ 0.97552376 -0.21095488 -0.06206833]
 [ 0.21312687  0.97654248  0.03067694]
 [ 0.0541401  -0.04315475  0.99759992]]

 t_gt:
[ 0.65955637 -0.74785551 -0.07548201]

Pose Error in degrees for R and t:
43.52117119203901 71.96426042012199

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.98058243e-01 -6.22841469e-02  6.54446075e-04]
 [ 6.22841010e-02  9.98058457e-01  9.03916282e-05]
 [-6.58805405e-04 -4.94545242e-05  9.99999782e-01]]

 t_estimated:
[[-0.58186298]
 [-0.81328576]
 [-0.00132242]]

 R_gt:
[[ 0.96896629 -0.24439986 -0.037053  ]
 [ 0.24532877  0.96916851  0.02295967]
 [ 0.03029886 -0.03133818  0.99904913]]

 t_gt:
[ 0.62625313 -0.7788236  -0.03522541]

Pose Error in degrees for R and t:
10.905325277411466 74.39170800533047

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-9.71577364e-01  2.36715694e-01 -1.76263822e-03]
 [-2.36713667e-01 -9.71578608e-01 -1.28400885e-03]
 [-2.01648663e-03 -8.30273381e-04  9.99997622e-01]]

 t_estimated:
[[0.82712919]
 [0.56201095]
 [0.00099295]]

 R_gt:
[[ 0.99758805 -0.0513683   0.04669553]
 [ 0.05224125  0.99847761 -0.01766978]
 [-0.04571666  0.02006672  0.99875263]]

 t_gt:
[ 0.73983856 -0.58143426  0.33848648]

Pose Error in degrees for R and t:
169.2795894000715 73.41091784563996

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[-0.22522945  0.97417048  0.01623461]
 [ 0.97418477  0.2254328  -0.01200351]
 [-0.01535328  0.01311197 -0.99979616]]

 t_estimated:
[[ 0.74478575]
 [-0.66722572]
 [ 0.01019957]]

 R_gt:
[[ 0.99091728 -0.11035217  0.07685343]
 [ 0.11143035  0.99372308 -0.00986804]
 [-0.0752823   0.01834354  0.99699305]]

 t_gt:
[ 0.68336789 -0.65744467  0.31745051]

Pose Error in degrees for R and t:
174.91913200680307 18.035565012193175

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-0.28308337  0.95896226  0.01597464]
 [ 0.95897299  0.283274   -0.01125354]
 [-0.01531692  0.01213355 -0.99980907]]

 t_estimated:
[[ 0.80238427]
 [-0.59672876]
 [ 0.00970946]]

 R_gt:
[[ 0.98912349 -0.1307158   0.06744455]
 [ 0.13263326  0.99085528 -0.02477184]
 [-0.06358986  0.03344936  0.99741555]]

 t_gt:
[ 0.75214714 -0.64729551  0.12362528]

Pose Error in degrees for R and t:
174.86390999281582 7.7051251101140945

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99687017e-01 -2.50173412e-02  2.40844544e-05]
 [ 2.50173430e-02  9.99687015e-01 -7.43369782e-05]
 [-2.22172028e-05  7.49162410e-05  9.99999997e-01]]

 t_estimated:
[[ 9.98891140e-01]
 [ 4.70791440e-02]
 [-2.09220854e-04]]

 R_gt:
[[ 0.98530313 -0.17008495 -0.01578454]
 [ 0.17050334  0.98487907  0.03069969]
 [ 0.01032455 -0.0329397   0.99940436]]

 t_gt:
[ 0.57265272 -0.81790513  0.05567815]

Pose Error in degrees for R and t:
8.605284052287152 57.7577709850851

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.55081390e-01 -2.96343588e-01 -1.27453761e-04]
 [ 2.96343550e-01  9.55081377e-01 -2.53771773e-04]
 [ 1.96932351e-04  2.04602597e-04  9.99999960e-01]]

 t_estimated:
[[-0.33674892]
 [-0.94159357]
 [-0.00130719]]

 R_gt:
[[ 0.94913849 -0.31482659  0.0045867 ]
 [ 0.31479361  0.94913676  0.00659715]
 [-0.00642984 -0.00481752  0.9999681 ]]

 t_gt:
[ 0.63414013 -0.77302191  0.01741905]

Pose Error in degrees for R and t:
1.208951876038005 59.04907565881075

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.76203280e-01  2.16857031e-01  4.29723179e-04]
 [-2.16856914e-01  9.76203353e-01 -3.02803776e-04]
 [-4.85162336e-04  2.02409597e-04  9.99999862e-01]]

 t_estimated:
[[0.38502082]
 [0.92290689]
 [0.00135377]]

 R_gt:
[[ 0.87165863 -0.48924975 -0.02909794]
 [ 0.48975791  0.87175087  0.01367149]
 [ 0.01867743 -0.02616778  0.99948386]]

 t_gt:
[ 0.71571315 -0.69839021  0.00240957]

Pose Error in degrees for R and t:
41.88081611821516 68.34718796234021

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99632219e-01  2.71184913e-02  1.17523924e-04]
 [-2.71184880e-02  9.99632226e-01 -2.98857506e-05]
 [-1.18291158e-04  2.66876880e-05  9.99999993e-01]]

 t_estimated:
[[ 9.92954060e-01]
 [-1.18498758e-01]
 [ 5.28907153e-04]]

 R_gt:
[[ 0.99253792 -0.11516991 -0.0400569 ]
 [ 0.11571752  0.99321464  0.01164528]
 [ 0.03844432 -0.01619307  0.99912922]]

 t_gt:
[ 0.65373172 -0.73714947 -0.17101315]

Pose Error in degrees for R and t:
8.529337352205063 42.575503419379615

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 8.71436921e-01  4.90507538e-01  2.18428153e-04]
 [-4.90507466e-01  8.71436933e-01 -3.12230695e-04]
 [-3.43497869e-04  1.64948716e-04  9.99999927e-01]]

 t_estimated:
[[9.80332741e-01]
 [1.97350126e-01]
 [8.02236286e-04]]

 R_gt:
[[ 0.96934828 -0.22806948 -0.09137773]
 [ 0.23174061  0.97226213  0.03168653]
 [ 0.08161655 -0.05189096  0.99531132]]

 t_gt:
[ 0.69147357 -0.70994936 -0.13355228]

Pose Error in degrees for R and t:
43.0424885183156 57.475619327342656

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 4.62228658e-01  8.86758693e-01  1.92036679e-03]
 [ 8.86757648e-01 -4.62231694e-01  1.65360550e-03]
 [ 2.35400345e-03  9.38556091e-04 -9.99996789e-01]]

 t_estimated:
[[-0.53248925]
 [-0.84643604]
 [-0.00110935]]

 R_gt:
[[ 0.96179916 -0.26586384 -0.06526698]
 [ 0.26793996  0.96310392  0.02528926]
 [ 0.05613544 -0.04180992  0.99754652]]

 t_gt:
[ 0.66819822 -0.74032067 -0.07373221]

Pose Error in degrees for R and t:
176.51393096363316 74.28172326938179

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.98617988  0.16519787  0.0126057 ]
 [-0.16503842  0.98620418 -0.01279222]
 [-0.01454504  0.010535    0.99983871]]

 t_estimated:
[[0.09735563]
 [0.99519087]
 [0.01081729]]

 R_gt:
[[ 0.99359717  0.11272364  0.00761071]
 [-0.11263383  0.9935719  -0.01128898]
 [-0.0088332   0.01036017  0.9999076 ]]

 t_gt:
[-0.76659666  0.64050649  0.04561793]

Pose Error in degrees for R and t:
3.05093963803157 55.71656575642451

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 8.88984451e-01 -4.57935657e-01  1.25687936e-03]
 [ 4.57937334e-01  8.88982257e-01 -1.98599014e-03]
 [-2.07887756e-04  2.34108634e-03  9.99997238e-01]]

 t_estimated:
[[-0.53092595]
 [-0.84741744]
 [-0.00114671]]

 R_gt:
[[ 0.96752565  0.25069339 -0.03236495]
 [-0.24853022  0.9668152   0.05916295]
 [ 0.04612322 -0.04919698  0.99772353]]

 t_gt:
[-0.70153676  0.71114982  0.04595779]

Pose Error in degrees for R and t:
41.908627904126256 76.68942269788974

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.85524077 -0.51822327 -0.00280268]
 [ 0.51822855 -0.8552406  -0.00164105]
 [-0.00154654 -0.00285593  0.99999473]]

 t_estimated:
[[0.99988613]
 [0.01499829]
 [0.00166648]]

 R_gt:
[[ 0.94760673  0.29924512 -0.11177127]
 [-0.28700625  0.9511964   0.11336926]
 [ 0.14024203 -0.07534989  0.98724553]]

 t_gt:
[-0.73046183  0.66304415 -0.16370088]

Pose Error in degrees for R and t:
165.97479921070345 43.88712390454793

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.49503327 -0.86879867 -0.01144251]
 [ 0.86879687 -0.49512188  0.00680559]
 [-0.01157813 -0.00657222  0.99991137]]

 t_estimated:
[[0.9976057 ]
 [0.06846314]
 [0.00978045]]

 R_gt:
[[ 0.98520419 -0.15459333 -0.07398273]
 [ 0.15526744  0.98786627  0.00341238]
 [ 0.07255655 -0.01484812  0.99725344]]

 t_gt:
[ 0.62867706 -0.75021053 -0.20481532]

Pose Error in degrees for R and t:
110.80338453237549 54.98388034367206

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.04125811  0.99864106 -0.03184014]
 [-0.99914235 -0.04134889 -0.00219768]
 [-0.00351125  0.03172216  0.99949056]]

 t_estimated:
[[0.01066289]
 [0.99994245]
 [0.00118477]]

 R_gt:
[[ 0.96677796 -0.22279042 -0.12531697]
 [ 0.23448022  0.96815358  0.08773299]
 [ 0.10178014 -0.11420153  0.98823025]]

 t_gt:
[ 0.60467597 -0.79345175  0.06929138]

Pose Error in degrees for R and t:
105.93645864894843 38.105443753411734

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-9.75309803e-01 -2.20321706e-01 -1.51372100e-02]
 [-2.20302455e-01  9.75427155e-01 -2.94839871e-03]
 [ 1.54148419e-02  4.59162357e-04 -9.99881079e-01]]

 t_estimated:
[[0.81987441]
 [0.57254277]
 [0.00085582]]

 R_gt:
[[ 0.95377887 -0.2562107  -0.15704401]
 [ 0.28169864  0.94426692  0.17031156]
 [ 0.1046554  -0.20667756  0.97279574]]

 t_gt:
[ 0.54795535 -0.7896798   0.27595425]

Pose Error in degrees for R and t:
172.7620737209895 89.84904101939341

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 9.99674922e-01 -2.54960856e-02  1.45441557e-06]
 [ 2.54960856e-02  9.99674922e-01  9.31647771e-06]
 [-1.69147649e-06 -9.27636722e-06  1.00000000e+00]]

 t_estimated:
[[8.56715467e-02]
 [9.96323430e-01]
 [9.56164684e-05]]

 R_gt:
[[ 0.99928201  0.01153136 -0.03611775]
 [-0.01260713  0.99947887 -0.02970582]
 [ 0.03575599  0.03014089  0.99890578]]

 t_gt:
[-0.00130333  0.41557119 -0.90955972]

Pose Error in degrees for R and t:
3.4378835561867787 65.5534181999487

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.91948799e-01 -1.26639318e-01 -2.50089040e-04]
 [ 1.26639428e-01  9.91948696e-01  4.90357824e-04]
 [ 1.85976916e-04 -5.18080988e-04  9.99999849e-01]]

 t_estimated:
[[0.87926594]
 [0.47632901]
 [0.00143906]]

 R_gt:
[[ 0.99684266  0.02334233 -0.07589815]
 [-0.02920902  0.9965933  -0.07712588]
 [ 0.07383954  0.07910033  0.99412826]]

 t_gt:
[ 0.00883692  0.42055242 -0.90722521]

Pose Error in degrees for R and t:
10.763437274653304 78.06594393570224

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.55470658e-01 -2.95085195e-01  7.41220654e-04]
 [ 2.95085061e-01  9.55470944e-01  2.86238349e-04]
 [-7.92679497e-04 -5.47692014e-05  9.99999684e-01]]

 t_estimated:
[[0.84767262]
 [0.5305162 ]
 [0.00192216]]

 R_gt:
[[ 0.99693471  0.02661078 -0.07358836]
 [-0.0324469   0.99632448 -0.07928027]
 [ 0.07120779  0.08142562  0.99413241]]

 t_gt:
[-0.00947742  0.41985716 -0.90754071]

Pose Error in degrees for R and t:
19.85858270474893 77.70396135642767

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999955e-01  2.89669155e-04 -8.00783994e-05]
 [-2.89654247e-04  9.99999941e-01  1.86105479e-04]
 [ 8.01323037e-05 -1.86082275e-04  9.99999979e-01]]

 t_estimated:
[[ 9.99997948e-01]
 [-8.19519276e-04]
 [ 1.85244145e-03]]

 R_gt:
[[ 0.99915661 -0.03789728 -0.015769  ]
 [ 0.03766647  0.99918202 -0.01471458]
 [ 0.01631384  0.01410771  0.99976765]]

 t_gt:
[ 0.6707917  -0.62211751 -0.40374286]

Pose Error in degrees for R and t:
2.5098149643374126 47.89029799880789

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-5.09962185e-01  8.60186841e-01  4.14359862e-03]
 [ 8.60195116e-01  5.09964847e-01  4.65729244e-04]
 [-1.71247547e-03  3.80180759e-03 -9.99991307e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.98521177 -0.1709216  -0.0120279 ]
 [ 0.17059781  0.98504408 -0.0241816 ]
 [ 0.01598245  0.02177144  0.99963485]]

 t_gt:
[ 0.77582867 -0.61486133 -0.14154653]

Pose Error in degrees for R and t:
179.83652065842955 39.682261857862656

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99997195e-01 -2.36849886e-03 -1.26987241e-05]
 [ 2.36852052e-03  9.99994933e-01  2.12716315e-03]
 [ 7.66047631e-06 -2.12718726e-03  9.99997738e-01]]

 t_estimated:
[[0.61969816]
 [0.78483979]
 [0.00083405]]

 R_gt:
[[ 0.95229402 -0.30490678 -0.01295414]
 [ 0.30422308  0.95180907 -0.03884008]
 [ 0.0241724   0.03304589  0.99916176]]

 t_gt:
[ 0.83962641 -0.52912508 -0.12269532]

Pose Error in degrees for R and t:
17.773133114400096 83.97662542472371

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.98718663e-01  5.06058614e-02  2.82246444e-04]
 [-5.06058437e-02  9.98718701e-01 -6.95162193e-05]
 [-2.85402730e-04  5.51438262e-05  9.99999958e-01]]

 t_estimated:
[[ 9.69240496e-01]
 [ 2.46114808e-01]
 [-6.01848932e-04]]

 R_gt:
[[ 0.99116883 -0.13102288 -0.02043434]
 [ 0.13150594  0.9910151   0.02440987]
 [ 0.01705296 -0.02688123  0.99949284]]

 t_gt:
[ 0.70358452 -0.70160795  0.11276125]

Pose Error in degrees for R and t:
10.605151815632441 59.38953372113316

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.93522941  0.03800164 -0.35199691]
 [-0.17751965 -0.91054587  0.37335371]
 [-0.30632128  0.41165774  0.85831531]]

 t_estimated:
[[0.75108649]
 [0.66020159]
 [0.00171481]]

 R_gt:
[[ 0.9659261  -0.25797796 -0.02083698]
 [ 0.25849826  0.9575949   0.12724423]
 [-0.012873   -0.12829488  0.99165203]]

 t_gt:
[ 0.64229858 -0.65239765  0.40228081]

Pose Error in degrees for R and t:
170.72765529213214 86.99646017514854

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 3.68034405e-03 -9.99993209e-01  1.91341596e-04]
 [ 9.99993191e-01  3.68039558e-03  2.69617157e-04]
 [-2.70319539e-04  1.90348009e-04  9.99999945e-01]]

 t_estimated:
[[ 9.99999099e-01]
 [-1.33936478e-03]
 [ 9.18918161e-05]]

 R_gt:
[[ 0.94990064 -0.31162401 -0.02409741]
 [ 0.31142829  0.93712047  0.15753704]
 [-0.02651125 -0.15714867  0.98721846]]

 t_gt:
[ 0.64473703 -0.643634    0.41237051]

Pose Error in degrees for R and t:
72.02432107540203 49.78659244688708

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 4.41331052e-02  9.99025280e-01 -8.71641796e-04]
 [ 9.99020223e-01 -4.41299699e-02  3.33758991e-03]
 [ 3.29587116e-03 -1.01808599e-03 -9.99994050e-01]]

 t_estimated:
[[0.0518083 ]
 [0.99865393]
 [0.00249624]]

 R_gt:
[[ 0.98050018 -0.1958243  -0.01649822]
 [ 0.19603983  0.98051451  0.01261608]
 [ 0.01370648 -0.01560439  0.99978456]]

 t_gt:
[ 0.9873514  -0.14320161  0.06804782]

Pose Error in degrees for R and t:
178.64930486375994 84.73939210056831

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-4.27626458e-01  9.03955481e-01 -3.16920645e-04]
 [-9.03953325e-01 -4.27626161e-01 -2.06215460e-03]
 [-1.99961951e-03 -5.95350396e-04  9.99997824e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.91966984 -0.38955698 -0.04952456]
 [ 0.39156054  0.91926382  0.04041461]
 [ 0.02978318 -0.05656007  0.9979555 ]]

 t_gt:
[ 0.99045924 -0.05646998  0.12570452]

Pose Error in degrees for R and t:
138.35751797138107 87.12479068085683

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-0.23336548  0.97238774  0.00162578]
 [-0.97238699 -0.23336117 -0.00247228]
 [-0.00202462 -0.00215784  0.99999562]]

 t_estimated:
[[0.00900864]
 [0.99995879]
 [0.00112608]]

 R_gt:
[[ 0.88417718 -0.46557081 -0.03841985]
 [ 0.46712269  0.88205746  0.06140014]
 [ 0.00530376 -0.07223632  0.99737371]]

 t_gt:
[ 0.98916032 -0.01045272  0.14646707]

Pose Error in degrees for R and t:
131.36906535181612 89.92113965957556

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.60612435e-01  2.77891417e-01  3.31838414e-04]
 [-2.77891374e-01  9.60612490e-01 -1.71633617e-04]
 [-3.66463634e-04  7.26583543e-05  9.99999930e-01]]

 t_estimated:
[[0.64332831]
 [0.7655898 ]
 [0.00097033]]

 R_gt:
[[ 0.97818857 -0.2006154  -0.05386133]
 [ 0.20075489  0.97963683 -0.00287747]
 [ 0.053342   -0.00799845  0.99854508]]

 t_gt:
[ 0.79057097 -0.59663598 -0.13792408]

Pose Error in degrees for R and t:
27.89079214385687 87.03738026840907

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.93413173e-01  1.14586938e-01  3.18424387e-04]
 [-1.14586965e-01  9.93413219e-01  6.74104941e-05]
 [-3.08602633e-04 -1.03453757e-04  9.99999947e-01]]

 t_estimated:
[[9.13822342e-01]
 [4.06113581e-01]
 [6.98184421e-04]]

 R_gt:
[[ 0.93939718 -0.32466111 -0.11012757]
 [ 0.32934162  0.94382928  0.02684713]
 [ 0.09522533 -0.06148941  0.99355551]]

 t_gt:
[ 0.83344299 -0.55238112 -0.015744  ]

Pose Error in degrees for R and t:
26.53129604338096 57.50144350855924

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-8.31263550e-01 -5.55875122e-01  1.93880522e-03]
 [-5.55875982e-01  8.31265228e-01  1.12497497e-04]
 [-1.67419592e-03 -9.84220187e-04 -9.99998114e-01]]

 t_estimated:
[[0.98338589]
 [0.18151282]
 [0.00229763]]

 R_gt:
[[ 0.93548226 -0.34070317 -0.09377821]
 [ 0.34646754  0.93652245  0.05371963]
 [ 0.06952394 -0.08274488  0.99414318]]

 t_gt:
[ 0.82274058 -0.56293873  0.07872686]

Pose Error in degrees for R and t:
176.7033547171734 45.002836462701765

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-0.96537748 -0.25926414 -0.02878254]
 [-0.2592846   0.96579604 -0.00308389]
 [ 0.02859761  0.00448575 -0.99958094]]

 t_estimated:
[[ 0.99277833]
 [ 0.11908106]
 [-0.01452227]]

 R_gt:
[[ 0.99497785  0.09879624  0.0161158 ]
 [-0.09894459  0.99505481  0.00869358]
 [-0.0151769  -0.01024412  0.99983157]]

 t_gt:
[-0.76344374  0.62699368  0.15502446]

Pose Error in degrees for R and t:
179.3028398474654 46.72359168225994

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.68042116e-01 -2.50785261e-01 -1.10171854e-03]
 [ 2.50785935e-01  9.68042428e-01  5.21232732e-04]
 [ 9.35792805e-04 -7.80870752e-04  9.99999257e-01]]

 t_estimated:
[[-0.54062319]
 [-0.84126238]
 [-0.00204131]]

 R_gt:
[[ 0.95318335  0.30137979  0.02474359]
 [-0.30153059  0.95345267  0.00251603]
 [-0.02283317 -0.00985827  0.99968968]]

 t_gt:
[-0.70116352  0.71042096  0.0605952 ]

Pose Error in degrees for R and t:
32.1049325123936 77.36679027596635

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-8.96151344e-01 -4.43743995e-01 -2.00898135e-03]
 [ 4.43745642e-01 -8.96152672e-01 -4.41057292e-04]
 [-1.60463748e-03 -1.28673080e-03  9.99997885e-01]]

 t_estimated:
[[0.54861794]
 [0.83607271]
 [0.00087639]]

 R_gt:
[[ 0.85091825  0.51850437  0.08421317]
 [-0.51808367  0.85485489 -0.02849103]
 [-0.08676267 -0.01938598  0.99604009]]

 t_gt:
[-0.6131893   0.78173455  0.11353404]

Pose Error in degrees for R and t:
175.05874008920995 71.50150320084691

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.96961393e-01  7.78972061e-02 -8.43242996e-05]
 [-7.78971994e-02  9.96961393e-01  7.97329108e-05]
 [ 9.02790422e-05 -7.29220070e-05  9.99999993e-01]]

 t_estimated:
[[-9.07275347e-01]
 [-4.20536417e-01]
 [-7.52301284e-04]]

 R_gt:
[[ 0.99996223  0.00255202  0.00824314]
 [-0.0024759   0.99995482 -0.00918589]
 [-0.00826634  0.00916559  0.99992363]]

 t_gt:
[-0.39371792  0.12934753 -0.91008539]

Pose Error in degrees for R and t:
4.382406674340063 72.33206463554068

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.07630054  0.99706842  0.00572625]
 [-0.99706699  0.0763323  -0.00554969]
 [-0.00597052 -0.00528601  0.9999682 ]]

 t_estimated:
[[0.14393726]
 [0.98956864]
 [0.00599739]]

 R_gt:
[[ 0.98958136 -0.14247306  0.02072861]
 [ 0.14256594  0.98978011 -0.00309193]
 [-0.02007721  0.00601684  0.99978045]]

 t_gt:
[ 0.98867603 -0.14920533 -0.01604597]

Pose Error in degrees for R and t:
93.81794458882555 89.68843344517447

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.49128084e-01  3.14871604e-01  3.42824777e-03]
 [ 3.14889313e-01 -9.49042163e-01 -1.27942672e-02]
 [-7.74999746e-04  1.32229169e-02 -9.99912273e-01]]

 t_estimated:
[[9.43065430e-01]
 [3.32606265e-01]
 [8.17214410e-04]]

 R_gt:
[[ 0.94136568 -0.33631124 -0.02692483]
 [ 0.33688655  0.94131736  0.02070952]
 [ 0.01837942 -0.02856478  0.99942278]]

 t_gt:
[ 0.99464414 -0.08216685  0.06270277]

Pose Error in degrees for R and t:
179.13194692375862 24.392665195970277

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.12428595 -0.9922437  -0.00233509]
 [-0.99224105  0.12427717  0.00358864]
 [-0.00327061  0.00276299 -0.99999083]]

 t_estimated:
[[0.71203857]
 [0.70213975]
 [0.00092427]]

 R_gt:
[[ 9.87914431e-01 -1.54332982e-01  1.43782872e-02]
 [ 1.54321420e-01  9.88018888e-01  1.88849909e-03]
 [-1.44978429e-02  3.52654994e-04  9.99895536e-01]]

 t_gt:
[ 0.53394623 -0.8384557   0.10905714]

Pose Error in degrees for R and t:
179.29496944713168 77.97010874346196

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.42888386 -0.90335372 -0.00326903]
 [ 0.90335797 -0.42887331 -0.00347169]
 [ 0.00173417 -0.00444205  0.99998863]]

 t_estimated:
[[9.80580236e-01]
 [1.96116047e-01]
 [9.47420517e-04]]

 R_gt:
[[ 0.93493175 -0.35316623  0.03428542]
 [ 0.35376039  0.93524625 -0.01299539]
 [-0.02747616  0.02427831  0.99932785]]

 t_gt:
[ 0.64134648 -0.76652636  0.03334715]

Pose Error in degrees for R and t:
94.71442819518586 61.40631024918988

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999898e-01  4.20182768e-04 -1.66161938e-04]
 [-4.20143264e-04  9.99999883e-01  2.37708214e-04]
 [ 1.66261800e-04 -2.37638378e-04  9.99999958e-01]]

 t_estimated:
[[-8.08321400e-01]
 [-5.88741342e-01]
 [-3.83829309e-04]]

 R_gt:
[[ 0.86976321 -0.49278462 -0.02598124]
 [ 0.49204248  0.87004751 -0.03019085]
 [ 0.03748209  0.01347515  0.99920662]]

 t_gt:
[ 0.70635275 -0.70391972 -0.07458433]

Pose Error in degrees for R and t:
29.622401398071432 80.9959212553771

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999800e-01 -4.65704117e-04 -4.29039442e-04]
 [ 4.65874692e-04  9.99999812e-01  3.97560409e-04]
 [ 4.28854216e-04 -3.97760208e-04  9.99999829e-01]]

 t_estimated:
[[-0.99990949]
 [-0.01337175]
 [-0.00148575]]

 R_gt:
[[ 0.98759336  0.14944237 -0.04823616]
 [-0.14528027  0.98610187  0.0806005 ]
 [ 0.05961139 -0.07259178  0.995579  ]]

 t_gt:
[-0.78835169  0.6087423   0.08907542]

Pose Error in degrees for R and t:
10.06117366392383 38.73868821469806

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99843630e-01 -1.76834194e-02 -1.07051141e-04]
 [ 1.76832847e-02  9.99842977e-01 -1.15003507e-03]
 [ 1.27370884e-04  1.14796222e-03  9.99999333e-01]]

 t_estimated:
[[-0.6183681 ]
 [-0.78588588]
 [-0.00206812]]

 R_gt:
[[ 0.97134983  0.19740893 -0.13231979]
 [-0.17861502  0.97369569  0.14146531]
 [ 0.15676684 -0.11377784  0.98106004]]

 t_gt:
[-0.85150126  0.46747174 -0.23752005]

Pose Error in degrees for R and t:
16.373227906611646 80.81324422502495

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.26350796e-01  3.76661902e-01  1.17309546e-04]
 [-3.76660213e-01  9.26347490e-01 -2.72253341e-03]
 [-1.13414401e-03  2.47783515e-03  9.99996287e-01]]

 t_estimated:
[[0.7985421 ]
 [0.60193136]
 [0.00302478]]

 R_gt:
[[ 0.94794919  0.25609089 -0.18923298]
 [-0.21624868  0.95397957  0.20774907]
 [ 0.23372885 -0.1560134   0.95970429]]

 t_gt:
[-0.90119981  0.35732683 -0.24526809]

Pose Error in degrees for R and t:
18.35718107934837 59.648621236092254

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 6.94374461e-01 -7.19613229e-01 -9.53287654e-04]
 [ 7.19613784e-01  6.94374389e-01  4.58853254e-04]
 [ 3.31741661e-04 -1.00461492e-03  9.99999440e-01]]

 t_estimated:
[[0.71117705]
 [0.70301202]
 [0.00114251]]

 R_gt:
[[ 9.91687841e-01 -6.34731773e-02 -1.11922950e-01]
 [ 6.30049308e-02  9.97983453e-01 -7.71602641e-03]
 [ 1.12187556e-01  6.00161602e-04  9.93687303e-01]]

 t_gt:
[ 0.58402391 -0.51057039 -0.6310578 ]

Pose Error in degrees for R and t:
42.84387440187941 86.8077593298444

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 5.08167240e-01 -8.61258030e-01 -8.13982579e-04]
 [ 8.61258346e-01  5.08167350e-01  8.09453827e-05]
 [ 3.43924509e-04 -7.42183081e-04  9.99999665e-01]]

 t_estimated:
[[0.52968915]
 [0.84819123]
 [0.00102564]]

 R_gt:
[[ 0.98092243 -0.11242521 -0.15859656]
 [ 0.11247873  0.99361683 -0.0086702 ]
 [ 0.15855922 -0.00933386  0.98730577]]

 t_gt:
[ 0.61716931 -0.57931213 -0.53244671]

Pose Error in degrees for R and t:
53.679893362281355 80.50243550036458

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.65617031  0.75460689  0.00299372]
 [-0.75458454  0.6561749  -0.00605603]
 [-0.00653433  0.00171478  0.99997718]]

 t_estimated:
[[0.7829193 ]
 [0.62211769]
 [0.00263609]]

 R_gt:
[[ 0.96684131 -0.21446743 -0.13864412]
 [ 0.20596885  0.97582073 -0.0731551 ]
 [ 0.15098176  0.04217266  0.98763689]]

 t_gt:
[ 0.69331472 -0.52270471 -0.49607912]

Pose Error in degrees for R and t:
61.8296200753989 77.50714207991315

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[-5.91162315e-01 -8.06552197e-01 -8.19028192e-04]
 [ 8.06549476e-01 -5.91156879e-01 -3.38922940e-03]
 [ 2.24941627e-03 -2.66417146e-03  9.99993921e-01]]

 t_estimated:
[[8.42284927e-01]
 [5.39032028e-01]
 [7.58132247e-04]]

 R_gt:
[[ 0.97206216 -0.22573566  0.06434461]
 [ 0.22633443  0.97404765 -0.00208798]
 [-0.06220429  0.01659343  0.99792544]]

 t_gt:
[ 0.57708415 -0.79243099  0.19755255]

Pose Error in degrees for R and t:
113.20843240114148 86.61337388549615

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.87225645  0.48904773  0.00100608]
 [-0.48904503  0.87225598 -0.00211339]
 [-0.00191111  0.0013514   0.99999726]]

 t_estimated:
[[0.50773542]
 [0.86151236]
 [0.0010919 ]]

 R_gt:
[[ 0.92367123 -0.38217121  0.02787045]
 [ 0.38206981  0.92408867  0.00907356]
 [-0.02922225  0.00226761  0.99957023]]

 t_gt:
[ 0.66781736 -0.74130708  0.06696106]

Pose Error in degrees for R and t:
51.77122343345056 72.57257147899743

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-6.69698534e-01 -7.42632827e-01 -5.97701809e-04]
 [-7.42632338e-01  6.69698788e-01 -8.62696915e-04]
 [ 1.04094723e-03 -1.33874168e-04 -9.99999449e-01]]

 t_estimated:
[[9.47462372e-01]
 [3.19866071e-01]
 [8.66845720e-04]]

 R_gt:
[[ 0.85063711 -0.52427658  0.03938006]
 [ 0.52517989  0.85081942 -0.01709166]
 [-0.02454483  0.03522053  0.99907749]]

 t_gt:
[ 0.72021759 -0.69370387  0.00784601]

Pose Error in degrees for R and t:
178.95015013590026 62.581040998956944

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.99999292e-01 -1.18972705e-03 -2.26650245e-05]
 [ 1.18972594e-03  9.99999291e-01 -4.90033674e-05]
 [ 2.27233090e-05  4.89763675e-05  9.99999999e-01]]

 t_estimated:
[[-1.98757347e-01]
 [-9.80048665e-01]
 [-3.62105912e-04]]

 R_gt:
[[ 0.99571154  0.05464471 -0.07465146]
 [-0.0500749   0.9968331   0.06176541]
 [ 0.07779062 -0.05776148  0.99529516]]

 t_gt:
[-0.82211773 -0.40533526 -0.39978214]

Pose Error in degrees for R and t:
6.354718855732496 55.889205784844286

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.04839640e-01 -4.25752536e-01  6.67659686e-05]
 [ 4.25752468e-01  9.04839565e-01  4.45820621e-04]
 [-2.50221750e-04 -3.74970394e-04  9.99999898e-01]]

 t_estimated:
[[ 4.74584313e-01]
 [-8.80209740e-01]
 [ 7.37171528e-04]]

 R_gt:
[[ 0.98482536  0.09070072 -0.14796224]
 [-0.07467519  0.99106696  0.110491  ]
 [ 0.15666223 -0.09776419  0.98280124]]

 t_gt:
[-0.73413921 -0.48056788 -0.47968129]

Pose Error in degrees for R and t:
31.772317331800974 85.74267611987317

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 6.64893550e-01  7.46938112e-01  1.55776166e-04]
 [-7.46937629e-01  6.64893332e-01 -1.01743803e-03]
 [-8.63537775e-04  5.60132904e-04  9.99999470e-01]]

 t_estimated:
[[-4.93513539e-01]
 [ 8.69738011e-01]
 [ 4.23338997e-04]]

 R_gt:
[[ 0.98253683  0.05939926 -0.17633397]
 [-0.03926875  0.99252676  0.11553456]
 [ 0.18187888 -0.10659174  0.97752655]]

 t_gt:
[-0.05824941 -0.82215385 -0.56627736]

Pose Error in degrees for R and t:
46.99713114254321 46.64226858715588

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99999557e-01  9.38107042e-04  8.31050152e-05]
 [-9.38111140e-04  9.99999559e-01  4.92930779e-05]
 [-8.30587364e-05 -4.93710178e-05  9.99999995e-01]]

 t_estimated:
[[9.90243524e-01]
 [1.39347110e-01]
 [3.81650597e-04]]

 R_gt:
[[ 0.97774801 -0.19678574 -0.07269194]
 [ 0.19807748  0.98012465  0.01093925]
 [ 0.06909504 -0.02509444  0.99729336]]

 t_gt:
[ 0.81774544 -0.56950661 -0.0833943 ]

Pose Error in degrees for R and t:
12.206378009708802 43.08205853371708

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.87386990e-01  1.58322841e-01  9.00431557e-04]
 [-1.58322119e-01  9.87387173e-01 -8.23193339e-04]
 [-1.01940488e-03  6.70252161e-04  9.99999256e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.96597742 -0.24230375 -0.09043074]
 [ 0.24669269  0.96823256  0.04083206]
 [ 0.0776639  -0.06175107  0.99506439]]

 t_gt:
[ 0.81939018 -0.57239882  0.03097286]

Pose Error in degrees for R and t:
23.990704349826878 75.62406986614184

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-7.69019198e-01 -6.39212207e-01 -4.15047593e-03]
 [ 6.39215766e-01 -7.69027225e-01  5.76822476e-04]
 [-3.56054096e-03 -2.20946209e-03  9.99991220e-01]]

 t_estimated:
[[0.9614292 ]
 [0.27504177]
 [0.002434  ]]

 R_gt:
[[ 0.98117073 -0.19124061 -0.02704307]
 [ 0.19295206  0.97677078  0.09320462]
 [ 0.00859014 -0.09666784  0.99527902]]

 t_gt:
[ 0.69936873 -0.62856485  0.34027871]

Pose Error in degrees for R and t:
129.21638713723632 59.977492320343025

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.99995738 -0.00901961  0.00197136]
 [ 0.0090246   0.99995605 -0.00254113]
 [-0.00194835  0.00255882  0.99999483]]

 t_estimated:
[[-0.90618988]
 [-0.42286653]
 [-0.00194808]]

 R_gt:
[[ 0.97798669  0.20712094  0.02532857]
 [-0.20804658  0.97721257  0.04208229]
 [-0.01603536 -0.04642538  0.99879298]]

 t_gt:
[-0.73810933  0.6405151   0.21197884]

Pose Error in degrees for R and t:
12.836995412451852 66.57165581270165

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.89842721e-01 -1.42166748e-01  5.85613918e-05]
 [ 1.42166747e-01  9.89842723e-01  2.21592810e-05]
 [-6.11168804e-05 -1.36087204e-05  9.99999998e-01]]

 t_estimated:
[[-8.48239678e-01]
 [-5.29611979e-01]
 [-7.74485667e-04]]

 R_gt:
[[ 0.95681233  0.28927528  0.02880718]
 [-0.29054876  0.9548478   0.06201859]
 [-0.00956577 -0.06771033  0.99765905]]

 t_gt:
[-0.70651415  0.68074795  0.19344246]

Pose Error in degrees for R and t:
25.346235151757234 76.19541008299916

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.76915406 -0.63906252  0.00106089]
 [-0.63904168  0.76911316 -0.00952255]
 [ 0.00526957 -0.00800226 -0.9999541 ]]

 t_estimated:
[[0.73211156]
 [0.68117646]
 [0.00336087]]

 R_gt:
[[ 0.90288661  0.42681159  0.05124844]
 [-0.42940119  0.90106664  0.06077637]
 [-0.02023815 -0.07687994  0.99683412]]

 t_gt:
[-0.65284577  0.74060313  0.15905785]

Pose Error in degrees for R and t:
176.6561255774377 88.44938315801602

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[-0.27430584  0.96095037  0.03647855]
 [ 0.960998    0.27531328 -0.02618076]
 [-0.03520144  0.02787428 -0.99899143]]

 t_estimated:
[[ 0.66622286]
 [-0.74542085]
 [ 0.02224554]]

 R_gt:
[[ 0.99949014  0.02808723  0.01517279]
 [-0.02758332  0.99909447 -0.03241872]
 [-0.01606921  0.03198375  0.99935887]]

 t_gt:
[ 0.53278048  0.76672082 -0.35816774]

Pose Error in degrees for R and t:
175.60191266539687 77.0237709681813

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.92011885e-01 -1.26144222e-01 -2.34135122e-04]
 [ 1.26144197e-01  9.92011909e-01 -1.16755920e-04]
 [ 2.46992914e-04  8.62884735e-05  9.99999966e-01]]

 t_estimated:
[[ 0.66811934]
 [-0.74405348]
 [-0.000983  ]]

 R_gt:
[[ 9.98557781e-01  3.61355843e-03  5.35648189e-02]
 [ 4.73831490e-04  9.97102154e-01 -7.60771519e-02]
 [-5.36842373e-02  7.59933274e-02  9.95661604e-01]]

 t_gt:
[ 0.97723295  0.13185523 -0.16622264]

Pose Error in degrees for R and t:
9.073527877282121 56.29174514959972

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99995224e-01  2.72449960e-03 -1.45939023e-03]
 [-2.72381371e-03  9.99996179e-01  4.71767276e-04]
 [ 1.46066999e-03 -4.67789916e-04  9.99998824e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99886413 -0.0471634   0.00675784]
 [ 0.04747848  0.9971741  -0.05823245]
 [-0.0039922   0.05848718  0.99827929]]

 t_gt:
[ 0.78254251 -0.46475578 -0.41428166]

Pose Error in degrees for R and t:
4.446830465245091 45.76454554288035

Number of keypoints:
Image1: 319
Image2: 319

 R_estimated:
[[ 9.98699282e-01 -5.09876834e-02 -2.83701598e-05]
 [ 5.09876877e-02  9.98699265e-01  1.83658166e-04]
 [ 1.89689533e-05 -1.84865807e-04  9.99999983e-01]]

 t_estimated:
[[0.8834138 ]
 [0.4685926 ]
 [0.00102092]]

 R_gt:
[[ 0.99901516  0.02472411  0.03684691]
 [-0.02411353  0.99956593 -0.01693712]
 [-0.03725042  0.01603375  0.99917761]]

 t_gt:
[-0.75797064  0.29433521  0.58210591]

Pose Error in degrees for R and t:
4.909872544488948 57.921264990329

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99795537e-01 -2.02208620e-02  2.10876389e-05]
 [ 2.02208611e-02  9.99795537e-01  4.10070540e-05]
 [-2.19125253e-05 -4.05722593e-05  9.99999999e-01]]

 t_estimated:
[[4.91208154e-01]
 [8.71042202e-01]
 [1.77240416e-04]]

 R_gt:
[[ 0.99905625  0.01517124  0.04070642]
 [-0.01463617  0.99980319 -0.01343423]
 [-0.04090264  0.01282726  0.9990808 ]]

 t_gt:
[-0.77915972 -0.11328685  0.61650322]

Pose Error in degrees for R and t:
3.1752814906471736 61.22979108593328

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[-9.79492496e-01 -2.01475309e-01 -1.46608178e-03]
 [ 2.01480588e-01 -9.79460936e-01 -7.86428041e-03]
 [ 1.48488488e-04 -7.99839067e-03  9.99968001e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.99925748 -0.03324392 -0.01948755]
 [ 0.03353303  0.99932969  0.01473034]
 [ 0.01898511 -0.01537193  0.99970178]]

 t_gt:
[ 0.00221551 -0.98870664 -0.14984749]

Pose Error in degrees for R and t:
166.45924205367294 83.85677074988996

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99644339e-01 -2.66669121e-02 -2.67797353e-04]
 [ 2.66670051e-02  9.99644311e-01  3.49965389e-04]
 [ 2.58369604e-04 -3.56982274e-04  9.99999903e-01]]

 t_estimated:
[[-0.99296079]
 [-0.11843749]
 [-0.00119634]]

 R_gt:
[[ 0.97050413  0.24038897  0.0182964 ]
 [-0.23955677  0.97010292 -0.03888722]
 [-0.02709677  0.03335734  0.99907652]]

 t_gt:
[-0.71079759  0.70180745 -0.04725567]

Pose Error in degrees for R and t:
15.617886027848966 51.48420537606322

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.89486185e-01  1.44627247e-01 -2.24010616e-04]
 [-1.44627413e-01  9.89485423e-01 -1.22850928e-03]
 [ 4.39793249e-05  1.24799103e-03  9.99999220e-01]]

 t_estimated:
[[-0.98526978]
 [-0.17099876]
 [-0.00170113]]

 R_gt:
[[ 0.8859181   0.45955164  0.06294022]
 [-0.45690204  0.88797593 -0.05233483]
 [-0.07993944  0.01760777  0.9966438 ]]

 t_gt:
[-0.64173038  0.76436795  0.06263986]

Pose Error in degrees for R and t:
19.567181154323254 59.90302764529139

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 6.30858023e-01 -7.75897922e-01 -7.53854804e-04]
 [ 7.75897810e-01  6.30858416e-01 -4.97420065e-04]
 [ 8.61522843e-04 -2.71112853e-04  9.99999592e-01]]

 t_estimated:
[[-0.19341983]
 [-0.98111508]
 [-0.00140159]]

 R_gt:
[[ 0.83298537  0.54914765  0.06761113]
 [-0.54539992  0.83551591 -0.06673395]
 [-0.09313594  0.01871318  0.99547747]]

 t_gt:
[-0.6063771   0.79254922  0.06459524]

Pose Error in degrees for R and t:
84.29812592664247 48.670592280835976

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999668e-01  8.05632089e-04  1.22468097e-04]
 [-8.05652487e-04  9.99999662e-01  1.66599743e-04]
 [-1.22333838e-04 -1.66698355e-04  9.99999979e-01]]

 t_estimated:
[[9.53117145e-01]
 [3.02601181e-01]
 [4.83320241e-04]]

 R_gt:
[[ 0.96552287 -0.25993669  0.01410079]
 [ 0.26030379  0.96465988 -0.04092487]
 [-0.002964    0.0431844   0.9990628 ]]

 t_gt:
[ 0.86665333 -0.48716496 -0.10762111]

Pose Error in degrees for R and t:
15.332646710281452 47.26929327650135

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99998682e-01  2.39992685e-04  1.60583918e-03]
 [-2.37239595e-04  9.99998502e-01 -1.71439542e-03]
 [-1.60624822e-03  1.71401220e-03  9.99997241e-01]]

 t_estimated:
[[9.77461337e-01]
 [2.11113089e-01]
 [7.73308020e-04]]

 R_gt:
[[ 0.84374922 -0.53670974  0.0054392 ]
 [ 0.53660123  0.84326474 -0.03104311]
 [ 0.01207464  0.02911188  0.99950302]]

 t_gt:
[ 0.92438473 -0.378511   -0.04735285]

Pose Error in degrees for R and t:
32.52317007770429 34.55267711961848

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99999996e-01  7.97774107e-05 -2.72742270e-05]
 [-7.97774061e-05  9.99999997e-01  1.72593958e-07]
 [ 2.72742407e-05 -1.70418091e-07  1.00000000e+00]]

 t_estimated:
[[-0.38263465]
 [-0.92389924]
 [-0.00096139]]

 R_gt:
[[ 0.76500959 -0.64396451  0.00831635]
 [ 0.64396793  0.76472275 -0.02249187]
 [ 0.00812363  0.0225619   0.99971269]]

 t_gt:
[ 0.94439469 -0.3276312  -0.02786529]

Pose Error in degrees for R and t:
40.122256697752775 86.63864142106652

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.56175487e-01 -2.92792135e-01 -1.09719006e-03]
 [ 2.92792783e-01  9.56175797e-01  4.82015353e-04]
 [ 9.07976271e-04 -7.82140595e-04  9.99999282e-01]]

 t_estimated:
[[-0.48768586]
 [-0.87301789]
 [-0.0015052 ]]

 R_gt:
[[ 0.98197556  0.18774655  0.02178636]
 [-0.18775244  0.98221469 -0.0017923 ]
 [-0.02173538 -0.00232995  0.99976112]]

 t_gt:
[-0.39947315  0.90986585  0.11209521]

Pose Error in degrees for R and t:
27.878315893894406 53.152982321810434

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.94727193 -0.29613181 -0.12240029]
 [ 0.30206545  0.95272523  0.03272761]
 [ 0.10692216 -0.06797485  0.99194106]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.94161854  0.33548252  0.02841183]
 [-0.3347244   0.94189027 -0.02832958]
 [-0.03626507  0.01716596  0.99919472]]

 t_gt:
[-0.32513726  0.94373693  0.06038526]

Pose Error in degrees for R and t:
38.253008954571264 68.18055248040673

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.57213386e-01 -2.89382948e-01 -2.06048595e-04]
 [ 2.89382969e-01  9.57213398e-01  8.41269052e-05]
 [ 1.72887584e-04 -1.40154354e-04  9.99999975e-01]]

 t_estimated:
[[-0.69224713]
 [-0.72165976]
 [-0.00105045]]

 R_gt:
[[ 0.91402753  0.40419573  0.03435626]
 [-0.40285467  0.91439121 -0.03995803]
 [-0.04756628  0.02268226  0.99861047]]

 t_gt:
[-0.27238799  0.96045137  0.05777503]

Pose Error in degrees for R and t:
40.74565916140018 59.69387087242394

Number of keypoints:
Image1: 319
Image2: 319

 R_estimated:
[[ 9.99926169e-01  1.21512943e-02  4.96401659e-05]
 [-1.21512930e-02  9.99926170e-01 -2.68881310e-05]
 [-4.99632266e-05  2.62829536e-05  9.99999998e-01]]

 t_estimated:
[[8.12168281e-01]
 [5.83422909e-01]
 [6.26948017e-04]]

 R_gt:
[[ 0.99988286 -0.01376385 -0.0067545 ]
 [ 0.0137396   0.99989971 -0.00356872]
 [ 0.00680277  0.00347557  0.99997101]]

 t_gt:
[ 0.8390585  -0.38131914 -0.38804195]

Pose Error in degrees for R and t:
1.5467743700290562 62.69396847018848

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 0.04763869  0.99886237 -0.00212586]
 [-0.998863    0.04763466 -0.00190901]
 [-0.00180557  0.00221438  0.99999592]]

 t_estimated:
[[0.55002469]
 [0.83514778]
 [0.00101107]]

 R_gt:
[[ 0.99818273  0.04072563 -0.04442923]
 [-0.03973409  0.99894644  0.02297017]
 [ 0.04531818 -0.02116332  0.99874848]]

 t_gt:
[ 0.47807059  0.73662449 -0.47836479]

Pose Error in degrees for R and t:
85.00403666026587 28.638959468308837

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-5.99026126e-01 -8.00728109e-01 -1.48164844e-03]
 [-8.00729470e-01  5.99024792e-01  1.27101029e-03]
 [-1.30189520e-04  1.94776794e-03 -9.99998095e-01]]

 t_estimated:
[[7.62098652e-01]
 [6.47460531e-01]
 [7.11421162e-04]]

 R_gt:
[[ 0.99118767  0.13243708 -0.00298729]
 [-0.13229503  0.99078145  0.02919291]
 [ 0.00682566 -0.02854056  0.99956933]]

 t_gt:
[-0.14359029  0.98300569  0.11437499]

Pose Error in degrees for R and t:
179.55838775606279 58.189685185451

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999931e-01  3.67457131e-04  4.98459218e-05]
 [-3.67453111e-04  9.99999929e-01 -8.06376480e-05]
 [-4.98755492e-05  8.06193265e-05  9.99999996e-01]]

 t_estimated:
[[ 4.24054118e-01]
 [-9.05636832e-01]
 [-1.81520403e-04]]

 R_gt:
[[ 0.98715853 -0.07911458  0.13877789]
 [ 0.08019541  0.99677716 -0.0021984 ]
 [-0.13815736  0.01329933  0.99032107]]

 t_gt:
[ 0.37210317 -0.48602684  0.79076997]

Pose Error in degrees for R and t:
9.21063602337387 53.28663573026574

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-4.94866800e-01  8.68959193e-01  4.09527189e-03]
 [-8.68968839e-01 -4.94860853e-01 -2.42751836e-03]
 [-8.28246525e-05 -4.75996190e-03  9.99988668e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96420292 -0.07040487  0.25564644]
 [ 0.07587625  0.99704966 -0.01158963]
 [-0.25407704  0.03057247  0.96670096]]

 t_gt:
[ 0.21643609 -0.25176757  0.94327542]

Pose Error in degrees for R and t:
124.40317021663546 75.55608850211017

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99997693e-01  2.10455560e-03  4.30845017e-04]
 [-2.10455362e-03  9.99997785e-01 -5.04515531e-06]
 [-4.30854680e-04  4.13840723e-06  9.99999907e-01]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.93541763 -0.09090158  0.34165612]
 [ 0.11165545  0.99287847 -0.04153282]
 [-0.33544827  0.07699845  0.93890657]]

 t_gt:
[ 0.34884325 -0.2405663   0.90577936]

Pose Error in degrees for R and t:
21.00772579414188 69.61040091605723

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.20593698 -0.97854834 -0.00575433]
 [-0.97854262 -0.20588865 -0.0080133 ]
 [ 0.00665665  0.00728109 -0.99995134]]

 t_estimated:
[[ 0.66716175]
 [ 0.74490299]
 [-0.00383966]]

 R_gt:
[[ 0.99708574  0.01200269  0.07534287]
 [-0.00965484  0.9994596  -0.03144274]
 [-0.07567973  0.0306246   0.99666151]]

 t_gt:
[-0.43310549  0.82016915  0.37382108]

Pose Error in degrees for R and t:
179.2175271768494 71.30322460531634

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 3.61571707e-01 -9.32337881e-01  3.46079086e-03]
 [-9.32344230e-01 -3.61567707e-01  1.74070809e-03]
 [-3.71617880e-04 -3.85603918e-03 -9.99992496e-01]]

 t_estimated:
[[0.65069587]
 [0.75933234]
 [0.00304753]]

 R_gt:
[[ 0.98986404  0.09894324  0.10187582]
 [-0.08994759  0.99192543 -0.08940289]
 [-0.10989922  0.07933428  0.99077131]]

 t_gt:
[-0.348676    0.93720966  0.00794325]

Pose Error in degrees for R and t:
179.6366526102559 61.000906787274296

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.94118726e-01 -1.08295439e-01 -2.37765586e-04]
 [ 1.08295453e-01  9.94118752e-01  4.78450589e-05]
 [ 2.31185826e-04 -7.33126009e-05  9.99999971e-01]]

 t_estimated:
[[-0.28069714]
 [-0.95979583]
 [-0.00104285]]

 R_gt:
[[ 0.97819383  0.18651576  0.09137486]
 [-0.180483    0.98105404 -0.07041958]
 [-0.10277817  0.05239299  0.99332289]]

 t_gt:
[-0.30435605  0.95144205  0.0461023 ]

Pose Error in degrees for R and t:
18.07975562784746 34.12595176893642

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.74644897e-01  2.23757184e-01  2.16395010e-04]
 [-2.23757167e-01  9.74644920e-01 -1.00253624e-04]
 [-2.33340766e-04  4.92917485e-05  9.99999972e-01]]

 t_estimated:
[[-0.73608151]
 [ 0.67689201]
 [ 0.0011035 ]]

 R_gt:
[[ 0.99362798  0.11007333  0.02425387]
 [-0.1088722   0.99297806 -0.04628124]
 [-0.02917773  0.04334613  0.99863382]]

 t_gt:
[-0.35632228  0.9295225  -0.0949861 ]

Pose Error in degrees for R and t:
7.279716652594174 26.954878008442535

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-8.59538119e-01 -5.11071638e-01  5.23416186e-05]
 [-5.11071558e-01  8.59538034e-01  4.79002933e-04]
 [-2.89794426e-04  3.84970968e-04 -9.99999884e-01]]

 t_estimated:
[[0.80387293]
 [0.59479923]
 [0.00148   ]]

 R_gt:
[[ 0.97515384  0.22150276 -0.00356147]
 [-0.22147019  0.97513551  0.00784167]
 [ 0.00520911 -0.00685773  0.99996272]]

 t_gt:
[-0.3208999   0.94700201 -0.01450662]

Pose Error in degrees for R and t:
179.88096962282506 72.22427612162014

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.85907538  0.36533795 -0.35849362]
 [ 0.45708184 -0.23235237  0.85853862]
 [ 0.2303599  -0.90141032 -0.36659754]]

 t_estimated:
[[0.82035704]
 [0.57180282]
 [0.00747328]]

 R_gt:
[[ 0.90949324  0.40644029 -0.08734512]
 [-0.40441699  0.91367606  0.0405317 ]
 [ 0.09627839 -0.00153937  0.99535255]]

 t_gt:
[-0.17997233  0.97520773 -0.12876273]

Pose Error in degrees for R and t:
111.79433207898462 65.85654342393408

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.86284039e-01  1.65056864e-01  1.59669021e-04]
 [-1.65056883e-01  9.86284042e-01  1.15300321e-04]
 [-1.38447898e-04 -1.40073338e-04  9.99999981e-01]]

 t_estimated:
[[0.48828672]
 [0.87268265]
 [0.00103891]]

 R_gt:
[[ 0.99807255 -0.06170948 -0.00655188]
 [ 0.06150586  0.99772151 -0.02770003]
 [ 0.0082473   0.02724427  0.99959518]]

 t_gt:
[ 0.60204107 -0.64561861 -0.46981183]

Pose Error in degrees for R and t:
13.135809219995073 74.33932800279216

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.45643810e-01  3.25204202e-01 -1.05945857e-04]
 [-3.25203853e-01  9.45643184e-01  1.19229650e-03]
 [ 4.87926808e-04 -1.09303380e-03  9.99999284e-01]]

 t_estimated:
[[0.62746624]
 [0.77864334]
 [0.00081278]]

 R_gt:
[[ 0.98553792 -0.14777118  0.08293118]
 [ 0.1518414   0.98737472 -0.04510169]
 [-0.07521913  0.05704192  0.99553446]]

 t_gt:
[ 0.70866513 -0.70544515  0.01186879]

Pose Error in degrees for R and t:
28.139193126584182 83.9948950701837

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99998056e-01  7.53828106e-04 -1.82176557e-03]
 [-7.49325500e-04  9.99996666e-01  2.47098171e-03]
 [ 1.82362219e-03 -2.46961181e-03  9.99995288e-01]]

 t_estimated:
[[0.9413122 ]
 [0.33753066]
 [0.00209646]]

 R_gt:
[[ 0.96311133 -0.17057197  0.20813865]
 [ 0.18406956  0.98178084 -0.0471565 ]
 [-0.19630263  0.08372963  0.97696222]]

 t_gt:
[ 0.64233439 -0.65093546  0.40458565]

Pose Error in degrees for R and t:
16.207155636226805 67.30815524539496

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.98183249e-01 -6.02511516e-02  1.95743456e-05]
 [ 6.02511498e-02  9.98183246e-01  7.89372519e-05]
 [-2.42948441e-05 -7.76144657e-05  9.99999997e-01]]

 t_estimated:
[[-9.86806320e-01]
 [-1.61903059e-01]
 [-8.28400550e-04]]

 R_gt:
[[ 0.9966014   0.08086772 -0.01565882]
 [-0.08044109  0.99641526  0.02620648]
 [ 0.01772104 -0.02485689  0.99953337]]

 t_gt:
[-0.25474823  0.96342785  0.08312713]

Pose Error in degrees for R and t:
8.267819001930965 84.52931860046955

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-0.68851469  0.72499589 -0.01812428]
 [ 0.72498431  0.688714    0.00841252]
 [ 0.01858149 -0.00734768 -0.99980035]]

 t_estimated:
[[ 0.91908964]
 [-0.39393427]
 [-0.0094882 ]]

 R_gt:
[[ 0.98691254  0.16036176  0.01691917]
 [-0.16089851  0.98625669  0.03754183]
 [-0.01066685 -0.03977247  0.99915159]]

 t_gt:
[-0.30499015  0.9202489   0.24519984]

Pose Error in degrees for R and t:
178.70753865501143 49.82252421259592

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.39549002e-01 -3.42402618e-01 -2.84965275e-03]
 [ 3.42404442e-01  9.39552644e-01  1.63934939e-04]
 [ 2.62126703e-03 -1.12975867e-03  9.99995926e-01]]

 t_estimated:
[[-0.23375599]
 [-0.97228939]
 [-0.00338777]]

 R_gt:
[[ 0.98503036  0.17220334  0.00771396]
 [-0.17236117  0.98455242  0.03078788]
 [-0.00229341 -0.03165608  0.99949559]]

 t_gt:
[-0.16199709  0.97442501  0.15573323]

Pose Error in degrees for R and t:
30.00019839790804 24.483189852110755

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999121e-01  1.39939568e-04  1.31882530e-03]
 [-1.38194915e-04  9.99999115e-01 -1.32288215e-03]
 [-1.31900925e-03  1.32269873e-03  9.99998255e-01]]

 t_estimated:
[[0.93269032]
 [0.36067089]
 [0.00229727]]

 R_gt:
[[ 0.9623257  -0.26342568 -0.06734832]
 [ 0.26141672  0.96450747 -0.03723514]
 [ 0.07476648  0.01822621  0.99703421]]

 t_gt:
[ 0.87121197 -0.44783412 -0.20108285]

Pose Error in degrees for R and t:
15.879674278075827 49.414028363025565

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99998494e-01 -2.59047408e-04  1.71621478e-03]
 [ 2.62442278e-04  9.99998009e-01 -1.97818542e-03]
 [-1.71569892e-03  1.97863284e-03  9.99996571e-01]]

 t_estimated:
[[8.53317907e-01]
 [5.21390459e-01]
 [7.34352760e-04]]

 R_gt:
[[ 0.85753862 -0.51332154 -0.03359239]
 [ 0.5092432   0.85633794 -0.08575893]
 [ 0.07278821  0.05643497  0.99574939]]

 t_gt:
[ 0.92347349 -0.35202097 -0.15257113]

Pose Error in degrees for R and t:
31.24109694644997 52.816906530729874

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-7.81744568e-01 -6.23596178e-01 -1.79923070e-03]
 [ 6.23597882e-01 -7.81745075e-01 -5.65079918e-04]
 [-1.05415806e-03 -1.56374461e-03  9.99998222e-01]]

 t_estimated:
[[9.43513179e-01]
 [3.31334059e-01]
 [7.88890618e-04]]

 R_gt:
[[ 0.71801972 -0.69444358 -0.04686714]
 [ 0.689787    0.71896472 -0.085336  ]
 [ 0.09295715  0.02894534  0.99524891]]

 t_gt:
[ 0.95862766 -0.26772919 -0.0967165 ]

Pose Error in degrees for R and t:
97.61167242996021 35.34398507621371

Number of keypoints:
Image1: 426
Image2: 426

 R_estimated:
[[ 0.61899257 -0.78531713 -0.01118973]
 [-0.78530249 -0.61863454 -0.0243169 ]
 [ 0.01217413  0.02383931 -0.99964167]]

 t_estimated:
[[ 0.47285407]
 [ 0.88105766]
 [-0.01210091]]

 R_gt:
[[ 0.99915379  0.00691308  0.04054857]
 [-0.00463535  0.99841983 -0.05599421]
 [-0.04087177  0.0557582   0.99760738]]

 t_gt:
[ 0.00981177  0.99635263 -0.08476536]

Pose Error in degrees for R and t:
176.60374755547065 27.931358977912236

Number of keypoints:
Image1: 395
Image2: 395

 R_estimated:
[[ 5.90564567e-01 -8.06986469e-01 -2.51603874e-03]
 [ 8.06989552e-01  5.90565579e-01  3.98927641e-04]
 [ 1.16395667e-03 -2.26600950e-03  9.99996755e-01]]

 t_estimated:
[[-0.26471659]
 [-0.96432472]
 [-0.00171894]]

 R_gt:
[[ 0.99748823 -0.06437706  0.02955768]
 [ 0.0661151   0.99587448 -0.06215571]
 [-0.02543287  0.06395383  0.99762905]]

 t_gt:
[ 0.68352371 -0.68457341 -0.25328754]

Pose Error in degrees for R and t:
50.2130970558041 61.33769053504705

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[ 9.07656356e-01 -4.19714112e-01  5.21171072e-05]
 [ 4.19714096e-01  9.07656268e-01 -4.20924435e-04]
 [ 1.29363507e-04  4.03929023e-04  9.99999910e-01]]

 t_estimated:
[[-0.17522507]
 [-0.98452728]
 [-0.00148496]]

 R_gt:
[[ 0.99581343 -0.08555639 -0.03219212]
 [ 0.08565071  0.99632404  0.00155307]
 [ 0.03194157 -0.0043049   0.99948039]]

 t_gt:
[ 0.60601737 -0.7684331  -0.20555661]

Pose Error in degrees for R and t:
19.989167312637345 49.408681780359586

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99999990e-01 -1.12235576e-04 -8.61889749e-05]
 [ 1.12237142e-04  9.99999994e-01  1.81745794e-05]
 [ 8.61869345e-05 -1.81842528e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99829751e-01]
 [-1.84511001e-02]
 [-1.61282661e-04]]

 R_gt:
[[ 0.99557625  0.09321348 -0.01181985]
 [-0.09331062  0.99560511 -0.00794241]
 [ 0.01102846  0.00900989  0.99989839]]

 t_gt:
[ 0.03332708  0.98115604 -0.19032113]

Pose Error in degrees for R and t:
5.4192867390366946 89.12628041859044

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99999985e-01  7.02054556e-05  1.55825491e-04]
 [-7.01389612e-05  9.99999907e-01 -4.26687694e-04]
 [-1.55855432e-04  4.26676758e-04  9.99999897e-01]]

 t_estimated:
[[-0.68412874]
 [-0.72936039]
 [-0.00113079]]

 R_gt:
[[ 0.99436786  0.1041565   0.0196199 ]
 [-0.10286455  0.99299268 -0.05816182]
 [-0.02553921  0.05581548  0.99811381]]

 t_gt:
[ 0.03491287  0.97972681 -0.19727256]

Pose Error in degrees for R and t:
6.892923252505835 42.41865455643774

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.92953774e-01  1.18502240e-01  1.48781638e-04]
 [-1.18502225e-01  9.92953781e-01 -1.06379428e-04]
 [-1.60339491e-04  8.79988997e-05  9.99999983e-01]]

 t_estimated:
[[0.72374974]
 [0.69006169]
 [0.00108671]]

 R_gt:
[[ 0.99884199  0.04115664  0.02495344]
 [-0.03938039  0.99691381 -0.06790439]
 [-0.02767     0.06684264  0.99737964]]

 t_gt:
[ 0.71065468  0.58221263 -0.3949663 ]

Pose Error in degrees for R and t:
6.1102174543801 23.699007266373695

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99849819e-01  1.73301935e-02  6.86208651e-05]
 [-1.73301984e-02  9.99849818e-01  7.15504030e-05]
 [-6.73705771e-05 -7.27288707e-05  9.99999995e-01]]

 t_estimated:
[[9.63074435e-01]
 [2.69233930e-01]
 [8.50872145e-04]]

 R_gt:
[[ 0.9990163  -0.04424766  0.00295846]
 [ 0.04430131  0.99878136 -0.02178252]
 [-0.00198995  0.02189251  0.99975843]]

 t_gt:
[ 0.4802914  -0.82768146 -0.29028188]

Pose Error in degrees for R and t:
3.7496386479714072 76.14477142660239

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.20841077e-01 -3.89929998e-01 -2.51137907e-03]
 [ 3.89929630e-01  9.20844425e-01 -6.54979208e-04]
 [ 2.56798546e-03 -3.76129353e-04  9.99996632e-01]]

 t_estimated:
[[0.90424811]
 [0.42700605]
 [0.00109209]]

 R_gt:
[[ 0.99966418  0.00896792  0.02430763]
 [-0.00852647  0.99979779 -0.01822436]
 [-0.02446606  0.01801138  0.99953823]]

 t_gt:
[-0.90727193 -0.16488089  0.38687458]

Pose Error in degrees for R and t:
23.524093922677586 27.078767083423347

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.03789763  0.99928095  0.00116705]
 [ 0.99928009 -0.0378996   0.00171216]
 [ 0.00175516  0.00110133 -0.99999785]]

 t_estimated:
[[-0.26408862]
 [-0.96449758]
 [-0.00127579]]

 R_gt:
[[ 0.99800491  0.01642739  0.06094859]
 [-0.01485021  0.99954558 -0.02624974]
 [-0.06135128  0.02529268  0.99779513]]

 t_gt:
[-0.74001674 -0.08330749  0.66740923]

Pose Error in degrees for R and t:
176.52889731141082 74.04225266442151

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.64230672e-01 -2.65062595e-01 -1.01607078e-03]
 [ 2.65062831e-01  9.64231137e-01  1.01839517e-04]
 [ 9.52733234e-04 -3.67519382e-04  9.99999479e-01]]

 t_estimated:
[[-0.52409789]
 [-0.85165415]
 [-0.00257252]]

 R_gt:
[[ 0.97849991  0.2061273  -0.00699007]
 [-0.20619654  0.97844794 -0.0111076 ]
 [ 0.0045497   0.01231072  0.99991397]]

 t_gt:
[-0.37936379  0.9236174  -0.0549001 ]

Pose Error in degrees for R and t:
27.278587911849772 54.010456742564735

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.03077598e-01 -4.29476553e-01 -8.61452962e-04]
 [ 4.29474741e-01  9.03077236e-01 -1.71824196e-03]
 [ 1.51590319e-03  1.18173354e-03  9.99998153e-01]]

 t_estimated:
[[-0.04993699]
 [-0.99873989]
 [-0.0049937 ]]

 R_gt:
[[ 0.94921451  0.31458524  0.00521251]
 [-0.31442212  0.94906196 -0.02053095]
 [-0.01140661  0.01785043  0.99977603]]

 t_gt:
[-0.31792195  0.94799236 -0.01536651]

Pose Error in degrees for R and t:
43.7819680182526 21.433083459955668

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.9998432  -0.00468341  0.0170775 ]
 [ 0.00507267  0.99972667 -0.0228221 ]
 [-0.01696595  0.02290515  0.99959367]]

 t_estimated:
[[8.18671675e-01]
 [5.74261483e-01]
 [6.62124941e-04]]

 R_gt:
[[ 0.92809236  0.37234669  0.00149957]
 [-0.37174208  0.92679696 -0.05343018]
 [-0.02128491  0.0490313   0.99857012]]

 t_gt:
[-0.26505241  0.96346187 -0.03858029]

Pose Error in degrees for R and t:
22.198992394819683 70.35066601724282

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-1.01630270e-02  9.99948309e-01 -3.03638678e-04]
 [-9.99946170e-01 -1.01636391e-02 -2.08724034e-03]
 [-2.09021852e-03  2.82409653e-04  9.99997776e-01]]

 t_estimated:
[[0.00639642]
 [0.99997888]
 [0.00114729]]

 R_gt:
[[ 0.98723401  0.1587939   0.01240223]
 [-0.15848521  0.98709822 -0.02279401]
 [-0.01586142  0.0205374   0.99966361]]

 t_gt:
[-0.40338949  0.91497885 -0.00951926]

Pose Error in degrees for R and t:
81.46170771596135 24.16527874752525

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999957e-01 -2.85161080e-04 -7.07534776e-05]
 [ 2.85161035e-04  9.99999959e-01 -6.41684881e-07]
 [ 7.07536577e-05  6.21508719e-07  9.99999997e-01]]

 t_estimated:
[[-9.99999762e-01]
 [-6.68988078e-04]
 [-1.66710676e-04]]

 R_gt:
[[ 0.97744649  0.2107033   0.01427379]
 [-0.21013034  0.97708631 -0.03386849]
 [-0.02108186  0.03010461  0.99932483]]

 t_gt:
[-0.34514611  0.93837653 -0.01799057]

Pose Error in degrees for R and t:
12.347792152538986 69.84742549444356

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.41731422  0.90873688 -0.00679115]
 [-0.90448529  0.41606276  0.09379838]
 [ 0.08806359 -0.03300091  0.99556805]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.94920843  0.3142488   0.01584874]
 [-0.3117577   0.94610596 -0.08769194]
 [-0.04255223  0.07829681  0.99602214]]

 t_gt:
[-0.28528462  0.95796294 -0.03032641]

Pose Error in degrees for R and t:
48.15440366118418 74.38276687183665

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-2.26962623e-01 -9.73903388e-01  3.97241326e-04]
 [ 9.73890261e-01 -2.26957402e-01  5.30072338e-03]
 [-5.07223560e-03  1.58993554e-03  9.99985872e-01]]

 t_estimated:
[[0.99999212]
 [0.00346377]
 [0.00193711]]

 R_gt:
[[ 0.9902144  -0.13314426  0.04182121]
 [ 0.13404983  0.99078049 -0.01963654]
 [-0.03882144  0.02505043  0.99893164]]

 t_gt:
[ 0.63665035 -0.75778433  0.14296587]

Pose Error in degrees for R and t:
95.46053941707945 50.632100574984904

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99865758e-01 -1.63843771e-02  1.33652510e-04]
 [ 1.63842973e-02  9.99865601e-01  5.77880150e-04]
 [-1.43102753e-04 -5.75612772e-04  9.99999824e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.97300302 -0.22218558  0.06243333]
 [ 0.22529286  0.9731052  -0.04806465]
 [-0.05007423  0.06083292  0.99689142]]

 t_gt:
[ 0.65499505 -0.7548711   0.03392804]

Pose Error in degrees for R and t:
12.835677119178444 63.41259075352881

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.65527385e-01 -2.60301072e-01 -4.69978251e-04]
 [ 2.60301312e-01  9.65527277e-01  5.52442558e-04]
 [ 3.09975430e-04 -6.55734374e-04  9.99999737e-01]]

 t_estimated:
[[9.68886641e-01]
 [2.47503753e-01]
 [7.54584611e-04]]

 R_gt:
[[ 0.98459128 -0.16578227  0.05564404]
 [ 0.16767057  0.98535207 -0.03113209]
 [-0.04966706  0.03998251  0.99796453]]

 t_gt:
[ 0.56226731 -0.81868505  0.11666299]

Pose Error in degrees for R and t:
6.608444599339989 69.98697859783374

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99980631e-01 -6.22313944e-03  1.01961976e-04]
 [ 6.22317123e-03  9.99980586e-01 -3.14533586e-04]
 [-1.00002610e-04  3.15162021e-04  9.99999945e-01]]

 t_estimated:
[[ 0.04411369]
 [-0.99901791]
 [-0.00414809]]

 R_gt:
[[ 9.99893249e-01 -1.45901586e-02  2.84657890e-04]
 [ 1.45925769e-02  9.99635132e-01 -2.27333641e-02]
 [ 4.77314420e-05  2.27351374e-02  9.99740797e-01]]

 t_gt:
[ 0.5367324  -0.51975983 -0.66465634]

Pose Error in degrees for R and t:
1.372385618054891 56.92860366029006

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.98179954e-01 -6.03057124e-02 -1.79361488e-05]
 [ 6.03057140e-02  9.98179949e-01  1.03653694e-04]
 [ 1.16525942e-05 -1.04546692e-04  9.99999994e-01]]

 t_estimated:
[[9.92728956e-01]
 [1.20368537e-01]
 [7.96520628e-04]]

 R_gt:
[[ 0.99646755 -0.08303719 -0.0125517 ]
 [ 0.0825594   0.99598021 -0.03475877]
 [ 0.01538784  0.03359938  0.99931673]]

 t_gt:
[ 0.70985205 -0.61762271 -0.33860339]

Pose Error in degrees for R and t:
2.485911729735961 50.94407568009446

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-4.49755986e-01  8.93151466e-01 -1.07084201e-04]
 [ 8.93143446e-01  4.49752449e-01  4.18567561e-03]
 [ 3.78660369e-03  1.78689111e-03 -9.99991234e-01]]

 t_estimated:
[[5.83508326e-01]
 [8.12107041e-01]
 [4.32578898e-04]]

 R_gt:
[[ 0.96693308 -0.25500743  0.00349776]
 [ 0.25494106  0.96613539 -0.03984083]
 [ 0.00678023  0.03941614  0.99919951]]

 t_gt:
[ 0.81440971 -0.56664043 -0.1251217 ]

Pose Error in degrees for R and t:
178.98355871265292 89.14121667406361

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.74793064e-01 -2.23110747e-01 -2.77630511e-04]
 [ 2.23110792e-01  9.74793082e-01  1.44389862e-04]
 [ 2.38417372e-04 -2.02692599e-04  9.99999951e-01]]

 t_estimated:
[[ 2.32447700e-01]
 [-9.72608840e-01]
 [-3.34433451e-04]]

 R_gt:
[[ 0.99624401  0.07342345 -0.0459264 ]
 [-0.07376992  0.99725802 -0.00590423]
 [ 0.04536662  0.00927091  0.99892741]]

 t_gt:
[-0.5582115   0.59963892 -0.5734397 ]

Pose Error in degrees for R and t:
17.31558592146274 44.538663245665056

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.73608774e-01 -2.28221022e-01  1.05799512e-03]
 [ 2.28223462e-01  9.73599787e-01 -4.18402782e-03]
 [-7.51807170e-05  4.31506550e-03  9.99990687e-01]]

 t_estimated:
[[-0.65050708]
 [-0.75949256]
 [-0.0034058 ]]

 R_gt:
[[ 0.99819474  0.04431342 -0.0405674 ]
 [-0.04329495  0.99873291  0.02565564]
 [ 0.0416534  -0.02385307  0.99884739]]

 t_gt:
[-0.6008157   0.43991183 -0.66745642]

Pose Error in degrees for R and t:
15.970717136546813 86.61768095988003

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-5.64565475e-01 -8.25386555e-01 -1.69100937e-03]
 [ 8.25388191e-01 -5.64565212e-01 -6.74948748e-04]
 [-3.97591439e-04 -1.77679192e-03  9.99998342e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99525645 -0.08191769 -0.05249439]
 [ 0.08356157  0.99605391  0.02992696]
 [ 0.04983521 -0.03417124  0.99817248]]

 t_gt:
[ 0.74079729 -0.66417169 -0.10047559]

Pose Error in degrees for R and t:
119.64865208519318 42.38293198227391

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-0.94085684 -0.33861797 -0.01123714]
 [-0.33862655  0.94092011 -0.00118751]
 [ 0.01097536  0.00268792 -0.99993616]]

 t_estimated:
[[ 0.97364801]
 [ 0.22800909]
 [-0.00462631]]

 R_gt:
[[ 0.98139511  0.19139151  0.01529612]
 [-0.19053873  0.98063797 -0.04521451]
 [-0.0236546   0.04145911  0.99886009]]

 t_gt:
[-0.83955859  0.51052335 -0.18576134]

Pose Error in degrees for R and t:
180.0 45.559259227968624

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-0.57620071 -0.81730547 -0.00212501]
 [ 0.81730753 -0.57619484 -0.00281237]
 [ 0.00107415 -0.00335728  0.99999379]]

 t_estimated:
[[ 9.62039923e-01]
 [-2.72908744e-01]
 [-6.67509673e-05]]

 R_gt:
[[ 0.95396941  0.2951966   0.05292794]
 [-0.29325626  0.9551346  -0.04146487]
 [-0.06279387  0.02403562  0.99773664]]

 t_gt:
[-0.82840447  0.55962892 -0.02369625]

Pose Error in degrees for R and t:
142.3437912581012 18.25272818861327

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-8.52432277e-01  5.22784130e-01 -7.48105765e-03]
 [-5.22797201e-01 -8.52457053e-01 -2.42007724e-04]
 [-6.50379816e-03  3.70478081e-03  9.99971987e-01]]

 t_estimated:
[[0.65556073]
 [0.75513687]
 [0.00290528]]

 R_gt:
[[ 0.86818515  0.49345379  0.052515  ]
 [-0.49189898  0.86972577 -0.04016818]
 [-0.06549493  0.00904188  0.99781149]]

 t_gt:
[-0.79055078  0.61222317  0.0145692 ]

Pose Error in degrees for R and t:
118.96268596538458 86.79552842629548

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.84601712e-01 -1.74812648e-01 -8.44335408e-05]
 [ 1.74812666e-01  9.84601658e-01  3.26354585e-04]
 [ 2.60824951e-05 -3.36089335e-04  9.99999943e-01]]

 t_estimated:
[[0.64857304]
 [0.76115177]
 [0.00099627]]

 R_gt:
[[ 0.99935366 -0.02503633 -0.02577186]
 [ 0.02681223  0.99711354  0.07104063]
 [ 0.02392021 -0.07168616  0.99714033]]

 t_gt:
[ 0.30090997 -0.74417743  0.59636662]

Pose Error in degrees for R and t:
9.60222824411915 68.24270271811912

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99983607e-01 -5.70740279e-03 -4.58962753e-04]
 [ 5.70745796e-03  9.99983705e-01  1.18987892e-04]
 [ 4.58276163e-04 -1.21605452e-04  9.99999888e-01]]

 t_estimated:
[[-0.79771862]
 [ 0.60302502]
 [-0.00241422]]

 R_gt:
[[ 0.99735738 -0.06527668 -0.03186222]
 [ 0.06988638  0.98192251  0.17591047]
 [ 0.01980435 -0.17767172  0.98389028]]

 t_gt:
[ 0.33011678 -0.65072994  0.68379343]

Pose Error in degrees for R and t:
10.89121596084951 48.89830260474177

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-2.85870130e-01  9.58263276e-01  3.12465655e-03]
 [ 9.58268370e-01  2.85868695e-01  9.06002824e-04]
 [-2.50522559e-05  3.25325868e-03 -9.99994708e-01]]

 t_estimated:
[[9.50274246e-01]
 [3.11413141e-01]
 [8.43938052e-04]]

 R_gt:
[[ 0.97330545 -0.21488226 -0.08063299]
 [ 0.22691114  0.95368471  0.19747526]
 [ 0.03446577 -0.21050016  0.97698582]]

 t_gt:
[ 0.64431621 -0.59800644  0.47670213]

Pose Error in degrees for R and t:
170.3707796262567 64.75737301881851

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.98486551e-01  5.49954368e-02  3.31355735e-04]
 [ 5.49507493e-02 -9.97884528e-01  3.47402210e-02]
 [ 2.24120839e-03 -3.46694352e-02 -9.99396321e-01]]

 t_estimated:
[[-0.07756449]
 [ 0.99683535]
 [ 0.01740799]]

 R_gt:
[[ 0.99781384  0.06577734 -0.00638164]
 [-0.06570957  0.99778549  0.01034381]
 [ 0.00704813 -0.00990185  0.99992562]]

 t_gt:
[-0.81219033  0.58102248  0.0525332 ]

Pose Error in degrees for R and t:
177.41829768461582 49.97697670518995

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-9.09066223e-01 -4.16460506e-01 -1.26193673e-02]
 [-4.16493980e-01  9.09138474e-01  2.69851965e-05]
 [ 1.14615141e-02  5.28042184e-03 -9.99920372e-01]]

 t_estimated:
[[ 0.97687911]
 [ 0.21368384]
 [-0.00681338]]

 R_gt:
[[ 0.99494877  0.08821575 -0.04791095]
 [-0.08751658  0.99602652  0.01651381]
 [ 0.04917703 -0.01223761  0.99871501]]

 t_gt:
[-0.79750728  0.56228489 -0.21867293]

Pose Error in degrees for R and t:
176.74222566760324 48.89605703199773

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.95038299e-01 -9.94925785e-02  9.82637793e-05]
 [ 9.94925673e-02  9.95038299e-01  1.12899937e-04]
 [-1.09008930e-04 -1.02563246e-04  9.99999989e-01]]

 t_estimated:
[[0.61604956]
 [0.7877056 ]
 [0.00168099]]

 R_gt:
[[ 0.99408842  0.07871818 -0.07478332]
 [-0.07985263  0.9967321  -0.01228788]
 [ 0.07357174  0.01818639  0.99712319]]

 t_gt:
[-0.69744966  0.53049017 -0.48181341]

Pose Error in degrees for R and t:
11.146734269230995 89.27785914902599

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 8.00125729e-01  5.99831903e-01  7.11245221e-04]
 [-5.99832129e-01  8.00125863e-01  1.42214780e-04]
 [-4.83780734e-04 -5.40417440e-04  9.99999737e-01]]

 t_estimated:
[[-0.55209474]
 [ 0.83378039]
 [ 0.00128436]]

 R_gt:
[[ 0.99052239  0.13684251  0.011826  ]
 [-0.13692266  0.99056246  0.00625197]
 [-0.01085915 -0.00781213  0.999911  ]]

 t_gt:
[-0.62450438  0.77700021  0.07915138]

Pose Error in degrees for R and t:
28.998799893901715 6.9107468168876105

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99977778e-01 -6.66607204e-03 -8.30843231e-05]
 [ 6.66608580e-03  9.99977768e-01  1.66371947e-04]
 [ 8.19734286e-05 -1.66922097e-04  9.99999983e-01]]

 t_estimated:
[[-5.95520337e-01]
 [ 8.03340158e-01]
 [ 3.43861001e-04]]

 R_gt:
[[ 0.97991401  0.19848007 -0.01933261]
 [-0.19926424  0.9783683  -0.05559048]
 [ 0.00788008  0.05832593  0.99826622]]

 t_gt:
[-0.52087315  0.83642157 -0.17055823]

Pose Error in degrees for R and t:
12.33414912808038 10.868371773035216

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 1.10222666e-01  9.93906552e-01 -8.54683181e-04]
 [ 9.93900628e-01 -1.10218868e-01  3.65289965e-03]
 [ 3.53643868e-03 -1.25210249e-03 -9.99992963e-01]]

 t_estimated:
[[0.56498008]
 [0.82510288]
 [0.00165683]]

 R_gt:
[[ 0.95755418  0.28761609  0.01916428]
 [-0.28618844  0.9565336  -0.05603816]
 [-0.03444939  0.0481751   0.99824504]]

 t_gt:
[-0.49598006  0.86816704 -0.01702238]

Pose Error in degrees for R and t:
176.9165351142458 64.14595995245777

Number of keypoints:
Image1: 430
Image2: 430

 R_estimated:
[[-0.39161745  0.91651265 -0.08148826]
 [ 0.91666624  0.39628615  0.05177159]
 [ 0.07974198 -0.05442288 -0.99532877]]

 t_estimated:
[[ 0.86420088]
 [-0.50099751]
 [-0.04645792]]

 R_gt:
[[ 0.9986197   0.02598777  0.0456396 ]
 [-0.02624077  0.99964339  0.00495328]
 [-0.0454942  -0.00614271  0.9989459 ]]

 t_gt:
[-0.79537648 -0.37117536  0.47917127]

Pose Error in degrees for R and t:
176.46922239319073 58.42135467968991

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.99999661e-01  6.61930080e-04 -4.89192531e-04]
 [-6.61548045e-04  9.99999476e-01  7.80699840e-04]
 [ 4.89709043e-04 -7.80375951e-04  9.99999576e-01]]

 t_estimated:
[[0.99915399]
 [0.04102098]
 [0.00293007]]

 R_gt:
[[ 0.99655232 -0.06020534  0.05710291]
 [ 0.0593433   0.99809833  0.01667632]
 [-0.05799801 -0.01322964  0.99822895]]

 t_gt:
[ 0.4616927  -0.81778549  0.34360842]

Pose Error in degrees for R and t:
4.8745729420351145 64.61094718321957

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99371090e-01  3.54096053e-02  1.89328701e-03]
 [-3.54080329e-02  9.99372571e-01 -8.57643140e-04]
 [-1.92246792e-03  7.90066191e-04  9.99997840e-01]]

 t_estimated:
[[0.62208312]
 [0.78295065]
 [0.00092987]]

 R_gt:
[[ 0.991219   -0.1140765   0.06687157]
 [ 0.11278621  0.99335837  0.02278306]
 [-0.06902678 -0.01504025  0.99750101]]

 t_gt:
[ 0.60667927 -0.7615939   0.22784862]

Pose Error in degrees for R and t:
9.420988772433825 77.36885890229924

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.98518741e-01  5.44085911e-02  1.69276719e-04]
 [-5.44086241e-02  9.98518734e-01  1.97310839e-04]
 [-1.58290570e-04 -2.06228684e-04  9.99999966e-01]]

 t_estimated:
[[0.86382004]
 [0.50379917]
 [0.00115023]]

 R_gt:
[[ 0.99523716 -0.09743207 -0.0029347 ]
 [ 0.09726926  0.99463554 -0.03520668]
 [ 0.0063487   0.03475437  0.99937548]]

 t_gt:
[ 0.83913106 -0.45437837 -0.29899726]

Pose Error in degrees for R and t:
8.942147788836385 60.29075205965784

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999357e-01  1.13273498e-03  5.73426155e-05]
 [-1.13274415e-03  9.99999346e-01  1.60012155e-04]
 [-5.71613266e-05 -1.60077006e-04  9.99999986e-01]]

 t_estimated:
[[ 9.99965062e-01]
 [-8.35687646e-03]
 [ 1.91886387e-04]]

 R_gt:
[[ 0.98561685 -0.16868633  0.0102009 ]
 [ 0.16870959  0.98566499 -0.00135032]
 [-0.00982673  0.00305181  0.99994749]]

 t_gt:
[ 0.87024205 -0.49168982  0.03032978]

Pose Error in degrees for R and t:
9.794864387931634 29.03463831649958

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.98198413e-01  5.99983989e-02  3.47477000e-04]
 [-5.99984198e-02  9.98198471e-01  5.02727533e-05]
 [-3.43834725e-04 -7.10302535e-05  9.99999938e-01]]

 t_estimated:
[[0.93167147]
 [0.36329829]
 [0.00162184]]

 R_gt:
[[ 0.9943079  -0.1040388   0.02297603]
 [ 0.1043445   0.9944622  -0.01250624]
 [-0.02154684  0.01483263  0.99965812]]

 t_gt:
[ 0.94879053 -0.31417262  0.033047  ]

Pose Error in degrees for R and t:
9.53722762399794 39.65721952689846

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[-0.98845498 -0.14669506  0.03791203]
 [-0.14668943  0.98917821  0.00294534]
 [-0.03793382 -0.00264996 -0.99927674]]

 t_estimated:
[[0.99614931]
 [0.08553615]
 [0.01923844]]

 R_gt:
[[ 0.9973104  -0.07233571  0.0117957 ]
 [ 0.07237416  0.99737327 -0.002963  ]
 [-0.01155058  0.00380879  0.99992547]]

 t_gt:
[ 0.4572888  -0.87802882  0.14125274]

Pose Error in degrees for R and t:
177.16804533850885 67.4715459747161

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.99122385e-01 -4.18853427e-02  2.79470504e-04]
 [ 4.18852979e-02  9.99122412e-01  1.64384699e-04]
 [-2.86110554e-04 -1.52534727e-04  9.99999947e-01]]

 t_estimated:
[[0.78100298]
 [0.62452595]
 [0.00130141]]

 R_gt:
[[ 0.99369521 -0.11183529  0.00794045]
 [ 0.1119059   0.99367601 -0.00920878]
 [-0.00685975  0.01004003  0.99992606]]

 t_gt:
[ 0.4534539  -0.89113323  0.01615972]

Pose Error in degrees for R and t:
4.082273008631144 78.32465253383329

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[-9.71204316e-01 -2.37976496e-01  1.13738612e-02]
 [-2.37964739e-01  9.71270839e-01  2.39580145e-03]
 [-1.16172441e-02 -3.79765189e-04 -9.99932445e-01]]

 t_estimated:
[[0.98937566]
 [0.14524434]
 [0.00631559]]

 R_gt:
[[ 0.97710463 -0.20829085  0.04338538]
 [ 0.2077059   0.97803281  0.01760622]
 [-0.04609985 -0.00819173  0.99890273]]

 t_gt:
[ 0.47251069 -0.84210074  0.25999998]

Pose Error in degrees for R and t:
176.68468319393133 69.70692685248444

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99999520e-01 -9.48684852e-04  2.45638505e-04]
 [ 9.48729479e-04  9.99999533e-01 -1.81628714e-04]
 [-2.45466082e-04  1.81861672e-04  9.99999953e-01]]

 t_estimated:
[[-0.01166164]
 [-0.99992752]
 [-0.00299197]]

 R_gt:
[[ 0.99763322 -0.05537412  0.04077192]
 [ 0.05550993  0.99845595 -0.00221065]
 [-0.04058686  0.00446845  0.99916599]]

 t_gt:
[ 0.6651813  -0.73987385  0.10060084]

Pose Error in degrees for R and t:
3.894944006015831 42.96567664353224

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-4.31545766e-02  9.99063136e-01  3.24538640e-03]
 [ 9.99068045e-01  4.31515666e-02  9.91865703e-04]
 [ 8.50892953e-04  3.28516539e-03 -9.99994242e-01]]

 t_estimated:
[[-0.99965455]
 [-0.02619182]
 [-0.00218265]]

 R_gt:
[[ 9.91611801e-01 -1.25585262e-01  3.05984532e-02]
 [ 1.25614258e-01  9.92078816e-01  9.74439746e-04]
 [-3.04793228e-02  2.87690661e-03  9.99531541e-01]]

 t_gt:
[ 0.77250429 -0.6345611   0.02386065]

Pose Error in degrees for R and t:
178.59096104181498 40.91612257545921

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.83423869e-01  1.81315321e-01  1.49955599e-03]
 [-1.81314645e-01  9.83424968e-01 -5.76240492e-04]
 [-1.57918204e-03  2.94797191e-04  9.99998710e-01]]

 t_estimated:
[[-0.98192089]
 [ 0.18927243]
 [ 0.00270574]]

 R_gt:
[[ 0.98496984 -0.15853622  0.06856863]
 [ 0.15673643  0.98715628  0.03091151]
 [-0.0725881  -0.0196993   0.99716791]]

 t_gt:
[ 0.68850872 -0.70423358  0.17323628]

Pose Error in degrees for R and t:
19.979171548718664 36.01292679986473

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99945967e-01  1.03947594e-02 -1.13366458e-04]
 [-1.03947543e-02  9.99945972e-01  4.55859855e-05]
 [ 1.13834189e-04 -4.44051058e-05  9.99999993e-01]]

 t_estimated:
[[-9.84525140e-01]
 [-1.75243397e-01]
 [-3.62491173e-05]]

 R_gt:
[[ 0.98662475  0.16274358  0.0093192 ]
 [-0.16294834  0.98620632  0.02905833]
 [-0.00446096 -0.03018804  0.99953395]]

 t_gt:
[-0.6099874   0.78395343  0.11546599]

Pose Error in degrees for R and t:
8.950727157931087 62.40872463626674

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99665784e-01 -2.58518213e-02  6.39477329e-05]
 [ 2.58518224e-02  9.99665786e-01 -1.61961735e-05]
 [-6.35076601e-05  1.78439259e-05  9.99999998e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.97606407  0.217064   -0.01351869]
 [-0.21659131  0.97580405  0.02991274]
 [ 0.01968542 -0.0262684   0.9994612 ]]

 t_gt:
[-0.57919187  0.81518713 -0.00259136]

Pose Error in degrees for R and t:
14.13299475463001 88.67393602230965

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 7.66806731e-01  6.41877887e-01  4.63585246e-04]
 [-6.41877825e-01  7.66805645e-01  1.40051172e-03]
 [ 5.43477720e-04 -1.37148690e-03  9.99998912e-01]]

 t_estimated:
[[0.67860904]
 [0.73449857]
 [0.00127517]]

 R_gt:
[[ 0.95141831  0.30762168  0.01310682]
 [-0.30736318  0.95141032 -0.01859452]
 [-0.01818958  0.01366372  0.99974134]]

 t_gt:
[-0.51051584  0.85985209  0.00528701]

Pose Error in degrees for R and t:
22.06339581862441 73.4336073657507

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.96341322e-01  8.54631857e-02 -1.18883923e-04]
 [-8.54631856e-02  9.96341329e-01  6.05136208e-06]
 [ 1.18966134e-04  4.13097667e-06  9.99999993e-01]]

 t_estimated:
[[-0.7301122 ]
 [-0.68332671]
 [-0.00088742]]

 R_gt:
[[ 0.99081052  0.04088578  0.12893025]
 [-0.04227839  0.99907342  0.00808063]
 [-0.12847991 -0.0134574   0.99162057]]

 t_gt:
[-0.487249    0.24730862  0.83751231]

Pose Error in degrees for R and t:
7.840983225961505 79.2799401113338

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99954449e-01  9.54343247e-03 -1.53113445e-04]
 [-9.54343997e-03  9.99954459e-01 -4.83164636e-05]
 [ 1.52645367e-04  4.97754917e-05  9.99999987e-01]]

 t_estimated:
[[-0.68902873]
 [-0.72473363]
 [-0.00075968]]

 R_gt:
[[ 0.98432478  0.09052633  0.15135981]
 [-0.09187296  0.99576898  0.00191396]
 [-0.15054583 -0.01578984  0.98847665]]

 t_gt:
[-0.61965261  0.37456576  0.68973266]

Pose Error in degrees for R and t:
9.90745524743564 81.08470781380197

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-6.04497234e-01 -7.96606702e-01  9.25534637e-04]
 [-7.96606934e-01  6.04497612e-01  1.74457814e-04]
 [-6.98457742e-04 -6.31828044e-04 -9.99999556e-01]]

 t_estimated:
[[0.80283511]
 [0.59619939]
 [0.00143886]]

 R_gt:
[[ 0.98593305  0.12324328  0.11289967]
 [-0.12356427  0.99232734 -0.00418058]
 [-0.11254853 -0.00982778  0.99359788]]

 t_gt:
[-0.74047138  0.47651978  0.47395257]

Pose Error in degrees for R and t:
174.06714707087437 71.95922986140907

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-5.80427243e-01 -8.14310377e-01 -1.68074491e-03]
 [ 8.14308941e-01 -5.80429507e-01  1.59285007e-03]
 [-2.27262828e-03 -4.44112033e-04  9.99997319e-01]]

 t_estimated:
[[0.9985782 ]
 [0.05329134]
 [0.00126884]]

 R_gt:
[[ 0.99641608  0.08448    -0.0043981 ]
 [-0.08442621  0.99636661  0.01117293]
 [ 0.00532601 -0.01076155  0.99992791]]

 t_gt:
[-0.80142578  0.59609708  0.04883643]

Pose Error in degrees for R and t:
130.32580767078298 39.78442180887659

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99984627e-01 -5.50369560e-03 -6.74602068e-04]
 [ 5.50419562e-03  9.99984577e-01  7.41595202e-04]
 [ 6.70510149e-04 -7.45296943e-04  9.99999497e-01]]

 t_estimated:
[[-0.69800332]
 [-0.71609412]
 [-0.00075378]]

 R_gt:
[[ 0.99389376  0.10900364 -0.01716469]
 [-0.10896357  0.99404077  0.00323377]
 [ 0.01741547 -0.00134439  0.99984716]]

 t_gt:
[-0.75907379  0.63252714 -0.15400131]

Pose Error in degrees for R and t:
6.64173525919193 85.58367312696593

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.97865539e-01 -6.52962633e-02 -8.73592769e-04]
 [ 6.52972150e-02  9.97865243e-01  1.10925459e-03]
 [ 7.99297681e-04 -1.16393011e-03  9.99999003e-01]]

 t_estimated:
[[0.9977771 ]
 [0.06662176]
 [0.00154934]]

 R_gt:
[[ 0.99949368  0.02956444 -0.01177817]
 [-0.02906889  0.99876862  0.04021886]
 [ 0.01295298 -0.03985601  0.9991217 ]]

 t_gt:
[-0.11132119 -0.6790777   0.72557637]

Pose Error in degrees for R and t:
5.9014081808856 81.07213079498645

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99850143e-01  1.73115781e-02  3.62961339e-05]
 [-1.73115389e-02  9.99849747e-01 -8.91152300e-04]
 [-5.17179329e-05  8.90390413e-04  9.99999602e-01]]

 t_estimated:
[[-0.93534383]
 [-0.35373573]
 [-0.00171568]]

 R_gt:
[[ 0.98276283  0.18280233  0.02757538]
 [-0.18160524  0.98251461 -0.04104087]
 [-0.0345956   0.0353251   0.99877682]]

 t_gt:
[-0.84363921  0.51973256 -0.13472543]

Pose Error in degrees for R and t:
9.913387857307887 52.73690465985048

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.82937162e-01  1.83941077e-01  4.64925984e-04]
 [ 1.83925110e-01 -9.82879469e-01  1.09317107e-02]
 [ 2.46775684e-03 -1.06596731e-02 -9.99940139e-01]]

 t_estimated:
[[-0.3127664 ]
 [ 0.94980987]
 [ 0.0061957 ]]

 R_gt:
[[ 0.94866689  0.3137416   0.03996633]
 [-0.31315746  0.94948438 -0.02030356]
 [-0.04431717  0.0067458   0.9989939 ]]

 t_gt:
[-0.83896263  0.54384471  0.01935556]

Pose Error in degrees for R and t:
179.6159139499676 38.82464946260146

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99919642e-01  1.26744121e-02 -2.63995362e-04]
 [-1.26744127e-02  9.99919676e-01 -5.95480925e-07]
 [ 2.63966610e-04  3.94141923e-06  9.99999965e-01]]

 t_estimated:
[[-9.75216026e-01]
 [-2.21253200e-01]
 [-8.50973845e-04]]

 R_gt:
[[ 0.84473295  0.53272032  0.05133195]
 [-0.53099284  0.8462324  -0.04400692]
 [-0.06688281  0.00991752  0.99771126]]

 t_gt:
[-0.78552385  0.61871135  0.0121881 ]

Pose Error in degrees for R and t:
31.679860736841494 51.01232443827705

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.46308246e-01 -3.23265575e-01 -2.66820403e-04]
 [ 3.23265666e-01  9.46308149e-01  4.42577460e-04]
 [ 1.09424265e-04 -5.05068576e-04  9.99999866e-01]]

 t_estimated:
[[0.94468166]
 [0.32798719]
 [0.000982  ]]

 R_gt:
[[ 0.99673379 -0.07669124 -0.02529868]
 [ 0.07889078  0.99163841  0.10211571]
 [ 0.01725571 -0.10377755  0.99445037]]

 t_gt:
[ 0.55527501 -0.64704983  0.52249036]

Pose Error in degrees for R and t:
15.585230744781121 71.76910285406875

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.29956556  0.95401803 -0.01049201]
 [-0.952178    0.29964489  0.05974952]
 [ 0.060146   -0.00790864  0.99815826]]

 t_estimated:
[[-0.99844139]
 [-0.05546897]
 [-0.00616322]]

 R_gt:
[[ 0.9578586  -0.28179241 -0.05567369]
 [ 0.28598715  0.95367664  0.09332926]
 [ 0.02679534 -0.10531861  0.99407722]]

 t_gt:
[ 0.82528475 -0.51965561  0.22105006]

Pose Error in degrees for R and t:
89.07143747805391 37.199416527712486

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.24496783e-01  3.81189159e-01  7.23448029e-04]
 [-3.81189364e-01  9.24496967e-01  1.64954911e-04]
 [-6.05946485e-04 -4.28270978e-04  9.99999725e-01]]

 t_estimated:
[[0.57250265]
 [0.81990239]
 [0.00089314]]

 R_gt:
[[ 0.85368701 -0.52040021 -0.020079  ]
 [ 0.52070438  0.85360604  0.01496279]
 [ 0.00935278 -0.02322782  0.99968612]]

 t_gt:
[ 0.92525057 -0.37859908  0.02396084]

Pose Error in degrees for R and t:
53.800144497838886 77.33116746003074

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.90733705e-01 -1.35815462e-01  9.41500783e-04]
 [ 1.35815287e-01  9.90734145e-01  2.46886112e-04]
 [-9.66307925e-04 -1.16728193e-04  9.99999526e-01]]

 t_estimated:
[[ 0.46530562]
 [-0.88512532]
 [ 0.0066218 ]]

 R_gt:
[[ 0.99259468  0.12066414  0.01397722]
 [-0.12058782  0.99268277 -0.00615392]
 [-0.01461734  0.004423    0.99988315]]

 t_gt:
[-0.35938088  0.93252709  0.03519385]

Pose Error in degrees for R and t:
14.757643741085497 7.071993114650412

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.29279347  0.92775673 -0.23138588]
 [ 0.94941224  0.31081336  0.04484927]
 [ 0.11352704 -0.20654901 -0.97182772]]

 t_estimated:
[[0.66560207]
 [0.74613288]
 [0.01611242]]

 R_gt:
[[ 0.96582973  0.2591594   0.00288383]
 [-0.25886007  0.96514319 -0.03858132]
 [-0.01278206  0.03651606  0.99925132]]

 t_gt:
[-0.30561266  0.94738192 -0.09522813]

Pose Error in degrees for R and t:
170.1685260751401 59.87275812392059

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-8.03540797e-01 -5.95247755e-01 -1.51589575e-03]
 [-5.95249678e-01  8.03537774e-01  2.20622289e-03]
 [-9.51697253e-05  2.67512656e-03 -9.99996417e-01]]

 t_estimated:
[[9.39556458e-01]
 [3.42393223e-01]
 [7.36329513e-04]]

 R_gt:
[[ 0.90503577  0.42533039 -0.00189662]
 [-0.42454929  0.90308393 -0.0647803 ]
 [-0.02584015  0.05943512  0.99789752]]

 t_gt:
[-0.23167124  0.96980107 -0.07625165]

Pose Error in degrees for R and t:
179.44977879605042 83.43507784259441

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 2.60471627e-02  9.99660653e-01 -3.53299023e-04]
 [-9.99659369e-01  2.60465459e-02 -1.65044821e-03]
 [-1.64068591e-03  3.96168171e-04  9.99998576e-01]]

 t_estimated:
[[-9.06845573e-02]
 [ 9.95879522e-01]
 [ 5.36849092e-04]]

 R_gt:
[[ 0.99918953  0.01946505  0.03524198]
 [-0.01636003  0.99613171 -0.08632527]
 [-0.03678539  0.08567969  0.99564315]]

 t_gt:
[-0.16310119  0.75811791 -0.63139151]

Pose Error in degrees for R and t:
87.60288194437315 39.69584319555378

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 8.79719762e-01 -4.75492348e-01 -4.10577216e-04]
 [ 4.75492447e-01  8.79719784e-01  1.86049746e-04]
 [ 2.72727670e-04 -3.58898003e-04  9.99999898e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.99700099  0.07179455  0.02888348]
 [-0.06872796  0.99301205 -0.09592956]
 [-0.03556873  0.09365738  0.99496846]]

 t_gt:
[-0.19507254  0.88426085 -0.42429878]

Pose Error in degrees for R and t:
32.926780903096756 28.018800103605436

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-0.95297138  0.30285952 -0.01102976]
 [ 0.30286092  0.95303345  0.00158387]
 [ 0.01099142 -0.0018311  -0.99993792]]

 t_estimated:
[[ 0.99061189]
 [-0.13660445]
 [-0.00522551]]

 R_gt:
[[ 0.99444336  0.10403798  0.01609123]
 [-0.10272814  0.99240208 -0.06770548]
 [-0.02301272  0.06567731  0.99757483]]

 t_gt:
[-0.14532712  0.94793342 -0.28337654]

Pose Error in degrees for R and t:
178.94033650421648 74.21824071272913

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 9.99900270e-01  1.41226498e-02 -1.77445716e-05]
 [-1.41226482e-02  9.99900267e-01  8.60879318e-05]
 [ 1.89585916e-05 -8.58287459e-05  9.99999996e-01]]

 t_estimated:
[[ 9.90030544e-01]
 [ 1.40852827e-01]
 [-5.58669647e-05]]

 R_gt:
[[ 0.99785916 -0.05966256  0.02680329]
 [ 0.06003697  0.99810744 -0.01340025]
 [-0.0259539   0.01498143  0.99955083]]

 t_gt:
[ 0.84249439 -0.46472956  0.27245116]

Pose Error in degrees for R and t:
4.576102574585554 39.76973926203138

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-4.40393462e-01 -8.97802251e-01 -2.17185077e-03]
 [ 8.97804735e-01 -4.40393470e-01 -5.00330125e-04]
 [-5.07271384e-04 -2.17024002e-03  9.99997516e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98604578 -0.16147272  0.04051342]
 [ 0.16215556  0.98666372 -0.0141727 ]
 [-0.03768445  0.02054374  0.99907805]]

 t_gt:
[ 0.85016671 -0.51075462  0.12785263]

Pose Error in degrees for R and t:
106.83534406572446 31.931856325857595

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 0.03513528  0.99937643  0.00350322]
 [ 0.99938144 -0.03512977 -0.00162453]
 [-0.00150045  0.00355813 -0.99999254]]

 t_estimated:
[[0.99986651]
 [0.01625799]
 [0.0016258 ]]

 R_gt:
[[ 9.72353627e-01 -2.26457314e-01  5.69808799e-02]
 [ 2.26816495e-01  9.73937997e-01  1.55654988e-04]
 [-5.55310331e-02  1.27723849e-02  9.98374953e-01]]

 t_gt:
[ 0.87185263 -0.45511343  0.18095512]

Pose Error in degrees for R and t:
177.26965738739236 30.159378805704968

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.37513669 -0.92684228 -0.01535755]
 [-0.9268886   0.37527135 -0.00699504]
 [ 0.01224655  0.01161064 -0.9998576 ]]

 t_estimated:
[[ 0.7926644 ]
 [ 0.60961647]
 [-0.00713494]]

 R_gt:
[[ 9.93186251e-01  1.16509188e-01 -2.68054692e-03]
 [-1.16537500e-01  9.92725075e-01 -3.02842720e-02]
 [-8.67024750e-04  3.03894891e-02  9.99538376e-01]]

 t_gt:
[-0.64405251  0.75164081 -0.14224084]

Pose Error in degrees for R and t:
178.02215727826828 87.06000948418377

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 1.00000000e+00 -7.21744886e-12 -4.67226084e-14]
 [ 7.21767091e-12  1.00000000e+00 -3.52844923e-14]
 [ 4.67231505e-14  3.52835708e-14  1.00000000e+00]]

 t_estimated:
[[-0.8896042 ]
 [-0.45673114]
 [-0.0010162 ]]

 R_gt:
[[ 0.98836872  0.1463091  -0.04148504]
 [-0.14678056  0.98913232 -0.00853871]
 [ 0.03978536  0.01452788  0.99910273]]

 t_gt:
[-0.60332544  0.77205547 -0.19982182]

Pose Error in degrees for R and t:
8.772430560379092 79.37955201118454

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-6.07189878e-01  7.94542876e-01 -4.69802025e-03]
 [-7.94550396e-01 -6.07198071e-01 -4.13672418e-04]
 [-3.18130931e-03  3.48163614e-03  9.99988879e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99178874  0.1218901  -0.03871907]
 [-0.12354373  0.9913802  -0.04362923]
 [ 0.03306743  0.04805412  0.99829697]]

 t_gt:
[-0.52757116  0.78173271 -0.33250961]

Pose Error in degrees for R and t:
120.35165671354244 58.61714835355698

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 7.81927790e-01  6.23358366e-01  3.64410352e-03]
 [ 6.23349152e-01 -7.81936181e-01  3.41223895e-03]
 [ 4.97650408e-03 -3.96575623e-04 -9.99987538e-01]]

 t_estimated:
[[0.04682354]
 [0.99890217]
 [0.0014189 ]]

 R_gt:
[[ 0.99882814 -0.04058843  0.02636977]
 [ 0.04095325  0.99907139 -0.01346159]
 [-0.02579931  0.01452544  0.99956161]]

 t_gt:
[-0.17412756 -0.94082419  0.29073947]

Pose Error in degrees for R and t:
178.86080661284657 18.642409030038053

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-0.28949398  0.95675954  0.02836224]
 [ 0.95676231  0.29011574 -0.02094616]
 [-0.02826878  0.02107214 -0.99937823]]

 t_estimated:
[[ 0.8028021 ]
 [-0.59597686]
 [ 0.01789907]]

 R_gt:
[[ 0.99737912 -0.06420245 -0.03337899]
 [ 0.06444242  0.99790249  0.00620297]
 [ 0.03291055 -0.00833824  0.99942301]]

 t_gt:
[-0.04207193 -0.93220135 -0.35948656]

Pose Error in degrees for R and t:
179.760520043618 58.97844387850805

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.03575509e-01  4.28428236e-01  7.38293424e-04]
 [-4.28427705e-01  9.03575728e-01 -7.77716871e-04]
 [-1.00029989e-03  3.86420560e-04  9.99999425e-01]]

 t_estimated:
[[-9.50032518e-01]
 [ 3.12150573e-01]
 [-4.84117234e-04]]

 R_gt:
[[ 0.9926243  -0.07135586 -0.09801033]
 [ 0.07660235  0.99576418  0.05085347]
 [ 0.09396554 -0.05798612  0.99388486]]

 t_gt:
[-0.04837399 -0.90719053 -0.41792978]

Pose Error in degrees for R and t:
30.29234511321662 76.28922514196336

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999973e-01 -2.31579833e-04 -2.35137517e-05]
 [ 2.31575448e-04  9.99999956e-01 -1.86347188e-04]
 [ 2.35569049e-05  1.86341738e-04  9.99999982e-01]]

 t_estimated:
[[0.99987943]
 [0.01546535]
 [0.00139792]]

 R_gt:
[[ 0.99700457  0.07458217  0.0204781 ]
 [-0.07595238  0.99411543  0.07722404]
 [-0.01459754 -0.07854804  0.9968037 ]]

 t_gt:
[-0.61623645  0.56526465  0.5483872 ]

Pose Error in degrees for R and t:
6.316429709935324 52.65207711773743

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99998996e-01 -1.41379974e-03 -9.09466936e-05]
 [ 1.41377108e-03  9.99998951e-01 -3.14430135e-04]
 [ 9.13911395e-05  3.14301241e-04  9.99999946e-01]]

 t_estimated:
[[-0.99989922]
 [-0.01409613]
 [-0.00168605]]

 R_gt:
[[ 0.97632184  0.21131631  0.0462681 ]
 [-0.21447448  0.97347913  0.07962005]
 [-0.02821547 -0.08765819  0.9957511 ]]

 t_gt:
[-0.60513739  0.75064322  0.26522349]

Pose Error in degrees for R and t:
13.481724490171812 53.555199966288484

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 1.00000000e+00 -5.05151476e-15  2.51226448e-14]
 [ 5.21804822e-15  1.00000000e+00 -2.97088200e-14]
 [-2.65108573e-14  3.12995073e-14  1.00000000e+00]]

 t_estimated:
[[-7.60642736e-01]
 [-6.49170542e-01]
 [-4.85603515e-04]]

 R_gt:
[[ 0.95950149  0.28139912  0.01310182]
 [-0.2816865   0.95790434  0.05541899]
 [ 0.00304427 -0.056865    0.99837725]]

 t_gt:
[-0.55410982  0.82946754  0.07032718]

Pose Error in degrees for R and t:
16.686226682131032 83.27982567605119

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.97725316e-01  6.74105588e-02  1.03192011e-04]
 [-6.74105548e-02  9.97725321e-01 -4.20507518e-05]
 [-1.05791947e-04  3.49988689e-05  9.99999994e-01]]

 t_estimated:
[[9.98529165e-01]
 [5.42105152e-02]
 [8.52973532e-04]]

 R_gt:
[[ 0.99773828 -0.0662554   0.0113589 ]
 [ 0.06596023  0.9975177   0.02468982]
 [-0.01296675 -0.02388418  0.99963027]]

 t_gt:
[ 0.7716073  -0.52613343  0.35749934]

Pose Error in degrees for R and t:
7.812669673589881 42.076105487712326

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 4.51290779e-01  8.92376887e-01  3.52659848e-04]
 [ 8.92367548e-01 -4.51287801e-01  4.41367102e-03]
 [ 4.09780909e-03 -1.67714683e-03 -9.99990198e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99929718  0.02116267  0.03096407]
 [-0.02136237  0.99975354  0.00613542]
 [-0.03082574 -0.00679163  0.99950113]]

 t_gt:
[-0.44320272  0.76811047  0.46214462]

Pose Error in degrees for R and t:
179.59178612802546 63.86673468106869

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.99026874e-01  4.41056090e-02 -2.45322857e-05]
 [-4.41056147e-02  9.99026569e-01 -7.79969231e-04]
 [-9.89261274e-06  7.80292234e-04  9.99999696e-01]]

 t_estimated:
[[-0.98490558]
 [-0.17306893]
 [-0.0028527 ]]

 R_gt:
[[ 0.99532845  0.0960621  -0.00971606]
 [-0.0957072   0.9948931   0.03208145]
 [ 0.0127485  -0.03100032  0.99943808]]

 t_gt:
[-0.58495613  0.80410708  0.10601005]

Pose Error in degrees for R and t:
3.564309655643759 64.10914539989184

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[-0.28305982  0.95877166  0.02518024]
 [ 0.95878693  0.28354239 -0.01820262]
 [-0.02459182  0.01899006 -0.99951719]]

 t_estimated:
[[ 0.79720631]
 [-0.60350295]
 [ 0.01569352]]

 R_gt:
[[ 9.96750041e-01 -6.40622231e-02 -4.88496582e-02]
 [ 6.41295248e-02  9.97941869e-01 -2.01386346e-04]
 [ 4.87615147e-02 -2.93160134e-03  9.98806820e-01]]

 t_gt:
[ 0.34664744 -0.77588382 -0.52710515]

Pose Error in degrees for R and t:
179.49183482489906 42.58065587790098

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.84090284e-01  4.67316134e-01 -2.17375532e-05]
 [-4.67316135e-01  8.84090284e-01 -1.62500670e-05]
 [ 1.16240411e-05  2.45248357e-05  1.00000000e+00]]

 t_estimated:
[[-0.8846308 ]
 [-0.46629104]
 [-0.00101029]]

 R_gt:
[[ 0.99284192 -0.05434507 -0.10635432]
 [ 0.05860598  0.99758199  0.03735806]
 [ 0.10406649 -0.04332432  0.9936267 ]]

 t_gt:
[ 0.09712454 -0.78772506 -0.60832233]

Pose Error in degrees for R and t:
31.757909538443812 73.62013265429657

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99975667e-01  6.97609189e-03  9.15380160e-06]
 [-6.97607609e-03  9.99974961e-01 -1.18797014e-03]
 [-1.74409612e-05  1.18787737e-03  9.99999294e-01]]

 t_estimated:
[[-0.09409012]
 [-0.99556107]
 [-0.00228066]]

 R_gt:
[[ 0.97992011 -0.11888677 -0.16007384]
 [ 0.12902886  0.99014262  0.05449877]
 [ 0.15201514 -0.07405888  0.98559958]]

 t_gt:
[ 0.29049457 -0.84796158 -0.44336673]

Pose Error in degrees for R and t:
12.348918456107286 35.12726115352687

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[-0.8272841  -0.56141909 -0.02023934]
 [-0.56141775  0.82750868 -0.00628453]
 [ 0.02027648  0.00616363 -0.99977541]]

 t_estimated:
[[ 0.95353331]
 [ 0.30111054]
 [-0.01032774]]

 R_gt:
[[ 0.99856935  0.05067126 -0.01708338]
 [-0.05038057  0.99858532  0.0170052 ]
 [ 0.01792069 -0.01611969  0.99970887]]

 t_gt:
[-0.08229339  0.99456883  0.06372317]

Pose Error in degrees for R and t:
178.10588567135585 77.27055302812488

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[ 9.99782887e-01 -2.08369224e-02 -4.40076337e-05]
 [ 2.08369213e-02  9.99782887e-01 -2.48176770e-05]
 [ 4.45152031e-05  2.38953051e-05  9.99999999e-01]]

 t_estimated:
[[-9.33336670e-01]
 [-3.59002032e-01]
 [-4.50242448e-04]]

 R_gt:
[[ 0.99636726  0.08382487 -0.01508332]
 [-0.08313903  0.99567573  0.04146814]
 [ 0.01849379 -0.0400625   0.99902523]]

 t_gt:
[-0.1274763   0.94799827  0.29163174]

Pose Error in degrees for R and t:
6.49683551904532 77.20365431621782

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.98744934e-01  5.00854789e-02 -3.81761814e-05]
 [-5.00854872e-02  9.98744900e-01 -2.61814606e-04]
 [ 2.50151566e-05  2.63398084e-04  9.99999965e-01]]

 t_estimated:
[[-8.31577663e-01]
 [-5.55407960e-01]
 [-7.67138066e-04]]

 R_gt:
[[ 0.99768573  0.06435487 -0.02192729]
 [-0.06084291  0.98905121  0.13444549]
 [ 0.03033944 -0.13279941  0.99067777]]

 t_gt:
[0.13032166 0.53741324 0.83318862]

Pose Error in degrees for R and t:
7.878245769532529 65.95240689263865

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-3.17079303e-01 -9.48397399e-01  1.75777620e-03]
 [-9.48398604e-01  3.17080369e-01  3.57584824e-04]
 [-8.96488841e-04 -1.55368975e-03 -9.99998391e-01]]

 t_estimated:
[[0.820979  ]
 [0.57095566]
 [0.00176466]]

 R_gt:
[[ 0.99786139  0.05448774  0.03608454]
 [-0.05439129  0.99851297 -0.00362953]
 [-0.03622803  0.00165873  0.99934211]]

 t_gt:
[-0.80278257  0.40388093  0.43865743]

Pose Error in degrees for R and t:
178.31210617020994 64.6786038890288

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.88972930e-01  1.48096373e-01  8.84395552e-05]
 [-1.48096351e-01  9.88972914e-01 -2.16080831e-04]
 [-1.19465112e-04  2.00600517e-04  9.99999973e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99177566  0.12706927 -0.01530407]
 [-0.12724208  0.99181134 -0.01092151]
 [ 0.01379083  0.01277854  0.99982361]]

 t_gt:
[-0.75707244  0.62604183 -0.18685008]

Pose Error in degrees for R and t:
1.618675941843098 40.95083916389762

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.59875231  0.80092136  0.00454251]
 [ 0.80092823 -0.5987162  -0.0072724 ]
 [-0.00310494  0.00799259 -0.99996324]]

 t_estimated:
[[0.97632021]
 [0.21632193]
 [0.00191435]]

 R_gt:
[[ 0.99342303  0.1144418  -0.00358964]
 [-0.11439957  0.99338222  0.01019822]
 [ 0.00473314 -0.00972033  0.99994198]]

 t_gt:
[-0.82190385  0.56949053  0.01243418]

Pose Error in degrees for R and t:
179.86839062209094 47.21694755745273

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.95045774e-01 -9.94178313e-02 -5.39495442e-05]
 [ 9.94178396e-02  9.95045758e-01  1.83066390e-04]
 [ 3.54822016e-05 -1.87522984e-04  9.99999982e-01]]

 t_estimated:
[[9.41425619e-01]
 [3.37219675e-01]
 [8.33420451e-04]]

 R_gt:
[[ 0.99908    -0.04051848  0.01408244]
 [ 0.04083743  0.99889791 -0.02314506]
 [-0.01312829  0.02369921  0.99963288]]

 t_gt:
[ 0.9787455  -0.03848313 -0.20143557]

Pose Error in degrees for R and t:
3.717977769304831 24.7325083619309

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-4.08646235e-01  9.12684709e-01  3.85704628e-03]
 [ 9.12692725e-01  4.08640239e-01  2.26801132e-03]
 [ 4.93834938e-04  4.44711237e-03 -9.99989990e-01]]

 t_estimated:
[[0.99736344]
 [0.07255788]
 [0.00122979]]

 R_gt:
[[ 0.9933422  -0.1124353   0.02511974]
 [ 0.11299427  0.99335054 -0.02208617]
 [-0.0224697   0.02477723  0.99943993]]

 t_gt:
[ 0.90615451 -0.42266457  0.01544915]

Pose Error in degrees for R and t:
177.99496081712894 29.177130950303294

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 8.61719585e-01  5.07384014e-01  9.05089597e-04]
 [-5.07379701e-01  8.61717532e-01 -2.95529518e-03]
 [-2.27940111e-03  2.08741165e-03  9.99995224e-01]]

 t_estimated:
[[0.65171993]
 [0.75845927]
 [0.00081985]]

 R_gt:
[[ 0.98090285 -0.18971173  0.04289266]
 [ 0.19066017  0.9814677  -0.01920619]
 [-0.03845404  0.02701683  0.99889454]]

 t_gt:
[ 0.90341683 -0.42054147  0.08356376]

Pose Error in degrees for R and t:
41.53305157431879 74.34289214944951

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.85822659 -0.51326972 -0.00114934]
 [ 0.51324595  0.85820468 -0.0079576 ]
 [ 0.00507077  0.00623953  0.99996768]]

 t_estimated:
[[ 0.41227626]
 [-0.91097025]
 [-0.01270824]]

 R_gt:
[[ 0.96209729 -0.27265591 -0.00531282]
 [ 0.27255459  0.9620278  -0.01472484]
 [ 0.00912591  0.01271725  0.99987766]]

 t_gt:
[ 0.87131733 -0.48694185 -0.06077615]

Pose Error in degrees for R and t:
15.067328164388325 36.52614569536438

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 3.98874952e-01  9.17005081e-01  6.74147828e-04]
 [ 9.16994095e-01 -3.98873597e-01  4.65661580e-03]
 [ 4.53904012e-03 -1.23921783e-03 -9.99988931e-01]]

 t_estimated:
[[-0.83635383]
 [-0.54818885]
 [-0.00112564]]

 R_gt:
[[ 0.86775546 -0.49044214  0.08041873]
 [ 0.49632276  0.8635611  -0.0890321 ]
 [-0.02578164  0.11717137  0.99277718]]

 t_gt:
[ 0.9194545  -0.34346208 -0.19140854]

Pose Error in degrees for R and t:
173.29661175549884 54.51486315083425

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 0.39407074  0.91907073  0.0041523 ]
 [ 0.91881616 -0.39384528 -0.02574427]
 [-0.02202544  0.01396026 -0.99965994]]

 t_estimated:
[[ 0.60770532]
 [ 0.79415848]
 [-0.00256004]]

 R_gt:
[[ 0.76568141 -0.618543    0.17645708]
 [ 0.64155873  0.75410741 -0.14044292]
 [-0.04619754  0.22074138  0.97423829]]

 t_gt:
[ 0.93731993 -0.21964151 -0.27053458]

Pose Error in degrees for R and t:
165.89938400808157 66.6793358715418

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.98745151e-01 -5.00791272e-02 -4.52077806e-04]
 [ 5.00794274e-02  9.98745007e-01  6.79100674e-04]
 [ 4.17501683e-04 -7.00888303e-04  9.99999667e-01]]

 t_estimated:
[[-0.53938339]
 [-0.84204   ]
 [-0.00584779]]

 R_gt:
[[ 0.99284428  0.11733425 -0.02220939]
 [-0.1169585   0.99298213  0.01752311]
 [ 0.02410862 -0.01480106  0.99959956]]

 t_gt:
[-0.32062639  0.93667618 -0.14084198]

Pose Error in degrees for R and t:
9.72787740051404 52.0513750952329

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99730530e-01  2.32115733e-02 -3.00938201e-04]
 [-2.32114570e-02  9.99730504e-01  3.84178186e-04]
 [ 3.09774479e-04 -3.77089447e-04  9.99999881e-01]]

 t_estimated:
[[-9.54605783e-01]
 [-2.97871162e-01]
 [-7.54973149e-04]]

 R_gt:
[[ 0.94833849  0.3171176  -0.00948766]
 [-0.31725596  0.94804941 -0.02346774]
 [ 0.00155245  0.02526559  0.99967965]]

 t_gt:
[-0.31405809  0.945201   -0.08923331]

Pose Error in degrees for R and t:
17.22814756298281 88.95023019458151

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.97154123e-01  7.53889475e-02 -4.03159236e-04]
 [-7.53886548e-02  9.97153982e-01  6.97518880e-04]
 [ 4.54597052e-04 -6.65140194e-04  9.99999675e-01]]

 t_estimated:
[[-0.62375783]
 [-0.7816172 ]
 [-0.00085329]]

 R_gt:
[[ 0.90135489  0.43296347 -0.01009627]
 [-0.43177666  0.89658747 -0.09848865]
 [-0.03359064  0.09313249  0.99508675]]

 t_gt:
[-0.2217647   0.9682572  -0.11531872]

Pose Error in degrees for R and t:
22.10726653409158 51.80202548523586

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.94541107e-01 -1.04345071e-01 -3.05503464e-04]
 [ 1.04345145e-01  9.94541118e-01  2.35931087e-04]
 [ 2.79217510e-04 -2.66520967e-04  9.99999926e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99910304 -0.0326773  -0.02694807]
 [ 0.03364057  0.99878087  0.0361231 ]
 [ 0.02573395 -0.03699764  0.99898408]]

 t_gt:
[ 0.9859956  -0.00344906  0.16673568]

Pose Error in degrees for R and t:
4.8240015145264525 9.56107145273971

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.99988551e-01 -4.78516947e-03 -7.46941738e-06]
 [ 4.78517087e-03  9.99988531e-01  2.00910574e-04]
 [ 6.50794057e-06 -2.00944016e-04  9.99999980e-01]]

 t_estimated:
[[ 4.37227494e-01]
 [-8.99350611e-01]
 [-7.72549667e-04]]

 R_gt:
[[ 0.99905799 -0.03544068 -0.02504729]
 [ 0.03607865  0.99902352  0.02550621]
 [ 0.0241189  -0.0263849   0.9993603 ]]

 t_gt:
[0.98113698 0.18922181 0.03956427]

Pose Error in degrees for R and t:
2.704767573939306 75.00274615420622

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 6.89737520e-01  7.24059489e-01  1.01882391e-04]
 [-7.24059496e-01  6.89737516e-01  6.97999001e-05]
 [-1.97328273e-05 -1.21912523e-04  9.99999992e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99996652 -0.0053271   0.00622598]
 [ 0.0052336   0.99987576  0.01488833]
 [-0.00630486 -0.0148546   0.99986989]]

 t_gt:
[0.74197571 0.65015539 0.16361545]

Pose Error in degrees for R and t:
46.70171367789121 41.91688299467159

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999767e-01  2.06868624e-04 -6.49914889e-04]
 [-2.06285603e-04  9.99999576e-01  8.97012947e-04]
 [ 6.50100177e-04 -8.96878670e-04  9.99999386e-01]]

 t_estimated:
[[-8.37672690e-01]
 [-5.46171997e-01]
 [-7.83604013e-04]]

 R_gt:
[[ 0.99305088 -0.04507154  0.10872178]
 [ 0.04637235  0.99887948 -0.00945914]
 [-0.10817359  0.01443494  0.99402804]]

 t_gt:
[ 0.09531313 -0.54599272  0.8323505 ]

Pose Error in degrees for R and t:
6.837443057223885 77.42528783336083

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.97937646e-01  6.41906505e-02 -1.19086353e-04]
 [-6.41906083e-02  9.97937602e-01  3.29801984e-04]
 [ 1.40010954e-04 -3.21477591e-04  9.99999939e-01]]

 t_estimated:
[[-0.61794312]
 [-0.78622227]
 [-0.00091956]]

 R_gt:
[[ 0.96893368 -0.15089576  0.19595725]
 [ 0.15155517  0.98837932  0.01171363]
 [-0.19544812  0.01834793  0.98054257]]

 t_gt:
[ 0.39686557 -0.66727584  0.63027032]

Pose Error in degrees for R and t:
16.828468034886384 73.81097196151202

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 6.91085927e-01 -7.22772397e-01  5.51106081e-04]
 [ 7.22772576e-01  6.91085919e-01 -2.36061524e-04]
 [-2.10242899e-04  5.61463159e-04  9.99999820e-01]]

 t_estimated:
[[ 8.81892396e-01]
 [-4.71450740e-01]
 [-2.87012454e-05]]

 R_gt:
[[ 0.9383453  -0.26585375  0.22097654]
 [ 0.26586475  0.96353483  0.03025795]
 [-0.22096256  0.03035713  0.97480972]]

 t_gt:
[ 0.58442236 -0.67588477  0.44903262]

Pose Error in degrees for R and t:
33.19303332817488 33.484913846587446

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.75459204  0.65619045  0.002222  ]
 [-0.65616821  0.75458796 -0.0063472 ]
 [-0.00584166  0.00333154  0.99997739]]

 t_estimated:
[[-0.99659365]
 [-0.08246035]
 [-0.00117801]]

 R_gt:
[[ 0.99050654  0.13616536  0.01884649]
 [-0.13565008  0.99040599 -0.02634372]
 [-0.02225244  0.02353716  0.99947489]]

 t_gt:
[-0.81646465  0.56554448 -0.11638265]

Pose Error in degrees for R and t:
33.2273200197774 39.89817460194295

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-0.9997997   0.0156979  -0.0124153 ]
 [ 0.01567021  0.99987451  0.00232469]
 [ 0.01245024  0.00212968 -0.99992022]]

 t_estimated:
[[ 0.99924353]
 [-0.03840941]
 [-0.00609004]]

 R_gt:
[[ 0.9819654   0.18777367  0.02200677]
 [-0.18726864  0.98203683 -0.0231203 ]
 [-0.0259528   0.01858293  0.99949002]]

 t_gt:
[-0.77803739  0.62688043 -0.04097265]

Pose Error in degrees for R and t:
179.32885987422844 36.74774095596155

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.97856617 -0.20590972 -0.00307213]
 [ 0.205914    0.97856942  0.00114378]
 [ 0.00277078 -0.00175186  0.99999463]]

 t_estimated:
[[9.90235746e-01]
 [1.39400790e-01]
 [7.66535597e-04]]

 R_gt:
[[ 0.94907421  0.31462823  0.01636796]
 [-0.31394284  0.94880846 -0.0346674 ]
 [-0.02643746  0.02776328  0.99926472]]

 t_gt:
[-0.76689659  0.639638   -0.05227666]

Pose Error in degrees for R and t:
30.298123452814565 47.9111325134193

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.95837994  0.25230075 -0.13361221]
 [-0.17764463  0.89336388  0.41272673]
 [ 0.22349559 -0.37181353  0.9010019 ]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.96718464 -0.23549172  0.09538079]
 [ 0.2437795   0.96590304 -0.08719243]
 [-0.07159465  0.10758192  0.99161438]]

 t_gt:
[ 0.87172866 -0.41228407 -0.2647848 ]

Pose Error in degrees for R and t:
42.44603531671956 67.83786456018592

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 2.32945354e-01  9.72487122e-01  2.29345120e-03]
 [ 9.72489653e-01 -2.32946073e-01  4.76982113e-05]
 [ 5.80636346e-04  2.21924648e-03 -9.99997369e-01]]

 t_estimated:
[[0.82704618]
 [0.56213295]
 [0.00107688]]

 R_gt:
[[ 0.90719458 -0.37908604  0.18245995]
 [ 0.40379399  0.90631547 -0.124671  ]
 [-0.11810412  0.18677663  0.97527768]]

 t_gt:
[ 0.90951002 -0.31568541 -0.27043344]

Pose Error in degrees for R and t:
167.19801275260463 54.9382881814416

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-3.88642610e-01 -9.21386672e-01 -1.87681577e-03]
 [ 9.21388580e-01 -3.88641969e-01 -7.09547603e-04]
 [-7.56416725e-05 -2.00503705e-03  9.99997987e-01]]

 t_estimated:
[[9.88872938e-01]
 [1.48760705e-01]
 [7.51209772e-04]]

 R_gt:
[[ 0.85528577 -0.484546    0.18357789]
 [ 0.50313986  0.86130544 -0.07073954]
 [-0.12383991  0.15286707  0.98045714]]

 t_gt:
[ 0.95430218 -0.27004277 -0.12800098]

Pose Error in degrees for R and t:
83.60497494243052 25.389258197748102

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.98838778e-01  4.81777098e-02 -5.46412413e-05]
 [-4.81777019e-02  9.98838771e-01  1.37560723e-04]
 [ 6.12051509e-05 -1.34768495e-04  9.99999989e-01]]

 t_estimated:
[[-0.99245758]
 [ 0.1225823 ]
 [-0.00123418]]

 R_gt:
[[ 0.99741873  0.06657107  0.02688636]
 [-0.06578056  0.99740536 -0.02922997]
 [-0.02876293  0.02738624  0.99921065]]

 t_gt:
[-0.72274732  0.67109576 -0.1651266 ]

Pose Error in degrees for R and t:
2.5083275376903904 36.89239828316295

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99962840e-01 -8.61991857e-03 -1.28786319e-04]
 [ 8.61994155e-03  9.99962832e-01  1.78924792e-04]
 [ 1.27239215e-04 -1.80028273e-04  9.99999976e-01]]

 t_estimated:
[[0.79782451]
 [0.60288733]
 [0.00170849]]

 R_gt:
[[ 0.98467174  0.17409259  0.010609  ]
 [-0.1740137   0.98471161 -0.0079156 ]
 [-0.01182577  0.0059484   0.99991262]]

 t_gt:
[-0.78840355  0.61513234 -0.00566095]

Pose Error in degrees for R and t:
10.54597130662666 75.03897881529339

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99960762e-01 -8.85458873e-03 -2.67159632e-04]
 [ 8.85466369e-03  9.99960757e-01  2.80695537e-04]
 [ 2.64663704e-04 -2.83050132e-04  9.99999925e-01]]

 t_estimated:
[[-9.98311900e-01]
 [-5.80790130e-02]
 [-4.21889834e-04]]

 R_gt:
[[ 0.95709057  0.28860834  0.02614601]
 [-0.28783838  0.95722149 -0.02959352]
 [-0.03356907  0.02079809  0.9992201 ]]

 t_gt:
[-0.7734636   0.63345127 -0.02221593]

Pose Error in degrees for R and t:
17.41512784102457 42.660912876658244

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.97569599 -0.21912603  0.00105969]
 [-0.21910553 -0.97565208 -0.00978723]
 [ 0.00317852  0.00931718 -0.99995154]]

 t_estimated:
[[ 0.22900851]
 [ 0.97341479]
 [-0.00432948]]

 R_gt:
[[ 0.98222991 -0.18081456  0.05030488]
 [ 0.18222279  0.98294114 -0.02493944]
 [-0.04493712  0.03366352  0.99842267]]

 t_gt:
[ 0.9067533  -0.42165571  0.00221646]

Pose Error in degrees for R and t:
178.06682376485486 78.29918199224846

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-2.31210091e-01 -9.72903789e-01 -3.32761593e-04]
 [-9.72903749e-01  2.31210207e-01 -3.66485526e-04]
 [ 4.33493033e-04  2.39009850e-04 -9.99999877e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.97177836 -0.23331979  0.03475881]
 [ 0.23304806  0.97239459  0.01174478]
 [-0.03653935 -0.00331284  0.99932679]]

 t_gt:
[ 0.94229986 -0.29917594  0.15021561]

Pose Error in degrees for R and t:
178.1452812913895 51.13629896491318

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 7.73207606e-01 -6.34137106e-01 -4.48656126e-03]
 [ 6.34140700e-01  7.73217309e-01 -7.51937552e-04]
 [ 3.94591833e-03 -2.26370727e-03  9.99989653e-01]]

 t_estimated:
[[8.38993234e-01]
 [5.44141461e-01]
 [6.50886915e-04]]

 R_gt:
[[ 0.97875682 -0.20495994 -0.0051394 ]
 [ 0.20501244  0.97866457  0.01365779]
 [ 0.0022303  -0.01442205  0.99989304]]

 t_gt:
[ 0.99164692 -0.06924726  0.1088173 ]

Pose Error in degrees for R and t:
27.537369090957135 37.40368283406551

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.98338436e-01  5.76226182e-02  2.02423527e-05]
 [-5.76226122e-02  9.98338411e-01 -2.27284333e-04]
 [-3.33054366e-05  2.25740268e-04  9.99999974e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.99477819e-01  3.23093469e-02  5.14328773e-04]
 [-3.23079794e-02  9.98969723e-01  3.18540679e-02]
 [ 5.15205777e-04 -3.18536775e-02  9.99492472e-01]]

 t_gt:
[-0.06011207  0.71638269  0.69511322]

Pose Error in degrees for R and t:
2.3427156552506014 86.71219219897849

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.98707354e-01  5.08219406e-02  8.66735766e-04]
 [-5.08206140e-02  9.98706687e-01 -1.48944459e-03]
 [-9.41311270e-04  1.44347122e-03  9.99998515e-01]]

 t_estimated:
[[0.98338546]
 [0.18152577]
 [0.0011973 ]]

 R_gt:
[[ 0.99988285  0.01406018 -0.00605558]
 [-0.0131446   0.9912848   0.13107724]
 [ 0.00784628 -0.13098214  0.99135342]]

 t_gt:
[0.16433861 0.00490015 0.98639181]

Pose Error in degrees for R and t:
7.918365384665558 80.57951338462736

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 0.67290772 -0.73971984 -0.00312352]
 [-0.73971952 -0.67287715 -0.0071679 ]
 [ 0.0032005   0.00713387 -0.99996943]]

 t_estimated:
[[ 0.43919224]
 [ 0.89838628]
 [-0.0035038 ]]

 R_gt:
[[ 0.99795067  0.0474896  -0.04288716]
 [-0.03723499  0.97604847  0.21434168]
 [ 0.05203871 -0.2123047   0.97581627]]

 t_gt:
[-0.16632181 -0.03433995  0.9854734 ]

Pose Error in degrees for R and t:
170.29107471755316 83.83738299410578

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 8.63041927e-01 -5.05129808e-01 -1.58423548e-03]
 [ 5.05129271e-01  8.63043368e-01 -7.51501249e-04]
 [ 1.74686960e-03 -1.51666625e-04  9.99998463e-01]]

 t_estimated:
[[ 0.91559064]
 [-0.40210689]
 [-0.00195943]]

 R_gt:
[[ 0.99971538 -0.00958798 -0.02185723]
 [ 0.00893618  0.99951793 -0.02975192]
 [ 0.02213156  0.02954796  0.99931843]]

 t_gt:
[-0.08998623  0.0215672  -0.99570946]

Pose Error in degrees for R and t:
29.877276505549112 84.887485614785

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.97505287e-01  7.05917830e-02  5.03144773e-05]
 [-7.05917755e-02  9.97505279e-01 -1.37742312e-04]
 [-5.99124321e-05  1.33846896e-04  9.99999989e-01]]

 t_estimated:
[[-4.29234507e-01]
 [-9.03193051e-01]
 [ 2.22729478e-04]]

 R_gt:
[[ 0.99807207 -0.01957413  0.05890646]
 [ 0.02224311  0.99873966 -0.04499774]
 [-0.05795272  0.04622117  0.99724836]]

 t_gt:
[-0.77981596 -0.54643659  0.30544085]

Pose Error in degrees for R and t:
6.747916282817657 34.072463327372645

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.05727158  0.99833843  0.00635109]
 [ 0.99835245 -0.05724767 -0.00388472]
 [-0.00351468  0.00656311 -0.99997229]]

 t_estimated:
[[8.72711396e-01]
 [4.88235776e-01]
 [8.04342300e-04]]

 R_gt:
[[ 0.98065916 -0.10763061  0.16347535]
 [ 0.11315749  0.99326592 -0.02485482]
 [-0.15970046  0.04287285  0.98623412]]

 t_gt:
[ 0.22731756 -0.74775231  0.62385352]

Pose Error in degrees for R and t:
171.7710924659568 80.43333800741344

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 9.95596480e-01 -9.37423636e-02 -1.37347505e-04]
 [ 9.37423807e-02  9.95596480e-01  1.23945333e-04]
 [ 1.25123764e-04 -1.36274819e-04  9.99999983e-01]]

 t_estimated:
[[ 8.17993137e-01]
 [-5.75227978e-01]
 [ 2.81242810e-05]]

 R_gt:
[[ 0.99972247  0.00239578  0.02343026]
 [-0.00211642  0.99992691 -0.01190437]
 [-0.023457    0.01185138  0.99965453]]

 t_gt:
[0.61505708 0.75698346 0.22063733]

Pose Error in degrees for R and t:
5.712957805044143 86.11922030402224

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[-0.22194264 -0.97492391 -0.01627349]
 [-0.97495965  0.22212806 -0.01062091]
 [ 0.01396938  0.01350876 -0.99981117]]

 t_estimated:
[[ 0.79561592]
 [ 0.60573456]
 [-0.00899686]]

 R_gt:
[[ 0.99568173  0.07738393  0.05128637]
 [-0.07680041  0.9969583  -0.01324988]
 [-0.05215469  0.00925369  0.99859643]]

 t_gt:
[-0.5617751   0.7863168   0.25712765]

Pose Error in degrees for R and t:
179.1963454438944 88.45118005382311

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99999949e-01  1.60089034e-04 -2.75525870e-04]
 [-1.60019069e-04  9.99999955e-01  2.53934752e-04]
 [ 2.75566510e-04 -2.53890649e-04  9.99999930e-01]]

 t_estimated:
[[-0.54874453]
 [-0.83598953]
 [-0.00096727]]

 R_gt:
[[ 0.98906698  0.1389456   0.04941014]
 [-0.13742188  0.98996215 -0.03300487]
 [-0.05349942  0.02585435  0.99823325]]

 t_gt:
[-0.67782529  0.73225126  0.06603761]

Pose Error in degrees for R and t:
8.64769021889568 76.09779847955583

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.99933059e-01 -1.15702805e-02 -8.31632637e-05]
 [ 1.15702850e-02  9.99933061e-01  5.38587816e-05]
 [ 8.25345355e-05 -5.48173989e-05  9.99999995e-01]]

 t_estimated:
[[-9.44753390e-01]
 [-3.27781620e-01]
 [-4.90695821e-04]]

 R_gt:
[[ 0.99311085  0.11684725  0.00888686]
 [-0.1170178   0.992885    0.02204392]
 [-0.00624777 -0.02293053  0.99971691]]

 t_gt:
[-0.86053449  0.47979103  0.17111681]

Pose Error in degrees for R and t:
7.503205128957003 49.031634915230775

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.98069420e-01 -6.21082033e-02 -6.65359833e-05]
 [ 6.21081134e-02  9.98068983e-01 -9.41715227e-04]
 [ 1.24895742e-04  9.35764746e-04  9.99999554e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9544288   0.29708857  0.02838507]
 [-0.2961388   0.95456287 -0.03336204]
 [-0.03700625  0.02343625  0.99903977]]

 t_gt:
[-0.82384734  0.5638148  -0.05821024]

Pose Error in degrees for R and t:
20.96905401520636 34.700406448709025

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99130047e-01  4.17023507e-02 -2.52423848e-04]
 [-4.17022853e-02  9.99130048e-01  2.58924293e-04]
 [ 2.63002003e-04 -2.48172390e-04  9.99999935e-01]]

 t_estimated:
[[-9.97258473e-01]
 [-7.39961196e-02]
 [-3.34020004e-04]]

 R_gt:
[[ 0.91871149  0.38986336  0.0630651 ]
 [-0.3893224   0.92085929 -0.02114482]
 [-0.06631804 -0.00512554  0.9977853 ]]

 t_gt:
[-0.79594435  0.60334032  0.04952826]

Pose Error in degrees for R and t:
20.915812498978486 41.48744840681839

Number of keypoints:
Image1: 388
Image2: 388

 R_estimated:
[[ 9.83261479e-01 -1.82199647e-01 -3.89348639e-04]
 [ 1.82199609e-01  9.83261555e-01 -1.33127299e-04]
 [ 4.07087295e-04  5.99597759e-05  9.99999915e-01]]

 t_estimated:
[[ 9.88132029e-01]
 [-1.53605557e-01]
 [-6.52626560e-04]]

 R_gt:
[[ 0.99374296  0.10839722  0.02691089]
 [-0.10883364  0.99394149  0.01536115]
 [-0.02508206 -0.01819336  0.99952053]]

 t_gt:
[-0.77402604  0.59338427  0.22085922]

Pose Error in degrees for R and t:
16.83051265987327 31.11507118772941

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[-0.71723623 -0.69664005 -0.01627339]
 [-0.69666239  0.71738038 -0.00518615]
 [ 0.01528709  0.00761736 -0.99985413]]

 t_estimated:
[[ 0.93333796]
 [ 0.35891475]
 [-0.00777493]]

 R_gt:
[[ 0.99006951  0.13536832  0.03791343]
 [-0.13489158  0.99074853 -0.01488161]
 [-0.039578    0.00961993  0.99917055]]

 t_gt:
[-0.79104303  0.60462474  0.09316572]

Pose Error in degrees for R and t:
179.18090941748181 58.53174267755298

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[ 9.99434818e-01  3.36059821e-02 -8.25874477e-04]
 [-3.36059423e-02  9.99435159e-01  6.19698779e-05]
 [ 8.27490548e-04 -3.41805637e-05  9.99999657e-01]]

 t_estimated:
[[-0.4869923 ]
 [ 0.87340216]
 [ 0.00267744]]

 R_gt:
[[ 0.99046387  0.13659198  0.01798474]
 [-0.13563659  0.98966772 -0.04649471]
 [-0.02414953  0.04361293  0.99875733]]

 t_gt:
[-0.82230127  0.5665872  -0.052911  ]

Pose Error in degrees for R and t:
6.566631010762041 26.46957124528197

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.99999719e-01 -7.46039154e-04 -7.62122308e-05]
 [ 7.46034961e-04  9.99999720e-01 -5.50422873e-05]
 [ 7.62532732e-05  5.49854148e-05  9.99999996e-01]]

 t_estimated:
[[-9.99999932e-01]
 [-3.01318377e-04]
 [ 2.10572372e-04]]

 R_gt:
[[ 0.99424586  0.10244085  0.03131295]
 [-0.10286208  0.99462218  0.01214674]
 [-0.02990189 -0.01529809  0.99943612]]

 t_gt:
[-0.77789863  0.58374179  0.23263543]

Pose Error in degrees for R and t:
6.24168557272312 38.942998170744715

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.99022682e-01  4.42004066e-02 -6.50696167e-05]
 [-4.42004211e-02  9.99022655e-01 -2.40361090e-04]
 [ 5.43819633e-05  2.43002286e-04  9.99999969e-01]]

 t_estimated:
[[-9.66702250e-01]
 [-2.55903766e-01]
 [-1.50143576e-04]]

 R_gt:
[[ 0.9892598   0.14050477  0.04029416]
 [-0.13988262  0.99000692 -0.0178866 ]
 [-0.04240597  0.01205751  0.99902807]]

 t_gt:
[-0.78067327  0.61851257  0.08939496]

Pose Error in degrees for R and t:
6.078393295417955 53.38853669675423

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[-9.70789316e-01  2.38987715e-01 -2.12832355e-02]
 [ 2.38944181e-01  9.71022395e-01  4.60294800e-03]
 [ 2.17665464e-02 -6.17012545e-04 -9.99762890e-01]]

 t_estimated:
[[ 0.99308556]
 [-0.11697585]
 [-0.00988547]]

 R_gt:
[[ 0.9892325   0.14383903  0.02700743]
 [-0.14240571  0.98859159 -0.04907814]
 [-0.03375904  0.04470377  0.99843016]]

 t_gt:
[-0.81256824  0.58208028 -0.03025558]

Pose Error in degrees for R and t:
179.18881688463713 28.985776750645773

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 7.00982365e-01  7.13178350e-01  6.03734361e-04]
 [-7.13178288e-01  7.00982601e-01 -3.51078682e-04]
 [-6.73588998e-04 -1.84470273e-04  9.99999756e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99184232  0.12735415  0.00552826]
 [-0.12744861  0.99157852  0.02300916]
 [-0.0025516  -0.02352596  0.99971978]]

 t_gt:
[-0.86208954  0.48436627  0.14896627]

Pose Error in degrees for R and t:
38.19675048077156 61.3710980929969

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.90270056e-01  1.39158957e-01 -6.50085362e-06]
 [-1.39158957e-01  9.90270051e-01 -1.06591985e-04]
 [-8.39562889e-06  1.06459503e-04  9.99999994e-01]]

 t_estimated:
[[-9.58255291e-01]
 [-2.85913000e-01]
 [-7.44565105e-04]]

 R_gt:
[[ 0.94854035  0.31449707  0.03694312]
 [-0.31322683  0.94898135 -0.03638761]
 [-0.04650199  0.02294282  0.99865482]]

 t_gt:
[-0.82345506  0.56541527 -0.04719455]

Pose Error in degrees for R and t:
10.723424538710663 51.13734035095738

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 8.08961017e-01  5.87857861e-01  2.28204514e-03]
 [ 5.87856358e-01 -8.08964198e-01  1.35213593e-03]
 [ 2.64095656e-03  2.47689487e-04 -9.99996482e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.91503474  0.39916366  0.05815425]
 [-0.3987946   0.91685807 -0.01834277]
 [-0.06064061 -0.00640793  0.9981391 ]]

 t_gt:
[-0.79598215  0.60362859  0.04522108]

Pose Error in degrees for R and t:
178.65599588186842 37.43237249489324

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.99999846e-01 -5.54113421e-04  1.77296683e-05]
 [ 5.54114425e-04  9.99999845e-01 -5.66877250e-05]
 [-1.76982541e-05  5.66975406e-05  9.99999998e-01]]

 t_estimated:
[[ 0.84117885]
 [-0.54075458]
 [-0.00162099]]

 R_gt:
[[ 0.99990919  0.00277895  0.01317249]
 [-0.00267394  0.99996467 -0.00801218]
 [-0.01319365  0.00797627  0.99988087]]

 t_gt:
[0.71249333 0.69999445 0.04859047]

Pose Error in degrees for R and t:
0.9008862636012311 77.2480665688295

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.61771293e-01  2.73853886e-01  1.69997204e-04]
 [-2.73853845e-01  9.61771292e-01 -2.33016118e-04]
 [-2.27310800e-04  1.77553825e-04  9.99999958e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99677474  0.06550633  0.04635244]
 [-0.064862    0.9977773  -0.01528387]
 [-0.04724978  0.01222883  0.99880825]]

 t_gt:
[-0.48053762  0.84452585  0.23634655]

Pose Error in degrees for R and t:
12.467489565389858 61.46253662744713

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99999908e-01 -4.25440109e-04  5.40603876e-05]
 [ 4.25451014e-04  9.99999889e-01 -2.01865754e-04]
 [-5.39744999e-05  2.01888736e-04  9.99999978e-01]]

 t_estimated:
[[0.94886258]
 [0.3156874 ]
 [0.00112228]]

 R_gt:
[[ 0.98926768  0.13888121  0.04540612]
 [-0.13742961  0.98993786 -0.03369961]
 [-0.04962871  0.02709774  0.9983995 ]]

 t_gt:
[-0.65236263  0.75581054  0.05633327]

Pose Error in degrees for R and t:
8.60154925522523 67.6452924228328

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 5.22552540e-01  8.52603238e-01  2.56165307e-03]
 [-8.52605510e-01  5.22554992e-01 -3.52425677e-04]
 [-1.63908387e-03 -1.99991859e-03  9.99996657e-01]]

 t_estimated:
[[-0.00779678]
 [ 0.99996643]
 [ 0.002519  ]]

 R_gt:
[[ 0.99952134 -0.01287018 -0.02814241]
 [ 0.01195527  0.99940256 -0.03244455]
 [ 0.02854349  0.03209238  0.99907721]]

 t_gt:
[-0.00859249  0.01659594 -0.99982536]

Pose Error in degrees for R and t:
59.260166534853816 89.18959207509587

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-5.51946587e-01 -8.33875889e-01 -2.44264616e-03]
 [ 8.33877403e-01 -5.51949370e-01  6.07898239e-04]
 [-1.85512869e-03 -1.70134008e-03  9.99996832e-01]]

 t_estimated:
[[0.96928452]
 [0.24593786]
 [0.00144669]]

 R_gt:
[[ 0.99879225 -0.01850568  0.04550701]
 [ 0.02060891  0.99871992 -0.04620727]
 [-0.04459384  0.04708939  0.9978945 ]]

 t_gt:
[-0.87628514 -0.46832802 -0.1131071 ]

Pose Error in degrees for R and t:
122.41689082151714 15.266215259426174

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.15700426  0.98502968  0.07117721]
 [-0.98553514 -0.1609246   0.0531391 ]
 [ 0.06379775 -0.06180458  0.99604721]]

 t_estimated:
[[8.67895837e-01]
 [4.96745577e-01]
 [8.05098179e-04]]

 R_gt:
[[ 0.98328107 -0.09857778  0.15310635]
 [ 0.10456824  0.99401718 -0.03156139]
 [-0.14907846  0.04704345  0.98770508]]

 t_gt:
[ 0.19055317 -0.76002538  0.62132995]

Pose Error in degrees for R and t:
105.48272895850052 77.78042543597303

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.78652412e-01 -2.05522356e-01 -1.29901073e-04]
 [ 2.05522273e-01  9.78652321e-01 -4.78255233e-04]
 [ 2.25420129e-04  4.41348074e-04  9.99999877e-01]]

 t_estimated:
[[-0.29724857]
 [-0.95479843]
 [-0.00180151]]

 R_gt:
[[ 9.99723415e-01  2.35414299e-02 -4.78440577e-04]
 [-2.34975234e-02  9.98768829e-01  4.36813463e-02]
 [ 1.50653357e-03 -4.36576971e-02  9.99044879e-01]]

 t_gt:
[0.13319545 0.44611337 0.88500951]

Pose Error in degrees for R and t:
13.447527860221893 62.15152589867768

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.81750084e-01  1.90175636e-01  2.61232486e-05]
 [-1.90175603e-01  9.81749979e-01 -4.67869284e-04]
 [-1.14623837e-04  4.54362705e-04  9.99999890e-01]]

 t_estimated:
[[-8.83440711e-01]
 [-4.68542157e-01]
 [-8.70103880e-04]]

 R_gt:
[[ 0.99987031  0.01425905 -0.00747189]
 [-0.0128566   0.98664937  0.162348  ]
 [ 0.00968798 -0.16223041  0.9867053 ]]

 t_gt:
[ 0.06815407 -0.0692125   0.99527115]

Pose Error in degrees for R and t:
13.8350067162285 88.35841766578972

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.046711    0.99890759 -0.00130732]
 [-0.99890641  0.04670823 -0.00208139]
 [-0.00201805  0.00140311  0.99999698]]

 t_estimated:
[[-5.41771074e-01]
 [ 8.40525975e-01]
 [-4.34520894e-04]]

 R_gt:
[[ 0.99784958  0.03700799 -0.05409851]
 [-0.02403428  0.97445355  0.2232967 ]
 [ 0.06098107 -0.22151589  0.97324741]]

 t_gt:
[-0.08695572 -0.11084921  0.99002584]

Pose Error in degrees for R and t:
86.40181895168726 87.33525923716567

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.50472624e-01 -3.10803724e-01  1.68443946e-03]
 [ 3.10807818e-01  9.50466653e-01 -3.41190797e-03]
 [-5.40569831e-04  3.76646207e-03  9.99992761e-01]]

 t_estimated:
[[-0.04968917]
 [-0.99875237]
 [-0.00496892]]

 R_gt:
[[ 0.98369341 -0.17632612  0.03542275]
 [ 0.17676226  0.98420693 -0.00954473]
 [-0.03318078  0.01565086  0.99932717]]

 t_gt:
[ 0.90333156 -0.4253385   0.05549108]

Pose Error in degrees for R and t:
8.178273099098373 67.68822430761436

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-9.99905873e-01 -1.34776672e-02 -2.56850416e-03]
 [ 1.34752067e-02 -9.99908732e-01  9.72861923e-04]
 [-2.58138164e-03  9.38159226e-04  9.99996228e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.97561119 -0.21917077  0.01207765]
 [ 0.21896303  0.97559387  0.0164413 ]
 [-0.01538617 -0.01339557  0.99979153]]

 t_gt:
[ 0.95206189 -0.27347632  0.13707248]

Pose Error in degrees for R and t:
166.57135903952047 53.15061949542934

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-8.16688058e-01 -5.77079172e-01 -4.94284618e-04]
 [-5.77079232e-01  8.16686921e-01  1.42617543e-03]
 [-4.19340354e-04  1.44998183e-03 -9.99998861e-01]]

 t_estimated:
[[9.89144435e-01]
 [1.46943959e-01]
 [8.71636465e-04]]

 R_gt:
[[ 0.98175779 -0.18901076 -0.0206413 ]
 [ 0.18946935  0.98161283  0.02316805]
 [ 0.01588327 -0.02665527  0.99951813]]

 t_gt:
[ 0.99067988 -0.04385236  0.12895867]

Pose Error in degrees for R and t:
179.43631307584027 13.196196562391574

Number of keypoints:
Image1: 363
Image2: 363

 R_estimated:
[[ 9.90145695e-01 -1.40008687e-01 -3.01162654e-03]
 [ 1.40011559e-01  9.90149574e-01  7.63965194e-04]
 [ 2.87499898e-03 -1.17809937e-03  9.99995173e-01]]

 t_estimated:
[[ 0.80019793]
 [-0.59963708]
 [-0.01089264]]

 R_gt:
[[ 0.99771904  0.06170287  0.02738263]
 [-0.06118138  0.99793711 -0.01948738]
 [-0.02852875  0.01776721  0.99943511]]

 t_gt:
[-0.73206942  0.67815991 -0.06460265]

Pose Error in degrees for R and t:
11.760094290710915 7.3663794717140645

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 9.99987510e-01  4.99678416e-03 -1.13751093e-04]
 [-4.99676730e-03  9.99987505e-01  1.48092639e-04]
 [ 1.14489658e-04 -1.47522402e-04  9.99999983e-01]]

 t_estimated:
[[-9.97401700e-01]
 [-7.20390474e-02]
 [-4.74233114e-04]]

 R_gt:
[[ 0.98395856  0.1778914   0.01342094]
 [-0.17782643  0.98404445 -0.00590763]
 [-0.01425764  0.00342668  0.99989221]]

 t_gt:
[-0.79386419  0.6079778   0.01194324]

Pose Error in degrees for R and t:
9.995377092621936 41.582771918747184

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 0.99826647 -0.05883768 -0.00147508]
 [ 0.05884149  0.99826372  0.00268631]
 [ 0.00131447 -0.00276845  0.9999953 ]]

 t_estimated:
[[-9.87712686e-01]
 [-1.56278780e-01]
 [-7.69846209e-04]]

 R_gt:
[[ 0.95714999  0.28815469  0.02883461]
 [-0.28753211  0.95747312 -0.02388996]
 [-0.03449343  0.01457529  0.99929852]]

 t_gt:
[-0.7755966   0.63121476 -0.00422357]

Pose Error in degrees for R and t:
20.237828796116776 48.13141252430071

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.82444768  0.56587199  0.00865531]
 [ 0.56587728  0.82448691 -0.00205993]
 [-0.00830184  0.00319953 -0.99996042]]

 t_estimated:
[[ 0.94081817]
 [-0.33888052]
 [ 0.00460093]]

 R_gt:
[[ 0.9695075  -0.2273733   0.09141968]
 [ 0.23514821  0.96816598 -0.08578697]
 [-0.06900461  0.10466882  0.99211115]]

 t_gt:
[ 0.87465268 -0.40094669 -0.27244162]

Pose Error in degrees for R and t:
173.4294286706325 16.76245847108503

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.53922573  0.84215451  0.00337498]
 [-0.84212966  0.53916643  0.0108259 ]
 [ 0.0072974  -0.00867977  0.9999357 ]]

 t_estimated:
[[8.42504345e-01]
 [5.38689090e-01]
 [7.02069393e-04]]

 R_gt:
[[ 0.911281   -0.37435     0.1715499 ]
 [ 0.39637114  0.91034188 -0.11902356]
 [-0.11161379  0.17646153  0.97795994]]

 t_gt:
[ 0.91436861 -0.31227361 -0.25771154]

Pose Error in degrees for R and t:
81.14128681654744 52.989583235960986

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 5.99771326e-02  9.98199705e-01  3.04725479e-04]
 [-9.98199269e-01  5.99774009e-02 -9.64850802e-04]
 [-9.81390428e-04 -2.46307766e-04  9.99999488e-01]]

 t_estimated:
[[6.33217427e-01]
 [7.73973653e-01]
 [6.88742570e-04]]

 R_gt:
[[ 0.86760336 -0.46648491  0.17221443]
 [ 0.48240827  0.87360947 -0.06395432]
 [-0.12061463  0.13856491  0.9829823 ]]

 t_gt:
[ 0.95688343 -0.27015935 -0.10671468]

Pose Error in degrees for R and t:
115.45395684048557 66.62511613885269

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99064134e-01 -4.32531396e-02 -1.47472126e-04]
 [ 4.32531551e-02  9.99064139e-01  1.03905681e-04]
 [ 1.42839865e-04 -1.10187074e-04  9.99999984e-01]]

 t_estimated:
[[9.90778046e-01]
 [1.35493245e-01]
 [6.67102470e-04]]

 R_gt:
[[ 0.99085958  0.13206294  0.02749283]
 [-0.13133046  0.99097272 -0.02693426]
 [-0.03080029  0.02307723  0.99925843]]

 t_gt:
[-0.81667399  0.5704077  -0.08762797]

Pose Error in degrees for R and t:
10.290458405275594 42.95284698113691

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99853813e-01  1.70978323e-02 -1.25818539e-04]
 [-1.70978065e-02  9.99853801e-01  2.03243501e-04]
 [ 1.29275168e-04 -2.01062568e-04  9.99999971e-01]]

 t_estimated:
[[-9.99994191e-01]
 [ 3.38275967e-03]
 [-4.18636823e-04]]

 R_gt:
[[ 0.98324932  0.18141791  0.01754582]
 [-0.18101541  0.98322656 -0.02233313]
 [-0.02130174  0.01878156  0.99959667]]

 t_gt:
[-0.77597397  0.62891077 -0.0483284 ]

Pose Error in degrees for R and t:
9.604033941075052 38.91149472738667

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99586745e-01 -2.87443175e-02 -3.21334626e-04]
 [ 2.87444140e-02  9.99586749e-01  2.99585009e-04]
 [ 3.12590467e-04 -3.08697780e-04  9.99999903e-01]]

 t_estimated:
[[-9.96373164e-01]
 [-8.50897999e-02]
 [-4.94247098e-04]]

 R_gt:
[[ 0.94981231  0.31191418  0.02377924]
 [-0.31094946  0.94970236 -0.03711266]
 [-0.03415899  0.02785492  0.9990275 ]]

 t_gt:
[-0.76945983  0.63732734 -0.04177834]

Pose Error in degrees for R and t:
19.963952526329464 44.5646014315353

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99991170e-01  4.20238099e-03 -3.12117488e-06]
 [-4.20238099e-03  9.99991170e-01 -9.98946657e-08]
 [ 3.12072752e-06  1.13010150e-07  1.00000000e+00]]

 t_estimated:
[[ 1.26114449e-01]
 [-9.92015672e-01]
 [ 2.26893050e-04]]

 R_gt:
[[ 0.9944176  -0.03693289  0.09884014]
 [ 0.03816945  0.99921415 -0.01064206]
 [-0.09836894  0.01435618  0.9950467 ]]

 t_gt:
[ 0.04040585 -0.5270485   0.84887411]

Pose Error in degrees for R and t:
6.188663599433574 58.12089199890186

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.42776912  0.90388581 -0.00200475]
 [-0.90388583  0.42776211 -0.00316058]
 [-0.00199925  0.00316406  0.999993  ]]

 t_estimated:
[[6.04170612e-01]
 [7.96854861e-01]
 [4.49143037e-04]]

 R_gt:
[[ 0.9708816  -0.13924328  0.19493427]
 [ 0.13999939  0.99010102  0.00996582]
 [-0.19439209  0.01761545  0.9807653 ]]

 t_gt:
[ 0.36400436 -0.65788467  0.65930917]

Pose Error in degrees for R and t:
73.52428336287196 72.30068109644445

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.90638553e-01  1.36510257e-01  4.54504895e-04]
 [-1.36509123e-01  9.90636867e-01 -1.96415403e-03]
 [-7.18376477e-04  1.88372265e-03  9.99997968e-01]]

 t_estimated:
[[-0.04106118]
 [-0.99915548]
 [-0.00152078]]

 R_gt:
[[ 0.94186333 -0.25019677  0.22426336]
 [ 0.25068505  0.96769832  0.02677377]
 [-0.22371789  0.03100329  0.97416068]]

 t_gt:
[ 0.55964769 -0.68019813  0.47341839]

Pose Error in degrees for R and t:
25.990352676057174 49.01025632617094

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99393397e-01 -3.48258109e-02  1.26856995e-05]
 [ 3.48258096e-02  9.99393393e-01  8.99013811e-05]
 [-1.58088928e-05 -8.94050570e-05  9.99999996e-01]]

 t_estimated:
[[9.49139518e-01]
 [3.14855175e-01]
 [6.27422318e-04]]

 R_gt:
[[ 0.99922617 -0.03120125 -0.02397822]
 [ 0.03230039  0.9983766   0.0469181 ]
 [ 0.02247488 -0.04765571  0.99861077]]

 t_gt:
[ 0.92655314 -0.03712921  0.37432699]

Pose Error in degrees for R and t:
3.0207181683274693 29.776093281196786

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99983863e-01 -5.68092331e-03  2.73000602e-05]
 [ 5.68091912e-03  9.99983852e-01  1.50916186e-04]
 [-2.81569626e-05 -1.50758661e-04  9.99999988e-01]]

 t_estimated:
[[9.51890657e-01]
 [3.06437473e-01]
 [5.01569097e-04]]

 R_gt:
[[ 0.99883528 -0.04147979 -0.02468492]
 [ 0.04211168  0.99878434  0.02564801]
 [ 0.02359011 -0.02665706  0.99936608]]

 t_gt:
[0.98484941 0.15925023 0.06863678]

Pose Error in degrees for R and t:
2.9021710248474526 9.49374467514457

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-0.14071452 -0.98948515  0.03344497]
 [-0.98959296  0.14159583  0.02562022]
 [-0.0300865  -0.02949177 -0.99911212]]

 t_estimated:
[[0.79091767]
 [0.61159277]
 [0.0200876 ]]

 R_gt:
[[ 0.999882   -0.01536048 -0.00141059]
 [ 0.0153862   0.99966609  0.02076007]
 [ 0.00109091 -0.0207789   0.99978337]]

 t_gt:
[0.83452473 0.52575345 0.16477801]

Pose Error in degrees for R and t:
176.86530586272858 9.970390750643949

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-0.10607393  0.99398453  0.0272594 ]
 [ 0.9939947   0.10673654 -0.02412171]
 [-0.02688618  0.02453701 -0.99933731]]

 t_estimated:
[[ 0.74245041]
 [-0.66964176]
 [ 0.01863588]]

 R_gt:
[[ 0.99729582 -0.06611847 -0.03208903]
 [ 0.06595032  0.99780359 -0.00624797]
 [ 0.03243202  0.00411394  0.99946503]]

 t_gt:
[ 0.33365864 -0.82681112 -0.4528303 ]

Pose Error in degrees for R and t:
179.0925901257053 37.53762912615258

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.25050100e-01  3.79844930e-01  3.76534098e-04]
 [-3.79844908e-01  9.25050176e-01 -1.30373145e-04]
 [-3.97834511e-04 -2.24228692e-05  9.99999921e-01]]

 t_estimated:
[[-0.11916947]
 [ 0.99287335]
 [ 0.00107554]]

 R_gt:
[[ 0.99490714 -0.05656732 -0.08342013]
 [ 0.05892755  0.99792135  0.0261079 ]
 [ 0.08177011 -0.03089074  0.99617217]]

 t_gt:
[ 0.06073287 -0.81879272 -0.57086777]

Pose Error in degrees for R and t:
26.12301499402223 34.83414440270302

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.85131981e-01 -1.71756573e-01 -3.82875114e-03]
 [ 1.71759156e-01  9.85138908e-01  3.53767013e-04]
 [ 3.71108990e-03 -1.00613026e-03  9.99992608e-01]]

 t_estimated:
[[9.97404799e-01]
 [7.19972638e-02]
 [2.47359797e-04]]

 R_gt:
[[ 0.9817478  -0.11569387 -0.15094971]
 [ 0.12491951  0.99074452  0.05311429]
 [ 0.14340857 -0.07100201  0.98711321]]

 t_gt:
[ 0.25947726 -0.86021113 -0.43898561]

Pose Error in degrees for R and t:
9.459214926612239 78.65230168732656

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.96964568e-01  7.78565397e-02  9.99935761e-05]
 [-7.78565340e-02  9.96964571e-01 -5.89295030e-05]
 [-1.04278100e-04  5.09654732e-05  9.99999993e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075963e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99812355 -0.05882006  0.01707176]
 [ 0.05821989  0.99773488  0.03370897]
 [-0.01901547 -0.03265154  0.99928533]]

 t_gt:
[ 0.68030727 -0.48198555  0.55215211]

Pose Error in degrees for R and t:
8.115061978429523 47.21592890955854

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99499683e-01  3.16288008e-02  5.67475788e-05]
 [-3.16288020e-02  9.99499684e-01  2.15917965e-05]
 [-5.60362644e-05 -2.33758517e-05  9.99999998e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9987683   0.0422822   0.02600308]
 [-0.04210204  0.99908671 -0.00742179]
 [-0.02629254  0.00631829  0.99963411]]

 t_gt:
[-0.55191992  0.81399331  0.18110576]

Pose Error in degrees for R and t:
1.6594889698024493 56.68423923495966

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.98363258 -0.17984422 -0.01109093]
 [ 0.17999848  0.98355293  0.0149726 ]
 [ 0.00821578 -0.01672389  0.99982639]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99420841  0.10649045 -0.01454156]
 [-0.10614705  0.99409289  0.02267394]
 [ 0.01687059 -0.02099895  0.99963653]]

 t_gt:
[-0.58898038  0.80759884  0.0297697 ]

Pose Error in degrees for R and t:
16.476297771255233 63.135064430469974

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999704e-01  5.90901908e-04 -4.93435195e-04]
 [-5.90903607e-04  9.99999825e-01 -3.29603258e-06]
 [ 4.93433161e-04  3.58760424e-06  9.99999878e-01]]

 t_estimated:
[[-0.63626456]
 [-0.77146494]
 [-0.00304371]]

 R_gt:
[[ 0.99507027  0.09871046  0.00954791]
 [-0.09915649  0.99197045  0.07850491]
 [-0.00172263 -0.07906438  0.9968676 ]]

 t_gt:
[-0.64159604  0.66676379  0.37918408]

Pose Error in degrees for R and t:
7.248035315364585 83.83948630567826

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99887407e-01 -1.50049901e-02 -1.51048162e-04]
 [ 1.50049804e-02  9.99887417e-01 -6.52005689e-05]
 [ 1.52009490e-04  6.29267531e-05  9.99999986e-01]]

 t_estimated:
[[-6.73574455e-01]
 [-7.39119019e-01]
 [-7.27678463e-04]]

 R_gt:
[[ 0.97417611  0.22334484  0.03314546]
 [-0.2253034   0.97118277  0.07773432]
 [-0.01482869 -0.08319402  0.99642252]]

 t_gt:
[-0.60292211  0.77028297  0.20772353]

Pose Error in degrees for R and t:
14.668657483680532 80.5974995223392

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999957e-01  1.74603683e-04 -2.37000989e-04]
 [-1.74592387e-04  9.99999984e-01  4.76839678e-05]
 [ 2.37009311e-04 -4.76425872e-05  9.99999971e-01]]

 t_estimated:
[[-9.20550249e-01]
 [-3.90623507e-01]
 [-7.18057916e-04]]

 R_gt:
[[ 0.95767926  0.28777113  0.00616149]
 [-0.28780465  0.9570366   0.03534477]
 [ 0.00427469 -0.03562187  0.99935605]]

 t_gt:
[-0.5429275   0.83926593  0.02936724]

Pose Error in degrees for R and t:
16.845904275369943 80.09971758868375

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[-0.99929664  0.03724883 -0.00433009]
 [ 0.0372538   0.99930526 -0.00107386]
 [ 0.00428708 -0.00123442 -0.99999005]]

 t_estimated:
[[9.97259858e-01]
 [7.39725718e-02]
 [9.13241628e-04]]

 R_gt:
[[ 0.99268051  0.11864504 -0.02255657]
 [-0.11826794  0.99282892  0.01738157]
 [ 0.02445806 -0.01458708  0.99959492]]

 t_gt:
[-0.32032994  0.93502051 -0.15207027]

Pose Error in degrees for R and t:
178.39238141663137 75.4973253061779

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.98392249e-01  5.66822773e-02 -1.92413471e-04]
 [-5.66822805e-02  9.98392267e-01 -1.10699356e-05]
 [ 1.91476653e-04  2.19585722e-05  9.99999981e-01]]

 t_estimated:
[[-0.97933254]
 [-0.20225386]
 [-0.00107051]]

 R_gt:
[[ 9.47433372e-01  3.19903219e-01 -5.65362155e-03]
 [-3.19951414e-01  9.47232393e-01 -1.94877951e-02]
 [-8.78681188e-04  2.02726218e-02  9.99794054e-01]]

 t_gt:
[-0.31468667  0.94627224 -0.07443885]

Pose Error in degrees for R and t:
15.45461543708637 83.28819453135968

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 8.80967067e-01 -4.73171183e-01 -2.46158637e-03]
 [ 4.73174497e-01  8.80968192e-01  9.69789552e-04]
 [ 1.70970282e-03 -2.01911255e-03  9.99996500e-01]]

 t_estimated:
[[-0.64254624]
 [-0.76624498]
 [-0.00171804]]

 R_gt:
[[ 0.89725664  0.44147619 -0.00552204]
 [-0.43939491  0.89166195 -0.10894775]
 [-0.04317363  0.10018047  0.99403186]]

 t_gt:
[-0.22250666  0.96901048 -0.10728225]

Pose Error in degrees for R and t:
54.801027771724534 53.17705013254564

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.25947538 -0.96027165  0.10271748]
 [-0.96309328 -0.26517726 -0.04617731]
 [ 0.0715811  -0.08694464 -0.99363815]]

 t_estimated:
[[0.44721131]
 [0.89442263]
 [0.00319437]]

 R_gt:
[[ 0.96871349 -0.24795005 -0.01071972]
 [ 0.24790604  0.96876875 -0.00534447]
 [ 0.0117098   0.00252032  0.99992785]]

 t_gt:
[ 0.88199338 -0.46955228 -0.04010401]

Pose Error in degrees for R and t:
179.90208811810226 88.52912050388662

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999895e-01 -3.43678087e-04  3.01551282e-04]
 [ 3.43426380e-04  9.99999593e-01  8.34362840e-04]
 [-3.01837912e-04 -8.34259192e-04  9.99999606e-01]]

 t_estimated:
[[0.72646787]
 [0.68719934]
 [0.00122714]]

 R_gt:
[[ 0.87150469 -0.48433619  0.0767929 ]
 [ 0.48971244  0.86777736 -0.08451988]
 [-0.02570268  0.11126671  0.99345708]]

 t_gt:
[ 0.92352307 -0.34082846 -0.17590082]

Pose Error in degrees for R and t:
29.94898515174995 64.12069177280864

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99993410e-01 -3.63049353e-03 -1.42157056e-05]
 [ 3.63051283e-03  9.99991882e-01  1.74786894e-03]
 [ 7.86996329e-06 -1.74790903e-03  9.99998472e-01]]

 t_estimated:
[[0.49823319]
 [0.86704253]
 [0.00097311]]

 R_gt:
[[ 0.7713431  -0.6145566   0.16537963]
 [ 0.63511414  0.75995509 -0.13819734]
 [-0.04075067  0.21163308  0.97649872]]

 t_gt:
[ 0.94085566 -0.21212785 -0.26418251]

Pose Error in degrees for R and t:
40.89999871732329 73.4659819799734

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.97246919e-01  7.41509804e-02  4.63530756e-04]
 [-7.41509516e-02  9.97247026e-01 -7.89676017e-05]
 [-4.68110193e-04  4.43789508e-05  9.99999889e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99883269 -0.04428324  0.01930371]
 [ 0.04468941  0.99877632 -0.02117789]
 [-0.0183419   0.02201648  0.99958926]]

 t_gt:
[ 0.9827594  -0.17897893  0.04637356]

Pose Error in degrees for R and t:
6.993140826015549 10.815856288237242

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.98429214e-01  5.60238554e-02  6.58178827e-04]
 [-5.60236914e-02  9.98429405e-01 -2.64988504e-04]
 [-6.71990772e-04  2.27698656e-04  9.99999748e-01]]

 t_estimated:
[[0.99778977]
 [0.06643879]
 [0.00120798]]

 R_gt:
[[ 0.99219219 -0.12149768  0.02818484]
 [ 0.12205042  0.99234618 -0.01879335]
 [-0.02568601  0.02208573  0.99942618]]

 t_gt:
[ 0.8882909  -0.45633127  0.05197169]

Pose Error in degrees for R and t:
10.383229054713041 31.121604523905127

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.87567843e-01  1.57193346e-01  8.90928627e-05]
 [-1.57193370e-01  9.87567730e-01  4.71810310e-04]
 [-1.38197950e-05 -4.79949498e-04  9.99999885e-01]]

 t_estimated:
[[9.11894225e-01]
 [4.10424659e-01]
 [7.22578625e-04]]

 R_gt:
[[ 0.9803953  -0.19015482  0.05162915]
 [ 0.19089871  0.98156008 -0.00984787]
 [-0.04880441  0.01951072  0.99861796]]

 t_gt:
[ 0.89109588 -0.42374399  0.16244742]

Pose Error in degrees for R and t:
20.25899634448729 50.29852817887996

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.99692221  0.07807219  0.0071303 ]
 [-0.07799333  0.99689603 -0.01073993]
 [-0.00794666  0.01015076  0.9999169 ]]

 t_estimated:
[[-0.91757793]
 [-0.39753101]
 [-0.00445444]]

 R_gt:
[[ 0.99770121  0.05781229  0.03539544]
 [-0.05768495  0.99832407 -0.00461014]
 [-0.03560298  0.002559    0.99936251]]

 t_gt:
[-0.80202596  0.44548389  0.39786739]

Pose Error in degrees for R and t:
2.0188129282364713 56.147598138753075

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.9987676  -0.04932713 -0.00548741]
 [ 0.04935673  0.99876664  0.0053959 ]
 [ 0.00521448 -0.00566009  0.99997039]]

 t_estimated:
[[-0.99879118]
 [-0.04885392]
 [-0.00542821]]

 R_gt:
[[ 0.99165444  0.12816701 -0.0139847 ]
 [-0.12834942  0.99164323 -0.01300286]
 [ 0.01220116  0.01469004  0.99981771]]

 t_gt:
[-0.75000868  0.63332386 -0.19075606]

Pose Error in degrees for R and t:
10.26781756835003 44.01176285529179

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.29152504  0.95652465 -0.00858757]
 [ 0.95648182 -0.29137139  0.01566014]
 [ 0.01247714 -0.01277917 -0.99984049]]

 t_estimated:
[[-0.790447  ]
 [-0.6125235 ]
 [-0.00291678]]

 R_gt:
[[ 0.99424039  0.10692681 -0.00735558]
 [-0.10679933  0.99415292  0.01590902]
 [ 0.00901404 -0.01503129  0.99984598]]

 t_gt:
[-0.82522835  0.5639601   0.03077605]

Pose Error in degrees for R and t:
177.9862662905997 72.13527550520037

Number of keypoints:
Image1: 477
Image2: 477

 R_estimated:
[[-0.83917298 -0.54348204 -0.02039549]
 [-0.54347826  0.83940026 -0.00621172]
 [ 0.02049594  0.0058718  -0.99977269]]

 t_estimated:
[[ 0.95563254]
 [ 0.29437909]
 [-0.01036305]]

 R_gt:
[[ 0.99882832  0.04730205 -0.01018879]
 [-0.04722394  0.99885406  0.00784217]
 [ 0.01054735 -0.00735108  0.99991753]]

 t_gt:
[-0.02071412  0.999381   -0.02843498]

Pose Error in degrees for R and t:
178.33161256280184 74.05607399314049

Number of keypoints:
Image1: 470
Image2: 470

 R_estimated:
[[ 9.99957757e-01 -9.19149230e-03 -2.25428453e-05]
 [ 9.19149311e-03  9.99957757e-01  3.60568511e-05]
 [ 2.22104767e-05 -3.62625304e-05  9.99999999e-01]]

 t_estimated:
[[-9.68001844e-01]
 [-2.50943020e-01]
 [-1.74425875e-04]]

 R_gt:
[[ 0.99629067  0.08508798 -0.0128442 ]
 [-0.08458407  0.99577641  0.03573844]
 [ 0.01583042 -0.03451845  0.99927896]]

 t_gt:
[-0.13585387  0.95572736  0.2610152 ]

Pose Error in degrees for R and t:
5.815820548689122 83.77853217396954

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.87400817e-01 -1.58237226e-01 -7.78760838e-04]
 [ 1.58237344e-01  9.87401101e-01  9.15028412e-05]
 [ 7.54470154e-04 -2.13579027e-04  9.99999693e-01]]

 t_estimated:
[[-0.63067257]
 [-0.77604742]
 [-0.00158503]]

 R_gt:
[[ 0.99739906  0.06885717 -0.02127848]
 [-0.06600771  0.9913009   0.1138732 ]
 [ 0.0289336  -0.11217141  0.99326798]]

 t_gt:
[0.1221935  0.68664968 0.71664564]

Pose Error in degrees for R and t:
14.574325436320235 52.33289328030971

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99942815e-01  1.06942606e-02  1.66597244e-05]
 [-1.06942605e-02  9.99942815e-01 -4.96947882e-06]
 [-1.67119166e-05  4.79103121e-06  1.00000000e+00]]

 t_estimated:
[[ 9.99278126e-01]
 [ 3.79867762e-02]
 [-4.81623660e-04]]

 R_gt:
[[ 0.99747739 -0.06633979  0.02528006]
 [ 0.06670147  0.9976783  -0.01374933]
 [-0.02430902  0.01540038  0.9995867 ]]

 t_gt:
[ 0.84046364 -0.506485    0.19259753]

Pose Error in degrees for R and t:
4.723812846567637 34.86267332955796

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.09538298e-01  4.15618703e-01  1.08521316e-03]
 [-4.15618758e-01  9.09538902e-01 -1.85298094e-04]
 [-1.06405694e-03 -2.82499231e-04  9.99999394e-01]]

 t_estimated:
[[0.79630692]
 [0.60489009]
 [0.00180769]]

 R_gt:
[[ 0.98495443 -0.1690621   0.0358105 ]
 [ 0.16974636  0.98534165 -0.01698197]
 [-0.03241462  0.02280498  0.9992143 ]]

 t_gt:
[ 0.85748283 -0.50834346  0.0794363 ]

Pose Error in degrees for R and t:
34.384685550288815 67.94656193507183

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-6.45245639e-01 -7.63974552e-01 -9.75015369e-04]
 [-7.63904069e-01  6.45167647e-01  1.44664992e-02]
 [-1.04229889e-02  1.00792637e-02 -9.99894879e-01]]

 t_estimated:
[[0.89121121]
 [0.4535866 ]
 [0.00133017]]

 R_gt:
[[ 0.97181389 -0.22814018  0.05942389]
 [ 0.22813241  0.97360485  0.0069988 ]
 [-0.05945226  0.00675397  0.99820851]]

 t_gt:
[ 0.86420151 -0.45706535  0.21034975]

Pose Error in degrees for R and t:
176.50058087869726 55.72627490121645

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.91393509e-01 -1.30915584e-01  1.40142659e-04]
 [ 1.30915645e-01  9.91393325e-01 -6.07715284e-04]
 [-5.93770955e-05  6.20831854e-04  9.99999806e-01]]

 t_estimated:
[[-0.71900294]
 [-0.69500424]
 [-0.0019693 ]]

 R_gt:
[[ 0.99949937  0.01713587  0.02660138]
 [-0.01459601  0.99556703 -0.09291623]
 [-0.02807557  0.09248196  0.99531848]]

 t_gt:
[-0.09472011  0.73981776 -0.66610644]

Pose Error in degrees for R and t:
10.071748743883445 63.59197177959905

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.70293622e-01 -2.41929595e-01 -5.98825796e-04]
 [ 2.41929956e-01  9.70293513e-01  6.29220880e-04]
 [ 4.28809633e-04 -7.55402905e-04  9.99999623e-01]]

 t_estimated:
[[0.17925896]
 [0.98380016]
 [0.0018629 ]]

 R_gt:
[[ 0.99769599  0.06400552  0.02251227]
 [-0.06132521  0.99264145 -0.10441545]
 [-0.02902854  0.10279545  0.99427929]]

 t_gt:
[-0.13325814  0.88282521 -0.45040196]

Pose Error in degrees for R and t:
18.648154044958158 32.45674773539608

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.05871121e-01 -4.23552469e-01 -9.04287384e-04]
 [ 4.23552813e-01  9.05871385e-01  2.21120235e-04]
 [ 7.25512043e-04 -5.83319901e-04  9.99999567e-01]]

 t_estimated:
[[0.77449095]
 [0.63258417]
 [0.00102068]]

 R_gt:
[[ 0.99458326  0.10375395  0.00626503]
 [-0.10301895  0.99196691 -0.07341624]
 [-0.01383128  0.07237398  0.99728179]]

 t_gt:
[-0.11629398  0.94342737 -0.31051653]

Pose Error in degrees for R and t:
31.28516198721625 59.57489483393214

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 8.93626295e-01 -4.48811508e-01 -5.23926954e-04]
 [ 4.48811521e-01  8.93626437e-01 -9.92046225e-05]
 [ 5.12719153e-04 -1.46492594e-04  9.99999858e-01]]

 t_estimated:
[[-0.0128524 ]
 [-0.99991658]
 [-0.00128524]]

 R_gt:
[[ 0.99285297  0.11908446  0.00794439]
 [-0.11906852  0.99288266 -0.00244086]
 [-0.00817951  0.00147787  0.99996543]]

 t_gt:
[-0.35359074  0.93518859  0.01989686]

Pose Error in degrees for R and t:
33.51010753986578 21.47276755655045

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.94976569e-01 -1.00107037e-01  4.56098119e-04]
 [ 1.00107112e-01  9.94976656e-01 -1.44736071e-04]
 [-4.39317882e-04  1.89667665e-04  9.99999886e-01]]

 t_estimated:
[[ 0.6155844 ]
 [-0.78806128]
 [ 0.00390667]]

 R_gt:
[[ 0.96189175  0.27340253 -0.00398769]
 [-0.27328906  0.96081816 -0.04627473]
 [-0.00882021  0.0456012   0.99892067]]

 t_gt:
[-0.30799595  0.94412699 -0.1173146 ]

Pose Error in degrees for R and t:
21.77761803983514 20.919061858065994

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.97933822 -0.20168128  0.01487679]
 [-0.20161052  0.9794466   0.00612758]
 [-0.01580684  0.00300166 -0.99987056]]

 t_estimated:
[[0.99574986]
 [0.09175578]
 [0.0079427 ]]

 R_gt:
[[ 0.90386532  0.4277648  -0.00674467]
 [-0.42728966  0.90185357 -0.06390146]
 [-0.02125336  0.06064026  0.99793295]]

 t_gt:
[-0.22796371  0.96994658 -0.08506575]

Pose Error in degrees for R and t:
179.1428531682801 82.02897619052838

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99999987e-01 -1.32979637e-05 -1.61582014e-04]
 [ 1.33151088e-05  9.99999994e-01  1.06106805e-04]
 [ 1.61580603e-04 -1.06108955e-04  9.99999981e-01]]

 t_estimated:
[[ 0.64335616]
 [ 0.76556432]
 [-0.00203047]]

 R_gt:
[[ 0.99843606 -0.03775061  0.04123231]
 [ 0.03860397  0.99905247 -0.0201009 ]
 [-0.04043494  0.02166182  0.99894684]]

 t_gt:
[-0.30264866 -0.79593819  0.5242959 ]

Pose Error in degrees for R and t:
3.4293085377195416 36.378412552045965

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-0.37338337  0.92712412  0.03202692]
 [ 0.92712867  0.37412714 -0.02147802]
 [-0.03189493  0.02167354 -0.99925621]]

 t_estimated:
[[ 0.82476238]
 [-0.56514142]
 [ 0.01954969]]

 R_gt:
[[ 9.97317854e-01 -6.81146789e-02 -2.67639775e-02]
 [ 6.81326056e-02  9.97675977e-01 -2.44094597e-04]
 [ 2.67178285e-02 -1.57976629e-03  9.99641363e-01]]

 t_gt:
[-0.03301367 -0.93966174 -0.34050832]

Pose Error in degrees for R and t:
179.0823094486939 60.18794651558653

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 6.91965660e-01 -7.21929912e-01  8.52900856e-04]
 [-7.21901686e-01 -6.91948179e-01 -8.10395376e-03]
 [ 6.44064982e-03  4.99194715e-03 -9.99966799e-01]]

 t_estimated:
[[ 0.51085491]
 [ 0.85966312]
 [-0.00256638]]

 R_gt:
[[ 0.99410482 -0.07272478 -0.08041324]
 [ 0.07630839  0.99618153  0.04242019]
 [ 0.07702063 -0.04830555  0.99585848]]

 t_gt:
[-0.09327992 -0.92392663 -0.37102349]

Pose Error in degrees for R and t:
179.79668716190145 32.75773545254977

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.54052790e-01  2.99638041e-01  5.63945980e-04]
 [-2.99638001e-01  9.54052957e-01 -1.56083806e-04]
 [-5.84802975e-04 -2.00674558e-05  9.99999829e-01]]

 t_estimated:
[[-0.46184595]
 [ 0.88695924]
 [ 0.00127255]]

 R_gt:
[[ 0.99372989  0.11144838 -0.00893003]
 [-0.11164975  0.99339164 -0.02661728]
 [ 0.00590457  0.02744739  0.99960592]]

 t_gt:
[-0.64008463  0.74970564 -0.16802713]

Pose Error in degrees for R and t:
11.14704057493124 16.185343608824873

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999999e-01 -4.93669974e-05  1.58813673e-06]
 [ 4.93670227e-05  9.99999999e-01 -1.59124805e-05]
 [-1.58735118e-06  1.59125589e-05  1.00000000e+00]]

 t_estimated:
[[-9.99903015e-01]
 [ 1.39064478e-02]
 [-7.55932815e-04]]

 R_gt:
[[ 0.99039423  0.13254021 -0.03940036]
 [-0.13288898  0.99111048 -0.0063503 ]
 [ 0.03820855  0.01152445  0.99920305]]

 t_gt:
[-0.60342934  0.7721886  -0.19899196]

Pose Error in degrees for R and t:
7.9672703292018525 52.10185565969943

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999987e-01  4.46463797e-05  1.57332900e-04]
 [-4.45473445e-05  9.99999801e-01 -6.29409791e-04]
 [-1.57360970e-04  6.29402774e-04  9.99999790e-01]]

 t_estimated:
[[0.7307788 ]
 [0.68261384]
 [0.00083043]]

 R_gt:
[[ 0.99382119  0.10709746 -0.02915437]
 [-0.10764885  0.99402585 -0.01801245]
 [ 0.02705166  0.02103953  0.99941278]]

 t_gt:
[-0.56043512  0.79834157 -0.22037065]

Pose Error in degrees for R and t:
6.464221844302425 82.22854894640916

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.53451729e-01  3.01545536e-01 -3.01468866e-04]
 [-3.01545631e-01  9.53451684e-01 -3.44021694e-04]
 [ 1.83697791e-04  4.18914699e-04  9.99999895e-01]]

 t_estimated:
[[-0.99152072]
 [ 0.1299391 ]
 [-0.00157587]]

 R_gt:
[[ 0.98588442  0.16705867  0.01114045]
 [-0.16727367  0.98565726  0.02238635]
 [-0.00724107 -0.02393371  0.99968654]]

 t_gt:
[-0.60673771  0.78761266  0.10740415]

Pose Error in degrees for R and t:
8.058635944288364 45.270108446586974

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 2.03263599e-01  9.79124052e-01  1.14237641e-05]
 [-9.79122198e-01  2.03263237e-01 -1.94357083e-03]
 [-1.90531898e-03  3.83871940e-04  9.99998111e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97579149  0.21822078 -0.01455566]
 [-0.2178448   0.97569496  0.02377936]
 [ 0.01939079 -0.02003237  0.99961105]]

 t_gt:
[-0.57252518  0.81980059 -0.01191277]

Pose Error in degrees for R and t:
65.69631831713475 35.29370751006486

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-2.15579744e-01 -9.76486188e-01 -3.15022855e-04]
 [-9.76485607e-01  2.15579960e-01 -1.06762888e-03]
 [ 1.11043747e-03  7.74561237e-05 -9.99999380e-01]]

 t_estimated:
[[0.77153905]
 [0.63618132]
 [0.00090238]]

 R_gt:
[[ 0.95041119  0.31031187  0.02064407]
 [-0.30967032  0.95039425 -0.02925762]
 [-0.02869899  0.02141424  0.99935824]]

 t_gt:
[-0.50697763  0.86180697  0.01619949]

Pose Error in degrees for R and t:
179.8505237874095 80.95981909131505

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999372e-01 -1.06995876e-03  3.34593370e-04]
 [ 1.07001651e-03  9.99999413e-01 -1.72480130e-04]
 [-3.34408627e-04  1.72838042e-04  9.99999929e-01]]

 t_estimated:
[[0.11913507]
 [0.99287275]
 [0.00324721]]

 R_gt:
[[ 9.97959564e-01 -4.66423196e-02  4.36047937e-02]
 [ 4.66222693e-02  9.98911506e-01  1.46890049e-03]
 [-4.36258785e-02  5.68019817e-04  9.99047716e-01]]

 t_gt:
[ 0.57433012 -0.78682199  0.2259559 ]

Pose Error in degrees for R and t:
3.6032565673754133 44.597431269773146

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999681e-01  7.67473246e-04  2.20612209e-04]
 [-7.67465509e-04  9.99999705e-01 -3.51526544e-05]
 [-2.20639122e-04  3.49833310e-05  9.99999975e-01]]

 t_estimated:
[[ 9.99993995e-01]
 [-3.45769189e-03]
 [-2.31035874e-04]]

 R_gt:
[[ 0.99250892 -0.11784127  0.03224698]
 [ 0.11783347  0.99303105  0.00213152]
 [-0.03227281  0.00168579  0.99947716]]

 t_gt:
[ 0.7520565  -0.65727009  0.04906175]

Pose Error in degrees for R and t:
7.056765663798836 41.03459787715337

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 1.00000000e+00  8.50885801e-06 -1.33415777e-07]
 [-8.50885784e-06  1.00000000e+00  1.26891095e-06]
 [ 1.33426574e-07 -1.26890982e-06  1.00000000e+00]]

 t_estimated:
[[0.80085251]
 [0.59886061]
 [0.001106  ]]

 R_gt:
[[ 0.985323   -0.15542427  0.07058084]
 [ 0.15331183  0.98757703  0.03445708]
 [-0.07505878 -0.02312935  0.99691028]]

 t_gt:
[ 0.67711065 -0.7067082   0.20514553]

Pose Error in degrees for R and t:
9.968237831903515 83.14985549867492

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.01881220e-01 -4.31983848e-01  4.69345281e-04]
 [ 4.31983820e-01  9.01881341e-01  1.64267951e-04]
 [-4.94254853e-04  5.45993870e-05  9.99999876e-01]]

 t_estimated:
[[0.94338246]
 [0.33170545]
 [0.00101439]]

 R_gt:
[[ 0.99759658 -0.06693731 -0.01789999]
 [ 0.0685272   0.99133742  0.11204107]
 [ 0.01024551 -0.11299777  0.9935419 ]]

 t_gt:
[ 0.47624556 -0.64241363  0.60041227]

Pose Error in degrees for R and t:
22.643128219714686 76.30232837930203

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.60616677  0.7953095   0.00668247]
 [ 0.79533607 -0.60616056 -0.00314876]
 [ 0.00154641  0.00722349 -0.99997271]]

 t_estimated:
[[0.66542979]
 [0.74645999]
 [0.00081849]]

 R_gt:
[[ 0.96299314 -0.26382549 -0.05514856]
 [ 0.26849584  0.9569001   0.11068623]
 [ 0.02356968 -0.12139683  0.99232355]]

 t_gt:
[ 0.79618328 -0.54016624  0.2726034 ]

Pose Error in degrees for R and t:
173.32259064669648 82.71443492958197

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 7.10720397e-01 -7.03469205e-01  2.75586638e-03]
 [-7.03471337e-01 -7.10723581e-01 -2.62993852e-04]
 [ 2.14366730e-03 -1.75175791e-03 -9.99996168e-01]]

 t_estimated:
[[0.60936091]
 [0.79289246]
 [0.0009041 ]]

 R_gt:
[[ 0.86408817 -0.50233243 -0.03184574]
 [ 0.50328831  0.86318097  0.04024359]
 [ 0.0072731  -0.05080091  0.99868234]]

 t_gt:
[ 0.91276318 -0.40264511  0.06884973]

Pose Error in degrees for R and t:
177.93705332737792 76.28985434625866

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 5.14342991e-01 -8.57584536e-01 -2.26794471e-04]
 [ 8.57580283e-01  5.14339568e-01  3.29649844e-03]
 [-2.71037671e-03 -1.89002533e-03  9.99994541e-01]]

 t_estimated:
[[ 0.88712258]
 [-0.46152106]
 [ 0.00344145]]

 R_gt:
[[ 0.97988356  0.19762704  0.0277975 ]
 [-0.19609965  0.97931876 -0.04979611]
 [-0.03706395  0.04334441  0.9983726 ]]

 t_gt:
[-0.83965442  0.51968203 -0.15783233]

Pose Error in degrees for R and t:
70.48033411742787 9.848399044848106

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.99584193 -0.0910461  -0.00307607]
 [ 0.09106107  0.99583204  0.00514127]
 [ 0.00259516 -0.00540001  0.99998205]]

 t_estimated:
[[0.06404285]
 [0.99791942]
 [0.00743902]]

 R_gt:
[[ 0.94998046  0.30938087  0.0426874 ]
 [-0.30837709  0.95083594 -0.02854046]
 [-0.04941835  0.01394981  0.99868044]]

 t_gt:
[-0.83628617  0.54828862  0.00224146]

Pose Error in degrees for R and t:
23.448582083095456 60.42210420359815

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.75731835  0.15223731 -0.63505332]
 [ 0.53649271  0.40942891  0.73793194]
 [ 0.37234996 -0.89955087  0.22839382]]

 t_estimated:
[[-0.47110954]
 [-0.6055226 ]
 [ 0.6414033 ]]

 R_gt:
[[ 0.84518891  0.53238282  0.04717456]
 [-0.5304621   0.84636475 -0.04770711]
 [-0.06532513  0.01529832  0.99774703]]

 t_gt:
[-0.78348358  0.62140644  0.00273983]

Pose Error in degrees for R and t:
92.64532299892343 89.68992989958485

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.0213409   0.99948385 -0.02401234]
 [ 0.99915957 -0.02048095  0.03550622]
 [ 0.0349961  -0.02474989 -0.99908094]]

 t_estimated:
[[-0.48704687]
 [-0.87315137]
 [-0.01979993]]

 R_gt:
[[ 0.99629015  0.08466546 -0.01541886]
 [-0.08455385  0.99638842  0.00782615]
 [ 0.01602463 -0.00649349  0.99985062]]

 t_gt:
[-0.77446815  0.62413937 -0.10319463]

Pose Error in degrees for R and t:
176.64311096403657 80.46078557990255

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99997469e-01  2.12955112e-03 -7.26383191e-04]
 [-2.12900839e-03  9.99997455e-01  7.47134587e-04]
 [ 7.27972403e-04 -7.45586220e-04  9.99999457e-01]]

 t_estimated:
[[-0.69839889]
 [-0.71570834]
 [-0.00075259]]

 R_gt:
[[ 0.99479718  0.0993931  -0.02234274]
 [-0.09926329  0.99503733  0.00688384]
 [ 0.0229142  -0.00462978  0.99972707]]

 t_gt:
[-0.75366527  0.62769866 -0.19489241]

Pose Error in degrees for R and t:
5.726091578765329 85.5691139587605

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-3.66528692e-01  9.30406749e-01 -3.17835634e-06]
 [-9.30404864e-01 -3.66527956e-01 -2.01168571e-03]
 [-1.87285092e-03 -7.34383375e-04  9.99997977e-01]]

 t_estimated:
[[0.008859  ]
 [0.99996015]
 [0.00110738]]

 R_gt:
[[ 0.99968469  0.00983424 -0.02310928]
 [-0.00882184  0.99901451  0.04350796]
 [ 0.0235138  -0.04328944  0.99878549]]

 t_gt:
[ 0.41721621 -0.83921125  0.34879091]

Pose Error in degrees for R and t:
110.99393845488135 33.37422209176263

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.32525289 -0.75276925  0.57231898]
 [-0.92909578  0.14171904 -0.34160907]
 [ 0.17604431 -0.64284848 -0.74548925]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99198815  0.04737447  0.11711197]
 [-0.04883469  0.99876027  0.00963824]
 [-0.116511   -0.01527945  0.99307165]]

 t_gt:
[-0.53068242  0.29284695  0.79537213]

Pose Error in degrees for R and t:
158.33167673536354 83.91793988413801

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-2.14996170e-01 -9.76611401e-01 -2.61133696e-03]
 [ 9.76614229e-01 -2.14998370e-01  5.90056976e-04]
 [-1.13768956e-03 -2.42340884e-03  9.99996416e-01]]

 t_estimated:
[[0.99976556]
 [0.02157767]
 [0.00179814]]

 R_gt:
[[ 0.98723414  0.09451942  0.12819933]
 [-0.09661779  0.99526834  0.01024107]
 [-0.12662451 -0.0224966   0.99169513]]

 t_gt:
[-0.65936032  0.39437312  0.6400889 ]

Pose Error in degrees for R and t:
108.09955985945935 49.492685408892854

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.88179677 -0.47122276  0.01958483]
 [-0.47137217  0.88192708 -0.00359218]
 [-0.01557967 -0.01239931 -0.99980175]]

 t_estimated:
[[0.99522177]
 [0.09631178]
 [0.01605196]]

 R_gt:
[[ 0.98784771  0.12637729  0.0904726 ]
 [-0.1272149   0.99186887  0.00353444]
 [-0.08929148 -0.01500019  0.99589275]]

 t_gt:
[-0.76501903  0.49408397  0.41307011]

Pose Error in degrees for R and t:
173.79158708084853 44.99674956573651

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.52340591  0.82283629 -0.22132938]
 [ 0.83304886  0.54874575  0.07005494]
 [ 0.1790973  -0.14771102 -0.9726796 ]]

 t_estimated:
[[ 0.95026865]
 [-0.30005739]
 [-0.08339699]]

 R_gt:
[[ 0.99742035  0.06998558 -0.01599059]
 [-0.06985196  0.99751919  0.00876586]
 [ 0.01656415 -0.00762559  0.99983371]]

 t_gt:
[-0.79027916  0.60738496 -0.08088484]

Pose Error in degrees for R and t:
165.87676910270278 22.10705360960265

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.34025426e-01  3.57203068e-01 -1.57233274e-03]
 [-3.57203701e-01  9.34026498e-01 -1.32639274e-04]
 [ 1.42122129e-03  6.85531530e-04  9.99998755e-01]]

 t_estimated:
[[-0.93892106]
 [ 0.34411637]
 [-0.00334174]]

 R_gt:
[[ 0.99402693  0.09207133 -0.05860206]
 [-0.09093948  0.99562021  0.02169972]
 [ 0.06034347 -0.01623961  0.99804557]]

 t_gt:
[-0.76751966  0.57835776 -0.2764342 ]

Pose Error in degrees for R and t:
16.058204427960234 22.98802186260381

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.98415817e-01 -5.62656625e-02 -1.77224772e-04]
 [ 5.62656900e-02  9.98415819e-01  1.54129865e-04]
 [ 1.68271797e-04 -1.63857370e-04  9.99999972e-01]]

 t_estimated:
[[-3.82580730e-01]
 [ 9.23921997e-01]
 [ 3.58666282e-04]]

 R_gt:
[[ 0.9933486   0.07978822 -0.0830253 ]
 [-0.08142864  0.99654242 -0.01656103]
 [ 0.08141669  0.02321224  0.99640905]]

 t_gt:
[-0.65753214  0.52755546 -0.53790029]

Pose Error in degrees for R and t:
9.231081815926274 42.37187099925998

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.98085629e-01 -6.18472031e-02  8.51051133e-06]
 [ 6.18472027e-02  9.98085628e-01  4.33241079e-05]
 [-1.11736939e-05 -4.27148181e-05  9.99999999e-01]]

 t_estimated:
[[-9.32053519e-02]
 [ 9.95646856e-01]
 [-3.16565915e-04]]

 R_gt:
[[ 0.99906511 -0.0353895  -0.02480968]
 [ 0.03701344  0.99697195  0.06838504]
 [ 0.02231412 -0.06923937  0.99735065]]

 t_gt:
[ 0.36213527 -0.74328956  0.56247549]

Pose Error in degrees for R and t:
4.420704899146621 39.28690746143511

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.45182106 -0.89209502  0.00491911]
 [-0.89208592 -0.45176341  0.00961924]
 [-0.006359   -0.00873445 -0.99994163]]

 t_estimated:
[[0.40505202]
 [0.91427083]
 [0.00645904]]

 R_gt:
[[ 0.9976393  -0.06297896 -0.0273764 ]
 [ 0.06675756  0.98289652  0.17163525]
 [ 0.01609786 -0.17305761  0.98478016]]

 t_gt:
[ 0.31561756 -0.65257704  0.68886048]

Pose Error in degrees for R and t:
171.58138721233655 62.332403178917424

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 5.20630672e-01  8.53781535e-01  8.91206665e-04]
 [ 8.53716372e-01 -5.20603311e-01  1.18553546e-02]
 [ 1.05858480e-02 -5.41142350e-03 -9.99929326e-01]]

 t_estimated:
[[0.68783235]
 [0.72586916]
 [0.00079243]]

 R_gt:
[[ 0.97625383 -0.20218732 -0.07777023]
 [ 0.21420823  0.95450438  0.2074524 ]
 [ 0.03228725 -0.21918511  0.97514876]]

 t_gt:
[ 0.61511237 -0.60322702  0.50769473]

Pose Error in degrees for R and t:
167.1052146824845 89.1767812339597

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99953071e-01  9.68620977e-03 -1.80613683e-04]
 [-9.68617151e-03  9.99953066e-01  2.11546933e-04]
 [ 1.82654294e-04 -2.09787550e-04  9.99999961e-01]]

 t_estimated:
[[-9.95497902e-01]
 [-9.47828802e-02]
 [-3.63174424e-04]]

 R_gt:
[[ 0.98191685  0.18844859  0.01808834]
 [-0.18777137  0.98163171 -0.03378012]
 [-0.02412114  0.02977236  0.99926541]]

 t_gt:
[-0.85404631  0.50373468 -0.12983169]

Pose Error in degrees for R and t:
10.525901206054892 36.63020549441745

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.88356526e-01  1.52155742e-01 -9.31806189e-05]
 [-1.52155746e-01  9.88356529e-01 -3.64535706e-05]
 [ 8.65490530e-05  5.02070909e-05  9.99999995e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.95160893  0.30269692  0.05305589]
 [-0.30084811  0.95282819 -0.04011789]
 [-0.06269565  0.02221491  0.99778481]]

 t_gt:
[-0.82666905  0.56233453 -0.01995389]

Pose Error in degrees for R and t:
9.620482778793626 34.417932787924535

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.08264823 -0.99639916 -0.01892035]
 [ 0.99650771 -0.0824007  -0.01350991]
 [ 0.01190222 -0.01997085  0.99972971]]

 t_estimated:
[[9.44705117e-01]
 [3.27920263e-01]
 [7.36899467e-04]]

 R_gt:
[[ 0.87252052  0.48518272  0.05749832]
 [-0.4839422   0.87440923 -0.03476253]
 [-0.06714349  0.00250499  0.99774006]]

 t_gt:
[-0.79200323  0.60990787  0.02726295]

Pose Error in degrees for R and t:
123.84337405106403 56.7571911923631

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.92957974e-01 -1.18464941e-01 -7.21243812e-04]
 [ 1.18466026e-01  9.92956623e-01  1.71628931e-03]
 [ 5.12843709e-04 -1.78964604e-03  9.99998267e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 9.96919337e-01  6.28313650e-02 -4.69588147e-02]
 [-6.29237491e-02  9.98018960e-01 -4.95827076e-04]
 [ 4.68350671e-02  3.44974617e-03  9.98897237e-01]]

 t_gt:
[-0.53005663  0.57806777 -0.62038507]

Pose Error in degrees for R and t:
10.744396478230561 85.4325648434605

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999986e-01  7.07484923e-05  1.53872282e-04]
 [-7.07243572e-05  9.99999985e-01 -1.56851344e-04]
 [-1.53883377e-04  1.56840459e-04  9.99999976e-01]]

 t_estimated:
[[0.99844115]
 [0.05579524]
 [0.0014683 ]]

 R_gt:
[[ 0.9989896   0.0239439  -0.03805496]
 [-0.0226345   0.99915001  0.03447274]
 [ 0.0388491  -0.03357536  0.99868079]]

 t_gt:
[ 0.25105591 -0.72441811 -0.64201973]

Pose Error in degrees for R and t:
3.240996152359381 77.91850269398418

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.74401027e-01 -2.24811311e-01  1.58543720e-03]
 [-2.24815917e-01 -9.74393398e-01  3.91278926e-03]
 [ 6.65200257e-04 -4.16905739e-03 -9.99991088e-01]]

 t_estimated:
[[0.22734777]
 [0.97380626]
 [0.00378913]]

 R_gt:
[[ 0.99331003 -0.100086   -0.05760441]
 [ 0.10212513  0.99420424  0.03359946]
 [ 0.0539083  -0.03925686  0.99777458]]

 t_gt:
[ 0.75268479 -0.65379894 -0.07754058]

Pose Error in degrees for R and t:
178.05577009282754 62.23500528216611

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.98811144e-01 -4.87472859e-02  1.64521720e-05]
 [ 4.87472859e-02  9.98811144e-01 -7.15398328e-07]
 [-1.63977390e-05  1.51654656e-06  1.00000000e+00]]

 t_estimated:
[[ 9.96965081e-01]
 [-7.78498644e-02]
 [-1.60900909e-04]]

 R_gt:
[[ 0.99743269 -0.07124604  0.00722315]
 [ 0.0713141   0.99740668 -0.00972035]
 [-0.00651253  0.01020958  0.99992619]]

 t_gt:
[ 0.44930555 -0.89267116  0.03553469]

Pose Error in degrees for R and t:
1.467917296324133 58.83994439966466

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-9.99547449e-01  2.15491446e-02  2.09888481e-02]
 [ 2.15676959e-02  9.99767174e-01  6.57872912e-04]
 [-2.09697847e-02  1.11025628e-03 -9.99779493e-01]]

 t_estimated:
[[0.99993993]
 [0.00188975]
 [0.01079676]]

 R_gt:
[[ 0.99411405 -0.10824349  0.00466591]
 [ 0.10830046  0.99401192 -0.01456305]
 [-0.00306119  0.01498173  0.99988349]]

 t_gt:
[ 0.44865447 -0.89267351 -0.04293206]

Pose Error in degrees for R and t:
178.5667296129586 63.482120433812135

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.00347295 -0.99988096 -0.0150333 ]
 [-0.9999273   0.00364592 -0.01149334]
 [ 0.01154679  0.01499229 -0.99982094]]

 t_estimated:
[[ 0.72454585]
 [ 0.68919769]
 [-0.00631312]]

 R_gt:
[[ 0.97753749 -0.20678522  0.04075851]
 [ 0.20654255  0.97838549  0.0101106 ]
 [-0.04196851 -0.00146596  0.99911756]]

 t_gt:
[ 0.47222343 -0.8545141   0.21635779]

Pose Error in degrees for R and t:
179.1290507574762 75.632081639725

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-9.24951053e-01  3.79954116e-01 -1.00209600e-02]
 [-3.79981677e-01 -9.24993543e-01  9.32845948e-04]
 [-8.91488468e-03  4.67061804e-03  9.99949354e-01]]

 t_estimated:
[[0.93504938]
 [0.35451565]
 [0.0011473 ]]

 R_gt:
[[ 0.995323   -0.09658647 -0.00216337]
 [ 0.09652242  0.99512144 -0.0204199 ]
 [ 0.00412546  0.02011529  0.99978859]]

 t_gt:
[ 0.85610503 -0.48803065 -0.17003019]

Pose Error in degrees for R and t:
163.2043994263665 51.149468854966315

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99956540e-01 -9.32298048e-03  2.01314861e-05]
 [ 9.32297399e-03  9.99956495e-01  3.01147688e-04]
 [-2.29382043e-05 -3.00946915e-04  9.99999954e-01]]

 t_estimated:
[[9.96505219e-01]
 [8.35285978e-02]
 [5.67013094e-04]]

 R_gt:
[[ 0.98643824 -0.16375567  0.01111825]
 [ 0.16378763  0.98649294 -0.00201559]
 [-0.01063828  0.00380811  0.99993613]]

 t_gt:
[ 0.87134729 -0.48963591  0.03178948]

Pose Error in degrees for R and t:
8.915884664446027 34.16522743125248

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99536819e-01 -3.04302400e-02 -3.84540682e-04]
 [ 3.04303437e-02  9.99536854e-01  2.66801431e-04]
 [ 3.76243752e-04 -2.78379559e-04  9.99999890e-01]]

 t_estimated:
[[ 0.9454174 ]
 [-0.32584487]
 [-0.00332742]]

 R_gt:
[[ 0.99593116 -0.08546446  0.02859652]
 [ 0.0857607   0.9962722  -0.00929368]
 [-0.02769578  0.01170751  0.99954749]]

 t_gt:
[ 0.96029675 -0.23008517  0.15776874]

Pose Error in degrees for R and t:
3.6191820842478446 10.787424037716868

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[ 9.99061481e-01 -4.33146176e-02  4.24158014e-05]
 [ 4.33146164e-02  9.99061481e-01  2.78158452e-05]
 [-4.35808261e-05 -2.59525153e-05  9.99999999e-01]]

 t_estimated:
[[2.71800834e-01]
 [9.62353212e-01]
 [7.75492290e-04]]

 R_gt:
[[ 0.99832923  0.03754919  0.04391345]
 [-0.03805087  0.99921836  0.01066517]
 [-0.04347729 -0.0123182   0.99897809]]

 t_gt:
[-0.82559209 -0.25697844  0.50235424]

Pose Error in degrees for R and t:
5.32125556426022 61.880565250097064

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.04616982e-01  4.26224762e-01  7.54501479e-04]
 [-4.26224575e-01  9.04617295e-01 -4.01380106e-04]
 [-8.53613227e-04  4.15081878e-05  9.99999635e-01]]

 t_estimated:
[[-0.15554149]
 [ 0.98782867]
 [ 0.00116407]]

 R_gt:
[[ 0.99727381 -0.04381391  0.05936744]
 [ 0.0426705   0.99888065  0.02040163]
 [-0.0601933  -0.01781331  0.99802716]]

 t_gt:
[ 0.30902666 -0.84118617  0.44374357]

Pose Error in degrees for R and t:
27.93203132574467 28.538325925771733

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.95545942e-01  9.42583792e-02 -1.90651632e-03]
 [-9.42572050e-02  9.95547635e-01  6.96815905e-04]
 [ 1.96370855e-03 -5.14009347e-04  9.99997940e-01]]

 t_estimated:
[[0.62954463]
 [0.77696377]
 [0.00092716]]

 R_gt:
[[ 0.99273787 -0.10305528  0.06205233]
 [ 0.10167316  0.99450226  0.02505027]
 [-0.0642914  -0.01855903  0.99775784]]

 t_gt:
[ 0.57897627 -0.77752391  0.24544461]

Pose Error in degrees for R and t:
11.953573933873384 76.14952226937693

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999984e-01  1.51900905e-04 -9.22624790e-05]
 [-1.51905577e-04  9.99999987e-01 -5.06323741e-05]
 [ 9.22547867e-05  5.06463885e-05  9.99999994e-01]]

 t_estimated:
[[-0.63085478]
 [-0.77589896]
 [-0.00174752]]

 R_gt:
[[ 0.99142245  0.130414    0.00869013]
 [-0.13047978  0.99142244  0.00746394]
 [-0.00764261 -0.00853398  0.99993399]]

 t_gt:
[-0.62225884  0.77956105  0.07126361]

Pose Error in degrees for R and t:
7.516128192685153 77.73519529434681

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.99777796 -0.06658921  0.00224059]
 [ 0.06660374  0.99775358 -0.00719333]
 [-0.00175656  0.00732658  0.99997162]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.98112241  0.19264555 -0.01697351]
 [-0.19332789  0.97926602 -0.06050842]
 [ 0.0049649   0.06264727  0.99802266]]

 t_gt:
[-0.51869516  0.83625015 -0.17787921]

Pose Error in degrees for R and t:
15.296632781789652 83.17906968716404

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.0170287   0.99972185 -0.01631689]
 [-0.99982414  0.01689768 -0.00813395]
 [-0.00785597  0.01645253  0.99983379]]

 t_estimated:
[[0.64628147]
 [0.76309761]
 [0.00151709]]

 R_gt:
[[ 0.95605433  0.29269081  0.01715184]
 [-0.29165639  0.95539639 -0.04642525]
 [-0.02997545  0.03938336  0.99877405]]

 t_gt:
[-0.49254857  0.8702381  -0.00903087]

Pose Error in degrees for R and t:
72.05438974307981 69.77315395094948

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-2.24997317e-01 -9.74359357e-01 -2.26310584e-04]
 [-9.74359372e-01  2.24997343e-01 -9.94039920e-05]
 [ 1.47774490e-04  1.98142207e-04 -9.99999969e-01]]

 t_estimated:
[[0.79855484]
 [0.60192145]
 [0.00085866]]

 R_gt:
[[ 0.98615659  0.16414851  0.02344228]
 [-0.16359161  0.98623669 -0.02398815]
 [-0.02705704  0.01982103  0.9994373 ]]

 t_gt:
[-0.39390914  0.91778763  0.05001467]

Pose Error in degrees for R and t:
179.66023361870816 76.23613432564409

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999898e-01 -4.15233066e-04 -1.78179577e-04]
 [ 4.15248995e-04  9.99999910e-01  8.93703759e-05]
 [ 1.78142452e-04 -8.94443557e-05  9.99999980e-01]]

 t_estimated:
[[-9.86291238e-01]
 [-1.65013590e-01]
 [-3.29162965e-04]]

 R_gt:
[[ 0.977346    0.21073492  0.01963279]
 [-0.21006837  0.97718195 -0.03143135]
 [-0.02580893  0.02659483  0.99931307]]

 t_gt:
[-0.33569835  0.94193933  0.00754476]

Pose Error in degrees for R and t:
12.358811267119544 79.88286980226583

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.70175891 -0.38524081 -0.59926951]
 [-0.05279041 -0.8107487   0.58300919]
 [-0.71045591  0.44076758  0.5486131 ]]

 t_estimated:
[[0.76200076]
 [0.63500064]
 [0.12700013]]

 R_gt:
[[ 0.9466824   0.32067747  0.03093847]
 [-0.31693838  0.94424511 -0.08916848]
 [-0.0578075   0.07460893  0.99553553]]

 t_gt:
[-0.28024246  0.95976064  0.01799084]

Pose Error in degrees for R and t:
173.4896717457574 66.5350192315981

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.9965059   0.08344442 -0.0036075 ]
 [-0.08342787  0.99650358  0.00451736]
 [ 0.00397184 -0.00420061  0.99998329]]

 t_estimated:
[[-0.99844139]
 [-0.05546897]
 [-0.00616322]]

 R_gt:
[[ 0.99980257 -0.01882087  0.0062209 ]
 [ 0.01892062  0.99968623 -0.01638451]
 [-0.0059104   0.01649999  0.9998458 ]]

 t_gt:
[ 0.65738752 -0.68072607 -0.32319293]

Pose Error in degrees for R and t:
6.014473185421975 51.93086752098041

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.86959558e-01  1.60967001e-01 -6.74829663e-04]
 [-1.60965371e-01  9.86958004e-01  2.01197667e-03]
 [ 9.89890387e-04 -1.87711540e-03  9.99997748e-01]]

 t_estimated:
[[0.38147445]
 [0.92437889]
 [0.00096089]]

 R_gt:
[[ 0.99641835 -0.08415221 -0.00820441]
 [ 0.08380116  0.99581564 -0.03644989]
 [ 0.0112372   0.03563235  0.99930168]]

 t_gt:
[ 0.71078155 -0.61999335 -0.3322617 ]

Pose Error in degrees for R and t:
14.257904121186646 72.40522111574597

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 9.73708430e-01 -2.27361525e-01  1.40936584e-02]
 [ 2.27797917e-01  9.71857790e-01 -6.00045400e-02]
 [-5.43079516e-05  6.16374325e-02  9.98098604e-01]]

 t_estimated:
[[0.99995119]
 [0.00980344]
 [0.00122543]]

 R_gt:
[[ 0.97274852 -0.23184993  0.00230317]
 [ 0.23177311  0.97206058 -0.03714672]
 [ 0.0063742   0.03666901  0.99930702]]

 t_gt:
[ 0.79817146 -0.58924801 -0.12533597]

Pose Error in degrees for R and t:
1.4969089162205538 37.60820539516859

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99785117e-01 -2.07295068e-02  9.06437970e-05]
 [ 2.07294963e-02  9.99785114e-01  1.15210072e-04]
 [-9.30125669e-05 -1.13306315e-04  9.99999989e-01]]

 t_estimated:
[[9.42774849e-01]
 [3.33429728e-01]
 [4.48390787e-04]]

 R_gt:
[[ 0.98911003 -0.13928565  0.04756197]
 [ 0.14022293  0.98997512 -0.01696406]
 [-0.04472171  0.02344885  0.99872422]]

 t_gt:
[ 0.63790269 -0.74764219  0.18469246]

Pose Error in degrees for R and t:
7.43557293689978 69.37835182852471

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-9.77411206e-01 -2.11345668e-01 -5.86369760e-04]
 [-2.11346476e-01  9.77406786e-01  2.93958307e-03]
 [-4.81463647e-05  2.99710861e-03 -9.99995508e-01]]

 t_estimated:
[[9.77918175e-01]
 [2.08986554e-01]
 [8.14649380e-04]]

 R_gt:
[[ 0.97093604 -0.23109716  0.06227295]
 [ 0.23398429  0.97125169 -0.04384075]
 [-0.05035034  0.05713779  0.99709528]]

 t_gt:
[ 0.65974091 -0.74954968  0.05401118]

Pose Error in degrees for R and t:
177.07179425470767 60.75331076584361

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.82149381 -0.56989879  0.0190602 ]
 [-0.56992037  0.82168584  0.0048113 ]
 [-0.01840345 -0.00691035 -0.99980676]]

 t_estimated:
[[0.95265175]
 [0.3039262 ]
 [0.00913852]]

 R_gt:
[[ 0.98160322 -0.18192429  0.05796835]
 [ 0.1839204   0.98244657 -0.03116918]
 [-0.0512801   0.04125806  0.99783145]]

 t_gt:
[ 0.58236512 -0.80503267  0.11301885]

Pose Error in degrees for R and t:
176.5073110776435 71.87124309709145

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.00135046 -0.99999618 -0.00241068]
 [ 0.99999678 -0.00134528 -0.00215005]
 [ 0.0021468  -0.00241358  0.99999478]]

 t_estimated:
[[9.99927425e-01]
 [1.20470199e-02]
 [1.19574981e-04]]

 R_gt:
[[ 0.99768577 -0.06772672  0.00601975]
 [ 0.06784417  0.99744775 -0.02227261]
 [-0.00449555  0.02262959  0.99973334]]

 t_gt:
[ 0.54229727 -0.8245595  -0.16129257]

Pose Error in degrees for R and t:
86.19911938452015 57.83866318117949

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 1.65659351e-01  9.86182947e-01  4.16722090e-04]
 [-9.86181647e-01  1.65659812e-01 -1.60780902e-03]
 [-1.65462794e-03 -1.44615078e-04  9.99998621e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99978083 -0.00692317  0.01977375]
 [ 0.00724253  0.99984358 -0.01614569]
 [-0.01965872  0.01628567  0.99967362]]

 t_gt:
[-0.57790923 -0.75515815  0.30944642]

Pose Error in degrees for R and t:
80.87947397171153 40.67438903406288

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.96519904e-01 -8.33551310e-02  5.02670525e-05]
 [ 8.33551188e-02  9.96519885e-01  2.09045169e-04]
 [-6.75171048e-05 -2.04127655e-04  9.99999977e-01]]

 t_estimated:
[[9.35747239e-01]
 [3.52670246e-01]
 [8.95527037e-04]]

 R_gt:
[[ 9.98131889e-01  3.70909482e-04  6.10943187e-02]
 [ 1.26473818e-03  9.99641917e-01 -2.67510446e-02]
 [-6.10817834e-02  2.67789333e-02  9.97772965e-01]]

 t_gt:
[-0.61175744 -0.330721    0.71859339]

Pose Error in degrees for R and t:
6.102954691618154 46.493072826609634

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99988258e-01  4.84480374e-03 -1.12857474e-04]
 [-4.84477876e-03  9.99988240e-01  2.20583184e-04]
 [ 1.13924829e-04 -2.20033824e-04  9.99999969e-01]]

 t_estimated:
[[ 9.99997503e-01]
 [-2.04766767e-03]
 [ 8.95532564e-04]]

 R_gt:
[[ 9.94594121e-01  1.02940400e-01 -1.36571977e-02]
 [-1.02938307e-01  9.94687448e-01  8.45033663e-04]
 [ 1.36721613e-02  5.65805554e-04  9.99906409e-01]]

 t_gt:
[-0.00116609  0.98990407 -0.14173416]

Pose Error in degrees for R and t:
5.684394114502242 89.80977686781428

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99207799e-01  3.97966613e-02  1.45498833e-05]
 [-3.97966608e-02  9.99207799e-01 -3.40187392e-05]
 [-1.58921891e-05  3.34127528e-05  9.99999999e-01]]

 t_estimated:
[[9.24467239e-01]
 [3.81260516e-01]
 [8.61831098e-04]]

 R_gt:
[[ 0.99286435  0.11831067  0.01495251]
 [-0.11763367  0.99224824 -0.0400714 ]
 [-0.01957687  0.03802692  0.99908467]]

 t_gt:
[ 0.02526642  0.98939473 -0.1430373 ]

Pose Error in degrees for R and t:
5.120751053669008 66.39357104400308

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.92759087e-01  1.20122334e-01  1.40758507e-04]
 [-1.20122322e-01  9.92759094e-01 -9.29620146e-05]
 [-1.50906102e-04  7.53806460e-05  9.99999986e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.99717507  0.06896401  0.02976303]
 [-0.06701163  0.99580849 -0.06224329]
 [-0.03393087  0.06007316  0.99761742]]

 t_gt:
[ 0.50368306  0.83621493 -0.21690541]

Pose Error in degrees for R and t:
4.955794505620038 53.650213623660214

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.31895684 -0.94775348 -0.0054652 ]
 [-0.94772006  0.31887625  0.01202611]
 [-0.00965506  0.00901529 -0.99991275]]

 t_estimated:
[[0.78004403]
 [0.62571439]
 [0.00357837]]

 R_gt:
[[ 9.79738212e-01  2.00228406e-01 -4.69945768e-03]
 [-2.00281982e-01  9.79568535e-01 -1.82559846e-02]
 [ 9.46942797e-04  1.88277209e-02  9.99821612e-01]]

 t_gt:
[-0.38096772  0.92280922 -0.05733011]

Pose Error in degrees for R and t:
179.31395843571602 73.73751149589368

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.98482943e-01  5.50616734e-02 -1.54673783e-04]
 [-5.50616605e-02  9.98482952e-01  8.67293160e-05]
 [ 1.59214597e-04 -7.80811474e-05  9.99999984e-01]]

 t_estimated:
[[-9.99991562e-01]
 [-4.09208521e-03]
 [-3.60340646e-04]]

 R_gt:
[[ 0.95561546  0.29460121  0.0032858 ]
 [-0.29442769  0.95533417 -0.02550735]
 [-0.0106539   0.02340793  0.99966905]]

 t_gt:
[-0.32291915  0.94598494 -0.02890871]

Pose Error in degrees for R and t:
14.052613421147578 71.3941673610074

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.86010093e-01  1.66685599e-01 -8.46885281e-05]
 [-1.66685612e-01  9.86010078e-01 -1.80940653e-04]
 [ 5.33435410e-05  1.92525669e-04  9.99999980e-01]]

 t_estimated:
[[-9.99324245e-01]
 [-3.67487747e-02]
 [-7.62272494e-04]]

 R_gt:
[[ 0.93189932  0.36270004  0.00345821]
 [-0.36161706  0.92977228 -0.06897692]
 [-0.02823369  0.06302939  0.99761164]]

 t_gt:
[-0.26651607  0.96296999 -0.0407183 ]

Pose Error in degrees for R and t:
12.31297093728843 76.64528143573456

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999816e-01 -6.07112483e-04 -4.44675793e-06]
 [ 6.07112602e-04  9.99999815e-01  2.69022115e-05]
 [ 4.43042444e-06 -2.69049062e-05  1.00000000e+00]]

 t_estimated:
[[0.01636684]
 [0.99986495]
 [0.00148789]]

 R_gt:
[[ 0.99622111  0.08604856 -0.01184512]
 [-0.08575099  0.99603226  0.02378657]
 [ 0.01384425 -0.02268168  0.99964735]]

 t_gt:
[-0.28399898  0.95322581  0.10346565]

Pose Error in degrees for R and t:
5.190946718933596 18.44951871267161

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.20565328 -0.97859009  0.00825629]
 [-0.97861132 -0.20559862  0.00700727]
 [-0.00515976 -0.00952076 -0.99994136]]

 t_estimated:
[[0.58709502]
 [0.80946805]
 [0.00899524]]

 R_gt:
[[ 0.98667494  0.16098902  0.02357179]
 [-0.16172869  0.98625484  0.03383066]
 [-0.0178031  -0.03719182  0.99915014]]

 t_gt:
[-0.31383302  0.91031111  0.26989352]

Pose Error in degrees for R and t:
177.04816836055437 56.28613653245315

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-7.76646084e-01 -6.29936250e-01 -1.08721674e-03]
 [-6.29937026e-01  7.76643492e-01  2.05673888e-03]
 [-4.51234577e-04  2.28223628e-03 -9.99997294e-01]]

 t_estimated:
[[9.42670116e-01]
 [3.33724997e-01]
 [8.24012339e-04]]

 R_gt:
[[ 0.98514703  0.17104345  0.01517414]
 [-0.17136083  0.98494387  0.0228339 ]
 [-0.0110406  -0.0250949   0.99962386]]

 t_gt:
[-0.16701876  0.97008154  0.1762003 ]

Pose Error in degrees for R and t:
178.8587474953807 80.4189832895033

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999980e-01 -2.02166069e-04 -7.68385707e-06]
 [ 2.02165872e-04  9.99999979e-01 -2.56210726e-05]
 [ 7.68903662e-06  2.56195187e-05  1.00000000e+00]]

 t_estimated:
[[ 9.98516958e-01]
 [-5.44414817e-02]
 [-9.34487508e-05]]

 R_gt:
[[ 9.98519337e-01 -5.44004696e-02 -8.91925899e-04]
 [ 5.43578278e-02  9.98173875e-01 -2.63589884e-02]
 [ 2.32479470e-03  2.62720123e-02  9.99652177e-01]]

 t_gt:
[ 0.54058864 -0.7375653  -0.40467439]

Pose Error in degrees for R and t:
3.4531784526982627 54.550942507779396

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99990333e-01  8.16796613e-04 -4.32061636e-03]
 [-7.94842879e-04  9.99986779e-01  5.08043694e-03]
 [ 4.32470892e-03 -5.07695361e-03  9.99977760e-01]]

 t_estimated:
[[0.94169069]
 [0.3364782 ]
 [0.00102925]]

 R_gt:
[[ 0.98736225 -0.14436042  0.06539766]
 [ 0.14749699  0.98799344 -0.04597472]
 [-0.05797508  0.05504     0.9967995 ]]

 t_gt:
[ 0.70535833 -0.70645898 -0.05818362]

Pose Error in degrees for R and t:
9.797782234215953 64.75679675908293

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99995624e-01 -2.00919136e-04  2.95162142e-03]
 [ 2.10258775e-04  9.99994972e-01 -3.16427060e-03]
 [-2.95097081e-03  3.16487735e-03  9.99990638e-01]]

 t_estimated:
[[0.84897562]
 [0.52843032]
 [0.00134119]]

 R_gt:
[[ 0.963238   -0.18143791  0.19812361]
 [ 0.19430127  0.97979761 -0.04737092]
 [-0.18552515  0.08412566  0.97903158]]

 t_gt:
[ 0.65306198 -0.67265271  0.34792008]

Pose Error in degrees for R and t:
15.879911970229708 78.49518746438146

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.75011105e-01 -2.22154944e-01 -7.25835008e-04]
 [ 2.22155218e-01  9.75011259e-01  3.21410990e-04]
 [ 6.36294265e-04 -4.74627319e-04  9.99999685e-01]]

 t_estimated:
[[-0.79945607]
 [-0.6007214 ]
 [-0.00194437]]

 R_gt:
[[ 0.99363258  0.10968511  0.02575894]
 [-0.10828256  0.99282878 -0.05065043]
 [-0.03112807  0.04753936  0.99838425]]

 t_gt:
[-0.35414337  0.92888116 -0.10845396]

Pose Error in degrees for R and t:
19.37750379418805 74.05789768702965

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99051487e-01  4.35443832e-02 -1.18315959e-04]
 [-4.35443734e-02  9.99051490e-01  8.37273230e-05]
 [ 1.21849590e-04 -7.84959122e-05  9.99999989e-01]]

 t_estimated:
[[-9.99517608e-01]
 [ 3.10544148e-02]
 [-4.16870543e-04]]

 R_gt:
[[ 9.77577349e-01  2.10490260e-01  5.98390230e-03]
 [-2.10482317e-01  9.77595762e-01 -1.82659172e-03]
 [-6.23283350e-03  5.26177087e-04  9.99980406e-01]]

 t_gt:
[-0.31813543  0.94800294 -0.00895922]

Pose Error in degrees for R and t:
9.662284660167728 69.67007950692498

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.9523436  -0.30499046 -0.00474249]
 [ 0.3050008   0.95235072  0.00161892]
 [ 0.00402275 -0.00298823  0.99998744]]

 t_estimated:
[[0.86436917]
 [0.50285543]
 [0.00153679]]

 R_gt:
[[ 9.14902629e-01  3.97171992e-01 -7.21651513e-02]
 [-3.95926306e-01  9.17743683e-01  3.14302559e-02]
 [ 7.87132932e-02 -1.82624063e-04  9.96897542e-01]]

 t_gt:
[-0.19103077  0.97540365 -0.10997706]

Pose Error in degrees for R and t:
41.365453193722004 71.02249542469238

Number of keypoints:
Image1: 416
Image2: 416

 R_estimated:
[[ 9.99999953e-01 -3.03246868e-04 -4.39631232e-05]
 [ 3.03246488e-04  9.99999954e-01 -8.64661985e-06]
 [ 4.39657432e-05  8.63328778e-06  9.99999999e-01]]

 t_estimated:
[[-0.23241178]
 [-0.97261667]
 [-0.00125565]]

 R_gt:
[[ 0.9991688   0.01511024  0.03786525]
 [-0.01309031  0.99850757 -0.053032  ]
 [-0.03861006  0.05249256  0.99787473]]

 t_gt:
[-0.07488882  0.98891331 -0.12822685]

Pose Error in degrees for R and t:
3.8271049094865064 19.218954942004824

Number of keypoints:
Image1: 398
Image2: 398

 R_estimated:
[[ 9.99997740e-01 -2.07192139e-03 -4.75755136e-04]
 [ 2.07196989e-03  9.99997848e-01  1.01480348e-04]
 [ 4.75543853e-04 -1.02465869e-04  9.99999882e-01]]

 t_estimated:
[[-0.99995463]
 [-0.0093746 ]
 [-0.00169175]]

 R_gt:
[[ 0.99789376 -0.05592351  0.03287118]
 [ 0.05786902  0.9964223  -0.0616001 ]
 [-0.02930769  0.06337375  0.99755961]]

 t_gt:
[ 0.71270617 -0.65646822 -0.24718292]

Pose Error in degrees for R and t:
5.105643919176647 45.08139573469378

Number of keypoints:
Image1: 317
Image2: 317

 R_estimated:
[[-3.54389829e-02 -9.99371810e-01  2.52417816e-04]
 [-9.99371716e-01  3.54388507e-02 -5.10271471e-04]
 [ 5.01005526e-04 -2.70342728e-04 -9.99999838e-01]]

 t_estimated:
[[0.82414484]
 [0.56637787]
 [0.00118242]]

 R_gt:
[[ 0.99657031 -0.07633606 -0.03194727]
 [ 0.0762186   0.99707962 -0.00486157]
 [ 0.03222477  0.00240988  0.99947812]]

 t_gt:
[ 0.6416052  -0.71351743 -0.28148827]

Pose Error in degrees for R and t:
178.51991771828241 82.85837896794067

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.94366424 -0.33089412 -0.00262275]
 [-0.33085671  0.943633   -0.00951849]
 [ 0.00562453 -0.0081145  -0.99995126]]

 t_estimated:
[[9.77267168e-01]
 [2.12010664e-01]
 [6.00485132e-04]]

 R_gt:
[[ 0.96171732 -0.26300464 -0.0769979 ]
 [ 0.26113338  0.96471658 -0.03362217]
 [ 0.08312447  0.01222851  0.99646445]]

 t_gt:
[ 0.87149378 -0.44653379 -0.20274655]

Pose Error in degrees for R and t:
174.90462707797604 40.80915928012891

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99996344  0.00820207 -0.00241658]
 [-0.00819049  0.99995511  0.00476402]
 [ 0.00245555 -0.00474405  0.99998573]]

 t_estimated:
[[9.92510654e-01]
 [1.22155157e-01]
 [8.48299704e-04]]

 R_gt:
[[ 0.87679602 -0.47907232 -0.04145834]
 [ 0.47496995  0.87628196 -0.08083178]
 [ 0.07505431  0.05118112  0.99586565]]

 t_gt:
[ 0.91744583 -0.36490951 -0.15853771]

Pose Error in degrees for R and t:
29.50095275737192 30.018411221894645

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.80098159e-01 -1.98511014e-01  9.88102701e-04]
 [ 1.98511101e-01  9.80098639e-01  1.02729364e-05]
 [-9.70477404e-04  1.86080869e-04  9.99999512e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.71287323 -0.69946824 -0.05054343]
 [ 0.69481352  0.71422559 -0.08435769]
 [ 0.09510612  0.02501868  0.9951531 ]]

 t_gt:
[ 0.96020079 -0.26316573 -0.09358551]

Pose Error in degrees for R and t:
33.358549127348105 25.10536340312439

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99674633e-01 -2.55051551e-02  3.40260628e-04]
 [ 2.55051684e-02  9.99674690e-01 -3.47979679e-05]
 [-3.39262410e-04  4.34650503e-05  9.99999942e-01]]

 t_estimated:
[[9.76116126e-01]
 [2.17247712e-01]
 [8.60953840e-04]]

 R_gt:
[[ 9.65915528e-01 -2.58686315e-01  9.43764733e-03]
 [ 2.58857860e-01  9.65326320e-01 -3.37485361e-02]
 [-3.79830692e-04  3.50420254e-02  9.99386327e-01]]

 t_gt:
[ 0.86750598 -0.4891784  -0.09021009]

Pose Error in degrees for R and t:
13.686972187855543 42.231428801223956

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99586021e-01 -2.87712637e-02 -5.14907447e-06]
 [ 2.87712596e-02  9.99585746e-01  7.42934325e-04]
 [-1.62282179e-05 -7.42774912e-04  9.99999724e-01]]

 t_estimated:
[[9.16973290e-01]
 [3.98947573e-01]
 [9.04744690e-04]]

 R_gt:
[[ 8.43451197e-01 -5.37205536e-01  9.30984827e-04]
 [ 5.37049617e-01  8.43163481e-01 -2.55657580e-02]
 [ 1.29488056e-02  2.20634229e-02  9.99673321e-01]]

 t_gt:
[ 0.92543626 -0.37700731 -0.03785789]

Pose Error in degrees for R and t:
30.881500267421906 45.72043971627734

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 7.28020023e-01  6.85555510e-01  6.99162589e-04]
 [-6.85555358e-01  7.28017862e-01  1.96064644e-03]
 [ 8.35129118e-04 -1.90670453e-03  9.99997834e-01]]

 t_estimated:
[[9.51776395e-01]
 [3.06792266e-01]
 [4.47409341e-04]]

 R_gt:
[[ 7.58001145e-01 -6.52253235e-01 -5.95067609e-04]
 [ 6.52107364e-01  7.57851991e-01 -2.04265877e-02]
 [ 1.37740541e-02  1.50959980e-02  9.99791885e-01]]

 t_gt:
[ 0.94674926 -0.3210651  -0.02414637]

Pose Error in degrees for R and t:
83.99903938604415 36.62257453242781

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.98628967 -0.16479055 -0.00876116]
 [ 0.16490225  0.98620933  0.01408533]
 [ 0.00631921 -0.01533695  0.99986241]]

 t_estimated:
[[-0.81914547]
 [-0.57358509]
 [-0.00091627]]

 R_gt:
[[ 0.97140348  0.23722327  0.00999182]
 [-0.23687966  0.97115242 -0.02740355]
 [-0.01620463  0.02425378  0.99957397]]

 t_gt:
[-0.71498881  0.69762194 -0.04598517]

Pose Error in degrees for R and t:
23.351627473500127 79.30525788013829

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 4.73712981e-01  8.80674821e-01  2.80566973e-03]
 [ 8.80677954e-01 -4.73715407e-01  2.32295813e-04]
 [ 1.53366605e-03  2.36084994e-03 -9.99996037e-01]]

 t_estimated:
[[-0.47678695]
 [-0.87901841]
 [-0.00092044]]

 R_gt:
[[ 0.88462511  0.46105271  0.06977186]
 [-0.45896079  0.88734259 -0.04448569]
 [-0.08242143  0.00733186  0.99657031]]

 t_gt:
[-0.64170781  0.76257139  0.08182879]

Pose Error in degrees for R and t:
176.34798502877442 68.62738715273298

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.81230492e-01  1.92838588e-01 -4.21876545e-06]
 [-1.92838579e-01  9.81230437e-01 -3.34629356e-04]
 [-6.03898715e-05  3.29162069e-04  9.99999944e-01]]

 t_estimated:
[[-9.96428027e-01]
 [-8.44408145e-02]
 [-9.67297877e-04]]

 R_gt:
[[ 0.82711727  0.55821189  0.06539814]
 [-0.55449729  0.82947557 -0.06709989]
 [-0.09170139  0.01923683  0.99559971]]

 t_gt:
[-0.60152935  0.79649875  0.06125506]

Pose Error in degrees for R and t:
23.38578018041312 57.85495244604959

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[ 0.75788703  0.65210257 -0.01922207]
 [ 0.65207035 -0.75627548  0.05340094]
 [ 0.0202857  -0.05300602 -0.99838813]]

 t_estimated:
[[-0.30398523]
 [ 0.95223528]
 [ 0.02899902]]

 R_gt:
[[ 0.9987504   0.03262669  0.03787316]
 [-0.0321369   0.9993926  -0.01348524]
 [-0.03829073  0.01225053  0.99919165]]

 t_gt:
[-0.73396553  0.39087631  0.55543704]

Pose Error in degrees for R and t:
178.19809404923092 52.30716918618876

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 0.95727824 -0.28907643  0.00729339]
 [-0.28910432 -0.95623051  0.04518741]
 [-0.00608845 -0.04536547 -0.9989519 ]]

 t_estimated:
[[0.14096411]
 [0.98975024]
 [0.02288195]]

 R_gt:
[[ 0.99818022  0.03108347  0.05168982]
 [-0.0304578   0.99945445 -0.01284296]
 [-0.05206123  0.01124534  0.99858111]]

 t_gt:
[-0.7568968   0.14559621  0.63710986]

Pose Error in degrees for R and t:
177.6261497947394 87.02002624297745

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.80080177e-01  1.98602157e-01  1.73866083e-04]
 [-1.98602213e-01  9.80080096e-01  4.08352234e-04]
 [-8.93030527e-05 -4.34748118e-04  9.99999902e-01]]

 t_estimated:
[[0.40503266]
 [0.91430168]
 [0.00099273]]

 R_gt:
[[ 0.9995227  -0.02982906 -0.00809921]
 [ 0.02994163  0.99945148  0.01415192]
 [ 0.00767197 -0.0143881   0.99986774]]

 t_gt:
[-0.06804969 -0.9976071  -0.01221931]

Pose Error in degrees for R and t:
13.199487868587543 20.000720278974722

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.16433891e-01  4.00185836e-01  4.68588998e-04]
 [-4.00185672e-01  9.16433992e-01 -4.08427451e-04]
 [-5.92877767e-04  1.86774155e-04  9.99999807e-01]]

 t_estimated:
[[-8.82380805e-01]
 [ 4.70535983e-01]
 [-5.90244697e-05]]

 R_gt:
[[ 0.99946989  0.03166965  0.00756055]
 [-0.03140562  0.99896557 -0.03288733]
 [-0.00859361  0.03263282  0.99943057]]

 t_gt:
[ 0.49956496  0.71645314 -0.4869597 ]

Pose Error in degrees for R and t:
21.864492522457212 84.04998479640079

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 5.60980583e-01  8.27828114e-01  1.18313865e-03]
 [ 8.27828959e-01 -5.60980059e-01 -7.67372719e-04]
 [ 2.84644817e-05  1.40991763e-03 -9.99999006e-01]]

 t_estimated:
[[0.84680789]
 [0.53189709]
 [0.00137108]]

 R_gt:
[[ 0.99861915  0.01398682  0.05064322]
 [-0.00978928  0.99656646 -0.0822158 ]
 [-0.05161901  0.08160761  0.9953272 ]]

 t_gt:
[ 0.82169556  0.46128496 -0.33471269]

Pose Error in degrees for R and t:
174.40232911019726 19.827935363297932

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-9.96781439e-01 -8.01670456e-02  8.75511524e-05]
 [ 8.01664865e-02 -9.96777549e-01 -2.80233140e-03]
 [ 3.11923652e-04 -2.78629325e-03  9.99996070e-01]]

 t_estimated:
[[8.13519705e-01]
 [5.81537007e-01]
 [6.32105443e-04]]

 R_gt:
[[ 0.99905249 -0.04157012  0.01286597]
 [ 0.04241148  0.99634789 -0.07410032]
 [-0.00973861  0.0745756   0.99716711]]

 t_gt:
[ 0.79451028 -0.35968501 -0.48926486]

Pose Error in degrees for R and t:
172.99722921554948 64.0956322888526

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.87159509e-01  1.59737591e-01  7.57536798e-05]
 [-1.59737564e-01  9.87159477e-01 -2.80187492e-04]
 [-1.19537438e-04  2.64489039e-04  9.99999958e-01]]

 t_estimated:
[[-0.90674891]
 [-0.42166904]
 [-0.00127623]]

 R_gt:
[[ 0.99652101  0.00827877  0.08293011]
 [-0.00499068  0.99919632 -0.03976815]
 [-0.08319306  0.03921638  0.99576142]]

 t_gt:
[-0.45215184  0.79713393  0.40017024]

Pose Error in degrees for R and t:
10.261479218775367 85.79353218962797

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.50935104 -0.86054982 -0.00394009]
 [-0.86054743 -0.50931535 -0.00748333]
 [ 0.00443303  0.00720227 -0.99996424]]

 t_estimated:
[[ 0.58335963]
 [ 0.81220743]
 [-0.00325975]]

 R_gt:
[[ 0.99012679  0.08740334  0.1095827 ]
 [-0.07709827  0.99248833 -0.0949904 ]
 [-0.11706175  0.08560471  0.9894279 ]]

 t_gt:
[-0.34477681  0.93862986  0.01014564]

Pose Error in degrees for R and t:
178.23532170899668 55.861159485809424

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 7.29605232e-01  6.83868558e-01  2.80121766e-05]
 [-6.83868403e-01  7.29605094e-01 -6.44014533e-04]
 [-4.60859117e-04  4.50719731e-04  9.99999792e-01]]

 t_estimated:
[[-0.97854897]
 [-0.20601031]
 [-0.00128756]]

 R_gt:
[[ 0.97959328  0.17341323  0.1016159 ]
 [-0.16480811  0.98241432 -0.08776204]
 [-0.1150481   0.06922384  0.99094441]]

 t_gt:
[-0.30111123  0.95289153  0.03646592]

Pose Error in degrees for R and t:
34.214449722343325 84.35873486171252

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.10241479 -0.99474074 -0.00144021]
 [-0.99474032  0.10241205  0.00186161]
 [-0.00170433  0.00162329 -0.99999723]]

 t_estimated:
[[0.81531005]
 [0.57902293]
 [0.00140452]]

 R_gt:
[[ 0.98814751 -0.0859943   0.12716919]
 [ 0.08719735  0.99618375 -0.00390819]
 [-0.12634771  0.01494998  0.99187314]]

 t_gt:
[ 0.43929571 -0.54575377  0.71356296]

Pose Error in degrees for R and t:
174.93734686843814 87.5263183493863

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.98591439e-01  5.30577162e-02 -1.26815352e-04]
 [-5.30578578e-02  9.98586937e-01 -2.99868589e-03]
 [-3.24672706e-05  3.00119061e-03  9.99995496e-01]]

 t_estimated:
[[-0.95219209]
 [-0.30549065]
 [-0.00238656]]

 R_gt:
[[ 0.96640273 -0.0814607   0.24378582]
 [ 0.08721347  0.996107   -0.01287824]
 [-0.2417887   0.03370657  0.96974339]]

 t_gt:
[ 0.2730156  -0.31498134  0.90898253]

Pose Error in degrees for R and t:
16.193856624400038 80.44996889296483

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.16237183  0.98527968 -0.0534728 ]
 [ 0.94258496 -0.13885173  0.30373308]
 [ 0.29183724 -0.09972035 -0.95125542]]

 t_estimated:
[[0.79160374]
 [0.61103426]
 [0.00080611]]

 R_gt:
[[ 0.93526378 -0.09835392  0.34001327]
 [ 0.11932313  0.99199757 -0.04126673]
 [-0.33323384  0.07916585  0.93951485]]

 t_gt:
[ 0.36559086 -0.27324606  0.88976396]

Pose Error in degrees for R and t:
179.4063318641413 82.9256256846546

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99575752e-01  2.91257972e-02  5.53501075e-05]
 [-2.91257955e-02  9.99575754e-01 -3.08757010e-05]
 [-5.62259048e-05  2.92504862e-05  9.99999998e-01]]

 t_estimated:
[[0.72157432]
 [0.69233661]
 [0.00072833]]

 R_gt:
[[ 9.99951170e-01 -9.85804567e-03 -9.47726108e-04]
 [ 9.85898352e-03  9.99951427e-01  1.02290060e-03]
 [ 9.37931172e-04 -1.03244588e-03  9.99999143e-01]]

 t_gt:
[ 0.92749337 -0.32760871 -0.18007938]

Pose Error in degrees for R and t:
2.234792067119023 63.74871981946807

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-9.94852456e-01  9.90460916e-02 -2.14117264e-02]
 [ 9.90022657e-02  9.95082380e-01  3.09985773e-03]
 [ 2.16134604e-02  9.64091654e-04 -9.99765937e-01]]

 t_estimated:
[[ 0.99894998]
 [-0.04452037]
 [-0.01081108]]

 R_gt:
[[ 0.99766045  0.05469104 -0.04101204]
 [-0.05342859  0.99808213  0.03126936]
 [ 0.04264401 -0.02900521  0.9986692 ]]

 t_gt:
[ 0.27888487  0.912408   -0.29955778]

Pose Error in degrees for R and t:
176.28186531862417 76.04204316378232

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.97307436  0.2278081  -0.03506796]
 [ 0.22783916  0.97369365  0.0031613 ]
 [ 0.03486562 -0.00491368 -0.99937993]]

 t_estimated:
[[ 0.99073492]
 [-0.13460141]
 [-0.01807696]]

 R_gt:
[[ 0.98987808  0.1417938   0.00599558]
 [-0.14191556  0.98931249  0.0335066 ]
 [-0.00118016 -0.03401877  0.99942137]]

 t_gt:
[-0.17240393  0.96880748  0.1780139 ]

Pose Error in degrees for R and t:
177.97403106158964 72.27628146881717

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-9.54513508e-01 -2.98167109e-01 -5.80813486e-04]
 [ 2.98167449e-01 -9.54508576e-01 -3.09034323e-03]
 [ 3.67047256e-04 -3.12295404e-03  9.99995056e-01]]

 t_estimated:
[[0.84862192]
 [0.52899904]
 [0.00092644]]

 R_gt:
[[ 9.79618034e-01  2.00391212e-01  1.38666282e-02]
 [-2.00412017e-01  9.79711274e-01  1.80040248e-04]
 [-1.35484020e-02 -2.95516539e-03  9.99903779e-01]]

 t_gt:
[-0.38178185  0.92127903  0.07407808]

Pose Error in degrees for R and t:
174.21475132980783 80.59361525449181

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-5.46842782e-01  8.37235275e-01 -2.56668943e-04]
 [-8.37233483e-01 -5.46842201e-01 -1.92416244e-03]
 [-1.75133408e-03 -8.37322510e-04  9.99998116e-01]]

 t_estimated:
[[0.3023625 ]
 [0.95319241]
 [0.00107221]]

 R_gt:
[[ 0.93861646  0.34391767  0.02682139]
 [-0.34334351  0.93890782 -0.02382343]
 [-0.0333759   0.01315307  0.99935629]]

 t_gt:
[-0.31269271  0.94814246  0.05700128]

Pose Error in degrees for R and t:
103.05788243807231 35.97467050447222

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.96444347 -0.26317053  0.02429135]
 [ 0.2635093   0.96458298 -0.01193865]
 [-0.02028912  0.01791515  0.99963363]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.91674233  0.39810444  0.03310544]
 [-0.39671127  0.91699902 -0.04162096]
 [-0.04692652  0.02502304  0.99858431]]

 t_gt:
[-0.26965358  0.96113881  0.05915341]

Pose Error in degrees for R and t:
38.726547146346235 38.24033586424852

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.74656621e-01  2.23706213e-01 -2.81225760e-05]
 [-2.23706212e-01  9.74656581e-01 -2.81694448e-04]
 [-3.56069443e-05  2.80846554e-04  9.99999960e-01]]

 t_estimated:
[[-8.49495090e-01]
 [ 5.27595861e-01]
 [-8.36341314e-04]]

 R_gt:
[[ 0.99564491  0.04827128 -0.07975303]
 [-0.0430631   0.99690469  0.06577731]
 [ 0.08268221 -0.0620566   0.99464203]]

 t_gt:
[-0.68812972 -0.55449746 -0.46798511]

Pose Error in degrees for R and t:
11.890125156826537 72.99808620854907

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.51977881e-01 -3.06165703e-01  8.22739506e-04]
 [ 3.06165733e-01  9.51978222e-01  9.27233363e-05]
 [-8.11618798e-04  1.63624079e-04  9.99999657e-01]]

 t_estimated:
[[ 0.73764929]
 [-0.67518206]
 [ 0.00164877]]

 R_gt:
[[ 0.98450064  0.09048237 -0.15023729]
 [-0.07389678  0.9908962   0.11253285]
 [ 0.15905242 -0.09968641  0.98222367]]

 t_gt:
[-0.68563817 -0.5070204  -0.5223319 ]

Pose Error in degrees for R and t:
25.030055418441176 80.5439712323743

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 1.52942848e-01 -9.88233887e-01 -1.50644396e-03]
 [ 9.88234694e-01  1.52943885e-01 -5.98384824e-04]
 [ 8.21745552e-04 -1.39720150e-03  9.99998686e-01]]

 t_estimated:
[[ 7.73607320e-01]
 [-6.33665248e-01]
 [-2.62402196e-04]]

 R_gt:
[[ 0.98122477  0.06405415 -0.18191943]
 [-0.04232181  0.99175877  0.12092948]
 [ 0.18816618 -0.11096007  0.97584895]]

 t_gt:
[-0.07270245 -0.80892306 -0.58340195]

Pose Error in degrees for R and t:
85.03801846249434 62.838745271729465

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99999985e-01 -1.62879526e-04  5.81160466e-05]
 [ 1.62886199e-04  9.99999980e-01 -1.14850310e-04]
 [-5.80973387e-05  1.14859775e-04  9.99999992e-01]]

 t_estimated:
[[0.8385454 ]
 [0.544831  ]
 [0.00088996]]

 R_gt:
[[ 0.97417863 -0.21682327  0.06295902]
 [ 0.21763845  0.97600844 -0.00631684]
 [-0.06007951  0.01985584  0.99799577]]

 t_gt:
[ 0.57135322 -0.79799808  0.19171479]

Pose Error in degrees for R and t:
13.060532566685893 87.44937258867498

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.04368956  0.9990409   0.00291631]
 [-0.99904419 -0.04368527 -0.00152024]
 [-0.00139138 -0.00297994  0.99999459]]

 t_estimated:
[[0.02370018]
 [0.99971679]
 [0.00215456]]

 R_gt:
[[ 0.92059634 -0.38964325  0.02605008]
 [ 0.38965351  0.92094846  0.00491577]
 [-0.02590677  0.00562453  0.99964801]]

 t_gt:
[ 0.67429797 -0.73652969  0.05335045]

Pose Error in degrees for R and t:
115.44447982998696 43.926926494271505

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.94836979e-01  1.01485819e-01  1.14321514e-04]
 [-1.01485810e-01  9.94836984e-01 -8.02798193e-05]
 [-1.21878533e-04  6.82633215e-05  9.99999990e-01]]

 t_estimated:
[[0.20437143]
 [0.97889273]
 [0.0011612 ]]

 R_gt:
[[ 0.84966898 -0.52658136  0.02783424]
 [ 0.52714519  0.84955307 -0.0194188 ]
 [-0.01342098  0.03117227  0.99942371]]

 t_gt:
[ 0.72356328 -0.69023327 -0.00584982]

Pose Error in degrees for R and t:
37.676768403675716 58.14337700772877

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 5.86862424e-01 -8.09686620e-01  2.70064452e-04]
 [ 8.09686651e-01  5.86862320e-01 -3.81580180e-04]
 [ 1.50469715e-04  4.42602651e-04  9.99999891e-01]]

 t_estimated:
[[-0.27639253]
 [-0.96104425]
 [-0.00105493]]

 R_gt:
[[ 0.97854745  0.20492795  0.02117805]
 [-0.20578163  0.97717486  0.05274827]
 [-0.00988496 -0.05597545  0.9983836 ]]

 t_gt:
[-0.73751276  0.63307293  0.23514589]

Pose Error in degrees for R and t:
65.99801451749147 66.1203933562002

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-0.9217673   0.3873684  -0.01705185]
 [ 0.38736374  0.9219195   0.00370948]
 [ 0.01715737 -0.00318599 -0.99984773]]

 t_estimated:
[[ 0.97175428]
 [-0.23584719]
 [-0.00835001]]

 R_gt:
[[ 0.95796663  0.28530362  0.03001418]
 [-0.28672886  0.95559223  0.06804477]
 [-0.00926754 -0.07379124  0.99723093]]

 t_gt:
[-0.70628859  0.67521073  0.21271317]

Pose Error in degrees for R and t:
179.31323646358575 32.074140612628234

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 6.02230629e-01  7.98316989e-01  2.87290604e-03]
 [ 7.98321053e-01 -6.02231886e-01 -5.02689025e-04]
 [ 1.32885043e-03  2.59623610e-03 -9.99995747e-01]]

 t_estimated:
[[-0.81214738]
 [-0.58344956]
 [-0.00180077]]

 R_gt:
[[ 0.89841498  0.43638903  0.04913805]
 [-0.43892253  0.89588924  0.06876371]
 [-0.01401486 -0.08334698  0.99642269]]

 t_gt:
[-0.64976158  0.74309847  0.16004548]

Pose Error in degrees for R and t:
176.88830678879503 84.61466554460434

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999799e-01 -6.29197972e-04  7.26844148e-05]
 [ 6.29168636e-04  9.99999721e-01  4.02921142e-04]
 [-7.29379117e-05 -4.02875330e-04  9.99999916e-01]]

 t_estimated:
[[-0.60160286]
 [-0.79879491]
 [-0.00083556]]

 R_gt:
[[ 0.97681025 -0.20203079 -0.07089146]
 [ 0.20306153  0.97913685  0.00756381]
 [ 0.06788465 -0.02178455  0.99745488]]

 t_gt:
[ 0.8180521  -0.5687031  -0.08583444]

Pose Error in degrees for R and t:
12.358110720702598 87.83406920254596

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999961e-01 -2.82734856e-05  2.78994239e-04]
 [ 2.83439555e-05  9.99999968e-01 -2.52584747e-04]
 [-2.78987089e-04  2.52592645e-04  9.99999929e-01]]

 t_estimated:
[[8.25413307e-01]
 [5.64528394e-01]
 [7.51932777e-04]]

 R_gt:
[[ 0.96077974 -0.26017937 -0.09597235]
 [ 0.2655588   0.9628929   0.04811691]
 [ 0.07989231 -0.07171599  0.99422003]]

 t_gt:
[ 0.81853661 -0.57203223  0.05269675]

Pose Error in degrees for R and t:
16.48096387473784 69.34486800970816

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99998630e-01  1.63573176e-03  2.54801713e-04]
 [-1.63575715e-03  9.99998657e-01  9.94495423e-05]
 [-2.54638698e-04 -9.98661998e-05  9.99999963e-01]]

 t_estimated:
[[9.93464832e-01]
 [1.14134321e-01]
 [9.92472359e-04]]

 R_gt:
[[ 0.97528297 -0.21789391 -0.03670357]
 [ 0.22038864  0.97121158  0.09042402]
 [ 0.01594453 -0.09627888  0.99522616]]

 t_gt:
[ 0.7247728  -0.62145986  0.29747609]

Pose Error in degrees for R and t:
13.950788656838288 49.503497484829225

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 4.34711996e-01 -9.00569405e-01 -4.77160874e-04]
 [ 9.00569122e-01  4.34711232e-01  1.18357549e-03]
 [-8.58464683e-04 -9.44230813e-04  9.99999186e-01]]

 t_estimated:
[[ 0.90008209]
 [-0.43571882]
 [ 0.00115423]]

 R_gt:
[[ 0.9997446  -0.02111564 -0.00809878]
 [ 0.02107858  0.9997669  -0.00461825]
 [ 0.00819409  0.00444584  0.99995598]]

 t_gt:
[ 0.8616947  -0.27995739 -0.4232093 ]

Pose Error in degrees for R and t:
63.026650736098446 26.221816965254362

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 8.39513954e-01  5.43337827e-01 -5.71762089e-04]
 [-5.43334887e-01  8.39512117e-01  2.57040617e-03]
 [ 1.87660010e-03 -1.84723356e-03  9.99996533e-01]]

 t_estimated:
[[-0.99669082]
 [-0.08127958]
 [-0.00101599]]

 R_gt:
[[ 0.98994062 -0.13916879  0.02546611]
 [ 0.13932778  0.99023595 -0.00454627]
 [-0.02458513  0.00804779  0.99966487]]

 t_gt:
[ 0.98744379 -0.15590484 -0.02546441]

Pose Error in degrees for R and t:
40.94662247626059 13.717094098172671

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-1.54217497e-01 -9.88035576e-01 -1.63251186e-03]
 [-9.88036245e-01  1.54219118e-01 -9.17635928e-04]
 [ 1.15842148e-03  1.47146537e-03 -9.99998246e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.9423356  -0.33334085 -0.02978322]
 [ 0.33405592  0.94226128  0.02345381]
 [ 0.02024479 -0.032051    0.99928028]]

 t_gt:
[ 0.99365204 -0.08679529  0.07156959]

Pose Error in degrees for R and t:
179.83607486526728 38.172839248342875

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.92946667e-01 -1.18561376e-01  3.40969538e-04]
 [ 1.18561747e-01  9.92945647e-01 -1.43334807e-03]
 [-1.68624498e-04  1.46366414e-03  9.99998915e-01]]

 t_estimated:
[[-9.63491412e-01]
 [-2.67737689e-01]
 [-9.10672412e-04]]

 R_gt:
[[ 0.99426096  0.10628511  0.01220958]
 [-0.10635225  0.99431701  0.00492762]
 [-0.0116162  -0.00619708  0.99991341]]

 t_gt:
[-0.76451014  0.63752239  0.09533862]

Pose Error in degrees for R and t:
12.935861752384296 55.54051355239677

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.97867148e-01  6.52773358e-02 -1.54357049e-04]
 [-6.52773379e-02  9.97867160e-01 -8.22401576e-06]
 [ 1.53490988e-04  1.82824924e-05  9.99999988e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.94868591  0.31539546  0.02282637]
 [-0.3151674   0.94894677 -0.01306723]
 [-0.02578266  0.00520296  0.99965456]]

 t_gt:
[-0.69313614  0.72037774  0.02486348]

Pose Error in degrees for R and t:
14.715960548973356 46.300221922832144

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 8.42941219e-01 -5.38005198e-01 -7.13111512e-04]
 [ 5.38005420e-01  8.42941365e-01  1.53430189e-04]
 [ 5.18564951e-04 -5.12990489e-04  9.99999734e-01]]

 t_estimated:
[[-0.52105208]
 [-0.85352442]
 [-0.00089374]]

 R_gt:
[[ 0.84091362  0.53422814  0.08639976]
 [-0.53297813  0.84523545 -0.0388925 ]
 [-0.09380601 -0.01334331  0.99550106]]

 t_gt:
[-0.6069521   0.78735651  0.10806888]

Pose Error in degrees for R and t:
65.08478133281079 69.15316845556266

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.98888383e-01 -4.71380669e-02  1.98277713e-06]
 [ 4.71380666e-02  9.98888381e-01  7.45659534e-05]
 [-5.49546794e-06 -7.43896003e-05  9.99999997e-01]]

 t_estimated:
[[ 9.94628728e-01]
 [-1.03506886e-01]
 [ 1.35715121e-04]]

 R_gt:
[[ 0.97834939 -0.20113043 -0.04878572]
 [ 0.20166474  0.97943466  0.00624661]
 [ 0.04652681 -0.01594947  0.99879027]]

 t_gt:
[ 0.78170253 -0.61685031 -0.09185232]

Pose Error in degrees for R and t:
9.357462009981449 32.71815236227351

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.91990010e-01  1.26315645e-01  4.21892447e-04]
 [-1.26315620e-01  9.91990099e-01 -8.43511361e-05]
 [-4.29167999e-04  3.03838783e-05  9.99999907e-01]]

 t_estimated:
[[9.16226821e-01]
 [4.00659554e-01]
 [5.78096656e-04]]

 R_gt:
[[ 0.93496831 -0.33700125 -0.11074796]
 [ 0.34186084  0.93934209  0.02771442]
 [ 0.0946914  -0.06377258  0.99346205]]

 t_gt:
[ 0.83490353 -0.55024055 -0.01309353]

Pose Error in degrees for R and t:
27.937601625422868 57.009887116478374

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.80583707  0.59213314 -0.00222767]
 [-0.59211543  0.80583392  0.00556883]
 [ 0.00509262 -0.00316854  0.99998201]]

 t_estimated:
[[-0.98669896]
 [-0.16254206]
 [-0.00228932]]

 R_gt:
[[ 0.92729831 -0.35940489 -0.10462375]
 [ 0.36564196  0.92953758  0.04759254]
 [ 0.0801469  -0.08238787  0.99337278]]

 t_gt:
[ 0.83199221 -0.55152407  0.06008471]

Pose Error in degrees for R and t:
57.94356288532666 42.99463624223788

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.79927015 -0.59874133  0.05173041]
 [-0.59247204  0.79946701  0.09914326]
 [-0.10071793  0.04859343 -0.99372762]]

 t_estimated:
[[0.97404274]
 [0.22636205]
 [0.00097992]]

 R_gt:
[[ 0.98967416 -0.0763938  -0.1212868 ]
 [ 0.07501137  0.99705565 -0.01593262]
 [ 0.12214739  0.00667081  0.99248894]]

 t_gt:
[ 0.59330675 -0.49724912 -0.63303271]

Pose Error in degrees for R and t:
177.93542000873364 62.307413186429805

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.91625014e-01 -1.29149726e-01  4.23622337e-04]
 [ 1.29149504e-01  9.91625000e-01  5.15190694e-04]
 [-4.86611237e-04 -4.56165364e-04  9.99999778e-01]]

 t_estimated:
[[0.63930903]
 [0.76894792]
 [0.00174671]]

 R_gt:
[[ 0.98185084 -0.11699016 -0.1492752 ]
 [ 0.11500248  0.99312396 -0.02190791]
 [ 0.15081169  0.00434396  0.988552  ]]

 t_gt:
[ 0.61071164 -0.55393426 -0.56585168]

Pose Error in degrees for R and t:
8.73586019610962 87.90815288610695

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.80179776e-01  1.98100667e-01  1.93199253e-03]
 [-1.98099290e-01  9.80181562e-01 -8.81652011e-04]
 [-2.06835931e-03  4.81451122e-04  9.99997745e-01]]

 t_estimated:
[[0.57504206]
 [0.81812315]
 [0.00107084]]

 R_gt:
[[ 0.97002466 -0.2117005  -0.11931373]
 [ 0.20299323  0.97581848 -0.08107097]
 [ 0.13359074  0.05442179  0.98954094]]

 t_gt:
[ 0.69820434 -0.5049408  -0.50748939]

Pose Error in degrees for R and t:
24.888530312106948 89.30381972686077

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.75723227e-01  2.19007202e-01  1.71263447e-04]
 [-2.19006944e-01  9.75722829e-01 -9.58698156e-04]
 [-3.77067455e-04  8.97916175e-04  9.99999526e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98800068  0.15034743 -0.03536926]
 [-0.14758567  0.98651163  0.07081187]
 [ 0.04553947 -0.06474198  0.99686287]]

 t_gt:
[-0.74828493  0.66025115  0.06432792]

Pose Error in degrees for R and t:
6.136597424448613 41.73910631305841

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.91416255 -0.40061323 -0.0617728 ]
 [ 0.40320419  0.91435892  0.0370696 ]
 [ 0.04163194 -0.05879469  0.99740161]]

 t_estimated:
[[0.99842201]
 [0.05581241]
 [0.00620138]]

 R_gt:
[[ 0.97353744  0.19644716 -0.11675606]
 [-0.18163954  0.97522091  0.12629194]
 [ 0.13867387 -0.10174264  0.98509815]]

 t_gt:
[-0.80179949  0.53611652 -0.26400125]

Pose Error in degrees for R and t:
35.11870821362322 39.44367825611225

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 3.16361946e-01  9.48630687e-01  3.86504482e-03]
 [-9.48559569e-01  3.16385555e-01 -1.16157286e-02]
 [-1.22418810e-02  8.54926388e-06  9.99925065e-01]]

 t_estimated:
[[0.09841504]
 [0.99508538]
 [0.010935  ]]

 R_gt:
[[ 0.94908051  0.25915982 -0.17911607]
 [-0.22263251  0.95402041  0.20069402]
 [ 0.22289327 -0.15059756  0.96314002]]

 t_gt:
[-0.87180967  0.41602714 -0.25859104]

Pose Error in degrees for R and t:
59.45490163055302 71.01287670790892

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.25231404  0.96738242 -0.02255857]
 [-0.96752123  0.25183963 -0.02189675]
 [-0.01550139  0.02735075  0.9995057 ]]

 t_estimated:
[[0.01209101]
 [0.99992617]
 [0.0012091 ]]

 R_gt:
[[ 9.87276037e-01 -1.59016735e-01  4.12204820e-04]
 [ 1.59011724e-01  9.87258391e-01  6.06391834e-03]
 [-1.37172393e-03 -5.92046549e-03  9.99981973e-01]]

 t_gt:
[ 0.55138546 -0.83217571  0.05880183]

Pose Error in degrees for R and t:
84.5699147108272 34.37333193932424

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.61334263e-01 -2.75256014e-01 -8.40012412e-03]
 [ 2.75268726e-01  9.61367250e-01  3.73927472e-04]
 [ 7.97267843e-03 -2.67176076e-03  9.99964648e-01]]

 t_estimated:
[[-0.95344096]
 [-0.30143801]
 [-0.00924456]]

 R_gt:
[[ 0.93737674 -0.34682224  0.03224536]
 [ 0.34766447  0.93726854 -0.02563952]
 [-0.02133038  0.03524454  0.99915049]]

 t_gt:
[ 0.63656439 -0.77122292  0.00099567]

Pose Error in degrees for R and t:
5.149368508124316 68.00906723535908

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99999899e-01  2.55159036e-04 -3.71261866e-04]
 [-2.54968983e-04  9.99999836e-01  5.11867060e-04]
 [ 3.71392412e-04 -5.11772348e-04  9.99999800e-01]]

 t_estimated:
[[9.99998335e-01]
 [1.65229907e-03]
 [7.74432026e-04]]

 R_gt:
[[ 0.86955299 -0.49263118 -0.03453593]
 [ 0.4918067   0.87019099 -0.02988267]
 [ 0.04477323  0.0090007   0.99895706]]

 t_gt:
[ 0.70736607 -0.70219567 -0.08095975]

Pose Error in degrees for R and t:
29.630770779870698 45.078124895986704

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99582865e-01 -2.88803488e-02 -1.48734489e-04]
 [ 2.88804514e-02  9.99582598e-01  7.41659429e-04]
 [ 1.27253023e-04 -7.45645576e-04  9.99999714e-01]]

 t_estimated:
[[0.88178663]
 [0.4716359 ]
 [0.0034517 ]]

 R_gt:
[[ 0.98510361 -0.15030058 -0.08354819]
 [ 0.15051081  0.98860167 -0.00381049]
 [ 0.08316892 -0.00882136  0.99649649]]

 t_gt:
[ 0.63049093 -0.72487801 -0.27754829]

Pose Error in degrees for R and t:
8.488263945123201 77.6946295216845

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.96514966e-01  8.34141261e-02  7.38499248e-05]
 [-8.34141286e-02  9.96514968e-01  3.15343911e-05]
 [-7.09621418e-05 -3.75846199e-05  9.99999997e-01]]

 t_estimated:
[[0.4815527 ]
 [0.87641645]
 [0.00109259]]

 R_gt:
[[ 0.9687798  -0.21206401 -0.12842734]
 [ 0.2251262   0.96944559  0.09743281]
 [ 0.1038421  -0.12330357  0.98692105]]

 t_gt:
[ 0.59079452 -0.80161063  0.09155452]

Pose Error in degrees for R and t:
19.787045441240213 65.2950212064666

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 8.46835548e-01  5.31854417e-01  6.58310391e-04]
 [-5.31854284e-01  8.46835803e-01 -3.78039111e-04]
 [-7.58542580e-04 -2.99882442e-05  9.99999712e-01]]

 t_estimated:
[[0.94912685]
 [0.31489203]
 [0.00111269]]

 R_gt:
[[ 0.9545931  -0.24643497 -0.1673973 ]
 [ 0.27319126  0.94822877  0.16195093]
 [ 0.11882093 -0.20032907  0.97249699]]

 t_gt:
[ 0.55412444 -0.79642861  0.24217262]

Pose Error in degrees for R and t:
49.18440877614141 74.01326300388158

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999937e-01 -3.55723569e-04 -1.72474499e-05]
 [ 3.55723663e-04  9.99999937e-01  5.45980088e-06]
 [ 1.72455066e-05 -5.46593586e-06  1.00000000e+00]]

 t_estimated:
[[-9.05052379e-01]
 [ 4.25300110e-01]
 [-8.07376628e-05]]

 R_gt:
[[ 0.99607671  0.08741559  0.01375286]
 [-0.08717616  0.99604554 -0.01709353]
 [-0.01519173  0.01582741  0.9997599 ]]

 t_gt:
[-0.73942515  0.67015718  0.06434131]

Pose Error in degrees for R and t:
5.184030219913234 17.401745324956853

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.31663857e-01 -3.63321397e-01 -1.44833297e-04]
 [ 3.63321352e-01  9.31663847e-01 -2.67299795e-04]
 [ 2.32051682e-04  1.96412529e-04  9.99999954e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.9694597   0.24499843 -0.01108733]
 [-0.24437471  0.9688293   0.0406116 ]
 [ 0.02069198 -0.03666084  0.99911408]]

 t_gt:
[-0.70304715  0.70963144  0.0463458 ]

Pose Error in degrees for R and t:
35.55396319947464 67.20217486210841

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.24073    -0.96498858  0.10414468]
 [-0.96312801  0.25078117  0.09743329]
 [-0.12013953 -0.07684955 -0.98977808]]

 t_estimated:
[[0.74926865]
 [0.65561007]
 [0.09365858]]

 R_gt:
[[ 0.94896541  0.30150013 -0.09252593]
 [-0.29246105  0.95107754  0.09958752]
 [ 0.11802592 -0.06744454  0.99071831]]

 t_gt:
[-0.73354864  0.66714054 -0.12973008]

Pose Error in degrees for R and t:
173.91178349491116 82.85439567430541

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.99801451  0.06295719  0.00185275]
 [-0.06294767  0.99800523 -0.00481157]
 [-0.00215198  0.00468539  0.99998671]]

 t_estimated:
[[-0.98786614]
 [-0.15530106]
 [-0.00143982]]

 R_gt:
[[ 0.99207392 -0.11792038 -0.04341594]
 [ 0.11839056  0.99293122  0.00844199]
 [ 0.04211315 -0.0135151   0.99902152]]

 t_gt:
[ 0.65602256 -0.72840247 -0.1976468 ]

Pose Error in degrees for R and t:
10.748339529525984 57.67940037463021

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.43011586e-01  3.32758883e-01  8.20778434e-04]
 [-3.32758762e-01  9.43011944e-01 -2.83747314e-04]
 [-8.68423306e-04 -5.54421112e-06  9.99999623e-01]]

 t_estimated:
[[-9.93398962e-01]
 [ 1.14710510e-01]
 [-3.14288496e-05]]

 R_gt:
[[ 0.96980426 -0.22670053 -0.08993157]
 [ 0.23034729  0.97256957  0.03236345]
 [ 0.08012731 -0.05210134  0.99542236]]

 t_gt:
[ 0.68826587 -0.71404993 -0.12815142]

Pose Error in degrees for R and t:
33.13005020555779 40.037140827642844

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99998447e-01 -4.20083444e-04  1.71185124e-03]
 [ 4.23631240e-04  9.99997762e-01 -2.07265505e-03]
 [-1.71097672e-03  2.07337703e-03  9.99996387e-01]]

 t_estimated:
[[0.99993664]
 [0.01121137]
 [0.00101037]]

 R_gt:
[[ 0.96472988 -0.25675633 -0.05808578]
 [ 0.25853468  0.96566757  0.02540149]
 [ 0.04956995 -0.03952282  0.99798872]]

 t_gt:
[ 0.65181697 -0.75577099 -0.06280795]

Pose Error in degrees for R and t:
15.390651236513769 49.96623153285296

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.39963938e-01  3.41273773e-01 -8.64037637e-05]
 [-3.41273768e-01  9.39963786e-01 -5.44001162e-04]
 [-1.04436920e-04  5.40828812e-04  9.99999848e-01]]

 t_estimated:
[[7.85640816e-01]
 [6.18682390e-01]
 [7.80179559e-04]]

 R_gt:
[[ 0.98573049 -0.16808674 -0.00907187]
 [ 0.16831273  0.98498717  0.03835144]
 [ 0.00248879 -0.0393308   0.99922273]]

 t_gt:
[ 0.55870549 -0.82138643  0.11477157]

Pose Error in degrees for R and t:
29.727914943742956 86.03506568520625

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 6.24734726e-01  7.80837061e-01 -8.45411741e-05]
 [-7.80836749e-01  6.24734372e-01 -9.66843405e-04]
 [-7.02131385e-04  6.70033505e-04  9.99999529e-01]]

 t_estimated:
[[-0.99986286]
 [-0.01650393]
 [-0.00137533]]

 R_gt:
[[ 0.94800331 -0.31826005  0.00107005]
 [ 0.31825729  0.94800183  0.0020183 ]
 [-0.00165745 -0.00157235  0.99999712]]

 t_gt:
[ 0.63635776 -0.77139335  0.0010444 ]

Pose Error in degrees for R and t:
69.89514900763243 51.42482610535978

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.96015404e-01  8.91811497e-02  1.92578519e-04]
 [-8.91811058e-02  9.96015401e-01 -2.25595412e-04]
 [-2.11930029e-04  2.07522140e-04  9.99999956e-01]]

 t_estimated:
[[0.65905948]
 [0.75208998]
 [0.00112085]]

 R_gt:
[[ 0.86840547 -0.49541143 -0.02097353]
 [ 0.49583192  0.86798958  0.02727279]
 [ 0.00469362 -0.03408269  0.9994073 ]]

 t_gt:
[ 0.71519128 -0.69800726  0.03587895]

Pose Error in degrees for R and t:
34.89192473280083 86.92916837285574

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.97606993e-01  6.91385319e-02 -3.88010725e-04]
 [-6.91383069e-02  9.97606924e-01  5.66017690e-04]
 [ 4.26215818e-04 -5.37836801e-04  9.99999765e-01]]

 t_estimated:
[[0.87457747]
 [0.48488479]
 [0.00099158]]

 R_gt:
[[ 0.99793908 -0.04470002  0.04603822]
 [ 0.04528629  0.99890466 -0.01177515]
 [-0.045462    0.01383609  0.99887047]]

 t_gt:
[ 0.6796998  -0.58061697  0.4482099 ]

Pose Error in degrees for R and t:
7.100297409657113 71.738028144904

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 0.99935703  0.03575968  0.00260202]
 [-0.03575142  0.99935574 -0.00315362]
 [-0.00271311  0.00305857  0.99999164]]

 t_estimated:
[[-0.65899597]
 [-0.75214519]
 [-0.00139029]]

 R_gt:
[[ 0.99097701 -0.10901666  0.07797698]
 [ 0.10985467  0.99392709 -0.00653614]
 [-0.07679022  0.01504386  0.99693423]]

 t_gt:
[ 0.67756436 -0.65010233  0.34390916]

Pose Error in degrees for R and t:
9.389442938417407 87.59395727566272

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99966959e-01 -7.90586214e-03 -1.89154079e-03]
 [ 7.90712313e-03  9.99968520e-01  6.60100585e-04]
 [ 1.88626258e-03 -6.75035421e-04  9.99997993e-01]]

 t_estimated:
[[9.99886190e-01]
 [1.50841662e-02]
 [2.74890709e-04]]

 R_gt:
[[ 0.98875643 -0.13207463  0.07012004]
 [ 0.13393471  0.9907353  -0.02250789]
 [-0.06649767  0.03164652  0.9972853 ]]

 t_gt:
[ 0.74472985 -0.65152737  0.14453217]

Pose Error in degrees for R and t:
8.404817789242273 42.70485974890473

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 8.64969676e-01  5.01823849e-01  5.32738091e-04]
 [-5.01824127e-01  8.64969325e-01  7.82128545e-04]
 [-6.83113497e-05 -9.43858302e-04  9.99999552e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98548203 -0.16976698  0.00217956]
 [ 0.16974972  0.98546428  0.0067636 ]
 [-0.00329563 -0.00629582  0.99997402]]

 t_gt:
[ 0.98817398 -0.14265369  0.05623256]

Pose Error in degrees for R and t:
39.89612749896115 45.02251065623025

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 8.18643397e-01 -5.74296949e-01  2.45010943e-03]
 [-5.74299917e-01 -8.18644692e-01  6.88281376e-04]
 [ 1.61049119e-03 -1.97055465e-03 -9.99996762e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.93429003 -0.35490378 -0.03384107]
 [ 0.35590007  0.93403693  0.03017476]
 [ 0.02089988 -0.04023584  0.99897145]]

 t_gt:
[ 0.99216078 -0.07067627  0.10306241]

Pose Error in degrees for R and t:
178.46752182422648 86.24952181455397

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.99996898e-01 -2.49050635e-03  4.84276779e-05]
 [ 2.49050242e-03  9.99996895e-01  8.08948286e-05]
 [-4.86289967e-05 -8.07739684e-05  9.99999996e-01]]

 t_estimated:
[[-3.35753600e-03]
 [-9.99994257e-01]
 [-4.62301125e-04]]

 R_gt:
[[ 0.88486234 -0.46464819 -0.0334779 ]
 [ 0.46585105  0.88276829  0.06086383]
 [ 0.00127344 -0.06945121  0.99758433]]

 t_gt:
[ 0.98947091 -0.00956019  0.14441583]

Pose Error in degrees for R and t:
27.899726272796865 89.64641465549516

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.98708511  0.16014798 -0.00395054]
 [-0.16010678  0.98705718  0.00916214]
 [ 0.00536671 -0.00841131  0.99995022]]

 t_estimated:
[[0.70276012]
 [0.71142645]
 [0.00078785]]

 R_gt:
[[ 0.98974202 -0.1406578  -0.02503271]
 [ 0.14143624  0.98940883  0.03262944]
 [ 0.02017816 -0.03583422  0.99915433]]

 t_gt:
[ 0.70632238 -0.69701604  0.12360151]

Pose Error in degrees for R and t:
17.416926358458436 89.96579804152037

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.66582730e-01 -2.56270613e-01  6.57262130e-03]
 [ 2.56260907e-01  9.66604929e-01  2.29299669e-03]
 [-6.94075581e-03 -5.32065103e-04  9.99975771e-01]]

 t_estimated:
[[0.86621985]
 [0.4996583 ]
 [0.00218191]]

 R_gt:
[[ 0.96613383 -0.25713663 -0.02161409]
 [ 0.25760926  0.9562648   0.13854708]
 [-0.01495604 -0.13942218  0.99011984]]

 t_gt:
[ 0.62911486 -0.64947639  0.42707718]

Pose Error in degrees for R and t:
7.999254121315583 77.21064309388132

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.8556658  -0.51752435 -0.0021421 ]
 [-0.5175199  -0.85561952 -0.00940107]
 [ 0.00303246  0.00915275 -0.99995351]]

 t_estimated:
[[ 0.52459948]
 [ 0.85134869]
 [-0.00089072]]

 R_gt:
[[ 0.95102069 -0.30731806 -0.03341416]
 [ 0.30868493  0.93829841  0.15591146]
 [-0.01656214 -0.15858874  0.98720515]]

 t_gt:
[ 0.64842919 -0.64731473  0.4006535 ]

Pose Error in degrees for R and t:
171.8562884071056 77.80252044815273

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99794267e-01 -2.02835531e-02  2.90398834e-05]
 [ 2.02835547e-02  9.99794266e-01 -5.73375051e-05]
 [-2.78709006e-05  5.79147410e-05  9.99999998e-01]]

 t_estimated:
[[ 9.89380160e-01]
 [-1.45350950e-01]
 [ 2.83808499e-05]]

 R_gt:
[[ 0.99851283 -0.05307111 -0.01241651]
 [ 0.05282959  0.99842333 -0.01898707]
 [ 0.01340485  0.01830405  0.99974266]]

 t_gt:
[ 0.69820808 -0.62991912 -0.34015789]

Pose Error in degrees for R and t:
2.279451946453196 38.524406895155

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.99999885e-01  4.19022318e-04  2.32859662e-04]
 [-4.19022677e-04  9.99999912e-01  1.49291561e-06]
 [-2.32859016e-04 -1.59048892e-06  9.99999973e-01]]

 t_estimated:
[[9.78798666e-01]
 [2.04823551e-01]
 [6.95569058e-04]]

 R_gt:
[[ 0.98166525 -0.19041269 -0.00875102]
 [ 0.19013984  0.98142792 -0.02543954]
 [ 0.01343305  0.02331005  0.99963817]]

 t_gt:
[ 0.78327055 -0.60863427 -0.12669484]

Pose Error in degrees for R and t:
11.102814506576557 50.06535398912579

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999423e-01  7.30688960e-04 -7.87041807e-04]
 [-7.30062481e-04  9.99999417e-01  7.95984788e-04]
 [ 7.87622965e-04 -7.95409739e-04  9.99999373e-01]]

 t_estimated:
[[-0.27325575]
 [-0.96194089]
 [-0.00100832]]

 R_gt:
[[ 0.94878199 -0.31580352 -0.00894286]
 [ 0.31512126  0.94799847 -0.04468838]
 [ 0.02259115  0.03958247  0.99896107]]

 t_gt:
[ 0.84283947 -0.52195408 -0.13109371]

Pose Error in degrees for R and t:
18.62693190227734 74.2220194580788

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 9.99438539e-01 -3.35053186e-02 -2.67934043e-05]
 [ 3.35053196e-02  9.99438538e-01  3.88602638e-05]
 [ 2.54763353e-05 -3.97361669e-05  9.99999999e-01]]

 t_estimated:
[[ 6.48429721e-02]
 [ 9.97895478e-01]
 [-6.27834700e-05]]

 R_gt:
[[ 0.99931656  0.0127608  -0.03471972]
 [-0.01377858  0.99947757 -0.02924184]
 [ 0.03432824  0.02969978  0.99896896]]

 t_gt:
[-0.03348966  0.4407994  -0.89698067]

Pose Error in degrees for R and t:
3.735399989185799 64.03917698470846

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 8.79949862e-01  4.75066559e-01 -7.30231373e-05]
 [-4.75066531e-01  8.79949847e-01  2.41830843e-04]
 [ 1.79142445e-04 -1.78108168e-04  9.99999968e-01]]

 t_estimated:
[[-0.9583845 ]
 [-0.28547624]
 [-0.00156855]]

 R_gt:
[[ 0.99690139  0.01921472 -0.07628914]
 [-0.02542513  0.99636531 -0.08129795]
 [ 0.07444944  0.08298584  0.99376608]]

 t_gt:
[ 0.02846686  0.39036565 -0.9202197 ]

Pose Error in degrees for R and t:
27.814111700534564 82.10958168398749

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.99512944 -0.09856452  0.00156211]
 [ 0.09856781  0.99512792 -0.00219197]
 [-0.00133845  0.00233527  0.99999638]]

 t_estimated:
[[0.47384645]
 [0.88060689]
 [0.00102197]]

 R_gt:
[[ 0.99820791  0.02471384 -0.05451514]
 [-0.02840479  0.99728049 -0.06800345]
 [ 0.05268666  0.06942994  0.99619413]]

 t_gt:
[-0.05455113  0.44302201 -0.89484953]

Pose Error in degrees for R and t:
8.720751957546803 68.69301166942324

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.96449963e-01  8.41860839e-02  4.17509304e-04]
 [-8.41861127e-02  9.96450047e-01  5.17671578e-05]
 [-4.11669092e-04 -8.67318679e-05  9.99999912e-01]]

 t_estimated:
[[0.3104012 ]
 [0.95060367]
 [0.00194001]]

 R_gt:
[[ 0.99856166  0.02299467 -0.04844425]
 [-0.02505999  0.99878377 -0.04246165]
 [ 0.04740891  0.04361396  0.99792241]]

 t_gt:
[-0.0648704   0.45987343 -0.8856118 ]

Pose Error in degrees for R and t:
5.069334022895558 65.46157400687169

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 0.94348994 -0.33138709  0.00305482]
 [-0.33138719 -0.94332536  0.01788297]
 [-0.00304449 -0.01788473 -0.99983542]]

 t_estimated:
[[0.12978475]
 [0.99149553]
 [0.0096191 ]]

 R_gt:
[[ 0.9972125   0.02181938 -0.07136155]
 [-0.02725186  0.99673197 -0.07605032]
 [ 0.06946909  0.07778235  0.99454702]]

 t_gt:
[ 0.02254392  0.37636967 -0.92619525]

Pose Error in degrees for R and t:
176.00747091560956 68.4578537378207

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-9.90136332e-01 -1.40102263e-01 -1.18329541e-03]
 [ 1.40103774e-01 -9.90135961e-01 -1.30818551e-03]
 [-9.88343590e-04 -1.46106616e-03  9.99998444e-01]]

 t_estimated:
[[0.78241459]
 [0.6227572 ]
 [0.00093367]]

 R_gt:
[[ 9.98964939e-01 -8.00086639e-04  4.54883789e-02]
 [-1.56705563e-03  9.98648768e-01  5.19470254e-02]
 [-4.54681987e-02 -5.19648360e-02  9.97613223e-01]]

 t_gt:
[-0.11368804 -0.18458385  0.97621915]

Pose Error in degrees for R and t:
171.973306374345 78.28810180937779

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.41846540e-01 -3.36043255e-01 -1.62732703e-04]
 [ 3.36043164e-01  9.41846490e-01 -4.25455489e-04]
 [ 2.96240672e-04  3.46028568e-04  9.99999896e-01]]

 t_estimated:
[[-0.04978707]
 [-0.99875872]
 [-0.0015087 ]]

 R_gt:
[[ 0.99958681 -0.02183188  0.01867367]
 [ 0.02240702  0.99926247 -0.03121635]
 [-0.01797721  0.03162239  0.99933832]]

 t_gt:
[ 0.51775781  0.23421955 -0.82284145]

Pose Error in degrees for R and t:
18.483545004105256 75.02099775929725

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.37460035  0.92709384  0.01309951]
 [ 0.92714448 -0.37441174 -0.0147971 ]
 [-0.00881369  0.01768814 -0.99980471]]

 t_estimated:
[[0.82662336]
 [0.56275418]
 [0.00125056]]

 R_gt:
[[ 0.9755271  -0.21962279 -0.01054739]
 [ 0.21975093  0.97546973  0.01302778]
 [ 0.00742753 -0.01502628  0.99985921]]

 t_gt:
[ 0.99109758 -0.12209882  0.05307973]

Pose Error in degrees for R and t:
179.82556358226594 41.35595943434041

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.29693986e-01 -3.68332625e-01  4.13035142e-04]
 [ 3.68332749e-01  9.29693987e-01 -2.77958799e-04]
 [-2.81614994e-04  4.10550993e-04  9.99999876e-01]]

 t_estimated:
[[-0.10964656]
 [-0.99396992]
 [-0.00119181]]

 R_gt:
[[ 0.92056668 -0.3890798  -0.03425483]
 [ 0.38989522  0.92060903  0.02145784]
 [ 0.0231866  -0.03310846  0.99918294]]

 t_gt:
[ 0.99714654 -0.03679009  0.06591867]

Pose Error in degrees for R and t:
2.691000043711748 85.8226459512292

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 6.78045380e-01  7.35019138e-01  1.15296811e-03]
 [-7.35019049e-01  6.78046208e-01 -5.80901556e-04]
 [-1.20873941e-03 -4.53575905e-04  9.99999167e-01]]

 t_estimated:
[[-0.17114264]
 [ 0.98524558]
 [ 0.00115796]]

 R_gt:
[[ 0.993372   -0.11468255  0.00765312]
 [ 0.11331588  0.98832946  0.10179538]
 [-0.01923799 -0.10025313  0.99477582]]

 t_gt:
[ 0.42078141 -0.66476403  0.61727773]

Pose Error in degrees for R and t:
54.16540556209519 43.4266772890078

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.99938931 -0.03425468  0.00690109]
 [ 0.03434412  0.99932172 -0.01328803]
 [-0.00644123  0.01351693  0.9998879 ]]

 t_estimated:
[[-0.99998981]
 [ 0.0039976 ]
 [-0.00209811]]

 R_gt:
[[ 0.99039941 -0.13742929 -0.01489967]
 [ 0.1382259   0.98576247  0.09572982]
 [ 0.00153164 -0.09686982  0.99529537]]

 t_gt:
[ 0.48714561 -0.7438399   0.45759301]

Pose Error in degrees for R and t:
8.72927477641548 60.5887835217642

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999663e-01  8.15212820e-04  9.40102187e-05]
 [-8.15221625e-04  9.99999663e-01  9.36584997e-05]
 [-9.39338354e-05 -9.37351073e-05  9.99999991e-01]]

 t_estimated:
[[9.91600057e-01]
 [1.29339138e-01]
 [8.45353842e-04]]

 R_gt:
[[ 9.92785956e-01 -1.19897592e-01  4.48283159e-04]
 [ 1.19896807e-01  9.92738591e-01 -9.65017747e-03]
 [ 7.12004401e-04  9.63432708e-03  9.99952947e-01]]

 t_gt:
[ 0.76061731 -0.64682868 -0.0554434 ]

Pose Error in degrees for R and t:
6.955856922641286 47.89270882636633

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999956e-01  2.74854683e-04  1.10004154e-04]
 [-2.74808926e-04  9.99999876e-01 -4.15755470e-04]
 [-1.10118413e-04  4.15725222e-04  9.99999908e-01]]

 t_estimated:
[[0.57352699]
 [0.8191861 ]
 [0.00096716]]

 R_gt:
[[ 0.96308908 -0.26911371 -0.00605131]
 [ 0.26903281  0.96306081 -0.01158251]
 [ 0.00894475  0.0095267   0.99991414]]

 t_gt:
[ 0.82723229 -0.56023172 -0.04274524]

Pose Error in degrees for R and t:
15.642781443913513 89.11390455077658

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-7.97455631e-02  9.96815222e-01 -2.39874386e-04]
 [-9.96771334e-01 -7.97443062e-02 -9.36767607e-03]
 [-9.35697072e-03 -5.07930692e-04  9.99956094e-01]]

 t_estimated:
[[0.76476485]
 [0.6442882 ]
 [0.00523812]]

 R_gt:
[[ 0.92582282 -0.37781281  0.01044405]
 [ 0.37775959  0.92409139 -0.05790146]
 [ 0.01222431  0.05755145  0.99826688]]

 t_gt:
[ 0.87469429 -0.46923742 -0.12135136]

Pose Error in degrees for R and t:
116.80951256749435 68.532361034907

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 4.00610452e-01 -9.16248206e-01 -6.99955519e-04]
 [ 9.16248404e-01  4.00610008e-01  6.95255386e-04]
 [-3.56617315e-04 -9.19859702e-04  9.99999513e-01]]

 t_estimated:
[[9.76225068e-01]
 [2.16757820e-01]
 [8.14879022e-04]]

 R_gt:
[[ 0.98861277 -0.1395696  -0.05625756]
 [ 0.14074411  0.98989212  0.01748046]
 [ 0.05325034 -0.02519903  0.99826283]]

 t_gt:
[ 0.6619526  -0.72828802 -0.17724365]

Pose Error in degrees for R and t:
58.406978220177855 60.777122367963095

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-4.50001647e-01  8.93027716e-01 -1.23809288e-04]
 [-8.93025388e-01 -4.50000783e-01 -2.22506686e-03]
 [-2.04276066e-03 -8.90718917e-04  9.99997517e-01]]

 t_estimated:
[[0.00623687]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97876243 -0.19715935 -0.0561562 ]
 [ 0.1988682   0.97966431  0.02662289]
 [ 0.04976554 -0.03722426  0.99806704]]

 t_gt:
[ 0.64540881 -0.75968195 -0.07956635]

Pose Error in degrees for R and t:
128.20718037395991 40.91131610939323

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 7.64078183e-01  6.45121343e-01  1.72701780e-03]
 [-6.45123068e-01  7.64071137e-01  3.39476683e-03]
 [ 8.70472085e-04 -3.70800629e-03  9.99992746e-01]]

 t_estimated:
[[9.16457492e-01]
 [4.00131107e-01]
 [8.73648705e-04]]

 R_gt:
[[ 0.97197793 -0.2318124  -0.03900684]
 [ 0.23260929  0.9724169   0.01726344]
 [ 0.03392961 -0.02585183  0.99908945]]

 t_gt:
[ 0.6151708  -0.78611118 -0.05995071]

Pose Error in degrees for R and t:
53.65638840917059 75.5711255737457

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.71476078e-01 -2.37135741e-01 -9.33049080e-04]
 [ 2.37134141e-01  9.71475663e-01 -1.56039948e-03]
 [ 1.27646096e-03  1.29463298e-03  9.99998347e-01]]

 t_estimated:
[[-0.05491632]
 [-0.99847848]
 [-0.00499239]]

 R_gt:
[[ 0.99608503  0.06170764  0.06331504]
 [-0.05543611  0.99379398 -0.09644181]
 [-0.06887304  0.0925547   0.99332262]]

 t_gt:
[-0.42630467  0.87884948 -0.21421464]

Pose Error in degrees for R and t:
18.306029486795964 31.457031209365386

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.93825803 -0.34591903  0.00344977]
 [ 0.34592456  0.93826163 -0.00114473]
 [-0.00284081  0.00226741  0.99999339]]

 t_estimated:
[[9.78257285e-01]
 [2.07393594e-01]
 [7.62476450e-04]]

 R_gt:
[[ 0.9907616   0.05952748  0.12185245]
 [-0.05022892  0.99568583 -0.07801819]
 [-0.12597197  0.07117809  0.98947768]]

 t_gt:
[-0.40038471  0.82733572  0.39396407]

Pose Error in degrees for R and t:
24.746547878438204 77.30302252644732

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99999547e-01  9.47836810e-04  8.75299410e-05]
 [-9.47815953e-04  9.99999522e-01 -2.38022132e-04]
 [-8.77555053e-05  2.37939062e-04  9.99999968e-01]]

 t_estimated:
[[-0.0065479 ]
 [-0.99997794]
 [-0.00111737]]

 R_gt:
[[ 0.98685905 -0.01842794  0.16053224]
 [ 0.03173384  0.99623097 -0.08072444]
 [-0.1584404   0.08475912  0.98372379]]

 t_gt:
[0.35982818 0.24455736 0.90039734]

Pose Error in degrees for R and t:
10.449128433402109 75.64588296110493

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 4.57530321e-01  8.89193868e-01 -5.20487172e-04]
 [-8.89188440e-01  4.57525298e-01 -3.81043757e-03]
 [-3.15008167e-03  2.20620190e-03  9.99992605e-01]]

 t_estimated:
[[0.47476149]
 [0.8801134 ]
 [0.00138819]]

 R_gt:
[[ 0.9990038  -0.0414611  -0.01645073]
 [ 0.04338138  0.9888963   0.14213691]
 [ 0.0103746  -0.14270969  0.98971024]]

 t_gt:
[ 0.12434512 -0.65505903  0.74527576]

Pose Error in degrees for R and t:
65.70402155219233 58.90508253939388

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.81613883e-01 -1.90877359e-01 -1.38755115e-04]
 [ 1.90877388e-01  9.81613857e-01  2.40015582e-04]
 [ 9.03904027e-05 -2.62087842e-04  9.99999962e-01]]

 t_estimated:
[[-0.42636387]
 [-0.90455097]
 [-0.0011778 ]]

 R_gt:
[[ 0.98973437 -0.08528124 -0.11468799]
 [ 0.10301969  0.98190479  0.15890039]
 [ 0.09906148 -0.16908397  0.98061016]]

 t_gt:
[ 0.37980701 -0.83904971  0.38954104]

Pose Error in degrees for R and t:
12.571779719568761 53.37547598796577

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 5.25105305e-01  8.51034363e-01  2.22059114e-03]
 [-8.51036442e-01  5.25106632e-01 -1.69090528e-05]
 [-1.18043732e-03 -1.88092495e-03  9.99997534e-01]]

 t_estimated:
[[0.06898936]
 [0.99761636]
 [0.00143642]]

 R_gt:
[[ 0.97249348 -0.12919377 -0.19381861]
 [ 0.15907316  0.97619318  0.14745545]
 [ 0.1701534  -0.17423117  0.96989198]]

 t_gt:
[ 0.50633601 -0.85053643  0.1421676 ]

Pose Error in degrees for R and t:
68.0521464467215 35.57319109695926

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.87574493e-01  1.57151584e-01  1.68194884e-05]
 [-1.57151582e-01  9.87574491e-01 -7.44931716e-05]
 [-2.83172175e-05  7.09243469e-05  9.99999997e-01]]

 t_estimated:
[[-9.47014940e-01]
 [ 3.21189463e-01]
 [-1.77493087e-04]]

 R_gt:
[[ 0.97278104  0.23073818 -0.02137897]
 [-0.2308732   0.9729751  -0.00407082]
 [ 0.01986197  0.00889605  0.99976335]]

 t_gt:
[-0.32014325  0.94327554 -0.08797471]

Pose Error in degrees for R and t:
4.4814189347829245 52.68719093142348

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-9.81496740e-01 -1.91415284e-01 -4.93334856e-03]
 [-1.91412007e-01  9.81509124e-01 -1.13251240e-03]
 [ 5.05890680e-03 -1.67255084e-04 -9.99987190e-01]]

 t_estimated:
[[ 0.98197451]
 [ 0.18900985]
 [-0.00116035]]

 R_gt:
[[ 0.92215842  0.38491698 -0.03825408]
 [-0.3838191   0.92281548  0.03308392]
 [ 0.04803628 -0.01582494  0.99872112]]

 t_gt:
[-0.25493084  0.96348213 -0.08192955]

Pose Error in degrees for R and t:
177.35327806810702 86.09324554058257

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 4.89303781e-01 -8.72113405e-01 -1.40496174e-04]
 [-8.72108794e-01 -4.89301706e-01  3.17683592e-03]
 [-2.83930621e-03 -1.43190988e-03 -9.99994944e-01]]

 t_estimated:
[[0.28638839]
 [0.95810806]
 [0.00326189]]

 R_gt:
[[ 0.86741786  0.49621567 -0.03683156]
 [-0.4938995   0.86762533  0.05735726]
 [ 0.06041673 -0.0315618   0.99767462]]

 t_gt:
[-0.2111375   0.97472866 -0.07297254]

Pose Error in degrees for R and t:
179.05937800618418 29.16851533027673

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.91380262e-01 -1.31014207e-01  6.73821453e-04]
 [ 1.31014464e-01  9.91380394e-01 -3.52855534e-04]
 [-6.21784290e-04  4.38094368e-04  9.99999711e-01]]

 t_estimated:
[[0.95257568]
 [0.30429937]
 [0.00121523]]

 R_gt:
[[ 0.98941612 -0.14503564  0.00447159]
 [ 0.14509742  0.98859437 -0.04034925]
 [ 0.00143141  0.04057092  0.99917522]]

 t_gt:
[ 0.46220366 -0.77921624 -0.42330819]

Pose Error in degrees for R and t:
2.4436039657706212 78.30776762616009

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.60432377e-01  2.78512144e-01 -7.96731979e-04]
 [-2.78510629e-01  9.60431783e-01  1.61863117e-03]
 [ 1.21601515e-03 -1.33268746e-03  9.99998373e-01]]

 t_estimated:
[[-9.84422430e-01]
 [-1.75817582e-01]
 [-8.10227231e-04]]

 R_gt:
[[ 0.96546275 -0.26040643 -0.00828521]
 [ 0.2597557   0.96454079 -0.04677789]
 [ 0.0201728   0.04301021  0.99887064]]

 t_gt:
[ 0.46470734 -0.83076137 -0.30640273]

Pose Error in degrees for R and t:
31.376251423347988 71.87099232041481

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999890e-01 -4.11688458e-04  2.25163711e-04]
 [ 4.11783168e-04  9.99999827e-01 -4.20740197e-04]
 [-2.24990458e-04  4.20832869e-04  9.99999886e-01]]

 t_estimated:
[[0.91100264]
 [0.41239856]
 [0.00127626]]

 R_gt:
[[ 0.9470252  -0.31598179  0.05742829]
 [ 0.3180656   0.94754521 -0.03151775]
 [-0.04445687  0.04811325  0.9978516 ]]

 t_gt:
[ 0.3229467  -0.94591291 -0.03089   ]

Pose Error in degrees for R and t:
18.849664370196955 84.49530885543413

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-5.60116636e-01 -8.28407395e-01 -3.24697607e-03]
 [ 8.28411214e-01 -5.60120327e-01  2.83014235e-04]
 [-2.05314838e-03 -2.53131040e-03  9.99994689e-01]]

 t_estimated:
[[0.97275407]
 [0.23183377]
 [0.00161879]]

 R_gt:
[[ 0.97586467 -0.21496192 -0.03845953]
 [ 0.2148481   0.97662079 -0.00712883]
 [ 0.03909259 -0.00130606  0.99923506]]

 t_gt:
[ 0.76134043 -0.63547367 -0.12858445]

Pose Error in degrees for R and t:
111.66286348384068 53.6252160257483

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 1.00000000e+00 -5.35838041e-12  3.03894280e-14]
 [ 5.35843592e-12  1.00000000e+00  8.01391288e-14]
 [-3.03876932e-14 -8.01407551e-14  1.00000000e+00]]

 t_estimated:
[[-0.54964908]
 [-0.83539505]
 [-0.0009998 ]]

 R_gt:
[[ 0.91683087 -0.39891378 -0.01703483]
 [ 0.39894353  0.91697336 -0.00175002]
 [ 0.01631961 -0.0051916   0.99985349]]

 t_gt:
[ 0.8108793  -0.58498685 -0.01628321]

Pose Error in degrees for R and t:
23.533200841494466 87.53481409531886

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.93851874 -0.3452145  -0.00308764]
 [-0.34522669  0.93850415  0.00533763]
 [ 0.00105513  0.0060754  -0.99998099]]

 t_estimated:
[[9.01886971e-01]
 [4.31971314e-01]
 [8.21718951e-04]]

 R_gt:
[[ 8.47066334e-01 -5.31421896e-01  8.40841885e-03]
 [ 5.31402228e-01  8.47107425e-01  4.60922857e-03]
 [-9.57139207e-03  5.63935230e-04  9.99953824e-01]]

 t_gt:
[ 0.84333104 -0.53667458  0.02780567]

Pose Error in degrees for R and t:
179.47589764741602 58.07666208509279

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[-9.99434949e-01 -2.09281454e-02  2.63019935e-02]
 [-2.09062641e-02  9.99780828e-01  1.10666525e-03]
 [-2.63193893e-02  5.56163507e-04 -9.99653430e-01]]

 t_estimated:
[[0.99990902]
 [0.00182636]
 [0.01336473]]

 R_gt:
[[ 0.99047282 -0.1368499   0.01537844]
 [ 0.13672797  0.99056922  0.00877272]
 [-0.01643381 -0.00658706  0.99984382]]

 t_gt:
[ 0.70506039 -0.70051     0.11034303]

Pose Error in degrees for R and t:
177.57555336970654 45.15497755213836

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.28032000e-01  3.72500429e-01 -1.95441391e-04]
 [-3.72500462e-01  9.28031990e-01 -1.77417730e-04]
 [ 1.15287682e-04  2.37451339e-04  9.99999965e-01]]

 t_estimated:
[[-0.98530003]
 [-0.17082601]
 [-0.00152523]]

 R_gt:
[[ 9.43427751e-01 -3.28404878e-01 -4.57550716e-02]
 [ 3.28746917e-01  9.44417434e-01 -6.42252450e-05]
 [ 4.32334467e-02 -1.49809637e-02  9.98952867e-01]]

 t_gt:
[ 0.79469246 -0.60181642 -0.07925211]

Pose Error in degrees for R and t:
41.14234872649998 47.149814020825424

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.26779120e-01  3.75606775e-01  1.19194862e-04]
 [-3.75606715e-01  9.26778674e-01  9.40825929e-04]
 [ 2.42913337e-04 -9.16708217e-04  9.99999550e-01]]

 t_estimated:
[[8.09803416e-01]
 [5.86700949e-01]
 [6.50444511e-04]]

 R_gt:
[[ 0.87518099 -0.48231311 -0.03783942]
 [ 0.48310508  0.87543217  0.01508916]
 [ 0.02584898 -0.03148638  0.99916973]]

 t_gt:
[ 0.83800519 -0.54564249 -0.00464467]

Pose Error in degrees for R and t:
50.98572960116959 68.99266414048206

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-2.45762378e-01  9.69317393e-01  4.96442968e-03]
 [ 9.69329927e-01  2.45762216e-01  6.52077574e-04]
 [-5.87999105e-04  4.97242639e-03 -9.99987465e-01]]

 t_estimated:
[[8.01490828e-01]
 [5.98006744e-01]
 [6.22275488e-04]]

 R_gt:
[[ 0.99306205 -0.11528837  0.02316855]
 [ 0.11630551  0.99201352 -0.04880087]
 [-0.01735626  0.05115728  0.99854017]]

 t_gt:
[ 0.83666652 -0.50512198 -0.21175676]

Pose Error in degrees for R and t:
177.1065848069655 68.38410861916948

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99998459e-01  1.74924375e-03 -1.51469549e-04]
 [-1.74916730e-03  9.99998344e-01  5.03354803e-04]
 [ 1.52349788e-04 -5.03089082e-04  9.99999862e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98320872 -0.17193881  0.06112691]
 [ 0.17686448  0.98036095 -0.08723622]
 [-0.04492698  0.09658336  0.99431085]]

 t_gt:
[ 0.84110588 -0.49722323 -0.21286137]

Pose Error in degrees for R and t:
11.880460079872236 32.923732352026285

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-8.19720262e-01 -5.72764039e-01 -2.16797687e-04]
 [-5.70857114e-01  8.16960158e-01  8.18428656e-02]
 [-4.66995352e-02  6.72120158e-02 -9.96645222e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97697693 -0.17368759  0.12389376]
 [ 0.19258227  0.9678502  -0.1617915 ]
 [-0.09180879  0.18192703  0.97901692]]

 t_gt:
[ 0.82053265 -0.42491798 -0.382323  ]

Pose Error in degrees for R and t:
175.23702516435273 35.023719695708785

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99997750e-01 -2.11987982e-03 -7.58491552e-05]
 [ 2.11991186e-03  9.99997663e-01  4.24826022e-04]
 [ 7.49483978e-05 -4.24985859e-04  9.99999907e-01]]

 t_estimated:
[[0.01588563]
 [0.9998694 ]
 [0.00297163]]

 R_gt:
[[ 0.97707004  0.20950513 -0.03796631]
 [-0.20928058  0.97780585  0.00987588]
 [ 0.03919253 -0.00170313  0.99923068]]

 t_gt:
[-0.32551068  0.93420434 -0.14596247]

Pose Error in degrees for R and t:
12.415946624362434 21.8012618636334

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99994373e-01 -3.17478004e-03 -1.08355699e-03]
 [ 3.17450569e-03  9.99994929e-01 -2.54822573e-04]
 [ 1.08436050e-03  2.51381381e-04  9.99999380e-01]]

 t_estimated:
[[-0.98585785]
 [-0.16755884]
 [-0.00288571]]

 R_gt:
[[ 0.94189514  0.33402783 -0.03546749]
 [-0.33211707  0.94187999  0.0506081 ]
 [ 0.05031072 -0.03588788  0.99808851]]

 t_gt:
[-0.30099559  0.95058854 -0.0760466 ]

Pose Error in degrees for R and t:
19.96445430599735 82.08644895500312

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99998768e-01 -4.22387221e-04 -1.51205333e-03]
 [ 4.35388596e-04  9.99962851e-01  8.60851200e-03]
 [ 1.50836103e-03 -8.60915972e-03  9.99961803e-01]]

 t_estimated:
[[0.7399412 ]
 [0.67267057]
 [0.001155  ]]

 R_gt:
[[ 0.89896974  0.43658311 -0.03531808]
 [-0.43577746  0.89960665  0.02839589]
 [ 0.04416928 -0.01013603  0.99897224]]

 t_gt:
[-0.25133312  0.96461155 -0.0797259 ]

Pose Error in degrees for R and t:
26.00225831706156 62.43193729900944

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 8.51992173e-01 -5.23554222e-01 -5.60065106e-04]
 [ 5.23554229e-01  8.51992341e-01 -1.45434135e-04]
 [ 5.53313836e-04 -1.69315710e-04  9.99999833e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98939734  0.14515959 -0.00468643]
 [-0.14522738  0.98847308 -0.0427837 ]
 [-0.00157818  0.04301226  0.99907324]]

 t_gt:
[-0.35900726  0.92106415 -0.15084631]

Pose Error in degrees for R and t:
39.996352391095456 23.270508685165556

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999907e-01 -2.32617086e-04 -3.63641196e-04]
 [ 2.32617551e-04  9.99999973e-01  1.23565780e-06]
 [ 3.63640899e-04 -1.32024701e-06  9.99999934e-01]]

 t_estimated:
[[-0.6216871 ]
 [-0.78326419]
 [-0.00153883]]

 R_gt:
[[ 0.96213555  0.27187267 -0.01951069]
 [-0.27244544  0.95702905 -0.09934103]
 [-0.008336    0.10089499  0.99486238]]

 t_gt:
[-0.29295789  0.94200215 -0.16373033]

Pose Error in degrees for R and t:
16.872699074327976 56.25783971066007

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99998263e-01 -1.80727720e-03 -4.55986467e-04]
 [ 1.80733839e-03  9.99998358e-01  1.33828058e-04]
 [ 4.55743854e-04 -1.34651948e-04  9.99999887e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075944e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.43302637e-01  3.31932190e-01  4.36668454e-04]
 [-3.30926411e-01  9.40542543e-01 -7.65963185e-02]
 [-2.58353587e-02  7.21090618e-02  9.97062097e-01]]

 t_gt:
[-0.29701152  0.95385804 -0.04403409]

Pose Error in degrees for R and t:
19.975794557294762 72.89723473849119

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 5.31922805e-01  8.46789129e-01  2.50996744e-03]
 [-8.46785794e-01  5.31928136e-01 -2.50552282e-03]
 [-3.45677179e-03 -7.92660041e-04  9.99993711e-01]]

 t_estimated:
[[0.01873201]
 [0.99981781]
 [0.00366982]]

 R_gt:
[[ 0.99416942 -0.10010195 -0.04010415]
 [ 0.09908027  0.99472172 -0.02670135]
 [ 0.04256526  0.02257188  0.9988386 ]]

 t_gt:
[ 0.5488238  -0.70623671 -0.44723835]

Pose Error in degrees for R and t:
63.64348870540487 45.775727262608505

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.72469793e-01  2.33026782e-01  1.01022098e-03]
 [-2.33026585e-01  9.72470315e-01 -3.10448558e-04]
 [-1.05475274e-03  6.64935011e-05  9.99999442e-01]]

 t_estimated:
[[9.75986078e-01]
 [2.17831243e-01]
 [8.50903294e-04]]

 R_gt:
[[ 0.96647316 -0.25650713 -0.01160416]
 [ 0.25670897  0.96623577  0.02211975]
 [ 0.00553814 -0.02435694  0.9996881 ]]

 t_gt:
[ 0.65200462 -0.75682874  0.04582834]

Pose Error in degrees for R and t:
28.383560820966036 61.86663572049937

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 4.70965343e-01  8.82149697e-01  1.88629385e-03]
 [-8.82149942e-01  4.70967606e-01 -9.96761543e-04]
 [-1.76767619e-03 -1.19455387e-03  9.99997724e-01]]

 t_estimated:
[[0.88028691]
 [0.47444035]
 [0.00114323]]

 R_gt:
[[ 0.88151306 -0.47140489 -0.0266995 ]
 [ 0.47214425  0.88053494  0.0416854 ]
 [ 0.00385933 -0.04935215  0.99877419]]

 t_gt:
[ 0.7808995  -0.62065658  0.0705789 ]

Pose Error in degrees for R and t:
90.10754533103591 66.85672291835965

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99996513e-01 -2.64067485e-03  1.74197730e-05]
 [ 2.64067395e-03  9.99996512e-01  5.14677714e-05]
 [-1.75556219e-05 -5.14215920e-05  9.99999999e-01]]

 t_estimated:
[[ 4.48079840e-01]
 [-8.93993507e-01]
 [ 2.55901349e-04]]

 R_gt:
[[ 0.99293358 -0.05269361  0.10632428]
 [ 0.06643375  0.98926723 -0.13014252]
 [-0.09832471  0.13628706  0.98577812]]

 t_gt:
[ 0.11186233  0.47977716 -0.87023025]

Pose Error in degrees for R and t:
10.218546078436141 67.72718659517513

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.78958255e-01 -2.04056418e-01  1.30921011e-03]
 [ 2.04055914e-01  9.78959103e-01  5.09057229e-04]
 [-1.38553955e-03 -2.31193711e-04  9.99999013e-01]]

 t_estimated:
[[ 0.95627385]
 [-0.29246565]
 [ 0.00204212]]

 R_gt:
[[ 0.98216885 -0.06832561  0.17514186]
 [ 0.10259854  0.97545902 -0.1948175 ]
 [-0.15753225  0.20931381  0.96507501]]

 t_gt:
[ 0.10200611  0.39376302 -0.91353458]

Pose Error in degrees for R and t:
16.595606090639635 88.88369714971127

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.73781060e-01  2.27487234e-01 -6.86360747e-05]
 [-2.27487223e-01  9.73780800e-01 -7.19376314e-04]
 [-9.68124359e-05  7.16128860e-04  9.99999739e-01]]

 t_estimated:
[[-0.4318695]
 [-0.9019344]
 [-0.0017526]]

 R_gt:
[[ 0.96540153 -0.10671635  0.23792822]
 [ 0.16416581  0.95764    -0.23658877]
 [-0.20260152  0.26746334  0.94202746]]

 t_gt:
[ 0.34254388  0.14571417 -0.92813311]

Pose Error in degrees for R and t:
28.75371262797144 73.8750960192226

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 5.34806126e-01  8.44974778e-01  1.82357491e-04]
 [-8.44974345e-01  5.34806050e-01 -9.18591979e-04]
 [-8.73712943e-04  3.37181216e-04  9.99999561e-01]]

 t_estimated:
[[-1.70787499e-01]
 [ 9.85307777e-01]
 [ 4.63451527e-04]]

 R_gt:
[[ 9.98088832e-01 -6.17361709e-02  2.84761229e-03]
 [ 6.17969783e-02  9.96350773e-01 -5.88896550e-02]
 [ 7.97650580e-04  5.89529121e-02  9.98259556e-01]]

 t_gt:
[ 0.72434407 -0.59369655 -0.35049976]

Pose Error in degrees for R and t:
61.29536233765355 44.85896678250106

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.97826099 -0.20736539  0.00224433]
 [-0.2073546  -0.97793457  0.02545678]
 [-0.00308405 -0.02536875 -0.9996734 ]]

 t_estimated:
[[0.09515763]
 [0.9953843 ]
 [0.01245498]]

 R_gt:
[[ 0.99344473 -0.1123926  -0.02086939]
 [ 0.10723367  0.97950448 -0.17050607]
 [ 0.0396044   0.16715089  0.98513481]]

 t_gt:
[ 0.62545179 -0.33569979 -0.70435481]

Pose Error in degrees for R and t:
171.59812912234938 73.53637797090545

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 2.31788750e-01 -9.72763260e-01 -2.36969154e-03]
 [ 9.72765364e-01  2.31790966e-01 -7.03776028e-04]
 [ 1.23388055e-03 -2.14202649e-03  9.99996945e-01]]

 t_estimated:
[[0.7363608 ]
 [0.67658856]
 [0.00083017]]

 R_gt:
[[ 0.99095806 -0.11692164 -0.06581463]
 [ 0.09796063  0.9656751  -0.24057537]
 [ 0.09168366  0.23195279  0.96839584]]

 t_gt:
[ 0.52548007 -0.10713002 -0.84403427]

Pose Error in degrees for R and t:
71.61226237301496 71.71407084429435

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.00291931  0.99999273  0.00245361]
 [ 0.99999472  0.00291579  0.00143564]
 [ 0.00142848  0.00245778 -0.99999596]]

 t_estimated:
[[9.93938598e-01]
 [1.09932880e-01]
 [9.08536196e-04]]

 R_gt:
[[ 0.98760146 -0.15570079 -0.02002425]
 [ 0.15435055  0.98637002 -0.05701272]
 [ 0.02862799  0.05321561  0.99817233]]

 t_gt:
[ 0.55090389 -0.59874883 -0.58138175]

Pose Error in degrees for R and t:
178.6991950869362 61.235263535822305

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99997765e-01  1.99796290e-03 -6.90919754e-04]
 [-1.99701868e-03  9.99997075e-01  1.36461877e-03]
 [ 6.93644190e-04 -1.36323594e-03  9.99998830e-01]]

 t_estimated:
[[ 9.99997281e-01]
 [-8.92281811e-04]
 [ 2.15439441e-03]]

 R_gt:
[[ 0.94833413 -0.3161417  -0.02678955]
 [ 0.31533137  0.94849078 -0.03051952]
 [ 0.03505831  0.02049577  0.99917487]]

 t_gt:
[ 0.62916172 -0.75417278 -0.18809293]

Pose Error in degrees for R and t:
18.674513732926773 50.99208682741731

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.0427352   0.9990854   0.00143828]
 [ 0.99907446  0.0427276   0.00495713]
 [ 0.00489114  0.00164879 -0.99998668]]

 t_estimated:
[[-0.44334904]
 [-0.8963361 ]
 [-0.00481901]]

 R_gt:
[[ 0.90843495 -0.41753717  0.02021803]
 [ 0.41801916  0.90707505 -0.04975207]
 [ 0.00243432  0.05364802  0.99855701]]

 t_gt:
[ 0.59566105 -0.79473424 -0.11655647]

Pose Error in degrees for R and t:
177.60223850209636 63.331682970692825

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.82482487e-01  1.86354641e-01  3.31853991e-04]
 [-1.86354596e-01  9.82482539e-01 -1.61339234e-04]
 [-3.56107066e-04  9.66704554e-05  9.99999932e-01]]

 t_estimated:
[[0.80470325]
 [0.59367661]
 [0.00087563]]

 R_gt:
[[ 0.98921327 -0.14616076 -0.009725  ]
 [ 0.14595398  0.9891012  -0.01939933]
 [ 0.0124534   0.01777129  0.99976436]]

 t_gt:
[ 0.74553534 -0.6578636  -0.1067359 ]

Pose Error in degrees for R and t:
19.17985219930168 77.91966145081432

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-8.31500321e-01 -5.55523820e-01  7.08917591e-04]
 [ 5.55473057e-01 -8.31440314e-01 -1.25174392e-02]
 [ 7.54315829e-03 -1.00144701e-02  9.99921402e-01]]

 t_estimated:
[[9.59234172e-01]
 [2.82611471e-01]
 [7.47649394e-04]]

 R_gt:
[[ 0.96417744 -0.26395872  0.02620936]
 [ 0.26448078  0.96420598 -0.01890728]
 [-0.02028113  0.02516231  0.99947755]]

 t_gt:
[ 0.76770287 -0.64078536  0.00514162]

Pose Error in degrees for R and t:
130.94228749138819 56.26742246218425

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-7.41703637e-01  6.70723833e-01  2.29255761e-03]
 [ 6.70721752e-01  7.41707126e-01 -1.69406240e-03]
 [-2.83665434e-03  2.81176013e-04 -9.99995937e-01]]

 t_estimated:
[[0.99875492]
 [0.04986442]
 [0.0014666 ]]

 R_gt:
[[ 0.90371744 -0.4267814  -0.03393574]
 [ 0.42690919  0.90428719 -0.00376398]
 [ 0.03229247 -0.0110852   0.99941696]]

 t_gt:
[ 0.82853708 -0.55853436 -0.03956869]

Pose Error in degrees for R and t:
178.25121845288643 36.90841535079624

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.93633021e-01 -1.12665024e-01 -1.08604345e-04]
 [ 1.12665040e-01  9.93633013e-01  1.56290901e-04]
 [ 9.03043442e-05 -1.67531713e-04  9.99999982e-01]]

 t_estimated:
[[-2.82708589e-01]
 [-9.59205742e-01]
 [-4.43984105e-04]]

 R_gt:
[[ 0.99875113  0.04962376  0.00583877]
 [-0.04921057  0.99715083 -0.0571628 ]
 [-0.00865872  0.05680376  0.99834772]]

 t_gt:
[-0.65574293  0.30586048 -0.69025399]

Pose Error in degrees for R and t:
9.871951167983074 83.81768432656158

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.92947284e-01  1.18556692e-01  3.74074490e-05]
 [-1.18556696e-01  9.92947275e-01  1.34019177e-04]
 [-2.12547543e-05 -1.37508881e-04  9.99999990e-01]]

 t_estimated:
[[ 0.99739283]
 [-0.07215516]
 [ 0.00108594]]

 R_gt:
[[ 0.99772044 -0.06637668  0.01215289]
 [ 0.06707342  0.99524047 -0.07068882]
 [-0.00740263  0.07134323  0.99742353]]

 t_gt:
[ 0.68445564 -0.00972072 -0.7289897 ]

Pose Error in degrees for R and t:
11.4077945363479 46.95434501312385

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.98974585e-01  4.52640088e-02  9.73833530e-04]
 [-4.52626330e-02  9.98974153e-01 -1.39123346e-03]
 [-1.03580733e-03  1.34572859e-03  9.99998558e-01]]

 t_estimated:
[[-0.59764522]
 [-0.80175902]
 [-0.00163291]]

 R_gt:
[[ 0.97073856 -0.23964508  0.01537189]
 [ 0.24007573  0.9670366  -0.08486815]
 [ 0.00547274  0.0860751   0.99627269]]

 t_gt:
[ 0.93819927 -0.07914255 -0.3369252 ]

Pose Error in degrees for R and t:
17.196929431641475 60.21763288050406

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-0.68710566  0.72621462 -0.02231894]
 [ 0.72618946  0.68741114  0.01071414]
 [ 0.02312305 -0.00884603 -0.99969349]]

 t_estimated:
[[ 0.89982277]
 [-0.43608883]
 [-0.01206263]]

 R_gt:
[[ 0.99385956  0.10925679 -0.01748568]
 [-0.10855537  0.9934016   0.03700662]
 [ 0.02141398 -0.03488216  0.99916187]]

 t_gt:
[-0.74620496  0.66047855  0.08334416]

Pose Error in degrees for R and t:
176.74035680322356 16.160687846525633

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.92048627e-01 -1.25855079e-01 -1.43455926e-04]
 [ 1.25855081e-01  9.92048637e-01  6.27308391e-06]
 [ 1.41525756e-04 -2.42778615e-05  9.99999990e-01]]

 t_estimated:
[[-8.37597023e-01]
 [-5.46288179e-01]
 [-6.72768693e-04]]

 R_gt:
[[ 0.9628825   0.26808136 -0.03147431]
 [-0.2672858   0.96323007  0.02730471]
 [ 0.03763709 -0.01787888  0.99913116]]

 t_gt:
[-0.63987758  0.76616148 -0.05960927]

Pose Error in degrees for R and t:
22.88604829704704 83.25477122313308

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.75762924  0.65266546  0.00507346]
 [-0.6526844  -0.75759347 -0.0074302 ]
 [-0.00100581 -0.0089407   0.99995953]]

 t_estimated:
[[0.6806895 ]
 [0.73257132]
 [0.00103764]]

 R_gt:
[[ 0.90458067  0.42604809 -0.01476883]
 [-0.42578505  0.90464577  0.01799466]
 [ 0.02102738 -0.00998977  0.9997287 ]]

 t_gt:
[-0.5902111   0.80716938 -0.01133367]

Pose Error in degrees for R and t:
114.05329949308451 79.07365855464253

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.90277301e-01  1.39105845e-01 -6.57301076e-04]
 [-1.39105588e-01  9.90277465e-01  4.22175443e-04]
 [ 7.09637515e-04 -3.26636506e-04  9.99999695e-01]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.99735246 -0.04841258  0.05425079]
 [ 0.05109984  0.99747653 -0.04929679]
 [-0.05172736  0.0519389   0.99730978]]

 t_gt:
[ 0.79790726 -0.6018741  -0.033039  ]

Pose Error in degrees for R and t:
11.651162394356248 38.037340247521186

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-0.98420567  0.15755042  0.08072831]
 [ 0.15839504  0.9873672   0.00412708]
 [-0.07905826  0.01684886 -0.9967276 ]]

 t_estimated:
[[0.08985802]
 [0.99592643]
 [0.00748817]]

 R_gt:
[[ 0.99347496 -0.04113921  0.1063643 ]
 [ 0.0546832   0.99029962 -0.12773921]
 [-0.10007827  0.13272326  0.98608762]]

 t_gt:
[ 0.6113993  -0.25672783 -0.74851968]

Pose Error in degrees for R and t:
168.88245911195847 78.09158213480845

Number of keypoints:
Image1: 24
Image2: 24

 R_estimated:
[[ 9.99999955e-01 -1.84343549e-04  2.35075494e-04]
 [ 1.84400237e-04  9.99999954e-01 -2.41150193e-04]
 [-2.35031028e-04  2.41193530e-04  9.99999943e-01]]

 t_estimated:
[[2.27755859e-01]
 [9.73718073e-01]
 [6.19282006e-04]]

 R_gt:
[[ 0.98876439  0.01068205  0.14909975]
 [ 0.0194804   0.97972877 -0.19937919]
 [-0.14820809  0.2000441   0.96851273]]

 t_gt:
[-0.47072694  0.57183275 -0.67188053]

Pose Error in degrees for R and t:
14.399162752440137 63.30910778423412

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-0.29929875 -0.95415682  0.00224297]
 [-0.95415312  0.29928737 -0.00434613]
 [ 0.0034756  -0.00344093 -0.99998804]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99679652 -0.07915863 -0.01146088]
 [ 0.07892728  0.99669085 -0.01944985]
 [ 0.0129626   0.01848249  0.99974542]]

 t_gt:
[ 0.96136764 -0.14910946 -0.23138414]

Pose Error in degrees for R and t:
178.73830727073684 47.05446933413595

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 5.34353396e-01  8.45260815e-01  7.76258146e-04]
 [-8.45259999e-01  5.34353960e-01 -1.17508531e-03]
 [-1.40805018e-03 -2.82291326e-05  9.99999008e-01]]

 t_estimated:
[[0.00834173]
 [0.99996466]
 [0.00104272]]

 R_gt:
[[ 0.97423237 -0.2252596  -0.01140139]
 [ 0.22411125  0.97248605 -0.06360172]
 [ 0.02541449  0.05940712  0.99791082]]

 t_gt:
[ 0.96087201 -0.08837087 -0.26251775]

Pose Error in degrees for R and t:
70.78162407848875 85.37544231983658

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.46868647e-01 -3.21619416e-01  8.46933956e-04]
 [ 3.21619915e-01  9.46868704e-01 -5.36101718e-04]
 [-6.29514536e-04  7.80008735e-04  9.99999498e-01]]

 t_estimated:
[[-0.01045967]
 [-0.99994475]
 [-0.00104597]]

 R_gt:
[[ 0.93779135 -0.34717661  0.00387639]
 [ 0.34706697  0.93707139 -0.03799312]
 [ 0.00955829  0.03697478  0.99927094]]

 t_gt:
[ 0.99102136 -0.08060342 -0.10667595]

Pose Error in degrees for R and t:
2.658106533605037 85.96620888789171

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99998889e-01  1.48845579e-03  7.76466199e-05]
 [-1.48846761e-03  9.99998881e-01  1.52468043e-04]
 [-7.74195910e-05 -1.52583448e-04  9.99999985e-01]]

 t_estimated:
[[-0.99961243]
 [-0.02776176]
 [-0.00206562]]

 R_gt:
[[ 0.99588176 -0.08599506  0.02871143]
 [ 0.08716668  0.99529034 -0.04242746]
 [-0.02492766  0.04475501  0.99868633]]

 t_gt:
[ 0.79638375 -0.58173992 -0.16538317]

Pose Error in degrees for R and t:
5.848587618475353 38.77755673329318

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.98223782  0.18760877 -0.00343626]
 [-0.18759958  0.98224152  0.00282644]
 [ 0.0039055  -0.00213159  0.9999901 ]]

 t_estimated:
[[-0.69900033]
 [-0.71511984]
 [-0.00146541]]

 R_gt:
[[ 0.98955169 -0.10385855  0.10000249]
 [ 0.11435851  0.98779874 -0.10571377]
 [-0.08780232  0.11604566  0.98935548]]

 t_gt:
[ 0.81144917 -0.5349212  -0.23539233]

Pose Error in degrees for R and t:
19.14295685749836 79.3781879972602

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 9.98825535e-01 -4.84415042e-02  9.85483963e-04]
 [ 4.84414341e-02  9.98826020e-01  9.48078317e-05]
 [-9.88919659e-04 -4.69582267e-05  9.99999510e-01]]

 t_estimated:
[[0.48166913]
 [0.87635219]
 [0.0012983 ]]

 R_gt:
[[ 0.98763489 -0.07598528  0.13712419]
 [ 0.1017555   0.97610546 -0.19200107]
 [-0.11925776  0.20358033  0.97176707]]

 t_gt:
[ 0.59259992 -0.23587212 -0.77018808]

Pose Error in degrees for R and t:
13.827854824610421 85.54189604599448

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.1105056  -0.99387419  0.00161442]
 [-0.9938577   0.11049375 -0.00616527]
 [ 0.00594912 -0.0022858  -0.99997969]]

 t_estimated:
[[ 0.7451894 ]
 [ 0.6668517 ]
 [-0.00125333]]

 R_gt:
[[ 0.98268791 -0.17981601 -0.04461278]
 [ 0.17865828  0.98349186 -0.02873551]
 [ 0.04904324  0.02026783  0.9985912 ]]

 t_gt:
[ 0.64806468 -0.69639576 -0.30829388]

Pose Error in degrees for R and t:
176.85593995477234 88.9156337846112

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999960e-01 -1.26800966e-04 -2.52173335e-04]
 [ 1.26887514e-04  9.99999933e-01  3.43222366e-04]
 [ 2.52129798e-04 -3.43254350e-04  9.99999909e-01]]

 t_estimated:
[[-8.05060099e-01]
 [-5.93192758e-01]
 [-7.67477198e-04]]

 R_gt:
[[ 0.9519509  -0.30586589  0.01537305]
 [ 0.30621778  0.95139035 -0.03298522]
 [-0.00453767  0.0361081   0.99933753]]

 t_gt:
[ 0.58252748 -0.80873784 -0.08127017]

Pose Error in degrees for R and t:
17.942947767758426 89.3794645892572

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-2.92425555e-01 -9.56288196e-01 -4.25615153e-04]
 [ 9.56288257e-01 -2.92425634e-01  1.36977153e-04]
 [-2.55450416e-04 -3.66955153e-04  9.99999900e-01]]

 t_estimated:
[[9.97212860e-01]
 [7.46044534e-02]
 [8.28938371e-04]]

 R_gt:
[[ 0.92371963 -0.38271277  0.01655069]
 [ 0.38289818  0.92373713 -0.0099721 ]
 [-0.01147197  0.01554933  0.99981326]]

 t_gt:
[ 0.54732668 -0.83687827  0.00826232]

Pose Error in degrees for R and t:
84.49966705103652 61.09405604615623

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.43521991e-01 -3.31309901e-01 -4.74454961e-05]
 [ 3.31309904e-01  9.43521976e-01  1.64867372e-04]
 [-9.85632437e-06 -1.71275153e-04  9.99999985e-01]]

 t_estimated:
[[9.33499511e-01]
 [3.58577648e-01]
 [8.56766184e-04]]

 R_gt:
[[ 9.96098803e-01 -8.81445273e-02  4.26134781e-03]
 [ 8.82466347e-02  9.94701137e-01 -5.27565287e-02]
 [ 4.11054513e-04  5.29262672e-02  9.98597895e-01]]

 t_gt:
[ 0.74349854 -0.61888571 -0.25335822]

Pose Error in degrees for R and t:
14.603952519192275 61.84100784128869

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.10403215 -0.99451391 -0.01092681]
 [-0.99457153  0.10400144  0.00334385]
 [-0.0021891   0.01121537 -0.99993471]]

 t_estimated:
[[0.06176029]
 [0.9980904 ]
 [0.00110286]]

 R_gt:
[[ 0.98900765 -0.14785588 -0.00145592]
 [ 0.14642436  0.98070132 -0.12955527]
 [ 0.02058362  0.12791847  0.99157041]]

 t_gt:
[ 0.73997362 -0.52375415 -0.42204341]

Pose Error in degrees for R and t:
174.27159089168677 61.47654603857159

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 6.68251082e-01  7.43935385e-01  7.96340592e-04]
 [-7.43935575e-01  6.68251340e-01 -8.05382061e-05]
 [-5.92070889e-04 -5.38606353e-04  9.99999680e-01]]

 t_estimated:
[[0.80581035]
 [0.59217313]
 [0.00081231]]

 R_gt:
[[ 0.98398471 -0.17347175 -0.0409956 ]
 [ 0.15944928  0.95941187 -0.23260218]
 [ 0.07968125  0.22234092  0.97170749]]

 t_gt:
[ 0.65706043 -0.29617849 -0.69321706]

Pose Error in degrees for R and t:
59.25181620615611 69.29759898867445

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.55194736e-01 -2.95978020e-01 -1.67773069e-04]
 [ 2.95978062e-01  9.55194678e-01  3.37993749e-04]
 [ 6.02172219e-05 -3.72506997e-04  9.99999929e-01]]

 t_estimated:
[[ 7.32687679e-01]
 [-6.80564856e-01]
 [ 4.92080529e-04]]

 R_gt:
[[ 0.99436695 -0.07240479  0.07741092]
 [ 0.07752116  0.9948518  -0.06528243]
 [-0.07228543  0.070916    0.99485921]]

 t_gt:
[ 0.73653799 -0.5516931  -0.39133939]

Pose Error in degrees for R and t:
14.1568857999316 23.80525229228374

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.98749583e-01  4.99926796e-02  5.10154812e-05]
 [-4.99926677e-02  9.98749562e-01 -2.13000371e-04]
 [-6.16001488e-05  2.10183631e-04  9.99999976e-01]]

 t_estimated:
[[-0.25272513]
 [-0.96753724]
 [-0.00130568]]

 R_gt:
[[ 0.98945132 -0.0944536   0.10984289]
 [ 0.10380979  0.99114167 -0.08283825]
 [-0.10104506  0.09336752  0.99049069]]

 t_gt:
[ 0.75549663 -0.58859768 -0.287711  ]

Pose Error in degrees for R and t:
11.657708258606016 67.73240400865238

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 8.85598151e-01  4.64452160e-01  3.25570902e-04]
 [-4.64451896e-01  8.85598108e-01 -6.54252755e-04]
 [-5.92194079e-04  4.28193008e-04  9.99999733e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98042626 -0.11417577  0.16040219]
 [ 0.13129791  0.98623421 -0.10052238]
 [-0.14671718  0.11961597  0.98191915]]

 t_gt:
[ 0.78596249 -0.58142608 -0.21025382]

Pose Error in degrees for R and t:
36.397708164422575 38.372395378943075

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.96226384e-01 -8.67928040e-02 -3.05817716e-05]
 [ 8.67928020e-02  9.96226383e-01 -6.38571543e-05]
 [ 3.60087092e-05  6.09619042e-05  9.99999997e-01]]

 t_estimated:
[[ 9.18813901e-01]
 [-3.94690743e-01]
 [-4.82866075e-04]]

 R_gt:
[[ 0.98817699 -0.1476797  -0.04120617]
 [ 0.14770875  0.98902816 -0.00237676]
 [ 0.04110585 -0.00373689  0.99914719]]

 t_gt:
[ 0.60242954 -0.77078429 -0.2072926 ]

Pose Error in degrees for R and t:
4.237996310766738 30.924843212714073

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 6.12465232e-01  7.90496943e-01  9.61214245e-04]
 [-7.90497259e-01  6.12463571e-01  1.56758751e-03]
 [ 6.50464424e-04 -1.71993007e-03  9.99998309e-01]]

 t_estimated:
[[0.67097824]
 [0.74147657]
 [0.00082939]]

 R_gt:
[[ 0.96928983 -0.23642061 -0.06769836]
 [ 0.2375952   0.97131583  0.0097383 ]
 [ 0.06345429 -0.02552344  0.99765802]]

 t_gt:
[ 0.62981049 -0.76627428 -0.1271317 ]

Pose Error in degrees for R and t:
66.06075424638117 81.62272000862039

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.89852685  0.4389057   0.00335871]
 [-0.438886    0.8985271  -0.00530357]
 [-0.00534565  0.00329131  0.9999803 ]]

 t_estimated:
[[0.83792673]
 [0.54578112]
 [0.00132793]]

 R_gt:
[[ 0.90861004 -0.41541103 -0.04316247]
 [ 0.41703078  0.90802458  0.03971565]
 [ 0.02269443 -0.05408564  0.9982777 ]]

 t_gt:
[ 0.72229636 -0.68974711  0.05036757]

Pose Error in degrees for R and t:
50.78208833561532 76.77077947042672

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 0.75068809 -0.66062726 -0.00624587]
 [-0.66065263 -0.75061627 -0.01064489]
 [ 0.00234406  0.01211734 -0.99992383]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.96827571e-01 -7.72541888e-02 -1.91968922e-02]
 [ 7.72757506e-02  9.97009232e-01  4.26154176e-04]
 [ 1.91056432e-02 -1.90794537e-03  9.99815043e-01]]

 t_gt:
[ 0.5133689  -0.8313951  -0.21268418]

Pose Error in degrees for R and t:
178.97959718229853 85.08208113969721

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.73639661e-01  2.28091615e-01 -1.58739577e-04]
 [-2.28091063e-01  9.73638441e-01  1.62862717e-03]
 [ 5.26031156e-04 -1.54948893e-03  9.99998661e-01]]

 t_estimated:
[[0.76054308]
 [0.64928703]
 [0.00076218]]

 R_gt:
[[ 0.97144817 -0.23714495  0.00715981]
 [ 0.23691624  0.9712356   0.02391039]
 [-0.01262434 -0.02153136  0.99968856]]

 t_gt:
[ 0.58685494 -0.80097826  0.11846985]

Pose Error in degrees for R and t:
26.93162892034973 85.77656895377862

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 4.73384903e-01  8.80855674e-01 -1.26232677e-04]
 [-8.80854108e-01  4.73384322e-01  1.82319993e-03]
 [ 1.66573257e-03 -7.51882749e-04  9.99998330e-01]]

 t_estimated:
[[ 2.88251806e-01]
 [ 9.57554591e-01]
 [-3.19567169e-04]]

 R_gt:
[[ 0.95220787 -0.30498897 -0.0168102 ]
 [ 0.30536501  0.95180411  0.02862741]
 [ 0.00726817 -0.03239219  0.99944842]]

 t_gt:
[ 0.62006755 -0.7829854   0.04949847]

Pose Error in degrees for R and t:
79.53603427431986 55.17781429006422

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.53203484e-01 -3.02329279e-01 -3.52215600e-04]
 [ 3.02329410e-01  9.53203421e-01  4.06987317e-04]
 [ 2.12688933e-04 -4.94426864e-04  9.99999855e-01]]

 t_estimated:
[[-0.67740648]
 [-0.73560846]
 [-0.00080836]]

 R_gt:
[[ 0.99286794  0.11785383 -0.01800953]
 [-0.1172291   0.99257345  0.03250724]
 [ 0.02170679 -0.03016492  0.99930902]]

 t_gt:
[-0.73481517  0.67668225  0.04634431]

Pose Error in degrees for R and t:
24.438960032177697 89.99758822001152

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[-7.25471477e-01 -6.88251704e-01 -8.53191181e-04]
 [-6.88252219e-01  7.25470657e-01  1.09941086e-03]
 [-1.37706231e-04  1.38480194e-03 -9.99999032e-01]]

 t_estimated:
[[8.37531061e-01]
 [5.46389311e-01]
 [6.64707191e-04]]

 R_gt:
[[ 0.96145037  0.27335894 -0.02980963]
 [-0.27293231  0.96187191  0.01764152]
 [ 0.03349526 -0.00882623  0.99939926]]

 t_gt:
[-0.6264748   0.77575345 -0.07573582]

Pose Error in degrees for R and t:
178.54908039619932 84.21020736990044

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.36271434e-01 -3.51276682e-01 -7.03247516e-04]
 [ 3.51277267e-01  9.36270886e-01  1.05316673e-03]
 [ 2.88477259e-04 -1.23308479e-03  9.99999198e-01]]

 t_estimated:
[[-7.69802272e-01]
 [-6.38281999e-01]
 [-7.43052386e-04]]

 R_gt:
[[ 0.89946358  0.43698543 -0.00304085]
 [-0.43695299  0.89945122  0.00777511]
 [ 0.0061324  -0.00566563  0.99996453]]

 t_gt:
[-0.58624587  0.81004412  0.01201276]

Pose Error in degrees for R and t:
46.47822482416641 86.22996244365297

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999849e-01 -5.42998270e-04  7.87067718e-05]
 [ 5.42995622e-04  9.99999852e-01  3.36527814e-05]
 [-7.87250335e-05 -3.36100389e-05  9.99999996e-01]]

 t_estimated:
[[ 1.91342152e-02]
 [-9.99816770e-01]
 [ 5.54302303e-04]]

 R_gt:
[[ 0.9913605   0.00910361  0.13084981]
 [-0.00830392  0.99994375 -0.00665952]
 [-0.13090277  0.00551563  0.99137959]]

 t_gt:
[-0.13468084  0.11869522  0.9837543 ]

Pose Error in degrees for R and t:
7.542773316874485 83.06719742166474

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 1.44163462e-01  9.89553745e-01  5.30230537e-04]
 [-9.89553378e-01  1.44163911e-01 -9.37369118e-04]
 [-1.00401723e-03 -3.89557042e-04  9.99999420e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97831806 -0.02253386  0.20588053]
 [ 0.03517139  0.99770169 -0.05792893]
 [-0.20410185  0.06391363  0.97686139]]

 t_gt:
[ 0.21516477 -0.00503272  0.97656479]

Pose Error in degrees for R and t:
84.11765148780009 89.8467023163034

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.72664392  0.68688986  0.01307409]
 [ 0.68688814  0.72674359 -0.00533161]
 [-0.01316374  0.00510625 -0.99990032]]

 t_estimated:
[[0.99737322]
 [0.07227342]
 [0.00481823]]

 R_gt:
[[ 0.9774818  -0.09559917  0.18812153]
 [ 0.10495378  0.99365719 -0.04039007]
 [-0.18306623  0.05922414  0.98131512]]

 t_gt:
[ 0.7193493  -0.35279316  0.59839249]

Pose Error in degrees for R and t:
168.17442139898782 45.98510493389958

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.95586607 -0.29313212  0.01983993]
 [-0.29280881 -0.95600773 -0.01766951]
 [ 0.02414663  0.01108038 -0.99964702]]

 t_estimated:
[[-0.19617738]
 [ 0.98035655]
 [-0.02038327]]

 R_gt:
[[ 0.99800415  0.06275806 -0.0070805 ]
 [-0.06301952  0.99693563 -0.04634418]
 [ 0.00415085  0.04669731  0.99890032]]

 t_gt:
[-0.48995327  0.70218063 -0.51661219]

Pose Error in degrees for R and t:
176.5215020178087 37.341403165285335

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.91059238e-01 -1.33422547e-01 -1.03727747e-04]
 [ 1.33422531e-01  9.91059235e-01 -1.46056615e-04]
 [ 1.22287587e-04  1.30911139e-04  9.99999984e-01]]

 t_estimated:
[[-0.5549102 ]
 [-0.83190961]
 [-0.00103378]]

 R_gt:
[[ 0.98970453  0.14212853 -0.01688474]
 [-0.14267266  0.98906614 -0.03730087]
 [ 0.01139918  0.03932536  0.99916056]]

 t_gt:
[-0.56519077  0.78028145 -0.26780637]

Pose Error in degrees for R and t:
16.027940164674042 70.4142865775661

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.9880942  -0.1537807  -0.00461945]
 [ 0.15379764  0.98809593  0.00356608]
 [ 0.00401607 -0.00423408  0.99998297]]

 t_estimated:
[[-7.86699600e-01]
 [-6.17335567e-01]
 [-7.33177633e-04]]

 R_gt:
[[ 0.96270674  0.26757737 -0.03996954]
 [-0.26934191  0.96182788 -0.04838771]
 [ 0.0254965   0.05734849  0.99802842]]

 t_gt:
[-0.53844705  0.81089721 -0.22917348]

Pose Error in degrees for R and t:
24.705654379762777 85.59353194065638

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.83967532  0.54308223  0.0026557 ]
 [ 0.54308647  0.83967589  0.00122125]
 [-0.00156669  0.00246773 -0.99999573]]

 t_estimated:
[[ 0.99389685]
 [-0.11030484]
 [ 0.00137795]]

 R_gt:
[[ 0.96835296 -0.24950278  0.00637208]
 [ 0.24915517  0.96786902  0.03395222]
 [-0.0146377  -0.03128934  0.99940297]]

 t_gt:
[ 0.7410165  -0.65859155  0.13096457]

Pose Error in degrees for R and t:
179.80252835512925 35.97042826137331

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.0549649   0.99847555  0.00504291]
 [ 0.99848059  0.05498361 -0.00364958]
 [-0.00392129  0.00483464 -0.99998062]]

 t_estimated:
[[0.99916663]
 [0.0407269 ]
 [0.00271513]]

 R_gt:
[[ 0.92168382 -0.38785705 -0.00809746]
 [ 0.3875344   0.91955843  0.06504506]
 [-0.01778091 -0.06308813  0.9978493 ]]

 t_gt:
[ 0.78545924 -0.59923056  0.15484351]

Pose Error in degrees for R and t:
177.984985119171 40.463434767496324

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 6.00865882e-01  7.99349168e-01  1.04838856e-03]
 [-7.99348330e-01  6.00866781e-01 -1.16547264e-03]
 [-1.56156145e-03 -1.37734902e-04  9.99998771e-01]]

 t_estimated:
[[0.75586203]
 [0.65473001]
 [0.00109653]]

 R_gt:
[[ 0.90455558 -0.4254372   0.02794871]
 [ 0.42333461  0.90400657  0.05967355]
 [-0.0506518  -0.04214496  0.99782668]]

 t_gt:
[ 0.7741046  -0.60741931  0.17833632]

Pose Error in degrees for R and t:
78.28434939268193 79.18630028327107

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.94844972e-01  1.01407402e-01 -1.41226539e-04]
 [-1.01407434e-01  9.94844952e-01 -2.33967457e-04]
 [ 1.16772477e-04  2.47082769e-04  9.99999963e-01]]

 t_estimated:
[[-0.9888424 ]
 [ 0.14895611]
 [-0.00167117]]

 R_gt:
[[ 0.99628654  0.08565301 -0.00872645]
 [-0.08572045  0.99628951 -0.00766002]
 [ 0.00803806  0.00838007  0.99993204]]

 t_gt:
[-0.79666518  0.59309984 -0.11643527]

Pose Error in degrees for R and t:
1.1157106606855363 28.798804075870926

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-3.28820507e-01  9.44392102e-01 -7.94464117e-04]
 [-9.44390789e-01 -3.28821389e-01 -1.59100544e-03]
 [-1.76376976e-03  2.27129380e-04  9.99998419e-01]]

 t_estimated:
[[0.32513502]
 [0.94566709]
 [0.00099127]]

 R_gt:
[[ 0.96749696  0.25274069  0.00847899]
 [-0.25276123  0.96752756  0.00137324]
 [-0.00785591 -0.00347144  0.99996294]]

 t_gt:
[-0.74660753  0.6644331   0.03325423]

Pose Error in degrees for R and t:
94.5575100854725 67.31793622859684

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 5.67581021e-01 -8.23309498e-01  3.64070323e-03]
 [-8.23313583e-01 -5.67586462e-01 -5.93608608e-04]
 [ 2.55513747e-03 -2.66051944e-03 -9.99993196e-01]]

 t_estimated:
[[0.37855727]
 [0.92557736]
 [0.00096818]]

 R_gt:
[[ 0.92325495  0.38400976  0.0116855 ]
 [-0.38366796  0.92316057 -0.02392837]
 [-0.01997579  0.01760959  0.99964482]]

 t_gt:
[-0.6693945   0.74289823 -0.00363638]

Pose Error in degrees for R and t:
179.4578185303401 64.26546608377753

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.22606311 -0.9738562  -0.02235109]
 [-0.97386092  0.2264668  -0.0175413 ]
 [ 0.02214449  0.01780141 -0.99959628]]

 t_estimated:
[[ 0.79321401]
 [ 0.60878282]
 [-0.01396475]]

 R_gt:
[[ 0.99654033  0.07682311  0.03171868]
 [-0.07502679  0.99569522 -0.05441567]
 [-0.03576263  0.05184853  0.99801431]]

 t_gt:
[-0.83594062  0.33861508 -0.43190636]

Pose Error in degrees for R and t:
177.99282003181696 63.198218462602675

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99312640e-01  3.70708541e-02  1.46364259e-05]
 [-3.70708569e-02  9.99312590e-01  3.13234182e-04]
 [-3.01450605e-06 -3.13561462e-04  9.99999951e-01]]

 t_estimated:
[[-8.08219032e-01]
 [-5.88881982e-01]
 [ 8.41774198e-05]]

 R_gt:
[[ 0.99508275  0.09491191  0.02832996]
 [-0.09180151  0.99113211 -0.09606637]
 [-0.03719664  0.09299348  0.99497176]]

 t_gt:
[-0.72595074  0.35102237 -0.59142102]

Pose Error in degrees for R and t:
6.61527374800889 67.66838165975251

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-4.94576441e-01  8.69126059e-01 -3.74654192e-03]
 [ 8.69109112e-01  4.94590317e-01  5.45614808e-03]
 [ 6.59508384e-03 -5.57671424e-04 -9.99978097e-01]]

 t_estimated:
[[8.29443374e-01]
 [5.58590364e-01]
 [7.03514312e-04]]

 R_gt:
[[ 0.99890329 -0.02309442  0.04073163]
 [ 0.02769808  0.99281844 -0.11637314]
 [-0.03775104  0.11737474  0.99237034]]

 t_gt:
[ 0.1248084   0.1887914  -0.97405373]

Pose Error in degrees for R and t:
175.0184871976039 77.97764590566652

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 9.99979996e-01  6.32491748e-03 -5.12710073e-05]
 [-6.32491631e-03  9.99979997e-01  2.29047630e-05]
 [ 5.14148525e-05 -2.25800200e-05  9.99999998e-01]]

 t_estimated:
[[-9.86379020e-01]
 [-1.64488384e-01]
 [-1.52276510e-05]]

 R_gt:
[[ 0.99819832  0.05660351 -0.01988058]
 [-0.05677654  0.99835272 -0.00822828]
 [ 0.01938226  0.00934302  0.99976832]]

 t_gt:
[-0.55106043  0.73954565 -0.38652896]

Pose Error in degrees for R and t:
3.139571956009233 65.04453579554294

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 3.63034513e-01  9.31775202e-01 -9.56859294e-04]
 [ 9.31773675e-01 -3.63031398e-01  2.45391061e-03]
 [ 1.93912309e-03 -1.78243055e-03 -9.99996531e-01]]

 t_estimated:
[[0.80676583]
 [0.59087075]
 [0.00081164]]

 R_gt:
[[ 0.98322305  0.1802401  -0.02802042]
 [-0.18066563  0.98345282 -0.01344281]
 [ 0.02513336  0.01827961  0.99951674]]

 t_gt:
[-0.57560968  0.7963918  -0.18556294]

Pose Error in degrees for R and t:
179.742891253023 89.65440171877191

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 8.36471694e-01  5.48010027e-01  3.40138754e-04]
 [-5.48009997e-01  8.36470890e-01  1.22213505e-03]
 [ 3.85226093e-04 -1.20868081e-03  9.99999195e-01]]

 t_estimated:
[[0.5494718 ]
 [0.83551168]
 [0.00098295]]

 R_gt:
[[ 0.96118984  0.26895671 -0.06145007]
 [-0.26931288  0.96304897  0.00257629]
 [ 0.05987187  0.01407347  0.99810636]]

 t_gt:
[-0.55697431  0.80175981 -0.21670446]

Pose Error in degrees for R and t:
17.95094243239123 68.677012739237

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99927219e-01 -1.20645802e-02  4.47550088e-05]
 [ 1.20644964e-02  9.99926020e-01  1.54992280e-03]
 [-6.34508658e-05 -1.54927004e-03  9.99998798e-01]]

 t_estimated:
[[-0.98652935]
 [-0.16346504]
 [ 0.00624689]]

 R_gt:
[[ 0.97837947  0.20662109  0.00902231]
 [-0.20658804  0.97841746 -0.00450463]
 [-0.00975971  0.00254348  0.99995001]]

 t_gt:
[-0.75200444  0.65888111  0.01910484]

Pose Error in degrees for R and t:
12.629704563030796 50.6326718496987

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.25404435e-01  3.78981043e-01 -3.77706205e-05]
 [-3.78981011e-01  9.25404303e-01 -5.18696785e-04]
 [-1.61623154e-04  4.94318653e-04  9.99999865e-01]]

 t_estimated:
[[-8.68290661e-01]
 [ 4.96055586e-01]
 [-4.28109744e-04]]

 R_gt:
[[ 0.95648186  0.29066548  0.02563161]
 [-0.29040296  0.95680868 -0.01353024]
 [-0.0284583   0.00549808  0.99958051]]

 t_gt:
[-0.73162626  0.68049985  0.04053359]

Pose Error in degrees for R and t:
5.6233561715648905 13.390906768325078

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99996126e-01  2.77803492e-03  1.72063074e-04]
 [-2.77815080e-03  9.99995912e-01  6.76913940e-04]
 [-1.70181880e-04 -6.77389335e-04  9.99999756e-01]]

 t_estimated:
[[-0.99946719]
 [ 0.03260774]
 [ 0.00143997]]

 R_gt:
[[ 0.91528861  0.40186184  0.02747136]
 [-0.40155075  0.91569218 -0.01626902]
 [-0.0316939   0.00386007  0.99949095]]

 t_gt:
[-0.68992132  0.72274375  0.04062068]

Pose Error in degrees for R and t:
23.602347271881346 44.50581983829479

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 0.98028027  0.19752652  0.00581879]
 [ 0.19757653 -0.97911879 -0.04785298]
 [-0.00375494  0.04805899 -0.99883744]]

 t_estimated:
[[-0.10351874]
 [ 0.99434403]
 [-0.023745  ]]

 R_gt:
[[ 0.99940047 -0.02811158  0.02022459]
 [ 0.02826721  0.99957295 -0.00740932]
 [-0.02000809  0.00797641  0.99976818]]

 t_gt:
[ 0.76303829 -0.63589193  0.11581893]

Pose Error in degrees for R and t:
176.68385792025873 44.435894192938505

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.90014960e-01  1.40962215e-01  1.80798140e-04]
 [-1.40962155e-01  9.90014936e-01 -3.12682069e-04]
 [-2.23069216e-04  2.84074231e-04  9.99999935e-01]]

 t_estimated:
[[ 0.97221582]
 [-0.23408186]
 [ 0.0014403 ]]

 R_gt:
[[ 0.99459626 -0.03641796  0.09722266]
 [ 0.04047476  0.99837592 -0.0400877 ]
 [-0.09560553  0.04380676  0.99445501]]

 t_gt:
[ 0.74340078 -0.43705454  0.50629893]

Pose Error in degrees for R and t:
11.936879283165055 34.33216979667036

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.89684783e-01  1.43262105e-01  1.55102906e-05]
 [-1.43262094e-01  9.89684738e-01 -3.03817902e-04]
 [-5.88758900e-05  2.98461917e-04  9.99999954e-01]]

 t_estimated:
[[-0.29562177]
 [-0.95530402]
 [-0.00141184]]

 R_gt:
[[ 0.99085316  0.01712899  0.13385087]
 [-0.00547308  0.99619581 -0.08696993]
 [-0.13483182  0.08544245  0.9871778 ]]

 t_gt:
[-0.05567854  0.99487289  0.08442653]

Pose Error in degrees for R and t:
11.898357584972455 20.922312499465022

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 0.70699769 -0.70680169 -0.02420014]
 [-0.70678026 -0.7049476  -0.05924987]
 [ 0.02481808  0.0589937  -0.9979498 ]]

 t_estimated:
[[ 0.38154205]
 [ 0.92381193]
 [-0.03157834]]

 R_gt:
[[ 9.99996220e-01 -2.59424470e-03 -7.23875431e-04]
 [ 2.57595579e-03  9.99683063e-01 -2.50563672e-02]
 [ 7.89531943e-04  2.50537168e-02  9.99686190e-01]]

 t_gt:
[-0.11875733  0.43866253 -0.89077038]

Pose Error in degrees for R and t:
174.98808510808846 67.16617063897536

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.95754847  0.28631035 -0.03357549]
 [-0.21817453  0.79590014  0.56475025]
 [ 0.18841658 -0.53345042  0.82457858]]

 t_estimated:
[[0.71178345]
 [0.70239405]
 [0.00262901]]

 R_gt:
[[ 9.93529570e-01 -1.13564538e-01 -1.02033980e-03]
 [ 1.13568574e-01  9.93516767e-01  5.15133259e-03]
 [ 4.29628234e-04 -5.23521210e-03  9.99986810e-01]]

 t_gt:
[ 0.51093761 -0.85894097  0.0341053 ]

Pose Error in degrees for R and t:
40.7475743140458 76.14011042474903

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999953e-01 -2.44421611e-04  1.84474149e-04]
 [ 2.44429791e-04  9.99999969e-01 -4.43244037e-05]
 [-1.84463310e-04  4.43694926e-05  9.99999982e-01]]

 t_estimated:
[[0.57966239]
 [0.81485328]
 [0.00237567]]

 R_gt:
[[ 0.9674646  -0.25231028  0.01873116]
 [ 0.25220917  0.9676429   0.00763913]
 [-0.02005169 -0.00266629  0.99979576]]

 t_gt:
[ 0.59374104 -0.7992913   0.09276312]

Pose Error in degrees for R and t:
14.643709786568051 72.12656302069813

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-9.66102467e-01 -2.57952862e-01 -1.03123909e-02]
 [-2.57961675e-01  9.66155026e-01 -4.89044486e-04]
 [ 1.00895187e-02  2.18773455e-03 -9.99946706e-01]]

 t_estimated:
[[ 0.99018932]
 [ 0.139657  ]
 [-0.0045867 ]]

 R_gt:
[[ 0.98208526  0.18706622 -0.02270152]
 [-0.18760387  0.98194193 -0.0244274 ]
 [ 0.01772205  0.02824849  0.99944302]]

 t_gt:
[-0.62708034  0.75628239 -0.18656687]

Pose Error in degrees for R and t:
178.05658135560788 59.03914032324475

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 6.60689280e-01  7.50658459e-01  1.24620157e-03]
 [-7.50658483e-01  6.60690204e-01 -5.43641631e-04]
 [-1.23144236e-03 -5.76293585e-04  9.99999076e-01]]

 t_estimated:
[[0.00924988]
 [0.99995586]
 [0.00165065]]

 R_gt:
[[ 0.94399993  0.32846343  0.03125334]
 [-0.3269729   0.94397493 -0.04472989]
 [-0.04419398  0.03200703  0.99850995]]

 t_gt:
[-0.64545871  0.76210754  0.0507459 ]

Pose Error in degrees for R and t:
29.65835966894477 40.87078250728211

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.33140258 -0.94348268 -0.00357117]
 [ 0.94348345 -0.33141159  0.00230912]
 [-0.00336214 -0.00260409  0.99999096]]

 t_estimated:
[[ 0.94231103]
 [-0.33472166]
 [ 0.00336659]]

 R_gt:
[[ 0.92726003  0.37077569  0.05211017]
 [-0.36793738  0.92812359 -0.05664822]
 [-0.06936851  0.03335482  0.99703302]]

 t_gt:
[-0.64853503  0.75545299  0.0932368 ]

Pose Error in degrees for R and t:
131.10937570313695 30.26832932720053

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.29498810e-01 -3.68823050e-01 -1.23300945e-03]
 [ 3.68822657e-01  9.29499626e-01 -5.40629030e-04]
 [ 1.34547827e-03  4.77522193e-05  9.99999094e-01]]

 t_estimated:
[[ 0.77998816]
 [-0.62578631]
 [-0.00315652]]

 R_gt:
[[ 0.99314614 -0.11304239 -0.02971383]
 [ 0.1135749   0.9933852   0.01690419]
 [ 0.02760543 -0.02016328  0.9994155 ]]

 t_gt:
[ 0.81387663 -0.58057218 -0.02325471]

Pose Error in degrees for R and t:
15.253856543956926 3.436677714635073

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-6.70979468e-01 -7.41471284e-01 -2.62473962e-03]
 [ 7.41475751e-01 -6.70977560e-01 -1.68089298e-03]
 [-5.14807513e-04 -3.07402546e-03  9.99995143e-01]]

 t_estimated:
[[0.79818849]
 [0.60240652]
 [0.00123296]]

 R_gt:
[[ 0.98649215 -0.14157723 -0.08240055]
 [ 0.14249516  0.98978121  0.0053349 ]
 [ 0.08080305 -0.01700391  0.99658552]]

 t_gt:
[ 0.84954249 -0.48553324 -0.20624022]

Pose Error in degrees for R and t:
124.00761416155214 67.33438279955026

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 8.44926570e-02  9.96424043e-01 -3.43311587e-04]
 [-9.96421710e-01  8.44916943e-02 -2.22010938e-03]
 [-2.18316339e-03  5.29666059e-04  9.99997477e-01]]

 t_estimated:
[[-4.56849552e-02]
 [ 9.98955435e-01]
 [ 9.61610727e-04]]

 R_gt:
[[ 0.98378342 -0.11441031 -0.13813302]
 [ 0.1178396   0.99288927  0.01688434]
 [ 0.13521945 -0.03288706  0.99026997]]

 t_gt:
[ 0.87409159 -0.35877546 -0.32748139]

Pose Error in degrees for R and t:
92.13306920328155 66.5062871458802

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99995249e-01 -3.08218903e-03  3.95945531e-05]
 [ 3.08218781e-03  9.99995250e-01  3.06994149e-05]
 [-3.96889864e-05 -3.05772312e-05  9.99999999e-01]]

 t_estimated:
[[-0.99718077]
 [ 0.07497686]
 [-0.00299813]]

 R_gt:
[[ 0.99998096 -0.00521667 -0.0035545 ]
 [ 0.00520346  0.99997999 -0.00356788]
 [ 0.00357251  0.00355012  0.99998785]]

 t_gt:
[ 0.93458784 -0.3281156  -0.13742533]

Pose Error in degrees for R and t:
0.3089786862469909 17.031851057874622

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.99406733  0.10874768 -0.00202044]
 [-0.10874236  0.99406662  0.00257926]
 [ 0.00228894 -0.00234425  0.99999463]]

 t_estimated:
[[0.49186488]
 [0.87067077]
 [0.00116556]]

 R_gt:
[[ 0.99926967  0.03512998  0.01501414]
 [-0.03516831  0.99937827  0.0022487 ]
 [-0.01492565 -0.00277374  0.99988511]]

 t_gt:
[0.84760052 0.43356718 0.30592951]

Pose Error in degrees for R and t:
4.341151820405256 37.367806269599015

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.99995934  0.00894727 -0.0011233 ]
 [-0.00894425  0.99995644  0.00266635]
 [ 0.00114711 -0.0026562   0.99999581]]

 t_estimated:
[[-0.99908007]
 [-0.04281772]
 [-0.00237876]]

 R_gt:
[[ 0.99867927  0.05077389  0.00793789]
 [-0.05070345  0.99867309 -0.00897034]
 [-0.00838244  0.0085573   0.99992859]]

 t_gt:
[ 0.83927847  0.54322967 -0.02265329]

Pose Error in degrees for R and t:
2.5398585638576177 30.49060616149753

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[-0.33342086  0.94209159  0.03597166]
 [ 0.94213483  0.33435998 -0.02419447]
 [-0.03482089  0.02582321 -0.99905989]]

 t_estimated:
[[ 0.82565641]
 [-0.56378762]
 [ 0.02085671]]

 R_gt:
[[ 0.99940897 -0.00316216 -0.0342464 ]
 [ 0.00406436  0.99964417  0.02633164]
 [ 0.03415069 -0.02645528  0.99906556]]

 t_gt:
[-0.49323742 -0.8295341  -0.26189698]

Pose Error in degrees for R and t:
180.0 86.84862686611228

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-9.96330859e-01 -8.32959413e-02  1.96622951e-02]
 [-8.32777659e-02  9.96524850e-01  1.74279658e-03]
 [-1.97391335e-02  9.89700087e-05 -9.99805159e-01]]

 t_estimated:
[[0.99890431]
 [0.04601912]
 [0.00851056]]

 R_gt:
[[ 0.99660019 -0.05385672 -0.0623547 ]
 [ 0.05497676  0.99835345  0.01637271]
 [ 0.06137022 -0.01974478  0.9979188 ]]

 t_gt:
[ 0.00266619 -0.90123714 -0.43331801]

Pose Error in degrees for R and t:
177.62845871202057 87.56427303372172

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.92014630e-01  1.26121861e-01  5.00655112e-04]
 [-1.26122106e-01  9.92014603e-01  4.91279308e-04]
 [-4.34696122e-04 -5.50499938e-04  9.99999754e-01]]

 t_estimated:
[[ 0.99490926]
 [-0.10076215]
 [ 0.00159915]]

 R_gt:
[[ 0.98806529 -0.11718804 -0.09997847]
 [ 0.12278236  0.99108291  0.05174678]
 [ 0.09302246 -0.06340438  0.99364225]]

 t_gt:
[ 0.18762104 -0.94998908 -0.24963791]

Pose Error in degrees for R and t:
15.561058333903288 73.62101160307643

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 9.95387471e-01 -9.59363443e-02  1.15125300e-05]
 [ 9.59363420e-02  9.95387463e-01  1.32229727e-04]
 [-2.41450646e-05 -1.30515344e-04  9.99999991e-01]]

 t_estimated:
[[9.35401862e-01]
 [3.53585362e-01]
 [8.64511889e-04]]

 R_gt:
[[ 0.9937313  -0.09357548  0.06115667]
 [ 0.09510094  0.9952119  -0.02251598]
 [-0.0587567   0.02819015  0.99787354]]

 t_gt:
[ 0.39683178 -0.84560625  0.35703586]

Pose Error in degrees for R and t:
3.740695490342712 85.84172739113062

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-2.86347943e-01  9.58119550e-01  3.43258972e-03]
 [ 9.58125527e-01  2.86348200e-01  4.26853120e-04]
 [-5.73939567e-04  3.41108035e-03 -9.99994018e-01]]

 t_estimated:
[[9.58209211e-01]
 [2.86067313e-01]
 [7.75250170e-04]]

 R_gt:
[[ 0.9774272  -0.20584388  0.04756993]
 [ 0.20477912  0.97845381  0.02633382]
 [-0.05196573 -0.01599905  0.99852013]]

 t_gt:
[ 0.57677908 -0.76191275  0.2946436 ]

Pose Error in degrees for R and t:
178.27068447107152 70.43079923787181

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.59783934e-01 -2.80739591e-01 -2.86489776e-04]
 [ 2.80739736e-01  9.59783375e-01  1.03591268e-03]
 [-1.58535788e-05 -1.07468141e-03  9.99999422e-01]]

 t_estimated:
[[ 0.99952087]
 [-0.0309259 ]
 [ 0.00126874]]

 R_gt:
[[ 0.95109013 -0.30573432  0.04419307]
 [ 0.30503852  0.95208836  0.02187763]
 [-0.04876476 -0.00732773  0.99878301]]

 t_gt:
[ 0.65748777 -0.73003228  0.18644759]

Pose Error in degrees for R and t:
3.185945895591649 47.15743477228733

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.00226752 -0.9998946   0.01434027]
 [-0.99997754 -0.00235769 -0.00627419]
 [ 0.00630734 -0.01432572 -0.99987749]]

 t_estimated:
[[8.03579607e-01]
 [5.95196949e-01]
 [6.37255835e-04]]

 R_gt:
[[ 0.99986722  0.00540104  0.01534741]
 [-0.00564149  0.99986027  0.01573781]
 [-0.01525963 -0.01582254  0.9997582 ]]

 t_gt:
[-0.79376673 -0.20208684  0.57366827]

Pose Error in degrees for R and t:
178.4133635269576 40.73194393095583

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 0.96340681  0.26794573  0.00723914]
 [ 0.26799133 -0.96233517 -0.04573482]
 [-0.00528798  0.04600127 -0.99892739]]

 t_estimated:
[[-0.28304853]
 [ 0.95881745]
 [-0.02350818]]

 R_gt:
[[ 0.99807552 -0.00178195  0.06198884]
 [ 0.00140861  0.99998043  0.00607609]
 [-0.06199787 -0.00597764  0.99805827]]

 t_gt:
[-0.83223338 -0.15451564  0.53245894]

Pose Error in degrees for R and t:
177.2089834708195 85.70492579374871

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.98642047e-01  5.20963404e-02 -1.81812717e-04]
 [-5.20963231e-02  9.98642060e-01  9.88847974e-05]
 [ 1.86717362e-04 -8.92787424e-05  9.99999979e-01]]

 t_estimated:
[[-8.01819175e-01]
 [-5.97566713e-01]
 [ 1.83512628e-04]]

 R_gt:
[[ 0.99545936  0.06509533  0.06944496]
 [-0.06348036  0.99766389 -0.02521161]
 [-0.07092305  0.02068889  0.99726685]]

 t_gt:
[-0.95927356  0.27954763 -0.04058776]

Pose Error in degrees for R and t:
4.307112185081235 52.978969212411975

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.96082732  0.15118122  0.23228236]
 [-0.12048671  0.98262811 -0.14115574]
 [-0.24958727  0.10763936  0.96235127]]

 t_estimated:
[[0.7729529 ]
 [0.63242815]
 [0.05077851]]

 R_gt:
[[ 0.98606887 -0.15215594  0.06721197]
 [ 0.15194664  0.98835368  0.00824577]
 [-0.06768395  0.0020825   0.99770486]]

 t_gt:
[ 0.6495285  -0.72502092  0.22903578]

Pose Error in degrees for R and t:
20.850606350195658 86.83788012823005

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.51738538e-01  3.06909759e-01  3.93942901e-04]
 [-3.06909618e-01  9.51738589e-01 -3.79531507e-04]
 [-4.91412584e-04  2.40309896e-04  9.99999850e-01]]

 t_estimated:
[[-9.83281383e-01]
 [-1.82091730e-01]
 [-5.69063375e-04]]

 R_gt:
[[ 0.94817985 -0.3031731   0.09508093]
 [ 0.3028818   0.95286055  0.01783214]
 [-0.09600414  0.0118904   0.99530963]]

 t_gt:
[ 0.74586918 -0.64512227  0.16582048]

Pose Error in degrees for R and t:
35.96852435045137 51.973766627817234

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-0.03235856  0.9994743   0.0020136 ]
 [ 0.99947579  0.0323564   0.00109489]
 [ 0.00102917  0.00204798 -0.99999737]]

 t_estimated:
[[-0.7656057 ]
 [-0.64330965]
 [-0.00077494]]

 R_gt:
[[ 0.8948381  -0.44305522  0.05446532]
 [ 0.43701226  0.89437068  0.09549777]
 [-0.09102325 -0.06165246  0.99393808]]

 t_gt:
[ 0.79868619 -0.56835168  0.19767839]

Pose Error in degrees for R and t:
179.9069839514167 75.75872075584907

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 1.00000000e+00 -9.38069067e-14 -1.24249569e-15]
 [ 9.38086414e-14  1.00000000e+00  3.13611916e-15]
 [ 1.24271253e-15 -3.13550929e-15  1.00000000e+00]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.97606632 -0.16861223  0.13734655]
 [ 0.16316999  0.98532783  0.05004764]
 [-0.1437691  -0.02643916  0.98925829]]

 t_gt:
[ 0.54060842 -0.64354127  0.54184608]

Pose Error in degrees for R and t:
12.754178573999868 57.65988073031619

Number of keypoints:
Image1: 21
Image2: 21

 R_estimated:
[[ 9.99997942e-01  2.02901913e-03  7.57298370e-07]
 [-2.02901913e-03  9.99997942e-01 -1.22432685e-06]
 [-7.59780993e-07  1.22278776e-06  1.00000000e+00]]

 t_estimated:
[[ 7.06494004e-01]
 [-7.07719012e-01]
 [ 1.49338871e-04]]

 R_gt:
[[ 0.94069749 -0.29030087  0.17553532]
 [ 0.28124936  0.95670123  0.07497476]
 [-0.18970004 -0.02115998  0.9816142 ]]

 t_gt:
[ 0.65395047 -0.63739407  0.40752618]

Pose Error in degrees for R and t:
20.12824160093427 24.05299748347034

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 1.72944770e-01  9.84931515e-01  1.31943173e-04]
 [-9.84930085e-01  1.72944744e-01 -1.68606388e-03]
 [-1.68347633e-03  1.61641129e-04  9.99998570e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.88409876 -0.43616672  0.16771515]
 [ 0.4210462   0.89920208  0.11898013]
 [-0.2027047  -0.03457418  0.97862939]]

 t_gt:
[ 0.7551234  -0.57417529  0.31640383]

Pose Error in degrees for R and t:
106.17361502329301 55.310747413807185

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99890695e-01 -1.47849300e-02  5.48418388e-05]
 [ 1.47849287e-02  9.99890697e-01  2.35047532e-05]
 [-5.51833605e-05 -2.26913513e-05  9.99999998e-01]]

 t_estimated:
[[ 9.99829964e-01]
 [-1.84380035e-02]
 [ 2.89729416e-04]]

 R_gt:
[[ 9.91295603e-01 -1.31601340e-01 -3.67047515e-03]
 [ 1.31650229e-01  9.90694928e-01  3.45078851e-02]
 [-9.04456674e-04 -3.46906789e-02  9.99397425e-01]]

 t_gt:
[ 0.68535595 -0.70117095  0.19658717]

Pose Error in degrees for R and t:
7.0064347308751636 45.7152662258312

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.94245275e-01 -1.07127585e-01  1.17370375e-04]
 [ 1.07127569e-01  9.94245275e-01  1.31665607e-04]
 [-1.30799959e-04 -1.18334305e-04  9.99999984e-01]]

 t_estimated:
[[9.70689091e-01]
 [2.40337206e-01]
 [8.46122177e-04]]

 R_gt:
[[ 0.98054171 -0.18937302  0.05171806]
 [ 0.18815413  0.98175253  0.02754946]
 [-0.05599094 -0.01728224  0.99828143]]

 t_gt:
[ 0.58534772 -0.73422381  0.34392361]

Pose Error in degrees for R and t:
5.804416763024837 66.91973023419102

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999062e-01 -1.36181802e-03  1.44981621e-04]
 [ 1.36188605e-03  9.99998962e-01 -4.70148695e-04]
 [-1.44341213e-04  4.70345702e-04  9.99999879e-01]]

 t_estimated:
[[-0.99997791]
 [-0.00654598]
 [-0.00115425]]

 R_gt:
[[ 0.95849363 -0.28054171  0.05086249]
 [ 0.2787595   0.95955113  0.03942791]
 [-0.05986672 -0.02361163  0.99792772]]

 t_gt:
[ 0.64032057 -0.71869247  0.2710548 ]

Pose Error in degrees for R and t:
16.59264096354845 50.512137520271345

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.97715909e-01 -6.75496036e-02 -1.25432278e-04]
 [ 6.75492150e-02  9.97713910e-01 -2.01444039e-03]
 [ 2.61220178e-04  2.00136637e-03  9.99997963e-01]]

 t_estimated:
[[-0.79565512]
 [-0.60573991]
 [-0.00347649]]

 R_gt:
[[ 0.99821324 -0.02883249  0.05233421]
 [ 0.02910889  0.99956605 -0.00450404]
 [-0.05218157  0.00601922  0.99861966]]

 t_gt:
[ 0.62425423 -0.65457559  0.42642403]

Pose Error in degrees for R and t:
3.7373673060629806 84.16459906552551

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99197793e-01  4.00471049e-02 -3.60616012e-06]
 [-4.00471045e-02  9.99197758e-01 -2.62924213e-04]
 [-6.92608645e-06  2.62857710e-04  9.99999965e-01]]

 t_estimated:
[[-6.19440426e-01]
 [-7.85043594e-01]
 [-3.36800477e-04]]

 R_gt:
[[ 0.99723676  0.03571471  0.0651402 ]
 [-0.03393976  0.99902674 -0.02814479]
 [-0.06608164  0.02585592  0.99747963]]

 t_gt:
[-0.9410024   0.30176141 -0.15314872]

Pose Error in degrees for R and t:
4.074292518036714 69.75405540318236

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.99004306  0.14059417 -0.00692907]
 [-0.14066263 -0.9900003   0.01065003]
 [-0.00536245  0.01151865  0.99991928]]

 t_estimated:
[[9.57754590e-01]
 [2.87585463e-01]
 [8.63620009e-04]]

 R_gt:
[[ 0.99358126  0.07117627  0.08792374]
 [-0.06623271  0.99612158 -0.05791463]
 [-0.09170447  0.05171934  0.99444214]]

 t_gt:
[-0.88572869  0.38315759 -0.26205905]

Pose Error in degrees for R and t:
168.00095448088743 42.40924877013068

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.91316392e-01  1.31497383e-01 -4.99835559e-04]
 [-1.31497445e-01  9.91316505e-01 -9.22498235e-05]
 [ 4.83364629e-04  1.57175861e-04  9.99999871e-01]]

 t_estimated:
[[-0.9914707 ]
 [ 0.13029721]
 [-0.00291159]]

 R_gt:
[[ 0.99823151  0.05937279  0.0030889 ]
 [-0.05938622  0.99822513  0.0045081 ]
 [-0.00281583 -0.00468325  0.99998518]]

 t_gt:
[-0.1377199   0.98821383  0.06683308]

Pose Error in degrees for R and t:
4.165101418411006 74.6263824530726

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.46868212e-01 -3.21621775e-01 -1.50628109e-04]
 [ 3.21621785e-01  9.46868219e-01  4.76042710e-05]
 [ 1.27314400e-04 -9.35202524e-05  9.99999988e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 9.97191729e-01  7.13366149e-02  2.28187186e-02]
 [-7.13250131e-02  9.97452067e-01 -1.26050025e-03]
 [-2.28509527e-02 -3.70630218e-04  9.99739510e-01]]

 t_gt:
[0.13262095 0.95245527 0.27430028]

Pose Error in degrees for R and t:
22.88939326821742 17.557192602206857

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.99982002  0.01883161 -0.0022996 ]
 [-0.01882275  0.99981555  0.00381745]
 [ 0.00237107 -0.00377348  0.99999007]]

 t_estimated:
[[-0.71125781]
 [-0.70292927]
 [-0.00166571]]

 R_gt:
[[ 0.99844921  0.04985492  0.02478405]
 [-0.04930348  0.99853367 -0.02237485]
 [-0.02586332  0.02111789  0.99944233]]

 t_gt:
[0.7141336  0.69300074 0.09880878]

Pose Error in degrees for R and t:
2.7867269125174543 5.599536932296745

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99991700e-01 -4.07421391e-03  3.75497072e-05]
 [ 4.07421936e-03  9.99991690e-01 -1.46425194e-04]
 [-3.69528276e-05  1.46576964e-04  9.99999989e-01]]

 t_estimated:
[[-9.31759984e-01]
 [-3.63074534e-01]
 [-4.64161591e-04]]

 R_gt:
[[ 0.99879274  0.04622767  0.01661381]
 [-0.04589523  0.9987491  -0.01984167]
 [-0.01750953  0.01905521  0.99966485]]

 t_gt:
[-0.47310807  0.87813325  0.07106868]

Pose Error in degrees for R and t:
3.230547379120883 82.99463039543517

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[-0.25019393  0.96272004  0.10282568]
 [ 0.96311682  0.25833784 -0.07528313]
 [-0.09904035  0.08019776 -0.99184642]]

 t_estimated:
[[ 0.78076143]
 [-0.62175809]
 [ 0.06187467]]

 R_gt:
[[ 0.99990976 -0.01268621  0.00449547]
 [ 0.01278629  0.99965391 -0.02299538]
 [-0.00420152  0.0230509   0.99972502]]

 t_gt:
[-0.33120621  0.58785738 -0.73805566]

Pose Error in degrees for R and t:
171.6772951853056 47.95106569593853

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.85762208 -0.51426259 -0.00428542]
 [ 0.51427462  0.85762224  0.00238873]
 [ 0.00244684 -0.00425251  0.99998796]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 9.86582034e-01 -1.61271510e-01  2.54373146e-02]
 [ 1.61303288e-01  9.86904606e-01  8.17159679e-04]
 [-2.52362019e-02  3.29805200e-03  9.99676200e-01]]

 t_gt:
[ 0.53510361 -0.82885489  0.16329019]

Pose Error in degrees for R and t:
21.730030082463127 55.83396059124999

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.56122864e-01 -2.92965886e-01 -2.42016596e-04]
 [ 2.92965921e-01  9.56122876e-01  1.24031706e-04]
 [ 1.95060545e-04 -1.89492165e-04  9.99999963e-01]]

 t_estimated:
[[0.90427774]
 [0.4269437 ]
 [0.00091619]]

 R_gt:
[[ 0.99863103 -0.01579685 -0.04985427]
 [ 0.01739365  0.99934472  0.03175481]
 [ 0.04931894 -0.03257903  0.99825089]]

 t_gt:
[-0.12420397 -0.89161333 -0.43542972]

Pose Error in degrees for R and t:
16.43155749229626 60.43685210016246

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 9.19841139e-01 -3.92289435e-01 -1.13087679e-03]
 [ 3.92289447e-01  9.19841802e-01 -2.20431090e-04]
 [ 1.12670053e-03 -2.40869445e-04  9.99999336e-01]]

 t_estimated:
[[ 0.48100494]
 [-0.87671528]
 [-0.00213571]]

 R_gt:
[[ 0.99705545 -0.03044413 -0.07038185]
 [ 0.03171874  0.99935135  0.01705179]
 [ 0.06981618 -0.01923416  0.99737383]]

 t_gt:
[-0.16252914 -0.81212169 -0.56039508]

Pose Error in degrees for R and t:
21.697616388202707 50.57860519255337

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-0.65643505 -0.75438114 -0.00145666]
 [ 0.75434524 -0.65638216 -0.01121219]
 [ 0.00750214 -0.0084589   0.99993608]]

 t_estimated:
[[0.96380992]
 [0.26658572]
 [0.00157743]]

 R_gt:
[[ 0.98886363 -0.11663678 -0.09243063]
 [ 0.1206537   0.99192415  0.03910905]
 [ 0.08712174 -0.04982638  0.99495032]]

 t_gt:
[ 0.19501468 -0.94089183 -0.27693291]

Pose Error in degrees for R and t:
124.24775215090233 86.37028660517538

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-1.76846781e-01  9.84238112e-01  7.45312017e-04]
 [-9.84237627e-01 -1.76845647e-01 -1.38235264e-03]
 [-1.22875897e-03 -9.78028746e-04  9.99998767e-01]]

 t_estimated:
[[0.61541768]
 [0.78820057]
 [0.00097069]]

 R_gt:
[[ 0.99188914  0.11593579  0.05210308]
 [-0.11439445  0.99293113 -0.03164604]
 [-0.05540404  0.0254279   0.99814   ]]

 t_gt:
[-0.75670077  0.6076684   0.24112873]

Pose Error in degrees for R and t:
93.6132789237643 89.2258184319613

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.96806002 -0.25068238 -0.00425974]
 [ 0.25070457  0.9680458   0.00587836]
 [ 0.00265002 -0.00675854  0.99997365]]

 t_estimated:
[[0.8798609 ]
 [0.47522819]
 [0.00172184]]

 R_gt:
[[ 0.98760027  0.12663594  0.09278422]
 [-0.12483065  0.99186191 -0.0250308 ]
 [-0.0951997   0.01313884  0.9953721 ]]

 t_gt:
[-0.76001461  0.51667501  0.39423944]

Pose Error in degrees for R and t:
22.508500512537534 65.00812175195894

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 8.83357227e-01  4.68700143e-01 -4.30980281e-04]
 [-4.68699356e-01  8.83356882e-01  1.23765927e-03]
 [ 9.60800473e-04 -8.91295078e-04  9.99999141e-01]]

 t_estimated:
[[0.64511538]
 [0.76408471]
 [0.00083781]]

 R_gt:
[[ 0.98511023  0.1088457   0.13308018]
 [-0.10230557  0.99322811 -0.05504873]
 [-0.13817163  0.04061415  0.9895756 ]]

 t_gt:
[-0.73129312  0.53419525  0.42408231]

Pose Error in degrees for R and t:
23.377141703373088 86.37403977141844

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.86635867e-01  1.62940646e-01  1.07884730e-04]
 [-1.62940637e-01  9.86635871e-01 -8.70109692e-05]
 [-1.20620568e-04  6.82693364e-05  9.99999990e-01]]

 t_estimated:
[[-5.76841869e-01]
 [ 8.16855778e-01]
 [ 3.08555870e-04]]

 R_gt:
[[ 0.9965424  -0.0397855   0.07295158]
 [ 0.04457192  0.99687761 -0.06519646]
 [-0.07013053  0.06822311  0.99520242]]

 t_gt:
[ 0.96809405 -0.25057283 -0.00267876]

Pose Error in degrees for R and t:
13.060561931284266 40.259984210885534

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.83586927  0.54859055  0.01926055]
 [ 0.54858873  0.83607188 -0.00584931]
 [-0.01931208  0.00567687 -0.99979739]]

 t_estimated:
[[ 0.93273559]
 [-0.36040062]
 [ 0.01075718]]

 R_gt:
[[ 0.99060757 -0.12869191  0.04620852]
 [ 0.13068908  0.99048451 -0.04313972]
 [-0.04021816  0.04877432  0.99800036]]

 t_gt:
[ 0.87265674 -0.48510321 -0.05608107]

Pose Error in degrees for R and t:
175.71483381853693 8.815775324047538

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 6.33418026e-01 -7.73809796e-01  6.17537869e-05]
 [ 7.73805014e-01  6.33413828e-01 -3.56695729e-03]
 [ 2.72103079e-03  2.30716043e-03  9.99993636e-01]]

 t_estimated:
[[ 0.95961816]
 [-0.28128219]
 [-0.00364879]]

 R_gt:
[[ 0.98332061 -0.18146269  0.01233955]
 [ 0.18185537  0.98205949 -0.04987703]
 [-0.00306893  0.05128949  0.99867905]]

 t_gt:
[ 0.88319284 -0.44423274 -0.15042499]

Pose Error in degrees for R and t:
40.31479359249828 13.336650231212486

Number of keypoints:
Image1: 365
Image2: 365

 R_estimated:
[[ 0.70253328  0.7114822   0.01549413]
 [ 0.71150768 -0.70178862 -0.03534913]
 [-0.01427667  0.03585813 -0.99925491]]

 t_estimated:
[[ 0.38117964]
 [-0.92429355]
 [ 0.01958362]]

 R_gt:
[[ 0.99843708  0.05052559 -0.02389199]
 [-0.04931688  0.99759507  0.0487043 ]
 [ 0.02629471 -0.04744946  0.99852696]]

 t_gt:
[-0.95424538 -0.08209138  0.28753568]

Pose Error in degrees for R and t:
179.10965838750747 73.60657371647461

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 6.32091904e-01  7.74892574e-01 -1.15046899e-03]
 [-7.74893417e-01  6.32090946e-01 -1.10813700e-03]
 [-1.31486098e-04  1.59193528e-03  9.99998724e-01]]

 t_estimated:
[[6.51803552e-01]
 [7.58387845e-01]
 [8.18719505e-05]]

 R_gt:
[[ 0.99629531  0.08063726 -0.02990344]
 [-0.07540017  0.98621743  0.1472744 ]
 [ 0.04136677 -0.14447233  0.98864323]]

 t_gt:
[-0.79915585 -0.12908966  0.58709947]

Pose Error in degrees for R and t:
47.06566910385669 51.775485148489686

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[-7.22322112e-02 -9.97387829e-01 -1.59193595e-04]
 [-9.97378896e-01  7.22308864e-02  4.24689675e-03]
 [-4.22430443e-03  4.65539075e-04 -9.99990969e-01]]

 t_estimated:
[[0.9356972 ]
 [0.35279685]
 [0.00226299]]

 R_gt:
[[ 0.98121449  0.19291867 -0.00131627]
 [-0.19169383  0.97571468  0.10599815]
 [ 0.02173334 -0.103754    0.9943655 ]]

 t_gt:
[-0.93258575  0.26105657  0.24926551]

Pose Error in degrees for R and t:
176.2282981509152 38.74364960892069

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99999934e-01  3.59981274e-04 -5.22407220e-05]
 [-3.59983266e-04  9.99999934e-01 -3.81252580e-05]
 [ 5.22269942e-05  3.81440613e-05  9.99999998e-01]]

 t_estimated:
[[-0.32351581]
 [-0.94622194]
 [-0.00124554]]

 R_gt:
[[ 0.99678275  0.07691265  0.02253895]
 [-0.07645061  0.99685768 -0.02071722]
 [-0.0240618   0.01892619  0.99953111]]

 t_gt:
[-0.23451714  0.95985002 -0.15391441]

Pose Error in degrees for R and t:
4.717131387743553 33.677758527615815

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999613e-01 -8.78404822e-04  4.05703644e-05]
 [ 8.78419150e-04  9.99999551e-01 -3.54503547e-04]
 [-4.02589486e-05  3.54539048e-04  9.99999936e-01]]

 t_estimated:
[[0.95898943]
 [0.28343963]
 [0.00112031]]

 R_gt:
[[ 0.99132756  0.10110116  0.08394842]
 [-0.09109318  0.98911806 -0.11552783]
 [-0.09471411  0.10687769  0.98975049]]

 t_gt:
[-0.07079794  0.95772547 -0.27883611]

Pose Error in degrees for R and t:
9.917678562516045 78.2728964386463

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-7.73295991e-01 -6.34041645e-01 -2.12178873e-03]
 [ 6.34044636e-01 -7.73295424e-01 -1.25960562e-03]
 [-8.42127093e-04 -2.31935674e-03  9.99996956e-01]]

 t_estimated:
[[ 9.91542194e-01]
 [-1.29782299e-01]
 [ 7.95702207e-04]]

 R_gt:
[[ 0.9857368   0.0926581   0.14048645]
 [-0.07267276  0.98730001 -0.14126583]
 [-0.15179172  0.1290408   0.97995353]]

 t_gt:
[ 0.13514166  0.98594168 -0.09826365]

Pose Error in degrees for R and t:
145.63458911521033 89.65836090384916

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.97383192e-01  7.22918350e-02 -8.11723777e-04]
 [-7.22848860e-02  9.97361905e-01  6.64266936e-03]
 [ 1.28979313e-03 -6.56661141e-03  9.99977608e-01]]

 t_estimated:
[[0.92757763]
 [0.37362769]
 [0.00144258]]

 R_gt:
[[ 0.99452785 -0.1001288   0.0298114 ]
 [ 0.10066328  0.99477471 -0.01702557]
 [-0.02795148  0.01993334  0.99941007]]

 t_gt:
[ 0.52294304 -0.84431558 -0.11688361]

Pose Error in degrees for R and t:
10.158978867072182 80.24462406357863

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.95328523  0.30101695 -0.0252203 ]
 [-0.3000881   0.95327129  0.03494248]
 [ 0.03456006 -0.02574184  0.99907105]]

 t_estimated:
[[-0.98827203]
 [-0.14973819]
 [-0.02994764]]

 R_gt:
[[ 0.9893976  -0.1047958   0.10054953]
 [ 0.115332    0.98771585 -0.10543162]
 [-0.08826667  0.11591087  0.98933006]]

 t_gt:
[ 0.12747859 -0.74656932 -0.65298045]

Pose Error in degrees for R and t:
26.185441818068917 89.69279943036356

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99998624e-01  1.48568661e-03 -7.38655592e-04]
 [-1.48579375e-03  9.99998886e-01 -1.44515359e-04]
 [ 7.38440064e-04  1.45612650e-04  9.99999717e-01]]

 t_estimated:
[[-0.59279622]
 [-0.80534974]
 [-0.00210808]]

 R_gt:
[[ 0.97907882 -0.0591888   0.19468049]
 [ 0.09080952  0.98329508 -0.15774869]
 [-0.18209299  0.17212719  0.96809828]]

 t_gt:
[-0.82283402 -0.16831805 -0.54278284]

Pose Error in degrees for R and t:
15.201834417171089 51.35655441305117

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99997389e-01  5.21338726e-04  2.22473309e-03]
 [-5.07580491e-04  9.99980773e-01 -6.18030789e-03]
 [-2.22791235e-03  6.17916252e-03  9.99978427e-01]]

 t_estimated:
[[-0.71091629]
 [-0.70327203]
 [-0.00254809]]

 R_gt:
[[ 0.99573422  0.0292035   0.08752732]
 [-0.0214828   0.99589987 -0.08788518]
 [-0.08973567  0.08562904  0.99227824]]

 t_gt:
[-0.03647692  0.97618695 -0.21384218]

Pose Error in degrees for R and t:
6.936261108323573 48.69646301016296

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999680e-01  7.93268643e-04 -9.88492534e-05]
 [-7.93268574e-04  9.99999685e-01  7.34879270e-07]
 [ 9.88498053e-05 -6.56465029e-07  9.99999995e-01]]

 t_estimated:
[[-0.45680285]
 [-0.8895675 ]
 [-0.00090509]]

 R_gt:
[[ 0.99385833  0.00827725  0.11035633]
 [ 0.00675182  0.99080786 -0.13511346]
 [-0.11046     0.13502858  0.98466567]]

 t_gt:
[ 0.52850975  0.70602258 -0.47139109]

Pose Error in degrees for R and t:
10.050206935570264 29.651239330574036

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.03471151e-01  4.28648446e-01  6.24212476e-04]
 [-4.28647260e-01  9.03470764e-01 -1.45069273e-03]
 [-1.18579491e-03  1.04309206e-03  9.99998753e-01]]

 t_estimated:
[[0.98277311]
 [0.18479494]
 [0.00279992]]

 R_gt:
[[ 0.98407081  0.10090824  0.14636763]
 [-0.08103649  0.98740392 -0.13589728]
 [-0.15823673  0.12187059  0.97985105]]

 t_gt:
[3.09781752e-02 9.99519902e-01 5.64045777e-04]

Pose Error in degrees for R and t:
23.102154088609453 77.57553618786679

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 9.40155977e-01 -3.40743952e-01  5.45658042e-04]
 [ 3.40744288e-01  9.40155726e-01 -7.36020309e-04]
 [-2.62209064e-04  8.77903754e-04  9.99999580e-01]]

 t_estimated:
[[-0.7241177 ]
 [-0.6896759 ]
 [-0.00084004]]

 R_gt:
[[ 0.99733497  0.07156547  0.01417567]
 [-0.07207788  0.9966096   0.03965418]
 [-0.01129024 -0.04057049  0.99911257]]

 t_gt:
[-0.8520034   0.01422948  0.52334285]

Pose Error in degrees for R and t:
24.165674698472237 52.64891690230305

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-0.01487552  0.99973952 -0.0173095 ]
 [ 0.99976296  0.01514665  0.01563946]
 [ 0.01589757 -0.01707275 -0.99972786]]

 t_estimated:
[[ 0.92259783]
 [-0.385691  ]
 [-0.00746362]]

 R_gt:
[[ 0.9928808   0.11365753  0.0356438 ]
 [-0.11544221  0.99190961  0.05279647]
 [-0.02935525 -0.05653622  0.99796828]]

 t_gt:
[-0.87686896  0.01192004  0.48058166]

Pose Error in degrees for R and t:
177.79702046350207 35.196338589517175

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.39696938e-01 -3.42007406e-01 -7.74031217e-04]
 [ 3.42007798e-01  9.39697009e-01  4.44696740e-04]
 [ 5.75265240e-04 -6.82604877e-04  9.99999602e-01]]

 t_estimated:
[[9.19098850e-01]
 [3.94026167e-01]
 [8.27387030e-04]]

 R_gt:
[[ 0.97685928  0.2104447   0.03819871]
 [-0.21199567  0.97634603  0.0425001 ]
 [-0.02835147 -0.04961469  0.99836623]]

 t_gt:
[-0.94771761  0.1601676   0.27600304]

Pose Error in degrees for R and t:
32.36468692804005 36.12744373614861

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-9.66319552e-01 -2.56294370e-01  2.32318783e-02]
 [-2.56200852e-01  9.66598462e-01  6.96678653e-03]
 [-2.42414460e-02  7.80115024e-04 -9.99705829e-01]]

 t_estimated:
[[0.97693952]
 [0.21320646]
 [0.01149659]]

 R_gt:
[[ 0.9986092  -0.03372348  0.04052198]
 [ 0.03015423  0.99586652  0.08567466]
 [-0.04324374 -0.08433259  0.99549831]]

 t_gt:
[ 0.00346647 -0.51053299  0.85985118]

Pose Error in degrees for R and t:
175.61276365976443 84.51546672661874

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-2.07824486e-01 -9.78165405e-01 -1.19279375e-03]
 [-9.78166130e-01  2.07824234e-01  3.32964787e-04]
 [-7.78031878e-05  1.23594868e-03 -9.99999233e-01]]

 t_estimated:
[[0.88696509]
 [0.46183537]
 [0.00101015]]

 R_gt:
[[ 0.99695802 -0.05053679  0.05933941]
 [ 0.04222223  0.99009874  0.13386903]
 [-0.06551823 -0.13095617  0.98922022]]

 t_gt:
[-0.0061912  -0.49330185  0.86983616]

Pose Error in degrees for R and t:
172.45742992659268 76.55941133071414

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 0.31812682  0.9480411   0.00366017]
 [ 0.94804469 -0.31813374  0.00147971]
 [ 0.00256725  0.00299926 -0.99999221]]

 t_estimated:
[[0.31894286]
 [0.94777341]
 [0.00100613]]

 R_gt:
[[ 0.99590521 -0.0652193   0.06260573]
 [ 0.05470958  0.9860882   0.15695833]
 [-0.07197178 -0.15289075  0.98561837]]

 t_gt:
[ 0.09240767 -0.51904291  0.84973836]

Pose Error in degrees for R and t:
175.08300642871248 62.50912408799456

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.18272858  0.98316122  0.00207001]
 [ 0.98313894  0.18270878  0.007438  ]
 [ 0.00693454  0.00339425 -0.9999702 ]]

 t_estimated:
[[-0.51564571]
 [-0.85676518]
 [-0.00793301]]

 R_gt:
[[ 0.99425995 -0.06801232  0.08259521]
 [ 0.06109526  0.99462793  0.08356651]
 [-0.08783503 -0.07803961  0.99307312]]

 t_gt:
[ 0.22752222 -0.48379884  0.84508717]

Pose Error in degrees for R and t:
179.37069192509847 73.11348096051395

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.95465578e-01  9.51223317e-02 -1.55365279e-04]
 [-9.51223688e-02  9.95465555e-01 -2.52274755e-04]
 [ 1.30663821e-04  2.65909548e-04  9.99999956e-01]]

 t_estimated:
[[-0.12273509]
 [-0.99243859]
 [-0.00131973]]

 R_gt:
[[ 0.98201236 -0.11874914  0.14680163]
 [ 0.09122506  0.97910186  0.18176267]
 [-0.16531708 -0.16510036  0.9723229 ]]

 t_gt:
[ 0.23755786 -0.40513427  0.88285474]

Pose Error in degrees for R and t:
17.78327910197504 68.17647252262579

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 7.34553178e-01  6.78551017e-01  3.82162369e-04]
 [-6.78548476e-01  7.34551767e-01 -2.38066038e-03]
 [-1.89611757e-03  1.48940595e-03  9.99997093e-01]]

 t_estimated:
[[-9.97103626e-01]
 [-7.60502766e-02]
 [-8.45003073e-04]]

 R_gt:
[[ 0.9714859  -0.11189465  0.20902919]
 [ 0.05701013  0.96600772  0.25214893]
 [-0.23013723 -0.23304221  0.94484228]]

 t_gt:
[ 0.14609177 -0.25174082  0.95670463]

Pose Error in degrees for R and t:
51.20804419651326 82.68454896576638

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999484e-01 -9.97351242e-04  1.91481409e-04]
 [ 9.97425472e-04  9.99999427e-01 -3.87955965e-04]
 [-1.91094371e-04  3.88146753e-04  9.99999906e-01]]

 t_estimated:
[[9.99991958e-01]
 [3.97208384e-03]
 [5.53795873e-04]]

 R_gt:
[[ 0.99776576  0.0082573   0.06629032]
 [-0.00244547  0.99618096 -0.087281  ]
 [-0.06675845  0.08692373  0.99397574]]

 t_gt:
[-0.67496118  0.47114164 -0.56784941]

Pose Error in degrees for R and t:
6.278622611698656 47.6700678950601

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.85178169e-01  1.71534156e-01  9.03099217e-05]
 [-1.71534006e-01  9.85177784e-01 -9.04774102e-04]
 [-2.44170990e-04  8.75872471e-04  9.99999587e-01]]

 t_estimated:
[[-0.83467733]
 [-0.55073753]
 [-0.00138738]]

 R_gt:
[[ 0.9869101   0.03994228  0.15624452]
 [-0.01934007  0.99116476 -0.13122256]
 [-0.16010568  0.12648292  0.97896242]]

 t_gt:
[-0.77857333  0.60667261 -0.1605363 ]

Pose Error in degrees for R and t:
14.28398561482274 71.58104930508448

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.84077766  0.50892884  0.18461949]
 [-0.02924168 -0.2978274   0.95417177]
 [ 0.54059028 -0.80764489 -0.23552469]]

 t_estimated:
[[0.92689541]
 [0.37531666]
 [0.0015195 ]]

 R_gt:
[[ 0.97204068  0.01020347  0.2345901 ]
 [ 0.04148759  0.97587581 -0.21435144]
 [-0.23111854  0.21809204  0.94816666]]

 t_gt:
[-0.59985807  0.75802058 -0.25607636]

Pose Error in degrees for R and t:
125.27521319682118 74.22281708085148

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.91038693e-01  1.33575105e-01  1.11955898e-05]
 [-1.33575102e-01  9.91038682e-01 -1.48882980e-04]
 [-3.09823223e-05  1.46053342e-04  9.99999989e-01]]

 t_estimated:
[[-9.38131175e-01]
 [ 3.46279449e-01]
 [-6.64745504e-04]]

 R_gt:
[[ 0.99810785  0.06098101 -0.00782663]
 [-0.06007739  0.99442838  0.08661899]
 [ 0.01306581 -0.08598507  0.99621109]]

 t_gt:
[-0.84473827 -0.09251528  0.52712254]

Pose Error in degrees for R and t:
6.527197077488383 40.52797603682628

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.96459269e-01 -8.40761157e-02 -3.62908424e-04]
 [ 8.40760607e-02  9.96459326e-01 -1.64523590e-04]
 [ 3.75455988e-04  1.33429146e-04  9.99999921e-01]]

 t_estimated:
[[-0.21348542]
 [-0.97694477]
 [-0.00170175]]

 R_gt:
[[ 0.99137736  0.13100488 -0.00305263]
 [-0.13013023  0.98696044  0.09473346]
 [ 0.01542387 -0.09351931  0.99549748]]

 t_gt:
[-0.9276848   0.17262992  0.33105864]

Pose Error in degrees for R and t:
13.485969606273523 88.34770973597469

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 4.12645228e-01  9.10842078e-01  9.51969001e-03]
 [ 9.10891555e-01 -4.12630608e-01 -3.54349745e-03]
 [ 7.00548898e-04  1.01336126e-02 -9.99948408e-01]]

 t_estimated:
[[-0.67296712]
 [-0.73967091]
 [-0.00148231]]

 R_gt:
[[ 0.96633973  0.24957535  0.06246112]
 [-0.25528647  0.9603      0.11248276]
 [-0.03190866 -0.1246429   0.9916886 ]]

 t_gt:
[-0.87292368  0.37774985  0.30872204]

Pose Error in degrees for R and t:
176.1281294741636 72.08650481277712

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 7.89070601e-01  6.14297792e-01  2.41015865e-03]
 [-6.14301819e-01  7.89069556e-01  1.58447601e-03]
 [-9.28442699e-04 -2.73082828e-03  9.99995840e-01]]

 t_estimated:
[[0.10965314]
 [0.99396546]
 [0.00297408]]

 R_gt:
[[ 0.99934914  0.02867826  0.02187052]
 [-0.0284622   0.99954336 -0.01013322]
 [-0.02215075  0.00950372  0.99970954]]

 t_gt:
[-0.54890473  0.73267892  0.40234961]

Pose Error in degrees for R and t:
36.28801153456824 47.98963510780933

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 5.27687364e-01  8.49438630e-01  2.44802438e-04]
 [-8.49438292e-01  5.27687380e-01 -7.85714026e-04]
 [-7.96595003e-04  2.06666798e-04  9.99999661e-01]]

 t_estimated:
[[-1.56556904e-01]
 [ 9.87668812e-01]
 [ 5.03495121e-04]]

 R_gt:
[[ 0.99871623  0.0312637   0.03985365]
 [-0.03138854  0.99950388  0.00251986]
 [-0.03975533 -0.00376752  0.99920195]]

 t_gt:
[-0.45049301  0.48520812  0.7494192 ]

Pose Error in degrees for R and t:
56.396150240959514 56.624064697164556

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.98037228e-01 -6.26234003e-02 -4.54461973e-05]
 [ 6.26234032e-02  9.98037226e-01  6.35077495e-05]
 [ 4.13799254e-05 -6.62290938e-05  9.99999997e-01]]

 t_estimated:
[[-9.87000644e-01]
 [-1.60714568e-01]
 [-7.46433972e-04]]

 R_gt:
[[ 0.99919143  0.02356891  0.03257561]
 [-0.02335207  0.99970226 -0.00702502]
 [-0.03273189  0.0062585   0.99944363]]

 t_gt:
[-0.49973201  0.53778472  0.67901068]

Pose Error in degrees for R and t:
5.293017879504416 66.02743650485037

Number of keypoints:
Image1: 311
Image2: 311

 R_estimated:
[[ 0.3437544   0.93807945  0.0428935 ]
 [ 0.93798465 -0.34081762 -0.0634676 ]
 [-0.04491879  0.06205071 -0.99706169]]

 t_estimated:
[[0.71504962]
 [0.69907085]
 [0.00199735]]

 R_gt:
[[ 0.99898816 -0.04177278 -0.01662986]
 [ 0.0415182   0.99901996 -0.01535772]
 [ 0.01725474  0.01465115  0.99974338]]

 t_gt:
[ 0.81679365 -0.17684858 -0.54915636]

Pose Error in degrees for R and t:
175.46199439854098 62.65666977815181

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.86072693e-01  1.66314195e-01  4.81816376e-04]
 [-1.66314164e-01  9.86072811e-01 -1.03086749e-04]
 [-4.92250817e-04  2.15181407e-05  9.99999879e-01]]

 t_estimated:
[[0.57157503]
 [0.82054924]
 [0.00096877]]

 R_gt:
[[ 0.99683569 -0.07922242  0.00662582]
 [ 0.07941548  0.99613309 -0.03758023]
 [-0.00362408  0.03798764  0.99927145]]

 t_gt:
[ 0.92441208 -0.12580247 -0.36005006]

Pose Error in degrees for R and t:
14.290947637364084 64.86231623022702

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99834822e-01  1.81740296e-02 -1.84981590e-04]
 [-1.81738927e-02  9.99834584e-01  7.16822875e-04]
 [ 1.97978551e-04 -7.13342636e-04  9.99999726e-01]]

 t_estimated:
[[0.79421549]
 [0.60763568]
 [0.00080242]]

 R_gt:
[[ 0.98711688 -0.15912025  0.01677882]
 [ 0.15957307  0.9867186  -0.0303967 ]
 [-0.01172037  0.03268299  0.99939697]]

 t_gt:
[ 0.92160911 -0.37719725 -0.09142699]

Pose Error in degrees for R and t:
10.412606682393942 59.82224498078629

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 4.36911961e-01  8.99504273e-01 -5.30716313e-06]
 [-8.99503625e-01  4.36911639e-01 -1.20358650e-03]
 [-1.08031244e-03  5.30635152e-04  9.99999276e-01]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.99922972  0.03899595 -0.00438405]
 [-0.03850063  0.9958282   0.08272643]
 [ 0.00759175 -0.08249194  0.99656279]]

 t_gt:
[-0.69406925 -0.08529291  0.71483774]

Pose Error in degrees for R and t:
62.03762249923973 84.63434467611881

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.56342067e-01  2.92249454e-01  3.27900641e-04]
 [-2.92248680e-01  9.56341203e-01 -1.48733753e-03]
 [-7.48258475e-04  1.32657492e-03  9.99998840e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98511736  0.16921477  0.03018249]
 [-0.17050718  0.98422711  0.04716769]
 [-0.02172468 -0.05161114  0.99843099]]

 t_gt:
[-0.89550575  0.39739193  0.20037241]

Pose Error in degrees for R and t:
7.91083507613825 26.60519534427959

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 8.49551030e-01  5.27506042e-01 -6.51010973e-04]
 [-5.27506208e-01  8.49551170e-01 -1.03598168e-04]
 [ 4.98418474e-04  4.31424260e-04  9.99999783e-01]]

 t_estimated:
[[-0.93299497]
 [ 0.35988609]
 [-0.00154494]]

 R_gt:
[[ 0.95894726  0.27810694  0.05545057]
 [-0.28242476  0.95424399  0.09825005]
 [-0.02558942 -0.10987716  0.99361518]]

 t_gt:
[-0.84134878  0.47131692  0.26456113]

Pose Error in degrees for R and t:
16.809198810697872 17.410434606958866

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.99992646  0.01207022 -0.00117428]
 [-0.01206714  0.99992383  0.00259372]
 [ 0.00120549 -0.00257936  0.99999595]]

 t_estimated:
[[-9.76086310e-01]
 [-2.17381667e-01]
 [-8.52477126e-04]]

 R_gt:
[[ 0.99152731  0.1264381   0.02978343]
 [-0.12561686  0.99168348 -0.02801356]
 [-0.03307767  0.02403576  0.99916374]]

 t_gt:
[-0.55383662  0.82685355  0.09786835]

Pose Error in degrees for R and t:
7.008884709808369 68.85274736952526

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 3.07917381e-01  9.51413082e-01 -1.83615419e-04]
 [-9.51411087e-01  3.07916327e-01 -2.11630575e-03]
 [-1.95694279e-03  8.26341070e-04  9.99997744e-01]]

 t_estimated:
[[0.00624337]
 [0.99997997]
 [0.00104056]]

 R_gt:
[[ 0.99047098  0.12155069  0.06476185]
 [-0.12028482  0.99247011 -0.02310576]
 [-0.06708227  0.01509655  0.99763375]]

 t_gt:
[-0.54372719  0.76494466  0.34528308]

Pose Error in degrees for R and t:
65.21343374198034 40.368551028965115

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.54981525  0.83513747 -0.01576708]
 [ 0.83513842  0.54997515  0.00843608]
 [ 0.01571679 -0.0085294  -0.9998401 ]]

 t_estimated:
[[ 0.91098981]
 [-0.41234786]
 [-0.00817355]]

 R_gt:
[[ 0.99090482  0.11544901  0.06913708]
 [-0.11432464  0.99324175 -0.02000948]
 [-0.07098079  0.01192419  0.99740688]]

 t_gt:
[-0.5356342   0.73958129  0.40757272]

Pose Error in degrees for R and t:
177.04518154526525 37.22619873591927

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.86981273  0.25082583  0.42486729]
 [ 0.19069932  0.623293   -0.75837959]
 [-0.45503799  0.74067013  0.49431587]]

 t_estimated:
[[-0.81178527]
 [-0.56058012]
 [-0.16356833]]

 R_gt:
[[ 0.99543989 -0.00508059  0.0952512 ]
 [ 0.01038891  0.99841435 -0.05532022]
 [-0.09481892  0.05605736  0.99391558]]

 t_gt:
[-0.55530646  0.83160751 -0.0079805 ]

Pose Error in degrees for R and t:
54.99642460205479 89.19280881978307

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999921e-01  1.58575414e-04  3.65326910e-04]
 [-1.58574469e-04  9.99999987e-01 -2.61750118e-06]
 [-3.65327321e-04  2.55956945e-06  9.99999933e-01]]

 t_estimated:
[[-0.79733139]
 [-0.60354121]
 [-0.00081425]]

 R_gt:
[[ 0.98487349 -0.04455387  0.16744831]
 [ 0.06469841  0.99104071 -0.11684609]
 [-0.16074264  0.12591222  0.97893233]]

 t_gt:
[-0.20151904  0.97634296 -0.07838682]

Pose Error in degrees for R and t:
12.184021832555631 64.6262055224258

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99999450e-01  1.04136910e-03  1.21201831e-04]
 [-1.04107690e-03  9.99996610e-01 -2.38646502e-03]
 [-1.23686611e-04  2.38633753e-03  9.99997145e-01]]

 t_estimated:
[[-0.69846847]
 [-0.7156346 ]
 [-0.00298472]]

 R_gt:
[[ 0.98331647 -0.07597831  0.16527513]
 [ 0.08834945  0.99370906 -0.06882446]
 [-0.15900619  0.0822773   0.98384326]]

 t_gt:
[0.20766664 0.91947207 0.3338348 ]

Pose Error in degrees for R and t:
11.320166110972984 36.48129181872224

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99904485e-01 -1.38205445e-02  1.17818248e-04]
 [ 1.38204944e-02  9.99904406e-01  4.15760784e-04]
 [-1.23553025e-04 -4.14092766e-04  9.99999907e-01]]

 t_estimated:
[[-0.48267833]
 [-0.8757972 ]
 [-0.00094273]]

 R_gt:
[[ 0.99916285 -0.03150161  0.02611529]
 [ 0.03115232  0.99942096  0.01369659]
 [-0.02653262 -0.01287122  0.99956518]]

 t_gt:
[ 0.39895439 -0.57888096  0.71114853]

Pose Error in degrees for R and t:
1.9504938472041433 71.71491667086195

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 7.06612724e-01 -7.07598271e-01 -1.77361658e-03]
 [ 7.07599155e-01  7.06614043e-01 -1.74046540e-04]
 [ 1.37641741e-03 -1.13202609e-03  9.99998412e-01]]

 t_estimated:
[[-0.08410882]
 [-0.99645589]
 [-0.00116818]]

 R_gt:
[[ 0.98939568 -0.09428278  0.11048666]
 [ 0.08300412  0.99125455  0.10259169]
 [-0.11919407 -0.09233251  0.98856935]]

 t_gt:
[ 0.26621345 -0.47384103  0.83940757]

Pose Error in degrees for R and t:
40.83040621246157 63.33390837456544

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 1.83627876e-01  9.82990054e-01  3.37007705e-03]
 [ 9.82995772e-01 -1.83625599e-01 -9.75790855e-04]
 [-3.40360289e-04  3.49195390e-03 -9.99993845e-01]]

 t_estimated:
[[0.18082555]
 [0.98351457]
 [0.00110259]]

 R_gt:
[[ 0.97517721 -0.13704149  0.17392543]
 [ 0.10111219  0.97439281  0.20083354]
 [-0.19699413 -0.17826205  0.96406208]]

 t_gt:
[ 0.25296223 -0.38219515  0.88878399]

Pose Error in degrees for R and t:
178.5880227052251 70.7814427533747

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.95784950e-01 -9.17187656e-02 -4.56553154e-05]
 [ 9.17187711e-02  9.95784940e-01  1.39058138e-04]
 [ 3.27086348e-05 -1.42659450e-04  9.99999989e-01]]

 t_estimated:
[[1.31233505e-01]
 [9.91351418e-01]
 [3.66179484e-04]]

 R_gt:
[[ 0.99889141 -0.00478109  0.04682362]
 [ 0.00111784  0.99695586  0.07796685]
 [-0.04705368 -0.07782854  0.99585527]]

 t_gt:
[-0.23162595 -0.37038577  0.89953533]

Pose Error in degrees for R and t:
7.286382484917017 66.59361589440353

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.72475147e-01 -2.32999518e-01  1.82008483e-03]
 [ 2.33005548e-01  9.72464740e-01 -4.55456955e-03]
 [-7.08755811e-04  4.85329556e-03  9.99987972e-01]]

 t_estimated:
[[-0.49975441]
 [-0.86615513]
 [-0.00456223]]

 R_gt:
[[ 0.99868986 -0.01671475  0.04835379]
 [ 0.01130521  0.99386043  0.1100641 ]
 [-0.04989666 -0.10937438  0.99274762]]

 t_gt:
[-0.09810877 -0.45122017  0.8870034 ]

Pose Error in degrees for R and t:
14.52793168735595 64.1631375405399

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.98639031 -0.16438376 -0.00348336]
 [ 0.16439636  0.9863874   0.00370482]
 [ 0.00282693 -0.00422705  0.99998707]]

 t_estimated:
[[0.93211774]
 [0.36215397]
 [0.00100879]]

 R_gt:
[[ 0.99342309 -0.11000518  0.0317598 ]
 [ 0.10580044  0.98798285  0.11267886]
 [-0.04377401 -0.10857733  0.99312333]]

 t_gt:
[ 0.42159729 -0.667904    0.61331882]

Pose Error in degrees for R and t:
7.327754873280343 81.27379323461686

Number of keypoints:
Image1: 447
Image2: 447

 R_estimated:
[[ 5.87763538e-01 -8.09032261e-01 -9.08221481e-04]
 [ 8.09032684e-01  5.87763623e-01  1.97470918e-04]
 [ 3.74059205e-04 -8.50847068e-04  9.99999568e-01]]

 t_estimated:
[[ 7.58637796e-01]
 [-6.51512617e-01]
 [-7.02865121e-05]]

 R_gt:
[[ 0.99909082  0.03983964  0.01522352]
 [-0.04033403  0.99861979  0.03361438]
 [-0.01386359 -0.03419824  0.99931817]]

 t_gt:
[-0.74653283 -0.19230091  0.63695298]

Pose Error in degrees for R and t:
56.335665086092234 63.82550982816167

Number of keypoints:
Image1: 357
Image2: 357

 R_estimated:
[[-5.46729166e-02 -9.98504107e-01  6.48286169e-04]
 [-9.98499596e-01  5.46706500e-02 -3.11068132e-03]
 [ 3.07058585e-03 -8.17383498e-04 -9.99994952e-01]]

 t_estimated:
[[8.60556520e-01]
 [5.09354420e-01]
 [7.42499154e-04]]

 R_gt:
[[ 0.99440689  0.10278874  0.0242737 ]
 [-0.10365917  0.993895    0.03777203]
 [-0.0202434  -0.040077    0.99899046]]

 t_gt:
[-0.91600284 -0.00648036  0.40111944]

Pose Error in degrees for R and t:
177.62233926039096 37.69516061417713

Number of keypoints:
Image1: 318
Image2: 318

 R_estimated:
[[ 9.54001253e-01 -2.99802375e-01 -3.80882896e-04]
 [ 2.99802524e-01  9.54001187e-01  4.26393639e-04]
 [ 2.35528910e-04 -5.20969719e-04  9.99999837e-01]]

 t_estimated:
[[-0.62400464]
 [-0.78142016]
 [-0.00086409]]

 R_gt:
[[ 0.9707459   0.23758466  0.03472607]
 [-0.2390445   0.96988508  0.04668829]
 [-0.02258881 -0.05362417  0.99830549]]

 t_gt:
[-0.94368763  0.19175266  0.26960077]

Pose Error in degrees for R and t:
31.416340009842695 63.97309791274118

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.15917689 -0.98724236  0.00390311]
 [-0.9872276   0.1591987   0.00611904]
 [-0.00666234 -0.00287925 -0.99997366]]

 t_estimated:
[[0.69310333]
 [0.72082033]
 [0.005082  ]]

 R_gt:
[[ 0.99439445  0.09583597 -0.04466126]
 [-0.09896078  0.99233811 -0.07397684]
 [ 0.03722955  0.07798256  0.99625908]]

 t_gt:
[-0.4740988   0.69512579 -0.54039843]

Pose Error in degrees for R and t:
175.77100940227012 80.22874909063776

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-8.82044068e-01 -4.71164757e-01 -1.42623771e-03]
 [ 4.71166870e-01 -8.82038608e-01 -3.11027357e-03]
 [ 2.07454565e-04 -3.41539431e-03  9.99994146e-01]]

 t_estimated:
[[9.05170198e-01]
 [4.25048720e-01]
 [7.06060997e-04]]

 R_gt:
[[ 0.99092271  0.10278965 -0.08664245]
 [-0.11537338  0.98105785 -0.15561215]
 [ 0.06900609  0.16419663  0.9840108 ]]

 t_gt:
[-0.31228991  0.6338961  -0.70756678]

Pose Error in degrees for R and t:
158.28668570367 89.21282412483897

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.83471006 -0.55065734  0.0059671 ]
 [ 0.55068701  0.83469068 -0.00594055]
 [-0.00170948  0.00824464  0.99996455]]

 t_estimated:
[[-0.30429268]
 [-0.95256838]
 [-0.00441004]]

 R_gt:
[[ 0.97922136  0.14082397 -0.14592425]
 [-0.17135237  0.95941626 -0.22396327]
 [ 0.10846231  0.24431466  0.96361157]]

 t_gt:
[-0.2544504   0.63975081 -0.72524058]

Pose Error in degrees for R and t:
45.08392873131926 58.076894319900944

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99999672e-01  8.03360992e-04  1.00845389e-04]
 [-8.03359605e-04  9.99999677e-01 -1.37923478e-05]
 [-1.00856437e-04  1.37113282e-05  9.99999995e-01]]

 t_estimated:
[[ 9.80167957e-01]
 [-1.98168357e-01]
 [ 2.79255736e-04]]

 R_gt:
[[ 0.98504757 -0.16987789 -0.02867506]
 [ 0.16944992  0.98539602 -0.01677043]
 [ 0.03110478  0.01166031  0.99944826]]

 t_gt:
[ 0.70137111 -0.68511234 -0.19672225]

Pose Error in degrees for R and t:
10.000420021590116 34.596188268769964

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99904396e-01 -1.38265649e-02  1.59846835e-04]
 [ 1.38266011e-02  9.99904382e-01 -2.27775945e-04]
 [-1.56682192e-04  2.29964307e-04  9.99999961e-01]]

 t_estimated:
[[ 0.70694617]
 [-0.70726688]
 [-0.00082114]]

 R_gt:
[[ 0.9591908  -0.27900712 -0.04591053]
 [ 0.2751022   0.95836322 -0.0765459 ]
 [ 0.06535545  0.06079134  0.99600864]]

 t_gt:
[ 0.73746354 -0.57135744 -0.36013638]

Pose Error in degrees for R and t:
16.151957829622937 22.219045507600768

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-9.51235126e-02 -9.95465325e-01  5.51365195e-04]
 [-9.95462387e-01  9.51218225e-02 -2.54463445e-03]
 [ 2.48064850e-03 -7.90917880e-04 -9.99996610e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.92269403 -0.38466455  0.02585652]
 [ 0.38550909  0.9198377  -0.07267269]
 [ 0.00416968  0.07702287  0.99702069]]

 t_gt:
[ 0.75672212 -0.62630662 -0.18738103]

Pose Error in degrees for R and t:
177.4256385984426 76.5866519868061

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 6.35472583e-01  7.72122586e-01  1.14432895e-03]
 [-7.72122750e-01  6.35473294e-01 -3.88987905e-04]
 [-1.02753683e-03 -6.36371264e-04  9.99999270e-01]]

 t_estimated:
[[0.40015621]
 [0.91644608]
 [0.00126232]]

 R_gt:
[[ 0.99524586  0.06079642 -0.07609062]
 [-0.05940869  0.99802653  0.02036266]
 [ 0.07717836 -0.01574563  0.99689282]]

 t_gt:
[ 0.57968926  0.27617046 -0.76660957]

Pose Error in degrees for R and t:
47.30420079947221 61.046876502496225

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.81502854  0.5793985   0.00508614]
 [ 0.57941104 -0.81493239 -0.01296343]
 [-0.00336614  0.01351253 -0.99990304]]

 t_estimated:
[[0.9031992 ]
 [0.42922057]
 [0.0009572 ]]

 R_gt:
[[ 0.98190524  0.1596557  -0.10184485]
 [-0.15485936  0.9864912   0.053425  ]
 [ 0.10899805 -0.03668744  0.99336479]]

 t_gt:
[ 0.2707395   0.8335335  -0.48158284]

Pose Error in degrees for R and t:
176.4709636754529 52.99817555321351

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-5.11509308e-01  8.59277346e-01 -8.18754181e-04]
 [-8.59275320e-01 -5.11509897e-01 -1.88381471e-03]
 [-2.03752017e-03 -2.60053497e-04  9.99997890e-01]]

 t_estimated:
[[0.42403646]
 [0.90564444]
 [0.00110714]]

 R_gt:
[[ 0.9582907   0.24677586 -0.14415121]
 [-0.23077115  0.96569576  0.11906501]
 [ 0.16858885 -0.08083274  0.98236695]]

 t_gt:
[ 0.1663512   0.97728657 -0.13129449]

Pose Error in degrees for R and t:
107.21320956901035 17.163264375498645

Number of keypoints:
Image1: 576
Image2: 576

 R_estimated:
[[ 9.93915653e-01  1.10115451e-01  2.50257357e-03]
 [-1.10112672e-01  9.93918359e-01 -1.22258016e-03]
 [-2.62197879e-03  9.39576493e-04  9.99996121e-01]]

 t_estimated:
[[-0.54502148]
 [-0.83842154]
 [-0.00094951]]

 R_gt:
[[ 0.99924721 -0.02347587 -0.03087974]
 [ 0.02441336  0.9992407   0.03035185]
 [ 0.03014291 -0.03108292  0.99906201]]

 t_gt:
[ 0.78994201 -0.6131473  -0.00648113]

Pose Error in degrees for R and t:
8.131244300870847 85.20754039459233

Number of keypoints:
Image1: 710
Image2: 710

 R_estimated:
[[ 9.99717809e-01  2.37550539e-02  2.42379539e-06]
 [-2.37550538e-02  9.99717809e-01 -4.98481006e-06]
 [-2.54152585e-06  4.92582601e-06  1.00000000e+00]]

 t_estimated:
[[-3.25798866e-01]
 [-9.45439103e-01]
 [ 1.70792025e-05]]

 R_gt:
[[ 0.99918944  0.02710558 -0.02975772]
 [-0.02560003  0.99842818  0.04984882]
 [ 0.03106272 -0.04904666  0.9983141 ]]

 t_gt:
[-0.62460082 -0.42727348  0.65369043]

Pose Error in degrees for R and t:
3.3318160144996742 52.593463922756705

Number of keypoints:
Image1: 482
Image2: 482

 R_estimated:
[[ 9.94264679e-01  1.06947376e-01 -7.68098505e-05]
 [-1.06947387e-01  9.94264669e-01 -1.56192559e-04]
 [ 5.96649362e-05  1.63511357e-04  9.99999985e-01]]

 t_estimated:
[[-9.05321223e-01]
 [-4.24726877e-01]
 [-7.50702400e-04]]

 R_gt:
[[ 0.99289344  0.11886944  0.00569075]
 [-0.11889245  0.98872643  0.09101462]
 [ 0.00519216 -0.09104463  0.9958341 ]]

 t_gt:
[-0.8844377   0.09371569  0.45715131]

Pose Error in degrees for R and t:
5.288169510373654 40.486985581632666

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99969794e-01  7.77251748e-03 -7.16166104e-06]
 [-7.77251752e-03  9.99969794e-01 -6.07120449e-06]
 [ 7.11425616e-06  6.12668523e-06  1.00000000e+00]]

 t_estimated:
[[ 6.65127531e-01]
 [-7.46729745e-01]
 [-2.37416490e-04]]

 R_gt:
[[ 0.98763835 -0.14000555  0.07050185]
 [ 0.13565404  0.98874234  0.06314839]
 [-0.07854829 -0.05280401  0.99551122]]

 t_gt:
[ 0.53622452 -0.66451954  0.52045849]

Pose Error in degrees for R and t:
9.988053854019256 31.487884080267367

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-8.91362562e-01 -4.53291058e-01 -5.98398275e-06]
 [-4.53289523e-01  8.91359509e-01  2.61425934e-03]
 [-1.17968650e-03  2.33296538e-03 -9.99996583e-01]]

 t_estimated:
[[0.99989554]
 [0.01441662]
 [0.00102976]]

 R_gt:
[[ 0.97114871 -0.22301092  0.08448604]
 [ 0.21601097  0.97271832  0.08460835]
 [-0.10104853 -0.06391698  0.99282679]]

 t_gt:
[ 0.61599624 -0.64151891  0.4571675 ]

Pose Error in degrees for R and t:
173.73698160568807 52.6159882287463

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.02990509  0.99954658 -0.0035112 ]
 [-0.99954225 -0.02992068 -0.00447605]
 [-0.00457907  0.00337574  0.99998382]]

 t_estimated:
[[0.01922719]
 [0.99981386]
 [0.00160227]]

 R_gt:
[[ 0.96315045 -0.26187918  0.0613388 ]
 [ 0.25669291  0.96308101  0.08114358]
 [-0.08032283 -0.06240788  0.99481342]]

 t_gt:
[ 0.69761264 -0.62335835  0.3532152 ]

Pose Error in degrees for R and t:
106.9052311922946 52.463750679942116

Number of keypoints:
Image1: 620
Image2: 620

 R_estimated:
[[ 9.99994682e-01  3.26062241e-03 -6.26367970e-05]
 [-3.26061973e-03  9.99994683e-01  4.29208618e-05]
 [ 6.27764127e-05 -4.27163988e-05  9.99999997e-01]]

 t_estimated:
[[-9.92390204e-01]
 [ 1.23132248e-01]
 [-3.65079917e-04]]

 R_gt:
[[ 0.99708243  0.07263013  0.02346774]
 [-0.07290298  0.9972795   0.01095451]
 [-0.02260774 -0.01263246  0.99966487]]

 t_gt:
[-0.91621971  0.29914069  0.26656385]

Pose Error in degrees for R and t:
4.25445673747216 18.917917633347635

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-5.98430341e-01  8.01173401e-01 -1.51921600e-03]
 [-8.01171819e-01 -5.98432216e-01 -1.61208835e-03]
 [-2.20071010e-03  2.52430464e-04  9.99997547e-01]]

 t_estimated:
[[0.44973364]
 [0.89316203]
 [0.00111337]]

 R_gt:
[[ 0.98683841  0.16140001  0.01003877]
 [-0.16167119  0.98609477  0.03849009]
 [-0.00368634 -0.0396056   0.99920908]]

 t_gt:
[-0.93219757  0.31604352  0.17642046]

Pose Error in degrees for R and t:
117.47430928977472 82.13924140647036

Number of keypoints:
Image1: 319
Image2: 319

 R_estimated:
[[-0.97752541 -0.21072973 -0.00608703]
 [-0.21074114  0.97754105  0.00129106]
 [ 0.00567826  0.00254483 -0.99998064]]

 t_estimated:
[[ 0.99564818]
 [ 0.09316269]
 [-0.00232568]]

 R_gt:
[[ 0.96122301  0.2739428   0.03171955]
 [-0.27480558  0.96112031  0.02702385]
 [-0.02308356 -0.03469127  0.99913134]]

 t_gt:
[-0.85608966  0.50472394  0.11119456]

Pose Error in degrees for R and t:
178.5848128949037 36.33163578348753

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 6.89094669e-02 -9.97621562e-01 -1.64474973e-03]
 [ 9.97622760e-01  6.89084368e-02  6.75006796e-04]
 [-5.60064201e-04 -1.68735412e-03  9.99998420e-01]]

 t_estimated:
[[0.95330661]
 [0.30200171]
 [0.00121286]]

 R_gt:
[[ 0.99389523  0.09667743  0.05316168]
 [-0.09563207  0.99517644 -0.02187817]
 [-0.05502135  0.01666114  0.99834623]]

 t_gt:
[-0.50630407  0.80058214  0.3205065 ]

Pose Error in degrees for R and t:
91.62003110867076 76.0841177526489

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.82703052e-01  1.85188134e-01  2.58238339e-04]
 [-1.85188107e-01  9.82703083e-01 -1.27388876e-04]
 [-2.77362520e-04  7.73627680e-05  9.99999959e-01]]

 t_estimated:
[[-7.08978790e-01]
 [ 7.05229561e-01]
 [ 5.84071460e-04]]

 R_gt:
[[ 0.98521219  0.15399217  0.07513316]
 [-0.15140687  0.9877012  -0.03900247]
 [-0.08021544  0.02705038  0.99641049]]

 t_gt:
[-0.49905352  0.81483651  0.29493567]

Pose Error in degrees for R and t:
5.189025090823391 21.776600102180545

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 7.68486225e-01  6.39866133e-01  5.04456164e-04]
 [ 6.39857560e-01 -7.68479579e-01  4.63036207e-03]
 [ 3.35047613e-03 -3.23558938e-03 -9.99989153e-01]]

 t_estimated:
[[-0.82211889]
 [-0.56931236]
 [-0.0019906 ]]

 R_gt:
[[ 0.98229185  0.15271669  0.10854124]
 [-0.1498076   0.98811291 -0.03451104]
 [-0.11252216  0.0176401   0.99349196]]

 t_gt:
[-0.47926413  0.74807757  0.45900527]

Pose Error in degrees for R and t:
176.6706698894062 88.12085383472656

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99420089e-01  3.40510378e-02  1.07638551e-04]
 [-3.40510282e-02  9.99420092e-01 -9.03162326e-05]
 [-1.10651492e-04  8.65986539e-05  9.99999990e-01]]

 t_estimated:
[[ 8.51918229e-01]
 [-5.23674826e-01]
 [ 8.39874292e-05]]

 R_gt:
[[ 0.98642356 -0.15989582  0.03746033]
 [ 0.15798158  0.98620225  0.04945692]
 [-0.04485022 -0.04286696  0.99807413]]

 t_gt:
[ 0.6370277  -0.71061074  0.2987107 ]

Pose Error in degrees for R and t:
11.659369191666325 23.815629184998144

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.02712802 -0.99962877 -0.00252924]
 [ 0.99963082 -0.02713174  0.0014466 ]
 [-0.00151469 -0.00248906  0.99999576]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.95975998 -0.27054735  0.07526357]
 [ 0.26445857  0.96091938  0.08181449]
 [-0.09445622 -0.05861668  0.99380174]]

 t_gt:
[ 0.67005396 -0.66594003  0.32795055]

Pose Error in degrees for R and t:
76.21039464386203 48.40183884691803

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.89180613e-01 -1.46699610e-01 -9.69328404e-04]
 [ 1.46702373e-01 -9.89172233e-01 -4.08734687e-03]
 [-3.59220548e-04 -4.18532706e-03  9.99991177e-01]]

 t_estimated:
[[0.80154625]
 [0.59793068]
 [0.00158837]]

 R_gt:
[[ 0.94276945 -0.32586591  0.07068985]
 [ 0.31885468  0.94305039  0.09479945]
 [-0.09755579 -0.06683371  0.99298336]]

 t_gt:
[ 0.713306   -0.62941793  0.3082655 ]

Pose Error in degrees for R and t:
152.74748087782845 78.70333312730995

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[ 9.93387048e-01  1.14813456e-01  2.09904865e-04]
 [-1.14813435e-01  9.93387066e-01 -1.11275089e-04]
 [-2.21292656e-04  8.64393339e-05  9.99999972e-01]]

 t_estimated:
[[0.60305643]
 [0.79769809]
 [0.0008318 ]]

 R_gt:
[[ 0.99876616 -0.04058053 -0.02861897]
 [ 0.04120822  0.99891464  0.02170914]
 [ 0.02770666 -0.02286264  0.99935521]]

 t_gt:
[0.94815052 0.26282446 0.17870059]

Pose Error in degrees for R and t:
9.173814873829146 38.593478344581015

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 0.99631292  0.08569479  0.00411828]
 [ 0.08577142 -0.99599973 -0.02505609]
 [ 0.00195463  0.02531693 -0.99967756]]

 t_estimated:
[[ 0.06537217]
 [ 0.99779315]
 [-0.01163215]]

 R_gt:
[[ 0.99806372 -0.0129093  -0.06084776]
 [ 0.01511365  0.99924169  0.03589814]
 [ 0.06033727 -0.03674888  0.99750128]]

 t_gt:
[0.6868517  0.72188644 0.08434873]

Pose Error in degrees for R and t:
179.21596862560145 40.16295670713247

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.98743288e-01 -5.01181175e-02 -1.37990565e-04]
 [ 5.01182007e-02  9.98743058e-01  6.85142325e-04]
 [ 1.03479075e-04 -6.91197137e-04  9.99999756e-01]]

 t_estimated:
[[0.77355339]
 [0.63373034]
 [0.00100592]]

 R_gt:
[[ 0.9931321  -0.01995785 -0.11528139]
 [ 0.02208378  0.99960888  0.01719621]
 [ 0.11489273 -0.01962391  0.99318443]]

 t_gt:
[ 0.8049306   0.5507664  -0.22077842]

Pose Error in degrees for R and t:
6.884207523042775 13.718624713643953

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.91386825e-01  1.30964640e-01  6.53102473e-04]
 [-1.30964230e-01  9.91386890e-01 -6.35478097e-04]
 [-7.30702390e-04  5.44471550e-04  9.99999585e-01]]

 t_estimated:
[[0.60275933]
 [0.79792134]
 [0.00165245]]

 R_gt:
[[ 0.99170519  0.09812062 -0.08304248]
 [-0.09204187  0.99299218  0.07412115]
 [ 0.08973387 -0.06586281  0.99378503]]

 t_gt:
[0.54730855 0.79229305 0.26967587]

Pose Error in degrees for R and t:
6.761603186625911 15.734529814065404

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.72948029e-01 -2.31024057e-01 -1.33780651e-04]
 [ 2.31024077e-01  9.72948019e-01  1.65339412e-04]
 [ 9.19642374e-05 -1.91773206e-04  9.99999977e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97913973  0.18353426 -0.08719292]
 [-0.17623489  0.98065631  0.08516194]
 [ 0.10113651 -0.0680184   0.99254427]]

 t_gt:
[-0.12084502  0.96584419  0.22921928]

Pose Error in degrees for R and t:
24.752029189753078 83.24224185592047

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.71493000e-01 -2.37066915e-01 -7.92611310e-04]
 [ 2.37067553e-01  9.71492804e-01  8.40499960e-04]
 [ 5.70761452e-04 -1.00444225e-03  9.99999333e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075937e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.95005147  0.27224946 -0.15259047]
 [-0.25348044  0.95833903  0.13165201]
 [ 0.18207575 -0.08639818  0.97948147]]

 t_gt:
[ 0.04854379  0.99714631 -0.05781638]

Pose Error in degrees for R and t:
31.281248648617765 87.04276171965395

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.95017933e-01  9.96960931e-02 -4.93447231e-05]
 [-9.96961003e-02  9.95017918e-01 -1.72830347e-04]
 [ 3.18683733e-05  1.76888772e-04  9.99999984e-01]]

 t_estimated:
[[-7.38331595e-01]
 [-6.74437600e-01]
 [-6.15940267e-04]]

 R_gt:
[[ 0.99873629  0.0381308  -0.03273929]
 [-0.04167503  0.99243943 -0.11544137]
 [ 0.02808979  0.11665988  0.99277452]]

 t_gt:
[-0.16210178  0.58413632 -0.79530357]

Pose Error in degrees for R and t:
7.686504979504706 74.1101542955949

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-8.94827098e-01 -4.46182748e-01  1.43324623e-02]
 [-4.46123353e-01  8.94941864e-01  7.28102048e-03]
 [-1.60753863e-02  1.21208288e-04 -9.99870775e-01]]

 t_estimated:
[[0.98425293]
 [0.17657652]
 [0.00817947]]

 R_gt:
[[ 0.99671532  0.07970827 -0.01436287]
 [-0.08078272  0.9911337  -0.10549073]
 [ 0.00582744  0.106304    0.99431673]]

 t_gt:
[-0.30666512  0.77755653 -0.5489648 ]

Pose Error in degrees for R and t:
178.926868213498 80.26868659843736

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.35889009 -0.93337271 -0.00364437]
 [-0.9333771   0.35889575 -0.00101723]
 [ 0.0022574   0.0030365  -0.99999284]]

 t_estimated:
[[ 0.83008993]
 [ 0.55762886]
 [-0.00087104]]

 R_gt:
[[ 0.98287276  0.1789775  -0.04392453]
 [-0.18234906  0.97898885 -0.09126741]
 [ 0.02666717  0.09771303  0.99485717]]

 t_gt:
[-0.42640334  0.82966202 -0.36033475]

Pose Error in degrees for R and t:
175.03015482274523 83.7420829524728

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 7.35078700e-01 -6.77942872e-01 -7.26406110e-03]
 [ 6.77961547e-01  7.35097353e-01  1.48967366e-04]
 [ 5.23880072e-03 -5.03425684e-03  9.99973605e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99963407  0.02224617 -0.01537371]
 [-0.02294534  0.99863554 -0.0469108 ]
 [ 0.01430898  0.04724597  0.99878061]]

 t_gt:
[-0.17665853  0.74985713 -0.63757826]

Pose Error in degrees for R and t:
44.07077154433467 41.57587331035404

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.64224241e-01 -2.65084082e-01 -1.42914060e-03]
 [ 2.65087095e-01  9.64220742e-01  2.68183182e-03]
 [ 6.67096088e-04 -2.96473398e-03  9.99995383e-01]]

 t_estimated:
[[0.86667206]
 [0.49887444]
 [0.00195637]]

 R_gt:
[[ 0.99843898 -0.0305478   0.04675789]
 [ 0.0301461   0.99950293  0.00928129]
 [-0.04701891 -0.00785804  0.99886314]]

 t_gt:
[ 0.24656875 -0.26615491  0.93186126]

Pose Error in degrees for R and t:
13.908922136144968 85.25395432136195

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.9256732  -0.37829874 -0.00438055]
 [ 0.37830867 -0.92567798 -0.00168481]
 [-0.00341761 -0.00321678  0.99998899]]

 t_estimated:
[[0.95336951]
 [0.30178603]
 [0.00342939]]

 R_gt:
[[ 0.98933169 -0.07940749  0.12213775]
 [ 0.06689392  0.99239389  0.10334732]
 [-0.12941577 -0.09407576  0.98711727]]

 t_gt:
[ 0.20432184 -0.35357488  0.91281838]

Pose Error in degrees for R and t:
153.63371799127924 84.7661651881857

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999529e-01  9.68737794e-04  5.32880932e-05]
 [-9.68737214e-04  9.99999531e-01 -1.09230871e-05]
 [-5.32986498e-05  1.08714598e-05  9.99999999e-01]]

 t_estimated:
[[ 8.54394625e-01]
 [-5.19624168e-01]
 [ 7.40129542e-04]]

 R_gt:
[[ 0.999812   -0.01761101  0.00818184]
 [ 0.01748021  0.99972258  0.01576826]
 [-0.00845733 -0.01562324  0.99984232]]

 t_gt:
[ 0.5891229  -0.16140518  0.79175917]

Pose Error in degrees for R and t:
1.4691949845715646 53.99899251623613

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999953e-01  2.94473868e-04  8.03240787e-05]
 [-2.94463738e-04  9.99999949e-01 -1.26100993e-04]
 [-8.03612080e-05  1.26077334e-04  9.99999989e-01]]

 t_estimated:
[[-3.47074127e-01]
 [ 9.37837686e-01]
 [ 1.57512916e-04]]

 R_gt:
[[ 0.99825051  0.05676429 -0.01652269]
 [-0.05734919  0.99765188 -0.03743484]
 [ 0.01435895  0.03831626  0.99916222]]

 t_gt:
[-0.47765142  0.78554399 -0.39340787]

Pose Error in degrees for R and t:
4.009403804997402 25.520493316491557

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-5.14953918e-01 -8.57215219e-01 -2.12861712e-03]
 [ 8.57216938e-01 -5.14955421e-01  1.89242205e-04]
 [-1.25836422e-03 -1.72723563e-03  9.99997717e-01]]

 t_estimated:
[[0.99958006]
 [0.02895779]
 [0.00107251]]

 R_gt:
[[ 0.9914946   0.11578037 -0.05944052]
 [-0.12181013  0.98637878 -0.1105379 ]
 [ 0.04583346  0.11683803  0.99209272]]

 t_gt:
[-0.41161856  0.73828887 -0.53432173]

Pose Error in degrees for R and t:
127.96081983936392 67.00569998927075

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.99996990e-01 -2.45260568e-03  7.29512294e-05]
 [ 2.45261297e-03  9.99996987e-01 -9.99383754e-05]
 [-7.27059002e-05  1.00116996e-04  9.99999992e-01]]

 t_estimated:
[[ 5.55351014e-01]
 [-8.31615772e-01]
 [-6.77305132e-04]]

 R_gt:
[[ 0.98787485 -0.15182351 -0.03243757]
 [ 0.14986747  0.9871165  -0.05603116]
 [ 0.04052607  0.05049098  0.99790196]]

 t_gt:
[ 0.70124021 -0.54746606 -0.45666517]

Pose Error in degrees for R and t:
9.313959220917472 32.32536699306442

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-7.35019453e-01  6.78045985e-01  2.14401113e-04]
 [-6.78044945e-01 -7.35017688e-01 -2.01271161e-03]
 [-1.20712242e-03 -1.62475578e-03  9.99997952e-01]]

 t_estimated:
[[0.18798545]
 [0.98217125]
 [0.0010561 ]]

 R_gt:
[[ 9.68305275e-01 -2.49767677e-01  8.55312921e-04]
 [ 2.49436124e-01  9.66830278e-01 -5.49582309e-02]
 [ 1.28999115e-02  5.34309022e-02  9.98487774e-01]]

 t_gt:
[ 0.72417649 -0.64849443 -0.23457064]

Pose Error in degrees for R and t:
151.78438693421057 59.930794935686784

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-2.61272092e-01  9.65265013e-01  5.90304865e-04]
 [ 9.65263501e-01  2.61270440e-01  2.03229398e-03]
 [ 1.80747307e-03  1.10078144e-03 -9.99997761e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.9067971  -0.41904773  0.04602043]
 [ 0.42020182  0.90723672 -0.0187365 ]
 [-0.03389921  0.03632945  0.99876454]]

 t_gt:
[ 0.77840898 -0.6277458  -0.00382951]

Pose Error in degrees for R and t:
177.17401597154583 51.4135145528319

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.73422940e-01 -2.29014642e-01 -2.72713144e-04]
 [ 2.29014742e-01  9.73422865e-01  4.17691178e-04]
 [ 1.69807814e-04 -4.69045505e-04  9.99999876e-01]]

 t_estimated:
[[0.41804584]
 [0.90842531]
 [0.00106373]]

 R_gt:
[[ 9.97691443e-01  7.17260594e-04 -6.79160929e-02]
 [-5.53344633e-03  9.97479694e-01 -7.07440045e-02]
 [ 6.76943230e-02  7.09560880e-02  9.95179838e-01]]

 t_gt:
[ 0.20781688  0.25355371 -0.94473417]

Pose Error in degrees for R and t:
14.54964333979457 71.56632658646645

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.2262679   0.97404775 -0.00581546]
 [-0.97404509 -0.2262975  -0.00506103]
 [-0.00624571  0.00451937  0.99997028]]

 t_estimated:
[[0.02259308]
 [0.99974375]
 [0.00141207]]

 R_gt:
[[ 9.93271321e-01 -1.02003296e-02 -1.15362918e-01]
 [-5.56851496e-04  9.95682550e-01 -9.28271264e-02]
 [ 1.15811521e-01  9.22668731e-02  9.88977368e-01]]

 t_gt:
[ 0.2951169   0.2095867  -0.93219066]

Pose Error in degrees for R and t:
103.5820961566542 77.59126190589387

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.99883322 -0.02997154  0.03786682]
 [ 0.03028567  0.99951124 -0.00774936]
 [-0.03761605  0.00888714  0.99925275]]

 t_estimated:
[[0.67228459]
 [0.74029025]
 [0.00194302]]

 R_gt:
[[ 0.98677496  0.05137427 -0.15374512]
 [-0.07006572  0.99045093 -0.11873912]
 [ 0.1461773   0.12794076  0.98095096]]

 t_gt:
[ 0.08723335  0.52083368 -0.84918939]

Pose Error in degrees for R and t:
13.725967318796602 63.73242735594785

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99996907e-01  2.48713554e-03 -1.27268250e-05]
 [-2.48713509e-03  9.99996906e-01  3.55042759e-05]
 [ 1.28150896e-05 -3.54725128e-05  9.99999999e-01]]

 t_estimated:
[[-9.96801974e-01]
 [-7.99104446e-02]
 [-3.80403890e-04]]

 R_gt:
[[ 0.99706517  0.07621704  0.00714866]
 [-0.07611435  0.99700438 -0.01372229]
 [-0.00817374  0.01313777  0.99987985]]

 t_gt:
[-0.94145675  0.29742032 -0.15874615]

Pose Error in degrees for R and t:
4.318798236192022 23.83126192415478

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.99947235  0.03232663  0.0031642 ]
 [-0.03231601  0.99947208 -0.00335179]
 [-0.00327088  0.00324777  0.99998938]]

 t_estimated:
[[-8.08296599e-01]
 [-5.88775241e-01]
 [-5.68470429e-04]]

 R_gt:
[[ 0.97636858  0.21603288  0.00589071]
 [-0.21607929  0.97633371  0.00902444]
 [-0.00380243 -0.01008438  0.99994213]]

 t_gt:
[-0.92368154  0.37802642  0.06251746]

Pose Error in degrees for R and t:
10.651734273467724 58.39901748009476

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.83874727  0.54451558  0.00240864]
 [ 0.54451758 -0.83871846 -0.00720806]
 [-0.00190473  0.00735728 -0.99997112]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.92947186  0.36832667  0.02043747]
 [-0.3685007   0.92961195  0.00535625]
 [-0.01702608 -0.01250916  0.99977662]]

 t_gt:
[-0.86233128  0.50354089  0.05321029]

Pose Error in degrees for R and t:
179.7634711976214 30.60199849038326

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 1.00000000e+00  3.54006993e-06 -1.87990477e-05]
 [-3.54005930e-06  1.00000000e+00  5.65507022e-07]
 [ 1.87990497e-05 -5.65440472e-07  1.00000000e+00]]

 t_estimated:
[[ 1.58832912e-02]
 [ 9.99873835e-01]
 [-1.88670393e-04]]

 R_gt:
[[ 0.99830443 -0.00159289 -0.05817677]
 [-0.00426602  0.99493395 -0.10043969]
 [ 0.05804191  0.10051895  0.99324058]]

 t_gt:
[ 0.07953629  0.25058081 -0.9648229 ]

Pose Error in degrees for R and t:
6.665598408384421 75.40443025046451

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-1.49359036e-02  9.99888451e-01 -6.01439281e-05]
 [-9.99886988e-01 -1.49359847e-02 -1.71105970e-03]
 [-1.71176714e-03  3.45809084e-05  9.99998534e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99415853  0.01665966 -0.10663437]
 [-0.03625814  0.9821471  -0.18458699]
 [ 0.10165467  0.18737618  0.97701432]]

 t_gt:
[ 0.02472096  0.34220197 -0.93930117]

Pose Error in degrees for R and t:
89.9839151683538 71.04582732496247

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.88950085e-01 -1.48247959e-01 -5.21194789e-04]
 [ 1.48248866e-01  9.88945151e-01  3.12442108e-03]
 [ 5.22440120e-05 -3.16716303e-03  9.99994983e-01]]

 t_estimated:
[[0.14411049]
 [0.98955869]
 [0.00240184]]

 R_gt:
[[ 0.98369949  0.05338189 -0.17171055]
 [-0.09615446  0.9630836  -0.25144209]
 [ 0.15194947  0.26385522  0.95251922]]

 t_gt:
[-0.01944269  0.43406887 -0.90066986]

Pose Error in degrees for R and t:
22.021335470988248 64.87645883368069

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-5.85343857e-03 -9.99980098e-01 -2.35374756e-03]
 [ 9.99982621e-01 -5.85507539e-03  6.89125706e-04]
 [-7.02893360e-04 -2.34967290e-03  9.99996992e-01]]

 t_estimated:
[[0.99995615]
 [0.00927112]
 [0.00132445]]

 R_gt:
[[ 0.98802995 -0.15314206 -0.01856261]
 [ 0.15331119  0.98814411  0.00805823]
 [ 0.01710889 -0.01080808  0.99979574]]

 t_gt:
[ 0.64587171 -0.76129861 -0.0572203 ]

Pose Error in degrees for R and t:
81.52563314672001 50.30434151334617

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.99940971 -0.03429179 -0.00207516]
 [ 0.03429724  0.99940816  0.00264969]
 [ 0.00198307 -0.0027193   0.99999434]]

 t_estimated:
[[0.9999091 ]
 [0.01343663]
 [0.00111972]]

 R_gt:
[[ 0.95413536 -0.29421943 -0.05532007]
 [ 0.29225369  0.95546173 -0.04097805]
 [ 0.06491271  0.02293092  0.9976277 ]]

 t_gt:
[ 0.73987331 -0.62484167 -0.24931982]

Pose Error in degrees for R and t:
15.605250760793625 43.01869589136645

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.10072799 -0.99491221 -0.00188852]
 [ 0.99491071 -0.1007226  -0.00276384]
 [ 0.00255956 -0.00215731  0.9999944 ]]

 t_estimated:
[[ 9.97819787e-01]
 [-6.59966013e-02]
 [-3.49351221e-04]]

 R_gt:
[[ 0.92100117 -0.38710911 -0.04363295]
 [ 0.38445185  0.92128284 -0.0586007 ]
 [ 0.06288349  0.03719615  0.99732765]]

 t_gt:
[ 0.76206363 -0.60859917 -0.22105671]

Pose Error in degrees for R and t:
73.15050341629468 36.808272490925184

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.99044631  0.13502275  0.02801723]
 [-0.13568757  0.9904763   0.02335761]
 [-0.02459659 -0.02693605  0.99933451]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.99363434 -0.11182566 -0.01361454]
 [ 0.11153749  0.99355253 -0.02037026]
 [ 0.01580491  0.01872248  0.99970059]]

 t_gt:
[ 0.66511277 -0.72168907 -0.19180692]

Pose Error in degrees for R and t:
14.615323500287262 89.17300940826823

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.67933681  0.7335518   0.02008119]
 [ 0.73357466  0.67956627 -0.00760902]
 [-0.01922812  0.00956197 -0.9997694 ]]

 t_estimated:
[[ 0.95375913]
 [-0.30041136]
 [ 0.0098252 ]]

 R_gt:
[[ 0.97846393 -0.20625561  0.00821776]
 [ 0.20634533  0.97840384 -0.01218003]
 [-0.00552805  0.01361378  0.99989187]]

 t_gt:
[ 0.72728135 -0.68632751 -0.00404821]

Pose Error in degrees for R and t:
178.11080484978615 25.869255586655754

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99316446e-01  3.69669434e-02  2.93529725e-04]
 [-3.69669098e-02  9.99316483e-01 -1.19248009e-04]
 [-2.97737327e-04  1.08315609e-04  9.99999950e-01]]

 t_estimated:
[[-9.37802933e-01]
 [-3.47167926e-01]
 [-3.00451795e-04]]

 R_gt:
[[ 0.97163316 -0.23245498  0.04351751]
 [ 0.23441986  0.97098181 -0.047354  ]
 [-0.03124636  0.05621183  0.9979299 ]]

 t_gt:
[ 0.77553632 -0.63077194 -0.02588777]

Pose Error in degrees for R and t:
16.055150954572923 59.44876359163709

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 0.99940878  0.03429426 -0.00244636]
 [ 0.03429143 -0.99941117 -0.00118918]
 [-0.0024857   0.00110459 -0.9999963 ]]

 t_estimated:
[[0.05510365]
 [0.99847821]
 [0.00220415]]

 R_gt:
[[ 0.99875581  0.03423144 -0.03628366]
 [-0.03339707  0.99916946  0.0233737 ]
 [ 0.03705315 -0.02213206  0.99906783]]

 t_gt:
[0.15182225 0.98314604 0.1018522 ]

Pose Error in degrees for R and t:
178.72753672270872 8.011402499833585

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.97325730e-01  7.30847953e-02  3.35482764e-05]
 [-7.30848015e-02  9.97325697e-01  2.57879512e-04]
 [-1.46114867e-05 -2.59641742e-04  9.99999966e-01]]

 t_estimated:
[[3.14373722e-01]
 [9.49299241e-01]
 [3.36400189e-04]]

 R_gt:
[[ 0.99560254  0.01563342 -0.09237576]
 [-0.0172481   0.99971193 -0.01671005]
 [ 0.09208749  0.01823015  0.99558359]]

 t_gt:
[ 0.69235735  0.57457793 -0.43646477]

Pose Error in degrees for R and t:
6.292237284748821 40.27428625956559

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.39752212e-01  3.41855438e-01  7.99534159e-04]
 [-3.41855716e-01  9.39752421e-01  2.37548688e-04]
 [-6.70156850e-04 -4.96562228e-04  9.99999652e-01]]

 t_estimated:
[[0.42784661]
 [0.90385061]
 [0.00116437]]

 R_gt:
[[ 0.99260947 -0.03318526 -0.11673375]
 [ 0.03044632  0.99921974 -0.02517082]
 [ 0.11747806  0.02143117  0.99284334]]

 t_gt:
[ 0.89928564  0.32399098 -0.29379445]

Pose Error in degrees for R and t:
22.873716902812255 47.37059357420836

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999965e-01  1.93394020e-04 -1.78429624e-04]
 [-1.93314962e-04  9.99999883e-01  4.42986004e-04]
 [ 1.78515274e-04 -4.42951496e-04  9.99999886e-01]]

 t_estimated:
[[8.20617478e-01]
 [5.71477474e-01]
 [6.71536398e-04]]

 R_gt:
[[ 9.98087737e-01 -5.75029898e-02 -2.26731616e-02]
 [ 5.74776774e-02  9.98345293e-01 -1.78287910e-03]
 [ 2.27374762e-02  4.75352122e-04  9.99741742e-01]]

 t_gt:
[ 0.90219579 -0.38863163 -0.18710481]

Pose Error in degrees for R and t:
3.551345083346937 58.7925808795689

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.91184083e-01  1.32491652e-01  2.76820520e-04]
 [-1.32491637e-01  9.91184120e-01 -7.49006734e-05]
 [-2.84303817e-04  3.75639516e-05  9.99999959e-01]]

 t_estimated:
[[0.72412692]
 [0.68966622]
 [0.00084389]]

 R_gt:
[[ 0.99252912 -0.11543909 -0.03949684]
 [ 0.11546944  0.9933104  -0.00153373]
 [ 0.03940913 -0.00303757  0.99921915]]

 t_gt:
[ 0.86646043 -0.4660459  -0.17901827]

Pose Error in degrees for R and t:
14.4264980162514 72.19008060414674

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 1.97506804e-01 -9.80296806e-01 -3.03894959e-03]
 [ 9.80301507e-01  1.97506281e-01  4.74276995e-04]
 [ 1.35279406e-04 -3.07275979e-03  9.99995270e-01]]

 t_estimated:
[[8.31947866e-01]
 [5.54853409e-01]
 [6.64495101e-04]]

 R_gt:
[[ 0.9850106  -0.1673685  -0.04173591]
 [ 0.16685457  0.98585986 -0.01552234]
 [ 0.04374329  0.00832517  0.99900868]]

 t_gt:
[ 0.84752829 -0.50304788 -0.16922953]

Pose Error in degrees for R and t:
69.02251367797837 64.79431488592034

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.91830724e-01  1.27560755e-01  2.61476451e-04]
 [-1.27560735e-01  9.91830757e-01 -8.86387395e-05]
 [-2.70647211e-04  5.45604968e-05  9.99999962e-01]]

 t_estimated:
[[0.61090102]
 [0.7917058 ]
 [0.00136973]]

 R_gt:
[[ 9.92846324e-01 -1.19406266e-01 -5.21128385e-04]
 [ 1.19405978e-01  9.92843698e-01  1.48989964e-03]
 [ 3.39242514e-04 -1.54007687e-03  9.99999100e-01]]

 t_gt:
[ 0.7675083  -0.64078993 -0.01786815]

Pose Error in degrees for R and t:
14.186767453910793 87.79528840635713

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.98288534e-01 -5.84807615e-02  5.64767197e-05]
 [ 5.84807648e-02  9.98288534e-01 -5.85306986e-05]
 [-5.29571419e-05  6.17333270e-05  9.99999997e-01]]

 t_estimated:
[[-0.83420598]
 [-0.55145077]
 [-0.00156218]]

 R_gt:
[[ 9.85547880e-01 -1.68093532e-01 -2.10105239e-02]
 [ 1.68070249e-01  9.85770182e-01 -2.85693546e-03]
 [ 2.11914204e-02 -7.14529724e-04  9.99775489e-01]]

 t_gt:
[ 0.82695292 -0.55379664 -0.097253  ]

Pose Error in degrees for R and t:
6.440787010750675 67.39936465425043

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.92808698e-01  1.19711658e-01  9.34742425e-05]
 [-1.19711680e-01  9.92808658e-01  2.88216601e-04]
 [-5.82991501e-05 -2.97333907e-04  9.99999954e-01]]

 t_estimated:
[[0.73468091]
 [0.678412  ]
 [0.00106168]]

 R_gt:
[[ 9.68997024e-01 -2.42970155e-01 -4.48516088e-02]
 [ 2.43231687e-01  9.69967875e-01  4.05582716e-04]
 [ 4.34061937e-02 -1.13014702e-02  9.98993382e-01]]

 t_gt:
[ 0.85142505 -0.51381648 -0.10520461]

Pose Error in degrees for R and t:
21.107943315306645 73.9286154870082

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.92009197e-01  1.26165572e-01 -2.90178833e-05]
 [-1.26165572e-01  9.92009198e-01  1.11007385e-05]
 [ 3.01865382e-05 -7.35097689e-06  1.00000000e+00]]

 t_estimated:
[[0.72955996]
 [0.68391645]
 [0.00073619]]

 R_gt:
[[ 0.99700533 -0.07587301 -0.01498215]
 [ 0.07537423  0.99665958 -0.03144664]
 [ 0.01731879  0.03022316  0.9993934 ]]

 t_gt:
[ 0.54674806 -0.75479517 -0.36242353]

Pose Error in degrees for R and t:
11.75638959478083 83.24649500732929

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.93922473e-01  1.10081761e-01 -3.51448958e-04]
 [-1.10081206e-01  9.93921707e-01  1.32993357e-03]
 [ 4.95714177e-04 -1.28316294e-03  9.99999054e-01]]

 t_estimated:
[[0.99985742]
 [0.01682789]
 [0.00140232]]

 R_gt:
[[ 0.9893497  -0.14460349 -0.01664788]
 [ 0.14379473  0.98869894 -0.04240298]
 [ 0.02259196  0.03955762  0.99896234]]

 t_gt:
[ 0.64252798 -0.72205074 -0.25651612]

Pose Error in degrees for R and t:
14.855585604791408 50.955332608343795

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99987077e-01  5.06650711e-03  4.19626340e-04]
 [-5.06634812e-03  9.99987094e-01 -3.79080772e-04]
 [-4.21541540e-04  3.76949900e-04  9.99999840e-01]]

 t_estimated:
[[9.97846097e-01]
 [6.55985220e-02]
 [3.07295763e-05]]

 R_gt:
[[ 0.96935835 -0.24508402  0.01665072]
 [ 0.2456118   0.96816621 -0.04826269]
 [-0.00429196  0.05087415  0.99869634]]

 t_gt:
[ 0.73430857 -0.67106133 -0.10231136]

Pose Error in degrees for R and t:
14.787756125759046 46.47245944388143

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.96479692e-01  8.38333449e-02 -4.39705725e-04]
 [-8.38333209e-02  9.96479789e-01  7.27272548e-05]
 [ 4.44254837e-04 -3.56092413e-05  9.99999901e-01]]

 t_estimated:
[[ 0.12995726]
 [ 0.99151555]
 [-0.00283419]]

 R_gt:
[[ 0.99714363 -0.03539123 -0.06672552]
 [ 0.03267171  0.99860866 -0.04141022]
 [ 0.06809821  0.03911094  0.99691087]]

 t_gt:
[ 0.85021329  0.1114171  -0.51451296]

Pose Error in degrees for R and t:
8.112308597129614 77.14870609436187

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999614e-01  7.30114139e-04 -4.89106529e-04]
 [-7.29623443e-04  9.99999231e-01  1.00267759e-03]
 [ 4.89838222e-04 -1.00232034e-03  9.99999378e-01]]

 t_estimated:
[[-0.94142252]
 [-0.33721676]
 [-0.00291569]]

 R_gt:
[[ 0.99325065 -0.08337001 -0.08063581]
 [ 0.08167382  0.99636757 -0.02411606]
 [ 0.08235349  0.01736677  0.99645181]]

 t_gt:
[ 0.96668608  0.02233234 -0.25498882]

Pose Error in degrees for R and t:
6.78668327336697 23.530538806819127

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.99999633 -0.00251127 -0.00101835]
 [ 0.00251313  0.99999517  0.00182864]
 [ 0.00101376 -0.00183119  0.99999781]]

 t_estimated:
[[ 0.00117521]
 [ 0.99999809]
 [-0.00156262]]

 R_gt:
[[ 0.99358489 -0.06172224 -0.09476313]
 [ 0.05862449  0.99766171 -0.03514143]
 [ 0.09670979  0.02935982  0.99487912]]

 t_gt:
[ 0.9474243   0.16913705 -0.27162449]

Pose Error in degrees for R and t:
6.662418876767555 80.17295625013078

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.98381037e-01  5.68795979e-02  1.30232785e-04]
 [-5.68795946e-02  9.98381045e-01 -2.88384416e-05]
 [-1.31662263e-04  2.13841652e-05  9.99999991e-01]]

 t_estimated:
[[-9.96553988e-01]
 [-8.29463958e-02]
 [-2.08796135e-04]]

 R_gt:
[[ 0.99635535  0.08237376  0.02214439]
 [-0.08168435  0.99619486 -0.03041226]
 [-0.02456487  0.02849213  0.99929156]]

 t_gt:
[-0.90566636  0.35045658 -0.23863912]

Pose Error in degrees for R and t:
2.5911891051472824 29.12897807795517

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 2.31212071e-01  9.72902059e-01  1.60067955e-03]
 [-9.72903371e-01  2.31211909e-01  2.88309008e-04]
 [-8.95997479e-05 -1.62396706e-03  9.99998677e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96822383  0.24910614  0.02207851]
 [-0.24928833  0.96841203  0.00592326]
 [-0.01990562 -0.01123836  0.99973821]]

 t_gt:
[-0.88722475  0.45470878  0.07792407]

Pose Error in degrees for R and t:
62.21025119554806 63.30460617148415

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.97082427 -0.23976635 -0.00351266]
 [ 0.23978788 -0.97078982 -0.00830104]
 [-0.00141975 -0.00890115  0.99995938]]

 t_estimated:
[[0.999652  ]
 [0.02633079]
 [0.00160054]]

 R_gt:
[[ 0.92200861  0.38624826  0.02666935]
 [-0.38653243  0.92225449  0.00628987]
 [-0.0221663  -0.01610807  0.99962396]]

 t_gt:
[-0.8518646   0.51816994  0.0763323 ]

Pose Error in degrees for R and t:
171.13463590915845 33.09124474308534

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-1.81499212e-01 -9.83389409e-01 -1.81819355e-03]
 [ 9.83391079e-01 -1.81499179e-01 -1.84619302e-04]
 [-1.48447970e-04 -1.82150358e-03  9.99998330e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99810511  0.01263612 -0.06022726]
 [-0.01690588  0.9973394  -0.07091343]
 [ 0.05917119  0.07179751  0.99566189]]

 t_gt:
[ 0.15545261  0.33739787 -0.92843802]

Pose Error in degrees for R and t:
101.40774335005466 81.03806297796085

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-3.12146274e-01 -9.50032669e-01 -1.62204389e-03]
 [ 9.50033787e-01 -3.12147012e-01  2.17037613e-04]
 [-7.12508976e-04 -1.47324902e-03  9.99998661e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.92774517e-01 -1.59466414e-02 -1.18929112e-01]
 [-9.61180874e-04  9.90041829e-01 -1.40774527e-01]
 [ 1.19990114e-01  1.39871707e-01  9.82872553e-01]]

 t_gt:
[ 0.27155664  0.23147946 -0.93417035]

Pose Error in degrees for R and t:
108.1180211509145 74.24354625003015

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.92376052  0.38291575  0.00648388]
 [-0.38296097  0.92372509  0.00853563]
 [-0.0027209  -0.01036795  0.99994255]]

 t_estimated:
[[0.24359443]
 [0.9698667 ]
 [0.00451101]]

 R_gt:
[[ 0.98670622  0.01893888 -0.16141034]
 [-0.04220289  0.98897493 -0.14194559]
 [ 0.15694283  0.14687073  0.97662498]]

 t_gt:
[ 0.21100278  0.37434286 -0.9029647 ]

Pose Error in degrees for R and t:
24.43957630696673 65.77075851287474

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.87655686e-01 -1.56638471e-01  7.97025484e-04]
 [ 1.56639648e-01  9.87654307e-01 -1.72932227e-03]
 [-5.16307256e-04  1.83282076e-03  9.99998187e-01]]

 t_estimated:
[[-0.65898023]
 [-0.75215965]
 [-0.00096061]]

 R_gt:
[[ 9.98137507e-01 -5.80142432e-02 -1.88694090e-02]
 [ 5.79854995e-02  9.98315408e-01 -2.07593998e-03]
 [ 1.89591005e-02  9.78583625e-04  9.99819471e-01]]

 t_gt:
[ 0.87906659 -0.44424579 -0.17288032]

Pose Error in degrees for R and t:
5.7961481325375495 75.81948562162549

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 6.79850937e-01 -7.33350320e-01  1.04591363e-04]
 [ 7.33350294e-01  6.79850856e-01 -3.98978848e-04]
 [ 2.21484738e-04  3.47948251e-04  9.99999915e-01]]

 t_estimated:
[[-0.33365364]
 [-0.9426951 ]
 [-0.00109353]]

 R_gt:
[[ 9.91751592e-01 -1.22007667e-01 -3.92966001e-02]
 [ 1.22078894e-01  9.92520100e-01 -6.04382666e-04]
 [ 3.90768246e-02 -4.19791559e-03  9.99226992e-01]]

 t_gt:
[ 0.866418   -0.46960306 -0.16968446]

Pose Error in degrees for R and t:
40.2156197725311 81.15310947184436

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999913e-01  1.16040271e-04  4.01340262e-04]
 [-1.15830089e-04  9.99999856e-01 -5.23684117e-04]
 [-4.01400973e-04  5.23637584e-04  9.99999782e-01]]

 t_estimated:
[[-0.3503986 ]
 [-0.93660003]
 [-0.00110188]]

 R_gt:
[[ 0.98772145 -0.1523707  -0.03449764]
 [ 0.15215682  0.98831737 -0.00875801]
 [ 0.03542959  0.00340174  0.99936594]]

 t_gt:
[ 0.85813865 -0.49341179 -0.14192557]

Pose Error in degrees for R and t:
9.005378231596705 80.70049455209985

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 4.90711802e-01  8.71321701e-01  6.48725007e-04]
 [-8.71321384e-01  4.90712195e-01 -7.66524089e-04]
 [-9.86226344e-04 -1.89105554e-04  9.99999496e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99346918  0.11274732 -0.01754066]
 [-0.11268199  0.99362028  0.00467069]
 [ 0.01795449 -0.00266285  0.99983467]]

 t_gt:
[-0.70024968  0.71257836 -0.04338732]

Pose Error in degrees for R and t:
54.15065096169329 44.91527354915685

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.98030074 -0.19742834  0.00570076]
 [ 0.1974621   0.98029136 -0.00612883]
 [-0.00437841  0.00713378  0.99996497]]

 t_estimated:
[[-8.01117160e-01]
 [-5.98507234e-01]
 [-6.21502839e-04]]

 R_gt:
[[ 0.99622093  0.06600659  0.05646117]
 [-0.06928364  0.99589685  0.05821561]
 [-0.05238746 -0.06190675  0.99670585]]

 t_gt:
[-0.65401813  0.42694133  0.62448489]

Pose Error in degrees for R and t:
15.994479722897024 74.45295256353918

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-3.66344148e-01  9.30477465e-01 -1.91093166e-03]
 [-9.30473970e-01 -3.66348260e-01 -2.67274736e-03]
 [-3.18699768e-03  7.98926814e-04  9.99994602e-01]]

 t_estimated:
[[0.04723507]
 [0.99888283]
 [0.00138927]]

 R_gt:
[[ 0.99679177  0.01567606  0.07849137]
 [-0.02579724  0.99122435  0.12965115]
 [-0.07577043 -0.13125967  0.98844824]]

 t_gt:
[-0.33981743  0.11880641  0.93295721]

Pose Error in degrees for R and t:
110.53714982637277 84.03513886727391

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999946e-01 -3.27314268e-04 -1.94223589e-05]
 [ 3.27316032e-04  9.99999942e-01  9.09204352e-05]
 [ 1.93925983e-05 -9.09267875e-05  9.99999996e-01]]

 t_estimated:
[[0.00723814]
 [0.99997319]
 [0.00110601]]

 R_gt:
[[ 9.93607591e-01  1.04267324e-01 -4.32832076e-02]
 [-1.04197896e-01  9.94549542e-01  3.84434954e-03]
 [ 4.34484831e-02  6.89800889e-04  9.99055865e-01]]

 t_gt:
[-0.1194202   0.94127661 -0.31581191]

Pose Error in degrees for R and t:
6.499264145997384 19.942110630294465

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.96601940e-01  8.23685187e-02 -5.13501199e-06]
 [-8.23685188e-02  9.96601938e-01 -6.39820720e-05]
 [-1.52545591e-07  6.41876204e-05  9.99999998e-01]]

 t_estimated:
[[-0.68457585]
 [-0.72894095]
 [-0.00099922]]

 R_gt:
[[ 0.99095883  0.12857149  0.03834627]
 [-0.12536603  0.98913824 -0.07673112]
 [-0.04779476  0.07123017  0.99631435]]

 t_gt:
[-0.09284293  0.96946176 -0.22698917]

Pose Error in degrees for R and t:
5.554639586437972 49.991927513171085

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.11446795e-01  4.11417773e-01  3.93241156e-04]
 [-4.11417376e-01  9.11446695e-01 -8.15241090e-04]
 [-6.93823026e-04  5.81262634e-04  9.99999590e-01]]

 t_estimated:
[[-9.97063280e-01]
 [-7.65781728e-02]
 [-7.73516897e-04]]

 R_gt:
[[ 0.99099889  0.11818466  0.06288404]
 [-0.10885271  0.98479492 -0.13538567]
 [-0.07792708  0.12732231  0.98879552]]

 t_gt:
[ 0.16043834  0.92129049 -0.35423632]

Pose Error in degrees for R and t:
19.669791062526034 76.68856775447318

Number of keypoints:
Image1: 389
Image2: 389

 R_estimated:
[[ 9.99396062e-01 -3.47488763e-02  1.61202690e-04]
 [ 3.47488795e-02  9.99396075e-01 -1.68043626e-05]
 [-1.60521403e-04  2.23958266e-05  9.99999987e-01]]

 t_estimated:
[[0.48346009]
 [0.87536591]
 [0.00093267]]

 R_gt:
[[ 0.99863962  0.02078522 -0.04784018]
 [-0.01954903  0.99946587  0.02616939]
 [ 0.04835815 -0.02519798  0.99851183]]

 t_gt:
[ 0.52662948  0.84927645 -0.03729477]

Pose Error in degrees for R and t:
4.44197956375766 3.6268415634489495

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.06108585  0.99803694  0.01381249]
 [-0.99812763  0.06103639  0.00397482]
 [ 0.00312395 -0.01402943  0.9998967 ]]

 t_estimated:
[[0.04968917]
 [0.99875237]
 [0.00496892]]

 R_gt:
[[ 0.99395911 -0.01289232 -0.10900038]
 [ 0.01023486  0.99963684 -0.02489885]
 [ 0.10928152  0.02363325  0.99373004]]

 t_gt:
[ 0.81308913  0.3689943  -0.45025468]

Pose Error in degrees for R and t:
87.40128906366647 66.00239954929292

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.99999530e-01 -8.43457566e-04  4.79011124e-04]
 [ 8.43200292e-04  9.99999500e-01  5.37041789e-04]
 [-4.79463856e-04 -5.36637634e-04  9.99999741e-01]]

 t_estimated:
[[0.6356547 ]
 [0.77197303]
 [0.00086641]]

 R_gt:
[[ 0.99074965 -0.05566984 -0.12376465]
 [ 0.05384367  0.99838609 -0.01805148]
 [ 0.12457044  0.0112202   0.99214753]]

 t_gt:
[ 0.93886662  0.22859667 -0.25743549]

Pose Error in degrees for R and t:
7.853855773002445 39.37211486318687

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 1.70618330e-02  9.99854318e-01  4.86119158e-04]
 [-9.99853197e-01  1.70625753e-02 -1.56609836e-03]
 [-1.57416466e-03 -4.59327285e-04  9.99998656e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99576619 -0.09121969 -0.01135554]
 [ 0.09102706  0.99571181 -0.01650614]
 [ 0.01281325  0.01540344  0.99979857]]

 t_gt:
[ 0.66564625 -0.72263264 -0.18632535]

Pose Error in degrees for R and t:
94.25671652680793 44.05601566161018

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.90532154e-01 -1.37280860e-01  1.33733435e-04]
 [ 1.37280844e-01  9.90532157e-01  1.22126209e-04]
 [-1.49232859e-04 -1.02610898e-04  9.99999984e-01]]

 t_estimated:
[[9.95592533e-01]
 [9.37811016e-02]
 [7.83045276e-04]]

 R_gt:
[[ 0.98047443 -0.19592066  0.01685284]
 [ 0.19612957  0.9805058  -0.01185089]
 [-0.01420218  0.01492474  0.999787  ]]

 t_gt:
[ 0.73482822 -0.67778622  0.02516598]

Pose Error in degrees for R and t:
3.613710189335167 48.08359373580976

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.48216660e-01  3.17624012e-01  3.91053544e-04]
 [-3.17623993e-01  9.48216740e-01 -1.10585958e-04]
 [-4.05928272e-04 -1.93485405e-05  9.99999917e-01]]

 t_estimated:
[[0.2980628 ]
 [0.95454573]
 [0.00100468]]

 R_gt:
[[ 0.97988502 -0.19258637  0.05229557]
 [ 0.19509975  0.97960009 -0.0481483 ]
 [-0.04195583  0.05738353  0.99746931]]

 t_gt:
[ 0.78280737 -0.62203151  0.01701273]

Pose Error in degrees for R and t:
29.980616821935094 68.87433527542582

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-1.27152712e-02  9.99919125e-01  2.57265411e-04]
 [-9.99915739e-01 -1.27145545e-02 -2.61826556e-03]
 [-2.61478279e-03 -2.90535690e-04  9.99996539e-01]]

 t_estimated:
[[0.50956405]
 [0.86043048]
 [0.00196943]]

 R_gt:
[[ 9.93777283e-01  1.11386109e-01  9.03810567e-04]
 [-1.11387564e-01  9.93775735e-01  1.47708737e-03]
 [-7.33841665e-04 -1.56622571e-03  9.99998204e-01]]

 t_gt:
[-0.95907692  0.28306978  0.00655422]

Pose Error in degrees for R and t:
84.33346195523126 75.81010860926541

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99637399e-01 -2.69257350e-02 -2.72792382e-04]
 [ 2.69258862e-02  9.99637272e-01  5.66530829e-04]
 [ 2.57439174e-04 -5.73670582e-04  9.99999802e-01]]

 t_estimated:
[[-0.70042723]
 [ 0.71372111]
 [ 0.0019661 ]]

 R_gt:
[[ 0.97479992  0.2227879   0.01146775]
 [-0.22284435  0.97484583  0.00387928]
 [-0.01031481 -0.00633506  0.99992652]]

 t_gt:
[-0.93036134  0.36344103  0.04835697]

Pose Error in degrees for R and t:
14.434549493417599 24.33648759624926

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.27014435  0.96281505  0.00303549]
 [-0.96281849  0.27013736  0.00252295]
 [ 0.00160914 -0.00360419  0.99999221]]

 t_estimated:
[[0.00833304]
 [0.99996474]
 [0.00104163]]

 R_gt:
[[ 0.92412708  0.38151889  0.02081421]
 [-0.38192348  0.92395252  0.02111608]
 [-0.01117551 -0.0274622   0.9995604 ]]

 t_gt:
[-0.86815796  0.48892895  0.08514837]

Pose Error in degrees for R and t:
51.90090168677905 61.1991936671112

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-7.23877646e-01 -6.89918860e-01 -3.62219423e-03]
 [ 6.89928364e-01 -7.23868298e-01 -3.67975190e-03]
 [-8.32613370e-05 -5.16274468e-03  9.99986669e-01]]

 t_estimated:
[[0.88535449]
 [0.46491218]
 [0.00202136]]

 R_gt:
[[ 0.99734258 -0.02047918 -0.06992653]
 [ 0.01512177  0.99696927 -0.07630833]
 [ 0.07127676  0.07504834  0.99462998]]

 t_gt:
[ 0.32148747  0.07871255 -0.94363666]

Pose Error in degrees for R and t:
135.41048775132379 71.3783525396698

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-9.95275841e-01 -9.70874185e-02  1.82589530e-04]
 [ 9.70864876e-02 -9.95271741e-01 -2.89393499e-03]
 [ 4.62690877e-04 -2.86253660e-03  9.99995796e-01]]

 t_estimated:
[[7.50260902e-01]
 [6.61141514e-01]
 [6.90847977e-04]]

 R_gt:
[[ 0.99311178 -0.00106346 -0.1171699 ]
 [-0.00909879  0.99623942 -0.08616554]
 [ 0.1168199   0.08663722  0.98936735]]

 t_gt:
[ 0.25917029  0.25068169 -0.93273225]

Pose Error in degrees for R and t:
174.6637231768559 68.92823386700518

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.47562683e-01 -3.19569925e-01  1.57602077e-04]
 [ 3.19569867e-01  9.47562665e-01  3.08948850e-04]
 [-2.48068605e-04 -2.42383527e-04  9.99999940e-01]]

 t_estimated:
[[0.1409551 ]
 [0.99001537]
 [0.00110988]]

 R_gt:
[[ 0.98726314  0.05038151 -0.15091507]
 [-0.06955645  0.98976464 -0.1246073 ]
 [ 0.14309235  0.13351665  0.98066248]]

 t_gt:
[ 0.08652434  0.52493636 -0.84673216]

Pose Error in degrees for R and t:
24.79955630659508 57.93024442585201

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 3.64072359e-01  9.31370605e-01  3.36031810e-04]
 [-9.31370373e-01  3.64072507e-01 -6.61962031e-04]
 [-7.38871921e-04 -7.19679941e-05  9.99999724e-01]]

 t_estimated:
[[-4.10542198e-01]
 [ 9.11841552e-01]
 [ 2.96298463e-04]]

 R_gt:
[[ 0.99738644  0.01303511 -0.07106813]
 [-0.01793821  0.99747149 -0.06878261]
 [ 0.06999164  0.06987653  0.99509684]]

 t_gt:
[ 0.13557368  0.33877246 -0.93104941]

Pose Error in degrees for R and t:
67.97006636270275 75.34653733503687

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.35048327  0.93654463  0.00675518]
 [ 0.93656293  0.35049784 -0.00107139]
 [-0.00337108  0.00595115 -0.99997661]]

 t_estimated:
[[0.78800119]
 [0.61567196]
 [0.0014729 ]]

 R_gt:
[[ 0.99218708 -0.0128237  -0.12409834]
 [-0.0034386   0.99151587 -0.12994376]
 [ 0.12471198  0.12935395  0.98372464]]

 t_gt:
[ 0.25311037  0.24788095 -0.93514179]

Pose Error in degrees for R and t:
178.72207435754106 69.4706437646517

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.29288779 -0.9561414   0.00321904]
 [-0.95614441  0.29287783 -0.00323041]
 [ 0.00214594 -0.00402401 -0.9999896 ]]

 t_estimated:
[[0.71194675]
 [0.70223208]
 [0.00138781]]

 R_gt:
[[ 0.98535998  0.02557192 -0.16855643]
 [-0.04905724  0.9894013  -0.13667759]
 [ 0.16327521  0.14294479  0.97616981]]

 t_gt:
[ 0.18520384  0.39834161 -0.89834487]

Pose Error in degrees for R and t:
167.53503221801893 65.77400616546153

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.16399644 -0.98591583 -0.03278937]
 [-0.98623027 -0.16314871 -0.0270622 ]
 [ 0.0213315   0.03677597 -0.99909584]]

 t_estimated:
[[ 0.6398072 ]
 [ 0.76827068]
 [-0.02017196]]

 R_gt:
[[ 0.99821152  0.05726626  0.01713274]
 [-0.05663567  0.99777096 -0.03528762]
 [-0.01911565  0.03425469  0.99922962]]

 t_gt:
[-0.80553488  0.341859   -0.48398966]

Pose Error in degrees for R and t:
176.7416465179137 75.93728943905839

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.91217282 -0.40937346  0.01881786]
 [ 0.40978537  0.91162313 -0.03192517]
 [-0.00408548  0.03683255  0.9993131 ]]

 t_estimated:
[[-8.01117160e-01]
 [-5.98507235e-01]
 [-6.21502846e-04]]

 R_gt:
[[ 0.97441251  0.22436911  0.01337137]
 [-0.22455082  0.9743601   0.01409472]
 [-0.00986635 -0.01673472  0.99981084]]

 t_gt:
[-0.89806983  0.42953274  0.09472174]

Pose Error in degrees for R and t:
37.270864765901315 62.462967335241984

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-9.99922625e-01 -1.24320126e-02 -4.35121576e-04]
 [-1.24318863e-02  9.99922679e-01 -2.91867393e-04]
 [ 4.38716431e-04 -2.86435428e-04 -9.99999863e-01]]

 t_estimated:
[[9.99992176e-01]
 [3.87894540e-03]
 [7.75789120e-04]]

 R_gt:
[[ 9.31785686e-01  3.62568514e-01  1.78857882e-02]
 [-3.62618457e-01  9.31937460e-01 -4.91924891e-04]
 [-1.68477672e-02 -6.02596923e-03  9.99839908e-01]]

 t_gt:
[-0.8543756   0.51788492  0.04286657]

Pose Error in degrees for R and t:
179.00873470741428 31.534344427236995

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99043621e-01  4.37245377e-02  8.77301179e-05]
 [-4.37245312e-02  9.99043623e-01 -7.53169771e-05]
 [-9.09394148e-05  7.14089873e-05  9.99999993e-01]]

 t_estimated:
[[ 4.58225862e-01]
 [ 8.88835731e-01]
 [-3.22065201e-04]]

 R_gt:
[[ 0.99738142 -0.03726703 -0.06198755]
 [ 0.03562608  0.99899128 -0.02736851]
 [ 0.06294539  0.02508836  0.99770193]]

 t_gt:
[ 0.89571648  0.0733062  -0.43854099]

Pose Error in degrees for R and t:
6.019968943549271 61.59253196767585

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-8.78267845e-01  4.78164418e-01  2.09328658e-03]
 [-4.78168960e-01 -8.78261148e-01 -3.43523237e-03]
 [ 1.95846382e-04 -4.01799880e-03  9.99991909e-01]]

 t_estimated:
[[0.48952285]
 [0.87198952]
 [0.00128651]]

 R_gt:
[[ 0.99551517 -0.07714096 -0.05477051]
 [ 0.07669688  0.99700339 -0.01015092]
 [ 0.05538909  0.0059044   0.99844718]]

 t_gt:
[ 0.9875618   0.01430596 -0.15657913]

Pose Error in degrees for R and t:
155.8651989831396 60.28360028028839

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99348635e-01  3.60837110e-02  5.21862030e-04]
 [-3.60836637e-02  9.99348768e-01 -9.96937414e-05]
 [-5.25119497e-04  8.07981104e-05  9.99999859e-01]]

 t_estimated:
[[5.02348684e-01]
 [8.64665044e-01]
 [4.03304554e-04]]

 R_gt:
[[ 0.99361163 -0.05475024 -0.09868564]
 [ 0.05287088  0.99836901 -0.02156007]
 [ 0.09970558  0.01620482  0.99488535]]

 t_gt:
[ 0.95488365  0.15993643 -0.250235  ]

Pose Error in degrees for R and t:
7.781184649361106 51.838874131165305

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.83019808 -0.55746645 -0.00151951]
 [-0.55745108  0.83019058 -0.00564701]
 [ 0.0044095  -0.00384109 -0.9999829 ]]

 t_estimated:
[[9.88383517e-01]
 [1.51978464e-01]
 [7.54555838e-04]]

 R_gt:
[[ 0.98382336 -0.17879883 -0.01115262]
 [ 0.17885083  0.98386875  0.00387745]
 [ 0.01027946 -0.00580917  0.99993026]]

 t_gt:
[ 0.73820489 -0.67362839 -0.03575378]

Pose Error in degrees for R and t:
179.289905989468 51.154275493528196

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-1.02687697e-01  9.94713540e-01  4.57949688e-04]
 [-9.94711795e-01 -1.02686607e-01 -1.97649749e-03]
 [-1.91902352e-03 -6.58489932e-04  9.99997942e-01]]

 t_estimated:
[[0.54352911]
 [0.83938928]
 [0.00132169]]

 R_gt:
[[ 0.95159584 -0.30307769  0.05109381]
 [ 0.29901861  0.95135902  0.07418514]
 [-0.07109197 -0.05531678  0.99593465]]

 t_gt:
[ 0.7204368  -0.65078355  0.23969061]

Pose Error in degrees for R and t:
113.52628947341196 81.11999685709648

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.96184081e-01  8.72768128e-02  1.87232614e-04]
 [-8.72767728e-02  9.96184079e-01 -2.11771248e-04]
 [-2.05000868e-04  1.94622088e-04  9.99999960e-01]]

 t_estimated:
[[ 9.47125747e-01]
 [-3.20862616e-01]
 [-1.39101199e-05]]

 R_gt:
[[ 0.90882687 -0.40941438  0.08009144]
 [ 0.40170424  0.91064148  0.09677454]
 [-0.11255546 -0.05577715  0.99207854]]

 t_gt:
[ 0.75618909 -0.60670129  0.24513588]

Pose Error in degrees for R and t:
29.898545866682127 24.374071729221868

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-5.10983839e-02 -9.98693102e-01 -1.02161844e-03]
 [-9.98692856e-01  5.10995867e-02 -1.18809066e-03]
 [ 1.23874223e-03  9.59573530e-04 -9.99998772e-01]]

 t_estimated:
[[7.57015431e-01]
 [6.53396981e-01]
 [1.53756547e-04]]

 R_gt:
[[ 0.99440415 -0.1035877  -0.02071955]
 [ 0.10300501  0.99430151 -0.02745683]
 [ 0.02344579  0.0251683   0.99940829]]

 t_gt:
[ 0.61208546 -0.73752923 -0.28531039]

Pose Error in degrees for R and t:
177.9517577960803 88.9350909228896

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 6.98802095e-01 -7.15309199e-01  2.89502821e-03]
 [ 7.15312563e-01  6.98804624e-01 -1.87060279e-04]
 [-1.88925316e-03  2.20156816e-03  9.99995792e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.9851763  -0.1699959  -0.02297733]
 [ 0.16926803  0.9850948  -0.0306036 ]
 [ 0.0278369   0.02626031  0.99926672]]

 t_gt:
[ 0.67889013 -0.70868475 -0.19202635]

Pose Error in degrees for R and t:
35.96663942399516 45.19985303162595

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.93881326e-01  1.10453161e-01  8.93455166e-05]
 [-1.10453187e-01  9.93881258e-01  3.70927314e-04]
 [-4.78287400e-05 -3.78526228e-04  9.99999927e-01]]

 t_estimated:
[[9.84725296e-01]
 [1.74113230e-01]
 [8.21288821e-04]]

 R_gt:
[[ 0.96685411 -0.25435708  0.02226383]
 [ 0.25517877  0.96560172 -0.04995908]
 [-0.00879074  0.05398418  0.9985027 ]]

 t_gt:
[ 0.75132135 -0.65396775 -0.08855734]

Pose Error in degrees for R and t:
21.344477337506273 51.25113879379349

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99357782e-01  3.58332142e-02 -7.10981837e-05]
 [-3.58332208e-02  9.99357780e-01 -9.38978516e-05]
 [ 6.76878611e-05  9.63852256e-05  9.99999993e-01]]

 t_estimated:
[[-9.89511080e-01]
 [-1.44454172e-01]
 [-9.02838576e-04]]

 R_gt:
[[ 0.99405126  0.10545758 -0.02720606]
 [-0.10470837  0.99411834  0.02764411]
 [ 0.02996231 -0.02462965  0.99924691]]

 t_gt:
[-0.93081195  0.36512315  0.01655912]

Pose Error in degrees for R and t:
4.559880871160115 29.739443838435484

Number of keypoints:
Image1: 426
Image2: 426

 R_estimated:
[[ 9.99964037e-01  8.47803643e-03 -2.18465199e-04]
 [-8.47801065e-03  9.99964054e-01  1.18650165e-04]
 [ 2.19463267e-04 -1.16793748e-04  9.99999969e-01]]

 t_estimated:
[[-0.99624602]
 [-0.08656074]
 [-0.00105522]]

 R_gt:
[[ 0.97846538  0.20533694  0.02102974]
 [-0.20569513  0.97847625  0.01651758]
 [-0.01718451 -0.02048713  0.99964206]]

 t_gt:
[-0.85286138  0.51530458  0.0841942 ]

Pose Error in degrees for R and t:
11.47920005043333 36.39305095135415

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 0.89372795 -0.44860465  0.00205379]
 [ 0.44860819  0.89372669 -0.00181812]
 [-0.00101991  0.00254626  0.99999624]]

 t_estimated:
[[8.93472691e-01]
 [4.49116823e-01]
 [7.93492619e-04]]

 R_gt:
[[ 0.95004641  0.31209946  0.00224568]
 [-0.31142763  0.94747456  0.07283656]
 [ 0.0206055  -0.06989623  0.9973416 ]]

 t_gt:
[-0.82389546  0.55883411  0.09434357]

Pose Error in degrees for R and t:
45.04270355497083 60.982847697597784

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.98731949 -0.15872542  0.00254268]
 [-0.15872951 -0.98732097  0.00149571]
 [ 0.00227303 -0.00188034 -0.99999565]]

 t_estimated:
[[0.28019406]
 [0.95994284]
 [0.00101153]]

 R_gt:
[[ 0.99180188 -0.12768918  0.00505428]
 [ 0.12768185  0.99181444  0.00171154]
 [-0.00523157 -0.00105225  0.99998592]]

 t_gt:
[ 0.75189834 -0.65899664  0.01929546]

Pose Error in degrees for R and t:
179.81250132448207 65.04526457875953

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-1.78909701e-01 -9.83817397e-01  9.72875350e-03]
 [-9.83865104e-01  1.78909739e-01 -8.73433406e-04]
 [-8.81269769e-04 -9.72804678e-03 -9.99952293e-01]]

 t_estimated:
[[0.89826892]
 [0.43944091]
 [0.00215412]]

 R_gt:
[[ 0.98431377 -0.1763797  -0.00417327]
 [ 0.17636053  0.98431494 -0.00458241]
 [ 0.00491598  0.00377546  0.99997998]]

 t_gt:
[ 0.81670585 -0.57587343 -0.03689644]

Pose Error in degrees for R and t:
179.94971857872474 61.28326606319308

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99918737e-01  1.27451756e-02 -2.82514991e-04]
 [-1.27451765e-02  9.99918777e-01 -1.70555153e-06]
 [ 2.82470306e-04  5.30611636e-06  9.99999960e-01]]

 t_estimated:
[[-0.67665846]
 [-0.73629615]
 [-0.00114688]]

 R_gt:
[[ 0.96452628 -0.26149166 -0.03622542]
 [ 0.26175608  0.96513106  0.0026703 ]
 [ 0.03426357 -0.01205753  0.99933964]]

 t_gt:
[ 0.84676163 -0.52743549 -0.06932926]

Pose Error in degrees for R and t:
16.034496272060117 79.36567473497433

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.91154142e-01 -1.32715659e-01  1.42998173e-04]
 [ 1.32715733e-01  9.91153296e-01 -1.29565113e-03]
 [ 3.02200830e-05  1.30316809e-03  9.99999150e-01]]

 t_estimated:
[[-0.29953695]
 [-0.95408067]
 [-0.00277349]]

 R_gt:
[[ 0.98814384 -0.13858531  0.06608945]
 [ 0.13396329  0.98851823  0.06989412]
 [-0.07501716 -0.06021072  0.99536208]]

 t_gt:
[ 0.536313   -0.67393256  0.50811738]

Pose Error in degrees for R and t:
5.572916560352912 61.25376198889945

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 5.05786377e-01 -8.62657974e-01 -1.16635926e-03]
 [ 8.62658641e-01  5.05786561e-01  1.52568592e-04]
 [ 4.58314330e-04 -1.08333701e-03  9.99999308e-01]]

 t_estimated:
[[ 9.76245119e-01]
 [-2.16668477e-01]
 [ 4.89422200e-04]]

 R_gt:
[[ 0.96672982 -0.23860026  0.0922226 ]
 [ 0.22982652  0.96844354  0.096415  ]
 [-0.11231748 -0.07201164  0.99105952]]

 t_gt:
[ 0.61727395 -0.64012573  0.45739689]

Pose Error in degrees for R and t:
46.612054104131175 42.13812154637019

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.92448781 -0.38120698 -0.00187941]
 [ 0.38121029 -0.92448636 -0.00192201]
 [-0.0010048  -0.00249333  0.99999639]]

 t_estimated:
[[0.8872966 ]
 [0.4611975 ]
 [0.00126535]]

 R_gt:
[[ 0.95737641 -0.28051599  0.06886088]
 [ 0.27332782  0.9569097   0.09805572]
 [-0.09340037 -0.07505424  0.99279551]]

 t_gt:
[ 0.68942405 -0.62314392  0.36930492]

Pose Error in degrees for R and t:
141.52906675511264 71.04663215452253

Number of keypoints:
Image1: 392
Image2: 392

 R_estimated:
[[ 9.96250660e-01  8.65109855e-02 -6.87294812e-04]
 [-8.65106830e-02  9.96250818e-01  4.58435891e-04]
 [ 7.24377759e-04 -3.97258715e-04  9.99999659e-01]]

 t_estimated:
[[-0.82029053]
 [-0.57194569]
 [-0.00125427]]

 R_gt:
[[ 0.99908469 -0.03473133 -0.02496716]
 [ 0.03529729  0.99912125  0.02261617]
 [ 0.02415979 -0.02347634  0.99943242]]

 t_gt:
[ 0.80979364 -0.58342061 -0.0620858 ]

Pose Error in degrees for R and t:
7.219872742657036 70.7006744287248

Number of keypoints:
Image1: 667
Image2: 667

 R_estimated:
[[ 9.99890854e-01  1.47742913e-02  6.38043339e-06]
 [-1.47742910e-02  9.99890853e-01 -4.60914572e-05]
 [-7.06070560e-06  4.59921601e-05  9.99999999e-01]]

 t_estimated:
[[-5.59965942e-02]
 [-9.98430949e-01]
 [-1.48412827e-04]]

 R_gt:
[[ 0.99914745  0.00452391 -0.04102389]
 [-0.00254738  0.99883833  0.04811786]
 [ 0.04119479 -0.04797203  0.9979985 ]]

 t_gt:
[ 0.48547224 -0.85227552  0.19478998]

Pose Error in degrees for R and t:
3.6846651243603015 34.540606746910214

Number of keypoints:
Image1: 386
Image2: 386

 R_estimated:
[[ 9.96868237e-01 -7.90799513e-02 -2.80865472e-04]
 [ 7.90799885e-02  9.96868266e-01  1.24205788e-04]
 [ 2.70163688e-04 -1.46027644e-04  9.99999953e-01]]

 t_estimated:
[[-0.31590085]
 [-0.94879147]
 [-0.00118243]]

 R_gt:
[[ 0.99556616  0.09398983  0.0036832 ]
 [-0.09395528  0.99180078  0.08662764]
 [ 0.00448894 -0.08658886  0.99623419]]

 t_gt:
[-0.85837926  0.00647872  0.51297472]

Pose Error in degrees for R and t:
11.107034529028232 74.668147939212

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99998827e-01 -1.52947289e-03  8.62083723e-05]
 [ 1.52948630e-03  9.99998818e-01 -1.55664142e-04]
 [-8.59701864e-05  1.55795814e-04  9.99999984e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99130984 -0.11188131  0.06919079]
 [ 0.11191329  0.9937124   0.00342391]
 [-0.06913799  0.00434848  0.99759807]]

 t_gt:
[ 0.55582804 -0.75723418  0.34300378]

Pose Error in degrees for R and t:
7.481855644636429 41.1145995561067

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.20110357e-01  3.91659055e-01 -3.40681155e-04]
 [-3.91658536e-01  9.20110046e-01  1.04655778e-03]
 [ 7.23357986e-04 -8.29517974e-04  9.99999394e-01]]

 t_estimated:
[[8.60803406e-01]
 [5.08937153e-01]
 [6.85899128e-04]]

 R_gt:
[[ 0.97025663 -0.22974348  0.07629255]
 [ 0.22913831  0.97325027  0.01670033]
 [-0.07808851  0.00127831  0.99694609]]

 t_gt:
[ 0.69463987 -0.69042476  0.20196311]

Pose Error in degrees for R and t:
36.611534391715 75.71743780241158

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.18512535e-01 -3.95391539e-01 -5.03579909e-04]
 [ 3.95391469e-01  9.18512673e-01 -2.35533652e-04]
 [ 5.55672542e-04  1.72294114e-05  9.99999845e-01]]

 t_estimated:
[[ 0.76715456]
 [-0.64146171]
 [-0.00086659]]

 R_gt:
[[ 0.95360916 -0.29298111  0.06922087]
 [ 0.29251809  0.95610932  0.01696595]
 [-0.07115188  0.0040692   0.99745777]]

 t_gt:
[ 0.76513882 -0.63070499  0.12951369]

Pose Error in degrees for R and t:
7.479895066948749 7.501867286906631

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.94439321e-01 -1.05310651e-01 -3.21303343e-04]
 [ 1.05310770e-01  9.94439288e-01  3.78899812e-04]
 [ 2.79614482e-04 -4.10629574e-04  9.99999877e-01]]

 t_estimated:
[[-0.99924503]
 [-0.03875188]
 [-0.00276799]]

 R_gt:
[[ 0.99566147  0.05799631 -0.07276102]
 [-0.05756265  0.99830883  0.0080479 ]
 [ 0.07310435 -0.00382461  0.99731735]]

 t_gt:
[ 0.50641723  0.38794396 -0.7700916 ]

Pose Error in degrees for R and t:
10.250465730338831 58.739035488299095

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-2.20341207e-01 -9.75422790e-01 -3.65185171e-04]
 [-9.75422157e-01  2.20340585e-01  1.28124519e-03]
 [-1.16929064e-03  6.38520819e-04 -9.99999113e-01]]

 t_estimated:
[[0.66317573]
 [0.74846177]
 [0.00170902]]

 R_gt:
[[ 0.97998482  0.150867   -0.12987542]
 [-0.14281781  0.98732264  0.0692537 ]
 [ 0.13867724 -0.04931912  0.98910862]]

 t_gt:
[ 0.50944983  0.57417015 -0.64092863]

Pose Error in degrees for R and t:
176.1134687427053 39.95903560590422

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.95266581e-01 -9.71787626e-02 -8.49443653e-04]
 [ 9.71797136e-02  9.95266173e-01  1.16090234e-03]
 [ 7.32607481e-04 -1.23795599e-03  9.99998965e-01]]

 t_estimated:
[[-0.90937828]
 [-0.41596865]
 [-0.0011063 ]]

 R_gt:
[[ 0.96364113  0.21944577 -0.15244823]
 [-0.20507987  0.97315028  0.1044961 ]
 [ 0.17128643 -0.06943233  0.98277165]]

 t_gt:
[ 0.48723163  0.81855895 -0.30424756]

Pose Error in degrees for R and t:
20.804047756753835 38.44216426636688

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 7.19994660e-01  6.93979211e-01  7.37360533e-04]
 [-6.93978449e-01  7.19994994e-01 -1.05840049e-03]
 [-1.26540383e-03  2.50330380e-04  9.99999168e-01]]

 t_estimated:
[[-0.16499475]
 [ 0.98629376]
 [ 0.00116229]]

 R_gt:
[[ 0.98545456 -0.16676087 -0.03271511]
 [ 0.16559488  0.98554996 -0.03561292]
 [ 0.038181    0.0296778   0.99882932]]

 t_gt:
[ 0.7158581  -0.61975185 -0.32164395]

Pose Error in degrees for R and t:
53.58474370981238 43.13505895675617

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.82697266e-01 -1.85219000e-01  7.73471471e-05]
 [ 1.85219014e-01  9.82697231e-01 -2.62716517e-04]
 [-2.73487366e-05  2.72496966e-04  9.99999962e-01]]

 t_estimated:
[[ 0.32959214]
 [-0.9441223 ]
 [-0.00145172]]

 R_gt:
[[ 0.96179158 -0.27107134 -0.03842938]
 [ 0.26796594  0.96081872 -0.07085369]
 [ 0.05612988  0.05784893  0.99674571]]

 t_gt:
[ 0.73697781 -0.58308564 -0.34186963]

Pose Error in degrees for R and t:
6.793143343288106 37.44827901986965

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99998066e-01  1.93179858e-03  3.70167756e-04]
 [-1.93184218e-03  9.99998127e-01  1.17477930e-04]
 [-3.69940119e-04 -1.18192808e-04  9.99999925e-01]]

 t_estimated:
[[9.99988329e-01]
 [4.76563142e-03]
 [7.94271905e-04]]

 R_gt:
[[ 0.91299891 -0.40696834  0.02844325]
 [ 0.40794541  0.9101277  -0.07243194]
 [ 0.00359051  0.07773332  0.99696655]]

 t_gt:
[ 0.77500909 -0.61049626 -0.16326429]

Pose Error in degrees for R and t:
24.597616777634357 39.46968973784634

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-2.98106565e-01  9.54498286e-01  8.09305375e-03]
 [ 9.54528546e-01  2.98119282e-01 -3.85251550e-04]
 [-2.78041732e-03  7.61020481e-03 -9.99967176e-01]]

 t_estimated:
[[0.97554907]
 [0.21977887]
 [0.00112132]]

 R_gt:
[[ 0.99328638  0.10631693 -0.04557613]
 [-0.10959491  0.9910105  -0.07673194]
 [ 0.03700881  0.08121191  0.99600896]]

 t_gt:
[-0.49411583  0.70364044 -0.51062675]

Pose Error in degrees for R and t:
178.85178024560844 70.85490593758182

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.89575116e-01 -1.44017649e-01 -8.45882946e-05]
 [ 1.44017666e-01  9.89575080e-01  2.69236994e-04]
 [ 4.49315896e-05 -2.78612438e-04  9.99999960e-01]]

 t_estimated:
[[-3.37689448e-01]
 [ 9.41257564e-01]
 [-1.86595001e-04]]

 R_gt:
[[ 0.99098489  0.09706875 -0.09234213]
 [-0.11134511  0.98003718 -0.16470948]
 [ 0.07451165  0.173507    0.98200984]]

 t_gt:
[-0.28373854  0.61241782 -0.73785964]

Pose Error in degrees for R and t:
17.974551394565662 47.747732793390774

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.60695040e-01 -2.77605909e-01 -1.53278376e-05]
 [ 2.77605889e-01  9.60694949e-01  4.29231626e-04]
 [-1.04431859e-04 -4.16615792e-04  9.99999908e-01]]

 t_estimated:
[[-0.99830262]
 [-0.05822249]
 [-0.00142006]]

 R_gt:
[[ 0.9811999   0.12563302 -0.1465025 ]
 [-0.1580415   0.95873646 -0.23632007]
 [ 0.11076789  0.25503082  0.96056753]]

 t_gt:
[-0.22304625  0.61454262 -0.75669527]

Pose Error in degrees for R and t:
29.232649714865104 79.16612687323263

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[-0.48790535  0.87274001 -0.01653017]
 [ 0.87272802  0.48809578  0.01040748]
 [ 0.01715133 -0.00934847 -0.9998092 ]]

 t_estimated:
[[ 0.86668341]
 [-0.49876639]
 [-0.00958951]]

 R_gt:
[[ 0.99050651  0.13505093  0.02568628]
 [-0.13610701  0.98966468  0.04515227]
 [-0.01932292 -0.04822001  0.99864979]]

 t_gt:
[-0.88363628  0.2695783   0.38277208]

Pose Error in degrees for R and t:
178.6403352587715 25.316412809143188

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-0.54481388  0.83848574 -0.01093142]
 [ 0.8384798   0.54489432  0.00646591]
 [ 0.01137804 -0.00564306 -0.99991934]]

 t_estimated:
[[ 0.89379143]
 [-0.44844144]
 [-0.00609563]]

 R_gt:
[[ 0.98097541  0.18952867  0.04202444]
 [-0.19233676  0.97822965  0.07792979]
 [-0.02633836 -0.08452988  0.99607238]]

 t_gt:
[-0.87042349  0.2107796   0.44489876]

Pose Error in degrees for R and t:
178.77226206957246 28.93000687394354

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.10403212e-01 -4.13722076e-01 -1.88881137e-04]
 [ 4.13722099e-01  9.10403215e-01  1.02446417e-04]
 [ 1.29573650e-04 -1.71411848e-04  9.99999977e-01]]

 t_estimated:
[[-0.69398494]
 [-0.71998906]
 [-0.00081263]]

 R_gt:
[[ 0.97199316  0.22822737  0.05605521]
 [-0.23256099  0.96844943  0.08956081]
 [-0.03384547 -0.1000881   0.99440247]]

 t_gt:
[-0.87773314  0.1981181   0.43627257]

Pose Error in degrees for R and t:
38.262641054985735 62.216221166191

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-0.9346422  -0.35551403  0.00732946]
 [-0.35548815  0.93466938  0.00461929]
 [-0.00849284  0.00171184 -0.99996247]]

 t_estimated:
[[0.98893146]
 [0.14831251]
 [0.00423763]]

 R_gt:
[[ 0.9882627  -0.15121463 -0.02174489]
 [ 0.14968436  0.98690787 -0.06005339]
 [ 0.03054075  0.05609425  0.99795822]]

 t_gt:
[ 0.69854708 -0.53993571 -0.46957577]

Pose Error in degrees for R and t:
178.39205771819 52.50110859749242

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99997970e-01  1.99786787e-03  2.62940346e-04]
 [-1.99781086e-03  9.99997981e-01 -2.16913657e-04]
 [-2.63373180e-04  2.16387911e-04  9.99999942e-01]]

 t_estimated:
[[ 8.22819200e-01]
 [-5.68302808e-01]
 [-6.94911732e-04]]

 R_gt:
[[ 0.96797605 -0.24854309  0.03534376]
 [ 0.25012845  0.96685021 -0.05134663]
 [-0.02141086  0.05854304  0.99805586]]

 t_gt:
[ 0.71182199 -0.68274778 -0.16481784]

Pose Error in degrees for R and t:
14.992364765710597 13.138659637687184

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.01241477  0.99992192 -0.00142042]
 [-0.99992107  0.01241199 -0.00194742]
 [-0.00192964  0.00144449  0.99999709]]

 t_estimated:
[[5.99304563e-01]
 [8.00520869e-01]
 [6.16558396e-04]]

 R_gt:
[[ 0.90573472 -0.42052321  0.05297963]
 [ 0.42167335  0.90666437 -0.01228859]
 [-0.04286739  0.03347116  0.99852   ]]

 t_gt:
[ 0.77652421 -0.62989751  0.01546858]

Pose Error in degrees for R and t:
114.23736634731968 87.77280673491434

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99997142e-01  2.38193331e-03  2.04018392e-04]
 [-2.38178405e-03  9.99996898e-01 -7.28752522e-04]
 [-2.05753599e-04  7.28264512e-04  9.99999714e-01]]

 t_estimated:
[[0.92904526]
 [0.36996463]
 [0.00103342]]

 R_gt:
[[ 9.99989693e-01 -9.25185472e-04  4.52924640e-03]
 [ 8.53251896e-04  9.99876858e-01  1.56903876e-02]
 [-4.54233837e-03 -1.56871042e-02  9.99866114e-01]]

 t_gt:
[0.02942672 0.3845654  0.92262859]

Pose Error in degrees for R and t:
0.990443494700587 80.17916528568715

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 3.62734265e-01  9.31891950e-01  1.11688709e-03]
 [ 9.31889852e-01 -3.62735848e-01  2.00211112e-03]
 [ 2.27088622e-03  3.14581444e-04 -9.99997372e-01]]

 t_estimated:
[[-0.71149963]
 [-0.70268601]
 [-0.00080124]]

 R_gt:
[[ 0.99663482  0.07922857 -0.02101372]
 [-0.07998474  0.99607409 -0.03794915]
 [ 0.01792564  0.039502    0.99905859]]

 t_gt:
[-0.53363199  0.78036927 -0.32597655]

Pose Error in degrees for R and t:
178.86120520819242 80.30435711909433

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-7.95298448e-01  6.06213258e-01 -2.42161375e-03]
 [-6.06212744e-01 -7.95301867e-01 -1.02457334e-03]
 [-2.54702388e-03  6.53171524e-04  9.99996543e-01]]

 t_estimated:
[[0.72780976]
 [0.68577819]
 [0.00110609]]

 R_gt:
[[ 0.99091475  0.11651133 -0.06718932]
 [-0.12425718  0.98424515 -0.12578843]
 [ 0.05147512  0.13299439  0.98977934]]

 t_gt:
[-0.39062605  0.71907353 -0.57475607]

Pose Error in degrees for R and t:
135.84289575451342 77.98382846898188

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999940e-01  3.44097673e-04  4.10500247e-05]
 [-3.44097655e-04  9.99999941e-01 -4.46761381e-07]
 [-4.10501760e-05  4.32636137e-07  9.99999999e-01]]

 t_estimated:
[[ 9.80377454e-01]
 [-1.97129281e-01]
 [ 3.05340833e-04]]

 R_gt:
[[ 0.99724801 -0.06128371  0.04173748]
 [ 0.06196561  0.99796199 -0.01523459]
 [-0.04071929  0.017779    0.9990122 ]]

 t_gt:
[0.83217167 0.33639165 0.44082986]

Pose Error in degrees for R and t:
4.3709423199196005 41.43869301841269

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999928e-01  3.13875244e-04  2.12781327e-04]
 [-3.13829711e-04  9.99999928e-01 -2.13989507e-04]
 [-2.12848477e-04  2.13922715e-04  9.99999954e-01]]

 t_estimated:
[[9.95277049e-01]
 [9.70744531e-02]
 [3.82399215e-04]]

 R_gt:
[[ 0.99602977 -0.08534454  0.02529848]
 [ 0.08434954  0.99570781  0.03810002]
 [-0.02844105 -0.03581477  0.99895334]]

 t_gt:
[0.83014282 0.18484944 0.52601671]

Pose Error in degrees for R and t:
5.547413738431052 32.395778224604236

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.99999654e-01  8.03264422e-04  2.15082290e-04]
 [-8.03243774e-04  9.99999673e-01 -9.60729117e-05]
 [-2.15159392e-04  9.59001150e-05  9.99999972e-01]]

 t_estimated:
[[9.99999918e-01]
 [4.01592374e-04]
 [5.32496908e-05]]

 R_gt:
[[ 0.993888   -0.10886624  0.01827178]
 [ 0.10869347  0.99402218  0.01021614]
 [-0.01927463 -0.00816866  0.99978039]]

 t_gt:
[0.95663971 0.21780084 0.19339923]

Pose Error in degrees for R and t:
6.4037018947842155 16.915010110315897

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.91557230e-01  1.29669806e-01 -2.79127484e-05]
 [-1.29669808e-01  9.91557176e-01 -3.29467034e-04]
 [-1.50448404e-05  3.30304860e-04  9.99999945e-01]]

 t_estimated:
[[-0.7859191 ]
 [-0.61832848]
 [-0.00103126]]

 R_gt:
[[ 0.99820618  0.02871737 -0.05253546]
 [-0.03503218  0.99172531 -0.1235091 ]
 [ 0.04855372  0.12512824  0.99095242]]

 t_gt:
[-0.0674381   0.51333239 -0.85553607]

Pose Error in degrees for R and t:
9.524058288575345 74.72068190675323

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999474e-01 -1.02484641e-03 -4.04515750e-05]
 [ 1.02484524e-03  9.99999474e-01 -2.88320124e-05]
 [ 4.04811021e-05  2.87905407e-05  9.99999999e-01]]

 t_estimated:
[[-4.76723127e-01]
 [-8.79053495e-01]
 [-1.15134479e-04]]

 R_gt:
[[ 0.99683463  0.07309124 -0.03128106]
 [-0.0767251   0.98751784 -0.13755497]
 [ 0.02083569  0.1395198   0.99000039]]

 t_gt:
[-0.22865086  0.70964496 -0.6664254 ]

Pose Error in degrees for R and t:
9.211488904496667 59.02018961553888

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 5.16211328e-01  8.56461040e-01  5.92645469e-04]
 [-8.56460077e-01  5.16211644e-01 -1.29427139e-03]
 [-1.41442351e-03  1.60540370e-04  9.99998987e-01]]

 t_estimated:
[[-0.19324914]
 [ 0.98114854]
 [ 0.0015195 ]]

 R_gt:
[[ 0.98744483  0.14842761 -0.05405515]
 [-0.15339242  0.98271211 -0.10367551]
 [ 0.03773265  0.11066537  0.99314111]]

 t_gt:
[-0.36194881  0.81011717 -0.4611976 ]

Pose Error in degrees for R and t:
50.627421364080384 30.220953590562093

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 0.90139529 -0.43295274 -0.00620222]
 [ 0.4329916   0.90136381  0.00784525]
 [ 0.00219384 -0.00975718  0.99994999]]

 t_estimated:
[[0.7841945 ]
 [0.62050342]
 [0.00380677]]

 R_gt:
[[ 0.99360451  0.08293721 -0.07663058]
 [-0.0785217   0.99516865  0.05894566]
 [ 0.08114893 -0.05255199  0.99531506]]

 t_gt:
[0.90616516 0.42250692 0.01877777]

Pose Error in degrees for R and t:
30.704401298016442 13.382105923106382

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-9.70887778e-01 -2.39534212e-01 -5.31900514e-04]
 [ 2.39534310e-01 -9.70878885e-01 -4.18385103e-03]
 [ 4.85764482e-04 -4.18945826e-03  9.99991106e-01]]

 t_estimated:
[[0.82702153]
 [0.5621696 ]
 [0.00085436]]

 R_gt:
[[ 0.97954842  0.17485336 -0.09955762]
 [-0.16716606  0.98259671  0.08099514]
 [ 0.1119866  -0.06269593  0.9917291 ]]

 t_gt:
[ 0.03827311  0.99922991 -0.00864569]

Pose Error in degrees for R and t:
176.02465156353003 53.6026273262093

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-4.80364412e-01  8.77068902e-01  4.15956210e-04]
 [ 8.77065323e-01  4.80360971e-01  3.12376138e-03]
 [ 2.53994483e-03  1.86536457e-03 -9.99995035e-01]]

 t_estimated:
[[0.93908431]
 [0.3436855 ]
 [0.00096813]]

 R_gt:
[[ 0.95186328  0.26869004 -0.14751846]
 [-0.25007531  0.95902599  0.13315653]
 [ 0.17725135 -0.08985633  0.98005426]]

 t_gt:
[ 0.01276362  0.99991716 -0.001662  ]

Pose Error in degrees for R and t:
168.47102441592057 69.16723282369534

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-7.51376196e-01  6.59872588e-01 -1.40726526e-03]
 [-6.59872040e-01 -7.51377469e-01 -8.88850132e-04]
 [-1.64391524e-03  2.60754164e-04  9.99998615e-01]]

 t_estimated:
[[0.72452635]
 [0.68924656]
 [0.00086048]]

 R_gt:
[[ 0.98749859 -0.15715234  0.0121966 ]
 [ 0.15667625  0.98709073  0.0332305 ]
 [-0.01726146 -0.03090333  0.9993736 ]]

 t_gt:
[ 0.68100943 -0.71615415  0.15280509]

Pose Error in degrees for R and t:
147.74710065970285 89.99621734244057

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-5.18752996e-01 -8.54922288e-01 -1.79201825e-03]
 [ 8.54924135e-01 -5.18752400e-01 -8.18795352e-04]
 [-2.29607371e-04 -1.95679219e-03  9.99998059e-01]]

 t_estimated:
[[9.93902231e-01]
 [1.10262234e-01]
 [7.71064570e-04]]

 R_gt:
[[ 0.95682438 -0.28288704  0.06679602]
 [ 0.27790767  0.95767933  0.07494944]
 [-0.08517153 -0.0531507   0.99494775]]

 t_gt:
[ 0.69223181 -0.6660648   0.27779996]

Pose Error in degrees for R and t:
105.0353306122818 52.06383504151992

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99990546e-01  4.27945847e-03  7.71327674e-04]
 [-4.27941788e-03  9.99990842e-01 -5.42687531e-05]
 [-7.71552851e-04  5.09674066e-05  9.99999701e-01]]

 t_estimated:
[[0.9998987 ]
 [0.01419734]
 [0.0010141 ]]

 R_gt:
[[ 0.93594463 -0.34551111  0.06804572]
 [ 0.33907557  0.93637671  0.09069933]
 [-0.09505402 -0.0618166   0.99355084]]

 t_gt:
[ 0.72804865 -0.62795461  0.27498759]

Pose Error in degrees for R and t:
21.326788829027187 44.00010977564557

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 9.88909943e-01 -1.48516091e-01 -3.08063070e-04]
 [ 1.48516118e-01  9.88909985e-01  6.38180183e-05]
 [ 2.95168643e-04 -1.08862604e-04  9.99999951e-01]]

 t_estimated:
[[ 0.34310078]
 [-0.93929793]
 [-0.00112162]]

 R_gt:
[[ 0.99779836  0.06590918  0.00745396]
 [-0.0660006   0.99773828  0.01278433]
 [-0.006595   -0.01324775  0.9998901 ]]

 t_gt:
[-0.91004747  0.36490752  0.19661157]

Pose Error in degrees for R and t:
12.352035274006003 49.06401543789089

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.99470955e-01  3.25239599e-02  4.66302527e-05]
 [-3.25239617e-02  9.99470955e-01  3.76142280e-05]
 [-4.53822195e-05 -3.91109289e-05  9.99999998e-01]]

 t_estimated:
[[-9.71449989e-01]
 [-2.37244116e-01]
 [ 3.84839336e-04]]

 R_gt:
[[ 0.98822426  0.15130368  0.02284543]
 [-0.15223667  0.98722846  0.04695608]
 [-0.01544863 -0.04988064  0.99863529]]

 t_gt:
[-0.91871709  0.27700136  0.28147672]

Pose Error in degrees for R and t:
7.493195006953724 34.22053268781389

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-1.90758670e-01 -9.81631252e-01 -3.34893531e-03]
 [-9.81636536e-01  1.90754290e-01  1.58490936e-03]
 [-9.16972779e-04  3.58977245e-03 -9.99993136e-01]]

 t_estimated:
[[0.57083466]
 [0.82106355]
 [0.00156393]]

 R_gt:
[[ 0.96393382  0.26591024  0.01115974]
 [-0.26612227  0.96354474  0.02762148]
 [-0.00340796 -0.02959475  0.99955558]]

 t_gt:
[-0.86083051  0.50495617  0.06316724]

Pose Error in degrees for R and t:
178.73728550223478 85.60155359267587

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99439637e-01 -3.34713558e-02 -2.81918012e-04]
 [ 3.34714361e-02  9.99439634e-01  2.85120877e-04]
 [ 2.72216652e-04 -2.94397307e-04  9.99999920e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9980393   0.05539912  0.02911959]
 [-0.05501488  0.99838952 -0.01386564]
 [-0.0298412   0.0122369   0.99947945]]

 t_gt:
[-0.57284084  0.77009317  0.28073098]

Pose Error in degrees for R and t:
5.416431655717413 89.91706797666578

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-4.55848636e-01 -8.90057268e-01 -2.84570588e-04]
 [-8.90055776e-01  4.55848419e-01 -1.71298479e-03]
 [ 1.65437562e-03 -5.27578085e-04 -9.99998492e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.97313581e-01  5.62159001e-02  4.69710541e-02]
 [-5.61405299e-02  9.98418856e-01 -2.94259955e-03]
 [-4.70631451e-02  2.98560594e-04  9.98891561e-01]]

 t_gt:
[-0.52790455  0.62742444  0.57241188]

Pose Error in degrees for R and t:
177.81055613240767 87.26860163532946

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.87993155 -0.47509701  0.0018194 ]
 [ 0.47509931  0.87993145 -0.00113728]
 [-0.00106063  0.00186513  0.9999977 ]]

 t_estimated:
[[-0.00834173]
 [-0.99996466]
 [-0.00104272]]

 R_gt:
[[ 0.99748902  0.05219391  0.04786656]
 [-0.05158688  0.99857305 -0.01384402]
 [-0.04852152  0.01134055  0.99875761]]

 t_gt:
[-0.54782583  0.65740405  0.51740388]

Pose Error in degrees for R and t:
31.459279116302202 49.20530495064264

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[-6.15548479e-01 -7.88094713e-01 -2.60658798e-03]
 [ 7.88098491e-01 -6.15548540e-01 -8.73725961e-04]
 [-9.15902613e-04 -2.59206874e-03  9.99996221e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075930e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99863969  0.05151983 -0.00803306]
 [-0.05044997  0.99362576  0.10080896]
 [ 0.01317561 -0.10026683  0.9948733 ]]

 t_gt:
[-0.73914098 -0.14514616  0.65772579]

Pose Error in degrees for R and t:
130.98215354209242 42.34711641344326

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.91859299e-01  1.27338616e-01 -8.30790700e-05]
 [-1.27338631e-01  9.91859281e-01 -1.99825724e-04]
 [ 5.69572154e-05  2.08778178e-04  9.99999977e-01]]

 t_estimated:
[[-0.73752009]
 [-0.67532434]
 [-0.001072  ]]

 R_gt:
[[ 0.98928033  0.14600713  0.002723  ]
 [-0.14573614  0.98591349  0.08206847]
 [ 0.00929805 -0.08158551  0.99662276]]

 t_gt:
[-0.92287962  0.25649151  0.28723738]

Pose Error in degrees for R and t:
4.844838777232768 59.527856508133766

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 6.07433019e-01 -7.94369929e-01 -1.24222057e-03]
 [ 7.94370403e-01  6.07433646e-01 -1.69147945e-04]
 [ 8.88932612e-04 -8.84037210e-04  9.99999214e-01]]

 t_estimated:
[[ 3.75656855e-01]
 [-9.26758469e-01]
 [-8.17369579e-04]]

 R_gt:
[[ 0.9646389   0.25711061  0.05802155]
 [-0.26208373  0.95904465  0.107457  ]
 [-0.02801706 -0.11886372  0.9925153 ]]

 t_gt:
[-0.86627201  0.40635482  0.29060034]

Pose Error in degrees for R and t:
68.01951759182455 45.39209185372236

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.06478205 -0.99101244  0.11703688]
 [-0.99718051  0.06873976  0.03009781]
 [-0.03787239 -0.1147571  -0.99267139]]

 t_estimated:
[[0.76448958]
 [0.64278416]
 [0.04882828]]

 R_gt:
[[ 0.99787324  0.01044985  0.06434854]
 [-0.00510137  0.99655913 -0.08272629]
 [-0.06499198  0.08222131  0.99449338]]

 t_gt:
[-0.67037804  0.51405024 -0.53511274]

Pose Error in degrees for R and t:
174.4274040325845 77.98297609282169

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-2.21712376e-01 -9.75107618e-01 -2.95894366e-03]
 [-9.75112088e-01  2.21710747e-01  8.71595737e-04]
 [-1.93870033e-04  3.07854529e-03 -9.99995242e-01]]

 t_estimated:
[[8.79047950e-01]
 [4.76733268e-01]
 [3.04256369e-04]]

 R_gt:
[[ 0.98748022  0.02259781  0.15611688]
 [-0.00242533  0.99174394 -0.12821406]
 [-0.15772473  0.12622948  0.97938143]]

 t_gt:
[-0.72438491  0.66210227 -0.19206011]

Pose Error in degrees for R and t:
177.608394922666 71.26561850054328

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.99999176 -0.00148913  0.00377694]
 [ 0.00150758  0.99998692 -0.00488703]
 [-0.00376961  0.00489269  0.99998093]]

 t_estimated:
[[9.99151470e-01]
 [4.11759441e-02]
 [9.39478503e-04]]

 R_gt:
[[ 0.97313953 -0.0098615   0.2300056 ]
 [ 0.05693138  0.97835928 -0.19892893]
 [-0.22306563  0.20667894  0.95264125]]

 t_gt:
[-0.53689064  0.80593608 -0.24943031]

Pose Error in degrees for R and t:
17.45606016938221 59.76921628385601

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.23451515 -0.97170617 -0.02810272]
 [-0.97113487  0.23288524  0.05158992]
 [-0.04358553  0.03939015 -0.99827287]]

 t_estimated:
[[8.80999522e-01]
 [4.73116657e-01]
 [6.86671490e-04]]

 R_gt:
[[ 0.99610883 -0.05981809  0.06473259]
 [ 0.05569078  0.9964083   0.06379418]
 [-0.06831506 -0.05994029  0.99586168]]

 t_gt:
[ 0.25679093 -0.52103518  0.81399064]

Pose Error in degrees for R and t:
174.14449945467084 88.87012333663024

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-3.17779782e-01  9.48074290e-01 -1.30824829e-02]
 [ 9.47159532e-01  3.18047843e-01  4.16460245e-02]
 [ 4.36443805e-02  8.43066187e-04 -9.99046774e-01]]

 t_estimated:
[[0.93862663]
 [0.34493246]
 [0.00128228]]

 R_gt:
[[ 0.98331896 -0.11565577  0.14038419]
 [ 0.09201627  0.98206636  0.16455274]
 [-0.15689751 -0.14889001  0.97632759]]

 t_gt:
[ 0.24717053 -0.42024522  0.87309832]

Pose Error in degrees for R and t:
179.77601686499958 84.94199755521522

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 7.64797180e-01  6.44270793e-01  6.46719175e-04]
 [-6.44270647e-01  7.64797449e-01 -4.41316152e-04]
 [-7.78936283e-04 -7.91448329e-05  9.99999693e-01]]

 t_estimated:
[[0.75821073]
 [0.652009  ]
 [0.00087051]]

 R_gt:
[[ 0.97276559 -0.11746126  0.19982474]
 [ 0.06869534  0.96945502  0.23545029]
 [-0.22137711 -0.21531081  0.95112227]]

 t_gt:
[ 0.17099944 -0.28851234  0.9420827 ]

Pose Error in degrees for R and t:
48.82178583807682 86.69570055126276

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-3.00640534e-01 -9.53737221e-01 -7.62877113e-04]
 [-9.53736304e-01  3.00638772e-01  1.84174922e-03]
 [-1.52719434e-03  1.28128807e-03 -9.99998013e-01]]

 t_estimated:
[[0.81397906]
 [0.58089295]
 [0.00121011]]

 R_gt:
[[ 0.99823455 -0.04458608  0.03922266]
 [ 0.04108262  0.99544829  0.08599305]
 [-0.04287742 -0.08423012  0.99552277]]

 t_gt:
[ 0.10573397 -0.54600308  0.83108421]

Pose Error in degrees for R and t:
175.18191073486656 76.697134820988

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.30207861e-01 -3.67032820e-01  4.94624524e-04]
 [ 3.67032722e-01  9.30207989e-01  2.80027874e-04]
 [-5.62883104e-04 -7.89407444e-05  9.99999838e-01]]

 t_estimated:
[[0.89495848]
 [0.44614746]
 [0.00133178]]

 R_gt:
[[ 0.99645905 -0.05127676  0.06663476]
 [ 0.04176393  0.98968455  0.13704062]
 [-0.0729732  -0.1337724   0.98832153]]

 t_gt:
[-0.01910007 -0.46863224  0.88318685]

Pose Error in degrees for R and t:
20.76217243746284 76.99731941267304

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.98285520e-01  5.85120940e-02  1.53462145e-03]
 [-5.85128720e-02  9.98286545e-01  4.66979327e-04]
 [-1.50466800e-03 -5.55973809e-04  9.99998713e-01]]

 t_estimated:
[[-0.9932345 ]
 [ 0.11610322]
 [ 0.00229595]]

 R_gt:
[[ 0.99521073 -0.06394196  0.07394295]
 [ 0.05075331  0.98444541  0.16819765]
 [-0.08354624 -0.16363882  0.98297601]]

 t_gt:
[ 0.04353805 -0.48295304  0.87456321]

Pose Error in degrees for R and t:
12.454464975567348 84.41582924279551

Number of keypoints:
Image1: 450
Image2: 450

 R_estimated:
[[ 9.89010248e-01 -1.47846969e-01 -4.92953539e-05]
 [ 1.47846975e-01  9.89010234e-01  1.72761890e-04]
 [ 2.32112878e-05 -1.78151448e-04  9.99999984e-01]]

 t_estimated:
[[-6.75576195e-01]
 [-7.37289978e-01]
 [-5.41044788e-04]]

 R_gt:
[[ 0.99733955  0.07131197  0.01509903]
 [-0.07184582  0.99667657  0.03838511]
 [-0.01231199 -0.03936694  0.99914865]]

 t_gt:
[-0.85665614 -0.0139464   0.5156993 ]

Pose Error in degrees for R and t:
12.825905924419086 53.93235322274189

Number of keypoints:
Image1: 377
Image2: 377

 R_estimated:
[[ 9.95510356e-01  9.46526432e-02 -9.40267913e-05]
 [-9.46526513e-02  9.95510356e-01 -8.55091858e-05]
 [ 8.55109740e-05  9.40251651e-05  9.99999992e-01]]

 t_estimated:
[[-0.8688926 ]
 [ 0.49499972]
 [-0.00095761]]

 R_gt:
[[ 0.99335201  0.11146979  0.02873795]
 [-0.11283435  0.99228992  0.05127616]
 [-0.02280035 -0.05417737  0.99827017]]

 t_gt:
[-0.88201687 -0.00916783  0.47112863]

Pose Error in degrees for R and t:
3.52593821301989 40.41322322305822

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.16678030e-01 -3.99626486e-01  2.46599261e-04]
 [ 3.99626550e-01  9.16677979e-01 -3.22425946e-04]
 [-9.72021644e-05  3.94108393e-04  9.99999918e-01]]

 t_estimated:
[[-0.70226905]
 [-0.71191119]
 [-0.00080351]]

 R_gt:
[[ 0.97209346  0.23211333  0.03402907]
 [-0.23340848  0.97151776  0.04090676]
 [-0.02356458 -0.04770704  0.9985825 ]]

 t_gt:
[-0.95089315  0.18553357  0.24774888]

Pose Error in degrees for R and t:
37.146325862168354 57.622150773443224

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99550166e-01  2.99855564e-02  5.77001132e-04]
 [-2.99854085e-02  9.99550302e-01 -2.63391621e-04]
 [-5.84639600e-04  2.45971524e-04  9.99999799e-01]]

 t_estimated:
[[-8.00940051e-01]
 [-5.98744213e-01]
 [-6.34037442e-04]]

 R_gt:
[[ 0.98613313 -0.16482189 -0.01939218]
 [ 0.16535573  0.98577055  0.03024884]
 [ 0.01413082 -0.03303651  0.99935348]]

 t_gt:
[ 0.69903829 -0.70797122  0.10060923]

Pose Error in degrees for R and t:
11.4156957708801 82.18020370432448

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.50802102e-01  3.09798708e-01  3.51968007e-04]
 [-3.09798863e-01  9.50801965e-01  5.36201548e-04]
 [-1.68537326e-04 -6.18860846e-04  9.99999794e-01]]

 t_estimated:
[[0.7011397 ]
 [0.71302342]
 [0.00084884]]

 R_gt:
[[ 0.93299048 -0.34905237 -0.08770135]
 [ 0.35166891  0.93598915  0.01590287]
 [ 0.07653679 -0.04567905  0.99601946]]

 t_gt:
[ 0.8192402  -0.57314788 -0.01862789]

Pose Error in degrees for R and t:
38.92403463887561 80.46104387401682

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.97148302e-01 -7.45663867e-02 -1.16239954e-02]
 [ 7.45554002e-02  9.97215924e-01 -1.37623963e-03]
 [ 1.16942545e-02  5.05683375e-04  9.99931492e-01]]

 t_estimated:
[[0.99992861]
 [0.01188976]
 [0.00118898]]

 R_gt:
[[ 0.89362033 -0.42953569 -0.13016317]
 [ 0.43950823  0.89624584  0.05980404]
 [ 0.09097002 -0.11065003  0.9896865 ]]

 t_gt:
[ 0.84017524 -0.53579525  0.08383919]

Pose Error in degrees for R and t:
22.9510598437372 33.50429288449662

Number of keypoints:
Image1: 439
Image2: 439

 R_estimated:
[[ 0.9835646   0.1805489  -0.00166775]
 [ 0.18050506 -0.98302119  0.03297363]
 [ 0.00431392 -0.03273274 -0.99945483]]

 t_estimated:
[[0.04363398]
 [0.99894337]
 [0.01443   ]]

 R_gt:
[[ 0.99903309  0.03525634  0.02625181]
 [-0.03616884  0.99872942  0.03509421]
 [-0.02498099 -0.03601027  0.99903917]]

 t_gt:
[-0.70052917 -0.18939957  0.68803102]

Pose Error in degrees for R and t:
176.21256402046316 77.88713950110022

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[-0.60961092  0.792429   -0.02075579]
 [ 0.79240862  0.60988813  0.01118222]
 [ 0.02151983 -0.00963027 -0.99972204]]

 t_estimated:
[[ 0.8930214 ]
 [-0.44985063]
 [-0.01213227]]

 R_gt:
[[ 0.99271861  0.11740419  0.02694212]
 [-0.11811132  0.99265138  0.02631751]
 [-0.02365466 -0.02930791  0.99928977]]

 t_gt:
[-0.95442997  0.06663988  0.29089958]

Pose Error in degrees for R and t:
179.24740928045713 27.645714483336338

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 8.31880926e-01  5.54947088e-01 -2.80271815e-03]
 [-5.54945652e-01  8.31885529e-01  1.33770835e-03]
 [ 3.07389802e-03  4.42542186e-04  9.99995178e-01]]

 t_estimated:
[[-0.88132713]
 [ 0.4724847 ]
 [-0.00454904]]

 R_gt:
[[ 0.9703064   0.23884453  0.03820735]
 [-0.24050076  0.96950956  0.0470326 ]
 [-0.0258089  -0.05482491  0.99816248]]

 t_gt:
[-0.94040105  0.19200233  0.28067946]

Pose Error in degrees for R and t:
20.138920028649846 23.329543255891167

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.72994099e-01 -2.30829984e-01  4.29894521e-05]
 [ 2.30829953e-01  9.72994036e-01  3.72426847e-04]
 [-1.27795764e-04 -3.52445871e-04  9.99999930e-01]]

 t_estimated:
[[0.86849492]
 [0.49569663]
 [0.00119739]]

 R_gt:
[[ 0.99901613 -0.01278445  0.04245706]
 [ 0.0094016   0.99683438  0.07893836]
 [-0.04333128 -0.07846206  0.99597479]]

 t_gt:
[-0.15095095 -0.41822914  0.895711  ]

Pose Error in degrees for R and t:
13.698450309262142 70.2849593428032

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.97203914 -0.10333779  0.21085826]
 [ 0.1081085   0.99407609 -0.01119268]
 [-0.20845253  0.0336753   0.97745257]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.9983017  -0.03273044  0.0481895 ]
 [ 0.02678148  0.99249772  0.11929034]
 [-0.05173191 -0.11779769  0.99168908]]

 t_gt:
[-0.0394369  -0.48575356  0.87320571]

Pose Error in degrees for R and t:
13.061515738549017 75.52906471119952

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-3.17783582e-02  9.99490349e-01  3.02959607e-03]
 [-9.99494863e-01 -3.17770128e-02 -4.91205348e-04]
 [-3.94683492e-04 -3.04367541e-03  9.99995290e-01]]

 t_estimated:
[[0.01536661]
 [0.99988071]
 [0.00155987]]

 R_gt:
[[ 0.9942701  -0.10203667  0.03186107]
 [ 0.09711011  0.98677927  0.12974887]
 [-0.04467901 -0.12591209  0.99103376]]

 t_gt:
[ 0.33536705 -0.63898018  0.69226676]

Pose Error in degrees for R and t:
97.77412130944533 50.75256542227975

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.97643059 -0.21582275 -0.00195796]
 [ 0.21582565  0.9764309   0.00141083]
 [ 0.00160733 -0.00180016  0.99999709]]

 t_estimated:
[[-0.48979021]
 [-0.87182657]
 [-0.0048979 ]]

 R_gt:
[[ 0.99988373 -0.01255325  0.00872038]
 [ 0.0126676   0.99983388 -0.01308093]
 [-0.00855477  0.01318974  0.99987696]]

 t_gt:
[ 0.94454786 -0.32787269  0.01813407]

Pose Error in degrees for R and t:
11.786644473982232 79.81244335830098

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-6.96925741e-01 -7.17134330e-01 -3.58657169e-03]
 [ 7.17140396e-01 -6.96928435e-01 -6.39980244e-04]
 [-2.04063199e-03 -3.01809415e-03  9.99993363e-01]]

 t_estimated:
[[0.8046377 ]
 [0.59376321]
 [0.00185049]]

 R_gt:
[[ 0.99196973 -0.08309467  0.09535284]
 [ 0.07584389  0.99411823  0.07730801]
 [-0.10121533 -0.0694551   0.99243702]]

 t_gt:
[ 0.28684294 -0.49902556  0.8177375 ]

Pose Error in degrees for R and t:
129.70696219598256 86.33141427165936

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-5.33780599e-01  8.45622973e-01 -2.44912008e-04]
 [-8.45621038e-01 -5.33779958e-01 -2.00394259e-03]
 [-1.82530902e-03 -8.62562932e-04  9.99997962e-01]]

 t_estimated:
[[0.25879792]
 [0.96593069]
 [0.00123879]]

 R_gt:
[[ 0.97706425 -0.13250322  0.16670012]
 [ 0.1021793   0.9785448   0.17891497]
 [-0.18682957 -0.15777759  0.96963962]]

 t_gt:
[ 0.2631564  -0.39839008  0.87865468]

Pose Error in degrees for R and t:
129.5165765471654 71.60148695420632

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999670e-01  7.71864675e-04 -2.53838803e-04]
 [-7.71841036e-04  9.99999698e-01  9.32111475e-05]
 [ 2.53910673e-04 -9.30151936e-05  9.99999963e-01]]

 t_estimated:
[[-0.31911454]
 [-0.94771516]
 [-0.00137549]]

 R_gt:
[[ 0.99601056 -0.01064164  0.08859527]
 [ 0.01701922  0.99729193 -0.07154963]
 [-0.08759473  0.0727717   0.99349511]]

 t_gt:
[-0.37564359  0.87662779 -0.30069188]

Pose Error in degrees for R and t:
6.607004807702098 44.72385818780678

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.77293917  0.63444417  0.00675522]
 [ 0.63414159 -0.7721352  -0.04088618]
 [-0.02072405  0.0358863  -0.99914097]]

 t_estimated:
[[9.46010671e-01]
 [3.24134432e-01]
 [8.24769548e-04]]

 R_gt:
[[ 0.98713706 -0.05697973  0.14937265]
 [ 0.07401787  0.99104855 -0.11110739]
 [-0.14170491  0.12073452  0.98251869]]

 t_gt:
[-0.01257166  0.98920617 -0.1459901 ]

Pose Error in degrees for R and t:
168.56387047285975 72.0237677484825

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-6.98354858e-01 -7.15748662e-01 -2.08429483e-03]
 [ 7.15751443e-01 -6.98349197e-01 -2.87574005e-03]
 [ 6.02741477e-04 -3.50012407e-03  9.99993693e-01]]

 t_estimated:
[[0.94630754]
 [0.32326581]
 [0.00111857]]

 R_gt:
[[ 0.98635621 -0.08446013  0.14130218]
 [ 0.09275249  0.99426916 -0.05315495]
 [-0.13600367  0.06553654  0.98853819]]

 t_gt:
[0.40143377 0.85997564 0.31510765]

Pose Error in degrees for R and t:
129.35529679176744 48.83475018268196

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-9.56484389e-01 -2.91780743e-01 -1.26918135e-03]
 [-2.91783099e-01  9.56481260e-01  2.49440608e-03]
 [ 4.86128516e-04  2.75618614e-03 -9.99996084e-01]]

 t_estimated:
[[9.78346128e-01]
 [2.06973820e-01]
 [8.31220160e-04]]

 R_gt:
[[ 0.99006718  0.13100318  0.05102594]
 [-0.12967707  0.99114548 -0.02851086]
 [-0.05430926  0.02161142  0.99829027]]

 t_gt:
[-0.54464494  0.81127513  0.21259012]

Pose Error in degrees for R and t:
177.28041210010647 68.6070728174462

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.71450125e-01 -2.37243407e-01 -4.70540996e-04]
 [ 2.37243564e-01  9.71450150e-01  3.12992080e-04]
 [ 3.82851813e-04 -4.15689018e-04  9.99999840e-01]]

 t_estimated:
[[9.70744450e-01]
 [2.40113468e-01]
 [8.57548100e-04]]

 R_gt:
[[ 0.98826691  0.13446277  0.07244173]
 [-0.13305467  0.99081845 -0.02395515]
 [-0.07499837  0.01403604  0.99708422]]

 t_gt:
[-0.52963818  0.77138524  0.35277218]

Pose Error in degrees for R and t:
21.865304516386978 70.81491354082196

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.13081169e-01 -4.07777648e-01 -4.10439413e-04]
 [ 4.07777756e-01  9.13081187e-01  2.20836152e-04]
 [ 2.84712459e-04 -3.69009394e-04  9.99999891e-01]]

 t_estimated:
[[-2.40530926e-01]
 [-9.70641176e-01]
 [-7.61695287e-04]]

 R_gt:
[[ 0.98650633  0.1372983   0.08919035]
 [-0.13636616  0.99052148 -0.01649674]
 [-0.0906096   0.00411133  0.99587738]]

 t_gt:
[-0.51435177  0.72528071  0.45761354]

Pose Error in degrees for R and t:
32.36006820126055 54.505952508181956

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.95582986 -0.29384574 -0.00663054]
 [ 0.29389081  0.95581081  0.0073406 ]
 [ 0.00418054 -0.00896502  0.99995107]]

 t_estimated:
[[0.98241062]
 [0.18673036]
 [0.00107021]]

 R_gt:
[[ 0.99853673  0.05406321 -0.00144625]
 [-0.05390862  0.99712119  0.05330637]
 [ 0.00432411 -0.05315072  0.99857689]]

 t_gt:
[-0.87000044  0.13093008  0.47534887]

Pose Error in degrees for R and t:
20.348945233872115 33.927927080111246

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99989643e-01  4.53128907e-03 -4.25102423e-04]
 [-4.53141925e-03  9.99989686e-01 -3.05762023e-04]
 [ 4.23712543e-04  3.07685174e-04  9.99999863e-01]]

 t_estimated:
[[-0.79093031]
 [-0.61190084]
 [-0.00256977]]

 R_gt:
[[ 0.98201773  0.18227238  0.04919412]
 [-0.18442324  0.98188794  0.04340054]
 [-0.04039213 -0.05169177  0.99784539]]

 t_gt:
[-0.87752702  0.42776249  0.21671545]

Pose Error in degrees for R and t:
10.989381761254933 64.42084743911857

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-3.65458335e-01 -9.30826924e-01 -1.20153829e-03]
 [-9.30827656e-01  3.65458406e-01  1.67510008e-04]
 [ 2.83189443e-04  1.17964300e-03 -9.99999264e-01]]

 t_estimated:
[[7.16026159e-01]
 [6.98073085e-01]
 [7.13087986e-04]]

 R_gt:
[[ 0.95684322  0.28519314  0.05582002]
 [-0.28887432  0.95436198  0.07578115]
 [-0.0316601  -0.0886361   0.99556023]]

 t_gt:
[-0.83743475  0.50043732  0.21969416]

Pose Error in degrees for R and t:
175.27649220385123 75.5149902993832

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-9.60820660e-01 -2.77135350e-01 -4.43356909e-03]
 [ 2.77132811e-01 -9.60830886e-01  1.18933128e-03]
 [-4.58951585e-03 -8.59533972e-05  9.99989464e-01]]

 t_estimated:
[[0.84626742]
 [0.53275384]
 [0.0021924 ]]

 R_gt:
[[ 0.99643483  0.06852814  0.04921025]
 [-0.06632275  0.99677593 -0.04513683]
 [-0.05214582  0.04171175  0.9977677 ]]

 t_gt:
[-0.22348931  0.96582953 -0.13124727]

Pose Error in degrees for R and t:
167.79284478296444 71.02655318672504

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99998566e-01  1.51137031e-03  7.64528206e-04]
 [-1.51100583e-03  9.99998745e-01 -4.77091321e-04]
 [-7.65248307e-04  4.75935431e-04  9.99999594e-01]]

 t_estimated:
[[0.99625427]
 [0.08646248]
 [0.00129048]]

 R_gt:
[[ 0.9924657   0.08050495  0.09236171]
 [-0.06753653  0.98842829 -0.13582183]
 [-0.10222802  0.12856143  0.98641781]]

 t_gt:
[ 0.02508451  0.93397376 -0.35646007]

Pose Error in degrees for R and t:
10.294037099463699 83.95645711378306

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.59174902 -0.80611994 -0.00193536]
 [ 0.80612022 -0.59174041 -0.00367158]
 [ 0.00181451 -0.00373279  0.99999139]]

 t_estimated:
[[0.98408235]
 [0.17771007]
 [0.00102723]]

 R_gt:
[[ 0.98304185  0.09903533  0.15433963]
 [-0.07720828  0.98692138 -0.14150798]
 [-0.16633675  0.1271921   0.97783064]]

 t_gt:
[0.07735483 0.99690202 0.01423316]

Pose Error in degrees for R and t:
131.70236510900307 75.32726220191273

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-9.41224734e-01 -3.37778382e-01 -1.32830016e-03]
 [ 3.37780468e-01 -9.41222929e-01 -1.93750307e-03]
 [-5.95779921e-04 -2.27229966e-03  9.99997241e-01]]

 t_estimated:
[[0.92595613]
 [0.37762989]
 [0.00095361]]

 R_gt:
[[ 0.9983282  -0.05719905 -0.00824993]
 [ 0.0568777   0.99776672 -0.03501769]
 [ 0.01023436  0.03449027  0.99935245]]

 t_gt:
[ 0.74773535 -0.37293982 -0.54937031]

Pose Error in degrees for R and t:
156.9916140958422 56.56346163038731

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-3.59376609e-01 -9.33190531e-01 -1.97126003e-03]
 [ 9.33192437e-01 -3.59377038e-01 -1.44132795e-04]
 [-5.73922231e-04 -1.89136290e-03  9.99998047e-01]]

 t_estimated:
[[9.99967893e-01]
 [7.96434605e-03]
 [8.84927339e-04]]

 R_gt:
[[ 0.99766876 -0.0642007  -0.02314841]
 [ 0.05794424  0.97604623 -0.20970681]
 [ 0.03605666  0.20787683  0.97749063]]

 t_gt:
[ 0.44525117  0.14887366 -0.88294282]

Pose Error in degrees for R and t:
108.0041600604662 63.535629012908366

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 2.93653915e-01  9.55910719e-01 -1.44024714e-03]
 [-9.55884270e-01  2.93656559e-01  7.14762268e-03]
 [ 7.25542716e-03 -7.22217806e-04  9.99973418e-01]]

 t_estimated:
[[-0.99981909]
 [-0.01890414]
 [-0.00210046]]

 R_gt:
[[ 0.99489656 -0.09221241 -0.04095558]
 [ 0.07433395  0.94433563 -0.3204752 ]
 [ 0.06822759  0.31579479  0.94637114]]

 t_gt:
[ 0.40182746  0.24469291 -0.88241718]

Pose Error in degrees for R and t:
79.78614572530807 66.1385103139945

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.79572750e-01  2.01090088e-01  6.54025550e-05]
 [-2.01090079e-01  9.79572746e-01 -1.24661522e-04]
 [-8.91347568e-05  1.08963225e-04  9.99999990e-01]]

 t_estimated:
[[-0.74957649]
 [-0.66191728]
 [-0.00077374]]

 R_gt:
[[ 0.9962645   0.01697549  0.08467434]
 [-0.00836437  0.99484724 -0.10103399]
 [-0.08595308  0.0999483   0.99127318]]

 t_gt:
[ 0.16205755  0.90443454 -0.39463339]

Pose Error in degrees for R and t:
13.23928017970136 43.959550356056894

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 7.77312559e-01  6.29114052e-01  8.34030193e-04]
 [-6.29112247e-01  7.77312592e-01 -1.70759692e-03]
 [-1.72257539e-03  8.02637921e-04  9.99998194e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075933e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99240481 -0.00561749  0.12288791]
 [ 0.02294358  0.98988088 -0.14003382]
 [-0.12085776  0.1417893   0.98249129]]

 t_gt:
[ 0.66368446  0.63627922 -0.39328323]

Pose Error in degrees for R and t:
41.14731292950167 48.29088313542815

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-1.20387740e-01 -9.92726883e-01 -3.56536607e-04]
 [ 9.92723449e-01 -1.20388262e-01  2.61152855e-03]
 [-2.63545742e-03 -3.95462298e-05  9.99996526e-01]]

 t_estimated:
[[0.98724597]
 [0.15919876]
 [0.00106845]]

 R_gt:
[[ 0.98471162  0.10029527  0.14242242]
 [-0.07887791  0.98571643 -0.14879602]
 [-0.15531188  0.13528717  0.97855826]]

 t_gt:
[ 0.0299439   0.99837318 -0.04852163]

Pose Error in degrees for R and t:
102.60821099425323 79.13766258630446

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.73015923e-01  2.30737883e-01  2.06601954e-04]
 [-2.30737816e-01  9.73015913e-01 -3.06869874e-04]
 [-2.71833494e-04  2.50918391e-04  9.99999932e-01]]

 t_estimated:
[[-4.75283518e-01]
 [ 8.79832637e-01]
 [ 3.31129326e-04]]

 R_gt:
[[ 0.98517056 -0.15714399  0.06887558]
 [ 0.15621041  0.98754487  0.01878657]
 [-0.07097108 -0.00774866  0.99744899]]

 t_gt:
[ 0.64100202 -0.7225597   0.25888973]

Pose Error in degrees for R and t:
22.731207019299518 19.897399290238237

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 1.00000000e+00  3.33392117e-07 -6.02012216e-07]
 [-3.33391630e-07  1.00000000e+00  8.06810416e-07]
 [ 6.02012485e-07 -8.06810215e-07  1.00000000e+00]]

 t_estimated:
[[9.99969162e-01]
 [7.81431685e-03]
 [7.81449500e-04]]

 R_gt:
[[ 0.94901056 -0.29563048  0.10945847]
 [ 0.29308872  0.95528954  0.03900103]
 [-0.11609498 -0.00493126  0.99322611]]

 t_gt:
[ 0.72029549 -0.65167736  0.23767842]

Pose Error in degrees for R and t:
18.42051063267044 44.32674902170257

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-5.46789429e-01  8.37270112e-01  2.82448379e-04]
 [-8.37269067e-01 -5.46788140e-01 -1.79956615e-03]
 [-1.35228353e-03 -1.22046904e-03  9.99998341e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.89595772 -0.43805832  0.07324125]
 [ 0.43081637  0.89727042  0.09645015]
 [-0.10796886 -0.05486206  0.99263967]]

 t_gt:
[ 0.79114167 -0.57460598  0.20957773]

Pose Error in degrees for R and t:
149.05381151591234 55.288649604505856

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 5.54216011e-01 -8.32372865e-01 -1.62899085e-04]
 [-8.32372163e-01 -5.54215266e-01 -1.42137228e-03]
 [ 1.09283056e-03  9.23339942e-04 -9.99998977e-01]]

 t_estimated:
[[0.36409576]
 [0.93136098]
 [0.00100579]]

 R_gt:
[[ 0.9779011  -0.2077988   0.02302204]
 [ 0.20754083  0.97813811  0.01310132]
 [-0.02524122 -0.00803419  0.99964888]]

 t_gt:
[ 0.73269692 -0.66884892  0.1256835 ]

Pose Error in degrees for R and t:
178.8845256181781 69.14270897158426

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 1.51659963e-01 -9.88429078e-01 -2.68579141e-03]
 [ 9.88432670e-01  1.51660319e-01  7.20577340e-05]
 [ 3.36104021e-04 -2.66565224e-03  9.99996391e-01]]

 t_estimated:
[[9.71464721e-01]
 [2.37182884e-01]
 [7.57772794e-04]]

 R_gt:
[[ 0.94085868 -0.33158216  0.06956642]
 [ 0.33222586  0.94319693  0.00244419]
 [-0.06642542  0.02081173  0.99757383]]

 t_gt:
[ 0.75339544 -0.64366752  0.13448954]

Pose Error in degrees for R and t:
61.992630864213425 54.596421398356625

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.40395178e-01 -3.40083478e-01  3.71433215e-04]
 [ 3.40083426e-01  9.40395249e-01  1.96068651e-04]
 [-4.15973740e-04 -5.80637335e-05  9.99999912e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.90365316 -0.42080339  0.07959932]
 [ 0.42391502  0.90531321 -0.02654813]
 [-0.0608909   0.05773324  0.99647306]]

 t_gt:
[ 0.77256117 -0.63285498  0.05141798]

Pose Error in degrees for R and t:
7.03632460286846 73.1489056671621

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.63377782e-01 -2.68146404e-01 -8.69214767e-04]
 [ 2.68147721e-01  9.63375077e-01  2.29355830e-03]
 [ 2.22370431e-04 -2.44264107e-03  9.99996992e-01]]

 t_estimated:
[[-8.17254062e-01]
 [-5.76277173e-01]
 [-6.46050642e-04]]

 R_gt:
[[ 0.99953187 -0.01666795  0.0256679 ]
 [ 0.01650236  0.99984293  0.00661941]
 [-0.02577457 -0.00619268  0.99964876]]

 t_gt:
[-0.17225515 -0.66856153  0.72343185]

Pose Error in degrees for R and t:
14.682197896629905 58.29232640976696

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-0.7880858  -0.6155583  -0.00295927]
 [ 0.61526287 -0.78784007  0.02756132]
 [-0.01929704  0.01989996  0.99961573]]

 t_estimated:
[[0.97861112]
 [0.20569533]
 [0.0031166 ]]

 R_gt:
[[ 9.98024833e-01  7.87298850e-04  6.28190673e-02]
 [-5.39342127e-04  9.99993117e-01 -3.97778386e-03]
 [-6.28219432e-02  3.93643193e-03  9.98017785e-01]]

 t_gt:
[-0.94273039 -0.04852722  0.33000684]

Pose Error in degrees for R and t:
142.02464255720398 21.327028175538903

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-8.47782536e-01  5.29883798e-01  2.20891961e-02]
 [ 5.30022112e-01  8.47983683e-01  4.83262690e-04]
 [-1.84752048e-02  1.21174641e-02 -9.99755887e-01]]

 t_estimated:
[[ 0.98430339]
 [-0.1763341 ]
 [ 0.00728918]]

 R_gt:
[[ 0.99539215  0.06075699  0.07418145]
 [-0.0582246   0.99766115 -0.03584736]
 [-0.07618592  0.03136309  0.99660019]]

 t_gt:
[-0.93592299  0.32384017 -0.13847636]

Pose Error in degrees for R and t:
174.12353671197525 11.665253151867288

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 8.57436260e-01 -5.14589372e-01 -9.15734434e-04]
 [ 5.14589421e-01  8.57436696e-01 -1.99713015e-04]
 [ 8.87954503e-04 -2.99986071e-04  9.99999561e-01]]

 t_estimated:
[[-0.08040208]
 [-0.9967616 ]
 [-0.00135004]]

 R_gt:
[[ 0.97708149  0.21242148  0.01385508]
 [-0.21247972  0.97716118  0.00284841]
 [-0.01293361 -0.00572712  0.99989891]]

 t_gt:
[-0.74556757  0.66428398  0.05343959]

Pose Error in degrees for R and t:
43.24486499161907 52.96808959588724

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99356648e-01  3.58643137e-02 -2.03925746e-04]
 [-3.58643048e-02  9.99356668e-01  4.73437995e-05]
 [ 2.05492507e-04 -3.99996856e-05  9.99999978e-01]]

 t_estimated:
[[-9.99994329e-01]
 [ 3.26838558e-03]
 [-8.11733762e-04]]

 R_gt:
[[ 0.94984645  0.31164447  0.02591948]
 [-0.31147414  0.9501972  -0.01044999]
 [-0.02788508  0.00185271  0.99960902]]

 t_gt:
[-0.68857379  0.72371038  0.0459284 ]

Pose Error in degrees for R and t:
16.181605732287558 46.298766732233105

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 8.74747803e-01 -4.84578454e-01  5.50556732e-05]
 [ 4.84578396e-01  8.74747631e-01 -6.00318055e-04]
 [ 2.42741375e-04  5.51805690e-04  9.99999818e-01]]

 t_estimated:
[[-0.40142166]
 [-0.91589286]
 [-0.00095805]]

 R_gt:
[[ 0.95285706  0.29998389  0.04556271]
 [-0.3004452   0.95379221  0.0035033 ]
 [-0.04240606 -0.01702756  0.99895476]]

 t_gt:
[-0.6838007   0.71990217  0.11898517]

Pose Error in degrees for R and t:
46.535208409287485 67.35782196709306

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99628665e-01 -2.72494168e-02 -2.69473809e-05]
 [ 2.72494079e-02  9.99628624e-01 -2.88377977e-04]
 [ 3.47955050e-05  2.87536593e-04  9.99999958e-01]]

 t_estimated:
[[ 0.78348755]
 [ 0.62140661]
 [-0.00104347]]

 R_gt:
[[ 0.99362149 -0.09735761  0.05689288]
 [ 0.098506    0.99497826 -0.01772519]
 [-0.05488224  0.02321624  0.99822218]]

 t_gt:
[ 0.43707754 -0.83490262  0.33451583]

Pose Error in degrees for R and t:
5.306347374078249 79.82133506048905

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.91820223  0.29918145  0.25960571]
 [-0.14735764  0.86634103 -0.47722002]
 [-0.36768245  0.3999296   0.83956294]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.97205223 -0.23160047  0.03840568]
 [ 0.23030745  0.97247672  0.03530313]
 [-0.04552582 -0.02547197  0.99863814]]

 t_gt:
[ 0.62890063 -0.73096502  0.26490401]

Pose Error in degrees for R and t:
42.696861845054485 85.70328605369413

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.49079570e-01 -3.15035846e-01 -6.21724608e-04]
 [ 3.15036385e-01  9.49076142e-01  2.55975380e-03]
 [-2.16350212e-04 -2.62527591e-03  9.99996531e-01]]

 t_estimated:
[[0.97420165]
 [0.22566253]
 [0.00275198]]

 R_gt:
[[ 0.94900403 -0.31277854  0.03950213]
 [ 0.31167253  0.94965876  0.03174619]
 [-0.04744295 -0.01781688  0.99871487]]

 t_gt:
[ 0.66265625 -0.71917954  0.20896763]

Pose Error in degrees for R and t:
2.848647006536683 61.063236876388196

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 1.37731625e-01  9.90468809e-01  1.23987325e-03]
 [-9.90468971e-01  1.37732826e-01 -9.41051252e-04]
 [-1.10285316e-03 -1.09844347e-03  9.99998789e-01]]

 t_estimated:
[[-0.54465106]
 [ 0.83866212]
 [ 0.00103523]]

 R_gt:
[[ 0.98672843  0.15811287 -0.03697455]
 [-0.15934364  0.98666829 -0.0330942 ]
 [ 0.03124847  0.03854662  0.9987674 ]]

 t_gt:
[-0.55524544  0.76391024 -0.32885202]

Pose Error in degrees for R and t:
72.9951350342668 19.483572830254932

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99813370e-01 -1.93167622e-02 -2.95926905e-04]
 [ 1.93168255e-02  9.99813390e-01  2.12665790e-04]
 [ 2.91763668e-04 -2.18342468e-04  9.99999934e-01]]

 t_estimated:
[[-9.85059995e-01]
 [-1.72210972e-01]
 [ 4.33430913e-04]]

 R_gt:
[[ 0.97829098  0.19987547 -0.05474743]
 [-0.20297647  0.97743356 -0.05853128]
 [ 0.04181334  0.06837196  0.99678307]]

 t_gt:
[-0.50177939  0.76723188 -0.39946551]

Pose Error in degrees for R and t:
13.546316182189871 68.77791503457111

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 4.91967182e-01  8.70613068e-01  1.08531506e-03]
 [-8.70613738e-01  4.91966949e-01  4.90824856e-04]
 [-1.06620604e-04 -1.18635992e-03  9.99999291e-01]]

 t_estimated:
[[0.37139042]
 [0.92847605]
 [0.00117529]]

 R_gt:
[[ 0.95272647  0.29569925 -0.06981352]
 [-0.29936253  0.95285723 -0.04944698]
 [ 0.05190017  0.06800824  0.99633371]]

 t_gt:
[-0.49868951  0.81475565 -0.29577358]

Pose Error in degrees for R and t:
43.46039883822933 55.18524738698104

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 0.63581832  0.77127608 -0.0294666 ]
 [ 0.76033144 -0.61931456  0.19582026]
 [ 0.13278239 -0.14691049 -0.98019699]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.99891457 -0.00933439 -0.0456409 ]
 [ 0.01121145  0.99909355  0.04106657]
 [ 0.04521575 -0.04153329  0.99811303]]

 t_gt:
[-0.30249526 -0.93111944 -0.2037479 ]

Pose Error in degrees for R and t:
165.8309329307749 27.108028463335977

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[-0.32402417  0.94583996  0.0198774 ]
 [ 0.94584014  0.32432246 -0.01419071]
 [-0.01986883  0.01420271 -0.99970171]]

 t_estimated:
[[ 0.79950352]
 [-0.60052994]
 [ 0.01256655]]

 R_gt:
[[ 0.9961768  -0.03968259 -0.07783005]
 [ 0.04082751  0.99907955  0.01317907]
 [ 0.0772356  -0.0163065   0.99687927]]

 t_gt:
[-0.07395617 -0.79434654 -0.60294615]

Pose Error in degrees for R and t:
177.28842264999975 65.77482902787612

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 2.20806866e-01 -9.75311591e-01 -3.41007559e-03]
 [-9.75317541e-01 -2.20804982e-01 -9.24272947e-04]
 [ 1.48492440e-04  3.52999235e-03 -9.99993759e-01]]

 t_estimated:
[[0.85692327]
 [0.5154432 ]
 [0.00090115]]

 R_gt:
[[ 0.98783645 -0.11946002 -0.09954248]
 [ 0.12538761  0.99055038  0.05556281]
 [ 0.09196427 -0.06736872  0.99348095]]

 t_gt:
[ 0.19562854 -0.95414435 -0.22657898]

Pose Error in degrees for R and t:
179.17007340806734 71.07242243071519

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.71103769e-01 -2.38657412e-01 -3.29486041e-04]
 [ 2.38657590e-01  9.71103534e-01  6.94215191e-04]
 [ 1.54285458e-04 -7.52789333e-04  9.99999705e-01]]

 t_estimated:
[[-0.77157676]
 [-0.63613394]
 [-0.00170445]]

 R_gt:
[[ 0.9998605   0.00211324 -0.0165996 ]
 [-0.00234664  0.99989963 -0.0139869 ]
 [ 0.01656876  0.01402447  0.99976429]]

 t_gt:
[ 0.8176603  -0.12279896 -0.56245182]

Pose Error in degrees for R and t:
13.99167516913687 56.508557439443564

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99996651e-01 -2.58636218e-03  9.37095860e-05]
 [ 2.58637260e-03  9.99996649e-01 -1.11271862e-04]
 [-9.34214827e-05  1.11513858e-04  9.99999989e-01]]

 t_estimated:
[[-0.9786942 ]
 [-0.20530173]
 [-0.0029774 ]]

 R_gt:
[[ 0.99970357  0.01916122  0.015003  ]
 [-0.01909442  0.99980627 -0.004646  ]
 [-0.01508868  0.00435878  0.99987664]]

 t_gt:
[0.97855572 0.09323298 0.18367446]

Pose Error in degrees for R and t:
1.5324938506911638 12.205779264614842

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.93632209e-01  1.12672125e-01  1.60255397e-04]
 [-1.12672083e-01  9.93632196e-01 -2.47016779e-04]
 [-1.87066827e-04  2.27387519e-04  9.99999957e-01]]

 t_estimated:
[[0.45633849]
 [0.8898056 ]
 [0.00108911]]

 R_gt:
[[ 0.99860554  0.05276099  0.00195989]
 [-0.05271593  0.99843041 -0.01891783]
 [-0.00295527  0.01878841  0.9998192 ]]

 t_gt:
[ 0.81104933  0.55713244 -0.17833238]

Pose Error in degrees for R and t:
3.6095426787452447 30.042033414119313

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.98808362e-01  4.88006678e-02  5.92511283e-04]
 [-4.88004577e-02  9.98808482e-01 -3.63933776e-04]
 [-6.09565506e-04  3.34585277e-04  9.99999758e-01]]

 t_estimated:
[[-9.71954020e-01]
 [-2.35170793e-01]
 [ 2.86449818e-04]]

 R_gt:
[[ 0.99275722 -0.11548346 -0.03313585]
 [ 0.11577759  0.9932499   0.00708822]
 [ 0.03209415 -0.01087331  0.99942601]]

 t_gt:
[ 0.81043646 -0.57912178 -0.08837825]

Pose Error in degrees for R and t:
9.644005973101478 49.34220591035339

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-8.39373605e-01 -5.43552212e-01 -1.71569789e-03]
 [ 5.43554609e-01 -8.39372322e-01 -1.57868634e-03]
 [-5.82010872e-04 -2.25768314e-03  9.99997282e-01]]

 t_estimated:
[[8.97209359e-01]
 [4.41604610e-01]
 [8.57467882e-04]]

 R_gt:
[[ 0.98715025 -0.13843864 -0.07981519]
 [ 0.13866279  0.99033561 -0.00275391]
 [ 0.07942615 -0.00834895  0.9968062 ]]

 t_gt:
[ 0.84924883 -0.47258838 -0.2354499 ]

Pose Error in degrees for R and t:
139.1264524833293 56.4231547693612

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999742e-01 -4.79684807e-04  5.34704159e-04]
 [ 4.79686463e-04  9.99999885e-01 -2.96813506e-06]
 [-5.34702674e-04  3.22462464e-06  9.99999857e-01]]

 t_estimated:
[[0.56499862]
 [0.82509125]
 [0.00099025]]

 R_gt:
[[ 0.98756473 -0.08094132 -0.13477732]
 [ 0.08367781  0.99638335  0.01475283]
 [ 0.13309691 -0.02584741  0.99076593]]

 t_gt:
[ 0.87237629 -0.26766465 -0.40904187]

Pose Error in degrees for R and t:
9.132277195844258 74.2382041311683

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.95245331e-01  9.73998320e-02  6.92054181e-05]
 [-9.73998305e-02  9.95245333e-01 -2.52879400e-05]
 [-7.13394105e-05  1.84271082e-05  9.99999997e-01]]

 t_estimated:
[[8.21042321e-01]
 [5.70866780e-01]
 [7.91116754e-04]]

 R_gt:
[[ 0.99726281 -0.0480607   0.05619506]
 [ 0.05151183  0.99676703 -0.06167072]
 [-0.05304856  0.06439658  0.99651268]]

 t_gt:
[ 0.92317946 -0.33700495 -0.1848441 ]

Pose Error in degrees for R and t:
9.70566072606804 55.56727032806177

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.90383543e-01  1.38348497e-01  3.61460697e-04]
 [-1.38348441e-01  9.90383601e-01 -1.75817623e-04]
 [-3.82308851e-04  1.24119357e-04  9.99999919e-01]]

 t_estimated:
[[ 9.69057741e-01]
 [-2.46833212e-01]
 [-6.78695591e-04]]

 R_gt:
[[ 0.98879897 -0.14525192  0.03434178]
 [ 0.14643213  0.98860923 -0.03477321]
 [-0.02890007  0.03941205  0.9988048 ]]

 t_gt:
[ 0.86360229 -0.50251925 -0.04081028]

Pose Error in degrees for R and t:
16.576660363581702 16.065362317595028

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.51131083  0.85939439  0.00158626]
 [ 0.85937945 -0.5113116   0.00523445]
 [ 0.00530953 -0.00131323 -0.99998504]]

 t_estimated:
[[-0.78171426]
 [-0.62362925]
 [-0.00306219]]

 R_gt:
[[ 0.98238426 -0.18656467 -0.01078558]
 [ 0.18593533  0.98159114 -0.0436661 ]
 [ 0.01873266  0.04089129  0.99898785]]

 t_gt:
[ 0.87757741 -0.44922195 -0.1675038 ]

Pose Error in degrees for R and t:
178.49675554145017 66.08669352094964

Number of keypoints:
Image1: 389
Image2: 389

 R_estimated:
[[-0.18492704 -0.98274783 -0.00294671]
 [ 0.98274645 -0.18491481 -0.00399226]
 [ 0.0033785  -0.00363415  0.99998769]]

 t_estimated:
[[9.63172726e-01]
 [2.68881718e-01]
 [9.60291850e-04]]

 R_gt:
[[ 0.9989992  -0.01625513 -0.0416833 ]
 [ 0.01684459  0.999762    0.01384193]
 [ 0.04144784 -0.01452923  0.99903467]]

 t_gt:
[-0.11586176 -0.79121574 -0.60046124]

Pose Error in degrees for R and t:
99.72390802267483 71.03957724168609

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[ 8.53654959e-01  5.20838814e-01  3.75227097e-04]
 [-5.20838575e-01  8.53654988e-01 -5.83504375e-04]
 [-6.24226209e-04  3.02678658e-04  9.99999759e-01]]

 t_estimated:
[[0.45313235]
 [0.89144262]
 [0.00105872]]

 R_gt:
[[ 0.99749347 -0.0225928  -0.06705826]
 [ 0.02375669  0.99957944  0.01663307]
 [ 0.066654   -0.01818359  0.99761009]]

 t_gt:
[-0.23998785 -0.7778591  -0.58081069]

Pose Error in degrees for R and t:
32.954876630345865 36.60380015839134

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 5.38228546e-01  8.42785599e-01  4.73987765e-03]
 [ 8.42793315e-01 -5.38236975e-01  6.22447692e-04]
 [ 3.07576736e-03  3.65971808e-03 -9.99988573e-01]]

 t_estimated:
[[0.47975023]
 [0.87740417]
 [0.00128275]]

 R_gt:
[[ 0.99119189 -0.09871305 -0.08828673]
 [ 0.10124606  0.99455451  0.02469035]
 [ 0.08536914 -0.0334109   0.99578955]]

 t_gt:
[ 0.1244365  -0.91917462 -0.37367577]

Pose Error in degrees for R and t:
176.25254310243642 41.64567935854107

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-1.67306557e-01 -9.85839217e-01 -1.13821776e-02]
 [ 9.85904770e-01 -1.67301802e-01 -1.37541239e-03]
 [-5.48323345e-04 -1.14518587e-02  9.99934275e-01]]

 t_estimated:
[[0.96254605]
 [0.27106182]
 [0.00553187]]

 R_gt:
[[ 0.99866219  0.05163413  0.00288191]
 [-0.05165953  0.99861918  0.00956887]
 [-0.00238404 -0.00970521  0.9999496 ]]

 t_gt:
[-0.08030918  0.98692221  0.13976764]

Pose Error in degrees for R and t:
102.59269047698214 78.98950381520558

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 0.97754319 -0.20801968  0.03372121]
 [ 0.20984066  0.97557887 -0.06490582]
 [-0.01939601  0.07052432  0.99732147]]

 t_estimated:
[[-0.73200842]
 [-0.68108983]
 [-0.01674235]]

 R_gt:
[[ 9.97655701e-01  6.62821364e-02  1.70588725e-02]
 [-6.62788257e-02  9.97800562e-01 -7.82935730e-04]
 [-1.70731907e-02 -3.50086811e-04  9.99854111e-01]]

 t_gt:
[0.21647589 0.95494263 0.20303389]

Pose Error in degrees for R and t:
16.35231981434996 35.68235878920215

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-8.50377054e-01 -5.26166683e-01 -2.73621957e-03]
 [ 5.26159892e-01 -8.50380889e-01  2.84807674e-03]
 [-3.82539193e-03  9.82250119e-04  9.99992201e-01]]

 t_estimated:
[[0.99985416]
 [0.01701879]
 [0.00141823]]

 R_gt:
[[ 0.99742679  0.06698589  0.02558632]
 [-0.06641206  0.99753512 -0.02267033]
 [-0.02704237  0.02091245  0.9994146 ]]

 t_gt:
[0.47095625 0.87621511 0.10221196]

Pose Error in degrees for R and t:
152.08379807894775 60.925617654162316

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.72995121e-01 -2.30784025e-01  4.38502770e-03]
 [ 2.30787721e-01  9.73004063e-01 -3.49494695e-04]
 [-4.18599198e-03  1.35206718e-03  9.99990325e-01]]

 t_estimated:
[[0.99983113]
 [0.0177086 ]
 [0.00491081]]

 R_gt:
[[ 0.99767415 -0.02120564  0.06477014]
 [ 0.02246631  0.99957068 -0.01879181]
 [-0.06434415  0.02020342  0.99772417]]

 t_gt:
[ 0.03902802 -0.66234045 -0.74818577]

Pose Error in degrees for R and t:
12.617647190586458 88.6466560464718

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 0.99909433  0.03727103  0.02052773]
 [-0.03452625  0.99207154 -0.12083876]
 [-0.02486876  0.12002058  0.99245988]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99681272  0.04872286  0.06316243]
 [-0.04649651  0.99826071 -0.03624155]
 [-0.06481866  0.03318887  0.99734576]]

 t_gt:
[-0.90742083  0.35792886 -0.22016896]

Pose Error in degrees for R and t:
5.505434436557883 59.12647611825793

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999959e-01  1.92812680e-04 -2.12646299e-04]
 [-1.92820220e-04  9.99999981e-01 -3.54359794e-05]
 [ 2.12639462e-04  3.54769804e-05  9.99999977e-01]]

 t_estimated:
[[-0.6853967 ]
 [-0.72816902]
 [-0.00111462]]

 R_gt:
[[ 0.99276901  0.08420368  0.0855424 ]
 [-0.0786465   0.99468922 -0.06638825]
 [-0.09067765  0.05918154  0.99412026]]

 t_gt:
[-0.8687958   0.39908501 -0.29312968]

Pose Error in degrees for R and t:
7.782861139695129 72.23009418682284

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.55666168e-01  2.94452163e-01  3.13306706e-04]
 [-2.94452109e-01  9.55666214e-01 -2.08559688e-04]
 [-3.60827484e-04  1.07059618e-04  9.99999929e-01]]

 t_estimated:
[[-2.35534744e-01]
 [ 9.71865642e-01]
 [ 7.47687567e-04]]

 R_gt:
[[ 0.99578583 -0.09095665 -0.01164834]
 [ 0.09123016  0.99549935  0.02566897]
 [ 0.00926063 -0.02662299  0.99960205]]

 t_gt:
[ 0.65711095 -0.73891662  0.14902158]

Pose Error in degrees for R and t:
22.41102240301926 29.215659202836466

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 8.85385245e-01  4.64858004e-01  6.63140098e-05]
 [ 4.64846068e-01 -8.85363517e-01  7.04094816e-03]
 [ 3.33175311e-03 -6.20312581e-03 -9.99975210e-01]]

 t_estimated:
[[-0.4908853 ]
 [ 0.87121645]
 [ 0.00367798]]

 R_gt:
[[ 0.98472276 -0.16934703  0.04049957]
 [ 0.16903203  0.9855483   0.01110338]
 [-0.04179489 -0.00408825  0.99911742]]

 t_gt:
[ 0.56459588 -0.78165938  0.26502849]

Pose Error in degrees for R and t:
179.76816604927362 16.829301800347622

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-9.97916942e-01 -6.45109009e-02 -3.48565382e-04]
 [ 6.45114895e-02 -9.97914789e-01 -2.08342106e-03]
 [-2.13435180e-04 -2.10156765e-03  9.99997769e-01]]

 t_estimated:
[[0.58307831]
 [0.81241523]
 [0.00108178]]

 R_gt:
[[ 0.96317781 -0.26600362  0.03910775]
 [ 0.26435942  0.9634843   0.04256014]
 [-0.04900112 -0.03065411  0.9983278 ]]

 t_gt:
[ 0.61639105 -0.73702721  0.27722367]

Pose Error in degrees for R and t:
160.92070373593887 76.16846124421578

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.99999973e-01  2.33007579e-04  9.35491993e-06]
 [-2.33008122e-04  9.99999971e-01  5.80820352e-05]
 [-9.34138611e-06 -5.80842134e-05  9.99999998e-01]]

 t_estimated:
[[9.99975464e-01]
 [6.96270030e-03]
 [7.69890216e-04]]

 R_gt:
[[ 0.97159589 -0.17699783  0.15707919]
 [ 0.17116325  0.98397206  0.05002985]
 [-0.16341642 -0.02172277  0.98631709]]

 t_gt:
[ 0.53659699 -0.63539831  0.5552771 ]

Pose Error in degrees for R and t:
13.854842433240055 57.81956840274444

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 4.21207236e-01  9.06961414e-01  2.33638020e-03]
 [ 9.06963142e-01 -4.21209573e-01  5.95627223e-04]
 [ 1.52431662e-03  1.86812823e-03 -9.99997093e-01]]

 t_estimated:
[[-0.84314511]
 [-0.53768519]
 [-0.00098509]]

 R_gt:
[[ 0.93058677 -0.30405545  0.20385848]
 [ 0.29328656  0.95251351  0.08186304]
 [-0.21906874 -0.01639111  0.97557147]]

 t_gt:
[ 0.64871304 -0.62946713  0.4277178 ]

Pose Error in degrees for R and t:
175.7161772000137 77.94061380140525

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-0.94924355  0.31453973 -0.00119941]
 [-0.31453658 -0.94924266 -0.00225955]
 [-0.00184924 -0.0017676   0.99999673]]

 t_estimated:
[[0.80245437]
 [0.59671218]
 [0.00125292]]

 R_gt:
[[ 0.86620344 -0.45549783  0.20545798]
 [ 0.44083589  0.89019175  0.11498927]
 [-0.2352745  -0.00902972  0.97188662]]

 t_gt:
[ 0.7596902  -0.57247078  0.3084607 ]

Pose Error in degrees for R and t:
171.36867773561713 74.4307472759455

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999868e-01 -5.08554320e-04 -7.49532175e-05]
 [ 5.08557157e-04  9.99999870e-01  3.78331049e-05]
 [ 7.49339676e-05 -3.78712178e-05  9.99999996e-01]]

 t_estimated:
[[-9.96349560e-01]
 [ 8.53671683e-02]
 [-8.52154968e-06]]

 R_gt:
[[ 0.9962359   0.08659946  0.00374683]
 [-0.0865622   0.99620227 -0.00938699]
 [-0.00454484  0.00902743  0.99994922]]

 t_gt:
[-0.80782981  0.58763154 -0.04582763]

Pose Error in degrees for R and t:
5.030035421160302 31.235215055889444

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 4.29636429e-01  9.03000804e-01  1.44467955e-03]
 [-9.03000007e-01  4.29638278e-01 -1.39218524e-03]
 [-1.87783402e-03 -7.06412149e-04  9.99997987e-01]]

 t_estimated:
[[-0.26801026]
 [ 0.96341432]
 [ 0.00183083]]

 R_gt:
[[ 0.97279349  0.2309428   0.01836888]
 [-0.23088089  0.97296658 -0.00542778]
 [-0.01912567  0.00103937  0.99981627]]

 t_gt:
[-0.75816583  0.65027246  0.0482732 ]

Pose Error in degrees for R and t:
51.21197918070603 33.92525096417281

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.81493395e-01 -1.91495434e-01 -4.63538231e-04]
 [ 1.91495456e-01  9.81493500e-01  4.59838773e-06]
 [ 4.54079191e-04 -9.32787523e-05  9.99999893e-01]]

 t_estimated:
[[-0.37038198]
 [-0.92887902]
 [-0.00097469]]

 R_gt:
[[ 0.91954705  0.39284141  0.01035429]
 [-0.39226778  0.91915017 -0.03587675]
 [-0.02361056  0.02892844  0.99930236]]

 t_gt:
[-0.668282    0.74357247 -0.02234164]

Pose Error in degrees for R and t:
34.228166870837725 63.69512411913661

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.91986247 -0.39062616 -0.03555625]
 [-0.39062019  0.92052218 -0.00740206]
 [ 0.03562175  0.00708011 -0.99934026]]

 t_estimated:
[[ 0.97720513]
 [ 0.21158522]
 [-0.01737341]]

 R_gt:
[[ 0.99692702  0.07814397 -0.00555305]
 [-0.07833067  0.99547752 -0.05374144]
 [ 0.00132752  0.05401131  0.9985401 ]]

 t_gt:
[-0.52515262  0.72816671 -0.44044065]

Pose Error in degrees for R and t:
177.1123816007795 69.42332438990981

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99976014e-01 -6.92561757e-03 -8.49549634e-05]
 [ 6.92561270e-03  9.99976016e-01 -5.74838924e-05]
 [ 8.53510373e-05  5.68941484e-05  9.99999995e-01]]

 t_estimated:
[[-0.89977724]
 [-0.43634835]
 [-0.00101736]]

 R_gt:
[[ 0.98885116  0.14782504 -0.01797735]
 [-0.14854007  0.98770668 -0.04870118]
 [ 0.01055669  0.05082831  0.99865214]]

 t_gt:
[-0.55817608  0.77465384 -0.29723879]

Pose Error in degrees for R and t:
9.40458628530089 80.53078755579782

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.94674585  0.29447045  0.13022849]
 [-0.25184464  0.92924806 -0.27031893]
 [-0.2006155   0.22312598  0.95392254]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.96150822  0.27196755 -0.0391761 ]
 [-0.2739089   0.95999654 -0.05813653]
 [ 0.02179732  0.06662943  0.99753962]]

 t_gt:
[-0.53578244  0.81268894 -0.22907175]

Pose Error in degrees for R and t:
15.832088836286307 84.45190749665518

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.87288877e-01 -1.58936021e-01 -1.24646173e-04]
 [ 1.58936027e-01  9.87288882e-01  4.43620179e-05]
 [ 1.16011058e-04 -6.36088943e-05  9.99999991e-01]]

 t_estimated:
[[-0.65990306]
 [-0.7513503 ]
 [-0.00082385]]

 R_gt:
[[ 0.99026183  0.13874616 -0.01140458]
 [-0.1383288   0.98988064  0.03163426]
 [ 0.01567902 -0.02974937  0.99943438]]

 t_gt:
[-0.7107932   0.69928261  0.07600562]

Pose Error in degrees for R and t:
17.217465513664624 86.76598704253493

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 8.48415421e-01 -5.29330836e-01 -3.72715081e-04]
 [ 5.29330939e-01  8.48415395e-01  2.72559093e-04]
 [ 1.71943279e-04 -4.28532962e-04  9.99999893e-01]]

 t_estimated:
[[-0.61423855]
 [-0.78911993]
 [-0.00086148]]

 R_gt:
[[ 0.9529278   0.30174151 -0.02967244]
 [-0.30167727  0.95338629  0.00672398]
 [ 0.03031854  0.00254414  0.99953684]]

 t_gt:
[-0.60951887  0.78844828 -0.08268048]

Pose Error in degrees for R and t:
49.552885414308555 75.65742223404614

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 0.83547404  0.2801759  -0.47274158]
 [ 0.18414239  0.66779347  0.72120972]
 [ 0.51775932 -0.68960377  0.50633184]]

 t_estimated:
[[0.68114679]
 [0.73214636]
 [0.0008644 ]]

 R_gt:
[[ 0.89177466  0.45204389  0.01986622]
 [-0.45195863  0.8919942  -0.00885957]
 [-0.02172539 -0.00107826  0.99976365]]

 t_gt:
[-0.58392007  0.81001445  0.05398102]

Pose Error in degrees for R and t:
64.40304749096963 78.73421560365296

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.99675719e-01  2.54646347e-02 -9.97292359e-05]
 [-2.54646254e-02  9.99675719e-01  9.39391028e-05]
 [ 1.02089021e-04 -9.13690724e-05  9.99999991e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99553989 -0.09366501 -0.01134117]
 [ 0.09383492  0.99546769  0.01545038]
 [ 0.00984388 -0.01644475  0.99981604]]

 t_gt:
[ 0.50064512 -0.86537873  0.0217741 ]

Pose Error in degrees for R and t:
6.9252901438290735 83.3328990593065

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-7.06500125e-01 -7.07710779e-01 -1.73999357e-03]
 [ 7.07712632e-01 -7.06499914e-01 -8.37843375e-04]
 [-6.36354517e-04 -1.82335187e-03  9.99998135e-01]]

 t_estimated:
[[9.50615966e-01]
 [3.10368223e-01]
 [9.22603077e-04]]

 R_gt:
[[ 0.96688179 -0.25502452  0.01007807]
 [ 0.2546115   0.96654418  0.03107012]
 [-0.01766378 -0.02747481  0.99946647]]

 t_gt:
[ 0.59281366 -0.79252065  0.14311879]

Pose Error in degrees for R and t:
120.192305116018 71.47629689713631

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99727869e-01  2.33278053e-02  3.08595494e-05]
 [-2.33278022e-02  9.99727865e-01 -9.83113088e-05]
 [-3.31445385e-05  9.75646698e-05  9.99999995e-01]]

 t_estimated:
[[-0.9990475 ]
 [-0.04361462]
 [-0.00136296]]

 R_gt:
[[ 0.94245087 -0.33404939 -0.01408217]
 [ 0.33433875  0.94130987  0.0464089 ]
 [-0.00224633 -0.04844598  0.99882293]]

 t_gt:
[ 0.62359389 -0.7753244   0.10001368]

Pose Error in degrees for R and t:
21.055209169851103 53.89117841067701

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 0.64018404  0.76817669 -0.00830456]
 [ 0.76814696 -0.63993378  0.02085659]
 [ 0.01070718 -0.01973118 -0.99974799]]

 t_estimated:
[[ 0.21073312]
 [-0.97749065]
 [-0.01017756]]

 R_gt:
[[ 0.9823087   0.18697193 -0.01060044]
 [-0.18712658  0.98220163 -0.01625356]
 [ 0.00737143  0.01794969  0.99981083]]

 t_gt:
[-0.66542923  0.73994676 -0.0984009 ]

Pose Error in degrees for R and t:
179.38282107183394 30.399562393708234

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 4.95015795e-01 -8.68883365e-01 -1.02961502e-03]
 [ 8.68883841e-01  4.95016030e-01  3.12785363e-05]
 [ 4.82498541e-04 -9.10099226e-04  9.99999469e-01]]

 t_estimated:
[[ 8.56685571e-01]
 [-5.15838954e-01]
 [ 8.05116543e-05]]

 R_gt:
[[ 0.95038621  0.30801253  0.04352855]
 [-0.30617742  0.95095422 -0.04408115]
 [-0.05497254  0.02856719  0.99807884]]

 t_gt:
[-0.6678776   0.7385751   0.09190397]

Pose Error in degrees for R and t:
78.30177908993471 17.609691840496144

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.996962   -0.07786908  0.00178456]
 [ 0.07787782  0.99694769 -0.00550829]
 [-0.00135018  0.00563053  0.99998324]]

 t_estimated:
[[0.25877309]
 [0.96593749]
 [0.0011154 ]]

 R_gt:
[[ 0.9393376   0.33600251  0.06889506]
 [-0.3334432   0.94164146 -0.04612708]
 [-0.08037411  0.02035635  0.99655631]]

 t_gt:
[-0.6783778   0.71869284  0.15259149]

Pose Error in degrees for R and t:
24.476753123661755 58.745752061526105

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.97750345  0.21081394  0.00666921]
 [-0.21072666  0.97747331 -0.01184053]
 [-0.00901512  0.01016878  0.99990766]]

 t_estimated:
[[-0.32141649]
 [-0.94680012]
 [-0.01615485]]

 R_gt:
[[ 0.99364217 -0.09688924 -0.05734256]
 [ 0.09858562  0.99474817  0.02753384]
 [ 0.05437402 -0.03301317  0.9979744 ]]

 t_gt:
[ 0.48312445 -0.85172131 -0.20288317]

Pose Error in degrees for R and t:
18.30682584105051 49.125586189901966

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[-5.91199269e-01  8.06519541e-01  3.10701274e-03]
 [ 8.06525271e-01  5.91197759e-01  1.48223561e-03]
 [-6.41406989e-04  3.38218090e-03 -9.99994075e-01]]

 t_estimated:
[[0.92048603]
 [0.39077199]
 [0.00164761]]

 R_gt:
[[ 0.9779892  -0.18368268 -0.09898444]
 [ 0.18426718  0.98287169 -0.00329159]
 [ 0.09789474 -0.01502077  0.99508285]]

 t_gt:
[ 0.55546104 -0.75702021 -0.34406895]

Pose Error in degrees for R and t:
174.92045390925688 77.5900491765228

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.59111067e-01  2.83027622e-01  1.15137840e-03]
 [-2.83026640e-01  9.59111583e-01 -9.44623695e-04]
 [-1.37165496e-03  5.80128281e-04  9.99998891e-01]]

 t_estimated:
[[0.57989104]
 [0.81469355]
 [0.0008894 ]]

 R_gt:
[[ 0.93927634 -0.33453605 -0.07645865]
 [ 0.33791235  0.94048099  0.03621457]
 [ 0.05979433 -0.05985316  0.99641422]]

 t_gt:
[ 0.65941239 -0.75152775 -0.01952795]

Pose Error in degrees for R and t:
36.450083203298036 76.70911956711564

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99950168e-01  9.98304234e-03 -2.21788490e-05]
 [-9.98304357e-03  9.99950167e-01 -5.64222005e-05]
 [ 2.16144785e-05  5.66408013e-05  9.99999998e-01]]

 t_estimated:
[[-0.87163955]
 [-0.49014214]
 [-0.00227583]]

 R_gt:
[[ 0.99957609 -0.02826078 -0.00706585]
 [ 0.02815603  0.99949833 -0.01451814]
 [ 0.00747213  0.01431283  0.99986966]]

 t_gt:
[ 0.44546171 -0.63231015 -0.63383573]

Pose Error in degrees for R and t:
2.374184220131277 85.58858334035355

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.54436803e-01 -2.98413117e-01  3.25299850e-06]
 [ 2.98412550e-01  9.54434969e-01 -1.95933641e-03]
 [ 5.81586909e-04  1.87103351e-03  9.99998080e-01]]

 t_estimated:
[[ 0.09074074]
 [-0.99586654]
 [-0.00399394]]

 R_gt:
[[ 0.98638194 -0.16445358  0.00223424]
 [ 0.16441466  0.98631579  0.01220418]
 [-0.00421107 -0.01167078  0.99992333]]

 t_gt:
[ 0.55097374 -0.83111742  0.07531122]

Pose Error in degrees for R and t:
7.940271207797909 28.672446350005927

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99891592e-01  1.47212085e-02  3.00357477e-04]
 [-1.47211546e-02  9.99891622e-01 -1.80666244e-04]
 [-3.02984550e-04  1.76225049e-04  9.99999939e-01]]

 t_estimated:
[[0.74331818]
 [0.6689364 ]
 [0.00147683]]

 R_gt:
[[ 0.96385804 -0.26639351  0.00342943]
 [ 0.26633414  0.96380222  0.01233683]
 [-0.00659221 -0.0109781   0.99991754]]

 t_gt:
[ 0.60516236 -0.79414756  0.05575098]

Pose Error in degrees for R and t:
16.308704884859743 85.3353448293593

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.96457743e-01 -8.40949881e-02  3.83690295e-07]
 [ 8.40949869e-02  9.96457728e-01 -1.70421593e-04]
 [ 1.39492707e-05  1.69850183e-04  9.99999985e-01]]

 t_estimated:
[[-0.50480591]
 [-0.86323179]
 [-0.00136804]]

 R_gt:
[[ 0.9978937   0.05764951  0.02972903]
 [-0.05806158  0.99822559  0.01320508]
 [-0.02891534 -0.01490277  0.99947166]]

 t_gt:
[-0.29650429  0.78033294  0.55060486]

Pose Error in degrees for R and t:
8.352884894691988 58.35300523708611

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.98441596e-01  5.57998315e-02  8.70578834e-04]
 [-5.57994565e-02  9.98441896e-01 -4.49243488e-04]
 [-8.94290092e-04  3.99965559e-04  9.99999520e-01]]

 t_estimated:
[[-9.43096593e-01]
 [-3.32517871e-01]
 [-8.25106381e-04]]

 R_gt:
[[ 0.99724096  0.07066861  0.02273268]
 [-0.07046552  0.99746795 -0.00958452]
 [-0.02335262  0.00795754  0.99969555]]

 t_gt:
[0.10317629 0.96924447 0.22342742]

Pose Error in degrees for R and t:
1.6011478424624577 65.1792591013082

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 8.14347954e-01  5.80374732e-01 -1.60634880e-03]
 [ 5.80376272e-01 -8.14339633e-01  3.78743941e-03]
 [ 8.90020634e-04 -4.01658026e-03 -9.99991537e-01]]

 t_estimated:
[[0.16393191]
 [0.98646746]
 [0.002876  ]]

 R_gt:
[[ 0.99738201  0.06367094  0.03426883]
 [-0.06398903  0.9979162   0.00828693]
 [-0.03367011 -0.01045702  0.99937893]]

 t_gt:
[0.6015621  0.61432633 0.51061356]

Pose Error in degrees for R and t:
179.85421033936447 45.08178858084448

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 6.90008086e-01  7.23801558e-01  3.82260237e-04]
 [-7.23801446e-01  6.90008192e-01 -4.02572951e-04]
 [-5.55145625e-04  1.09807915e-06  9.99999846e-01]]

 t_estimated:
[[-9.99991799e-01]
 [-3.97137414e-03]
 [-7.94274662e-04]]

 R_gt:
[[ 0.9896996  -0.14185959 -0.01924874]
 [ 0.14215897  0.98972802  0.01516725]
 [ 0.01689837 -0.01774733  0.99969901]]

 t_gt:
[ 0.74823325 -0.66318996  0.01805781]

Pose Error in degrees for R and t:
54.55212667221121 41.78867946064192

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-7.60769422e-01 -6.49019957e-01 -1.72684301e-03]
 [ 6.49021838e-01 -7.60763228e-01 -3.15682444e-03]
 [ 7.35123399e-04 -3.52237433e-03  9.99993526e-01]]

 t_estimated:
[[0.88020479]
 [0.47459318]
 [0.00091975]]

 R_gt:
[[ 0.97981784 -0.19873316 -0.02148471]
 [ 0.19767067  0.97929706 -0.04362749]
 [ 0.02970921  0.03850029  0.99881647]]

 t_gt:
[ 0.77071254 -0.61693403 -0.15935678]

Pose Error in degrees for R and t:
128.10769887624593 67.32859242622716

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.54380035e-01 -2.98594008e-01 -6.05941296e-04]
 [ 2.98594387e-01  9.54379867e-01  6.79814694e-04]
 [ 3.75309579e-04 -8.29732241e-04  9.99999585e-01]]

 t_estimated:
[[0.78872694]
 [0.61474305]
 [0.00089223]]

 R_gt:
[[ 0.9676247  -0.24786955 -0.04756245]
 [ 0.23810523  0.95900115 -0.15369625]
 [ 0.08370875  0.13739602  0.98697279]]

 t_gt:
[ 0.76452488 -0.48228274 -0.42767401]

Pose Error in degrees for R and t:
9.826782135068843 72.17324841784281

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999593e-01 -8.97709648e-04 -9.42943829e-05]
 [ 8.97704113e-04  9.99999595e-01 -5.87277355e-05]
 [ 9.43470652e-05  5.86430631e-05  9.99999994e-01]]

 t_estimated:
[[-9.86254514e-01]
 [-1.65231485e-01]
 [-7.68233140e-04]]

 R_gt:
[[ 9.72317535e-01  2.31113161e-01  3.44078823e-02]
 [-2.30956471e-01  9.72926881e-01 -8.50517820e-03]
 [-3.54420604e-02  3.22696004e-04  9.99371740e-01]]

 t_gt:
[-0.74185766  0.66534944  0.08341067]

Pose Error in degrees for R and t:
13.56676264000477 51.56256299192944

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-6.94199073e-01 -7.19780959e-01 -1.73726534e-03]
 [-7.19783005e-01  6.94197907e-01  1.30080932e-03]
 [ 2.69708180e-04  2.15347469e-03 -9.99997645e-01]]

 t_estimated:
[[9.40569422e-01]
 [3.39601475e-01]
 [1.80317499e-05]]

 R_gt:
[[ 0.94295967  0.32814615  0.05609645]
 [-0.32765288  0.94462596 -0.01804117]
 [-0.05891112 -0.00136915  0.99826245]]

 t_gt:
[-0.71464105  0.69203432  0.10186591]

Pose Error in degrees for R and t:
177.19199140684518 64.07770377024796

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-2.18011684e-01 -9.75909090e-01  8.50610298e-03]
 [-9.75945687e-01  2.17994720e-01 -2.88424752e-03]
 [ 9.60477836e-04 -8.93029417e-03 -9.99959663e-01]]

 t_estimated:
[[0.35338131]
 [0.93547885]
 [0.00098161]]

 R_gt:
[[ 0.90897717  0.41404465  0.04825427]
 [-0.41307011  0.91023365 -0.0291191 ]
 [-0.05597935  0.0065358   0.99841108]]

 t_gt:
[-0.68266869  0.72770689  0.06637875]

Pose Error in degrees for R and t:
177.90718413608082 63.923091028888855

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[-0.82184341 -0.56581782 -0.06651022]
 [-0.56579244  0.82427931 -0.02103637]
 [ 0.06672575  0.02034238 -0.99756396]]

 t_estimated:
[[ 0.95508641]
 [ 0.29434068]
 [-0.0342565 ]]

 R_gt:
[[ 0.99886742  0.04515424 -0.01495637]
 [-0.04537983  0.99885522 -0.01511706]
 [ 0.01425659  0.01577956  0.99977379]]

 t_gt:
[-0.50662756  0.703646   -0.49820761]

Pose Error in degrees for R and t:
174.93932536825065 74.94805791523618

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 4.62355788e-02  9.98924683e-01  3.42771078e-03]
 [ 9.98930447e-01 -4.62336388e-02 -6.43091780e-04]
 [-4.83924710e-04  3.45377838e-03 -9.99993919e-01]]

 t_estimated:
[[-8.59823318e-01]
 [-5.10591116e-01]
 [-7.57553584e-04]]

 R_gt:
[[ 0.98606675  0.16400918 -0.02778904]
 [-0.16454882  0.98619748 -0.01836911]
 [ 0.02439284  0.02268752  0.99944518]]

 t_gt:
[-0.58129536  0.78407849 -0.21752387]

Pose Error in degrees for R and t:
180.0 84.281986893423

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99249674e-01 -3.87309244e-02 -6.97802328e-05]
 [ 3.87309123e-02  9.99249663e-01 -1.66401482e-04]
 [ 7.61727573e-05  1.63573974e-04  9.99999984e-01]]

 t_estimated:
[[-9.44534950e-01]
 [-3.28409577e-01]
 [-9.37297288e-04]]

 R_gt:
[[ 0.96446816  0.25924004 -0.05094114]
 [-0.25978261  0.96565837 -0.00420847]
 [ 0.04809997  0.01729342  0.99869271]]

 t_gt:
[-0.56394583  0.80022989 -0.20395397]

Pose Error in degrees for R and t:
17.514702022565956 74.33248668213157

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.89576803 -0.44447966  0.00612122]
 [-0.4444708  -0.89537172  0.02748082]
 [-0.0067339  -0.02733714 -0.99960359]]

 t_estimated:
[[0.21572423]
 [0.97634704]
 [0.01447496]]

 R_gt:
[[ 0.99700851 -0.03350114  0.06965455]
 [ 0.03756387  0.99761758 -0.05785705]
 [-0.06755104  0.06030164  0.99589199]]

 t_gt:
[ 0.81927862 -0.55809719  0.13156775]

Pose Error in degrees for R and t:
179.2103841667534 68.51523287625734

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.97077895 -0.23990188  0.00594314]
 [ 0.23996998 -0.97029134  0.03080781]
 [-0.00162427  0.03133375  0.99950766]]

 t_estimated:
[[8.13305771e-01]
 [5.81836166e-01]
 [6.32430615e-04]]

 R_gt:
[[ 0.99348627 -0.01887882  0.11238001]
 [ 0.03493665  0.98915162 -0.14268131]
 [-0.10846724  0.14567883  0.98336845]]

 t_gt:
[ 0.0741183   0.29231285 -0.95344621]

Pose Error in degrees for R and t:
164.516062407628 76.71729078420074

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-5.93662947e-01  8.04713733e-01  3.35870878e-04]
 [-8.04706645e-01 -5.93655854e-01 -4.46568770e-03]
 [-3.39420851e-03 -2.92139085e-03  9.99989972e-01]]

 t_estimated:
[[0.36849561]
 [0.92962717]
 [0.00207515]]

 R_gt:
[[ 0.98664394  0.02885477  0.16031412]
 [ 0.0043358   0.97918544 -0.20292192]
 [-0.16283256  0.20090724  0.96598305]]

 t_gt:
[-0.61736636  0.65755496 -0.43183359]

Pose Error in degrees for R and t:
126.17131491611221 67.48730956658693

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.51283303 -0.85805371 -0.0273151 ]
 [-0.85816694  0.51325206 -0.011037  ]
 [ 0.02348987  0.01778078 -0.99956594]]

 t_estimated:
[[ 0.88113848]
 [ 0.47264121]
 [-0.01432697]]

 R_gt:
[[ 0.99671451  0.07917445  0.01701913]
 [-0.07780757  0.9945166  -0.06986959]
 [-0.02245755  0.06831591  0.99741097]]

 t_gt:
[-0.75549532  0.32780716 -0.56724711]

Pose Error in degrees for R and t:
177.3486662701177 59.825589442226104

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.60477250e-01 -2.78358228e-01  3.85833258e-04]
 [ 2.78358197e-01  9.60477328e-01  1.31419212e-04]
 [-4.07165716e-04 -1.88253130e-05  9.99999917e-01]]

 t_estimated:
[[0.91499006]
 [0.40347524]
 [0.0009561 ]]

 R_gt:
[[ 0.99945991 -0.0289337   0.01555322]
 [ 0.02997165  0.99700971 -0.07122273]
 [-0.01344645  0.07164993  0.99733925]]

 t_gt:
[ 0.34825009  0.09054233 -0.93301873]

Pose Error in degrees for R and t:
15.060890978383188 69.25037606332369

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-2.53698001e-01  9.67283298e-01  5.88896574e-04]
 [-9.67273899e-01 -2.53692732e-01 -4.60454260e-03]
 [-4.30449837e-03 -1.73778754e-03  9.99989226e-01]]

 t_estimated:
[[0.24078994]
 [0.97057207]
 [0.00317157]]

 R_gt:
[[ 0.98149556 -0.19011649  0.02282756]
 [ 0.19146602  0.97594949 -0.10422723]
 [-0.00246338  0.10666921  0.99429153]]

 t_gt:
[ 0.87104823 -0.05666863 -0.48791766]

Pose Error in degrees for R and t:
115.82003932479873 81.18809360704066

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.70939571e-01  2.39324777e-01  9.34079027e-06]
 [-2.39324757e-01  9.70939504e-01 -3.74299485e-04]
 [-9.86484830e-05  3.61186699e-04  9.99999930e-01]]

 t_estimated:
[[7.65704679e-01]
 [6.43191931e-01]
 [6.96095163e-04]]

 R_gt:
[[ 0.98373781 -0.17841679 -0.02068249]
 [ 0.17708934  0.98270128 -0.05420026]
 [ 0.02999404  0.04965609  0.99831608]]

 t_gt:
[ 0.61244411 -0.65444357 -0.44341383]

Pose Error in degrees for R and t:
24.316940296255382 87.26538961530717

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.22811402e-01  3.85251858e-01 -3.49086335e-04]
 [-3.85252004e-01  9.22811219e-01 -5.88946746e-04]
 [ 9.52479582e-05  6.77972983e-04  9.99999766e-01]]

 t_estimated:
[[-0.49615203]
 [ 0.86823276]
 [-0.00224272]]

 R_gt:
[[ 0.94716282 -0.32074857  0.00149851]
 [ 0.32060652  0.94658266 -0.03454571]
 [ 0.00966155  0.03320037  0.9994016 ]]

 t_gt:
[ 0.61556932 -0.77839655 -0.12317965]

Pose Error in degrees for R and t:
41.41260721809389 11.195887031743164

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 7.99022055e-01  6.01301718e-01  4.45930602e-06]
 [-6.01301689e-01  7.99022018e-01 -3.07083047e-04]
 [-1.88212648e-04  2.42684739e-04  9.99999953e-01]]

 t_estimated:
[[-9.98913067e-01]
 [-4.66055863e-02]
 [-7.76759772e-04]]

 R_gt:
[[ 0.90990833 -0.41379742  0.02896597]
 [ 0.41454494  0.90960123 -0.02789402]
 [-0.01480537  0.0373882   0.99919093]]

 t_gt:
[ 0.5736905  -0.81860626 -0.02762245]

Pose Error in degrees for R and t:
61.479184553417944 57.663286544878616

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 1.24465092e-01  9.92223441e-01  1.04103894e-03]
 [-9.92222784e-01  1.24466507e-01 -1.42658277e-03]
 [-1.54506335e-03 -8.55382801e-04  9.99998441e-01]]

 t_estimated:
[[0.01413739]
 [0.99989924]
 [0.00128522]]

 R_gt:
[[ 0.99858833 -0.05280694 -0.00585412]
 [ 0.05232593  0.99658591 -0.06386986]
 [ 0.00920736  0.0634744   0.99794134]]

 t_gt:
[ 0.69852437 -0.52757075 -0.4834592 ]

Pose Error in degrees for R and t:
85.9293789870257 58.78414881981812

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.86366276 -0.50403422  0.00601185]
 [ 0.50403665  0.86368141  0.00121409]
 [-0.00580427  0.00198162  0.99998119]]

 t_estimated:
[[ 0.99955695]
 [-0.02901656]
 [ 0.00662837]]

 R_gt:
[[ 0.99388786 -0.10609371 -0.03052411]
 [ 0.0989598   0.97874147 -0.1796473 ]
 [ 0.048934    0.17552879  0.98325743]]

 t_gt:
[ 0.58692685 -0.26871563 -0.76374654]

Pose Error in degrees for R and t:
26.49413268773066 53.885442971967116

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.16195478  0.90078853  0.40292763]
 [ 0.96857577 -0.06700205 -0.2395239 ]
 [-0.18876341  0.42905798 -0.88333325]]

 t_estimated:
[[-0.75743467]
 [-0.62967735]
 [-0.17262429]]

 R_gt:
[[ 0.99181032 -0.09675362 -0.08338522]
 [ 0.07518446  0.96998861 -0.23123525]
 [ 0.1032559   0.22307327  0.96931772]]

 t_gt:
[ 0.47501449 -0.04182443 -0.87898348]

Pose Error in degrees for R and t:
146.97772290051785 79.52988498293243

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.80958793 -0.58696578 -0.00620905]
 [ 0.58686039 -0.80958155  0.01313755]
 [-0.01273803  0.00699216  0.99989442]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.99267524 -0.07263944  0.09653825]
 [ 0.08368031  0.98975121 -0.11571655]
 [-0.08714389  0.12294785  0.98857937]]

 t_gt:
[ 0.38148916  0.32599867 -0.86498028]

Pose Error in degrees for R and t:
139.6794067555923 61.1420507695118

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99788821e-01 -2.05481742e-02  2.93441239e-04]
 [ 2.05481883e-02  9.99788863e-01 -4.52136722e-05]
 [-2.92450225e-04  5.12338098e-05  9.99999956e-01]]

 t_estimated:
[[ 6.02888076e-01]
 [-7.97825523e-01]
 [ 6.35147587e-04]]

 R_gt:
[[ 0.98465579 -0.07228982  0.15883297]
 [ 0.10293197  0.97556891 -0.1940887 ]
 [-0.14092207  0.20745973  0.96803953]]

 t_gt:
[ 0.14974709  0.40926779 -0.90004204]

Pose Error in degrees for R and t:
15.032470803644339 76.30135221880522

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.94466185e-01 -1.05056982e-01  1.94603918e-04]
 [ 1.05057155e-01  9.94463731e-01 -2.20935170e-03]
 [ 3.85812822e-05  2.21757009e-03  9.99997540e-01]]

 t_estimated:
[[-0.07281743]
 [-0.99733956]
 [-0.00338113]]

 R_gt:
[[ 0.96371021 -0.12263744  0.23711151]
 [ 0.17898355  0.95584531 -0.2330772 ]
 [-0.19805876  0.26705806  0.9431086 ]]

 t_gt:
[ 0.38505814  0.12734688 -0.914064  ]

Pose Error in degrees for R and t:
19.535404445000736 81.25967675851845

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 0.18877392  0.98201761 -0.00241372]
 [-0.9820179   0.1887671  -0.00279727]
 [-0.00229133  0.00289837  0.99999317]]

 t_estimated:
[[0.57039555]
 [0.82136959]
 [0.00095066]]

 R_gt:
[[ 0.99485587 -0.09433265 -0.03693622]
 [ 0.09377978  0.995458   -0.01642986]
 [ 0.03831822  0.01288223  0.99918279]]

 t_gt:
[ 0.5428298  -0.75788382 -0.36186726]

Pose Error in degrees for R and t:
84.54167472814854 71.7466679373429

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99556539e-01 -2.97774507e-02  1.67806153e-04]
 [ 2.97773225e-02  9.99556297e-01  7.20862248e-04]
 [-1.89197137e-04 -7.15545756e-04  9.99999726e-01]]

 t_estimated:
[[9.99500835e-01]
 [3.15855607e-02]
 [6.58681060e-04]]

 R_gt:
[[ 9.63991676e-01 -2.65826931e-01 -7.60733294e-03]
 [ 2.65934032e-01  9.63500098e-01  3.07645424e-02]
 [-8.46543273e-04 -3.16789557e-02  9.99497583e-01]]

 t_gt:
[ 0.66068845 -0.74584725  0.08486845]

Pose Error in degrees for R and t:
13.830747614204833 50.44218199324377

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 8.87319173e-01  4.61153064e-01  1.59291711e-03]
 [-4.61152094e-01  8.87320596e-01 -9.52476818e-04]
 [-1.85266576e-03  1.10573883e-04  9.99998278e-01]]

 t_estimated:
[[0.66444894]
 [0.74733239]
 [0.00138139]]

 R_gt:
[[ 0.87539508 -0.48327701 -0.01125425]
 [ 0.48318581  0.87404845  0.05070732]
 [-0.01466855 -0.04982648  0.99864974]]

 t_gt:
[ 0.78581624 -0.60999817  0.10195623]

Pose Error in degrees for R and t:
56.45330968191978 86.19251664959732

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-0.25908267 -0.96583241  0.00662737]
 [-0.9658417   0.25903675 -0.00705519]
 [ 0.0050974  -0.00822887 -0.99995315]]

 t_estimated:
[[0.74237957]
 [0.66997866]
 [0.00108061]]

 R_gt:
[[ 9.84088026e-01 -1.77678899e-01  3.11198138e-04]
 [ 1.77650332e-01  9.83959162e-01  1.62973600e-02]
 [-3.20196037e-03 -1.59824509e-02  9.99866629e-01]]

 t_gt:
[ 0.57765347 -0.81422234  0.05795219]

Pose Error in degrees for R and t:
179.34706983310068 83.30345601540387

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 7.41715328e-01 -6.70701060e-01 -4.29654058e-03]
 [-6.70706266e-01 -7.41723004e-01  2.99801523e-04]
 [-3.38792019e-03  2.65934931e-03 -9.99990725e-01]]

 t_estimated:
[[0.52164188]
 [0.85316372]
 [0.00118825]]

 R_gt:
[[ 9.39655874e-01 -3.40795137e-01  3.00987015e-02]
 [ 3.40622306e-01  9.40138153e-01  1.08193562e-02]
 [-3.19843110e-02  8.54414000e-05  9.99488003e-01]]

 t_gt:
[ 0.6329463  -0.76947343  0.08537924]

Pose Error in degrees for R and t:
179.08865851397755 70.96085517720229

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-7.74482579e-01  6.32595213e-01 -1.76581962e-04]
 [ 6.32584356e-01  7.74470863e-01  5.64926092e-03]
 [ 3.71045300e-03  4.26355118e-03 -9.99984027e-01]]

 t_estimated:
[[9.94645781e-01]
 [1.03339821e-01]
 [8.07342355e-04]]

 R_gt:
[[ 0.84943937 -0.52734481  0.01896408]
 [ 0.52697424  0.84961224  0.02140962]
 [-0.02740321 -0.00819214  0.99959054]]

 t_gt:
[ 0.72537403 -0.68623211  0.05401855]

Pose Error in degrees for R and t:
179.02392442279472 49.411732178253274

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.86147095e-01  1.65871306e-01  7.84950193e-04]
 [-1.65870443e-01  9.86146983e-01 -1.05990834e-03]
 [-9.49884645e-04  9.15025492e-04  9.99999130e-01]]

 t_estimated:
[[-0.07381315]
 [-0.99726346]
 [-0.0041481 ]]

 R_gt:
[[ 0.98986798 -0.13447435 -0.04559987]
 [ 0.13401142  0.99089426 -0.01307801]
 [ 0.04694349  0.00683515  0.99887448]]

 t_gt:
[ 0.59588122 -0.74377438 -0.30286175]

Pose Error in degrees for R and t:
17.483961263049 45.652254298147966

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.54841665  0.83609469  0.01359607]
 [ 0.83604834  0.54855622 -0.01045195]
 [-0.01619703  0.00563495 -0.99985294]]

 t_estimated:
[[ 0.84590278]
 [-0.53322558]
 [ 0.01090706]]

 R_gt:
[[ 0.96712776 -0.24681134 -0.0612342 ]
 [ 0.24846116  0.96841763  0.0208529 ]
 [ 0.05415328 -0.035381    0.99790541]]

 t_gt:
[ 0.64470111 -0.76204184 -0.06043773]

Pose Error in degrees for R and t:
177.23715419536887 18.003902941564846

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99831035e-01 -1.83763654e-02  4.58172943e-04]
 [ 1.83762538e-02  9.99831112e-01  2.46732029e-04]
 [-4.62629601e-04 -2.38270838e-04  9.99999865e-01]]

 t_estimated:
[[9.99767657e-01]
 [2.15524912e-02]
 [3.50048469e-04]]

 R_gt:
[[ 0.89284864 -0.44935922 -0.02997658]
 [ 0.45027421  0.89198925  0.04010999]
 [ 0.00871396 -0.04930872  0.99874569]]

 t_gt:
[ 0.75208891 -0.65635456  0.05967374]

Pose Error in degrees for R and t:
25.85390696076604 42.456590170445416

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99957112e-01  9.26103162e-03 -8.49353445e-05]
 [-9.26104933e-03  9.99957093e-01 -2.10540544e-04]
 [ 8.29818776e-05  2.11318105e-04  9.99999974e-01]]

 t_estimated:
[[-0.19534084]
 [-0.98073426]
 [-0.00150476]]

 R_gt:
[[ 0.99528203 -0.0540126   0.08060875]
 [ 0.06019586  0.99526105 -0.07636396]
 [-0.0761023   0.08085463  0.99381674]]

 t_gt:
[ 0.60246291 -0.4389066  -0.66663291]

Pose Error in degrees for R and t:
7.4234535121515774 71.71352941997475

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.75069774e-01  2.21898460e-01  9.63838574e-05]
 [-2.21898424e-01  9.75069743e-01 -2.93718277e-04]
 [-1.59156616e-04  2.65008388e-04  9.99999952e-01]]

 t_estimated:
[[-0.80612427]
 [-0.59174484]
 [-0.0013073 ]]

 R_gt:
[[ 0.98882986 -0.08445473  0.12282025]
 [ 0.09841753  0.9887707  -0.11245671]
 [-0.11194349  0.12328815  0.98603721]]

 t_gt:
[ 0.67885889 -0.4809802  -0.55480505]

Pose Error in degrees for R and t:
20.458438833274414 74.81706255328145

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.94202384  0.33554426  0.00106076]
 [-0.33554409 -0.94200344 -0.00629878]
 [-0.00111428 -0.00628953  0.9999796 ]]

 t_estimated:
[[0.61514824]
 [0.78840451]
 [0.00331264]]

 R_gt:
[[ 0.98151776 -0.10986115  0.15670079]
 [ 0.1278569   0.98569765 -0.10978533]
 [-0.1423991   0.12779082  0.98152593]]

 t_gt:
[ 0.75882637 -0.568558   -0.31768593]

Pose Error in degrees for R and t:
167.31577185507186 88.99815299758704

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.62697355e-01 -2.70580455e-01  1.41607472e-04]
 [ 2.70580463e-01  9.62697362e-01 -4.34458137e-05]
 [-1.24569551e-04  8.01413853e-05  9.99999989e-01]]

 t_estimated:
[[0.86734576]
 [0.49770512]
 [0.00097019]]

 R_gt:
[[ 0.99674907 -0.07932068  0.01411913]
 [ 0.08003166  0.994978   -0.06012442]
 [-0.0092782   0.06105841  0.99809141]]

 t_gt:
[ 0.73724296 -0.62621409 -0.2536311 ]

Pose Error in degrees for R and t:
11.671081617958246 70.88116403174092

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-8.05080072e-01  5.93151373e-01  4.18647236e-03]
 [-5.93165548e-01 -8.05069235e-01 -4.26144053e-03]
 [ 8.42720797e-04 -5.91407202e-03  9.99982157e-01]]

 t_estimated:
[[0.51654698]
 [0.85625806]
 [0.00116339]]

 R_gt:
[[ 0.99020836 -0.13953149 -0.00423151]
 [ 0.13721915  0.97847625 -0.15413224]
 [ 0.02564659  0.15204185  0.98804137]]

 t_gt:
[ 0.70745261 -0.46178793 -0.53503524]

Pose Error in degrees for R and t:
151.72146674335005 88.24649915268061

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.66565012e-01 -2.56419115e-01 -1.14718377e-03]
 [ 2.56420823e-01  9.66563677e-01  1.73760079e-03]
 [ 6.63272103e-04 -1.97366593e-03  9.99997832e-01]]

 t_estimated:
[[0.88600103]
 [0.46367387]
 [0.00295334]]

 R_gt:
[[ 0.98735281 -0.15389503 -0.03807615]
 [ 0.13978997  0.95841715 -0.24878947]
 [ 0.07477978  0.24031972  0.96780928]]

 t_gt:
[ 0.61639135 -0.23007826 -0.75307749]

Pose Error in degrees for R and t:
15.949095071847067 64.0734873650053

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99999853e-01  5.33685239e-04  9.71888222e-05]
 [-5.33684298e-04  9.99999858e-01 -9.71167548e-06]
 [-9.71939914e-05  9.65980590e-06  9.99999995e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075938e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98165193 -0.1847794  -0.04708479]
 [ 0.18476601  0.98277153 -0.00467688]
 [ 0.04713827 -0.00410784  0.99887944]]

 t_gt:
[ 0.63761487 -0.74963813 -0.17745408]

Pose Error in degrees for R and t:
11.023716139890231 50.568918741268206

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999998e-01  6.54492444e-05 -2.55648374e-05]
 [-6.54479353e-05  9.99999997e-01  5.12030387e-05]
 [ 2.55681885e-05 -5.12013655e-05  9.99999998e-01]]

 t_estimated:
[[0.99991238]
 [0.01318636]
 [0.00116393]]

 R_gt:
[[ 0.95294139 -0.30308634  0.00660147]
 [ 0.30315448  0.95261633 -0.02491434]
 [ 0.00126291  0.02574373  0.99966843]]

 t_gt:
[ 0.57098396 -0.81925432 -0.052912  ]

Pose Error in degrees for R and t:
17.713114445892256 55.93940517908504

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999896e-01 -4.40208012e-04  1.21666371e-04]
 [ 4.40236404e-04  9.99999876e-01 -2.33438045e-04]
 [-1.21563594e-04  2.33491583e-04  9.99999965e-01]]

 t_estimated:
[[9.97155564e-01]
 [7.53664089e-02]
 [8.28202296e-04]]

 R_gt:
[[ 0.92304253 -0.38449407  0.01259914]
 [ 0.38441208  0.92312319  0.00844661]
 [-0.01487786 -0.00295255  0.99988508]]

 t_gt:
[ 0.53851916 -0.84074315  0.05610768]

Pose Error in degrees for R and t:
22.602289613996103 61.727207363729455

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.53183543 -0.84681666  0.00725391]
 [-0.84681627  0.53186999  0.0040641 ]
 [-0.00729968 -0.0039813  -0.99996543]]

 t_estimated:
[[0.86475555]
 [0.50216595]
 [0.00521503]]

 R_gt:
[[ 0.99579377 -0.08289068  0.03904137]
 [ 0.08428976  0.99580179 -0.03567   ]
 [-0.03592085  0.03881029  0.99860106]]

 t_gt:
[ 0.79278544 -0.60924562 -0.01763592]

Pose Error in degrees for R and t:
178.67675742881607 67.69535113969584

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.96347600e-01  8.53900473e-02  3.07772732e-06]
 [-8.53900473e-02  9.96347600e-01  1.33398161e-07]
 [-3.05509535e-06 -3.95718219e-07  1.00000000e+00]]

 t_estimated:
[[8.23274563e-01]
 [5.67643006e-01]
 [6.40680594e-04]]

 R_gt:
[[ 0.99034987 -0.09311668  0.10265388]
 [ 0.10405531  0.9888053  -0.10693289]
 [-0.09154723  0.11658252  0.98895271]]

 t_gt:
[ 0.80948568 -0.53664653 -0.23820881]

Pose Error in degrees for R and t:
13.585223035728077 68.79827109876197

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 0.85831868  0.51302414  0.00976102]
 [ 0.51311507 -0.85821226 -0.01358864]
 [ 0.00140573  0.01667191 -0.99986003]]

 t_estimated:
[[-9.58459084e-01]
 [-2.85229083e-01]
 [-7.44723453e-04]]

 R_gt:
[[ 0.98920795 -0.05025591  0.13763465]
 [ 0.07687295  0.97768445 -0.19550607]
 [-0.124737    0.20397619  0.97099669]]

 t_gt:
[ 0.40333916 -0.05580912 -0.91334707]

Pose Error in degrees for R and t:
165.92757260523533 68.28527645672446

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99349316e-01  3.60685339e-02  7.33911924e-05]
 [-3.60685315e-02  9.99349318e-01 -3.29936597e-05]
 [-7.45334710e-05  3.03250787e-05  9.99999997e-01]]

 t_estimated:
[[-0.44953178]
 [-0.89326316]
 [-0.0014501 ]]

 R_gt:
[[ 0.99929781 -0.03615958 -0.00982044]
 [ 0.03584148  0.99888193 -0.03082926]
 [ 0.01092375  0.03045474  0.99947705]]

 t_gt:
[ 0.79191917 -0.05010909 -0.60856644]

Pose Error in degrees for R and t:
4.5271687431397565 71.91969083741374

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 4.80504276e-01 -8.76992109e-01 -6.93343354e-04]
 [ 8.76992311e-01  4.80503766e-01  7.85776587e-04]
 [-3.55965774e-04 -9.85625801e-04  9.99999451e-01]]

 t_estimated:
[[9.97961515e-01]
 [6.38127603e-02]
 [8.64214371e-04]]

 R_gt:
[[ 0.98462067 -0.1743554  -0.01108383]
 [ 0.17307776  0.98211518 -0.07413095]
 [ 0.02381016  0.07107108  0.99718713]]

 t_gt:
[ 0.9208323  -0.07991486 -0.38168245]

Pose Error in degrees for R and t:
51.43595281250071 24.002775537476584

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.95889418e-01  9.05763743e-02  4.34048454e-04]
 [-9.05764440e-02  9.95889495e-01  1.43445151e-04]
 [-4.19271554e-04 -1.82170073e-04  9.99999896e-01]]

 t_estimated:
[[0.69419928]
 [0.71978202]
 [0.00110155]]

 R_gt:
[[ 0.94607132 -0.32395154 -0.00219181]
 [ 0.32343008  0.94489283 -0.05070436]
 [ 0.01849656  0.04726145  0.99871206]]

 t_gt:
[ 0.98515346 -0.08328022 -0.15012351]

Pose Error in degrees for R and t:
24.26972936741632 51.4070193954772

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 8.34177971e-01  5.51494505e-01  9.61369614e-04]
 [-5.51493663e-01  8.34178465e-01 -1.01377245e-03]
 [-1.36104377e-03  3.15477398e-04  9.99999024e-01]]

 t_estimated:
[[0.09907478]
 [0.99507875]
 [0.00157263]]

 R_gt:
[[ 0.97688943 -0.21239231 -0.02405133]
 [ 0.21254532  0.9771433   0.0039645 ]
 [ 0.02265966 -0.00898362  0.99970232]]

 t_gt:
[ 0.75526969 -0.65356228 -0.04923461]

Pose Error in degrees for R and t:
45.76117482992228 54.85867656088005

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.31788581  0.94809409  0.00813747]
 [ 0.94810537 -0.31780557 -0.00978885]
 [-0.00669462  0.01082691 -0.99991898]]

 t_estimated:
[[-7.85627485e-01]
 [-6.18699403e-01]
 [-7.10332265e-04]]

 R_gt:
[[ 0.91331093 -0.4071537  -0.00940277]
 [ 0.40725387  0.91319938  0.01452546]
 [ 0.00267178 -0.01709487  0.99984935]]

 t_gt:
[ 0.80891136 -0.58740029  0.0249662 ]

Pose Error in degrees for R and t:
179.7550489253862 74.21093937798852

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 4.60020117e-01  8.87900767e-01  3.70412757e-03]
 [ 8.87906414e-01 -4.60024064e-01  2.44606469e-04]
 [ 1.92117409e-03  3.17639473e-03 -9.99993110e-01]]

 t_estimated:
[[0.9920394 ]
 [0.12592111]
 [0.00130166]]

 R_gt:
[[ 0.85432139 -0.51894559  0.02881742]
 [ 0.51880971  0.85479702  0.01260916]
 [-0.03117645  0.00418     0.99950512]]

 t_gt:
[ 0.83338676 -0.54981981  0.05625554]

Pose Error in degrees for R and t:
179.14039513073277 40.747645936123625

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.93974341e-01  1.09611354e-01 -6.00011511e-04]
 [-1.09612182e-01  9.93973166e-01 -1.58606603e-03]
 [ 4.22544495e-04  1.64227751e-03  9.99998562e-01]]

 t_estimated:
[[0.78380726]
 [0.62100361]
 [0.00083919]]

 R_gt:
[[ 0.97422679  0.22252893 -0.036928  ]
 [-0.2230357   0.97475722 -0.01013262]
 [ 0.0337407   0.01810792  0.99926679]]

 t_gt:
[-0.31162943  0.93656616 -0.16040865]

Pose Error in degrees for R and t:
6.921198853806862 70.29247287002616

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 6.20849329e-01  7.83927608e-01  1.90164452e-03]
 [ 7.83928003e-01 -6.20851346e-01  7.02316606e-04]
 [ 1.73120393e-03  1.05471959e-03 -9.99997945e-01]]

 t_estimated:
[[0.72926153]
 [0.68423449]
 [0.00088288]]

 R_gt:
[[ 0.9272811   0.37205771 -0.04151629]
 [-0.37096273  0.92810157  0.03183219]
 [ 0.05037455 -0.01411648  0.99863047]]

 t_gt:
[-0.26432555  0.95991112 -0.09328794]

Pose Error in degrees for R and t:
177.61375516465716 62.35709762241132

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-9.35560339e-01  3.53166889e-01  1.70309798e-05]
 [-3.53166292e-01 -9.35558667e-01 -1.88462423e-03]
 [-6.49653396e-04 -1.76919445e-03  9.99998224e-01]]

 t_estimated:
[[0.62559881]
 [0.78014396]
 [0.00123636]]

 R_gt:
[[ 0.87804175  0.47634147 -0.04627003]
 [-0.47474616  0.87913931  0.04160263]
 [ 0.06049467 -0.01456297  0.99806221]]

 t_gt:
[-0.2192343   0.97114459 -0.09388555]

Pose Error in degrees for R and t:
130.92296171837882 51.65729392998755

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99992246e-01 -3.93790635e-03  2.12923691e-05]
 [ 3.93791118e-03  9.99992220e-01 -2.31860192e-04]
 [-2.03791597e-05  2.31942241e-04  9.99999973e-01]]

 t_estimated:
[[ 0.90225833]
 [ 0.43119342]
 [-0.00146108]]

 R_gt:
[[ 0.99930081 -0.03036678 -0.02180687]
 [ 0.03062765  0.999462    0.01172583]
 [ 0.02143924 -0.01238585  0.99969345]]

 t_gt:
[ 0.99512082 -0.07280252  0.06659087]

Pose Error in degrees for R and t:
2.086177221578725 29.960856957390725

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.9998699   0.01565879 -0.00386985]
 [ 0.01565369  0.99987657  0.00134337]
 [ 0.00389041  0.00128262 -0.99999161]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99250418 -0.10523506  0.06213506]
 [ 0.1103748   0.99015481 -0.08607759]
 [-0.05246474  0.0922915   0.99434925]]

 t_gt:
[ 0.8236487   0.16190339 -0.54349804]

Pose Error in degrees for R and t:
176.88516666532067 34.54054187188955

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 8.79810611e-01  4.75324339e-01  2.48249312e-04]
 [-4.75323365e-01  8.79809659e-01 -1.63158023e-03]
 [-9.93941936e-04  1.31748290e-03  9.99998638e-01]]

 t_estimated:
[[8.89095011e-01]
 [4.57722072e-01]
 [7.52832355e-04]]

 R_gt:
[[ 0.98698315 -0.09812914  0.12741857]
 [ 0.1200544   0.97672848 -0.1777287 ]
 [-0.10701304  0.19071311  0.97579549]]

 t_gt:
[ 0.45055397  0.42731775 -0.78383713]

Pose Error in degrees for R and t:
36.84797757811399 53.44544224737849

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-9.90768873e-01  1.35560515e-01 -6.21615852e-04]
 [ 1.35559014e-01  9.90767200e-01  2.02735662e-03]
 [ 8.90706105e-04  1.92437621e-03 -9.99997752e-01]]

 t_estimated:
[[0.79572356]
 [0.6056593 ]
 [0.0009094 ]]

 R_gt:
[[ 0.98096752  0.19126188 -0.03347272]
 [-0.19046711  0.9813614   0.02553123]
 [ 0.03773218 -0.01867019  0.99911333]]

 t_gt:
[-0.34621437  0.93088268 -0.1165892 ]

Pose Error in degrees for R and t:
177.81376168499818 73.24972881895583

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.1286169   0.99167408 -0.00634059]
 [ 0.99166405 -0.12856035  0.00864038]
 [ 0.0077533  -0.00739903 -0.99994257]]

 t_estimated:
[[-0.66025525]
 [-0.75104035]
 [-0.00117903]]

 R_gt:
[[ 0.94895489  0.31423991 -0.02716313]
 [-0.31210048  0.94795136  0.06309865]
 [ 0.04557828 -0.05139974  0.9976373 ]]

 t_gt:
[-0.32207765  0.94548753 -0.04815933]

Pose Error in degrees for R and t:
175.49518065572045 60.17258993875618

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 7.97718711e-01  6.03029309e-01 -7.14382975e-04]
 [-6.03029681e-01  7.97718573e-01 -5.31004236e-04]
 [ 2.49665450e-04  8.54386152e-04  9.99999604e-01]]

 t_estimated:
[[-0.99972515]
 [-0.02337487]
 [-0.00179807]]

 R_gt:
[[ 0.91026747  0.41325891 -0.02509857]
 [-0.41267758  0.91052554  0.02529562]
 [ 0.03330745 -0.01266899  0.99936487]]

 t_gt:
[-0.26726351  0.96153763 -0.06336878]

Pose Error in degrees for R and t:
12.850029909933799 75.82832020154106

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 5.53750977e-01  8.32677435e-01 -2.85390288e-03]
 [-8.32681974e-01  5.53744343e-01 -2.81647482e-03]
 [-7.64882451e-04  3.93601916e-03  9.99991961e-01]]

 t_estimated:
[[ 3.35254377e-01]
 [ 9.42127213e-01]
 [-9.03890544e-04]]

 R_gt:
[[ 9.89027349e-01 -1.47723881e-01 -1.35671167e-03]
 [ 1.47729826e-01  9.88978430e-01  9.85644959e-03]
 [-1.14553014e-04 -9.94783220e-03  9.99950255e-01]]

 t_gt:
[ 0.72729502 -0.68594214  0.02292017]

Pose Error in degrees for R and t:
64.87537955200305 66.26940710843544

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.34145933e-01  3.56891154e-01  2.82532533e-04]
 [-3.56888559e-01  9.34141639e-01 -3.15499636e-03]
 [-1.38991569e-03  2.84639439e-03  9.99994983e-01]]

 t_estimated:
[[8.00211424e-01]
 [5.99717679e-01]
 [6.18829097e-04]]

 R_gt:
[[ 0.93793002 -0.34310785 -0.05063883]
 [ 0.34323433  0.93922776 -0.00643734]
 [ 0.04976987 -0.01134298  0.99869673]]

 t_gt:
[ 0.80192309 -0.58970892 -0.09572222]

Pose Error in degrees for R and t:
41.09755104123479 73.26234636256581

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-9.99317578e-01 -3.69368795e-02  2.14470370e-04]
 [-3.69362854e-02  9.99314942e-01  2.31467573e-03]
 [-2.99820344e-04  2.30517441e-03 -9.99997298e-01]]

 t_estimated:
[[0.99413876]
 [0.10809708]
 [0.00177208]]

 R_gt:
[[ 0.86393561 -0.50202279 -0.03984507]
 [ 0.50265959  0.86445268  0.00729985]
 [ 0.03077932 -0.02633453  0.99917924]]

 t_gt:
[ 0.84511835 -0.53435694 -0.01541526]

Pose Error in degrees for R and t:
177.97168274164918 38.52143894164652

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.98419790e-01 -5.61953879e-02 -4.13005658e-05]
 [ 5.61953918e-02  9.98419785e-01  1.01636400e-04]
 [ 3.55238051e-05 -1.03796695e-04  9.99999994e-01]]

 t_estimated:
[[3.34780927e-01]
 [9.42295961e-01]
 [2.28156668e-04]]

 R_gt:
[[ 0.99927706  0.01149474 -0.03625607]
 [-0.01244395  0.99958268 -0.02606444]
 [ 0.03594125  0.02649626  0.9990021 ]]

 t_gt:
[ 6.52825351e-04  4.18345611e-01 -9.08287687e-01]

Pose Error in degrees for R and t:
4.671745235515735 66.7828692965881

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-5.46644933e-01 -8.37364294e-01 -5.97005324e-04]
 [-8.37355346e-01  5.46642149e-01 -4.28789441e-03]
 [ 3.91687794e-03 -1.84405015e-03 -9.99990629e-01]]

 t_estimated:
[[0.88860496]
 [0.4586719 ]
 [0.00114955]]

 R_gt:
[[ 0.99642965  0.02683677 -0.0800479 ]
 [-0.0326933   0.99681157 -0.07278183]
 [ 0.07783998  0.07513911  0.99412973]]

 t_gt:
[ 0.00614488  0.42723866 -0.90411801]

Pose Error in degrees for R and t:
173.84860878910348 78.44061929719807

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 1.03956951e-01  9.94581012e-01  1.24989032e-03]
 [ 9.94567523e-01 -1.03962110e-01  5.22711830e-03]
 [ 5.32873384e-03  6.99705040e-04 -9.99985557e-01]]

 t_estimated:
[[0.71712868]
 [0.69694023]
 [0.00087776]]

 R_gt:
[[ 0.99563649  0.02907799 -0.08867555]
 [-0.03679234  0.99555987 -0.08664208]
 [ 0.08576223  0.08952657  0.99228528]]

 t_gt:
[ 0.0143436   0.41146415 -0.91131307]

Pose Error in degrees for R and t:
179.77255212483848 72.7673589973457

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.99995752 -0.00421227  0.00819815]
 [ 0.00429137  0.99994418 -0.00965469]
 [-0.00815703  0.00968946  0.99991979]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99961849 -0.01949906 -0.01956723]
 [ 0.01904526  0.99955051 -0.02310838]
 [ 0.0200092   0.02272752  0.99954117]]

 t_gt:
[ 0.5037508  -0.45785385 -0.73253326]

Pose Error in degrees for R and t:
1.9721943870356682 89.60043380324271

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-0.9936801  -0.11224463  0.001003  ]
 [-0.11224089  0.99367579  0.00322699]
 [-0.00135887  0.00309402 -0.99999429]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98882553 -0.14825716 -0.01560776]
 [ 0.14771685  0.98853028 -0.03140026]
 [ 0.02008394  0.02874436  0.99938484]]

 t_gt:
[ 0.76019242 -0.61490366 -0.20976408]

Pose Error in degrees for R and t:
178.9606061308043 40.70132403652226

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 1.00000000e+00  8.38088279e-17 -1.48366291e-15]
 [-8.38088279e-17  1.00000000e+00  1.30812767e-15]
 [ 1.48289042e-15  1.34993970e-16  1.00000000e+00]]

 t_estimated:
[[9.9999984e-01]
 [5.5716333e-04]
 [9.2860555e-05]]

 R_gt:
[[ 0.95774769 -0.28723442 -0.01469942]
 [ 0.28639903  0.95715443 -0.04278088]
 [ 0.02635741  0.03676396  0.9989756 ]]

 t_gt:
[ 0.83149751 -0.53591328 -0.14631766]

Pose Error in degrees for R and t:
16.875290249811005 33.77932052975359

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-6.30293020e-01 -7.76357315e-01 -1.69196373e-04]
 [-7.76357174e-01  6.30292737e-01  7.76948351e-04]
 [-4.96546290e-04  6.21061941e-04 -9.99999684e-01]]

 t_estimated:
[[0.98711382]
 [0.16001635]
 [0.00103907]]

 R_gt:
[[ 0.98846554 -0.15027431 -0.01878452]
 [ 0.15099951  0.98745149  0.04623945]
 [ 0.01159998 -0.0485424   0.99875361]]

 t_gt:
[ 0.69240446 -0.68828028  0.2164401 ]

Pose Error in degrees for R and t:
179.60522508845895 55.000393455130656

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.88690909 -0.46193836 -0.00228249]
 [ 0.46193074 -0.88691024  0.00319516]
 [-0.00350033  0.00177946  0.99999229]]

 t_estimated:
[[9.53057048e-01]
 [3.02789416e-01]
 [9.12016314e-04]]

 R_gt:
[[ 0.96617984 -0.257171   -0.01896451]
 [ 0.2571644   0.95549744  0.14453567]
 [-0.01905007 -0.14452325  0.98931734]]

 t_gt:
[ 0.61479031 -0.64690715  0.45115852]

Pose Error in degrees for R and t:
137.60976622322164 67.01655999678614

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99670464e-01 -2.56702614e-02  2.68114155e-05]
 [ 2.56702613e-02  9.99670465e-01  5.54226180e-06]
 [-2.69448515e-05 -4.85217939e-06  1.00000000e+00]]

 t_estimated:
[[0.76838291]
 [0.63998981]
 [0.00085819]]

 R_gt:
[[ 0.9539515  -0.29744507 -0.03876376]
 [ 0.29985196  0.94213799  0.14987984]
 [-0.00806095 -0.15460084  0.98794404]]

 t_gt:
[ 0.64640046 -0.65234578  0.39574162]

Pose Error in degrees for R and t:
18.309917736216743 85.43856195480559

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-4.47372066e-01 -8.94347798e-01  5.01628506e-04]
 [-8.94347581e-01  4.47371315e-01 -1.14485339e-03]
 [ 7.99482907e-04 -9.60805669e-04 -9.99999219e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.97693596 -0.21233151 -0.02258963]
 [ 0.21280507  0.97686613  0.021133  ]
 [ 0.01758007 -0.02545241  0.99952129]]

 t_gt:
[ 0.98394943 -0.14852819  0.09890848]

Pose Error in degrees for R and t:
179.7021560266733 41.89150868171097

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-0.3779341   0.92580333 -0.00734908]
 [-0.92581338 -0.3779654  -0.00342649]
 [-0.00594995  0.00550889  0.99996712]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.91675886 -0.39634888 -0.04960664]
 [ 0.39841651  0.91621815  0.04253237]
 [ 0.02859196 -0.05875593  0.99786288]]

 t_gt:
[ 0.98993839 -0.05512292  0.13032054]

Pose Error in degrees for R and t:
135.68495092145008 87.20215379923275

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 5.00819365e-01  8.65550966e-01  1.22026247e-03]
 [-8.65548934e-01  5.00820839e-01 -1.87889677e-03]
 [-2.23741378e-03 -1.15208990e-04  9.99997490e-01]]

 t_estimated:
[[0.94874453]
 [0.31604187]
 [0.00116142]]

 R_gt:
[[ 0.88673163 -0.46081643 -0.03682311]
 [ 0.46227711  0.88434724  0.06503868]
 [ 0.00259308 -0.07469405  0.9972033 ]]

 t_gt:
[ 0.98793179 -0.01585781  0.15407564]

Pose Error in degrees for R and t:
87.56291125299065 21.178076996566794

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.88962375e-01  1.48166761e-01  1.77036795e-04]
 [-1.48166745e-01  9.88962388e-01 -9.99775206e-05]
 [-1.89896077e-04  7.26430405e-05  9.99999979e-01]]

 t_estimated:
[[-0.86410818]
 [-0.50330511]
 [-0.00101065]]

 R_gt:
[[ 0.99799727 -0.02237538  0.05918321]
 [ 0.02174303  0.99970074  0.01129672]
 [-0.05941854 -0.00998663  0.99818285]]

 t_gt:
[ 0.27984138 -0.25384147  0.92587975]

Pose Error in degrees for R and t:
10.37281284270561 83.3969946539912

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.88959886  0.45658509 -0.01199679]
 [-0.45658816  0.88967425  0.00264197]
 [ 0.01187952  0.00312729  0.99992455]]

 t_estimated:
[[-0.98862705]
 [-0.14922672]
 [-0.01865334]]

 R_gt:
[[ 9.91753299e-01 -9.77715880e-02  8.28752373e-02]
 [ 9.74155177e-02  9.95208882e-01  8.34297157e-03]
 [-8.32938616e-02 -1.99921630e-04  9.96525249e-01]]

 t_gt:
[ 0.63191318 -0.60215622  0.48794838]

Pose Error in degrees for R and t:
33.22543818398342 57.04565859547364

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99075038e-01 -4.30007583e-02  6.00065095e-05]
 [ 4.30007607e-02  9.99075039e-01 -4.08074369e-05]
 [-5.81962551e-05  4.33500172e-05  9.99999997e-01]]

 t_estimated:
[[ 6.25018720e-01]
 [-7.80609698e-01]
 [-3.14616458e-04]]

 R_gt:
[[ 0.98854283 -0.12726981  0.08115822]
 [ 0.12856248  0.99164227 -0.01088593]
 [-0.07909398  0.02119555  0.99664157]]

 t_gt:
[ 0.71502885 -0.64835581  0.26147369]

Pose Error in degrees for R and t:
6.781617555235118 17.648006628093032

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 8.97341242e-01  4.41337377e-01  1.20164168e-04]
 [-4.41337227e-01  8.97341107e-01 -6.23929819e-04]
 [-3.83191797e-04  5.06845038e-04  9.99999798e-01]]

 t_estimated:
[[0.68817618]
 [0.72554321]
 [0.00077848]]

 R_gt:
[[ 0.99275905 -0.11255227 -0.04197262]
 [ 0.11316924  0.99349534  0.01262898]
 [ 0.0402786  -0.01728739  0.99903924]]

 t_gt:
[ 0.65160582 -0.73680096 -0.18037241]

Pose Error in degrees for R and t:
32.768401574536156 85.04911545965528

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-5.71272832e-01 -8.20758592e-01 -1.63883323e-03]
 [ 8.20756975e-01 -5.71275050e-01  1.67497263e-03]
 [-2.31097271e-03 -3.88217447e-04  9.99997254e-01]]

 t_estimated:
[[9.21960011e-01]
 [3.87284153e-01]
 [8.49858151e-04]]

 R_gt:
[[ 0.96878091 -0.22824784 -0.0967843 ]
 [ 0.23219773  0.97215597  0.03158111]
 [ 0.086882   -0.05306825  0.99480464]]

 t_gt:
[ 0.69474935 -0.70437082 -0.14555095]

Pose Error in degrees for R and t:
111.59414686460825 68.43134959426861

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 8.67118085e-01  4.98101085e-01  1.23886280e-03]
 [-4.98102471e-01  8.67117096e-01  1.36754132e-03]
 [-3.93065301e-04 -1.80290043e-03  9.99998298e-01]]

 t_estimated:
[[0.50891773]
 [0.86081402]
 [0.00140198]]

 R_gt:
[[ 0.95939977 -0.27075541 -0.07901255]
 [ 0.2737158   0.96136759  0.02920369]
 [ 0.06805382 -0.04964442  0.99644597]]

 t_gt:
[ 0.67654489 -0.73159896 -0.08396407]

Pose Error in degrees for R and t:
45.941769775083635 73.40631950244486

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.03691635  0.99931438  0.00282168]
 [-0.99931599 -0.03690997 -0.00228044]
 [-0.00217473 -0.00290394  0.99999342]]

 t_estimated:
[[0.09322186]
 [0.99564293]
 [0.00220105]]

 R_gt:
[[ 0.98591269 -0.13729236 -0.0955307 ]
 [ 0.13763358  0.99047942 -0.00303175]
 [ 0.09503814 -0.01015892  0.99542135]]

 t_gt:
[ 0.63158008 -0.69884124 -0.3357492 ]

Pose Error in degrees for R and t:
100.15773987932825 50.38257718624235

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.91633678 -0.40000868  0.01788735]
 [-0.40039118  0.91579704 -0.03166505]
 [-0.00371489 -0.03617779 -0.99933846]]

 t_estimated:
[[0.99355912]
 [0.11217603]
 [0.01602515]]

 R_gt:
[[ 0.97645322 -0.1817079  -0.11628189]
 [ 0.19533545  0.97347941  0.11908996]
 [ 0.09155897 -0.13899965  0.98605028]]

 t_gt:
[ 0.53690172 -0.82344202  0.18352053]

Pose Error in degrees for R and t:
176.08658793109208 63.639722118839856

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.99879165  0.04368991 -0.0225039 ]
 [-0.04339434  0.99896735  0.0134597 ]
 [ 0.02306871 -0.01246689  0.99965615]]

 t_estimated:
[[-0.42099851]
 [-0.90706043]
 [-0.00127575]]

 R_gt:
[[ 0.95725643 -0.22063964 -0.18702411]
 [ 0.25078392  0.95529218  0.15660632]
 [ 0.14411033 -0.19681483  0.9697917 ]]

 t_gt:
[ 0.5585728  -0.80562186  0.1974078 ]

Pose Error in degrees for R and t:
20.655539053185446 60.30798890447235

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.49491186e-01  3.13793702e-01  3.10515856e-05]
 [-3.13793632e-01  9.49491031e-01 -5.81850573e-04]
 [-2.12064247e-04  5.42718201e-04  9.99999830e-01]]

 t_estimated:
[[0.45207926]
 [0.89197674]
 [0.00135353]]

 R_gt:
[[ 0.99896148 -0.03945739 -0.02276935]
 [ 0.04222559  0.98956706  0.13774935]
 [ 0.01709717 -0.13856712  0.99020543]]

 t_gt:
[ 0.1405455  -0.66294725  0.73535563]

Pose Error in degrees for R and t:
22.142079744419107 58.2104686355161

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.41704744  0.90449009  0.08926985]
 [-0.90886491 -0.4156704  -0.03439036]
 [ 0.00600109 -0.09547665  0.99541358]]

 t_estimated:
[[0.43801911]
 [0.89896485]
 [0.00120666]]

 R_gt:
[[ 0.98814837 -0.08405556 -0.12844072]
 [ 0.10050208  0.98674013  0.12745153]
 [ 0.11602487 -0.13884836  0.98349303]]

 t_gt:
[ 0.44515614 -0.86623395  0.22688049]

Pose Error in degrees for R and t:
120.41593561490949 54.30620881971466

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.09439576e-01 -4.15835735e-01 -5.47108238e-04]
 [ 4.15836036e-01  9.09439361e-01  6.63388205e-04]
 [ 2.21701245e-04 -8.30818809e-04  9.99999630e-01]]

 t_estimated:
[[9.07792634e-01]
 [4.19418680e-01]
 [7.10879118e-04]]

 R_gt:
[[ 0.97252862 -0.12699322 -0.19509054]
 [ 0.15357103  0.97984758  0.12772866]
 [ 0.17493773 -0.15417985  0.97243238]]

 t_gt:
[ 0.5315137  -0.84470875  0.06293102]

Pose Error in degrees for R and t:
21.169921221423746 82.63080965917328

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.13946367  0.99021137  0.00559735]
 [-0.99021874  0.1394836  -0.00334178]
 [-0.00408981 -0.00507654  0.99997875]]

 t_estimated:
[[-0.4549821 ]
 [ 0.89048199]
 [ 0.00575521]]

 R_gt:
[[ 0.9951358   0.07627304  0.06234486]
 [-0.06885477  0.99114452 -0.11353968]
 [-0.07045217  0.10869463  0.99157497]]

 t_gt:
[-0.41846586  0.86609086 -0.27344641]

Pose Error in degrees for R and t:
78.08970363099519 16.24811794980725

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 8.89532262e-01 -4.56871078e-01 -1.08326789e-03]
 [ 4.56871563e-01  8.89532640e-01  2.39366248e-04]
 [ 8.54242631e-04 -7.07838295e-04  9.99999385e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.9875885   0.09090439  0.12808658]
 [-0.07891287  0.99226984 -0.09577967]
 [-0.13580266  0.08448377  0.98712725]]

 t_gt:
[-0.44300297  0.85655918  0.26467858]

Pose Error in degrees for R and t:
33.36579092410858 31.34459391327642

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99997565e-01  5.33811309e-04 -2.14116568e-03]
 [-5.28309062e-04  9.99996559e-01  2.56948671e-03]
 [ 2.14252993e-03 -2.56834926e-03  9.99994407e-01]]

 t_estimated:
[[-0.76860387]
 [-0.63972332]
 [-0.0014758 ]]

 R_gt:
[[ 0.98509544  0.01413499  0.1714269 ]
 [ 0.00375101  0.99461561 -0.1035635 ]
 [-0.17196687  0.10266337  0.97973823]]

 t_gt:
[-0.04265894  0.71524312  0.69757258]

Pose Error in degrees for R and t:
11.73770943644374 64.79872982455166

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.94069016e-01 -1.08749848e-01 -5.12010536e-04]
 [ 1.08749904e-01  9.94069138e-01  8.34145909e-05]
 [ 4.99902548e-04 -1.38600957e-04  9.99999865e-01]]

 t_estimated:
[[-0.6071937 ]
 [-0.79455234]
 [-0.00154595]]

 R_gt:
[[ 0.98722711  0.15803044  0.02023874]
 [-0.15827907  0.98732904  0.01133957]
 [-0.01819035 -0.01439767  0.99973067]]

 t_gt:
[-0.38428965  0.9109978   0.1496812 ]

Pose Error in degrees for R and t:
15.40325771420647 60.61151998958685

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.15797405 -0.98743183 -0.00475098]
 [-0.98742487 -0.15799865  0.00534361]
 [-0.0060271   0.00384708 -0.99997444]]

 t_estimated:
[[0.76458295]
 [0.64452447]
 [0.00105314]]

 R_gt:
[[ 0.93506652  0.35390047 -0.02009788]
 [-0.3540618   0.93520836 -0.00503029]
 [ 0.01701593  0.01181912  0.99978494]]

 t_gt:
[-0.26927436  0.96177906 -0.04972293]

Pose Error in degrees for R and t:
178.90751381070046 65.54646281900632

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.21946843  0.97561583 -0.00271384]
 [ 0.97560839 -0.21945171  0.00540588]
 [ 0.00467851 -0.00383407 -0.99998171]]

 t_estimated:
[[-0.73908621]
 [-0.67361012]
 [-0.00099206]]

 R_gt:
[[ 0.87205978  0.48908763 -0.01744935]
 [-0.48829786  0.87193554  0.03595535]
 [ 0.03280115 -0.02283444  0.99920038]]

 t_gt:
[-0.21214281  0.97681656 -0.02871994]

Pose Error in degrees for R and t:
177.36377429896575 59.92235105882439

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.93055538e-01  1.17646095e-01  3.09255738e-04]
 [-1.17646035e-01  9.93055572e-01 -2.05087980e-04]
 [-3.31235933e-04  1.67281043e-04  9.99999931e-01]]

 t_estimated:
[[0.97931693]
 [0.20232959]
 [0.00104294]]

 R_gt:
[[ 0.98825253 -0.14826922 -0.03706197]
 [ 0.1488056   0.9887918   0.01214905]
 [ 0.03484573 -0.01752087  0.99923962]]

 t_gt:
[ 0.66969424 -0.73219886 -0.12407438]

Pose Error in degrees for R and t:
15.466154739451623 59.49802813324659

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.09370775 -0.99558422 -0.00556006]
 [ 0.99559464  0.09372369 -0.00268001]
 [ 0.00318928 -0.00528443  0.99998095]]

 t_estimated:
[[9.98452415e-01]
 [5.56054267e-02]
 [9.00863679e-04]]

 R_gt:
[[ 0.97325682 -0.22112201 -0.06226161]
 [ 0.22357385  0.97403851  0.03556074]
 [ 0.05278267 -0.04852854  0.99742621]]

 t_gt:
[ 0.6686284  -0.74135489 -0.0576974 ]

Pose Error in degrees for R and t:
71.84101593376035 51.22098692129071

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-1.58759931e-01  9.87316154e-01 -1.44780211e-03]
 [ 9.87309950e-01  1.58764218e-01  3.60367644e-03]
 [ 3.78782713e-03 -8.57310005e-04 -9.99992459e-01]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.96756292 -0.25087908 -0.02970175]
 [ 0.25166479  0.96745205  0.02650118]
 [ 0.02208715 -0.03311647  0.9992073 ]]

 t_gt:
[ 0.63047191 -0.77615504 -0.00940879]

Pose Error in degrees for R and t:
177.56119343627034 39.446966191121525

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99995796e-01 -2.89951646e-03  1.82143865e-05]
 [ 2.89951362e-03  9.99995785e-01  1.54044247e-04]
 [-1.86609636e-05 -1.53990787e-04  9.99999988e-01]]

 t_estimated:
[[-0.41320221]
 [ 0.91063879]
 [ 0.00096421]]

 R_gt:
[[ 0.9958338   0.07222741  0.05567085]
 [-0.07559713  0.99527027  0.06101155]
 [-0.05099956 -0.06496546  0.99658338]]

 t_gt:
[-0.44358998  0.17200378  0.87956957]

Pose Error in degrees for R and t:
6.4675018818552354 70.07597666984748

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99928312e-01  1.19737206e-02  2.82575715e-05]
 [-1.19737136e-02  9.99928285e-01 -2.35915067e-04]
 [-3.10803261e-05  2.35559807e-04  9.99999972e-01]]

 t_estimated:
[[-0.5881124 ]
 [ 0.80877873]
 [-0.00087768]]

 R_gt:
[[ 0.99228196  0.08918603  0.08615463]
 [-0.09974698  0.98683928  0.12727028]
 [-0.07366924 -0.13488182  0.98811943]]

 t_gt:
[-0.31534805  0.08241677  0.94539044]

Pose Error in degrees for R and t:
10.05127758556502 75.44630047418435

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-5.95903790e-01 -8.03055639e-01 -5.59798003e-04]
 [-8.03053872e-01  5.95900648e-01  2.62628872e-03]
 [-1.77547197e-03  2.01456335e-03 -9.99996395e-01]]

 t_estimated:
[[0.82068574]
 [0.57137859]
 [0.00119286]]

 R_gt:
[[ 0.97399811  0.19255366  0.11937694]
 [-0.2086945   0.96762006  0.1419763 ]
 [-0.08817275 -0.16319724  0.9826452 ]]

 t_gt:
[-0.54646315  0.36151082  0.75543891]

Pose Error in degrees for R and t:
170.636138729323 76.05361430370105

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 8.15290563e-01 -5.79051812e-01  5.44265516e-04]
 [ 5.79052055e-01  8.15290386e-01 -5.51728815e-04]
 [-1.24254872e-04  7.64977362e-04  9.99999700e-01]]

 t_estimated:
[[-0.62865216]
 [-0.77768608]
 [-0.00090324]]

 R_gt:
[[ 0.99562054 -0.09294635 -0.01008788]
 [ 0.09279362  0.99557736 -0.01467849]
 [ 0.01140737  0.01367754  0.99984181]]

 t_gt:
[ 0.74739775 -0.64447016 -0.16141502]

Pose Error in degrees for R and t:
30.070963671063417 88.19556902032119

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.95873194 -0.26869638 -0.09292641]
 [-0.2639664  -0.96265495  0.0601431 ]
 [-0.10561631 -0.03313166 -0.99385486]]

 t_estimated:
[[0.96715481]
 [0.25400025]
 [0.00976924]]

 R_gt:
[[ 0.96565651 -0.25964052 -0.0096801 ]
 [ 0.25948337  0.96563107 -0.01494733]
 [ 0.01322858  0.0119223   0.99984187]]

 t_gt:
[ 0.82134496 -0.56725953 -0.06007566]

Pose Error in degrees for R and t:
177.42689942465978 49.481256017942734

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.96831427  0.23381978  0.08772565]
 [-0.22902648  0.97148446 -0.06135805]
 [-0.09957083  0.03932238  0.99425319]]

 t_estimated:
[[0.97489482]
 [0.22264034]
 [0.00337334]]

 R_gt:
[[ 0.92865824 -0.37089523  0.00551818]
 [ 0.3705982   0.92707463 -0.05647787]
 [ 0.01583093  0.0544943   0.99838848]]

 t_gt:
[ 0.87083712 -0.47549247 -0.12469814]

Pose Error in degrees for R and t:
35.63750304607915 42.03891901409345

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.97953975e-01 -6.39364014e-02  2.36852907e-05]
 [ 6.39364019e-02  9.97953975e-01 -2.17055240e-05]
 [-2.22490569e-05  2.31754663e-05  9.99999999e-01]]

 t_estimated:
[[ 7.58040510e-01]
 [ 6.52207465e-01]
 [-8.73586716e-05]]

 R_gt:
[[ 0.99501653 -0.09917115  0.01038257]
 [ 0.0980931   0.99222595  0.07658741]
 [-0.01789751 -0.07518802  0.99700865]]

 t_gt:
[ 0.42194587 -0.69719742  0.57954934]

Pose Error in degrees for R and t:
4.864927829112535 82.24624162638334

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.97707181e-01  6.76783059e-02 -1.65092287e-04]
 [-6.76783142e-02  9.97707193e-01 -4.53894809e-05]
 [ 1.61641880e-04  5.64585788e-05  9.99999985e-01]]

 t_estimated:
[[-9.99977127e-01]
 [-6.71125589e-03]
 [-8.38906986e-04]]

 R_gt:
[[ 0.93663442  0.35001948  0.01414262]
 [-0.34959988  0.93654708 -0.02567697]
 [-0.02223251  0.01910504  0.99956981]]

 t_gt:
[-0.67298259  0.73963578 -0.00577495]

Pose Error in degrees for R and t:
16.68435910113841 48.08648100854174

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.69106837e-01 -2.46640670e-01  5.64895976e-04]
 [ 2.46641009e-01  9.69106704e-01 -6.39401739e-04]
 [-3.89742005e-04  7.58975111e-04  9.99999636e-01]]

 t_estimated:
[[-8.37639504e-01]
 [-5.46222963e-01]
 [-7.32202363e-04]]

 R_gt:
[[ 0.85268111  0.51746932  0.07183552]
 [-0.51676879  0.85561834 -0.02945453]
 [-0.07670489 -0.01200776  0.99698125]]

 t_gt:
[-0.6114595   0.78505249  0.09904478]

Pose Error in degrees for R and t:
45.67318641529401 85.22193094536304

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.78653799e-01  2.05515395e-01 -4.05064987e-04]
 [-2.05515468e-01  9.78653856e-01 -1.47095750e-04]
 [ 3.66187970e-04  2.27202935e-04  9.99999907e-01]]

 t_estimated:
[[-0.99993858]
 [-0.01101524]
 [-0.00122392]]

 R_gt:
[[ 0.79248246  0.60698914  0.05946592]
 [-0.6084445   0.79355124  0.00849272]
 [-0.04203421 -0.04291226  0.99819385]]

 t_gt:
[-0.56884926  0.81763675  0.08877311]

Pose Error in degrees for R and t:
25.834597149724033 55.965001664512776

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.87197693 -0.48952599 -0.00453114]
 [-0.48950063 -0.87172973 -0.02182665]
 [ 0.00673478  0.02125034 -0.9997515 ]]

 t_estimated:
[[ 0.27608301]
 [ 0.96107046]
 [-0.01103349]]

 R_gt:
[[ 0.99775094 -0.06325975  0.02216715]
 [ 0.0635766   0.99787878 -0.01392818]
 [-0.02123909  0.01530648  0.99965776]]

 t_gt:
[ 0.97619582 -0.05212289 -0.21053487]

Pose Error in degrees for R and t:
178.22639326392454 77.18873357109753

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 2.18900691e-01  9.75747107e-01 -2.67136797e-04]
 [ 9.75738613e-01 -2.18897624e-01  4.24150330e-03]
 [ 4.08015896e-03 -1.18912369e-03 -9.99990969e-01]]

 t_estimated:
[[-0.43879754]
 [-0.8985854 ]
 [-0.00099954]]

 R_gt:
[[ 0.96684146 -0.25410386 -0.0254903 ]
 [ 0.25476691  0.96661318  0.02741338]
 [ 0.01767273 -0.03299729  0.99929967]]

 t_gt:
[ 0.98841132 -0.11558388  0.09840443]

Pose Error in degrees for R and t:
177.6784677501716 70.73433024694158

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.79207671 -0.61041661  0.0024583 ]
 [-0.61042058 -0.79207624  0.00139366]
 [ 0.00109645 -0.00260448 -0.99999601]]

 t_estimated:
[[0.01358107]
 [0.99990633]
 [0.00169763]]

 R_gt:
[[ 0.90899514 -0.41484484 -0.04041083]
 [ 0.41622922  0.9085617   0.035618  ]
 [ 0.0219401  -0.04919583  0.99854823]]

 t_gt:
[ 0.99486208 -0.02718176  0.09752224]

Pose Error in degrees for R and t:
178.13866274630237 89.22634778468881

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 7.06092538e-01 -7.08119564e-01 -1.04181011e-04]
 [-7.08119035e-01 -7.06092176e-01  1.12723521e-03]
 [-8.71778702e-04 -7.22159812e-04 -9.99999359e-01]]

 t_estimated:
[[0.56432878]
 [0.82554646]
 [0.00246432]]

 R_gt:
[[ 0.99879976  0.02015973 -0.04462209]
 [-0.02191199  0.99899387 -0.03914347]
 [ 0.04378899  0.04007537  0.99823745]]

 t_gt:
[-0.0534348   0.44841672 -0.89222596]

Pose Error in degrees for R and t:
176.98919871803346 70.25495554265372

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.98177452e-01 -6.03470994e-02 -4.52780881e-05]
 [ 6.03471031e-02  9.98177449e-01  8.35639065e-05]
 [ 4.01527272e-05 -8.61440087e-05  9.99999995e-01]]

 t_estimated:
[[ 3.87043851e-02]
 [ 9.99250704e-01]
 [-4.06069524e-05]]

 R_gt:
[[ 0.99711984  0.01780681 -0.07372565]
 [-0.02450001  0.99555879 -0.09090813]
 [ 0.07177986  0.09245307  0.99312662]]

 t_gt:
[ 0.03702004  0.36391962 -0.93069438]

Pose Error in degrees for R and t:
8.188223600413279 68.58518192903112

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99866007e-01  1.63697470e-02  1.31767172e-05]
 [-1.63697464e-02  9.99866006e-01 -4.30386227e-05]
 [-1.38794830e-05  4.28171562e-05  9.99999999e-01]]

 t_estimated:
[[0.74596739]
 [0.66598021]
 [0.00173885]]

 R_gt:
[[ 0.99980958  0.0034769   0.01920306]
 [-0.00353579  0.99998917  0.00302307]
 [-0.01919244 -0.00309073  0.99981094]]

 t_gt:
[-0.38324259  0.02776021  0.92323046]

Pose Error in degrees for R and t:
1.335434797225926 74.58590014570748

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-2.51645329e-01  9.67819362e-01 -5.57137784e-04]
 [ 9.67808193e-01  2.51645127e-01  4.69370590e-03]
 [ 4.68286046e-03  6.41946653e-04 -9.99988829e-01]]

 t_estimated:
[[0.46337769]
 [0.88616033]
 [0.00099012]]

 R_gt:
[[ 0.97601271 -0.20676232 -0.06818647]
 [ 0.20693653  0.97834424 -0.00456417]
 [ 0.06765442 -0.00965619  0.99766169]]

 t_gt:
[ 0.81398307 -0.56583105 -0.13140317]

Pose Error in degrees for R and t:
176.6441914225811 82.85588223454295

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.69540640e-01  2.44930034e-01  4.75435982e-04]
 [-2.44929832e-01  9.69540705e-01 -4.44622395e-04]
 [-5.69855915e-04  3.14631026e-04  9.99999788e-01]]

 t_estimated:
[[0.72074212]
 [0.69320284]
 [0.00078684]]

 R_gt:
[[ 0.95208133 -0.28698454 -0.10574788]
 [ 0.29207258  0.9557204   0.03593783]
 [ 0.09075219 -0.06510202  0.99374302]]

 t_gt:
[ 0.82666927 -0.56237152  0.01887304]

Pose Error in degrees for R and t:
31.708444282971367 78.11238439662343

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-8.26658851e-01  5.62691366e-01  3.68370651e-03]
 [ 5.62684657e-01  8.26667033e-01 -2.75544550e-03]
 [-4.59566413e-03 -2.05048273e-04 -9.99989419e-01]]

 t_estimated:
[[0.98250677]
 [0.18621076]
 [0.00245014]]

 R_gt:
[[ 0.96119087 -0.26911179 -0.060769  ]
 [ 0.27292533  0.95970669  0.06688809]
 [ 0.04032021 -0.08087796  0.99590783]]

 t_gt:
[ 0.77854973 -0.60292316  0.17419522]

Pose Error in degrees for R and t:
176.17684357026607 49.225290204992646

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-1.15802030e-01  9.93272285e-01  2.39273512e-04]
 [ 9.93253501e-01  1.15798351e-01  6.18263103e-03]
 [ 6.11332857e-03  9.53620478e-04 -9.99980859e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.97858233  0.20185331  0.04039339]
 [-0.20290271  0.97890856  0.02381237]
 [-0.03473523 -0.03149677  0.99889972]]

 t_gt:
[-0.7379703   0.64204059  0.20780691]

Pose Error in degrees for R and t:
179.68855759991334 71.83035058818528

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.22818704  0.97361196  0.00322927]
 [ 0.97361216 -0.22819537  0.00249761]
 [ 0.00316861  0.00257413 -0.99999167]]

 t_estimated:
[[9.89372205e-01]
 [1.45402944e-01]
 [7.90233390e-04]]

 R_gt:
[[ 0.95602644  0.29055379  0.03990789]
 [-0.29234042  0.95498707  0.05036802]
 [-0.02347739 -0.05981885  0.99793323]]

 t_gt:
[-0.70467645  0.68182206  0.19634099]

Pose Error in degrees for R and t:
178.606995987261 53.28084214924263

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-6.85484419e-01 -7.28086685e-01 -9.43711486e-04]
 [-7.28086656e-01  6.85484960e-01 -4.38316276e-04]
 [ 9.66032274e-04  3.86644763e-04 -9.99999459e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.90648393  0.41775074  0.06141013]
 [-0.42069938  0.90598631  0.04691368]
 [-0.03603842 -0.06836069  0.99700936]]

 t_gt:
[-0.65452861  0.73747526  0.16650088]

Pose Error in degrees for R and t:
176.08897571385035 73.55888384368545

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 0.79240169  0.60926079 -0.03001432]
 [ 0.60941008 -0.78851419  0.08285363]
 [ 0.02681275 -0.08394439 -0.99610964]]

 t_estimated:
[[-0.36396865]
 [ 0.93033295]
 [ 0.04480426]]

 R_gt:
[[ 0.99766526  0.03369653 -0.05940566]
 [-0.03487368  0.99921275 -0.01888828]
 [ 0.05872255  0.02091632  0.99805522]]

 t_gt:
[-0.13589306  0.53052076 -0.83670831]

Pose Error in degrees for R and t:
174.93808171234346 59.63321520151931

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.62398089e-01 -2.71642212e-01  6.52687647e-04]
 [ 2.71642673e-01  9.62397874e-01 -7.68292030e-04]
 [-4.19444657e-04  9.16700599e-04  9.99999492e-01]]

 t_estimated:
[[0.71419016]
 [0.69995132]
 [0.00074941]]

 R_gt:
[[ 0.9946809   0.04752449 -0.09138131]
 [-0.0518082   0.99763799 -0.04509221]
 [ 0.08902285  0.04958667  0.99479408]]

 t_gt:
[-0.09180791  0.52265213 -0.84758838]

Pose Error in degrees for R and t:
19.50734404835965 72.5647654664394

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.93624724e-01 -1.12738222e-01 -4.30374214e-05]
 [ 1.12738226e-01  9.93624719e-01  1.06020146e-04]
 [ 3.08105230e-05 -1.10196201e-04  9.99999993e-01]]

 t_estimated:
[[ 1.07191525e-02]
 [ 9.99942547e-01]
 [-4.00682221e-05]]

 R_gt:
[[ 0.99114648  0.04377038 -0.12534834]
 [-0.05634513  0.99353218 -0.09858936]
 [ 0.12022287  0.10478003  0.98720165]]

 t_gt:
[ 0.00495819  0.45434003 -0.89081455]

Pose Error in degrees for R and t:
13.103065869010576 62.97348632974686

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.65937058e-01 -2.58777122e-01  3.97098508e-05]
 [-2.58683352e-01 -9.65591150e-01 -2.67704080e-02]
 [ 6.96591264e-03  2.58482569e-02 -9.99641608e-01]]

 t_estimated:
[[ 0.07788548]
 [ 0.99684954]
 [-0.01499491]]

 R_gt:
[[ 0.99771486 -0.05948885  0.03203937]
 [ 0.0595638   0.99822365 -0.00138925]
 [-0.03189953  0.00329399  0.99948607]]

 t_gt:
[ 0.61413396 -0.73922755  0.27637312]

Pose Error in degrees for R and t:
178.58074333426796 46.11519472131421

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 1.00000000e+00 -2.42889042e-13  6.30246723e-16]
 [ 2.43000065e-13  1.00000000e+00 -1.59941504e-15]
 [-5.10767643e-16  1.58618778e-15  1.00000000e+00]]

 t_estimated:
[[ 0.19424818]
 [-0.98095059]
 [-0.00189326]]

 R_gt:
[[ 0.99671761 -0.07806525  0.0214636 ]
 [ 0.07827456  0.99689064 -0.0090888 ]
 [-0.02068764  0.01073848  0.99972792]]

 t_gt:
[ 0.72401742 -0.68855452  0.04112722]

Pose Error in degrees for R and t:
4.678487529692033 35.31372281946421

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-6.06616986e-01 -7.94993088e-01 -1.35019567e-03]
 [-7.94993997e-01  6.06617242e-01  2.57885775e-04]
 [ 6.14034565e-04  1.22983534e-03 -9.99999055e-01]]

 t_estimated:
[[9.21313533e-01]
 [3.88819454e-01]
 [8.97966406e-04]]

 R_gt:
[[ 9.99173748e-01 -4.06332945e-02 -1.19176370e-03]
 [ 4.06384726e-02  9.99158005e-01  5.58143789e-03]
 [ 9.63635006e-04 -5.62563919e-03  9.99984182e-01]]

 t_gt:
[ 0.89517511 -0.44529178 -0.0194101 ]

Pose Error in degrees for R and t:
179.98909952316916 49.33906010967962

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999746e-01  6.96100838e-04  1.50736646e-04]
 [-6.96074142e-04  9.99999742e-01 -1.77085394e-04]
 [-1.50859877e-04  1.76980425e-04  9.99999973e-01]]

 t_estimated:
[[-9.29469153e-01]
 [ 3.68899835e-01]
 [-7.18706824e-05]]

 R_gt:
[[ 0.97761959 -0.20482346  0.0480376 ]
 [ 0.20547546  0.97862059 -0.00900543]
 [-0.04516636  0.01867388  0.99880383]]

 t_gt:
[ 0.56484331 -0.81099321  0.15245341]

Pose Error in degrees for R and t:
12.207447233586953 34.493478582423876

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.99831445 -0.05792684  0.00356814]
 [ 0.05793553  0.99831749 -0.00238157]
 [-0.00342418  0.00258428  0.9999908 ]]

 t_estimated:
[[9.31678584e-01]
 [3.63283565e-01]
 [2.59367990e-04]]

 R_gt:
[[ 0.91572749 -0.40073999  0.02919538]
 [ 0.40086122  0.91613737  0.00181777]
 [-0.02747545  0.01003833  0.99957106]]

 t_gt:
[ 0.67848868 -0.73298593  0.04883373]

Pose Error in degrees for R and t:
20.364186035422147 68.53921701923983

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.99983182 -0.0180528  -0.00323036]
 [ 0.01807251  0.99981759  0.00617771]
 [ 0.00311824 -0.00623505  0.9999757 ]]

 t_estimated:
[[ 0.05747595]
 [-0.99832781]
 [ 0.00617252]]

 R_gt:
[[ 0.84645998 -0.53243868  0.00386398]
 [ 0.5323628   0.8461622  -0.02448404]
 [ 0.00976697  0.02278159  0.99969271]]

 t_gt:
[ 0.72676191 -0.68610334 -0.03285305]

Pose Error in degrees for R and t:
31.187655684053205 43.40417588886564

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.98853098e-01  4.78796782e-02  1.56725363e-04]
 [-4.78796256e-02  9.98853061e-01 -3.23930319e-04]
 [-1.72055288e-04  3.16054851e-04  9.99999935e-01]]

 t_estimated:
[[-0.55960279]
 [-0.82875956]
 [-0.00152066]]

 R_gt:
[[ 0.99750842 -0.05549857 -0.04356909]
 [ 0.05650884  0.99815233  0.02230865]
 [ 0.04225113 -0.02471487  0.9988011 ]]

 t_gt:
[ 0.62587264 -0.72103075 -0.29731816]

Pose Error in degrees for R and t:
6.591175954949945 75.65422097972196

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 4.21745912e-01  9.06710432e-01  2.56481310e-03]
 [ 9.06714018e-01 -4.21743346e-01 -1.49664821e-03]
 [-2.75333685e-04  2.95675726e-03 -9.99995591e-01]]

 t_estimated:
[[0.73959758]
 [0.67304892]
 [0.00075623]]

 R_gt:
[[ 0.98141504 -0.17747284 -0.07300053]
 [ 0.1795036   0.98350666  0.02221793]
 [ 0.06785315 -0.03490797  0.99708468]]

 t_gt:
[ 0.68159512 -0.70927154 -0.17989435]

Pose Error in degrees for R and t:
176.59067061250627 88.47600411987517

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-9.61238799e-01  2.75705171e-01 -2.57493089e-03]
 [-2.75706596e-01 -9.61241816e-01  2.09058650e-04]
 [-2.41749269e-03  9.10880717e-04  9.99996663e-01]]

 t_estimated:
[[8.38800355e-01]
 [5.44438739e-01]
 [6.51242511e-04]]

 R_gt:
[[ 0.95465066 -0.27392552 -0.11665361]
 [ 0.28088587  0.9585498   0.04780375]
 [ 0.09872345 -0.07840214  0.99202181]]

 t_gt:
[ 0.70459445 -0.70167529 -0.10582269]

Pose Error in degrees for R and t:
179.83190558107893 77.94058234872402

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 0.82043995 -0.57170013 -0.00610289]
 [-0.57170203 -0.82023861 -0.0191158 ]
 [ 0.00592268  0.0191724  -0.99979865]]

 t_estimated:
[[ 0.3634223 ]
 [ 0.93158022]
 [-0.00908415]]

 R_gt:
[[ 0.99564812  0.05920502 -0.0719657 ]
 [-0.0548096   0.99659514  0.06159289]
 [ 0.07536722 -0.05738197  0.99550439]]

 t_gt:
[-0.87937718 -0.3238779  -0.34899697]

Pose Error in degrees for R and t:
179.15985720526155 51.82006289171804

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 1.62675490e-01  9.86678813e-01 -1.26685005e-03]
 [-9.86677967e-01  1.62677437e-01  1.62530622e-03]
 [ 1.80974313e-03  9.85575544e-04  9.99997877e-01]]

 t_estimated:
[[-0.09702834]
 [ 0.99527738]
 [-0.00290397]]

 R_gt:
[[ 0.98575269  0.0883214  -0.14314156]
 [-0.07382776  0.9918758   0.10359132]
 [ 0.1511283  -0.09154818  0.9842667 ]]

 t_gt:
[-0.73769004 -0.43809887 -0.51369522]

Pose Error in degrees for R and t:
76.51150286006032 68.71782826543051

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.71463958 -0.69948168 -0.00395646]
 [-0.69948271 -0.71458729 -0.00943106]
 [ 0.00376962  0.00950729 -0.9999477 ]]

 t_estimated:
[[ 0.46725802]
 [ 0.88411049]
 [-0.00431023]]

 R_gt:
[[ 0.98414688  0.05288983 -0.16927982]
 [-0.03437383  0.99328111  0.11050429]
 [ 0.17398705 -0.10293434  0.97935374]]

 t_gt:
[ 0.00611304 -0.83153016 -0.55544597]

Pose Error in degrees for R and t:
178.62607799084105 43.120808999942284

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.89963417  0.43664225  0.00138009]
 [-0.43663782  0.89963345 -0.00266046]
 [-0.00240325  0.00179084  0.99999551]]

 t_estimated:
[[0.56497886]
 [0.82510454]
 [0.00117704]]

 R_gt:
[[ 0.98513289 -0.17017286 -0.02354474]
 [ 0.17063428  0.98514863  0.01916109]
 [ 0.01993444 -0.02289278  0.99953861]]

 t_gt:
[ 0.58540041 -0.81074083 -0.00238113]

Pose Error in degrees for R and t:
35.7531575923647 70.23215209528126

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 1.00000000e+00  6.07291162e-10  6.86623935e-13]
 [-6.07290995e-10  1.00000000e+00  1.98903068e-12]
 [-6.86623935e-13 -1.98903177e-12  1.00000000e+00]]

 t_estimated:
[[ 0.79050267]
 [-0.61245389]
 [-0.00240018]]

 R_gt:
[[ 9.42685368e-01 -3.33681436e-01 -6.35764032e-04]
 [ 3.33596268e-01  9.42484525e-01 -2.08841144e-02]
 [ 7.56762526e-03  1.94757830e-02  9.99781201e-01]]

 t_gt:
[ 0.63487513 -0.77134064 -0.04435304]

Pose Error in degrees for R and t:
19.528463283313695 12.99555459801113

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99999978e-01 -8.06990486e-05  1.92625259e-04]
 [ 8.07487681e-05  9.99999963e-01 -2.58121604e-04]
 [-1.92604422e-04  2.58137153e-04  9.99999948e-01]]

 t_estimated:
[[-9.63127547e-01]
 [-2.69044095e-01]
 [-7.76792952e-04]]

 R_gt:
[[ 0.86969593 -0.49045394 -0.05552384]
 [ 0.49039047  0.87136111 -0.0157177 ]
 [ 0.05608995 -0.0135581   0.99833374]]

 t_gt:
[ 0.70983185 -0.70049315 -0.07381126]

Pose Error in degrees for R and t:
29.57336461095908 60.321167655094484

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.78813472 -0.61548916 -0.00409359]
 [ 0.61549881 -0.78808837 -0.00882789]
 [ 0.00220735 -0.00947717  0.99995265]]

 t_estimated:
[[0.93064543]
 [0.36591941]
 [0.00144063]]

 R_gt:
[[ 0.98904201  0.13616818 -0.05704734]
 [-0.13106396  0.98769831  0.08529661]
 [ 0.06796097 -0.07688441  0.99472059]]

 t_gt:
[-0.80693754  0.58208523  0.10014289]

Pose Error in degrees for R and t:
149.731122603263 57.46381270749974

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-5.05803116e-01  8.62648566e-01 -8.12238109e-04]
 [-8.62648030e-01 -5.05803727e-01 -9.83363398e-04]
 [-1.25913009e-03  2.03287334e-04  9.99999187e-01]]

 t_estimated:
[[0.69353508]
 [0.72042242]
 [0.0007908 ]]

 R_gt:
[[ 0.97307408  0.1859479  -0.13619525]
 [-0.16549468  0.97493868  0.14867869]
 [ 0.16042935 -0.1221351   0.97946114]]

 t_gt:
[-0.89270885  0.3999718  -0.20758966]

Pose Error in degrees for R and t:
110.57732170997767 70.66199122417937

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 8.93786428e-02  9.95996807e-01 -1.34858010e-03]
 [-9.95997646e-01  8.93780341e-02 -5.05244747e-04]
 [-3.82688716e-04  1.38834070e-03  9.99998963e-01]]

 t_estimated:
[[-4.88108411e-02]
 [ 9.98807889e-01]
 [-5.49363479e-04]]

 R_gt:
[[ 0.95130455  0.23867112 -0.19507803]
 [-0.19821278  0.95829798  0.20585526]
 [ 0.23607487 -0.15716384  0.9589409 ]]

 t_gt:
[-0.91879884  0.29654906 -0.26051361]

Pose Error in degrees for R and t:
73.60239638132487 70.05085164625214

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.99999865e-01  5.09228052e-04  1.00087189e-04]
 [-5.09219094e-04  9.99999866e-01 -8.95141349e-05]
 [-1.00132759e-04  8.94631566e-05  9.99999991e-01]]

 t_estimated:
[[-0.99999566]
 [-0.00274194]
 [ 0.00107855]]

 R_gt:
[[ 0.99498882 -0.09899656 -0.01401805]
 [ 0.09925301  0.99488127  0.01896938]
 [ 0.01206811 -0.02026497  0.99972195]]

 t_gt:
[ 0.26673347 -0.96371606 -0.01022796]

Pose Error in degrees for R and t:
5.8779264590192914 74.68646526450402

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.0748985   0.99718985  0.00161736]
 [ 0.99718099  0.07489031  0.00463781]
 [ 0.00450365  0.00196016 -0.99998794]]

 t_estimated:
[[-0.06142182]
 [-0.99810452]
 [-0.00383886]]

 R_gt:
[[ 0.96322925 -0.26201904 -0.05945847]
 [ 0.26173972  0.96505588 -0.01256744]
 [ 0.06067382 -0.00345692  0.99815149]]

 t_gt:
[ 0.60007806 -0.75786305 -0.25602717]

Pose Error in degrees for R and t:
177.55506708072824 43.899967461228314

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99998515e-01 -1.71796949e-03  1.38647384e-04]
 [ 1.71785366e-03  9.99998179e-01  8.31272413e-04]
 [-1.40075232e-04 -8.31033003e-04  9.99999645e-01]]

 t_estimated:
[[0.54723315]
 [0.83697935]
 [0.00120215]]

 R_gt:
[[ 0.92053899 -0.39057094 -0.00781167]
 [ 0.3904134   0.92049471 -0.0163334 ]
 [ 0.01357009  0.01198544  0.99983652]]

 t_gt:
[ 0.5778163  -0.81293285 -0.07258438]

Pose Error in degrees for R and t:
22.91390024761953 68.63579544102852

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.51125058  0.85942112  0.00426488]
 [-0.85943104 -0.51123774 -0.00377658]
 [-0.0010653  -0.00559614  0.99998377]]

 t_estimated:
[[0.10697697]
 [0.99425652]
 [0.00314638]]

 R_gt:
[[ 0.98058111 -0.19204418 -0.03975085]
 [ 0.19286922  0.98105887  0.01803139]
 [ 0.03553571 -0.02534791  0.99904645]]

 t_gt:
[ 0.76019582 -0.64933388 -0.02162953]

Pose Error in degrees for R and t:
131.86613368581274 55.6428995151516

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-2.19425758e-01 -9.75627421e-01 -1.86311448e-03]
 [ 9.75628811e-01 -2.19426976e-01  4.73983567e-04]
 [-8.71248942e-04 -1.71370396e-03  9.99998152e-01]]

 t_estimated:
[[9.94847330e-01]
 [1.01380800e-01]
 [8.50153124e-04]]

 R_gt:
[[ 0.92890769 -0.35308948 -0.11161317]
 [ 0.35776002  0.93349551  0.02434825]
 [ 0.09559449 -0.062548    0.99345249]]

 t_gt:
[ 0.83755967 -0.54615758 -0.01434243]

Pose Error in degrees for R and t:
81.99386000523396 38.9347710075685

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 2.41394663e-01  9.70426222e-01 -1.25067280e-03]
 [-9.70426973e-01  2.41394014e-01 -6.48280065e-04]
 [-3.27203047e-04  1.37017797e-03  9.99999008e-01]]

 t_estimated:
[[-0.02917732]
 [ 0.9995737 ]
 [-0.00105096]]

 R_gt:
[[ 0.91476588 -0.38596247 -0.11931429]
 [ 0.39338653  0.91823746  0.04568544]
 [ 0.09192677 -0.08872807  0.9918041 ]]

 t_gt:
[ 0.84216973 -0.53717454  0.04683654]

Pose Error in degrees for R and t:
99.2664917561501 55.835762993538076

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99973562e-01  7.27136716e-03 -4.46106796e-05]
 [-7.27136695e-03  9.99973563e-01  4.84458014e-06]
 [ 4.46447270e-05 -4.52007144e-06  9.99999999e-01]]

 t_estimated:
[[-9.70816967e-01]
 [-2.39820782e-01]
 [-6.39124641e-04]]

 R_gt:
[[ 0.99554195  0.0931083   0.01507756]
 [-0.09328549  0.9955736   0.01147194]
 [-0.0139425  -0.01282615  0.99982023]]

 t_gt:
[-0.7630706   0.62121082  0.17838267]

Pose Error in degrees for R and t:
5.049746397727702 53.721649522304915

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.41701425e-01 -3.36449517e-01 -3.84642976e-04]
 [ 3.36449615e-01  9.41701442e-01  2.24874756e-04]
 [ 2.86559842e-04 -3.41177860e-04  9.99999901e-01]]

 t_estimated:
[[-0.70318361]
 [-0.71100763]
 [-0.000978  ]]

 R_gt:
[[ 0.95816471  0.28522286  0.02385193]
 [-0.28560847  0.95823444  0.01466013]
 [-0.01867417 -0.0208592   0.99960842]]

 t_gt:
[-0.70818867  0.70061407  0.08722806]

Pose Error in degrees for R and t:
36.282211666698224 89.98621499894388

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.28168635e-01  3.72159336e-01  6.42515759e-04]
 [-3.72159618e-01  9.28168663e-01  3.90771909e-04]
 [-4.50933579e-04 -6.01820649e-04  9.99999717e-01]]

 t_estimated:
[[0.56069439]
 [0.82802237]
 [0.00086795]]

 R_gt:
[[ 0.86146443  0.50168311  0.07869603]
 [-0.50135292  0.86487193 -0.0253416 ]
 [-0.08077596 -0.01762369  0.99657701]]

 t_gt:
[-0.61982468  0.77721694  0.10840292]

Pose Error in degrees for R and t:
9.549536284146562 72.77559744681439

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999715e-01  5.56041284e-04 -5.10302625e-04]
 [-5.55677063e-04  9.99999591e-01  7.13598851e-04]
 [ 5.10699207e-04 -7.13315084e-04  9.99999615e-01]]

 t_estimated:
[[-0.98968784]
 [-0.14323019]
 [-0.00175724]]

 R_gt:
[[ 0.96319829 -0.2630227  -0.05538744]
 [ 0.26116705  0.96452275 -0.03854996]
 [ 0.06356289  0.02266604  0.99772025]]

 t_gt:
[ 0.87065182 -0.45348559 -0.19056815]

Pose Error in degrees for R and t:
15.7230188316335 37.213653428115435

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999143e-01  1.06164878e-03  7.66432994e-04]
 [-1.06137595e-03  9.99999373e-01 -3.56298304e-04]
 [-7.66810777e-04  3.55484525e-04  9.99999643e-01]]

 t_estimated:
[[9.30627854e-01]
 [3.65965960e-01]
 [8.44646033e-04]]

 R_gt:
[[ 0.85536631 -0.51725528 -0.02819611]
 [ 0.51373857  0.85402147 -0.08197117]
 [ 0.06648135  0.05563017  0.99623495]]

 t_gt:
[ 0.92368957 -0.35510438 -0.14386958]

Pose Error in degrees for R and t:
31.54258959951663 43.15269094415564

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 9.99997238e-01  2.30382122e-03  4.64443920e-04]
 [-2.30379963e-03  9.99997345e-01 -4.70075570e-05]
 [-4.64550984e-04  4.59374414e-05  9.99999891e-01]]

 t_estimated:
[[-9.99996770e-01]
 [ 2.50708113e-03]
 [ 4.17512027e-04]]

 R_gt:
[[ 0.72320603 -0.68927296 -0.04330385]
 [ 0.68523183  0.72396553 -0.07955906]
 [ 0.08618875  0.0278656   0.99588877]]

 t_gt:
[ 0.957198   -0.27449257 -0.0917922 ]

Pose Error in degrees for R and t:
43.95234775741537 16.680265923861217

Number of keypoints:
Image1: 384
Image2: 384

 R_estimated:
[[-6.22639143e-01 -7.82508514e-01  9.60696100e-04]
 [-7.82508842e-01  6.22639469e-01  5.24666355e-05]
 [-6.39222899e-04 -7.19085412e-04 -9.99999537e-01]]

 t_estimated:
[[0.91430054]
 [0.40503349]
 [0.00154578]]

 R_gt:
[[ 0.9990122  -0.00130301  0.04442031]
 [ 0.00384189  0.99836119 -0.05711255]
 [-0.04427349  0.05722776  0.9973787 ]]

 t_gt:
[0.44608482 0.84808711 0.2859311 ]

Pose Error in degrees for R and t:
179.08170416152927 41.25334981157424

Number of keypoints:
Image1: 414
Image2: 414

 R_estimated:
[[ 9.99637009e-01 -2.69416192e-02  1.43292390e-05]
 [ 2.69416204e-02  9.99637005e-01 -8.67289807e-05]
 [-1.19874184e-05  8.70835518e-05  9.99999996e-01]]

 t_estimated:
[[ 6.62539416e-01]
 [-7.49026793e-01]
 [-6.21427359e-04]]

 R_gt:
[[ 0.99734653 -0.06864086  0.02425406]
 [ 0.06997208  0.99579514 -0.05915056]
 [-0.02009304  0.0606909   0.99795419]]

 t_gt:
[ 0.66257716 -0.69913542 -0.26870276]

Pose Error in degrees for R and t:
4.395397211688294 15.6724766493904

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.97049008e-01 -7.67676653e-02 -2.34948642e-05]
 [ 7.67676671e-02  9.97049005e-01  8.88883287e-05]
 [ 1.66017815e-05 -9.04296659e-05  9.99999996e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99535021 -0.09107052 -0.03138348]
 [ 0.09133066  0.99579715  0.00694351]
 [ 0.03061924 -0.00977613  0.9994828 ]]

 t_gt:
[ 0.57299434 -0.80587411 -0.14914559]

Pose Error in degrees for R and t:
2.018055616129185 55.223482139392

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[-0.46923867 -0.88291983 -0.01635989]
 [-0.88296796  0.46938672 -0.00660969]
 [ 0.01351494  0.01134374 -0.99984432]]

 t_estimated:
[[ 0.88340235]
 [ 0.46855273]
 [-0.00765602]]

 R_gt:
[[ 0.99445628  0.1004855   0.03099059]
 [-0.09868902  0.99360388 -0.05488805]
 [-0.03630796  0.0515258   0.99801168]]

 t_gt:
[-0.34132797  0.93311396 -0.11310857]

Pose Error in degrees for R and t:
179.07790022154026 82.15179226715279

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99675660e-01  2.54667615e-02 -1.35183339e-04]
 [-2.54667535e-02  9.99675668e-01  6.06679558e-05]
 [ 1.36684511e-04 -5.72055980e-05  9.99999989e-01]]

 t_estimated:
[[ 4.33676835e-01]
 [-9.01068320e-01]
 [-5.34852446e-04]]

 R_gt:
[[ 0.98199598  0.18789446  0.01952931]
 [-0.18745837  0.98202321 -0.02214418]
 [-0.02333934  0.01808425  0.99956398]]

 t_gt:
[-0.3064309   0.95167074 -0.0205648 ]

Pose Error in degrees for R and t:
9.512876969009222 7.944947272922651

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.98138673e-01 -6.09837335e-02 -4.15760770e-04]
 [ 6.09838516e-02  9.98138714e-01  2.77494147e-04]
 [ 3.98064292e-04 -3.02332333e-04  9.99999875e-01]]

 t_estimated:
[[-0.252268 ]
 [-0.9676569]
 [-0.0009896]]

 R_gt:
[[ 0.93740933  0.34476325 -0.04901602]
 [-0.34527352  0.93850049 -0.0020861 ]
 [ 0.04528239  0.0188791   0.99879528]]

 t_gt:
[-0.20884557  0.97096641 -0.11665227]

Pose Error in degrees for R and t:
23.853536797826337 27.53087802003655

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.01225773 -0.9121735   0.40962086]
 [ 0.95654552 -0.10865393 -0.27058269]
 [ 0.29132528  0.39513773  0.87120362]]

 t_estimated:
[[ 0.82476355]
 [-0.29684577]
 [-0.4812979 ]]

 R_gt:
[[ 0.99852092 -0.04702944 -0.0273278 ]
 [ 0.04683612  0.99887368 -0.00766667]
 [ 0.02765848  0.00637534  0.99959709]]

 t_gt:
[ 0.51178179 -0.72838939 -0.45555273]

Pose Error in degrees for R and t:
93.90722729524794 30.95463193107571

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.98916327  0.14681253 -0.00145307]
 [-0.14680551 -0.98915679 -0.00412082]
 [-0.0020423  -0.00386284  0.99999045]]

 t_estimated:
[[0.48020732]
 [0.87715288]
 [0.00193632]]

 R_gt:
[[ 0.98945728 -0.14473792  0.00516458]
 [ 0.14481624  0.98824142 -0.04906921]
 [ 0.00199936  0.04929957  0.99878187]]

 t_gt:
[ 0.71242562 -0.62656488 -0.3160161 ]

Pose Error in degrees for R and t:
179.9032744843983 77.98937342388616

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 6.21620736e-01  7.83315340e-01  2.17707048e-03]
 [-7.83308358e-01  6.21624442e-01 -3.32713117e-03]
 [-3.95951310e-03  3.62896224e-04  9.99992095e-01]]

 t_estimated:
[[-9.53161160e-01]
 [-3.02461851e-01]
 [-7.94398590e-04]]

 R_gt:
[[ 0.96665776 -0.19885261  0.16134311]
 [ 0.20895879  0.97674011 -0.04812379]
 [-0.14801979  0.08023291  0.98572408]]

 t_gt:
[ 0.69830946 -0.68707475  0.20072912]

Pose Error in degrees for R and t:
64.0408827640981 62.745288749401176

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[ 9.99110760e-01  4.21626589e-02 -1.81567127e-06]
 [-4.21626590e-02  9.99110759e-01 -3.65824775e-05]
 [ 2.71642181e-07  3.66265004e-05  9.99999999e-01]]

 t_estimated:
[[-8.44563430e-02]
 [-9.96427129e-01]
 [-3.19210905e-04]]

 R_gt:
[[ 9.97667821e-01  1.63698640e-03 -6.82236730e-02]
 [-3.00314540e-05  9.99721830e-01  2.35535260e-02]
 [ 6.82431713e-02 -2.34960476e-02  9.97391427e-01]]

 t_gt:
[ 0.61101724 -0.53021732 -0.5878159 ]

Pose Error in degrees for R and t:
4.769810098350342 61.51645970403248

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 9.99999989e-01 -1.47024468e-04  3.88286163e-06]
 [ 1.47024661e-04  9.99999988e-01 -4.97671287e-05]
 [-3.87554460e-06  4.97676990e-05  9.99999999e-01]]

 t_estimated:
[[ 2.23561749e-01]
 [-9.74689719e-01]
 [-3.09753621e-04]]

 R_gt:
[[ 0.9957142  -0.03245029 -0.08659643]
 [ 0.03574928  0.99868174  0.03681144]
 [ 0.08528721 -0.03974977  0.99556308]]

 t_gt:
[ 0.76882245 -0.56917858 -0.29145805]

Pose Error in degrees for R and t:
5.742128265312897 43.38603834449854

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99995713e-01  2.92718169e-03  6.82187620e-05]
 [-2.92718280e-03  9.99995716e-01  1.61828020e-05]
 [-6.81710997e-05 -1.63824214e-05  9.99999998e-01]]

 t_estimated:
[[ 7.54010573e-02]
 [-9.97153205e-01]
 [ 4.07363288e-04]]

 R_gt:
[[ 9.93810234e-01  8.51510170e-04 -1.11076544e-01]
 [ 6.94104337e-03  9.97539380e-01  6.97473092e-02]
 [ 1.10862594e-01 -7.00870204e-02  9.91361459e-01]]

 t_gt:
[ 0.66853631 -0.69872585 -0.25463971]

Pose Error in degrees for R and t:
7.547667414417906 41.66526483355658

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99779828e-01  2.09831289e-02 -5.65500109e-05]
 [-2.09831265e-02  9.99779829e-01  4.26235677e-05]
 [ 5.74319360e-05 -4.14275872e-05  9.99999997e-01]]

 t_estimated:
[[-0.99996749]
 [ 0.00795862]
 [-0.00129762]]

 R_gt:
[[ 9.94931301e-01  1.00547696e-01 -7.27895408e-04]
 [-1.00518522e-01  9.94780992e-01  1.75297294e-02]
 [ 2.48569487e-03 -1.73673687e-02  9.99846040e-01]]

 t_gt:
[-0.35708975  0.92478446  0.13137965]

Pose Error in degrees for R and t:
4.676823000579049 68.63747906753315

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 6.68985239e-01  7.43272240e-01 -2.26437661e-03]
 [-7.43275559e-01  6.68980214e-01 -2.62997742e-03]
 [-4.39966061e-04  3.44247187e-03  9.99993978e-01]]

 t_estimated:
[[-0.59013446]
 [ 0.80730199]
 [-0.00219442]]

 R_gt:
[[ 0.98703473  0.15747465  0.03103509]
 [-0.15844295  0.98685924  0.03169715]
 [-0.02563635 -0.03620367  0.99901512]]

 t_gt:
[-0.3189422   0.8976514   0.30413457]

Pose Error in degrees for R and t:
39.010720381555394 24.18503629653763

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.96972546e-01 -7.77491629e-02 -9.00021883e-04]
 [ 7.77494604e-02  9.96972884e-01  3.00327968e-04]
 [ 8.73947164e-04 -3.69394955e-04  9.99999550e-01]]

 t_estimated:
[[-0.66853342]
 [-0.74367982]
 [-0.00184387]]

 R_gt:
[[ 0.98544523  0.16770911  0.02776129]
 [-0.16802492  0.98573694  0.00946568]
 [-0.02577866 -0.01399263  0.99956922]]

 t_gt:
[-0.17027849  0.96314429  0.2082266 ]

Pose Error in degrees for R and t:
14.22912958989127 52.92800662675441

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 6.14675756e-01  7.88778664e-01  1.39062150e-03]
 [-7.88779072e-01  6.14676703e-01 -3.56751073e-04]
 [-1.13618027e-03 -8.77606900e-04  9.99998969e-01]]

 t_estimated:
[[0.03796444]
 [0.99927817]
 [0.00135587]]

 R_gt:
[[ 0.99994804  0.00283982  0.00972284]
 [-0.00292309  0.99995963  0.0085014 ]
 [-0.00969804 -0.00852925  0.99991626]]

 t_gt:
[0.78437118 0.17655619 0.59463414]

Pose Error in degrees for R and t:
51.91041642193932 78.0526242237521

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.98194868e-01  6.00581797e-02 -1.41241941e-04]
 [-6.00580714e-02  9.98194656e-01  6.75659932e-04]
 [ 1.81565856e-04 -6.65957558e-04  9.99999762e-01]]

 t_estimated:
[[0.22113079]
 [0.9752435 ]
 [0.001134  ]]

 R_gt:
[[ 0.99716165  0.07432577 -0.0120165 ]
 [-0.07386189  0.99664321  0.03530195]
 [ 0.01460061 -0.03431466  0.99930453]]

 t_gt:
[-0.01224993  0.98482425  0.17312176]

Pose Error in degrees for R and t:
2.248020175916486 16.678365944491798

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.49013168e-01 -3.15236135e-01  4.32162655e-04]
 [ 3.15236359e-01  9.49012987e-01 -6.23609435e-04]
 [-2.13543743e-04  7.28046947e-04  9.99999712e-01]]

 t_estimated:
[[-0.67731778]
 [-0.73568989]
 [-0.00100642]]

 R_gt:
[[ 0.98745554  0.1563155   0.02228391]
 [-0.15715331  0.98664784  0.04276119]
 [-0.01530225 -0.04572716  0.99883642]]

 t_gt:
[-0.20791839  0.93477421  0.28804012]

Pose Error in degrees for R and t:
27.537164969070364 56.82712636110172

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-9.09256877e-01 -4.16235286e-01  3.42817021e-04]
 [-4.16235424e-01  9.09256657e-01 -6.35455884e-04]
 [-4.72094971e-05 -7.20485221e-04 -9.99999739e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.98993417 -0.09929585  0.10085056]
 [ 0.10134996  0.99473072 -0.01543371]
 [-0.09878509  0.02549978  0.99478153]]

 t_gt:
[ 0.60837777 -0.63279862  0.47900145]

Pose Error in degrees for R and t:
174.63683776823123 52.93372588380355

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.97761773  0.21032037  0.00537762]
 [ 0.21023516  0.97756084 -0.0132657 ]
 [-0.008047   -0.01183822 -0.99989755]]

 t_estimated:
[[ 0.6677734 ]
 [-0.74422263]
 [ 0.01453841]]

 R_gt:
[[ 0.96917083 -0.11376934  0.21855342]
 [ 0.12086079  0.99248134 -0.01931509]
 [-0.21471215  0.04513478  0.97563402]]

 t_gt:
[ 0.45990389 -0.46582525  0.75597305]

Pose Error in degrees for R and t:
166.9943269116433 48.334556372602385

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.03094930e-01 -4.29436665e-01  1.92312068e-03]
 [ 4.29440751e-01  9.03089946e-01 -3.03175907e-03]
 [-4.34802443e-04  3.56383263e-03  9.99993555e-01]]

 t_estimated:
[[-0.05525101]
 [-0.9984647 ]
 [-0.0039465 ]]

 R_gt:
[[ 0.93796933 -0.11942171  0.32550431]
 [ 0.13924274  0.98952027 -0.03820236]
 [-0.31753042  0.08115659  0.94476899]]

 t_gt:
[ 0.43783754 -0.34690307  0.82943146]

Pose Error in degrees for R and t:
25.991788901066585 71.4032134593468

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[-3.16241765e-03  9.99994797e-01  6.37092511e-04]
 [-9.99993188e-01 -3.16119851e-03 -1.90559826e-03]
 [-1.90357436e-03 -6.43114469e-04  9.99997981e-01]]

 t_estimated:
[[0.00146883]
 [0.99999809]
 [0.00128741]]

 R_gt:
[[ 0.99665658 -0.00807063  0.0813093 ]
 [ 0.0108353   0.99937646 -0.03360284]
 [-0.08098745  0.0343704   0.99612253]]

 t_gt:
[-0.40152909  0.59583376  0.69552607]

Pose Error in degrees for R and t:
90.82647653703555 53.4061801028622

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 0.3556895   0.93445051 -0.01694744]
 [ 0.93442067 -0.35520186  0.02626118]
 [ 0.01852002 -0.02517686 -0.99951145]]

 t_estimated:
[[-7.58491743e-01]
 [-6.51682250e-01]
 [-7.21685769e-04]]

 R_gt:
[[ 0.99202727  0.05325692  0.11421832]
 [-0.04400201  0.99565413 -0.08207152]
 [-0.1180921   0.07639063  0.99005954]]

 t_gt:
[-0.32390337  0.94487249  0.04798521]

Pose Error in degrees for R and t:
174.24859960800515 68.27739967617703

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 7.50160309e-01 -6.61255179e-01 -1.04859360e-03]
 [ 6.61255415e-01  7.50160818e-01 -1.52254695e-04]
 [ 8.87293042e-04 -5.79172770e-04  9.99999439e-01]]

 t_estimated:
[[ 0.37494652]
 [-0.92704592]
 [-0.00098356]]

 R_gt:
[[ 0.98133335  0.15160476  0.11832624]
 [-0.1400358   0.9850164  -0.10065799]
 [-0.1318133   0.08220792  0.98786027]]

 t_gt:
[-0.30857745  0.95029857  0.04138338]

Pose Error in degrees for R and t:
50.58685490314182 4.648129293909724

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99800566e-01  1.99705842e-02  6.33959554e-05]
 [-1.99705786e-02  9.99800564e-01 -8.87548420e-05]
 [-6.51557980e-05  8.74710874e-05  9.99999994e-01]]

 t_estimated:
[[-0.31706171]
 [-0.94840389]
 [-0.00139062]]

 R_gt:
[[ 0.99943927  0.02480438  0.0224775 ]
 [-0.02409045  0.999214   -0.03150687]
 [-0.02324089  0.03094911  0.9992505 ]]

 t_gt:
[ 0.50500623  0.85775531 -0.09604446]

Pose Error in degrees for R and t:
2.2265374138232716 13.224029235643464

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.97141305e-01  7.55562822e-02  6.82862809e-04]
 [-7.55551873e-02  9.97140482e-01 -1.50780841e-03]
 [-7.94834549e-04  1.45190422e-03  9.99998630e-01]]

 t_estimated:
[[ 0.53461292]
 [-0.8450677 ]
 [-0.00704316]]

 R_gt:
[[ 0.99848821 -0.00640257  0.05458523]
 [ 0.01018761  0.99753939 -0.06936117]
 [-0.05400727  0.06981359  0.99609656]]

 t_gt:
[ 0.97476238 -0.22119003  0.03022027]

Pose Error in degrees for R and t:
6.91573942340877 44.94150899042804

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999916e-01  4.07347869e-04  4.39206719e-05]
 [-4.07348655e-04  9.99999917e-01  1.78929041e-05]
 [-4.39133796e-05 -1.79107936e-05  9.99999999e-01]]

 t_estimated:
[[ 9.90412579e-01]
 [-1.38139742e-01]
 [ 5.78483773e-04]]

 R_gt:
[[ 0.99862522 -0.05239913 -0.00123051]
 [ 0.05229506  0.99767831 -0.04362804]
 [ 0.00351344  0.04350509  0.99904691]]

 t_gt:
[ 0.75422405 -0.55501617 -0.35086055]

Pose Error in degrees for R and t:
3.9263212442613753 34.56735073398914

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 2.14367683e-01 -9.76741009e-01 -4.84752446e-03]
 [-9.76752675e-01 -2.14360689e-01 -1.92505551e-03]
 [ 8.41161981e-04  5.14750217e-03 -9.99986398e-01]]

 t_estimated:
[[8.45472064e-01]
 [5.34019193e-01]
 [6.99894093e-04]]

 R_gt:
[[ 0.9707718  -0.23957436  0.01439481]
 [ 0.23999644  0.96954922 -0.04873992]
 [-0.00227979  0.05077053  0.99870761]]

 t_gt:
[ 0.85869492 -0.49193351 -0.1436818 ]

Pose Error in degrees for R and t:
177.8231985094116 62.40620424634007

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 7.86886879e-01  6.17089158e-01  3.16394142e-03]
 [ 6.17081605e-01 -7.86893094e-01  3.09052503e-03]
 [ 4.39681314e-03 -4.79483539e-04 -9.99990219e-01]]

 t_estimated:
[[9.80003730e-01]
 [1.98977576e-01]
 [7.83376283e-04]]

 R_gt:
[[ 0.8573658  -0.51469841  0.00307417]
 [ 0.51453157  0.85690045 -0.03129061]
 [ 0.01347138  0.02840945  0.99950594]]

 t_gt:
[ 0.91833853 -0.3925377  -0.05068034]

Pose Error in degrees for R and t:
178.466323281618 34.731666516926964

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-5.81350567e-01  8.13651917e-01 -1.44111937e-03]
 [-8.13650833e-01 -5.81352235e-01 -1.37855081e-03]
 [-1.95945848e-03  3.71146677e-04  9.99998011e-01]]

 t_estimated:
[[9.35443650e-01]
 [3.53475019e-01]
 [7.66757091e-04]]

 R_gt:
[[ 0.79067122 -0.61216431  0.00967388]
 [ 0.61214211  0.79016011 -0.03046739]
 [ 0.01100697  0.03001262  0.99948873]]

 t_gt:
[ 0.93659757 -0.34790571 -0.04179253]

Pose Error in degrees for R and t:
163.3027663954774 41.13808819379484

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 7.18291681e-01  6.95741833e-01  6.01991588e-04]
 [-6.95741007e-01  7.18291820e-01 -1.14588185e-03]
 [-1.22964357e-03  4.04247167e-04  9.99999162e-01]]

 t_estimated:
[[0.32675961]
 [0.9451068 ]
 [0.00113458]]

 R_gt:
[[ 0.99095322 -0.12862883  0.03830076]
 [ 0.12951107  0.99134426 -0.02150852]
 [-0.03520271  0.02627425  0.99903498]]

 t_gt:
[ 0.6296289  -0.76737364  0.12126476]

Pose Error in degrees for R and t:
51.559430849971776 58.70965177749075

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.67953161e-01 -2.51130674e-01  2.51820357e-04]
 [ 2.51130606e-01  9.67953173e-01  2.72449218e-04]
 [-3.12170669e-04 -2.00478283e-04  9.99999931e-01]]

 t_estimated:
[[ 9.99385195e-01]
 [-3.50504957e-02]
 [ 8.33292812e-04]]

 R_gt:
[[ 0.97592233 -0.21071633  0.05633649]
 [ 0.21348307  0.97573529 -0.04863094]
 [-0.04472186  0.05948647  0.99722686]]

 t_gt:
[ 0.64722568 -0.76217517  0.01370862]

Pose Error in degrees for R and t:
4.8386402457515345 47.65805487414428

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 5.84771760e-01  8.11197660e-01  5.87142157e-04]
 [-8.11196583e-01  5.84771968e-01 -1.35985596e-03]
 [-1.44645625e-03  3.18917651e-04  9.99998903e-01]]

 t_estimated:
[[0.18996369]
 [0.98179053]
 [0.00107404]]

 R_gt:
[[ 0.98736434 -0.14881354  0.05445463]
 [ 0.15076268  0.98799745 -0.03361449]
 [-0.048798    0.04139981  0.99795064]]

 t_gt:
[ 0.53361164 -0.83735403  0.11873015]

Pose Error in degrees for R and t:
62.92761307475391 43.8949771059111

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-9.97253548e-01 -7.40537093e-02 -1.18668760e-03]
 [ 7.40547911e-02 -9.97253772e-01 -8.95122849e-04]
 [-1.11714152e-03 -9.80544340e-04  9.99998895e-01]]

 t_estimated:
[[0.78268553]
 [0.62241659]
 [0.00097424]]

 R_gt:
[[ 0.98928303  0.14441847  0.02152276]
 [-0.14408691  0.9894307  -0.01627015]
 [-0.02364474  0.01299549  0.9996363 ]]

 t_gt:
[-0.3987812   0.91490913  0.06256869]

Pose Error in degrees for R and t:
175.95043646600817 75.08443541941669

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.99997114 -0.00137631 -0.00747109]
 [ 0.00145193  0.99994767  0.0101262 ]
 [ 0.00745676 -0.01013676  0.99992082]]

 t_estimated:
[[0.53299905]
 [0.84611401]
 [0.00175907]]

 R_gt:
[[ 0.98039216  0.19650988  0.01467171]
 [-0.19582878  0.97987625 -0.03863745]
 [-0.02196952  0.0350068   0.99914565]]

 t_gt:
[-0.33005345  0.94340685 -0.03237653]

Pose Error in degrees for R and t:
11.807523876933672 51.519033359715934

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.95873714e-01 -9.07495036e-02  2.72025475e-04]
 [ 9.07496932e-02  9.95873418e-01 -7.92760810e-04]
 [-1.98960290e-04  8.14175880e-04  9.99999649e-01]]

 t_estimated:
[[-0.58693841]
 [-0.80962975]
 [-0.00172629]]

 R_gt:
[[ 0.94930948  0.31259375  0.03311642]
 [-0.30945957  0.94785723 -0.07615941]
 [-0.05519753  0.06205106  0.99654596]]

 t_gt:
[-0.2853342   0.9578184   0.03418043]

Pose Error in degrees for R and t:
23.825241895148775 52.5503745447036

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99987920e-01  4.91488737e-03 -6.81729295e-05]
 [-4.91487218e-03  9.99987897e-01  2.21118438e-04]
 [ 6.92588767e-05 -2.20780706e-04  9.99999973e-01]]

 t_estimated:
[[0.00217669]
 [0.99999692]
 [0.00119096]]

 R_gt:
[[ 0.99100476  0.13056466 -0.02936373]
 [-0.12871851  0.98999346  0.05783761]
 [ 0.03662182 -0.05353794  0.99789458]]

 t_gt:
[-0.41251773  0.90062333  0.13677261]

Pose Error in degrees for R and t:
8.074545249276317 25.856976071559036

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 8.82319252e-01 -4.70650358e-01 -9.89029367e-04]
 [ 4.70651109e-01  8.82319090e-01  7.46816786e-04]
 [ 5.21149902e-04 -1.12441860e-03  9.99999232e-01]]

 t_estimated:
[[9.97450132e-01]
 [7.13622859e-02]
 [8.10935067e-04]]

 R_gt:
[[ 0.94209152  0.31815556 -0.10601648]
 [-0.30944596  0.94656885  0.09084104]
 [ 0.12925415 -0.05277449  0.99020595]]

 t_gt:
[-0.23053398  0.96532408 -0.1224888 ]

Pose Error in degrees for R and t:
47.096754495475516 80.72589785480916

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-0.91878453  0.39472727 -0.00503707]
 [-0.39474163 -0.91878945  0.00223382]
 [-0.00374626  0.00404074  0.99998482]]

 t_estimated:
[[0.72345777]
 [0.69036823]
 [0.00075204]]

 R_gt:
[[ 0.8841893   0.45054807 -0.12335324]
 [-0.43463162  0.89024759  0.13621781]
 [ 0.17118793 -0.0668298   0.98296878]]

 t_gt:
[-0.15590786  0.98071522 -0.11785755]

Pose Error in degrees for R and t:
130.46438865290412 55.65510063989723

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 8.31475499e-01 -5.55559833e-01 -1.32888451e-03]
 [ 5.55560720e-01  8.31475873e-01  3.98453659e-04]
 [ 8.83570557e-04 -1.06958049e-03  9.99999038e-01]]

 t_estimated:
[[-0.00833304]
 [-0.99996474]
 [-0.00104163]]

 R_gt:
[[ 9.83573403e-01  1.80489276e-01 -2.87387849e-03]
 [-1.80511496e-01  9.83382107e-01 -1.93999641e-02]
 [-6.75825157e-04  1.96005861e-02  9.99808280e-01]]

 t_gt:
[-0.38877205  0.9190424  -0.06494127]

Pose Error in degrees for R and t:
44.16388391323421 23.694283821042045

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.35006268  0.93669934 -0.00710421]
 [ 0.93668792  0.35010691  0.00639514]
 [ 0.00847756 -0.00441573 -0.99995432]]

 t_estimated:
[[ 0.37168275]
 [-0.92835347]
 [-0.00343043]]

 R_gt:
[[ 0.96541014  0.26064334  0.00700064]
 [-0.26035666  0.96510369 -0.02812454]
 [-0.01408654  0.02532948  0.99958008]]

 t_gt:
[-0.32979822  0.94367989 -0.02648385]

Pose Error in degrees for R and t:
179.16646083901247 3.077359623011001

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.99978333  0.02064675  0.00264762]
 [-0.02064216  0.9997854  -0.00174862]
 [-0.00268316  0.00169359  0.99999497]]

 t_estimated:
[[0.05491632]
 [0.99847848]
 [0.00499239]]

 R_gt:
[[ 0.93843277  0.34544338  0.00359953]
 [-0.34412908  0.93567589 -0.07801534]
 [-0.03031757  0.07197412  0.99694555]]

 t_gt:
[-0.26955782  0.96166112 -0.05046267]

Pose Error in degrees for R and t:
19.504537356344237 19.066007571624215

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99852831e-01 -1.71556617e-02 -1.31193584e-05]
 [ 1.71556617e-02  9.99852831e-01  1.32032649e-06]
 [ 1.30947765e-05 -1.54520345e-06  1.00000000e+00]]

 t_estimated:
[[ 9.96670863e-01]
 [-8.15303117e-02]
 [-2.11280608e-06]]

 R_gt:
[[ 9.99781497e-01 -2.09467407e-02  8.69420133e-04]
 [ 2.09567079e-02  9.99700070e-01 -1.27277816e-02]
 [-6.02997338e-04  1.27449056e-02  9.99918527e-01]]

 t_gt:
[ 0.32160343 -0.86323655 -0.38909368]

Pose Error in degrees for R and t:
0.7586978652726916 66.98864568214822

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.29233077  0.95602925  0.02346919]
 [ 0.95460388  0.29318753 -0.05265468]
 [-0.05722029  0.0070112  -0.99833696]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99926968  0.02233731  0.03104038]
 [-0.02175022  0.99958081 -0.01912827]
 [-0.03145437  0.0184405   0.99933455]]

 t_gt:
[-0.89101379  0.17291061  0.4197575 ]

Pose Error in degrees for R and t:
175.02596437046896 80.34086337336313

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999998e-01 -2.40287669e-06  6.40209123e-05]
 [ 2.40837136e-06  9.99999996e-01 -8.58262162e-05]
 [-6.40207058e-05  8.58263702e-05  9.99999994e-01]]

 t_estimated:
[[3.47759698e-01]
 [9.37583641e-01]
 [3.28968004e-04]]

 R_gt:
[[ 0.99781615  0.02673871  0.06041399]
 [-0.02533862  0.99939563 -0.02381874]
 [-0.0610138   0.02223759  0.99788911]]

 t_gt:
[-0.78044009  0.05259177  0.62301474]

Pose Error in degrees for R and t:
4.006407988868283 77.17984718458922

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.95978282e-01  8.95949345e-02 -9.53444727e-05]
 [-8.95949381e-02  9.95978286e-01 -3.43281895e-05]
 [ 9.18853926e-05  4.27325134e-05  9.99999995e-01]]

 t_estimated:
[[-0.6822554 ]
 [-0.73111342]
 [-0.00085849]]

 R_gt:
[[ 0.98973959  0.02902844  0.13990624]
 [-0.03071603  0.99947881  0.00991442]
 [-0.13954609 -0.01411063  0.99011533]]

 t_gt:
[-0.42214831  0.16544142  0.89130238]

Pose Error in degrees for R and t:
8.761981376175974 80.42774045433197

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 8.28562205e-01 -5.59896785e-01 -5.12368092e-04]
 [ 5.59894495e-01  8.28560870e-01 -2.24480042e-03]
 [ 1.68138469e-03  1.57308471e-03  9.99997349e-01]]

 t_estimated:
[[-0.0398232 ]
 [-0.99920018]
 [-0.00362029]]

 R_gt:
[[ 0.98183087  0.07632986  0.17373009]
 [-0.07781427  0.99696647  0.00174132]
 [-0.17306985 -0.01522911  0.98479214]]

 t_gt:
[-0.56520635  0.29866587  0.76898665]

Pose Error in degrees for R and t:
39.75229764080583 73.8172113598851

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99998228e-01 -1.85531966e-03 -3.19769357e-04]
 [ 1.85533391e-03  9.99998278e-01  4.42784144e-05]
 [ 3.19686655e-04 -4.48716149e-05  9.99999948e-01]]

 t_estimated:
[[9.99970672e-01]
 [7.59567934e-03]
 [9.80564748e-04]]

 R_gt:
[[ 0.98448205  0.11202532  0.13507674]
 [-0.11250946  0.99364203 -0.00407687]
 [-0.13467411 -0.01118478  0.99082781]]

 t_gt:
[-0.71357141  0.42118751  0.55983652]

Pose Error in degrees for R and t:
10.191153252614624 44.78116647493954

Number of keypoints:
Image1: 398
Image2: 398

 R_estimated:
[[ 9.72490217e-01 -2.32943143e-01  5.19726047e-04]
 [ 2.32943547e-01  9.72489803e-01 -9.42151220e-04]
 [-2.85960615e-04  1.03729967e-03  9.99999421e-01]]

 t_estimated:
[[9.92698006e-01]
 [1.20623403e-01]
 [8.15022993e-04]]

 R_gt:
[[ 0.99906985 -0.03261088  0.02820575]
 [ 0.03467053  0.99651159 -0.07590411]
 [-0.0256321   0.0768113   0.99671605]]

 t_gt:
[ 0.56006981  0.62581603 -0.54284077]

Pose Error in degrees for R and t:
12.41335206114098 50.87415401993895

Number of keypoints:
Image1: 403
Image2: 403

 R_estimated:
[[ 9.99816505e-01 -1.91559404e-02  8.40932411e-05]
 [-1.91548735e-02 -9.99691373e-01  1.58192803e-02]
 [-2.18965903e-04 -1.58179883e-02 -9.99874864e-01]]

 t_estimated:
[[-0.09693506]
 [ 0.99525594]
 [ 0.00831957]]

 R_gt:
[[ 0.99978406 -0.01900835  0.00834246]
 [ 0.02007886  0.98749356 -0.15637396]
 [-0.00526626  0.15650823  0.98766253]]

 t_gt:
[ 0.26599863  0.74150797 -0.61596319]

Pose Error in degrees for R and t:
171.90972517054232 45.00208333720247

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 8.81550687e-01 -4.72087514e-01  1.32850073e-03]
 [ 4.72089139e-01  8.81549604e-01 -1.46334710e-03]
 [-4.80311399e-04  1.91718541e-03  9.99998047e-01]]

 t_estimated:
[[0.68645237]
 [0.72717412]
 [0.00096957]]

 R_gt:
[[ 0.99937407  0.01071701  0.0336989 ]
 [-0.00344929  0.9779638  -0.20874305]
 [-0.03519447  0.20849674  0.97738959]]

 t_gt:
[ 0.12131995  0.82284461 -0.55516504]

Pose Error in degrees for R and t:
30.985829870421608 47.070855289618486

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.91911933 -0.3939206   0.00679812]
 [-0.39384074  0.91911692  0.01065654]
 [-0.0104461   0.00711726 -0.99992011]]

 t_estimated:
[[0.9096355 ]
 [0.41540188]
 [0.00213049]]

 R_gt:
[[ 9.95949652e-01  8.11889497e-02 -3.86359761e-02]
 [-8.12661781e-02  9.96691867e-01 -4.20005077e-04]
 [ 3.84741629e-02  3.55870731e-03  9.99253113e-01]]

 t_gt:
[-0.65463157  0.62711453 -0.4221195 ]

Pose Error in degrees for R and t:
178.29378968426897 70.37449511390594

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999867e-01 -5.07131764e-04 -9.40993307e-05]
 [ 5.07131503e-04  9.99999871e-01 -2.79658556e-06]
 [ 9.41007368e-05  2.74886446e-06  9.99999996e-01]]

 t_estimated:
[[0.99750843]
 [0.07053765]
 [0.00117218]]

 R_gt:
[[ 0.99651684  0.07722071 -0.03147854]
 [-0.07687679  0.99696747  0.01201396]
 [ 0.03231093 -0.00955163  0.99943186]]

 t_gt:
[-0.72481224  0.60217159 -0.33471868]

Pose Error in degrees for R and t:
4.848376043417091 47.08419591870812

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-9.93949311e-01 -1.09831562e-01  1.34009025e-03]
 [-1.09831591e-01  9.93950210e-01  5.22789896e-05]
 [-1.33772487e-03 -9.52215782e-05 -9.99999101e-01]]

 t_estimated:
[[0.99849028]
 [0.05490974]
 [0.00144499]]

 R_gt:
[[ 0.99884007 -0.02941559 -0.03812599]
 [ 0.03085728  0.99880833  0.0377984 ]
 [ 0.03696924 -0.03893008  0.99855792]]

 t_gt:
[ 0.66667364 -0.74529674 -0.00888993]

Pose Error in degrees for R and t:
178.04922632726738 51.337609011073084

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.98842297e-01  4.81046687e-02  8.55226692e-05]
 [-4.81046541e-02  9.98842287e-01 -1.64656979e-04]
 [-9.33444280e-05  1.60352317e-04  9.99999983e-01]]

 t_estimated:
[[0.80797881]
 [0.58921061]
 [0.00105028]]

 R_gt:
[[ 0.99943021 -0.03350768 -0.00402474]
 [ 0.03354792  0.99938269  0.01043957]
 [ 0.00367232 -0.01056837  0.99993669]]

 t_gt:
[ 0.9412703  -0.26111544  0.21407696]

Pose Error in degrees for R and t:
4.724074494923703 52.6343612336475

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 2.82373578e-01  9.59289889e-01  5.29812944e-03]
 [ 9.59303990e-01 -2.82374924e-01 -5.07859206e-04]
 [ 1.00887470e-03  5.22592273e-03 -9.99985836e-01]]

 t_estimated:
[[8.50264953e-01]
 [5.26354495e-01]
 [6.74813455e-04]]

 R_gt:
[[ 0.99664756  0.00509582 -0.08164298]
 [-0.00997733  0.99817887 -0.05950038]
 [ 0.08119105  0.0601161   0.99488388]]

 t_gt:
[ 0.2078532   0.50596063 -0.83713851]

Pose Error in degrees for R and t:
179.84547554423082 63.73777579280764

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.2207555   0.9753277  -0.00170067]
 [ 0.97531908 -0.22074495  0.00493566]
 [ 0.00443847 -0.00274827 -0.99998637]]

 t_estimated:
[[0.35072487]
 [0.93647156]
 [0.00361572]]

 R_gt:
[[ 0.98001759  0.07334665 -0.18489041]
 [-0.10435942  0.9809203  -0.16402487]
 [ 0.16933246  0.18004279  0.96897441]]

 t_gt:
[ 0.01291574  0.6166006  -0.78717017]

Pose Error in degrees for R and t:
178.90565361502144 54.6118471418306

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.19109537e-01  3.94002051e-01  2.07781216e-04]
 [-3.94001987e-01  9.19109542e-01 -2.91346520e-04]
 [-3.05764824e-04  1.85913153e-04  9.99999936e-01]]

 t_estimated:
[[-9.99821310e-01]
 [-1.88871088e-02]
 [-7.90811518e-04]]

 R_gt:
[[ 0.97760918  0.20687068  0.03852304]
 [-0.20438186  0.97704369 -0.06011214]
 [-0.0500746   0.05089252  0.99744806]]

 t_gt:
[-0.84505384  0.50705354 -0.16964879]

Pose Error in degrees for R and t:
12.030618205635854 33.336209563010264

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-9.41736047e-01 -3.36334758e-01 -3.48541697e-03]
 [ 3.36351798e-01 -9.41708141e-01 -7.29698665e-03]
 [-8.28015293e-04 -8.04416163e-03  9.99967302e-01]]

 t_estimated:
[[0.93863174]
 [0.34491474]
 [0.00206771]]

 R_gt:
[[ 0.95450984  0.29448673  0.04677983]
 [-0.29295777  0.95541346 -0.03688857]
 [-0.05555758  0.02150648  0.99822368]]

 t_gt:
[-0.83574826  0.54871551 -0.02088389]

Pose Error in degrees for R and t:
177.45659357366648 53.470045931036516

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.76552613 -0.2335263   0.59952916]
 [-0.64178877  0.21115157 -0.73723957]
 [ 0.0455733  -0.94914724 -0.3115166 ]]

 t_estimated:
[[0.74820542]
 [0.66346392]
 [0.00206687]]

 R_gt:
[[ 0.85420978  0.51829136  0.04122043]
 [-0.51614725  0.85487235 -0.0527705 ]
 [-0.06258899  0.02380274  0.99775573]]

 t_gt:
[-0.78560212  0.61853586 -0.01557882]

Pose Error in degrees for R and t:
140.16721449508233 79.77886749199678

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99970937e-01 -7.61794199e-03 -3.04319922e-04]
 [ 7.61808666e-03  9.99970868e-01  4.77059076e-04]
 [ 3.00676848e-04 -4.79363547e-04  9.99999840e-01]]

 t_estimated:
[[0.5944694 ]
 [0.8041177 ]
 [0.00093177]]

 R_gt:
[[ 0.99574579 -0.08765649 -0.02839555]
 [ 0.08979035  0.9922825   0.08552275]
 [ 0.02067891 -0.08770785  0.99593094]]

 t_gt:
[ 0.6421959  -0.63822058  0.42456909]

Pose Error in degrees for R and t:
6.938990581422153 82.47012987125154

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.85498049e-01 -1.69686750e-01  4.74243409e-05]
 [ 1.69686666e-01  9.85497776e-01  7.53904916e-04]
 [-1.74664257e-04 -7.34924546e-04  9.99999715e-01]]

 t_estimated:
[[9.43815137e-01]
 [3.30472614e-01]
 [9.15436603e-04]]

 R_gt:
[[ 0.95174254 -0.30181927 -0.05560235]
 [ 0.30541105  0.94927051  0.07489911]
 [ 0.03017522 -0.08826596  0.99563907]]

 t_gt:
[ 0.85089559 -0.49825294  0.16649535]

Pose Error in degrees for R and t:
9.558088972002171 50.31386537119325

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 3.96788315e-01  9.17909823e-01  7.68029293e-04]
 [-9.17908585e-01  3.96789044e-01 -1.51115804e-03]
 [-1.69185242e-03 -1.05370830e-04  9.99998563e-01]]

 t_estimated:
[[0.59066589]
 [0.80691574]
 [0.00089359]]

 R_gt:
[[ 0.84106938 -0.54087508 -0.00753216]
 [ 0.54081716  0.84109748 -0.00849659]
 [ 0.01093024  0.00307288  0.99993523]]

 t_gt:
[ 0.9354878  -0.35273485 -0.02099294]

Pose Error in degrees for R and t:
99.36679786671985 74.45978458313324

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99999685e-01 -7.72095993e-04  1.86542256e-04]
 [ 7.72120996e-04  9.99999693e-01 -1.33998472e-04]
 [-1.86438739e-04  1.34142463e-04  9.99999974e-01]]

 t_estimated:
[[7.76681964e-03]
 [9.99969537e-01]
 [7.75906652e-04]]

 R_gt:
[[ 9.98680340e-01 -1.41008530e-02  4.93827748e-02]
 [ 1.40424610e-02  9.99900119e-01  1.51435061e-03]
 [-4.93995716e-02 -8.18552070e-04  9.98778517e-01]]

 t_gt:
[-0.05370336 -0.87350875  0.48383718]

Pose Error in degrees for R and t:
2.922869388366564 29.129249819496923

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.73417868e-01  2.29036060e-01  3.70618162e-04]
 [-2.29035289e-01  9.73407093e-01  4.63329577e-03]
 [ 7.00429461e-04 -4.59501753e-03  9.99989198e-01]]

 t_estimated:
[[0.76486588]
 [0.64418897]
 [0.00086818]]

 R_gt:
[[ 9.94837384e-01 -9.37899222e-02  3.87505268e-02]
 [ 9.37025155e-02  9.95592297e-01  4.08106222e-03]
 [-3.89625204e-02 -4.28555138e-04  9.99241115e-01]]

 t_gt:
[ 0.6682336  -0.7352074   0.11372748]

Pose Error in degrees for R and t:
18.754932907109325 87.8454391549134

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.19709695  0.98034696 -0.00852212]
 [ 0.98036446  0.19714046  0.00460114]
 [ 0.00619077 -0.00744791 -0.9999531 ]]

 t_estimated:
[[0.66441782]
 [0.74735778]
 [0.00230562]]

 R_gt:
[[ 0.98619038 -0.14600409  0.07816733]
 [ 0.14322873  0.98887965  0.04003671]
 [-0.08314426 -0.02828784  0.99613591]]

 t_gt:
[ 0.64570539 -0.71389348  0.27096246]

Pose Error in degrees for R and t:
178.20665305981998 84.03672731764485

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 1.00000000e+00 -5.40678613e-14 -1.40241551e-15]
 [ 5.42899059e-14  1.00000000e+00  1.53913340e-15]
 [ 1.22514845e-15 -1.44242257e-15  1.00000000e+00]]

 t_estimated:
[[-0.73582292]
 [-0.67717354]
 [-0.00079828]]

 R_gt:
[[ 0.98687428  0.16086685  0.01418145]
 [-0.16106916  0.98683652  0.01452974]
 [-0.01165739 -0.016623    0.99979321]]

 t_gt:
[-0.61630526  0.7819769   0.09316622]

Pose Error in degrees for R and t:
9.336698248561833 85.63460037916667

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 1.00000000e+00 -2.79939194e-09 -5.43851693e-12]
 [ 2.79939200e-09  1.00000000e+00  1.13056916e-12]
 [ 5.43851726e-12 -1.13056960e-12  1.00000000e+00]]

 t_estimated:
[[0.53247044]
 [0.84644726]
 [0.00150565]]

 R_gt:
[[ 0.97533466  0.21953571 -0.02297112]
 [-0.21954097  0.97560105  0.0023096 ]
 [ 0.02291667  0.00279079  0.99973347]]

 t_gt:
[-0.55033025  0.83153906 -0.07536188]

Pose Error in degrees for R and t:
12.752007094100783 65.75081385668219

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.80825257 -0.58882992  0.00266749]
 [ 0.58883344  0.80822753 -0.00659072]
 [ 0.00172487  0.00689768  0.99997472]]

 t_estimated:
[[-0.06651719]
 [-0.99775791]
 [-0.0073908 ]]

 R_gt:
[[ 0.9517715   0.30601259  0.02208657]
 [-0.30466943  0.9511702  -0.04951401]
 [-0.0361605   0.04039728  0.99852841]]

 t_gt:
[-0.50029282  0.86585459  0.00170996]

Pose Error in degrees for R and t:
53.929891690708295 33.8346571731551

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.98502975e-01  5.46974317e-02  6.24631483e-06]
 [-5.46974318e-02  9.98502975e-01  1.26460247e-05]
 [-5.54525887e-06 -1.29687506e-05  1.00000000e+00]]

 t_estimated:
[[0.89206636]
 [0.45190204]
 [0.00146721]]

 R_gt:
[[ 9.96397131e-01  8.45462018e-02 -6.63499999e-03]
 [-8.45380889e-02  9.96420004e-01  1.52288611e-03]
 [ 6.73960090e-03 -9.56322040e-04  9.99976270e-01]]

 t_gt:
[-0.62259742  0.78200891 -0.02888786]

Pose Error in degrees for R and t:
1.7580909745422149 78.34318493805388

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.21315657e-01  9.92612957e-01  1.42469031e-03]
 [-9.92613961e-01  1.21315256e-01  3.64814979e-04]
 [ 1.89283405e-04 -1.45842526e-03  9.99998919e-01]]

 t_estimated:
[[0.03136709]
 [0.99950726]
 [0.00116262]]

 R_gt:
[[ 0.98532613  0.17067307  0.00138047]
 [-0.17038564  0.98407865 -0.05058401]
 [-0.0099923   0.04960734  0.99871838]]

 t_gt:
[-0.52963059  0.84101137 -0.1104143 ]

Pose Error in degrees for R and t:
73.25919192599902 34.527359983732474

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.78469357e-01  2.06392143e-01 -6.64860171e-06]
 [-2.06392141e-01  9.78469354e-01  8.95485437e-05]
 [ 2.49875688e-05 -8.62482869e-05  9.99999996e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96291756  0.26958656  0.0106323 ]
 [-0.26908122  0.96248812 -0.03482024]
 [-0.01962067  0.03066865  0.999337  ]]

 t_gt:
[-0.4939328   0.86931651 -0.01786588]

Pose Error in degrees for R and t:
4.266374996402274 29.97999091080321

Number of keypoints:
Image1: 384
Image2: 384

 R_estimated:
[[ 9.67920578e-01 -2.51256278e-01 -1.94657520e-04]
 [ 2.51256309e-01  9.67920577e-01  1.53754643e-04]
 [ 1.49781200e-04 -1.97731213e-04  9.99999969e-01]]

 t_estimated:
[[ 8.88306955e-01]
 [-4.59250209e-01]
 [ 1.56964521e-05]]

 R_gt:
[[ 0.99783478  0.05339278  0.03843398]
 [-0.05417406  0.99834027  0.01957288]
 [-0.03732556 -0.02161216  0.99906952]]

 t_gt:
[-0.84002226 -0.13898542  0.52444796]

Pose Error in degrees for R and t:
17.807778644277153 46.97163840471765

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.99987159e-01  5.05833280e-03  3.09357002e-04]
 [-5.05827041e-03  9.99987186e-01 -2.02100687e-04]
 [-3.10375330e-04  2.00533281e-04  9.99999932e-01]]

 t_estimated:
[[-7.62956810e-01]
 [ 6.46449385e-01]
 [ 3.13257432e-04]]

 R_gt:
[[ 0.99794118 -0.01047166  0.0632883 ]
 [ 0.00922786  0.99975985  0.01990746]
 [-0.06348203 -0.01928239  0.99779706]]

 t_gt:
[-0.07311027 -0.82156862  0.56540241]

Pose Error in degrees for R and t:
3.884985756133522 61.631180232085605

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99637774e-01  2.69127376e-02  1.62141423e-04]
 [-2.69127986e-02  9.99637710e-01  3.86589410e-04]
 [-1.51678502e-04 -3.90813057e-04  9.99999912e-01]]

 t_estimated:
[[8.75613031e-01]
 [4.83012584e-01]
 [8.14523750e-04]]

 R_gt:
[[ 0.99525784 -0.08067607  0.05435943]
 [ 0.07936026  0.99650866  0.02594488]
 [-0.05626263 -0.02150817  0.99818444]]

 t_gt:
[ 0.49794553 -0.81562443  0.29463034]

Pose Error in degrees for R and t:
7.031482506256275 87.5761974035815

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-1.77892145e-01 -9.84048718e-01 -1.58262862e-03]
 [ 9.84049378e-01 -1.77893599e-01  8.30387861e-04]
 [-1.09868161e-03 -1.40966523e-03  9.99998403e-01]]

 t_estimated:
[[ 0.9881807 ]
 [-0.15328942]
 [ 0.0011244 ]]

 R_gt:
[[ 0.9986058   0.04171204 -0.03234776]
 [-0.04187358  0.9991147  -0.00430861]
 [ 0.0321392   0.00565708  0.99946765]]

 t_gt:
[-0.4682471   0.52777921 -0.7086563 ]

Pose Error in degrees for R and t:
102.65506717210314 57.01547298730205

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999384e-01  1.11018659e-03  4.19647862e-06]
 [-1.11018759e-03  9.99999353e-01  2.47255868e-04]
 [-3.92197576e-06 -2.47260375e-04  9.99999969e-01]]

 t_estimated:
[[0.99277849]
 [0.11995532]
 [0.00126352]]

 R_gt:
[[ 0.99945955 -0.02497333 -0.02139913]
 [ 0.02563762  0.99917821  0.03141067]
 [ 0.02059615 -0.0319428   0.99927709]]

 t_gt:
[ 0.68659861 -0.71744408  0.11771295]

Pose Error in degrees for R and t:
2.642767081507663 53.43546533946344

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.97714848e-01 -6.75653905e-02  2.06770264e-05]
 [ 6.75653912e-02  9.97714683e-01 -5.73957546e-04]
 [ 1.81498929e-05  5.74043017e-04  9.99999835e-01]]

 t_estimated:
[[-0.44502255]
 [-0.89551749]
 [-0.00183282]]

 R_gt:
[[ 0.99022377 -0.13096033 -0.04803687]
 [ 0.13254387  0.99067904  0.03141226]
 [ 0.04347498 -0.03747286  0.99835196]]

 t_gt:
[ 0.76410291 -0.64426955 -0.03261115]

Pose Error in degrees for R and t:
4.9662261327683295 76.29214158404135

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-3.53885474e-01 -9.35284982e-01 -2.65967381e-03]
 [ 9.35288398e-01 -3.53886418e-01 -1.22240330e-04]
 [-8.26892893e-04 -2.53082113e-03  9.99996456e-01]]

 t_estimated:
[[0.9903316 ]
 [0.13871094]
 [0.00161292]]

 R_gt:
[[ 0.98494241  0.17137709  0.02275325]
 [-0.17129313  0.98520382 -0.005638  ]
 [-0.02338231  0.00165604  0.999725  ]]

 t_gt:
[-0.87938759  0.47601154  0.00951203]

Pose Error in degrees for R and t:
120.59808152632174 36.405003872860405

Number of keypoints:
Image1: 318
Image2: 318

 R_estimated:
[[ 9.98759652e-01  4.97908095e-02 -1.80473297e-04]
 [-4.97907702e-02  9.98759647e-01  2.16123743e-04]
 [ 1.91010423e-04 -2.06869770e-04  9.99999960e-01]]

 t_estimated:
[[-9.96341494e-01]
 [-8.54608287e-02]
 [-2.73826935e-04]]

 R_gt:
[[ 0.94736412  0.31511237  0.05660168]
 [-0.31349465  0.94891805 -0.03573079]
 [-0.06497063  0.0161066   0.99775726]]

 t_gt:
[-0.82904396  0.55917933 -0.0021424 ]

Pose Error in degrees for R and t:
15.955341072543046 38.90178804733601

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.87382214e-01  1.58355007e-01 -2.34525519e-04]
 [-1.58354999e-01  9.87382242e-01  5.48443823e-05]
 [ 2.40251215e-04 -1.70140794e-05  9.99999971e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.88516644  0.46064848  0.06545017]
 [-0.46028006  0.88751339 -0.02150258]
 [-0.06799306 -0.01109198  0.99762403]]

 t_gt:
[-0.7982044   0.59985817  0.05513538]

Pose Error in degrees for R and t:
18.76093517908883 37.22201332420463

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.87031543e-01 -1.60526291e-01 -2.07620632e-04]
 [ 1.60526372e-01  9.87031443e-01  4.62287390e-04]
 [ 1.30718812e-04 -4.89620823e-04  9.99999872e-01]]

 t_estimated:
[[-0.58517859]
 [-0.81090389]
 [-0.00094843]]

 R_gt:
[[ 0.9995405  -0.01860379 -0.02391159]
 [ 0.0204121   0.99676557  0.07773485]
 [ 0.02238795 -0.07818762  0.99668642]]

 t_gt:
[ 0.23696136 -0.72591095  0.64567996]

Pose Error in degrees for R and t:
9.346507024772476 63.296926835980116

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.68484635e-01 -2.49073292e-01  8.59379588e-05]
 [ 2.49073276e-01  9.68484629e-01  1.62353210e-04]
 [-1.23667441e-04 -1.35831740e-04  9.99999983e-01]]

 t_estimated:
[[-0.99770562]
 [-0.06767383]
 [-0.00193354]]

 R_gt:
[[ 0.9972471  -0.06505773 -0.0355715 ]
 [ 0.07048542  0.98068224  0.18246532]
 [ 0.023013   -0.18447076  0.98256777]]

 t_gt:
[ 0.33771006 -0.64145838  0.6888273 ]

Pose Error in degrees for R and t:
14.986797715593358 72.85102795060882

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.41023256e-01 -3.38341875e-01  8.67149367e-05]
 [ 3.38341762e-01  9.41023098e-01  6.17540204e-04]
 [-2.90540469e-04 -5.51780409e-04  9.99999806e-01]]

 t_estimated:
[[0.65298895]
 [0.75736698]
 [0.00083502]]

 R_gt:
[[ 0.96936125 -0.2301091  -0.08594729]
 [ 0.24277558  0.95075551  0.19267743]
 [ 0.03737812 -0.20764048  0.97749065]]

 t_gt:
[ 0.67177656 -0.58796481  0.45057034]

Pose Error in degrees for R and t:
13.520000278677735 89.64096939019274

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.83165763e-01 -1.82715678e-01 -2.50042962e-04]
 [ 1.82715695e-01  9.83165791e-01  4.89900083e-05]
 [ 2.36882444e-04 -9.38520727e-05  9.99999968e-01]]

 t_estimated:
[[ 1.80609028e-01]
 [-9.83554688e-01]
 [-7.44738630e-04]]

 R_gt:
[[ 0.99399384  0.09957955  0.04540488]
 [-0.09657447  0.99325628 -0.06414976]
 [-0.05148751  0.05937957  0.99690594]]

 t_gt:
[-0.32420914  0.94504074 -0.04226614]

Pose Error in degrees for R and t:
16.781104335600794 8.876635054842007

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-7.95551280e-01 -6.05883399e-01 -1.86212141e-03]
 [ 6.05884955e-01 -7.95552189e-01 -3.69247736e-04]
 [-1.25769369e-03 -1.42198686e-03  9.99998198e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189838e-04]]

 R_gt:
[[ 0.9795301   0.19791913  0.03672225]
 [-0.19621131  0.97950836 -0.04543138]
 [-0.04496188  0.03729712  0.99829238]]

 t_gt:
[-0.28266561  0.95914888 -0.01155745]

Pose Error in degrees for R and t:
154.09710128393314 73.75775680184123

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999815e-01 -6.00481875e-04  9.88357942e-05]
 [ 6.00516460e-04  9.99999758e-01 -3.50264501e-04]
 [-9.86254428e-05  3.50323789e-04  9.99999934e-01]]

 t_estimated:
[[-9.44590253e-01]
 [-3.28250906e-01]
 [-7.72355072e-04]]

 R_gt:
[[ 0.92853125  0.37113074  0.00962182]
 [-0.36792599  0.9233582  -0.10973215]
 [-0.04960957  0.09834953  0.99391448]]

 t_gt:
[-0.23280161  0.96729525 -0.10071399]

Pose Error in degrees for R and t:
22.67309516664864 84.40272195142987

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.90649406e-01 -1.36432023e-01 -2.39793279e-04]
 [ 1.36432028e-01  9.90649434e-01  9.09242080e-07]
 [ 2.37427026e-04 -3.36162233e-05  9.99999971e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 9.98264666e-01  5.88926831e-02  6.51322908e-04]
 [-5.88954372e-02  9.98212641e-01  1.02096154e-02]
 [-4.87107170e-05 -1.02302144e-02  9.99946705e-01]]

 t_gt:
[-0.83023473  0.53823667  0.1449537 ]

Pose Error in degrees for R and t:
11.233053973015199 79.59506944781242

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.9956147   0.0934936  -0.00321095]
 [-0.09346135  0.99558183  0.00904371]
 [ 0.00404229 -0.00870395  0.99995395]]

 t_estimated:
[[0.55842392]
 [0.82955215]
 [0.00244267]]

 R_gt:
[[ 0.99574189  0.08325268 -0.03957873]
 [-0.0828545   0.99649415  0.01160226]
 [ 0.04040627 -0.00827387  0.9991489 ]]

 t_gt:
[-0.8194305   0.54424506 -0.17980815]

Pose Error in degrees for R and t:
2.1711277516381555 89.62475908448985

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 0.07642043  0.99706492 -0.00463297]
 [-0.99707303  0.07640869 -0.00266062]
 [-0.00229882  0.00482273  0.99998573]]

 t_estimated:
[[0.28175735]
 [0.95948518]
 [0.00099302]]

 R_gt:
[[ 0.99509286  0.07338139 -0.06637795]
 [-0.07411698  0.99721207 -0.00869449]
 [ 0.06555464  0.01357099  0.99775641]]

 t_gt:
[-0.74542761  0.50583848 -0.43412568]

Pose Error in degrees for R and t:
81.45145259682765 74.04491520478342

Number of keypoints:
Image1: 443
Image2: 443

 R_estimated:
[[ 0.99922094 -0.0394347   0.0015539 ]
 [-0.03943645 -0.99922146  0.00111007]
 [ 0.00150891 -0.00117049 -0.99999818]]

 t_estimated:
[[0.30524587]
 [0.95227284]
 [0.00117856]]

 R_gt:
[[ 0.99854187  0.05393334 -0.00261536]
 [-0.0539468   0.9985278  -0.00553245]
 [ 0.00231398  0.00566499  0.99998107]]

 t_gt:
[-0.23268248  0.96952015 -0.07674341]

Pose Error in degrees for R and t:
179.73388447885407 31.55569141739105

Number of keypoints:
Image1: 490
Image2: 490

 R_estimated:
[[ 9.99544085e-01 -3.01930304e-02 -5.89654913e-05]
 [ 3.01930289e-02  9.99544086e-01 -2.53155629e-05]
 [ 5.97029617e-05  2.35236744e-05  9.99999998e-01]]

 t_estimated:
[[-9.58406741e-01]
 [-2.85405427e-01]
 [-5.11387234e-04]]

 R_gt:
[[ 0.99649895  0.08291165 -0.01077385]
 [-0.08264256  0.99630418  0.02341374]
 [ 0.01267539 -0.02244134  0.99966792]]

 t_gt:
[-0.10975703  0.97855044  0.17433426]

Pose Error in degrees for R and t:
6.645046868611251 79.96900588476771

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.68550577e-01  2.48816632e-01  2.51099580e-04]
 [-2.48816442e-01  9.68550461e-01 -6.18659246e-04]
 [-3.97135324e-04  5.36725066e-04  9.99999777e-01]]

 t_estimated:
[[-9.84932091e-01]
 [-1.72939581e-01]
 [-8.23521815e-04]]

 R_gt:
[[ 0.99671712  0.07963366 -0.01465663]
 [-0.07832626  0.99412087  0.07475105]
 [ 0.02052397 -0.07335704  0.99709455]]

 t_gt:
[0.03932838 0.91079262 0.41098672]

Pose Error in degrees for R and t:
10.80724721115594 78.66259231567744

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.10564317e-01 -4.13367406e-01 -1.09914022e-04]
 [ 4.13367417e-01  9.10564247e-01  3.62148553e-04]
 [-4.96166292e-05 -3.75194426e-04  9.99999928e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075858e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9993136  -0.03504654  0.01211923]
 [ 0.03529903  0.99915056 -0.02130786]
 [-0.01136313  0.02172092  0.99969909]]

 t_gt:
[ 0.96175415  0.20249816 -0.18445448]

Pose Error in degrees for R and t:
22.445141052528236 15.796601033709514

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.88898401e-01  1.48592749e-01  3.85189606e-04]
 [-1.48593117e-01  9.88897648e-01  1.23577514e-03]
 [-1.97285870e-04 -1.27929259e-03  9.99999162e-01]]

 t_estimated:
[[0.78449747]
 [0.62013042]
 [0.00141045]]

 R_gt:
[[ 0.99429171 -0.10371984  0.02506766]
 [ 0.10430007  0.99427815 -0.02308982]
 [-0.02252956  0.02557221  0.99941858]]

 t_gt:
[ 0.924548   -0.3796722   0.03255791]

Pose Error in degrees for R and t:
14.652780627147138 60.66564885165763

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-0.99060012 -0.13616837  0.01302238]
 [-0.13613428  0.99068431  0.00347344]
 [-0.01337404  0.00166799 -0.99990917]]

 t_estimated:
[[0.99844139]
 [0.05546897]
 [0.00616322]]

 R_gt:
[[ 0.98084028 -0.19075489  0.03957123]
 [ 0.19186379  0.98106606 -0.02639903]
 [-0.03378687  0.03348587  0.99886714]]

 t_gt:
[ 0.90820705 -0.41661052  0.0399454 ]

Pose Error in degrees for R and t:
177.2419581568202 27.880020915355438

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99795222e-01 -2.02362474e-02 -9.67284259e-05]
 [ 2.02362541e-02  9.99795224e-01  6.89849553e-05]
 [ 9.53126216e-05 -7.09282497e-05  9.99999993e-01]]

 t_estimated:
[[-9.99999612e-01]
 [ 3.05612043e-05]
 [-8.80914078e-04]]

 R_gt:
[[ 0.99327351  0.11487997 -0.01452102]
 [-0.11457757  0.99320888  0.02017086]
 [ 0.01673995 -0.01837062  0.99969097]]

 t_gt:
[-0.33511315  0.93978415 -0.06711878]

Pose Error in degrees for R and t:
7.877047297022002 70.4152471060825

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.98572809  0.16831629 -0.0031227 ]
 [-0.16826899  0.9856703   0.01181526]
 [ 0.00506665 -0.01112118  0.99992532]]

 t_estimated:
[[0.39553672]
 [0.91844967]
 [0.00095772]]

 R_gt:
[[ 0.95514885  0.29576498 -0.01459122]
 [-0.29606991  0.95475708 -0.02793492]
 [ 0.00566906  0.03100309  0.99950314]]

 t_gt:
[-0.31534893  0.94169633 -0.11731616]

Pose Error in degrees for R and t:
7.899329858414964 42.26379336305078

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.97216949 -0.23251153 -0.02872061]
 [ 0.23424589  0.96675173  0.10256683]
 [ 0.00391773 -0.10644003  0.99431141]]

 t_estimated:
[[0.0119039 ]
 [0.9999277 ]
 [0.00170056]]

 R_gt:
[[ 0.90359488  0.42829349 -0.00902268]
 [-0.42761844  0.90050949 -0.07889363]
 [-0.02566452  0.07514584  0.99684258]]

 t_gt:
[-0.22304531  0.96882427 -0.10784397]

Pose Error in degrees for R and t:
40.336796591102804 15.00223705795738

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.98864600e-01  4.76393666e-02  2.94336563e-05]
 [-4.76393687e-02  9.98864598e-01  7.53670846e-05]
 [-2.58097971e-05 -7.66837137e-05  9.99999997e-01]]

 t_estimated:
[[0.91660038]
 [0.39980358]
 [0.00092121]]

 R_gt:
[[ 0.99972952 -0.01931499  0.01300069]
 [ 0.01916154  0.99974788  0.01176494]
 [-0.01322385 -0.01151199  0.99984617]]

 t_gt:
[ 0.64211223 -0.08858409  0.76147537]

Pose Error in degrees for R and t:
3.9608931630590822 56.36876398992111

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99164614e-01 -4.08656364e-02 -2.71629393e-04]
 [ 4.08657919e-02  9.99164468e-01  5.93990982e-04]
 [ 2.47128618e-04 -6.04595120e-04  9.99999787e-01]]

 t_estimated:
[[-9.89761488e-01]
 [ 1.42731165e-01]
 [ 1.10405128e-04]]

 R_gt:
[[ 0.99559462  0.09225188  0.01677728]
 [-0.09192598  0.99557967 -0.01928613]
 [-0.01848202  0.0176601   0.99967299]]

 t_gt:
[-0.61249056  0.79044236 -0.00749526]

Pose Error in degrees for R and t:
7.772503252001462 44.024763213977316

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-3.19182618e-01 -9.47670669e-01  6.53911382e-03]
 [ 9.47691582e-01 -3.19187329e-01  3.38107151e-04]
 [ 1.76678804e-03  6.30498104e-03  9.99978563e-01]]

 t_estimated:
[[ 0.87068918]
 [-0.49181108]
 [-0.00471304]]

 R_gt:
[[ 0.99100365  0.13128119 -0.02602363]
 [-0.13128887  0.99134335  0.00142314]
 [ 0.02598599  0.00200635  0.99965964]]

 t_gt:
[-0.58218284  0.80488042 -0.11502459]

Pose Error in degrees for R and t:
116.16901085312752 25.55026008496839

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99990119e-01 -4.44446952e-03  9.26431944e-05]
 [ 4.44446570e-03  9.99990122e-01  4.13814807e-05]
 [-9.28261981e-05 -4.09693223e-05  9.99999995e-01]]

 t_estimated:
[[ 7.73064430e-01]
 [-6.34327358e-01]
 [ 4.35851106e-04]]

 R_gt:
[[ 0.99665768 -0.05765391 -0.05787654]
 [ 0.05801048  0.99830617  0.00449108]
 [ 0.05751965 -0.00783301  0.99831292]]

 t_gt:
[ 0.32055645 -0.74207834 -0.58869627]

Pose Error in degrees for R and t:
4.526843450853719 44.08777237505356

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 8.35040347e-01  5.50127627e-01 -8.19832825e-03]
 [-5.50091808e-01  8.35080235e-01  6.32493834e-03]
 [ 1.03257852e-02 -7.71745495e-04  9.99946390e-01]]

 t_estimated:
[[0.76505359]
 [0.64396597]
 [0.00091733]]

 R_gt:
[[ 0.99166199 -0.0529787  -0.11747376]
 [ 0.05892625  0.99711965  0.04774956]
 [ 0.11460557 -0.05427407  0.991927  ]]

 t_gt:
[ 0.11015638 -0.7934628  -0.59856693]

Pose Error in degrees for R and t:
37.176436698623384 64.70768542246168

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[-7.51241010e-01  6.60027057e-01  1.10897574e-03]
 [ 6.60027492e-01  7.51237323e-01  2.48901941e-03]
 [ 8.09716192e-04  2.60180793e-03 -9.99996287e-01]]

 t_estimated:
[[-2.96468714e-01]
 [-9.55042449e-01]
 [-4.72206483e-04]]

 R_gt:
[[ 0.97979384 -0.11675374 -0.1624002 ]
 [ 0.12703915  0.99040281  0.05443074]
 [ 0.15448727 -0.07396283  0.9852223 ]]

 t_gt:
[ 0.29397555 -0.8407688  -0.45462754]

Pose Error in degrees for R and t:
170.15966546604852 44.27232357669714

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.92973833e-01  1.18333843e-01 -2.63182718e-04]
 [-1.18333853e-01  9.92973866e-01 -2.32099247e-05]
 [ 2.58587042e-04  5.41902730e-05  9.99999965e-01]]

 t_estimated:
[[-0.92264144]
 [ 0.38565411]
 [-0.0019183 ]]

 R_gt:
[[ 0.99605375  0.08840735  0.00789436]
 [-0.08861838  0.99554334  0.03225597]
 [-0.00500614 -0.0328278   0.99944799]]

 t_gt:
[-0.89905639  0.02869128  0.43689177]

Pose Error in degrees for R and t:
2.5663889118249426 32.88801062018436

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.77682052e-01 -2.10088980e-01  6.52159404e-04]
 [ 2.10089454e-01  9.77681863e-01 -7.71722672e-04]
 [-4.75473992e-04  8.91511219e-04  9.99999490e-01]]

 t_estimated:
[[-0.66244779]
 [-0.74910762]
 [-0.00083327]]

 R_gt:
[[ 0.99351682  0.09882468  0.05619601]
 [-0.10079809  0.99434562  0.03342138]
 [-0.05257417 -0.03886862  0.9978596 ]]

 t_gt:
[-0.8503119  -0.1374882   0.50800262]

Pose Error in degrees for R and t:
18.248106615125494 48.251863983833026

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 2.09785792e-01 -9.77746991e-01 -8.62285162e-04]
 [ 9.77747123e-01  2.09785029e-01  8.97273081e-04]
 [-6.96411537e-04 -1.03133198e-03  9.99999226e-01]]

 t_estimated:
[[ 9.82993572e-01]
 [-1.83638041e-01]
 [ 8.40936614e-04]]

 R_gt:
[[ 0.99801899  0.00928961  0.06222849]
 [-0.01211468  0.99890559  0.04517331]
 [-0.06173972 -0.04583735  0.99703853]]

 t_gt:
[-0.18074976 -0.74407407  0.64318217]

Pose Error in degrees for R and t:
78.60590656827151 87.67919135345882

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 1.00000000e+00  6.34603481e-13 -1.17278149e-15]
 [-6.34492459e-13  1.00000000e+00  1.47134366e-15]
 [ 1.12204083e-15 -1.33234894e-15  1.00000000e+00]]

 t_estimated:
[[-9.61908654e-01]
 [-2.73369664e-01]
 [-8.76398837e-04]]

 R_gt:
[[ 0.99472219  0.09916701 -0.02634313]
 [-0.09930439  0.99504874 -0.00401738]
 [ 0.02581406  0.00661316  0.999645  ]]

 t_gt:
[-0.64299459  0.74434422 -0.18030429]

Pose Error in degrees for R and t:
5.897129623563996 65.46941395030314

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999932e-01  3.67722107e-04  3.84721598e-05]
 [-3.67718314e-04  9.99999928e-01 -9.85662265e-05]
 [-3.85084020e-05  9.85520728e-05  9.99999994e-01]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.99298583  0.10931398 -0.04504338]
 [-0.10937161  0.99399999  0.00117947]
 [ 0.04490262  0.0037559   0.99898437]]

 t_gt:
[-0.59087341  0.77375223 -0.22842087]

Pose Error in degrees for R and t:
6.771821186033933 40.07051839746777

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999800e-01 -6.32738612e-04  1.68726069e-05]
 [ 6.32736785e-04  9.99999794e-01  1.08041615e-04]
 [-1.69409655e-05 -1.08030918e-04  9.99999994e-01]]

 t_estimated:
[[0.17699435]
 [0.98421134]
 [0.00102309]]

 R_gt:
[[ 9.96405502e-01  7.72835570e-02 -3.46900897e-02]
 [-7.73156132e-02  9.97006555e-01  3.94780896e-04]
 [ 3.46164636e-02  2.28910481e-03  9.99398435e-01]]

 t_gt:
[-0.53862388  0.81427513 -0.21642629]

Pose Error in degrees for R and t:
4.8931896584377155 45.10061198854432

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-0.99027934  0.10636832  0.08962479]
 [ 0.10631869  0.99431776 -0.00534124]
 [-0.08968366  0.00423947 -0.99596128]]

 t_estimated:
[[ 0.99754808]
 [-0.05295924]
 [ 0.04575092]]

 R_gt:
[[ 0.99897499 -0.04378211  0.01150441]
 [ 0.04384543  0.99902335 -0.00545031]
 [-0.01125526  0.00594936  0.99991927]]

 t_gt:
[-0.05078698 -0.99566844  0.07787843]

Pose Error in degrees for R and t:
174.18236895637276 89.67740021733735

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.92676155e-01  1.20805824e-01  6.42352634e-05]
 [-1.20805827e-01  9.92676155e-01  5.76610846e-05]
 [-5.67990195e-05 -6.49987779e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99999390e-01]
 [-3.33387145e-04]
 [ 1.05321590e-03]]

 R_gt:
[[ 0.99746189 -0.05728534 -0.04227897]
 [ 0.05792406  0.99822248  0.01406733]
 [ 0.04139776 -0.01648022  0.99900677]]

 t_gt:
[-0.0870265  -0.91904493 -0.38442529]

Pose Error in degrees for R and t:
10.55580519663385 85.00177210123128

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 8.84633094e-01  4.66287773e-01 -3.94614257e-05]
 [-4.66287718e-01  8.84632942e-01 -5.67950360e-04]
 [-2.29919431e-04  5.20828062e-04  9.99999838e-01]]

 t_estimated:
[[-0.72739287]
 [ 0.68621657]
 [-0.00253386]]

 R_gt:
[[ 0.99030921 -0.07562867 -0.11647819]
 [ 0.08305805  0.99471825  0.06031729]
 [ 0.11130076 -0.06940725  0.9913598 ]]

 t_gt:
[ 0.01243959 -0.90224567 -0.43104294]

Pose Error in degrees for R and t:
33.2122005850975 51.16408562365063

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999818e-01 -5.44678324e-04 -2.58377388e-04]
 [ 5.44709069e-04  9.99999845e-01  1.18935144e-04]
 [ 2.58312567e-04 -1.19075863e-04  9.99999960e-01]]

 t_estimated:
[[-0.01521092]
 [-0.99988279]
 [-0.00173968]]

 R_gt:
[[ 0.99332945  0.11368263  0.01925557]
 [-0.11336601  0.99341055 -0.01682277]
 [-0.02104121  0.01452868  0.99967349]]

 t_gt:
[-0.35703279  0.93360991  0.03000202]

Pose Error in degrees for R and t:
6.716184820776422 21.85608146086491

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-9.47166152e-01 -3.20739501e-01 -1.56632244e-03]
 [-3.20739659e-01  9.47167381e-01 -1.56441058e-04]
 [ 1.53374635e-03  3.54206051e-04 -9.99998761e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9719831   0.23490841  0.00812736]
 [-0.2345383   0.97157109 -0.03226409]
 [-0.01547572  0.02945368  0.99944626]]

 t_gt:
[-0.29688173  0.9517134  -0.07812067]

Pose Error in degrees for R and t:
179.70633971772455 72.90303219966742

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.93052643e-01 -1.17668407e-01  7.70963559e-04]
 [ 1.17664703e-01  9.93046173e-01  3.78365445e-03]
 [-1.21081900e-03 -3.66665286e-03  9.99992545e-01]]

 t_estimated:
[[-0.63442192]
 [-0.77295077]
 [ 0.00747907]]

 R_gt:
[[ 0.90823071  0.41844669  0.00429508]
 [-0.41729048  0.90639529 -0.0656924 ]
 [-0.03138219  0.05787162  0.99783091]]

 t_gt:
[-0.2359446   0.96962865 -0.06442377]

Pose Error in degrees for R and t:
31.729603035011603 53.110861165274144

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[-0.36205498 -0.93215494 -0.00183097]
 [-0.93215608  0.36205168  0.00190427]
 [-0.00111217  0.0023962  -0.99999651]]

 t_estimated:
[[7.96640986e-01]
 [6.04452290e-01]
 [7.53681160e-04]]

 R_gt:
[[ 0.99872193  0.01946416 -0.04663283]
 [-0.01902574  0.99977144  0.00984017]
 [ 0.04681366 -0.00894004  0.99886319]]

 t_gt:
[-0.627173    0.42391106 -0.65341674]

Pose Error in degrees for R and t:
178.06626140670758 75.88374397636773

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 7.20086172e-02  9.97386266e-01  5.94939461e-03]
 [-9.97403571e-01  7.20129028e-02 -5.09007970e-04]
 [-9.36110735e-04 -5.89729447e-03  9.99982173e-01]]

 t_estimated:
[[0.17933624]
 [0.9837837 ]
 [0.00285291]]

 R_gt:
[[ 0.9975273   0.00678729 -0.06995287]
 [-0.00876762  0.99956851 -0.02805314]
 [ 0.06973286  0.02859803  0.99715576]]

 t_gt:
[-0.31718495  0.24845963 -0.91523851]

Pose Error in degrees for R and t:
85.53129995658037 79.34255922537257

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999391e-01  1.10313679e-03 -3.88283528e-05]
 [-1.10314476e-03  9.99999370e-01 -2.05879191e-04]
 [ 3.86012154e-05  2.05921899e-04  9.99999978e-01]]

 t_estimated:
[[2.30570265e-01]
 [9.73055510e-01]
 [5.72441979e-04]]

 R_gt:
[[ 0.99988076  0.00750117 -0.01348101]
 [-0.00792799  0.99945995 -0.03191249]
 [ 0.01323476  0.03201646  0.99939985]]

 t_gt:
[-0.80331684  0.23432897 -0.54751437]

Pose Error in degrees for R and t:
2.0091218439134244 87.56530248108216

Number of keypoints:
Image1: 412
Image2: 412

 R_estimated:
[[ 9.99809266e-01 -1.95300990e-02  8.17676753e-05]
 [ 1.95300810e-02  9.99809247e-01  2.15141409e-04]
 [-8.59538109e-05 -2.13503445e-04  9.99999974e-01]]

 t_estimated:
[[0.11043459]
 [0.99388241]
 [0.00139817]]

 R_gt:
[[ 0.99994038  0.00996472  0.00448068]
 [-0.00949162  0.9953722  -0.09562498]
 [-0.00541234  0.09557705  0.99540706]]

 t_gt:
[ 0.05197944  0.72184006 -0.69010511]

Pose Error in degrees for R and t:
5.755186388057901 43.76361761523246

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.10735412e-01 -4.12990076e-01 -4.54451425e-04]
 [ 4.12990232e-01  9.10735396e-01  3.27097948e-04]
 [ 2.78796793e-04 -4.85583684e-04  9.99999843e-01]]

 t_estimated:
[[9.99988849e-01]
 [4.65833262e-03]
 [7.76388857e-04]]

 R_gt:
[[ 0.99858755  0.051584    0.01279731]
 [-0.04976814  0.99206858 -0.11542738]
 [-0.01864959  0.11462744  0.99323332]]

 t_gt:
[-0.08443477  0.88112942 -0.46527596]

Pose Error in degrees for R and t:
28.101302497618466 85.37174494003487

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-0.07124407 -0.99743502  0.00690383]
 [-0.99718838  0.07138424  0.02279544]
 [-0.0232298  -0.00526038 -0.99971631]]

 t_estimated:
[[0.60464348]
 [0.7963597 ]
 [0.0147474 ]]

 R_gt:
[[ 0.99498729  0.09957635 -0.00927306]
 [-0.09999486  0.99204921 -0.07642848]
 [ 0.00158888  0.07697172  0.99703151]]

 t_gt:
[-0.08247726  0.95149055 -0.29641734]

Pose Error in degrees for R and t:
177.91367347447593 45.29247857955139

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.97376479e-01 -7.23878530e-02 -3.96452693e-04]
 [ 7.23880863e-02  9.97376355e-01  6.09644577e-04]
 [ 3.51281680e-04 -6.36743613e-04  9.99999736e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99802191 -0.05560722  0.0293599 ]
 [ 0.05599236  0.99835424 -0.01247639]
 [-0.02861838  0.01409471  0.99949037]]

 t_gt:
[ 0.81862703 -0.42654598  0.38458848]

Pose Error in degrees for R and t:
2.090590540323165 35.154901410229556

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 7.21773121e-01  6.92129659e-01  3.10798492e-04]
 [-6.92127944e-01  7.21772206e-01 -1.94714696e-03]
 [-1.57200387e-03  1.19028602e-03  9.99998056e-01]]

 t_estimated:
[[-0.96720812]
 [-0.25398161]
 [-0.00133924]]

 R_gt:
[[ 0.98717166 -0.15304328  0.04551612]
 [ 0.15365577  0.9880722  -0.01026068]
 [-0.04340254  0.01712252  0.99891089]]

 t_gt:
[ 0.840191   -0.50734899  0.19151003]

Pose Error in degrees for R and t:
52.683552040437874 46.839945595030485

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[-0.82091043 -0.57083611  0.01588073]
 [-0.57085406  0.82104264  0.00382432]
 [-0.01522182 -0.00592616 -0.99986658]]

 t_estimated:
[[0.97717806]
 [0.21226277]
 [0.00821917]]

 R_gt:
[[ 9.73658838e-01 -2.20612142e-01  5.76234822e-02]
 [ 2.20935153e-01  9.75289172e-01  7.72532611e-04]
 [-5.63706173e-02  1.19785757e-02  9.98338026e-01]]

 t_gt:
[ 0.87067945 -0.45035672  0.19772739]

Pose Error in degrees for R and t:
176.038230723916 40.8135906921984

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 7.92423345e-01 -6.09971273e-01 -5.36932191e-04]
 [ 6.09971490e-01  7.92423231e-01  4.51011995e-04]
 [ 1.50373182e-04 -6.84905762e-04  9.99999754e-01]]

 t_estimated:
[[ 5.62545600e-01]
 [-8.26766257e-01]
 [ 6.38650066e-05]]

 R_gt:
[[ 0.99798896  0.06098379  0.01728676]
 [-0.06095643  0.99813811 -0.00207152]
 [-0.01738107  0.00101311  0.99984873]]

 t_gt:
[-0.75660773  0.64826273  0.08544108]

Pose Error in degrees for R and t:
41.0953935312358 15.93314967637705

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.98865685e-01 -4.76154256e-02 -3.38677114e-04]
 [ 4.76155453e-02  9.98865674e-01  3.54417245e-04]
 [ 3.21417216e-04 -3.70141519e-04  9.99999880e-01]]

 t_estimated:
[[-9.98923628e-01]
 [-4.63851450e-02]
 [ 5.61031493e-05]]

 R_gt:
[[ 0.9825045   0.18608988  0.00749512]
 [-0.18605103  0.98252396 -0.00556715]
 [-0.00840015  0.00407555  0.999957  ]]

 t_gt:
[-8.03173988e-01  5.95744332e-01 -4.85983451e-04]

Pose Error in degrees for R and t:
13.464594905402574 39.224354939754896

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.99734094e-01  2.30591602e-02 -1.27463889e-04]
 [-2.30591494e-02  9.99734099e-01  8.55210190e-05]
 [ 1.29402039e-04 -8.25590696e-05  9.99999988e-01]]

 t_estimated:
[[-9.96969533e-01]
 [-7.77909917e-02]
 [-5.58197008e-04]]

 R_gt:
[[ 9.58958767e-01  2.81864950e-01  3.08346014e-02]
 [-2.81696308e-01  9.59452930e-01 -9.79142658e-03]
 [-3.23445614e-02  7.03783722e-04  9.99476949e-01]]

 t_gt:
[-0.78412565  0.6197879   0.03177915]

Pose Error in degrees for R and t:
15.16370739242497 42.817885598898705

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99913138e-01  1.31800194e-02  5.20683923e-05]
 [-1.31800060e-02  9.99913109e-01 -2.49771272e-04]
 [-5.53558582e-05  2.49063315e-04  9.99999967e-01]]

 t_estimated:
[[ 0.69114363]
 [-0.72271618]
 [-0.00134324]]

 R_gt:
[[ 0.98157899 -0.18188339  0.05850865]
 [ 0.18425046  0.98214602 -0.03795611]
 [-0.05056041  0.0480364   0.99756516]]

 t_gt:
[ 0.90807026 -0.41347244 -0.06670048]

Pose Error in degrees for R and t:
11.996421565714725 22.10134618884319

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.25958457  0.91282011  0.3152385 ]
 [ 0.81401923  0.38245583 -0.43715012]
 [-0.51960422  0.14313277 -0.84233275]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.96808743 -0.24562452  0.04976188]
 [ 0.24567486  0.96933859  0.00518244]
 [-0.04950976  0.00720789  0.99874782]]

 t_gt:
[ 0.93983274 -0.31664883  0.12824952]

Pose Error in degrees for R and t:
148.5338698592433 56.670976460637654

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.08593679  0.99629189  0.00416347]
 [-0.99629136  0.08591725  0.00466437]
 [ 0.00428936 -0.00454887  0.99998045]]

 t_estimated:
[[0.07399601]
 [0.99725775]
 [0.00125114]]

 R_gt:
[[ 0.97599416 -0.21775637  0.00447737]
 [ 0.21772087  0.97598559  0.00716947]
 [-0.0059311  -0.00602294  0.99996417]]

 t_gt:
[ 0.99263469 -0.08994287  0.0811582 ]

Pose Error in degrees for R and t:
97.64691207201815 89.07499523859191

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99915106e-01 -1.30299052e-02 -4.16072018e-05]
 [ 1.30299062e-02  9.99915107e-01  2.27103401e-05]
 [ 4.13077560e-05 -2.32505501e-05  9.99999999e-01]]

 t_estimated:
[[9.98707754e-01]
 [5.08130680e-02]
 [9.23873963e-04]]

 R_gt:
[[ 9.99910233e-01 -6.27688252e-04 -1.33886141e-02]
 [ 2.56520983e-04  9.99616517e-01 -2.76922923e-02]
 [ 1.34010181e-02  2.76865247e-02  9.99526866e-01]]

 t_gt:
[-0.3200913   0.17480865 -0.93111949]

Pose Error in degrees for R and t:
1.9044920937647214 71.8409831473088

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.66348848  0.74816851  0.00518825]
 [ 0.74818499 -0.6634851  -0.00259547]
 [ 0.00150048  0.00560384 -0.99998317]]

 t_estimated:
[[0.66589691]
 [0.74604328]
 [0.00085262]]

 R_gt:
[[ 0.99730494 -0.02245625  0.06985022]
 [ 0.02542882  0.99879502 -0.04196196]
 [-0.06882265  0.04362483  0.99667432]]

 t_gt:
[-0.57794401 -0.61572223  0.53559953]

Pose Error in degrees for R and t:
175.8697963632199 32.46175564878013

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.98112226 -0.16820467  0.0954269 ]
 [ 0.17334631  0.9836725  -0.04836798]
 [-0.0857331   0.0639968   0.99426065]]

 t_estimated:
[[0.9976057 ]
 [0.06846314]
 [0.00978045]]

 R_gt:
[[ 0.97863909 -0.11228746  0.17221402]
 [ 0.11744035  0.99287832 -0.01999675]
 [-0.16874208  0.03979444  0.98485715]]

 t_gt:
[ 0.23865818 -0.7371472   0.63218374]

Pose Error in degrees for R and t:
5.818490494933255 78.82522895034568

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-0.23791181 -0.9697751  -0.0541685 ]
 [-0.96968753  0.24034944 -0.04402536]
 [ 0.05571407  0.04205237 -0.9975608 ]]

 t_estimated:
[[ 0.81290652]
 [ 0.5814876 ]
 [-0.03248316]]

 R_gt:
[[ 0.99961695  0.00534156  0.02714181]
 [-0.0050349   0.99992282 -0.01132775]
 [-0.02719997  0.01118772  0.99956773]]

 t_gt:
[0.41981073 0.8235448  0.38148777]

Pose Error in degrees for R and t:
176.8268746205375 36.12273381353824

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.99999986e-01  1.64247297e-04 -4.10375629e-05]
 [-1.64250496e-04  9.99999983e-01 -7.79561773e-05]
 [ 4.10247582e-05  7.79629167e-05  9.99999996e-01]]

 t_estimated:
[[-0.55474703]
 [-0.83201832]
 [-0.00112043]]

 R_gt:
[[ 0.99460369  0.08854241  0.05406088]
 [-0.08830986  0.99607041 -0.00667055]
 [-0.05443887  0.00186084  0.9985151 ]]

 t_gt:
[-0.62602723  0.72640508  0.28359404]

Pose Error in degrees for R and t:
5.953052697692198 75.08336625612279

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99999871e-01  5.04766523e-04  6.14497149e-05]
 [-5.04746445e-04  9.99999819e-01 -3.26319309e-04]
 [-6.16144189e-05  3.26288250e-04  9.99999945e-01]]

 t_estimated:
[[-0.56626387]
 [-0.82422305]
 [-0.00126553]]

 R_gt:
[[ 0.98771422  0.14412684  0.06039673]
 [-0.14223373  0.98922865 -0.03456741]
 [-0.06472746  0.025553    0.99757555]]

 t_gt:
[-0.69863362  0.70848741  0.09978306]

Pose Error in degrees for R and t:
9.124907834071397 79.13666920795269

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[-8.34127995e-01 -5.51570002e-01 -1.01040300e-03]
 [-5.51570833e-01  8.34125383e-01  2.11240961e-03]
 [-3.22338979e-04  2.31932882e-03 -9.99997258e-01]]

 t_estimated:
[[0.9304982 ]
 [0.36629483]
 [0.00109342]]

 R_gt:
[[ 9.99780116e-01  1.18101220e-02 -1.73417612e-02]
 [-1.17991514e-02  9.99930385e-01  6.93248798e-04]
 [ 1.73477513e-02 -4.87496378e-04  9.99849579e-01]]

 t_gt:
[-0.30087522  0.85584181 -0.42072425]

Pose Error in degrees for R and t:
179.03762932245485 88.10508056262896

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.96109492e-01  8.81236563e-02 -3.16669667e-04]
 [-8.81235136e-02  9.96109458e-01  4.39391799e-04]
 [ 3.54158463e-04 -4.09776298e-04  9.99999853e-01]]

 t_estimated:
[[-0.96864456]
 [-0.24844624]
 [-0.00147885]]

 R_gt:
[[ 0.99969747 -0.02124305 -0.01248146]
 [ 0.02133096  0.99974943  0.00689027]
 [ 0.01233143 -0.00715378  0.99989782]]

 t_gt:
[ 0.95543307  0.25194143 -0.15386089]

Pose Error in degrees for R and t:
6.324423945962453 8.943764850491403

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.64171761e-01 -2.65278749e-01 -2.33639546e-06]
 [ 2.65278726e-01  9.64171673e-01  4.26995467e-04]
 [-1.11020137e-04 -4.12316767e-04  9.99999909e-01]]

 t_estimated:
[[-0.6975308 ]
 [-0.71655436]
 [-0.00079265]]

 R_gt:
[[ 0.99924588  0.0277898  -0.02714387]
 [-0.02876983  0.99892298 -0.03642224]
 [ 0.02610196  0.03717685  0.99896745]]

 t_gt:
[-0.23877405  0.78837807 -0.56696293]

Pose Error in degrees for R and t:
17.20476980554926 66.55215707351356

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 4.14823277e-01  9.09901964e-01  2.53383583e-04]
 [-9.09901999e-01  4.14823273e-01  6.88330148e-05]
 [-4.24781119e-05 -2.59107765e-04  9.99999966e-01]]

 t_estimated:
[[-9.99982376e-01]
 [-5.87731035e-03]
 [-8.39615765e-04]]

 R_gt:
[[ 0.99906693 -0.03542933 -0.02471518]
 [ 0.03603695  0.99904847  0.02457272]
 [ 0.02381984 -0.0254402   0.99939232]]

 t_gt:
[0.99919133 0.01626814 0.0367699 ]

Pose Error in degrees for R and t:
67.5662210040753 2.1436152430648487

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.99966236e-01 -8.21742764e-03  1.82550868e-05]
 [ 8.21742562e-03  9.99966231e-01  1.08211429e-04]
 [-1.91436899e-05 -1.08057765e-04  9.99999994e-01]]

 t_estimated:
[[9.81718723e-01]
 [1.90337275e-01]
 [2.65230640e-04]]

 R_gt:
[[ 0.99938196 -0.02994552 -0.01845862]
 [ 0.0302998   0.99935693  0.01921199]
 [ 0.01787176 -0.01975912  0.99964481]]

 t_gt:
[0.96598653 0.25756939 0.02297891]

Pose Error in degrees for R and t:
1.9726035451743973 4.165642670909688

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99615686e-01 -2.77214689e-02 -3.10672627e-06]
 [ 2.77214689e-02  9.99615663e-01  2.13420279e-04]
 [-2.81079138e-06 -2.13424382e-04  9.99999977e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99986663  0.00819031  0.01417073]
 [-0.00830743  0.99993208  0.00824169]
 [-0.01410204 -0.00835771  0.99986537]]

 t_gt:
[0.57523564 0.8006797  0.16737974]

Pose Error in degrees for R and t:
2.261930595498484 54.70087434521122

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.98260184  0.1856666   0.0046408 ]
 [-0.18561868  0.98257863 -0.00921632]
 [-0.00627111  0.00819455  0.99994676]]

 t_estimated:
[[8.46448710e-01]
 [5.32469648e-01]
 [8.09224389e-04]]

 R_gt:
[[ 0.99156169 -0.05521335  0.11729628]
 [ 0.05652606  0.99836992 -0.00790148]
 [-0.11666775  0.0144654   0.99306519]]

 t_gt:
[ 0.15509602 -0.57282318  0.80487193]

Pose Error in degrees for R and t:
15.309925307140524 80.03312408920979

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.99607257  0.08850166 -0.00262636]
 [-0.08847822  0.99604602  0.00799606]
 [ 0.00332364 -0.00773228  0.99996458]]

 t_estimated:
[[0.62548084]
 [0.78023898]
 [0.00092118]]

 R_gt:
[[ 0.96764899 -0.15918059  0.1957509 ]
 [ 0.15949965  0.98709563  0.01423432]
 [-0.19549126  0.01744793  0.98054993]]

 t_gt:
[ 0.42035802 -0.66832567  0.61370998]

Pose Error in degrees for R and t:
18.361886980237646 75.05080042208465

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.98364883  0.18007535 -0.00280135]
 [-0.18006218  0.98364538  0.00440233]
 [ 0.00354828 -0.00382593  0.99998639]]

 t_estimated:
[[-0.01777495]
 [-0.99984092]
 [-0.00148125]]

 R_gt:
[[ 0.93659447 -0.27799827  0.21332592]
 [ 0.27714044  0.96020892  0.03453965]
 [-0.21443918  0.02677159  0.97637033]]

 t_gt:
[ 0.60567546 -0.67336162  0.42395916]

Pose Error in degrees for R and t:
29.490762502635057 48.55806790429316

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99811675e-01  1.94063628e-02  8.51973557e-05]
 [-1.94063350e-02  9.99811630e-01 -3.15196466e-04]
 [-9.12981240e-05  3.13483738e-04  9.99999947e-01]]

 t_estimated:
[[-9.69784870e-01]
 [-2.43960155e-01]
 [-8.65106932e-04]]

 R_gt:
[[ 0.99329055  0.11128883  0.03141953]
 [-0.11021977  0.99332885 -0.03391035]
 [-0.03498258  0.03022016  0.99893143]]

 t_gt:
[-0.78495491  0.60845139 -0.11675916]

Pose Error in degrees for R and t:
5.873275613063149 52.20047466149799

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99616952e-01 -2.76734276e-02 -3.62329208e-04]
 [ 2.76736142e-02  9.99616877e-01  5.20595774e-04]
 [ 3.47783722e-04 -5.30423319e-04  9.99999799e-01]]

 t_estimated:
[[ 9.99767408e-01]
 [ 2.15644822e-02]
 [-3.21312298e-04]]

 R_gt:
[[ 0.98348889  0.18044771  0.01368772]
 [-0.18025217  0.98351552 -0.01439366]
 [-0.01605892  0.01168865  0.99980255]]

 t_gt:
[-0.77771327  0.6281317  -0.02475172]

Pose Error in degrees for R and t:
12.034130320043564 40.183747458577145

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-8.75099746e-01  4.83929325e-01  3.58374136e-03]
 [-4.83942354e-01 -8.75082694e-01 -5.48416053e-03]
 [ 4.82123937e-04 -6.53351172e-03  9.99978540e-01]]

 t_estimated:
[[0.81067866]
 [0.58549014]
 [0.0011852 ]]

 R_gt:
[[ 0.95112226  0.30746456  0.02885533]
 [-0.3062869   0.9511408  -0.0389913 ]
 [-0.03943386  0.02824851  0.99882247]]

 t_gt:
[-0.76903286  0.63813858 -0.03698127]

Pose Error in degrees for R and t:
133.18540066215616 75.53086020099315

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99626233e-01 -2.73384330e-02  5.89540986e-05]
 [ 2.73384383e-02  9.99626231e-01 -9.11592973e-05]
 [-5.64399110e-05  9.27369380e-05  9.99999994e-01]]

 t_estimated:
[[ 8.31391871e-01]
 [-5.55686538e-01]
 [-1.67512452e-04]]

 R_gt:
[[ 0.96531834 -0.24468333  0.09104549]
 [ 0.25234003  0.96389725 -0.0850033 ]
 [-0.06695957  0.10502995  0.99221162]]

 t_gt:
[ 0.86565714 -0.42473567 -0.26502326]

Pose Error in degrees for R and t:
14.724241583513185 17.10553653470778

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 5.79263716e-01  8.15140108e-01 -3.89545523e-04]
 [-8.15131332e-01  5.79255118e-01 -4.94166804e-03]
 [-3.80250558e-03  3.18005976e-03  9.99987714e-01]]

 t_estimated:
[[8.19590887e-01]
 [5.72948839e-01]
 [6.37317952e-04]]

 R_gt:
[[ 0.90266147 -0.38911647  0.18382479]
 [ 0.41440568  0.90112524 -0.12743715]
 [-0.11606106  0.19121133  0.97466273]]

 t_gt:
[ 0.90331638 -0.32172026 -0.2837527 ]

Pose Error in degrees for R and t:
79.45139259233399 56.231423407145385

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 7.97757626e-01  6.02978231e-01  1.50668733e-04]
 [-6.02978021e-01  7.97757516e-01 -6.72769733e-04]
 [-5.25862618e-04  4.45857251e-04  9.99999762e-01]]

 t_estimated:
[[-0.91208267]
 [-0.41000389]
 [-0.00141675]]

 R_gt:
[[ 0.84443544 -0.50079946  0.19007683]
 [ 0.52142709  0.84975742 -0.07762089]
 [-0.12264655  0.16465682  0.97869588]]

 t_gt:
[ 0.95200711 -0.2675284  -0.14869776]

Pose Error in degrees for R and t:
69.0811900748626 40.67569994817345

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.99587745 -0.09027919 -0.00881907]
 [ 0.09040356  0.99579372  0.0149017 ]
 [ 0.00743666 -0.01563755  0.99985007]]

 t_estimated:
[[-0.61038263]
 [-0.79210624]
 [-0.00086949]]

 R_gt:
[[ 0.999906    0.00334888 -0.01332829]
 [-0.00352637  0.99990507 -0.01331377]
 [ 0.01328209  0.01335959  0.99982248]]

 t_gt:
[-0.02941239  0.66481044 -0.74643284]

Pose Error in degrees for R and t:
5.632583949211688 59.46938645957695

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999992e-01  1.06633884e-04  6.73791704e-05]
 [-1.06634139e-04  9.99999994e-01  3.79188252e-06]
 [-6.73787657e-05 -3.79906741e-06  9.99999998e-01]]

 t_estimated:
[[-0.80034937]
 [-0.59953149]
 [-0.00169474]]

 R_gt:
[[ 0.99966854 -0.0253285  -0.0046366 ]
 [ 0.02535571  0.99966172  0.00585749]
 [ 0.00448676 -0.00597293  0.99997291]]

 t_gt:
[0.98964135 0.10826332 0.09428173]

Pose Error in degrees for R and t:
1.5189974131535615 31.00460682639991

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 4.73103629e-01  8.81006108e-01  1.09280783e-03]
 [ 8.81001894e-01 -4.73104772e-01  2.74543830e-03]
 [ 2.93576051e-03 -3.36111055e-04 -9.99995634e-01]]

 t_estimated:
[[-0.69354974]
 [-0.72040702]
 [-0.00157984]]

 R_gt:
[[ 0.99899189  0.03419215 -0.02907598]
 [-0.03554048  0.99824958 -0.04725409]
 [ 0.02740949  0.0482413   0.9984599 ]]

 t_gt:
[-0.26489115  0.76170767 -0.59129866]

Pose Error in degrees for R and t:
178.58541590542814 68.6483967527144

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.96771110e-01  8.02952098e-02  1.83419286e-04]
 [-8.02951814e-02  9.96771117e-01 -1.57273194e-04]
 [-1.95455330e-04  1.42037691e-04  9.99999971e-01]]

 t_estimated:
[[ 8.59497272e-01]
 [-5.11140327e-01]
 [-7.55601814e-05]]

 R_gt:
[[ 0.96295795 -0.25492993  0.08788796]
 [ 0.26188007  0.96182578 -0.07943621]
 [-0.06428245  0.0995095   0.99295819]]

 t_gt:
[ 0.8634826  -0.44070736 -0.24530557]

Pose Error in degrees for R and t:
20.764992849679697 14.660429026110226

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.82336708  0.5670399   0.02307389]
 [-0.54139704  0.79702409 -0.26765994]
 [-0.17016431  0.20789025  0.96323712]]

 t_estimated:
[[-0.87898218]
 [-0.46416318]
 [-0.10928346]]

 R_gt:
[[ 0.89784999 -0.40137996  0.1809995 ]
 [ 0.42589047  0.89600458 -0.12567535]
 [-0.11173326  0.18992229  0.97542019]]

 t_gt:
[ 0.90055687 -0.32762378 -0.28576212]

Pose Error in degrees for R and t:
58.965954625209264 52.53523224565049

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[-0.99987772  0.00737408 -0.01379017]
 [ 0.00766814  0.99974171 -0.02139418]
 [ 0.01362884 -0.02149731 -0.99967601]]

 t_estimated:
[[0.84854888]
 [0.52911446]
 [0.00163813]]

 R_gt:
[[ 0.83148662 -0.51992011  0.19574048]
 [ 0.54222152  0.83620501 -0.0822064 ]
 [-0.12093878  0.17448771  0.97720443]]

 t_gt:
[ 0.94980663 -0.26643179 -0.16395567]

Pose Error in degrees for R and t:
171.55208998269356 48.33946900255022

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99928790e-01  1.19140290e-02 -6.86085865e-04]
 [-1.19130267e-02  9.99927990e-01  1.44695616e-03]
 [ 7.03275538e-04 -1.43867976e-03  9.99998718e-01]]

 t_estimated:
[[-0.99065249]
 [ 0.13631041]
 [ 0.00520714]]

 R_gt:
[[ 0.99168405  0.12503129  0.03046568]
 [-0.12420781  0.99187211 -0.02758343]
 [-0.03366542  0.0235699   0.99915538]]

 t_gt:
[-0.80979941  0.58158038 -0.07738983]

Pose Error in degrees for R and t:
6.922747411348324 28.224382149681485

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.99959539e-01  8.99557412e-03  1.47052535e-05]
 [-8.99557242e-03  9.99959533e-01 -1.11639396e-04]
 [-1.57089189e-05  1.11502597e-04  9.99999994e-01]]

 t_estimated:
[[-9.95926149e-01]
 [-9.01694952e-02]
 [-7.53286528e-04]]

 R_gt:
[[ 0.9836918   0.17937299  0.01322145]
 [-0.17913168  0.9836661  -0.01766674]
 [-0.01617386  0.01500942  0.99975644]]

 t_gt:
[-0.77623653  0.62913839 -0.04051841]

Pose Error in degrees for R and t:
9.892477023536204 44.24394461315065

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-3.75151256e-01 -9.26959615e-01 -2.72149153e-03]
 [ 9.26962769e-01 -3.75153254e-01  2.45585086e-04]
 [-1.24862386e-03 -2.43058977e-03  9.99996267e-01]]

 t_estimated:
[[ 0.97242732]
 [-0.23320223]
 [ 0.00135415]]

 R_gt:
[[ 0.94966836  0.31228834  0.02459653]
 [-0.31129794  0.94958441 -0.03718926]
 [-0.03496947  0.02766016  0.99900534]]

 t_gt:
[-0.76861537  0.63846691 -0.0398801 ]

Pose Error in degrees for R and t:
130.22745699787401 26.315247432073654

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 0.88692306  0.461893    0.00472723]
 [ 0.46191264 -0.88691328 -0.00464222]
 [ 0.00204844  0.00630086 -0.99997805]]

 t_estimated:
[[8.51879967e-01]
 [5.23736450e-01]
 [8.08235262e-04]]

 R_gt:
[[ 0.99087343 -0.06592979  0.1175777 ]
 [ 0.06729373  0.99770411 -0.0076622 ]
 [-0.11680264  0.01550382  0.99303374]]

 t_gt:
[ 0.23155773 -0.6288974   0.74220555]

Pose Error in degrees for R and t:
177.4242404333884 82.44272443546086

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.52303842 -0.8214854  -0.22713992]
 [ 0.84211258  0.53919119 -0.0109204 ]
 [ 0.13144279 -0.1855656   0.9738009 ]]

 t_estimated:
[[0.99822225]
 [0.05913176]
 [0.00746884]]

 R_gt:
[[ 0.96735544 -0.16713161  0.19050173]
 [ 0.1677727   0.98574142  0.01287376]
 [-0.18993773  0.01950786  0.98160212]]

 t_gt:
[ 0.44797194 -0.68498403  0.57455898]

Pose Error in degrees for R and t:
53.13243710761026 65.73468608337674

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 2.75414302e-01  9.61325497e-01  4.99921710e-04]
 [-9.61324074e-01  2.75414755e-01 -1.65458046e-03]
 [-1.72827620e-03 -2.48916505e-05  9.99998506e-01]]

 t_estimated:
[[0.00905525]
 [0.99995816]
 [0.00129361]]

 R_gt:
[[ 0.93520126 -0.28407043  0.2114316 ]
 [ 0.28257822  0.9584951   0.0378986 ]
 [-0.21342256  0.02430294  0.97665722]]

 t_gt:
[ 0.6170796  -0.66337678  0.42325407]

Pose Error in degrees for R and t:
91.3212115198071 48.91228182723826

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.18893826e-01 -3.94502636e-01  1.34407077e-03]
 [ 3.94504154e-01  9.18893434e-01 -1.15300430e-03]
 [-7.80194572e-04  1.58973003e-03  9.99998432e-01]]

 t_estimated:
[[0.56005632]
 [0.82845405]
 [0.00089466]]

 R_gt:
[[ 0.99892202 -0.03870453 -0.0256197 ]
 [ 0.03916432  0.99907602  0.01769005]
 [ 0.02491163 -0.01867429  0.99951442]]

 t_gt:
[ 0.99867088 -0.02166955 -0.04676424]

Pose Error in degrees for R and t:
21.086545106862804 57.22660275530915

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.84204988e-01  1.77032287e-01  3.32424339e-04]
 [-1.77032305e-01  9.84205041e-01  2.74933419e-05]
 [-3.22306501e-04 -8.59089315e-05  9.99999944e-01]]

 t_estimated:
[[0.35179009]
 [0.93607812]
 [0.00121727]]

 R_gt:
[[ 0.99932922 -0.03396864 -0.01371093]
 [ 0.03412357  0.99935555  0.01120989]
 [ 0.01332173 -0.0116695   0.99984225]]

 t_gt:
[ 0.97412244  0.22562595 -0.01335639]

Pose Error in degrees for R and t:
12.191331108684032 56.366814465952594

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 9.99964228e-01 -8.45818798e-03 -2.90750160e-05]
 [ 8.45818300e-03  9.99964215e-01 -1.67318297e-04]
 [ 3.04891852e-05  1.67066390e-04  9.99999986e-01]]

 t_estimated:
[[ 0.98167398]
 [-0.19056431]
 [-0.00120037]]

 R_gt:
[[ 0.99969086  0.01661666  0.01849638]
 [-0.01666443  0.99985855  0.00247177]
 [-0.01845277 -0.00277931  0.99982467]]

 t_gt:
[0.43689741 0.8859119  0.15582286]

Pose Error in degrees for R and t:
1.7945957403815147 74.9370232348192

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 0.38379265 -0.92175417 -0.05542969]
 [-0.92189743 -0.37902436 -0.08028491]
 [ 0.05299375  0.08191325 -0.99522956]]

 t_estimated:
[[ 0.57021079]
 [ 0.82008821]
 [-0.04811429]]

 R_gt:
[[ 0.99955015  0.01471096  0.02613871]
 [-0.01454345  0.99987304 -0.00657446]
 [-0.02623295  0.00619174  0.99963735]]

 t_gt:
[-0.01343111  0.91185592  0.41029061]

Pose Error in degrees for R and t:
174.9320390097932 43.91224690018218

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99999602e-01  8.74273119e-04 -1.77599161e-04]
 [-8.74262517e-04  9.99999616e-01  5.97650284e-05]
 [ 1.77651344e-04 -5.96097363e-05  9.99999982e-01]]

 t_estimated:
[[-0.00197375]
 [ 0.99999681]
 [ 0.00157481]]

 R_gt:
[[ 9.92959254e-01  1.04703470e-01  5.53937664e-02]
 [-1.04903473e-01  9.94482756e-01  7.13165907e-04]
 [-5.50137126e-02 -6.51854025e-03  9.98464020e-01]]

 t_gt:
[-0.67292086  0.68149331  0.28765323]

Pose Error in degrees for R and t:
6.766457931718521 46.900114540510145

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.74828551e-01  2.22955727e-01  1.97534760e-04]
 [-2.22955593e-01  9.74828448e-01 -5.48455299e-04]
 [-3.14843754e-04  4.90608405e-04  9.99999830e-01]]

 t_estimated:
[[-0.91684797]
 [-0.39923462]
 [-0.00123405]]

 R_gt:
[[ 0.98633231  0.15127915  0.06529078]
 [-0.14951099  0.98826801 -0.03119366]
 [-0.06924423  0.02100624  0.99737887]]

 t_gt:
[-0.71720764  0.68547253  0.12546162]

Pose Error in degrees for R and t:
5.901474684665356 67.43376636828032

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99995711e-01  2.92852351e-03 -4.94720141e-05]
 [-2.92852317e-03  9.99995712e-01  6.90797028e-06]
 [ 4.94920321e-05 -6.76306071e-06  9.99999999e-01]]

 t_estimated:
[[-0.99852491]
 [-0.05428356]
 [-0.00114082]]

 R_gt:
[[ 0.99989681  0.01097495 -0.00924234]
 [-0.01120073  0.9996305  -0.02477706]
 [ 0.00896729  0.0248796   0.99965085]]

 t_gt:
[-0.52302722  0.37838075 -0.7637215 ]

Pose Error in degrees for R and t:
1.5846819654136879 59.82868897287384

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.75016353  0.66124052 -0.00395503]
 [-0.66125063 -0.7501618   0.00220724]
 [-0.0015074   0.00427106  0.99998974]]

 t_estimated:
[[8.03662904e-01]
 [5.95084345e-01]
 [7.47593399e-04]]

 R_gt:
[[ 0.99658385 -0.01834168  0.08052324]
 [ 0.02144831  0.99905226 -0.03789458]
 [-0.07975194  0.03949247  0.99603301]]

 t_gt:
[-0.54099081 -0.46724826  0.69929107]

Pose Error in degrees for R and t:
139.7938331704209 44.577347796439184

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.76365892e-01  2.16123882e-01  3.34472699e-04]
 [-2.16123652e-01  9.76365807e-01 -6.15348586e-04]
 [-4.59559232e-04  5.28517910e-04  9.99999755e-01]]

 t_estimated:
[[0.99563795]
 [0.09328157]
 [0.00190371]]

 R_gt:
[[ 0.97659901 -0.11338912  0.18275012]
 [ 0.11848292  0.99280761 -0.01716468]
 [-0.1794884   0.03841647  0.98300958]]

 t_gt:
[ 0.24127309 -0.71077725  0.66074427]

Pose Error in degrees for R and t:
21.880050985857597 79.91109402897719

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.52737495  0.84958624  0.008882  ]
 [ 0.84961162  0.52740665 -0.00152545]
 [-0.00598042  0.00674176 -0.99995939]]

 t_estimated:
[[8.48572900e-01]
 [5.29078035e-01]
 [6.82681336e-04]]

 R_gt:
[[ 0.98144179 -0.1792176   0.06820804]
 [ 0.18268027  0.98198021 -0.04840596]
 [-0.05830379  0.05996796  0.99649622]]

 t_gt:
[ 0.90772912 -0.40589593 -0.10619011]

Pose Error in degrees for R and t:
174.79771460448143 56.25820120902518

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.80582908 -0.59102574  0.03644273]
 [ 0.59119161  0.80649903  0.00719737]
 [-0.03364486  0.01574478  0.99930982]]

 t_estimated:
[[0.81609736]
 [0.57791286]
 [0.00135112]]

 R_gt:
[[ 0.96285134 -0.26314154  0.06061172]
 [ 0.26379405  0.96457443 -0.00286967]
 [-0.05770966  0.01875241  0.99815748]]

 t_gt:
[ 0.93603376 -0.33937088  0.09310315]

Pose Error in degrees for R and t:
20.99752060043192 55.396523818398656

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.80314481e-01  1.97441889e-01  4.66795663e-04]
 [-1.97441772e-01  9.80314574e-01 -2.86523014e-04]
 [-5.14178237e-04  1.88717697e-04  9.99999850e-01]]

 t_estimated:
[[ 9.99428567e-01]
 [ 3.38013292e-02]
 [-9.93261653e-05]]

 R_gt:
[[ 0.97204883 -0.23420459  0.0164036 ]
 [ 0.23426651  0.97217071 -0.00193011]
 [-0.01549543  0.00571952  0.9998642 ]]

 t_gt:
[ 0.99102207 -0.12174997  0.05524669]

Pose Error in degrees for R and t:
24.951380097582696 9.482846004881496

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[ 8.10480924e-01  5.85764349e-01  8.94140731e-04]
 [-5.85764100e-01  8.10481413e-01 -5.46165575e-04]
 [-1.04460877e-03 -8.10987613e-05  9.99999451e-01]]

 t_estimated:
[[0.0119039 ]
 [0.9999277 ]
 [0.00170056]]

 R_gt:
[[ 0.99805945  0.05889349  0.02020575]
 [-0.05867576  0.99821359 -0.011212  ]
 [-0.02082938  0.01000437  0.99973284]]

 t_gt:
[-0.74049509  0.67193026 -0.01329477]

Pose Error in degrees for R and t:
32.51044320713926 48.46753714804248

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.99864416e-01 -1.64658155e-02 -1.63341268e-04]
 [ 1.64658446e-02  9.99864413e-01  1.78206147e-04]
 [ 1.60384812e-04 -1.80871537e-04  9.99999971e-01]]

 t_estimated:
[[-9.92815665e-01]
 [-1.19651543e-01]
 [-7.50162775e-04]]

 R_gt:
[[ 0.98326089  0.18179482  0.01212692]
 [-0.18174959  0.98333291 -0.00476406]
 [-0.01279072  0.00247981  0.99991408]]

 t_gt:
[-0.79901179  0.6010708   0.01714788]

Pose Error in degrees for R and t:
11.442321562922931 43.834815811449126

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.99996994e-01 -2.44048236e-03 -2.38712912e-04]
 [ 2.44053590e-03  9.99996997e-01  2.24280706e-04]
 [ 2.38164842e-04 -2.24862620e-04  9.99999946e-01]]

 t_estimated:
[[-9.95278512e-01]
 [-9.70596173e-02]
 [-3.38620399e-04]]

 R_gt:
[[ 0.95885991  0.28250517  0.02788927]
 [-0.28208208  0.95921763 -0.01820881]
 [-0.03189556  0.0095932   0.9994445 ]]

 t_gt:
[-0.78049474  0.62513705  0.00562472]

Pose Error in degrees for R and t:
16.652794101621655 44.26393809519684

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 8.02719373e-01  5.96356602e-01  6.41319043e-04]
 [-5.96356352e-01  8.02719627e-01 -5.49448212e-04]
 [-8.42466452e-04  5.85980392e-05  9.99999643e-01]]

 t_estimated:
[[0.00656664]
 [0.9999779 ]
 [0.00103962]]

 R_gt:
[[ 9.98739949e-01 -5.01707504e-02 -5.12958474e-04]
 [ 5.01696437e-02  9.98736862e-01 -2.83827596e-03]
 [ 6.54598370e-04  2.81027550e-03  9.99995719e-01]]

 t_gt:
[ 0.11603617 -0.98646544 -0.1158514 ]

Pose Error in degrees for R and t:
39.48549624142608 9.666398912155568

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.91155523e-01  1.32705150e-01  2.68707983e-04]
 [-1.32705118e-01  9.91155555e-01 -1.30875907e-04]
 [-2.83699317e-04  9.40594531e-05  9.99999955e-01]]

 t_estimated:
[[ 0.02446145]
 [-0.99969754]
 [-0.00254433]]

 R_gt:
[[ 0.99728863 -0.05698088 -0.04655621]
 [ 0.05781306  0.99818709  0.01672783]
 [ 0.04551769 -0.01937335  0.99877541]]

 t_gt:
[-0.05675856 -0.91174896 -0.40680745]

Pose Error in degrees for R and t:
11.283952624078589 24.33943274075372

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.79800314e-01  1.99978192e-01  2.58903116e-04]
 [-1.99978175e-01  9.79800348e-01 -8.89164296e-05]
 [-2.71454710e-04  3.53453730e-05  9.99999963e-01]]

 t_estimated:
[[ 0.1942804 ]
 [-0.98094542]
 [-0.00109677]]

 R_gt:
[[ 0.98823526 -0.08587066 -0.12655727]
 [ 0.09416711  0.99368039  0.06109258]
 [ 0.12051095 -0.07229186  0.99007591]]

 t_gt:
[ 0.0962905  -0.89813239 -0.42905286]

Pose Error in degrees for R and t:
18.569116754065977 25.81605447550957

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.91540442e-01 -1.29798089e-01 -8.79994064e-05]
 [ 1.29798095e-01  9.91540443e-01  7.30300765e-05]
 [ 7.77758060e-05 -8.38344296e-05  9.99999993e-01]]

 t_estimated:
[[-0.75679756]
 [-0.65364855]
 [-0.00100988]]

 R_gt:
[[ 0.99426124  0.10532623 -0.01875231]
 [-0.10570231  0.99419093 -0.02029302]
 [ 0.01650556  0.02215855  0.99961744]]

 t_gt:
[-0.63289093  0.74577909 -0.20799669]

Pose Error in degrees for R and t:
13.607957318503098 89.5246084196006

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999751e-01 -7.03876855e-04 -5.12877906e-05]
 [ 7.03948755e-04  9.99998750e-01  1.41562146e-03]
 [ 5.02913033e-05 -1.41565722e-03  9.99998997e-01]]

 t_estimated:
[[0.63584125]
 [0.77181275]
 [0.0033138 ]]

 R_gt:
[[ 0.99195539  0.11931559 -0.04230618]
 [-0.11963055  0.992807   -0.00495507]
 [ 0.04140973  0.00997552  0.99909157]]

 t_gt:
[-0.59448961  0.77203076 -0.22483462]

Pose Error in degrees for R and t:
7.327566941466537 77.4602365615139

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 6.60982047e-01 -7.50401371e-01 -7.18022563e-04]
 [ 7.50401702e-01  6.60981557e-01  8.16458813e-04]
 [-1.38072141e-04 -1.07846997e-03  9.99999409e-01]]

 t_estimated:
[[ 6.07743159e-01]
 [-7.94133506e-01]
 [ 4.77757148e-04]]

 R_gt:
[[ 0.99548807  0.09067247 -0.02799498]
 [-0.09097282  0.99580728 -0.0096438 ]
 [ 0.02700271  0.01214643  0.99956141]]

 t_gt:
[-0.55550149  0.80575663 -0.20536394]

Pose Error in degrees for R and t:
53.86217403630044 12.155785295598488

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.99462535e-01  3.27817311e-02  1.40129758e-05]
 [-3.27817322e-02  9.99462531e-01  8.57624040e-05]
 [-1.11940042e-05 -8.61756793e-05  9.99999996e-01]]

 t_estimated:
[[-6.51646328e-01]
 [ 7.58522909e-01]
 [ 2.45365298e-04]]

 R_gt:
[[ 0.99673878  0.07895103  0.01668134]
 [-0.07948011  0.99626347  0.03380846]
 [-0.01395017 -0.03502387  0.99928953]]

 t_gt:
[-0.8638291  -0.00715872  0.50373409]

Pose Error in degrees for R and t:
3.428429747884972 56.10969809965074

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.99571725 -0.09237064 -0.00384963]
 [ 0.09236259 -0.99572296  0.00222102]
 [-0.00403833  0.00185595  0.99999012]]

 t_estimated:
[[0.86878625]
 [0.49518606]
 [0.00110533]]

 R_gt:
[[ 0.99522632  0.07523677  0.06216193]
 [-0.07738791  0.99645704  0.03294889]
 [-0.05946231 -0.03760212  0.99752199]]

 t_gt:
[-0.78518256 -0.24276975  0.56969395]

Pose Error in degrees for R and t:
179.07651740940796 36.703195912519035

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.16031182 -0.98706497 -0.00169234]
 [-0.98699043  0.16027797  0.0126831 ]
 [-0.0122478   0.00370357 -0.99991813]]

 t_estimated:
[[0.66986343]
 [0.74247517]
 [0.00368725]]

 R_gt:
[[ 0.99847513 -0.01187173  0.05391654]
 [ 0.00976324  0.99918468  0.03918203]
 [-0.0543376  -0.03859623  0.99777714]]

 t_gt:
[ 0.00913984 -0.82956367  0.55833733]

Pose Error in degrees for R and t:
175.79075883517933 52.57306274613748

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.73021658e-01  2.30713591e-01  3.04825623e-04]
 [-2.30713603e-01  9.73021702e-01  7.13401921e-06]
 [-2.94956031e-04 -7.72689731e-05  9.99999954e-01]]

 t_estimated:
[[0.17682502]
 [0.98424146]
 [0.00128794]]

 R_gt:
[[ 0.99832823 -0.05093733  0.02732017]
 [ 0.05144154  0.99851202 -0.01808925]
 [-0.02635835  0.0194632   0.99946337]]

 t_gt:
[ 0.89095639 -0.36274852  0.27314873]

Pose Error in degrees for R and t:
16.37984742808311 78.51350506979477

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 8.63891768e-01  5.03677292e-01  4.45969027e-04]
 [-5.03677261e-01  8.63891881e-01 -1.88659275e-04]
 [-4.80292414e-04 -6.16432629e-05  9.99999883e-01]]

 t_estimated:
[[3.44636462e-01]
 [9.38735842e-01]
 [8.53260381e-04]]

 R_gt:
[[ 0.98919336 -0.1404372   0.04210986]
 [ 0.14102836  0.98993929 -0.01139598]
 [-0.04008584  0.01721084  0.9990483 ]]

 t_gt:
[ 0.84861059 -0.49662875  0.18226341]

Pose Error in degrees for R and t:
38.414337393090776 80.00364448259438

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 7.78626607e-01  6.27487096e-01  7.42627691e-04]
 [-6.27487180e-01  7.78626880e-01 -1.42650723e-04]
 [-6.67741370e-04 -3.54917708e-04  9.99999714e-01]]

 t_estimated:
[[0.31717265]
 [0.94836723]
 [0.00105024]]

 R_gt:
[[ 0.97585016 -0.21130028  0.05541319]
 [ 0.21187245  0.97728677 -0.0045842 ]
 [-0.05318541  0.01621308  0.99845357]]

 t_gt:
[ 0.87842765 -0.4456782   0.17244072]

Pose Error in degrees for R and t:
51.179910810066 81.72801977664483

Number of keypoints:
Image1: 318
Image2: 318

 R_estimated:
[[-0.28665778  0.95780089 -0.02108977]
 [ 0.95779132  0.28701048  0.01614831]
 [ 0.02151985 -0.01557056 -0.99964716]]

 t_estimated:
[[ 0.81319993]
 [-0.58183074]
 [-0.0133743 ]]

 R_gt:
[[ 0.99973905  0.01512505  0.01712977]
 [-0.01328888  0.99462509 -0.10267666]
 [-0.01859038  0.10242315  0.99456713]]

 t_gt:
[-0.04639483  0.70397981 -0.708703  ]

Pose Error in degrees for R and t:
177.1850516280567 64.03341074962451

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 3.96584499e-01  9.17996262e-01  1.89686377e-03]
 [ 9.17994496e-01 -3.96587930e-01  2.02967754e-03]
 [ 2.61550967e-03  9.36371849e-04 -9.99996141e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99817536  0.05782219  0.01740286]
 [-0.05545824  0.99185998 -0.11462108]
 [-0.02388869  0.1134478   0.99325686]]

 t_gt:
[-0.10423444  0.86700731 -0.48727149]

Pose Error in degrees for R and t:
173.91664345400503 84.15006922991846

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.97408253e-01 -7.19497643e-02 -8.72058327e-05]
 [ 7.19497677e-02  9.97408256e-01  3.65196973e-05]
 [ 8.43522339e-05 -4.26994869e-05  9.99999996e-01]]

 t_estimated:
[[-9.98600686e-01]
 [ 5.28811924e-02]
 [-4.99603801e-04]]

 R_gt:
[[ 0.99454329  0.10431959 -0.00175005]
 [-0.10411348  0.99120004 -0.0817488 ]
 [-0.00679219  0.08148572  0.99665107]]

 t_gt:
[-0.10800708  0.93171627 -0.34675533]

Pose Error in degrees for R and t:
11.150638905908814 80.94981873058485

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.95109191 -0.30886701  0.0050342 ]
 [-0.3088916  -0.95074691  0.02581246]
 [-0.00318636 -0.02610504 -0.99965413]]

 t_estimated:
[[0.14145161]
 [0.98985424]
 [0.01341726]]

 R_gt:
[[ 0.99852618  0.02285498 -0.04922726]
 [-0.02227539  0.99967657  0.01228736]
 [ 0.04949202 -0.01117192  0.99871279]]

 t_gt:
[-0.62780839  0.40504654 -0.6646758 ]

Pose Error in degrees for R and t:
178.27323474303194 72.34922980761851

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99479673e-01  3.22549414e-02  3.29674149e-05]
 [-3.22549471e-02  9.99479655e-01  1.91612421e-04]
 [-2.67698131e-05 -1.92576082e-04  9.99999981e-01]]

 t_estimated:
[[0.4348154 ]
 [0.9005186 ]
 [0.00135181]]

 R_gt:
[[ 0.99745988  0.01137493 -0.07032651]
 [-0.01347356  0.99947634 -0.02943827]
 [ 0.06995415  0.03031148  0.99708944]]

 t_gt:
[-0.35084101  0.3000862  -0.88705065]

Pose Error in degrees for R and t:
4.522683226049014 83.31082992333928

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999992e-01 -7.95604243e-05 -9.32808861e-05]
 [ 7.95748957e-05  9.99999985e-01  1.55143510e-04]
 [ 9.32685414e-05 -1.55150932e-04  9.99999984e-01]]

 t_estimated:
[[0.39864482]
 [0.91710377]
 [0.00172898]]

 R_gt:
[[ 0.99935828  0.01323884 -0.03331442]
 [-0.01431921  0.99937354 -0.03237891]
 [ 0.03286516  0.03283597  0.99892104]]

 t_gt:
[-0.6633815   0.26385479 -0.70021828]

Pose Error in degrees for R and t:
2.7797442282333877 88.6429920654462

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 5.34907637e-01  8.44767789e-01  1.55306888e-02]
 [ 8.44910471e-01 -5.34824625e-01 -9.42950257e-03]
 [ 3.40454765e-04  1.81659545e-02 -9.99834927e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99336791  0.11068677  0.03111086]
 [-0.1094691   0.99324561 -0.03844416]
 [-0.03515615  0.03478313  0.99877657]]

 t_gt:
[-0.33996525  0.94025663  0.01846909]

Pose Error in degrees for R and t:
176.36900234730695 70.30374714167444

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.89538825e-01  1.44266812e-01 -2.81290666e-05]
 [-1.44266814e-01  9.89538817e-01 -1.23899240e-04]
 [ 9.96025494e-06  1.26661199e-04  9.99999992e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97614569  0.21691989  0.00921625]
 [-0.21649831  0.97569188 -0.03395707]
 [-0.01635761  0.03115093  0.99938154]]

 t_gt:
[-0.27871817  0.95692423 -0.08131544]

Pose Error in degrees for R and t:
4.678483871845399 73.98955522352031

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-0.99895553 -0.04528012  0.00612865]
 [-0.04519045  0.99887953  0.01405344]
 [-0.00675812  0.01376181 -0.99988246]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91180891  0.41051334  0.00917539]
 [-0.40882285  0.90968569 -0.07304328]
 [-0.03833184  0.06284972  0.99728671]]

 t_gt:
[-0.23585822  0.97007467 -0.0576718 ]

Pose Error in degrees for R and t:
178.5049040131241 76.53250063897988

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.99960456e-01 -8.89273515e-03 -7.23236217e-05]
 [ 8.89273162e-03  9.99960458e-01 -4.88736071e-05]
 [ 7.27553819e-05  4.82285199e-05  9.99999996e-01]]

 t_estimated:
[[-0.93587854]
 [-0.35231766]
 [-0.0019047 ]]

 R_gt:
[[ 0.9937512   0.11126458 -0.00890353]
 [-0.11105482  0.99358577  0.02128776]
 [ 0.01121428 -0.0201664   0.99973305]]

 t_gt:
[-0.34195635  0.93958863 -0.01546166]

Pose Error in degrees for R and t:
7.018417397220008 89.37118839795252

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.8986034   0.43873636  0.00472702]
 [ 0.43868738 -0.89859725  0.00873913]
 [ 0.00808186 -0.00577933 -0.99995064]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.95714049  0.28902489 -0.01863993]
 [-0.28952043  0.95653826 -0.03480673]
 [ 0.00776977  0.03871081  0.99921987]]

 t_gt:
[-0.3080377   0.94089537 -0.14081436]

Pose Error in degrees for R and t:
178.57326270376655 20.548259447635342

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.3371867  -0.94141174  0.00700485]
 [-0.94141204 -0.33722319 -0.00488836]
 [ 0.00696416 -0.00494616 -0.99996352]]

 t_estimated:
[[0.51633673]
 [0.85638518]
 [0.00089486]]

 R_gt:
[[ 0.90682458  0.421294   -0.01349523]
 [-0.42128629  0.90483809 -0.06153027]
 [-0.01371159  0.06148191  0.9980134 ]]

 t_gt:
[-0.22403992  0.96835835 -0.10994641]

Pose Error in degrees for R and t:
177.15830936040268 44.47883501797137

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.93915202e-01  1.10147644e-01  2.61942302e-04]
 [-1.10147617e-01  9.93915232e-01 -1.15433835e-04]
 [-2.73063209e-04  8.58791228e-05  9.99999959e-01]]

 t_estimated:
[[0.46463295]
 [0.88550288]
 [0.00093113]]

 R_gt:
[[ 0.99957305 -0.02838155  0.00708633]
 [ 0.02851518  0.99940218 -0.01955656]
 [-0.00652631  0.01975063  0.99978315]]

 t_gt:
[ 0.78908614  0.50212266 -0.35385858]

Pose Error in degrees for R and t:
8.041181979159429 35.81242009371856

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.11568746  0.99328442 -0.00157329]
 [ 0.99324551 -0.11566839  0.00917533]
 [ 0.00893173 -0.00262413 -0.99995667]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99524572 -0.09455958  0.02334827]
 [ 0.09518361  0.99508858 -0.02722106]
 [-0.02065901  0.02931406  0.99935678]]

 t_gt:
[ 0.9513412  -0.30660011 -0.0307618 ]

Pose Error in degrees for R and t:
178.38762591386993 18.128366166580093

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-0.96284885  0.26502664  0.05179747]
 [ 0.26750993  0.96231345  0.04890053]
 [-0.03688546  0.06094016 -0.99745965]]

 t_estimated:
[[9.74443636e-01]
 [2.24630782e-01]
 [7.82685651e-04]]

 R_gt:
[[ 0.98119618 -0.18967084  0.03576866]
 [ 0.19075919  0.98118083 -0.02992236]
 [-0.02941984  0.03618257  0.99891152]]

 t_gt:
[ 0.91154346 -0.41103031  0.01194163]

Pose Error in degrees for R and t:
175.02730499324966 37.25709813660026

Number of keypoints:
Image1: 499
Image2: 499

 R_estimated:
[[ 9.99920572e-01 -1.26034752e-02 -4.30730217e-05]
 [ 1.26034792e-02  9.99920569e-01  9.44076161e-05]
 [ 4.18797363e-05 -9.49429875e-05  9.99999995e-01]]

 t_estimated:
[[-9.97608453e-01]
 [ 6.91172648e-02]
 [ 4.22517965e-04]]

 R_gt:
[[ 0.99876103  0.04946688 -0.00549812]
 [-0.04945906  0.99877504  0.00143063]
 [ 0.00556186 -0.0011572   0.99998408]]

 t_gt:
[-0.11180477  0.99224069 -0.05438848]

Pose Error in degrees for R and t:
3.571633989818265 79.62468531157042

Number of keypoints:
Image1: 508
Image2: 508

 R_estimated:
[[ 9.99524112e-01 -3.08471355e-02 -6.32746561e-05]
 [ 3.08471348e-02  9.99524114e-01 -1.17743961e-05]
 [ 6.36077510e-05  9.81695093e-06  9.99999998e-01]]

 t_estimated:
[[-9.44990967e-01]
 [-3.27096049e-01]
 [-4.97365147e-04]]

 R_gt:
[[ 0.99689159  0.07779232 -0.01247432]
 [-0.07736604  0.99650019  0.03164017]
 [ 0.01489141 -0.03057661  0.99942117]]

 t_gt:
[-0.01507968  0.96577678  0.25893594]

Pose Error in degrees for R and t:
6.516305187139116 72.43543076451486

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-1.48922874e-01  9.88848751e-01 -3.53829932e-04]
 [-9.88845975e-01 -1.48923295e-01 -2.34308168e-03]
 [-2.36964692e-03  9.44845142e-07  9.99997192e-01]]

 t_estimated:
[[0.11216514]
 [0.99368832]
 [0.00157979]]

 R_gt:
[[ 0.99722817  0.07190429 -0.0191328 ]
 [-0.06978793  0.99306194  0.0946366 ]
 [ 0.02580509 -0.09303843  0.99532753]]

 t_gt:
[0.11833436 0.80246474 0.58484811]

Pose Error in degrees for R and t:
94.62419346427977 35.74776478086193

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 9.86554491e-01  1.63432436e-01  2.75367750e-04]
 [-1.63432370e-01  9.86554509e-01 -2.46402879e-04]
 [-3.11935518e-04  1.98085863e-04  9.99999932e-01]]

 t_estimated:
[[-0.83726944]
 [-0.54678541]
 [-0.00236855]]

 R_gt:
[[ 0.99665712 -0.04724317 -0.06665243]
 [ 0.04804324  0.99879041  0.01045044]
 [ 0.06607786 -0.01361739  0.99772123]]

 t_gt:
[ 0.26213119 -0.70753988 -0.65625799]

Pose Error in degrees for R and t:
12.745179109722281 80.27308335044302

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.84500615  0.534727    0.00562458]
 [-0.5345409  -0.84431991 -0.03728159]
 [-0.01518653 -0.03450974  0.99928897]]

 t_estimated:
[[0.22710999]
 [0.97332853]
 [0.03244428]]

 R_gt:
[[ 0.99152549 -0.04882017 -0.12039346]
 [ 0.0556446   0.99698993  0.0539907 ]
 [ 0.11739506 -0.06023104  0.99125636]]

 t_gt:
[ 0.09732817 -0.79961549 -0.59257261]

Pose Error in degrees for R and t:
150.88655222342183 39.157784192417985

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.37800701e-01  3.47173926e-01  3.32712385e-04]
 [-3.47173859e-01  9.37800753e-01 -2.42477812e-04]
 [-3.96199899e-04  1.11886819e-04  9.99999915e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.98012639 -0.11180732 -0.16386288]
 [ 0.12207146  0.99105513  0.05393694]
 [ 0.15636651 -0.07286685  0.98500713]]

 t_gt:
[ 0.28941506 -0.83320878 -0.47117093]

Pose Error in degrees for R and t:
28.82170729390106 33.90183119436132

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 1.00000000e+00 -4.31400684e-06 -7.26602979e-07]
 [ 4.31400763e-06  1.00000000e+00  1.08935919e-06]
 [ 7.26598279e-07 -1.08936233e-06  1.00000000e+00]]

 t_estimated:
[[ 0.99994611]
 [-0.01027754]
 [-0.00146719]]

 R_gt:
[[ 0.99898627 -0.04239864  0.01511662]
 [ 0.04200224  0.99879027  0.02561952]
 [-0.0161838  -0.02495764  0.99955796]]

 t_gt:
[ 0.6745344  -0.42166556  0.60597154]

Pose Error in degrees for R and t:
2.958202105472884 47.31691680861109

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999994e-01 -1.08131573e-04 -1.39356836e-05]
 [ 1.08131623e-04  9.99999994e-01  3.58843030e-06]
 [ 1.39352955e-05 -3.58993717e-06  1.00000000e+00]]

 t_estimated:
[[-9.99992449e-01]
 [-3.78877956e-03]
 [-8.63784281e-04]]

 R_gt:
[[ 0.99753687  0.06741325  0.01938843]
 [-0.06716649  0.99765647 -0.01312734]
 [-0.02022739  0.01179426  0.99972589]]

 t_gt:
[-0.59515239  0.80191782  0.05216742]

Pose Error in degrees for R and t:
4.090992509539592 53.69634800962687

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 1.00000000e+00 -1.03736464e-15  2.88397778e-17]
 [ 1.03389519e-15  1.00000000e+00  1.05591127e-16]
 [-2.62376926e-17  4.16740210e-19  1.00000000e+00]]

 t_estimated:
[[-9.99872414e-01]
 [ 1.59557091e-02]
 [-7.55377824e-04]]

 R_gt:
[[ 0.99257846  0.11958812 -0.02209167]
 [-0.11935326  0.99278439  0.0116468 ]
 [ 0.02332556 -0.00892253  0.99968853]]

 t_gt:
[-0.58629398  0.80781923 -0.06072445]

Pose Error in degrees for R and t:
7.009612111126288 53.19064204173533

Number of keypoints:
Image1: 380
Image2: 380

 R_estimated:
[[ 0.16052977  0.98645842 -0.03361523]
 [ 0.98644463 -0.15916759  0.0399082 ]
 [ 0.03401732 -0.03956602 -0.99863775]]

 t_estimated:
[[ 0.68050855]
 [-0.73227793]
 [-0.02602216]]

 R_gt:
[[ 0.99806033  0.04790066  0.03977895]
 [-0.0484877   0.99872729  0.01392484]
 [-0.03906019 -0.01582555  0.99911191]]

 t_gt:
[-0.8522847  -0.18350496  0.48983337]

Pose Error in degrees for R and t:
177.82559499153197 62.718867195334525

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-0.64818535  0.76129013  0.01711973]
 [-0.76147238 -0.64812931 -0.00939235]
 [ 0.0039455  -0.01912419  0.99980933]]

 t_estimated:
[[0.6514969 ]
 [0.75864801]
 [0.00223518]]

 R_gt:
[[ 0.99792895 -0.02568724  0.05897756]
 [ 0.02462006  0.99952128  0.01876037]
 [-0.05943156 -0.01726919  0.99808298]]

 t_gt:
[ 0.11608607 -0.85831028  0.49982746]

Pose Error in degrees for R and t:
131.84144138967244 54.941782924172955

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99999534e-01  9.30052245e-04  2.58966075e-04]
 [-9.30076212e-04  9.99999563e-01  9.24423879e-05]
 [-2.58879986e-04 -9.26832030e-05  9.99999962e-01]]

 t_estimated:
[[9.18419298e-01]
 [3.95607830e-01]
 [6.61635794e-04]]

 R_gt:
[[ 0.99418064 -0.0914947   0.05686996]
 [ 0.09024505  0.9956264   0.02416978]
 [-0.05883227 -0.01889687  0.99808941]]

 t_gt:
[ 0.54055111 -0.80023064  0.25968332]

Pose Error in degrees for R and t:
6.342018551415164 79.62750941660751

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-3.46194404e-01 -9.38160611e-01 -2.02573952e-03]
 [ 9.38162794e-01 -3.46193782e-01 -6.61208077e-04]
 [-8.09790507e-05 -2.12937998e-03  9.99997730e-01]]

 t_estimated:
[[9.99326729e-01]
 [3.66800186e-02]
 [8.15111525e-04]]

 R_gt:
[[ 0.99434207  0.10614269  0.00434185]
 [-0.10615023  0.99434878  0.00161593]
 [-0.00414634 -0.00206829  0.99998962]]

 t_gt:
[-0.63045288  0.77522733  0.03939232]

Pose Error in degrees for R and t:
116.34837520866643 53.018225582655354

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99686216e-01  2.50493195e-02 -1.57567938e-05]
 [-2.50493182e-02  9.99686214e-01  7.76730156e-05]
 [ 1.76975057e-05 -7.72539462e-05  9.99999997e-01]]

 t_estimated:
[[0.24606407]
 [0.96925272]
 [0.0012792 ]]

 R_gt:
[[ 0.98401338  0.17798638 -0.00622684]
 [-0.17803512  0.98217652 -0.06026661]
 [-0.00461044  0.06041061  0.99816377]]

 t_gt:
[-0.52639819  0.83595864 -0.15517121]

Pose Error in degrees for R and t:
9.487099607666973 47.11500486187048

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 1.00000000e+00 -4.71289674e-14  2.55871713e-16]
 [ 4.70457007e-14  1.00000000e+00 -2.85687272e-16]
 [-3.79796021e-16  8.60287319e-16  1.00000000e+00]]

 t_estimated:
[[-9.78032833e-01]
 [-2.08449099e-01]
 [-8.66506127e-04]]

 R_gt:
[[ 0.96080112  0.27687779  0.01419973]
 [-0.276027    0.96012381 -0.04439718]
 [-0.02592585  0.03873664  0.99891294]]

 t_gt:
[-0.49518342  0.86859655 -0.01825965]

Pose Error in degrees for R and t:
16.276784791226376 72.34628969641736

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.76707643e-01  2.14574407e-01 -6.94177526e-05]
 [-2.14574409e-01  9.76707644e-01 -2.46131264e-05]
 [ 6.25195026e-05  3.89351019e-05  9.99999997e-01]]

 t_estimated:
[[-2.08901639e-01]
 [ 9.77936556e-01]
 [ 4.45113525e-04]]

 R_gt:
[[ 0.99865622  0.05151037  0.00587179]
 [-0.05156053  0.99863174  0.00875925]
 [-0.00541335 -0.00904952  0.99994401]]

 t_gt:
[-0.85352111  0.48694275  0.1854413 ]

Pose Error in degrees for R and t:
9.455761444409934 49.11191522372605

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99994888e-01  3.19728145e-03  4.23977991e-05]
 [-3.19728182e-03  9.99994889e-01  8.58039171e-06]
 [-4.23701484e-05 -8.71590556e-06  9.99999999e-01]]

 t_estimated:
[[-0.54362679]
 [ 0.83932621]
 [ 0.00119446]]

 R_gt:
[[ 0.99613215  0.08094614 -0.0342159 ]
 [-0.08073631  0.99670816  0.00745607]
 [ 0.03470586 -0.00466463  0.99938668]]

 t_gt:
[-0.82231637  0.5389777  -0.18247965]

Pose Error in degrees for R and t:
4.886450115452718 25.947760985356716

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.98374148  0.17896458 -0.01497933]
 [ 0.17896406  0.98385464  0.00138612]
 [ 0.01498555 -0.00131718 -0.99988684]]

 t_estimated:
[[ 0.99896587]
 [ 0.04506392]
 [-0.00603597]]

 R_gt:
[[ 0.99561275  0.0716718  -0.06017053]
 [-0.07217491  0.99737253 -0.00623353]
 [ 0.05956474  0.01054948  0.99816894]]

 t_gt:
[-0.77261469  0.49500791 -0.39753454]

Pose Error in degrees for R and t:
175.76169093028312 41.65941487868834

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.8986498  -0.43464723  0.05924794]
 [-0.43445656  0.90053724  0.01673831]
 [-0.06063024 -0.01069878 -0.99810296]]

 t_estimated:
[[0.98402193]
 [0.17549558]
 [0.0300357 ]]

 R_gt:
[[ 0.9937946   0.09852736  0.05162065]
 [-0.0955664   0.99378871 -0.0570167 ]
 [-0.05691718  0.05172976  0.99703752]]

 t_gt:
[-0.34978792  0.93675402  0.01184566]

Pose Error in degrees for R and t:
174.1486137934357 79.6624487235525

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.83833110e-01 -1.79087377e-01 -3.51610455e-04]
 [ 1.79087446e-01  9.83833145e-01  1.73593937e-04]
 [ 3.14837537e-04 -2.33756481e-04  9.99999923e-01]]

 t_estimated:
[[-0.19694489]
 [-0.98041388]
 [-0.0011542 ]]

 R_gt:
[[ 0.97889516  0.19974838  0.04318677]
 [-0.19794108  0.97928112 -0.04275598]
 [-0.05083155  0.03330438  0.99815158]]

 t_gt:
[-0.29499963  0.95530783  0.01903096]

Pose Error in degrees for R and t:
22.073686756931387 28.535614256349838

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.84883148 -0.52858067 -0.00935927]
 [ 0.52835749 -0.84760487 -0.04903418]
 [ 0.01798555 -0.04656679  0.99875325]]

 t_estimated:
[[9.16990388e-01]
 [3.98908659e-01]
 [7.13611197e-04]]

 R_gt:
[[ 0.93146485  0.36333849  0.01890366]
 [-0.3595918   0.92727736 -0.1041711 ]
 [-0.05537698  0.0902337   0.99437911]]

 t_gt:
[-0.24426387  0.96616028 -0.08288225]

Pose Error in degrees for R and t:
169.38832769066255 80.71398534901137

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 3.00348721e-01 -9.53829440e-01  2.13540362e-04]
 [ 9.53829112e-01  3.00348795e-01  7.91137258e-04]
 [-8.18746598e-04 -3.39360502e-05  9.99999664e-01]]

 t_estimated:
[[0.56703064]
 [0.8236962 ]
 [0.00091016]]

 R_gt:
[[ 0.99973846 -0.01314478 -0.01873203]
 [ 0.01465284  0.99645807  0.08279915]
 [ 0.01757753 -0.08305177  0.99638986]]

 t_gt:
[ 0.19437813 -0.69764138  0.68957498]

Pose Error in degrees for R and t:
71.86515756674004 62.36750467347615

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.53333544e-01 -3.01919085e-01  1.40625870e-04]
 [ 3.01919062e-01  9.53333548e-01  1.65291190e-04]
 [-1.83967925e-04 -1.15120006e-04  9.99999976e-01]]

 t_estimated:
[[0.94489959]
 [0.32735866]
 [0.00103268]]

 R_gt:
[[ 0.99693363 -0.06780467 -0.03906145]
 [ 0.07397941  0.97936567  0.18806889]
 [ 0.02550328 -0.19038252  0.98137869]]

 t_gt:
[ 0.35686701 -0.63281805  0.68715882]

Pose Error in degrees for R and t:
17.417181403444328 82.48679780330393

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.94029464  0.34035219 -0.00252319]
 [-0.34035754 -0.94029371  0.0021168 ]
 [-0.00165208  0.0028492   0.99999458]]

 t_estimated:
[[0.66227258]
 [0.74926254]
 [0.00082066]]

 R_gt:
[[ 0.96448826 -0.24798914 -0.09090467]
 [ 0.26112993  0.94698456  0.18716554]
 [ 0.03967037 -0.20425756  0.97811327]]

 t_gt:
[ 0.69996493 -0.57556059  0.42282278]

Pose Error in degrees for R and t:
175.05039582859573 88.12789444115957

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99513141e-01  3.12004782e-02 -1.04860537e-04]
 [-3.12004869e-02  9.99513143e-01 -8.19153021e-05]
 [ 1.02253688e-04  8.51471207e-05  9.99999991e-01]]

 t_estimated:
[[-9.93131534e-01]
 [-1.16999809e-01]
 [-8.94856202e-04]]

 R_gt:
[[ 0.98301942  0.1824412   0.01971427]
 [-0.18206898  0.98309653 -0.01932263]
 [-0.02290652  0.01540569  0.99961818]]

 t_gt:
[-0.86918923  0.49040404 -0.0633558 ]

Pose Error in degrees for R and t:
8.857578745433782 36.30285784461102

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.79317868 -0.608959   -0.00604307]
 [-0.6089638   0.79319707 -0.00122324]
 [ 0.00553825  0.00270976 -0.99998099]]

 t_estimated:
[[ 0.94111589]
 [ 0.33807657]
 [-0.00225994]]

 R_gt:
[[ 0.94945088  0.30919617  0.05422414]
 [-0.30748083  0.95080513 -0.03776539]
 [-0.06323262  0.01918286  0.99781396]]

 t_gt:
[-0.82790446  0.56075215 -0.01145514]

Pose Error in degrees for R and t:
177.65570571193484 53.87484776055653

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-9.86548941e-01  1.63354778e-01 -6.03346734e-03]
 [ 1.63348636e-01  9.86567267e-01  1.50048328e-03]
 [ 6.19753249e-03  4.94741533e-04 -9.99980673e-01]]

 t_estimated:
[[ 0.98798135]
 [-0.15454686]
 [-0.00284902]]

 R_gt:
[[ 0.87767881  0.47527208  0.0616033 ]
 [-0.47446057  0.87982831 -0.02814391]
 [-0.06757637 -0.00452702  0.99770291]]

 t_gt:
[-0.79505957  0.60514705  0.04095521]

Pose Error in degrees for R and t:
176.4891330045963 28.460689006801083

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.99976741  0.01975374  0.00865503]
 [ 0.01977102  0.9998027   0.00191632]
 [-0.00861547  0.002087   -0.99996071]]

 t_estimated:
[[ 0.99994481]
 [-0.00930063]
 [ 0.00488583]]

 R_gt:
[[ 0.99767787  0.05224465 -0.04370187]
 [-0.05234973  0.9986283  -0.00128666]
 [ 0.04357481  0.00357183  0.99904352]]

 t_gt:
[-0.4862607   0.5487631  -0.68000706]

Pose Error in degrees for R and t:
177.9908447956717 60.352660605201024

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-8.93448118e-01  4.49161730e-01 -2.04974159e-03]
 [-4.49160840e-01 -8.93450461e-01 -9.01683525e-04]
 [-2.23634430e-03  1.15056205e-04  9.99997493e-01]]

 t_estimated:
[[0.82702718]
 [0.56216092]
 [0.00107213]]

 R_gt:
[[ 9.99432162e-01 -4.88792610e-05 -3.36992542e-02]
 [ 1.21030830e-03  9.99405848e-01  3.44517915e-02]
 [ 3.36779120e-02 -3.44735636e-02  9.98837338e-01]]

 t_gt:
[ 0.65972002 -0.75126063 -0.01941552]

Pose Error in degrees for R and t:
153.35677795524467 82.91993510517786

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 8.46004251e-01 -5.33176146e-01 -6.97179304e-05]
 [ 5.33176106e-01  8.46004121e-01  5.17093581e-04]
 [-2.16720306e-04 -4.74635303e-04  9.99999864e-01]]

 t_estimated:
[[ 9.56938042e-01]
 [-2.90290788e-01]
 [ 9.17590764e-04]]

 R_gt:
[[ 0.99172713 -0.11558082 -0.05584243]
 [ 0.11746279  0.99257221  0.03168126]
 [ 0.05176663 -0.0379786   0.99793622]]

 t_gt:
[ 0.75980681 -0.64669399 -0.06693648]

Pose Error in degrees for R and t:
25.77995275199112 23.82891050713331

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.54025888 -0.84149303 -0.00313368]
 [ 0.84149118  0.54026612 -0.00226171]
 [ 0.00359624 -0.00141506  0.99999253]]

 t_estimated:
[[0.80203314]
 [0.59727879]
 [0.00094357]]

 R_gt:
[[ 0.99376208 -0.10756769 -0.02943291]
 [ 0.10932533  0.99177133  0.06660982]
 [ 0.0220257  -0.06941119  0.99734473]]

 t_gt:
[ 0.72473301 -0.61195911  0.31665139]

Pose Error in degrees for R and t:
51.219418344552665 77.5229537365385

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 5.44474122e-01  8.38776670e-01  1.27628727e-03]
 [-8.38777637e-01  5.44473641e-01  7.28798118e-04]
 [-8.36059195e-05 -1.46733294e-03  9.99998920e-01]]

 t_estimated:
[[0.69423551]
 [0.7197475 ]
 [0.00077309]]

 R_gt:
[[ 0.94330429 -0.32725877 -0.05548741]
 [ 0.33015283  0.94232466  0.05497383]
 [ 0.03429723 -0.07017581  0.99694556]]

 t_gt:
[ 0.87402492 -0.47158802  0.11698367]

Pose Error in degrees for R and t:
76.34153064794351 74.4876980029806

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.55196908e-02  9.95427184e-01  8.42928326e-04]
 [-9.95424709e-01  9.55214047e-02 -2.30447435e-03]
 [-2.37445411e-03 -6.18949005e-04  9.99996989e-01]]

 t_estimated:
[[0.5856166 ]
 [0.81058743]
 [0.00110048]]

 R_gt:
[[ 0.82547919 -0.5643346   0.01054723]
 [ 0.56433405  0.82484062 -0.03413745]
 [ 0.0105655   0.03413221  0.99936153]]

 t_gt:
[ 0.94350968 -0.32577981 -0.06047322]

Pose Error in degrees for R and t:
118.89679241740811 73.23808690219191

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.73919918e-01  2.26891904e-01  2.39413192e-04]
 [-2.26891982e-01  9.73919856e-01  3.77437737e-04]
 [-1.47531695e-04 -4.21915063e-04  9.99999900e-01]]

 t_estimated:
[[-0.77581566]
 [ 0.63095822]
 [ 0.00133539]]

 R_gt:
[[ 0.97685881  0.21079827  0.03619766]
 [-0.20864951  0.97641804 -0.05543394]
 [-0.04703012  0.04659907  0.99780523]]

 t_gt:
[-0.843399    0.51694637 -0.14643969]

Pose Error in degrees for R and t:
3.935184691391771 11.392175708951157

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.97093795e-01  7.61832871e-02 -2.64558562e-04]
 [-7.61832485e-02  9.97093822e-01  1.52957322e-04]
 [ 2.75442499e-04 -1.32357866e-04  9.99999953e-01]]

 t_estimated:
[[-0.7533523 ]
 [-0.65761616]
 [-0.00113972]]

 R_gt:
[[ 0.95084059  0.30608989  0.04702787]
 [-0.30482011  0.95186177 -0.03231998]
 [-0.05465699  0.01639684  0.99837067]]

 t_gt:
[-0.833903    0.55190701 -0.002105  ]

Pose Error in degrees for R and t:
13.826239768742237 74.61627934512086

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 5.05262970e-01  8.62964240e-01  1.43260698e-03]
 [ 8.62963178e-01 -5.05264747e-01  1.44517488e-03]
 [ 1.97098004e-03  5.06093721e-04 -9.99997930e-01]]

 t_estimated:
[[0.72652573]
 [0.68713578]
 [0.00218833]]

 R_gt:
[[ 0.84706357  0.52933413  0.04784051]
 [-0.52716264  0.84821851 -0.05123539]
 [-0.0677006   0.01818087  0.99753994]]

 t_gt:
[-0.78296222  0.62206843 -0.00101681]

Pose Error in degrees for R and t:
176.55133149857986 81.87119444875577

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.93526279e-01  1.13602380e-01  1.80396924e-04]
 [-1.13602330e-01  9.93526265e-01 -2.68053812e-04]
 [-2.09680633e-04  2.45824996e-04  9.99999948e-01]]

 t_estimated:
[[0.48748298]
 [0.87313198]
 [0.00094291]]

 R_gt:
[[ 0.99888735 -0.04702081  0.00355066]
 [ 0.0469938   0.99886886  0.00726297]
 [-0.00388827 -0.00708766  0.99996764]]

 t_gt:
[ 0.90128629 -0.38010996  0.20784474]

Pose Error in degrees for R and t:
9.22937265100019 83.81889293143324

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 1.00000000e+00 -2.84386136e-11 -6.05133782e-13]
 [ 2.84386135e-11  1.00000000e+00 -1.16011470e-13]
 [ 6.05133890e-13  1.15995742e-13  1.00000000e+00]]

 t_estimated:
[[ 9.99999671e-01]
 [-4.61469855e-04]
 [-6.66595031e-04]]

 R_gt:
[[ 0.99758715 -0.0168951  -0.06733394]
 [ 0.01375442  0.99880837 -0.04682552]
 [ 0.06804504  0.04578649  0.99663162]]

 t_gt:
[ 0.41896112  0.38350001 -0.82304273]

Pose Error in degrees for R and t:
4.785799360671859 65.20753849668502

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.89875751 -0.43842621  0.00417153]
 [ 0.43843822  0.89875765 -0.00257231]
 [-0.00262143  0.00414084  0.99998799]]

 t_estimated:
[[0.63488694]
 [0.77260457]
 [0.00086615]]

 R_gt:
[[ 0.98370225  0.05595453 -0.1708784 ]
 [-0.08333331  0.9839944  -0.15751364]
 [ 0.15932911  0.16918576  0.97261987]]

 t_gt:
[ 0.04705814  0.59830952 -0.79988203]

Pose Error in degrees for R and t:
32.860023806785954 60.564697717312

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 8.62707387e-01  5.05703392e-01  2.11030275e-04]
 [-5.05702263e-01  8.62706209e-01 -1.79418019e-03]
 [-1.08938014e-03  1.44113401e-03  9.99998368e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.96217236e-01  8.34602192e-02 -2.42068267e-02]
 [-8.34192468e-02  9.96510607e-01  2.71080192e-03]
 [ 2.43490195e-02 -6.81157877e-04  9.99702566e-01]]

 t_gt:
[-0.72924973  0.63752119 -0.24851872]

Pose Error in degrees for R and t:
25.631165382538747 43.325967403584265

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.71806392e-01 -2.35780178e-01 -2.09928419e-04]
 [ 2.35780189e-01  9.71806412e-01  2.84462819e-05]
 [ 1.97302714e-04 -7.71412408e-05  9.99999978e-01]]

 t_estimated:
[[ 4.55694155e-03]
 [-9.99989187e-01]
 [-9.27353489e-04]]

 R_gt:
[[ 0.99580915  0.08718887 -0.02761328]
 [-0.08694625  0.99616451  0.00983583]
 [ 0.02836537 -0.00739442  0.99956948]]

 t_gt:
[-0.74103632  0.61900185 -0.26019586]

Pose Error in degrees for R and t:
18.70747819926465 51.52810117121278

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.98706901 -0.15372953  0.04540937]
 [ 0.15703303  0.98423194 -0.08141328]
 [-0.03217773  0.0874913   0.99564545]]

 t_estimated:
[[-0.65582584]
 [-0.75419971]
 [-0.03279129]]

 R_gt:
[[ 0.99944671 -0.00931043 -0.03194643]
 [ 0.01064004  0.99907495  0.04165549]
 [ 0.03152908 -0.04197269  0.99862057]]

 t_gt:
[ 0.59519112 -0.79659307  0.10576865]

Pose Error in degrees for R and t:
11.806308154829491 78.05455405350982

Number of keypoints:
Image1: 406
Image2: 406

 R_estimated:
[[ 9.98953294e-01  4.57418143e-02 -5.52422790e-05]
 [-4.57418182e-02  9.98953293e-01 -7.19653605e-05]
 [ 5.18926303e-05  7.44169162e-05  9.99999996e-01]]

 t_estimated:
[[-3.23930230e-01]
 [ 9.46080707e-01]
 [-7.09176210e-04]]

 R_gt:
[[ 0.99951224 -0.02604126  0.01726753]
 [ 0.02742357  0.99597431 -0.08535246]
 [-0.01497431  0.08578423  0.9962003 ]]

 t_gt:
[ 0.41173282  0.6140471  -0.67336635]

Pose Error in degrees for R and t:
6.495021902013583 63.381809763406764

Number of keypoints:
Image1: 404
Image2: 404

 R_estimated:
[[ 7.25547145e-01  6.88172394e-01  3.10866469e-04]
 [-6.88170988e-01  7.25546451e-01 -1.74305988e-03]
 [-1.42507375e-03  1.05074283e-03  9.99998433e-01]]

 t_estimated:
[[0.48382221]
 [0.87516558]
 [0.00112779]]

 R_gt:
[[ 0.99974704 -0.0167075   0.01510047]
 [ 0.01913484  0.98377166 -0.17840148]
 [-0.01187413  0.17864618  0.98384129]]

 t_gt:
[ 0.21986936  0.68839776 -0.69120618]

Pose Error in degrees for R and t:
45.61991177538425 44.922695916063624

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.44719182e-01 -3.27880345e-01 -3.82039382e-04]
 [ 3.27880542e-01  9.44718925e-01  7.08836638e-04]
 [ 1.28506233e-04 -7.94914849e-04  9.99999676e-01]]

 t_estimated:
[[-0.73056644]
 [-0.682841  ]
 [-0.0009178 ]]

 R_gt:
[[ 0.99949344  0.01832655  0.02602949]
 [-0.01277365  0.97983563 -0.19939987]
 [-0.02915756  0.1989671   0.97957195]]

 t_gt:
[ 0.1215626   0.83460769 -0.53726394]

Pose Error in degrees for R and t:
23.149006314251867 48.83567832537361

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-6.95723029e-01 -7.18309820e-01 -6.84632021e-04]
 [ 6.96824056e-01 -6.74680886e-01 -2.43396667e-01]
 [ 1.74372308e-01 -1.69813735e-01  9.69926592e-01]]

 t_estimated:
[[9.99983476e-01]
 [5.69096287e-03]
 [8.12994696e-04]]

 R_gt:
[[ 0.98865994  0.02244867  0.14848653]
 [-0.02296969  0.99973501  0.00179186]
 [-0.14840691 -0.0051828   0.98891261]]

 t_gt:
[-0.3907493   0.1462695   0.90880153]

Pose Error in degrees for R and t:
136.9211802139105 67.09703754468255

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.98347045  0.11932583  0.13618819]
 [-0.16472222 -0.90190475 -0.39929238]
 [ 0.07518288 -0.41512548  0.90665229]]

 t_estimated:
[[0.8504323 ]
 [0.51681969]
 [0.09829706]]

 R_gt:
[[ 0.97873472  0.0664032   0.19408559]
 [-0.06704807  0.99774493 -0.00325975]
 [-0.19386444 -0.00982259  0.98097838]]

 t_gt:
[-0.51187689  0.26044103  0.81862844]

Pose Error in degrees for R and t:
165.5598468769421 77.27646956208436

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.27169772e-01  3.74640353e-01 -9.05322030e-04]
 [-3.74640644e-01  9.27170081e-01 -1.70557246e-04]
 [ 7.75489873e-04  4.97305951e-04  9.99999576e-01]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.98128688  0.10830791  0.15920425]
 [-0.10777841  0.99410321 -0.01198683]
 [-0.159563   -0.00539746  0.98717209]]

 t_gt:
[-0.67781404  0.40242852  0.61532058]

Pose Error in degrees for R and t:
18.25165782653172 47.95903269575078

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-4.95218913e-01 -8.68765582e-01 -2.14297327e-03]
 [ 8.68768173e-01 -4.95218230e-01 -8.75845132e-04]
 [-3.00335323e-04 -2.29548205e-03  9.99997320e-01]]

 t_estimated:
[[9.99450454e-01]
 [3.31359024e-02]
 [8.95564923e-04]]

 R_gt:
[[ 0.98628028  0.16473914  0.01056953]
 [-0.164901    0.98616491  0.01694014]
 [-0.00763239 -0.0184512   0.99980042]]

 t_gt:
[-0.61183155  0.78635936  0.08544652]

Pose Error in degrees for R and t:
129.17443845804695 54.17142745894664

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.78933976e-01  2.04177054e-01  3.41568455e-05]
 [-2.04177040e-01  9.78933951e-01 -2.37114727e-04]
 [-8.18506820e-05  2.25145619e-04  9.99999971e-01]]

 t_estimated:
[[-0.99995131]
 [-0.00979144]
 [-0.00122393]]

 R_gt:
[[ 0.97616124  0.21633359 -0.01758157]
 [-0.21605391  0.97624282  0.01647889]
 [ 0.0207283  -0.01228795  0.99970883]]

 t_gt:
[-0.56454443  0.82477036 -0.03230223]

Pose Error in degrees for R and t:
1.5606962090562084 56.18723169111027

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.84020240e-01 -1.78056256e-01 -3.70082058e-04]
 [ 1.78056333e-01  9.84020278e-01  1.86560254e-04]
 [ 3.30950029e-04 -2.49474520e-04  9.99999914e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.95108234  0.308025    0.02372154]
 [-0.30697554  0.95089423 -0.03957903]
 [-0.03474869  0.03036019  0.99893415]]

 t_gt:
[-0.50419219  0.8634392   0.01621658]

Pose Error in degrees for R and t:
28.298617450620494 30.650366910229575

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.99512096 -0.09854593 -0.00479374]
 [ 0.09856205  0.9951256   0.00324996]
 [ 0.0044501  -0.00370658  0.99998323]]

 t_estimated:
[[7.76000567e-01]
 [6.30732184e-01]
 [1.79543312e-04]]

 R_gt:
[[ 0.99846114 -0.03112951  0.04590435]
 [ 0.03102073  0.9995147   0.00304712]
 [-0.04597666 -0.00161803  0.99894154]]

 t_gt:
[ 0.35231966 -0.86252136  0.36321862]

Pose Error in degrees for R and t:
4.838281018070075 74.30273395877656

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.96649555  0.25667759 -0.00172241]
 [ 0.25656705 -0.96623782 -0.02361842]
 [-0.00772657  0.02238519 -0.99971956]]

 t_estimated:
[[ 0.19779384]
 [ 0.98023368]
 [-0.00442041]]

 R_gt:
[[ 9.93883078e-01 -1.05106805e-01  3.39175376e-02]
 [ 1.05055079e-01  9.94461506e-01  3.29315335e-03]
 [-3.40752747e-02  2.91096742e-04  9.99419253e-01]]

 t_gt:
[ 0.71350011 -0.69634609  0.07758683]

Pose Error in degrees for R and t:
178.52022607785284 57.19381631679042

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999957e-01 -2.64094889e-04  1.27521037e-04]
 [ 2.64121916e-04  9.99999943e-01 -2.11969576e-04]
 [-1.27465050e-04  2.12003248e-04  9.99999969e-01]]

 t_estimated:
[[ 0.98888512]
 [ 0.14867728]
 [-0.00113111]]

 R_gt:
[[ 0.98570765 -0.14993689  0.07680629]
 [ 0.1474072   0.98836042  0.03763313]
 [-0.0815551  -0.02577327  0.99633575]]

 t_gt:
[ 0.66006767 -0.71117109  0.24196353]

Pose Error in degrees for R and t:
9.854856786647526 56.857552858286546

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.05181309  0.99861829  0.00876997]
 [ 0.99863419 -0.05175083 -0.00718324]
 [-0.00671946  0.00913018 -0.99993574]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.98117339  0.19301545 -0.00660113]
 [-0.19309694  0.98105771 -0.01546485]
 [ 0.00349215  0.01644778  0.99985862]]

 t_gt:
[-0.38136349  0.92169284 -0.07102253]

Pose Error in degrees for R and t:
178.90062047748796 68.53273630865107

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 1.69907064e-01  9.85460090e-01 -9.57438130e-06]
 [-9.85450921e-01  1.69905441e-01 -4.31544972e-03]
 [-4.25107673e-03  7.42660475e-04  9.99990688e-01]]

 t_estimated:
[[0.02016394]
 [0.99979528]
 [0.00168033]]

 R_gt:
[[ 0.96058271  0.27798324  0.00228519]
 [-0.27784278  0.96030349 -0.02490527]
 [-0.00911715  0.02328829  0.99968704]]

 t_gt:
[-0.32441327  0.94518471 -0.03717381]

Pose Error in degrees for R and t:
64.08885145737932 20.217536535551886

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.98775017 -0.15339147  0.02864729]
 [ 0.15444953  0.98721738 -0.03933423]
 [-0.02224757  0.04327695  0.99881537]]

 t_estimated:
[[-0.19601146]
 [-0.98005728]
 [-0.03266858]]

 R_gt:
[[ 0.93485101  0.35503163  0.00218039]
 [-0.35394701  0.93244037 -0.07263536]
 [-0.02782016  0.06713136  0.99735603]]

 t_gt:
[-0.26650005  0.96258062 -0.04915556]

Pose Error in degrees for R and t:
29.691325550018387 27.18434413091699

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.99973639e-01  7.26085286e-03  2.32791847e-05]
 [-7.26085207e-03  9.99973639e-01 -3.38878109e-05]
 [-2.35246254e-05  3.37178909e-05  9.99999999e-01]]

 t_estimated:
[[9.86879534e-01]
 [1.61457052e-01]
 [6.36545159e-04]]

 R_gt:
[[ 0.99999938  0.00114458 -0.00160327]
 [-0.00115262  0.99998873 -0.00472997]
 [ 0.00159682  0.0047321   0.99998826]]

 t_gt:
[-0.63344414 -0.46009051 -0.62214568]

Pose Error in degrees for R and t:
0.4416880216094668 45.58792193022689

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999065e-01 -1.36769945e-03  1.14047911e-05]
 [ 1.36769819e-03  9.99999059e-01  1.09322338e-04]
 [-1.15543005e-05 -1.09306638e-04  9.99999994e-01]]

 t_estimated:
[[-1.24835415e-03]
 [ 9.99999124e-01]
 [ 4.40850159e-04]]

 R_gt:
[[ 0.99887838  0.03325991  0.03372348]
 [-0.03265032  0.99929551 -0.01847758]
 [-0.03431509  0.0173566   0.9992607 ]]

 t_gt:
[-0.86129462  0.32178429  0.3932257 ]

Pose Error in degrees for R and t:
2.955684677530876 71.15357939303891

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-9.36819899e-01 -3.49807206e-01 -1.84244912e-03]
 [ 3.49808806e-01 -9.36820907e-01 -6.22270317e-04]
 [-1.50837021e-03 -1.22746014e-03  9.99998109e-01]]

 t_estimated:
[[9.99982376e-01]
 [5.87731035e-03]
 [8.39615765e-04]]

 R_gt:
[[ 0.99779965  0.03702341  0.05501141]
 [-0.0360174   0.99916725 -0.01917419]
 [-0.0556764   0.01715036  0.99830196]]

 t_gt:
[-0.82295477  0.14866627  0.54830993]

Pose Error in degrees for R and t:
161.62942803344902 34.7541005485026

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.64717114e-01  2.63288591e-01  8.30618540e-05]
 [-2.63288599e-01  9.64717109e-01  1.15496563e-04]
 [-4.97222642e-05 -1.33290751e-04  9.99999990e-01]]

 t_estimated:
[[8.24229885e-01]
 [5.66254960e-01]
 [6.44937312e-04]]

 R_gt:
[[ 0.99131352 -0.12592819  0.03793906]
 [ 0.12701084  0.99151631 -0.02763844]
 [-0.03413624  0.03221695  0.99889825]]

 t_gt:
[ 0.62500852 -0.77585166  0.08613095]

Pose Error in degrees for R and t:
22.693071266135192 85.64842019401021

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.73350189e-01 -2.29316859e-01  1.78557479e-03]
 [ 2.29316146e-01  9.73351811e-01  5.97226123e-04]
 [-1.87494648e-03 -1.71849030e-04  9.99998228e-01]]

 t_estimated:
[[0.9371598 ]
 [0.34889872]
 [0.00109146]]

 R_gt:
[[ 0.97934334 -0.19594725  0.04992288]
 [ 0.19834314  0.97892442 -0.04864854]
 [-0.03933827  0.05754484  0.99756839]]

 t_gt:
[ 0.63620009 -0.77149842 -0.00629559]

Pose Error in degrees for R and t:
4.3684266490546975 70.91081856206

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.74668709e-01  2.23652970e-01  5.07002870e-04]
 [-2.23652966e-01  9.74668839e-01 -6.42783673e-05]
 [-5.08535947e-04 -5.07425825e-05  9.99999869e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98967596 -0.13261293  0.05435701]
 [ 0.13484776  0.99006895 -0.03974401]
 [-0.04854682  0.04666391  0.99773119]]

 t_gt:
[ 0.50059966 -0.85887002  0.10836175]

Pose Error in degrees for R and t:
20.968015809639233 31.171920810699064

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-9.22521843e-01 -3.85944844e-01  1.61537340e-04]
 [-3.85944871e-01  9.22521669e-01 -5.71353983e-04]
 [ 7.14894271e-05 -5.89431038e-04 -9.99999824e-01]]

 t_estimated:
[[0.95195869]
 [0.30622447]
 [0.00110951]]

 R_gt:
[[ 0.99007507  0.13575083 -0.03638257]
 [-0.13355611  0.98939045  0.05717291]
 [ 0.04375776 -0.05174643  0.99770086]]

 t_gt:
[-0.41190998  0.90717482  0.08581384]

Pose Error in degrees for R and t:
178.36364473111465 83.44096200315941

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.74149239e-01 -2.25905417e-01 -4.69938584e-05]
 [ 2.25905409e-01  9.74149233e-01 -1.34427037e-04]
 [ 7.61468270e-05  1.20335829e-04  9.99999990e-01]]

 t_estimated:
[[0.7171825 ]
 [0.69688488]
 [0.00084573]]

 R_gt:
[[ 0.94369285  0.3110256  -0.11272542]
 [-0.30227421  0.9491263   0.08825588]
 [ 0.13444075 -0.04921203  0.98969805]]

 t_gt:
[-0.20959208  0.96608279 -0.15084829]

Pose Error in degrees for R and t:
32.05724941290704 58.479396418754796

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.97217126 -0.23425226 -0.0029882 ]
 [ 0.2342676   0.97214861  0.00676566]
 [ 0.00132011 -0.00727742  0.99997265]]

 t_estimated:
[[0.75979434]
 [0.65016279]
 [0.00095332]]

 R_gt:
[[ 0.87941486  0.46016275 -0.1219791 ]
 [-0.44497259  0.8856235   0.13293563]
 [ 0.16919954 -0.06262755  0.98358926]]

 t_gt:
[-0.15708141  0.98038256 -0.11906074]

Pose Error in degrees for R and t:
41.868033584915786 58.80548016062025

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-9.99975020e-01 -7.04484361e-03 -5.74507622e-04]
 [ 7.04594378e-03 -9.99973303e-01 -1.93599616e-03]
 [-5.60853494e-04 -1.93999575e-03  9.99997961e-01]]

 t_estimated:
[[0.79116562]
 [0.61160123]
 [0.00095052]]

 R_gt:
[[ 0.98712123  0.15776573  0.02649583]
 [-0.15714403  0.98728264 -0.0240796 ]
 [-0.02995869  0.01960707  0.99935846]]

 t_gt:
[-0.39531673  0.91572572  0.07191026]

Pose Error in degrees for R and t:
171.3412275059859 75.67828065348235

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.86209153 -0.45830426  0.21622997]
 [ 0.48358408  0.87156991 -0.08069898]
 [-0.15147485  0.17413528  0.97300168]]

 t_estimated:
[[0.98754144]
 [0.15430335]
 [0.03086067]]

 R_gt:
[[ 0.9784664   0.20548053  0.01951927]
 [-0.20473193  0.97820261 -0.03471076]
 [-0.02622693  0.02996756  0.99920645]]

 t_gt:
[-3.31826852e-01  9.43339883e-01  8.97262355e-04]

Pose Error in degrees for R and t:
41.782275246459456 79.50763071266812

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99986361e-01 -5.16573830e-03 -7.70476999e-04]
 [ 5.16597135e-03  9.99986611e-01  3.00796934e-04]
 [ 7.68912845e-04 -3.04773093e-04  9.99999658e-01]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.9474557   0.31803337  0.03439198]
 [-0.31422507  0.94543156 -0.08614769]
 [-0.05991304  0.07081544  0.99568811]]

 t_gt:
[-0.28254394  0.95875453  0.03096231]

Pose Error in degrees for R and t:
19.510274274385033 16.862524414730718

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99999774e-01  6.71299700e-04 -3.56189274e-05]
 [-6.71303753e-04  9.99999768e-01 -1.13876206e-04]
 [ 3.55424741e-05  1.13900091e-04  9.99999993e-01]]

 t_estimated:
[[-0.24219457]
 [-0.97022712]
 [-0.00106477]]

 R_gt:
[[ 9.96389803e-01  7.43005091e-04  8.48956205e-02]
 [ 2.67554701e-03  9.99189558e-01 -4.01554925e-02]
 [-8.48552884e-02  4.02382569e-02  9.95580319e-01]]

 t_gt:
[-0.48793037  0.73747837  0.46695783]

Pose Error in degrees for R and t:
5.3886925658841855 53.284313838314354

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-7.75282651e-01 -6.31611859e-01 -1.80844947e-03]
 [ 6.31613804e-01 -7.75282773e-01 -7.90754405e-04]
 [-9.02609861e-04 -1.75529982e-03  9.99998052e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99098612  0.07127102  0.11343776]
 [-0.06112642  0.99401629 -0.09052365]
 [-0.11921037  0.08277375  0.98941199]]

 t_gt:
[-0.34264203  0.9392207   0.02146914]

Pose Error in degrees for R and t:
144.75198723921758 70.1407117967487

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-6.61277463e-01 -7.50140940e-01 -8.29088382e-04]
 [ 7.50141072e-01 -6.61275741e-01 -1.66341107e-03]
 [ 6.99536709e-04 -1.72190950e-03  9.99998273e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.98033446  0.16290923  0.11138429]
 [-0.15228667  0.98345857 -0.09807116]
 [-0.12551834  0.07918074  0.98892652]]

 t_gt:
[-0.30623441  0.95130869  0.03510367]

Pose Error in degrees for R and t:
140.63671461892665 67.1758204190373

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.43310493e-01  3.31911594e-01 -9.25623299e-05]
 [-3.31911560e-01  9.43310174e-01 -7.94834611e-04]
 [-1.76499835e-04  7.80498335e-04  9.99999680e-01]]

 t_estimated:
[[-0.9869884 ]
 [-0.16078359]
 [-0.00159192]]

 R_gt:
[[ 0.98954812 -0.09189183  0.11114045]
 [ 0.09345609  0.99558315 -0.00893293]
 [-0.10982889  0.01922695  0.99376517]]

 t_gt:
[ 0.54283564 -0.60458157  0.58293275]

Pose Error in degrees for R and t:
25.519876237907702 63.928420513364436

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-1.63861794e-02 -9.99863973e-01 -1.87865728e-03]
 [ 9.99865728e-01 -1.63858928e-02 -1.67848071e-04]
 [ 1.37041762e-04 -1.88115542e-03  9.99998221e-01]]

 t_estimated:
[[0.99996586]
 [0.00819867]
 [0.00102744]]

 R_gt:
[[ 0.96918469 -0.09787997  0.22605522]
 [ 0.10315311  0.9945981  -0.0116034 ]
 [-0.22369797  0.0345644   0.97404623]]

 t_gt:
[ 0.3730723  -0.40651783  0.83400258]

Pose Error in degrees for R and t:
85.91842458804264 68.24838942508009

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.74341212  0.66882339 -0.00369943]
 [-0.66870371  0.74336537  0.01559701]
 [ 0.01318168 -0.00912119  0.99987152]]

 t_estimated:
[[0.05277146]
 [0.99859837]
 [0.00405934]]

 R_gt:
[[ 0.93743308 -0.10923429  0.33058738]
 [ 0.12883217  0.99094205 -0.03789052]
 [-0.32345443  0.07811098  0.94301468]]

 t_gt:
[ 0.40369871 -0.31834146  0.85772144]

Pose Error in degrees for R and t:
52.75584570221036 72.95577840653749

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.99999646e-01  8.38115389e-04  7.94730296e-05]
 [-8.38114537e-04  9.99999649e-01 -1.07587420e-05]
 [-7.94820188e-05  1.06921306e-05  9.99999997e-01]]

 t_estimated:
[[0.99990828]
 [0.01342966]
 [0.00175429]]

 R_gt:
[[ 0.99997071 -0.00267972  0.00717802]
 [ 0.00264872  0.99998712  0.00427802]
 [-0.00718948 -0.00425951  0.99996533]]

 t_gt:
[ 0.95401984 -0.04380451  0.29652539]

Pose Error in degrees for R and t:
0.5155302166548456 17.47191250716044

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.9934559  -0.11420469  0.00163037]
 [ 0.1142083   0.99345411 -0.002325  ]
 [-0.00135417  0.00249599  0.99999597]]

 t_estimated:
[[-0.47234013]
 [-0.88141547]
 [-0.00125332]]

 R_gt:
[[ 0.99749641  0.06575396 -0.02602438]
 [-0.0648149   0.99726832  0.03541864]
 [ 0.02828233 -0.03364311  0.99903353]]

 t_gt:
[ 0.10053668  0.99488849 -0.00944806]

Pose Error in degrees for R and t:
10.645232923860945 22.424083455493587

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.37645735  0.92643091  0.00237494]
 [-0.92642936  0.37646232 -0.00218244]
 [-0.00291596 -0.00137862  0.9999948 ]]

 t_estimated:
[[0.04424407]
 [0.99901693]
 [0.00276205]]

 R_gt:
[[ 0.98874487  0.14884258  0.01516924]
 [-0.14931779  0.98807763  0.03749471]
 [-0.00940801 -0.03933749  0.99918221]]

 t_gt:
[-0.19243581  0.95099602  0.2420228 ]

Pose Error in degrees for R and t:
59.34842938025775 19.572994423780493

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 2.66495611e-01  9.63829944e-01  3.45367968e-03]
 [ 9.63835639e-01 -2.66497386e-01  5.61202080e-05]
 [ 9.74486944e-04  3.31382377e-03 -9.99994034e-01]]

 t_estimated:
[[7.96080246e-01]
 [6.05190666e-01]
 [7.06998442e-04]]

 R_gt:
[[ 0.9696489  -0.24372078  0.01957044]
 [ 0.24436518  0.96868914 -0.04390584]
 [-0.0082563   0.04735662  0.99884365]]

 t_gt:
[ 0.85846795 -0.49918416 -0.11767735]

Pose Error in degrees for R and t:
177.28024496673123 67.59044322961378

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99999988e-01 -5.76734316e-05  1.44368366e-04]
 [ 5.77107288e-05  9.99999965e-01 -2.58356637e-04]
 [-1.44353461e-04  2.58364966e-04  9.99999956e-01]]

 t_estimated:
[[8.03860643e-01]
 [5.94817309e-01]
 [6.59442693e-04]]

 R_gt:
[[ 0.85972379 -0.51075769  0.0014906 ]
 [ 0.51059717  0.85937282 -0.02772576]
 [ 0.01287941  0.02459866  0.99961395]]

 t_gt:
[ 0.91640938 -0.39750858 -0.04669875]

Pose Error in degrees for R and t:
30.751767475197436 59.98745151222332

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.99999290e-01  9.24430304e-04  7.51993968e-04]
 [-9.23895313e-04  9.99999320e-01 -7.11467179e-04]
 [-7.52651158e-04  7.10771910e-04  9.99999464e-01]]

 t_estimated:
[[ 9.99997726e-01]
 [ 2.13247112e-03]
 [-1.08455106e-05]]

 R_gt:
[[ 0.80339099 -0.59536252  0.01028492]
 [ 0.59536941  0.8028745  -0.03045946]
 [ 0.0098757   0.03059431  0.9994829 ]]

 t_gt:
[ 0.93203257 -0.35969885 -0.0439548 ]

Pose Error in degrees for R and t:
36.645377954980646 21.367304283294967

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.94464710e-01  1.05071081e-01  9.10966190e-05]
 [-1.05070996e-01  9.94464494e-01 -6.75217747e-04]
 [-1.61538211e-04  6.61908609e-04  9.99999768e-01]]

 t_estimated:
[[ 5.09135382e-01]
 [ 8.60686306e-01]
 [-4.94816919e-04]]

 R_gt:
[[ 0.99937119  0.0229428   0.02701076]
 [-0.02197926  0.99913035 -0.03543593]
 [-0.02779997  0.03482049  0.99900775]]

 t_gt:
[ 0.29874135  0.95012237 -0.08956057]

Pose Error in degrees for R and t:
5.370527874828674 14.093083299524276

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.74076656e-01  2.26218114e-01  1.80816714e-04]
 [-2.26218079e-01  9.74076662e-01 -1.93452475e-04]
 [-2.19891795e-04  1.47533530e-04  9.99999965e-01]]

 t_estimated:
[[0.60544996]
 [0.79588253]
 [0.00115517]]

 R_gt:
[[ 0.99856874 -0.01803106  0.05034969]
 [ 0.0212134   0.99776176 -0.06340634]
 [-0.04909374  0.06438437  0.99671739]]

 t_gt:
[ 0.89026743 -0.45524015 -0.01342795]

Pose Error in degrees for R and t:
14.93249879380132 79.82360869931952

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.99999991e-01 -1.30865531e-04  1.86216567e-05]
 [ 1.30866043e-04  9.99999991e-01 -2.74974590e-05]
 [-1.86180581e-05  2.74998957e-05  9.99999999e-01]]

 t_estimated:
[[ 8.99247194e-01]
 [-4.37440726e-01]
 [-3.09242305e-04]]

 R_gt:
[[ 0.99827828 -0.05769245 -0.01054061]
 [ 0.05736516  0.99792925 -0.02911053]
 [ 0.01219825  0.02845589  0.99952093]]

 t_gt:
[ 0.72162484 -0.61469528 -0.31844512]

Pose Error in degrees for R and t:
3.7382387299401074 23.37752495628733

Number of keypoints:
Image1: 374
Image2: 374

 R_estimated:
[[ 9.99013372e-01 -4.44103775e-02  6.80943596e-06]
 [ 4.44103779e-02  9.99013368e-01 -9.83087274e-05]
 [-2.43678986e-06  9.85141429e-05  9.99999995e-01]]

 t_estimated:
[[-0.00990037]
 [-0.9999503 ]
 [-0.001176  ]]

 R_gt:
[[ 0.99895394 -0.00964631  0.04469327]
 [ 0.01221614  0.99826464 -0.05760571]
 [-0.04405988  0.05809171  0.99733921]]

 t_gt:
[ 0.92562849 -0.29545978  0.23646442]

Pose Error in degrees for R and t:
4.59562800305866 73.38119115187179

Number of keypoints:
Image1: 420
Image2: 420

 R_estimated:
[[-0.70551462  0.7082735   0.02444945]
 [ 0.70830185  0.70585264 -0.00897404]
 [-0.02361378  0.01098628 -0.99966079]]

 t_estimated:
[[ 0.92847547]
 [-0.37117168]
 [ 0.01284091]]

 R_gt:
[[ 0.99743655 -0.0699284   0.01516013]
 [ 0.07067993  0.99588595 -0.05671087]
 [-0.011131    0.05763688  0.99827581]]

 t_gt:
[ 0.64916305 -0.68441541 -0.33190795]

Pose Error in degrees for R and t:
176.5543828266462 31.514754670079

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 9.99698750e-01  2.45435413e-02  1.56625991e-04]
 [-2.45435316e-02  9.99698760e-01 -6.38046830e-05]
 [-1.58144802e-04  5.99413069e-05  9.99999986e-01]]

 t_estimated:
[[0.2078943 ]
 [0.97815015]
 [0.00149564]]

 R_gt:
[[ 0.99440518 -0.09967313 -0.03497519]
 [ 0.10011946  0.99491151  0.01126594]
 [ 0.03367516 -0.01470432  0.99932464]]

 t_gt:
[ 0.55007777 -0.82349508 -0.13881752]

Pose Error in degrees for R and t:
7.447958757248114 46.26281834028353

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.72090626 -0.69302583  0.00306023]
 [-0.69303181  0.72089179 -0.00468365]
 [ 0.0010398  -0.00549731 -0.99998435]]

 t_estimated:
[[0.93417689]
 [0.35680367]
 [0.00216245]]

 R_gt:
[[ 0.96433406 -0.26181498 -0.03888871]
 [ 0.26046671  0.96479133 -0.03653036]
 [ 0.04708392  0.02509862  0.99857556]]

 t_gt:
[ 0.87062356 -0.46404601 -0.16332765]

Pose Error in degrees for R and t:
177.04927036726033 49.65490073992812

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99445989  0.10423332 -0.01359905]
 [-0.1037974   0.9941588   0.02956981]
 [ 0.01660177 -0.02799445  0.99947021]]

 t_estimated:
[[0.13751194]
 [0.99049957]
 [0.00103392]]

 R_gt:
[[ 0.85555154 -0.51721881 -0.02273838]
 [ 0.51454252  0.85434061 -0.07314232]
 [ 0.05725716  0.05087822  0.99706182]]

 t_gt:
[ 0.92330029 -0.36210428 -0.12805099]

Pose Error in degrees for R and t:
37.483906934240565 76.59506354513545

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[ 9.94692118e-01  1.02880984e-01  1.75873902e-03]
 [-1.02879669e-01  9.94693469e-01 -8.22299056e-04]
 [-1.83400516e-03  6.36995900e-04  9.99998115e-01]]

 t_estimated:
[[0.54978596]
 [0.83530506]
 [0.00092401]]

 R_gt:
[[ 0.73050421 -0.68189617 -0.03714754]
 [ 0.67926308  0.7311426  -0.06349976]
 [ 0.0704611   0.02115465  0.99728955]]

 t_gt:
[ 0.95559219 -0.28533286 -0.07367986]

Pose Error in degrees for R and t:
49.041977100357464 73.32377093520763

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.58068134e-01  2.86540091e-01  4.77042717e-04]
 [-2.86539723e-01  9.58068095e-01 -7.16555125e-04]
 [-6.62361178e-04  5.49816944e-04  9.99999629e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99549396  0.09459631 -0.00660793]
 [-0.09440976  0.99523464  0.02441932]
 [ 0.00888689 -0.02368558  0.99967969]]

 t_gt:
[-0.32298285  0.93529667  0.14457599]

Pose Error in degrees for R and t:
11.326021286072978 21.026615527348476

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 7.88181996e-01 -6.15441987e-01 -5.49544712e-04]
 [ 6.15442122e-01  7.88182075e-01  1.03765334e-04]
 [ 3.69279749e-04 -4.19998932e-04  9.99999844e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98668261  0.16028772  0.02763775]
 [-0.16118765  0.98633345  0.03414545]
 [-0.02178656 -0.03814538  0.99903415]]

 t_gt:
[-0.31757004  0.90209435  0.29219011]

Pose Error in degrees for R and t:
47.30166308237913 25.789384313863568

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999290e-01  1.12761195e-03  3.85073924e-04]
 [-1.12756009e-03  9.99999355e-01 -1.34863985e-04]
 [-3.85225750e-04  1.34429695e-04  9.99999917e-01]]

 t_estimated:
[[-9.99998007e-01]
 [ 1.78581491e-03]
 [ 8.92319267e-04]]

 R_gt:
[[ 0.9848169   0.17210579  0.02270242]
 [-0.1724881   0.9848801   0.01610281]
 [-0.01958806 -0.01977506  0.99961239]]

 t_gt:
[-0.17272427  0.96568508  0.19395526]

Pose Error in degrees for R and t:
9.984730387401244 79.94336544860587

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.97889616e-01  6.49331361e-02  4.08067131e-05]
 [-6.49331055e-02  9.97889478e-01 -5.30148425e-04]
 [-7.51447895e-05  5.26379902e-04  9.99999859e-01]]

 t_estimated:
[[-0.85070231]
 [-0.52561707]
 [-0.00568078]]

 R_gt:
[[ 0.99729699  0.01408541 -0.07211056]
 [-0.01182303  0.99942734  0.03170801]
 [ 0.07251629 -0.03077013  0.9968923 ]]

 t_gt:
[ 0.34945842 -0.57447705 -0.74017223]

Pose Error in degrees for R and t:
5.4244533990315675 89.49151504752179

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.73654065e-01  2.28030172e-01  4.06883700e-05]
 [-2.28030172e-01  9.73654066e-01 -3.18551790e-06]
 [-4.03427911e-05 -6.17658355e-06  9.99999999e-01]]

 t_estimated:
[[0.46589401]
 [0.88483999]
 [0.00098087]]

 R_gt:
[[ 0.99590111 -0.02291757 -0.08749936]
 [ 0.02669971  0.99874801  0.0423014 ]
 [ 0.08642032 -0.04446471  0.99526575]]

 t_gt:
[ 0.74172179 -0.61344807 -0.27116463]

Pose Error in degrees for R and t:
15.63004468820881 78.60886711401236

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.06929497  0.99758629  0.00445097]
 [-0.99759397 -0.06928466 -0.00243059]
 [-0.00211634 -0.00460869  0.99998714]]

 t_estimated:
[[0.3820024 ]
 [0.9241566 ]
 [0.00295698]]

 R_gt:
[[ 0.99238109  0.0035367  -0.12315438]
 [ 0.00621869  0.99687534  0.07874237]
 [ 0.12304951 -0.07890825  0.98925905]]

 t_gt:
[ 0.64425096 -0.72702372 -0.23743886]

Pose Error in degrees for R and t:
94.35582997352414 64.75559265388785

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-5.72068604e-01 -8.20151206e-01  9.46110424e-03]
 [-8.20185403e-01  5.72097634e-01  4.48715390e-04]
 [-5.78068981e-03 -7.50316361e-03 -9.99955142e-01]]

 t_estimated:
[[0.9976057 ]
 [0.06846314]
 [0.00978045]]

 R_gt:
[[ 0.99880234 -0.04721197 -0.01291734]
 [ 0.04697666  0.99873501 -0.01793567]
 [ 0.01374834  0.01730729  0.9997562 ]]

 t_gt:
[ 0.50730187 -0.70530844 -0.4951614 ]

Pose Error in degrees for R and t:
179.34444885844806 63.06645760366983

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999069e-01  1.36465240e-03  2.33614016e-05]
 [-1.36465781e-03  9.99999042e-01  2.33076433e-04]
 [-2.30433109e-05 -2.33108096e-04  9.99999973e-01]]

 t_estimated:
[[0.99996866]
 [0.00785263]
 [0.00100941]]

 R_gt:
[[ 0.98851201 -0.14752543  0.03289087]
 [ 0.14894387  0.98777788 -0.04593274]
 [-0.02571277  0.05030358  0.99840302]]

 t_gt:
[ 0.70831624 -0.67424982 -0.20898635]

Pose Error in degrees for R and t:
9.201284545976103 45.34884788004437

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99998792e-01 -3.32093680e-05  1.55376407e-03]
 [ 3.60900695e-05  9.99998281e-01 -1.85402342e-03]
 [-1.55369983e-03  1.85407726e-03  9.99997074e-01]]

 t_estimated:
[[-0.03233588]
 [-0.99947274]
 [-0.00293963]]

 R_gt:
[[ 0.96473466 -0.19051789  0.18163273]
 [ 0.20260309  0.97796719 -0.05031319]
 [-0.16804492  0.08533867  0.9820785 ]]

 t_gt:
[ 0.67888542 -0.68431619  0.26613144]

Pose Error in degrees for R and t:
15.678856627725684 48.60696420383204

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 0.15337153 -0.98785497 -0.02489459]
 [-0.9879496  -0.15275852 -0.02490841]
 [ 0.02080304  0.02841484 -0.99937972]]

 t_estimated:
[[ 0.69349833]
 [ 0.7202814 ]
 [-0.01596138]]

 R_gt:
[[ 0.9938369   0.10697489  0.02904471]
 [-0.10533361  0.99301682 -0.05314009]
 [-0.03452627  0.04975207  0.99816423]]

 t_gt:
[-0.35133844  0.93011965 -0.106952  ]

Pose Error in degrees for R and t:
176.92798348961978 64.6591481573613

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.04365511  0.99904501  0.00181466]
 [-0.9990461  -0.0436531  -0.00113592]
 [-0.00105562 -0.00186252  0.99999771]]

 t_estimated:
[[0.02457075]
 [0.99969692]
 [0.00153002]]

 R_gt:
[[ 0.98028652  0.19710914  0.01358651]
 [-0.19694643  0.98033574 -0.01247875]
 [-0.01577854  0.00955647  0.99982967]]

 t_gt:
[-0.31295846  0.94966821 -0.01368528]

Pose Error in degrees for R and t:
81.1424912571056 19.66610028800442

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.98791956e-01 -4.91376362e-02 -3.48154847e-04]
 [ 4.91377515e-02  9.98791956e-01  3.30601900e-04]
 [ 3.31489265e-04 -3.47310065e-04  9.99999885e-01]]

 t_estimated:
[[ 6.73507088e-01]
 [-7.39180742e-01]
 [-1.82038301e-04]]

 R_gt:
[[ 0.93101472  0.36076179 -0.05533422]
 [-0.36082489  0.93258916  0.00920457]
 [ 0.05492555  0.0113963   0.99842546]]

 t_gt:
[-0.20745934  0.97197586 -0.1105602 ]

Pose Error in degrees for R and t:
24.191812612665956 30.88815639771199

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.95150696e-01 -9.83620411e-02  1.29318515e-05]
 [ 9.83620381e-02  9.95150612e-01 -4.10068046e-04]
 [ 2.74659900e-05  4.09351505e-04  9.99999916e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.98982121  0.1272004  -0.06382082]
 [-0.12170574  0.98903547  0.08364567]
 [ 0.07376085 -0.07502731  0.99444978]]

 t_gt:
[-0.84271163  0.5374082   0.03208648]

Pose Error in degrees for R and t:
14.168107717316815 79.92333923909625

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.72518159  0.68855676  0.00111873]
 [ 0.68855037 -0.72518042  0.00342851]
 [ 0.00317201 -0.00171599 -0.9999935 ]]

 t_estimated:
[[-0.38536688]
 [ 0.92276089]
 [ 0.00216995]]

 R_gt:
[[ 0.97474115  0.17606907 -0.13739512]
 [-0.15561418  0.97671983  0.14765433]
 [ 0.16019354 -0.12254483  0.97944968]]

 t_gt:
[-0.92013805  0.32309788 -0.2212549 ]

Pose Error in degrees for R and t:
169.37667685463154 49.28833785293086

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.7440726   0.66809786 -0.00110237]
 [ 0.66805816 -0.74400818  0.01225234]
 [ 0.00736559 -0.00985308 -0.99992433]]

 t_estimated:
[[0.74738105]
 [0.66438532]
 [0.00370349]]

 R_gt:
[[ 0.95438217  0.22306402 -0.19848633]
 [-0.18399262  0.96289491  0.19743127]
 [ 0.23516115 -0.15190479  0.96001244]]

 t_gt:
[-0.91738223  0.2326145  -0.32295563]

Pose Error in degrees for R and t:
165.26604551181617 57.84006076706648

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99999987e-01  6.48497261e-06  1.62118386e-04]
 [-6.46344307e-06  9.99999991e-01 -1.32801518e-04]
 [-1.62119246e-04  1.32800469e-04  9.99999978e-01]]

 t_estimated:
[[-8.01702103e-01]
 [-5.97723448e-01]
 [-6.46144332e-04]]

 R_gt:
[[ 0.98586504 -0.16708072 -0.01246459]
 [ 0.16725068  0.98581366  0.01410297]
 [ 0.00993206 -0.01598774  0.9998224 ]]

 t_gt:
[ 0.56897182 -0.82167475  0.03349152]

Pose Error in degrees for R and t:
9.685650613033179 87.9961460137594

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.16508346  0.98620115 -0.0124395 ]
 [-0.9862134   0.16491312 -0.01366706]
 [-0.01142703  0.0145242   0.99982922]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.93969508 -0.34150327  0.0186963 ]
 [ 0.34188143  0.9394489  -0.02349772]
 [-0.00953904  0.02847312  0.99954937]]

 t_gt:
[ 0.63410451 -0.77310216 -0.01498386]

Pose Error in degrees for R and t:
100.48375843947088 39.72260790292061

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.99999539  0.00132998 -0.00272841]
 [-0.00131402  0.99998205  0.00584495]
 [ 0.00273613 -0.00584134  0.9999792 ]]

 t_estimated:
[[-0.80241885]
 [-0.59675901]
 [ 0.00163767]]

 R_gt:
[[ 0.86914186 -0.49242358 -0.0459541 ]
 [ 0.49190392  0.87035007 -0.02278968]
 [ 0.05121893 -0.00279661  0.99868312]]

 t_gt:
[ 0.70918365 -0.70079348 -0.07711708]

Pose Error in degrees for R and t:
29.71624464580209 81.3160564813507

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.57713071e-01 -2.87722957e-01 -1.08318075e-03]
 [ 2.87723681e-01  9.57713289e-01  5.81973179e-04]
 [ 8.69929556e-04 -8.69020073e-04  9.99999244e-01]]

 t_estimated:
[[-0.48512264]
 [-0.87444375]
 [-0.00203833]]

 R_gt:
[[ 0.99581509  0.09085574  0.00991814]
 [-0.09100675  0.99572067  0.01605428]
 [-0.00841765 -0.01689014  0.99982187]]

 t_gt:
[-0.76351574  0.6184763   0.1858246 ]

Pose Error in degrees for R and t:
21.965306129364347 80.16550480492918

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.89456994e-01  1.44826945e-01  1.13543233e-04]
 [-1.44826869e-01  9.89456878e-01 -5.15273565e-04]
 [-1.86971629e-04  4.93396922e-04  9.99999861e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9634355   0.26723987  0.01939494]
 [-0.26764637  0.96324742  0.02280792]
 [-0.01258716 -0.02716572  0.99955179]]

 t_gt:
[-0.7147253   0.69214742  0.10049724]

Pose Error in degrees for R and t:
7.394564109374611 44.5615112458658

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-9.82238117e-01 -1.87638699e-01 -2.40789802e-05]
 [-1.87638661e-01  9.82237823e-01  7.69285634e-04]
 [-1.20696470e-04  7.60139820e-04 -9.99999704e-01]]

 t_estimated:
[[9.97773456e-01]
 [6.66892768e-02]
 [8.19587444e-04]]

 R_gt:
[[ 0.8705886   0.48614001  0.07579531]
 [-0.48573981  0.87374906 -0.02486813]
 [-0.0783155  -0.01516675  0.99681276]]

 t_gt:
[-0.62582578  0.77285172  0.10508244]

Pose Error in degrees for R and t:
175.4897428364917 55.05391951391089

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99999884e-01 -4.75093201e-04 -7.43175699e-05]
 [ 4.75086697e-04  9.99999883e-01 -8.75077514e-05]
 [ 7.43591356e-05  8.74724340e-05  9.99999993e-01]]

 t_estimated:
[[ 9.85880988e-01]
 [ 1.67447502e-01]
 [-1.07895200e-04]]

 R_gt:
[[ 0.97943773 -0.19684237 -0.04421266]
 [ 0.1974724   0.9802542   0.01032587]
 [ 0.04130615 -0.0188445   0.99896887]]

 t_gt:
[ 0.77286051 -0.63163387 -0.06103511]

Pose Error in degrees for R and t:
11.642493000249026 48.990090252061584

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999639e-01  8.06744770e-04  2.67197669e-04]
 [-8.06718658e-04  9.99999670e-01 -9.78156594e-05]
 [-2.67276493e-04  9.76000708e-05  9.99999960e-01]]

 t_estimated:
[[9.99999677e-01]
 [8.03581864e-04]
 [1.50393225e-05]]

 R_gt:
[[ 0.93205361 -0.34481631 -0.11125203]
 [ 0.34961599  0.93652219  0.02636273]
 [ 0.09509913 -0.06346636  0.99344263]]

 t_gt:
[ 0.83747227 -0.54634433 -0.0121679 ]

Pose Error in degrees for R and t:
21.45630453950274 33.17189680726745

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-3.90199582e-01 -9.20730037e-01 -6.96178249e-04]
 [ 9.20637999e-01 -3.90171060e-01  1.38643005e-02]
 [-1.30369065e-02  4.76891610e-03  9.99903644e-01]]

 t_estimated:
[[0.99356721]
 [0.11322045]
 [0.00231062]]

 R_gt:
[[ 0.92017262 -0.37463905 -0.11370424]
 [ 0.38140816  0.92334233  0.04434174]
 [ 0.08837495 -0.08417     0.99252542]]

 t_gt:
[ 0.83904066 -0.54204768  0.04685176]

Pose Error in degrees for R and t:
90.90708683880335 39.431846388455156

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-0.22225529 -0.97495269  0.00835743]
 [-0.9749767   0.22220225 -0.00682529]
 [ 0.0047973  -0.00966525 -0.99994178]]

 t_estimated:
[[0.73181263]
 [0.68150543]
 [0.00078605]]

 R_gt:
[[ 0.9954208  -0.09189908 -0.02630065]
 [ 0.09265791  0.99526918  0.02925963]
 [ 0.02348738 -0.03156284  0.9992261 ]]

 t_gt:
[ 0.27862773 -0.95992511 -0.03017251]

Pose Error in degrees for R and t:
179.9237009760749 63.23613013931249

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 8.20574548e-01 -5.71535294e-01 -2.19536049e-03]
 [ 5.71538034e-01  8.20575105e-01  8.79057420e-04]
 [ 1.29904582e-03 -1.97606416e-03  9.99997204e-01]]

 t_estimated:
[[9.99825118e-01]
 [1.86800066e-02]
 [8.89524126e-04]]

 R_gt:
[[ 0.96677868 -0.24786694 -0.0624594 ]
 [ 0.24802175  0.96873973 -0.00538068]
 [ 0.06184111 -0.01028997  0.99803311]]

 t_gt:
[ 0.59341063 -0.76210467 -0.25896001]

Pose Error in degrees for R and t:
20.778346500965494 54.63097738298988

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99999524e-01  3.24151547e-05  9.75450053e-04]
 [-3.14087229e-05  9.99999467e-01 -1.03175915e-03]
 [-9.75482978e-04  1.03172802e-03  9.99998992e-01]]

 t_estimated:
[[9.36245160e-01]
 [3.51346503e-01]
 [7.96487727e-04]]

 R_gt:
[[ 9.24393623e-01 -3.80736482e-01 -2.31494134e-02]
 [ 3.80639832e-01  9.24683810e-01 -8.62765704e-03]
 [ 2.46907749e-02 -8.36132900e-04  9.99694377e-01]]

 t_gt:
[ 0.58356347 -0.80868412 -0.07405188]

Pose Error in degrees for R and t:
22.428934817487708 74.80107012023281

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.93830299e-01 -1.10911374e-01 -6.98351478e-05]
 [ 1.10911383e-01  9.93830289e-01  1.45303382e-04]
 [ 5.32884873e-05 -1.52152417e-04  9.99999987e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99786079  0.02701135 -0.05953169]
 [-0.02824205  0.99940335 -0.01992042]
 [ 0.05895756  0.02155932  0.99802739]]

 t_gt:
[-0.063157    0.47296972 -0.87881218]

Pose Error in degrees for R and t:
8.72758825537405 86.42406352208043

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.14797119  0.98899003  0.00180137]
 [-0.98899085  0.14797317 -0.00102179]
 [-0.00127709 -0.00163035  0.99999786]]

 t_estimated:
[[0.0811442 ]
 [0.99670153]
 [0.00129812]]

 R_gt:
[[ 0.99551567  0.03693555 -0.08708939]
 [-0.04101899  0.99811911 -0.045565  ]
 [ 0.08524321  0.04893266  0.99515738]]

 t_gt:
[-0.0348083   0.47681355 -0.87831499]

Pose Error in degrees for R and t:
79.42761791850387 61.8828347402023

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.92614411e-01 -1.21312110e-01 -5.92565486e-05]
 [ 1.21312117e-01  9.92614402e-01  1.35298654e-04]
 [ 4.24055383e-05 -1.41487931e-04  9.99999989e-01]]

 t_estimated:
[[ 4.93774256e-02]
 [ 9.98780188e-01]
 [-8.26189608e-05]]

 R_gt:
[[ 0.9913207   0.0388786  -0.12558394]
 [-0.05146386  0.99379825 -0.09856958]
 [ 0.12097308  0.10417772  0.98717329]]

 t_gt:
[ 0.02660598  0.43895161 -0.8981167 ]

Pose Error in degrees for R and t:
13.262831274027203 63.908616843334975

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.99154872 -0.12842971  0.01835631]
 [ 0.12878583  0.99147582 -0.01974621]
 [-0.01566383  0.02194336  0.9996365 ]]

 t_estimated:
[[-0.60885144]
 [-0.79326539]
 [-0.00547134]]

 R_gt:
[[ 0.97757679  0.20211633  0.0590812 ]
 [-0.20268338  0.97923718  0.00370011]
 [-0.05710637 -0.0155914   0.99824614]]

 t_gt:
[-0.73573558  0.64450201  0.20811129]

Pose Error in degrees for R and t:
19.300892378688054 86.30494868953082

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.18768954  0.98221879  0.00434659]
 [ 0.98222648 -0.1876961   0.00115037]
 [ 0.00194575  0.00405343 -0.99998989]]

 t_estimated:
[[-0.09803254]
 [-0.99517878]
 [-0.00297068]]

 R_gt:
[[ 0.95296015  0.29864031  0.05176286]
 [-0.30064002  0.95304638  0.03630799]
 [-0.03848968 -0.05016229  0.99799912]]

 t_gt:
[-0.70096242  0.68616442  0.19449954]

Pose Error in degrees for R and t:
179.8134026670095 52.06864452032427

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.98905529 -0.14750994 -0.00323338]
 [ 0.14751597  0.98905819  0.00171283]
 [ 0.00294534 -0.00217106  0.99999331]]

 t_estimated:
[[0.99995119]
 [0.00980344]
 [0.00122543]]

 R_gt:
[[ 0.90642583  0.41666219  0.06916265]
 [-0.41943055  0.90724693  0.03131832]
 [-0.04969868 -0.05739694  0.99711395]]

 t_gt:
[-0.65363211  0.73838729  0.16597972]

Pose Error in degrees for R and t:
33.51895974734997 49.74744033580734

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.97262809e-01 -7.39382666e-02 -1.51062086e-04]
 [ 7.39384157e-02  9.97261425e-01  1.66188448e-03]
 [ 2.77715334e-05 -1.66850488e-03  9.99998608e-01]]

 t_estimated:
[[0.71110367]
 [0.70308672]
 [0.0008017 ]]

 R_gt:
[[ 0.97532282 -0.20895371 -0.07130692]
 [ 0.20940015  0.97782967 -0.00123709]
 [ 0.06998521 -0.01372462  0.99745298]]

 t_gt:
[ 0.81563461 -0.56680521 -0.11606908]

Pose Error in degrees for R and t:
8.843755605521045 79.5490040946907

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.81681171e-01  1.90530518e-01  4.46937230e-04]
 [-1.90530542e-01  9.81681268e-01  1.14699364e-05]
 [-4.36564534e-04 -9.64150132e-05  9.99999900e-01]]

 t_estimated:
[[0.48657446]
 [0.87363845]
 [0.00107675]]

 R_gt:
[[ 0.95600925 -0.2751746  -0.10161669]
 [ 0.2805757   0.95886404  0.04309027]
 [ 0.08558014 -0.06970503  0.99388971]]

 t_gt:
[ 0.82178747 -0.56836555  0.04032317]

Pose Error in degrees for R and t:
27.888332895732432 84.45417750646814

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-8.71299049e-01 -4.90750784e-01 -1.27887417e-03]
 [-4.90750634e-01  8.71299956e-01 -4.50254203e-04]
 [ 1.33524561e-03  2.35302248e-04 -9.99999081e-01]]

 t_estimated:
[[9.94687813e-01]
 [1.02932868e-01]
 [9.89739117e-04]]

 R_gt:
[[ 0.96885754 -0.24312266 -0.04698323]
 [ 0.24623007  0.9659944   0.07890873]
 [ 0.02620166 -0.08801964  0.99577374]]

 t_gt:
[ 0.75238309 -0.61413702  0.23823392]

Pose Error in degrees for R and t:
179.09895122989593 46.73236054350255

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 0.986504   -0.15693195  0.04671431]
 [ 0.16359285  0.95664627 -0.24096741]
 [-0.00687358  0.24535744  0.96940831]]

 t_estimated:
[[-0.76200076]
 [-0.63500064]
 [-0.12700013]]

 R_gt:
[[ 0.99557712  0.06112618 -0.07134689]
 [-0.05670634  0.9964372   0.06242204]
 [ 0.07490913 -0.05810133  0.99549629]]

 t_gt:
[-0.88208476 -0.30394319 -0.35992362]

Pose Error in degrees for R and t:
22.451473535417442 24.37501422564839

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 6.97112599e-01  7.16961561e-01 -3.79065596e-04]
 [-7.16960031e-01  6.97109788e-01 -2.50151141e-03]
 [-1.52923719e-03  2.01561000e-03  9.99996799e-01]]

 t_estimated:
[[0.05823431]
 [0.9983024 ]
 [0.0010399 ]]

 R_gt:
[[ 0.9871355   0.08212033 -0.13718452]
 [-0.069526    0.99312124  0.09421281]
 [ 0.14397822 -0.08346387  0.98605438]]

 t_gt:
[-0.67429576 -0.43431021 -0.59724356]

Pose Error in degrees for R and t:
42.49541640156495 61.740797824369736

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.8515411  -0.51770647 -0.08281156]
 [ 0.50317582 -0.76262125 -0.40647623]
 [ 0.14728152 -0.38779999  0.90990072]]

 t_estimated:
[[0.98311822]
 [0.18274235]
 [0.0091542 ]]

 R_gt:
[[ 0.9861322   0.04622993 -0.15939258]
 [-0.02974351  0.9940996   0.10431033]
 [ 0.16327435 -0.09812363  0.98168934]]

 t_gt:
[ 0.07506203 -0.83829125 -0.54003099]

Pose Error in degrees for R and t:
148.793665758289 85.16192528422202

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[-8.29653590e-01 -5.58274620e-01 -2.09032420e-03]
 [ 5.58273552e-01 -8.29656189e-01  1.11797687e-03]
 [-2.35838852e-03 -2.39439190e-04  9.99997190e-01]]

 t_estimated:
[[0.99395481]
 [0.10978361]
 [0.00118047]]

 R_gt:
[[ 0.99796858 -0.05179934 -0.03709581]
 [ 0.05261258  0.99838896  0.02126106]
 [ 0.03593469 -0.02316847  0.99908491]]

 t_gt:
[ 0.62857122 -0.73106434 -0.26541128]

Pose Error in degrees for R and t:
143.07728493555194 57.0300431694766

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99107432e-01  4.22411333e-02  1.59627943e-04]
 [-4.22411328e-02  9.99107445e-01 -6.52538675e-06]
 [-1.59761106e-04 -2.23302735e-07  9.99999987e-01]]

 t_estimated:
[[ 9.23385153e-01]
 [-3.83874687e-01]
 [ 2.90346479e-04]]

 R_gt:
[[ 0.98413044 -0.1623601  -0.07160884]
 [ 0.16416964  0.98622789  0.02011147]
 [ 0.067357   -0.03154677  0.99722924]]

 t_gt:
[ 0.67105738 -0.71338034 -0.20191702]

Pose Error in degrees for R and t:
12.576331114890372 26.69195745158682

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.74352143e-01 -2.25027849e-01 -6.07854615e-04]
 [ 2.25027707e-01  9.74352321e-01 -2.93359404e-04]
 [ 6.58278590e-04  1.49051234e-04  9.99999772e-01]]

 t_estimated:
[[-0.11669683]
 [-0.99316448]
 [-0.00248291]]

 R_gt:
[[ 0.95603441 -0.26677908 -0.12177238]
 [ 0.27359896  0.96088656  0.04290927]
 [ 0.1055618  -0.07433841  0.99162962]]

 t_gt:
[ 0.70381183 -0.69809325 -0.13158543]

Pose Error in degrees for R and t:
7.8819277527436515 52.30083347255634

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99999915e-01 -2.32429567e-04  3.39215521e-04]
 [ 2.32437610e-04  9.99999973e-01 -2.36732015e-05]
 [-3.39210010e-04  2.37520460e-05  9.99999942e-01]]

 t_estimated:
[[0.61027609]
 [0.7921862 ]
 [0.00202846]]

 R_gt:
[[ 0.97563467 -0.21202575  0.05640966]
 [ 0.21290453  0.97702176 -0.00996515]
 [-0.05300047  0.02173229  0.99835818]]

 t_gt:
[ 0.56874399 -0.80555533  0.16616525]

Pose Error in degrees for R and t:
12.689310214281356 73.09882030267178

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 8.92121972e-01 -4.51792257e-01  1.46421553e-03]
 [ 4.51793401e-01  8.92122419e-01 -5.59179737e-04]
 [-1.05362642e-03  1.16037944e-03  9.99998772e-01]]

 t_estimated:
[[7.94576745e-01]
 [6.07163325e-01]
 [7.01922920e-04]]

 R_gt:
[[ 0.91738724 -0.39725423  0.02428991]
 [ 0.39733358  0.91767207  0.00169139]
 [-0.02296241  0.00809949  0.99970313]]

 t_gt:
[ 0.67924293 -0.73273072  0.04165002]

Pose Error in degrees for R and t:
3.688844113883451 84.55716100220971

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 6.25640377e-01 -7.80111428e-01  5.28288988e-04]
 [ 7.80111481e-01  6.25639749e-01 -9.90511296e-04]
 [ 4.42190592e-04  1.03182817e-03  9.99999370e-01]]

 t_estimated:
[[-0.01762544]
 [-0.99984338]
 [-0.00160231]]

 R_gt:
[[ 0.84966493 -0.52698733  0.01882077]
 [ 0.52731377  0.84932566 -0.02419487]
 [-0.00323421  0.03048186  0.99952992]]

 t_gt:
[ 0.72496454 -0.68846179 -0.0211374 ]

Pose Error in degrees for R and t:
19.522371297912596 47.49846153957287

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99802563e-01 -1.98704458e-02  3.56044938e-05]
 [ 1.98704460e-02  9.99802563e-01 -3.38514052e-06]
 [-3.55301999e-05  4.09194934e-06  9.99999999e-01]]

 t_estimated:
[[ 9.43708324e-01]
 [-3.30778143e-01]
 [ 6.47746312e-04]]

 R_gt:
[[ 0.99836881 -0.05041211  0.0268296 ]
 [ 0.05053211  0.99871548 -0.00377519]
 [-0.02660458  0.00512484  0.99963278]]

 t_gt:
[ 0.61821213 -0.74747474  0.24309519]

Pose Error in degrees for R and t:
2.341241213811837 33.81717239401648

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999970e-01 -2.39497865e-04  4.07994838e-05]
 [ 2.39499262e-04  9.99999971e-01 -3.42270700e-05]
 [-4.07912853e-05  3.42368405e-05  9.99999999e-01]]

 t_estimated:
[[ 0.1003065 ]
 [-0.99495571]
 [-0.00131676]]

 R_gt:
[[ 0.99778305 -0.06387074  0.0187216 ]
 [ 0.06398679  0.99793489 -0.00561231]
 [-0.01832395  0.00679928  0.99980875]]

 t_gt:
[ 0.73285891 -0.67847553  0.05087988]

Pose Error in degrees for R and t:
3.818867775187485 41.53968170217582

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-4.16910119e-01  9.08947294e-01 -8.76853404e-04]
 [-9.08947168e-01 -4.16908611e-01  1.50220252e-03]
 [ 9.99855181e-04  1.42329685e-03  9.99998487e-01]]

 t_estimated:
[[0.93745132]
 [0.34811512]
 [0.00094597]]

 R_gt:
[[ 0.99975411 -0.01828452 -0.01257876]
 [ 0.01850324  0.9996771   0.01741369]
 [ 0.01225614 -0.01764078  0.99976905]]

 t_gt:
[ 0.95265899 -0.3026239  -0.02931945]

Pose Error in degrees for R and t:
115.69712861787107 38.02930786051679

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99863564e-01  1.64965393e-02  8.47446282e-04]
 [-1.64958853e-02  9.99863635e-01 -7.73002640e-04]
 [-8.60082588e-04  7.58917797e-04  9.99999342e-01]]

 t_estimated:
[[9.63960876e-01]
 [2.66042560e-01]
 [8.86808533e-04]]

 R_gt:
[[ 0.98889051 -0.14380443 -0.03765577]
 [ 0.14415299  0.98953202  0.00669657]
 [ 0.03629833 -0.01205034  0.99926798]]

 t_gt:
[ 0.66353763 -0.73270693 -0.15118982]

Pose Error in degrees for R and t:
9.496332010077152 63.604871879112

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 7.56403541e-01  6.54104727e-01  8.29953775e-04]
 [-6.54104484e-01  7.56403989e-01 -5.73768916e-04]
 [-1.00308531e-03 -1.08875646e-04  9.99999491e-01]]

 t_estimated:
[[0.50394474]
 [0.86373507]
 [0.00119136]]

 R_gt:
[[ 0.97172095 -0.2254119  -0.07034355]
 [ 0.22829203  0.97293026  0.03590137]
 [ 0.0603475  -0.05094445  0.99687658]]

 t_gt:
[ 0.67419348 -0.73520763 -0.07023457]

Pose Error in degrees for R and t:
54.164726311883925 72.8213517912707

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 5.59799265e-01  8.28613528e-01  4.94002408e-03]
 [ 8.28625532e-01 -5.59802759e-01 -7.74372144e-04]
 [ 2.12378388e-03  4.52692304e-03 -9.99987498e-01]]

 t_estimated:
[[-0.56358435]
 [-0.82605744]
 [-0.00133235]]

 R_gt:
[[ 0.9674347  -0.25110549 -0.03188559]
 [ 0.25189296  0.9674663   0.0236315 ]
 [ 0.02491501 -0.03089389  0.9992117 ]]

 t_gt:
[ 0.632121   -0.77461885 -0.01971471]

Pose Error in degrees for R and t:
178.03799361274204 73.52168535911144

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.99983365 -0.01538772 -0.00979219]
 [ 0.01528629 -0.99982958  0.01035056]
 [-0.00994979  0.01019916  0.99989848]]

 t_estimated:
[[7.99258527e-01]
 [6.00986865e-01]
 [7.71485064e-04]]

 R_gt:
[[ 0.9823798   0.18586031  0.01962068]
 [-0.18608928  0.98247586  0.01053213]
 [-0.01731929 -0.01399747  0.99975193]]

 t_gt:
[-0.35187822  0.92823152  0.12069782]

Pose Error in degrees for R and t:
170.16919762369812 73.93626961841775

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99982863 -0.00793135 -0.0167272 ]
 [ 0.00860982  0.99912671  0.0408864 ]
 [ 0.01638831 -0.04102341  0.99902378]]

 t_estimated:
[[0.69761172]
 [0.71646609]
 [0.00377087]]

 R_gt:
[[ 0.92642471  0.37608677 -0.01714901]
 [-0.37609048  0.9265774   0.00313141]
 [ 0.01706758  0.00354804  0.99984846]]

 t_gt:
[-0.24918232  0.96774659 -0.03707708]

Pose Error in degrees for R and t:
22.68823295034771 58.70897233228705

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99994925e-01  5.65025241e-04 -3.13543141e-03]
 [-5.54121797e-04  9.99993801e-01  3.47727397e-03]
 [ 3.13737672e-03 -3.47551891e-03  9.99989039e-01]]

 t_estimated:
[[0.72849187]
 [0.68505385]
 [0.00090496]]

 R_gt:
[[ 0.86045152  0.50936126 -0.01316844]
 [-0.5084024   0.85997743  0.0443355 ]
 [ 0.0339078  -0.03145297  0.99893012]]

 t_gt:
[-0.19624004  0.98027295 -0.02355406]

Pose Error in degrees for R and t:
30.6654984765408 58.09184516645562

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.58848798e-01  2.83917210e-01  2.00972823e-05]
 [-2.83917199e-01  9.58848777e-01 -2.17878478e-04]
 [-8.11297041e-05  2.03206552e-04  9.99999976e-01]]

 t_estimated:
[[-9.97707500e-01]
 [-6.76673328e-02]
 [-9.36062368e-04]]

 R_gt:
[[ 0.99560062  0.06773171  0.0647449 ]
 [-0.0602829   0.9920147  -0.11078555]
 [-0.07173192  0.10639473  0.99173297]]

 t_gt:
[-0.41985355  0.86975437 -0.2593267 ]

Pose Error in degrees for R and t:
14.765515833505203 68.88261814601034

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.55844982e-01 -2.93871307e-01 -1.59217681e-04]
 [ 2.93871277e-01  9.55844987e-01 -1.84072114e-04]
 [ 2.06280935e-04  1.29154903e-04  9.99999970e-01]]

 t_estimated:
[[-0.00523533]
 [-0.99998576]
 [-0.00103946]]

 R_gt:
[[ 0.98898295  0.07525445  0.12747836]
 [-0.06366404  0.99365852 -0.09268239]
 [-0.13364496  0.08354603  0.98750194]]

 t_gt:
[-0.43176062  0.84594768  0.31297809]

Pose Error in degrees for R and t:
22.94524718125894 32.43498948611118

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99988659  0.0146146   0.00363484]
 [-0.01460899  0.99989206 -0.0015652 ]
 [-0.00365732  0.00151192  0.99999217]]

 t_estimated:
[[9.99994892e-01]
 [3.10076045e-03]
 [7.75189838e-04]]

 R_gt:
[[ 0.98559412 -0.00395431  0.16908216]
 [ 0.02038579  0.99521592 -0.0955558 ]
 [-0.16789483  0.09762646  0.98095892]]

 t_gt:
[0.16884477 0.50000299 0.84940477]

Pose Error in degrees for R and t:
11.08109460866328 80.15096641163784

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.26689074e-01 -3.75828839e-01 -2.08107678e-04]
 [ 3.75828876e-01  9.26689065e-01  1.80210461e-04]
 [ 1.25122821e-04 -2.45211940e-04  9.99999962e-01]]

 t_estimated:
[[0.97910355]
 [0.20335991]
 [0.000992  ]]

 R_gt:
[[ 0.99899565 -0.04022956 -0.01968915]
 [ 0.04263078  0.98885484  0.14264598]
 [ 0.01373126 -0.14334136  0.98957836]]

 t_gt:
[ 0.12638291 -0.65503656  0.74495266]

Pose Error in degrees for R and t:
21.337573866405243 89.49996048368926

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.71203981 -0.70205502 -0.01086549]
 [ 0.70202993 -0.71211673  0.0066142 ]
 [-0.01238103 -0.00291833  0.99991909]]

 t_estimated:
[[0.94189343]
 [0.33590416]
 [0.00226962]]

 R_gt:
[[ 0.98922259 -0.08253041 -0.12093807]
 [ 0.0996284   0.98470307  0.14294808]
 [ 0.10728998 -0.15345564  0.98231404]]

 t_gt:
[ 0.4055528  -0.8569966   0.31793673]

Pose Error in degrees for R and t:
130.31928132829165 84.55786663078767

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.9860663   0.15819822 -0.05144494]
 [-0.15789235  0.98740588  0.00998213]
 [ 0.05237619 -0.00172028  0.99862594]]

 t_estimated:
[[-0.98640751]
 [-0.15648353]
 [-0.0501312 ]]

 R_gt:
[[ 0.97289344 -0.12489108 -0.19462589]
 [ 0.15387305  0.97787944  0.141683  ]
 [ 0.1726256  -0.16778983  0.97059168]]

 t_gt:
[ 0.51137741 -0.85133541  0.11713742]

Pose Error in degrees for R and t:
20.70199975564878 67.84714743578753

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.89635600e-01 -1.43601400e-01 -1.33088055e-04]
 [ 1.43601442e-01  9.89635523e-01  3.96666005e-04]
 [ 7.47468731e-05 -4.11666436e-04  9.99999912e-01]]

 t_estimated:
[[-1.96929541e-01]
 [-9.80417588e-01]
 [-3.29273117e-04]]

 R_gt:
[[ 0.99910999  0.01919134 -0.03756387]
 [-0.02037291  0.99930074 -0.03134937]
 [ 0.03693619  0.03208688  0.99880234]]

 t_gt:
[-0.09776844  0.49295525 -0.86454407]

Pose Error in degrees for R and t:
9.802454382409305 62.36975160797161

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 6.57091161e-01  7.53794177e-01 -5.05412679e-03]
 [-7.53805682e-01  6.57097120e-01 -6.07081608e-04]
 [ 2.86343757e-03  4.20873745e-03  9.99987044e-01]]

 t_estimated:
[[-0.92383215]
 [ 0.38273155]
 [-0.00712171]]

 R_gt:
[[ 0.99736951  0.01411198 -0.07111165]
 [-0.02025413  0.99605335 -0.08642049]
 [ 0.06961206  0.08763373  0.99371788]]

 t_gt:
[ 0.05366366  0.34709885 -0.93629194]

Pose Error in degrees for R and t:
48.30015309250626 84.83999015194286

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 1.00000000e+00  1.94582829e-09 -1.72843009e-11]
 [-1.94582829e-09  1.00000000e+00  4.58038176e-10]
 [ 1.72842841e-11 -4.58037821e-10  1.00000000e+00]]

 t_estimated:
[[-9.96234106e-01]
 [-8.67040864e-02]
 [-9.05947714e-05]]

 R_gt:
[[ 0.99991465  0.00845536  0.00997212]
 [-0.0083655   0.99992512 -0.00892305]
 [-0.01004649  0.00883915  0.99991109]]

 t_gt:
[-0.69621837  0.61689491  0.36704313]

Pose Error in degrees for R and t:
0.9043677265736827 50.20251913874084

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.23574302e-01  9.05861364e-01  2.35892994e-05]
 [-9.05860739e-01  4.23573979e-01  1.18567528e-03]
 [ 1.06406561e-03 -5.23590198e-04  9.99999297e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.99573308 -0.08554633  0.0346122 ]
 [ 0.08580277  0.99629451 -0.00599676]
 [-0.03397106  0.00894104  0.99938261]]

 t_gt:
[ 0.99290364 -0.1168341  -0.02218474]

Pose Error in degrees for R and t:
69.88266278285825 39.74697001963527

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-7.06595125e-01  7.07617912e-01  4.69600584e-04]
 [-7.07616756e-01 -7.06592382e-01 -2.39422522e-03]
 [-1.36238045e-03 -2.02404511e-03  9.99997024e-01]]

 t_estimated:
[[0.69386393]
 [0.72010572]
 [0.00077182]]

 R_gt:
[[ 0.9601712  -0.27895867 -0.01594853]
 [ 0.27932722  0.9597308   0.02989082]
 [ 0.00696784 -0.03315477  0.99942626]]

 t_gt:
[ 0.98860697 -0.10685803  0.10600764]

Pose Error in degrees for R and t:
151.17790643242435 52.4761618258173

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-9.53219785e-01 -3.02276721e-01 -9.08915568e-04]
 [ 3.02277745e-01 -9.53218920e-01 -1.36230797e-03]
 [-4.54601530e-04 -1.57332386e-03  9.99998659e-01]]

 t_estimated:
[[8.38800355e-01]
 [5.44438739e-01]
 [6.51242511e-04]]

 R_gt:
[[ 0.90194412 -0.43078607 -0.03035105]
 [ 0.43180058  0.90069698  0.04787747]
 [ 0.00671207 -0.05628784  0.99839211]]

 t_gt:
[ 0.99249487 -0.02288739  0.12012539]

Pose Error in degrees for R and t:
136.85008264818313 34.90294235215521

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.78771876 -0.61603281  0.00165039]
 [ 0.6159612   0.78758007 -0.0175907 ]
 [ 0.00953663  0.0148731   0.99984391]]

 t_estimated:
[[-0.13661747]
 [-0.99047667]
 [-0.01707718]]

 R_gt:
[[ 0.94222179  0.3349845  -0.00147729]
 [-0.33498315  0.94217566 -0.00945661]
 [-0.00177571  0.00940562  0.99995433]]

 t_gt:
[-0.67822512  0.73444793 -0.02443208]

Pose Error in degrees for R and t:
57.60074600644741 50.62606526215335

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-9.59141527e-01 -2.82922172e-01 -1.60488251e-03]
 [ 2.82923887e-01 -9.59141882e-01 -9.61939139e-04]
 [-1.26715612e-03 -1.37669537e-03  9.99998250e-01]]

 t_estimated:
[[0.94499698]
 [0.32707766]
 [0.00095358]]

 R_gt:
[[ 0.85619323  0.51210604  0.06840812]
 [-0.5110077   0.8589018  -0.03403234]
 [-0.0761833  -0.00581871  0.99707668]]

 t_gt:
[-0.6133878   0.78477816  0.08876181]

Pose Error in degrees for R and t:
165.62454101030593 71.16272031496358

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.11880864e-01 -4.10453698e-01 -1.02519361e-03]
 [ 4.10454104e-01  9.11881233e-01  2.12911012e-04]
 [ 8.47464703e-04 -6.14944403e-04  9.99999452e-01]]

 t_estimated:
[[-0.61100277]
 [-0.79162767]
 [-0.00111497]]

 R_gt:
[[ 0.78681647  0.61418286  0.06081697]
 [-0.61565251  0.78798466  0.00722104]
 [-0.04348848 -0.04312392  0.99812335]]

 t_gt:
[-0.56497462  0.82035816  0.08840906]

Pose Error in degrees for R and t:
62.312678295216934 72.28299828385649

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999429e-01  1.06908503e-03 -6.75407439e-07]
 [-1.06908522e-03  9.99999067e-01 -8.49969764e-04]
 [-2.33283144e-07  8.49970000e-04  9.99999639e-01]]

 t_estimated:
[[ 0.53808187]
 [ 0.8428913 ]
 [-0.00147007]]

 R_gt:
[[ 0.99376415 -0.11117266  0.00847327]
 [ 0.1098997   0.98952312  0.09362686]
 [-0.01879347 -0.09211154  0.99557192]]

 t_gt:
[ 0.41839099 -0.68384658  0.59774814]

Pose Error in degrees for R and t:
8.41597607906178 69.38060710763396

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.86654538e-01  1.62813638e-01 -2.13125086e-03]
 [-1.62815667e-01  9.86656169e-01 -8.14599151e-04]
 [ 1.97018395e-03  1.15072898e-03  9.99997397e-01]]

 t_estimated:
[[-0.54044814]
 [ 0.84130942]
 [-0.01068954]]

 R_gt:
[[ 0.9919615  -0.12531389 -0.01756636]
 [ 0.12632133  0.98881434  0.07930359]
 [ 0.00743183 -0.08088466  0.99669604]]

 t_gt:
[ 0.48321469 -0.77360887  0.40991814]

Pose Error in degrees for R and t:
17.257617692839847 23.59770819934382

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99752570e-01  2.22439550e-02  6.88077547e-05]
 [-2.22439375e-02  9.99752543e-01 -2.46521492e-04]
 [-7.42743407e-05  2.44929940e-04  9.99999967e-01]]

 t_estimated:
[[9.52236136e-01]
 [3.05361669e-01]
 [7.69172970e-04]]

 R_gt:
[[ 0.99684981 -0.07763115 -0.01623643]
 [ 0.07749276  0.996953   -0.00895584]
 [ 0.01688314  0.00766987  0.99982797]]

 t_gt:
[ 0.73774381 -0.65424959 -0.16640774]

Pose Error in degrees for R and t:
5.820622067926888 59.828129244348034

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.94041783e-01 -1.08999645e-01 -1.08234766e-04]
 [ 1.08999686e-01  9.94041664e-01  4.89162657e-04]
 [ 5.42713112e-05 -4.98045675e-04  9.99999875e-01]]

 t_estimated:
[[9.99999113e-01]
 [1.08427503e-03]
 [7.73933645e-04]]

 R_gt:
[[ 0.96852466 -0.2487779  -0.00829508]
 [ 0.24865981  0.96850218 -0.01309105]
 [ 0.01129148  0.01061649  0.9998798 ]]

 t_gt:
[ 0.81585587 -0.57573183 -0.0539635 ]

Pose Error in degrees for R and t:
8.195365062148884 35.39393308004886

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.90538696 -0.42458604  0.00106748]
 [-0.42458273  0.90538595  0.00240579]
 [-0.00198795  0.00172494 -0.99999654]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.93238    -0.36146212 -0.00366142]
 [ 0.36083928  0.93128053 -0.05011316]
 [ 0.02152389  0.04540338  0.99873699]]

 t_gt:
[ 0.86744183 -0.48322399 -0.11848734]

Pose Error in degrees for R and t:
178.78891276103565 38.86043239640534

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.94490982e-01  1.04817217e-01 -1.01861229e-03]
 [-1.04817210e-01  9.94491503e-01  6.06321921e-05]
 [ 1.01935657e-03  4.64699301e-05  9.99999479e-01]]

 t_estimated:
[[-0.89986657]
 [ 0.43614721]
 [-0.00397073]]

 R_gt:
[[ 0.99637107  0.06936172  0.04932314]
 [-0.07249757  0.99525329  0.0649198 ]
 [-0.04458514 -0.06825965  0.99667129]]

 t_gt:
[-0.42586459  0.17753961  0.88719729]

Pose Error in degrees for R and t:
5.09484347896531 62.79781192948924

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 0.97957278 -0.17821798  0.09314248]
 [ 0.18564006  0.97950168 -0.07819349]
 [-0.07729773  0.09388719  0.99257758]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99292918  0.08760445  0.0801097 ]
 [-0.09789309  0.98597985  0.1351292 ]
 [-0.06714852 -0.1420158   0.98758447]]

 t_gt:
[-0.31726113  0.08714799  0.94432547]

Pose Error in degrees for R and t:
20.476105508231363 87.40528845832955

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 8.46779375e-01 -5.31943804e-01 -6.92341648e-04]
 [ 5.31944102e-01  8.46779402e-01  3.42589212e-04]
 [ 4.04022438e-04 -6.58384535e-04  9.99999702e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97266417  0.20673816  0.10575104]
 [-0.21934537  0.96745991  0.12612499]
 [-0.07623401 -0.14587288  0.98636198]]

 t_gt:
[-0.58126944  0.4176896   0.69832746]

Pose Error in degrees for R and t:
45.46854573431189 54.58953926297135

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.98154231e-01 -6.07298067e-02 -1.47911498e-04]
 [ 6.07298566e-02  9.98154174e-01  3.59950781e-04]
 [ 1.25778738e-04 -3.68269039e-04  9.99999924e-01]]

 t_estimated:
[[ 9.99004176e-01]
 [-4.46159718e-02]
 [-2.66726781e-04]]

 R_gt:
[[ 0.97585604 -0.21751942 -0.01980382]
 [ 0.21801856  0.97554224  0.02804069]
 [ 0.0132193  -0.03168043  0.99941055]]

 t_gt:
[ 0.97904383 -0.15560928  0.13137326]

Pose Error in degrees for R and t:
9.304973908213304 9.944169860958633

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 0.40513662  0.91425408 -0.00194867]
 [-0.91424568  0.40512086 -0.00565023]
 [-0.0043763   0.00407068  0.99998214]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.91846984 -0.39204302 -0.05213511]
 [ 0.39427262  0.91799353  0.04285952]
 [ 0.03105691 -0.05992018  0.99771969]]

 t_gt:
[ 0.98945458 -0.05679167  0.1332454 ]

Pose Error in degrees for R and t:
89.36123615702829 38.227203578740834

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[ 0.27850404  0.96042785  0.00371991]
 [ 0.96043162 -0.27851132  0.00159788]
 [ 0.00257068  0.00312771 -0.9999918 ]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 8.93466362e-01 -4.47813495e-01 -3.43853662e-02]
 [ 4.49131846e-01  8.90863221e-01  6.81466028e-02]
 [ 1.14696426e-04 -7.63295807e-02  9.97082266e-01]]

 t_gt:
[ 0.98622967 -0.02558967  0.16338972]

Pose Error in degrees for R and t:
176.09016852084778 36.8024942307773

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 2.36032507e-01 -9.71744411e-01  1.20645350e-03]
 [-9.71744822e-01 -2.36033278e-01 -5.40119185e-04]
 [ 8.09620973e-04 -1.04487925e-03 -9.99999126e-01]]

 t_estimated:
[[0.69896857]
 [0.71515197]
 [0.00077064]]

 R_gt:
[[ 0.98924233 -0.14478026 -0.02095038]
 [ 0.14546373  0.98871139  0.03590857]
 [ 0.01551598 -0.03856912  0.99913596]]

 t_gt:
[ 0.70533216 -0.68877045  0.16763596]

Pose Error in degrees for R and t:
178.9537303978003 89.9679915420406

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-9.83958035e-01 -1.78399795e-01 -3.15028052e-04]
 [-1.78400072e-01  9.83956319e-01  1.83742154e-03]
 [-1.78217833e-05  1.86414671e-03 -9.99998262e-01]]

 t_estimated:
[[9.84642201e-01]
 [1.74582684e-01]
 [7.88661451e-04]]

 R_gt:
[[ 0.96684565 -0.25475801 -0.01754864]
 [ 0.2546504   0.95674381  0.14069155]
 [-0.01905122 -0.14049479  0.98989843]]

 t_gt:
[ 0.61847615 -0.64795817  0.44456435]

Pose Error in degrees for R and t:
179.22394013557044 60.250689822561824

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 5.69451903e-02 -9.98376978e-01  8.09228792e-04]
 [-9.98375936e-01 -5.69437508e-02  1.70265427e-03]
 [-1.65381030e-03 -9.04872524e-04 -9.99998223e-01]]

 t_estimated:
[[0.70556558]
 [0.70864091]
 [0.00229664]]

 R_gt:
[[ 0.9526834  -0.30183942 -0.03590216]
 [ 0.30374206  0.94076845  0.15065076]
 [-0.0116952  -0.15442725  0.9879357 ]]

 t_gt:
[ 0.64885063 -0.6495259   0.39636974]

Pose Error in degrees for R and t:
173.92456056372427 89.91041063125641

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.37203766  0.92817549  0.00884543]
 [-0.92815309  0.37210728 -0.00824748]
 [-0.01094656 -0.00514154  0.99992687]]

 t_estimated:
[[-0.0732001 ]
 [ 0.99724553]
 [ 0.01196273]]

 R_gt:
[[ 0.99978905 -0.0075854  -0.019073  ]
 [ 0.00705786  0.99959466 -0.02755056]
 [ 0.01927395  0.02740956  0.9994377 ]]

 t_gt:
[ 0.33090582 -0.26973767 -0.90429139]

Pose Error in degrees for R and t:
68.61101752485769 72.29989457424956

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.99801312 -0.05616076 -0.0285618 ]
 [ 0.05644799  0.99836175  0.00935097]
 [ 0.02798986 -0.01094465  0.99954829]]

 t_estimated:
[[9.91056195e-01]
 [1.33442706e-01]
 [8.13675037e-04]]

 R_gt:
[[ 0.99142429 -0.12987755 -0.01448237]
 [ 0.12929939  0.99097017 -0.03547868]
 [ 0.01895918  0.03330078  0.99926558]]

 t_gt:
[ 0.74809726 -0.61383301 -0.25211014]

Pose Error in degrees for R and t:
4.978008136331653 48.75427242022432

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999932e-01 -3.68444748e-04 -1.35725942e-05]
 [ 3.68440342e-04  9.99999880e-01 -3.23201732e-04]
 [ 1.36916746e-05  3.23196709e-04  9.99999948e-01]]

 t_estimated:
[[9.03331284e-01]
 [4.28942834e-01]
 [7.97291513e-04]]

 R_gt:
[[ 0.96186332 -0.27318349 -0.01370517]
 [ 0.27242403  0.96127681 -0.04161728]
 [ 0.02454298  0.03629597  0.99903931]]

 t_gt:
[ 0.82603702 -0.54373493 -0.14837509]

Pose Error in degrees for R and t:
16.01220296662328 59.147108467882155

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99999973e-01  2.32890814e-04 -1.97407199e-05]
 [-2.32891126e-04  9.99999973e-01 -1.57913347e-05]
 [ 1.97370417e-05  1.57959318e-05  1.00000000e+00]]

 t_estimated:
[[-5.73387056e-02]
 [ 9.98354745e-01]
 [-2.75531954e-04]]

 R_gt:
[[ 0.99927918  0.01260797 -0.03581157]
 [-0.01337413  0.99968627 -0.02119624]
 [ 0.03553416  0.02166003  0.9991335 ]]

 t_gt:
[-0.02030652  0.44940692 -0.89309634]

Pose Error in degrees for R and t:
2.4930415616463866 63.25131430687935

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.60848246e-01 -2.77075167e-01  1.73389400e-05]
 [ 2.77075126e-01  9.60848134e-01  4.89034943e-04]
 [-1.52159527e-04 -4.65084179e-04  9.99999880e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.99590736  0.03438916 -0.08358692]
 [-0.04001228  0.99698126 -0.0665483 ]
 [ 0.08104703  0.06962112  0.99427528]]

 t_gt:
[-0.0342605   0.46852129 -0.88278764]

Pose Error in degrees for R and t:
19.22678171894615 73.80982704262239

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[-0.74694695 -0.6648755  -0.00328949]
 [ 0.66487618 -0.74695286  0.00104125]
 [-0.00314939 -0.00140934  0.99999405]]

 t_estimated:
[[0.96544521]
 [0.26060025]
 [0.00174899]]

 R_gt:
[[ 0.99449767  0.03446838 -0.09893194]
 [-0.04317122  0.99525456 -0.0872152 ]
 [ 0.09545704  0.09100704  0.99126458]]

 t_gt:
[ 0.00529394  0.43058994 -0.90253215]

Pose Error in degrees for R and t:
140.66026463748713 83.35344155075794

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.70035145e-01  2.42963644e-01  6.96256353e-04]
 [-2.42963722e-01  9.70035375e-01  2.84987033e-05]
 [-6.68469144e-04 -1.96809779e-04  9.99999757e-01]]

 t_estimated:
[[0.67115025]
 [0.74132066]
 [0.00101434]]

 R_gt:
[[ 0.98528943 -0.14411253 -0.09184776]
 [ 0.14438371  0.98951471 -0.00371647]
 [ 0.09142143 -0.00959885  0.99576569]]

 t_gt:
[ 0.6308073  -0.7091521  -0.31493721]

Pose Error in degrees for R and t:
22.987678402932584 84.10751426354008

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.59826053e-01 -2.80595330e-01 -4.57369000e-04]
 [ 2.80595641e-01  9.59825649e-01  8.99911176e-04]
 [ 1.86483623e-04 -9.92093940e-04  9.99999490e-01]]

 t_estimated:
[[-0.36211001]
 [-0.93213483]
 [-0.00099481]]

 R_gt:
[[ 0.97199902 -0.19772638 -0.12697266]
 [ 0.21203393  0.97091195  0.11122405]
 [ 0.10128912 -0.13503132  0.98565024]]

 t_gt:
[ 0.5672945  -0.81267039  0.13320582]

Pose Error in degrees for R and t:
10.611963991492434 56.49822330619438

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.68862601  0.72511046 -0.00300648]
 [-0.72511538  0.68861096 -0.00475668]
 [-0.00137883  0.00545562  0.99998417]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.95580935 -0.23292835 -0.1793686 ]
 [ 0.2620625   0.95156614  0.16076169]
 [ 0.13323561 -0.20066221  0.97055778]]

 t_gt:
[ 0.55593253 -0.80152791  0.22020905]

Pose Error in degrees for R and t:
62.497705583199924 37.07797938540709

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.15281776e-01  4.02813878e-01 -5.00040572e-04]
 [-4.02810582e-01  9.15278129e-01  3.09527056e-03]
 [ 1.70449414e-03 -2.63162311e-03  9.99995085e-01]]

 t_estimated:
[[8.63883544e-01]
 [5.03691266e-01]
 [5.75605980e-04]]

 R_gt:
[[ 0.99316128 -0.10755411 -0.04543506]
 [ 0.108534    0.99389767  0.01968849]
 [ 0.04304049 -0.02448522  0.99877322]]

 t_gt:
[ 0.65128055 -0.74107812 -0.16320804]

Pose Error in degrees for R and t:
30.07947408288665 79.09027995939483

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.81126566  0.58466794  0.00338105]
 [ 0.5846407  -0.81126581  0.00656058]
 [ 0.00657869 -0.00334567 -0.99997276]]

 t_estimated:
[[9.92928546e-01]
 [1.18710501e-01]
 [8.47932146e-04]]

 R_gt:
[[ 0.96911899 -0.22558941 -0.09959273]
 [ 0.22989338  0.97262303  0.03394103]
 [ 0.08920868 -0.05578917  0.99444887]]

 t_gt:
[ 0.6963837  -0.70227426 -0.1478533 ]

Pose Error in degrees for R and t:
175.59609080443934 52.55738318741706

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.93241461  0.36134659 -0.00562498]
 [-0.36102385  0.93205694  0.03052278]
 [ 0.01627211 -0.02642913  0.99951824]]

 t_estimated:
[[9.96993338e-01]
 [7.74816920e-02]
 [9.33514361e-04]]

 R_gt:
[[ 0.9572588  -0.27448133 -0.09119668]
 [ 0.2785074   0.95981062  0.03458355]
 [ 0.07803917 -0.05850389  0.99523147]]

 t_gt:
[ 0.68460129 -0.72346077 -0.08902575]

Pose Error in degrees for R and t:
37.50661147653461 51.21462522630026

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-9.15715179e-01  4.01784649e-01 -5.89980105e-03]
 [-4.01796674e-01 -9.15728398e-01  9.66203641e-04]
 [-5.01440958e-03  3.25528778e-03  9.99982129e-01]]

 t_estimated:
[[0.81325496]
 [0.58190665]
 [0.00101025]]

 R_gt:
[[ 9.98074197e-01 -3.29618819e-02  5.25492872e-02]
 [ 3.30321006e-02  9.99454333e-01 -4.87345248e-04]
 [-5.25033907e-02  2.22264858e-03  9.98618251e-01]]

 t_gt:
[ 0.49429493 -0.43514785  0.7525416 ]

Pose Error in degrees for R and t:
158.21266303492894 81.40015704871821

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 5.17982588e-01  8.55391095e-01 -3.35011423e-04]
 [ 8.55377035e-01 -5.17971744e-01  5.94988576e-03]
 [ 4.91595284e-03 -3.36849830e-03 -9.99982243e-01]]

 t_estimated:
[[-8.13642559e-01]
 [-5.81365063e-01]
 [-6.71322243e-04]]

 R_gt:
[[ 9.91303433e-01 -1.03742401e-01  8.09674415e-02]
 [ 1.04104434e-01  9.94566341e-01 -2.65193343e-04]
 [-8.04994145e-02  8.69185316e-03  9.96716854e-01]]

 t_gt:
[ 0.65684982 -0.62892559  0.41593379]

Pose Error in degrees for R and t:
177.79862962809682 80.26538667556603

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 3.61426726e-01 -9.32398460e-01 -1.95783752e-03]
 [ 9.32399900e-01  3.61428105e-01 -3.90571136e-04]
 [ 1.07178543e-03 -1.68432466e-03  9.99998007e-01]]

 t_estimated:
[[ 9.25862709e-01]
 [-3.77860043e-01]
 [ 1.76980636e-04]]

 R_gt:
[[ 0.98838456 -0.13130987  0.07650136]
 [ 0.13311709  0.99091723 -0.01901456]
 [-0.07330995  0.0289776   0.99688798]]

 t_gt:
[ 0.73102915 -0.65330149  0.19696077]

Pose Error in degrees for R and t:
61.36220993471331 22.523272376111834

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-2.26385557e-01 -9.74037479e-01 -7.54872950e-04]
 [-9.74037603e-01  2.26384995e-01  7.62731344e-04]
 [-5.72037007e-04  9.07945999e-04 -9.99999424e-01]]

 t_estimated:
[[0.77680526]
 [0.62974019]
 [0.00094272]]

 R_gt:
[[ 0.97896363  0.20072154 -0.03662733]
 [-0.20019716  0.97959945  0.01747279]
 [ 0.03938741 -0.00977296  0.99917589]]

 t_gt:
[-0.3352098   0.93243477 -0.13490658]

Pose Error in degrees for R and t:
178.7619395123947 70.93311263208369

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.99999314 -0.00142749 -0.00341707]
 [ 0.00143421  0.99999704  0.00196512]
 [ 0.00341426 -0.00197     0.99999223]]

 t_estimated:
[[-0.88328256]
 [-0.4688291 ]
 [-0.00334663]]

 R_gt:
[[ 0.94495422  0.32566691 -0.03166824]
 [-0.32349046  0.94438571  0.05907057]
 [ 0.04914444 -0.04557475  0.99775153]]

 t_gt:
[-0.30996352  0.94869588 -0.06243995]

Pose Error in degrees for R and t:
19.384284747574686 80.16671683748883

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 5.36858987e-01  8.41617046e-01  5.88487538e-02]
 [ 8.43671546e-01 -5.35622711e-01 -3.64229976e-02]
 [ 8.66513378e-04  6.92030327e-02 -9.97602220e-01]]

 t_estimated:
[[0.60232681]
 [0.7982485 ]
 [0.0013238 ]]

 R_gt:
[[ 0.90435711  0.42569339 -0.03038856]
 [-0.42499007  0.90479372  0.02703323]
 [ 0.03900397 -0.01153336  0.99917235]]

 t_gt:
[-0.25937143  0.9631696  -0.07092806]

Pose Error in degrees for R and t:
179.0257709627285 52.227450336212655

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.04403757e-01  4.26676130e-01  1.15062149e-03]
 [-4.26675585e-01  9.04404478e-01 -6.96519747e-04]
 [-1.33781558e-03  1.38992980e-04  9.99999095e-01]]

 t_estimated:
[[-9.95514244e-01]
 [-9.46079461e-02]
 [-8.52323839e-04]]

 R_gt:
[[ 0.99902982 -0.03974186 -0.01896332]
 [ 0.04001685  0.99909726  0.01427603]
 [ 0.01837895 -0.01502045  0.99971824]]

 t_gt:
[ 0.98392738 -0.16213817  0.07482058]

Pose Error in degrees for R and t:
27.579279031357267 15.369217258597493

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-0.24237881 -0.97018076 -0.00133979]
 [-0.97018036  0.24237596  0.00198912]
 [-0.00160508  0.00178195 -0.99999712]]

 t_estimated:
[[8.84384492e-01]
 [4.66758482e-01]
 [7.67694872e-04]]

 R_gt:
[[ 0.99120989 -0.11176205  0.07078821]
 [ 0.1183972   0.98814473 -0.09774012]
 [-0.05902515  0.10526292  0.99269085]]

 t_gt:
[ 0.79067494  0.1788135  -0.58554152]

Pose Error in degrees for R and t:
179.3669719519334 38.530758574602345

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-7.97147493e-01 -6.03754494e-01 -6.03210779e-03]
 [ 6.03742821e-01 -7.97170082e-01  3.80356324e-03]
 [-7.10503426e-03 -6.09840872e-04  9.99974573e-01]]

 t_estimated:
[[0.96740151]
 [0.25323157]
 [0.0028453 ]]

 R_gt:
[[ 0.98551008 -0.10574268  0.13262394]
 [ 0.12899686  0.97494648 -0.18121584]
 [-0.11013861  0.19569868  0.97445958]]

 t_gt:
[ 0.47887377  0.37009553 -0.79605855]

Pose Error in degrees for R and t:
136.3634162333754 56.308702415090856

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.98854279e-01  4.78549666e-02  1.76804082e-04]
 [-4.78549358e-02  9.98854281e-01 -1.74301973e-04]
 [-1.84942730e-04  1.65641323e-04  9.99999969e-01]]

 t_estimated:
[[-0.03411661]
 [-0.99941584]
 [-0.00200686]]

 R_gt:
[[ 0.98798401 -0.15375124 -0.01573704]
 [ 0.1538788   0.98806247  0.00724517]
 [ 0.01443606 -0.00957989  0.99985016]]

 t_gt:
[ 0.73567561 -0.67524517 -0.05315406]

Pose Error in degrees for R and t:
11.635251772781851 49.46905537791254

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.9911269   0.13252216  0.01026409]
 [ 0.13248132  0.99117499 -0.00456491]
 [-0.01077846 -0.00316461 -0.9999369 ]]

 t_estimated:
[[ 0.89994675]
 [-0.43588044]
 [ 0.01020199]]

 R_gt:
[[ 0.93628411 -0.34696078 -0.05468206]
 [ 0.34706455  0.9378079  -0.00789067]
 [ 0.0540196  -0.01159059  0.99847288]]

 t_gt:
[ 0.80330492 -0.58654736 -0.1032638 ]

Pose Error in degrees for R and t:
177.3902971484446 12.16557833241588

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.92489916  0.38020319  0.00265977]
 [-0.38017657  0.92488532 -0.00727512]
 [-0.005226    0.00571757  0.99997   ]]

 t_estimated:
[[7.73246267e-01]
 [6.34105421e-01]
 [7.24691910e-04]]

 R_gt:
[[ 8.58423066e-01 -5.11499799e-01 -3.84175669e-02]
 [ 5.11905286e-01  8.59040488e-01  8.39580705e-04]
 [ 3.25728701e-02 -2.03864641e-02  9.99261450e-01]]

 t_gt:
[ 0.84772343 -0.52992364 -0.02336492]

Pose Error in degrees for R and t:
53.19392995091717 71.3700559934202

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-0.64547163 -0.75779893 -0.09543143]
 [ 0.61802567 -0.59161473  0.51772221]
 [-0.44878798  0.27519592  0.85020971]]

 t_estimated:
[[0.95926419]
 [0.27407548]
 [0.06851887]]

 R_gt:
[[ 0.97706839 -0.2123562  -0.01556997]
 [ 0.21242814  0.97717161  0.00315358]
 [ 0.01454461 -0.00638844  0.99987387]]

 t_gt:
[ 0.75190448 -0.65872863 -0.02676278]

Pose Error in degrees for R and t:
122.39934215378813 57.39121714818634

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.86379675e-01 -1.64484418e-01 -1.17638750e-04]
 [ 1.64484425e-01  9.86379679e-01  4.82778066e-05]
 [ 1.08095526e-04 -6.69699894e-05  9.99999992e-01]]

 t_estimated:
[[ 9.97598553e-01]
 [-6.92608379e-02]
 [ 2.52815772e-04]]

 R_gt:
[[ 0.91498784 -0.4034616  -0.00400793]
 [ 0.40347239  0.9148608   0.01546898]
 [-0.00257454 -0.01577007  0.9998725 ]]

 t_gt:
[ 0.80647783 -0.59021029  0.03528909]

Pose Error in degrees for R and t:
14.358269757875318 32.28212482444051

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.86153887 -0.50765053 -0.00645856]
 [ 0.50736821 -0.86137438  0.02473219]
 [-0.01811855  0.01803087  0.99967325]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.8554358  -0.51631463  0.04061168]
 [ 0.51636542  0.856309    0.0100154 ]
 [-0.03994813  0.01240433  0.99912522]]

 t_gt:
[ 0.83049224 -0.55369627  0.06085295]

Pose Error in degrees for R and t:
118.38433583697022 58.638856248819245

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.30929238e-01 -3.65198305e-01 -9.75386576e-04]
 [ 3.65198739e-01  9.30929529e-01  3.06014647e-04]
 [ 7.96260135e-04 -6.41087930e-04  9.99999477e-01]]

 t_estimated:
[[ 1.59276020e-01]
 [-9.87233791e-01]
 [-7.69532257e-04]]

 R_gt:
[[ 0.97315194  0.22843779 -0.02810987]
 [-0.22874245  0.97345308 -0.00811571]
 [ 0.02551018  0.01432756  0.99957172]]

 t_gt:
[-0.31442322  0.94174578 -0.11938562]

Pose Error in degrees for R and t:
34.674354920798905 11.561122466080663

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999489e-01 -9.80435381e-04 -2.46212548e-04]
 [ 9.80435917e-04  9.99999519e-01  2.05531205e-06]
 [ 2.46210414e-04 -2.29670663e-06  9.99999970e-01]]

 t_estimated:
[[-9.99948752e-01]
 [-1.00928558e-02]
 [-7.92454024e-04]]

 R_gt:
[[ 0.9241603   0.37996054 -0.03946977]
 [-0.37890674  0.92489193  0.03171194]
 [ 0.04855471 -0.01435193  0.99871706]]

 t_gt:
[-0.2591252   0.96195565 -0.08657634]

Pose Error in degrees for R and t:
22.553313758889356 75.55375075214644

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.77560572e-01 -2.10654053e-01 -4.45445997e-04]
 [ 2.10654072e-01  9.77560669e-01 -3.38820454e-06]
 [ 4.36164226e-04 -9.05228380e-05  9.99999901e-01]]

 t_estimated:
[[-0.70229964]
 [-0.71188081]
 [-0.00095812]]

 R_gt:
[[ 0.87134707  0.48887764 -0.04185814]
 [-0.48693635  0.8720706   0.04884727]
 [ 0.06038286 -0.02218081  0.99792906]]

 t_gt:
[-0.21363929  0.97333222 -0.08356224]

Pose Error in degrees for R and t:
41.55178446882398 57.12707202190186

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.62284066e-01  2.72046628e-01  9.39347827e-05]
 [-2.72046548e-01  9.62283960e-01 -5.06753033e-04]
 [-2.28252389e-04  4.62085736e-04  9.99999867e-01]]

 t_estimated:
[[0.72491952]
 [0.68883275]
 [0.00106138]]

 R_gt:
[[ 0.99466212 -0.0641679   0.08080967]
 [ 0.0698618   0.99511646 -0.06972156]
 [-0.07594094  0.07499526  0.99428802]]

 t_gt:
[ 0.70048484 -0.52784421 -0.48031394]

Pose Error in degrees for R and t:
20.556515456168228 81.73863277511548

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99944899e-01  1.04975863e-02  2.13439675e-05]
 [-1.04975222e-02  9.99942880e-01 -2.00981261e-03]
 [-4.24409298e-05  2.00947781e-03  9.99997980e-01]]

 t_estimated:
[[-0.62006132]
 [-0.78454643]
 [-0.00329601]]

 R_gt:
[[ 0.98904423 -0.08928464  0.11755943]
 [ 0.10083946  0.99022896 -0.09631514]
 [-0.10781119  0.10711505  0.98838377]]

 t_gt:
[ 0.73056516 -0.55123293 -0.40300967]

Pose Error in degrees for R and t:
10.58546477433162 88.89990815839333

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.97700390e-01 -6.77779375e-02  2.87720526e-04]
 [ 6.77779199e-02  9.97700430e-01  7.04982602e-05]
 [-2.91837119e-04 -5.08350429e-05  9.99999956e-01]]

 t_estimated:
[[ 6.53138801e-01]
 [-7.57237878e-01]
 [ 7.09386609e-04]]

 R_gt:
[[ 0.98105173 -0.11213147  0.15800185]
 [ 0.12930155  0.98624863 -0.10292616]
 [-0.14428834  0.12140686  0.98206027]]

 t_gt:
[ 0.77239441 -0.57937151 -0.2602605 ]

Pose Error in degrees for R and t:
11.293380941522617 19.435239415226462

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.98457746 -0.17492722 -0.00277419]
 [ 0.17493738  0.98457151  0.00398125]
 [ 0.00203496 -0.00440516  0.99998823]]

 t_estimated:
[[-0.40278477]
 [-0.91529367]
 [-0.00138891]]

 R_gt:
[[ 0.99151376 -0.12154977 -0.04611633]
 [ 0.12086535  0.99251708 -0.01735602]
 [ 0.04788003  0.01163583  0.99878498]]

 t_gt:
[ 0.57981386 -0.73189507 -0.35797415]

Pose Error in degrees for R and t:
4.167937877807179 64.09655172962117

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.24983675  0.96768513  0.03416254]
 [ 0.96826438  0.24992142  0.00183774]
 [-0.00675959  0.03353751 -0.9994146 ]]

 t_estimated:
[[-0.04993746]
 [-0.99874923]
 [-0.00249687]]

 R_gt:
[[ 0.96782753 -0.24651856 -0.05039948]
 [ 0.24788811  0.96851791  0.02291834]
 [ 0.04316301 -0.03467406  0.99846674]]

 t_gt:
[ 0.64372983 -0.76470922 -0.02883946]

Pose Error in degrees for R and t:
178.47667355016938 42.97270504301728

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.95170835  0.30699465 -0.00234748]
 [-0.30698855 -0.95170957 -0.00263284]
 [-0.00304239 -0.00178504  0.99999378]]

 t_estimated:
[[0.49662037]
 [0.86796714]
 [0.00111851]]

 R_gt:
[[ 0.89203797 -0.45091691 -0.03071584]
 [ 0.45186309  0.89119781  0.03983634]
 [ 0.00941128 -0.04941543  0.99873368]]

 t_gt:
[ 0.75702545 -0.65056103  0.06068614]

Pose Error in degrees for R and t:
171.02501123239793 79.1263713694163

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.80412552 -0.59445222 -0.00294944]
 [ 0.59445703  0.80412665  0.00108483]
 [ 0.00172684 -0.00262565  0.99999506]]

 t_estimated:
[[-0.07083438]
 [-0.99748741]
 [-0.00116122]]

 R_gt:
[[ 0.97655211 -0.21481     0.01421299]
 [ 0.21465414  0.97661953  0.01174912]
 [-0.01640469 -0.00842278  0.99983045]]

 t_gt:
[ 0.59700297 -0.79822561  0.08014571]

Pose Error in degrees for R and t:
24.09894895958218 41.076007821862774

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.36238643  0.93201898  0.00408605]
 [ 0.93202605 -0.36237339 -0.00360258]
 [-0.001877    0.00511383 -0.99998516]]

 t_estimated:
[[-0.9628629 ]
 [-0.26998731]
 [-0.00137749]]

 R_gt:
[[ 0.93668107 -0.34844696  0.03484824]
 [ 0.3483297   0.93732361  0.00959722]
 [-0.03600796  0.00314953  0.99934693]]

 t_gt:
[ 0.6384205  -0.76427578  0.09111417]

Pose Error in degrees for R and t:
178.67849543758595 65.88985026861381

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.28876801  0.9573915   0.00381389]
 [ 0.95739558  0.28875386  0.00386204]
 [ 0.00259621  0.00476663 -0.99998527]]

 t_estimated:
[[-0.23776828]
 [-0.97130873]
 [-0.0050589 ]]

 R_gt:
[[ 0.84214773 -0.53820056  0.03357236]
 [ 0.5380699   0.84279045  0.01358866]
 [-0.03560802  0.00662001  0.99934439]]

 t_gt:
[ 0.72680854 -0.68495382  0.05086846]

Pose Error in degrees for R and t:
178.33863552768042 60.51259175915306

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99410552e-01  3.43299868e-02  1.10032846e-05]
 [-3.43299874e-02  9.99410550e-01  6.07045562e-05]
 [-8.91281206e-06 -6.10465166e-05  9.99999998e-01]]

 t_estimated:
[[-0.37743641]
 [-0.92603475]
 [-0.00118452]]

 R_gt:
[[ 0.99991821 -0.0121057  -0.00407197]
 [ 0.01193931  0.99918089 -0.03868017]
 [ 0.0045362   0.03862953  0.99924384]]

 t_gt:
[ 0.35829963  0.10774548 -0.92736847]

Pose Error in degrees for R and t:
3.4694979771571375 76.47244952969511

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.97012751e-01  7.72371338e-02  5.58018957e-06]
 [-7.72371332e-02  9.97012728e-01  2.13379467e-04]
 [ 1.09172984e-05 -2.13173048e-04  9.99999977e-01]]

 t_estimated:
[[0.99556168]
 [0.09410437]
 [0.00114023]]

 R_gt:
[[ 0.98899663 -0.14782913 -0.00566043]
 [ 0.1469392   0.98604097 -0.07830613]
 [ 0.01715758  0.07661405  0.9969133 ]]

 t_gt:
[ 0.88511348 -0.07152296 -0.45984627]

Pose Error in degrees for R and t:
13.6815116409644 29.08139306468481

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-5.29039324e-01 -8.48597310e-01 -6.22435360e-06]
 [-8.48596702e-01  5.29038937e-01  1.20011728e-03]
 [-1.01512337e-03  6.40191200e-04 -9.99999280e-01]]

 t_estimated:
[[0.96147731]
 [0.27488173]
 [0.00118819]]

 R_gt:
[[ 0.9516251  -0.30725964 -0.00140625]
 [ 0.30660991  0.94989065 -0.06081474]
 [ 0.02002116  0.05744217  0.99814825]]

 t_gt:
[ 0.97807951 -0.08417948 -0.19045811]

Pose Error in degrees for R and t:
177.83357018799987 23.50352265509451

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-8.97131451e-01 -4.41763681e-01  9.79607326e-05]
 [ 4.41760743e-01 -8.97126252e-01 -3.45451612e-03]
 [ 1.61396290e-03 -3.05587985e-03  9.99994028e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99631028 -0.07638579  0.03911339]
 [ 0.07786083  0.99625066 -0.03769823]
 [-0.03608743  0.04060478  0.99852403]]

 t_gt:
[ 0.78848816 -0.61409336 -0.03428947]

Pose Error in degrees for R and t:
149.37129504446065 74.64286132595811

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 8.56406770e-01  5.16301630e-01 -2.66577638e-04]
 [-5.16301021e-01  8.56406369e-01  1.17773758e-03]
 [ 8.36366617e-04 -8.70988127e-04  9.99999271e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.99109657 -0.08486917  0.10258766]
 [ 0.0963431   0.98895574 -0.11261984]
 [-0.09189636  0.12150115  0.98832809]]

 t_gt:
[ 0.79694467 -0.51726788 -0.31195054]

Pose Error in degrees for R and t:
37.33745283726156 45.292667015199704

Number of keypoints:
Image1: 26
Image2: 26

 R_estimated:
[[ 9.70626637e-01  2.40590290e-01  4.94779292e-04]
 [-2.40590333e-01  9.70626751e-01  2.98021947e-05]
 [-4.73075899e-04 -1.47965919e-04  9.99999877e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.9896643  -0.03594817  0.13882455]
 [ 0.06299085  0.97865018 -0.19564149]
 [-0.12882749  0.20236408  0.97080011]]

 t_gt:
[ 0.24257419  0.07852612 -0.96694954]

Pose Error in degrees for R and t:
21.75235372434459 80.545457879131

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99999659e-01  8.24030536e-04 -5.80349978e-05]
 [-8.24019624e-04  9.99999643e-01  1.87800545e-04]
 [ 5.81897304e-05 -1.87752659e-04  9.99999981e-01]]

 t_estimated:
[[0.99992662]
 [0.01201982]
 [0.00150811]]

 R_gt:
[[ 0.98258024 -0.18122646 -0.04116695]
 [ 0.18164769  0.98334142  0.00670845]
 [ 0.03926476 -0.01406956  0.99913044]]

 t_gt:
[ 0.61867962 -0.77768079 -0.11157114]

Pose Error in degrees for R and t:
10.771456969799079 52.47421687578395

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999995e-01  2.05535382e-05  9.34385400e-05]
 [-2.06266038e-05  9.99999694e-01  7.82030853e-04]
 [-9.34224379e-05 -7.82032777e-04  9.99999690e-01]]

 t_estimated:
[[-0.75481291]
 [-0.65593965]
 [-0.00080385]]

 R_gt:
[[ 0.95524679 -0.29572574  0.00708874]
 [ 0.29580252  0.95512648 -0.01528917]
 [-0.0022498   0.01670157  0.99985803]]

 t_gt:
[ 0.55114417 -0.83417742 -0.01970129]

Pose Error in degrees for R and t:
17.235070139746977 82.46249506523574

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999101e-01 -1.34124294e-03 -5.24960236e-06]
 [ 1.34124158e-03  9.99999069e-01 -2.49592075e-04]
 [ 5.58436109e-06  2.49584810e-04  9.99999969e-01]]

 t_estimated:
[[9.99955789e-01]
 [9.36864431e-03]
 [8.04895765e-04]]

 R_gt:
[[ 0.92403095 -0.38214543  0.01149037]
 [ 0.38196762  0.92405377  0.01501933]
 [-0.01635839 -0.00948951  0.9998212 ]]

 t_gt:
[ 0.52847685 -0.84625009  0.06762408]

Pose Error in degrees for R and t:
22.41272253009061 58.62885565041409

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99156825e-01  4.10564113e-02  1.05574209e-04]
 [-4.10564208e-02  9.99156826e-01  8.94974164e-05]
 [-1.01810749e-04 -9.37564536e-05  9.99999990e-01]]

 t_estimated:
[[0.18084299]
 [0.98351126]
 [0.00119264]]

 R_gt:
[[ 0.99691472 -0.07753788  0.01223623]
 [ 0.07816289  0.99490655 -0.06365048]
 [-0.00723955  0.06441087  0.99789828]]

 t_gt:
[ 0.7335368  -0.6142563  -0.29088309]

Pose Error in degrees for R and t:
7.7699281386869465 61.84750394275947

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-8.78778804e-01 -4.77225622e-01  1.87593299e-03]
 [-4.77228632e-01  8.78764148e-01 -5.13861431e-03]
 [ 8.03775748e-04 -5.41095427e-03 -9.99985038e-01]]

 t_estimated:
[[0.96864533]
 [0.24843494]
 [0.00250944]]

 R_gt:
[[ 0.99065308 -0.13620356 -0.00742023]
 [ 0.13319097  0.97761292 -0.16288784]
 [ 0.02943939  0.16037705  0.98661705]]

 t_gt:
[ 0.69286175 -0.43223194 -0.57716387]

Pose Error in degrees for R and t:
176.68814898311925 55.78447763662049

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-8.55030092e-01 -5.18578248e-01  3.77493696e-04]
 [-5.18578292e-01  8.55030149e-01 -2.04660773e-05]
 [-3.12155229e-04 -2.13259148e-04 -9.99999929e-01]]

 t_estimated:
[[0.9693239 ]
 [0.24578298]
 [0.0013808 ]]

 R_gt:
[[ 0.98784265 -0.14998838 -0.04086597]
 [ 0.13499245  0.95800749 -0.25297849]
 [ 0.07709284  0.24438588  0.96660849]]

 t_gt:
[ 0.60119367 -0.20609085 -0.77207042]

Pose Error in degrees for R and t:
172.84558315148848 57.92481175306384

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.88266061 -0.46998914 -0.00452227]
 [ 0.46999946  0.8826654   0.00151644]
 [ 0.00327894 -0.00346397  0.99998862]]

 t_estimated:
[[-0.06563294]
 [-0.99784321]
 [-0.00111242]]

 R_gt:
[[ 0.99836981 -0.05674413 -0.00612868]
 [ 0.05613166  0.99564329 -0.07446199]
 [ 0.0103275   0.07399704  0.99720512]]

 t_gt:
[ 0.68020222 -0.49255772 -0.54287369]

Pose Error in degrees for R and t:
25.178151955037286 63.419444919497415

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.96705254 -0.25457194 -0.00158229]
 [ 0.25457468 -0.96705131 -0.00186839]
 [-0.00105451 -0.00220965  0.999997  ]]

 t_estimated:
[[0.79219624]
 [0.61026589]
 [0.00080964]]

 R_gt:
[[ 0.99444601 -0.09638928 -0.04225388]
 [ 0.08691642  0.97856206 -0.1867118 ]
 [ 0.05934507  0.18200289  0.98150482]]

 t_gt:
[ 0.53688128 -0.19364952 -0.82113236]

Pose Error in degrees for R and t:
160.04179299394136 72.15320608603977

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.18235986 -0.98322793 -0.00277704]
 [-0.983211    0.18233687  0.00702819]
 [-0.00640396  0.00401208 -0.99997145]]

 t_estimated:
[[0.70391872]
 [0.71027653]
 [0.00238457]]

 R_gt:
[[ 0.99204588 -0.08689091 -0.09107662]
 [ 0.06446389  0.9721542  -0.22530259]
 [ 0.10811821  0.21764007  0.97002157]]

 t_gt:
[ 0.44902333 -0.01015973 -0.89346227]

Pose Error in degrees for R and t:
167.51979449314564 72.13777364881477

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-0.98882756 -0.14890282 -0.00692839]
 [ 0.14868346 -0.98855649  0.02548142]
 [-0.01064336  0.02416659  0.99965129]]

 t_estimated:
[[8.25339216e-01]
 [5.64636829e-01]
 [6.55031124e-04]]

 R_gt:
[[ 0.98576234 -0.16702301 -0.01938927]
 [ 0.16591901  0.98492478 -0.04893448]
 [ 0.02727019  0.0450201   0.9986136 ]]

 t_gt:
[ 0.62368971 -0.6729442  -0.39768989]

Pose Error in degrees for R and t:
161.88904401939672 82.26878820801574

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99997646e-01  2.01783469e-03  7.97326572e-04]
 [-2.01755793e-03  9.99997904e-01 -3.47756422e-04]
 [-7.98026616e-04  3.46146951e-04  9.99999622e-01]]

 t_estimated:
[[0.99998805]
 [0.00468415]
 [0.00140056]]

 R_gt:
[[ 0.95160997 -0.3069891   0.01401858]
 [ 0.30730408  0.95087643 -0.03738736]
 [-0.00185203  0.03988539  0.99920225]]

 t_gt:
[ 0.60068423 -0.79301496 -0.10151717]

Pose Error in degrees for R and t:
18.15040995137471 53.357496380790835

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99998485e-01 -1.14234646e-04  1.73682910e-03]
 [ 1.17838587e-04  9.99997840e-01 -2.07505099e-03]
 [-1.73658831e-03  2.07525252e-03  9.99996339e-01]]

 t_estimated:
[[-9.99936349e-01]
 [-1.12428668e-02]
 [ 9.46511087e-04]]

 R_gt:
[[ 0.91906234 -0.39271685  0.03311618]
 [ 0.39359118  0.91892025 -0.02593603]
 [-0.02024568  0.03686963  0.99911429]]

 t_gt:
[ 0.55069004 -0.83466733 -0.00842173]

Pose Error in degrees for R and t:
23.26293845189886 57.22925785943825

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99669946e-01  2.56902475e-02 -1.01078878e-04]
 [-2.56902541e-02  9.99669949e-01 -6.46306963e-05]
 [ 9.93851381e-05  6.72061068e-05  9.99999993e-01]]

 t_estimated:
[[-0.84181902]
 [-0.53975904]
 [-0.00095367]]

 R_gt:
[[ 0.99589714  0.08798117  0.02117881]
 [-0.08623396  0.99361792 -0.07270813]
 [-0.02743933  0.07058413  0.99712914]]

 t_gt:
[-0.77645838  0.33476012 -0.53389892]

Pose Error in degrees for R and t:
5.596194425794628 61.74108062733619

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.94242756e-01  1.07151021e-01  3.38815880e-05]
 [-1.07151018e-01  9.94242754e-01 -7.63715269e-05]
 [-4.18698104e-05  7.23013907e-05  9.99999997e-01]]

 t_estimated:
[[-9.97086400e-01]
 [ 7.62773414e-02]
 [-6.91132952e-04]]

 R_gt:
[[ 0.9997657  -0.00902908  0.01965208]
 [ 0.01056639  0.99677285 -0.07957536]
 [-0.01886975  0.07976477  0.99663514]]

 t_gt:
[ 0.06542272  0.18374708 -0.980794  ]

Pose Error in degrees for R and t:
8.191902233442129 87.10312276179643

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.88981812e-01  1.48036248e-01  4.95205691e-04]
 [-1.48036015e-01  9.88981855e-01 -4.78162921e-04]
 [-5.60534887e-04  3.99586155e-04  9.99999763e-01]]

 t_estimated:
[[0.57954698]
 [0.81493721]
 [0.00162338]]

 R_gt:
[[ 0.98608371 -0.16401486  0.02716351]
 [ 0.16607634  0.97926388 -0.11601702]
 [-0.00757083  0.11891375  0.99287649]]

 t_gt:
[ 0.81036871 -0.03146641 -0.58507471]

Pose Error in degrees for R and t:
19.280688727384533 63.70111208481527

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 8.85795076e-01  4.64069644e-01  2.53926688e-03]
 [ 4.64064439e-01 -8.85798219e-01  2.39006251e-03]
 [ 3.35843354e-03 -9.38722138e-04 -9.99993920e-01]]

 t_estimated:
[[0.00834173]
 [0.99996466]
 [0.00104272]]

 R_gt:
[[ 0.99687121 -0.02694718  0.0743105 ]
 [ 0.03163243  0.99753619 -0.06261529]
 [-0.07244095  0.06477012  0.99526766]]

 t_gt:
[ 0.82863386 -0.52418939  0.19644695]

Pose Error in degrees for R and t:
175.54036412289219 58.86516773337266

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99999701e-01  7.71683298e-04  5.47935317e-05]
 [-7.71656057e-04  9.99999580e-01 -4.95444064e-04]
 [-5.51758346e-05  4.95401634e-04  9.99999876e-01]]

 t_estimated:
[[-0.9991791 ]
 [-0.04037087]
 [-0.00336424]]

 R_gt:
[[ 0.99327024 -0.0073656   0.11559043]
 [ 0.02476212  0.98840648 -0.14979639]
 [-0.11314726  0.15165     0.98193692]]

 t_gt:
[-0.20443347  0.4754344  -0.8556688 ]

Pose Error in degrees for R and t:
10.92534578919568 79.16679124561637

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.34043967 -0.94025182 -0.00522877]
 [ 0.94026568  0.3404275   0.00309207]
 [-0.00112731 -0.00596909  0.99998155]]

 t_estimated:
[[ 0.98626335]
 [-0.16515542]
 [ 0.00287823]]

 R_gt:
[[ 0.98572359  0.03920084  0.16374555]
 [-0.00492373  0.97881444 -0.20468924]
 [-0.16830071  0.20096055  0.96503355]]

 t_gt:
[-0.65979701  0.67155671 -0.33716389]

Pose Error in degrees for R and t:
72.84776005488986 40.304699537565284

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 2.51156415e-01  9.67946426e-01 -4.15640989e-04]
 [-9.67944852e-01  2.51155164e-01 -1.96138768e-03]
 [-1.79412781e-03  8.94932652e-04  9.99997990e-01]]

 t_estimated:
[[0.48439292]
 [0.87484983]
 [0.00113176]]

 R_gt:
[[ 0.99492381 -0.09556262 -0.03153992]
 [ 0.09538028  0.99541504 -0.00726323]
 [ 0.03209003  0.00421779  0.99947656]]

 t_gt:
[ 0.54971087 -0.79274022 -0.26340254]

Pose Error in degrees for R and t:
80.95237214246849 64.68777823425974

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 0.15242987 -0.98830555  0.00415641]
 [ 0.98826836  0.15246198  0.00899969]
 [-0.00952814  0.00273582  0.99995086]]

 t_estimated:
[[9.79006298e-01]
 [2.03828482e-01]
 [7.86982554e-04]]

 R_gt:
[[ 9.62021980e-01 -2.72786545e-01 -1.01321310e-02]
 [ 2.72973909e-01  9.61444462e-01  3.33213026e-02]
 [ 6.51946856e-04 -3.48226398e-02  9.99393308e-01]]

 t_gt:
[ 0.66676063 -0.73945222  0.09295522]

Pose Error in degrees for R and t:
65.41476199447015 59.86000123682162

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-0.1058191   0.99438426  0.00150067]
 [-0.99438461 -0.10581699 -0.00142076]
 [-0.00125398 -0.00164258  0.99999786]]

 t_estimated:
[[7.78621389e-01]
 [6.27493624e-01]
 [6.96441314e-04]]

 R_gt:
[[ 0.87307929 -0.4874611  -0.01070512]
 [ 0.48717792  0.87126134  0.0596912 ]
 [-0.01977011 -0.05733064  0.99815909]]

 t_gt:
[ 0.78926345 -0.60290034  0.11650916]

Pose Error in degrees for R and t:
125.29502609123398 76.33159131781282

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-1.43613568e-02  9.99896781e-01  4.23626945e-04]
 [-9.99892167e-01 -1.43599885e-02 -3.07316626e-03]
 [-3.06676577e-03 -4.67716101e-04  9.99995188e-01]]

 t_estimated:
[[0.00891479]
 [0.9999588 ]
 [0.00170769]]

 R_gt:
[[ 0.99280459 -0.06415857  0.10110653]
 [ 0.07625306  0.98975749 -0.12068807]
 [-0.09232776  0.12753015  0.98752832]]

 t_gt:
[ 0.24979416  0.37762683 -0.8916282 ]

Pose Error in degrees for R and t:
95.18394148747306 67.77061923936365

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-2.18186395e-01 -9.75907077e-01 -2.71542177e-04]
 [-9.75906050e-01  2.18185737e-01  1.53818120e-03]
 [-1.44187529e-03  6.00609863e-04 -9.99998780e-01]]

 t_estimated:
[[0.90114836]
 [0.43350864]
 [0.00137745]]

 R_gt:
[[ 0.98372421 -0.07306537  0.16416035]
 [ 0.10433741  0.97606693 -0.19080475]
 [-0.14629137  0.20482829  0.96780377]]

 t_gt:
[ 0.13211455  0.36331183 -0.92225282]

Pose Error in degrees for R and t:
179.89361332741507 74.02110412788511

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99921402e-01  1.25196368e-02  6.69350017e-04]
 [-1.25195641e-02  9.99921621e-01 -1.12727903e-04]
 [-6.70708867e-04  1.04339072e-04  9.99999770e-01]]

 t_estimated:
[[ 0.78641213]
 [-0.61770124]
 [ 0.00106825]]

 R_gt:
[[ 0.96457625 -0.11548169  0.23718599]
 [ 0.17195431  0.95707786 -0.23330997]
 [-0.2000623   0.26583128  0.94303164]]

 t_gt:
[ 0.35113607  0.12429991 -0.92803717]

Pose Error in degrees for R and t:
21.464957325332808 78.55857228053662

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99269758e-01 -3.82092437e-02 -6.18303008e-05]
 [ 3.82092485e-02  9.99269757e-01  7.94435106e-05]
 [ 5.87496732e-05 -8.17479870e-05  9.99999995e-01]]

 t_estimated:
[[-0.7373394 ]
 [-0.67552206]
 [-0.00074479]]

 R_gt:
[[ 0.9986076   0.04877426  0.02011729]
 [-0.04914189  0.99862724  0.01815853]
 [-0.01920459 -0.01912103  0.99963253]]

 t_gt:
[-0.21680098  0.79422663  0.56762787]

Pose Error in degrees for R and t:
5.231695069758153 67.84679572656758

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 0.37157603 -0.92839811 -0.0028636 ]
 [ 0.92840102  0.3715681   0.00295012]
 [-0.00167486 -0.00375476  0.99999155]]

 t_estimated:
[[9.17896203e-01]
 [3.96819756e-01]
 [8.01656072e-04]]

 R_gt:
[[ 9.98319852e-01  5.76643174e-02  5.67721347e-03]
 [-5.76659452e-02  9.98336524e-01  2.30152646e-04]
 [-5.65483641e-03 -5.55855398e-04  9.99983251e-01]]

 t_gt:
[0.41119169 0.91011278 0.05114814]

Pose Error in degrees for R and t:
71.49424098048539 42.38575028151868

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.73822755e-01 -2.27308606e-01  1.98633539e-04]
 [ 2.27308581e-01  9.73822771e-01  1.40832113e-04]
 [-2.25446214e-04 -9.19944079e-05  9.99999970e-01]]

 t_estimated:
[[-0.52771353]
 [-0.84942124]
 [-0.001411  ]]

 R_gt:
[[ 0.99754455  0.062077    0.03241278]
 [-0.0624805   0.99797919  0.01159717]
 [-0.03162747 -0.0135931   0.99940678]]

 t_gt:
[0.63063959 0.58557763 0.50930594]

Pose Error in degrees for R and t:
16.824002698300102 33.806871082844054

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 0.43095067  0.89380112  0.12410109]
 [ 0.89343969 -0.40332256 -0.19772819]
 [-0.1266769   0.19608794 -0.97236952]]

 t_estimated:
[[-0.51768765]
 [ 0.84824623]
 [-0.11170417]]

 R_gt:
[[ 0.99980902 -0.01942799 -0.00209365]
 [ 0.01939323  0.9996926  -0.01546522]
 [ 0.0023935   0.0154209   0.99987777]]

 t_gt:
[ 0.37025847 -0.50494507 -0.77970452]

Pose Error in degrees for R and t:
165.82448949757486 57.798410785736685

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99386079e-01  3.50351778e-02 -3.72084258e-05]
 [-3.50351705e-02  9.99386063e-01  1.82745749e-04]
 [ 4.35881120e-05 -1.81329954e-04  9.99999983e-01]]

 t_estimated:
[[0.47167416]
 [0.88177206]
 [0.00123153]]

 R_gt:
[[ 0.98957561 -0.14400799  0.00144269]
 [ 0.14397703  0.9894954   0.01301092]
 [-0.00330062 -0.01266805  0.99991367]]

 t_gt:
[ 0.53217099 -0.84241379  0.08445729]

Pose Error in degrees for R and t:
10.31369686269801 60.54751372545441

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-6.63470699e-01  7.48202088e-01 -5.17171539e-04]
 [-7.48198413e-01 -6.63469341e-01 -2.75095060e-03]
 [-2.40139444e-03 -1.43822819e-03  9.99996082e-01]]

 t_estimated:
[[0.40029234]
 [0.91638648]
 [0.0013649 ]]

 R_gt:
[[ 0.96560361 -0.25970546  0.01274285]
 [ 0.25957954  0.96566169  0.01070325]
 [-0.01508564 -0.00702736  0.99986114]]

 t_gt:
[ 0.59830103 -0.79722518  0.08042321]

Pose Error in degrees for R and t:
146.6157481034376 60.596216362198845

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.36235248  0.93174845  0.02335585]
 [ 0.93174876  0.36275268 -0.01596048]
 [-0.02334355  0.01597846 -0.9995998 ]]

 t_estimated:
[[ 0.81217588]
 [-0.58322774]
 [ 0.01468818]]

 R_gt:
[[ 0.99468596 -0.08754003 -0.0541838 ]
 [ 0.0888877   0.99577745  0.02297118]
 [ 0.05194454 -0.02766582  0.99826659]]

 t_gt:
[ 0.45221585 -0.85363597 -0.25846943]

Pose Error in degrees for R and t:
178.28501202405542 30.531889311356885

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.88591859e-01 -1.50619110e-01 -1.41003538e-04]
 [ 1.50619131e-01  9.88591854e-01  1.52319361e-04]
 [ 1.16452743e-04 -1.71819510e-04  9.99999978e-01]]

 t_estimated:
[[ 8.91729256e-01]
 [-4.52569256e-01]
 [-4.85265378e-05]]

 R_gt:
[[ 0.97904041 -0.17986382 -0.09554283]
 [ 0.1801093   0.98362774 -0.0061137 ]
 [ 0.09507813 -0.01122246  0.99540669]]

 t_gt:
[ 0.54323258 -0.75635086 -0.36446088]

Pose Error in degrees for R and t:
5.752355526037017 34.23518764029793

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 7.08076300e-01  7.06135916e-01 -1.48728028e-04]
 [-7.06134334e-01  7.08074234e-01 -2.27644270e-03]
 [-1.50216747e-03  1.71691709e-03  9.99997398e-01]]

 t_estimated:
[[0.68327592]
 [0.73015987]
 [0.00076859]]

 R_gt:
[[ 0.94488939 -0.31509744 -0.08886421]
 [ 0.31887074  0.94726902  0.03168006]
 [ 0.07419727 -0.05826993  0.99553945]]

 t_gt:
[ 0.63880432 -0.76730542 -0.05631555]

Pose Error in degrees for R and t:
63.660130090202095 82.88742320122594

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99999922e-01 -3.72399353e-04 -1.34597932e-04]
 [ 3.72408952e-04  9.99999928e-01  7.12982932e-05]
 [ 1.34571370e-04 -7.13484130e-05  9.99999988e-01]]

 t_estimated:
[[-9.99991391e-01]
 [-4.10713506e-03]
 [-5.90729583e-04]]

 R_gt:
[[ 9.82152984e-01  1.88055391e-01 -3.20730034e-03]
 [-1.88081386e-01  9.82040620e-01 -1.48735330e-02]
 [ 3.51790314e-04  1.52113816e-02  9.99884683e-01]]

 t_gt:
[-0.68341025  0.72790564 -0.05571176]

Pose Error in degrees for R and t:
10.897127013683248 47.12136436486024

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.74988209e-01  2.22256534e-01  1.56966820e-04]
 [-2.22256537e-01  9.74988221e-01  6.54670108e-07]
 [-1.52895296e-04 -3.55251974e-05  9.99999988e-01]]

 t_estimated:
[[-5.97856563e-01]
 [ 8.01602906e-01]
 [ 5.58528899e-04]]

 R_gt:
[[ 0.95359421  0.29729477  0.04768341]
 [-0.29528052  0.95435064 -0.04498636]
 [-0.05888157  0.02881842  0.99784959]]

 t_gt:
[-0.67738373  0.72797348  0.10585791]

Pose Error in degrees for R and t:
5.791182720887623 8.666145652280315

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.84493292e-01 -1.75421232e-01  5.90469366e-04]
 [ 1.75421677e-01  9.84493054e-01 -8.13000259e-04]
 [-4.38695483e-04  9.03974428e-04  9.99999495e-01]]

 t_estimated:
[[-0.69505473]
 [-0.7189562 ]
 [-0.00095606]]

 R_gt:
[[ 0.9453132   0.31615098  0.08019879]
 [-0.31368697  0.94859836 -0.04198826]
 [-0.08935176  0.01453474  0.99589444]]

 t_gt:
[-0.69316419  0.69463179  0.19238006]

Pose Error in degrees for R and t:
28.950072078308537 88.9796967768657

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[-7.22143227e-01 -6.91743553e-01 -1.29648895e-04]
 [-6.91743427e-01  7.22142952e-01  7.66468196e-04]
 [-4.36574397e-04  6.43183588e-04 -9.99999698e-01]]

 t_estimated:
[[9.71703770e-01]
 [2.36201349e-01]
 [8.40574196e-04]]

 R_gt:
[[ 0.99857427  0.05074271 -0.01659436]
 [-0.05095064  0.99862516 -0.01236254]
 [ 0.01594409  0.0131896   0.99978617]]

 t_gt:
[-0.54722921  0.71296597 -0.43842869]

Pose Error in degrees for R and t:
178.8704758484687 68.67180314284668

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.63081671e-01 -2.69208285e-01 -7.70836213e-04]
 [ 2.69208285e-01  9.63081974e-01 -1.05494507e-04]
 [ 7.70778457e-04 -1.05915669e-04  9.99999697e-01]]

 t_estimated:
[[8.09638837e-01]
 [5.86927856e-01]
 [8.04010761e-04]]

 R_gt:
[[ 0.98487625  0.17109973 -0.0272634 ]
 [-0.1715465   0.98506128 -0.01500296]
 [ 0.02428792  0.01945235  0.99951543]]

 t_gt:
[-0.58073122  0.79049214 -0.19461095]

Pose Error in degrees for R and t:
25.543110127310097 89.63461297122318

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.72543999e-01  2.32718980e-01  2.16222026e-04]
 [-2.32718999e-01  9.72544016e-01  6.48065662e-05]
 [-1.95203720e-04 -1.13346211e-04  9.99999975e-01]]

 t_estimated:
[[-7.92595911e-01]
 [-6.09746804e-01]
 [-7.46324104e-04]]

 R_gt:
[[ 9.63544826e-01  2.62023995e-01 -5.40828978e-02]
 [-2.62437904e-01  9.64948454e-01 -5.77855364e-04]
 [ 5.20358638e-02  1.47497473e-02  9.98536583e-01]]

 t_gt:
[-0.56559267  0.79889095 -0.20464162]

Pose Error in degrees for R and t:
3.574191049590986 87.78312947571582

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.94531565e-01 -1.04435933e-01 -3.19132765e-04]
 [ 1.04435968e-01  9.94531608e-01  9.60324134e-05]
 [ 3.07358388e-04 -1.28836206e-04  9.99999944e-01]]

 t_estimated:
[[-0.28541773]
 [-0.95840269]
 [-0.00100147]]

 R_gt:
[[ 0.96916275  0.2415441   0.04879456]
 [-0.24116304  0.97038781 -0.01362412]
 [-0.05064027  0.00143693  0.99871592]]

 t_gt:
[-0.73582214  0.66831436  0.1091865 ]

Pose Error in degrees for R and t:
20.180949628394977 64.49391525745443

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.99763374 -0.06873794  0.00141781]
 [-0.06873322  0.99763013  0.00314193]
 [-0.00163042  0.00303705 -0.99999406]]

 t_estimated:
[[8.32962155e-01]
 [5.53329571e-01]
 [6.59510811e-04]]

 R_gt:
[[ 9.39338987e-01  3.36423766e-01  6.68036885e-02]
 [-3.35561655e-01  9.41710813e-01 -2.40614532e-02]
 [-7.10041013e-02  1.86022126e-04  9.97476664e-01]]

 t_gt:
[-0.70770302  0.69708681  0.11500616]

Pose Error in degrees for R and t:
175.9612636716418 78.2468698792857

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.99590679 -0.09033735  0.00297212]
 [ 0.09032648 -0.99590567 -0.00360837]
 [ 0.00328592 -0.00332514  0.99998907]]

 t_estimated:
[[0.49142719]
 [0.87091819]
 [0.00091005]]

 R_gt:
[[ 0.90611969  0.41973563  0.05262292]
 [-0.41811304  0.90754405 -0.03930848]
 [-0.06425654  0.01361566  0.9978407 ]]

 t_gt:
[-0.67808112  0.73229439  0.06285634]

Pose Error in degrees for R and t:
160.394618446615 72.26600712485005

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.82116271e-01  1.88275310e-01  1.93030141e-04]
 [-1.88275347e-01  9.82116264e-01  1.93901323e-04]
 [-1.53071209e-04 -2.26776461e-04  9.99999963e-01]]

 t_estimated:
[[0.47855642]
 [0.87805617]
 [0.00105409]]

 R_gt:
[[ 0.98997944 -0.13870526 -0.0265024 ]
 [ 0.13956385  0.98963145  0.03392571]
 [ 0.02152148 -0.03728403  0.99907256]]

 t_gt:
[ 0.74295135 -0.66499051  0.07622932]

Pose Error in degrees for R and t:
19.012416677998424 76.80449265455822

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 0.84884336 -0.52856538  0.009143  ]
 [-0.5285715  -0.84888659 -0.00193131]
 [ 0.00878219 -0.00319335 -0.99995634]]

 t_estimated:
[[0.46768613]
 [0.88389393]
 [0.00109528]]

 R_gt:
[[ 0.97797851 -0.20794909 -0.01780486]
 [ 0.20751169  0.97794786 -0.02362226]
 [ 0.02232346  0.0194078   0.99956176]]

 t_gt:
[ 0.7764336  -0.62614471 -0.07136997]

Pose Error in degrees for R and t:
178.4706299058559 79.02407819041214

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-2.39409829e-01 -9.70918270e-01 -8.03815292e-04]
 [ 9.70912274e-01 -2.39411176e-01  3.41242828e-03]
 [-3.50563133e-03  3.65347369e-05  9.99993855e-01]]

 t_estimated:
[[0.99933835]
 [0.03633958]
 [0.00151415]]

 R_gt:
[[ 0.96501973 -0.2582711  -0.04510944]
 [ 0.2507487   0.95943027 -0.12891134]
 [ 0.07657384  0.11309107  0.99062968]]

 t_gt:
[ 0.7863973  -0.5151     -0.34095642]

Pose Error in degrees for R and t:
89.32855740527137 39.94668800181738

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.08209455  0.99662063 -0.00279528]
 [-0.99661973  0.08208512 -0.00333745]
 [-0.00309672  0.00305982  0.99999052]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 9.97460684e-01  7.11627003e-02 -2.68993919e-03]
 [-7.12073766e-02  9.96156575e-01 -5.09977204e-02]
 [-9.48773018e-04  5.10593611e-02  9.98694964e-01]]

 t_gt:
[-0.52257902  0.72037882 -0.45603237]

Pose Error in degrees for R and t:
81.24071803069245 44.177971761638105

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99789798e-01 -2.05023494e-02 -1.19370523e-04]
 [ 2.05023539e-02  9.99789804e-01  3.67520274e-05]
 [ 1.18591929e-04 -3.91916788e-05  9.99999992e-01]]

 t_estimated:
[[-9.87636351e-01]
 [-1.56762115e-01]
 [-2.77682950e-04]]

 R_gt:
[[ 0.98921068  0.14552442 -0.01688903]
 [-0.14613113  0.98832688 -0.04308679]
 [ 0.01042293  0.04509006  0.99892896]]

 t_gt:
[-0.56637024  0.77575468 -0.27826143]

Pose Error in degrees for R and t:
9.924555800483231 64.03409873953598

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.93871780e-01 -1.10539054e-01 -4.95322719e-05]
 [ 1.10539052e-01  9.93871781e-01 -3.31063575e-05]
 [ 5.28882727e-05  2.74282241e-05  9.99999998e-01]]

 t_estimated:
[[-8.86955301e-01]
 [-4.61854754e-01]
 [-6.93475606e-04]]

 R_gt:
[[ 0.96267146  0.26801143 -0.03785776]
 [-0.26977315  0.96143346 -0.05355525]
 [ 0.02204441  0.06176866  0.99784723]]

 t_gt:
[-0.5373221   0.81268879 -0.2254371 ]

Pose Error in degrees for R and t:
22.27721229455293 84.180617807096

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.79958865e-01  1.99199543e-01 -4.05403449e-04]
 [-1.99199689e-01  9.79958854e-01 -3.59272000e-04]
 [ 3.25711881e-04  4.32828022e-04  9.99999853e-01]]

 t_estimated:
[[-0.99293668]
 [-0.11862518]
 [-0.00219676]]

 R_gt:
[[ 0.99550274  0.09405548  0.01128019]
 [-0.0939688   0.99554333 -0.00798801]
 [-0.01198168  0.00689209  0.99990484]]

 t_gt:
[-0.81072075  0.58525055  0.01461663]

Pose Error in degrees for R and t:
6.14732585690232 42.647404630928975

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.62410582  0.78133839  0.00150086]
 [ 0.78128991 -0.62408651  0.01010461]
 [ 0.00883179 -0.00513374 -0.99994782]]

 t_estimated:
[[0.74863222]
 [0.66298362]
 [0.00158609]]

 R_gt:
[[ 0.97430705  0.22422274  0.02119742]
 [-0.22411804  0.9745355  -0.00723503]
 [-0.02228049  0.00229925  0.99974987]]

 t_gt:
[-0.76230233  0.64508227  0.05257393]

Pose Error in degrees for R and t:
179.73536361209287 81.78305083940064

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.96913738e-01 -7.85033803e-02 -4.66337064e-04]
 [ 7.85034596e-02  9.96913829e-01  1.54141263e-04]
 [ 4.52797258e-04 -1.90274615e-04  9.99999879e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.91446412  0.40452967  0.01049851]
 [-0.40401288  0.91415451 -0.03309616]
 [-0.02298663  0.02602393  0.99939795]]

 t_gt:
[-0.66733825  0.74454322 -0.01774963]

Pose Error in degrees for R and t:
28.42546198066278 57.35873913809296

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99728492e-01  2.33010823e-02 -5.13954070e-05]
 [-2.33010736e-02  9.99728480e-01  1.64410907e-04]
 [ 5.52124042e-05 -1.63168700e-04  9.99999985e-01]]

 t_estimated:
[[0.39995209]
 [0.9165354 ]
 [0.00108906]]

 R_gt:
[[ 0.99623935 -0.08511294 -0.01620639]
 [ 0.08527778  0.99631021  0.00971024]
 [ 0.01531891 -0.0110562   0.99982163]]

 t_gt:
[ 0.50828473 -0.85733284 -0.08140663]

Pose Error in degrees for R and t:
6.3148514716084945 54.368140418862815

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.21997629 -0.975499    0.00348398]
 [ 0.97548964 -0.21995119  0.00643632]
 [-0.00551231  0.00481443  0.99997322]]

 t_estimated:
[[9.11391615e-01]
 [4.11539237e-01]
 [8.83131410e-04]]

 R_gt:
[[ 0.96826869 -0.24977156  0.00831746]
 [ 0.24944317  0.96795954  0.02887353]
 [-0.01526355 -0.02588314  0.99954904]]

 t_gt:
[ 0.59121557 -0.79530559  0.13398945]

Pose Error in degrees for R and t:
88.25857791485656 77.78106569199433

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.82472161e-01  1.86409360e-01 -5.37365939e-05]
 [-1.86409355e-01  9.82472161e-01  7.37829334e-05]
 [ 6.65485369e-05 -6.24726742e-05  9.99999996e-01]]

 t_estimated:
[[0.2887194 ]
 [0.95741326]
 [0.00098134]]

 R_gt:
[[ 0.94573431 -0.32444664 -0.01790732]
 [ 0.32491595  0.94490616  0.03978325]
 [ 0.00401247 -0.0434432   0.99904844]]

 t_gt:
[ 0.62327688 -0.77829033  0.0760926 ]

Pose Error in degrees for R and t:
29.801224151417763 55.5894666974739

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 8.34655743e-01 -5.50771883e-01 -3.51413202e-04]
 [ 5.50771812e-01  8.34655816e-01 -2.83436306e-04]
 [ 4.49417821e-04  4.30232550e-05  9.99999898e-01]]

 t_estimated:
[[-0.12253992]
 [-0.99246297]
 [-0.00110396]]

 R_gt:
[[ 0.98949593  0.14446594 -0.00535772]
 [-0.14427124  0.98916533  0.02718405]
 [ 0.00922658 -0.02612525  0.99961557]]

 t_gt:
[-0.70768289  0.70129351  0.08586238]

Pose Error in degrees for R and t:
41.7512622664886 52.4550807022115

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-9.67539784e-01  2.52546083e-01 -9.34040429e-03]
 [ 2.52540750e-01  9.67584649e-01  1.76546024e-03]
 [ 9.48349187e-03 -6.50679687e-04 -9.99954819e-01]]

 t_estimated:
[[ 0.98560154]
 [-0.16902403]
 [-0.00452573]]

 R_gt:
[[ 0.9502359   0.31080652 -0.02126677]
 [-0.31082103  0.95046451  0.00274337]
 [ 0.021065    0.00400392  0.99977009]]

 t_gt:
[-0.61122416  0.78891646 -0.06337064]

Pose Error in degrees for R and t:
178.2455566139724 42.651995935615574

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 8.65173674e-01 -5.01472021e-01 -5.70774702e-04]
 [ 5.01472195e-01  8.65173735e-01  2.11394357e-04]
 [ 3.87810926e-04 -4.69120475e-04  9.99999815e-01]]

 t_estimated:
[[-0.63949368]
 [-0.7687957 ]
 [-0.00100234]]

 R_gt:
[[ 0.89158791  0.45151026  0.03479587]
 [-0.45125529  0.8922636  -0.01533862]
 [-0.0379731  -0.00202556  0.99927606]]

 t_gt:
[-0.58609094  0.80624462  0.08041777]

Pose Error in degrees for R and t:
56.97982382153241 75.81127880882548

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.84367965e-01  1.76117142e-01  1.56922272e-03]
 [-1.76117359e-01  9.84369177e-01  2.11701688e-07]
 [-1.54465719e-03 -2.76575753e-04  9.99998769e-01]]

 t_estimated:
[[-0.87214835]
 [ 0.48922082]
 [ 0.00449857]]

 R_gt:
[[ 9.98443685e-01  5.57486467e-02  9.12714036e-04]
 [-5.57537197e-02  9.98395002e-01  9.91540636e-03]
 [-3.58826422e-04 -9.95144422e-03  9.99950257e-01]]

 t_gt:
[-0.1073203   0.99065418  0.08418226]

Pose Error in degrees for R and t:
6.970743831444933 54.64599895950822

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99997680e-01 -2.15393107e-03 -3.71009944e-05]
 [ 2.15393528e-03  9.99997674e-01  1.13701155e-04]
 [ 3.68560036e-05 -1.13780804e-04  9.99999993e-01]]

 t_estimated:
[[-0.92485425]
 [-0.38031973]
 [-0.00123117]]

 R_gt:
[[ 0.99731492  0.07036164  0.02027613]
 [-0.07039643  0.99751824  0.00100098]
 [-0.0201546  -0.00242567  0.99979306]]

 t_gt:
[0.15647553 0.95527069 0.25094484]

Pose Error in degrees for R and t:
4.3201922960626975 59.44705750145117

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 5.13391782e-01  8.58143268e-01  4.36006839e-03]
 [ 8.58154296e-01 -5.13386819e-01 -2.27547323e-03]
 [ 2.85719610e-04  4.90982068e-03 -9.99987906e-01]]

 t_estimated:
[[-0.84949297]
 [ 0.52758493]
 [-0.00397968]]

 R_gt:
[[ 0.99794991  0.05915215  0.02441729]
 [-0.05863744  0.99805228 -0.0212861 ]
 [-0.02562825  0.01980955  0.99947499]]

 t_gt:
[0.58440642 0.80604669 0.09358349]

Pose Error in degrees for R and t:
178.03558536591387 85.89620581289992

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 0.38774439  0.92175662  0.00436157]
 [-0.92175161  0.38770631  0.00760236]
 [ 0.00531652 -0.00696806  0.99996159]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99907934 -0.0134744  -0.04072229]
 [ 0.01376191  0.99988257  0.00678423]
 [ 0.04062664 -0.00733851  0.99914772]]

 t_gt:
[-0.15413575 -0.69334028 -0.70393283]

Pose Error in degrees for R and t:
68.00061014518239 45.54569847876819

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[ 9.32360646e-01  3.61529211e-01  5.04880778e-04]
 [-3.61528935e-01  9.32360720e-01 -5.62174850e-04]
 [-6.73973636e-04  3.41620696e-04  9.99999715e-01]]

 t_estimated:
[[0.12067776]
 [0.99269036]
 [0.00165123]]

 R_gt:
[[ 0.99760608 -0.01805135 -0.06674928]
 [ 0.01947456  0.99959493  0.02073282]
 [ 0.06634808 -0.0219829   0.99755428]]

 t_gt:
[-0.29165428 -0.76992391 -0.56758696]

Pose Error in degrees for R and t:
22.631217147663023 36.828869282126135

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 6.87898219e-01 -7.25806806e-01 -7.21599387e-04]
 [ 7.25806882e-01  6.87898489e-01 -1.99580641e-04]
 [ 6.41244115e-04 -3.86450634e-04  9.99999720e-01]]

 t_estimated:
[[-0.09026435]
 [-0.9959167 ]
 [-0.00150441]]

 R_gt:
[[ 0.99261005 -0.08245981 -0.08902158]
 [ 0.0843179   0.99628806  0.01730581]
 [ 0.08726504 -0.02468357  0.99587967]]

 t_gt:
[ 0.05006904 -0.88777807 -0.45754036]

Pose Error in degrees for R and t:
42.04604044611205 28.31878266994747

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.30732128  0.95113728  0.02985804]
 [ 0.95113087  0.30800786 -0.02193708]
 [-0.03006169  0.02165717 -0.9993134 ]]

 t_estimated:
[[ 0.76710559]
 [-0.64125548]
 [ 0.01845076]]

 R_gt:
[[ 0.99695556 -0.04477023  0.06385023]
 [ 0.04893371  0.99667063 -0.06521533]
 [-0.06071802  0.06814109  0.99582583]]

 t_gt:
[ 0.93642443 -0.31371255 -0.15714238]

Pose Error in degrees for R and t:
172.73585578131417 23.565030329844017

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.86743115e-01  1.62289897e-01  1.21418255e-04]
 [-1.62289927e-01  9.86743070e-01  3.05124950e-04]
 [-7.02899254e-05 -3.20784903e-04  9.99999946e-01]]

 t_estimated:
[[0.62338261]
 [0.78191517]
 [0.00167076]]

 R_gt:
[[ 0.98967819 -0.13774559  0.03955396]
 [ 0.13929498  0.98946189 -0.03953072]
 [-0.03369174  0.04463366  0.99843512]]

 t_gt:
[ 0.86548209 -0.49757353 -0.05797704]

Pose Error in degrees for R and t:
17.60223205519285 81.35166930481697

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999700e-01  5.63662005e-04  5.30488003e-04]
 [-5.63192353e-04  9.99999450e-01 -8.85054609e-04]
 [-5.30986582e-04  8.84755577e-04  9.99999468e-01]]

 t_estimated:
[[-0.45829703]
 [-0.8887944 ]
 [-0.00288904]]

 R_gt:
[[ 9.83022119e-01 -1.83491247e-01 -2.67638654e-04]
 [ 1.83265890e-01  9.81887950e-01 -4.80507172e-02]
 [ 9.07975518e-03  4.71871470e-02  9.98844987e-01]]

 t_gt:
[ 0.87964094 -0.44561464 -0.16631116]

Pose Error in degrees for R and t:
10.94400824765438 89.62204276984288

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 7.83203123e-02  9.96928037e-01 -6.45740910e-04]
 [ 9.96896767e-01 -7.83126754e-02  7.99755453e-03]
 [ 7.92241664e-03 -1.27010799e-03 -9.99967811e-01]]

 t_estimated:
[[-0.05491632]
 [-0.99847848]
 [-0.00499239]]

 R_gt:
[[ 0.9677331  -0.17813464  0.17821363]
 [ 0.17059126  0.98369675  0.056917  ]
 [-0.18544611 -0.02467924  0.9823446 ]]

 t_gt:
[ 0.50879123 -0.60195384  0.61545353]

Pose Error in degrees for R and t:
174.93131512400024 55.248070565903646

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.99997915e-01 -3.66038579e-04  2.00891885e-03]
 [ 3.71092708e-04  9.99996766e-01 -2.51604950e-03]
 [-2.00799138e-03  2.51678975e-03  9.99994817e-01]]

 t_estimated:
[[ 0.47830665]
 [-0.87819159]
 [-0.00150615]]

 R_gt:
[[ 0.92480819 -0.30857876  0.22250457]
 [ 0.29646196  0.95109135  0.08681655]
 [-0.23841169 -0.01432437  0.97105824]]

 t_gt:
[ 0.64196535 -0.61828042  0.45344219]

Pose Error in degrees for R and t:
22.49379495855358 31.859825281771748

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-0.40946749 -0.91232376 -0.00131394]
 [ 0.91231372 -0.40945507 -0.00549735]
 [ 0.00447736 -0.00344971  0.99998403]]

 t_estimated:
[[9.94364342e-01]
 [1.06013942e-01]
 [7.73824391e-04]]

 R_gt:
[[ 0.86091836 -0.45460102  0.22837632]
 [ 0.4387372   0.89069216  0.11906865]
 [-0.25754244 -0.00231207  0.96626378]]

 t_gt:
[ 0.75199778 -0.56855319  0.33353652]

Pose Error in degrees for R and t:
88.22522697174333 46.548263348063

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999999e-01  1.84406373e-05  5.13382549e-05]
 [-1.84410241e-05  1.00000000e+00  7.53383806e-06]
 [-5.13381160e-05 -7.53478478e-06  9.99999999e-01]]

 t_estimated:
[[-0.01414382]
 [-0.99989908]
 [-0.00133642]]

 R_gt:
[[ 0.99373993 -0.11148251 -0.00727743]
 [ 0.11165463  0.99328036  0.03046026]
 [ 0.00383348 -0.03108157  0.99950884]]

 t_gt:
[ 0.68222876 -0.71049831  0.17249949]

Pose Error in degrees for R and t:
6.654763013086828 45.529114083280426

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.36656927e-01 -3.50243765e-01 -1.76248414e-03]
 [ 3.50245438e-01 -9.36657665e-01 -7.42183639e-04]
 [-1.39089908e-03 -1.31247347e-03  9.99998171e-01]]

 t_estimated:
[[9.93902231e-01]
 [1.10262234e-01]
 [7.71064570e-04]]

 R_gt:
[[ 0.98242441 -0.18003065  0.04931841]
 [ 0.17914125  0.98357968  0.02192812]
 [-0.05245582 -0.0127072   0.99854168]]

 t_gt:
[ 0.57678495 -0.75160262  0.32001974]

Pose Error in degrees for R and t:
149.15683308439225 60.61726429130407

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999913e-01  3.93508202e-04  1.38268947e-04]
 [-3.93529256e-04  9.99999911e-01  1.52277118e-04]
 [-1.38209013e-04 -1.52331518e-04  9.99999979e-01]]

 t_estimated:
[[8.74054271e-01]
 [4.85827901e-01]
 [6.17813071e-04]]

 R_gt:
[[ 0.96140864 -0.27122094  0.04618269]
 [ 0.26942156  0.96212123  0.04165417]
 [-0.05573024 -0.02760325  0.99806357]]

 t_gt:
[ 0.62712694 -0.72781323  0.27748819]

Pose Error in degrees for R and t:
16.115816409331945 78.77149013878145

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.97367460e-01  7.25131029e-02 -9.82781065e-06]
 [-7.25131035e-02  9.97367454e-01 -1.07517354e-04]
 [ 2.00552153e-06  1.07946955e-04  9.99999994e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.9980507  -0.01670293  0.06014668]
 [ 0.01768759  0.99971827 -0.01587582]
 [-0.059865    0.01690885  0.99806356]]

 t_gt:
[-0.61537001 -0.67704677 -0.4036427 ]

Pose Error in degrees for R and t:
6.257968882306683 26.06173331685978

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.30803400e-01 -3.65520212e-01 -7.98650513e-05]
 [ 3.65520219e-01  9.30803356e-01  2.87845308e-04]
 [-3.08746202e-05 -2.97119683e-04  9.99999955e-01]]

 t_estimated:
[[ 3.18333810e-01]
 [-9.47978629e-01]
 [ 3.24088980e-04]]

 R_gt:
[[ 0.99673129  0.05363271  0.06042197]
 [-0.05128578  0.99789289 -0.03973898]
 [-0.06242522  0.03651018  0.99738228]]

 t_gt:
[-0.88770832  0.38186648 -0.25720019]

Pose Error in degrees for R and t:
24.796229991443333 49.858898592443076

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.90605570e-01  1.36747698e-01  8.19390190e-04]
 [-1.36747051e-01  9.90605675e-01 -8.00191466e-04]
 [-9.21116913e-04  6.80624931e-04  9.99999344e-01]]

 t_estimated:
[[0.13138115]
 [0.99133046]
 [0.00170625]]

 R_gt:
[[ 0.99207562  0.09262911  0.08488984]
 [-0.08652842  0.99357641 -0.07292903]
 [-0.09109914  0.06500623  0.99371853]]

 t_gt:
[-0.85855728  0.40567049 -0.3135456 ]

Pose Error in degrees for R and t:
6.910328413611078 73.21265850562689

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.82623733e-01 -1.85607692e-01  6.19795555e-04]
 [-1.85606835e-01 -9.82593170e-01  7.79513622e-03]
 [-8.37830359e-04 -7.77472414e-03 -9.99969425e-01]]

 t_estimated:
[[-0.0316996 ]
 [ 0.99948023]
 [ 0.00586593]]

 R_gt:
[[ 0.9878671   0.1508954  -0.03672785]
 [-0.15253458  0.98718572 -0.04687593]
 [ 0.0291838   0.05191011  0.9982257 ]]

 t_gt:
[-0.54082077  0.75524718 -0.37028987]

Pose Error in degrees for R and t:
177.44228862868653 39.66170379733922

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.16803885e-01 -3.99337728e-01  1.26080245e-04]
 [ 3.99337739e-01  9.16803886e-01 -7.51116321e-05]
 [-8.55959502e-05  1.19211236e-04  9.99999989e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98019781  0.19031433 -0.05470728]
 [-0.19355787  0.97914264 -0.06177437]
 [ 0.04180885  0.07113947  0.99659023]]

 t_gt:
[-0.50122554  0.76088054 -0.41210893]

Pose Error in degrees for R and t:
34.93376417134232 40.77230011872133

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 8.33263244e-01 -5.52875273e-01  1.13945216e-03]
 [ 5.52875471e-01  8.33263876e-01  1.61834947e-04]
 [-1.03893886e-03  4.95124035e-04  9.99999338e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.95310041  0.29427125 -0.0707444 ]
 [-0.29834593  0.95280747 -0.05610818]
 [ 0.05089472  0.07458292  0.99591586]]

 t_gt:
[-0.50129637  0.81245419 -0.29769134]

Pose Error in degrees for R and t:
51.08661497134863 35.950170253938865

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[ 9.89487445e-01 -1.44618706e-01 -1.60609847e-04]
 [ 1.44618752e-01  9.89487398e-01  3.25403673e-04]
 [ 1.11861962e-04 -3.45210045e-04  9.99999934e-01]]

 t_estimated:
[[9.34731924e-01]
 [3.55352632e-01]
 [8.58339692e-04]]

 R_gt:
[[ 0.99343094 -0.09453916  0.06448207]
 [ 0.09605355  0.99515954 -0.02079398]
 [-0.06220401  0.0268509   0.99770251]]

 t_gt:
[ 0.40308917 -0.83490058  0.37478012]

Pose Error in degrees for R and t:
4.823254307257405 85.38741399360111

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-7.71023972e-01 -6.36805817e-01 -6.21951027e-04]
 [-6.36800136e-01  7.71012123e-01  5.08857642e-03]
 [-2.76090328e-03  4.31947290e-03 -9.99986860e-01]]

 t_estimated:
[[0.97062393]
 [0.24059608]
 [0.00164792]]

 R_gt:
[[ 0.97393578 -0.22242247  0.04446543]
 [ 0.2211426   0.97471843  0.03194071]
 [-0.05044595 -0.02127456  0.99850068]]

 t_gt:
[ 0.60777151 -0.74159252  0.28399705]

Pose Error in degrees for R and t:
176.80801618222918 65.67189859517372

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[-7.74504204e-01  6.32566992e-01  1.49595023e-03]
 [-6.32568621e-01 -7.74500295e-01 -2.49643581e-03]
 [-4.20548997e-04 -2.87979121e-03  9.99995765e-01]]

 t_estimated:
[[7.72150428e-01]
 [6.35439323e-01]
 [7.63749187e-04]]

 R_gt:
[[ 0.94923667 -0.31164096  0.04276051]
 [ 0.31072     0.95012068  0.02690027]
 [-0.04901086 -0.01224822  0.99872353]]

 t_gt:
[ 0.66345011 -0.72125636  0.19905581]

Pose Error in degrees for R and t:
158.90501190466406 86.89759872952538

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.97029242e-01 -7.70237686e-02 -1.75095090e-04]
 [ 7.70237781e-02  9.97029255e-01  4.83708016e-05]
 [ 1.70849225e-04 -6.17135890e-05  9.99999984e-01]]

 t_estimated:
[[-9.62282815e-01]
 [-2.72049883e-01]
 [-8.03026170e-04]]

 R_gt:
[[ 0.98227796  0.18667397  0.01680464]
 [-0.18677514  0.98239187  0.00461663]
 [-0.01564728 -0.00767326  0.99984836]]

 t_gt:
[-0.76130411  0.64357758  0.07889201]

Pose Error in degrees for R and t:
15.213187265775963 56.120968799019685

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99641148e-01  2.67864994e-02 -2.44006939e-04]
 [-2.67864817e-02  9.99641175e-01  7.55410179e-05]
 [ 2.45942863e-04 -6.89778224e-05  9.99999967e-01]]

 t_estimated:
[[-9.99287283e-01]
 [-3.77369347e-02]
 [-9.21548677e-04]]

 R_gt:
[[ 0.94970407  0.31235201  0.02229974]
 [-0.31202314  0.94992142 -0.01703435]
 [-0.02650423  0.00921994  0.99960625]]

 t_gt:
[-0.68816527  0.72513485  0.02465788]

Pose Error in degrees for R and t:
16.7382402354433 48.67818121959432

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.78510471 -0.61935548 -0.00306285]
 [ 0.6192361  -0.78483406 -0.02412761]
 [ 0.01253974 -0.02083933  0.99970419]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.94726143  0.31778536  0.04132595]
 [-0.3181195   0.94804857  0.0016303 ]
 [-0.03866179 -0.01469082  0.99914372]]

 t_gt:
[-0.68049914  0.72577306  0.10086819]

Pose Error in degrees for R and t:
160.31094156066575 47.29942684691688

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-8.38649727e-01 -5.44667108e-01  2.09209158e-03]
 [-5.44664822e-01  8.38652314e-01  1.58978446e-03]
 [-2.62044075e-03  1.93783619e-04 -9.99996548e-01]]

 t_estimated:
[[0.9598503 ]
 [0.2805042 ]
 [0.00219144]]

 R_gt:
[[ 0.99917993 -0.02623793  0.03082903]
 [ 0.02611081  0.99964845  0.00454477]
 [-0.03093753 -0.00373556  0.99951372]]

 t_gt:
[ 0.41534649 -0.71078389  0.56769143]

Pose Error in degrees for R and t:
178.0939272535877 78.43165741372101

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-7.04999663e-01 -7.09205828e-01 -1.60261302e-03]
 [ 7.09207071e-01 -7.05000159e-01 -3.27147977e-04]
 [-8.97827184e-04 -1.36722370e-03  9.99998662e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99817324  0.00421208  0.0602568 ]
 [-0.00377565  0.99996565 -0.00735625]
 [-0.06028585  0.00711631  0.99815607]]

 t_gt:
[-0.97811102  0.03477066  0.20515807]

Pose Error in degrees for R and t:
135.08247178602392 12.08470140070907

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.95625679e-01  9.34317694e-02 -1.04330314e-04]
 [-9.34317715e-02  9.95625685e-01 -1.52183169e-05]
 [ 1.02452066e-04  2.48995131e-05  9.99999994e-01]]

 t_estimated:
[[-9.15261654e-01]
 [-4.02859263e-01]
 [-7.20678467e-04]]

 R_gt:
[[ 0.99535357  0.05788583  0.07694263]
 [-0.05494195  0.99769307 -0.03985366]
 [-0.07907224  0.03544202  0.99623839]]

 t_gt:
[-0.92305167  0.34012141 -0.17970266]

Pose Error in degrees for R and t:
5.409142323201974 44.93226358266375

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.95775873  0.28693988  0.01907146]
 [ 0.28693717  0.9579449  -0.00293677]
 [-0.01911208  0.00265959 -0.99981381]]

 t_estimated:
[[ 0.99064047]
 [-0.13611456]
 [ 0.01021217]]

 R_gt:
[[ 0.97760561 -0.2100292   0.01325526]
 [ 0.20977615  0.97757902  0.01823429]
 [-0.01678692 -0.01504542  0.99974615]]

 t_gt:
[ 0.73183679 -0.67205615  0.11294   ]

Pose Error in degrees for R and t:
178.18498243684675 35.153034356911846

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 6.04595303e-01 -7.96532596e-01  5.85926446e-04]
 [ 7.96532811e-01  6.04595119e-01 -4.71764312e-04]
 [ 2.15273826e-05  7.51936126e-04  9.99999717e-01]]

 t_estimated:
[[-0.00759197]
 [-0.99997059]
 [-0.00108457]]

 R_gt:
[[ 0.94036561 -0.3348432   0.05995301]
 [ 0.33478164  0.94222665  0.01136352]
 [-0.06029338  0.00938511  0.99813622]]

 t_gt:
[ 0.75327509 -0.64221005  0.14192564]

Pose Error in degrees for R and t:
33.39687298365969 50.482163819731284

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.39225235  0.91985628  0.00158692]
 [-0.91984299  0.39223577  0.00632204]
 [ 0.00519292 -0.00393955  0.99997876]]

 t_estimated:
[[-0.91338336]
 [ 0.40681034]
 [-0.01536848]]

 R_gt:
[[ 0.89634722 -0.4366208   0.07696997]
 [ 0.43916941  0.89820038 -0.01915547]
 [-0.06077019  0.05097324  0.99684902]]

 t_gt:
[ 0.78131022 -0.62148711  0.05751625]

Pose Error in degrees for R and t:
93.02037542253657 14.6820806044601

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 1.00000000e+00 -6.23945340e-14  6.36507990e-15]
 [ 6.23390228e-14  1.00000000e+00 -2.75905058e-15]
 [-6.45970365e-15  2.75224721e-15  1.00000000e+00]]

 t_estimated:
[[ 5.07175453e-01]
 [-8.61842790e-01]
 [-2.55557342e-04]]

 R_gt:
[[ 0.9864578  -0.14897205  0.06861213]
 [ 0.14794924  0.98879701  0.01979268]
 [-0.07079241 -0.00937426  0.99744666]]

 t_gt:
[ 0.62956302 -0.73108668  0.26298795]

Pose Error in degrees for R and t:
9.477362955303093 18.32042396092639

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 1.00000000e+00 -5.32907052e-14  7.64319164e-15]
 [ 5.33462163e-14  1.00000000e+00  2.01292975e-15]
 [-7.65641890e-15 -2.01249607e-15  1.00000000e+00]]

 t_estimated:
[[-0.57968191]
 [-0.81484183]
 [-0.00129061]]

 R_gt:
[[ 0.95111223 -0.28547619  0.11784806]
 [ 0.28167939  0.95830453  0.04806242]
 [-0.12665433 -0.0125177   0.99186718]]

 t_gt:
[ 0.70135757 -0.65718551  0.2760521 ]

Pose Error in degrees for R and t:
18.07670410177944 82.61236009802032

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 8.74885024e-01 -4.83628728e-01  2.60662358e-02]
 [-4.83783914e-01 -8.75187387e-01 -4.01349235e-04]
 [ 2.30069449e-02 -1.22592912e-02 -9.99660137e-01]]

 t_estimated:
[[0.0118475 ]
 [0.99992911]
 [0.00118475]]

 R_gt:
[[ 0.90167358 -0.42446727  0.0825334 ]
 [ 0.41684672  0.90398417  0.09513732]
 [-0.11499115 -0.05137931  0.99203619]]

 t_gt:
[ 0.78198283 -0.58454729  0.21634999]

Pose Error in degrees for R and t:
174.34763984361683 54.90141925947735

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999957e-01  2.29904899e-04  1.84417956e-04]
 [-2.29910678e-04  9.99999973e-01  3.13177457e-05]
 [-1.84410751e-04 -3.13601440e-05  9.99999983e-01]]

 t_estimated:
[[0.9136381 ]
 [0.40652723]
 [0.00102256]]

 R_gt:
[[ 0.99257644 -0.11748332 -0.03147333]
 [ 0.11790212  0.99295598  0.01177954]
 [ 0.02986774 -0.01540246  0.99943505]]

 t_gt:
[ 0.8097885  -0.58369555 -0.05951543]

Pose Error in degrees for R and t:
7.044403187614406 59.83415606635391

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.90829669e-01 -1.35116495e-01  3.15066963e-04]
 [ 1.35116500e-01  9.90829719e-01  3.61843934e-06]
 [-3.12666622e-04  3.89854883e-05  9.99999950e-01]]

 t_estimated:
[[-0.48705374]
 [-0.87337146]
 [-0.00097802]]

 R_gt:
[[ 9.86702638e-01 -1.42393767e-01 -7.83765702e-02]
 [ 1.42850953e-01  9.89744431e-01  2.37320956e-04]
 [ 7.75392805e-02 -1.14289415e-02  9.96922925e-01]]

 t_gt:
[ 0.84876812 -0.48534562 -0.20983876]

Pose Error in degrees for R and t:
4.535447704564289 89.38712116635963

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 7.46275382e-01  6.65636097e-01  1.28113988e-03]
 [-6.65635887e-01  7.46276389e-01 -6.45862796e-04]
 [-1.38599403e-03 -3.70781174e-04  9.99998971e-01]]

 t_estimated:
[[0.68272909]
 [0.73067106]
 [0.00088781]]

 R_gt:
[[ 0.98609927 -0.09841085 -0.13387768]
 [ 0.10156414  0.99468582  0.01691528]
 [ 0.13150129 -0.03027659  0.99085345]]

 t_gt:
[ 0.8779975  -0.32510797 -0.35131921]

Pose Error in degrees for R and t:
48.10248474118262 68.80301242996634

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.92765548e-01 -1.20068700e-01 -2.73593411e-04]
 [ 1.20068826e-01  9.92765442e-01  5.04113827e-04]
 [ 2.11085791e-04 -5.33316879e-04  9.99999836e-01]]

 t_estimated:
[[0.9985235 ]
 [0.05418345]
 [0.00387025]]

 R_gt:
[[ 0.99991055 -0.00249637 -0.01316796]
 [ 0.0023896   0.99996472 -0.00816026]
 [ 0.01318778  0.00812711  0.99987941]]

 t_gt:
[ 0.87742598 -0.24397192 -0.41303916]

Pose Error in degrees for R and t:
6.8145063865592395 30.535710639253942

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99760571e-01 -2.18767734e-02 -4.54871968e-04]
 [ 2.18773472e-02  9.99759821e-01  1.29716912e-03]
 [ 4.26384842e-04 -1.30680993e-03  9.99999055e-01]]

 t_estimated:
[[-8.57717689e-01]
 [-5.14120485e-01]
 [-7.02296396e-04]]

 R_gt:
[[ 9.99545524e-01  2.55824169e-02  1.59675410e-02]
 [-2.55747349e-02  9.99673511e-01 -6.50287502e-04]
 [-1.59793275e-02  2.41508616e-04  9.99871264e-01]]

 t_gt:
[0.93976455 0.21930971 0.26219429]

Pose Error in degrees for R and t:
2.8790785254242697 23.22135778284552

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.96654076e-01 -8.17284289e-02 -1.05670467e-03]
 [ 8.17306643e-02  9.96651842e-01  2.28113314e-03]
 [ 8.66733229e-04 -2.35986582e-03  9.99996840e-01]]

 t_estimated:
[[-0.72455787]
 [-0.68921358]
 [-0.00073634]]

 R_gt:
[[ 0.99878573  0.04924578  0.00159253]
 [-0.04921885  0.99869254 -0.01385012]
 [-0.00227302  0.01375379  0.99990189]]

 t_gt:
[ 0.84474862  0.51336341 -0.1511879 ]

Pose Error in degrees for R and t:
7.568503713372686 15.033360945130335

Number of keypoints:
Image1: 369
Image2: 369

 R_estimated:
[[ 9.99217731e-01 -3.95464883e-02  2.13443533e-05]
 [ 3.95464870e-02  9.99217730e-01  6.04148037e-05]
 [-2.37168496e-05 -5.95234489e-05  9.99999998e-01]]

 t_estimated:
[[ 5.92482202e-01]
 [-8.05583540e-01]
 [-1.91462570e-05]]

 R_gt:
[[ 0.99903573 -0.01204749 -0.04222394]
 [ 0.01395471  0.9988815   0.04519122]
 [ 0.04163296 -0.04573779  0.99808516]]

 t_gt:
[-0.25503728 -0.96162376 -0.10117176]

Pose Error in degrees for R and t:
3.8564651395271876 51.42304818855514

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 3.95362934e-02 -9.99215974e-01 -2.07822654e-03]
 [ 9.99218135e-01  3.95362600e-02  5.71707358e-05]
 [ 2.50393923e-05 -2.07886196e-03  9.99997839e-01]]

 t_estimated:
[[ 8.29143582e-01]
 [-5.59035665e-01]
 [ 2.12405243e-04]]

 R_gt:
[[ 0.99678697 -0.03668205 -0.07120085]
 [ 0.03776902  0.99918869  0.01399123]
 [ 0.07062944 -0.01663559  0.99736403]]

 t_gt:
[-0.11689812 -0.81130403 -0.57281813]

Pose Error in degrees for R and t:
85.67426539970539 69.1145413199792

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99498380e-01  3.16699922e-02 -9.80451672e-06]
 [-3.16699938e-02  9.99498325e-01 -3.30059253e-04]
 [-6.53375937e-07  3.30204198e-04  9.99999945e-01]]

 t_estimated:
[[ 0.58101324]
 [-0.81389171]
 [-0.00197489]]

 R_gt:
[[ 0.98840171 -0.12147988 -0.09113431]
 [ 0.12695174  0.9902793   0.05684129]
 [ 0.0833424  -0.06775201  0.9942154 ]]

 t_gt:
[ 0.19880142 -0.96264753 -0.18381439]

Pose Error in degrees for R and t:
10.888145431183206 25.925916436502206

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 4.21962950e-01  9.06613061e-01 -1.62467463e-04]
 [-9.06612255e-01  4.21962320e-01 -1.42117175e-03]
 [-1.21989773e-03  7.46976819e-04  9.99998977e-01]]

 t_estimated:
[[-1.06607684e-01]
 [ 9.94301034e-01]
 [ 5.05880899e-04]]

 R_gt:
[[ 0.99688481  0.01922305  0.07648792]
 [-0.0117908   0.99526708 -0.09645934]
 [-0.07798078  0.09525609  0.9923935 ]]

 t_gt:
[ 0.16340834  0.88396136 -0.43807537]

Pose Error in degrees for R and t:
64.48754332623562 30.53922475786835

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-3.77460160e-01 -9.26023721e-01 -1.97375592e-03]
 [ 9.26025803e-01 -3.77458842e-01 -1.01662262e-03]
 [ 1.96405039e-04 -2.21148345e-03  9.99997535e-01]]

 t_estimated:
[[0.98395087]
 [0.17843669]
 [0.00101964]]

 R_gt:
[[ 0.99211273  0.0026129   0.12532298]
 [ 0.01426463  0.99093448 -0.13358987]
 [-0.12453681  0.13432334  0.98308019]]

 t_gt:
[ 0.61325231  0.7360815  -0.28654079]

Pose Error in degrees for R and t:
112.18155747100691 42.738231230426834

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.96865027  0.2484218   0.00180449]
 [ 0.24842511 -0.96864919 -0.00192484]
 [ 0.00126975  0.00231278 -0.99999652]]

 t_estimated:
[[9.87731467e-01]
 [1.56160037e-01]
 [7.69261267e-04]]

 R_gt:
[[ 0.98410668  0.10082888  0.14617652]
 [-0.07842007  0.98531185 -0.15169359]
 [-0.15932475  0.13781817  0.9775591 ]]

 t_gt:
[ 0.01118181  0.99916747 -0.03923437]

Pose Error in degrees for R and t:
170.48474428824161 80.38397722007943

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999840e-01  5.50468491e-04 -1.33461129e-04]
 [-5.50496667e-04  9.99999826e-01 -2.11172060e-04]
 [ 1.33344863e-04  2.11245496e-04  9.99999969e-01]]

 t_estimated:
[[-0.58115949]
 [-0.81378802]
 [-0.00164652]]

 R_gt:
[[ 0.99663135  0.05357303  0.06209358]
 [-0.0502141   0.99725252 -0.05444976]
 [-0.0648403   0.05114777  0.99658412]]

 t_gt:
[-0.20877711  0.97146509 -0.11255091]

Pose Error in degrees for R and t:
5.57784153099308 48.006327591444986

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 1.00000000e+00  1.02279296e-14  1.46106407e-16]
 [-1.02556852e-14  1.00000000e+00 -1.52113565e-16]
 [ 2.84030476e-16  1.28803218e-16  1.00000000e+00]]

 t_estimated:
[[-6.57209678e-02]
 [-9.97837951e-01]
 [-4.21209714e-04]]

 R_gt:
[[ 0.99295637  0.06516464  0.09895235]
 [-0.05071012  0.98854572 -0.14214804]
 [-0.10708241  0.13612855  0.98488646]]

 t_gt:
[ 0.09268001  0.9197928  -0.38130254]

Pose Error in degrees for R and t:
10.519046443594808 22.52169399256686

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.73070319e-01  2.30508400e-01  1.79650167e-04]
 [-2.30508284e-01  9.73070228e-01 -5.12894341e-04]
 [-2.93038683e-04  4.57671408e-04  9.99999852e-01]]

 t_estimated:
[[ 5.57950872e-01]
 [-8.29873916e-01]
 [ 3.28322863e-04]]

 R_gt:
[[ 0.9822997   0.10190173  0.15716972]
 [-0.08024989  0.98711247 -0.13845091]
 [-0.16925204  0.1233866   0.97781874]]

 t_gt:
[0.05137647 0.99672967 0.06237332]

Pose Error in degrees for R and t:
14.489408845975316 37.01538076301868

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.99996636  0.00309339 -0.00759615]
 [-0.00305608  0.99998323  0.00491843]
 [ 0.00761124 -0.00489505  0.99995905]]

 t_estimated:
[[-0.70349022]
 [-0.71066869]
 [-0.00717847]]

 R_gt:
[[ 0.9988555  -0.04673024 -0.01022869]
 [ 0.04609763  0.99741238 -0.05516578]
 [ 0.01277916  0.05463094  0.9984247 ]]

 t_gt:
[ 0.66443757 -0.22812392 -0.71167562]

Pose Error in degrees for R and t:
4.4568926489959 72.53062056917264

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-4.40467832e-01 -8.97766196e-01 -1.98640927e-03]
 [ 8.97768393e-01 -4.40466846e-01 -9.32816847e-04]
 [-3.74959932e-05 -2.19421127e-03  9.99997592e-01]]

 t_estimated:
[[9.99991786e-01]
 [3.97453015e-03]
 [7.94906030e-04]]

 R_gt:
[[ 0.99795345 -0.05806854 -0.02679866]
 [ 0.0505033   0.97262372 -0.22683026]
 [ 0.03923657  0.22501293  0.97356542]]

 t_gt:
[ 0.38785861  0.20319192 -0.89904324]

Pose Error in degrees for R and t:
113.48974829626518 67.17309962118426

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.9897913   0.14224477  0.00892198]
 [-0.14214264  0.98978287 -0.01119518]
 [-0.01042328  0.0098127   0.99989753]]

 t_estimated:
[[-0.09735563]
 [-0.99519087]
 [-0.01081729]]

 R_gt:
[[ 0.99576717 -0.08375974 -0.03784621]
 [ 0.06721597  0.94445126 -0.32170447]
 [ 0.06268955  0.31779878  0.94608301]]

 t_gt:
[ 0.37494796  0.26887364 -0.8871984 ]

Pose Error in degrees for R and t:
22.28260996879989 72.87323388746626

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.97078067 -0.2399346   0.00403488]
 [ 0.23989429 -0.97076136 -0.00855019]
 [ 0.00596839 -0.00733241  0.99995531]]

 t_estimated:
[[7.90681783e-01]
 [6.12226977e-01]
 [6.68370062e-04]]

 R_gt:
[[ 0.99961443 -0.02140188  0.01769818]
 [ 0.02137917  0.9997706   0.0014563 ]
 [-0.01772614 -0.00107765  0.99984209]]

 t_gt:
[ 0.50453324 -0.56027826  0.65691285]

Pose Error in degrees for R and t:
164.89752716898442 86.7698532275086

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.61469185e-01  2.74911532e-01  8.09435938e-04]
 [-2.74910553e-01  9.61469126e-01 -1.14360635e-03]
 [-1.09263824e-03  8.77019789e-04  9.99999018e-01]]

 t_estimated:
[[-0.80662086]
 [-0.59106809]
 [-0.00113668]]

 R_gt:
[[ 0.99058439 -0.08924262  0.10381727]
 [ 0.07993157  0.99267142  0.09063834]
 [-0.11114601 -0.08148718  0.99045715]]

 t_gt:
[ 0.27541686 -0.48577833  0.82955709]

Pose Error in degrees for R and t:
22.269893061069073 86.3289461282161

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 3.07050859e-01 -9.51693106e-01 -3.63332345e-05]
 [-9.51692826e-01 -3.07050739e-01 -7.79476566e-04]
 [ 7.30666328e-04  2.73917028e-04 -9.99999696e-01]]

 t_estimated:
[[0.73801762]
 [0.674781  ]
 [0.00077118]]

 R_gt:
[[ 0.97571978 -0.13731854  0.17063103]
 [ 0.10389945  0.97601047  0.19133125]
 [-0.19281156 -0.16895786  0.96657952]]

 t_gt:
[ 0.26397392 -0.39413212  0.88032815]

Pose Error in degrees for R and t:
165.37590018965702 85.95978821204312

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.93548816e-01 -1.13405243e-01 -1.96997841e-05]
 [ 1.13405244e-01  9.93548806e-01  1.41170355e-04]
 [ 3.56323852e-06 -1.42493698e-04  9.99999990e-01]]

 t_estimated:
[[3.30875967e-01]
 [9.43674182e-01]
 [3.63897983e-04]]

 R_gt:
[[ 0.99891643 -0.00999796  0.04546352]
 [ 0.00642475  0.99692639  0.07807817]
 [-0.04610507 -0.07770064  0.99590989]]

 t_gt:
[-0.19012338 -0.39476778  0.8988946 ]

Pose Error in degrees for R and t:
7.953662056089293 64.20755932458985

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.88372287e-01 -1.52053352e-01  2.94485795e-05]
 [ 1.52053344e-01  9.88372272e-01  1.78123437e-04]
 [-5.61904251e-05 -1.71574514e-04  9.99999984e-01]]

 t_estimated:
[[0.65631101]
 [0.75448999]
 [0.0008429 ]]

 R_gt:
[[ 0.99846317 -0.02476231  0.04958245]
 [ 0.01889263  0.99312354  0.11554203]
 [-0.05210312 -0.11442655  0.99206412]]

 t_gt:
[-0.07270386 -0.46586028  0.8818664 ]

Pose Error in degrees for R and t:
10.394803612686758 66.51806296689166

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 8.51066646e-01 -5.25056679e-01 -1.02345384e-03]
 [ 5.25057298e-01  8.51066757e-01  4.57256296e-04]
 [ 6.30942071e-04 -9.26527491e-04  9.99999372e-01]]

 t_estimated:
[[9.70790485e-01]
 [2.39928201e-01]
 [5.41081401e-04]]

 R_gt:
[[ 0.99362098 -0.10817239  0.03189493]
 [ 0.10345836  0.98687524  0.12399138]
 [-0.04488978 -0.11990033  0.99177013]]

 t_gt:
[ 0.38265107 -0.65363454  0.6529472 ]

Pose Error in degrees for R and t:
26.58589264619653 77.58435777128025

Number of keypoints:
Image1: 492
Image2: 492

 R_estimated:
[[ 0.22691854  0.97315007 -0.03856063]
 [ 0.97317024 -0.22502069  0.04801432]
 [ 0.0380482  -0.04842139 -0.99810205]]

 t_estimated:
[[ 0.5941152 ]
 [-0.80375661]
 [-0.03166143]]

 R_gt:
[[ 0.99911529  0.03631386  0.02118965]
 [-0.03705045  0.99868349  0.03547547]
 [-0.01987307 -0.03622878  0.99914624]]

 t_gt:
[-0.70247927 -0.19957483  0.68314915]

Pose Error in degrees for R and t:
175.59413308103706 73.82491507175419

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[ 0.71782087  0.69617486 -0.00858878]
 [ 0.69615873 -0.71752118  0.02294313]
 [ 0.0098098  -0.02244821 -0.99969988]]

 t_estimated:
[[-0.42768384]
 [ 0.90385273]
 [ 0.01169526]]

 R_gt:
[[ 0.99363753  0.10930417  0.02713499]
 [-0.11021455  0.9933027   0.03465693]
 [-0.02316493 -0.03742616  0.99903137]]

 t_gt:
[-0.93030283  0.02727264  0.36577706]

Pose Error in degrees for R and t:
177.22252208139747 64.73510936501033

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 7.79283238e-01 -6.26665643e-01 -2.79408390e-03]
 [ 6.26669824e-01  7.79284344e-01  9.18030516e-04]
 [ 1.60208766e-03 -2.46637386e-03  9.99995675e-01]]

 t_estimated:
[[ 9.78777191e-01]
 [-2.04926972e-01]
 [-3.81655790e-04]]

 R_gt:
[[ 0.96985884  0.24067973  0.03803768]
 [-0.24227739  0.96915333  0.04518844]
 [-0.02598793 -0.05304119  0.99825385]]

 t_gt:
[-0.94245671  0.195708    0.27106037]

Pose Error in degrees for R and t:
52.89119768168136 15.705781851453015

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.38218511 -0.92397891 -0.0140538 ]
 [-0.92400061 -0.3818992  -0.01938752]
 [ 0.01254653  0.02039534 -0.99971327]]

 t_estimated:
[[ 0.61819194]
 [ 0.78595953]
 [-0.01031233]]

 R_gt:
[[ 0.99891572  0.04642341 -0.00337801]
 [-0.04610266  0.99678854  0.06546928]
 [ 0.00640549 -0.0652421   0.99784874]]

 t_gt:
[-0.80813295  0.02415399  0.58850465]

Pose Error in degrees for R and t:
178.41221947060853 60.8783133944196

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.87818092  0.47827196 -0.00736219]
 [-0.47816792  0.87818084  0.01240409]
 [ 0.01239786 -0.00737267  0.99989596]]

 t_estimated:
[[-0.34319273]
 [-0.93926433]
 [-0.00112892]]

 R_gt:
[[ 0.98310638  0.17860505  0.040044  ]
 [-0.18020751  0.9827826   0.04078078]
 [-0.03207048 -0.04730733  0.99836524]]

 t_gt:
[-0.88711606  0.42021931  0.19089483]

Pose Error in degrees for R and t:
18.520427949999085 84.80988715164717

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.92634625e-01  1.21143863e-01 -8.16252487e-04]
 [-1.21144129e-01  9.92634887e-01 -2.84481042e-04]
 [ 7.75777563e-04  3.81269929e-04  9.99999626e-01]]

 t_estimated:
[[-0.98510419]
 [-0.17192536]
 [-0.00337648]]

 R_gt:
[[ 0.95750893  0.28280678  0.05653543]
 [-0.28682862  0.95425722  0.08438629]
 [-0.03008523 -0.09701594  0.99482811]]

 t_gt:
[-0.8401891   0.48751563  0.23750954]

Pose Error in degrees for R and t:
11.276381652286695 42.00764293698957

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.05228378 -0.99862416  0.00402368]
 [-0.99862244  0.05230072  0.00422646]
 [-0.00443109 -0.00379716 -0.99998297]]

 t_estimated:
[[0.67469885]
 [0.73808241]
 [0.00397681]]

 R_gt:
[[ 0.99089046  0.12963175  0.03649864]
 [-0.12864563  0.99129099 -0.02815366]
 [-0.03983038  0.02320161  0.99893717]]

 t_gt:
[-0.55076179  0.82358834  0.1355127 ]

Pose Error in degrees for R and t:
179.0961356086795 76.30126915197921

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.39802954 -0.91737041  0.00200695]
 [-0.91737025  0.39802262 -0.00313289]
 [ 0.00207521 -0.0030881  -0.99999308]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98983483  0.12779403  0.06241384]
 [-0.12671683  0.9917181  -0.02092009]
 [-0.06457016  0.01279778  0.99783111]]

 t_gt:
[-0.54055406  0.77393132  0.32989638]

Pose Error in degrees for R and t:
177.47123639480702 88.30076415015013

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.98836728e-01 -4.82201898e-02 -7.09021312e-05]
 [ 4.82202168e-02  9.98836628e-01  4.48671062e-04]
 [ 4.91846419e-05 -4.51568051e-04  9.99999897e-01]]

 t_estimated:
[[0.01403241]
 [0.99989922]
 [0.00215506]]

 R_gt:
[[ 0.98905122  0.12658125  0.07586813]
 [-0.12574307  0.99193747 -0.01573382]
 [-0.07724746  0.00602162  0.99699334]]

 t_gt:
[-0.5267903   0.73335356  0.42974938]

Pose Error in degrees for R and t:
10.964368533183809 43.38006827485861

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99997986e-01 -4.02195947e-04  1.96608178e-03]
 [ 4.06958224e-04  9.99996983e-01 -2.42241738e-03]
 [-1.96510156e-03  2.42321262e-03  9.99995133e-01]]

 t_estimated:
[[0.98900418]
 [0.14788217]
 [0.0012657 ]]

 R_gt:
[[ 0.99625509 -0.01573398  0.08501355]
 [ 0.02278591  0.99632065 -0.08262426]
 [-0.08340123  0.0842511   0.99294893]]

 t_gt:
[-0.26475918  0.86598543 -0.42423084]

Pose Error in degrees for R and t:
6.718520676530284 82.28063671546305

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999296e-01  1.18640352e-03  7.32431742e-06]
 [-1.18638928e-03  9.99997838e-01 -1.70782733e-03]
 [-9.35047394e-06  1.70781744e-03  9.99998542e-01]]

 t_estimated:
[[-0.6720196 ]
 [-0.74052898]
 [-0.00254547]]

 R_gt:
[[ 0.98822111 -0.06640202  0.13787365]
 [ 0.08174689  0.99069801 -0.10879465]
 [-0.1293667   0.11878341  0.98445732]]

 t_gt:
[ 0.12659381  0.97276486 -0.1941714 ]

Pose Error in degrees for R and t:
10.949904094429888 36.39555459715128

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999272e-01  7.32345879e-04 -9.58535326e-04]
 [-7.31362991e-04  9.99999207e-01  1.02535551e-03]
 [ 9.59285481e-04 -1.02465373e-03  9.99999015e-01]]

 t_estimated:
[[-0.27361886]
 [-0.96183749]
 [-0.00116474]]

 R_gt:
[[ 0.98731717 -0.09478682  0.12735687]
 [ 0.10143242  0.99374439 -0.04672957]
 [-0.12213102  0.05905511  0.99075566]]

 t_gt:
[0.5407532  0.79717539 0.26850954]

Pose Error in degrees for R and t:
9.714181894877864 23.790552071695377

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.95518228 -0.29597415 -0.00510991]
 [-0.29599738 -0.95476761 -0.02836113]
 [ 0.00351539  0.02860257 -0.99958468]]

 t_estimated:
[[ 0.16820312]
 [ 0.98565215]
 [-0.01405555]]

 R_gt:
[[ 0.99754954  0.0103699   0.06918929]
 [-0.00490361  0.9968858  -0.07870598]
 [-0.06979015  0.07817401  0.99449471]]

 t_gt:
[-0.72251965  0.52374412 -0.45128423]

Pose Error in degrees for R and t:
174.49712953109798 66.35663310434343

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99914200e-01  1.30970108e-02 -2.48241013e-04]
 [-1.30969156e-02  9.99914159e-01  3.81331965e-04]
 [ 2.53214012e-04 -3.78048055e-04  9.99999896e-01]]

 t_estimated:
[[ 3.75789087e-02]
 [-9.99293660e-01]
 [ 8.41461613e-05]]

 R_gt:
[[ 0.98783625  0.01503748  0.15477361]
 [ 0.00453382  0.99210547 -0.12532641]
 [-0.15543616  0.12450422  0.97996938]]

 t_gt:
[-0.70854436  0.6748815  -0.20615491]

Pose Error in degrees for R and t:
11.520587469242356 45.4888157120469

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999996e-01 -8.68700312e-05  9.83536455e-07]
 [ 8.68700201e-05  9.99999996e-01  1.12743982e-05]
 [-9.84515858e-07 -1.12743127e-05  1.00000000e+00]]

 t_estimated:
[[-2.99070114e-03]
 [-9.99995502e-01]
 [-2.26633340e-04]]

 R_gt:
[[ 0.97286919 -0.01551495  0.23083623]
 [ 0.06085526  0.97977624 -0.19062154]
 [-0.22321036  0.19949725  0.9541377 ]]

 t_gt:
[-0.51222917  0.83405617 -0.20486968]

Pose Error in degrees for R and t:
17.561637442634566 33.64627086541766

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.72640189e-01 -2.32316574e-01 -2.67753109e-04]
 [ 2.32316614e-01  9.72640208e-01  1.29437724e-04]
 [ 2.30356911e-04 -1.88099828e-04  9.99999956e-01]]

 t_estimated:
[[ 4.17963255e-01]
 [-9.08463869e-01]
 [-3.40729149e-04]]

 R_gt:
[[ 0.99835252  0.05665522 -0.00907061]
 [-0.05550879  0.99372011  0.09715367]
 [ 0.01451773 -0.0964905   0.99522815]]

 t_gt:
[-0.78135124 -0.12078103  0.61229256]

Pose Error in degrees for R and t:
17.562478414571572 77.46361645643078

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 3.08505269e-01 -9.51140980e-01 -1.24633840e-02]
 [-9.51217517e-01 -3.08520104e-01 -7.62398598e-04]
 [-3.12005598e-03  1.20905932e-02 -9.99922038e-01]]

 t_estimated:
[[7.05696087e-01]
 [7.08514624e-01]
 [2.47426078e-04]]

 R_gt:
[[ 0.99032733  0.13872637 -0.00261451]
 [-0.13788356  0.98606697  0.09306742]
 [ 0.0154884  -0.09180749  0.995656  ]]

 t_gt:
[-0.9212967   0.21626869  0.32317217]

Pose Error in degrees for R and t:
176.4985144010379 60.208449566543095

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-0.37071671 -0.9287193  -0.00704188]
 [-0.92872403  0.37074943 -0.00406632]
 [ 0.00638724  0.00503252 -0.99996694]]

 t_estimated:
[[ 0.87864989]
 [ 0.47745997]
 [-0.00251892]]

 R_gt:
[[ 0.96545087  0.25349604  0.06036782]
 [-0.25891212  0.95936424  0.11218709]
 [-0.02947636 -0.12394216  0.99185137]]

 t_gt:
[-0.86692415  0.39351108  0.30592735]

Pose Error in degrees for R and t:
174.4741366121288 54.927841294333106

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99984688e-01 -5.53333503e-03 -7.53942779e-05]
 [ 5.53333673e-03  9.99984691e-01  2.23830274e-05]
 [ 7.52692708e-05 -2.27998666e-05  9.99999997e-01]]

 t_estimated:
[[-9.97595663e-01]
 [-6.92959574e-02]
 [-9.81352978e-04]]

 R_gt:
[[ 0.99889908  0.04065346  0.0234153 ]
 [-0.04039819  0.99911976 -0.01132276]
 [-0.02385508  0.01036442  0.99966167]]

 t_gt:
[-0.56377359  0.76520844  0.31083015]

Pose Error in degrees for R and t:
3.0335766385858722 59.39695187776003

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.91481534e-01 -1.30247293e-01  1.03571249e-04]
 [ 1.30247295e-01  9.91481539e-01 -1.07722573e-05]
 [-1.01285924e-04  2.41703692e-05  9.99999995e-01]]

 t_estimated:
[[0.92238801]
 [0.38626317]
 [0.00105536]]

 R_gt:
[[ 0.9983694   0.04150655  0.03917585]
 [-0.04163761  0.99913094  0.00251649]
 [-0.03903721 -0.00414363  0.99923001]]

 t_gt:
[-0.49094376  0.57241978  0.65674183]

Pose Error in degrees for R and t:
10.11845318844684 76.64152313991555

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.55315557e-01 -2.95587854e-01  8.50354940e-05]
 [ 2.95587864e-01  9.55315475e-01 -3.96989665e-04]
 [ 3.61095999e-05  4.04385863e-04  9.99999918e-01]]

 t_estimated:
[[-0.45792949]
 [-0.88898781]
 [-0.00111963]]

 R_gt:
[[ 0.99858135  0.03763611  0.03767061]
 [-0.03729727  0.99925838 -0.00967245]
 [-0.03800719  0.00825303  0.99924446]]

 t_gt:
[-0.53413992  0.62913399  0.56469901]

Pose Error in degrees for R and t:
19.46664782927093 71.61948781455159

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.18847752  0.98205538  0.00659189]
 [-0.9820705   0.18844658  0.00504144]
 [ 0.00370875 -0.0074239   0.99996556]]

 t_estimated:
[[7.89764750e-01]
 [6.13409514e-01]
 [6.38968244e-04]]

 R_gt:
[[ 0.98651966 -0.16306272 -0.01377769]
 [ 0.16351177  0.98560301  0.04302235]
 [ 0.0065641  -0.04469579  0.99897856]]

 t_gt:
[ 0.6840333  -0.7045145   0.18909725]

Pose Error in degrees for R and t:
88.55656703951517 83.78899414886305

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.01902018 -0.99981109 -0.00400244]
 [-0.99981801  0.0190141   0.00155109]
 [-0.00147469  0.00403121 -0.99999079]]

 t_estimated:
[[7.72531319e-01]
 [6.34976282e-01]
 [6.94722409e-04]]

 R_gt:
[[ 0.93489447 -0.3453968  -0.0816924 ]
 [ 0.34842762  0.93697852  0.02586452]
 [ 0.06760991 -0.05264473  0.99632152]]

 t_gt:
[ 0.81197513 -0.58360181  0.01026211]

Pose Error in degrees for R and t:
178.43702961973656 75.12506342557302

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99991395  0.0130646   0.001183  ]
 [-0.01306216  0.9999126  -0.00204077]
 [-0.00120956  0.00202514  0.99999722]]

 t_estimated:
[[ 0.36873543]
 [-0.92951585]
 [-0.00587117]]

 R_gt:
[[ 0.88586483 -0.44436817 -0.13334372]
 [ 0.45522849  0.88799574  0.06504327]
 [ 0.08950601 -0.11832226  0.98893316]]

 t_gt:
[ 0.84179659 -0.5309132   0.09751756]

Pose Error in degrees for R and t:
28.940403748209782 36.55168852008608

Number of keypoints:
Image1: 385
Image2: 385

 R_estimated:
[[ 9.69807713e-01 -2.43869046e-01  9.42357665e-04]
 [ 2.43870684e-01  9.69804480e-01 -2.52191349e-03]
 [-2.98886047e-04  2.67558456e-03  9.99996376e-01]]

 t_estimated:
[[-0.7095625 ]
 [-0.70464182]
 [-0.00098414]]

 R_gt:
[[ 0.99742327  0.07041704  0.01373085]
 [-0.07088399  0.99679365  0.03713601]
 [-0.01106988 -0.03801346  0.99921607]]

 t_gt:
[-0.86311109 -0.00306278  0.50500481]

Pose Error in degrees for R and t:
18.32488781477301 52.11399572769454

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[ 9.64509962e-01 -2.64046273e-01 -3.15134502e-04]
 [ 2.64046364e-01  9.64509943e-01  2.95803314e-04]
 [ 2.25844598e-04 -3.68515362e-04  9.99999907e-01]]

 t_estimated:
[[ 8.44643102e-01]
 [-5.35329811e-01]
 [ 1.52550940e-04]]

 R_gt:
[[ 0.99322898  0.11246883  0.0291167 ]
 [-0.1137831   0.99233189  0.04828806]
 [-0.02346108 -0.05127294  0.99840904]]

 t_gt:
[-0.89291523  0.00091092  0.45022389]

Pose Error in degrees for R and t:
22.044910224700605 41.00837695648966

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.78980587e-01 -2.03953115e-01 -3.69149137e-04]
 [ 2.03953242e-01  9.78980570e-01  3.45658502e-04]
 [ 2.90891705e-04 -4.13682127e-04  9.99999872e-01]]

 t_estimated:
[[-0.6455073 ]
 [-0.7637537 ]
 [-0.00077823]]

 R_gt:
[[ 0.97464023  0.22102487  0.03501916]
 [-0.22240994  0.97403107  0.04239587]
 [-0.02473789 -0.04910971  0.99848692]]

 t_gt:
[-0.94989128  0.17429404  0.25947669]

Pose Error in degrees for R and t:
24.78509940341398 61.32490951176857

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.70983169e-01 -2.39131693e-01 -2.77823770e-03]
 [ 2.39133119e-01  9.70986775e-01  1.88061203e-04]
 [ 2.65266067e-03 -8.46972907e-04  9.99996123e-01]]

 t_estimated:
[[8.44878374e-01]
 [5.34958036e-01]
 [6.58004964e-04]]

 R_gt:
[[ 0.99840013 -0.04127655  0.03865149]
 [ 0.03769747  0.99530416  0.08915339]
 [-0.04215    -0.08755316  0.99526779]]

 t_gt:
[ 0.06503979 -0.54163478  0.83809402]

Pose Error in degrees for R and t:
12.85431282896393 76.45260060475724

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 1.48186465e-01  9.88959207e-01  6.76429422e-04]
 [-9.88957541e-01  1.48187486e-01 -1.85744477e-03]
 [-1.93717548e-03 -3.93711804e-04  9.99998046e-01]]

 t_estimated:
[[0.27730907]
 [0.96078001]
 [0.00120585]]

 R_gt:
[[ 0.99671015 -0.05045199  0.06343812]
 [ 0.04133467  0.98962194  0.13762448]
 [-0.0697233  -0.13454892  0.9884512 ]]

 t_gt:
[-0.01584833 -0.47948811  0.87740525]

Pose Error in degrees for R and t:
84.49112329559303 62.35321857673373

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 5.99105781e-01 -8.00669857e-01  2.07801108e-04]
 [ 8.00669087e-01  5.99105530e-01  1.25578012e-03]
 [-1.12996008e-03 -5.85965204e-04  9.99999190e-01]]

 t_estimated:
[[0.89420344]
 [0.44765939]
 [0.00113047]]

 R_gt:
[[ 0.99554376 -0.065088    0.06824307]
 [ 0.05322087  0.98515523  0.16321112]
 [-0.07785244 -0.15885035  0.98422847]]

 t_gt:
[ 0.06464427 -0.50171089  0.86261654]

Pose Error in degrees for R and t:
50.72811544895558 80.45539982917417

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.9972664   0.07383514  0.00284553]
 [-0.07382498  0.99726499 -0.00352207]
 [-0.0030978   0.00330237  0.99998975]]

 t_estimated:
[[7.72827449e-01]
 [6.34615798e-01]
 [7.23621206e-04]]

 R_gt:
[[ 0.9951928  -0.0621508   0.07568682]
 [ 0.05641061  0.99553112  0.07574732]
 [-0.08005594 -0.07111355  0.99425061]]

 t_gt:
[ 0.22244227 -0.48404446  0.84629806]

Pose Error in degrees for R and t:
9.8145296644968 82.26101885465515

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99978786e-01 -6.50882709e-03  2.50124985e-04]
 [ 6.50882472e-03  9.99978817e-01  1.02726269e-05]
 [-2.50186550e-04 -8.64438925e-06  9.99999969e-01]]

 t_estimated:
[[0.9990475 ]
 [0.04361462]
 [0.00136296]]

 R_gt:
[[ 0.98251384 -0.1147019   0.14666063]
 [ 0.08816423  0.98041089  0.17613352]
 [-0.16398951 -0.1601229   0.97337967]]

 t_gt:
[ 0.22905554 -0.3986264   0.88804874]

Pose Error in degrees for R and t:
14.342547948963507 77.72161413421289

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 1.00000000e+00  3.74900089e-06 -2.18022646e-06]
 [-3.74899893e-06  1.00000000e+00  8.98523640e-07]
 [ 2.18022982e-06 -8.98515468e-07  1.00000000e+00]]

 t_estimated:
[[9.99945469e-01]
 [1.04070647e-02]
 [8.67255394e-04]]

 R_gt:
[[ 0.97141172 -0.11321114  0.20866883]
 [ 0.05978159  0.96729841  0.24649798]
 [-0.22974974 -0.22697598  0.94641186]]

 t_gt:
[ 0.15091379 -0.25851447  0.95414637]

Pose Error in degrees for R and t:
19.51391383628939 81.42854771595265

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[-7.10928940e-01 -7.03262644e-01 -1.30198139e-03]
 [-7.03263711e-01  7.10928744e-01  6.88247731e-04]
 [ 4.41597074e-04  1.40493149e-03 -9.99998916e-01]]

 t_estimated:
[[0.9300023 ]
 [0.36755216]
 [0.00105923]]

 R_gt:
[[ 0.99992462 -0.00683679  0.01032237]
 [ 0.00660959  0.99974117  0.02182726]
 [-0.01046836 -0.02175764  0.99970824]]

 t_gt:
[0.17221862 0.07400663 0.98227479]

Pose Error in degrees for R and t:
179.02697537219822 79.14025634477116

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.91157037e-01  1.32693776e-01  3.00694929e-04]
 [-1.32693548e-01  9.91156879e-01 -6.81049596e-04]
 [-3.88406890e-04  6.35126823e-04  9.99999723e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99727502  0.07224086 -0.01494976]
 [-0.07268281  0.99685769 -0.03150764]
 [ 0.01262676  0.03250774  0.99939148]]

 t_gt:
[-0.54468291  0.79089271 -0.2789431 ]

Pose Error in degrees for R and t:
3.9898142729046278 58.483896421629964

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-9.93946884e-01 -1.09861474e-01 -2.17832312e-04]
 [-1.09861358e-01  9.93946803e-01 -4.84883415e-04]
 [ 2.69783736e-04 -4.58017006e-04 -9.99999859e-01]]

 t_estimated:
[[0.95808178]
 [0.28649177]
 [0.00133252]]

 R_gt:
[[ 0.99102586  0.11962671 -0.05964377]
 [-0.12577     0.98561174 -0.11292659]
 [ 0.04527604  0.1194148   0.99181187]]

 t_gt:
[-0.42113166  0.73705605 -0.52857971]

Pose Error in degrees for R and t:
176.60644867183305 78.8707780844423

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99997916e-01  5.90298168e-04 -1.95456446e-03]
 [-5.85776718e-04  9.99997153e-01  2.31304236e-03]
 [ 1.95592429e-03 -2.31189260e-03  9.99995415e-01]]

 t_estimated:
[[0.99999637]
 [0.00237467]
 [0.00127562]]

 R_gt:
[[ 0.98947595 -0.14352561 -0.01834477]
 [ 0.14222694  0.98807184 -0.05903573]
 [ 0.02659939  0.05580499  0.99808666]]

 t_gt:
[ 0.69088068 -0.54316454 -0.47713328]

Pose Error in degrees for R and t:
9.017821856825336 46.45060303514612

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.39417823e-01  3.42774172e-01 -1.44734618e-04]
 [-3.42774192e-01  9.39417608e-01 -6.41193639e-04]
 [-8.38183704e-05  6.51960024e-04  9.99999784e-01]]

 t_estimated:
[[0.75090221]
 [0.66041294]
 [0.00079377]]

 R_gt:
[[ 0.96785441 -0.24678538  0.04850877]
 [ 0.24911382  0.96719166 -0.04982834]
 [-0.03462005  0.06031135  0.99757891]]

 t_gt:
[ 0.70405715 -0.69765616 -0.13258736]

Pose Error in degrees for R and t:
34.63992562578479 86.11054467075023

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.16718718 -0.91406355 -0.36950816]
 [-0.76796925 -0.11429381  0.63020644]
 [-0.61828123  0.38913334 -0.68286424]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.90801188 -0.41520505  0.05583878]
 [ 0.41627263  0.90919975 -0.00852004]
 [-0.04723047  0.03098027  0.99840277]]

 t_gt:
[ 0.77108268 -0.63602779  0.03000259]

Pose Error in degrees for R and t:
158.62291068378468 78.05528214699562

Number of keypoints:
Image1: 437
Image2: 437

 R_estimated:
[[ 9.99322595e-01  3.68014441e-02 -7.48335919e-05]
 [-3.68014456e-02  9.99322597e-01 -1.81122983e-05]
 [ 7.41163407e-05  2.08540133e-05  9.99999997e-01]]

 t_estimated:
[[-0.97732976]
 [ 0.21172005]
 [-0.00107651]]

 R_gt:
[[ 0.99737436  0.0708017   0.01517381]
 [-0.07095902  0.99742747  0.01012964]
 [-0.01441729 -0.01118066  0.99983291]]

 t_gt:
[-0.91495133  0.34336838  0.21204298]

Pose Error in degrees for R and t:
2.2208058980614176 14.832381375578537

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.99015189e-01  4.43691851e-02 -1.65679630e-04]
 [-4.43691493e-02  9.99015182e-01  2.13727538e-04]
 [ 1.74999382e-04 -2.06165993e-04  9.99999963e-01]]

 t_estimated:
[[-0.88151241]
 [ 0.47215079]
 [ 0.00308332]]

 R_gt:
[[ 0.98776002  0.15504602  0.01706409]
 [-0.15563434  0.98694339  0.04148146]
 [-0.01041024 -0.04363011  0.99899311]]

 t_gt:
[-0.92836061  0.29360368  0.22791109]

Pose Error in degrees for R and t:
6.891666563593832 16.726532141466667

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 2.46152317e-01  9.69231142e-01  1.72146355e-04]
 [-9.69229988e-01  2.46152292e-01 -1.50963268e-03]
 [-1.50555723e-03  2.04750173e-04  9.99998846e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96194031  0.27258285  0.0192258 ]
 [-0.27301187  0.96168315  0.02509684]
 [-0.01164871 -0.02939138  0.99949899]]

 t_gt:
[-0.85695369  0.50994673  0.07473091]

Pose Error in degrees for R and t:
59.94089533857105 59.6905846502205

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99675110e-01 -2.54887098e-02 -2.71317524e-05]
 [ 2.54887144e-02  9.99675093e-01  1.83172590e-04]
 [ 2.24541041e-05 -1.83804632e-04  9.99999983e-01]]

 t_estimated:
[[9.93918071e-01]
 [1.10118671e-01]
 [8.63692530e-04]]

 R_gt:
[[ 0.9882493  -0.15284856  0.00104329]
 [ 0.15276292  0.98788237  0.02740807]
 [-0.00522056 -0.02692649  0.9996236 ]]

 t_gt:
[ 0.69734553 -0.71136029  0.08761139]

Pose Error in degrees for R and t:
7.494958483931546 52.059273000426934

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 6.51953274e-02  9.97871813e-01 -1.18891933e-03]
 [-9.97871992e-01  6.51964735e-02  9.52153866e-04]
 [ 1.02764085e-03  1.12431331e-03  9.99998840e-01]]

 t_estimated:
[[-0.83725155]
 [ 0.54681146]
 [-0.00266017]]

 R_gt:
[[ 0.95782263 -0.27997768  0.06472512]
 [ 0.27493805  0.95837605  0.0769671 ]
 [-0.08358057 -0.0559251   0.99493024]]

 t_gt:
[ 0.69151078 -0.6643282   0.28369153]

Pose Error in degrees for R and t:
102.53376579248135 19.440882282603024

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.5477722   0.83659428  0.00745868]
 [ 0.83661146  0.54779516 -0.00131279]
 [-0.0051841   0.00552091 -0.99997132]]

 t_estimated:
[[ 0.9244734 ]
 [-0.38123879]
 [ 0.00243167]]

 R_gt:
[[ 0.93339624 -0.35158901  0.07181477]
 [ 0.34433729  0.93386723  0.09655698]
 [-0.10101395 -0.06539704  0.9927328 ]]

 t_gt:
[ 0.72624299 -0.62341046  0.28970765]

Pose Error in degrees for R and t:
177.38305741094035 24.527096770062766

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 6.16918048e-01 -7.87027380e-01 -1.60619630e-04]
 [ 7.87026379e-01  6.16917565e-01 -1.48224250e-03]
 [ 1.26565450e-03  7.88010266e-04  9.99998889e-01]]

 t_estimated:
[[-0.02040385]
 [-0.99978857]
 [-0.00255048]]

 R_gt:
[[ 0.99465603  0.07256327 -0.07344747]
 [-0.0690478   0.99639271  0.04934133]
 [ 0.07676283 -0.04400667  0.99607786]]

 t_gt:
[ 0.94154181  0.23058894 -0.24561712]

Pose Error in degrees for R and t:
56.18798951173417 75.57427051637642

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.74361624e-01 -2.24987501e-01 -2.23975747e-04]
 [ 2.24987569e-01  9.74361571e-01  3.49366200e-04]
 [ 1.39630333e-04 -3.90800776e-04  9.99999914e-01]]

 t_estimated:
[[-0.81706556]
 [-0.57654409]
 [-0.00088427]]

 R_gt:
[[ 0.97966932  0.17256439 -0.10231824]
 [-0.16521348  0.98328721  0.07649194]
 [ 0.11380755 -0.05803272  0.99180589]]

 t_gt:
[ 0.12143013  0.98725482 -0.10287199]

Pose Error in degrees for R and t:
23.89860304530463 48.062362876370756

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.02901672  0.99955841  0.00640384]
 [-0.99957836 -0.02900926 -0.00125456]
 [-0.00106823 -0.00643754  0.99997871]]

 t_estimated:
[[0.43545106]
 [0.90021132]
 [0.00139568]]

 R_gt:
[[ 0.95334506  0.26872467 -0.13755233]
 [-0.25262022  0.95960645  0.12385098]
 [ 0.16527765 -0.08332539  0.98272049]]

 t_gt:
[-0.02976986  0.99888798  0.03655896]

Pose Error in degrees for R and t:
77.06642797998438 27.588323328379655

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99602999e-01  2.81752328e-02  6.45715956e-07]
 [-2.81752327e-02  9.99602997e-01 -6.68135832e-05]
 [-2.52794787e-06  6.67688650e-05  9.99999998e-01]]

 t_estimated:
[[-3.64623373e-01]
 [-9.31155055e-01]
 [-2.44888759e-04]]

 R_gt:
[[ 0.99770679  0.0227755  -0.06374118]
 [-0.03060916  0.99171423 -0.12476053]
 [ 0.06037164  0.126425    0.99013697]]

 t_gt:
[-0.00981689  0.47249409 -0.88127916]

Pose Error in degrees for R and t:
8.050734708829355 64.14023490337138

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99221505e-01  3.94509717e-02 -6.41545569e-05]
 [-3.94509699e-02  9.99221507e-01  2.98177566e-05]
 [ 6.52809525e-05 -2.72635842e-05  9.99999997e-01]]

 t_estimated:
[[-5.48890645e-01]
 [-8.35894168e-01]
 [ 1.91987543e-05]]

 R_gt:
[[ 0.9968746   0.06847652 -0.03939325]
 [-0.07363148  0.98604984 -0.14927626]
 [ 0.02862258  0.15171028  0.98801039]]

 t_gt:
[-0.18917534  0.67739664 -0.71087726]

Pose Error in degrees for R and t:
9.069952521677884 62.45733612518244

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.98531662e-01 -5.41701593e-02 -3.37372268e-04]
 [ 5.41700472e-02  9.98531670e-01 -3.32867026e-04]
 [ 3.54908354e-04  3.14102793e-04  9.99999888e-01]]

 t_estimated:
[[-0.60541951]
 [-0.79590517]
 [-0.00147663]]

 R_gt:
[[ 0.98922069  0.13320386 -0.06082511]
 [-0.13928908  0.9841044  -0.11016218]
 [ 0.04518483  0.11744744  0.99205079]]

 t_gt:
[-0.31308069  0.79383024 -0.52135788]

Pose Error in degrees for R and t:
13.11572971152844 63.80046479945675

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999959e-01  2.84176510e-04  3.92667851e-05]
 [-2.84178668e-04  9.99999958e-01  5.49706353e-05]
 [-3.92511621e-05 -5.49817919e-05  9.99999998e-01]]

 t_estimated:
[[ 9.95411086e-01]
 [-9.56889405e-02]
 [ 6.30462095e-04]]

 R_gt:
[[ 0.99711898 -0.05928561  0.04732054]
 [ 0.06068148  0.99774643 -0.02863796]
 [-0.0455164   0.03142712  0.99846977]]

 t_gt:
[0.81726185 0.51295826 0.26259644]

Pose Error in degrees for R and t:
4.6906981164093935 40.12923606985725

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999629e-01 -8.35524765e-04 -2.11398645e-04]
 [ 8.35525388e-04  9.99999651e-01  2.85591571e-06]
 [ 2.11396185e-04 -3.03254358e-06  9.99999978e-01]]

 t_estimated:
[[9.99999524e-01]
 [9.47624148e-04]
 [2.30450391e-04]]

 R_gt:
[[ 0.99574495 -0.08528231  0.03491379]
 [ 0.08426036  0.99599872  0.02977737]
 [-0.03731407 -0.02670986  0.99894633]]

 t_gt:
[0.81105128 0.22502103 0.53996422]

Pose Error in degrees for R and t:
5.4929950528756395 35.76817959140026

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99999997e-01  5.32268091e-05 -4.76556325e-05]
 [-5.32213355e-05  9.99999992e-01  1.14852625e-04]
 [ 4.76617454e-05 -1.14850088e-04  9.99999992e-01]]

 t_estimated:
[[9.99992457e-01]
 [3.88317786e-03]
 [7.85725320e-05]]

 R_gt:
[[ 0.9925332  -0.12108177  0.0147665 ]
 [ 0.12101591  0.99263676  0.00531821]
 [-0.01530186 -0.00349298  0.99987715]]

 t_gt:
[0.97354481 0.19362206 0.12133009]

Pose Error in degrees for R and t:
7.013744551548404 13.018120171666784

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.18917583 -0.98187869 -0.01125782]
 [-0.98185606  0.18929936 -0.01115459]
 [ 0.01308355  0.00894338 -0.99987441]]

 t_estimated:
[[ 0.76470003]
 [ 0.64435167]
 [-0.00669261]]

 R_gt:
[[ 9.96249034e-01  5.35076780e-02 -6.80096862e-02]
 [-5.33298007e-02  9.98567806e-01  4.41873070e-03]
 [ 6.81493317e-02 -7.75335753e-04  9.97674964e-01]]

 t_gt:
[ 0.55097278  0.35760965 -0.75401879]

Pose Error in degrees for R and t:
176.18254431986048 48.94359929396878

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99993108e-01 -3.70373819e-03 -2.55968612e-04]
 [ 3.70355584e-03  9.99992890e-01 -7.09234678e-04]
 [ 2.58593612e-04  7.08281796e-04  9.99999716e-01]]

 t_estimated:
[[-0.99995439]
 [-0.00947222]
 [-0.00122391]]

 R_gt:
[[ 0.97965425  0.14326201 -0.14054979]
 [-0.13354614  0.98809914  0.07632335]
 [ 0.14981133 -0.05600072  0.98712742]]

 t_gt:
[ 0.66036036  0.41712648 -0.62444351]

Pose Error in degrees for R and t:
12.336078358619574 48.43133875629654

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-9.29330289e-01 -3.69248319e-01 -9.45183518e-04]
 [-3.69249433e-01  9.29325153e-01  3.10112148e-03]
 [-2.66701079e-04  3.23097460e-03 -9.99994745e-01]]

 t_estimated:
[[0.96205694]
 [0.27284702]
 [0.00097636]]

 R_gt:
[[ 0.96423521  0.21712134 -0.15201407]
 [-0.20368507  0.97400084  0.09917655]
 [ 0.16959543 -0.06466653  0.98339018]]

 t_gt:
[ 0.49670352  0.79719413 -0.34317216]

Pose Error in degrees for R and t:
171.70535247999118 45.97006972661672

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.98406862 -0.17761138  0.00794668]
 [-0.17767052 -0.98406159  0.00748153]
 [ 0.00649122 -0.00877423 -0.99994044]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99063283 -0.11265508  0.07717281]
 [ 0.11251001  0.99363126  0.00622758]
 [-0.07738199  0.00251359  0.99699847]]

 t_gt:
[ 0.53617384 -0.74285984  0.40084521]

Pose Error in degrees for R and t:
179.05529192176567 42.346532801230985

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.64563328e-01  2.63851124e-01  4.13735449e-04]
 [-2.63850950e-01  9.64563368e-01 -4.31424366e-04]
 [-5.12905862e-04  3.06971630e-04  9.99999821e-01]]

 t_estimated:
[[-9.46761967e-01]
 [-3.21933781e-01]
 [-6.46951391e-04]]

 R_gt:
[[ 0.96807385 -0.23152885  0.09606518]
 [ 0.23067847  0.97282371  0.02001558]
 [-0.09808866  0.00278287  0.99517323]]

 t_gt:
[ 0.67808679 -0.68319651  0.27099969]

Pose Error in degrees for R and t:
29.224891935383834 65.02529696867931

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.98464052  0.17456277  0.00329851]
 [ 0.17456931  0.98464322  0.00181019]
 [-0.00293187  0.00235821 -0.99999292]]

 t_estimated:
[[ 0.99911171]
 [-0.04210753]
 [ 0.00165446]]

 R_gt:
[[ 0.95121989 -0.29650432  0.08523793]
 [ 0.2954865   0.95502932  0.02461498]
 [-0.08870334  0.00177203  0.9960566 ]]

 t_gt:
[ 0.754277   -0.63103247  0.18128491]

Pose Error in degrees for R and t:
174.8358541274776 38.69562573257053

Number of keypoints:
Image1: 523
Image2: 523

 R_estimated:
[[ 9.97706734e-01  6.76850875e-02  4.59692612e-05]
 [-6.76850822e-02  9.97706729e-01 -1.09098727e-04]
 [-5.32481981e-05  1.05737101e-04  9.99999993e-01]]

 t_estimated:
[[-0.62244161]
 [-0.78266579]
 [-0.00083887]]

 R_gt:
[[ 0.99913893 -0.02981854 -0.02883063]
 [ 0.03059916  0.99916548  0.02703069]
 [ 0.02800022 -0.02788971  0.99921882]]

 t_gt:
[ 0.80041051 -0.59817899 -0.03905012]

Pose Error in degrees for R and t:
6.054921858274088 88.28076496307048

Number of keypoints:
Image1: 752
Image2: 752

 R_estimated:
[[ 9.99801440e-01  1.99268782e-02  2.27513447e-05]
 [-1.99268780e-02  9.99801440e-01 -5.73878817e-06]
 [-2.28611833e-05  5.28428541e-06  1.00000000e+00]]

 t_estimated:
[[-1.86734161e-01]
 [-9.82410468e-01]
 [ 1.62725731e-04]]

 R_gt:
[[ 0.99918039  0.01694561 -0.03675249]
 [-0.01506352  0.99858997  0.05090241]
 [ 0.03756393 -0.05030748  0.9980275 ]]

 t_gt:
[-0.10175571 -0.82013523  0.56304883]

Pose Error in degrees for R and t:
3.607601653988364 34.431545250761516

Number of keypoints:
Image1: 432
Image2: 432

 R_estimated:
[[ 9.99997425e-01  2.26424868e-03 -1.54838371e-04]
 [-2.26424629e-03  9.99997436e-01  1.55921347e-05]
 [ 1.54873278e-04 -1.52415023e-05  9.99999988e-01]]

 t_estimated:
[[ 5.92261114e-02]
 [-9.98244473e-01]
 [-4.90083735e-04]]

 R_gt:
[[ 0.99410642  0.10829626  0.0047635 ]
 [-0.10829709  0.99026208  0.08747244]
 [ 0.0047557  -0.08747336  0.99615618]]

 t_gt:
[-0.88294426  0.06196425  0.46537067]

Pose Error in degrees for R and t:
7.901302248464061 83.43231317124535

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.79966572e-01  1.99161943e-01  1.95264491e-04]
 [-1.99161890e-01  9.79966567e-01 -2.61596022e-04]
 [-2.43452645e-04  2.17466112e-04  9.99999947e-01]]

 t_estimated:
[[0.82156782]
 [0.57010985]
 [0.00103769]]

 R_gt:
[[ 0.98900175 -0.13554599  0.05919946]
 [ 0.13136906  0.98889279  0.06952862]
 [-0.06796597 -0.06098614  0.99582157]]

 t_gt:
[ 0.53983386 -0.68333239  0.49156511]

Pose Error in degrees for R and t:
19.87025810202188 86.87894819019859

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-2.03277765e-01 -9.79119753e-01 -1.63082179e-03]
 [ 9.79121064e-01 -2.03277989e-01 -2.88288772e-05]
 [-3.03283250e-04 -1.60263223e-03  9.99998670e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075885e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96652477 -0.23975016  0.09139033]
 [ 0.23077102  0.96798153  0.09878226]
 [-0.11214715 -0.07438476  0.99090358]]

 t_gt:
[ 0.61319806 -0.64173507  0.4606129 ]

Pose Error in degrees for R and t:
88.32792509265299 52.29745928327979

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.97086964e-01 -7.62723635e-02 -3.36653696e-04]
 [ 7.62721298e-02  9.97086820e-01 -6.59637214e-04]
 [ 3.85985052e-04  6.32038373e-04  9.99999726e-01]]

 t_estimated:
[[-0.68223738]
 [-0.73112736]
 [-0.00222227]]

 R_gt:
[[ 0.95571721 -0.28538012  0.07185316]
 [ 0.27766758  0.95534339  0.10109878]
 [-0.09749552 -0.07666994  0.99227764]]

 t_gt:
[ 0.68423307 -0.62560282  0.37476156]

Pose Error in degrees for R and t:
14.006235294765547 89.4128877304778

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-0.48872213  0.87226891 -0.01725178]
 [ 0.8722582   0.48892814  0.01071941]
 [ 0.01778509 -0.00980919 -0.99979371]]

 t_estimated:
[[ 0.87033889]
 [-0.4923544 ]
 [-0.00986712]]

 R_gt:
[[ 0.9904424   0.13486718  0.02888923]
 [-0.13600915  0.98981472  0.04206755]
 [-0.02292123 -0.04559377  0.99869672]]

 t_gt:
[-0.89189928  0.26163809  0.36886471]

Pose Error in degrees for R and t:
178.84845339595392 24.67191023663958

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.96626011e-01 -8.20763452e-02 -2.59910254e-04]
 [ 8.20764079e-02  9.96626011e-01  2.40398723e-04]
 [ 2.39302271e-04 -2.60920120e-04  9.99999937e-01]]

 t_estimated:
[[-0.95828877]
 [-0.28579969]
 [-0.00108364]]

 R_gt:
[[ 0.98254041  0.18115958  0.0423721 ]
 [-0.18382991  0.98037918  0.07115864]
 [-0.02864844 -0.07770548  0.99656445]]

 t_gt:
[-0.88007928  0.1926093   0.43400706]

Pose Error in degrees for R and t:
15.958350810665173 38.01476291289795

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.42172911e-01 -3.35127069e-01 -2.30023636e-04]
 [ 3.35127126e-01  9.42172875e-01  2.88529556e-04]
 [ 1.20027966e-04 -3.48931892e-04  9.99999932e-01]]

 t_estimated:
[[-0.82280117]
 [-0.5683287 ]
 [-0.00085706]]

 R_gt:
[[ 0.97273233  0.22537539  0.05475608]
 [-0.22915512  0.97034067  0.07699652]
 [-0.03577871 -0.08744395  0.9955263 ]]

 t_gt:
[-0.89398822  0.19920306  0.40137664]

Pose Error in degrees for R and t:
33.1780894455191 51.536370062645524

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 7.96007724e-01 -6.05277805e-01  3.23763458e-03]
 [-6.05282634e-01 -7.96010328e-01  7.00358562e-04]
 [ 2.15327907e-03 -2.51717481e-03 -9.99994514e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9935752   0.10351469 -0.04573901]
 [-0.10673262  0.991484   -0.0746172 ]
 [ 0.03762564  0.07902045  0.99616269]]

 t_gt:
[-0.48826748  0.70218139 -0.51820475]

Pose Error in degrees for R and t:
175.15890642789432 45.68653756894381

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.47621084 -0.8793272  -0.00263033]
 [-0.87932957  0.47620222  0.00331104]
 [-0.00165892  0.00388968 -0.99999106]]

 t_estimated:
[[0.76222214]
 [0.64731428]
 [0.00127675]]

 R_gt:
[[ 0.99082379  0.10031611 -0.09058409]
 [-0.11380327  0.98074946 -0.15867943]
 [ 0.0729213   0.16753207  0.98316548]]

 t_gt:
[-0.29842229  0.62335581 -0.72275284]

Pose Error in degrees for R and t:
171.08879999084007 79.91434350786734

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.1385152   0.99035579  0.0029908 ]
 [ 0.9903585  -0.13852009  0.00149416]
 [ 0.00189403  0.002755   -0.99999441]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98001053  0.13361396 -0.14739896]
 [-0.1653457   0.9590471  -0.22997598]
 [ 0.11063359  0.24975049  0.9619688 ]]

 t_gt:
[-0.23769775  0.62725817 -0.74165152]

Pose Error in degrees for R and t:
174.37731474115301 51.318384680958516

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99859903e-01 -1.67383861e-02  1.46750917e-06]
 [ 1.67383862e-02  9.99859899e-01 -9.29444646e-05]
 [ 8.84367664e-08  9.29560071e-05  9.99999996e-01]]

 t_estimated:
[[ 8.70511892e-01]
 [-4.92147337e-01]
 [-2.13519899e-04]]

 R_gt:
[[ 0.98625735 -0.16063766 -0.03861214]
 [ 0.15894225  0.98632481 -0.04360138]
 [ 0.04508847  0.03686596  0.99830239]]

 t_gt:
[ 0.70906841 -0.58484161 -0.39393184]

Pose Error in degrees for R and t:
8.891638045479823 25.154507982876716

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.71852466e-01 -2.35590143e-01  2.63532184e-04]
 [ 2.35590185e-01  9.71852482e-01 -1.37624447e-04]
 [-2.23691443e-04  1.95836254e-04  9.99999956e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96498561 -0.25989893 -0.03541063]
 [ 0.25700854  0.9638436  -0.07036978]
 [ 0.05241915  0.05880522  0.99689236]]

 t_gt:
[ 0.72953066 -0.59049365 -0.34511195]

Pose Error in degrees for R and t:
4.723213013242011 43.32875864390318

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.86346905  0.50439331 -0.00293104]
 [-0.50435807  0.8634561   0.00815486]
 [ 0.00664408 -0.00556318  0.99996245]]

 t_estimated:
[[0.54115556]
 [0.84092103]
 [0.00157771]]

 R_gt:
[[ 0.91176308 -0.4095055   0.03152115]
 [ 0.41070031  0.90972005 -0.06110677]
 [-0.00365181  0.06866109  0.99763322]]

 t_gt:
[ 0.77701577 -0.61649403 -0.12720691]

Pose Error in degrees for R and t:
54.70090414184298 84.36809416392543

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.90061450e-01 -1.40635416e-01  7.64995733e-05]
 [ 1.40635419e-01  9.90061451e-01 -4.64025915e-05]
 [-6.92134307e-05  5.66999666e-05  9.99999996e-01]]

 t_estimated:
[[-8.57565942e-01]
 [-5.14373370e-01]
 [-8.30974750e-04]]

 R_gt:
[[ 0.99751366  0.06749627  0.02028818]
 [-0.06667379  0.9970194  -0.03883022]
 [-0.02284745  0.03738138  0.99903981]]

 t_gt:
[-0.83425135  0.3537195  -0.42297423]

Pose Error in degrees for R and t:
12.192364934471373 57.73518809242426

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.70453805e-01 -2.41286676e-01  3.90025981e-04]
 [ 2.41286811e-01  9.70453788e-01 -3.46356533e-04]
 [-2.94930975e-04  4.30231141e-04  9.99999864e-01]]

 t_estimated:
[[0.8456111 ]
 [0.53379847]
 [0.00103249]]

 R_gt:
[[ 0.9719559   0.23446703  0.01810458]
 [-0.234605    0.97207282  0.00586171]
 [-0.01622338 -0.00994428  0.99981809]]

 t_gt:
[-0.89288091  0.44467402  0.07091335]

Pose Error in degrees for R and t:
27.54890975193034 58.82923617717242

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.91936972e-01 -1.26728001e-01 -1.02844718e-03]
 [ 1.26729518e-01  9.91936061e-01  1.57513134e-03]
 [ 8.20540598e-04 -1.69276563e-03  9.99998231e-01]]

 t_estimated:
[[-0.99587509]
 [-0.09071337]
 [-0.00197203]]

 R_gt:
[[ 0.92730997  0.37375019  0.02018374]
 [-0.37378949  0.92751205 -0.00194011]
 [-0.0194443  -0.00574459  0.99979391]]

 t_gt:
[-0.85272852  0.52031277  0.04613767]

Pose Error in degrees for R and t:
29.255803973336867 36.686082963850914

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.99774888 -0.06700223 -0.00280736]
 [-0.06699062  0.99774541 -0.00404466]
 [ 0.00307203 -0.00384749 -0.99998788]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99783528  0.01070664 -0.06489152]
 [-0.01532937  0.99734736 -0.07115796]
 [ 0.06395828  0.07199925  0.99535205]]

 t_gt:
[ 0.16297165  0.31640748 -0.93451942]

Pose Error in degrees for R and t:
176.00130070354103 80.60571887142991

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99837457e-01  1.80291934e-02 -8.32778873e-05]
 [ 1.80290415e-02 -9.99836244e-01 -1.56173336e-03]
 [-1.11421043e-04  1.55997809e-03 -9.99998777e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.92321368e-01 -1.67147204e-02 -1.22545835e-01]
 [-4.09267907e-04  9.90377407e-01 -1.38388524e-01]
 [ 1.23680748e-01  1.37376543e-01  9.82766476e-01]]

 t_gt:
[ 0.26808189  0.22932423 -0.93570428]

Pose Error in degrees for R and t:
172.03427719823972 76.70181015328592

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.32021753e-01 -3.62402300e-01  1.57377471e-04]
 [ 3.62402243e-01  9.32021739e-01  3.03506592e-04]
 [-2.56670711e-04 -2.25840797e-04  9.99999942e-01]]

 t_estimated:
[[0.09226587]
 [0.99573383]
 [0.00107285]]

 R_gt:
[[ 0.98628671  0.01864956 -0.16398277]
 [-0.0422082   0.98905402 -0.14138267]
 [ 0.15955145  0.14636545  0.97627906]]

 t_gt:
[ 0.20962476  0.37177485 -0.90434558]

Pose Error in degrees for R and t:
26.159412387449112 67.13508578406434

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.98332876e-01  5.77182265e-02  2.73405122e-04]
 [-5.77181754e-02  9.98332898e-01 -1.91317596e-04]
 [-2.83991840e-04  1.75218201e-04  9.99999944e-01]]

 t_estimated:
[[9.85253599e-01]
 [1.71097698e-01]
 [9.61223023e-04]]

 R_gt:
[[ 0.99196301 -0.1261485   0.00982498]
 [ 0.12611495  0.99200772  0.00397683]
 [-0.01024721 -0.00270598  0.99994403]]

 t_gt:
[ 0.74515533 -0.66407623  0.06120689]

Pose Error in degrees for R and t:
10.57182781611314 51.639752676334076

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.53761895e-01  3.00562990e-01  3.68988318e-04]
 [-3.00562790e-01  9.53761891e-01 -5.14344074e-04]
 [-5.06519789e-04  3.79657621e-04  9.99999800e-01]]

 t_estimated:
[[0.89606031]
 [0.4439313 ]
 [0.00095823]]

 R_gt:
[[ 9.83153388e-01 -1.82747237e-01  3.39909718e-03]
 [ 1.82744446e-01  9.83159642e-01  9.52883277e-04]
 [-3.51591622e-03 -3.15883240e-04  9.99993507e-01]]

 t_gt:
[ 0.80513126 -0.59305487  0.0070403 ]

Pose Error in degrees for R and t:
28.021853280756776 62.73044556473706

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.88225032e-01  1.52967846e-01  3.48195151e-03]
 [ 1.53006128e-01 -9.88055765e-01 -1.83010789e-02]
 [ 6.40885646e-04  1.86183442e-02 -9.99826458e-01]]

 t_estimated:
[[-0.0986669 ]
 [ 0.99506267]
 [-0.0107292 ]]

 R_gt:
[[ 0.96372117 -0.26512875 -0.03080137]
 [ 0.26533366  0.96415285  0.00269701]
 [ 0.02898274 -0.01077195  0.99952193]]

 t_gt:
[ 0.84571001 -0.5303936  -0.05879811]

Pose Error in degrees for R and t:
179.4532829175131 52.36799762141677

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[-1.98996236e-02  9.99801977e-01  1.09433476e-04]
 [-9.99800618e-01 -1.98994154e-02 -1.65444022e-03]
 [-1.65193494e-03 -1.42334395e-04  9.99998625e-01]]

 t_estimated:
[[0.39405416]
 [0.91908654]
 [0.00111947]]

 R_gt:
[[ 0.99458106  0.10009305 -0.02809083]
 [-0.09955742  0.99483296  0.01986195]
 [ 0.02993445 -0.01695737  0.99940781]]

 t_gt:
[-0.89800728  0.43716141 -0.0497275 ]

Pose Error in degrees for R and t:
85.43023335956285 87.25620282507064

Number of keypoints:
Image1: 369
Image2: 369

 R_estimated:
[[-0.87987197 -0.47494866 -0.01578283]
 [-0.47495444  0.88000295 -0.00361938]
 [ 0.01560796  0.00431154 -0.99986889]]

 t_estimated:
[[ 0.96631129]
 [ 0.2572685 ]
 [-0.00744401]]

 R_gt:
[[ 0.97903103  0.20301201  0.01683587]
 [-0.20332594  0.97891329  0.01965835]
 [-0.01248954 -0.02266841  0.99966451]]

 t_gt:
[-0.84592509  0.52719708  0.08046111]

Pose Error in degrees for R and t:
179.8022354686152 46.96894116094712

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[-9.91861451e-01  1.27316975e-01  1.11779318e-03]
 [ 1.27321246e-01  9.91846012e-01  5.54871982e-03]
 [-4.02232486e-04  5.64588011e-03 -9.99983981e-01]]

 t_estimated:
[[ 0.99963701]
 [-0.02691145]
 [ 0.00127731]]

 R_gt:
[[ 0.9490536   0.31507759 -0.00485348]
 [-0.3140005   0.94687927  0.06944195]
 [ 0.02647646 -0.06438063  0.99757364]]

 t_gt:
[-0.81652274  0.57254975  0.07400945]

Pose Error in degrees for R and t:
178.83610812705652 33.74274484451187

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 8.78143900e-01  4.78396580e-01 -5.82595437e-05]
 [-4.78396017e-01  8.78142666e-01 -1.64582558e-03]
 [-7.36197139e-04  1.47314283e-03  9.99998644e-01]]

 t_estimated:
[[7.29719035e-01]
 [6.83746735e-01]
 [7.29719035e-04]]

 R_gt:
[[ 0.99575461 -0.09036908 -0.01751803]
 [ 0.089836    0.99553054 -0.02913595]
 [ 0.02007316  0.02743761  0.99942206]]

 t_gt:
[ 0.58335201 -0.74865655 -0.31498222]

Pose Error in degrees for R and t:
33.80254316730311 85.04126497499209

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.05744425  0.99833904  0.00439441]
 [ 0.99834683 -0.05743504 -0.00219404]
 [-0.001938    0.00451318 -0.99998794]]

 t_estimated:
[[0.99824837]
 [0.05914477]
 [0.00144256]]

 R_gt:
[[ 0.98728588 -0.15795952 -0.01775759]
 [ 0.15722349  0.98686458 -0.03714114]
 [ 0.02339096  0.0338764   0.99915162]]

 t_gt:
[ 0.66259755 -0.7157588  -0.22057613]

Pose Error in degrees for R and t:
179.0565256780681 51.772512169043075

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 3.30097454e-01  9.43945322e-01  1.70295852e-03]
 [ 9.43946110e-01 -3.30098927e-01  6.63424522e-04]
 [ 1.18838125e-03  1.38850633e-03 -9.99998330e-01]]

 t_estimated:
[[-9.84901422e-01]
 [-1.73114073e-01]
 [-8.40359575e-04]]

 R_gt:
[[ 0.96805712 -0.25010772  0.01766886]
 [ 0.25068723  0.96679212 -0.04969611]
 [-0.00465259  0.05253659  0.9986083 ]]

 t_gt:
[ 0.74304718 -0.66154801 -0.10116877]

Pose Error in degrees for R and t:
177.18038796951558 51.88659739675498

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.98899993e-01  4.68911128e-02  1.66263279e-04]
 [-4.68911112e-02  9.98900007e-01 -1.31667417e-05]
 [-1.66697794e-04  5.35598825e-06  9.99999986e-01]]

 t_estimated:
[[9.93298041e-01]
 [1.15580347e-01]
 [4.29389230e-04]]

 R_gt:
[[ 0.98630185 -0.16461587 -0.01055597]
 [ 0.16467093  0.9863381   0.00459349]
 [ 0.00965599 -0.00626897  0.99993382]]

 t_gt:
[ 0.74324887 -0.66832509 -0.03037593]

Pose Error in degrees for R and t:
12.182637334723266 48.62310224168607

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-9.56124465e-01 -2.92940348e-01 -3.45819342e-03]
 [-2.92939487e-01  9.56130678e-01 -7.64344529e-04]
 [ 3.53039217e-03  2.82232900e-04 -9.99993728e-01]]

 t_estimated:
[[9.99974549e-01]
 [7.07946583e-03]
 [8.84933229e-04]]

 R_gt:
[[ 0.95350525 -0.29900494  0.03773836]
 [ 0.29664724  0.95325101  0.05756511]
 [-0.05318661 -0.04369422  0.99762875]]

 t_gt:
[ 0.73390297 -0.65618042  0.17553828]

Pose Error in degrees for R and t:
177.1598646083511 43.16436637589256

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.96864620e-01  7.91199663e-02  9.79692557e-04]
 [-7.91198408e-02  9.96865098e-01 -1.66306401e-04]
 [-9.89779474e-04  8.82718484e-05  9.99999506e-01]]

 t_estimated:
[[0.99965192]
 [0.02636092]
 [0.00106518]]

 R_gt:
[[ 0.91292447 -0.40253946  0.06731355]
 [ 0.39679723  0.91401683  0.08441301]
 [-0.09550581 -0.05035358  0.99415478]]

 t_gt:
[ 0.76202891 -0.61452161  0.20414489]

Pose Error in degrees for R and t:
28.82062398498054 41.77371014980081

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99481329e-01  3.22035911e-02 -4.34482962e-05]
 [-3.22035907e-02  9.99481330e-01  9.31102381e-06]
 [ 4.37256093e-05 -7.90700330e-06  9.99999999e-01]]

 t_estimated:
[[ 0.53174149]
 [ 0.84690628]
 [-0.00085742]]

 R_gt:
[[ 0.99772018 -0.04040472 -0.05406151]
 [ 0.03923836  0.99897754 -0.02247087]
 [ 0.05491478  0.02029879  0.99828437]]

 t_gt:
[ 0.92588593  0.05593349 -0.37363978]

Pose Error in degrees for R and t:
5.319612927129005 57.31481174265235

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-0.31351896 -0.94954861  0.00795571]
 [-0.94956115  0.31355653  0.0039902 ]
 [-0.00628345 -0.00630343 -0.99996039]]

 t_estimated:
[[0.81076894]
 [0.58534073]
 [0.0054738 ]]

 R_gt:
[[ 0.99628201 -0.07346114 -0.04501679]
 [ 0.07314773  0.99728484 -0.00856262]
 [ 0.04552428  0.00523854  0.99894938]]

 t_gt:
[ 0.99283106  0.02232312 -0.117423  ]

Pose Error in degrees for R and t:
178.16344279251592 35.17657888458557

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.88271293e-01 -1.52705994e-01  8.55145769e-04]
 [ 1.52706504e-01  9.88271421e-01 -5.67143320e-04]
 [-7.58509940e-04  6.91077784e-04  9.99999474e-01]]

 t_estimated:
[[ 0.13987793]
 [-0.9901644 ]
 [-0.00293539]]

 R_gt:
[[ 0.9942014  -0.05108706 -0.0946236 ]
 [ 0.04993     0.99864682 -0.01456216]
 [ 0.09524063  0.00975358  0.99540614]]

 t_gt:
[ 0.95990611  0.16043506 -0.22987139]

Pose Error in degrees for R and t:
8.075383047559155 88.62977591486424

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.59490224e-01  2.81741919e-01 -1.43545490e-05]
 [-2.81741862e-01  9.59490059e-01  5.92183388e-04]
 [ 1.80615931e-04 -5.64149894e-04  9.99999825e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.99480084 -0.10105143 -0.01271139]
 [ 0.10081805  0.99474747 -0.01775968]
 [ 0.01443983  0.01638656  0.99976161]]

 t_gt:
[ 0.66520139 -0.72314185 -0.18593812]

Pose Error in degrees for R and t:
22.193918696750742 88.11203485366204

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.93043847e-01 -1.17745048e-01  1.44366357e-04]
 [ 1.17745002e-01  9.93043821e-01  2.89473959e-04]
 [-1.77446244e-04 -2.70461917e-04  9.99999948e-01]]

 t_estimated:
[[0.98972242]
 [0.14299744]
 [0.00112596]]

 R_gt:
[[ 0.9793165  -0.20187504  0.01365363]
 [ 0.2020427   0.9792987  -0.01235521]
 [-0.01087638  0.0148591   0.99983071]]

 t_gt:
[ 0.73087499 -0.68240343  0.01213712]

Pose Error in degrees for R and t:
5.004064719561713 51.25943160164872

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.95398361 -0.29984909  0.0024083 ]
 [-0.29980489  0.95393369  0.01129374]
 [-0.00568377  0.01005203 -0.99993332]]

 t_estimated:
[[0.96093767]
 [0.27676129]
 [0.00140488]]

 R_gt:
[[ 0.97585765 -0.2133431   0.04677731]
 [ 0.21552652  0.97531569 -0.04803205]
 [-0.03537425  0.05695508  0.99775029]]

 t_gt:
[ 0.77918419 -0.62667162 -0.01243721]

Pose Error in degrees for R and t:
177.8187671371623 54.879949413106935

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.99891308e-01  1.47432635e-02  9.13854249e-05]
 [-1.47432655e-02  9.99891312e-01  2.17103119e-05]
 [-9.10554116e-05 -2.30552717e-05  9.99999996e-01]]

 t_estimated:
[[4.78232913e-01]
 [8.78232813e-01]
 [6.38776755e-04]]

 R_gt:
[[ 0.99885812  0.00987859 -0.0467496 ]
 [-0.00903571  0.99979335  0.01820906]
 [ 0.04691971 -0.01776568  0.9987406 ]]

 t_gt:
[ 0.69721317  0.69886795 -0.15961639]

Pose Error in degrees for R and t:
2.8958986208561677 18.72021735586251

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 0.60449251 -0.79654829  0.00998069]
 [-0.79656442 -0.60427463  0.01836563]
 [-0.00859804 -0.01905215 -0.99978152]]

 t_estimated:
[[0.47373899]
 [0.88060635]
 [0.01018924]]

 R_gt:
[[ 0.99327753 -0.024753   -0.11308644]
 [ 0.02189515  0.99941003 -0.02644873]
 [ 0.1136738   0.02379641  0.99323316]]

 t_gt:
[ 0.84253232  0.29756974 -0.44898946]

Pose Error in degrees for R and t:
177.0084947528607 48.95835908413801

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99846430e-01 -1.75036755e-02 -8.58958844e-04]
 [ 1.75047758e-02  9.99845947e-01  1.29054242e-03]
 [ 8.36237283e-04 -1.30538011e-03  9.99998798e-01]]

 t_estimated:
[[0.75192181]
 [0.65925126]
 [0.00117304]]

 R_gt:
[[ 0.98949525 -0.0684614  -0.12733319]
 [ 0.06699165  0.99762815 -0.01579512]
 [ 0.1281125   0.00709969  0.99173456]]

 t_gt:
[ 0.95011298  0.18346417 -0.25224239]

Pose Error in degrees for R and t:
7.881207982655536 33.37752181918842

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.54107858 -0.8379446  -0.07129387]
 [ 0.8408629  -0.54042653 -0.0298119 ]
 [-0.01354837 -0.07607895  0.99700975]]

 t_estimated:
[[0.99355912]
 [0.11217603]
 [0.01602515]]

 R_gt:
[[ 0.99358885  0.10312749 -0.04632607]
 [-0.10309077  0.99466655  0.00317314]
 [ 0.04640616  0.00162319  0.99892126]]

 t_gt:
[-0.11600007  0.94067429 -0.31886652]

Pose Error in degrees for R and t:
128.6771956754681 89.1496018277294

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.30644232 -0.95183117  0.01051333]
 [-0.94620034  0.30338661 -0.11252327]
 [ 0.10391355 -0.0444296  -0.99359347]]

 t_estimated:
[[ 0.90996232]
 [ 0.41403693]
 [-0.0232808 ]]

 R_gt:
[[ 0.99093771  0.13322179  0.01715786]
 [-0.13199922  0.98947822 -0.0592428 ]
 [-0.02486947  0.05644148  0.99809663]]

 t_gt:
[-0.07775622  0.95305891 -0.29263063]

Pose Error in degrees for R and t:
176.08187159143097 70.69121922429714

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999917e-01 -2.13716652e-04 -3.46559642e-04]
 [ 2.13717484e-04  9.99999977e-01  2.36363738e-06]
 [ 3.46559129e-04 -2.43770304e-06  9.99999940e-01]]

 t_estimated:
[[-0.78219068]
 [-0.62303692]
 [-0.001657  ]]

 R_gt:
[[ 0.98960712  0.13529515  0.04870116]
 [-0.12764714  0.98249889 -0.13564881]
 [-0.06620144  0.12802397  0.98955893]]

 t_gt:
[ 0.10978416  0.91824544 -0.38049016]

Pose Error in degrees for R and t:
11.250356162496235 48.90249140198931

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.99935798e-01 -1.13298521e-02 -1.85339017e-04]
 [ 1.13298518e-02  9.99935815e-01 -2.72184386e-06]
 [ 1.85357959e-04  6.21805521e-07  9.99999983e-01]]

 t_estimated:
[[-9.98812299e-01]
 [-4.87181200e-02]
 [-7.32240125e-04]]

 R_gt:
[[ 0.99278791  0.11813249 -0.02043998]
 [-0.11799471  0.9929834   0.00782577]
 [ 0.02122021 -0.00535733  0.99976057]]

 t_gt:
[-0.69945523  0.71336311 -0.04330666]

Pose Error in degrees for R and t:
7.533489438111276 48.4018181306513

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.02583409e-01 -4.30514983e-01  1.99876636e-04]
 [ 4.30515028e-01  9.02583284e-01 -4.74430781e-04]
 [ 2.38442486e-05  5.14263247e-04  9.99999867e-01]]

 t_estimated:
[[-0.30447696]
 [-0.95251914]
 [-0.00102864]]

 R_gt:
[[ 0.99555348  0.08315983  0.04424742]
 [-0.08548308  0.99490217  0.05350176]
 [-0.03957345 -0.05704524  0.99758691]]

 t_gt:
[-0.68855515  0.48627264  0.53798766]

Pose Error in degrees for R and t:
30.59973399416199 75.28043606905793

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.70586894  0.7083409   0.00148874]
 [ 0.70833418 -0.70586929  0.00335084]
 [ 0.0034244  -0.00131073 -0.99999328]]

 t_estimated:
[[0.55448342]
 [0.83219424]
 [0.00093821]]

 R_gt:
[[ 0.99705139  0.03149846  0.06996897]
 [-0.04053012  0.99046631  0.13166133]
 [-0.06515468 -0.13410869  0.9888224 ]]

 t_gt:
[-0.39327313  0.17306666  0.90298626]

Pose Error in degrees for R and t:
174.28731371866573 85.80270234997732

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99992699e-01  3.82031280e-03  8.13478326e-05]
 [-3.82031769e-03  9.99992701e-01  6.00571258e-05]
 [-8.11178019e-05 -6.03674619e-05  9.99999995e-01]]

 t_estimated:
[[9.33387347e-01]
 [3.58869841e-01]
 [7.06102180e-04]]

 R_gt:
[[ 0.99812166 -0.05774379 -0.02051139]
 [ 0.05766526  0.99832618 -0.00437821]
 [ 0.02072906  0.00318755  0.99978097]]

 t_gt:
[ 0.85692197 -0.45524467 -0.24173753]

Pose Error in degrees for R and t:
3.727294943653569 50.48383869697559

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999911e-01 -2.63436709e-04  3.29169004e-04]
 [ 2.63534659e-04  9.99999921e-01 -2.97559102e-04]
 [-3.29090590e-04  2.97645823e-04  9.99999902e-01]]

 t_estimated:
[[0.48134734]
 [0.87652931]
 [0.00105096]]

 R_gt:
[[ 9.91266184e-01 -1.25268531e-01 -4.12361583e-02]
 [ 1.25365422e-01  9.92110476e-01 -2.26570389e-04]
 [ 4.09386696e-02 -4.94341877e-03  9.99149596e-01]]

 t_gt:
[ 0.86112471 -0.47583934 -0.17900043]

Pose Error in degrees for R and t:
7.571245585844478 89.84099503613999

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.79367390e-01  2.02087759e-01  2.30387715e-04]
 [-2.02087753e-01  9.79367417e-01 -4.85704788e-05]
 [-2.35449721e-04  1.00980743e-06  9.99999972e-01]]

 t_estimated:
[[7.82075844e-01]
 [6.23182827e-01]
 [7.33664092e-04]]

 R_gt:
[[ 0.98786263 -0.15193308 -0.03232212]
 [ 0.15169671  0.98837997 -0.00963794]
 [ 0.03341155  0.00461822  0.99943138]]

 t_gt:
[ 0.85771428 -0.4936732  -0.14357224]

Pose Error in degrees for R and t:
20.485282404016704 68.71276627945386

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.80471751e-01 -1.96659869e-01 -2.02471645e-04]
 [ 1.96659925e-01  9.80471713e-01  3.05805484e-04]
 [ 1.38378054e-04 -3.39651697e-04  9.99999933e-01]]

 t_estimated:
[[0.71473829]
 [0.69939115]
 [0.00109622]]

 R_gt:
[[ 0.99766501 -0.00754777 -0.06789087]
 [ 0.00245825  0.99720054 -0.0747458 ]
 [ 0.06826474  0.07440343  0.99488824]]

 t_gt:
[ 0.24615557  0.19677108 -0.94904614]

Pose Error in degrees for R and t:
12.4803561906341 71.78905448626288

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-7.55162305e-01 -6.55537861e-01  7.28034636e-05]
 [-6.55524707e-01  7.55147846e-01  6.25223651e-03]
 [-4.15355513e-03  4.67372886e-03 -9.99980452e-01]]

 t_estimated:
[[0.97815481]
 [0.20787384]
 [0.0012753 ]]

 R_gt:
[[ 0.99279119 -0.00623338 -0.11970385]
 [-0.00461717  0.99591808 -0.09015395]
 [ 0.11977678  0.09005662  0.98870773]]

 t_gt:
[ 0.2783163   0.22408805 -0.93398318]

Pose Error in degrees for R and t:
171.86556496031918 71.48050168024547

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 3.30658765e-02  9.99443710e-01  4.34947336e-03]
 [ 9.99453041e-01 -3.30633131e-02 -6.59974000e-04]
 [-5.15798864e-04  4.36891700e-03 -9.99990323e-01]]

 t_estimated:
[[-0.71863709]
 [-0.69538493]
 [-0.00072663]]

 R_gt:
[[ 0.98721884  0.05110429 -0.15095915]
 [-0.06940562  0.99051752 -0.11857375]
 [ 0.14346845  0.12753544  0.98140267]]

 t_gt:
[ 0.08320773  0.52379697 -0.84776955]

Pose Error in degrees for R and t:
179.38998543924794 64.9492623567503

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.90673862 -0.42166078 -0.00522128]
 [ 0.42167794  0.90674152  0.00274533]
 [ 0.00357676 -0.00469099  0.9999826 ]]

 t_estimated:
[[ 9.84427724e-01]
 [-1.75788083e-01]
 [-7.78734445e-04]]

 R_gt:
[[ 0.99552848  0.0944017   0.00303933]
 [-0.09437352  0.9955018  -0.00837611]
 [-0.00381624  0.00805211  0.9999603 ]]

 t_gt:
[-0.95176856  0.29389067 -0.08811853]

Pose Error in degrees for R and t:
30.367631390708265 8.682053331141855

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.56300706 -0.82644768 -0.00269812]
 [ 0.82645059 -0.56299684 -0.0037394 ]
 [ 0.00157138 -0.00433517  0.99998937]]

 t_estimated:
[[9.78686978e-01]
 [2.05356316e-01]
 [7.63406379e-04]]

 R_gt:
[[ 0.97576778  0.21868667  0.00728462]
 [-0.21873343  0.97576324  0.00649855]
 [-0.00568637 -0.00793406  0.99995168]]

 t_gt:
[-0.92791239  0.36898514  0.0531842 ]

Pose Error in degrees for R and t:
136.8989153845704 33.66201898974511

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.93464524e-01 -1.14133034e-01 -1.37489724e-03]
 [ 1.14137148e-01  9.93459106e-01  3.42279364e-03]
 [ 9.75250365e-04 -3.55735091e-03  9.99993197e-01]]

 t_estimated:
[[-9.98619949e-01]
 [-5.25104586e-02]
 [-9.21236116e-04]]

 R_gt:
[[ 0.92701046  0.37451608  0.01967618]
 [-0.37480249  0.92700407  0.0136496 ]
 [-0.01312696 -0.02002771  0.99971331]]

 t_gt:
[-0.86529825  0.49652635  0.068706  ]

Pose Error in degrees for R and t:
28.588760323031675 33.07383907718031

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.99977142e-01  6.76059438e-03  9.46529724e-05]
 [-6.76058726e-03  9.99977144e-01 -7.52665995e-05]
 [-9.51596559e-05  7.46249694e-05  9.99999993e-01]]

 t_estimated:
[[ 0.6703294 ]
 [-0.74206294]
 [-0.00104388]]

 R_gt:
[[ 0.99719497 -0.07451278 -0.00715355]
 [ 0.07428799  0.99685027 -0.02776953]
 [ 0.00919976  0.0271599   0.99958806]]

 t_gt:
[ 0.36395675 -0.84105794 -0.40019623]

Pose Error in degrees for R and t:
4.935523604444724 29.71444285435303

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.99999894e-01 -8.07808475e-05  4.52712547e-04]
 [ 8.09949187e-05  9.99999885e-01 -4.72865080e-04]
 [-4.52674297e-04  4.72901697e-04  9.99999786e-01]]

 t_estimated:
[[8.13826545e-01]
 [5.81107556e-01]
 [6.02824944e-04]]

 R_gt:
[[ 0.98268912 -0.18140027 -0.0376396 ]
 [ 0.18100871  0.98338769 -0.01359188]
 [ 0.03947986  0.00654358  0.99919846]]

 t_gt:
[ 0.53131836 -0.82021312 -0.21201706]

Pose Error in degrees for R and t:
10.691793336232877 87.45758999635511

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999893e-01 -3.22177097e-04 -3.31296047e-04]
 [ 3.22250300e-04  9.99999924e-01  2.20928984e-04]
 [ 3.31224844e-04 -2.21035721e-04  9.99999921e-01]]

 t_estimated:
[[9.99955848e-01]
 [9.39521209e-03]
 [1.79126590e-04]]

 R_gt:
[[ 0.94418655 -0.32212265 -0.06890983]
 [ 0.32051369  0.94664897 -0.03356881]
 [ 0.07604668  0.00960886  0.99705735]]

 t_gt:
[ 0.66456227 -0.71640907 -0.212403  ]

Pose Error in degrees for R and t:
19.25346592955452 48.870430286743044

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.11364273  0.99351935  0.00215285]
 [-0.99351944  0.11364681 -0.00187722]
 [-0.00210972 -0.00192557  0.99999592]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.99666597  0.03246795 -0.07484891]
 [-0.03997699  0.99407181 -0.10110691]
 [ 0.07112252  0.10376264  0.99205583]]

 t_gt:
[-0.09209531  0.38422823 -0.91863329]

Pose Error in degrees for R and t:
81.66437172878756 67.58099162533246

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 8.64370703e-01 -5.02854671e-01 -6.83761101e-04]
 [ 5.02854920e-01  8.64370793e-01  2.48229566e-04]
 [ 4.66199728e-04 -5.58394998e-04  9.99999735e-01]]

 t_estimated:
[[-0.20773816]
 [-0.97818375]
 [-0.00118433]]

 R_gt:
[[ 0.9932005   0.0219972  -0.11431977]
 [-0.04193599  0.98366355 -0.17506594]
 [ 0.10860064  0.17867092  0.97789752]]

 t_gt:
[ 0.02401091  0.33633617 -0.94143585]

Pose Error in degrees for R and t:
34.18388955913874 70.55683788273207

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.45945196e-01 -3.24326414e-01 -2.49836362e-04]
 [ 3.24326510e-01  9.45944937e-01  7.00716118e-04]
 [ 9.07069563e-06 -7.43867601e-04  9.99999723e-01]]

 t_estimated:
[[-9.58459084e-01]
 [-2.85229083e-01]
 [-7.44723453e-04]]

 R_gt:
[[ 0.98202793  0.06679886 -0.17651982]
 [-0.11022118  0.96219177 -0.24907652]
 [ 0.15320677  0.26405676  0.95226131]]

 t_gt:
[-0.04021305  0.44832329 -0.89296648]

Pose Error in degrees for R and t:
29.90834136061851 84.91305978730325

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99653155e-01  2.63355618e-02  8.66586390e-05]
 [-2.63355787e-02  9.99653139e-01  1.99704474e-04]
 [-8.13692509e-05 -2.01917413e-04  9.99999976e-01]]

 t_estimated:
[[-0.88102048]
 [ 0.47304268]
 [ 0.00579115]]

 R_gt:
[[ 0.99850882  0.04583413  0.02966222]
 [-0.0451636   0.99871685 -0.02289929]
 [-0.03067508  0.02152501  0.99929746]]

 t_gt:
[-0.54073004  0.83855889  0.06655834]

Pose Error in degrees for R and t:
2.4154624877313675 29.13748833224245

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.01496488 -0.99988479 -0.00254321]
 [ 0.99988315  0.0149727  -0.00308212]
 [ 0.00311985 -0.00249679  0.99999202]]

 t_estimated:
[[ 9.88888646e-01]
 [-1.48656444e-01]
 [-7.12816560e-04]]

 R_gt:
[[ 0.99221345  0.12357564  0.01555468]
 [-0.12368332  0.99230321  0.00612333]
 [-0.01467842 -0.00800023  0.99985971]]

 t_gt:
[-0.57603314  0.80904331  0.11676791]

Pose Error in degrees for R and t:
96.25066975080759 46.37104966484554

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 5.85180615e-01 -8.10900636e-01 -1.95098898e-03]
 [ 8.10901552e-01  5.85182409e-01 -4.71251329e-04]
 [ 1.52382243e-03 -1.30629285e-03  9.99997986e-01]]

 t_estimated:
[[ 7.74936046e-01]
 [-6.32039289e-01]
 [-6.79005378e-04]]

 R_gt:
[[ 9.79604042e-01  2.00934751e-01  9.64325080e-04]
 [-2.00931845e-01  9.79529532e-01  1.21485881e-02]
 [ 1.49632735e-03 -1.20952155e-02  9.99925097e-01]]

 t_gt:
[-0.60720256  0.79090359  0.07600374]

Pose Error in degrees for R and t:
65.77920077132673 13.957027548613837

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99999984e-01  1.59199164e-04 -7.62209876e-05]
 [-1.59188663e-04  9.99999978e-01  1.37753702e-04]
 [ 7.62429162e-05 -1.37741567e-04  9.99999988e-01]]

 t_estimated:
[[-9.73148809e-01]
 [-2.30175250e-01]
 [-8.66178542e-04]]

 R_gt:
[[ 0.99370335  0.10663403 -0.03439889]
 [-0.10595633  0.99415005  0.02098893]
 [ 0.03643538 -0.01721143  0.99918772]]

 t_gt:
[-0.37374172  0.92738526  0.0165438 ]

Pose Error in degrees for R and t:
6.514695616093564 81.35969536357248

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999999e-01 -4.46328208e-05  5.25212458e-06]
 [ 4.46328638e-05  9.99999999e-01 -8.19067292e-06]
 [-5.25175900e-06  8.19090733e-06  1.00000000e+00]]

 t_estimated:
[[-0.99999432]
 [-0.00319066]
 [-0.00108343]]

 R_gt:
[[ 0.9758957   0.19937748 -0.0887457 ]
 [-0.19377614  0.97869426  0.06788384]
 [ 0.10038897 -0.04905045  0.99373846]]

 t_gt:
[-0.17844624  0.98394791 -0.00185803]

Pose Error in degrees for R and t:
13.054802788821359 79.90342904006798

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999962e-01  2.59791796e-04 -9.73224664e-05]
 [-2.59783186e-04  9.99999962e-01  8.84728191e-05]
 [ 9.73454473e-05 -8.84475330e-05  9.99999991e-01]]

 t_estimated:
[[-9.99985182e-01]
 [-5.36972597e-03]
 [-8.94989891e-04]]

 R_gt:
[[ 0.95141467  0.29340701 -0.09339741]
 [-0.28686592  0.95483928  0.07739677]
 [ 0.11188802 -0.04684408  0.99261672]]

 t_gt:
[-0.15580393  0.98261421 -0.10096752]

Pose Error in degrees for R and t:
18.281619742366573 81.33739575054128

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 1.00000000e+00  4.23185284e-07  5.34592994e-08]
 [-4.23185280e-07  1.00000000e+00 -7.80229718e-08]
 [-5.34593324e-08  7.80229492e-08  1.00000000e+00]]

 t_estimated:
[[9.99998613e-01]
 [1.65279213e-03]
 [2.06598587e-04]]

 R_gt:
[[ 0.9872842  -0.1587334   0.00858681]
 [ 0.15876739  0.98730987 -0.00344853]
 [-0.00792962  0.00476849  0.99995768]]

 t_gt:
[ 0.74315364 -0.669069   -0.00832667]

Pose Error in degrees for R and t:
9.14985884353468 42.09408418651443

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.94236434e-01 -1.07202382e-01  1.25015385e-03]
 [ 1.07205215e-01  9.94233829e-01 -2.47675893e-03]
 [-9.77430795e-04  2.59650698e-03  9.99996151e-01]]

 t_estimated:
[[-0.02115914]
 [-0.99976667]
 [-0.0043469 ]]

 R_gt:
[[ 0.95387807 -0.29922248  0.02414755]
 [ 0.29854441  0.95398309  0.02805264]
 [-0.03143019 -0.01954903  0.99931545]]

 t_gt:
[ 0.75903407 -0.6461957   0.07936245]

Pose Error in degrees for R and t:
11.449838615499887 50.976473807032775

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-7.65551448e-01  6.43374026e-01  9.18029627e-04]
 [-6.43374539e-01 -7.65549552e-01 -1.75676649e-03]
 [-4.27460759e-04 -1.93553202e-03  9.99998035e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.90466796 -0.41867784  0.07928376]
 [ 0.4137771   0.90758106  0.07130607]
 [-0.10181083 -0.03170297  0.994299  ]]

 t_gt:
[ 0.77480908 -0.60663016  0.17796273]

Pose Error in degrees for R and t:
164.64407456432477 52.9573294338907

Number of keypoints:
Image1: 433
Image2: 433

 R_estimated:
[[ 0.64320548  0.76569242 -0.00135042]
 [ 0.76567464 -0.64317613  0.00817396]
 [ 0.00539018 -0.00629152 -0.99996568]]

 t_estimated:
[[-0.58906303]
 [-0.80808647]
 [-0.00100011]]

 R_gt:
[[ 0.99542965  0.09418789  0.0158208 ]
 [-0.09471241  0.99483421  0.03653036]
 [-0.01229879 -0.03786179  0.99920705]]

 t_gt:
[-0.93151935  0.16944197  0.32180914]

Pose Error in degrees for R and t:
177.94310031577908 65.70228527777331

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[-3.04810881e-01  9.52410381e-01  2.18907928e-03]
 [-9.52412897e-01 -3.04809996e-01 -7.35413300e-04]
 [-3.31620165e-05 -2.30906931e-03  9.99997334e-01]]

 t_estimated:
[[0.08485757]
 [0.99639215]
 [0.00136867]]

 R_gt:
[[ 9.77725296e-01  2.09870349e-01  2.96164211e-03]
 [-2.09889376e-01  9.77558860e-01  1.80777397e-02]
 [ 8.98072845e-04 -1.82966696e-02  9.99831760e-01]]

 t_gt:
[-0.87261621  0.48745946  0.03040118]

Pose Error in degrees for R and t:
95.63387183312452 65.68868765244565

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[-5.26166514e-01  8.50379522e-01 -1.86225835e-03]
 [-8.50378246e-01 -5.26169316e-01 -1.64023009e-03]
 [-2.37468129e-03  7.20589843e-04  9.99996921e-01]]

 t_estimated:
[[0.36249889]
 [0.93198356]
 [0.00109516]]

 R_gt:
[[ 0.95620083  0.28968382  0.04199874]
 [-0.29214636  0.95340175  0.0753444 ]
 [-0.01821643 -0.08431463  0.99627255]]

 t_gt:
[-0.84515567  0.49685874  0.197087  ]

Pose Error in degrees for R and t:
104.89050587143281 80.97229597952787

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.48388187e-01  5.29374425e-01  4.51146908e-04]
 [-5.29374208e-01  8.48388282e-01 -5.20461808e-04]
 [-6.58266921e-04  2.02728112e-04  9.99999763e-01]]

 t_estimated:
[[0.28683659]
 [0.95797851]
 [0.00139241]]

 R_gt:
[[ 0.9927871  -0.07728907 -0.09165546]
 [ 0.07304539  0.99613522 -0.04877769]
 [ 0.09507055  0.0417308   0.99459574]]

 t_gt:
[ 0.70320438 -0.27955195 -0.65372342]

Pose Error in degrees for R and t:
36.7589581823772 86.15771534052001

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-2.02360166e-01  9.79311088e-01  3.94099942e-04]
 [-9.79308839e-01 -2.02358791e-01 -2.26200072e-03]
 [-2.13545280e-03 -8.43684398e-04  9.99997364e-01]]

 t_estimated:
[[0.56159253]
 [0.827413  ]
 [0.00124798]]

 R_gt:
[[ 0.97729844 -0.19868687 -0.07357219]
 [ 0.19272332  0.97791578 -0.08086427]
 [ 0.08801374  0.06484879  0.99400583]]

 t_gt:
[ 0.80170367 -0.43731422 -0.40746472]

Pose Error in degrees for R and t:
113.1118147908189 84.95818103749956

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.93470412 -0.35539194  0.00497783]
 [ 0.35540382  0.93471127 -0.00171996]
 [-0.00404157  0.00337679  0.99998613]]

 t_estimated:
[[0.69326802]
 [0.72067895]
 [0.00114212]]

 R_gt:
[[ 0.9372264  -0.34192147 -0.06853177]
 [ 0.33675247  0.93845482 -0.07680764]
 [ 0.09057591  0.04890853  0.99468849]]

 t_gt:
[ 0.83538345 -0.49201456 -0.24506358]

Pose Error in degrees for R and t:
6.099518607748454 77.039444844407

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.95269341e-01 -9.71540023e-02 -1.96893308e-04]
 [ 9.71540159e-02  9.95269357e-01  6.07880379e-05]
 [ 1.90056074e-04 -7.96294459e-05  9.99999979e-01]]

 t_estimated:
[[-0.34769978]
 [-0.9376053 ]
 [-0.00107647]]

 R_gt:
[[ 0.99365443  0.10752414 -0.03301528]
 [-0.10741932  0.99420127  0.00492664]
 [ 0.03335301 -0.00134917  0.99944221]]

 t_gt:
[-0.843771    0.50109057 -0.19224656]

Pose Error in degrees for R and t:
11.899069386552735 79.84921824204093

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[ 9.99886239e-01  1.50822905e-02 -1.80530219e-04]
 [-1.50822925e-02  9.99886256e-01 -9.42882239e-06]
 [ 1.80367476e-04  1.21505593e-05  9.99999984e-01]]

 t_estimated:
[[-9.96315916e-01]
 [-8.57539801e-02]
 [-9.22526235e-04]]

 R_gt:
[[ 0.97830566  0.20680109  0.01229501]
 [-0.20701808  0.97812669  0.02029226]
 [-0.00783045 -0.02239672  0.9997181 ]]

 t_gt:
[-0.83997371  0.5394051   0.05904493]

Pose Error in degrees for R and t:
11.162353613399219 37.761322783921536

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-9.58596541e-01 -2.84767527e-01  3.57058032e-04]
 [-2.84766507e-01  9.58595306e-01  1.75384171e-03]
 [-8.41711320e-04  1.57954843e-03 -9.99998398e-01]]

 t_estimated:
[[0.9998497 ]
 [0.01726585]
 [0.00156962]]

 R_gt:
[[ 0.94671519  0.3217056  -0.01534935]
 [-0.32026598  0.94537864  0.06074119]
 [ 0.03405167 -0.05258822  0.99803534]]

 t_gt:
[-0.80936     0.58640337  0.03267225]

Pose Error in degrees for R and t:
179.07094406758043 36.95934631773033

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99374963e-01 -3.53491117e-02 -3.50431204e-04]
 [ 3.53492287e-02  9.99374965e-01  3.33649980e-04]
 [ 3.38417942e-04 -3.45828909e-04  9.99999883e-01]]

 t_estimated:
[[-9.83068553e-01]
 [ 1.83237635e-01]
 [ 4.35894947e-04]]

 R_gt:
[[ 0.99279941  0.11660986 -0.02741744]
 [-0.11643245  0.9931662   0.00796711]
 [ 0.02815924 -0.00471716  0.99959235]]

 t_gt:
[-0.66937521  0.73980489 -0.06801144]

Pose Error in degrees for R and t:
8.866164201277538 37.479398853254224

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-9.74681151e-01  2.23572515e-01 -3.46178730e-03]
 [-2.23572063e-01 -9.74687263e-01 -5.21823335e-04]
 [-3.49082535e-03  2.65347562e-04  9.99993872e-01]]

 t_estimated:
[[0.60147253]
 [0.7988924 ]
 [0.00131613]]

 R_gt:
[[ 0.99270706  0.12030231  0.00767817]
 [-0.12053371  0.99151471  0.04868558]
 [-0.00175478 -0.04925525  0.99878479]]

 t_gt:
[-0.71259943  0.63013993  0.30842459]

Pose Error in degrees for R and t:
160.17161014802056 85.68665720134518

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.92628918 -0.37680387 -0.0026841 ]
 [ 0.37681123  0.9262846   0.00318284]
 [ 0.00128693 -0.00395962  0.99999133]]

 t_estimated:
[[0.50557815]
 [0.86278011]
 [0.00109908]]

 R_gt:
[[ 0.99607826  0.07013553  0.05392847]
 [-0.07647693  0.98904224  0.12628088]
 [-0.04448031 -0.12990894  0.99052716]]

 t_gt:
[-0.52387672  0.32774439  0.78621676]

Pose Error in degrees for R and t:
27.452957040828018 88.92421817274925

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999971e-01 -1.90939289e-04  1.45192608e-04]
 [ 1.90981931e-04  9.99999939e-01 -2.93734386e-04]
 [-1.45136513e-04  2.93762107e-04  9.99999946e-01]]

 t_estimated:
[[9.29237563e-01]
 [3.69482508e-01]
 [4.76967598e-04]]

 R_gt:
[[ 0.99552235 -0.08777414 -0.03506775]
 [ 0.08767826  0.9961395  -0.00427563]
 [ 0.03530702  0.00118237  0.99937565]]

 t_gt:
[ 0.81677964 -0.51863585 -0.25276052]

Pose Error in degrees for R and t:
5.418742636857893 55.442369588497655

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 1.00000000e+00  7.99360578e-14 -6.91829406e-16]
 [-7.98805466e-14  1.00000000e+00 -1.71087103e-16]
 [ 9.50411624e-16 -5.76145034e-16  1.00000000e+00]]

 t_estimated:
[[ 9.46638975e-01]
 [ 3.22294874e-01]
 [-8.14969186e-04]]

 R_gt:
[[ 9.92698863e-01 -1.13854804e-01 -3.98041042e-02]
 [ 1.13774620e-01  9.93497031e-01 -4.30394048e-03]
 [ 4.00345936e-02 -2.55939707e-04  9.99198383e-01]]

 t_gt:
[ 0.84973455 -0.48210922 -0.21335859]

Pose Error in degrees for R and t:
6.9286530515456235 49.51986302545762

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 4.49871027e-01  8.93090313e-01  2.39810581e-03]
 [ 8.93093528e-01 -4.49869680e-01 -1.10489992e-03]
 [ 9.20596751e-05  2.63879524e-03 -9.99996514e-01]]

 t_estimated:
[[9.96232706e-01]
 [8.67146173e-02]
 [9.85393379e-04]]

 R_gt:
[[ 0.97689158 -0.20595052 -0.05714101]
 [ 0.20488719  0.97849227 -0.02395144]
 [ 0.06084381  0.01169114  0.99807913]]

 t_gt:
[ 0.82666655 -0.52331157 -0.20680284]

Pose Error in degrees for R and t:
179.22607044359196 38.92494177765626

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.00000000e+00 -2.95816772e-06 -1.88042352e-07]
 [ 2.95816772e-06  1.00000000e+00  5.07250466e-09]
 [ 1.88042337e-07 -5.07306093e-09  1.00000000e+00]]

 t_estimated:
[[-0.96059948]
 [ 0.27793463]
 [-0.00098601]]

 R_gt:
[[ 0.99244851  0.09700248 -0.07507128]
 [-0.09445067  0.99484799  0.03683241]
 [ 0.07825632 -0.02946366  0.99649732]]

 t_gt:
[ 0.09054852  0.93034405 -0.3553321 ]

Pose Error in degrees for R and t:
7.299007748808545 80.09911418017212

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999993e-01  1.19350671e-04 -2.69303686e-05]
 [-1.19350743e-04  9.99999993e-01 -2.67376239e-06]
 [ 2.69300493e-05  2.67697653e-06  1.00000000e+00]]

 t_estimated:
[[-0.93454014]
 [-0.35585584]
 [-0.00116239]]

 R_gt:
[[ 0.98638192  0.16084923 -0.03430812]
 [-0.16061716  0.9869726   0.00943103]
 [ 0.0353783  -0.00379199  0.99936706]]

 t_gt:
[-0.05670186  0.97227747 -0.2268511 ]

Pose Error in degrees for R and t:
9.466864483668093 72.97812687610441

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99999999e-01  4.80381176e-05 -3.01939392e-07]
 [-4.80381177e-05  9.99999999e-01 -2.35273615e-07]
 [ 3.01928090e-07  2.35288120e-07  1.00000000e+00]]

 t_estimated:
[[ 0.06356938]
 [-0.99795731]
 [ 0.00633555]]

 R_gt:
[[ 0.98418478  0.17597587  0.02028228]
 [-0.17353003  0.98078091 -0.08919946]
 [-0.03559013  0.08426909  0.99580663]]

 t_gt:
[ 0.03530833  0.95401904 -0.29765918]

Pose Error in degrees for R and t:
11.364175708895807 17.878142593375784

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 3.96803026e-01 -9.17902876e-01 -1.29167930e-03]
 [ 9.17903778e-01  3.96802462e-01  6.78034118e-04]
 [-1.09827939e-04 -1.45468330e-03  9.99998936e-01]]

 t_estimated:
[[0.99988188]
 [0.01533561]
 [0.00102237]]

 R_gt:
[[ 0.98955263 -0.14342886 -0.01461645]
 [ 0.14365627  0.98949818  0.01598918]
 [ 0.01217005 -0.01792067  0.99976522]]

 t_gt:
[ 0.60741099 -0.79392266  0.02717916]

Pose Error in degrees for R and t:
58.37793336753514 53.47369818972518

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.41578971 -0.90925534 -0.01932988]
 [ 0.90906974 -0.41614026  0.02048178]
 [-0.0266671  -0.00905609  0.99960335]]

 t_estimated:
[[0.99537121]
 [0.09479726]
 [0.01579954]]

 R_gt:
[[ 0.95647136 -0.28748568 -0.05015717]
 [ 0.2867662   0.9577669  -0.02113716]
 [ 0.05411541  0.00583447  0.99851734]]

 t_gt:
[ 0.72695165 -0.66441669 -0.17346976]

Pose Error in degrees for R and t:
97.96123087584124 48.86304647272055

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.31597187e-01  3.63492247e-01  2.59490560e-04]
 [-3.63491322e-01  9.31596032e-01 -1.70085474e-03]
 [-8.59987886e-04  1.49018892e-03  9.99998520e-01]]

 t_estimated:
[[9.77404375e-01]
 [2.11376379e-01]
 [8.45505514e-04]]

 R_gt:
[[ 0.91991303 -0.38791271 -0.05731029]
 [ 0.3848029   0.92115453 -0.05830884]
 [ 0.07541026  0.0315865   0.99665215]]

 t_gt:
[ 0.7630086  -0.60350976 -0.23150344]

Pose Error in degrees for R and t:
44.31688708748435 51.829441576655334

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.88437386e-01  1.51628550e-01  5.62313196e-04]
 [-1.51629382e-01  9.88435402e-01  1.99654201e-03]
 [-2.53077499e-04 -2.05871997e-03  9.99997849e-01]]

 t_estimated:
[[-0.25573877]
 [ 0.96670663]
 [ 0.00871601]]

 R_gt:
[[ 0.99845929  0.05268315  0.01743568]
 [-0.05224152  0.9983248  -0.02483549]
 [-0.01871519  0.02388676  0.99953975]]

 t_gt:
[-0.8705103   0.32209291 -0.37211286]

Pose Error in degrees for R and t:
5.996361367428878 57.94390799109427

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.53618249e-01  3.01018551e-01 -2.59957369e-04]
 [-3.01018566e-01  9.53618279e-01 -2.13194343e-05]
 [ 2.41482553e-04  9.85825960e-05  9.99999966e-01]]

 t_estimated:
[[-0.88883527]
 [ 0.45822551]
 [-0.00111324]]

 R_gt:
[[ 0.97671763  0.21421156  0.01167902]
 [-0.21436331  0.9766548   0.01389414]
 [-0.00842957 -0.01607312  0.9998355 ]]

 t_gt:
[-0.91369686  0.39326923  0.10245664]

Pose Error in degrees for R and t:
5.2502265918352995 7.1526537087619255

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-1.61542084e-01  9.86865718e-01  4.58475471e-04]
 [ 9.86861139e-01  1.61539868e-01  3.15634526e-03]
 [ 3.04082687e-03  9.62334218e-04 -9.99994914e-01]]

 t_estimated:
[[-0.0967008 ]
 [-0.9953107 ]
 [-0.00235856]]

 R_gt:
[[ 0.93444078  0.35563603  0.01851787]
 [-0.35564158  0.93461731 -0.00310735]
 [-0.01841203 -0.00368115  0.9998238 ]]

 t_gt:
[-0.858746    0.51112395  0.03616084]

Pose Error in degrees for R and t:
179.31474298329886 64.80052517129842

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.98990939 -0.14169297  0.00158123]
 [-0.1416873  -0.98958684  0.02534949]
 [-0.00202708 -0.02531774 -0.9996774 ]]

 t_estimated:
[[0.06758437]
 [0.99763232]
 [0.01273177]]

 R_gt:
[[ 0.99869581  0.00297311 -0.0509626 ]
 [-0.00778317  0.99550046 -0.0944361 ]
 [ 0.05045307  0.09471054  0.99422621]]

 t_gt:
[ 0.02720283  0.29640798 -0.95467393]

Pose Error in degrees for R and t:
175.83354984231744 73.41783923370305

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.38852730e-01 -3.44318913e-01 -1.94623417e-04]
 [ 3.44318966e-01  9.38852627e-01  4.40053087e-04]
 [ 3.12041058e-05 -4.80157576e-04  9.99999884e-01]]

 t_estimated:
[[0.73842898]
 [0.67433055]
 [0.0009754 ]]

 R_gt:
[[ 0.99400968  0.03616378 -0.10312994]
 [-0.0533388   0.98417289 -0.16899294]
 [ 0.09538584  0.17348202  0.98020768]]

 t_gt:
[-0.06197957  0.41326285 -0.90850005]

Pose Error in degrees for R and t:
25.41289128306934 76.58384932333982

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 8.46300984e-01 -5.32705023e-01 -4.75744072e-05]
 [ 5.32705016e-01  8.46300949e-01  2.63716956e-04]
 [-1.00221081e-04 -2.48527045e-04  9.99999964e-01]]

 t_estimated:
[[0.54130324]
 [0.8408269 ]
 [0.00096746]]

 R_gt:
[[ 0.98473314  0.04809077 -0.16729334]
 [-0.08866237  0.96563686 -0.24430442]
 [ 0.14979517  0.25540869  0.95515919]]

 t_gt:
[-0.01346307  0.4299305  -0.9027616 ]

Pose Error in degrees for R and t:
39.96940515557967 69.30849541983919

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99630518e-01 -2.71663013e-02 -9.05614566e-04]
 [ 2.71671400e-02  9.99630475e-01  9.26974376e-04]
 [ 8.80097454e-04 -9.51234833e-04  9.99999160e-01]]

 t_estimated:
[[-0.92500102]
 [-0.37996196]
 [-0.00142308]]

 R_gt:
[[ 0.99894913  0.04087271 -0.02076709]
 [-0.04187532  0.99784725 -0.05046818]
 [ 0.01865877  0.05128483  0.99850995]]

 t_gt:
[-0.27125863  0.79996599 -0.53523188]

Pose Error in degrees for R and t:
5.042569581093625 87.003184225321

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99953090e-01 -9.68576262e-03  6.78207431e-05]
 [ 9.68576202e-03  9.99953092e-01  9.24335756e-06]
 [-6.79070907e-05 -8.58602837e-06  9.99999998e-01]]

 t_estimated:
[[0.92376004]
 [0.38297038]
 [0.00104112]]

 R_gt:
[[ 9.99898731e-01 -2.53262614e-04  1.42122203e-02]
 [ 6.35203156e-04  9.99639373e-01 -2.68570478e-02]
 [-1.42011820e-02  2.68631524e-02  9.99538514e-01]]

 t_gt:
[-0.08219708  0.98833724 -0.12819179]

Pose Error in degrees for R and t:
1.8183724073933745 72.39578284707251

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.54233572 -0.83860569 -0.05111235]
 [-0.8250589   0.52011676  0.22080843]
 [-0.15858682  0.161923   -0.97397698]]

 t_estimated:
[[9.73882288e-01]
 [2.27051555e-01]
 [9.38229565e-04]]

 R_gt:
[[ 0.99382807 -0.05435906  0.09670703]
 [ 0.04843207  0.99686194  0.06262261]
 [-0.099808   -0.05755196  0.99334035]]

 t_gt:
[ 0.16986868 -0.3133863   0.93430919]

Pose Error in degrees for R and t:
169.57323287533572 84.53982491497266

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.84885277e-01 -1.73207650e-01 -3.16705374e-04]
 [ 1.73207757e-01  9.84885248e-01  3.46879717e-04]
 [ 2.51836231e-04 -3.96492553e-04  9.99999890e-01]]

 t_estimated:
[[-0.56443578]
 [-0.82547653]
 [-0.00086437]]

 R_gt:
[[ 0.98338743  0.18147462  0.00410681]
 [-0.18143931  0.98201295  0.05225396]
 [ 0.00545021 -0.05212977  0.99862542]]

 t_gt:
[-0.87638108  0.38610734  0.28788422]

Pose Error in degrees for R and t:
20.650464734670486 79.88121730581065

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.89843843e-01 -1.42158245e-01 -4.46886963e-04]
 [ 1.42158462e-01  9.89843788e-01  4.97267178e-04]
 [ 3.71657655e-04 -5.55745618e-04  9.99999777e-01]]

 t_estimated:
[[-7.91412053e-01]
 [-6.11282618e-01]
 [-7.23411383e-04]]

 R_gt:
[[ 0.94692743  0.32113451  0.01422116]
 [-0.32144749  0.94613998  0.03861644]
 [-0.0010545  -0.04113757  0.99915334]]

 t_gt:
[-0.85781906  0.49307442  0.14499683]

Pose Error in degrees for R and t:
27.02093902272328 67.8287826057612

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-8.92050624e-01 -4.51934339e-01 -1.01824158e-03]
 [-4.51935439e-01  8.92047244e-01  2.46445081e-03]
 [-2.05450349e-04  2.65859434e-03 -9.99996445e-01]]

 t_estimated:
[[9.30015978e-01]
 [3.67518679e-01]
 [5.48569259e-04]]

 R_gt:
[[ 0.90599739  0.42160488  0.03766848]
 [-0.42325644  0.90336063  0.06922856]
 [-0.00484094 -0.07866457  0.99688921]]

 t_gt:
[-0.84431393  0.49746947  0.19914343]

Pose Error in degrees for R and t:
177.83310886762078 52.96614031135169

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 8.20632958e-01  5.71455600e-01  2.12633264e-04]
 [-5.71455303e-01  8.20632822e-01 -7.80489972e-04]
 [-6.20509200e-04  5.18985389e-04  9.99999673e-01]]

 t_estimated:
[[0.50788059]
 [0.86142678]
 [0.00109457]]

 R_gt:
[[ 0.98649014 -0.15241072  0.06007975]
 [ 0.1483999   0.9866981   0.06636481]
 [-0.06939435 -0.05655204  0.99598442]]

 t_gt:
[ 0.57861727 -0.68621284  0.4408106 ]

Pose Error in degrees for R and t:
43.80821042180935 72.73622693620017

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 2.43771939e-01  9.69799430e-01  8.01917863e-03]
 [ 9.69831775e-01 -2.43774084e-01 -7.23763003e-04]
 [ 1.25296298e-03  7.95368736e-03 -9.99967584e-01]]

 t_estimated:
[[0.81950626]
 [0.57306962]
 [0.00083538]]

 R_gt:
[[ 0.96038093 -0.26379809  0.08989078]
 [ 0.2559531   0.96249003  0.09000411]
 [-0.11026164 -0.06342851  0.99187582]]

 t_gt:
[ 0.65057475 -0.6547022   0.3848604 ]

Pose Error in degrees for R and t:
179.5812809176648 80.89282929394278

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 8.89766216e-01  4.56416176e-01 -5.95815754e-04]
 [-4.56415276e-01  8.89766048e-01  1.21462292e-03]
 [ 1.08451017e-03 -8.08791024e-04  9.99999085e-01]]

 t_estimated:
[[-0.99751241]
 [-0.07047549]
 [-0.00148233]]

 R_gt:
[[ 0.95010496 -0.30390681  0.07029491]
 [ 0.29717671  0.95036993  0.09210391]
 [-0.09479744 -0.06661774  0.99326449]]

 t_gt:
[ 0.70572352 -0.63408646  0.3160517 ]

Pose Error in degrees for R and t:
45.17373356228568 48.71927445500265

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 0.80592688  0.59167495  0.02006515]
 [ 0.59181529 -0.80431155 -0.05326909]
 [-0.01537935  0.05480585 -0.99837858]]

 t_estimated:
[[-0.27507547]
 [ 0.96095508]
 [-0.02998047]]

 R_gt:
[[ 0.99781014 -0.06399145 -0.01675505]
 [ 0.0646114   0.99712863  0.03948952]
 [ 0.01418044 -0.040486    0.99908004]]

 t_gt:
[ 0.88654932 -0.13078179  0.44376393]

Pose Error in degrees for R and t:
179.19178672888648 67.48981555756971

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.78888058e-01  2.04396900e-01  2.79498833e-04]
 [-2.04396951e-01  9.78888073e-01  1.66753754e-04]
 [-2.39514124e-04 -2.20361968e-04  9.99999947e-01]]

 t_estimated:
[[0.56191625]
 [0.82719354]
 [0.00098894]]

 R_gt:
[[ 0.99787684 -0.03363272 -0.05578314]
 [ 0.03604784  0.99843029  0.04286572]
 [ 0.05425411 -0.04478673  0.99752229]]

 t_gt:
[0.81476239 0.53938888 0.21265438]

Pose Error in degrees for R and t:
14.369663043779537 25.281897756508194

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.71481881 -0.69909628 -0.01727613]
 [ 0.69927219  0.71481822  0.00730251]
 [ 0.00724414 -0.01730069  0.99982409]]

 t_estimated:
[[-0.0061664 ]
 [-0.99996594]
 [ 0.00548526]]

 R_gt:
[[ 0.9933061  -0.04342411 -0.10704621]
 [ 0.04774014  0.99813305  0.03808953]
 [ 0.10519363 -0.04294473  0.99352378]]

 t_gt:
[ 0.88864737  0.4534945  -0.06818053]

Pose Error in degrees for R and t:
42.08767578023536 62.65593729506096

Number of keypoints:
Image1: 653
Image2: 653

 R_estimated:
[[ 9.99934931e-01 -1.14064371e-02 -1.62099242e-04]
 [ 1.14064545e-02  9.99934939e-01  1.07012491e-04]
 [ 1.60868064e-04 -1.08854505e-04  9.99999981e-01]]

 t_estimated:
[[-0.15298917]
 [-0.98822733]
 [-0.00103371]]

 R_gt:
[[ 0.99591745  0.08272415  0.03612039]
 [-0.08333197  0.99639843  0.01567439]
 [-0.03469344 -0.01862017  0.99922425]]

 t_gt:
[-0.91557895  0.23993747  0.32271535]

Pose Error in degrees for R and t:
5.8712215765073426 84.41210119865038

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[-6.34657131e-01 -7.72790255e-01 -2.35538031e-03]
 [ 7.72793165e-01 -6.34657667e-01 -6.08622385e-04]
 [-1.02452272e-03 -2.20648834e-03  9.99997041e-01]]

 t_estimated:
[[9.89511080e-01]
 [1.44454174e-01]
 [9.02838576e-04]]

 R_gt:
[[ 0.98382789  0.17908243  0.00337217]
 [-0.17908373  0.98314875  0.03671484]
 [ 0.00325965 -0.03672413  0.99931955]]

 t_gt:
[-0.92127463  0.36628016  0.13073597]

Pose Error in degrees for R and t:
139.71964606050773 30.84217825446123

Number of keypoints:
Image1: 397
Image2: 397

 R_estimated:
[[-9.24177104e-01 -3.81946400e-01  3.69166876e-03]
 [-3.81944585e-01  9.24184432e-01  1.21245454e-03]
 [-3.87487545e-03 -2.89490168e-04 -9.99992451e-01]]

 t_estimated:
[[0.9791781 ]
 [0.20297447]
 [0.00340825]]

 R_gt:
[[ 0.95949182  0.27683071  0.05234701]
 [-0.27827009  0.96024095  0.02242858]
 [-0.04405676 -0.03608667  0.9983768 ]]

 t_gt:
[-0.85405339  0.4993443   0.14576721]

Pose Error in degrees for R and t:
176.71766272717673 42.74181910292032

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.64866000e-01 -2.62740844e-01  9.22121503e-04]
 [ 2.62741626e-01  9.64865841e-01 -8.63969713e-04]
 [-6.62723409e-04  1.07589470e-03  9.99999202e-01]]

 t_estimated:
[[0.96178776]
 [0.2737936 ]
 [0.00117006]]

 R_gt:
[[ 0.99657962  0.06263455  0.05390797]
 [-0.06136093  0.99780358 -0.02497213]
 [-0.05535394  0.02157817  0.99823408]]

 t_gt:
[-0.45132077  0.79543633  0.40446336]

Pose Error in degrees for R and t:
19.082456013621183 77.5365848903385

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.92649081 -0.37629578 -0.00403341]
 [ 0.37630754  0.9264909   0.00269252]
 [ 0.00272373 -0.0040124   0.99998824]]

 t_estimated:
[[0.90830519]
 [0.41830351]
 [0.00196045]]

 R_gt:
[[ 0.98431876  0.15905835  0.07626149]
 [-0.15542174  0.98650454 -0.05150916]
 [-0.08342555  0.0388478   0.99575637]]

 t_gt:
[-0.49259693  0.8318948   0.25553728]

Pose Error in degrees for R and t:
31.65071077024784 84.3217010193695

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 8.53203093e-01 -5.21570842e-01  2.88787965e-03]
 [ 5.21572772e-01  8.53206794e-01  9.83385447e-05]
 [-2.51524905e-03  1.42233664e-03  9.99995825e-01]]

 t_estimated:
[[0.8168014 ]
 [0.57691555]
 [0.00198253]]

 R_gt:
[[ 0.98055081  0.15384961  0.12186737]
 [-0.14907706  0.9876885  -0.04741596]
 [-0.12766161  0.02832476  0.99141377]]

 t_gt:
[-0.46631615  0.74965087  0.46965181]

Pose Error in degrees for R and t:
40.82447138604607 86.98894373733438

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999938e-01 -7.32210103e-05 -3.45857547e-04]
 [ 7.33286986e-05  9.99999949e-01  3.11363522e-04]
 [ 3.45834731e-04 -3.11388864e-04  9.99999892e-01]]

 t_estimated:
[[9.99979128e-01]
 [6.38564346e-03]
 [9.83620562e-04]]

 R_gt:
[[ 0.99613494 -0.04927714  0.07271049]
 [ 0.05389816  0.99655462 -0.06303001]
 [-0.06935332  0.06670559  0.99535938]]

 t_gt:
[ 0.38823305  0.90981572 -0.1466644 ]

Pose Error in degrees for R and t:
6.2882830146260655 66.80320793237996

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999631e-01  8.58924599e-04  2.95535602e-07]
 [-8.58924648e-04  9.99999551e-01  4.00527932e-04]
 [ 4.84878242e-08 -4.00528038e-04  9.99999920e-01]]

 t_estimated:
[[0.89507692]
 [0.44590985]
 [0.00131075]]

 R_gt:
[[ 0.99500372 -0.07560859  0.06520491]
 [ 0.07661267  0.99697541 -0.0130311 ]
 [-0.06402144  0.01796203  0.99778715]]

 t_gt:
[0.69844951 0.57227937 0.42972621]

Pose Error in degrees for R and t:
5.839322290171279 28.247147750142247

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.99989527e-01 -4.52525660e-03 -6.84346119e-04]
 [ 4.52437467e-03  9.99988940e-01 -1.28481860e-03]
 [ 6.90152683e-04  1.28170891e-03  9.99998940e-01]]

 t_estimated:
[[0.9777846 ]
 [0.20960892]
 [0.001171  ]]

 R_gt:
[[ 0.99331925 -0.11049211  0.03328564]
 [ 0.11108854  0.99367085 -0.0166331 ]
 [-0.03123652  0.0202201   0.99930767]]

 t_gt:
[0.92272748 0.38225064 0.04958265]

Pose Error in degrees for R and t:
6.465194370539063 10.762423532688175

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-2.30974521e-01 -9.72946425e-01 -5.10143482e-03]
 [-9.72959688e-01  2.30973826e-01  7.33045134e-04]
 [ 4.65084273e-04  5.13280518e-03 -9.99986719e-01]]

 t_estimated:
[[8.75543275e-01]
 [4.83139612e-01]
 [2.96821186e-04]]

 R_gt:
[[ 0.99221921 -0.10848491  0.06110549]
 [ 0.10881956  0.99405936 -0.00216376]
 [-0.06050779  0.008797    0.99812888]]

 t_gt:
[ 0.59245881 -0.74309873  0.31112188]

Pose Error in degrees for R and t:
177.64765225860253 80.80498843759682

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.69944900e-01  2.43324295e-01  4.22303720e-04]
 [-2.43324163e-01  9.69944965e-01 -3.40736715e-04]
 [-4.92520888e-04  2.27739140e-04  9.99999853e-01]]

 t_estimated:
[[0.18986566]
 [0.98180923]
 [0.00129365]]

 R_gt:
[[ 0.97340138 -0.22073502  0.06138042]
 [ 0.22074753  0.975309    0.00666616]
 [-0.06133607  0.00706024  0.9980924 ]]

 t_gt:
[ 0.72517951 -0.67212372  0.14954731]

Pose Error in degrees for R and t:
27.072287677105084 58.532346883348325

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99038167e-01 -4.38490369e-02  5.70212475e-05]
 [ 4.38490358e-02  9.99038168e-01  1.93874625e-05]
 [-5.78165242e-05 -1.68684882e-05  9.99999998e-01]]

 t_estimated:
[[ 9.41259038e-01]
 [-3.37685392e-01]
 [-6.24109730e-06]]

 R_gt:
[[ 0.96186424 -0.26856967  0.05185534]
 [ 0.26877296  0.96319845  0.00315003]
 [-0.05079257  0.01090793  0.99864889]]

 t_gt:
[ 0.78927618 -0.60777002  0.08751405]

Pose Error in degrees for R and t:
13.415324774231294 18.53171864516991

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.85810024e-01  1.67864773e-01  1.17022047e-04]
 [-1.67864744e-01  9.85810011e-01 -2.24985618e-04]
 [-1.53128665e-04  2.02149202e-04  9.99999968e-01]]

 t_estimated:
[[-0.61794312]
 [-0.78622227]
 [-0.00091956]]

 R_gt:
[[ 0.98821659 -0.11371463  0.10245267]
 [ 0.11325106  0.99351239  0.01034516]
 [-0.10296425  0.00137966  0.99468387]]

 t_gt:
[ 0.47013477 -0.71657666  0.51525836]

Pose Error in degrees for R and t:
17.232757596706726 74.19297792141535

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99995855e-01  1.21581976e-04  2.87654321e-03]
 [-1.13360695e-04  9.99995909e-01 -2.85803260e-03]
 [-2.87687893e-03  2.85769467e-03  9.99991779e-01]]

 t_estimated:
[[-0.90681934]
 [-0.42151847]
 [-0.00092438]]

 R_gt:
[[ 0.96463097 -0.23003478  0.12872591]
 [ 0.22968072  0.9731028   0.0177871 ]
 [-0.12935427  0.01240829  0.99152038]]

 t_gt:
[ 0.63676896 -0.69682353  0.33009431]

Pose Error in degrees for R and t:
15.213316637668763 73.49998742001539

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-9.30791895e-01 -3.65547825e-01 -1.11177208e-03]
 [ 3.65549416e-01 -9.30789576e-01 -2.09515136e-03]
 [-2.68947839e-04 -2.35655754e-03  9.99997187e-01]]

 t_estimated:
[[9.62228019e-01]
 [2.72243781e-01]
 [7.49982868e-04]]

 R_gt:
[[ 0.94011533 -0.3176368   0.12365338]
 [ 0.31627562  0.94816     0.03100932]
 [-0.12709258  0.00995702  0.99184047]]

 t_gt:
[ 0.72858452 -0.64451112  0.23188362]

Pose Error in degrees for R and t:
140.09495842324705 58.27962276094471

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.97952678e-01  6.39566257e-02  5.05737485e-05]
 [-6.39566269e-02  9.97952679e-01  2.30967263e-05]
 [-4.89930191e-05 -2.62839662e-05  9.99999998e-01]]

 t_estimated:
[[8.50815237e-01]
 [5.25464550e-01]
 [6.62628689e-04]]

 R_gt:
[[ 0.9983015  -0.05566479  0.01721516]
 [ 0.0553805   0.99832772  0.01659632]
 [-0.01811084 -0.01561326  0.99971417]]

 t_gt:
[0.80552369 0.10619019 0.58297103]

Pose Error in degrees for R and t:
6.9849842087750735 42.13746428625185

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.89519114e-01 -1.44399059e-01  9.13878339e-04]
 [ 1.44400167e-01  9.89518532e-01 -1.29130242e-03]
 [-7.17836698e-04  1.40973261e-03  9.99998749e-01]]

 t_estimated:
[[-0.02855968]
 [-0.99958872]
 [-0.00259633]]

 R_gt:
[[ 0.9964117  -0.08436593 -0.00683568]
 [ 0.08459546  0.99528471  0.04746454]
 [ 0.00279785 -0.04787219  0.99885012]]

 t_gt:
[0.91967911 0.09814101 0.38020872]

Pose Error in degrees for R and t:
4.464731400245874 82.79882744406191

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.98196544  0.18905162 -0.00183305]
 [-0.18904603 -0.98196407 -0.0028561 ]
 [-0.00233994 -0.00245806  0.99999424]]

 t_estimated:
[[0.71815267]
 [0.69588359]
 [0.00166728]]

 R_gt:
[[ 0.99618359 -0.08714134 -0.00496582]
 [ 0.08726525  0.99550203  0.03690298]
 [ 0.00172748 -0.03719388  0.99930647]]

 t_gt:
[0.94745037 0.20128813 0.24863807]

Pose Error in degrees for R and t:
174.1108831178868 34.824844048726185

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 8.14736594e-01  5.79830912e-01 -6.29956548e-04]
 [ 5.79810053e-01 -8.14697032e-01  9.43650228e-03]
 [ 4.95835199e-03 -8.05351886e-03 -9.99955277e-01]]

 t_estimated:
[[0.21538666]
 [0.9765275 ]
 [0.00161945]]

 R_gt:
[[ 0.99471073  0.07104399 -0.07417681]
 [-0.06828114  0.99689769  0.03915411]
 [ 0.07672767 -0.03388302  0.99647595]]

 t_gt:
[ 0.76086986  0.36545691 -0.53620733]

Pose Error in degrees for R and t:
176.15610710036816 58.675020424389864

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.87753806e-01 -1.56019826e-01 -4.82567105e-04]
 [ 1.56020401e-01  9.87752578e-01  1.57433454e-03]
 [ 2.31029501e-04 -1.63034525e-03  9.99998644e-01]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.98055899  0.16750485 -0.10220675]
 [-0.16137591  0.98470894  0.06561433]
 [ 0.11163453 -0.04784595  0.99259755]]

 t_gt:
[ 0.20999499  0.93473416 -0.28666036]

Pose Error in degrees for R and t:
19.717058065238692 54.27768638298897

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-0.87144125 -0.49049682 -0.00173747]
 [-0.49047215  0.8713488   0.01372384]
 [-0.00521756  0.0128117  -0.99990431]]

 t_estimated:
[[9.11570647e-01]
 [4.11142843e-01]
 [7.20040005e-04]]

 R_gt:
[[ 0.95349108  0.26783879 -0.1382621 ]
 [-0.25207522  0.96005855  0.12143528]
 [ 0.16526376 -0.08093568  0.98292282]]

 t_gt:
[-0.01596973  0.99801544 -0.06091101]

Pose Error in degrees for R and t:
172.96077580096727 66.68877035603228

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[-8.19958883e-01 -5.72422209e-01  4.95137920e-04]
 [ 5.72411400e-01 -8.19948155e-01 -5.49657955e-03]
 [ 3.55235163e-03 -4.22354664e-03  9.99984771e-01]]

 t_estimated:
[[8.04413322e-01]
 [5.94069655e-01]
 [6.72024497e-04]]

 R_gt:
[[ 0.99938597  0.00983944 -0.03365124]
 [-0.00971816  0.99994509  0.00376337]
 [ 0.0336866  -0.00343344  0.9994268 ]]

 t_gt:
[ 0.25333462  0.94370229 -0.21271471]

Pose Error in degrees for R and t:
145.64151233009116 40.158113193558144

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 0.86272854  0.50566314  0.00206097]
 [-0.50565902  0.86268379  0.00925441]
 [ 0.00290165 -0.00902619  0.99995505]]

 t_estimated:
[[0.51624773]
 [0.8564341 ]
 [0.00298409]]

 R_gt:
[[ 0.99657091  0.02222018 -0.07970962]
 [-0.02003058  0.99940204  0.02816207]
 [ 0.08028735 -0.02646882  0.99641986]]

 t_gt:
[ 0.46843233  0.86813308 -0.16406128]

Pose Error in degrees for R and t:
29.527065538683765 9.990565732745432

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-9.31626215e-01  3.63250414e-01  1.10332641e-02]
 [ 3.63279767e-01  9.31679828e-01  7.13344600e-04]
 [-1.00203469e-02  4.67273215e-03 -9.99938877e-01]]

 t_estimated:
[[ 0.80907836]
 [-0.58767598]
 [ 0.00539862]]

 R_gt:
[[ 0.98998238 -0.01138181 -0.14073542]
 [ 0.00810527  0.99968229 -0.02383186]
 [ 0.14096174  0.02245236  0.98976051]]

 t_gt:
[ 0.75077738  0.51095777 -0.41863525]

Pose Error in degrees for R and t:
172.9030501116456 72.24784790330155

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99798906e-01 -2.00535734e-02  4.64016430e-05]
 [ 2.00535752e-02  9.99798906e-01 -3.82046928e-05]
 [-4.56261713e-05  3.91275289e-05  9.99999998e-01]]

 t_estimated:
[[9.69459890e-01]
 [2.45249849e-01]
 [1.79905253e-04]]

 R_gt:
[[ 0.99343654 -0.11105509  0.02742302]
 [ 0.11095511  0.99381308  0.00508467]
 [-0.02781806 -0.00200877  0.99961039]]

 t_gt:
[ 0.70511192 -0.67388128  0.22068349]

Pose Error in degrees for R and t:
5.4633073479415275 58.778486816972176

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.95696506e-01 -9.26613387e-02  1.53109287e-03]
 [ 9.26611248e-02  9.95697681e-01  2.10184989e-04]
 [-1.54398165e-03 -6.74076714e-05  9.99998806e-01]]

 t_estimated:
[[9.91094319e-01]
 [1.33158750e-01]
 [8.93682884e-04]]

 R_gt:
[[ 0.99212281 -0.10833924  0.06289908]
 [ 0.11045689  0.99339053 -0.03123277]
 [-0.05909983  0.03793518  0.99753027]]

 t_gt:
[ 0.78243262 -0.56296631  0.26621068]

Pose Error in degrees for R and t:
4.0719667238948976 45.51371267038163

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-2.39214986e-01 -9.70964109e-01 -2.21118772e-03]
 [ 9.70966544e-01 -2.39215286e-01 -1.31682686e-04]
 [-4.01090741e-04 -2.17848977e-03  9.99997547e-01]]

 t_estimated:
[[0.93486134]
 [0.35501063]
 [0.00131485]]

 R_gt:
[[ 0.99403915  0.01692269  0.10770586]
 [-0.0100701   0.99790915 -0.06385438]
 [-0.10856085  0.06238886  0.99212985]]

 t_gt:
[-3.19269199e-04  6.15318231e-01  7.88278740e-01]

Pose Error in degrees for R and t:
104.80048681311004 77.33897729115841

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.84328708e-01 -1.76341800e-01 -7.50580845e-04]
 [ 1.76342074e-01  9.84328895e-01  3.14725130e-04]
 [ 6.83319218e-04 -4.42151964e-04  9.99999669e-01]]

 t_estimated:
[[-0.67563621]
 [-0.73723267]
 [-0.00192489]]

 R_gt:
[[ 0.98805367  0.15355261  0.01312635]
 [-0.15376697  0.98795488  0.01732404]
 [-0.01030846 -0.01913596  0.99976302]]

 t_gt:
[-0.90873091  0.37911537  0.1745843 ]

Pose Error in degrees for R and t:
19.037682066861816 70.47979779380051

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.92961516e-01 -1.18436028e-01  5.78404256e-04]
 [ 1.18436685e-01  9.92960785e-01 -1.27693722e-03]
 [-4.23097371e-04  1.33645380e-03  9.99999017e-01]]

 t_estimated:
[[-0.83238132]
 [-0.55420222]
 [-0.00111466]]

 R_gt:
[[ 0.97462155  0.22257958  0.02391305]
 [-0.22351294  0.97348862  0.04860106]
 [-0.01246154 -0.05271287  0.99853165]]

 t_gt:
[-0.90684395  0.32226808  0.27161983]

Pose Error in degrees for R and t:
19.950004943370853 54.83482688818854

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.56109810e-01  2.93008500e-01  2.21397115e-04]
 [-2.93008580e-01  9.56109395e-01  8.93143254e-04]
 [ 5.00187043e-05 -9.18814282e-04  9.99999577e-01]]

 t_estimated:
[[0.30784137]
 [0.95143696]
 [0.00118792]]

 R_gt:
[[ 0.96552066  0.25532495  0.05079224]
 [-0.25848254  0.96344302  0.07045394]
 [-0.0309465  -0.08115401  0.99622022]]

 t_gt:
[-0.89721849  0.27313055  0.34698513]

Pose Error in degrees for R and t:
5.371386895111226 89.08768197305618

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-9.99982183e-01  5.91312304e-03 -8.17840562e-04]
 [ 5.91359822e-03  9.99982346e-01 -5.79817358e-04]
 [ 8.14397592e-04 -5.84643408e-04 -9.99999497e-01]]

 t_estimated:
[[0.99995133]
 [0.00978984]
 [0.00122393]]

 R_gt:
[[ 0.99843189  0.0150331  -0.05393148]
 [-0.01601322  0.99971395 -0.01779347]
 [ 0.05364814  0.01862822  0.99838565]]

 t_gt:
[ 0.14348275  0.39431354 -0.90770564]

Pose Error in degrees for R and t:
176.8726682118302 81.59177355030347

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 1.00000000e+00  1.07275300e-13 -2.57389596e-16]
 [-1.07330811e-13  1.00000000e+00  3.71339244e-16]
 [ 9.16150836e-18 -3.79470760e-16  1.00000000e+00]]

 t_estimated:
[[-1.96602903e-01]
 [ 9.80482817e-01]
 [ 8.62717418e-04]]

 R_gt:
[[ 0.99406892  0.06864962 -0.08435782]
 [-0.0738642   0.9954414  -0.06033555]
 [ 0.0798317   0.06620805  0.99460687]]

 t_gt:
[-0.10068593  0.6927528  -0.71411197]

Pose Error in degrees for R and t:
7.225603584449986 45.700320262735296

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99998674e-01 -1.61615339e-03 -2.02070802e-04]
 [ 1.61615429e-03  9.99998694e-01  4.29252047e-06]
 [ 2.02063601e-04 -4.61909237e-06  9.99999980e-01]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.99495096  0.06074809 -0.07989758]
 [-0.06688561  0.99482108 -0.07653656]
 [ 0.07483434  0.08149378  0.99385955]]

 t_gt:
[-0.05751304  0.69364768 -0.71801473]

Pose Error in degrees for R and t:
7.3752897715056385 87.28564333499354

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.5336897  -0.84538073 -0.02251067]
 [-0.84545145 -0.5339755   0.00905648]
 [-0.01967632  0.01419832 -0.99970558]]

 t_estimated:
[[0.30873198]
 [0.95114397]
 [0.0031185 ]]

 R_gt:
[[ 0.99770959 -0.05288688  0.04217826]
 [ 0.05136008  0.99801205  0.03651324]
 [-0.04402639 -0.03426377  0.99844253]]

 t_gt:
[ 0.36252121 -0.61434722  0.70082513]

Pose Error in degrees for R and t:
177.16204342972236 61.95108204681649

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 4.71944191e-01  8.81625662e-01  2.20741324e-03]
 [ 8.81626712e-01 -4.71946731e-01  7.90219089e-04]
 [ 1.73845889e-03  1.57317517e-03 -9.99997251e-01]]

 t_estimated:
[[7.98720002e-01]
 [6.01702401e-01]
 [7.60685716e-04]]

 R_gt:
[[ 0.98732929 -0.10620731  0.11790462]
 [ 0.09134645  0.98794213  0.12501023]
 [-0.12976012 -0.11265632  0.98512469]]

 t_gt:
[ 0.27624792 -0.48265237  0.83110395]

Pose Error in degrees for R and t:
177.82496740314406 86.0356284868888

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.9560447   0.29317074 -0.005427  ]
 [ 0.29314774  0.95605583  0.00465382]
 [ 0.00655288  0.00285835 -0.99997444]]

 t_estimated:
[[-0.13309095]
 [-0.99110282]
 [-0.00141586]]

 R_gt:
[[ 0.97326059 -0.13662015  0.18465769]
 [ 0.0947569   0.97110078  0.21905318]
 [-0.20924895 -0.19569829  0.95807991]]

 t_gt:
[ 0.23449911 -0.35846493  0.90361112]

Pose Error in degrees for R and t:
170.8045658745491 71.16847507576813

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.89803583e-01  1.42438692e-01  2.93146934e-04]
 [-1.42438630e-01  9.89803610e-01 -2.24590692e-04]
 [-3.22148298e-04  1.80545224e-04  9.99999932e-01]]

 t_estimated:
[[0.22055649]
 [0.97537361]
 [0.00107066]]

 R_gt:
[[ 9.92802746e-01 -1.13293192e-01  3.88252906e-02]
 [ 1.13179126e-01  9.93561413e-01  5.12417278e-03]
 [-3.91564188e-02 -6.93954262e-04  9.99232651e-01]]

 t_gt:
[ 0.5508027  -0.80195868  0.23125453]

Pose Error in degrees for R and t:
14.860383851004082 48.66361399242541

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 8.99926616e-01  4.36040022e-01  1.08853103e-03]
 [-4.36040120e-01  8.99927213e-01 -1.58274595e-04]
 [-1.04861276e-03 -3.32207681e-04  9.99999395e-01]]

 t_estimated:
[[0.52597845]
 [0.85049662]
 [0.00146899]]

 R_gt:
[[ 0.95493174 -0.29076646  0.05965645]
 [ 0.28847752  0.95646887  0.04413561]
 [-0.06989404 -0.024937    0.99724239]]

 t_gt:
[ 0.67925247 -0.6921265   0.24408398]

Pose Error in degrees for R and t:
42.906615680957074 76.64283763616565

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.72714400e-01  2.32005808e-01 -3.69161196e-05]
 [-2.32005393e-01  9.72712940e-01  1.74180961e-03]
 [ 4.40018732e-04 -1.68571855e-03  9.99998482e-01]]

 t_estimated:
[[7.42931670e-01]
 [6.69366867e-01]
 [7.28364382e-04]]

 R_gt:
[[ 0.89874908 -0.43793872  0.0214504 ]
 [ 0.43590414  0.89771021  0.06405603]
 [-0.04730962 -0.04822076  0.99771548]]

 t_gt:
[ 0.76637525 -0.618775    0.17258759]

Pose Error in degrees for R and t:
39.529710443917516 81.06564965183718

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.97414369e-01 -7.18648938e-02 -1.14818956e-04]
 [ 7.18648932e-02  9.97414376e-01 -9.99015131e-06]
 [ 1.15240019e-04  1.71286843e-06  9.99999993e-01]]

 t_estimated:
[[-0.99167139]
 [-0.12878849]
 [-0.0011708 ]]

 R_gt:
[[ 0.99491641  0.09626857  0.02955264]
 [-0.09566706  0.99518965 -0.02114111]
 [-0.03144515  0.01820614  0.99933983]]

 t_gt:
[-0.58194091  0.79972077  0.1476193 ]

Pose Error in degrees for R and t:
9.853009381870892 61.71052309247119

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-9.87020863e-01 -1.60591288e-01 -5.03821714e-04]
 [-1.60590733e-01  9.87020578e-01 -9.97494974e-04]
 [ 6.57471402e-04 -9.03639252e-04 -9.99999376e-01]]

 t_estimated:
[[0.99052242]
 [0.13734623]
 [0.00116395]]

 R_gt:
[[ 0.99291416  0.09030075  0.07725066]
 [-0.08893487  0.99581686 -0.02095738]
 [-0.07882082  0.01393856  0.99679184]]

 t_gt:
[-0.54190831  0.67116312  0.50584133]

Pose Error in degrees for R and t:
175.64609609875325 63.64050669218304

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.99988317 -0.01508936 -0.00243923]
 [ 0.01510019  0.99987593  0.00448332]
 [ 0.00237128 -0.00451963  0.99998697]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99483928  0.08397743  0.05694988]
 [-0.08325135  0.99641575 -0.01500027]
 [-0.05800524  0.01018192  0.99826449]]

 t_gt:
[-0.55312432  0.70292087  0.44716411]

Pose Error in degrees for R and t:
6.697208286604184 88.69311542576317

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[-0.66304099 -0.74799958  0.02955109]
 [-0.74791601  0.66359995  0.0160236 ]
 [-0.03159575 -0.01147743 -0.99943483]]

 t_estimated:
[[0.91228947]
 [0.40918519]
 [0.0171874 ]]

 R_gt:
[[ 0.99908208 -0.03848659 -0.01884153]
 [ 0.03827636  0.99920226 -0.0113618 ]
 [ 0.01926373  0.01063026  0.99975804]]

 t_gt:
[ 0.80355765 -0.18682845 -0.56514621]

Pose Error in degrees for R and t:
179.33148159345495 49.690490743108896

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 6.65667759e-01  7.46248239e-01 -1.23300850e-05]
 [-7.46248239e-01  6.65667759e-01  2.15359858e-06]
 [ 9.81485923e-06  7.76772310e-06  1.00000000e+00]]

 t_estimated:
[[-9.99974549e-01]
 [-7.07946580e-03]
 [-8.84933229e-04]]

 R_gt:
[[ 0.99698632 -0.07757098 -0.0016941 ]
 [ 0.07747963  0.99649828 -0.03142566]
 [ 0.00412673  0.03120015  0.9995049 ]]

 t_gt:
[ 0.91182797 -0.15380942 -0.38067363]

Pose Error in degrees for R and t:
52.74246520153281 24.44221990224336

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.96798869e-01  7.99495439e-02  2.91321247e-04]
 [-7.99495392e-02  9.96798912e-01 -2.78133953e-05]
 [-2.92612370e-04  4.43336150e-06  9.99999957e-01]]

 t_estimated:
[[ 9.91522413e-01]
 [ 1.29935393e-01]
 [-3.14667065e-04]]

 R_gt:
[[ 0.98876613 -0.14914502  0.00998292]
 [ 0.14938872  0.98827703 -0.0314862 ]
 [-0.00517017  0.03262368  0.99945413]]

 t_gt:
[ 0.92336853 -0.35770552 -0.13941778]

Pose Error in degrees for R and t:
13.306401419028242 29.64510017525279

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.95046082  0.3097996   0.02546464]
 [ 0.30979038  0.95079467 -0.00440585]
 [-0.02557658  0.00370111 -0.99966601]]

 t_estimated:
[[ 0.98217987]
 [-0.18745139]
 [ 0.01358928]]

 R_gt:
[[ 0.9938366  -0.10564612  0.03362107]
 [ 0.10496937  0.99424843  0.02128258]
 [-0.03567637 -0.01762157  0.99920734]]

 t_gt:
[ 0.62297847 -0.68709964  0.37388756]

Pose Error in degrees for R and t:
176.73381832591528 41.775962869392586

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999827e-01  5.88120525e-04  3.14087599e-06]
 [-5.88120668e-04  9.99999826e-01  4.55989056e-05]
 [-3.11405779e-06 -4.56007449e-05  9.99999999e-01]]

 t_estimated:
[[ 9.92984072e-01]
 [-1.18248147e-01]
 [ 9.48958127e-05]]

 R_gt:
[[ 0.98909614 -0.14675385  0.01237133]
 [ 0.14650813  0.98903013  0.01882422]
 [-0.01499874 -0.01680563  0.99974594]]

 t_gt:
[ 0.7418931  -0.6460005   0.17966073]

Pose Error in degrees for R and t:
8.563841855721263 35.60072022919091

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-5.24136996e-01 -8.51629968e-01  2.60918286e-03]
 [-8.51631742e-01  5.24140168e-01  6.79013985e-04]
 [-1.94584620e-03 -1.86616659e-03 -9.99996366e-01]]

 t_estimated:
[[0.94044909]
 [0.33991824]
 [0.00333052]]

 R_gt:
[[ 0.98576884 -0.16795211  0.0072987 ]
 [ 0.16792535  0.98579169  0.00407779]
 [-0.00787987 -0.00279404  0.99996498]]

 t_gt:
[ 0.83503808 -0.54501285  0.07531525]

Pose Error in degrees for R and t:
179.37598017201998 53.10848191244614

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.81532493  0.57848818  0.02442691]
 [ 0.57848281  0.81565531 -0.00800347]
 [-0.02455385  0.00760512 -0.99966958]]

 t_estimated:
[[ 0.95078747]
 [-0.30949854]
 [ 0.01462364]]

 R_gt:
[[ 9.81764866e-01 -1.89931929e-01 -8.05527769e-03]
 [ 1.90101739e-01  9.80882490e-01  4.15964197e-02]
 [ 1.80327000e-07 -4.23695680e-02  9.99102193e-01]]

 t_gt:
[ 0.68978487 -0.69282359  0.21021965]

Pose Error in degrees for R and t:
179.49440721751319 29.150777230849844

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.19038478  0.98170565  0.00276498]
 [-0.98170574  0.19039113 -0.00224842]
 [-0.00273371 -0.00228634  0.99999365]]

 t_estimated:
[[0.38509637]
 [0.92287352]
 [0.00229199]]

 R_gt:
[[ 0.92915723 -0.36521177 -0.05734236]
 [ 0.36780907  0.9288597   0.04399108]
 [ 0.03719607 -0.06196557  0.9973847 ]]

 t_gt:
[ 0.79703492 -0.59728773  0.08934601]

Pose Error in degrees for R and t:
100.62340717331564 75.8724702665451

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.24542840e-01 -3.81077797e-01 -5.00306085e-04]
 [ 3.81077500e-01  9.24542904e-01 -5.97877032e-04]
 [ 6.90392103e-04  3.62107537e-04  9.99999696e-01]]

 t_estimated:
[[ 0.98683657]
 [-0.16171694]
 [-0.00110049]]

 R_gt:
[[ 0.85634542 -0.4999516  -0.12931048]
 [ 0.50981162  0.85836134  0.0575049 ]
 [ 0.08224516 -0.11516729  0.98993521]]

 t_gt:
[ 0.85669904 -0.50614823  0.09940184]

Pose Error in degrees for R and t:
11.464166593928484 22.00283849400282

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99999614e-01  8.68339129e-04  1.35419157e-04]
 [-8.68348833e-04  9.99999620e-01  7.16173765e-05]
 [-1.35356918e-04 -7.17349399e-05  9.99999988e-01]]

 t_estimated:
[[-0.9999927 ]
 [-0.00368604]
 [-0.00100285]]

 R_gt:
[[ 0.99886693 -0.02508177  0.04044718]
 [ 0.02131594  0.99562538  0.09097208]
 [-0.04255302 -0.09000589  0.99503197]]

 t_gt:
[-0.0780993  -0.47529769  0.87635187]

Pose Error in degrees for R and t:
5.871562588095336 85.47053047000115

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999966e-01 -1.53482660e-04 -2.10138889e-04]
 [ 1.53550592e-04  9.99999936e-01  3.23292872e-04]
 [ 2.10089256e-04 -3.23325128e-04  9.99999926e-01]]

 t_estimated:
[[-0.99999234]
 [-0.00362258]
 [-0.00148459]]

 R_gt:
[[ 0.99743876 -0.04856792  0.05251297]
 [ 0.0415062   0.99089632  0.1280663 ]
 [-0.0582552  -0.12555879  0.99037432]]

 t_gt:
[ 0.00204752 -0.51424595  0.85764032]

Pose Error in degrees for R and t:
8.353371639257842 89.916470978247

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.88843243e-01 -1.48959845e-01  7.30101683e-05]
 [ 1.48959815e-01  9.88843200e-01  3.15588373e-04]
 [-1.19205603e-04 -3.01191849e-04  9.99999948e-01]]

 t_estimated:
[[6.56129946e-01]
 [7.54647735e-01]
 [5.38746331e-04]]

 R_gt:
[[ 0.99573777 -0.08098778  0.04413639]
 [ 0.07363035  0.98617648  0.14844044]
 [-0.05554838 -0.14455757  0.98793549]]

 t_gt:
[ 0.19775489 -0.58101492  0.78950279]

Pose Error in degrees for R and t:
9.790867495758837 72.04419266241628

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999953e-01 -2.96344470e-04  8.32168155e-05]
 [ 2.96341735e-04  9.99999956e-01  3.28786713e-05]
 [-8.32265552e-05 -3.28540091e-05  9.99999996e-01]]

 t_estimated:
[[0.48775571]
 [0.8729796 ]
 [0.00099122]]

 R_gt:
[[ 0.999735   -0.02044884  0.01053625]
 [ 0.01997952  0.99887975  0.04289953]
 [-0.01140141 -0.04267782  0.99902423]]

 t_gt:
[ 0.10822352 -0.62432146  0.77363453]

Pose Error in degrees for R and t:
2.774528122708662 60.56298958122094

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.05416255  0.99853076 -0.00165443]
 [-0.99852142 -0.05416957 -0.00454279]
 [-0.00462574  0.00140594  0.99998831]]

 t_estimated:
[[0.02718373]
 [0.99962974]
 [0.00119286]]

 R_gt:
[[ 9.95866238e-01 -9.08258634e-02 -3.42102513e-04]
 [ 9.07258037e-02  9.94572246e-01  5.09371377e-02]
 [-4.28643599e-03 -5.07579954e-02  9.98701308e-01]]

 t_gt:
[ 0.59811241 -0.69875174  0.39243797]

Pose Error in degrees for R and t:
98.3572873651715 47.01820312610016

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999847e-01  5.53334004e-04 -1.91691667e-06]
 [-5.53333828e-04  9.99999843e-01  9.08050383e-05]
 [ 1.96716189e-06 -9.08039637e-05  9.99999996e-01]]

 t_estimated:
[[ 9.98601701e-01]
 [-5.28631816e-02]
 [ 3.55260371e-04]]

 R_gt:
[[ 0.99523718 -0.09540239 -0.02004504]
 [ 0.09506899  0.99532629 -0.01700553]
 [ 0.02157345  0.01501855  0.99965476]]

 t_gt:
[ 0.779793   -0.6033265  -0.16709282]

Pose Error in degrees for R and t:
5.700418913978013 35.85156737320846

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.25402686e-01  3.78985164e-01  3.38657868e-04]
 [-3.78984985e-01  9.25402690e-01 -4.92977435e-04]
 [-5.00226036e-04  3.27856395e-04  9.99999821e-01]]

 t_estimated:
[[1.64172808e-01]
 [9.86431212e-01]
 [8.67555496e-04]]

 R_gt:
[[ 9.93003667e-01 -1.17575918e-01  1.09250048e-02]
 [ 1.17565816e-01  9.93063675e-01  1.52929444e-03]
 [-1.10298672e-02 -2.33729691e-04  9.99939093e-01]]

 t_gt:
[ 0.59503875 -0.80352268 -0.01673899]

Pose Error in degrees for R and t:
29.029252213588393 45.977150456661825

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[-0.0674997  -0.99768038  0.00881175]
 [-0.99770658  0.06745161 -0.00564457]
 [ 0.00503711 -0.00917254 -0.99994524]]

 t_estimated:
[[0.84811663]
 [0.52980852]
 [0.0010575 ]]

 R_gt:
[[ 0.98724606 -0.1217732   0.10255015]
 [ 0.1316876   0.98661183 -0.09620359]
 [-0.08946319  0.10848137  0.99006422]]

 t_gt:
[ 0.28610445 -0.8532956  -0.4359253 ]

Pose Error in degrees for R and t:
179.86114522628196 77.88384032385156

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-9.67510204e-01  2.52821883e-01 -2.25843463e-03]
 [-2.52822990e-01 -9.67512527e-01  2.14488731e-04]
 [-2.13083635e-03  7.78504232e-04  9.99997427e-01]]

 t_estimated:
[[7.98458315e-01]
 [6.02049719e-01]
 [6.74943631e-04]]

 R_gt:
[[ 0.98060171 -0.08977293  0.17424186]
 [ 0.11565554  0.98271127 -0.14457673]
 [-0.15825104  0.16192483  0.97403145]]

 t_gt:
[-0.45798013 -0.59870081 -0.65712369]

Pose Error in degrees for R and t:
171.37782823350418 43.40045458386568

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.98273439e-01 -5.87379002e-02  2.53012738e-05]
 [ 5.87378688e-02  9.98273202e-01  6.91323457e-04]
 [-6.58644719e-05 -6.88643702e-04  9.99999761e-01]]

 t_estimated:
[[ 0.22078889]
 [-0.97532024]
 [ 0.00164203]]

 R_gt:
[[ 0.99974335 -0.00158058 -0.02258714]
 [ 0.00497987  0.98848057  0.15126335]
 [ 0.02208652 -0.15133799  0.9882351 ]]

 t_gt:
[-0.03696949 -0.34546191  0.93770428]

Pose Error in degrees for R and t:
9.316570492089499 70.71220846367297

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99280451e-01  3.79286145e-02  2.90068111e-05]
 [-3.79286104e-02  9.99280443e-01 -1.31503199e-04]
 [-3.39736732e-05  1.30308388e-04  9.99999991e-01]]

 t_estimated:
[[ 1.00130225e-01]
 [-9.94974305e-01]
 [-2.65947445e-04]]

 R_gt:
[[ 0.99715702  0.0246401  -0.07121413]
 [-0.0105639   0.98140667  0.19164766]
 [ 0.07461153 -0.19035087  0.97887655]]

 t_gt:
[-0.31209437 -0.35774856  0.88012106]

Pose Error in degrees for R and t:
11.861146068910324 71.06674531170691

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 4.06276533e-01 -9.13747843e-01 -2.06332170e-03]
 [ 9.13749864e-01  4.06277216e-01  9.51991358e-05]
 [ 7.51292593e-04 -1.92403710e-03  9.99997867e-01]]

 t_estimated:
[[ 8.42807282e-01]
 [-5.38215070e-01]
 [ 6.51825813e-04]]

 R_gt:
[[ 0.99418731  0.08397548 -0.06738322]
 [-0.06411021  0.96451588  0.25612116]
 [ 0.08649917 -0.25031293  0.96429271]]

 t_gt:
[-0.64479306 -0.20307313  0.73688752]

Pose Error in degrees for R and t:
71.77606852326518 64.30000878391965

Number of keypoints:
Image1: 510
Image2: 510

 R_estimated:
[[ 9.96635248e-01  8.19312747e-02  2.33410818e-03]
 [ 8.19643763e-02 -9.96176843e-01 -3.02248005e-02]
 [-1.51171914e-04  3.03144152e-02 -9.99540401e-01]]

 t_estimated:
[[-0.02563872]
 [ 0.9995536 ]
 [-0.01533838]]

 R_gt:
[[ 0.99879472  0.03369866 -0.03567481]
 [-0.03190106  0.99824954  0.04981321]
 [ 0.0372908  -0.04861572  0.99812145]]

 t_gt:
[-0.91631463 -0.20392504  0.34464776]

Pose Error in degrees for R and t:
178.83107513707986 79.30229783086403

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.38457101e-01  3.45395623e-01  3.65355942e-04]
 [-3.45395800e-01  9.38456857e-01  6.84149113e-04]
 [-1.06568680e-04 -7.68237001e-04  9.99999699e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99626483  0.07613829 -0.0407204 ]
 [-0.06941604  0.98674957  0.14665225]
 [ 0.05134718 -0.14327847  0.98834949]]

 t_gt:
[-0.80306853 -0.1653137   0.57249656]

Pose Error in degrees for R and t:
18.214423029887172 36.569645525319814

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.91915740e-01 -1.26897953e-01  2.70616926e-04]
 [ 1.26897973e-01  9.91915773e-01 -5.87709949e-05]
 [-2.60971279e-04  9.26366144e-05  9.99999962e-01]]

 t_estimated:
[[-8.95496713e-01]
 [-4.45067229e-01]
 [-8.93709295e-04]]

 R_gt:
[[ 0.9851483   0.16980946 -0.02544697]
 [-0.16511574  0.97754392  0.13093748]
 [ 0.04711044 -0.12479142  0.99106372]]

 t_gt:
[-0.93437487  0.18103227  0.30687282]

Pose Error in degrees for R and t:
18.61683856172705 40.897342426054166

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.84871070e-01  1.73288695e-01  5.46191086e-05]
 [-1.73288664e-01  9.84871009e-01 -3.67453154e-04]
 [-1.17468254e-04  3.52429109e-04  9.99999931e-01]]

 t_estimated:
[[4.58022449e-01]
 [8.88940609e-01]
 [1.73673314e-04]]

 R_gt:
[[ 0.99539808 -0.04158913  0.08633539]
 [ 0.04791778  0.99621149 -0.07256566]
 [-0.08299024  0.07636905  0.9936202 ]]

 t_gt:
[-0.62063876 -0.69080677 -0.37093602]

Pose Error in degrees for R and t:
14.110321623591632 26.049223943352104

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 5.97205402e-01 -8.02087977e-01 -7.65091020e-04]
 [ 8.02088287e-01  5.97205441e-01  2.00877269e-04]
 [ 2.95795278e-04 -7.33635536e-04  9.99999687e-01]]

 t_estimated:
[[ 7.54000343e-01]
 [-6.56874000e-01]
 [ 1.72150237e-04]]

 R_gt:
[[ 0.98949129 -0.02746271  0.14196333]
 [ 0.04831528  0.98816205 -0.14559987]
 [-0.13628467  0.15092884  0.97910568]]

 t_gt:
[-0.80165452  0.14526965 -0.57986788]

Pose Error in degrees for R and t:
52.386545067830575 45.57528553941877

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.55976805  0.82864812 -0.00141988]
 [ 0.82861463  0.55975947  0.00819338]
 [ 0.00758423  0.00340986 -0.99996543]]

 t_estimated:
[[-0.06651719]
 [-0.99775791]
 [-0.0073908 ]]

 R_gt:
[[ 0.97275289 -0.00880312  0.23167764]
 [ 0.05420355  0.98022002 -0.19034063]
 [-0.22541897  0.19771208  0.9539889 ]]

 t_gt:
[-0.85438438  0.45331052 -0.25404115]

Pose Error in degrees for R and t:
163.24468504183963 66.82222546277616

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99989419e-01  4.56341837e-03  5.80743078e-04]
 [-4.56352242e-03  9.99989571e-01  1.77979125e-04]
 [-5.79924829e-04 -1.80627476e-04  9.99999816e-01]]

 t_estimated:
[[0.99993858]
 [0.01101524]
 [0.00122392]]

 R_gt:
[[ 0.99584224 -0.09107728 -0.00185332]
 [ 0.09104676  0.99576135 -0.01304891]
 [ 0.00303284  0.0128271   0.99991243]]

 t_gt:
[ 0.8254542  -0.54201736 -0.15761518]

Pose Error in degrees for R and t:
5.540523047444939 34.991198054245075

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.39097638 -0.92039502 -0.00323697]
 [ 0.92039549 -0.39098359  0.00199282]
 [-0.00309978 -0.00220015  0.99999278]]

 t_estimated:
[[0.97752586]
 [0.2108106 ]
 [0.00144391]]

 R_gt:
[[ 0.99589315 -0.08257989 -0.03711429]
 [ 0.07665725  0.98722848 -0.13965346]
 [ 0.04817221  0.13623526  0.98950408]]

 t_gt:
[ 0.63067411 -0.07770127 -0.77214809]

Pose Error in degrees for R and t:
108.66020426127389 53.20132443482018

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99817455e-01  1.91054128e-02  2.00241231e-04]
 [-1.91045846e-02  9.99811222e-01 -3.54051353e-03]
 [-2.67846402e-04  3.53604170e-03  9.99993712e-01]]

 t_estimated:
[[-0.05491632]
 [-0.99847848]
 [-0.00499239]]

 R_gt:
[[ 0.99284729 -0.10913385 -0.04842789]
 [ 0.09028894  0.95166564 -0.2935651 ]
 [ 0.07812409  0.28709349  0.95471124]]

 t_gt:
[ 0.48344999  0.16270137 -0.86011881]

Pose Error in degrees for R and t:
18.461689492925903 79.35582947066983

Number of keypoints:
Image1: 349
Image2: 349

 R_estimated:
[[-0.88316352 -0.46906275 -0.00152789]
 [-0.46906383  0.88314823  0.00532114]
 [-0.0011466   0.00541612 -0.99998468]]

 t_estimated:
[[9.77141492e-01]
 [2.12587856e-01]
 [9.53308772e-04]]

 R_gt:
[[ 0.9987496  -0.01217703 -0.04849337]
 [ 0.01436249  0.99888365  0.04498541]
 [ 0.04789237 -0.04562532  0.99780981]]

 t_gt:
[-0.22416945 -0.95591408 -0.18967427]

Pose Error in degrees for R and t:
177.93811468629596 65.01115413841387

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[ 9.18289417e-01  3.95909767e-01 -5.90042509e-05]
 [-3.95909768e-01  9.18289379e-01 -2.67258608e-04]
 [-5.16273164e-05  2.68781111e-04  9.99999963e-01]]

 t_estimated:
[[-0.99690496]
 [-0.07860833]
 [-0.00111057]]

 R_gt:
[[ 0.99673495 -0.03609499 -0.07224049]
 [ 0.03737104  0.9991663   0.01639578]
 [ 0.07158823 -0.01904183  0.9972529 ]]

 t_gt:
[-0.11530166 -0.82475421 -0.5536118 ]

Pose Error in degrees for R and t:
25.777913324585484 79.60739628474143

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 8.42109198e-01  5.39307045e-01  9.89103775e-05]
 [-5.39307048e-01  8.42109202e-01  4.19544487e-06]
 [-8.10307061e-05 -5.68760864e-05  9.99999995e-01]]

 t_estimated:
[[9.81524416e-01]
 [1.91335139e-01]
 [8.28290646e-04]]

 R_gt:
[[ 0.9881282  -0.1229841  -0.09208201]
 [ 0.12831098  0.99024373  0.05433781]
 [ 0.08450078 -0.06550778  0.99426808]]

 t_gt:
[ 0.21177755 -0.95859604 -0.19037831]

Pose Error in degrees for R and t:
40.32659430809051 88.6079173112019

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.81245528  0.58300258 -0.00494154]
 [ 0.58298349 -0.812271    0.0186031 ]
 [ 0.00683178 -0.01799502 -0.99981474]]

 t_estimated:
[[-0.29512064]
 [ 0.95541229]
 [ 0.00954795]]

 R_gt:
[[ 0.98844679  0.13865826  0.06121401]
 [-0.13693265  0.99007783 -0.0315544 ]
 [-0.06498232  0.02280913  0.99762607]]

 t_gt:
[-0.74970784  0.60734797  0.26280526]

Pose Error in degrees for R and t:
178.50497400540567 36.48320143512512

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-3.13247995e-01  9.49671204e-01 -5.45376550e-04]
 [-9.49669541e-01 -3.13248468e-01 -1.77783443e-03]
 [-1.85919654e-03 -3.89755744e-05  9.99998271e-01]]

 t_estimated:
[[0.17173165]
 [0.98514323]
 [0.00102833]]

 R_gt:
[[ 0.98198926  0.16775557  0.08691651]
 [-0.16535984  0.98564274 -0.03411579]
 [-0.09139176  0.01912973  0.99563131]]

 t_gt:
[-0.75237116  0.58124591  0.30998521]

Pose Error in degrees for R and t:
98.74851111900317 63.65831519792345

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.96905828 -0.17719748  0.17183451]
 [ 0.21618137  0.94527631 -0.24437331]
 [-0.11912876  0.2739594   0.95433463]]

 t_estimated:
[[-0.69631062]
 [-0.69631062]
 [-0.17407766]]

 R_gt:
[[ 0.97924564  0.14401353  0.14260811]
 [-0.13751123  0.98899903 -0.05450029]
 [-0.14888799  0.03375988  0.98827798]]

 t_gt:
[-0.72870824  0.5387441   0.42277547]

Pose Error in degrees for R and t:
23.325953167994527 86.6360493992661

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99561880e-01 -2.95979408e-02 -9.49332188e-05]
 [ 2.95979516e-02  9.99561878e-01  1.14452122e-04]
 [ 9.15040793e-05 -1.17211807e-04  9.99999989e-01]]

 t_estimated:
[[-0.40553427]
 [-0.91407887]
 [-0.00133342]]

 R_gt:
[[ 0.99833847  0.05760434  0.00187026]
 [-0.05758818  0.99831126 -0.0076682 ]
 [-0.00230881  0.00754811  0.99996957]]

 t_gt:
[-0.08340682  0.9929203  -0.08457289]

Pose Error in degrees for R and t:
5.018535656257654 29.111997192922356

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.91807469e-01  1.27737289e-01  1.06266096e-03]
 [-1.27736193e-01  9.91807632e-01 -1.04261595e-03]
 [-1.18713619e-03  8.98334022e-04  9.99998892e-01]]

 t_estimated:
[[-9.99988849e-01]
 [-4.65833315e-03]
 [-7.76388858e-04]]

 R_gt:
[[ 0.99764138  0.06763653  0.0117411 ]
 [-0.06760184  0.99770647 -0.00331694]
 [-0.01193811  0.00251589  0.9999255 ]]

 t_gt:
[0.19740267 0.97285325 0.12078385]

Pose Error in degrees for R and t:
3.5172589036715713 78.34453409707648

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.96963424e-01 -7.78707832e-02  2.69956001e-04]
 [ 7.78708092e-02  9.96963454e-01 -8.71827151e-05]
 [-2.62347281e-04  1.07939670e-04  9.99999960e-01]]

 t_estimated:
[[-0.5687931 ]
 [-0.82248016]
 [-0.00089013]]

 R_gt:
[[ 0.99944344  0.02816601  0.01789968]
 [-0.02766354  0.99923353 -0.02768999]
 [-0.01866493  0.02718005  0.99945673]]

 t_gt:
[ 0.94700429  0.3149087  -0.06336704]

Pose Error in degrees for R and t:
6.349349266241714 37.098543844733065

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 0.91847328 -0.39545595  0.00462819]
 [ 0.39543562  0.91848149  0.00473564]
 [-0.00612364 -0.0025194   0.99997808]]

 t_estimated:
[[ 0.47534854]
 [-0.8796406 ]
 [ 0.01661853]]

 R_gt:
[[ 0.99829405  0.05621681  0.01578136]
 [-0.05589587  0.99823426 -0.02010814]
 [-0.01688446  0.01919178  0.99967328]]

 t_gt:
[-0.45812061  0.88763189  0.04727716]

Pose Error in degrees for R and t:
26.548298148848513 3.8199436587738393

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 4.81661213e-01  8.76357496e-01  1.25654957e-04]
 [-8.76355768e-01  4.81660539e-01 -1.92166345e-03]
 [-1.74458720e-03  8.15472299e-04  9.99998146e-01]]

 t_estimated:
[[-2.74167336e-01]
 [ 9.61681560e-01]
 [ 9.21228343e-04]]

 R_gt:
[[ 0.99975486  0.02146992  0.00558821]
 [-0.02127016  0.99920982 -0.03358222]
 [-0.00630513  0.03345457  0.99942026]]

 t_gt:
[-0.40967905  0.85785558 -0.31023681]

Pose Error in degrees for R and t:
60.00659758046639 20.443232456997563

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.66094773  0.5471296   0.51361202]
 [-0.2386394   0.80213504 -0.54738526]
 [-0.71147687  0.23922498  0.66073601]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99321228 -0.1150124   0.01737077]
 [ 0.11511411  0.9933399  -0.00496101]
 [-0.01668478  0.00692651  0.99983701]]

 t_gt:
[ 0.5162588  -0.84597062  0.13345621]

Pose Error in degrees for R and t:
58.37717789808876 78.09145610134257

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.99998898e-01  1.48431389e-03  3.29415893e-06]
 [-1.48431352e-03  9.99998892e-01 -1.09681078e-04]
 [-3.45695643e-06  1.09676067e-04  9.99999994e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97939846 -0.16686255  0.11373398]
 [ 0.16295556  0.98570122  0.04289478]
 [-0.11926559 -0.02347742  0.99258482]]

 t_gt:
[ 0.57539032 -0.6629359   0.47900101]

Pose Error in degrees for R and t:
11.876594913899343 48.788832887866555

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.99999964e-01  2.68463251e-04  6.42187796e-07]
 [-2.68463250e-04  9.99999964e-01 -1.96148055e-06]
 [-6.42714358e-07  1.96130808e-06  1.00000000e+00]]

 t_estimated:
[[0.95739616]
 [0.28877426]
 [0.00142057]]

 R_gt:
[[ 0.94442571 -0.29052242  0.15380242]
 [ 0.28363159  0.9566951   0.06548788]
 [-0.16616787 -0.01822496  0.98592862]]

 t_gt:
[ 0.67434376 -0.63847853  0.37095236]

Pose Error in degrees for R and t:
19.361155237596748 62.4989463504158

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.40617324e-01  3.39468710e-01  2.10617251e-04]
 [-3.39468771e-01  9.40617232e-01  4.19829015e-04]
 [-5.55914019e-05 -4.66396424e-04  9.99999890e-01]]

 t_estimated:
[[-0.68021608]
 [-0.73301125]
 [-0.00076515]]

 R_gt:
[[ 0.89285326 -0.43441406  0.118729  ]
 [ 0.42317245  0.89949084  0.10882138]
 [-0.1540695  -0.04691904  0.98694496]]

 t_gt:
[ 0.77208937 -0.57623523  0.268013  ]

Pose Error in degrees for R and t:
46.297337636367025 84.08771785161422

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 6.52248936e-01  7.58004576e-01  6.23349447e-04]
 [-7.58003936e-01  6.52249209e-01 -1.00092596e-03]
 [-1.16528564e-03  1.80351556e-04  9.99999305e-01]]

 t_estimated:
[[0.1016603 ]
 [0.99481863]
 [0.00103735]]

 R_gt:
[[ 0.97950135 -0.19968735  0.02646954]
 [ 0.19947529  0.97984654  0.01047083]
 [-0.0280263  -0.00497546  0.99959484]]

 t_gt:
[ 0.71488222 -0.68428095  0.14388534]

Pose Error in degrees for R and t:
60.82203620925155 52.56138982248015

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 8.83176672e-01 -4.69039558e-01 -9.26423488e-04]
 [ 4.69040446e-01  8.83175574e-01  1.40242388e-03]
 [ 1.60402317e-04 -1.67311814e-03  9.99998587e-01]]

 t_estimated:
[[9.99982346e-01]
 [5.88224910e-03]
 [8.40321299e-04]]

 R_gt:
[[ 0.94742272 -0.31378998  0.06266604]
 [ 0.31469529  0.94918035 -0.00487789]
 [-0.05795075  0.02434291  0.9980219 ]]

 t_gt:
[ 0.74021436 -0.66183597  0.11855735]

Pose Error in degrees for R and t:
10.307243315998631 42.57368934773621

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 4.38246223e-01 -8.98850682e-01 -2.77492159e-03]
 [-8.98854870e-01 -4.38245509e-01 -8.92788968e-04]
 [-4.13612953e-04  2.88551318e-03 -9.99995751e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.91360596 -0.39828058  0.08182865]
 [ 0.40178853  0.91519274 -0.03143865]
 [-0.06236663  0.06160108  0.99615053]]

 t_gt:
[ 0.75776745 -0.65059142  0.0501925 ]

Pose Error in degrees for R and t:
179.83113906140784 71.82455775660618

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.05763094e-01 -4.23782164e-01 -1.37676408e-03]
 [ 4.23782063e-01  9.05764108e-01 -3.78137298e-04]
 [ 1.40727134e-03 -2.40945115e-04  9.99998981e-01]]

 t_estimated:
[[-0.10681029]
 [-0.99427818]
 [-0.00157074]]

 R_gt:
[[ 9.74643003e-01  2.23767629e-01  1.05958471e-04]
 [-2.23767713e-01  9.74642711e-01 -1.11189117e-03]
 [-3.52858408e-04  1.05943669e-03  9.99999234e-01]]

 t_gt:
[-0.72982705  0.68359777 -0.00682389]

Pose Error in degrees for R and t:
38.00415022129604 53.006631296098405

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99708151e-01  2.41559112e-02 -3.24550219e-04]
 [-2.41558995e-02  9.99708203e-01  3.99236680e-05]
 [ 3.25419909e-04 -3.20722138e-05  9.99999947e-01]]

 t_estimated:
[[-0.99143983]
 [-0.13055635]
 [-0.00145001]]

 R_gt:
[[ 0.95007175  0.31079363  0.0277463 ]
 [-0.31094114  0.95042941  0.00104181]
 [-0.02604746 -0.00961736  0.99961416]]

 t_gt:
[-0.68868414  0.72159628  0.0708023 ]

Pose Error in degrees for R and t:
16.807621126879894 53.9509771267134

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99926993e-01  1.20816835e-02 -2.04982131e-04]
 [-1.20816677e-02  9.99927011e-01  7.82764235e-05]
 [ 2.05912880e-04 -7.57941828e-05  9.99999976e-01]]

 t_estimated:
[[-9.73336114e-01]
 [-2.29381661e-01]
 [-9.28594509e-04]]

 R_gt:
[[ 0.96329556  0.26436968  0.04658956]
 [-0.26484847  0.96428114  0.00430454]
 [-0.04378743 -0.01648552  0.99890426]]

 t_gt:
[-0.690594    0.71088162  0.13314374]

Pose Error in degrees for R and t:
14.903905624633905 59.4032072284619

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999010e-01  1.40681249e-03  1.25920422e-05]
 [-1.40680860e-03  9.99998964e-01 -3.03726714e-04]
 [-1.30193157e-05  3.03708698e-04  9.99999954e-01]]

 t_estimated:
[[0.01621407]
 [0.99986763]
 [0.00135117]]

 R_gt:
[[ 9.77717785e-01  2.09868392e-01 -4.90914305e-03]
 [-2.09924509e-01  9.77405189e-01 -2.47201022e-02]
 [-3.89817355e-04  2.51996279e-02  9.99682340e-01]]

 t_gt:
[-0.58660674  0.80470665 -0.09132214]

Pose Error in degrees for R and t:
12.12150775990046 37.348006454298904

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-8.64889122e-01 -5.01962920e-01  1.86522330e-04]
 [ 5.01955857e-01 -8.64878809e-01 -4.99632330e-03]
 [ 2.66928824e-03 -4.22763969e-03  9.99987501e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.91530484  0.40040992 -0.04348896]
 [-0.40115736  0.91595761 -0.00972461]
 [ 0.03593963  0.02634725  0.99900675]]

 t_gt:
[-0.51281387  0.85019366 -0.11913305]

Pose Error in degrees for R and t:
173.50525047713833 84.42166889840952

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 8.68859355e-01 -4.95056158e-01 -1.67982915e-03]
 [ 4.95056891e-01  8.68860561e-01  2.32416010e-05]
 [ 1.44803140e-03 -8.51804680e-04  9.99998589e-01]]

 t_estimated:
[[0.82739234]
 [0.56162351]
 [0.00097407]]

 R_gt:
[[ 0.86248896  0.50256306 -0.05953268]
 [-0.50557356  0.86089148 -0.05710577]
 [ 0.02255139  0.07935024  0.9965918 ]]

 t_gt:
[-0.44263325  0.88417152 -0.14938718]

Pose Error in degrees for R and t:
60.167051887445 82.51916017882198

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 2.89232586e-01 -9.57255382e-01 -2.57782794e-03]
 [-9.57258821e-01 -2.89230827e-01 -1.03892552e-03]
 [ 2.48929741e-04  2.76813965e-03 -9.99996138e-01]]

 t_estimated:
[[0.34102849]
 [0.94005244]
 [0.00098849]]

 R_gt:
[[ 0.98806175  0.15357591  0.01219814]
 [-0.1536284   0.98812262  0.00350966]
 [-0.01151369 -0.0053416   0.99991878]]

 t_gt:
[-0.77819633  0.6233123   0.07676099]

Pose Error in degrees for R and t:
179.53015557571283 71.2986677603889

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 0.66775808 -0.74437133  0.00323431]
 [-0.74437222 -0.66776392 -0.00115893]
 [ 0.00302243 -0.00163365 -0.9999941 ]]

 t_estimated:
[[0.37038198]
 [0.92887902]
 [0.00097469]]

 R_gt:
[[ 0.94766315  0.31921862  0.00579078]
 [-0.31897309  0.94740591 -0.02602667]
 [-0.01379356  0.02281699  0.99964386]]

 t_gt:
[-0.68708684  0.72592164 -0.03081298]

Pose Error in degrees for R and t:
178.98190478607722 65.17937914239029

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.94516557 -0.32658741 -0.00164809]
 [ 0.32658956  0.94516541  0.00126814]
 [ 0.00114356 -0.00173685  0.99999784]]

 t_estimated:
[[-0.36107628]
 [-0.93253577]
 [-0.00097853]]

 R_gt:
[[ 0.92755671  0.37215446  0.03376199]
 [-0.37230228  0.92810936 -0.00203573]
 [-0.03209238 -0.01068192  0.9994273 ]]

 t_gt:
[-0.66879602  0.74009549  0.07050203]

Pose Error in degrees for R and t:
40.9689810133874 63.3366066841489

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99996477e-01 -1.25552101e-03  2.33856559e-03]
 [ 1.25625711e-03  9.99999162e-01 -3.13323975e-04]
 [-2.33817025e-03  3.16260711e-04  9.99997216e-01]]

 t_estimated:
[[-7.19795375e-01]
 [-6.94186296e-01]
 [ 6.72633690e-05]]

 R_gt:
[[ 0.97883056  0.19772433 -0.05287708]
 [-0.19755485  0.98025504  0.00847731]
 [ 0.05350969  0.00214798  0.9985646 ]]

 t_gt:
[-0.59310269  0.77126569 -0.23103772]

Pose Error in degrees for R and t:
11.916936537900986 83.7708549060108

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 2.93791820e-01 -9.55862916e-01 -3.52865355e-03]
 [ 9.55869278e-01  2.93791848e-01  5.22174315e-04]
 [ 5.37562586e-04 -3.52634207e-03  9.99993638e-01]]

 t_estimated:
[[ 0.85330129]
 [-0.52141447]
 [ 0.00196258]]

 R_gt:
[[ 0.96393534  0.2604181  -0.05487157]
 [-0.26259808  0.9641935  -0.03705241]
 [ 0.0432566   0.05012575  0.99780545]]

 t_gt:
[-0.53976762  0.79354014 -0.28097145]

Pose Error in degrees for R and t:
88.15604855806997 28.966957163958824

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99973304e-01 -2.80063984e-04  7.30162670e-03]
 [ 3.29968617e-04  9.99976591e-01 -6.83441947e-03]
 [-7.29954170e-03  6.83664633e-03  9.99949987e-01]]

 t_estimated:
[[-0.99936347]
 [-0.03563813]
 [-0.00160432]]

 R_gt:
[[ 0.94255885  0.32745968 -0.06598506]
 [-0.32982582  0.94360971 -0.028574  ]
 [ 0.05290663  0.04869648  0.99741101]]

 t_gt:
[-0.52065422  0.81771156 -0.24549334]

Pose Error in degrees for R and t:
19.69991325902151 60.55584897170923

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.73589364 -0.6770814   0.00461765]
 [ 0.67709278  0.73589627 -0.00142735]
 [-0.00243168  0.00417695  0.99998832]]

 t_estimated:
[[-0.09486569]
 [-0.99548936]
 [-0.00120083]]

 R_gt:
[[ 0.97672996 -0.21353767  0.01998494]
 [ 0.21325058  0.97687374  0.01554465]
 [-0.02284285 -0.0109204   0.99967971]]

 t_gt:
[ 0.72909035 -0.67465945  0.11516029]

Pose Error in degrees for R and t:
30.32401639522569 52.964312382652324

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.97103047e-01  7.60571783e-02  9.05449697e-04]
 [-7.60562580e-02  9.97103016e-01 -1.01087423e-03]
 [-9.79710865e-04  9.39080661e-04  9.99999079e-01]]

 t_estimated:
[[8.53123574e-01]
 [5.21708775e-01]
 [3.49593538e-04]]

 R_gt:
[[ 0.93710131 -0.34583794  0.04728052]
 [ 0.34513371  0.93828135  0.02258583]
 [-0.05217436 -0.00484642  0.99862657]]

 t_gt:
[ 0.76300356 -0.63045947  0.1426409 ]

Pose Error in degrees for R and t:
24.763508217738483 71.21184698016371

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.99599147  0.08943564 -0.00150409]
 [-0.08942643  0.99597902  0.00535814]
 [ 0.00197725 -0.00520215  0.99998451]]

 t_estimated:
[[ 9.74714732e-01]
 [ 2.23452705e-01]
 [-2.83693535e-04]]

 R_gt:
[[ 0.88834629 -0.45388068  0.06952279]
 [ 0.45487016  0.89055615  0.00178484]
 [-0.06272397  0.03003893  0.99757847]]

 t_gt:
[ 0.79102451 -0.60588128  0.08478273]

Pose Error in degrees for R and t:
32.45225539616958 50.53450759457117

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-9.71384175e-01 -2.37138338e-01 -1.33489208e-02]
 [-2.37162849e-01  9.71469873e-01  2.61225938e-04]
 [ 1.29061277e-02  3.41961884e-03 -9.99910865e-01]]

 t_estimated:
[[ 0.98663098]
 [ 0.16286821]
 [-0.00576683]]

 R_gt:
[[ 0.99664969  0.07252179  0.037817  ]
 [-0.07157717  0.99710291 -0.02575407]
 [-0.03957499  0.02296135  0.99895248]]

 t_gt:
[-0.78798495  0.59460383  0.15976859]

Pose Error in degrees for R and t:
178.72363288141878 47.0367076107066

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.15985165  0.9871399   0.00150432]
 [-0.98713929  0.15985405 -0.0016416 ]
 [-0.00186096 -0.00122256  0.99999752]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99482804  0.04236842  0.09231618]
 [-0.04062174  0.99895963 -0.02072089]
 [-0.09309783  0.01686316  0.99551363]]

 t_gt:
[-0.74593762  0.4107871   0.52424329]

Pose Error in degrees for R and t:
78.56616967489458 66.00408526207919

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.97387754e-01 -7.22330378e-02  2.39280912e-04]
 [ 7.22330273e-02  9.97387782e-01  5.23360734e-05]
 [-2.42436252e-04 -3.49153740e-05  9.99999970e-01]]

 t_estimated:
[[0.33196736]
 [0.9432902 ]
 [0.0011292 ]]

 R_gt:
[[ 0.9918937   0.03391816  0.12245719]
 [-0.02533765  0.99715778 -0.07095957]
 [-0.12451611  0.06728108  0.98993352]]

 t_gt:
[-0.73061191  0.54497671  0.41134731]

Pose Error in degrees for R and t:
10.008773105241142 74.21690235869217

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.97763446e-01  6.68438737e-02 -5.51993372e-05]
 [-6.68438822e-02  9.97763432e-01 -1.70767197e-04]
 [ 4.36611392e-05  1.74075005e-04  9.99999984e-01]]

 t_estimated:
[[-0.9929586 ]
 [-0.11845357]
 [-0.00140478]]

 R_gt:
[[ 9.98662359e-01  4.93627119e-02 -1.53569644e-02]
 [-4.93574914e-02  9.98781652e-01  7.33185200e-04]
 [ 1.53745444e-02  2.71132720e-05  9.99881745e-01]]

 t_gt:
[-0.41427086  0.88162898 -0.2260752 ]

Pose Error in degrees for R and t:
1.3332202872746561 72.10706379908892

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.73751347e-01 -2.27612109e-01 -1.02085701e-03]
 [ 2.27612491e-01  9.73751755e-01  2.72819363e-04]
 [ 9.31964310e-04 -4.98018028e-04  9.99999442e-01]]

 t_estimated:
[[-0.33452603]
 [-0.9423843 ]
 [-0.00203979]]

 R_gt:
[[ 0.99455378  0.10348452 -0.01235245]
 [-0.10360002  0.99457835 -0.00907912]
 [ 0.01134621  0.01030992  0.99988305]]

 t_gt:
[-0.39603645  0.90866253 -0.13224042]

Pose Error in degrees for R and t:
19.11874920725342 43.65122140750429

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-0.70987473 -0.27949704  0.6464977 ]
 [-0.59999849 -0.24077263 -0.76290914]
 [ 0.3688898  -0.92946756  0.0032206 ]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.99320845  0.11591593 -0.0099821 ]
 [-0.11620856  0.99253898 -0.03690709]
 [ 0.00562903  0.0378179   0.99926887]]

 t_gt:
[-0.38420741  0.9055132  -0.1800847 ]

Pose Error in degrees for R and t:
163.22146590019378 69.81771307608295

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999164e-01 -1.29144660e-03  6.48771661e-05]
 [ 1.29144190e-03  9.99999163e-01  7.25071579e-05]
 [-6.49707510e-05 -7.24233122e-05  9.99999995e-01]]

 t_estimated:
[[ 2.54564807e-02]
 [-9.99675882e-01]
 [ 3.14909335e-04]]

 R_gt:
[[ 0.99305253 -0.00544591  0.11754847]
 [ 0.00743007  0.99983716 -0.01644858]
 [-0.11743996  0.01720796  0.99293035]]

 t_gt:
[0.02361052 0.05284501 0.99832357]

Pose Error in degrees for R and t:
6.820100972440545 87.02429734534569

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.99481457  0.10147965 -0.0067715 ]
 [-0.10143069  0.99481641  0.0072202 ]
 [ 0.00746911 -0.00649592  0.99995101]]

 t_estimated:
[[0.82108217]
 [0.57080579]
 [0.00219541]]

 R_gt:
[[ 0.98514204 -0.04955087  0.16443713]
 [ 0.06118158  0.99591437 -0.06643142]
 [-0.16047234  0.07550558  0.98414722]]

 t_gt:
[ 0.62500466 -0.20130227  0.75421918]

Pose Error in degrees for R and t:
14.0263978231514 66.42610373519699

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.39723499e-01  3.41935229e-01  2.13345332e-04]
 [-3.41935217e-01  9.39723523e-01 -9.30834553e-05]
 [-2.32314139e-04  1.45224282e-05  9.99999973e-01]]

 t_estimated:
[[0.62315166]
 [0.7821005 ]
 [0.00090312]]

 R_gt:
[[ 0.9787743  -0.14695928  0.14284088]
 [ 0.15260207  0.98785285 -0.02932097]
 [-0.13679693  0.05049675  0.98931079]]

 t_gt:
[ 0.82595141 -0.46324362  0.32126252]

Pose Error in degrees for R and t:
29.82876585150372 81.21772740691037

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.99999369e-01 -1.12192116e-03  4.95901175e-05]
 [ 1.12192147e-03  9.99999371e-01 -6.21463795e-06]
 [-4.95831139e-05  6.27027025e-06  9.99999999e-01]]

 t_estimated:
[[ 3.08184911e-01]
 [-9.51326474e-01]
 [-3.29631513e-05]]

 R_gt:
[[ 0.9991274  -0.02815117  0.03083937]
 [ 0.02860115  0.99948954 -0.01425705]
 [-0.03042204  0.01512823  0.99942237]]

 t_gt:
[ 0.73850743 -0.67092912  0.06678987]

Pose Error in degrees for R and t:
2.494413050157623 30.0181145795342

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.82775787e-01  1.84801866e-01  1.50580070e-04]
 [-1.84801833e-01  9.82775782e-01 -2.10022069e-04]
 [-1.86798916e-04  1.78577132e-04  9.99999967e-01]]

 t_estimated:
[[-9.64738887e-01]
 [-2.63207381e-01]
 [-8.67971306e-04]]

 R_gt:
[[ 0.99487205 -0.04844203  0.08878241]
 [ 0.05224835  0.99778876 -0.04106843]
 [-0.08659648  0.04549778  0.99520379]]

 t_gt:
[ 0.77426492 -0.60378633  0.18962044]

Pose Error in degrees for R and t:
14.6496125421623 53.970122748253246

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.83598649e-01 -1.80370896e-01 -1.94109383e-04]
 [ 1.80370914e-01  9.83598662e-01  7.93022703e-05]
 [ 1.76621907e-04 -1.13013293e-04  9.99999978e-01]]

 t_estimated:
[[ 3.60474961e-01]
 [-9.32768810e-01]
 [-3.87859359e-04]]

 R_gt:
[[ 0.99092442 -0.00612059  0.13428095]
 [ 0.01651893  0.99693545 -0.07646455]
 [-0.13340099  0.07798947  0.98798852]]

 t_gt:
[0.19500128 0.9702585  0.1434327 ]

Pose Error in degrees for R and t:
13.186695103777852 33.40608263582753

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[-0.47269287  0.88077163  0.02833363]
 [ 0.88077821  0.47323402 -0.01671239]
 [-0.02812824  0.01705581 -0.9994588 ]]

 t_estimated:
[[ 0.84746932]
 [-0.53058039]
 [ 0.01673915]]

 R_gt:
[[ 0.99660189 -0.07127864 -0.04128737]
 [ 0.07271219  0.9967624   0.03431641]
 [ 0.03870761 -0.03720066  0.99855814]]

 t_gt:
[ 0.34395949 -0.93208288 -0.11363705]

Pose Error in degrees for R and t:
178.86261734892116 38.35899225130077

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99975102e-01  7.05521659e-03  1.39781051e-04]
 [-7.05516109e-03  9.99975035e-01 -3.93653501e-04]
 [-1.42554872e-04  3.92657522e-04  9.99999913e-01]]

 t_estimated:
[[ 0.43642594]
 [-0.89973682]
 [-0.00246132]]

 R_gt:
[[ 0.97608235 -0.19867848 -0.08826067]
 [ 0.20107288  0.97939089  0.01903455]
 [ 0.08266032 -0.03632551  0.99591609]]

 t_gt:
[ 0.55847713 -0.79926687 -0.22198144]

Pose Error in degrees for R and t:
13.033812950056966 15.547172095168987

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.9815845   0.19102344 -0.00138307]
 [-0.19102018 -0.98158365 -0.00219732]
 [-0.00177734 -0.00189266  0.99999663]]

 t_estimated:
[[9.80433659e-01]
 [1.96847495e-01]
 [9.50954082e-04]]

 R_gt:
[[ 0.94788099 -0.29803601 -0.11267529]
 [ 0.30388537  0.95193097  0.03848754]
 [ 0.09578876 -0.07072115  0.9928864 ]]

 t_gt:
[ 0.62129121 -0.77811959 -0.09234249]

Pose Error in degrees for R and t:
173.43544078094448 62.878680992795765

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.74582472e-01 -2.24028593e-01 -4.40891973e-04]
 [ 2.24028775e-01  9.74582440e-01  4.18742492e-04]
 [ 3.35875284e-04 -5.06871582e-04  9.99999815e-01]]

 t_estimated:
[[-0.56443568]
 [-0.82547595]
 [-0.00135048]]

 R_gt:
[[ 0.99521173  0.09060628  0.03666278]
 [-0.09096041  0.99582107  0.00811643]
 [-0.03577437 -0.01141266  0.99929492]]

 t_gt:
[-0.40154051  0.82853813  0.39024324]

Pose Error in degrees for R and t:
18.284093551471656 62.75337644248482

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.89399693e-01 -1.45217604e-01 -3.06645005e-04]
 [ 1.45217647e-01  9.89399727e-01  1.22880707e-04]
 [ 2.85550042e-04 -1.66108400e-04  9.99999945e-01]]

 t_estimated:
[[-7.71182480e-01]
 [-6.36613725e-01]
 [-7.39388764e-04]]

 R_gt:
[[ 0.99438465  0.10229352  0.02711153]
 [-0.10236181  0.99474609  0.00113318]
 [-0.02685327 -0.00390205  0.9996316 ]]

 t_gt:
[-0.18573804  0.94924135  0.25385477]

Pose Error in degrees for R and t:
14.310352231777063 62.532213081502235

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.99892471 -0.04632731  0.00178839]
 [ 0.04632971  0.99892532 -0.00132483]
 [-0.00172509  0.00140626  0.99999752]]

 t_estimated:
[[-0.52348832]
 [-0.85203176]
 [-0.00136325]]

 R_gt:
[[ 9.94441327e-01  1.01060098e-01  2.95536401e-02]
 [-1.01099560e-01  9.94875657e-01 -1.47663214e-04]
 [-2.94169475e-02 -2.84125291e-03  9.99562935e-01]]

 t_gt:
[0.1972782  0.93134041 0.30608226]

Pose Error in degrees for R and t:
8.60761247976704 26.204756719566273

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99788516e-01  2.05650076e-02 -6.60912093e-05]
 [-2.05650074e-02  9.99788518e-01  4.43222091e-06]
 [ 6.61683808e-05 -3.07211736e-06  9.99999998e-01]]

 t_estimated:
[[-9.38624875e-01]
 [-3.44938488e-01]
 [-8.84840729e-04]]

 R_gt:
[[ 0.99721058  0.07408307  0.00912518]
 [-0.07386613  0.99702398 -0.02206677]
 [-0.01073267  0.02133062  0.9997148 ]]

 t_gt:
[-0.89162749  0.40107336 -0.2100966 ]

Pose Error in degrees for R and t:
3.3567048315874883 45.67367838403478

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.96429373e-01  8.44303581e-02 -1.39539219e-04]
 [-8.44303704e-02  9.96429378e-01 -8.48851538e-05]
 [ 1.31874094e-04  9.63634085e-05  9.99999987e-01]]

 t_estimated:
[[-0.97864067]
 [-0.20557219]
 [-0.00158573]]

 R_gt:
[[ 0.99349925  0.10921657  0.03210267]
 [-0.10752282  0.9929215  -0.05044984]
 [-0.03738445  0.04667087  0.99820965]]

 t_gt:
[-0.86040184  0.42547151 -0.28050431]

Pose Error in degrees for R and t:
3.6977118930730937 40.97428686207627

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.93147900e-01  1.16864130e-01 -1.53636657e-04]
 [-1.16864141e-01  9.93147908e-01 -6.70379680e-05]
 [ 1.44749591e-04  8.45332331e-05  9.99999986e-01]]

 t_estimated:
[[-9.08859450e-01]
 [-4.17101882e-01]
 [-7.20957916e-04]]

 R_gt:
[[ 0.97883324  0.1972486   0.05458462]
 [-0.18945007  0.97416134 -0.122957  ]
 [-0.07742691  0.11001304  0.99090993]]

 t_gt:
[-0.82375953  0.43668347 -0.36156297]

Pose Error in degrees for R and t:
8.93846603874626 55.472563589569106

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 8.63943674e-01 -5.03587776e-01  8.24368310e-04]
 [ 5.03587790e-01  8.63944035e-01  2.06406883e-04]
 [-8.16152068e-04  2.36817894e-04  9.99999639e-01]]

 t_estimated:
[[7.78621389e-01]
 [6.27493624e-01]
 [6.96441314e-04]]

 R_gt:
[[ 0.96810343 -0.25053769  0.00259862]
 [ 0.25036432  0.96772934  0.0286063 ]
 [-0.00968084 -0.02704262  0.99958688]]

 t_gt:
[ 0.75197732 -0.64899327  0.11548958]

Pose Error in degrees for R and t:
15.81482447316454 79.72651275144482

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 6.85201510e-01 -7.28353313e-01 -5.84541504e-04]
 [ 7.28353276e-01  6.85201727e-01 -3.14818168e-04]
 [ 6.29827704e-04 -2.10038835e-04  9.99999780e-01]]

 t_estimated:
[[ 0.73747246]
 [-0.67537656]
 [-0.0009314 ]]

 R_gt:
[[ 0.9472303  -0.3203853  -0.01039352]
 [ 0.32050316  0.94600793  0.04844691]
 [-0.00568844 -0.04922003  0.99877138]]

 t_gt:
[ 0.76717209 -0.62625041  0.13877105]

Pose Error in degrees for R and t:
28.187572507453073 8.662037816563972

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99917807e-01  1.28042810e-02  6.55289645e-04]
 [-1.28034932e-02  9.99917321e-01 -1.19257041e-03]
 [-6.70505473e-04  1.18408239e-03  9.99999074e-01]]

 t_estimated:
[[-0.99751807]
 [-0.06997536]
 [-0.00781933]]

 R_gt:
[[ 0.91776011 -0.39512155  0.03993376]
 [ 0.39396438  0.91849973  0.03391868]
 [-0.05008026 -0.01539601  0.99862628]]

 t_gt:
[ 0.76085987 -0.63077672  0.15235811]

Pose Error in degrees for R and t:
24.172639521479223 44.27281888970567

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-8.55405578e-01 -5.17958715e-01 -2.59797346e-04]
 [-5.17958773e-01  8.55405377e-01  5.91721044e-04]
 [-8.42550247e-05  6.40725796e-04 -9.99999791e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9872841  -0.15399109 -0.03943779]
 [ 0.15648685  0.9851341   0.07087058]
 [ 0.02793784 -0.07614194  0.99670559]]

 t_gt:
[ 0.73426189 -0.65887981  0.16351415]

Pose Error in degrees for R and t:
179.2671111204637 42.916918455780056

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.92803937e-01  1.19750966e-01  2.20444052e-04]
 [-1.19750944e-01  9.92803958e-01 -1.10406035e-04]
 [-2.32078957e-04  8.32131628e-05  9.99999970e-01]]

 t_estimated:
[[0.76706408]
 [0.64156982]
 [0.00092959]]

 R_gt:
[[ 0.97327049 -0.22724701 -0.03321961]
 [ 0.2276119   0.97372273  0.00760328]
 [ 0.03061807 -0.01496162  0.99941889]]

 t_gt:
[ 0.78188158 -0.62318008 -0.01754391]

Pose Error in degrees for R and t:
20.12277862505736 78.46751799108065

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-7.39975117e-01  6.72634000e-01 -5.72876852e-04]
 [-6.72631456e-01 -7.39974234e-01 -2.24884618e-03]
 [-1.93656451e-03 -1.27875523e-03  9.99997307e-01]]

 t_estimated:
[[0.07263369]
 [0.9973581 ]
 [0.00108408]]

 R_gt:
[[ 0.95682474 -0.28654025 -0.04880213]
 [ 0.28204071  0.9558489  -0.08249386]
 [ 0.07028481  0.06516709  0.99539561]]

 t_gt:
[ 0.80483034 -0.55217657 -0.21759861]

Pose Error in degrees for R and t:
154.3155430026697 60.49523954503817

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 1.00000000e+00 -1.03972386e-13 -7.91467586e-18]
 [ 1.03916875e-13  1.00000000e+00  7.47963974e-17]
 [-8.70614345e-17  3.47581664e-16  1.00000000e+00]]

 t_estimated:
[[9.83990024e-01]
 [1.78222426e-01]
 [6.31912118e-04]]

 R_gt:
[[ 0.98665985 -0.15374747  0.05351302]
 [ 0.15305791  0.98807511  0.01677642]
 [-0.05545454 -0.00836215  0.99842606]]

 t_gt:
[ 0.67877478 -0.67923933  0.27910344]

Pose Error in degrees for R and t:
9.397071922497387 56.83662051174514

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.54326175e-01  2.98766712e-01  5.25390757e-05]
 [-2.98766717e-01  9.54326154e-01  2.03499577e-04]
 [ 1.06594856e-05 -2.09901900e-04  9.99999978e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.95280992 -0.30282414  0.02122813]
 [ 0.30089186  0.95136449  0.06610172]
 [-0.0402134  -0.05659563  0.99758696]]

 t_gt:
[ 0.764915   -0.61379097  0.19536038]

Pose Error in degrees for R and t:
35.19222765986746 52.496857033684265

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.40530753 -0.91417951 -0.00127322]
 [-0.90157121 -0.39994731  0.1649591 ]
 [-0.15131145 -0.06571127 -0.98629959]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.91552969 -0.40203415  0.01320807]
 [ 0.40089964  0.9146514   0.05189582]
 [-0.03294454 -0.04221688  0.99856515]]

 t_gt:
[ 0.81052921 -0.57136044  0.12880077]

Pose Error in degrees for R and t:
168.1296299535793 75.165258585805

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.98854418e-01 -4.78518787e-02 -2.22127153e-04]
 [ 4.78519193e-02  9.98854424e-01  1.80937693e-04]
 [ 2.13214481e-04 -1.91359624e-04  9.99999959e-01]]

 t_estimated:
[[-9.99089597e-01]
 [ 4.26542760e-02]
 [-7.68647483e-04]]

 R_gt:
[[ 0.99589701  0.08983632 -0.0109271 ]
 [-0.08989357  0.9959391  -0.00489115]
 [ 0.01044339  0.0058536   0.99992806]]

 t_gt:
[-0.79469939  0.59877    -0.09963617]

Pose Error in degrees for R and t:
7.927956715152093 34.95596964088822

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.31236574e-01 -3.64414912e-01 -4.63351503e-04]
 [ 3.64414941e-01  9.31236678e-01 -2.26203888e-05]
 [ 4.39733121e-04 -1.47787277e-04  9.99999892e-01]]

 t_estimated:
[[-0.3254113 ]
 [-0.94557205]
 [-0.00098909]]

 R_gt:
[[ 9.56913165e-01  2.90376955e-01  7.61613051e-04]
 [-2.90377669e-01  9.56911373e-01  5.07823954e-04]
 [-5.81179314e-04 -7.07504177e-04  9.99998537e-01]]

 t_gt:
[-0.72315067  0.69065409  0.00707412]

Pose Error in degrees for R and t:
38.25222550067069 65.30745884934018

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99466336e-01 -3.26437759e-02 -1.19448323e-03]
 [ 3.26444224e-02  9.99466891e-01  5.25793381e-04]
 [ 1.17668256e-03 -5.64505999e-04  9.99999148e-01]]

 t_estimated:
[[0.36616572]
 [0.93054915]
 [0.00097644]]

 R_gt:
[[ 0.92192649  0.38715983  0.0126569 ]
 [-0.38703171  0.92199509 -0.01143535]
 [-0.01609651  0.0056437   0.99985411]]

 t_gt:
[-0.66765696  0.74427958  0.01679562]

Pose Error in degrees for R and t:
24.668518952711754 63.37609944494198

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99985235e-01  5.41701068e-03  4.31333026e-04]
 [-5.41693874e-03  9.99985314e-01 -1.67780043e-04]
 [-4.32235558e-04  1.65441061e-04  9.99999893e-01]]

 t_estimated:
[[-0.07995878]
 [-0.99677171]
 [ 0.00726337]]

 R_gt:
[[ 0.99771736  0.05994829  0.031084  ]
 [-0.05857927  0.99734579 -0.04322138]
 [-0.03359258  0.04130209  0.9985811 ]]

 t_gt:
[-0.83992682  0.34780476 -0.41659907]

Pose Error in degrees for R and t:
4.327204892224959 73.58764384421949

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-7.51283241e-01 -6.59978858e-01 -1.18247185e-03]
 [ 6.59975545e-01 -7.51283580e-01  2.29392735e-03]
 [-2.40231524e-03  9.42986675e-04  9.99996670e-01]]

 t_estimated:
[[9.44262464e-01]
 [3.29192419e-01]
 [8.66295839e-04]]

 R_gt:
[[ 0.99234925  0.11752366  0.03783931]
 [-0.11313003  0.98827279 -0.10255713]
 [-0.04944942  0.09749179  0.9940065 ]]

 t_gt:
[-0.77256526  0.36827102 -0.51722276]

Pose Error in degrees for R and t:
145.40141330978963 52.50296193028653

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.89207293  0.45188853  0.00162491]
 [-0.45187119  0.89206121 -0.00626398]
 [-0.00428014  0.00485368  0.99997906]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.98995314e-01  5.06800125e-03  4.45280904e-02]
 [-4.06561994e-04  9.94567688e-01 -1.04087834e-01]
 [-4.48147131e-02  1.03965180e-01  9.93570612e-01]]

 t_gt:
[-0.16628904  0.26188853 -0.95066416]

Pose Error in degrees for R and t:
27.387196230693462 80.43228798469647

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 1.87105272e-01 -9.82339246e-01 -1.10579095e-03]
 [ 9.82339606e-01  1.87105927e-01 -5.20771895e-04]
 [ 7.18474711e-04 -9.88823082e-04  9.99999253e-01]]

 t_estimated:
[[0.76678474]
 [0.64190383]
 [0.00079542]]

 R_gt:
[[ 0.99842674  0.05345653 -0.01696722]
 [-0.05401667  0.99794719 -0.03440675]
 [ 0.01509333  0.03526858  0.99926399]]

 t_gt:
[-0.46181115  0.65748795 -0.59534869]

Pose Error in degrees for R and t:
82.32135966281989 86.13184698981918

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.55045656e-01 -2.96458747e-01 -7.57156565e-05]
 [ 2.96458754e-01  9.55045653e-01  9.01976069e-05]
 [ 4.55720391e-05 -1.08589402e-04  9.99999993e-01]]

 t_estimated:
[[-8.15978545e-01]
 [-5.78081666e-01]
 [-7.74908400e-04]]

 R_gt:
[[ 0.98787174  0.15237856 -0.02984109]
 [-0.15324291  0.98775621 -0.02920132]
 [ 0.02502524  0.03342     0.99912817]]

 t_gt:
[-0.55856408  0.77999905 -0.28214827]

Pose Error in degrees for R and t:
26.146788347037347 89.70826050341711

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.50633385e-01 -3.10315285e-01 -7.69455685e-04]
 [ 3.10315384e-01  9.50633664e-01  9.77926540e-06]
 [ 7.28435821e-04 -2.48070432e-04  9.99999704e-01]]

 t_estimated:
[[-0.34755586]
 [-0.93765853]
 [-0.00118986]]

 R_gt:
[[ 0.96179586  0.26796847 -0.05606043]
 [-0.26973108  0.96256998 -0.02652896]
 [ 0.04685274  0.04063651  0.99807497]]

 t_gt:
[-0.54184763  0.8043152  -0.24388154]

Pose Error in degrees for R and t:
33.86776597152736 55.558777348457035

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.76131555 -0.64836887 -0.00405551]
 [-0.64837019  0.76132434 -0.00115608]
 [ 0.00383712  0.00174934 -0.99999111]]

 t_estimated:
[[ 9.47398929e-01]
 [ 3.20054846e-01]
 [-4.06345078e-04]]

 R_gt:
[[ 0.97211577 -0.23259776  0.02983197]
 [ 0.23162784  0.97225499  0.03269335]
 [-0.03660794 -0.0248725   0.99901957]]

 t_gt:
[ 0.69601723 -0.69090896  0.19546055]

Pose Error in degrees for R and t:
177.86400514608488 64.01105042409415

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999383e-01  7.59224328e-04  8.10503811e-04]
 [-7.58701495e-04  9.99999504e-01 -6.45183588e-04]
 [-8.10993248e-04  6.44568260e-04  9.99999463e-01]]

 t_estimated:
[[9.89976524e-01]
 [1.41230974e-01]
 [5.42644306e-04]]

 R_gt:
[[ 0.91573506 -0.40174575  0.00540831]
 [ 0.4005333   0.91386574  0.06650161]
 [-0.03165875 -0.05873169  0.99777226]]

 t_gt:
[ 0.77907619 -0.60374723  0.168907  ]

Pose Error in degrees for R and t:
24.02668208686086 46.67853226308483

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-5.35961593e-01 -8.44242142e-01  6.14035981e-04]
 [-8.44242279e-01  5.35961725e-01  6.26735054e-05]
 [-3.82011398e-04 -4.84804544e-04 -9.99999810e-01]]

 t_estimated:
[[0.88899023]
 [0.45792433]
 [0.00129998]]

 R_gt:
[[ 0.89879821 -0.4379532   0.01894794]
 [ 0.43559073  0.89713065  0.07359596]
 [-0.04922975 -0.05789351  0.99710829]]

 t_gt:
[ 0.77913217 -0.59705381  0.1909969 ]

Pose Error in degrees for R and t:
176.350478730862 65.19800344912159

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[-7.85767652e-01 -6.18519042e-01 -1.84192227e-03]
 [ 6.18520990e-01 -7.85767931e-01 -7.37143992e-04]
 [-9.91385860e-04 -1.71849149e-03  9.99998032e-01]]

 t_estimated:
[[ 9.38636044e-01]
 [-3.44909055e-01]
 [ 3.46344514e-04]]

 R_gt:
[[ 0.99891808 -0.0329561  -0.03281543]
 [ 0.03203706  0.9990912  -0.02813621]
 [ 0.0337136   0.02705419  0.99906467]]

 t_gt:
[ 0.08019778 -0.55701772 -0.82661936]

Pose Error in degrees for R and t:
139.93848685909987 74.50759199270338

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[-0.35925413  0.9330983   0.01624928]
 [ 0.93309929  0.3594477  -0.01109357]
 [-0.01619216  0.01117678 -0.99980643]]

 t_estimated:
[[ 0.82980256]
 [-0.55796389]
 [ 0.01019845]]

 R_gt:
[[ 0.99218785 -0.11366774 -0.05141027]
 [ 0.11473044  0.99322995  0.01819942]
 [ 0.04899402 -0.02395599  0.99851155]]

 t_gt:
[ 0.32870912 -0.91188593 -0.24579335]

Pose Error in degrees for R and t:
178.06390088209008 38.825741060991476

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.96320327  0.26869055 -0.00669741]
 [-0.2686408   0.96321138  0.00748088]
 [ 0.00846106 -0.00540641  0.99994959]]

 t_estimated:
[[-0.5858795 ]
 [-0.81039536]
 [-0.00213825]]

 R_gt:
[[ 0.96813419 -0.22887551 -0.10165574]
 [ 0.23252     0.97225954  0.0254288 ]
 [ 0.09301697 -0.04825538  0.99449415]]

 t_gt:
[ 0.50203327 -0.84071823 -0.20286807]

Pose Error in degrees for R and t:
29.459715321361138 67.19370061013203

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.99825823e-01 -1.86625850e-02 -1.80043580e-04]
 [ 1.86626219e-02  9.99825817e-01  2.05170876e-04]
 [ 1.76183201e-04 -2.08495225e-04  9.99999963e-01]]

 t_estimated:
[[-7.70277945e-01]
 [-6.37707854e-01]
 [-7.61897077e-04]]

 R_gt:
[[ 0.99900344  0.04141489  0.01666654]
 [-0.04162618  0.99905497  0.01256569]
 [-0.01613063 -0.01324725  0.99978147]]

 t_gt:
[-0.12564361  0.80669964  0.57745076]

Pose Error in degrees for R and t:
3.6506965434470473 65.28542634890563

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.83514089e-01  1.80831493e-01  8.57767079e-05]
 [-1.80831466e-01  9.83514064e-01 -2.60002394e-04]
 [-1.31379220e-04  2.40204890e-04  9.99999963e-01]]

 t_estimated:
[[0.47468909]
 [0.88015268]
 [0.00123617]]

 R_gt:
[[ 0.99905518  0.0434448  -0.00127683]
 [-0.04344289  0.99905543  0.00117368]
 [ 0.00132692 -0.0011162   0.99999838]]

 t_gt:
[ 0.74897576  0.65833053 -0.07507473]

Pose Error in degrees for R and t:
7.929024174401828 20.79297659712601

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 0.94645458  0.32283236 -0.00173064]
 [-0.32282482  0.94645184  0.00361339]
 [ 0.00280449 -0.00286121  0.99999197]]

 t_estimated:
[[0.45582919]
 [0.89006647]
 [0.00119955]]

 R_gt:
[[ 0.99773121  0.05997014  0.03057506]
 [-0.06030757  0.99812652  0.01025494]
 [-0.02990247 -0.01207468  0.99947982]]

 t_gt:
[0.66783854 0.55967205 0.49067186]

Pose Error in degrees for R and t:
15.504206964796108 36.567628413442804

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 9.98388655e-01 -5.67458556e-02  2.40036962e-05]
 [ 5.67458541e-02  9.98388654e-01  5.85233421e-05]
 [-2.72859751e-05 -5.70669306e-05  9.99999998e-01]]

 t_estimated:
[[ 6.65764638e-01]
 [-7.46161755e-01]
 [ 2.84230190e-04]]

 R_gt:
[[ 0.99886616 -0.03681851  0.03017081]
 [ 0.03690684  0.99931516 -0.00238259]
 [-0.03006241  0.00349256  0.99954184]]

 t_gt:
[ 0.72322526 -0.63668647  0.2675361 ]

Pose Error in degrees for R and t:
2.0752839805778187 16.93320757025364

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 0.47819436 -0.87814082  0.01410175]
 [-0.87823461 -0.47801533  0.01432891]
 [-0.00584195 -0.01923665 -0.99979789]]

 t_estimated:
[[0.56260915]
 [0.82663971]
 [0.01173586]]

 R_gt:
[[ 0.99488486 -0.02150961  0.09869853]
 [ 0.02437201  0.99931376 -0.02789078]
 [-0.09803052  0.03015361  0.99472643]]

 t_gt:
[0.41592885 0.27167393 0.86786892]

Pose Error in degrees for R and t:
177.43451506568624 62.04570904380336

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 8.83613897e-01 -4.68214367e-01  1.33668725e-03]
 [ 4.68215939e-01  8.83613082e-01 -1.32476904e-03]
 [-5.60838446e-04  1.79644261e-03  9.99998229e-01]]

 t_estimated:
[[-0.39332531]
 [-0.91939791]
 [-0.00163886]]

 R_gt:
[[ 0.98994023  0.06554376  0.12538291]
 [-0.05474209  0.9946371  -0.08774191]
 [-0.13046115  0.07999567  0.98822084]]

 t_gt:
[-0.23672247  0.96999382  0.05544776]

Pose Error in degrees for R and t:
32.54174761041195 36.985077427545384

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.87084657e-01 -1.60198942e-01 -4.23989202e-04]
 [ 1.60198976e-01  9.87084741e-01  4.75113172e-05]
 [ 4.10902009e-04 -1.14820328e-04  9.99999909e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 9.90982477e-01  1.09182948e-03  1.33992980e-01]
 [ 3.36743021e-04  9.99942996e-01 -1.06405522e-02]
 [-1.33996853e-01  1.05896537e-02  9.90925585e-01]]

 t_gt:
[-0.10490781  0.0675926   0.99218224]

Pose Error in degrees for R and t:
12.053920320597602 86.10269839619812

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-7.76447013e-02 -9.96979284e-01 -1.89951640e-03]
 [ 9.96981074e-01 -7.76441831e-02 -3.45184043e-04]
 [ 1.96654942e-04 -1.92058361e-03  9.99998136e-01]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.97465256 -0.02157746  0.22268239]
 [ 0.03234276  0.99847149 -0.04481063]
 [-0.22137495  0.05087681  0.97386069]]

 t_gt:
[0.14987961 0.00294865 0.98869986]

Pose Error in degrees for R and t:
93.6158900715846 81.3327389661121

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99998613e-01 -1.49188417e-03  7.40019532e-04]
 [ 1.49240368e-03  9.99998640e-01 -7.01963934e-04]
 [-7.38971277e-04  7.03067369e-04  9.99999480e-01]]

 t_estimated:
[[-0.1016603 ]
 [-0.99481863]
 [-0.00103735]]

 R_gt:
[[ 0.96985979 -0.08500283  0.22835822]
 [ 0.09877776  0.99387472 -0.04956398]
 [-0.22274576  0.07062673  0.9723149 ]]

 t_gt:
[ 0.60799474 -0.28974829  0.73918085]

Pose Error in degrees for R and t:
14.44920385494771 76.95764489626865

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 1.82611854e-02 -9.99831482e-01 -1.88045484e-03]
 [ 9.99833228e-01  1.82615515e-02 -1.77669511e-04]
 [ 2.11979593e-04 -1.87689678e-03  9.99998216e-01]]

 t_estimated:
[[ 9.98738322e-01]
 [-5.02092359e-02]
 [ 8.92233142e-04]]

 R_gt:
[[ 0.99404459 -0.08201399  0.07176064]
 [ 0.0862538   0.99457643 -0.05812323]
 [-0.06660488  0.06396701  0.99572645]]

 t_gt:
[ 0.73407742 -0.59820309 -0.32137736]

Pose Error in degrees for R and t:
84.26024215937403 40.2794883522842

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-6.28080425e-01 -7.78147804e-01 -9.87101126e-04]
 [-7.78148382e-01  6.28079434e-01  1.14859556e-03]
 [-2.73799193e-04  1.48952153e-03 -9.99998853e-01]]

 t_estimated:
[[9.58008584e-01]
 [2.86737951e-01]
 [9.49463413e-04]]

 R_gt:
[[ 0.99017298 -0.10419003  0.0932816 ]
 [ 0.11005649  0.99210517 -0.06011378]
 [-0.08628166  0.06978978  0.99382267]]

 t_gt:
[ 0.76518711 -0.62209856 -0.16577717]

Pose Error in degrees for R and t:
176.9719210584684 56.32239813159323

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99999164e-01  1.20691204e-03  4.64068928e-04]
 [-1.20674245e-03  9.99999205e-01 -3.65537346e-04]
 [-4.64509731e-04  3.64977029e-04  9.99999826e-01]]

 t_estimated:
[[0.99998572]
 [0.0051916 ]
 [0.00126426]]

 R_gt:
[[ 0.98011746 -0.11597844  0.16099158]
 [ 0.13186316  0.98701421 -0.09173606]
 [-0.14826117  0.11114134  0.9826821 ]]

 t_gt:
[ 0.79761813 -0.58588563 -0.14332946]

Pose Error in degrees for R and t:
12.873258989579998 37.402901680390784

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99999966e-01 -2.41819176e-04  9.99216632e-05]
 [ 2.41827519e-04  9.99999967e-01 -8.34891671e-05]
 [-9.99014707e-05  8.35133280e-05  9.99999992e-01]]

 t_estimated:
[[-9.94775882e-01]
 [ 1.02082070e-01]
 [ 4.42038082e-04]]

 R_gt:
[[ 0.99479563 -0.1001288  -0.01883071]
 [ 0.10045703  0.99478905  0.01740208]
 [ 0.01698937 -0.01920286  0.99967129]]

 t_gt:
[ 0.5149928  -0.85570526 -0.0505066 ]

Pose Error in degrees for R and t:
5.929984465754713 53.153238434319846

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-4.84014476e-01  8.74936820e-01 -1.46815626e-02]
 [ 8.74589383e-01  4.84236258e-01  2.46709794e-02]
 [ 2.86948931e-02 -8.99227582e-04 -9.99587812e-01]]

 t_estimated:
[[8.42284927e-01]
 [5.39032028e-01]
 [7.58132247e-04]]

 R_gt:
[[ 0.95086653 -0.30699644  0.04008085]
 [ 0.30695636  0.95169567  0.00727271]
 [-0.04037838  0.00538819  0.99917029]]

 t_gt:
[ 0.61167505 -0.78422259  0.10415646]

Pose Error in degrees for R and t:
179.3227930365901 84.68895443985055

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.99997426  0.0069775   0.00167086]
 [-0.00697382  0.99997326 -0.00220046]
 [-0.00168617  0.00218875  0.99999618]]

 t_estimated:
[[0.67231564]
 [0.74026244]
 [0.00178807]]

 R_gt:
[[ 0.88882681 -0.45823619  0.00237521]
 [ 0.45815903  0.8887537   0.01434503]
 [-0.00868424 -0.0116619   0.99989456]]

 t_gt:
[ 0.69300511 -0.72022024  0.03204257]

Pose Error in degrees for R and t:
27.687276708545745 86.14816814179538

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99998894e-01  2.09188099e-04 -1.47251486e-03]
 [-2.06515735e-04  9.99998332e-01  1.81474834e-03]
 [ 1.47289203e-03 -1.81444223e-03  9.99997269e-01]]

 t_estimated:
[[-0.70710647]
 [-0.70710647]
 [-0.00093656]]

 R_gt:
[[ 0.98991859  0.1415997   0.00329594]
 [-0.1416264   0.98928353  0.0354882 ]
 [ 0.00176433 -0.03559708  0.99936389]]

 t_gt:
[-0.44966373  0.88765812  0.09932566]

Pose Error in degrees for R and t:
8.360396815613035 71.95272011055582

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999827e-01  4.26883856e-04 -4.05843225e-04]
 [-4.26882802e-04  9.99999909e-01  2.68424578e-06]
 [ 4.05844334e-04 -2.51099782e-06  9.99999918e-01]]

 t_estimated:
[[-0.65342704]
 [-0.75698906]
 [-0.00082192]]

 R_gt:
[[ 0.96929176  0.245903    0.0022514 ]
 [-0.24588742  0.96928256 -0.00543987]
 [-0.00352026  0.00471816  0.99998216]]

 t_gt:
[-0.37543102  0.92665633 -0.0189631 ]

Pose Error in degrees for R and t:
14.214822881548189 62.86192801311378

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999976e-01 -1.97528568e-04  9.04521606e-05]
 [ 1.97515348e-04  9.99999970e-01  1.46131508e-04]
 [-9.04810230e-05 -1.46113639e-04  9.99999985e-01]]

 t_estimated:
[[-0.66759223]
 [-0.74452665]
 [-0.00082725]]

 R_gt:
[[ 0.92934992  0.36898288 -0.01265687]
 [-0.36914382  0.92806086 -0.0493482 ]
 [-0.00646291  0.05053376  0.99870046]]

 t_gt:
[-0.28412125  0.95641447 -0.0674276 ]

Pose Error in degrees for R and t:
21.878660450898217 58.51044366153633

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[-4.24161620e-01 -9.05585477e-01 -1.36511440e-03]
 [ 9.05586398e-01 -4.24160351e-01 -1.12817409e-03]
 [ 4.42630670e-04 -1.71475718e-03  9.99998432e-01]]

 t_estimated:
[[0.79799194]
 [0.60266755]
 [0.00083472]]

 R_gt:
[[ 0.99069789  0.13586249 -0.00766109]
 [-0.13592811  0.99068009 -0.00875159]
 [ 0.00639982  0.00971113  0.99993257]]

 t_gt:
[-0.61669164  0.78042197 -0.10311627]

Pose Error in degrees for R and t:
122.90909573420683 88.74706871632462

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.97756166e-01 -6.69472595e-02 -8.35786395e-04]
 [ 6.69474137e-02  9.97756493e-01  1.57940169e-04]
 [ 8.23337640e-04 -2.13539515e-04  9.99999638e-01]]

 t_estimated:
[[-0.85330762]
 [-0.52139821]
 [-0.00316396]]

 R_gt:
[[ 0.97296336  0.22582661 -0.04841346]
 [-0.22567871  0.97416447  0.00857486]
 [ 0.04909987  0.00258353  0.99879073]]

 t_gt:
[-0.59266072  0.78403596 -0.1845017 ]

Pose Error in degrees for R and t:
17.11771671572512 84.40415535300254

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.52349063e-01 -5.22970210e-01 -1.79838099e-03]
 [ 5.22972270e-01  8.52349172e-01  9.44981602e-04]
 [ 1.03865132e-03 -1.74595757e-03  9.99997936e-01]]

 t_estimated:
[[-0.39876175]
 [-0.91705404]
 [-0.00097976]]

 R_gt:
[[ 0.93446602  0.35328592 -0.04430486]
 [-0.35173185  0.93527791  0.03925864]
 [ 0.05530713 -0.02110194  0.99824619]]

 t_gt:
[-0.57811354  0.8113869  -0.08623246]

Pose Error in degrees for R and t:
52.28654107445207 59.1046522111257

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 0.99999329  0.00228863  0.00286209]
 [-0.00224662  0.99989096 -0.01459496]
 [-0.00289518  0.01458843  0.99988939]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189838e-04]]

 R_gt:
[[ 0.99094571 -0.13218314  0.02350166]
 [ 0.13228707  0.99120661 -0.00291697]
 [-0.02290956  0.00599999  0.9997191 ]]

 t_gt:
[ 0.71294466 -0.69427882  0.09842168]

Pose Error in degrees for R and t:
7.83907933061448 44.694700842597264

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 5.06849541e-01  8.62028280e-01  3.28440293e-03]
 [ 8.62034094e-01 -5.06841739e-01 -2.94499951e-03]
 [-8.74000371e-04  4.32393895e-03 -9.99990270e-01]]

 t_estimated:
[[0.99985599]
 [0.01683968]
 [0.00210496]]

 R_gt:
[[ 0.96370924 -0.26635792  0.01781011]
 [ 0.26627352  0.96387179  0.00698725]
 [-0.01902859 -0.00199054  0.99981611]]

 t_gt:
[ 0.76723115 -0.63968424  0.04648037]

Pose Error in degrees for R and t:
179.4460197360441 40.84808382450474

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.99530733  0.09307308  0.02647117]
 [-0.09292896  0.99565069 -0.00662617]
 [-0.02697275  0.00413514  0.99962762]]

 t_estimated:
[[9.84144563e-01]
 [1.77367583e-01]
 [4.69455749e-04]]

 R_gt:
[[ 0.89019547 -0.4545021  -0.03130233]
 [ 0.45456723  0.89069593 -0.00539829]
 [ 0.03033357 -0.00942338  0.99949522]]

 t_gt:
[ 0.83634344 -0.54662386 -0.0416175 ]

Pose Error in degrees for R and t:
32.55403156565017 43.4387384827288

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.97444392e-01  7.14469926e-02  1.12194657e-04]
 [-7.14469945e-02  9.97444398e-01  1.30385745e-05]
 [-1.10976366e-04 -2.10212240e-05  9.99999994e-01]]

 t_estimated:
[[0.7165908 ]
 [0.69749339]
 [0.00077864]]

 R_gt:
[[ 0.98891565 -0.14786207 -0.01353164]
 [ 0.14740448  0.98861561 -0.03019822]
 [ 0.01784246  0.027869    0.99945217]]

 t_gt:
[ 0.74889201 -0.64097362 -0.16826639]

Pose Error in degrees for R and t:
12.731214418443583 84.86842156468373

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 7.42834669e-01  6.69474486e-01  7.53369946e-04]
 [-6.69474769e-01  7.42834772e-01  1.87743852e-04]
 [-4.33939674e-04 -6.43824812e-04  9.99999699e-01]]

 t_estimated:
[[0.68556065]
 [0.72801509]
 [0.00078619]]

 R_gt:
[[ 0.9627113  -0.26880985  0.03047134]
 [ 0.26957524  0.96266632 -0.02455766]
 [-0.0227329   0.03185584  0.99923403]]

 t_gt:
[ 0.7696401 -0.6384767  0.0012716]

Pose Error in degrees for R and t:
57.68851225440868 86.39857773277176

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-9.86720014e-01  1.62424378e-01  1.39119725e-03]
 [-1.62428440e-01 -9.86713689e-01 -3.61923424e-03]
 [ 7.84861503e-04 -3.79714086e-03  9.99992483e-01]]

 t_estimated:
[[7.75958350e-01]
 [6.30783729e-01]
 [7.25873106e-04]]

 R_gt:
[[ 0.91018001 -0.41395765 -0.01452975]
 [ 0.41375212  0.91026251 -0.01524068]
 [ 0.01953401  0.00786104  0.99977864]]

 t_gt:
[ 0.82588355 -0.56196105 -0.04600143]

Pose Error in degrees for R and t:
164.89630782369827 73.36091946216163

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.95825645e-01 -9.12756379e-02 -2.08528435e-04]
 [ 9.12756579e-02  9.95825661e-01  8.84106344e-05]
 [ 1.99588229e-04 -1.07075147e-04  9.99999974e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99469942  0.09956587 -0.02568846]
 [-0.09863771  0.99450098  0.0351807 ]
 [ 0.02904999 -0.03245969  0.99905138]]

 t_gt:
[-0.74463778  0.6671985   0.01899315]

Pose Error in degrees for R and t:
11.205247090068854 48.504541245384885

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99207810e-01 -3.97961257e-02 -1.43438030e-04]
 [ 3.97961287e-02  9.99207820e-01  1.85199752e-05]
 [ 1.42587378e-04 -2.42135822e-05  9.99999990e-01]]

 t_estimated:
[[-9.41148252e-01]
 [-3.37992867e-01]
 [-8.88344709e-04]]

 R_gt:
[[ 0.96677288  0.2534679  -0.03321587]
 [-0.25220858  0.96693214  0.03785591]
 [ 0.04171288 -0.02822082  0.99873103]]

 t_gt:
[-0.64553244  0.76207617 -0.05027697]

Pose Error in degrees for R and t:
17.177161802699363 69.51206809261903

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.49610079e-01 -3.13433329e-01 -4.96826469e-04]
 [ 3.13433341e-01  9.49610203e-01 -5.67943755e-05]
 [ 4.89592734e-04 -1.01789468e-04  9.99999875e-01]]

 t_estimated:
[[-0.60210553]
 [-0.79841598]
 [-0.00092213]]

 R_gt:
[[ 0.90879525  0.41643232 -0.02597203]
 [-0.41572202  0.90903768  0.02871658]
 [ 0.03556725 -0.01530043  0.99925058]]

 t_gt:
[-0.58380147  0.81100174 -0.03810554]

Pose Error in degrees for R and t:
42.91672308348717 72.78419699662433

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99725297e-01  2.34377938e-02 -1.67830865e-06]
 [-2.34377938e-02  9.99725297e-01 -1.45700912e-05]
 [ 1.33635682e-06  1.46054246e-05  1.00000000e+00]]

 t_estimated:
[[-0.83015377]
 [-0.55753378]
 [-0.00089757]]

 R_gt:
[[ 9.99970869e-01  7.67617587e-03 -5.46846810e-05]
 [-7.67026646e-03  9.98928880e-01 -4.56313899e-02]
 [-2.95850582e-04  4.56302731e-02  9.98958074e-01]]

 t_gt:
[-0.16979401  0.2208541  -0.96041317]

Pose Error in degrees for R and t:
2.766096389768353 88.92944893752934

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.90314587  0.42932031  0.00340838]
 [ 0.42932828  0.90314611  0.00208003]
 [-0.00218527  0.00334189 -0.99999203]]

 t_estimated:
[[9.84029504e-01]
 [1.78003771e-01]
 [7.70579094e-04]]

 R_gt:
[[ 0.99270527 -0.12055819  0.00161947]
 [ 0.12031665  0.9896677  -0.07798429]
 [ 0.00779911  0.07761027  0.99695313]]

 t_gt:
[ 0.84027839 -0.06058674 -0.53875921]

Pose Error in degrees for R and t:
179.01659948231764 35.3474356358761

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 1.75269935e-01  9.84518702e-01  1.83720933e-03]
 [ 9.84520251e-01 -1.75270680e-01  2.51567080e-04]
 [ 5.69681423e-04  1.76467764e-03 -9.99998281e-01]]

 t_estimated:
[[9.98119741e-01]
 [6.12864641e-02]
 [9.75865444e-04]]

 R_gt:
[[ 0.95741368 -0.28871243  0.00222039]
 [ 0.28815536  0.95503058 -0.06987735]
 [ 0.01805314  0.06754135  0.99755278]]

 t_gt:
[ 0.96865434 -0.08272356 -0.23423403]

Pose Error in degrees for R and t:
177.17306378367564 15.943172955824522

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.94318579e-01  1.06445088e-01  7.55143843e-05]
 [-1.06445102e-01  9.94318559e-01  2.10423958e-04]
 [-5.26867569e-05 -2.17266588e-04  9.99999975e-01]]

 t_estimated:
[[0.49177635]
 [0.8707209 ]
 [0.00106445]]

 R_gt:
[[ 0.98644961 -0.16296204  0.01904338]
 [ 0.16244397  0.98637124  0.02615599]
 [-0.02304569 -0.02270845  0.99947667]]

 t_gt:
[ 0.54320874 -0.80737927  0.23035403]

Pose Error in degrees for R and t:
15.58517056941952 64.17527375828567

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99965720e-01 -8.27245758e-03  3.55049922e-04]
 [ 8.27262567e-03  9.99965669e-01 -4.74579929e-04]
 [-3.51111791e-04  4.77500855e-04  9.99999824e-01]]

 t_estimated:
[[ 0.97967067]
 [-0.20060245]
 [-0.00200699]]

 R_gt:
[[ 0.97060669 -0.24066978 -0.0010765 ]
 [ 0.24059494  0.97017382  0.02959495]
 [-0.00607724 -0.02898393  0.99956104]]

 t_gt:
[ 0.59244822 -0.79820164  0.10899199]

Pose Error in degrees for R and t:
13.56243262674402 42.24245997754861

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.98681541e-01 -5.13253679e-02  9.41789428e-04]
 [-5.13256154e-02 -9.98681943e-01  2.40544018e-04]
 [ 9.28202085e-04 -2.88564793e-04 -9.99999528e-01]]

 t_estimated:
[[0.40252978]
 [0.91540557]
 [0.00155417]]

 R_gt:
[[ 0.89732646 -0.44079798  0.02244685]
 [ 0.43975848  0.89723511  0.0397767 ]
 [-0.03767335 -0.02582076  0.99895621]]

 t_gt:
[ 0.67857503 -0.72595047  0.11194575]

Pose Error in degrees for R and t:
178.02211518581882 66.9696632294304

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.86338383 -0.50453613  0.0034136 ]
 [-0.50454423 -0.86338318  0.00214707]
 [ 0.00186397 -0.00357606 -0.99999187]]

 t_estimated:
[[0.14713238]
 [0.98911623]
 [0.00107396]]

 R_gt:
[[ 0.99177063  0.12801908  0.00104341]
 [-0.12785229  0.99083312 -0.04361576]
 [-0.00661823  0.04312419  0.99904849]]

 t_gt:
[-0.37332116  0.91647849 -0.14386971]

Pose Error in degrees for R and t:
177.83324096891815 31.633371232638996

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.83858609  0.54476657 -0.00165861]
 [-0.54476219 -0.8385869  -0.00248198]
 [-0.00274299 -0.00117781  0.99999554]]

 t_estimated:
[[0.57378426]
 [0.81900491]
 [0.00160275]]

 R_gt:
[[ 0.96610743  0.25726182 -0.02125213]
 [-0.25808143  0.96090201 -0.10030383]
 [-0.00538382  0.10238999  0.99473034]]

 t_gt:
[-0.29308935  0.93815179 -0.18430915]

Pose Error in degrees for R and t:
132.0793825223092 53.13830478302076

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 7.47482668e-01 -6.64281309e-01 -5.35857141e-05]
 [-6.64281311e-01 -7.47482665e-01 -6.78600338e-05]
 [ 5.02375968e-06  8.63201876e-05 -9.99999996e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9416036   0.33637056 -0.01538587]
 [-0.33606716  0.93594378 -0.10520346]
 [-0.02098739  0.10423148  0.99433217]]

 t_gt:
[-0.28217079  0.95387818 -0.10245032]

Pose Error in degrees for R and t:
174.35072739990403 17.825592993895693

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.98891467e-01  4.70726564e-02  4.38692720e-05]
 [-4.70726574e-02  9.98891468e-01  2.27857062e-05]
 [-4.27480577e-05 -2.48254907e-05  9.99999999e-01]]

 t_estimated:
[[0.26695498]
 [0.9637084 ]
 [0.0010727 ]]

 R_gt:
[[ 9.99578125e-01  2.45372292e-02 -1.55551799e-02]
 [-2.45394003e-02  9.99698617e-01  2.21483130e-05]
 [ 1.55508294e-02  3.60637428e-04  9.99878687e-01]]

 t_gt:
[-0.06479318  0.99650398 -0.05274146]

Pose Error in degrees for R and t:
1.5712742591055189 19.440811571611693

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.99272734 -0.12024264  0.00584232]
 [-0.12020957  0.99273208  0.00571688]
 [-0.00648727  0.004973   -0.99996659]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99900301 -0.04276422  0.01281605]
 [ 0.04324247  0.998275   -0.03971887]
 [-0.01109637  0.04023386  0.99912831]]

 t_gt:
[ 0.68846027  0.51995962 -0.50563272]

Pose Error in degrees for R and t:
179.0924754831593 46.089587269202

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-8.01865691e-01 -5.97489769e-01  4.17007972e-03]
 [-5.97497850e-01  8.01869959e-01 -9.42183324e-04]
 [-2.78091676e-03 -3.24711815e-03 -9.99990861e-01]]

 t_estimated:
[[ 0.99980662]
 [-0.0191135 ]
 [ 0.00462544]]

 R_gt:
[[ 0.99191194 -0.06888207  0.10661355]
 [ 0.08553182  0.98332971 -0.16045348]
 [-0.09378391  0.1682752   0.98126858]]

 t_gt:
[ 0.31291736  0.62699485 -0.71341445]

Pose Error in degrees for R and t:
177.2975965161412 72.6881146062832

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 1.00000000e+00 -6.50001710e-06 -2.16564277e-05]
 [ 6.50064559e-06  1.00000000e+00  2.90209997e-05]
 [ 2.16562390e-05 -2.90211405e-05  9.99999999e-01]]

 t_estimated:
[[-0.42373968]
 [-0.9057834 ]
 [-0.00105814]]

 R_gt:
[[ 0.98910188 -0.13668912  0.0547289 ]
 [ 0.13737     0.9904804  -0.00886362]
 [-0.05299562  0.01628504  0.99846195]]

 t_gt:
[ 0.21941651 -0.93104001  0.29158342]

Pose Error in degrees for R and t:
8.49782396636876 41.406454416583685

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999936e-01 -3.47382400e-04 -8.90495779e-05]
 [ 3.47365637e-04  9.99999922e-01 -1.88188146e-04]
 [ 8.91149442e-05  1.88157201e-04  9.99999978e-01]]

 t_estimated:
[[-0.91614277]
 [-0.4008489 ]
 [-0.00160588]]

 R_gt:
[[ 0.97324088 -0.22204739  0.05914743]
 [ 0.22069669  0.97492426  0.02855647]
 [-0.06400451 -0.01473859  0.99784026]]

 t_gt:
[ 0.21787964 -0.91819746  0.33082001]

Pose Error in degrees for R and t:
13.327098655367926 80.33319190442839

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.95435704 -0.29850994  0.00971867]
 [-0.29760605  0.95320151  0.05326839]
 [-0.025165    0.04794473 -0.99853294]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.92820869 -0.36804495  0.05451433]
 [ 0.36938752  0.92912574 -0.01665832]
 [-0.04451861  0.03559949  0.99837348]]

 t_gt:
[ 0.44668447 -0.8946674   0.00657473]

Pose Error in degrees for R and t:
175.8296801387513 79.81222109459496

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 2.89086339e-02  9.99581711e-01 -8.33175471e-04]
 [ 9.99575485e-01 -2.89054111e-02  3.65051918e-03]
 [ 3.62490892e-03 -9.38353298e-04 -9.99992990e-01]]

 t_estimated:
[[0.02848575]
 [0.99959084]
 [0.00258961]]

 R_gt:
[[ 0.99347712 -0.11261927  0.01788661]
 [ 0.11343628  0.99205512 -0.05439539]
 [-0.01161887  0.05606999  0.99835898]]

 t_gt:
[ 0.83259078 -0.47802981 -0.27978581]

Pose Error in degrees for R and t:
177.31229884392172 62.94524535048533

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-7.79304554e-02 -9.96958195e-01  1.09580919e-03]
 [-9.96958359e-01  7.79314053e-02  8.52584169e-04]
 [-9.35388725e-04 -1.02603386e-03 -9.99999036e-01]]

 t_estimated:
[[0.71949179]
 [0.69449799]
 [0.00202645]]

 R_gt:
[[ 0.98131968 -0.18376848  0.056927  ]
 [ 0.18817464  0.97842224 -0.08532388]
 [-0.04001949  0.09444201  0.99472512]]

 t_gt:
[ 0.84400479 -0.49379227 -0.20934447]

Pose Error in degrees for R and t:
178.6101982823505 74.6988414949191

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[-4.95940328e-01 -8.68355087e-01 -1.62298697e-03]
 [-8.68356521e-01  4.95940231e-01  4.89633021e-04]
 [ 3.79729208e-04  1.65216008e-03 -9.99998563e-01]]

 t_estimated:
[[8.23274563e-01]
 [5.67643006e-01]
 [6.40680594e-04]]

 R_gt:
[[ 0.97430524 -0.19003655  0.12089777]
 [ 0.20769623  0.96569681 -0.1558575 ]
 [-0.08713231  0.17696303  0.98035215]]

 t_gt:
[ 0.83099871 -0.4348325  -0.34693205]

Pose Error in degrees for R and t:
179.67849518735915 64.08175606835452

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.00571816  0.99988444  0.01408583]
 [ 0.99991995  0.00587622 -0.01120541]
 [-0.01128689  0.01402063 -0.999838  ]]

 t_estimated:
[[-0.98196267]
 [-0.18883898]
 [-0.00944195]]

 R_gt:
[[ 9.83794092e-01 -1.79275776e-01 -3.33719080e-03]
 [ 1.79277491e-01  9.83799197e-01  2.17990602e-04]
 [ 3.24473975e-03 -8.14230055e-04  9.99994781e-01]]

 t_gt:
[ 0.80751343 -0.58978588 -0.00864144]

Pose Error in degrees for R and t:
179.12477621570736 47.03966465786788

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 9.67780864e-01 -2.51793827e-01 -2.60302936e-04]
 [ 2.51793872e-01  9.67780875e-01  1.55547984e-04]
 [ 2.12750181e-04 -2.16079047e-04  9.99999954e-01]]

 t_estimated:
[[9.07421875e-01]
 [4.20220231e-01]
 [7.05067502e-04]]

 R_gt:
[[ 0.95611837 -0.29280216  0.01024398]
 [ 0.29297199  0.95522036 -0.04150518]
 [ 0.00236722  0.04268392  0.99908614]]

 t_gt:
[ 0.86249708 -0.49519277 -0.10432113]

Pose Error in degrees for R and t:
3.47643639143434 54.936415395687696

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.95705669 -0.28972837  0.00999801]
 [ 0.28980928  0.95705195 -0.00788331]
 [-0.0072846   0.0104423   0.99991894]]

 t_estimated:
[[ 0.07727374]
 [-0.99696304]
 [-0.00966764]]

 R_gt:
[[ 0.92769676 -0.37174101  0.03447379]
 [ 0.37333188  0.92418201 -0.08069885]
 [-0.00186168  0.08773334  0.99614238]]

 t_gt:
[ 0.8798083  -0.44934416 -0.15500702]

Pose Error in degrees for R and t:
6.729785059654672 58.8376945661607

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999916e-01 -4.07924613e-04 -4.70446449e-05]
 [ 4.07923990e-04  9.99999917e-01 -1.32604619e-05]
 [ 4.70500503e-05  1.32412702e-05  9.99999999e-01]]

 t_estimated:
[[0.99993737]
 [0.01106239]
 [0.0016943 ]]

 R_gt:
[[ 0.99206203 -0.12570993 -0.00315888]
 [ 0.12571425  0.9920651   0.00127811]
 [ 0.00297338 -0.00166575  0.99999438]]

 t_gt:
[ 0.36613335 -0.9165358  -0.16096118]

Pose Error in degrees for R and t:
7.201199901189371 69.16373268802623

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.66570538  0.3921483  -0.63486696]
 [ 0.19566328  0.729285    0.65563654]
 [ 0.72010571 -0.56068092  0.40875992]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.96573054 -0.25887927 -0.01859544]
 [ 0.25801295  0.96533503 -0.03946243]
 [ 0.02816758  0.0333117   0.99904784]]

 t_gt:
[ 0.47420755 -0.82664055 -0.30297292]

Pose Error in degrees for R and t:
69.76414963659862 78.98276344775778

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-9.99970392e-01 -7.69325300e-03 -1.72931313e-04]
 [-7.69339693e-03  9.99970046e-01  8.47618142e-04]
 [ 1.66405193e-04  8.48923475e-04 -9.99999626e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.95058674 -0.30623264  0.05105877]
 [ 0.3073618   0.95146171 -0.01578071]
 [-0.04374717  0.03069438  0.99857029]]

 t_gt:
[ 0.28142896 -0.95956388  0.00590814]

Pose Error in degrees for R and t:
177.25638761396203 73.83188129769678

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.23261886 -0.97239781  0.0181925 ]
 [-0.97239844  0.23288687  0.01431715]
 [-0.01815876 -0.01435992 -0.99973199]]

 t_estimated:
[[0.8037099 ]
 [0.59489848]
 [0.012091  ]]

 R_gt:
[[ 0.99874472 -0.04776132 -0.01511326]
 [ 0.04790398  0.99881025  0.00911853]
 [ 0.01465963 -0.00983037  0.99984378]]

 t_gt:
[ 0.98856752 -0.14590137 -0.03804006]

Pose Error in degrees for R and t:
179.00936921810367 44.987173295053566

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.07908746e-01 -4.19150316e-01  3.83694780e-03]
 [ 4.19151453e-01  9.07916167e-01  5.41594271e-04]
 [-3.71063635e-03  1.11654407e-03  9.99992492e-01]]

 t_estimated:
[[0.9032415 ]
 [0.42913089]
 [0.00121567]]

 R_gt:
[[ 0.99043147 -0.11352814  0.07847037]
 [ 0.12132695  0.98725277 -0.10301317]
 [-0.06577556  0.11154891  0.99157886]]

 t_gt:
[ 0.73289134  0.18882981 -0.65361578]

Pose Error in degrees for R and t:
19.422077671711033 42.07947210101747

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.99995137  0.00584807  0.00794056]
 [-0.00580776  0.99997018 -0.0050898 ]
 [-0.00797008  0.00504343  0.99995552]]

 t_estimated:
[[8.99004682e-01]
 [4.37938380e-01]
 [7.46061977e-04]]

 R_gt:
[[ 0.98346461 -0.1137895   0.14089196]
 [ 0.13869534  0.97348684 -0.18189781]
 [-0.11645841  0.19843161  0.97317024]]

 t_gt:
[ 0.48454081  0.31909844 -0.81449149]

Pose Error in degrees for R and t:
14.927607026224146 54.91841650188279

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.58716148  0.80945135  0.00546843]
 [ 0.8094677   0.58716202  0.00167581]
 [-0.00185437  0.00541049 -0.99998364]]

 t_estimated:
[[-0.00900864]
 [-0.99995879]
 [-0.00112608]]

 R_gt:
[[ 0.9819786  -0.18746592  0.02399345]
 [ 0.18823359  0.9814929  -0.03521432]
 [-0.01694794  0.03909625  0.99909106]]

 t_gt:
[ 0.55753879 -0.82855318 -0.05147932]

Pose Error in degrees for R and t:
177.72221185643033 34.55780390744116

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999998e-01  3.23088815e-07 -6.79593792e-05]
 [-3.16897175e-07  9.99999996e-01  9.11079424e-05]
 [ 6.79594084e-05 -9.11079207e-05  9.99999994e-01]]

 t_estimated:
[[-2.88817140e-01]
 [-9.57384239e-01]
 [-2.80305866e-04]]

 R_gt:
[[ 0.93462711 -0.35446126 -0.02880978]
 [ 0.35380268  0.93496962 -0.02561393]
 [ 0.03601546  0.01374661  0.99925663]]

 t_gt:
[ 0.65138967 -0.75051089 -0.11146704]

Pose Error in degrees for R and t:
20.864235562841454 57.96575514486023

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.88328198e-01 -1.52338272e-01 -6.50720589e-04]
 [ 1.52338591e-01  9.88328251e-01  4.72238071e-04]
 [ 5.71185610e-04 -5.65856059e-04  9.99999677e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.86863383 -0.49537934 -0.00866994]
 [ 0.49524736  0.86864288 -0.01376601]
 [ 0.01435032  0.00766384  0.99986772]]

 t_gt:
[ 0.70317448 -0.71011936 -0.03572326]

Pose Error in degrees for R and t:
20.950407643852742 45.109292631289605

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.99676815 -0.08032027 -0.00137862]
 [ 0.08032273 -0.99676722 -0.00183705]
 [-0.00122661 -0.00194185  0.99999736]]

 t_estimated:
[[0.84311382]
 [0.53773401]
 [0.00110645]]

 R_gt:
[[ 9.90415225e-01  1.38050599e-01  4.37489852e-03]
 [-1.38053496e-01  9.90424248e-01  4.62940348e-04]
 [-4.26981089e-03 -1.06303519e-03  9.99990759e-01]]

 t_gt:
[-0.72911203  0.68438863  0.00280257]

Pose Error in degrees for R and t:
176.67111084475752 75.71754402485595

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-7.50262039e-01 -6.61140341e-01 -5.67615507e-04]
 [-6.61139940e-01  7.50262230e-01 -7.52382800e-04]
 [ 9.23291097e-04 -1.89210971e-04 -9.99999556e-01]]

 t_estimated:
[[0.97967969]
 [0.20056435]
 [0.00128567]]

 R_gt:
[[ 0.96550942  0.25519388 -0.05165375]
 [-0.25086602  0.96488842  0.07782485]
 [ 0.06970076 -0.06218239  0.99562786]]

 t_gt:
[-0.72081939  0.69269534 -0.02434286]

Pose Error in degrees for R and t:
178.10627194983246 55.43968897592804

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.86311049  0.50501082  0.00208567]
 [-0.50495445  0.86306345 -0.01193652]
 [-0.00782814  0.00924937  0.99992658]]

 t_estimated:
[[-9.99988329e-01]
 [-4.76563143e-03]
 [-7.94271905e-04]]

 R_gt:
[[ 0.94416956  0.30219311 -0.13123438]
 [-0.28394055  0.94840655  0.1410704 ]
 [ 0.16709433 -0.09593139  0.98126244]]

 t_gt:
[-0.75279031  0.61918907 -0.22340913]

Pose Error in degrees for R and t:
17.590367401955472 41.40891649504736

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99802885e-01  1.98537220e-02 -1.44755712e-04]
 [-1.98537240e-02  9.99802895e-01 -1.22736467e-05]
 [ 1.44483502e-04  1.51451674e-05  9.99999989e-01]]

 t_estimated:
[[-0.91948342]
 [-0.39312701]
 [-0.00118236]]

 R_gt:
[[ 0.99066125  0.13412647  0.02450449]
 [-0.13333206  0.99056769 -0.03159336]
 [-0.0285113   0.02803122  0.9992005 ]]

 t_gt:
[-0.38593601  0.91770353  0.09419995]

Pose Error in degrees for R and t:
6.941033097519644 89.65486759787105

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.88838290e-01 -1.48989214e-01 -1.02527436e-03]
 [ 1.48989640e-01  9.88838694e-01  3.51784936e-04]
 [ 9.61418794e-04 -5.00613671e-04  9.99999413e-01]]

 t_estimated:
[[0.0118475 ]
 [0.99992911]
 [0.00118475]]

 R_gt:
[[ 0.93899783  0.34391855  0.00196261]
 [-0.34358967  0.93831995 -0.03875704]
 [-0.01517107  0.035719    0.99924617]]

 t_gt:
[-0.27520597  0.96136339 -0.00648921]

Pose Error in degrees for R and t:
28.769256700974992 16.659166173297194

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-0.15165124 -0.988397   -0.00855945]
 [-0.98839603  0.15156374  0.01008592]
 [-0.00867159  0.00998966 -0.9999125 ]]

 t_estimated:
[[0.70646052]
 [0.70775014]
 [0.00181073]]

 R_gt:
[[ 0.87092394  0.49062619 -0.02787742]
 [-0.49104943  0.8710657  -0.01073178]
 [ 0.01901724  0.02303576  0.99955399]]

 t_gt:
[-0.19870493  0.97888536 -0.04795619]

Pose Error in degrees for R and t:
178.1063808514744 56.472151992248705

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.99999760e-01 -6.88734812e-04 -7.32044520e-05]
 [ 6.88734300e-04  9.99999763e-01 -7.02038410e-06]
 [ 7.32092698e-05  6.96996399e-06  9.99999997e-01]]

 t_estimated:
[[-0.93446049]
 [ 0.35606534]
 [-0.00103035]]

 R_gt:
[[ 0.99579031  0.06305919  0.06652705]
 [-0.06657122  0.99642707  0.05196552]
 [-0.06301214 -0.05617555  0.99643063]]

 t_gt:
[-0.43384064  0.12923679  0.89167267]

Pose Error in degrees for R and t:
6.134377683935833 63.223914628513015

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-1.43564717e-01 -9.89640361e-01 -1.06195293e-03]
 [ 9.89639800e-01 -1.43566093e-01  1.35775777e-03]
 [-1.49615232e-03 -8.56024772e-04  9.99998514e-01]]

 t_estimated:
[[0.99577611]
 [0.09180914]
 [0.00100889]]

 R_gt:
[[ 0.99174314  0.08823599  0.0930673 ]
 [-0.09877173  0.98838999  0.11545571]
 [-0.08180051 -0.12369456  0.98894213]]

 t_gt:
[-0.32211059  0.07713985  0.94355403]

Pose Error in degrees for R and t:
103.89014321319033 71.7770178396259

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-7.37471901e-01 -6.75376155e-01 -1.49811611e-03]
 [ 6.75376514e-01 -7.37473021e-01  3.28140964e-04]
 [-1.32643880e-03 -7.69797697e-04  9.99998824e-01]]

 t_estimated:
[[0.93628596]
 [0.35123713]
 [0.00103916]]

 R_gt:
[[ 0.98200841  0.13302051  0.13403372]
 [-0.15552427  0.97229378  0.17452188]
 [-0.10710568 -0.19222741  0.97548777]]

 t_gt:
[-0.37853951  0.17248133  0.90937233]

Pose Error in degrees for R and t:
146.1237709335775 72.96868098171349

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.46058849e-01 -3.23992231e-01  1.29966224e-03]
 [ 3.23993725e-01  9.46058501e-01 -1.17407665e-03]
 [-8.49164802e-04  1.53182801e-03  9.99998466e-01]]

 t_estimated:
[[-7.78285624e-01]
 [-6.27909985e-01]
 [-7.33539702e-04]]

 R_gt:
[[ 0.97027624  0.24192745  0.00594825]
 [-0.24190368  0.97028953 -0.00456514]
 [-0.00687652  0.00299079  0.99997179]]

 t_gt:
[-0.7096231   0.70455602 -0.00598951]

Pose Error in degrees for R and t:
32.90605261112036 83.69067401929722

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 8.57809214e-01 -5.13963573e-01  2.19036759e-03]
 [ 5.13967754e-01  8.57806472e-01 -2.28120391e-03]
 [-7.06455782e-04  3.08261604e-03  9.99994999e-01]]

 t_estimated:
[[-0.31997873]
 [-0.94742304]
 [-0.00178759]]

 R_gt:
[[ 0.87776203  0.47446294  0.06647066]
 [-0.47170209  0.88013839 -0.05341686]
 [-0.08384772  0.01553375  0.99635708]]

 t_gt:
[-0.62478415  0.77748575  0.0718378 ]

Pose Error in degrees for R and t:
59.39040525212674 57.53266488788311

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 8.79267690e-01 -4.76322250e-01 -2.33309549e-03]
 [ 4.76325291e-01  8.79268618e-01  9.56255489e-04]
 [ 1.59593188e-03 -1.95211694e-03  9.99996821e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.78823168  0.61210662  0.06338061]
 [-0.61276464  0.7901928  -0.01075335]
 [-0.05666536 -0.03036036  0.99793108]]

 t_gt:
[-0.56344365  0.82178507  0.08485604]

Pose Error in degrees for R and t:
66.35423609154013 57.011076619698656

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99935698e-01 -1.13400482e-02  5.03663950e-05]
 [ 1.13400490e-02  9.99935699e-01 -1.65665486e-05]
 [-5.01752910e-05  1.71366408e-05  9.99999999e-01]]

 t_estimated:
[[9.54619040e-01]
 [2.97828600e-01]
 [7.83759474e-04]]

 R_gt:
[[ 0.99711613 -0.07365099 -0.01828707]
 [ 0.07328519  0.9971111  -0.01995863]
 [ 0.01970476  0.01856105  0.99963354]]

 t_gt:
[ 0.72131029 -0.61906879 -0.31058863]

Pose Error in degrees for R and t:
3.8877740886483325 59.7378788971564

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99722678 -0.07433517 -0.00360882]
 [ 0.07434759  0.99722646  0.00343803]
 [ 0.00334324 -0.0036968   0.99998758]]

 t_estimated:
[[0.99227128]
 [0.1240339 ]
 [0.00364806]]

 R_gt:
[[ 0.9692303  -0.24610988 -0.00472575]
 [ 0.24590715  0.96893667 -0.02626822]
 [ 0.01104386  0.02429936  0.99964355]]

 t_gt:
[ 0.81586685 -0.56915441 -0.1021007 ]

Pose Error in degrees for R and t:
10.121616679898525 42.38818896547451

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-8.19462961e-01  5.73125968e-01  2.66079578e-03]
 [ 5.73120457e-01  8.19467068e-01 -2.58184334e-03]
 [-3.66015598e-03 -5.90768495e-04 -9.99993127e-01]]

 t_estimated:
[[0.98471861]
 [0.17412707]
 [0.00300219]]

 R_gt:
[[ 0.93343289 -0.35867129 -0.0075153 ]
 [ 0.35775499  0.93219826 -0.05492899]
 [ 0.02670769  0.04858403  0.99846196]]

 t_gt:
[ 0.86454484 -0.48271618 -0.1398117 ]

Pose Error in degrees for R and t:
179.86888702829015 39.92727596241391

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999968e-01 -1.98263852e-04  1.58346945e-04]
 [ 1.98267431e-04  9.99999980e-01 -2.25826794e-05]
 [-1.58342464e-04  2.26140737e-05  9.99999987e-01]]

 t_estimated:
[[8.69053852e-01]
 [4.94717276e-01]
 [4.68532541e-04]]

 R_gt:
[[ 0.9942466  -0.09755235 -0.04425181]
 [ 0.09982011  0.99362799  0.05232169]
 [ 0.0388658  -0.05643745  0.99764938]]

 t_gt:
[ 0.73567215 -0.64769368  0.19819025]

Pose Error in degrees for R and t:
6.8921910446519075 71.39715790533616

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-4.59988792e-01 -8.87921267e-01 -2.47701227e-03]
 [ 8.87924715e-01 -4.59986646e-01 -1.40932471e-03]
 [ 1.11976814e-04 -2.84767398e-03  9.99995939e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99689707 -0.07871529  0.00117572]
 [ 0.07835461  0.99354806  0.08198063]
 [-0.00762138 -0.08163384  0.99663323]]

 t_gt:
[ 0.55031973 -0.62307225  0.55581396]

Pose Error in degrees for R and t:
112.9349625993304 63.656249423179666

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.9999947  -0.00135438 -0.00295996]
 [ 0.00135901  0.99999785  0.00156311]
 [ 0.00295783 -0.00156713  0.9999944 ]]

 t_estimated:
[[-0.99991068]
 [-0.00775704]
 [-0.01088406]]

 R_gt:
[[ 0.9987991  -0.03260386  0.03656778]
 [ 0.02734922  0.9903333   0.13598209]
 [-0.04064786 -0.13481876  0.99003659]]

 t_gt:
[ 0.28180891 -0.45518304  0.84462544]

Pose Error in degrees for R and t:
8.224015520028708 73.29489715674785

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99998465e-01  1.72782019e-03  2.89336019e-04]
 [-1.72773757e-03  9.99998467e-01 -2.85555620e-04]
 [-2.89828964e-04  2.85055285e-04  9.99999917e-01]]

 t_estimated:
[[-9.99999956e-01]
 [ 2.93939717e-04]
 [ 5.04422022e-05]]

 R_gt:
[[ 0.94261915  0.32947653  0.05398109]
 [-0.32703205  0.9437202  -0.04941377]
 [-0.06722319  0.02892512  0.9973183 ]]

 t_gt:
[-0.68552378  0.72607842  0.05354688]

Pose Error in degrees for R and t:
19.537430179703687 46.706178180198584

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.81687507 -0.57278877 -0.06803045]
 [ 0.57633532 -0.80569256 -0.13673735]
 [ 0.02350999 -0.15090569  0.98826856]]

 t_estimated:
[[9.58710614e-01]
 [2.84382267e-01]
 [8.27787327e-04]]

 R_gt:
[[ 0.85938097  0.50662412  0.0692566 ]
 [-0.50631328  0.86203537 -0.02326947]
 [-0.07149044 -0.01506746  0.99732746]]

 t_gt:
[-0.61799979  0.77952058  0.10209766]

Pose Error in degrees for R and t:
175.50434467301193 68.24018081414752

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 7.45137805e-01 -6.66908944e-01 -1.45324203e-03]
 [ 6.66909276e-01  7.45138859e-01 -3.13867929e-04]
 [ 1.29218844e-03 -7.35305730e-04  9.99998895e-01]]

 t_estimated:
[[-0.56255772]
 [-0.82675487]
 [-0.00227756]]

 R_gt:
[[ 8.09685837e-01  5.83325610e-01  6.43511039e-02]
 [-5.84580327e-01  8.11336184e-01  8.22161795e-04]
 [-5.17305947e-02 -3.82838965e-02  9.97927495e-01]]

 t_gt:
[-0.58059067  0.80836875  0.09723392]

Pose Error in degrees for R and t:
77.67854544484571 70.00558762377412

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-4.60366527e-01 -8.87728443e-01 -9.34014815e-04]
 [ 8.87727133e-01 -4.60363219e-01 -2.49869804e-03]
 [ 1.78817925e-03 -1.97946723e-03  9.99996442e-01]]

 t_estimated:
[[0.71419016]
 [0.69995132]
 [0.00074941]]

 R_gt:
[[ 0.9991758   0.01842805 -0.03616726]
 [-0.01956052  0.99932105 -0.03123627]
 [ 0.03556671  0.03191821  0.99885749]]

 t_gt:
[-0.10911983  0.4878562  -0.8660769 ]

Pose Error in degrees for R and t:
118.51556832688348 74.75813492067626

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 9.99110520e-01 -4.21683341e-02 -2.64674967e-05]
 [ 4.21683354e-02  9.99110519e-01  4.91541954e-05]
 [ 2.43712038e-05 -5.02265640e-05  9.99999998e-01]]

 t_estimated:
[[ 5.60682067e-02]
 [ 9.98426941e-01]
 [-1.54755902e-05]]

 R_gt:
[[ 0.99740631  0.01529356 -0.07033434]
 [-0.02126601  0.99615856 -0.08496224]
 [ 0.06876468  0.08623863  0.99389873]]

 t_gt:
[ 0.03598285  0.36823759 -0.92903515]

Pose Error in degrees for R and t:
7.219552877421437 68.30348778345974

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.29533283 -0.95539319  0.00153758]
 [-0.9553906   0.29532671 -0.00330738]
 [ 0.00270576 -0.00244577 -0.99999335]]

 t_estimated:
[[0.92984752]
 [0.36793966]
 [0.00199967]]

 R_gt:
[[ 0.99990233  0.01353473 -0.0035972 ]
 [-0.01363247  0.99949491 -0.02872399]
 [ 0.0032068   0.02877045  0.9995814 ]]

 t_gt:
[-0.35356147  0.67017423 -0.6525801 ]

Pose Error in degrees for R and t:
178.82586392232798 85.2114031435794

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99999946e-01  3.25265533e-04 -4.06454911e-05]
 [-3.25263303e-04  9.99999946e-01  5.48644337e-05]
 [ 4.06633344e-05 -5.48512102e-05  9.99999998e-01]]

 t_estimated:
[[9.71264806e-01]
 [2.37999808e-01]
 [8.75871605e-04]]

 R_gt:
[[ 0.98358033 -0.1783533  -0.02755734]
 [ 0.1790442   0.98352212  0.02503729]
 [ 0.02263808 -0.02956033  0.99930626]]

 t_gt:
[ 0.58140119 -0.81351433 -0.01292629]

Pose Error in degrees for R and t:
10.533341554833315 68.21856719094961

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 5.87577237e-01 -8.09167973e-01 -4.26450512e-04]
 [ 8.09167997e-01  5.87577338e-01 -1.57998122e-04]
 [ 3.78419677e-04 -2.52234007e-04  9.99999897e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.94548126 -0.32555356 -0.00898012]
 [ 0.32562315  0.94546658  0.0078899 ]
 [ 0.00592193 -0.01038404  0.99992782]]

 t_gt:
[ 0.63909388 -0.76912014 -0.00363717]

Pose Error in degrees for R and t:
35.01895429215225 40.08210031796401

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.20628240e-01  3.90438822e-01  1.08133718e-03]
 [-3.90438546e-01  9.20628875e-01 -4.63816974e-04]
 [-1.17660238e-03  4.80728994e-06  9.99999308e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.86913185 -0.49269098 -0.04318557]
 [ 0.49330716  0.86984425  0.00428208]
 [ 0.03545517 -0.02502579  0.99905759]]

 t_gt:
[ 0.71877894 -0.69474032 -0.02631965]

Pose Error in degrees for R and t:
52.5930053554361 80.74991749926264

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 7.98883292e-01  6.01486061e-01  6.09615764e-05]
 [-6.01486062e-01  7.98883294e-01 -7.23648687e-06]
 [-5.30538309e-05 -3.08864301e-05  9.99999998e-01]]

 t_estimated:
[[0.83506038]
 [0.55015743]
 [0.00098242]]

 R_gt:
[[ 0.99691867 -0.06422549  0.04503521]
 [ 0.06532492  0.99758976 -0.02336543]
 [-0.04342504  0.02623656  0.99871148]]

 t_gt:
[ 0.75530883 -0.62935294  0.18282078]

Pose Error in degrees for R and t:
40.79199913432323 73.4611812458551

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.99991901e-01 -4.02427785e-03  4.90903282e-05]
 [ 4.02428022e-03  9.99991901e-01 -4.81316615e-05]
 [-4.88962354e-05  4.83288249e-05  9.99999998e-01]]

 t_estimated:
[[ 6.55172288e-01]
 [-7.55479441e-01]
 [-2.95030719e-04]]

 R_gt:
[[ 0.990942   -0.11149022  0.07485311]
 [ 0.11336064  0.99332757 -0.02120808]
 [-0.07198838  0.02950208  0.99696906]]

 t_gt:
[ 0.6997047  -0.67366567  0.2378821 ]

Pose Error in degrees for R and t:
7.663424241167136 14.693279147693

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 8.99784465e-01  4.36334123e-01  6.70652504e-04]
 [-4.36332903e-01  8.99784158e-01 -1.43752344e-03]
 [-1.23068303e-03  1.00083351e-03  9.99998742e-01]]

 t_estimated:
[[0.69265627]
 [0.72126647]
 [0.00140553]]

 R_gt:
[[ 0.98937125 -0.13024152  0.06466262]
 [ 0.13226764  0.99081606 -0.0280906 ]
 [-0.06040995  0.03634544  0.99751093]]

 t_gt:
[ 0.75854411 -0.64526068  0.0908267 ]

Pose Error in degrees for R and t:
33.64854845525 86.55254718503946

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.71560372 -0.69830936  0.01659409]
 [ 0.69850236  0.71531584 -0.02043748]
 [ 0.00240166  0.02621615  0.99965341]]

 t_estimated:
[[-0.15658355]
 [-0.98749676]
 [-0.01821361]]

 R_gt:
[[ 0.9972733   0.06765335  0.02947541]
 [-0.06710967  0.99756332 -0.01906139]
 [-0.03069269  0.01703162  0.9993837 ]]

 t_gt:
[-0.74697705  0.63758377  0.18844686]

Pose Error in degrees for R and t:
48.1873187978476 58.930336598789324

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-9.42882033e-01  3.32675185e-01  1.73404919e-02]
 [ 3.32722241e-01  9.43024855e-01 -1.81352904e-04]
 [-1.64128465e-02  5.59857294e-03 -9.99849626e-01]]

 t_estimated:
[[0.62843333]
 [0.77785104]
 [0.00439464]]

 R_gt:
[[ 0.97347969  0.22858496  0.00930059]
 [-0.22872111  0.97332446  0.01805144]
 [-0.00492632 -0.01969947  0.99979369]]

 t_gt:
[-0.70729851  0.70163948  0.08620247]

Pose Error in degrees for R and t:
178.8232372740377 84.16523854796804

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 5.24439209e-01 -8.51447530e-01 -7.87067269e-04]
 [ 8.51447105e-01  5.24439758e-01 -8.76497050e-04]
 [ 1.15906062e-03 -2.10476727e-04  9.99999306e-01]]

 t_estimated:
[[ 0.37412014]
 [-0.92737898]
 [-0.00153274]]

 R_gt:
[[ 0.95284349  0.29747363 -0.05999528]
 [-0.29196875  0.95255307  0.08600116]
 [ 0.08273266 -0.06442913  0.99448696]]

 t_gt:
[-0.72967083  0.68245535 -0.04283898]

Pose Error in degrees for R and t:
75.76043240017401 25.066909834113407

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.99774451  0.06700743  0.00398783]
 [-0.06699103  0.9977451  -0.00411252]
 [-0.0042544   0.0038361   0.99998359]]

 t_estimated:
[[0.73959758]
 [0.67304892]
 [0.00075623]]

 R_gt:
[[ 0.99103606 -0.12801934 -0.03819088]
 [ 0.12829503  0.99172468  0.00484427]
 [ 0.03725402 -0.00969934  0.99925888]]

 t_gt:
[ 0.6613949  -0.72891069 -0.17676539]

Pose Error in degrees for R and t:
11.47964750572287 89.91060921386882

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99069316e-01 -4.31335264e-02  3.21098661e-05]
 [ 4.31335253e-02  9.99069316e-01  3.18874578e-05]
 [-3.34554004e-05 -3.04727689e-05  9.99999999e-01]]

 t_estimated:
[[9.99993433e-01]
 [3.55614521e-03]
 [6.99005593e-04]]

 R_gt:
[[ 0.97065213 -0.22665204 -0.08039437]
 [ 0.22993733  0.97260601  0.03415545]
 [ 0.07045007 -0.05163834  0.99617793]]

 t_gt:
[ 0.68058871 -0.72596863 -0.09883601]

Pose Error in degrees for R and t:
11.858029460734942 47.31763033419646

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99969322e-01 -7.61097584e-03 -1.85160065e-03]
 [ 7.61097739e-03  9.99971036e-01 -6.20939825e-06]
 [ 1.85159428e-03 -7.88328290e-06  9.99998286e-01]]

 t_estimated:
[[ 9.99519213e-01]
 [-3.10013096e-02]
 [-5.10744676e-04]]

 R_gt:
[[ 0.96709098 -0.25093473 -0.04201592]
 [ 0.25198178  0.96748811  0.02171258]
 [ 0.03520083 -0.0315845   0.99888106]]

 t_gt:
[ 0.63780993 -0.76892275 -0.04422994]

Pose Error in degrees for R and t:
14.3763428546855 48.59605687954307

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999922e-01 -3.93891042e-04 -4.45328777e-06]
 [ 3.93891139e-04  9.99999922e-01  2.19219924e-05]
 [ 4.44465255e-06 -2.19237448e-05  1.00000000e+00]]

 t_estimated:
[[-0.80029573]
 [-0.59960492]
 [-0.0008225 ]]

 R_gt:
[[ 0.99802135  0.06282397  0.00259399]
 [-0.062791    0.99796478 -0.01115033]
 [-0.00328858  0.01096548  0.99993496]]

 t_gt:
[-0.33740941  0.93639028 -0.0965822 ]

Pose Error in degrees for R and t:
3.6823317612309117 73.06075676757385

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-9.99198298e-01  3.96719086e-02 -5.37593840e-03]
 [-3.96688253e-02 -9.99212652e-01 -6.79007352e-04]
 [-5.39864318e-03 -4.65205830e-04  9.99985319e-01]]

 t_estimated:
[[0.46566593]
 [0.88495848]
 [0.00193222]]

 R_gt:
[[ 0.98553197  0.1693554   0.00667151]
 [-0.16859281  0.98361116 -0.06392156]
 [-0.01738852  0.06187285  0.99793327]]

 t_gt:
[-0.31781763  0.94131823 -0.11363072]

Pose Error in degrees for R and t:
167.98424605346978 46.77924312384255

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.99918582 -0.04005583  0.00481878]
 [ 0.04000508 -0.99914738 -0.01020351]
 [ 0.00522338 -0.01000243  0.99993633]]

 t_estimated:
[[0.7927009 ]
 [0.60960988]
 [0.00104029]]

 R_gt:
[[ 0.93884269  0.34426643  0.0073485 ]
 [-0.34337806  0.93759029 -0.05492018]
 [-0.02579741  0.04903876  0.99846426]]

 t_gt:
[-0.26015716  0.96544866 -0.0150714 ]

Pose Error in degrees for R and t:
162.17807537458907 67.52349489387873

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.60163744 -0.79871161  0.00959997]
 [-0.79858272 -0.60119372  0.02884025]
 [-0.0172636  -0.02501774 -0.99953793]]

 t_estimated:
[[0.46652346]
 [0.88437538]
 [0.01536414]]

 R_gt:
[[ 9.92719093e-01 -6.13289504e-02 -1.03669947e-01]
 [ 6.16769355e-02  9.98096105e-01  1.55872146e-04]
 [ 1.03463402e-01 -6.54807824e-03  9.94611513e-01]]

 t_gt:
[ 0.59048464 -0.57025121 -0.57108795]

Pose Error in degrees for R and t:
179.24665340981 76.25415414170605

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.89557678  0.14489856  0.42065025]
 [ 0.06281296  0.89482963 -0.4419666 ]
 [-0.44045063  0.42223731  0.79228713]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.9798914  -0.11305949 -0.16440888]
 [ 0.11495088  0.99336873  0.00200991]
 [ 0.16309099 -0.02086876  0.98639022]]

 t_gt:
[ 0.6232911  -0.61109573 -0.4879244 ]

Pose Error in degrees for R and t:
46.04787121128751 85.61574856646031

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 8.90802674e-01 -4.54383794e-01  2.44201851e-03]
 [ 4.54390314e-01  8.90787398e-01 -5.22057901e-03]
 [ 1.96827186e-04  5.76013530e-03  9.99983391e-01]]

 t_estimated:
[[-0.11765174]
 [-0.99303332]
 [-0.00654997]]

 R_gt:
[[ 0.96565182 -0.21129727 -0.15122677]
 [ 0.2041564   0.97700698 -0.06145451]
 [ 0.16073529  0.0284697   0.9865865 ]]

 t_gt:
[ 0.69238456 -0.54151527 -0.47682788]

Pose Error in degrees for R and t:
17.635644045993068 62.65123665638077

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.95910332e-01 -9.03471119e-02 -9.99756008e-05]
 [ 9.03470897e-02  9.95910317e-01 -2.07939260e-04]
 [ 1.18353444e-04  1.98056353e-04  9.99999973e-01]]

 t_estimated:
[[ 0.02756606]
 [-0.99961749]
 [-0.00223334]]

 R_gt:
[[ 0.99892465 -0.04256985  0.01836633]
 [ 0.04271209  0.99906042 -0.00738721]
 [-0.01803383  0.00816379  0.99980428]]

 t_gt:
[ 0.65220546 -0.74595311  0.1348406 ]

Pose Error in degrees for R and t:
2.9651473092060163 40.23998770259534

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 1.00000000e+00  2.44926710e-08 -1.10663678e-09]
 [-2.44926710e-08  1.00000000e+00  3.95376260e-10]
 [ 1.10663666e-09 -3.95376233e-10  1.00000000e+00]]

 t_estimated:
[[ 1.84037377e-05]
 [-1.00000000e+00]
 [ 1.44054074e-06]]

 R_gt:
[[ 0.99846784 -0.05274962  0.01670131]
 [ 0.05288198  0.99857154 -0.00760017]
 [-0.01627622  0.00847275  0.99983161]]

 t_gt:
[ 0.76043641 -0.64894713  0.0245782 ]

Pose Error in degrees for R and t:
3.2054028073402816 49.53667616516082

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-1.12682222e-01 -9.93630146e-01 -1.36015697e-03]
 [ 9.93631001e-01 -1.12681572e-01 -5.45188953e-04]
 [ 3.88451553e-04 -1.41292723e-03  9.99998926e-01]]

 t_estimated:
[[0.55002469]
 [0.83514778]
 [0.00101107]]

 R_gt:
[[ 0.99977317  0.00156557 -0.02123978]
 [-0.0011896   0.99984236  0.01768424]
 [ 0.0212649  -0.01765428  0.99961784]]

 t_gt:
[ 0.98816784 -0.06086333 -0.14078341]

Pose Error in degrees for R and t:
96.55716331654689 60.49203835288334

Number of keypoints:
Image1: 510
Image2: 510

 R_estimated:
[[-0.18287881 -0.98286218  0.02317936]
 [-0.9828365   0.18335378  0.02034204]
 [-0.02424345 -0.01906139 -0.99952435]]

 t_estimated:
[[0.75914721]
 [0.65069566]
 [0.01704925]]

 R_gt:
[[ 9.99861876e-01 -2.27483354e-04  1.65961282e-02]
 [-2.35302200e-06  9.99905279e-01  1.38223614e-02]
 [-1.65968529e-02 -1.38202761e-02  9.99766578e-01]]

 t_gt:
[-0.13051773 -0.07531527  0.98858117]

Pose Error in degrees for R and t:
176.99538051375617 82.45904061873291

Number of keypoints:
Image1: 515
Image2: 515

 R_estimated:
[[ 0.71510175 -0.69779764  0.04132726]
 [-0.69768617 -0.70883729  0.1038446 ]
 [-0.04316821 -0.10309292 -0.99373455]]

 t_estimated:
[[0.36686499]
 [0.92849477]
 [0.05751116]]

 R_gt:
[[ 0.99987871 -0.00408611  0.01504639]
 [ 0.00406312  0.99999102  0.00153867]
 [-0.01505236 -0.00147773  0.99988568]]

 t_gt:
[-0.08181837 -0.2353535   0.96845985]

Pose Error in degrees for R and t:
173.17720038991246 78.88122340069663

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-0.68780408 -0.72589436  0.00171194]
 [-0.72589502  0.68779632 -0.00355586]
 [ 0.00140372 -0.00368842 -0.99999221]]

 t_estimated:
[[0.95091432]
 [0.30945008]
 [0.00161172]]

 R_gt:
[[ 0.99672838 -0.07665652 -0.02562164]
 [ 0.07720878  0.99678699  0.02131739]
 [ 0.02390552 -0.02322652  0.99944365]]

 t_gt:
[ 0.61766789 -0.7850687  -0.04640593]

Pose Error in degrees for R and t:
179.19921627436625 69.85880059709967

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-8.25671249e-01 -5.64151380e-01  4.57446969e-04]
 [-5.64150658e-01  8.25668195e-01 -2.46299207e-03]
 [ 1.01180096e-03 -2.29169075e-03 -9.99996862e-01]]

 t_estimated:
[[0.99051781]
 [0.13737951]
 [0.00115445]]

 R_gt:
[[ 0.97617784 -0.20773766 -0.06262473]
 [ 0.20744196  0.97818251 -0.01125567]
 [ 0.06359598 -0.00200394  0.99797348]]

 t_gt:
[ 0.79767809 -0.57788728 -0.17249916]

Pose Error in degrees for R and t:
176.41357620567004 44.72232492752101

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.99731895  0.07316944  0.00106702]
 [-0.07316806  0.99731881 -0.00127445]
 [-0.00115741  0.00119296  0.99999862]]

 t_estimated:
[[-0.52800286]
 [-0.84923961]
 [-0.00225105]]

 R_gt:
[[ 0.9427113  -0.31482234 -0.11037363]
 [ 0.31981657  0.94699001  0.0304539 ]
 [ 0.0949357  -0.06400952  0.99342371]]

 t_gt:
[ 0.8306017  -0.5568207  -0.00717813]

Pose Error in degrees for R and t:
23.70332186403523 88.0326333970339

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.58967591e-01 -2.83515194e-01  5.41752544e-04]
 [-2.83515647e-01  9.58964330e-01 -2.50828183e-03]
 [ 1.91614643e-04 -2.55895630e-03 -9.99996708e-01]]

 t_estimated:
[[0.99256593]
 [0.12168477]
 [0.00238598]]

 R_gt:
[[ 0.9431954  -0.32138086 -0.0842436 ]
 [ 0.32679145  0.94313834  0.06080012]
 [ 0.05991413 -0.08487683  0.99458868]]

 t_gt:
[ 0.81152892 -0.57507383  0.10349347]

Pose Error in degrees for R and t:
176.44283945519433 42.62808883094402

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99996319e-01 -2.71121626e-03  1.09007760e-04]
 [ 2.71123108e-03  9.99996315e-01 -1.35987407e-04]
 [-1.08638667e-04  1.36282452e-04  9.99999985e-01]]

 t_estimated:
[[7.86588500e-01]
 [6.17477291e-01]
 [5.71771751e-04]]

 R_gt:
[[ 0.99731428 -0.07282947 -0.00777071]
 [ 0.07288183  0.99731812  0.00673607]
 [ 0.00725967 -0.00728425  0.99994737]]

 t_gt:
[ 0.95336461 -0.29542325  0.0618145 ]

Pose Error in degrees for R and t:
4.066867011061655 55.42226517689259

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99924340e-01  1.23003721e-02  1.20777119e-04]
 [-1.23003567e-02  9.99924340e-01 -1.26962667e-04]
 [-1.22329669e-04  1.25467459e-04  9.99999985e-01]]

 t_estimated:
[[ 4.30063566e-01]
 [-9.02798244e-01]
 [-8.12291350e-04]]

 R_gt:
[[ 0.98871525 -0.14745811  0.0264189 ]
 [ 0.14764093  0.98902751 -0.00508831]
 [-0.02537864  0.00893145  0.99963855]]

 t_gt:
[ 0.9857317  -0.16516541 -0.03245611]

Pose Error in degrees for R and t:
9.317984379931335 55.03578595824197

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 8.04914707e-01  5.93388962e-01  1.36164487e-03]
 [-5.93390519e-01  8.04912268e-01  1.98334457e-03]
 [ 8.08901126e-05 -2.40441037e-03  9.99997106e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.9420729  -0.3346178  -0.02301684]
 [ 0.33527982  0.94139564  0.03690248]
 [ 0.00931917 -0.04248091  0.99905435]]

 t_gt:
[ 0.98939247 -0.09656373  0.10852639]

Pose Error in degrees for R and t:
56.023174920998756 40.24237130457251

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.84822793e-01 -1.73562542e-01  3.31742270e-04]
 [ 1.73562689e-01  9.84822705e-01 -4.83393098e-04]
 [-2.42808385e-04  5.33634622e-04  9.99999828e-01]]

 t_estimated:
[[-0.68655917]
 [-0.72707325]
 [-0.00099932]]

 R_gt:
[[ 0.99247876  0.12217049  0.00781329]
 [-0.12218915  0.99250508  0.00207724]
 [-0.00750114 -0.00301609  0.99996748]]

 t_gt:
[-0.76040832  0.64769207  0.04768825]

Pose Error in degrees for R and t:
17.019082251588127 87.0710208574025

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99215729e-01  3.95966177e-02 -1.88475157e-04]
 [-3.95966001e-02  9.99215742e-01  9.60843435e-05]
 [ 1.92131959e-04 -8.85460119e-05  9.99999978e-01]]

 t_estimated:
[[-9.99685990e-01]
 [-2.50494543e-02]
 [-6.68314250e-04]]

 R_gt:
[[ 0.94065538  0.33861217  0.02256568]
 [-0.33752873  0.94040541 -0.04136366]
 [-0.03522757  0.03129268  0.99888998]]

 t_gt:
[-0.67737103  0.73538235 -0.01952657]

Pose Error in degrees for R and t:
17.708699873880523 48.79535559061393

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 8.15289477e-01 -5.79053466e-01 -3.91070251e-04]
 [ 5.79053520e-01  8.15289532e-01  2.96363450e-05]
 [ 3.01674453e-04 -2.50612805e-04  9.99999923e-01]]

 t_estimated:
[[-0.51515531]
 [-0.85709638]
 [-0.00089748]]

 R_gt:
[[ 0.83383699  0.54799052  0.06650493]
 [-0.5452443   0.83642194 -0.05572816]
 [-0.08616535  0.01020772  0.99622849]]

 t_gt:
[-0.60088646  0.79660097  0.06604811]

Pose Error in degrees for R and t:
68.75002279375876 68.08237196112891

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.99987022 -0.01606796 -0.00116985]
 [ 0.01606958  0.99986991  0.00139252]
 [ 0.00114732 -0.00141114  0.99999835]]

 t_estimated:
[[-0.99908136]
 [-0.04270295]
 [-0.0035915 ]]

 R_gt:
[[ 0.9981768  -0.05469537 -0.02553499]
 [ 0.05122855  0.9913424  -0.12089765]
 [ 0.03192645  0.11936888  0.99233599]]

 t_gt:
[ 0.46116465 -0.15733839 -0.87325357]

Pose Error in degrees for R and t:
7.469853307960808 63.199463665848555

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.55314216e-01 -2.95590564e-01 -9.84030834e-04]
 [ 2.95592004e-01  9.55312131e-01  2.02480774e-03]
 [ 3.41542532e-04 -2.22519926e-03  9.99997466e-01]]

 t_estimated:
[[ 0.18551739]
 [-0.98264033]
 [ 0.00112805]]

 R_gt:
[[ 0.99584873 -0.05002148 -0.07606006]
 [ 0.03524995  0.98221249 -0.18443816]
 [ 0.08393291  0.1809912   0.97989662]]

 t_gt:
[ 0.32887232  0.10042108 -0.93902002]

Pose Error in degrees for R and t:
18.72907687584214 87.78063587205737

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.97903170e-01 -6.47244897e-02  5.40436899e-05]
 [ 6.47244764e-02  9.97903149e-01  2.18909727e-04]
 [-6.80991886e-05 -2.14952761e-04  9.99999975e-01]]

 t_estimated:
[[2.22967653e-01]
 [9.74825654e-01]
 [6.08758594e-04]]

 R_gt:
[[ 0.99219436 -0.03508182 -0.11966914]
 [ 0.01129922  0.98095949 -0.19388577]
 [ 0.12419293  0.19102029  0.9736971 ]]

 t_gt:
[ 0.28297766  0.1951356  -0.93906642]

Pose Error in degrees for R and t:
13.391919849908897 75.35991079520556

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 0.99999768  0.00149377 -0.00155058]
 [-0.00149064  0.99999684  0.00202202]
 [ 0.00155359 -0.0020197   0.99999675]]

 t_estimated:
[[-0.99999615]
 [-0.00193405]
 [-0.00198754]]

 R_gt:
[[ 0.99763282 -0.04282507 -0.05380648]
 [ 0.04602338  0.99715606  0.05967565]
 [ 0.05109747 -0.06201136  0.99676639]]

 t_gt:
[ 0.13252359 -0.98917031 -0.06308397]

Pose Error in degrees for R and t:
5.182925756210518 82.50240382957185

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-1.45159619e-01 -9.89404935e-01 -2.56121550e-03]
 [ 9.89408013e-01 -1.45157306e-01 -1.06788021e-03]
 [ 6.84786809e-04 -2.68910022e-03  9.99996150e-01]]

 t_estimated:
[[9.97344741e-01]
 [7.28190708e-02]
 [9.21760390e-04]]

 R_gt:
[[ 0.97701541 -0.19769312 -0.07974119]
 [ 0.19762183  0.98023794 -0.00886302]
 [ 0.07991731 -0.00709958  0.9967759 ]]

 t_gt:
[ 0.54519357 -0.70132258 -0.45925004]

Pose Error in degrees for R and t:
87.01712749629668 60.51122956593678

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999212e-01 -1.02999486e-03 -7.18132250e-04]
 [ 1.03046675e-03  9.99999253e-01  6.57046732e-04]
 [ 7.17454959e-04 -6.57786225e-04  9.99999526e-01]]

 t_estimated:
[[9.99993753e-01]
 [3.39595796e-03]
 [9.80031980e-04]]

 R_gt:
[[ 0.93427757 -0.34776881 -0.078628  ]
 [ 0.34954235  0.93687135  0.00960027]
 [ 0.07032639 -0.0364544   0.99685719]]

 t_gt:
[ 0.60031552 -0.78847967 -0.13386968]

Pose Error in degrees for R and t:
20.86376359959876 53.30873332726911

Number of keypoints:
Image1: 474
Image2: 474

 R_estimated:
[[ 9.99996405e-01  2.68120209e-03  3.37042405e-05]
 [-2.68120155e-03  9.99996405e-01 -1.61142148e-05]
 [-3.37473248e-05  1.60237890e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99274846e-01]
 [-3.80751317e-02]
 [ 2.57149526e-04]]

 R_gt:
[[ 0.99726406 -0.07305764 -0.01133037]
 [ 0.07295482  0.9972923  -0.00932616]
 [ 0.01198143  0.00847501  0.99989213]]

 t_gt:
[ 0.6183881  -0.76671362 -0.17247138]

Pose Error in degrees for R and t:
4.4209303267607325 49.67758878285975

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.97443181e-01  7.14639629e-02 -4.84144934e-05]
 [-7.14639468e-02  9.97443145e-01  2.78263449e-04]
 [ 6.81765133e-05 -2.74092089e-04  9.99999960e-01]]

 t_estimated:
[[0.17522507]
 [0.98452728]
 [0.00148496]]

 R_gt:
[[ 0.99311703 -0.09075262 -0.07405273]
 [ 0.09483091  0.99405332  0.05353551]
 [ 0.06875343 -0.06018961  0.99581564]]

 t_gt:
[ 0.55919676 -0.81802063 -0.13468942]

Pose Error in degrees for R and t:
10.78351895668612 44.961777394794964

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-9.12060385e-01  4.10052459e-01  1.68379037e-03]
 [-4.10055880e-01 -9.12050875e-01 -4.16847542e-03]
 [-1.73591112e-04 -4.49234944e-03  9.99989894e-01]]

 t_estimated:
[[0.70374063]
 [0.71045571]
 [0.00134302]]

 R_gt:
[[ 0.97545245 -0.20492926 -0.08060759]
 [ 0.20750179  0.97791939  0.02485917]
 [ 0.07373301 -0.0409742   0.99643596]]

 t_gt:
[ 0.56969117 -0.78871262 -0.23105057]

Pose Error in degrees for R and t:
167.73419055422573 80.80814432490085

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99693114e-01 -2.47725072e-02 -7.22527483e-06]
 [ 2.47725073e-02  9.99693114e-01  2.07770945e-05]
 [ 6.70835677e-06 -2.09497064e-05  1.00000000e+00]]

 t_estimated:
[[-8.94265862e-02]
 [ 9.95993414e-01]
 [-7.27861482e-05]]

 R_gt:
[[ 0.99859412  0.01594275 -0.05056585]
 [-0.01757007  0.99933585 -0.03190063]
 [ 0.05002304  0.03274525  0.99821102]]

 t_gt:
[ 0.01991125  0.40546448 -0.91389392]

Pose Error in degrees for R and t:
4.173292001655785 66.28885536014033

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.37490781e-01 -3.48007363e-01 -1.38242758e-03]
 [ 3.48010104e-01  9.37482720e-01  3.88802637e-03]
 [-5.70598324e-05 -4.12608764e-03  9.99991486e-01]]

 t_estimated:
[[ 0.98321925]
 [-0.1818717 ]
 [ 0.01423325]]

 R_gt:
[[ 0.99639455  0.0246685  -0.08118172]
 [-0.02930823  0.99797382 -0.05646049]
 [ 0.07962412  0.05863643  0.99509862]]

 t_gt:
[ 0.02676256  0.43043067 -0.9022268 ]

Pose Error in degrees for R and t:
22.657669146010964 86.28398101223613

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999284e-01  1.19652604e-03 -2.62643661e-05]
 [-1.19652595e-03  9.99999284e-01  3.47131691e-06]
 [ 2.62685008e-05 -3.43988843e-06  1.00000000e+00]]

 t_estimated:
[[-2.94784618e-01]
 [ 9.55563684e-01]
 [-2.72942379e-04]]

 R_gt:
[[ 0.99137403  0.03857343 -0.12525731]
 [-0.05155583  0.99343436 -0.10211865]
 [ 0.12049617  0.10769632  0.98685437]]

 t_gt:
[ 0.03619028  0.44629076 -0.89415593]

Pose Error in degrees for R and t:
9.637233482597134 65.41549041550995

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.50993777 -0.8602027   0.00384513]
 [-0.86020504  0.50991193 -0.00609142]
 [ 0.00327918 -0.00641385 -0.99997405]]

 t_estimated:
[[0.88734765]
 [0.46109908]
 [0.0013404 ]]

 R_gt:
[[ 0.98761637 -0.15681681 -0.00479306]
 [ 0.15644551  0.98665788 -0.04506959]
 [ 0.01179693  0.04376145  0.99897299]]

 t_gt:
[ 0.95033504 -0.13083655 -0.28239175]

Pose Error in degrees for R and t:
178.30820277201394 38.503471949668125

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 1.63070601e-02  9.99866327e-01  1.18633825e-03]
 [ 9.99866555e-01 -1.63081991e-02  9.56849969e-04]
 [ 9.76069105e-04  1.17057653e-03 -9.99998839e-01]]

 t_estimated:
[[8.79916721e-01]
 [4.75127445e-01]
 [6.89589906e-04]]

 R_gt:
[[ 9.54984117e-01 -2.96626669e-01  4.42314171e-03]
 [ 2.96657639e-01  9.54826097e-01 -1.73219886e-02]
 [ 9.15243348e-04  1.78536696e-02  9.99840465e-01]]

 t_gt:
[ 0.98992028 -0.12623609 -0.06420505]

Pose Error in degrees for R and t:
179.1822810132369 35.803811763787984

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-9.10870440e-01 -4.12676881e-01 -3.58246256e-03]
 [ 4.12673697e-01 -9.10877485e-01  1.62100934e-03]
 [-3.93213757e-03 -1.85858352e-06  9.99992269e-01]]

 t_estimated:
[[0.95501372]
 [0.29655689]
 [0.00167546]]

 R_gt:
[[ 0.95973909 -0.28030673  0.01816667]
 [ 0.28084575  0.95876542 -0.04352497]
 [-0.00521749  0.04687498  0.99888743]]

 t_gt:
[ 0.98051649 -0.09638726 -0.17116338]

Pose Error in degrees for R and t:
139.3399446291056 24.833016731507904

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999908e-01  4.27649125e-04  4.48368691e-05]
 [-4.27649097e-04  9.99999909e-01 -6.27658032e-07]
 [-4.48371335e-05  6.08483527e-07  9.99999999e-01]]

 t_estimated:
[[ 8.88390752e-01]
 [-4.59088036e-01]
 [ 2.13966999e-04]]

 R_gt:
[[ 0.99631811 -0.07998747  0.03087772]
 [ 0.0802848   0.99673538 -0.00848151]
 [-0.03009865  0.01093009  0.99948761]]

 t_gt:
[ 0.70623392 -0.69468507  0.13655145]

Pose Error in degrees for R and t:
4.971744313316288 18.85091502670036

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.89269753e-01 -1.46100478e-01  7.52900050e-05]
 [ 1.46100457e-01  9.89269732e-01  2.29677892e-04]
 [-1.08038173e-04 -2.16213487e-04  9.99999971e-01]]

 t_estimated:
[[ 9.35412368e-01]
 [-3.53557432e-01]
 [ 9.19074007e-04]]

 R_gt:
[[ 0.99353765 -0.10955487  0.02967885]
 [ 0.11042136  0.9934528  -0.02930496]
 [-0.02627371  0.03239308  0.99912977]]

 t_gt:
[ 0.73586303 -0.6745509  -0.05904811]

Pose Error in degrees for R and t:
3.175416849427532 22.062664114680267

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999863e-01 -6.89479877e-05 -5.18172697e-04]
 [ 6.92526884e-05  9.99999825e-01  5.88034426e-04]
 [ 5.18132063e-04 -5.88070230e-04  9.99999693e-01]]

 t_estimated:
[[0.99990542]
 [0.01371018]
 [0.00108637]]

 R_gt:
[[ 0.99501624 -0.09346937  0.03474217]
 [ 0.09406802  0.99543628 -0.01601181]
 [-0.03308793  0.01920026  0.99926817]]

 t_gt:
[ 0.80398873 -0.59345464  0.03759936]

Pose Error in degrees for R and t:
5.823831113207312 37.267492717009745

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 0.98037487 -0.1921827   0.0439423 ]
 [ 0.19447877  0.97931472 -0.05586306]
 [-0.03229743  0.06331259  0.997471  ]]

 t_estimated:
[[0.98934793]
 [0.14556491]
 [0.0012336 ]]

 R_gt:
[[ 0.99926282 -0.03074444 -0.02301985]
 [ 0.03086871  0.99951162  0.00509129]
 [ 0.02285228 -0.00579905  0.99972159]]

 t_gt:
[ 0.59709876 -0.67212895 -0.43785356]

Pose Error in degrees for R and t:
10.705093718305084 60.504190589726086

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 0.87610566  0.48211764  0.00120448]
 [-0.48211082  0.87610248 -0.00368693]
 [-0.00283278  0.00264945  0.99999248]]

 t_estimated:
[[0.68817618]
 [0.72554321]
 [0.00077848]]

 R_gt:
[[ 0.98936214 -0.13437651 -0.05574152]
 [ 0.13523413  0.99074244  0.01190602]
 [ 0.05362577 -0.01931852  0.99837443]]

 t_gt:
[ 0.66019191 -0.71574895 -0.22770613]

Pose Error in degrees for R and t:
36.73373087138484 86.26420622554201

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.58294844  0.81248966  0.00562696]
 [ 0.81250648 -0.58291478 -0.00660127]
 [-0.00208342  0.00842015 -0.99996238]]

 t_estimated:
[[-0.79851364]
 [-0.60197545]
 [-0.00123609]]

 R_gt:
[[ 0.96208439 -0.24945205 -0.11031513]
 [ 0.25401211  0.9667608   0.0291984 ]
 [ 0.0993654  -0.05611385  0.99346798]]

 t_gt:
[ 0.70431146 -0.68950945 -0.16888484]

Pose Error in degrees for R and t:
175.52681712506288 81.53960152926952

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.81767117e-01 -1.90086102e-01  7.76193631e-04]
 [ 1.90085869e-01  9.81767401e-01  3.65344237e-04]
 [-8.31488466e-04 -2.11139518e-04  9.99999632e-01]]

 t_estimated:
[[9.13398552e-01]
 [4.07065813e-01]
 [7.14150549e-04]]

 R_gt:
[[ 0.99157936 -0.07286101 -0.10706375]
 [ 0.07141821  0.99729698 -0.01725554]
 [ 0.1080305   0.009464    0.99410258]]

 t_gt:
[ 0.59071902 -0.48745532 -0.64299172]

Pose Error in degrees for R and t:
9.255810590081378 70.08191617102104

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-3.86723825e-02  9.99243771e-01 -4.04133934e-03]
 [-9.99251793e-01 -3.86698386e-02  7.05771415e-04]
 [ 5.48959750e-04  4.06560945e-03  9.99991585e-01]]

 t_estimated:
[[-0.00162012]
 [ 0.99999559]
 [-0.00248715]]

 R_gt:
[[ 0.98477484 -0.13179587 -0.11335245]
 [ 0.12693759  0.99069458 -0.04909133]
 [ 0.11876818  0.0339559   0.99234141]]

 t_gt:
[ 0.62218754 -0.50908656 -0.59473821]

Pose Error in degrees for R and t:
99.84517101958943 59.42850496697527

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.85233822 -0.52293786  0.00745319]
 [ 0.52298537  0.85217665 -0.01677042]
 [ 0.00241845  0.01819198  0.99983159]]

 t_estimated:
[[-0.13661747]
 [-0.99047667]
 [-0.01707718]]

 R_gt:
[[ 0.97612795 -0.21610177 -0.02176261]
 [ 0.21391252  0.97389243 -0.07598817]
 [ 0.03761538  0.06951911  0.99687132]]

 t_gt:
[ 0.71693668 -0.58598633 -0.37765304]

Pose Error in degrees for R and t:
19.44080516418449 60.731103665685694

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999704e-01  9.61834291e-05  7.63140911e-04]
 [-9.57159014e-05  9.99999808e-01 -6.12649067e-04]
 [-7.63199691e-04  6.12575841e-04  9.99999521e-01]]

 t_estimated:
[[0.82923258]
 [0.55889878]
 [0.00234134]]

 R_gt:
[[ 0.98612343 -0.07544039  0.1478814 ]
 [ 0.07655704  0.9970637  -0.00186743]
 [-0.14730584  0.01316239  0.98900324]]

 t_gt:
[ 0.3318733  -0.44190024  0.83341723]

Pose Error in degrees for R and t:
9.528058496962464 88.27089682616587

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.55406528 -0.73404975 -0.39266097]
 [-0.82731338  0.53796488  0.16169834]
 [ 0.09254318  0.41444511 -0.90535684]]

 t_estimated:
[[ 0.93682379]
 [ 0.15020167]
 [-0.31591239]]

 R_gt:
[[ 0.96312611 -0.0630834   0.26155044]
 [ 0.06737274  0.99769969 -0.00746005]
 [-0.26047812  0.02480592  0.96516037]]

 t_gt:
[ 0.18394428 -0.21047052  0.96013888]

Pose Error in degrees for R and t:
177.36515929174854 80.64161130876556

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 0.25753     0.96626449  0.00335136]
 [ 0.96625223 -0.25754485  0.00522287]
 [ 0.0059098   0.00189322 -0.99998074]]

 t_estimated:
[[8.02579727e-01]
 [5.96544335e-01]
 [7.98586793e-04]]

 R_gt:
[[ 0.93566668 -0.08793267  0.34175257]
 [ 0.10955189  0.99298669 -0.04444245]
 [-0.33544726  0.07902352  0.93873805]]

 t_gt:
[ 0.34885117 -0.22978573  0.90857107]

Pose Error in degrees for R and t:
165.18661675758156 81.74210005765288

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[ 9.99946268e-01  1.03663135e-02  3.30476379e-05]
 [-1.03663101e-02  9.99946263e-01 -1.01777666e-04]
 [-3.41009213e-05  1.01429615e-04  9.99999994e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99882084 -0.00884326 -0.047739  ]
 [ 0.00927063  0.99991801  0.00874343]
 [ 0.04765791 -0.00917591  0.99882139]]

 t_gt:
[ 0.57310848 -0.45011487 -0.68479432]

Pose Error in degrees for R and t:
2.9994741734352046 63.43304614039217

Number of keypoints:
Image1: 461
Image2: 461

 R_estimated:
[[ 9.99953908e-01 -9.60112150e-03  2.49315204e-05]
 [ 9.60112182e-03  9.99953908e-01 -1.28178546e-05]
 [-2.48073054e-05  1.30566343e-05  1.00000000e+00]]

 t_estimated:
[[ 3.26101861e-01]
 [-9.45334635e-01]
 [ 6.23649542e-05]]

 R_gt:
[[ 0.99662946 -0.03473496 -0.07432242]
 [ 0.03742438  0.99868186  0.03510708]
 [ 0.07300489 -0.03777038  0.99661527]]

 t_gt:
[ 0.75416868 -0.57108169 -0.32418405]

Pose Error in degrees for R and t:
4.955947414716535 38.20722570514549

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99237215e-01 -3.90510838e-02  9.78852063e-06]
 [ 3.90510834e-02  9.99237215e-01  4.00309737e-05]
 [-1.13443070e-05 -3.96181864e-05  9.99999999e-01]]

 t_estimated:
[[ 1.66045074e-01]
 [-9.86118148e-01]
 [ 1.75263253e-04]]

 R_gt:
[[ 0.99657632  0.0121033  -0.08179347]
 [-0.0071145   0.99811138  0.06101529]
 [ 0.08237838 -0.06022494  0.99477926]]

 t_gt:
[ 0.45588135 -0.82899354 -0.32394739]

Pose Error in degrees for R and t:
6.486230718001501 26.731319037834133

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.97695945 -0.21341007 -0.00252539]
 [ 0.21341443  0.97696044  0.00160596]
 [ 0.00212448 -0.00210792  0.99999552]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.98258982  0.18334788  0.0300191 ]
 [-0.18335959  0.98304325 -0.00237612]
 [-0.02994525 -0.00316848  0.99954677]]

 t_gt:
[-0.40546874  0.90211348  0.14760211]

Pose Error in degrees for R and t:
22.96471295624631 47.22689352198507

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.92718495 -0.37459498  0.00258095]
 [ 0.37460108  0.92718264 -0.00252653]
 [-0.00144659  0.00330939  0.99999348]]

 t_estimated:
[[-0.18422076]
 [-0.98287986]
 [-0.00314654]]

 R_gt:
[[ 0.94100337  0.33714652  0.02908371]
 [-0.33632662  0.94127703 -0.02970824]
 [-0.03739173  0.01817449  0.99913623]]

 t_gt:
[-0.32739502  0.94303166  0.05919278]

Pose Error in degrees for R and t:
41.74064202104399 29.915700942394956

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-9.86130086e-01 -1.65864771e-01 -6.02753659e-03]
 [-1.65862305e-01  9.86148502e-01 -9.10253648e-04]
 [ 6.09502519e-03  1.02112602e-04 -9.99981420e-01]]

 t_estimated:
[[ 0.98479684]
 [ 0.17370189]
 [-0.00168534]]

 R_gt:
[[ 0.90980267  0.41329871  0.03799669]
 [-0.4118292   0.91033859 -0.04100615]
 [-0.05153675  0.02165994  0.99843655]]

 t_gt:
[-0.2713853   0.96037673  0.06345516]

Pose Error in degrees for R and t:
177.87229533939734 84.22932533114462

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-9.51026865e-02 -9.95465130e-01 -2.15716129e-03]
 [ 9.95467467e-01 -9.51024302e-02 -2.21303933e-04]
 [ 1.51490673e-05 -2.16843049e-03  9.99997649e-01]]

 t_estimated:
[[0.99394364]
 [0.10988437]
 [0.00121317]]

 R_gt:
[[ 9.75586269e-01  2.19524001e-01  6.32241028e-03]
 [-2.19519079e-01  9.75606953e-01 -1.53197634e-03]
 [-6.50385157e-03  1.08249543e-04  9.99977829e-01]]

 t_gt:
[-0.73122773  0.68202996  0.01188029]

Pose Error in degrees for R and t:
108.13922626511102 49.31950322908699

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 7.18822453e-01 -6.95191106e-01  1.89910866e-03]
 [ 6.95192399e-01  7.18823711e-01 -2.85880863e-05]
 [-1.34525015e-03  1.34079566e-03  9.99998196e-01]]

 t_estimated:
[[0.5287999 ]
 [0.84874606]
 [0.00088874]]

 R_gt:
[[ 0.89312936  0.44501808  0.06540885]
 [-0.44414993  0.89551281 -0.0280658 ]
 [-0.07106392 -0.00398429  0.9974635 ]]

 t_gt:
[-0.64767739  0.756438    0.09118966]

Pose Error in degrees for R and t:
70.57175953105933 72.56563495481142

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.86250441 -0.50591697  0.01158298]
 [ 0.50583415 -0.86257917 -0.00943311]
 [ 0.0147636  -0.00227703  0.99988842]]

 t_estimated:
[[ 0.90525172]
 [ 0.42481132]
 [-0.00739316]]

 R_gt:
[[ 0.81929909  0.57044516  0.05780099]
 [-0.56783121  0.82123019 -0.05610785]
 [-0.0794738   0.01314942  0.99674947]]

 t_gt:
[-0.59467125  0.80198862  0.05639466]

Pose Error in degrees for R and t:
175.6420855486124 78.57703361781817

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 8.92339170e-01 -4.51365475e-01 -1.14740746e-04]
 [-4.51365362e-01 -8.92338700e-01 -9.76701716e-04]
 [ 3.38461825e-04  9.23339197e-04 -9.99999516e-01]]

 t_estimated:
[[0.11412895]
 [0.99346535]
 [0.00108694]]

 R_gt:
[[ 9.98063104e-01  5.46615392e-02  2.97292498e-02]
 [-5.46849066e-02  9.98503835e-01 -4.38072540e-05]
 [-2.96868409e-02 -1.58108580e-03  9.99558364e-01]]

 t_gt:
[-0.721686    0.54046079  0.43251758]

Pose Error in degrees for R and t:
179.6157658750392 62.93288309309934

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[-7.07106142e-01  7.07104775e-01 -1.93429637e-03]
 [-7.07105856e-01 -7.07107686e-01 -1.69546759e-04]
 [-1.48764315e-03  1.24786473e-03  9.99998115e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99653478  0.05845422  0.05918388]
 [-0.05827631  0.99828959 -0.00473074]
 [-0.05935855  0.0012666   0.99823673]]

 t_gt:
[-0.70941745  0.37602896  0.59609487]

Pose Error in degrees for R and t:
131.67474115785987 69.91313344314615

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 7.18538383e-01 -6.95486794e-01 -8.43080103e-04]
 [ 6.95487269e-01  7.18538209e-01  5.47781835e-04]
 [ 2.24810235e-04 -9.79953753e-04  9.99999495e-01]]

 t_estimated:
[[-0.495188  ]
 [-0.86878529]
 [-0.00098057]]

 R_gt:
[[ 0.9999867  -0.00426132  0.00296771]
 [ 0.00420311  0.99980446  0.01931381]
 [-0.00304837 -0.0193004   0.99980968]]

 t_gt:
[-0.53893012 -0.78554405  0.30409683]

Pose Error in degrees for R and t:
43.83606132352986 18.369727665038507

Number of keypoints:
Image1: 537
Image2: 537

 R_estimated:
[[ 0.98462658 -0.17459516  0.00519802]
 [-0.17460569 -0.98299084  0.0569373 ]
 [-0.00483137 -0.05696959 -0.99836422]]

 t_estimated:
[[0.11333992]
 [0.99316153]
 [0.02800433]]

 R_gt:
[[ 0.99890125  0.00767691  0.04623874]
 [-0.00675746  0.99977781 -0.01998741]
 [-0.04638143  0.01965324  0.99872991]]

 t_gt:
[-0.59227736  0.04521227  0.80446465]

Pose Error in degrees for R and t:
177.62195779795388 89.98264493419508

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-0.99891551  0.0184841  -0.04273339]
 [ 0.01809386  0.99979115  0.00950081]
 [ 0.04290008  0.00871729 -0.99904134]]

 t_estimated:
[[ 0.99977543]
 [-0.00413463]
 [-0.02078428]]

 R_gt:
[[ 0.99931904 -0.03417497  0.01393461]
 [ 0.03427644  0.99938792 -0.00708062]
 [-0.01368362  0.00755332  0.99987733]]

 t_gt:
[ 0.03194077 -0.9923759   0.11903722]

Pose Error in degrees for R and t:
178.34955854391194 88.07664375063217

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[-0.99873385  0.04716225  0.01750493]
 [ 0.04790391  0.99785162  0.04469188]
 [-0.01535956  0.04547385 -0.99884744]]

 t_estimated:
[[0.99945462]
 [0.03294905]
 [0.0021966 ]]

 R_gt:
[[ 0.99766727 -0.05917513 -0.03403234]
 [ 0.05988406  0.99800153  0.02018627]
 [ 0.03276966 -0.02217686  0.99921676]]

 t_gt:
[ 0.27566454 -0.93383595 -0.2279462 ]

Pose Error in degrees for R and t:
179.07480332839646 75.86281052608167

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-1.15082033e-01 -9.93351509e-01 -2.98418722e-03]
 [ 9.93355969e-01 -1.15080867e-01 -5.60029930e-04]
 [ 2.12883724e-04 -3.02880957e-03  9.99995390e-01]]

 t_estimated:
[[0.99886731]
 [0.04756511]
 [0.00128554]]

 R_gt:
[[ 0.96582859  0.25568682  0.04243257]
 [-0.25386996  0.96624379 -0.04385502]
 [-0.05221382  0.0315838   0.99813669]]

 t_gt:
[-0.71123486  0.70279928  0.01476964]

Pose Error in degrees for R and t:
111.4258178603544 47.391781693595256

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.91398691e-01  1.30876404e-01 -4.51005163e-05]
 [-1.30876393e-01  9.91398674e-01  1.97817811e-04]
 [ 7.06022759e-05 -1.90213726e-04  9.99999979e-01]]

 t_estimated:
[[-9.61814632e-01]
 [ 2.73701383e-01]
 [ 4.07967260e-04]]

 R_gt:
[[ 0.89854208  0.43714415  0.03907642]
 [-0.4347699   0.89874525 -0.05685421]
 [-0.05997345  0.03409627  0.99761703]]

 t_gt:
[-0.64884749  0.76077245  0.01490695]

Pose Error in degrees for R and t:
18.779008057941905 33.664105159605654

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.48525072e-01 -3.16692887e-01 -2.40904627e-03]
 [ 3.16695118e-01  9.48527197e-01  5.98830268e-04]
 [ 2.09540062e-03 -1.33093871e-03  9.99996919e-01]]

 t_estimated:
[[-0.15617917]
 [-0.98772774]
 [-0.00140702]]

 R_gt:
[[ 0.85165506  0.52094653  0.05743591]
 [-0.51720848  0.85310703 -0.06858881]
 [-0.08472977  0.02870793  0.99599003]]

 t_gt:
[-0.62122247  0.78228972  0.04588504]

Pose Error in degrees for R and t:
50.06539569881869 47.488995116644396

Number of keypoints:
Image1: 509
Image2: 509

 R_estimated:
[[ 9.99183114e-01  4.04116941e-02  5.03009692e-06]
 [-4.04116936e-02  9.99183111e-01 -8.14715340e-05]
 [-8.31839059e-06  8.12017063e-05  9.99999997e-01]]

 t_estimated:
[[-5.11952666e-01]
 [-8.59013639e-01]
 [-1.89405605e-04]]

 R_gt:
[[ 0.99622072  0.03875155 -0.07773312]
 [-0.03516955  0.99827834  0.04693693]
 [ 0.07941832 -0.04402513  0.99586861]]

 t_gt:
[-0.6631912  -0.45696749 -0.59275471]

Pose Error in degrees for R and t:
5.21628275722814 42.930865941812925

Number of keypoints:
Image1: 392
Image2: 392

 R_estimated:
[[ 9.99997259e-01  2.34114898e-03  4.24008131e-05]
 [-2.34114625e-03  9.99997257e-01 -6.44786839e-05]
 [-4.25516510e-05  6.43792407e-05  9.99999997e-01]]

 t_estimated:
[[ 2.84846383e-01]
 [-9.58573136e-01]
 [ 2.84891182e-04]]

 R_gt:
[[ 9.94524526e-01  5.89823211e-03 -1.04336820e-01]
 [-1.98371008e-04  9.98510781e-01  5.45622659e-02]
 [ 1.04503310e-01 -5.42425153e-02  9.93044461e-01]]

 t_gt:
[ 0.48359442 -0.74373302 -0.46151666]

Pose Error in degrees for R and t:
6.765634856901962 31.72942511375949

Number of keypoints:
Image1: 369
Image2: 369

 R_estimated:
[[ 9.99482494e-01 -3.21671606e-02  1.36699706e-04]
 [ 3.21671444e-02  9.99482496e-01  1.19628982e-04]
 [-1.40477088e-04 -1.15169834e-04  9.99999984e-01]]

 t_estimated:
[[ 2.62959883e-01]
 [-9.64806419e-01]
 [ 8.20932478e-04]]

 R_gt:
[[ 0.98965069  0.01176732 -0.14301436]
 [ 0.00122723  0.99590135  0.09044144]
 [ 0.14349279 -0.08968013  0.98558012]]

 t_gt:
[ 0.53762291 -0.77675941 -0.32803418]

Pose Error in degrees for R and t:
9.978283535898653 27.060527633551903

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 6.11386146e-01 -7.91331314e-01 -1.31600647e-03]
 [ 7.91330449e-01  6.11387487e-01 -1.20874874e-03]
 [ 1.76111062e-03 -3.02383759e-04  9.99998404e-01]]

 t_estimated:
[[ 0.54873268]
 [-0.835996  ]
 [-0.00176671]]

 R_gt:
[[ 0.9873567   0.07952096  0.13712779]
 [-0.07528982  0.99652025 -0.03577547]
 [-0.13949526  0.02499866  0.98990749]]

 t_gt:
[-0.40602958  0.55294975  0.72758955]

Pose Error in degrees for R and t:
57.31890947560912 46.658057827223104

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.76951636 -0.63861192 -0.00440196]
 [ 0.63862141 -0.76952032 -0.00108327]
 [-0.00269561 -0.00364478  0.99998972]]

 t_estimated:
[[0.98590077]
 [0.16730437]
 [0.00298758]]

 R_gt:
[[ 0.95998446  0.2046009   0.19123363]
 [-0.19431811  0.9783467  -0.07126583]
 [-0.20167434  0.0312541   0.97895363]]

 t_gt:
[-0.37642712  0.73003921  0.57039055]

Pose Error in degrees for R and t:
152.11210900074596 75.68356591132988

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.99674681 -0.07898106 -0.01605597]
 [ 0.07910881  0.9968379   0.00748257]
 [ 0.01541421 -0.0087284   0.9998431 ]]

 t_estimated:
[[-0.78628389]
 [-0.61779448]
 [-0.00936052]]

 R_gt:
[[ 0.90854457  0.38446097  0.16351521]
 [-0.36966291  0.92212674 -0.11415571]
 [-0.19466913  0.04327042  0.97991382]]

 t_gt:
[-0.31782385  0.8920654   0.32125895]

Pose Error in degrees for R and t:
29.651963915921247 72.28872875719314

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.90239724e-01  1.39374625e-01  4.53685510e-05]
 [-1.39374627e-01  9.90239724e-01  4.31273859e-05]
 [-3.89148781e-05 -4.90296756e-05  9.99999998e-01]]

 t_estimated:
[[-0.10586358]
 [ 0.99437807]
 [ 0.00227193]]

 R_gt:
[[ 0.99348038  0.11169099  0.02285969]
 [-0.11073711  0.99306626 -0.03945511]
 [-0.02710791  0.03666688  0.99895907]]

 t_gt:
[-0.36020917  0.93047726 -0.0667939 ]

Pose Error in degrees for R and t:
3.0773779926636857 15.586167920248185

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99480141e-01 -3.22393605e-02 -2.67645332e-04]
 [ 3.22394197e-02  9.99480151e-01  2.19841383e-04]
 [ 2.60418651e-04 -2.28355826e-04  9.99999940e-01]]

 t_estimated:
[[-0.30094516]
 [-0.95364095]
 [-0.00097889]]

 R_gt:
[[ 0.97256363  0.23229567 -0.01257784]
 [-0.2321136   0.97258158  0.01441921]
 [ 0.01558235 -0.01110414  0.99981725]]

 t_gt:
[-0.32224567  0.94636162 -0.0236096 ]

Pose Error in degrees for R and t:
15.313322479853985 36.34260797257364

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999677e-01  5.13867110e-05 -8.01689545e-04]
 [-5.08350046e-05  9.99999762e-01  6.88184827e-04]
 [ 8.01724718e-04 -6.88143851e-04  9.99999442e-01]]

 t_estimated:
[[-0.78522633]
 [-0.61920705]
 [-0.00149567]]

 R_gt:
[[ 9.06514970e-01  4.10661954e-01 -9.79094234e-02]
 [-4.08176025e-01  9.11786961e-01  4.51335326e-02]
 [ 1.07807364e-01 -9.49929744e-04  9.94170891e-01]]

 t_gt:
[-0.16694797  0.97551096 -0.14320178]

Pose Error in degrees for R and t:
24.993581621824802 61.78788268027385

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.99591836e-01  2.85685272e-02 -3.83980105e-05]
 [-2.85685187e-02  9.99591816e-01  2.04812690e-04]
 [ 4.42335340e-05 -2.03632119e-04  9.99999978e-01]]

 t_estimated:
[[-4.54000647e-02]
 [ 9.98968419e-01]
 [ 9.65606900e-04]]

 R_gt:
[[ 0.9879271   0.14667733 -0.04986017]
 [-0.14402005  0.98813989  0.05326546]
 [ 0.05708079 -0.04544275  0.99733476]]

 t_gt:
[-0.39262739  0.91923605 -0.02913447]

Pose Error in degrees for R and t:
7.919648936884736 20.595859180504476

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.35729061 -0.93398653  0.00354698]
 [-0.9339922   0.35728189 -0.00286785]
 [ 0.00141126 -0.00433751 -0.9999896 ]]

 t_estimated:
[[0.80031408]
 [0.59957956]
 [0.00131199]]

 R_gt:
[[ 0.94303125  0.3089499  -0.12346066]
 [-0.30044722  0.95019158  0.08286743]
 [ 0.14291262 -0.0410529   0.98888331]]

 t_gt:
[-0.18000739  0.96422591 -0.19459122]

Pose Error in degrees for R and t:
175.77252293779918 64.29025104925823

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.69335386e-01 -4.94221256e-01 -1.15612809e-03]
 [ 4.94222014e-01  8.69335590e-01  4.82753304e-04]
 [ 7.66476350e-04 -9.91058482e-04  9.99999215e-01]]

 t_estimated:
[[8.95203821e-01]
 [4.45656463e-01]
 [6.59918195e-04]]

 R_gt:
[[ 0.87326115  0.47028851 -0.12745436]
 [-0.45489177  0.88061529  0.13262357]
 [ 0.17460966 -0.05783737  0.98293741]]

 t_gt:
[-0.15316425  0.97862044 -0.13726888]

Pose Error in degrees for R and t:
58.3047543501259 72.60696969319295

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.99999954e-01 -3.01500159e-04  1.90890317e-05]
 [ 3.01501188e-04  9.99999953e-01 -5.39502267e-05]
 [-1.90727648e-05  5.39559796e-05  9.99999998e-01]]

 t_estimated:
[[8.60842603e-01]
 [5.08870745e-01]
 [7.59614971e-04]]

 R_gt:
[[ 0.99309297  0.11627668 -0.01568667]
 [-0.11613157  0.9931851   0.00983546]
 [ 0.01672401 -0.00794475  0.99982914]]

 t_gt:
[-0.07210869  0.99423506 -0.07935347]

Pose Error in degrees for R and t:
6.774683194019548 63.653243575069496

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.98898271e-01  4.69280548e-02 -4.09648031e-05]
 [-4.69280491e-02  9.98898264e-01  1.30438330e-04]
 [ 4.70408878e-05 -1.28372224e-04  9.99999991e-01]]

 t_estimated:
[[0.8405113 ]
 [0.54179228]
 [0.00137188]]

 R_gt:
[[ 0.99029475  0.13883719  0.00635993]
 [-0.13873206  0.99022149 -0.01469991]
 [-0.00833749  0.01367625  0.99987209]]

 t_gt:
[ 0.01463067  0.99921446 -0.0368295 ]

Pose Error in degrees for R and t:
5.368293378508677 56.384737943274054

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999771e-01  6.76516220e-04  1.69668503e-06]
 [-6.76516624e-04  9.99999740e-01  2.50246615e-04]
 [-1.52738869e-06 -2.50247706e-04  9.99999969e-01]]

 t_estimated:
[[0.99283991]
 [0.11944688]
 [0.00116621]]

 R_gt:
[[ 0.99350511  0.10726729  0.03796249]
 [-0.10518574  0.99303152 -0.05313799]
 [-0.04339758  0.0488007   0.99786539]]

 t_gt:
[0.20695458 0.97784341 0.03149704]

Pose Error in degrees for R and t:
7.1333034204058805 71.19732826482552

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999991e-01  5.06848914e-05 -1.25639711e-04]
 [-5.06579236e-05  9.99999976e-01  2.14638365e-04]
 [ 1.25650587e-04 -2.14631999e-04  9.99999969e-01]]

 t_estimated:
[[8.12064519e-01]
 [5.83567283e-01]
 [6.66172698e-04]]

 R_gt:
[[ 0.94817968 -0.31693754 -0.02248694]
 [ 0.31714828  0.94835532  0.00639633]
 [ 0.01929922 -0.01319668  0.99972677]]

 t_gt:
[ 0.86311168 -0.50497815 -0.00594026]

Pose Error in degrees for R and t:
18.536825816197656 66.03304526642269

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999775e-01 -3.99630741e-04  5.39027272e-04]
 [ 4.00126417e-04  9.99999497e-01 -9.19779980e-04]
 [-5.38659429e-04  9.19995452e-04  9.99999432e-01]]

 t_estimated:
[[-0.8524489 ]
 [-0.52280919]
 [-0.0011944 ]]

 R_gt:
[[ 0.90416628 -0.42670427 -0.02015638]
 [ 0.42686014  0.90430949  0.00393882]
 [ 0.01654698 -0.01216464  0.99978867]]

 t_gt:
[ 0.88654794 -0.4626284  -0.00277696]

Pose Error in degrees for R and t:
25.272847961378314 59.07823786855795

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99999975e-01 -1.00430719e-04  2.01000990e-04]
 [ 1.00488213e-04  9.99999954e-01 -2.86048999e-04]
 [-2.00972253e-04  2.86069190e-04  9.99999939e-01]]

 t_estimated:
[[9.34216983e-01]
 [3.56704444e-01]
 [7.53617520e-04]]

 R_gt:
[[ 0.90614472 -0.42139917 -0.03638671]
 [ 0.42077532  0.90685394 -0.02376387]
 [ 0.04301112  0.00622292  0.99905445]]

 t_gt:
[ 0.88237806 -0.4653024  -0.0700188 ]

Pose Error in degrees for R and t:
25.032881050749307 48.829317486505296

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99687038e-01  2.50163402e-02 -9.13279980e-05]
 [-2.50163199e-02  9.99687019e-01  2.17155282e-04]
 [ 9.67318446e-05 -2.14802631e-04  9.99999972e-01]]

 t_estimated:
[[9.52678230e-01]
 [3.03979567e-01]
 [7.83452491e-04]]

 R_gt:
[[ 0.99854448 -0.05373558  0.00459718]
 [ 0.05377838  0.99850415 -0.00984925]
 [-0.00406116  0.01008361  0.99994098]]

 t_gt:
[ 0.74222779 -0.66464745 -0.08568358]

Pose Error in degrees for R and t:
4.559787407447296 59.668787886629225

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99791889e-01  2.04003707e-02  6.32596156e-05]
 [-2.04003647e-02  9.99791886e-01 -9.43549104e-05]
 [-6.51713255e-05  9.30447549e-05  9.99999994e-01]]

 t_estimated:
[[9.35896681e-01]
 [3.52273804e-01]
 [7.55082189e-04]]

 R_gt:
[[ 0.99510809 -0.0984577  -0.00808338]
 [ 0.09822564  0.99484193 -0.02530594]
 [ 0.01053285  0.02438871  0.99964755]]

 t_gt:
[ 0.73932592 -0.63602402 -0.22106702]

Pose Error in degrees for R and t:
6.9806581216967585 62.114175064358804

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-9.59769158e-01 -2.80784443e-01 -1.80524616e-03]
 [ 2.80786031e-01 -9.59770143e-01 -6.91411252e-04]
 [-1.53848384e-03 -1.17048310e-03  9.99998132e-01]]

 t_estimated:
[[9.91399908e-01]
 [1.30864788e-01]
 [7.93119927e-04]]

 R_gt:
[[ 0.97310563 -0.23034375 -0.00299737]
 [ 0.23011598  0.97258081 -0.03365089]
 [ 0.01066724  0.03205646  0.999429  ]]

 t_gt:
[ 0.79702091 -0.59098104 -0.12449529]

Pose Error in degrees for R and t:
150.3842727509055 44.54260070727975

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.98775777e-01  4.94663427e-02  1.68204562e-04]
 [-4.94663907e-02  9.98775745e-01  2.94271804e-04]
 [-1.53442086e-04 -3.02232022e-04  9.99999943e-01]]

 t_estimated:
[[-0.29086622]
 [ 0.95676046]
 [ 0.0025025 ]]

 R_gt:
[[ 0.99684223  0.07511032  0.0257465 ]
 [-0.07557365  0.9969857   0.01755008]
 [-0.02435081 -0.01944023  0.99951448]]

 t_gt:
[-0.30204998  0.66594233  0.68211922]

Pose Error in degrees for R and t:
2.3102975967303054 43.38867799610497

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99968092e-01 -7.98838464e-03 -1.13406113e-05]
 [ 7.98838725e-03  9.99968061e-01  2.52095909e-04]
 [ 9.32641000e-06 -2.52178459e-04  9.99999968e-01]]

 t_estimated:
[[-1.81225452e-01]
 [ 9.83441149e-01]
 [ 9.17388796e-04]]

 R_gt:
[[ 0.97674037  0.21265676  0.02749195]
 [-0.21397215  0.97496455  0.06049285]
 [-0.01393862 -0.06496841  0.99779039]]

 t_gt:
[-0.28324052  0.87523195  0.39210183]

Pose Error in degrees for R and t:
13.337513253662566 24.156760735088884

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999993e-01  8.61830127e-05  8.37816589e-05]
 [-8.61736259e-05  9.99999990e-01 -1.12035949e-04]
 [-8.37913137e-05  1.12028728e-04  9.99999990e-01]]

 t_estimated:
[[0.01318043]
 [0.99991103]
 [0.00205114]]

 R_gt:
[[ 0.96813488  0.24868322  0.02950336]
 [-0.2495245   0.96792297  0.02937888]
 [-0.02125049 -0.03580478  0.9991335 ]]

 t_gt:
[-0.12167126  0.95776292  0.26055   ]

Pose Error in degrees for R and t:
14.621253207136974 16.940383793015428

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[-9.73335597e-01  2.27867410e-01 -2.63487833e-02]
 [ 2.27805601e-01  9.73691857e-01  5.36423979e-03]
 [ 2.68779311e-02 -7.81194863e-04 -9.99638418e-01]]

 t_estimated:
[[ 0.99286392]
 [-0.1184941 ]
 [-0.01343093]]

 R_gt:
[[ 0.99467499  0.10295931 -0.00462859]
 [-0.102755    0.99417251  0.03257953]
 [ 0.00795571 -0.03193066  0.99945836]]

 t_gt:
[-0.38573456  0.90909937  0.15731236]

Pose Error in degrees for R and t:
177.88961441571038 60.474050830926046

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99682080e-01  2.52138302e-02 -4.22094863e-05]
 [-2.52138135e-02  9.99682017e-01  3.58400237e-04]
 [ 5.12327071e-05 -3.57222032e-04  9.99999935e-01]]

 t_estimated:
[[-8.66431980e-01]
 [-4.99294998e-01]
 [-3.59673398e-04]]

 R_gt:
[[ 0.96175208  0.26638159 -0.0638185 ]
 [-0.26306771  0.96316094  0.05582284]
 [ 0.07633778 -0.03689945  0.99639846]]

 t_gt:
[-0.28690845  0.95487347 -0.07681275]

Pose Error in degrees for R and t:
14.750367790778123 76.81186431381073

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 6.71247219e-01  7.41233547e-01  1.41091010e-05]
 [-7.41221440e-01  6.71236364e-01 -5.70265154e-03]
 [-4.23646717e-03  3.81743102e-03  9.99983740e-01]]

 t_estimated:
[[0.64925016]
 [0.76057446]
 [0.0008498 ]]

 R_gt:
[[ 0.90573599  0.40565141 -0.12283771]
 [-0.3952912   0.91304016  0.10050935]
 [ 0.15292775 -0.04247787  0.98732327]]

 t_gt:
[-0.13491441  0.98079091 -0.14088045]

Pose Error in degrees for R and t:
25.812897914900105 48.83333451313108

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.99999930e-01  3.04396292e-04  2.18627207e-04]
 [-3.04378209e-04  9.99999950e-01 -8.27414302e-05]
 [-2.18652382e-04  8.26748790e-05  9.99999973e-01]]

 t_estimated:
[[0.95767876]
 [0.28783647]
 [0.00124589]]

 R_gt:
[[ 9.95490826e-01 -9.48558168e-02 -4.15743899e-04]
 [ 9.47815061e-02  9.94869412e-01 -3.53750911e-02]
 [ 3.76952442e-03  3.51768205e-02  9.99373798e-01]]

 t_gt:
[ 0.84124541 -0.45501296 -0.29200919]

Pose Error in degrees for R and t:
5.822728137042202 47.5994303470308

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99999911e-01  7.08104662e-05  4.16986201e-04]
 [-7.06145270e-05  9.99999887e-01 -4.69889734e-04]
 [-4.17019427e-04  4.69860247e-04  9.99999803e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98471206 -0.17409634  0.0057461 ]
 [ 0.17407597  0.98472431  0.00385096]
 [-0.00632832 -0.00279148  0.99997636]]

 t_gt:
[ 0.8675505  -0.49546975  0.04319545]

Pose Error in degrees for R and t:
10.037196222396116 29.997957884914193

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-5.67572477e-02  9.98377655e-01  4.54672241e-03]
 [ 9.98387984e-01  5.67556603e-02  4.77498234e-04]
 [ 2.18671334e-04  4.56649451e-03 -9.99989550e-01]]

 t_estimated:
[[0.68656518]
 [0.72706759]
 [0.00098786]]

 R_gt:
[[ 0.99212422 -0.12286684  0.02431889]
 [ 0.12303573  0.99238603 -0.00554898]
 [-0.02345095  0.00849777  0.99968925]]

 t_gt:
[ 0.92408973 -0.37207665  0.08727627]

Pose Error in degrees for R and t:
178.54373719137027 68.65338158463886

Number of keypoints:
Image1: 414
Image2: 414

 R_estimated:
[[ 9.95154612e-01 -9.83223861e-02  8.55371722e-05]
 [ 9.83223750e-02  9.95154608e-01  1.25996392e-04]
 [-9.75109771e-05 -1.16975673e-04  9.99999988e-01]]

 t_estimated:
[[ 0.06323102]
 [-0.99799828]
 [ 0.00112662]]

 R_gt:
[[ 0.99871614  0.01667894  0.04783413]
 [-0.01677108  0.99985873  0.00151615]
 [-0.04780178 -0.00231651  0.99885374]]

 t_gt:
[-0.70882522 -0.52122512  0.47528011]

Pose Error in degrees for R and t:
7.145936433237015 61.582198358458804

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[-4.16079998e-01 -9.09327786e-01 -6.42887258e-04]
 [-9.09328002e-01  4.16079999e-01  1.38680416e-04]
 [ 1.41386574e-04  6.42297533e-04 -9.99999784e-01]]

 t_estimated:
[[0.78499109]
 [0.61950648]
 [0.00084864]]

 R_gt:
[[ 0.99573951 -0.07267819  0.0567581 ]
 [ 0.07207196  0.99731931  0.0126569 ]
 [-0.05752574 -0.00851255  0.99830737]]

 t_gt:
[ 0.55321962 -0.79070574  0.26216881]

Pose Error in degrees for R and t:
176.93922022010327 86.8269209044585

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.74431055e-01  2.24686568e-01 -2.55687108e-04]
 [-2.24686088e-01  9.74430397e-01  1.25032043e-03]
 [ 5.30079495e-04 -1.16090172e-03  9.99999186e-01]]

 t_estimated:
[[0.62284575]
 [0.78234416]
 [0.00089105]]

 R_gt:
[[ 0.98918005 -0.12495216  0.07688372]
 [ 0.12268579  0.99187934  0.03353863]
 [-0.08045078 -0.02374371  0.99647524]]

 t_gt:
[ 0.61346045 -0.73919362  0.27795516]

Pose Error in degrees for R and t:
20.670979625436903 78.69890369826608

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-0.98185682  0.18700982  0.03137708]
 [ 0.18702612  0.98235191 -0.0024408 ]
 [-0.03127979  0.00347182 -0.99950464]]

 t_estimated:
[[ 0.9962195 ]
 [-0.08543651]
 [ 0.01572615]]

 R_gt:
[[ 0.99732433 -0.07202766 -0.01255297]
 [ 0.07194743  0.99738539 -0.0067737 ]
 [ 0.01300711  0.00585387  0.9998978 ]]

 t_gt:
[ 0.45007037 -0.88372637 -0.12831353]

Pose Error in degrees for R and t:
178.89259792313123 58.54333726614624

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 5.92803873e-01 -8.05346772e-01 -3.81059740e-04]
 [ 8.05346488e-01  5.92803076e-01  1.24366700e-03]
 [-7.75689814e-04 -1.04413574e-03  9.99999154e-01]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.99357044 -0.11289326 -0.00864609]
 [ 0.11278076  0.99354091 -0.01248477]
 [ 0.00999879  0.0114304   0.99988399]]

 t_gt:
[ 0.46223746 -0.88046956 -0.10540347]

Pose Error in degrees for R and t:
47.17340779177058 28.636759666122135

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.90014566e-01 -1.40965099e-01 -2.40239129e-05]
 [ 1.40965101e-01  9.90014561e-01  1.01151800e-04]
 [ 9.52514997e-06 -1.03528289e-04  9.99999995e-01]]

 t_estimated:
[[ 9.85413446e-01]
 [-1.70177082e-01]
 [-3.19666592e-04]]

 R_gt:
[[ 0.97724663 -0.2110191   0.02145493]
 [ 0.21070623  0.97741892  0.01594314]
 [-0.02433581 -0.01105893  0.99964222]]

 t_gt:
[ 0.48761684 -0.85719257  0.16568257]

Pose Error in degrees for R and t:
4.34943479299517 51.22043888829718

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.78437161e-01  2.06544578e-01 -2.42613572e-04]
 [-2.06544718e-01  9.78436308e-01 -1.29285431e-03]
 [-2.96501205e-05  1.31508726e-03  9.99999135e-01]]

 t_estimated:
[[-0.99876392]
 [-0.04932167]
 [-0.00616521]]

 R_gt:
[[ 0.99398754  0.09813553  0.04855263]
 [-0.09701546  0.99497012 -0.02491943]
 [-0.05075377  0.02005973  0.99850974]]

 t_gt:
[-0.36194249  0.92286159  0.13162109]

Pose Error in degrees for R and t:
7.037153343362692 71.62913153461808

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-0.79607373 -0.60519252 -0.00293655]
 [ 0.60519667 -0.79604523 -0.00699862]
 [ 0.00189788 -0.00734861  0.9999712 ]]

 t_estimated:
[[ 9.99971914e-01]
 [-7.46227118e-03]
 [ 6.97334201e-04]]

 R_gt:
[[ 0.97678318  0.20606894  0.05855275]
 [-0.20387114  0.97812237 -0.04137652]
 [-0.06579771  0.02847954  0.9974271 ]]

 t_gt:
[-0.3124556   0.94648022  0.0809116 ]

Pose Error in degrees for R and t:
154.63088471837082 71.3701346123178

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.02525961  0.99967932  0.00179417]
 [ 0.99968032  0.02525758  0.00114507]
 [ 0.00109939  0.00182252 -0.99999773]]

 t_estimated:
[[-9.31452215e-01]
 [-3.63862585e-01]
 [-8.89639320e-04]]

 R_gt:
[[ 0.94482694  0.32458384  0.0441235 ]
 [-0.32171809  0.94483954 -0.06143836]
 [-0.06163113  0.04385277  0.99713526]]

 t_gt:
[-0.2510348   0.96794648 -0.00781892]

Pose Error in degrees for R and t:
175.65395320325447 83.20221188118772

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.992371    0.12019931 -0.0274211 ]
 [ 0.12038741  0.99271279 -0.00530893]
 [ 0.02658315 -0.00856958 -0.99960987]]

 t_estimated:
[[ 0.96827273]
 [ 0.24982346]
 [-0.00601307]]

 R_gt:
[[ 0.99804468  0.05936316 -0.01954863]
 [-0.0594764   0.99821599 -0.00525949]
 [ 0.0192019   0.0064122   0.99979438]]

 t_gt:
[-0.78394572  0.58867279 -0.19721423]

Pose Error in degrees for R and t:
177.37320715644634 52.35095565273787

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-9.99881796e-01  1.53738645e-02 -1.94065585e-04]
 [-1.53733174e-02 -9.99878543e-01 -2.56124606e-03]
 [-2.33418264e-04 -2.55795988e-03  9.99996701e-01]]

 t_estimated:
[[7.96640986e-01]
 [6.04452290e-01]
 [7.53681160e-04]]

 R_gt:
[[ 0.9942252   0.077443   -0.07427919]
 [-0.07668748  0.99697139  0.01298137]
 [ 0.07506047 -0.00721043  0.99715195]]

 t_gt:
[-0.70366524  0.54052386 -0.46118238]

Pose Error in degrees for R and t:
174.70257274188077 76.45580860121581

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.96211595e-01 -8.69622854e-02 -1.33976160e-04]
 [ 8.69623062e-02  9.96211590e-01  1.58181495e-04]
 [ 1.19712779e-04 -1.69233115e-04  9.99999979e-01]]

 t_estimated:
[[-1.54791234e-01]
 [ 9.87946887e-01]
 [ 7.88437719e-04]]

 R_gt:
[[ 0.99311853  0.06474157 -0.09759019]
 [-0.06749444  0.9974022  -0.02518241]
 [ 0.09570784  0.03159626  0.99490743]]

 t_gt:
[-0.56122758  0.45236282 -0.69310279]

Pose Error in degrees for R and t:
10.51679645015539 57.775566636709144

Number of keypoints:
Image1: 368
Image2: 368

 R_estimated:
[[ 9.94746139e-01  1.02372396e-01 -1.02807361e-04]
 [-1.02372425e-01  9.94746087e-01 -3.30302707e-04]
 [ 6.84533405e-05  3.39091981e-04  9.99999940e-01]]

 t_estimated:
[[-0.38814958]
 [ 0.92159574]
 [-0.00108966]]

 R_gt:
[[ 9.99726835e-01 -2.33539006e-02  7.55537689e-04]
 [ 2.33480294e-02  9.97189270e-01 -7.11890085e-02]
 [ 9.10354385e-04  7.11882882e-02  9.97462650e-01]]

 t_gt:
[ 0.50029011  0.65462841 -0.5667199 ]

Pose Error in degrees for R and t:
8.279694518313025 65.81194318731178

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[ 0.47566331  0.87944854  0.01773941]
 [-0.87937605  0.47591277 -0.0143108 ]
 [-0.02102802 -0.00879249  0.99974022]]

 t_estimated:
[[-0.54638055]
 [ 0.83725724]
 [ 0.02164735]]

 R_gt:
[[ 0.99983471 -0.01223108  0.01341131]
 [ 0.01432925  0.98539944 -0.16965171]
 [-0.0111399   0.16981722  0.98541284]]

 t_gt:
[ 0.21366539  0.71245002 -0.66840263]

Pose Error in degrees for R and t:
63.00725942447721 62.27086675616789

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.99954483  0.03003059  0.00288099]
 [-0.03000681  0.99951791 -0.00797087]
 [-0.00311897  0.00788079  0.99996408]]

 t_estimated:
[[-0.82511919]
 [-0.56494647]
 [-0.00371675]]

 R_gt:
[[ 0.99937992  0.02991331  0.01858857]
 [-0.02585366  0.9815319  -0.18954194]
 [-0.02391458  0.18894483  0.98169682]]

 t_gt:
[ 0.09547417  0.84218877 -0.53066256]

Pose Error in degrees for R and t:
10.509809131163534 56.45465279191296

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-1.14711831e-01  9.93398749e-01  3.47310928e-04]
 [-9.93397302e-01 -1.14711041e-01 -1.78280737e-03]
 [-1.73119821e-03 -5.49526837e-04  9.99998350e-01]]

 t_estimated:
[[0.20300033]
 [0.97917807]
 [0.00108556]]

 R_gt:
[[ 0.97992689  0.19863897  0.01692367]
 [-0.1975311   0.97890742 -0.05217857]
 [-0.02693055  0.04778828  0.99849416]]

 t_gt:
[-0.83440676  0.51098013 -0.20655427]

Pose Error in degrees for R and t:
85.19683899409024 70.68682174863956

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.98327369e-01 -5.78113538e-02 -5.58282023e-04]
 [ 5.78114962e-02  9.98327487e-01  2.42432566e-04]
 [ 5.43332934e-04 -2.74302185e-04  9.99999815e-01]]

 t_estimated:
[[-0.91826509]
 [-0.39596393]
 [-0.00133894]]

 R_gt:
[[ 0.9541141   0.29527357  0.04980278]
 [-0.29357065  0.95515191 -0.03874554]
 [-0.05900976  0.02234779  0.99800734]]

 t_gt:
[-0.82831007  0.55988074 -0.0208804 ]

Pose Error in degrees for R and t:
20.774886674330652 57.388246511165406

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99995713e-01  2.92446912e-03  1.44241187e-04]
 [-2.92437641e-03  9.99995520e-01 -6.38833901e-04]
 [-1.46108791e-04  6.38409347e-04  9.99999786e-01]]

 t_estimated:
[[-0.73054435]
 [-0.68286313]
 [-0.0017029 ]]

 R_gt:
[[ 0.86134703  0.50587553  0.04659602]
 [-0.50431167  0.86251882 -0.0416111 ]
 [-0.06123925  0.01234324  0.9980465 ]]

 t_gt:
[-0.78741656  0.61639355  0.00584417]

Pose Error in degrees for R and t:
30.406703353306117 81.12262016214882

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 7.46651100e-01  6.65214390e-01  1.39666129e-03]
 [-6.65214499e-01  7.46652172e-01 -4.51996295e-04]
 [-1.34349462e-03 -5.91595810e-04  9.99998923e-01]]

 t_estimated:
[[-0.12175595]
 [ 0.99255793]
 [ 0.00206239]]

 R_gt:
[[ 9.94732785e-01 -1.01637069e-01  1.33135392e-02]
 [ 1.01641413e-01  9.94821156e-01  3.12115048e-04]
 [-1.32758564e-02  1.04249176e-03  9.99911516e-01]]

 t_gt:
[ 0.82045449 -0.56350371  0.09652975]

Pose Error in degrees for R and t:
47.537072833839915 48.7758758101064

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.93913404e-01  1.10163342e-01  4.29082183e-04]
 [-1.10163260e-01  9.93913483e-01 -2.09811808e-04]
 [-4.49584137e-04  1.61265676e-04  9.99999886e-01]]

 t_estimated:
[[-9.41153659e-01]
 [ 3.37978005e-01]
 [ 8.11392474e-04]]

 R_gt:
[[ 0.98513571 -0.16998248  0.02478211]
 [ 0.16980417  0.98543573  0.00910983]
 [-0.0259702  -0.00476655  0.99965154]]

 t_gt:
[ 0.86190653 -0.48533066  0.14687169]

Pose Error in degrees for R and t:
16.17645703999509 12.813171628777575

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.75379204e-01  2.20534281e-01  1.97439209e-04]
 [-2.20534339e-01  9.75379149e-01  3.47689259e-04]
 [-1.15900687e-04 -3.82670999e-04  9.99999920e-01]]

 t_estimated:
[[0.69018996]
 [0.72362773]
 [0.00085738]]

 R_gt:
[[ 0.98628482 -0.16447215  0.01384633]
 [ 0.16423669  0.986279    0.01671884]
 [-0.01640623 -0.01421534  0.99976494]]

 t_gt:
[ 0.90865932 -0.38531771  0.16083689]

Pose Error in degrees for R and t:
22.234421478984075 69.60691915804125

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[ 9.98752051e-01  4.99431567e-02 -1.49012869e-04]
 [ 4.99307379e-02 -9.98427689e-01  2.54768925e-02]
 [ 1.12361786e-03 -2.54525390e-02 -9.99675400e-01]]

 t_estimated:
[[-0.01992946]
 [ 0.9997178 ]
 [ 0.01292829]]

 R_gt:
[[ 0.99831869 -0.04044604  0.04152888]
 [ 0.04369406  0.99579412 -0.080523  ]
 [-0.03809689  0.0822026   0.99588773]]

 t_gt:
[ 0.63747303  0.55892871 -0.53030823]

Pose Error in degrees for R and t:
176.7337493416668 57.370088770388314

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 0.95815505 -0.2861858  -0.00604898]
 [ 0.28622339  0.95813961  0.00668322]
 [ 0.00388312 -0.00813492  0.99995937]]

 t_estimated:
[[-0.76760873]
 [-0.64091603]
 [-0.00186313]]

 R_gt:
[[ 0.99863403 -0.05223284  0.00150046]
 [ 0.05178411  0.98539599 -0.16221368]
 [ 0.00699523  0.16207024  0.98675494]]

 t_gt:
[ 0.47065849  0.62483878 -0.62294228]

Pose Error in degrees for R and t:
16.75487346073873 40.4837488738324

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-0.803204   -0.59569707 -0.00288794]
 [-0.59570253  0.80320351  0.00161884]
 [ 0.00135527  0.00302061 -0.99999452]]

 t_estimated:
[[ 9.03343066e-01]
 [ 4.28918675e-01]
 [-2.73588100e-04]]

 R_gt:
[[ 0.99860555 -0.02723487  0.04523241]
 [ 0.03678135  0.97345865 -0.22588664]
 [-0.03787967  0.22723549  0.973103  ]]

 t_gt:
[ 0.2511167   0.75417625 -0.60676073]

Pose Error in degrees for R and t:
178.05227008892405 56.59930915717201

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[-0.02736967 -0.96166708  0.27285039]
 [-0.97211358  0.08920236  0.21688277]
 [-0.23290792 -0.25930556 -0.93729106]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99793917 -0.05885548  0.02559555]
 [ 0.05823113  0.99800279  0.02448746]
 [-0.02698533 -0.02294746  0.99937231]]

 t_gt:
[ 0.7295711  -0.40125181  0.55382578]

Pose Error in degrees for R and t:
157.7037802790899 66.37958572181721

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99138224e-01 -4.15066315e-02  9.88578039e-05]
 [ 4.15066277e-02  9.99138228e-01  3.97853268e-05]
 [-1.00423966e-04 -3.56477867e-05  9.99999994e-01]]

 t_estimated:
[[0.9886539 ]
 [0.15019934]
 [0.00190126]]

 R_gt:
[[ 0.99925391 -0.02822158 -0.02634623]
 [ 0.02815743  0.99959933 -0.00278107]
 [ 0.02641394  0.00203639  0.9996485 ]]

 t_gt:
[ 0.88477445  0.32843024 -0.33061723]

Pose Error in degrees for R and t:
1.705672382541682 22.56614507865434

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.96930907 -0.24567962 -0.00902499]
 [ 0.24559768 -0.96932727  0.00929629]
 [-0.01103208  0.00679446  0.99991606]]

 t_estimated:
[[0.8821968 ]
 [0.4708772 ]
 [0.00186117]]

 R_gt:
[[ 0.9929703   0.03485629 -0.11311689]
 [-0.04811245  0.99200558 -0.1166583 ]
 [ 0.1081472   0.12128012  0.98670885]]

 t_gt:
[ 0.07812404  0.63477222 -0.76873979]

Pose Error in degrees for R and t:
168.2737494273439 68.5068624227303

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999249e-01  1.21632220e-03  1.49769593e-04]
 [-1.21631838e-03  9.99999260e-01 -2.55669790e-05]
 [-1.49800580e-04  2.53847922e-05  9.99999988e-01]]

 t_estimated:
[[ 0.97600022]
 [-0.21776728]
 [ 0.00098959]]

 R_gt:
[[ 0.99919903 -0.02465645  0.03150494]
 [ 0.02622266  0.99839027 -0.05029442]
 [-0.03021447  0.05108015  0.99823777]]

 t_gt:
[ 0.90444839  0.07481188 -0.41997179]

Pose Error in degrees for R and t:
3.7246553890527863 29.998940903072878

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999964e-01  2.67146421e-04  3.00439488e-06]
 [-2.67143774e-04  9.99999604e-01 -8.48926574e-04]
 [-3.23118139e-06  8.48925741e-04  9.99999640e-01]]

 t_estimated:
[[-0.71579923]
 [-0.69830294]
 [-0.00211376]]

 R_gt:
[[ 0.99510868  0.07317276  0.06635908]
 [-0.07007653  0.99639334 -0.04785102]
 [-0.06962173  0.0429663   0.99664816]]

 t_gt:
[0.01329755 0.99804894 0.06100395]

Pose Error in degrees for R and t:
6.20974142286712 45.04203391465692

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99999999e-01  4.28246857e-05 -2.28202520e-05]
 [-4.28236157e-05  9.99999998e-01  4.68853447e-05]
 [ 2.28222598e-05 -4.68843674e-05  9.99999999e-01]]

 t_estimated:
[[9.99994884e-01]
 [3.10354370e-03]
 [7.75192582e-04]]

 R_gt:
[[ 0.98211123  0.15768969  0.10291425]
 [-0.14572519  0.98262287 -0.11496364]
 [-0.11925558  0.09790909  0.98802441]]

 t_gt:
[-0.12658647  0.99176773  0.01930398]

Pose Error in degrees for R and t:
12.478217077112053 82.90627120103119

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.98371177e-01  5.70522543e-02  1.84144245e-04]
 [-5.70522431e-02  9.98371192e-01 -6.54629020e-05]
 [-1.87579116e-04  5.48504323e-05  9.99999981e-01]]

 t_estimated:
[[9.99580557e-01]
 [2.89591538e-02]
 [2.78350047e-04]]

 R_gt:
[[ 0.99106673 -0.13310656  0.00833273]
 [ 0.13294656  0.99096849  0.01752048]
 [-0.01058894 -0.01625617  0.9998113 ]]

 t_gt:
[ 0.81693392 -0.55635188  0.15195907]

Pose Error in degrees for R and t:
10.971991308450086 36.82001411287907

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.94432723e-01  1.05373357e-01  1.26115945e-04]
 [-1.05373357e-01  9.94432731e-01 -2.39194815e-06]
 [-1.25665871e-04 -1.09106290e-05  9.99999992e-01]]

 t_estimated:
[[0.96363785]
 [0.26720962]
 [0.00105201]]

 R_gt:
[[ 0.99033409 -0.13670695  0.02346962]
 [ 0.13600564  0.99027645  0.02926068]
 [-0.02724082 -0.02578559  0.99929623]]

 t_gt:
[ 0.82536049 -0.49391671  0.27354403]

Pose Error in degrees for R and t:
14.052166266104738 48.42061703951015

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99440404e-01  3.34490577e-02  1.97537126e-04]
 [-3.34490684e-02  9.99440422e-01  5.08424846e-05]
 [-1.95725955e-04 -5.74214662e-05  9.99999979e-01]]

 t_estimated:
[[-9.47971967e-01]
 [-3.18353201e-01]
 [-6.24383838e-04]]

 R_gt:
[[ 0.99925069 -0.02550006  0.02913033]
 [ 0.02560018  0.999668   -0.00305673]
 [-0.02904241  0.00380102  0.9995708 ]]

 t_gt:
[0.41046944 0.72739658 0.54991732]

Pose Error in degrees for R and t:
3.7697220775229923 51.60890928352591

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.88929721e-01  1.48384101e-01 -4.07874575e-04]
 [-1.48384154e-01  9.88929791e-01 -1.02866646e-04]
 [ 3.88095544e-04  1.62250007e-04  9.99999912e-01]]

 t_estimated:
[[-0.74302174]
 [-0.66924653]
 [-0.00526966]]

 R_gt:
[[ 0.99775291  0.00505065 -0.06681539]
 [-0.00206185  0.99899785  0.0447216 ]
 [ 0.06697412 -0.04448275  0.99676299]]

 t_gt:
[-0.39903096 -0.6345322  -0.66192385]

Pose Error in degrees for R and t:
9.511319914468746 43.561485497185785

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[-0.08224033 -0.99632952  0.02374905]
 [-0.99581992  0.08120139 -0.04182134]
 [ 0.03973938 -0.02708918 -0.99884281]]

 t_estimated:
[[0.8442328 ]
 [0.53596522]
 [0.00350304]]

 R_gt:
[[ 0.99194015 -0.05944557 -0.1119037 ]
 [ 0.06589924  0.99631615  0.05488149]
 [ 0.10822955 -0.06181323  0.99220294]]

 t_gt:
[ 0.17687236 -0.87854365 -0.4437085 ]

Pose Error in degrees for R and t:
176.9161660353083 71.14939192704615

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.61394654e-01  2.75172790e-01  5.04397729e-04]
 [-2.75172736e-01  9.61394786e-01 -1.76475998e-04]
 [-5.33486739e-04  3.08665778e-05  9.99999857e-01]]

 t_estimated:
[[0.69563707]
 [0.71839243]
 [0.00117381]]

 R_gt:
[[ 0.9881092  -0.11372103 -0.10348168]
 [ 0.11859322  0.99204634  0.04219586]
 [ 0.09785999 -0.05396585  0.99373562]]

 t_gt:
[ 0.30109535 -0.90873383 -0.2890405 ]

Pose Error in degrees for R and t:
23.55121962098625 63.6589288438729

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-7.56895934e-01  6.53532294e-01 -2.02141842e-03]
 [-6.53533006e-01 -7.56897925e-01 -3.76971626e-04]
 [-1.77637053e-03  1.03573536e-03  9.99997886e-01]]

 t_estimated:
[[0.72991626]
 [0.68353616]
 [0.00076033]]

 R_gt:
[[ 0.99478704 -0.05215815  0.08763162]
 [ 0.04257127  0.9932495   0.10790397]
 [-0.09266854 -0.10360989  0.99029153]]

 t_gt:
[ 0.15474948 -0.39138122  0.90712366]

Pose Error in degrees for R and t:
142.0231367810542 81.14819215165622

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.71447602e-01  2.37254158e-01 -1.47519385e-04]
 [-2.37254148e-01  9.71447612e-01  7.83069128e-05]
 [ 1.61885995e-04 -4.10714765e-05  9.99999986e-01]]

 t_estimated:
[[-0.76740348]
 [-0.64116395]
 [-0.00083052]]

 R_gt:
[[ 0.99076288 -0.02918059  0.13243397]
 [ 0.00546117  0.98436763  0.17604212]
 [-0.13550082 -0.17369207  0.9754337 ]]

 t_gt:
[-0.01150357 -0.16876419  0.98558932]

Pose Error in degrees for R and t:
19.4443918986854 83.32630030473962

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.44790662  0.89406335  0.00551199]
 [ 0.8940772  -0.44788016 -0.00541531]
 [-0.00237292  0.00735369 -0.99997015]]

 t_estimated:
[[-9.99996995e-01]
 [-2.32557441e-03]
 [-7.75191469e-04]]

 R_gt:
[[ 0.97960657  0.11933415  0.16165173]
 [-0.1486236   0.9717612   0.18328064]
 [-0.13521605 -0.2035683   0.96967898]]

 t_gt:
[-0.41634835  0.39599537  0.81843858]

Pose Error in degrees for R and t:
175.40674589177647 65.49379810773377

Number of keypoints:
Image1: 317
Image2: 317

 R_estimated:
[[-0.79076241  0.61182708 -0.01903767]
 [ 0.61176716  0.79098077  0.00950613]
 [ 0.02087454 -0.00412953 -0.99977357]]

 t_estimated:
[[ 0.9241423 ]
 [-0.38185486]
 [-0.0121606 ]]

 R_gt:
[[ 0.99145651  0.1300125   0.01055214]
 [-0.13026323  0.99107914  0.02816106]
 [-0.00679667 -0.02929438  0.99954712]]

 t_gt:
[-0.93825199  0.18612466  0.29161758]

Pose Error in degrees for R and t:
178.72199276982082 19.66143954670268

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 4.05591692e-01 -9.14054133e-01 -6.48623491e-04]
 [ 9.14054190e-01  4.05591075e-01  9.04329944e-04]
 [-5.63530624e-04 -9.59665732e-04  9.99999381e-01]]

 t_estimated:
[[ 5.90321950e-01]
 [-8.07167644e-01]
 [ 6.24852338e-04]]

 R_gt:
[[ 0.98336141  0.17522579  0.0479275 ]
 [-0.17731075  0.98319936  0.04335427]
 [-0.03952626 -0.05113036  0.99790876]]

 t_gt:
[-0.91465249  0.11116369  0.38865597]

Pose Error in degrees for R and t:
76.30902520448012 50.992337013948195

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.22185441e-01 -3.86747941e-01  2.04042541e-04]
 [ 3.86747284e-01  9.22184629e-01  1.43096785e-03]
 [-7.41588764e-04 -1.24070482e-03  9.99998955e-01]]

 t_estimated:
[[-0.40968868]
 [-0.91222351]
 [ 0.00185789]]

 R_gt:
[[ 0.99123592  0.11125972  0.07122428]
 [-0.1145736   0.99242878  0.04424486]
 [-0.06576313 -0.05201731  0.99647806]]

 t_gt:
[-0.80516767 -0.2420564   0.54139979]

Pose Error in degrees for R and t:
29.620657479976742 56.51741664180275

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.48445916e-01  3.16938987e-01  1.53834217e-04]
 [-3.16938754e-01  9.48445630e-01 -8.44603634e-04]
 [-4.13591211e-04  7.52304842e-04  9.99999631e-01]]

 t_estimated:
[[0.76466177]
 [0.64443042]
 [0.00134647]]

 R_gt:
[[ 0.9953655  -0.08914257 -0.03606404]
 [ 0.08960321  0.99591292  0.01137154]
 [ 0.03490171 -0.01455036  0.99928442]]

 t_gt:
[ 0.76717352 -0.6281505  -0.12989124]

Pose Error in degrees for R and t:
23.70809142936935 79.53388046330622

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.90564010e-01  1.37050804e-01  1.36920645e-04]
 [-1.37050807e-01  9.90564019e-01  1.81437278e-05]
 [-1.33142052e-04 -3.67376087e-05  9.99999990e-01]]

 t_estimated:
[[0.75391841]
 [0.65696699]
 [0.00118757]]

 R_gt:
[[ 0.99733716 -0.06823099 -0.02575481]
 [ 0.06830779  0.99766193  0.00211643]
 [ 0.02555012 -0.00387053  0.9996656 ]]

 t_gt:
[ 0.69353062 -0.70022209 -0.16942343]

Pose Error in degrees for R and t:
11.885759840300116 86.40855466699686

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-7.01890213e-01 -7.12276733e-01 -3.46199430e-03]
 [-7.12285145e-01  7.01882227e-01  3.34836537e-03]
 [ 4.49495280e-05  4.81611199e-03 -9.99988401e-01]]

 t_estimated:
[[8.17053059e-01]
 [5.76561970e-01]
 [7.70804772e-04]]

 R_gt:
[[ 0.99982752  0.00517424 -0.01786337]
 [-0.00499651  0.99993813  0.00997099]
 [ 0.01791302 -0.00987989  0.99979093]]

 t_gt:
[ 0.20637559 -0.95845036 -0.19693153]

Pose Error in degrees for R and t:
179.1653019367185 67.40976264836917

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 4.82318220e-01  8.75988291e-01  3.69438582e-03]
 [ 8.75993771e-01 -4.82322344e-01  2.62507389e-04]
 [ 2.01183823e-03  3.10964687e-03 -9.99993141e-01]]

 t_estimated:
[[-0.55730987]
 [-0.83030364]
 [-0.00125804]]

 R_gt:
[[ 0.95942688 -0.28125069  0.01995994]
 [ 0.28173427  0.95908218 -0.02805132]
 [-0.01125402  0.03253693  0.99940741]]

 t_gt:
[ 0.86613218 -0.49017734 -0.09767923]

Pose Error in degrees for R and t:
177.90893721298522 85.66515865085942

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999812e-01 -5.77282234e-04  2.08544339e-04]
 [ 5.77293909e-04  9.99999832e-01 -5.59296096e-05]
 [-2.08512017e-04  5.60499904e-05  9.99999977e-01]]

 t_estimated:
[[-0.31363969]
 [-0.94954146]
 [-0.0010778 ]]

 R_gt:
[[ 0.87354409 -0.47423114  0.10965643]
 [ 0.48455182  0.86861707 -0.10350903]
 [-0.04616141  0.14355357  0.98856458]]

 t_gt:
[ 0.91537841 -0.33302109 -0.22622848]

Pose Error in degrees for R and t:
30.04154609132768 88.31742999458939

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.991194   -0.01263917 -0.13181317]
 [ 0.00237181  0.9969692  -0.07776108]
 [ 0.13239651  0.07676368  0.98821987]]

 t_estimated:
[[8.42842722e-01]
 [5.38159528e-01]
 [6.84681334e-04]]

 R_gt:
[[ 0.77821152 -0.5956697   0.19890487]
 [ 0.62401628  0.76909163 -0.1382118 ]
 [-0.07064614  0.23167814  0.97022412]]

 t_gt:
[ 0.93615402 -0.2209945  -0.27345399]

Pose Error in degrees for R and t:
41.4579694416367 47.9396437616133

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.95598212e-01 -9.37239157e-02 -1.64119486e-04]
 [ 9.37239447e-02  9.95598207e-01  1.79001477e-04]
 [ 1.46620347e-04 -1.93595476e-04  9.99999971e-01]]

 t_estimated:
[[-2.15900440e-01]
 [-9.76415012e-01]
 [-8.51171976e-04]]

 R_gt:
[[ 0.99344551  0.11422441 -0.00421934]
 [-0.11412972  0.99329566  0.01837282]
 [ 0.0062898  -0.01776987  0.99982266]]

 t_gt:
[-0.34002743  0.94021186  0.01957052]

Pose Error in degrees for R and t:
11.982145453599056 32.36644751346098

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.87704042e-01 -1.56332973e-01 -8.52739808e-04]
 [ 1.56333424e-01  9.87704217e-01  4.90164205e-04]
 [ 7.65625876e-04 -6.17448901e-04  9.99999516e-01]]

 t_estimated:
[[-3.59377698e-01]
 [-9.33191778e-01]
 [-8.80954839e-04]]

 R_gt:
[[ 0.95612532  0.29233296 -0.01912317]
 [-0.29288314  0.95532216 -0.03975263]
 [ 0.00664787  0.04360929  0.99902659]]

 t_gt:
[-0.30140895  0.94257491 -0.14389294]

Pose Error in degrees for R and t:
26.138926136471497 39.542122701839006

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.95174374e-01 -9.81203948e-02 -5.94625667e-04]
 [-9.81221775e-02 -9.95152135e-01 -6.65337535e-03]
 [ 6.10888138e-05  6.67961461e-03 -9.99977689e-01]]

 t_estimated:
[[0.01948471]
 [0.99980941]
 [0.00121779]]

 R_gt:
[[ 0.90611436  0.42257511 -0.01964615]
 [-0.42301144  0.90463321 -0.05196868]
 [-0.00418827  0.05540063  0.998455  ]]

 t_gt:
[-0.22028166  0.96889728 -0.11275664]

Pose Error in degrees for R and t:
176.45254743530344 15.359434251670653

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.7869187   0.61693365 -0.01232182]
 [ 0.61691745 -0.78616009  0.03694815]
 [ 0.01310764 -0.03667674 -0.99924122]]

 t_estimated:
[[-0.33218023]
 [ 0.94301073]
 [ 0.019674  ]]

 R_gt:
[[ 0.99851161  0.03082283 -0.04500327]
 [-0.03073913  0.99952391  0.00256596]
 [ 0.04506102 -0.00117843  0.99898373]]

 t_gt:
[-0.64825041  0.46065984 -0.60627049]

Pose Error in degrees for R and t:
176.82432164417423 50.3708901690097

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.66353769e-01 -2.57215907e-01 -6.08951716e-04]
 [ 2.57216069e-01  9.66353896e-01  2.02138171e-04]
 [ 5.36469711e-04 -3.51969150e-04  9.99999794e-01]]

 t_estimated:
[[8.88369152e-01]
 [4.59129396e-01]
 [6.68534813e-04]]

 R_gt:
[[ 0.99721103  0.02075272 -0.07170466]
 [-0.02208062  0.99959826 -0.01777717]
 [ 0.07130638  0.01931092  0.99726761]]

 t_gt:
[-0.45280859  0.35248512 -0.81897413]

Pose Error in degrees for R and t:
16.66998321988487 76.05606001130971

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99725519e-01 -2.34176586e-02 -7.07684590e-04]
 [ 2.34179392e-02  9.99725686e-01  3.90843461e-04]
 [ 6.98337823e-04 -4.07308696e-04  9.99999673e-01]]

 t_estimated:
[[-0.99998396]
 [ 0.0048518 ]
 [-0.00292229]]

 R_gt:
[[ 0.99707683  0.03884078 -0.06580911]
 [-0.04101399  0.99864668 -0.03199099]
 [ 0.06447727  0.03459672  0.9973187 ]]

 t_gt:
[-0.57696983  0.40852829 -0.70725558]

Pose Error in degrees for R and t:
5.530746470658373 54.478424815698716

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-1.57752018e-02 -9.99874530e-01 -1.43786552e-03]
 [ 9.99875549e-01 -1.57754304e-02  1.47770731e-04]
 [-1.70435137e-04 -1.43535546e-03  9.99998955e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99862594  0.01206573 -0.05099743]
 [-0.01158789  0.99988599  0.00966219]
 [ 0.05110945 -0.00905855  0.99865169]]

 t_gt:
[-0.44668497  0.33443121 -0.82983631]

Pose Error in degrees for R and t:
91.61733462239529 63.49416292850153

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.32237371  0.9466114  -0.00143294]
 [-0.94661134  0.32237059 -0.00204254]
 [-0.00147155  0.0020149   0.99999689]]

 t_estimated:
[[-1.82411604e-02]
 [ 9.99833616e-01]
 [-7.48859974e-06]]

 R_gt:
[[ 0.99741471  0.00616025 -0.07159926]
 [-0.00746879  0.99981004 -0.01803066]
 [ 0.07147534  0.01851818  0.99727029]]

 t_gt:
[-0.2853274   0.20299897 -0.93668548]

Pose Error in degrees for R and t:
70.91048987854715 77.98446413171555

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.2972137  -0.95480786 -0.00244067]
 [-0.95480836  0.29721791 -0.00158616]
 [ 0.00223989  0.00185895 -0.99999576]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99994854 -0.00476823  0.00901924]
 [ 0.00507175  0.99941163 -0.03392692]
 [-0.00885236  0.03397037  0.99938286]]

 t_gt:
[-0.89804703  0.01327023 -0.43969925]

Pose Error in degrees for R and t:
179.09169210976614 44.587107157273266

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99767975e-01  2.15405458e-02  8.12506355e-06]
 [-2.15405457e-02  9.99767975e-01 -1.03744211e-05]
 [-8.34664903e-06  1.01969957e-05  1.00000000e+00]]

 t_estimated:
[[0.81587001]
 [0.57823473]
 [0.00085126]]

 R_gt:
[[ 0.99834107  0.04755326  0.03245825]
 [-0.04739179  0.99885951 -0.00572397]
 [-0.03269323  0.00417585  0.99945603]]

 t_gt:
[-0.8213198   0.38510211  0.42086833]

Pose Error in degrees for R and t:
2.4045417598265684 63.44526756299544

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.99980153 -0.01609026  0.01174717]
 [ 0.0161918   0.99983192 -0.00860026]
 [-0.01160681  0.00878876  0.99989401]]

 t_estimated:
[[-0.3873308 ]
 [-0.92194008]
 [-0.00115967]]

 R_gt:
[[ 0.99240651  0.12250417 -0.01107513]
 [-0.12260648  0.99241311 -0.00913342]
 [ 0.00987216  0.01042236  0.9998963 ]]

 t_gt:
[-0.77424757  0.61463878 -0.15086374]

Pose Error in degrees for R and t:
8.065774061862445 74.5382364782944

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999842e-01 -2.27954336e-04  5.13013925e-04]
 [ 2.28316864e-04  9.99999724e-01 -7.06716550e-04]
 [-5.12852685e-04  7.06833569e-04  9.99999619e-01]]

 t_estimated:
[[-9.40549932e-01]
 [-3.39655208e-01]
 [-4.05975673e-04]]

 R_gt:
[[ 0.99293457  0.11860081 -0.00387913]
 [-0.11858757  0.99293723  0.00341727]
 [ 0.00425697 -0.0029328   0.99998577]]

 t_gt:
[-0.81510899  0.57790255 -0.04032344]

Pose Error in degrees for R and t:
6.833074861406187 55.223308859275484

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.81841457e-01  1.89702889e-01  4.09842553e-04]
 [ 1.89670718e-01 -9.81710427e-01  1.64211963e-02]
 [ 3.51749509e-03 -1.60452761e-02 -9.99865079e-01]]

 t_estimated:
[[0.04281675]
 [0.99905746]
 [0.00713612]]

 R_gt:
[[ 0.99839233  0.05431635 -0.01622575]
 [-0.05397809  0.99833022  0.02056774]
 [ 0.0173167  -0.01965848  0.99965653]]

 t_gt:
[-0.15831768  0.98670213  0.03680247]

Pose Error in degrees for R and t:
177.8230212556466 11.690591292225065

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-0.8005455  -0.59914934 -0.01212341]
 [-0.59914828  0.80062748 -0.00412141]
 [ 0.01217567  0.00396435 -0.99991802]]

 t_estimated:
[[ 0.9486839 ]
 [ 0.31616626]
 [-0.00614381]]

 R_gt:
[[ 0.99684263  0.07801696 -0.01478276]
 [-0.07716913  0.99570639  0.05112474]
 [ 0.01870808 -0.04982241  0.99858328]]

 t_gt:
[-0.05396468  0.91890227  0.39077671]

Pose Error in degrees for R and t:
179.27227386326476 76.29460537037589

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 8.67895837e-01  4.96735397e-01  3.28065344e-03]
 [-4.96737635e-01  8.67900743e-01 -1.50619454e-04]
 [-2.92209957e-03 -1.49890203e-03  9.99994607e-01]]

 t_estimated:
[[-0.99956958]
 [-0.02909208]
 [ 0.00378162]]

 R_gt:
[[ 0.99796709  0.05992695 -0.02169995]
 [-0.05601645  0.98711808  0.14986858]
 [ 0.03040251 -0.1483484   0.98846786]]

 t_gt:
[0.1283262  0.43043152 0.89345458]

Pose Error in degrees for R and t:
27.813163728282635 82.10174305377477

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.72280609e-01  2.33815547e-01  8.40502108e-04]
 [-2.33815331e-01  9.72280962e-01 -3.47495348e-04]
 [-8.98454014e-04  1.41340710e-04  9.99999586e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 9.73251127e-01 -2.29571545e-01 -8.86378241e-03]
 [ 2.29556701e-01  9.73291443e-01 -2.57718852e-03]
 [ 9.21863413e-03  4.73231078e-04  9.99956658e-01]]

 t_gt:
[ 0.88012957 -0.47428384 -0.02065874]

Pose Error in degrees for R and t:
26.799713788012703 61.34450182469658

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99999996e-01  8.95369209e-05 -3.01428819e-05]
 [-8.95287029e-05  9.99999959e-01  2.72526219e-04]
 [ 3.01672818e-05 -2.72523519e-04  9.99999962e-01]]

 t_estimated:
[[0.78750445]
 [0.61630783]
 [0.00118067]]

 R_gt:
[[ 0.87993595 -0.47157096  0.05773539]
 [ 0.47478414  0.87721883 -0.07117581]
 [-0.01708244  0.0900417   0.99579109]]

 t_gt:
[ 0.92405773 -0.35120878 -0.15089637]

Pose Error in degrees for R and t:
28.788014305565273 59.2649588716437

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-9.83771729e-01  1.79423360e-01 -6.65506337e-04]
 [ 1.79422828e-01  9.83771736e-01  7.88148960e-04]
 [ 7.96118659e-04  6.55951636e-04 -9.99999468e-01]]

 t_estimated:
[[9.99479855e-01]
 [3.22368393e-02]
 [8.98102858e-04]]

 R_gt:
[[ 0.77503107 -0.61529063  0.14402558]
 [ 0.63131188  0.76391547 -0.1337017 ]
 [-0.02775761  0.19454869  0.98049972]]

 t_gt:
[ 0.94373475 -0.21521068 -0.25109576]

Pose Error in degrees for R and t:
173.89460556695568 20.596561325186205

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[-0.71138117 -0.70156791  0.04170498]
 [-0.70162885  0.71237141  0.01561843]
 [-0.04066682 -0.01815076 -0.99900789]]

 t_estimated:
[[0.9322617 ]
 [0.36105649]
 [0.02294183]]

 R_gt:
[[ 0.99839633 -0.04891337  0.02847627]
 [ 0.04948659  0.9985793  -0.01978226]
 [-0.02746861  0.02115871  0.99939915]]

 t_gt:
[ 0.89821648 -0.30385836  0.31761178]

Pose Error in degrees for R and t:
176.41312036816544 42.69706033443152

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 4.05187516e-01  9.14233586e-01 -1.67384863e-04]
 [-9.14232230e-01  4.05186585e-01 -1.80594009e-03]
 [-1.58322899e-03  8.84773018e-04  9.99998355e-01]]

 t_estimated:
[[3.61854895e-01]
 [9.32234102e-01]
 [7.83934799e-04]]

 R_gt:
[[ 0.99061432 -0.1306999   0.03997859]
 [ 0.13129476  0.99126338 -0.01262914]
 [-0.03797795  0.01775948  0.99912022]]

 t_gt:
[ 0.85890758 -0.47996199  0.17864563]

Pose Error in degrees for R and t:
73.65868199042836 82.15480815950825

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 0.07147787 -0.99744079 -0.00166879]
 [-0.99742962 -0.07148527  0.00489994]
 [-0.0050067   0.00131426 -0.9999866 ]]

 t_estimated:
[[0.80731919]
 [0.59011188]
 [0.00192219]]

 R_gt:
[[ 0.97829954 -0.19910427  0.0573316 ]
 [ 0.19958933  0.97987571 -0.00281288]
 [-0.05561791  0.01419376  0.99835101]]

 t_gt:
[ 0.87777593 -0.43273331  0.2055512 ]

Pose Error in degrees for R and t:
177.97538416165577 63.02000396533493

Number of keypoints:
Image1: 471
Image2: 471

 R_estimated:
[[ 9.99662894e-01 -2.59632466e-02 -9.33516421e-05]
 [ 2.59632608e-02  9.99662886e-01  1.53943108e-04]
 [ 8.93233090e-05 -1.56314926e-04  9.99999984e-01]]

 t_estimated:
[[-0.999138  ]
 [-0.04147324]
 [-0.00179896]]

 R_gt:
[[ 0.99859662  0.05273364  0.004989  ]
 [-0.05275862  0.99859618  0.00472631]
 [-0.00473185 -0.00498355  0.9999766 ]]

 t_gt:
[-0.98964525  0.04258516  0.13707218]

Pose Error in degrees for R and t:
4.527978046568437 9.327004478952755

Number of keypoints:
Image1: 443
Image2: 443

 R_estimated:
[[ 0.84369168  0.53675629  0.00877756]
 [-0.53682543  0.84352363  0.01692157]
 [ 0.00167868 -0.0189886   0.99981829]]

 t_estimated:
[[0.56836414]
 [0.82277516]
 [0.00179726]]

 R_gt:
[[ 0.98137455  0.19161117  0.01374256]
 [-0.19188049  0.98117145  0.02200095]
 [-0.00926769 -0.02422805  0.99966287]]

 t_gt:
[-0.95939889  0.23042249  0.16266298]

Pose Error in degrees for R and t:
21.417212763345077 69.18144511797284

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[-7.32349241e-02 -9.97314718e-01  9.55328283e-06]
 [-9.97314093e-01  7.32348676e-02 -1.11966286e-03]
 [ 1.11595662e-03 -9.15260485e-05 -9.99999373e-01]]

 t_estimated:
[[0.76148375]
 [0.6481834 ]
 [0.0008783 ]]

 R_gt:
[[ 0.96827403  0.24744916  0.03484676]
 [-0.24886188  0.96750929  0.04465253]
 [-0.0226649  -0.05190807  0.99839461]]

 t_gt:
[-0.94216809  0.20198644  0.26743366]

Pose Error in degrees for R and t:
176.92027183484848 54.10606905642784

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.98823419e-01 -4.84942256e-02  2.96792876e-04]
 [ 4.84942767e-02  9.98823446e-01 -1.67460892e-04]
 [-2.88322797e-04  1.81656616e-04  9.99999942e-01]]

 t_estimated:
[[ 0.37245035]
 [-0.92805013]
 [ 0.00192128]]

 R_gt:
[[ 0.99778166  0.06223462  0.02365865]
 [-0.06393957  0.99474958  0.07990187]
 [-0.01856085 -0.08123662  0.99652144]]

 t_gt:
[-0.58829799  0.48493597  0.64710322]

Pose Error in degrees for R and t:
7.992245900215272 48.093775266905894

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.89751318e-01 -1.42800806e-01 -5.08734102e-04]
 [ 1.42800869e-01  9.89751435e-01  8.95776030e-05]
 [ 4.90728554e-04 -1.61307222e-04  9.99999867e-01]]

 t_estimated:
[[-0.43064499]
 [-0.90252036]
 [-0.00138019]]

 R_gt:
[[ 0.97703858  0.20668574  0.05174547]
 [-0.21037862  0.97428084  0.08072929]
 [-0.03372825 -0.08976162  0.99539118]]

 t_gt:
[-0.60652124  0.7408692   0.28852179]

Pose Error in degrees for R and t:
21.00216092276786 65.93000182432075

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.10943976  0.9939909   0.0022442 ]
 [-0.99399181  0.10944338 -0.00155677]
 [-0.00179303 -0.00206034  0.99999627]]

 t_estimated:
[[-0.25779177]
 [ 0.96619806]
 [ 0.00217009]]

 R_gt:
[[ 9.63441823e-01  2.67275831e-01  1.85870964e-02]
 [-2.67921821e-01  9.61163922e-01  6.61948169e-02]
 [-1.73201000e-04 -6.87545815e-02  9.97633425e-01]]

 t_gt:
[-0.56855384  0.81635742  0.10152389]

Pose Error in degrees for R and t:
68.27438992490947 20.682529535592344

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99697940e-01 -2.45769418e-02 -5.39194264e-05]
 [ 2.45769420e-02  9.99697941e-01  3.05738506e-06]
 [ 5.38279984e-05 -4.38163616e-06  9.99999999e-01]]

 t_estimated:
[[-0.8010727 ]
 [-0.59856439]
 [-0.00179211]]

 R_gt:
[[ 0.99841018  0.03647453 -0.04296949]
 [-0.03559447  0.9991442   0.02106572]
 [ 0.04370101 -0.01950293  0.99885422]]

 t_gt:
[-0.54707439  0.77645097 -0.31278348]

Pose Error in degrees for R and t:
4.424838512691096 88.5130650581815

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.98074743e-01 -6.20226359e-02 -6.12338928e-06]
 [ 6.20226361e-02  9.98074731e-01  1.53942460e-04]
 [-3.43631701e-06 -1.54025870e-04  9.99999988e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99909309  0.01175559 -0.04093431]
 [-0.01234133  0.99982518 -0.01407934]
 [ 0.04076125  0.01457202  0.99906226]]

 t_gt:
[-0.08851045  0.6342611  -0.76803565]

Pose Error in degrees for R and t:
4.919205112500654 56.517956886476306

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.96255872e-01 -8.64536319e-02  8.59962377e-05]
 [ 8.64535817e-02  9.96255766e-01  4.75470150e-04]
 [-1.26780369e-04 -4.66255246e-04  9.99999883e-01]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.99896739  0.01836047 -0.04156311]
 [-0.01877076  0.99977964 -0.0094898 ]
 [ 0.04137961  0.01026118  0.99909093]]

 t_gt:
[-0.15087597  0.80118775 -0.57908084]

Pose Error in degrees for R and t:
6.5044982429444405 78.45726509382227

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.79517603e-01  2.01358381e-01 -2.61462060e-04]
 [-2.01357850e-01  9.79509940e-01 -3.91077998e-03]
 [-5.31363638e-04  3.88332527e-03  9.99992319e-01]]

 t_estimated:
[[-0.95830657]
 [-0.28573361]
 [-0.00219795]]

 R_gt:
[[ 0.99999776 -0.0014204   0.00167498]
 [ 0.00135134  0.99917335  0.04063154]
 [-0.00173123 -0.0406293   0.99917242]]

 t_gt:
[0.58483024 0.07299637 0.80786455]

Pose Error in degrees for R and t:
11.970908875071453 54.332546505990194

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[-9.16098602e-01  4.00952509e-01 -6.61698486e-04]
 [-4.00950238e-01 -9.16097105e-01 -2.23645672e-03]
 [-1.50289300e-03 -1.78350671e-03  9.99997280e-01]]

 t_estimated:
[[0.57216343]
 [0.82013884]
 [0.0011375 ]]

 R_gt:
[[ 9.99822001e-01  3.65349774e-03 -1.84952102e-02]
 [-2.37488097e-04  9.83401606e-01  1.81444752e-01]
 [ 1.88508091e-02 -1.81408243e-01  9.83227076e-01]]

 t_gt:
[ 0.04489816 -0.23769505  0.97030161]

Pose Error in degrees for R and t:
156.35819417944302 80.31971852148057

Number of keypoints:
Image1: 502
Image2: 502

 R_estimated:
[[-0.95164905 -0.3071705   0.00321889]
 [-0.30714865  0.95164323  0.0059056 ]
 [-0.00487726  0.00463138 -0.99997738]]

 t_estimated:
[[0.99720405]
 [0.0747091 ]
 [0.00162411]]

 R_gt:
[[ 0.99730729  0.03133803 -0.06630776]
 [-0.01590902  0.97502458  0.22152927]
 [ 0.07159426 -0.21987744  0.97289672]]

 t_gt:
[-0.22743727 -0.26488323  0.93707479]

Pose Error in degrees for R and t:
178.2792415910057 75.814109846281

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.01592244  0.99976926  0.01441881]
 [ 0.99978345 -0.01572611 -0.01362891]
 [-0.01339902  0.0146327  -0.99980316]]

 t_estimated:
[[-0.63185876]
 [ 0.77501146]
 [-0.01057099]]

 R_gt:
[[ 0.98610275 -0.16554838  0.01400449]
 [ 0.16547772  0.98619487  0.00609444]
 [-0.01481981 -0.0036912   0.99988312]]

 t_gt:
[ 0.89630541 -0.43080297  0.10509718]

Pose Error in degrees for R and t:
178.48298311843027 25.666999940383707

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.68567309  0.7276259   0.02032147]
 [ 0.72745449  0.68596436 -0.016213  ]
 [-0.0257368   0.00366613 -0.99966203]]

 t_estimated:
[[ 0.17089463]
 [-0.98510702]
 [ 0.01895227]]

 R_gt:
[[ 0.98106252 -0.19267125 -0.01990488]
 [ 0.19300453  0.98106001  0.0164518 ]
 [ 0.01635793 -0.01998124  0.9996661 ]]

 t_gt:
[ 0.97220723 -0.22078932  0.07787924]

Pose Error in degrees for R and t:
180.0 67.34867991499249

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-2.37167593e-01  9.71461151e-01 -3.84257321e-03]
 [-9.71467553e-01 -2.37171655e-01 -6.31917641e-04]
 [-1.52523289e-03  3.58306481e-03  9.99992418e-01]]

 t_estimated:
[[5.95994333e-01]
 [8.02988629e-01]
 [1.30814351e-04]]

 R_gt:
[[ 0.98648946 -0.1569964  -0.04681216]
 [ 0.1587739   0.98662045  0.03702146]
 [ 0.04037398 -0.04395383  0.99821699]]

 t_gt:
[0.98821081 0.02218347 0.15148361]

Pose Error in degrees for R and t:
112.84796872031079 52.64145243278871

Number of keypoints:
Image1: 609
Image2: 609

 R_estimated:
[[ 9.83820097e-01  1.79158985e-01 -2.72267601e-04]
 [-1.79158991e-01  9.83820134e-01  3.72606420e-06]
 [ 2.68529906e-04  4.51134118e-05  9.99999963e-01]]

 t_estimated:
[[-0.99546177]
 [-0.09515443]
 [-0.00121993]]

 R_gt:
[[ 0.99917883  0.04041223 -0.00313142]
 [-0.04030976  0.99880018  0.02783697]
 [ 0.00425182 -0.02768721  0.99960706]]

 t_gt:
[-0.30042977  0.80087775  0.51801233]

Pose Error in degrees for R and t:
8.165899796220044 77.16011044966552

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.01788212  0.99982358 -0.00574786]
 [-0.99983584  0.01786496 -0.0030232 ]
 [-0.00291998  0.00580098  0.99997891]]

 t_estimated:
[[ 3.39000000e-02]
 [ 9.99425224e-01]
 [-1.03843241e-04]]

 R_gt:
[[ 0.99973549  0.02081512 -0.00971186]
 [-0.01948599  0.99243976  0.12117349]
 [ 0.01216021 -0.12095166  0.99258348]]

 t_gt:
[0.12467386 0.09870884 0.98727554]

Pose Error in degrees for R and t:
88.06829607855789 84.1009508726786

Number of keypoints:
Image1: 366
Image2: 366

 R_estimated:
[[ 9.63086728e-01  2.69191296e-01  1.92984340e-05]
 [-2.69191208e-01  9.63086468e-01 -7.41230435e-04]
 [-2.18118842e-04  7.08674225e-04  9.99999725e-01]]

 t_estimated:
[[-0.99851507]
 [-0.05446446]
 [-0.00113468]]

 R_gt:
[[ 0.99768528  0.05374005 -0.0416535 ]
 [-0.04361403  0.97579385  0.21430095]
 [ 0.05216045 -0.21198792  0.97587908]]

 t_gt:
[-0.19381567  0.00738796  0.98101014]

Pose Error in degrees for R and t:
17.973774244162506 78.9297536595265

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.98380791e-01 -5.68840095e-02 -8.04000310e-05]
 [ 5.68840487e-02  9.98380597e-01  6.23869815e-04]
 [ 4.47816145e-05 -6.27433118e-04  9.99999802e-01]]

 t_estimated:
[[-8.65483614e-01]
 [-5.00936528e-01]
 [-8.41910131e-04]]

 R_gt:
[[ 0.99989074 -0.01181405 -0.00887356]
 [ 0.01158821  0.9996183  -0.02507308]
 [ 0.00916654  0.02496698  0.9996461 ]]

 t_gt:
[ 0.40864016  0.27405711 -0.87057792]

Pose Error in degrees for R and t:
3.02231327826402 60.64471861693653

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 0.78258485  0.62254206 -0.00153007]
 [ 0.62252454 -0.78253871  0.00981614]
 [ 0.00491362 -0.00863447 -0.99995065]]

 t_estimated:
[[-0.78774502]
 [-0.61600083]
 [-0.00087625]]

 R_gt:
[[ 0.99940891 -0.03425409  0.00312565]
 [ 0.03425883  0.99941147 -0.00159527]
 [-0.00306946  0.00170171  0.99999319]]

 t_gt:
[ 0.99292829 -0.08629444  0.08152716]

Pose Error in degrees for R and t:
179.58521073956064 43.18998236042631

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.03413571  0.99941298  0.00290656]
 [-0.99940748  0.03412239  0.00451208]
 [ 0.00441025 -0.00305886  0.9999856 ]]

 t_estimated:
[[0.68282007]
 [0.73058616]
 [0.00078305]]

 R_gt:
[[ 0.99907147  0.03479297 -0.02540318]
 [-0.03620923  0.99768465 -0.05756794]
 [ 0.02334081  0.05843391  0.99801765]]

 t_gt:
[-0.25936227  0.75258402 -0.6052673 ]

Pose Error in degrees for R and t:
86.08073159713402 68.14519757725297

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99999997e-01 -7.56571901e-05 -2.73781883e-05]
 [ 7.56529360e-05  9.99999985e-01 -1.55348774e-04]
 [ 2.73899412e-05  1.55346703e-04  9.99999988e-01]]

 t_estimated:
[[-0.94029694]
 [-0.34035357]
 [-0.00105691]]

 R_gt:
[[ 0.99545692  0.09504541  0.00562049]
 [-0.09502713  0.99546925 -0.0035871 ]
 [-0.00593503  0.00303712  0.99997807]]

 t_gt:
[-0.78365524  0.6211649   0.00621523]

Pose Error in degrees for R and t:
5.470585513298561 58.3017029115723

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[-0.84797383 -0.52960433 -0.02143917]
 [-0.52964419  0.84820932 -0.00424093]
 [ 0.02043092  0.00775894 -0.99976116]]

 t_estimated:
[[ 0.96655439]
 [ 0.25625705]
 [-0.0102437 ]]

 R_gt:
[[ 0.99289756  0.11678567  0.02272279]
 [-0.11634415  0.99301088 -0.01986241]
 [-0.0248837   0.01707755  0.9995452 ]]

 t_gt:
[-0.81029088  0.58532902  0.0286116 ]

Pose Error in degrees for R and t:
179.77469747402702 50.692022613488426

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.98991310e-01  4.49039161e-02  2.90739096e-05]
 [-4.49038993e-02  9.98991218e-01 -4.32018527e-04]
 [-4.84439041e-05  4.30277222e-04  9.99999906e-01]]

 t_estimated:
[[-0.86566542]
 [-0.50062159]
 [-0.00118597]]

 R_gt:
[[ 9.94021949e-01  1.09111212e-01 -3.87736595e-03]
 [-1.09179714e-01  9.93226343e-01 -3.97776242e-02]
 [-4.88670484e-04  3.99645419e-02  9.99201817e-01]]

 t_gt:
[-0.84501399  0.52243315 -0.11408311]

Pose Error in degrees for R and t:
4.333664930014717 61.95964229741128

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.96571551e-01  8.27353757e-02 -2.19223831e-05]
 [-8.27353761e-02  9.96571551e-01 -1.84742691e-05]
 [ 2.03187477e-05  2.02246876e-05  1.00000000e+00]]

 t_estimated:
[[-9.99969743e-01]
 [-7.74029419e-03]
 [-7.75114084e-04]]

 R_gt:
[[ 0.99379886  0.11066908  0.01074628]
 [-0.11085876  0.99365367  0.01905533]
 [-0.00856914 -0.02012816  0.99976009]]

 t_gt:
[-0.8593487   0.48472154  0.16298724]

Pose Error in degrees for R and t:
2.0453676858126233 31.19112643219582

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99373592e-01 -3.53885420e-02 -2.74593450e-04]
 [ 3.53885858e-02  9.99373616e-01  1.56283879e-04]
 [ 2.68890791e-04 -1.65903455e-04  9.99999950e-01]]

 t_estimated:
[[-9.53451331e-01]
 [-3.01545886e-01]
 [-7.98876905e-04]]

 R_gt:
[[ 0.95770781  0.28663054  0.02528245]
 [-0.28588519  0.95781183 -0.02943035]
 [-0.03265169  0.02095721  0.9992467 ]]

 t_gt:
[-0.82319527  0.56534132 -0.05233292]

Pose Error in degrees for R and t:
18.80145867686448 52.08860752463499

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 0.99429387 -0.1066686  -0.00122477]
 [ 0.10666985  0.99429399  0.00100658]
 [ 0.00111041 -0.00113148  0.99999874]]

 t_estimated:
[[-9.99994105e-01]
 [-3.34494270e-03]
 [-7.75188089e-04]]

 R_gt:
[[ 9.20010850e-01  3.86542987e-01  6.45284567e-02]
 [-3.85612029e-01  9.22271428e-01 -2.68220963e-02]
 [-6.98802336e-02 -2.06283209e-04  9.97554657e-01]]

 t_gt:
[-0.79470113  0.605634    0.04071325]

Pose Error in degrees for R and t:
29.145297316721063 37.567174083878136

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[ 9.99856513e-01 -1.69394022e-02 -1.03975108e-04]
 [ 1.69393938e-02  9.99856515e-01 -8.07726959e-05]
 [ 1.05328431e-04  7.89998307e-05  9.99999991e-01]]

 t_estimated:
[[-0.98849207]
 [-0.15126696]
 [-0.00131481]]

 R_gt:
[[ 0.99053397  0.13686647 -0.01047035]
 [-0.13684536  0.99058881  0.00270596]
 [ 0.01074298 -0.00124766  0.99994211]]

 t_gt:
[-0.86196822  0.50648652 -0.02195885]

Pose Error in degrees for R and t:
8.858003780738587 39.15297611745058

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[-0.98976739  0.14168889 -0.01687508]
 [ 0.14164609  0.98991041  0.00371117]
 [ 0.01723065  0.00128291 -0.99985072]]

 t_estimated:
[[ 0.99428873]
 [-0.10634801]
 [-0.00894594]]

 R_gt:
[[ 9.72244504e-01  2.33560177e-01  1.37747321e-02]
 [-2.33585817e-01  9.72335878e-01  2.07566641e-04]
 [-1.33446742e-02 -3.41956999e-03  9.99905516e-01]]

 t_gt:
[-0.8288368   0.55900095  0.02339881]

Pose Error in degrees for R and t:
179.78862931220098 27.90056157610064

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99998909e-01 -1.45040122e-03 -2.79753703e-04]
 [ 1.45045397e-03  9.99998930e-01  1.88472386e-04]
 [ 2.79480043e-04 -1.88877950e-04  9.99999943e-01]]

 t_estimated:
[[-9.88853562e-01]
 [-1.48890687e-01]
 [-4.43086324e-04]]

 R_gt:
[[ 9.25482284e-01  3.76878723e-01  3.80071601e-02]
 [-3.77138716e-01  9.26156814e-01 -3.64645939e-04]
 [-3.53365373e-02 -1.39968576e-02  9.99276969e-01]]

 t_gt:
[-0.79817476  0.60061271  0.04670564]

Pose Error in degrees for R and t:
22.34653635509444 45.586503399319504

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.99999966e-01  2.48225088e-04 -8.23328688e-05]
 [-2.48227773e-04  9.99999969e-01 -3.26035594e-05]
 [ 8.23247732e-05  3.26239956e-05  9.99999996e-01]]

 t_estimated:
[[-8.93307671e-01]
 [-4.49445406e-01]
 [-4.81072761e-04]]

 R_gt:
[[ 0.99594121  0.08553782  0.0279842 ]
 [-0.08573256  0.99630106  0.0058564 ]
 [-0.02738058 -0.00823157  0.99959084]]

 t_gt:
[-0.76531666  0.60705669  0.21394528]

Pose Error in degrees for R and t:
5.167740274887324 65.74983499086626

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99999733e-01  1.94889565e-04 -7.03581193e-04]
 [-1.94790851e-04  9.99999971e-01  1.40367707e-04]
 [ 7.03608529e-04 -1.40230618e-04  9.99999743e-01]]

 t_estimated:
[[-7.58010700e-01]
 [-6.52241765e-01]
 [-6.78005992e-04]]

 R_gt:
[[ 0.98937791  0.14107124  0.03506944]
 [-0.14041044  0.98987801 -0.02063697]
 [-0.03762597  0.01549421  0.99917147]]

 t_gt:
[-0.76453338  0.64193091  0.05842444]

Pose Error in degrees for R and t:
8.423344327305115 80.7472047910116

Number of keypoints:
Image1: 317
Image2: 317

 R_estimated:
[[ 9.98438100e-01  5.58642131e-02 -7.41603181e-04]
 [-5.58641398e-02  9.98438372e-01  1.19200883e-04]
 [ 7.47104136e-04 -7.75856789e-05  9.99999718e-01]]

 t_estimated:
[[-0.53923345]
 [ 0.84215181]
 [ 0.0027604 ]]

 R_gt:
[[ 0.98775053  0.15264602  0.03238636]
 [-0.15132101  0.98767376 -0.04003627]
 [-0.03809873  0.03464508  0.99867283]]

 t_gt:
[-0.7981933   0.60239603  0.0025452 ]

Pose Error in degrees for R and t:
6.297202422567398 20.326485806792796

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99999985e-01 -1.59502852e-04 -6.29711548e-05]
 [ 1.59498525e-04  9.99999985e-01 -6.87112734e-05]
 [ 6.29821135e-05  6.87012286e-05  9.99999996e-01]]

 t_estimated:
[[-9.48882532e-01]
 [-3.15629179e-01]
 [-4.01760091e-04]]

 R_gt:
[[ 0.99506773  0.09493647  0.02875678]
 [-0.09530033  0.99538173  0.01157875]
 [-0.02752532 -0.01426159  0.99951927]]

 t_gt:
[-0.7756032   0.59111237  0.22141778]

Pose Error in degrees for R and t:
5.751146575023908 56.68133516522425

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[-0.61787148 -0.78615144 -0.01416844]
 [-0.7861741   0.61798314 -0.00520726]
 [ 0.01284955  0.00792144 -0.99988606]]

 t_estimated:
[[ 0.90944883]
 [ 0.41575878]
 [-0.00688874]]

 R_gt:
[[ 0.9891632   0.14148871  0.03920597]
 [-0.14082812  0.98984921 -0.01913136]
 [-0.04151569  0.01340331  0.99904847]]

 t_gt:
[-0.77251928  0.63025953  0.07737495]

Pose Error in degrees for R and t:
179.18877423761668 63.828221959612684

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.99654427e-01  2.62842444e-02 -4.06942865e-04]
 [-2.62844824e-02  9.99654329e-01 -5.91089898e-04]
 [ 3.91265845e-04  6.01581915e-04  9.99999743e-01]]

 t_estimated:
[[-0.59606118]
 [-0.80293547]
 [-0.00238519]]

 R_gt:
[[ 0.98820931  0.15012723  0.03005834]
 [-0.14877142  0.98792892 -0.04315376]
 [-0.03617392  0.03817387  0.99861605]]

 t_gt:
[-0.80391574  0.59461653 -0.01227482]

Pose Error in degrees for R and t:
7.703616861594229 89.89838362029565

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[-0.99942902 -0.0242588  -0.02351922]
 [-0.02430782  0.9997029   0.00180059]
 [ 0.02346855  0.00237126 -0.99972176]]

 t_estimated:
[[ 0.99989603]
 [ 0.00807632]
 [-0.01194549]]

 R_gt:
[[ 0.9910759   0.13295011 -0.0095938 ]
 [-0.13281664  0.99105005  0.01341902]
 [ 0.01129231 -0.01202571  0.99986361]]

 t_gt:
[-0.86338448  0.50141021  0.05616967]

Pose Error in degrees for R and t:
178.05711436491885 30.692831207165334

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.97664643e-01 -6.83006085e-02 -5.35956522e-04]
 [ 6.83008656e-02  9.97664655e-01  4.76946900e-04]
 [ 5.02129115e-04 -5.12439353e-04  9.99999743e-01]]

 t_estimated:
[[ 0.95657529]
 [-0.29148144]
 [-0.00151074]]

 R_gt:
[[ 0.97208436  0.23448988  0.00816701]
 [-0.23451485  0.97211104  0.00211803]
 [-0.00744198 -0.00397385  0.99996447]]

 t_gt:
[-0.82831829  0.55995133  0.01852887]

Pose Error in degrees for R and t:
17.485999877003973 17.139083185573945

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.84854244e-01  1.73384306e-01 -3.34052318e-05]
 [-1.73384306e-01  9.84854244e-01 -1.83048415e-07]
 [ 3.28675466e-05  5.97221894e-06  9.99999999e-01]]

 t_estimated:
[[-9.95666905e-01]
 [-9.29884577e-02]
 [-7.48911687e-04]]

 R_gt:
[[ 0.92903607  0.36831843  0.03513655]
 [-0.36887666  0.92941593  0.01076983]
 [-0.02868977 -0.02296683  0.99932453]]

 t_gt:
[-0.80051039  0.59607001  0.06231897]

Pose Error in degrees for R and t:
11.840572062049397 42.13489390602667

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99974337e-01 -7.16356743e-03 -9.06051751e-05]
 [ 7.16357194e-03  9.99974340e-01  4.94971752e-05]
 [ 9.02482739e-05 -5.01449617e-05  9.99999995e-01]]

 t_estimated:
[[-9.74480583e-01]
 [-2.24471396e-01]
 [-4.30308979e-04]]

 R_gt:
[[ 0.99388426  0.1100176   0.00949759]
 [-0.110163    0.99377911  0.01640759]
 [-0.0076349  -0.01735301  0.99982007]]

 t_gt:
[-0.85562218  0.49876785  0.13835213]

Pose Error in degrees for R and t:
6.818297547812322 43.79931081918577

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.96115823e-01  8.80525731e-02 -1.06351172e-04]
 [-8.80525838e-02  9.96115823e-01 -9.99815499e-05]
 [ 9.71344527e-05  1.08957699e-04  9.99999989e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.95967423  0.27953681  0.02974518]
 [-0.27888672  0.96001926 -0.02422007]
 [-0.03532679  0.0149475   0.99926379]]

 t_gt:
[-0.82576073  0.56336006 -0.02728863]

Pose Error in degrees for R and t:
11.381639922039152 34.50964613140651

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-9.71377103e-01 -2.37542401e-01 -3.62930309e-04]
 [-2.37542672e-01  9.71375620e-01  1.69806660e-03]
 [-5.08211624e-05  1.73567445e-03 -9.99998492e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91846796  0.38999253  0.06573938]
 [-0.38869841  0.92081091 -0.03198199]
 [-0.07300644  0.00382193  0.99732355]]

 t_gt:
[-0.79085593  0.61108939  0.03341637]

Pose Error in degrees for R and t:
176.12285352742578 37.914262792330554

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.99988991e-01 -4.69163680e-03 -7.45852290e-05]
 [ 4.69162591e-03  9.99988984e-01 -1.45568868e-04]
 [ 7.52673636e-05  1.45217339e-04  9.99999987e-01]]

 t_estimated:
[[-8.31285159e-01]
 [-5.55845631e-01]
 [-7.86545951e-04]]

 R_gt:
[[ 0.99578456  0.09153337  0.00596689]
 [-0.09147193  0.99575901 -0.00993837]
 [-0.00685101  0.00935073  0.99993286]]

 t_gt:
[-0.77796382  0.62803811 -0.01845052]

Pose Error in degrees for R and t:
5.557878654500514 72.6845661742204

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.98654340e-01  5.18604708e-02 -3.36981740e-05]
 [-5.18604780e-02  9.98654303e-01 -2.70794411e-04]
 [ 1.96093009e-05  2.72177617e-04  9.99999963e-01]]

 t_estimated:
[[-9.79908573e-01]
 [-1.99447202e-01]
 [-3.94627985e-05]]

 R_gt:
[[ 0.99398516  0.10795139  0.01845799]
 [-0.10751736  0.99393482 -0.02311553]
 [-0.02084056  0.02099257  0.99956182]]

 t_gt:
[-0.8177854   0.57551615  0.00286448]

Pose Error in degrees for R and t:
3.6279695687746703 46.640817511763814

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99780456e-01 -2.09532702e-02  6.60940117e-07]
 [ 2.09532686e-02  9.99780363e-01 -4.32043513e-04]
 [ 8.39192952e-06  4.31962509e-04  9.99999907e-01]]

 t_estimated:
[[0.87158423]
 [0.49024494]
 [0.00090721]]

 R_gt:
[[ 0.99579695  0.09108748 -0.00956243]
 [-0.09139608  0.9950359  -0.03939563]
 [ 0.00592691  0.04010407  0.99917754]]

 t_gt:
[-0.85490064  0.49704002 -0.14864763]

Pose Error in degrees for R and t:
6.835503944366688 59.89531938971184

Number of keypoints:
Image1: 644
Image2: 644

 R_estimated:
[[-0.10578258 -0.99435926 -0.00772757]
 [-0.99436476  0.10583136 -0.00620086]
 [ 0.0069837   0.00702808 -0.99995092]]

 t_estimated:
[[ 0.71986325]
 [ 0.69410469]
 [-0.00394787]]

 R_gt:
[[ 0.99935107  0.03557203 -0.00578726]
 [-0.03537304  0.99888183  0.03140313]
 [ 0.00689775 -0.03117774  0.99949033]]

 t_gt:
[-0.12731506  0.75200865  0.64674095]

Pose Error in degrees for R and t:
179.6413582347049 64.6738746994013

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.78625649e-01 -2.05649302e-01 -4.51515228e-04]
 [ 2.05649290e-01  9.78625753e-01 -7.38383338e-05]
 [ 4.57049232e-04 -2.05936988e-05  9.99999895e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99971426  0.01927192 -0.0141526 ]
 [-0.01760495  0.99381075  0.10968935]
 [ 0.01617841 -0.10940842  0.9938657 ]]

 t_gt:
[0.2365742  0.14458212 0.96079585]

Pose Error in degrees for R and t:
14.395585252826429 81.54379220134689

Number of keypoints:
Image1: 442
Image2: 442

 R_estimated:
[[ 0.61976682 -0.78477815 -0.0035125 ]
 [-0.78477825 -0.61973457 -0.00722239]
 [ 0.00349115  0.00723273 -0.99996775]]

 t_estimated:
[[ 0.46050004]
 [ 0.88765211]
 [-0.00366577]]

 R_gt:
[[ 0.99792136  0.04951448 -0.04125397]
 [-0.03958379  0.97604525  0.21394014]
 [ 0.05085912 -0.21186282  0.97597527]]

 t_gt:
[-0.12357894  0.01263101  0.99225435]

Pose Error in degrees for R and t:
170.55770342346932 87.17224848084585

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 7.77118013e-01  6.29354774e-01  4.01963728e-04]
 [-6.29354537e-01  7.77118092e-01 -5.81378549e-04]
 [-6.78266651e-04  1.98822047e-04  9.99999750e-01]]

 t_estimated:
[[-5.12736329e-01]
 [ 8.58546089e-01]
 [ 2.63837044e-04]]

 R_gt:
[[ 0.98508734 -0.17077881  0.02087929]
 [ 0.1707732   0.98530816  0.00206615]
 [-0.02092535  0.00152977  0.99977957]]

 t_gt:
[ 0.90003766 -0.42743     0.08506353]

Pose Error in degrees for R and t:
48.84968157314719 34.06241556418036

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999923e-01 -3.79743286e-04 -9.81389828e-05]
 [ 3.79689114e-04  9.99999776e-01 -5.51429498e-04]
 [ 9.83483624e-05  5.51392193e-04  9.99999843e-01]]

 t_estimated:
[[8.47663894e-01]
 [5.30533209e-01]
 [6.60688928e-04]]

 R_gt:
[[ 9.79497684e-01 -2.01423108e-01 -3.58545074e-03]
 [ 2.01454238e-01  9.79332956e-01  1.79538733e-02]
 [-1.05079850e-04 -1.83089302e-02  9.99832589e-01]]

 t_gt:
[ 0.96428553 -0.23369898  0.12465233]

Pose Error in degrees for R and t:
11.650383636980589 46.09320232647007

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-5.79177072e-01  8.15182362e-01  5.62450648e-03]
 [-8.15197111e-01 -5.79183295e-01 -6.16828041e-04]
 [ 2.75479286e-03 -4.94233409e-03  9.99983992e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98403915 -0.1742834  -0.03595357]
 [ 0.17542527  0.98398927  0.03148802]
 [ 0.02988947 -0.03729305  0.99885684]]

 t_gt:
[ 0.98996341 -0.02325474  0.13939751]

Pose Error in degrees for R and t:
135.48100698803225 89.02964439013654

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[-9.99163179e-01  4.08955620e-02 -7.04024346e-04]
 [-4.08934409e-02 -9.99159586e-01 -2.80154499e-03]
 [-8.18003431e-04 -2.77041062e-03  9.99995828e-01]]

 t_estimated:
[[0.85165797]
 [0.52409721]
 [0.00089743]]

 R_gt:
[[ 0.99957646 -0.02714353 -0.01051003]
 [ 0.02667009  0.99872992 -0.0427593 ]
 [ 0.01165717  0.04246137  0.99903062]]

 t_gt:
[ 0.52027977  0.0215823  -0.85372312]

Pose Error in degrees for R and t:
179.199437617658 63.02218396088508

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999692e-01  6.53803874e-04  4.34575824e-04]
 [-6.53703183e-04  9.99999759e-01 -2.31800831e-04]
 [-4.34727272e-04  2.31516676e-04  9.99999879e-01]]

 t_estimated:
[[-0.9535016 ]
 [-0.30138533]
 [ 0.00126032]]

 R_gt:
[[ 9.99331466e-01 -3.65671092e-02 -4.04714953e-04]
 [ 3.65536309e-02  9.99179275e-01 -1.74497906e-02]
 [ 1.04179780e-03  1.74237056e-02  9.99848038e-01]]

 t_gt:
[ 0.91645884 -0.03870376 -0.39825269]

Pose Error in degrees for R and t:
2.35016028263504 30.380918358444685

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99985721e-01 -5.34386034e-03  1.29355754e-05]
 [ 5.34385881e-03  9.99985715e-01  1.15467459e-04]
 [-1.35524326e-05 -1.15396685e-04  9.99999993e-01]]

 t_estimated:
[[-5.86999075e-01]
 [ 8.09587306e-01]
 [-6.93205266e-04]]

 R_gt:
[[ 0.99893615  0.03697204 -0.02753907]
 [-0.03881905  0.9968007  -0.06986728]
 [ 0.02486722  0.07086269  0.99717609]]

 t_gt:
[-0.24555764  0.72153249 -0.6473734 ]

Pose Error in degrees for R and t:
4.975920140384541 43.219599988486216

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-0.56100744 -0.82692028 -0.03838632]
 [-0.82679395  0.56201324 -0.02351342]
 [ 0.04101734  0.01854637 -0.99898629]]

 t_estimated:
[[ 0.88153045]
 [ 0.47162076]
 [-0.02186163]]

 R_gt:
[[ 0.99892148  0.0266195  -0.03803543]
 [-0.02583872  0.99944764  0.02089482]
 [ 0.0385701  -0.01989052  0.99905826]]

 t_gt:
[-0.50700498  0.80096475 -0.31843589]

Pose Error in degrees for R and t:
176.03464793001348 86.43233895861732

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-9.02420661e-01 -4.30849597e-01 -2.36121336e-03]
 [ 4.30850588e-01 -9.02423272e-01  9.74956826e-05]
 [-2.17281986e-03 -9.29348047e-04  9.99997208e-01]]

 t_estimated:
[[0.9812553 ]
 [0.19270869]
 [0.00117787]]

 R_gt:
[[ 9.99593660e-01  6.86099370e-04 -2.84926313e-02]
 [-4.23880758e-04  9.99957107e-01  9.25884095e-03]
 [ 2.84977449e-02 -9.24341862e-03  9.99551922e-01]]

 t_gt:
[ 0.08505619  0.84586926 -0.52656495]

Pose Error in degrees for R and t:
154.51212844242858 75.76804845528287

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.98641931e-01 -5.20987664e-02  1.13137060e-04]
 [ 5.20987622e-02  9.98641937e-01  3.92696379e-05]
 [-1.15029313e-04 -3.33220062e-05  9.99999993e-01]]

 t_estimated:
[[-9.57891272e-01]
 [-2.87130084e-01]
 [-7.90991967e-04]]

 R_gt:
[[ 0.99916712  0.01592497 -0.03757003]
 [-0.01646869  0.99976404 -0.01418286]
 [ 0.03733514  0.01478948  0.99919333]]

 t_gt:
[-0.12772042  0.79050835 -0.59898584]

Pose Error in degrees for R and t:
4.54437403403353 84.02107388512503

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-6.89332963e-01  7.24429872e-01 -4.62896322e-03]
 [ 7.24415056e-01  6.89348487e-01  4.63575462e-03]
 [ 6.54924792e-03 -1.57712180e-04 -9.99978541e-01]]

 t_estimated:
[[-0.13672458]
 [-0.99060826]
 [-0.00128985]]

 R_gt:
[[ 0.99998304  0.00423568  0.00418518]
 [-0.00436227  0.99951899  0.03070642]
 [-0.00405345 -0.03072472  0.99951886]]

 t_gt:
[0.56145673 0.40465482 0.72181771]

Pose Error in degrees for R and t:
179.1739588989678 61.40923195455367

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99910048e-01 -1.34113770e-02  1.73517906e-04]
 [-1.34109803e-02 -9.99907832e-01 -2.11497402e-03]
 [ 2.01866628e-04  2.11245673e-03 -9.99997748e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.99852098e-01  2.46238063e-03 -1.70995179e-02]
 [ 5.50842724e-04  9.84736485e-01  1.74054129e-01]
 [ 1.72676238e-02 -1.74037556e-01  9.84587199e-01]]

 t_gt:
[ 0.07442171 -0.21596638  0.97356044]

Pose Error in degrees for R and t:
170.1042587904643 77.61463142955196

Number of keypoints:
Image1: 362
Image2: 362

 R_estimated:
[[ 9.97102517e-01  7.60695074e-02  1.67303656e-05]
 [-7.60695034e-02  9.97102503e-01 -1.73533602e-04]
 [-2.98825050e-05  1.71758121e-04  9.99999985e-01]]

 t_estimated:
[[-1.97422484e-01]
 [-9.80318399e-01]
 [-4.46099421e-04]]

 R_gt:
[[ 0.99745089  0.02713194 -0.06600506]
 [-0.0122422   0.97625256  0.21629025]
 [ 0.07030617 -0.21493069  0.97409502]]

 t_gt:
[-0.15777778 -0.25727513  0.95337069]

Pose Error in degrees for R and t:
13.468382641611447 73.56453904515526

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[-8.57477999e-01 -5.14518926e-01 -1.32500760e-03]
 [-5.14520518e-01  8.57476677e-01  1.54440128e-03]
 [ 3.41539432e-04  2.00603372e-03 -9.99997930e-01]]

 t_estimated:
[[9.36829598e-01]
 [3.49786014e-01]
 [2.21462052e-04]]

 R_gt:
[[ 0.9988263  -0.04360243  0.02111879]
 [ 0.04405832  0.99879451 -0.02164237]
 [-0.02015006  0.02254754  0.99954324]]

 t_gt:
[ 0.98162703 -0.17187282  0.08287404]

Pose Error in degrees for R and t:
179.2473574925166 30.737616083000542

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[-0.9394635  -0.34225849  0.01635397]
 [-0.34224562  0.93960337  0.00366645]
 [-0.01662112 -0.00215258 -0.99985954]]

 t_estimated:
[[0.98704916]
 [0.16019776]
 [0.00840435]]

 R_gt:
[[ 0.99183766 -0.1239427   0.02993918]
 [ 0.12438468  0.99214488 -0.01333984]
 [-0.02805107  0.01695535  0.99946334]]

 t_gt:
[ 0.87679629 -0.46824079  0.10944781]

Pose Error in degrees for R and t:
177.55198537352138 37.68817173601617

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.80549904e-01  1.96268935e-01  6.25874860e-04]
 [-1.96268942e-01  9.80550101e-01 -4.95066081e-05]
 [-6.23418266e-04 -7.42960971e-05  9.99999803e-01]]

 t_estimated:
[[0.87031536]
 [0.49249265]
 [0.00147013]]

 R_gt:
[[ 0.97981592 -0.19239288  0.05425893]
 [ 0.19293203  0.98120042 -0.00481624]
 [-0.05231174  0.01518733  0.99851547]]

 t_gt:
[ 0.88391246 -0.42613997  0.19262264]

Pose Error in degrees for R and t:
22.644106848632326 55.96529418837399

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99872241e-01  1.59835249e-02  1.66923738e-04]
 [-1.59835243e-02  9.99872255e-01 -5.40482848e-06]
 [-1.66988803e-04  2.73610835e-06  9.99999986e-01]]

 t_estimated:
[[9.97108916e-01]
 [7.59852792e-02]
 [2.17982333e-04]]

 R_gt:
[[ 0.97055369 -0.24058025 -0.01209505]
 [ 0.24053966  0.97062786 -0.00469488]
 [ 0.01286943  0.00164768  0.99991581]]

 t_gt:
[ 0.88005554 -0.47344694 -0.03674568]

Pose Error in degrees for R and t:
14.855026053836886 32.69815091814321

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999182e-01  1.24727227e-03  2.82904119e-04]
 [-1.24724215e-03  9.99999217e-01 -1.06620885e-04]
 [-2.83036883e-04  1.06267948e-04  9.99999954e-01]]

 t_estimated:
[[ 9.73830968e-01]
 [-2.27273503e-01]
 [ 8.93447713e-06]]

 R_gt:
[[ 0.87321421 -0.48257082  0.06799199]
 [ 0.48690907  0.86975715 -0.08026846]
 [-0.02040151  0.10319761  0.99445095]]

 t_gt:
[ 0.92289408 -0.34613252 -0.16869734]

Pose Error in degrees for R and t:
29.758163015700404 12.202118427884484

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99984867  0.01728797  0.0019394 ]
 [-0.01729401  0.9998455   0.00314406]
 [-0.00188474 -0.00317713  0.99999318]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.77183122 -0.61661645  0.15511285]
 [ 0.63496938  0.76016494 -0.13770523]
 [-0.03300094  0.20477758  0.97825171]]

 t_gt:
[ 0.94176382 -0.2120675  -0.26097562]

Pose Error in degrees for R and t:
41.94193103074012 21.792993577187005

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99999379e-01  1.11375049e-03 -4.51620605e-05]
 [-1.11374306e-03  9.99999366e-01  1.64221557e-04]
 [ 4.53449337e-05 -1.64171156e-04  9.99999985e-01]]

 t_estimated:
[[-9.59561569e-01]
 [-2.81498313e-01]
 [ 5.43270920e-04]]

 R_gt:
[[ 0.99833806  0.0550991  -0.01691378]
 [-0.05436972  0.99768175  0.04091736]
 [ 0.01912845 -0.03992885  0.99901955]]

 t_gt:
[-0.13624882  0.86471145  0.48343601]

Pose Error in degrees for R and t:
3.9807228087755213 83.54556405178158

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.97309771e-01 -7.33021352e-02 -1.35904923e-04]
 [ 7.33021089e-02  9.97309764e-01 -1.89956750e-04]
 [ 1.49463542e-04  1.79483605e-04  9.99999973e-01]]

 t_estimated:
[[-0.78961415]
 [-0.61360265]
 [-0.00112903]]

 R_gt:
[[ 0.99731565  0.07173404 -0.01470386]
 [-0.07057772  0.99518038  0.06807572]
 [ 0.01951508 -0.06685485  0.99757171]]

 t_gt:
[0.01442994 0.80869347 0.58805327]

Pose Error in degrees for R and t:
9.203020689387323 59.451038630733294

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.05953481 -0.99820244 -0.00689216]
 [-0.9981536  -0.05944578 -0.01247339]
 [ 0.01204125  0.00762203 -0.99989845]]

 t_estimated:
[[ 0.70378569]
 [ 0.71036994]
 [-0.00776213]]

 R_gt:
[[ 0.99779521  0.06263541 -0.02192034]
 [-0.05747918  0.9808201   0.18624553]
 [ 0.03316496 -0.18457443  0.98225914]]

 t_gt:
[0.02077978 0.26147686 0.96498604]

Pose Error in degrees for R and t:
174.09584981968942 78.87912574870406

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99997104e-01  2.40662953e-03  1.90946048e-07]
 [-2.40662952e-03  9.99997103e-01 -4.84974583e-05]
 [-3.07660909e-07  4.84968584e-05  9.99999999e-01]]

 t_estimated:
[[8.49610822e-01]
 [5.27409679e-01]
 [6.93680472e-04]]

 R_gt:
[[ 0.99875983  0.04132757  0.02775611]
 [-0.04115625  0.99912939 -0.0067462 ]
 [-0.02801109  0.00559535  0.99959219]]

 t_gt:
[-0.84578489  0.36562871  0.3885403 ]

Pose Error in degrees for R and t:
2.763126433312599 58.29927919699296

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99281866e-01  3.78911943e-02 -9.84896245e-05]
 [-3.78911972e-02  9.99281870e-01 -2.76675811e-05]
 [ 9.73705385e-05  3.13796018e-05  9.99999995e-01]]

 t_estimated:
[[-0.98240597]
 [-0.18675129]
 [-0.00156934]]

 R_gt:
[[ 0.99295741  0.11841006 -0.00376576]
 [-0.11843758  0.99293087 -0.00782014]
 [ 0.00281301  0.008211    0.99996223]]

 t_gt:
[-0.79517427  0.5993285  -0.09221298]

Pose Error in degrees for R and t:
4.656032557950007 47.97897298742941

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-1.39939644e-01 -9.90159790e-01  6.97023575e-04]
 [-9.90100478e-01  1.39938913e-01  1.08694294e-02]
 [-1.08600127e-02  8.30940709e-04 -9.99940683e-01]]

 t_estimated:
[[0.79220444]
 [0.61024936]
 [0.00279931]]

 R_gt:
[[ 9.92491992e-01  1.22094473e-01 -7.21275147e-03]
 [-1.22102930e-01  9.92517628e-01 -7.68893276e-04]
 [ 7.06480652e-03  1.64299038e-03  9.99973521e-01]]

 t_gt:
[-0.80604799  0.58469227 -0.09176916]

Pose Error in degrees for R and t:
179.94145070435246 73.6201771527054

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.89864481e-01  1.42015150e-01  8.08771953e-05]
 [-1.42015166e-01  9.89864449e-01  2.54310391e-04]
 [-4.39415322e-05 -2.63218611e-04  9.99999964e-01]]

 t_estimated:
[[-8.20826181e-01]
 [-5.71177540e-01]
 [-7.72906009e-04]]

 R_gt:
[[ 0.99814392  0.0169991  -0.05848286]
 [-0.01608954  0.99974235  0.01599604]
 [ 0.05873855 -0.01502521  0.99816016]]

 t_gt:
[-0.43971035  0.32923389 -0.83561944]

Pose Error in degrees for R and t:
8.008144165051494 80.00742140868239

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.52323346e-01 -3.05090536e-01 -9.50207932e-05]
 [ 3.05090538e-01  9.52323169e-01  5.88017898e-04]
 [-8.89081929e-05 -5.88973117e-04  9.99999823e-01]]

 t_estimated:
[[ 0.89564939]
 [-0.44475743]
 [ 0.00173213]]

 R_gt:
[[ 0.99653301  0.00616381 -0.08297737]
 [-0.0074458   0.99985734 -0.01515592]
 [ 0.08287191  0.01572164  0.99643645]]

 t_gt:
[-0.22884534  0.18461808 -0.95579599]

Pose Error in degrees for R and t:
18.784268001894652 73.2180009753687

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.86588174e-01 -1.63226202e-01 -9.91004235e-04]
 [ 1.63227201e-01  9.86587970e-01  1.02841967e-03]
 [ 8.09847821e-04 -1.17638553e-03  9.99998980e-01]]

 t_estimated:
[[0.96928452]
 [0.24593786]
 [0.00144669]]

 R_gt:
[[ 9.99954478e-01 -7.28567302e-04 -9.51091728e-03]
 [ 4.48584767e-04  9.99568231e-01 -2.93812235e-02]
 [ 9.52748463e-03  2.93762617e-02  9.99523088e-01]]

 t_gt:
[-0.78261138  0.07585189 -0.61787209]

Pose Error in degrees for R and t:
9.534543268241052 42.19935867430814

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-8.40883849e-01 -5.41202777e-01 -3.72914376e-03]
 [-5.41197321e-01  8.40892118e-01 -2.43032366e-03]
 [ 4.45110551e-03 -2.54172993e-05 -9.99990093e-01]]

 t_estimated:
[[0.72645447]
 [0.68721386]
 [0.00100617]]

 R_gt:
[[ 0.99826005  0.05044673  0.03052878]
 [-0.05269635  0.99555838  0.07801473]
 [-0.02645806 -0.07948728  0.99648413]]

 t_gt:
[-0.54055832  0.38956458  0.74567831]

Pose Error in degrees for R and t:
177.39915188877407 82.86390781115527

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.52021073e-01 -3.06031968e-01 -5.57990143e-04]
 [ 3.06032018e-01  9.52021220e-01  4.79186378e-06]
 [ 5.29751993e-04 -1.75324805e-04  9.99999844e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97722253  0.20591059  0.05135234]
 [-0.20954474  0.97452333  0.07996769]
 [-0.03357743 -0.0889065   0.99547386]]

 t_gt:
[-0.60641238  0.74224605  0.28519261]

Pose Error in degrees for R and t:
30.321976092232212 42.375335361720005

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.91292842e-01 -1.31674937e-01  4.61502217e-04]
 [ 1.31674909e-01  9.91292949e-01  8.88717004e-05]
 [-4.69186069e-04 -2.73296179e-05  9.99999890e-01]]

 t_estimated:
[[-8.61554002e-01]
 [-5.07665491e-01]
 [-6.71515200e-04]]

 R_gt:
[[ 0.96554782  0.25887025  0.02653627]
 [-0.26016813  0.96246448  0.077296  ]
 [-0.00553083 -0.08153643  0.99665444]]

 t_gt:
[-0.57815773  0.80364988  0.14099823]

Pose Error in degrees for R and t:
23.106145304500462 84.83443039507323

Number of keypoints:
Image1: 319
Image2: 319

 R_estimated:
[[ 9.99296655e-01 -3.74991823e-02 -8.31745036e-05]
 [ 3.74991963e-02  9.99296643e-01  1.73535455e-04]
 [ 7.66085645e-05 -1.76532376e-04  9.99999981e-01]]

 t_estimated:
[[0.78343174]
 [0.62146357]
 [0.00421191]]

 R_gt:
[[ 0.99799105  0.06264521  0.00941848]
 [-0.06273987  0.99797912  0.01004328]
 [-0.00877087 -0.01061437  0.999904  ]]

 t_gt:
[-0.97560426  0.08630163  0.20186222]

Pose Error in degrees for R and t:
5.797395185825686 44.77844334247908

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[ 9.94967967e-01 -1.00193369e-01 -1.80482135e-04]
 [ 1.00193396e-01  9.94967970e-01  1.51418130e-04]
 [ 1.64402851e-04 -1.68739307e-04  9.99999972e-01]]

 t_estimated:
[[-9.93509056e-01]
 [ 1.13751507e-01]
 [-5.91368803e-04]]

 R_gt:
[[ 0.97995821  0.19854063  0.01622195]
 [-0.19885957  0.97979678  0.02126766]
 [-0.01167283 -0.02406821  0.99964186]]

 t_gt:
[-0.95725069  0.2415926   0.15907275]

Pose Error in degrees for R and t:
17.280796163691583 11.923403142347176

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 0.09063346  0.99584586 -0.00875175]
 [ 0.99584115 -0.0905442   0.01010726]
 [ 0.00927285 -0.0096314  -0.99991062]]

 t_estimated:
[[ 0.77049874]
 [-0.6374164 ]
 [-0.00565885]]

 R_gt:
[[ 0.96667885  0.25255631  0.04179742]
 [-0.25438005  0.96599445  0.04631097]
 [-0.02867999 -0.05540017  0.99805148]]

 t_gt:
[-0.93774167  0.20497014  0.28040651]

Pose Error in degrees for R and t:
178.44037156312868 31.266009483151894

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 8.45788736e-01  5.33517801e-01 -4.12253019e-04]
 [ 5.33507732e-01 -8.45767485e-01  6.84546278e-03]
 [ 3.30350605e-03 -6.00975549e-03 -9.99976485e-01]]

 t_estimated:
[[0.84793108]
 [0.53010516]
 [0.00118592]]

 R_gt:
[[ 0.99223989  0.12376933  0.01188257]
 [-0.12412118  0.99161795  0.03586975]
 [-0.00734256 -0.03706636  0.99928558]]

 t_gt:
[-0.91923308  0.15226602  0.36307796]

Pose Error in degrees for R and t:
177.75308835736183 45.709331901575915

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 1.26138730e-01  9.92012436e-01  5.90476611e-04]
 [ 9.92010645e-01 -1.26139642e-01  1.91598426e-03]
 [ 1.97516272e-03  3.44079263e-04 -9.99997990e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98547353  0.16130775  0.05312587]
 [-0.16381932  0.98537656  0.04687362]
 [-0.04478738 -0.05489528  0.99748739]]

 t_gt:
[-0.89681123  0.06994713  0.43684896]

Pose Error in degrees for R and t:
179.60075769173662 86.28425568853525

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.99381932  0.05272496  0.09768948]
 [-0.02432604  0.96205588 -0.27176594]
 [-0.10831158  0.26770984  0.95739231]]

 t_estimated:
[[-0.85372074]
 [-0.51716433]
 [-0.06084361]]

 R_gt:
[[ 0.99370664  0.08757425  0.06984029]
 [-0.0913345   0.99443066  0.05259445]
 [-0.06484623 -0.05864274  0.99617054]]

 t_gt:
[-0.70031622 -0.34780796  0.62336733]

Pose Error in degrees for R and t:
19.206200974254237 42.28387844014286

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 6.64614645e-01  7.47186269e-01  2.31169334e-04]
 [-7.47185817e-01  6.64614533e-01 -9.36652715e-04]
 [-8.53492547e-04  4.49786664e-04  9.99999535e-01]]

 t_estimated:
[[-9.99710160e-01]
 [-2.40582857e-02]
 [-8.91870782e-04]]

 R_gt:
[[ 0.99568787 -0.0500304   0.07813075]
 [ 0.04183107  0.99377528  0.10325575]
 [-0.08281027 -0.09954265  0.99158235]]

 t_gt:
[ 0.16078413 -0.407271    0.89904327]

Pose Error in degrees for R and t:
51.49676081483367 81.27215941628778

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.95270298e-01 -9.71422961e-02 -6.39569800e-04]
 [ 9.71424175e-02  9.95270478e-01  1.61512409e-04]
 [ 6.20855255e-04 -2.22877860e-04  9.99999782e-01]]

 t_estimated:
[[-0.00729147]
 [-0.99997287]
 [-0.00104164]]

 R_gt:
[[ 0.9893334  -0.03905761  0.14033433]
 [ 0.01376639  0.98414213  0.17684878]
 [-0.14501612 -0.17303152  0.97418252]]

 t_gt:
[ 0.01993235 -0.19643203  0.98031483]

Pose Error in degrees for R and t:
13.670379695133693 78.74007375990185

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.69619359e-01 -2.44617631e-01 -7.16517816e-04]
 [ 2.44617657e-01  9.69619616e-01 -5.21002098e-05]
 [ 7.07494359e-04 -1.24755537e-04  9.99999742e-01]]

 t_estimated:
[[-0.23288489]
 [-0.97250344]
 [-0.00129814]]

 R_gt:
[[ 0.98217855  0.09616012  0.16148835]
 [-0.12734656  0.97240231  0.19549497]
 [-0.13823338 -0.21257588  0.96731771]]

 t_gt:
[-0.37039434  0.3233199   0.87078831]

Pose Error in degrees for R and t:
25.334754953531547 76.74408526025145

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99996693e-01 -2.57190021e-03 -6.08679508e-07]
 [ 2.57190026e-03  9.99996685e-01  1.23331907e-04]
 [ 2.91480134e-07 -1.23333064e-04  9.99999992e-01]]

 t_estimated:
[[0.1019727 ]
 [0.99478611]
 [0.0014696 ]]

 R_gt:
[[ 9.98420574e-01  3.33290036e-02 -4.52526206e-02]
 [-3.32904497e-02  9.99444615e-01  1.60066165e-03]
 [ 4.52809483e-02 -9.22154520e-05  9.98974086e-01]]

 t_gt:
[-0.64565628  0.48759376 -0.58769064]

Pose Error in degrees for R and t:
3.3109657786216786 65.26963344337167

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.92963419 -0.36839508 -0.00808377]
 [-0.36842115  0.92965693  0.00196234]
 [ 0.00679222  0.00480249 -0.9999654 ]]

 t_estimated:
[[ 0.98375924]
 [ 0.17944979]
 [-0.00394176]]

 R_gt:
[[ 0.9971805   0.02392857 -0.07113735]
 [-0.02485613  0.99961646 -0.01218253]
 [ 0.07081873  0.01391617  0.99739218]]

 t_gt:
[-0.5085438   0.37421554 -0.77546498]

Pose Error in degrees for R and t:
175.42552820068795 64.52767616328323

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.99493235 -0.10052321  0.00216848]
 [ 0.10052734  0.9949325  -0.00188794]
 [-0.00196771  0.00209636  0.99999587]]

 t_estimated:
[[-0.25867655]
 [-0.96596297]
 [-0.00140857]]

 R_gt:
[[ 0.99613062  0.04315527 -0.07657708]
 [-0.04537014  0.99859321 -0.02742636]
 [ 0.07528645  0.03079364  0.99668634]]

 t_gt:
[-0.55761793  0.42184591 -0.71491837]

Pose Error in degrees for R and t:
9.564088820179117 74.79711078140396

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999126e-01 -1.31687072e-03 -1.15516534e-04]
 [ 1.31687766e-03  9.99999131e-01  6.00108428e-05]
 [ 1.15437407e-04 -6.01629116e-05  9.99999992e-01]]

 t_estimated:
[[-0.99997203]
 [-0.00739089]
 [-0.00115061]]

 R_gt:
[[ 9.93488921e-01  1.13921191e-01  1.10182057e-03]
 [-1.13926240e-01  9.93440601e-01  9.89146045e-03]
 [ 3.13389200e-05 -9.95318595e-03  9.99950793e-01]]

 t_gt:
[-0.34320221  0.93882154  0.02874648]

Pose Error in degrees for R and t:
6.641230635478467 70.3532082286112

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-6.77609613e-01 -7.35419967e-01 -1.63871212e-03]
 [ 7.35421533e-01 -6.77609564e-01 -6.69435508e-04]
 [-6.18090766e-04 -1.65876011e-03  9.99998433e-01]]

 t_estimated:
[[9.56673549e-01]
 [2.91161515e-01]
 [8.31890043e-04]]

 R_gt:
[[ 9.59344756e-01  2.81906141e-01 -1.36047601e-02]
 [-2.82234404e-01  9.58277618e-01 -4.52723426e-02]
 [ 2.74173458e-04  4.72712966e-02  9.98881856e-01]]

 t_gt:
[-0.30614186  0.94187278 -0.13839374]

Pose Error in degrees for R and t:
149.06074136450098 88.92530609304094

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.65216241 -0.75800332  0.01073141]
 [ 0.75800629  0.65223071  0.00464372]
 [-0.01051931  0.00510602  0.99993163]]

 t_estimated:
[[ 0.91250119]
 [-0.40901453]
 [ 0.00697747]]

 R_gt:
[[ 0.90445719  0.42634641 -0.01358534]
 [-0.42639192  0.9027328  -0.05713647]
 [-0.01209724  0.05747004  0.99827461]]

 t_gt:
[-0.22403136  0.96974558 -0.09697142]

Pose Error in degrees for R and t:
74.61880898108353 53.00498467988401

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999767e-01  6.40950304e-04  2.36302524e-04]
 [-6.40935838e-04  9.99999793e-01 -6.12891776e-05]
 [-2.36341758e-04  6.11377085e-05  9.99999970e-01]]

 t_estimated:
[[9.99994443e-01]
 [3.28852354e-03]
 [5.48208879e-04]]

 R_gt:
[[ 0.95914311 -0.28106284  0.03236384]
 [ 0.28224413  0.95847365 -0.04082387]
 [-0.01954575  0.04829103  0.99864211]]

 t_gt:
[ 0.86220436 -0.48786871 -0.13633698]

Pose Error in degrees for R and t:
16.673051994274378 30.624930062257754

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-7.81991221e-01 -6.23289037e-01  7.12128492e-04]
 [-6.23286803e-01  7.81990723e-01  2.01761875e-03]
 [-1.81443752e-03  1.13389986e-03 -9.99997711e-01]]

 t_estimated:
[[0.98706607]
 [0.160309  ]
 [0.00126822]]

 R_gt:
[[ 0.87640569 -0.46607661  0.12118482]
 [ 0.47849054  0.87120063 -0.10980058]
 [-0.05440088  0.15421621  0.9865389 ]]

 t_gt:
[ 0.91206351 -0.33127069 -0.24166068]

Pose Error in degrees for R and t:
177.57264310526682 32.12879100141807

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-9.75147251e-01 -2.21546891e-01 -2.19428103e-03]
 [ 2.21543997e-01 -9.75149243e-01  1.48699288e-03]
 [-2.46919013e-03  9.63907225e-04  9.99996487e-01]]

 t_estimated:
[[8.45731527e-01]
 [5.33608208e-01]
 [6.81491964e-04]]

 R_gt:
[[ 0.78100482 -0.5901361   0.20437881]
 [ 0.61978357  0.77264353 -0.13743882]
 [-0.07680485  0.23401147  0.96919601]]

 t_gt:
[ 0.93601377 -0.222579   -0.27264779]

Pose Error in degrees for R and t:
129.71842196559857 47.72725816602584

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-9.96087255e-01  8.77472397e-02  1.05167800e-02]
 [ 8.77529400e-02  9.96142266e-01  8.09071526e-05]
 [-1.04691097e-02  1.00346895e-03 -9.99944694e-01]]

 t_estimated:
[[ 0.99682436]
 [-0.07940864]
 [ 0.00595529]]

 R_gt:
[[ 0.99437097 -0.09786779 -0.04060727]
 [ 0.09857043  0.99500643  0.01568976]
 [ 0.03886889 -0.01960396  0.9990521 ]]

 t_gt:
[ 0.77124338 -0.626812   -0.11086189]

Pose Error in degrees for R and t:
178.28038588459893 35.124052184295415

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.85399416e-01 -1.70258544e-01 -1.40834575e-04]
 [ 1.70258560e-01  9.85399416e-01  1.12688628e-04]
 [ 1.19592106e-04 -1.35021601e-04  9.99999984e-01]]

 t_estimated:
[[ 8.38882014e-01]
 [-5.44313296e-01]
 [ 4.56575101e-05]]

 R_gt:
[[ 0.99537908 -0.08892627 -0.03623372]
 [ 0.08927428  0.99597375  0.00812312]
 [ 0.03536474 -0.01132058  0.99931025]]

 t_gt:
[ 0.72591605 -0.67213605 -0.14587331]

Pose Error in degrees for R and t:
5.14557227129705 12.889049560873532

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.96669424e-01  8.15477560e-02  1.49626261e-04]
 [-8.15475926e-02  9.96669054e-01 -8.86942318e-04]
 [-2.21456020e-04  8.71786628e-04  9.99999595e-01]]

 t_estimated:
[[-0.73489198]
 [-0.67818006]
 [-0.002363  ]]

 R_gt:
[[ 0.99979396 -0.01356153 -0.01510639]
 [ 0.01374635  0.99983036  0.01228927]
 [ 0.01493608 -0.01249455  0.99981041]]

 t_gt:
[ 0.42347623 -0.90399287 -0.05886238]

Pose Error in degrees for R and t:
5.58088197863053 72.42224819903015

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999886e-01 -1.70245261e-04  4.45233087e-04]
 [ 1.70501926e-04  9.99999819e-01 -5.76498479e-04]
 [-4.45134860e-04  5.76574327e-04  9.99999735e-01]]

 t_estimated:
[[9.97141521e-01]
 [7.55505848e-02]
 [9.46942384e-04]]

 R_gt:
[[ 0.99944363 -0.01873533  0.02760594]
 [ 0.02025569  0.99823304 -0.05585547]
 [-0.02651043  0.05638403  0.99805728]]

 t_gt:
[ 0.82323282  0.17776995 -0.53915265]

Pose Error in degrees for R and t:
3.7010662522474522 33.50893925529937

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.5603576  -0.82822388 -0.00667514]
 [ 0.82824959 -0.56035225 -0.002822  ]
 [-0.00140318 -0.00711001  0.99997374]]

 t_estimated:
[[0.98277311]
 [0.18479494]
 [0.00279992]]

 R_gt:
[[ 0.9949186   0.07081786  0.07157009]
 [-0.067362    0.99649458 -0.04960243]
 [-0.07483166  0.04452913  0.996201  ]]

 t_gt:
[0.04088847 0.99541303 0.08649298]

Pose Error in degrees for R and t:
128.12354093053222 77.03395638725111

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999711e-01 -7.37107391e-04  1.87853575e-04]
 [ 7.37174768e-04  9.99999664e-01 -3.58854113e-04]
 [-1.87588998e-04  3.58992490e-04  9.99999918e-01]]

 t_estimated:
[[0.99998166]
 [0.00596765]
 [0.00103559]]

 R_gt:
[[ 0.98212206  0.15292272  0.10977379]
 [-0.13942055  0.98273166 -0.12165009]
 [-0.12648105  0.10417118  0.98648437]]

 t_gt:
[-0.11693462  0.9929504   0.01938529]

Pose Error in degrees for R and t:
12.676756739452092 83.62779520065423

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99545912e-01 -3.01323032e-02  1.22729814e-04]
 [ 3.01323323e-02  9.99545889e-01 -2.42286061e-04]
 [-1.15373444e-04  2.45874178e-04  9.99999963e-01]]

 t_estimated:
[[-0.15304874]
 [-0.98821698]
 [-0.00181156]]

 R_gt:
[[ 0.9978061  -0.06128643  0.02503164]
 [ 0.06067408  0.99785582  0.02455504]
 [-0.02648284 -0.02298277  0.99938424]]

 t_gt:
[ 0.73935417 -0.40610195  0.53706296]

Pose Error in degrees for R and t:
2.681927692988066 73.3103979658909

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.89217443 -0.45168897 -0.00136332]
 [-0.45168377  0.89217315 -0.00297513]
 [ 0.00256015 -0.00203854 -0.99999464]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99931177 -0.03325285 -0.01643676]
 [ 0.03334289  0.99942991  0.00524463]
 [ 0.01625344 -0.00578888  0.9998502 ]]

 t_gt:
[ 0.97015751  0.2341916  -0.06283872]

Pose Error in degrees for R and t:
179.04298719619342 13.872896564453796

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.06154793e-01 -4.22946162e-01 -1.84524560e-04]
 [ 4.22946202e-01  9.06154691e-01  4.30249185e-04]
 [-1.47644463e-05 -4.67916323e-04  9.99999890e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99429551  0.02796102 -0.10292598]
 [-0.03870286  0.99383537 -0.10389457]
 [ 0.09938658  0.10728567  0.9892481 ]]

 t_gt:
[ 0.10439975  0.64211235 -0.75946852]

Pose Error in degrees for R and t:
28.204685948410834 83.92665236715034

Number of keypoints:
Image1: 395
Image2: 395

 R_estimated:
[[ 9.99964148e-01 -8.46770910e-03  1.84627324e-05]
 [ 8.46770814e-03  9.99964147e-01  5.10471161e-05]
 [-1.88943226e-05 -5.08889490e-05  9.99999999e-01]]

 t_estimated:
[[1.50666887e-02]
 [9.99886483e-01]
 [1.25752050e-04]]

 R_gt:
[[ 0.99838834 -0.03966998  0.04057746]
 [ 0.04280821  0.99590452 -0.07963121]
 [-0.03725281  0.08124021  0.99599697]]

 t_gt:
[ 0.62893322  0.56895933 -0.52983799]

Pose Error in degrees for R and t:
5.464740720010084 54.6686531053398

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.93422547e-01  1.14505944e-01  1.80679063e-04]
 [-1.14505883e-01  9.93422519e-01 -3.17273011e-04]
 [-2.15820296e-04  2.94497347e-04  9.99999933e-01]]

 t_estimated:
[[1.54139663e-02]
 [9.99881088e-01]
 [4.68822966e-04]]

 R_gt:
[[ 0.99916704 -0.04075792 -0.00169077]
 [ 0.03996112  0.98629133 -0.16010287]
 [ 0.0081932   0.15990217  0.98709781]]

 t_gt:
[ 0.4039641   0.66094356 -0.63242914]

Pose Error in degrees for R and t:
12.793386830119374 48.179807520402754

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 0.16799068  0.98562239  0.01810093]
 [-0.98577959  0.16788241  0.00735447]
 [ 0.0042099  -0.01907901  0.99980912]]

 t_estimated:
[[0.61339889]
 [0.78977279]
 [0.00086884]]

 R_gt:
[[ 0.99885317 -0.01928766  0.04381293]
 [ 0.02848278  0.97505566 -0.22012702]
 [-0.03847446  0.22112315  0.97448645]]

 t_gt:
[ 0.2224784   0.77337425 -0.59362921]

Pose Error in degrees for R and t:
82.71821836291245 41.691042947004426

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.91818541  0.39598347  0.01151691]
 [ 0.39575032 -0.91556214 -0.07160762]
 [-0.01781099  0.07030689 -0.99736639]]

 t_estimated:
[[-0.13693928]
 [ 0.98994328]
 [-0.03549562]]

 R_gt:
[[ 9.97926876e-01 -2.59652511e-04 -6.43630419e-02]
 [ 3.33990740e-03  9.98854397e-01  4.77496126e-02]
 [ 6.42766707e-02 -4.78640889e-02  9.96782831e-01]]

 t_gt:
[-0.33399032 -0.76248086 -0.55414204]

Pose Error in degrees for R and t:
179.2766462090445 46.416830316047154

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 0.10674677  0.99412145  0.0181016 ]
 [ 0.9940847  -0.10634091 -0.0220729 ]
 [-0.02001821  0.02035074 -0.99959248]]

 t_estimated:
[[-0.60789951]
 [ 0.79387867]
 [-0.01465723]]

 R_gt:
[[ 0.99210754 -0.06401735 -0.10781425]
 [ 0.0698762   0.99622842  0.05146148]
 [ 0.10411298 -0.05858766  0.99283784]]

 t_gt:
[ 0.20311305 -0.88573416 -0.41739679]

Pose Error in degrees for R and t:
175.20863771259175 34.86312791378304

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 8.15079524e-01 -5.79348556e-01 -7.87665367e-04]
 [ 5.79349073e-01  8.15079084e-01  8.59089758e-04]
 [ 1.44297156e-04 -1.15655967e-03  9.99999321e-01]]

 t_estimated:
[[ 9.51752445e-01]
 [-3.06865593e-01]
 [ 8.89254322e-04]]

 R_gt:
[[ 0.9887472  -0.11475121 -0.09597143]
 [ 0.11893234  0.9921361   0.03901521]
 [ 0.09073939 -0.04998907  0.99461914]]

 t_gt:
[ 0.30469925 -0.91367748 -0.26898296]

Pose Error in degrees for R and t:
29.26361434859634 55.24034275819688

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-4.82348986e-01  8.75976042e-01 -2.33013403e-03]
 [-8.75973708e-01 -4.82353656e-01 -2.23886473e-03]
 [-3.08514054e-03  9.61222017e-04  9.99994779e-01]]

 t_estimated:
[[0.23006252]
 [0.97317525]
 [0.00108011]]

 R_gt:
[[ 0.99230709 -0.12338277  0.01021336]
 [ 0.12322347  0.99226691  0.01493823]
 [-0.01197749 -0.01356383  0.99983533]]

 t_gt:
[ 0.81858938 -0.55233964  0.15758284]

Pose Error in degrees for R and t:
125.92621969272717 69.57222712473354

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99999695e-01  7.81506687e-04  3.96245743e-06]
 [-7.81507951e-04  9.99999640e-01  3.29649265e-04]
 [-3.70483290e-06 -3.29652261e-04  9.99999946e-01]]

 t_estimated:
[[9.99923826e-01]
 [1.23147119e-02]
 [8.30904948e-04]]

 R_gt:
[[ 0.98835938 -0.15012043  0.02469602]
 [ 0.14919603  0.98816042  0.03578694]
 [-0.02977619 -0.03168556  0.99905376]]

 t_gt:
[ 0.81613081 -0.50099257  0.28798775]

Pose Error in degrees for R and t:
9.002802337065301 35.89054855083523

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-9.99757165e-01  2.20250968e-02 -7.12060572e-04]
 [ 2.20240898e-02  9.99756471e-01  1.39246252e-03]
 [ 7.42556286e-04  1.37644190e-03 -9.99998777e-01]]

 t_estimated:
[[ 9.99968519e-01]
 [-7.90067231e-03]
 [ 7.35342571e-04]]

 R_gt:
[[ 0.99871514 -0.04083482  0.03002483]
 [ 0.04097466  0.99915229 -0.00405939]
 [-0.02983396  0.00528523  0.99953997]]

 t_gt:
[0.76678902 0.38103924 0.51656916]

Pose Error in degrees for R and t:
178.3209429510533 40.169966242921575

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99925873e-01 -1.21755963e-02  6.44964402e-05]
 [ 1.21755958e-02  9.99925875e-01  7.74783222e-06]
 [-6.45859938e-05 -6.96197531e-06  9.99999998e-01]]

 t_estimated:
[[ 9.98418895e-01]
 [-5.62113016e-02]
 [-1.31147852e-05]]

 R_gt:
[[ 9.97393771e-01 -7.21323244e-02  1.20275116e-03]
 [ 7.21404862e-02  9.97339473e-01 -1.05245751e-02]
 [-4.40556642e-04  1.05832662e-02  9.99943961e-01]]

 t_gt:
[ 0.46003213 -0.88735275 -0.03123348]

Pose Error in degrees for R and t:
3.492341473919412 59.39047929648644

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[-9.97907134e-01 -6.44997565e-02  4.59717703e-03]
 [-6.44965494e-02  9.97917574e-01  8.42641292e-04]
 [-4.64195391e-03  5.44375700e-04 -9.99989078e-01]]

 t_estimated:
[[0.99928605]
 [0.03761474]
 [0.00353992]]

 R_gt:
[[ 9.93955474e-01 -1.09784669e-01 -2.62089357e-04]
 [ 1.09763683e-01  9.93816030e-01 -1.68094859e-02]
 [ 2.10642204e-03  1.66790406e-02  9.99858018e-01]]

 t_gt:
[ 0.45722432 -0.88501739 -0.08769343]

Pose Error in degrees for R and t:
179.8209583469856 64.95703612462435

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.82856245e-01 -1.84373536e-01 -1.82607296e-05]
 [ 1.84373523e-01  9.82856129e-01  4.82977077e-04]
 [-7.11005213e-05 -4.78063832e-04  9.99999883e-01]]

 t_estimated:
[[0.90813188]
 [0.41868294]
 [0.0010396 ]]

 R_gt:
[[ 0.97684854 -0.21117477  0.03423111]
 [ 0.21088938  0.97743918  0.01175674]
 [-0.03594215 -0.00426547  0.99934403]]

 t_gt:
[ 0.48566879 -0.85218064  0.19471512]

Pose Error in degrees for R and t:
2.591363993692588 85.15501260101595

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[ 9.98422748e-01 -5.61428086e-02  3.22338267e-05]
 [ 5.61428042e-02  9.98422741e-01  1.26306203e-04]
 [-3.92741706e-05 -1.24297289e-04  9.99999992e-01]]

 t_estimated:
[[0.86878625]
 [0.49518606]
 [0.00110533]]

 R_gt:
[[ 0.99858802  0.00341759  0.05301948]
 [-0.00360844  0.99998765  0.0035113 ]
 [-0.05300567 -0.00369748  0.99858715]]

 t_gt:
[-0.48845655 -0.66799879  0.5614159 ]

Pose Error in degrees for R and t:
4.577431431172482 41.01590159661732

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.98012960e-01  6.30079806e-02  3.53916661e-04]
 [-6.30078854e-02  9.98012992e-01 -2.74026106e-04]
 [-3.70479257e-04  2.51182065e-04  9.99999900e-01]]

 t_estimated:
[[0.64531631]
 [0.76391498]
 [0.00087205]]

 R_gt:
[[ 0.9953481  -0.08389829  0.04737423]
 [ 0.08356039  0.99646163  0.00905953]
 [-0.04796582 -0.00505896  0.99883678]]

 t_gt:
[ 0.61843847 -0.76343477  0.18628262]

Pose Error in degrees for R and t:
8.853872916625772 79.40017325704095

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 8.83701913e-01  4.68050135e-01  6.70188272e-06]
 [-4.68050119e-01  8.83701880e-01  2.71821935e-04]
 [ 1.21303827e-04 -2.43346381e-04  9.99999963e-01]]

 t_estimated:
[[8.76149328e-01]
 [4.82039146e-01]
 [7.85080043e-04]]

 R_gt:
[[ 0.98764601 -0.1353933   0.0788955 ]
 [ 0.13263768  0.99038892  0.03920107]
 [-0.08344338 -0.02825274  0.99611193]]

 t_gt:
[ 0.62328892 -0.72579347  0.29109235]

Pose Error in degrees for R and t:
35.96942333852028 78.66986770024052

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.53009779 -0.84793204  0.00275464]
 [-0.84793512  0.53008822 -0.00353823]
 [ 0.00153998 -0.00421137 -0.99998995]]

 t_estimated:
[[0.86042658]
 [0.50957303]
 [0.00119338]]

 R_gt:
[[ 9.95732656e-01 -9.22628807e-02  2.26282162e-03]
 [ 9.22882291e-02  9.95223471e-01 -3.18409317e-02]
 [ 6.86218637e-04  3.19150883e-02  9.99490594e-01]]

 t_gt:
[ 0.84679017 -0.46740755 -0.2539224 ]

Pose Error in degrees for R and t:
179.18209139730536 60.65156572200336

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 1.00000000e+00  5.38957767e-13  1.08767162e-15]
 [-5.38957767e-13  1.00000000e+00 -1.14854957e-15]
 [-9.94863913e-16  8.71210656e-16  1.00000000e+00]]

 t_estimated:
[[-0.94989429]
 [-0.31256915]
 [-0.00116655]]

 R_gt:
[[ 0.98260346 -0.18569978  0.00244029]
 [ 0.18568999  0.98260164  0.00378383]
 [-0.00310031 -0.00326467  0.99998949]]

 t_gt:
[ 0.86620815 -0.49876267  0.03031895]

Pose Error in degrees for R and t:
10.704783623960363 48.16838406933477

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.93148584e-01 -1.16855827e-01 -7.78043539e-04]
 [ 1.16858302e-01  9.93134946e-01  5.20725491e-03]
 [ 1.64204147e-04 -5.26249869e-03  9.99986139e-01]]

 t_estimated:
[[0.951708  ]
 [0.30700258]
 [0.00113705]]

 R_gt:
[[ 9.88996231e-01 -1.45736719e-01  2.54246826e-02]
 [ 1.45670997e-01  9.89323037e-01  4.45539453e-03]
 [-2.58020293e-02 -7.02016996e-04  9.99666998e-01]]

 t_gt:
[ 0.89723581 -0.42167851  0.13097761]

Pose Error in degrees for R and t:
2.2481862817891893 43.56449694896181

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 0.99827223  0.0584967   0.00553936]
 [ 0.05845818 -0.99826617  0.0068773 ]
 [ 0.00593205 -0.0065416  -0.99996101]]

 t_estimated:
[[0.07442245]
 [0.99722147]
 [0.00326235]]

 R_gt:
[[ 0.99570523 -0.09195155  0.01074004]
 [ 0.09190789  0.99575711  0.00447983]
 [-0.011107   -0.00347384  0.99993288]]

 t_gt:
[ 0.81878482 -0.56168927  0.11872907]

Pose Error in degrees for R and t:
179.42301382340767 60.07901014704795

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.99988043  0.01542876 -0.00104133]
 [-0.01542717  0.99987984  0.00151964]
 [ 0.00106465 -0.00150339  0.9999983 ]]

 t_estimated:
[[0.99250841]
 [0.12217152]
 [0.00108116]]

 R_gt:
[[ 0.98625553 -0.16362561  0.02299284]
 [ 0.16345865  0.98650974  0.00899037]
 [-0.02415378 -0.00510897  0.99969605]]

 t_gt:
[ 0.86395397 -0.48400369  0.13901066]

Pose Error in degrees for R and t:
10.399102369362359 37.01285969756431

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.38753380e-01  3.44588783e-01  8.13414351e-04]
 [-3.44587723e-01  9.38753345e-01 -1.20760448e-03]
 [-1.17972240e-03  8.53350191e-04  9.99998940e-01]]

 t_estimated:
[[0.5725982 ]
 [0.81983563]
 [0.0009191 ]]

 R_gt:
[[ 0.98549154 -0.16879642  0.01772122]
 [ 0.16842345  0.98549637  0.02077772]
 [-0.02097216 -0.01749214  0.99962796]]

 t_gt:
[ 0.89954615 -0.39627732  0.18379611]

Pose Error in degrees for R and t:
29.905627674686816 79.02590412132187

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-0.96460634 -0.26369083  0.00132678]
 [-0.26368731  0.96460534  0.00235464]
 [-0.00190071  0.00192144 -0.99999635]]

 t_estimated:
[[0.95430775]
 [0.29882364]
 [0.00107105]]

 R_gt:
[[ 0.97746832  0.20924728  0.02779685]
 [-0.20742965  0.976575   -0.05720709]
 [-0.03911593  0.05015237  0.99797541]]

 t_gt:
[-0.83750132  0.51334275 -0.18727188]

Pose Error in degrees for R and t:
178.42204580238922 49.75663191668154

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.87241653e-01  1.59229092e-01  1.24992434e-04]
 [-1.59228957e-01  9.87241401e-01 -7.45472225e-04]
 [-2.42098571e-04  7.16058816e-04  9.99999714e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.95354775  0.29753082  0.04715597]
 [-0.29592031  0.95444621 -0.03825771]
 [-0.05639028  0.02252635  0.99815461]]

 t_gt:
[-0.82869006  0.55922231 -0.02330669]

Pose Error in degrees for R and t:
8.817348737429404 34.211282187960876

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-9.98419204e-01  5.61745666e-02 -1.87395034e-03]
 [ 5.61753035e-02  9.98420862e-01 -3.42894085e-04]
 [ 1.85172919e-03 -4.47621769e-04 -9.99998185e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.85682506  0.5139619   0.04115402]
 [-0.51206155  0.85756148 -0.04878499]
 [-0.06036501  0.02072774  0.99796117]]

 t_gt:
[-0.7849829   0.61943554 -0.01007309]

Pose Error in degrees for R and t:
177.0212491892026 38.457843135590025

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[ 8.85945670e-01  4.63788852e-01  4.13209939e-04]
 [-4.63788590e-01  8.85945702e-01 -5.97849393e-04]
 [-6.43357453e-04  3.38020026e-04  9.99999736e-01]]

 t_estimated:
[[-6.55184974e-02]
 [ 9.97851046e-01]
 [ 7.85801662e-04]]

 R_gt:
[[ 0.99973704 -0.01993572 -0.01128644]
 [ 0.01904451  0.99706147 -0.07420423]
 [ 0.01273367  0.0739704   0.99717884]]

 t_gt:
[ 0.44673826  0.66281288 -0.60091931]

Pose Error in degrees for R and t:
29.060681614920362 50.828282277173

Number of keypoints:
Image1: 467
Image2: 467

 R_estimated:
[[ 9.89876121e-01 -1.41934012e-01 -3.12891723e-05]
 [ 1.41934015e-01  9.89876109e-01  1.57843874e-04]
 [ 8.56898992e-06 -1.60686879e-04  9.99999987e-01]]

 t_estimated:
[[-3.30524826e-01]
 [ 9.43797294e-01]
 [-8.85311542e-05]]

 R_gt:
[[ 0.99992304 -0.00348103  0.01185787]
 [ 0.00541585  0.98589673 -0.16726467]
 [-0.01110813  0.16731634  0.98583988]]

 t_gt:
[ 0.15480091  0.73424418 -0.66100088]

Pose Error in degrees for R and t:
12.477157600267374 50.06854948642635

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.85273255e-01 -1.70987035e-01  2.15186286e-04]
 [ 1.70987089e-01  9.85273233e-01 -2.67484565e-04]
 [-1.66280895e-04  3.00339465e-04  9.99999941e-01]]

 t_estimated:
[[0.31801589]
 [0.94808486]
 [0.0009938 ]]

 R_gt:
[[ 0.99918836  0.03916578  0.00935253]
 [-0.03686447  0.98319062 -0.178824  ]
 [-0.01619902  0.17833446  0.98383596]]

 t_gt:
[ 0.08283727  0.85229732 -0.51645644]

Pose Error in degrees for R and t:
15.832500895320091 33.50055185227232

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.41408460e-01 -3.37264620e-01 -1.63956758e-03]
 [ 3.37267693e-01  9.41406096e-01  2.25083011e-03]
 [ 7.84373550e-04 -2.67192368e-03  9.99996123e-01]]

 t_estimated:
[[-4.80450294e-01]
 [-8.77021890e-01]
 [ 3.45232676e-04]]

 R_gt:
[[ 0.99739815  0.06795393 -0.02407202]
 [-0.06784699  0.99768285  0.00523951]
 [ 0.02437159 -0.0035925   0.99969625]]

 t_gt:
[-0.77086071  0.6031756  -0.20482424]

Pose Error in degrees for R and t:
23.640782904770468 80.868049692029

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.57723349e-01 -2.87689491e-01 -8.62277052e-04]
 [ 2.87689899e-01  9.57723535e-01  3.90322038e-04]
 [ 7.13531478e-04 -6.21888927e-04  9.99999552e-01]]

 t_estimated:
[[0.8510195 ]
 [0.52513339]
 [0.00085713]]

 R_gt:
[[ 0.99372364  0.08810943 -0.06892302]
 [-0.08673533  0.99597364  0.02268338]
 [ 0.07064355 -0.0165628   0.99736435]]

 t_gt:
[-0.74386473  0.56538047 -0.35638487]

Pose Error in degrees for R and t:
22.12174290569911 70.33934315658882

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.40386723  0.91477649 -0.0086733 ]
 [ 0.91476358 -0.40372218  0.01469665]
 [ 0.00994255 -0.01386951 -0.99985438]]

 t_estimated:
[[-0.4948375 ]
 [ 0.86894287]
 [ 0.00861032]]

 R_gt:
[[ 0.99296956  0.07676711 -0.09011004]
 [-0.07879911  0.99670631 -0.01920957]
 [ 0.08833746  0.02617494  0.99574595]]

 t_gt:
[-0.62211211  0.51094312 -0.59322311]

Pose Error in degrees for R and t:
177.31775047313545 41.693216819627416

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 5.71164682e-01 -8.20834831e-01  1.04236312e-03]
 [-8.20834920e-01 -5.71165323e-01 -4.56493192e-04]
 [ 9.70067179e-04 -5.94875257e-04 -9.99999353e-01]]

 t_estimated:
[[0.31557683]
 [0.94889941]
 [0.00108446]]

 R_gt:
[[ 0.99384635  0.10033759  0.0469189 ]
 [-0.0995264   0.99484715 -0.0193406 ]
 [-0.04861877  0.01455239  0.99871133]]

 t_gt:
[-0.36565456  0.91955744  0.14391266]

Pose Error in degrees for R and t:
179.58239555730196 40.7704922997354

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-7.85563589e-01 -6.18776633e-01 -2.30800065e-03]
 [ 6.18780579e-01 -7.85553658e-01 -4.00554260e-03]
 [ 6.65477810e-04 -4.57475440e-03  9.99989314e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97680315  0.20410544  0.0647752 ]
 [-0.20116206  0.97832225 -0.04917925]
 [-0.07340985  0.03500875  0.99668695]]

 t_gt:
[-0.31158309  0.94604439  0.08897184]

Pose Error in degrees for R and t:
153.51624551257174 72.02638037062441

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.7686657  -0.63964849 -0.00168826]
 [ 0.63964936 -0.76865593 -0.00409419]
 [ 0.00132116 -0.00422695  0.99999019]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.95042773  0.30815589  0.04155228]
 [-0.30615207  0.95075747 -0.04828475]
 [-0.05438566  0.03317009  0.99796912]]

 t_gt:
[-0.2476396   0.96884203 -0.00444473]

Pose Error in degrees for R and t:
158.15849893437985 75.83957986372715

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99999809e-01  5.99525346e-04 -1.52226556e-04]
 [-5.99484058e-04  9.99999784e-01  2.71133953e-04]
 [ 1.52389075e-04 -2.71042644e-04  9.99999952e-01]]

 t_estimated:
[[-0.99785388]
 [-0.06546691]
 [-0.0013079 ]]

 R_gt:
[[ 0.99665163  0.07886499  0.02157663]
 [-0.07920645  0.99673862  0.01542642]
 [-0.02028938 -0.01708286  0.99964775]]

 t_gt:
[-0.3184603   0.75384747  0.57471474]

Pose Error in degrees for R and t:
4.748705685829552 74.4741495721101

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.95626293e-01  9.34252201e-02  1.11837795e-04]
 [-9.34252383e-02  9.95626283e-01  1.69847550e-04]
 [-9.54806036e-05 -1.79553159e-04  9.99999979e-01]]

 t_estimated:
[[0.57315792]
 [0.81944397]
 [0.00125712]]

 R_gt:
[[ 0.97719697  0.21169292  0.01648138]
 [-0.21225181  0.97603278  0.04804459]
 [-0.00591551 -0.05044655  0.99870824]]

 t_gt:
[-0.24776187  0.92444057  0.28986841]

Pose Error in degrees for R and t:
7.470942296982685 51.98374793158962

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999823e-01  2.62270148e-04  5.33242272e-04]
 [-2.62066367e-04  9.99999893e-01 -3.82188866e-04]
 [-5.33342452e-04  3.82049053e-04  9.99999785e-01]]

 t_estimated:
[[0.92866255]
 [0.37091552]
 [0.00274752]]

 R_gt:
[[ 0.9700569   0.24172775  0.02359749]
 [-0.24222347  0.96999289  0.0210298 ]
 [-0.01780585 -0.02611497  0.99949987]]

 t_gt:
[-0.10243635  0.97314707  0.20613485]

Pose Error in degrees for R and t:
14.107514479382402 74.55026430082597

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99999998e-01 -5.89234185e-05  3.40370092e-05]
 [ 5.89225980e-05  9.99999998e-01  2.41071364e-05]
 [-3.40384296e-05 -2.41051308e-05  9.99999999e-01]]

 t_estimated:
[[0.98683168]
 [0.16174629]
 [0.00117515]]

 R_gt:
[[ 0.99946191 -0.03199769  0.00714899]
 [ 0.03207124  0.99943075 -0.01041451]
 [-0.00681315  0.01063892  0.9999201 ]]

 t_gt:
[ 0.71300013 -0.69572669 -0.08715035]

Pose Error in degrees for R and t:
1.9711861306598986 53.7735950701137

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.98397438 -0.17752535  0.01670836]
 [ 0.17788806  0.97088567 -0.16042707]
 [ 0.01225797  0.16082834  0.98690627]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.99583975 -0.09090297 -0.00621656]
 [ 0.09069642  0.9954908  -0.02779053]
 [ 0.00871416  0.02711234  0.99959469]]

 t_gt:
[ 0.73073283 -0.63903913 -0.2401219 ]

Pose Error in degrees for R and t:
9.25085184153322 83.55615039550855

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[-5.38552568e-01  8.42591818e-01  3.98909618e-04]
 [-8.42588718e-01 -5.38549161e-01 -3.00889223e-03]
 [-2.32043553e-03 -1.95656338e-03  9.99995394e-01]]

 t_estimated:
[[0.38428128]
 [0.9232147 ]
 [0.00158427]]

 R_gt:
[[ 0.97378461 -0.22746906 -0.00139498]
 [ 0.22729742  0.97325603 -0.03330169]
 [ 0.00893244  0.0321125   0.9994447 ]]

 t_gt:
[ 0.79497879 -0.59472712 -0.11961763]

Pose Error in degrees for R and t:
135.73777360455395 75.89173831284648

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 0.42389802  0.90547891 -0.02045514]
 [ 0.90542824 -0.42309486  0.03450279]
 [ 0.02258709 -0.03314632 -0.99919525]]

 t_estimated:
[[-0.49724975]
 [ 0.86737332]
 [ 0.02015485]]

 R_gt:
[[ 0.99457123  0.10359868 -0.0097059 ]
 [-0.10314142  0.99388091  0.03954174]
 [ 0.0137428  -0.03832561  0.99917081]]

 t_gt:
[-0.38687106  0.90535272  0.17512063]

Pose Error in degrees for R and t:
175.45579115753708 11.133521739355858

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.73502992e-01 -2.28674168e-01 -2.21022027e-04]
 [ 2.28674218e-01  9.73502976e-01  2.40015574e-04]
 [ 1.60280239e-04 -2.84197918e-04  9.99999947e-01]]

 t_estimated:
[[-0.70431249]
 [-0.70988963]
 [-0.00079673]]

 R_gt:
[[ 0.95913221  0.27434266 -0.06929187]
 [-0.27013064  0.96066858  0.06439355]
 [ 0.08423264 -0.0430433   0.99551619]]

 t_gt:
[-0.28305484  0.95646224 -0.07113326]

Pose Error in degrees for R and t:
29.541508119677115 61.34288154488082

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.55535740e-01 -2.94871031e-01 -1.58894427e-03]
 [ 2.94874362e-01  9.55532468e-01  2.61036617e-03]
 [ 7.48566479e-04 -2.96283710e-03  9.99995331e-01]]

 t_estimated:
[[0.77950046]
 [0.62640096]
 [0.00093353]]

 R_gt:
[[ 0.90143012  0.41409113 -0.12630234]
 [-0.40185018  0.90886256  0.11174108]
 [ 0.16106258 -0.0499716   0.9856781 ]]

 t_gt:
[-0.13875653  0.98027468 -0.14074151]

Pose Error in degrees for R and t:
42.45429337226905 59.61865984188076

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.64374653e-01 -2.64539946e-01 -3.81346943e-04]
 [ 2.64540068e-01  9.64374644e-01  3.15306372e-04]
 [ 2.84350192e-04 -4.04955019e-04  9.99999878e-01]]

 t_estimated:
[[ 9.62537407e-01]
 [-2.71148541e-01]
 [ 4.57383454e-04]]

 R_gt:
[[ 0.98632125  0.15468458 -0.05694899]
 [-0.15218289  0.98728478  0.04592811]
 [ 0.06332991 -0.03663424  0.99732021]]

 t_gt:
[-0.37856509  0.91801618 -0.11804561]

Pose Error in degrees for R and t:
24.528757186866514 52.16745361709807

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-5.96518192e-01 -8.02599506e-01  2.82713591e-04]
 [-8.02599365e-01  5.96517770e-01 -8.99710085e-04]
 [ 5.53463189e-04 -7.63599182e-04 -9.99999555e-01]]

 t_estimated:
[[0.78742661]
 [0.61640718]
 [0.00123319]]

 R_gt:
[[ 0.94451506  0.30398806 -0.12442991]
 [-0.29653857  0.95207081  0.07500382]
 [ 0.14126679 -0.03394469  0.98939021]]

 t_gt:
[-0.16565875  0.96374453 -0.20917375]

Pose Error in degrees for R and t:
174.5204177969871 62.39605960772001

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.90472879e-01 -1.37707479e-01 -3.55207551e-04]
 [ 1.37707670e-01  9.90472744e-01  5.83337290e-04]
 [ 2.71493490e-04 -6.26694570e-04  9.99999767e-01]]

 t_estimated:
[[0.99069125]
 [0.1361233 ]
 [0.00113538]]

 R_gt:
[[ 0.86827051  0.47919827 -0.12835381]
 [-0.46545608  0.87642513  0.12340651]
 [ 0.17162841 -0.04740707  0.9840205 ]]

 t_gt:
[-0.14581647  0.97875113 -0.14416583]

Pose Error in degrees for R and t:
37.71149312911086 89.34727543454677

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999098e-01  1.30790115e-03  3.05013872e-04]
 [-1.30797583e-03  9.99999115e-01  2.44757323e-04]
 [-3.04693484e-04 -2.45156053e-04  9.99999924e-01]]

 t_estimated:
[[9.33670941e-01]
 [3.58131191e-01]
 [7.90576580e-04]]

 R_gt:
[[ 0.95012637 -0.31061508 -0.02789718]
 [ 0.3109795   0.95036688  0.009716  ]
 [ 0.02349405 -0.01790616  0.99956318]]

 t_gt:
[ 0.86022746 -0.5098898  -0.00459345]

Pose Error in degrees for R and t:
18.265134188652134 51.643083265751336

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99989615e-01  4.53619158e-03  4.39927633e-04]
 [-4.53656210e-03  9.99989353e-01  8.44931627e-04]
 [-4.36090178e-04 -8.46918611e-04  9.99999546e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.91369052 -0.4057714  -0.02275856]
 [ 0.40595313  0.91388606  0.00379831]
 [ 0.01925669 -0.01270973  0.99973366]]

 t_gt:
[ 0.88009667 -0.47474529 -0.0068385 ]

Pose Error in degrees for R and t:
24.244436391912984 29.310646897580565

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99999996e-01 -8.16443103e-05 -2.42150616e-05]
 [ 8.16455202e-05  9.99999995e-01  4.99701215e-05]
 [ 2.42109817e-05 -4.99720984e-05  9.99999998e-01]]

 t_estimated:
[[9.99999100e-01]
 [1.31845791e-03]
 [2.50301911e-04]]

 R_gt:
[[ 0.91313937 -0.4054794  -0.04199646]
 [ 0.40495761  0.91410281 -0.02065282]
 [ 0.04676308  0.00185237  0.99890385]]

 t_gt:
[ 0.8768625 -0.4756553 -0.0697437]

Pose Error in degrees for R and t:
24.061744364383244 28.81064914587526

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99998097e-01  2.48682377e-04 -1.93497815e-03]
 [-2.46787538e-04  9.99999490e-01  9.79433098e-04]
 [ 1.93522073e-03 -9.78953706e-04  9.99997648e-01]]

 t_estimated:
[[0.75679339]
 [0.65365289]
 [0.00128926]]

 R_gt:
[[ 0.99403862  0.10809723 -0.01424923]
 [-0.10798876  0.99411888  0.0081864 ]
 [ 0.01505027 -0.00659933  0.99986467]]

 t_gt:
[-0.02820698  0.9957117  -0.08810544]

Pose Error in degrees for R and t:
6.242243052482718 50.99491310472554

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 0.99999006 -0.00196534  0.00400111]
 [ 0.00199311  0.99997387 -0.00694848]
 [-0.00398735  0.00695639  0.99996785]]

 t_estimated:
[[-0.80076498]
 [-0.59897731]
 [-0.00127714]]

 R_gt:
[[ 0.99173933  0.12779699  0.01098463]
 [-0.1274693   0.99148634 -0.0266085 ]
 [-0.01429205  0.02498866  0.99958625]]

 t_gt:
[ 0.02847619  0.99635223 -0.08044465]

Pose Error in degrees for R and t:
7.541861141215632 51.72092551599781

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 0.99308227 -0.11654844  0.0142855 ]
 [ 0.11680907  0.99297233 -0.01901533]
 [-0.0119689   0.02055247  0.99971713]]

 t_estimated:
[[-0.13896766]
 [-0.99014456]
 [-0.01737096]]

 R_gt:
[[ 0.9956453   0.08681027  0.03398553]
 [-0.08485455  0.99485847 -0.05528666]
 [-0.03861104  0.0521624   0.99789226]]

 t_gt:
[ 0.35646231  0.93229661 -0.06129972]

Pose Error in degrees for R and t:
11.864067199492949 13.692453073030075

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.39234266e-01 -3.43276491e-01 -4.94060359e-04]
 [ 3.43276566e-01  9.39234366e-01  7.25624604e-05]
 [ 4.39129481e-04 -2.37752493e-04  9.99999875e-01]]

 t_estimated:
[[-0.41292081]
 [-0.91076623]
 [-0.00113194]]

 R_gt:
[[ 0.96433335  0.26006611  0.04926589]
 [-0.2581112   0.96517168 -0.04268479]
 [-0.0586511   0.02844666  0.99787281]]

 t_gt:
[-0.7124093   0.70081192  0.03654651]

Pose Error in degrees for R and t:
35.304125315637386 69.8701696275687

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.99640687 -0.08444236 -0.00654508]
 [ 0.08396307  0.99497666 -0.05451278]
 [ 0.01111539  0.05376736  0.99849162]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.90027029  0.43335109  0.04146419]
 [-0.43094476  0.90063583 -0.05605572]
 [-0.06163651  0.03259693  0.99756644]]

 t_gt:
[-0.65184884  0.75808031  0.02018255]

Pose Error in degrees for R and t:
30.66746196187981 85.58598512549345

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.41579012e-01  3.36791295e-01 -7.66297540e-04]
 [-3.36790592e-01  9.41579130e-01  9.15627037e-04]
 [ 1.02990499e-03 -6.04053399e-04  9.99999287e-01]]

 t_estimated:
[[0.37627632]
 [0.92650678]
 [0.00114704]]

 R_gt:
[[ 0.85834711  0.51027913  0.05343765]
 [-0.50672123  0.85945    -0.06767425]
 [-0.08045988  0.03101048  0.99627531]]

 t_gt:
[-0.62645474  0.77847807  0.03906848]

Pose Error in degrees for R and t:
12.036705333347504 60.94886930067869

Number of keypoints:
Image1: 470
Image2: 470

 R_estimated:
[[ 9.99969436e-01  7.81830416e-03  1.94950402e-05]
 [-7.81830378e-03  9.99969436e-01 -1.93623136e-05]
 [-1.96458249e-05  1.92093036e-05  1.00000000e+00]]

 t_estimated:
[[2.47530111e-01]
 [9.68880153e-01]
 [3.04560869e-04]]

 R_gt:
[[ 0.99879869  0.00711431  0.04849878]
 [-0.00626637  0.9998252  -0.0176115 ]
 [-0.04861547  0.0172874   0.99866812]]

 t_gt:
[-0.54669952  0.02852825  0.83684274]

Pose Error in degrees for R and t:
2.9564109001740357 83.83285495310916

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 8.61740073e-03 -9.99962771e-01  4.42785411e-04]
 [-9.99959781e-01 -8.61847377e-03 -2.48150585e-03]
 [ 2.48522960e-03 -4.21383472e-04 -9.99996823e-01]]

 t_estimated:
[[0.86395748]
 [0.50356379]
 [0.00098738]]

 R_gt:
[[ 0.99905352 -0.04325827  0.00468472]
 [ 0.04326759  0.99906085 -0.00206592]
 [-0.00459063  0.00226779  0.99998699]]

 t_gt:
[ 0.18079788 -0.9834862   0.00818696]

Pose Error in degrees for R and t:
179.95219811675082 70.1817090136959

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.95826514e-01  9.12658824e-02  3.04997903e-04]
 [-9.12653362e-02  9.95825508e-01 -1.48222062e-03]
 [-4.39000865e-04  1.44819886e-03  9.99998855e-01]]

 t_estimated:
[[-0.7853304 ]
 [-0.61906676]
 [-0.00353752]]

 R_gt:
[[ 0.99708859 -0.06461569 -0.04049746]
 [ 0.06577465  0.99744118  0.02797407]
 [ 0.03858715 -0.03055653  0.99878781]]

 t_gt:
[ 0.31973006 -0.92339976 -0.21238075]

Pose Error in degrees for R and t:
9.429455720912221 71.25821696633811

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.89319881e-01  1.45760647e-01  8.52267622e-05]
 [-1.45760644e-01  9.89319884e-01 -3.78988660e-05]
 [-8.98406937e-05  2.50713938e-05  9.99999996e-01]]

 t_estimated:
[[-0.74016781]
 [ 0.67242178]
 [ 0.00074422]]

 R_gt:
[[ 0.99361242  0.1102328   0.02414867]
 [-0.10961803  0.99364775 -0.02543438]
 [-0.02679964  0.02262482  0.99938439]]

 t_gt:
[-0.37234794  0.92806865  0.00675243]

Pose Error in degrees for R and t:
2.8810953534533743 25.886777385429003

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-7.80492953e-01 -6.25164510e-01  2.93153187e-04]
 [-6.25164370e-01  7.80492223e-01 -1.18312260e-03]
 [ 5.10842474e-04 -1.10668778e-03 -9.99999257e-01]]

 t_estimated:
[[0.912786  ]
 [0.40843671]
 [0.00107767]]

 R_gt:
[[ 0.97100343  0.23824246 -0.01983256]
 [-0.23776963  0.97103567  0.02352658]
 [ 0.02486245 -0.0181284   0.99952645]]

 t_gt:
[-0.32377496  0.94592499 -0.01989177]

Pose Error in degrees for R and t:
179.18519603694602 84.79083949911764

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 8.40996154e-01 -5.41039315e-01 -1.38840343e-03]
 [ 5.41041097e-01  8.40993394e-01  2.15472347e-03]
 [ 1.84799922e-06 -2.56329747e-03  9.99996715e-01]]

 t_estimated:
[[-0.7171825 ]
 [-0.69688488]
 [-0.00084573]]

 R_gt:
[[ 0.90837627  0.40538363 -0.10255134]
 [-0.40204389  0.91412423  0.05230516]
 [ 0.11494791 -0.00628166  0.99335101]]

 t_gt:
[-0.15968853  0.9762212  -0.1466006 ]

Pose Error in degrees for R and t:
56.993040995782934 55.55158685433757

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.94951093 -0.31042522  0.04544421]
 [-0.309948    0.95059474  0.01737435]
 [-0.04859246  0.00241179 -0.99881578]]

 t_estimated:
[[0.99072925]
 [0.13431515]
 [0.02037137]]

 R_gt:
[[ 0.9858601   0.08462159  0.14463225]
 [-0.08053212  0.99617612 -0.03390304]
 [-0.1469474   0.02177647  0.98890367]]

 t_gt:
[-0.40027016  0.54740745  0.73493461]

Pose Error in degrees for R and t:
169.26354653829443 72.05748638061598

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.14923928 -0.98879513 -0.00343933]
 [-0.98879585 -0.14922624 -0.0037802 ]
 [ 0.0032246   0.00396495 -0.99998694]]

 t_estimated:
[[ 0.657495  ]
 [ 0.75345617]
 [-0.00203226]]

 R_gt:
[[ 0.95832283  0.20178874  0.20223762]
 [-0.19044442  0.97888527 -0.07426824]
 [-0.21295419  0.03265815  0.97651553]]

 t_gt:
[-0.37164223  0.71365281  0.59378592]

Pose Error in degrees for R and t:
174.79337301049523 73.01349361333666

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.99598728 -0.08938912 -0.00435024]
 [ 0.08937524  0.9959926  -0.00328653]
 [ 0.00462659  0.00288454  0.99998514]]

 t_estimated:
[[-0.84364426]
 [-0.53686453]
 [-0.00639124]]

 R_gt:
[[ 0.90914763  0.37998524  0.17047827]
 [-0.36502466  0.92410068 -0.11311075]
 [-0.20051958  0.04060549  0.97884785]]

 t_gt:
[-0.31920383  0.88604729  0.33619802]

Pose Error in degrees for R and t:
29.71757266597829 77.9630993846382

Number of keypoints:
Image1: 473
Image2: 473

 R_estimated:
[[ 0.86902841 -0.49470739 -0.00736358]
 [-0.49470036 -0.86858829 -0.0287391 ]
 [ 0.00782152  0.02861786 -0.99955982]]

 t_estimated:
[[ 0.26753296]
 [ 0.96344117]
 [-0.01439539]]

 R_gt:
[[ 0.99624066  0.04230476 -0.07558844]
 [-0.03875815  0.99810459  0.0477911 ]
 [ 0.07746709 -0.04468173  0.99599268]]

 t_gt:
[-0.76641026 -0.41312699 -0.49187539]

Pose Error in degrees for R and t:
179.7390421398305 53.41727349955609

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.80031957e-01  1.98832169e-01  1.76971494e-03]
 [ 1.98831708e-01 -9.80033552e-01  4.34174005e-04]
 [ 1.82070777e-03 -7.36289558e-05 -9.99998340e-01]]

 t_estimated:
[[-8.55195521e-01]
 [ 5.18305529e-01]
 [ 1.55356538e-05]]

 R_gt:
[[ 0.99428419  0.01410965 -0.1058233 ]
 [-0.00792646  0.99824786  0.05863597]
 [ 0.10646464 -0.05746237  0.99265491]]

 t_gt:
[ 0.36777622 -0.79841168 -0.47673834]

Pose Error in degrees for R and t:
176.06024746698608 43.25182310284494

Number of keypoints:
Image1: 383
Image2: 383

 R_estimated:
[[ 9.45093669e-01 -3.26799560e-01 -7.26812459e-05]
 [ 3.26799568e-01  9.45093633e-01  2.59172854e-04]
 [-1.60069920e-05 -2.68694823e-04  9.99999964e-01]]

 t_estimated:
[[ 3.21960445e-01]
 [-9.46753107e-01]
 [ 1.60000721e-04]]

 R_gt:
[[ 0.9897545   0.01113473 -0.14233995]
 [ 0.00187924  0.99585177  0.0909674 ]
 [ 0.14276216 -0.09030349  0.98562856]]

 t_gt:
[ 0.52175459 -0.79168125 -0.31782533]

Pose Error in degrees for R and t:
21.624061865922734 23.442443997991415

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.99117254 -0.13177384 -0.01458237]
 [-0.13147805  0.99112398 -0.01966659]
 [ 0.01704448 -0.01757572 -0.99970025]]

 t_estimated:
[[0.9795777 ]
 [0.20103274]
 [0.00365514]]

 R_gt:
[[ 9.83740994e-01  1.74556127e-01  4.22569840e-02]
 [-1.74356814e-01  9.84647284e-01 -8.39629329e-03]
 [-4.30732609e-02  8.92369909e-04  9.99071671e-01]]

 t_gt:
[-0.4154818   0.88687241  0.20206981]

Pose Error in degrees for R and t:
178.37986681740773 76.82254720077128

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.94868008  0.3158363  -0.01592257]
 [-0.31568031  0.94879502  0.01157399]
 [ 0.01876274 -0.00595358  0.99980624]]

 t_estimated:
[[-0.97744672]
 [-0.21070699]
 [-0.01415861]]

 R_gt:
[[ 0.93945268  0.34077301  0.03610902]
 [-0.33972498  0.9399741  -0.03219016]
 [-0.04490995  0.01797356  0.99882938]]

 t_gt:
[-0.32866588  0.941312    0.07687957]

Pose Error in degrees for R and t:
4.174304152863254 83.0026257183929

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.11916072  0.97232533  0.20095814]
 [ 0.98162579 -0.08499104 -0.17084299]
 [-0.14903533  0.21762347 -0.96458722]]

 t_estimated:
[[-0.75271058]
 [-0.65703289]
 [-0.04164818]]

 R_gt:
[[ 0.90574338  0.42160344  0.04336151]
 [-0.41978482  0.90649392 -0.0452756 ]
 [-0.05839464  0.02280527  0.99803293]]

 t_gt:
[-0.2716389   0.95958606  0.07353162]

Pose Error in degrees for R and t:
162.15947219280216 64.59102778883536

Number of keypoints:
Image1: 342
Image2: 342

 R_estimated:
[[ 9.99911967e-01  1.32686800e-02  9.99163630e-06]
 [-1.32686795e-02  9.99911966e-01 -4.76323075e-05]
 [-1.06227745e-05  4.74955384e-05  9.99999999e-01]]

 t_estimated:
[[-4.35623084e-02]
 [-9.99050669e-01]
 [-2.94598280e-04]]

 R_gt:
[[ 9.98577475e-01 -7.45087933e-04 -5.32979942e-02]
 [ 1.35444696e-03  9.99933620e-01  1.14025868e-02]
 [ 5.32863254e-02 -1.14581929e-02  9.98514021e-01]]

 t_gt:
[ 0.4401045  -0.42453817 -0.79124925]

Pose Error in degrees for R and t:
3.231862156016807 66.09657277502365

Number of keypoints:
Image1: 375
Image2: 375

 R_estimated:
[[ 9.99941112e-01  1.08522246e-02  3.28541720e-05]
 [-1.08522224e-02  9.99941111e-01 -6.62745994e-05]
 [-3.35714640e-05  6.59141559e-05  9.99999997e-01]]

 t_estimated:
[[ 2.86050136e-01]
 [-9.58214649e-01]
 [-7.63058608e-05]]

 R_gt:
[[ 0.99653974 -0.0317157  -0.07682503]
 [ 0.03425664  0.99890154  0.03198491]
 [ 0.07572609 -0.03450541  0.99653163]]

 t_gt:
[ 0.72045014 -0.5672027  -0.39903972]

Pose Error in degrees for R and t:
5.398153075889329 41.44276679631098

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[-2.41520895e-03 -9.99995151e-01 -1.96564343e-03]
 [ 9.99996797e-01 -2.41371533e-03 -7.61879653e-04]
 [ 7.57131455e-04 -1.96747723e-03  9.99997778e-01]]

 t_estimated:
[[0.93041619]
 [0.36650243]
 [0.00129381]]

 R_gt:
[[ 0.99568939  0.00771543 -0.09242181]
 [-0.00222165  0.99823185  0.0593988 ]
 [ 0.09271738 -0.05893694  0.99394649]]

 t_gt:
[ 0.51866656 -0.72719356 -0.44963821]

Pose Error in degrees for R and t:
90.5868458424974 77.55655603438139

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.12398952 -0.99227919  0.00293227]
 [-0.99226606  0.12400433  0.00556659]
 [-0.00588722 -0.00221939 -0.99998021]]

 t_estimated:
[[0.81419946]
 [0.58057489]
 [0.00346939]]

 R_gt:
[[ 0.98418464 -0.07302223  0.16139631]
 [ 0.07348177  0.99729151  0.00312534]
 [-0.16118716  0.00878387  0.98688423]]

 t_gt:
[ 0.2787852  -0.3963404   0.87475317]

Pose Error in degrees for R and t:
172.8069353522155 89.99520647259395

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.49982470e-01  3.12298586e-01 -1.70298869e-03]
 [-3.12297013e-01  9.49983842e-01  1.12903007e-03]
 [ 1.97040624e-03 -5.40720488e-04  9.99997913e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.96098338 -0.05978319  0.27007015]
 [ 0.06410792  0.99791722 -0.00721431]
 [-0.26907588  0.02424689  0.96281319]]

 t_gt:
[ 0.16860608 -0.1941281   0.96637791]

Pose Error in degrees for R and t:
26.87235207746085 83.44740416965884

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.85197683e-01  1.71422058e-01 -5.72549662e-05]
 [-1.71422018e-01  9.85197597e-01  4.31251542e-04]
 [ 1.30333482e-04 -4.15053258e-04  9.99999905e-01]]

 t_estimated:
[[ 3.55779308e-03]
 [-9.99993423e-01]
 [ 7.04570213e-04]]

 R_gt:
[[ 0.93523544 -0.08969953  0.34247661]
 [ 0.11412568  0.99211538 -0.05180404]
 [-0.3351293   0.08753416  0.93809722]]

 t_gt:
[ 0.3687038  -0.25130528  0.89493193]

Pose Error in degrees for R and t:
25.71964790253601 75.33032619903021

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.37187529e-01 -3.48825919e-01 -1.20785580e-04]
 [ 3.48825926e-01  9.37187533e-01  4.56214764e-05]
 [ 9.72847867e-05 -8.48890207e-05  9.99999992e-01]]

 t_estimated:
[[-0.29858507]
 [-0.95438245]
 [-0.00104536]]

 R_gt:
[[ 0.99846132  0.04189039  0.03635105]
 [-0.04156585  0.99908938 -0.00962728]
 [-0.03672236  0.00810297  0.99929304]]

 t_gt:
[-0.72838745  0.46599552  0.50229462]

Pose Error in degrees for R and t:
22.90875683860179 76.8337457707332

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-1.55438561e-01  9.87845562e-01 -2.45772070e-06]
 [-9.87844056e-01 -1.55438328e-01 -1.74535363e-03]
 [-1.72452186e-03 -2.68867411e-04  9.99998477e-01]]

 t_estimated:
[[0.34881937]
 [0.93718939]
 [0.00105066]]

 R_gt:
[[ 0.9973009   0.04545337  0.05766917]
 [-0.04493006  0.99893724 -0.01033287]
 [-0.05807874  0.00771425  0.99828263]]

 t_gt:
[-0.73136466  0.28359155  0.62022703]

Pose Error in degrees for R and t:
96.39055614123097 89.35159954022602

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.85958920e-01  1.66987019e-01  5.85336211e-04]
 [-1.66987012e-01  9.85959093e-01 -6.11518838e-05]
 [-5.87329131e-04 -3.74502998e-05  9.99999827e-01]]

 t_estimated:
[[0.22824269]
 [0.97359774]
 [0.00356629]]

 R_gt:
[[ 0.99982905 -0.01841313 -0.00179091]
 [ 0.01843933  0.99970477  0.01582943]
 [ 0.00149872 -0.01585934  0.99987319]]

 t_gt:
[-0.27840183 -0.9498794   0.14220251]

Pose Error in degrees for R and t:
10.70777016069577 8.945579763726649

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.83939396  0.54351352  0.00329075]
 [-0.5435193   0.83939586  0.00116087]
 [-0.00213129 -0.00276302  0.99999391]]

 t_estimated:
[[-0.5451944 ]
 [ 0.83829898]
 [ 0.00422911]]

 R_gt:
[[ 0.97335433  0.22924286  0.00541479]
 [-0.22915719  0.97330137 -0.01310077]
 [-0.00827362  0.01151114  0.99989916]]

 t_gt:
[-0.72296156  0.69048162 -0.02370058]

Pose Error in degrees for R and t:
19.69139153914545 13.373144007804592

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.31000245e-01 -3.65012894e-01  2.03231889e-03]
 [-3.65014799e-01 -9.31001490e-01  6.49346654e-04]
 [ 1.65507201e-03 -1.34636836e-03 -9.99997724e-01]]

 t_estimated:
[[0.53973012]
 [0.84183765]
 [0.00088336]]

 R_gt:
[[ 8.86690482e-01  4.57102886e-01  6.95498135e-02]
 [-4.55781301e-01  8.89413299e-01 -3.47525073e-02]
 [-7.77443157e-02 -8.84251574e-04  9.96972039e-01]]

 t_gt:
[-0.64341677  0.76008237  0.09104755]

Pose Error in degrees for R and t:
179.8861029690601 72.98182943912025

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.94145818 -0.33712498  0.00180162]
 [-0.3371174   0.94145595  0.00354423]
 [-0.00289099  0.00272939 -0.9999921 ]]

 t_estimated:
[[0.94524577]
 [0.32635498]
 [0.00169096]]

 R_gt:
[[ 0.82207406  0.56615905  0.06048771]
 [-0.56315508  0.82415082 -0.06026883]
 [-0.08397353  0.0154817   0.99634718]]

 t_gt:
[-0.59737351  0.79986542  0.05796721]

Pose Error in degrees for R and t:
176.03898158369313 72.33045160491567

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 7.43640927e-01  6.68579124e-01  3.57242827e-04]
 [-6.68579009e-01  7.43640163e-01  1.18987454e-03]
 [ 5.29865166e-04 -1.12368446e-03  9.99999228e-01]]

 t_estimated:
[[7.89118036e-01]
 [6.14241167e-01]
 [7.16731457e-04]]

 R_gt:
[[ 9.86948059e-01 -1.61040746e-01 -2.05476017e-04]
 [ 1.60876904e-01  9.86001829e-01 -4.37971777e-02]
 [ 7.25555739e-03  4.31925848e-02  9.99040694e-01]]

 t_gt:
[ 0.95516392 -0.13582561 -0.2630842 ]

Pose Error in degrees for R and t:
51.28546733883159 47.92376307448713

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.92134017  0.38873996  0.00367956]
 [ 0.38875313 -0.92133308 -0.004044  ]
 [ 0.00181803  0.00515634 -0.99998505]]

 t_estimated:
[[8.19416779e-01]
 [5.73197795e-01]
 [6.56583957e-04]]

 R_gt:
[[ 0.9583492  -0.28532593  0.01245928]
 [ 0.28550927  0.95822735 -0.01689997]
 [-0.0071165   0.01975382  0.9997797 ]]

 t_gt:
[ 0.98876281 -0.13500586 -0.06419906]

Pose Error in degrees for R and t:
178.55909227089143 42.879902985876264

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.03732317e-01 -4.28097989e-01  1.00949526e-04]
 [ 4.28097971e-01  9.03732317e-01  1.62802656e-04]
 [-1.60926839e-04 -1.03913735e-04  9.99999982e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.95781339 -0.28636966  0.02421893]
 [ 0.28720265  0.95683511 -0.044513  ]
 [-0.01042573  0.04959087  0.99871567]]

 t_gt:
[ 0.98104895 -0.09041316 -0.17137214]

Pose Error in degrees for R and t:
9.144336744601748 42.927940661727135

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999650e-01 -5.62468642e-04 -6.18641901e-04]
 [ 5.63293382e-04  9.99998952e-01  1.33378039e-03]
 [ 6.17891043e-04 -1.33412840e-03  9.99998919e-01]]

 t_estimated:
[[-6.77587654e-01]
 [-7.35441960e-01]
 [-3.08642196e-04]]

 R_gt:
[[ 0.99845455  0.02045331 -0.05166712]
 [-0.02247243  0.9989936  -0.03881496]
 [ 0.05082126  0.03991569  0.99790925]]

 t_gt:
[-0.02135333  0.45354086 -0.89097964]

Pose Error in degrees for R and t:
3.9333268526126606 71.40907240924713

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 1.00000000e+00  7.50649543e-14  7.19639192e-17]
 [-7.50718931e-14  1.00000000e+00 -6.83047369e-17]
 [ 8.03051609e-16 -2.71050543e-18  1.00000000e+00]]

 t_estimated:
[[4.24954944e-02]
 [9.99096621e-01]
 [2.73097041e-04]]

 R_gt:
[[ 0.99615535  0.02930696 -0.08255406]
 [-0.03439585  0.99755083 -0.06089997]
 [ 0.08056717  0.06350511  0.99472387]]

 t_gt:
[ 0.00218502  0.4599423  -0.88794612]

Pose Error in degrees for R and t:
6.165922552598534 62.653076306493595

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 8.50774538e-01 -5.25530812e-01 -2.26368945e-04]
 [ 5.25530858e-01  8.50774406e-01  4.77493476e-04]
 [-5.83486294e-05 -5.25203157e-04  9.99999860e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99017413  0.04903358 -0.13096231]
 [-0.0630125   0.99249265 -0.10482281]
 [ 0.12483927  0.1120454   0.98582954]]

 t_gt:
[ 0.0044458   0.48339653 -0.87539022]

Pose Error in degrees for R and t:
36.21256872027508 89.69827471446035

Number of keypoints:
Image1: 462
Image2: 462

 R_estimated:
[[-0.95148496  0.30558789  0.03595009]
 [ 0.30559581  0.95214597 -0.0054093 ]
 [-0.03588275  0.00583933 -0.99933895]]

 t_estimated:
[[ 0.98738657]
 [-0.15721775]
 [ 0.01871754]]

 R_gt:
[[ 0.99777483 -0.06664731 -0.00193894]
 [ 0.06661467  0.99768734 -0.01349714]
 [ 0.00283525  0.01333883  0.99990683]]

 t_gt:
[ 0.62979332 -0.76720501 -0.1214778 ]

Pose Error in degrees for R and t:
177.93373659947946 42.25206108667397

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 9.99975022e-01 -7.06734957e-03  8.55689807e-05]
 [ 7.06734817e-03  9.99975026e-01  1.66807513e-05]
 [-8.56847324e-05 -1.60755888e-05  9.99999996e-01]]

 t_estimated:
[[7.64740989e-01]
 [6.44337746e-01]
 [2.98022354e-04]]

 R_gt:
[[ 0.99418931 -0.08375782 -0.06762171]
 [ 0.08674965  0.99531929  0.04258649]
 [ 0.06373821 -0.04820546  0.99680177]]

 t_gt:
[ 0.5856111  -0.79163656 -0.17427334]

Pose Error in degrees for R and t:
6.420497442759561 86.4285934865895

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999715e-01 -4.35469976e-04 -6.16042721e-04]
 [ 4.35673609e-04  9.99999850e-01  3.30455276e-04]
 [ 6.15898725e-04 -3.30723575e-04  9.99999756e-01]]

 t_estimated:
[[-0.77655135]
 [-0.63005301]
 [-0.00110149]]

 R_gt:
[[ 0.97920084 -0.18935735 -0.07287018]
 [ 0.19215624  0.98079272  0.03346895]
 [ 0.06513384 -0.04677519  0.99677948]]

 t_gt:
[ 0.55683846 -0.81367524 -0.16692373]

Pose Error in degrees for R and t:
11.895539132259394 85.38678993656872

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.75839311 -0.65177457 -0.00545891]
 [ 0.65170618 -0.75840048  0.01038139]
 [-0.01090636  0.00431557  0.99993121]]

 t_estimated:
[[7.94635455e-01]
 [6.07086424e-01]
 [7.53208962e-04]]

 R_gt:
[[ 0.9897832  -0.07717924 -0.11988343]
 [ 0.0756317   0.99698304 -0.01741189]
 [ 0.12086562  0.00816677  0.99263576]]

 t_gt:
[ 0.5979592  -0.47635685 -0.64461535]

Pose Error in degrees for R and t:
135.04832580632896 79.31063237756725

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.50675675e-01  3.10186503e-01 -3.07130968e-04]
 [ 3.09984852e-01 -9.50092423e-01 -3.51251845e-02]
 [-1.11871610e-02  3.32974525e-02 -9.99382873e-01]]

 t_estimated:
[[ 0.27693879]
 [ 0.96087894]
 [-0.00407022]]

 R_gt:
[[ 0.98507542 -0.12371232 -0.11967714]
 [ 0.11893309  0.99182182 -0.04631047]
 [ 0.12442748  0.03138579  0.99173225]]

 t_gt:
[ 0.60893035 -0.50973462 -0.60776184]

Pose Error in degrees for R and t:
176.93836700252626 71.41669710067593

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.88772093e-01  1.49430610e-01  4.91202690e-04]
 [-1.49430790e-01  9.88772125e-01  3.52957625e-04]
 [-4.32944854e-04 -4.22395456e-04  9.99999817e-01]]

 t_estimated:
[[0.78613023]
 [0.61805721]
 [0.00213362]]

 R_gt:
[[ 0.97585211 -0.2123232  -0.05130589]
 [ 0.20811787  0.97508427 -0.07679411]
 [ 0.06633255  0.06426189  0.99572597]]

 t_gt:
[ 0.71042099 -0.55567112 -0.43189307]

Pose Error in degrees for R and t:
21.42270546428224 77.63577968570043

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.67981158e-01  2.51020713e-01  1.03897334e-03]
 [-2.51019878e-01  9.67981541e-01 -8.70694359e-04]
 [-1.22426933e-03  5.82012774e-04  9.99999081e-01]]

 t_estimated:
[[-8.38993234e-01]
 [-5.44141461e-01]
 [-6.50886915e-04]]

 R_gt:
[[ 9.99667456e-01 -2.07990186e-02 -1.52231036e-02]
 [ 2.07938495e-02  9.99783521e-01 -4.81837294e-04]
 [ 1.52302373e-02  1.65716684e-04  9.99884387e-01]]

 t_gt:
[ 0.55746828 -0.63172626 -0.53865671]

Pose Error in degrees for R and t:
15.757423136203546 82.8993315233926

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-0.61193197  0.79074403 -0.01622177]
 [ 0.79078443  0.61207185  0.00529476]
 [ 0.01411569 -0.00958789 -0.9998544 ]]

 t_estimated:
[[0.96241301]
 [0.27158799]
 [0.00107773]]

 R_gt:
[[ 0.9911042  -0.12070111 -0.05607596]
 [ 0.12157617  0.99250378  0.01245917]
 [ 0.05415161 -0.0191652   0.9983495 ]]

 t_gt:
[ 0.65207739 -0.71686196 -0.24678737]

Pose Error in degrees for R and t:
175.78409934689168 64.36664411373884

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-8.31076566e-01 -5.56158017e-01  4.18632403e-05]
 [-5.56152777e-01  8.31069059e-01  4.27880809e-03]
 [-2.41448466e-03  3.53273477e-03 -9.99990845e-01]]

 t_estimated:
[[9.77966300e-01]
 [2.08761279e-01]
 [8.02927997e-04]]

 R_gt:
[[ 0.96492146 -0.23873099 -0.109244  ]
 [ 0.2428059   0.96973999  0.02545886]
 [ 0.09985921 -0.05109065  0.9936893 ]]

 t_gt:
[ 0.70059398 -0.68841874 -0.18774375]

Pose Error in degrees for R and t:
174.95933225646854 57.228408185465554

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-0.89166956  0.45253558 -0.01170228]
 [ 0.45237421  0.89171654  0.01411317]
 [ 0.01682183  0.00729048 -0.99983192]]

 t_estimated:
[[ 0.4578004 ]
 [-0.88888766]
 [-0.01724882]]

 R_gt:
[[ 0.99639791 -0.07933784  0.02997404]
 [ 0.07963356  0.99678599 -0.00882745]
 [-0.02917791  0.01118278  0.99951201]]

 t_gt:
[ 0.69188743 -0.70992435  0.13152643]

Pose Error in degrees for R and t:
179.03239478865956 18.999632865827138

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99947274e-01 -1.02680517e-02  1.25147261e-04]
 [ 1.02680423e-02  9.99947279e-01  7.50680333e-05]
 [-1.25911465e-04 -7.37790579e-05  9.99999989e-01]]

 t_estimated:
[[0.99988856]
 [0.01488332]
 [0.00116364]]

 R_gt:
[[ 0.99392667 -0.10698758  0.025753  ]
 [ 0.10772113  0.99375716 -0.02903897]
 [-0.02248671  0.0316373   0.99924651]]

 t_gt:
[ 0.73185165 -0.67723641 -0.07578915]

Pose Error in degrees for R and t:
6.0033092988154175 43.813065089985855

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99998443e-01  1.76088058e-03  1.12579066e-04]
 [-1.76088645e-03  9.99998448e-01  5.21403887e-05]
 [-1.12487078e-04 -5.23385465e-05  9.99999992e-01]]

 t_estimated:
[[ 9.23896380e-01]
 [-3.82642452e-01]
 [ 4.82182874e-04]]

 R_gt:
[[ 0.9961362  -0.08438827  0.02431352]
 [ 0.08474903  0.99630186 -0.0142337 ]
 [-0.02302301  0.0162393   0.99960237]]

 t_gt:
[ 8.16719848e-01 -5.77033910e-01 -7.46288526e-04]

Pose Error in degrees for R and t:
5.208075863649369 12.7449363868125

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[ 9.92152178e-01 -1.25032694e-01 -9.38478727e-04]
 [ 1.25034161e-01  9.92150957e-01  1.71362806e-03]
 [ 7.16853034e-04 -1.81752172e-03  9.99998091e-01]]

 t_estimated:
[[0.98238571]
 [0.18685938]
 [0.00137397]]

 R_gt:
[[ 0.99972155 -0.00146015  0.02359864]
 [ 0.00119573  0.99993635  0.01118427]
 [-0.02361372 -0.01115227  0.99965858]]

 t_gt:
[-0.10766978 -0.1011716   0.98902554]

Pose Error in degrees for R and t:
7.262942689401967 82.9162960774465

Number of keypoints:
Image1: 377
Image2: 377

 R_estimated:
[[ 9.99935359e-01 -1.13700390e-02  1.62221501e-06]
 [ 1.13700390e-02  9.99935359e-01  2.84666574e-05]
 [-1.94577716e-06 -2.84463726e-05  1.00000000e+00]]

 t_estimated:
[[4.12366190e-01]
 [9.11018117e-01]
 [3.40102861e-04]]

 R_gt:
[[ 9.99686767e-01 -5.49786799e-03  2.44381355e-02]
 [ 5.49474723e-03  9.99984692e-01  1.78972168e-04]
 [-2.44387488e-02 -4.42701610e-05  9.99701122e-01]]

 t_gt:
[-0.05288438 -0.2026948   0.9778129 ]

Pose Error in degrees for R and t:
1.4399762248715215 78.10412092844838

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.87713635e-01 -1.56274595e-01 -1.59258866e-04]
 [ 1.56274637e-01  9.87713596e-01  3.00252005e-04]
 [ 1.10380387e-04 -3.21451121e-04  9.99999942e-01]]

 t_estimated:
[[ 8.98573412e-01]
 [-4.38822986e-01]
 [ 4.58067494e-04]]

 R_gt:
[[ 0.99732582 -0.06819408 -0.02631199]
 [ 0.06882828  0.99733931  0.02401396]
 [ 0.02460504 -0.02576015  0.99936561]]

 t_gt:
[ 0.61644083 -0.78692491 -0.02738415]

Pose Error in degrees for R and t:
5.449983331969194 25.943546656406816

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99534363e-01  3.05124042e-02  2.26078154e-04]
 [-3.05123511e-02  9.99534362e-01 -2.34732594e-04]
 [-2.33135139e-04  2.27725118e-04  9.99999947e-01]]

 t_estimated:
[[0.6004192 ]
 [0.79968495]
 [0.00087397]]

 R_gt:
[[ 0.99921913 -0.03827723  0.00981413]
 [ 0.03838363  0.99920339 -0.01093895]
 [-0.00938756  0.01130717  0.9998917 ]]

 t_gt:
[ 0.6695069  -0.74226106 -0.02844343]

Pose Error in degrees for R and t:
4.0302872574561475 78.95294754609777

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99983850e-01  5.68297902e-03  5.46755780e-05]
 [-5.68297897e-03  9.99983852e-01 -1.03937679e-06]
 [-5.46806018e-05  7.28639843e-07  9.99999999e-01]]

 t_estimated:
[[ 6.92174483e-01]
 [-7.21730198e-01]
 [-8.14678764e-05]]

 R_gt:
[[ 0.998915   -0.04413342  0.01488039]
 [ 0.04425265  0.99899022 -0.00778726]
 [-0.01452131  0.00843749  0.99985838]]

 t_gt:
[ 0.78130879 -0.62407754  0.00915454]

Pose Error in degrees for R and t:
3.0155079736254264 7.599426101736906

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-1.17860147e-01  9.93030113e-01 -4.24517623e-04]
 [ 9.93024897e-01  1.17860904e-01  3.21897661e-03]
 [ 3.24657474e-03 -4.21675126e-05 -9.99994729e-01]]

 t_estimated:
[[-0.23379791]
 [-0.97228456]
 [-0.00112403]]

 R_gt:
[[ 0.99946548  0.02007265 -0.0257921 ]
 [-0.01952072  0.99957862  0.02147481]
 [ 0.02621283 -0.02095965  0.99943592]]

 t_gt:
[ 0.93814486  0.28646821 -0.19447413]

Pose Error in degrees for R and t:
177.93590497351934 60.15559590470847

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.95992156e-01 -8.94404588e-02 -1.73259831e-04]
 [ 8.94405564e-02  9.95991933e-01  6.76034384e-04]
 [ 1.12100569e-04 -6.88821399e-04  9.99999756e-01]]

 t_estimated:
[[0.49078574]
 [0.87127934]
 [0.00129118]]

 R_gt:
[[ 0.99293257 -0.06291287 -0.10062717]
 [ 0.06443415  0.99785103  0.01194367]
 [ 0.09965906 -0.01834331  0.99485283]]

 t_gt:
[ 0.60492459 -0.64209159 -0.47094015]

Pose Error in degrees for R and t:
5.985533253014163 74.74230149766994

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.56034444e-01 -2.93253362e-01  7.79754927e-04]
 [ 2.93253716e-01  9.56034576e-01 -3.84895292e-04]
 [-6.32600832e-04  5.96639186e-04  9.99999622e-01]]

 t_estimated:
[[-0.80961349]
 [-0.58696228]
 [ 0.00113233]]

 R_gt:
[[ 0.97900168 -0.11519379 -0.16818154]
 [ 0.11889025  0.99283439  0.0120495 ]
 [ 0.16558835 -0.03179209  0.98568299]]

 t_gt:
[ 0.62977704 -0.63976235 -0.44055081]

Pose Error in degrees for R and t:
14.162378653157583 82.24956441564389

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.98878247  0.14935252  0.0017496 ]
 [-0.14935024  0.98878341 -0.00136623]
 [-0.00193402  0.0010896   0.99999754]]

 t_estimated:
[[0.61964297]
 [0.78488109]
 [0.00206548]]

 R_gt:
[[ 0.96415786 -0.20868407 -0.16385772]
 [ 0.20340759  0.97789068 -0.04853501]
 [ 0.17036259  0.01346497  0.98528934]]

 t_gt:
[ 0.69192741 -0.56278636 -0.45222558]

Pose Error in degrees for R and t:
22.818960552620094 89.2031913261023

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.98202211e-01 -5.99361538e-02 -6.12797627e-05]
 [ 5.99361584e-02  9.98202210e-01  7.57451384e-05]
 [ 5.66297222e-05 -7.92818382e-05  9.99999995e-01]]

 t_estimated:
[[2.62874989e-01]
 [9.64829782e-01]
 [4.81365789e-04]]

 R_gt:
[[ 0.99776697 -0.03542821 -0.05661545]
 [ 0.03927588  0.99688627  0.06837337]
 [ 0.05401771 -0.07044494  0.99605204]]

 t_gt:
[ 0.07389546 -0.99571667  0.05556771]

Pose Error in degrees for R and t:
5.2486776726598645 19.738285853985843

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.87470954e-01  1.57800588e-01 -3.00436451e-04]
 [-1.57800568e-01  9.87470998e-01  8.93614720e-05]
 [ 3.10773576e-04 -4.08328154e-05  9.99999951e-01]]

 t_estimated:
[[-9.93938598e-01]
 [-1.09932880e-01]
 [-9.08536196e-04]]

 R_gt:
[[ 0.9801793  -0.18055289 -0.08154558]
 [ 0.18129675  0.98342728  0.00176487]
 [ 0.07987546 -0.0165138   0.99666809]]

 t_gt:
[ 0.51255233 -0.71518082 -0.47519102]

Pose Error in degrees for R and t:
20.063780136952595 64.50756435800174

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-2.28417882e-01  9.73563089e-01 -4.26856638e-04]
 [-9.73560356e-01 -2.28418253e-01 -2.30987346e-03]
 [-2.34630938e-03 -1.12045702e-04  9.99997241e-01]]

 t_estimated:
[[0.19058549]
 [0.98166989]
 [0.00117762]]

 R_gt:
[[ 0.93575489 -0.3390272  -0.09708091]
 [ 0.34216788  0.93948004  0.01727882]
 [ 0.08534801 -0.04938655  0.99512659]]

 t_gt:
[ 0.60724207 -0.77939027 -0.15429804]

Pose Error in degrees for R and t:
123.25020119508211 49.492006009773874

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.11137912e-01  4.12099519e-01 -1.30058664e-03]
 [-4.12101162e-01  9.11136916e-01 -1.46737323e-03]
 [ 5.80308701e-04  1.87295264e-03  9.99998078e-01]]

 t_estimated:
[[ 0.06382885]
 [ 0.99796013]
 [-0.00120386]]

 R_gt:
[[ 0.99830409 -0.05364175 -0.02260906]
 [ 0.05074737  0.99225028 -0.11341701]
 [ 0.02851678  0.1120777   0.99328975]]

 t_gt:
[ 0.51006771 -0.202163   -0.8360389 ]

Pose Error in degrees for R and t:
28.093541288750444 80.31757002349363

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.74747033e-01 -2.23311922e-01  8.39259241e-05]
 [ 2.23311916e-01  9.74747035e-01  7.65318244e-05]
 [-9.88970145e-05 -5.58575098e-05  9.99999994e-01]]

 t_estimated:
[[0.525997  ]
 [0.85048598]
 [0.00087305]]

 R_gt:
[[ 0.99614563 -0.05570758 -0.06775155]
 [ 0.04238574  0.98197297 -0.18420833]
 [ 0.07679156  0.18062649  0.98054893]]

 t_gt:
[ 0.37058218  0.06271514 -0.92667991]

Pose Error in degrees for R and t:
15.139886787364393 75.67307088146474

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.50373466e-01 -3.11111329e-01 -1.28242855e-04]
 [ 3.11111341e-01  9.50373214e-01  6.98095335e-04]
 [-9.53067930e-05 -7.03349089e-04  9.99999748e-01]]

 t_estimated:
[[8.52767742e-01]
 [5.22289771e-01]
 [7.56868213e-04]]

 R_gt:
[[ 0.99252307 -0.03799059 -0.11599302]
 [ 0.01525175  0.98148026 -0.19095658]
 [ 0.1210991   0.18775985  0.97472119]]

 t_gt:
[ 0.31261473  0.17340585 -0.93391779]

Pose Error in degrees for R and t:
21.007793680214142 69.11772288247681

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99813572e-01  1.93085212e-02 -4.69620459e-05]
 [-1.93085220e-02  9.99813573e-01 -1.57483983e-05]
 [ 4.66492126e-05  1.66522300e-05  9.99999999e-01]]

 t_estimated:
[[-9.95025047e-01]
 [-9.96224086e-02]
 [-7.28460902e-04]]

 R_gt:
[[ 0.99360102  0.11274004  0.0069082 ]
 [-0.11275653  0.99362067  0.00201741]
 [-0.00663613 -0.00278372  0.9999737 ]]

 t_gt:
[-0.76226094  0.64601586  0.04027117]

Pose Error in degrees for R and t:
5.3834530346762675 46.04591139949674

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.70515996e-01 -2.41034727e-01 -9.80935314e-04]
 [ 2.41035053e-01  9.70516384e-01  2.27291890e-04]
 [ 8.97228555e-04 -4.57030211e-04  9.99999493e-01]]

 t_estimated:
[[-0.44627769]
 [-0.8948913 ]
 [-0.00240409]]

 R_gt:
[[ 0.94397409  0.32944     0.01956906]
 [-0.32879782  0.94392201 -0.03004731]
 [-0.02837106  0.02192943  0.99935651]]

 t_gt:
[-0.68338236  0.72996736 -0.01167069]

Pose Error in degrees for R and t:
33.2344454560113 69.62059693133942

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99561378e-01  2.96135278e-02 -2.99541628e-04]
 [-2.96139618e-02  9.99560183e-01 -1.56622628e-03]
 [ 2.53028399e-04  1.57440991e-03  9.99998729e-01]]

 t_estimated:
[[0.47678695]
 [0.87901841]
 [0.00092044]]

 R_gt:
[[ 0.83550559  0.54385836  0.07841684]
 [-0.54162     0.8391762  -0.04930936]
 [-0.09262289 -0.00127355  0.99570035]]

 t_gt:
[-0.60304537  0.79283236  0.08805187]

Pose Error in degrees for R and t:
31.689286559408057 65.8283839445626

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99969351e-01  7.82685442e-03  1.91382894e-04]
 [-7.82681793e-03  9.99969352e-01 -1.90691284e-04]
 [-1.92869542e-04  1.89187521e-04  9.99999964e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 9.98755989e-01 -4.69948690e-02 -1.67186099e-02]
 [ 4.70134985e-02  9.98893886e-01  7.15150520e-04]
 [ 1.66666048e-02 -1.49972640e-03  9.99860760e-01]]

 t_gt:
[ 0.95136422 -0.29166231 -0.09919283]

Pose Error in degrees for R and t:
3.2884747873645472 53.97532470646559

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.08500658e-01  4.17883035e-01  5.69708196e-04]
 [-4.17882779e-01  9.08500807e-01 -5.17429322e-04]
 [-7.33805291e-04  2.32013635e-04  9.99999704e-01]]

 t_estimated:
[[0.00938436]
 [0.99995542]
 [0.00104271]]

 R_gt:
[[ 0.98970086 -0.1407247   0.02625795]
 [ 0.14089564  0.9900129  -0.00475913]
 [-0.02532643  0.00841036  0.99964407]]

 t_gt:
[ 0.98639815 -0.16158068 -0.03017226]

Pose Error in degrees for R and t:
32.829835888937595 81.23696555708989

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.39678011 -0.91791312  0.00102424]
 [-0.91791151  0.39677649 -0.00262309]
 [ 0.00200138 -0.00198095 -0.99999604]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.94305447 -0.33174478 -0.02438581]
 [ 0.33237774  0.94268577  0.02946486]
 [ 0.01321287 -0.03589124  0.99926905]]

 t_gt:
[ 0.99169358 -0.0923767   0.08950079]

Pose Error in degrees for R and t:
179.99301545453253 39.8642158509295

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.17622821  0.9843364   0.00504723]
 [ 0.98434643 -0.17621292 -0.00333245]
 [-0.00239087  0.00555549 -0.99998171]]

 t_estimated:
[[-0.7011397 ]
 [-0.71302342]
 [-0.00084884]]

 R_gt:
[[ 0.9738306  -0.21638483 -0.0695123 ]
 [ 0.21604939  0.97630348 -0.01238459]
 [ 0.07054511 -0.00295788  0.9975041 ]]

 t_gt:
[ 0.80538459 -0.56901031 -0.1660811 ]

Pose Error in degrees for R and t:
177.95756194875187 80.86109824359526

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.94895645  0.31534303  0.00635847]
 [ 0.31539628 -0.94889816 -0.01083847]
 [ 0.0026157   0.01229068 -0.99992105]]

 t_estimated:
[[-0.25103569]
 [ 0.96793293]
 [-0.00932352]]

 R_gt:
[[ 0.94669484 -0.30292101 -0.10958364]
 [ 0.30809277  0.95076895  0.03342584]
 [ 0.09406316 -0.06540653  0.99341484]]

 t_gt:
[ 0.82852344 -0.55994276  0.00360712]

Pose Error in degrees for R and t:
176.92309519429628 41.40878856399429

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.89189651  0.45219393 -0.00642415]
 [-0.45209402  0.89187988  0.01269991]
 [ 0.0114724  -0.00842269  0.99989872]]

 t_estimated:
[[-0.98709245]
 [-0.16013364]
 [-0.00239005]]

 R_gt:
[[ 0.95255304 -0.29583185 -0.07160332]
 [ 0.30059556  0.9512786   0.06863999]
 [ 0.04780866 -0.08690756  0.99506833]]

 t_gt:
[ 0.79572558 -0.58896279  0.14122193]

Pose Error in degrees for R and t:
44.52398763019421 46.25266244849404

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99999982e-01  1.90228797e-04 -2.60860955e-05]
 [-1.90229051e-04  9.99999982e-01 -9.74718470e-06]
 [ 2.60842409e-05  9.75214685e-06  1.00000000e+00]]

 t_estimated:
[[-0.07466868]
 [-0.99720752]
 [-0.0013252 ]]

 R_gt:
[[ 0.99944229 -0.02571321 -0.0213041 ]
 [ 0.0254313   0.99958597 -0.01340237]
 [ 0.02164008  0.01285353  0.9996831 ]]

 t_gt:
[ 0.34331644 -0.47767141 -0.80868031]

Pose Error in degrees for R and t:
2.063588434764868 63.14242798327596

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.99997586e-01 -2.17158324e-03 -3.36269808e-04]
 [ 2.17160168e-03  9.99997641e-01  5.44660418e-05]
 [ 3.36150737e-04 -5.51961544e-05  9.99999942e-01]]

 t_estimated:
[[-0.9918513 ]
 [ 0.12733916]
 [-0.00396638]]

 R_gt:
[[ 0.9994589   0.01256829 -0.03042636]
 [-0.01340093  0.99953726 -0.02731726]
 [ 0.0300701   0.02771025  0.99916331]]

 t_gt:
[-0.04686124  0.45958736 -0.88689542]

Pose Error in degrees for R and t:
2.4874095681183235 83.76995712049394

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.90539431e-01 -1.37227967e-01  3.47744922e-04]
 [ 1.37227876e-01  9.90539467e-01  2.73680303e-04]
 [-3.82011661e-04 -2.23370835e-04  9.99999902e-01]]

 t_estimated:
[[0.24692409]
 [0.96903403]
 [0.001238  ]]

 R_gt:
[[ 0.99749579  0.01535371 -0.06904749]
 [-0.02093875  0.99650191 -0.08090102]
 [ 0.06756467  0.08214516  0.99432702]]

 t_gt:
[ 0.03797243  0.37645787 -0.92565521]

Pose Error in degrees for R and t:
10.828223696797005 68.09734152430869

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999859e-01  1.90504868e-04 -4.94892098e-04]
 [-1.90176683e-04  9.99999762e-01  6.63107282e-04]
 [ 4.95018306e-04 -6.63013072e-04  9.99999658e-01]]

 t_estimated:
[[0.41594386]
 [0.90938956]
 [0.00115289]]

 R_gt:
[[ 0.99931089  0.02104849 -0.03057347]
 [-0.02267376  0.9982932  -0.0538307 ]
 [ 0.02938864  0.05448691  0.99808121]]

 t_gt:
[-0.13411805  0.49399489 -0.85905844]

Pose Error in degrees for R and t:
3.779276229624356 66.89248168643483

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.99895156  0.04574876  0.00168523]
 [-0.04573199  0.99891392 -0.0089198 ]
 [-0.00209147  0.00883338  0.9999588 ]]

 t_estimated:
[[0.00631618]
 [0.9999795 ]
 [0.00105477]]

 R_gt:
[[ 0.93940555  0.34130394  0.03206914]
 [-0.34018354  0.93967974 -0.03571352]
 [-0.04232536  0.02264117  0.99884689]]

 t_gt:
[-0.67935097  0.73345706  0.02286943]

Pose Error in degrees for R and t:
17.472898289286686 43.182704540708876

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99996167e-01 -2.71843923e-03 -5.26131394e-04]
 [ 2.71848068e-03  9.99996302e-01  7.80860832e-05]
 [ 5.25917176e-04 -7.95160619e-05  9.99999859e-01]]

 t_estimated:
[[-9.99960523e-01]
 [-8.84138394e-03]
 [-8.84138394e-04]]

 R_gt:
[[ 0.85680176  0.51127523  0.06699484]
 [-0.51092505  0.85930238 -0.02355058]
 [-0.06961002 -0.01405005  0.99747486]]

 t_gt:
[-0.61549885  0.78220253  0.09654203]

Pose Error in degrees for R and t:
31.200415757404407 52.52079546657079

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-9.83409733e-01 -1.81397672e-01  4.26247118e-04]
 [-1.81397659e-01  9.83409825e-01  6.86980508e-05]
 [-4.31637270e-04 -9.76189761e-06 -9.99999907e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.80221557  0.59431435  0.05693177]
 [-0.59564322  0.80320516  0.00839768]
 [-0.04073774 -0.04064755  0.99834241]]

 t_gt:
[-0.57561916  0.81300886  0.08763085]

Pose Error in degrees for R and t:
176.90628594743356 55.42229839487517

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99996534e-01  2.63242799e-03  4.78749243e-05]
 [-2.63243040e-03  9.99996534e-01  5.03561904e-05]
 [-4.77421993e-05 -5.04820433e-05  9.99999998e-01]]

 t_estimated:
[[8.52491632e-01]
 [5.22740727e-01]
 [3.86424604e-04]]

 R_gt:
[[ 0.99519252 -0.08965498 -0.03941806]
 [ 0.09161734  0.99447812  0.05117897]
 [ 0.03461293 -0.05454386  0.99791091]]

 t_gt:
[ 0.7216935  -0.65842383  0.21362711]

Pose Error in degrees for R and t:
6.511241331261925 74.26816683274724

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999202e-01  1.26164018e-03  7.22643288e-05]
 [-1.26166165e-03  9.99999160e-01  2.97747320e-04]
 [-7.18886181e-05 -2.97838255e-04  9.99999953e-01]]

 t_estimated:
[[0.73432655]
 [0.67879587]
 [0.00083506]]

 R_gt:
[[ 0.99831595 -0.05587768  0.01559608]
 [ 0.05436371  0.99492064  0.08472589]
 [-0.02025029 -0.08373546  0.99628178]]

 t_gt:
[ 0.44052874 -0.5838134   0.68197972]

Pose Error in degrees for R and t:
5.893107935650474 85.85799472776726

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 4.78847495e-01 -8.77890696e-01  3.60593097e-03]
 [-8.77898019e-01 -4.78841630e-01  2.40032858e-03]
 [-3.80556258e-04 -4.31503098e-03 -9.99990618e-01]]

 t_estimated:
[[0.53507213]
 [0.84480427]
 [0.00188714]]

 R_gt:
[[ 0.99893163 -0.01549857  0.04353805]
 [ 0.00940279  0.99054396  0.13687318]
 [-0.04524715 -0.13631757  0.98963037]]

 t_gt:
[ 0.20232438 -0.40325617  0.89244009]

Pose Error in degrees for R and t:
171.72085432965864 76.65993252709944

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.95825755e-01 -9.12746707e-02 -2.35392651e-05]
 [ 9.12746725e-02  9.95825751e-01  9.18776458e-05]
 [ 1.50549045e-05 -9.36426647e-05  9.99999996e-01]]

 t_estimated:
[[9.99995270e-01]
 [2.98301727e-03]
 [7.48747317e-04]]

 R_gt:
[[ 0.99763531 -0.06684452 -0.01595699]
 [ 0.06648755  0.99754521 -0.02197502]
 [ 0.01738587  0.02086215  0.99963117]]

 t_gt:
[ 0.71131711 -0.61625912 -0.33801281]

Pose Error in degrees for R and t:
2.105444533476537 44.82832129293423

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99999940e-01  3.43551335e-04 -5.42910552e-05]
 [-3.43539511e-04  9.99999917e-01  2.17646528e-04]
 [ 5.43658234e-05 -2.17627864e-04  9.99999975e-01]]

 t_estimated:
[[9.78693338e-01]
 [2.05325868e-01]
 [7.98933337e-04]]

 R_gt:
[[ 0.97656981 -0.21506872 -0.00752382]
 [ 0.21483654  0.97635553 -0.02399296]
 [ 0.01250599  0.0218147   0.99968379]]

 t_gt:
[ 0.79682348 -0.59483529 -0.10603451]

Pose Error in degrees for R and t:
12.518465635847638 48.88092835009448

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.95905351  0.28319336  0.00422849]
 [ 0.28320756 -0.95905316 -0.00324367]
 [ 0.00313676  0.0043084  -0.9999858 ]]

 t_estimated:
[[0.98969419]
 [0.14316331]
 [0.00311225]]

 R_gt:
[[ 0.94434252 -0.32891988 -0.00532875]
 [ 0.32821788  0.94316884 -0.05202212]
 [ 0.02213666  0.04737759  0.99863163]]

 t_gt:
[ 0.84765824 -0.51068192 -0.14380361]

Pose Error in degrees for R and t:
177.0037195473459 40.06061717563834

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.97103911 -0.23888168  0.00431164]
 [ 0.23881522 -0.97098871 -0.01217459]
 [ 0.00709484 -0.01079232  0.99991659]]

 t_estimated:
[[0.80039481]
 [0.59947266]
 [0.00082345]]

 R_gt:
[[ 9.98327113e-01  5.78135956e-02 -5.00253688e-04]
 [-5.78155040e-02  9.98281193e-01 -9.67897227e-03]
 [-6.03039690e-05  9.69197534e-03  9.99953146e-01]]

 t_gt:
[-0.31096886  0.9400183  -0.14022827]

Pose Error in degrees for R and t:
169.49403677458693 71.66925164212361

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 3.27868218e-01  9.44723431e-01 -2.66216209e-04]
 [-9.44722749e-01  3.27867608e-01 -1.32664683e-03]
 [-1.16603067e-03  6.86465840e-04  9.99999085e-01]]

 t_estimated:
[[-6.38873985e-02]
 [ 9.97956977e-01]
 [ 5.22772314e-04]]

 R_gt:
[[ 0.98519579  0.17090352  0.0134168 ]
 [-0.16968947  0.98332792 -0.06535869]
 [-0.02436238  0.06211508  0.99777134]]

 t_gt:
[-0.32031011  0.9446606  -0.07083638]

Pose Error in degrees for R and t:
61.14771036581869 15.60110509752529

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-9.99777364e-01  2.10842896e-02  8.22047991e-04]
 [-2.10869950e-02 -9.99771746e-01 -3.43439598e-03]
 [ 7.49448556e-04 -3.45096588e-03  9.99993765e-01]]

 t_estimated:
[[0.79834492]
 [0.60219984]
 [0.00086029]]

 R_gt:
[[ 0.93471823  0.3553507   0.00527338]
 [-0.35444614  0.93321718 -0.05893982]
 [-0.02586494  0.0532236   0.99824766]]

 t_gt:
[-0.25356212  0.96716081 -0.01749892]

Pose Error in degrees for R and t:
157.9950241093603 67.66761855830082

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.9886213  -0.1503902  -0.00327371]
 [ 0.15040523  0.98861195  0.00496824]
 [ 0.00248925 -0.0054041   0.9999823 ]]

 t_estimated:
[[0.98883543]
 [0.14900357]
 [0.0015605 ]]

 R_gt:
[[ 0.99212418 -0.11851708 -0.0405386 ]
 [ 0.11879817  0.99290849  0.00460807]
 [ 0.03970469 -0.00938691  0.99916642]]

 t_gt:
[ 0.65201917 -0.72985924 -0.20536915]

Pose Error in degrees for R and t:
2.817775262888982 57.61080572783042

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-9.97519767e-01 -7.03868832e-02 -2.84328903e-05]
 [-7.03868172e-02  9.97518092e-01  1.83081233e-03]
 [-1.00502851e-04  1.82827279e-03 -9.99998324e-01]]

 t_estimated:
[[9.98997696e-01]
 [4.47533670e-02]
 [8.59737349e-04]]

 R_gt:
[[ 0.97024333 -0.22505056 -0.08933337]
 [ 0.22855165  0.97303851  0.03099073]
 [ 0.07995001 -0.05048552  0.99551889]]

 t_gt:
[ 0.68342669 -0.71830336 -0.13026225]

Pose Error in degrees for R and t:
175.21109260595543 49.42195705242979

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.27284511  0.96175045 -0.02432338]
 [-0.96202146  0.27252724 -0.01560828]
 [-0.00838249  0.02765826  0.99958229]]

 t_estimated:
[[9.83855564e-01]
 [1.78962192e-01]
 [8.72986304e-04]]

 R_gt:
[[ 0.96650905 -0.25166728 -0.05023592]
 [ 0.25302761  0.967192    0.02275593]
 [ 0.04286059 -0.03470559  0.99847756]]

 t_gt:
[ 0.64333252 -0.7634132  -0.05765019]

Pose Error in degrees for R and t:
88.86998651305694 60.246215211266296

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.44706274  0.89450119  0.00158847]
 [-0.89450148 -0.44705866 -0.00237792]
 [-0.00141691 -0.00248397  0.99999591]]

 t_estimated:
[[0.46787529]
 [0.88379341]
 [0.00138681]]

 R_gt:
[[ 0.99674293  0.07637908  0.02589104]
 [-0.07590478  0.99693676 -0.01884999]
 [-0.02725041  0.01682395  0.99948695]]

 t_gt:
[-0.75079452  0.64929445  0.12134376]

Pose Error in degrees for R and t:
112.19475563586964 77.13043911467796

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.61308426e-01 -2.75471835e-01  1.17393502e-03]
 [ 2.75474252e-01  9.61296086e-01 -4.87551679e-03]
 [ 2.14568412e-04  5.01026424e-03  9.99987426e-01]]

 t_estimated:
[[-0.48069489]
 [-0.87687201]
 [-0.00528236]]

 R_gt:
[[ 0.97108914  0.23871177 -0.00174344]
 [-0.23854329  0.97063433  0.03109398]
 [ 0.00911639 -0.02977903  0.99951446]]

 t_gt:
[-0.70515938  0.70548431  0.07100805]

Pose Error in degrees for R and t:
29.870116594750737 73.73812291656894

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-9.96503259e-01 -8.35533690e-02 -2.98501972e-04]
 [ 8.35538776e-02 -9.96499348e-01 -2.79261278e-03]
 [-6.41248142e-05 -2.80778874e-03  9.99996056e-01]]

 t_estimated:
[[0.91102541]
 [0.4123492 ]
 [0.00091837]]

 R_gt:
[[ 0.9511287   0.29932648 -0.07587805]
 [-0.29226369  0.95193147  0.09169854]
 [ 0.09967979 -0.06504042  0.99289101]]

 t_gt:
[-0.73161963  0.67559583 -0.09112081]

Pose Error in degrees for R and t:
167.55432131082037 67.16825111960675

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.56171252e-01  2.92807994e-01  1.22105092e-04]
 [-2.92807999e-01  9.56171258e-01  2.46560505e-05]
 [-1.09533891e-04 -5.93287545e-05  9.99999992e-01]]

 t_estimated:
[[0.54380269]
 [0.83921264]
 [0.00088712]]

 R_gt:
[[ 0.99618674 -0.07398187  0.04624605]
 [ 0.07513454  0.99689206 -0.02368754]
 [-0.04434944  0.02707256  0.99864907]]

 t_gt:
[ 0.74099192 -0.65288563  0.1570711 ]

Pose Error in degrees for R and t:
21.509032051289644 81.6733100970097

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 0.94550684  0.32560038  0.00110007]
 [-0.3255981   0.94550646 -0.00184713]
 [-0.00164155  0.0013883   0.99999769]]

 t_estimated:
[[-0.80493729]
 [-0.59335915]
 [-0.00094035]]

 R_gt:
[[ 0.99119267 -0.11211658  0.07048595]
 [ 0.11419827  0.99311299 -0.0262115 ]
 [-0.06706183  0.03402974  0.99716843]]

 t_gt:
[ 0.71441092 -0.67424103  0.18712582]

Pose Error in degrees for R and t:
25.846161366017313 79.91174737700916

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[-0.7905365   0.61220321  0.01610175]
 [ 0.61221129  0.79067841 -0.00499877]
 [-0.01579157  0.00590596 -0.99985786]]

 t_estimated:
[[ 0.9223344 ]
 [-0.3862895 ]
 [ 0.00892614]]

 R_gt:
[[ 0.99008217 -0.12572809  0.0626942 ]
 [ 0.12763965  0.99144113 -0.02745513]
 [-0.05870544  0.03518623  0.99765503]]

 t_gt:
[ 0.76580665 -0.63735944  0.08551675]

Pose Error in degrees for R and t:
175.152179187229 17.579571778144807

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.82501458e-01 -1.86254893e-01  2.37162935e-05]
 [ 1.86254892e-01  9.82501456e-01  5.84136666e-05]
 [-3.41811242e-05 -5.29742370e-05  9.99999998e-01]]

 t_estimated:
[[0.79017032]
 [0.61288679]
 [0.00080398]]

 R_gt:
[[ 0.98343867 -0.17802729 -0.03398647]
 [ 0.17878071  0.98367396  0.02054973]
 [ 0.02977319 -0.02628523  0.99921025]]

 t_gt:
[ 0.58646639 -0.808187   -0.0537675 ]

Pose Error in degrees for R and t:
2.3209705232351054 88.16839881507207

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.97526919e-01  7.02853740e-02  1.12245691e-04]
 [-7.02853702e-02  9.97526925e-01 -3.77891686e-05]
 [-1.14624124e-04  2.98064830e-05  9.99999993e-01]]

 t_estimated:
[[0.4703313 ]
 [0.88248906]
 [0.00123081]]

 R_gt:
[[ 0.94393448 -0.32983708 -0.01398975]
 [ 0.3299492   0.94397557  0.00654348]
 [ 0.0110487  -0.01079259  0.99988071]]

 t_gt:
[ 0.64303283 -0.76572494 -0.01319457]

Pose Error in degrees for R and t:
23.310694911244827 68.0793809445304

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.91027955e-01  1.33647399e-01  1.40194332e-03]
 [-1.33646290e-01  9.91028725e-01 -8.57185362e-04]
 [-1.50392670e-03  6.62130133e-04  9.99998650e-01]]

 t_estimated:
[[9.83640420e-01]
 [1.80140857e-01]
 [8.91786419e-04]]

 R_gt:
[[ 0.87194129 -0.48754597 -0.04492824]
 [ 0.48777986  0.87294368 -0.00634488]
 [ 0.04231346 -0.0163813   0.99897015]]

 t_gt:
[ 0.71765003 -0.69478238 -0.04749616]

Pose Error in degrees for R and t:
36.978717117609044 54.49960812130048

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.92505711e-01 -1.22197888e-01  2.98264187e-04]
 [ 1.22198015e-01  9.92505638e-01 -4.50826952e-04]
 [-2.40938786e-04  4.83895616e-04  9.99999854e-01]]

 t_estimated:
[[-0.59360286]
 [-0.80475741]
 [-0.00107732]]

 R_gt:
[[ 0.9900674   0.13900466  0.02105815]
 [-0.13873737  0.9902345  -0.01370429]
 [-0.02275699  0.01064609  0.99968398]]

 t_gt:
[-0.3850672   0.91549995  0.11654649]

Pose Error in degrees for R and t:
15.068842803218018 59.44907808985876

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.10105044  0.9948787   0.0022755 ]
 [ 0.99487968  0.10104588  0.00203735]
 [ 0.00179698  0.00246972 -0.99999534]]

 t_estimated:
[[0.66983078]
 [0.74251335]
 [0.00080413]]

 R_gt:
[[ 0.9373903   0.34826033 -0.00372628]
 [-0.34823175  0.93702546 -0.02678433]
 [-0.00583574  0.02640502  0.99963378]]

 t_gt:
[-0.27198246  0.96217715 -0.01551375]

Pose Error in degrees for R and t:
178.92881378263982 57.84343162659911

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99999374e-01  3.47446673e-04 -1.06392195e-03]
 [-3.46222815e-04  9.99999278e-01  1.15029578e-03]
 [ 1.06432085e-03 -1.14992671e-03  9.99998772e-01]]

 t_estimated:
[[0.52900753]
 [0.84861625]
 [0.00122455]]

 R_gt:
[[ 0.86867794  0.49477052 -0.02450853]
 [-0.49473817  0.86900693  0.00783121]
 [ 0.02517344  0.00532337  0.99966914]]

 t_gt:
[-0.19956147  0.97902114 -0.04114396]

Pose Error in degrees for R and t:
29.67179838635889 43.515066192313874

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.99018963 -0.13948725 -0.00823478]
 [ 0.13952193  0.9902117   0.00379637]
 [ 0.00762463 -0.00490805  0.99995889]]

 t_estimated:
[[-0.86176096]
 [-0.50727773]
 [-0.00611178]]

 R_gt:
[[ 9.89460631e-01  1.44802916e-01  2.85349053e-04]
 [-1.44796969e-01  9.89390743e-01  1.17966781e-02]
 [ 1.42530265e-03 -1.17137065e-02  9.99930799e-01]]

 t_gt:
[-0.72987165  0.68277338  0.033285  ]

Pose Error in degrees for R and t:
16.356113061223407 73.59556367098018

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.44115119e-01 -3.29614731e-01 -8.78152744e-04]
 [ 3.29614759e-01  9.44115510e-01 -1.16137017e-04]
 [ 8.67358098e-04 -1.79805392e-04  9.99999608e-01]]

 t_estimated:
[[-0.47873779]
 [-0.87795643]
 [-0.00162284]]

 R_gt:
[[ 0.96542232  0.25379696 -0.05955798]
 [-0.24803474  0.96457903  0.08981209]
 [ 0.08024263 -0.07193461  0.99417631]]

 t_gt:
[-0.73383784  0.67888101 -0.02454784]

Pose Error in degrees for R and t:
34.359107077496574 75.83753706298377

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-9.43763750e-01 -3.30620586e-01  1.07716241e-04]
 [-3.30619612e-01  9.43761669e-01  2.14109260e-03]
 [-8.09547748e-04  1.98507248e-03 -9.99997702e-01]]

 t_estimated:
[[9.64587376e-01]
 [2.63761800e-01]
 [9.52208664e-04]]

 R_gt:
[[ 0.94437476  0.30083987 -0.13285667]
 [-0.28024296  0.94755691  0.15361996]
 [ 0.17210421 -0.10784347  0.97915818]]

 t_gt:
[-0.77475295  0.60106449 -0.19616152]

Pose Error in degrees for R and t:
172.5250190270237 53.91634365950669

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.96895979e-01 -7.87286829e-02 -4.49382687e-04]
 [ 7.87287838e-02  9.96896050e-01  2.11494344e-04]
 [ 4.31337154e-04 -2.46217213e-04  9.99999877e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97907699 -0.20137428  0.02928113]
 [ 0.20230994  0.97874632 -0.03356303]
 [-0.0219      0.03878462  0.99900847]]

 t_gt:
[ 0.57115064 -0.82032388 -0.02925201]

Pose Error in degrees for R and t:
7.585731195666006 35.23668161760531

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 8.73931661e-01  4.86048790e-01 -1.58051722e-04]
 [-4.86048523e-01  8.73931444e-01  8.15051949e-04]
 [ 5.34281384e-04 -6.35478898e-04  9.99999655e-01]]

 t_estimated:
[[9.45593530e-01]
 [3.25349541e-01]
 [7.42807172e-04]]

 R_gt:
[[ 0.93168179 -0.36169565 -0.03384679]
 [ 0.36075138  0.93214693 -0.0309741 ]
 [ 0.04275331  0.01664812  0.99894706]]

 t_gt:
[ 0.65834173 -0.74132405 -0.13047916]

Pose Error in degrees for R and t:
50.332841360265085 67.58965371650311

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999796e-01  5.23295636e-04 -3.65293818e-04]
 [-5.23124162e-04  9.99999753e-01  4.69351621e-04]
 [ 3.65539337e-04 -4.69160432e-04  9.99999823e-01]]

 t_estimated:
[[0.99987963]
 [0.01546206]
 [0.0012885 ]]

 R_gt:
[[ 0.86634474 -0.49925217 -0.01394668]
 [ 0.49900801  0.86641558 -0.01775163]
 [ 0.02094659  0.00841965  0.99974554]]

 t_gt:
[ 0.70704152 -0.70558357 -0.04737209]

Pose Error in degrees for R and t:
30.003858118859693 45.89419102420553

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999974e-01  1.64305702e-04  1.56286020e-04]
 [-1.64259584e-04  9.99999943e-01 -2.95049035e-04]
 [-1.56334489e-04  2.95023356e-04  9.99999944e-01]]

 t_estimated:
[[-9.91631737e-01]
 [-1.29097979e-01]
 [-4.58524624e-04]]

 R_gt:
[[ 0.97657342  0.21499643  0.00907414]
 [-0.21494605  0.97660668 -0.00620985]
 [-0.01019694  0.004114    0.99993914]]

 t_gt:
[-7.15631399e-01  6.98477899e-01  5.70320186e-04]

Pose Error in degrees for R and t:
12.41983162740806 51.722525011447196

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 7.66443525e-01 -6.42311690e-01  1.24362896e-04]
 [ 6.42311644e-01  7.66443359e-01 -5.73211501e-04]
 [ 2.72863332e-04  5.19213980e-04  9.99999828e-01]]

 t_estimated:
[[-0.74111508]
 [-0.67137698]
 [-0.001182  ]]

 R_gt:
[[ 0.88365463  0.4632145   0.06772835]
 [-0.45994549  0.88600353 -0.05872469]
 [-0.08721015  0.02074168  0.995974  ]]

 t_gt:
[-0.62745699  0.77546388  0.07038103]

Pose Error in degrees for R and t:
67.6852288979111 86.80731969259301

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.60489536  0.79627514 -0.00689228]
 [ 0.79626798 -0.60476118  0.01487342]
 [ 0.00767515 -0.01448496 -0.99986563]]

 t_estimated:
[[-0.66070074]
 [-0.75064762]
 [-0.0016354 ]]

 R_gt:
[[ 0.78732739  0.61291892  0.06669085]
 [-0.61333508  0.7896521  -0.0164595 ]
 [-0.06275122 -0.02794455  0.99763788]]

 t_gt:
[-0.56175086  0.82263423  0.08780032]

Pose Error in degrees for R and t:
179.46367720116575 75.72933735383685

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 0.0741152  -0.9972482  -0.00172156]
 [ 0.99724606  0.07411016  0.00282539]
 [-0.00269003 -0.00192623  0.99999453]]

 t_estimated:
[[0.94416175]
 [0.32947314]
 [0.00245875]]

 R_gt:
[[ 0.99558074  0.06748935  0.06529469]
 [-0.07155849  0.99549977  0.06211742]
 [-0.06080852 -0.0665154   0.99593031]]

 t_gt:
[-0.43945943  0.12847197  0.88902776]

Pose Error in degrees for R and t:
89.85163485371669 68.25929076148418

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-4.27971516e-01 -9.03785023e-01 -3.60752357e-03]
 [ 9.03792130e-01 -4.27966256e-01 -2.16075281e-03]
 [ 4.08957677e-04 -4.18519206e-03  9.99991158e-01]]

 t_estimated:
[[0.99401813]
 [0.10921054]
 [0.00101121]]

 R_gt:
[[ 0.9915277   0.08895445  0.09465925]
 [-0.10054665  0.98695688  0.1257206 ]
 [-0.0822417  -0.13417263  0.98753876]]

 t_gt:
[-0.31754899  0.07374006  0.94537032]

Pose Error in degrees for R and t:
121.01597259653323 72.14312477641732

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.91319826e-01  1.31472392e-01  1.08435498e-04]
 [-1.31472409e-01  9.91319817e-01  1.62784782e-04]
 [-8.60925538e-05 -1.75628058e-04  9.99999981e-01]]

 t_estimated:
[[-0.99233906]
 [-0.12354019]
 [-0.00100439]]

 R_gt:
[[ 0.98083581  0.1400297   0.13547091]
 [-0.16284579  0.9709294   0.17543508]
 [-0.10696644 -0.19413342  0.97512568]]

 t_gt:
[-0.41006758  0.19537153  0.89088413]

Pose Error in degrees for R and t:
12.857182027943473 67.54888412736703

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99999936e-01 -3.52587969e-04 -5.27656660e-05]
 [ 3.52625929e-04  9.99999678e-01  7.21128918e-04]
 [ 5.25113876e-05 -7.21147478e-04  9.99999739e-01]]

 t_estimated:
[[-0.66902934]
 [-0.74323506]
 [-0.00117787]]

 R_gt:
[[ 9.90640072e-01 -1.36499214e-01  6.93563566e-04]
 [ 1.36458056e-01  9.90195505e-01 -2.98593245e-02]
 [ 3.38865514e-03  2.96749563e-02  9.99553373e-01]]

 t_gt:
[ 0.4221986  -0.82300125 -0.38002275]

Pose Error in degrees for R and t:
8.019403144793335 70.751389674241

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.47920630e-01  3.18506536e-01  2.57252817e-04]
 [-3.18506078e-01  9.47920165e-01 -1.11290733e-03]
 [-5.98323392e-04  9.73011235e-04  9.99999348e-01]]

 t_estimated:
[[0.60403027]
 [0.79695934]
 [0.00180308]]

 R_gt:
[[ 0.96474718 -0.26273712 -0.0152638 ]
 [ 0.26182889  0.96404975 -0.04531233]
 [ 0.02662029  0.03971771  0.998856  ]]

 t_gt:
[ 0.47431416 -0.82133792 -0.31690708]

Pose Error in degrees for R and t:
33.89135068156998 68.36797257741897

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.99999662  0.0014147   0.00218077]
 [-0.00140999  0.99999668 -0.00215772]
 [-0.00218382  0.00215464  0.99999529]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9485474  -0.31159251  0.0562967 ]
 [ 0.31340354  0.94924539 -0.02665739]
 [-0.04513255  0.04292994  0.99805793]]

 t_gt:
[ 0.30321982 -0.9527501  -0.01802741]

Pose Error in degrees for R and t:
18.61871868621227 72.52737764274683

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.90268448 -0.42923011  0.03036854]
 [ 0.43020432  0.90173892 -0.04232208]
 [-0.00921858  0.05126816  0.99864238]]

 t_estimated:
[[-0.21678881]
 [-0.97554965]
 [-0.03613147]]

 R_gt:
[[ 0.98574281 -0.16819774 -0.00454207]
 [ 0.16818597  0.98575163 -0.00274448]
 [ 0.00494028  0.00194096  0.99998578]]

 t_gt:
[ 0.80778698 -0.58882956 -0.02756721]

Pose Error in degrees for R and t:
16.063052194391602 66.40248199662855

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-8.21509177e-01 -5.70194432e-01 -9.90810080e-04]
 [ 5.70193547e-01 -8.21509722e-01  1.04664503e-03]
 [-1.41075128e-03  2.94874986e-04  9.99998961e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.95985073 -0.28029876  0.01092871]
 [ 0.28049268  0.95860718 -0.04896084]
 [ 0.00324833  0.05005994  0.99874044]]

 t_gt:
[ 0.86061375 -0.49232009 -0.13024938]

Pose Error in degrees for R and t:
128.96105016091764 55.025781083293914

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 1.13256422e-01 -9.93565424e-01  8.54733537e-04]
 [-9.93564983e-01 -1.13255190e-01  1.37342551e-03]
 [-1.26778509e-03 -1.00478257e-03 -9.99998692e-01]]

 t_estimated:
[[0.7497652 ]
 [0.66170096]
 [0.00199479]]

 R_gt:
[[ 0.93263703 -0.35879089  0.03819376]
 [ 0.36078714  0.92868239 -0.08591484]
 [-0.00464392  0.09390651  0.99556951]]

 t_gt:
[ 0.87721471 -0.45003051 -0.16723308]

Pose Error in degrees for R and t:
177.00941265290462 68.9252362977673

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.95815100e-01  9.13907849e-02  1.07054906e-04]
 [-9.13907819e-02  9.95815105e-01 -3.30118926e-05]
 [-1.09623876e-04  2.30899095e-05  9.99999994e-01]]

 t_estimated:
[[7.96230484e-01]
 [6.04992984e-01]
 [7.10920075e-04]]

 R_gt:
[[ 0.99838199 -0.0562187  -0.00842029]
 [ 0.05625015  0.99841035  0.00360294]
 [ 0.00820434 -0.0040701   0.9999579 ]]

 t_gt:
[ 0.96964108 -0.17209016 -0.17372725]

Pose Error in degrees for R and t:
8.484188890446955 48.10089418566078

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.83557129  0.54936868  0.00383185]
 [ 0.54935668 -0.83544539 -0.0154349 ]
 [-0.00527815  0.01500202 -0.99987353]]

 t_estimated:
[[-0.06855793]
 [ 0.99762215]
 [-0.00706139]]

 R_gt:
[[ 0.98949363 -0.11170024  0.09178232]
 [ 0.12208678  0.98563862 -0.11666785]
 [-0.07743272  0.12664824  0.988921  ]]

 t_gt:
[ 0.6624605   0.23199399 -0.71226741]

Pose Error in degrees for R and t:
170.9832245225988 78.98563947143458

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 8.94938841e-01  4.46188790e-01  1.87096133e-04]
 [-4.46188617e-01  8.94938745e-01 -6.01061516e-04]
 [-4.35626489e-04  4.54433132e-04  9.99999802e-01]]

 t_estimated:
[[-0.30997222]
 [-0.95074483]
 [-0.00122519]]

 R_gt:
[[ 0.98055856 -0.12049286  0.15487291]
 [ 0.14886834  0.97099479 -0.18710092]
 [-0.12783793  0.20652015  0.97005497]]

 t_gt:
[ 0.48070262  0.27966336 -0.83109169]

Pose Error in degrees for R and t:
37.02809470669294 65.55152893038884

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99945802e-01  1.04111787e-02  4.73370447e-06]
 [-1.04111788e-02  9.99945801e-01  3.87797711e-05]
 [-4.32970478e-06 -3.88269527e-05  9.99999999e-01]]

 t_estimated:
[[0.64465123]
 [0.76447629]
 [0.0008895 ]]

 R_gt:
[[ 9.99855089e-01  5.59922977e-03 -1.60915171e-02]
 [-5.61596250e-03  9.99983360e-01 -9.76938422e-04]
 [ 1.60855388e-02  1.06773000e-03  9.99869478e-01]]

 t_gt:
[0.41150676 0.91122506 0.01819543]

Pose Error in degrees for R and t:
0.9654455729103549 15.865838652355626

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-8.33456706e-01 -5.52584610e-01 -4.09870232e-04]
 [-5.52583058e-01  8.33452065e-01  3.10158002e-03]
 [-1.37227820e-03  2.81152002e-03 -9.99995106e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99760365 -0.06440741  0.02528297]
 [ 0.06569952  0.99637065 -0.05412051]
 [-0.0217054   0.05565202  0.99821396]]

 t_gt:
[ 0.76358161  0.36143249 -0.53507913]

Pose Error in degrees for R and t:
179.58374779326346 40.15669659268691

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 8.85791172e-01  4.64083870e-01  4.00285948e-04]
 [-4.64083420e-01  8.85791067e-01 -8.74495181e-04]
 [-7.60408826e-04  5.88854040e-04  9.99999538e-01]]

 t_estimated:
[[0.51843549]
 [0.85511613]
 [0.00101988]]

 R_gt:
[[ 0.99030336 -0.07979972  0.11372009]
 [ 0.0983174   0.98089621 -0.16786064]
 [-0.09815233  0.1774136   0.979229  ]]

 t_gt:
[ 0.35578511  0.56620085 -0.74352778]

Pose Error in degrees for R and t:
34.76427458584215 48.09782571526813

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999908e-01 -4.28341849e-04 -1.46426734e-06]
 [ 4.28342280e-04  9.99999861e-01  3.08552177e-04]
 [ 1.33210132e-06 -3.08552776e-04  9.99999952e-01]]

 t_estimated:
[[0.65605255]
 [0.7547143 ]
 [0.00116962]]

 R_gt:
[[ 0.99390169 -0.10856623  0.01933072]
 [ 0.10943888  0.9926294  -0.05206492]
 [-0.01353639  0.05386324  0.99845643]]

 t_gt:
[ 0.83012523 -0.4906337  -0.26489749]

Pose Error in degrees for R and t:
7.0104318935673104 79.97908362919351

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.72498277 -0.68875383 -0.00425965]
 [ 0.68875581  0.72499238 -0.001218  ]
 [ 0.00392711 -0.00205083  0.99999019]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98283958 -0.17497786  0.05838266]
 [ 0.17955321  0.9800301  -0.08544678]
 [-0.04226615  0.09446309  0.99463135]]

 t_gt:
[ 0.84097016 -0.49860525 -0.21014753]

Pose Error in degrees for R and t:
33.831430710804774 67.9235092720848

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-7.41464673e-01 -6.70990382e-01 -1.43000096e-03]
 [-6.70991848e-01  7.41462035e-01  1.99770049e-03]
 [-2.80146394e-04  2.44074333e-03 -9.99996982e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.97611894 -0.17967013  0.12210824]
 [ 0.19798209  0.96712134 -0.15962088]
 [-0.08941438  0.17998407  0.97959715]]

 t_gt:
[ 0.82333914 -0.42965818 -0.37081869]

Pose Error in degrees for R and t:
177.8444086745129 66.2444489535755

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.99999835e-01 -5.25302558e-04  2.32421884e-04]
 [ 5.25414891e-04  9.99999745e-01 -4.83517213e-04]
 [-2.32167832e-04  4.83639251e-04  9.99999856e-01]]

 t_estimated:
[[0.98579489]
 [0.16794787]
 [0.00139407]]

 R_gt:
[[ 0.98999368 -0.13111564  0.05215991]
 [ 0.13190167  0.99119124 -0.01188904]
 [-0.05014171  0.01865001  0.99856674]]

 t_gt:
[ 0.18830013 -0.94315346  0.27386969]

Pose Error in degrees for R and t:
8.124261431436244 88.41806395658129

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99999969e-01  2.39598457e-04 -6.51281139e-05]
 [-2.39619240e-04  9.99999920e-01 -3.19287850e-04]
 [ 6.50516078e-05  3.19303446e-04  9.99999947e-01]]

 t_estimated:
[[-0.74823188]
 [-0.66343626]
 [-0.00117468]]

 R_gt:
[[ 0.97353892 -0.22153818  0.05605465]
 [ 0.2205991   0.97510519  0.02249902]
 [-0.05964425 -0.00953817  0.99817289]]

 t_gt:
[ 0.21577056 -0.93168529  0.29224234]

Pose Error in degrees for R and t:
13.25816853676649 62.849838054909775

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.68571031  0.72775393  0.01325088]
 [ 0.72784441  0.68573396  0.00338411]
 [-0.00662378  0.0119651  -0.99990648]]

 t_estimated:
[[8.73077344e-01]
 [4.87581215e-01]
 [7.13881721e-04]]

 R_gt:
[[ 0.92974481 -0.36476067  0.05022943]
 [ 0.36629368  0.93015189 -0.02542308]
 [-0.03744728  0.04203573  0.99841349]]

 t_gt:
[ 0.44600201 -0.89434038 -0.03517788]

Pose Error in degrees for R and t:
176.17273754963705 87.32363297652795

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-3.42380344e-01 -9.39559538e-01  1.89088631e-03]
 [-9.39561277e-01  3.42380778e-01 -9.88572258e-05]
 [-5.54520877e-04 -1.81045032e-03 -9.99998207e-01]]

 t_estimated:
[[0.82554111]
 [0.56433953]
 [0.00166589]]

 R_gt:
[[ 0.99958549  0.02877601  0.0012786 ]
 [-0.0286745   0.99828327 -0.051063  ]
 [-0.00274552  0.051005    0.99869507]]

 t_gt:
[-0.49159827  0.28057562 -0.82438369]

Pose Error in degrees for R and t:
178.5029945181548 75.58946366306651

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-3.79962961e-01 -9.25001259e-01  9.04672202e-04]
 [-9.24996919e-01  3.79957669e-01 -3.58749723e-03]
 [ 2.97470232e-03 -2.19993507e-03 -9.99993156e-01]]

 t_estimated:
[[8.29443374e-01]
 [5.58590364e-01]
 [7.03514312e-04]]

 R_gt:
[[ 0.99593576 -0.08966304  0.00854247]
 [ 0.090051    0.99310859 -0.07499714]
 [-0.0017582   0.07546215  0.9971479 ]]

 t_gt:
[ 0.7719716  -0.03293201 -0.63480339]

Pose Error in degrees for R and t:
177.76127370611542 51.576831524543024

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.95300129e-01  9.68380955e-02  1.89905348e-04]
 [-9.68380842e-02  9.95300146e-01 -6.77149316e-05]
 [-1.95570206e-04  4.90066101e-05  9.99999980e-01]]

 t_estimated:
[[ 9.95829693e-01]
 [-9.12308301e-02]
 [-3.96568338e-04]]

 R_gt:
[[ 0.96439697 -0.26427835  0.00975904]
 [ 0.26424036  0.9614487  -0.07610168]
 [ 0.01072904  0.07597191  0.99705284]]

 t_gt:
[ 0.95729373 -0.08196321 -0.27725575]

Pose Error in degrees for R and t:
21.355710966049426 16.077280584777267

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99954746e-01 -9.51228434e-03 -1.52092880e-04]
 [ 9.51228545e-03  9.99954757e-01  6.56342624e-06]
 [ 1.52023565e-04 -8.00988010e-06  9.99999988e-01]]

 t_estimated:
[[-0.82053882]
 [-0.57158881]
 [-0.0015074 ]]

 R_gt:
[[ 0.99423066  0.10202859 -0.03310301]
 [-0.1009952   0.99438758  0.03152765]
 [ 0.03613351 -0.02800193  0.99895426]]

 t_gt:
[-0.72961963  0.68069329 -0.06566461]

Pose Error in degrees for R and t:
6.8886509043579744 77.89501999295449

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 5.80496985e-01  8.14261972e-01  8.31415632e-04]
 [-8.14261926e-01  5.80497444e-01 -4.82011535e-04]
 [-8.75118313e-04 -3.97183851e-04  9.99999538e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96760472  0.25033699 -0.03273663]
 [-0.2490826   0.96773427  0.0380623 ]
 [ 0.04120785 -0.02867488  0.99873934]]

 t_gt:
[-0.65046684  0.75795396 -0.04897639]

Pose Error in degrees for R and t:
40.14698349981107 41.0766688733529

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 4.16577861e-01 -9.09098941e-01 -1.41482771e-03]
 [ 9.09088153e-01  4.16579868e-01 -4.46588327e-03]
 [ 4.64931849e-03  5.74184993e-04  9.99989027e-01]]

 t_estimated:
[[-0.07797295]
 [-0.99693992]
 [-0.0055695 ]]

 R_gt:
[[ 0.91055414  0.412004   -0.03383584]
 [-0.4111667   0.91109539  0.02910518]
 [ 0.04281796 -0.01258967  0.9990032 ]]

 t_gt:
[-0.57997464  0.81253348 -0.05847014]

Pose Error in degrees for R and t:
89.72430608389462 40.13755187769488

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 8.09470048e-01  5.87161169e-01 -4.90918378e-05]
 [-5.87161055e-01  8.09469833e-01 -6.96041835e-04]
 [-3.68950376e-04  5.92249833e-04  9.99999757e-01]]

 t_estimated:
[[5.87860801e-01]
 [8.08961843e-01]
 [6.44999969e-04]]

 R_gt:
[[ 0.98881685 -0.14870351 -0.01131627]
 [ 0.14837619  0.98859607 -0.02572767]
 [ 0.01501245  0.02376126  0.99960546]]

 t_gt:
[ 0.74853997 -0.64807812 -0.14029495]

Pose Error in degrees for R and t:
44.52639807769819 85.16286639708588

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 8.75977038e-01 -4.82352789e-01  1.26018907e-04]
 [ 4.82352755e-01  8.75977036e-01  2.27117397e-04]
 [-2.19940379e-04 -1.38164058e-04  9.99999966e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96299397 -0.26794748  0.02907828]
 [ 0.26862756  0.96297643 -0.02267791]
 [-0.02192512  0.02965077  0.9993202 ]]

 t_gt:
[ 0.76921622 -0.6389855   0.00198564]

Pose Error in degrees for R and t:
13.438026911247523 39.89398481548196

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.99999809  0.00132752  0.00143488]
 [-0.00132562  0.99999824 -0.00132472]
 [-0.00143664  0.00132281  0.99999809]]

 t_estimated:
[[9.95833670e-01]
 [9.11847698e-02]
 [7.99866401e-04]]

 R_gt:
[[ 0.9069869  -0.42049601 -0.02359024]
 [ 0.42045023  0.90728739 -0.00710463]
 [ 0.02438989 -0.00347417  0.99969657]]

 t_gt:
[ 0.82710828 -0.56074545 -0.03816341]

Pose Error in degrees for R and t:
24.9884457151913 39.42105248794282

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.92957442e-01 -1.18471197e-01 -3.06447021e-04]
 [ 1.18471181e-01  9.92957489e-01 -7.09625497e-05]
 [ 3.12695882e-04  3.41576514e-05  9.99999951e-01]]

 t_estimated:
[[-0.65393688]
 [-0.75654779]
 [-0.00141589]]

 R_gt:
[[ 9.92239543e-01  1.24342697e-01 -1.74207798e-04]
 [-1.24211899e-01  9.91126945e-01 -4.73206576e-02]
 [-5.71184793e-03  4.69756430e-02  9.98879922e-01]]

 t_gt:
[-0.37472004  0.91184214 -0.16771643]

Pose Error in degrees for R and t:
14.206491051172499 63.6040777150052

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-9.99900424e-01  1.39152254e-02 -2.34710427e-03]
 [-1.39175798e-02 -9.99902656e-01  9.89773234e-04]
 [-2.33310288e-03  1.02234069e-03  9.99996756e-01]]

 t_estimated:
[[0.69067786]
 [0.72316215]
 [0.00077344]]

 R_gt:
[[ 0.96771862  0.250928   -0.02360218]
 [-0.25202643  0.96260373 -0.0993905 ]
 [-0.00222036  0.1021304   0.99476812]]

 t_gt:
[-0.29324614  0.93528707 -0.198103  ]

Pose Error in degrees for R and t:
164.6119413069191 61.727056467186735

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.92328560e-01  1.23628510e-01 -1.40749619e-04]
 [-1.23628511e-01  9.92328570e-01  7.41736395e-07]
 [ 1.39761568e-04  1.66646197e-05  9.99999990e-01]]

 t_estimated:
[[-9.88220630e-01]
 [-1.53035452e-01]
 [-3.69195921e-04]]

 R_gt:
[[ 0.93993634  0.34070695 -0.02095225]
 [-0.34082073  0.93328226 -0.11325434]
 [-0.01903312  0.11359304  0.99334481]]

 t_gt:
[-0.27604947  0.95362591 -0.11997633]

Pose Error in degrees for R and t:
14.482117870565848 82.70930610945628

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.31332059e-01 -3.64165697e-01 -1.98527647e-03]
 [ 3.64167192e-01  9.31333486e-01  4.39704873e-04]
 [ 1.68882903e-03 -1.13248380e-03  9.99997933e-01]]

 t_estimated:
[[8.06825132e-01]
 [5.90789988e-01]
 [6.29840072e-04]]

 R_gt:
[[ 0.98518444 -0.16992492  0.02318071]
 [ 0.16923648  0.98515044  0.02895024]
 [-0.02775498 -0.02459748  0.99931251]]

 t_gt:
[ 0.54737699 -0.798651    0.25007002]

Pose Error in degrees for R and t:
11.789907676711957 88.2785761614335

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99999980e-01 -1.69698401e-04 -1.03175080e-04]
 [ 1.69732890e-04  9.99999930e-01  3.34356811e-04]
 [ 1.03118333e-04 -3.34374317e-04  9.99999939e-01]]

 t_estimated:
[[-5.98135821e-01]
 [-8.01394354e-01]
 [-7.93726704e-04]]

 R_gt:
[[ 0.97104972 -0.23887543 -0.00118331]
 [ 0.23876991  0.97045226  0.03479251]
 [-0.00716244 -0.0340668   0.99939386]]

 t_gt:
[ 0.59009464 -0.79779485  0.12374042]

Pose Error in degrees for R and t:
13.951638347536413 73.36382719091729

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 2.98079841e-01  9.54534555e-01  3.49156856e-03]
 [ 9.54540939e-01 -2.98078108e-01 -1.01874668e-03]
 [ 6.83312378e-05  3.63651298e-03 -9.99993386e-01]]

 t_estimated:
[[0.64652138]
 [0.76289522]
 [0.00099465]]

 R_gt:
[[ 0.89469881 -0.44543032  0.03328103]
 [ 0.44439388  0.89517664  0.03423447]
 [-0.04504034 -0.01583847  0.99885985]]

 t_gt:
[ 0.67995576 -0.72470855  0.11161399]

Pose Error in degrees for R and t:
179.63740844467063 83.50250707236914

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99998603e-01 -1.64472473e-03 -2.96655888e-04]
 [ 1.64470857e-03  9.99998646e-01 -5.47057539e-05]
 [ 2.96745462e-04  5.42177651e-05  9.99999955e-01]]

 t_estimated:
[[-0.99406128]
 [-0.10880982]
 [-0.00161038]]

 R_gt:
[[ 0.98985961  0.14204065  0.00161667]
 [-0.1419904   0.98904751  0.04030356]
 [ 0.00412546 -0.04012411  0.99918657]]

 t_gt:
[-0.44524404  0.88973992  0.1006013 ]

Pose Error in degrees for R and t:
8.57940395810211 69.78002199269451

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 6.62311745e-01 -7.49226199e-01 -1.80419987e-03]
 [ 7.49226721e-01  6.62313420e-01 -5.04176309e-04]
 [ 1.57268789e-03 -1.01783286e-03  9.99998245e-01]]

 t_estimated:
[[ 0.82626446]
 [-0.56328177]
 [-0.00082963]]

 R_gt:
[[ 9.68780844e-01  2.47917323e-01  6.74125239e-04]
 [-2.47918434e-01  9.68769329e-01  4.74896201e-03]
 [ 5.24470376e-04 -4.76799337e-03  9.99988568e-01]]

 t_gt:
[-0.37778261  0.92581577 -0.01206068]

Pose Error in degrees for R and t:
62.87844772380134 33.52618585016776

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.47344654 -0.62875218  0.61686228]
 [-0.71891241 -0.12880823 -0.68306178]
 [ 0.50893352 -0.76686318 -0.39103393]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.92901377  0.36982487 -0.0127577 ]
 [-0.37003885  0.92822944 -0.03823228]
 [-0.00229719  0.0402391   0.99918747]]

 t_gt:
[-0.2868204   0.95586161 -0.06373889]

Pose Error in degrees for R and t:
164.84043385598568 62.45972323467463

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999977e-01 -2.13753926e-04  3.00491795e-05]
 [ 2.13755143e-04  9.99999976e-01 -4.05193305e-05]
 [-3.00405176e-05  4.05257527e-05  9.99999999e-01]]

 t_estimated:
[[0.70861388]
 [0.7055961 ]
 [0.00071683]]

 R_gt:
[[ 0.99362166 -0.11134021 -0.01790706]
 [ 0.1117086   0.99351726  0.02106304]
 [ 0.01544652 -0.0229286   0.99961792]]

 t_gt:
[ 0.52485212 -0.85112374 -0.01089187]

Pose Error in degrees for R and t:
6.5859890077938195 76.78298927501584

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999802e-01  5.59831039e-04  2.88337386e-04]
 [-5.59746427e-04  9.99999800e-01 -2.93445949e-04]
 [-2.88501608e-04  2.93284495e-04  9.99999915e-01]]

 t_estimated:
[[-9.98183651e-01]
 [ 6.02431217e-02]
 [-4.07410744e-04]]

 R_gt:
[[ 0.95066492 -0.30785746  0.03822226]
 [ 0.30777305  0.95142388  0.00821797]
 [-0.03889505  0.00395136  0.99923514]]

 t_gt:
[ 0.61099787 -0.78478183  0.10391865]

Pose Error in degrees for R and t:
18.10291505843657 48.912705362855846

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 4.93375178e-01  8.69809295e-01  3.56690293e-03]
 [ 8.69816607e-01 -4.93370752e-01 -2.09081549e-03]
 [-5.88051694e-05  4.13410787e-03 -9.99991453e-01]]

 t_estimated:
[[-0.99316448]
 [-0.11669683]
 [-0.00248291]]

 R_gt:
[[ 8.80465284e-01 -4.74108252e-01 -9.28559967e-04]
 [ 4.74070123e-01  8.80363807e-01  1.47543093e-02]
 [-6.17716809e-03 -1.34310721e-02  9.99890195e-01]]

 t_gt:
[ 0.70230034 -0.71129719  0.02881915]

Pose Error in degrees for R and t:
179.5817292118796 52.07966772698653

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 0.3630378   0.93167726  0.01345507]
 [ 0.93168238 -0.36276115 -0.01929468]
 [-0.01309543  0.01954055 -0.9997233 ]]

 t_estimated:
[[-0.56952428]
 [ 0.82189391]
 [-0.01151083]]

 R_gt:
[[ 0.99389586 -0.07929076  0.07670466]
 [ 0.08407139  0.99457623 -0.06124313]
 [-0.07143308  0.0673181   0.99517076]]

 t_gt:
[ 0.72826414 -0.61762505 -0.29693541]

Pose Error in degrees for R and t:
173.2041567280886 23.22426737320743

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99986636e-01 -5.16918876e-03  8.27931274e-05]
 [ 5.16918883e-03  9.99986640e-01 -6.45568457e-07]
 [-8.27886842e-05  1.07353314e-06  9.99999997e-01]]

 t_estimated:
[[ 5.15016491e-01]
 [-8.57180269e-01]
 [-2.74840681e-05]]

 R_gt:
[[ 0.99027276 -0.10626386  0.08982278]
 [ 0.11165654  0.99209421 -0.05728623]
 [-0.08302554  0.06675819  0.9943088 ]]

 t_gt:
[ 0.76832335 -0.62433016 -0.14103575]

Pose Error in degrees for R and t:
8.546690681655795 21.429697626192837

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.97657060e-01 -6.84104516e-02  6.33773899e-04]
 [ 6.84111929e-02  9.97656448e-01 -1.23282352e-03]
 [-5.47950604e-04  1.27329232e-03  9.99999039e-01]]

 t_estimated:
[[-0.80626226]
 [-0.59155719]
 [-0.00111826]]

 R_gt:
[[ 0.97989179 -0.1097408   0.16664024]
 [ 0.12578247  0.98806191 -0.08894901]
 [-0.15489009  0.10812152  0.98199721]]

 t_gt:
[ 0.80766215 -0.58374088 -0.08323727]

Pose Error in degrees for R and t:
11.203182488759172 72.19500466781616

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-6.43017836e-01 -7.65850889e-01 -6.91838373e-04]
 [-7.65849116e-01  6.43013715e-01  2.91453305e-03]
 [-1.78723617e-03  2.40394054e-03 -9.99995513e-01]]

 t_estimated:
[[9.75207634e-01]
 [2.21289748e-01]
 [9.57964277e-04]]

 R_gt:
[[ 9.90939670e-01 -1.30246678e-01  3.27591491e-02]
 [ 1.30144628e-01  9.91481341e-01  5.21796502e-03]
 [-3.31608133e-02 -9.06120475e-04  9.99449131e-01]]

 t_gt:
[ 0.68784436 -0.70102062  0.18825573]

Pose Error in degrees for R and t:
178.1632469316026 58.946198687000134

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.94210057  0.33532828 -0.0012105 ]
 [-0.33532567  0.94210026  0.00194602]
 [ 0.00179296 -0.00142743  0.99999737]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.96298805 -0.26930078  0.0114466 ]
 [ 0.2691043   0.9629751   0.01615943]
 [-0.01537518 -0.01248095  0.99980406]]

 t_gt:
[ 0.76500116 -0.6414456   0.0576261 ]

Pose Error in degrees for R and t:
35.22839669321831 41.04156487102623

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.73245773e-01  2.29761047e-01  1.58967368e-03]
 [-2.29759154e-01  9.73246665e-01 -1.28838719e-03]
 [-1.84316580e-03  8.88675307e-04  9.99997906e-01]]

 t_estimated:
[[0.75733231]
 [0.65302906]
 [0.00090698]]

 R_gt:
[[ 0.88998882 -0.45500588 -0.02983619]
 [ 0.45536499  0.89028297  0.00625044]
 [ 0.02371777 -0.01914921  0.99953541]]

 t_gt:
[ 0.83411213 -0.55124549 -0.01963065]

Pose Error in degrees for R and t:
40.408115932856674 74.23437332570379

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99923628e-01 -1.23583315e-02 -9.79223898e-05]
 [ 1.23583152e-02  9.99923619e-01 -1.64993900e-04]
 [ 9.99539598e-05  1.63771144e-04  9.99999982e-01]]

 t_estimated:
[[0.60044858]
 [0.79966282]
 [0.00093528]]

 R_gt:
[[ 0.99124287  0.13174906 -0.00899823]
 [-0.13180312  0.99126075 -0.00562322]
 [ 0.00817869  0.00675886  0.99994404]]

 t_gt:
[-0.61401323  0.78354337 -0.09511858]

Pose Error in degrees for R and t:
8.301721604314181 75.06054688546577

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.92134080e-01 -1.25179465e-01 -2.62943428e-04]
 [ 1.25179526e-01  9.92134080e-01  2.30755451e-04]
 [ 2.31989292e-04 -2.61855480e-04  9.99999939e-01]]

 t_estimated:
[[-8.03045841e-01]
 [-5.95916750e-01]
 [-7.77548701e-04]]

 R_gt:
[[ 9.74199732e-01  2.21783816e-01 -4.18149081e-02]
 [-2.21618290e-01  9.75095677e-01  8.63176978e-03]
 [ 4.26879055e-02  8.57233576e-04  9.99088173e-01]]

 t_gt:
[-0.59389047  0.78767854 -0.16387994]

Pose Error in degrees for R and t:
20.151634705983202 89.56123260597602

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 7.19140826e-01 -6.94862553e-01  1.58253413e-03]
 [-6.94863863e-01 -7.19141163e-01  4.47149059e-04]
 [ 8.27358298e-04 -1.42120892e-03 -9.99998648e-01]]

 t_estimated:
[[0.16349087]
 [0.98654421]
 [0.0011198 ]]

 R_gt:
[[ 0.93687861  0.34672047 -0.04520104]
 [-0.34485004  0.93760865  0.04437509]
 [ 0.0577673  -0.02598742  0.99799174]]

 t_gt:
[-0.58058614  0.80994589 -0.08311069]

Pose Error in degrees for R and t:
179.15384352847883 45.24845835894069

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.55643327e-01  2.94526043e-01  4.92324720e-04]
 [-2.94525929e-01  9.55643444e-01 -2.92203616e-04]
 [-5.56548466e-04  1.34240040e-04  9.99999836e-01]]

 t_estimated:
[[0.77322401]
 [0.63413218]
 [0.00100629]]

 R_gt:
[[ 0.97275767 -0.22893919  0.03645993]
 [ 0.22746408  0.97294243  0.04054302]
 [-0.04475606 -0.03114469  0.99851242]]

 t_gt:
[ 0.67729665 -0.69432865  0.24326317]

Pose Error in degrees for R and t:
30.485683978317518 85.20156152519483

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.99074361  0.13571124  0.0030917 ]
 [-0.13569203  0.99073437 -0.00575146]
 [-0.00384359  0.0052787   0.99997868]]

 t_estimated:
[[-0.0952863 ]
 [-0.99530014]
 [-0.01726728]]

 R_gt:
[[ 0.91350676 -0.40672081  0.00909652]
 [ 0.40508762  0.9114464   0.07190105]
 [-0.03753552 -0.06199758  0.99736974]]

 t_gt:
[ 0.77555116 -0.60398604  0.18363349]

Pose Error in degrees for R and t:
32.077094638207605 58.39386272944448

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 8.96162578e-01 -4.43724374e-01 -1.14627759e-03]
 [ 4.43724456e-01  8.96163249e-01 -1.95933528e-04]
 [ 1.11419233e-03 -3.33043103e-04  9.99999324e-01]]

 t_estimated:
[[ 9.79543681e-01]
 [-2.01229795e-01]
 [-8.64411121e-04]]

 R_gt:
[[ 0.89560571 -0.44463706  0.01371203]
 [ 0.44212081  0.89309975  0.08308183]
 [-0.04918792 -0.06834645  0.99644764]]

 t_gt:
[ 0.77815573 -0.59395452  0.20418544]

Pose Error in degrees for R and t:
4.8528332031617545 28.16616308612986

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.99956247e-01 -9.35426098e-03 -3.19528959e-05]
 [ 9.35426095e-03  9.99956248e-01 -1.15790208e-06]
 [ 3.19623292e-05  8.58955691e-07  9.99999999e-01]]

 t_estimated:
[[-7.96395343e-01]
 [-6.04776129e-01]
 [-5.40279911e-04]]

 R_gt:
[[ 0.99843675  0.05180658 -0.02097364]
 [-0.05231319  0.99833391 -0.0243496 ]
 [ 0.01967621  0.02540914  0.99948297]]

 t_gt:
[-0.4779515   0.65968961 -0.57997584]

Pose Error in degrees for R and t:
3.972988660596372 88.9678849348145

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.21774157  0.97596535  0.00895793]
 [-0.97599907 -0.21776646  0.00189113]
 [ 0.00379641 -0.00833116  0.99995809]]

 t_estimated:
[[0.72655861]
 [0.68710409]
 [0.00074442]]

 R_gt:
[[ 0.98670472  0.15909817 -0.03319509]
 [-0.15988501  0.98687788 -0.02254863]
 [ 0.0291719   0.02755708  0.99919417]]

 t_gt:
[-0.56969921  0.78001316 -0.2588866 ]

Pose Error in degrees for R and t:
93.43235565710285 83.00182947774876

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.98313952e-01  5.80452206e-02 -7.82995790e-05]
 [-5.80452215e-02  9.98313955e-01 -9.15973534e-06]
 [ 7.76358835e-05  1.36892080e-05  9.99999997e-01]]

 t_estimated:
[[-9.97103319e-01]
 [-7.60581060e-02]
 [-3.69193165e-04]]

 R_gt:
[[ 0.96147273  0.26901514 -0.05658065]
 [-0.27017943  0.96270978 -0.01388443]
 [ 0.05073548  0.02863627  0.99830062]]

 t_gt:
[-0.55323126  0.80194771 -0.22542192]

Pose Error in degrees for R and t:
12.768060055543195 60.61225950072092

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99636773e-01  2.69502671e-02 -6.78108365e-05]
 [-2.69502669e-02  9.99636776e-01  5.01424408e-06]
 [ 6.79213411e-05 -3.18490264e-06  9.99999998e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99725902  0.06722348  0.03089791]
 [-0.06571836  0.99671122 -0.04741253]
 [-0.0339835   0.04525251  0.99839726]]

 t_gt:
[-0.84100703  0.33823962 -0.4222572 ]

Pose Error in degrees for R and t:
3.961553489877109 61.82599122674568

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99977503e-01  6.70627196e-03 -1.42327389e-04]
 [-6.70627005e-03  9.99977513e-01  1.39139816e-05]
 [ 1.42417500e-04 -1.29591826e-05  9.99999990e-01]]

 t_estimated:
[[-0.83923331]
 [-0.5437707 ]
 [-0.00093352]]

 R_gt:
[[ 0.99370668  0.10736003  0.03193994]
 [-0.10378281  0.98975709 -0.09803788]
 [-0.04213852  0.09410616  0.9946696 ]]

 t_gt:
[-0.75671798  0.35927819 -0.5461658 ]

Pose Error in degrees for R and t:
8.212217784105956 63.882856776482804

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 1.09422189e-01 -9.93994365e-01 -1.40976590e-03]
 [-9.93995268e-01 -1.09421443e-01 -5.95633465e-04]
 [ 4.37797688e-04  1.46647615e-03 -9.99998829e-01]]

 t_estimated:
[[8.06552520e-01]
 [5.91161934e-01]
 [7.74786283e-04]]

 R_gt:
[[ 0.9990486  -0.00818287  0.04281962]
 [ 0.01277968  0.99404746 -0.10820314]
 [-0.04167948  0.10864827  0.99320499]]

 t_gt:
[-0.0236797   0.22583939 -0.97387671]

Pose Error in degrees for R and t:
176.9034780033608 83.47399356126968

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.92503050e-01 -1.22218761e-01 -5.20108869e-04]
 [ 1.22218956e-01  9.92503097e-01  3.60770705e-04]
 [ 4.72116714e-04 -4.21633188e-04  9.99999800e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9961181   0.0874105  -0.01048643]
 [-0.08749521  0.99613294 -0.00798896]
 [ 0.00974694  0.00887609  0.99991238]]

 t_gt:
[-0.79272982  0.59647818 -0.12567104]

Pose Error in degrees for R and t:
12.060625906544235 37.723405896828424

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.98774811e-01 -4.94854371e-02  2.61913667e-04]
 [ 4.94858902e-02  9.98772461e-01 -2.17200812e-03]
 [-1.54109387e-04  2.18230803e-03  9.99997607e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9650951   0.26185845  0.00466616]
 [-0.26186915  0.96510194  0.0016671 ]
 [-0.0040674  -0.00283013  0.99998801]]

 t_gt:
[-0.74051142  0.67168618  0.02192081]

Pose Error in degrees for R and t:
18.020611925268902 42.404030618850676

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.78237135e-01 -4.78224858e-01  7.21397646e-04]
 [ 4.78225335e-01  8.78235220e-01 -1.85095985e-03]
 [ 2.51618189e-04  1.97057230e-03  9.99998027e-01]]

 t_estimated:
[[0.37290082]
 [0.9278707 ]
 [0.00097363]]

 R_gt:
[[ 0.92299438  0.38468575  0.00988228]
 [-0.38447164  0.92295323 -0.01838985]
 [-0.016196    0.0131751   0.99978217]]

 t_gt:
[-0.66843773  0.74376761  0.0008628 ]

Pose Error in degrees for R and t:
51.20061631490374 63.841232507277674

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999999e-01 -3.39439534e-05  2.49825108e-05]
 [ 3.39439569e-05  9.99999999e-01 -1.40696570e-07]
 [-2.49825060e-05  1.41544576e-07  1.00000000e+00]]

 t_estimated:
[[-0.63131012]
 [-0.77552974]
 [-0.00107381]]

 R_gt:
[[ 9.88931909e-01 -1.41365042e-01  4.50504292e-02]
 [ 1.41187140e-01  9.89957657e-01  7.11140156e-03]
 [-4.56033575e-02 -6.72175841e-04  9.98959373e-01]]

 t_gt:
[ 0.67809776 -0.70951859  0.19174669]

Pose Error in degrees for R and t:
8.533066290062884 82.99494609790912

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 5.15268580e-01 -8.57028104e-01 -1.05822054e-03]
 [ 8.57024856e-01  5.15269567e-01 -2.38104210e-03]
 [ 2.58588883e-03  3.19954878e-04  9.99996605e-01]]

 t_estimated:
[[ 0.99410006]
 [-0.10846151]
 [-0.00108122]]

 R_gt:
[[ 0.95777555 -0.28704482  0.01647591]
 [ 0.28611125  0.95718579  0.0439892 ]
 [-0.02839762 -0.03741782  0.99889613]]

 t_gt:
[ 0.76605326 -0.63094625  0.1227568 ]

Pose Error in degrees for R and t:
42.41254183652431 33.91828493142328

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 5.67391229e-01  8.23448155e-01  5.74379038e-04]
 [-8.23445048e-01  5.67390789e-01 -2.43853334e-03]
 [-2.33390315e-03  9.10632853e-04  9.99996862e-01]]

 t_estimated:
[[-9.93002915e-01]
 [-1.18087442e-01]
 [-7.52958915e-04]]

 R_gt:
[[ 0.91751164 -0.39759368  0.00959465]
 [ 0.39677877  0.91674691  0.04628273]
 [-0.02719829 -0.03865761  0.99888231]]

 t_gt:
[ 0.80891914 -0.57885585  0.10283832]

Pose Error in degrees for R and t:
78.88906135503143 42.694398359241184

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.46614023 -0.8846961  -0.00510909]
 [-0.88470382 -0.46610574 -0.00667746]
 [ 0.00352614  0.00763266 -0.99996465]]

 t_estimated:
[[ 0.57158939]
 [ 0.82053366]
 [-0.00317495]]

 R_gt:
[[ 0.99100515 -0.00651956  0.13367065]
 [ 0.0076913   0.99993637 -0.00825458]
 [-0.133609    0.00920819  0.99099165]]

 t_gt:
[-0.06215776 -0.00164267  0.99806499]

Pose Error in degrees for R and t:
176.94124621858646 87.70495456215164

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.00832567  0.99996474 -0.00109355]
 [-0.9999645  -0.00832708 -0.0012861 ]
 [-0.00129516  0.0010828   0.99999858]]

 t_estimated:
[[5.23708777e-03]
 [9.99986239e-01]
 [3.09287453e-04]]

 R_gt:
[[ 0.97223729 -0.02634296  0.23251162]
 [ 0.03664311  0.99852334 -0.04009196]
 [-0.23111195  0.04749823  0.97176731]]

 t_gt:
[ 0.14545655 -0.03918138  0.98858849]

Pose Error in degrees for R and t:
93.08053527649227 87.81573899278663

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.01773358  0.99983207  0.00462125]
 [ 0.99983833 -0.01771957 -0.00305489]
 [-0.00297249  0.00467468 -0.99998466]]

 t_estimated:
[[ 0.99999746]
 [-0.00150741]
 [ 0.00167283]]

 R_gt:
[[ 0.96543561 -0.08533117  0.24628126]
 [ 0.10095574  0.99355663 -0.0515031 ]
 [-0.24029908  0.07458628  0.9678295 ]]

 t_gt:
[ 0.56290864 -0.2872753   0.77498823]

Pose Error in degrees for R and t:
167.20254887125455 55.62293461192727

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99753921e-01  2.21830731e-02  9.77829519e-05]
 [-2.21830671e-02  9.99753924e-01 -6.24321752e-05]
 [-9.91438274e-05  6.02476861e-05  9.99999993e-01]]

 t_estimated:
[[-5.93653258e-01]
 [-8.04720583e-01]
 [-7.70026086e-04]]

 R_gt:
[[ 9.99132140e-01 -3.31720212e-02  2.51954693e-02]
 [ 3.31972787e-02  9.99448927e-01 -5.92467888e-04]
 [-2.51625294e-02  1.42964647e-03  9.99681767e-01]]

 t_gt:
[ 0.75386553 -0.61495719  0.23133182]

Pose Error in degrees for R and t:
3.483899387875074 87.29716647165918

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[-0.79809876 -0.60252161 -0.002466  ]
 [-0.60252552  0.79809851  0.00132609]
 [ 0.00116912  0.00254418 -0.99999608]]

 t_estimated:
[[0.68059771]
 [0.73265693]
 [0.00076558]]

 R_gt:
[[ 0.99494201 -0.02556125  0.09714694]
 [ 0.02854002  0.99915957 -0.02940014]
 [-0.0963142   0.0320248   0.99483536]]

 t_gt:
[0.57052267 0.03767924 0.82041706]

Pose Error in degrees for R and t:
175.40445845074854 65.38426528847413

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-0.83531518 -0.54976002  0.00353113]
 [-0.5497664   0.8353177  -0.00111765]
 [-0.00233517 -0.00287489 -0.99999314]]

 t_estimated:
[[ 0.99962975]
 [-0.02676612]
 [ 0.00489296]]

 R_gt:
[[ 0.99077391  0.0534621   0.12453077]
 [-0.04293958  0.99539442 -0.08570724]
 [-0.12853917  0.07957033  0.98850648]]

 t_gt:
[-0.19502944  0.97935015  0.05326163]

Pose Error in degrees for R and t:
174.21528641821163 77.23751146314086

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 8.02490510e-01  5.96664361e-01 -7.87934656e-04]
 [-5.96664410e-01  8.02490837e-01  1.97789338e-04]
 [ 7.50324190e-04  3.11408500e-04  9.99999670e-01]]

 t_estimated:
[[0.50245742]
 [0.86460093]
 [0.00133632]]

 R_gt:
[[ 0.99929514  0.03635102  0.00940664]
 [-0.03643637  0.99929644  0.00893791]
 [-0.00907552 -0.00927314  0.99991599]]

 t_gt:
[0.00932088 0.89744896 0.44101983]

Pose Error in degrees for R and t:
34.55414801022035 38.628698210654505

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 0.88844163 -0.4589364  -0.0069896 ]
 [ 0.45897149  0.88843886  0.00464294]
 [ 0.00407902 -0.007333    0.99996479]]

 t_estimated:
[[-0.47592711]
 [-0.87948387]
 [-0.00122662]]

 R_gt:
[[ 0.99944143  0.03340325 -0.00107517]
 [-0.03339774  0.99943268  0.00453281]
 [ 0.00122618 -0.00449416  0.99998903]]

 t_gt:
[0.92338555 0.38382691 0.0060031 ]

Pose Error in degrees for R and t:
29.235341540178258 39.0095406498495

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.95335052 -0.30185132  0.00292628]
 [ 0.30186158  0.95334274 -0.00414771]
 [-0.00153776  0.00483755  0.99998712]]

 t_estimated:
[[-0.44769075]
 [-0.89418766]
 [-0.00119384]]

 R_gt:
[[ 0.99772936  0.06106733  0.028407  ]
 [-0.06141929  0.99804426  0.01169892]
 [-0.0276371  -0.01341604  0.99952743]]

 t_gt:
[0.66615475 0.56897104 0.48219271]

Pose Error in degrees for R and t:
21.15481216650921 36.14043619417143

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.86881174e-01 -1.61447855e-01 -3.72003213e-04]
 [ 1.61447856e-01  9.86881244e-01 -2.68822736e-05]
 [ 3.71463079e-04 -3.35295113e-05  9.99999930e-01]]

 t_estimated:
[[ 0.56100907]
 [-0.82780732]
 [-0.00196663]]

 R_gt:
[[ 0.99922153 -0.02838348 -0.02738508]
 [ 0.02758956  0.99920067 -0.0289159 ]
 [ 0.02818396  0.02813884  0.99920647]]

 t_gt:
[ 0.00193938 -0.55911569 -0.82908738]

Pose Error in degrees for R and t:
8.013820968799513 62.25362197835643

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.88152690e-01 -1.53473973e-01  4.71322164e-06]
 [ 1.53473959e-01  9.88152609e-01  4.06686122e-04]
 [-6.70731172e-05 -4.01144629e-04  9.99999917e-01]]

 t_estimated:
[[ 9.96409349e-01]
 [-8.46626383e-02]
 [ 8.03817167e-04]]

 R_gt:
[[ 0.99250462 -0.11406763 -0.04386037]
 [ 0.11494465  0.99320853  0.01801219]
 [ 0.04150744 -0.02291794  0.99887526]]

 t_gt:
[ 0.32471963 -0.92420132 -0.20102008]

Pose Error in degrees for R and t:
3.521408319488052 66.31941895247411

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-3.32305194e-01  9.43168653e-01  2.47993713e-03]
 [-9.43171396e-01 -3.32301111e-01 -1.92056921e-03]
 [-9.87334808e-04 -2.97722089e-03  9.99995081e-01]]

 t_estimated:
[[0.42223832]
 [0.90648366]
 [0.00147636]]

 R_gt:
[[ 0.97094165 -0.2190011  -0.09649283]
 [ 0.22252201  0.97454646  0.02725457]
 [ 0.08806969 -0.04793364  0.99496024]]

 t_gt:
[ 0.48113874 -0.85430356 -0.19664931]

Pose Error in degrees for R and t:
122.28302302885928 55.14180374542927

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-0.99623166 -0.0612767  -0.06138121]
 [-0.06095636  0.99811532 -0.00707959]
 [ 0.06169934 -0.00331134 -0.99808929]]

 t_estimated:
[[ 0.99887481]
 [ 0.03800099]
 [-0.02837314]]

 R_gt:
[[ 0.99566999  0.08698906  0.03278046]
 [-0.08739111  0.99611321  0.0110565 ]
 [-0.0316926  -0.01387233  0.9994016 ]]

 t_gt:
[-0.4012632   0.83139678  0.38440505]

Pose Error in degrees for R and t:
178.35659099731464 67.65860022756043

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-5.07156354e-01 -8.61851779e-01 -1.98580942e-03]
 [ 8.61853908e-01 -5.07156314e-01 -5.60676846e-04]
 [-5.23895449e-04 -1.99582843e-03  9.99997871e-01]]

 t_estimated:
[[9.42670116e-01]
 [3.33724997e-01]
 [8.24012339e-04]]

 R_gt:
[[ 9.94997059e-01  9.69435600e-02  2.41548248e-02]
 [-9.69713906e-02  9.95288176e-01 -3.23721350e-05]
 [-2.40443251e-02 -2.30936641e-03  9.99707605e-01]]

 t_gt:
[-0.15697253  0.96190717  0.22381737]

Pose Error in degrees for R and t:
126.04486673095055 80.02470186986655

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-9.92106901e-01 -1.25394725e-01  2.46048405e-04]
 [ 1.25389996e-01 -9.92083134e-01 -6.95737615e-03]
 [ 1.11651874e-03 -6.87160888e-03  9.99975767e-01]]

 t_estimated:
[[9.41717182e-01]
 [3.36404680e-01]
 [7.99794885e-04]]

 R_gt:
[[ 0.99545119  0.09265688  0.02220253]
 [-0.09275025  0.99568467  0.00324574]
 [-0.02180687 -0.00529035  0.99974845]]

 t_gt:
[0.30394008 0.9172112  0.25757338]

Pose Error in degrees for R and t:
178.12177777293562 53.48838457348912

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99996722e-01  2.55159576e-03  2.12092215e-04]
 [-2.55164631e-03  9.99996716e-01  2.38410327e-04]
 [-2.11483192e-04 -2.38950730e-04  9.99999949e-01]]

 t_estimated:
[[0.99998124]
 [0.0058832 ]
 [0.00170529]]

 R_gt:
[[ 0.99673045 -0.07169752 -0.03725314]
 [ 0.07315933  0.9965392   0.03947459]
 [ 0.03429487 -0.04207077  0.99852548]]

 t_gt:
[ 0.33383728 -0.94212815 -0.03077687]

Pose Error in degrees for R and t:
5.308107590499728 70.83826904818903

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.30908654 -0.94207919  0.13020103]
 [ 0.93465538 -0.27560482  0.22463595]
 [-0.17574082  0.19112504  0.96570512]]

 t_estimated:
[[0.99874854]
 [0.04962726]
 [0.00620341]]

 R_gt:
[[ 0.97433993 -0.20906805 -0.08337784]
 [ 0.21226132  0.97671068  0.03135909]
 [ 0.07488098 -0.04825139  0.99602374]]

 t_gt:
[ 0.56773365 -0.80950716 -0.1495883 ]

Pose Error in degrees for R and t:
96.87247037492021 58.26969540308783

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.96720271 -0.20407797  0.15123194]
 [ 0.10239822 -0.85813408 -0.50311084]
 [ 0.23245112 -0.47112428  0.85088682]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.94876392 -0.29522201 -0.11265049]
 [ 0.30114966  0.95276202  0.03944544]
 [ 0.09568438 -0.07134851  0.99285106]]

 t_gt:
[ 0.61476083 -0.78272889 -0.09697734]

Pose Error in degrees for R and t:
152.89719714021774 89.84404296645053

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-9.56947650e-01  2.88906842e-01  2.80005562e-02]
 [ 2.88789469e-01  9.57357193e-01 -8.23696295e-03]
 [-2.91862489e-02  2.03923416e-04 -9.99573970e-01]]

 t_estimated:
[[ 0.94120136]
 [-0.33723306]
 [ 0.02034365]]

 R_gt:
[[ 0.99887161 -0.03165196  0.03541123]
 [ 0.03249511  0.99919501 -0.02350196]
 [-0.03463809  0.02462677  0.99909644]]

 t_gt:
[ 0.75395755 -0.64926894 -0.09998929]

Pose Error in degrees for R and t:
176.1605647118961 22.097251922932646

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.58309543e-01  2.85731985e-01  2.29259232e-04]
 [-2.85731900e-01  9.58309534e-01 -3.44672396e-04]
 [-3.18185236e-04  2.64796170e-04  9.99999914e-01]]

 t_estimated:
[[-9.81925916e-01]
 [ 1.89264820e-01]
 [-5.68800410e-04]]

 R_gt:
[[ 0.99485565 -0.05504642  0.08504216]
 [ 0.05888635  0.99732484 -0.04331136]
 [-0.08243056  0.04809732  0.99543534]]

 t_gt:
[ 0.78405046 -0.6185877   0.05112857]

Pose Error in degrees for R and t:
20.603183163813007 27.50315090889491

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99997553e-01 -2.21195845e-03 -4.61065025e-05]
 [ 2.21195626e-03  9.99997553e-01 -4.73437356e-05]
 [ 4.62111121e-05  4.72416341e-05  9.99999998e-01]]

 t_estimated:
[[ 1.55708543e-01]
 [-9.87802864e-01]
 [-5.92795091e-04]]

 R_gt:
[[ 0.99047655 -0.01842412  0.13644479]
 [ 0.0288106   0.99680171 -0.07453695]
 [-0.13463541  0.07775866  0.98783926]]

 t_gt:
[0.50715038 0.84513806 0.16893829]

Pose Error in degrees for R and t:
9.030140027661826 40.890475879305356

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.17095501e-01  3.98666067e-01 -1.09941270e-03]
 [-3.98666156e-01  9.17096110e-01  1.46589187e-04]
 [ 1.06670724e-03  3.03862350e-04  9.99999385e-01]]

 t_estimated:
[[0.89415484]
 [0.44775584]
 [0.00135684]]

 R_gt:
[[ 9.93257669e-01 -7.11735963e-04  1.15926027e-01]
 [ 1.81665069e-03  9.99953770e-01 -9.42820965e-03]
 [-1.15913513e-01  9.57560207e-03  9.93212565e-01]]

 t_gt:
[-0.02857226  0.08495084  0.99597539]

Pose Error in degrees for R and t:
24.500157945529992 89.20696763997198

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 8.45397609e-01  5.34137509e-01  6.11160707e-05]
 [-5.34137490e-01  8.45397601e-01 -1.93693959e-04]
 [-1.55126588e-04  1.31104025e-04  9.99999979e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98422714 -0.04171509  0.17191999]
 [ 0.05378222  0.99635925 -0.06614302]
 [-0.1685348   0.07434608  0.98288704]]

 t_gt:
[ 0.53212977 -0.14396453  0.83433334]

Pose Error in degrees for R and t:
36.56704613749135 57.8371554606998

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.79994996e-01 -1.99021848e-01  3.35776135e-04]
 [ 1.99021907e-01  9.79995029e-01 -1.52253433e-04]
 [-2.98757183e-04  2.16034409e-04  9.99999932e-01]]

 t_estimated:
[[-0.2367681 ]
 [-0.97156566]
 [-0.00102055]]

 R_gt:
[[ 0.97980959 -0.13486287  0.14759598]
 [ 0.14083716  0.98955473 -0.03076021]
 [-0.14190552  0.05092763  0.9885689 ]]

 t_gt:
[ 0.81827988 -0.45767803  0.34777702]

Pose Error in degrees for R and t:
9.33493011241261 75.48894736913978

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999898e-01 -4.51680725e-04 -9.66156798e-06]
 [ 4.51680867e-04  9.99999898e-01  1.46821564e-05]
 [ 9.65493535e-06 -1.46865189e-05  1.00000000e+00]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.98612099 -0.16091124 -0.04089032]
 [ 0.16338798  0.98428852  0.06694009]
 [ 0.0294768  -0.07269156  0.99691861]]

 t_gt:
[ 0.73970927 -0.65950112  0.13374778]

Pose Error in degrees for R and t:
10.346830256714158 42.55809660174177

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.98816533e-01  4.86367390e-02  1.77221576e-05]
 [-4.86367415e-02  9.98816516e-01  1.87129800e-04]
 [-8.59980053e-06 -1.87770286e-04  9.99999982e-01]]

 t_estimated:
[[0.7048701 ]
 [0.70933602]
 [0.00074432]]

 R_gt:
[[ 0.97080496 -0.23681093 -0.03818939]
 [ 0.2372557   0.97141881  0.007516  ]
 [ 0.03531882 -0.01635753  0.99924192]]

 t_gt:
[ 0.78580349 -0.61775604 -0.02983867]

Pose Error in degrees for R and t:
16.653224506608428 83.35769584221343

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.81322808e-01  1.92358415e-01  1.94569898e-03]
 [ 1.92360482e-01 -9.81323886e-01 -9.36120732e-04]
 [ 1.72929019e-03  1.29291222e-03 -9.99997669e-01]]

 t_estimated:
[[0.06176029]
 [0.9980904 ]
 [0.00110286]]

 R_gt:
[[ 0.95455156 -0.2942459  -0.04743433]
 [ 0.29053623  0.95414236 -0.07211683]
 [ 0.06648076  0.05505837  0.99626701]]

 t_gt:
[ 0.80689917 -0.55929964 -0.18999378]

Pose Error in degrees for R and t:
176.56927944418743 59.428925116765775

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99998504e-01 -1.71761930e-03  2.04655552e-04]
 [ 1.71762891e-03  9.99998524e-01 -4.67755811e-05]
 [-2.04574907e-04  4.71270334e-05  9.99999978e-01]]

 t_estimated:
[[9.94927300e-01]
 [1.00596383e-01]
 [1.85631012e-04]]

 R_gt:
[[ 0.96752642 -0.25274236  0.00344662]
 [ 0.25257163  0.96722844  0.02602959]
 [-0.00991225 -0.02431441  0.99965506]]

 t_gt:
[ 0.74867339 -0.65365949  0.11053244]

Pose Error in degrees for R and t:
14.616244070793602 47.22349783007955

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.69293810e-01 -2.45905386e-01 -2.26931692e-04]
 [ 2.45905027e-01  9.69293360e-01 -1.04839815e-03]
 [ 4.77770135e-04  9.60402194e-04  9.99999425e-01]]

 t_estimated:
[[ 0.55835594]
 [-0.82959447]
 [-0.00341586]]

 R_gt:
[[ 0.94082572 -0.33858924 -0.01425872]
 [ 0.3388667   0.93943969  0.05120949]
 [-0.00394297 -0.05301126  0.99858619]]

 t_gt:
[ 0.77501776 -0.61830845  0.13054552]

Pose Error in degrees for R and t:
6.383100838620006 19.049823251349785

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-3.06165146e-01 -9.51971217e-01  3.70212687e-03]
 [-9.51976199e-01  3.06170509e-01  9.67159817e-04]
 [-2.05419038e-03 -3.22822604e-03 -9.99992679e-01]]

 t_estimated:
[[0.80038942]
 [0.59947426]
 [0.00271678]]

 R_gt:
[[ 0.91390082 -0.40387084  0.04090782]
 [ 0.40226986  0.91455039  0.04215956]
 [-0.05443863 -0.02207385  0.99827308]]

 t_gt:
[ 0.76312165 -0.62491283  0.16470973]

Pose Error in degrees for R and t:
176.4510676672651 76.3126980657918

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[-0.89954415 -0.43333522 -0.05514449]
 [-0.43332969  0.90114627 -0.01268   ]
 [ 0.05518794  0.01248953 -0.99839787]]

 t_estimated:
[[ 0.97680733]
 [ 0.21233023]
 [-0.02762796]]

 R_gt:
[[ 0.99730571  0.07333001  0.00183936]
 [-0.07329227  0.99718986 -0.01548362]
 [-0.00296909  0.0153067   0.99987919]]

 t_gt:
[-0.8945895   0.40703551 -0.18447688]

Pose Error in degrees for R and t:
176.6973868201312 38.52661317003338

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.27224078  0.95955018  0.07175236]
 [ 0.9596144  -0.26525153 -0.09371139]
 [-0.07088836  0.09436666 -0.99301046]]

 t_estimated:
[[ 0.67227302]
 [-0.73850565]
 [ 0.05155959]]

 R_gt:
[[ 0.99336209  0.11172468  0.02736125]
 [-0.11037713  0.99279683 -0.04659097]
 [-0.03236899  0.04326188  0.99854004]]

 t_gt:
[-0.86534106  0.4215669  -0.2710465 ]

Pose Error in degrees for R and t:
170.14290137120278 24.89918165173549

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.72574774e-01  2.32590348e-01 -1.96614744e-04]
 [-2.32590384e-01  9.72574768e-01 -1.86018746e-04]
 [ 1.47956374e-04  2.26647839e-04  9.99999963e-01]]

 t_estimated:
[[-9.97296486e-01]
 [ 7.34761861e-02]
 [-9.84231207e-04]]

 R_gt:
[[ 0.97932631  0.19700394  0.04592056]
 [-0.19051762  0.97457501 -0.11792706]
 [-0.06798546  0.10673994  0.99196078]]

 t_gt:
[-0.8229146   0.43528807 -0.36515182]

Pose Error in degrees for R and t:
7.598782751539862 31.456946690752467

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.68597355  0.70798475  0.16792226]
 [ 0.71752998  0.69650656 -0.00541578]
 [-0.12079325  0.11677417 -0.98578536]]

 t_estimated:
[[0.99462948]
 [0.10209619]
 [0.01698751]]

 R_gt:
[[ 0.97788246 -0.20842562  0.01750391]
 [ 0.20812079  0.97794231  0.01773964]
 [-0.02081435 -0.01370447  0.99968957]]

 t_gt:
[ 0.72789034 -0.6744428   0.12370354]

Pose Error in degrees for R and t:
169.99904793457264 48.91145612617433

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 6.64044744e-02 -9.97792750e-01  2.71930474e-04]
 [-9.97792763e-01 -6.64044109e-02  2.36182365e-04]
 [-2.17603668e-04 -2.87013825e-04 -9.99999935e-01]]

 t_estimated:
[[0.74627767]
 [0.66563376]
 [0.00115533]]

 R_gt:
[[ 0.93499138 -0.35245174  0.03963319]
 [ 0.35150228  0.93573753  0.02903184]
 [-0.04731782 -0.01321334  0.99879228]]

 t_gt:
[ 0.7668702  -0.62582361  0.14231974]

Pose Error in degrees for R and t:
177.35087512010102 81.03139680187655

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 4.80090757e-01 -8.77218389e-01 -8.73853427e-04]
 [ 8.77218268e-01  4.80091336e-01 -6.47595504e-04]
 [ 9.87612143e-04 -4.55655574e-04  9.99999408e-01]]

 t_estimated:
[[ 9.78087710e-01]
 [-2.08193022e-01]
 [-3.11605928e-04]]

 R_gt:
[[ 0.8862382  -0.45851044  0.06595641]
 [ 0.45901233  0.88839262  0.00823706]
 [-0.06237109  0.02297417  0.99778837]]

 t_gt:
[ 0.7945749  -0.60010177  0.09235036]

Pose Error in degrees for R and t:
34.18247615199172 25.568204148156557

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99966832e-01 -8.12892257e-03 -5.05611784e-04]
 [ 8.12895854e-03  9.99966957e-01  6.91255684e-05]
 [ 5.05033161e-04 -7.32333729e-05  9.99999870e-01]]

 t_estimated:
[[-0.79018202]
 [-0.61287049]
 [-0.00145781]]

 R_gt:
[[ 0.97999717  0.19303279 -0.04841252]
 [-0.192991    0.98118437  0.00558408]
 [ 0.04857948  0.00387041  0.99881133]]

 t_gt:
[-0.60176425  0.76826411 -0.2182889 ]

Pose Error in degrees for R and t:
11.924842555292484 89.71494570896985

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.54865219  0.83601696  0.00751117]
 [ 0.83604033 -0.54857848 -0.00991082]
 [-0.00416515  0.01171724 -0.99992268]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.96700422  0.24953403 -0.05132754]
 [-0.25153104  0.96714372 -0.03693283]
 [ 0.04042464  0.0486246   0.99799835]]

 t_gt:
[-0.54451164  0.78920416 -0.28401386]

Pose Error in degrees for R and t:
178.39972017131296 38.18045689560057

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99991136 -0.0132453  -0.00135475]
 [ 0.01324692  0.99991155  0.00118899]
 [ 0.00133888 -0.00120683  0.99999838]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.94481907  0.3212167  -0.06431808]
 [-0.32333062  0.94594529 -0.02540452]
 [ 0.05268089  0.04479921  0.99760621]]

 t_gt:
[-0.52642849  0.81599717 -0.23879209]

Pose Error in degrees for R and t:
19.970501192878725 35.81794971897572

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.90490147 -0.4256155  -0.00218317]
 [ 0.42561899  0.90490125  0.001488  ]
 [ 0.00134224 -0.0022757   0.99999651]]

 t_estimated:
[[-0.35509758]
 [-0.93482872]
 [-0.00098093]]

 R_gt:
[[ 0.9902952   0.13887319  0.0054756 ]
 [-0.138893    0.99030228  0.00331365]
 [-0.00496248 -0.00404124  0.99998002]]

 t_gt:
[-0.78447474  0.61780414  0.05401324]

Pose Error in degrees for R and t:
33.17557565090125 72.60071068333399

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 6.84103409e-01 -7.29375935e-01 -3.64293603e-03]
 [ 7.29384731e-01  6.84099133e-01  2.50787236e-03]
 [ 6.62947640e-04 -4.37274595e-03  9.99990220e-01]]

 t_estimated:
[[-0.35681028]
 [-0.93417636]
 [-0.00098025]]

 R_gt:
[[ 0.94613284  0.32376512 -0.0029449 ]
 [-0.32375901  0.94593333 -0.0197689 ]
 [-0.00361541  0.01965762  0.99980093]]

 t_gt:
[-0.68797331  0.72465155 -0.03965919]

Pose Error in degrees for R and t:
65.74058133891124 64.44117642319704

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 7.51873154e-01 -6.59304611e-01 -2.04699977e-03]
 [ 6.59307712e-01  7.51870938e-01  1.85264915e-03]
 [ 3.17619510e-04 -2.74255990e-03  9.99996189e-01]]

 t_estimated:
[[-0.35252183]
 [-0.93580308]
 [-0.00098195]]

 R_gt:
[[ 9.22918485e-01  3.83849081e-01  2.96902238e-02]
 [-3.84036323e-01  9.23317889e-01  6.49287282e-04]
 [-2.71647697e-02 -1.20008651e-02  9.99559732e-01]]

 t_gt:
[-0.6663031   0.74274085  0.06615289]

Pose Error in degrees for R and t:
63.852003657544515 62.59755008369147

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.86523967e-01 -1.63616436e-01 -3.53653092e-04]
 [ 1.63616490e-01  9.86524013e-01  1.28071881e-04]
 [ 3.27932603e-04 -1.84209458e-04  9.99999929e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99911294  0.03649451 -0.02105263]
 [-0.03655825  0.9993285  -0.00263653]
 [ 0.02094279  0.00340367  0.99977484]]

 t_gt:
[-0.36547225  0.84513766 -0.39009278]

Pose Error in degrees for R and t:
11.572127428203705 32.60175847391521

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 7.49426974e-01  6.62084752e-01  1.72986187e-03]
 [-6.62086927e-01  7.49425641e-01  1.45267447e-03]
 [-3.34609223e-04 -2.23399236e-03  9.99997449e-01]]

 t_estimated:
[[0.66246919]
 [0.74908744]
 [0.00160404]]

 R_gt:
[[ 0.99583086  0.08918122 -0.01917821]
 [-0.08940964  0.99593002 -0.01139011]
 [ 0.01808414  0.01305724  0.99975131]]

 t_gt:
[-0.37839052  0.90246271 -0.20586808]

Pose Error in degrees for R and t:
36.36152044353369 64.84799486295597

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99985920e-01  5.30142143e-03 -2.34079641e-04]
 [-5.30153251e-03  9.99985833e-01 -4.76464290e-04]
 [ 2.31550386e-04  4.77698562e-04  9.99999859e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99332461  0.11450355 -0.01400982]
 [-0.11497079  0.99260218 -0.03902511]
 [ 0.00943813  0.04037483  0.99913979]]

 t_gt:
[-0.37432566  0.90353855 -0.20856269]

Pose Error in degrees for R and t:
6.710551863392846 25.714259728978806

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.86435323e-01 -1.64150275e-01  2.00391504e-04]
 [ 1.64150337e-01  9.86435274e-01 -3.42863449e-04]
 [-1.41392119e-04  3.71106950e-04  9.99999921e-01]]

 t_estimated:
[[-0.49079435]
 [-0.87127496]
 [-0.00092353]]

 R_gt:
[[ 0.99762401  0.0617565   0.03053555]
 [-0.06127851  0.99798572 -0.01637407]
 [-0.03148579  0.0144645   0.99939923]]

 t_gt:
[-0.79706103  0.57777776  0.17568888]

Pose Error in degrees for R and t:
13.123689536124225 83.54790226459122

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.95017305e-01 -9.97023674e-02 -3.83943005e-05]
 [ 9.97023736e-02  9.95017277e-01  2.33859787e-04]
 [ 1.48866179e-05 -2.36522538e-04  9.99999972e-01]]

 t_estimated:
[[-2.03188987e-02]
 [ 9.99793550e-01]
 [ 1.19678637e-05]]

 R_gt:
[[ 0.99565194  0.03344883  0.08693258]
 [-0.0318337   0.9992943  -0.01990341]
 [-0.08753719  0.01705025  0.99601567]]

 t_gt:
[-0.7467614   0.41299981  0.52132386]

Pose Error in degrees for R and t:
9.159241787126728 64.65332879064508

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.92589814e-01 -1.21513211e-01 -1.00380022e-05]
 [ 1.21513210e-01  9.92589792e-01  2.11326644e-04]
 [-1.57153604e-05 -2.10980424e-04  9.99999978e-01]]

 t_estimated:
[[-3.47753518e-02]
 [ 9.99395147e-01]
 [ 1.21362198e-04]]

 R_gt:
[[ 0.99327587  0.02067957  0.11391816]
 [-0.01282347  0.99751506 -0.06927146]
 [-0.11506776  0.0673448   0.99107209]]

 t_gt:
[-0.72510598  0.55814207  0.40335933]

Pose Error in degrees for R and t:
11.036389340537669 54.3332919710015

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.97812576e-01 -6.61064594e-02 -6.07167483e-06]
 [ 6.61064557e-02  9.97812543e-01 -2.57384129e-04]
 [ 2.30731468e-05  2.56419744e-04  9.99999967e-01]]

 t_estimated:
[[-0.67432137]
 [-0.73843718]
 [-0.00110544]]

 R_gt:
[[ 0.99837142  0.05589607  0.01142642]
 [-0.05564665  0.99822672 -0.02114815]
 [-0.01258906  0.0204773   0.99971115]]

 t_gt:
[-0.44226468  0.89681275 -0.01135149]

Pose Error in degrees for R and t:
7.119770671933207 68.6540198673982

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.90550768e-01  1.37146176e-01  3.20332220e-04]
 [-1.37145996e-01  9.90550703e-01 -5.29133199e-04]
 [-3.89873901e-04  4.80201015e-04  9.99999809e-01]]

 t_estimated:
[[-9.72935758e-01]
 [-2.31074324e-01]
 [-8.17250273e-04]]

 R_gt:
[[ 0.99947039  0.03204704  0.00568126]
 [-0.03182608  0.99886139 -0.03556078]
 [-0.00681497  0.03536073  0.99935102]]

 t_gt:
[-0.40766899  0.87456607 -0.26256464]

Pose Error in degrees for R and t:
6.383471202750663 78.76926379618723

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.79166279e-01 -2.03060054e-01  1.13730813e-04]
 [ 2.03060077e-01  9.79166248e-01 -2.52904856e-04]
 [-6.00064994e-05  2.70730095e-04  9.99999962e-01]]

 t_estimated:
[[8.55032967e-01]
 [5.18573003e-01]
 [8.16650398e-04]]

 R_gt:
[[ 0.99561689 -0.09279997  0.0116638 ]
 [ 0.09287295  0.99566044 -0.00596505]
 [-0.01105963  0.00702206  0.99991364]]

 t_gt:
[ 0.50533852 -0.85737771  0.09765472]

Pose Error in degrees for R and t:
6.431407991072599 89.28652959218188

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99296965e-01  3.74810645e-02 -8.63090918e-04]
 [-3.74808875e-02  9.99297320e-01  2.20316866e-04]
 [ 8.70742152e-04 -1.87812562e-04  9.99999603e-01]]

 t_estimated:
[[0.67507619]
 [0.73774715]
 [0.00112958]]

 R_gt:
[[ 0.99866872  0.05089276 -0.00840381]
 [-0.05100461  0.99860444 -0.01365095]
 [ 0.00769763  0.01406213  0.99987166]]

 t_gt:
[ 0.02946936  0.93840145 -0.34428808]

Pose Error in degrees for R and t:
1.1907000124759093 44.61777736767104

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.92182953e-01  1.24791199e-01  3.81030729e-04]
 [-1.24791244e-01  9.92183016e-01  9.56062835e-05]
 [-3.66121395e-04 -1.42408223e-04  9.99999923e-01]]

 t_estimated:
[[-0.71553215]
 [ 0.69857719]
 [ 0.00191029]]

 R_gt:
[[ 0.99791954  0.06397478  0.00794538]
 [-0.06391427  0.9979267  -0.00756378]
 [-0.00841257  0.00704043  0.99993998]]

 t_gt:
[0.22889267 0.97294558 0.03138527]

Pose Error in degrees for R and t:
3.55641724634092 58.93852422416613

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.43174349  0.90199324  0.00239961]
 [ 0.9019931  -0.43174759  0.00156881]
 [ 0.00245108  0.00148711 -0.99999589]]

 t_estimated:
[[0.55922712]
 [0.82901401]
 [0.00089333]]

 R_gt:
[[ 0.99993643  0.00680632  0.009027  ]
 [-0.00651999  0.99948696 -0.03134272]
 [-0.00923566  0.03128281  0.99946804]]

 t_gt:
[ 0.98482084 -0.026242   -0.17157876]

Pose Error in degrees for R and t:
178.20567217381483 58.073545654426226

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[-8.06069305e-01  5.91727180e-01 -1.05461136e-02]
 [-5.91820314e-01 -8.05970158e-01  1.26815005e-02]
 [-9.95864318e-04  1.64635726e-02  9.99863970e-01]]

 t_estimated:
[[ 0.62476439]
 [ 0.78079965]
 [-0.00462139]]

 R_gt:
[[ 0.98991959  0.12943644  0.05750593]
 [-0.12774716  0.99128527 -0.03214449]
 [-0.06116657  0.02447382  0.99782751]]

 t_gt:
[-0.75639751  0.60492158  0.24886278]

Pose Error in degrees for R and t:
136.3672120585736 89.91991388188534

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 4.97430618e-02 -9.98761794e-01 -7.11634868e-04]
 [-9.98762016e-01 -4.97432256e-02  2.14362506e-04]
 [-2.49496094e-04  7.00090829e-04 -9.99999724e-01]]

 t_estimated:
[[0.70097242]
 [0.71318776]
 [0.00093964]]

 R_gt:
[[ 0.98471462  0.14897244  0.09025702]
 [-0.14688881  0.98871836 -0.02933671]
 [-0.09361025  0.01563047  0.99548596]]

 t_gt:
[-0.75871037  0.54982375  0.34936002]

Pose Error in degrees for R and t:
177.3137103178251 81.98807498732565

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-3.04253215e-01  9.52591186e-01  1.13841793e-04]
 [-9.52590433e-01 -3.04252819e-01 -1.29947732e-03]
 [-1.20323395e-03 -5.03814754e-04  9.99999149e-01]]

 t_estimated:
[[0.65044279]
 [0.75955478]
 [0.00084583]]

 R_gt:
[[ 0.98234609  0.12812677  0.1363136 ]
 [-0.12166031  0.99105836 -0.05478994]
 [-0.14211565  0.03723912  0.98914906]]

 t_gt:
[-0.73284144  0.53788936  0.41667549]

Pose Error in degrees for R and t:
100.75099532528259 86.11451366445849

Number of keypoints:
Image1: 385
Image2: 385

 R_estimated:
[[ 0.59476658  0.803704    0.01768063]
 [ 0.80369749 -0.59398232 -0.03543093]
 [-0.017974    0.03528301 -0.99921571]]

 t_estimated:
[[ 0.33783801]
 [-0.94097843]
 [ 0.02061721]]

 R_gt:
[[ 0.99865227 -0.01432959 -0.04986437]
 [ 0.0163316   0.99906699  0.03997397]
 [ 0.04924525 -0.04073524  0.99795589]]

 t_gt:
[-0.16948607 -0.93671158 -0.30634277]

Pose Error in degrees for R and t:
178.92467314175576 35.12979213463596

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 0.96510452 -0.26160584 -0.0116471 ]
 [ 0.26171472  0.96510274  0.00906184]
 [ 0.00887002 -0.01179384  0.99989111]]

 t_estimated:
[[-0.6120017 ]
 [-0.79085151]
 [-0.00279453]]

 R_gt:
[[ 0.99713767 -0.03107411 -0.06892772]
 [ 0.03227403  0.99934523  0.01635731]
 [ 0.06837379 -0.01853517  0.99748748]]

 t_gt:
[-0.17263344 -0.81564402 -0.5521979 ]

Pose Error in degrees for R and t:
13.766927845944865 41.2144816180159

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 6.97642126e-01  7.16446196e-01  5.59471506e-04]
 [-7.16445891e-01  6.97642347e-01 -6.63613537e-04]
 [-8.65754409e-04  6.21336967e-05  9.99999623e-01]]

 t_estimated:
[[0.75608882]
 [0.65446799]
 [0.00116219]]

 R_gt:
[[ 0.98847753 -0.11870948 -0.09391499]
 [ 0.12322033  0.99141421  0.04376006]
 [ 0.08791439 -0.05482937  0.99461799]]

 t_gt:
[ 0.19518319 -0.94714605 -0.25459356]

Pose Error in degrees for R and t:
53.04472101209488 61.79700540068384

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999667e-01 -8.10791807e-04 -9.39664526e-05]
 [ 8.10762485e-04  9.99999623e-01 -3.11664605e-04]
 [ 9.42191123e-05  3.11588317e-04  9.99999947e-01]]

 t_estimated:
[[-0.99954241]
 [-0.03023116]
 [-0.0010191 ]]

 R_gt:
[[ 0.97449872  0.22434874  0.00462882]
 [-0.22417363  0.97424261 -0.02444635]
 [-0.00999438  0.02278588  0.99969029]]

 t_gt:
[-0.59644984  0.80078797 -0.05464621]

Pose Error in degrees for R and t:
13.083732031685981 55.1085236452853

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.79646817 -0.60466395 -0.00446713]
 [ 0.60467684  0.79646722  0.00242716]
 [ 0.00209031 -0.00463432  0.99998708]]

 t_estimated:
[[-2.04194156e-01]
 [-9.78930340e-01]
 [ 3.69994431e-04]]

 R_gt:
[[ 0.91280042  0.40683535 -0.035794  ]
 [-0.40739606  0.91319909 -0.00977422]
 [ 0.02871106  0.02350504  0.99931102]]

 t_gt:
[-0.51528732  0.85065781 -0.10421261]

Pose Error in degrees for R and t:
61.26908697041796 43.31821959662353

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.84828497e-01 -1.73530313e-01  2.48742041e-04]
 [ 1.73530361e-01  9.84828503e-01 -1.84719162e-04]
 [-2.12913878e-04  2.25080991e-04  9.99999952e-01]]

 t_estimated:
[[-8.03301260e-01]
 [-5.95572575e-01]
 [-6.27579109e-04]]

 R_gt:
[[ 0.86491542  0.49957289 -0.04845466]
 [-0.50177857  0.86290627 -0.06008046]
 [ 0.0117972   0.07627897  0.99701642]]

 t_gt:
[-0.45317203  0.88134865 -0.13364005]

Pose Error in degrees for R and t:
40.32052097848161 80.74727256791066

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 7.48883601e-01 -6.62699593e-01 -1.61294664e-03]
 [ 6.62701081e-01  7.48883761e-01  6.24937385e-04]
 [ 7.93763792e-04 -1.53690684e-03  9.99998504e-01]]

 t_estimated:
[[-0.05546998]
 [-0.99845971]
 [-0.00113204]]

 R_gt:
[[ 9.75319679e-01  2.20691342e-01  6.83372696e-03]
 [-2.20690123e-01  9.75343426e-01 -8.50724889e-04]
 [-6.85308888e-03 -6.78276911e-04  9.99976641e-01]]

 t_gt:
[-0.73707202  0.67560377  0.01686333]

Pose Error in degrees for R and t:
54.25790720938776 50.67659954780823

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-4.53533969e-01 -8.91238984e-01 -1.10369554e-04]
 [-8.91232323e-01  4.53530093e-01  3.92449902e-03]
 [-3.44761061e-03  1.87825853e-03 -9.99992293e-01]]

 t_estimated:
[[0.71440271]
 [0.69973325]
 [0.00146695]]

 R_gt:
[[ 0.94936618  0.31288689  0.02838555]
 [-0.31286766  0.94978284 -0.00521659]
 [-0.02859237 -0.00392687  0.99958381]]

 t_gt:
[-0.68819661  0.72291687  0.0614543 ]

Pose Error in degrees for R and t:
178.53073825004225 89.18123826563503

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.41713866  0.90637696 -0.06690404]
 [ 0.81241716 -0.33887118  0.47449413]
 [ 0.40739869 -0.25228384 -0.87771247]]

 t_estimated:
[[9.89352087e-01]
 [1.45539736e-01]
 [7.95299106e-04]]

 R_gt:
[[ 0.95792815  0.28310885  0.04715438]
 [-0.28358689  0.95894014  0.00362923]
 [-0.04419092 -0.01684876  0.99888083]]

 t_gt:
[-0.68708042  0.71522752  0.12794565]

Pose Error in degrees for R and t:
153.57732254322835 54.86053418669041

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.9990114   0.04443658  0.00127039]
 [-0.04443351  0.99900957 -0.00235303]
 [-0.00137369  0.00229426  0.99999642]]

 t_estimated:
[[-9.98120678e-01]
 [-6.12725327e-02]
 [-8.88007721e-04]]

 R_gt:
[[ 0.97867883 -0.20373168  0.02608494]
 [ 0.20350558  0.97901161  0.01108394]
 [-0.02779611 -0.00553948  0.99959825]]

 t_gt:
[ 0.7211558  -0.67920686  0.13642708]

Pose Error in degrees for R and t:
14.386336626592763 47.28867333104695

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 4.69441553e-01 -8.82963039e-01 -9.49379491e-04]
 [ 8.82963383e-01  4.69441852e-01 -1.08555394e-04]
 [ 5.41528867e-04 -7.87306914e-04  9.99999543e-01]]

 t_estimated:
[[-0.00759197]
 [-0.99997059]
 [-0.00108457]]

 R_gt:
[[ 0.94317797 -0.32493914  0.06950008]
 [ 0.32599395  0.94536381 -0.00410327]
 [-0.06436983  0.02652682  0.99757394]]

 t_gt:
[ 0.74850038 -0.65174488  0.12237563]

Pose Error in degrees for R and t:
43.16545545131156 49.76603161781447

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-9.67057316e-01  2.54555622e-01 -1.25801253e-03]
 [-2.54554289e-01 -9.67057827e-01 -1.12828633e-03]
 [-1.50378249e-03 -7.70885067e-04  9.99998572e-01]]

 t_estimated:
[[9.25143106e-01]
 [3.79617612e-01]
 [8.37750442e-04]]

 R_gt:
[[ 0.9075431  -0.41169667  0.08289232]
 [ 0.41513664  0.90929916 -0.02894348]
 [-0.06345796  0.06067924  0.99613802]]

 t_gt:
[ 0.7657798  -0.64095751  0.05248588]

Pose Error in degrees for R and t:
170.2906549258876 62.27805595250702

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 9.99999938e-01 -3.41995618e-04  8.51814756e-05]
 [ 3.42000099e-04  9.99999940e-01 -5.25905774e-05]
 [-8.51634847e-05  5.26197062e-05  9.99999995e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97957277 -0.16060311  0.12101403]
 [ 0.15612591  0.98667962  0.04567502]
 [-0.12673714 -0.02584807  0.99159989]]

 t_gt:
[ 0.55177064 -0.65486158  0.51643535]

Pose Error in degrees for R and t:
11.765904027508828 49.39274616146291

Number of keypoints:
Image1: 22
Image2: 22

 R_estimated:
[[ 1.00000000e+00 -1.13632342e-05  2.75773662e-05]
 [ 1.13632601e-05  1.00000000e+00 -9.37122841e-07]
 [-2.75773555e-05  9.37436209e-07  1.00000000e+00]]

 t_estimated:
[[-0.72671186]
 [-0.68694127]
 [-0.00125238]]

 R_gt:
[[ 0.94532508 -0.28468671  0.15910545]
 [ 0.27757397  0.95845089  0.06575292]
 [-0.17121317 -0.01799426  0.98506976]]

 t_gt:
[ 0.66526099 -0.64397324  0.37779132]

Pose Error in degrees for R and t:
19.190554669274405 87.61842290241172

Number of keypoints:
Image1: 15
Image2: 15

 R_estimated:
[[ 6.74708291e-01  7.38084486e-01  1.17608395e-04]
 [-7.38084118e-01  6.74708099e-01 -9.03901499e-04]
 [-7.46507010e-04  5.23064947e-04  9.99999585e-01]]

 t_estimated:
[[-0.989608  ]
 [ 0.14378804]
 [-0.00100639]]

 R_gt:
[[ 0.89119909 -0.43031295  0.14350811]
 [ 0.41699647  0.90170466  0.11420346]
 [-0.1785447  -0.04193527  0.98303762]]

 t_gt:
[ 0.7609327  -0.57545334  0.29972469]

Pose Error in degrees for R and t:
73.51994019014508 33.27257794148477

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 2.99783820e-01  9.54007157e-01  6.96229413e-05]
 [-9.54005528e-01  2.99783441e-01 -1.82802573e-03]
 [-1.76482143e-03  4.81591865e-04  9.99998327e-01]]

 t_estimated:
[[0.02185838]
 [0.99976035]
 [0.00120397]]

 R_gt:
[[ 0.99557019 -0.03118241  0.08869731]
 [ 0.0383565   0.99602764 -0.08035351]
 [-0.08583963  0.08340045  0.99281193]]

 t_gt:
[-0.81082635 -0.32440879 -0.48715455]

Pose Error in degrees for R and t:
74.81530258567862 69.96214498141171

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99997765e-01  2.10889926e-03 -1.52908949e-04]
 [-2.10897906e-03  9.99997639e-01 -5.23606019e-04]
 [ 1.51804355e-04  5.23927330e-04  9.99999851e-01]]

 t_estimated:
[[-0.39241512]
 [-0.91978664]
 [-0.00170332]]

 R_gt:
[[ 0.988759   -0.01411577  0.14884545]
 [ 0.03651705  0.98818301 -0.14886319]
 [-0.14498559  0.15262555  0.97759189]]

 t_gt:
[-0.84039358  0.26062005 -0.47520082]

Pose Error in degrees for R and t:
12.240091844402208 84.78589553824054

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 7.87531652e-01 -6.16274061e-01  4.23464276e-04]
 [ 6.16273419e-01  7.87531558e-01  1.05715572e-03]
 [-9.84989131e-04 -5.71573815e-04  9.99999352e-01]]

 t_estimated:
[[ 0.84630394]
 [-0.53269856]
 [ 0.00136883]]

 R_gt:
[[ 0.97251558 -0.00292497  0.23282   ]
 [ 0.04941716  0.97973359 -0.19411332]
 [-0.22753374  0.2002842   0.95295123]]

 t_gt:
[-0.82572354  0.5013057  -0.25859859]

Pose Error in degrees for R and t:
40.41803068376965 14.93654101001339

Number of keypoints:
Image1: 454
Image2: 454

 R_estimated:
[[-0.66402196 -0.74769887 -0.00460926]
 [-0.74770964  0.66398759  0.00712627]
 [-0.00226782  0.00817839 -0.99996398]]

 t_estimated:
[[0.90432574]
 [0.42684175]
 [0.00103352]]

 R_gt:
[[ 0.99881434  0.02857393 -0.03941894]
 [-0.02686515  0.99870449  0.04322209]
 [ 0.04060277 -0.04211129  0.99828676]]

 t_gt:
[-0.94175465 -0.23770486  0.23789616]

Pose Error in degrees for R and t:
178.82887211463225 17.66076335734428

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 0.96286438 -0.26995268 -0.00421129]
 [ 0.26997639  0.96284298  0.00679306]
 [ 0.00222101 -0.00767774  0.99996806]]

 t_estimated:
[[-0.74520591]
 [-0.6668331 ]
 [-0.00132835]]

 R_gt:
[[ 0.99576374  0.07963115 -0.04596877]
 [-0.07273213  0.9880301   0.13603698]
 [ 0.05625139 -0.13211649  0.98963627]]

 t_gt:
[-0.84839552 -0.1506794   0.50746504]

Pose Error in degrees for R and t:
21.50021858391937 42.94287755068254

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-8.25362160e-01 -5.64603658e-01 -1.17265177e-04]
 [-5.64603247e-01  8.25361269e-01  1.39621496e-03]
 [-6.91521939e-04  1.21859130e-03 -9.99999018e-01]]

 t_estimated:
[[0.96956587]
 [0.24482756]
 [0.00121805]]

 R_gt:
[[ 0.98625707  0.16121091 -0.03616458]
 [-0.15502272  0.97865903  0.13489178]
 [ 0.05713844 -0.12743119  0.99019925]]

 t_gt:
[-0.9403444   0.15138745  0.30468713]

Pose Error in degrees for R and t:
179.6681121980293 29.03883551448915

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 4.83632230e-01 -8.75270659e-01 -1.06737925e-03]
 [ 8.75271295e-01  4.83632084e-01  4.08436298e-04]
 [ 1.58726542e-04 -1.13177937e-03  9.99999347e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99641576 -0.08447429 -0.00448627]
 [ 0.08437618  0.99625345 -0.01895879]
 [ 0.00607145  0.01851217  0.9998098 ]]

 t_gt:
[ 0.82020262 -0.5121515  -0.25488918]

Pose Error in degrees for R and t:
56.24467450923813 35.07377819360814

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.03632363 -0.99928189  0.01078381]
 [ 0.99496218 -0.03515344  0.09388554]
 [-0.09343903  0.01413974  0.99552459]]

 t_estimated:
[[9.96348406e-01]
 [8.53761065e-02]
 [8.80169930e-04]]

 R_gt:
[[ 0.99617076 -0.080415   -0.03433506]
 [ 0.07406812  0.98475271 -0.15740151]
 [ 0.0464696   0.15425518  0.98693793]]

 t_gt:
[ 0.591093   -0.0214531  -0.80631807]

Pose Error in degrees for R and t:
88.61152158296872 54.09851955164143

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-9.82879234e-02  9.95157985e-01 -2.62991192e-04]
 [-9.95156243e-01 -9.82882439e-02 -1.86384177e-03]
 [-1.88066597e-03  7.85241887e-05  9.99998228e-01]]

 t_estimated:
[[0.00900864]
 [0.99995879]
 [0.00112608]]

 R_gt:
[[ 0.99294124 -0.10873566 -0.04737815]
 [ 0.08934993  0.94843166 -0.30412668]
 [ 0.0780043   0.29774714  0.95145293]]

 t_gt:
[ 0.46738096  0.18182347 -0.86515621]

Pose Error in degrees for R and t:
102.59255604220034 79.33582364148722

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.82452494 -0.56399512 -0.04547678]
 [ 0.55313232 -0.7864921  -0.27472678]
 [ 0.11917744 -0.25167376  0.96044628]]

 t_estimated:
[[0.96312129]
 [0.26899991]
 [0.00603563]]

 R_gt:
[[ 0.99981381 -0.01652008  0.00993859]
 [ 0.01609485  0.99901029  0.04145779]
 [-0.01061343 -0.04128993  0.9990909 ]]

 t_gt:
[ 0.09967103 -0.62008117  0.77818059]

Pose Error in degrees for R and t:
144.83565910420594 86.20942983913142

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 7.87698555e-03  9.99968870e-01  4.60828342e-04]
 [-9.99967660e-01  7.87772214e-03 -1.61904254e-03]
 [-1.62262242e-03 -4.48060264e-04  9.99998583e-01]]

 t_estimated:
[[-5.31984282e-03]
 [ 9.99985459e-01]
 [ 8.83475047e-04]]

 R_gt:
[[ 0.99488287 -0.10102726 -0.00136378]
 [ 0.10098019  0.99378438  0.04683904]
 [-0.00337698 -0.04673776  0.99890145]]

 t_gt:
[ 0.65335496 -0.68936221  0.31290101]

Pose Error in degrees for R and t:
95.37896502151436 46.16757767660863

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99999605e-01  6.08973751e-04 -6.47148530e-04]
 [-6.08917544e-04  9.99999811e-01  8.70478067e-05]
 [ 6.47201417e-04 -8.66537122e-05  9.99999787e-01]]

 t_estimated:
[[0.65814743]
 [0.7528884 ]
 [0.00100788]]

 R_gt:
[[ 0.99546457 -0.09078378 -0.02842437]
 [ 0.08979018  0.99536351 -0.03447533]
 [ 0.03142236  0.0317669   0.99900186]]

 t_gt:
[ 0.78631087 -0.53463981 -0.30963766]

Pose Error in degrees for R and t:
5.802622223677956 83.4152766933649

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[ 9.99082155e-01  4.28351087e-02  3.36462985e-05]
 [-4.28351089e-02  9.99082156e-01  3.12464921e-06]
 [-3.34815717e-05 -4.56302413e-06  9.99999999e-01]]

 t_estimated:
[[-2.59028752e-02]
 [-9.99664460e-01]
 [-9.63506262e-05]]

 R_gt:
[[ 0.99972534 -0.00884214 -0.02171142]
 [ 0.01201961  0.98847579  0.1509011 ]
 [ 0.02012673 -0.15112046  0.98831072]]

 t_gt:
[ 0.03481091 -0.37439138  0.92661712]

Pose Error in degrees for R and t:
9.285506831670615 68.08227651843046

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 9.99340075e-01  3.63237332e-02  1.20982593e-05]
 [-3.63237314e-02  9.99340068e-01 -1.23122411e-04]
 [-1.65625409e-05  1.22601705e-04  9.99999992e-01]]

 t_estimated:
[[ 6.33968698e-02]
 [-9.97988332e-01]
 [-3.56169047e-04]]

 R_gt:
[[ 9.97355229e-01  1.47005831e-02 -7.11708099e-02]
 [-6.60820309e-04  9.81122869e-01  1.93382539e-01]
 [ 7.26695279e-02 -1.92823925e-01  9.78539004e-01]]

 t_gt:
[-0.19814702 -0.39874829  0.89539799]

Pose Error in degrees for R and t:
12.010370079985872 67.35220400948297

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.96831007e-01  7.95483689e-02 -3.45026580e-06]
 [-7.95483679e-02  9.96830985e-01 -2.12507137e-04]
 [-1.34652643e-05  2.12108167e-04  9.99999977e-01]]

 t_estimated:
[[ 6.72512007e-02]
 [-9.97735986e-01]
 [-4.23224324e-04]]

 R_gt:
[[ 0.99508148  0.07244138 -0.06756474]
 [-0.05294074  0.96539468  0.25536102]
 [ 0.08372541 -0.25052794  0.96448182]]

 t_gt:
[-0.59381934 -0.23993032  0.76799221]

Pose Error in degrees for R and t:
15.35462120556059 78.51408615783241

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.88041062e-01 -1.54190554e-01 -3.65776358e-04]
 [ 1.54190779e-01  9.88040848e-01  6.97503877e-04]
 [ 2.53853474e-04 -7.45561813e-04  9.99999690e-01]]

 t_estimated:
[[0.4149234 ]
 [0.90985445]
 [0.00186064]]

 R_gt:
[[ 0.99391553 -0.10829036  0.02016019]
 [ 0.10847189  0.99406704 -0.00812552]
 [-0.01916059  0.01026261  0.99976403]]

 t_gt:
[ 0.5767961  -0.81469481 -0.05982151]

Pose Error in degrees for R and t:
2.9391660429309203 59.865021775447005

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-0.38666394 -0.92221616 -0.00289099]
 [ 0.92221854 -0.38665438 -0.00336891]
 [ 0.00198905 -0.00396876  0.99999015]]

 t_estimated:
[[0.91314808]
 [0.40762284]
 [0.00204831]]

 R_gt:
[[ 0.98841282 -0.11289145  0.10147188]
 [ 0.12315974  0.98719533 -0.10137252]
 [-0.08872816  0.11269488  0.98966055]]

 t_gt:
[ 0.22775736 -0.80537418 -0.54726503]

Pose Error in degrees for R and t:
106.17431781290986 83.02514823576375

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.76323338  0.64610778 -0.00442136]
 [-0.6460607   0.76323698  0.00865348]
 [ 0.00896562 -0.00374816  0.99995278]]

 t_estimated:
[[8.67901181e-01]
 [4.96736407e-01]
 [6.93765932e-04]]

 R_gt:
[[ 0.98028677 -0.07102235  0.18437437]
 [ 0.0996165   0.98353579 -0.1507778 ]
 [-0.17062953  0.16617273  0.97122186]]

 t_gt:
[-0.70967932 -0.34771399 -0.61273995]

Pose Error in degrees for R and t:
47.331327248530556 37.900491392911526

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99986633e-01 -5.17012247e-03  6.75645056e-05]
 [ 5.17011842e-03  9.99986633e-01  5.98646816e-05]
 [-6.78731102e-05 -5.95145648e-05  9.99999996e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075785e-03]
 [7.75189837e-04]]

 R_gt:
[[ 0.9949448  -0.09690771  0.02635669]
 [ 0.09641326  0.9951514   0.01943063]
 [-0.02811147 -0.01679103  0.99946428]]

 t_gt:
[ 0.63403611 -0.68546837  0.35795436]

Pose Error in degrees for R and t:
5.5751637850461995 50.788495853143864

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.58981815e-01  2.83463644e-01  1.49717228e-03]
 [-2.83463139e-01  9.58982978e-01 -5.43976670e-04]
 [-1.58996034e-03  9.72705813e-05  9.99998731e-01]]

 t_estimated:
[[-0.53590069]
 [ 0.8442704 ]
 [ 0.00423565]]

 R_gt:
[[ 0.99044798 -0.13776769  0.00584458]
 [ 0.13767893  0.99038376  0.01357267]
 [-0.00765785 -0.01263819  0.99989083]]

 t_gt:
[ 0.76049036 -0.63568119  0.13252865]

Pose Error in degrees for R and t:
24.39734471069651 19.322207473128163

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.07374591  0.99727538  0.00183299]
 [ 0.99727507  0.07374196  0.0021353 ]
 [ 0.00199431  0.00198546 -0.99999604]]

 t_estimated:
[[0.77461702]
 [0.63242705]
 [0.00212224]]

 R_gt:
[[ 0.98712427 -0.15982404  0.00657302]
 [ 0.15983679  0.98714174 -0.00162965]
 [-0.00622827  0.00265977  0.99997731]]

 t_gt:
[ 0.84973327 -0.524584    0.05258319]

Pose Error in degrees for R and t:
179.64618502238113 70.93938074682319

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.99999804 -0.00161705 -0.00113861]
 [ 0.00161842  0.99999797  0.00120205]
 [ 0.00113667 -0.00120389  0.99999863]]

 t_estimated:
[[-0.99997252]
 [-0.00665634]
 [-0.00326277]]

 R_gt:
[[ 0.99869652 -0.02185576  0.04612603]
 [ 0.01773221  0.99596194  0.08800748]
 [-0.04786312 -0.08707486  0.99505099]]

 t_gt:
[-0.11048704 -0.45708183  0.88253545]

Pose Error in degrees for R and t:
5.76861014806793 83.6473871417296

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.19979115 -0.93622314  0.28908428]
 [-0.94446199  0.26256707  0.19761095]
 [-0.26091195 -0.2335482  -0.93668575]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.9976612  -0.0436768   0.0525751 ]
 [ 0.03667894  0.99117105  0.12741408]
 [-0.05767658 -0.12518691  0.99045448]]

 t_gt:
[-0.01258072 -0.5069645   0.86187512]

Pose Error in degrees for R and t:
152.61723104203782 77.77614895081936

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.0661759  -0.99780391 -0.00284598]
 [ 0.99780598 -0.0661812   0.0018097 ]
 [-0.00199408 -0.00271997  0.99999431]]

 t_estimated:
[[0.99957971]
 [0.02893079]
 [0.00184554]]

 R_gt:
[[ 0.99453974 -0.09590598  0.04115644]
 [ 0.08898218  0.98530475  0.14579616]
 [-0.05453473 -0.14133781  0.98845782]]

 t_gt:
[ 0.26535572 -0.61636782  0.74140209]

Pose Error in degrees for R and t:
88.78090569359314 75.59464111498494

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.98643249e-01 -5.20691248e-02  6.83986991e-04]
 [ 5.20695961e-02  9.98643220e-01 -6.90392354e-04]
 [-6.47110846e-04  7.25070589e-04  9.99999528e-01]]

 t_estimated:
[[0.95024128]
 [0.31151289]
 [0.00110619]]

 R_gt:
[[ 0.98149873 -0.1914572  -0.00187633]
 [ 0.19140029  0.98085746  0.03585362]
 [-0.00502448 -0.03554918  0.99935567]]

 t_gt:
[ 0.69146514 -0.69341523  0.20261115]

Pose Error in degrees for R and t:
8.322999738333657 63.814735952007325

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.99939936  0.03463839  0.00105044]
 [-0.03463711  0.99939922 -0.0012105 ]
 [-0.00109174  0.00117339  0.99999872]]

 t_estimated:
[[ 0.98716708]
 [-0.15968249]
 [-0.00163334]]

 R_gt:
[[ 0.93088417 -0.36232796 -0.04662045]
 [ 0.36442142  0.92993418  0.04919244]
 [ 0.02553034 -0.06278141  0.99770076]]

 t_gt:
[ 0.78942848 -0.60405939  0.10915557]

Pose Error in degrees for R and t:
23.650644824744816 28.88663716952254

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99998197e-01  6.52215060e-04 -1.78322834e-03]
 [-6.47946531e-04  9.99996926e-01  2.39323966e-03]
 [ 1.78478377e-03 -2.39207991e-03  9.99995546e-01]]

 t_estimated:
[[9.18944591e-01]
 [3.94385961e-01]
 [7.43645752e-04]]

 R_gt:
[[ 0.85170936 -0.50924131 -0.1235474 ]
 [ 0.51817174  0.85357839  0.05386003]
 [ 0.07803037 -0.10989153  0.99087558]]

 t_gt:
[ 0.85904185 -0.50293322  0.09542158]

Pose Error in degrees for R and t:
31.992320757138344 53.76254807604787

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.23883155  0.97101199  0.0097575 ]
 [-0.97104912 -0.2388663   0.00254945]
 [ 0.00480629 -0.00886612  0.99994914]]

 t_estimated:
[[0.18798546]
 [0.98217124]
 [0.0010561 ]]

 R_gt:
[[ 0.99370329 -0.10911679  0.02543669]
 [ 0.10923826  0.99401019 -0.00339466]
 [-0.02491427  0.00615304  0.99966958]]

 t_gt:
[ 0.58915833 -0.80149032  0.10249746]

Pose Error in degrees for R and t:
110.09357206986056 47.441759576199125

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.02478685  0.99968128 -0.00479133]
 [ 0.99968094 -0.02476296  0.00498165]
 [ 0.00486141 -0.00491328 -0.99997611]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.95586846 -0.28742141  0.06086145]
 [ 0.28563703  0.95764571  0.03642269]
 [-0.06875212 -0.01742974  0.99748069]]

 t_gt:
[ 0.68085505 -0.69719976  0.22438559]

Pose Error in degrees for R and t:
178.8841109128677 46.098712396149914

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-9.95221594e-01 -9.76414569e-02  3.52607818e-04]
 [-9.76410744e-02  9.95221217e-01  9.75019220e-04]
 [-4.46125078e-04  9.35931176e-04 -9.99999463e-01]]

 t_estimated:
[[0.99995119]
 [0.00980344]
 [0.00122543]]

 R_gt:
[[ 0.90350259 -0.42749562  0.03050108]
 [ 0.42527194  0.90308007  0.05993353]
 [-0.05316578 -0.04117831  0.99773556]]

 t_gt:
[ 0.7601038  -0.62733691  0.16938302]

Pose Error in degrees for R and t:
177.36428893642451 41.05109601647025

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.93061577e-01 -1.17594499e-01  4.88906955e-04]
 [ 1.17595227e-01  9.93059763e-01 -1.91582382e-03]
 [-2.60223482e-04  1.96002415e-03  9.99998045e-01]]

 t_estimated:
[[-0.41166889]
 [-0.91132807]
 [-0.00314251]]

 R_gt:
[[ 0.99652581 -0.06079813  0.05692378]
 [ 0.05770339  0.99684434  0.05451464]
 [-0.06005867 -0.05104079  0.99688881]]

 t_gt:
[ 0.30526409 -0.56358508  0.76758433]

Pose Error in degrees for R and t:
5.67474359462868 67.32328880403404

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.08574583  0.99579854 -0.03213895]
 [-0.99565042  0.08682369  0.03379171]
 [ 0.03644015  0.02910167  0.99891201]]

 t_estimated:
[[0.6371537 ]
 [0.77073627]
 [0.00087883]]

 R_gt:
[[ 0.98509986 -0.1126923   0.1299222 ]
 [ 0.09302757  0.9845142   0.14858657]
 [-0.14465467 -0.13428684  0.98032672]]

 t_gt:
[ 0.26087814 -0.44697308  0.85566212]

Pose Error in degrees for R and t:
91.83286227646991 79.77425773112246

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.16320946  0.98657401  0.00586541]
 [ 0.98658835  0.16319119  0.00347299]
 [ 0.00246917  0.00635357 -0.99997677]]

 t_estimated:
[[0.99969769]
 [0.02454919]
 [0.00136384]]

 R_gt:
[[ 0.97304325 -0.12412882  0.19436927]
 [ 0.07717153  0.96946177  0.2327846 ]
 [-0.21732848 -0.21151017  0.95290618]]

 t_gt:
[ 0.18914019 -0.30679537  0.9327929 ]

Pose Error in degrees for R and t:
179.08321832987806 79.4657292967553

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 8.86074037e-01  4.63539258e-01  2.03923857e-03]
 [-4.63540534e-01  8.86075697e-01  1.77250407e-04]
 [-1.72475722e-03 -1.10232672e-03  9.99997905e-01]]

 t_estimated:
[[-0.32820006]
 [ 0.94459919]
 [ 0.00413519]]

 R_gt:
[[ 0.99901219 -0.04089952 -0.01739326]
 [ 0.04063847  0.99905958 -0.015127  ]
 [ 0.01799524  0.01440568  0.99973507]]

 t_gt:
[ 0.80257834 -0.18925706 -0.56572942]

Pose Error in degrees for R and t:
29.986122301087356 63.60751304839221

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 8.68013859e-01  4.96539613e-01  5.94358169e-04]
 [-4.96539087e-01  8.68013952e-01 -8.45045766e-04]
 [-9.35509880e-04  4.38389374e-04  9.99999466e-01]]

 t_estimated:
[[0.40238162]
 [0.91547141]
 [0.0010645 ]]

 R_gt:
[[ 9.96907138e-01 -7.85623789e-02  2.32088846e-03]
 [ 7.85949231e-02  9.96280036e-01 -3.53502780e-02]
 [ 4.64943183e-04  3.54243317e-02  9.99372469e-01]]

 t_gt:
[ 0.91438939 -0.14113212 -0.37943875]

Pose Error in degrees for R and t:
34.33551415584199 76.2121712587946

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.93950015e-01  1.09833125e-01  2.30786711e-04]
 [-1.09833171e-01  9.93950016e-01  1.98864850e-04]
 [-2.07548507e-04 -2.23009757e-04  9.99999954e-01]]

 t_estimated:
[[0.46844282]
 [0.88349324]
 [0.0010074 ]]

 R_gt:
[[ 0.98777854 -0.15538095  0.01235194]
 [ 0.15571974  0.98720834 -0.03424107]
 [-0.0068742   0.03574553  0.9993377 ]]

 t_gt:
[ 0.91823188 -0.36805195 -0.14624628]

Pose Error in degrees for R and t:
15.399415800110695 83.9831808581836

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99995903e-01  2.86228376e-03 -4.01532350e-05]
 [-2.86228505e-03  9.99995903e-01 -3.23003845e-05]
 [ 4.00606177e-05  3.24151821e-05  9.99999999e-01]]

 t_estimated:
[[-9.84335127e-01]
 [ 1.76306124e-01]
 [-7.13752092e-04]]

 R_gt:
[[ 0.99677085  0.07500855  0.02869507]
 [-0.07456582  0.99708393 -0.01620821]
 [-0.02982774  0.01401633  0.99945643]]

 t_gt:
[-0.58352522  0.78420194  0.21101101]

Pose Error in degrees for R and t:
4.538132857111958 44.561854117688256

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99997379e-01 -2.28819565e-03 -7.97585977e-05]
 [ 2.28819708e-03  9.99997382e-01  1.78442471e-05]
 [ 7.97175578e-05 -1.80267037e-05  9.99999997e-01]]

 t_estimated:
[[-8.09542769e-01]
 [ 5.87060626e-01]
 [-5.71705402e-04]]

 R_gt:
[[ 0.99536841  0.07332121  0.06218298]
 [-0.07272493  0.99728263 -0.01179553]
 [-0.06288002  0.00721899  0.99799393]]

 t_gt:
[-0.5391647   0.64925386  0.53644278]

Pose Error in degrees for R and t:
5.64664338337799 35.182435549486364

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.68394943e-01 -2.49421654e-01  2.69032440e-04]
 [ 2.49421687e-01  9.68394967e-01 -9.87246654e-05]
 [-2.35905592e-04  1.62706992e-04  9.99999959e-01]]

 t_estimated:
[[0.91783325]
 [0.3969649 ]
 [0.0009951 ]]

 R_gt:
[[ 0.9961266   0.07091126  0.0520011 ]
 [-0.07020727  0.99741572 -0.0152482 ]
 [-0.05294919  0.0115376   0.9985305 ]]

 t_gt:
[-0.56351295  0.68639236  0.45969412]

Pose Error in degrees for R and t:
18.746579991276526 75.86072375760585

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99998861e-01 -9.50736519e-04  1.17238658e-03]
 [ 9.52633365e-04  9.99998237e-01 -1.61844036e-03]
 [-1.17084580e-03  1.61955537e-03  9.99998003e-01]]

 t_estimated:
[[-9.02852673e-01]
 [-4.29949572e-01]
 [-6.44964607e-04]]

 R_gt:
[[ 0.99409869 -0.10571916  0.02432457]
 [ 0.10557268  0.99438575  0.00721468]
 [-0.02495094 -0.00460366  0.99967852]]

 t_gt:
[ 0.69665375 -0.68093351  0.22583866]

Pose Error in degrees for R and t:
6.174528850429481 70.34508743071731

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999978e-01 -1.13777847e-04  1.76922689e-04]
 [ 1.13786790e-04  9.99999992e-01 -5.05424856e-05]
 [-1.76916937e-04  5.05626160e-05  9.99999983e-01]]

 t_estimated:
[[0.6893564 ]
 [0.72442192]
 [0.00079694]]

 R_gt:
[[ 0.99135674 -0.11807496  0.05719514]
 [ 0.11983228  0.99239011 -0.0283268 ]
 [-0.05341469  0.03493636  0.99796168]]

 t_gt:
[ 0.78084614 -0.5872229   0.2131867 ]

Pose Error in degrees for R and t:
7.744364420559229 83.5086025125139

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-9.35285844e-01  3.53866601e-01 -4.33801403e-03]
 [-3.53873176e-01 -9.35293048e-01  8.29996559e-04]
 [-3.76360631e-03  2.31139084e-03  9.99990246e-01]]

 t_estimated:
[[0.9379695 ]
 [0.34671373]
 [0.00167495]]

 R_gt:
[[ 0.99407037  0.0043232   0.10865203]
 [ 0.00184332  0.9983958  -0.05659503]
 [-0.10872189  0.05646001  0.99246756]]

 t_gt:
[0.12580269 0.46575761 0.87592439]

Pose Error in degrees for R and t:
159.24235035342102 73.68304226313171

Number of keypoints:
Image1: 369
Image2: 369

 R_estimated:
[[ 9.99468042e-01  3.26133392e-02  4.87556744e-05]
 [-3.26133428e-02  9.99468041e-01  7.52654470e-05]
 [-4.62750808e-05 -7.68154945e-05  9.99999996e-01]]

 t_estimated:
[[0.6462356 ]
 [0.76313741]
 [0.00091621]]

 R_gt:
[[ 0.99892605  0.0235594  -0.03989913]
 [-0.02341965  0.99971805  0.00398542]
 [ 0.03998212 -0.00304686  0.99919612]]

 t_gt:
[ 0.0966748   0.96529201 -0.24262178]

Pose Error in degrees for R and t:
2.3584265946141665 36.97454047406232

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-0.99993226 -0.01138368 -0.00242497]
 [ 0.011388   -0.99993358 -0.00177464]
 [-0.00240461 -0.00180214  0.99999549]]

 t_estimated:
[[0.81858689]
 [0.57438136]
 [0.00124595]]

 R_gt:
[[ 0.99645432  0.02598754 -0.08001619]
 [-0.02455943  0.99952243  0.01878783]
 [ 0.080466   -0.01675671  0.99661673]]

 t_gt:
[ 0.44813956  0.86455717 -0.22740237]

Pose Error in degrees for R and t:
179.2076382852938 30.328627026557466

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.91818421e-01  1.27656321e-01  2.89317393e-04]
 [-1.27656495e-01  9.91818199e-01  6.92524116e-04]
 [-1.98545174e-04 -7.23791420e-04  9.99999718e-01]]

 t_estimated:
[[0.48212794]
 [0.87610035]
 [0.00091355]]

 R_gt:
[[ 0.98922528 -0.00874621 -0.14614012]
 [ 0.00486776  0.99962725 -0.0268763 ]
 [ 0.14631983  0.02587605  0.98889917]]

 t_gt:
[ 0.74726935  0.5014915  -0.43599861]

Pose Error in degrees for R and t:
11.531105180680303 36.94260101622202

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.86235916 -0.50628205 -0.00389355]
 [ 0.50625977 -0.8623635   0.00549887]
 [-0.00614164  0.00277086  0.9999773 ]]

 t_estimated:
[[0.99929482]
 [0.03743756]
 [0.00287981]]

 R_gt:
[[ 0.99494987  0.06707511 -0.07466493]
 [-0.06501069  0.99744141  0.02974541]
 [ 0.07646942 -0.02474007  0.99676433]]

 t_gt:
[ 0.64059282  0.35198217 -0.68245834]

Pose Error in degrees for R and t:
153.40423306376098 49.35630305797014

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.92774538 -0.37314103 -0.00736752]
 [ 0.37318691  0.92773464  0.00632168]
 [ 0.00447622 -0.00861437  0.99995288]]

 t_estimated:
[[-0.67114229]
 [-0.74132711]
 [-0.00146218]]

 R_gt:
[[ 0.9817973   0.16216429 -0.0988781 ]
 [-0.15717713  0.98596174  0.05634122]
 [ 0.10662651 -0.03977304  0.99350292]]

 t_gt:
[ 0.23867536  0.89373356 -0.3798347 ]

Pose Error in degrees for R and t:
31.692332512097515 34.69651616887797

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 8.22218601e-01 -5.69171646e-01 -4.57960857e-04]
 [ 5.69171749e-01  8.22218647e-01  1.28253878e-04]
 [ 3.03545486e-04 -3.66111106e-04  9.99999887e-01]]

 t_estimated:
[[9.12296643e-01]
 [4.09529389e-01]
 [7.17214342e-04]]

 R_gt:
[[ 0.95586744  0.25933114 -0.1380773 ]
 [-0.24372357  0.96236243  0.12023821]
 [ 0.16406252 -0.0812781   0.98309541]]

 t_gt:
[ 0.03484709  0.99642946 -0.07690263]

Pose Error in degrees for R and t:
50.42656552436378 63.90869557044753

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.02894229e-01 -4.29851307e-01 -3.14069535e-03]
 [ 4.29862074e-01  9.02881896e-01  4.78318464e-03]
 [ 7.79618805e-04 -5.66877563e-03  9.99983628e-01]]

 t_estimated:
[[8.37619949e-01]
 [5.46253009e-01]
 [6.85821283e-04]]

 R_gt:
[[ 9.97851777e-01 -6.00311329e-02  2.62477507e-02]
 [ 5.99863260e-02  9.98195401e-01  2.47695911e-03]
 [-2.63496074e-02 -8.97263708e-04  9.99652495e-01]]

 t_gt:
[0.85247542 0.19869462 0.48353501]

Pose Error in degrees for R and t:
22.07788449275144 34.62186865880375

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-3.51021679e-01 -9.36365672e-01 -1.76348569e-03]
 [ 9.36366823e-01 -3.51022831e-01  3.82281413e-04]
 [-9.76978932e-04 -1.51708043e-03  9.99998372e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99597664 -0.08956677  0.00296464]
 [ 0.08934383  0.9949894   0.04486598]
 [-0.00696851 -0.04442046  0.99898912]]

 t_gt:
[0.90749609 0.09929117 0.40815696]

Pose Error in degrees for R and t:
105.43452251107801 24.75375499167572

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-9.99969980e-01 -7.74634856e-03  1.81612402e-04]
 [-7.74597470e-03  9.99968047e-01  1.97599911e-03]
 [-1.96913377e-04  1.97453303e-03 -9.99998031e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99500456 -0.09980802  0.00227759]
 [ 0.09972549  0.99472878  0.02386602]
 [-0.00464823 -0.02351952  0.99971307]]

 t_gt:
[0.96065679 0.19591928 0.19686079]

Pose Error in degrees for R and t:
179.78616001717003 15.968730354931965

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.66287769 -0.74871633 -0.00412554]
 [-0.74848271  0.6625098   0.02923022]
 [-0.01915193  0.02246396 -0.99956419]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.98827703 -0.10985238  0.10602136]
 [ 0.10907995  0.993947    0.01306878]
 [-0.1068154  -0.00135152  0.99427786]]

 t_gt:
[ 0.44262688 -0.70889237  0.54913847]

Pose Error in degrees for R and t:
173.6911382574654 84.06678589473772

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 2.54276464e-01  9.67130287e-01 -1.57717922e-03]
 [-9.67131336e-01  2.54274921e-01 -1.11554766e-03]
 [-6.77842812e-04  1.80899696e-03  9.99998134e-01]]

 t_estimated:
[[8.50864198e-01]
 [5.25385188e-01]
 [7.21682950e-04]]

 R_gt:
[[ 0.96549211 -0.22206431  0.13605933]
 [ 0.22147252  0.97496857  0.01965967]
 [-0.13701956  0.01115207  0.99050586]]

 t_gt:
[ 0.61507469 -0.70193982  0.35911505]

Pose Error in degrees for R and t:
88.42891365805532 81.09390887746699

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 4.84743552e-01 -8.74649144e-01  3.54441274e-03]
 [-8.74655569e-01 -4.84744483e-01  6.48931444e-04]
 [ 1.15054719e-03 -3.41470568e-03 -9.99993508e-01]]

 t_estimated:
[[0.82752853]
 [0.56142132]
 [0.0016226 ]]

 R_gt:
[[ 0.93906869 -0.31691788  0.13309502]
 [ 0.31525258  0.94839987  0.03396742]
 [-0.13699207  0.01006043  0.99052106]]

 t_gt:
[ 0.71810761 -0.64810203  0.25354528]

Pose Error in degrees for R and t:
175.3026674108233 76.65537422386453

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.90156116e-01 -1.39963566e-01 -1.03298798e-03]
 [ 1.39964481e-01  9.90156139e-01  8.73883366e-04]
 [ 9.00507561e-04 -1.00986259e-03  9.99999085e-01]]

 t_estimated:
[[8.55367739e-01]
 [5.18020836e-01]
 [6.66693483e-04]]

 R_gt:
[[ 0.99850572  0.00107848 -0.05465225]
 [-0.00232278  0.99973976 -0.02269523]
 [ 0.0546131   0.02278815  0.99824732]]

 t_gt:
[ 0.26820349  0.2227621  -0.9372534 ]

Pose Error in degrees for R and t:
8.809100877567245 69.86805879400285

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 4.74523721e-01  8.80237922e-01  2.90497788e-03]
 [ 8.80240692e-01 -4.74527123e-01  5.78430722e-04]
 [ 1.88764745e-03  2.28260064e-03 -9.99995613e-01]]

 t_estimated:
[[-0.99981909]
 [-0.01890414]
 [-0.00210046]]

 R_gt:
[[ 0.99477935  0.06040585 -0.08225524]
 [-0.06509654  0.9963293  -0.05559226]
 [ 0.07859554  0.0606563   0.99505937]]

 t_gt:
[-0.08926271  0.67629486 -0.73120273]

Pose Error in degrees for R and t:
179.4482835836739 85.52652033698891

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.83460253 -0.55030204  0.02462288]
 [ 0.55063632  0.83469348 -0.00929757]
 [-0.01543609  0.02131803  0.99965357]]

 t_estimated:
[[8.23780000e-01]
 [5.66909253e-01]
 [6.40575428e-04]]

 R_gt:
[[ 0.99469666  0.05564467 -0.08650308]
 [-0.06312699  0.99426595 -0.08631763]
 [ 0.08120433  0.09132072  0.99250492]]

 t_gt:
[-0.02990814  0.66260659 -0.74837024]

Pose Error in degrees for R and t:
37.52246217716091 69.48083381466489

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.97233838  0.23283708  0.01857339]
 [-0.2322987   0.97226299 -0.02723964]
 [-0.02440062  0.02217157  0.99945637]]

 t_estimated:
[[0.79460327]
 [0.60711261]
 [0.00446406]]

 R_gt:
[[ 0.98878121  0.14812192  0.01931   ]
 [-0.14865424  0.98843847  0.02986319]
 [-0.01466272 -0.03239789  0.99936777]]

 t_gt:
[-0.89972338  0.34849285  0.26277476]

Pose Error in degrees for R and t:
5.878776591991382 59.85595253555965

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-0.57537656  0.81787128  0.00532812]
 [-0.81788143 -0.57533195 -0.0079445 ]
 [-0.00343214 -0.00892885  0.99995425]]

 t_estimated:
[[0.4472093 ]
 [0.89441859]
 [0.0043844 ]]

 R_gt:
[[ 0.97684257  0.21167996  0.03114663]
 [-0.21326517  0.97502052  0.06206235]
 [-0.01723155 -0.06726756  0.99758633]]

 t_gt:
[-0.89398672  0.28714235  0.34400147]

Pose Error in degrees for R and t:
112.87944304368231 81.86734400522673

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.31982132e-01 -3.62504146e-01 -2.24105794e-04]
 [ 3.62504215e-01  9.31981983e-01  5.25788274e-04]
 [ 1.82621331e-05 -5.71264571e-04  9.99999837e-01]]

 t_estimated:
[[-8.26186490e-01]
 [-5.63396373e-01]
 [-6.40951505e-04]]

 R_gt:
[[ 0.96620564  0.25215496  0.05353174]
 [-0.25567575  0.96389341  0.0744238 ]
 [-0.03283277 -0.08559592  0.99578867]]

 t_gt:
[-0.89406865  0.25879034  0.36560746]

Pose Error in degrees for R and t:
36.36120374159699 53.65602505796178

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99984680e-01  5.53525654e-03 -3.47565081e-05]
 [-5.53525138e-03  9.99984670e-01  1.46853393e-04]
 [ 3.55688464e-05 -1.46658757e-04  9.99999989e-01]]

 t_estimated:
[[0.8456111 ]
 [0.53379846]
 [0.00103249]]

 R_gt:
[[ 0.9830915   0.18300388  0.00641709]
 [-0.18309014  0.98174807  0.05146349]
 [ 0.00311868 -0.0517681   0.99865338]]

 t_gt:
[-0.87200166  0.39899728  0.28357412]

Pose Error in degrees for R and t:
10.656912884137439 58.392501938765704

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.68389663  0.72957127 -0.00334089]
 [-0.72957805 -0.68389571  0.00159001]
 [-0.00112479  0.00352484  0.99999316]]

 t_estimated:
[[ 6.81791342e-01]
 [ 7.31546694e-01]
 [-5.61217416e-06]]

 R_gt:
[[ 9.45868833e-01  3.24189755e-01  1.52720192e-02]
 [-3.24549276e-01  9.44803898e-01  4.48841264e-02]
 [ 1.22820369e-04 -4.74105683e-02  9.98874911e-01]]

 t_gt:
[-0.85619641  0.49090421  0.16106133]

Pose Error in degrees for R and t:
114.2362200526767 77.0189457748484

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-9.88970938e-01 -1.48034438e-01 -4.72104025e-03]
 [-1.48033146e-01  9.88982203e-01 -6.23696026e-04]
 [ 4.76135328e-03  8.20531986e-05 -9.99988661e-01]]

 t_estimated:
[[ 9.63987669e-01]
 [ 2.65945715e-01]
 [-8.06511100e-04]]

 R_gt:
[[ 0.91001679  0.41307253  0.03521386]
 [-0.41456697  0.90709039  0.07294263]
 [-0.00181136 -0.08097759  0.99671399]]

 t_gt:
[-0.8472361   0.48940548  0.2065751 ]

Pose Error in degrees for R and t:
178.84395564798436 46.627676351689985

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 4.15542373e-01 -9.09561984e-01  4.64041594e-03]
 [-9.09573318e-01 -4.15542100e-01  1.06829405e-03]
 [ 9.56608532e-04 -4.66471996e-03 -9.99988663e-01]]

 t_estimated:
[[0.52432819]
 [0.85151323]
 [0.00227227]]

 R_gt:
[[ 0.99869675  0.04402122 -0.02584511]
 [-0.04535352  0.99754116 -0.05343323]
 [ 0.02343002  0.05453637  0.9982361 ]]

 t_gt:
[-0.25277524  0.77715715 -0.57630846]

Pose Error in degrees for R and t:
176.8306598638468 58.13545498703351

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 1.64904024e-01 -9.86308613e-01 -1.40823866e-03]
 [ 9.86309616e-01  1.64903764e-01  2.99752535e-04]
 [-6.34246518e-05 -1.43838973e-03  9.99998964e-01]]

 t_estimated:
[[9.99037861e-01]
 [4.38476170e-02]
 [8.59757195e-04]]

 R_gt:
[[ 0.99990885  0.01336174  0.00237499]
 [-0.01326058  0.9991714  -0.03848506]
 [-0.00288755  0.03845063  0.99925561]]

 t_gt:
[-0.17860625  0.89046912 -0.41852666]

Pose Error in degrees for R and t:
81.2982257798319 81.96666134024257

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 7.54824074e-01  6.55923049e-01  2.36045515e-03]
 [ 6.55923551e-01 -7.54827037e-01  6.62927450e-04]
 [ 2.21656476e-03  1.04788452e-03 -9.99996994e-01]]

 t_estimated:
[[0.7274883 ]
 [0.68611934]
 [0.001009  ]]

 R_gt:
[[ 0.99490572 -0.04527124  0.09008205]
 [ 0.04093944  0.99794138  0.04936983]
 [-0.09213203 -0.04542971  0.99470998]]

 t_gt:
[ 0.14281691 -0.26357123  0.95400919]

Pose Error in degrees for R and t:
179.29615593799107 85.6424044003389

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.05888620e-02 -9.95887283e-01 -1.47575791e-03]
 [ 9.95888253e-01  9.05894894e-02 -3.63862396e-04]
 [ 4.96054089e-04 -1.43672808e-03  9.99998845e-01]]

 t_estimated:
[[ 8.58090796e-01]
 [-5.13497980e-01]
 [-1.05906878e-04]]

 R_gt:
[[ 0.99193786 -0.10645731  0.06874617]
 [ 0.10683728  0.99427467 -0.00186039]
 [-0.06815426  0.0091896   0.99763218]]

 t_gt:
[ 0.56598882 -0.74156325  0.36019521]

Pose Error in degrees for R and t:
78.76023972266883 29.954420456023893

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.95032941e-01  9.95459987e-02  2.02271330e-04]
 [-9.95459830e-02  9.95032959e-01 -8.60938022e-05]
 [-2.09836933e-04  6.55308708e-05  9.99999976e-01]]

 t_estimated:
[[ 9.95485976e-01]
 [-9.49070560e-02]
 [ 5.67264965e-04]]

 R_gt:
[[ 0.97212576 -0.22223193  0.07473329]
 [ 0.22219976  0.97496048  0.00885108]
 [-0.07482807  0.008001    0.99716437]]

 t_gt:
[ 0.70879708 -0.67757965  0.19619509]

Pose Error in degrees for R and t:
19.058749217870865 39.64467986785

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-1.43119946e-01 -9.89703503e-01 -1.91228670e-03]
 [ 9.89705206e-01 -1.43120704e-01  2.65018374e-04]
 [-5.35977432e-04 -1.85467069e-03  9.99998136e-01]]

 t_estimated:
[[9.62448927e-01]
 [2.71461198e-01]
 [9.38537809e-04]]

 R_gt:
[[ 0.95824434 -0.27776065  0.0679375 ]
 [ 0.27776626  0.96060035  0.00954576]
 [-0.06791218  0.00972329  0.99764349]]

 t_gt:
[ 0.77380881 -0.61931956  0.13290302]

Pose Error in degrees for R and t:
82.162894404434 54.77737392204694

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.01638133  0.91500119 -0.40311843]
 [ 0.69122268  0.30167703  0.65665986]
 [ 0.72245613 -0.26788764 -0.63741145]]

 t_estimated:
[[0.99522177]
 [0.09631178]
 [0.01605196]]

 R_gt:
[[ 0.99572752 -0.04639312  0.07984895]
 [ 0.05237369  0.99584376 -0.07451997]
 [-0.07606034  0.07838405  0.99401789]]

 t_gt:
[ 0.26447969  0.93159458 -0.24936325]

Pose Error in degrees for R and t:
139.1480965686172 69.57770674822764

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.9669415   0.25451121 -0.01575356]
 [-0.2515976   0.9622797   0.10352014]
 [ 0.04150636 -0.09613436  0.99450259]]

 t_estimated:
[[-0.9976057 ]
 [-0.06846314]
 [-0.00978045]]

 R_gt:
[[ 0.99405301 -0.07768822  0.07631965]
 [ 0.08006867  0.99637822 -0.02863672]
 [-0.07381843  0.03457688  0.99667223]]

 t_gt:
[0.67610139 0.64408668 0.35782573]

Pose Error in degrees for R and t:
21.510058976013394 43.77364734394313

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.35124530e-01  3.54318299e-01  8.10118105e-04]
 [-3.54190336e-01  9.34843584e-01 -2.48330328e-02]
 [-9.55613165e-03  2.29350421e-02  9.99691284e-01]]

 t_estimated:
[[0.08314338]
 [0.99652128]
 [0.00570166]]

 R_gt:
[[ 0.99247456 -0.11318364  0.04674234]
 [ 0.11431208  0.99319677 -0.02220219]
 [-0.04391057  0.02737819  0.9986608 ]]

 t_gt:
[0.91097509 0.40682378 0.06796168]

Pose Error in degrees for R and t:
27.378941998549777 61.21412676066619

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 3.29242803e-01  9.44244821e-01  9.45709640e-04]
 [ 9.44244583e-01 -3.29243619e-01  8.98286527e-04]
 [ 1.15957127e-03  5.97226831e-04 -9.99999149e-01]]

 t_estimated:
[[9.90716272e-01]
 [1.35942312e-01]
 [9.78002243e-04]]

 R_gt:
[[ 0.99746334  0.04834954  0.05222738]
 [-0.04702165  0.99854532 -0.02637211]
 [-0.0534269   0.02385015  0.9982865 ]]

 t_gt:
[-0.41303741  0.79224965  0.44915541]

Pose Error in degrees for R and t:
177.0842629536753 72.47851790854719

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.69463026e-01 -2.45236000e-01 -8.63340461e-04]
 [ 2.45236809e-01  9.69462683e-01  1.00684978e-03]
 [ 5.90060547e-04 -1.18782650e-03  9.99999120e-01]]

 t_estimated:
[[-0.98868522]
 [-0.14999811]
 [-0.00144717]]

 R_gt:
[[ 0.98454765  0.15772943  0.0760636 ]
 [-0.15352502  0.98642287 -0.05830964]
 [-0.08422842  0.04573158  0.99539633]]

 t_gt:
[-0.48873636  0.839368    0.23790363]

Pose Error in degrees for R and t:
23.821323551514254 69.08647483394209

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.95015294e-01 -9.97221224e-02 -2.49578826e-04]
 [ 9.97221976e-02  9.95015270e-01  3.09430829e-04]
 [ 2.17477644e-04 -3.32776957e-04  9.99999921e-01]]

 t_estimated:
[[0.00624337]
 [0.99997997]
 [0.00104056]]

 R_gt:
[[ 0.98187113  0.15360891  0.11105431]
 [-0.14847361  0.98748574 -0.05316285]
 [-0.11783084  0.03571105  0.99239171]]

 t_gt:
[-0.46942176  0.77831512  0.41697577]

Pose Error in degrees for R and t:
16.082686390576058 39.122140338829084

Number of keypoints:
Image1: 537
Image2: 537

 R_estimated:
[[ 9.99942534e-01  1.07202167e-02 -7.49435534e-05]
 [-1.07202132e-02  9.99942536e-01  4.69308776e-05]
 [ 7.54423560e-05 -4.61247698e-05  9.99999996e-01]]

 t_estimated:
[[-9.99747953e-01]
 [ 2.24339887e-02]
 [-8.64538212e-04]]

 R_gt:
[[ 0.99576826  0.08130142  0.0428411 ]
 [-0.08242768  0.99627809  0.02520519]
 [-0.04063179 -0.02862876  0.99876416]]

 t_gt:
[-0.88223396  0.1894844   0.43099757]

Pose Error in degrees for R and t:
4.980873959340193 27.638770979186376

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 7.03661685e-01 -7.10534435e-01 -1.02455842e-03]
 [-7.10534849e-01 -7.03659256e-01 -1.96942401e-03]
 [ 6.78403561e-04  2.11379268e-03 -9.99997536e-01]]

 t_estimated:
[[0.39405416]
 [0.91908654]
 [0.00111947]]

 R_gt:
[[ 0.98424126  0.17653165  0.01021877]
 [-0.17677745  0.98369472  0.03307218]
 [-0.00421244 -0.03435646  0.99940125]]

 t_gt:
[-0.91222781  0.3836906   0.14360345]

Pose Error in degrees for R and t:
178.17739657464887 89.61831917172216

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[ 9.73400907e-01 -2.29108255e-01 -2.84019883e-04]
 [ 2.29108036e-01  9.73400783e-01 -6.50195317e-04]
 [ 4.25430292e-04  5.67829474e-04  9.99999748e-01]]

 t_estimated:
[[-0.35147313]
 [-0.93619661]
 [-0.00159761]]

 R_gt:
[[ 0.95920518  0.27704904  0.0562838 ]
 [-0.2789331   0.95987902  0.02878119]
 [-0.04605069 -0.04330488  0.99800014]]

 t_gt:
[-0.8519214   0.4968652   0.16539319]

Pose Error in degrees for R and t:
29.62381172892688 80.4446532523147

Number of keypoints:
Image1: 311
Image2: 311

 R_estimated:
[[ 9.86648349e-01 -1.62865059e-01  8.62331687e-05]
 [ 1.62865056e-01  9.86648353e-01  3.50152948e-05]
 [-9.07845820e-05 -2.05034129e-05  9.99999996e-01]]

 t_estimated:
[[9.63592920e-01]
 [2.67372626e-01]
 [7.51046703e-04]]

 R_gt:
[[ 0.99815499 -0.05485098 -0.02603208]
 [ 0.05566785  0.9979432   0.0317851 ]
 [ 0.02423512 -0.03317552  0.99915574]]

 t_gt:
[ 0.94702205 -0.0233307   0.32032001]

Pose Error in degrees for R and t:
6.636240960751785 24.967640240781613

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 0.97430833 -0.22518094  0.0041014 ]
 [ 0.22519762  0.97430407 -0.00419693]
 [-0.00305095  0.00501273  0.99998278]]

 t_estimated:
[[-0.32195045]
 [-0.94675259]
 [-0.00272839]]

 R_gt:
[[ 0.99802628 -0.02352414 -0.05822761]
 [ 0.02585645  0.99887951  0.03964381]
 [ 0.05722996 -0.04107013  0.99751597]]

 t_gt:
[0.76410739 0.62496843 0.15985728]

Pose Error in degrees for R and t:
12.388488083784175 33.05668214406746

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-1.63824087e-01 -9.86487364e-01 -2.08528015e-03]
 [ 9.86489531e-01 -1.63824297e-01 -7.10277279e-05]
 [-2.71551597e-04 -2.06874309e-03  9.99997823e-01]]

 t_estimated:
[[0.77736355]
 [0.62905077]
 [0.00102285]]

 R_gt:
[[ 0.99336662 -0.03240758 -0.11033188]
 [ 0.03580532  0.99893941  0.0289525 ]
 [ 0.10927626 -0.03271042  0.99347365]]

 t_gt:
[ 0.85536139  0.49979012 -0.13625979]

Pose Error in degrees for R and t:
97.62446325163465 11.71187791335166

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.99999766  0.00157436 -0.00148189]
 [-0.00157273  0.99999816  0.00109799]
 [ 0.00148361 -0.00109566  0.9999983 ]]

 t_estimated:
[[-0.49883993]
 [-0.86669345]
 [-0.00109155]]

 R_gt:
[[ 0.98732991 -0.15159288  0.04690153]
 [ 0.14897848  0.98731095  0.05497714]
 [-0.05464116 -0.04729333  0.99738546]]

 t_gt:
[ 0.60764648 -0.70769089  0.36047103]

Pose Error in degrees for R and t:
9.682605497861266 71.95045667868513

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99940820e-01 -1.08479271e-02  8.24187593e-04]
 [ 1.08503305e-02  9.99936723e-01 -2.96994043e-03]
 [-7.91917743e-04  2.97870738e-03  9.99995250e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.96257288 -0.25994714  0.07668942]
 [ 0.25366335  0.96373964  0.08282711]
 [-0.09544023 -0.06027408  0.99360845]]

 t_gt:
[ 0.65975054 -0.66866657  0.34294934]

Pose Error in degrees for R and t:
15.731698874008778 48.85707307244185

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.67347696e-01 -2.53452996e-01 -1.14825903e-04]
 [ 2.53453014e-01  9.67347680e-01  1.87141143e-04]
 [ 6.36450879e-05 -2.10133525e-04  9.99999976e-01]]

 t_estimated:
[[ 9.70036751e-01]
 [-2.42957860e-01]
 [ 4.24108190e-04]]

 R_gt:
[[ 0.94684946 -0.31347675  0.0721794 ]
 [ 0.30621863  0.94708406  0.09623626]
 [-0.09852726 -0.06901886  0.99273812]]

 t_gt:
[ 0.70565076 -0.62943475  0.325375  ]

Pose Error in degrees for R and t:
7.711641617093363 33.11546443553565

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99997753e-01  2.11984322e-03 -7.18287304e-06]
 [-2.11984298e-03  9.99997753e-01  3.44312850e-05]
 [ 7.25584582e-06 -3.44159811e-05  9.99999999e-01]]

 t_estimated:
[[-4.84422447e-01]
 [ 8.74834187e-01]
 [-1.93708044e-04]]

 R_gt:
[[ 0.99246876  0.09266406 -0.08011618]
 [-0.0894895   0.99508632  0.04235504]
 [ 0.08364765 -0.03486556  0.99588491]]

 t_gt:
[ 0.16800088  0.92865838 -0.33071034]

Pose Error in degrees for R and t:
7.291741003219567 43.021077840574684

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.72896213e-01 -2.31241905e-01 -3.74783107e-04]
 [ 2.31241978e-01  9.72896254e-01  1.62216896e-04]
 [ 3.27113736e-04 -2.44485791e-04  9.99999917e-01]]

 t_estimated:
[[ 0.7097241 ]
 [-0.70447926]
 [-0.0008201 ]]

 R_gt:
[[ 0.98559912  0.16210657 -0.04812359]
 [-0.16106918  0.98663269  0.0247296 ]
 [ 0.05148943 -0.01662227  0.99853454]]

 t_gt:
[-0.04888898  0.97637875 -0.21046237]

Pose Error in degrees for R and t:
22.881461601618295 43.750024881924126

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999869e-01  6.98488301e-05 -5.06746574e-04]
 [-6.91973220e-05  9.99999171e-01  1.28557201e-03]
 [ 5.06835950e-04 -1.28553677e-03  9.99999045e-01]]

 t_estimated:
[[-0.7482375 ]
 [-0.66343009]
 [-0.00107351]]

 R_gt:
[[ 0.98288234  0.18366751  0.01443607]
 [-0.18227017  0.98082569 -0.06897285]
 [-0.026826    0.06516109  0.99751353]]

 t_gt:
[ 0.01183762  0.96605969 -0.25804756]

Pose Error in degrees for R and t:
11.32592842360416 49.496582029482276

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-2.07145353e-01 -9.78310168e-01  1.36470818e-04]
 [-9.78309466e-01  2.07145368e-01  1.17722612e-03]
 [-1.17996159e-03  1.10346227e-04 -9.99999298e-01]]

 t_estimated:
[[0.77845842]
 [0.62769422]
 [0.00156528]]

 R_gt:
[[ 0.99721929 -0.06732053 -0.03197353]
 [ 0.0673227   0.99773018 -0.00103063]
 [ 0.03197043 -0.00112465  0.99948824]]

 t_gt:
[ 0.86630766 -0.42631198 -0.26032505]

Pose Error in degrees for R and t:
178.62868723996797 66.02214971929011

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-2.35494799e-01  9.71875544e-01  3.56971234e-04]
 [-9.71873901e-01 -2.35493681e-01 -1.96137594e-03]
 [-1.82214884e-03 -8.08824860e-04  9.99998013e-01]]

 t_estimated:
[[0.31394749]
 [0.94943967]
 [0.00113603]]

 R_gt:
[[ 9.92595526e-01 -1.13133675e-01 -4.42220449e-02]
 [ 1.13221296e-01  9.93569810e-01 -5.23594492e-04]
 [ 4.39975017e-02 -4.48751647e-03  9.99021107e-01]]

 t_gt:
[ 0.85946996 -0.46605727 -0.21000477]

Pose Error in degrees for R and t:
110.14490984147132 80.0433283087252

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.98056199e-01 -6.23200675e-02  1.80989481e-04]
 [ 6.23200626e-02  9.98056215e-01  3.29669632e-05]
 [-1.82692180e-04 -2.16236062e-05  9.99999983e-01]]

 t_estimated:
[[9.99999156e-01]
 [1.25259684e-03]
 [3.46356077e-04]]

 R_gt:
[[ 0.98163668 -0.18329607 -0.05284176]
 [ 0.18256435  0.98302151 -0.01840449]
 [ 0.05531845  0.00841929  0.99843286]]

 t_gt:
[ 0.83703369 -0.50859331 -0.20176089]

Pose Error in degrees for R and t:
7.681647499922759 33.24583249408394

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.95660206e-01  9.30631756e-02 -1.03761169e-05]
 [-9.30631754e-02  9.95660206e-01  1.67527853e-05]
 [ 1.18901541e-05 -1.57144472e-05  1.00000000e+00]]

 t_estimated:
[[-9.49435214e-01]
 [ 3.13962976e-01]
 [ 1.54583129e-04]]

 R_gt:
[[ 9.93237062e-01  1.12636679e-01 -2.81812981e-02]
 [-1.12586269e-01  9.93636031e-01  3.38629219e-03]
 [ 2.83834707e-02 -1.90874973e-04  9.99596858e-01]]

 t_gt:
[-0.64776587  0.75544301 -0.09851515]

Pose Error in degrees for R and t:
1.9782692566096698 31.550683352036057

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.94051547e-01  1.08910612e-01 -6.68743044e-06]
 [-1.08910612e-01  9.94051545e-01  7.23797884e-05]
 [ 1.45305776e-05 -7.12209085e-05  9.99999997e-01]]

 t_estimated:
[[-7.80237945e-01]
 [ 6.25482663e-01]
 [ 4.33287402e-04]]

 R_gt:
[[ 0.99129996  0.13144259 -0.00689535]
 [-0.13100911  0.99037208  0.04472576]
 [ 0.01270824 -0.0434341   0.99897538]]

 t_gt:
[-0.7058779   0.67172006  0.22478557]

Pose Error in degrees for R and t:
2.8936772209219845 13.832368046364598

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[-0.90610016 -0.42301356 -0.00648327]
 [-0.42288602  0.90605775 -0.01505853]
 [ 0.01224418 -0.01090285 -0.99986559]]

 t_estimated:
[[0.68052231]
 [0.73272676]
 [0.00093222]]

 R_gt:
[[ 0.99541091  0.08079013  0.05129134]
 [-0.0865107   0.98882889  0.12138519]
 [-0.04091192 -0.12526616  0.9912797 ]]

 t_gt:
[-0.55655381  0.38015306  0.73873643]

Pose Error in degrees for R and t:
176.39345810217588 84.28902832617233

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 9.53293374e-01  3.02045883e-01  1.65243348e-04]
 [-3.02045905e-01  9.53293372e-01  1.31125576e-04]
 [-1.17919448e-04 -1.74912219e-04  9.99999978e-01]]

 t_estimated:
[[0.53418782]
 [0.84536519]
 [0.00103726]]

 R_gt:
[[ 0.99415798  0.10146287 -0.03682291]
 [-0.10195437  0.99471982 -0.0117439 ]
 [ 0.03543671  0.01543068  0.99925279]]

 t_gt:
[-0.76170499  0.55169258 -0.33976582]

Pose Error in degrees for R and t:
11.949127395974847 86.60979313833948

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.99607815e-01 -2.79786698e-02 -1.18736193e-03]
 [ 2.79792264e-02  9.99608401e-01  4.54792640e-04]
 [ 1.17417247e-03 -4.87835745e-04  9.99999192e-01]]

 t_estimated:
[[-0.84501048]
 [-0.53474716]
 [-0.00166212]]

 R_gt:
[[ 0.98048059  0.19649594  0.00693143]
 [-0.1965928   0.98030781  0.01866786]
 [-0.00312769 -0.01966562  0.99980183]]

 t_gt:
[-0.83475335  0.5496923   0.03201888]

Pose Error in degrees for R and t:
12.988680316881835 65.70871563003732

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.93642566e-01 -1.12580115e-01 -4.11399221e-04]
 [ 1.12579624e-01  9.93642133e-01 -1.06796225e-03]
 [ 5.29014912e-04  1.01485758e-03  9.99999345e-01]]

 t_estimated:
[[-0.99233756]
 [-0.12354931]
 [-0.00131435]]

 R_gt:
[[ 0.94988229  0.31136547 -0.02784085]
 [-0.30999972  0.94969585  0.04449418]
 [ 0.04029419 -0.03363265  0.99862139]]

 t_gt:
[-0.80195205  0.59684158 -0.02555446]

Pose Error in degrees for R and t:
24.761385268449214 43.77175331303701

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.36119265  0.93249065  0.00102631]
 [ 0.93243325 -0.36118225  0.01075284]
 [ 0.01039761 -0.00292688 -0.99994166]]

 t_estimated:
[[-0.91889492]
 [-0.39447509]
 [-0.00464088]]

 R_gt:
[[ 0.99450549 -0.06404668 -0.08280193]
 [ 0.06079254  0.9972971  -0.04124963]
 [ 0.08522037  0.03598966  0.99571184]]

 t_gt:
[ 0.73008289 -0.24276829 -0.63878207]

Pose Error in degrees for R and t:
178.6409737176606 55.10048703564068

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-9.93311170e-01  1.15464228e-01 -9.64681357e-04]
 [ 1.15461520e-01  9.93308797e-01  2.50410823e-03]
 [ 1.24736140e-03  2.37597510e-03 -9.99996399e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98120418 -0.17814737 -0.07417847]
 [ 0.17248325  0.98200966 -0.07686075]
 [ 0.08653702  0.0626218   0.99427842]]

 t_gt:
[ 0.80683199 -0.41643026 -0.41905605]

Pose Error in degrees for R and t:
175.55919743492848 36.36928760481975

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999182e-01  4.50385596e-04 -1.19704393e-03]
 [-4.48468667e-04  9.99998618e-01  1.60117243e-03]
 [ 1.19776342e-03 -1.60063428e-03  9.99998002e-01]]

 t_estimated:
[[0.93327984]
 [0.35914172]
 [0.00244314]]

 R_gt:
[[ 0.94350297 -0.32304547 -0.07378439]
 [ 0.31760086  0.94511674 -0.07670092]
 [ 0.09451341  0.04893443  0.99432023]]

 t_gt:
[ 0.83837521 -0.4816846  -0.25516064]

Pose Error in degrees for R and t:
19.724864325300373 52.49560729954579

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-7.79661007e-01 -6.26201294e-01  8.09139921e-04]
 [-6.26196615e-01  7.79659147e-01  3.06824680e-03]
 [-2.55219345e-03  1.88551171e-03 -9.99994966e-01]]

 t_estimated:
[[0.9295521 ]
 [0.36868702]
 [0.00166834]]

 R_gt:
[[ 0.99884041  0.01054623 -0.04697265]
 [-0.01480465  0.99571648 -0.09126224]
 [ 0.04580826  0.09185153  0.99471793]]

 t_gt:
[-0.04111576  0.35371767 -0.93444813]

Pose Error in degrees for R and t:
175.84586740577691 84.79998202642876

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 5.86767073e-01  8.09754835e-01  1.22849514e-03]
 [-8.09755130e-01  5.86767839e-01 -3.63368747e-04]
 [-1.01508104e-03 -7.81567423e-04  9.99999179e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99364124  0.04855105 -0.10158224]
 [-0.0650276   0.9840174  -0.16577129]
 [ 0.09190955  0.1713224   0.98091807]]

 t_gt:
[-0.11107843  0.45393749 -0.88408276]

Pose Error in degrees for R and t:
51.9382014336441 63.1075847034061

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.70722518e-01 -2.40203650e-01  5.21024547e-06]
 [ 2.40203228e-01  9.70720853e-01  1.85345158e-03]
 [-4.50263529e-04 -1.79793567e-03  9.99998282e-01]]

 t_estimated:
[[0.22389673]
 [0.97460931]
 [0.00263408]]

 R_gt:
[[ 0.98540953  0.05122238 -0.16230913]
 [-0.09019887  0.96587583 -0.24279155]
 [ 0.14433457  0.2538897   0.95640351]]

 t_gt:
[-0.02818767  0.44046407 -0.89732762]

Pose Error in degrees for R and t:
24.795917990792468 65.12717077479327

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99913658e-01  1.31406386e-02 -2.77544287e-05]
 [-1.31406380e-02  9.99913658e-01  2.19535934e-05]
 [ 2.80405166e-05 -2.15869869e-05  9.99999999e-01]]

 t_estimated:
[[-8.67304555e-01]
 [-4.97777407e-01]
 [-6.79087798e-04]]

 R_gt:
[[ 0.99835116  0.05310983  0.0217746 ]
 [-0.05243763  0.99816298 -0.03036161]
 [-0.02334678  0.0291701   0.99930235]]

 t_gt:
[-0.837083    0.34418605 -0.42523877]

Pose Error in degrees for R and t:
3.1236543304524242 56.29158330891531

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.21751659e-01  3.87635298e-01 -1.06186571e-02]
 [ 3.87618987e-01  9.21812504e-01  3.63706840e-03]
 [ 1.11982670e-02 -7.63519283e-04 -9.99937006e-01]]

 t_estimated:
[[ 0.97753974]
 [-0.21068137]
 [-0.00542475]]

 R_gt:
[[ 0.97589583  0.2175914   0.01675177]
 [-0.21785863  0.97584555  0.01624962]
 [-0.01281112 -0.01950632  0.99972801]]

 t_gt:
[-0.90245706  0.4130373   0.12235787]

Pose Error in degrees for R and t:
179.95521525532936 14.100319768572625

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.9998592   0.01671135 -0.00151896]
 [-0.01670524 -0.99985267 -0.00394672]
 [-0.00158469 -0.00392079  0.99999106]]

 t_estimated:
[[0.9890895 ]
 [0.1473112 ]
 [0.00116914]]

 R_gt:
[[ 0.93437237  0.35555289  0.02301235]
 [-0.35557377  0.9346433  -0.0033353 ]
 [-0.02269414 -0.00506585  0.99972935]]

 t_gt:
[-0.85547284  0.51571804  0.04691618]

Pose Error in degrees for R and t:
158.21069368140496 39.63593530126423

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.80286675e-01 -1.97580434e-01 -8.68118072e-05]
 [ 1.97580453e-01  9.80286604e-01  3.71635622e-04]
 [ 1.16725242e-05 -3.81461764e-04  9.99999927e-01]]

 t_estimated:
[[ 9.98526104e-01]
 [-5.42647634e-02]
 [ 9.76797456e-04]]

 R_gt:
[[ 0.98883391 -0.14864598 -0.01053453]
 [ 0.14879452  0.98875399  0.0150306 ]
 [ 0.00818177 -0.0164304   0.99983145]]

 t_gt:
[ 0.61913787 -0.78500422  0.02089691]

Pose Error in degrees for R and t:
3.0236679332868692 48.63574208729799

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99995746e-01  5.20380273e-04 -2.86989967e-03]
 [-5.10958414e-04  9.99994481e-01  3.28274903e-03]
 [ 2.87159211e-03 -3.28126867e-03  9.99990494e-01]]

 t_estimated:
[[-0.68875972]
 [-0.72498785]
 [-0.00163437]]

 R_gt:
[[ 0.95508554 -0.29159114 -0.0527824 ]
 [ 0.29028828  0.95643548 -0.03106344]
 [ 0.05954141  0.01434655  0.99812233]]

 t_gt:
[ 0.73284889 -0.64681856 -0.21108826]

Pose Error in degrees for R and t:
17.302285661751288 87.96693651739265

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99999920e-01 -2.78723415e-05  3.97869497e-04]
 [ 2.80618164e-05  9.99999886e-01 -4.76226178e-04]
 [-3.97856178e-04  4.76237305e-04  9.99999807e-01]]

 t_estimated:
[[9.99995047e-01]
 [3.14250047e-03]
 [1.77716649e-04]]

 R_gt:
[[ 0.92063234 -0.38711344 -0.0507792 ]
 [ 0.38414872  0.92136322 -0.05933198]
 [ 0.06975435  0.03511601  0.99694576]]

 t_gt:
[ 0.76120907 -0.60726533 -0.22757323]

Pose Error in degrees for R and t:
23.14985400581953 40.60130148158441

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.90196071e-01  1.39684349e-01  1.51625047e-04]
 [-1.39684400e-01  9.90195994e-01  4.03092983e-04]
 [-9.38327334e-05 -4.20320742e-04  9.99999907e-01]]

 t_estimated:
[[0.67155906]
 [0.74095049]
 [0.00089831]]

 R_gt:
[[ 0.99696829  0.02322957 -0.07425722]
 [-0.03139465  0.9933526  -0.11074661]
 [ 0.07119133  0.11274204  0.99106994]]

 t_gt:
[-0.04106615  0.34868305 -0.93634059]

Pose Error in degrees for R and t:
10.035839735560398 76.7066131212792

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.06395581 -0.99795088 -0.00192133]
 [ 0.99795058 -0.06395955  0.00195201]
 [-0.00207089 -0.00179255  0.99999625]]

 t_estimated:
[[0.99987359]
 [0.0157771 ]
 [0.00197214]]

 R_gt:
[[ 0.99371267  0.01579259 -0.11084072]
 [-0.03576346  0.98290976 -0.18058135]
 [ 0.10609525  0.18340997  0.97729464]]

 t_gt:
[ 0.04097005  0.32431822 -0.94506039]

Pose Error in degrees for R and t:
95.77566896662746 87.465675726994

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 0.93269791 -0.360654    0.00181832]
 [ 0.36065612  0.93269832 -0.00100775]
 [-0.0013325   0.00159572  0.99999784]]

 t_estimated:
[[0.45652236]
 [0.88971136]
 [0.00101449]]

 R_gt:
[[ 0.98283112  0.06025848 -0.17438921]
 [-0.10453189  0.96069804 -0.25716195]
 [ 0.15203888  0.27097582  0.95050257]]

 t_gt:
[-0.02747627  0.44237694 -0.89640822]

Pose Error in degrees for R and t:
31.57199754545489 67.65796388441153

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.99998661e-01  1.60699521e-03  3.10359953e-04]
 [-1.60701321e-03  9.99998707e-01  5.77508028e-05]
 [-3.10266747e-04 -5.82494780e-05  9.99999950e-01]]

 t_estimated:
[[0.99354029]
 [0.11344952]
 [0.00262531]]

 R_gt:
[[ 0.9972237  -0.07241731 -0.01733243]
 [ 0.07192349  0.99702741 -0.02761295]
 [ 0.01927972  0.02628923  0.99946816]]

 t_gt:
[ 0.3664518  -0.79960355 -0.47575964]

Pose Error in degrees for R and t:
4.631188828268079 74.20948387628415

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.83165697e-01  1.82715875e-01  3.49277628e-04]
 [-1.82715718e-01  9.83165690e-01 -4.38881338e-04]
 [-4.23588368e-04  3.67674564e-04  9.99999843e-01]]

 t_estimated:
[[0.71353439]
 [0.70061974]
 [0.00080717]]

 R_gt:
[[ 0.98115991 -0.18853377 -0.0421847 ]
 [ 0.18816406  0.98205676 -0.0125981 ]
 [ 0.04380212  0.00442319  0.99903035]]

 t_gt:
[ 0.55134989 -0.80705707 -0.21135794]

Pose Error in degrees for R and t:
21.53845901835796 80.08403387334421

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 1.00000000e+00  5.84532422e-14  4.60135402e-16]
 [-5.85642645e-14  1.00000000e+00 -8.60856525e-17]
 [ 8.67361738e-17 -6.03033248e-16  1.00000000e+00]]

 t_estimated:
[[-0.84497982]
 [-0.53479493]
 [-0.0018677 ]]

 R_gt:
[[ 0.93944217 -0.33522529 -0.07122203]
 [ 0.33348522  0.94209017 -0.03540261]
 [ 0.07896536  0.00950779  0.9968316 ]]

 t_gt:
[ 0.68068465 -0.7021416  -0.20896312]

Pose Error in degrees for R and t:
20.08537003658404 78.50556523088062

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[-9.90242159e-01  1.39354064e-01  9.54652492e-04]
 [ 1.39357332e-01  9.90217805e-01  6.94490428e-03]
 [ 2.24867398e-05  7.01017483e-03 -9.99975428e-01]]

 t_estimated:
[[9.93621021e-01]
 [1.12768100e-01]
 [7.88588112e-04]]

 R_gt:
[[ 0.99567056  0.09283596  0.00469128]
 [-0.09294485  0.99503756  0.03551907]
 [-0.0013715  -0.03580121  0.99935786]]

 t_gt:
[-0.94703658  0.18277554  0.26403564]

Pose Error in degrees for R and t:
179.9681255641245 23.048176251747826

Number of keypoints:
Image1: 380
Image2: 380

 R_estimated:
[[ 0.22666124  0.9739722  -0.00168259]
 [-0.97396953  0.22665491 -0.00330294]
 [-0.0028356   0.00238744  0.99999313]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97729881  0.21177445  0.00622547]
 [-0.21185994  0.97708166  0.02065954]
 [-0.00170868 -0.02150959  0.99976635]]

 t_gt:
[-0.86788144  0.49450086  0.04744161]

Pose Error in degrees for R and t:
64.68408537562016 60.716754838547715

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 0.99223757 -0.12434717  0.0015429 ]
 [ 0.12434959  0.9922372  -0.00158756]
 [-0.00133351  0.00176709  0.99999755]]

 t_estimated:
[[0.27687048]
 [0.96090341]
 [0.00271442]]

 R_gt:
[[ 0.95561816  0.29270977  0.03341314]
 [-0.29447818  0.95242351  0.07856297]
 [-0.00882776 -0.08491516  0.99634846]]

 t_gt:
[-0.84326182  0.50629318  0.18049023]

Pose Error in degrees for R and t:
24.74571438929464 75.31442162405534

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.50875262e-01 -3.09574169e-01 -2.63011110e-04]
 [ 3.09574251e-01  9.50875201e-01  3.68906514e-04]
 [ 1.35886814e-04 -4.32205546e-04  9.99999897e-01]]

 t_estimated:
[[9.95215025e-01]
 [9.77047676e-02]
 [9.12162518e-04]]

 R_gt:
[[ 0.98752945 -0.15653604  0.01675737]
 [ 0.15671321  0.98759533 -0.00985667]
 [-0.01500628  0.01235988  0.99981076]]

 t_gt:
[ 0.7433435  -0.66890783  0.00166015]

Pose Error in degrees for R and t:
9.092980882323301 47.589892534120246

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.39800856  0.91735251  0.00731792]
 [ 0.91736718  0.39803448 -0.00245065]
 [-0.00516089  0.00573784 -0.99997022]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.95540772 -0.29477519  0.01743795]
 [ 0.29451751  0.95551402  0.01588707]
 [-0.02134502 -0.01004345  0.9997216 ]]

 t_gt:
[ 0.76568438 -0.64196823  0.04005276]

Pose Error in degrees for R and t:
179.03377420039723 80.66465398490834

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99586565  0.0908287   0.00132239]
 [-0.09082491  0.99586324 -0.00269182]
 [-0.00156141  0.00256059  0.9999955 ]]

 t_estimated:
[[-0.43971132]
 [-0.89813375]
 [-0.00311852]]

 R_gt:
[[ 0.90602978 -0.41510972  0.08243341]
 [ 0.41048246  0.90935859  0.06761039]
 [-0.10302674 -0.02741998  0.99430034]]

 t_gt:
[ 0.77455522 -0.60671763  0.17876778]

Pose Error in degrees for R and t:
30.27629961183271 78.24217867247702

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999709e-01 -7.46852520e-04 -1.52609141e-04]
 [ 7.46865336e-04  9.99999718e-01  8.39346825e-05]
 [ 1.52546411e-04 -8.40486366e-05  9.99999985e-01]]

 t_estimated:
[[-0.99998465]
 [-0.00540007]
 [-0.00124398]]

 R_gt:
[[ 0.9933569   0.1084286  -0.03851971]
 [-0.107467    0.99386331  0.0262136 ]
 [ 0.04112528 -0.0218999   0.99891306]]

 t_gt:
[-0.37107299  0.92820203  0.02730982]

Pose Error in degrees for R and t:
6.786287437558559 68.52957208356855

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.85199642e-01  1.71408981e-01  7.92060947e-04]
 [-1.71409188e-01  9.85199903e-01  2.01615848e-04]
 [-7.45779602e-04 -3.34398385e-04  9.99999666e-01]]

 t_estimated:
[[0.03107297]
 [0.99951376]
 [0.00258941]]

 R_gt:
[[ 0.97567501  0.20439235 -0.07925689]
 [-0.19926043  0.97757954  0.06807517]
 [ 0.09139371 -0.05062745  0.99452639]]

 t_gt:
[-0.25018483  0.96469465  0.08229085]

Pose Error in degrees for R and t:
6.289664627852855 16.929323382250683

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-6.97440739e-03  9.99975236e-01 -9.40525147e-04]
 [-9.99975324e-01 -6.97519418e-03 -8.35879703e-04]
 [-8.42419349e-04  9.34672173e-04  9.99999208e-01]]

 t_estimated:
[[ 3.63606052e-03]
 [ 9.99993389e-01]
 [-3.40586134e-05]]

 R_gt:
[[ 0.94870698  0.29931596 -0.10180881]
 [-0.29141617  0.95276502  0.08553934]
 [ 0.12260236 -0.05148291  0.99111881]]

 t_gt:
[-0.16571372  0.98055841 -0.10509126]

Pose Error in degrees for R and t:
73.48759069005273 11.491877206136952

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99999999e-01  3.58896264e-05  3.50927579e-07]
 [-3.58896264e-05  9.99999999e-01  3.19246247e-08]
 [-3.50926433e-07 -3.19372193e-08  1.00000000e+00]]

 t_estimated:
[[-8.61294353e-01]
 [-5.08106246e-01]
 [ 2.82147041e-04]]

 R_gt:
[[ 0.9984522   0.04548094  0.03202172]
 [-0.04447733  0.99851728 -0.03139337]
 [-0.03340201  0.02992063  0.99899393]]

 t_gt:
[-0.54254806  0.8391334  -0.03868779]

Pose Error in degrees for R and t:
3.6393831074378924 87.65516075208747

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.02874106e-01  4.29904685e-01  5.56643400e-04]
 [-4.29904334e-01  9.02874211e-01 -6.50842797e-04]
 [-7.82379339e-04  3.48325698e-04  9.99999633e-01]]

 t_estimated:
[[-8.48028779e-01]
 [ 5.29949891e-01]
 [ 5.50965409e-04]]

 R_gt:
[[ 0.99348292  0.11251465  0.01826206]
 [-0.11258813  0.99363726  0.00298293]
 [-0.01781036 -0.00501905  0.99982895]]

 t_gt:
[-0.56180843  0.82006476  0.10892691]

Pose Error in degrees for R and t:
19.026028975638685 24.344559209270585

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-1.30510857e-01 -9.91446770e-01  4.68291210e-04]
 [-9.91446256e-01  1.30511291e-01  1.06083796e-03]
 [-1.11288166e-03 -3.25834695e-04 -9.99999328e-01]]

 t_estimated:
[[0.68575721]
 [0.7278281 ]
 [0.00181856]]

 R_gt:
[[ 9.78799535e-01  2.04815133e-01 -1.91630879e-03]
 [-2.04813495e-01  9.78800763e-01  1.36920916e-03]
 [ 2.15658439e-03 -9.46783196e-04  9.99997732e-01]]

 t_gt:
[-0.59552497  0.80268427  0.03237226]

Pose Error in degrees for R and t:
179.97084505177753 79.86957462507814

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-0.57965247 -0.2418132   0.77815769]
 [-0.70988046 -0.31902202 -0.62792889]
 [ 0.40009093 -0.91637947  0.01326343]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99069736 -0.1346546  -0.01963337]
 [ 0.13500636  0.99068309  0.01785036]
 [ 0.01704665 -0.02033516  0.99964688]]

 t_gt:
[ 0.59605284 -0.80277544  0.01651077]

Pose Error in degrees for R and t:
166.09129433510813 81.89029120207078

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-9.99663723e-01 -2.59310861e-02 -1.37525649e-04]
 [-2.59312828e-02  9.99662279e-01  1.70202765e-03]
 [ 9.33437779e-05  1.70502151e-03 -9.99998542e-01]]

 t_estimated:
[[9.95443449e-01]
 [9.53489894e-02]
 [9.53489894e-04]]

 R_gt:
[[ 0.95747023 -0.28411933 -0.0502598 ]
 [ 0.28394226  0.95878064 -0.01077037]
 [ 0.05124813 -0.00395862  0.99867738]]

 t_gt:
[ 0.71938964 -0.68111396 -0.13624358]

Pose Error in degrees for R and t:
177.06480829118806 49.38007112875267

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.13666202e-01  4.06465337e-01 -3.24649928e-05]
 [-4.06465338e-01  9.13666202e-01 -2.26205985e-05]
 [ 2.04676775e-05  3.38635706e-05  9.99999999e-01]]

 t_estimated:
[[0.87040757]
 [0.49233077]
 [0.00103867]]

 R_gt:
[[ 0.91895917 -0.38902136 -0.06461602]
 [ 0.3855054   0.92071499 -0.06056666]
 [ 0.0830547   0.03074815  0.99607006]]

 t_gt:
[ 0.76413491 -0.59810621 -0.24159224]

Pose Error in degrees for R and t:
47.07401320051036 68.26021871734434

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99387457e-01 -3.49956561e-02 -1.20995707e-04]
 [ 3.49956708e-02  9.99387456e-01  1.22165591e-04]
 [ 1.16646327e-04 -1.26325085e-04  9.99999985e-01]]

 t_estimated:
[[-0.5846018 ]
 [ 0.81131938]
 [-0.00126591]]

 R_gt:
[[ 0.99807419  0.03440392 -0.0516127 ]
 [-0.03950305  0.9940767  -0.10124838]
 [ 0.04782435  0.1030923   0.99352098]]

 t_gt:
[-0.18640418  0.48488812 -0.85448054]

Pose Error in degrees for R and t:
7.724509479641258 59.77128465698996

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-9.38375311e-01 -3.45614648e-01 -1.51328277e-03]
 [ 3.45616998e-01 -9.38374038e-01 -1.74800530e-03]
 [-8.15889029e-04 -2.16330127e-03  9.99997327e-01]]

 t_estimated:
[[9.52837557e-01]
 [3.03479878e-01]
 [7.43823230e-04]]

 R_gt:
[[ 0.99062186  0.07315777 -0.11539174]
 [-0.0929049   0.97994253 -0.17629718]
 [ 0.1001806   0.18536452  0.97755037]]

 t_gt:
[-0.16651441  0.5160238  -0.84023353]

Pose Error in degrees for R and t:
164.68469685117307 89.84625634551773

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-8.54129372e-01 -5.20058083e-01 -1.61436608e-03]
 [ 5.20058824e-01 -8.54130445e-01 -4.65443135e-05]
 [-1.35467347e-03 -8.79320189e-04  9.99998696e-01]]

 t_estimated:
[[9.32386076e-01]
 [3.61463245e-01]
 [7.27290231e-04]]

 R_gt:
[[ 0.98443406  0.05962108 -0.16533036]
 [-0.10098707  0.96179489 -0.25446783]
 [ 0.14384363  0.26720364  0.95284432]]

 t_gt:
[-0.04834236  0.47081546 -0.88090625]

Pose Error in degrees for R and t:
153.7124896947813 82.84996138742747

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99994670e-01  3.25781140e-03  2.16981100e-04]
 [-3.25697689e-03  9.99987697e-01 -3.74130809e-03]
 [-2.29166907e-04  3.74058144e-03  9.99992978e-01]]

 t_estimated:
[[-0.99153531]
 [-0.12853236]
 [-0.01836177]]

 R_gt:
[[ 0.99259562 -0.07973652 -0.09162219]
 [ 0.07538795  0.99590116 -0.0499746 ]
 [ 0.09523072  0.04269793  0.99453895]]

 t_gt:
[ 0.70118088 -0.28092668 -0.65530571]

Pose Error in degrees for R and t:
7.51728505743132 49.67632465948769

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.56519406e-01  2.91666730e-01  1.06955731e-03]
 [-2.91666752e-01  9.56519988e-01 -1.38487016e-04]
 [-1.06344500e-03 -1.79488790e-04  9.99999418e-01]]

 t_estimated:
[[0.59163203]
 [0.80620717]
 [0.00124032]]

 R_gt:
[[ 0.97460999 -0.21353013 -0.06738003]
 [ 0.2079769   0.97478466 -0.08087364]
 [ 0.0829499   0.06480727  0.99444319]]

 t_gt:
[ 0.80425886 -0.45316112 -0.38446415]

Pose Error in degrees for R and t:
29.774292831692666 83.68429800168582

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.14139504  0.98992956 -0.00684953]
 [ 0.98988984 -0.14130429  0.01229646]
 [ 0.01120476 -0.00851894 -0.99990094]]

 t_estimated:
[[-0.70882746]
 [-0.70538097]
 [-0.00114883]]

 R_gt:
[[ 0.93391171 -0.35216707 -0.06154605]
 [ 0.34787625  0.93487672 -0.07062052]
 [ 0.08240865  0.04454302  0.99560236]]

 t_gt:
[ 0.83472095 -0.50238058 -0.22550985]

Pose Error in degrees for R and t:
179.0406817324587 76.28783914432256

Number of keypoints:
Image1: 373
Image2: 373

 R_estimated:
[[ 2.96419361e-01  9.55057388e-01  9.73156135e-04]
 [-9.55055819e-01  2.96420685e-01 -1.77742974e-03]
 [-1.98601101e-03 -4.02553842e-04  9.99997947e-01]]

 t_estimated:
[[0.11276286]
 [0.99362058]
 [0.00163424]]

 R_gt:
[[ 0.99273569  0.11550594 -0.03367482]
 [-0.11617304  0.99305487 -0.01855981]
 [ 0.03129718  0.02233759  0.99926047]]

 t_gt:
[-0.73402603  0.60363054 -0.31118476]

Pose Error in degrees for R and t:
66.13762919211896 58.9022097383494

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.28866904e-01 -3.70410127e-01  1.61624683e-03]
 [-3.70410475e-01 -9.28868167e-01 -8.96886857e-05]
 [ 1.53450183e-03 -5.15365903e-04 -9.99998690e-01]]

 t_estimated:
[[0.35148319]
 [0.93619355]
 [0.00109496]]

 R_gt:
[[ 9.79827053e-01  1.99696743e-01  7.70099033e-03]
 [-1.99845479e-01  9.79205535e-01  3.48999364e-02]
 [-5.71046061e-04 -3.57352213e-02  9.99361650e-01]]

 t_gt:
[-0.828595    0.55429586  0.07865388]

Pose Error in degrees for R and t:
177.93584812007543 76.83376332151641

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 6.57956903e-01 -7.53054716e-01 -1.14434024e-03]
 [ 7.53055521e-01  6.57956713e-01  5.88078880e-04]
 [ 3.10070769e-04 -1.24868229e-03  9.99999172e-01]]

 t_estimated:
[[ 5.54590715e-01]
 [-8.32123188e-01]
 [ 3.71448092e-04]]

 R_gt:
[[ 0.94647841  0.32114121 -0.03236923]
 [-0.31949081  0.94639843  0.04749591]
 [ 0.04588704 -0.03461204  0.99834745]]

 t_gt:
[-0.79635974  0.60392916 -0.03287444]

Pose Error in degrees for R and t:
67.62081223705063 19.229070308072046

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.91014374e-01 -1.33755371e-01 -1.07494999e-04]
 [ 1.33755368e-01  9.91014379e-01 -4.21862848e-05]
 [ 1.12171732e-04  2.74291814e-05  9.99999993e-01]]

 t_estimated:
[[-0.82371905]
 [-0.56699753]
 [-0.00085007]]

 R_gt:
[[ 0.99262754  0.11916531 -0.02212509]
 [-0.11893632  0.99283653  0.0114102 ]
 [ 0.02332726 -0.00869456  0.99969022]]

 t_gt:
[-0.68645678  0.72658358 -0.02921301]

Pose Error in degrees for R and t:
14.594065464697891 81.17011507464696

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 0.92882342 -0.37048046 -0.00559278]
 [ 0.3704919   0.92883501  0.00113316]
 [ 0.00477496 -0.00312458  0.99998372]]

 t_estimated:
[[0.70040084]
 [0.71374929]
 [0.0007852 ]]

 R_gt:
[[ 0.9937284   0.11012422  0.01940953]
 [-0.11094307  0.99267361  0.04787113]
 [-0.01399537 -0.04972345  0.99866453]]

 t_gt:
[-0.71521979  0.59127068  0.37263875]

Pose Error in degrees for R and t:
28.248374673244207 85.49023969206031

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.72127026e-01 -2.34454596e-01 -2.96168461e-04]
 [ 2.34454669e-01  9.72127024e-01  2.40349731e-04]
 [ 2.31562265e-04 -3.03088547e-04  9.99999927e-01]]

 t_estimated:
[[0.32790696]
 [0.94470943]
 [0.00105436]]

 R_gt:
[[ 0.99673164  0.0569533   0.05729116]
 [-0.06407883  0.98925525  0.13140499]
 [-0.04919114 -0.13464638  0.98967161]]

 t_gt:
[-0.482203    0.27465868  0.83189114]

Pose Error in degrees for R and t:
18.9176949067497 84.13228389861656

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999610e-01 -8.80159325e-04 -7.55784080e-05]
 [ 8.80175552e-04  9.99999590e-01  2.14939548e-04]
 [ 7.53891959e-05 -2.15005987e-04  9.99999974e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.99204247  0.10465788 -0.06999149]
 [-0.10290885  0.99429164  0.02816969]
 [ 0.07254042 -0.02074329  0.99714957]]

 t_gt:
[-0.00141496  0.92094267 -0.38969551]

Pose Error in degrees for R and t:
7.404643152654328 22.998175174102393

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-1.80271606e-01  9.83611929e-01  3.11791238e-03]
 [ 9.83616869e-01  1.80270505e-01  6.32974824e-04]
 [ 6.05339492e-05  3.18093860e-03 -9.99994939e-01]]

 t_estimated:
[[9.59436649e-01]
 [2.81923318e-01]
 [7.47807209e-04]]

 R_gt:
[[ 0.98746884  0.15667577 -0.01893977]
 [-0.15692398  0.98753285 -0.01235201]
 [ 0.01676862  0.01516887  0.99974408]]

 t_gt:
[-0.07147249  0.96447254 -0.25433129]

Pose Error in degrees for R and t:
179.82902272627956 78.27914073342428

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 1.00000000e+00  1.66533454e-16 -8.78203760e-18]
 [-1.11022302e-16  1.00000000e+00 -3.36211094e-16]
 [ 7.17199737e-16  1.39319979e-16  1.00000000e+00]]

 t_estimated:
[[-2.68118850e-01]
 [-9.63385686e-01]
 [-5.49281082e-04]]

 R_gt:
[[ 0.98559558  0.16730715  0.02470323]
 [-0.16396124  0.98108236 -0.10292681]
 [-0.04145598  0.09739456  0.99438139]]

 t_gt:
[ 0.049542    0.94021475 -0.33695968]

Pose Error in degrees for R and t:
11.324826174698067 23.23602181297474

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99999337e-01  1.14616362e-03 -1.06425971e-04]
 [-1.14615016e-03  9.99999335e-01  1.26523088e-04]
 [ 1.06570917e-04 -1.26401024e-04  9.99999986e-01]]

 t_estimated:
[[-0.82654459]
 [-0.56287037]
 [-0.00099228]]

 R_gt:
[[ 0.99856598  0.04498549  0.02901379]
 [-0.04478731  0.99896873 -0.00748918]
 [-0.02932053  0.00617931  0.99955171]]

 t_gt:
[-0.52563951  0.81821612  0.23286366]

Pose Error in degrees for R and t:
3.042952993317789 88.4920197434755

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.92267573e-01 -1.24116782e-01 -2.95773853e-04]
 [ 1.24116789e-01  9.92267616e-01  5.47283788e-06]
 [ 2.92807545e-04 -4.21410204e-05  9.99999956e-01]]

 t_estimated:
[[-9.99531285e-01]
 [-3.06124398e-02]
 [-2.98171739e-04]]

 R_gt:
[[ 0.99075428  0.13495271  0.01388557]
 [-0.13512439  0.99075377  0.0122304 ]
 [-0.01210628 -0.01399342  0.99982909]]

 t_gt:
[-0.58605492  0.80059526  0.12484737]

Pose Error in degrees for R and t:
14.929494675558754 55.85876299448341

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.01745438  0.99977662 -0.01191873]
 [ 0.99969819 -0.01724442  0.0174972 ]
 [ 0.01728776 -0.01222054 -0.99977587]]

 t_estimated:
[[-0.51330979]
 [-0.8581647 ]
 [-0.00814932]]

 R_gt:
[[ 9.81195732e-01  1.92978308e-01  3.70280201e-03]
 [-1.93011846e-01  9.80912904e-01  2.36198207e-02]
 [ 9.25650392e-04 -2.38899906e-02  9.99714638e-01]]

 t_gt:
[-0.61899881  0.77521441  0.12602815]

Pose Error in degrees for R and t:
177.8721879371343 69.60131490539648

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999988e-01 -6.25357595e-05 -1.40369554e-04]
 [ 6.25556513e-05  9.99999988e-01  1.41710601e-04]
 [ 1.40360691e-04 -1.41719380e-04  9.99999980e-01]]

 t_estimated:
[[-0.99651425]
 [-0.08341634]
 [-0.00103287]]

 R_gt:
[[ 0.99424094  0.10448867 -0.02384868]
 [-0.10413972  0.99444332  0.01543403]
 [ 0.02532878 -0.01286208  0.99959627]]

 t_gt:
[-0.37761442  0.92070577  0.0985304 ]

Pose Error in degrees for R and t:
6.2062493779154275 72.57876251599359

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99999976e-01  4.64447056e-05  2.13464556e-04]
 [-4.64442727e-05  9.99999999e-01 -2.03260542e-06]
 [-2.13464650e-04  2.02269117e-06  9.99999977e-01]]

 t_estimated:
[[0.81785663]
 [0.57542061]
 [0.00128793]]

 R_gt:
[[ 0.97773857  0.18799691 -0.09319574]
 [-0.18293841  0.98127867  0.06020895]
 [ 0.10276989 -0.04181917  0.99382529]]

 t_gt:
[-0.09805721  0.99162163 -0.08409119]

Pose Error in degrees for R and t:
12.470095990422276 60.64006141003304

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99888882 -0.04581435 -0.01105313]
 [ 0.04600812  0.99877952  0.01796424]
 [ 0.01021662 -0.01845281  0.99977753]]

 t_estimated:
[[-8.55367739e-01]
 [-5.18020836e-01]
 [-6.66693483e-04]]

 R_gt:
[[ 0.95720747  0.27673613 -0.08468426]
 [-0.27214868  0.96026597  0.06184967]
 [ 0.09843544 -0.03615712  0.99448593]]

 t_gt:
[-0.13208816  0.98345164 -0.12399832]

Pose Error in degrees for R and t:
19.263470025497874 66.64781743147593

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-1.34378085e-01  9.90930131e-01 -7.65021832e-05]
 [-9.90927795e-01 -1.34377936e-01 -2.16236683e-03]
 [-2.15303465e-03 -2.14766575e-04  9.99997659e-01]]

 t_estimated:
[[-1.03433889e-01]
 [ 9.94636020e-01]
 [ 7.86077418e-04]]

 R_gt:
[[ 0.98643609 -0.1640987   0.00372929]
 [ 0.16411667  0.9864257  -0.00532318]
 [-0.0028043   0.00586234  0.99997952]]

 t_gt:
[ 0.74565157 -0.66535705 -0.03610709]

Pose Error in degrees for R and t:
107.16815687873235 42.35862208566919

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99781715e-01  2.08867595e-02  5.16261021e-04]
 [-2.08867950e-02  9.99781845e-01  6.35310890e-05]
 [-5.14821437e-04 -7.43002592e-05  9.99999865e-01]]

 t_estimated:
[[0.94162567]
 [0.33665976]
 [0.00114608]]

 R_gt:
[[ 0.95129689 -0.30598949  0.03747784]
 [ 0.30454502  0.95167072  0.03968475]
 [-0.04781009 -0.02633896  0.99850941]]

 t_gt:
[ 0.75117568 -0.6463643   0.1339712 ]

Pose Error in degrees for R and t:
19.234360400563606 60.66763429608443

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.68156845e-01  2.50344078e-01  4.06521964e-04]
 [-2.50343971e-01  9.68156913e-01 -2.95628385e-04]
 [-4.67585865e-04  1.84444322e-04  9.99999874e-01]]

 t_estimated:
[[ 9.42695865e-01]
 [-3.33653272e-01]
 [-1.16313443e-05]]

 R_gt:
[[ 0.90524077 -0.41720304  0.08049705]
 [ 0.41160158  0.90805555  0.07757911]
 [-0.10546129 -0.03709571  0.99373156]]

 t_gt:
[ 0.77102397 -0.60568578  0.1966387 ]

Pose Error in degrees for R and t:
39.56285151971904 21.731700030493812

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99827186e-01 -1.85902632e-02  6.53716305e-06]
 [ 1.85902621e-02  9.99827177e-01  1.38448617e-04]
 [-9.10982951e-06 -1.38303164e-04  9.99999990e-01]]

 t_estimated:
[[8.99999874e-01]
 [4.35890154e-01]
 [2.46709936e-05]]

 R_gt:
[[ 0.99800605 -0.05364043 -0.03328824]
 [ 0.05288282  0.99833081 -0.02321356]
 [ 0.03447752  0.02140742  0.999176  ]]

 t_gt:
[ 0.96882467 -0.02791437 -0.24616975]

Pose Error in degrees for R and t:
3.0637151557812534 30.709410180222047

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.65865908 -0.75129906  0.04144806]
 [-0.75140419  0.65964383  0.01617907]
 [-0.03949628 -0.02048775 -0.99900966]]

 t_estimated:
[[0.9073258 ]
 [0.419805  ]
 [0.02288341]]

 R_gt:
[[ 0.99627268 -0.07207238 -0.04739478]
 [ 0.07186818  0.99739652 -0.00598568]
 [ 0.04770362  0.00255777  0.9988584 ]]

 t_gt:
[ 0.99199631  0.01108486 -0.12577939]

Pose Error in degrees for R and t:
179.93464558481278 25.59913348188116

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99299368e-01 -3.74268587e-02 -6.41705467e-05]
 [ 3.74268862e-02  9.99299243e-01  5.01483452e-04]
 [ 4.53566284e-05 -5.03533800e-04  9.99999872e-01]]

 t_estimated:
[[8.31744624e-01]
 [5.55158303e-01]
 [3.72799039e-04]]

 R_gt:
[[ 0.99602175 -0.0504807  -0.07344009]
 [ 0.04998755  0.99871332 -0.0085271 ]
 [ 0.07377646  0.00482239  0.9972631 ]]

 t_gt:
[ 0.97117166  0.1444272  -0.18964808]

Pose Error in degrees for R and t:
4.30319278345533 27.392444223495087

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.99547342e-01 -3.00778891e-02 -6.56973610e-04]
 [ 3.00780290e-02  9.99547533e-01  2.04072448e-04]
 [ 6.50538283e-04 -2.23740544e-04  9.99999763e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075937e-03]
 [7.75189844e-04]]

 R_gt:
[[ 0.9946447   0.10152497 -0.0193161 ]
 [-0.10092438  0.99444486  0.02989695]
 [ 0.02224452 -0.02778659  0.99936678]]

 t_gt:
[-0.95112386  0.30099996  0.06901032]

Pose Error in degrees for R and t:
7.797795145926061 18.170602946799654

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[-9.98016237e-01  5.91569575e-02 -2.15417278e-02]
 [ 5.91436715e-02  9.98248693e-01  1.25389736e-03]
 [ 2.15781784e-02 -2.26469526e-05 -9.99767164e-01]]

 t_estimated:
[[ 0.99860272]
 [-0.05175053]
 [-0.01069971]]

 R_gt:
[[ 0.97802813  0.20756476  0.0194093 ]
 [-0.20798175  0.97786696  0.02277861]
 [-0.01425104 -0.02631539  0.99955245]]

 t_gt:
[-0.85821659  0.50342613  0.10013199]

Pose Error in degrees for R and t:
179.69482099190685 27.853956901030045

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 8.70424194e-01 -4.92298085e-01  2.07806449e-03]
 [ 4.92293823e-01  8.70426169e-01  2.25297666e-03]
 [-2.91793781e-03 -9.38027079e-04  9.99995303e-01]]

 t_estimated:
[[0.99488598]
 [0.10099776]
 [0.00116089]]

 R_gt:
[[ 0.95176647  0.30658805  0.01197373]
 [-0.30655968  0.94861856  0.07838839]
 [ 0.01267532 -0.07827795  0.99685099]]

 t_gt:
[-0.83192578  0.54048019  0.1256211 ]

Pose Error in degrees for R and t:
47.570032066266144 39.381527610965485

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-1.69897619e-01  9.85335189e-01 -1.57912466e-02]
 [-9.85461653e-01 -1.69881662e-01  2.35629889e-03]
 [-3.60899000e-04  1.59619975e-02  9.99872534e-01]]

 t_estimated:
[[ 0.5164226 ]
 [ 0.85632524]
 [-0.00384405]]

 R_gt:
[[ 0.99371458 -0.10979576 -0.02182329]
 [ 0.1091772   0.99363536 -0.02776426]
 [ 0.02473212  0.0252068   0.99937579]]

 t_gt:
[ 0.62585467 -0.7281149  -0.27956149]

Pose Error in degrees for R and t:
106.06587405131185 72.58905727318835

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.47550258e-01 -3.19605392e-01 -9.49359906e-04]
 [ 3.19606315e-01  9.47549819e-01  1.06927367e-03]
 [ 5.57820179e-04 -1.31661196e-03  9.99998978e-01]]

 t_estimated:
[[0.99604066]
 [0.0888915 ]
 [0.00113963]]

 R_gt:
[[ 0.9838243  -0.17801862 -0.01999739]
 [ 0.17743961  0.98373987 -0.027775  ]
 [ 0.02461607  0.02377737  0.9994139 ]]

 t_gt:
[ 0.69073855 -0.70414622 -0.16449424]

Pose Error in degrees for R and t:
8.629859703461907 51.301398277265676

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-3.95372732e-02 -9.99213396e-01 -3.06480523e-03]
 [ 9.99218090e-01 -3.95374303e-02 -9.32859256e-06]
 [-1.11853268e-04 -3.06277765e-03  9.99995303e-01]]

 t_estimated:
[[0.98293538]
 [0.18394772]
 [0.00112851]]

 R_gt:
[[ 0.96707946 -0.25292244  0.02808119]
 [ 0.25410143  0.96574907 -0.05255721]
 [-0.01382669  0.05796232  0.99822282]]

 t_gt:
[ 0.75701409 -0.64793114 -0.08434984]

Pose Error in degrees for R and t:
77.63832709335306 51.331368684557184

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99893454e-01  1.45968324e-02  1.10844505e-04]
 [-1.45968265e-02  9.99893459e-01 -5.43208333e-05]
 [-1.11625607e-04  5.26970676e-05  9.99999992e-01]]

 t_estimated:
[[ 0.662114  ]
 [-0.74940236]
 [-0.00107385]]

 R_gt:
[[ 0.9969129  -0.07850675 -0.00113033]
 [ 0.07843355  0.99643144 -0.03119976]
 [ 0.00357533  0.03101499  0.99951282]]

 t_gt:
[ 0.37598928 -0.8489034  -0.37147688]

Pose Error in degrees for R and t:
5.628712880271661 27.684802305727423

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.98299070e-01 -5.83002834e-02  2.07446151e-04]
 [ 5.83002517e-02  9.98299082e-01  1.55692632e-04]
 [-2.16170226e-04 -1.43333647e-04  9.99999966e-01]]

 t_estimated:
[[0.9998421 ]
 [0.01773543]
 [0.00110846]]

 R_gt:
[[ 0.98419871 -0.17486618 -0.02783113]
 [ 0.17449808  0.9845417  -0.01516116]
 [ 0.03005223  0.01006573  0.99949824]]

 t_gt:
[ 0.51717191 -0.83220429 -0.19992306]

Pose Error in degrees for R and t:
6.964746051901627 59.860362214734884

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 7.87487863e-01  6.16330151e-01 -1.00032222e-04]
 [-6.16330147e-01  7.87487869e-01  7.17632561e-05]
 [ 1.23004020e-04  5.14018082e-06  9.99999992e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.94771034 -0.31367906 -0.05875264]
 [ 0.31226076  0.94945231 -0.03216001]
 [ 0.06587018  0.0121326   0.99775464]]

 t_gt:
[ 0.64935127 -0.73216474 -0.20561547]

Pose Error in degrees for R and t:
56.42784633526238 64.59831222215986

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 8.99680923e-01  4.36547250e-01  8.57785717e-04]
 [ 4.36546275e-01 -8.99669769e-01 -4.65364599e-03]
 [-1.25981248e-03  4.56125968e-03 -9.99988804e-01]]

 t_estimated:
[[0.71743534]
 [0.69662424]
 [0.00109532]]

 R_gt:
[[ 0.99805812  0.00582451 -0.0620063 ]
 [-0.01248216  0.99412336 -0.1075295 ]
 [ 0.06101677  0.10809517  0.99226582]]

 t_gt:
[ 0.0338705   0.28471129 -0.95801475]

Pose Error in degrees for R and t:
174.48631729588817 77.19771733295265

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999973e-01 -2.25844321e-04  4.55998227e-05]
 [ 2.25843141e-04  9.99999974e-01  2.58789132e-05]
 [-4.56056661e-05 -2.58686141e-05  9.99999999e-01]]

 t_estimated:
[[-9.33156541e-04]
 [ 9.99999543e-01]
 [ 2.08999074e-04]]

 R_gt:
[[ 0.99420075  0.01391438 -0.10663857]
 [-0.03347745  0.98237109 -0.18392443]
 [ 0.10219936  0.18642761  0.97713798]]

 t_gt:
[ 0.03850261  0.32912244 -0.94350197]

Pose Error in degrees for R and t:
12.35517487638103 70.79863370444575

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 1.38868865e-01  9.90310759e-01  1.98214469e-04]
 [-9.90308578e-01  1.38868976e-01 -2.08036633e-03]
 [-2.08773500e-03  9.26046230e-05  9.99997816e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98344795  0.05702034 -0.17198247]
 [-0.10104491  0.9604814  -0.25935818]
 [ 0.1503982   0.27244317  0.95034461]]

 t_gt:
[-0.02591927  0.44227962 -0.89650261]

Pose Error in degrees for R and t:
79.13345450726801 63.820982818422706

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.84884189 -0.52758131  0.03354714]
 [ 0.52864512  0.84696801 -0.05638735]
 [ 0.00133555  0.06559848  0.99784521]]

 t_estimated:
[[-0.2731401 ]
 [-0.96060207]
 [-0.05136293]]

 R_gt:
[[ 0.99687753  0.01402861 -0.07771244]
 [-0.0194187   0.9974255  -0.06903235]
 [ 0.07654485  0.07032574  0.99458264]]

 t_gt:
[ 0.12696539  0.33426244 -0.93388886]

Pose Error in degrees for R and t:
33.29280580052114 72.0729848285

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.17103349  0.98520739 -0.01067412]
 [-0.98518081 -0.1711506  -0.01123548]
 [-0.01289616  0.00859429  0.99987991]]

 t_estimated:
[[0.21308494]
 [0.97703124]
 [0.00218159]]

 R_gt:
[[ 0.99192534 -0.00984926 -0.12644087]
 [-0.0056845   0.99252545 -0.12190182]
 [ 0.12669707  0.12163589  0.98445509]]

 t_gt:
[ 0.24669311  0.25290035 -0.93551265]

Pose Error in degrees for R and t:
100.28704458419968 72.68545556611494

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.29565545  0.95529343  0.00151947]
 [ 0.95529302  0.29565164  0.00231515]
 [ 0.00176242  0.00213603 -0.99999617]]

 t_estimated:
[[-0.0128524 ]
 [-0.99991658]
 [-0.00128524]]

 R_gt:
[[ 0.98523077  0.03297053 -0.16802706]
 [-0.05539984  0.98988678 -0.13059548]
 [ 0.16202195  0.13797414  0.97709303]]

 t_gt:
[ 0.16111612  0.42546491 -0.89051738]

Pose Error in degrees for R and t:
176.92504585620708 64.76350003319025

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99867762e-01  1.62619368e-02  8.82205684e-05]
 [-1.62619325e-02  9.99867765e-01 -4.94386901e-05]
 [-8.90128714e-05  4.79975155e-05  9.99999995e-01]]

 t_estimated:
[[ 7.15000710e-01]
 [-6.99123698e-01]
 [-1.96058662e-04]]

 R_gt:
[[ 0.98598706 -0.16227388 -0.03869188]
 [ 0.1601078   0.98563517 -0.05373765]
 [ 0.04685621  0.04679017  0.99780476]]

 t_gt:
[ 0.70646816 -0.55442438 -0.43990494]

Pose Error in degrees for R and t:
10.899452644080988 26.769882179844206

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-0.93513225  0.35426046  0.00521598]
 [ 0.35424398  0.93514518 -0.00383196]
 [-0.00623521 -0.00173567 -0.99997905]]

 t_estimated:
[[0.91201913]
 [0.41013878]
 [0.00269828]]

 R_gt:
[[ 0.9659122  -0.25823849 -0.01811687]
 [ 0.2566786   0.96446894 -0.06256605]
 [ 0.0336301   0.05578328  0.9978769 ]]

 t_gt:
[ 0.72739183 -0.62362329 -0.28634789]

Pose Error in degrees for R and t:
179.46021703054015 65.99285735738056

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.40893311e-01 -3.38702878e-01 -3.70551482e-04]
 [ 3.38703080e-01  9.40892780e-01  9.99911552e-04]
 [ 9.97629369e-06 -1.06631702e-03  9.99999431e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.9028579  -0.42829371  0.03758513]
 [ 0.42940997  0.90262979 -0.0294081 ]
 [-0.02133027  0.04269073  0.99886017]]

 t_gt:
[ 0.78381325 -0.62001477 -0.03490665]

Pose Error in degrees for R and t:
6.266960913922588 52.03717174918353

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-0.22493589 -0.97436908  0.002956  ]
 [-0.97434799  0.22490697 -0.00792834]
 [ 0.00706031 -0.00466354 -0.9999642 ]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.99002669  0.1389619   0.02317604]
 [-0.13974835  0.98950838  0.03666481]
 [-0.01783826 -0.03953717  0.9990584 ]]

 t_gt:
[-0.89777411  0.29349503  0.32842399]

Pose Error in degrees for R and t:
177.83187347540394 54.81879049620581

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.23829517e-01 -3.82803326e-01 -7.98208761e-04]
 [ 3.82803762e-01  9.23829553e-01  4.86295502e-04]
 [ 5.51253307e-04 -7.54811455e-04  9.99999563e-01]]

 t_estimated:
[[-0.30560292]
 [-0.95215837]
 [-0.00114031]]

 R_gt:
[[ 0.97975126  0.19610316  0.04038723]
 [-0.19870268  0.97712324  0.07581247]
 [-0.02459604 -0.08230144  0.99630341]]

 t_gt:
[-0.87443545  0.2295927   0.42737553]

Pose Error in degrees for R and t:
34.257021038335466 87.24105439278003

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.73822701  0.67448149  0.00977811]
 [-0.6745291  -0.7380036  -0.01900477]
 [-0.00560209 -0.02062546  0.99977158]]

 t_estimated:
[[0.60487138]
 [0.79628637]
 [0.0076566 ]]

 R_gt:
[[ 0.97045098  0.23483     0.05549712]
 [-0.2390184   0.96705659  0.08759329]
 [-0.03309834 -0.09826903  0.9946083 ]]

 t_gt:
[-0.87957816  0.21124925  0.42628161]

Pose Error in degrees for R and t:
123.88376103559061 68.86584503754949

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 8.36874959e-01 -5.47393811e-01 -5.64248008e-04]
 [ 5.47394023e-01  8.36874947e-01  3.25648958e-04]
 [ 2.93946798e-04 -5.81393446e-04  9.99999788e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99379596  0.10156428 -0.04532444]
 [-0.10496562  0.99122761 -0.08030622]
 [ 0.03677035  0.08456689  0.99573939]]

 t_gt:
[-0.48254231  0.6960138  -0.53171205]

Pose Error in degrees for R and t:
39.47232136389915 46.17662075181117

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99177285e-01 -4.05374408e-02  1.21186043e-03]
 [-4.05528251e-02 -9.98317529e-01  4.14436970e-02]
 [-4.70199905e-04 -4.14587451e-02 -9.99140106e-01]]

 t_estimated:
[[0.01561827]
 [0.99976707]
 [0.01489531]]

 R_gt:
[[ 0.99126398  0.09017163 -0.09626137]
 [-0.10586315  0.97924381 -0.17284248]
 [ 0.07867819  0.18152357  0.98023476]]

 t_gt:
[-0.25374387  0.59179449 -0.76511001]

Pose Error in degrees for R and t:
172.04301885836713 54.80948386235515

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-8.16445831e-01 -5.77420164e-01 -1.46982781e-03]
 [-5.77421761e-01  8.16445276e-01  1.10491772e-03]
 [ 5.62032198e-04  1.75081603e-03 -9.99998309e-01]]

 t_estimated:
[[0.71190204]
 [0.70227822]
 [0.0008871 ]]

 R_gt:
[[ 0.98274552  0.11288065 -0.14652842]
 [-0.14631638  0.95905393 -0.24249953]
 [ 0.11315427  0.25975455  0.95902222]]

 t_gt:
[-0.19669765  0.59359524 -0.78035551]

Pose Error in degrees for R and t:
168.3206301697708 73.96960306092588

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-1.10827287e-01 -9.93833735e-01 -3.43793859e-03]
 [-9.93839509e-01  1.10824566e-01  9.72808438e-04]
 [-5.85801793e-04  3.52457291e-03 -9.99993617e-01]]

 t_estimated:
[[7.33931003e-01]
 [6.79223658e-01]
 [7.10484998e-04]]

 R_gt:
[[ 0.99857408 -0.0192396  -0.04980071]
 [ 0.01737287  0.99913985 -0.03765739]
 [ 0.05048278  0.03673819  0.99804846]]

 t_gt:
[ 0.41899699  0.00728007 -0.90795843]

Pose Error in degrees for R and t:
176.3272966385536 71.83137976674071

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 7.24800472e-01 -6.88957815e-01  1.18479819e-03]
 [ 6.88955620e-01  7.24801272e-01  1.80827124e-03]
 [-2.10456584e-03 -4.94362474e-04  9.99997663e-01]]

 t_estimated:
[[0.74501921]
 [0.6670417 ]
 [0.00132283]]

 R_gt:
[[ 0.99484216  0.04558323 -0.09062525]
 [-0.05132204  0.99675353 -0.06203937]
 [ 0.08750338  0.06636976  0.9939506 ]]

 t_gt:
[-0.00902038  0.587824   -0.80893855]

Pose Error in degrees for R and t:
46.75422667771199 67.39892309943579

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.18950179  0.98180255  0.01236228]
 [-0.98187654 -0.18945086 -0.00517947]
 [-0.00274317 -0.01311975  0.99991017]]

 t_estimated:
[[0.48386458]
 [0.87513779]
 [0.00298682]]

 R_gt:
[[ 0.99354429  0.04767152 -0.10294212]
 [-0.05822282  0.99307388 -0.10205482]
 [ 0.09736504  0.10738987  0.98943742]]

 t_gt:
[ 0.02281457  0.60197908 -0.79818587]

Pose Error in degrees for R and t:
98.20749983453706 57.62422458890287

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.20306936 -0.9791628  -0.00174343]
 [ 0.97914588 -0.20305426 -0.00650489]
 [ 0.00601534 -0.00302802  0.99997732]]

 t_estimated:
[[ 0.94535751]
 [-0.3260242 ]
 [-0.00271938]]

 R_gt:
[[ 9.88818375e-01 -1.16022298e-01  9.36912977e-02]
 [ 1.15563625e-01  9.93246768e-01  1.03271811e-02]
 [-9.42572478e-02  6.15643499e-04  9.95548212e-01]]

 t_gt:
[ 0.49996928 -0.72518664  0.47342904]

Pose Error in degrees for R and t:
95.19228825256103 44.94455845970634

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 3.48247035e-01  9.37402666e-01  4.94621897e-04]
 [-9.37401559e-01  3.48247384e-01 -1.44129468e-03]
 [-1.52332425e-03  3.82672610e-05  9.99998839e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96510987 -0.23627985  0.11284683]
 [ 0.23575789  0.97164304  0.01814802]
 [-0.11393444  0.00909019  0.99344744]]

 t_gt:
[ 0.66015705 -0.69583054  0.28286485]

Pose Error in degrees for R and t:
83.52240154425108 46.258547992745115

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.9999964   0.00192762  0.00186715]
 [-0.0019243   0.99999657 -0.00177511]
 [-0.00187056  0.00177152  0.99999668]]

 t_estimated:
[[0.99986779]
 [0.01622547]
 [0.00106151]]

 R_gt:
[[ 0.94257741 -0.31506326  0.11082964]
 [ 0.31374354  0.94904635  0.02961927]
 [-0.11451496  0.00685371  0.99339854]]

 t_gt:
[ 0.73885912 -0.63973869  0.21171116]

Pose Error in degrees for R and t:
19.59426932906909 43.23033403646714

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999980e-01  1.91264740e-04  5.66630308e-05]
 [-1.91266730e-04  9.99999981e-01  3.51275270e-05]
 [-5.66563111e-05 -3.51383641e-05  9.99999998e-01]]

 t_estimated:
[[9.66620186e-01]
 [2.56212754e-01]
 [6.64360448e-04]]

 R_gt:
[[ 0.99887328 -0.04672771  0.00833654]
 [ 0.04648831  0.99855461  0.0269682 ]
 [-0.00958552 -0.02654953  0.99960129]]

 t_gt:
[0.76685154 0.13624262 0.62719747]

Pose Error in degrees for R and t:
3.1311691242613806 39.05168447565848

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99996165e-01  2.72825909e-03  4.76331473e-04]
 [-2.72837682e-03  9.99996248e-01  2.46693839e-04]
 [-4.75656641e-04 -2.47992505e-04  9.99999856e-01]]

 t_estimated:
[[9.99982376e-01]
 [5.87731035e-03]
 [8.39615765e-04]]

 R_gt:
[[ 0.99644743 -0.08271838 -0.01584508]
 [ 0.08336016  0.99548605  0.04536736]
 [ 0.01201918 -0.04652662  0.99884489]]

 t_gt:
[0.94766395 0.07192027 0.31106353]

Pose Error in degrees for R and t:
5.637387565789445 18.49865254269183

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.99999859  0.00129389 -0.00106916]
 [-0.0012927   0.99999855  0.00111285]
 [ 0.0010706  -0.00111147  0.99999881]]

 t_estimated:
[[ 7.17212503e-02]
 [-9.97424707e-01]
 [ 1.26557921e-04]]

 R_gt:
[[ 0.9969574  -0.07738212 -0.00947481]
 [ 0.0777012   0.99617593  0.03995925]
 [ 0.00634635 -0.04057348  0.99915655]]

 t_gt:
[0.9440449  0.21879389 0.2467964 ]

Pose Error in degrees for R and t:
5.064548419362552 81.3446116727426

Number of keypoints:
Image1: 380
Image2: 380

 R_estimated:
[[ 9.99999988e-01  1.44832153e-04  4.83179038e-05]
 [-1.44840651e-04  9.99999974e-01  1.75921377e-04]
 [-4.82924235e-05 -1.75928373e-04  9.99999983e-01]]

 t_estimated:
[[0.85555859]
 [0.5177047 ]
 [0.00115464]]

 R_gt:
[[ 0.99939716 -0.0047334  -0.03441426]
 [ 0.00492831  0.9999719   0.00562029]
 [ 0.03438676 -0.00578628  0.99939235]]

 t_gt:
[ 0.48143596  0.84367356 -0.23755914]

Pose Error in degrees for R and t:
2.018801969761028 31.96234859983488

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[-2.51143428e-01 -9.67928354e-01 -6.45602562e-03]
 [-9.67949684e-01  2.51133496e-01  2.31881545e-03]
 [-6.23122940e-04  6.83146322e-03 -9.99976471e-01]]

 t_estimated:
[[ 0.79221425]
 [ 0.61024232]
 [-0.00094898]]

 R_gt:
[[ 0.99678155  0.0188381  -0.07792069]
 [-0.01627358  0.99930862  0.03342426]
 [ 0.07849637 -0.03204892  0.99639934]]

 t_gt:
[ 0.47952492  0.87149686 -0.10270868]

Pose Error in degrees for R and t:
177.3869238330216 24.24355932069488

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999804e-01  5.71048676e-04 -2.56979315e-04]
 [-5.70792912e-04  9.99999343e-01  9.94243979e-04]
 [ 2.57546908e-04 -9.94097102e-04  9.99999473e-01]]

 t_estimated:
[[0.77513201]
 [0.6317986 ]
 [0.00094298]]

 R_gt:
[[ 0.99112319 -0.01087961 -0.13250014]
 [ 0.00852471  0.99979593 -0.01832011]
 [ 0.13267249  0.01702709  0.99101399]]

 t_gt:
[ 0.74497009  0.5381394  -0.39424047]

Pose Error in degrees for R and t:
7.702706866440815 23.4979807623783

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.35965536e-01  3.52091386e-01  4.14824128e-04]
 [-3.52091562e-01  9.35965438e-01  4.79761575e-04]
 [-2.19341129e-04 -5.95096375e-04  9.99999799e-01]]

 t_estimated:
[[0.1462564 ]
 [0.98924605]
 [0.00115163]]

 R_gt:
[[ 0.99546294 -0.09391411  0.01531784]
 [ 0.09385336  0.99557529  0.00464959]
 [-0.01568711 -0.00319066  0.99987204]]

 t_gt:
[ 0.69455447 -0.69991272  0.16648203]

Pose Error in degrees for R and t:
26.017677651703913 53.799611956559566

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 3.21395628e-02  9.99483349e-01  2.88443999e-04]
 [-9.99481923e-01  3.21400089e-02 -1.70469189e-03]
 [-1.71308176e-03 -2.33506510e-04  9.99998505e-01]]

 t_estimated:
[[0.4101632 ]
 [0.91201144]
 [0.00113105]]

 R_gt:
[[ 0.98897425 -0.13781847  0.05418617]
 [ 0.13948802  0.98981923 -0.02831344]
 [-0.04973272  0.03556078  0.99812921]]

 t_gt:
[ 0.7698499  -0.62055008  0.14916008]

Pose Error in degrees for R and t:
96.17976556542156 75.52154344643714

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.96458049 -0.26377884 -0.00227914]
 [ 0.26378312 -0.96458026 -0.00183843]
 [-0.00171347 -0.00237452  0.99999571]]

 t_estimated:
[[0.94805346]
 [0.31810719]
 [0.00156703]]

 R_gt:
[[ 0.99413829 -0.02571451  0.1050144 ]
 [ 0.03141676  0.99809962 -0.05301705]
 [-0.10345268  0.0560057   0.99305714]]

 t_gt:
[0.45759689 0.08905848 0.88468846]

Pose Error in degrees for R and t:
163.10206819605338 62.38404522897942

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.98482634e-01 -5.50674890e-02  4.63970940e-05]
 [ 5.50674846e-02  9.98482631e-01  9.10362615e-05]
 [-5.13398308e-05 -8.83431548e-05  9.99999995e-01]]

 t_estimated:
[[9.85383737e-01]
 [1.70347940e-01]
 [6.85000216e-04]]

 R_gt:
[[ 0.9965153  -0.08249567 -0.01227287]
 [ 0.08293578  0.99570045  0.04126448]
 [ 0.00881597 -0.0421389   0.99907289]]

 t_gt:
[ 0.87722309 -0.26238298  0.40203834]

Pose Error in degrees for R and t:
2.9319021723258545 34.91717220658089

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999994e-01  1.12042784e-04 -5.65583012e-06]
 [-1.12042283e-04  9.99999990e-01  8.83866295e-05]
 [ 5.66573314e-06 -8.83859953e-05  9.99999996e-01]]

 t_estimated:
[[8.77465931e-01]
 [4.79638762e-01]
 [4.44939871e-04]]

 R_gt:
[[ 0.99705781 -0.0518647  -0.05644623]
 [ 0.05443554  0.99750317  0.0450116 ]
 [ 0.05397132 -0.04795212  0.99739021]]

 t_gt:
[0.90949564 0.35482439 0.21660409]

Pose Error in degrees for R and t:
5.143014414666824 14.456983907535816

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.98749706  0.15620839  0.02117774]
 [-0.15736229  0.98477109  0.07391213]
 [-0.00930953 -0.07632059  0.99703987]]

 t_estimated:
[[0.65546597]
 [0.74942873]
 [0.09338592]]

 R_gt:
[[ 0.99313331 -0.05859728 -0.10125143]
 [ 0.06323161  0.99706497  0.04318519]
 [ 0.09842412 -0.04929097  0.99392291]]

 t_gt:
[ 0.92433663  0.38157649 -0.00108459]

Pose Error in degrees for R and t:
14.260988432897697 26.908004918823185

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-9.97911130e-01 -6.46007843e-02 -3.38701573e-04]
 [-6.46016354e-02  9.97891252e-01  6.29897905e-03]
 [-6.89316502e-05  6.30770198e-03 -9.99980104e-01]]

 t_estimated:
[[9.83463957e-01]
 [1.81102250e-01]
 [7.87401087e-04]]

 R_gt:
[[ 0.99877647  0.0113834   0.04812251]
 [-0.00959483  0.99926041 -0.03723468]
 [-0.0485105   0.03672681  0.99814689]]

 t_gt:
[-0.15326704  0.81334652  0.5612278 ]

Pose Error in degrees for R and t:
177.30949253732766 89.82858129866138

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 7.27618593e-01  6.85980406e-01 -1.43715056e-03]
 [-6.85976015e-01  7.27619428e-01  2.62189356e-03]
 [ 2.84426628e-03 -9.21887685e-04  9.99995530e-01]]

 t_estimated:
[[0.93020203]
 [0.36704553]
 [0.00132507]]

 R_gt:
[[ 0.98743545  0.13547038  0.08134718]
 [-0.13001272  0.98910489 -0.06904504]
 [-0.08981442  0.05760121  0.99429157]]

 t_gt:
[-0.46899705  0.8479416   0.2470563 ]

Pose Error in degrees for R and t:
36.19786725746401 82.8364837305001

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.99620402  0.087008   -0.0026751 ]
 [-0.08699926  0.99620315  0.00322778]
 [ 0.00294578 -0.0029828   0.99999121]]

 t_estimated:
[[-0.99889725]
 [-0.04675689]
 [-0.00425063]]

 R_gt:
[[ 0.98486958  0.13969833  0.10254591]
 [-0.13354975  0.98893383 -0.06460322]
 [-0.11043656  0.04993062  0.99262765]]

 t_gt:
[-0.45732811  0.80815229  0.37113457]

Pose Error in degrees for R and t:
7.747097955814591 65.32569801334175

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.28764479  0.957712    0.00694258]
 [-0.95765551  0.28770736 -0.01097253]
 [-0.01250595 -0.00349241  0.9999157 ]]

 t_estimated:
[[-0.01691541]
 [ 0.99976491]
 [ 0.01356443]]

 R_gt:
[[ 0.9964883  -0.0506303   0.06668274]
 [ 0.05432681  0.99701693 -0.05483639]
 [-0.06370735  0.05826637  0.99626569]]

 t_gt:
[ 0.50707069  0.86115433 -0.03595175]

Pose Error in degrees for R and t:
76.38456895801785 31.58250277522863

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999873e-01 -4.99536815e-04 -6.12141846e-05]
 [ 4.99536833e-04  9.99999875e-01  2.75745202e-07]
 [ 6.12140393e-05 -3.06323908e-07  9.99999998e-01]]

 t_estimated:
[[ 9.41010279e-01]
 [-3.38377625e-01]
 [-4.88330892e-04]]

 R_gt:
[[ 0.99535475 -0.07757516  0.05700781]
 [ 0.07761462  0.99698232  0.00153308]
 [-0.05695514  0.00289915  0.99837185]]

 t_gt:
[0.73661225 0.44633884 0.50811814]

Pose Error in degrees for R and t:
5.503941370237145 57.18825616302162

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 0.92712109  0.32559693  0.18556162]
 [-0.26198704  0.91715267 -0.30032278]
 [-0.26797251  0.22982084  0.93561376]]

 t_estimated:
[[-0.96841111]
 [-0.24189408]
 [-0.06055726]]

 R_gt:
[[ 0.99333479 -0.11178469  0.02809788]
 [ 0.11218474  0.99360168 -0.01307453]
 [-0.02645641  0.01614027  0.99951952]]

 t_gt:
[0.93750785 0.34113214 0.06861401]

Pose Error in degrees for R and t:
30.596737953471006 5.975807611733375

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.85793666e-01 -1.67960822e-01 -1.04161739e-04]
 [ 1.67960757e-01  9.85793573e-01 -4.63217172e-04]
 [ 1.80484310e-04  4.39141470e-04  9.99999887e-01]]

 t_estimated:
[[ 0.12712066]
 [-0.99188516]
 [-0.00204111]]

 R_gt:
[[ 0.99207914 -0.1118822   0.05712252]
 [ 0.11235228  0.99365478 -0.00508014]
 [-0.0561923   0.01145888  0.99835428]]

 t_gt:
[ 0.61858249 -0.73437572  0.27937072]

Pose Error in degrees for R and t:
4.609231842335596 36.24649577896016

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.75721074e-01 -2.19016860e-01 -3.70327830e-05]
 [ 2.19016863e-01  9.75721040e-01  2.55335540e-04]
 [-1.97891227e-05 -2.57247071e-04  9.99999967e-01]]

 t_estimated:
[[ 9.54369570e-01]
 [-2.98627640e-01]
 [ 5.07024969e-04]]

 R_gt:
[[ 0.97330768 -0.22226696  0.0571869 ]
 [ 0.22255063  0.97491949  0.0014409 ]
 [-0.05607257  0.01132452  0.99836274]]

 t_gt:
[ 0.73474597 -0.6657458   0.13011878]

Pose Error in degrees for R and t:
3.2878645429335767 25.829408221535626

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.98947139e-01  4.58750495e-02  3.06259468e-04]
 [-4.58750770e-02  9.98947181e-01  8.35404013e-05]
 [-3.02104612e-04 -9.75021215e-05  9.99999950e-01]]

 t_estimated:
[[9.85261569e-01]
 [1.71052356e-01]
 [8.55261779e-04]]

 R_gt:
[[ 0.96311425 -0.26652396  0.03710301]
 [ 0.26676599  0.96375996 -0.00163809]
 [-0.03532224  0.01147537  0.99931036]]

 t_gt:
[ 0.80005192 -0.5981104   0.04669975]

Pose Error in degrees for R and t:
18.221286946397313 46.68631497324441

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.26859631 -0.84925555  0.45455587]
 [-0.91331748  0.07456658 -0.4003636 ]
 [ 0.30611633 -0.52269    -0.79566824]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.99793875  0.0568912  -0.02969975]
 [-0.05835232  0.99699707 -0.05091863]
 [ 0.02671297  0.052546    0.99826057]]

 t_gt:
[-0.28919637  0.80592806 -0.51657084]

Pose Error in degrees for R and t:
176.11641084097835 75.67418671694358

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.94739864e-01  1.02433356e-01  1.00664003e-04]
 [-1.02433356e-01  9.94739869e-01 -1.95212665e-06]
 [-1.00334460e-04 -8.36949346e-06  9.99999995e-01]]

 t_estimated:
[[-9.96220633e-01]
 [-8.68544579e-02]
 [-8.68544579e-04]]

 R_gt:
[[ 0.99890667  0.04209692 -0.02032925]
 [-0.0432315   0.99731662 -0.05908598]
 [ 0.0177865   0.05989991  0.99804621]]

 t_gt:
[-0.21356678  0.81478798 -0.5389896 ]

Pose Error in degrees for R and t:
4.96173864779019 81.8097902979269

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.72244898 -0.69134909  0.01019325]
 [-0.69141467  0.72228295 -0.01590901]
 [ 0.00363627 -0.01854121 -0.99982148]]

 t_estimated:
[[0.99618218]
 [0.08662454]
 [0.01082807]]

 R_gt:
[[ 0.9972693  -0.0246008   0.06962988]
 [ 0.02258748  0.99930829  0.02955909]
 [-0.07030909 -0.02790576  0.99713459]]

 t_gt:
[ 0.07396912 -0.08639438  0.99351124]

Pose Error in degrees for R and t:
175.47200867263865 85.58611501906736

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 7.04009321e-01  7.10189006e-01  1.56555277e-03]
 [-7.10190725e-01  7.04007905e-01  1.41546098e-03]
 [-9.69166961e-05 -2.10833878e-03  9.99997773e-01]]

 t_estimated:
[[0.6192466 ]
 [0.78519578]
 [0.00111375]]

 R_gt:
[[ 9.83024436e-01  1.83409014e-01  5.02712724e-03]
 [-1.83475646e-01  9.82536104e-01  3.09803964e-02]
 [ 7.43254190e-04 -3.13772922e-02  9.99506794e-01]]

 t_gt:
[-0.87892645  0.44397227  0.17428974]

Pose Error in degrees for R and t:
34.71692471840681 78.72764680541013

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.92802882 -0.37250171 -0.00223209]
 [ 0.3725053   0.92802888  0.00148171]
 [ 0.00151951 -0.00220653  0.99999641]]

 t_estimated:
[[-0.69459325]
 [-0.71940015]
 [-0.00190822]]

 R_gt:
[[ 0.9468414   0.32114714  0.01889941]
 [-0.32168232  0.945805    0.04442979]
 [-0.00360726 -0.04814715  0.99883383]]

 t_gt:
[-0.85794532  0.48593579  0.16672205]

Pose Error in degrees for R and t:
40.71492514106439 75.75772544629685

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.55659117e-01 -2.94474175e-01 -7.82740260e-04]
 [ 2.94474591e-01  9.55659188e-01  4.81016158e-04]
 [ 6.06386086e-04 -6.90184594e-04  9.99999578e-01]]

 t_estimated:
[[-0.95263849]
 [-0.30410313]
 [-0.00108998]]

 R_gt:
[[ 0.91812909  0.39481419  0.03407523]
 [-0.39627101  0.91534576  0.07149675]
 [-0.00296211 -0.07914579  0.99685841]]

 t_gt:
[-0.85514747  0.47228262  0.21370991]

Pose Error in degrees for R and t:
40.70559882441555 47.871868680552645

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[-0.28624995  0.95774735 -0.02794587]
 [ 0.9577391   0.28686323  0.02110245]
 [ 0.02822746 -0.02072428 -0.99938667]]

 t_estimated:
[[ 0.82262148]
 [-0.56833559]
 [-0.01698713]]

 R_gt:
[[ 0.99780284  0.06442199  0.01543697]
 [-0.06499589  0.99708005  0.04008312]
 [-0.01280989 -0.04099812  0.99907666]]

 t_gt:
[-0.83129238 -0.03558553  0.55469509]

Pose Error in degrees for R and t:
177.255459848919 47.69809342691037

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.98861238e-01  4.77098176e-02 -1.62806229e-05]
 [-4.77098177e-02  9.98861238e-01 -7.09138348e-06]
 [ 1.59237546e-05  7.86005363e-06  1.00000000e+00]]

 t_estimated:
[[-8.22445453e-01]
 [ 5.68843696e-01]
 [-5.71635029e-04]]

 R_gt:
[[ 0.99413355  0.10447475  0.0279847 ]
 [-0.10584253  0.99297618  0.05287499]
 [-0.02226453 -0.055526    0.99820865]]

 t_gt:
[-0.87278172 -0.01921541  0.48773234]

Pose Error in degrees for R and t:
4.764814243689013 45.04056434867347

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[-9.03457557e-01 -4.28674711e-01 -1.56051587e-03]
 [ 4.28677358e-01 -9.03454621e-01 -2.33907660e-03]
 [-4.07152289e-04 -2.78221425e-03  9.99996047e-01]]

 t_estimated:
[[9.67928708e-01]
 [2.51223897e-01]
 [7.54426117e-04]]

 R_gt:
[[ 0.97158413  0.23428744  0.03367105]
 [-0.23566434  0.97077853  0.04530605]
 [-0.02207324 -0.05195344  0.99840571]]

 t_gt:
[-0.94697319  0.18822245  0.26041137]

Pose Error in degrees for R and t:
168.22312094993543 29.643450320064485

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99997828e-01  2.01000197e-03  5.51616158e-04]
 [-2.00986514e-03  9.99997949e-01 -2.48488985e-04]
 [-5.52114491e-04  2.47379771e-04  9.99999817e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.83205181e-01 -1.82311363e-01 -8.34888370e-03]
 [ 1.82500648e-01  9.81936793e-01  4.99301826e-02]
 [-9.04277294e-04 -5.06150345e-02  9.98718256e-01]]

 t_gt:
[ 0.67601166 -0.69635313  0.24104057]

Pose Error in degrees for R and t:
11.02410904518626 47.62067824760895

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.95862494e-01 -9.08728236e-02  1.53331270e-04]
 [ 9.08727246e-02  9.95862356e-01  5.61339976e-04]
 [-2.03707388e-04 -5.45083798e-04  9.99999831e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.93108418 -0.35919016 -0.06375123]
 [ 0.36241043  0.93072645  0.04905771]
 [ 0.04171481 -0.06877982  0.99675978]]

 t_gt:
[ 0.79689548 -0.59752815  0.08898148]

Pose Error in degrees for R and t:
16.615805222029124 37.334580610667324

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 8.71365331e-01  4.90633808e-01  9.62227841e-04]
 [-4.90633953e-01  8.71365776e-01 -9.47952450e-05]
 [-8.84962161e-04 -3.89500359e-04  9.99999533e-01]]

 t_estimated:
[[0.64672386]
 [0.76272354]
 [0.00102655]]

 R_gt:
[[ 0.8657117  -0.4829613  -0.13149542]
 [ 0.49390841  0.86686316  0.06784478]
 [ 0.08122315 -0.12367993  0.98899237]]

 t_gt:
[ 0.84879985 -0.5169142   0.11107896]

Pose Error in degrees for R and t:
59.36094849104387 81.0953529173932

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999927e-01 -3.83128165e-04  8.78596227e-07]
 [ 3.83128166e-04  9.99999927e-01 -1.48438479e-06]
 [-8.78027453e-07  1.48472129e-06  1.00000000e+00]]

 t_estimated:
[[ 9.34486709e-01]
 [-3.55998012e-01]
 [-7.54941972e-05]]

 R_gt:
[[ 0.99319191 -0.11016378  0.03788887]
 [ 0.10942942  0.99377364  0.02095173]
 [-0.03996112 -0.01666292  0.99906216]]

 t_gt:
[ 0.61482995 -0.69505674  0.37266643]

Pose Error in degrees for R and t:
6.756141065919456 34.71840832262299

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999662e-01  8.21788869e-04  2.18131572e-05]
 [-8.21790371e-04  9.99999660e-01  6.89163075e-05]
 [-2.17565151e-05 -6.89342101e-05  9.99999997e-01]]

 t_estimated:
[[ 9.81715728e-01]
 [-1.90352882e-01]
 [ 1.00582583e-04]]

 R_gt:
[[ 0.9878433  -0.15442906  0.01783487]
 [ 0.15406668  0.98785381  0.02020683]
 [-0.02073886 -0.01721343  0.99963652]]

 t_gt:
[ 0.72795817 -0.65882726  0.18979867]

Pose Error in degrees for R and t:
9.05364963859421 32.85177528818291

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.95893824 -0.28359175 -0.00362878]
 [-0.28357425  0.95893888 -0.00467586]
 [ 0.00480581 -0.00345483 -0.99998248]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98424198 -0.1766135   0.00872914]
 [ 0.17656794  0.98427283  0.0057377 ]
 [-0.00960545 -0.00410569  0.9999453 ]]

 t_gt:
[ 0.82201676 -0.56459841  0.07427704]

Pose Error in degrees for R and t:
179.69702264673617 34.88321454303516

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[ 5.24958558e-01  8.51126969e-01  1.18087612e-03]
 [-8.51125557e-01  5.24959854e-01 -1.56129456e-03]
 [-1.94877247e-03 -1.85458906e-04  9.99998084e-01]]

 t_estimated:
[[-0.76080004]
 [ 0.64898576]
 [ 0.00088532]]

 R_gt:
[[ 0.99902521  0.04359434 -0.00684039]
 [-0.04266264  0.99379118  0.10275727]
 [ 0.01127742 -0.102365    0.99468379]]

 t_gt:
[-0.68628555 -0.1710633   0.70692962]

Pose Error in degrees for R and t:
56.14889209984998 65.68617322080516

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.72382620e-01  2.33392458e-01 -8.04582205e-06]
 [-2.33392158e-01  9.72381311e-01 -1.63935940e-03]
 [-3.74790512e-04  1.59596242e-03  9.99998656e-01]]

 t_estimated:
[[-9.97981309e-01]
 [-6.35009432e-02]
 [-9.67783170e-04]]

 R_gt:
[[ 0.98867396  0.14985181  0.00824198]
 [-0.15006246  0.98627244  0.06890904]
 [ 0.00219664 -0.06936614  0.99758929]]

 t_gt:
[-0.92327334  0.29715217  0.243448  ]

Pose Error in degrees for R and t:
6.341262790875822 25.53734512817076

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.61670277  0.78718235  0.00465182]
 [-0.78685423  0.61659832 -0.025825  ]
 [-0.02319729  0.01226605  0.99965566]]

 t_estimated:
[[0.94823845]
 [0.31752939]
 [0.00434972]]

 R_gt:
[[ 0.96414083  0.25947575  0.05571639]
 [-0.26405439  0.9589484   0.10340935]
 [-0.02659677 -0.11441421  0.99307734]]

 t_gt:
[-0.86407943  0.420395    0.27682989]

Pose Error in degrees for R and t:
37.46552821792491 46.79101284173903

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[ 9.99286712e-01 -3.77632955e-02  3.17228743e-05]
 [ 3.77632921e-02  9.99286707e-01  1.00184222e-04]
 [-3.54835330e-05 -9.89148011e-05  9.99999994e-01]]

 t_estimated:
[[9.77784701e-01]
 [2.09610246e-01]
 [7.89419341e-04]]

 R_gt:
[[ 0.99891917 -0.04260888 -0.01860977]
 [ 0.0424348   0.99905306 -0.00963183]
 [ 0.01900302  0.00883163  0.99977981]]

 t_gt:
[ 0.82608698 -0.29302847 -0.48136745]

Pose Error in degrees for R and t:
1.2351004012264177 41.76066303908526

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-9.04289468e-01 -4.26919390e-01  6.26718461e-04]
 [-4.26917357e-01  9.04288230e-01  2.08984207e-03]
 [-1.45892823e-03  1.62226518e-03 -9.99997620e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99714305 -0.07525672 -0.00669272]
 [ 0.0750253   0.99673496 -0.02986546]
 [ 0.00891832  0.02927764  0.99953118]]

 t_gt:
[ 0.89439608 -0.14138141 -0.42434297]

Pose Error in degrees for R and t:
179.25788103203672 26.667747878434312

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-1.52487566e-01  9.88301819e-01  2.65658501e-03]
 [ 9.88305156e-01  1.52488824e-01 -2.76479053e-04]
 [-6.78344275e-04  2.58335705e-03 -9.99996433e-01]]

 t_estimated:
[[0.81447548]
 [0.58019585]
 [0.00157235]]

 R_gt:
[[ 0.9896161  -0.14357749  0.00689102]
 [ 0.14372703  0.98906952 -0.03292644]
 [-0.00208757  0.03357431  0.9994336 ]]

 t_gt:
[ 0.92356808 -0.34281017 -0.17176492]

Pose Error in degrees for R and t:
178.4290716022275 56.423048946880265

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99991866e-01  4.03226684e-03 -9.79608743e-05]
 [-4.03237405e-03  9.99991243e-01 -1.12006547e-03]
 [ 9.34436136e-05  1.12045137e-03  9.99999368e-01]]

 t_estimated:
[[-0.71969219]
 [-0.69428937]
 [-0.00232785]]

 R_gt:
[[ 0.99654309 -0.03036678  0.07732699]
 [ 0.03757605  0.99490409 -0.09356028]
 [-0.0740927   0.09614182  0.9926064 ]]

 t_gt:
[-0.06060974  0.83317243 -0.54968187]

Pose Error in degrees for R and t:
7.261276988252671 57.7535012589612

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999738e-01  7.20854433e-04 -7.03960474e-05]
 [-7.20844998e-04  9.99999731e-01  1.33964627e-04]
 [ 7.04925975e-05 -1.33913847e-04  9.99999989e-01]]

 t_estimated:
[[ 9.04310923e-01]
 [-4.26874281e-01]
 [ 3.20668126e-04]]

 R_gt:
[[ 0.99030176 -0.08578054  0.10929246]
 [ 0.0959808   0.99114459 -0.0917652 ]
 [-0.10045391  0.10136492  0.98976429]]

 t_gt:
[ 0.44210251  0.87088955 -0.21470157]

Pose Error in degrees for R and t:
9.762455766043567 88.39728947395633

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.99743393  0.0715226   0.00317242]
 [-0.07150501  0.99742589 -0.00535021]
 [-0.00354692  0.00510964  0.99998066]]

 t_estimated:
[[ 0.58226851]
 [-0.81298998]
 [ 0.00326922]]

 R_gt:
[[ 0.98927926 -0.11107274  0.09480428]
 [ 0.11501034  0.99267118 -0.03711865]
 [-0.0899866   0.04762387  0.99480321]]

 t_gt:
[0.74691414 0.65416536 0.11910901]

Pose Error in degrees for R and t:
11.966989925459432 84.46027294522052

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.96628232e-01  8.20494841e-02  2.22585684e-04]
 [-8.20494533e-02  9.96628249e-01 -1.44380354e-04]
 [-2.33681514e-04  1.25630503e-04  9.99999965e-01]]

 t_estimated:
[[0.60615925]
 [0.79534271]
 [0.00096522]]

 R_gt:
[[ 0.99241541 -0.11230988  0.04996913]
 [ 0.11209087  0.99367249  0.00717491]
 [-0.0504583  -0.00151992  0.99872532]]

 t_gt:
[ 0.5172367  -0.79962882  0.30505728]

Pose Error in degrees for R and t:
11.51767684100729 71.2065971893207

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.85739191e-01  1.68275215e-01  1.30365760e-03]
 [-1.68274615e-01  9.85739998e-01 -5.57916088e-04]
 [-1.37895089e-03  3.30587273e-04  9.99998995e-01]]

 t_estimated:
[[0.1287924 ]
 [0.9916662 ]
 [0.00326628]]

 R_gt:
[[ 0.95473076 -0.29202403  0.05666907]
 [ 0.28955635  0.95596145  0.04791004]
 [-0.06816364 -0.02933217  0.99724262]]

 t_gt:
[ 0.6759867  -0.69225295  0.25264171]

Pose Error in degrees for R and t:
26.940648905828343 53.230540303527995

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.35002563e-01  3.54640305e-01  6.78307549e-04]
 [-3.54639721e-01  9.35002646e-01 -8.48975137e-04]
 [-9.35300155e-04  5.53239130e-04  9.99999410e-01]]

 t_estimated:
[[7.48844437e-01]
 [6.62745415e-01]
 [7.23521195e-04]]

 R_gt:
[[ 0.89506871 -0.44566775  0.01524026]
 [ 0.44355419  0.8933058   0.07254541]
 [-0.04594477 -0.05817388  0.99724785]]

 t_gt:
[ 0.76891838 -0.61169944  0.18597933]

Pose Error in degrees for R and t:
47.39081454126339 80.18114264747382

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 7.87563865e-01 -6.16232579e-01 -7.52807368e-04]
 [ 6.16232951e-01  7.87563818e-01  4.27846271e-04]
 [ 3.29231034e-04 -8.00860968e-04  9.99999625e-01]]

 t_estimated:
[[9.99967893e-01]
 [7.96434605e-03]
 [8.84927339e-04]]

 R_gt:
[[ 0.99740449 -0.07182166 -0.00511676]
 [ 0.07164776  0.99702364 -0.02846026]
 [ 0.00714573  0.02801825  0.9995811 ]]

 t_gt:
[ 0.78874847 -0.44818339 -0.4207226 ]

Pose Error in degrees for R and t:
33.967854217441015 38.29954002737464

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.3865553  -0.91429222 -0.12101541]
 [ 0.90683226  0.40070492 -0.13073186]
 [ 0.16801859 -0.05920558  0.98400429]]

 t_estimated:
[[ 0.99511068]
 [ 0.09799452]
 [-0.01232104]]

 R_gt:
[[ 0.99708611 -0.07236293 -0.02414866]
 [ 0.06625088  0.97833314 -0.19614855]
 [ 0.03781837  0.19397595  0.9802761 ]]

 t_gt:
[ 0.49752964  0.0931096  -0.86243542]

Pose Error in degrees for R and t:
63.521562177404405 59.01274539160059

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 6.37329494e-01  7.70588516e-01  2.11060981e-03]
 [ 7.70591253e-01 -6.37328706e-01 -1.11432004e-03]
 [ 4.86469990e-04  2.33660648e-03 -9.99997152e-01]]

 t_estimated:
[[0.37744284]
 [0.92603179]
 [0.00142465]]

 R_gt:
[[ 0.99398496 -0.10043446 -0.04367662]
 [ 0.08153373  0.94485952 -0.31716236]
 [ 0.07312268  0.31169245  0.94736488]]

 t_gt:
[ 0.42634234  0.2228537  -0.87668035]

Pose Error in degrees for R and t:
164.75185732913664 68.52836876985633

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99558113e-01  2.97250454e-02  1.50637873e-05]
 [-2.97250431e-02  9.99558104e-01 -1.36310047e-04]
 [-1.91089530e-05  1.35802041e-04  9.99999991e-01]]

 t_estimated:
[[-0.3288166 ]
 [-0.94439186]
 [-0.00191172]]

 R_gt:
[[ 0.99844331  0.02024516 -0.05196876]
 [-0.01802837  0.9989216   0.04278705]
 [ 0.05277857 -0.04178405  0.9977316 ]]

 t_gt:
[-0.91042993 -0.358196    0.20691297]

Pose Error in degrees for R and t:
3.912738089562419 50.41321206255113

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 0.9890713  -0.14741595  0.00254773]
 [ 0.14742563  0.98906442 -0.00415336]
 [-0.0019076   0.00448357  0.99998813]]

 t_estimated:
[[0.99990745]
 [0.01355807]
 [0.00112984]]

 R_gt:
[[ 0.99531906  0.07786402 -0.05724368]
 [-0.07068577  0.99046827  0.1182162 ]
 [ 0.06590251 -0.1136171   0.99133616]]

 t_gt:
[-0.90052323 -0.14226854  0.41087417]

Pose Error in degrees for R and t:
14.957888369388934 25.590448395388886

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-1.23080022e-01 -9.92396676e-01 -3.80615393e-04]
 [-9.92396465e-01  1.23080268e-01 -7.10193664e-04]
 [ 7.51640076e-04  2.90310719e-04 -9.99999675e-01]]

 t_estimated:
[[7.88113986e-01]
 [6.15528875e-01]
 [7.40708634e-04]]

 R_gt:
[[ 0.98899292  0.13903799 -0.05060418]
 [-0.1301877   0.9802405   0.14893027]
 [ 0.07031083 -0.14070391  0.98755167]]

 t_gt:
[-0.93005992  0.07035441  0.36060894]

Pose Error in degrees for R and t:
177.1268334620743 46.41571009619243

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99998052e-01 -1.89383476e-03  5.55901268e-04]
 [ 1.89451347e-03  9.99997458e-01 -1.22294426e-03]
 [-5.53583800e-04  1.22399504e-03  9.99999098e-01]]

 t_estimated:
[[ 9.99929953e-01]
 [ 1.18035165e-02]
 [-8.75065818e-04]]

 R_gt:
[[ 0.99605537  0.03855826  0.07992236]
 [-0.03223007  0.99635171 -0.07901437]
 [-0.08267774  0.07612698  0.99366438]]

 t_gt:
[-0.11590496  0.97008009 -0.21333227]

Pose Error in degrees for R and t:
6.731669319694495 84.01547758073607

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99998932  0.00394294  0.00241241]
 [-0.00393914  0.999991   -0.00157738]
 [-0.00241861  0.00156786  0.99999585]]

 t_estimated:
[[0.99999092]
 [0.00394726]
 [0.00160383]]

 R_gt:
[[ 0.99413399  0.02823173  0.10441033]
 [-0.01374459  0.99048313 -0.13694326]
 [-0.10728224  0.13470527  0.98506077]]

 t_gt:
[ 0.35101571  0.80947849 -0.47067244]

Pose Error in degrees for R and t:
9.809674921676503 69.30134626667912

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999732e-01  7.32278674e-04  1.85424064e-06]
 [-7.32278538e-04  9.99999729e-01 -7.22339218e-05]
 [-1.90713550e-06  7.22325446e-05  9.99999997e-01]]

 t_estimated:
[[-1.73968452e-02]
 [-9.99848484e-01]
 [-5.99790315e-04]]

 R_gt:
[[ 0.98378481  0.10295585  0.14685927]
 [-0.08320172  0.98736713 -0.13484339]
 [-0.15888672  0.12043791  0.97992303]]

 t_gt:
[ 3.33126434e-02  9.99444861e-01 -4.87885417e-04]

Pose Error in degrees for R and t:
12.679044424006193 0.9143372197933182

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-1.00096417e-01 -9.94977377e-01 -8.52563325e-04]
 [-9.94977316e-01  1.00097130e-01 -8.39269521e-04]
 [ 9.20393328e-04  7.64273298e-04 -9.99999284e-01]]

 t_estimated:
[[8.62436983e-01]
 [5.06163889e-01]
 [7.53220073e-04]]

 R_gt:
[[ 0.99512578 -0.05827413  0.07955737]
 [ 0.06343363  0.99593643 -0.06393868]
 [-0.07550742  0.06867237  0.99477749]]

 t_gt:
[-0.14014716 -0.95284469 -0.26915751]

Pose Error in degrees for R and t:
179.3213047695788 52.88861874840442

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.30274675e-01  3.66863498e-01 -4.50813958e-04]
 [-3.66863738e-01  9.30273324e-01 -1.59401756e-03]
 [-1.65406659e-04  1.64826146e-03  9.99998628e-01]]

 t_estimated:
[[-0.99981909]
 [-0.01890413]
 [-0.00210046]]

 R_gt:
[[ 0.9899295  -0.04783918  0.1332341 ]
 [ 0.06651543  0.98799111 -0.13946403]
 [-0.12496132  0.1469212   0.98122238]]

 t_gt:
[-0.66766866 -0.10920681 -0.73640508]

Pose Error in degrees for R and t:
27.145490012257916 47.84341028790425

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.16810676 -0.98574628 -0.0066629 ]
 [ 0.98575934 -0.16807169 -0.00551692]
 [ 0.00431844 -0.00749545  0.99996258]]

 t_estimated:
[[9.99974504e-01]
 [7.08573608e-03]
 [8.85717009e-04]]

 R_gt:
[[ 0.97349919 -0.02003214  0.22781271]
 [ 0.06441768  0.97984064 -0.18911049]
 [-0.21943125  0.19877373  0.95516325]]

 t_gt:
[-0.87229171  0.36674873 -0.32342316]

Pose Error in degrees for R and t:
98.42046957862448 29.546328539716296

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 6.98828442e-01 -7.15289257e-01 -2.95058787e-04]
 [ 7.15289258e-01  6.98828156e-01  6.97084944e-04]
 [-2.92421984e-04 -6.98195166e-04  9.99999714e-01]]

 t_estimated:
[[ 9.37576963e-01]
 [-3.47776873e-01]
 [ 8.27543542e-04]]

 R_gt:
[[ 9.92869709e-01 -1.19201463e-01 -2.26196989e-04]
 [ 1.19199258e-01  9.92836910e-01  8.13372244e-03]
 [-7.45453992e-04 -8.10252070e-03  9.99967217e-01]]

 t_gt:
[ 0.6102612  -0.79215388 -0.00857319]

Pose Error in degrees for R and t:
38.823033727167285 32.042741754039014

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.53625691e-01  3.00995083e-01  2.24087649e-05]
 [-3.00995044e-01  9.53625600e-01 -4.45976427e-04]
 [-1.55606284e-04  4.18549651e-04  9.99999900e-01]]

 t_estimated:
[[-0.99380289]
 [-0.11114901]
 [-0.00130764]]

 R_gt:
[[ 0.98722019 -0.12981524  0.09243756]
 [ 0.13799054  0.98648696 -0.08832961]
 [-0.07972286  0.09995585  0.99179305]]

 t_gt:
[ 0.33842413 -0.85310435 -0.39709203]

Pose Error in degrees for R and t:
26.26860244615824 76.0552621296375

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.98685857  0.16118658 -0.01135985]
 [-0.16088796  0.98669126  0.02356757]
 [ 0.01500744 -0.02143019  0.9996577 ]]

 t_estimated:
[[0.98884425]
 [0.14885827]
 [0.00531637]]

 R_gt:
[[ 0.98131537 -0.10489992  0.16129336]
 [ 0.12813839  0.98165891 -0.14116121]
 [-0.14352778  0.15919135  0.97675893]]

 t_gt:
[-0.23344257 -0.68596189 -0.68917403]

Pose Error in degrees for R and t:
21.157039971998955 70.32932520017512

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.86283576 -0.50547174  0.00357358]
 [ 0.50548237  0.86283069 -0.00328205]
 [-0.00142441  0.00463825  0.99998823]]

 t_estimated:
[[-0.03028901]
 [-0.99953739]
 [-0.00275355]]

 R_gt:
[[ 0.99993372 -0.00716687 -0.00908422]
 [ 0.00826029  0.9919124   0.12665458]
 [ 0.00810253 -0.12672091  0.99190548]]

 t_gt:
[-0.00290054 -0.41676559  0.90900937]

Pose Error in degrees for R and t:
30.836030297925504 65.53371935681989

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 9.34630764e-01 -3.55619625e-01  1.32833527e-04]
 [ 3.55619379e-01  9.34630449e-01  8.84092309e-04]
 [-4.38550834e-04 -7.79061694e-04  9.99999600e-01]]

 t_estimated:
[[ 0.52256167]
 [-0.85260066]
 [ 0.00119365]]

 R_gt:
[[ 0.99813509  0.01357712 -0.05952114]
 [-0.00234699  0.9827695   0.18482168]
 [ 0.06100388 -0.18433726  0.98096849]]

 t_gt:
[-0.17681514 -0.40645618  0.89639823]

Pose Error in degrees for R and t:
24.006995477472692 75.21349820286737

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[-0.99296838  0.11823115 -0.00593173]
 [-0.11821989 -0.99298497 -0.00221478]
 [-0.00615197 -0.00149796  0.99997995]]

 t_estimated:
[[0.93735936]
 [0.34835435]
 [0.00258406]]

 R_gt:
[[ 0.99576624  0.06873422 -0.06103726]
 [-0.05311214  0.97214611  0.22827637]
 [ 0.07502706 -0.22406743  0.97168111]]

 t_gt:
[-0.65781892 -0.25851971  0.70741913]

Pose Error in degrees for R and t:
169.78416412765156 45.18328590468866

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.10731323 -0.9873413  -0.1167948 ]
 [-0.98740094  0.11957896 -0.10363525]
 [ 0.11628956  0.10420186 -0.98773413]]

 t_estimated:
[[ 0.72713908]
 [ 0.68257561]
 [-0.07320722]]

 R_gt:
[[ 0.99992942 -0.01149241  0.00308877]
 [ 0.01138277  0.99936695  0.03371941]
 [-0.00347494 -0.03368137  0.9994259 ]]

 t_gt:
[ 0.2062053  -0.63386204  0.74545174]

Pose Error in degrees for R and t:
172.44341019876651 70.28806985218293

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.99276758  0.11830461  0.02040952]
 [-0.11872361  0.9927114   0.02070686]
 [-0.01781105 -0.0229802   0.99957725]]

 t_estimated:
[[0.76647825]
 [0.63384373]
 [0.10369775]]

 R_gt:
[[ 0.99416051 -0.10790291 -0.00164048]
 [ 0.10790662  0.99376032  0.02824586]
 [-0.00141698 -0.02825756  0.99959914]]

 t_gt:
[ 0.73103947 -0.65923602  0.1760374 ]

Pose Error in degrees for R and t:
13.054207491840296 80.75085017488193

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99999959e-01 -2.78963631e-04  6.86994428e-05]
 [ 2.78979322e-04  9.99999935e-01 -2.28496640e-04]
 [-6.86356961e-05  2.28515796e-04  9.99999972e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.99545701 -0.08738596 -0.03780802]
 [ 0.08377688  0.99256033 -0.0883576 ]
 [ 0.04524785  0.08478838  0.99537064]]

 t_gt:
[ 0.749326   -0.33441634 -0.571556  ]

Pose Error in degrees for R and t:
7.3716682671978955 57.409722360255174

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-1.52574348e-01  9.88285915e-01  3.46665215e-03]
 [ 9.88291873e-01  1.52571646e-01  1.03245232e-03]
 [ 4.91445260e-04  3.58358989e-03 -9.99993458e-01]]

 t_estimated:
[[-0.16325759]
 [-0.98658248]
 [-0.00140739]]

 R_gt:
[[ 0.99354979 -0.10587167 -0.04062584]
 [ 0.10614548  0.99433972  0.00464848]
 [ 0.0399038  -0.00893072  0.99916431]]

 t_gt:
[ 0.80952278 -0.56589506 -0.15631903]

Pose Error in degrees for R and t:
178.11449040096764 64.76313273535635

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.9828425   0.18137582  0.03351756]
 [ 0.18143948  0.98340143 -0.00115805]
 [-0.03317126  0.00494322 -0.99943746]]

 t_estimated:
[[0.99982355]
 [0.01013501]
 [0.01581611]]

 R_gt:
[[ 0.98790593 -0.13210922 -0.08117542]
 [ 0.13229593  0.9912055  -0.00310074]
 [ 0.08087197 -0.00767539  0.99669444]]

 t_gt:
[ 0.84874097 -0.46433621 -0.25304279]

Pose Error in degrees for R and t:
177.27128297023603 32.87223254576583

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.79671138 -0.52953022  0.29128803]
 [ 0.0697227  -0.55929268 -0.82603295]
 [ 0.60032468 -0.63780047  0.48251512]]

 t_estimated:
[[8.65656967e-01]
 [5.00637155e-01]
 [6.74713146e-04]]

 R_gt:
[[ 0.9887722  -0.06523646 -0.13444048]
 [ 0.06788681  0.99757728  0.01521331]
 [ 0.13312217 -0.02416864  0.99080476]]

 t_gt:
[ 0.86796653 -0.21310354 -0.44857663]

Pose Error in degrees for R and t:
153.17283067527234 49.88146380070774

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-9.62129808e-01  2.72591416e-01 -3.90351664e-04]
 [-2.72588429e-01 -9.62124302e-01 -3.51793872e-03]
 [-1.33452672e-03 -3.27830836e-03  9.99993736e-01]]

 t_estimated:
[[0.73121252]
 [0.68214836]
 [0.00136608]]

 R_gt:
[[ 0.99569057  0.08208864  0.04314694]
 [-0.08081583  0.99626331 -0.03044849]
 [-0.04548581  0.02683062  0.99860421]]

 t_gt:
[-0.77456603  0.60709011  0.17745158]

Pose Error in degrees for R and t:
159.50828447092658 81.2568950283709

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 2.87960771e-01  9.57642176e-01 -2.39363588e-04]
 [-9.57642085e-01  2.87960600e-01 -5.74295065e-04]
 [-4.81041893e-04  3.94599095e-04  9.99999806e-01]]

 t_estimated:
[[0.61708657]
 [0.78689479]
 [0.0008753 ]]

 R_gt:
[[ 0.99392236  0.0564189   0.09452678]
 [-0.05463216  0.99827806 -0.02137395]
 [-0.09557028  0.01607979  0.99529226]]

 t_gt:
[-0.75170344  0.42543622  0.50393051]

Pose Error in degrees for R and t:
70.26451348568118 82.60832748375752

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-9.51765490e-01 -3.06820023e-01 -1.98122922e-03]
 [ 3.06818335e-01 -9.51767445e-01  1.11375616e-03]
 [-2.22739216e-03  4.52157229e-04  9.99997417e-01]]

 t_estimated:
[[9.54089993e-01]
 [2.99518709e-01]
 [9.10391214e-04]]

 R_gt:
[[ 0.99109532  0.04713099  0.12453826]
 [-0.03934481  0.99715782 -0.06425266]
 [-0.12721219  0.05878059  0.99013195]]

 t_gt:
[-0.72665487  0.53389043  0.43235832]

Pose Error in degrees for R and t:
164.66196711389574 57.79227580302096

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999932e-01 -3.64469425e-04 -6.08945263e-05]
 [ 3.64469428e-04  9.99999934e-01  3.85282827e-08]
 [ 6.08945082e-05 -6.07224732e-08  9.99999998e-01]]

 t_estimated:
[[-4.17807445e-01]
 [-9.08535412e-01]
 [-5.86284629e-04]]

 R_gt:
[[ 0.99945359  0.01411028 -0.02987172]
 [-0.01452237  0.99980249 -0.01361346]
 [ 0.02967354  0.01403895  0.99946167]]

 t_gt:
[-0.16020396  0.60759624 -0.77792127]

Pose Error in degrees for R and t:
2.057338243814652 61.011621046361554

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.73390561 -0.67889519 -0.02199704]
 [-0.67893433  0.73416768 -0.00678243]
 [ 0.02075407  0.00995688 -0.99973503]]

 t_estimated:
[[ 0.93606017]
 [ 0.35167159]
 [-0.01088395]]

 R_gt:
[[ 0.99709057  0.06688786 -0.03656366]
 [-0.06766383  0.99750004 -0.02041326]
 [ 0.03510728  0.02282762  0.9991229 ]]

 t_gt:
[-0.30805903  0.84886721 -0.42956267]

Pose Error in degrees for R and t:
176.31641363556335 89.14992691046494

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-6.81576170e-01  7.31744356e-01 -2.03016390e-03]
 [ 7.31738673e-01  6.81579003e-01  2.92881569e-03]
 [ 3.52686144e-03  5.10661548e-04 -9.99993650e-01]]

 t_estimated:
[[ 0.6823529 ]
 [-0.73102041]
 [-0.00191874]]

 R_gt:
[[ 0.99388857  0.10841847 -0.02076863]
 [-0.10924488  0.99304341 -0.04393811]
 [ 0.01585997  0.04593822  0.99881894]]

 t_gt:
[-0.35521064  0.89509295 -0.26950698]

Pose Error in degrees for R and t:
179.90181642676504 26.337905633353543

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.99851359 -0.05446745 -0.00197607]
 [ 0.05447885  0.99849526  0.00626636]
 [ 0.00163178 -0.0063647   0.99997841]]

 t_estimated:
[[0.61739673]
 [0.78662807]
 [0.00612833]]

 R_gt:
[[ 0.98576056  0.16746036  0.01530603]
 [-0.16755302  0.98585148  0.00487891]
 [-0.01427117 -0.00737337  0.99987146]]

 t_gt:
[-0.77213459  0.62953252  0.08658504]

Pose Error in degrees for R and t:
12.801390451848423 88.9098703464009

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.96959457e-01  7.79217883e-02 -1.90632729e-04]
 [-7.79217844e-02  9.96959475e-01  2.79966708e-05]
 [ 1.92234656e-04 -1.30571033e-05  9.99999981e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075941e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.94901226  0.31491737  0.01424589]
 [-0.31451011  0.94892035 -0.02517913]
 [-0.02144745  0.01941469  0.99958168]]

 t_gt:
[-0.68797704  0.72566315 -0.01002905]

Pose Error in degrees for R and t:
13.97743490056524 46.706861262950255

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-3.71097102e-01  9.28594061e-01  1.04162877e-04]
 [-9.28593537e-01 -3.71096768e-01 -1.11001232e-03]
 [-9.92096342e-04 -5.08647331e-04  9.99999379e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075942e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.93396621  0.35538254  0.03756519]
 [-0.35552554  0.93466246 -0.00304822]
 [-0.03619321 -0.01050759  0.99928905]]

 t_gt:
[-0.67288584  0.73560275  0.07818723]

Pose Error in degrees for R and t:
90.97294517167393 47.89117745790047

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 9.99965155e-01 -8.34799881e-03  2.10307966e-05]
 [ 8.34800175e-03  9.99965144e-01 -1.43905864e-04]
 [-1.98287376e-05  1.44076415e-04  9.99999989e-01]]

 t_estimated:
[[ 3.50734809e-02]
 [-9.99384729e-01]
 [-1.21376618e-04]]

 R_gt:
[[ 0.99831823 -0.03222351  0.04820051]
 [ 0.03236191  0.99947406 -0.00208249]
 [-0.04810804  0.00363906  0.99883479]]

 t_gt:
[ 0.64868717 -0.64392224  0.40567117]

Pose Error in degrees for R and t:
3.0861723981232694 48.22335560233556

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[-0.97964271 -0.20071706  0.00358016]
 [ 0.2004626  -0.97904185 -0.03594165]
 [ 0.01071923 -0.03449229  0.99934748]]

 t_estimated:
[[9.87793861e-01]
 [1.55763772e-01]
 [9.67476847e-04]]

 R_gt:
[[ 0.99774243  0.02536837  0.06219273]
 [-0.0242491   0.9995315  -0.0186909 ]
 [-0.06263846  0.01714139  0.9978892 ]]

 t_gt:
[-0.9689361   0.24203328 -0.05082046]

Pose Error in degrees for R and t:
169.91487718295417 23.152985054212426

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 7.17641439e-01  6.96412692e-01 -3.57220668e-04]
 [-6.96412685e-01  7.17641516e-01  1.64466654e-04]
 [ 3.70893046e-04  1.30744918e-04  9.99999923e-01]]

 t_estimated:
[[-6.20793834e-02]
 [ 9.98071065e-01]
 [-5.46379275e-04]]

 R_gt:
[[ 0.99416529  0.06587994  0.08541591]
 [-0.06168481  0.99679975 -0.05085517]
 [-0.08849374  0.04528994  0.99504638]]

 t_gt:
[-0.89864647  0.37249018 -0.23170152]

Pose Error in degrees for R and t:
40.8601501869025 64.67922280374111

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99849122e-01  1.73698261e-02 -1.50926137e-04]
 [-1.73697967e-02  9.99849115e-01  1.94457199e-04]
 [ 1.54281052e-04 -1.91806303e-04  9.99999970e-01]]

 t_estimated:
[[-9.75046743e-01]
 [ 2.21997550e-01]
 [ 9.67997087e-04]]

 R_gt:
[[ 0.98478265  0.16978751 -0.03710316]
 [-0.17051382  0.98520191 -0.01736742]
 [ 0.03360436  0.02343042  0.99916084]]

 t_gt:
[-0.57897206  0.77040502 -0.26695968]

Pose Error in degrees for R and t:
9.111872410034074 42.66789918362983

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.75536653e-01 -4.83150194e-01 -1.20783432e-03]
 [ 4.83150866e-01  8.75537054e-01  3.26897595e-04]
 [ 8.99563063e-04 -8.69777023e-04  9.99999217e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97442138  0.21805266 -0.05438244]
 [-0.22079376  0.9739944  -0.05083901]
 [ 0.04188172  0.06154719  0.99722541]]

 t_gt:
[-0.5181848   0.77443241 -0.36295861]

Pose Error in degrees for R and t:
41.79197165818694 39.57351706095884

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.77784216e-01 -2.09613867e-01 -2.30388258e-04]
 [ 2.09613874e-01  9.77784242e-01  1.02330179e-05]
 [ 2.23125026e-04 -5.82982587e-05  9.99999973e-01]]

 t_estimated:
[[-0.58452761]
 [-0.81137327]
 [-0.00094127]]

 R_gt:
[[ 0.95024806  0.30442081 -0.06601693]
 [-0.30731522  0.95080324 -0.03911343]
 [ 0.05086148  0.0574569   0.99705134]]

 t_gt:
[-0.51265063  0.81438651 -0.27196313]

Pose Error in degrees for R and t:
30.25041272859234 68.84716302744685

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-0.50799226 -0.86099249  0.02521493]
 [-0.8609497   0.50843695  0.01604656]
 [-0.02663617 -0.01355726 -0.99955326]]

 t_estimated:
[[0.8583576 ]
 [0.51281775]
 [0.01549814]]

 R_gt:
[[ 0.99411665 -0.09863996  0.04474604]
 [ 0.09935898  0.99495088 -0.01412239]
 [-0.04312679  0.01848653  0.99889853]]

 t_gt:
[ 0.46693261 -0.84114483  0.27285402]

Pose Error in degrees for R and t:
176.56227266611407 88.4912210179817

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.98308356e-01  5.81384408e-02 -5.90545481e-04]
 [-5.81382513e-02  9.98308486e-01  3.33152447e-04]
 [ 6.08915529e-04 -2.98255590e-04  9.99999770e-01]]

 t_estimated:
[[0.8117624 ]
 [0.58398646]
 [0.00127402]]

 R_gt:
[[ 0.97284792 -0.22959737  0.02918134]
 [ 0.22863871  0.97295572  0.03287335]
 [-0.03593914 -0.02530823  0.99903338]]

 t_gt:
[ 0.63627809 -0.7362309   0.23046533]

Pose Error in degrees for R and t:
16.775737441833822 85.01750611305229

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.78186555e-01 -2.07727527e-01 -5.81946533e-04]
 [ 2.07727470e-01  9.78186727e-01 -1.57514206e-04]
 [ 6.01972411e-04  3.31919974e-05  9.99999818e-01]]

 t_estimated:
[[ 0.10313452]
 [-0.99466326]
 [-0.00287624]]

 R_gt:
[[ 0.9478157  -0.31731506  0.03090473]
 [ 0.31621073  0.94800953  0.03590385]
 [-0.04069071 -0.02425768  0.99887754]]

 t_gt:
[ 0.67074707 -0.7128814   0.20469117]

Pose Error in degrees for R and t:
7.0450460241728585 38.9526865911332

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.31068666 -0.95051086  0.00170551]
 [-0.95051041  0.31068186 -0.00259641]
 [ 0.00193804 -0.00242778 -0.99999517]]

 t_estimated:
[[7.85627485e-01]
 [6.18699403e-01]
 [7.10332265e-04]]

 R_gt:
[[ 0.97579476 -0.2180176   0.01705593]
 [ 0.21774234  0.97586443  0.01663972]
 [-0.02027329 -0.01252366  0.99971531]]

 t_gt:
[ 0.73362162 -0.67126047  0.10587115]

Pose Error in degrees for R and t:
178.66213106571925 80.72808576631793

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.83355224  0.55243299 -0.00290866]
 [-0.55241608 -0.83355327 -0.00504137]
 [-0.00520955 -0.00259546  0.99998306]]

 t_estimated:
[[0.66176944]
 [0.7497022 ]
 [0.00279607]]

 R_gt:
[[ 0.93913786 -0.33914382  0.05477461]
 [ 0.3386682   0.94073335  0.01803212]
 [-0.0576444   0.00161623  0.99833606]]

 t_gt:
[ 0.75696237 -0.63720913  0.14481885]

Pose Error in degrees for R and t:
166.29377793276953 88.64640999862674

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99478964e-01 -3.22674049e-02  7.84423889e-04]
 [ 3.22682034e-02  9.99478718e-01 -1.02752427e-03]
 [-7.50859441e-04  1.05230085e-03  9.99999164e-01]]

 t_estimated:
[[9.82311058e-01]
 [1.87256379e-01]
 [1.85651565e-04]]

 R_gt:
[[ 0.89011559 -0.4499416   0.07243852]
 [ 0.45136639  0.89233075 -0.00375225]
 [-0.06295168  0.03603642  0.99736589]]

 t_gt:
[ 0.7881868  -0.61035874  0.07889093]

Pose Error in degrees for R and t:
25.303589459732457 48.702743878903554

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.76159467e-01  2.17054515e-01  1.80105850e-04]
 [-2.17054287e-01  9.76159155e-01 -8.60725229e-04]
 [-3.62636271e-04  8.01112334e-04  9.99999613e-01]]

 t_estimated:
[[8.01590647e-01]
 [5.97872947e-01]
 [6.11173972e-04]]

 R_gt:
[[ 0.98076777 -0.19303166  0.02885096]
 [ 0.19284043  0.98118583  0.00930571]
 [-0.03010451 -0.00356386  0.99954141]]

 t_gt:
[ 0.70743592 -0.69021723  0.15210062]

Pose Error in degrees for R and t:
23.72528012622984 81.11192461041743

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.93420482e-01 -1.14519620e-01  1.00099988e-03]
 [ 1.14520823e-01  9.93420073e-01 -1.24042953e-03]
 [-8.52359854e-04  1.34690343e-03  9.99998730e-01]]

 t_estimated:
[[-0.32675961]
 [-0.9451068 ]
 [-0.00113458]]

 R_gt:
[[ 0.95080124 -0.30344646  0.06243478]
 [ 0.30459547  0.95243421 -0.00955268]
 [-0.0565665   0.02809941  0.99800345]]

 t_gt:
[ 0.7318384  -0.67199386  0.11329968]

Pose Error in degrees for R and t:
11.691129874922826 66.68149061935436

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 8.40345180e-01  5.42051552e-01  3.06397303e-04]
 [-5.42049886e-01  8.40343765e-01 -2.06828336e-03]
 [-1.37859527e-03  1.57198933e-03  9.99997814e-01]]

 t_estimated:
[[0.87002975]
 [0.49299845]
 [0.00087913]]

 R_gt:
[[ 0.92090995 -0.38160957  0.07936478]
 [ 0.38513522  0.92220951 -0.03466005]
 [-0.05996422  0.06248387  0.99624289]]

 t_gt:
[ 0.74854447 -0.66162465  0.04397738]

Pose Error in degrees for R and t:
55.60610028168906 71.0274763667908

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.98909813e-01 -4.66815457e-02  1.37116071e-04]
 [ 4.66816520e-02  9.98909398e-01 -9.15639464e-04]
 [-9.42230664e-05  9.21042050e-04  9.99999571e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9744546   0.22454509 -0.00437587]
 [-0.22456142  0.97445291 -0.00369842]
 [ 0.00343339  0.00458618  0.99998413]]

 t_gt:
[-0.7229933   0.69025694 -0.0287409 ]

Pose Error in degrees for R and t:
15.655016187914558 43.87351449616901

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.41747023e-01 -3.36318142e-01 -1.62840260e-03]
 [ 3.36316967e-01  9.41748365e-01 -9.56665717e-04]
 [ 1.85528952e-03  3.53277667e-04  9.99998217e-01]]

 t_estimated:
[[-0.56867447]
 [-0.822547  ]
 [-0.00507745]]

 R_gt:
[[ 0.95238158  0.30355002  0.02878212]
 [-0.30373091  0.95275549  0.00202664]
 [-0.02680737 -0.01067208  0.99958441]]

 t_gt:
[-0.69018422  0.71963001  0.07601571]

Pose Error in degrees for R and t:
37.373094033881785 78.47325535246792

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 4.67141721e-04 -9.99999537e-01 -8.41763062e-04]
 [-9.99999890e-01 -4.67116429e-04 -3.02420574e-05]
 [ 2.98488420e-05  8.41777097e-04 -9.99999645e-01]]

 t_estimated:
[[8.88656978e-01]
 [4.58572014e-01]
 [6.94806082e-04]]

 R_gt:
[[ 0.96931305  0.24154454  0.045715  ]
 [-0.24187122  0.97030697  0.00165205]
 [-0.04395917 -0.01265829  0.99895397]]

 t_gt:
[-0.69413003  0.7075591   0.13245236]

Pose Error in degrees for R and t:
177.91648976974346 73.00521481390341

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99999418e-01 -1.06909470e-03 -1.42935647e-04]
 [ 1.06909643e-03  9.99999428e-01  1.20283727e-05]
 [ 1.42922705e-04 -1.21811777e-05  9.99999990e-01]]

 t_estimated:
[[-9.99899554e-01]
 [-1.41652367e-02]
 [-4.77951128e-04]]

 R_gt:
[[ 0.96969023  0.24407858  0.01124845]
 [-0.24367622  0.96942355 -0.02895704]
 [-0.01797316  0.02533818  0.9995167 ]]

 t_gt:
[-0.59744711  0.80108028 -0.03643261]

Pose Error in degrees for R and t:
14.291693411430185 54.122301567010624

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-8.88860785e-01 -4.58172457e-01 -2.12239875e-03]
 [ 4.58176324e-01 -8.88859124e-01 -1.97812654e-03]
 [-9.80190395e-04 -2.73071197e-03  9.99995791e-01]]

 t_estimated:
[[0.7656594 ]
 [0.64324418]
 [0.00161693]]

 R_gt:
[[ 0.90787982  0.41683712 -0.0447419 ]
 [-0.4179139   0.90831111 -0.01781527]
 [ 0.03321309  0.03487178  0.99884002]]

 t_gt:
[-0.50265487  0.85492778 -0.1282052 ]

Pose Error in degrees for R and t:
177.41365062038034 80.5110385529372

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.66702652  0.74501557  0.0052361 ]
 [ 0.74502976  0.66702992  0.00132276]
 [-0.00250716  0.00478336 -0.99998542]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.8730697   0.48519146 -0.0483705 ]
 [-0.48747705  0.87074472 -0.06457392]
 [ 0.01078725  0.07995694  0.99673938]]

 t_gt:
[-0.45937001  0.8769034  -0.1414907 ]

Pose Error in degrees for R and t:
179.6643961696729 29.088035419816336

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.01607416e-01  4.32555270e-01 -7.67122084e-05]
 [-4.32554847e-01  9.01606756e-01  1.24958199e-03]
 [ 6.09677522e-04 -1.09345015e-03  9.99999216e-01]]

 t_estimated:
[[0.6711372 ]
 [0.74133267]
 [0.00085604]]

 R_gt:
[[ 0.98705483  0.14964717  0.05770157]
 [-0.14848324  0.98862395 -0.02399071]
 [-0.06063577  0.01511256  0.99804515]]

 t_gt:
[-0.74371081  0.61059571  0.27215274]

Pose Error in degrees for R and t:
17.426840553550573 87.34944183779545

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 0.66032948  0.7509706   0.00285411]
 [-0.75097458  0.66031601  0.00446659]
 [ 0.00146967 -0.00509278  0.99998595]]

 t_estimated:
[[0.69232849]
 [0.72158181]
 [0.00097511]]

 R_gt:
[[ 0.97875998  0.18778718  0.08224678]
 [-0.18553367  0.98203927 -0.03430204]
 [-0.08721137  0.01831417  0.99602106]]

 t_gt:
[-0.74492906  0.60436422  0.28253245]

Pose Error in degrees for R and t:
38.23392493928778 85.44811179999793

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.37552518 -0.90091555  0.21755919]
 [-0.91260869  0.40037677  0.08272745]
 [-0.16163609 -0.16748017 -0.97253492]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.97628631  0.16152536  0.14413207]
 [-0.15583138  0.98651614 -0.05003574]
 [-0.15027144  0.02638825  0.98829223]]

 t_gt:
[-0.72520212  0.54097795  0.42593984]

Pose Error in degrees for R and t:
160.822473604782 85.43911807887403

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.22772564e-01  3.85344788e-01  4.35916925e-04]
 [-3.85344747e-01  9.22772667e-01 -1.77658249e-04]
 [-4.70711903e-04 -4.04013966e-06  9.99999889e-01]]

 t_estimated:
[[-0.56714489]
 [ 0.82361737]
 [ 0.00105256]]

 R_gt:
[[ 0.99822776  0.05927453  0.0052042 ]
 [-0.05918272  0.99811621 -0.01619873]
 [-0.00615366  0.01586247  0.99985563]]

 t_gt:
[-0.42188047  0.90484861 -0.05714776]

Pose Error in degrees for R and t:
19.29306187978033 10.115328807511569

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999577e-01 -9.12332649e-04 -1.16312137e-04]
 [ 9.12320073e-04  9.99999578e-01 -1.08132210e-04]
 [ 1.16410740e-04  1.08026051e-04  9.99999987e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99812552  0.0610523   0.00416414]
 [-0.06082715  0.99727914 -0.04165683]
 [-0.00669646  0.0413257   0.99912283]]

 t_gt:
[-0.39763056  0.8924811  -0.21299632]

Pose Error in degrees for R and t:
4.279747611497671 77.59861012339181

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99811817e-01 -1.93929466e-02  4.94286375e-04]
 [ 1.93932207e-02  9.99811779e-01 -5.55910431e-04]
 [-4.83412599e-04  5.65391623e-04  9.99999723e-01]]

 t_estimated:
[[0.47913324]
 [0.87773988]
 [0.00201316]]

 R_gt:
[[ 0.99932542 -0.03663878  0.0025762 ]
 [ 0.03667583  0.99919893 -0.01602735]
 [-0.00198615  0.01611149  0.99986782]]

 t_gt:
[ 0.08156417 -0.27963522 -0.95663547]

Pose Error in degrees for R and t:
1.3341517891480352 77.9776783442923

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-8.76364141e-01 -4.81644950e-01 -2.00850903e-03]
 [ 4.81648475e-01 -8.76362234e-01 -1.99557312e-03]
 [-7.99023741e-04 -2.71624403e-03  9.99995992e-01]]

 t_estimated:
[[9.76994108e-01]
 [2.13264777e-01]
 [8.04772742e-04]]

 R_gt:
[[ 0.99870815 -0.03958449 -0.03185715]
 [ 0.0388547   0.998976   -0.02317851]
 [ 0.03274055  0.02191175  0.99922328]]

 t_gt:
[ 0.14569384 -0.64852749 -0.74711807]

Pose Error in degrees for R and t:
148.96322176037438 89.80332089959528

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 8.71497646e-01  4.90399534e-01  3.86578271e-04]
 [-4.90399484e-01  8.71497732e-01 -2.21039611e-04]
 [-4.45299808e-04  3.05771644e-06  9.99999901e-01]]

 t_estimated:
[[0.72109362]
 [0.692837  ]
 [0.00093358]]

 R_gt:
[[ 0.99174006 -0.11342486 -0.05988649]
 [ 0.11470233  0.99323013  0.01833778]
 [ 0.05740067 -0.02505535  0.99803634]]

 t_gt:
[ 0.33248775 -0.89531102 -0.29642886]

Pose Error in degrees for R and t:
36.09868190587567 67.61510959256256

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.94068858 -0.33924834 -0.00394318]
 [ 0.33925842  0.94069057  0.00223228]
 [ 0.00295201 -0.00343764  0.99998973]]

 t_estimated:
[[-0.61204457]
 [-0.79082047]
 [-0.00210325]]

 R_gt:
[[ 0.96521703 -0.24002588 -0.10365629]
 [ 0.24369585  0.96955148  0.02414251]
 [ 0.09470504 -0.04856318  0.99431959]]

 t_gt:
[ 0.52262493 -0.82892237 -0.19937626]

Pose Error in degrees for R and t:
8.24269347028097 70.3618736897468

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 0.48642546  0.87368678  0.00785351]
 [ 0.87372122 -0.48639273 -0.00577398]
 [-0.00122476  0.00967039 -0.99995249]]

 t_estimated:
[[-0.50119018]
 [-0.86533618]
 [-0.00130518]]

 R_gt:
[[ 9.99709652e-01  2.40545834e-02 -1.71414221e-03]
 [-2.40531841e-02  9.99709879e-01  9.85061322e-04]
 [ 1.73699018e-03 -9.43234671e-04  9.99998587e-01]]

 t_gt:
[ 0.61626178  0.77444289 -0.14303714]

Pose Error in degrees for R and t:
179.58872039635506 11.810158669973191

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[-0.68886649 -0.72488302 -0.0027494 ]
 [ 0.72485582 -0.6888666   0.00684395]
 [-0.00685504  0.00272165  0.9999728 ]]

 t_estimated:
[[0.98209472]
 [0.18837593]
 [0.00211658]]

 R_gt:
[[ 9.99739746e-01  2.27711046e-02  1.95994813e-03]
 [-2.27716061e-02  9.99740263e-01  1.44308568e-04]
 [-1.95581371e-03 -1.89181541e-04  9.99997994e-01]]

 t_gt:
[ 0.99175624  0.12813316 -0.00120176]

Pose Error in degrees for R and t:
134.84603232725212 3.5014750775949

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 3.83091203e-01 -9.23702983e-01 -3.73206022e-03]
 [ 9.23710483e-01  3.83089249e-01  1.25360384e-03]
 [ 2.71754539e-04 -3.92758775e-03  9.99992250e-01]]

 t_estimated:
[[0.99501152]
 [0.09973309]
 [0.00231937]]

 R_gt:
[[ 0.99759428  0.0685316   0.01043854]
 [-0.068611    0.99761514  0.00745551]
 [-0.00990224 -0.00815259  0.99991813]]

 t_gt:
[0.67906068 0.71390529 0.17092638]

Pose Error in degrees for R and t:
71.41036258317543 41.645585673448345

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.99958882e-01  9.06815396e-03  5.34265137e-05]
 [-9.06815264e-03  9.99958883e-01 -2.49694821e-05]
 [-5.36507440e-05  2.44839756e-05  9.99999998e-01]]

 t_estimated:
[[ 0.19424831]
 [-0.98095096]
 [-0.00167646]]

 R_gt:
[[ 0.99941902 -0.0316985   0.01253821]
 [ 0.03160823  0.99947395  0.00727596]
 [-0.01276181 -0.00687526  0.99989445]]

 t_gt:
[ 0.74983044 -0.64337099  0.15436346]

Pose Error in degrees for R and t:
2.476437168207667 39.05787323671394

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.95644949e-01  9.32261885e-02  1.12141312e-04]
 [-9.32261686e-02  9.95644943e-01 -1.71311691e-04]
 [-1.27623666e-04  1.60111115e-04  9.99999979e-01]]

 t_estimated:
[[-8.78054437e-02]
 [-9.96137486e-01]
 [-5.60323462e-04]]

 R_gt:
[[ 0.99503745 -0.03603027  0.09274842]
 [ 0.03911674  0.99873273 -0.03167664]
 [-0.09148981  0.03514674  0.99518548]]

 t_gt:
[ 0.74235117 -0.39881291  0.53838927]

Pose Error in degrees for R and t:
9.37263268457533 70.62264307233237

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.95491866e-01  4.45077827e-01  2.14870291e-04]
 [-4.45077715e-01  8.95491846e-01 -4.25513322e-04]
 [-3.81801138e-04  2.85409740e-04  9.99999886e-01]]

 t_estimated:
[[-9.95946184e-01]
 [-8.99478352e-02]
 [-7.65565045e-04]]

 R_gt:
[[ 0.99174238  0.02535398  0.1257124 ]
 [-0.01523994  0.99661545 -0.08077922]
 [-0.1273345   0.07819606  0.98877194]]

 t_gt:
[-0.08461888  0.99503096  0.05246942]

Pose Error in degrees for R and t:
26.649773644341927 89.69832521313978

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99959460e-01 -9.00399830e-03 -7.60147815e-05]
 [ 9.00397397e-03  9.99959414e-01 -3.14459715e-04]
 [ 7.88430911e-05  3.13762532e-04  9.99999948e-01]]

 t_estimated:
[[ 7.19357739e-01]
 [-6.94639709e-01]
 [-3.44937316e-04]]

 R_gt:
[[ 0.99077733 -0.02887112  0.13238856]
 [ 0.02979397  0.99954352 -0.00500366]
 [-0.13218365  0.00890206  0.99118539]]

 t_gt:
[ 0.1206382  -0.19594874  0.9731652 ]

Pose Error in degrees for R and t:
7.70616678190227 77.14055400506376

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.88601844e-01 -1.50552881e-01 -4.73619170e-04]
 [ 1.50552805e-01  9.88601950e-01 -1.91829646e-04]
 [ 4.97101341e-04  1.18338447e-04  9.99999869e-01]]

 t_estimated:
[[-0.00906698]
 [-0.99995806]
 [-0.00129528]]

 R_gt:
[[ 0.96962707 -0.03914676  0.24143468]
 [ 0.0466535   0.99858611 -0.02545438]
 [-0.24009669  0.03594449  0.97008354]]

 t_gt:
[ 0.17536024 -0.11466771  0.97780371]

Pose Error in degrees for R and t:
15.360596676063508 83.58054392466424

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-6.63022881e-01  7.48596841e-01  1.85163599e-03]
 [ 7.48599076e-01  6.63021752e-01  1.25687010e-03]
 [-2.86785956e-04  2.21946662e-03 -9.99997496e-01]]

 t_estimated:
[[0.9379278 ]
 [0.34682853]
 [0.00118582]]

 R_gt:
[[ 0.95720085 -0.08930749  0.275302  ]
 [ 0.10931717  0.99230195 -0.05818855]
 [-0.26798596  0.0857941   0.95959528]]

 t_gt:
[ 0.52529035 -0.28908929  0.80031083]

Pose Error in degrees for R and t:
163.80518243036207 66.83570598510849

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999940e-01  3.34850200e-04  9.15518842e-05]
 [-3.34854947e-04  9.99999943e-01  5.18381494e-05]
 [-9.15345209e-05 -5.18688029e-05  9.99999994e-01]]

 t_estimated:
[[0.97637982]
 [0.21605876]
 [0.00102885]]

 R_gt:
[[ 0.9864344  -0.15788936  0.04490341]
 [ 0.15764769  0.98745529  0.00890114]
 [-0.04574582 -0.00170188  0.99895198]]

 t_gt:
[ 0.70371592 -0.67802028  0.2123026 ]

Pose Error in degrees for R and t:
9.469832640850063 57.26050673950147

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 5.54928804e-01  8.31897843e-01 -4.38288034e-05]
 [-8.31897199e-01  5.54928307e-01 -1.27436711e-03]
 [-1.03582140e-03  7.43644074e-04  9.99999187e-01]]

 t_estimated:
[[4.04382043e-01]
 [9.14589924e-01]
 [6.59774430e-04]]

 R_gt:
[[ 0.95151191 -0.30743704  0.0103113 ]
 [ 0.30603398  0.94949314  0.06931782]
 [-0.03110164 -0.06280078  0.99754199]]

 t_gt:
[ 0.7703443  -0.60968236  0.1867005 ]

Pose Error in degrees for R and t:
74.27577622715894 75.76067209206656

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.94130467  0.33739022  0.01064717]
 [ 0.3373946   0.94136222 -0.00143653]
 [-0.01050751  0.00224008 -0.99994229]]

 t_estimated:
[[ 0.98471366]
 [-0.17408686]
 [ 0.0057251 ]]

 R_gt:
[[ 0.91731705 -0.39809949  0.00671267]
 [ 0.39759015  0.916782    0.03785948]
 [-0.02122609 -0.03205939  0.99926058]]

 t_gt:
[ 0.81502484 -0.5709222   0.09890581]

Pose Error in degrees for R and t:
178.93669294730668 25.508369379474633

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.96347077e-01  8.53961278e-02 -5.95563259e-05]
 [-8.53961424e-02  9.96347027e-01 -3.16645138e-04]
 [ 3.22984996e-05  3.20574338e-04  9.99999948e-01]]

 t_estimated:
[[8.89689141e-01]
 [4.56566639e-01]
 [3.69569001e-04]]

 R_gt:
[[ 0.99811297  0.05289119  0.03120837]
 [-0.05164457  0.99788433 -0.03947401]
 [-0.0332296   0.0377882   0.99873309]]

 t_gt:
[-0.83596596  0.35607453 -0.41757855]

Pose Error in degrees for R and t:
3.4441342187671267 54.455687846364825

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.97667387e-01  6.82624493e-02 -1.52740204e-04]
 [-6.82625388e-02  9.97667155e-01 -6.87697517e-04]
 [ 1.05439968e-04  6.96519818e-04  9.99999752e-01]]

 t_estimated:
[[-0.93862348]
 [-0.34494069]
 [-0.00137427]]

 R_gt:
[[ 0.9912841   0.12479603  0.04220043]
 [-0.11977434  0.98715149 -0.10575484]
 [-0.05485535  0.09977897  0.99349628]]

 t_gt:
[-0.78035345  0.37618592 -0.49953243]

Pose Error in degrees for R and t:
7.220076395710164 52.887446305971835

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.03310775e-01  4.28986765e-01 -1.87043240e-05]
 [-4.28986740e-01  9.03310705e-01 -3.83932152e-04]
 [-1.47805996e-04  3.54833956e-04  9.99999926e-01]]

 t_estimated:
[[-6.89800060e-01]
 [ 7.23999768e-01]
 [-4.62134279e-04]]

 R_gt:
[[ 0.99886663  0.01693345  0.04448435]
 [-0.01221889  0.99448302 -0.10417583]
 [-0.04600289  0.10351398  0.99356352]]

 t_gt:
[-0.27920924  0.2947013  -0.91388913]

Pose Error in degrees for R and t:
25.393609911393337 66.02207988442308

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.25656655e-01  3.78364580e-01 -4.36024024e-05]
 [-3.78364578e-01  9.25656656e-01  3.54918930e-05]
 [ 5.37897292e-05 -1.63557024e-05  9.99999998e-01]]

 t_estimated:
[[-0.83792673]
 [-0.54578112]
 [-0.00132793]]

 R_gt:
[[ 0.97878717 -0.20372269  0.02175514]
 [ 0.2023903   0.97792806  0.05192466]
 [-0.03185272 -0.04641993  0.99841434]]

 t_gt:
[ 0.63647241 -0.71615439  0.2864014 ]

Pose Error in degrees for R and t:
34.1060641041676 81.78812756890305

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99083316e-01 -4.27989506e-02  8.81392848e-04]
 [ 4.28008147e-02  9.99081164e-01 -2.21746098e-03]
 [-7.85677990e-04  2.25315260e-03  9.99997153e-01]]

 t_estimated:
[[-0.32943995]
 [-0.94416231]
 [-0.00518174]]

 R_gt:
[[ 0.90989504 -0.41480287  0.00533997]
 [ 0.41310543  0.90719733  0.07961007]
 [-0.03786663 -0.07023039  0.99681256]]

 t_gt:
[ 0.77182057 -0.60511119  0.19527789]

Pose Error in degrees for R and t:
22.52921983128825 71.57622378026457

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99643926e-01  2.66811353e-02  3.72266779e-04]
 [-2.66812365e-02  9.99643956e-01  2.69808285e-04]
 [-3.64935444e-04 -2.79644751e-04  9.99999894e-01]]

 t_estimated:
[[9.78469680e-01]
 [2.06390034e-01]
 [4.88497704e-04]]

 R_gt:
[[ 0.88492502 -0.46572941  0.00145162]
 [ 0.46329145  0.88060147  0.09950851]
 [-0.04762248 -0.08738565  0.9950357 ]]

 t_gt:
[ 0.78328981 -0.58151842  0.21975759]

Pose Error in degrees for R and t:
29.818189188567416 49.72078409876687

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[-0.95738912 -0.28029456 -0.06957755]
 [-0.28024887  0.95986866 -0.01061758]
 [ 0.06976136  0.00933388 -0.99752004]]

 t_estimated:
[[ 0.99155663]
 [ 0.12500691]
 [-0.03447794]]

 R_gt:
[[ 0.99734107  0.07158733  0.01362768]
 [-0.07126826  0.9972035  -0.02253129]
 [-0.01520293  0.02149974  0.99965302]]

 t_gt:
[-0.89652259  0.39095617 -0.20832791]

Pose Error in degrees for R and t:
176.60721457875366 33.60240887822915

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.90457543e-01 -1.37818034e-01 -2.11387764e-04]
 [ 1.37818034e-01  9.90457566e-01 -1.41987836e-05]
 [ 2.11327458e-04 -1.50697536e-05  9.99999978e-01]]

 t_estimated:
[[-0.43499035]
 [-0.90043461]
 [-0.00094871]]

 R_gt:
[[ 0.99374016  0.10574401  0.03603633]
 [-0.10387883  0.99332271 -0.05018488]
 [-0.04110224  0.04612806  0.99808927]]

 t_gt:
[-0.86256975  0.42378485 -0.27636899]

Pose Error in degrees for R and t:
14.386371251747253 89.64941409227563

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.95575879e-01  9.39609702e-02  7.81539771e-05]
 [-9.39608970e-02  9.95575661e-01 -6.72488524e-04]
 [-1.40995872e-04  6.62169935e-04  9.99999771e-01]]

 t_estimated:
[[-8.31401732e-01]
 [-5.55671445e-01]
 [-6.36393899e-04]]

 R_gt:
[[ 0.97914912  0.19364094  0.06139604]
 [-0.18542635  0.97540471 -0.11918139]
 [-0.08296449  0.10531206  0.99097242]]

 t_gt:
[-0.83195429  0.43425159 -0.34536592]

Pose Error in degrees for R and t:
9.484135864491268 63.21737648308726

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-9.98524674e-01  5.27933393e-02  1.27018858e-02]
 [ 5.28052703e-02  9.98604645e-01  6.05536851e-04]
 [-1.26521939e-02  1.27537000e-03 -9.99919144e-01]]

 t_estimated:
[[ 0.99980869]
 [-0.01842686]
 [ 0.00655966]]

 R_gt:
[[ 0.96974991 -0.24399484 -0.00721613]
 [ 0.24409635  0.96949185  0.02240596]
 [ 0.00153033 -0.02348917  0.99972296]]

 t_gt:
[ 0.74443588 -0.66336917  0.075872  ]

Pose Error in degrees for R and t:
179.56142621696577 40.79825353554335

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99635919e-01  2.69806937e-02  2.66001947e-04]
 [-2.69807116e-02  9.99635952e-01  6.36638201e-05]
 [-2.64187415e-04 -7.08175631e-05  9.99999963e-01]]

 t_estimated:
[[9.90006829e-01]
 [1.41018705e-01]
 [4.50621473e-04]]

 R_gt:
[[ 0.93004115 -0.36724847 -0.01235027]
 [ 0.36734212  0.9283937   0.05606524]
 [-0.00912389 -0.05667972  0.99835048]]

 t_gt:
[ 0.78084437 -0.60997675  0.13494605]

Pose Error in degrees for R and t:
23.343209587485344 46.600281914974204

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.81899469e-01 -1.89399979e-01  1.03932222e-03]
 [ 1.89401704e-01  9.81897772e-01 -1.93888338e-03]
 [-6.53283700e-04  2.10063796e-03  9.99997580e-01]]

 t_estimated:
[[ 0.60299328]
 [-0.79774235]
 [-0.0025004 ]]

 R_gt:
[[ 0.90962057 -0.41400765  0.03447492]
 [ 0.41218046  0.90974581  0.04969821]
 [-0.05193806 -0.03099693  0.99816836]]

 t_gt:
[ 0.76763691 -0.61761897  0.17111513]

Pose Error in degrees for R and t:
13.95292890150152 17.224303012882267

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.91762986e-01  1.28086457e-01  1.97347451e-04]
 [-1.28086431e-01  9.91763000e-01 -1.37752624e-04]
 [-2.13366146e-04  1.11340423e-04  9.99999971e-01]]

 t_estimated:
[[-8.31370838e-02]
 [ 9.96537631e-01]
 [ 9.87570179e-04]]

 R_gt:
[[ 0.98894144 -0.14338714 -0.03787922]
 [ 0.14557014  0.98733197  0.06311702]
 [ 0.02834823 -0.06793257  0.99728754]]

 t_gt:
[ 0.73343747 -0.66286637  0.15059098]

Pose Error in degrees for R and t:
16.23552388023829 43.82994256977396

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99672489e-01  2.55906219e-02  1.88100998e-04]
 [-2.55906132e-02  9.99672505e-01 -4.83480875e-05]
 [-1.89276653e-04  4.35186330e-05  9.99999981e-01]]

 t_estimated:
[[0.62764081]
 [0.7785026 ]
 [0.00083968]]

 R_gt:
[[ 0.97631145 -0.21446636 -0.02864188]
 [ 0.21461073  0.97669777  0.00205308]
 [ 0.0275345  -0.00815128  0.99958758]]

 t_gt:
[ 0.77757378 -0.62846908 -0.02014045]

Pose Error in degrees for R and t:
13.955605487793047 89.92868488175256

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.98859844e-01 -4.77388168e-02  1.34789893e-04]
 [ 4.77388118e-02  9.98859852e-01  4.01970084e-05]
 [-1.36555171e-04 -3.37164682e-05  9.99999990e-01]]

 t_estimated:
[[6.67984118e-01]
 [7.44175326e-01]
 [5.49989583e-04]]

 R_gt:
[[ 0.96101994 -0.27180413 -0.05062859]
 [ 0.26628988  0.95920842 -0.09491895]
 [ 0.07436198  0.07773728  0.99419654]]

 t_gt:
[ 0.79838853 -0.54384397 -0.25847531]

Pose Error in degrees for R and t:
14.315228774037003 82.619768475326

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999943e-01 -2.83720867e-04  1.80320510e-04]
 [ 2.83722181e-04  9.99999960e-01 -7.26050505e-06]
 [-1.80318443e-04  7.31166557e-06  9.99999984e-01]]

 t_estimated:
[[-7.51043554e-02]
 [-9.97175571e-01]
 [ 4.66084682e-04]]

 R_gt:
[[ 0.99301296  0.0084598   0.11770095]
 [-0.00758142  0.99993997 -0.00790967]
 [-0.1177619   0.00696256  0.99301709]]

 t_gt:
[-0.13808367  0.15258498  0.9785963 ]

Pose Error in degrees for R and t:
6.781367495005312 81.875346095841

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99998994e-01 -1.41765158e-03 -4.65595643e-05]
 [ 1.41764161e-03  9.99998972e-01 -2.13325805e-04]
 [ 4.68619381e-05  2.13259586e-04  9.99999976e-01]]

 t_estimated:
[[9.99997647e-01]
 [2.00840588e-03]
 [8.20123333e-04]]

 R_gt:
[[ 0.98161941 -0.02428263  0.1892964 ]
 [ 0.03724901  0.99717306 -0.06524503]
 [-0.18717703  0.07109711  0.97974988]]

 t_gt:
[0.29612324 0.01001502 0.95509723]

Pose Error in degrees for R and t:
11.672644906917574 72.72693801591052

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 1.79818533e-01  9.83694986e-01  3.07737874e-03]
 [ 9.83698777e-01 -1.79821976e-01  8.79062091e-04]
 [ 1.41810930e-03  2.86914205e-03 -9.99994878e-01]]

 t_estimated:
[[0.76814499]
 [0.64027526]
 [0.00092659]]

 R_gt:
[[ 0.98062494 -0.10729732  0.16389657]
 [ 0.1151153   0.9925879  -0.03894922]
 [-0.15850228  0.05706243  0.98570719]]

 t_gt:
[ 0.79004796 -0.40750013  0.45800422]

Pose Error in degrees for R and t:
171.8411249794873 69.73372618478719

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99862822e-01 -1.65631105e-02  3.73831930e-05]
 [ 1.65631097e-02  9.99862822e-01  2.20750103e-05]
 [-3.77436957e-05 -2.14528002e-05  9.99999999e-01]]

 t_estimated:
[[ 5.35874881e-01]
 [-8.44297389e-01]
 [ 1.78866591e-04]]

 R_gt:
[[ 0.99785277 -0.04702676  0.04558856]
 [ 0.0490813   0.99777778 -0.04505934]
 [-0.04336742  0.04720124  0.9979433 ]]

 t_gt:
[ 0.7497584  -0.56434535 -0.34550928]

Pose Error in degrees for R and t:
4.0953071975660595 28.575186952924817

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 1.95660601e-01 -9.80670352e-01 -1.60901352e-03]
 [ 9.80671574e-01  1.95661054e-01 -1.27737956e-04]
 [ 4.40090108e-04 -1.55292054e-03  9.99998697e-01]]

 t_estimated:
[[ 8.31118128e-01]
 [-5.56095905e-01]
 [ 4.58238825e-05]]

 R_gt:
[[ 0.99412748 -0.07510064  0.07791224]
 [ 0.07873908  0.99589145 -0.04472374]
 [-0.07423317  0.05059627  0.99595652]]

 t_gt:
[ 0.78364281 -0.61700194 -0.07219793]

Pose Error in degrees for R and t:
74.45592260773718 6.061732984783484

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99858275e-01  1.68327984e-02  2.95737198e-04]
 [-1.68327730e-02  9.99858315e-01 -8.83355492e-05]
 [-2.97182231e-04  8.33449527e-05  9.99999952e-01]]

 t_estimated:
[[ 0.6755705 ]
 [-0.73729489]
 [ 0.00086605]]

 R_gt:
[[ 0.98844763 -0.05108786  0.14268937]
 [ 0.06213811  0.99531386 -0.0740956 ]
 [-0.13823454  0.08210595  0.98699018]]

 t_gt:
[ 0.99214917 -0.10312955  0.07074115]

Pose Error in degrees for R and t:
10.156218628212404 41.72353459033513

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.8122338  -0.58327301  0.00829708]
 [-0.58326303  0.81227434  0.003827  ]
 [-0.00897169 -0.00173096 -0.99995826]]

 t_estimated:
[[0.97067601]
 [0.24032532]
 [0.00564191]]

 R_gt:
[[ 0.99615809 -0.07458145 -0.0459021 ]
 [ 0.07589148  0.99673663  0.02750274]
 [ 0.04370129 -0.0308802   0.99856797]]

 t_gt:
[ 0.37519589 -0.90200574 -0.21357362]

Pose Error in degrees for R and t:
178.58898352948316 81.59242178721958

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999610e-01 -5.25049934e-04 -7.10829986e-04]
 [ 5.25511464e-04  9.99999651e-01  6.49252329e-04]
 [ 7.10488848e-04 -6.49625625e-04  9.99999537e-01]]

 t_estimated:
[[0.98184894]
 [0.18965963]
 [0.00137234]]

 R_gt:
[[ 0.97767981 -0.18971672 -0.09027651]
 [ 0.19125224  0.98150314  0.0085957 ]
 [ 0.08697683 -0.0256695   0.99588048]]

 t_gt:
[ 0.55155704 -0.78514587 -0.28165721]

Pose Error in degrees for R and t:
12.121286466736864 66.9055077433752

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.60220929 -0.79533462 -0.06918677]
 [ 0.79831871 -0.60053531 -0.04521694]
 [-0.0055865  -0.08246316  0.99657846]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.94778805 -0.30004478 -0.10803389]
 [ 0.30544665  0.95148458  0.03712227]
 [ 0.0916547  -0.06818246  0.99345428]]

 t_gt:
[ 0.62553509 -0.77574099 -0.08325724]

Pose Error in degrees for R and t:
109.23010086610783 55.841794168413216

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.96943945e-01 -7.81190024e-02 -4.37600059e-04]
 [ 7.81191740e-02  9.96943952e-01  3.89943896e-04]
 [ 4.05800704e-04 -4.22937161e-04  9.99999828e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98221414  0.18761164  0.00761608]
 [-0.18749183  0.9821644  -0.01414885]
 [-0.01013336  0.01246865  0.99987082]]

 t_gt:
[-0.71837663  0.69524811  0.02377139]

Pose Error in degrees for R and t:
15.320599969184041 44.25847341840432

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.99880429  0.04339651  0.0225109 ]
 [-0.04253682  0.99839623 -0.03735765]
 [-0.02409599  0.03635544  0.99904838]]

 t_estimated:
[[0.02727544]
 [0.99960872]
 [0.00620061]]

 R_gt:
[[ 0.95774873  0.28206618  0.05619098]
 [-0.27944493  0.95884936 -0.05018799]
 [-0.06803324  0.03236519  0.9971577 ]]

 t_gt:
[-0.69835188  0.70377071  0.13042793]

Pose Error in degrees for R and t:
14.045443436841051 46.74423948035709

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.09734512  0.99523183 -0.00612678]
 [ 0.99522206 -0.09729379  0.00818381]
 [ 0.00754869 -0.00689416 -0.99994774]]

 t_estimated:
[[ 0.53522686]
 [-0.84469064]
 [-0.00546986]]

 R_gt:
[[ 0.95770078  0.27067487  0.09769659]
 [-0.26853556  0.96264554 -0.0346728 ]
 [-0.10343067  0.0069702   0.99461203]]

 t_gt:
[-0.71477295  0.64567471  0.26870763]

Pose Error in degrees for R and t:
175.77754318152415 21.653729144973603

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[-0.96631365  0.25723996  0.00809559]
 [-0.25731845 -0.96626505 -0.01091216]
 [ 0.00501544 -0.01262771  0.99990769]]

 t_estimated:
[[0.72086172]
 [0.69307851]
 [0.0007509 ]]

 R_gt:
[[ 0.99710403  0.06946834  0.03096431]
 [-0.06981296  0.99750833  0.01017771]
 [-0.03017985 -0.01230999  0.99946878]]

 t_gt:
[-0.36179402  0.81933496  0.44474186]

Pose Error in degrees for R and t:
161.08652109175236 72.09775242254965

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-0.3187976   0.94781233  0.00445873]
 [ 0.94778564  0.31882323 -0.00735734]
 [-0.00839493  0.00188042 -0.99996299]]

 t_estimated:
[[7.54905666e-01]
 [6.55833019e-01]
 [6.97694701e-04]]

 R_gt:
[[ 0.99643858  0.07973108  0.02746835]
 [-0.07942534  0.9967677  -0.01205665]
 [-0.02834081  0.00983202  0.99954997]]

 t_gt:
[-0.03999191  0.9754865   0.21639487]

Pose Error in degrees for R and t:
177.87376578176895 52.430948965010785

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99559403e-01 -2.96786719e-02 -4.18794654e-04]
 [ 2.96789534e-02  9.99559250e-01  6.82743350e-04]
 [ 3.98347155e-04 -6.94871923e-04  9.99999679e-01]]

 t_estimated:
[[0.12716381]
 [0.9918777 ]
 [0.00282586]]

 R_gt:
[[ 0.99701982  0.07175992  0.02835515]
 [-0.07184965  0.9974132   0.00217593]
 [-0.02812526 -0.00420644  0.99959603]]

 t_gt:
[0.53636049 0.76155765 0.36379578]

Pose Error in degrees for R and t:
6.0477130635023295 34.45146124418806

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99639613e-01  2.68447559e-02  5.49892609e-05]
 [-2.68447511e-02  9.99639611e-01 -8.66910720e-05]
 [-5.72966441e-05  8.51836567e-05  9.99999995e-01]]

 t_estimated:
[[-8.21889610e-01]
 [-5.69646206e-01]
 [-8.17514952e-04]]

 R_gt:
[[ 0.99904765 -0.0417881  -0.0125178 ]
 [ 0.04164311  0.99906511 -0.01159008]
 [ 0.01299029  0.01105821  0.99985433]]

 t_gt:
[ 0.48959905 -0.723722   -0.48633242]

Pose Error in degrees for R and t:
4.049100310507597 89.41175102267586

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 7.10025946e-01 -7.04175072e-01 -7.90345262e-04]
 [ 7.04175039e-01  7.10026324e-01 -3.66008362e-04]
 [ 8.18899905e-04 -2.96665973e-04  9.99999621e-01]]

 t_estimated:
[[ 0.62431802]
 [-0.78116963]
 [-0.00101085]]

 R_gt:
[[ 9.82589494e-01 -1.85788416e-01  9.30943830e-04]
 [ 1.85769292e-01  9.82540310e-01  1.01814685e-02]
 [-2.80598819e-03 -9.83002286e-03  9.99947711e-01]]

 t_gt:
[ 0.56813523 -0.82112576  0.05454208]

Pose Error in degrees for R and t:
34.061247558941695 5.0745603960320125

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999984e-01 -1.80906462e-04  4.16685024e-07]
 [ 1.80906462e-04  9.99999984e-01 -2.12881718e-07]
 [-4.16646505e-07  2.12957095e-07  1.00000000e+00]]

 t_estimated:
[[8.55209148e-01]
 [5.18282531e-01]
 [7.29480256e-04]]

 R_gt:
[[ 0.96123351 -0.27568547 -0.00528773]
 [ 0.27573297  0.96113412  0.01387648]
 [ 0.00125633 -0.01479555  0.99989001]]

 t_gt:
[ 0.61262743 -0.78960205  0.03487463]

Pose Error in degrees for R and t:
16.01724785941399 83.4129243181783

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 4.18491252e-01 -9.08218496e-01 -2.05812842e-03]
 [-9.08215994e-01 -4.18495344e-01  2.31407396e-03]
 [-2.96300193e-03  9.00805444e-04 -9.99995205e-01]]

 t_estimated:
[[0.70540315]
 [0.70880541]
 [0.00113409]]

 R_gt:
[[ 0.98418886 -0.17517858  0.02614354]
 [ 0.17464422  0.98439666  0.02151878]
 [-0.02950556 -0.01661253  0.99942669]]

 t_gt:
[ 0.56383259 -0.79507062  0.22350731]

Pose Error in degrees for R and t:
178.1510266407427 80.46979086963098

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999909e-01 -1.75188223e-04 -3.89225461e-04]
 [ 1.75412916e-04  9.99999818e-01  5.77324042e-04]
 [ 3.89124250e-04 -5.77392265e-04  9.99999758e-01]]

 t_estimated:
[[0.96629732]
 [0.25742319]
 [0.00166979]]

 R_gt:
[[ 0.96661425 -0.25622191  0.00272065]
 [ 0.2559356   0.96593785  0.03823581]
 [-0.01242506 -0.03626276  0.99926477]]

 t_gt:
[ 0.59554076 -0.79183886  0.13536035]

Pose Error in degrees for R and t:
14.989856574078217 68.16976317977979

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.63309596 -0.7735463  -0.02855917]
 [ 0.77405273  0.63291717  0.01606917]
 [ 0.00564534 -0.03227963  0.99946293]]

 t_estimated:
[[0.5652698 ]
 [0.82489954]
 [0.00328645]]

 R_gt:
[[ 0.88754084 -0.45752014  0.05428232]
 [ 0.45659243  0.88919926  0.02913937]
 [-0.06160008 -0.00107745  0.99810102]]

 t_gt:
[ 0.6812973  -0.72125777  0.12498487]

Pose Error in degrees for R and t:
23.921931655047953 77.91060076828651

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.22764827  0.79071109  0.56828887]
 [ 0.97242535 -0.15425173 -0.17491526]
 [-0.0506479   0.59243766 -0.80402264]]

 t_estimated:
[[0.65315694]
 [0.7572221 ]
 [0.00084606]]

 R_gt:
[[ 0.9928322   0.11943053 -0.00464707]
 [-0.11951484  0.99165576 -0.04832861]
 [-0.00116376  0.04853803  0.99882052]]

 t_gt:
[-0.38166967  0.90095756 -0.20640674]

Pose Error in degrees for R and t:
149.1586005560364 64.35714588929049

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 5.33371363e-01 -8.45881092e-01  4.08258917e-04]
 [-8.45881141e-01 -5.33371105e-01  5.99069373e-04]
 [-2.88987946e-04 -6.64864967e-04 -9.99999737e-01]]

 t_estimated:
[[0.50563776]
 [0.86274443]
 [0.00158012]]

 R_gt:
[[ 0.96908471  0.24546479 -0.02495254]
 [-0.24671366  0.96519977 -0.08672245]
 [ 0.00279663  0.09019838  0.99591987]]

 t_gt:
[-0.30063903  0.93338059 -0.19600217]

Pose Error in degrees for R and t:
175.1754264541875 49.23600673005874

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99316606e-01 -3.69519136e-02  9.36071507e-04]
 [ 3.69530448e-02  9.99316256e-01 -1.22148121e-03]
 [-8.90295406e-04  1.25523715e-03  9.99998816e-01]]

 t_estimated:
[[-9.77924143e-01]
 [-2.08958150e-01]
 [-9.28702890e-04]]

 R_gt:
[[ 0.93597836  0.35037594 -0.03437635]
 [-0.35185995  0.92770764 -0.12471213]
 [-0.01180494  0.1288243   0.99159698]]

 t_gt:
[-0.26453384  0.95209879 -0.15339409]

Pose Error in degrees for R and t:
23.911102665281398 86.56663387185509

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.93322354e-01  1.15371930e-01  1.39951628e-04]
 [-1.15371914e-01  9.93322359e-01 -1.15008307e-04]
 [-1.52285812e-04  9.80938354e-05  9.99999984e-01]]

 t_estimated:
[[0.75942565]
 [0.65059353]
 [0.00085739]]

 R_gt:
[[ 0.98883047 -0.14811973 -0.01654243]
 [ 0.14748338  0.98845664 -0.03467355]
 [ 0.02148768  0.03184673  0.99926169]]

 t_gt:
[ 0.74787092 -0.632901   -0.20031331]

Pose Error in degrees for R and t:
15.28614616124606 81.02408190995978

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.68619132  0.72738147 -0.00759339]
 [ 0.72739663  0.68621648  0.00104044]
 [ 0.00596751 -0.00480946 -0.99997063]]

 t_estimated:
[[0.98366127]
 [0.18001644]
 [0.00214305]]

 R_gt:
[[ 0.96271971 -0.26889954  0.02938175]
 [ 0.26974937  0.96245328 -0.03030065]
 [-0.0201306   0.03709799  0.99910855]]

 t_gt:
[ 0.77103645 -0.63657577 -0.01655543]

Pose Error in degrees for R and t:
178.34802433617875 49.9235552654516

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.79692728e-01  2.00504424e-01  3.67942953e-04]
 [-2.00504353e-01  9.79692786e-01 -2.22426181e-04]
 [-4.05068490e-04  1.44135148e-04  9.99999908e-01]]

 t_estimated:
[[7.32742330e-01]
 [6.80505816e-01]
 [7.15568682e-04]]

 R_gt:
[[ 0.91210738 -0.40986795 -0.00826137]
 [ 0.40956706  0.91194069 -0.02487076]
 [ 0.01772793  0.01930271  0.99965634]]

 t_gt:
[ 0.82453096 -0.56278241 -0.05852058]

Pose Error in degrees for R and t:
35.78858397838304 77.22340402878008

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.80372329e-01 -1.97154955e-01 -1.39843708e-04]
 [ 1.97154994e-01  9.80372259e-01  3.75973162e-04]
 [ 6.29739197e-05 -3.96164570e-04  9.99999920e-01]]

 t_estimated:
[[ 0.99700167]
 [-0.0773682 ]
 [ 0.00134957]]

 R_gt:
[[ 0.98356652 -0.17676411 -0.03676867]
 [ 0.17564357  0.98394185 -0.03175208]
 [ 0.0417913   0.02477222  0.99881916]]

 t_gt:
[ 0.6403114  -0.69911062 -0.31819123]

Pose Error in degrees for R and t:
3.0458208568146716 46.20731306575386

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 4.32675270e-01  9.01549379e-01  9.09796133e-04]
 [-9.01547695e-01  4.32676222e-01 -1.74353681e-03]
 [-1.96553168e-03 -6.58393475e-05  9.99998066e-01]]

 t_estimated:
[[-0.11292019]
 [ 0.99360302]
 [ 0.00143893]]

 R_gt:
[[ 0.95142863 -0.3073835   0.01727954]
 [ 0.30779933  0.95090529 -0.03225502]
 [-0.00651605  0.03600642  0.99933084]]

 t_gt:
[ 0.58310877 -0.80901705 -0.07399713]

Pose Error in degrees for R and t:
82.3024427963624 29.565405110223114

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999934e-01  2.63626570e-04  2.50431976e-04]
 [-2.63547163e-04  9.99999915e-01 -3.17057706e-04]
 [-2.50515540e-04  3.16991684e-04  9.99999918e-01]]

 t_estimated:
[[9.99956485e-01]
 [9.29111971e-03]
 [8.38178945e-04]]

 R_gt:
[[ 0.92213738 -0.38640318  0.01887748]
 [ 0.38667956  0.92210475 -0.01422514]
 [-0.01190962  0.02041698  0.99972083]]

 t_gt:
[ 0.54791187 -0.83651203  0.00634136]

Pose Error in degrees for R and t:
22.796203445439417 57.308109829873864

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.98172324e-01  6.04318391e-02 -7.05933859e-05]
 [-6.04318419e-02  9.98172325e-01 -3.86901112e-05]
 [ 6.81262496e-05  4.28854865e-05  9.99999997e-01]]

 t_estimated:
[[-9.88090130e-01]
 [-1.53873437e-01]
 [-9.27066414e-04]]

 R_gt:
[[ 0.99369091  0.10295136 -0.04449133]
 [-0.10209352  0.99455033  0.02114264]
 [ 0.04642512 -0.01646751  0.99878647]]

 t_gt:
[-0.67250283  0.70307183 -0.23114917]

Pose Error in degrees for R and t:
3.7183203262148625 56.184277549376155

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999847e-01 -2.85330279e-04 -4.72974685e-04]
 [ 2.85698637e-04  9.99999656e-01  7.78925182e-04]
 [ 4.72752272e-04 -7.79060191e-04  9.99999585e-01]]

 t_estimated:
[[0.38370915]
 [0.92345348]
 [0.00098135]]

 R_gt:
[[ 0.97038967  0.23884622 -0.03601535]
 [-0.23725742  0.97047647  0.04340613]
 [ 0.04531851 -0.03357658  0.99840777]]

 t_gt:
[-0.65636292  0.75283942 -0.04919879]

Pose Error in degrees for R and t:
14.159677152821152 63.684643912069646

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 8.77341570e-01 -4.79866370e-01  1.89035853e-04]
 [ 4.79866407e-01  8.77341487e-01 -3.83553635e-04]
 [ 1.82054946e-05  4.27219504e-04  9.99999909e-01]]

 t_estimated:
[[-0.70606424]
 [-0.70814702]
 [-0.00104139]]

 R_gt:
[[ 0.91418356  0.40241064 -0.04830823]
 [-0.40151622  0.91544196  0.02741407]
 [ 0.05525383 -0.00566586  0.99845579]]

 t_gt:
[-0.56885346  0.81638881 -0.09957438]

Pose Error in degrees for R and t:
52.48769450901353 79.84145933226695

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.92757327e-01 -1.20136848e-01 -1.68649703e-04]
 [ 1.20136854e-01  9.92757340e-01  2.94997568e-05]
 [ 1.63884223e-04 -4.95471445e-05  9.99999985e-01]]

 t_estimated:
[[-0.61643259]
 [-0.78740714]
 [-0.00092419]]

 R_gt:
[[ 0.99227291  0.12368781 -0.009753  ]
 [-0.12373181  0.99230784 -0.00400642]
 [ 0.00918158  0.00518282  0.99994459]]

 t_gt:
[-0.62457516  0.77506181 -0.0958387 ]

Pose Error in degrees for R and t:
14.019079897493418 76.98582211661852

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-0.96700489  0.25438608 -0.01375764]
 [ 0.25438875  0.96710074  0.00158494]
 [ 0.01370821 -0.00196715 -0.9999041 ]]

 t_estimated:
[[ 0.98893228]
 [-0.14823439]
 [-0.00628572]]

 R_gt:
[[ 0.97496602  0.22009633 -0.03160062]
 [-0.21994237  0.97547836  0.00832873]
 [ 0.03265714 -0.00117012  0.99946578]]

 t_gt:
[-0.59887672  0.7900506  -0.13102185]

Pose Error in degrees for R and t:
177.33966335917205 44.88394335648657

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99984989e-01 -5.43691374e-03 -6.78915183e-04]
 [ 5.43767790e-03  9.99984579e-01  1.12884141e-03]
 [ 6.72767300e-04 -1.13251619e-03  9.99999132e-01]]

 t_estimated:
[[-0.67740648]
 [-0.73560846]
 [-0.00080836]]

 R_gt:
[[ 0.94169672  0.33302771 -0.04795787]
 [-0.33125431  0.94263681  0.04133098]
 [ 0.05897036 -0.02303518  0.99799403]]

 t_gt:
[-0.5851205   0.80496312 -0.09832795]

Pose Error in degrees for R and t:
20.04636256717374 78.71474464409725

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.08267553 -0.99657142  0.00318685]
 [-0.99657579  0.08267118 -0.00147163]
 [ 0.00120312 -0.0032976  -0.99999384]]

 t_estimated:
[[0.72229   ]
 [0.69158835]
 [0.00164819]]

 R_gt:
[[ 0.99677263 -0.06656005  0.04489424]
 [ 0.06856961  0.9966393  -0.04481387]
 [-0.04175986  0.04774722  0.9979864 ]]

 t_gt:
[ 0.80952763 -0.58323336 -0.06711083]

Pose Error in degrees for R and t:
179.90497914814526 79.55767309766345

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[-0.4432041   0.89641457 -0.00332404]
 [-0.89641278 -0.44321274 -0.0025688 ]
 [-0.00377597  0.00184121  0.99999118]]

 t_estimated:
[[-0.05658713]
 [ 0.99839702]
 [ 0.00113287]]

 R_gt:
[[ 0.99317396 -0.06210602  0.09873804]
 [ 0.07394886  0.98987144 -0.12118652]
 [-0.09021018  0.1276611   0.98770659]]

 t_gt:
[ 0.74797862 -0.41184656 -0.52049053]

Pose Error in degrees for R and t:
120.41792642577374 62.99283036018161

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 3.11302983e-01  9.50285592e-01  6.90987077e-03]
 [ 9.50308914e-01 -3.11308314e-01 -3.17611157e-04]
 [ 1.84927891e-03  6.66538509e-03 -9.99976076e-01]]

 t_estimated:
[[0.99522761]
 [0.09756972]
 [0.00146606]]

 R_gt:
[[ 0.98952146 -0.00935222  0.1440841 ]
 [ 0.03846774  0.97890759 -0.20064948]
 [-0.1391679   0.20409002  0.96900981]]

 t_gt:
[-0.17114638  0.40268945 -0.89919415]

Pose Error in degrees for R and t:
165.44987417827681 82.39415101349677

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-8.34419488e-01 -5.51122486e-01 -2.85032803e-03]
 [ 5.51129757e-01 -8.34405065e-01 -4.91726826e-03]
 [ 3.31688962e-04 -5.67396506e-03  9.99983848e-01]]

 t_estimated:
[[0.98829541]
 [0.15254835]
 [0.00108963]]

 R_gt:
[[ 0.99074216 -0.13514822  0.01279756]
 [ 0.13525438  0.99077953 -0.0078653 ]
 [-0.01161663  0.00952359  0.99988777]]

 t_gt:
[ 0.72561584 -0.68767     0.02432351]

Pose Error in degrees for R and t:
138.78844720824097 52.24789163671595

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-4.62903587e-01 -8.86407124e-01 -1.63705842e-03]
 [ 8.86407929e-01 -4.62904761e-01  4.07505607e-04]
 [-1.11901801e-03 -1.26246575e-03  9.99998577e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.64108393e-01 -2.64878473e-01  1.83000372e-02]
 [ 2.64927397e-01  9.64268056e-01 -2.63586002e-04]
 [-1.75756558e-02  5.10235935e-03  9.99832875e-01]]

 t_gt:
[ 0.7692429  -0.63822997  0.03046095]

Pose Error in degrees for R and t:
102.21657203587738 39.88942029765113

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.93658328e-01  1.12440057e-01 -6.01143039e-04]
 [-1.12439212e-01  9.93657767e-01  1.29064472e-03]
 [ 7.42450615e-04 -1.21486782e-03  9.99998986e-01]]

 t_estimated:
[[9.92537083e-01]
 [1.21940648e-01]
 [7.85975177e-04]]

 R_gt:
[[ 0.89001454 -0.4544397  -0.03685749]
 [ 0.45439815  0.89074285 -0.00997888]
 [ 0.03736445 -0.00786751  0.9992712 ]]

 t_gt:
[ 0.837832   -0.54338254 -0.0526589 ]

Pose Error in degrees for R and t:
33.56121671217129 40.06831205536726

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.36861931 -0.92952129  0.01048697]
 [-0.92952503 -0.36845069  0.01507673]
 [-0.01015021 -0.01530548 -0.99983134]]

 t_estimated:
[[0.53118318]
 [0.84719686]
 [0.0100952 ]]

 R_gt:
[[ 9.97192522e-01 -7.48707514e-02  9.71353238e-04]
 [ 7.47593739e-02  9.94819720e-01 -6.88771334e-02]
 [ 4.18958269e-03  6.87564976e-02  9.97624399e-01]]

 t_gt:
[ 0.70087171 -0.57551837 -0.42137567]

Pose Error in degrees for R and t:
177.73223087505127 83.13444619204259

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.60752807  0.79429011 -0.00358746]
 [ 0.79424055  0.60753219  0.00930458]
 [ 0.00957003  0.00280349 -0.99995028]]

 t_estimated:
[[ 0.12723528]
 [-0.99183035]
 [-0.00915126]]

 R_gt:
[[ 0.99176423 -0.12583099 -0.02386194]
 [ 0.11965866  0.97680001 -0.17760319]
 [ 0.04565591  0.17328577  0.98381293]]

 t_gt:
[ 0.63383648 -0.34817221 -0.69067172]

Pose Error in degrees for R and t:
177.7108078214121 64.386727808605

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.9996259  -0.02487529 -0.01137025]
 [ 0.02494183  0.99967238  0.005748  ]
 [ 0.01122354 -0.00602945  0.99991884]]

 t_estimated:
[[-0.99537121]
 [-0.09479726]
 [-0.01579954]]

 R_gt:
[[ 0.98907457 -0.13569172 -0.05761042]
 [ 0.11732868  0.96120701 -0.24963033]
 [ 0.08924783  0.24014462  0.96662612]]

 t_gt:
[ 0.56075624 -0.15294485 -0.81373234]

Pose Error in degrees for R and t:
16.134913075148244 57.940120323196766

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99999989e-01 -2.30247043e-05  1.46907360e-04]
 [ 2.30572267e-05  9.99999975e-01 -2.21382160e-04]
 [-1.46902259e-04  2.21385545e-04  9.99999965e-01]]

 t_estimated:
[[0.74728339]
 [0.66450505]
 [0.00075943]]

 R_gt:
[[ 0.9881418  -0.15315258 -0.01092456]
 [ 0.15333184  0.98800809  0.01813604]
 [ 0.00801601 -0.01959572  0.9997756 ]]

 t_gt:
[ 0.56500577 -0.82484822  0.01984653]

Pose Error in degrees for R and t:
8.89970015843677 82.76834711070137

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.43195038e-01 -3.32238843e-01 -6.86576249e-04]
 [-3.32238998e-01 -9.43195225e-01 -1.22563798e-04]
 [-6.06854985e-04  3.43708971e-04 -9.99999757e-01]]

 t_estimated:
[[0.42604519]
 [0.90470129]
 [0.00103159]]

 R_gt:
[[ 9.44184966e-01 -3.28091644e-01  2.94913576e-02]
 [ 3.27936181e-01  9.44645074e-01  1.00800810e-02]
 [-3.11671695e-02  1.53499450e-04  9.99513213e-01]]

 t_gt:
[ 0.62533339 -0.77553695  0.08660595]

Pose Error in degrees for R and t:
179.42143721449693 64.20709169758196

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.91305231  0.10321959 -0.39456458]
 [-0.13089935 -0.99042714  0.04381151]
 [-0.38626526  0.09165045  0.91782316]]

 t_estimated:
[[0.702556  ]
 [0.71162774]
 [0.00100797]]

 R_gt:
[[ 0.85771319 -0.51407965  0.0071312 ]
 [ 0.51391802  0.85767601  0.01671164]
 [-0.0147082  -0.0106691   0.99983401]]

 t_gt:
[ 0.72183083 -0.69107992  0.03699716]

Pose Error in degrees for R and t:
156.39420946741168 89.11920158298975

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999651e-01  5.77451576e-04  6.03672886e-04]
 [-5.76963323e-04  9.99999507e-01 -8.08666621e-04]
 [-6.04139554e-04  8.08318041e-04  9.99999491e-01]]

 t_estimated:
[[0.04372911]
 [0.99904201]
 [0.00168189]]

 R_gt:
[[ 0.98836739  0.15207294  0.00137788]
 [-0.15199518  0.98747795  0.04223082]
 [ 0.0050616  -0.04194832  0.99910709]]

 t_gt:
[-0.43836714  0.89268294  0.10464902]

Pose Error in degrees for R and t:
9.058478333062386 29.21030006206781

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 2.08364427e-01  9.78050933e-01  7.98681965e-04]
 [ 9.78048251e-01 -2.08365742e-01  2.31019774e-03]
 [ 2.42590902e-03  2.99786469e-04 -9.99997013e-01]]

 t_estimated:
[[7.83508887e-01]
 [6.21380208e-01]
 [6.78362673e-04]]

 R_gt:
[[ 0.96632435  0.25731312 -0.00262426]
 [-0.2571684   0.96603885  0.02514934]
 [ 0.00900622 -0.02362732  0.9996808 ]]

 t_gt:
[-0.37851333  0.9255944   0.00163362]

Pose Error in degrees for R and t:
178.60424627539223 73.8246111983086

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-1.18088272e-02  9.99929874e-01  8.93421814e-04]
 [-9.99929578e-01 -1.18077609e-02 -1.18958156e-03]
 [-1.17894883e-03 -9.07406461e-04  9.99998893e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.92492089  0.38001508 -0.0104724 ]
 [-0.38013079  0.92483827 -0.01317362]
 [ 0.00467916  0.01616545  0.99985837]]

 t_gt:
[-0.29139966  0.955562   -0.04458142]

Pose Error in degrees for R and t:
68.34316481849147 17.507204477903713

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.84535965e-01  1.75181999e-01  4.48712947e-04]
 [-1.75181942e-01  9.84536064e-01 -1.63306654e-04]
 [-4.70382464e-04  8.21748687e-05  9.99999886e-01]]

 t_estimated:
[[0.83917901]
 [0.5438531 ]
 [0.00154644]]

 R_gt:
[[ 0.99357106 -0.1027212  -0.04759026]
 [ 0.10193582  0.99461695 -0.01866725]
 [ 0.04925252  0.01369654  0.99869212]]

 t_gt:
[ 0.54596644 -0.7266185  -0.41706858]

Pose Error in degrees for R and t:
16.235413381685376 86.42558262286644

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.98089812 -0.19420714  0.0110666 ]
 [-0.19423683 -0.98095325  0.00166464]
 [ 0.01053253 -0.00378238 -0.99993738]]

 t_estimated:
[[0.57989104]
 [0.81469355]
 [0.0008894 ]]

 R_gt:
[[ 0.9664497  -0.25580315 -0.02323483]
 [ 0.25641803  0.96612638  0.02916655]
 [ 0.01498824 -0.03414636  0.99930418]]

 t_gt:
[ 0.64837439 -0.7597654   0.04865374]

Pose Error in degrees for R and t:
178.21207025380104 75.93950689685916

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 6.41720138e-01  7.66937839e-01  1.27105208e-03]
 [-7.66935853e-01  6.41721380e-01 -1.75142842e-03]
 [-2.15889802e-03  1.49111472e-04  9.99997658e-01]]

 t_estimated:
[[0.71666044]
 [0.69742123]
 [0.00120245]]

 R_gt:
[[ 0.88363899 -0.46726674 -0.02905056]
 [ 0.4681566   0.88236889  0.0475006 ]
 [ 0.00343805 -0.05557399  0.99844872]]

 t_gt:
[ 0.77522482 -0.62697345  0.07701154]

Pose Error in degrees for R and t:
78.04801421299021 83.20017319352503

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.67419596e-01 -2.53178136e-01 -3.95893606e-04]
 [ 2.53178235e-01  9.67419625e-01  2.23429500e-04]
 [ 3.26427780e-04 -3.16381721e-04  9.99999897e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99772214 -0.06598415  0.01400075]
 [ 0.06629473  0.99753408 -0.0230477 ]
 [-0.01244546  0.02392355  0.99963641]]

 t_gt:
[ 0.90323437 -0.04728182 -0.42653499]

Pose Error in degrees for R and t:
10.985014901305584 25.472601018283942

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.9999872   0.00385282  0.00327887]
 [-0.00384548  0.99999009 -0.00224329]
 [-0.00328748  0.00223066  0.99999211]]

 t_estimated:
[[0.98783383]
 [0.15550607]
 [0.00148101]]

 R_gt:
[[ 0.98839134 -0.10166886  0.1129004 ]
 [ 0.1177258   0.98223788 -0.1461146 ]
 [-0.09603986  0.15770917  0.98280448]]

 t_gt:
[ 0.50419331  0.33672937 -0.79523734]

Pose Error in degrees for R and t:
12.322374077854672 56.68477340565215

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.22478165 -0.97440779 -0.00163312]
 [ 0.97440811 -0.22477864 -0.00184171]
 [ 0.00142749 -0.00200531  0.99999697]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.9728525  -0.12994778  0.19149431]
 [ 0.17003384  0.96268119 -0.21055528]
 [-0.15698601  0.2374002   0.95864265]]

 t_gt:
[ 0.47181757  0.2560564  -0.84369621]

Pose Error in degrees for R and t:
95.30026664509118 59.59469606334201

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-5.50668507e-01  8.34721150e-01  2.19037986e-03]
 [-8.34723869e-01 -5.50664914e-01 -2.05294051e-03]
 [-5.07467524e-04 -2.95885204e-03  9.99995494e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.97422035  0.22144732 -0.04305926]
 [-0.22220824  0.97490322 -0.01369387]
 [ 0.03894564  0.02290801  0.99897871]]

 t_gt:
[-0.30632023  0.93350202 -0.18639178]

Pose Error in degrees for R and t:
110.61482627668589 71.79043384933874

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.0958402   0.99528848 -0.01467955]
 [ 0.99527811 -0.09559068  0.01684967]
 [ 0.01536705 -0.01622511 -0.99975027]]

 t_estimated:
[[-0.73908621]
 [-0.67361012]
 [-0.00099206]]

 R_gt:
[[ 0.93045726  0.36404689 -0.04144629]
 [-0.36299841  0.93128124  0.03077903]
 [ 0.04980347 -0.01359398  0.99866631]]

 t_gt:
[-0.26969176  0.95842383 -0.09322078]

Pose Error in degrees for R and t:
175.98982249350604 63.50075351050154

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.00680486  0.99996461  0.00494795]
 [-0.9999754   0.00679635  0.00173419]
 [ 0.0017005  -0.00495963  0.99998626]]

 t_estimated:
[[0.70316173]
 [0.71102927]
 [0.00098344]]

 R_gt:
[[ 0.88239828  0.46809732 -0.04751018]
 [-0.46690769  0.88363925  0.03433457]
 [ 0.05805295 -0.00811403  0.9982809 ]]

 t_gt:
[-0.222177   0.9701473 -0.0972193]

Pose Error in degrees for R and t:
61.796224416975555 57.759034197712765

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.78396041 -0.62068523  0.01248721]
 [-0.6207948   0.78392611 -0.00858383]
 [-0.00446119 -0.01448138 -0.99988519]]

 t_estimated:
[[0.96715481]
 [0.25400025]
 [0.00976924]]

 R_gt:
[[ 9.83170995e-01 -1.82686492e-01  4.39023164e-04]
 [ 1.82685826e-01  9.83171331e-01  3.71361770e-04]
 [-4.98891720e-04 -2.84472405e-04  1.00000011e+00]]

 t_gt:
[ 0.80328636 -0.59559237  0.0008675 ]

Pose Error in degrees for R and t:
179.51968578397285 51.271547609148435

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.86117520e-01 -1.66046816e-01  8.32137926e-04]
 [ 1.66047550e-01  9.86117330e-01 -9.07182602e-04]
 [-6.69950847e-04  1.03276312e-03  9.99999242e-01]]

 t_estimated:
[[9.65090645e-01]
 [2.61916027e-01]
 [2.03598594e-04]]

 R_gt:
[[ 0.95487184 -0.29669908  0.01377245]
 [ 0.2970158   0.95403139 -0.0400936 ]
 [-0.00124396  0.04237579  0.99910071]]

 t_gt:
[ 0.86050658 -0.50000648 -0.09758046]

Pose Error in degrees for R and t:
8.073017594229206 45.614117656856465

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.89068785 -0.45460925  0.00236192]
 [-0.45460213  0.89068953  0.00301014]
 [-0.00347218  0.00160736 -0.99999268]]

 t_estimated:
[[0.99563795]
 [0.09328157]
 [0.00190371]]

 R_gt:
[[ 0.92495007 -0.37855092  0.03416194]
 [ 0.38008306  0.92168581 -0.07767378]
 [-0.00208267  0.08482971  0.99639374]]

 t_gt:
[ 0.88036325 -0.45062447 -0.14798017]

Pose Error in degrees for R and t:
179.88105850708413 33.466706924941796

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.53139982e-01  3.02529546e-01  2.22328052e-04]
 [-3.02529571e-01  9.53139995e-01  8.94919068e-05]
 [-1.84835813e-04 -1.52559125e-04  9.99999971e-01]]

 t_estimated:
[[7.54408290e-01]
 [6.56405099e-01]
 [6.91169147e-04]]

 R_gt:
[[ 9.77991523e-01 -2.08642150e-01  2.49869158e-04]
 [ 2.08630825e-01  9.77950162e-01  9.33019706e-03]
 [-2.19266079e-03 -9.07276924e-03  9.99956437e-01]]

 t_gt:
[ 0.74924234 -0.66091106  0.04280751]

Pose Error in degrees for R and t:
29.656901660759043 82.44725534850772

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 3.36441414e-01  9.41703926e-01  9.43474817e-04]
 [ 9.41701138e-01 -3.36442717e-01  2.29468978e-03]
 [ 2.47834361e-03  1.16442635e-04 -9.99996922e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9201992  -0.39083014  0.02202624]
 [ 0.39047271  0.92042115  0.01885653]
 [-0.02764374 -0.00875133  0.99957913]]

 t_gt:
[ 0.79991126 -0.59535376  0.07547104]

Pose Error in degrees for R and t:
179.8729031775607 37.0490865047856

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.97356085e-01  7.26287609e-02  2.42953595e-03]
 [ 7.26310741e-02 -9.97358490e-01 -8.77726678e-04]
 [ 2.35937011e-03  1.05186585e-03 -9.99996663e-01]]

 t_estimated:
[[0.0149237 ]
 [0.99988798]
 [0.00114798]]

 R_gt:
[[ 0.8601408  -0.50552549  0.06783908]
 [ 0.50620597  0.86237582  0.00802336]
 [-0.06255946  0.02743917  0.99766332]]

 t_gt:
[ 0.82485808 -0.5602094   0.07599062]

Pose Error in degrees for R and t:
179.19284332779407 56.78724591424964

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99999887e-01 -4.63152210e-04  1.06321107e-04]
 [ 4.63180156e-04  9.99999858e-01 -2.62971579e-04]
 [-1.06199296e-04  2.63020796e-04  9.99999960e-01]]

 t_estimated:
[[0.99993375]
 [0.01140056]
 [0.00159069]]

 R_gt:
[[ 9.93067323e-01 -1.17484915e-01 -3.81344944e-03]
 [ 1.17543040e-01  9.92748141e-01  2.51992410e-02]
 [ 8.25604244e-04 -2.54725325e-02  9.99676144e-01]]

 t_gt:
[ 0.28438229 -0.95375416  0.09736379]

Pose Error in degrees for R and t:
6.882888704590665 74.11871878491185

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.15485099  0.77753763  0.60947223]
 [ 0.72482135  0.32978141 -0.60487869]
 [-0.67130856  0.53542455 -0.5125089 ]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.96575235 -0.2588224  -0.01825399]
 [ 0.25817845  0.96558006 -0.03161299]
 [ 0.02580844  0.02581768  0.99933426]]

 t_gt:
[ 0.47101864 -0.84278416 -0.26049243]

Pose Error in degrees for R and t:
121.7964350270773 78.63995175270789

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.995804    0.05154678 -0.07561299]
 [-0.05095125  0.9986532   0.00978528]
 [ 0.07601556 -0.00589164  0.99708923]]

 t_estimated:
[[-0.74926865]
 [-0.65561007]
 [-0.09365858]]

 R_gt:
[[ 9.50620545e-01 -3.06857918e-01  4.64740606e-02]
 [ 3.07160210e-01  9.51657614e-01  6.33654180e-04]
 [-4.44216860e-02  1.36726177e-02  9.98919700e-01]]

 t_gt:
[ 0.27142775 -0.96084012  0.05579633]

Pose Error in degrees for R and t:
21.98323422405485 65.08088797156113

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.92563668e-01 -1.21726587e-01 -5.19826178e-05]
 [ 1.21726572e-01  9.92563645e-01 -2.28766779e-04]
 [ 7.94430558e-05  2.20737927e-04  9.99999972e-01]]

 t_estimated:
[[-0.07061301]
 [-0.99750242]
 [-0.00165286]]

 R_gt:
[[ 0.98856976 -0.13974255  0.0565852 ]
 [ 0.14028087  0.99009597 -0.00562371]
 [-0.05523921  0.0134978   0.99838181]]

 t_gt:
[ 0.24453688 -0.92266445  0.29814766]

Pose Error in degrees for R and t:
3.4302740948304558 25.49807677148281

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.97969385e-01 -6.36953142e-02 -1.20147329e-04]
 [ 6.36953092e-02  9.97969391e-01 -4.44194546e-05]
 [ 1.22732668e-04  3.66764344e-05  9.99999992e-01]]

 t_estimated:
[[-0.50676459]
 [-0.86208229]
 [-0.00194163]]

 R_gt:
[[ 0.97279633 -0.22438394  0.05760207]
 [ 0.22301926  0.97437669  0.02920519]
 [-0.06267924 -0.01556338  0.99791275]]

 t_gt:
[ 0.23185635 -0.91648705  0.32602778]

Pose Error in degrees for R and t:
10.000443857747856 47.781662848364036

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.90442750e-01  1.37924212e-01  2.67193758e-04]
 [-1.37924051e-01  9.90442656e-01 -5.48668129e-04]
 [-3.40314715e-04  5.06571924e-04  9.99999814e-01]]

 t_estimated:
[[-0.74945654]
 [-0.66205094]
 [-0.00185969]]

 R_gt:
[[ 0.92763267 -0.36955175  0.05411593]
 [ 0.37056764  0.92875372 -0.0097683 ]
 [-0.04665045  0.02911441  0.99848656]]

 t_gt:
[ 0.45004392 -0.8925349   0.02901581]

Pose Error in degrees for R and t:
29.82478149360912 75.31165109950719

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.99846138 -0.05513668  0.00589996]
 [-0.05515848  0.99847113 -0.00359881]
 [-0.00569251 -0.0039187  -0.99997612]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.99305827 -0.11651716  0.01609494]
 [ 0.11724788  0.99150283 -0.05633969]
 [-0.00939359  0.05783604  0.99828188]]

 t_gt:
[ 0.83015789 -0.4741998  -0.29321053]

Pose Error in degrees for R and t:
179.04078947046577 36.49240342529818

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.95706191e-01 -9.25684099e-02 -5.21140828e-04]
 [ 9.25693443e-02  9.95703780e-01  2.21337252e-03]
 [ 3.14013517e-04 -2.25211038e-03  9.99997415e-01]]

 t_estimated:
[[0.67177365]
 [0.74075041]
 [0.00299899]]

 R_gt:
[[ 0.98022186 -0.19083592  0.05240304]
 [ 0.19484071  0.97700011 -0.08664834]
 [-0.03466214  0.09514506  0.99485908]]

 t_gt:
[ 0.84402517 -0.48804548 -0.22233559]

Pose Error in degrees for R and t:
8.324176269501432 78.18178709234228

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.99622272e-01 -2.74828773e-02 -6.20072060e-05]
 [ 2.74829225e-02  9.99621855e-01  9.14554388e-04]
 [ 3.68491723e-05 -9.15913075e-04  9.99999580e-01]]

 t_estimated:
[[0.47977653]
 [0.8773895 ]
 [0.00146721]]

 R_gt:
[[ 0.97213161 -0.20086205  0.12088733]
 [ 0.21827175  0.96364372 -0.1541075 ]
 [-0.08553767  0.17619997  0.98063034]]

 t_gt:
[ 0.83612351 -0.43758629 -0.33078047]

Pose Error in degrees for R and t:
15.540812893672543 89.04119653889164

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99912770e-01  1.32080680e-02  3.26257632e-06]
 [-1.32080681e-02  9.99912768e-01  5.11559887e-05]
 [-2.58661994e-06 -5.11946187e-05  9.99999999e-01]]

 t_estimated:
[[7.65191987e-01]
 [6.43801756e-01]
 [7.22560894e-04]]

 R_gt:
[[ 0.99962418 -0.01807422 -0.02061637]
 [ 0.01829142  0.99977835  0.01038178]
 [ 0.02042471 -0.01075628  0.99973284]]

 t_gt:
[0.98050976 0.17375007 0.09171431]

Pose Error in degrees for R and t:
2.2327610603385 30.43492123509498

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-8.76931120e-01 -4.80611785e-01 -2.03069400e-03]
 [ 4.80615512e-01 -8.76928733e-01 -2.17414639e-03]
 [-7.35853539e-04 -2.88255966e-03  9.99995575e-01]]

 t_estimated:
[[0.89684074]
 [0.44235152]
 [0.00134863]]

 R_gt:
[[ 0.99449441 -0.09093375  0.05207012]
 [ 0.09458729  0.99286451 -0.07262197]
 [-0.04509434  0.07714674  0.99599933]]

 t_gt:
[ 0.80444207  0.23104978 -0.54725585]

Pose Error in degrees for R and t:
145.98348359938794 34.621463547665996

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-5.37740323e-01  8.43106578e-01 -2.57750330e-03]
 [ 8.43090723e-01  5.37746134e-01  5.20842826e-03]
 [ 5.77730256e-03  6.27712769e-04 -9.99983114e-01]]

 t_estimated:
[[9.07297251e-01]
 [4.20489239e-01]
 [7.05518858e-04]]

 R_gt:
[[ 0.98812965 -0.08978393  0.12465399]
 [ 0.11077229  0.97863551 -0.17321181]
 [-0.10643859  0.18496322  0.97696335]]

 t_gt:
[ 0.40580216  0.49094484 -0.77090711]

Pose Error in degrees for R and t:
169.43188977581372 54.96502811060295

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99702775e-01  2.43793132e-02  1.04313903e-04]
 [-2.43793101e-02  9.99702780e-01 -3.09698294e-05]
 [-1.05037922e-04  2.84175234e-05  9.99999994e-01]]

 t_estimated:
[[-0.09456986]
 [ 0.99551716]
 [ 0.00145672]]

 R_gt:
[[ 0.98150781 -0.18220436 -0.05868378]
 [ 0.18310968  0.98303646  0.0103985 ]
 [ 0.0557936  -0.02095232  0.99822221]]

 t_gt:
[ 0.60458923 -0.77731175 -0.17394916]

Pose Error in degrees for R and t:
12.410800867923006 33.77197238677644

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.02493096  0.99968416 -0.00316809]
 [ 0.99959062 -0.02488388  0.0141201 ]
 [ 0.01403681 -0.00351882 -0.99989529]]

 t_estimated:
[[-0.99992003]
 [-0.01256883]
 [-0.00139654]]

 R_gt:
[[ 0.94134059 -0.33530732 -0.03804516]
 [ 0.33584912  0.9418748   0.00869972]
 [ 0.03291697 -0.02096626  0.99923744]]

 t_gt:
[ 0.65316555 -0.75580647 -0.04616643]

Pose Error in degrees for R and t:
177.31991158105635 49.94300988626719

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.98643495  0.16412489  0.00301936]
 [ 0.16413167  0.98643609  0.00215308]
 [-0.00262503  0.00261944 -0.99999312]]

 t_estimated:
[[0.99987114]
 [0.01599794]
 [0.00133316]]

 R_gt:
[[ 0.87392513 -0.48261102 -0.05781077]
 [ 0.48235607  0.87576405 -0.01921519]
 [ 0.05990234 -0.01109301  0.99814244]]

 t_gt:
[ 0.7177324  -0.69128513 -0.08357671]

Pose Error in degrees for R and t:
176.73893317994762 45.051626572438714

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.49481641e-01  3.13822557e-01  1.27811357e-04]
 [-3.13822493e-01  9.49481599e-01 -3.68731117e-04]
 [-2.37070673e-04  3.09993347e-04  9.99999924e-01]]

 t_estimated:
[[-5.1757783e-01]
 [ 8.5563613e-01]
 [ 5.0169386e-05]]

 R_gt:
[[ 0.99717367  0.06264464  0.04147937]
 [-0.06179736  0.9978585  -0.02140566]
 [-0.04273206  0.01878198  0.99890999]]

 t_gt:
[-0.75955812  0.60912332  0.2281233 ]

Pose Error in degrees for R and t:
14.9571617820397 23.88927005563923

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.58912155 -0.80791015 -0.01473057]
 [-0.80794068 -0.58924014  0.00528323]
 [-0.01294822  0.00878897 -0.99987754]]

 t_estimated:
[[0.08826003]
 [0.99607752]
 [0.00630429]]

 R_gt:
[[ 0.97621307  0.21546657  0.02415246]
 [-0.21561647  0.97647023  0.00376999]
 [-0.02277113 -0.00888767  0.99970104]]

 t_gt:
[-0.71340405  0.69410175  0.09631939]

Pose Error in degrees for R and t:
179.2692937311197 51.02204667989831

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.95830289  0.28574729 -0.00201337]
 [ 0.28574298  0.95830381  0.00218212]
 [ 0.00255296  0.00151583 -0.99999559]]

 t_estimated:
[[ 0.9339818 ]
 [-0.35731832]
 [-0.00127066]]

 R_gt:
[[ 0.95442674  0.29595262 -0.03847977]
 [-0.29261865  0.95333667  0.07432042]
 [ 0.05867969 -0.0596735   0.99649186]]

 t_gt:
[-0.72483989  0.6888749  -0.00764937]

Pose Error in degrees for R and t:
176.50407773315104 22.612677159378745

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.99978455  0.02063151  0.00227738]
 [-0.02062498  0.9997832  -0.00285719]
 [-0.00233583  0.0028096   0.99999332]]

 t_estimated:
[[-0.98653206]
 [-0.16356475]
 [-0.00102871]]

 R_gt:
[[ 0.99823107  0.05909303 -0.00657957]
 [-0.05921639  0.99803284 -0.02060224]
 [ 0.00534865  0.02095602  0.9997657 ]]

 t_gt:
[-0.26169706  0.91316171 -0.31249054]

Pose Error in degrees for R and t:
2.4829772854967556 83.73466479977374

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.98244859  0.18652068 -0.00219151]
 [ 0.18651231  0.9824462   0.00355251]
 [ 0.00281566  0.00308142 -0.99999129]]

 t_estimated:
[[8.25580832e-01]
 [5.64283382e-01]
 [7.44437180e-04]]

 R_gt:
[[ 0.98392322  0.17802974  0.01418497]
 [-0.17699133  0.98263084 -0.0557721 ]
 [-0.02386863  0.05236584  0.9983427 ]]

 t_gt:
[-0.32209361  0.94590297 -0.03902922]

Pose Error in degrees for R and t:
178.7790910922403 74.46577366147912

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999505e-01  5.85606737e-04 -8.04985992e-04]
 [-5.84907889e-04  9.99999452e-01  8.68110240e-04]
 [ 8.05493922e-04 -8.67638967e-04  9.99999299e-01]]

 t_estimated:
[[0.28611394]
 [0.95819368]
 [0.00192023]]

 R_gt:
[[ 0.92454965  0.38102233 -0.00551151]
 [-0.38067882  0.92287468 -0.05819163]
 [-0.01708561  0.0559      0.99829046]]

 t_gt:
[-0.23943878  0.97026945 -0.0353024 ]

Pose Error in degrees for R and t:
22.627555684902664 30.556134572590167

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99999999e-01  3.83749410e-05 -3.03319407e-05]
 [-3.83701957e-05  9.99999987e-01  1.56431784e-04]
 [ 3.03379433e-05 -1.56430620e-04  9.99999987e-01]]

 t_estimated:
[[ 8.01486178e-01]
 [ 5.98013179e-01]
 [-3.79681503e-04]]

 R_gt:
[[ 0.99785853 -0.06099749 -0.02361894]
 [ 0.06191756  0.9972636   0.04039983]
 [ 0.02108964 -0.04177577  0.99890382]]

 t_gt:
[ 0.70493408 -0.66222427  0.25402157]

Pose Error in degrees for R and t:
4.426094344799208 80.27731538889962

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.99988854 -0.01485255 -0.00151926]
 [ 0.01485568  0.9998875   0.00207048]
 [ 0.00148833 -0.00209282  0.9999967 ]]

 t_estimated:
[[-0.9614292 ]
 [-0.27504177]
 [-0.002434  ]]

 R_gt:
[[ 0.99917948 -0.00771618  0.03975015]
 [ 0.00414958  0.99602035  0.08903266]
 [-0.04027905 -0.08879526  0.99523496]]

 t_gt:
[ 0.16083457 -0.41444268  0.8957508 ]

Pose Error in degrees for R and t:
5.547091474340133 87.545714829978

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-9.02507869e-01 -4.30666609e-01 -2.41212824e-03]
 [ 4.30673364e-01 -9.02493578e-01 -5.07896644e-03]
 [ 1.04110065e-05 -5.62264656e-03  9.99984193e-01]]

 t_estimated:
[[0.88373037]
 [0.46799089]
 [0.0022718 ]]

 R_gt:
[[ 0.99760129  0.02113753  0.06591005]
 [-0.03069855  0.98857003  0.14760616]
 [-0.06203735 -0.14927616  0.98684713]]

 t_gt:
[ 0.01867288 -0.25692588  0.9662507 ]

Pose Error in degrees for R and t:
156.07003210166192 84.17202449697092

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.98523796e-01 -5.43154641e-02 -2.44937718e-04]
 [ 5.43154396e-02  9.98523821e-01 -1.05978495e-04]
 [ 2.50332417e-04  9.25181491e-05  9.99999964e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.94772189  0.31298549  0.06214706]
 [-0.30985093  0.94918324 -0.05516292]
 [-0.07625408  0.03302247  0.99654203]]

 t_gt:
[-0.6926639   0.71855974  0.06235882]

Pose Error in degrees for R and t:
21.813863956326276 46.33949084511798

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 8.36514864e-01 -5.47943771e-01 -7.11188209e-04]
 [ 5.47943640e-01  8.36515164e-01 -3.84565064e-04]
 [ 8.05639753e-04 -6.79966642e-05  9.99999673e-01]]

 t_estimated:
[[-0.02180686]
 [-0.99976079]
 [-0.00167745]]

 R_gt:
[[ 0.86687884  0.49327739  0.07209452]
 [-0.49342845  0.86962093 -0.01693812]
 [-0.07105063 -0.02089015  0.99725472]]

 t_gt:
[-0.62443712  0.77281686  0.11328011]

Pose Error in degrees for R and t:
62.96392961702872 40.6058368533433

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.99992230e-01  6.99276156e-04 -3.87965875e-03]
 [-6.81286691e-04  9.99989020e-01  4.63625343e-03]
 [ 3.88285817e-03 -4.63357424e-03  9.99981727e-01]]

 t_estimated:
[[-0.79246137]
 [-0.60991817]
 [-0.00219144]]

 R_gt:
[[ 8.21894867e-01  5.65272915e-01  7.03976337e-02]
 [-5.66633319e-01  8.23969440e-01 -7.75131695e-04]
 [-5.84437013e-02 -3.92527701e-02  9.97519432e-01]]

 t_gt:
[-0.58901677  0.80089406  0.107833  ]

Pose Error in degrees for R and t:
34.72406940916772 88.74265148247474

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999381e-01 -1.10045512e-03 -1.64670262e-04]
 [ 1.10052428e-03  9.99999306e-01  4.20518497e-04]
 [ 1.64207386e-04 -4.20699460e-04  9.99999898e-01]]

 t_estimated:
[[0.24669616]
 [0.96909116]
 [0.00182323]]

 R_gt:
[[ 0.99576634 -0.0911198   0.01210563]
 [ 0.09019887  0.99397785  0.06222526]
 [-0.0177025  -0.06087098  0.99798823]]

 t_gt:
[ 0.40340673 -0.72543106  0.55768521]

Pose Error in degrees for R and t:
6.28548982183052 52.952770255912085

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.99988841e-01  4.72393583e-03 -5.67870941e-05]
 [-4.72393656e-03  9.99988842e-01 -1.27557513e-05]
 [ 5.67262031e-05  1.30238675e-05  9.99999998e-01]]

 t_estimated:
[[-6.58384938e-01]
 [ 7.52681133e-01]
 [-6.20815176e-04]]

 R_gt:
[[ 0.99533534  0.07338039  0.06263158]
 [-0.07731101  0.99502716  0.06280106]
 [-0.05771196 -0.06735024  0.99605878]]

 t_gt:
[-0.44976113  0.16455232  0.87785959]

Pose Error in degrees for R and t:
6.5104426904474275 65.20162163778943

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-2.93461393e-01 -9.55968408e-01 -2.19402322e-03]
 [ 9.55970915e-01 -2.93460955e-01 -5.26215125e-04]
 [-1.40815115e-04 -2.25184621e-03  9.99997455e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99150035  0.09201371  0.09197753]
 [-0.10364158  0.98596594  0.13087185]
 [-0.07864499 -0.13929229  0.98712321]]

 t_gt:
[-0.31813304  0.09016989  0.94374825]

Pose Error in degrees for R and t:
112.95995503155889 71.51114224769542

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99995209e-01 -3.09540182e-03 -1.87295215e-06]
 [ 3.09540181e-03  9.99995209e-01 -7.82326982e-06]
 [ 1.89715934e-06  7.81743480e-06  1.00000000e+00]]

 t_estimated:
[[-6.36418102e-01]
 [ 7.71344281e-01]
 [-1.05450086e-05]]

 R_gt:
[[ 0.97523212  0.17808002  0.1311804 ]
 [-0.19770118  0.96777125  0.15599106]
 [-0.0991732  -0.17806195  0.97900912]]

 t_gt:
[-0.50284568  0.31078071  0.80657397]

Pose Error in degrees for R and t:
16.17435367257407 55.9628371884867

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 0.88429776 -0.46584004 -0.03178886]
 [ 0.46618849  0.88467566  0.00415515]
 [ 0.02618719 -0.01849399  0.99948597]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 9.90175996e-01 -1.37413480e-01  2.58954327e-02]
 [ 1.37343093e-01  9.90513287e-01  4.45613081e-03]
 [-2.62622384e-02 -8.54917359e-04  9.99654786e-01]]

 t_gt:
[ 0.98648058 -0.1462606   0.07391828]

Pose Error in degrees for R and t:
20.14914932392915 82.37430431833307

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-6.94953871e-01 -7.19054322e-01  5.84291104e-06]
 [ 7.19035483e-01 -6.94935605e-01  7.24422809e-03]
 [-5.20493307e-03  5.03860561e-03  9.99973760e-01]]

 t_estimated:
[[8.38800341e-01]
 [5.44438760e-01]
 [6.51242381e-04]]

 R_gt:
[[ 0.94328085 -0.33117519 -0.02335986]
 [ 0.33176742  0.94291128  0.0291334 ]
 [ 0.01237835 -0.03523098  0.99930236]]

 t_gt:
[ 0.99166748 -0.08244901  0.09898372]

Pose Error in degrees for R and t:
114.67271255223086 38.09516951612273

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 8.07756224e-01  5.89516339e-01  6.07302344e-04]
 [-5.89499691e-01  8.07740370e-01 -6.75352518e-03]
 [-4.47185606e-03  5.09719746e-03  9.99977010e-01]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.89066534 -0.45381943 -0.02765264]
 [ 0.45463862  0.88836806  0.06408224]
 [-0.00451495 -0.0696482   0.99756125]]

 t_gt:
[ 0.98838733 -0.01423481  0.15128731]

Pose Error in degrees for R and t:
63.31334418028306 89.9696319052833

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-3.39623137e-01 -9.40561273e-01 -7.85160527e-04]
 [-9.40560428e-01  3.39623913e-01 -1.29539983e-03]
 [ 1.48506220e-03  2.98543169e-04 -9.99998853e-01]]

 t_estimated:
[[0.74611547]
 [0.66581605]
 [0.00083645]]

 R_gt:
[[ 9.61509066e-01  2.74772043e-01  2.57131433e-04]
 [-2.74769672e-01  9.61502650e-01 -3.84824469e-03]
 [-1.30443495e-03  3.62989474e-03  9.99992392e-01]]

 t_gt:
[-0.69888844  0.7149652  -0.01948626]

Pose Error in degrees for R and t:
179.830131529972 87.39601500016941

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 1.75784935e-01 -9.84427847e-01  1.21278622e-03]
 [-9.84428498e-01 -1.75785329e-01 -2.25289467e-04]
 [ 4.34971249e-04 -1.15429882e-03 -9.99999239e-01]]

 t_estimated:
[[0.33686077]
 [0.94155346]
 [0.00138058]]

 R_gt:
[[ 0.86966377  0.48884389  0.06867168]
 [-0.48654786  0.87233103 -0.04805676]
 [-0.08339626  0.00838112  0.99648162]]

 t_gt:
[-0.62032067  0.78029861  0.07960117]

Pose Error in degrees for R and t:
178.3412000014511 58.27512018406518

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-9.99993796e-01  3.51650856e-03 -2.06812182e-04]
 [ 3.51603489e-03  9.99991292e-01  2.24779181e-03]
 [ 2.14714761e-04  2.24705070e-03 -9.99997452e-01]]

 t_estimated:
[[9.99982406e-01]
 [5.87237990e-03]
 [8.38911414e-04]]

 R_gt:
[[ 0.78719302  0.61384338  0.05936492]
 [-0.6147056   0.78874434 -0.00460594]
 [-0.04965131 -0.03286611  0.99822664]]

 t_gt:
[-0.5634438   0.82213002  0.08144518]

Pose Error in degrees for R and t:
176.75065838279136 56.04526980012625

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-8.31775127e-01 -5.55112726e-01  1.51749247e-06]
 [-5.55112552e-01  8.31774868e-01  7.90139569e-04]
 [-4.39878743e-04  6.56376061e-04 -9.99999688e-01]]

 t_estimated:
[[9.81235477e-01]
 [1.92810862e-01]
 [9.54509218e-04]]

 R_gt:
[[ 0.97543992 -0.21996467  0.01154472]
 [ 0.22011527  0.97537424 -0.01401695]
 [-0.00817734  0.016214    0.99983528]]

 t_gt:
[ 0.60397622 -0.79666588 -0.02315604]

Pose Error in degrees for R and t:
179.68739010371945 63.95895130950747

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999980e-01 -1.82724811e-04 -8.50627602e-05]
 [ 1.82757262e-04  9.99999910e-01  3.81637258e-04]
 [ 8.49930180e-05 -3.81652796e-04  9.99999924e-01]]

 t_estimated:
[[0.67089279]
 [0.74155395]
 [0.0007765 ]]

 R_gt:
[[ 0.92895127 -0.36704099 -0.04828593]
 [ 0.36568942  0.93009204 -0.03466201]
 [ 0.05763253  0.01454227  0.99823204]]

 t_gt:
[ 0.66515662 -0.72969462 -0.15846903]

Pose Error in degrees for R and t:
21.766987064650007 84.54970450399637

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999965e-01  2.29765777e-05 -2.63023046e-04]
 [-2.28332527e-05  9.99999851e-01  5.44904467e-04]
 [ 2.63035527e-04 -5.44898442e-04  9.99999817e-01]]

 t_estimated:
[[-0.73011419]
 [-0.68332474]
 [-0.00074601]]

 R_gt:
[[ 0.8678353  -0.49520526 -0.04043297]
 [ 0.49538727  0.868651   -0.00609752]
 [ 0.03814171 -0.01473782  0.99916456]]

 t_gt:
[ 0.70762864 -0.70486111 -0.04932058]

Pose Error in degrees for R and t:
29.792949252147174 87.99630841437038

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.91825772e-01 -1.27597813e-01 -6.60898846e-04]
 [ 1.27597931e-01  9.91825967e-01  1.39005444e-04]
 [ 6.37759847e-04 -2.22198508e-04  9.99999772e-01]]

 t_estimated:
[[-0.90795747]
 [-0.41905729]
 [-0.0020542 ]]

 R_gt:
[[ 0.99145845  0.1300731   0.00958356]
 [-0.12996865  0.99145839 -0.01086661]
 [-0.0109154   0.00952845  0.99989456]]

 t_gt:
[-0.73261617  0.68013693 -0.02621667]

Pose Error in degrees for R and t:
14.827106974722945 67.65257578454458

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.22582132 -0.9741364   0.00793736]
 [-0.97415641  0.22585196  0.00319079]
 [-0.00490094 -0.00701168 -0.99996341]]

 t_estimated:
[[0.70631547]
 [0.70786614]
 [0.00663216]]

 R_gt:
[[ 0.96579114  0.25596628 -0.04158786]
 [-0.2529233   0.96517262  0.06686718]
 [ 0.05725453 -0.05406099  0.99689484]]

 t_gt:
[-0.71348157  0.70054455 -0.01346818]

Pose Error in degrees for R and t:
179.5788192532011 89.53357160146557

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99283400e-01 -3.72342003e-02 -6.80453541e-03]
 [ 3.72291568e-02  9.99306379e-01 -8.66415484e-04]
 [ 6.83207593e-03  6.12467495e-04  9.99976474e-01]]

 t_estimated:
[[9.99991799e-01]
 [3.97137339e-03]
 [7.94274662e-04]]

 R_gt:
[[ 0.94524441  0.30088841 -0.12640845]
 [-0.28530861  0.94990407  0.12759371]
 [ 0.15846745 -0.08454234  0.98373773]]

 t_gt:
[-0.73502448  0.63614422 -0.23464773]

Pose Error in degrees for R and t:
21.760583787577318 42.88858904465237

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999988e-01 -5.68401907e-05 -1.43540576e-04]
 [ 5.69730656e-05  9.99999570e-01  9.25861230e-04]
 [ 1.43487888e-04 -9.25869396e-04  9.99999561e-01]]

 t_estimated:
[[0.71234328]
 [0.70182526]
 [0.0028922 ]]

 R_gt:
[[ 0.98861827  0.14910982  0.01998034]
 [-0.1493277   0.98873818  0.00986172]
 [-0.01828507 -0.01273371  0.99975182]]

 t_gt:
[-0.38890115  0.90810033  0.15527295]

Pose Error in degrees for R and t:
8.677611470141324 68.8540006843692

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.99951415 -0.02872415 -0.01209896]
 [ 0.02889763  0.9994784   0.01441689]
 [ 0.01167854 -0.01475952  0.99982287]]

 t_estimated:
[[-0.78380726]
 [-0.62100361]
 [-0.00083919]]

 R_gt:
[[ 0.93653866  0.35017772 -0.01644874]
 [-0.35033868  0.93658802 -0.00807428]
 [ 0.01257831  0.01332445  0.99983233]]

 t_gt:
[-0.27064905  0.96177499 -0.0416888 ]

Pose Error in degrees for R and t:
22.203978241322442 67.35042004908212

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.9798899   0.1952855   0.04097997]
 [-0.19700374 -0.97945164 -0.04317408]
 [ 0.03170662 -0.05037906  0.99822675]]

 t_estimated:
[[0.72926153]
 [0.68423449]
 [0.00088288]]

 R_gt:
[[ 0.87023565  0.49218929 -0.02096905]
 [-0.49150501  0.87033335  0.03068865]
 [ 0.03335491 -0.01640031  0.99930885]]

 t_gt:
[-0.20748596  0.97760147 -0.03528379]

Pose Error in degrees for R and t:
139.24440314763947 58.83087790499619

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.94675698 -0.32193914  0.00253204]
 [ 0.32194746  0.94674793 -0.00426384]
 [-0.00102451  0.00485201  0.9999877 ]]

 t_estimated:
[[-0.40216135]
 [-0.91555882]
 [-0.00427831]]

 R_gt:
[[ 0.99885308 -0.03952524 -0.02701589]
 [ 0.04281397  0.9899821   0.13454854]
 [ 0.02142769 -0.13554967  0.9905382 ]]

 t_gt:
[ 0.15613271 -0.67940976  0.71695534]

Pose Error in degrees for R and t:
18.31855450184366 56.20785427159032

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-9.71361644e-01 -2.37604597e-01 -7.82762583e-04]
 [-2.37605646e-01  9.71350703e-01  4.62267537e-03]
 [-3.38031935e-04  4.67627836e-03 -9.99989009e-01]]

 t_estimated:
[[0.98795475]
 [0.1547399 ]
 [0.00099192]]

 R_gt:
[[ 0.98647927 -0.08660659 -0.13913232]
 [ 0.10308083  0.98789446  0.11592706]
 [ 0.1274085  -0.12870109  0.98346517]]

 t_gt:
[ 0.48938439 -0.86229152  0.13021617]

Pose Error in degrees for R and t:
173.21794352218456 69.50119187805227

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 6.60855106e-01 -7.50511721e-01 -1.63853688e-03]
 [ 7.50512963e-01  6.60855686e-01  2.35261157e-04]
 [ 9.06270161e-04 -1.38521671e-03  9.99998630e-01]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.97303072 -0.12885147 -0.1913351 ]
 [ 0.15231766  0.98180169  0.11342796]
 [ 0.17323795 -0.13951195  0.97494903]]

 t_gt:
[ 0.54948731 -0.83539662  0.01327308]

Pose Error in degrees for R and t:
42.33155703640645 33.70193067741831

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99998345e-01 -5.38275667e-04  1.73799477e-03]
 [ 5.41472436e-04  9.99998162e-01 -1.83939703e-03]
 [-1.73700148e-03  1.84033506e-03  9.99996798e-01]]

 t_estimated:
[[0.48663192]
 [0.87360514]
 [0.00185253]]

 R_gt:
[[ 0.98006803 -0.19480823  0.03894653]
 [ 0.19513674  0.98076422 -0.00481121]
 [-0.03725929  0.01231521  0.99922996]]

 t_gt:
[ 0.55819715 -0.81695552  0.14491246]

Pose Error in degrees for R and t:
11.416267724596187 63.78175546996004

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.9913572   0.13114582  0.003418  ]
 [-0.13113556  0.99135969 -0.00307146]
 [-0.00379128  0.00259669  0.99998944]]

 t_estimated:
[[0.23234759]
 [0.97261781]
 [0.00540343]]

 R_gt:
[[ 0.91902879 -0.39298081  0.03084706]
 [ 0.39293071  0.91953426  0.00793927]
 [-0.03148487  0.00482506  0.99949281]]

 t_gt:
[ 0.67047111 -0.73890406  0.06700206]

Pose Error in degrees for R and t:
30.722399423098615 55.76927182669695

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-9.70033661e-01  2.42970315e-01  3.51072413e-04]
 [-2.42970416e-01 -9.70030419e-01 -2.52259711e-03]
 [-2.72365295e-04 -2.53230432e-03  9.99996757e-01]]

 t_estimated:
[[0.64235897]
 [0.76640324]
 [0.00101485]]

 R_gt:
[[ 0.8523151  -0.52300978 -0.00442662]
 [ 0.52274284  0.85210035 -0.02578006]
 [ 0.01725569  0.0196593   0.99965789]]

 t_gt:
[ 0.72238915 -0.69016761 -0.04269171]

Pose Error in degrees for R and t:
162.53117461493795 86.2756235356361

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 6.96272325e-01  7.17777383e-01  6.90893498e-04]
 [-7.17777270e-01  6.96272643e-01 -4.44352955e-04]
 [-7.99996744e-04 -1.86516983e-04  9.99999663e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.97120274e-01 -6.79211587e-02  3.37410359e-02]
 [ 6.79003035e-02  9.97690377e-01  1.78489909e-03]
 [-3.37855682e-02  5.11840574e-04  9.99428534e-01]]

 t_gt:
[ 0.63103463 -0.72009899  0.28853552]

Pose Error in degrees for R and t:
49.79983218664188 44.28718096006465

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.99982891  0.01845254  0.00128836]
 [-0.01844992  0.99982776 -0.00201433]
 [-0.00132531  0.00199022  0.99999714]]

 t_estimated:
[[0.66044509]
 [0.75087394]
 [0.000786  ]]

 R_gt:
[[ 0.99581128 -0.08820473  0.0240826 ]
 [ 0.08855818  0.99597191 -0.01403314]
 [-0.02274891  0.01610788  0.9996116 ]]

 t_gt:
[ 0.72763764 -0.68564033  0.02099533]

Pose Error in degrees for R and t:
6.303105986860379 88.03733626573606

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.11629393  0.99320469  0.00449114]
 [-0.99321365 -0.1162996   0.001021  ]
 [ 0.00153639 -0.00434193  0.99998939]]

 t_estimated:
[[0.73865986]
 [0.67407758]
 [0.0010091 ]]

 R_gt:
[[ 9.98496855e-01 -5.40702662e-02  8.90870064e-03]
 [ 5.40621805e-02  9.98536328e-01  1.18926883e-03]
 [-8.96141513e-03 -7.05296976e-04  9.99959156e-01]]

 t_gt:
[ 0.86942295 -0.49354773  0.02267998]

Pose Error in degrees for R and t:
99.77815489606942 71.96841277427231

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.97976179e-01  6.35888730e-02 -2.27156400e-05]
 [-6.35888749e-02  9.97976175e-01 -9.27072203e-05]
 [ 1.67745198e-05  9.39640595e-05  9.99999995e-01]]

 t_estimated:
[[-4.81328713e-01]
 [-8.76540056e-01]
 [-4.48835918e-04]]

 R_gt:
[[ 0.99518577  0.05715291 -0.07960837]
 [-0.05071291  0.99544819  0.08068948]
 [ 0.08385802 -0.07626373  0.9935557 ]]

 t_gt:
[-0.8618135  -0.48454314  0.14998479]

Pose Error in degrees for R and t:
6.534103773536318 32.9158331074915

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99976120e-01 -6.91083755e-03  2.93551490e-06]
 [ 6.91083754e-03  9.99975755e-01 -8.53852045e-04]
 [ 2.96538905e-06  8.53851942e-04  9.99999635e-01]]

 t_estimated:
[[-0.667787  ]
 [-0.74435019]
 [-0.00182165]]

 R_gt:
[[ 0.98939734  0.06373376 -0.13049877]
 [-0.05191998  0.99440303  0.0920135 ]
 [ 0.13563316 -0.08426242  0.98716988]]

 t_gt:
[-0.4632162  -0.70655775 -0.53498308]

Pose Error in degrees for R and t:
9.94094745993012 33.255793878008205

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.97801371e-01  6.62753583e-02  1.40480475e-05]
 [-6.62753551e-02  9.97801358e-01 -1.65333817e-04]
 [-2.49747188e-05  1.64039270e-04  9.99999986e-01]]

 t_estimated:
[[ 1.16776209e-02]
 [-9.99931798e-01]
 [-1.77756410e-04]]

 R_gt:
[[ 0.98805077  0.03085634 -0.15100683]
 [-0.01533327  0.99457376  0.10289463]
 [ 0.15336241 -0.09935056  0.98316392]]

 t_gt:
[ 0.29396899 -0.87043642 -0.39487046]

Pose Error in degrees for R and t:
10.818814416045443 29.08728838552318

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[-7.76911009e-01 -6.29603105e-01 -3.03548010e-03]
 [ 6.29605083e-01 -7.76915247e-01  3.72691209e-04]
 [-2.59295831e-03 -1.62160580e-03  9.99995323e-01]]

 t_estimated:
[[0.91328681]
 [0.40731464]
 [0.00140939]]

 R_gt:
[[ 0.99893675 -0.03780197 -0.02640987]
 [ 0.03811173  0.99920815  0.01136434]
 [ 0.02595935 -0.01235848  0.9995863 ]]

 t_gt:
[ 0.60808117 -0.71644802 -0.34196422]

Pose Error in degrees for R and t:
138.8061267811844 74.74883826888751

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.14569996e-01  4.04427544e-01  2.88496648e-04]
 [-4.04427409e-01  9.14569999e-01 -4.33072976e-04]
 [-4.38997019e-04  2.79399598e-04  9.99999865e-01]]

 t_estimated:
[[0.71706971]
 [0.69700102]
 [0.00077187]]

 R_gt:
[[ 0.98775166 -0.14271345 -0.06308653]
 [ 0.14397221  0.98945426  0.01586617]
 [ 0.06015789 -0.02475364  0.9978815 ]]

 t_gt:
[ 0.66381334 -0.7136098  -0.22385911]

Pose Error in degrees for R and t:
32.31881536669994 88.7646582374622

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-2.89570992e-01 -9.57153620e-01  2.36384788e-03]
 [-9.57155973e-01  2.89572623e-01  3.72066581e-04]
 [-1.04063051e-03 -2.15483143e-03 -9.99997137e-01]]

 t_estimated:
[[0.90954279]
 [0.41559633]
 [0.00340653]]

 R_gt:
[[ 0.96024607 -0.25452889 -0.11464842]
 [ 0.25977338  0.96509994  0.03315715]
 [ 0.10220849 -0.06162102  0.99285179]]

 t_gt:
[ 0.70390919 -0.69178579 -0.16107224]

Pose Error in degrees for R and t:
176.70540341661504 69.37909263700844

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.90466598e-01  1.37750335e-01  8.73605858e-04]
 [-1.37750320e-01  9.90466982e-01 -7.78092998e-05]
 [-8.75996015e-04 -4.32719735e-05  9.99999615e-01]]

 t_estimated:
[[0.42850604]
 [0.9035356 ]
 [0.00244861]]

 R_gt:
[[ 0.98911015 -0.07496536 -0.12666219]
 [ 0.07323363  0.99714736 -0.01827554]
 [ 0.12767126  0.00880121  0.99177817]]

 t_gt:
[ 0.59714487 -0.45673142 -0.65940459]

Pose Error in degrees for R and t:
14.249748934661092 80.88552402817007

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 7.57552526e-01 -6.52731935e-01  7.42911160e-03]
 [-6.52774154e-01 -7.57508176e-01  8.20164689e-03]
 [ 2.74135933e-04 -1.10627104e-02 -9.99938769e-01]]

 t_estimated:
[[0.54597791]
 [0.83779369]
 [0.0031378 ]]

 R_gt:
[[ 0.98303847 -0.11670855 -0.14147935]
 [ 0.11318639  0.99303557 -0.03271667]
 [ 0.14431269  0.01614881  0.98940059]]

 t_gt:
[ 0.59864758 -0.52029156 -0.60903018]

Pose Error in degrees for R and t:
176.39091802214017 83.62936168607881

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 8.19209637e-01  5.73493299e-01  1.00364273e-03]
 [-5.73493646e-01  8.19210006e-01  7.18949572e-05]
 [-7.80962888e-04 -6.34479768e-04  9.99999494e-01]]

 t_estimated:
[[0.62045607]
 [0.78424081]
 [0.00078626]]

 R_gt:
[[ 0.97122412 -0.21316211 -0.1062376 ]
 [ 0.20472778  0.97512727 -0.08493528]
 [ 0.12170074  0.06074184  0.99070661]]

 t_gt:
[ 0.69782769 -0.49853132 -0.51429858]

Pose Error in degrees for R and t:
47.729127008577784 87.61589662935351

Number of keypoints:
Image1: 414
Image2: 414

 R_estimated:
[[ 9.99607193e-01  2.80259979e-02  5.86978354e-05]
 [-2.80259959e-02  9.99607194e-01 -3.36059806e-05]
 [-5.96166197e-05  3.19477146e-05  9.99999998e-01]]

 t_estimated:
[[9.72477826e-01]
 [2.32995217e-01]
 [3.26108352e-04]]

 R_gt:
[[ 0.9972648  -0.07096255 -0.02068049]
 [ 0.07085916  0.99747038 -0.00569052]
 [ 0.02103065  0.00420902  0.99976981]]

 t_gt:
[ 0.61540672 -0.75342982 -0.23155579]

Pose Error in degrees for R and t:
5.804764253914315 64.9854545471236

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 9.85606743e-01  1.69052380e-01 -8.00533807e-04]
 [-1.69052808e-01  9.85606868e-01 -5.00126622e-04]
 [ 7.04464022e-04  6.28260659e-04  9.99999555e-01]]

 t_estimated:
[[-0.5788015 ]
 [ 0.81545359]
 [-0.00492575]]

 R_gt:
[[ 0.99291393 -0.09020946 -0.07736589]
 [ 0.09490856  0.99371393  0.05936431]
 [ 0.07152418 -0.06628556  0.99523343]]

 t_gt:
[ 0.53808646 -0.83438636 -0.11942511]

Pose Error in degrees for R and t:
16.05293793378641 7.5805629445809295

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999990e-01 -1.02162389e-04  9.42176087e-05]
 [ 1.02174037e-04  9.99999987e-01 -1.23629124e-04]
 [-9.42049773e-05  1.23638750e-04  9.99999988e-01]]

 t_estimated:
[[0.83151204]
 [0.55550501]
 [0.00137904]]

 R_gt:
[[ 0.97176514 -0.2190635  -0.08766327]
 [ 0.22127986  0.97507391  0.01629446]
 [ 0.08190796 -0.03523257  0.99601706]]

 t_gt:
[ 0.58141034 -0.76611469 -0.27391659]

Pose Error in degrees for R and t:
13.72652833763808 86.70416782835169

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99720738e-01 -2.36314697e-02 -1.81828121e-06]
 [ 2.36314697e-02  9.99720737e-01 -2.79975869e-05]
 [ 2.47939756e-06  2.79467996e-05  1.00000000e+00]]

 t_estimated:
[[-9.05731297e-02]
 [ 9.95889736e-01]
 [-3.77669981e-04]]

 R_gt:
[[ 0.99844514  0.01675925 -0.05316789]
 [-0.01825362  0.99944758 -0.02775631]
 [ 0.05267364  0.0286835   0.99819928]]

 t_gt:
[ 0.01141729  0.40692211 -0.9133915 ]

Pose Error in degrees for R and t:
4.1687823785113745 66.13641653932022

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.55407256e-01  2.95290579e-01  6.69680465e-04]
 [-2.95290828e-01  9.55407365e-01  3.07317537e-04]
 [-5.49069675e-04 -4.91363903e-04  9.99999729e-01]]

 t_estimated:
[[-0.39193814]
 [ 0.91999023]
 [ 0.001573  ]]

 R_gt:
[[ 0.99597028  0.02528042 -0.08604622]
 [-0.03010744  0.99801687 -0.0552759 ]
 [ 0.08447815  0.05764432  0.99475621]]

 t_gt:
[ 0.02748155  0.417351   -0.90832973]

Pose Error in degrees for R and t:
16.661370597953834 68.17586123898948

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.30556517  0.95214658  0.0068431 ]
 [ 0.95217009 -0.30554615 -0.00369573]
 [-0.001428    0.00764508 -0.99996976]]

 t_estimated:
[[0.24485081]
 [0.96955999]
 [0.00123041]]

 R_gt:
[[ 0.99138301  0.03597497 -0.12595253]
 [-0.04897882  0.99360664 -0.10171975]
 [ 0.12148851  0.10701288  0.98680723]]

 t_gt:
[ 0.03808221  0.43529932 -0.89947999]

Pose Error in degrees for R and t:
178.94666438837635 64.51552359361428

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.59775082e-01  2.80769636e-01  4.50017294e-04]
 [-2.80769826e-01  9.59775035e-01  4.33640504e-04]
 [-3.10162277e-04 -5.42548628e-04  9.99999805e-01]]

 t_estimated:
[[0.66020041]
 [0.75108842]
 [0.00126233]]

 R_gt:
[[ 0.98799285 -0.15408647 -0.01129186]
 [ 0.15348811  0.98724942 -0.04221184]
 [ 0.01765169  0.03997111  0.99904531]]

 t_gt:
[ 0.95240568 -0.13221172 -0.27466977]

Pose Error in degrees for R and t:
25.28255856366419 58.05336226825372

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.97793406  0.20891023  0.00122109]
 [-0.20890426  0.97792856 -0.00383876]
 [-0.00199609  0.00349896  0.99999189]]

 t_estimated:
[[8.15382796e-01]
 [5.78921785e-01]
 [6.79485664e-04]]

 R_gt:
[[ 0.95244139 -0.30463378 -0.00732592]
 [ 0.30445142  0.95233538 -0.01916387]
 [ 0.01281454  0.01602314  0.99979057]]

 t_gt:
[ 0.99070103 -0.11832495 -0.06716153]

Pose Error in degrees for R and t:
29.808923203284166 42.332089029044205

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.99990354  0.01360541 -0.0027928 ]
 [-0.01359484  0.99990049  0.00376739]
 [ 0.00284378 -0.00372906  0.999989  ]]

 t_estimated:
[[0.94799894]
 [0.31826894]
 [0.00170197]]

 R_gt:
[[ 0.96027589 -0.27890591  0.00897734]
 [ 0.27903576  0.95939742 -0.04118904]
 [ 0.00287454  0.04205851  0.99911181]]

 t_gt:
[ 0.98115137 -0.10208352 -0.16407601]

Pose Error in degrees for R and t:
17.189114358016624 26.18665329667579

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99999997e-01 -8.06719929e-05  6.77180063e-06]
 [ 8.06720874e-05  9.99999997e-01 -1.39604135e-05]
 [-6.77067440e-06  1.39609598e-05  1.00000000e+00]]

 t_estimated:
[[ 9.99829706e-01]
 [ 1.84473571e-02]
 [-5.04883279e-04]]

 R_gt:
[[ 0.99882353 -0.04588058 -0.01570611]
 [ 0.04595796  0.99893289  0.00461747]
 [ 0.01547702 -0.00533264  0.99986516]]

 t_gt:
[ 0.58924485 -0.77334061 -0.23395472]

Pose Error in degrees for R and t:
2.790392096658777 54.900610369208835

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.96534606e-01  8.31791448e-02  9.59563924e-05]
 [-8.31791363e-02  9.96534607e-01 -9.00557431e-05]
 [-1.03114625e-04  8.17620946e-05  9.99999991e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9948044  -0.10174529  0.00352587]
 [ 0.10167956  0.99470023  0.01521854]
 [-0.00505539 -0.01478078  0.99987861]]

 t_gt:
[ 0.94627031 -0.28587493  0.15115562]

Pose Error in degrees for R and t:
10.647288111581648 54.008393207917955

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.93705700e-01  1.12022162e-01  1.32382215e-04]
 [-1.12022149e-01  9.93705704e-01 -1.05404470e-04]
 [-1.43356599e-04  8.99112820e-05  9.99999986e-01]]

 t_estimated:
[[7.37330843e-01]
 [6.75531437e-01]
 [7.10337999e-04]]

 R_gt:
[[ 0.98832945 -0.14964568  0.02848683]
 [ 0.14987996  0.988684   -0.00626462]
 [-0.02722655  0.01046058  0.99957518]]

 t_gt:
[ 0.98511657 -0.16768239 -0.03778832]

Pose Error in degrees for R and t:
15.137870664991034 52.18925240537575

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.66306427  0.74855436  0.00348528]
 [ 0.74856169 -0.66304966 -0.00453283]
 [-0.00108215  0.00561451 -0.99998365]]

 t_estimated:
[[0.99999631]
 [0.00147552]
 [0.00228054]]

 R_gt:
[[ 0.94110441 -0.33744452 -0.02132137]
 [ 0.3380754   0.94011288  0.04350502]
 [ 0.00536406 -0.04815014  0.99882622]]

 t_gt:
[ 0.98708994 -0.09848644  0.12630866]

Pose Error in degrees for R and t:
177.57683577770413 9.16669719431115

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.87233115  0.48889739  0.00420875]
 [-0.48891251  0.87232361  0.00400875]
 [-0.00171153 -0.00555466  0.99998311]]

 t_estimated:
[[0.05491632]
 [0.99847848]
 [0.00499239]]

 R_gt:
[[ 0.99799584 -0.05673815 -0.02801421]
 [ 0.05282017  0.99075899 -0.12493175]
 [ 0.03484323  0.12320108  0.99177015]]

 t_gt:
[ 0.44962223 -0.14109097 -0.88200521]

Pose Error in degrees for R and t:
33.29698800358047 83.07396028308604

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.41988474 -0.84149241  0.33998136]
 [-0.85311186  0.49376505  0.16851184]
 [-0.30967235 -0.21928658 -0.92521156]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.99577263 -0.04460841 -0.08029978]
 [ 0.02978704  0.98373912 -0.1771179 ]
 [ 0.08689541  0.17397765  0.98090862]]

 t_gt:
[ 0.30845784  0.12027274 -0.94360385]

Pose Error in degrees for R and t:
167.16178618408907 82.66441826617253

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.30415216  0.95262113  0.00211087]
 [ 0.95262006 -0.30415625  0.00199913]
 [ 0.00254645  0.00140282 -0.99999577]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99231494 -0.03478922 -0.11874684]
 [ 0.01145784  0.98137517 -0.19176064]
 [ 0.12320655  0.18892648  0.97423168]]

 t_gt:
[ 0.27661329  0.19930445 -0.9400866 ]

Pose Error in degrees for R and t:
175.2688714218415 73.94850835587971

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.99999964e-01 -1.60883507e-04 -2.13635854e-04]
 [ 1.60918474e-04  9.99999974e-01  1.63668365e-04]
 [ 2.13609517e-04 -1.63702737e-04  9.99999964e-01]]

 t_estimated:
[[-0.99989031]
 [ 0.01464903]
 [-0.00218411]]

 R_gt:
[[ 0.99615406 -0.07164418 -0.05043716]
 [ 0.0744215   0.99568127  0.05550244]
 [ 0.04624286 -0.05904334  0.99718337]]

 t_gt:
[ 0.27956178 -0.95952503 -0.03401376]

Pose Error in degrees for R and t:
5.989653483757379 72.9316123695014

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 1.70092391e-01  9.85426812e-01 -1.60499692e-03]
 [-9.85427614e-01  1.70090428e-01 -1.29006021e-03]
 [-9.98265311e-04  1.80103771e-03  9.99997880e-01]]

 t_estimated:
[[0.76796768]
 [0.64048813]
 [0.0007726 ]]

 R_gt:
[[ 0.97309446 -0.21831051 -0.07366952]
 [ 0.21817458  0.9758591  -0.00999299]
 [ 0.07407234 -0.00634846  0.99723236]]

 t_gt:
[ 0.5692289  -0.72831691 -0.38148779]

Pose Error in degrees for R and t:
92.90465126705769 88.30243996922245

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999522e-01 -1.94516293e-04  9.58490129e-04]
 [ 1.94563627e-04  9.99999980e-01 -4.92913301e-05]
 [-9.58480522e-04  4.94777938e-05  9.99999539e-01]]

 t_estimated:
[[0.76279958]
 [0.64663162]
 [0.00208419]]

 R_gt:
[[ 0.9311911  -0.35997501 -0.05744118]
 [ 0.36064256  0.932704    0.00134415]
 [ 0.05309184 -0.02196755  0.99834705]]

 t_gt:
[ 0.59611078 -0.79519057 -0.11101303]

Pose Error in degrees for R and t:
21.387223113911638 86.57662117519082

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 4.05448192e-01 -9.14096715e-01  6.24174400e-03]
 [ 9.14118019e-01  4.05439518e-01 -2.65411926e-03]
 [-1.04527982e-04  6.78179852e-03  9.99976998e-01]]

 t_estimated:
[[0.40301968]
 [0.91519053]
 [0.00119946]]

 R_gt:
[[ 0.99526879 -0.05626274 -0.07921401]
 [ 0.05965926  0.9973686   0.04119013]
 [ 0.07668765 -0.04572127  0.9960056 ]]

 t_gt:
[ 0.56066015 -0.82004129 -0.11485855]

Pose Error in degrees for R and t:
62.96952790024822 58.35365235535987

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.27038902e-01  3.74964545e-01  6.81561694e-04]
 [-3.74913743e-01  9.26940340e-01 -1.48758708e-02]
 [-6.20969116e-03  1.35349841e-02  9.99889116e-01]]

 t_estimated:
[[0.46925812]
 [0.88305847]
 [0.00213299]]

 R_gt:
[[ 0.97983215 -0.11392578 -0.16416338]
 [ 0.11958648  0.9925087   0.02499095]
 [ 0.16008641 -0.0441179   0.98611675]]

 t_gt:
[ 0.62293684 -0.69504023 -0.35898296]

Pose Error in degrees for R and t:
30.41747023404166 71.20344955845148

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.28394262  0.95877591  0.011196  ]
 [ 0.95884034 -0.28390669 -0.0047109 ]
 [-0.00133808  0.0120728  -0.99992623]]

 t_estimated:
[[8.98876069e-01]
 [4.38202084e-01]
 [8.64303912e-04]]

 R_gt:
[[ 0.96766745 -0.18409931 -0.1724205 ]
 [ 0.18390973  0.98279236 -0.01721404]
 [ 0.17262241 -0.01505154  0.98487337]]

 t_gt:
[ 0.67067671 -0.62883634 -0.39339244]

Pose Error in degrees for R and t:
174.71321127602994 70.91576789224138

Number of keypoints:
Image1: 372
Image2: 372

 R_estimated:
[[ 9.99997457e-01  2.25506336e-03  2.96009025e-05]
 [-2.25506357e-03  9.99997457e-01  7.08509036e-06]
 [-2.95848499e-05 -7.15182426e-06  1.00000000e+00]]

 t_estimated:
[[0.99417714]
 [0.10775303]
 [0.00104661]]

 R_gt:
[[ 9.99469832e-01 -3.25502334e-02  9.21076020e-04]
 [ 3.25625531e-02  9.99280689e-01 -1.94054354e-02]
 [-2.89645716e-04  1.94258979e-02  9.99810883e-01]]

 t_gt:
[ 0.69035134 -0.64520689 -0.32729665]

Pose Error in degrees for R and t:
2.2853505836047368 51.9414818547996

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[ 8.45526153e-01  5.33933524e-01  7.18582585e-04]
 [-5.33933384e-01  8.45526457e-01 -3.90570904e-04]
 [-8.16119486e-04 -5.34373179e-05  9.99999666e-01]]

 t_estimated:
[[0.58078379]
 [0.81405728]
 [0.00095997]]

 R_gt:
[[ 0.99958518 -0.02623889  0.01183488]
 [ 0.02636269  0.99959704 -0.01049025]
 [-0.01155547  0.01079874  0.99987446]]

 t_gt:
[ 0.86341633 -0.50257023 -0.04399335]

Pose Error in degrees for R and t:
33.789593194588555 84.70434806670133

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 9.81227340e-01 -1.92854586e-01  1.27718987e-04]
 [ 1.92854592e-01  9.81227346e-01 -3.85010204e-05]
 [-1.17896264e-04  6.24094469e-05  9.99999991e-01]]

 t_estimated:
[[-0.55241773]
 [-0.83356694]
 [-0.00089824]]

 R_gt:
[[ 0.99892952  0.04487107 -0.01126365]
 [-0.04468594  0.99886887  0.01621458]
 [ 0.01197821 -0.01569366  0.99980503]]

 t_gt:
[0.55721526 0.83034868 0.00567676]

Pose Error in degrees for R and t:
13.733193330908701 0.42955803764786693

Number of keypoints:
Image1: 494
Image2: 494

 R_estimated:
[[ 0.95971003 -0.28071852  0.01240072]
 [-0.28078866 -0.9564004   0.08034923]
 [-0.01069546 -0.08059394 -0.99668963]]

 t_estimated:
[[0.13999676]
 [0.98929881]
 [0.04109467]]

 R_gt:
[[ 0.99980775  0.00119224  0.01958951]
 [-0.00143039  0.99992534  0.01210425]
 [-0.01957377 -0.01212938  0.9997342 ]]

 t_gt:
[-0.17612975 -0.01254342  0.98428704]

Pose Error in degrees for R and t:
174.4899795361063 89.80621590425999

Number of keypoints:
Image1: 508
Image2: 508

 R_estimated:
[[ 9.99923842e-01  1.23413702e-02  1.50573594e-05]
 [-1.23413703e-02  9.99923842e-01  6.79372591e-06]
 [-1.49723688e-05 -6.97903697e-06  1.00000000e+00]]

 t_estimated:
[[4.86582176e-01]
 [8.73634530e-01]
 [7.02342500e-04]]

 R_gt:
[[ 0.99990492 -0.00644341  0.01223472]
 [ 0.00641315  0.99997601  0.00239831]
 [-0.01225021 -0.00231925  0.99992109]]

 t_gt:
[ 0.03822848 -0.39921269  0.91606103]

Pose Error in degrees for R and t:
1.2921255363875888 70.76027650099945

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.86257391e-01  1.65215824e-01  3.00964801e-04]
 [-1.65215280e-01  9.86256601e-01 -1.35224994e-03]
 [-5.20241610e-04  1.28394251e-03  9.99999040e-01]]

 t_estimated:
[[-0.95628959]
 [-0.29241913]
 [-0.00112903]]

 R_gt:
[[ 0.99557875 -0.08995003 -0.02707337]
 [ 0.09058152  0.9956204   0.02311984]
 [ 0.02487591 -0.0254691   0.99936521]]

 t_gt:
[ 0.62763683 -0.77744256 -0.04068261]

Pose Error in degrees for R and t:
14.840331943160843 68.11051113186913

Number of keypoints:
Image1: 446
Image2: 446

 R_estimated:
[[ 9.99953804e-01  9.61191340e-03 -1.85487623e-06]
 [-9.61191350e-03  9.99953803e-01 -6.19825906e-05]
 [ 1.25901925e-06  6.19975562e-05  9.99999998e-01]]

 t_estimated:
[[-1.62029836e-01]
 [-9.86785851e-01]
 [-1.31348742e-04]]

 R_gt:
[[ 0.99628234  0.0326917  -0.07970212]
 [-0.02903171  0.99848899  0.04665135]
 [ 0.08110742 -0.04416342  0.99572688]]

 t_gt:
[-0.4302703  -0.62116597 -0.65499642]

Pose Error in degrees for R and t:
5.439421571389584 46.94026735591309

Number of keypoints:
Image1: 383
Image2: 383

 R_estimated:
[[ 9.99869898e-01  1.61296262e-02  1.50301417e-04]
 [-1.61295918e-02  9.99869884e-01 -2.27089465e-04]
 [-1.53944729e-04  2.24635620e-04  9.99999963e-01]]

 t_estimated:
[[ 0.94416828]
 [-0.3294614 ]
 [ 0.00120386]]

 R_gt:
[[ 0.99456732 -0.00401226 -0.10401391]
 [ 0.00990174  0.99837245  0.05616723]
 [ 0.10361966 -0.05689153  0.99298847]]

 t_gt:
[ 0.61946505 -0.71235357 -0.32987187]

Pose Error in degrees for R and t:
6.930298025949133 34.99769374930523

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.71526171e-01  2.36932268e-01 -3.62309387e-06]
 [-2.36932254e-01  9.71526107e-01 -3.62248103e-04]
 [-8.23083343e-05  3.52791940e-04  9.99999934e-01]]

 t_estimated:
[[7.87483972e-01]
 [6.16334756e-01]
 [6.79754520e-04]]

 R_gt:
[[ 0.99006379  0.00827902 -0.14037917]
 [ 0.00480959  0.99568836  0.092637  ]
 [ 0.14054052 -0.09239156  0.98575415]]

 t_gt:
[ 0.59650576 -0.76928721 -0.22886254]

Pose Error in degrees for R and t:
16.693615591440103 89.73900000598027

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.65430254 -0.75623079 -0.00178399]
 [ 0.75622667 -0.65428576 -0.00560035]
 [ 0.00306792 -0.00501342  0.99998273]]

 t_estimated:
[[0.99311765]
 [0.11711457]
 [0.00122769]]

 R_gt:
[[ 0.98799387  0.07229396  0.13653634]
 [-0.06852176  0.9971315  -0.03213352]
 [-0.13846735  0.02239226  0.99011401]]

 t_gt:
[-0.40395109  0.51704266  0.75464588]

Pose Error in degrees for R and t:
135.06627781163544 70.14193489698937

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.07236922  0.99737646 -0.00170279]
 [ 0.99736419  0.07237707  0.0051226 ]
 [ 0.0052324  -0.00132759 -0.99998543]]

 t_estimated:
[[0.99984416]
 [0.01759257]
 [0.00146605]]

 R_gt:
[[ 0.95618481  0.19414126  0.21913452]
 [-0.17986763  0.98013988 -0.08350665]
 [-0.230994    0.04043246  0.97211511]]

 t_gt:
[-0.36976974  0.68191827  0.6310767 ]

Pose Error in degrees for R and t:
168.26316619940653 69.09679592815421

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 4.61753978e-01 -8.87007102e-01 -1.29007546e-03]
 [ 8.87007200e-01  4.61755054e-01 -7.05550330e-04]
 [ 1.22152702e-03 -8.18515551e-04  9.99998919e-01]]

 t_estimated:
[[ 0.48140074]
 [-0.87650011]
 [-0.00093669]]

 R_gt:
[[ 0.91179541  0.36513081  0.1879061 ]
 [-0.34875696  0.93012268 -0.11506601]
 [-0.21678951  0.03938288  0.97542353]]

 t_gt:
[-0.32755902  0.86664566  0.37633812]

Pose Error in degrees for R and t:
84.48379231600963 23.41441301048626

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.93862933e-01 -1.10617736e-01 -4.31557979e-04]
 [ 1.10617853e-01  9.93862981e-01  2.56304520e-04]
 [ 4.00557674e-04 -3.02469580e-04  9.99999874e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99455501  0.10354321  0.01176301]
 [-0.10369591  0.99452175  0.01319075]
 [-0.0103342  -0.01433753  0.9998434 ]]

 t_gt:
[-0.38361838  0.90057098  0.20447211]

Pose Error in degrees for R and t:
12.340814202176896 76.63888202135261

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 3.08289578e-01  9.51292383e-01 -5.81142439e-04]
 [-9.51290646e-01  3.08287674e-01 -2.19467782e-03]
 [-1.90862125e-03  1.22943167e-03  9.99997423e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98791027  0.15071616  0.0362817 ]
 [-0.15180142  0.98797719  0.02926712]
 [-0.03143511 -0.03442029  0.99891343]]

 t_gt:
[-0.31856639  0.88511493  0.33924478]

Pose Error in degrees for R and t:
63.391955251909074 27.93703184984279

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.81332531 -0.58179949 -0.00336057]
 [-0.58180477  0.81328305  0.00859593]
 [-0.00226801  0.00894648 -0.99995741]]

 t_estimated:
[[9.44552596e-01]
 [3.28359226e-01]
 [7.81875219e-04]]

 R_gt:
[[ 0.98606355  0.1637324   0.02949651]
 [-0.16398654  0.98644127  0.00639878]
 [-0.02804945 -0.01114526  0.99954392]]

 t_gt:
[-0.15942852  0.96249643  0.21950667]

Pose Error in degrees for R and t:
178.34659951775924 80.4663056476943

Number of keypoints:
Image1: 558
Image2: 558

 R_estimated:
[[ 0.96227708  0.27194327 -0.00834711]
 [ 0.27194359 -0.96043233  0.06013667]
 [ 0.00833693 -0.06013808 -0.99815525]]

 t_estimated:
[[-0.09287035]
 [ 0.99520563]
 [ 0.03067328]]

 R_gt:
[[ 0.99906304  0.00828666  0.04248688]
 [-0.00748274  0.99979037 -0.01907553]
 [-0.04263637  0.01874057  0.99891449]]

 t_gt:
[-0.61434971  0.06535955  0.78632218]

Pose Error in degrees for R and t:
177.9284349203005 81.59205873572785

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.99997380e-01  2.28796780e-03  7.47686813e-05]
 [-2.28799542e-03  9.99997314e-01  3.71376061e-04]
 [-7.39187840e-05 -3.71546158e-04  9.99999928e-01]]

 t_estimated:
[[0.88017709]
 [0.47464365]
 [0.00130397]]

 R_gt:
[[ 0.99945002 -0.02364603  0.02327916]
 [ 0.02386928  0.99967136 -0.00940282]
 [-0.02305022  0.00995392  0.99968437]]

 t_gt:
[-0.18859824 -0.92463539  0.33087777]

Pose Error in degrees for R and t:
2.0755178391262183 52.81139371938242

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 6.61478980e-01  7.49963304e-01  7.75734564e-04]
 [-7.49963007e-01  6.61479422e-01 -6.80860716e-04]
 [-1.02375300e-03 -1.31397175e-04  9.99999467e-01]]

 t_estimated:
[[0.37889372]
 [0.92543952]
 [0.00111768]]

 R_gt:
[[ 0.99810788 -0.05343291 -0.03045942]
 [ 0.0539692   0.99839563  0.01709895]
 [ 0.02949668 -0.01871014  0.99938996]]

 t_gt:
[ 0.22680741 -0.94808386 -0.22292463]

Pose Error in degrees for R and t:
51.7048811578854 37.654629786996914

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 2.50485875e-01  9.68119571e-01  1.15026295e-03]
 [ 9.68110586e-01 -2.50488507e-01  4.17137293e-03]
 [ 4.32651542e-03  6.87117343e-05 -9.99990638e-01]]

 t_estimated:
[[0.24530946]
 [0.96944411]
 [0.00117937]]

 R_gt:
[[ 0.96834762  0.24702168  0.03581134]
 [-0.24526375  0.9683036  -0.04726892]
 [-0.04635251  0.03698931  0.9982405 ]]

 t_gt:
[-0.71094897  0.70307916 -0.01520718]

Pose Error in degrees for R and t:
176.79540295376628 59.52412593958295

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 4.92933558e-01  8.70066536e-01  8.55073584e-04]
 [-8.70066493e-01  4.92934071e-01 -5.46493301e-04]
 [-8.96980436e-04 -4.74585988e-04  9.99999485e-01]]

 t_estimated:
[[-4.92203994e-01]
 [ 8.70479451e-01]
 [ 8.68566163e-04]]

 R_gt:
[[ 0.89542389  0.44303777  0.04396707]
 [-0.44031038  0.89584946 -0.05984528]
 [-0.06590135  0.03422786  0.99723904]]

 t_gt:
[-0.64633153  0.76278386  0.02040456]

Pose Error in degrees for R and t:
34.46710169551204 10.847260732344315

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.30779997e-01 -3.65579161e-01 -6.88827612e-04]
 [ 3.65579281e-01  9.30780203e-01  5.28590172e-05]
 [ 6.21822949e-04 -3.01021219e-04  9.99999761e-01]]

 t_estimated:
[[-0.38785674]
 [-0.92171897]
 [-0.0011382 ]]

 R_gt:
[[ 0.8446412   0.53191827  0.0603703 ]
 [-0.52799085  0.84635524 -0.07006974]
 [-0.08836644  0.02730802  0.99571384]]

 t_gt:
[-0.61575374  0.78636965  0.04970023]

Pose Error in degrees for R and t:
53.769502133602224 60.91909494162441

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.9988882   0.04709606 -0.00207949]
 [-0.04706707  0.99881609  0.01229294]
 [ 0.00265598 -0.0121814   0.99992228]]

 t_estimated:
[[-0.9573176 ]
 [ 0.28880794]
 [ 0.01153189]]

 R_gt:
[[ 0.96670379 -0.25589081 -0.00199513]
 [ 0.25571405  0.96627157 -0.03048199]
 [ 0.00972726  0.02895772  0.99953355]]

 t_gt:
[ 0.86803232 -0.48717167 -0.0958314 ]

Pose Error in degrees for R and t:
17.690116545970184 13.397304242378967

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.99544656 -0.04895767 -0.08178805]
 [ 0.0573608   0.99294569  0.10377187]
 [ 0.07613066 -0.10799078  0.99123262]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.84461611 -0.53532202 -0.00736527]
 [ 0.53495568  0.84442053 -0.02785625]
 [ 0.02113067  0.01958908  0.99958459]]

 t_gt:
[ 0.92603665 -0.37498518 -0.04292128]

Pose Error in degrees for R and t:
30.44944324517312 68.27133738336488

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 9.99997379e-01  2.00963603e-03  1.09714206e-03]
 [-2.00886511e-03  9.99997735e-01 -7.03315539e-04]
 [-1.09855298e-03  7.01109685e-04  9.99999151e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.75266025 -0.65824194 -0.01480214]
 [ 0.65764841  0.75268106 -0.03112708]
 [ 0.03162974  0.01369406  0.99940579]]

 t_gt:
[ 0.94907264 -0.31285936 -0.0371502 ]

Pose Error in degrees for R and t:
41.31949150659409 18.545946735988576

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 7.72318008e-01 -6.35235684e-01 -7.21630289e-04]
 [ 6.35235736e-01  7.72318280e-01 -1.84333564e-04]
 [ 6.74423521e-04 -3.16041216e-04  9.99999723e-01]]

 t_estimated:
[[-0.400632  ]
 [-0.91623828]
 [-0.0011853 ]]

 R_gt:
[[ 0.97891741  0.20401923  0.00986482]
 [-0.20406817  0.97894764  0.00422992]
 [-0.0087944  -0.00615421  0.99994249]]

 t_gt:
[-0.73911196  0.67212461  0.04429473]

Pose Error in degrees for R and t:
51.21522690758541 71.35117183484311

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-9.96835366e-01  7.94936764e-02  8.90520765e-05]
 [-7.94936882e-02 -9.96833167e-01 -2.09527263e-03]
 [-7.77908608e-05 -2.09572094e-03  9.99997801e-01]]

 t_estimated:
[[0.56069439]
 [0.82802237]
 [0.00086795]]

 R_gt:
[[ 0.9013482   0.42853507  0.06268057]
 [-0.42732931  0.90352228 -0.03220943]
 [-0.0704371   0.00224633  0.99751395]]

 t_gt:
[-0.65313552  0.75271199  0.0826962 ]

Pose Error in degrees for R and t:
150.08516613727338 75.10047882825275

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.99921374  0.03580518  0.01702594]
 [ 0.03534963 -0.99902772  0.02634415]
 [ 0.01795265 -0.02572158 -0.99950793]]

 t_estimated:
[[0.15904712]
 [0.98727029]
 [0.00117813]]

 R_gt:
[[ 0.8189786   0.57111048  0.05574403]
 [-0.56860186  0.82076276 -0.05514569]
 [-0.07724777  0.01346693  0.99692067]]

 t_gt:
[-0.59348624  0.80305496  0.05363588]

Pose Error in degrees for R and t:
179.58766952696848 45.69295994343879

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[ 9.91834611e-01  1.27530751e-01 -1.06554930e-04]
 [-1.27530654e-01  9.91834411e-01  6.58526274e-04]
 [ 1.89667196e-04 -6.39560131e-04  9.99999777e-01]]

 t_estimated:
[[0.6911454 ]
 [0.72271485]
 [0.00112748]]

 R_gt:
[[ 0.99931221  0.013574    0.03450977]
 [-0.01178346  0.998599   -0.05157582]
 [-0.03516057  0.05113411  0.99807283]]

 t_gt:
[ 0.04626552  0.94516432 -0.32330158]

Pose Error in degrees for R and t:
7.5138106098503545 44.38171139039852

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[-0.1465685   0.98919982  0.00117922]
 [-0.98919998 -0.14656707 -0.00122372]
 [-0.00103767 -0.00134584  0.99999856]]

 t_estimated:
[[0.72374974]
 [0.69006169]
 [0.00108671]]

 R_gt:
[[ 0.99799206 -0.04960691  0.03939625]
 [ 0.05193241  0.99682277 -0.06038839]
 [-0.03627444  0.06231362  0.99739784]]

 t_gt:
[ 0.7289894  -0.6580983  -0.18836423]

Pose Error in degrees for R and t:
101.40096656124778 85.79801374416792

Number of keypoints:
Image1: 362
Image2: 362

 R_estimated:
[[-9.81823458e-01 -1.89784223e-01 -2.15531098e-03]
 [ 1.89786149e-01 -9.81825184e-01 -7.25435429e-04]
 [-1.97846240e-03 -1.12129769e-03  9.99997414e-01]]

 t_estimated:
[[0.83259438]
 [0.55388194]
 [0.00118098]]

 R_gt:
[[ 0.99713587 -0.07155194 -0.02451403]
 [ 0.07132714  0.99740323 -0.00992663]
 [ 0.02516151  0.00814983  0.99965052]]

 t_gt:
[ 0.66219806 -0.69353886 -0.28372095]

Pose Error in degrees for R and t:
164.96351270458732 80.39419348047909

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[-0.00510209 -0.99998481  0.00208424]
 [-0.99998141  0.00509509 -0.00335032]
 [ 0.00333965 -0.00210129 -0.99999222]]

 t_estimated:
[[0.90424811]
 [0.42700605]
 [0.00109209]]

 R_gt:
[[ 0.99786491  0.06217641  0.02000344]
 [-0.06226279  0.99805253  0.0036953 ]
 [-0.01973531 -0.00493288  0.99979309]]

 t_gt:
[-0.72547985  0.61172051  0.31539976]

Pose Error in degrees for R and t:
179.06098359831984 66.76763912370876

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 9.28092963e-01  3.72346854e-01 -1.12784123e-03]
 [-3.72347038e-01  9.28093573e-01  4.99696290e-05]
 [ 1.06534823e-03  3.73571882e-04  9.99999363e-01]]

 t_estimated:
[[-0.57302908]
 [ 0.81952975]
 [-0.00294174]]

 R_gt:
[[ 9.96015346e-01  6.87423729e-02  5.68059449e-02]
 [-6.86092440e-02  9.97634157e-01 -4.30515961e-03]
 [-5.69673832e-02  3.90638267e-04  9.98375582e-01]]

 t_gt:
[-0.71218989  0.447738    0.54066278]

Pose Error in degrees for R and t:
18.223726871466884 39.335317328495776

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 9.99801400e-01  1.99287422e-02  8.05198473e-05]
 [-1.99287492e-02  9.99801399e-01  8.67648867e-05]
 [-7.87747409e-05 -8.83523150e-05  9.99999993e-01]]

 t_estimated:
[[0.9959025 ]
 [0.09042652]
 [0.00111804]]

 R_gt:
[[ 0.99995904  0.0079083   0.00431876]
 [-0.00798284  0.99981669  0.017401  ]
 [-0.00418013 -0.01743473  0.9998391 ]]

 t_gt:
[-0.76354951 -0.56241354  0.3173061 ]

Pose Error in degrees for R and t:
1.2314435218122137 35.81377083704003

Number of keypoints:
Image1: 521
Image2: 521

 R_estimated:
[[ 9.99953287e-01  9.66562639e-03  5.86383147e-06]
 [-9.66562596e-03  9.99953284e-01 -6.82648755e-05]
 [-6.52338032e-06  6.82050090e-05  9.99999998e-01]]

 t_estimated:
[[ 1.84959711e-01]
 [-9.82745869e-01]
 [-6.80364962e-04]]

 R_gt:
[[ 0.99893263 -0.01663138 -0.04309815]
 [ 0.01695926  0.99982993  0.00727448]
 [ 0.04297087 -0.00799736  0.99904454]]

 t_gt:
[ 0.66105413 -0.4773144  -0.57894594]

Pose Error in degrees for R and t:
2.928865220432246 53.71934543436885

Number of keypoints:
Image1: 544
Image2: 544

 R_estimated:
[[ 9.99999805e-01 -6.24160870e-04  2.68921248e-05]
 [ 6.24162418e-04  9.99999804e-01 -5.75992797e-05]
 [-2.68561683e-05  5.76160535e-05  9.99999998e-01]]

 t_estimated:
[[ 3.23689635e-01]
 [-9.46163314e-01]
 [-5.46710287e-05]]

 R_gt:
[[ 0.99672468 -0.03585401 -0.07248415]
 [ 0.03844297  0.99865982  0.03465169]
 [ 0.07114489 -0.03732439  0.9967676 ]]

 t_gt:
[ 0.76147785 -0.56499709 -0.31769445]

Pose Error in degrees for R and t:
5.065094342341282 38.64049107509761

Number of keypoints:
Image1: 420
Image2: 420

 R_estimated:
[[ 9.99432012e-01  3.36993848e-02 -7.32287289e-05]
 [-3.36994023e-02  9.99431982e-01 -2.52594383e-04]
 [ 6.46748584e-05  2.54918677e-04  9.99999965e-01]]

 t_estimated:
[[-0.14536075]
 [-0.98937791]
 [-0.00126296]]

 R_gt:
[[ 0.99736113  0.01471673 -0.07109038]
 [-0.01072522  0.99836163  0.05620464]
 [ 0.07180281 -0.05529358  0.99588613]]

 t_gt:
[ 0.35284472 -0.88063803 -0.31619182]

Pose Error in degrees for R and t:
5.3417601659134695 34.875807974965106

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.15804966 -0.98742925 -0.00194302]
 [ 0.98742995 -0.15804608 -0.00187669]
 [ 0.00154601 -0.00221521  0.99999635]]

 t_estimated:
[[ 9.89030163e-01]
 [-1.47713690e-01]
 [ 4.86910561e-05]]

 R_gt:
[[ 0.98696698  0.14904217  0.06068775]
 [-0.1483476   0.98880897 -0.01583058]
 [-0.06236812  0.0066213   0.99803146]]

 t_gt:
[-0.42762711  0.84953738  0.30890336]

Pose Error in degrees for R and t:
107.70072180119925 56.74204224006078

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.89875985 -0.43843143  0.00293598]
 [ 0.43843764  0.89875948 -0.00195554]
 [-0.00178137  0.00304481  0.99999378]]

 t_estimated:
[[-4.93909842e-01]
 [-8.69512758e-01]
 [-7.95194747e-04]]

 R_gt:
[[ 0.94395667  0.32651205  0.04831587]
 [-0.32467689  0.9448864  -0.04213531]
 [-0.05941001  0.02408699  0.99794367]]

 t_gt:
[-0.34035636  0.93379924  0.11034735]

Pose Error in degrees for R and t:
45.15214926494254 49.91429677925937

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.82600442 -0.20785977 -0.52393799]
 [ 0.4011658   0.86975224  0.28739703]
 [ 0.39595795 -0.44757721  0.80180542]]

 t_estimated:
[[-0.78446454]
 [-0.58834841]
 [-0.19611614]]

 R_gt:
[[ 0.90076198  0.43059952  0.0566631 ]
 [-0.42762987  0.90212205 -0.05753013]
 [-0.07588957  0.02759062  0.9967354 ]]

 t_gt:
[-0.2743311   0.9563405   0.10077353]

Pose Error in degrees for R and t:
60.71956889746336 68.45562599859225

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[-6.33960075e-01  7.73358504e-01  3.35376896e-03]
 [ 7.73364479e-01  6.33960994e-01  9.17430004e-04]
 [-1.41665641e-03  3.17529978e-03 -9.99993955e-01]]

 t_estimated:
[[0.85673702]
 [0.51575269]
 [0.00092132]]

 R_gt:
[[ 0.9925077   0.12024083 -0.02171735]
 [-0.11886138  0.99130778  0.05639976]
 [ 0.02831031 -0.05339506  0.99817192]]

 t_gt:
[-0.40336447  0.89415826  0.1943659 ]

Pose Error in degrees for R and t:
177.49598305860027 83.35217231655673

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.48362874e-01 -3.17187274e-01 -3.04027254e-04]
 [ 3.17187327e-01  9.48362894e-01  1.43487084e-04]
 [ 2.42815889e-04 -2.32511416e-04  9.99999943e-01]]

 t_estimated:
[[-0.17410535]
 [-0.98472651]
 [-0.00101271]]

 R_gt:
[[ 0.94440847  0.31459866 -0.09550359]
 [-0.30636527  0.94749754  0.09159024]
 [ 0.11930397 -0.0572391   0.99120588]]

 t_gt:
[-0.25235121  0.96364373 -0.08780445]

Pose Error in degrees for R and t:
37.41355291440163 25.190058385600864

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.67359964 -0.73900226 -0.01179755]
 [-0.73884313 -0.67370086  0.01542632]
 [-0.01934811 -0.00167463 -0.99981141]]

 t_estimated:
[[0.70587414]
 [0.70832872]
 [0.00348012]]

 R_gt:
[[ 0.8897975   0.43955141 -0.12269862]
 [-0.42468662  0.89597048  0.12991712]
 [ 0.16703956 -0.06349037  0.98390441]]

 t_gt:
[-0.15214768  0.981562   -0.11570277]

Pose Error in degrees for R and t:
177.9294806472267 54.02240955854963

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.99995407  0.00884428 -0.00369392]
 [-0.0088226   0.999944    0.00584377]
 [ 0.0037454  -0.00581091  0.9999761 ]]

 t_estimated:
[[-0.98827203]
 [-0.14973819]
 [-0.02994764]]

 R_gt:
[[ 0.9970973  -0.07584457  0.00663186]
 [ 0.07594739  0.99696712 -0.01700884]
 [-0.00532125  0.01746365  0.99983325]]

 t_gt:
[ 0.7575543  -0.63985848 -0.12919984]

Pose Error in degrees for R and t:
5.066415631367913 49.53456086112542

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999995e-01 -1.03751237e-04  1.39921735e-05]
 [ 1.03751946e-04  9.99999993e-01 -5.06440589e-05]
 [-1.39869190e-05  5.06455104e-05  9.99999999e-01]]

 t_estimated:
[[9.70104343e-01]
 [2.42687503e-01]
 [5.82436739e-04]]

 R_gt:
[[ 0.99465727 -0.1027189  -0.01027092]
 [ 0.10236223  0.99427408 -0.03066707]
 [ 0.01336254  0.0294528   0.99947666]]

 t_gt:
[ 0.73974795 -0.6200066  -0.26146661]

Pose Error in degrees for R and t:
6.1654041508684845 55.45783610407746

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 9.94185884e-01  1.07677417e-01 -3.64101374e-05]
 [-1.07677408e-01  9.94185864e-01  2.07075215e-04]
 [ 5.84957683e-05 -2.01950707e-04  9.99999978e-01]]

 t_estimated:
[[9.68700927e-01]
 [2.48229613e-01]
 [7.56797600e-04]]

 R_gt:
[[ 0.97315266 -0.23009551 -0.00541412]
 [ 0.22973584  0.97252259 -0.03769606]
 [ 0.01393909  0.03544105  0.99927447]]

 t_gt:
[ 0.7965936  -0.58750711 -0.1423869 ]

Pose Error in degrees for R and t:
19.60042783478081 51.26520128267372

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.99999610e-01  8.79420369e-04  7.82826342e-05]
 [-8.79411545e-04  9.99999607e-01 -1.12687537e-04]
 [-7.83817031e-05  1.12618650e-04  9.99999991e-01]]

 t_estimated:
[[4.96372255e-03]
 [9.99987674e-01]
 [1.14203713e-04]]

 R_gt:
[[ 0.99709188  0.07100258  0.02768356]
 [-0.07148195  0.99730114  0.01671639]
 [-0.02642169 -0.01864744  0.99947681]]

 t_gt:
[-0.28813417  0.60003563  0.74628141]

Pose Error in degrees for R and t:
4.441217804316791 53.224349928262356

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.90540910e-01  1.37215569e-01  7.70111405e-04]
 [-1.37206039e-01  9.90514179e-01 -7.49428620e-03]
 [-1.79113901e-03  7.31773314e-03  9.99971621e-01]]

 t_estimated:
[[-0.9885475 ]
 [-0.15088654]
 [-0.00266396]]

 R_gt:
[[ 0.97763939  0.20734565  0.03507928]
 [-0.20920473  0.97589454  0.06215153]
 [-0.02134651 -0.06810082  0.9974495 ]]

 t_gt:
[-0.30786341  0.83652798  0.45325606]

Pose Error in degrees for R and t:
6.091686429110274 79.81021123080046

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 1.00000000e+00 -1.70646611e-11 -2.18720983e-14]
 [ 1.70662690e-11  1.00000000e+00  3.24963792e-14]
 [ 2.18279713e-14 -3.24960054e-14  1.00000000e+00]]

 t_estimated:
[[-9.99999663e-01]
 [-7.29990704e-04]
 [-3.74946140e-04]]

 R_gt:
[[ 0.96677223  0.253802    0.03059899]
 [-0.25466583  0.96660377  0.02869547]
 [-0.02229425 -0.03553489  0.99911918]]

 t_gt:
[-0.13821011  0.95432765  0.26487111]

Pose Error in degrees for R and t:
14.92860349943017 82.1017613749437

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-3.90323666e-02 -9.99237819e-01 -5.06329263e-04]
 [-9.99237935e-01  3.90322847e-02  1.70727168e-04]
 [-1.50833855e-04  5.12607293e-04 -9.99999857e-01]]

 t_estimated:
[[0.79424755]
 [0.60759294]
 [0.00128727]]

 R_gt:
[[ 0.99196221  0.12558511 -0.0154987 ]
 [-0.12532835  0.99197753  0.01658121]
 [ 0.01745616 -0.01450541  0.99974194]]

 t_gt:
[-0.13882772  0.98948353 -0.04061047]

Pose Error in degrees for R and t:
179.9044022567397 60.601078874033824

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.42482540e-01  3.34255158e-01  3.89237657e-04]
 [-3.34255093e-01  9.42482617e-01 -2.24210838e-04]
 [-4.41793355e-04  8.12101308e-05  9.99999899e-01]]

 t_estimated:
[[0.78723765]
 [0.61664843]
 [0.00126362]]

 R_gt:
[[ 0.98857471  0.15071557  0.00233269]
 [-0.15069787  0.98855957 -0.0064686 ]
 [-0.00328072  0.00604285  0.99997641]]

 t_gt:
[-0.01707714  0.99962557 -0.02137982]

Pose Error in degrees for R and t:
10.865588249022277 52.918763915262566

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 1.67507863e-01  9.85870398e-01  8.20809268e-04]
 [-9.85869182e-01  1.67509021e-01 -1.63833171e-03]
 [-1.75267569e-03 -5.34777118e-04  9.99998321e-01]]

 t_estimated:
[[0.19552053]
 [0.98069863]
 [0.00138709]]

 R_gt:
[[ 0.9912949   0.12540983  0.0400951 ]
 [-0.12333744  0.99107739 -0.05054015]
 [-0.04607557  0.04515505  0.99791674]]

 t_gt:
[0.09592627 0.99279655 0.07178548]

Pose Error in degrees for R and t:
73.28017304197276 7.026656639117662

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 9.99895404e-01  1.44631055e-02 -2.21689025e-05]
 [-1.44631052e-02  9.99895404e-01  1.36566507e-05]
 [ 2.23641013e-05 -1.33345911e-05  1.00000000e+00]]

 t_estimated:
[[-9.94954086e-01]
 [-1.00331267e-01]
 [-5.26380461e-05]]

 R_gt:
[[ 0.99934597  0.03598329 -0.00373453]
 [-0.03593731  0.99928851  0.01148058]
 [ 0.00414482 -0.01133826  0.99992645]]

 t_gt:
[-0.81189551  0.57847469  0.07869373]

Pose Error in degrees for R and t:
1.4121706641084242 41.43079547836658

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.94911752e-01 -1.00750211e-01 -1.20611786e-05]
 [ 1.00750212e-01  9.94911751e-01  5.86743512e-05]
 [ 6.08835507e-06 -5.95909679e-05  9.99999998e-01]]

 t_estimated:
[[-0.68863095]
 [-0.7251115 ]
 [-0.00085264]]

 R_gt:
[[ 0.99826473  0.04803444  0.03407062]
 [-0.04780478  0.99882842 -0.0075085 ]
 [-0.03439227  0.00586806  0.99939117]]

 t_gt:
[-0.80520472  0.41039272  0.42804575]

Pose Error in degrees for R and t:
8.760848650340492 75.13493955700923

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.87448719e-01 -1.57939752e-01 -2.48176246e-04]
 [ 1.57939882e-01  9.87448520e-01  6.43222280e-04]
 [ 1.43470899e-04 -6.74345944e-04  9.99999762e-01]]

 t_estimated:
[[-0.0053514 ]
 [-0.9999851 ]
 [-0.00107521]]

 R_gt:
[[ 0.99854424  0.0384498   0.03784041]
 [-0.03832441  0.99925754 -0.00403207]
 [-0.03796791  0.00257702  0.99927535]]

 t_gt:
[-0.86625369  0.13266726  0.48166788]

Pose Error in degrees for R and t:
11.49893205239306 82.61433349408159

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99573949  0.09220242 -0.00125972]
 [-0.09220015  0.99573895  0.00175633]
 [ 0.00141629 -0.0016327   0.99999766]]

 t_estimated:
[[9.77461337e-01]
 [2.11113089e-01]
 [7.73308020e-04]]

 R_gt:
[[ 9.48144717e-01 -3.17277653e-01 -1.89030334e-02]
 [ 3.17339519e-01  9.48311565e-01  3.23426258e-04]
 [ 1.78232590e-02 -6.30422069e-03  9.99820850e-01]]

 t_gt:
[ 0.8650586  -0.50132921 -0.01851071]

Pose Error in degrees for R and t:
23.81259999166686 42.29329399057559

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.98829543  0.1524894   0.00437388]
 [-0.15244145  0.98826438 -0.00975339]
 [-0.00580984  0.00897247  0.99994287]]

 t_estimated:
[[-9.35347745e-01]
 [-3.53728721e-01]
 [-7.67307420e-04]]

 R_gt:
[[ 0.89758838 -0.44038202 -0.0199757 ]
 [ 0.44056041  0.89770739  0.00536597]
 [ 0.01556853 -0.01361665  0.9997861 ]]

 t_gt:
[ 0.89120457 -0.45359722  0.00199308]

Pose Error in degrees for R and t:
34.94932086593724 47.690328826703926

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.99212676  0.12520063  0.00304732]
 [-0.12517999  0.99211456 -0.00621858]
 [-0.00380186  0.00578816  0.99997602]]

 t_estimated:
[[-0.39935646]
 [-0.91679487]
 [-0.00126126]]

 R_gt:
[[ 0.90056779 -0.43350265 -0.03245103]
 [ 0.43291457  0.90112297 -0.02372005]
 [ 0.03952621  0.0073136   0.99919153]]

 t_gt:
[ 0.88682064 -0.45754979 -0.06478684]

Pose Error in degrees for R and t:
32.95817589355108 86.24998104157902

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.98471972e-01 -5.52584672e-02 -4.72260615e-04]
 [ 5.52586186e-02  9.98472026e-01  3.13863638e-04]
 [ 4.54195390e-04 -3.39480515e-04  9.99999839e-01]]

 t_estimated:
[[0.24804552]
 [0.96874521]
 [0.0024776 ]]

 R_gt:
[[ 0.98526042  0.17104906  0.00225529]
 [-0.17095792  0.98502904 -0.02216919]
 [-0.00601369  0.02145728  0.99975157]]

 t_gt:
[-0.39387473  0.91777523 -0.05051061]

Pose Error in degrees for R and t:
13.079573794081837 37.695987884927554

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.3246592   0.94578485  0.00935013]
 [-0.94582261  0.32468223 -0.00101783]
 [-0.00399847 -0.00851311  0.99995577]]

 t_estimated:
[[0.07063493]
 [0.99748188]
 [0.00637239]]

 R_gt:
[[ 0.96987849  0.24343392  0.00873098]
 [-0.2430491   0.96948948 -0.03189208]
 [-0.01622857  0.0288095   0.99945306]]

 t_gt:
[-0.3345395   0.94191594 -0.02962573]

Pose Error in degrees for R and t:
57.00553593578786 23.691084975275785

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-9.91390792e-01 -1.30594671e-01 -9.45139651e-03]
 [-1.30596445e-01  9.91435516e-01 -4.31859525e-04]
 [ 9.42684873e-03  8.06177228e-04 -9.99955241e-01]]

 t_estimated:
[[ 0.999628  ]
 [ 0.02696717]
 [-0.00407888]]

 R_gt:
[[ 0.9428178   0.33324968  0.00618814]
 [-0.33167326  0.93987115 -0.08145677]
 [-0.03296119  0.07474667  0.99665784]]

 t_gt:
[-0.27502724  0.96013188 -0.05006781]

Pose Error in degrees for R and t:
179.69429293523174 75.59179016980723

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-0.97960591 -0.20089997 -0.00338478]
 [ 0.20090868 -0.97960688 -0.00246238]
 [-0.00282106 -0.00309219  0.99999124]]

 t_estimated:
[[0.87508789]
 [0.48396165]
 [0.00152189]]

 R_gt:
[[ 0.98350091  0.17153738 -0.05746444]
 [-0.17039389  0.98507725  0.02427327]
 [ 0.06077134 -0.01408179  0.9980515 ]]

 t_gt:
[-0.34444244  0.92199296 -0.17688523]

Pose Error in degrees for R and t:
178.25982566452274 81.6903633629746

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 7.85588593e-01 -6.18749076e-01  3.80108634e-04]
 [ 6.18748365e-01  7.85588398e-01  1.15298759e-03]
 [-1.01201894e-03 -6.70582302e-04  9.99999263e-01]]

 t_estimated:
[[0.69832356]
 [0.71578165]
 [0.00091885]]

 R_gt:
[[ 0.94085581  0.31550735 -0.12347549]
 [-0.30897034  0.94853447  0.06942984]
 [ 0.13902603 -0.02717387  0.98991538]]

 t_gt:
[-0.16074977  0.96565709 -0.20412225]

Pose Error in degrees for R and t:
57.0534177407694 54.63685578550221

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-9.99627832e-01  2.72753304e-02 -5.04593879e-04]
 [-2.72725210e-02 -9.99615920e-01 -4.92164538e-03]
 [-6.38639578e-04 -4.90605215e-03  9.99987761e-01]]

 t_estimated:
[[0.82766304]
 [0.56122357]
 [0.00141723]]

 R_gt:
[[ 0.85987878  0.49239588 -0.13474096]
 [-0.47949374  0.86959623  0.11785062]
 [ 0.17519969 -0.03672987  0.98384702]]

 t_gt:
[-0.12993262  0.9782517  -0.16168221]

Pose Error in degrees for R and t:
149.2561442108862 63.816442778670705

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999695e-01 -7.64265700e-04 -1.60186148e-04]
 [ 7.64261449e-04  9.99999708e-01 -2.65976915e-05]
 [ 1.60206429e-04  2.64752593e-05  9.99999987e-01]]

 t_estimated:
[[-0.93470954]
 [-0.3554104 ]
 [-0.00123806]]

 R_gt:
[[ 0.98851245  0.15014738  0.01729625]
 [-0.15033291  0.9885856   0.00999613]
 [-0.0155974  -0.01248147  0.99980027]]

 t_gt:
[-0.62087508  0.77637228  0.10844453]

Pose Error in degrees for R and t:
8.761444378680396 72.2855799935735

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.00000000e+00  1.10078613e-13  1.24943458e-15]
 [-1.09912079e-13  1.00000000e+00 -1.94793183e-15]
 [-1.24997668e-15  1.94879919e-15  1.00000000e+00]]

 t_estimated:
[[-8.40084852e-01]
 [-5.42454511e-01]
 [-7.38948527e-04]]

 R_gt:
[[ 0.97560352  0.21855902 -0.02075289]
 [-0.21883305  0.97568776 -0.01207423]
 [ 0.01760913  0.01632148  0.99971141]]

 t_gt:
[-0.54090387  0.83671663 -0.08560543]

Pose Error in degrees for R and t:
12.708649746631997 89.9663274765119

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999980e-01 -9.02433990e-06 -2.00406227e-04]
 [ 9.07762243e-06  9.99999965e-01  2.65873280e-04]
 [ 2.00403820e-04 -2.65875094e-04  9.99999945e-01]]

 t_estimated:
[[0.13245736]
 [0.99118779]
 [0.00134337]]

 R_gt:
[[ 0.9524154   0.30392129  0.02318818]
 [-0.30243244  0.95173842 -0.0522318 ]
 [-0.03794245  0.04273363  0.99836557]]

 t_gt:
[-0.49780606  0.86727647  0.00454401]

Pose Error in degrees for R and t:
17.966292950170658 37.46718326372453

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.78027119  0.54195519  0.31218814]
 [-0.62032812 -0.73428584 -0.2757124 ]
 [ 0.07981157 -0.40878953  0.90913213]]

 t_estimated:
[[0.65977615]
 [0.75146166]
 [0.00089888]]

 R_gt:
[[ 0.99466964 -0.10311437 -0.00142121]
 [ 0.10311075  0.99466838 -0.00218888]
 [ 0.00163984  0.00203102  0.99999659]]

 t_gt:
[ 0.85185979 -0.52371802 -0.00737142]

Pose Error in degrees for R and t:
149.18990757551896 80.30076988263934

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99998449e-01  1.75387139e-03  1.63894223e-04]
 [-1.75389597e-03  9.99998451e-01  1.49966530e-04]
 [-1.63630947e-04 -1.50253751e-04  9.99999975e-01]]

 t_estimated:
[[9.99944946e-01]
 [1.04639118e-02]
 [7.81646035e-04]]

 R_gt:
[[ 0.98725514 -0.15898739  0.00709682]
 [ 0.15892324  0.98725155  0.00889997]
 [-0.00842217 -0.00765831  0.99993549]]

 t_gt:
[ 0.86532974 -0.49595946  0.07230943]

Pose Error in degrees for R and t:
9.268906383229726 30.666689150164117

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99732367e-01  2.31332049e-02  2.22976827e-04]
 [-2.31332189e-02  9.99732389e-01  6.01067910e-05]
 [-2.21526694e-04 -6.52488762e-05  9.99999973e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99709661 -0.07181456  0.02533828]
 [ 0.07206766  0.99735744 -0.00922394]
 [-0.02460865  0.01102387  0.99963647]]

 t_gt:
[ 0.97719539 -0.11740219  0.17693471]

Pose Error in degrees for R and t:
5.663260481280726 12.322048885701129

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[-0.73397304 -0.67914692 -0.00656075]
 [ 0.67875301 -0.7338208   0.02830894]
 [-0.02404034  0.01632487  0.99957769]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99792261  0.00842859 -0.06387386]
 [-0.00603241  0.99927337  0.03762703]
 [ 0.06414494 -0.03716462  0.99724812]]

 t_gt:
[-0.44576749 -0.51134122 -0.73472546]

Pose Error in degrees for R and t:
137.70553452981437 48.43238073516852

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 0.93051903 -0.36623114 -0.00301539]
 [ 0.36623781  0.930519    0.00206231]
 [ 0.0020506  -0.00302337  0.99999333]]

 t_estimated:
[[0.85064827]
 [0.52572254]
 [0.00365085]]

 R_gt:
[[ 0.99139588 -0.05677305 -0.11795277]
 [ 0.06392467  0.99628155  0.05776633]
 [ 0.11423391 -0.06481017  0.99133695]]

 t_gt:
[ 0.16331699 -0.86686692 -0.47103005]

Pose Error in degrees for R and t:
19.43745257435553 71.42620353284092

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.99994191e-01  3.40831454e-03  3.13747430e-05]
 [-3.40831499e-03  9.99994192e-01  1.43989175e-05]
 [-3.13254848e-05 -1.45057689e-05  9.99999999e-01]]

 t_estimated:
[[ 7.11680783e-01]
 [-7.02502724e-01]
 [-6.20731490e-04]]

 R_gt:
[[ 0.98780621 -0.11268081 -0.10744055]
 [ 0.11797498  0.99203031  0.04424578]
 [ 0.10159823 -0.05638235  0.9932266 ]]

 t_gt:
[ 0.29458097 -0.90667933 -0.30191826]

Pose Error in degrees for R and t:
9.553800937554271 32.1368762371509

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.86526502e-01  1.63601520e-01  5.57878168e-05]
 [-1.63601499e-01  9.86526468e-01 -2.79145128e-04]
 [-1.00704725e-04  2.66257097e-04  9.99999959e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99573765  0.07931717 -0.04706448]
 [-0.07961612  0.99681508 -0.00449409]
 [ 0.04655832  0.00822128  0.99888161]]

 t_gt:
[-0.58719331  0.61110052 -0.53081087]

Pose Error in degrees for R and t:
5.561506904943701 54.14705402756869

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-9.20176402e-01 -3.91499437e-01  1.89222461e-03]
 [-3.91499171e-01  9.20178311e-01  5.24206178e-04]
 [-1.94641047e-03 -2.58442214e-04 -9.99998072e-01]]

 t_estimated:
[[0.97632021]
 [0.21632193]
 [0.00191435]]

 R_gt:
[[ 0.99715112  0.06657977 -0.03543885]
 [-0.06603986  0.99768499  0.01620299]
 [ 0.03643614 -0.01381658  0.9992404 ]]

 t_gt:
[-0.69982291  0.58300901 -0.41273283]

Pose Error in degrees for R and t:
178.26454772198304 56.087668642438324

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.34509522  0.89268599  0.28986377]
 [ 0.93342738 -0.29414952 -0.20540054]
 [-0.0980949   0.34144953 -0.93476714]]

 t_estimated:
[[0.99362448]
 [0.11272887]
 [0.00161041]]

 R_gt:
[[ 0.99791085 -0.0482742  -0.04293476]
 [ 0.04971271  0.99821467  0.03310935]
 [ 0.04126005 -0.03517576  0.99852899]]

 t_gt:
[ 0.7027168  -0.70796957 -0.07048537]

Pose Error in degrees for R and t:
163.19977623954705 51.806845706000985

Number of keypoints:
Image1: 431
Image2: 431

 R_estimated:
[[ 9.99015593e-01 -4.43604004e-02 -7.47328876e-07]
 [ 4.43604002e-02  9.99015589e-01  9.21151921e-05]
 [-3.33967360e-06 -9.20576650e-05  9.99999996e-01]]

 t_estimated:
[[3.47645558e-02]
 [9.99395525e-01]
 [1.02796223e-04]]

 R_gt:
[[ 0.99877865 -0.03405551  0.03579317]
 [ 0.03661408  0.99662721 -0.07343757]
 [-0.03317027  0.07465811  0.99665677]]

 t_gt:
[ 0.58931468  0.62971462 -0.50613013]

Pose Error in degrees for R and t:
4.71921439398853 49.475796740554706

Number of keypoints:
Image1: 306
Image2: 306

 R_estimated:
[[-1.64886769e-01 -9.86310520e-01 -1.97769709e-03]
 [ 9.86312456e-01 -1.64885813e-01 -6.37942309e-04]
 [ 3.03115017e-04 -2.05581552e-03  9.99997841e-01]]

 t_estimated:
[[0.95793934]
 [0.2869689 ]
 [0.00103226]]

 R_gt:
[[ 0.99959198 -0.02837838  0.0030424 ]
 [ 0.02851431  0.98840045 -0.14916863]
 [ 0.00122657  0.14919465  0.98880701]]

 t_gt:
[ 0.35848637  0.71901537 -0.59540274]

Pose Error in degrees for R and t:
98.13729103913316 56.69274598693724

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-9.95100839e-01  9.88522597e-02  1.59744603e-03]
 [ 9.88644074e-02  9.95026598e-01  1.21613013e-02]
 [-3.87329172e-04  1.22596517e-02 -9.99924773e-01]]

 t_estimated:
[[0.84204001]
 [0.53941383]
 [0.00115506]]

 R_gt:
[[ 9.99224020e-01  7.40407730e-04  3.93801880e-02]
 [ 7.56171448e-03  9.77616554e-01 -2.10257970e-01]
 [-3.86536676e-02  2.10391847e-01  9.76852442e-01]]

 t_gt:
[ 0.15194349  0.81002976 -0.56636116]

Pose Error in degrees for R and t:
177.09629488511885 55.65119114547359

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.66935682e-01  2.55020033e-01  4.11096480e-04]
 [-2.55020122e-01  9.66935730e-01  1.79649002e-04]
 [-3.51689781e-04 -2.78546905e-04  9.99999899e-01]]

 t_estimated:
[[0.02740482]
 [0.99962357]
 [0.00130499]]

 R_gt:
[[ 0.98744045 -0.15455426 -0.03278168]
 [ 0.15611817  0.98635816  0.05221099]
 [ 0.02426519 -0.05667277  0.99809849]]

 t_gt:
[ 0.7934408  -0.57577289  0.1973253 ]

Pose Error in degrees for R and t:
23.977502780990356 56.38878776833108

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-3.41922788e-01  9.39716345e-01  4.69026445e-03]
 [ 9.39727986e-01  3.41916673e-01  2.07374348e-03]
 [ 3.45051023e-04  5.11663292e-03 -9.99986850e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.91949993 -0.39018401 -0.04772167]
 [ 0.39188707  0.91939862  0.03364783]
 [ 0.03074658 -0.04964111  0.99829383]]

 t_gt:
[ 0.89670546 -0.43835653  0.06134229]

Pose Error in degrees for R and t:
176.921320638128 59.1111304622166

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.36963648  0.92858111 -0.03325644]
 [ 0.89483761 -0.34610783  0.28191313]
 [ 0.25026889 -0.13396449 -0.95886339]]

 t_estimated:
[[8.40431351e-01]
 [5.41917483e-01]
 [7.65420174e-04]]

 R_gt:
[[ 0.80006812 -0.59926559  0.02779045]
 [ 0.59983929  0.79840342 -0.05240749]
 [ 0.00921812  0.05860004  0.99823916]]

 t_gt:
[ 0.95158868 -0.29161629 -0.0971541 ]

Pose Error in degrees for R and t:
171.6352693862465 50.08588302012809

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 9.99842153e-01 -1.77671022e-02  3.72666258e-06]
 [ 1.77671021e-02  9.99842152e-01  2.12406468e-05]
 [-4.10345908e-06 -2.11710821e-05  1.00000000e+00]]

 t_estimated:
[[ 0.30633199]
 [-0.9519241 ]
 [-0.00110426]]

 R_gt:
[[ 0.99829646 -0.05456013  0.02069167]
 [ 0.05413759  0.99832473  0.02042199]
 [-0.02177183 -0.0192672   0.99957703]]

 t_gt:
[ 0.75868971 -0.39219991  0.52016262]

Pose Error in degrees for R and t:
2.67828369306093 52.75812630989464

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 0.81441826  0.58025341  0.00537371]
 [ 0.58008783 -0.81435329  0.01807859]
 [ 0.01486626 -0.01160631 -0.99982213]]

 t_estimated:
[[0.81266937]
 [0.58272423]
 [0.00098267]]

 R_gt:
[[ 0.99906058 -0.0231319  -0.0366385 ]
 [ 0.02258406  0.99962706 -0.01528396]
 [ 0.03697788  0.01444206  0.99921085]]

 t_gt:
[ 0.7021269   0.41296419 -0.58006757]

Pose Error in degrees for R and t:
179.280329091685 35.83843312612925

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-0.87926542 -0.47631465 -0.00408458]
 [ 0.47629717 -0.87927244  0.00458036]
 [-0.00577315  0.00208188  0.99998117]]

 t_estimated:
[[0.97885657]
 [0.20453719]
 [0.00208711]]

 R_gt:
[[ 0.99057692  0.04374452 -0.12978315]
 [-0.06075521  0.98963088 -0.13014663]
 [ 0.1227445   0.13680551  0.98296327]]

 t_gt:
[ 0.0510669   0.63055513 -0.77446265]

Pose Error in degrees for R and t:
154.71936887794774 79.78497915321958

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.90797888e-01  1.35349629e-01  1.51535241e-04]
 [-1.35349594e-01  9.90797879e-01 -2.26224828e-04]
 [-1.80760242e-04  2.03632848e-04  9.99999963e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075946e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99896796 -0.02633865  0.0370143 ]
 [ 0.02808339  0.99847989 -0.04742802]
 [-0.03570836  0.04841826  0.99818796]]

 t_gt:
[ 0.94965492  0.04471946 -0.31008984]

Pose Error in degrees for R and t:
9.949361621013384 18.277565050129947

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.89070323 -0.45458205 -0.00170921]
 [ 0.45458411 -0.89070314 -0.00109902]
 [-0.0010228  -0.00175588  0.99999794]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99475253  0.07729037  0.06704017]
 [-0.07417057  0.99609604 -0.04785809]
 [-0.0704771   0.04263457  0.99660151]]

 t_gt:
[-0.02009684  0.99778538  0.06340703]

Pose Error in degrees for R and t:
157.3368394031414 89.0285784669901

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999897e-01  4.54712787e-04  4.61387091e-06]
 [-4.54712599e-04  9.99999896e-01 -4.07901146e-05]
 [-4.63241821e-06  4.07880124e-05  9.99999999e-01]]

 t_estimated:
[[ 4.46867986e-01]
 [-8.94599911e-01]
 [ 5.35310233e-05]]

 R_gt:
[[ 0.98158329  0.16423454  0.09758366]
 [-0.15349784  0.98212746 -0.10891809]
 [-0.11372676  0.09193338  0.98924923]]

 t_gt:
[-0.14214095  0.98959313  0.02239172]

Pose Error in degrees for R and t:
12.430799707383024 18.412528655839623

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.97683097e-01  6.80306084e-02  5.23589890e-04]
 [-6.80298972e-02  9.97682470e-01 -1.27367165e-03]
 [-6.09025112e-04  1.23510091e-03  9.99999052e-01]]

 t_estimated:
[[0.79167214]
 [0.61094301]
 [0.00196445]]

 R_gt:
[[ 0.9936987   0.10068059  0.04926801]
 [-0.09931784  0.99462269 -0.02937545]
 [-0.05196128  0.02429716  0.99835358]]

 t_gt:
[-0.36151919  0.92662177  0.10332455]

Pose Error in degrees for R and t:
3.7149623796218583 73.73314604938317

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.77867393e-01  2.09225219e-01 -4.12670721e-04]
 [-2.09224356e-01  9.77866427e-01  1.55545780e-03]
 [ 7.28977842e-04 -1.43469070e-03  9.99998705e-01]]

 t_estimated:
[[-9.80422304e-01]
 [-1.96905267e-01]
 [-6.49255559e-04]]

 R_gt:
[[ 0.97598903  0.2110642   0.05382987]
 [-0.20918036  0.9771162  -0.03857068]
 [-0.06073889  0.02638427  0.99780508]]

 t_gt:
[-0.30819699  0.94901841  0.06617153]

Pose Error in degrees for R and t:
3.8689452524970562 83.38175224595028

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-9.50960284e-01 -3.09312761e-01 -3.91751637e-04]
 [-3.09310058e-01  9.50955981e-01 -3.16388742e-03]
 [ 1.35116931e-03 -2.88755856e-03 -9.99994918e-01]]

 t_estimated:
[[9.50963626e-01]
 [3.09301714e-01]
 [7.95120088e-04]]

 R_gt:
[[ 0.93738373  0.34624152  0.03779494]
 [-0.3427759   0.93632053 -0.07621562]
 [-0.06177734  0.05848741  0.9963752 ]]

 t_gt:
[-0.25100211  0.96753606 -0.02952819]

Pose Error in degrees for R and t:
177.76910149043243 86.52900729920611

Number of keypoints:
Image1: 392
Image2: 392

 R_estimated:
[[ 5.57995256e-01 -8.29843379e-01 -1.12224614e-03]
 [ 8.29844044e-01  5.57995328e-01  2.77178548e-04]
 [ 3.96193320e-04 -1.08595359e-03  9.99999332e-01]]

 t_estimated:
[[ 9.47403531e-01]
 [-3.20041336e-01]
 [ 3.04538077e-04]]

 R_gt:
[[ 0.99936155 -0.01557708 -0.03217743]
 [ 0.01255805  0.99568115 -0.0919848 ]
 [ 0.03347164  0.09152205  0.9952398 ]]

 t_gt:
[ 0.36260578  0.60562783 -0.70833042]

Pose Error in degrees for R and t:
55.53741778038042 81.40249156716543

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[-0.13519008 -0.9902109  -0.03472785]
 [ 0.98963572 -0.1366585   0.04410892]
 [-0.04842299 -0.02840483  0.99842295]]

 t_estimated:
[[ 0.55449992]
 [-0.83038937]
 [ 0.05461993]]

 R_gt:
[[ 0.99995359  0.00615939  0.0075122 ]
 [-0.00485763  0.98671677 -0.16237295]
 [-0.00841213  0.16232959  0.98670033]]

 t_gt:
[ 0.10086442  0.74672926 -0.65743576]

Pose Error in degrees for R and t:
98.84186504850334 53.12610442362958

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 0.99765372 -0.06671495  0.01536771]
 [ 0.06703489  0.99752239 -0.02134006]
 [-0.01390593  0.02232016  0.99965416]]

 t_estimated:
[[-0.78801482]
 [-0.61563658]
 [-0.00492509]]

 R_gt:
[[ 0.99832017  0.05787572 -0.00280051]
 [-0.05750644  0.98370623 -0.1703364 ]
 [-0.00710353  0.17021165  0.98538133]]

 t_gt:
[ 0.02977487  0.84978561 -0.52628688]

Pose Error in degrees for R and t:
11.17773147410066 57.041589067933515

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.97579489e-01  6.95352712e-02  9.94759963e-05]
 [-6.95352754e-02  9.97579493e-01  3.89027028e-05]
 [-9.65301040e-05 -4.57256291e-05  9.99999994e-01]]

 t_estimated:
[[8.58282596e-01]
 [5.13176800e-01]
 [7.46982242e-04]]

 R_gt:
[[ 0.99414761 -0.10725962  0.0129187 ]
 [ 0.10729389  0.99422502 -0.00201591]
 [-0.01262769  0.00338916  0.99991354]]

 t_gt:
[ 0.82703852 -0.55655407  0.07908757]

Pose Error in degrees for R and t:
10.17322156750708 64.89482526488183

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.96515579e-01 -8.34015408e-02  9.40289690e-04]
 [ 8.34021669e-02  9.96515760e-01 -6.47446265e-04]
 [-8.83015478e-04  7.23612487e-04  9.99999348e-01]]

 t_estimated:
[[-0.50540288]
 [-0.86288297]
 [-0.00094822]]

 R_gt:
[[ 0.98448044 -0.17314266  0.02865451]
 [ 0.17290857  0.98488224  0.01046238]
 [-0.03003278 -0.00534626  0.99953377]]

 t_gt:
[ 0.85845362 -0.48496206  0.16694064]

Pose Error in degrees for R and t:
5.456300227405921 89.10857189026208

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 5.40586724e-01  8.41288285e-01  1.22942532e-04]
 [-8.41287719e-01  5.40586520e-01 -1.09056686e-03]
 [-9.83942199e-04  4.86115923e-04  9.99999398e-01]]

 t_estimated:
[[-0.99963151]
 [-0.02711701]
 [-0.00123259]]

 R_gt:
[[ 0.98762491 -0.15654675  0.0095612 ]
 [ 0.15643466  0.98762111  0.01151156]
 [-0.0112451  -0.00987395  0.9998874 ]]

 t_gt:
[ 0.9218322  -0.36481251  0.13090924]

Pose Error in degrees for R and t:
66.2852884445416 24.250111668914013

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-0.98724251  0.15921842  0.00131336]
 [ 0.15921325  0.98723841 -0.00338477]
 [-0.00183552 -0.00313249 -0.99999341]]

 t_estimated:
[[ 0.97563032]
 [-0.21939669]
 [ 0.00325252]]

 R_gt:
[[ 0.99653402 -0.08304352  0.0049066 ]
 [ 0.08311883  0.99637896 -0.01788104]
 [-0.00340417  0.01822733  0.99982833]]

 t_gt:
[ 0.85672855 -0.50186158 -0.1189586 ]

Pose Error in degrees for R and t:
179.5998744863444 18.990912653711543

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-2.49251846e-01 -9.68438610e-01 -4.19726123e-04]
 [-9.68438605e-01  2.49251991e-01 -3.37666010e-04]
 [ 4.31626373e-04  3.22315104e-04 -9.99999855e-01]]

 t_estimated:
[[8.21329078e-01]
 [5.70454225e-01]
 [7.23043432e-04]]

 R_gt:
[[ 0.97929282 -0.20237011  0.00563951]
 [ 0.20233285  0.97929399  0.00670226]
 [-0.00687958 -0.00542241  0.99996181]]

 t_gt:
[ 0.86121074 -0.50579706  0.04985382]

Pose Error in degrees for R and t:
179.53625929761682 65.23866440951298

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.26600237e-01  3.76047385e-01  6.05117677e-04]
 [-3.76047269e-01  9.26600433e-01 -2.99370828e-04]
 [-6.73279918e-04  4.98442302e-05  9.99999772e-01]]

 t_estimated:
[[0.76446072]
 [0.64466904]
 [0.00128009]]

 R_gt:
[[ 0.98202638 -0.1872917   0.02336108]
 [ 0.18695587  0.98224051  0.01586117]
 [-0.02591661 -0.01120885  0.9996008 ]]

 t_gt:
[ 0.87540214 -0.46251263  0.14054595]

Pose Error in degrees for R and t:
32.91356897599678 68.20894387368566

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.71364858  0.69996626  0.02743964]
 [ 0.69998075  0.7140819  -0.01067698]
 [-0.02706767  0.01158761 -0.99956644]]

 t_estimated:
[[ 0.92764781]
 [-0.37315454]
 [ 0.01500753]]

 R_gt:
[[ 9.96900148e-01 -7.24509757e-02 -3.06755557e-02]
 [ 7.24817100e-02  9.97370095e-01 -1.53245013e-04]
 [ 3.06061465e-02 -2.07004046e-03  9.99530043e-01]]

 t_gt:
[ 0.4506328  -0.86212901 -0.23165416]

Pose Error in degrees for R and t:
179.9451233518476 42.586264865887884

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.85508011e-01 -1.69628889e-01 -1.41332273e-05]
 [ 1.69628888e-01  9.85507982e-01  2.39420701e-04]
 [-2.66842593e-05 -2.38348422e-04  9.99999971e-01]]

 t_estimated:
[[ 9.26620671e-01]
 [-3.75997349e-01]
 [ 3.53549974e-04]]

 R_gt:
[[ 0.99325458 -0.11405242 -0.02092331]
 [ 0.11392597  0.99346386 -0.00715397]
 [ 0.02160277  0.00472197  0.99975584]]

 t_gt:
[ 0.46397266 -0.87431955 -0.14245947]

Pose Error in degrees for R and t:
3.461437491300045 40.65747417867186

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.32329239 -0.89726645 -0.30065753]
 [-0.85559694  0.14142508  0.49794861]
 [-0.40427207  0.41822466 -0.81342008]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.97948725 -0.20150558 -0.00135161]
 [ 0.20149725  0.97932265  0.01809287]
 [-0.00232185 -0.01799359  0.99983542]]

 t_gt:
[ 0.48275521 -0.86959471  0.10369397]

Pose Error in degrees for R and t:
171.9338464374799 75.44497589730145

Number of keypoints:
Image1: 306
Image2: 306

 R_estimated:
[[-0.9235363   0.38191444 -0.03495805]
 [ 0.38188671  0.92417682  0.00772996]
 [ 0.03525961 -0.00621111 -0.99935889]]

 t_estimated:
[[ 0.98031783]
 [-0.19663212]
 [-0.01768489]]

 R_gt:
[[ 0.99625114  0.08639006  0.00440275]
 [-0.08637364  0.99625551 -0.00380149]
 [-0.00471473  0.00340711  0.99998255]]

 t_gt:
[-0.97792984  0.2070591  -0.02792398]

Pose Error in degrees for R and t:
178.24451677808545 2.6843513122102336

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[ 9.98076389e-01 -6.19960810e-02 -9.15070014e-05]
 [ 6.19960893e-02  9.98076388e-01  9.13180516e-05]
 [ 8.56696162e-05 -9.68154674e-05  9.99999992e-01]]

 t_estimated:
[[-9.98625453e-01]
 [ 5.24074027e-02]
 [-8.18211519e-04]]

 R_gt:
[[ 0.97788695  0.20878309  0.01212751]
 [-0.20899314  0.9777142   0.01995766]
 [-0.00769019 -0.02205091  0.99972757]]

 t_gt:
[-0.95695612  0.25178193  0.14436358]

Pose Error in degrees for R and t:
15.669789094042263 14.368935064781551

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 0.99800625 -0.06310176 -0.00129844]
 [-0.06310677 -0.99799764 -0.00427171]
 [-0.00102629  0.00434514 -0.99999003]]

 t_estimated:
[[8.07298987e-03]
 [9.99967094e-01]
 [7.98180335e-04]]

 R_gt:
[[ 0.96521982  0.25751401  0.0451369 ]
 [-0.25933968  0.96492817  0.04071871]
 [-0.03306805 -0.05100789  0.99815095]]

 t_gt:
[-0.9411178   0.20717814  0.26716008]

Pose Error in degrees for R and t:
177.53233818455203 78.47550061682155

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 8.71396896e-01  4.90578076e-01  7.75290548e-04]
 [-4.90576500e-01  8.71396641e-01 -1.60988223e-03]
 [-1.46535851e-03  1.02250706e-03  9.99998404e-01]]

 t_estimated:
[[-9.97408472e-01]
 [-7.19413056e-02]
 [-8.88164267e-04]]

 R_gt:
[[ 0.998607    0.03254942  0.04153544]
 [-0.03570187  0.99634972  0.07754431]
 [-0.03885998 -0.07891806  0.99612265]]

 t_gt:
[-0.40982628  0.2097956   0.88770954]

Pose Error in degrees for R and t:
27.878271158474885 66.86600496624958

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.95831068e-01  9.12165124e-02  1.80836061e-04]
 [-9.12164243e-02  9.95830992e-01 -4.47288112e-04]
 [-2.20882216e-04  4.28928179e-04  9.99999884e-01]]

 t_estimated:
[[-9.17388651e-01]
 [-3.97991494e-01]
 [-9.12824528e-04]]

 R_gt:
[[ 0.98002981  0.18868333  0.06277023]
 [-0.19397318  0.97659812  0.09289997]
 [-0.04377222 -0.10321994  0.99369429]]

 t_gt:
[-0.59462172  0.70735954  0.38218777]

Pose Error in degrees for R and t:
8.696784140803224 74.7145991765207

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-7.86584216e-01  6.17444897e-01 -6.86076128e-03]
 [ 6.17428809e-01  7.86613835e-01  4.51006950e-03]
 [ 8.18148914e-03 -6.88482185e-04 -9.99966294e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9687461   0.24421582  0.04346673]
 [-0.24726502  0.96469083  0.09073187]
 [-0.0197732  -0.09864329  0.99492618]]

 t_gt:
[-0.58932384  0.77794925  0.21792747]

Pose Error in degrees for R and t:
179.47323975818333 89.59281211834518

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.31135871e-01 -3.64672256e-01 -3.67800638e-04]
 [ 3.64672325e-01  9.31135906e-01  1.39855897e-04]
 [ 2.91470815e-04 -2.64351556e-04  9.99999923e-01]]

 t_estimated:
[[ 9.47533943e-01]
 [-3.19655139e-01]
 [ 1.33393900e-04]]

 R_gt:
[[ 0.99896368  0.00385204 -0.04534262]
 [-0.00371207  0.99998838  0.00320076]
 [ 0.0453554  -0.00302868  0.9989673 ]]

 t_gt:
[-0.35240348  0.23484031 -0.90590387]

Pose Error in degrees for R and t:
21.756428212748922 65.85150013838593

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.26499726  0.96423967 -0.00427884]
 [ 0.96421139 -0.26494499  0.01002728]
 [ 0.00853505 -0.00678291 -0.99994057]]

 t_estimated:
[[0.2492038 ]
 [0.96845054]
 [0.00101302]]

 R_gt:
[[ 0.99828136  0.01118412 -0.05752649]
 [-0.0124144   0.99970142 -0.02105644]
 [ 0.05727376  0.02173385  0.99812237]]

 t_gt:
[-0.38400476  0.29859665 -0.87371642]

Pose Error in degrees for R and t:
178.37595721233868 78.89570387197531

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999959e-01 -1.93561270e-04 -2.10126669e-04]
 [ 1.93583541e-04  9.99999976e-01  1.05970912e-04]
 [ 2.10106152e-04 -1.06011584e-04  9.99999972e-01]]

 t_estimated:
[[9.99996873e-01]
 [2.38336243e-03]
 [7.57385766e-04]]

 R_gt:
[[ 0.99960995 -0.01118171  0.02559986]
 [ 0.01210996  0.99926249 -0.03642871]
 [-0.02517272  0.03672363  0.99900848]]

 t_gt:
[-0.96307171 -0.14240766 -0.2285015 ]

Pose Error in degrees for R and t:
2.646467289723616 15.510562101298227

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.65249063 -0.75779039  0.00311396]
 [ 0.75779564  0.65247698 -0.00442312]
 [ 0.00132001  0.00524579  0.99998537]]

 t_estimated:
[[-0.04968917]
 [-0.99875237]
 [-0.00496892]]

 R_gt:
[[ 0.9994913   0.02720111  0.01663171]
 [-0.02703282  0.99958173 -0.01030173]
 [-0.01690654  0.00984698  0.99980859]]

 t_gt:
[-0.94224008  0.2786627   0.18582447]

Pose Error in degrees for R and t:
50.83227476793854 76.56045530055114

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.99436786  0.10596622 -0.00192892]
 [-0.10595305  0.99435314  0.00598256]
 [ 0.00255198 -0.00574449  0.99998024]]

 t_estimated:
[[9.21553610e-01]
 [3.88250464e-01]
 [7.21655137e-04]]

 R_gt:
[[ 9.94412468e-01  1.05458012e-01  4.78524518e-03]
 [-1.05460702e-01  9.94423380e-01  3.41541516e-04]
 [-4.72374361e-03 -8.43962164e-04  9.99988539e-01]]

 t_gt:
[-0.83578734  0.54790942  0.03542305]

Pose Error in degrees for R and t:
0.5025630224448743 56.11890670279969

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-2.53128605e-01 -9.67431537e-01 -1.45949949e-03]
 [ 9.67432586e-01 -2.53128799e-01 -5.33609463e-05]
 [-3.17818289e-04 -1.42547454e-03  9.99998934e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99150656  0.12979659 -0.0082511 ]
 [-0.12986087  0.99150212 -0.00782049]
 [ 0.00716529  0.00882518  0.99993515]]

 t_gt:
[-0.79509814  0.59119453 -0.13530699]

Pose Error in degrees for R and t:
112.12403121886791 37.49882585055996

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-9.98878811e-01 -4.56855060e-02  1.24078833e-02]
 [-4.56774806e-02  9.98955807e-01  9.29575223e-04]
 [-1.24373952e-02  3.61772145e-04 -9.99922587e-01]]

 t_estimated:
[[0.99844139]
 [0.05546897]
 [0.00616322]]

 R_gt:
[[ 0.97478251 -0.22274823 -0.01345662]
 [ 0.22278431  0.97486608  0.00126683]
 [ 0.01283642 -0.00423369  0.99990822]]

 t_gt:
[ 0.87637324 -0.48132009 -0.01734699]

Pose Error in degrees for R and t:
179.94585739657833 31.98334785643612

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-1.52411775e-01 -9.88317072e-01 -1.24119658e-04]
 [-9.88316997e-01  1.52411709e-01  4.28911775e-04]
 [-4.04983540e-04  1.88040772e-04 -9.99999900e-01]]

 t_estimated:
[[0.90699437]
 [0.42114057]
 [0.00135759]]

 R_gt:
[[ 0.88527597 -0.46294234  0.04440323]
 [ 0.46496156  0.88306428 -0.06331005]
 [-0.00990214  0.07669304  0.99700502]]

 t_gt:
[ 0.92242936 -0.36153548 -0.13570617]

Pose Error in degrees for R and t:
178.54132577654357 46.82753151279319

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 7.36559822e-01  6.76336778e-01 -6.94198209e-03]
 [-6.76372256e-01  7.36514077e-01 -8.22108644e-03]
 [-4.47355588e-04  1.07506860e-02  9.99942110e-01]]

 t_estimated:
[[-0.99689076]
 [-0.07818751]
 [-0.00977344]]

 R_gt:
[[ 0.77793076 -0.61560355  0.12591967]
 [ 0.62805809  0.76790066 -0.12597925]
 [-0.01914042  0.17708787  0.98400832]]

 t_gt:
[ 0.9457342  -0.22193689 -0.23734117]

Pose Error in degrees for R and t:
81.85287045753944 22.6132441974963

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.91347431e-01  1.31264027e-01  1.64971725e-04]
 [-1.31264000e-01  9.91347434e-01 -1.63719899e-04]
 [-1.85034829e-04  1.40648453e-04  9.99999973e-01]]

 t_estimated:
[[0.9561995 ]
 [0.29271413]
 [0.00097571]]

 R_gt:
[[ 0.99283969 -0.11344859 -0.03740323]
 [ 0.11443994  0.99310095  0.02555253]
 [ 0.03424669 -0.02964988  0.99897358]]

 t_gt:
[ 0.77819436 -0.6277219  -0.0194617 ]

Pose Error in degrees for R and t:
14.327251658661647 55.92020179961303

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.61566549e-01  2.74571943e-01  1.39185444e-04]
 [-2.74571938e-01  9.61566559e-01 -5.97665323e-05]
 [-1.50246282e-04  1.92530810e-05  9.99999989e-01]]

 t_estimated:
[[0.69239941]
 [0.72151388]
 [0.00088676]]

 R_gt:
[[ 0.99182637 -0.12200288 -0.03736433]
 [ 0.12280932  0.99222544  0.02012112]
 [ 0.03461969 -0.02454561  0.99909868]]

 t_gt:
[ 0.75644318 -0.65252527 -0.04477147]

Pose Error in degrees for R and t:
23.09832832671433 86.96677310070567

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.80128994 -0.59826933 -0.00287259]
 [ 0.59827425  0.80129039  0.00127671]
 [ 0.00153796 -0.00274161  0.99999506]]

 t_estimated:
[[0.91598754]
 [0.40120254]
 [0.00183198]]

 R_gt:
[[ 0.99829231 -0.05839943  0.00160577]
 [ 0.05837037  0.99819242  0.01433765]
 [-0.00244027 -0.01421891  0.99989608]]

 t_gt:
[ 0.59591246 -0.79582276  0.10749169]

Pose Error in degrees for R and t:
33.40686948281831 76.89365313864099

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.90896598  0.41686849  0.00123039]
 [-0.41686586  0.90896596 -0.00193443]
 [-0.00192479  0.00124542  0.99999737]]

 t_estimated:
[[0.572675  ]
 [0.819782  ]
 [0.00090185]]

 R_gt:
[[ 0.9599605  -0.2799374   0.01056149]
 [ 0.28010021  0.95975911 -0.02013958]
 [-0.00449906  0.02229043  0.99974108]]

 t_gt:
[ 0.8698836  -0.48803159 -0.07160784]

Pose Error in degrees for R and t:
40.916694447680726 84.37503706921953

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99997938e-01  1.97803046e-03  4.59261566e-04]
 [-1.97803648e-03  9.99998044e-01  1.26432014e-05]
 [-4.59235659e-04 -1.35516114e-05  9.99999894e-01]]

 t_estimated:
[[ 9.99998690e-01]
 [-1.48879951e-03]
 [ 6.35414899e-04]]

 R_gt:
[[ 0.87127025 -0.48051796  0.09995098]
 [ 0.48920781  0.86664443 -0.09798983]
 [-0.03953653  0.13427257  0.99015456]]

 t_gt:
[ 0.91807345 -0.3348688  -0.2121415 ]

Pose Error in degrees for R and t:
30.333064778818194 23.301502779539486

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 1.26787968e-01 -9.91929262e-01 -1.07302126e-03]
 [ 9.91929215e-01  1.26789030e-01 -9.87443720e-04]
 [ 1.11552164e-03 -9.39165149e-04  9.99998937e-01]]

 t_estimated:
[[ 9.84952140e-01]
 [-1.72827254e-01]
 [-1.51347415e-04]]

 R_gt:
[[ 0.77381755 -0.60279839  0.19453051]
 [ 0.63005533  0.76408111 -0.13859776]
 [-0.0650908   0.22981485  0.97105472]]

 t_gt:
[ 0.93684167 -0.22013526 -0.27178697]

Pose Error in degrees for R and t:
46.02913999526355 16.08934431894986

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999533e-01 -9.58319624e-04 -1.26075308e-04]
 [ 9.58324145e-04  9.99999540e-01  3.58026899e-05]
 [ 1.26040939e-04 -3.59234942e-05  9.99999991e-01]]

 t_estimated:
[[-0.99997883]
 [-0.00633789]
 [-0.00147108]]

 R_gt:
[[ 0.99867263  0.02747028 -0.04359335]
 [-0.02727815  0.99961552  0.00498258]
 [ 0.04371324 -0.00378706  0.99903683]]

 t_gt:
[-0.6780946   0.4298288  -0.59618363]

Pose Error in degrees for R and t:
2.9869287166402123 47.45002173997985

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999703e-01  5.25461901e-04 -5.63679861e-04]
 [-5.25462724e-04  9.99999862e-01 -1.31262012e-06]
 [ 5.63679093e-04  1.60881249e-06  9.99999841e-01]]

 t_estimated:
[[0.67133109]
 [0.74115674]
 [0.00111491]]

 R_gt:
[[ 0.99736495  0.01773596 -0.07036276]
 [-0.019452    0.99952874 -0.02378398]
 [ 0.06990801  0.02508944  0.99723698]]

 t_gt:
[-0.42131606  0.34583072 -0.83838767]

Pose Error in degrees for R and t:
4.353733175634022 88.42631565514151

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.82430855e-01 -1.86624183e-01  1.01407232e-03]
 [ 1.86626097e-01  9.82428239e-01 -2.33565219e-03]
 [-5.60364099e-04  2.48386914e-03  9.99996758e-01]]

 t_estimated:
[[-0.5485838 ]
 [-0.8360874 ]
 [-0.00369724]]

 R_gt:
[[ 0.99818271  0.03114249 -0.05161322]
 [-0.03292798  0.99887531 -0.03412916]
 [ 0.05049223  0.03576678  0.998083  ]]

 t_gt:
[-0.62360454  0.38026177 -0.6830215 ]

Pose Error in degrees for R and t:
13.071228724494741 88.47044660659505

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 7.99893005e-01 -6.00142453e-01 -4.65147816e-04]
 [ 6.00142413e-01  7.99893135e-01 -2.36711702e-04]
 [ 5.14129287e-04 -8.98108979e-05  9.99999864e-01]]

 t_estimated:
[[ 0.45159852]
 [-0.89222081]
 [-0.00090004]]

 R_gt:
[[ 0.99484072 -0.05596267  0.08461969]
 [ 0.04689674  0.99330478  0.10557567]
 [-0.08996142 -0.10106275  0.99080496]]

 t_gt:
[ 0.1702961  -0.41543369  0.8935402 ]

Pose Error in degrees for R and t:
34.777958476379474 63.46401297007136

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.29627439 -0.95508245 -0.00624437]
 [-0.95508095  0.29621698  0.0087103 ]
 [-0.00646937  0.00854452 -0.99994257]]

 t_estimated:
[[8.92050510e-01]
 [4.51935177e-01]
 [6.95284887e-04]]

 R_gt:
[[ 0.98796218 -0.05493033  0.14461497]
 [ 0.02857619  0.98354892  0.17836689]
 [-0.15203391 -0.17208748  0.97327923]]

 t_gt:
[ 0.06460419 -0.24915476  0.96630648]

Pose Error in degrees for R and t:
167.06549708329032 86.88732328995019

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.46240501e-01  3.23463929e-01 -4.00811834e-05]
 [-3.23463928e-01  9.46240468e-01 -2.54034008e-04]
 [-4.42444004e-05  2.53342084e-04  9.99999967e-01]]

 t_estimated:
[[-8.80999522e-01]
 [-4.73116657e-01]
 [-6.86671490e-04]]

 R_gt:
[[ 0.98575255  0.03822755  0.16380595]
 [-0.07475747  0.97193439  0.22305739]
 [-0.15068218 -0.23212491  0.96094371]]

 t_gt:
[-0.23325041  0.12877998  0.96385163]

Pose Error in degrees for R and t:
22.34539896602353 81.72619994434096

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999256e-01  1.21028854e-03  1.50832879e-04]
 [-1.21028898e-03  9.99999268e-01  2.83973347e-06]
 [-1.50829332e-04 -3.02228273e-06  9.99999989e-01]]

 t_estimated:
[[-0.98965159]
 [ 0.14348553]
 [ 0.00127848]]

 R_gt:
[[ 0.99525073  0.09250099 -0.03030556]
 [-0.0922269   0.99568439  0.01027544]
 [ 0.03112612 -0.00743075  0.99948849]]

 t_gt:
[-0.6554821   0.74258012 -0.13754267]

Pose Error in degrees for R and t:
5.546404546390856 40.968290138156426

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999613e-01 -8.79209081e-04 -2.16939014e-05]
 [ 8.79210805e-04  9.99999610e-01  7.95874167e-05]
 [ 2.16239190e-05 -7.96064595e-05  9.99999997e-01]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.99439369  0.09737086 -0.04121832]
 [-0.09715294  0.99524293  0.00724496]
 [ 0.04172784 -0.00319953  0.99912452]]

 t_gt:
[-0.59400742  0.78068052 -0.19414714]

Pose Error in degrees for R and t:
6.122583100380173 39.19402036641576

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99999999e-01 -5.05604638e-05  4.63960301e-07]
 [ 5.05604644e-05  9.99999999e-01 -1.14227978e-06]
 [-4.63902546e-07  1.14230324e-06  1.00000000e+00]]

 t_estimated:
[[-0.99712973]
 [-0.07570208]
 [-0.00122676]]

 R_gt:
[[ 0.99725352  0.06441169 -0.03656476]
 [-0.06398714  0.99787091  0.01264512]
 [ 0.037302   -0.01027067  0.99925114]]

 t_gt:
[-0.52745184  0.83012289 -0.18080527]

Pose Error in degrees for R and t:
4.300475410210527 62.39860010231128

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.26811445e-01 -3.75508643e-01  3.71537063e-03]
 [-3.75526674e-01 -9.26751743e-01  1.05320486e-02]
 [-5.11649067e-04 -1.11564440e-02 -9.99937634e-01]]

 t_estimated:
[[0.22838218]
 [0.97355664]
 [0.00539048]]

 R_gt:
[[ 0.99486769  0.10091812  0.00747084]
 [-0.10111007  0.99434033  0.03261678]
 [-0.00413714 -0.03320592  0.9994395 ]]

 t_gt:
[-0.91510726  0.08404938  0.39435314]

Pose Error in degrees for R and t:
177.44468122708022 82.8168412355515

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.98575018e-01  5.33652954e-02  2.79407988e-04]
 [-5.33652658e-02  9.98575053e-01 -1.12440528e-04]
 [-2.85010268e-04  9.73696206e-05  9.99999955e-01]]

 t_estimated:
[[-0.61502511]
 [ 0.78850708]
 [ 0.00084222]]

 R_gt:
[[ 0.99124495  0.1196738   0.05578465]
 [-0.12188354  0.99181494  0.03804299]
 [-0.05077533 -0.04450898  0.99771843]]

 t_gt:
[-0.87607281 -0.05041553  0.47953594]

Pose Error in degrees for R and t:
5.478347310120859 60.03587581474264

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99994595e-01 -3.26388767e-03 -3.95512617e-04]
 [ 3.26381141e-03  9.99994655e-01 -1.93308364e-04]
 [ 3.96141440e-04  1.92016440e-04  9.99999903e-01]]

 t_estimated:
[[-0.99914267]
 [ 0.04115893]
 [-0.004457  ]]

 R_gt:
[[ 0.99737187  0.03333681  0.06434736]
 [-0.03661778  0.99805215  0.05050499]
 [-0.06253838 -0.05272914  0.99664904]]

 t_gt:
[-0.37781802 -0.62975675  0.67871937]

Pose Error in degrees for R and t:
5.201575926459866 69.6014127684999

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 8.83684697e-01  4.68082326e-01  5.39954810e-04]
 [-4.68081579e-01  8.83684564e-01 -1.10715201e-03]
 [-9.95388020e-04  7.25630391e-04  9.99999241e-01]]

 t_estimated:
[[0.44161706]
 [0.89720234]
 [0.00152484]]

 R_gt:
[[ 0.99753498 -0.06629667 -0.02302745]
 [ 0.06642656  0.99777917  0.00496516]
 [ 0.02264718 -0.00648175  0.99972249]]

 t_gt:
[ 0.31728616 -0.91267402 -0.25759586]

Pose Error in degrees for R and t:
31.745905736417555 47.2245325099263

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 3.23863863e-03  9.99941503e-01  1.03200138e-02]
 [ 9.99994756e-01 -3.23837152e-03 -4.25932136e-05]
 [-9.17068341e-06  1.03200976e-02 -9.99946746e-01]]

 t_estimated:
[[0.70752115]
 [0.70669148]
 [0.00098789]]

 R_gt:
[[ 0.99587586 -0.05687822 -0.07068948]
 [ 0.05908524  0.99781646  0.02954417]
 [ 0.06885505 -0.03359854  0.9970603 ]]

 t_gt:
[ 0.01903943 -0.87826667 -0.47779196]

Pose Error in degrees for R and t:
176.32230361028027 52.5791578475636

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.10672725 -0.9937017  -0.03415003]
 [ 0.99180432  0.1088241  -0.06694403]
 [ 0.07023874 -0.0267254   0.99717214]]

 t_estimated:
[[ 0.99693603]
 [-0.07776804]
 [-0.00840778]]

 R_gt:
[[ 0.98358583 -0.11083191 -0.14239208]
 [ 0.12080507  0.99065036  0.063394  ]
 [ 0.13403541 -0.07955417  0.98777797]]

 t_gt:
[ 0.2287631  -0.89059812 -0.39306797]

Pose Error in degrees for R and t:
77.29463797069918 72.5047297135606

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99990971e-01 -4.24932085e-03  3.39621591e-05]
 [ 4.24932016e-03  9.99990971e-01  2.04607278e-05]
 [-3.40487967e-05 -2.03162270e-05  9.99999999e-01]]

 t_estimated:
[[5.20848908e-01]
 [8.53648876e-01]
 [1.11144974e-04]]

 R_gt:
[[ 0.99953402 -0.03027215 -0.00419053]
 [ 0.03004981  0.99850389 -0.04569866]
 [ 0.00556756  0.04555152  0.99894688]]

 t_gt:
[ 0.55225646 -0.01826451 -0.83347418]

Pose Error in degrees for R and t:
3.0208326206551788 74.21918383697857

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.62169424 -0.78304473  0.01836349]
 [ 0.78290128 -0.62052918  0.04482314]
 [-0.02370344  0.04224309  0.99882615]]

 t_estimated:
[[0.96051118]
 [0.27823745]
 [0.00147999]]

 R_gt:
[[ 0.99956091 -0.0296045  -0.00175146]
 [ 0.02954396  0.99916874 -0.028086  ]
 [ 0.00258225  0.02802182  0.99960364]]

 t_gt:
[ 0.75317045  0.15697792 -0.63882095]

Pose Error in degrees for R and t:
126.75758247447857 39.98966896726625

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999315e-01  1.15223077e-03  2.06128173e-04]
 [-1.15239769e-03  9.99999007e-01  8.11524200e-04]
 [-2.05192905e-04 -8.11761186e-04  9.99999649e-01]]

 t_estimated:
[[0.71486029]
 [0.69926538]
 [0.00164024]]

 R_gt:
[[ 0.99830454  0.04942385 -0.03075587]
 [-0.05177356  0.99536897 -0.08099604]
 [ 0.02661137  0.08245146  0.99623985]]

 t_gt:
[-0.2899036   0.72606419 -0.62352762]

Pose Error in degrees for R and t:
5.7652906170707405 72.57553317279998

Number of keypoints:
Image1: 480
Image2: 480

 R_estimated:
[[ 9.99702964e-01  2.43717758e-02  1.21054317e-05]
 [-2.43717756e-02  9.99702964e-01 -1.40748697e-05]
 [-1.24448655e-05  1.37756581e-05  1.00000000e+00]]

 t_estimated:
[[-0.69453578]
 [-0.71945756]
 [-0.00093402]]

 R_gt:
[[ 0.99877512  0.03753301  0.03225054]
 [-0.03718267  0.99924443 -0.01138363]
 [-0.03265276  0.01016957  0.99941463]]

 t_gt:
[-0.44334873  0.83428201  0.32774294]

Pose Error in degrees for R and t:
2.095333045374902 72.9854190550753

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 9.99970621e-01  7.66515275e-03 -4.60922595e-05]
 [-7.66515838e-03  9.99970615e-01 -1.23448098e-04]
 [ 4.51446565e-05  1.23797776e-04  9.99999991e-01]]

 t_estimated:
[[-0.8629019 ]
 [-0.50537071]
 [-0.00087276]]

 R_gt:
[[ 0.98909508  0.13760028  0.05251581]
 [-0.1379916   0.99042589  0.00390408]
 [-0.05147443 -0.01110873  0.99861263]]

 t_gt:
[-0.69490256  0.6745474   0.24919118]

Pose Error in degrees for R and t:
8.072717996924265 75.01781172744867

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99999986e-01 -1.26674292e-04 -1.10353776e-04]
 [ 1.26639252e-04  9.99999942e-01 -3.17472140e-04]
 [ 1.10393986e-04  3.17458160e-04  9.99999944e-01]]

 t_estimated:
[[-0.81258881]
 [-0.5828367 ]
 [-0.00089608]]

 R_gt:
[[ 0.98434567  0.16453765  0.06318405]
 [-0.16312138  0.98623654 -0.02699543]
 [-0.0667563   0.01626545  0.99763645]]

 t_gt:
[-0.7354641   0.66409811  0.13441079]

Pose Error in degrees for R and t:
10.234688151012726 77.85135105256286

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99886181e-01 -1.50872019e-02 -4.47739541e-05]
 [ 1.50872029e-02  9.99886181e-01  2.37769395e-05]
 [ 4.44101305e-05 -2.44497470e-05  9.99999999e-01]]

 t_estimated:
[[-8.41217411e-01]
 [-5.40696814e-01]
 [-4.72856410e-04]]

 R_gt:
[[ 0.999501    0.03033887 -0.00876897]
 [-0.03005179  0.99905996  0.03125731]
 [ 0.00970864 -0.03097845  0.99947283]]

 t_gt:
[0.13938846 0.8093186  0.57059115]

Pose Error in degrees for R and t:
3.19178687808498 56.28089556598063

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 3.97907995e-01  9.17423712e-01  1.72036027e-03]
 [ 9.17417746e-01 -3.97911631e-01  3.31878737e-03]
 [ 3.72928559e-03  2.57717010e-04 -9.99993013e-01]]

 t_estimated:
[[-9.84932091e-01]
 [-1.72939581e-01]
 [-8.23521815e-04]]

 R_gt:
[[ 0.99955294  0.02708472 -0.01267751]
 [-0.02594729  0.99624644  0.0825813 ]
 [ 0.01486697 -0.08221523  0.99650354]]

 t_gt:
[0.33577789 0.45941334 0.8223093 ]

Pose Error in degrees for R and t:
175.50719172241512 65.74198681792481

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 0.45072941 -0.89265731 -0.00243372]
 [-0.89265886 -0.45072141 -0.00322208]
 [ 0.00177928  0.00362477 -0.99999185]]

 t_estimated:
[[ 0.56353769]
 [ 0.82608966]
 [-0.00107153]]

 R_gt:
[[ 0.99855897  0.04107846 -0.03452801]
 [-0.03254776  0.97519606  0.21893415]
 [ 0.04266444 -0.21749509  0.97512828]]

 t_gt:
[0.0057569  0.00905738 0.99994241]

Pose Error in degrees for R and t:
170.66805988922957 89.44680234565982

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99072527e-01  4.30589472e-02 -1.08906685e-04]
 [-4.30589288e-02  9.99072520e-01  1.66477037e-04]
 [ 1.15974002e-04 -1.61633229e-04  9.99999980e-01]]

 t_estimated:
[[-0.98129569]
 [-0.19250298]
 [-0.0011738 ]]

 R_gt:
[[ 0.99548259  0.09094949  0.02724728]
 [-0.08987952  0.99521871 -0.03820005]
 [-0.03059178  0.03557874  0.99889893]]

 t_gt:
[-0.7458745   0.63930431 -0.18697925]

Pose Error in degrees for R and t:
3.8350137670062074 52.477356584090366

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.99788416e-01  2.05698820e-02 -5.92918906e-05]
 [-2.05698818e-02  9.99788418e-01  3.24089988e-06]
 [ 5.93460104e-05 -2.02058697e-06  9.99999998e-01]]

 t_estimated:
[[-9.97108489e-01]
 [-7.59857966e-02]
 [-9.05096295e-04]]

 R_gt:
[[ 0.98403718  0.17746205  0.01332304]
 [-0.17729839  0.98407528 -0.01265556]
 [-0.01535788  0.01009179  0.99983097]]

 t_gt:
[-0.78060847  0.62478316 -0.01721711]

Pose Error in degrees for R and t:
9.100904796047462 43.038751924548436

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-7.91457934e-01 -6.11220285e-01 -2.02545918e-03]
 [ 6.11222919e-01 -7.91457746e-01 -1.08589731e-03]
 [-9.39342895e-04 -2.09744911e-03  9.99997359e-01]]

 t_estimated:
[[0.93438077]
 [0.35627468]
 [0.00096031]]

 R_gt:
[[ 0.95362188  0.29915028  0.03338997]
 [-0.29787325  0.95383277 -0.03839565]
 [-0.04333472  0.02666882  0.99870467]]

 t_gt:
[-0.77020325  0.63723875 -0.02671569]

Pose Error in degrees for R and t:
159.71196648461975 60.48464931632206

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.92583455e-01 -1.21565054e-01 -1.46966176e-04]
 [ 1.21565045e-01  9.92583465e-01 -7.18006830e-05]
 [ 1.54604650e-04  5.34022203e-05  9.99999987e-01]]

 t_estimated:
[[-0.41570008]
 [-0.90950088]
 [-0.00126223]]

 R_gt:
[[ 0.9996709   0.02519988  0.0049463 ]
 [-0.02528034  0.99953297  0.01713365]
 [-0.00451141 -0.01725182  0.99984158]]

 t_gt:
[-0.13575779  0.9761011   0.16969522]

Pose Error in degrees for R and t:
8.491018033026174 33.74227813440369

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-6.75520935e-02  9.97715516e-01 -6.80794166e-04]
 [-9.97697268e-01 -6.75549797e-02 -6.04045249e-03]
 [-6.07264421e-03  2.71181267e-04  9.99981525e-01]]

 t_estimated:
[[0.03028901]
 [0.99953739]
 [0.00275355]]

 R_gt:
[[ 0.99992257  0.0098236  -0.00774932]
 [-0.0085184   0.98813887  0.1533255 ]
 [ 0.00916364 -0.1532467   0.98814582]]

 t_gt:
[ 0.06366889 -0.14451747  0.98745176]

Pose Error in degrees for R and t:
93.69501998408414 81.96354427213869

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 2.59049543e-01  9.65863930e-01 -4.50874312e-04]
 [-9.65863252e-01  2.59048710e-01 -1.39454200e-03]
 [-1.23013941e-03  7.96738396e-04  9.99998926e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99783026  0.03188597 -0.05761218]
 [-0.01903316  0.97725576  0.21120915]
 [ 0.0630359  -0.20965362  0.9757423 ]]

 t_gt:
[-0.11437595 -0.18771955  0.97554062]

Pose Error in degrees for R and t:
74.45312336247328 79.19802962329008

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.80741251e-01  1.95311543e-01  4.00100834e-06]
 [-1.95311540e-01  9.80741238e-01 -1.65083086e-04]
 [-3.61665861e-05  1.61122349e-04  9.99999986e-01]]

 t_estimated:
[[-8.63339738e-01]
 [-5.04622480e-01]
 [-8.06106198e-04]]

 R_gt:
[[ 0.98928738 -0.08280231  0.12023082]
 [ 0.08304965  0.99654112  0.00295839]
 [-0.12005936  0.00705843  0.99274207]]

 t_gt:
[ 0.31005108 -0.65723689  0.6869556 ]

Pose Error in degrees for R and t:
17.451850223558495 86.36367043090733

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.65127469  0.7588394  -0.00201042]
 [-0.75880735  0.65121727 -0.01129004]
 [-0.00725811  0.00887844  0.99993424]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96655237 -0.17900535  0.18367055]
 [ 0.17999557  0.98360194  0.01140513]
 [-0.18269972  0.0220363   0.98292237]]

 t_gt:
[ 0.48745972 -0.69640624  0.52668907]

Pose Error in degrees for R and t:
60.61034755863608 46.1474702619401

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.64395298e-01 -2.64464347e-01  5.63902159e-04]
 [ 2.64464921e-01  9.64393973e-01 -1.60316983e-03]
 [-1.19842581e-04  1.69522178e-03  9.99998556e-01]]

 t_estimated:
[[-0.02855968]
 [-0.99958872]
 [-0.00259633]]

 R_gt:
[[ 0.93663296 -0.29503502  0.18887774]
 [ 0.29320254  0.95528606  0.03822073]
 [-0.1917089   0.01958188  0.9812571 ]]

 t_gt:
[ 0.64614586 -0.66803596  0.36908466]

Pose Error in degrees for R and t:
11.2630458219383 49.58274413451622

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 9.99973203e-01  7.32079078e-03 -3.79843058e-06]
 [-7.32079094e-03  9.99973202e-01 -4.37201927e-05]
 [ 3.47826240e-06  4.37468286e-05  9.99999999e-01]]

 t_estimated:
[[-0.63192498]
 [ 0.77502691]
 [-0.00202659]]

 R_gt:
[[ 0.99957832  0.01549052 -0.02456563]
 [-0.01524054  0.99983006  0.01035479]
 [ 0.02472238 -0.00997528  0.99964395]]

 t_gt:
[-0.38401328  0.8613687  -0.33253235]

Pose Error in degrees for R and t:
1.597138448191179 24.366448844573693

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[-0.87851499 -0.47770592 -0.00290831]
 [ 0.47771341 -0.87851077 -0.0029537 ]
 [-0.00114398 -0.00398421  0.99999141]]

 t_estimated:
[[0.96979684]
 [0.24390975]
 [0.00146054]]

 R_gt:
[[ 0.99975381 -0.01681644 -0.01451265]
 [ 0.01696545  0.99980378  0.01022507]
 [ 0.01433749 -0.01046817  0.99984211]]

 t_gt:
[ 0.88788401  0.45147169 -0.08851721]

Pose Error in degrees for R and t:
150.49516898084832 13.818750000613084

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.98122185e-01 -6.12542539e-02 -1.42041156e-04]
 [ 6.12543218e-02  9.98122046e-01  5.37623833e-04]
 [ 1.08842662e-04 -5.45314909e-04  9.99999845e-01]]

 t_estimated:
[[0.91294151]
 [0.40808906]
 [0.00105178]]

 R_gt:
[[ 0.99932535  0.02184876 -0.02954515]
 [-0.02263312  0.99939332 -0.02645826]
 [ 0.02894921  0.02711014  0.99921289]]

 t_gt:
[-0.19627805  0.79951664 -0.56766897]

Pose Error in degrees for R and t:
5.305492052999126 81.57662819674005

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 9.99705347e-01 -2.42737729e-02 -5.95059660e-05]
 [ 2.42737735e-02  9.99705348e-01  1.08188144e-05]
 [ 5.92258191e-05 -1.22600609e-05  9.99999998e-01]]

 t_estimated:
[[-9.92460640e-01]
 [-1.22562267e-01]
 [-6.06491534e-04]]

 R_gt:
[[ 0.99361969  0.11219416 -0.01146855]
 [-0.11187196  0.99339144  0.02566907]
 [ 0.01427289 -0.024222    0.99960548]]

 t_gt:
[-0.85970599  0.48595417  0.15733455]

Pose Error in degrees for R and t:
7.988015669843588 37.479670562260374

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.99956952e-01 -9.27818189e-03 -9.49791073e-05]
 [ 9.27818732e-03  9.99956955e-01  5.68758806e-05]
 [ 9.44473142e-05 -5.77546662e-05  9.99999994e-01]]

 t_estimated:
[[-9.98953045e-01]
 [-4.57472039e-02]
 [-8.44226111e-05]]

 R_gt:
[[ 0.97370514  0.22766702  0.00816343]
 [-0.22771991  0.97370612  0.00634447]
 [-0.00650383 -0.00803634  0.99994719]]

 t_gt:
[-0.83080482  0.55524915  0.03823248]

Pose Error in degrees for R and t:
13.705968789163718 36.43504481482403

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.78257226e-01 -2.07395216e-01 -1.54037301e-04]
 [ 2.07395218e-01  9.78257238e-01 -4.88492005e-07]
 [ 1.50789416e-04 -3.14687289e-05  9.99999988e-01]]

 t_estimated:
[[-0.6599393 ]
 [-0.7513185 ]
 [-0.00079747]]

 R_gt:
[[ 0.93989002  0.34054286  0.02523941]
 [-0.34112018  0.93971794  0.02382706]
 [-0.01560443 -0.03100382  0.99939783]]

 t_gt:
[-0.80408931  0.58914894  0.07964869]

Pose Error in degrees for R and t:
31.964151989908714 84.95442551110939

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99999909e-01  4.03465052e-04 -1.39548476e-04]
 [-4.03486060e-04  9.99999907e-01 -1.50550370e-04]
 [ 1.39487721e-04  1.50606662e-04  9.99999979e-01]]

 t_estimated:
[[-0.60947221]
 [-0.79280533]
 [-0.00182634]]

 R_gt:
[[ 9.96581644e-01  7.50333699e-02  3.45764130e-02]
 [-7.49694366e-02  9.97181461e-01 -3.15342248e-03]
 [-3.47150306e-02  5.50697645e-04  9.99397193e-01]]

 t_gt:
[-0.74892025  0.62158899  0.22966408]

Pose Error in degrees for R and t:
4.722068624251399 87.89261999410405

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99999936e-01  3.50951748e-04 -6.23602081e-05]
 [-3.50967613e-04  9.99999906e-01 -2.54583415e-04]
 [ 6.22708557e-05  2.54605286e-04  9.99999966e-01]]

 t_estimated:
[[-0.63011147]
 [-0.77650331]
 [-0.0014673 ]]

 R_gt:
[[ 0.9900618   0.13662171  0.03335652]
 [-0.13594041  0.99047512 -0.02190792]
 [-0.03603175  0.01715645  0.99920331]]

 t_gt:
[-0.75979437  0.64822608  0.0501544 ]

Pose Error in degrees for R and t:
8.141777292872005 88.58647664728403

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.99999916e-01 -3.10585357e-04 -2.67495754e-04]
 [ 3.10491262e-04  9.99999890e-01 -3.51732413e-04]
 [ 2.67604968e-04  3.51649329e-04  9.99999902e-01]]

 t_estimated:
[[-0.82396095]
 [-0.56664538]
 [-0.00116906]]

 R_gt:
[[ 0.9875989   0.15185691  0.03984813]
 [-0.15026368  0.98782244 -0.04035317]
 [-0.04549106  0.03386434  0.99839003]]

 t_gt:
[-0.79351715  0.60796559  0.02661533]

Pose Error in degrees for R and t:
9.298387564497132 71.98324310343607

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99893978e-01  1.45579747e-02 -3.13713141e-04]
 [-1.45579147e-02  9.99894009e-01  1.92421252e-04]
 [ 3.16481154e-04 -1.87833842e-04  9.99999932e-01]]

 t_estimated:
[[-0.54442994]
 [ 0.83880146]
 [ 0.00285546]]

 R_gt:
[[ 0.99446083  0.10452944  0.01107325]
 [-0.10455443  0.99451779  0.0017269 ]
 [-0.01083261 -0.00287494  0.99993712]]

 t_gt:
[-0.7777185   0.62574626  0.05996297]

Pose Error in degrees for R and t:
5.208265758261174 18.47512364580949

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99999986e-01 -3.32253877e-05 -1.62623527e-04]
 [ 3.31848972e-05  9.99999968e-01 -2.48979838e-04]
 [ 1.62631794e-04  2.48974437e-04  9.99999956e-01]]

 t_estimated:
[[-7.87104882e-01]
 [-6.16818852e-01]
 [-6.39442659e-04]]

 R_gt:
[[ 0.99181337  0.12406063  0.03026809]
 [-0.12357217  0.99218076 -0.01751305]
 [-0.03220299  0.0136294   0.99938806]]

 t_gt:
[-0.80461992  0.59043445  0.06303923]

Pose Error in degrees for R and t:
7.3935142133675535 74.38994452990704

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99999433e-01 -1.06472319e-03 -3.07202891e-05]
 [ 1.06470955e-03  9.99999336e-01 -4.40738351e-04]
 [ 3.11895330e-05  4.40705393e-04  9.99999902e-01]]

 t_estimated:
[[-9.32716735e-01]
 [-3.60609252e-01]
 [-6.77289909e-04]]

 R_gt:
[[ 0.99258214  0.12142368  0.0061144 ]
 [-0.12104778  0.9916931  -0.0435033 ]
 [-0.01134531  0.04244131  0.99903424]]

 t_gt:
[-0.83813452  0.53880427 -0.08497343]

Pose Error in degrees for R and t:
7.456501377092652 54.02006888821668

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.99737065e-01  2.29303152e-02 -4.65725606e-05]
 [-2.29303111e-02  9.99737062e-01  8.66123898e-05]
 [ 4.85463643e-05 -8.55216930e-05  9.99999995e-01]]

 t_estimated:
[[-9.62445839e-01]
 [-2.71473764e-01]
 [-5.25358179e-05]]

 R_gt:
[[ 9.93722745e-01  1.08792376e-01  2.60564294e-02]
 [-1.08852661e-01  9.94058197e-01  8.62403019e-04]
 [-2.58073648e-02 -3.69328691e-03  9.99659972e-01]]

 t_gt:
[-0.85347929  0.51390356  0.08646519]

Pose Error in degrees for R and t:
5.156181471802645 47.00678721660855

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99230003e-01  3.92349858e-02 -1.30891662e-04]
 [-3.92349702e-02  9.99230005e-01  1.19202870e-04]
 [ 1.35467799e-04 -1.13975553e-04  9.99999984e-01]]

 t_estimated:
[[-9.90382435e-01]
 [-1.38356526e-01]
 [-3.23340876e-04]]

 R_gt:
[[ 9.62488424e-01  2.67444230e-01  4.57108585e-02]
 [-2.67118793e-01  9.63573286e-01 -1.31975503e-02]
 [-4.75745650e-02  4.92698105e-04  9.98867500e-01]]

 t_gt:
[-0.83254739  0.55281753  0.03546286]

Pose Error in degrees for R and t:
13.540950641856147 41.578865868706266

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-9.14599808e-01 -4.04321463e-01 -5.59882096e-03]
 [-4.04329303e-01  9.14613430e-01  2.96987221e-04]
 [ 5.00067853e-03  2.53539183e-03 -9.99984282e-01]]

 t_estimated:
[[ 0.98484037]
 [ 0.17344836]
 [-0.00226227]]

 R_gt:
[[ 0.91015688  0.40682539  0.07814508]
 [-0.40429629  0.91344305 -0.04655644]
 [-0.09032219  0.01078061  0.99585447]]

 t_gt:
[-0.7863586   0.6170772   0.02925559]

Pose Error in degrees for R and t:
175.8341585463606 48.127683958164475

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.05567766e-01  4.24201271e-01  5.50030971e-04]
 [-4.24201107e-01  9.05567925e-01 -3.91948211e-04]
 [-6.64355334e-04  1.21611919e-04  9.99999772e-01]]

 t_estimated:
[[-0.34467038]
 [ 0.93872286]
 [ 0.00130935]]

 R_gt:
[[ 0.99411907  0.10637391  0.02032553]
 [-0.10658661  0.99425664  0.0096308 ]
 [-0.01918392 -0.01174091  0.99974737]]

 t_gt:
[-0.85381383  0.50176072  0.13870154]

Pose Error in degrees for R and t:
19.028495606033683 40.05026783196945

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.0211637  -0.99974684 -0.00763943]
 [ 0.99970408  0.02125322 -0.01183429]
 [ 0.01199366 -0.00738671  0.99990079]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96100724  0.27353222  0.0405808 ]
 [-0.27300162  0.96184101 -0.01822231]
 [-0.04401729  0.00643361  0.99901024]]

 t_gt:
[-0.83005471  0.55751768  0.01353597]

Pose Error in degrees for R and t:
104.69543633956012 34.074348969751

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.91343774 -0.40683241 -0.01090368]
 [-0.40682386  0.91350139 -0.00309164]
 [ 0.01121831  0.00161186 -0.99993577]]

 t_estimated:
[[ 0.98141364]
 [ 0.19183287]
 [-0.00523579]]

 R_gt:
[[ 0.91502891  0.39635146  0.07501933]
 [-0.39444503  0.9180759  -0.03936771]
 [-0.0844763   0.00643099  0.99640518]]

 t_gt:
[-0.78881435  0.61348333  0.03755159]

Pose Error in degrees for R and t:
176.33606163034884 48.954093334347114

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 9.99999794e-01 -6.38186729e-04 -6.27325011e-05]
 [ 6.38180926e-04  9.99999792e-01 -9.24713017e-05]
 [ 6.27915020e-05  9.24312480e-05  9.99999994e-01]]

 t_estimated:
[[-9.89207334e-01]
 [-1.46522221e-01]
 [-2.97743089e-04]]

 R_gt:
[[ 0.99421269  0.10642863  0.01462155]
 [-0.10669859  0.99410772  0.01915089]
 [-0.01249665 -0.02059969  0.99970918]]

 t_gt:
[-0.78730965  0.59602957  0.15777283]

Pose Error in degrees for R and t:
6.308905036619557 46.25627580160578

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[ 9.99997712e-01  2.09729650e-03 -4.21657439e-04]
 [-2.09750090e-03  9.99997683e-01 -4.84910265e-04]
 [ 4.20639461e-04  4.85793583e-04  9.99999794e-01]]

 t_estimated:
[[-0.50448824]
 [-0.86341459]
 [-0.00262012]]

 R_gt:
[[ 0.99134473  0.12702476  0.03316785]
 [-0.12665214  0.99186109 -0.01310993]
 [-0.03456347  0.00879521  0.99936324]]

 t_gt:
[-0.80508236  0.58784006  0.0792872 ]

Pose Error in degrees for R and t:
7.458462684347603 84.16852335711627

Number of keypoints:
Image1: 342
Image2: 342

 R_estimated:
[[ 9.99999942e-01  2.54694504e-04 -2.25100856e-04]
 [-2.54766543e-04  9.99999916e-01 -3.20060422e-04]
 [ 2.25019320e-04  3.20117751e-04  9.99999923e-01]]

 t_estimated:
[[-0.70809121]
 [-0.70612047]
 [-0.00085084]]

 R_gt:
[[ 0.99160309  0.12886419  0.01086828]
 [-0.12829024  0.99080695 -0.04293485]
 [-0.0163007   0.04118029  0.99901821]]

 t_gt:
[-0.83289689  0.54857236 -0.07315145]

Pose Error in degrees for R and t:
7.796059620363746 78.31850419996104

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 4.65130719e-01 -8.85241064e-01 -1.29357719e-03]
 [ 8.85241822e-01  4.65131075e-01  2.94886693e-05]
 [ 5.75578366e-04 -1.15884471e-03  9.99999163e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99756626  0.06033352  0.03495859]
 [-0.06009034  0.99816212 -0.00797775]
 [-0.03537467  0.00585908  0.99935684]]

 t_gt:
[-0.73768286  0.63855544  0.21925089]

Pose Error in degrees for R and t:
65.76519305246208 42.6480550431852

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99999759e-01 -5.59456836e-04  4.12182523e-04]
 [ 5.59604664e-04  9.99999779e-01 -3.58618104e-04]
 [-4.11981801e-04  3.58848677e-04  9.99999851e-01]]

 t_estimated:
[[0.60601047]
 [0.79545511]
 [0.00157493]]

 R_gt:
[[ 0.99041242  0.13374888  0.03458198]
 [-0.13290864  0.99079876 -0.02558271]
 [-0.03768453  0.02074181  0.99907373]]

 t_gt:
[-0.74857915  0.66152122  0.04493251]

Pose Error in degrees for R and t:
8.072670405301782 85.83468818661326

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.97439124e-01  7.15205490e-02 -7.69617539e-05]
 [-7.15205697e-02  9.97439076e-01 -3.12109889e-04]
 [ 5.44423901e-05  3.16814962e-04  9.99999948e-01]]

 t_estimated:
[[-9.28357381e-01]
 [-3.71688570e-01]
 [-4.24501516e-04]]

 R_gt:
[[ 0.98768776  0.15019851  0.04376567]
 [-0.14850053  0.98811297 -0.03977965]
 [-0.04921992  0.03279104  0.99824882]]

 t_gt:
[-0.78604308  0.61695176  0.03881744]

Pose Error in degrees for R and t:
5.624970481740417 59.97363176246883

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[-9.68299251e-01 -2.49203989e-01 -1.71444822e-02]
 [-2.49227895e-01  9.68444565e-01 -7.61996172e-04]
 [ 1.67933731e-02  3.53504291e-03 -9.99852732e-01]]

 t_estimated:
[[ 0.98979869]
 [ 0.14225033]
 [-0.00796192]]

 R_gt:
[[ 0.99244137  0.12221228 -0.01111386]
 [-0.12197342  0.99233021  0.02005314]
 [ 0.01348008 -0.01854516  0.99973689]]

 t_gt:
[-0.86533404  0.49078622  0.10161637]

Pose Error in degrees for R and t:
178.4557626096941 38.04740875370151

Number of keypoints:
Image1: 369
Image2: 369

 R_estimated:
[[-0.98827553 -0.15229152 -0.01089846]
 [-0.15231193  0.9883319   0.00106361]
 [ 0.01060932  0.00271111 -0.99994004]]

 t_estimated:
[[ 0.99707934]
 [ 0.07621477]
 [-0.00490855]]

 R_gt:
[[ 0.97234721  0.23342311  0.00739641]
 [-0.23345966  0.9723544   0.00467411]
 [-0.00610133 -0.00627128  0.99996162]]

 t_gt:
[-0.82909071  0.55841036  0.02804411]

Pose Error in degrees for R and t:
179.79168729631377 38.34884150564658

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99047685e-01 -4.36302070e-02 -3.57068465e-04]
 [ 4.36302681e-02  9.99047733e-01  1.65149963e-04]
 [ 3.49522913e-04 -1.80571681e-04  9.99999923e-01]]

 t_estimated:
[[-9.43330056e-01]
 [-3.31854698e-01]
 [-9.30031167e-04]]

 R_gt:
[[ 0.93425455  0.35528869  0.0306509 ]
 [-0.35595792  0.93428514  0.02008542]
 [-0.02150062 -0.02967447  0.99932807]]

 t_gt:
[-0.8025526   0.59171802  0.07602047]

Pose Error in degrees for R and t:
23.433347044991493 55.90014645557748

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.96492919  0.26250577 -0.00154432]
 [-0.26250074  0.96492755  0.00285978]
 [ 0.00224086 -0.0023541   0.99999472]]

 t_estimated:
[[8.57777318e-01]
 [5.14020838e-01]
 [8.06940092e-04]]

 R_gt:
[[ 0.99010361 -0.0746704   0.11882784]
 [ 0.07571396  0.99712095 -0.00428762]
 [-0.11816502  0.01324202  0.99290591]]

 t_gt:
[ 0.27631273 -0.64788358  0.70985783]

Pose Error in degrees for R and t:
20.73451192188178 84.52346694139216

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99365163 -0.11248504 -0.00188584]
 [ 0.11248856  0.99365125  0.00187758]
 [ 0.00166267 -0.00207779  0.99999646]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.96716066 -0.17423419  0.18504885]
 [ 0.17511594  0.9844789   0.01169392]
 [-0.18421361  0.02109606  0.98265994]]

 t_gt:
[ 0.47134834 -0.69752014  0.53971882]

Pose Error in degrees for R and t:
11.40236334871571 62.34225428299915

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-3.70000394e-02 -9.99315213e-01 -3.18548291e-04]
 [-9.99315224e-01  3.69999458e-02  2.94715003e-04]
 [-2.82726916e-04  3.29234624e-04 -9.99999906e-01]]

 t_estimated:
[[0.84543918]
 [0.53407076]
 [0.00100846]]

 R_gt:
[[ 0.93506452 -0.29116614  0.20218263]
 [ 0.28951397  0.95640424  0.0383726 ]
 [-0.20454144  0.02265398  0.97859517]]

 t_gt:
[ 0.63123282 -0.66520758  0.39880321]

Pose Error in degrees for R and t:
171.14132239494927 79.69994161974384

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-0.72389417 -0.68928408 -0.02940546]
 [-0.68930167  0.72438854 -0.0111553 ]
 [ 0.02899015  0.01219397 -0.99950532]]

 t_estimated:
[[ 0.93280403]
 [ 0.36005957]
 [-0.0152888 ]]

 R_gt:
[[ 0.99987203  0.01545873  0.00410787]
 [-0.01554648  0.99963014  0.02232393]
 [-0.00376179 -0.02238502  0.99974249]]

 t_gt:
[0.16043812 0.88031157 0.44644278]

Pose Error in degrees for R and t:
178.88297591233103 62.62603248989968

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.23526690e-01 -3.83532867e-01 -9.96264254e-04]
 [ 3.83533354e-01  9.23526960e-01  3.47730710e-04]
 [ 7.86710741e-04 -7.03239163e-04  9.99999443e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99990779  0.00345047 -0.01314285]
 [-0.0012364   0.98630924  0.16490213]
 [ 0.01353207 -0.1648716   0.98622247]]

 t_gt:
[ 0.09669429 -0.189908    0.97702874]

Pose Error in degrees for R and t:
24.567368915607062 79.14725351882127

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.98903542e-01  4.68157430e-02  1.30572788e-05]
 [-4.68157406e-02  9.98903532e-01 -1.43146530e-04]
 [-1.97444730e-05  1.42378289e-04  9.99999990e-01]]

 t_estimated:
[[-1.93185322e-01]
 [-9.81162204e-01]
 [-4.00848325e-04]]

 R_gt:
[[ 0.99769791  0.02653888 -0.06240683]
 [-0.01269805  0.97707537  0.21251664]
 [ 0.06661487 -0.21123568  0.97516304]]

 t_gt:
[-0.10901617 -0.23886031  0.96491514]

Pose Error in degrees for R and t:
12.897056678176645 75.22438566930505

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[-9.86654450e-01  1.58933355e-01 -3.54003640e-02]
 [ 1.58803128e-01  9.87289013e-01  6.47851375e-03]
 [ 3.59800424e-02  7.70365863e-04 -9.99352212e-01]]

 t_estimated:
[[ 0.99510584]
 [-0.09716503]
 [-0.0179813 ]]

 R_gt:
[[ 0.9966868   0.07735523  0.02510468]
 [-0.0763976   0.99638707 -0.03708094]
 [-0.02788248  0.0350409   0.99899764]]

 t_gt:
[-0.71529944  0.66484783 -0.21523029]

Pose Error in degrees for R and t:
179.6241675659083 39.41850931073815

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.99985002e-01 -5.47589687e-03 -1.05858610e-04]
 [ 5.47589988e-03  9.99985007e-01  2.81537912e-05]
 [ 1.05702856e-04 -2.87330401e-05  9.99999994e-01]]

 t_estimated:
[[-0.98237249]
 [-0.18692579]
 [-0.00174185]]

 R_gt:
[[ 0.98416228  0.17695881  0.01045768]
 [-0.17684767  0.98417913 -0.01073853]
 [-0.01219219  0.00871968  0.99988768]]

 t_gt:
[-0.77938272  0.62634093 -0.01611241]

Pose Error in degrees for R and t:
10.539322513638245 49.56440037939816

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.95058769 -0.31045178 -0.00165397]
 [-0.31045376  0.95058783  0.00110998]
 [ 0.00122765  0.00156862 -0.99999802]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.95423574  0.29748715  0.03057263]
 [-0.29647179  0.95444511 -0.03373832]
 [-0.03921649  0.02313095  0.99896349]]

 t_gt:
[-0.76813031  0.64000053 -0.01936879]

Pose Error in degrees for R and t:
178.35609120087963 49.03295816167112

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99965857e-01  8.26208037e-03  1.53875391e-04]
 [-8.26205496e-03  9.99965855e-01 -1.65057271e-04]
 [-1.55233853e-04  1.63780308e-04  9.99999975e-01]]

 t_estimated:
[[-9.33163182e-01]
 [-3.59452157e-01]
 [-7.89464651e-04]]

 R_gt:
[[ 0.99934576  0.0186833  -0.03097838]
 [-0.01811368  0.99966378  0.01859372]
 [ 0.03131457 -0.01802038  0.99934691]]

 t_gt:
[-0.44717166  0.85388731 -0.26629678]

Pose Error in degrees for R and t:
2.16183016825552 83.65224472518284

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-7.42549183e-01 -6.69789950e-01  1.46063597e-03]
 [-6.69791151e-01  7.42544622e-01 -2.70158722e-03]
 [ 7.24908589e-04 -2.98438243e-03 -9.99995284e-01]]

 t_estimated:
[[0.92638182]
 [0.37658309]
 [0.00137724]]

 R_gt:
[[ 0.99979473 -0.01050237 -0.01735072]
 [ 0.01074997  0.99984155  0.01422238]
 [ 0.01719829 -0.01440585  0.99974884]]

 t_gt:
[ 0.65513335  0.75375849 -0.05146286]

Pose Error in degrees for R and t:
179.39383955248624 27.040492440859843

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.97448868e-01 -7.13845286e-02  6.68749659e-05]
 [ 7.13845230e-02  9.97448867e-01  8.30537967e-05]
 [-7.26331151e-05 -7.80680780e-05  9.99999994e-01]]

 t_estimated:
[[-0.7314878 ]
 [-0.68185404]
 [-0.00081367]]

 R_gt:
[[ 0.9992935   0.01701777 -0.03349979]
 [-0.01764736  0.99967194 -0.01857386]
 [ 0.03317293  0.01915217  0.99926614]]

 t_gt:
[-0.14589668  0.79842865 -0.5841454 ]

Pose Error in degrees for R and t:
5.542483411089506 64.07368724066382

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[ 9.99616540e-01 -2.76906184e-02  4.27030354e-05]
 [ 2.76906157e-02  9.99616539e-01  6.34829459e-05]
 [-4.44445425e-05 -6.22761294e-05  9.99999997e-01]]

 t_estimated:
[[6.48852793e-01]
 [7.60913877e-01]
 [3.53435010e-04]]

 R_gt:
[[ 0.99952319 -0.03007917 -0.00707513]
 [ 0.02972322  0.99850557 -0.04588112]
 [ 0.00844447  0.04564849  0.99892137]]

 t_gt:
[ 0.54289341 -0.00589296 -0.83978094]

Pose Error in degrees for R and t:
2.667115617982923 69.6669216451966

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99999649e-01 -6.63251677e-04  5.11519134e-04]
 [ 6.63690805e-04  9.99999411e-01 -8.58788145e-04]
 [-5.10949240e-04  8.59127335e-04  9.99999500e-01]]

 t_estimated:
[[-0.9300023 ]
 [-0.36755216]
 [-0.00105923]]

 R_gt:
[[ 9.99409542e-01 -3.43986478e-02 -5.73515940e-05]
 [ 3.43865180e-02  9.99110263e-01 -2.44662392e-02]
 [ 8.99099569e-04  2.44498057e-02  9.99699970e-01]]

 t_gt:
[ 0.84845306  0.04492483 -0.52736057]

Pose Error in degrees for R and t:
2.3587068633239134 36.38811045279254

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 3.79334070e-01  9.25258209e-01  1.70582660e-03]
 [ 9.25257354e-01 -3.79336653e-01  1.59111134e-03]
 [ 2.11927139e-03  9.74765869e-04 -9.99997279e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99863544  0.04347896 -0.02892691]
 [-0.04558769  0.99600707 -0.07676062]
 [ 0.02547372  0.07797433  0.99662918]]

 t_gt:
[-0.27059312  0.72389456 -0.63463063]

Pose Error in degrees for R and t:
177.20722797350714 55.58902732660735

Number of keypoints:
Image1: 415
Image2: 415

 R_estimated:
[[ 9.99971418e-01 -7.56059849e-03 -2.59353592e-05]
 [ 7.56059845e-03  9.99971418e-01 -1.55431465e-06]
 [ 2.59463695e-05  1.35818338e-06  1.00000000e+00]]

 t_estimated:
[[-8.95445752e-01]
 [-4.45170426e-01]
 [-4.43736564e-04]]

 R_gt:
[[ 0.99961337  0.02679987 -0.00748492]
 [-0.02654469  0.99912428  0.03234039]
 [ 0.0083453  -0.03212977  0.99944859]]

 t_gt:
[0.21659163 0.70794879 0.67223253]

Pose Error in degrees for R and t:
2.7324257096072886 59.37598041852116

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-4.82521129e-01  8.75883161e-01 -1.43149200e-03]
 [-8.75879750e-01 -4.82523247e-01 -2.44542108e-03]
 [-2.83263131e-03  7.38475149e-05  9.99995985e-01]]

 t_estimated:
[[-2.17075421e-02]
 [ 9.99763875e-01]
 [ 9.88119246e-04]]

 R_gt:
[[ 0.99968197  0.02090789 -0.01414805]
 [-0.01946509  0.99525109  0.09536957]
 [ 0.01607594 -0.09506396  0.99534092]]

 t_gt:
[0.31635118 0.2570236  0.91315979]

Pose Error in degrees for R and t:
117.78033828701396 75.4634226562053

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 7.76917828e-01 -6.29600639e-01 -1.31319301e-03]
 [ 6.29601359e-01  7.76918333e-01  1.83887928e-04]
 [ 9.04467770e-04 -9.69653915e-04  9.99999121e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.99834186  0.04292513 -0.03835827]
 [-0.03359101  0.97550827  0.21738154]
 [ 0.04675037 -0.21573242  0.97533223]]

 t_gt:
[-0.03542109  0.00369838  0.99936563]

Pose Error in degrees for R and t:
43.070900803379466 89.73912824050088

Number of keypoints:
Image1: 348
Image2: 348

 R_estimated:
[[ 9.99999848e-01  5.47238422e-04 -6.68496075e-05]
 [-5.47240330e-04  9.99999850e-01 -2.85359527e-05]
 [ 6.68339815e-05  2.85725312e-05  9.99999997e-01]]

 t_estimated:
[[-0.37864628]
 [-0.92553997]
 [-0.00166038]]

 R_gt:
[[ 0.99911547  0.02784356  0.03150938]
 [-0.02755303  0.9995744  -0.00964173]
 [-0.03176537  0.00876543  0.99945713]]

 t_gt:
[-0.35350617  0.85785171  0.37299307]

Pose Error in degrees for R and t:
2.448992350824514 48.64354727068606

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99999986e-01 -1.43959783e-04 -7.94006377e-05]
 [ 1.43953250e-04  9.99999986e-01 -8.22850405e-05]
 [ 7.94124824e-05  8.22736094e-05  9.99999993e-01]]

 t_estimated:
[[-8.83602359e-01]
 [-4.68237636e-01]
 [-6.22014968e-04]]

 R_gt:
[[ 0.99046305  0.12546706  0.05691781]
 [-0.12591567  0.99203221  0.00432703]
 [-0.05592268 -0.01145264  0.99836898]]

 t_gt:
[-0.6907927   0.66750824  0.27791759]

Pose Error in degrees for R and t:
7.941819833198698 72.68284585074367

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99999975e-01  8.76008309e-05 -2.03416672e-04]
 [-8.76525236e-05  9.99999964e-01 -2.54127432e-04]
 [ 2.03394403e-04  2.54145256e-04  9.99999947e-01]]

 t_estimated:
[[-0.73853098]
 [-0.67421883]
 [-0.0009839 ]]

 R_gt:
[[ 0.98437052  0.16344629  0.0655691 ]
 [-0.16201477  0.98642894 -0.02664521]
 [-0.06903531  0.01560541  0.99749173]]

 t_gt:
[-0.72593556  0.67396141  0.13708967]

Pose Error in degrees for R and t:
10.214270051394571 85.31983162224837

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.63552738e-01  2.67514813e-01 -1.39498479e-03]
 [-2.67515362e-01  9.63553570e-01 -2.19638162e-04]
 [ 1.28538612e-03  5.84812814e-04  9.99999003e-01]]

 t_estimated:
[[-0.85497431]
 [ 0.51865337]
 [-0.00419545]]

 R_gt:
[[ 0.99856382  0.02647289 -0.04658228]
 [-0.02601204  0.9996064   0.01047013]
 [ 0.04684157 -0.00924273  0.99885982]]

 t_gt:
[-0.66240666  0.43257405 -0.61163478]

Pose Error in degrees for R and t:
14.261839573472253 37.50852511668776

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.77287888 -0.63451322  0.00715645]
 [-0.63454035 -0.77274081  0.01517187]
 [-0.00409668 -0.01626707 -0.99985929]]

 t_estimated:
[[0.32652055]
 [0.94515159]
 [0.00853244]]

 R_gt:
[[ 0.99738634  0.01399426 -0.07088715]
 [-0.01599016  0.99948942 -0.02767091]
 [ 0.07046383  0.02873223  0.99709992]]

 t_gt:
[-0.37910204  0.31536686 -0.86995712]

Pose Error in degrees for R and t:
178.0682326061058 80.39457955601986

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99919531e-01  1.26857194e-02 -5.81616286e-05]
 [-1.26857129e-02  9.99919527e-01  1.11122872e-04]
 [ 5.95666217e-05 -1.10376108e-04  9.99999992e-01]]

 t_estimated:
[[0.25706736]
 [0.9663922 ]
 [0.00157482]]

 R_gt:
[[ 0.9988937   0.02349585 -0.04074271]
 [-0.02491564  0.99908711 -0.0347059 ]
 [ 0.03989012  0.03568262  0.99856655]]

 t_gt:
[-0.64774741  0.35160333 -0.67586862]

Pose Error in degrees for R and t:
3.139840221312857 80.08380003844066

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.62559932e-01  2.71068931e-01  1.10666937e-04]
 [-2.71068949e-01  9.62559908e-01  2.19024718e-04]
 [-4.71527607e-05 -2.40822788e-04  9.99999970e-01]]

 t_estimated:
[[9.61552527e-01]
 [2.74620014e-01]
 [7.64958256e-04]]

 R_gt:
[[ 9.62107243e-01 -2.72670009e-01  7.40116457e-04]
 [ 2.72662140e-01  9.62053485e-01 -1.04424027e-02]
 [ 2.13491900e-03  1.02486679e-02  9.99945545e-01]]

 t_gt:
[ 0.87424024 -0.48225395 -0.05599222]

Pose Error in degrees for R and t:
31.55709599388301 44.915529046090285

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.99999652  0.00129727 -0.00229877]
 [-0.00129334  0.9999977   0.00170949]
 [ 0.00230098 -0.00170651  0.9999959 ]]

 t_estimated:
[[-0.65940517]
 [-0.75178577]
 [-0.00172663]]

 R_gt:
[[ 0.87221875 -0.48130036  0.08709339]
 [ 0.48801433  0.86829227 -0.08893981]
 [-0.03281618  0.12007822  0.99222269]]

 t_gt:
[ 0.92059064 -0.33565649 -0.19961863]

Pose Error in degrees for R and t:
30.069508330040243 69.24603258206297

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.29811514 -0.78904487 -0.53715506]
 [ 0.0775329  -0.58090026  0.81027374]
 [-0.95137585  0.19990769  0.2343521 ]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.7738705  -0.60671202  0.18172922]
 [ 0.63078452  0.76410537 -0.13510965]
 [-0.05688849  0.21918886  0.97402289]]

 t_gt:
[ 0.93792457 -0.21798789 -0.26977541]

Pose Error in degrees for R and t:
120.92497112765368 56.807600458081

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.66059813 -0.75073181 -0.00344499]
 [-0.75072656 -0.66055245 -0.0089491 ]
 [ 0.00444278  0.008498   -0.99995402]]

 t_estimated:
[[ 0.52247966]
 [ 0.85264491]
 [-0.00341419]]

 R_gt:
[[ 0.99366539 -0.10506426 -0.03990183]
 [ 0.10603197  0.9940979   0.02295755]
 [ 0.0372543  -0.02704372  0.99893993]]

 t_gt:
[ 0.77400376 -0.63116001 -0.05054927]

Pose Error in degrees for R and t:
179.84348553800345 82.32339306619514

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.18073154e-01  3.96409763e-01  9.91929736e-04]
 [-3.96409432e-01  9.18073686e-01 -5.18552988e-04]
 [-1.11622406e-03  8.28592743e-05  9.99999374e-01]]

 t_estimated:
[[0.51257955]
 [0.8586358 ]
 [0.00260193]]

 R_gt:
[[ 0.99362574 -0.10593358 -0.03854073]
 [ 0.10662644  0.99416524  0.0163595 ]
 [ 0.03658244 -0.02036461  0.99912302]]

 t_gt:
[ 0.74392691 -0.66328057 -0.08143481]

Pose Error in degrees for R and t:
29.55818318766798 79.14018982159051

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.80507343e-01  1.96482357e-01  1.82752889e-04]
 [-1.96482336e-01  9.80507356e-01 -1.25707680e-04]
 [-2.03889894e-04  8.73495889e-05  9.99999975e-01]]

 t_estimated:
[[0.73150088]
 [0.6818394 ]
 [0.00122067]]

 R_gt:
[[ 0.99936125 -0.03540969 -0.00489652]
 [ 0.03547809  0.99926584  0.0144867 ]
 [ 0.00437989 -0.01465105  0.99988254]]

 t_gt:
[ 0.52839389 -0.84506624  0.08162685]

Pose Error in degrees for R and t:
13.39181035397265 79.07177072446423

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.99250063e-01  3.87206440e-02  1.52597486e-04]
 [-3.87206560e-02  9.99250071e-01  7.69187517e-05]
 [-1.49504706e-04 -8.27697423e-05  9.99999985e-01]]

 t_estimated:
[[0.97045455]
 [0.24127913]
 [0.00153023]]

 R_gt:
[[ 9.98252705e-01 -5.77938416e-02 -1.23186881e-02]
 [ 5.78060144e-02  9.98327309e-01  7.70825570e-04]
 [ 1.22536193e-02 -1.48213020e-03  9.99923600e-01]]

 t_gt:
[ 0.22010949 -0.9514448  -0.21518504]

Pose Error in degrees for R and t:
5.578862031215748 89.06679379403232

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99992740e-01  3.81035351e-03 -1.55165503e-05]
 [-3.81035114e-03  9.99992729e-01  1.50274284e-04]
 [ 1.60890356e-05 -1.50214070e-04  9.99999989e-01]]

 t_estimated:
[[ 7.92841914e-01]
 [-6.09427331e-01]
 [ 1.66958625e-04]]

 R_gt:
[[ 0.99697813 -0.05439657 -0.05544829]
 [ 0.05555006  0.99826511  0.01950007]
 [ 0.05429227 -0.02252175  0.99827092]]

 t_gt:
[-0.05160981 -0.88427092 -0.46411353]

Pose Error in degrees for R and t:
4.764594017258711 60.138642588640735

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.9843794  -0.17597653  0.00542842]
 [-0.17595603  0.98438969  0.0040505 ]
 [-0.00605647  0.00303206 -0.99997706]]

 t_estimated:
[[9.77481894e-01]
 [2.11017501e-01]
 [8.71973144e-04]]

 R_gt:
[[ 0.98654788 -0.09468002 -0.13325856]
 [ 0.10329779  0.99288095  0.05930872]
 [ 0.12669533 -0.07227637  0.98930445]]

 t_gt:
[ 0.14887551 -0.88988898 -0.43120028]

Pose Error in degrees for R and t:
173.22190932967683 87.55645223998481

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.25374229e-01 -3.79054366e-01 -5.69662956e-04]
 [ 3.79054480e-01  9.25374352e-01  1.02314454e-04]
 [ 4.88368748e-04 -3.10612454e-04  9.99999833e-01]]

 t_estimated:
[[ 7.62637071e-01]
 [-6.46826216e-01]
 [-7.37671312e-04]]

 R_gt:
[[ 0.99356378  0.1127319   0.01110155]
 [-0.11308363  0.99281493  0.0391221 ]
 [-0.00661081 -0.04012539  0.99917286]]

 t_gt:
[-0.90550927  0.11478226  0.40850704]

Pose Error in degrees for R and t:
28.852662983036307 40.08229076803705

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-6.09294105e-01 -7.92944131e-01  5.47200510e-04]
 [-7.92944220e-01  6.09294229e-01  8.09780085e-05]
 [-3.97617149e-04 -3.84560058e-04 -9.99999847e-01]]

 t_estimated:
[[0.87070118]
 [0.49181117]
 [0.00110968]]

 R_gt:
[[ 0.98833989  0.14187917  0.05527029]
 [-0.14440233  0.98850898  0.04470382]
 [-0.04829187 -0.05216361  0.99747063]]

 t_gt:
[-0.88482452  0.01754946  0.46559379]

Pose Error in degrees for R and t:
176.06849830200852 40.42370698909087

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.98115033 -0.19323491  0.00207372]
 [ 0.19323932  0.9811492  -0.00219538]
 [-0.0016104   0.00255472  0.99999544]]

 t_estimated:
[[-0.34945198]
 [-0.93694988]
 [-0.00286906]]

 R_gt:
[[ 0.99586389  0.06036978  0.06790012]
 [-0.06416855  0.99640967  0.05523832]
 [-0.06432057 -0.05936737  0.996162  ]]

 t_gt:
[-0.5535586  -0.48433038  0.67749314]

Pose Error in degrees for R and t:
15.55123541678845 49.81245255458283

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-0.7833074  -0.62088965 -0.03042286]
 [-0.62086689  0.78383406 -0.01133441]
 [ 0.0308839   0.01001022 -0.99947285]]

 t_estimated:
[[ 0.93873318]
 [ 0.34428604]
 [-0.01572054]]

 R_gt:
[[ 0.99528192  0.09033113 -0.03542458]
 [-0.08972737  0.99579815  0.01828337]
 [ 0.03692781 -0.01501887  0.99920504]]

 t_gt:
[-0.65875603  0.74203077 -0.12422088]

Pose Error in degrees for R and t:
176.4982128803953 68.84006804352539

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 7.16896719e-01 -6.97178758e-01  9.34612812e-04]
 [ 6.97179328e-01  7.16896556e-01 -5.58913862e-04]
 [-2.80357834e-04  1.05227625e-03  9.99999407e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 9.95633138e-01  8.29229283e-02 -4.29018987e-02]
 [-8.29614311e-02  9.96552127e-01  8.99393785e-04]
 [ 4.28288322e-02  2.66297342e-03  9.99078723e-01]]

 t_gt:
[-0.56283282  0.78183716 -0.26823475]

Pose Error in degrees for R and t:
49.0208707436199 59.505934845569065

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99313358e-01 -3.70514188e-02  7.46423307e-05]
 [ 3.70514202e-02  9.99313360e-01 -1.68331340e-05]
 [-7.39673868e-05  1.95871800e-05  9.99999997e-01]]

 t_estimated:
[[-7.47326297e-01]
 [-6.64457030e-01]
 [-5.11365136e-04]]

 R_gt:
[[ 0.99792985  0.0542175  -0.03461229]
 [-0.05357638  0.99837934  0.0192011 ]
 [ 0.03559795 -0.01730755  0.99921703]]

 t_gt:
[-0.50998238  0.85188187 -0.11922772]

Pose Error in degrees for R and t:
5.687138797229671 79.34733937526897

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999806e-01  6.06494420e-04  1.40172705e-04]
 [-6.06452139e-04  9.99999771e-01 -3.01482520e-04]
 [-1.40355520e-04  3.01397454e-04  9.99999945e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99509274 -0.0537652   0.08307426]
 [ 0.04482468  0.99335946  0.10597111]
 [-0.08821934 -0.10172702  0.99089335]]

 t_gt:
[ 0.16719961 -0.41056339  0.89637157]

Pose Error in degrees for R and t:
8.261185677041462 65.88429765184557

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 3.17131711e-02  9.99432304e-01  1.13729953e-02]
 [-9.99496536e-01  3.17221949e-02 -6.13880762e-04]
 [-9.74308637e-04 -1.13478013e-02  9.99935137e-01]]

 t_estimated:
[[0.09287377]
 [0.99567414]
 [0.00273332]]

 R_gt:
[[ 0.98816455 -0.04863072  0.14549329]
 [ 0.02206983  0.98362381  0.17888275]
 [-0.15180859 -0.17355428  0.97305313]]

 t_gt:
[ 0.04855623 -0.2250928   0.97312668]

Pose Error in degrees for R and t:
90.9015582820658 77.47006819644567

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-0.85240195  0.52288411 -0.0017651 ]
 [-0.52288004 -0.85240313 -0.00231553]
 [-0.00271533 -0.00105082  0.99999576]]

 t_estimated:
[[0.59738504]
 [0.80195251]
 [0.00181018]]

 R_gt:
[[ 0.98411665  0.0695572   0.16333516]
 [-0.10406006  0.97143227  0.2132886 ]
 [-0.14383255 -0.22689788  0.96323957]]

 t_gt:
[-0.30669618  0.23610864  0.92205757]

Pose Error in degrees for R and t:
143.75785392520203 89.55301444196077

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.77428778e-01  2.11265181e-01  7.91971135e-05]
 [-2.11265145e-01  9.77428735e-01 -3.25211928e-04]
 [-1.46115491e-04  3.01139908e-04  9.99999944e-01]]

 t_estimated:
[[-9.99050726e-01]
 [-4.35529231e-02]
 [-8.88835165e-04]]

 R_gt:
[[ 0.99848574  0.04233125  0.03511425]
 [-0.04490405  0.99609356  0.07604804]
 [-0.03175761 -0.07751022  0.9964851 ]]

 t_gt:
[-0.49812927  0.32114167  0.80544103]

Pose Error in degrees for R and t:
10.821559660003835 61.1214993219599

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 7.49811912e-01 -6.61650313e-01  9.80177476e-04]
 [ 6.61651000e-01  7.49811551e-01 -7.69329519e-04]
 [-2.25921277e-04  1.22538784e-03  9.99999224e-01]]

 t_estimated:
[[0.7468062 ]
 [0.6650405 ]
 [0.00127652]]

 R_gt:
[[ 0.97839796  0.19823611  0.05864895]
 [-0.20279907  0.97542182  0.08618137]
 [-0.04012248 -0.09621325  0.99455111]]

 t_gt:
[-0.59822172  0.72521513  0.34087211]

Pose Error in degrees for R and t:
53.34164387762726 87.93823199654162

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 8.81920713e-01 -4.71397671e-01 -3.01557217e-04]
 [ 4.71397725e-01  8.81920726e-01  1.37531134e-04]
 [ 2.01117703e-04 -2.63444942e-04  9.99999945e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.96736917  0.25075794  0.03629848]
 [-0.25300306  0.96372294  0.08503236]
 [-0.01365845 -0.09144063  0.9957168 ]]

 t_gt:
[-0.58528964  0.78925157  0.18579022]

Pose Error in degrees for R and t:
43.057525705936044 38.2072594446632

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[ 9.99609142e-01 -2.79563939e-02 -5.91078000e-05]
 [ 2.79563989e-02  9.99609140e-01  8.58571748e-05]
 [ 5.66844402e-05 -8.74760580e-05  9.99999995e-01]]

 t_estimated:
[[-9.82702348e-01]
 [ 1.85192025e-01]
 [-8.99154102e-05]]

 R_gt:
[[ 0.99723148  0.07382179  0.00893847]
 [-0.07388023  0.99724689  0.00627409]
 [-0.00845084 -0.00691648  0.99994031]]

 t_gt:
[-0.98217438  0.14854346  0.11518821]

Pose Error in degrees for R and t:
5.870831775451823 6.934995366218186

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[-0.74698867  0.66470407 -0.01328259]
 [ 0.66470056  0.74709096  0.00531624]
 [ 0.01345702 -0.00485778 -0.99989765]]

 t_estimated:
[[ 0.9546194 ]
 [-0.29776425]
 [-0.00618471]]

 R_gt:
[[ 0.978367    0.20624131  0.01622139]
 [-0.20653947  0.97824329  0.01950675]
 [-0.01184523 -0.0224346   0.99967732]]

 t_gt:
[-0.95649858  0.250648    0.1492851 ]

Pose Error in degrees for R and t:
179.51044120905198 8.640892762268438

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[-6.45612813e-02 -9.97913290e-01 -9.52656042e-04]
 [ 9.97912806e-01 -6.45625001e-02  1.30939874e-03]
 [-1.36817226e-03 -8.66131204e-04  9.99998689e-01]]

 t_estimated:
[[ 0.72785219]
 [-0.68573324]
 [ 0.00105854]]

 R_gt:
[[ 0.96581383  0.2555466   0.04360063]
 [-0.25743078  0.96524565  0.04504995]
 [-0.03057301 -0.05473423  0.99803249]]

 t_gt:
[-0.93791276  0.20626806  0.27887836]

Pose Error in degrees for R and t:
108.61581519066888 34.53181850819819

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 8.93881507e-01 -4.48302189e-01  9.98838836e-04]
 [-4.48301973e-01 -8.93882064e-01 -4.43249666e-04]
 [ 1.09155392e-03 -5.15687412e-05 -9.99999403e-01]]

 t_estimated:
[[0.56149384]
 [0.82748016]
 [0.00111875]]

 R_gt:
[[ 0.97704542 -0.21234778 -0.01704956]
 [ 0.21252418  0.97711274  0.00919521]
 [ 0.01470616 -0.01260806  0.99981213]]

 t_gt:
[ 0.86949792 -0.49390875  0.00524549]

Pose Error in degrees for R and t:
179.61856591931885 85.43879978056525

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.65003656 -0.75973868 -0.01579896]
 [-0.75980867 -0.6501429   0.00223394]
 [-0.01196879  0.01055204 -0.99987269]]

 t_estimated:
[[0.78939591]
 [0.61388389]
 [0.00081633]]

 R_gt:
[[ 0.89134355 -0.45227045  0.03094188]
 [ 0.45329309  0.89004484 -0.04844494]
 [-0.00562972  0.05720671  0.99834685]]

 t_gt:
[ 0.92016292 -0.3760797  -0.10892319]

Pose Error in degrees for R and t:
177.57227472650925 60.302903308878385

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.97601428 -0.21722266 -0.01450681]
 [ 0.21721722 -0.97612131  0.0019681 ]
 [-0.01458793 -0.00123024  0.99989283]]

 t_estimated:
[[8.80493970e-01]
 [4.74056802e-01]
 [7.19357818e-04]]

 R_gt:
[[ 0.77929423 -0.61634446  0.11322604]
 [ 0.62645885  0.77078258 -0.11595349]
 [-0.01580577  0.16129303  0.98678   ]]

 t_gt:
[ 0.94809604 -0.2331085  -0.21627373]

Pose Error in degrees for R and t:
128.98310185692773 43.60342813781016

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99948054e-01  1.01925748e-02  5.14499036e-06]
 [-1.01925750e-02  9.99948054e-01  4.12399600e-05]
 [-4.72438172e-06 -4.12902584e-05  9.99999999e-01]]

 t_estimated:
[[0.87322669]
 [0.48731286]
 [0.00114846]]

 R_gt:
[[ 0.99918982  0.034365    0.02096193]
 [-0.03419673  0.99938042 -0.0082797 ]
 [-0.02123323  0.00755631  0.99974589]]

 t_gt:
[-0.89405681  0.33501074  0.29737221]

Pose Error in degrees for R and t:
1.8911123466827227 51.89404173828161

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 7.74771280e-01  6.32240611e-01  1.12841401e-03]
 [-6.32241082e-01  7.74767067e-01  2.68425103e-03]
 [ 8.22834497e-04 -2.79311030e-03  9.99995761e-01]]

 t_estimated:
[[0.39159569]
 [0.92013669]
 [0.00113178]]

 R_gt:
[[ 9.93723062e-01  1.11864394e-01 -1.06489168e-03]
 [-1.11867202e-01  9.93718652e-01 -3.13703038e-03]
 [ 7.07186166e-04  3.23677378e-03  9.99994879e-01]]

 t_gt:
[-0.81614145  0.57640436 -0.04087968]

Pose Error in degrees for R and t:
32.79470162976471 77.83503652647813

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.93361857e-01  1.15031244e-01  1.85885749e-04]
 [-1.15031267e-01  9.93361864e-01  1.21508691e-04]
 [-1.70674519e-04 -1.42084772e-04  9.99999975e-01]]

 t_estimated:
[[0.7616743 ]
 [0.64795828]
 [0.00152347]]

 R_gt:
[[ 0.99193553  0.1264805  -0.00815338]
 [-0.12651786  0.99195517 -0.00429009]
 [ 0.00754433  0.00528788  0.99995818]]

 t_gt:
[-0.80016757  0.5881184  -0.11768012]

Pose Error in degrees for R and t:
0.8534121041147499 76.78709368185886

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.90358521 -0.42828478  0.01029175]
 [-0.42812856 -0.90186616  0.05782179]
 [-0.01548241 -0.05665311 -0.99827387]]

 t_estimated:
[[0.21124079]
 [0.9769327 ]
 [0.03130211]]

 R_gt:
[[ 0.99927706 -0.00377732 -0.03782518]
 [ 0.00362503  0.99998507 -0.0041005 ]
 [ 0.03783976  0.0039615   0.99927631]]

 t_gt:
[-0.25803324  0.14019286 -0.95591046]

Pose Error in degrees for R and t:
177.3387630366803 86.98887673852865

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-8.88131029e-01 -4.59581675e-01 -2.82131831e-03]
 [ 4.59584355e-01 -8.88134054e-01 -3.51005114e-04]
 [-2.34439335e-03 -1.60837229e-03  9.99995958e-01]]

 t_estimated:
[[0.93578774]
 [0.35256056]
 [0.00153784]]

 R_gt:
[[ 0.9987219   0.01030253 -0.0494749 ]
 [-0.01140231  0.99969264 -0.02199805]
 [ 0.04923307  0.02253509  0.99853349]]

 t_gt:
[-0.41935005  0.28669187 -0.86136712]

Pose Error in degrees for R and t:
153.272233276909 72.98206504056594

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.49358717  0.86969269  0.00251664]
 [ 0.86969335 -0.49359098  0.00118924]
 [ 0.00227646  0.00160171 -0.99999613]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99900319 -0.01922166  0.04028334]
 [ 0.02069157  0.99912242 -0.03642099]
 [-0.03954835  0.03721795  0.99852501]]

 t_gt:
[-0.92066573 -0.39026016  0.00846293]

Pose Error in degrees for R and t:
177.0102627825494 22.79979044444926

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-0.96206326 -0.27281977 -0.0019143 ]
 [ 0.27282306 -0.96206265 -0.00174   ]
 [-0.00136697 -0.00219626  0.99999665]]

 t_estimated:
[[0.82997088]
 [0.5578051 ]
 [0.00134736]]

 R_gt:
[[ 0.99369671 -0.11160373  0.01056738]
 [ 0.11168178  0.99371952 -0.00702074]
 [-0.0097183   0.00815744  0.99991891]]

 t_gt:
[ 0.8359782  -0.54831132  0.02225177]

Pose Error in degrees for R and t:
157.75896895516303 67.16885161943257

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 0.98673766  0.16198707  0.0104391 ]
 [-0.1619533   0.98679028 -0.0040079 ]
 [-0.01095043  0.0022641   0.99993748]]

 t_estimated:
[[0.98874607]
 [0.14898913]
 [0.01354447]]

 R_gt:
[[ 0.98458519 -0.17164486  0.03364391]
 [ 0.17120994  0.98511375  0.01543142]
 [-0.03579274 -0.00943344  0.99931433]]

 t_gt:
[ 0.84812213 -0.48563077  0.21178197]

Pose Error in degrees for R and t:
19.26481229173179 39.727561635334254

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 6.90854336e-01 -7.22990409e-01 -2.27028800e-03]
 [ 7.22993752e-01  6.90853179e-01  1.38575093e-03]
 [ 5.66551052e-04 -2.59875608e-03  9.99996463e-01]]

 t_estimated:
[[0.99972424]
 [0.02345032]
 [0.00123423]]

 R_gt:
[[ 0.98886566 -0.14880418  0.00183006]
 [ 0.14879966  0.98886406  0.00267146]
 [-0.00220835 -0.0023691   0.99999482]]

 t_gt:
[ 0.93751944 -0.34345367  0.05564964]

Pose Error in degrees for R and t:
37.74514203750885 21.677842397524284

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 0.98765678 -0.15662811  0.00131306]
 [ 0.15663029  0.98765572 -0.00176926]
 [-0.00101973  0.00195309  0.99999757]]

 t_estimated:
[[0.9988686 ]
 [0.04736015]
 [0.00430547]]

 R_gt:
[[ 0.99957905 -0.0185434  -0.02229116]
 [ 0.01670151  0.99664149 -0.0801626 ]
 [ 0.0237032   0.07975716  0.99653194]]

 t_gt:
[ 0.43391413  0.64501128 -0.62903019]

Pose Error in degrees for R and t:
9.271182030114 62.531378919426096

Number of keypoints:
Image1: 482
Image2: 482

 R_estimated:
[[ 9.94470104e-01 -1.05020059e-01 -1.35403989e-05]
 [ 1.05020060e-01  9.94470096e-01  1.20791073e-04]
 [ 7.80036074e-07 -1.21545125e-04  9.99999993e-01]]

 t_estimated:
[[-3.10702221e-01]
 [ 9.50507301e-01]
 [ 3.16273067e-06]]

 R_gt:
[[ 9.99948877e-01  1.95213222e-03  9.88077614e-03]
 [-3.17339259e-04  9.86650687e-01 -1.62850531e-01]
 [-1.00672082e-02  1.62838848e-01  9.86600678e-01]]

 t_gt:
[ 0.1286021   0.74966074 -0.64920742]

Pose Error in degrees for R and t:
11.196122933379213 47.732025195687186

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-6.46155923e-01  7.63176225e-01  6.67627473e-03]
 [-7.63204990e-01 -6.46140187e-01 -4.58277260e-03]
 [ 8.16346316e-04 -8.05655185e-03  9.99967212e-01]]

 t_estimated:
[[0.70858434]
 [0.70562574]
 [0.00073965]]

 R_gt:
[[ 0.99882275  0.04844111  0.00251577]
 [-0.04727165  0.98371805 -0.17339088]
 [-0.01087332  0.17306822  0.98484959]]

 t_gt:
[ 0.06367447  0.85668446 -0.51189578]

Pose Error in degrees for R and t:
127.7249279214494 49.51577110145527

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.94611113e-01  1.03675561e-01  3.34065209e-04]
 [-1.03675233e-01  9.94610811e-01 -8.83761965e-04]
 [-4.23889386e-04  8.44365183e-04  9.99999554e-01]]

 t_estimated:
[[0.93428128]
 [0.35653033]
 [0.00214777]]

 R_gt:
[[ 0.99317102  0.10378372  0.05328203]
 [-0.10154887  0.9938983  -0.04306932]
 [-0.05742831  0.03736427  0.99765008]]

 t_gt:
[-0.36231552  0.92955757  0.06819221]

Pose Error in degrees for R and t:
3.8823975148051373 89.60221039515184

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.95467657e-01  9.51006925e-02  4.46089700e-05]
 [-9.51003126e-02  9.95464806e-01 -2.39814779e-03]
 [-2.72472175e-04  2.38303624e-03  9.99997123e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075934e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97667987  0.20898569  0.0492162 ]
 [-0.20707893  0.97745829 -0.04113983]
 [-0.05670565  0.02998926  0.99793996]]

 t_gt:
[-0.30286167  0.95197305  0.04496801]

Pose Error in degrees for R and t:
7.482060740205249 72.54999893586006

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 5.50734736e-01  8.34677263e-01  2.26216494e-03]
 [ 8.34678228e-01 -5.50737407e-01  7.50681559e-04]
 [ 1.87243568e-03  1.47475342e-03 -9.99997160e-01]]

 t_estimated:
[[-0.94897897]
 [-0.3153378 ]
 [-0.00098852]]

 R_gt:
[[ 0.93266382  0.35943669  0.03071991]
 [-0.35551119  0.93024475 -0.09086153]
 [-0.06123624  0.07382231  0.995389  ]]

 t_gt:
[-0.24911356  0.96707366 -0.05206701]

Pose Error in degrees for R and t:
174.4977070253769 86.07217000366835

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99999970e-01  2.41500696e-04  4.29263196e-05]
 [-2.41500923e-04  9.99999971e-01  5.26661548e-06]
 [-4.29250465e-05 -5.27698207e-06  9.99999999e-01]]

 t_estimated:
[[ 8.53003907e-01]
 [-5.21904456e-01]
 [-2.70192802e-04]]

 R_gt:
[[ 0.99666403 -0.06970338 -0.04247658]
 [ 0.07004558  0.99752174  0.00663087]
 [ 0.04190899 -0.00958309  0.99907488]]

 t_gt:
[ 0.43723121 -0.85115181 -0.29046421]

Pose Error in degrees for R and t:
4.7179584846284195 35.18872288245298

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.43348989e-01 -3.31800527e-01 -1.04703619e-03]
 [-3.31802099e-01 -9.43341876e-01 -3.67033927e-03]
 [ 2.30107424e-04  3.80981964e-03 -9.99992716e-01]]

 t_estimated:
[[ 2.65462863e-01]
 [ 9.64120883e-01]
 [-6.25400315e-04]]

 R_gt:
[[ 9.92874728e-01 -1.16078565e-01 -2.69549064e-02]
 [ 1.16038515e-01  9.93240148e-01 -3.02217338e-03]
 [ 2.71235230e-02 -1.26697183e-04  9.99631387e-01]]

 t_gt:
[ 0.46240822 -0.87284106 -0.15597157]

Pose Error in degrees for R and t:
179.43738870457608 44.05484424218493

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 8.26351025e-01 -5.63152471e-01  1.81079200e-03]
 [-5.63151948e-01 -8.26352943e-01 -8.35246594e-04]
 [ 1.96672448e-03 -3.29544161e-04 -9.99998012e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98118284 -0.19230917 -0.01726031]
 [ 0.19260459  0.98112189  0.01743619]
 [ 0.01358112 -0.02043242  0.99969829]]

 t_gt:
[ 0.47956006 -0.87669535  0.03778106]

Pose Error in degrees for R and t:
179.24522145311172 29.114679238996445

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.2345178  -0.80571426 -0.54389882]
 [-0.56008266  0.34531638 -0.75303653]
 [ 0.79454944  0.48122877 -0.37028375]]

 t_estimated:
[[ 0.65348367]
 [ 0.48616428]
 [-0.5801753 ]]

 R_gt:
[[ 9.96261369e-01 -8.63625802e-02  1.86655452e-03]
 [ 8.63813568e-02  9.95928801e-01 -2.57265619e-02]
 [ 3.62411909e-04  2.57919616e-02  9.99666955e-01]]

 t_gt:
[ 0.85063149 -0.47883886 -0.21711613]

Pose Error in degrees for R and t:
111.72636139606576 63.31758064182456

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.98289307e-01  5.84670689e-02 -2.49693850e-04]
 [-5.84669383e-02  9.98289219e-01  5.01822299e-04]
 [ 2.78606758e-04 -4.86365000e-04  9.99999843e-01]]

 t_estimated:
[[ 9.93878319e-01]
 [ 1.10478746e-01]
 [-5.77473921e-04]]

 R_gt:
[[ 9.80838431e-01 -1.94820322e-01 -8.99552682e-04]
 [ 1.94822661e-01  9.80832348e-01  3.49926326e-03]
 [ 2.00204946e-04 -3.60689124e-03  9.99992597e-01]]

 t_gt:
[ 0.86514182 -0.50126493  0.01622031]

Pose Error in degrees for R and t:
14.58732159811736 36.442131870661605

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999778e-01  6.65926073e-04  2.57345149e-06]
 [-6.65926068e-04  9.99999778e-01 -1.62769861e-06]
 [-2.57453485e-06  1.62598452e-06  1.00000000e+00]]

 t_estimated:
[[ 0.92916018]
 [-0.36967572]
 [-0.00110164]]

 R_gt:
[[ 0.9857888  -0.16659538  0.02158048]
 [ 0.16634269  0.98598221  0.01298527]
 [-0.02344222 -0.0092109   0.99968193]]

 t_gt:
[ 0.88302    -0.44819143  0.1392843 ]

Pose Error in degrees for R and t:
9.72989082386437 9.598955266255665

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.35649127e-01 -3.52914099e-01  3.51437824e-03]
 [ 3.52909321e-01  9.35655562e-01  1.91829741e-03]
 [-3.96524175e-03 -5.54596462e-04  9.99991985e-01]]

 t_estimated:
[[0.79212121]
 [0.61035969]
 [0.00224397]]

 R_gt:
[[ 0.9986325   0.00804495 -0.05166238]
 [-0.00667802  0.9996243   0.02658592]
 [ 0.0518566  -0.02620383  0.99831076]]

 t_gt:
[-0.48831094 -0.46456502 -0.7387366 ]

Pose Error in degrees for R and t:
21.372721319604427 47.77754106331568

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.99999998e-01  6.05926744e-05 -1.87169489e-05]
 [-6.05926725e-05  9.99999998e-01  1.02831832e-07]
 [ 1.87169551e-05 -1.01697721e-07  1.00000000e+00]]

 t_estimated:
[[ 2.64127120e-01]
 [-9.64487425e-01]
 [-9.33754016e-04]]

 R_gt:
[[ 0.99148521 -0.05176402 -0.1194943 ]
 [ 0.05874731  0.99671836  0.05568706]
 [ 0.11622017 -0.06223259  0.991272  ]]

 t_gt:
[ 0.13050822 -0.8454458  -0.51786967]

Pose Error in degrees for R and t:
8.215884360897903 31.747392840975692

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.94628092e-01 -1.03513061e-01 -6.26439332e-05]
 [ 1.03513077e-01  9.94628032e-01  3.47757355e-04]
 [ 2.63099837e-05 -3.52373701e-04  9.99999938e-01]]

 t_estimated:
[[ 8.67818455e-01]
 [-4.96881256e-01]
 [ 3.81743142e-04]]

 R_gt:
[[ 0.9881821  -0.11150959 -0.10517605]
 [ 0.11637833  0.99234445  0.04133161]
 [ 0.09976172 -0.0530829   0.99359402]]

 t_gt:
[ 0.28230424 -0.90578839 -0.3159932 ]

Pose Error in degrees for R and t:
6.50778837582334 45.97776475648638

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.69995829e-01  2.43121448e-01  2.30373118e-04]
 [-2.43121438e-01  9.69995856e-01 -7.06667983e-05]
 [-2.40641584e-04  1.25378559e-05  9.99999971e-01]]

 t_estimated:
[[0.59588482]
 [0.80306939]
 [0.00091675]]

 R_gt:
[[ 0.99360454 -0.11272222  0.00660506]
 [ 0.11267906  0.9936102   0.00664246]
 [-0.00731056 -0.00585498  0.99995641]]

 t_gt:
[ 0.83346872 -0.54484922  0.09202838]

Pose Error in degrees for R and t:
20.548626474939645 86.6070244691135

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 8.34949566e-01 -5.50326171e-01 -5.73112361e-04]
 [ 5.50326457e-01  8.34949313e-01  6.60334700e-04]
 [ 1.15120305e-04 -8.66745066e-04  9.99999618e-01]]

 t_estimated:
[[ 8.39043760e-01]
 [-5.44063821e-01]
 [ 3.58202333e-04]]

 R_gt:
[[ 0.98750094 -0.15655749  0.01821779]
 [ 0.15595637  0.98728537  0.03074998]
 [-0.02280012 -0.02752438  0.99936068]]

 t_gt:
[ 0.83236466 -0.50468861  0.22903817]

Pose Error in degrees for R and t:
24.47925506890201 13.330760065466446

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.98519324e-01  5.43977869e-02  2.02225687e-04]
 [-5.43977597e-02  9.98519336e-01 -1.38070143e-04]
 [-2.09436969e-04  1.26865081e-04  9.99999970e-01]]

 t_estimated:
[[8.33978899e-01]
 [5.51795793e-01]
 [7.74611785e-04]]

 R_gt:
[[ 0.99807126 -0.05598065  0.02684415]
 [ 0.05628038  0.99836064 -0.01048199]
 [-0.02621289  0.01197278  0.99958463]]

 t_gt:
[0.96721934 0.09701209 0.23468151]

Pose Error in degrees for R and t:
6.544423903079949 30.64374028167426

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999362e-01  8.91713674e-04 -6.93406697e-04]
 [-8.91578615e-04  9.99999584e-01  1.95060454e-04]
 [ 6.93580346e-04 -1.94442103e-04  9.99999741e-01]]

 t_estimated:
[[-0.60357387]
 [-0.79730485]
 [-0.00188551]]

 R_gt:
[[ 0.98794911  0.15455373  0.00841809]
 [-0.15465209  0.987889    0.01255748]
 [-0.00637511 -0.01370765  0.9998854 ]]

 t_gt:
[-0.61730345  0.78352839  0.07084998]

Pose Error in degrees for R and t:
8.886465452759708 75.38892880824137

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99996488e-01 -1.92946461e-03  1.81703386e-03]
 [ 1.93048242e-03  9.99997981e-01 -5.58559907e-04]
 [-1.81595247e-03  5.62065698e-04  9.99998193e-01]]

 t_estimated:
[[-0.62860533]
 [-0.77772403]
 [-0.00082386]]

 R_gt:
[[ 0.97568127  0.21800582 -0.02279663]
 [-0.21860264  0.97540723 -0.02816021]
 [ 0.01609731  0.03245888  0.99934346]]

 t_gt:
[-0.52943132  0.84025939 -0.11690441]

Pose Error in degrees for R and t:
12.897042569579558 71.30137539381981

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.99992385 -0.00664807 -0.01039727]
 [ 0.00673056  0.99994599  0.00791939]
 [ 0.01034406 -0.00798876  0.99991459]]

 t_estimated:
[[0.91801128]
 [0.39655246]
 [0.00119568]]

 R_gt:
[[ 0.95147672  0.307129    0.01906867]
 [-0.30597837  0.95085635 -0.04741714]
 [-0.03269454  0.03928123  0.99869331]]

 t_gt:
[-4.93352096e-01  8.69829660e-01 -2.68590144e-04]

Pose Error in degrees for R and t:
18.604181017257144 83.80169074886092

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99589730e-01 -2.86420919e-02 -5.00206242e-05]
 [ 2.86420918e-02  9.99589731e-01 -3.73441926e-06]
 [ 5.01070639e-05  2.30019183e-06  9.99999999e-01]]

 t_estimated:
[[ 5.44706331e-01]
 [-8.38626669e-01]
 [-5.68958856e-04]]

 R_gt:
[[ 0.99886898 -0.01910828  0.04354873]
 [ 0.02101061  0.99882565 -0.04365289]
 [-0.0426638   0.04451879  0.99809666]]

 t_gt:
[ 0.97143102  0.18651307 -0.14674686]

Pose Error in degrees for R and t:
3.571015305680312 68.11077509061359

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.82774974e-01  1.84806242e-01 -5.72549454e-05]
 [-1.84806250e-01  9.82774891e-01 -4.04541879e-04]
 [-1.84931419e-05  4.08154707e-04  9.99999917e-01]]

 t_estimated:
[[9.87731467e-01]
 [1.56160037e-01]
 [7.69261267e-04]]

 R_gt:
[[ 0.99430587  0.07684764  0.07383036]
 [-0.07291492  0.99584419 -0.0545582 ]
 [-0.07771579  0.04886357  0.99577748]]

 t_gt:
[-0.05217853  0.9960716   0.07154559]

Pose Error in degrees for R and t:
8.237914615829078 84.02680126722134

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-9.44314346e-01 -3.29044590e-01 -2.73444891e-04]
 [-3.29044352e-01  9.44311796e-01  2.24625947e-03]
 [-4.80902289e-04  2.21115054e-03 -9.99997440e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.97992072  0.17404006  0.09728825]
 [-0.16390396  0.98098012 -0.10398207]
 [-0.11353411  0.08594811  0.98980901]]

 t_gt:
[-0.1619025   0.98587769  0.04281082]

Pose Error in degrees for R and t:
174.92495100951913 87.01398224434001

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[ 9.97877793e-01  6.51143154e-02 -1.88108733e-04]
 [-6.51141727e-02  9.97877585e-01  6.84949713e-04]
 [ 2.32309520e-04 -6.71247564e-04  9.99999748e-01]]

 t_estimated:
[[0.71369917]
 [0.70045186]
 [0.00082796]]

 R_gt:
[[ 0.99857735 -0.05150979  0.01381783]
 [ 0.05133527  0.99860062  0.01264479]
 [-0.01444994 -0.01191772  0.99982403]]

 t_gt:
[ 0.8289402  -0.39734101  0.3936728 ]

Pose Error in degrees for R and t:
6.764553619463869 71.72237721390397

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-0.58035749 -0.81435365 -0.00364944]
 [ 0.81435494 -0.58036518  0.00151185]
 [-0.00334919 -0.00209452  0.9999922 ]]

 t_estimated:
[[0.95722156]
 [0.28935024]
 [0.00181981]]

 R_gt:
[[ 0.99852117 -0.0221742  -0.04964756]
 [ 0.02066364  0.99931391 -0.03072762]
 [ 0.05029516  0.0296561   0.99829394]]

 t_gt:
[ 0.55736191  0.38280915 -0.73675292]

Pose Error in degrees for R and t:
124.27706847517058 49.98830145609913

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.5740505   0.81572325 -0.07114496]
 [-0.81873148 -0.57309465  0.03523199]
 [-0.01203324  0.07847356  0.99684357]]

 t_estimated:
[[0.65337857]
 [0.75701793]
 [0.00450606]]

 R_gt:
[[ 0.98774131  0.04829735 -0.148441  ]
 [-0.0700886   0.98690521 -0.14527346]
 [ 0.13948115  0.1538955   0.97819254]]

 t_gt:
[ 0.04928112  0.61082416 -0.79023111]

Pose Error in degrees for R and t:
121.49595230880347 60.590825856512744

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 2.26740628e-01  9.73954422e-01  1.21333235e-03]
 [-9.73953233e-01  2.26742489e-01 -1.71547602e-03]
 [-1.94590945e-03 -7.92760858e-04  9.99997792e-01]]

 t_estimated:
[[0.0268    ]
 [0.99963992]
 [0.00134   ]]

 R_gt:
[[ 0.99147915 -0.12673908 -0.03010565]
 [ 0.12838238  0.98984781  0.06097909]
 [ 0.02207188 -0.06432619  0.99768472]]

 t_gt:
[ 0.77361325 -0.57741231  0.26099341]

Pose Error in degrees for R and t:
84.30913891984297 56.211981844160654

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.45742707e-01 -3.24914529e-01 -1.13176104e-03]
 [ 3.24916078e-01  9.45741356e-01  1.68243249e-03]
 [ 5.23706460e-04 -1.95887562e-03  9.99997944e-01]]

 t_estimated:
[[0.94791219]
 [0.3185292 ]
 [0.00127923]]

 R_gt:
[[ 0.93454318 -0.35178426 -0.05364067]
 [ 0.3542397   0.93400859  0.04627072]
 [ 0.03382342 -0.06224417  0.99748752]]

 t_gt:
[ 0.88988974 -0.44733389  0.08937915]

Pose Error in degrees for R and t:
4.315509669573376 45.47963254667987

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 6.98587250e-01  7.15519536e-01  2.76527517e-03]
 [ 7.15523822e-01 -6.98587646e-01 -9.80271434e-04]
 [ 1.23038371e-03  2.66342538e-03 -9.99995696e-01]]

 t_estimated:
[[0.61578154]
 [0.78791644]
 [0.00088729]]

 R_gt:
[[ 0.81351506 -0.58112201  0.0221409 ]
 [ 0.58147939  0.81226965 -0.04581682]
 [ 0.00864136  0.0501468   0.99870355]]

 t_gt:
[ 0.94954979 -0.30311901 -0.0804616 ]

Pose Error in degrees for R and t:
177.03409960038954 69.7686665155139

Number of keypoints:
Image1: 396
Image2: 396

 R_estimated:
[[ 9.99483357e-01 -3.21406136e-02  1.81555040e-05]
 [ 3.21406122e-02  9.99483354e-01  7.25675803e-05]
 [-2.04784906e-05 -7.19465597e-05  9.99999997e-01]]

 t_estimated:
[[1.16882143e-01]
 [9.93145743e-01]
 [3.11538579e-04]]

 R_gt:
[[ 0.99863445 -0.03562988  0.03820798]
 [ 0.0384631   0.99635152 -0.0761868 ]
 [-0.03535521  0.07755331  0.99636054]]

 t_gt:
[ 0.58677177  0.61655786 -0.52493361]

Pose Error in degrees for R and t:
4.901031310613799 47.09761047507674

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.77188708e-01 -2.12372715e-01 -2.42126242e-04]
 [ 2.12372840e-01  9.77188413e-01  7.63794761e-04]
 [ 7.43937913e-05 -7.97792654e-04  9.99999679e-01]]

 t_estimated:
[[0.41971341]
 [0.90765609]
 [0.00103378]]

 R_gt:
[[ 9.99300983e-01 -3.73776980e-02  9.25100232e-04]
 [ 3.70697764e-02  9.87242138e-01 -1.54846496e-01]
 [ 4.87390387e-03  1.54772842e-01  9.87937745e-01]]

 t_gt:
[ 0.40567285  0.67698844 -0.61409787]

Pose Error in degrees for R and t:
13.500759786529668 38.36209898215608

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.48899048e-01 -3.15579607e-01  3.28323782e-04]
 [ 3.15579650e-01  9.48899087e-01 -8.69323057e-05]
 [-2.84112074e-04  1.86102286e-04  9.99999942e-01]]

 t_estimated:
[[0.89469291]
 [0.44667977]
 [0.00133337]]

 R_gt:
[[ 0.99898376 -0.00896199  0.04417948]
 [ 0.01831576  0.9761896  -0.21614505]
 [-0.04119108  0.21673536  0.97536067]]

 t_gt:
[ 0.18013581  0.79205648 -0.58326463]

Pose Error in degrees for R and t:
21.69773222738263 59.05706379307803

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.96713129 -0.25424676  0.00395649]
 [ 0.25425684  0.96713403 -0.0022875 ]
 [-0.00324487  0.00321828  0.99998956]]

 t_estimated:
[[0.978201  ]
 [0.2076532 ]
 [0.00171614]]

 R_gt:
[[ 0.99586258  0.07543962 -0.05064753]
 [-0.07595546  0.99707623 -0.00833374]
 [ 0.04987147  0.01214604  0.99868171]]

 t_gt:
[-0.53435768  0.59644893 -0.59892449]

Pose Error in degrees for R and t:
19.325202886776232 66.42916484876946

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-5.73780391e-01  8.19009053e-01 -4.83363926e-04]
 [-8.19006761e-01 -5.73780025e-01 -2.09955982e-03]
 [-1.99690306e-03 -8.08807930e-04  9.99997679e-01]]

 t_estimated:
[[0.55425251]
 [0.83234768]
 [0.00122213]]

 R_gt:
[[ 0.99756113  0.05407979 -0.04411673]
 [-0.05324979  0.99838563  0.01976145]
 [ 0.04511538 -0.01736453  0.99883033]]

 t_gt:
[-0.58237076  0.52985243 -0.61652307]

Pose Error in degrees for R and t:
121.95814271701613 83.25287764396629

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99620336e-01 -2.75520180e-02 -2.65843032e-04]
 [ 2.75522194e-02  9.99620056e-01  7.86432467e-04]
 [ 2.44074225e-04 -7.93458452e-04  9.99999655e-01]]

 t_estimated:
[[0.99485636]
 [0.10128258]
 [0.00163359]]

 R_gt:
[[ 0.99614303 -0.07104267 -0.05148224]
 [ 0.07262076  0.99692496  0.02944351]
 [ 0.04923273 -0.03306884  0.99823965]]

 t_gt:
[ 0.73793252 -0.66529241 -0.11332083]

Pose Error in degrees for R and t:
4.217683892028847 48.19717685780318

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 3.92498156e-01  9.19752770e-01  1.99481253e-04]
 [-9.19752694e-01  3.92498205e-01 -3.74819325e-04]
 [-4.23037146e-04 -3.63575257e-05  9.99999910e-01]]

 t_estimated:
[[9.23513397e-01]
 [3.83565379e-01]
 [7.78023081e-04]]

 R_gt:
[[ 0.94821765 -0.31715198 -0.01726702]
 [ 0.31723318  0.94834525  0.002098  ]
 [ 0.0157094  -0.00746692  0.99984879]]

 t_gt:
[ 0.86661242 -0.49889122 -0.00951121]

Pose Error in degrees for R and t:
85.38964621939569 52.48541335446964

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999593e-01  6.24111566e-04  6.52093064e-04]
 [-6.23220216e-04  9.99998873e-01 -1.36621637e-03]
 [-6.52945001e-04  1.36580941e-03  9.99998854e-01]]

 t_estimated:
[[-0.51038276]
 [-0.85994681]
 [-0.00096299]]

 R_gt:
[[ 0.89307942 -0.44933282 -0.02255902]
 [ 0.44953082  0.89325458  0.00435373]
 [ 0.01819424 -0.01402839  0.99973622]]

 t_gt:
[ 8.94791456e-01 -4.46484322e-01 -3.02491402e-05]

Pose Error in degrees for R and t:
26.78196352990463 85.82900354423776

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999828e-01 -4.39754534e-04 -3.88986411e-04]
 [ 4.39942082e-04  9.99999787e-01  4.82192444e-04]
 [ 3.88774282e-04 -4.82363493e-04  9.99999808e-01]]

 t_estimated:
[[-6.01741765e-03]
 [-9.99981575e-01]
 [-8.00182252e-04]]

 R_gt:
[[ 0.89378594 -0.44769535 -0.02674235]
 [ 0.44714566  0.89413382 -0.02419013]
 [ 0.03474086  0.0096636   0.9993499 ]]

 t_gt:
[ 0.8916682  -0.44874611 -0.05962178]

Pose Error in degrees for R and t:
26.64080128610208 63.67770426893171

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 0.9376511  -0.34757402 -0.00164964]
 [ 0.34756809  0.9376497  -0.00307574]
 [ 0.00261584  0.00231061  0.99999391]]

 t_estimated:
[[ 0.08984869]
 [-0.99591269]
 [-0.00922629]]

 R_gt:
[[ 9.99865287e-01  1.63918014e-02 -4.90419500e-06]
 [-1.63919203e-02  9.99860154e-01  3.57780899e-03]
 [ 6.27182440e-05 -3.57556009e-03  9.99993881e-01]]

 t_gt:
[-0.91021376  0.41408782 -0.00649535]

Pose Error in degrees for R and t:
21.281464618477987 60.38846531860693

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.11201844e-01 -4.11960185e-01 -7.19608813e-05]
 [ 4.11960187e-01  9.11201846e-01  1.66233516e-05]
 [ 5.87227288e-05 -4.47922468e-05  9.99999997e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99854734  0.04211579  0.0335982 ]
 [-0.04167945  0.99903852 -0.01359159]
 [-0.03413904  0.01217154  0.99934283]]

 t_gt:
[-0.82984235  0.39436844  0.39475969]

Pose Error in degrees for R and t:
26.809552922156204 67.0706816965191

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.14544596  0.98886835 -0.03138241]
 [ 0.98876276  0.14639179  0.03029275]
 [ 0.03454967 -0.0266238  -0.99904829]]

 t_estimated:
[[ 0.73723108]
 [-0.6752401 ]
 [-0.0232626 ]]

 R_gt:
[[ 0.99805083  0.04057117  0.04741753]
 [-0.03999829  0.99911649 -0.01295651]
 [-0.04790184  0.01103552  0.99879137]]

 t_gt:
[-0.84781506  0.17585878  0.50028324]

Pose Error in degrees for R and t:
179.95795830560579 40.93788339716349

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99979624e-01  6.38026620e-03 -2.10687444e-04]
 [-6.38020094e-03  9.99979599e-01  3.09002211e-04]
 [ 2.12654662e-04 -3.07651687e-04  9.99999930e-01]]

 t_estimated:
[[2.52316918e-01]
 [9.67644545e-01]
 [4.54577894e-04]]

 R_gt:
[[ 0.99040989  0.13778003 -0.01021386]
 [-0.13746103  0.99013347  0.02721634]
 [ 0.01386303 -0.02555092  0.99957709]]

 t_gt:
[-0.21231502  0.97437772  0.07423204]

Pose Error in degrees for R and t:
7.723255572656865 27.212784558148783

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 1.00000000e+00 -1.21375102e-05 -2.55073466e-06]
 [ 1.21375222e-05  1.00000000e+00  4.68932000e-06]
 [ 2.55067775e-06 -4.68935096e-06  1.00000000e+00]]

 t_estimated:
[[ 9.99993254e-01]
 [-3.61894509e-03]
 [-6.28476091e-04]]

 R_gt:
[[ 0.98631029  0.16489191  0.00172086]
 [-0.16489707  0.98630665  0.0029764 ]
 [-0.00120573 -0.00321878  0.99999474]]

 t_gt:
[-0.05350769  0.99824986  0.02518215]

Pose Error in degrees for R and t:
9.493663751240595 86.72457785331686

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 1.00000000e+00  7.42389483e-12  1.00389261e-14]
 [-7.42400585e-12  1.00000000e+00 -5.39282161e-16]
 [-9.41157959e-15  6.38811920e-16  1.00000000e+00]]

 t_estimated:
[[ 0.15625151]
 [-0.98771676]
 [-0.00103062]]

 R_gt:
[[ 0.98833137  0.14578252  0.04415047]
 [-0.14373132  0.98852135 -0.04655569]
 [-0.05043035  0.03966795  0.99794031]]

 t_gt:
[0.01006244 0.99124049 0.13168538]

Pose Error in degrees for R and t:
9.106263578502771 12.142278112094447

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.95648501e-01 -9.31883102e-02 -1.90947355e-05]
 [ 9.31883120e-02  9.95648491e-01  1.45179667e-04]
 [ 5.48259677e-06 -1.46327324e-04  9.99999989e-01]]

 t_estimated:
[[0.58547962]
 [0.81068649]
 [0.0010101 ]]

 R_gt:
[[ 0.98501711  0.1631129  -0.05600142]
 [-0.16155927  0.98636813  0.03126632]
 [ 0.06033837 -0.02175069  0.99794148]]

 t_gt:
[-0.36210011  0.91744067 -0.16488219]

Pose Error in degrees for R and t:
15.148703570950387 57.887189175294886

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.77228457e-01 -2.12189874e-01  3.06389183e-05]
 [ 2.12189868e-01  9.77228370e-01 -4.16571526e-04]
 [ 5.84510394e-05  4.13586818e-04  9.99999913e-01]]

 t_estimated:
[[0.7043281 ]
 [0.70987399]
 [0.00092432]]

 R_gt:
[[ 0.94338316  0.30862134 -0.12157846]
 [-0.30229674  0.9507931   0.067896  ]
 [ 0.13655094 -0.02729941  0.99025739]]

 t_gt:
[-0.16424256  0.96474487 -0.20564952]

Pose Error in degrees for R and t:
31.149877335821856 55.32111151132625

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.74448203e-01 -4.85117120e-01 -1.31125961e-03]
 [ 4.85118130e-01  8.74448427e-01  5.90629512e-04]
 [ 8.60104419e-04 -1.15259073e-03  9.99998966e-01]]

 t_estimated:
[[8.58551008e-01]
 [5.12727508e-01]
 [8.17744115e-04]]

 R_gt:
[[ 0.8648267   0.48483854 -0.13040662]
 [-0.47204013  0.8736751   0.1177753 ]
 [ 0.1710348  -0.04029763  0.98444128]]

 t_gt:
[-0.13928161  0.97846864 -0.15231468]

Pose Error in degrees for R and t:
58.63736942244467 67.54343976230957

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.96047533e-01 -8.88215761e-02 -1.97494764e-04]
 [ 8.88215456e-02  9.96047543e-01 -1.58229588e-04]
 [ 2.10768376e-04  1.40062401e-04  9.99999968e-01]]

 t_estimated:
[[-0.474393  ]
 [-0.88031143]
 [-0.00175304]]

 R_gt:
[[ 0.98448557  0.17522095  0.00920133]
 [-0.17500911  0.98435822 -0.02027373]
 [-0.01260972  0.01834936  0.99975269]]

 t_gt:
[-0.38245281  0.9238873  -0.01273164]

Pose Error in degrees for R and t:
15.235469657095946 50.81301211023123

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.66448181e-01  2.56861448e-01 -3.31488388e-04]
 [-2.56861465e-01  9.66448233e-01 -9.38988007e-06]
 [ 3.17954468e-04  9.42214256e-05  9.99999945e-01]]

 t_estimated:
[[-0.99993843]
 [-0.01102873]
 [-0.00122541]]

 R_gt:
[[ 0.97249588  0.2323861   0.0157256 ]
 [-0.23168724  0.97208388 -0.03706039]
 [-0.02389849  0.03239776  0.99918933]]

 t_gt:
[-0.33320588  0.9428396  -0.00522789]

Pose Error in degrees for R and t:
2.7372727083081423 71.16805485242052

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.65700176 -0.27851013  0.70055749]
 [-0.65106816 -0.25887743 -0.71350734]
 [ 0.38007754 -0.92488626 -0.01124615]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.94150377  0.33678817  0.0119743 ]
 [-0.33468794  0.93860784 -0.08365572]
 [-0.03941354  0.07475473  0.99642235]]

 t_gt:
[-0.26713392  0.96315651 -0.0311288 ]

Pose Error in degrees for R and t:
151.92693305521456 65.28141258951831

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.74179864e-01 -2.25772984e-01 -3.90749561e-04]
 [ 2.25772987e-01  9.74179941e-01 -3.58181054e-05]
 [ 3.88747145e-04 -5.33274187e-05  9.99999923e-01]]

 t_estimated:
[[ 0.60951666]
 [-0.79277166]
 [-0.00159272]]

 R_gt:
[[ 0.99386348  0.10963173 -0.01467817]
 [-0.10880856  0.99288497  0.0483793 ]
 [ 0.01987784 -0.04648583  0.99872055]]

 t_gt:
[-0.39112311  0.89755266  0.20352381]

Pose Error in degrees for R and t:
19.53565448111351 18.144432609138423

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.50949669e-01 -3.09345416e-01  3.76352125e-04]
 [ 3.09345447e-01  9.50949733e-01 -2.59101168e-05]
 [-3.49876777e-04  1.41062033e-04  9.99999929e-01]]

 t_estimated:
[[0.7740002 ]
 [0.63318461]
 [0.00097114]]

 R_gt:
[[ 0.94870672  0.305222   -0.08243366]
 [-0.29849584  0.95065265  0.0846138 ]
 [ 0.10419155 -0.0556672   0.99299771]]

 t_gt:
[-0.26635708  0.96186981 -0.06213192]

Pose Error in degrees for R and t:
36.275728508555794 66.24538677345929

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.49289011e-01 -3.14404365e-01 -5.17464153e-04]
 [ 3.14404550e-01  9.49289036e-01  3.23469353e-04]
 [ 3.89522870e-04 -4.69758987e-04  9.99999814e-01]]

 t_estimated:
[[0.63851896]
 [0.76960563]
 [0.00084572]]

 R_gt:
[[ 0.89584521  0.42649288 -0.12476182]
 [-0.4130132   0.90273823  0.12034567]
 [ 0.16395357 -0.05628313  0.98486013]]

 t_gt:
[-0.14526548  0.98113206 -0.12758453]

Pose Error in degrees for R and t:
44.41885446836908 48.53043637291372

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.87634650e-01 -1.56773080e-01 -1.09142550e-05]
 [ 1.56773080e-01  9.87634640e-01  1.35387397e-04]
 [-1.04458029e-05 -1.35424346e-04  9.99999991e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075908e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99748063  0.06578892  0.02656495]
 [-0.06606702  0.99776762  0.00970443]
 [-0.02586754 -0.01143579  0.99960002]]

 t_gt:
[-0.25976831  0.55468337  0.79047251]

Pose Error in degrees for R and t:
12.901886912468001 75.08212467568114

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999976e-01 -6.29078579e-05 -2.08712586e-04]
 [ 6.29548563e-05  9.99999973e-01  2.25183371e-04]
 [ 2.08698415e-04 -2.25196505e-04  9.99999953e-01]]

 t_estimated:
[[-0.99999338]
 [-0.00331903]
 [-0.00149436]]

 R_gt:
[[ 0.98000193  0.19597012  0.03454285]
 [-0.19755838  0.97896937  0.05089196]
 [-0.02384304 -0.05669964  0.99810686]]

 t_gt:
[-0.31296695  0.81965293  0.47981325]

Pose Error in degrees for R and t:
11.89341589739328 71.96924784202234

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999998e-01  6.17710210e-05  2.44488659e-06]
 [-6.17710139e-05  9.99999998e-01 -2.94203403e-06]
 [-2.44506832e-06  2.94188300e-06  1.00000000e+00]]

 t_estimated:
[[-0.99994221]
 [-0.01069646]
 [-0.00107472]]

 R_gt:
[[ 0.96628351  0.25582605  0.02914661]
 [-0.25651297  0.96626989  0.02287593]
 [-0.02231073 -0.02958234  0.99931374]]

 t_gt:
[-0.14700599  0.95466493  0.25885151]

Pose Error in degrees for R and t:
14.994784827024056 82.15418399256745

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999951e-01  2.99401176e-04  9.44426120e-05]
 [-2.99401228e-04  9.99999955e-01  5.43684459e-07]
 [-9.44424449e-05 -5.71960664e-07  9.99999996e-01]]

 t_estimated:
[[9.59804660e-01]
 [2.80667755e-01]
 [7.90613394e-04]]

 R_gt:
[[ 0.99498812 -0.09968524  0.00784442]
 [ 0.09974922  0.9949772  -0.00828755]
 [-0.0069796   0.00902926  0.99993447]]

 t_gt:
[ 0.77315205 -0.63386077 -0.02136431]

Pose Error in degrees for R and t:
5.777289336597842 55.65645148032538

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999910e-01  3.79519673e-04  1.89652492e-04]
 [-3.79437065e-04  9.99999833e-01 -4.35422688e-04]
 [-1.89817711e-04  4.35350687e-04  9.99999887e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99392241 -0.10930785 -0.01306676]
 [ 0.10886917  0.99358603 -0.0305359 ]
 [ 0.01632033  0.02892827  0.99944723]]

 t_gt:
[ 0.74959725 -0.6102257  -0.25637583]

Pose Error in degrees for R and t:
6.563186173112999 73.85706855702513

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-9.63470025e-01 -2.67815849e-01 -4.26753173e-04]
 [-2.67815447e-01  9.63469883e-01 -8.19303455e-04]
 [ 6.30586280e-04 -6.75083229e-04 -9.99999573e-01]]

 t_estimated:
[[9.93908456e-01]
 [1.10207150e-01]
 [6.03728768e-04]]

 R_gt:
[[ 0.97313402 -0.23009747 -0.00815581]
 [ 0.22964194  0.9725439  -0.0377062 ]
 [ 0.01660751  0.03482028  0.99925538]]

 t_gt:
[ 0.79824254 -0.5844879  -0.14554292]

Pose Error in degrees for R and t:
178.97541277405068 43.20763554585819

Number of keypoints:
Image1: 568
Image2: 568

 R_estimated:
[[ 3.73110310e-01  9.27786606e-01  8.42846225e-04]
 [ 9.27784160e-01 -3.73111262e-01  2.13028877e-03]
 [ 2.29092880e-03 -1.28533244e-05 -9.99997376e-01]]

 t_estimated:
[[-0.11215464]
 [-0.99369013]
 [-0.00112155]]

 R_gt:
[[ 0.9978808   0.06411095  0.01120265]
 [-0.06420514  0.99790226  0.00828412]
 [-0.0106484  -0.00898615  0.9999028 ]]

 t_gt:
[-0.72309919  0.64750577  0.24054904]

Pose Error in degrees for R and t:
179.85453449415817 55.76483073604395

Number of keypoints:
Image1: 436
Image2: 436

 R_estimated:
[[-0.76034023  0.6492266  -0.01968645]
 [ 0.64915047  0.76058181  0.0109075 ]
 [ 0.0220546  -0.00448605 -0.9997467 ]]

 t_estimated:
[[ 0.93477728]
 [-0.35503146]
 [-0.01200376]]

 R_gt:
[[ 0.99613454  0.07028182  0.05270186]
 [-0.07026042  0.99752645 -0.00227243]
 [-0.05273116 -0.00143925  0.99860757]]

 t_gt:
[-0.71062523  0.47159055  0.52212463]

Pose Error in degrees for R and t:
178.4359579984792 33.073283599634415

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[ 9.84731761e-01  1.74077423e-01  6.39567740e-04]
 [-1.74077477e-01  9.84731959e-01  2.89399779e-05]
 [-6.24764997e-04 -1.39832454e-04  9.99999795e-01]]

 t_estimated:
[[0.3405132 ]
 [0.94023238]
 [0.00371812]]

 R_gt:
[[ 0.99988997  0.01434807  0.00392174]
 [-0.01441475  0.99974477  0.01743761]
 [-0.00367107 -0.01749183  0.99984048]]

 t_gt:
[-0.85471427 -0.40517771  0.3244912 ]

Pose Error in degrees for R and t:
9.25600653706043 47.87145420307211

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.99620659e-01 -2.75415597e-02 -5.87455878e-06]
 [ 2.75415597e-02  9.99620659e-01  5.88892209e-06]
 [ 5.71014022e-06 -6.04848269e-06  1.00000000e+00]]

 t_estimated:
[[ 6.82474609e-01]
 [-7.30909263e-01]
 [ 2.39940222e-04]]

 R_gt:
[[ 0.99932498  0.02093841  0.03018463]
 [-0.0196393   0.99889337 -0.04272926]
 [-0.03104517  0.04210766  0.99863015]]

 t_gt:
[ 0.09877925  0.9640942  -0.24650566]

Pose Error in degrees for R and t:
4.063579462535104 50.408461006268475

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.78365433e-01  2.06884104e-01  2.18807049e-04]
 [-2.06884075e-01  9.78365452e-01 -1.47894565e-04]
 [-2.44670292e-04  9.94272362e-05  9.99999965e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10078911e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9985738  -0.02855839  0.04510201]
 [ 0.03142159  0.9974468  -0.06411967]
 [-0.04315568  0.06544533  0.99692259]]

 t_gt:
[ 0.82810275 -0.53843713 -0.15598494]

Pose Error in degrees for R and t:
14.374483163015547 34.278670763390906

Number of keypoints:
Image1: 349
Image2: 349

 R_estimated:
[[ 9.99999932e-01  3.51164432e-04  1.13548998e-04]
 [-3.51167863e-04  9.99999938e-01  3.01974829e-05]
 [-1.13538387e-04 -3.02373556e-05  9.99999993e-01]]

 t_estimated:
[[0.93395106]
 [0.35739922]
 [0.00109905]]

 R_gt:
[[ 0.9977369  -0.06445955 -0.01913272]
 [ 0.06403675  0.99770601 -0.0219281 ]
 [ 0.02050275  0.02065307  0.99957632]]

 t_gt:
[ 0.69045696 -0.64720887 -0.32309421]

Pose Error in degrees for R and t:
4.065148543721673 65.59487000281257

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 8.09285141e-01  5.87416002e-01  4.02712929e-05]
 [-5.87410651e-01  8.09278057e-01 -4.21341102e-03]
 [-2.50761573e-03  3.38619514e-03  9.99991123e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98241527  0.18634256  0.01173033]
 [-0.18642843  0.98244669  0.006676  ]
 [-0.01028044 -0.00874632  0.99990887]]

 t_gt:
[-0.74559781  0.66318315  0.06536066]

Pose Error in degrees for R and t:
25.24627293305225 41.9706955858106

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.98549997 -0.16966423 -0.00196426]
 [ 0.1696665   0.98550097  0.00105378]
 [ 0.00175699 -0.00137177  0.99999752]]

 t_estimated:
[[-0.55208075]
 [-0.83379019]
 [-0.00087217]]

 R_gt:
[[ 0.90836862  0.4131587   0.06455486]
 [-0.41142855  0.91061828 -0.03874773]
 [-0.07479356  0.00863762  0.997161  ]]

 t_gt:
[-0.65808621  0.74877836  0.0790791 ]

Pose Error in degrees for R and t:
34.43400024615033 74.86606441175341

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-3.27157724e-01  9.44969612e-01 -5.05428688e-04]
 [-9.44967456e-01 -3.27158062e-01 -2.02735230e-03]
 [-2.08114139e-03 -1.85650303e-04  9.99997817e-01]]

 t_estimated:
[[0.0579743 ]
 [0.9983174 ]
 [0.00115949]]

 R_gt:
[[ 0.82103229  0.56810169  0.05625866]
 [-0.56549931  0.82283393 -0.05617109]
 [-0.07820266  0.01430348  0.9968351 ]]

 t_gt:
[-0.59390827  0.8027411   0.05366272]

Pose Error in degrees for R and t:
74.61843141394654 39.912854597775066

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.84798552e-01  1.73697398e-01 -1.01279766e-03]
 [-1.73698408e-01  9.84798374e-01 -1.01316658e-03]
 [ 8.21417086e-04  1.17368632e-03  9.99998974e-01]]

 t_estimated:
[[-0.98316627]
 [-0.18268292]
 [-0.00332151]]

 R_gt:
[[ 0.98523694  0.16267812  0.05332491]
 [-0.16224159  0.98667247 -0.01245632]
 [-0.05463923  0.003621    0.99849967]]

 t_gt:
[-0.42422193  0.86718369  0.26082215]

Pose Error in degrees for R and t:
3.2477130724819 75.06075118670437

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.05341913  0.99849549 -0.0123757 ]
 [ 0.99821892  0.05372576  0.02593334]
 [ 0.02655922 -0.01096832 -0.99958707]]

 t_estimated:
[[-0.65938047]
 [-0.75169374]
 [-0.01318761]]

 R_gt:
[[ 0.93980961  0.33889154  0.04370754]
 [-0.33742768  0.94060013 -0.03760567]
 [-0.05385578  0.02059464  0.99833604]]

 t_gt:
[-0.33142339  0.9385484   0.09636093]

Pose Error in degrees for R and t:
178.39012838709147 60.775189241908464

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-8.95034836e-01 -4.45934303e-01  7.43234339e-03]
 [-4.45995981e-01  8.94927841e-01 -1.38471982e-02]
 [-4.76470329e-04 -1.57085201e-02 -9.99876500e-01]]

 t_estimated:
[[0.99772443]
 [0.06701134]
 [0.0074457 ]]

 R_gt:
[[ 0.90202289  0.42883438  0.04956774]
 [-0.42661923  0.90307899 -0.04945172]
 [-0.06596957  0.02346048  0.99754601]]

 t_gt:
[-0.2717357   0.95859609  0.08516602]

Pose Error in degrees for R and t:
176.76838788208485 78.0975271667347

Number of keypoints:
Image1: 695
Image2: 695

 R_estimated:
[[ 9.99953521e-01 -9.64128465e-03  2.31656079e-05]
 [ 9.64128498e-03  9.99953522e-01 -1.42260304e-05]
 [-2.30273740e-05  1.44487154e-05  1.00000000e+00]]

 t_estimated:
[[ 5.50761132e-01]
 [-8.34662854e-01]
 [ 3.09470585e-04]]

 R_gt:
[[ 0.99896228 -0.0231817  -0.03920825]
 [ 0.02363172  0.99965933  0.01104531]
 [ 0.03893886 -0.0119603   0.99916993]]

 t_gt:
[ 0.73783271 -0.52465596 -0.42466342]

Pose Error in degrees for R and t:
2.466008398013916 32.41912761210268

Number of keypoints:
Image1: 521
Image2: 521

 R_estimated:
[[-0.92339225  0.38368244  0.01159863]
 [ 0.38372319  0.92344706  0.00143087]
 [-0.01016172  0.00577192 -0.99993171]]

 t_estimated:
[[ 0.97649636]
 [-0.21546997]
 [ 0.00524832]]

 R_gt:
[[ 0.99681523 -0.03459074 -0.07185808]
 [ 0.0375809   0.99846539  0.04068364]
 [ 0.07034044 -0.04325451  0.99658454]]

 t_gt:
[ 0.76715319 -0.58680967 -0.25909534]

Pose Error in degrees for R and t:
176.16812621563105 29.049286661379128

Number of keypoints:
Image1: 487
Image2: 487

 R_estimated:
[[ 9.96598473e-01 -8.24073519e-02 -7.15856551e-04]
 [-8.23995426e-02 -9.96287444e-01 -2.49328024e-02]
 [ 1.34144733e-03  2.49069790e-02 -9.99688873e-01]]

 t_estimated:
[[ 0.05405112]
 [ 0.99846594]
 [-0.01200987]]

 R_gt:
[[ 0.99772727  0.02284158 -0.06339788]
 [-0.01930923  0.99825605  0.0557826 ]
 [ 0.06456059 -0.05443202  0.99642804]]

 t_gt:
[ 0.00402928 -0.95825439 -0.28588858]

Pose Error in degrees for R and t:
178.4207637635608 17.610904276116727

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.94783016e-01 -1.02013475e-01  3.83931301e-05]
 [ 1.02013473e-01  9.94783016e-01  4.76815598e-05]
 [-4.30569953e-05 -4.35161893e-05  9.99999998e-01]]

 t_estimated:
[[-8.13220607e-01]
 [-5.81955058e-01]
 [-7.44953284e-04]]

 R_gt:
[[ 0.99411355  0.10606718  0.02208075]
 [-0.1064008   0.9942175   0.01451492]
 [-0.02041382 -0.01677825  0.99965126]]

 t_gt:
[-0.39310521  0.87748953  0.274737  ]

Pose Error in degrees for R and t:
12.04915115317796 78.97817656139205

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.54467251e-01  2.97855668e-01 -1.65610418e-02]
 [ 2.97824215e-01  9.54610629e-01  4.39145203e-03]
 [ 1.71173654e-02 -7.40782121e-04 -9.99853213e-01]]

 t_estimated:
[[ 0.97008176]
 [-0.24259961]
 [-0.00931713]]

 R_gt:
[[ 0.98847607  0.14654664  0.0379394 ]
 [-0.14767378  0.98861749  0.02877784]
 [-0.03329043 -0.03404848  0.99886606]]

 t_gt:
[-0.31455097  0.88315601  0.34798441]

Pose Error in degrees for R and t:
179.2320267185985 58.490785500514505

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.90436476  0.42675258 -0.00257273]
 [ 0.42674532 -0.90426594  0.01383984]
 [ 0.00357975 -0.01361416 -0.99990092]]

 t_estimated:
[[-0.99411464]
 [ 0.10822482]
 [ 0.00484519]]

 R_gt:
[[ 0.98754512  0.15555413  0.02359959]
 [-0.15583834  0.98772484  0.01070259]
 [-0.02164506 -0.01424616  0.99966427]]

 t_gt:
[-0.12793231  0.97108268  0.20157319]

Pose Error in degrees for R and t:
178.77974559266005 76.5114352491744

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.96185304  0.27356034 -0.0018642 ]
 [-0.27355182  0.96184947  0.00387339]
 [ 0.00285269 -0.00321567  0.99999076]]

 t_estimated:
[[-9.93892846e-01]
 [-1.10346799e-01]
 [-7.71655936e-04]]

 R_gt:
[[ 0.98643276  0.07469366  0.1461886 ]
 [-0.07089482  0.99700087 -0.03103153]
 [-0.14806848  0.02024679  0.98876932]]

 t_gt:
[-0.38197138  0.49087338  0.78303333]

Pose Error in degrees for R and t:
14.593593285722273 71.04241663121317

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-6.02090397e-01 -7.98424062e-01 -2.48396041e-03]
 [ 7.98427066e-01 -6.02091402e-01 -4.05083490e-04]
 [-1.17214280e-03 -2.22715810e-03  9.99996833e-01]]

 t_estimated:
[[0.99983659]
 [0.01801507]
 [0.00150126]]

 R_gt:
[[ 0.95664994  0.19657378  0.21489259]
 [-0.18328657  0.97977421 -0.08030395]
 [-0.2263321   0.03743596  0.97332996]]

 t_gt:
[-0.36790156  0.68796977  0.62557656]

Pose Error in degrees for R and t:
138.4254577731856 69.23667749584985

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.98748241e-01 -5.00072802e-02  1.10625607e-03]
 [ 5.00166273e-02  9.98683947e-01 -1.13450908e-02]
 [-5.37463045e-04  1.13862207e-02  9.99935030e-01]]

 t_estimated:
[[-0.78900614]
 [-0.6142033 ]
 [-0.01495412]]

 R_gt:
[[ 0.9112297   0.37036082  0.18026003]
 [-0.35495171  0.92808865 -0.11252632]
 [-0.20897335  0.03855405  0.97716057]]

 t_gt:
[-0.32478007  0.87388105  0.3617317 ]

Pose Error in degrees for R and t:
27.138908934437747 73.38755378683385

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.30641856e-01 -3.65930941e-01 -5.30771162e-04]
 [ 3.65930990e-01  9.30641988e-01 -4.01806650e-06]
 [ 4.95428264e-04 -1.90486236e-04  9.99999859e-01]]

 t_estimated:
[[ 8.03653260e-01]
 [-5.95097819e-01]
 [-1.52051881e-04]]

 R_gt:
[[ 0.99665821  0.02347446 -0.0782409 ]
 [-0.02044667  0.99901934  0.03927522]
 [ 0.0790861  -0.0375453   0.99616048]]

 t_gt:
[ 0.0771394  -0.60720266 -0.79079355]

Pose Error in degrees for R and t:
23.26054132717857 64.94686641370387

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.92440651e-01  1.22725343e-01  2.08852306e-04]
 [-1.22725279e-01  9.92440638e-01 -2.91700044e-04]
 [-2.43072504e-04  2.63863524e-04  9.99999936e-01]]

 t_estimated:
[[-9.69066491e-01]
 [-2.46799251e-01]
 [-5.15123724e-04]]

 R_gt:
[[ 0.99503382 -0.01346047 -0.09862469]
 [ 0.01864349  0.99848265  0.05181457]
 [ 0.09777692 -0.05339675  0.9937756 ]]

 t_gt:
[ 0.70121929 -0.65870342 -0.27276603]

Pose Error in degrees for R and t:
10.229473343176167 58.88080947423612

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.44633425e-01 -3.28118371e-01 -2.45515070e-03]
 [-3.28126266e-01 -9.44624251e-01 -4.26358771e-03]
 [-9.20233437e-04  4.83312689e-03 -9.99987897e-01]]

 t_estimated:
[[0.20547305]
 [0.97866203]
 [0.00120435]]

 R_gt:
[[ 0.99096909  0.0040399  -0.13403056]
 [ 0.00776006  0.99614366  0.08739464]
 [ 0.13386659 -0.08764602  0.9871164 ]]

 t_gt:
[ 0.64574812 -0.73307053 -0.21358128]

Pose Error in degrees for R and t:
176.58357528953823 54.19689077947597

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 8.97882573e-01  4.40234507e-01 -6.81345855e-04]
 [-4.40234945e-01  8.97880336e-01 -2.02383323e-03]
 [-2.79194177e-04  2.11711684e-03  9.99997720e-01]]

 t_estimated:
[[0.86161317]
 [0.50756472]
 [0.00089101]]

 R_gt:
[[ 0.9657716  -0.25842062 -0.02247199]
 [ 0.25757678  0.96563452 -0.03469807]
 [ 0.03066623  0.02772243  0.99914549]]

 t_gt:
[ 0.86928664 -0.47476887 -0.13760543]

Pose Error in degrees for R and t:
41.136338398994894 59.47659525538833

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 0.17778726  0.98391633  0.01733079]
 [-0.98383128  0.17732972  0.02510339]
 [ 0.02162637 -0.02151364  0.99953462]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.8436926  -0.53633057 -0.0231082 ]
 [ 0.53500407  0.84359171 -0.04608368]
 [ 0.04421011  0.02651824  0.99867095]]

 t_gt:
[ 0.9273526  -0.36629907 -0.076434  ]

Pose Error in degrees for R and t:
112.25417169838839 68.86372491981207

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.93008052 -0.36664838 -0.02278585]
 [ 0.367062    0.9300273   0.01773975]
 [ 0.01468722 -0.02486321  0.99958297]]

 t_estimated:
[[9.41586041e-01]
 [3.36771650e-01]
 [7.63654535e-04]]

 R_gt:
[[ 0.74315644 -0.66861198 -0.0260145 ]
 [ 0.66700774  0.74333747 -0.05050819]
 [ 0.05310766  0.02018405  0.99838496]]

 t_gt:
[ 0.95213439 -0.29956888 -0.060816  ]

Pose Error in degrees for R and t:
20.73614684430188 37.28957747726793

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 5.43420642e-01 -8.39453580e-01 -3.41950076e-03]
 [ 8.39460488e-01  5.43414599e-01  2.58125656e-03]
 [-3.08638426e-04 -4.27324387e-03  9.99990822e-01]]

 t_estimated:
[[ 0.9800822 ]
 [-0.19858491]
 [ 0.00170456]]

 R_gt:
[[ 0.9698951   0.24232419  0.02413736]
 [-0.24103369  0.96938987 -0.04676488]
 [-0.03473047  0.03953861  0.99861452]]

 t_gt:
[-0.70888582  0.70353136 -0.05024464]

Pose Error in degrees for R and t:
71.14564199269385 33.42966535518964

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-3.82578321e-01 -9.23921579e-01 -1.65658633e-03]
 [ 9.23922996e-01 -3.82576988e-01 -1.07092152e-03]
 [ 3.55675693e-04 -1.94026956e-03  9.99998054e-01]]

 t_estimated:
[[0.87157509]
 [0.49026099]
 [0.00100877]]

 R_gt:
[[ 0.8906744   0.4515765   0.0527238 ]
 [-0.44874385  0.89180583 -0.05753822]
 [-0.07300195  0.02758865  0.99694961]]

 t_gt:
[-0.64385285  0.76414763  0.03913956]

Pose Error in degrees for R and t:
139.32865275816295 79.2517020020467

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-2.99279595e-01 -9.54161245e-01 -2.83592058e-03]
 [ 9.54165435e-01 -2.99277596e-01 -1.11476902e-03]
 [ 2.14941903e-04 -3.03956501e-03  9.99995357e-01]]

 t_estimated:
[[0.99981179]
 [0.01933827]
 [0.00155598]]

 R_gt:
[[ 0.84025842  0.53811583  0.06632992]
 [-0.53422967  0.84258965 -0.06813814]
 [-0.09255459  0.02181912  0.99546865]]

 t_gt:
[-0.61205325  0.78847216  0.06084797]

Pose Error in degrees for R and t:
139.97676816813293 53.37353124385228

Number of keypoints:
Image1: 369
Image2: 369

 R_estimated:
[[-0.44364704 -0.89613226 -0.01114828]
 [-0.89618776  0.44353672  0.01107593]
 [-0.00498082  0.01490475 -0.99987651]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99905719  0.0113707   0.04192313]
 [-0.01063128  0.99978466 -0.01783149]
 [-0.04211679  0.01736836  0.99896115]]

 t_gt:
[-0.64403689  0.12052646  0.75544018]

Pose Error in degrees for R and t:
178.6979475335509 63.65951288552652

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.96432514e-01  8.43933173e-02  1.13708488e-04]
 [-8.43933370e-02  9.96432502e-01  1.81685041e-04]
 [-9.79698299e-05 -1.90633121e-04  9.99999977e-01]]

 t_estimated:
[[0.47034042]
 [0.88248455]
 [0.00095404]]

 R_gt:
[[ 0.99928855 -0.00802771  0.03687582]
 [ 0.00842939  0.99990674 -0.01073701]
 [-0.03678552  0.01103956  0.99926178]]

 t_gt:
[-0.50767252 -0.59786336  0.62034508]

Pose Error in degrees for R and t:
5.749208487709339 40.02247413257671

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 9.72759976e-01 -2.31813948e-01 -5.68387643e-04]
 [ 2.31814621e-01  9.72758062e-01  1.93236934e-03]
 [ 1.04953497e-04 -2.01149212e-03  9.99997971e-01]]

 t_estimated:
[[-0.57958788]
 [-0.81490928]
 [-0.00087156]]

 R_gt:
[[ 0.99859743 -0.04776322 -0.02287465]
 [ 0.0481228   0.99872277  0.01543388]
 [ 0.0221084  -0.01651377  0.99961877]]

 t_gt:
[ 0.17088831 -0.96971148 -0.17451884]

Pose Error in degrees for R and t:
10.76024062838495 46.264185129572745

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.95019418e-01 -9.96812749e-02 -3.47311079e-05]
 [ 9.96812789e-02  9.95019408e-01  1.44984630e-04]
 [ 2.01058736e-05 -1.47724564e-04  9.99999989e-01]]

 t_estimated:
[[-6.68752765e-01]
 [-7.43484556e-01]
 [-6.74039447e-04]]

 R_gt:
[[ 0.99585345 -0.08232104 -0.0387214 ]
 [ 0.08391888  0.99560201  0.04164209]
 [ 0.03512211 -0.044719    0.99838219]]

 t_gt:
[ 0.28714213 -0.95646347 -0.05222095]

Pose Error in degrees for R and t:
3.387868293920603 58.726495660449494

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99998163e-01 -4.81553849e-04  1.85547608e-03]
 [ 4.85999531e-04  9.99997011e-01 -2.39627376e-03]
 [-1.85431660e-03  2.39717112e-03  9.99995408e-01]]

 t_estimated:
[[8.25339216e-01]
 [5.64636829e-01]
 [6.55031124e-04]]

 R_gt:
[[ 0.96992121 -0.23382303 -0.06767207]
 [ 0.23398942  0.97222329 -0.00555977]
 [ 0.0670924  -0.01044113  0.99769219]]

 t_gt:
[ 0.58266377 -0.75520396 -0.30028303]

Pose Error in degrees for R and t:
14.094350958940797 86.88830695182095

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999978e-01 -3.48732762e-05  2.08867792e-04]
 [ 3.49240585e-05  9.99999970e-01 -2.43132673e-04]
 [-2.08859306e-04  2.43139962e-04  9.99999949e-01]]

 t_estimated:
[[0.73262089]
 [0.68063542]
 [0.00143389]]

 R_gt:
[[ 0.92710167 -0.372664   -0.04005642]
 [ 0.37290745  0.92786677 -0.00148004]
 [ 0.03771899 -0.01356447  0.99919628]]

 t_gt:
[ 0.5905987  -0.80259903 -0.08383299]

Pose Error in degrees for R and t:
22.01500334187806 83.4706249984573

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.96176968e-01 -8.73581021e-02 -1.04202418e-04]
 [ 8.73581330e-02  9.96176912e-01  3.42761105e-04]
 [ 7.38610835e-05 -3.50553647e-04  9.99999936e-01]]

 t_estimated:
[[0.96213511]
 [0.27257121]
 [0.00098021]]

 R_gt:
[[ 0.99806763 -0.04938263 -0.03771567]
 [ 0.04414089  0.9906611  -0.12900191]
 [ 0.043734    0.12708797  0.9909267 ]]

 t_gt:
[ 0.3889136  -0.05581824 -0.91958172]

Pose Error in degrees for R and t:
8.080976822052191 69.0181869191155

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99998259e-01 -1.86591082e-03 -5.48181098e-06]
 [ 1.86591417e-03  9.99998020e-01  6.91615401e-04]
 [ 4.19130746e-06 -6.91624426e-04  9.99999761e-01]]

 t_estimated:
[[0.42132424]
 [0.90690911]
 [0.00132242]]

 R_gt:
[[ 0.99560773 -0.03717789 -0.08593015]
 [ 0.02228943  0.98551431 -0.16812291]
 [ 0.09093687  0.1654694   0.98201327]]

 t_gt:
[ 0.28735661  0.14508844 -0.9467711 ]

Pose Error in degrees for R and t:
11.036257352330502 75.43960943246226

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-1.75768688e-01  9.84429439e-01 -2.01213051e-03]
 [ 9.84413567e-01  1.75777456e-01  5.67592623e-03]
 [ 5.94123605e-03 -9.83118465e-04 -9.99981867e-01]]

 t_estimated:
[[-0.16720802]
 [-0.98591172]
 [-0.00442302]]

 R_gt:
[[ 0.99239353 -0.02980664 -0.11944561]
 [ 0.00724034  0.98270013 -0.18506021]
 [ 0.12289517  0.18278837  0.97544191]]

 t_gt:
[ 0.26242263  0.21493858 -0.94071025]

Pose Error in degrees for R and t:
178.84556346016916 75.42607954492864

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.9992058  -0.0339985   0.02078142]
 [-0.03396636  0.99942117  0.00189777]
 [-0.02083391  0.0011904  -0.99978224]]

 t_estimated:
[[0.99928273]
 [0.03633825]
 [0.01065639]]

 R_gt:
[[ 0.99192518 -0.12657884  0.00796894]
 [ 0.12637044  0.99172312  0.02268639]
 [-0.01077554 -0.02149682  0.99971065]]

 t_gt:
[ 0.94471379 -0.27223529  0.18276706]

Pose Error in degrees for R and t:
178.2456665904985 20.594833442180377

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 8.29944455e-01  5.57846034e-01  6.09732227e-05]
 [-5.57845979e-01  8.29944313e-01  5.48964484e-04]
 [ 2.55633281e-04 -4.89623696e-04  9.99999847e-01]]

 t_estimated:
[[8.17005100e-01]
 [5.76630046e-01]
 [6.75210827e-04]]

 R_gt:
[[ 0.98840096 -0.14976988  0.02516005]
 [ 0.14992662  0.98868711 -0.0044901 ]
 [-0.02420215  0.00821004  0.9996736 ]]

 t_gt:
[ 0.98358925 -0.17737123 -0.03303977]

Pose Error in degrees for R and t:
42.55101779221219 45.46880063990754

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[-0.79702662  0.60394061 -0.00207557]
 [ 0.60393089  0.79702718  0.00389365]
 [ 0.00400582  0.00184984 -0.99999027]]

 t_estimated:
[[8.54436413e-01]
 [5.19555694e-01]
 [5.44241088e-04]]

 R_gt:
[[ 0.9396301  -0.34206033 -0.0094766 ]
 [ 0.34215644  0.93876962  0.04050152]
 [-0.00495789 -0.0412989   0.99913436]]

 t_gt:
[ 0.98847149 -0.09771518  0.11565407]

Pose Error in degrees for R and t:
178.96564457614653 37.45035685978916

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999999e-01 -4.17682570e-05  3.27142958e-06]
 [ 4.17683525e-05  9.99999999e-01 -2.92087132e-05]
 [-3.27020958e-06  2.92088498e-05  1.00000000e+00]]

 t_estimated:
[[ 9.99825622e-01]
 [ 1.86696990e-02]
 [-4.10770558e-04]]

 R_gt:
[[ 0.99931041 -0.03300188 -0.01702881]
 [ 0.03294686  0.99945034 -0.00351342]
 [ 0.01713636  0.00294903  0.99984819]]

 t_gt:
[ 0.51349555 -0.68014935 -0.52318179]

Pose Error in degrees for R and t:
2.1349121336986 59.93893399802027

Number of keypoints:
Image1: 598
Image2: 598

 R_estimated:
[[ 9.99965080e-01  8.35690485e-03 -2.35743411e-05]
 [-8.35690437e-03  9.99965080e-01  2.07137142e-05]
 [ 2.37466205e-05 -2.05159824e-05  1.00000000e+00]]

 t_estimated:
[[-1.29820713e-01]
 [ 9.91537439e-01]
 [-2.99236260e-04]]

 R_gt:
[[ 0.99978674  0.00232073  0.02050254]
 [-0.00255682  0.99993085  0.01144679]
 [-0.02047445 -0.01149649  0.99972517]]

 t_gt:
[-0.20432573  0.02594643  0.97855903]

Pose Error in degrees for R and t:
1.387963149383738 87.02158427022924

Number of keypoints:
Image1: 409
Image2: 409

 R_estimated:
[[ 0.48781673 -0.86853697  0.08762633]
 [-0.8685047  -0.47277062  0.14895476]
 [-0.08794556 -0.1487665  -0.98495386]]

 t_estimated:
[[0.5097469 ]
 [0.85590397]
 [0.08710045]]

 R_gt:
[[ 0.99990425 -0.01052774  0.00898344]
 [ 0.01047558  0.9999287   0.00568091]
 [-0.00904214 -0.00558672  0.99994364]]

 t_gt:
[ 0.23362978 -0.61925129  0.74962988]

Pose Error in degrees for R and t:
169.50787405249815 69.77946795688788

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.98629021e-01  5.23443178e-02  3.87891781e-04]
 [-5.23442556e-02  9.98629085e-01 -1.68982724e-04]
 [-3.96205300e-04  1.48447146e-04  9.99999910e-01]]

 t_estimated:
[[0.95818433]
 [0.28614922]
 [0.00118734]]

 R_gt:
[[ 0.99403486 -0.1038751  -0.03322504]
 [ 0.10473698  0.994176    0.02537218]
 [ 0.03039635 -0.02870083  0.99912664]]

 t_gt:
[ 0.63565919 -0.76993559 -0.05600522]

Pose Error in degrees for R and t:
9.309370288019657 67.12663314868041

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[-4.01222092e-01 -9.15980661e-01 -5.12171762e-04]
 [-9.15980038e-01  4.01222417e-01 -1.06872321e-03]
 [ 1.18442459e-03  4.03437455e-05 -9.99999298e-01]]

 t_estimated:
[[0.84413049]
 [0.53613693]
 [0.0009506 ]]

 R_gt:
[[ 0.99943699 -0.03325639  0.00440243]
 [ 0.03332646  0.99930196 -0.01691078]
 [-0.00383616  0.01704779  0.99984707]]

 t_gt:
[ 0.6828158  -0.69727222 -0.21811471]

Pose Error in degrees for R and t:
179.60477691283862 78.32588356333763

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[-0.96561326  0.25960619  0.01398758]
 [-0.25975007 -0.96562748 -0.00966818]
 [ 0.01099687 -0.012969    0.99985543]]

 t_estimated:
[[0.58425349]
 [0.81157065]
 [0.00096731]]

 R_gt:
[[ 0.99929561 -0.03436867  0.01506427]
 [ 0.03453946  0.99934084 -0.01119481]
 [-0.01466876  0.01170694  0.99982375]]

 t_gt:
[ 0.81921073 -0.57338164 -0.01128129]

Pose Error in degrees for R and t:
166.9229068972711 89.23931296469605

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.99527946  0.08095157 -0.05353159]
 [ 0.08090772  0.99671711  0.00298937]
 [ 0.05359785 -0.00135586 -0.99856168]]

 t_estimated:
[[ 0.99869394]
 [-0.04334233]
 [-0.02705301]]

 R_gt:
[[ 0.99925126  0.03357817 -0.01921277]
 [-0.03320354  0.99925942  0.0194539 ]
 [ 0.01985282 -0.01880099  0.99962565]]

 t_gt:
[ 0.77828642  0.61857853 -0.10784644]

Pose Error in degrees for R and t:
175.76347622805204 41.116255348325936

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 7.27297559e-01  6.86322099e-01  4.86419464e-04]
 [-6.86321741e-01  7.27297696e-01 -7.27610092e-04]
 [-8.53146641e-04  1.95348791e-04  9.99999617e-01]]

 t_estimated:
[[-1.21388332e-01]
 [ 9.92604828e-01]
 [ 7.26937613e-04]]

 R_gt:
[[ 0.99333833 -0.0618789  -0.09721136]
 [ 0.06500685  0.99745298  0.02933999]
 [ 0.09514836 -0.03546401  0.99483044]]

 t_gt:
[ 0.60523675 -0.72281831 -0.33349987]

Pose Error in degrees for R and t:
47.33245082275142 37.703698049336914

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.79329471e-01  2.02271398e-01  2.60268424e-04]
 [-2.02271549e-01  9.79329103e-01  8.52953035e-04]
 [-8.23604393e-05 -8.87966942e-04  9.99999602e-01]]

 t_estimated:
[[0.45661699]
 [0.88966261]
 [0.00117061]]

 R_gt:
[[ 0.97854794 -0.11638879 -0.16999272]
 [ 0.12134796  0.99242749  0.01904324]
 [ 0.16648849 -0.03926381  0.98526075]]

 t_gt:
[ 0.63131361 -0.66162268 -0.40459679]

Pose Error in degrees for R and t:
20.9808655653342 72.49277524246251

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.11949377 -0.99282904 -0.0034263 ]
 [ 0.99282956 -0.11948103 -0.00370868]
 [ 0.00327271 -0.0038449   0.99998725]]

 t_estimated:
[[9.08968915e-01]
 [4.16863004e-01]
 [8.64861004e-04]]

 R_gt:
[[ 0.9641966  -0.1991335  -0.17513201]
 [ 0.19637622  0.97996943 -0.033118  ]
 [ 0.17821823 -0.00246009  0.98398719]]

 t_gt:
[ 0.68735139 -0.58522518 -0.43018548]

Pose Error in degrees for R and t:
85.82343236976547 67.63842393507419

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.70712260e-01 -2.40244890e-01 -3.17761320e-04]
 [ 2.40245003e-01  9.70712209e-01  3.81916622e-04]
 [ 2.16701276e-04 -4.47071717e-04  9.99999877e-01]]

 t_estimated:
[[7.98235526e-01]
 [6.02345006e-01]
 [7.33672359e-04]]

 R_gt:
[[ 0.9886121  -0.0775879  -0.12894442]
 [ 0.07589778  0.99695354 -0.01797854]
 [ 0.12994662  0.00798774  0.99148905]]

 t_gt:
[ 0.59890429 -0.45483769 -0.65911784]

Pose Error in degrees for R and t:
12.063295564110598 78.25163062007802

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 2.66024924e-01 -9.63948078e-01 -5.90279905e-03]
 [ 9.63965437e-01  2.66027194e-01  4.11709586e-04]
 [ 1.17343840e-03 -5.79961928e-03  9.99982494e-01]]

 t_estimated:
[[-0.05187798]
 [-0.99865109]
 [-0.00216158]]

 R_gt:
[[ 0.98432289 -0.11746964 -0.13156867]
 [ 0.11307762  0.99276494 -0.0403985 ]
 [ 0.13536228  0.02488805  0.99048366]]

 t_gt:
[ 0.59762067 -0.49836789 -0.62807562]

Pose Error in degrees for R and t:
68.30179649109557 62.0922131223646

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.61982797  0.77984027 -0.08753539]
 [ 0.77724399  0.62545646  0.06852736]
 [ 0.10818997 -0.02556118 -0.99380157]]

 t_estimated:
[[0.60646025]
 [0.79511309]
 [0.00106584]]

 R_gt:
[[ 0.97275389 -0.2164133  -0.08316014]
 [ 0.20992733  0.97442141 -0.08020866]
 [ 0.09839051  0.06056582  0.99330286]]

 t_gt:
[ 0.70295283 -0.52728377 -0.47731452]

Pose Error in degrees for R and t:
170.99533543406696 89.62448168082287

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.99984984e-01 -5.47782785e-03  1.59054131e-04]
 [ 5.47784025e-03  9.99984994e-01 -7.76049793e-05]
 [-1.58626637e-04  7.84750871e-05  9.99999984e-01]]

 t_estimated:
[[0.97464488]
 [0.22375508]
 [0.00100791]]

 R_gt:
[[ 0.99857439 -0.04445194 -0.02954144]
 [ 0.04502151  0.99880726  0.01890328]
 [ 0.02866484 -0.02020605  0.99938433]]

 t_gt:
[ 0.6189676  -0.7456641  -0.24670663]

Pose Error in degrees for R and t:
3.024678986788681 64.13967259697698

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.77551695e-01  2.10695625e-01  1.93700569e-04]
 [-2.10695697e-01  9.77551575e-01  4.91447385e-04]
 [-8.58064822e-05 -5.21227101e-04  9.99999860e-01]]

 t_estimated:
[[0.75098022]
 [0.66032356]
 [0.00122509]]

 R_gt:
[[ 0.98592096 -0.15108691 -0.07164464]
 [ 0.15288143  0.98803743  0.02023296]
 [ 0.06772949 -0.03090072  0.99722518]]

 t_gt:
[ 0.66690099 -0.71228075 -0.21885887]

Pose Error in degrees for R and t:
21.343303162898316 88.26793863828752

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.55192887e-01 -2.95983952e-01 -2.22479339e-04]
 [ 2.95982701e-01  9.55190568e-01 -2.28470200e-03]
 [ 8.88745293e-04  2.11648106e-03  9.99997365e-01]]

 t_estimated:
[[-0.35040369]
 [-0.93659304]
 [-0.0032748 ]]

 R_gt:
[[ 0.95868925 -0.25828465 -0.11918246]
 [ 0.26465319  0.96347766  0.04084901]
 [ 0.10427763 -0.07070262  0.99203218]]

 t_gt:
[ 0.70259932 -0.6970678  -0.14300587]

Pose Error in degrees for R and t:
7.536156826016562 65.9744628735548

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.97991246e-01  6.33519656e-02 -4.28948159e-05]
 [-6.33519695e-02  9.97991242e-01 -9.78925703e-05]
 [ 3.66069639e-05  1.00413399e-04  9.99999994e-01]]

 t_estimated:
[[-0.7047074]
 [-0.7094975]
 [-0.0008827]]

 R_gt:
[[ 0.99544592  0.06454315 -0.07013627]
 [-0.05950483  0.995649    0.07169882]
 [ 0.07445892 -0.06719862  0.99495656]]

 t_gt:
[-0.9530736  -0.27840093 -0.11892701]

Pose Error in degrees for R and t:
5.759868082494143 29.626340475643055

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.98064989e-01  6.21793953e-02 -4.08783069e-06]
 [-6.21793952e-02  9.98064978e-01 -1.52873425e-04]
 [-5.42565646e-06  1.52831792e-04  9.99999988e-01]]

 t_estimated:
[[-2.46605652e-01]
 [-9.69115885e-01]
 [-2.32447558e-04]]

 R_gt:
[[ 0.98814151  0.07667476 -0.13302456]
 [-0.06475845  0.99367767  0.09171268]
 [ 0.13921613 -0.0820104   0.98685962]]

 t_gt:
[-0.65245573 -0.48311277 -0.58386948]

Pose Error in degrees for R and t:
9.317716984575137 51.00686650272433

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 0.87628249 -0.4817903  -0.00266625]
 [-0.48178534 -0.87620702 -0.01200596]
 [ 0.00344817  0.01180517 -0.99992437]]

 t_estimated:
[[ 0.25890712]
 [ 0.9658832 ]
 [-0.00606217]]

 R_gt:
[[ 0.98778154  0.04056976 -0.15046827]
 [-0.02564599  0.99467378  0.09983085]
 [ 0.15371704 -0.09475205  0.98356072]]

 t_gt:
[ 0.12201414 -0.85472282 -0.50454082]

Pose Error in degrees for R and t:
177.45477868987828 37.72904105243029

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.9656303   0.25991598  0.00134293]
 [-0.25991242  0.96562931 -0.0023605 ]
 [-0.0019103   0.00193033  0.99999631]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99663273 -0.07487254  0.03343981]
 [ 0.07508435  0.9971649  -0.005132  ]
 [-0.03295966  0.00762639  0.99942785]]

 t_gt:
[ 0.66777919 -0.71512251  0.20656899]

Pose Error in degrees for R and t:
19.450989713726283 48.262530381127426

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.34795818 -0.93750939  0.00112114]
 [ 0.93747446 -0.34793429  0.0091309 ]
 [-0.00817022  0.00422821  0.99995768]]

 t_estimated:
[[ 0.99397362]
 [-0.10958355]
 [ 0.00280804]]

 R_gt:
[[ 0.99486298 -0.09795615  0.02554378]
 [ 0.09852791  0.99488805 -0.02217159]
 [-0.02324087  0.02457494  0.99942833]]

 t_gt:
[ 0.73292202 -0.67972287 -0.02832196]

Pose Error in degrees for R and t:
104.73264811761082 36.59090888794461

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99882944e-01  1.52792284e-02  8.02770109e-04]
 [-1.52787351e-02  9.99883083e-01 -6.17142106e-04]
 [-8.12105707e-04  6.04804553e-04  9.99999487e-01]]

 t_estimated:
[[0.96740883]
 [0.253213  ]
 [0.00182578]]

 R_gt:
[[ 0.99734741 -0.07067241  0.01741017]
 [ 0.07079624  0.99746947 -0.00658819]
 [-0.01690033  0.00780378  0.99982675]]

 t_gt:
[ 0.83686332 -0.5470157   0.02082325]

Pose Error in degrees for R and t:
5.034283581796137 47.846781594658594

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99999814e-01  5.96910671e-04 -1.22369697e-04]
 [-5.96902432e-04  9.99999820e-01  6.73578068e-05]
 [ 1.22409881e-04 -6.72847516e-05  9.99999990e-01]]

 t_estimated:
[[ 4.26242594e-02]
 [-9.99091167e-01]
 [ 1.14780581e-04]]

 R_gt:
[[ 0.98325553 -0.17936046  0.03222891]
 [ 0.17965096  0.98371062 -0.00632295]
 [-0.03056957  0.01200778  0.99946074]]

 t_gt:
[ 0.55209664 -0.82311507  0.13293188]

Pose Error in degrees for R and t:
10.548074566689431 32.229900602180976

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-6.20860042e-01  7.83920843e-01  9.59516678e-04]
 [ 7.83910938e-01  6.20844935e-01  5.93363391e-03]
 [ 4.05578822e-03  4.43613182e-03 -9.99981935e-01]]

 t_estimated:
[[0.23776828]
 [0.97130873]
 [0.0050589 ]]

 R_gt:
[[ 0.92324156 -0.38267879  0.03436805]
 [ 0.38298373  0.92375119 -0.00252618]
 [-0.03078074  0.01549442  0.99940638]]

 t_gt:
[ 0.66002125 -0.74942204  0.05233122]

Pose Error in degrees for R and t:
178.0899185616126 55.19931998913354

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.07160502 -0.99741982  0.00514008]
 [-0.99742721 -0.07162131 -0.00305656]
 [ 0.00341681 -0.00490799 -0.99998212]]

 t_estimated:
[[6.59176436e-01]
 [7.51987943e-01]
 [7.48494913e-04]]

 R_gt:
[[ 0.85707792 -0.51496996 -0.01492337]
 [ 0.51448054  0.85706081 -0.02749249]
 [ 0.02694801  0.01588649  0.99951026]]

 t_gt:
[ 0.71752007 -0.69423975 -0.05653421]

Pose Error in degrees for R and t:
178.18746721783054 87.18392982483846

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.94896959e-01  1.00895709e-01  3.10528502e-04]
 [-1.00895648e-01  9.94896993e-01 -2.06083125e-04]
 [-3.29736775e-04  1.73700500e-04  9.99999931e-01]]

 t_estimated:
[[-9.90955946e-01]
 [ 1.34184943e-01]
 [ 8.44869462e-04]]

 R_gt:
[[ 0.98933765 -0.14544189 -0.00758711]
 [ 0.14503901  0.98864485 -0.03930126]
 [ 0.01321727  0.03778169  0.99919855]]

 t_gt:
[ 0.9559836  -0.129182   -0.26345277]

Pose Error in degrees for R and t:
14.32833007808138 15.226636797005051

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.37678    -0.92630138  0.00160922]
 [-0.92630148  0.376776   -0.00232768]
 [ 0.00154981 -0.00236765 -0.999996  ]]

 t_estimated:
[[8.17209333e-01]
 [5.76340572e-01]
 [6.70943623e-04]]

 R_gt:
[[ 0.95230528 -0.30499441 -0.00968571]
 [ 0.30472252  0.95217277 -0.0226131 ]
 [ 0.01611882  0.01858226  0.99969744]]

 t_gt:
[ 0.99119593 -0.10964098 -0.07422585]

Pose Error in degrees for R and t:
178.69006588616475 41.68828149488619

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-0.88117362 -0.01081653  0.47266907]
 [-0.37880913 -0.58206668 -0.71951513]
 [ 0.28290757 -0.81306912  0.5088044 ]]

 t_estimated:
[[8.34993831e-01]
 [5.50258876e-01]
 [6.86108325e-04]]

 R_gt:
[[ 0.96024268 -0.27910296  0.00592638]
 [ 0.27912772  0.95954284 -0.03694354]
 [ 0.00462504  0.03712773  0.99930003]]

 t_gt:
[ 0.98369349 -0.10504604 -0.14598782]

Pose Error in degrees for R and t:
177.72504881900542 40.228460205633056

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99444639e-01  3.33227894e-02 -7.21662308e-05]
 [-3.33228008e-02  9.99444628e-01 -1.63163578e-04]
 [ 6.66890862e-05  1.65477744e-04  9.99999984e-01]]

 t_estimated:
[[-0.53363325]
 [ 0.84571466]
 [-0.00150537]]

 R_gt:
[[ 0.99798365  0.02128149 -0.05980238]
 [-0.02281385  0.99942625 -0.02505252]
 [ 0.05923469  0.02636592  0.99789527]]

 t_gt:
[-0.0120979   0.41968715 -0.9075882 ]

Pose Error in degrees for R and t:
3.7656909350431804 68.73034909492877

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99589953e-01 -2.86343344e-02  3.86802344e-05]
 [ 2.86343435e-02  9.99589919e-01 -2.62085610e-04]
 [-3.11597254e-05  2.63085725e-04  9.99999965e-01]]

 t_estimated:
[[-1.30653567e-01]
 [ 9.91427701e-01]
 [-8.71311480e-04]]

 R_gt:
[[ 0.99575156  0.02974226 -0.087148  ]
 [-0.03428415  0.99810634 -0.05108511]
 [ 0.08546232  0.05385507  0.99488438]]

 t_gt:
[ 0.00383466  0.43894916 -0.89850372]

Pose Error in degrees for R and t:
6.755871132718839 64.1849087936704

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.57211167e-01  2.89389369e-01  7.58438198e-04]
 [-2.89389361e-01  9.57211462e-01 -1.21942715e-04]
 [-7.61274662e-04 -1.02759017e-04  9.99999705e-01]]

 t_estimated:
[[0.30259791]
 [0.95311734]
 [0.00135651]]

 R_gt:
[[ 0.99106382  0.03517009 -0.12866987]
 [-0.0485505   0.9935604  -0.10237809]
 [ 0.12423922  0.10771007  0.9863889 ]]

 t_gt:
[ 0.0441142   0.42389715 -0.90463537]

Pose Error in degrees for R and t:
17.24124810624823 65.40852869167247

Number of keypoints:
Image1: 384
Image2: 384

 R_estimated:
[[ 9.99934583e-01  1.14381033e-02  1.83509442e-05]
 [-1.14381032e-02  9.99934583e-01 -5.37248600e-06]
 [-1.84111948e-05  5.16223455e-06  1.00000000e+00]]

 t_estimated:
[[9.97000340e-01]
 [7.73969675e-02]
 [1.75560160e-04]]

 R_gt:
[[ 9.97360379e-01 -6.57186273e-02 -3.08802188e-02]
 [ 6.56853576e-02  9.97838545e-01 -2.07607948e-03]
 [ 3.09505018e-02  4.22628590e-05  9.99520915e-01]]

 t_gt:
[ 0.60652492 -0.72681989 -0.32227377]

Pose Error in degrees for R and t:
4.765827088890168 56.74300569940321

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 1.00000000e+00 -1.11022302e-16 -4.95615918e-17]
 [ 5.55111512e-17  1.00000000e+00  2.05998413e-16]
 [-1.35525272e-16 -1.74854705e-16  1.00000000e+00]]

 t_estimated:
[[ 1.65677821e-01]
 [ 9.86179909e-01]
 [-2.14458240e-04]]

 R_gt:
[[ 0.9922871  -0.0925439  -0.08247629]
 [ 0.09797576  0.99310075  0.06443228]
 [ 0.07594479 -0.07201547  0.99450769]]

 t_gt:
[ 0.51568325 -0.84645181 -0.13262775]

Pose Error in degrees for R and t:
8.130800239888929 41.47125567143118

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.61242508 -0.79051729 -0.00423518]
 [ 0.79052248  0.61239037  0.00722801]
 [-0.00312028 -0.00777461  0.99996491]]

 t_estimated:
[[0.99129211]
 [0.13165598]
 [0.00258149]]

 R_gt:
[[ 0.96821277 -0.22854443 -0.1016485 ]
 [ 0.23036226  0.97308438  0.00636702]
 [ 0.09745748 -0.02958017  0.9947998 ]]

 t_gt:
[ 0.59181397 -0.72280867 -0.35679664]

Pose Error in degrees for R and t:
39.33946826737936 60.62146283994624

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-9.59460448e-01  2.81842778e-01 -5.44831199e-04]
 [-2.81841256e-01 -9.59459053e-01 -1.95769158e-03]
 [-1.07450446e-03 -1.72477173e-03  9.99997935e-01]]

 t_estimated:
[[0.71854466]
 [0.69548026]
 [0.00088709]]

 R_gt:
[[ 0.95129074  0.30829156 -0.00169806]
 [-0.30829426  0.95128895 -0.00152332]
 [ 0.00114566  0.00197305  0.99999793]]

 t_gt:
[-0.68833949  0.72521493 -0.01587606]

Pose Error in degrees for R and t:
145.67342703224784 89.441017662568

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 7.67301046e-01 -6.41286615e-01 -7.63584654e-04]
 [ 6.41286661e-01  7.67301357e-01 -2.14056926e-04]
 [ 7.23171383e-04 -3.25430550e-04  9.99999686e-01]]

 t_estimated:
[[-0.51709046]
 [-0.85592925]
 [-0.00160587]]

 R_gt:
[[ 8.61980398e-01  5.02199559e-01  6.91713120e-02]
 [-5.00624639e-01  8.64750286e-01 -3.97499252e-02]
 [-7.97782389e-02 -3.65411567e-04  9.96812961e-01]]

 t_gt:
[-0.61635615  0.78276402  0.0859394 ]

Pose Error in degrees for R and t:
70.16773124505355 69.42600624534718

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-7.53529538e-01  6.57413518e-01 -8.37395192e-04]
 [-6.57411348e-01 -7.53529482e-01 -1.90782067e-03]
 [-1.88522906e-03 -8.87086129e-04  9.99997829e-01]]

 t_estimated:
[[0.61270997]
 [0.79030707]
 [0.00110998]]

 R_gt:
[[ 0.78626719  0.61497243  0.05994908]
 [-0.61621169  0.78757573  0.00282732]
 [-0.04547533 -0.03916481  0.99819739]]

 t_gt:
[-0.56378059  0.82150778  0.08530191]

Pose Error in degrees for R and t:
100.90263610276035 72.30775637245327

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.9564464  -0.2918975  -0.0024776 ]
 [ 0.29188271 -0.9562173  -0.02128284]
 [ 0.00384328 -0.02107907  0.99977042]]

 t_estimated:
[[0.89414781]
 [0.44773677]
 [0.00561083]]

 R_gt:
[[ 9.93386924e-01 -1.07688305e-01  3.98239312e-02]
 [ 1.07777171e-01  9.94175712e-01 -6.81458910e-05]
 [-3.95843295e-02  4.35907049e-03  9.99207136e-01]]

 t_gt:
[ 0.9878234  -0.14142851  0.06482985]

Pose Error in degrees for R and t:
156.87063620992683 34.885050586825564

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.67585572  0.73703288 -0.00125678]
 [-0.73703265  0.67585033 -0.00303304]
 [-0.00138606  0.00297618  0.99999461]]

 t_estimated:
[[9.67771895e-01]
 [2.51826967e-01]
 [8.59477704e-04]]

 R_gt:
[[ 0.95280985 -0.303115   -0.01659839]
 [ 0.30349975  0.95233721  0.03070352]
 [ 0.00650054 -0.03429243  0.99939071]]

 t_gt:
[ 0.98971233 -0.09628928  0.10582001]

Pose Error in degrees for R and t:
65.17467911864506 20.987515400460214

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-3.86285087e-01 -9.22360249e-01 -5.94998634e-03]
 [ 9.22379439e-01 -3.86276744e-01 -2.53922706e-03]
 [ 4.37407537e-05 -6.46901061e-03  9.99979075e-01]]

 t_estimated:
[[0.99775271]
 [0.0669935 ]
 [0.00118042]]

 R_gt:
[[ 0.89653903 -0.44231539 -0.02398459]
 [ 0.44293819  0.89456225  0.05970613]
 [-0.00495359 -0.06415196  0.99792794]]

 t_gt:
[ 0.98950635 -0.02050562  0.14302694]

Pose Error in degrees for R and t:
86.47477637912597 9.571891589699911

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.54663105e-01 -2.97684464e-01 -1.52156424e-03]
 [ 2.97683977e-01  9.54664316e-01 -5.42124556e-04]
 [ 1.61396515e-03  6.46010166e-05  9.99998695e-01]]

 t_estimated:
[[-0.07441786]
 [-0.99719938]
 [-0.00744179]]

 R_gt:
[[ 0.99503834  0.07432155  0.06614744]
 [-0.07870549  0.99468823  0.06633856]
 [-0.06086648 -0.07121576  0.99560244]]

 t_gt:
[-0.4460492   0.16306969  0.88002749]

Pose Error in degrees for R and t:
22.38227859375068 82.185405221832

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.98329786e-01 -5.77705375e-02 -4.50392683e-04]
 [ 5.77706580e-02  9.98329847e-01  2.59276953e-04]
 [ 4.34661889e-04 -2.84863387e-04  9.99999865e-01]]

 t_estimated:
[[-0.99921148]
 [-0.0396549 ]
 [-0.00197909]]

 R_gt:
[[ 0.99139576  0.0906286   0.09445818]
 [-0.10251491  0.98623976  0.12969374]
 [-0.08140432 -0.13826136  0.98704505]]

 t_gt:
[-0.31900537  0.07984194  0.94438384]

Pose Error in degrees for R and t:
12.810885634328828 71.71652069880852

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.47945194 -0.70327027 -0.52491596]
 [ 0.54200825  0.23311973 -0.80739225]
 [ 0.69018323 -0.67161456  0.26940859]]

 t_estimated:
[[0.99254512]
 [0.12187339]
 [0.00103283]]

 R_gt:
[[ 0.97782579  0.1602659   0.13480213]
 [-0.18164453  0.96941013  0.16507334]
 [-0.10422282 -0.18589839  0.97702589]]

 t_gt:
[-0.45620745  0.25567081  0.85235392]

Pose Error in degrees for R and t:
132.14024541459577 65.11699971756657

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99998150e-01  4.36740093e-04  1.87306131e-03]
 [-4.31927633e-04  9.99996607e-01 -2.56893739e-03]
 [-1.87417691e-03  2.56812361e-03  9.99994946e-01]]

 t_estimated:
[[-0.52151985]
 [-0.85323049]
 [-0.00384309]]

 R_gt:
[[ 0.99689863 -0.07834273  0.0075047 ]
 [ 0.07777466  0.9952592   0.05838923]
 [-0.01204425 -0.0576247   0.99826578]]

 t_gt:
[ 0.3825726  -0.76560512  0.51719147]

Pose Error in degrees for R and t:
5.707770531635392 63.14521448368312

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 8.18021855e-01  5.75186851e-01  5.74715187e-04]
 [ 5.75179808e-01 -8.18016067e-01  4.23118732e-03]
 [ 2.90384957e-03 -3.13063913e-03 -9.99990883e-01]]

 t_estimated:
[[-0.95782568]
 [-0.2873477 ]
 [-0.00112685]]

 R_gt:
[[ 0.9985351  -0.04476891 -0.03039472]
 [ 0.04813132  0.99150172  0.12086309]
 [ 0.02472626 -0.12214836  0.99220424]]

 t_gt:
[ 0.20016626 -0.72756336  0.65618978]

Pose Error in degrees for R and t:
172.64727551797858 89.04885491731895

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99922546e-01 -1.24437587e-02 -2.35263522e-04]
 [ 1.24440881e-02  9.99921511e-01  1.45481406e-03]
 [ 2.17141701e-04 -1.45762901e-03  9.99998914e-01]]

 t_estimated:
[[0.97404274]
 [0.22636205]
 [0.00097992]]

 R_gt:
[[ 0.98322045 -0.09924739 -0.15306431]
 [ 0.11517201  0.98840609  0.09893734]
 [ 0.14147135 -0.11490618  0.98325122]]

 t_gt:
[ 0.53732669 -0.84336834  0.00314309]

Pose Error in degrees for R and t:
11.795158508419144 70.58089301981187

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.77754215  0.62882868  0.00164176]
 [-0.62882817  0.77752866  0.00493115]
 [ 0.00182433 -0.00486656  0.99998649]]

 t_estimated:
[[4.94587106e-01]
 [8.69127647e-01]
 [8.53183596e-04]]

 R_gt:
[[ 0.97321346 -0.13593764 -0.18541091]
 [ 0.15484723  0.98368392  0.0915869 ]
 [ 0.16993589 -0.11784414  0.97838356]]

 t_gt:
[ 0.5681736  -0.82020284 -0.06667878]

Pose Error in degrees for R and t:
48.772378558809024 64.41138648477235

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.93767107e-01 -1.11475407e-01 -4.12638777e-04]
 [ 1.11475557e-01  9.93767111e-01  3.59199760e-04]
 [ 3.70024906e-04 -4.02960044e-04  9.99999850e-01]]

 t_estimated:
[[-0.53349338]
 [-0.84580378]
 [-0.00088473]]

 R_gt:
[[ 9.89426427e-01  1.43728889e-01  1.94251114e-02]
 [-1.43757663e-01  9.89612383e-01  6.65679450e-05]
 [-1.92139729e-02 -2.85770407e-03  9.99810889e-01]]

 t_gt:
[-0.38773405  0.91138663  0.13797361]

Pose Error in degrees for R and t:
14.709338006940426 55.65860299836997

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.36992445 -0.78361812 -0.49909773]
 [-0.61069307 -0.1997505   0.76625956]
 [-0.7001499   0.58825367 -0.40465756]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.93728432  0.34837563 -0.01143679]
 [-0.34851287  0.93720248 -0.01376646]
 [ 0.00592301  0.01688971  0.99983942]]

 t_gt:
[-0.27190692  0.96182415 -0.03099896]

Pose Error in degrees for R and t:
177.27283302853021 67.7228737831756

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99944842e-01 -1.05013297e-02 -1.89088741e-04]
 [ 1.05013311e-02  9.99944859e-01  6.49838417e-06]
 [ 1.89010072e-04 -8.48370921e-06  9.99999982e-01]]

 t_estimated:
[[-0.73330501]
 [-0.67989904]
 [-0.00102704]]

 R_gt:
[[ 0.86993471  0.49258665 -0.0239093 ]
 [-0.4921023   0.87022027  0.02350538]
 [ 0.03238485 -0.00868181  0.99943717]]

 t_gt:
[-0.20510938  0.97787788 -0.0410486 ]

Pose Error in degrees for R and t:
30.16484884089492 59.042083948131314

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.78309737 -0.62189485 -0.00230369]
 [-0.62188342  0.78304591  0.01000607]
 [-0.00441883  0.00926836 -0.99994728]]

 t_estimated:
[[0.97348214]
 [0.22875874]
 [0.00140264]]

 R_gt:
[[ 0.99336637  0.11465387  0.00878807]
 [-0.11451275  0.99330526 -0.01519677]
 [-0.01047083  0.01409038  0.99984565]]

 t_gt:
[-0.72043677  0.69324094 -0.01969399]

Pose Error in degrees for R and t:
179.72185917995313 57.12725245094

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-7.54251807e-01 -6.56581855e-01 -2.11655687e-03]
 [ 6.56585241e-01 -7.54246976e-01 -2.70553886e-03]
 [ 1.80001099e-04 -3.43035758e-03  9.99994100e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96655272  0.25417953 -0.03418962]
 [-0.25201641  0.96602811  0.05726164]
 [ 0.04758289 -0.04672967  0.99777347]]

 t_gt:
[-0.70653196  0.70767129 -0.00373211]

Pose Error in degrees for R and t:
153.6471005621356 45.22399950556419

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-6.28317957e-01 -7.77955388e-01 -1.39976050e-03]
 [ 7.77953460e-01 -6.28319516e-01  1.73184534e-03]
 [-2.22679525e-03 -7.99002351e-07  9.99997521e-01]]

 t_estimated:
[[ 0.97942837]
 [-0.20178798]
 [ 0.00129749]]

 R_gt:
[[ 0.94764198  0.29742988 -0.11622597]
 [-0.28493076  0.95189008  0.11277691]
 [ 0.14417802 -0.07375584  0.98679873]]

 t_gt:
[-0.72379841  0.65169327 -0.2267416 ]

Pose Error in degrees for R and t:
146.084787517571 32.78517315948422

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-2.46187490e-01  9.69222222e-01 -6.00225221e-05]
 [ 9.69220426e-01  2.46187153e-01  1.91081920e-03]
 [ 1.86678520e-03  4.12244729e-04 -9.99998173e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97675089 -0.21290199  0.02514198]
 [ 0.21359452  0.97648805 -0.02912649]
 [-0.01834963  0.03381836  0.99925911]]

 t_gt:
[ 0.5902854  -0.80659387 -0.03113639]

Pose Error in degrees for R and t:
177.95720984693497 36.589322413563266

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999921e-01 -2.48697974e-04 -3.09296532e-04]
 [ 2.49096623e-04  9.99999138e-01  1.28951795e-03]
 [ 3.08975565e-04 -1.28959490e-03  9.99999121e-01]]

 t_estimated:
[[0.70303472]
 [0.71115468]
 [0.00110086]]

 R_gt:
[[ 0.92937441 -0.36685819 -0.04098648]
 [ 0.36563426  0.93012016 -0.03445065]
 [ 0.05076031  0.01703128  0.99856626]]

 t_gt:
[ 0.66398141 -0.73316934 -0.14694013]

Pose Error in degrees for R and t:
21.704786232196827 86.8611090878668

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999516e-01 -9.78946311e-04  9.77132643e-05]
 [ 9.78936317e-04  9.99999516e-01  1.02265192e-04]
 [-9.78133291e-05 -1.02169488e-04  9.99999990e-01]]

 t_estimated:
[[ 0.01735088]
 [-0.99984843]
 [ 0.00143735]]

 R_gt:
[[ 0.86772706 -0.49642737 -0.02474013]
 [ 0.49612059  0.86807301 -0.01771687]
 [ 0.03027095  0.00309833  0.99953666]]

 t_gt:
[ 0.70745479 -0.7043946  -0.05775784]

Pose Error in degrees for R and t:
29.755634581139613 44.23539650451463

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-9.99445293e-01 -3.33003222e-02 -4.42513694e-04]
 [ 3.33011859e-02 -9.99443127e-01 -2.11364709e-03]
 [-3.71882141e-04 -2.12721086e-03  9.99997668e-01]]

 t_estimated:
[[0.87064953]
 [0.49190296]
 [0.00093518]]

 R_gt:
[[ 0.99835635  0.05714949 -0.00415026]
 [-0.05719546  0.998291   -0.01200085]
 [ 0.00345759  0.01221813  0.99991947]]

 t_gt:
[-0.27761492  0.93491858 -0.22103667]

Pose Error in degrees for R and t:
178.63006294442366 77.40974764443095

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-8.05603688e-01  5.92454787e-01 -1.54960124e-04]
 [-5.92452237e-01 -8.05600936e-01 -2.73461955e-03]
 [-1.74497446e-03 -2.11121312e-03  9.99996249e-01]]

 t_estimated:
[[0.81133071]
 [0.58458686]
 [0.00082452]]

 R_gt:
[[ 0.98487752  0.17272038  0.01353277]
 [-0.17160182  0.98328014 -0.06093246]
 [-0.02382961  0.05768896  0.99805007]]

 t_gt:
[-0.32116633  0.94526109 -0.05773786]

Pose Error in degrees for R and t:
133.76589367542465 73.02421576123565

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.07266055e-01 -4.20556855e-01 -4.86407043e-04]
 [ 4.20556884e-01  9.07266171e-01 -4.59949105e-05]
 [ 4.60644131e-04 -1.62832210e-04  9.99999881e-01]]

 t_estimated:
[[-0.47068536]
 [-0.88230064]
 [-0.00093762]]

 R_gt:
[[ 0.92960233  0.36856067  0.0013323 ]
 [-0.36779456  0.92789333 -0.06116863]
 [-0.02377937  0.05637252  0.99812672]]

 t_gt:
[-0.24604739  0.96899412 -0.02260703]

Pose Error in degrees for R and t:
46.61982014482343 42.34417117840479

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.82798813  0.56074463  0.00105483]
 [ 0.55684065 -0.82244228  0.11626338]
 [ 0.06606161 -0.09567733 -0.99321786]]

 t_estimated:
[[-0.99876392]
 [-0.04932167]
 [-0.00616521]]

 R_gt:
[[ 0.99744049  0.05680622  0.04342331]
 [-0.0559502   0.99821921 -0.02068288]
 [-0.04452048  0.0182002   0.99884283]]

 t_gt:
[-0.75503947  0.5802852   0.30526134]

Pose Error in degrees for R and t:
175.3866045549041 43.647197522902516

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99810314e-01  1.94758941e-02  1.58085444e-04]
 [-1.94738461e-02  9.99774201e-01 -8.50392732e-03]
 [-3.23671337e-04  8.49923572e-03  9.99963828e-01]]

 t_estimated:
[[0.46048445]
 [0.88766703]
 [0.00114834]]

 R_gt:
[[ 0.97874541  0.20193259  0.03579775]
 [-0.20192082  0.97939343 -0.00396848]
 [-0.03586045 -0.00334377  0.99935066]]

 t_gt:
[-0.72048169  0.67969529  0.1375516 ]

Pose Error in degrees for R and t:
10.744877195446218 74.23273603406716

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.88058816 -0.47383005 -0.00704175]
 [-0.47383115  0.88061423 -0.00161616]
 [ 0.00696685  0.00191343 -0.9999739 ]]

 t_estimated:
[[ 0.96695365]
 [ 0.25493306]
 [-0.00312707]]

 R_gt:
[[ 0.95493472  0.29586708 -0.02373307]
 [-0.29383017  0.95361269  0.06545759]
 [ 0.04199928 -0.05553376  0.99757297]]

 t_gt:
[-0.72088531  0.69251792  0.02726352]

Pose Error in degrees for R and t:
178.6004702449038 58.627343870229716

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99943561e-01 -1.06242410e-02  7.80940976e-06]
 [ 1.06242409e-02  9.99943561e-01  4.69411083e-06]
 [-7.85884037e-06 -4.61087685e-06  1.00000000e+00]]

 t_estimated:
[[0.86636135]
 [0.49941595]
 [0.00131168]]

 R_gt:
[[ 0.98222254 -0.18209032 -0.04562792]
 [ 0.18304193  0.98294738  0.01760925]
 [ 0.04164328 -0.02564801  0.99880255]]

 t_gt:
[ 0.59716021 -0.79538039 -0.10377722]

Pose Error in degrees for R and t:
10.30476472701357 83.10820038872686

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.96337178 -0.26797723  0.01015031]
 [-0.26671233  0.96139114  0.06776138]
 [-0.02791693  0.06257219 -0.99764992]]

 t_estimated:
[[0.99993227]
 [0.01156734]
 [0.00128526]]

 R_gt:
[[ 0.94202159 -0.33479481 -0.022549  ]
 [ 0.3350151   0.94218875  0.00670418]
 [ 0.01900111 -0.01387001  0.9997224 ]]

 t_gt:
[ 0.64906282 -0.76025331 -0.02706206]

Pose Error in degrees for R and t:
179.3889349115831 50.19401325803777

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.81150615e-01  1.93244244e-01 -3.65020425e-04]
 [-1.93244127e-01  9.81150649e-01  3.32473254e-04]
 [ 4.22388570e-04 -2.55668284e-04  9.99999878e-01]]

 t_estimated:
[[-0.99992398]
 [-0.012269  ]
 [-0.0012269 ]]

 R_gt:
[[ 0.87250953 -0.48597159 -0.05057577]
 [ 0.48599994  0.87386761 -0.01255415]
 [ 0.05029744 -0.01362641  0.9986407 ]]

 t_gt:
[ 0.71810032 -0.69290657 -0.06490311]

Pose Error in degrees for R and t:
40.34541744837666 44.80861090253429

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-9.20815322e-01  3.89998650e-01 -4.42288144e-04]
 [-3.89996911e-01 -9.20813655e-01 -2.14980476e-03]
 [-1.24568592e-03 -1.80708216e-03  9.99997591e-01]]

 t_estimated:
[[0.8072624 ]
 [0.59019184]
 [0.00100033]]

 R_gt:
[[ 0.95117612  0.30228787  0.06232182]
 [-0.29913415  0.95261738 -0.05512825]
 [-0.07603382  0.0337942   0.99653148]]

 t_gt:
[-0.69719237  0.71421739  0.06177641]

Pose Error in degrees for R and t:
139.54509276425557 81.88096592570326

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.94247762 -0.33423523  0.00477002]
 [ 0.33424925  0.94248138 -0.00250814]
 [-0.00365734  0.00395825  0.99998548]]

 t_estimated:
[[-0.27639253]
 [-0.96104425]
 [-0.00105493]]

 R_gt:
[[ 0.87645127  0.47688376  0.06644374]
 [-0.47727814  0.87868576 -0.01082331]
 [-0.06354456 -0.02222645  0.99773106]]

 t_gt:
[-0.63212266  0.76689982  0.11084048]

Pose Error in degrees for R and t:
48.18464248232442 55.77614988305718

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.53249204  0.14206746  0.83442739]
 [-0.65121842 -0.69850767 -0.29665064]
 [ 0.54070952 -0.7013586   0.46446672]]

 t_estimated:
[[0.33291078]
 [0.94295672]
 [0.00174299]]

 R_gt:
[[ 8.33382953e-01  5.48267039e-01  6.98274917e-02]
 [-5.49662657e-01  8.35386830e-01  9.21334494e-04]
 [-5.78274857e-02 -3.91497357e-02  9.97558134e-01]]

 t_gt:
[-0.59683082  0.7947101   0.11058407]

Pose Error in degrees for R and t:
122.47751576028439 56.57269331830207

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99997660e-01 -2.16229956e-03  6.32100652e-05]
 [ 2.16229813e-03  9.99997662e-01  2.26478750e-05]
 [-6.32588889e-05 -2.25111430e-05  9.99999998e-01]]

 t_estimated:
[[8.54185601e-01]
 [5.19968152e-01]
 [2.81383954e-04]]

 R_gt:
[[ 0.99684295 -0.07314137 -0.03091413]
 [ 0.07459622  0.99601689  0.04884346]
 [ 0.02721865 -0.05099449  0.9983273 ]]

 t_gt:
[ 0.710024   -0.65476273  0.25913642]

Pose Error in degrees for R and t:
5.284124662988191 74.56711467294802

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99188321e-01 -4.02827204e-02 -3.59900144e-05]
 [ 4.02827151e-02  9.99188312e-01 -1.38824207e-04]
 [ 4.15530185e-05  1.37261750e-04  9.99999990e-01]]

 t_estimated:
[[ 0.5495639 ]
 [ 0.83545108]
 [-0.0010031 ]]

 R_gt:
[[ 0.99918626 -0.02861837  0.02844416]
 [ 0.02601471  0.99577404  0.08807625]
 [-0.03084402 -0.08726463  0.99570663]]

 t_gt:
[ 0.30007268 -0.49936095  0.81276997]

Pose Error in degrees for R and t:
5.370093466340642 75.33909869641926

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-8.43174975e-01 -5.37638955e-01 -5.62639164e-04]
 [-5.37639217e-01  8.43174103e-01  1.22648861e-03]
 [-1.85005284e-04  1.33664139e-03 -9.99999090e-01]]

 t_estimated:
[[9.59377148e-01]
 [2.82125729e-01]
 [7.48344110e-04]]

 R_gt:
[[ 0.99855723  0.00594375  0.05337729]
 [-0.01362112  0.98938811  0.14465978]
 [-0.05195037 -0.14517781  0.98804086]]

 t_gt:
[ 0.10154404 -0.3217143   0.94137597]

Pose Error in degrees for R and t:
174.77244314108975 89.57832110225078

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99995940e-01  7.16063001e-05 -2.84851771e-03]
 [-6.14912251e-05  9.99993694e-01  3.55092509e-03]
 [ 2.84875402e-03 -3.55073551e-03  9.99989638e-01]]

 t_estimated:
[[-6.58086779e-01]
 [-7.52942073e-01]
 [-1.59735602e-04]]

 R_gt:
[[ 0.99249618 -0.12141004  0.0145158 ]
 [ 0.12201352  0.99112709 -0.0527297 ]
 [-0.00798467  0.05410472  0.99850337]]

 t_gt:
[ 0.83489479 -0.48056716 -0.26833914]

Pose Error in degrees for R and t:
7.768126124139466 79.19009490156263

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99994701e-01  3.15809895e-03  7.90248373e-04]
 [-3.15792530e-03  9.99994989e-01 -2.20891630e-04]
 [-7.90942011e-04  2.18394914e-04  9.99999663e-01]]

 t_estimated:
[[-0.99994985]
 [-0.00971548]
 [-0.00243041]]

 R_gt:
[[ 0.97896038 -0.19840336  0.04767228]
 [ 0.20193007  0.97556753 -0.08655807]
 [-0.02933392  0.09436311  0.99510531]]

 t_gt:
[ 0.84516002 -0.48251171 -0.22997172]

Pose Error in degrees for R and t:
13.035734615692641 32.87351318635048

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 1.12611919e-01  9.93633101e-01  3.43736503e-03]
 [ 9.93638230e-01 -1.12615589e-01  8.92823953e-04]
 [ 1.27424032e-03  3.31495468e-03 -9.99993694e-01]]

 t_estimated:
[[-0.99906648]
 [-0.04309282]
 [-0.00302949]]

 R_gt:
[[ 0.9699146  -0.21203965  0.11960153]
 [ 0.22869092  0.96202547 -0.14901725]
 [-0.0834612   0.17188614  0.98157533]]

 t_gt:
[ 0.84248137 -0.44323889 -0.30620978]

Pose Error in degrees for R and t:
169.0213347744085 34.748001064263775

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99902581e-01  1.39578169e-02  9.19732044e-05]
 [-1.39578027e-02  9.99902573e-01 -1.53893843e-04]
 [-9.41122659e-05  1.52595107e-04  9.99999984e-01]]

 t_estimated:
[[-9.95220255e-01]
 [-9.76532375e-02]
 [-6.98766228e-04]]

 R_gt:
[[ 0.98802054 -0.14484919  0.0532469 ]
 [ 0.14495706  0.9894361   0.0018356 ]
 [-0.05295079  0.00590492  0.99857927]]

 t_gt:
[ 0.28613235 -0.91151925  0.29539961]

Pose Error in degrees for R and t:
9.631452866876199 78.69928889954859

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-2.56669849e-02  9.99670254e-01  7.67441138e-04]
 [-9.99667087e-01 -2.56648682e-02 -2.65123294e-03]
 [-2.63066243e-03 -8.35234802e-04  9.99996191e-01]]

 t_estimated:
[[-0.27127422]
 [ 0.96250089]
 [ 0.00152695]]

 R_gt:
[[ 0.97292985 -0.22530335  0.05145053]
 [ 0.2241185   0.97416489  0.02780578]
 [-0.0563856  -0.01552149  0.99828804]]

 t_gt:
[ 0.26119826 -0.91656336  0.30279873]

Pose Error in degrees for R and t:
104.50223752838268 17.71402130256614

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.98550847  0.16954974  0.00509355]
 [-0.16951592  0.98550622 -0.00646908]
 [-0.00611656  0.00551189  0.9999661 ]]

 t_estimated:
[[0.56599769]
 [0.82439884]
 [0.00362889]]

 R_gt:
[[ 0.9273514  -0.37054921  0.05208337]
 [ 0.37159436  0.92832018 -0.01172723]
 [-0.04400477  0.03023013  0.99857321]]

 t_gt:
[ 0.46108643 -0.88708737  0.02180144]

Pose Error in degrees for R and t:
31.664307285597285 61.94877138980545

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99788264e-01  2.05773156e-02  2.18963580e-05]
 [-2.05773167e-02  9.99788263e-01  5.35828643e-05]
 [-2.07891303e-05 -5.40220872e-05  9.99999998e-01]]

 t_estimated:
[[0.6719843 ]
 [0.74056482]
 [0.00092237]]

 R_gt:
[[ 0.99974728 -0.00824908 -0.02091327]
 [ 0.00839799  0.99993931  0.00704677]
 [ 0.02085416 -0.00722051  0.99975643]]

 t_gt:
[0.87455505 0.48390201 0.03150089]

Pose Error in degrees for R and t:
2.084186833052593 18.90145669101012

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.86251623  0.50600432 -0.00503767]
 [-0.50596494  0.86252252  0.00737468]
 [ 0.00807673 -0.0038119   0.99996012]]

 t_estimated:
[[-0.87825488]
 [-0.47819092]
 [-0.00134702]]

 R_gt:
[[ 0.99616819 -0.07941363  0.03663127]
 [ 0.08168766  0.99450753 -0.06542922]
 [-0.03123347  0.06817047  0.99718422]]

 t_gt:
[ 0.78161098  0.27893365 -0.55792499]

Pose Error in degrees for R and t:
35.34104160328422 35.00663043633628

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 7.43025108e-01  6.69263213e-01  6.63404114e-04]
 [-6.69262567e-01  7.43025353e-01 -9.70138965e-04]
 [-1.14220440e-03  2.76846069e-04  9.99999309e-01]]

 t_estimated:
[[-9.86461891e-01]
 [-1.63989845e-01]
 [-5.18242523e-04]]

 R_gt:
[[ 0.98918957 -0.08655274  0.11837522]
 [ 0.10634568  0.97921944 -0.17268145]
 [-0.1009686   0.18340313  0.97783898]]

 t_gt:
[ 0.37957995  0.51659065 -0.76749799]

Pose Error in degrees for R and t:
49.01479431135702 62.69294108354722

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999739e-01  1.98289589e-04 -6.95415607e-04]
 [-1.97720310e-04  9.99999645e-01  8.18589562e-04]
 [ 6.95577678e-04 -8.18451850e-04  9.99999423e-01]]

 t_estimated:
[[0.14296052]
 [0.98972669]
 [0.00183283]]

 R_gt:
[[ 0.97167318  0.23320922 -0.03826593]
 [-0.23350711  0.97234886 -0.00342604]
 [ 0.03640832  0.01226469  0.99926195]]

 t_gt:
[-0.29261784  0.94437445 -0.15010561]

Pose Error in degrees for R and t:
13.661714589892853 26.802685204336434

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-2.99156183e-01 -9.54204138e-01 -2.05294305e-04]
 [-9.54203776e-01  2.99156249e-01 -8.32552089e-04]
 [ 8.55839723e-04 -5.31705040e-05 -9.99999632e-01]]

 t_estimated:
[[0.72849187]
 [0.68505385]
 [0.00090496]]

 R_gt:
[[ 0.92641072  0.37488214 -0.03502622]
 [-0.37346753  0.92673846  0.04096516]
 [ 0.04781736 -0.0248679   0.99854646]]

 t_gt:
[-0.26127264  0.96233744 -0.07512163]

Pose Error in degrees for R and t:
179.15522598320825 62.04032749294589

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999765e-01  6.32746091e-05 -6.82683129e-04]
 [-6.25875283e-05  9.99999492e-01  1.00641620e-03]
 [ 6.82746463e-04 -1.00637324e-03  9.99999261e-01]]

 t_estimated:
[[0.64339825]
 [0.7655306 ]
 [0.0012591 ]]

 R_gt:
[[ 0.88508828  0.46326416 -0.04478924]
 [-0.46223664  0.8861898   0.03170924]
 [ 0.0543812  -0.0073626   0.99849273]]

 t_gt:
[-0.22481578  0.96993804 -0.09315613]

Pose Error in degrees for R and t:
27.75249743306466 53.2908001678943

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.82468405e-01  1.86428833e-01 -3.50214039e-04]
 [-1.86428906e-01  9.82468436e-01 -1.88295273e-04]
 [ 3.08970571e-04  2.50284177e-04  9.99999921e-01]]

 t_estimated:
[[-0.60719718]
 [-0.79454798]
 [-0.00225724]]

 R_gt:
[[ 9.98169952e-01 -6.04627883e-02  1.32582681e-03]
 [ 6.04694316e-02  9.98145577e-01 -7.05670938e-03]
 [-8.97347864e-04  7.12512982e-03  9.99973914e-01]]

 t_gt:
[ 0.94289182 -0.10922024 -0.31468391]

Pose Error in degrees for R and t:
14.216665476847997 60.98554798708813

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.30323733e-01  5.57281334e-01  1.16937218e-04]
 [-5.57281345e-01  8.30323728e-01  1.00426593e-04]
 [-4.11298804e-05 -1.48553514e-04  9.99999988e-01]]

 t_estimated:
[[-8.87470119e-01]
 [-4.60864538e-01]
 [-8.15689448e-04]]

 R_gt:
[[ 0.98861708 -0.10904802  0.10365698]
 [ 0.12241713  0.98354774 -0.13284822]
 [-0.08746489  0.14402604  0.98570122]]

 t_gt:
[ 0.58612712  0.27090873 -0.76358592]

Pose Error in degrees for R and t:
41.65907763433487 49.87931918834889

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99998927e-01 -1.40594837e-03 -4.11228915e-04]
 [ 1.40601243e-03  9.99998999e-01  1.55533959e-04]
 [ 4.11009831e-04 -1.56111985e-04  9.99999903e-01]]

 t_estimated:
[[9.99984829e-01]
 [5.41721793e-03]
 [9.97659906e-04]]

 R_gt:
[[ 0.97718126 -0.12387596  0.17254423]
 [ 0.15754302  0.96754316 -0.19758957]
 [-0.14246784  0.22026476  0.96497929]]

 t_gt:
[ 0.46950351  0.26939996 -0.84082704]

Pose Error in degrees for R and t:
17.26325432531385 61.958113402014554

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99999890e-01 -4.68130625e-04 -9.68525548e-07]
 [ 4.68130671e-04  9.99999889e-01  4.76245060e-05]
 [ 9.46230951e-07 -4.76249541e-05  9.99999999e-01]]

 t_estimated:
[[0.31623595]
 [0.94867874]
 [0.00186404]]

 R_gt:
[[ 0.99404685 -0.10892886  0.00210181]
 [ 0.10882573  0.99364809  0.0286213 ]
 [-0.00520631 -0.02822306  0.99958791]]

 t_gt:
[ 0.19511376 -0.95702986  0.21453312]

Pose Error in degrees for R and t:
6.438071019436892 32.24096045346746

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.0125952  -0.9941333   0.10742599]
 [-0.89046729  0.03772134  0.4534811 ]
 [-0.45487291 -0.10137102 -0.88476808]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.96821607 -0.25000257 -0.00738447]
 [ 0.24970247  0.96789647 -0.02870174]
 [ 0.01432206  0.02594535  0.99955995]]

 t_gt:
[ 0.45946767 -0.86141779 -0.21644594]

Pose Error in degrees for R and t:
156.37981838777776 77.84307405678426

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999378e-01  1.05566693e-03  3.59679720e-04]
 [-1.05555595e-03  9.99999395e-01 -3.08624341e-04]
 [-3.60005307e-04  3.08244487e-04  9.99999888e-01]]

 t_estimated:
[[-9.99999927e-01]
 [ 1.76824359e-04]
 [ 3.39431498e-04]]

 R_gt:
[[ 0.95020167 -0.30872193  0.04251666]
 [ 0.3086093   0.95114326  0.0093562 ]
 [-0.04332871  0.0042303   0.99905165]]

 t_gt:
[ 0.27284499 -0.95852997  0.08231587]

Pose Error in degrees for R and t:
18.215692411017198 74.1579402630405

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.96312101  0.26901047  0.00559355]
 [-0.26905061 -0.96308893 -0.00845514]
 [ 0.00311256 -0.00964828  0.99994861]]

 t_estimated:
[[8.01117160e-01]
 [5.98507234e-01]
 [6.21502839e-04]]

 R_gt:
[[ 0.97726012 -0.21192839 -0.0069929 ]
 [ 0.21196025  0.97726869  0.00424613]
 [ 0.00593331 -0.00563243  0.99996649]]

 t_gt:
[ 0.74891242 -0.66266515  0.0022577 ]

Pose Error in degrees for R and t:
176.6304972337313 78.26659897780534

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 7.82149118e-01  6.23091289e-01 -4.64447776e-05]
 [-6.23083682e-01  7.82139196e-01 -5.00030220e-03]
 [-3.07931846e-03  3.93992094e-03  9.99987497e-01]]

 t_estimated:
[[0.89411931]
 [0.44782728]
 [0.00117822]]

 R_gt:
[[ 0.91858178 -0.39518027  0.00633873]
 [ 0.39503793  0.91851643  0.01647141]
 [-0.01233145 -0.01262661  0.99984454]]

 t_gt:
[ 0.80208418 -0.59494015  0.05203073]

Pose Error in degrees for R and t:
61.82806112758354 63.20563061193261

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-0.99765602  0.06834144  0.00345231]
 [-0.06840109 -0.99741516 -0.02200671]
 [ 0.00193942 -0.02219127  0.99975186]]

 t_estimated:
[[0.73652796]
 [0.67634333]
 [0.00928745]]

 R_gt:
[[ 0.85823158 -0.51048526  0.0533349 ]
 [ 0.51079223  0.85965897  0.00871876]
 [-0.05030062  0.01975995  0.99853833]]

 t_gt:
[ 0.82696029 -0.55802965  0.06884463]

Pose Error in degrees for R and t:
153.2358855099897 76.56753052360902

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-9.99039948e-01 -4.19619671e-02  1.25847305e-02]
 [-4.19557832e-02  9.99119183e-01  7.55105178e-04]
 [-1.26053313e-02  2.26378015e-04 -9.99920524e-01]]

 t_estimated:
[[0.99978269]
 [0.01975816]
 [0.00664707]]

 R_gt:
[[ 9.83251899e-01 -1.82214442e-01  3.64855780e-03]
 [ 1.82211160e-01  9.83258689e-01  1.43021964e-03]
 [-3.84742957e-03 -7.41679559e-04  9.99992761e-01]]

 t_gt:
[ 0.79902441 -0.60105239  0.01720515]

Pose Error in degrees for R and t:
179.0620229738166 38.08565796749357

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-6.93778497e-01  7.20188155e-01  6.47049222e-04]
 [ 7.20185594e-01  6.93772942e-01  3.43728049e-03]
 [ 2.02658345e-03  2.85070682e-03 -9.99993883e-01]]

 t_estimated:
[[-0.03101124]
 [-0.99951619]
 [-0.00238548]]

 R_gt:
[[ 0.95481124 -0.29714378  0.00648264]
 [ 0.2971885   0.95420326 -0.03429543]
 [ 0.00400478  0.03467186  0.9993914 ]]

 t_gt:
[ 0.85847637 -0.50543154 -0.08693259]

Pose Error in degrees for R and t:
179.16512110156822 61.39477213797891

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-7.61471618e-01  6.48192109e-01  2.82211235e-03]
 [ 6.48190328e-01  7.61476620e-01 -1.62969045e-03]
 [-3.20532506e-03  5.88302908e-04 -9.99994690e-01]]

 t_estimated:
[[0.99679475]
 [0.07997766]
 [0.00195067]]

 R_gt:
[[ 0.92383639 -0.3818072   0.02737369]
 [ 0.3827803   0.92098917 -0.07252093]
 [ 0.00247961  0.07747587  0.99699155]]

 t_gt:
[ 0.88102538 -0.45241773 -0.13824789]

Pose Error in degrees for R and t:
177.62816429314532 32.674781585687036

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 3.08896954e-01 -9.51094955e-01 -1.02928861e-03]
 [ 9.51095507e-01  3.08896662e-01  4.35236234e-04]
 [-9.60071702e-05 -1.11339492e-03  9.99999376e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99679263 -0.07921265  0.01142345]
 [ 0.0797937   0.99464751 -0.06564881]
 [-0.00616321  0.06634946  0.99777731]]

 t_gt:
[ 0.73045673 -0.61226264 -0.3026011 ]

Pose Error in degrees for R and t:
67.5410519061871 43.25426681269407

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999996e-01  9.02104135e-05 -5.68192425e-06]
 [-9.02105247e-05  9.99999996e-01 -1.95786359e-05]
 [ 5.68015803e-06  1.95791483e-05  1.00000000e+00]]

 t_estimated:
[[2.73565263e-01]
 [9.61853436e-01]
 [1.17776071e-04]]

 R_gt:
[[ 0.99116133 -0.13195301 -0.0137264 ]
 [ 0.12776405  0.97728766 -0.16906845]
 [ 0.03572395  0.16582004  0.98550938]]

 t_gt:
[ 0.67601977 -0.39969936 -0.61906195]

Pose Error in degrees for R and t:
12.320070640520571 78.48703981486435

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.44350237 -0.89626886  0.00278892]
 [-0.89626567 -0.44348373  0.00548034]
 [-0.00367502 -0.00493015 -0.99998109]]

 t_estimated:
[[0.42411157]
 [0.90560097]
 [0.00403254]]

 R_gt:
[[ 0.98790332 -0.14813167 -0.04587091]
 [ 0.13199969  0.95853381 -0.25256182]
 [ 0.08138095  0.24345146  0.96649282]]

 t_gt:
[ 0.59308462 -0.19461621 -0.78126511]

Pose Error in degrees for R and t:
166.1658186804587 85.8631497617344

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99220108e-01 -3.94859804e-02  1.82640560e-04]
 [ 3.94860533e-02  9.99220036e-01 -4.14405707e-04]
 [-1.66134891e-04  4.21294270e-04  9.99999897e-01]]

 t_estimated:
[[-0.72085176]
 [-0.69308856]
 [-0.00099154]]

 R_gt:
[[ 0.99059569 -0.13678059  0.00347958]
 [ 0.13681     0.99054853 -0.00977133]
 [-0.00211024  0.01015462  0.99994559]]

 t_gt:
[ 0.73124857 -0.68181303 -0.02016219]

Pose Error in degrees for R and t:
5.628674900889912 86.87324877113197

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.96903848  0.24687684 -0.00403041]
 [-0.24685444  0.96903782  0.00534675]
 [ 0.00522561 -0.00418628  0.99997758]]

 t_estimated:
[[7.63748081e-01]
 [6.45514003e-01]
 [7.34373155e-04]]

 R_gt:
[[ 9.64872396e-01 -2.62213294e-01  1.63282880e-02]
 [ 2.62245959e-01  9.65000878e-01  1.96158023e-04]
 [-1.58085745e-02  4.09237433e-03  9.99866533e-01]]

 t_gt:
[ 0.76701599 -0.64059596  0.03637702]

Pose Error in degrees for R and t:
29.522211014458154 80.07726106902082

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-9.35991952e-01  3.52021396e-01 -4.76886429e-05]
 [-3.52020548e-01 -9.35989979e-01 -2.07170464e-03]
 [-7.73920450e-04 -1.92231149e-03  9.99997853e-01]]

 t_estimated:
[[0.69705334]
 [0.71701875]
 [0.00086806]]

 R_gt:
[[ 0.89364467 -0.44669651 -0.04313966]
 [ 0.44677785  0.89460635 -0.00828694]
 [ 0.04229489 -0.01186782  0.99903416]]

 t_gt:
[ 0.83513994 -0.5474397  -0.05339521]

Pose Error in degrees for R and t:
174.06154122536927 79.07253055493713

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99981177  0.01920705  0.00274285]
 [-0.01916953  0.99973033 -0.01310683]
 [-0.00299385  0.01305179  0.99991034]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075945e-03]
 [-7.75189865e-04]]

 R_gt:
[[ 0.99668886 -0.07067513  0.0402027 ]
 [ 0.07235937  0.99648856 -0.04212248]
 [-0.03708524  0.04489289  0.99830295]]

 t_gt:
[ 0.79503626 -0.60196742 -0.07451555]

Pose Error in degrees for R and t:
5.859825110888757 37.523096128405754

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.50114782  0.86535993  0.00174781]
 [-0.86527729  0.50112613 -0.01295419]
 [-0.01208592  0.00497962  0.99991456]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9917871  -0.07599086  0.10288669]
 [ 0.08796826  0.98918181 -0.11738884]
 [-0.09285352  0.12547651  0.98774141]]

 t_gt:
[ 0.78699912 -0.48153477 -0.38568983]

Pose Error in degrees for R and t:
65.10336808852158 38.26054298635236

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[-0.9986246  -0.05241129 -0.00140296]
 [ 0.05241935 -0.99752194 -0.04692749]
 [ 0.00106005 -0.04693649  0.99889731]]

 t_estimated:
[[0.99855428]
 [0.05366019]
 [0.00315147]]

 R_gt:
[[ 0.98944716 -0.02515971  0.14269482]
 [ 0.05337808  0.97884049 -0.19753826]
 [-0.13470644  0.20307208  0.9698535 ]]

 t_gt:
[ 0.08620657  0.21991264 -0.97170307]

Pose Error in degrees for R and t:
174.9397165421359 84.55902818048854

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.97730279  0.21184445 -0.00108988]
 [-0.21184207  0.97730194  0.00196371]
 [ 0.00148114 -0.00168825  0.99999748]]

 t_estimated:
[[8.09638837e-01]
 [5.86927856e-01]
 [8.04010761e-04]]

 R_gt:
[[ 0.99150998  0.12954185 -0.01122648]
 [-0.12960554  0.99155134 -0.00518762]
 [ 0.010459    0.00659821  0.99992291]]

 t_gt:
[-0.61833402  0.7790787  -0.10343804]

Pose Error in degrees for R and t:
4.837442024474099 87.5098630149619

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-0.05016217 -0.99873867  0.0021987 ]
 [ 0.998727   -0.05014965  0.00542151]
 [-0.0053044   0.00246785  0.99998289]]

 t_estimated:
[[0.87170036]
 [0.49003782]
 [0.00119223]]

 R_gt:
[[ 9.74427483e-01  2.21598442e-01 -3.72131082e-02]
 [-2.21465734e-01  9.75137280e-01  7.70168324e-03]
 [ 3.79952355e-02  7.36455862e-04  9.99277642e-01]]

 t_gt:
[-0.59934742  0.78640036 -0.14952302]

Pose Error in degrees for R and t:
105.70188338981725 82.11046028528688

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99998087e-01 -9.08873359e-04 -1.73218144e-03]
 [ 9.15008083e-04  9.99993301e-01  3.54412209e-03]
 [ 1.72894868e-03 -3.54570027e-03  9.99992219e-01]]

 t_estimated:
[[0.66057273]
 [0.75076162]
 [0.00081251]]

 R_gt:
[[ 0.93846024  0.34189084 -0.04902202]
 [-0.33996545  0.9394266   0.04360702]
 [ 0.06096146 -0.02425784  0.9978453 ]]

 t_gt:
[-0.58243526  0.80736519 -0.09450199]

Pose Error in degrees for R and t:
20.320840449090486 77.21335648175815

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 5.10733442e-01  8.59734984e-01  2.66610183e-03]
 [-8.59729815e-01  5.10739886e-01 -3.06811091e-03]
 [-3.99944683e-03 -7.25140385e-04  9.99991739e-01]]

 t_estimated:
[[0.15448911]
 [0.98798591]
 [0.00411774]]

 R_gt:
[[ 0.99285066 -0.10938365 -0.0477758 ]
 [ 0.10856934  0.9939013  -0.01930879]
 [ 0.04959598  0.01398396  0.99867139]]

 t_gt:
[ 0.55850729 -0.72323819 -0.40619715]

Pose Error in degrees for R and t:
65.61561876905554 50.95441728732543

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 7.01390845e-01  7.12776424e-01  8.07944838e-04]
 [-7.12776253e-01  7.01391281e-01 -5.33577141e-04]
 [-9.47006672e-04 -2.01637772e-04  9.99999531e-01]]

 t_estimated:
[[0.57840591]
 [0.81574857]
 [0.00093442]]

 R_gt:
[[ 0.96830045 -0.24661066 -0.03970995]
 [ 0.24770482  0.96850202  0.02542656]
 [ 0.03218954 -0.03445631  0.99888718]]

 t_gt:
[ 0.6389572  -0.76922532  0.00510901]

Pose Error in degrees for R and t:
59.8365474953506 75.05373368756017

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 3.96682858e-01  9.17955146e-01  1.02947686e-03]
 [-9.17953744e-01  3.96684082e-01 -1.63196154e-03]
 [-1.90644457e-03 -2.97640970e-04  9.99998138e-01]]

 t_estimated:
[[0.61722746]
 [0.78678408]
 [0.00103388]]

 R_gt:
[[ 0.89127928 -0.45253442 -0.02888541]
 [ 0.45340707  0.89029764  0.04232384]
 [ 0.00656411 -0.05081925  0.99868572]]

 t_gt:
[ 0.7605851  -0.64576075  0.06710713]

Pose Error in degrees for R and t:
93.62073048326533 87.79064929904919

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999587e-01 -3.65637058e-04 -8.32254444e-04]
 [ 3.66950210e-04  9.99998687e-01  1.57821917e-03]
 [ 8.31676296e-04 -1.57852391e-03  9.99998408e-01]]

 t_estimated:
[[0.65571363]
 [0.75500826]
 [0.0014679 ]]

 R_gt:
[[ 9.89568898e-01  1.44058505e-01 -3.52896184e-04]
 [-1.43922520e-01  9.88738690e-01  4.10248795e-02]
 [ 6.25943318e-03 -4.05459621e-02  9.99157642e-01]]

 t_gt:
[-0.44377245  0.89116929  0.09425134]

Pose Error in degrees for R and t:
8.604226461351306 67.54294308287625

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99998642e-01 -1.59289790e-03 -4.22506353e-04]
 [ 1.59297245e-03  9.99998716e-01  1.76159774e-04]
 [ 4.22225206e-04 -1.76832576e-04  9.99999895e-01]]

 t_estimated:
[[-0.99996644]
 [-0.00812981]
 [-0.00101623]]

 R_gt:
[[ 0.96746252  0.25300902 -0.00148896]
 [-0.25295949  0.96736153  0.01495076]
 [ 0.00522322 -0.01408748  0.9998864 ]]

 t_gt:
[-0.3777119   0.92589535 -0.00717721]

Pose Error in degrees for R and t:
14.770476395888924 68.2733327686085

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 8.97934767e-01 -4.40116237e-01  3.29418836e-03]
 [-4.40128362e-01 -8.97902014e-01  7.68107692e-03]
 [-4.22708307e-04 -8.34697175e-03 -9.99965074e-01]]

 t_estimated:
[[0.04968917]
 [0.99875237]
 [0.00496892]]

 R_gt:
[[ 0.92718887  0.37441769 -0.01149314]
 [-0.37459267  0.92683467 -0.02565281]
 [ 0.00104703  0.02809058  0.9996047 ]]

 t_gt:
[-0.2890396   0.9558002  -0.05387099]

Pose Error in degrees for R and t:
178.86796064922436 19.952155171656912

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999983e-01 -5.31319165e-05  1.75393120e-04]
 [ 5.31541882e-05  9.99999991e-01 -1.26979446e-04]
 [-1.75386372e-04  1.26988766e-04  9.99999977e-01]]

 t_estimated:
[[0.745978  ]
 [0.66597015]
 [0.00076198]]

 R_gt:
[[ 0.99153162 -0.12877718 -0.01679118]
 [ 0.12913455  0.99137649  0.0223038 ]
 [ 0.01377432 -0.02428286  0.99960948]]

 t_gt:
[ 0.54540667 -0.83815136  0.00581879]

Pose Error in degrees for R and t:
7.580721615863328 81.29668692397215

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99998889e-01 -5.22367941e-04  1.39608401e-03]
 [ 5.24300394e-04  9.99998905e-01 -1.38418754e-03]
 [-1.39535943e-03  1.38491797e-03  9.99998067e-01]]

 t_estimated:
[[0.61036785]
 [0.79211751]
 [0.00097192]]

 R_gt:
[[ 0.94791613 -0.31673467  0.03366046]
 [ 0.31661841  0.94851142  0.00888935]
 [-0.03474257  0.00223151  0.99939365]]

 t_gt:
[ 0.6168023  -0.78143375  0.09442568]

Pose Error in degrees for R and t:
18.53719939596325 75.97062710763502

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.77329824  0.63404081  0.00143926]
 [-0.63403132  0.77329613 -0.00417006]
 [-0.00375696  0.00231216  0.99999027]]

 t_estimated:
[[0.69700643]
 [0.71706417]
 [0.00100289]]

 R_gt:
[[ 0.86958058 -0.49378763 -0.00169282]
 [ 0.49374973  0.86946029  0.01579672]
 [-0.00632857 -0.01457208  0.99987304]]

 t_gt:
[ 0.71316485 -0.70040193  0.02886236]

Pose Error in degrees for R and t:
68.94750867955382 89.70643255338591

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999254e-01 -1.01565247e-03 -6.78277680e-04]
 [ 1.01607074e-03  9.99999294e-01  6.16616964e-04]
 [ 6.77650933e-04 -6.17305682e-04  9.99999580e-01]]

 t_estimated:
[[-0.99255013]
 [ 0.12181191]
 [ 0.00246782]]

 R_gt:
[[ 0.99259147  0.12147965 -0.00223656]
 [-0.12144729  0.99144729 -0.04776559]
 [-0.00358505  0.04768399  0.99885618]]

 t_gt:
[-0.37582892  0.90740409 -0.18807029]

Pose Error in degrees for R and t:
7.5662606766428455 61.1120962227373

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-4.64969139e-01 -8.85325024e-01 -1.81695038e-03]
 [-8.85325730e-01  4.64970872e-01 -6.63738415e-04]
 [ 1.43245323e-03  1.29997504e-03 -9.99998129e-01]]

 t_estimated:
[[8.37868098e-01]
 [5.45872209e-01]
 [7.62391354e-04]]

 R_gt:
[[ 9.68722118e-01  2.47020842e-01 -2.36125145e-02]
 [-2.48147286e-01  9.64246164e-01 -9.30082458e-02]
 [-2.06568870e-04  9.59585500e-02  9.95385625e-01]]

 t_gt:
[-0.29595372  0.93486202 -0.19607244]

Pose Error in degrees for R and t:
176.48461704729925 74.79962312391753

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.97518144e-01 -7.04070503e-02 -6.31739152e-04]
 [ 7.04071347e-02  9.97518332e-01  1.12399267e-04]
 [ 6.22257684e-04 -1.56599252e-04  9.99999794e-01]]

 t_estimated:
[[-0.59796168]
 [-0.80152311]
 [-0.00159032]]

 R_gt:
[[ 0.93883495  0.34307598 -0.02977898]
 [-0.34409499  0.93115452 -0.12061976]
 [-0.01365312  0.1234898   0.99225245]]

 t_gt:
[-0.26824783  0.95224812 -0.1458308 ]

Pose Error in degrees for R and t:
25.23076769717191 52.942583919907975

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.62682903e-01  2.70631348e-01 -5.48804464e-04]
 [-2.70631090e-01  9.62683002e-01  5.00923936e-04]
 [ 6.63890449e-04 -3.33707358e-04  9.99999724e-01]]

 t_estimated:
[[-0.74953856]
 [-0.6619597 ]
 [-0.00113739]]

 R_gt:
[[ 0.983853   -0.17708727  0.02595692]
 [ 0.17641393  0.98396569  0.02627333]
 [-0.03019331 -0.02126998  0.99931759]]

 t_gt:
[ 0.5563247  -0.79517815  0.24123543]

Pose Error in degrees for R and t:
25.97173928801522 83.7357159253989

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 8.91743984e-01  4.52539670e-01  7.17136335e-04]
 [-4.52540007e-01  8.91744011e-01  4.00923706e-04]
 [-4.58068150e-04 -6.82054185e-04  9.99999662e-01]]

 t_estimated:
[[5.81512730e-01]
 [8.13536902e-01]
 [8.08715698e-04]]

 R_gt:
[[ 9.67367734e-01 -2.53377920e-01 -1.17508920e-04]
 [ 2.53193973e-01  9.66645994e-01  3.85811309e-02]
 [-9.66183332e-03 -3.73518477e-02  9.99255317e-01]]

 t_gt:
[ 0.59388898 -0.79383318  0.13086161]

Pose Error in degrees for R and t:
41.63859296255443 72.52120850337457

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 1.13879162e-01  9.93494608e-01 -3.25471767e-05]
 [ 9.93490899e-01 -1.13878647e-01  2.73625983e-03]
 [ 2.71475296e-03 -3.43938299e-04 -9.99996256e-01]]

 t_estimated:
[[0.4153787 ]
 [0.90964715]
 [0.00160999]]

 R_gt:
[[ 0.89062991 -0.45254609  0.04450261]
 [ 0.45173108  0.8917296   0.02751613]
 [-0.05213672 -0.00440278  0.99862948]]

 t_gt:
[ 0.68156867 -0.72335384  0.11055933]

Pose Error in degrees for R and t:
178.89500835685607 67.9936314149354

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.98400700e-01  5.65335333e-02  3.01313059e-05]
 [-5.65335358e-02  9.98400697e-01  8.91626722e-05]
 [-2.50424359e-05 -9.07235036e-05  9.99999996e-01]]

 t_estimated:
[[-9.99999912e-01]
 [ 2.12426856e-04]
 [ 3.62876472e-04]]

 R_gt:
[[ 0.99411627  0.10088343 -0.03943253]
 [-0.09983257  0.99461636  0.02775937]
 [ 0.04202054 -0.02365821  0.99883594]]

 t_gt:
[-0.69499698  0.70341851 -0.14893489]

Pose Error in degrees for R and t:
3.741358788020183 45.96542728543613

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999867e-01  9.00030935e-05 -5.08384395e-04]
 [-8.97039187e-05  9.99999823e-01  5.88473658e-04]
 [ 5.08437269e-04 -5.88427976e-04  9.99999698e-01]]

 t_estimated:
[[-0.62351698]
 [-0.78180921]
 [-0.0009652 ]]

 R_gt:
[[ 0.96933229  0.24350233 -0.03317163]
 [-0.2421203   0.96938848  0.04078594]
 [ 0.04208674 -0.03150313  0.99861628]]

 t_gt:
[-0.65084853  0.75784614 -0.04544697]

Pose Error in degrees for R and t:
14.366030314142755 79.24369635175677

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.49482257e-01 -3.13820055e-01 -6.45976478e-04]
 [ 3.13820310e-01  9.49482332e-01  3.37922007e-04]
 [ 5.07296550e-04 -5.23571489e-04  9.99999734e-01]]

 t_estimated:
[[-0.69828481]
 [-0.71581929]
 [-0.00103144]]

 R_gt:
[[ 0.91229722  0.40742798 -0.04141274]
 [-0.40640388  0.91316411  0.03107197]
 [ 0.05047578 -0.01151509  0.99865869]]

 t_gt:
[-0.57409066  0.81514723 -0.0771681 ]

Pose Error in degrees for R and t:
42.41431613494549 79.48227303186782

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99276641e-01 -3.80288425e-02 -4.97191183e-05]
 [ 3.80288359e-02  9.99276634e-01 -1.27630335e-04]
 [ 5.45367871e-05  1.25647252e-04  9.99999991e-01]]

 t_estimated:
[[-0.040698  ]
 [-0.99917042]
 [-0.00146253]]

 R_gt:
[[ 0.98481816 -0.17144894 -0.02719954]
 [ 0.17049616  0.98476562 -0.03416099]
 [ 0.0326419   0.02900385  0.99904628]]

 t_gt:
[ 0.63696851 -0.7000829  -0.32273062]

Pose Error in degrees for R and t:
8.064766013710283 47.619518875192824

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.35521504e-01  3.53269587e-01  3.39117607e-04]
 [-3.53269328e-01  9.35521439e-01 -6.46972112e-04]
 [-5.45807363e-04  4.85456474e-04  9.99999733e-01]]

 t_estimated:
[[-5.03844260e-01]
 [ 8.63794468e-01]
 [ 2.78764236e-04]]

 R_gt:
[[ 0.95194493 -0.30586307  0.01579188]
 [ 0.30622705  0.95141358 -0.03220838]
 [-0.00517396  0.03549607  0.99935598]]

 t_gt:
[ 0.5914212  -0.80273122 -0.07644309]

Pose Error in degrees for R and t:
38.56504100908879 7.519545117207708

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.24624268 -0.96883385  0.02693538]
 [-0.96908826  0.24655432  0.0088833 ]
 [-0.01524748 -0.02391531 -0.99959771]]

 t_estimated:
[[0.7797255 ]
 [0.6259162 ]
 [0.01603307]]

 R_gt:
[[ 0.92065118 -0.389512    0.02610745]
 [ 0.38998185  0.92068166 -0.01611286]
 [-0.01776146  0.02501464  0.99952948]]

 t_gt:
[ 0.54530257 -0.83814336  0.01268145]

Pose Error in degrees for R and t:
178.33413319947877 84.30586674526667

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.88919562e-01 -1.48452336e-01 -6.17553826e-05]
 [ 1.48452348e-01  9.88919453e-01  4.65378747e-04]
 [-8.01546283e-06 -4.69389878e-04  9.99999890e-01]]

 t_estimated:
[[0.89539985]
 [0.44526196]
 [0.00094962]]

 R_gt:
[[ 0.9884467  -0.15072235 -0.01601983]
 [ 0.14996246  0.98783452 -0.04115932]
 [ 0.02202907  0.03828177  0.99902363]]

 t_gt:
[ 0.74838239 -0.62384979 -0.22524484]

Pose Error in degrees for R and t:
2.55767217129958 66.91408418653005

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99944133e-01 -1.05679260e-02  2.21060450e-04]
 [ 1.05681149e-02  9.99943776e-01 -8.71295604e-04]
 [-2.11840234e-04  8.73583120e-04  9.99999596e-01]]

 t_estimated:
[[ 9.64339725e-01]
 [ 2.64665885e-01]
 [-9.29245228e-04]]

 R_gt:
[[ 0.96285941 -0.26849088  0.02852628]
 [ 0.26940243  0.96238175 -0.03527288]
 [-0.01798207  0.04164796  0.99897052]]

 t_gt:
[ 0.77315159 -0.6334947  -0.03034939]

Pose Error in degrees for R and t:
15.218335481280786 54.69389660788141

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-5.85886991e-01 -8.10392763e-01 -5.63230468e-05]
 [ 8.10330602e-01 -5.85842909e-01  1.23451264e-02]
 [-1.00373976e-02  7.18720869e-03  9.99923794e-01]]

 t_estimated:
[[0.96880672]
 [0.24781156]
 [0.00172117]]

 R_gt:
[[ 0.91351864 -0.40679559 -0.00104064]
 [ 0.40664022  0.91323313 -0.02547821]
 [ 0.01131468  0.02285216  0.99967392]]

 t_gt:
[ 0.82308457 -0.56564386 -0.05078193]

Pose Error in degrees for R and t:
101.87980905463803 48.917171070104374

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.09615602  0.99533344  0.00808427]
 [ 0.9953615   0.09617755 -0.00231676]
 [-0.00308347  0.007824   -0.99996464]]

 t_estimated:
[[-0.41669451]
 [-0.90904584]
 [-0.00116395]]

 R_gt:
[[ 0.98972017 -0.13903198 -0.03352735]
 [ 0.14056294  0.98887029  0.04875652]
 [ 0.02637495 -0.05296821  0.99824804]]

 t_gt:
[ 0.73853315 -0.66503957  0.11086552]

Pose Error in degrees for R and t:
177.2075724985299 72.7417127581945

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.98864620e-01  4.76255141e-02  1.13223722e-03]
 [-4.76246837e-02  9.98865020e-01 -7.49444059e-04]
 [-1.16664481e-03  6.94670716e-04  9.99999078e-01]]

 t_estimated:
[[0.46519154]
 [0.88520953]
 [0.00096114]]

 R_gt:
[[ 0.97714805 -0.21099591 -0.02575121]
 [ 0.21075369  0.97746857 -0.01179945]
 [ 0.02766036  0.00610315  0.99959923]]

 t_gt:
[ 0.77765231 -0.62623808 -0.05552262]

Pose Error in degrees for R and t:
14.998867771879171 78.8926409432616

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 6.41210348e-01 -7.67364145e-01 -1.24885557e-03]
 [-7.67365143e-01 -6.41209830e-01 -8.31217107e-04]
 [-1.62932265e-04  1.49131325e-03 -9.99998875e-01]]

 t_estimated:
[[0.59167859]
 [0.80617344]
 [0.00090888]]

 R_gt:
[[ 0.96247186 -0.26703756 -0.04836079]
 [ 0.26031255  0.95881396 -0.11363815]
 [ 0.07671465  0.09678484  0.99234427]]

 t_gt:
[ 0.79275128 -0.52892958 -0.30295033]

Pose Error in degrees for R and t:
172.8737038558604 87.57167183616075

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-9.94666509e-01 -1.02633426e-01  1.02427929e-02]
 [-1.02623151e-01  9.94719138e-01  1.52516109e-03]
 [-1.03452346e-02  4.65878984e-04 -9.99946378e-01]]

 t_estimated:
[[0.99845384]
 [0.05531217]
 [0.00552254]]

 R_gt:
[[ 9.68266642e-01 -2.49854573e-01 -5.79148403e-03]
 [ 2.49920090e-01  9.67921098e-01  2.58770405e-02]
 [-8.59684815e-04 -2.65025735e-02  9.99648121e-01]]

 t_gt:
[ 0.74638548 -0.65863722  0.09542393]

Pose Error in degrees for R and t:
179.47096280805982 44.81975179374893

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.86435681e-01 -1.64147445e-01  5.13941881e-04]
 [ 1.64147685e-01  9.86435666e-01 -4.63949139e-04]
 [-4.30814535e-04  5.42018355e-04  9.99999760e-01]]

 t_estimated:
[[ 0.50322279]
 [-0.86415449]
 [-0.00195991]]

 R_gt:
[[ 0.93443391 -0.35573474 -0.01691255]
 [ 0.35611372  0.93277682  0.05576481]
 [-0.00406182 -0.05813154  0.99830032]]

 t_gt:
[ 0.78056555 -0.61079726  0.13283119]

Pose Error in degrees for R and t:
11.907047960474072 23.02105122737278

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99272798e-01 -3.81293516e-02  1.64943350e-04]
 [ 3.81292903e-02  9.99272749e-01  3.60286534e-04]
 [-1.78560886e-04 -3.53735360e-04  9.99999921e-01]]

 t_estimated:
[[9.77187135e-01]
 [2.12379615e-01]
 [4.50958421e-04]]

 R_gt:
[[ 0.91094855 -0.41083417  0.03725013]
 [ 0.4090127   0.91126387  0.04802079]
 [-0.05367322 -0.02850876  0.99815119]]

 t_gt:
[ 0.7664554  -0.61848953  0.17325361]

Pose Error in degrees for R and t:
22.305869178107844 51.852072754156204

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.99902787e-01 -1.39428931e-02 -1.13730195e-04]
 [ 1.39429154e-02  9.99902773e-01  1.97930476e-04]
 [ 1.10959414e-04 -1.99496965e-04  9.99999974e-01]]

 t_estimated:
[[-8.22099161e-01]
 [-5.69343968e-01]
 [-6.44783656e-04]]

 R_gt:
[[ 0.99777236  0.06498809  0.01505649]
 [-0.06473367  0.99776102 -0.01676376]
 [-0.01611176  0.01575161  0.9997457 ]]

 t_gt:
[-0.9145648   0.37369688 -0.15466699]

Pose Error in degrees for R and t:
4.702930484827609 57.37076209219019

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.99999423e-01  1.06910648e-03 -1.00107991e-04]
 [-1.06908717e-03  9.99999410e-01  1.92745259e-04]
 [ 1.00313997e-04 -1.92638123e-04  9.99999976e-01]]

 t_estimated:
[[-7.70235020e-01]
 [-6.37759909e-01]
 [-5.58404933e-04]]

 R_gt:
[[ 0.99423488  0.10013793  0.03833628]
 [-0.0983961   0.99413381 -0.04489205]
 [-0.04260633  0.04086113  0.99825502]]

 t_gt:
[-0.87229704  0.42113548 -0.24848095]

Pose Error in degrees for R and t:
6.583877405147268 66.20727290300647

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.49737226e-01  3.13048150e-01 -2.40882379e-04]
 [-3.13048183e-01  9.49737239e-01 -1.12664593e-04]
 [ 1.93505523e-04  1.82409549e-04  9.99999965e-01]]

 t_estimated:
[[-9.75634317e-01]
 [-2.19401019e-01]
 [-9.33621356e-04]]

 R_gt:
[[ 0.98079221  0.18491564  0.06207513]
 [-0.17756181  0.97813545 -0.1082713 ]
 [-0.08073917  0.0951689   0.99218107]]

 t_gt:
[-0.84198021  0.42971372 -0.32621379]

Pose Error in degrees for R and t:
10.561190425827185 43.32364046714879

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[-0.66299163 -0.74845078  0.01623364]
 [-0.74841408  0.66316429  0.00945947]
 [-0.01784552 -0.00587793 -0.99982348]]

 t_estimated:
[[0.91373098]
 [0.40619854]
 [0.00992191]]

 R_gt:
[[ 0.99815148 -0.05866924 -0.0158944 ]
 [ 0.05852709  0.99824366 -0.00927532]
 [ 0.01641015  0.00832733  0.99983045]]

 t_gt:
[ 0.50995571 -0.7792302  -0.36434252]

Pose Error in degrees for R and t:
179.95962538044884 81.61493307935724

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-0.69699336  0.71706205 -0.00471941]
 [-0.71705951 -0.69700743 -0.00251151]
 [-0.00509037  0.0016336   0.99998571]]

 t_estimated:
[[0.66582724]
 [0.74610429]
 [0.00157406]]

 R_gt:
[[ 0.97838191 -0.20678101  0.00323384]
 [ 0.20673312  0.97833243  0.01134987]
 [-0.00551201 -0.01043554  0.99993075]]

 t_gt:
[ 0.57836007 -0.81313219  0.06569378]

Pose Error in degrees for R and t:
146.1224601660215 77.20343011247547

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.33339431 -0.50590364 -0.79555625]
 [-0.15529003 -0.80284114  0.57561369]
 [-0.92991034  0.31544828  0.18910087]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.95581611 -0.29379021 -0.01011515]
 [ 0.29391766  0.95571293  0.01503918]
 [ 0.00524807 -0.01734806  0.99983567]]

 t_gt:
[ 0.62095442 -0.78342273  0.02577669]

Pose Error in degrees for R and t:
153.35094909108014 89.97222050974054

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-3.92032555e-01 -9.19950608e-01 -1.16375047e-03]
 [-9.19951338e-01  3.92032091e-01  6.12382944e-04]
 [-1.07134530e-04  1.31066786e-03 -9.99999135e-01]]

 t_estimated:
[[0.72994038]
 [0.68351039]
 [0.00076115]]

 R_gt:
[[ 0.99623218  0.07999264  0.03350343]
 [-0.08040397  0.99670101  0.01106811]
 [-0.03250691 -0.01372027  0.99937765]]

 t_gt:
[-0.3915476   0.81532808  0.42653323]

Pose Error in degrees for R and t:
178.06682050338617 74.22838810668502

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99954791e-01 -9.50863332e-03  4.45457028e-05]
 [ 9.50863549e-03  9.99954791e-01 -4.87849385e-05]
 [-4.40798108e-05  4.92063018e-05  9.99999998e-01]]

 t_estimated:
[[-9.43231414e-01]
 [-3.32135259e-01]
 [-8.18067141e-04]]

 R_gt:
[[ 0.99537527  0.09180913  0.02829372]
 [-0.0916463   0.99576643 -0.00704505]
 [-0.02882088  0.00441836  0.9995755 ]]

 t_gt:
[-0.13120779  0.96289828  0.23582073]

Pose Error in degrees for R and t:
6.043128952103886 78.68247464332507

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.76867096 -0.63962609 -0.00484066]
 [ 0.63962114 -0.76868553  0.00271046]
 [-0.00545463 -0.00101274  0.99998461]]

 t_estimated:
[[0.96098016]
 [0.2766026 ]
 [0.00285157]]

 R_gt:
[[ 0.99627751  0.08241973  0.02528645]
 [-0.08252842  0.99658408  0.0032109 ]
 [-0.02493487 -0.00528594  0.99967509]]

 t_gt:
[0.41026762 0.85366101 0.32084789]

Pose Error in degrees for R and t:
144.9691759060741 50.85398812169041

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 7.35302263e-01 -6.77738840e-01 -8.03807641e-04]
 [ 6.77739106e-01  7.35302453e-01  8.32753565e-05]
 [ 5.34602787e-04 -6.06004430e-04  9.99999673e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98235478  0.18700804  0.00256496]
 [-0.18695939  0.98228125 -0.0130418 ]
 [-0.00495808  0.01233192  0.99991192]]

 t_gt:
[-0.700672    0.7133833  -0.01195914]

Pose Error in degrees for R and t:
53.4500209129475 44.84747801640928

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.89913737e-01 -1.41668921e-01 -8.42983226e-04]
 [ 1.41670561e-01  9.89910980e-01  2.38824511e-03]
 [ 4.96138244e-04 -2.48358254e-03  9.99996793e-01]]

 t_estimated:
[[0.11336662]
 [0.99354899]
 [0.00290192]]

 R_gt:
[[ 0.95689197  0.28599279  0.05065449]
 [-0.28382781  0.95777731 -0.04588147]
 [-0.06163671  0.02952501  0.99766122]]

 t_gt:
[-0.68541762  0.71813945  0.1203263 ]

Pose Error in degrees for R and t:
25.03964584267414 50.49448976153178

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.59410468e-01 -2.82013198e-01 -3.31913191e-04]
 [ 2.82013298e-01  9.59410447e-01  3.06006915e-04]
 [ 2.32142995e-04 -3.87190171e-04  9.99999898e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.95071298  0.29636388  0.09117734]
 [-0.29394097  0.9550173  -0.03925389]
 [-0.0987093   0.01051878  0.99506084]]

 t_gt:
[-0.7054093   0.66994945  0.23144213]

Pose Error in degrees for R and t:
34.0604002715344 80.51890569333058

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.93796727  0.34653574  0.01141867]
 [-0.34629828  0.93793906 -0.01865005]
 [-0.01717293  0.01353887  0.99976087]]

 t_estimated:
[[-0.93506152]
 [-0.35448029]
 [-0.00191611]]

 R_gt:
[[ 0.99556614 -0.08087266 -0.04803884]
 [ 0.08199572  0.99639283  0.02187989]
 [ 0.04609561 -0.02572082  0.99860512]]

 t_gt:
[ 0.42110679 -0.86856464 -0.26127483]

Pose Error in degrees for R and t:
25.296731643899637 85.10263654469568

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.97541623 -0.22032497 -0.00448069]
 [-0.22035258 -0.97539465 -0.00707217]
 [-0.00281226  0.00788564 -0.99996495]]

 t_estimated:
[[0.68960689]
 [0.72418328]
 [0.00096046]]

 R_gt:
[[ 9.78818363e-01 -1.82667327e-01 -9.24548598e-02]
 [ 1.83364382e-01  9.83044455e-01 -9.76220003e-04]
 [ 9.10647795e-02 -1.59955581e-02  9.95715398e-01]]

 t_gt:
[ 0.54404632 -0.76876285 -0.33618044]

Pose Error in degrees for R and t:
179.43046090591753 79.52129909703564

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.98574493  0.16824169  0.00128977]
 [-0.16823673  0.98574112 -0.00329351]
 [-0.00182548  0.00302958  0.99999374]]

 t_estimated:
[[-0.03788634]
 [-0.99925955]
 [-0.00670643]]

 R_gt:
[[ 0.94701217 -0.30575014 -0.09841902]
 [ 0.31018961  0.95009808  0.03312151]
 [ 0.08338078 -0.06189388  0.99459357]]

 t_gt:
[ 0.63152462 -0.77182391 -0.07392223]

Pose Error in degrees for R and t:
28.330508142165794 41.59793524409047

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99993997e-01 -3.46480932e-03 -1.25118569e-05]
 [ 3.46480857e-03  9.99993996e-01 -5.94136490e-05]
 [ 1.27176387e-05  5.93699412e-05  9.99999998e-01]]

 t_estimated:
[[-0.1089038 ]
 [-0.99405153]
 [-0.00123539]]

 R_gt:
[[ 0.99841809 -0.03846807  0.0410107 ]
 [ 0.03986693  0.99863048 -0.03386505]
 [-0.03965172  0.03544615  0.99858411]]

 t_gt:
[ 0.75669354 -0.61403148 -0.22445542]

Pose Error in degrees for R and t:
3.67149599605984 58.1127490792505

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.91544833e-01 -1.29764405e-01 -2.06741386e-04]
 [ 1.29764399e-01  9.91544855e-01 -4.10582976e-05]
 [ 2.10321263e-04  1.38834712e-05  9.99999978e-01]]

 t_estimated:
[[ 0.3772041 ]
 [-0.92612969]
 [-0.00092982]]

 R_gt:
[[ 0.99469768 -0.06435207  0.08022327]
 [ 0.06793186  0.99677435 -0.04272808]
 [-0.07721535  0.04795148  0.99586098]]

 t_gt:
[ 0.78158452 -0.62321261 -0.0270495 ]

Pose Error in degrees for R and t:
6.375722234741843 29.30603279048654

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.90788148  0.4178239   0.03426954]
 [-0.41410733  0.90652927 -0.08197435]
 [-0.06531718  0.06023173  0.99604508]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.98950313 -0.03439469  0.14035849]
 [ 0.04513638  0.99622994 -0.07407843]
 [-0.13728022  0.07963537  0.98732584]]

 t_gt:
[0.89396697 0.41176408 0.17684287]

Pose Error in degrees for R and t:
27.347842966919966 16.204453788395096

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.99475491  0.10227651  0.00147826]
 [-0.10227325  0.99475404 -0.00213902]
 [-0.00168928  0.00197661  0.99999662]]

 t_estimated:
[[-0.9951546 ]
 [-0.09829284]
 [-0.00241752]]

 R_gt:
[[ 0.99305707  0.00504992  0.11752869]
 [-0.00404176  0.99995343 -0.00882173]
 [-0.11756715  0.00828582  0.99302987]]

 t_gt:
[-0.08839931  0.12789861  0.98783982]

Pose Error in degrees for R and t:
8.71281355206948 85.81303251107113

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-2.91567269e-02  9.99572282e-01  2.26657864e-03]
 [ 9.99574495e-01  2.91547251e-02  9.11288675e-04]
 [ 8.44817424e-04  2.29218440e-03 -9.99997016e-01]]

 t_estimated:
[[0.87878311]
 [0.47721997]
 [0.00116395]]

 R_gt:
[[ 0.98294297 -0.03217713  0.18107772]
 [ 0.04490017  0.99676938 -0.06660994]
 [-0.17834849  0.07360461  0.98121007]]

 t_gt:
[ 0.4062834  -0.06148284  0.91167629]

Pose Error in degrees for R and t:
169.69206553902114 70.80675577582055

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 5.12557338e-01  8.58652985e-01 -1.62593483e-04]
 [-8.58652996e-01  5.12557307e-01 -1.98011797e-04]
 [-8.66849430e-05  2.41103781e-04  9.99999967e-01]]

 t_estimated:
[[-9.99967893e-01]
 [-7.96434605e-03]
 [-8.84927339e-04]]

 R_gt:
[[ 0.98052993 -0.12128066  0.15444132]
 [ 0.12814888  0.99112712 -0.03528333]
 [-0.14879153  0.05438859  0.98737161]]

 t_gt:
[ 0.8076428  -0.44136446  0.39103774]

Pose Error in degrees for R and t:
66.92743375733247 36.44304659495837

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999384e-01 -1.11035199e-03  3.40089292e-06]
 [ 1.11035216e-03  9.99999382e-01 -4.91388225e-05]
 [-3.34632943e-06  4.91425684e-05  9.99999999e-01]]

 t_estimated:
[[-6.10967302e-03]
 [-9.99981253e-01]
 [-4.07375547e-04]]

 R_gt:
[[ 0.99171145 -0.01700053  0.12735361]
 [ 0.01762008  0.99983804 -0.00373633]
 [-0.12726816  0.00594876  0.99184998]]

 t_gt:
[ 0.03109033 -0.10364427  0.99412839]

Pose Error in degrees for R and t:
7.3786856770650555 84.08531998835167

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.93781125e-01  1.11350993e-01 -1.77227952e-04]
 [-1.11351132e-01  9.93779570e-01 -1.75817614e-03]
 [-1.96491412e-05  1.76697680e-03  9.99998439e-01]]

 t_estimated:
[[9.99974549e-01]
 [7.07946583e-03]
 [8.84933229e-04]]

 R_gt:
[[ 0.97163923 -0.03203102  0.2342892 ]
 [ 0.04075717  0.99864034 -0.03249446]
 [-0.23292949  0.04112185  0.97162279]]

 t_gt:
[ 0.15908558 -0.07788201  0.98418808]

Pose Error in degrees for R and t:
16.09216038893218 80.82786394122307

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 3.76306417e-01  9.26486717e-01  3.98049431e-03]
 [-9.26492259e-01  3.76312670e-01 -9.31411038e-04]
 [-2.36085040e-03 -3.33740122e-03  9.99991644e-01]]

 t_estimated:
[[0.05464393]
 [0.99849355]
 [0.00496763]]

 R_gt:
[[ 0.96217449 -0.08507645  0.25880862]
 [ 0.10278504  0.99314615 -0.05565197]
 [-0.25229932  0.08014916  0.96432307]]

 t_gt:
[ 0.54585873 -0.27927581  0.78996409]

Pose Error in degrees for R and t:
74.70792234546684 75.81208043242675

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[-0.3076853   0.95148691  0.00155439]
 [ 0.95148699  0.30768192  0.00208418]
 [ 0.00150481  0.00212025 -0.99999662]]

 t_estimated:
[[0.9741901 ]
 [0.22572697]
 [0.00099003]]

 R_gt:
[[ 0.99930309 -0.03311957  0.01720814]
 [ 0.03302837  0.99943921  0.00558528]
 [-0.01738429 -0.00501246  0.99983676]]

 t_gt:
[ 0.73864192 -0.6429667   0.20248935]

Pose Error in degrees for R and t:
179.372467517699 54.92535138909223

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 0.9403633  -0.34015631 -0.0032485 ]
 [-0.34014769 -0.94013994 -0.02089131]
 [ 0.00405226  0.02075039 -0.99977648]]

 t_estimated:
[[ 0.24950312]
 [ 0.96832202]
 [-0.01003289]]

 R_gt:
[[ 0.99506765 -0.03093627  0.09424755]
 [ 0.03396019  0.99895281 -0.03065703]
 [-0.09320007  0.03370693  0.99507745]]

 t_gt:
[ 0.69200409 -0.22001113  0.68755032]

Pose Error in degrees for R and t:
177.90064149846856 87.28989842491274

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-9.44277299e-01 -3.29144916e-01 -2.00143467e-03]
 [ 3.29141767e-01 -9.44278899e-01  1.74882259e-03]
 [-2.46552859e-03  9.92617728e-04  9.99996468e-01]]

 t_estimated:
[[9.92898596e-01]
 [1.18961226e-01]
 [7.77524351e-04]]

 R_gt:
[[ 0.99157153  0.03946035  0.12340488]
 [-0.02948083  0.99622332 -0.08166864]
 [-0.1261621   0.07734222  0.98899033]]

 t_gt:
[-0.14209662  0.98821966  0.0568371 ]

Pose Error in degrees for R and t:
162.81755475053657 88.65436979390239

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.99999972e-01  1.70473200e-04 -1.63553411e-04]
 [-1.70454069e-04  9.99999979e-01  1.16975586e-04]
 [ 1.63573349e-04 -1.16947704e-04  9.99999980e-01]]

 t_estimated:
[[-0.50239021]
 [-0.86464   ]
 [-0.00132208]]

 R_gt:
[[ 0.99956822  0.02924314  0.00283622]
 [-0.02925401  0.99956401  0.00412485]
 [-0.00271433 -0.00420536  0.99998767]]

 t_gt:
[0.32810203 0.93013362 0.16492573]

Pose Error in degrees for R and t:
1.690173304459921 14.237630431155845

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 0.99019486 -0.13965271 -0.0033563 ]
 [ 0.13966406  0.99019302  0.0034241 ]
 [ 0.0028452  -0.00385929  0.99998851]]

 t_estimated:
[[9.40208711e-01]
 [3.40597933e-01]
 [7.92088215e-04]]

 R_gt:
[[ 0.99968029  0.02519543  0.00238715]
 [-0.02520381  0.99967645  0.00357405]
 [-0.00229671 -0.00363319  0.99999152]]

 t_gt:
[0.98565207 0.15758756 0.0604662 ]

Pose Error in degrees for R and t:
9.476923127064914 11.350796931568267

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-7.14626799e-01  6.99504589e-01  1.36670433e-03]
 [ 6.99505040e-01  7.14627638e-01 -1.94168033e-04]
 [-1.11250612e-03  8.17258888e-04 -9.99999047e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99763481  0.06536542  0.02123763]
 [-0.0655714   0.99780595  0.00914473]
 [-0.02059299 -0.01051527  0.99973322]]

 t_gt:
[0.66569123 0.65512635 0.35730191]

Pose Error in degrees for R and t:
179.02710666067526 47.676695506895655

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 0.46149475  0.88714204 -0.00126393]
 [ 0.88713843 -0.46148739  0.00384563]
 [ 0.00282833 -0.00289602 -0.99999181]]

 t_estimated:
[[-0.47209693]
 [-0.88154593]
 [-0.00111871]]

 R_gt:
[[ 0.99822404 -0.05097012 -0.03082156]
 [ 0.05059907  0.99863823 -0.01271611]
 [ 0.03142791  0.01113392  0.99944375]]

 t_gt:
[ 0.24887102 -0.78679744 -0.56481236]

Pose Error in degrees for R and t:
179.4328391541259 54.778514121211

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 9.71391954e-01  2.37480719e-01  7.61479172e-04]
 [-2.37481203e-01  9.71391933e-01  6.24269259e-04]
 [-5.91442813e-04 -7.87247125e-04  9.99999515e-01]]

 t_estimated:
[[0.85201293]
 [0.52351492]
 [0.00246833]]

 R_gt:
[[ 0.99106866 -0.11546461 -0.0667174 ]
 [ 0.11733851  0.99277963  0.02487786]
 [ 0.06336293 -0.03248417  0.99746155]]

 t_gt:
[ 0.33916255 -0.89716241 -0.28296357]

Pose Error in degrees for R and t:
20.834623924522713 79.54836414529204

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.08158373 -0.99662345 -0.00926248]
 [-0.99664815  0.08152232  0.00682494]
 [-0.0060468   0.00978824 -0.99993381]]

 t_estimated:
[[9.02873994e-01]
 [4.29904640e-01]
 [7.42495061e-04]]

 R_gt:
[[ 0.9620435  -0.2519585  -0.10482447]
 [ 0.2555072   0.96656342  0.02171237]
 [ 0.09584861 -0.04767295  0.99425412]]

 t_gt:
[ 0.54323808 -0.81572637 -0.19870298]

Pose Error in degrees for R and t:
177.04965790009078 81.97278567003413

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.98488035e-01 -5.49694333e-02  6.64359146e-05]
 [ 5.49694387e-02  9.98488034e-01 -8.35771615e-05]
 [-6.17412766e-05  8.71027407e-05  9.99999994e-01]]

 t_estimated:
[[ 9.99999149e-01]
 [-1.17964253e-03]
 [-5.57075945e-04]]

 R_gt:
[[ 0.97531243 -0.21814199  0.03434448]
 [ 0.21645084  0.97516056  0.04702284]
 [-0.0437487  -0.03842824  0.99830357]]

 t_gt:
[ 0.65389651 -0.70382082  0.27758892]

Pose Error in degrees for R and t:
9.98364996704212 49.11282777959733

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.92280906e-01 -1.24010085e-01 -3.18631927e-04]
 [ 1.24009980e-01  9.92280916e-01 -3.30145411e-04]
 [ 3.57113741e-04  2.88083448e-04  9.99999895e-01]]

 t_estimated:
[[ 0.98923004]
 [-0.14636217]
 [-0.00142946]]

 R_gt:
[[ 0.91082825 -0.41272261  0.00719921]
 [ 0.41112656  0.90859257  0.0737269 ]
 [-0.03696936 -0.06419295  0.99725236]]

 t_gt:
[ 0.77479472 -0.60420744  0.186082  ]

Pose Error in degrees for R and t:
17.75522094494525 31.282516032001215

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-9.52023727e-01 -3.06022974e-01  8.73210927e-04]
 [-3.06023697e-01  9.52023500e-01 -8.67550630e-04]
 [-5.65826899e-04 -1.09315202e-03 -9.99999242e-01]]

 t_estimated:
[[9.99997209e-01]
 [6.36705313e-04]
 [2.27522252e-03]]

 R_gt:
[[ 0.89104999 -0.45384917  0.00717409]
 [ 0.45142937  0.88772746  0.09029129]
 [-0.04734737 -0.07721496  0.99588981]]

 t_gt:
[ 0.78005037 -0.58911492  0.21086736]

Pose Error in degrees for R and t:
177.61881775582953 38.725426204941165

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.13726206 -0.9442634   0.29920857]
 [-0.95198896 -0.04231199  0.3031942 ]
 [-0.27363507 -0.32646031 -0.90473616]]

 t_estimated:
[[0.65566502]
 [0.72006242]
 [0.22718602]]

 R_gt:
[[ 0.99841064  0.0473869   0.0304869 ]
 [-0.04625205  0.99824691 -0.03691629]
 [-0.03218236  0.03544691  0.99885332]]

 t_gt:
[-0.82438368  0.37235205 -0.42631619]

Pose Error in degrees for R and t:
155.12420139841387 68.3302658853495

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[-0.44267603 -0.89665491 -0.00692149]
 [-0.8966397   0.44271678 -0.00625241]
 [ 0.00867051  0.00343829 -0.9999565 ]]

 t_estimated:
[[ 0.87741922]
 [ 0.47970674]
 [-0.00411794]]

 R_gt:
[[ 0.99096611  0.12653769  0.04443954]
 [-0.12128452  0.98696673 -0.10576359]
 [-0.05724225  0.09941834  0.99339854]]

 t_gt:
[-0.78368736  0.38060623 -0.49089004]

Pose Error in degrees for R and t:
178.85187281283058 59.79989608472623

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 7.19743199e-01  6.94240388e-01 -1.02432076e-04]
 [-6.94240392e-01  7.19743203e-01 -6.23945534e-06]
 [ 6.93931087e-05  7.56032903e-05  9.99999995e-01]]

 t_estimated:
[[9.75679905e-01]
 [2.19198212e-01]
 [9.30604169e-04]]

 R_gt:
[[ 0.99849688  0.02974387  0.04602837]
 [-0.02451839  0.99360746 -0.11019491]
 [-0.04901139  0.10890048  0.99284362]]

 t_gt:
[-0.37003794  0.32656049 -0.86972994]

Pose Error in degrees for R and t:
42.93225979593254 73.12608925865649

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 1.11301785e-01 -9.93785596e-01 -1.44952633e-03]
 [ 9.93786222e-01  1.11300259e-01  1.09447209e-03]
 [-9.26337947e-04 -1.56233599e-03  9.99998351e-01]]

 t_estimated:
[[0.96921456]
 [0.24621453]
 [0.00123788]]

 R_gt:
[[ 9.85523136e-01 -1.65892971e-01  3.49737816e-02]
 [ 1.65986062e-01  9.86128385e-01  2.62789175e-04]
 [-3.45308665e-02  5.54607934e-03  9.99388586e-01]]

 t_gt:
[ 0.72807525 -0.67272638  0.13170288]

Pose Error in degrees for R and t:
74.07900021689136 57.30348350391586

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 7.67293893e-01  6.41294143e-01  1.37958536e-03]
 [-6.41292669e-01  7.67295113e-01 -1.38657865e-03]
 [-1.94775387e-03  1.79195350e-04  9.99998087e-01]]

 t_estimated:
[[0.85447369]
 [0.51949342]
 [0.00114149]]

 R_gt:
[[ 0.9500171  -0.31218794 -0.00243111]
 [ 0.3115999   0.94768502  0.06927532]
 [-0.01932298 -0.06657017  0.99759486]]

 t_gt:
[ 0.77715206 -0.60677953  0.16689305]

Pose Error in degrees for R and t:
58.21102041488773 69.57209353611181

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99727158e-01 -2.33576443e-02  1.72607026e-04]
 [ 2.33576438e-02  9.99727173e-01  4.75821614e-06]
 [-1.72671075e-04 -7.25224462e-07  9.99999985e-01]]

 t_estimated:
[[ 9.99865300e-01]
 [-1.64094842e-02]
 [ 3.33601342e-04]]

 R_gt:
[[ 0.92075616 -0.39010378 -0.00525386]
 [ 0.39011768  0.92047733  0.0230375 ]
 [-0.00415033 -0.02326123  0.99972078]]

 t_gt:
[ 0.81852149 -0.57140714  0.05929959]

Pose Error in degrees for R and t:
21.668146670361768 34.125828656475264

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-9.74679026e-01  2.23593043e-01 -2.63583796e-03]
 [-2.23593873e-01 -9.74682399e-01  2.07632657e-05]
 [-2.56446235e-03  6.09594738e-04  9.99996526e-01]]

 t_estimated:
[[0.67091286]
 [0.74153527]
 [0.00117704]]

 R_gt:
[[ 0.97287073  0.23114119  0.0097865 ]
 [-0.23082443  0.97264583 -0.02608571]
 [-0.01554898  0.02311939  0.99961213]]

 t_gt:
[-0.59870441  0.80006711 -0.03802168]

Pose Error in degrees for R and t:
153.72301629837122 78.9564693300603

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-6.20646775e-01 -7.84084818e-01 -2.92909384e-03]
 [ 7.84088981e-01 -6.20648232e-01 -4.92151913e-04]
 [-1.43204807e-03 -2.60212270e-03  9.99995589e-01]]

 t_estimated:
[[0.97578787]
 [0.21871107]
 [0.00186933]]

 R_gt:
[[ 0.90964848  0.41372894 -0.03700225]
 [-0.41444841  0.90996204 -0.01419998]
 [ 0.02779497  0.02825327  0.99921445]]

 t_gt:
[-0.51025044  0.85284092 -0.11093625]

Pose Error in degrees for R and t:
152.8410737158997 71.84565752606201

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.16194852e-01 -4.00732993e-01  2.47589829e-04]
 [ 4.00733067e-01  9.16194735e-01 -4.64301168e-04]
 [-4.07797008e-05  5.24607772e-04  9.99999862e-01]]

 t_estimated:
[[-7.58345958e-01]
 [-6.51851937e-01]
 [-6.78305866e-04]]

 R_gt:
[[ 0.87091803  0.4894882  -0.04363348]
 [-0.49136778  0.86875854 -0.06177364]
 [ 0.007669    0.07524075  0.99713562]]

 t_gt:
[-0.46018151  0.87823767 -0.13012139]

Pose Error in degrees for R and t:
53.2011971855015 77.09025632419178

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 8.63792761e-01  5.03847242e-01  1.50113539e-04]
 [-5.03847098e-01  8.63792681e-01 -5.53257071e-04]
 [-4.08424026e-04  4.02265181e-04  9.99999836e-01]]

 t_estimated:
[[-6.53388653e-01]
 [ 7.57022632e-01]
 [-5.00327620e-05]]

 R_gt:
[[ 0.97524721  0.22103808 -0.00589312]
 [-0.22109586  0.97517657 -0.01214835]
 [ 0.00306289  0.01315124  0.99990806]]

 t_gt:
[-0.71499946  0.69661391 -0.05920168]

Pose Error in degrees for R and t:
17.49869667556012 5.996659363043498

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.97036707e-01 -7.69260353e-02 -4.35928340e-04]
 [ 7.69255686e-02  9.97036335e-01 -1.00177868e-03]
 [ 5.11699257e-04  9.65276080e-04  9.99999403e-01]]

 t_estimated:
[[-0.43954395]
 [-0.8981985 ]
 [-0.0063702 ]]

 R_gt:
[[ 0.95614889  0.29150585  0.02833711]
 [-0.29165393  0.95652323  0.00111776]
 [-0.02677944 -0.00933275  0.9995976 ]]

 t_gt:
[-0.69195065  0.71810208  0.07438881]

Pose Error in degrees for R and t:
21.431924644896064 70.04211334079066

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.99946022 -0.0312085  -0.01026163]
 [ 0.03132507  0.99944421  0.01140221]
 [ 0.00990008 -0.0117175   0.99988234]]

 t_estimated:
[[0.82992718]
 [0.55786496]
 [0.0027481 ]]

 R_gt:
[[ 0.97582191  0.21426462  0.04315815]
 [-0.21441351  0.97674207 -0.00120625]
 [-0.04241213 -0.00807586  0.99906729]]

 t_gt:
[-0.69719361  0.70538992  0.12785199]

Pose Error in degrees for R and t:
14.50416757978469 79.35307796917685

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.85275332 -0.52230893 -0.00226878]
 [ 0.52231265 -0.85275265 -0.0015537 ]
 [-0.0011232  -0.00250994  0.99999622]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98213069 -0.18611642  0.02791023]
 [ 0.18585052  0.98250608  0.01187391]
 [-0.02963291 -0.00647475  0.99953921]]

 t_gt:
[ 0.6993522  -0.69486397  0.16754272]

Pose Error in degrees for R and t:
137.79808633236928 45.78730787995195

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.60459046 -0.7964839  -0.00915274]
 [-0.79648172  0.60464373 -0.00477917]
 [ 0.00934067  0.00440055 -0.99994669]]

 t_estimated:
[[ 0.91153841]
 [ 0.41120593]
 [-0.00272409]]

 R_gt:
[[ 0.95300376 -0.29653335  0.06205825]
 [ 0.29786836  0.95451457 -0.01328577]
 [-0.05529543  0.03114675  0.99798378]]

 t_gt:
[ 0.72622529 -0.67925933  0.10584703]

Pose Error in degrees for R and t:
178.11082028346124 67.51891320049943

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.98445703 -0.17556192 -0.00472908]
 [ 0.17558332  0.98445398  0.004568  ]
 [ 0.0038536  -0.00532735  0.99997838]]

 t_estimated:
[[9.99991799e-01]
 [3.97137331e-03]
 [7.94274661e-04]]

 R_gt:
[[ 0.92874062 -0.3634833   0.07294723]
 [ 0.36647966  0.92985495 -0.03259035]
 [-0.05598457  0.0570014   0.99680319]]

 t_gt:
[ 0.73894463 -0.67231037  0.04426739]

Pose Error in degrees for R and t:
12.361250407057668 42.58250478198979

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99495071e-01 -3.17741558e-02 -7.57268543e-05]
 [ 3.17741503e-02  9.99495072e-01 -7.31839310e-05]
 [ 7.80139752e-05  7.07408219e-05  9.99999994e-01]]

 t_estimated:
[[-0.52453471]
 [-0.85138834]
 [-0.00111102]]

 R_gt:
[[ 0.99825647  0.05864482  0.0067928 ]
 [-0.05849968  0.99808933 -0.01985514]
 [-0.00794416  0.01942303  0.99977976]]

 t_gt:
[-0.42720111  0.90217763 -0.05978906]

Pose Error in degrees for R and t:
5.316207100491684 57.04670007813832

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99031695e-01 -4.39922074e-02 -5.97838221e-04]
 [ 4.39922988e-02  9.99031860e-01  1.40732368e-04]
 [ 5.91068303e-04 -1.66896374e-04  9.99999811e-01]]

 t_estimated:
[[-2.19366319e-02]
 [-9.99758868e-01]
 [-9.95080033e-04]]

 R_gt:
[[ 0.99871565  0.05054623  0.00364699]
 [-0.05035313  0.99788137 -0.04119534]
 [-0.00572116  0.0409586   0.99914418]]

 t_gt:
[-0.39490681  0.88469962 -0.24769981]

Pose Error in degrees for R and t:
5.915239127228784 28.886676835529567

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.99963382 -0.02586354 -0.00795657]
 [ 0.0259621   0.99958422  0.01254386]
 [ 0.00762884 -0.01274584  0.99988967]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99814915 -0.06060151  0.00511572]
 [ 0.06065239  0.99810414 -0.01041178]
 [-0.00447461  0.01070199  0.99993264]]

 t_gt:
[ 0.47989092 -0.87371646 -0.07952512]

Pose Error in degrees for R and t:
2.5007569766104667 79.554706669645

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.20783128  0.97386387 -0.091626  ]
 [-0.97092602  0.19401153 -0.14022193]
 [-0.11878057  0.11810457  0.98587144]]

 t_estimated:
[[0.55012495]
 [0.83508177]
 [0.00098943]]

 R_gt:
[[ 0.98521218  0.16205798  0.05563265]
 [-0.16097572  0.98667981 -0.02343486]
 [-0.05868931  0.01413426  0.99817663]]

 t_gt:
[-0.74175955  0.62272343  0.24901464]

Pose Error in degrees for R and t:
69.47579612162669 83.55721853237965

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 4.07025704e-01  9.13416243e-01  9.17884575e-04]
 [-9.13415372e-01  4.07026621e-01 -1.29917735e-03]
 [-1.56029315e-03 -3.09611304e-04  9.99998735e-01]]

 t_estimated:
[[0.03362948]
 [0.99943352]
 [0.00130085]]

 R_gt:
[[ 0.97547235  0.20606866  0.07739856]
 [-0.20378215  0.97833699 -0.0364505 ]
 [-0.08323373  0.01978502  0.99633389]]

 t_gt:
[-0.73922438  0.62511261  0.25056247]

Pose Error in degrees for R and t:
54.33145833927302 53.114007327889645

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-8.08721896e-01 -5.88187280e-01 -2.14908277e-03]
 [ 5.88190980e-01 -8.08719388e-01 -2.07908748e-03]
 [-5.15112093e-04 -2.94547467e-03  9.99995529e-01]]

 t_estimated:
[[9.53456752e-01]
 [3.01528393e-01]
 [9.22105176e-04]]

 R_gt:
[[ 0.97424438  0.17863443  0.13761614]
 [-0.17392048  0.98370106 -0.04564891]
 [-0.14352712  0.020539    0.98943341]]

 t_gt:
[-0.72684341  0.55061322  0.41051643]

Pose Error in degrees for R and t:
154.2606702963039 58.22332945238514

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99482014e-01 -3.21818001e-02 -1.86419682e-04]
 [ 3.21818053e-02  9.99482031e-01  2.50685399e-05]
 [ 1.85516372e-04 -3.10548767e-05  9.99999982e-01]]

 t_estimated:
[[-0.58268721]
 [-0.81269532]
 [-0.00139399]]

 R_gt:
[[ 0.99941584  0.02356144 -0.02475979]
 [-0.02374951  0.99969148 -0.00736672]
 [ 0.02457849  0.00795101  0.99966697]]

 t_gt:
[-0.27870439  0.7599288  -0.58722404]

Pose Error in degrees for R and t:
3.5208794326555926 62.97530364547499

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.96003826e-01  8.93094318e-02 -4.51548109e-04]
 [-8.93095068e-02  9.96003911e-01 -1.48686598e-04]
 [ 4.36464567e-04  1.88419959e-04  9.99999887e-01]]

 t_estimated:
[[-0.51816272]
 [-0.85528063]
 [-0.00156073]]

 R_gt:
[[ 0.9967307   0.07600298 -0.02741844]
 [-0.07639723  0.99698489 -0.01362401]
 [ 0.0262995   0.01567375  0.99953129]]

 t_gt:
[-0.34867356  0.88514273 -0.30813812]

Pose Error in degrees for R and t:
1.8836821954821927 54.83767547209524

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.99780285 -0.05275695  0.04007705]
 [ 0.05932998  0.98073445 -0.18611797]
 [-0.02948593  0.18808681  0.9817097 ]]

 t_estimated:
[[-0.70352647]
 [-0.70352647]
 [-0.10050378]]

 R_gt:
[[ 0.99380014  0.10990901 -0.0167795 ]
 [-0.11052788  0.99298616 -0.0419911 ]
 [ 0.01204537  0.04358521  0.99897746]]

 t_gt:
[-0.36456704  0.8999035  -0.23930014]

Pose Error in degrees for R and t:
12.991406336411627 69.35523968465732

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 0.06706747  0.99759895 -0.01727121]
 [ 0.99758745 -0.06673565  0.01912144]
 [ 0.01792292 -0.01851197 -0.99966798]]

 t_estimated:
[[ 0.79679751]
 [-0.60413392]
 [-0.01165885]]

 R_gt:
[[ 0.99359501  0.10011542  0.05239903]
 [-0.09836296  0.99453447 -0.03502006]
 [-0.05561849  0.02964143  0.99801229]]

 t_gt:
[-0.76217356  0.61096311  0.21404566]

Pose Error in degrees for R and t:
178.00253609229313 11.791682814340726

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.67800685e-01 -2.51717664e-01 -2.26997638e-04]
 [ 2.51717753e-01  9.67800533e-01  5.48613037e-04]
 [ 8.15928426e-05 -5.88087408e-04  9.99999824e-01]]

 t_estimated:
[[-0.62297408]
 [-0.78224121]
 [-0.00140944]]

 R_gt:
[[ 0.99176973  0.08177013  0.09852585]
 [-0.07991372  0.99654489 -0.02265117]
 [-0.10003753  0.01459123  0.99487632]]

 t_gt:
[-0.74921696  0.46062614  0.47591754]

Pose Error in degrees for R and t:
20.08085896768168 83.92955108845203

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.84611954e-01 -1.74754961e-01 -6.08686769e-05]
 [ 1.74754972e-01  9.84611900e-01  3.24896175e-04]
 [ 3.15480516e-06 -3.30533762e-04  9.99999945e-01]]

 t_estimated:
[[2.00286808e-02]
 [9.99799292e-01]
 [4.76522636e-04]]

 R_gt:
[[ 0.9888826   0.0702114   0.13107831]
 [-0.06260337  0.99615532 -0.06129389]
 [-0.13487751  0.05240622  0.98947569]]

 t_gt:
[-0.72263584  0.53404298  0.43885708]

Pose Error in degrees for R and t:
16.187200191153245 58.689782878590414

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.97452888  0.22424677  0.00261648]
 [ 0.22423617 -0.97452735  0.00381928]
 [ 0.0034063  -0.00313529 -0.99998928]]

 t_estimated:
[[0.08333884]
 [0.99651969]
 [0.00177317]]

 R_gt:
[[ 0.99486346 -0.09171765 -0.04284259]
 [ 0.09174353  0.99578192 -0.00136087]
 [ 0.04278559 -0.00257625  0.99908092]]

 t_gt:
[ 0.81058316 -0.5331689  -0.24225165]

Pose Error in degrees for R and t:
179.49527408244208 62.34219964123719

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99295165 -0.11847053 -0.00342857]
 [ 0.11848252  0.99294985  0.0035338 ]
 [ 0.00298574 -0.00391512  0.99998788]]

 t_estimated:
[[-0.01066289]
 [-0.99994245]
 [-0.00118477]]

 R_gt:
[[ 0.98903711 -0.12130239 -0.08421384]
 [ 0.12155547  0.99258275 -0.00213762]
 [ 0.08384699 -0.00812275  0.99644482]]

 t_gt:
[ 0.84705749 -0.44898039 -0.2844472 ]

Pose Error in degrees for R and t:
4.648967029527058 63.87956236498166

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-9.07613430e-01 -4.19803686e-01 -1.65113221e-03]
 [ 4.19806105e-01 -9.07612432e-01 -1.58351349e-03]
 [-8.33823319e-04 -2.13037349e-03  9.99997383e-01]]

 t_estimated:
[[8.68293970e-01]
 [4.96049283e-01]
 [8.30903321e-04]]

 R_gt:
[[ 0.9896959  -0.04096126 -0.13720964]
 [ 0.04450334  0.9987487   0.022845  ]
 [ 0.13610106 -0.02871564  0.99027841]]

 t_gt:
[ 0.85600712 -0.10515531 -0.50615626]

Pose Error in degrees for R and t:
152.77575128995187 46.31579819842516

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-9.68065099e-01 -2.50520333e-01  9.46184934e-03]
 [-2.50500823e-01  9.68111055e-01  3.21294164e-03]
 [-9.96502815e-03  7.40135621e-04 -9.99950074e-01]]

 t_estimated:
[[0.99316127]
 [0.11662991]
 [0.00530538]]

 R_gt:
[[ 0.97655237 -0.21490525  0.01273541]
 [ 0.21462693  0.97648685  0.0202337 ]
 [-0.0167837  -0.01702485  0.99971399]]

 t_gt:
[ 0.73273363 -0.67127366  0.11177256]

Pose Error in degrees for R and t:
178.45036686613585 49.45650750553078

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.88373423e-01  1.52045015e-01  5.38849676e-04]
 [-1.52044823e-01  9.88373525e-01 -3.82604407e-04]
 [-5.90757847e-04  2.96226724e-04  9.99999782e-01]]

 t_estimated:
[[9.01012407e-01]
 [4.33792651e-01]
 [7.59706920e-04]]

 R_gt:
[[ 0.93968095 -0.3373402   0.05659154]
 [ 0.3369335   0.94137735  0.01686769]
 [-0.05896444  0.00321864  0.99825496]]

 t_gt:
[ 0.75412412 -0.63997894  0.14738983]

Pose Error in degrees for R and t:
28.658781716512703 66.29867179387996

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99998983e-01  1.31300859e-03  5.56688146e-04]
 [-1.31300630e-03  9.99999138e-01 -4.47839435e-06]
 [-5.56693546e-04  3.74745475e-06  9.99999845e-01]]

 t_estimated:
[[9.76584625e-01]
 [2.15133170e-01]
 [4.34922422e-04]]

 R_gt:
[[ 0.89289063 -0.44424796  0.07342002]
 [ 0.4460375   0.89496806 -0.00919048]
 [-0.061626    0.04095569  0.99725872]]

 t_gt:
[ 0.78452496 -0.615915    0.07189784]

Pose Error in degrees for R and t:
26.87295438880097 50.67766098362896

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.99872761 -0.03138275  0.03947523]
 [ 0.03570901  0.99282155 -0.11415003]
 [-0.03560951  0.11541441  0.99267894]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99366584 -0.10533395  0.03914466]
 [ 0.10555325  0.99440722 -0.00355928]
 [-0.03855107  0.00766981  0.99922783]]

 t_gt:
[ 0.52314179 -0.80834     0.27001688]

Pose Error in degrees for R and t:
7.504931167443348 86.92511482920169

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.79135577  0.61133922  0.00451699]
 [ 0.61123954 -0.79132769  0.01366401]
 [ 0.01192776 -0.00805213 -0.99989644]]

 t_estimated:
[[7.94692819e-01]
 [6.07011443e-01]
 [6.56228587e-04]]

 R_gt:
[[ 0.96912166 -0.24563149  0.02160463]
 [ 0.24483199  0.9689657   0.03409403]
 [-0.02930848 -0.0277514   0.99918498]]

 t_gt:
[ 0.66792547 -0.71592401  0.20329383]

Pose Error in degrees for R and t:
178.19417472230538 84.47069165981272

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-1.10316112e-01 -9.93896540e-01  1.52553063e-04]
 [-9.93896179e-01  1.10316202e-01  8.48915024e-04]
 [-8.60562779e-04 -5.79729018e-05 -9.99999628e-01]]

 t_estimated:
[[0.78074767]
 [0.6248444 ]
 [0.00159616]]

 R_gt:
[[ 0.94641855 -0.32212853  0.02290702]
 [ 0.32092567  0.94605505  0.04457478]
 [-0.03602993 -0.03483448  0.99874354]]

 t_gt:
[ 0.68150837 -0.70273278  0.20423758]

Pose Error in degrees for R and t:
177.14248267644356 84.6457448092207

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.10830860e-01  4.12779329e-01  6.08348379e-04]
 [-4.12779630e-01  9.10830791e-01  4.97878099e-04]
 [-3.48588648e-04 -7.04596556e-04  9.99999691e-01]]

 t_estimated:
[[-0.63817309]
 [ 0.76989081]
 [ 0.00180076]]

 R_gt:
[[ 0.98232858  0.18243416 -0.04180615]
 [-0.18265911  0.98317565 -0.00160004]
 [ 0.04081022  0.00920836  0.99912409]]

 t_gt:
[-0.60562289  0.76468049 -0.22019234]

Pose Error in degrees for R and t:
14.067312010030108 12.88587524113479

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 2.80350360e-01  9.59897724e-01  1.85331400e-04]
 [-9.59896282e-01  2.80350265e-01 -1.69041379e-03]
 [-1.67458205e-03  2.96009192e-04  9.99998554e-01]]

 t_estimated:
[[-2.24181473e-01]
 [ 9.74546968e-01]
 [ 9.34694960e-04]]

 R_gt:
[[ 0.97130159  0.23230983 -0.0510539 ]
 [-0.23442355  0.97130316 -0.04020429]
 [ 0.04024853  0.05101835  0.99788648]]

 t_gt:
[-0.54008741  0.78179792 -0.31160487]

Pose Error in degrees for R and t:
60.313200698461756 28.032014894087023

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99998216 -0.00317931 -0.00505652]
 [ 0.00321493  0.99996997  0.00705116]
 [ 0.00503395 -0.00706729  0.99996236]]

 t_estimated:
[[0.34332669]
 [0.93921553]
 [0.00098657]]

 R_gt:
[[ 0.94913704  0.30905249 -0.06021795]
 [-0.31108205  0.9499799  -0.02766919]
 [ 0.04865421  0.04499432  0.9978011 ]]

 t_gt:
[-0.52796818  0.81476856 -0.23958673]

Pose Error in degrees for R and t:
18.658127178078196 54.28587813953295

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99010816e-01  4.44678554e-02  1.06095676e-05]
 [-4.44678526e-02  9.99010798e-01 -1.88518106e-04]
 [-1.89820684e-05  1.87859842e-04  9.99999982e-01]]

 t_estimated:
[[-8.99617466e-01]
 [-4.36677954e-01]
 [-8.83039583e-04]]

 R_gt:
[[ 9.98736895e-01 -3.16789028e-02  3.90031105e-02]
 [ 3.16478717e-02  9.99498011e-01  1.40594580e-03]
 [-3.90277378e-02 -1.69449240e-04  9.99237894e-01]]

 t_gt:
[ 0.61842967 -0.66392547  0.42041374]

Pose Error in degrees for R and t:
4.903217996705416 74.52607744563612

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-0.85966307 -0.51085631 -0.00228848]
 [ 0.51085743 -0.85962996 -0.00781121]
 [ 0.00202316 -0.00788409  0.99996687]]

 t_estimated:
[[9.99402519e-01]
 [3.45602745e-02]
 [4.39372439e-04]]

 R_gt:
[[ 0.99820494  0.01132285  0.05881331]
 [-0.01066717  0.99987712 -0.01144905]
 [-0.05893514  0.0108014   0.99820385]]

 t_gt:
[-0.98951818  0.13149142  0.05969743]

Pose Error in degrees for R and t:
149.93737598709896 10.14786037044312

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-0.22015048 -0.97544643  0.00616607]
 [-0.97546103  0.22012495 -0.00456004]
 [ 0.00309076 -0.00701865 -0.99997059]]

 t_estimated:
[[7.97228872e-01]
 [6.03676651e-01]
 [7.91865398e-04]]

 R_gt:
[[ 0.99482251  0.05975229  0.08220531]
 [-0.05609715  0.99736036 -0.04608038]
 [-0.08474163  0.04123025  0.99554925]]

 t_gt:
[-0.90826095  0.35791437 -0.21670107]

Pose Error in degrees for R and t:
177.69771476422522 59.45606618533373

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.91034752  0.41330607 -0.02110659]
 [ 0.41329708  0.91058257  0.00499077]
 [ 0.02128201 -0.00417996 -0.99976477]]

 t_estimated:
[[ 0.96986834]
 [-0.24338649]
 [-0.0108825 ]]

 R_gt:
[[ 0.98381862  0.17838961  0.01668527]
 [-0.17849701  0.98392724  0.00519703]
 [-0.01548909 -0.00809123  0.99984745]]

 t_gt:
[-0.76663775  0.63620817  0.08663565]

Pose Error in degrees for R and t:
179.58260373568464 25.93052258541428

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 7.37159502e-01  6.75718339e-01  7.71332425e-04]
 [ 6.75715086e-01 -7.37158767e-01  2.46489719e-03]
 [ 2.23417070e-03 -1.29582143e-03 -9.99996665e-01]]

 t_estimated:
[[0.15919633]
 [0.98724628]
 [0.0011453 ]]

 R_gt:
[[ 0.94965911  0.31262445  0.02034106]
 [-0.31220654  0.94977614 -0.02127266]
 [-0.02596897  0.01385179  0.99956654]]

 t_gt:
[-0.68850715  0.72512463  0.01233627]

Pose Error in degrees for R and t:
178.69102642732827 52.678784337425526

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.79797442  0.60265856  0.00628428]
 [ 0.60268249 -0.79797579 -0.00290754]
 [ 0.00326245  0.00610757 -0.99997603]]

 t_estimated:
[[-0.95689249]
 [-0.29036738]
 [-0.00659926]]

 R_gt:
[[ 0.94061126  0.33715712  0.03969766]
 [-0.33736255  0.94137378 -0.00158916]
 [-0.03790548 -0.0118978   0.99921042]]

 t_gt:
[-0.67656295  0.73110358  0.0880348 ]

Pose Error in degrees for R and t:
179.3475896330121 64.24471033336748

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.73202956e-01 -2.29947551e-01 -3.62014493e-04]
 [ 2.29947560e-01  9.73203021e-01 -1.74211755e-05]
 [ 3.56319555e-04 -6.62900098e-05  9.99999934e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99977071 -0.01213686 -0.0176313 ]
 [ 0.01464933  0.98854869  0.15018578]
 [ 0.01560793 -0.15040929  0.98850123]]

 t_gt:
[ 0.06636341 -0.36509536  0.92860179]

Pose Error in degrees for R and t:
15.234349548755644 68.67185258756265

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[ 9.80294229e-01  1.97538936e-01  1.26249325e-03]
 [ 1.97540886e-01 -9.80234505e-01 -1.08587784e-02]
 [-9.07492075e-04  1.08941918e-02 -9.99940245e-01]]

 t_estimated:
[[-0.08273105]
 [ 0.9965579 ]
 [-0.00528488]]

 R_gt:
[[ 0.99768496  0.01024933 -0.06722371]
 [ 0.00326994  0.98019984  0.19798307]
 [ 0.06792173 -0.19774393  0.9778986 ]]

 t_gt:
[-0.12929217 -0.38705738  0.91294585]

Pose Error in degrees for R and t:
168.8755886166124 67.67539661239176

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.65967459e-01  2.58663569e-01  1.58857946e-04]
 [-2.58663382e-01  9.65967226e-01 -7.57608646e-04]
 [-3.49417326e-04  6.90734565e-04  9.99999700e-01]]

 t_estimated:
[[-1.14562282e-01]
 [-9.93415722e-01]
 [-8.28701898e-04]]

 R_gt:
[[ 0.99568881  0.06500055 -0.06616865]
 [-0.04628943  0.96641261  0.25278971]
 [ 0.08037814 -0.24863586  0.96525681]]

 t_gt:
[-0.56239497 -0.25677813  0.78598784]

Pose Error in degrees for R and t:
19.18130830471338 71.40568111614058

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.99999974e-01 -2.10971956e-04  9.04980099e-05]
 [ 2.10976242e-04  9.99999977e-01 -4.73524817e-05]
 [-9.04880177e-05  4.73715734e-05  9.99999995e-01]]

 t_estimated:
[[9.51078256e-01]
 [3.08949529e-01]
 [5.82238013e-04]]

 R_gt:
[[ 0.9923677  -0.12323351 -0.0044041 ]
 [ 0.12326958  0.99233315  0.00887738]
 [ 0.00327695 -0.00935256  0.99995035]]

 t_gt:
[ 0.62179653 -0.78306171  0.01354358]

Pose Error in degrees for R and t:
7.091253613618021 69.54580170122969

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999995e-01  9.88277253e-05  2.50550068e-05]
 [-9.88250776e-05  9.99999990e-01 -1.05652358e-04]
 [-2.50654479e-05  1.05649882e-04  9.99999994e-01]]

 t_estimated:
[[0.99998587]
 [0.00515774]
 [0.00128967]]

 R_gt:
[[ 0.98659102 -0.13800182  0.08713968]
 [ 0.14506858  0.98612    -0.08075608]
 [-0.07478561  0.09231502  0.99291651]]

 t_gt:
[ 0.39472134 -0.86435551 -0.31158404]

Pose Error in degrees for R and t:
10.638681015660103 67.05447275338767

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.06796120e-01  4.21569409e-01 -1.73230492e-04]
 [-4.21569115e-01  9.06795848e-01  8.78107499e-04]
 [ 5.27267950e-04 -7.23235848e-04  9.99999599e-01]]

 t_estimated:
[[0.83776617]
 [0.54602847]
 [0.00087086]]

 R_gt:
[[ 0.98138932 -0.11862508  0.15100631]
 [ 0.14010715  0.98010087 -0.14061673]
 [-0.13132081  0.15915688  0.97848019]]

 t_gt:
[-0.04229762 -0.73266657 -0.67927211]

Pose Error in degrees for R and t:
34.52572023208558 64.14571766673728

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99350993e-01 -3.60220993e-02  2.44685960e-05]
 [ 3.60220975e-02  9.99350991e-01  6.81989420e-05]
 [-2.69093847e-05 -6.72732703e-05  9.99999997e-01]]

 t_estimated:
[[5.56684447e-01]
 [8.30723901e-01]
 [4.76768903e-04]]

 R_gt:
[[ 0.99991246 -0.011372    0.00676825]
 [ 0.01109202  0.99913724  0.04001278]
 [-0.00721774 -0.03993497  0.99917604]]

 t_gt:
[ 0.12263525 -0.61880608  0.77591213]

Pose Error in degrees for R and t:
2.72207051022157 63.54991897681076

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999930e-01  3.06496873e-04  2.15369817e-04]
 [-3.06528045e-04  9.99999943e-01  1.44722957e-04]
 [-2.15325447e-04 -1.44788964e-04  9.99999966e-01]]

 t_estimated:
[[0.87991717]
 [0.47512621]
 [0.0009286 ]]

 R_gt:
[[ 0.99440397 -0.10560285 -0.00305   ]
 [ 0.10564085  0.99363887  0.03899842]
 [-0.00108864 -0.03910182  0.9992339 ]]

 t_gt:
[ 0.69873985 -0.67440601  0.23861929]

Pose Error in degrees for R and t:
6.479976284579687 72.8648397053564

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 1.00000000e+00 -2.77555756e-16  2.38524478e-18]
 [ 2.77555756e-16  1.00000000e+00 -8.26162055e-17]
 [ 6.50521303e-18  7.05815614e-17  1.00000000e+00]]

 t_estimated:
[[-0.80157585]
 [-0.59789202]
 [-0.00113106]]

 R_gt:
[[ 0.99538926 -0.08954728 -0.03438158]
 [ 0.08731586  0.99426863 -0.06167798]
 [ 0.03970711  0.05839162  0.99750299]]

 t_gt:
[ 0.7741923  -0.4379702  -0.45695556]

Pose Error in degrees for R and t:
6.495655607042244 69.01042257982118

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999911e-01 -4.18278641e-04  5.63348274e-05]
 [ 4.18281093e-04  9.99999912e-01 -4.35292890e-05]
 [-5.63166150e-05  4.35528489e-05  9.99999997e-01]]

 t_estimated:
[[ 0.37453778]
 [-0.92721114]
 [-0.00097249]]

 R_gt:
[[ 0.99691052 -0.07840618 -0.00484346]
 [ 0.07826979  0.99664757 -0.02383938]
 [ 0.00669647  0.02338734  0.99970415]]

 t_gt:
[ 0.80980848 -0.48263133 -0.33358242]

Pose Error in degrees for R and t:
4.681003326865155 41.31169301963217

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.99999990e-01  2.66276259e-05  1.36046811e-04]
 [-2.66028172e-05  9.99999983e-01 -1.82352481e-04]
 [-1.36051665e-04  1.82348860e-04  9.99999974e-01]]

 t_estimated:
[[-0.0118475 ]
 [-0.99992911]
 [-0.00118475]]

 R_gt:
[[ 0.99623658 -0.08141088 -0.02976796]
 [ 0.07495229  0.98154027 -0.17595949]
 [ 0.04354394  0.17306649  0.98394673]]

 t_gt:
[ 0.55142855  0.02422065 -0.83387044]

Pose Error in degrees for R and t:
11.220228699396968 88.29439316345216

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.12813729  0.99170941  0.00965867]
 [-0.99174693  0.12808733  0.00562712]
 [ 0.00434331 -0.0103      0.99993752]]

 t_estimated:
[[0.08662454]
 [0.99618218]
 [0.01082807]]

 R_gt:
[[ 0.99328386 -0.10602939 -0.04631842]
 [ 0.08640194  0.94595993 -0.31256294]
 [ 0.07695634  0.3064626   0.94876653]]

 t_gt:
[ 0.44967739  0.20258392 -0.86991379]

Pose Error in degrees for R and t:
89.96328156164857 76.62378211631734

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-0.99964451 -0.02664096 -0.00105554]
 [ 0.02664279 -0.99964346 -0.00176511]
 [-0.00100814 -0.0017926   0.99999789]]

 t_estimated:
[[0.75657607]
 [0.65390478]
 [0.00108826]]

 R_gt:
[[ 0.99516022 -0.07379748  0.06489137]
 [ 0.07721317  0.99566728 -0.0518104 ]
 [-0.06078688  0.05657023  0.99654643]]

 t_gt:
[ 0.21130098 -0.94006513 -0.26763678]

Pose Error in degrees for R and t:
174.1455304966705 62.926117152943746

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.82612264e-01  1.85669431e-01  2.17431651e-05]
 [-1.85669421e-01  9.82612239e-01 -2.32426115e-04]
 [-6.45195246e-05  2.24347710e-04  9.99999973e-01]]

 t_estimated:
[[-0.81633801]
 [-0.57757385]
 [-0.00084072]]

 R_gt:
[[ 0.99051439 -0.06344227  0.12188402]
 [ 0.07930662  0.98832769 -0.13006943]
 [-0.11221038  0.13850092  0.98398528]]

 t_gt:
[-0.45400753 -0.30683626 -0.83649786]

Pose Error in degrees for R and t:
18.011697354888117 56.73258020911725

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.84011136  0.54241218  0.00138812]
 [-0.54232887  0.84002216 -0.01556163]
 [-0.00960687  0.01232068  0.99987795]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.97741079 -0.02682237  0.20963833]
 [ 0.06441783  0.9825237  -0.17463498]
 [-0.20129117  0.18419358  0.96205729]]

 t_gt:
[-0.87276363  0.26458079 -0.41022025]

Pose Error in degrees for R and t:
38.457343330386315 60.68126875005006

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.99696598 -0.07751803 -0.00705616]
 [ 0.0775601   0.99697024  0.0058972 ]
 [ 0.00657764 -0.00642659  0.99995772]]

 t_estimated:
[[-0.68933998]
 [-0.72443365]
 [-0.00250669]]

 R_gt:
[[ 0.99676411  0.04441506  0.06699588]
 [-0.04005619  0.9970778  -0.06505349]
 [-0.06968879  0.06215951  0.99563039]]

 t_gt:
[-0.14375843  0.96187032 -0.23267789]

Pose Error in degrees for R and t:
9.046678950061423 53.33540825549132

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 5.52755041e-01  8.33342911e-01  1.20736634e-03]
 [ 8.33341712e-01 -5.52756318e-01  1.42960690e-03]
 [ 1.85873215e-03  2.15926311e-04 -9.99998249e-01]]

 t_estimated:
[[-8.81202193e-01]
 [-4.72739059e-01]
 [-6.91138975e-04]]

 R_gt:
[[ 0.99404578  0.04671652  0.09843411]
 [-0.03252318  0.98945309 -0.14114976]
 [-0.10398952  0.13710925  0.98508174]]

 t_gt:
[ 0.21081245  0.86528139 -0.4548035 ]

Pose Error in degrees for R and t:
170.22452262673897 53.522549600766695

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999994e-01 -7.57256959e-05  7.51885789e-05]
 [ 7.57322568e-05  9.99999993e-01 -8.72592953e-05]
 [-7.51819706e-05  8.72649890e-05  9.99999993e-01]]

 t_estimated:
[[ 2.27145205e-01]
 [-9.73860885e-01]
 [-1.82330403e-04]]

 R_gt:
[[ 0.98302198  0.1017492   0.15269324]
 [-0.08156613  0.98774332 -0.13307903]
 [-0.16436247  0.11836522  0.97927189]]

 t_gt:
[0.04111099 0.99814395 0.04492824]

Pose Error in degrees for R and t:
12.829660931869276 15.693301738170012

Number of keypoints:
Image1: 418
Image2: 418

 R_estimated:
[[ 9.83644795e-01  1.80119162e-01  6.84720054e-05]
 [-1.80119156e-01  9.83644440e-01  8.39913173e-04]
 [ 8.39323497e-05 -8.38509341e-04  9.99999645e-01]]

 t_estimated:
[[0.29782833]
 [0.95461816]
 [0.00156752]]

 R_gt:
[[ 0.99871276  0.02485884 -0.04420986]
 [-0.02318758  0.99901125  0.03792811]
 [ 0.04510831 -0.03685468  0.99830203]]

 t_gt:
[-0.95744282 -0.25223626  0.14028586]

Pose Error in degrees for R and t:
9.58664847019368 58.28307162304437

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 3.14057422e-01  9.49403853e-01 -5.10356011e-04]
 [ 9.49395615e-01 -3.14052348e-01  4.36909510e-03]
 [ 3.98775721e-03 -1.85667650e-03 -9.99990325e-01]]

 t_estimated:
[[-0.48313606]
 [-0.87554235]
 [-0.00226824]]

 R_gt:
[[ 0.99544856  0.0795692  -0.05244033]
 [-0.07246127  0.98940821  0.12577676]
 [ 0.06189312 -0.12140421  0.99067211]]

 t_gt:
[-0.88048531 -0.13760586  0.45366313]

Pose Error in degrees for R and t:
172.0883699135317 56.98593141134376

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 1.30808545e-02  9.99901772e-01  5.03358970e-03]
 [ 9.99914323e-01 -1.30831438e-02  4.22158689e-04]
 [ 4.87972399e-04  5.02763624e-03 -9.99987242e-01]]

 t_estimated:
[[-0.41414089]
 [-0.9102121 ]
 [-0.00112233]]

 R_gt:
[[ 0.98778615  0.14924112 -0.04478925]
 [-0.14191428  0.98036692  0.13689204]
 [ 0.06433986 -0.12886336  0.98957257]]

 t_gt:
[-0.94290876  0.11497353  0.31257665]

Pose Error in degrees for R and t:
172.50773501785284 73.41150318001253

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999784e-01  6.57193400e-04 -2.30404447e-05]
 [-6.57192784e-04  9.99999784e-01  2.67136349e-05]
 [ 2.30579958e-05 -2.66984872e-05  9.99999999e-01]]

 t_estimated:
[[ 5.30496509e-01]
 [-8.47687120e-01]
 [-5.22245216e-06]]

 R_gt:
[[ 0.99668631 -0.02589778  0.07710516]
 [ 0.03269286  0.99556451 -0.08821338]
 [-0.07447854  0.09044233  0.99311267]]

 t_gt:
[-0.12450426  0.82144674 -0.55652848]

Pose Error in degrees for R and t:
6.947148342064458 40.32588989530088

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999206e-01 -7.26258104e-04  1.03009734e-03]
 [ 7.28399900e-04  9.99997571e-01 -2.08036800e-03]
 [-1.02858395e-03  2.08111667e-03  9.99997305e-01]]

 t_estimated:
[[-0.84640705]
 [-0.53253546]
 [-0.00104624]]

 R_gt:
[[ 0.98946201 -0.07816549  0.1218814 ]
 [ 0.09077135  0.99067887 -0.10156587]
 [-0.11280615  0.11156031  0.98733448]]

 t_gt:
[ 0.30904708  0.92132614 -0.2358984 ]

Pose Error in degrees for R and t:
10.218390167706957 41.23854140801091

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99999914e-01 -4.09522284e-04 -6.45554013e-05]
 [ 4.09522353e-04  9.99999916e-01  1.05720581e-06]
 [ 6.45549630e-05 -1.08364260e-06  9.99999998e-01]]

 t_estimated:
[[9.99999720e-01]
 [6.40298121e-04]
 [3.87355165e-04]]

 R_gt:
[[ 0.98820321 -0.10502606  0.11146176]
 [ 0.11023968  0.9930306  -0.0416758 ]
 [-0.10630779  0.05347176  0.99289366]]

 t_gt:
[0.67170924 0.71495721 0.19401775]

Pose Error in degrees for R and t:
9.21275408228851 47.759660800112

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[-0.97826322 -0.19994763  0.05497283]
 [-0.19988609  0.97979643  0.0066718 ]
 [-0.0551962  -0.00446152 -0.99846556]]

 t_estimated:
[[0.9937324 ]
 [0.10826653]
 [0.0278259 ]]

 R_gt:
[[ 0.99884761 -0.04342869 -0.0204633 ]
 [ 0.04325028  0.99902317 -0.00908351]
 [ 0.02083766  0.00818864  0.99974936]]

 t_gt:
[ 0.80276394 -0.34189974 -0.48854336]

Pose Error in degrees for R and t:
178.0533168755971 41.65830517275917

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.85725219e-01 -1.68360175e-01 -8.02642315e-04]
 [ 1.68359593e-01  9.85725363e-01 -7.45903416e-04]
 [ 9.16765317e-04  6.00123275e-04  9.99999400e-01]]

 t_estimated:
[[0.72570369]
 [0.6880048 ]
 [0.00188494]]

 R_gt:
[[ 0.99748549 -0.06978958 -0.01239857]
 [ 0.06943461  0.99721984 -0.02704431]
 [ 0.01425226  0.02611581  0.99955735]]

 t_gt:
[ 0.87423794 -0.10161843 -0.47474385]

Pose Error in degrees for R and t:
5.9330066408925015 55.69286879152683

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-2.10294387e-01  9.77637714e-01 -8.77758710e-04]
 [-9.77634269e-01 -2.10295993e-01 -2.61386392e-03]
 [-2.74000109e-03  3.08446083e-04  9.99996199e-01]]

 t_estimated:
[[0.42271296]
 [0.90626302]
 [0.00104892]]

 R_gt:
[[ 9.90749873e-01 -1.35630393e-01  4.40395277e-03]
 [ 1.35701277e-01  9.90096840e-01 -3.59898318e-02]
 [ 5.21555445e-04  3.62546439e-02  9.99343003e-01]]

 t_gt:
[ 0.92406676 -0.31496986 -0.21655164]

Pose Error in degrees for R and t:
109.94960452391543 83.97615693138752

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 4.06156468e-01  9.13802906e-01  1.08266950e-03]
 [-9.13802546e-01  4.06157492e-01 -9.99603519e-04]
 [-1.35317493e-03 -5.83350712e-04  9.99998914e-01]]

 t_estimated:
[[0.04880942]
 [0.9988074 ]
 [0.00119047]]

 R_gt:
[[ 0.99124013 -0.1181402   0.05904506]
 [ 0.11774942  0.99299249  0.01005175]
 [-0.05981859 -0.00301018  0.99820454]]

 t_gt:
[ 0.50437769 -0.78717007  0.35491749]

Pose Error in degrees for R and t:
72.88163357241592 40.430747476761674

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-1.07189330e-01 -9.94064919e-01 -1.85845279e-02]
 [-9.94235514e-01  1.07217046e-01 -4.98519443e-04]
 [ 2.48813886e-03  1.84239617e-02 -9.99827168e-01]]

 t_estimated:
[[ 0.81172388]
 [ 0.58403924]
 [-0.00158449]]

 R_gt:
[[ 0.95444771 -0.29316604  0.05553735]
 [ 0.29043713  0.9554651   0.05226815]
 [-0.06838664 -0.03375676  0.99708689]]

 t_gt:
[ 0.6723776  -0.69026625  0.26728423]

Pose Error in degrees for R and t:
176.36037862808556 81.82373725534812

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-5.23063550e-01 -8.52293587e-01 -4.06333339e-04]
 [-8.52293233e-01  5.23063704e-01 -7.78936762e-04]
 [ 8.76421028e-04 -6.11182725e-05 -9.99999614e-01]]

 t_estimated:
[[0.73832766]
 [0.6744417 ]
 [0.00080868]]

 R_gt:
[[ 0.89112748 -0.45362479  0.01082119]
 [ 0.45137367  0.88864099  0.08110783]
 [-0.04640896 -0.06739186  0.99664626]]

 t_gt:
[ 0.77315252 -0.60306585  0.19633332]

Pose Error in degrees for R and t:
176.43587025848012 80.54540778271469

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.99937332  0.03523105 -0.00342545]
 [-0.03521377  0.99936739  0.00498031]
 [ 0.00359874 -0.00485657  0.99998173]]

 t_estimated:
[[-0.99689076]
 [-0.07818751]
 [-0.00977344]]

 R_gt:
[[ 0.98575338 -0.16788637 -0.01019839]
 [ 0.1681885   0.98445524  0.05059969]
 [ 0.00154492 -0.05159478  0.9986663 ]]

 t_gt:
[ 0.67125269 -0.70098581  0.24091227]

Pose Error in degrees for R and t:
11.996327217506545 51.923590660871675

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99996719e-01 -1.64178101e-05  2.56145555e-03]
 [ 2.51997022e-05  9.99994122e-01 -3.42848265e-03]
 [-2.56138420e-03  3.42853595e-03  9.99990842e-01]]

 t_estimated:
[[-0.64332831]
 [-0.7655898 ]
 [-0.00097033]]

 R_gt:
[[ 0.93551362 -0.34584353 -0.07215627]
 [ 0.34933445  0.93601753  0.04284122]
 [ 0.05272304 -0.06528568  0.99647248]]

 t_gt:
[ 0.80195379 -0.59436954  0.05995796]

Pose Error in degrees for R and t:
20.988087470055493 86.50654621808486

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99998994e-01  1.27268072e-03  6.26398551e-04]
 [-1.27273819e-03  9.99999186e-01  9.13544633e-05]
 [-6.26281776e-04 -9.21516128e-05  9.99999800e-01]]

 t_estimated:
[[8.98713138e-01]
 [4.38536363e-01]
 [7.44810083e-04]]

 R_gt:
[[ 0.87799728 -0.45951915 -0.13402471]
 [ 0.47090325  0.87943027  0.06965873]
 [ 0.08585561 -0.12427283  0.98852627]]

 t_gt:
[ 0.84391359 -0.52536763  0.10862181]

Pose Error in degrees for R and t:
29.270165974864838 58.12118953112214

Number of keypoints:
Image1: 395
Image2: 395

 R_estimated:
[[ 9.97679658e-01 -6.80830035e-02 -6.35082614e-05]
 [ 6.80830107e-02  9.97679653e-01  1.18949643e-04]
 [ 5.52624512e-05 -1.22997473e-04  9.99999991e-01]]

 t_estimated:
[[ 9.97519146e-01]
 [-7.03915012e-02]
 [ 7.67893637e-04]]

 R_gt:
[[ 0.99810978  0.05997566  0.01343911]
 [-0.06037769  0.99766837  0.03180358]
 [-0.01150048 -0.03255577  0.99940356]]

 t_gt:
[-0.86571433 -0.06672905  0.49607049]

Pose Error in degrees for R and t:
7.614712121359146 30.85270334511596

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[ 6.60930945e-01  7.50445873e-01  1.12998420e-03]
 [ 7.50444373e-01 -6.60931895e-01  1.50770239e-03]
 [ 1.87829164e-03 -1.48496879e-04 -9.99998225e-01]]

 t_estimated:
[[-8.24140679e-01]
 [-5.66384746e-01]
 [-6.78305086e-04]]

 R_gt:
[[ 0.99412489  0.10553566  0.02406945]
 [-0.10642037  0.99355466  0.03904089]
 [-0.0197952  -0.04137313  0.99894728]]

 t_gt:
[-0.91861264 -0.00382107  0.39514075]

Pose Error in degrees for R and t:
178.35755613042056 40.62720557672892

Number of keypoints:
Image1: 304
Image2: 304

 R_estimated:
[[-8.63622112e-01  5.04126282e-01 -3.67972036e-03]
 [-5.04126381e-01 -8.63629350e-01 -9.68225114e-04]
 [-3.66602223e-03  1.01886349e-03  9.99992761e-01]]

 t_estimated:
[[0.59999974]
 [0.79999965]
 [0.00093023]]

 R_gt:
[[ 0.97003747  0.24047427  0.03464137]
 [-0.24198714  0.96901809  0.04944977]
 [-0.02167754 -0.05635041  0.99817615]]

 t_gt:
[-0.94331413  0.19382735  0.26942422]

Pose Error in degrees for R and t:
135.78191929471555 65.75270581524751

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[ 5.34467456e-01  8.45188502e-01  9.66897623e-04]
 [-8.45184113e-01  5.34467893e-01 -2.80827677e-03]
 [-2.89029897e-03  6.83726029e-04  9.99995589e-01]]

 t_estimated:
[[-8.40506753e-01]
 [ 5.41800898e-01]
 [ 4.31366447e-04]]

 R_gt:
[[ 0.99929905  0.03720379 -0.00429973]
 [-0.0365588   0.99396132  0.10345694]
 [ 0.00812248 -0.10322671  0.99462463]]

 t_gt:
[-0.62654071 -0.18273118  0.75766487]

Pose Error in degrees for R and t:
55.878205850467715 64.66344333923543

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.99999537e-01  9.59576789e-04 -6.54859062e-05]
 [-9.59575569e-04  9.99999539e-01  1.86590457e-05]
 [ 6.55037808e-05 -1.85961984e-05  9.99999998e-01]]

 t_estimated:
[[-5.53764474e-01]
 [-8.32673201e-01]
 [-4.96629293e-04]]

 R_gt:
[[ 0.98832693  0.15115149  0.01909458]
 [-0.15203107  0.98659572  0.05929631]
 [-0.00987587 -0.0615078   0.99805817]]

 t_gt:
[-0.91539562  0.32832618  0.23292227]

Pose Error in degrees for R and t:
9.377721359274089 76.50211395804965

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.66475957e-01  2.56756340e-01  6.37681460e-04]
 [-2.56742469e-01  9.66444325e-01 -8.28687652e-03]
 [-2.74399171e-03  7.84534701e-03  9.99965460e-01]]

 t_estimated:
[[0.95219813]
 [0.30547552]
 [0.00184875]]

 R_gt:
[[ 0.96345651  0.26182858  0.05655366]
 [-0.26655065  0.95800934  0.1056806 ]
 [-0.02650877 -0.11689378  0.99279084]]

 t_gt:
[-0.85483769  0.43310746  0.28578041]

Pose Error in degrees for R and t:
7.307910733856752 47.06699065105359

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-9.99543304e-01 -2.74066977e-02  1.27301523e-02]
 [-2.73959235e-02  9.99624141e-01  1.01999474e-03]
 [-1.27533222e-02  6.70774632e-04 -9.99918448e-01]]

 t_estimated:
[[ 0.99975461]
 [-0.02110446]
 [ 0.0067321 ]]

 R_gt:
[[ 0.99304932 -0.1116183   0.03736941]
 [ 0.11090413  0.9936166   0.02066028]
 [-0.03943637 -0.01637244  0.99908787]]

 t_gt:
[ 0.60816193 -0.71704707  0.34056212]

Pose Error in degrees for R and t:
177.04993259984437 51.2856365162454

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.98801444 -0.15415171  0.00804429]
 [-0.15413342  0.98804593  0.00285049]
 [-0.00838754  0.00157643 -0.99996358]]

 t_estimated:
[[0.99881713]
 [0.04843304]
 [0.0043104 ]]

 R_gt:
[[ 0.98695947 -0.15951529  0.02157744]
 [ 0.15908351  0.98705389  0.0204289 ]
 [-0.02455578 -0.01672986  0.9995577 ]]

 t_gt:
[ 0.71465783 -0.67651134  0.17775432]

Pose Error in degrees for R and t:
178.1135535804332 47.014506012084176

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99500479e-01 -3.16027792e-02  2.38994236e-04]
 [ 3.16027371e-02  9.99500493e-01  1.77935970e-04]
 [-2.44498128e-04 -1.70294215e-04  9.99999956e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.82947909e-01 -1.83865993e-01  3.02613488e-03]
 [ 1.83865483e-01  9.82951967e-01  1.69608610e-04]
 [-3.00540035e-03  3.89096040e-04  9.99995009e-01]]

 t_gt:
[ 0.81337808 -0.58154491 -0.01488655]

Pose Error in degrees for R and t:
8.785225334046428 35.75145384382203

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-2.19473599e-01 -9.75616629e-01 -1.87948045e-03]
 [-9.75618401e-01  2.19473720e-01  1.43917334e-04]
 [ 2.72088421e-04  1.86524176e-03 -9.99998223e-01]]

 t_estimated:
[[7.91808798e-01]
 [6.10768706e-01]
 [6.44270787e-04]]

 R_gt:
[[ 0.99189049 -0.11764202  0.04809731]
 [ 0.11807151  0.99298582 -0.00616387]
 [-0.04703565  0.01179266  0.9988239 ]]

 t_gt:
[ 0.65175479 -0.72874487  0.21011093]

Pose Error in degrees for R and t:
178.26482065377488 85.9224861750702

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.99131974  0.13131533  0.00643849]
 [ 0.13132895  0.99133732  0.00173846]
 [-0.00615443  0.00256893 -0.99997776]]

 t_estimated:
[[0.99331691]
 [0.11539672]
 [0.00226268]]

 R_gt:
[[ 9.73813624e-01 -2.21873676e-01  4.96020042e-02]
 [ 2.22124272e-01  9.75018056e-01  4.66655110e-04]
 [-4.84669344e-02  1.05637899e-02  9.98769852e-01]]

 t_gt:
[ 0.7489064  -0.65332821  0.11091194]

Pose Error in degrees for R and t:
176.78641108197482 48.02853571239528

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.72303898e-01  2.33719207e-01  6.80177928e-04]
 [-2.33718813e-01  9.72304038e-01 -6.10896774e-04]
 [-8.04118056e-04  4.35006937e-04  9.99999582e-01]]

 t_estimated:
[[0.83420598]
 [0.55145077]
 [0.00156218]]

 R_gt:
[[ 0.96248077 -0.2697846   0.02911681]
 [ 0.26993849  0.96287638 -0.00140942]
 [-0.02765637  0.00921642  0.99957589]]

 t_gt:
[ 0.80806199 -0.58788633  0.03775573]

Pose Error in degrees for R and t:
29.219543778759718 69.5152076707316

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999995e-01 -9.88646203e-05  2.12352023e-05]
 [ 9.88655280e-05  9.99999994e-01 -4.27455746e-05]
 [-2.12309761e-05  4.27476739e-05  9.99999999e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075919e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99689302 -0.0546888   0.05668807]
 [ 0.05715765  0.99744374 -0.04289315]
 [-0.0541977   0.04599904  0.9974708 ]]

 t_gt:
[0.6799715  0.72866665 0.08175379]

Pose Error in degrees for R and t:
5.182281253017204 46.977083908196654

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999948e-01  3.20385007e-04  3.43061028e-05]
 [-3.20385742e-04  9.99999948e-01  2.14281701e-05]
 [-3.42992358e-05 -2.14391602e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99999921e-01]
 [-2.68653233e-04]
 [ 2.92421945e-04]]

 R_gt:
[[ 0.99562735 -0.08227099  0.04424876]
 [ 0.08156521  0.99651338  0.01754093]
 [-0.04553835 -0.01385546  0.99886657]]

 t_gt:
[0.78655578 0.31365782 0.5319293 ]

Pose Error in degrees for R and t:
5.4501368737701394 38.12859269440214

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999771e-01  5.70893415e-04  3.63224896e-04]
 [-5.70766047e-04  9.99999776e-01 -3.50666261e-04]
 [-3.63425008e-04  3.50458864e-04  9.99999873e-01]]

 t_estimated:
[[ 9.99998823e-01]
 [ 1.51664189e-03]
 [-2.29971393e-04]]

 R_gt:
[[ 0.99262839 -0.11977985  0.01849249]
 [ 0.11988572  0.99277633 -0.00479486]
 [-0.01778557  0.00697597  0.99981748]]

 t_gt:
[0.96492146 0.25171701 0.07459973]

Pose Error in degrees for R and t:
6.9976897241712 15.141227446150763

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.39672785e-01 -3.42074318e-01 -4.65894132e-04]
 [ 3.42074507e-01  9.39672742e-01  4.11163021e-04]
 [ 2.97139706e-04 -5.45729206e-04  9.99999807e-01]]

 t_estimated:
[[-0.07730498]
 [-0.99700684]
 [-0.00113684]]

 R_gt:
[[ 0.99828558  0.02639112  0.05225379]
 [-0.02480545  0.99921914 -0.03075046]
 [-0.05302407  0.02940219  0.99816024]]

 t_gt:
[-0.31675057  0.76993602  0.55395631]

Pose Error in degrees for R and t:
21.753100258804565 41.946024729762094

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.43499025e-01  3.31374601e-01  6.80642006e-04]
 [-3.31372357e-01  9.43497311e-01 -2.27697633e-03]
 [-1.39671603e-03  1.92277900e-03  9.99997176e-01]]

 t_estimated:
[[-9.99996995e-01]
 [-2.32557441e-03]
 [-7.75191469e-04]]

 R_gt:
[[ 0.98581305  0.14884146  0.07758545]
 [-0.14390714  0.98740514 -0.06573782]
 [-0.0863929   0.05364035  0.99481582]]

 t_gt:
[-0.48022952  0.84661418  0.2293993 ]

Pose Error in degrees for R and t:
12.315450976189993 61.43983131001576

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 8.67585181e-01 -4.97288301e-01 -5.47858220e-04]
 [ 4.97288580e-01  8.67584280e-01  1.25901823e-03]
 [-1.50781855e-04 -1.36474919e-03  9.99999057e-01]]

 t_estimated:
[[-7.95923886e-01]
 [-6.05396354e-01]
 [-6.50264612e-04]]

 R_gt:
[[ 0.98359064  0.1477946   0.10347085]
 [-0.14232257  0.98809312 -0.05844104]
 [-0.11087601  0.04275552  0.99291379]]

 t_gt:
[-0.46645958  0.797778    0.38205462]

Pose Error in degrees for R and t:
38.78189934571134 83.57203237014994

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.94202788e-01 -1.07521233e-01 -2.13243762e-05]
 [ 1.07521233e-01  9.94202788e-01 -3.34244265e-06]
 [ 2.15601379e-05  1.03024258e-06  1.00000000e+00]]

 t_estimated:
[[ 9.56778278e-01]
 [-2.90818270e-01]
 [-2.45549522e-04]]

 R_gt:
[[ 0.99471383 -0.1019424  -0.012317  ]
 [ 0.10236078  0.99393624  0.04014737]
 [ 0.00814916 -0.04119606  0.99911811]]

 t_gt:
[ 0.88326898 -0.33857006  0.3243551 ]

Pose Error in degrees for R and t:
2.426473644330173 19.356376282927453

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99990903e-01  8.43835083e-04 -4.18104340e-03]
 [-8.24005555e-04  9.99988416e-01  4.74217734e-03]
 [ 4.18499659e-03 -4.73868900e-03  9.99980015e-01]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.99604208 -0.06969818 -0.05515209]
 [ 0.07212388  0.99645592  0.04328465]
 [ 0.05193921 -0.04709106  0.99754002]]

 t_gt:
[0.95715483 0.21108911 0.19823224]

Pose Error in degrees for R and t:
5.510983843411426 24.516434260262038

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.92863239e-01  1.19258156e-01  2.83695220e-04]
 [-1.19258293e-01  9.92863123e-01  5.27679133e-04]
 [-2.18740482e-04 -5.57746221e-04  9.99999821e-01]]

 t_estimated:
[[0.44459622]
 [0.89573061]
 [0.00093403]]

 R_gt:
[[ 0.99292639 -0.07258953 -0.09396098]
 [ 0.07724147  0.99591074  0.04685638]
 [ 0.09017537 -0.05378243  0.99447308]]

 t_gt:
[0.94410652 0.32531736 0.05321176]

Pose Error in degrees for R and t:
12.675644010339418 44.66796796533928

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99985875e-01  5.30748641e-03 -2.82768723e-04]
 [-5.30743886e-03  9.99985901e-01  1.68644922e-04]
 [ 2.83659817e-04 -1.67141762e-04  9.99999946e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98294325  0.18380434  0.00622189]
 [-0.18389603  0.98190656  0.04520349]
 [ 0.0021997  -0.0455755   0.99895882]]

 t_gt:
[-0.87371411  0.41974813  0.24583566]

Pose Error in degrees for R and t:
10.619323597330434 65.50926926827346

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.53116676e-01 -3.02602518e-01 -5.63200597e-04]
 [ 3.02602606e-01  9.53116812e-01  7.49708680e-05]
 [ 5.14109584e-04 -2.41881953e-04  9.99999839e-01]]

 t_estimated:
[[8.24193341e-01]
 [5.66308165e-01]
 [6.32308262e-04]]

 R_gt:
[[ 9.46101349e-01  3.23442781e-01  1.66462644e-02]
 [-3.23870821e-01  9.44911175e-01  4.74447448e-02]
 [-3.82984251e-04 -5.02784357e-02  9.98735430e-01]]

 t_gt:
[-0.85594212  0.4886772   0.16899022]

Pose Error in degrees for R and t:
36.62001188080375 64.6204269160811

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.77032353  0.6376524  -0.00103418]
 [ 0.63764197 -0.77029925  0.00719651]
 [ 0.00379225 -0.00620307 -0.99997357]]

 t_estimated:
[[-0.33381799]
 [ 0.94263181]
 [ 0.00328924]]

 R_gt:
[[ 0.91411853  0.40400953  0.0341231 ]
 [-0.40544549  0.91120282  0.07297335]
 [-0.00161068 -0.0805409   0.99675036]]

 t_gt:
[-0.85111442  0.48128019  0.20969886]

Pose Error in degrees for R and t:
175.70521212142054 42.39815313092626

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.88232615e-01 -1.52958400e-01 -1.62638493e-04]
 [ 1.52958437e-01  9.88232593e-01  2.43783763e-04]
 [ 1.23435885e-04 -2.65791995e-04  9.99999957e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.998372    0.05030438 -0.0269081 ]
 [-0.05166955  0.99727269 -0.05270381]
 [ 0.02418322  0.05400853  0.99824834]]

 t_gt:
[-0.27729033  0.79514792 -0.53930497]

Pose Error in degrees for R and t:
12.2054146775201 37.52054912930705

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-4.43495003e-01 -8.96274725e-01 -1.94915169e-03]
 [ 8.96276839e-01 -4.43493710e-01 -1.07533105e-03]
 [ 9.93555264e-05 -2.22388346e-03  9.99997522e-01]]

 t_estimated:
[[0.89537628]
 [0.44530935]
 [0.00095152]]

 R_gt:
[[ 0.99954882  0.02883362 -0.008468  ]
 [-0.02921113  0.99840373 -0.04834322]
 [ 0.00706012  0.0485692   0.99879557]]

 t_gt:
[-0.22451704  0.85121121 -0.47437493]

Pose Error in degrees for R and t:
118.01321850914559 79.77153336775497

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.83436470e-01  1.81252086e-01  6.25605943e-04]
 [-1.81251806e-01  9.83436604e-01 -4.79280174e-04]
 [-7.02114315e-04  3.57949396e-04  9.99999689e-01]]

 t_estimated:
[[0.71584414]
 [0.69825277]
 [0.00319921]]

 R_gt:
[[ 0.99609391 -0.03493182  0.08110008]
 [ 0.03181109  0.99871532  0.03945445]
 [-0.08237437 -0.03672012  0.99592503]]

 t_gt:
[ 0.10529206 -0.18566879  0.9769548 ]

Pose Error in degrees for R and t:
13.385098468241795 87.06829639843802

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 7.30999891e-01  6.82377432e-01  4.47494129e-04]
 [-6.82377154e-01  7.31000010e-01 -6.36470275e-04]
 [-7.61431165e-04  1.59899931e-04  9.99999697e-01]]

 t_estimated:
[[-7.00158896e-01]
 [ 7.13987050e-01]
 [ 1.10680900e-04]]

 R_gt:
[[ 0.99851223 -0.01177456 -0.05324094]
 [ 0.01018489  0.9994971  -0.03002228]
 [ 0.05356769  0.02943533  0.998131  ]]

 t_gt:
[ 0.37092442  0.07740206 -0.92543179]

Pose Error in degrees for R and t:
43.79463823423427 78.19717070295266

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 1.00000000e+00 -4.01454911e-13  8.51723206e-14]
 [ 4.01607567e-13  1.00000000e+00 -2.05303778e-14]
 [-8.51705859e-14  2.05311774e-14  1.00000000e+00]]

 t_estimated:
[[-0.99991885]
 [ 0.01193794]
 [-0.00444784]]

 R_gt:
[[ 0.99475475  0.05212702 -0.0880158 ]
 [-0.05757338  0.99650508 -0.06052056]
 [ 0.08455418  0.0652701   0.99427941]]

 t_gt:
[-0.04064475  0.62541271 -0.77923485]

Pose Error in degrees for R and t:
6.894140113498992 87.04374391560388

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.72544444e-01  2.32618889e-01  6.76436918e-03]
 [-2.32619454e-01  9.72567571e-01 -7.14154379e-04]
 [-6.74493190e-03 -8.78976989e-04  9.99976866e-01]]

 t_estimated:
[[0.60909762]
 [0.79309289]
 [0.00193814]]

 R_gt:
[[ 0.99387834  0.05043567 -0.09829386]
 [-0.05997807  0.99350719 -0.09667444]
 [ 0.09278112  0.10197875  0.99045031]]

 t_gt:
[ 0.00752805  0.61817829 -0.78600186]

Pose Error in degrees for R and t:
13.138842334306881 60.43999880382331

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-9.52189434e-01 -3.05505222e-01 -1.35724060e-03]
 [ 3.05508134e-01 -9.52183351e-01 -3.41260747e-03]
 [-2.49772505e-04 -3.66409682e-03  9.99993256e-01]]

 t_estimated:
[[9.58949420e-01]
 [2.83576189e-01]
 [7.44474830e-04]]

 R_gt:
[[ 0.99469641  0.09246631 -0.04504445]
 [-0.09576176  0.99238271 -0.07751373]
 [ 0.0375346   0.08141665  0.9959726 ]]

 t_gt:
[-0.47244439  0.68732533 -0.55170661]

Pose Error in degrees for R and t:
167.6328940137329 75.01584517970828

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.65437565e-01 -2.60634409e-01  1.17051911e-04]
 [ 2.60634419e-01  9.65437565e-01 -8.17189764e-05]
 [-9.17075349e-05  1.09402326e-04  9.99999990e-01]]

 t_estimated:
[[-0.79650516]
 [-0.60463096]
 [-0.00096585]]

 R_gt:
[[ 0.99145698  0.08425381 -0.09957166]
 [-0.10083456  0.97932739 -0.17536341]
 [ 0.08273804  0.18390663  0.97945498]]

 t_gt:
[-0.23205876  0.57445591 -0.78495168]

Pose Error in degrees for R and t:
23.51587996844636 80.69211177974603

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.97535123e-01  7.01676405e-02 -4.25717300e-04]
 [-7.01666873e-02  9.97533382e-01  1.94643758e-03]
 [ 5.61244150e-04 -1.91176868e-03  9.99998015e-01]]

 t_estimated:
[[-9.34579843e-01]
 [-3.55752702e-01]
 [-7.29001438e-04]]

 R_gt:
[[ 0.98394565  0.09815038 -0.1490585 ]
 [-0.13438412  0.95705385 -0.25688692]
 [ 0.11744266  0.27279469  0.95487714]]

 t_gt:
[-0.15647725  0.56288992 -0.81158475]

Pose Error in degrees for R and t:
17.58753523565599 86.93794654322554

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-0.94771288  0.31857147 -0.0187752 ]
 [ 0.31887926  0.94764986 -0.01660571]
 [ 0.01250221 -0.02172446 -0.99968582]]

 t_estimated:
[[0.90441463]
 [0.42665336]
 [0.00104313]]

 R_gt:
[[ 0.98979717  0.14082794  0.02163213]
 [-0.1415211   0.98932231  0.03483164]
 [-0.01649569 -0.03753754  0.99915908]]

 t_gt:
[-0.89591669  0.32406023  0.3038392 ]

Pose Error in degrees for R and t:
179.90461025667474 47.801450856228804

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-8.49114692e-01  5.28207582e-01 -9.95474026e-04]
 [-5.28207352e-01 -8.49115269e-01 -5.02430248e-04]
 [-1.11065966e-03  9.91957942e-05  9.99999378e-01]]

 t_estimated:
[[7.87073058e-01]
 [6.16859438e-01]
 [6.59742714e-04]]

 R_gt:
[[ 0.97828553  0.20401178  0.0365437 ]
 [-0.2061266   0.97610303  0.06881414]
 [-0.02163004 -0.07485291  0.99696035]]

 t_gt:
[-0.88548185  0.25688344  0.38721156]

Pose Error in degrees for R and t:
136.30094442775967 57.43728322816117

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.87789051  0.47866866  0.01358526]
 [-0.47732636  0.87699387 -0.05514795]
 [-0.03831178  0.04192926  0.99838577]]

 t_estimated:
[[0.7715217 ]
 [0.63616701]
 [0.00676773]]

 R_gt:
[[ 0.9681782   0.24453405  0.05323068]
 [-0.24819401  0.9654897   0.07892834]
 [-0.03209213 -0.08962775  0.99545838]]

 t_gt:
[-0.89097314  0.23541108  0.38826342]

Pose Error in degrees for R and t:
16.270769856424437 57.65495724718969

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.30547751e-01  3.66170544e-01  1.28475682e-04]
 [-3.66170191e-01  9.30547242e-01 -1.10526109e-03]
 [-5.24266745e-04  9.81454253e-04  9.99999381e-01]]

 t_estimated:
[[5.43085973e-01]
 [8.39676982e-01]
 [4.38038154e-04]]

 R_gt:
[[ 0.98636094 -0.15862811 -0.04390728]
 [ 0.15625936  0.98629385 -0.05297389]
 [ 0.05170784  0.04539041  0.99763025]]

 t_gt:
[ 0.70161026 -0.55218842 -0.45036761]

Pose Error in degrees for R and t:
30.79291037849269 85.24917839574823

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 0.96399249  0.26592572  0.00140838]
 [-0.26592066  0.96399017 -0.00302539]
 [-0.00216219  0.00254194  0.99999443]]

 t_estimated:
[[-0.81676811]
 [-0.57696119]
 [-0.00237433]]

 R_gt:
[[ 0.96642232 -0.25507044 -0.03108984]
 [ 0.25248986  0.9651067  -0.06940684]
 [ 0.04770827  0.05922626  0.99710386]]

 t_gt:
[ 0.72497837 -0.60256762 -0.33364446]

Pose Error in degrees for R and t:
30.440185751423208 75.89563491754777

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.99197117  0.1263639  -0.00503557]
 [-0.12638243 -0.99197524  0.003549  ]
 [-0.0045467   0.00415691  0.99998102]]

 t_estimated:
[[8.17694620e-01]
 [5.75651890e-01]
 [6.40324683e-04]]

 R_gt:
[[ 0.90818716 -0.41739981  0.0311862 ]
 [ 0.41849704  0.90684323 -0.0499561 ]
 [-0.00742955  0.05842027  0.99826395]]

 t_gt:
[ 0.78078004 -0.61848662 -0.08863877]

Pose Error in degrees for R and t:
162.5453339772167 73.59949623044834

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.04801494  0.99883249  0.0053128 ]
 [ 0.99884565 -0.04802163  0.0011385 ]
 [ 0.0013923   0.005252   -0.99998524]]

 t_estimated:
[[-0.16142764]
 [-0.98688389]
 [-0.00114488]]

 R_gt:
[[ 0.99475651 -0.10037495  0.0196303 ]
 [ 0.10023833  0.99493283  0.00782925]
 [-0.02031703 -0.00581984  0.99977619]]

 t_gt:
[ 0.69410275 -0.68749002  0.21349202]

Pose Error in degrees for R and t:
179.31565152343882 55.51565528730269

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.92502978 -0.37989245  0.00127919]
 [-0.37988907  0.92502924  0.00228215]
 [-0.00205026  0.0016251  -0.99999658]]

 t_estimated:
[[0.98454677]
 [0.17511701]
 [0.00129716]]

 R_gt:
[[ 0.99030742 -0.12781296  0.05436499]
 [ 0.12941495  0.99122208 -0.02703376]
 [-0.05043219  0.03380746  0.99815496]]

 t_gt:
[ 0.77565246 -0.60438316  0.18189078]

Pose Error in degrees for R and t:
177.28073441713985 48.84758877231036

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.76370723  0.6442953  -0.04043308]
 [ 0.63396171 -0.73669019  0.2353298 ]
 [ 0.12183523 -0.20535609 -0.97107417]]

 t_estimated:
[[0.9444278 ]
 [0.3287165 ]
 [0.00126429]]

 R_gt:
[[ 0.99415128 -0.00941343  0.10758487]
 [ 0.01522637  0.99846088 -0.05333319]
 [-0.10691729  0.0546595   0.99276391]]

 t_gt:
[0.27315874 0.30045103 0.91384544]

Pose Error in degrees for R and t:
171.47975156342463 69.0288829866059

Number of keypoints:
Image1: 349
Image2: 349

 R_estimated:
[[ 9.99383354e-01  3.51128059e-02  5.90824054e-05]
 [-3.51128108e-02  9.99383351e-01  8.53486798e-05]
 [-5.60491407e-05 -8.73705992e-05  9.99999995e-01]]

 t_estimated:
[[0.81315771]
 [0.58204283]
 [0.00083146]]

 R_gt:
[[ 0.99903575 -0.02524118 -0.03591248]
 [ 0.02555247  0.99964002  0.00820932]
 [ 0.03569282 -0.00911809  0.99932104]]

 t_gt:
[ 0.81687077  0.54215768 -0.19694465]

Pose Error in degrees for R and t:
4.061099972038323 11.581535555045468

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.96355016e-01 -8.53034330e-02  7.58315762e-05]
 [-8.53034341e-02 -9.96353465e-01  1.75973159e-03]
 [-7.45560924e-05 -1.75978610e-03 -9.99998449e-01]]

 t_estimated:
[[0.05510365]
 [0.99847821]
 [0.00220415]]

 R_gt:
[[ 0.99755103  0.00685786 -0.06960823]
 [-0.00446713  0.99939738  0.03444508]
 [ 0.06980232 -0.03404848  0.99697942]]

 t_gt:
[ 0.56685816  0.82371663 -0.01275716]

Pose Error in degrees for R and t:
178.10813316527418 31.386785518916952

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-2.19508862e-01 -9.75608609e-01  1.92387844e-03]
 [-9.75610494e-01  2.19508736e-01 -2.79048451e-04]
 [-1.50066054e-04 -1.93820961e-03 -9.99998110e-01]]

 t_estimated:
[[0.7965658 ]
 [0.60454718]
 [0.00237229]]

 R_gt:
[[ 0.99200179 -0.01103247 -0.12574465]
 [ 0.01034132  0.99992803 -0.00615318]
 [ 0.12580333  0.00480441  0.99204333]]

 t_gt:
[ 0.75530586  0.55574343 -0.34736478]

Pose Error in degrees for R and t:
174.23822828863786 20.47909669399852

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 1.00000000e+00  6.66133815e-16 -5.63785130e-18]
 [-7.21644966e-16  1.00000000e+00  2.71050543e-18]
 [-4.05274772e-16 -6.92805188e-16  1.00000000e+00]]

 t_estimated:
[[-0.53811455]
 [-0.84287093]
 [-0.00115129]]

 R_gt:
[[ 0.99908125 -0.04196022  0.00871871]
 [ 0.04165993  0.99861539  0.03210021]
 [-0.01005407 -0.03170758  0.99944697]]

 t_gt:
[0.70313238 0.10254059 0.70362652]

Pose Error in degrees for R and t:
3.062550140066287 62.250660170336836

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999745e-01 -8.13263946e-06  7.14668156e-04]
 [ 8.79588364e-06  9.99999569e-01 -9.28046708e-04]
 [-7.14660301e-04  9.28052757e-04  9.99999314e-01]]

 t_estimated:
[[-0.02016061]
 [-0.99979332]
 [-0.00262148]]

 R_gt:
[[ 0.99682406 -0.07721337 -0.01947773]
 [ 0.07801863  0.9959472   0.04473713]
 [ 0.01594539 -0.046115    0.99880859]]

 t_gt:
[0.95132532 0.06713133 0.30078817]

Pose Error in degrees for R and t:
5.293556830031231 85.00405345635208

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999802e-01 -2.16381209e-04 -5.90369726e-04]
 [ 2.16749524e-04  9.99999782e-01  6.23879227e-04]
 [ 5.90234601e-04 -6.24007066e-04  9.99999631e-01]]

 t_estimated:
[[0.99941888]
 [0.0340711 ]
 [0.00103246]]

 R_gt:
[[ 0.99731805 -0.07281434 -0.00744371]
 [ 0.0730461   0.99659608  0.03823077]
 [ 0.0046357  -0.03867158  0.99924083]]

 t_gt:
[0.94140593 0.21644045 0.2586666 ]

Pose Error in degrees for R and t:
4.711835760981801 18.46807963052884

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99998162e-01 -1.60475649e-03 -1.04958747e-03]
 [ 1.60549059e-03  9.99998467e-01  6.98952790e-04]
 [ 1.04846421e-03 -7.00636608e-04  9.99999205e-01]]

 t_estimated:
[[9.77790976e-01]
 [2.09581074e-01]
 [7.62112998e-04]]

 R_gt:
[[ 0.98985463 -0.11492587  0.0835507 ]
 [ 0.11464923  0.99337225  0.00810183]
 [-0.0839274   0.00156051  0.99647067]]

 t_gt:
[ 0.52295745 -0.73852421  0.42555552]

Pose Error in degrees for R and t:
8.131760653444061 69.09087954823538

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.99992624e-01  3.83937902e-03  1.00838882e-04]
 [-3.83933335e-03  9.99992529e-01 -4.49271561e-04]
 [-1.02563053e-04  4.48881093e-04  9.99999894e-01]]

 t_estimated:
[[ 0.2158069 ]
 [-0.9764345 ]
 [-0.00174641]]

 R_gt:
[[ 0.96650952 -0.23361617  0.10622742]
 [ 0.23278571  0.9723149   0.02031988]
 [-0.10803277  0.00508945  0.99413405]]

 t_gt:
[ 0.66898504 -0.68477786  0.28902992]

Pose Error in degrees for R and t:
15.075459660787677 35.658345636897394

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99995830e-01  2.87978177e-03  2.14592142e-04]
 [-2.87978117e-03  9.99995853e-01 -3.07991323e-06]
 [-2.14600121e-04  2.46192198e-06  9.99999977e-01]]

 t_estimated:
[[ 9.28124106e-01]
 [-3.72270805e-01]
 [ 3.03748255e-04]]

 R_gt:
[[ 0.94622513 -0.30705415  0.10187079]
 [ 0.30607917  0.95166505  0.02545141]
 [-0.10476114  0.00709844  0.99447213]]

 t_gt:
[ 0.74594097 -0.63445009  0.20259604]

Pose Error in degrees for R and t:
19.03553207418703 21.78630283453405

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 4.47695709e-01  8.94170031e-01 -5.33937423e-03]
 [-8.94185446e-01  4.47680988e-01 -3.75779893e-03]
 [-9.69774857e-04  6.45674118e-03  9.99978685e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.99336117 -0.11294143 -0.02185721]
 [ 0.1124027   0.99336081 -0.02449998]
 [ 0.02447918  0.02188095  0.99946078]]

 t_gt:
[ 0.64079587 -0.72398777 -0.25538671]

Pose Error in degrees for R and t:
69.88837729522092 89.20706419271403

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99999101e-01 -1.07072539e-03  8.07692470e-04]
 [ 1.07430225e-03  9.99989561e-01 -4.44113015e-03]
 [-8.02928807e-04  4.44199386e-03  9.99989812e-01]]

 t_estimated:
[[-0.79668136]
 [-0.60438248]
 [-0.00454145]]

 R_gt:
[[ 0.98241849 -0.18632708 -0.01164954]
 [ 0.18602977  0.98227927 -0.02282427]
 [ 0.01569698  0.02025534  0.999671  ]]

 t_gt:
[ 0.70349215 -0.70129783 -0.11523951]

Pose Error in degrees for R and t:
10.747646381797866 82.17871563615948

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-7.28832618e-01 -6.84686191e-01  2.79913587e-03]
 [-6.84683678e-01  7.28837812e-01  1.92479661e-03]
 [-3.35799772e-03 -5.13668091e-04 -9.99994230e-01]]

 t_estimated:
[[0.92639621]
 [0.37654329]
 [0.00228143]]

 R_gt:
[[ 0.96781689 -0.24925905  0.03464333]
 [ 0.25079913  0.96668834 -0.05113347]
 [-0.0207427   0.05817676  0.99809053]]

 t_gt:
[ 0.76295956 -0.64306763 -0.06600557]

Pose Error in degrees for R and t:
179.48053634303986 62.32152039483936

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 5.94822615e-01  8.03856771e-01  5.90550177e-04]
 [-8.03855584e-01  5.94822788e-01 -1.43186529e-03]
 [-1.50228731e-03  3.76988798e-04  9.99998801e-01]]

 t_estimated:
[[-0.48886669]
 [ 0.87235804]
 [ 0.00090469]]

 R_gt:
[[ 0.99534753  0.09594049 -0.00883227]
 [-0.09560807  0.99488746  0.03253302]
 [ 0.01190909 -0.03153773  0.99943182]]

 t_gt:
[-0.960741    0.23090312  0.15381966]

Pose Error in degrees for R and t:
48.04230275910604 47.83687928233104

Number of keypoints:
Image1: 403
Image2: 403

 R_estimated:
[[-9.48442913e-01 -3.16946826e-01 -8.66079453e-04]
 [-3.16947903e-01  9.48441296e-01  1.77046856e-03]
 [ 2.60281127e-04  1.95369043e-03 -9.99998058e-01]]

 t_estimated:
[[9.87671711e-01]
 [1.56536649e-01]
 [9.31765765e-04]]

 R_gt:
[[ 0.97760351  0.21009381  0.01229176]
 [-0.21033228  0.97735195  0.02329002]
 [-0.00712028 -0.02535371  0.99965278]]

 t_gt:
[-0.86482168  0.49639218  0.07535429]

Pose Error in degrees for R and t:
179.2662430122056 39.0691267182964

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.96025515e-01  8.90682847e-02 -1.16256648e-04]
 [-8.90682863e-02  9.96025522e-01 -8.16437611e-06]
 [ 1.15067401e-04  1.84867073e-05  9.99999993e-01]]

 t_estimated:
[[-9.93109139e-01]
 [-1.17192520e-01]
 [-3.88248448e-04]]

 R_gt:
[[ 0.95400966  0.29892621  0.02253061]
 [-0.29976626  0.95075762  0.07873753]
 [ 0.00211676 -0.08187105  0.99664043]]

 t_gt:
[-0.83976957  0.52134799  0.15160259]

Pose Error in degrees for R and t:
13.200074100459457 39.391666214310995

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99854799e-01  1.70401587e-02  1.21617577e-04]
 [-1.70401862e-02  9.99854779e-01  2.29128386e-04]
 [-1.17695532e-04 -2.31167502e-04  9.99999966e-01]]

 t_estimated:
[[0.67282711]
 [0.73979902]
 [0.00104503]]

 R_gt:
[[ 0.99780755 -0.04610679 -0.04748944]
 [ 0.04526122  0.99879933 -0.01873472]
 [ 0.04829544  0.01654496  0.9986958 ]]

 t_gt:
[ 0.94868669  0.01319738 -0.31594207]

Pose Error in degrees for R and t:
4.643214967161205 49.62892477494702

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99977765e-01  6.66772079e-03  1.05833778e-04]
 [-6.66775063e-03  9.99977730e-01  2.84226031e-04]
 [-1.03936282e-04 -2.84925385e-04  9.99999954e-01]]

 t_estimated:
[[7.63973371e-01]
 [6.45247488e-01]
 [6.06138318e-04]]

 R_gt:
[[ 0.99639006 -0.07202825 -0.0449445 ]
 [ 0.07186338  0.99740037 -0.0052695 ]
 [ 0.04520728  0.00202086  0.99897545]]

 t_gt:
[ 0.9943389   0.02007759 -0.10434097]

Pose Error in degrees for R and t:
5.2057826445257405 39.417451111645256

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.08016295  0.99674434 -0.00863874]
 [-0.99674166 -0.08023447 -0.0082764 ]
 [-0.00894258  0.00794713  0.99992843]]

 t_estimated:
[[0.00759197]
 [0.99997059]
 [0.00108457]]

 R_gt:
[[ 0.99508094 -0.04696786 -0.08722689]
 [ 0.04633819  0.99888317 -0.00923379]
 [ 0.08756206  0.0051467   0.99614574]]

 t_gt:
[ 0.96177107  0.16811388 -0.21618076]

Pose Error in degrees for R and t:
97.37579686024466 79.91108742454679

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.92228043  0.38651297  0.00255567]
 [-0.38650762  0.92228322 -0.00235147]
 [-0.00326593  0.00118093  0.99999397]]

 t_estimated:
[[-8.94577615e-01]
 [-4.46911985e-01]
 [-7.53645843e-04]]

 R_gt:
[[ 0.98581505 -0.16776291 -0.00499601]
 [ 0.16777054  0.98582589  0.00103989]
 [ 0.00475047 -0.00186263  0.99998731]]

 t_gt:
[ 0.7445944  -0.6669697  -0.02702953]

Pose Error in degrees for R and t:
32.39925333937418 68.40765300884925

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 7.71238475e-01 -6.36546179e-01  4.19063005e-04]
 [ 6.36546155e-01  7.71238582e-01  2.07286387e-04]
 [-4.55144916e-04  1.06885707e-04  9.99999891e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.95171405 -0.30498246  0.03503774]
 [ 0.30318824  0.95169329  0.0485626 ]
 [-0.04815531 -0.03559375  0.99820608]]

 t_gt:
[ 0.74446127 -0.65093707  0.14852053]

Pose Error in degrees for R and t:
22.07703936990056 42.05054894086258

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999791e-01  3.24775807e-04 -5.59217292e-04]
 [-3.24233635e-04  9.99999478e-01  9.69337224e-04]
 [ 5.59531817e-04 -9.69155704e-04  9.99999374e-01]]

 t_estimated:
[[0.8580288 ]
 [0.5136001 ]
 [0.00123079]]

 R_gt:
[[ 0.90896996 -0.41042617  0.07296385]
 [ 0.40479709  0.91084218  0.08066259]
 [-0.09956429 -0.04378236  0.99406744]]

 t_gt:
[ 0.76653984 -0.61038414  0.19961931]

Pose Error in degrees for R and t:
24.930613092554985 69.85082305367354

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 1.00000000e+00  4.56301663e-14 -4.71627945e-17]
 [-4.56301663e-14  1.00000000e+00 -2.85145171e-16]
 [ 1.86808034e-16 -3.85081507e-16  1.00000000e+00]]

 t_estimated:
[[-9.74331629e-01]
 [-2.25116284e-01]
 [-7.31945966e-04]]

 R_gt:
[[ 0.99516948  0.09606337 -0.02025848]
 [-0.09588406  0.99534546  0.00964554]
 [ 0.02109165 -0.00765607  0.99974846]]

 t_gt:
[-0.35533666  0.92985762  0.09539744]

Pose Error in degrees for R and t:
5.655914724417625 82.13613519713962

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99998480e-01 -1.71274600e-03 -3.26512965e-04]
 [ 1.71276731e-03  9.99998531e-01  6.49839488e-05]
 [ 3.26401185e-04 -6.55430908e-05  9.99999945e-01]]

 t_estimated:
[[-0.99996608]
 [-0.00805553]
 [-0.0017188 ]]

 R_gt:
[[ 0.97884616  0.18215835 -0.09315961]
 [-0.17800892  0.98269883  0.05114039]
 [ 0.10086415 -0.0334762   0.9943376 ]]

 t_gt:
[-0.04925836  0.98780699 -0.14768533]

Pose Error in degrees for R and t:
12.132059136943846 87.61848970666189

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999939e-01 -3.45052361e-04 -5.78963309e-05]
 [ 3.45052410e-04  9.99999940e-01  8.42463343e-07]
 [ 5.78960367e-05 -8.62440560e-07  9.99999998e-01]]

 t_estimated:
[[-9.80800384e-01]
 [ 1.95012828e-01]
 [-7.77090803e-04]]

 R_gt:
[[ 0.96256322  0.26196754 -0.06961459]
 [-0.25947698  0.96479915  0.04285112]
 [ 0.07839077 -0.02318344  0.99665351]]

 t_gt:
[-0.11438031  0.98611377 -0.12040257]

Pose Error in degrees for R and t:
15.862118041483923 72.26694316746766

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 2.43558026e-01  9.69886325e-01 -6.56066344e-05]
 [-9.69884605e-01  2.43557466e-01 -1.90100578e-03]
 [-1.82778052e-03  5.26636080e-04  9.99998191e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99866276  0.04379633  0.02749373]
 [-0.04386153  0.99903576  0.0017828 ]
 [-0.02738877 -0.00298579  0.99962048]]

 t_gt:
[-0.50256879  0.79778526  0.33311153]

Pose Error in degrees for R and t:
73.4042371127841 37.34652839598786

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.99925738  0.0353589  -0.01531163]
 [ 0.0353274   0.99937309  0.0023226 ]
 [ 0.01538416  0.00177996 -0.99988007]]

 t_estimated:
[[ 0.99656939]
 [-0.08232067]
 [-0.00852969]]

 R_gt:
[[ 0.98922713  0.14614052  0.00861222]
 [-0.14623141  0.98918649  0.01121274]
 [-0.00688011 -0.01235105  0.99989987]]

 t_gt:
[-0.58830507  0.80304879  0.09491988]

Pose Error in degrees for R and t:
179.5501496616376 49.21639446437931

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 8.18190287e-01 -5.74947143e-01 -6.61319374e-04]
 [ 5.74947240e-01  8.18190484e-01 -5.18154029e-05]
 [ 5.70876337e-04 -3.37828890e-04  9.99999780e-01]]

 t_estimated:
[[-0.12861203]
 [-0.99169442]
 [-0.00106291]]

 R_gt:
[[ 0.98333337  0.18151425  0.01046545]
 [-0.18178271  0.98261646  0.03767476]
 [-0.00344484 -0.03894782  0.99923491]]

 t_gt:
[-0.62855755  0.75277465  0.19556516]

Pose Error in degrees for R and t:
45.617839958224614 48.24934300634618

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.99303595  0.11776139 -0.00344303]
 [ 0.11780745 -0.99232704  0.03752927]
 [ 0.00100289 -0.03767352 -0.9992896 ]]

 t_estimated:
[[-0.08833605]
 [ 0.9959044 ]
 [ 0.01926561]]

 R_gt:
[[ 0.99703463  0.00865908 -0.07646847]
 [-0.01421149  0.99727603 -0.0723766 ]
 [ 0.07563342  0.0732484   0.99444167]]

 t_gt:
[ 0.16538817  0.28789477 -0.94327268]

Pose Error in degrees for R and t:
178.2424384014662 75.28961827546624

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 8.77610313e-01 -4.79374275e-01  6.65725925e-04]
 [-4.79374226e-01 -8.77610559e-01 -2.41640329e-04]
 [ 7.00084259e-04 -1.07065806e-04 -9.99999749e-01]]

 t_estimated:
[[0.1570317 ]
 [0.98759295]
 [0.00109966]]

 R_gt:
[[ 0.9918775  -0.01295097 -0.12653382]
 [-0.00165382  0.99340524 -0.11464116]
 [ 0.12718338  0.11392019  0.98531544]]

 t_gt:
[ 0.27203127  0.22117699 -0.93652535]

Pose Error in degrees for R and t:
171.8165393403616 74.92278730552782

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 1.04869435e-01  9.94485942e-01  3.36903622e-04]
 [-9.94485037e-01  1.04869799e-01 -1.35553863e-03]
 [-1.38339513e-03 -1.92891041e-04  9.99999025e-01]]

 t_estimated:
[[0.37330452]
 [0.92770839]
 [0.00093456]]

 R_gt:
[[ 0.98496598  0.04356431 -0.16716705]
 [-0.06549771  0.98960575 -0.12802759]
 [ 0.15985195  0.13705275  0.97758067]]

 t_gt:
[ 0.12362756  0.46773785 -0.87517857]

Pose Error in degrees for R and t:
81.57635531304386 61.36310371368379

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.82954803e-01 -1.83847364e-01  4.34341525e-05]
 [ 1.83847358e-01  9.82954798e-01  1.16325086e-04]
 [-6.40798691e-05 -1.06357048e-04  9.99999992e-01]]

 t_estimated:
[[0.68607845]
 [0.72752675]
 [0.00109074]]

 R_gt:
[[ 0.99766248  0.01289889 -0.06712123]
 [-0.02015497  0.99388458 -0.10856525]
 [ 0.0653112   0.10966463  0.99182042]]

 t_gt:
[ 0.00265201  0.31218864 -0.95001643]

Pose Error in degrees for R and t:
13.674011028166978 76.82601193857218

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99969288e-01 -7.82425135e-03  4.50820178e-04]
 [ 7.82417333e-03  9.99969375e-01  1.74561892e-04]
 [-4.52172188e-04 -1.71029235e-04  9.99999883e-01]]

 t_estimated:
[[0.01013461]
 [0.99994801]
 [0.00112607]]

 R_gt:
[[ 0.99411306  0.01427865 -0.10740834]
 [-0.03388371  0.98253087 -0.18299169]
 [ 0.10291915  0.18555355  0.97722941]]

 t_gt:
[ 0.03975401  0.32729952 -0.94408402]

Pose Error in degrees for R and t:
12.408991245218466 70.93610987126898

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.97055848e-01 -7.66780984e-02  3.23855030e-04]
 [ 7.66780941e-02  9.97055901e-01  2.56489321e-05]
 [-3.24868280e-04 -7.40831283e-07  9.99999947e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.98328137  0.05692184 -0.17297076]
 [-0.10173427  0.9595384  -0.26255688]
 [ 0.15102659  0.27576388  0.94928676]]

 t_gt:
[-0.02199068  0.44106773 -0.89720436]

Pose Error in degrees for R and t:
20.437351386773717 66.52226249486637

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.99346949e-01  3.61334852e-02  2.15314951e-04]
 [-3.61334293e-02  9.99346941e-01 -2.58060864e-04]
 [-2.24498976e-04  2.50112270e-04  9.99999944e-01]]

 t_estimated:
[[0.76876996]
 [0.6395247 ]
 [0.00095737]]

 R_gt:
[[ 0.99695702 -0.07794382 -0.00136728]
 [ 0.07784944  0.99636121 -0.03470382]
 [ 0.00406733  0.03449179  0.99939681]]

 t_gt:
[ 0.3675157  -0.83176778 -0.41604635]

Pose Error in degrees for R and t:
6.831562221484782 75.53436286064019

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.36052823e-01  3.51858810e-01  7.00313118e-04]
 [-3.51858844e-01  9.36053069e-01 -7.78498908e-05]
 [-6.82922414e-04 -1.73539754e-04  9.99999752e-01]]

 t_estimated:
[[-7.71256871e-01]
 [-6.36523612e-01]
 [-7.28287886e-04]]

 R_gt:
[[ 0.98508295 -0.17021377 -0.0252791 ]
 [ 0.16967522  0.98525191 -0.02211914]
 [ 0.02867188  0.01749957  0.99943533]]

 t_gt:
[ 0.50016644 -0.8346811  -0.2305233 ]

Pose Error in degrees for R and t:
30.450124302425728 81.62187552078997

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.00783984  0.99996652  0.00234331]
 [-0.99996475 -0.00783274 -0.00302567]
 [-0.00300721 -0.00236695  0.99999268]]

 t_estimated:
[[0.00413318]
 [0.99998775]
 [0.00272276]]

 R_gt:
[[ 0.94939536 -0.30990089 -0.05108951]
 [ 0.30854278  0.95064487 -0.03281082]
 [ 0.0587368   0.0153869   0.99815494]]

 t_gt:
[ 0.63944462 -0.74112907 -0.2045441 ]

Pose Error in degrees for R and t:
108.52381335336312 42.350810131069046

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.81558396e-01 -1.91162502e-01 -1.17619877e-04]
 [ 1.91162535e-01  9.81558313e-01  4.03735699e-04]
 [ 3.82716415e-05 -4.18774679e-04  9.99999912e-01]]

 t_estimated:
[[-6.46555086e-02]
 [-9.97907575e-01]
 [ 3.69809579e-04]]

 R_gt:
[[ 0.99819751  0.02496224 -0.05458482]
 [-0.03050919  0.99418501 -0.10326942]
 [ 0.05168994  0.10474867  0.99315374]]

 t_gt:
[-0.11854703  0.42814695 -0.89589999]

Pose Error in degrees for R and t:
14.290639947154123 65.17060958163034

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.48613030e-01 -3.16437962e-01  5.78406285e-04]
 [ 3.16438449e-01  9.48612260e-01 -1.21956678e-03]
 [-1.62766065e-04  1.33992693e-03  9.99999089e-01]]

 t_estimated:
[[-0.30429268]
 [-0.95256838]
 [-0.00441004]]

 R_gt:
[[ 0.99145763  0.06696818 -0.11192533]
 [-0.08592281  0.98095774 -0.17417955]
 [ 0.09812944  0.18230843  0.97833225]]

 t_gt:
[-0.15432255  0.50112734 -0.85150217]

Pose Error in degrees for R and t:
25.75075873530789 64.74525276265668

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.69546921 -0.71852159 -0.007021  ]
 [ 0.71850027 -0.69550375  0.00564763]
 [-0.00894108 -0.00111684  0.9999594 ]]

 t_estimated:
[[0.99844139]
 [0.05546897]
 [0.00616322]]

 R_gt:
[[ 0.98396067  0.05843024 -0.16854582]
 [-0.10079812  0.9616534  -0.25507371]
 [ 0.14717865  0.26797109  0.95211828]]

 t_gt:
[-0.0406005   0.46332767 -0.8852565 ]

Pose Error in degrees for R and t:
139.34742029841667 88.83722024357265

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.81621441e-01  1.90838251e-01  3.28672481e-04]
 [-1.90838246e-01  9.81621496e-01 -4.83204947e-05]
 [-3.31853372e-04 -1.52908461e-05  9.99999945e-01]]

 t_estimated:
[[0.37448395]
 [0.92723251]
 [0.00128248]]

 R_gt:
[[ 0.99127966 -0.12866739 -0.02844631]
 [ 0.12917147  0.99148197  0.01663719]
 [ 0.02606276 -0.02016689  0.99945704]]

 t_gt:
[ 0.59301027 -0.80466858 -0.02910854]

Pose Error in degrees for R and t:
18.50839070688809 58.39371243230788

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99999914e-01  9.48084657e-05  4.02726051e-04]
 [-9.47792728e-05  9.99999993e-01 -7.25066020e-05]
 [-4.02732922e-04  7.24684257e-05  9.99999916e-01]]

 t_estimated:
[[0.82845051]
 [0.56006158]
 [0.00088728]]

 R_gt:
[[ 0.95739704 -0.2826194  -0.05930237]
 [ 0.28283424  0.95915583 -0.0049323 ]
 [ 0.05827378 -0.01205141  0.99822782]]

 t_gt:
[ 0.71033213 -0.69260312 -0.12541601]

Pose Error in degrees for R and t:
16.796029223199955 78.43594497219597

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 0.89854176  0.43888565  0.00144377]
 [-0.43888111  0.89854121 -0.00265902]
 [-0.00246429  0.0017556   0.99999542]]

 t_estimated:
[[-0.81355448]
 [-0.58148285]
 [-0.00260755]]

 R_gt:
[[ 0.91853697 -0.38763604 -0.0776386 ]
 [ 0.38301528  0.92122781 -0.06811063]
 [ 0.09792465  0.03282422  0.9946522 ]]

 t_gt:
[ 0.76138345 -0.58954007 -0.26969938]

Pose Error in degrees for R and t:
49.10264328697962 73.98337750834153

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999963e-01  2.48832711e-04 -1.12878437e-04]
 [-2.48803096e-04  9.99999935e-01  2.62301187e-04]
 [ 1.12943699e-04 -2.62273093e-04  9.99999959e-01]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.99272108  0.1076534  -0.05398833]
 [-0.10707503  0.9941592   0.01349373]
 [ 0.05512663 -0.00761409  0.99844976]]

 t_gt:
[-0.08470892  0.94589647 -0.31321601]

Pose Error in degrees for R and t:
6.927015120470242 19.146500520891287

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999969e-01  2.46384443e-04  4.03873520e-05]
 [-2.46384429e-04  9.99999970e-01 -3.43296563e-07]
 [-4.03874354e-05  3.33345738e-07  9.99999999e-01]]

 t_estimated:
[[-0.61020254]
 [-0.79224501]
 [-0.00083574]]

 R_gt:
[[ 0.98919836  0.14656711  0.00224479]
 [-0.1464096   0.98865432 -0.03355281]
 [-0.00713645  0.03286237  0.99943396]]

 t_gt:
[-0.08769954  0.96473393 -0.24818788]

Pose Error in degrees for R and t:
8.629376048113077 44.717569755435655

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99999949e-01  3.18172505e-04 -3.81481865e-05]
 [-3.18172482e-04  9.99999949e-01  6.04788998e-07]
 [ 3.81483770e-05 -5.92651264e-07  9.99999999e-01]]

 t_estimated:
[[-2.53124571e-01]
 [-9.67433417e-01]
 [-7.31793388e-04]]

 R_gt:
[[ 0.98675987  0.15731811  0.03945915]
 [-0.15155157  0.98099083 -0.12119908]
 [-0.05777554  0.11361516  0.99184249]]

 t_gt:
[ 0.06028162  0.93903185 -0.33850452]

Pose Error in degrees for R and t:
11.523240013815984 22.562455517001737

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 9.58531406e-01  2.84985684e-01 -8.39460390e-04]
 [-2.84984262e-01  9.58531029e-01  1.49583598e-03]
 [ 1.23094067e-03 -1.19457276e-03  9.99998529e-01]]

 t_estimated:
[[0.54727454]
 [0.83695262]
 [0.00094358]]

 R_gt:
[[ 0.99272671  0.11879847 -0.01953456]
 [-0.11859051  0.99287703  0.01146895]
 [ 0.02075722 -0.00906911  0.99974297]]

 t_gt:
[-0.69496991  0.71871018 -0.02173712]

Pose Error in degrees for R and t:
9.814952042425011 77.22244248238336

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 4.59752147e-02  9.98941994e-01  1.08286829e-03]
 [-9.98942451e-01  4.59757335e-02 -4.59087501e-04]
 [-5.08387448e-04 -1.06061646e-03  9.99999308e-01]]

 t_estimated:
[[0.54771714]
 [0.83666307]
 [0.00091439]]

 R_gt:
[[ 0.99480573  0.09633057  0.03293073]
 [-0.09791227  0.99391905  0.05038228]
 [-0.0278775  -0.05334513  0.99818674]]

 t_gt:
[-0.70615466  0.53951853  0.458547  ]

Pose Error in degrees for R and t:
81.84395128713676 86.27076336239908

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 8.70482589e-01 -4.92198215e-01  9.89813253e-04]
 [ 4.92199196e-01  8.70481289e-01 -1.50911295e-03]
 [-1.18831218e-04  1.80084183e-03  9.99998371e-01]]

 t_estimated:
[[-0.09499306]
 [-0.9954754 ]
 [-0.00224638]]

 R_gt:
[[ 0.99707666  0.04358327  0.06276652]
 [-0.05165899  0.98971507  0.1334031 ]
 [-0.05630646 -0.13625505  0.98907208]]

 t_gt:
[-0.43732108  0.22217666  0.8714286 ]

Pose Error in degrees for R and t:
33.31742018400703 79.53781761877157

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.89209956e-01 -1.46504442e-01 -3.34869692e-04]
 [ 1.46504556e-01  9.89209934e-01  3.48268931e-04]
 [ 2.80233480e-04 -3.93571029e-04  9.99999883e-01]]

 t_estimated:
[[-0.66764604]
 [-0.74447833]
 [-0.00088313]]

 R_gt:
[[ 0.99363259  0.10693003 -0.03547373]
 [-0.10750739  0.99409368 -0.01479359]
 [ 0.03368238  0.01851297  0.9992618 ]]

 t_gt:
[-0.74515888  0.581312   -0.32682502]

Pose Error in degrees for R and t:
14.745359215682464 86.27218080623697

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 7.66996325e-01 -6.41649840e-01  1.45625399e-03]
 [-6.41651075e-01 -7.66996439e-01  5.99845717e-04]
 [ 7.32050719e-04 -1.39448640e-03 -9.99998760e-01]]

 t_estimated:
[[0.16544379]
 [0.98621688]
 [0.00214862]]

 R_gt:
[[ 0.98065857  0.1955476   0.00829037]
 [-0.19571224  0.98018493  0.03056648]
 [-0.00214963 -0.03159887  0.99949833]]

 t_gt:
[-0.83300141  0.54834709  0.07364865]

Pose Error in degrees for R and t:
178.14787301230305 66.2258481623974

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.95532879e-01  9.44154955e-02  2.65902861e-05]
 [-9.44154878e-02  9.95532857e-01 -2.13122685e-04]
 [-4.65935874e-05  2.09660105e-04  9.99999977e-01]]

 t_estimated:
[[-9.99797479e-01]
 [-2.01085575e-02]
 [-8.04342300e-04]]

 R_gt:
[[ 0.94892636  0.3139158  -0.03155398]
 [-0.31240811  0.94888483  0.04492743]
 [ 0.04404433 -0.03277515  0.99849228]]

 t_gt:
[-0.79902471  0.60027406 -0.03507941]

Pose Error in degrees for R and t:
13.227169140261159 38.11063667157852

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.64797294  0.7616624   0.00120589]
 [-0.76166262 -0.64796931 -0.00241253]
 [-0.00105616 -0.00248173  0.99999636]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99406917 -0.07532167 -0.07844602]
 [ 0.0716069   0.99622219 -0.04913229]
 [ 0.08185012  0.04322389  0.99570701]]

 t_gt:
[ 0.70863713 -0.29623405 -0.64037396]

Pose Error in degrees for R and t:
134.66930904229645 67.01431392302074

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999921e-01 -3.88126197e-04 -8.07529143e-05]
 [ 3.88193058e-04  9.99999581e-01  8.29610776e-04]
 [ 8.04308868e-05 -8.29642059e-04  9.99999653e-01]]

 t_estimated:
[[0.66880638]
 [0.74343543]
 [0.00133698]]

 R_gt:
[[ 0.97419446 -0.21863271 -0.05608835]
 [ 0.21432944  0.97396537 -0.07384752]
 [ 0.07077251  0.05992162  0.99569109]]

 t_gt:
[ 0.80300649 -0.48453692 -0.34699359]

Pose Error in degrees for R and t:
13.600560806815322 79.84160453857596

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.93639469e-01 -1.12608180e-01  5.68321789e-05]
 [ 1.12608049e-01  9.93638872e-01  1.10398715e-03]
 [-1.80788646e-04 -1.09056544e-03  9.99999389e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.93439273 -0.35296413 -0.04824882]
 [ 0.35021116  0.93492263 -0.05719215]
 [ 0.06529578  0.03654319  0.99719656]]

 t_gt:
[ 0.83157091 -0.5235683  -0.18538085]

Pose Error in degrees for R and t:
14.795531130705664 80.4112340658193

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.46184695  0.88690849  0.00952481]
 [ 0.88693907  0.46188274 -0.00184934]
 [-0.00603954  0.00759381 -0.99995293]]

 t_estimated:
[[0.99563795]
 [0.09328157]
 [0.00190371]]

 R_gt:
[[ 0.9886756  -0.10320109  0.10895535]
 [ 0.10225127  0.9946552   0.01428766]
 [-0.10984685 -0.00298578  0.99394313]]

 t_gt:
[ 0.41397024 -0.69672145  0.58583945]

Pose Error in degrees for R and t:
174.3507361064396 69.61733370469258

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.99999731 -0.00103121  0.00208   ]
 [ 0.00103652  0.9999962  -0.00255279]
 [-0.00207736  0.00255494  0.99999458]]

 t_estimated:
[[9.99977089e-01]
 [6.71689061e-03]
 [8.39611326e-04]]

 R_gt:
[[ 0.96669907 -0.21112276  0.14463735]
 [ 0.21034997  0.97740453  0.02079655]
 [-0.14575991  0.01032023  0.98926545]]

 t_gt:
[ 0.59119115 -0.70200861  0.39708554]

Pose Error in degrees for R and t:
14.718669077877497 54.070051057041745

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.13576516e-01  4.06666065e-01 -8.12798487e-04]
 [-4.06662578e-01  9.13574223e-01  2.77269309e-03]
 [ 1.87011193e-03 -2.20253256e-03  9.99995826e-01]]

 t_estimated:
[[-0.95277408]
 [-0.30367845]
 [-0.00097725]]

 R_gt:
[[ 0.93890352 -0.31318689  0.14274286]
 [ 0.31107525  0.94964628  0.03746032]
 [-0.14728706  0.00923244  0.98905062]]

 t_gt:
[ 0.70777534 -0.64940812  0.27807041]

Pose Error in degrees for R and t:
43.104970975824415 61.48358685704755

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99999967e-01  2.38296223e-04  9.68805351e-05]
 [-2.38295507e-04  9.99999972e-01 -7.40322692e-06]
 [-9.68822965e-05  7.38014048e-06  9.99999995e-01]]

 t_estimated:
[[0.69198633]
 [0.72191022]
 [0.00075011]]

 R_gt:
[[ 0.99940907 -0.03095156 -0.01492875]
 [ 0.031802    0.99766101  0.0605082 ]
 [ 0.01302072 -0.06094731  0.99805559]]

 t_gt:
[ 0.70408136 -0.03300441  0.70935192]

Pose Error in degrees for R and t:
4.008640562712287 62.35961601407784

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999119e-01 -5.15977285e-04  1.22267777e-03]
 [ 5.17069476e-04  9.99999467e-01 -8.93130106e-04]
 [-1.22221628e-03  8.93761529e-04  9.99998854e-01]]

 t_estimated:
[[7.07151696e-01]
 [7.07061864e-01]
 [2.63057323e-06]]

 R_gt:
[[ 0.99683276 -0.06737684 -0.04223913]
 [ 0.06890787  0.99697624  0.03593183]
 [ 0.03968989 -0.03872883  0.99846069]]

 t_gt:
[0.99617424 0.04426426 0.07534962]

Pose Error in degrees for R and t:
5.071385092491039 42.62987362489775

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999874e-01 -4.99797855e-04  4.32000774e-05]
 [ 4.99801357e-04  9.99999872e-01 -8.10966859e-05]
 [-4.31595399e-05  8.11182672e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99806812e-01]
 [ 1.96448756e-02]
 [-6.45443814e-04]]

 R_gt:
[[ 0.9988552  -0.04537717 -0.01513224]
 [ 0.04583979  0.99844452  0.03175925]
 [ 0.01366665 -0.032417    0.99938126]]

 t_gt:
[0.94078008 0.28713723 0.18023612]

Pose Error in degrees for R and t:
3.2819210023300918 18.89338100944055

Number of keypoints:
Image1: 521
Image2: 521

 R_estimated:
[[ 9.92185538e-01  1.24771184e-01 -9.96080923e-05]
 [-1.24771178e-01  9.92185541e-01  6.75591265e-05]
 [ 1.07259141e-04 -5.46029693e-05  9.99999993e-01]]

 t_estimated:
[[-1.74078395e-01]
 [ 9.84731557e-01]
 [-6.87611816e-04]]

 R_gt:
[[ 0.99851482  0.02982905 -0.04559592]
 [-0.02962273  0.99954862  0.00521768]
 [ 0.04573098 -0.0038587   0.99894722]]

 t_gt:
[ 0.04863228  0.95888091 -0.27961097]

Pose Error in degrees for R and t:
6.059735253725573 20.61510743743756

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.74088316e-01  2.26167771e-01 -3.03047948e-04]
 [-2.26167095e-01  9.74087391e-01  1.48302301e-03]
 [ 6.30607195e-04 -1.37605591e-03  9.99998854e-01]]

 t_estimated:
[[0.44459622]
 [0.89573061]
 [0.00093403]]

 R_gt:
[[ 0.99612468  0.02517233 -0.08428442]
 [-0.02451486  0.99966152  0.00884278]
 [ 0.08447892 -0.00674162  0.99640312]]

 t_gt:
[ 0.4789839   0.82325114 -0.30468342]

Pose Error in degrees for R and t:
12.602839481109102 18.17998634573399

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99468576e-01  3.25963107e-02  2.12583166e-04]
 [-3.25964485e-02  9.99468363e-01  6.80782296e-04]
 [-1.90279158e-04 -6.87349969e-04  9.99999746e-01]]

 t_estimated:
[[0.5798003 ]
 [0.8147581 ]
 [0.00092607]]

 R_gt:
[[ 0.98901336 -0.00630006 -0.1476974 ]
 [ 0.00213823  0.99959808 -0.0283127 ]
 [ 0.14781625  0.02768585  0.9886274 ]]

 t_gt:
[ 0.75233467  0.49431336 -0.43548461]

Pose Error in degrees for R and t:
8.920539129924231 33.013060973396925

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[-0.62689412 -0.77901615  0.01173025]
 [-0.77900513  0.62698356  0.00652901]
 [-0.01244088 -0.00504492 -0.99990988]]

 t_estimated:
[[0.9011734 ]
 [0.43338966]
 [0.00773972]]

 R_gt:
[[ 0.99347926 -0.11012575  0.02949481]
 [ 0.11028535  0.99389271 -0.00381097]
 [-0.028895    0.00703964  0.99955774]]

 t_gt:
[ 0.72885538 -0.65867457  0.18686263]

Pose Error in degrees for R and t:
177.85425583736546 68.11106462608741

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.81303584e-01  1.92466105e-01  2.71294426e-04]
 [-1.92466135e-01  9.81303612e-01  8.68028479e-05]
 [-2.49515595e-04 -1.37394935e-04  9.99999959e-01]]

 t_estimated:
[[0.07730498]
 [0.99700684]
 [0.00113684]]

 R_gt:
[[ 0.99374532 -0.07880532  0.07912285]
 [ 0.08131171  0.99626816 -0.02895884]
 [-0.07654492  0.03521216  0.99644446]]

 t_gt:
[ 0.72551478 -0.45113902  0.51971328]

Pose Error in degrees for R and t:
16.41623077548667 66.85172663594801

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.99931722 -0.03689234 -0.00201191]
 [ 0.03689712  0.99931621  0.00239215]
 [ 0.00192228 -0.00246475  0.99999511]]

 t_estimated:
[[-0.92739139]
 [-0.37408846]
 [-0.00173995]]

 R_gt:
[[ 0.99354778  0.04428764  0.10441002]
 [-0.0373844   0.99704157 -0.0671626 ]
 [-0.10707565  0.06282648  0.99226401]]

 t_gt:
[-0.2031814   0.7572569   0.62070872]

Pose Error in degrees for R and t:
8.555641312398839 84.49501303737603

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.85591653 -0.51639017 -0.02735133]
 [ 0.51704019  0.85549012  0.02839186]
 [ 0.00873751 -0.0384428   0.9992226 ]]

 t_estimated:
[[-0.68694168]
 [-0.72671199]
 [-0.00090387]]

 R_gt:
[[ 0.98710227  0.16002971  0.00445733]
 [-0.16003693  0.98710962  0.00124886]
 [-0.00419935 -0.00194579  0.99998876]]

 t_gt:
[-0.89938083  0.43446213  0.04854661]

Pose Error in degrees for R and t:
40.39810827076526 72.41925999346377

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-4.78616904e-01 -8.78023339e-01 -9.35844390e-04]
 [-8.78023535e-01  4.78617352e-01 -3.19817462e-04]
 [ 7.28718559e-04  6.68623356e-04 -9.99999511e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96921326  0.24556832  0.017965  ]
 [-0.24600093  0.96886298  0.02807499]
 [-0.01051076 -0.03162966  0.99944395]]

 t_gt:
[-0.90699963  0.3891377   0.16100783]

Pose Error in degrees for R and t:
178.46831653059397 60.37950214384849

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 5.83526461e-01 -8.12093518e-01  9.93372730e-04]
 [-8.12093924e-01 -5.83526742e-01  7.98654970e-06]
 [ 5.73173728e-04 -8.11372321e-04 -9.99999507e-01]]

 t_estimated:
[[-1.06629331e-02]
 [ 9.99942748e-01]
 [ 8.95917052e-04]]

 R_gt:
[[ 0.96062043  0.2751584   0.03867904]
 [-0.2770883   0.95900663  0.05940494]
 [-0.02074692 -0.06778264  0.99748411]]

 t_gt:
[-0.90458985  0.32264427  0.27859986]

Pose Error in degrees for R and t:
175.90451316755244 70.57813947816749

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-4.03387075e-02 -9.99184346e-01 -1.85262155e-03]
 [-9.99186031e-01  4.03381676e-02  3.27888986e-04]
 [-2.52890184e-04  1.86434019e-03 -9.99998230e-01]]

 t_estimated:
[[6.96517145e-01]
 [7.17540013e-01]
 [4.44142826e-04]]

 R_gt:
[[ 0.9982344   0.03871437 -0.04505225]
 [-0.03924855  0.99916872 -0.01104288]
 [ 0.04458676  0.01279155  0.99892318]]

 t_gt:
[-0.11142926  0.69703694 -0.7083241 ]

Pose Error in degrees for R and t:
177.60848079670367 65.02486514453824

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99995012e-01  3.05882343e-03  7.86716748e-04]
 [-3.05872145e-03  9.99995314e-01 -1.30798091e-04]
 [-7.87113149e-04  1.28391091e-04  9.99999682e-01]]

 t_estimated:
[[0.05041643]
 [0.9987254 ]
 [0.00240078]]

 R_gt:
[[ 0.99413465  0.08176204 -0.07078633]
 [-0.08608447  0.99445865 -0.06034728]
 [ 0.06545881  0.06608661  0.9956648 ]]

 t_gt:
[-0.17523507  0.76240979 -0.62291572]

Pose Error in degrees for R and t:
7.098409365385931 41.31356925762643

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999992e-01 -1.28219432e-04 -2.28251423e-07]
 [ 1.28219439e-04  9.99999991e-01  3.09216587e-05]
 [ 2.24286663e-07 -3.09216877e-05  1.00000000e+00]]

 t_estimated:
[[-0.92265701]
 [-0.38562007]
 [-0.00109948]]

 R_gt:
[[ 0.99679871  0.06055048 -0.05220169]
 [-0.06350717  0.99635374 -0.05697867]
 [ 0.04855993  0.06011135  0.99701012]]

 t_gt:
[-0.13763829  0.78328683 -0.60623217]

Pose Error in degrees for R and t:
5.6907875913058845 79.95674209186711

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.8911192  -0.45376105  0.00273745]
 [-0.45374178  0.89111538  0.00563751]
 [-0.00499747  0.0037816  -0.99998036]]

 t_estimated:
[[0.95886754]
 [0.28384387]
 [0.00238524]]

 R_gt:
[[ 0.99669387  0.0717128  -0.03819424]
 [-0.07297757  0.99679326 -0.03282809]
 [ 0.03571749  0.0355069   0.99873114]]

 t_gt:
[-0.32919587  0.81477479 -0.47725478]

Pose Error in degrees for R and t:
177.69951685023952 85.09379825854255

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.93219441e-01 -1.16252772e-01  6.59299833e-04]
 [ 1.16253104e-01  9.93219501e-01 -4.89483523e-04]
 [-5.97925635e-04  5.62810203e-04  9.99999663e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99634103  0.07032973 -0.04854942]
 [-0.07359583  0.99488937 -0.0691305 ]
 [ 0.04343985  0.07245168  0.99642501]]

 t_gt:
[-0.21587386  0.78133724 -0.58558569]

Pose Error in degrees for R and t:
11.84145702330645 38.79738759267038

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 4.15546390e-01  9.09542712e-01 -7.29741611e-03]
 [-9.09394712e-01  4.15610420e-01  1.64084236e-02]
 [ 1.79570442e-02 -1.82229552e-04  9.99838743e-01]]

 t_estimated:
[[0.70510046]
 [0.70910672]
 [0.00100156]]

 R_gt:
[[ 0.99950531  0.01202274  0.02906781]
 [-0.01216174  0.9999162   0.00459846]
 [-0.02901035 -0.00495019  0.99956714]]

 t_gt:
[-0.27087458  0.79323821  0.54534402]

Pose Error in degrees for R and t:
64.79676761909955 68.15833356593085

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.93024327e-01  1.17907912e-01  6.40429232e-04]
 [-1.17907246e-01  9.93024116e-01 -9.93575879e-04]
 [-7.53112129e-04  9.11133771e-04  9.99999301e-01]]

 t_estimated:
[[0.81676811]
 [0.57696119]
 [0.00237433]]

 R_gt:
[[ 0.99387895 -0.11040477  0.00393828]
 [ 0.11046414  0.99366074 -0.02089032]
 [-0.00160672  0.02119796  0.99977368]]

 t_gt:
[ 0.64581273 -0.74301925 -0.17563685]

Pose Error in degrees for R and t:
13.163327795642981 84.35474477596917

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-9.99264190e-01 -3.83486755e-02  6.77065768e-04]
 [ 3.83457917e-02 -9.99257096e-01 -3.85431789e-03]
 [ 8.24370760e-04 -3.82551922e-03  9.99992343e-01]]

 t_estimated:
[[8.20579508e-01]
 [5.71532031e-01]
 [6.38583275e-04]]

 R_gt:
[[ 0.95768382 -0.28207288  0.05723423]
 [ 0.28231574  0.95931407  0.00398316]
 [-0.05602875  0.01234361  0.99835204]]

 t_gt:
[ 0.69871308 -0.70526903  0.11998175]

Pose Error in degrees for R and t:
161.41137279443404 80.1922718763463

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.90921299  0.41628843 -0.00597356]
 [-0.41630909 -0.90921909  0.00271986]
 [-0.00429903  0.00495978  0.99997846]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.90893259 -0.41456962  0.0444108 ]
 [ 0.41282458  0.90977066  0.04352921]
 [-0.05844933 -0.02123146  0.99806406]]

 t_gt:
[ 0.75405811 -0.63965302  0.14913207]

Pose Error in degrees for R and t:
179.88114253728227 77.16942503130305

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-0.66519234 -0.74664335 -0.00654629]
 [-0.74665317  0.6652123  -0.00127818]
 [ 0.00530902  0.00403757 -0.99997776]]

 t_estimated:
[[ 0.88713166]
 [ 0.4615109 ]
 [-0.00226157]]

 R_gt:
[[ 0.99778626  0.06229207 -0.02330641]
 [-0.06341066  0.99669099 -0.05085608]
 [ 0.02006119  0.052222    0.9984335 ]]

 t_gt:
[-0.47543928  0.706101   -0.52476554]

Pose Error in degrees for R and t:
177.28150096912697 84.56496069851536

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.37096905e-01 -3.49067949e-01 -9.78481155e-04]
 [ 3.49069085e-01  9.37095849e-01  1.46397316e-03]
 [ 4.05904520e-04 -1.71344224e-03  9.99998450e-01]]

 t_estimated:
[[0.98406989]
 [0.1777765 ]
 [0.00139981]]

 R_gt:
[[ 0.98823624  0.13890508 -0.0639947 ]
 [-0.14578111  0.98206465 -0.11957806]
 [ 0.04623767  0.12750054  0.99075935]]

 t_gt:
[-0.4412345   0.72619243 -0.52721597]

Pose Error in degrees for R and t:
29.690199253375965 72.19107302865122

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 8.96133619e-01 -4.43780687e-01 -1.79956263e-03]
 [ 4.43784015e-01  8.96130480e-01  2.43131091e-03]
 [ 5.33674101e-04 -2.97739657e-03  9.99995425e-01]]

 t_estimated:
[[0.64549252]
 [0.76375069]
 [0.00492742]]

 R_gt:
[[ 0.98470787  0.12811989 -0.11805378]
 [-0.1514567   0.96442514 -0.21667267]
 [ 0.08609388  0.23123984  0.96907929]]

 t_gt:
[-0.26792205  0.65330144 -0.70810663]

Pose Error in degrees for R and t:
37.31038094362845 71.18408651477577

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-9.98110269e-01 -6.14403100e-02  9.89334928e-04]
 [-6.14380410e-02  9.98108518e-01  2.18035428e-03]
 [-1.12142526e-03  2.11545120e-03 -9.99997134e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075940e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98413742  0.17705948  0.01118068]
 [-0.17711079  0.98418423  0.00378614]
 [-0.010333   -0.00570562  0.99992945]]

 t_gt:
[-0.87478967  0.48170822  0.05196372]

Pose Error in degrees for R and t:
179.32205636726383 29.161316752309542

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.89688283e-01  1.43237884e-01 -1.08265654e-04]
 [-1.43237889e-01  9.89688287e-01 -3.74423226e-05]
 [ 1.01786090e-04  5.25639716e-05  9.99999993e-01]]

 t_estimated:
[[-9.47358005e-01]
 [ 3.20175734e-01]
 [-5.57241120e-04]]

 R_gt:
[[ 0.95337324  0.29985916  0.03413131]
 [-0.30112763  0.95267866  0.04154569]
 [-0.02005856 -0.04988613  0.99855274]]

 t_gt:
[-0.86204194  0.46886428  0.19248369]

Pose Error in degrees for R and t:
9.764872898928774 14.833461286546902

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.96170658 -0.27407626 -0.00162833]
 [ 0.27407888  0.96170573  0.00169011]
 [ 0.00110276 -0.00207168  0.99999725]]

 t_estimated:
[[-0.72927669]
 [-0.6842184 ]
 [-0.00083441]]

 R_gt:
[[ 0.93157566  0.36017099  0.04944212]
 [-0.36305032  0.928773    0.07467482]
 [-0.0190237  -0.08751524  0.99598114]]

 t_gt:
[-0.8625723   0.43200463  0.26332684]

Pose Error in degrees for R and t:
37.482689892512845 70.53392685400695

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.98909834e-01 -4.66812546e-02  6.91519557e-05]
 [ 4.66812542e-02  9.98909836e-01  6.06143031e-06]
 [-6.93595239e-05 -2.82672231e-06  9.99999998e-01]]

 t_estimated:
[[ 9.97384814e-01]
 [-7.22736803e-02]
 [ 2.17099645e-04]]

 R_gt:
[[ 0.9885657  -0.15075399  0.00343109]
 [ 0.15068466  0.98846459  0.01523642]
 [-0.00568884 -0.01454527  0.99987906]]

 t_gt:
[ 0.9101763  -0.39018033  0.13906262]

Pose Error in degrees for R and t:
6.059298060660203 20.60546346851848

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.98886991e-01  4.71672962e-02  1.61790818e-04]
 [-4.71672870e-02  9.98887002e-01 -5.98260000e-05]
 [-1.64432576e-04  5.21281792e-05  9.99999985e-01]]

 t_estimated:
[[9.28497405e-01]
 [3.71338699e-01]
 [3.72925796e-04]]

 R_gt:
[[ 0.98571467 -0.16570546 -0.030139  ]
 [ 0.16632812  0.9858789   0.01944054]
 [ 0.02649209 -0.02417564  0.99935729]]

 t_gt:
[ 0.98691956 -0.14292784  0.07457489]

Pose Error in degrees for R and t:
12.434755946873608 30.310233398905826

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 7.44836112e-02  9.97222031e-01 -6.42098094e-04]
 [-9.97216054e-01  7.44808662e-02 -3.56975174e-03]
 [-3.51201106e-03  9.06198528e-04  9.99993422e-01]]

 t_estimated:
[[0.05510365]
 [0.99847821]
 [0.00220415]]

 R_gt:
[[ 0.98903024 -0.13337923 -0.06348539]
 [ 0.1363773   0.98961261  0.04548974]
 [ 0.05675805 -0.05364809  0.99694618]]

 t_gt:
[0.98298004 0.10212784 0.15270934]

Pose Error in degrees for R and t:
93.58511712912426 80.9976595694135

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.12081178 -0.99260911  0.01147478]
 [-0.99255476  0.12096925  0.01419471]
 [-0.01547789 -0.00967446 -0.99983341]]

 t_estimated:
[[0.70759205]
 [0.70652968]
 [0.01137116]]

 R_gt:
[[ 0.99843153 -0.03961591  0.03956967]
 [ 0.04099875  0.9985544  -0.03476349]
 [-0.0381343   0.03633092  0.99861193]]

 t_gt:
[ 0.87749493 -0.38558797  0.28517463]

Pose Error in degrees for R and t:
178.6495682512256 69.40733206532691

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.87086801  0.49151205  0.00219476]
 [ 0.49149841 -0.87086526  0.0047975 ]
 [ 0.00426937 -0.00309927 -0.99998608]]

 t_estimated:
[[0.9444278 ]
 [0.3287165 ]
 [0.00126429]]

 R_gt:
[[ 0.99261369  0.07903713  0.09204044]
 [-0.07376734  0.9955104  -0.05931098]
 [-0.09631438  0.05208293  0.99398703]]

 t_gt:
[-0.39398546  0.80756642  0.43887577]

Pose Error in degrees for R and t:
175.77198661000057 83.91086333414937

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.78693445 -0.61702649 -0.00353263]
 [ 0.61703418  0.78693451  0.00170431]
 [ 0.00172834 -0.00352093  0.99999231]]

 t_estimated:
[[0.99981909]
 [0.01890414]
 [0.00210046]]

 R_gt:
[[ 0.98780651  0.10980917  0.11036939]
 [-0.10230553  0.9921792  -0.07151209]
 [-0.11735819  0.05934876  0.99131406]]

 t_gt:
[-0.41087784  0.80194979  0.43365416]

Pose Error in degrees for R and t:
44.86179463075156 66.75071036119104

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.12529462  0.99211802  0.00175782]
 [-0.99211692  0.12529819 -0.00209473]
 [-0.00229847 -0.0014815   0.99999626]]

 t_estimated:
[[0.24597197]
 [0.96927422]
 [0.00229557]]

 R_gt:
[[ 0.99584264 -0.04597879  0.07863447]
 [ 0.05240456  0.99527815 -0.08170811]
 [-0.07450628  0.08548924  0.99354872]]

 t_gt:
[ 0.20353243  0.88855149 -0.41115788]

Pose Error in degrees for R and t:
85.82025003529199 24.443538585769705

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999802e-01  3.47546462e-04 -5.24725629e-04]
 [-3.46795440e-04  9.99998916e-01  1.43067933e-03]
 [ 5.25222288e-04 -1.43049707e-03  9.99998839e-01]]

 t_estimated:
[[0.78355441]
 [0.62132097]
 [0.0016541 ]]

 R_gt:
[[ 0.99315835 -0.08264206  0.08250318]
 [ 0.08657948  0.995212   -0.04534206]
 [-0.07836185  0.05217555  0.99555853]]

 t_gt:
[0.68722073 0.69576287 0.20890596]

Pose Error in degrees for R and t:
7.332650904404461 13.805243382476574

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.99999097e-01 -1.17064743e-03  6.59448919e-04]
 [ 1.17128510e-03  9.99998846e-01 -9.67422662e-04]
 [-6.58315647e-04  9.68194191e-04  9.99999315e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99112803 -0.11999866  0.05714018]
 [ 0.12184476  0.99209539 -0.0299989 ]
 [-0.05308811  0.03669525  0.99791457]]

 t_gt:
[0.91091276 0.40978406 0.04811405]

Pose Error in degrees for R and t:
7.787334614463152 24.18658788637994

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 3.20106709e-03 -9.99991014e-01 -2.77937247e-03]
 [-9.99994501e-01 -3.19864551e-03 -8.75278054e-04]
 [ 8.66379961e-04  2.78215901e-03 -9.99995754e-01]]

 t_estimated:
[[8.54048380e-01]
 [5.20193104e-01]
 [7.05825107e-04]]

 R_gt:
[[ 9.91157185e-01 -1.29467877e-01  2.90921453e-02]
 [ 1.29512695e-01  9.91577229e-01  3.39959959e-04]
 [-2.88917928e-02  3.43041841e-03  9.99576681e-01]]

 t_gt:
[ 0.70599256 -0.69282858  0.14684368]

Pose Error in degrees for R and t:
179.0298301465009 75.95695432494577

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.48113336  0.87664386 -0.00249477]
 [-0.87664415 -0.48113739 -0.00135805]
 [-0.00239085  0.00153362  0.99999597]]

 t_estimated:
[[0.81996589]
 [0.57241165]
 [0.00092028]]

 R_gt:
[[ 9.78473115e-01 -2.04673007e-01  2.64691984e-02]
 [ 2.04754015e-01  9.78813063e-01 -3.64540090e-04]
 [-2.58345575e-02  5.77603220e-03  9.99649857e-01]]

 t_gt:
[ 0.77448341 -0.62949215  0.06257065]

Pose Error in degrees for R and t:
130.57895042900498 74.051160505184

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.99876486 -0.04955449  0.00362046]
 [-0.04953728  0.99876122  0.00469833]
 [-0.00384879  0.00451318 -0.99998241]]

 t_estimated:
[[9.99994892e-01]
 [3.10075939e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.65911410e-01 -2.58869767e-01 -1.43935515e-03]
 [ 2.58869895e-01  9.65912051e-01 -5.99680910e-05]
 [ 1.40501496e-03 -3.15488732e-04  9.99999233e-01]]

 t_gt:
[ 0.8389265  -0.54422073 -0.00511092]

Pose Error in degrees for R and t:
179.8419233920695 33.15116070778712

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.92850738e-01 -1.19362274e-01  2.42691988e-04]
 [ 1.19362352e-01  9.92850702e-01 -3.35707461e-04]
 [-2.00886105e-04  3.62275687e-04  9.99999914e-01]]

 t_estimated:
[[8.57335072e-01]
 [5.14758494e-01]
 [5.16665900e-04]]

 R_gt:
[[ 0.99820965 -0.00964169 -0.05903366]
 [ 0.008795    0.99985582 -0.01456344]
 [ 0.05916615  0.01401895  0.99814947]]

 t_gt:
[ 0.81852231  0.30384351 -0.48754523]

Pose Error in degrees for R and t:
7.226210258058283 30.918169256540107

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[ 0.97744734  0.21117435 -0.00144453]
 [-0.21117164  0.97744728  0.00182944]
 [ 0.00179828 -0.00148314  0.99999728]]

 t_estimated:
[[5.11445192e-01]
 [8.59315605e-01]
 [7.11091891e-04]]

 R_gt:
[[ 0.99344772 -0.05759102 -0.09871986]
 [ 0.05476033  0.99801367 -0.0311417 ]
 [ 0.10031695  0.02553289  0.99462713]]

 t_gt:
[ 0.9221344   0.13944143 -0.36086596]

Pose Error in degrees for R and t:
16.496356252154992 53.75858583948304

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99999981e-01  3.35623733e-05  1.91682294e-04]
 [-3.35794562e-05  9.99999995e-01  8.91184366e-05]
 [-1.91679302e-04 -8.91248715e-05  9.99999978e-01]]

 t_estimated:
[[ 7.15596432e-01]
 [ 6.98513913e-01]
 [-2.43455261e-04]]

 R_gt:
[[ 0.99189106 -0.08346976 -0.09584321]
 [ 0.08201024  0.99644903 -0.0190612 ]
 [ 0.09709446  0.01104716  0.99521324]]

 t_gt:
[ 0.97295161  0.1162895  -0.19960442]

Pose Error in degrees for R and t:
7.36304480213103 38.966013089317144

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 7.46432107e-01 -6.65461027e-01 -8.55523416e-04]
 [ 6.65461492e-01  7.46432045e-01  4.53244127e-04]
 [ 3.36973791e-04 -9.07633857e-04  9.99999531e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10077618e-03]
 [7.75189853e-04]]

 R_gt:
[[ 0.99460143 -0.0962983  -0.0386581 ]
 [ 0.09423148  0.99418401 -0.05214232]
 [ 0.04345437  0.0482174   0.99789198]]

 t_gt:
[ 0.74664881 -0.44640194 -0.49319454]

Pose Error in degrees for R and t:
36.430515924405796 41.851336902162075

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.5267013   0.84965663  0.02587201]
 [ 0.84958529  0.52717594 -0.01704008]
 [-0.02811732  0.01300545 -0.99952002]]

 t_estimated:
[[-0.39333006]
 [-0.91939682]
 [-0.00097601]]

 R_gt:
[[ 0.96859874 -0.24554981 -0.03900756]
 [ 0.24336215  0.96846129 -0.05345197]
 [ 0.050902    0.04228054  0.99780854]]

 t_gt:
[ 0.802281   -0.54591909 -0.24149028]

Pose Error in degrees for R and t:
179.18605493321274 79.24611020259547

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-9.56861728e-01  2.90525099e-01  3.28632387e-03]
 [ 2.90528833e-01  9.56865973e-01  7.11994123e-04]
 [-2.93771932e-03  1.63605176e-03 -9.99994347e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.92588061 -0.37771057  0.00898683]
 [ 0.37779041  0.92583535 -0.01016856]
 [-0.00447909  0.01281017  0.99990851]]

 t_gt:
[ 0.81499848 -0.57848975 -0.03357213]

Pose Error in degrees for R and t:
179.32501489176997 36.381055584844844

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99482409e-01  3.21699288e-02  9.86250741e-05]
 [-3.21699227e-02  9.99482412e-01 -6.25328829e-05]
 [-1.00585705e-04  5.93277554e-05  9.99999993e-01]]

 t_estimated:
[[0.51804441]
 [0.85535318]
 [0.0009665 ]]

 R_gt:
[[ 0.99654035 -0.08293076  0.00546202]
 [ 0.08290527  0.99654742  0.00452788]
 [-0.00581874 -0.00405971  0.99997408]]

 t_gt:
[ 0.69937389 -0.70778554  0.09957807]

Pose Error in degrees for R and t:
6.612356747834928 75.93611487483376

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.98341239 -0.18138012 -0.00115058]
 [ 0.18137597  0.98340914 -0.00303602]
 [ 0.00168216  0.00277698  0.99999473]]

 t_estimated:
[[ 0.70204726]
 [-0.71186342]
 [-0.01949652]]

 R_gt:
[[ 0.98769472 -0.14821381  0.04992039]
 [ 0.14948284  0.98850384 -0.02271715]
 [-0.04597969  0.02990047  0.99849445]]

 t_gt:
[ 0.76378372 -0.62980428  0.14135414]

Pose Error in degrees for R and t:
3.6617442306406933 10.950703976841357

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.41033557 -0.911934   -0.00105252]
 [ 0.91193038 -0.41032989 -0.00351561]
 [ 0.00277412 -0.00240241  0.99999327]]

 t_estimated:
[[0.95330661]
 [0.30200171]
 [0.00121286]]

 R_gt:
[[ 0.99416858 -0.04851248  0.09630467]
 [ 0.05332009  0.99742362 -0.04800234]
 [-0.09372912  0.05285788  0.99419341]]

 t_gt:
[ 0.66066518 -0.17144593  0.73084048]

Pose Error in degrees for R and t:
111.42247527240661 54.624966454310396

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[ 9.98520559e-01 -5.43753637e-02 -1.16005768e-04]
 [ 5.43753687e-02  9.98520564e-01  4.09983368e-05]
 [ 1.13604846e-04 -4.72455386e-05  9.99999992e-01]]

 t_estimated:
[[-9.63092200e-01]
 [-2.69170043e-01]
 [-9.49482225e-04]]

 R_gt:
[[ 0.99190263  0.12680543  0.00707234]
 [-0.12674057  0.99189504 -0.0089963 ]
 [-0.0081565   0.00802755  0.99993432]]

 t_gt:
[-0.79529414  0.60458688 -0.04451904]

Pose Error in degrees for R and t:
10.421405116240207 52.89718498940805

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.43086393e-01 -3.32547360e-01 -5.55103457e-04]
 [ 3.32547491e-01  9.43086497e-01  1.59146378e-04]
 [ 4.70586867e-04 -3.34687045e-04  9.99999833e-01]]

 t_estimated:
[[ 2.58418044e-01]
 [-9.66032892e-01]
 [-7.52111683e-04]]

 R_gt:
[[ 0.97593143  0.21760438  0.01436476]
 [-0.21804602  0.97479967  0.04713929]
 [-0.0037446  -0.04913733  0.99878495]]

 t_gt:
[-0.81720402  0.56429633  0.1172486 ]

Pose Error in degrees for R and t:
32.13293545734611 40.852389956925855

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99844537e-01 -1.76151267e-02 -7.80947229e-04]
 [ 1.76150593e-02  9.99844838e-01 -9.30136462e-05]
 [ 7.82464503e-04  7.92427542e-05  9.99999691e-01]]

 t_estimated:
[[-0.99958714]
 [-0.02866885]
 [-0.00191126]]

 R_gt:
[[ 0.93281632  0.36009334 -0.01363343]
 [-0.35916931  0.93215286  0.04571348]
 [ 0.02916926 -0.03774629  0.99886176]]

 t_gt:
[-0.78695158  0.61698422 -0.00613861]

Pose Error in degrees for R and t:
22.26389233760304 39.740290353935706

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.97164685e-01  7.52498178e-02 -2.38273510e-04]
 [-7.52498752e-02  9.97164679e-01 -2.42112267e-04]
 [ 2.19379024e-04  2.59355854e-04  9.99999942e-01]]

 t_estimated:
[[0.74304916]
 [0.66923633]
 [0.00082014]]

 R_gt:
[[ 0.99408189  0.10718092 -0.01770704]
 [-0.10693945  0.99416554  0.0140953 ]
 [ 0.01911477 -0.0121189   0.99974413]]

 t_gt:
[-0.6492928   0.76046567 -0.01052718]

Pose Error in degrees for R and t:
2.2423286271544822 88.48342418161613

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.89786546e-01 -1.42556747e-01 -4.08402671e-04]
 [ 1.42556794e-01  9.89786620e-01  8.87139946e-05]
 [ 3.91584721e-04 -1.46028494e-04  9.99999913e-01]]

 t_estimated:
[[-0.92632211]
 [-0.37673033]
 [-0.00126608]]

 R_gt:
[[ 0.98963243  0.14275872 -0.01573365]
 [-0.1420082   0.98899539  0.04149513]
 [ 0.02148451 -0.03883003  0.99901492]]

 t_gt:
[-0.69363146  0.70203311  0.1613224 ]

Pose Error in degrees for R and t:
16.578156661255317 67.79975523827291

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.21630813e-01 -3.88061019e-01  2.29987556e-03]
 [ 3.88067054e-01  9.21624659e-01 -3.45682533e-03]
 [-7.78162864e-04  4.07842268e-03  9.99991380e-01]]

 t_estimated:
[[-0.28448421]
 [-0.95867281]
 [-0.00389704]]

 R_gt:
[[ 0.99443136  0.09085913  0.05338178]
 [-0.09643552  0.98886473  0.11334403]
 [-0.04248876 -0.11786069  0.99212086]]

 t_gt:
[-0.58123638  0.42309842  0.69509136]

Pose Error in degrees for R and t:
29.157112609799707 75.93814947325126

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999989e-01  1.47823550e-04 -1.38928851e-05]
 [-1.47822944e-04  9.99999988e-01  4.35714678e-05]
 [ 1.38993258e-05 -4.35694136e-05  9.99999999e-01]]

 t_estimated:
[[-9.99997543e-01]
 [-2.03708174e-03]
 [-8.74254069e-04]]

 R_gt:
[[ 0.99247822  0.09331696 -0.07924543]
 [-0.09002107  0.99495786  0.04420463]
 [ 0.0829708  -0.03673966  0.99587486]]

 t_gt:
[ 0.15013079  0.95006493 -0.27356421]

Pose Error in degrees for R and t:
7.399672840120591 81.26720373048488

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999183e-01 -1.27783628e-03  3.75004978e-05]
 [ 1.27783243e-03  9.99999178e-01  1.02681037e-04]
 [-3.76316765e-05 -1.02633033e-04  9.99999994e-01]]

 t_estimated:
[[0.01079666]
 [0.99994073]
 [0.00140655]]

 R_gt:
[[ 0.9830663   0.17439487 -0.05629347]
 [-0.17263535  0.98437257  0.03477114]
 [ 0.06147806 -0.02446448  0.99780858]]

 t_gt:
[-0.07583687  0.98149966 -0.1758044 ]

Pose Error in degrees for R and t:
10.764850428823012 11.369742575142675

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 1.00000000e+00 -1.07495629e-05 -3.16905644e-08]
 [ 1.07495632e-05  1.00000000e+00  9.14590090e-06]
 [ 3.15922490e-08 -9.14590124e-06  1.00000000e+00]]

 t_estimated:
[[-6.11835450e-01]
 [-7.90984749e-01]
 [-7.13343455e-04]]

 R_gt:
[[ 0.98165047  0.19022502  0.0133152 ]
 [-0.18928053  0.98048933 -0.05304018]
 [-0.02314541  0.04954584  0.99850372]]

 t_gt:
[-0.01253161  0.97951559 -0.20097803]

Pose Error in degrees for R and t:
11.386055373056319 39.917317052902966

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 8.28622550e-01  5.59807253e-01  7.13286222e-04]
 [-5.59807167e-01  8.28622848e-01 -3.34587785e-04]
 [-7.78349930e-04 -1.22055756e-04  9.99999690e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99810543 -0.02284788 -0.05713183]
 [ 0.01980447  0.99838367 -0.05327587]
 [ 0.05825674  0.05204446  0.9969439 ]]

 t_gt:
[ 0.37580373  0.0287844  -0.92625213]

Pose Error in degrees for R and t:
35.544522422739746 88.27141924220467

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.80467172e-01 -1.96682719e-01 -1.81064995e-04]
 [ 1.96682780e-01  9.80467084e-01  4.25972559e-04]
 [ 9.37468267e-05 -4.53264476e-04  9.99999893e-01]]

 t_estimated:
[[0.54489516]
 [0.83850372]
 [0.00088171]]

 R_gt:
[[ 0.99486002  0.03612767 -0.09460396]
 [-0.0429701   0.99652837 -0.07132004]
 [ 0.0916996   0.07501958  0.99295672]]

 t_gt:
[ 0.05139922  0.51832084 -0.85364022]

Pose Error in degrees for R and t:
15.219801869969722 62.49225704276388

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 1.78509848e-01  9.83937811e-01  7.85859337e-04]
 [-9.83936721e-01  1.78510885e-01 -1.54680330e-03]
 [-1.66224270e-03 -4.97116237e-04  9.99998495e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99327118  0.04650332 -0.10606636]
 [-0.05809931  0.99234255 -0.10899895]
 [ 0.10018615  0.11442845  0.98836707]]

 t_gt:
[ 0.03501018  0.58980326 -0.80678771]

Pose Error in degrees for R and t:
77.12638377556607 53.90178508426881

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-1.09818103e-01 -9.93947837e-01 -2.77172688e-03]
 [-9.93951685e-01  1.09818178e-01  1.25569521e-04]
 [ 1.79576444e-04  2.76875241e-03 -9.99996151e-01]]

 t_estimated:
[[7.71256871e-01]
 [6.36523612e-01]
 [7.28287886e-04]]

 R_gt:
[[ 0.99480032 -0.09708761 -0.03076604]
 [ 0.0973387   0.99522808  0.00675765]
 [ 0.02996406 -0.00971673  0.99950337]]

 t_gt:
[ 0.52438909 -0.84123187 -0.13170055]

Pose Error in degrees for R and t:
178.90959030067813 82.465614365116

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.29633391e-01  3.68483714e-01  1.22948990e-03]
 [-3.68483236e-01  9.29634197e-01 -6.03052540e-04]
 [-1.36519090e-03  1.07571360e-04  9.99999062e-01]]

 t_estimated:
[[-0.9785623 ]
 [ 0.2059475 ]
 [ 0.00120194]]

 R_gt:
[[ 0.96932286 -0.23819034 -0.06065218]
 [ 0.23833089  0.97117114 -0.0050163 ]
 [ 0.06009951 -0.00959222  0.99814632]]

 t_gt:
[ 0.6544816  -0.7392574  -0.15859487]

Pose Error in degrees for R and t:
35.59272349385667 37.54360071454318

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-7.07457990e-01 -7.06752887e-01 -1.88386166e-03]
 [ 7.06755046e-01 -7.07457785e-01 -8.87534088e-04]
 [-7.05485320e-04 -1.95932182e-03  9.99997832e-01]]

 t_estimated:
[[9.83855120e-01]
 [1.78964505e-01]
 [8.99319122e-04]]

 R_gt:
[[ 0.92434931 -0.37183524 -0.08553353]
 [ 0.3669314   0.92776839 -0.06786894]
 [ 0.10459126  0.03135035  0.99402084]]

 t_gt:
[ 0.7420287  -0.60557086 -0.28753668]

Pose Error in degrees for R and t:
113.39277124454259 51.58050063791794

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.81964750e-01 -1.89064067e-01  9.26749325e-05]
 [ 1.89064068e-01  9.81964754e-01  6.06416286e-07]
 [-9.11181688e-05  1.69260203e-05  9.99999996e-01]]

 t_estimated:
[[4.71801206e-01]
 [8.81704558e-01]
 [8.32976386e-04]]

 R_gt:
[[ 0.99663636  0.07046933 -0.04182957]
 [-0.07360836  0.99415756 -0.07894389]
 [ 0.03602201  0.08175737  0.9960004 ]]

 t_gt:
[-0.42108865  0.65318403 -0.6293131 ]

Pose Error in degrees for R and t:
15.883102536764094 67.86927860755563

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999791e-01  6.47171782e-04  1.87625078e-07]
 [-6.47171787e-04  9.99999790e-01  2.78629320e-05]
 [-1.69592936e-07 -2.78630476e-05  1.00000000e+00]]

 t_estimated:
[[2.53582658e-02]
 [9.99678404e-01]
 [2.15972445e-04]]

 R_gt:
[[ 0.99125384  0.07770529 -0.10666937]
 [-0.09588757  0.97942476 -0.1775737 ]
 [ 0.0906767   0.1862489   0.97830848]]

 t_gt:
[-0.19768771  0.54646682 -0.81381422]

Pose Error in degrees for R and t:
12.955517273475321 57.24129106107774

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 1.00000000e+00 -1.57948185e-07  1.94928353e-05]
 [ 1.57954020e-07  1.00000000e+00 -2.99314281e-07]
 [-1.94928352e-05  2.99317359e-07  1.00000000e+00]]

 t_estimated:
[[1.90550451e-02]
 [9.99818414e-01]
 [2.10680827e-04]]

 R_gt:
[[ 0.98625357  0.07588157 -0.14678449]
 [-0.11126466  0.96172271 -0.25042186]
 [ 0.12216328  0.26331085  0.95694412]]

 t_gt:
[-0.1109171   0.51999581 -0.84693669]

Pose Error in degrees for R and t:
17.738374211135074 58.82796751157956

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.90795667e-01 -1.35364725e-01  5.80686437e-04]
 [ 1.35364563e-01  9.90795811e-01  3.10607363e-04]
 [-6.17386970e-04 -2.29144063e-04  9.99999783e-01]]

 t_estimated:
[[ 0.99806942]
 [-0.06204956]
 [ 0.00269749]]

 R_gt:
[[ 0.996848   -0.07338681 -0.0301144 ]
 [ 0.07257038  0.99698772 -0.02736159]
 [ 0.0320314   0.02508989  0.99917188]]

 t_gt:
[ 0.37739647 -0.75458062 -0.53682399]

Pose Error in degrees for R and t:
4.3033335926344884 65.03647639005945

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99999380e-01  1.10116553e-03  1.64036105e-04]
 [-1.10117803e-03  9.99999391e-01  7.61220826e-05]
 [-1.63952182e-04 -7.63026684e-05  9.99999984e-01]]

 t_estimated:
[[9.99999671e-01]
 [3.06553405e-05]
 [8.10793926e-04]]

 R_gt:
[[ 0.98027804 -0.1923565  -0.04531678]
 [ 0.19199303  0.9813191  -0.01226391]
 [ 0.04682934  0.00332203  0.99889827]]

 t_gt:
[ 0.5625367  -0.79951024 -0.21056076]

Pose Error in degrees for R and t:
11.470470493648213 55.78213178807703

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.37712885e-01  3.47410495e-01  7.02014235e-04]
 [-3.47410383e-01  9.37713148e-01 -2.80244871e-04]
 [-7.55647988e-04  1.89021928e-05  9.99999714e-01]]

 t_estimated:
[[-9.51389083e-01]
 [ 3.07991227e-01]
 [ 4.65765436e-04]]

 R_gt:
[[ 0.93604672 -0.3445581  -0.07138639]
 [ 0.34278743  0.93871835 -0.03611121]
 [ 0.07945429  0.00933134  0.99679551]]

 t_gt:
[ 0.69367158 -0.68978968 -0.2073884 ]

Pose Error in degrees for R and t:
40.71637136589461 29.24984516164957

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.88270341e-01 -1.52714062e-01  3.86499533e-04]
 [ 1.52714171e-01  9.88270362e-01 -2.70931961e-04]
 [-3.40590913e-04  3.26777977e-04  9.99999889e-01]]

 t_estimated:
[[0.6254377 ]
 [0.78027315]
 [0.00121918]]

 R_gt:
[[ 0.9971528   0.04398907 -0.06124992]
 [-0.04905692  0.99527196 -0.08382646]
 [ 0.05727251  0.08659229  0.99459595]]

 t_gt:
[-0.20755735  0.45748966 -0.86465204]

Pose Error in degrees for R and t:
12.909471074819043 76.93251477308418

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.98891101  0.14739748  0.01813805]
 [-0.14798259 -0.98830374 -0.03683565]
 [ 0.01249642 -0.03911129  0.99915672]]

 t_estimated:
[[0.62970077]
 [0.77683104]
 [0.00323576]]

 R_gt:
[[ 0.99208177  0.04104142 -0.11870056]
 [-0.06066667  0.98412878 -0.16676523]
 [ 0.10997201  0.17264533  0.97882516]]

 t_gt:
[-0.03585557  0.38063624 -0.92402945]

Pose Error in degrees for R and t:
168.82213193435584 74.32848304789064

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 5.22381372e-01 -8.52710276e-01  1.69932162e-03]
 [ 8.52711709e-01  5.22381731e-01 -2.60185583e-04]
 [-6.65831648e-04  1.58494754e-03  9.99998522e-01]]

 t_estimated:
[[0.64285429]
 [0.76598807]
 [0.00079957]]

 R_gt:
[[ 0.9803827   0.09177355 -0.17443753]
 [-0.13023756  0.9658964  -0.22379225]
 [ 0.14794981  0.24212042  0.95889901]]

 t_gt:
[-0.10117163  0.48232664 -0.87012948]

Pose Error in degrees for R and t:
66.84830927911624 72.31870092481324

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 0.50941288 -0.86042898  0.01266844]
 [-0.86046753 -0.50915929  0.01877363]
 [-0.00970312 -0.02046431 -0.9997435 ]]

 t_estimated:
[[0.4805555 ]
 [0.87688195]
 [0.01201898]]

 R_gt:
[[ 0.9984983   0.05462428 -0.00422771]
 [-0.0544875   0.99813405  0.02758126]
 [ 0.00572619 -0.02730829  0.99961056]]

 t_gt:
[-0.49260478  0.80221943  0.33731961]

Pose Error in degrees for R and t:
177.4784900375194 61.91492704216106

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.20781796e-01  3.90077635e-01  5.68269373e-04]
 [-3.90077746e-01  9.20781919e-01  9.58196386e-05]
 [-4.85875066e-04 -3.09898215e-04  9.99999834e-01]]

 t_estimated:
[[-0.5002018 ]
 [ 0.86590757]
 [ 0.00149516]]

 R_gt:
[[ 0.9859887   0.16569112 -0.01931727]
 [-0.16501111  0.98575141  0.03264508]
 [ 0.0244513  -0.02899941  0.99927975]]

 t_gt:
[-0.61680715  0.78346203  0.07573761]

Pose Error in degrees for R and t:
13.613527355767893 9.231937340750632

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-8.48534749e-02  9.96393351e-01  4.22166363e-04]
 [-9.96392110e-01 -8.48526617e-02 -1.67006108e-03]
 [-1.62821581e-03 -5.62353719e-04  9.99998516e-01]]

 t_estimated:
[[0.06694212]
 [0.99775629]
 [0.00106257]]

 R_gt:
[[ 0.98929243  0.14225291  0.03265839]
 [-0.14427655  0.98694939  0.07152395]
 [-0.02205709 -0.07546928  0.99690374]]

 t_gt:
[-0.63484596  0.64482827  0.4256373 ]

Pose Error in degrees for R and t:
86.71283879479495 53.03437261705503

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999766e-01 -5.80223706e-04  3.62214505e-04]
 [ 5.80467530e-04  9.99999605e-01 -6.73407856e-04]
 [-3.61823635e-04  6.73617953e-04  9.99999708e-01]]

 t_estimated:
[[-9.22972306e-01]
 [-3.84865361e-01]
 [-8.80698766e-04]]

 R_gt:
[[ 0.99464422  0.09218985 -0.04672737]
 [-0.08959321  0.99446353  0.05490163]
 [ 0.05153035 -0.05042058  0.9973979 ]]

 t_gt:
[-0.11852329  0.87726951  0.46513486]

Pose Error in degrees for R and t:
6.711916331534231 76.78259689901857

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 0.99999444  0.00261631  0.00206903]
 [-0.00261248  0.99999487 -0.0018513 ]
 [-0.00207386  0.00184588  0.99999615]]

 t_estimated:
[[-0.99996638]
 [ 0.00750392]
 [ 0.00330472]]

 R_gt:
[[ 0.97884975  0.18295926 -0.09153437]
 [-0.17771334  0.9820903   0.06257177]
 [ 0.10134383 -0.04498107  0.9938338 ]]

 t_gt:
[-0.0511696   0.99168537 -0.11807539]

Pose Error in degrees for R and t:
12.16303511085529 86.66239830607006

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.99980022  0.01801858  0.00865189]
 [-0.01789072  0.99973284 -0.01463452]
 [-0.00891327  0.01447681  0.99985548]]

 t_estimated:
[[0.21748903]
 [0.97604835]
 [0.00530461]]

 R_gt:
[[ 0.97511879  0.21913617 -0.03351575]
 [-0.21866863  0.97564911  0.01705182]
 [ 0.03643661 -0.00929835  0.9992926 ]]

 t_gt:
[-0.05422531  0.99130746 -0.11987133]

Pose Error in degrees for R and t:
11.996254731894773 17.227807912593228

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.11760303 -0.99305968 -0.00141118]
 [-0.99305941  0.11760048  0.0017694 ]
 [-0.00159117  0.00160947 -0.99999744]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.98855065 -0.14971423  0.01878059]
 [ 0.14999693  0.98857665 -0.01472399]
 [-0.01636266  0.01737318  0.99971548]]

 t_gt:
[ 7.46113219e-01 -6.65819021e-01 -3.09412016e-04]

Pose Error in degrees for R and t:
179.8342826080094 66.64736325415464

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.40294247e-01  3.40362038e-01  6.42921250e-04]
 [-3.40361884e-01  9.40294461e-01 -3.38535801e-04]
 [-7.19760025e-04  9.94973786e-05  9.99999736e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.95787718 -0.28663871  0.01759673]
 [ 0.28646093  0.95801761  0.01190825]
 [-0.02027109 -0.00636567  0.99977447]]

 t_gt:
[ 0.76870237 -0.63796849  0.04574779]

Pose Error in degrees for R and t:
36.57095702972847 72.70448274242257

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.98929812e-01  4.62437604e-02  8.62906626e-04]
 [-4.62422716e-02  9.98928854e-01 -1.67214814e-03]
 [-9.39308745e-04  1.63045586e-03  9.99998230e-01]]

 t_estimated:
[[-0.06568822]
 [-0.99783529]
 [-0.00312801]]

 R_gt:
[[ 0.90911172 -0.40827381  0.08263543]
 [ 0.40361261  0.91242629  0.06764353]
 [-0.10301609 -0.02814285  0.99428214]]

 t_gt:
[ 0.77351706 -0.60522992  0.18806407]

Pose Error in degrees for R and t:
27.35624531170721 56.45989399413452

Number of keypoints:
Image1: 512
Image2: 512

 R_estimated:
[[ 3.20281067e-01  9.47319063e-01  2.57502955e-03]
 [-9.47320941e-01  3.20284365e-01 -9.79946648e-04]
 [-1.75306385e-03 -2.12552106e-03  9.99996204e-01]]

 t_estimated:
[[0.2207332 ]
 [0.97533273]
 [0.00171111]]

 R_gt:
[[ 0.99435433  0.10027243  0.03471911]
 [-0.10152643  0.99416491  0.0364545 ]
 [-0.03086048 -0.03977414  0.99873251]]

 t_gt:
[-0.90261375  0.18588588  0.38824588]

Pose Error in degrees for R and t:
65.5758190980854 89.0103434075712

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 8.94291804e-01 -4.47484266e-01 -2.28203664e-05]
 [ 4.47484258e-01  8.94291796e-01 -1.49564278e-04]
 [ 8.73357275e-05  1.23542353e-04  9.99999989e-01]]

 t_estimated:
[[-0.71136745]
 [-0.70281964]
 [-0.00094976]]

 R_gt:
[[ 0.97968069  0.20050965  0.0045584 ]
 [-0.20055484  0.9795752   0.01450192]
 [-0.00155662 -0.01512154  0.99988489]]

 t_gt:
[-0.8873298   0.46024304  0.02867337]

Pose Error in degrees for R and t:
38.16091944029267 72.07797126809864

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.13659144e-01 -4.06480527e-01 -7.41959230e-04]
 [ 4.06480613e-01  9.13659406e-01 -3.80392532e-05]
 [ 6.93360244e-04 -2.66837131e-04  9.99999724e-01]]

 t_estimated:
[[-0.32382794]
 [-0.94611481]
 [-0.00149229]]

 R_gt:
[[ 0.95692603  0.2858611   0.05075428]
 [-0.28851056  0.95583192  0.05610881]
 [-0.03247299 -0.06833618  0.99713346]]

 t_gt:
[-0.84962232  0.49337403  0.18634373]

Pose Error in degrees for R and t:
40.920985225415194 78.93426350286299

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.69427522e-01  2.45377381e-01 -4.70139784e-04]
 [-2.45377590e-01  9.69427475e-01 -4.56415868e-04]
 [ 3.43772294e-04  5.57823871e-04  9.99999785e-01]]

 t_estimated:
[[-0.96063938]
 [ 0.27779097]
 [-0.00203946]]

 R_gt:
[[ 0.99816249  0.01809331 -0.05782782]
 [-0.01447577  0.99794765  0.06237815]
 [ 0.05883691 -0.06142625  0.99637675]]

 t_gt:
[-0.64373053 -0.46780217  0.60561715]

Pose Error in degrees for R and t:
14.136060799257779 60.84285940161328

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.91874474e-01 -1.27217770e-01 -8.16667754e-04]
 [ 1.27217659e-01  9.91874807e-01 -1.85841031e-04]
 [ 8.33674453e-04  8.04364143e-05  9.99999649e-01]]

 t_estimated:
[[-0.34738741]
 [-0.93771895]
 [-0.00227051]]

 R_gt:
[[ 0.99529989  0.07243511 -0.06427534]
 [-0.06449153  0.99091118  0.11804594]
 [ 0.07224155 -0.1133452   0.99092639]]

 t_gt:
[-0.89522101 -0.15969221  0.41602613]

Pose Error in degrees for R and t:
13.631809942886855 62.62642156234964

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.32826630e-01 -3.60324601e-01 -8.12976729e-04]
 [-3.60325508e-01 -9.32823709e-01 -2.33576050e-03]
 [ 8.32680011e-05  2.47179585e-03 -9.99996942e-01]]

 t_estimated:
[[0.32273366]
 [0.94648925]
 [0.00104275]]

 R_gt:
[[ 0.99227393  0.10776664 -0.06148088]
 [-0.09461796  0.97781858  0.18686538]
 [ 0.08025479 -0.17960279  0.98046049]]

 t_gt:
[-0.84523041 -0.08538752  0.52753627]

Pose Error in degrees for R and t:
170.49315614914917 69.32586128032246

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.98514998e-01  5.44774677e-02  6.24610656e-05]
 [-5.44773939e-02  9.98514632e-01 -8.61821452e-04]
 [-1.09318138e-04  8.57138929e-04  9.99999627e-01]]

 t_estimated:
[[-0.7594146 ]
 [-0.65060438]
 [-0.00184573]]

 R_gt:
[[ 0.99548404 -0.02063422  0.09266071]
 [ 0.02888281  0.99564963 -0.08858316]
 [-0.09042931  0.09086047  0.99174913]]

 t_gt:
[-0.86981139  0.01330145 -0.49320505]

Pose Error in degrees for R and t:
8.622040248450602 49.24666821810236

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.9407888   0.33898398  0.00250882]
 [-0.33895978  0.94077413 -0.00709303]
 [-0.00476466  0.00582266  0.9999717 ]]

 t_estimated:
[[0.83776617]
 [0.54602847]
 [0.00087086]]

 R_gt:
[[ 0.98770317 -0.00149012  0.15633513]
 [ 0.02498314  0.98861064 -0.14841118]
 [-0.15433304  0.15049243  0.97649074]]

 t_gt:
[-0.8652463   0.3467761  -0.36207067]

Pose Error in degrees for R and t:
23.806652983848107 57.59911936595366

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.18242852  0.98320749  0.00478103]
 [-0.98302579 -0.18229407 -0.02071624]
 [-0.01949681 -0.00847911  0.99977396]]

 t_estimated:
[[0.11980261]
 [0.9926502 ]
 [0.01711466]]

 R_gt:
[[ 0.97062399  0.00686261  0.24050443]
 [ 0.04260257  0.97889633 -0.19986767]
 [-0.23680008  0.20424273  0.94984804]]

 t_gt:
[-0.8005343   0.56084333 -0.21118615]

Pose Error in degrees for R and t:
102.49884304756998 62.79337508102041

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.97967266  0.01416991 -0.2001017 ]
 [ 0.0029116  -0.99639264 -0.08481292]
 [-0.20058166 -0.08367151  0.97609737]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99579138 -0.09151658 -0.00491238]
 [ 0.09152524  0.99580169  0.00164171]
 [ 0.00474073 -0.00208361  0.99998578]]

 t_gt:
[ 0.80771058 -0.58874751 -0.03130465]

Pose Error in degrees for R and t:
175.08262281474313 75.22943830392083

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.62426737e-01 -2.71541125e-01  4.40009496e-04]
 [ 2.71540880e-01  9.62426752e-01  5.45164154e-04]
 [-5.71511398e-04 -4.05199992e-04  9.99999755e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99638022 -0.0766199  -0.03682103]
 [ 0.07266276  0.99244263 -0.09888123]
 [ 0.04411861  0.09584823  0.99441694]]

 t_gt:
[ 0.70543737 -0.19939617 -0.68014651]

Pose Error in degrees for R and t:
12.977685449709114 45.38323272537024

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.89516854e-01 -1.44417391e-01 -1.14811620e-04]
 [ 1.44417259e-01  9.89516571e-01 -7.81866659e-04]
 [ 2.26523143e-04  7.57089458e-04  9.99999688e-01]]

 t_estimated:
[[-0.02399304]
 [-0.99971013]
 [-0.00199942]]

 R_gt:
[[ 0.99428507 -0.09762891 -0.04320554]
 [ 0.08283278  0.96075295 -0.26475165]
 [ 0.06735796  0.25965999  0.96334772]]

 t_gt:
[ 0.50136094  0.12973605 -0.85545646]

Pose Error in degrees for R and t:
15.80632866799539 81.95115839324976

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999560e-01 -9.31740951e-04  1.09793115e-04]
 [ 9.31731983e-04  9.99999563e-01  8.17052366e-05]
 [-1.09869195e-04 -8.16029029e-05  9.99999991e-01]]

 t_estimated:
[[-5.40269889e-03]
 [-9.99984936e-01]
 [-9.68912562e-04]]

 R_gt:
[[ 0.99977309 -0.02101895  0.0035657 ]
 [ 0.02092338  0.99946978  0.0249497 ]
 [-0.0040886  -0.02487029  0.99968219]]

 t_gt:
[ 0.45453006 -0.66266192  0.5952156 ]

Pose Error in degrees for R and t:
1.840557967282031 48.72913741315946

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.82732058 -0.56170153  0.00566058]
 [-0.56169783  0.82733906  0.00237458]
 [-0.00601702 -0.001215   -0.99998116]]

 t_estimated:
[[0.96844008]
 [0.24921592]
 [0.00390332]]

 R_gt:
[[ 9.95752255e-01 -9.20804305e-02 -2.85329600e-05]
 [ 9.20814577e-02  9.95750358e-01  1.67930139e-03]
 [-1.26816237e-04 -1.67495828e-03  9.99998854e-01]]

 t_gt:
[ 0.79053117 -0.61132733 -0.03659736]

Pose Error in degrees for R and t:
179.62341513280825 52.18697112541212

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.36826003 -0.92770844 -0.06116867]
 [ 0.92923531 -0.36939981  0.00809408]
 [-0.03010464 -0.05385936  0.99809462]]

 t_estimated:
[[0.9661631 ]
 [0.2520404 ]
 [0.05481334]]

 R_gt:
[[ 0.99521533 -0.09445227 -0.02502453]
 [ 0.08964432  0.98449325 -0.15079071]
 [ 0.03887894  0.14782544  0.98824862]]

 t_gt:
[ 0.66198651 -0.14524011 -0.73530889]

Pose Error in degrees for R and t:
106.9088870682419 55.758948366027155

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999998e-01  3.15175265e-06 -5.65382378e-05]
 [-3.15170556e-06  1.00000000e+00  8.32876220e-07]
 [ 5.65382404e-05 -8.32698027e-07  9.99999998e-01]]

 t_estimated:
[[-7.20069795e-03]
 [-9.99973679e-01]
 [-8.89882146e-04]]

 R_gt:
[[ 9.99054605e-01  4.91484257e-03  4.31913432e-02]
 [-9.00316462e-04  9.95714423e-01 -9.24648970e-02]
 [-4.34605395e-02  9.23398184e-02  9.94778232e-01]]

 t_gt:
[ 0.44773456  0.62535054 -0.63911694]

Pose Error in degrees for R and t:
5.861810441466704 51.09806486020621

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 1.00000000e+00 -2.22044605e-16 -2.94902991e-17]
 [ 2.77555756e-16  1.00000000e+00  3.03576608e-18]
 [ 2.62810607e-16  7.48966861e-16  1.00000000e+00]]

 t_estimated:
[[-0.76142477]
 [-0.64825093]
 [-0.0017454 ]]

 R_gt:
[[ 0.99326799  0.05758805  0.10051691]
 [-0.04944722  0.99543116 -0.0816764 ]
 [-0.10476176  0.07615648  0.99157671]]

 t_gt:
[0.11184353 0.98382721 0.13991085]

Pose Error in degrees for R and t:
8.053398706837331 43.683046605629976

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.89657999 -0.44286866 -0.00341451]
 [ 0.44287557  0.89658167  0.00159489]
 [ 0.00235506 -0.00294214  0.9999929 ]]

 t_estimated:
[[0.82726316]
 [0.56181168]
 [0.00181816]]

 R_gt:
[[ 0.97929188  0.14564083  0.14063083]
 [-0.12470511  0.98113807 -0.14770089]
 [-0.15948979  0.12710512  0.97898262]]

 t_gt:
[-0.12002981  0.99057624  0.06596638]

Pose Error in degrees for R and t:
36.12499000913048 62.7843404312263

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99993620e-01  3.57151438e-03  6.26896925e-05]
 [-3.57151528e-03  9.99993622e-01  1.42668613e-05]
 [-6.26383384e-05 -1.44906674e-05  9.99999998e-01]]

 t_estimated:
[[9.15609107e-01]
 [4.02069282e-01]
 [5.05489891e-04]]

 R_gt:
[[ 0.99159379 -0.12777931 -0.02033821]
 [ 0.12816106  0.99157669  0.01872631]
 [ 0.01777403 -0.02117539  0.99961713]]

 t_gt:
[ 0.64790939 -0.76078184  0.03774145]

Pose Error in degrees for R and t:
7.722919132059359 73.2998030762685

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.98085072  0.19475556 -0.00146208]
 [-0.19475273 -0.98085058 -0.00187518]
 [-0.00179928 -0.00155453  0.99999717]]

 t_estimated:
[[0.72445066]
 [0.68932578]
 [0.00109765]]

 R_gt:
[[ 0.98060731 -0.18932448  0.05065177]
 [ 0.19133282  0.98077987 -0.0382346 ]
 [-0.04243942  0.0471858   0.99798402]]

 t_gt:
[ 0.57041059 -0.81725102 -0.08205195]

Pose Error in degrees for R and t:
179.7478508906586 81.3610232736628

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.96910871 -0.24661491  0.00306574]
 [ 0.24663159  0.96907907 -0.00765556]
 [-0.00108297  0.00817518  0.999966  ]]

 t_estimated:
[[-0.50621415]
 [-0.8623869 ]
 [-0.00600571]]

 R_gt:
[[ 0.97784276 -0.17941946  0.10784638]
 [ 0.19166832  0.97450671 -0.11661356]
 [-0.08417507  0.13470083  0.98730482]]

 t_gt:
[ 0.41118516 -0.78816367 -0.45795721]

Pose Error in degrees for R and t:
9.387428360609087 61.68591526390166

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.58227675e-01  2.86006360e-01 -2.90084898e-04]
 [-2.86006449e-01  9.58227634e-01 -3.35701981e-04]
 [ 1.81954464e-04  4.04645080e-04  9.99999902e-01]]

 t_estimated:
[[-0.61361825]
 [-0.78960083]
 [-0.00177869]]

 R_gt:
[[ 0.99950314  0.01494678 -0.02775454]
 [-0.01096919  0.99033225  0.13828202]
 [ 0.02955348 -0.13790776  0.99000361]]

 t_gt:
[-0.20012011 -0.28818435  0.93643031]

Pose Error in degrees for R and t:
17.820290577777243 69.59325788509011

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.80009159 -0.59978854  0.01035102]
 [-0.59977646  0.79952002 -0.03218588]
 [ 0.01102887 -0.03195995 -0.9994283 ]]

 t_estimated:
[[0.99518115]
 [0.09756678]
 [0.00975668]]

 R_gt:
[[ 0.99707691  0.04283781 -0.0632686 ]
 [-0.03114097  0.9839938   0.17546271]
 [ 0.06977256 -0.17297972  0.982451  ]]

 t_gt:
[-0.52955716 -0.29671393  0.79468865]

Pose Error in degrees for R and t:
179.55556013024446 56.756304240254934

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.98444537e-01  5.57533354e-02  2.68807014e-04]
 [-5.57523175e-02  9.98440370e-01 -2.91651160e-03]
 [-4.30993025e-04  2.89698846e-03  9.99995711e-01]]

 t_estimated:
[[ 9.93094122e-01]
 [-1.17319968e-01]
 [ 3.01012996e-04]]

 R_gt:
[[ 0.99312638  0.09811628 -0.06382065]
 [-0.07816975  0.96182506  0.26226326]
 [ 0.08711769 -0.25547131  0.96288425]]

 t_gt:
[-0.67978044 -0.16120908  0.715479  ]

Pose Error in degrees for R and t:
15.944606366791659 49.007704149958066

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99982390e-01  5.93348607e-03 -1.14487784e-04]
 [-5.93347672e-03  9.99982393e-01  8.18388274e-05]
 [ 1.14971358e-04 -8.11580756e-05  9.99999990e-01]]

 t_estimated:
[[-0.86367971]
 [-0.50404021]
 [-0.00090818]]

 R_gt:
[[ 0.99426754  0.03439813  0.10123491]
 [-0.02889186  0.99804753 -0.05536936]
 [-0.10294246  0.05212613  0.99332066]]

 t_gt:
[-0.80776406  0.5715623   0.14433908]

Pose Error in degrees for R and t:
6.796862661248232 65.83109476961458

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.99700515  0.07732643  0.00116126]
 [-0.07732496  0.99700514 -0.0012621 ]
 [-0.00125537  0.00116852  0.99999853]]

 t_estimated:
[[0.99922469]
 [0.03934665]
 [0.00136037]]

 R_gt:
[[ 0.98622534  0.00940056  0.16514076]
 [ 0.01264276  0.99117829 -0.13192568]
 [-0.1649243   0.1321957   0.97740717]]

 t_gt:
[-0.57162518  0.79909016 -0.18627821]

Pose Error in degrees for R and t:
12.921279652205294 57.31677712639447

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.90132085 -0.39238574  0.18345067]
 [-0.43296627  0.82854595 -0.35503777]
 [-0.01268555 -0.3994309  -0.91667553]]

 t_estimated:
[[0.99376008]
 [0.11041779]
 [0.01577397]]

 R_gt:
[[ 0.9765103  -0.04102329  0.21153121]
 [ 0.07179155  0.98755916 -0.13990036]
 [-0.20316048  0.15180061  0.96730736]]

 t_gt:
[-0.30383859  0.95272298  0.00101166]

Pose Error in degrees for R and t:
165.14835713006931 78.65424687463883

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-9.76562013e-01 -2.14162069e-01  2.14765486e-02]
 [-2.14096846e-01  9.76797959e-01  5.31859294e-03]
 [-2.21172897e-02  5.95874512e-04 -9.99755205e-01]]

 t_estimated:
[[0.99014569]
 [0.1397043 ]
 [0.00970676]]

 R_gt:
[[ 0.9960916  -0.08645028  0.01814086]
 [ 0.08618673  0.99616906  0.01482404]
 [-0.01935228 -0.01320285  0.99972535]]

 t_gt:
[ 0.65058516 -0.69358538  0.30931905]

Pose Error in degrees for R and t:
177.58201917664707 56.613795185770734

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999849e-01  5.45859852e-04  6.23763528e-05]
 [-5.45861129e-04  9.99999851e-01  2.04676217e-05]
 [-6.23651710e-05 -2.05016674e-05  9.99999998e-01]]

 t_estimated:
[[ 9.98147775e-01]
 [-6.08359950e-02]
 [ 4.18520652e-05]]

 R_gt:
[[ 9.91990172e-01 -1.26310972e-01 -1.57023257e-03]
 [ 1.26319022e-01  9.91960818e-01  7.64874588e-03]
 [ 5.91253279e-04 -7.78573467e-03  9.99969257e-01]]

 t_gt:
[ 0.78447936 -0.61720097  0.06045737]

Pose Error in degrees for R and t:
7.30150090256421 34.85741500050244

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.02696573 -0.99963418  0.00208499]
 [ 0.99960573  0.02698117  0.007772  ]
 [-0.00782541  0.00187459  0.99996762]]

 t_estimated:
[[0.99986399]
 [0.01635792]
 [0.00210367]]

 R_gt:
[[ 0.98827376 -0.15257828  0.00604617]
 [ 0.15263172  0.98823475 -0.00982179]
 [-0.00447582  0.01062925  0.99993322]]

 t_gt:
[ 0.86702231 -0.49826369  0.00236818]

Pose Error in degrees for R and t:
79.67976568136837 30.82249344227095

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 0.99681539  0.01653993  0.07800973]
 [ 0.00602696  0.9598293  -0.28051987]
 [-0.0795158   0.28009668  0.95667293]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.98105619 -0.19356947  0.00767681]
 [ 0.19323465  0.98062933  0.03205117]
 [-0.01373169 -0.02996071  0.99945665]]

 t_gt:
[ 0.6861191  -0.69693327  0.20862551]

Pose Error in degrees for R and t:
21.75204622871796 82.45022555787304

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 2.10315418e-01  9.77623237e-01  4.49799381e-03]
 [ 9.77633519e-01 -2.10311502e-01 -1.33203988e-03]
 [-3.56253311e-04  4.67753804e-03 -9.99988997e-01]]

 t_estimated:
[[-0.65176651]
 [-0.75841921]
 [-0.00084645]]

 R_gt:
[[ 0.93232651 -0.36012148 -0.0328434 ]
 [ 0.36143193  0.93089787  0.05288771]
 [ 0.01152736 -0.06117869  0.99806053]]

 t_gt:
[ 0.77732922 -0.6148775   0.13298473]

Pose Error in degrees for R and t:
176.84523282924354 87.68377135440666

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999878e-01  4.72980632e-04 -1.38933348e-04]
 [-4.72776121e-04  9.99998810e-01  1.46837236e-03]
 [ 1.39627695e-04 -1.46830650e-03  9.99998912e-01]]

 t_estimated:
[[-7.86487629e-01]
 [-6.17605636e-01]
 [-6.97859476e-04]]

 R_gt:
[[ 0.84982135 -0.51529748 -0.11077586]
 [ 0.52279332  0.85081872  0.05287094]
 [ 0.06700614 -0.10284378  0.99243815]]

 t_gt:
[ 0.85776239 -0.50477042  0.09721374]

Pose Error in degrees for R and t:
32.17568186756066 68.71924343032887

Number of keypoints:
Image1: 605
Image2: 605

 R_estimated:
[[ 0.03240253  0.99835464 -0.0473084 ]
 [ 0.99833384 -0.03006813  0.04924883]
 [ 0.04774533 -0.04882537 -0.99766551]]

 t_estimated:
[[ 0.70876278]
 [-0.7046567 ]
 [-0.03338041]]

 R_gt:
[[ 0.9987096   0.05006563  0.00850033]
 [-0.05011266  0.99872895  0.00541253]
 [-0.00821831 -0.00583137  0.99994844]]

 t_gt:
[-0.98851664  0.01357843  0.15050078]

Pose Error in degrees for R and t:
176.1868312412161 44.339119792037955

Number of keypoints:
Image1: 386
Image2: 386

 R_estimated:
[[ 9.96068895e-01 -8.85819193e-02  1.21107653e-05]
 [ 8.85819199e-02  9.96068893e-01 -5.94292315e-05]
 [-6.79880116e-06  6.02684038e-05  9.99999998e-01]]

 t_estimated:
[[-0.97274106]
 [-0.23189183]
 [-0.00100386]]

 R_gt:
[[ 0.98235868  0.18643145  0.01461625]
 [-0.1866823   0.98224945  0.01829117]
 [-0.01094619 -0.02069629  0.99972592]]

 t_gt:
[-0.96352416  0.22285386  0.1481801 ]

Pose Error in degrees for R and t:
15.89214160070701 27.695174199317574

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[ 2.19407666e-01  9.75633007e-01  7.15310488e-04]
 [-9.75632466e-01  2.19408367e-01 -1.12195014e-03]
 [-1.25155670e-03 -4.51715673e-04  9.99999115e-01]]

 t_estimated:
[[0.50317113]
 [0.86418619]
 [0.00102271]]

 R_gt:
[[ 0.96811139  0.24884484  0.02890094]
 [-0.24989365  0.96739035  0.04133468]
 [-0.01767246 -0.04723867  0.99872708]]

 t_gt:
[-0.94822865  0.20578545  0.24189826]

Pose Error in degrees for R and t:
62.935253998706 72.60023048956768

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.89200525 -0.33989323 -0.297992  ]
 [ 0.2924208  -0.93661453  0.19298522]
 [-0.34469801  0.08500477  0.93485693]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.98368068 -0.1702232   0.05828388]
 [ 0.16965001  0.98539472  0.01467861]
 [-0.05993155 -0.00455144  0.99819199]]

 t_gt:
[ 0.6129399  -0.73745813  0.28365503]

Pose Error in degrees for R and t:
151.28338393309016 89.07638396369894

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.85023388e-01 -1.72420774e-01  2.83503275e-05]
 [ 1.72420769e-01  9.85023380e-01  1.39388128e-04]
 [-5.19591444e-05 -1.32412381e-04  9.99999990e-01]]

 t_estimated:
[[-0.37340221]
 [-0.92766813]
 [-0.00162307]]

 R_gt:
[[ 0.94892413 -0.31234875  0.04451084]
 [ 0.3093541   0.94884132  0.06324734]
 [-0.06198933 -0.04624761  0.99700485]]

 t_gt:
[ 0.69320901 -0.66931522  0.26735445]

Pose Error in degrees for R and t:
9.326437501511133 68.80011593234967

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999366e-01 -4.37852304e-04  1.03759722e-03]
 [ 4.38818152e-04  9.99999471e-01 -9.30805093e-04]
 [-1.03718911e-03  9.31259819e-04  9.99999028e-01]]

 t_estimated:
[[-0.68054465]
 [-0.73270616]
 [-0.00081502]]

 R_gt:
[[ 0.87637119 -0.48118924 -0.02076196]
 [ 0.48145091  0.87402205  0.06549279]
 [-0.01336861 -0.06739188  0.99763736]]

 t_gt:
[ 0.81077174 -0.56755616  0.14328009]

Pose Error in degrees for R and t:
29.05433183918302 82.1817435702635

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999523e-01 -5.86942160e-04  7.80538521e-04]
 [ 5.87737171e-04  9.99999308e-01 -1.01870187e-03]
 [-7.79940062e-04  1.01916013e-03  9.99999177e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99871145 -0.04836527 -0.01534669]
 [ 0.04838941  0.99882806  0.00117263]
 [ 0.01527199 -0.00191233  0.9998807 ]]

 t_gt:
[ 0.80117584 -0.55572346 -0.22201061]

Pose Error in degrees for R and t:
2.8947302303162794 60.49273093335385

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99985791e-01 -5.32715469e-03  1.95588024e-04]
 [ 5.32720312e-03  9.99985780e-01 -2.47943638e-04]
 [-1.94264409e-04  2.48982052e-04  9.99999950e-01]]

 t_estimated:
[[ 0.99703937]
 [ 0.07687614]
 [-0.00159967]]

 R_gt:
[[ 0.9967491  -0.07333104 -0.03340386]
 [ 0.07269094  0.9971547  -0.01999449]
 [ 0.03477435  0.01750205  0.99924144]]

 t_gt:
[ 0.7909783  -0.21278542 -0.5736512 ]

Pose Error in degrees for R and t:
4.4794727806009185 39.35823641150175

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.99215003  0.12504511 -0.00142953]
 [-0.12504317 -0.99215036 -0.0013703 ]
 [-0.00158966 -0.00118079  0.99999804]]

 t_estimated:
[[0.83894094]
 [0.54422179]
 [0.00086395]]

 R_gt:
[[ 0.99221383 -0.12454145 -0.0013539 ]
 [ 0.12441515  0.99159473 -0.03549961]
 [ 0.00576316  0.03505557  0.99936852]]

 t_gt:
[ 0.91684557 -0.29487471 -0.26915258]

Pose Error in degrees for R and t:
180.0 52.521080241101934

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 9.73955721e-01 -2.26736826e-01 -8.15251459e-04]
 [ 2.26737157e-01  9.73955927e-01  3.38254760e-04]
 [ 7.17324180e-04 -5.14292957e-04  9.99999610e-01]]

 t_estimated:
[[-0.33602537]
 [-0.94185214]
 [-0.00122637]]

 R_gt:
[[ 0.99259199  0.12083402  0.01266616]
 [-0.12020935  0.9918637  -0.04191705]
 [-0.01762786  0.04008429  0.99904163]]

 t_gt:
[-0.82077201  0.54061371 -0.18458093]

Pose Error in degrees for R and t:
20.190360837193126 76.51730947182992

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 0.52537728  0.85086855  0.00119122]
 [ 0.85085915 -0.52537731  0.0041692 ]
 [ 0.00417328 -0.00117684 -0.9999906 ]]

 t_estimated:
[[0.32314366]
 [0.94634928]
 [0.00109913]]

 R_gt:
[[ 0.97111791  0.23546584  0.03854207]
 [-0.2358635   0.97176716  0.00607925]
 [-0.03602225 -0.01499395  0.9992391 ]]

 t_gt:
[-0.8355157   0.54329101  0.08214858]

Pose Error in degrees for R and t:
179.67794970433175 75.86297217677937

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 0.99896077 -0.04530047 -0.00502555]
 [ 0.045312    0.99897045  0.00220572]
 [ 0.00492046 -0.00243114  0.99998494]]

 t_estimated:
[[-0.97433831]
 [-0.22500412]
 [-0.00616426]]

 R_gt:
[[ 0.93232532  0.35911518  0.0424792 ]
 [-0.35957181  0.93311126  0.00337674]
 [-0.03842417 -0.01842212  0.99909219]]

 t_gt:
[-0.79962069  0.59686881  0.06598766]

Pose Error in degrees for R and t:
23.81749392691726 49.87956727245869

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.98349882e-01 -5.74239730e-02 -1.86336016e-05]
 [ 5.74239690e-02  9.98349868e-01 -1.69312327e-04]
 [ 2.83254402e-05  1.67962926e-04  9.99999985e-01]]

 t_estimated:
[[ 0.6793369 ]
 [-0.73382506]
 [-0.00146478]]

 R_gt:
[[ 0.98563091 -0.16878267  0.00681546]
 [ 0.16866113  0.98555222  0.01551131]
 [-0.00933514 -0.01413924  0.9998562 ]]

 t_gt:
[ 0.74727659 -0.65789746  0.09353415]

Pose Error in degrees for R and t:
6.49623481992642 7.987997805478159

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.8815317   0.47212225  0.00156165]
 [ 0.47211817 -0.88153201  0.00239667]
 [ 0.00250817 -0.00137546 -0.99999591]]

 t_estimated:
[[0.0313981 ]
 [0.9995061 ]
 [0.00130825]]

 R_gt:
[[ 0.95543893 -0.29444048 -0.02103921]
 [ 0.29518183  0.95352461  0.06048065]
 [ 0.00225312 -0.06399681  0.9979479 ]]

 t_gt:
[ 0.78303981 -0.60727308  0.13441749]

Pose Error in degrees for R and t:
176.24306664859293 54.39377323463532

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.31166995  0.95018926  0.0014856 ]
 [ 0.95018985  0.31166765  0.00159129]
 [ 0.00104901  0.00190756 -0.99999763]]

 t_estimated:
[[-0.31780566]
 [-0.94815529]
 [-0.00105234]]

 R_gt:
[[ 9.31470362e-01 -3.63544683e-01 -1.41507419e-02]
 [ 3.63591789e-01  9.31558662e-01  8.03651958e-04]
 [ 1.28901450e-02 -5.89392989e-03  9.99900116e-01]]

 t_gt:
[ 0.81672237 -0.5768538   0.01429212]

Pose Error in degrees for R and t:
179.28634325694986 73.29925606461791

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.97371165e-01  7.24621196e-02 -3.00396955e-05]
 [-7.24621243e-02  9.97371143e-01 -2.07845438e-04]
 [ 1.48998045e-05  2.09475786e-04  9.99999978e-01]]

 t_estimated:
[[-0.94576296]
 [-0.32485604]
 [-0.00099059]]

 R_gt:
[[ 0.99879296  0.04244446  0.024733  ]
 [-0.04168493  0.99866634 -0.03045805]
 [-0.02599302  0.02939091  0.99922986]]

 t_gt:
[-0.81192688  0.42375818 -0.40150186]

Pose Error in degrees for R and t:
2.838789950387684 50.90355303412508

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 0.97943396  0.2016504   0.00679959]
 [ 0.20163539 -0.97945656  0.00283226]
 [ 0.00723103 -0.00140298 -0.99997287]]

 t_estimated:
[[0.76952779]
 [0.63861263]
 [0.00094058]]

 R_gt:
[[ 0.9905872   0.12751601  0.04977305]
 [-0.12253254  0.98811223 -0.09284685]
 [-0.06102178  0.08587411  0.99443605]]

 t_gt:
[-0.81300311  0.39817002 -0.42483713]

Pose Error in degrees for R and t:
174.71162493304973 68.17631171099563

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.73637170e-01 -2.28100893e-01 -8.02234622e-04]
 [ 2.28101016e-01  9.73637470e-01  6.40743809e-05]
 [ 7.66470264e-04 -2.45375731e-04  9.99999676e-01]]

 t_estimated:
[[-0.28013077]
 [-0.95996033]
 [-0.00170811]]

 R_gt:
[[ 0.99314392  0.10705847  0.04694375]
 [-0.1006011   0.98726723 -0.12322278]
 [-0.05953902  0.1176561   0.99126877]]

 t_gt:
[-0.6878476   0.40729835 -0.6008109 ]

Pose Error in degrees for R and t:
20.611056081968375 78.62224589937958

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 8.81154876e-01  4.72827493e-01  4.97172688e-04]
 [-4.72827301e-01  8.81155000e-01 -4.59056429e-04]
 [-6.55140700e-04  1.69422991e-04  9.99999771e-01]]

 t_estimated:
[[0.60309297]
 [0.79767032]
 [0.00096805]]

 R_gt:
[[ 0.98387224 -0.17743592  0.02263039]
 [ 0.17582978  0.98259936  0.05986539]
 [-0.0328585  -0.05492106  0.99795016]]

 t_gt:
[ 0.58919269 -0.7315788   0.34299336]

Pose Error in degrees for R and t:
38.57072005056115 76.82719812460667

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-8.81448405e-01  4.72277904e-01  1.51329041e-03]
 [ 4.72280319e-01  8.81444521e-01  2.61861098e-03]
 [-9.71694329e-05  3.02286775e-03 -9.99995426e-01]]

 t_estimated:
[[9.56864602e-01]
 [2.90533147e-01]
 [7.89492246e-04]]

 R_gt:
[[ 0.91646749 -0.40009557  0.00352326]
 [ 0.39838205  0.91328847  0.08484019]
 [-0.03716135 -0.07634922  0.99638796]]

 t_gt:
[ 0.75011126 -0.6250192   0.21606502]

Pose Error in degrees for R and t:
179.90214970984536 57.56539137232271

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 8.56696506e-01  5.15819924e-01  9.50051559e-04]
 [-5.15819504e-01  8.56697029e-01 -6.62726752e-04]
 [-1.15575401e-03  7.77005688e-05  9.99999329e-01]]

 t_estimated:
[[0.76264732]
 [0.64681389]
 [0.00092667]]

 R_gt:
[[ 0.86674569 -0.49854879 -0.01418722]
 [ 0.4966933   0.86023769  0.11527051]
 [-0.0452633  -0.10695743  0.99323226]]

 t_gt:
[ 0.79221816 -0.56730884  0.22483564]

Pose Error in degrees for R and t:
61.336758873229996 76.26402226452348

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.84864179e-01 -1.73327547e-01 -3.33182171e-04]
 [ 1.73327674e-01  9.84864131e-01  4.01492848e-04]
 [ 2.58549399e-04 -4.53165615e-04  9.99999864e-01]]

 t_estimated:
[[-0.74342032]
 [-0.66882398]
 [-0.00084769]]

 R_gt:
[[ 0.98508375  0.17129201 -0.01642273]
 [-0.171338    0.98521105 -0.00144675]
 [ 0.01593343  0.00423953  0.99986435]]

 t_gt:
[-0.64192433  0.76010041 -0.10089855]

Pose Error in degrees for R and t:
19.867947587313452 88.2196329475763

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.66203151e-01 -2.57781758e-01 -1.89868608e-04]
 [ 2.57781657e-01  9.66203096e-01 -4.41909980e-04]
 [ 2.97367968e-04  3.78030171e-04  9.99999884e-01]]

 t_estimated:
[[-0.68594942]
 [-0.72764848]
 [-0.00104248]]

 R_gt:
[[ 0.94125089  0.33753896 -0.01069429]
 [-0.33765168  0.94120183 -0.01142607]
 [ 0.00620905  0.01436635  0.99987836]]

 t_gt:
[-0.61204049  0.78966478 -0.04284831]

Pose Error in degrees for R and t:
34.68065021982098 81.0991595356698

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-7.22948466e-01  6.90901340e-01  9.24393049e-04]
 [-6.90901528e-01 -7.22945877e-01 -2.08268949e-03]
 [-7.70646815e-04 -2.14434174e-03  9.99997404e-01]]

 t_estimated:
[[0.61541768]
 [0.78820057]
 [0.00097069]]

 R_gt:
[[ 0.90132752  0.43150001  0.03764194]
 [-0.4299481   0.90183177 -0.04294996]
 [-0.05247873  0.02252736  0.99836787]]

 t_gt:
[-0.59992713  0.79698051  0.07006783]

Pose Error in degrees for R and t:
110.79134523883397 74.98673064808668

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[ 9.96839218e-01  7.94449700e-02  2.63518565e-04]
 [-7.94449297e-02  9.96839244e-01 -1.60045512e-04]
 [-2.75400458e-04  1.38604429e-04  9.99999952e-01]]

 t_estimated:
[[ 9.65778193e-01]
 [-2.59368606e-01]
 [-6.39578139e-04]]

 R_gt:
[[ 0.99544794 -0.09270801 -0.02209154]
 [ 0.09325376  0.99532698  0.02505765]
 [ 0.01966483 -0.02700388  0.99944172]]

 t_gt:
[ 0.43771264 -0.89891896 -0.018771  ]

Pose Error in degrees for R and t:
10.079537226795582 49.012323711063885

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 7.43920420e-01  6.68266071e-01  1.69334667e-03]
 [-6.68261708e-01  7.43921969e-01 -2.52853776e-03]
 [-2.94945378e-03  7.49432138e-04  9.99995370e-01]]

 t_estimated:
[[-0.93506152]
 [-0.35448029]
 [-0.00191611]]

 R_gt:
[[ 0.98412229 -0.16312382 -0.06995231]
 [ 0.16626382  0.98520113  0.04165166]
 [ 0.06212185 -0.05262085  0.99668008]]

 t_gt:
[ 0.46850947 -0.87508154 -0.12137206]

Pose Error in degrees for R and t:
51.64249907544039 82.6659841249952

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-0.77816599  0.62744821  0.02768457]
 [ 0.62749016  0.77858102 -0.0082271 ]
 [-0.02671676  0.01096975 -0.99958285]]

 t_estimated:
[[9.15700398e-01]
 [4.01860629e-01]
 [9.03057592e-04]]

 R_gt:
[[ 0.95802075 -0.26209484 -0.11620005]
 [ 0.26570475  0.9639134   0.01646211]
 [ 0.10769102 -0.0466451   0.99308878]]

 t_gt:
[ 0.56629537 -0.79223165 -0.22732919]

Pose Error in degrees for R and t:
174.92323140796452 78.46392405473686

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.81457842e-01 -1.91677944e-01 -2.63646021e-04]
 [ 1.91678002e-01  9.81457843e-01  2.16179477e-04]
 [ 2.17320617e-04 -2.62706186e-04  9.99999942e-01]]

 t_estimated:
[[9.92292190e-01]
 [1.23916450e-01]
 [9.60592633e-04]]

 R_gt:
[[ 0.98663384 -0.1623988   0.01341332]
 [ 0.16205374  0.9864966   0.02371749]
 [-0.01708423 -0.02122645  0.99962864]]

 t_gt:
[ 0.54305881 -0.8170289   0.19378055]

Pose Error in degrees for R and t:
2.315650677894584 64.03539400005889

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99273576e-01 -3.81085381e-02  2.43292842e-04]
 [ 3.81085541e-02  9.99273603e-01 -6.14079750e-05]
 [-2.40775947e-04  7.06349052e-05  9.99999969e-01]]

 t_estimated:
[[0.77821439]
 [0.62799715]
 [0.00139495]]

 R_gt:
[[ 0.96819496 -0.25019266 -0.00108633]
 [ 0.25012256  0.96780066  0.02827155]
 [-0.00602172 -0.02764449  0.99959915]]

 t_gt:
[ 0.5961644  -0.79625525  0.10278903]

Pose Error in degrees for R and t:
12.412314839298336 87.9392605916756

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-1.35044436e-01  9.90839420e-01 -4.94164152e-04]
 [-9.90836844e-01 -1.35045216e-01 -2.26663537e-03]
 [-2.31260618e-03  1.83539554e-04  9.99997309e-01]]

 t_estimated:
[[0.07083438]
 [0.99748741]
 [0.00116122]]

 R_gt:
[[ 0.89845513 -0.43889341  0.01222897]
 [ 0.43813376  0.89801621  0.04006284]
 [-0.02856508 -0.03063728  0.99912239]]

 t_gt:
[ 0.67818169 -0.7278059   0.10182415]

Pose Error in degrees for R and t:
123.7972974363055 47.326444053946545

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 0.79583737  0.60422448  0.03944168]
 [ 0.60418415 -0.78809888 -0.11773563]
 [-0.0400548   0.11752845 -0.9922614 ]]

 t_estimated:
[[9.43231414e-01]
 [3.32135259e-01]
 [8.18067141e-04]]

 R_gt:
[[ 0.99986574  0.01549941 -0.00542113]
 [-0.01558261  0.99975428 -0.01573841]
 [ 0.00517483  0.01582081  0.99986223]]

 t_gt:
[ 0.74690314  0.33165287 -0.57631769]

Pose Error in degrees for R and t:
172.10809771035198 35.49317869505705

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.86946808 -0.49397074  0.00426258]
 [-0.49367175  0.86918637  0.02834191]
 [-0.01770505  0.02253807 -0.9995892 ]]

 t_estimated:
[[0.96098016]
 [0.2766026 ]
 [0.00285157]]

 R_gt:
[[ 0.99994742  0.00604117 -0.0083458 ]
 [-0.00608976  0.99996505 -0.00579708]
 [ 0.00831018  0.00584852  0.99994845]]

 t_gt:
[ 0.97046129 -0.1264967  -0.20543483]

Pose Error in degrees for R and t:
179.90161240409952 26.231057364374966

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-7.48364774e-01 -6.63277874e-01 -3.55341308e-03]
 [ 6.63263604e-01 -7.48372567e-01  4.46011496e-03]
 [-5.61757244e-03  9.80943356e-04  9.99983740e-01]]

 t_estimated:
[[0.97813306]
 [0.20796754]
 [0.00228536]]

 R_gt:
[[ 0.99785767  0.06493194 -0.00798913]
 [-0.06495346  0.99788538 -0.00247582]
 [ 0.00781106  0.00299089  0.99996508]]

 t_gt:
[ 0.73221744  0.65704427 -0.17930544]

Pose Error in degrees for R and t:
142.17502461665435 31.521921627986405

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.91380084e-01  1.31017224e-01  1.22839178e-04]
 [-1.31017200e-01  9.91380077e-01 -1.91772140e-04]
 [-1.46905767e-04  1.74025035e-04  9.99999974e-01]]

 t_estimated:
[[-8.28944726e-01]
 [ 5.59330198e-01]
 [-6.09441196e-04]]

 R_gt:
[[ 0.9987196  -0.03212052  0.03909352]
 [ 0.03232992  0.99946594 -0.00474461]
 [-0.03892063  0.00600403  0.99922462]]

 t_gt:
[ 0.68576447 -0.61833451  0.38391343]

Pose Error in degrees for R and t:
9.640759109812361 23.858384466043198

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 0.5120584   0.8589478  -0.00220748]
 [-0.85894901  0.51205074 -0.00326207]
 [-0.0016716   0.00356649  0.99999224]]

 t_estimated:
[[4.22147894e-01]
 [9.06526970e-01]
 [9.34131177e-05]]

 R_gt:
[[ 0.99492056 -0.00475297  0.10055295]
 [ 0.00833085  0.99934563 -0.03518808]
 [-0.10031855  0.03584769  0.99430943]]

 t_gt:
[-0.00871699  0.82293095  0.56807453]

Pose Error in degrees for R and t:
59.85351877342195 42.06525118454598

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.70761870e-01  2.40044531e-01  1.17281082e-04]
 [-2.40044478e-01  9.70761827e-01 -3.53048713e-04]
 [-1.98599411e-04  3.14573553e-04  9.99999931e-01]]

 t_estimated:
[[-7.12401990e-01]
 [-7.01771279e-01]
 [-6.90911157e-04]]

 R_gt:
[[ 0.98755304  0.09897703  0.12224076]
 [-0.08794873  0.99181667 -0.09254575]
 [-0.13040011  0.08064299  0.98817583]]

 t_gt:
[-0.28835804  0.95650614  0.04410944]

Pose Error in degrees for R and t:
12.225818862933295 62.23461261723214

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.84540348e-01 -1.75157419e-01 -4.27452171e-04]
 [ 1.75156808e-01  9.84539826e-01 -1.19346542e-03]
 [ 6.29888009e-04  1.10014370e-03  9.99999196e-01]]

 t_estimated:
[[-0.03233588]
 [-0.99947274]
 [-0.00293963]]

 R_gt:
[[ 0.98478418 -0.06218209  0.16227376]
 [ 0.06333809  0.99799024 -0.00195935]
 [-0.16182512  0.01220814  0.98674327]]

 t_gt:
[ 0.23377766 -0.35775732  0.90407837]

Pose Error in degrees for R and t:
11.378056826100773 69.67458593493598

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.024086    0.99970668 -0.00253476]
 [-0.99970695 -0.024092   -0.00236487]
 [-0.00242524  0.00247706  0.99999399]]

 t_estimated:
[[ 8.06042916e-04]
 [ 9.99999599e-01]
 [-3.90544018e-04]]

 R_gt:
[[ 0.96158316 -0.05784201  0.26835326]
 [ 0.06249701  0.99800645 -0.0088314 ]
 [-0.2673067   0.02526382  0.9632799 ]]

 t_gt:
[ 0.18251118 -0.19023547  0.96462435]

Pose Error in degrees for R and t:
95.85961386720032 79.02007706351392

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.99975982e-01 -6.78827341e-03 -1.39785272e-03]
 [ 6.78829962e-03  9.99976959e-01  1.40063601e-05]
 [ 1.39772544e-03 -2.34950668e-05  9.99999023e-01]]

 t_estimated:
[[-0.99999632]
 [-0.00161587]
 [-0.00218111]]

 R_gt:
[[ 0.93946316 -0.09373542  0.32958231]
 [ 0.11939085  0.99112704 -0.05843681]
 [-0.32117916  0.09424873  0.94231653]]

 t_gt:
[ 0.42242005 -0.28114904  0.86169398]

Pose Error in degrees for R and t:
20.49589770287801 64.92250850088236

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 0.99999713  0.0020857  -0.00118255]
 [-0.00208437  0.9999972   0.00112432]
 [ 0.00118489 -0.00112185  0.99999867]]

 t_estimated:
[[-0.00759197]
 [-0.99997059]
 [-0.00108457]]

 R_gt:
[[ 0.99301128 -0.01479089  0.1170921 ]
 [ 0.01830908  0.99941071 -0.02903242]
 [-0.11659432  0.03097385  0.99269639]]

 t_gt:
[0.15025747 0.00979966 0.98859833]

Pose Error in degrees for R and t:
7.092000227136597 89.31172797589029

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.54452565  0.55303515 -0.63059015]
 [ 0.18163893  0.65623141  0.73237124]
 [ 0.8188401  -0.51333465  0.25688212]]

 t_estimated:
[[-0.82422365]
 [-0.56626052]
 [-0.00209726]]

 R_gt:
[[ 0.98749902 -0.06815025  0.14213196]
 [ 0.07723765  0.9952406  -0.05942905]
 [-0.13740568  0.06966516  0.98806176]]

 t_gt:
[ 0.77268301 -0.330442    0.54200465]

Pose Error in degrees for R and t:
85.99876318730908 63.199580580637054

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99997016e-01  2.44299991e-03  6.35171953e-06]
 [-2.44299743e-03  9.99996950e-01 -3.63767233e-04]
 [-7.24038347e-06  3.63750630e-04  9.99999934e-01]]

 t_estimated:
[[-0.02258463]
 [-0.99974308]
 [-0.00192619]]

 R_gt:
[[ 0.97668421 -0.17638898  0.12237379]
 [ 0.18124262  0.98299104 -0.02965285]
 [-0.115063    0.05114024  0.99204094]]

 t_gt:
[ 0.8486384  -0.48639312  0.20792932]

Pose Error in degrees for R and t:
12.726240470748161 62.17960707331285

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.98343751e-01  5.75304271e-02  7.30713841e-05]
 [-5.75304206e-02  9.98343750e-01 -8.81712271e-05]
 [-7.80228880e-05  8.38213661e-05  9.99999993e-01]]

 t_estimated:
[[ 2.60301409e-01]
 [-9.65527373e-01]
 [-2.60432609e-04]]

 R_gt:
[[ 0.99525728 -0.06637006  0.07112993]
 [ 0.0705178   0.99585299 -0.05747895]
 [-0.06702042  0.06222349  0.99580873]]

 t_gt:
[ 0.72501344 -0.61606173 -0.30793417]

Pose Error in degrees for R and t:
8.928291360389068 38.40615930974025

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99708700e-01  2.41246597e-02  7.18143677e-04]
 [-2.41243800e-02  9.99708887e-01 -3.95631413e-04]
 [-7.27479089e-04  3.78191395e-04  9.99999664e-01]]

 t_estimated:
[[0.99948514]
 [0.03204005]
 [0.0016989 ]]

 R_gt:
[[ 0.99132371 -0.09842919  0.08712071]
 [ 0.10259673  0.99371847 -0.04470184]
 [-0.08217393  0.05325327  0.99519369]]

 t_gt:
[ 0.76241104 -0.64457155 -0.05706937]

Pose Error in degrees for R and t:
9.074538212418304 42.160334167669475

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99999934e-01  3.62014897e-04  1.23121318e-06]
 [-3.62014527e-04  9.99999893e-01 -2.88126214e-04]
 [-1.33551903e-06  2.88125750e-04  9.99999958e-01]]

 t_estimated:
[[-0.54187419]
 [-0.84045837]
 [-0.00144574]]

 R_gt:
[[ 0.98228945 -0.0915738   0.16346958]
 [ 0.10582884  0.99110256 -0.08072014]
 [-0.15462271  0.09659114  0.98324035]]

 t_gt:
[ 0.83618401 -0.54816654  0.01759972]

Pose Error in degrees for R and t:
11.956245771766273 89.56574114009663

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.84193195e-01  1.77095567e-01  9.56324089e-04]
 [-1.77092900e-01  9.84191250e-01 -2.38485197e-03]
 [-1.36355251e-03  2.17779688e-03  9.99996699e-01]]

 t_estimated:
[[-0.44568796]
 [-0.89516366]
 [-0.00665363]]

 R_gt:
[[ 0.99643745 -0.07522999 -0.0381278 ]
 [ 0.07698358  0.99593162  0.046832  ]
 [ 0.03444847 -0.04959973  0.99817447]]

 t_gt:
[ 0.35352731 -0.93425568  0.04674142]

Pose Error in degrees for R and t:
15.007260458660902 47.278307492263465

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.88773514  0.46034728 -0.00258826]
 [-0.46031029  0.88771371  0.00887713]
 [ 0.0063842  -0.00668914  0.99995725]]

 t_estimated:
[[-0.99842201]
 [-0.05581241]
 [-0.00620138]]

 R_gt:
[[ 0.97402428 -0.21197955 -0.07962983]
 [ 0.2161176   0.97521365  0.0474614 ]
 [ 0.06759419 -0.06343864  0.99569418]]

 t_gt:
[ 0.56297972 -0.82347695 -0.0702819 ]

Pose Error in degrees for R and t:
40.07273436339463 58.9560610627211

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.74513084  0.66691436  0.002296  ]
 [ 0.66690582 -0.74513354  0.00355583]
 [ 0.00408227 -0.00111834 -0.99999104]]

 t_estimated:
[[0.74688212]
 [0.66495373]
 [0.00190531]]

 R_gt:
[[ 0.95025275 -0.29012729 -0.11333978]
 [ 0.29599076  0.95441449  0.03850462]
 [ 0.09700119 -0.07013642  0.99281044]]

 t_gt:
[ 0.60599981 -0.78827338 -0.10672074]

Pose Error in degrees for R and t:
174.76137410643352 85.88501941171879

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-0.50484771 -0.86314992 -0.01005037]
 [-0.86316844  0.50490217 -0.00374694]
 [ 0.00830863  0.00678353 -0.99994247]]

 t_estimated:
[[ 0.86615117]
 [ 0.49975982]
 [-0.00471838]]

 R_gt:
[[ 0.99464176  0.09210717  0.04694596]
 [-0.09227667  0.99573144  0.00145445]
 [-0.04661159 -0.00577823  0.99889647]]

 t_gt:
[-0.39260898  0.81581711  0.42461822]

Pose Error in degrees for R and t:
178.17938698063784 86.23580297748963

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999878e-01 -8.54937086e-05 -4.87478451e-04]
 [ 8.57838248e-05  9.99999819e-01  5.95146618e-04]
 [ 4.87427482e-04 -5.95188363e-04  9.99999704e-01]]

 t_estimated:
[[0.50239021]
 [0.86464   ]
 [0.00132208]]

 R_gt:
[[ 0.99191834  0.11790298  0.04686382]
 [-0.1181039   0.99299973  0.00154711]
 [-0.04635319 -0.0070685   0.9988994 ]]

 t_gt:
[-0.25952613  0.89437722  0.36432895]

Pose Error in degrees for R and t:
7.3073329393736195 49.95323832948822

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99998461e-01 -1.75349994e-03 -5.27387424e-05]
 [ 1.75350693e-03  9.99998454e-01  1.32838763e-04]
 [ 5.25057281e-05 -1.32931036e-04  9.99999990e-01]]

 t_estimated:
[[-9.40208711e-01]
 [-3.40597933e-01]
 [-7.92088215e-04]]

 R_gt:
[[ 0.99240927  0.11388243  0.04642532]
 [-0.1140594   0.99347292  0.00117526]
 [-0.04598864 -0.00646151  0.99892092]]

 t_gt:
[0.05869489 0.90759438 0.4157251 ]

Pose Error in degrees for R and t:
7.161704703598602 68.61460075309809

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99481599e-01 -3.21842251e-02 -8.41764361e-04]
 [ 3.21841748e-02  9.99481953e-01 -7.32075662e-05]
 [ 8.43684416e-04  4.60781240e-05  9.99999643e-01]]

 t_estimated:
[[ 0.66571632]
 [-0.74613868]
 [-0.00994224]]

 R_gt:
[[ 0.99737432  0.07230639  0.00414395]
 [-0.07219558  0.99713522 -0.02256195]
 [-0.00576371  0.0222036   0.99973649]]

 t_gt:
[-0.86938739  0.41944293 -0.26121483]

Pose Error in degrees for R and t:
6.132313146731419 27.235760327472118

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99954191e-01  9.57024095e-03 -1.61659925e-04]
 [-9.57020780e-03  9.99954184e-01  2.04622813e-04]
 [ 1.63610808e-04 -2.03066320e-04  9.99999966e-01]]

 t_estimated:
[[-7.62831863e-01]
 [-6.46596535e-01]
 [-6.84762889e-04]]

 R_gt:
[[ 0.99252295  0.11803294  0.03108584]
 [-0.1161507   0.99161435 -0.05666422]
 [-0.03751424  0.0526296   0.99790898]]

 t_gt:
[-0.85188096  0.42365689 -0.3079183 ]

Pose Error in degrees for R and t:
7.215139941444158 67.90658867306249

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.87481242e-01  1.57735807e-01 -4.60394334e-04]
 [-1.57735837e-01  9.87481344e-01 -2.87711505e-05]
 [ 4.50092575e-04  1.01031657e-04  9.99999894e-01]]

 t_estimated:
[[-0.91346464]
 [-0.40691528]
 [-0.00151721]]

 R_gt:
[[ 0.97949614  0.19672254  0.04346353]
 [-0.19000382  0.9737436  -0.12539127]
 [-0.0669898   0.1145625   0.99115523]]

 t_gt:
[-0.80967523  0.43641624 -0.39238614]

Pose Error in degrees for R and t:
7.922993769229185 55.7627765482808

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.90946488  0.41490242 -0.02701127]
 [ 0.41476216  0.90986496  0.01086814]
 [ 0.02908582 -0.00131905 -0.99957605]]

 t_estimated:
[[ 0.92728283]
 [-0.37393062]
 [-0.01795661]]

 R_gt:
[[ 9.72074803e-01 -2.34560946e-01 -7.23788725e-03]
 [ 2.34671422e-01  9.71723550e-01  2.61510628e-02]
 [ 8.99875155e-04 -2.71195259e-02  9.99631307e-01]]

 t_gt:
[ 0.75827018 -0.64618008  0.08647335]

Pose Error in degrees for R and t:
177.8435545264629 19.403102266389933

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-9.99621482e-01 -2.75112892e-02 -1.48185706e-04]
 [-2.75115225e-02  9.99619657e-01  1.91263528e-03]
 [ 9.55102819e-05  1.91598813e-03 -9.99998160e-01]]

 t_estimated:
[[9.91522270e-01]
 [1.29933861e-01]
 [8.83257989e-04]]

 R_gt:
[[ 0.9603883  -0.27862139 -0.0050753 ]
 [ 0.27858304  0.9594872   0.04215389]
 [-0.00687541 -0.04189766  0.99909812]]

 t_gt:
[ 0.75043377 -0.64680749  0.13597511]

Pose Error in degrees for R and t:
179.90669364472672 48.68870909805434

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.99884101e-01 -1.52152518e-02  5.28945104e-04]
 [ 1.52153862e-02  9.99884208e-01 -2.51053654e-04]
 [-5.25064012e-04  2.59072661e-04  9.99999829e-01]]

 t_estimated:
[[ 9.95335250e-01]
 [-9.64761272e-02]
 [-3.10886599e-04]]

 R_gt:
[[ 9.28754974e-01 -3.67040957e-01  5.19196679e-02]
 [ 3.66466402e-01  9.30204553e-01  2.05263823e-02]
 [-5.58295839e-02 -3.71119880e-05  9.98439837e-01]]

 t_gt:
[ 0.74775701 -0.64875605  0.14133307]

Pose Error in degrees for R and t:
20.90103956876559 36.21414823237756

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.98729489e-01  5.03922148e-02  1.81712084e-04]
 [-5.03921874e-02  9.98729495e-01 -1.52220749e-04]
 [-1.89151958e-04  1.42870481e-04  9.99999972e-01]]

 t_estimated:
[[ 6.15308621e-01]
 [-7.88285947e-01]
 [-7.52957410e-04]]

 R_gt:
[[ 0.98498117 -0.16900227 -0.03533981]
 [ 0.17091847  0.98339597  0.06097914]
 [ 0.02444727 -0.06610429  0.99751305]]

 t_gt:
[ 0.74449658 -0.65503941  0.12902796]

Pose Error in degrees for R and t:
13.315874811740809 13.003487064419081

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99916096e-01 -1.29345630e-02  7.06036483e-04]
 [ 1.29348079e-02  9.99916283e-01 -3.43366544e-04]
 [-7.01536079e-04  3.52470180e-04  9.99999692e-01]]

 t_estimated:
[[0.98204344]
 [0.18865218]
 [0.00101978]]

 R_gt:
[[ 0.96742559 -0.25038264 -0.03735884]
 [ 0.25097523  0.96791845  0.01204459]
 [ 0.03314494 -0.02102884  0.99922887]]

 t_gt:
[ 0.7897172 -0.6133863 -0.0101974]

Pose Error in degrees for R and t:
13.97123368889363 48.71465138876006

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 3.02115911e-01  9.53271182e-01  1.69908832e-04]
 [-9.53268928e-01  3.02115576e-01 -2.12828625e-03]
 [-2.08016606e-03  4.81020331e-04  9.99997721e-01]]

 t_estimated:
[[0.45889134]
 [0.88849174]
 [0.00108485]]

 R_gt:
[[ 0.95213799 -0.30281316 -0.04167284]
 [ 0.30023921  0.95207754 -0.05835434]
 [ 0.05734663  0.04304865  0.99742611]]

 t_gt:
[ 0.81014743 -0.56761924 -0.1465249 ]

Pose Error in degrees for R and t:
90.06118927216902 82.37352891794121

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 8.24430005e-01 -5.65962477e-01 -1.28143439e-03]
 [ 5.65963043e-01  8.24430606e-01  9.79574980e-05]
 [ 1.00101346e-03 -8.06003608e-04  9.99999174e-01]]

 t_estimated:
[[-0.09466007]
 [-0.9955084 ]
 [-0.00157767]]

 R_gt:
[[ 9.92206931e-01  1.24602665e-01  1.94226230e-04]
 [-1.24602081e-01  9.92205192e-01  1.78272413e-03]
 [ 2.97920860e-05 -1.79239249e-03  9.99998526e-01]]

 t_gt:
[-0.78881189  0.61416939  0.02391153]

Pose Error in degrees for R and t:
41.62709879036792 57.53532506770198

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 6.53904563e-01 -7.56575448e-01  1.55359251e-03]
 [ 7.56577040e-01  6.53903383e-01 -1.24433172e-03]
 [-7.44685719e-05  1.98908661e-03  9.99998019e-01]]

 t_estimated:
[[-0.30786347]
 [-0.95142914]
 [-0.00163757]]

 R_gt:
[[ 0.94659012  0.32231125 -0.00908705]
 [-0.32240608  0.94652179 -0.01227311]
 [ 0.00464642  0.01454834  0.99988271]]

 t_gt:
[-0.6918904   0.72079887 -0.04167324]

Pose Error in degrees for R and t:
67.97426372772702 61.7894509107812

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.94466551 -0.32798907 -0.00549885]
 [ 0.32800127  0.94467615  0.00146112]
 [ 0.0047154  -0.0031839   0.99998381]]

 t_estimated:
[[-0.98344001]
 [-0.18116   ]
 [-0.005176  ]]

 R_gt:
[[ 0.92029299  0.39042059  0.02514362]
 [-0.39057279  0.92057093  0.00122621]
 [-0.02266814 -0.01094807  0.999683  ]]

 t_gt:
[-0.66510704  0.7445643   0.05706685]

Pose Error in degrees for R and t:
42.17024320111674 58.74068578300043

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-6.73924685e-01  7.38756174e-01 -8.05195551e-03]
 [-7.38775128e-01 -6.73951448e-01 -8.69094797e-04]
 [-6.06867622e-03  5.36288003e-03  9.99967205e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 9.76577735e-01  2.11189267e-01 -4.11862065e-02]
 [-2.11025604e-01  9.77445369e-01  8.33439520e-03]
 [ 4.20168844e-02  5.52866052e-04  9.99116646e-01]]

 t_gt:
[-0.61217804  0.77098537 -0.17555517]

Pose Error in degrees for R and t:
120.19259476199682 61.40156173439607

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99997190e-01 -2.37055358e-03 -8.17004244e-06]
 [ 2.37055706e-03  9.99997087e-01  4.55065915e-04]
 [ 7.09126050e-06 -4.55084004e-04  9.99999896e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.95483244  0.293582   -0.04588434]
 [-0.29537881  0.9545846  -0.03898888]
 [ 0.03235374  0.05078191  0.99818501]]

 t_gt:
[-0.54755157  0.80541565 -0.22692048]

Pose Error in degrees for R and t:
17.620951713458737 36.70258733462539

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999115e-01 -1.29088351e-03 -3.22777524e-04]
 [ 1.29088455e-03  9.99999167e-01  3.00082217e-06]
 [ 3.22773381e-04 -3.41748803e-06  9.99999948e-01]]

 t_estimated:
[[-0.98218516]
 [-0.18791145]
 [-0.001268  ]]

 R_gt:
[[ 0.93559701  0.34656464 -0.06746912]
 [-0.34966059  0.93598173 -0.04094716]
 [ 0.04895871  0.06190191  0.99688078]]

 t_gt:
[-0.51134602  0.82183912 -0.2512085 ]

Pose Error in degrees for R and t:
20.965158738612807 69.6275073432259

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 3.81162194e-01 -9.24504735e-01 -2.52512412e-03]
 [ 9.24507766e-01  3.81163196e-01  9.05542811e-05]
 [ 8.78766519e-04 -2.36901273e-03  9.99996808e-01]]

 t_estimated:
[[ 9.62644538e-01]
 [-2.70767846e-01]
 [ 5.16588907e-04]]

 R_gt:
[[ 0.98042975 -0.19644612  0.01289506]
 [ 0.1961399   0.980333    0.02180624]
 [-0.01692579 -0.01885048  0.99967934]]

 t_gt:
[ 0.72368621 -0.67726851  0.13261085]

Pose Error in degrees for R and t:
56.28951981230227 28.345134885482643

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.87629216e-01  1.56807286e-01  8.36860766e-05]
 [-1.56807282e-01  9.87629219e-01 -5.33864003e-05]
 [-9.10221910e-05  3.96033825e-05  9.99999995e-01]]

 t_estimated:
[[9.45672582e-01]
 [3.25119883e-01]
 [6.54410264e-04]]

 R_gt:
[[ 0.93415417 -0.35539102  0.03245484]
 [ 0.35427097  0.93446417  0.0356326 ]
 [-0.04299228 -0.02178882  0.99883753]]

 t_gt:
[ 0.76918074 -0.62257995  0.14406664]

Pose Error in degrees for R and t:
29.941937871084292 58.326755205673024

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 7.08359429e-01  7.05850929e-01  1.17729088e-03]
 [-7.05850453e-01  7.08360370e-01 -8.50853968e-04]
 [-1.43452227e-03 -2.28280871e-04  9.99998945e-01]]

 t_estimated:
[[0.6611845 ]
 [0.75022286]
 [0.00084543]]

 R_gt:
[[ 0.88577639 -0.45970006  0.06384907]
 [ 0.45999633  0.88785531  0.01084735]
 [-0.0616747   0.0197618   0.99790072]]

 t_gt:
[ 0.79697061 -0.59659476  0.09440625]

Pose Error in degrees for R and t:
72.38464056907384 85.44331215736634

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 9.99997297e-01 -2.32505406e-03  2.60123933e-05]
 [ 2.32505136e-03  9.99997292e-01  1.03608988e-04]
 [-2.62532194e-05 -1.03548228e-04  9.99999994e-01]]

 t_estimated:
[[0.03790114]
 [0.99928003]
 [0.00170931]]

 R_gt:
[[ 0.99823865  0.05456496  0.02332056]
 [-0.05429147  0.99845009 -0.01222962]
 [-0.02395172  0.01094275  0.99965277]]

 t_gt:
[-0.81576094  0.55611839  0.15895417]

Pose Error in degrees for R and t:
3.587026616043846 58.3269475576909

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.89638087e-01 -1.43584316e-01  3.03890693e-05]
 [ 1.43584312e-01  9.89638082e-01  1.05717195e-04]
 [-4.52535114e-05 -1.00258369e-04  9.99999994e-01]]

 t_estimated:
[[0.67053032]
 [0.74188163]
 [0.00085965]]

 R_gt:
[[ 0.99618838  0.02635702  0.08315707]
 [-0.02451709  0.99943335 -0.02307503]
 [-0.0837173   0.02094802  0.99626878]]

 t_gt:
[-0.75334304  0.42240676  0.50403054]

Pose Error in degrees for R and t:
10.901262098633635 78.96957401492466

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-0.00738011  0.99988332 -0.01337487]
 [-0.99994013 -0.00748727 -0.00797993]
 [-0.00807914  0.01331518  0.99987871]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99418872  0.01330687  0.10683262]
 [-0.00591673  0.99758601 -0.06919878]
 [-0.10749512  0.0681655   0.99186575]]

 t_gt:
[-0.72654102  0.57309248  0.37908198]

Pose Error in degrees for R and t:
90.08422031855449 55.32339867562773

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 0.99919542 -0.03987455  0.00430395]
 [ 0.03989509  0.99919236 -0.00479678]
 [-0.0041092   0.00496463  0.99997923]]

 t_estimated:
[[-0.99349448]
 [-0.11318375]
 [-0.01257597]]

 R_gt:
[[ 0.99759964  0.06788852 -0.01368551]
 [-0.06796972  0.99767216 -0.00552298]
 [ 0.01327901  0.00643993  0.99989109]]

 t_gt:
[-0.41792636  0.88827349 -0.19054596]

Pose Error in degrees for R and t:
6.263835375813476 71.51443609137657

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.75571292 -0.65489843  0.00245594]
 [-0.65490221 -0.7557126   0.00125145]
 [ 0.00103641 -0.00255414 -0.9999962 ]]

 t_estimated:
[[0.31161488]
 [0.95020595]
 [0.00219447]]

 R_gt:
[[ 0.9928463   0.11922163 -0.00656915]
 [-0.11935009  0.99253553 -0.0250587 ]
 [ 0.00353353  0.02566315  0.9996643 ]]

 t_gt:
[-0.39904644  0.90870038 -0.12257879]

Pose Error in degrees for R and t:
178.65641389843051 42.367755461810546

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.98347737e-01 -5.74603603e-02 -3.21171334e-04]
 [ 5.74602726e-02  9.98347755e-01 -2.76064461e-04]
 [ 3.36503443e-04  2.57153737e-04  9.99999910e-01]]

 t_estimated:
[[-0.45530846]
 [-0.89033091]
 [-0.002254  ]]

 R_gt:
[[ 0.99375744  0.11114481 -0.00967219]
 [-0.11147651  0.99267857 -0.04650165]
 [ 0.00443422  0.0472892   0.99887105]]

 t_gt:
[-0.38605257  0.89887107 -0.20735047]

Pose Error in degrees for R and t:
10.058058125609298 51.38733564046817

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.66998027e-01 -2.54783617e-01 -3.51901014e-04]
 [ 2.54783705e-01  9.66998040e-01  2.33956354e-04]
 [ 2.80679345e-04 -3.15893977e-04  9.99999911e-01]]

 t_estimated:
[[-0.50960925]
 [-0.86040537]
 [-0.00100515]]

 R_gt:
[[ 0.98124474  0.19143024  0.02265975]
 [-0.19101048  0.98139524 -0.01943452]
 [-0.02595848  0.0147414   0.99955375]]

 t_gt:
[-0.7185348   0.6903666   0.08427153]

Pose Error in degrees for R and t:
25.84465644146234 76.82607059957664

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.91627200e-01 -1.29132298e-01 -5.87733977e-04]
 [ 1.29132772e-01  9.91626943e-01  8.56654918e-04]
 [ 4.72191028e-04 -9.25378036e-04  9.99999460e-01]]

 t_estimated:
[[-0.93502249]
 [-0.35458561]
 [-0.00141157]]

 R_gt:
[[ 0.96182027  0.26643341  0.06256426]
 [-0.26357824  0.96332516 -0.05030431]
 [-0.07367229  0.0318932   0.99677261]]

 t_gt:
[-0.70033182  0.69784514  0.15015828]

Pose Error in degrees for R and t:
23.27683237317302 65.9729309517801

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.63545122  0.77213165  0.0038018 ]
 [-0.77213938 -0.63543206 -0.00518381]
 [-0.0015868  -0.00622958  0.99997934]]

 t_estimated:
[[0.62297408]
 [0.78224121]
 [0.00140944]]

 R_gt:
[[ 0.96246263  0.2485999   0.10892283]
 [-0.24590282  0.96855902 -0.03775075]
 [-0.11488299  0.00954955  0.9933327 ]]

 t_gt:
[-0.72099088  0.6234049   0.30255328]

Pose Error in degrees for R and t:
115.18812901161537 87.76943877290316

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.91641311e-01 -1.29025095e-01 -1.84997005e-04]
 [ 1.29025086e-01  9.91641328e-01 -5.75794206e-05]
 [ 1.90879866e-04  3.32288775e-05  9.99999981e-01]]

 t_estimated:
[[-0.56672339]
 [-0.82390744]
 [-0.00106592]]

 R_gt:
[[ 0.9983518   0.05730012 -0.00310411]
 [-0.05732654  0.99831486 -0.00904754]
 [ 0.00257938  0.00920934  0.99995415]]

 t_gt:
[-0.4021776   0.90851061 -0.11340919]

Pose Error in degrees for R and t:
10.712662433505397 58.635255962869095

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.19965758  0.97984502 -0.0063705 ]
 [-0.97984477  0.19960656 -0.00783921]
 [-0.00640961  0.00780726  0.99994898]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99580336  0.09119143  0.00767912]
 [-0.09083517  0.99513171 -0.0382472 ]
 [-0.01113108  0.0373882   0.99923899]]

 t_gt:
[-0.40665714  0.90719085 -0.10786439]

Pose Error in degrees for R and t:
73.27327517445563 25.240706872196977

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99971947e-01  7.48807921e-03 -1.86144102e-04]
 [-7.48805463e-03  9.99971955e-01  1.32420015e-04]
 [ 1.87130454e-04 -1.31022443e-04  9.99999974e-01]]

 t_estimated:
[[-7.13942683e-01]
 [-7.00203825e-01]
 [ 6.69242131e-04]]

 R_gt:
[[ 0.99984423  0.01646099 -0.00639455]
 [-0.01665741  0.99935251 -0.03189678]
 [ 0.0058647   0.03199788  0.99947016]]

 t_gt:
[-0.38666774  0.8216774  -0.41872941]

Pose Error in degrees for R and t:
1.940843307331221 72.5686251954259

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.14176763  0.98989888 -0.00146479]
 [-0.98989871 -0.14176965 -0.00138427]
 [-0.00157795  0.00125375  0.99999797]]

 t_estimated:
[[3.97714148e-01]
 [9.17509265e-01]
 [4.54106457e-04]]

 R_gt:
[[ 0.99682329 -0.07835454 -0.01423898]
 [ 0.07822707  0.99689243 -0.00927816]
 [ 0.01492264  0.00813528  0.99985525]]

 t_gt:
[ 0.8391455  -0.52097295 -0.15627543]

Pose Error in degrees for R and t:
102.64363268138946 81.70160748566154

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 0.95107372  0.30891639  0.00542643]
 [-0.30889224  0.95108465 -0.00485582]
 [-0.00666104  0.00294206  0.99997349]]

 t_estimated:
[[-0.08333884]
 [-0.99651969]
 [-0.00177317]]

 R_gt:
[[ 0.98546656 -0.16217378 -0.05054252]
 [ 0.16172276  0.98675146 -0.01290825]
 [ 0.05196653  0.0045474   0.99863862]]

 t_gt:
[ 0.84284179 -0.50297507 -0.19139956]

Pose Error in degrees for R and t:
27.51683433201813 64.44848201379686

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.14880839 -0.98882925 -0.00853132]
 [ 0.98885381 -0.14875808 -0.00625972]
 [ 0.00492069 -0.00936773  0.99994401]]

 t_estimated:
[[0.99823512]
 [0.05936945]
 [0.00138068]]

 R_gt:
[[ 0.97717642 -0.19169152 -0.0915396 ]
 [ 0.19122613  0.98144731 -0.01391092]
 [ 0.09250767 -0.00391139  0.9957038 ]]

 t_gt:
[ 0.86817533 -0.44437787 -0.220907  ]

Pose Error in degrees for R and t:
87.58591507686859 32.86456461478123

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-2.27080131e-01  9.73875890e-01  6.04523863e-04]
 [-9.73874786e-01 -2.27078775e-01 -1.76953384e-03]
 [-1.58603180e-03 -9.90556522e-04  9.99998252e-01]]

 t_estimated:
[[0.45636816]
 [0.88979042]
 [0.0010552 ]]

 R_gt:
[[ 9.89442198e-01 -1.38098971e-01  4.39523936e-02]
 [ 1.38258174e-01  9.90395688e-01 -5.95855593e-04]
 [-4.34490243e-02  6.66674758e-03  9.99033091e-01]]

 t_gt:
[ 0.63643431 -0.72626592  0.25978682]

Pose Error in degrees for R and t:
111.08781051071159 69.17578743998453

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.86175205e-01  1.65692137e-01  2.14010939e-03]
 [-1.65689856e-01  9.86177176e-01 -1.20366038e-03]
 [-2.30996409e-03  8.32425606e-04  9.99996986e-01]]

 t_estimated:
[[0.69601212]
 [0.71801543]
 [0.00458013]]

 R_gt:
[[ 0.96567464 -0.25201757  0.06291159]
 [ 0.25412749  0.96676507 -0.02802576]
 [-0.05375882  0.04305198  0.99762508]]

 t_gt:
[ 0.68466189 -0.72189407  0.10053378]

Pose Error in degrees for R and t:
24.507578175247243 87.63085231972856

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-6.72137421e-01  7.40424445e-01  1.71137911e-03]
 [ 7.40426416e-01  6.72135324e-01  1.68192194e-03]
 [ 9.50577631e-05  2.39763297e-03 -9.99997121e-01]]

 t_estimated:
[[9.97278381e-01]
 [7.37217208e-02]
 [9.68906766e-04]]

 R_gt:
[[ 0.96826491 -0.24301211  0.05838054]
 [ 0.2449623   0.96910344 -0.02886583]
 [-0.04956312  0.04225061  0.99787684]]

 t_gt:
[ 0.66111949 -0.74552583  0.08433421]

Pose Error in degrees for R and t:
176.25094023598416 52.81141314776113

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-5.35853898e-02 -9.98562697e-01 -1.07052529e-03]
 [ 9.98562956e-01 -5.35861941e-02  7.37276946e-04]
 [-7.93582631e-04 -1.02947962e-03  9.99999155e-01]]

 t_estimated:
[[ 8.87080867e-01]
 [-4.61613431e-01]
 [ 7.59492456e-04]]

 R_gt:
[[ 0.99885446  0.0393296   0.02724431]
 [-0.03896894  0.99914779 -0.01360738]
 [-0.02775616  0.01253026  0.99953612]]

 t_gt:
[-0.93976886  0.32688631 -0.09989906]

Pose Error in degrees for R and t:
95.32889130381373 10.061117523804215

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.45284624e-01  3.26246738e-01  2.14767931e-04]
 [-3.26246584e-01  9.45284540e-01 -5.51408609e-04]
 [-3.82912065e-04  4.51170775e-04  9.99999825e-01]]

 t_estimated:
[[-8.11356810e-01]
 [ 5.84551155e-01]
 [ 2.72615604e-04]]

 R_gt:
[[ 0.99485772  0.08772484  0.05061021]
 [-0.08537862  0.99524914 -0.0467809 ]
 [-0.05447396  0.04221913  0.99762141]]

 t_gt:
[-0.87267703  0.4199729  -0.24911354]

Pose Error in degrees for R and t:
14.60326897340332 17.545056038117593

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.77206601e-01  2.12290342e-01 -2.64088277e-04]
 [-2.12290484e-01  9.77206315e-01 -7.53971130e-04]
 [ 9.80079432e-05  7.92848993e-04  9.99999681e-01]]

 t_estimated:
[[-0.99205751]
 [-0.12577453]
 [-0.00163499]]

 R_gt:
[[ 0.98406308  0.161611    0.07417786]
 [-0.15395033  0.98306229 -0.0994361 ]
 [-0.08899147  0.08643211  0.9922747 ]]

 t_gt:
[-0.85281772  0.42182616 -0.30783864]

Pose Error in degrees for R and t:
7.763576759280148 37.48689672834144

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 6.15341181e-01  7.88235305e-01  6.35100361e-03]
 [-7.88187546e-01  6.15373862e-01 -8.68339209e-03]
 [-1.07527978e-02  3.37466792e-04  9.99942130e-01]]

 t_estimated:
[[0.81172882]
 [0.5840331 ]
 [0.00128642]]

 R_gt:
[[ 9.87375009e-01  1.58400608e-01  5.62098919e-04]
 [-1.58337964e-01  9.87070518e-01 -2.49169103e-02]
 [-4.50116902e-03  2.45144278e-02  9.99689541e-01]]

 t_gt:
[-0.70042675  0.70615606 -0.10366285]

Pose Error in degrees for R and t:
42.92232705695623 81.00945769156729

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 8.39400972e-01  5.43512519e-01  3.88030685e-04]
 [-5.43487054e-01  8.39368145e-01 -9.10708382e-03]
 [-5.27551466e-03  7.43360535e-03  9.99958454e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.82691415e-01  1.84186293e-01  1.98379129e-02]
 [-1.84128942e-01  9.82891056e-01 -4.71239027e-03]
 [-2.03662188e-02  9.78551872e-04  9.99792457e-01]]

 t_gt:
[-0.70176572  0.71043929  0.05292349]

Pose Error in degrees for R and t:
22.33352429588344 45.61163748660928

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-7.97156455e-01 -6.03772790e-01  5.95680607e-05]
 [-6.03770628e-01  7.97153858e-01  2.59909152e-03]
 [-1.61674565e-03  2.03591714e-03 -9.99996621e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99701673  0.068815    0.03495088]
 [-0.06904695  0.99759838  0.00546307]
 [-0.03449114 -0.00785924  0.99937417]]

 t_gt:
[-0.64179165  0.70191544  0.30889835]

Pose Error in degrees for R and t:
177.94503443304833 50.254959413324016

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-9.43078406e-01 -3.32570382e-01  2.48195110e-04]
 [ 3.32563957e-01 -9.43064335e-01 -5.55653952e-03]
 [ 2.08200443e-03 -5.15771169e-03  9.99984532e-01]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 9.98069931e-01 -5.03230035e-02  3.63754059e-02]
 [ 5.03364350e-02  9.98732553e-01  5.23866273e-04]
 [-3.63560497e-02  1.30839520e-03  9.99338259e-01]]

 t_gt:
[ 0.03786152 -0.73161259  0.68066844]

Pose Error in degrees for R and t:
157.69889113936495 69.97338909320364

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 0.999242   -0.03886354 -0.00224515]
 [ 0.03886716  0.99924312  0.00159184]
 [ 0.00218159 -0.0016779   0.99999621]]

 t_estimated:
[[-0.98437868]
 [-0.17597831]
 [-0.00549932]]

 R_gt:
[[ 0.98792229 -0.1421419   0.06168414]
 [ 0.14255201  0.9897851  -0.00228093]
 [-0.06073052  0.0110468   0.99809329]]

 t_gt:
[ 0.41807754 -0.82963042  0.37003316]

Pose Error in degrees for R and t:
7.005124008634141 74.47941382503149

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.98592244e-01 -5.30419231e-02 -2.92565958e-04]
 [ 5.30421411e-02  9.98591957e-01  7.96064392e-04]
 [ 2.49929226e-04 -8.10462053e-04  9.99999640e-01]]

 t_estimated:
[[8.86268322e-01]
 [4.63171532e-01]
 [7.70668106e-04]]

 R_gt:
[[ 0.95857351 -0.28146351  0.04375048]
 [ 0.27990387  0.95925447  0.0385353 ]
 [-0.05281433 -0.0246937   0.99829848]]

 t_gt:
[ 0.62544161 -0.73657019  0.25746291]

Pose Error in degrees for R and t:
13.684447667783521 77.68130577241088

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.30503061  0.95229767  0.00924484]
 [ 0.95233462  0.3050533  -0.0011185 ]
 [-0.00388532  0.008463   -0.99995664]]

 t_estimated:
[[9.79024550e-01]
 [2.03740885e-01]
 [7.63074474e-04]]

 R_gt:
[[ 0.96899664  0.24705096 -0.0033648 ]
 [-0.24706781  0.96897644 -0.00649713]
 [ 0.00165494  0.00712704  0.99997318]]

 t_gt:
[-0.61364621  0.78861598 -0.03902762]

Pose Error in degrees for R and t:
179.45379932372336 63.88774938768082

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.81000475 -0.40375908  0.4252892 ]
 [-0.21488278 -0.47042637 -0.8558764 ]
 [ 0.54563512 -0.78465128  0.29428672]]

 t_estimated:
[[7.80231249e-01]
 [6.25490825e-01]
 [6.52913179e-04]]

 R_gt:
[[ 0.91541465  0.39970747 -0.04742259]
 [-0.40087192  0.91595963 -0.01788988]
 [ 0.03628678  0.03538707  0.99871446]]

 t_gt:
[-0.52048177  0.84250424 -0.13887166]

Pose Error in degrees for R and t:
169.5051201922771 83.06219488507196

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.99860407 -0.05042189 -0.0157337 ]
 [ 0.05030336 -0.99870321  0.00784071]
 [-0.01610864  0.00703831  0.99984547]]

 t_estimated:
[[0.82845858]
 [0.55999997]
 [0.00751112]]

 R_gt:
[[ 0.89337637  0.44561651 -0.05749084]
 [-0.44854194  0.8919959  -0.05615361]
 [ 0.02625932  0.07595274  0.99676586]]

 t_gt:
[-0.47908625  0.85946109 -0.17833398]

Pose Error in degrees for R and t:
156.26350515141215 85.23577710957102

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.81521751e-01  1.91350599e-01  3.54472226e-05]
 [-1.91350602e-01  9.81521736e-01  1.70730646e-04]
 [-2.12280812e-06 -1.74358690e-04  9.99999985e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.9866009  -0.16302937 -0.00623737]
 [ 0.16300044  0.98661291 -0.00506507]
 [ 0.0069801   0.00398102  0.99996754]]

 t_gt:
[ 0.81226992 -0.58159849 -0.04428067]

Pose Error in degrees for R and t:
20.41905768948747 42.004047062664924

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-6.42925488e-01  7.64023333e-01 -5.39922578e-02]
 [ 7.61289543e-01  6.45188481e-01  6.45759664e-02]
 [ 8.41727279e-02  4.13793403e-04 -9.96451093e-01]]

 t_estimated:
[[0.7595347 ]
 [0.65046608]
 [0.00095468]]

 R_gt:
[[ 0.96269933 -0.27048528  0.00687334]
 [ 0.27044037  0.96111896 -0.05579186]
 [ 0.0084852   0.0555694   0.9984189 ]]

 t_gt:
[ 0.85984021 -0.48479006 -0.16016681]

Pose Error in degrees for R and t:
177.26810834225688 70.27012718044537

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.82902055 -0.55609001 -0.05906636]
 [-0.40355802  0.52179475  0.75157911]
 [-0.38712512  0.64691123 -0.65699315]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953456e-04]]

 R_gt:
[[ 0.93791829 -0.34450665  0.040299  ]
 [ 0.34679427  0.9335918  -0.09022221]
 [-0.00654042  0.09859645  0.99510584]]

 t_gt:
[ 0.87429816 -0.45095017 -0.17957357]

Pose Error in degrees for R and t:
161.48103878527792 37.76112142708938

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.99999989e-01 -5.28083431e-05 -1.36644772e-04]
 [ 5.28627607e-05  9.99999919e-01  3.98268477e-04]
 [ 1.36623729e-04 -3.98275696e-04  9.99999911e-01]]

 t_estimated:
[[-0.71533479]
 [-0.69878137]
 [-0.00085767]]

 R_gt:
[[ 0.99586275 -0.09083206  0.00263455]
 [ 0.09076489  0.9956885   0.01916036]
 [-0.00436294 -0.01884204  0.9998132 ]]

 t_gt:
[ 0.07642274 -0.96304604  0.2582671 ]

Pose Error in degrees for R and t:
5.318993787239948 51.82472043059507

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999958e-01 -7.89352702e-05  2.79015625e-04]
 [ 7.90061317e-05  9.99999965e-01 -2.53967449e-04]
 [-2.78995568e-04  2.53989482e-04  9.99999929e-01]]

 t_estimated:
[[ 0.98001827]
 [-0.19889777]
 [ 0.00196444]]

 R_gt:
[[ 0.97053093 -0.2409192   0.00515281]
 [ 0.24096738  0.97013643 -0.02774379]
 [ 0.00168501  0.02816814  0.99960172]]

 t_gt:
[ 0.41328231 -0.89591747 -0.16287917]

Pose Error in degrees for R and t:
14.031854244684224 54.34521058145904

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 8.64157635e-01 -5.03221073e-01  3.66762009e-04]
 [ 5.03220884e-01  8.64156027e-01 -1.76173950e-03]
 [ 5.69604839e-04  1.70698294e-03  9.99998381e-01]]

 t_estimated:
[[0.59129585]
 [0.80645324]
 [0.00154789]]

 R_gt:
[[ 9.43554673e-01 -3.31156547e-01  6.33087919e-03]
 [ 3.31215217e-01  9.43352963e-01 -1.95287891e-02]
 [ 4.95040358e-04  2.05233503e-02  9.99789841e-01]]

 t_gt:
[ 0.38581014 -0.91782962 -0.09348435]

Pose Error in degrees for R and t:
10.92325687776007 59.18928829657593

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.60074316e-01  2.79745017e-01  1.84778576e-04]
 [-2.79744953e-01  9.60074302e-01 -3.08361826e-04]
 [-2.63663847e-04  2.44359395e-04  9.99999935e-01]]

 t_estimated:
[[-0.87913256]
 [-0.47657555]
 [-0.00129857]]

 R_gt:
[[ 0.99553164 -0.07566793  0.05648789]
 [ 0.07947507  0.99447933 -0.06851059]
 [-0.05099253  0.07269349  0.99604918]]

 t_gt:
[ 0.71606987  0.1325171  -0.68533434]

Pose Error in degrees for R and t:
21.308881322858937 46.228442981488406

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 7.85810489e-01  6.18467136e-01  5.26105386e-04]
 [-6.18465971e-01  7.85810243e-01 -1.45069292e-03]
 [-1.31062490e-03  8.14591436e-04  9.99998809e-01]]

 t_estimated:
[[-0.95550049]
 [-0.29498673]
 [-0.00128255]]

 R_gt:
[[ 0.98697866 -0.08245191  0.13811241]
 [ 0.10628188  0.97878132 -0.1751865 ]
 [-0.12073801  0.18758404  0.97479979]]

 t_gt:
[ 0.27953809  0.44045689 -0.85314488]

Pose Error in degrees for R and t:
45.43541869146557 66.675791919149

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 5.17882843e-01  8.55450678e-01  1.22402658e-03]
 [-8.55447749e-01  5.17884277e-01 -2.24146867e-03]
 [-2.55137001e-03  1.13727389e-04  9.99996739e-01]]

 t_estimated:
[[-9.71720057e-01]
 [ 2.36134032e-01]
 [ 9.21415718e-04]]

 R_gt:
[[ 0.96586662 -0.14227922  0.21646744]
 [ 0.18990082  0.95726192 -0.21814407]
 [-0.17617878  0.25180599  0.95160613]]

 t_gt:
[ 0.50086504  0.15400951 -0.85171314]

Pose Error in degrees for R and t:
70.59069391409787 63.18453129020504

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.95772833e-01  9.18501538e-02  1.16719143e-04]
 [-9.18501694e-02 -9.95769960e-01 -2.39431402e-03]
 [-1.03692695e-04 -2.39491353e-03  9.99997127e-01]]

 t_estimated:
[[0.72849187]
 [0.68505385]
 [0.00090496]]

 R_gt:
[[ 9.83524448e-01  1.80564312e-01  8.66048753e-03]
 [-1.80772313e-01  9.82484899e-01  4.52221858e-02]
 [-3.42761091e-04 -4.60422689e-02  9.98939227e-01]]

 t_gt:
[-0.38834557  0.91279329  0.1264758 ]

Pose Error in degrees for R and t:
164.31950847005672 69.96949391802191

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.83548825e-01 -1.80641951e-01 -4.41066374e-04]
 [ 1.80642210e-01  9.83548666e-01  6.42632578e-04]
 [ 3.17723841e-04 -7.11735722e-04  9.99999696e-01]]

 t_estimated:
[[-7.83283544e-01]
 [-6.21664251e-01]
 [-6.70619472e-04]]

 R_gt:
[[ 9.61277811e-01  2.75579189e-01 -9.05312121e-04]
 [-2.75412843e-01  9.60803479e-01  3.16983468e-02]
 [ 9.60500319e-03 -3.02228421e-02  9.99496469e-01]]

 t_gt:
[-0.35447038  0.93495217  0.01466924]

Pose Error in degrees for R and t:
26.461382604033783 72.32692404527913

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.991097   -0.13265995  0.01131732]
 [ 0.13276992  0.9911005  -0.00958885]
 [-0.00994454  0.01100608  0.99988998]]

 t_estimated:
[[0.62292624]
 [0.78227947]
 [0.00131697]]

 R_gt:
[[ 9.17226616e-01  3.98361695e-01 -1.75256741e-03]
 [-3.98364429e-01  9.17204753e-01 -6.47227999e-03]
 [-9.71216577e-04  6.63534536e-03  9.99977082e-01]]

 t_gt:
[-0.27656224  0.96082729 -0.01800698]

Pose Error in degrees for R and t:
31.109815983520594 54.59629634073662

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.97919840e-01 -6.44662231e-02 -3.14970082e-04]
 [ 6.44662922e-02  9.97919862e-01  2.14436580e-04]
 [ 3.00490985e-04 -2.34295471e-04  9.99999927e-01]]

 t_estimated:
[[-0.40309291]
 [-0.91515845]
 [-0.00105799]]

 R_gt:
[[ 9.98182443e-01  5.86306933e-02 -1.39465254e-02]
 [-5.86293670e-02  9.98279709e-01  5.34730189e-04]
 [ 1.39542679e-02  2.83661615e-04  9.99902226e-01]]

 t_gt:
[-0.40932167  0.91235199 -0.00834431]

Pose Error in degrees for R and t:
7.100740016619597 47.937323704468746

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.87838329e-01  1.55484425e-01  1.73239063e-04]
 [-1.55484427e-01  9.87838344e-01 -1.74249441e-06]
 [-1.71403120e-04 -2.52146737e-05  9.99999985e-01]]

 t_estimated:
[[0.36831035]
 [0.92970205]
 [0.00125761]]

 R_gt:
[[ 9.99954644e-01  5.06912110e-04 -9.57895428e-03]
 [-6.06992776e-04  9.99946558e-01 -1.03289343e-02]
 [ 9.57310087e-03  1.03349555e-02  9.99900475e-01]]

 t_gt:
[ 0.45389382  0.82398992 -0.33914747]

Pose Error in degrees for R and t:
8.949957725066293 21.122451125359937

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.58026134 -0.81426643 -0.01633876]
 [-0.81271269  0.57761879  0.07651551]
 [-0.05286644  0.05767771 -0.99693451]]

 t_estimated:
[[8.96870636e-01]
 [4.42292369e-01]
 [7.22699949e-04]]

 R_gt:
[[ 0.99449943 -0.04823461  0.09297811]
 [ 0.06074052  0.98874021 -0.13676078]
 [-0.0853342   0.14165614  0.98623116]]

 t_gt:
[ 0.2471596   0.73211778 -0.6347564 ]

Pose Error in degrees for R and t:
177.82039853910663 56.973863134675305

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-9.88438440e-01 -1.51620409e-01  8.38080717e-04]
 [-1.51620730e-01  9.88438689e-01 -3.33972661e-04]
 [-7.77754335e-04 -4.57181826e-04 -9.99999593e-01]]

 t_estimated:
[[0.99875492]
 [0.04986442]
 [0.0014666 ]]

 R_gt:
[[ 0.98129963 -0.18170244 -0.0635143 ]
 [ 0.18263836  0.98313689  0.00919993]
 [ 0.060771   -0.02062775  0.99793858]]

 t_gt:
[ 0.75476066 -0.62776119 -0.19040017]

Pose Error in degrees for R and t:
176.5417398466151 43.76037446823399

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.30058114e-01  3.67412117e-01  4.91471493e-04]
 [-3.67411802e-01  9.30058156e-01 -6.27416387e-04]
 [-6.87617454e-04  4.02961274e-04  9.99999682e-01]]

 t_estimated:
[[8.32387805e-01]
 [5.54193112e-01]
 [7.32091298e-04]]

 R_gt:
[[ 0.92838384 -0.36609098 -0.0638799 ]
 [ 0.36700125  0.93021587  0.00272767]
 [ 0.05842338 -0.02597633  0.99795408]]

 t_gt:
[ 0.81042447 -0.58053683 -0.07867131]

Pose Error in degrees for R and t:
43.23381650035271 69.34130775961324

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.86489488e-01  1.63820907e-01  1.09558082e-03]
 [-1.63820976e-01  9.86490085e-01 -2.70693804e-05]
 [-1.08521415e-03 -1.52775460e-04  9.99999399e-01]]

 t_estimated:
[[9.99023529e-01]
 [4.41713131e-02]
 [9.39815173e-04]]

 R_gt:
[[ 0.84166501 -0.53775132 -0.04922759]
 [ 0.53856844  0.84257109  0.00407232]
 [ 0.03928848 -0.02993976  0.99877981]]

 t_gt:
[ 0.85639353 -0.51601997 -0.01770647]

Pose Error in degrees for R and t:
42.10455429846708 33.61799819353836

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99995029e-01  2.39473732e-03 -2.05109589e-03]
 [-2.39395731e-03  9.99997061e-01  3.82660540e-04]
 [ 2.05200624e-03 -3.77748402e-04  9.99997823e-01]]

 t_estimated:
[[0.63333132]
 [0.77387882]
 [0.00173515]]

 R_gt:
[[ 0.99085718 -0.12466443  0.05159522]
 [ 0.1255911   0.99196748 -0.01513205]
 [-0.04929486  0.02147321  0.998554  ]]

 t_gt:
[ 0.14096632 -0.94922435  0.28125012]

Pose Error in degrees for R and t:
7.997441088628231 49.8479524434803

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999712e-01 -5.96172068e-04 -4.68849556e-04]
 [ 5.96031764e-04  9.99999778e-01 -2.99335576e-04]
 [ 4.69027908e-04  2.99056041e-04  9.99999845e-01]]

 t_estimated:
[[0.80693371]
 [0.59064084]
 [0.00117477]]

 R_gt:
[[ 0.97303146 -0.22463776  0.05242266]
 [ 0.22405085  0.9744311   0.01689799]
 [-0.05487855 -0.00469764  0.99848245]]

 t_gt:
[ 0.23080615 -0.94061164  0.24895435]

Pose Error in degrees for R and t:
13.325219475854016 68.34444422742452

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.74364979 -0.66854293 -0.0059447 ]
 [-0.668562    0.74357048  0.01130474]
 [-0.0031374   0.01238117 -0.99991843]]

 t_estimated:
[[9.26997036e-01]
 [3.75067880e-01]
 [7.62333089e-04]]

 R_gt:
[[ 0.93117713 -0.36188943  0.044102  ]
 [ 0.3634038   0.93104568 -0.03304029]
 [-0.02910505  0.04679318  0.99848032]]

 t_gt:
[ 0.44763173 -0.89146696 -0.0700892 ]

Pose Error in degrees for R and t:
178.79110347808972 85.3804384320311

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.20732657  0.97613293 -0.06465444]
 [-0.97187157 -0.21306746 -0.10033895]
 [-0.11171991  0.04203288  0.99285039]]

 t_estimated:
[[0.04968917]
 [0.99875237]
 [0.00496892]]

 R_gt:
[[ 0.99200172 -0.12617714 -0.00367862]
 [ 0.12599612  0.99151005 -0.03213187]
 [ 0.00770078  0.03141214  0.99947738]]

 t_gt:
[ 0.83308954 -0.51384973 -0.20474442]

Pose Error in degrees for R and t:
109.4598096928366 61.78181471018027

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 5.16526075e-01  8.56268930e-01  2.08166554e-03]
 [ 8.56264384e-01 -5.16530163e-01  2.80997564e-03]
 [ 3.48133788e-03  3.31030378e-04 -9.99993885e-01]]

 t_estimated:
[[0.58051415]
 [0.81424972]
 [0.00084995]]

 R_gt:
[[ 0.97646195 -0.21501481  0.01706122]
 [ 0.2156875   0.97385566 -0.07129961]
 [-0.00128417  0.07330291  0.99730922]]

 t_gt:
[ 0.84775965 -0.48105064 -0.22336932]

Pose Error in degrees for R and t:
176.16898557314073 84.24635956514784

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.29980738e-01 -3.67608075e-01 -3.60075018e-04]
 [ 3.67608174e-01  9.29979461e-01  1.55966183e-03]
 [-2.38481912e-04 -1.58282198e-03  9.99998719e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.96497629 -0.25136763  0.07506933]
 [ 0.25883687  0.95888021 -0.11641249]
 [-0.04272019  0.13176671  0.99036044]]

 t_gt:
[ 0.8540518  -0.45706726 -0.24836472]

Pose Error in degrees for R and t:
10.47702864649776 32.25009629170283

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 1.00000000e+00  6.95499214e-13 -7.33706715e-16]
 [-6.95388191e-13  1.00000000e+00 -3.01606071e-15]
 [ 1.05590450e-15  2.22474220e-15  1.00000000e+00]]

 t_estimated:
[[9.26162540e-01]
 [3.77124539e-01]
 [1.77911597e-04]]

 R_gt:
[[ 0.98892577 -0.14794842  0.01171536]
 [ 0.14826598  0.98836681 -0.03389614]
 [-0.00656423  0.03525786  0.99935688]]

 t_gt:
[ 0.72683647 -0.68219708 -0.07947263]

Pose Error in degrees for R and t:
8.763843321053896 65.42517088511305

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 1.00000000e+00  4.23827640e-13 -2.68882139e-17]
 [-4.23772128e-13  1.00000000e+00 -2.00929768e-16]
 [-2.17165695e-16  8.31759249e-16  1.00000000e+00]]

 t_estimated:
[[9.53659582e-01]
 [3.00887419e-01]
 [4.03310351e-04]]

 R_gt:
[[ 0.96243179 -0.27038673  0.02483797]
 [ 0.2712516   0.96153831 -0.04319921]
 [-0.01220193  0.04831347  0.99875731]]

 t_gt:
[ 0.77153628 -0.63387151 -0.05420959]

Pose Error in degrees for R and t:
15.978781782141686 56.97279830404313

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.96632251e-01 -8.20001822e-02  3.54482107e-04]
 [ 8.20003166e-02  9.96632230e-01 -3.82628136e-04]
 [-3.21912716e-04  4.10407185e-04  9.99999864e-01]]

 t_estimated:
[[9.98706359e-01]
 [5.08454629e-02]
 [5.89118438e-04]]

 R_gt:
[[ 0.91963032 -0.39055931  0.04177118]
 [ 0.39188515  0.91951721 -0.03023812]
 [-0.02659947  0.04417773  0.99866962]]

 t_gt:
[ 0.80881665 -0.58800836 -0.00786053]

Pose Error in degrees for R and t:
18.573027439822322 38.9342028127905

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 2.91367509e-01  9.56573776e-01  8.46089759e-03]
 [ 9.56611180e-01 -2.91354650e-01 -2.74180447e-03]
 [-1.57616397e-04  8.89266197e-03 -9.99960447e-01]]

 t_estimated:
[[0.45931259]
 [0.88827413]
 [0.0010117 ]]

 R_gt:
[[ 0.9979058  -0.05814282 -0.02836696]
 [ 0.05461525  0.99216834 -0.1123376 ]
 [ 0.03467693  0.11055354  0.99326604]]

 t_gt:
[ 0.5323486  -0.2398477  -0.81183622]

Pose Error in degrees for R and t:
175.512545466717 88.24403484323511

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.34672796e-01  3.55508057e-01  8.87084045e-04]
 [ 3.55497384e-01 -9.34659228e-01  5.80839243e-03]
 [ 2.89405160e-03 -5.11359034e-03 -9.99982738e-01]]

 t_estimated:
[[0.44721339]
 [0.89442677]
 [0.0009659 ]]

 R_gt:
[[ 0.99546897 -0.07262483 -0.06138163]
 [ 0.05926138  0.978648   -0.19681488]
 [ 0.07436468  0.19228609  0.97851763]]

 t_gt:
[ 0.42404896 -0.01449878 -0.9055232 ]

Pose Error in degrees for R and t:
169.9780791831263 79.87492146390525

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.74918932e-01 -2.22560277e-01 -9.41175446e-06]
 [ 2.22560271e-01  9.74918893e-01  2.77407503e-04]
 [-5.25641936e-05 -2.72544510e-04  9.99999961e-01]]

 t_estimated:
[[0.38243243]
 [0.92398271]
 [0.00117908]]

 R_gt:
[[ 0.99118819 -0.05396699 -0.12097391]
 [ 0.02764891  0.97741996 -0.20949378]
 [ 0.12954729  0.20430354  0.97029857]]

 t_gt:
[ 0.35004111  0.12440961 -0.92843604]

Pose Error in degrees for R and t:
17.48637688055766 75.65708743548518

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.44841266e-01 -3.27528249e-01 -4.78876035e-04]
 [ 3.27528340e-01  9.44841347e-01  1.24561162e-04]
 [ 4.11664579e-04 -2.74535999e-04  9.99999878e-01]]

 t_estimated:
[[ 0.03008524]
 [-0.99954682]
 [-0.001015  ]]

 R_gt:
[[ 0.99427892  0.10369793 -0.0256075 ]
 [-0.10342799  0.99456789  0.01167344]
 [ 0.02667978 -0.00895771  0.99960415]]

 t_gt:
[-0.66000173  0.73187469 -0.16957938]

Pose Error in degrees for R and t:
25.113597378930343 41.30320568309214

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.98233252e-01  5.94167757e-02 -1.48665511e-04]
 [-5.94167725e-02  9.98233263e-01  2.59215019e-05]
 [ 1.49943030e-04 -1.70424803e-05  9.99999989e-01]]

 t_estimated:
[[-9.99871168e-01]
 [-1.60387454e-02]
 [-6.37964487e-04]]

 R_gt:
[[ 0.97307734  0.22748684 -0.0370158 ]
 [-0.22573833  0.9730964   0.0461086 ]
 [ 0.0465093  -0.03651079  0.99825063]]

 t_gt:
[-0.65520161  0.75339098 -0.05579317]

Pose Error in degrees for R and t:
10.2744331201628 49.97892438932754

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 4.77342323e-01  8.78717274e-01  5.08815267e-04]
 [-8.78717396e-01  4.77342368e-01  3.57721296e-05]
 [-2.11445497e-04 -4.64180378e-04  9.99999870e-01]]

 t_estimated:
[[0.3373598 ]
 [0.94137524]
 [0.00101006]]

 R_gt:
[[ 0.92211805  0.38353545 -0.05097765]
 [-0.38257903  0.92350567  0.02774947]
 [ 0.05772146 -0.006085    0.99831371]]

 t_gt:
[-0.56582721  0.81659006 -0.11410627]

Pose Error in degrees for R and t:
39.082787520221075 54.710008103457646

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.17421367 -0.98470298  0.00310371]
 [-0.98470374 -0.17422121 -0.00234947]
 [ 0.00285426 -0.00264693 -0.99999242]]

 t_estimated:
[[0.59145853]
 [0.80633471]
 [0.00107077]]

 R_gt:
[[ 0.99769732 -0.00952142  0.06715519]
 [ 0.01510918  0.99641766 -0.08319759]
 [-0.06612259  0.08402092  0.99426794]]

 t_gt:
[-0.02597726  0.41205067 -0.91079055]

Pose Error in degrees for R and t:
178.79065770010465 71.58417866332091

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 8.60593087e-01 -5.09291360e-01 -1.36007123e-03]
 [ 5.09292689e-01  8.60592888e-01  9.15592242e-04]
 [ 7.04164413e-04 -1.48062669e-03  9.99998656e-01]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 0.99326443  0.03959603  0.10888995]
 [-0.02151139  0.98647474 -0.16249092]
 [-0.11385185  0.15905482  0.98068356]]

 t_gt:
[-0.58022628  0.66484224 -0.470449  ]

Pose Error in degrees for R and t:
34.274509710060755 80.9564886732406

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.73944612e-01  2.26785945e-01  1.69709386e-04]
 [-2.26785922e-01  9.73944621e-01 -1.43484703e-04]
 [-1.97827858e-04  1.01258453e-04  9.99999975e-01]]

 t_estimated:
[[0.75392768]
 [0.65695634]
 [0.00119718]]

 R_gt:
[[ 0.9845754   0.08725886  0.15164779]
 [-0.05774703  0.98025449 -0.18912031]
 [-0.16515548  0.17744595  0.97017347]]

 t_gt:
[-0.71598554  0.69078122 -0.10092579]

Pose Error in degrees for R and t:
16.584691425360898 85.0601976694655

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999960e-01  1.39333917e-04 -2.45321119e-04]
 [-1.39241399e-04  9.99999919e-01  3.77107722e-04]
 [ 2.45373643e-04 -3.77073549e-04  9.99999899e-01]]

 t_estimated:
[[-7.06747092e-01]
 [-7.07466254e-01]
 [-2.17042925e-04]]

 R_gt:
[[ 9.89585210e-01 -1.42826404e-01  1.79078821e-02]
 [ 1.42797243e-01  9.89747134e-01  2.86491798e-03]
 [-1.81336869e-02 -2.78677797e-04  9.99835108e-01]]

 t_gt:
[ 0.56614507 -0.8144041   0.12738025]

Pose Error in degrees for R and t:
8.286452203784982 79.86230522291858

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99957650e-01 -9.20167059e-03  1.65751243e-04]
 [ 9.20174434e-03  9.99957562e-01 -4.49792734e-04]
 [-1.61605365e-04  4.51298886e-04  9.99999885e-01]]

 t_estimated:
[[0.74216319]
 [0.67021879]
 [0.00075731]]

 R_gt:
[[ 0.96368792 -0.26701307  0.00316051]
 [ 0.26682824  0.9633487   0.02760012]
 [-0.01041374 -0.02575566  0.99961352]]

 t_gt:
[ 0.60993586 -0.78722982  0.09081554]

Pose Error in degrees for R and t:
15.043427761985534 85.70593101273366

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999594e-01  1.77616608e-04  8.83823988e-04]
 [-1.76572885e-04  9.99999287e-01 -1.18085562e-03]
 [-8.84033097e-04  1.18069908e-03  9.99998912e-01]]

 t_estimated:
[[ 0.01252763]
 [-0.99991813]
 [-0.0026067 ]]

 R_gt:
[[ 0.89303253 -0.44695241  0.05220478]
 [ 0.4466539   0.89452719  0.01791077]
 [-0.05470322  0.00732143  0.99847585]]

 t_gt:
[ 0.67687903 -0.72877309  0.10355946]

Pose Error in degrees for R and t:
26.750042047524015 42.530028005476176

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-7.40935446e-01 -6.71553359e-01 -5.54533079e-03]
 [ 6.71562392e-01 -7.40947946e-01  3.06912399e-04]
 [-4.31490951e-03 -3.49663333e-03  9.99984577e-01]]

 t_estimated:
[[0.99124271]
 [0.13199842]
 [0.00378109]]

 R_gt:
[[ 0.99282897  0.11918632 -0.00918766]
 [-0.11936168  0.99261327 -0.02170449]
 [ 0.00653338  0.0226461   0.99972168]]

 t_gt:
[-0.41159561  0.89734316 -0.15926177]

Pose Error in degrees for R and t:
144.66914426888988 73.13333568794198

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 4.68682300e-01 -8.83365275e-01 -1.64085610e-03]
 [ 8.83366411e-01  4.68683026e-01 -6.59244304e-05]
 [ 8.27276752e-04 -1.41857955e-03  9.99998652e-01]]

 t_estimated:
[[ 6.18327539e-01]
 [-7.85920487e-01]
 [-2.05877669e-04]]

 R_gt:
[[ 0.9693625   0.24447766 -0.02379946]
 [-0.24549983  0.9674761  -0.06098547]
 [ 0.00811578  0.06496062  0.99785492]]

 t_gt:
[-0.31995622  0.93198731 -0.1703751 ]

Pose Error in degrees for R and t:
76.3274738948404 21.52296632409136

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.28694482e-01 -3.70843449e-01  1.30196967e-03]
 [ 3.70845217e-01  9.28693328e-01 -1.58966562e-03]
 [-6.19613459e-04  1.95914292e-03  9.99997889e-01]]

 t_estimated:
[[-0.62136529]
 [-0.78351983]
 [-0.00136264]]

 R_gt:
[[ 0.93222821  0.35975111 -0.03911213]
 [-0.36183361  0.92511582 -0.11504754]
 [-0.00520488  0.12140358  0.99258969]]

 t_gt:
[-0.2613925   0.95219917 -0.15808446]

Pose Error in degrees for R and t:
43.519957579653685 54.307754783127955

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-9.56568015e-01 -2.91508951e-01 -4.05783366e-04]
 [-2.91509207e-01  9.56567596e-01  9.03916714e-04]
 [ 1.24659406e-04  9.82947404e-04 -9.99999509e-01]]

 t_estimated:
[[9.77685134e-01]
 [2.10073778e-01]
 [8.86387248e-04]]

 R_gt:
[[ 9.89472338e-01 -1.44721394e-01 -2.27724088e-04]
 [ 1.44557817e-01  9.88271132e-01  4.92236359e-02]
 [-6.89836789e-03 -4.87369605e-02  9.98786927e-01]]

 t_gt:
[ 0.5628356  -0.77738299  0.28087679]

Pose Error in degrees for R and t:
179.4057167715609 67.21854538969623

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 8.52785383e-01  5.22260122e-01  1.20638871e-03]
 [-5.22259746e-01  8.52786232e-01 -6.32653568e-04]
 [-1.35920141e-03 -9.05305463e-05  9.99999072e-01]]

 t_estimated:
[[0.61722746]
 [0.78678408]
 [0.00103388]]

 R_gt:
[[ 0.93384605 -0.35764834  0.00444526]
 [ 0.3563598   0.93140229  0.07413774]
 [-0.03065558 -0.06764841  0.99723718]]

 t_gt:
[ 0.72117805 -0.66214705  0.2036259 ]

Pose Error in degrees for R and t:
52.59097346808039 85.6628465142547

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[-9.53388388e-01 -3.01706436e-01  4.87940175e-03]
 [-3.01710267e-01  9.53399660e-01 -5.17369320e-05]
 [-4.63641060e-03 -1.52149100e-03 -9.99988094e-01]]

 t_estimated:
[[0.9915365 ]
 [0.12979433]
 [0.0029679 ]]

 R_gt:
[[ 0.86166868 -0.50689515 -0.02416935]
 [ 0.50643267  0.85588364  0.10483021]
 [-0.03245333 -0.10256855  0.99419565]]

 t_gt:
[ 0.79426684 -0.57406505  0.19897112]

Pose Error in degrees for R and t:
178.5604658477814 44.46939858453167

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 2.81843870e-01 -9.59458928e-01  1.61183535e-03]
 [ 9.59455409e-01  2.81847395e-01  2.71364763e-03]
 [-3.05792504e-03  7.81659193e-04  9.99995019e-01]]

 t_estimated:
[[0.9931497 ]
 [0.116841  ]
 [0.00135862]]

 R_gt:
[[ 0.99523671 -0.09456753 -0.02366714]
 [ 0.09481697  0.99544832  0.00964799]
 [ 0.02264791 -0.01184612  0.99967386]]

 t_gt:
[ 0.52574057 -0.83633457 -0.15537485]

Pose Error in degrees for R and t:
68.21188058661609 64.8993418244109

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.02693142e-01 -4.30284845e-01  2.08018414e-04]
 [ 4.30284895e-01  9.02693029e-01 -4.52550826e-04]
 [ 6.94899015e-06  4.98021708e-04  9.99999876e-01]]

 t_estimated:
[[0.66041651]
 [0.75089877]
 [0.00104003]]

 R_gt:
[[ 0.95283734 -0.30222059  0.02761764]
 [ 0.30248234  0.95313773 -0.00573802]
 [-0.02458871  0.01382183  0.99960199]]

 t_gt:
[ 0.62382915 -0.78066841  0.03733656]

Pose Error in degrees for R and t:
8.043968461384202 79.9692289932904

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 7.00658124e-01  7.13492860e-01  2.47635917e-03]
 [ 7.13496504e-01 -7.00657960e-01 -1.07813569e-03]
 [ 9.65838649e-04  2.52227814e-03 -9.99996353e-01]]

 t_estimated:
[[0.48840477]
 [0.87261653]
 [0.00108534]]

 R_gt:
[[ 0.89672687 -0.44253481  0.00666958]
 [ 0.44237609  0.89666504  0.01720013]
 [-0.01359142 -0.01247335  0.99982957]]

 t_gt:
[ 0.68350347 -0.72848274  0.04621584]

Pose Error in degrees for R and t:
179.55878347807808 72.43367829355897

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.98538831 -0.12784713 -0.11253883]
 [ 0.1608667   0.91568022  0.36830917]
 [ 0.05596231 -0.3810313   0.92286693]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99029787  0.13894378 -0.00212664]
 [-0.13885091  0.99000897  0.02456209]
 [ 0.00551713 -0.02402845  0.99969666]]

 t_gt:
[-0.44445838  0.89499827  0.03787936]

Pose Error in degrees for R and t:
26.899900633537108 77.56436363883509

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 8.21639396e-02  9.96618797e-01 -2.45143904e-04]
 [-9.96616858e-01  8.21632857e-02 -2.00816245e-03]
 [-1.98123062e-03  4.09313086e-04  9.99997954e-01]]

 t_estimated:
[[0.13921763]
 [0.99026107]
 [0.00121059]]

 R_gt:
[[ 0.969121    0.24658284  0.00102685]
 [-0.24650385  0.96890172 -0.02156461]
 [-0.00631241  0.02064623  0.99976722]]

 t_gt:
[-0.36333816  0.93071086 -0.04198423]

Pose Error in degrees for R and t:
71.01978937164887 29.423449015060665

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 2.11723412e-01  9.77328858e-01  1.22475671e-03]
 [ 9.77328259e-01 -2.11725045e-01  1.40681804e-03]
 [ 1.63423554e-03  8.99133031e-04 -9.99998260e-01]]

 t_estimated:
[[-7.76774601e-01]
 [-6.29778294e-01]
 [-7.20570131e-04]]

 R_gt:
[[ 0.92943463  0.36859248 -0.01702654]
 [-0.3688734   0.92702375 -0.06751689]
 [-0.00910209  0.0690332   0.99757332]]

 t_gt:
[-0.27572797  0.95739242 -0.08587109]

Pose Error in degrees for R and t:
177.0813288211699 67.12608006066284

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 1.51431288e-01  9.88467782e-01  9.09651145e-05]
 [-9.88466253e-01  1.51431214e-01 -1.74774135e-03]
 [-1.74136097e-03  1.74746777e-04  9.99998469e-01]]

 t_estimated:
[[-2.17010640e-01]
 [ 9.76168767e-01]
 [ 9.59159972e-04]]

 R_gt:
[[ 0.9903877   0.13724767 -0.0172075 ]
 [-0.13746077  0.99043661 -0.01186254]
 [ 0.01541403  0.01411428  0.99978181]]

 t_gt:
[-0.60844924  0.77703226 -0.16127735]

Pose Error in degrees for R and t:
73.40307081291593 27.076459467217376

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.98051673e-01 -6.23923592e-02 -2.24835458e-04]
 [ 6.23923625e-02  9.98051699e-01  7.47251544e-06]
 [ 2.23931183e-04 -2.14859719e-05  9.99999975e-01]]

 t_estimated:
[[-0.79057333]
 [-0.61236676]
 [-0.00087356]]

 R_gt:
[[ 0.97242831  0.22645422 -0.05571115]
 [-0.22583954  0.97401324  0.01717715]
 [ 0.05815287 -0.00412081  0.99829909]]

 t_gt:
[-0.60287629  0.7770698  -0.1808389 ]

Pose Error in degrees for R and t:
16.9857953522325 89.94704845429476

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.95949670e-01  8.99122262e-02 -2.16483124e-04]
 [-8.99122536e-02  9.95949684e-01 -1.20718206e-04]
 [ 2.04752256e-04  1.39693743e-04  9.99999969e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.92969372  0.36481375 -0.05080948]
 [-0.36354379  0.93100511  0.03266341]
 [ 0.05921892 -0.01189535  0.99817382]]

 t_gt:
[-0.56903183  0.81547702 -0.1058301 ]

Pose Error in degrees for R and t:
16.58025303877026 55.48775453883102

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.07221975  0.9973878   0.00137478]
 [-0.99738616 -0.07221636 -0.00237516]
 [-0.00226967 -0.00154272  0.99999623]]

 t_estimated:
[[0.02157767]
 [0.99976556]
 [0.00179814]]

 R_gt:
[[ 0.99067094 -0.13049178  0.03927106]
 [ 0.1303243   0.99144794  0.00680325]
 [-0.03982303 -0.0016219   0.99920539]]

 t_gt:
[ 0.66905337 -0.70736565  0.22803819]

Pose Error in degrees for R and t:
101.65238698795635 46.18332863196938

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.99367001  0.11232275  0.00187445]
 [-0.11231571  0.99366635 -0.00351555]
 [-0.00225745  0.00328276  0.99999206]]

 t_estimated:
[[7.68932775e-01]
 [6.39329229e-01]
 [7.24042161e-04]]

 R_gt:
[[ 0.96198492 -0.2730805   0.0034597 ]
 [ 0.27298117  0.96185597  0.01771469]
 [-0.00816608 -0.01609657  0.99983613]]

 t_gt:
[ 0.76639604 -0.6406598   0.04682023]

Pose Error in degrees for R and t:
22.326800663176503 79.64489469647717

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.12577511  0.99205776  0.00142019]
 [-0.99205509  0.12577842 -0.00254901]
 [-0.0027074  -0.0010883   0.99999574]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.88868689 -0.45742066 -0.03163636]
 [ 0.45803395  0.88879765  0.01560546]
 [ 0.02097913 -0.02835846  0.99937734]]

 t_gt:
[ 0.83249409 -0.55402993 -0.00210443]

Pose Error in degrees for R and t:
110.04005363070219 56.713293758040386

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999717e-01 -3.50101927e-04  6.65265276e-04]
 [ 3.50959167e-04  9.99999108e-01 -1.28888969e-03]
 [-6.64813440e-04  1.28912281e-03  9.99998948e-01]]

 t_estimated:
[[0.83813334]
 [0.54546461]
 [0.00093212]]

 R_gt:
[[ 0.98710633 -0.15680066  0.03217149]
 [ 0.15649873  0.98760895  0.01171489]
 [-0.03360959 -0.00652832  0.99941316]]

 t_gt:
[ 0.38970777 -0.89139096  0.23140873]

Pose Error in degrees for R and t:
9.202911186469997 80.82912084523439

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999929e-01  1.85076734e-04  3.27855586e-04]
 [-1.84911090e-04  9.99999855e-01 -5.05192820e-04]
 [-3.27949038e-04  5.05132160e-04  9.99999819e-01]]

 t_estimated:
[[0.27706347]
 [0.96085065]
 [0.00136484]]

 R_gt:
[[ 0.96885783 -0.24460681  0.03849016]
 [ 0.24359761  0.96944015  0.02909483]
 [-0.0444307  -0.01881267  0.99883537]]

 t_gt:
[ 0.3282459  -0.90719077  0.26317208]

Pose Error in degrees for R and t:
14.413896362809016 38.70547120946821

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999963e-01  2.71855589e-04  1.02246421e-06]
 [-2.71855368e-04  9.99999941e-01 -2.09818994e-04]
 [-1.07950461e-06  2.09818708e-04  9.99999978e-01]]

 t_estimated:
[[-0.53503761]
 [-0.84482644]
 [-0.0017462 ]]

 R_gt:
[[ 0.92636456 -0.37442451  0.04069036]
 [ 0.37504288  0.92696802 -0.00852728]
 [-0.03452599  0.02316066  0.9991355 ]]

 t_gt:
[ 0.48090539 -0.87664942  0.01468984]

Pose Error in degrees for R and t:
22.159796802321097 61.09960052804235

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.99999993e-01  9.08137433e-05 -7.23306418e-05]
 [-9.08029262e-05  9.99999985e-01  1.49540778e-04]
 [ 7.23442211e-05 -1.49534209e-04  9.99999986e-01]]

 t_estimated:
[[-0.91595661]
 [-0.40127484]
 [-0.00141363]]

 R_gt:
[[ 0.99672326 -0.04509298 -0.06714374]
 [ 0.04726579  0.9983972   0.03113457]
 [ 0.0656319  -0.03420609  0.99725726]]

 t_gt:
[ 0.53139246 -0.68172627 -0.50286315]

Pose Error in degrees for R and t:
5.000239427730616 77.73333040030147

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.88435171 -0.06582255 -0.46215738]
 [ 0.32473176  0.79797007  0.50773325]
 [ 0.33536746 -0.59909194  0.72706087]]

 t_estimated:
[[-0.64431533]
 [-0.76475904]
 [-0.00116936]]

 R_gt:
[[ 0.98743536 -0.12305579 -0.09914012]
 [ 0.12936106  0.98978698  0.05988804]
 [ 0.09075698 -0.0719608   0.99326955]]

 t_gt:
[ 0.47743136 -0.82918733 -0.29070203]

Pose Error in degrees for R and t:
37.57512087436341 70.922179126149

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999831e-01 -1.63398760e-04  5.58681914e-04]
 [ 1.63819916e-04  9.99999702e-01 -7.53875834e-04]
 [-5.58558565e-04  7.53967229e-04  9.99999560e-01]]

 t_estimated:
[[8.25339216e-01]
 [5.64636829e-01]
 [6.55031124e-04]]

 R_gt:
[[ 0.9533163  -0.27253509 -0.1300478 ]
 [ 0.2752968   0.96135294  0.00340788]
 [ 0.12409306 -0.03904994  0.99150156]]

 t_gt:
[ 0.61891783 -0.70393666 -0.34844498]

Pose Error in degrees for R and t:
17.62800044394465 83.50477845611218

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999654e-01 -8.30697604e-04  3.85829835e-05]
 [ 8.30694593e-04  9.99999652e-01  7.79988516e-05]
 [-3.86477635e-05 -7.79667740e-05  9.99999996e-01]]

 t_estimated:
[[2.77586463e-01]
 [9.60700214e-01]
 [9.23888512e-04]]

 R_gt:
[[ 0.99821461  0.02108278 -0.05588677]
 [-0.02405934  0.99829803 -0.05313529]
 [ 0.05467154  0.05438475  0.99702153]]

 t_gt:
[-0.01392446  0.43644446 -0.89962344]

Pose Error in degrees for R and t:
4.626514482723008 65.50612929067353

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.94659262e-01 -1.03213122e-01 -6.35518659e-05]
 [ 1.03213130e-01  9.94659251e-01  1.53781232e-04]
 [ 4.73402103e-05 -1.59519314e-04  9.99999986e-01]]

 t_estimated:
[[-1.12398575e-02]
 [ 9.99936810e-01]
 [-2.03822012e-04]]

 R_gt:
[[ 0.99556427  0.03213647 -0.0884251 ]
 [-0.03846161  0.99674986 -0.07078306]
 [ 0.08586198  0.07386994  0.99356506]]

 t_gt:
[-0.00344476  0.46244566 -0.88664094]

Pose Error in degrees for R and t:
10.272883815964754 62.44267338769918

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-2.78373673e-01  9.60472846e-01 -9.80440935e-05]
 [-9.60469554e-01 -2.78372984e-01 -2.59191301e-03]
 [-2.51675489e-03 -6.27351979e-04  9.99996636e-01]]

 t_estimated:
[[0.14793566]
 [0.98899645]
 [0.00103452]]

 R_gt:
[[ 0.98918541  0.05217095 -0.1370814 ]
 [-0.06738411  0.99177768 -0.10879853]
 [ 0.1302774   0.11685774  0.98456633]]

 t_gt:
[ 0.0061025   0.48645273 -0.87368558]

Pose Error in degrees for R and t:
103.06641938883686 61.242798473516594

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.7999591   0.60004969  0.00240851]
 [-0.59982567  0.79953672  0.0308253 ]
 [ 0.01657102 -0.02610367  0.99952189]]

 t_estimated:
[[0.14653773]
 [0.9891297 ]
 [0.01221148]]

 R_gt:
[[ 0.98618543 -0.16562178 -0.00285028]
 [ 0.16539429  0.98548627 -0.03822567]
 [ 0.0091401   0.03722584  0.99926526]]

 t_gt:
[ 0.96293953 -0.14642103 -0.22651347]

Pose Error in degrees for R and t:
46.566142964864135 89.62823510501558

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-3.85377888e-01  9.22754667e-01  2.77643852e-03]
 [ 9.22758378e-01  3.85378970e-01  1.55530938e-04]
 [-9.26464120e-04  2.62192009e-03 -9.99996134e-01]]

 t_estimated:
[[9.13210179e-01]
 [4.07488207e-01]
 [7.27657513e-04]]

 R_gt:
[[ 0.96253444 -0.27095958  0.01045769]
 [ 0.27112205  0.96233582 -0.02005754]
 [-0.00462994  0.02214093  0.99974364]]

 t_gt:
[ 0.98688938 -0.1419339  -0.0768383 ]

Pose Error in degrees for R and t:
178.82030904224217 32.50493931045807

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 1.47658527e-01  9.89038222e-01  5.95010931e-04]
 [ 9.89035767e-01 -1.47659496e-01  2.21923529e-03]
 [ 2.28276754e-03  2.60798077e-04 -9.99997360e-01]]

 t_estimated:
[[8.17005100e-01]
 [5.76630046e-01]
 [6.75210827e-04]]

 R_gt:
[[ 0.95579441 -0.29263862  0.02863377]
 [ 0.29372425  0.95472732 -0.04714854]
 [-0.01353905  0.05347456  0.99847734]]

 t_gt:
[ 0.98081899 -0.08337716 -0.17618844]

Pose Error in degrees for R and t:
177.04997823706879 41.13711749136785

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 8.18857015e-01 -5.73850155e-01  1.30072550e-02]
 [-5.73776718e-01 -8.18960314e-01 -9.18046510e-03]
 [ 1.59206369e-02  5.42281831e-05 -9.99873257e-01]]

 t_estimated:
[[8.12454682e-01]
 [5.83023958e-01]
 [6.74796247e-04]]

 R_gt:
[[ 0.99557395 -0.08628414  0.03726556]
 [ 0.08677587  0.99615771 -0.01179379]
 [-0.03610551  0.01497604  0.99923589]]

 t_gt:
[ 0.71257649 -0.68694814  0.14260781]

Pose Error in degrees for R and t:
179.58280428033044 79.71613634085517

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-9.99208208e-01 -3.45560315e-02  1.97189766e-02]
 [-3.45654133e-02  9.99402428e-01 -1.35039695e-04]
 [-1.97025267e-02 -8.16527350e-04 -9.99805553e-01]]

 t_estimated:
[[ 0.9988369 ]
 [-0.04692155]
 [ 0.0110999 ]]

 R_gt:
[[ 0.99252737 -0.11536552  0.03976171]
 [ 0.11657836  0.99273841 -0.02966545]
 [-0.03605056  0.03407903  0.998769  ]]

 t_gt:
[ 0.73116941 -0.68216342 -0.00666059]

Pose Error in degrees for R and t:
176.72997434519235 40.336758690557915

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99617546e-01  2.76543190e-02  1.80501440e-05]
 [-2.76543166e-02  9.99617539e-01 -1.20968198e-04]
 [-2.13885336e-05  1.20422769e-04  9.99999993e-01]]

 t_estimated:
[[ 0.6113737 ]
 [-0.79134105]
 [-0.00123971]]

 R_gt:
[[ 0.99193564 -0.11628333  0.05042658]
 [ 0.11759739  0.99277317 -0.02391171]
 [-0.04728158  0.02964871  0.99844189]]

 t_gt:
[ 0.7756243  -0.62869467  0.05612447]

Pose Error in degrees for R and t:
8.897690704976872 13.678330786063663

Number of keypoints:
Image1: 325
Image2: 325

 R_estimated:
[[ 9.99974731e-01  7.10895438e-03  1.80792640e-05]
 [-7.10895413e-03  9.99974731e-01 -1.36466530e-05]
 [-1.81758206e-05  1.35177835e-05  1.00000000e+00]]

 t_estimated:
[[ 9.48313643e-01]
 [-3.17333865e-01]
 [ 6.72980125e-04]]

 R_gt:
[[ 0.99987559 -0.01306124 -0.00886754]
 [ 0.01299609  0.99988881 -0.00726695]
 [ 0.00896132  0.00715083  0.99993395]]

 t_gt:
[ 0.47625267 -0.50726698 -0.71823646]

Pose Error in degrees for R and t:
1.3284541599673163 52.256575470285874

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-8.41990802e-01 -5.39485831e-01 -2.55478302e-03]
 [ 5.39484995e-01 -8.41994540e-01  1.06494216e-03]
 [-2.72563456e-03 -4.81595604e-04  9.99996169e-01]]

 t_estimated:
[[0.95818433]
 [0.28614922]
 [0.00118734]]

 R_gt:
[[ 0.99302081 -0.1069218  -0.04976915]
 [ 0.10758278  0.99413726  0.01079764]
 [ 0.04832264 -0.01607617  0.99870277]]

 t_gt:
[ 0.64600583 -0.71698029 -0.26194603]

Pose Error in degrees for R and t:
141.20278388962953 65.57395910439519

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-4.41223916e-01 -8.97396714e-01 -7.69807661e-04]
 [ 8.97393634e-01 -4.41224442e-01  2.37866039e-03]
 [-2.47425997e-03  3.58701356e-04  9.99996875e-01]]

 t_estimated:
[[9.76225068e-01]
 [2.16757820e-01]
 [8.14879022e-04]]

 R_gt:
[[ 0.96805354 -0.22886461 -0.10243518]
 [ 0.23205448  0.97249262  0.02023282]
 [ 0.09498721 -0.04335711  0.99453365]]

 t_gt:
[ 0.69777871 -0.68713294 -0.20236895]

Pose Error in degrees for R and t:
102.949442386282 57.85371544740693

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999980e-01 -1.85123215e-04  7.15552480e-05]
 [ 1.85122380e-04  9.99999983e-01  1.16738285e-05]
 [-7.15574079e-05 -1.16605818e-05  9.99999997e-01]]

 t_estimated:
[[4.69795355e-01]
 [8.82775001e-01]
 [7.88174760e-04]]

 R_gt:
[[ 0.99421545 -0.06414309 -0.08615047]
 [ 0.06376395  0.99793959 -0.00714826]
 [ 0.08643096  0.00161307  0.99625586]]

 t_gt:
[ 0.57609006 -0.57721695 -0.57874072]

Pose Error in degrees for R and t:
6.168043754330237 76.15096955176723

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.83994248 -0.54267436 -0.00107978]
 [ 0.5426613  -0.83990458 -0.00888895]
 [ 0.00391689 -0.00805216  0.99995991]]

 t_estimated:
[[9.12589285e-01]
 [4.08876736e-01]
 [7.82460254e-04]]

 R_gt:
[[ 0.98497984 -0.14770735 -0.08943375]
 [ 0.14342418  0.98826276 -0.05259987]
 [ 0.09615279  0.03898249  0.99460216]]

 t_gt:
[ 0.65743524 -0.53854267 -0.52702058]

Pose Error in degrees for R and t:
138.7724391493793 67.70605287144988

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999946e-01 -3.26419161e-04 -3.73304882e-05]
 [ 3.26418697e-04  9.99999947e-01 -1.24431562e-05]
 [ 3.73345478e-05  1.24309701e-05  9.99999999e-01]]

 t_estimated:
[[ 9.98376022e-01]
 [-5.69668794e-02]
 [ 3.05354320e-04]]

 R_gt:
[[ 0.9754405  -0.21862782  0.02680382]
 [ 0.21994365  0.97334574 -0.06497957]
 [-0.01188328  0.06927877  0.99752613]]

 t_gt:
[ 0.7292905  -0.6381188  -0.24685979]

Pose Error in degrees for R and t:
13.287802390610828 40.147920241656344

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.66157868  0.74986668  0.00368909]
 [-0.74984364  0.66158787 -0.00600107]
 [-0.00694066  0.00120394  0.99997519]]

 t_estimated:
[[0.92572894]
 [0.37818411]
 [0.00164428]]

 R_gt:
[[ 0.99822259 -0.04497394 -0.03908767]
 [ 0.04817613  0.99519281  0.08526095]
 [ 0.03506513 -0.08699212  0.99559204]]

 t_gt:
[ 0.27940448 -0.81891561  0.50130865]

Pose Error in degrees for R and t:
51.555057761506355 87.12117887744706

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-8.35486620e-01  5.49510446e-01  6.13843824e-04]
 [-5.49509871e-01 -8.35482661e-01 -2.76145615e-03]
 [-1.00459313e-03 -2.64447291e-03  9.99995999e-01]]

 t_estimated:
[[7.98235526e-01]
 [6.02345006e-01]
 [7.33672359e-04]]

 R_gt:
[[ 0.9810619  -0.10333518 -0.16382442]
 [ 0.11585475  0.99088173  0.06877938]
 [ 0.1552237  -0.08645584  0.98408922]]

 t_gt:
[ 0.58434898 -0.79462084 -0.1646633 ]

Pose Error in degrees for R and t:
153.13250996295534 89.29475203997697

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-4.81288872e-01  8.76556932e-01  2.99465942e-03]
 [ 8.76561936e-01  4.81287718e-01  1.14201453e-03]
 [-4.40252046e-04  3.17464334e-03 -9.99994864e-01]]

 t_estimated:
[[0.87361291]
 [0.48661772]
 [0.00191582]]

 R_gt:
[[ 0.97509105 -0.14262455 -0.16986842]
 [ 0.15225419  0.98731599  0.04501168]
 [ 0.16129424 -0.06975294  0.98443846]]

 t_gt:
[ 0.59593049 -0.77058398 -0.22598048]

Pose Error in degrees for R and t:
170.20725387735413 81.6511498308458

Number of keypoints:
Image1: 304
Image2: 304

 R_estimated:
[[ 9.83837204e-01  1.79065204e-01  9.61483908e-05]
 [-1.79065187e-01  9.83837198e-01 -1.63110547e-04]
 [-1.23801787e-04  1.43257394e-04  9.99999982e-01]]

 t_estimated:
[[-2.83972725e-01]
 [ 9.58832346e-01]
 [ 1.51994708e-04]]

 R_gt:
[[ 0.99962945 -0.02705453 -0.00311977]
 [ 0.02698894  0.99944754 -0.01943286]
 [ 0.0036437   0.01934133  0.99980696]]

 t_gt:
[ 0.71101893 -0.5402337  -0.45011068]

Pose Error in degrees for R and t:
11.916221132965061 43.94783568190761

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 0.26231981 -0.9649792  -0.00185963]
 [-0.96498035 -0.26231693 -0.00165587]
 [ 0.00111007  0.00222887 -0.9999969 ]]

 t_estimated:
[[0.56850901]
 [0.82267655]
 [0.00089812]]

 R_gt:
[[ 9.99937582e-01  3.65270053e-04 -1.11690067e-02]
 [-3.99340502e-04  9.99995598e-01 -3.05804956e-03]
 [ 1.11674426e-02  3.06220012e-03  9.99933114e-01]]

 t_gt:
[ 0.91989911  0.02418916 -0.39140837]

Pose Error in degrees for R and t:
179.3328566591008 57.14469917293392

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.87145540e-01 -1.59823874e-01  1.11598932e-04]
 [ 1.59823878e-01  9.87145545e-01 -3.26535700e-05]
 [-1.04945568e-04  5.00700000e-05  9.99999993e-01]]

 t_estimated:
[[-0.6222301 ]
 [-0.78283391]
 [-0.00087762]]

 R_gt:
[[ 0.99589879  0.08957455 -0.0128144 ]
 [-0.08931745  0.99581419  0.01942567]
 [ 0.01450127 -0.01820142  0.99972989]]

 t_gt:
[0.0349121  0.99911661 0.02339096]

Pose Error in degrees for R and t:
14.390961307679465 36.49716817876468

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 5.22692663e-01  8.52516156e-01  2.92978232e-03]
 [-8.52492318e-01  5.22700157e-01 -6.43369788e-03]
 [-7.01622907e-03  8.65229750e-04  9.99975012e-01]]

 t_estimated:
[[0.23776828]
 [0.97130873]
 [0.0050589 ]]

 R_gt:
[[ 9.75011621e-01 -2.22150375e-01  1.47210202e-03]
 [ 2.22154054e-01  9.75000026e-01 -4.59041608e-03]
 [-4.15296887e-04  4.80178190e-03  9.99988846e-01]]

 t_gt:
[ 0.61446893 -0.78877715 -0.01607914]

Pose Error in degrees for R and t:
71.32203256253572 51.67464545611471

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999370e-01 -5.65257550e-04  9.69495909e-04]
 [ 5.66539894e-04  9.99998964e-01 -1.32292689e-03]
 [-9.68747111e-04  1.32347531e-03  9.99998655e-01]]

 t_estimated:
[[7.98565954e-01]
 [6.01906844e-01]
 [7.53830170e-04]]

 R_gt:
[[ 0.9304319  -0.3634208  -0.0471439 ]
 [ 0.36209903  0.93150556 -0.03435613]
 [ 0.05640045  0.01489556  0.99829691]]

 t_gt:
[ 0.664758   -0.73052618 -0.15629558]

Pose Error in degrees for R and t:
21.517835420173547 84.77733204552527

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999818e-01 -6.03503988e-04 -1.03854928e-05]
 [ 6.03504133e-04  9.99999818e-01  1.39739434e-05]
 [ 1.03770575e-05 -1.39802085e-05  1.00000000e+00]]

 t_estimated:
[[ 2.56316398e-02]
 [-9.99671409e-01]
 [-3.04229636e-04]]

 R_gt:
[[ 0.86515403 -0.49946335 -0.04523098]
 [ 0.49985099  0.86610558 -0.00310288]
 [ 0.04072453 -0.01992435  0.99897153]]

 t_gt:
[ 0.71225166 -0.70057217 -0.04354555]

Pose Error in degrees for R and t:
30.069585053237603 44.06004696299012

Number of keypoints:
Image1: 359
Image2: 359

 R_estimated:
[[ 9.79109969e-01  2.03331365e-01  1.56623354e-04]
 [-2.03331351e-01  9.79109980e-01 -9.67547039e-05]
 [-1.73024755e-04  6.28870570e-05  9.99999983e-01]]

 t_estimated:
[[-7.71910204e-02]
 [ 9.97016033e-01]
 [ 7.59171914e-04]]

 R_gt:
[[ 0.99997874 -0.0054818   0.0037578 ]
 [ 0.00547306  0.99998159  0.00252974]
 [-0.00377139 -0.00250829  0.99998945]]

 t_gt:
[ 0.26449929 -0.49069027  0.83021876]

Pose Error in degrees for R and t:
12.048308564129918 59.401907519062114

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.96839611e-01  7.94404669e-02  4.99574802e-05]
 [-7.94404655e-02  9.96839612e-01 -3.00846184e-05]
 [-5.21895313e-05  2.60208938e-05  9.99999998e-01]]

 t_estimated:
[[0.97464488]
 [0.22375508]
 [0.00100791]]

 R_gt:
[[ 0.99839683 -0.05057218 -0.02542218]
 [ 0.05112991  0.99845413  0.02179162]
 [ 0.0242811  -0.02305632  0.99943884]]

 t_gt:
[ 0.62552146 -0.77468798 -0.09263604]

Pose Error in degrees for R and t:
7.715054736129157 64.13656938183969

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.97843064 -0.2065269   0.0044852 ]
 [-0.20653913  0.97843526 -0.00245573]
 [-0.00388131 -0.00332914 -0.99998693]]

 t_estimated:
[[ 0.99959607]
 [-0.02807007]
 [ 0.00444699]]

 R_gt:
[[ 0.98526225 -0.15701352 -0.06786655]
 [ 0.1589144   0.98701128  0.02355006]
 [ 0.06328758 -0.03398753  0.99741666]]

 t_gt:
[ 0.6704786  -0.72238605 -0.16916511]

Pose Error in degrees for R and t:
176.64735896789887 46.39102854685392

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.98567302e-01 -5.35101547e-02 -7.92167862e-05]
 [ 5.35101523e-02  9.98567305e-01 -3.19339014e-05]
 [ 8.08120807e-05  2.76492475e-05  9.99999996e-01]]

 t_estimated:
[[-1.86483736e-01]
 [-9.82457889e-01]
 [-5.58812518e-04]]

 R_gt:
[[ 0.99419548  0.06828107 -0.0831395 ]
 [-0.06306152  0.99596447  0.06385891]
 [ 0.08716544 -0.05824576  0.99448996]]

 t_gt:
[-0.86985053 -0.02622386 -0.49261786]

Pose Error in degrees for R and t:
9.108541824522764 79.14920366191669

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 5.69605584e-01  8.21918130e-01 -2.56980545e-04]
 [-8.21917940e-01  5.69605162e-01 -9.27200981e-04]
 [-6.15705852e-04  7.39355776e-04  9.99999537e-01]]

 t_estimated:
[[-2.55623066e-01]
 [ 9.66776516e-01]
 [ 1.30439772e-04]]

 R_gt:
[[ 0.98144318  0.12926314 -0.14162837]
 [-0.1100071   0.98454515  0.13626442]
 [ 0.15705392 -0.11815564  0.9804959 ]]

 t_gt:
[-0.93496182 -0.15040295 -0.321287  ]

Pose Error in degrees for R and t:
49.581952929910024 84.63213886751636

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-2.03886409e-01  9.78994388e-01 -5.65219702e-04]
 [-9.78993325e-01 -2.03887034e-01 -1.46496238e-03]
 [-1.54943092e-03  2.54660396e-04  9.99998767e-01]]

 t_estimated:
[[0.38263465]
 [0.92389924]
 [0.00096139]]

 R_gt:
[[ 0.96848328  0.14442913 -0.20292686]
 [-0.11353184  0.98113713  0.15646351]
 [ 0.22169768 -0.12849345  0.96661208]]

 t_gt:
[-0.74910408 -0.27396297 -0.60314788]

Pose Error in degrees for R and t:
95.1302222961581 57.29408338470738

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999982e-01 -1.80884307e-04  4.96525228e-05]
 [ 1.80883402e-04  9.99999983e-01  1.82421257e-05]
 [-4.96558217e-05 -1.82331440e-05  9.99999999e-01]]

 t_estimated:
[[0.70160945]
 [0.7125613 ]
 [0.00075483]]

 R_gt:
[[ 9.98333467e-01 -5.76608784e-02 -2.51733804e-03]
 [ 5.77124594e-02  9.97776369e-01  3.33192507e-02]
 [ 5.89968836e-04 -3.34092301e-02  9.99441067e-01]]

 t_gt:
[ 0.46372335 -0.8371608   0.29003871]

Pose Error in degrees for R and t:
3.813005169402605 74.27879194278175

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99999242  0.00146652 -0.00360739]
 [-0.00144736  0.99998487  0.00530753]
 [ 0.00361512 -0.00530227  0.99997941]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98356461 -0.1801932  -0.01149015]
 [ 0.18031291  0.98355433  0.01038658]
 [ 0.00942956 -0.01228836  0.99988023]]

 t_gt:
[ 0.97635646 -0.20998247  0.05133645]

Pose Error in degrees for R and t:
10.481590005216772 48.921144525197384

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999996e-01  8.52977730e-05 -6.03894496e-06]
 [-8.52972966e-05  9.99999993e-01  7.88468555e-05]
 [ 6.04567038e-06 -7.88463401e-05  9.99999997e-01]]

 t_estimated:
[[9.99996726e-01]
 [2.47611880e-03]
 [6.46158186e-04]]

 R_gt:
[[ 0.98805417 -0.15402493  0.00500749]
 [ 0.15404489  0.98805568 -0.00391384]
 [-0.00434375  0.00463753  0.99998017]]

 t_gt:
[ 0.97814266 -0.2029501  -0.04525695]

Pose Error in degrees for R and t:
8.873431907374629 12.14789027053596

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.993359   -0.1134114   0.01938428]
 [-0.11283193 -0.99319798 -0.02875286]
 [ 0.02251333  0.02637474 -0.99939858]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.47672973e-01 -3.19244102e-01  5.53467090e-05]
 [ 3.19238079e-01  9.47653530e-01  6.27418490e-03]
 [-2.05521088e-03 -5.92870299e-03  9.99979964e-01]]

 t_gt:
[ 0.99531536 -0.09548044  0.01519271]

Pose Error in degrees for R and t:
178.59996139550748 42.206126162673364

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99978190e-01 -6.59201008e-03 -4.05771703e-04]
 [ 6.59255207e-03  9.99977359e-01  1.34915783e-03]
 [ 3.96868854e-04 -1.35180348e-03  9.99999008e-01]]

 t_estimated:
[[-0.67909571]
 [-0.73404923]
 [-0.00085644]]

 R_gt:
[[ 0.99917487 -0.01291026 -0.03850207]
 [ 0.00889478  0.99467639 -0.102671  ]
 [ 0.03962224  0.10224337  0.99396921]]

 t_gt:
[ 0.22013681  0.18343236 -0.95806699]

Pose Error in degrees for R and t:
6.36451542069337 73.54143836869258

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.86646413e-01 -1.62876753e-01 -1.39396184e-04]
 [ 1.62876809e-01  9.86646207e-01  6.37391721e-04]
 [ 3.37184225e-05 -6.51584661e-04  9.99999787e-01]]

 t_estimated:
[[0.3203617]
 [0.9472947]
 [0.0010608]]

 R_gt:
[[ 0.99524956  0.00621567 -0.09716354]
 [-0.0179688   0.99254445 -0.1205586 ]
 [ 0.09568977  0.12173161  0.98793905]]

 t_gt:
[ 0.14910027  0.30747899 -0.93980093]

Pose Error in degrees for R and t:
13.454501856714343 70.24235531003701

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.62520786  0.78042828  0.00684282]
 [ 0.78045683 -0.62516577 -0.0074093 ]
 [-0.00150453  0.00997288 -0.99994914]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99207166  0.01202571 -0.12510085]
 [-0.030387    0.98883125 -0.14591616]
 [ 0.12194785  0.14856018  0.98135497]]

 t_gt:
[ 0.14121261  0.3506203  -0.92581013]

Pose Error in degrees for R and t:
174.8879987254689 81.86063458079235

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.90107175e-01 -1.40313123e-01 -1.00689676e-04]
 [ 1.40313152e-01  9.90107097e-01  3.93898337e-04]
 [ 4.44244575e-05 -4.04129656e-04  9.99999917e-01]]

 t_estimated:
[[-6.66025611e-01]
 [-7.45928804e-01]
 [-3.25296777e-04]]

 R_gt:
[[ 0.99792021 -0.02645109 -0.05878608]
 [ 0.03056796  0.99705961  0.07027509]
 [ 0.05675402 -0.07192624  0.99579381]]

 t_gt:
[ 0.02309132 -0.99688674  0.07538975]

Pose Error in degrees for R and t:
8.289750057912347 43.26407741177255

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 8.89206406e-01  4.57475598e-01  5.29569093e-03]
 [ 4.57505466e-01 -8.89123920e-01 -1.21409425e-02]
 [-8.45659440e-04  1.32186114e-02 -9.99912273e-01]]

 t_estimated:
[[0.99129211]
 [0.13165598]
 [0.00258149]]

 R_gt:
[[ 0.98335067 -0.16364404 -0.079013  ]
 [ 0.16533729  0.98611821  0.01535753]
 [ 0.07540234 -0.02816607  0.99675522]]

 t_gt:
[ 0.47479626 -0.7614356  -0.44134379]

Pose Error in degrees for R and t:
178.4935636418011 68.32909376495084

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.90374235e-01  1.38415494e-01 -1.62492530e-04]
 [-1.38415571e-01  9.90374022e-01 -6.52106351e-04]
 [ 7.06667579e-05  6.68320825e-04  9.99999774e-01]]

 t_estimated:
[[ 6.37320825e-01]
 [ 7.70598465e-01]
 [-4.15091715e-04]]

 R_gt:
[[ 0.93927137 -0.32420014 -0.11253865]
 [ 0.32824117  0.94440501  0.018947  ]
 [ 0.10013812 -0.05473671  0.99346711]]

 t_gt:
[ 0.61182165 -0.76813896 -0.18877715]

Pose Error in degrees for R and t:
27.829610763819183 78.35064468515763

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.99999986e-01 -8.86213596e-05  1.38582314e-04]
 [ 8.86132255e-05  9.99999994e-01  5.87000648e-05]
 [-1.38587516e-04 -5.86877838e-05  9.99999989e-01]]

 t_estimated:
[[0.71773904]
 [0.69631065]
 [0.0014676 ]]

 R_gt:
[[ 0.99960008 -0.02797976  0.00395783]
 [ 0.02784922  0.99916992  0.02971408]
 [-0.00478609 -0.02959135  0.99955055]]

 t_gt:
[ 0.56597174 -0.6333066   0.52782454]

Pose Error in degrees for R and t:
2.3414814477471975 88.05251538939729

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 0.97625936 -0.21647327  0.0075484 ]
 [ 0.21651633  0.97626383 -0.00544128]
 [-0.00619134  0.00694645  0.99995671]]

 t_estimated:
[[-0.56908417]
 [-0.82227839]
 [-0.00120569]]

 R_gt:
[[ 0.99697775  0.04083777  0.06608114]
 [-0.04659411  0.99502515  0.08806097]
 [-0.06215698 -0.09087327  0.99392038]]

 t_gt:
[-0.14086539 -0.14265205  0.97969757]

Pose Error in degrees for R and t:
16.31762375576181 78.68033190402788

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99953735e-01  9.42684700e-03  1.91360329e-03]
 [-9.42705328e-03  9.99955559e-01  9.88046947e-05]
 [-1.91258683e-03 -1.16839764e-04  9.99998164e-01]]

 t_estimated:
[[0.99257089]
 [0.12166344]
 [0.00101386]]

 R_gt:
[[ 0.99388933  0.05663349  0.09474546]
 [-0.07060132  0.98596962  0.15125739]
 [-0.08484981 -0.15702187  0.98394303]]

 t_gt:
[-0.12933295 -0.1032476   0.9862114 ]

Pose Error in degrees for R and t:
10.690567361168794 81.95599018243306

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999419e-01 -2.23498785e-04 -1.05450829e-03]
 [ 2.24884433e-04  9.99999111e-01  1.31408765e-03]
 [ 1.05421366e-03 -1.31432403e-03  9.99998581e-01]]

 t_estimated:
[[-0.20125057]
 [-0.97953817]
 [-0.00178098]]

 R_gt:
[[ 0.98835418 -0.15216578 -0.00123412]
 [ 0.15138911  0.98242213  0.10920946]
 [-0.01540633 -0.10812458  0.99401766]]

 t_gt:
[ 0.53257583 -0.67449344  0.51129402]

Pose Error in degrees for R and t:
10.714764094774598 56.45441324639629

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999922e-01 -3.94950548e-04 -3.46472120e-06]
 [ 3.94953655e-04  9.99999473e-01  9.48048614e-04]
 [ 3.09028705e-06 -9.48049908e-04  9.99999551e-01]]

 t_estimated:
[[0.69289762]
 [0.72103553]
 [0.00081194]]

 R_gt:
[[ 0.97648654 -0.21556169  0.00268384]
 [ 0.21285224  0.9660366   0.14651289]
 [-0.0341764  -0.14249683  0.98920506]]

 t_gt:
[ 0.52886627 -0.66904675  0.52218476]

Pose Error in degrees for R and t:
14.964695104502564 83.36567058298863

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-8.17144283e-01 -5.76426733e-01 -2.72800845e-03]
 [ 5.76426966e-01 -8.17148301e-01  7.79028409e-04]
 [-2.67824027e-03 -9.35919023e-04  9.99995976e-01]]

 t_estimated:
[[0.95701681]
 [0.29002896]
 [0.00142218]]

 R_gt:
[[ 0.96448146  0.25432108  0.07137427]
 [-0.25212496  0.96693096 -0.03841441]
 [-0.0787832   0.01905532  0.99670921]]

 t_gt:
[-0.71670118  0.68683774  0.12080291]

Pose Error in degrees for R and t:
159.51288694193642 60.887864283135876

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-9.67957347e-01 -2.51114600e-01 -1.78895214e-04]
 [-2.51114609e-01  9.67956417e-01  1.35181293e-03]
 [-1.66297193e-04  1.35342046e-03 -9.99999070e-01]]

 t_estimated:
[[9.99992164e-01]
 [3.88195716e-03]
 [7.76391432e-04]]

 R_gt:
[[ 0.92155929  0.38320415  0.0623133 ]
 [-0.38416895  0.92325499  0.00384498]
 [-0.05605702 -0.02748204  0.99804839]]

 t_gt:
[-0.66934942  0.72978821  0.13921392]

Pose Error in degrees for R and t:
176.46679412752744 48.20994334805588

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.9757313  -0.21889474 -0.00579038]
 [ 0.21872411 -0.97554512  0.02171362]
 [-0.01040177  0.01992017  0.99974746]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.87978819  0.46983367  0.07230545]
 [-0.47090888  0.88217859 -0.00245863]
 [-0.06494093 -0.03188516  0.99737852]]

 t_gt:
[-0.6298249   0.76613552  0.12789437]

Pose Error in degrees for R and t:
164.5999350287836 87.32385440304441

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.47639751  0.87922504  0.00295661]
 [-0.87922422 -0.47637949 -0.00522946]
 [-0.0031894  -0.00509083  0.99998196]]

 t_estimated:
[[0.57557757]
 [0.81774367]
 [0.00239807]]

 R_gt:
[[ 0.9754913  -0.21187276 -0.05938687]
 [ 0.2136529   0.97658104  0.0253527 ]
 [ 0.05262396 -0.03741973  0.99791247]]

 t_gt:
[ 0.98056101 -0.16301207  0.10921159]

Pose Error in degrees for R and t:
130.78589642297243 64.44681566653696

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-4.13937415e-01 -9.10305321e-01 -1.97245506e-04]
 [ 9.10304128e-01 -4.13937207e-01  1.54387497e-03]
 [-1.48704486e-03  4.59514217e-04  9.99998789e-01]]

 t_estimated:
[[9.01630320e-01]
 [4.32506778e-01]
 [8.07718860e-04]]

 R_gt:
[[ 0.93229242 -0.35572823 -0.06548328]
 [ 0.35902232  0.9320963   0.04795786]
 [ 0.04397578 -0.06822017  0.99670012]]

 t_gt:
[ 0.9849461  -0.07860957  0.15395361]

Pose Error in degrees for R and t:
93.56639013035885 31.330467653681005

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.99090146  0.13458465  0.00113062]
 [-0.13458321  0.99090149 -0.00126199]
 [-0.00129018  0.00109834  0.99999856]]

 t_estimated:
[[ 9.52660863e-01]
 [-3.04034346e-01]
 [-6.29313011e-04]]

 R_gt:
[[ 0.92604373 -0.37698522 -0.01802074]
 [ 0.37725921  0.92323531  0.07288825]
 [-0.01084082 -0.07429552  0.99717718]]

 t_gt:
[ 0.97871594 -0.07160427  0.19232251]

Pose Error in degrees for R and t:
30.23470382495244 17.43958572543464

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.97821561e-01 -6.59706743e-02 -5.01521531e-05]
 [ 6.59706782e-02  9.97821559e-01  8.05454216e-05]
 [ 4.47292638e-05 -8.36785299e-05  9.99999995e-01]]

 t_estimated:
[[ 1.47441878e-01]
 [ 9.89070430e-01]
 [-7.59094477e-04]]

 R_gt:
[[ 0.99378275 -0.09215584 -0.06247043]
 [ 0.09652121  0.99280321  0.07088868]
 [ 0.05548665 -0.07647764  0.99552648]]

 t_gt:
[ 0.50180384 -0.85309439  0.14290861]

Pose Error in degrees for R and t:
5.659907530198048 39.65580728395449

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.81294881e-01 -1.92510668e-01  1.46744745e-05]
 [ 1.92510664e-01  9.81294874e-01  1.23603777e-04]
 [-3.81950322e-05 -1.18466761e-04  9.99999992e-01]]

 t_estimated:
[[6.84039145e-02]
 [9.97657624e-01]
 [4.12490378e-04]]

 R_gt:
[[ 0.98795883 -0.12624211 -0.08944516]
 [ 0.14007742  0.97532366  0.17065286]
 [ 0.06569384 -0.18112664  0.98126338]]

 t_gt:
[ 0.39025199 -0.80487932  0.44707121]

Pose Error in degrees for R and t:
11.602848352202573 39.09378535651526

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.96700185  0.25476694 -0.00110697]
 [-0.25476486 -0.96700148 -0.00173299]
 [-0.00151195 -0.00139379  0.99999789]]

 t_estimated:
[[0.39124248]
 [0.92028712]
 [0.00096365]]

 R_gt:
[[ 0.961614   -0.17204322 -0.21377726]
 [ 0.20536458  0.96791174  0.14481824]
 [ 0.18200206 -0.1831616   0.96608841]]

 t_gt:
[ 0.55950943 -0.82237356  0.10320333]

Pose Error in degrees for R and t:
176.35448081761166 57.464878831524686

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 1.24215420e-01 -9.92255244e-01 -2.45037464e-04]
 [ 9.92234756e-01  1.24211260e-01  6.46152541e-03]
 [-6.38104607e-03 -1.04575578e-03  9.99979094e-01]]

 t_estimated:
[[0.9549331 ]
 [0.29681198]
 [0.00233083]]

 R_gt:
[[ 0.98372498 -0.16779784 -0.06426353]
 [ 0.16681792  0.98577726 -0.0203557 ]
 [ 0.06676452  0.00930395  0.99772558]]

 t_gt:
[ 0.57652391 -0.74738911 -0.33019645]

Pose Error in degrees for R and t:
73.32717314139907 70.85632642155514

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-9.93323877e-01 -1.15304292e-01 -3.54896384e-03]
 [-1.15305683e-01  9.93330038e-01  1.89224182e-04]
 [ 3.50347403e-03  5.97176598e-04 -9.99993685e-01]]

 t_estimated:
[[8.05028362e-01]
 [5.93236015e-01]
 [6.05181089e-04]]

 R_gt:
[[ 0.95023826 -0.30751969 -0.0498079 ]
 [ 0.30755478  0.95150398 -0.00712643]
 [ 0.04958354 -0.00854772  0.99873271]]

 t_gt:
[ 0.63195704 -0.76702052 -0.11094964]

Pose Error in degrees for R and t:
176.92680004218028 86.92448988433692

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 2.26968110e-01 -9.73902131e-01  3.42068694e-04]
 [ 9.73877774e-01  2.26964893e-01  7.00136843e-03]
 [-6.89628522e-03 -1.25595427e-03  9.99975432e-01]]

 t_estimated:
[[0.83772251]
 [0.54609523]
 [0.00099748]]

 R_gt:
[[ 0.88572963 -0.46127268 -0.05207108]
 [ 0.46017033  0.8872473  -0.03218215]
 [ 0.06104414  0.00454293  0.99812422]]

 t_gt:
[ 0.70047116 -0.70540806 -0.10834954]

Pose Error in degrees for R and t:
49.56310261102231 78.37692492282193

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 0.5264241   0.85016439  0.00990846]
 [ 0.85013405 -0.52616608 -0.02052713]
 [-0.01223794  0.01922949 -0.9997402 ]]

 t_estimated:
[[0.55175424]
 [0.83400476]
 [0.00182097]]

 R_gt:
[[ 0.99654473  0.08302887  0.00232028]
 [-0.08281095  0.99531964 -0.04981189]
 [-0.00644512  0.0494479   0.99875591]]

 t_gt:
[-0.31503847  0.91802096 -0.24080757]

Pose Error in degrees for R and t:
176.0845057461932 53.745603359997745

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.86633371e-01 -1.62952821e-01 -9.84856141e-04]
 [ 1.62953255e-01  9.86633718e-01  3.77420588e-04]
 [ 9.10190527e-04 -5.32861261e-04  9.99999444e-01]]

 t_estimated:
[[7.99824929e-01]
 [6.00232916e-01]
 [7.28438004e-04]]

 R_gt:
[[ 0.97642382  0.21533231  0.01517553]
 [-0.21451829  0.97576782 -0.0431115 ]
 [-0.02409143  0.03884012  0.99895498]]

 t_gt:
[-0.32365546  0.94614383  0.0076813 ]

Pose Error in degrees for R and t:
21.95673788714282 71.99833920915036

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.22134888 -0.97517629  0.00599015]
 [-0.97516385  0.22128885 -0.00931236]
 [ 0.00775564 -0.00790266 -0.9999387 ]]

 t_estimated:
[[0.79290795]
 [0.60934084]
 [0.00084985]]

 R_gt:
[[ 9.09865548e-01  4.14171352e-01 -2.46315619e-02]
 [-4.14903060e-01  9.08197289e-01 -5.50735614e-02]
 [-4.39380593e-04  6.03298420e-02  9.98178430e-01]]

 t_gt:
[-0.22225502  0.97271504 -0.06654433]

Pose Error in degrees for R and t:
177.40401694525457 65.39055461642724

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 0.54547868  0.83810535 -0.00569441]
 [ 0.83804803 -0.54532429  0.01723129]
 [ 0.01133634 -0.01417149 -0.99983531]]

 t_estimated:
[[-0.88785053]
 [-0.46012691]
 [-0.00216022]]

 R_gt:
[[ 0.9960994   0.03064865  0.08274993]
 [-0.02942143  0.99943869 -0.01601292]
 [-0.08319397  0.01351546  0.99644193]]

 t_gt:
[-0.63734739  0.35617334  0.68332193]

Pose Error in degrees for R and t:
178.01231181005477 66.3900509274923

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.9601473   0.27948762  0.00195695]
 [ 0.27949164  0.96014557  0.00221443]
 [-0.00126005  0.00267313 -0.99999563]]

 t_estimated:
[[0.97300358]
 [0.23078562]
 [0.0014246 ]]

 R_gt:
[[ 0.98615284  0.13986649  0.08910949]
 [-0.13699928  0.98985894 -0.03755369]
 [-0.09345703  0.02482622  0.99531426]]

 t_gt:
[-0.7279465   0.62407435  0.28394559]

Pose Error in degrees for R and t:
174.46563634301322 55.67665054708762

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.71273036 -0.70138309 -0.00878652]
 [ 0.70143703  0.7126954   0.00716643]
 [ 0.0012357  -0.01127092  0.99993572]]

 t_estimated:
[[0.77349763]
 [0.63379749]
 [0.00147053]]

 R_gt:
[[ 0.95959804  0.27818672  0.04224977]
 [-0.27931943  0.95990718  0.0236787 ]
 [-0.03396811 -0.03452309  0.99882713]]

 t_gt:
[-0.70348521  0.69182664  0.16274047]

Pose Error in degrees for R and t:
60.79327773632634 83.94824042815117

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.998663   -0.05166062  0.00184024]
 [-0.05166361 -0.99866324  0.00161339]
 [ 0.00175443 -0.0017063  -0.99999701]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98395888 -0.17837246  0.00288441]
 [ 0.17837957  0.98353106 -0.02909012]
 [ 0.00235295  0.02913828  0.99957262]]

 t_gt:
[ 0.55561952 -0.82462349 -0.1062217 ]

Pose Error in degrees for R and t:
178.41081670585035 34.78967028854174

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.60483264e-01 -2.78264484e-01  6.38566376e-03]
 [-2.78254384e-01  9.60504325e-01  2.43691630e-03]
 [-6.81156492e-03  5.63778387e-04 -9.99976642e-01]]

 t_estimated:
[[0.99387865]
 [0.11040661]
 [0.00395147]]

 R_gt:
[[ 9.40962627e-01 -3.37434292e-01 -2.69682512e-02]
 [ 3.37287171e-01  9.41349148e-01 -9.94468425e-03]
 [ 2.87425227e-02  2.61747822e-04  9.99586567e-01]]

 t_gt:
[ 0.63459755 -0.76954966 -0.07126899]

Pose Error in degrees for R and t:
178.74452852145038 56.94335089854058

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 1.00000000e+00 -2.81087653e-12 -3.93088340e-15]
 [ 2.80971080e-12  1.00000000e+00  2.60005233e-15]
 [ 3.93012446e-15 -2.60112298e-15  1.00000000e+00]]

 t_estimated:
[[9.95168391e-01]
 [9.81790092e-02]
 [8.69839999e-04]]

 R_gt:
[[ 8.76736134e-01 -4.80972259e-01  2.20311102e-04]
 [ 4.80901540e-01  8.76598126e-01 -1.75766601e-02]
 [ 8.26134660e-03  1.55159084e-02  9.99845130e-01]]

 t_gt:
[ 0.69264921 -0.72046873 -0.03408646]

Pose Error in degrees for R and t:
28.766322556196325 51.79054719155331

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.97253879 -0.23266915 -0.00577705]
 [ 0.23267898  0.97255299  0.00108323]
 [ 0.00536645 -0.00239768  0.99998273]]

 t_estimated:
[[8.19001255e-01]
 [5.73791298e-01]
 [7.00599876e-04]]

 R_gt:
[[ 0.99192839  0.12565997  0.01695601]
 [-0.12456247  0.99068866 -0.0549615 ]
 [-0.02370411  0.05240594  0.99834448]]

 t_gt:
[-0.37390251  0.92670515 -0.03760968]

Pose Error in degrees for R and t:
20.942221879664103 76.96875467234779

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.99446304 -0.10481287  0.00758406]
 [ 0.10485681  0.9944713  -0.00564644]
 [-0.00695031  0.00641041  0.9999553 ]]

 t_estimated:
[[-0.47068536]
 [-0.88230064]
 [-0.00093762]]

 R_gt:
[[ 0.94604607  0.32397822  0.00589542]
 [-0.32316237  0.94468498 -0.0560156 ]
 [-0.02371663  0.05108813  0.99841271]]

 t_gt:
[-0.28151943  0.95950026 -0.01029833]

Pose Error in degrees for R and t:
25.065473942143278 44.434523942741194

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999645e-01  8.42235919e-04 -2.55809559e-05]
 [-8.42247299e-04  9.99999545e-01 -4.48169225e-04]
 [ 2.52034800e-05  4.48190612e-04  9.99999899e-01]]

 t_estimated:
[[-0.4561071 ]
 [-0.88992324]
 [-0.00171469]]

 R_gt:
[[ 0.8742946   0.48389741 -0.03811268]
 [-0.48508809  0.87383745 -0.03313727]
 [ 0.01726882  0.04745909  0.9987236 ]]

 t_gt:
[-0.19203617  0.97888021 -0.07011167]

Pose Error in degrees for R and t:
29.090334802495683 38.425312403538626

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.93867581 -0.33163128  0.09438446]
 [ 0.33696339  0.9403337  -0.04720393]
 [-0.07309858  0.0761133   0.99441609]]

 t_estimated:
[[0.46048445]
 [0.88766703]
 [0.00114834]]

 R_gt:
[[ 0.98850533  0.15102856 -0.00690804]
 [-0.1508477   0.98831805  0.02174725]
 [ 0.01011264 -0.02045474  0.99973918]]

 t_gt:
[-0.72933311  0.68261774  0.04589376]

Pose Error in degrees for R and t:
29.16141011889304 74.32719962609458

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-8.84732778e-01 -4.66086264e-01 -3.39197552e-03]
 [-4.66086689e-01  8.84738770e-01 -7.12555725e-04]
 [ 3.33312468e-03  9.50533232e-04 -9.99993993e-01]]

 t_estimated:
[[8.85030903e-01]
 [4.65531466e-01]
 [8.68528855e-04]]

 R_gt:
[[ 0.96687758  0.24716706 -0.06369005]
 [-0.24067222  0.96594769  0.09498026]
 [ 0.08499747 -0.07650539  0.99343962]]

 t_gt:
[-0.74212917  0.6688934  -0.0427308 ]

Pose Error in degrees for R and t:
176.8191276362998 69.79052242538903

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.00691315e-01  5.99076879e-01 -5.57914705e-04]
 [-5.99076412e-01  8.00688546e-01 -2.30336659e-03]
 [-9.33177754e-04  2.17851917e-03  9.99997192e-01]]

 t_estimated:
[[0.80549253]
 [0.59260431]
 [0.00138619]]

 R_gt:
[[ 0.94546137  0.29793622 -0.13166812]
 [-0.27663057  0.94783786  0.1583651 ]
 [ 0.1719831  -0.11330449  0.9785624 ]]

 t_gt:
[-0.79054161  0.58250598 -0.18902578]

Pose Error in degrees for R and t:
23.21850019051913 73.0317441898141

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[-0.92686904 -0.37537927  0.00204387]
 [-0.37536263  0.9268597   0.00582974]
 [-0.00408275  0.00463622 -0.99998092]]

 t_estimated:
[[0.9330355 ]
 [0.35978233]
 [0.00119927]]

 R_gt:
[[ 0.99744526  0.04305812  0.05700829]
 [-0.04522977  0.9982765   0.03738184]
 [-0.05529987 -0.03986435  0.99767312]]

 t_gt:
[-0.36676825  0.0613284   0.92828868]

Pose Error in degrees for R and t:
176.2435580385177 71.39574781233945

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[-0.86604157  0.49994534  0.00516185]
 [-0.49996479 -0.86603836 -0.00357403]
 [ 0.00268353 -0.005676    0.99998029]]

 t_estimated:
[[0.59289666]
 [0.80527756]
 [0.00126417]]

 R_gt:
[[ 0.99367671  0.07868143  0.0801032 ]
 [-0.08604972  0.9919293   0.0931216 ]
 [-0.07212908 -0.09942471  0.99242781]]

 t_gt:
[-0.3107736   0.06359326  0.94835419]

Pose Error in degrees for R and t:
145.30544291473896 82.42363335106128

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-0.14243114  0.98950159 -0.02449424]
 [ 0.98943722  0.14300893  0.02371579]
 [ 0.02696971 -0.02085765 -0.99941863]]

 t_estimated:
[[-0.15593916]
 [-0.98761469]
 [-0.01732657]]

 R_gt:
[[ 0.98598218  0.11178535  0.12387086]
 [-0.13217215  0.97637379  0.17094945]
 [-0.10183419 -0.18492453  0.97746198]]

 t_gt:
[-0.31656847  0.10866068  0.94232545]

Pose Error in degrees for R and t:
176.2560427806106 85.74033378959234

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999872e-01 -4.84895939e-04  1.43351756e-04]
 [ 4.84942815e-04  9.99999829e-01 -3.27147935e-04]
 [-1.43193098e-04  3.27217410e-04  9.99999936e-01]]

 t_estimated:
[[-0.9548191 ]
 [-0.29718488]
 [-0.00127991]]

 R_gt:
[[ 0.98135427  0.19200597  0.00883571]
 [-0.1919396   0.98137485 -0.00791798]
 [-0.01019208  0.00607522  0.99992937]]

 t_gt:
[-0.7184281   0.69559094 -0.00378319]

Pose Error in degrees for R and t:
11.115773256431572 61.363270263765465

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.37938832  0.92514628 -0.01299459]
 [ 0.92475953 -0.37870351  0.03746293]
 [ 0.02973759 -0.02622987 -0.99921353]]

 t_estimated:
[[0.84451823]
 [0.53552604]
 [0.00090614]]

 R_gt:
[[ 0.88780559  0.45570894  0.06426033]
 [-0.45199048  0.88967666 -0.06465377]
 [-0.08663526  0.02835577  0.99583603]]

 t_gt:
[-0.62786718  0.77599034  0.06018138]

Pose Error in degrees for R and t:
177.5127153292125 83.41784773555393

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.84861247e-01 -1.73344463e-01 -1.45850630e-04]
 [ 1.73344468e-01  9.84861257e-01  2.23708944e-05]
 [ 1.39764764e-04 -4.73146269e-05  9.99999989e-01]]

 t_estimated:
[[-0.27639253]
 [-0.96104425]
 [-0.00105493]]

 R_gt:
[[ 0.78525214  0.61559049  0.06654129]
 [-0.6157472   0.78767554 -0.02056712]
 [-0.0650744  -0.02482177  0.99757166]]

 t_gt:
[-0.55897446  0.82465988  0.08650796]

Pose Error in degrees for R and t:
48.19390637614781 50.34751529777764

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999838e-01  5.66068976e-04  5.36719147e-05]
 [-5.66078841e-04  9.99999823e-01  1.83963145e-04]
 [-5.35677693e-05 -1.83993498e-04  9.99999982e-01]]

 t_estimated:
[[0.98246614]
 [0.18643814]
 [0.00104741]]

 R_gt:
[[ 0.98715182 -0.15959439 -0.00781247]
 [ 0.159635    0.98716406  0.00490342]
 [ 0.00692862 -0.00608658  0.99995721]]

 t_gt:
[ 0.8014215  -0.59809297  0.00289469]

Pose Error in degrees for R and t:
9.232067888109139 47.478627224548

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999752e-01  7.04136013e-04  1.37633787e-06]
 [-7.04136013e-04  9.99999752e-01 -4.04545079e-07]
 [-1.37662238e-06  4.03575849e-07  1.00000000e+00]]

 t_estimated:
[[ 0.42003369]
 [-0.90750735]
 [-0.00145174]]

 R_gt:
[[ 0.98739377 -0.15782775 -0.01199591]
 [ 0.15751413  0.98723254 -0.02367474]
 [ 0.01557858  0.02148754  0.99964757]]

 t_gt:
[ 0.78981978 -0.59376784 -0.15370253]

Pose Error in degrees for R and t:
9.239551656252289 29.445612351729917

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 1.80357038e-01  9.83595929e-01  3.22300840e-03]
 [ 9.83601209e-01 -1.80355961e-01 -6.24085006e-04]
 [-3.25586949e-05  3.28271308e-03 -9.99994611e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.97161609 -0.23545955 -0.02283276]
 [ 0.2345151   0.97137968 -0.03775064]
 [ 0.03106773  0.03132544  0.99902595]]

 t_gt:
[ 0.80685513 -0.56796104 -0.16249633]

Pose Error in degrees for R and t:
179.3048524036748 36.768957464397495

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99741108e-01 -2.27433746e-02 -6.75445623e-04]
 [ 2.27438183e-02  9.99741110e-01  6.56685418e-04]
 [ 6.60335515e-04 -6.71877620e-04  9.99999556e-01]]

 t_estimated:
[[-0.51365527]
 [-0.85799455]
 [-0.00190243]]

 R_gt:
[[ 0.99600852  0.08676174  0.02097183]
 [-0.08703645  0.99612652  0.01252911]
 [-0.01980423 -0.01430462  0.99970131]]

 t_gt:
[-0.34426915  0.81847875  0.4599688 ]

Pose Error in degrees for R and t:
6.445553279070313 58.244894327650975

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-3.18933827e-01 -9.47775829e-01 -1.48074489e-03]
 [-9.47776897e-01  3.18934083e-01  6.63188694e-05]
 [ 4.09404593e-04  1.42456713e-03 -9.99998901e-01]]

 t_estimated:
[[8.00854448e-01]
 [5.98858519e-01]
 [7.92140898e-04]]

 R_gt:
[[ 0.97785814  0.20908207  0.00879941]
 [-0.20926399  0.9772173   0.03543103]
 [-0.00119151 -0.03648769  0.99933276]]

 t_gt:
[-0.21814563  0.95640955  0.19414751]

Pose Error in degrees for R and t:
178.62762087001775 66.53399400780089

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.98014576e-01  6.29830755e-02 -1.94219597e-04]
 [-6.29830236e-02  9.98014564e-01  2.62802618e-04]
 [ 2.10386104e-04 -2.50048306e-04  9.99999947e-01]]

 t_estimated:
[[-0.99210945]
 [ 0.12536906]
 [-0.00119938]]

 R_gt:
[[ 0.97160455  0.23568163  0.02095072]
 [-0.23593779  0.97170988  0.01066955]
 [-0.01784329 -0.01530913  0.99972391]]

 t_gt:
[-0.0935889   0.98355689  0.15445699]

Pose Error in degrees for R and t:
10.120162679413044 77.52739553937022

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 9.37680352e-01  3.47498613e-01  5.20327140e-04]
 [-3.47498471e-01  9.37680486e-01 -3.45952137e-04]
 [-6.08118493e-04  1.43579636e-04  9.99999805e-01]]

 t_estimated:
[[0.00623687]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99212111 -0.12323074  0.0225884 ]
 [ 0.12402885  0.99154444 -0.0381591 ]
 [-0.01769572  0.04066118  0.99901634]]

 t_gt:
[ 0.61557916 -0.7843537  -0.07649559]

Pose Error in degrees for R and t:
27.55219207842244 38.68645069062468

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999678e-01  7.73869838e-04  2.11998445e-04]
 [-7.73865137e-04  9.99999700e-01 -2.22578296e-05]
 [-2.12015606e-04  2.20937643e-05  9.99999977e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10076068e-03]
 [7.75189840e-04]]

 R_gt:
[[ 0.99482879 -0.09983542  0.01867244]
 [ 0.10035474  0.99451935 -0.02933055]
 [-0.01564243  0.03105429  0.99939564]]

 t_gt:
[ 0.53608559 -0.84134908 -0.06887638]

Pose Error in degrees for R and t:
6.121277200373486 57.76313359068656

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.92849309e-01  1.19374380e-01  8.65020699e-05]
 [-1.19374381e-01  9.92849312e-01  5.32656106e-06]
 [-8.52476657e-05 -1.56146035e-05  9.99999996e-01]]

 t_estimated:
[[7.64302738e-01]
 [6.44857303e-01]
 [6.19768005e-04]]

 R_gt:
[[ 0.99600839 -0.07298492  0.05138768]
 [ 0.07540956  0.99604596 -0.04694675]
 [-0.04775877  0.05063439  0.99757461]]

 t_gt:
[ 0.26733327 -0.95084081  0.15631594]

Pose Error in degrees for R and t:
11.808040266137892 65.87452978469264

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99976423e-01  6.86649710e-03 -6.52374639e-05]
 [-6.86649354e-03  9.99976424e-01  5.46481832e-05]
 [ 6.56111675e-05 -5.41989421e-05  9.99999996e-01]]

 t_estimated:
[[9.84039625e-01]
 [1.77948681e-01]
 [5.32133738e-04]]

 R_gt:
[[ 0.99486422  0.10110296  0.0049654 ]
 [-0.10114288  0.99483411  0.00872722]
 [-0.00405767 -0.00918508  0.99994872]]

 t_gt:
[-0.37583158  0.92426093  0.06702508]

Pose Error in degrees for R and t:
5.44084426326424 78.151388048317

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.97597606e-01 -6.92747573e-02 -1.56005940e-04]
 [ 6.92747961e-02  9.97597582e-01  2.59402505e-04]
 [ 1.37661103e-04 -2.69586598e-04  9.99999954e-01]]

 t_estimated:
[[-0.12905092]
 [ 0.99163384]
 [ 0.00286057]]

 R_gt:
[[ 0.96619295  0.25314803 -0.04886688]
 [-0.25176903  0.96723634  0.03265403]
 [ 0.05553267 -0.01924762  0.99827114]]

 t_gt:
[-0.3014652   0.94935816 -0.08853142]

Pose Error in degrees for R and t:
18.905686223597755 11.459094065709094

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.95975297e-01 -8.96259502e-02  6.30553730e-04]
 [ 8.96263292e-02  9.95975281e-01 -6.00889826e-04]
 [-5.74160606e-04  6.54985639e-04  9.99999621e-01]]

 t_estimated:
[[-0.96193879]
 [-0.27326317]
 [-0.00100319]]

 R_gt:
[[ 0.91178771  0.39441832 -0.11435877]
 [-0.38887665  0.9187593   0.06823258]
 [ 0.13198135 -0.01774261  0.99109327]]

 t_gt:
[-0.13820515  0.97843231 -0.1535238 ]

Pose Error in degrees for R and t:
29.315818047664962 82.28355564456636

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99960969e-01 -8.83029358e-03 -2.95381848e-04]
 [ 8.83038250e-03  9.99960966e-01  3.01094200e-04]
 [ 2.92711568e-04 -3.03690783e-04  9.99999911e-01]]

 t_estimated:
[[-0.66948189]
 [ 0.74282039]
 [ 0.00344454]]

 R_gt:
[[ 0.99666245  0.08096175  0.01047737]
 [-0.08081888  0.99663976 -0.01332151]
 [-0.01152047  0.01243033  0.99985629]]

 t_gt:
[-0.33877742  0.94072497  0.01632177]

Pose Error in degrees for R and t:
5.241252629563587 22.23323578170124

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.96945928e-01  7.80948934e-02 -5.80246115e-05]
 [-7.80948905e-02  9.96945929e-01  5.05404147e-05]
 [ 6.17943485e-05 -4.58546349e-05  9.99999997e-01]]

 t_estimated:
[[-9.91074343e-01]
 [-1.33309742e-01]
 [-3.99776600e-04]]

 R_gt:
[[ 0.98194704  0.18892723  0.00934043]
 [-0.18805387  0.98035197 -0.0595416 ]
 [-0.02040624  0.0567104   0.99818159]]

 t_gt:
[-0.29938743  0.95091439 -0.0782878 ]

Pose Error in degrees for R and t:
7.270269152341341 80.21332354385716

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999997e-01  1.33288598e-05 -7.71408471e-05]
 [-1.33248352e-05  9.99999999e-01  5.21729927e-05]
 [ 7.71415424e-05 -5.21719647e-05  9.99999996e-01]]

 t_estimated:
[[-7.82794523e-01]
 [-6.22279805e-01]
 [-7.60733258e-04]]

 R_gt:
[[ 0.93733259  0.34806511  0.01610072]
 [-0.34694799  0.93659518 -0.04914966]
 [-0.03218758  0.04048408  0.99866126]]

 t_gt:
[-0.25439231  0.96704746  0.01018686]

Pose Error in degrees for R and t:
20.561631796697586 66.2563687533157

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.86686297 -0.49776395 -0.02792207]
 [ 0.49684747 -0.86717264  0.0339735 ]
 [-0.04112404  0.01557736  0.99903261]]

 t_estimated:
[[0.9808375 ]
 [0.19379144]
 [0.02006689]]

 R_gt:
[[ 0.97352105  0.21356522 -0.08152211]
 [-0.21088103  0.97667957  0.04033131]
 [ 0.08823446 -0.02207092  0.99585499]]

 t_gt:
[-0.29079973  0.9398862  -0.1790236 ]

Pose Error in degrees for R and t:
162.49431544822255 83.876158144996

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.88623991e-01  1.50408127e-01  2.35129167e-05]
 [-1.50408048e-01  9.88623280e-01  1.19563261e-03]
 [ 1.56587445e-04 -1.18556762e-03  9.99999285e-01]]

 t_estimated:
[[0.4910127 ]
 [0.87115156]
 [0.00121839]]

 R_gt:
[[ 0.93245597  0.33721431 -0.12965949]
 [-0.32967966  0.9409971   0.07639251]
 [ 0.14776982 -0.02848631  0.98861069]]

 t_gt:
[-0.15950044  0.96530828 -0.20673541]

Pose Error in degrees for R and t:
13.927585897077163 40.32720018191709

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-8.73812483e-01 -4.86213346e-01  6.95165961e-03]
 [-4.86262915e-01  8.73733210e-01 -1.17752361e-02]
 [-3.48618899e-04 -1.36696826e-02 -9.99906505e-01]]

 t_estimated:
[[0.86679921]
 [0.4986558 ]
 [0.00123125]]

 R_gt:
[[ 0.86943771  0.47598232 -0.13235811]
 [-0.46960583  0.87943797  0.07784387]
 [ 0.15345284 -0.00552445  0.98814036]]

 t_gt:
[-0.09787431  0.97744628 -0.18713471]

Pose Error in degrees for R and t:
172.80954184912 66.27536343569929

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99999985e-01 -1.63562590e-04 -5.47269021e-05]
 [ 1.63563482e-04  9.99999986e-01  1.62916530e-05]
 [ 5.47242367e-05 -1.63006041e-05  9.99999998e-01]]

 t_estimated:
[[-9.99992466e-01]
 [-3.75249365e-03]
 [-9.93025656e-04]]

 R_gt:
[[ 9.90041434e-01  1.40563043e-01  7.75631164e-03]
 [-1.40774948e-01  9.88866113e-01  4.82378152e-02]
 [-8.89511505e-04 -4.88493994e-02  9.98805640e-01]]

 t_gt:
[-0.35517367  0.86542527  0.35339887]

Pose Error in degrees for R and t:
8.57016016785712 69.4164698482339

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99591200e-01  2.85822295e-02 -6.99697654e-04]
 [-2.85813706e-02  9.99590739e-01  1.20825610e-03]
 [ 7.33945948e-04 -1.18776384e-03  9.99999025e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97957556  0.20106194  0.00224308]
 [-0.2010629   0.97933461  0.0218498 ]
 [ 0.0021969  -0.02185462  0.99975875]]

 t_gt:
[-0.14393072  0.98404785  0.1045647 ]

Pose Error in degrees for R and t:
10.033429135816077 81.90599551600943

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.96751506e-01  8.05380811e-02 -2.29841880e-04]
 [-8.05379444e-02  9.96751390e-01  5.52485476e-04]
 [ 2.73591333e-04 -5.32179738e-04  9.99999821e-01]]

 t_estimated:
[[0.68532904]
 [0.72823267]
 [0.00112904]]

 R_gt:
[[ 0.97709483  0.20913848  0.03932779]
 [-0.20787597  0.97756867 -0.03387921]
 [-0.04553181  0.02492849  0.99865129]]

 t_gt:
[-0.12771226  0.98360088  0.12735336]

Pose Error in degrees for R and t:
8.008091234406892 51.03031149582304

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 8.97770688e-01  4.40455922e-01  2.52436444e-03]
 [ 4.40462222e-01 -8.97765841e-01 -3.08625071e-03]
 [ 9.06930764e-04  3.88263260e-03 -9.99992051e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.95323862 -0.30059685 -0.0312811 ]
 [ 0.30096853  0.95360204  0.00785249]
 [ 0.02747038 -0.0168984   0.99947964]]

 t_gt:
[ 0.85777318 -0.5138353  -0.01408739]

Pose Error in degrees for R and t:
179.1341490607715 40.15468477370776

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[-0.28326712 -0.95870803 -0.02527162]
 [ 0.95900901 -0.28294389 -0.01563557]
 [ 0.0078395  -0.02866476  0.99955834]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.92512211 -0.37899346 -0.02268178]
 [ 0.3790363   0.92537781 -0.0025127 ]
 [ 0.02194238 -0.00627139  0.99973937]]

 t_gt:
[ 0.87324163 -0.48673782 -0.02313777]

Pose Error in degrees for R and t:
84.16814784244173 29.726192555297057

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.99999780e-01 -1.31126492e-04  6.49687966e-04]
 [ 1.31613905e-04  9.99999710e-01 -7.50240588e-04]
 [-6.49589401e-04  7.50325931e-04  9.99999508e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.92081262 -0.38755914 -0.04363567]
 [ 0.38679812  0.92182389 -0.02503428]
 [ 0.04992773  0.00617463  0.99873298]]

 t_gt:
[ 0.87066584 -0.48439994 -0.08542651]

Pose Error in degrees for R and t:
22.968952967210758 83.37610683068104

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.96481527e-01  8.38125971e-02  1.19197566e-04]
 [-8.38125826e-02  9.96481528e-01 -1.21781719e-04]
 [-1.28985015e-04  1.11362977e-04  9.99999985e-01]]

 t_estimated:
[[4.53311515e-01]
 [8.91351902e-01]
 [6.76528701e-04]]

 R_gt:
[[ 0.99861713 -0.04924299  0.01836081]
 [ 0.04978578  0.99829719 -0.03038893]
 [-0.01683326  0.03126154  0.99937056]]

 t_gt:
[ 0.63743158 -0.76738859 -0.06925124]

Pose Error in degrees for R and t:
7.9100950940353405 66.72747397640663

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.96693875e-01  8.12484229e-02  1.17022342e-04]
 [-8.12483828e-02  9.96693836e-01 -3.13880513e-04]
 [-1.42137743e-04  3.03334908e-04  9.99999944e-01]]

 t_estimated:
[[6.50708293e-01]
 [7.59327691e-01]
 [4.19801588e-04]]

 R_gt:
[[ 0.99545115 -0.08284701 -0.04703378]
 [ 0.08344688  0.99645202  0.01093263]
 [ 0.04596127 -0.01480728  0.99883429]]

 t_gt:
[ 0.59737962 -0.76109906 -0.25271685]

Pose Error in degrees for R and t:
9.832763643014593 79.0874918127802

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.48152672 -0.87642966 -0.00174816]
 [ 0.87643003 -0.48152147 -0.0027359 ]
 [ 0.00155605 -0.00284955  0.99999473]]

 t_estimated:
[[9.99746383e-01]
 [2.24991847e-02]
 [9.78225423e-04]]

 R_gt:
[[ 0.98313396 -0.17026482 -0.06675996]
 [ 0.17251896  0.98456354  0.02955495]
 [ 0.06069756 -0.0405737   0.99733214]]

 t_gt:
[ 0.5472484  -0.82108581 -0.16228764]

Pose Error in degrees for R and t:
108.95027891554754 58.097383913012415

Number of keypoints:
Image1: 413
Image2: 413

 R_estimated:
[[ 0.9871046  -0.16001585  0.00440774]
 [-0.16003914 -0.98590445  0.04878417]
 [-0.00346063 -0.04886049 -0.99879962]]

 t_estimated:
[[0.10250013]
 [0.99442943]
 [0.02457291]]

 R_gt:
[[ 0.998963    0.00709076  0.04496745]
 [-0.00645708  0.9998782  -0.01424404]
 [-0.04506309  0.01393976  0.99888688]]

 t_gt:
[-0.54193166  0.02385679  0.84008388]

Pose Error in degrees for R and t:
177.79141200759028 89.35937064110169

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[-9.85069395e-01  1.65848722e-01  4.61788757e-02]
 [ 1.65700603e-01  9.86150948e-01 -7.04395492e-03]
 [-4.67075730e-02  7.13083115e-04 -9.98908351e-01]]

 t_estimated:
[[ 0.99575379]
 [-0.08888135]
 [ 0.02396875]]

 R_gt:
[[ 0.9987665  -0.04955104 -0.00313516]
 [ 0.04956562  0.99875896  0.00505218]
 [ 0.00288022 -0.00520008  0.99998265]]

 t_gt:
[ 0.26461892 -0.96398691 -0.026572  ]

Pose Error in degrees for R and t:
177.52993906090342 69.60202939057596

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99998498e-01 -1.73161938e-03  6.90470082e-05]
 [ 1.73162962e-03  9.99998490e-01 -1.48581168e-04]
 [-6.87896179e-05  1.48700509e-04  9.99999987e-01]]

 t_estimated:
[[ 8.76669736e-01]
 [-4.81092648e-01]
 [ 1.93100912e-04]]

 R_gt:
[[ 0.99640227 -0.07061934 -0.04685464]
 [ 0.07235889  0.99670917  0.03653896]
 [ 0.0441192  -0.03979752  0.99823291]]

 t_gt:
[ 0.3610134  -0.91291288 -0.19041901]

Pose Error in degrees for R and t:
5.262055727488132 40.917939836512915

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999625e-01 -8.46399910e-04 -1.83109159e-04]
 [ 8.46402323e-04  9.99999642e-01  1.30986290e-05]
 [ 1.83098006e-04 -1.32536081e-05  9.99999983e-01]]

 t_estimated:
[[-0.9737075 ]
 [-0.22779976]
 [-0.00098481]]

 R_gt:
[[ 0.96401409  0.26016861  0.05468856]
 [-0.25805101  0.96517922 -0.04286856]
 [-0.06393774  0.02721364  0.99758256]]

 t_gt:
[-0.71395516  0.69835263  0.05071129]

Pose Error in degrees for R and t:
15.601198893414182 57.584920338151

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.78726139e-01 -2.05170590e-01  4.17608315e-04]
 [ 2.05170645e-01  9.78726212e-01 -9.27771957e-05]
 [-3.89689052e-04  1.76484434e-04  9.99999908e-01]]

 t_estimated:
[[-0.56264022]
 [-0.82670142]
 [-0.00086295]]

 R_gt:
[[ 0.90299243  0.42720576  0.04581778]
 [-0.42449674  0.90353827 -0.05847954]
 [-0.0663819   0.03335667  0.99723722]]

 t_gt:
[-0.65591337  0.75442567  0.02489091]

Pose Error in degrees for R and t:
37.31413079964253 75.24638162560191

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-2.03626920e-01 -9.79044214e-01 -2.91641957e-03]
 [ 9.79047907e-01 -2.03629314e-01  5.45939392e-04]
 [-1.12836732e-03 -2.74414652e-03  9.99995598e-01]]

 t_estimated:
[[0.99293668]
 [0.11862518]
 [0.00219676]]

 R_gt:
[[ 0.866264    0.49722508  0.04852327]
 [-0.49365646  0.86685425 -0.06976113]
 [-0.07675003  0.03647736  0.99638315]]

 t_gt:
[-0.63229604  0.77420299  0.0284858 ]

Pose Error in degrees for R and t:
131.5614020840679 57.59317352497528

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.99242144  0.1228733   0.00135619]
 [-0.12286959  0.99241956 -0.002544  ]
 [-0.0016585   0.00235808  0.99999584]]

 t_estimated:
[[-0.99930641]
 [-0.03722478]
 [-0.00100312]]

 R_gt:
[[ 0.98817361  0.08058521  0.13045944]
 [-0.07673542  0.99646232 -0.03427759]
 [-0.13275935  0.02386123  0.99086145]]

 t_gt:
[-0.40647124  0.56672817  0.71665913]

Pose Error in degrees for R and t:
8.044059770977551 67.39511147217942

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-8.88808683e-01 -4.58249311e-01 -5.16669344e-03]
 [ 4.58244305e-01 -8.88823597e-01  2.18389069e-03]
 [-5.59304546e-03 -4.26546840e-04  9.99984268e-01]]

 t_estimated:
[[0.98316627]
 [0.18268292]
 [0.00332151]]

 R_gt:
[[ 0.95780692  0.23300401  0.16826861]
 [-0.22564043  0.97224174 -0.06190246]
 [-0.17802065  0.0213223   0.98379604]]

 t_gt:
[-0.37699354  0.78803746  0.48669583]

Pose Error in degrees for R and t:
166.15201136016867 76.99301832023187

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 0.9316221   0.36327628  0.01051685]
 [-0.36024853  0.92690352 -0.10521816]
 [-0.04797137  0.09423489  0.99439355]]

 t_estimated:
[[0.65938047]
 [0.75169374]
 [0.01318761]]

 R_gt:
[[ 0.90213717  0.40531795  0.14787081]
 [-0.39285168  0.91337305 -0.10684891]
 [-0.17836985  0.03830136  0.98321773]]

 t_gt:
[-0.30562331  0.90865588  0.28449761]

Pose Error in degrees for R and t:
8.409699050816531 60.9704434097331

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99446680e-01  3.32615920e-02 -3.45803649e-06]
 [-3.32615921e-02  9.99446679e-01 -5.68225224e-05]
 [ 1.56611553e-06  5.69061012e-05  9.99999998e-01]]

 t_estimated:
[[-2.23922399e-01]
 [-9.74606975e-01]
 [ 6.00824322e-05]]

 R_gt:
[[ 0.99631461  0.04740104 -0.07147997]
 [-0.04376844  0.99771014  0.05154477]
 [ 0.07376066 -0.04822576  0.99610851]]

 t_gt:
[-0.91841972 -0.3212257  -0.23090964]

Pose Error in degrees for R and t:
5.108073818324656 58.75426107343019

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 8.57778324e-01 -5.14017893e-01 -1.39750624e-03]
 [ 5.14016195e-01  8.57779322e-01 -1.40949768e-03]
 [ 1.92325898e-03  4.90695715e-04  9.99998030e-01]]

 t_estimated:
[[-0.0864655 ]
 [-0.99624829]
 [-0.00361489]]

 R_gt:
[[ 0.99385492  0.02502373 -0.10782188]
 [-0.01837943  0.99789545  0.06217507]
 [ 0.10915147 -0.05981087  0.99222365]]

 t_gt:
[ 0.12937857 -0.83120417 -0.540704  ]

Pose Error in degrees for R and t:
32.93179413725676 35.02980826805272

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 0.96438734  0.26448311  0.00239861]
 [ 0.26449011 -0.96428444 -0.01415964]
 [-0.00143204  0.01428979 -0.99989687]]

 t_estimated:
[[-0.13346066]
 [ 0.99102895]
 [-0.00706265]]

 R_gt:
[[ 0.98992054  0.01516508 -0.14080846]
 [-0.00235468  0.9958758   0.09069811]
 [ 0.14160365 -0.08945196  0.985873  ]]

 t_gt:
[ 0.43878681 -0.82849764 -0.3479336 ]

Pose Error in degrees for R and t:
174.60091799239072 28.697324521199665

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.99524447  0.06824539 -0.06950552]
 [-0.058357    0.98905528  0.13551427]
 [ 0.07799302 -0.1308137   0.98833439]]

 t_estimated:
[[0.7003482 ]
 [0.70401897]
 [0.11776966]]

 R_gt:
[[ 0.98691351  0.13275416  0.0915287 ]
 [-0.12973321  0.99081091 -0.0382316 ]
 [-0.09576329  0.02585747  0.99506793]]

 t_gt:
[-0.43853421  0.79293937  0.42300698]

Pose Error in degrees for R and t:
14.083594208251254 72.48622354291852

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.84885392e-01 -1.73207190e-01  1.83241037e-04]
 [ 1.73207261e-01  9.84884122e-01 -1.58442770e-03]
 [ 9.39630822e-05  1.59221838e-03  9.99998728e-01]]

 t_estimated:
[[-0.64998117]
 [-0.75994777]
 [-0.00196369]]

 R_gt:
[[ 0.94849069  0.30980677  0.06622335]
 [-0.30704839  0.95044894 -0.04866428]
 [-0.0780193   0.02582461  0.99661711]]

 t_gt:
[-0.35515394  0.92206544  0.1538213 ]

Pose Error in degrees for R and t:
28.349686103752695 61.95400149669782

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.17738102  0.98410004 -0.00911447]
 [-0.98412356  0.17731296 -0.00780612]
 [-0.00606589  0.01035442  0.99992799]]

 t_estimated:
[[0.0119039 ]
 [0.9999277 ]
 [0.00170056]]

 R_gt:
[[ 0.88977555  0.44878002  0.08303858]
 [-0.44301665  0.89300627 -0.07922034]
 [-0.10970618  0.03370123  0.99339277]]

 t_gt:
[-0.27251238  0.95113787  0.14516806]

Pose Error in degrees for R and t:
53.558777513567904 18.545386970563822

Number of keypoints:
Image1: 920
Image2: 920

 R_estimated:
[[ 9.99990061e-01  4.45841619e-03  1.80748657e-05]
 [-4.45841574e-03  9.99990061e-01 -2.49688306e-05]
 [-1.81860075e-05  2.48879971e-05  1.00000000e+00]]

 t_estimated:
[[ 5.66928008e-01]
 [-8.23767301e-01]
 [-2.57799255e-04]]

 R_gt:
[[ 0.99893    -0.03958163 -0.02390557]
 [ 0.03992825  0.99910177  0.01418057]
 [ 0.02332249 -0.0151197   0.9996143 ]]

 t_gt:
[ 0.81537006 -0.56609421 -0.12128072]

Pose Error in degrees for R and t:
2.993931877287662 21.779708715749727

Number of keypoints:
Image1: 666
Image2: 666

 R_estimated:
[[ 9.99757238e-01  2.20332667e-02  1.58552552e-05]
 [-2.20332656e-02  9.99757236e-01 -6.95470857e-05]
 [-1.73837555e-05  6.91808593e-05  9.99999997e-01]]

 t_estimated:
[[ 1.31248368e-01]
 [-9.91349489e-01]
 [-2.39021620e-04]]

 R_gt:
[[ 0.99791235 -0.02344881 -0.06016927]
 [ 0.02641163  0.99845353  0.04891874]
 [ 0.05892935 -0.05040539  0.9969891 ]]

 t_gt:
[ 0.74996927 -0.65780141 -0.06959452]

Pose Error in degrees for R and t:
5.201868993167736 41.361092585077

Number of keypoints:
Image1: 567
Image2: 567

 R_estimated:
[[ 9.96558982e-01  8.28866408e-02 -2.13645399e-05]
 [-8.28866423e-02  9.96558978e-01 -8.69257498e-05]
 [ 1.40860407e-05  8.83974717e-05  9.99999996e-01]]

 t_estimated:
[[-0.77191379]
 [-0.63572669]
 [-0.00082133]]

 R_gt:
[[ 0.99843376  0.04899898 -0.0269987 ]
 [-0.04714623  0.99674027  0.06545763]
 [ 0.03011913 -0.06408135  0.9974903 ]]

 t_gt:
[-0.83573754 -0.34260989  0.42914011]

Pose Error in degrees for R and t:
4.528019833640668 30.393494967817723

Number of keypoints:
Image1: 388
Image2: 388

 R_estimated:
[[-9.09196912e-01  4.16361394e-01  2.04086357e-03]
 [ 4.16358784e-01  9.09199007e-01 -1.59034755e-03]
 [-2.51771046e-03 -5.96207610e-04 -9.99996653e-01]]

 t_estimated:
[[0.93745132]
 [0.34811512]
 [0.00094597]]

 R_gt:
[[ 0.99834707  0.04879747 -0.03037248]
 [-0.04801137  0.99850691  0.0260841 ]
 [ 0.03159902 -0.02458206  0.99919791]]

 t_gt:
[ 0.02802271  0.98122649 -0.19081224]

Pose Error in degrees for R and t:
178.08936368256263 68.42805741079658

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[ 9.47830800e-01 -3.18773795e-01 -2.04612139e-04]
 [ 3.18773792e-01  9.47830822e-01 -4.67973730e-05]
 [ 2.08855468e-04 -2.08689960e-05  9.99999978e-01]]

 t_estimated:
[[ 0.18262698]
 [-0.98318176]
 [-0.00101   ]]

 R_gt:
[[ 0.98969975  0.14315016  0.00154663]
 [-0.14312449  0.98917931  0.03226166]
 [ 0.00308806 -0.03215029  0.99947785]]

 t_gt:
[-0.26529989  0.95126742  0.15718223]

Pose Error in degrees for R and t:
26.883029031638053 10.302110905830116

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-9.54049605e-01 -2.99646673e-01 -1.10564145e-03]
 [ 2.99648308e-01 -9.54047884e-01 -1.87768303e-03]
 [-4.92193417e-04 -2.12270634e-03  9.99997626e-01]]

 t_estimated:
[[0.66540613]
 [0.74648088]
 [0.00098872]]

 R_gt:
[[ 0.98291739  0.18315203  0.01815131]
 [-0.18382245  0.98181875  0.04735299]
 [-0.00914869 -0.04988055  0.99871291]]

 t_gt:
[-0.22031068  0.94486967  0.24224884]

Pose Error in degrees for R and t:
173.145553898207 56.015363740808944

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.91900886  0.39422653  0.00285744]
 [ 0.39420541 -0.91881976 -0.01929615]
 [-0.00498158  0.01885975 -0.99980973]]

 t_estimated:
[[0.70853543]
 [0.70567459]
 [0.00095361]]

 R_gt:
[[ 0.99063458  0.13608528  0.0112093 ]
 [-0.13611411  0.99069168  0.00176176]
 [-0.01086546 -0.00327071  0.99993599]]

 t_gt:
[-0.75792925  0.64979886  0.05748636]

Pose Error in degrees for R and t:
178.8962165971257 85.5023409421354

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.96365934e-01  8.51757852e-02 -1.06791892e-04]
 [-8.51757886e-02  9.96365939e-01 -2.81752600e-05]
 [ 1.04003954e-04  3.71689528e-05  9.99999994e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075937e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9349988   0.35315434  0.03254334]
 [-0.351448    0.93495008 -0.04850538]
 [-0.0475568   0.03391502  0.99829293]]

 t_gt:
[-0.6729079   0.73970909 -0.00504252]

Pose Error in degrees for R and t:
16.110611363952327 47.885473832408174

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.78550709e-01  2.06006056e-01 -1.24333010e-04]
 [-2.06006083e-01  9.78550672e-01 -2.74478206e-04]
 [ 6.51219782e-05  2.94204200e-04  9.99999955e-01]]

 t_estimated:
[[0.28541773]
 [0.95840269]
 [0.00100147]]

 R_gt:
[[ 0.83180032  0.55176713  0.06051925]
 [-0.54865748  0.83381184 -0.06108736]
 [-0.08416825  0.01760884  0.99629554]]

 t_gt:
[-0.59840362  0.79933521  0.05455569]

Pose Error in degrees for R and t:
22.113150250250875 53.46279466618292

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.16502648  0.98625985 -0.00760036]
 [-0.98626806  0.16496768 -0.00780823]
 [-0.00644713  0.00878455  0.99994063]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.94643137 -0.32277079 -0.00934072]
 [ 0.32265673  0.94644148 -0.01186084]
 [ 0.01266891  0.00821198  0.9998864 ]]

 t_gt:
[ 0.87030931 -0.49071047 -0.04201111]

Pose Error in degrees for R and t:
99.33061741267196 60.96680141577148

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-9.28900271e-01  3.70313731e-01 -3.46801495e-03]
 [-3.70310158e-01 -9.28906713e-01 -1.64481715e-03]
 [-3.83056074e-03 -2.43629933e-04  9.99992634e-01]]

 t_estimated:
[[9.29655997e-01]
 [3.68427901e-01]
 [7.80567588e-04]]

 R_gt:
[[ 0.87990827 -0.47479769 -0.01810546]
 [ 0.47459549  0.88008509 -0.01448236]
 [ 0.02281035  0.00415032  0.99973104]]

 t_gt:
[ 0.90409832 -0.42589656 -0.0349048 ]

Pose Error in degrees for R and t:
173.39207517378875 46.877456988951785

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.4531717   0.89058509  0.03864711]
 [ 0.89051961 -0.45033505 -0.06460007]
 [-0.04012771  0.06369094 -0.99716259]]

 t_estimated:
[[0.99844139]
 [0.05546897]
 [0.00616322]]

 R_gt:
[[ 0.87562673 -0.48280236 -0.01334511]
 [ 0.48228232  0.87550745 -0.02982801]
 [ 0.02608506  0.01968239  0.99946597]]

 t_gt:
[ 0.90292396 -0.42581348 -0.05840554]

Pose Error in degrees for R and t:
175.19435948265843 28.653304658191992

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 9.99999987e-01 -1.41025866e-04 -7.69492527e-05]
 [ 1.41019601e-04  9.99999987e-01 -8.14182358e-05]
 [ 7.69607337e-05  8.14073834e-05  9.99999994e-01]]

 t_estimated:
[[-0.80643845]
 [-0.5913131 ]
 [-0.00241843]]

 R_gt:
[[ 9.99116706e-01  4.20375898e-02 -2.50923110e-04]
 [-4.20295135e-02  9.98990870e-01  1.58701335e-02]
 [ 9.17774561e-04 -1.58447365e-02  9.99873722e-01]]

 t_gt:
[-0.77094859  0.61240251  0.17493268]

Pose Error in degrees for R and t:
2.583669378074517 74.97871300927483

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[-4.31315324e-01  9.02201212e-01  2.54270525e-04]
 [-9.02201139e-01 -4.31315117e-01 -6.12367610e-04]
 [-4.42808078e-04 -4.93526691e-04  9.99999780e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99811316  0.04846542  0.03771954]
 [-0.04838701  0.99882463 -0.00301154]
 [-0.03782107  0.00118022  0.99928337]]

 t_gt:
[-0.7662776   0.40621895  0.49779997]

Pose Error in degrees for R and t:
112.78717770631162 68.22071696661718

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.94274162e-01 -1.06845534e-01  1.70938882e-03]
 [ 1.06846846e-01  9.94275248e-01 -6.95212299e-04]
 [-1.62532267e-03  8.73874430e-04  9.99998297e-01]]

 t_estimated:
[[-0.47034042]
 [-0.88248455]
 [-0.00095404]]

 R_gt:
[[ 0.9990505   0.02916532  0.03238521]
 [-0.02930976  0.99956262  0.00400059]
 [-0.03225369 -0.00494652  0.99946715]]

 t_gt:
[-0.85674962 -0.00190538  0.51572905]

Pose Error in degrees for R and t:
8.009746748095052 66.16191302757053

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99994975e-01  3.17000666e-03 -3.50008274e-05]
 [-3.17000420e-03  9.99994973e-01  7.01827626e-05]
 [ 3.52231313e-05 -7.00714571e-05  9.99999997e-01]]

 t_estimated:
[[4.69177127e-01]
 [8.83103989e-01]
 [4.09568309e-04]]

 R_gt:
[[ 0.99954224 -0.00829418 -0.02911415]
 [ 0.00731958  0.99941469 -0.03342487]
 [ 0.0293739   0.0331964   0.99901695]]

 t_gt:
[-0.10891383  0.19999287 -0.97372513]

Pose Error in degrees for R and t:
2.6185114831248653 82.81255602039175

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.99944414  0.03218493  0.00869118]
 [ 0.03216585  0.99947984 -0.00232678]
 [-0.00876154 -0.00204593 -0.99995952]]

 t_estimated:
[[ 0.99969702]
 [-0.02345841]
 [ 0.00745395]]

 R_gt:
[[ 0.99999925  0.00135379  0.00101802]
 [-0.001311    0.99916564 -0.04082544]
 [-0.00107296  0.04082385  0.99916599]]

 t_gt:
[-0.6395043   0.28806992 -0.71277624]

Pose Error in degrees for R and t:
179.40431626380268 49.35418006923239

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.48522703e-01  3.16709124e-01 -1.15264334e-04]
 [-3.16708856e-01  9.48522266e-01  1.00570977e-03]
 [ 4.27848248e-04 -9.17433314e-04  9.99999488e-01]]

 t_estimated:
[[8.51879967e-01]
 [5.23736450e-01]
 [8.08235262e-04]]

 R_gt:
[[ 0.99202409 -0.05764108  0.11210111]
 [ 0.06328174  0.9968681  -0.04742598]
 [-0.10901653  0.05414055  0.99256476]]

 t_gt:
[-0.13436347 -0.76510234  0.62973396]

Pose Error in degrees for R and t:
23.02863359741886 59.02496380423364

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 7.97069776e-01  6.03885428e-01  1.47025268e-03]
 [-6.03885383e-01  7.97070994e-01 -5.24564470e-04]
 [-1.48867260e-03 -4.69749616e-04  9.99998782e-01]]

 t_estimated:
[[-0.27880025]
 [ 0.96034619]
 [ 0.00236866]]

 R_gt:
[[ 0.99998551 -0.00457114  0.00263679]
 [ 0.00458756  0.99996883 -0.00648081]
 [-0.00260699  0.00649312  0.99997569]]

 t_gt:
[ 0.35098613 -0.91039015 -0.21908563]

Pose Error in degrees for R and t:
37.4128796268098 13.427712602414111

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.94914772e-01  1.00711759e-01  1.31861723e-03]
 [-1.00713101e-01  9.94915013e-01  9.94458015e-04]
 [-1.21175847e-03 -1.12220300e-03  9.99998636e-01]]

 t_estimated:
[[0.53752748]
 [0.84318036]
 [0.01053975]]

 R_gt:
[[ 0.99715948  0.06692523  0.03455433]
 [-0.06657417  0.99771844 -0.01122968]
 [-0.03522659  0.00889777  0.99933945]]

 t_gt:
[-0.87633426  0.38646047  0.28755273]

Pose Error in degrees for R and t:
2.8165401923736697 81.82673195679426

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99914844e-01 -1.30366474e-02 -5.91462453e-04]
 [ 1.30370005e-02  9.99914836e-01  5.97010238e-04]
 [ 5.83629070e-04 -6.04670295e-04  9.99999647e-01]]

 t_estimated:
[[-0.72010482]
 [-0.69386487]
 [-0.00076332]]

 R_gt:
[[ 0.99292182  0.11831995 -0.01034731]
 [-0.1184772   0.99282611 -0.01610515]
 [ 0.00836844  0.01721736  0.99981725]]

 t_gt:
[-0.79589272  0.56262336 -0.22362857]

Pose Error in degrees for R and t:
7.628423395447812 79.46056103121649

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.99762614 -0.06284977  0.02814249]
 [ 0.06342747  0.99778347 -0.02012739]
 [-0.0268151   0.02186462  0.99940127]]

 t_estimated:
[[-0.1252858 ]
 [ 0.99127166]
 [ 0.04103613]]

 R_gt:
[[ 0.98673357 -0.15936872 -0.03095248]
 [ 0.16076648  0.9857391   0.04971997]
 [ 0.02258707 -0.05403621  0.99828289]]

 t_gt:
[ 0.81458083 -0.55400357  0.17186657]

Pose Error in degrees for R and t:
7.653140866768975 49.89647356427764

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.75053253e-01 -2.21968816e-01  9.98917958e-04]
 [ 2.21970587e-01  9.75050610e-01 -2.31649899e-03]
 [-4.59805027e-04  2.48044028e-03  9.99996818e-01]]

 t_estimated:
[[-0.02053382]
 [-0.99977922]
 [-0.00445887]]

 R_gt:
[[ 0.913581   -0.40495787 -0.03712376]
 [ 0.4059663   0.91353655  0.02532561]
 [ 0.02365841 -0.03820768  0.99898937]]

 t_gt:
[ 0.90280529 -0.42799669  0.0419696 ]

Pose Error in degrees for R and t:
11.432198901208183 65.84685339503801

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.10505256  0.99437638  0.01340042]
 [ 0.99414733 -0.10466783 -0.0267531 ]
 [-0.02520006  0.01613247 -0.99955225]]

 t_estimated:
[[-0.69973141]
 [-0.7143064 ]
 [ 0.01192943]]

 R_gt:
[[ 0.7967906  -0.60278196  0.04217933]
 [ 0.60423844  0.79430754 -0.06300401]
 [ 0.00447454  0.07568801  0.9971216 ]]

 t_gt:
[ 0.95300543 -0.27944778 -0.11700254]

Pose Error in degrees for R and t:
174.69700709996562 62.054448956351536

Number of keypoints:
Image1: 396
Image2: 396

 R_estimated:
[[ 9.99460421e-01  3.28460716e-02 -4.23672040e-05]
 [-3.28460454e-02  9.99460290e-01  5.15346154e-04]
 [ 5.92714347e-05 -5.13676490e-04  9.99999866e-01]]

 t_estimated:
[[0.4978685 ]
 [0.86724931]
 [0.00236563]]

 R_gt:
[[ 9.93333785e-01  1.15273267e-01 -1.34308023e-03]
 [-1.15274353e-01  9.93333035e-01 -5.98265404e-04]
 [ 1.26524412e-03  7.47517201e-04  9.99998484e-01]]

 t_gt:
[-0.96810357  0.25048639  0.00566164]

Pose Error in degrees for R and t:
4.7381912019524535 74.64845281417954

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 9.78304653e-01 -2.07170733e-01 -5.41653219e-04]
 [ 2.07170947e-01  9.78304686e-01  3.73828333e-04]
 [ 4.52455593e-04 -4.77932807e-04  9.99999783e-01]]

 t_estimated:
[[9.78372367e-01]
 [2.06851197e-01]
 [3.06480677e-04]]

 R_gt:
[[ 9.77751536e-01  2.09618931e-01  7.92496384e-03]
 [-2.09767496e-01  9.77197813e-01  3.28836514e-02]
 [-8.50976433e-04 -3.38147644e-02  9.99426961e-01]]

 t_gt:
[-0.95230781  0.23079934  0.19960337]

Pose Error in degrees for R and t:
24.139706745040026 27.882397434268572

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.68918383e-01 -2.47380474e-01 -2.59502702e-04]
 [ 2.47380543e-01  9.68918361e-01  2.77929242e-04]
 [ 1.82682665e-04 -3.33486671e-04  9.99999928e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96977565  0.23841239  0.05191413]
 [-0.24050337  0.96988163  0.03857029]
 [-0.04115461 -0.04989052  0.99790598]]

 t_gt:
[-0.94209026  0.16126495  0.29404005]

Pose Error in degrees for R and t:
28.429482448875728 19.719210130196707

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 0.98632649 -0.16475698  0.00389788]
 [ 0.16477372  0.98632134 -0.00445357]
 [-0.0031108   0.00503494  0.99998249]]

 t_estimated:
[[-0.72005132]
 [-0.69392043]
 [-0.00072586]]

 R_gt:
[[ 0.99679982  0.07761532  0.01916931]
 [-0.0774882   0.99696741 -0.00722583]
 [-0.01967179  0.00571668  0.99979034]]

 t_gt:
[-0.6670873   0.73948709  0.09029608]

Pose Error in degrees for R and t:
13.96171630624093 88.11613910160119

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.98973175e-01  4.53049878e-02 -2.33843022e-04]
 [-4.53049346e-02  9.98973178e-01  2.28269824e-04]
 [ 2.43944668e-04 -2.17441188e-04  9.99999947e-01]]

 t_estimated:
[[-0.99992286]
 [-0.01234473]
 [-0.00137164]]

 R_gt:
[[ 0.98768804  0.15465643 -0.02354292]
 [-0.15454013  0.98796398  0.00667247]
 [ 0.02429141 -0.00295262  0.99970063]]

 t_gt:
[-0.62996817  0.77231572 -0.08166113]

Pose Error in degrees for R and t:
6.448687698111413 51.64752244152512

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99999875e-01  4.70280632e-04 -1.68387478e-04]
 [-4.70326717e-04  9.99999852e-01 -2.73753543e-04]
 [ 1.68258712e-04  2.73832706e-04  9.99999948e-01]]

 t_estimated:
[[0.61038263]
 [0.79210624]
 [0.00086949]]

 R_gt:
[[ 0.98862155  0.14721516 -0.03093692]
 [-0.14760275  0.98898976 -0.01062984]
 [ 0.02903113  0.01507417  0.99946477]]

 t_gt:
[-0.58236838  0.79684158 -0.16090543]

Pose Error in degrees for R and t:
8.653708720644913 74.00367279933565

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.79210396e-01  2.02847226e-01  5.02634656e-05]
 [-2.02847224e-01  9.79210397e-01 -4.62141523e-05]
 [-5.85929207e-05  3.50575740e-05  9.99999998e-01]]

 t_estimated:
[[-0.75030831]
 [-0.66108727]
 [-0.00103251]]

 R_gt:
[[ 0.99868143 -0.00240567 -0.05127303]
 [ 0.0034613   0.99978353  0.02050655]
 [ 0.05121283 -0.02065602  0.99847458]]

 t_gt:
[-0.34778485 -0.55778115 -0.75360858]

Pose Error in degrees for R and t:
12.286041276127435 50.91548922598243

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.92672616e-01  1.20832693e-01 -7.33227617e-04]
 [-1.20832150e-01  9.92672674e-01  7.43875800e-04]
 [ 8.17739536e-04 -6.49827666e-04  9.99999455e-01]]

 t_estimated:
[[-0.71649101]
 [-0.69759455]
 [-0.00157471]]

 R_gt:
[[ 0.9906866  -0.04310005 -0.1291579 ]
 [ 0.05125748  0.99685103  0.06051265]
 [ 0.12614308 -0.066568    0.98977596]]

 t_gt:
[ 0.09038643 -0.80853097 -0.58147052]

Pose Error in degrees for R and t:
12.626132128889985 59.98799981560355

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 8.76792383e-01  4.80868872e-01  4.95049996e-04]
 [-4.80868631e-01  8.76792493e-01 -5.33282546e-04]
 [-6.90495097e-04  2.29524060e-04  9.99999735e-01]]

 t_estimated:
[[0.57853582]
 [0.8156561 ]
 [0.00119594]]

 R_gt:
[[ 0.98656403 -0.10725993 -0.12323237]
 [ 0.11354734  0.99250583  0.04516212]
 [ 0.11746416 -0.05854709  0.99134943]]

 t_gt:
[ 0.26419814 -0.89082303 -0.36963993]

Pose Error in degrees for R and t:
35.893138943073176 54.95642777642326

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999939e-01  3.50256176e-04 -1.27409201e-05]
 [-3.50256984e-04  9.99999937e-01 -6.34738953e-05]
 [ 1.27186871e-05  6.34783540e-05  9.99999998e-01]]

 t_estimated:
[[-1.35923926e-03]
 [-9.99999064e-01]
 [-1.54347385e-04]]

 R_gt:
[[ 0.99779587  0.00906498  0.06574486]
 [-0.01447731  0.99650044  0.08232442]
 [-0.06476758 -0.08309479  0.99443472]]

 t_gt:
[-0.2062509  -0.04243162  0.9775787 ]

Pose Error in degrees for R and t:
6.086211421670746 87.56069516161682

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99999801e-01 -5.93129406e-04 -2.12873110e-04]
 [ 5.93080284e-04  9.99999798e-01 -2.30745350e-04]
 [ 2.13009929e-04  2.30619053e-04  9.99999951e-01]]

 t_estimated:
[[0.97291475]
 [0.2311611 ]
 [0.00119729]]

 R_gt:
[[ 0.98909625  0.12814771  0.07257816]
 [-0.1366738   0.98228187  0.12822626]
 [-0.05485977 -0.13674819  0.98908639]]

 t_gt:
[-0.55731425  0.55510694  0.61746021]

Pose Error in degrees for R and t:
11.446807095314147 65.5964509890896

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999909e-01  1.66696654e-04  3.93129445e-04]
 [-1.66431220e-04  9.99999758e-01 -6.75119337e-04]
 [-3.93241890e-04  6.75053847e-04  9.99999695e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.96906037  0.22795858  0.09464365]
 [-0.23884805  0.9627586   0.12667529]
 [-0.06224203 -0.14536166  0.98741908]]

 t_gt:
[-0.57542632  0.70463334  0.41518238]

Pose Error in degrees for R and t:
16.34254789840776 45.45558471227263

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 7.23902671e-01 -6.89901577e-01 -8.58756741e-04]
 [ 6.89894115e-01  7.23899713e-01 -3.91367043e-03]
 [ 3.32170116e-03  2.24066525e-03  9.99991973e-01]]

 t_estimated:
[[9.13811315e-01]
 [4.06138362e-01]
 [7.15032328e-04]]

 R_gt:
[[ 0.99569745 -0.04571794  0.08060032]
 [ 0.03699461  0.99361592  0.10657537]
 [-0.084958   -0.10313507  0.991032  ]]

 t_gt:
[ 0.14009032 -0.37216695  0.91753281]

Pose Error in degrees for R and t:
41.96298136365748 88.71193468997059

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.09341841 -0.99562045 -0.00359558]
 [-0.99562503  0.09341056  0.00229356]
 [-0.00194765  0.00379411 -0.99999091]]

 t_estimated:
[[8.29165421e-01]
 [5.59002915e-01]
 [6.67067918e-04]]

 R_gt:
[[ 0.99338487 -0.00594513  0.11467414]
 [-0.01383421  0.98518858  0.17091797]
 [-0.11399177 -0.17137455  0.97858841]]

 t_gt:
[-0.09733575 -0.08924586  0.99124211]

Pose Error in degrees for R and t:
168.53731180520023 82.53416894751162

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.14447682e-01  4.04704013e-01 -3.15877221e-04]
 [-4.04704106e-01  9.14447634e-01 -3.32371638e-04]
 [ 1.54341042e-04  4.31773283e-04  9.99999895e-01]]

 t_estimated:
[[-9.95427210e-01]
 [-9.55189884e-02]
 [-8.89731880e-04]]

 R_gt:
[[ 0.97728286  0.14771976  0.15197728]
 [-0.17269242  0.9707229   0.16696005]
 [-0.12286396 -0.18941232  0.97417958]]

 t_gt:
[-0.46961565  0.48390755  0.73844067]

Pose Error in degrees for R and t:
19.524559178143964 65.12823242229801

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 7.10752179e-01  7.03441792e-01  9.92500404e-04]
 [-7.03442288e-01  7.10752341e-01  2.41022619e-04]
 [-5.35876602e-04 -8.69474107e-04  9.99999478e-01]]

 t_estimated:
[[0.24193929]
 [0.97029056]
 [0.0012667 ]]

 R_gt:
[[ 0.9895564   0.14388701  0.00859066]
 [-0.14400662  0.98945728  0.01536991]
 [-0.0062885  -0.01644567  0.99984385]]

 t_gt:
[-0.95683713  0.24011021  0.16373697]

Pose Error in degrees for R and t:
36.43905824569433 89.9033089856509

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.83527757e-01 -1.80756936e-01 -2.86828416e-04]
 [ 1.80757019e-01  9.83527739e-01  2.95490986e-04]
 [ 2.28691658e-04 -3.42469836e-04  9.99999915e-01]]

 t_estimated:
[[-0.47599477]
 [-0.87944755]
 [-0.00099373]]

 R_gt:
[[ 0.98034298  0.19403047  0.03577456]
 [-0.19544021  0.97984475  0.0413218 ]
 [-0.02703599 -0.04750125  0.99850459]]

 t_gt:
[-0.93129457  0.16514994  0.32467819]

Pose Error in degrees for R and t:
21.87360062057537 72.6788076614645

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 7.91050617e-02  9.96866072e-01 -6.50208635e-04]
 [-9.96863110e-01  7.91031468e-02 -2.57545004e-03]
 [-2.51594522e-03  8.51900137e-04  9.99996472e-01]]

 t_estimated:
[[0.07206218]
 [0.99739933]
 [0.00126886]]

 R_gt:
[[ 0.98695926  0.14379861  0.07233827]
 [-0.14700705  0.98827984  0.04113787]
 [-0.06557567 -0.05123513  0.99653094]]

 t_gt:
[-0.87965882 -0.10093053  0.4647724 ]

Pose Error in degrees for R and t:
77.21345014045886 80.59172552428167

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.92156416e-01 -1.25002506e-01  1.40696309e-04]
 [ 1.25002485e-01  9.92156417e-01  1.49615429e-04]
 [-1.58295049e-04 -1.30854519e-04  9.99999979e-01]]

 t_estimated:
[[0.99581325]
 [0.09140312]
 [0.00120267]]

 R_gt:
[[ 0.99748491 -0.06854051 -0.01803428]
 [ 0.06864848  0.99762566  0.00547134]
 [ 0.01761592 -0.00669601  0.99982197]]

 t_gt:
[ 0.74433139 -0.66065961 -0.09746621]

Pose Error in degrees for R and t:
3.4243604040499633 47.10073379728151

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.44076285 -0.89761993 -0.00256289]
 [ 0.89762302 -0.44075756 -0.00238264]
 [ 0.00100909 -0.00335069  0.99999388]]

 t_estimated:
[[0.99633232]
 [0.08556074]
 [0.0011258 ]]

 R_gt:
[[ 0.99943697 -0.03337482  0.00341966]
 [ 0.03338428  0.99943842 -0.00268495]
 [-0.00332814  0.00279731  0.99998949]]

 t_gt:
[ 0.56834787 -0.82269831 -0.01217298]

Pose Error in degrees for R and t:
114.24039673359721 60.273591966373736

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 8.63933245e-01 -5.03606124e-01 -4.69584177e-04]
 [ 5.03606250e-01  8.63933275e-01  2.00033597e-04]
 [ 3.04951252e-04 -4.09301202e-04  9.99999870e-01]]

 t_estimated:
[[ 5.76060447e-01]
 [-8.17407076e-01]
 [-1.84454032e-04]]

 R_gt:
[[ 0.99884688  0.04445143 -0.01811977]
 [-0.04439034  0.99900736  0.00380526]
 [ 0.01827061 -0.00299666  0.99982799]]

 t_gt:
[-0.85721788 -0.20305797 -0.47322823]

Pose Error in degrees for R and t:
32.8009422221982 70.86827925694732

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.96294477e-01  8.60072753e-02  2.50491789e-04]
 [-8.60072011e-02  9.96294472e-01 -2.93271743e-04]
 [-2.74787088e-04  2.70640920e-04  9.99999926e-01]]

 t_estimated:
[[ 0.781033  ]
 [-0.62448905]
 [-0.00093925]]

 R_gt:
[[ 0.95997468 -0.27550914  0.05042646]
 [ 0.27805252  0.95908871 -0.05325711]
 [-0.03369062  0.06514653  0.99730736]]

 t_gt:
[ 0.86302638 -0.48124713 -0.15357953]

Pose Error in degrees for R and t:
21.43195263001761 12.908031227249564

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.918123    0.39625379 -0.00575188]
 [-0.39628112 -0.91811669  0.00479727]
 [-0.00337996  0.00668385  0.99997195]]

 t_estimated:
[[ 0.67835457]
 [ 0.73473256]
 [-0.0017705 ]]

 R_gt:
[[ 0.87946908 -0.45695233  0.13315012]
 [ 0.47175302  0.87399413 -0.11655243]
 [-0.06311361  0.16531779  0.98421901]]

 t_gt:
[ 0.90822265 -0.33067168 -0.25649144]

Pose Error in degrees for R and t:
175.4585459911333 68.06244527487024

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.77615843 -0.38891351  0.49631076]
 [ 0.01408012 -0.79761673 -0.60300026]
 [ 0.63038071 -0.46103562  0.6245529 ]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.78474404 -0.58382153  0.20815297]
 [ 0.6140602   0.77797531 -0.1329873 ]
 [-0.08429653  0.23217886  0.96901345]]

 t_gt:
[ 0.93732705 -0.22580944 -0.26538292]

Pose Error in degrees for R and t:
133.05464888022004 63.305064018701444

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.83038141e-01  1.83400930e-01  3.34253036e-04]
 [-1.83401025e-01  9.83038140e-01  2.80284361e-04]
 [-2.77179070e-04 -3.36832567e-04  9.99999905e-01]]

 t_estimated:
[[-0.06997178]
 [ 0.99754728]
 [ 0.00183456]]

 R_gt:
[[ 9.98448631e-01  3.26150057e-02 -4.51346677e-02]
 [-3.26246076e-02  9.99468194e-01  5.28914203e-04]
 [ 4.51271664e-02  9.44257822e-04  9.98980711e-01]]

 t_gt:
[-0.655854    0.45290373 -0.6039319 ]

Pose Error in degrees for R and t:
9.078476156135048 60.226258899693775

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 4.35592992e-01  9.00143375e-01 -8.06384053e-04]
 [-9.00143500e-01  4.35592055e-01 -1.11446022e-03]
 [-6.51919499e-04  1.21131243e-03  9.99999054e-01]]

 t_estimated:
[[-2.09199768e-01]
 [ 9.77872881e-01]
 [-2.90914092e-04]]

 R_gt:
[[ 0.99666034  0.02846618 -0.07653991]
 [-0.0289659   0.99956617 -0.00543776]
 [ 0.07635147  0.00763693  0.99705154]]

 t_gt:
[-0.52910251  0.37240214 -0.76247438]

Pose Error in degrees for R and t:
62.667202116693396 61.63596885534611

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-3.79802475e-01 -9.25066394e-01  1.49883323e-03]
 [-9.25067501e-01  3.79802714e-01 -1.32610620e-04]
 [-4.46587302e-04 -1.43688775e-03 -9.99998868e-01]]

 t_estimated:
[[0.79658217]
 [0.60452735]
 [0.001878  ]]

 R_gt:
[[ 0.99519826  0.04249206 -0.08817622]
 [-0.04465752  0.99874371 -0.02273878]
 [ 0.08709918  0.02656758  0.99584521]]

 t_gt:
[-0.52648206  0.39003281 -0.75544096]

Pose Error in degrees for R and t:
175.10323796427684 79.33773428125853

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[ 9.75054569e-01 -2.21965177e-01 -2.16556683e-04]
 [ 2.21965254e-01  9.75054478e-01  4.36708828e-04]
 [ 1.14220411e-04 -4.73882997e-04  9.99999881e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99787606 -0.04847299  0.04353848]
 [ 0.05146785  0.99618046 -0.0705298 ]
 [-0.0399535   0.0726209   0.99655869]]

 t_gt:
[ 0.77678032  0.4901993  -0.39536942]

Pose Error in degrees for R and t:
11.041629092254633 38.92310488536953

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.45598671e-01 -3.25335444e-01 -5.62878167e-05]
 [ 3.25335425e-01  9.45598521e-01  5.46241808e-04]
 [-1.24486145e-04 -5.34837949e-04  9.99999849e-01]]

 t_estimated:
[[0.94259379]
 [0.33393701]
 [0.00173973]]

 R_gt:
[[ 0.99763032 -0.06624728  0.01859966]
 [ 0.06826317  0.98685144 -0.14650202]
 [-0.00864966  0.14742484  0.9890352 ]]

 t_gt:
[ 0.59210016  0.59999221 -0.53798396]

Pose Error in degrees for R and t:
17.33476428002431 40.75275559805516

Number of keypoints:
Image1: 311
Image2: 311

 R_estimated:
[[ 9.96145347e-01 -8.77179942e-02  1.37972305e-05]
 [ 8.77179914e-02  9.96145338e-01  1.41674760e-04]
 [-2.61714726e-05 -1.39918388e-04  9.99999990e-01]]

 t_estimated:
[[-2.26632989e-01]
 [ 9.73980230e-01]
 [-3.00443779e-05]]

 R_gt:
[[ 0.99783173 -0.04361118  0.04930476]
 [ 0.05379198  0.97195364 -0.22893621]
 [-0.03793859  0.23109138  0.97219171]]

 t_gt:
[ 0.32306806  0.72757844 -0.60519141]

Pose Error in degrees for R and t:
13.728167625425 50.54683074682982

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.94223083e-01  1.07332684e-01  3.94982332e-04]
 [-1.07332609e-01  9.94223148e-01 -2.06320571e-04]
 [-4.14845518e-04  1.62734190e-04  9.99999901e-01]]

 t_estimated:
[[0.89121121]
 [0.4535866 ]
 [0.00133017]]

 R_gt:
[[ 0.99733662 -0.06987839  0.02094371]
 [ 0.06950305  0.99741576  0.01814862]
 [-0.02215754 -0.01664596  0.99961511]]

 t_gt:
[ 0.80265135 -0.44451013  0.3976953 ]

Pose Error in degrees for R and t:
10.280001911802831 59.0535284624408

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.06197867  0.98611341 -0.15407464]
 [ 0.99502454  0.07311338  0.06768009]
 [ 0.07800516 -0.14911333 -0.98573851]]

 t_estimated:
[[0.99972424]
 [0.02345032]
 [0.00123423]]

 R_gt:
[[ 0.9988556  -0.04660498 -0.01080816]
 [ 0.04666882  0.99889368  0.00567799]
 [ 0.01053163 -0.00617689  0.99992514]]

 t_gt:
[0.99988987 0.01180908 0.00898808]

Pose Error in degrees for R and t:
170.1083941986583 0.8014680355169911

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 3.49365129e-01  9.36985382e-01  1.54933533e-03]
 [ 9.36980871e-01 -3.49368306e-01  2.93846979e-03]
 [ 3.29459190e-03  4.25098687e-04 -9.99994482e-01]]

 t_estimated:
[[0.8785898 ]
 [0.47757371]
 [0.0018228 ]]

 R_gt:
[[ 0.99546916  0.01481305 -0.09392639]
 [-0.02381829  0.99514406 -0.09550042]
 [ 0.09205691  0.09730446  0.99098792]]

 t_gt:
[ 0.17280384  0.6207424  -0.76473375]

Pose Error in degrees for R and t:
178.58625726276804 63.456317792137774

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 7.36167486e-01  6.76799205e-01  5.17741592e-04]
 [-6.76798779e-01  7.36167631e-01 -7.94998573e-04]
 [-9.19199004e-04  2.34845223e-04  9.99999550e-01]]

 t_estimated:
[[-3.30798136e-01]
 [ 9.43701257e-01]
 [ 7.27999104e-04]]

 R_gt:
[[ 9.97197574e-01  2.77893465e-02  6.94564166e-02]
 [-2.77825276e-02  9.99613212e-01 -1.06428382e-03]
 [-6.94582089e-02 -8.68272914e-04  9.97584021e-01]]

 t_gt:
[-7.50961248e-04  6.20049756e-01  7.84562130e-01]

Pose Error in degrees for R and t:
41.180315391247845 54.12906865923379

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99998696e-01  1.61348682e-03 -7.24250091e-05]
 [-1.61349724e-03  9.99998688e-01 -1.44029191e-04]
 [ 7.21925249e-05  1.44145860e-04  9.99999987e-01]]

 t_estimated:
[[-0.00799469]
 [-0.99996732]
 [-0.00119904]]

 R_gt:
[[ 0.98654726  0.11446045  0.11671313]
 [-0.1087354   0.9925863  -0.05431146]
 [-0.12206522  0.04089017  0.99167944]]

 t_gt:
[-0.23447018  0.92044017  0.31275169]

Pose Error in degrees for R and t:
9.740715712595355 23.23266732334111

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-9.89142240e-01  1.46958115e-01 -9.70363628e-04]
 [ 1.46956513e-01  9.89141730e-01  1.55604788e-03]
 [ 1.18850102e-03  1.39655143e-03 -9.99998319e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96927589  0.2194651   0.11108603]
 [-0.21399604  0.97504362 -0.05911172]
 [-0.12128725  0.03352445  0.99205081]]

 t_gt:
[-0.22906741  0.9543194   0.19184005]

Pose Error in degrees for R and t:
173.17743133994327 76.94075705186638

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.96663432e-01  8.16199627e-02  4.29033812e-04]
 [-8.16197307e-02  9.96663401e-01 -5.32957997e-04]
 [-4.71102310e-04  4.96162123e-04  9.99999766e-01]]

 t_estimated:
[[0.99691963]
 [0.0784207 ]
 [0.00120397]]

 R_gt:
[[ 0.99231617 -0.12367619 -0.00379186]
 [ 0.12372896  0.99209973  0.02074544]
 [ 0.00119597 -0.02105472  0.99977773]]

 t_gt:
[ 0.82252451 -0.55772553  0.11133586]

Pose Error in degrees for R and t:
11.853034420254177 39.06898895171897

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.78767338e-01  2.04973979e-01  4.06683366e-04]
 [-2.04973904e-01  9.78767414e-01 -2.19282402e-04]
 [-4.42995613e-04  1.31266976e-04  9.99999893e-01]]

 t_estimated:
[[-8.01077762e-01]
 [ 5.98559957e-01]
 [ 6.29978427e-04]]

 R_gt:
[[ 0.9952389  -0.09556524  0.01918071]
 [ 0.09495918  0.99501993  0.03030513]
 [-0.02198206 -0.02833952  0.99935679]]

 t_gt:
[ 0.81493104 -0.44939663  0.36596458]

Pose Error in degrees for R and t:
17.416176117007165 22.84132535155568

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-5.48507463e-01 -8.36141138e-01 -2.74966260e-03]
 [ 8.36145645e-01 -5.48503902e-01 -1.98206960e-03]
 [ 1.49089261e-04 -3.38629838e-03  9.99994255e-01]]

 t_estimated:
[[9.99988823e-01]
 [4.66363073e-03]
 [7.77691639e-04]]

 R_gt:
[[ 0.9999167   0.00630542  0.01126379]
 [-0.00635657  0.99996999  0.00445451]
 [-0.01123593 -0.00452515  0.99992748]]

 t_gt:
[-0.2260518   0.94790209  0.22445984]

Pose Error in degrees for R and t:
123.62950795017092 77.20554970323093

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.74977042e-01  2.22305545e-01  1.06730639e-04]
 [-2.22305522e-01  9.74977034e-01 -1.95014427e-04]
 [-1.47412711e-04  1.66407778e-04  9.99999975e-01]]

 t_estimated:
[[-0.99356633]
 [ 0.11324181]
 [-0.00149872]]

 R_gt:
[[ 0.9981338  -0.00563651 -0.0608091 ]
 [ 0.00862761  0.99875986  0.04903148]
 [ 0.06045687 -0.04946472  0.9969445 ]]

 t_gt:
[-0.24237158 -0.84678328 -0.47351251]

Pose Error in degrees for R and t:
13.991197461197377 81.6262005918931

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[-0.28937483 -0.95721088  0.00308829]
 [-0.95720335  0.28938604  0.00418037]
 [-0.0048952  -0.00174643 -0.99998649]]

 t_estimated:
[[0.8791016 ]
 [0.47662135]
 [0.00353053]]

 R_gt:
[[ 0.99259392 -0.07013432 -0.09919462]
 [ 0.07504744  0.99608581  0.04669467]
 [ 0.09553114 -0.05379315  0.99397167]]

 t_gt:
[ 0.2309509  -0.89877198 -0.37265347]

Pose Error in degrees for R and t:
177.5180117060936 76.8994726595769

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 0.72548833  0.68822465  0.003675  ]
 [-0.68820705  0.72549675 -0.00505138]
 [-0.00614268  0.00113555  0.99998049]]

 t_estimated:
[[0.96020587]
 [0.27927556]
 [0.00313793]]

 R_gt:
[[ 0.98942417 -0.11714054 -0.08554515]
 [ 0.12043377  0.9921251   0.03439609]
 [ 0.08084218 -0.04433536  0.99574006]]

 t_gt:
[ 0.31438202 -0.91593612 -0.24944935]

Pose Error in degrees for R and t:
50.62515363669549 87.40417863278486

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[-5.26111600e-01 -8.48628718e-01 -5.50988531e-02]
 [-8.49947005e-01  5.26867336e-01  9.47886831e-04]
 [ 2.82253820e-02  4.73297995e-02 -9.98480454e-01]]

 t_estimated:
[[ 0.89730783]
 [ 0.44111846]
 [-0.015911  ]]

 R_gt:
[[ 0.99700532 -0.07508568  0.0185253 ]
 [ 0.07518763  0.99715692 -0.00488578]
 [-0.01810538  0.00626391  0.99981548]]

 t_gt:
[ 0.83443995 -0.53683095  0.12458934]

Pose Error in degrees for R and t:
178.08964974264086 59.338760262266156

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-7.15896572e-01 -6.98198021e-01  3.40903642e-03]
 [-6.98188993e-01  7.15904669e-01  3.55443680e-03]
 [-4.92224583e-03  1.64457407e-04 -9.99987872e-01]]

 t_estimated:
[[0.94294993]
 [0.33291942]
 [0.00317608]]

 R_gt:
[[ 0.98283086 -0.18222404  0.02894755]
 [ 0.18209916  0.98325611  0.00690146]
 [-0.02971901 -0.00151119  0.99955716]]

 t_gt:
[ 0.84880637 -0.5120354   0.13170989]

Pose Error in degrees for R and t:
178.07776648629206 50.92525346008639

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999390e-01  1.09182779e-03  1.68713837e-04]
 [-1.09182433e-03  9.99999404e-01 -2.05700166e-05]
 [-1.68736195e-04  2.03857982e-05  9.99999986e-01]]

 t_estimated:
[[ 9.99999957e-01]
 [-5.99054067e-05]
 [ 2.86914236e-04]]

 R_gt:
[[ 0.97340559 -0.22547752  0.0405207 ]
 [ 0.22428324  0.97399847  0.03197937]
 [-0.04667718 -0.02204092  0.99866616]]

 t_gt:
[ 0.85070929 -0.47709118  0.22063027]

Pose Error in degrees for R and t:
13.395076457163267 31.701087528779823

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99997683e-01  2.15228967e-03  4.17194827e-05]
 [-2.15227984e-03  9.99997656e-01 -2.34182800e-04]
 [-4.22234141e-05  2.34092465e-04  9.99999972e-01]]

 t_estimated:
[[ 0.08234607]
 [-0.99660198]
 [-0.00190006]]

 R_gt:
[[ 0.99555043 -0.06248785 -0.07053536]
 [ 0.06503997  0.99728647  0.03450248]
 [ 0.06818887 -0.03893665  0.99691207]]

 t_gt:
[ 0.36361243 -0.87016865 -0.33255452]

Pose Error in degrees for R and t:
5.888516477779817 26.131478522886017

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[-0.97487309  0.22218338  0.01603111]
 [ 0.22218273  0.9750033  -0.00184452]
 [-0.01604021  0.00176367 -0.99986979]]

 t_estimated:
[[ 0.98647165]
 [-0.16371108]
 [ 0.00850739]]

 R_gt:
[[ 0.99102682 -0.12183827 -0.0549622 ]
 [ 0.12324872  0.99210883  0.02303623]
 [ 0.05172181 -0.02960341  0.99822192]]

 t_gt:
[ 0.43844364 -0.88586534 -0.15168971]

Pose Error in degrees for R and t:
177.70807395568383 54.812943084108795

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.97479527e-01 -7.09532696e-02  4.76591070e-04]
 [-7.09530454e-02 -9.97479545e-01 -4.71899718e-04]
 [ 5.08872671e-04  4.36894720e-04 -9.99999775e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98471315 -0.16401989 -0.05863339]
 [ 0.16517254  0.98614532  0.01534968]
 [ 0.05530407 -0.0247993   0.99816167]]

 t_gt:
[ 0.45227628 -0.87625546 -0.16620029]

Pose Error in degrees for R and t:
178.99062752307736 29.12147128487068

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[-1.26030356e-01  9.92026257e-01  5.05018539e-04]
 [-9.92026268e-01 -1.26030078e-01 -5.49769234e-04]
 [-4.81737990e-04 -5.70279269e-04  9.99999721e-01]]

 t_estimated:
[[7.91002110e-01]
 [6.11813004e-01]
 [7.13900822e-04]]

 R_gt:
[[ 0.99608925  0.07952756 -0.0384911 ]
 [-0.0808078   0.99618613 -0.03293941]
 [ 0.03572505  0.03592084  0.99871583]]

 t_gt:
[-0.43865042  0.80163876 -0.40615405]

Pose Error in degrees for R and t:
92.67535252854982 81.76753990092224

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.77784802e-01 -2.09609172e-01 -9.35779461e-04]
 [ 2.09610037e-01  9.77784605e-01  9.48391974e-04]
 [ 7.16199094e-04 -1.12347203e-03  9.99999112e-01]]

 t_estimated:
[[9.95240681e-01]
 [9.74427663e-02]
 [9.46046274e-04]]

 R_gt:
[[ 0.98519545  0.17140794  0.00299194]
 [-0.17103766  0.98395733 -0.05074723]
 [-0.01164228  0.04948356  0.99870713]]

 t_gt:
[-0.49510436  0.86301272 -0.10040276]

Pose Error in degrees for R and t:
22.163745823551952 65.87374950484406

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99998226e-01  5.15136518e-04 -1.81175748e-03]
 [-5.11291845e-04  9.99997618e-01  2.12189154e-03]
 [ 1.81284623e-03 -2.12096144e-03  9.99996108e-01]]

 t_estimated:
[[-0.69351711]
 [-0.72043935]
 [-0.00107689]]

 R_gt:
[[ 0.95288067  0.30329893 -0.00520887]
 [-0.30334186  0.95267089 -0.02007864]
 [-0.00112792  0.02071253  0.99978428]]

 t_gt:
[-0.46464177  0.88476261 -0.03609926]

Pose Error in degrees for R and t:
17.677633427363133 71.63061895191902

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.95628744e-01  9.33991513e-02 -4.24609904e-05]
 [-9.33991607e-02  9.95628605e-01 -5.27443849e-04]
 [-6.98743123e-06  5.29104078e-04  9.99999860e-01]]

 t_estimated:
[[9.87731467e-01]
 [1.56160037e-01]
 [7.69261267e-04]]

 R_gt:
[[ 0.99395141  0.10130712  0.04239796]
 [-0.10099993  0.99484284 -0.00931032]
 [-0.04312208  0.00497086  0.99905746]]

 t_gt:
[-0.37355695  0.91325853  0.16252404]

Pose Error in degrees for R and t:
2.5243107079172673 76.92452166209934

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-5.57285093e-02 -9.98445927e-01 -2.52239661e-04]
 [-9.98445879e-01  5.57286041e-02 -3.85989590e-04]
 [ 3.99446699e-04  2.30337026e-04 -9.99999894e-01]]

 t_estimated:
[[0.77008911]
 [0.63793471]
 [0.00144105]]

 R_gt:
[[ 0.97786729  0.19699524  0.07048112]
 [-0.19328458  0.97953588 -0.05612805]
 [-0.08009493  0.04126244  0.99593222]]

 t_gt:
[-0.30981152  0.94604317  0.09496914]

Pose Error in degrees for R and t:
178.8015997894353 68.58822295724549

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.98901141 -0.14745978  0.01058539]
 [ 0.14753095  0.98903746 -0.00628649]
 [-0.00954235  0.00777908  0.99992421]]

 t_estimated:
[[0.99844139]
 [0.05546897]
 [0.00616322]]

 R_gt:
[[ 0.95273421  0.30106349  0.04071983]
 [-0.29919055  0.95306967 -0.0462909 ]
 [-0.0527449   0.03191935  0.99809773]]

 t_gt:
[-0.24294855  0.97003748 -0.00181109]

Pose Error in degrees for R and t:
26.113504364041763 79.11875065188133

Number of keypoints:
Image1: 318
Image2: 318

 R_estimated:
[[ 9.88069547e-01 -1.54008328e-01 -7.06667242e-05]
 [ 1.54008338e-01  9.88069531e-01  1.84444346e-04]
 [ 4.14176718e-05 -1.93127106e-04  9.99999980e-01]]

 t_estimated:
[[-0.9832824 ]
 [-0.18207828]
 [-0.00179323]]

 R_gt:
[[ 9.99264060e-01 -9.76197124e-04 -3.83435349e-02]
 [-2.28922968e-03  9.96372813e-01 -8.50542746e-02]
 [ 3.82869855e-02  8.50796737e-02  9.95637363e-01]]

 t_gt:
[ 0.25371823  0.67037837 -0.6972947 ]

Pose Error in degrees for R and t:
10.385331713399646 68.26664427989436

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.84549799e-01 -1.75104790e-01  7.70535024e-05]
 [ 1.75104780e-01  9.84549797e-01  1.15257478e-04]
 [-9.60451466e-05 -9.99842903e-05  9.99999990e-01]]

 t_estimated:
[[-0.89469291]
 [-0.44667977]
 [-0.00133337]]

 R_gt:
[[ 0.99968155  0.02430107  0.00681593]
 [-0.02304301  0.98897789 -0.14625865]
 [-0.01029556  0.14605578  0.98922186]]

 t_gt:
[ 0.00487182  0.79468456 -0.60700306]

Pose Error in degrees for R and t:
14.206389286459379 68.99073353466997

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 1.64894752e-01  9.86310975e-01  6.17553265e-04]
 [-9.86310400e-01  1.64895373e-01 -1.14461942e-03]
 [-1.23078237e-03 -4.20357473e-04  9.99999154e-01]]

 t_estimated:
[[0.4050743 ]
 [0.91428327]
 [0.00095536]]

 R_gt:
[[ 0.99778648  0.06542265 -0.01190586]
 [-0.06642674  0.98883364 -0.13339803]
 [ 0.00304466  0.13389414  0.99099027]]

 t_gt:
[ 0.04445004  0.86837255 -0.49391629]

Pose Error in degrees for R and t:
77.03525162752106 35.75998066598284

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 8.93526319e-01  4.49009917e-01 -9.00747463e-04]
 [ 4.49008800e-01 -8.93526518e-01 -1.20760061e-03]
 [-1.34706640e-03  6.74579393e-04 -9.99998865e-01]]

 t_estimated:
[[0.790447  ]
 [0.6125235 ]
 [0.00291678]]

 R_gt:
[[ 0.99979646 -0.0190054   0.0068064 ]
 [ 0.01882691  0.99949968  0.0254119 ]
 [-0.00728553 -0.02527918  0.99965377]]

 t_gt:
[ 0.53124297 -0.60934203  0.58862823]

Pose Error in degrees for R and t:
178.73411025915763 87.22580083071097

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-3.36066685e-01 -9.41836274e-01 -1.90146348e-03]
 [ 9.41837989e-01 -3.36067258e-01 -1.92522333e-05]
 [-6.20887167e-04 -1.79734058e-03  9.99998192e-01]]

 t_estimated:
[[9.91005989e-01]
 [1.33814023e-01]
 [9.67758929e-04]]

 R_gt:
[[ 0.98962691 -0.14365139 -0.00166974]
 [ 0.14359694  0.9887686   0.04142991]
 [-0.00430068 -0.04124019  0.99914032]]

 t_gt:
[ 0.74523136 -0.64293399  0.17682225]

Pose Error in degrees for R and t:
101.39415171235997 49.25706953476906

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.72739605 -0.68602933  0.01608549]
 [-0.68621122  0.72708583 -0.02145601]
 [ 0.00302392 -0.02664506 -0.99964038]]

 t_estimated:
[[0.99479   ]
 [0.10092072]
 [0.01441725]]

 R_gt:
[[ 0.97680059 -0.21245474 -0.02690835]
 [ 0.21378216  0.97476346  0.0642863 ]
 [ 0.01257097 -0.06854808  0.99756877]]

 t_gt:
[ 0.76617461 -0.62559199  0.14700729]

Pose Error in degrees for R and t:
179.40300211888922 45.47928574262569

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.56757252e-01  2.90886388e-01  8.18215949e-04]
 [-2.90886482e-01  9.56757574e-01 -4.38371757e-06]
 [-7.84109470e-04 -2.33813805e-04  9.99999665e-01]]

 t_estimated:
[[-0.59619035]
 [ 0.80283906]
 [ 0.00255002]]

 R_gt:
[[ 0.99651339 -0.08024757  0.0228425 ]
 [ 0.08012993  0.99676647  0.00599289]
 [-0.02324964 -0.00414186  0.99972098]]

 t_gt:
[ 0.83829752 -0.4707417   0.27506277]

Pose Error in degrees for R and t:
21.55020285211206 28.71584775134978

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 5.74279623e-01  8.18659203e-01  1.54856427e-04]
 [-8.18659217e-01  5.74279612e-01  1.12519228e-04]
 [ 3.18401241e-06 -1.91392141e-04  9.99999982e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075931e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99109166 -0.12979341  0.0298772 ]
 [ 0.1294133   0.99148756  0.01430888]
 [-0.03148062 -0.01031496  0.99945063]]

 t_gt:
[ 0.86565323 -0.42643895  0.26228667]

Pose Error in degrees for R and t:
62.42522708345819 30.170936461844036

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-8.06033309e-01 -5.91866537e-01  2.07544533e-03]
 [-5.91864332e-01  8.06035977e-01  1.61737227e-03]
 [-2.63015213e-03  7.52738563e-05 -9.99996538e-01]]

 t_estimated:
[[0.95722156]
 [0.28935024]
 [0.00181981]]

 R_gt:
[[ 0.99436477 -0.10057139 -0.03355621]
 [ 0.09959668  0.99458953 -0.02955192]
 [ 0.03634659  0.02604334  0.99899979]]

 t_gt:
[ 0.94229027 -0.09178479 -0.32196987]

Pose Error in degrees for R and t:
177.74155018217624 28.97434612693061

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-0.06033999  0.99815708  0.00644487]
 [ 0.99817321  0.0603582  -0.00266877]
 [-0.00305286  0.00627206 -0.99997567]]

 t_estimated:
[[0.99836566]
 [0.0571099 ]
 [0.00211518]]

 R_gt:
[[ 0.99997838 -0.00624711 -0.0020152 ]
 [ 0.00643969  0.99314357  0.11672592]
 [ 0.00127256 -0.11673639  0.99316258]]

 t_gt:
[ 0.13105934 -0.59108408  0.79589136]

Pose Error in degrees for R and t:
175.7117507452017 84.33154761351723

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.05959465  0.9980468  -0.01873673]
 [ 0.99811091  0.05985833  0.01384138]
 [ 0.01493589 -0.01787647 -0.99972864]]

 t_estimated:
[[-0.0268    ]
 [-0.99963992]
 [-0.00134   ]]

 R_gt:
[[ 0.9908754  -0.12737246 -0.04406281]
 [ 0.13313809  0.9758794   0.17301195]
 [ 0.02096302 -0.17730081  0.983934  ]]

 t_gt:
[ 0.56448169 -0.60683732  0.55956134]

Pose Error in degrees for R and t:
170.3734884356654 53.79039869780129

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.05288008  0.99849927 -0.0142442 ]
 [ 0.99852166 -0.05269085  0.01334767]
 [ 0.0125771  -0.01492897 -0.99980945]]

 t_estimated:
[[0.94791219]
 [0.3185292 ]
 [0.00127923]]

 R_gt:
[[ 0.93286627 -0.34800737 -0.09301303]
 [ 0.35873319  0.920962    0.15211271]
 [ 0.03272469 -0.17526764  0.98397733]]

 t_gt:
[ 0.81315668 -0.49918591  0.29931528]

Pose Error in degrees for R and t:
169.40221386480553 52.252792799331004

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99992028e-01  3.99187302e-03 -9.29953227e-05]
 [-3.99186646e-03  9.99992030e-01  7.06506555e-05]
 [ 9.32766099e-05 -7.02788674e-05  9.99999993e-01]]

 t_estimated:
[[-9.99913942e-01]
 [-1.31162025e-02]
 [-2.72256764e-04]]

 R_gt:
[[ 0.98962872  0.14341085  0.00827375]
 [-0.14332938  0.98962747 -0.00977713]
 [-0.00959059  0.00849015  0.99991796]]

 t_gt:
[-0.86297877  0.50396962 -0.03580878]

Pose Error in degrees for R and t:
8.04845272878115 31.095895737925815

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99987611e-01  4.97555521e-03 -1.50176060e-04]
 [-4.97553836e-03  9.99987616e-01  1.12342355e-04]
 [ 1.50733165e-04 -1.11593757e-04  9.99999982e-01]]

 t_estimated:
[[-9.96672746e-01]
 [-8.15066921e-02]
 [-3.10859398e-04]]

 R_gt:
[[ 0.97166887  0.235737    0.01697061]
 [-0.2357881   0.97180406  0.00106941]
 [-0.0162393  -0.00504009  0.99985549]]

 t_gt:
[-0.83272286  0.55287419  0.03004619]

Pose Error in degrees for R and t:
13.388332423445362 38.29042880619198

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-1.24432302e-01 -9.92225949e-01 -2.06592094e-03]
 [ 9.92227832e-01 -1.24430470e-01 -9.93363633e-04]
 [ 7.28577661e-04 -2.17347078e-03  9.99997373e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91698906  0.39730218  0.03582255]
 [-0.39656333  0.91763654 -0.02609147]
 [-0.04323865  0.00972081  0.9990174 ]]

 t_gt:
[-0.78959291  0.61362857 -0.00173853]

Pose Error in degrees for R and t:
120.56615149484391 38.03007231492594

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[ 9.99962286e-01  8.68439664e-03 -8.97637390e-05]
 [-8.68439905e-03  9.99962290e-01 -2.64046320e-05]
 [ 8.95310457e-05  2.71831803e-05  9.99999996e-01]]

 t_estimated:
[[ 0.55060898]
 [-0.83475635]
 [-0.00340419]]

 R_gt:
[[ 0.99922922  0.03252558  0.02197287]
 [-0.03245742  0.99946648 -0.00346716]
 [-0.02207348  0.00275072  0.9997522 ]]

 t_gt:
[-0.53739734  0.80784575  0.24205237]

Pose Error in degrees for R and t:
1.8715770350747878 13.814433541808329

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[ 9.99999835e-01  5.64103879e-04 -1.10586487e-04]
 [-5.64069262e-04  9.99999792e-01  3.12816487e-04]
 [ 1.10762925e-04 -3.12754057e-04  9.99999945e-01]]

 t_estimated:
[[-0.77051074]
 [-0.6374246 ]
 [ 0.00175649]]

 R_gt:
[[ 0.99025887  0.13470919  0.03521736]
 [-0.13516962  0.99076094  0.01103279]
 [-0.03340531 -0.01568586  0.99931817]]

 t_gt:
[-0.71674077  0.67339373  0.1811727 ]

Pose Error in degrees for R and t:
8.00937822243957 82.91527246167101

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[-0.99970214 -0.01707569 -0.01743689]
 [-0.0171093   0.99985204  0.00178056]
 [ 0.0174039   0.00207837 -0.99984638]]

 t_estimated:
[[ 0.9988572]
 [ 0.0472076]
 [-0.0074658]]

 R_gt:
[[ 0.98641114  0.15531281  0.05357698]
 [-0.15435321  0.98777857 -0.02163289]
 [-0.05628243  0.01306795  0.99832868]]

 t_gt:
[-0.75382027  0.64747205  0.11195957]

Pose Error in degrees for R and t:
177.85341515128448 43.67827407711891

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.40794243e-01  3.38977661e-01  5.81192530e-04]
 [-3.38977699e-01  9.40794408e-01 -3.59453254e-05]
 [-5.58967345e-04 -1.63194151e-04  9.99999830e-01]]

 t_estimated:
[[-0.46878305]
 [ 0.88331098]
 [ 0.00204285]]

 R_gt:
[[ 0.99653579  0.08307994  0.0038588 ]
 [-0.08302105  0.9964556  -0.01358018]
 [-0.00497297  0.01321256  0.99989939]]

 t_gt:
[-0.78020842  0.62408667 -0.04231616]

Pose Error in degrees for R and t:
15.071730335689463 23.519453027073833

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.82063635e-01  1.88549715e-01  1.49666453e-04]
 [-1.88549661e-01  9.82063605e-01 -3.18357226e-04]
 [-2.07008140e-04  2.84427496e-04  9.99999938e-01]]

 t_estimated:
[[-9.98850798e-01]
 [-4.79276961e-02]
 [-1.40242230e-04]]

 R_gt:
[[ 0.9949441   0.09955922  0.01325313]
 [-0.09917053  0.99469684 -0.02729053]
 [-0.01590009  0.02583783  0.99953868]]

 t_gt:
[-0.82235825  0.56808423 -0.03173677]

Pose Error in degrees for R and t:
5.442324805347105 37.42112074918498

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.95063089  0.31032089 -0.00136277]
 [ 0.31031845  0.95063106  0.00174586]
 [ 0.00183727  0.00123677 -0.99999755]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99736022  0.07165923 -0.01177595]
 [-0.07209407  0.9965112  -0.04206002]
 [ 0.00872088  0.04279856  0.9990445 ]]

 t_gt:
[-0.86141952  0.47374414 -0.1830926 ]

Pose Error in degrees for R and t:
179.69782044611142 30.673525285108447

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[-0.98971987 -0.14153825 -0.02053051]
 [-0.14159041  0.98992471  0.0011024 ]
 [ 0.02016762  0.00399799 -0.99978862]]

 t_estimated:
[[ 0.99825183]
 [ 0.05828384]
 [-0.00981231]]

 R_gt:
[[ 0.99176276  0.12692916  0.0171947 ]
 [-0.126565    0.99173963 -0.02083724]
 [-0.01969836  0.01848977  0.99963552]]

 t_gt:
[-0.84368838  0.53138249 -0.07630579]

Pose Error in degrees for R and t:
179.80351339721236 35.855803214487544

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.60351456e-01 -2.78786017e-01 -1.85428026e-03]
 [ 2.78788118e-01  9.60352129e-01  9.86548470e-04]
 [ 1.50572608e-03 -1.46438456e-03  9.99997794e-01]]

 t_estimated:
[[-0.35672797]
 [-0.93420763]
 [-0.00111993]]

 R_gt:
[[ 0.96682656  0.25272574  0.03710661]
 [-0.2526613   0.96753335 -0.00647138]
 [-0.03753772 -0.00311781  0.99929073]]

 t_gt:
[-0.83365888  0.55105983  0.03668682]

Pose Error in degrees for R and t:
30.911032360156657 77.44034784103046

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.98941254e-01  4.60011042e-02 -5.18809312e-04]
 [-4.60007435e-02  9.98941169e-01  6.86922270e-04]
 [ 5.49859164e-04 -6.62329380e-04  9.99999629e-01]]

 t_estimated:
[[-9.94519722e-01]
 [-1.04548035e-01]
 [-4.80966860e-04]]

 R_gt:
[[ 0.89893841  0.43321456  0.06506948]
 [-0.42935324  0.90076009 -0.06547395]
 [-0.08697617  0.03091917  0.99573007]]

 t_gt:
[-0.77767308  0.62849573 -0.01475451]

Pose Error in degrees for R and t:
23.57643840429575 44.95107504446496

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-8.69632589e-01 -4.93696107e-01 -1.82082109e-03]
 [ 4.93699089e-01 -8.69630562e-01 -1.97369944e-03]
 [-6.09033943e-04 -2.61533107e-03  9.99996395e-01]]

 t_estimated:
[[0.93004354]
 [0.36744811]
 [0.00095194]]

 R_gt:
[[ 0.9994195   0.00288048  0.03397378]
 [-0.00264225  0.9999725  -0.00706833]
 [-0.03399271  0.00697535  0.99939777]]

 t_gt:
[-0.8097064  -0.12975743  0.57230985]

Pose Error in degrees for R and t:
150.58160123125987 36.85112744526998

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-2.90492634e-01 -9.56876555e-01 -1.13481705e-03]
 [-9.56877026e-01  2.90491598e-01  9.93998406e-04]
 [-6.21478954e-04  1.37462957e-03 -9.99998862e-01]]

 t_estimated:
[[8.57777318e-01]
 [5.14020838e-01]
 [8.06940092e-04]]

 R_gt:
[[ 0.98661142 -0.06523387  0.14947596]
 [ 0.06742186  0.99767888 -0.00961393]
 [-0.14850124  0.01956324  0.98871858]]

 t_gt:
[ 0.08655757 -0.59755961  0.79713882]

Pose Error in degrees for R and t:
173.6312533192405 76.56938103791414

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.04759921e-01  4.25921806e-01  3.15612914e-04]
 [-4.25920978e-01  9.04759226e-01 -1.43671537e-03]
 [-8.97482102e-04  1.16545633e-03  9.99998918e-01]]

 t_estimated:
[[0.82747585]
 [0.56150034]
 [0.00104624]]

 R_gt:
[[ 0.96249744 -0.1644997   0.21572818]
 [ 0.16639293  0.98601451  0.00948193]
 [-0.21427029  0.02677045  0.97640726]]

 t_gt:
[ 0.38100219 -0.69500759  0.60975551]

Pose Error in degrees for R and t:
36.93265013375139 85.73675941707445

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 0.99293573  0.1178733  -0.01358389]
 [ 0.1180122  -0.96919031  0.21620189]
 [ 0.01231906 -0.21627765 -0.97625418]]

 t_estimated:
[[-0.08138247]
 [ 0.9908551 ]
 [ 0.10762463]]

 R_gt:
[[ 0.99468937  0.10219205 -0.01226661]
 [-0.10182937  0.99442984  0.02719359]
 [ 0.01497801 -0.02579992  0.99955485]]

 t_gt:
[-0.84340774  0.50544399  0.18218058]

Pose Error in degrees for R and t:
165.94307231133936 53.90913846004577

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-9.59251005e-01 -2.82453075e-01 -7.60062826e-03]
 [-2.82466996e-01  9.59276682e-01  8.02628431e-04]
 [ 7.06440058e-03  2.91684876e-03 -9.99970793e-01]]

 t_estimated:
[[ 0.98814759]
 [ 0.15347624]
 [-0.00306485]]

 R_gt:
[[ 0.97454406  0.22383691  0.01271313]
 [-0.22393276  0.97458134  0.00670321]
 [-0.010889   -0.00937941  0.99989713]]

 t_gt:
[-0.82565359  0.56178788  0.05187023]

Pose Error in degrees for R and t:
179.69943484853948 43.12991041368681

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.99709341 -0.07513058 -0.01265375]
 [-0.07515886  0.99717     0.00177338]
 [ 0.01248471  0.00271926 -0.99991837]]

 t_estimated:
[[ 0.99997102]
 [ 0.00374109]
 [-0.00662976]]

 R_gt:
[[ 0.94253335  0.33346288  0.02082848]
 [-0.33392956  0.94224482  0.02577292]
 [-0.01103168 -0.0312467   0.99945095]]

 t_gt:
[-0.79977787  0.59504617  0.07921747]

Pose Error in degrees for R and t:
179.74979552765183 37.05534869006861

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.98972178e-01 -4.53271456e-02  1.95324291e-04]
 [ 4.53275655e-02  9.98962018e-01 -4.50540013e-03]
 [ 9.09538026e-06  4.50962296e-03  9.99989832e-01]]

 t_estimated:
[[-0.74249102]
 [-0.66969779]
 [-0.01455865]]

 R_gt:
[[ 0.9983447   0.05501356 -0.01686034]
 [-0.05432965  0.99777462  0.03865504]
 [ 0.01894988 -0.03767408  0.99911016]]

 t_gt:
[-0.23509856  0.89380498  0.38189178]

Pose Error in degrees for R and t:
6.317673265156685 64.5590613099419

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.65234445e-01  5.01367391e-01  3.08703322e-04]
 [-5.01366994e-01  8.65234294e-01 -8.68063148e-04]
 [-7.02319256e-04  5.96304480e-04  9.99999576e-01]]

 t_estimated:
[[-9.77120343e-01]
 [ 2.12686591e-01]
 [-4.99888468e-04]]

 R_gt:
[[ 0.99777845  0.06560008 -0.01163272]
 [-0.06475491  0.99595951  0.0622132 ]
 [ 0.01566686 -0.06132098  0.9979956 ]]

 t_gt:
[-0.07676757  0.88109717  0.46666317]

Pose Error in degrees for R and t:
26.600776478011703 74.80081662647298

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-9.63195624e-01 -2.68742095e-01  5.64584242e-03]
 [-2.68737709e-01  9.63212170e-01  1.53586711e-03]
 [-5.85089627e-03 -3.79102745e-05 -9.99982883e-01]]

 t_estimated:
[[ 0.99658279]
 [-0.08242918]
 [ 0.00530856]]

 R_gt:
[[ 0.99809449  0.05428727 -0.02934452]
 [-0.04719187  0.9778536   0.20389771]
 [ 0.03976436 -0.20212423  0.97855276]]

 t_gt:
[0.01250135 0.14534866 0.98930151]

Pose Error in degrees for R and t:
180.0 89.67172650083276

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99999913e-01 -3.95594171e-04 -1.35825596e-04]
 [ 3.95602306e-04  9.99999920e-01  5.98655848e-05]
 [ 1.35801903e-04 -5.99193125e-05  9.99999989e-01]]

 t_estimated:
[[ 0.99657417]
 [-0.08266305]
 [-0.00259837]]

 R_gt:
[[ 0.99938917 -0.03238292  0.01318865]
 [ 0.03244967  0.99946132 -0.00487143]
 [-0.01302408  0.00529586  0.9999013 ]]

 t_gt:
[ 0.90543829 -0.39973158  0.14281515]

Pose Error in degrees for R and t:
2.0070148499324105 20.77050578039401

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99137923e-01 -4.15139073e-02  7.99123374e-05]
 [ 4.15139067e-02  9.99137926e-01  9.43941538e-06]
 [-8.02353141e-05 -6.11380456e-06  9.99999997e-01]]

 t_estimated:
[[0.7314878 ]
 [0.68185404]
 [0.00081367]]

 R_gt:
[[ 0.99998032 -0.00518805 -0.00349941]
 [ 0.00504881  0.99924525 -0.03850439]
 [ 0.00369678  0.0384855   0.99925195]]

 t_gt:
[ 0.14194129  0.62500994 -0.76760358]

Pose Error in degrees for R and t:
3.0441423835663404 58.037149455545276

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 8.40720848e-01 -5.41465936e-01  1.75955059e-03]
 [-5.41464563e-01 -8.40722686e-01 -1.22140994e-03]
 [ 2.14064598e-03  7.41305080e-05 -9.99997706e-01]]

 t_estimated:
[[0.72446818]
 [0.68930776]
 [0.00081768]]

 R_gt:
[[ 0.99464026  0.09124303 -0.04862014]
 [-0.09609139  0.98938173 -0.1090404 ]
 [ 0.03815439  0.11312804  0.99284783]]

 t_gt:
[-0.35896037  0.72766118 -0.58451404]

Pose Error in degrees for R and t:
173.13560891809075 76.05152781408198

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99925965e-01 -1.21681572e-02 -3.03024226e-05]
 [ 1.21681560e-02  9.99925964e-01 -4.01838328e-05]
 [ 3.07891423e-05  3.98121331e-05  9.99999999e-01]]

 t_estimated:
[[-0.9325051 ]
 [-0.3611551 ]
 [-0.00111069]]

 R_gt:
[[ 0.99714723  0.06348294 -0.04086001]
 [-0.06229886  0.9976192   0.02959366]
 [ 0.04264136 -0.02696312  0.99872665]]

 t_gt:
[-0.65047751  0.75178581 -0.10815318]

Pose Error in degrees for R and t:
5.185329765471243 70.4163671691026

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.19376119 -0.97752348  0.08309297]
 [-0.9760021   0.20065174  0.08460955]
 [-0.09938057 -0.06470487 -0.99294349]]

 t_estimated:
[[0.74452158]
 [0.66448381]
 [0.06441181]]

 R_gt:
[[ 0.99824084  0.03481505 -0.04800545]
 [-0.03558656  0.9992501  -0.01532038]
 [ 0.04743615  0.01700165  0.9987295 ]]

 t_gt:
[-0.30484984  0.71691938 -0.62697143]

Pose Error in degrees for R and t:
175.94792900055322 77.93450544988875

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 6.97461152e-01  7.16622364e-01 -5.72917306e-04]
 [ 7.16590721e-01 -6.97422370e-01  9.98882116e-03]
 [ 6.75864729e-03 -7.37736194e-03 -9.99949946e-01]]

 t_estimated:
[[9.07297251e-01]
 [4.20489239e-01]
 [7.05518858e-04]]

 R_gt:
[[ 0.99869578  0.03029481 -0.04112937]
 [-0.03007662  0.99953135  0.00589921]
 [ 0.04128914 -0.00465411  0.99913615]]

 t_gt:
[-0.31402567  0.87191534 -0.37570137]

Pose Error in degrees for R and t:
178.25919208829728 85.3280071766185

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.99153146e-01 -4.11443449e-02 -3.66067975e-04]
 [ 4.11443114e-02  9.99153209e-01 -9.85636064e-05]
 [ 3.69813327e-04  8.34185226e-05  9.99999928e-01]]

 t_estimated:
[[-0.11216514]
 [-0.99368832]
 [-0.00157979]]

 R_gt:
[[ 0.99994781 -0.00835827 -0.00591169]
 [ 0.00873381  0.99773718  0.0666686 ]
 [ 0.00534149 -0.06671642  0.99775751]]

 t_gt:
[ 0.40610708 -0.28964384  0.86670842]

Pose Error in degrees for R and t:
4.270970908161436 76.06060489551409

Number of keypoints:
Image1: 660
Image2: 660

 R_estimated:
[[ 9.83278347e-01 -1.82108770e-01 -2.96115502e-04]
 [ 1.82108734e-01  9.83278388e-01 -1.45790359e-04]
 [ 3.17713677e-04  8.94272838e-05  9.99999946e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.99944247  0.01298043 -0.03075307]
 [-0.00693598  0.98194039  0.18906619]
 [ 0.03265161 -0.18874697  0.98148249]]

 t_gt:
[-0.05722327 -0.25035638  0.96646116]

Pose Error in degrees for R and t:
15.625940921003595 75.5434554305958

Number of keypoints:
Image1: 612
Image2: 612

 R_estimated:
[[ 0.97550772  0.21989611 -0.0055131 ]
 [-0.21987137  0.97551726  0.00475926]
 [ 0.00642467 -0.00343052  0.99997348]]

 t_estimated:
[[-0.62070249]
 [-0.78404525]
 [-0.00120995]]

 R_gt:
[[ 0.99698693  0.04266931 -0.0647764 ]
 [-0.02699526  0.97376601  0.22594824]
 [ 0.07271769 -0.2235196   0.97198333]]

 t_gt:
[-0.38464288 -0.27144098  0.8822526 ]

Pose Error in degrees for R and t:
17.0169652285822 63.224018363414615

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99999799e-01  6.34556450e-04  1.12729086e-05]
 [-6.34556440e-04  9.99999799e-01 -9.01996723e-07]
 [-1.12734787e-05  8.94843244e-07  1.00000000e+00]]

 t_estimated:
[[ 9.94530884e-01]
 [-1.04441735e-01]
 [-4.95192380e-04]]

 R_gt:
[[ 0.99902108 -0.03936662 -0.02021311]
 [ 0.03885971  0.99893333 -0.02494598]
 [ 0.02117366  0.0241356   0.9994841 ]]

 t_gt:
[ 0.8841987   0.0850163  -0.45930913]

Pose Error in degrees for R and t:
2.9285483340488794 29.458618934316554

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99999809e-01 -6.18834449e-04  6.23181735e-06]
 [ 6.18835161e-04  9.99999802e-01 -1.14967946e-04]
 [-6.16066999e-06  1.14971780e-04  9.99999993e-01]]

 t_estimated:
[[ 0.96289819]
 [-0.26986215]
 [-0.0012213 ]]

 R_gt:
[[ 0.9999382  -0.00949699  0.0057736 ]
 [ 0.00968331  0.99941054 -0.0329385 ]
 [-0.00545805  0.03299292  0.99944094]]

 t_gt:
[ 0.74940364  0.56126893 -0.3512426 ]

Pose Error in degrees for R and t:
1.9775863266839337 55.21049526061244

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[ 9.99994121e-01 -3.42809730e-03 -8.12848125e-05]
 [ 3.42809552e-03  9.99994124e-01 -2.20753445e-05]
 [ 8.13600113e-05  2.17965626e-05  9.99999996e-01]]

 t_estimated:
[[ 7.40405874e-01]
 [-6.72159657e-01]
 [-7.33050630e-04]]

 R_gt:
[[ 0.99561271  0.08894457  0.02904033]
 [-0.08849709  0.99594257 -0.01633111]
 [-0.03037615  0.01368955  0.99944439]]

 t_gt:
[-0.42801871  0.90216293  0.05387045]

Pose Error in degrees for R and t:
5.6232317990214264 22.579957996294556

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 0.0328159   0.99517891  0.09242324]
 [-0.99833537  0.02825011  0.05028348]
 [ 0.04743009 -0.09391949  0.99444935]]

 t_estimated:
[[0.01360416]
 [0.99990601]
 [0.00170052]]

 R_gt:
[[ 0.99782376  0.0493655  -0.0437163 ]
 [-0.04850999  0.99861424  0.02041041]
 [ 0.04466376 -0.01824547  0.99883477]]

 t_gt:
[-0.58909716  0.75899525 -0.27729181]

Pose Error in degrees for R and t:
85.62348466934766 41.371649565132884

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[-0.06891116 -0.99644086  0.04854752]
 [-0.99629605  0.07124688  0.04814637]
 [-0.05143387 -0.04504988 -0.99765979]]

 t_estimated:
[[0.70740758]
 [0.70588887]
 [0.03599187]]

 R_gt:
[[ 0.99869595  0.02278227 -0.04569967]
 [-0.02376827  0.99949479 -0.02114276]
 [ 0.04519478  0.02220189  0.99873148]]

 t_gt:
[-0.18950882  0.65522539 -0.73127703]

Pose Error in degrees for R and t:
178.8354370436619 72.41404003706742

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 6.14896730e-01  7.88607211e-01  8.23453992e-04]
 [-7.88606389e-01  6.14897279e-01 -1.14026547e-03]
 [-1.40556119e-03  5.17644281e-05  9.99999011e-01]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.99879068  0.02339268 -0.04324733]
 [-0.02356692  0.99971622 -0.00351284]
 [ 0.04315367  0.00452814  0.99905747]]

 t_gt:
[-0.21184189  0.82519372 -0.52362041]

Pose Error in degrees for R and t:
50.76988633503548 34.65810211901564

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.99999955e-01  2.99267867e-04  2.23951026e-05]
 [-2.99271569e-04  9.99999942e-01  1.65493373e-04]
 [-2.23455744e-05 -1.65500067e-04  9.99999986e-01]]

 t_estimated:
[[0.94411401]
 [0.32961749]
 [0.00102177]]

 R_gt:
[[ 0.99959482 -0.02723686 -0.00822687]
 [ 0.02697231  0.99916283 -0.03074372]
 [ 0.00905752  0.0305081   0.99949241]]

 t_gt:
[ 0.87396762  0.20684934 -0.43976578]

Pose Error in degrees for R and t:
2.4153220920301437 26.765531735424524

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99999955e-01  2.98963431e-04 -3.17484158e-05]
 [-2.98959907e-04  9.99999949e-01  1.10944076e-04]
 [ 3.17815824e-05 -1.10934580e-04  9.99999993e-01]]

 t_estimated:
[[ 9.95682161e-01]
 [-9.28275095e-02]
 [ 2.94610343e-04]]

 R_gt:
[[ 0.9999232   0.00182047  0.01224177]
 [-0.00137396  0.99933801 -0.03636469]
 [-0.01229962  0.03634449  0.99926266]]

 t_gt:
[ 0.62821396  0.71133865 -0.31518968]

Pose Error in degrees for R and t:
2.2074168001872914 55.987290805443344

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99934786e-01  1.14198192e-02 -1.11170240e-04]
 [-1.14198247e-02  9.99934790e-01 -4.93979579e-05]
 [ 1.10598874e-04  5.06642810e-05  9.99999993e-01]]

 t_estimated:
[[ 0.54456532]
 [-0.83871677]
 [-0.00166876]]

 R_gt:
[[ 0.99426169  0.10264996  0.03010786]
 [-0.1021097   0.99459266 -0.0189376 ]
 [-0.03188801  0.0157545   0.99936679]]

 t_gt:
[-0.48753519  0.87088472  0.06220323]

Pose Error in degrees for R and t:
5.608857558158269 5.110870171569893

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[-0.98459005 -0.17486401 -0.00223825]
 [ 0.17487405 -0.98457486 -0.00560539]
 [-0.00122354 -0.00591043  0.99998178]]

 t_estimated:
[[9.84932091e-01]
 [1.72939581e-01]
 [8.23521815e-04]]

 R_gt:
[[ 0.99997578 -0.00642435 -0.00287408]
 [ 0.00656984  0.99854739  0.05347843]
 [ 0.00252678 -0.05349534  0.99856451]]

 t_gt:
[ 0.54704252 -0.16749601  0.82017654]

Pose Error in degrees for R and t:
169.5571684916453 59.30229482938216

Number of keypoints:
Image1: 459
Image2: 459

 R_estimated:
[[ 9.95457388e-01  9.52081314e-02  2.81477517e-05]
 [-9.52081252e-02  9.95457374e-01 -1.71522062e-04]
 [-4.43501820e-05  1.68063009e-04  9.99999985e-01]]

 t_estimated:
[[-3.05081391e-01]
 [-9.52326193e-01]
 [-4.08953389e-04]]

 R_gt:
[[ 0.99966024  0.00694987 -0.02512913]
 [-0.00204149  0.98172239  0.19030511]
 [ 0.02599182 -0.19018884  0.98140286]]

 t_gt:
[ 0.01482292 -0.24734549  0.96881396]

Pose Error in degrees for R and t:
12.234843645944524 76.66552888471104

Number of keypoints:
Image1: 606
Image2: 606

 R_estimated:
[[ 9.78531750e-01 -2.06095417e-01 -5.42028553e-04]
 [-2.06092970e-01 -9.78498803e-01 -8.11046403e-03]
 [ 1.14115517e-03  8.04805484e-03 -9.99966963e-01]]

 t_estimated:
[[ 0.15101523]
 [ 0.98852449]
 [-0.0037045 ]]

 R_gt:
[[ 0.9971305   0.03392711 -0.0676775 ]
 [-0.01775557  0.97383028  0.22658209]
 [ 0.07359357 -0.22473011  0.97163721]]

 t_gt:
[-0.26367847 -0.27810922  0.92364978]

Pose Error in degrees for R and t:
167.90890491854933 71.4483801796132

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 0.99868674  0.05086305  0.00614369]
 [-0.0507648   0.99859482 -0.01520952]
 [-0.00690866  0.01487766  0.99986545]]

 t_estimated:
[[-0.60464348]
 [-0.7963597 ]
 [-0.0147474 ]]

 R_gt:
[[ 0.99817895  0.05837879 -0.0152075 ]
 [-0.05775525  0.99758218  0.03867314]
 [ 0.01742878 -0.03772455  0.99913617]]

 t_gt:
[-0.27272876  0.89338949  0.35703535]

Pose Error in degrees for R and t:
3.347166797909839 56.50796411381773

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99887517e-01  1.49977675e-02 -1.42385103e-04]
 [-1.49978015e-02  9.99887498e-01 -2.41136271e-04]
 [ 1.38752578e-04  2.43244611e-04  9.99999961e-01]]

 t_estimated:
[[-9.24195796e-01]
 [-3.81917984e-01]
 [-8.85579771e-04]]

 R_gt:
[[ 0.99724681  0.07348362 -0.00994822]
 [-0.07284833  0.99589498  0.05372274]
 [ 0.01385665 -0.05284917  0.9985069 ]]

 t_gt:
[-0.13085313  0.93968866  0.31601057]

Pose Error in degrees for R and t:
4.586094012013175 76.2179065946782

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.35751947e-01 -3.52655230e-01 -1.60697286e-03]
 [ 3.52657531e-01  9.35751279e-01  1.48676362e-03]
 [ 9.79411945e-04 -1.95795303e-03  9.99997604e-01]]

 t_estimated:
[[-4.74635170e-01]
 [-8.80182248e-01]
 [-8.16144104e-04]]

 R_gt:
[[ 0.99801239  0.05859694 -0.02319483]
 [-0.05317363  0.98051148  0.18913051]
 [ 0.03382614 -0.1875208   0.9816784 ]]

 t_gt:
[0.00397902 0.21471351 0.97666897]

Pose Error in degrees for R and t:
26.208539205952466 78.94958271043014

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.98010134e-01 -6.30534012e-02 -2.00794993e-04]
 [ 6.30534288e-02  9.98010144e-01  1.34189580e-04]
 [ 1.91934331e-04 -1.46583374e-04  9.99999971e-01]]

 t_estimated:
[[9.78842280e-01]
 [2.04615231e-01]
 [6.31583069e-04]]

 R_gt:
[[ 0.99639382  0.08339281 -0.0156268 ]
 [-0.08302029  0.99627966  0.02313156]
 [ 0.01749786 -0.0217505   0.99961037]]

 t_gt:
[-0.82873122  0.53444084  0.16606489]

Pose Error in degrees for R and t:
8.537360126753988 45.43342609254374

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999822e-01 -4.84411277e-04 -3.47237027e-04]
 [ 4.84469760e-04  9.99999868e-01  1.68358760e-04]
 [ 3.47155426e-04 -1.68526956e-04  9.99999926e-01]]

 t_estimated:
[[-0.97514531]
 [-0.22154536]
 [-0.00304722]]

 R_gt:
[[ 9.78368037e-01  2.06671270e-01  9.13829581e-03]
 [-2.06686232e-01  9.78407512e-01  7.08649860e-04]
 [-8.79343727e-03 -2.58238024e-03  9.99958279e-01]]

 t_gt:
[-0.82506768  0.56461259  0.02181628]

Pose Error in degrees for R and t:
11.967945198654153 47.20267142148803

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 8.88228968e-01  4.59400960e-01  2.42342511e-04]
 [-4.59400840e-01  8.88228960e-01 -4.26382911e-04]
 [-4.11136355e-04  2.67393300e-04  9.99999880e-01]]

 t_estimated:
[[-5.50764266e-01]
 [ 8.34660713e-01]
 [ 4.66181135e-04]]

 R_gt:
[[ 0.94974913  0.31270932  0.01375579]
 [-0.31294984  0.9495147   0.02198104]
 [-0.00618672 -0.02518073  0.999664  ]]

 t_gt:
[-0.80087773  0.59546038  0.06341759]

Pose Error in degrees for R and t:
9.237435944404316 20.259855279209706

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.96762937  0.25237304  0.00112193]
 [-0.25237013  0.96762818 -0.00223878]
 [-0.00165061  0.00188317  0.99999686]]

 t_estimated:
[[-9.99671129e-01]
 [-2.56325931e-02]
 [-7.76745244e-04]]

 R_gt:
[[ 0.99860996 -0.0025687   0.05265218]
 [ 0.00294343  0.99997171 -0.00703124]
 [-0.05263256  0.00717704  0.99858793]]

 t_gt:
[-0.50281738 -0.20953881  0.83861086]

Pose Error in degrees for R and t:
15.066007203261968 59.51108530786718

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-2.57624523e-01 -9.66245103e-01  7.55429692e-05]
 [-9.66243499e-01  2.57623951e-01 -1.84411885e-03]
 [ 1.76240913e-03 -5.48083142e-04 -9.99998297e-01]]

 t_estimated:
[[8.63339738e-01]
 [5.04622480e-01]
 [8.06106198e-04]]

 R_gt:
[[ 0.98419865 -0.08170452  0.15709074]
 [ 0.08224778  0.9966075   0.00305257]
 [-0.15680761  0.00991561  0.98757905]]

 t_gt:
[ 0.16952547 -0.62674549  0.76055979]

Pose Error in degrees for R and t:
173.0209915893526 80.25295383829265

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-9.97491948e-01 -7.07545662e-02 -1.89894074e-03]
 [ 7.07552047e-02 -9.97493673e-01 -2.71093717e-04]
 [-1.87500025e-03 -4.04773740e-04  9.99998160e-01]]

 t_estimated:
[[0.88319411]
 [0.46900653]
 [0.00101517]]

 R_gt:
[[ 0.95918726 -0.1777358   0.21993126]
 [ 0.17882183  0.98376601  0.01512819]
 [-0.21905009  0.02481738  0.97539781]]

 t_gt:
[ 0.41056827 -0.69324363  0.59232336]

Pose Error in degrees for R and t:
165.6360398598504 87.81782147570482

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.99999998e-01 -3.07160029e-05  5.47884677e-05]
 [ 3.07146676e-05  9.99999999e-01  2.43731062e-05]
 [-5.47892163e-05 -2.43714233e-05  9.99999998e-01]]

 t_estimated:
[[9.99997368e-01]
 [2.12614705e-03]
 [8.62644235e-04]]

 R_gt:
[[ 0.99946816 -0.03130971  0.00922282]
 [ 0.03134801  0.99950073 -0.00411148]
 [-0.00909037  0.00439848  0.9999486 ]]

 t_gt:
[ 0.91837161 -0.39031053  0.06520186]

Pose Error in degrees for R and t:
1.8828368333858039 23.422935060724946

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.70832538e-01 -2.39758446e-01 -2.66569952e-04]
 [ 2.39758524e-01  9.70832504e-01  3.14926690e-04]
 [ 1.83288440e-04 -3.69653496e-04  9.99999915e-01]]

 t_estimated:
[[ 7.10549894e-01]
 [-7.03646746e-01]
 [-3.23158371e-04]]

 R_gt:
[[ 0.99995537  0.00712673 -0.00638366]
 [-0.00738789  0.99910302 -0.04170474]
 [ 0.00608025  0.04175055  0.99910915]]

 t_gt:
[-0.08277894  0.70109137 -0.70825033]

Pose Error in degrees for R and t:
14.493256656428942 56.501829905414944

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.47192395e-01 -3.20665625e-01 -3.50175625e-04]
 [ 3.20665685e-01  9.47192431e-01  1.29695584e-04]
 [ 2.90094786e-04 -2.35135977e-04  9.99999930e-01]]

 t_estimated:
[[0.80586054]
 [0.59210443]
 [0.00106878]]

 R_gt:
[[ 0.99333808  0.10285179 -0.05196763]
 [-0.1081877   0.98766532 -0.11320089]
 [ 0.039683    0.11806902  0.9922113 ]]

 t_gt:
[-0.37943037  0.73275607 -0.56489038]

Pose Error in degrees for R and t:
25.78161488774498 82.67505666721719

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.51437889e-01 -3.07840424e-01 -4.64717340e-04]
 [ 3.07840527e-01  9.51437955e-01  1.66982173e-04]
 [ 3.90745853e-04 -3.01931997e-04  9.99999878e-01]]

 t_estimated:
[[ 1.65783547e-01]
 [-9.86161722e-01]
 [-9.34906378e-04]]

 R_gt:
[[ 0.99154247  0.12889628  0.01517468]
 [-0.12852168  0.99142857 -0.023497  ]
 [-0.01807236  0.02134804  0.99960863]]

 t_gt:
[-0.84522234  0.5257339  -0.09593255]

Pose Error in degrees for R and t:
25.377040663474897 48.8149647738961

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-5.46250453e-01  8.37621892e-01 -9.56748029e-05]
 [-8.37619906e-01 -5.46249400e-01 -2.11789531e-03]
 [-1.82625778e-03 -1.07676215e-03  9.99997753e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 9.69088604e-01  2.45040028e-01  2.86825789e-02]
 [-2.44951191e-01  9.69513173e-01 -6.63442717e-03]
 [-2.94340344e-02 -5.95942162e-04  9.99566176e-01]]

 t_gt:
[-0.83389165  0.55154464  0.02057244]

Pose Error in degrees for R and t:
108.93239486104433 56.88275220916362

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-8.41095699e-01  5.40870247e-01 -4.17138680e-03]
 [ 5.40861419e-01  8.41105966e-01  3.11127538e-03]
 [ 5.19137461e-03  3.60738158e-04 -9.99986460e-01]]

 t_estimated:
[[ 0.96865253]
 [-0.24841452]
 [-0.00158528]]

 R_gt:
[[ 0.89972267  0.43181486  0.06351875]
 [-0.42769924  0.90128857 -0.06894203]
 [-0.08701818  0.03486108  0.99559636]]

 t_gt:
[-0.778895    0.62670508 -0.02373413]

Pose Error in degrees for R and t:
175.18621200585346 24.47755825809204

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-0.6781512  -0.73427512 -0.03083827]
 [-0.73433872  0.67868783 -0.01137862]
 [ 0.0292846   0.01492931 -0.99945962]]

 t_estimated:
[[ 0.92067905]
 [ 0.39001111]
 [-0.01553751]]

 R_gt:
[[ 9.97223225e-01  7.44725051e-02  2.14535459e-04]
 [-7.44634823e-02  9.97139688e-01 -1.29549120e-02]
 [-1.17829081e-03  1.29043896e-02  9.99916288e-01]]

 t_gt:
[-0.78491883  0.61538637 -0.07212524]

Pose Error in degrees for R and t:
177.85641415375355 61.21461326487278

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[-0.46551637 -0.88495031 -0.0125484 ]
 [-0.88497071  0.46561    -0.00584616]
 [ 0.01101622  0.00838348 -0.99990418]]

 t_estimated:
[[ 0.85520617]
 [ 0.51825823]
 [-0.00555071]]

 R_gt:
[[ 0.99593713  0.08978922  0.0068525 ]
 [-0.08953826  0.99550364 -0.03091306]
 [-0.00959745  0.03017391  0.99949833]]

 t_gt:
[-0.82539353  0.55904611 -0.0786954 ]

Pose Error in degrees for R and t:
178.70534347576776 65.43567506353837

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.94072746 -0.33906112  0.00833073]
 [-0.33900592  0.94075538  0.00736933]
 [-0.01033583  0.00410837 -0.99993814]]

 t_estimated:
[[0.99466265]
 [0.10310735]
 [0.00388382]]

 R_gt:
[[ 0.99869761  0.04884137 -0.01476365]
 [-0.04948261  0.99768234 -0.04671598]
 [ 0.01244793  0.04738701  0.99879988]]

 t_gt:
[-0.86390179  0.44168529 -0.24204918]

Pose Error in degrees for R and t:
179.30269830126807 35.44328672258547

Number of keypoints:
Image1: 317
Image2: 317

 R_estimated:
[[-0.1557512  -0.98727714 -0.03202205]
 [-0.98730873  0.15661094 -0.02635308]
 [ 0.0310328   0.02751113 -0.99913968]]

 t_estimated:
[[ 0.76829952]
 [ 0.63978974]
 [-0.01961995]]

 R_gt:
[[ 0.99894837  0.03522691  0.02934987]
 [-0.03505755  0.99936668 -0.00627541]
 [-0.02955284  0.00524073  0.99954999]]

 t_gt:
[-0.60517628  0.75046192  0.26564746]

Pose Error in degrees for R and t:
178.69243164768517 89.42879714321478

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.99999927e-01  3.66554877e-04 -1.10077190e-04]
 [-3.66571219e-04  9.99999922e-01 -1.48482319e-04]
 [ 1.10022754e-04  1.48522660e-04  9.99999983e-01]]

 t_estimated:
[[-0.60285174]
 [-0.7978525 ]
 [-0.00108001]]

 R_gt:
[[ 0.99081847  0.1311264   0.03295356]
 [-0.13099361  0.99136493 -0.00614349]
 [-0.03347573  0.00177063  0.99943788]]

 t_gt:
[-0.7241367   0.68265365  0.09803075]

Pose Error in degrees for R and t:
7.754402575927135 83.78752940548927

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 9.99998991e-01  1.41647761e-03 -1.03048225e-04]
 [-1.41652641e-03  9.99998884e-01 -4.75030696e-04]
 [ 1.02375240e-04  4.75176187e-04  9.99999882e-01]]

 t_estimated:
[[-0.38478256]
 [-0.92300488]
 [-0.00209257]]

 R_gt:
[[ 0.98721666  0.15067434  0.05197523]
 [-0.14950024  0.9884255  -0.02579485]
 [-0.05525972  0.01769498  0.99831486]]

 t_gt:
[-0.76141328  0.6412561   0.09508118]

Pose Error in degrees for R and t:
9.178990987279327 72.59626945545624

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99984577e-01  5.55315672e-03 -8.58139220e-05]
 [-5.55314566e-03  9.99984573e-01  1.28661515e-04]
 [ 8.65270757e-05 -1.28182993e-04  9.99999988e-01]]

 t_estimated:
[[-0.60873152]
 [ 0.79337487]
 [ 0.00149967]]

 R_gt:
[[ 0.99001819  0.1409009  -0.00333092]
 [-0.14091599  0.99001062 -0.00465647]
 [ 0.00264142  0.00507857  0.9999841 ]]

 t_gt:
[-0.86043938  0.5073595  -0.04722728]

Pose Error in degrees for R and t:
7.789247245818109 22.145127217062104

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-0.99483055 -0.10068775 -0.01319692]
 [-0.10071816  0.99491362  0.00165859]
 [ 0.0129628   0.00297919 -0.99991154]]

 t_estimated:
[[ 0.99950653]
 [ 0.03073346]
 [-0.00649272]]

 R_gt:
[[ 9.72325260e-01  2.33040424e-01  1.65742313e-02]
 [-2.33082026e-01  9.72457655e-01  5.55517945e-04]
 [-1.59880543e-02 -4.40401156e-03  9.99862069e-01]]

 t_gt:
[-0.83001048  0.556974    0.02936943]

Pose Error in degrees for R and t:
179.80179815948568 35.64199789042744

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.05582928 -0.99842865  0.0048287 ]
 [ 0.99842491  0.05585465  0.00528774]
 [-0.00554914  0.00452588  0.99997436]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.92155332  0.38654949  0.03630902]
 [-0.38637496  0.92226405 -0.0119762 ]
 [-0.03811533 -0.00299244  0.99926853]]

 t_gt:
[-0.79378382  0.6077651   0.0229962 ]

Pose Error in degrees for R and t:
109.54800935778944 38.42626759531539

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999984e-01  1.78392698e-04  1.65172754e-05]
 [-1.78394676e-04  9.99999977e-01  1.19837817e-04]
 [-1.64958968e-05 -1.19840762e-04  9.99999993e-01]]

 t_estimated:
[[-0.99990407]
 [-0.01372972]
 [-0.00182926]]

 R_gt:
[[ 0.99667055  0.07228868 -0.03771916]
 [-0.07293445  0.99720789 -0.01605463]
 [ 0.03645278  0.01875206  0.99915884]]

 t_gt:
[-0.46533449  0.81041048 -0.35594758]

Pose Error in degrees for R and t:
4.775277179009222 62.94701607789715

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999503e-01 -8.29153473e-04  5.53894953e-04]
 [ 8.29110853e-04  9.99999653e-01  7.71702341e-05]
 [-5.53958747e-04 -7.67109554e-05  9.99999844e-01]]

 t_estimated:
[[0.60803681]
 [0.79390822]
 [0.00098868]]

 R_gt:
[[ 0.98704036  0.16036371  0.00593025]
 [-0.15980572  0.98563122 -0.0547123 ]
 [-0.01461821  0.05305502  0.99848412]]

 t_gt:
[-0.49922082  0.86033011 -0.10300815]

Pose Error in degrees for R and t:
9.78710743619746 67.70492233083947

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999533e-01  9.66111409e-04 -1.44968806e-05]
 [-9.66117888e-04  9.99999430e-01 -4.53831463e-04]
 [ 1.40584206e-05  4.53845257e-04  9.99999897e-01]]

 t_estimated:
[[-0.40247378]
 [-0.91543057]
 [-0.00131527]]

 R_gt:
[[ 0.95864481  0.28454649 -0.00591389]
 [-0.28460505  0.95834091 -0.02414139]
 [-0.00120099  0.02482555  0.9996912 ]]

 t_gt:
[-0.47038147  0.88127501 -0.04577811]

Pose Error in degrees for R and t:
16.539442200412864 51.875693642240975

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99982091e-01  5.98465980e-03  3.80935855e-05]
 [-5.98466176e-03  9.99982090e-01  5.15084337e-05]
 [-3.77846428e-05 -5.17354885e-05  9.99999998e-01]]

 t_estimated:
[[ 7.17788407e-01]
 [-6.96261271e-01]
 [-2.13003142e-04]]

 R_gt:
[[ 0.9955467  -0.06851015 -0.06475871]
 [ 0.07052874  0.99707616  0.02942481]
 [ 0.06255249 -0.03386111  0.99746659]]

 t_gt:
[ 0.40069189 -0.86754213 -0.29464667]

Pose Error in degrees for R and t:
5.951484685475385 26.91098891179972

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-0.44456969  0.89560975  0.01552299]
 [ 0.89561325  0.4447343  -0.00939685]
 [-0.01531952  0.00972505 -0.99983535]]

 t_estimated:
[[ 0.85811105]
 [-0.51337453]
 [ 0.00959283]]

 R_gt:
[[ 0.99088029 -0.12402083 -0.05268143]
 [ 0.12515815  0.99195799  0.01885397]
 [ 0.04991876 -0.02527551  0.99843368]]

 t_gt:
[ 0.454109   -0.87804944 -0.15104367]

Pose Error in degrees for R and t:
177.86630709684218 32.96582943427064

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.88774117e-01  1.49416642e-01  6.42210155e-04]
 [-1.49416362e-01  9.88774259e-01 -4.64049101e-04]
 [-7.04337529e-04  3.62883035e-04  9.99999686e-01]]

 t_estimated:
[[-0.11094347]
 [-0.99382452]
 [-0.00209024]]

 R_gt:
[[ 0.98352713 -0.17102314 -0.05852619]
 [ 0.17226896  0.98490494  0.01691034]
 [ 0.05475024 -0.02671362  0.99814248]]

 t_gt:
[ 0.46643509 -0.87389543 -0.13691269]

Pose Error in degrees for R and t:
18.818546390333903 35.21072745617296

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-0.72873392  0.68300162  0.04955452]
 [ 0.68298925  0.73015927 -0.01982731]
 [-0.04972478  0.01939638 -0.9985746 ]]

 t_estimated:
[[ 0.92896099]
 [-0.36915891]
 [ 0.02744414]]

 R_gt:
[[ 9.97000776e-01 -7.31228774e-02  2.53220526e-02]
 [ 7.31286876e-02  9.97322336e-01  7.27534369e-04]
 [-2.53070931e-02  1.12628227e-03  9.99679415e-01]]

 t_gt:
[ 0.80285821 -0.54075417  0.25100524]

Pose Error in degrees for R and t:
175.58859030733686 17.761085859093082

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.65829607 -0.68432482 -0.31360138]
 [-0.75275728  0.59752716  0.27625672]
 [-0.00166399  0.41792443 -0.90848027]]

 t_estimated:
[[0.6594906 ]
 [0.75171205]
 [0.00107234]]

 R_gt:
[[ 9.84965982e-01 -1.70765816e-01  2.60980838e-02]
 [ 1.70818578e-01  9.85302891e-01  1.91168898e-04]
 [-2.57465640e-02  4.26971030e-03  9.99659551e-01]]

 t_gt:
[ 0.85610571 -0.50770576  0.09652912]

Pose Error in degrees for R and t:
173.1816178341759 79.45261496720224

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.97770193 -0.20996541 -0.00366851]
 [ 0.20998293  0.97769057  0.00532139]
 [ 0.00246936 -0.00597306  0.99997911]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97352152 -0.22598223  0.03443442]
 [ 0.22566783  0.97412015  0.01282067]
 [-0.03644127 -0.00471038  0.99932516]]

 t_gt:
[ 0.87037419 -0.47571078  0.12707484]

Pose Error in degrees for R and t:
2.416722412638352 29.65814841544106

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-9.35074151e-01 -3.54450793e-01  9.83546784e-04]
 [ 3.54435920e-01 -9.35054276e-01 -6.97705761e-03]
 [ 3.39269323e-03 -6.17546191e-03  9.99975176e-01]]

 t_estimated:
[[8.16239244e-01]
 [5.77713567e-01]
 [7.29436321e-04]]

 R_gt:
[[ 0.99982699 -0.01792667 -0.00484871]
 [ 0.0183652   0.99316559  0.11525838]
 [ 0.00274916 -0.11532746  0.99332295]]

 t_gt:
[ 0.20267277 -0.61675295  0.76061787]

Pose Error in degrees for R and t:
158.24093449689715 79.02840886652272

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 7.99475666e-01  6.00687662e-01  3.60442033e-03]
 [ 6.00683114e-01 -7.99483741e-01  2.35451830e-03]
 [ 4.29600555e-03  2.82734344e-04 -9.99990732e-01]]

 t_estimated:
[[0.38045522]
 [0.92479883]
 [0.00097553]]

 R_gt:
[[ 0.9868795  -0.15431132 -0.04750598]
 [ 0.15995828  0.9744429   0.15771835]
 [ 0.02195333 -0.16324809  0.98634068]]

 t_gt:
[ 0.61773508 -0.61353906  0.49190771]

Pose Error in degrees for R and t:
170.53231212295697 70.61587356619994

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 6.50432997e-01 -7.59559990e-01  2.35316038e-03]
 [-7.59562573e-01 -6.50434148e-01  3.42548264e-04]
 [ 1.27038991e-03 -2.01017725e-03 -9.99997173e-01]]

 t_estimated:
[[0.64568797]
 [0.76359621]
 [0.00280734]]

 R_gt:
[[ 0.91802709 -0.38670173 -0.08768679]
 [ 0.39549528  0.90886298  0.13248477]
 [ 0.02846241 -0.15630502  0.98729803]]

 t_gt:
[ 0.83533854 -0.48655535  0.25587774]

Pose Error in degrees for R and t:
173.67513821491804 80.29621151581053

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99393769e-01  3.48151285e-02  2.29248805e-05]
 [-3.48151313e-02  9.99393760e-01  1.37652021e-04]
 [-1.81186097e-05 -1.38366704e-04  9.99999990e-01]]

 t_estimated:
[[0.7425939 ]
 [0.66974042]
 [0.00143808]]

 R_gt:
[[ 9.95847755e-01 -8.95048955e-02  1.66563944e-02]
 [ 8.95169154e-02  9.95984639e-01 -2.65909720e-05]
 [-1.65867348e-02  1.51648790e-03  9.99860914e-01]]

 t_gt:
[ 0.85656723 -0.4966392   0.14015025]

Pose Error in degrees for R and t:
7.1944714127772915 72.32220734215764

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99427298e-01 -3.38387753e-02 -1.15890843e-04]
 [ 3.38387751e-02  9.99427305e-01 -3.07906381e-06]
 [ 1.15928664e-04 -8.44303740e-07  9.99999993e-01]]

 t_estimated:
[[ 0.75563121]
 [-0.65499516]
 [-0.00167636]]

 R_gt:
[[ 0.98925136 -0.14233205  0.03354784]
 [ 0.14187928  0.98976351  0.01549164]
 [-0.03540953 -0.01056615  0.99931706]]

 t_gt:
[ 0.85667507 -0.4468908   0.25767506]

Pose Error in degrees for R and t:
6.5844420286025835 20.013873114272464

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.98698827 -0.16078259 -0.00176627]
 [-0.16078784  0.98698314  0.00339806]
 [ 0.00119693  0.00363784 -0.99999267]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99347867 -0.11147913 -0.02394388]
 [ 0.11099592  0.99360666 -0.02061498]
 [ 0.02608885  0.01782217  0.99950018]]

 t_gt:
[ 0.96268741 -0.17029119 -0.21031847]

Pose Error in degrees for R and t:
178.40614735766343 22.663879270575638

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.97905133 -0.20357537  0.00394491]
 [ 0.20358895  0.9790505  -0.0034137 ]
 [-0.00316732  0.00414533  0.99998639]]

 t_estimated:
[[0.97632021]
 [0.21632193]
 [0.00191435]]

 R_gt:
[[ 0.99993212 -0.00886777  0.00755906]
 [ 0.00873395  0.9998073   0.01757094]
 [-0.00771313 -0.01750308  0.999817  ]]

 t_gt:
[ 0.46757222 -0.62433418  0.62576597]

Pose Error in degrees for R and t:
11.310829575533266 71.17728509742182

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.25514514  0.96689296  0.00435356]
 [ 0.96689881  0.25515439 -0.0017106 ]
 [-0.00276479  0.003773   -0.99998906]]

 t_estimated:
[[0.99362448]
 [0.11272887]
 [0.00161041]]

 R_gt:
[[ 9.92351802e-01 -1.23443888e-01 -3.82030047e-04]
 [ 1.23362639e-01  9.91578835e-01  3.94187998e-02]
 [-4.48722838e-03 -3.91648218e-02  9.99222616e-01]]

 t_gt:
[ 0.72898946 -0.65815722  0.18815801]

Pose Error in degrees for R and t:
178.97830366036143 49.42435090676524

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.83067844 -0.55452316  0.0497734 ]
 [-0.54944136  0.83092816  0.08759328]
 [-0.08993062  0.04541429 -0.99491207]]

 t_estimated:
[[0.98343293]
 [0.17880599]
 [0.029801  ]]

 R_gt:
[[ 0.97932156 -0.20017259 -0.02933474]
 [ 0.2015765   0.97780077  0.05721384]
 [ 0.01723107 -0.06194423  0.99793102]]

 t_gt:
[ 0.76531927 -0.63216006  0.12107877]

Pose Error in degrees for R and t:
175.72601675544516 49.96806822509433

Number of keypoints:
Image1: 337
Image2: 337

 R_estimated:
[[ 9.99225509e-01 -3.93491376e-02 -1.66827256e-04]
 [ 3.93491672e-02  9.99225506e-01  1.77905399e-04]
 [ 1.59697625e-04 -1.84332126e-04  9.99999970e-01]]

 t_estimated:
[[-0.98478923]
 [ 0.17374675]
 [-0.0014947 ]]

 R_gt:
[[ 0.99947716  0.004308   -0.03202401]
 [-0.00689699  0.99667529 -0.08118931]
 [ 0.0315671   0.08136891  0.99618373]]

 t_gt:
[ 0.20944404  0.71805616 -0.66372325]

Pose Error in degrees for R and t:
5.636464547263323 85.38233479326993

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.53574405e-01 -3.01157403e-01 -2.68861266e-04]
 [ 3.01157487e-01  9.53574349e-01  3.59546371e-04]
 [ 1.48099155e-04 -4.23823800e-04  9.99999899e-01]]

 t_estimated:
[[0.84204001]
 [0.53941383]
 [0.00115506]]

 R_gt:
[[ 0.99950444  0.03085291  0.00623619]
 [-0.02965361  0.98940091 -0.14215181]
 [-0.01055629  0.14189681  0.98982483]]

 t_gt:
[-0.00897452  0.8102662  -0.58599329]

Pose Error in degrees for R and t:
20.928209897144 64.6063488406733

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 0.97880061 -0.20477392 -0.00412333]
 [ 0.20479744  0.9787831   0.00645336]
 [ 0.00271437 -0.007161    0.99997068]]

 t_estimated:
[[-0.83531049]
 [-0.54977707]
 [-0.00125234]]

 R_gt:
[[ 0.99714003  0.073854   -0.01602954]
 [-0.0752724   0.98946438 -0.12366851]
 [ 0.00672647  0.12452202  0.99219334]]

 t_gt:
[ 0.01484044  0.87687097 -0.48049669]

Pose Error in degrees for R and t:
17.7781186401139 60.40419671047137

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999998e-01 -5.75240643e-05  1.80850087e-06]
 [ 5.75241347e-05  9.99999998e-01 -3.88997512e-05]
 [-1.80626319e-06  3.88998551e-05  9.99999999e-01]]

 t_estimated:
[[ 0.9999372 ]
 [-0.01114367]
 [ 0.00119273]]

 R_gt:
[[ 0.99376571  0.10234066  0.04422052]
 [-0.10239115  0.99474291 -0.00113194]
 [-0.04410359 -0.00340254  0.99902146]]

 t_gt:
[-0.37620145  0.89822176  0.22731066]

Pose Error in degrees for R and t:
6.404487481764398 67.2993694976678

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.98720488  0.15941369  0.00371398]
 [-0.15937558  0.98717745 -0.00895   ]
 [-0.00509311  0.00824357  0.99995305]]

 t_estimated:
[[0.84927613]
 [0.5279441 ]
 [0.00225383]]

 R_gt:
[[ 0.97909543  0.18744503  0.0789718 ]
 [-0.18296445  0.98124641 -0.06064703]
 [-0.08885776  0.04493062  0.99503085]]

 t_gt:
[-0.30694811  0.94462865  0.11601538]

Pose Error in degrees for R and t:
5.462729661208582 76.2144284665992

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.56673163e-01  2.91163961e-01 -8.32767920e-05]
 [-2.91163944e-01  9.56673156e-01  1.73317760e-04]
 [ 1.30132557e-04 -1.41561250e-04  9.99999982e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.95531752  0.29108176  0.05137925]
 [-0.28852447  0.95607031 -0.05179619]
 [-0.06419901  0.03465719  0.99733515]]

 t_gt:
[-0.24495735  0.96927801  0.02227187]

Pose Error in degrees for R and t:
4.194701872177763 75.99932427846048

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.96317917e-01  8.57354580e-02  1.98520272e-04]
 [-8.57354177e-02  9.96317920e-01 -2.03443433e-04]
 [-2.15231620e-04  1.85674119e-04  9.99999960e-01]]

 t_estimated:
[[0.98786344]
 [0.15531887]
 [0.00136944]]

 R_gt:
[[ 0.99788579  0.00846265  0.06443451]
 [-0.00786368  0.9999234  -0.00955379]
 [-0.06451161  0.00902705  0.99787509]]

 t_gt:
[0.29786226 0.49702341 0.81501276]

Pose Error in degrees for R and t:
5.800918254777005 68.12638600246599

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.02888959 -0.99951954 -0.01122837]
 [ 0.99956778 -0.02882615 -0.00577135]
 [ 0.00544491 -0.01139025  0.9999203 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98905956  0.09968527  0.10873712]
 [-0.09485888  0.99429846 -0.04871018]
 [-0.11297388  0.03786264  0.99287578]]

 t_gt:
[-0.19148046  0.93164737  0.30881775]

Pose Error in degrees for R and t:
97.49502313613027 79.14341782761932

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-2.87983987e-01 -9.57635211e-01 -1.62056294e-04]
 [ 9.57634576e-01 -2.87983985e-01  1.11507922e-03]
 [-1.11450874e-03  1.65934251e-04  9.99999365e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97137806  0.21014964  0.11072785]
 [-0.20399469  0.97685199 -0.0643876 ]
 [-0.12169617  0.03995674  0.99176238]]

 t_gt:
[-0.21867391  0.95903699  0.18008267]

Pose Error in degrees for R and t:
118.87641190964047 77.5516490601997

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 8.92269876e-01 -4.51501704e-01  8.24337279e-04]
 [ 4.51500408e-01  8.92269840e-01  1.38346100e-03]
 [-1.36016629e-03 -8.62231954e-04  9.99998703e-01]]

 t_estimated:
[[ 0.96490854]
 [-0.26257172]
 [ 0.0027583 ]]

 R_gt:
[[ 0.99703562 -0.07574388  0.01356155]
 [ 0.07561108  0.99708679  0.01004685]
 [-0.01428207 -0.0089918   0.99985733]]

 t_gt:
[ 0.8547682  -0.46069291  0.23902587]

Pose Error in degrees for R and t:
22.516353290755447 18.84473286807221

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-9.99408662e-01 -3.43815612e-02  4.83867078e-04]
 [-3.43806962e-02  9.99407372e-01  1.69496969e-03]
 [-5.41856029e-04  1.67733170e-03 -9.99998446e-01]]

 t_estimated:
[[0.99963151]
 [0.02711701]
 [0.00123259]]

 R_gt:
[[ 0.99824874 -0.0589057  -0.00554003]
 [ 0.05896568  0.99819549  0.01134806]
 [ 0.00486229 -0.01165471  0.99992025]]

 t_gt:
[ 0.9821138  -0.12852321  0.13760181]

Pose Error in degrees for R and t:
179.74927835696008 11.920167350043105

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-7.37656190e-01 -6.75171844e-01 -2.51541648e-03]
 [ 6.75169365e-01 -7.37660406e-01  1.85871070e-03]
 [-3.11047227e-03 -3.27242700e-04  9.99995109e-01]]

 t_estimated:
[[0.99540776]
 [0.09571228]
 [0.0015952 ]]

 R_gt:
[[ 0.99605734  0.00186884 -0.08869346]
 [-0.00925941  0.99650687 -0.08299111]
 [ 0.08822919  0.08348513  0.992596  ]]

 t_gt:
[ 0.25441107  0.588841   -0.76716444]

Pose Error in degrees for R and t:
137.9442484327643 72.03847414946664

Number of keypoints:
Image1: 324
Image2: 324

 R_estimated:
[[ 9.99395875e-01 -3.47544419e-02  1.13658945e-04]
 [ 3.47544221e-02  9.99395868e-01  1.72301636e-04]
 [-1.19578527e-04 -1.68247393e-04  9.99999979e-01]]

 t_estimated:
[[0.56019604]
 [0.82835894]
 [0.00136657]]

 R_gt:
[[ 0.99806091 -0.04558703  0.04238696]
 [ 0.04866406  0.99602138 -0.07464126]
 [-0.03881553  0.07655794  0.9963094 ]]

 t_gt:
[ 0.73528305  0.51553218 -0.43998341]

Pose Error in degrees for R and t:
4.98124262351177 33.034015976218214

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[-0.76599819 -0.64282587 -0.00465651]
 [ 0.64278447 -0.76600619  0.00791496]
 [-0.00865486  0.00306971  0.99995783]]

 t_estimated:
[[0.99905496]
 [0.04324913]
 [0.00432491]]

 R_gt:
[[ 0.99809161 -0.06116632  0.00856708]
 [ 0.06175173  0.98559943 -0.15741746]
 [ 0.00118512  0.15764484  0.98749443]]

 t_gt:
[ 0.53519843  0.60200842 -0.59257784]

Pose Error in degrees for R and t:
136.62958327119816 56.07093105251831

Number of keypoints:
Image1: 356
Image2: 356

 R_estimated:
[[ 9.74245332e-01 -2.25490645e-01 -4.41488540e-05]
 [ 2.25490649e-01  9.74245297e-01  2.61825192e-04]
 [-1.60273181e-05 -2.65037125e-04  9.99999965e-01]]

 t_estimated:
[[-7.00524640e-02]
 [ 9.97543300e-01]
 [ 1.28866821e-04]]

 R_gt:
[[ 0.99823018 -0.03681987  0.04671574]
 [ 0.04653086  0.9726209  -0.22768864]
 [-0.03705301  0.2294588   0.97261217]]

 t_gt:
[ 0.29454961  0.73706677 -0.60825414]

Pose Error in degrees for R and t:
17.12030725513028 44.39418293914537

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.398262   -0.91719113 -0.01215749]
 [-0.91719588 -0.39802368 -0.01813473]
 [ 0.01179404  0.01837318 -0.99976164]]

 t_estimated:
[[ 0.61898827]
 [ 0.78534225]
 [-0.00954328]]

 R_gt:
[[ 0.99784816 -0.00815077 -0.06505867]
 [ 0.01132672  0.99875371  0.04859912]
 [ 0.0645806  -0.04923102  0.99669688]]

 t_gt:
[-0.15147562 -0.8431759  -0.51585806]

Pose Error in degrees for R and t:
179.0553602685038 41.32116205072182

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.72754777e-01  2.31835724e-01 -5.83694699e-04]
 [-2.31835676e-01  9.72754952e-01  1.49902345e-04]
 [ 6.02544627e-04 -1.04969673e-05  9.99999818e-01]]

 t_estimated:
[[0.75605421]
 [0.65450807]
 [0.00110029]]

 R_gt:
[[ 0.99329436 -0.07584828 -0.08725107]
 [ 0.07946278  0.99608595  0.0387108 ]
 [ 0.08397362 -0.04538436  0.99543428]]

 t_gt:
[ 0.25215504 -0.90620045 -0.33943864]

Pose Error in degrees for R and t:
18.673705486216598 66.24377632639145

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 0.54253235  0.83998864  0.00881648]
 [ 0.84000036 -0.54238498 -0.01476252]
 [-0.00761842  0.01541499 -0.99985216]]

 t_estimated:
[[-0.41461943]
 [ 0.90994875]
 [-0.00916471]]

 R_gt:
[[ 0.98987944 -0.11781409 -0.07910951]
 [ 0.12044473  0.9922866   0.02933326]
 [ 0.07504373 -0.03856526  0.99643428]]

 t_gt:
[ 0.32021455 -0.91405565 -0.24892753]

Pose Error in degrees for R and t:
177.15346442492927 15.797552952087386

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99965198e-01 -8.33919833e-03  2.46190226e-04]
 [ 8.33917527e-03  9.99965224e-01  9.45368798e-05]
 [-2.46970027e-04 -9.24805663e-05  9.99999965e-01]]

 t_estimated:
[[ 0.99922638]
 [-0.03931024]
 [ 0.00115665]]

 R_gt:
[[ 9.91003959e-01 -1.33833171e-01  7.38539189e-04]
 [ 1.33795763e-01  9.90826315e-01  1.90183896e-02]
 [-3.27663735e-03 -1.87481706e-02  9.99819639e-01]]

 t_gt:
[ 0.82196374 -0.55644442  0.12142988]

Pose Error in degrees for R and t:
7.293599177517166 32.50524364984061

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.5237359  -0.85187455 -0.003234  ]
 [ 0.85187315  0.52374346 -0.00221795]
 [ 0.0035832  -0.00159333  0.99999231]]

 t_estimated:
[[ 0.72381985]
 [-0.68998319]
 [-0.00283257]]

 R_gt:
[[ 0.99273971 -0.11883034  0.01864909]
 [ 0.11828064  0.9925783   0.02825043]
 [-0.02186649 -0.02583937  0.99942704]]

 t_gt:
[ 0.82920352 -0.48325127  0.28087314]

Pose Error in degrees for R and t:
51.64596748064058 21.11907529159657

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.88153087e-01 -1.53470994e-01 -3.60462876e-04]
 [ 1.53471122e-01  9.88153068e-01  3.58156926e-04]
 [ 3.01225798e-04 -4.09234514e-04  9.99999871e-01]]

 t_estimated:
[[ 0.61517631]
 [-0.78838878]
 [-0.00111691]]

 R_gt:
[[ 0.99971286 -0.011691    0.02091687]
 [ 0.01171784  0.99993067 -0.00117631]
 [-0.02090102  0.00142091  0.9997813 ]]

 t_gt:
[0.07977504 0.91953875 0.3848174 ]

Pose Error in degrees for R and t:
8.247995358736098 47.44418413689432

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[-0.31720064  0.94835511 -0.00251651]
 [-0.94835582 -0.3172049  -0.00151338]
 [-0.00223347  0.0019065   0.99999569]]

 t_estimated:
[[0.57400972]
 [0.81884798]
 [0.00090681]]

 R_gt:
[[ 0.99059697  0.1365401   0.00864127]
 [-0.13668731  0.99042055  0.01960061]
 [-0.00588215 -0.02059686  0.99977101]]

 t_gt:
[-0.95356328  0.21562369  0.21029383]

Pose Error in degrees for R and t:
100.64884183031064 68.24732107594579

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.96396947e-01 -8.48119132e-02 -2.50677767e-04]
 [ 8.48121369e-02  9.96396369e-01  1.08474233e-03]
 [ 1.57775345e-04 -1.10209446e-03  9.99999380e-01]]

 t_estimated:
[[0.8384342 ]
 [0.54500032]
 [0.00165626]]

 R_gt:
[[ 0.98164875  0.18609592  0.04164017]
 [-0.18776473  0.98137721  0.04054322]
 [-0.03331972 -0.0476167   0.99831024]]

 t_gt:
[-0.9267103   0.14313549  0.34744819]

Pose Error in degrees for R and t:
15.988394574111203 45.70112250622453

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 0.99617829  0.01803347 -0.08546113]
 [-0.00842921  0.99373578  0.11143671]
 [ 0.08693538 -0.11029046  0.99009002]]

 t_estimated:
[[-0.41404389]
 [-0.91025629]
 [-0.00106712]]

 R_gt:
[[ 0.98927129  0.1270782   0.07205905]
 [-0.13018372  0.99067715  0.04014571]
 [-0.06628579 -0.04909523  0.9965923 ]]

 t_gt:
[-0.85502542 -0.16783474  0.4906761 ]

Pose Error in degrees for R and t:
11.757919017367788 59.58450060481053

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.95511524e-01  9.46403946e-02  2.97107444e-05]
 [-9.46403892e-02  9.95511514e-01 -1.47193080e-04]
 [-4.35077993e-05  1.43720571e-04  9.99999989e-01]]

 t_estimated:
[[-2.85457684e-01]
 [-9.58391136e-01]
 [-5.83633682e-04]]

 R_gt:
[[ 0.99533255 -0.04767147  0.08390465]
 [ 0.03858758  0.99353815  0.10674692]
 [-0.08845025 -0.10300997  0.99073974]]

 t_gt:
[ 0.13923649 -0.37315748  0.91726043]

Pose Error in degrees for R and t:
11.113335187997865 71.49729961337387

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 4.02335975e-01  9.15492070e-01  1.81542496e-04]
 [-9.15491432e-01  4.02335917e-01 -1.11721687e-03]
 [-1.09584425e-03  2.83295940e-04  9.99999359e-01]]

 t_estimated:
[[0.91682411]
 [0.39928912]
 [0.00131914]]

 R_gt:
[[ 0.99220926 -0.01858403  0.12319149]
 [-0.00312278  0.98479151  0.17371612]
 [-0.12454614 -0.17274654  0.97705995]]

 t_gt:
[-0.04807903 -0.13580569  0.9895682 ]

Pose Error in degrees for R and t:
67.7208474586459 84.43353552023528

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 2.39804622e-01  9.70820357e-01  1.25575175e-03]
 [ 9.70807434e-01 -2.39807909e-01  5.00924505e-03]
 [ 5.16421627e-03  1.78530201e-05 -9.99986665e-01]]

 t_estimated:
[[-9.99904215e-01]
 [-1.38053836e-02]
 [-9.86098831e-04]]

 R_gt:
[[ 0.97803747  0.13547248  0.15839937]
 [-0.16277239  0.97111169  0.17449234]
 [-0.13018398 -0.19644286  0.97183425]]

 t_gt:
[-0.44479881  0.44531915  0.77707456]

Pose Error in degrees for R and t:
176.49909748769764 64.03371850426356

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.76095954e-01 -2.17339220e-01  5.92552722e-04]
 [ 2.17339492e-01  9.76095974e-01 -4.41066157e-04]
 [-4.82527352e-04  5.59307999e-04  9.99999727e-01]]

 t_estimated:
[[8.40863415e-01]
 [5.41246856e-01]
 [7.47494410e-04]]

 R_gt:
[[ 9.98231001e-01  3.98203661e-02 -4.41393619e-02]
 [-3.97976808e-02  9.99206907e-01  1.39702595e-03]
 [ 4.41603517e-02  3.62364428e-04  9.99024525e-01]]

 t_gt:
[-0.66656404  0.51701606 -0.53701654]

Pose Error in degrees for R and t:
15.053957176055842 73.67667533146789

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.95900150e-01 -9.04448216e-02  1.62006635e-03]
 [ 9.04455599e-02  9.95901325e-01 -3.88237771e-04]
 [-1.57831213e-03  5.33173863e-04  9.99998612e-01]]

 t_estimated:
[[0.61704393]
 [0.78692628]
 [0.00195267]]

 R_gt:
[[ 9.95670443e-01  3.90802923e-02 -8.43344910e-02]
 [-3.89093021e-02  9.99236749e-01  3.66916728e-03]
 [ 8.44141149e-02 -3.71078188e-04  9.96431006e-01]]

 t_gt:
[-0.54848866  0.40528241 -0.73137293]

Pose Error in degrees for R and t:
8.915878410710237 88.8000038735778

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.69152585 -0.39634644  0.60390522]
 [-0.4282007  -0.44837903 -0.78460207]
 [ 0.58175267 -0.80116524  0.14034987]]

 t_estimated:
[[7.91905200e-01]
 [6.10643597e-01]
 [7.42875496e-04]]

 R_gt:
[[ 0.99425421  0.04637085 -0.09648   ]
 [-0.04853677  0.99861706 -0.0202296 ]
 [ 0.09540813  0.02479601  0.99512916]]

 t_gt:
[-0.5051472  0.4011703 -0.7641261]

Pose Error in degrees for R and t:
179.87161778800177 81.0469964981224

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.98864153  0.15028402 -0.00162218]
 [-0.15028064 -0.98864128 -0.00203711]
 [-0.0019099  -0.00177019  0.99999661]]

 t_estimated:
[[0.81703358]
 [0.57658885]
 [0.00119624]]

 R_gt:
[[ 0.95969041 -0.27454344  0.06017701]
 [ 0.27816731  0.95843075 -0.06351717]
 [-0.04023774  0.07769594  0.99616409]]

 t_gt:
[ 0.86185463 -0.47486866 -0.17806279]

Pose Error in degrees for R and t:
172.5827907832913 64.52309875811348

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.17084863  0.98528581  0.00475546]
 [ 0.98528715 -0.17082298 -0.00536145]
 [-0.00447022  0.00560149 -0.99997432]]

 t_estimated:
[[0.82630034]
 [0.56322856]
 [0.00115891]]

 R_gt:
[[ 0.88412839 -0.44535139  0.14134628]
 [ 0.46207079  0.87826587 -0.12304593]
 [-0.06934098  0.17409975  0.98228286]]

 t_gt:
[ 0.90416974 -0.32553729 -0.27659095]

Pose Error in degrees for R and t:
168.8342909219849 55.705737838755155

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999920e-01  3.44284082e-04 -2.02516622e-04]
 [-3.44229071e-04  9.99999904e-01  2.71606886e-04]
 [ 2.02610113e-04 -2.71537152e-04  9.99999943e-01]]

 t_estimated:
[[9.99999098e-01]
 [1.20698767e-03]
 [5.89966428e-04]]

 R_gt:
[[ 0.788145   -0.57900327  0.20876616]
 [ 0.60891358  0.78295244 -0.12731728]
 [-0.08973701  0.22746393  0.96964264]]

 t_gt:
[ 0.93847555 -0.23158633 -0.2561863 ]

Pose Error in degrees for R and t:
39.638291790650065 20.2743699371289

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.80087875 -0.59882253 -0.00219092]
 [ 0.59882555 -0.80086543 -0.0047469 ]
 [ 0.00108792 -0.00511367  0.99998633]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99672699 -0.07619528 -0.02701705]
 [ 0.07646997  0.99702907  0.00924751]
 [ 0.0262326  -0.0112821   0.99959257]]

 t_gt:
[ 0.75494918 -0.64580205 -0.11398005]

Pose Error in degrees for R and t:
138.8354022420077 41.16174881371773

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.12938458e-01 -4.08096680e-01 -6.87285425e-04]
 [ 4.08094149e-01  9.12936781e-01 -2.36633984e-03]
 [ 1.59314358e-03  1.87984549e-03  9.99996964e-01]]

 t_estimated:
[[-0.04968917]
 [-0.99875237]
 [-0.00496892]]

 R_gt:
[[ 9.98735715e-01 -4.89326075e-02 -1.15268763e-02]
 [ 4.89387776e-02  9.98801480e-01  2.76422009e-04]
 [ 1.14988968e-02 -8.39406600e-04  9.99933667e-01]]

 t_gt:
[ 0.64465743 -0.75561491 -0.11602977]

Pose Error in degrees for R and t:
21.288964060930226 43.6793392983573

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.9874712  -0.15739849 -0.01124033]
 [ 0.15720719 -0.98743185  0.01625529]
 [-0.01365762  0.01428457  0.99980469]]

 t_estimated:
[[0.90123528]
 [0.43332532]
 [0.00203439]]

 R_gt:
[[ 0.99930966  0.02961989 -0.02245596]
 [-0.02933041  0.99948342  0.01309417]
 [ 0.02283195 -0.01242549  0.99966228]]

 t_gt:
[-0.48419783 -0.79431791 -0.36689443]

Pose Error in degrees for R and t:
172.64440687384712 38.61834914618902

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999513e-01  9.87106491e-04  4.03363292e-06]
 [-9.87108008e-04  9.99999435e-01  3.95208453e-04]
 [-3.64351781e-06 -3.95212242e-04  9.99999922e-01]]

 t_estimated:
[[0.94315408]
 [0.33235202]
 [0.00158444]]

 R_gt:
[[ 0.98505001 -0.17021221 -0.02655946]
 [ 0.1712055   0.98437589  0.04113935]
 [ 0.01914155 -0.04507166  0.99879992]]

 t_gt:
[ 0.82927632 -0.54166551  0.13747456]

Pose Error in degrees for R and t:
10.275696135301635 52.963078568144454

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 3.00337885e-01 -9.53832854e-01  2.05893203e-04]
 [-9.53832476e-01 -3.00337949e-01 -8.50542286e-04]
 [ 8.73112718e-04  5.90624476e-05 -9.99999617e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.90801934 -0.41810922 -0.02620961]
 [ 0.41853565  0.90810007  0.01348273]
 [ 0.01816281 -0.0232134   0.99956536]]

 t_gt:
[ 0.90717374 -0.42056968  0.01252838]

Pose Error in degrees for R and t:
179.92403865104342 65.5555460221022

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.99989042 -0.002617   -0.0145704 ]
 [ 0.00284275  0.9998759   0.01549495]
 [ 0.01452804 -0.01553467  0.99977378]]

 t_estimated:
[[0.98775958]
 [0.15598048]
 [0.00105184]]

 R_gt:
[[ 7.92380376e-01 -6.07374802e-01  5.68277483e-02]
 [ 6.10027209e-01  7.88950233e-01 -7.36455384e-02]
 [-1.04574500e-04  9.30217388e-02  9.95663365e-01]]

 t_gt:
[ 0.95266872 -0.27014147 -0.13944857]

Pose Error in degrees for R and t:
37.97810462312007 26.009130858585493

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 1.00000000e+00  1.86171549e-08  2.34528744e-05]
 [-1.87420526e-08  1.00000000e+00  5.32547543e-06]
 [-2.34528743e-05 -5.32547587e-06  1.00000000e+00]]

 t_estimated:
[[0.81023505]
 [0.58610419]
 [0.00101695]]

 R_gt:
[[ 9.99948758e-01 -1.01574771e-02  9.53050737e-04]
 [ 1.01625286e-02  9.99931855e-01 -5.56959774e-03]
 [-8.95752367e-04  5.57873934e-03  9.99983460e-01]]

 t_gt:
[ 0.4919662  -0.84932958 -0.19133355]

Pose Error in degrees for R and t:
0.6680444514738115 84.29641857001057

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.9753093  -0.22044277 -0.01329487]
 [ 0.22030429 -0.96696073 -0.1282691 ]
 [ 0.01542038 -0.12803097  0.99165028]]

 t_estimated:
[[0.8537033 ]
 [0.52075901]
 [0.0008537 ]]

 R_gt:
[[ 0.99776982  0.05476361  0.03818716]
 [-0.05427242  0.99843135 -0.01377465]
 [-0.03888181  0.01167182  0.99917563]]

 t_gt:
[-0.8871425   0.2924278   0.35702125]

Pose Error in degrees for R and t:
170.50651961484743 52.78790318523144

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.06957082 -0.99757364 -0.00259503]
 [ 0.99753157 -0.06959224  0.0093638 ]
 [-0.00952168 -0.00193718  0.99995279]]

 t_estimated:
[[0.89009003]
 [0.45578048]
 [0.00197299]]

 R_gt:
[[ 0.99320336  0.11594719 -0.0102689 ]
 [-0.11611242  0.99308344 -0.01738255]
 [ 0.00818198  0.01845706  0.99979599]]

 t_gt:
[-0.79967283  0.55156523 -0.23727443]

Pose Error in degrees for R and t:
100.66700725315728 62.5576238727028

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.99918073e-01  1.28002884e-02  1.06673946e-05]
 [-1.28002886e-02  9.99918073e-01  1.93604629e-05]
 [-1.04187012e-05 -1.94954225e-05  1.00000000e+00]]

 t_estimated:
[[5.35833162e-01]
 [8.44323465e-01]
 [8.41468863e-04]]

 R_gt:
[[ 0.99953259 -0.00632297 -0.02992013]
 [ 0.00557523  0.99967239 -0.02499001]
 [ 0.03006868  0.02481056  0.99923973]]

 t_gt:
[-0.15653233  0.2321347  -0.96000579]

Pose Error in degrees for R and t:
2.4798294054876946 83.60894720199427

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.97064629e-01  7.65643438e-02  1.64375313e-04]
 [-7.65643474e-02  9.97064642e-01  1.55812009e-05]
 [-1.62699848e-04 -2.81207529e-05  9.99999986e-01]]

 t_estimated:
[[0.04092941]
 [0.99915914]
 [0.00240761]]

 R_gt:
[[ 0.999913    0.0070865  -0.01115872]
 [-0.00748277  0.99932822 -0.03587219]
 [ 0.01089705  0.03595232  0.99929405]]

 t_gt:
[-0.60966945  0.33064111 -0.7204024 ]

Pose Error in degrees for R and t:
4.520985838863243 72.32152016735668

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-9.99991795e-01 -3.98659808e-03 -7.19324571e-04]
 [ 3.98766761e-03 -9.99990937e-01 -1.49159703e-03]
 [-7.13371654e-04 -1.49445322e-03  9.99998629e-01]]

 t_estimated:
[[8.46448710e-01]
 [5.32469648e-01]
 [8.09224389e-04]]

 R_gt:
[[ 0.99420806 -0.04311643  0.09844802]
 [ 0.04763212  0.99789478 -0.0440006 ]
 [-0.0963423   0.04843545  0.99416937]]

 t_gt:
[-0.35354949 -0.67007889  0.65268449]

Pose Error in degrees for R and t:
177.17220417380216 49.04014946822479

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-4.37700518e-01 -8.99118204e-01 -2.17093680e-03]
 [-8.99120717e-01  4.37698007e-01  1.54639019e-03]
 [-4.40172855e-04  2.62879004e-03 -9.99996448e-01]]

 t_estimated:
[[8.92050510e-01]
 [4.51935177e-01]
 [6.95284887e-04]]

 R_gt:
[[ 9.97600705e-01 -4.93948024e-04  6.92341192e-02]
 [-5.57925959e-03  9.96149978e-01  8.74873158e-02]
 [-6.90107953e-02 -8.76643886e-02  9.93756619e-01]]

 t_gt:
[-0.12739247 -0.12892202  0.98343799]

Pose Error in degrees for R and t:
174.0278343019733 80.14117361697407

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.77463373e-01  2.11104698e-01 -4.01910093e-04]
 [-2.11104543e-01  9.77463408e-01  3.96191548e-04]
 [ 4.76490306e-04 -3.02417680e-04  9.99999841e-01]]

 t_estimated:
[[-9.44695656e-01]
 [-3.27947515e-01]
 [-7.38620528e-04]]

 R_gt:
[[ 0.99235083  0.09386635  0.08019505]
 [-0.10452826  0.98445103  0.14117357]
 [-0.06569696 -0.14847672  0.98673067]]

 t_gt:
[-0.48499903  0.40889782  0.77303202]

Pose Error in degrees for R and t:
11.347859601831932 71.1247639030069

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 5.04600071e-01 -8.63350703e-01  2.08113197e-03]
 [-8.63333703e-01 -5.04603408e-01 -5.50625859e-03]
 [ 5.80397851e-03  9.81747109e-04 -9.99982675e-01]]

 t_estimated:
[[ 0.50029722]
 [ 0.86584947]
 [-0.00271888]]

 R_gt:
[[ 0.97031622  0.2169061   0.10695341]
 [-0.23065434  0.9629642   0.13963822]
 [-0.07270377 -0.16016335  0.98440967]]

 t_gt:
[-0.5662305   0.67096354  0.47873892]

Pose Error in degrees for R and t:
170.0546511499836 72.76039903258985

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.92023279e-01  1.26054790e-01  5.92794393e-05]
 [-1.26054787e-01  9.92023280e-01 -4.95581749e-05]
 [-6.50536291e-05  4.16904061e-05  9.99999997e-01]]

 t_estimated:
[[-0.53883129]
 [-0.84241277]
 [-0.00124848]]

 R_gt:
[[ 0.99848914  0.0039778  -0.05481509]
 [-0.00239279  0.99957772  0.02897373]
 [ 0.05490683 -0.02879886  0.99807593]]

 t_gt:
[-0.44861864 -0.51251855 -0.73216532]

Pose Error in degrees for R and t:
7.90428622605399 47.592734695117585

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99873448e-01 -1.58987357e-02  5.63427617e-04]
 [ 1.58989644e-02  9.99873522e-01 -4.03799304e-04]
 [-5.56936458e-04  4.12706118e-04  9.99999760e-01]]

 t_estimated:
[[-0.05451058]
 [-0.99851266]
 [-0.00103304]]

 R_gt:
[[ 0.99065669 -0.05066384 -0.12662209]
 [ 0.05910301  0.99621046  0.06380804]
 [ 0.1229095  -0.07069517  0.98989679]]

 t_gt:
[ 0.13303045 -0.84571456 -0.51678795]

Pose Error in degrees for R and t:
8.493981030583546 33.09787299540704

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.69886045e-01  2.43554456e-01  1.51220386e-03]
 [-2.43552902e-01  9.69886943e-01 -1.14117867e-03]
 [-1.74460593e-03  7.38511627e-04  9.99998205e-01]]

 t_estimated:
[[8.08069777e-01]
 [5.89086366e-01]
 [6.99627513e-04]]

 R_gt:
[[ 0.98741259 -0.11038523 -0.11328137]
 [ 0.11632693  0.992086    0.04724833]
 [ 0.10716856 -0.0598318   0.99243879]]

 t_gt:
[ 0.27744872 -0.90603002 -0.31958069]

Pose Error in degrees for R and t:
21.824567459607046 71.95549793974304

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.69530181e-01  2.44971859e-01  1.24701958e-04]
 [-2.44971826e-01  9.69530169e-01 -2.35062664e-04]
 [-1.78486048e-04  1.97351881e-04  9.99999965e-01]]

 t_estimated:
[[-7.30937670e-01]
 [ 6.82444191e-01]
 [-2.20470866e-04]]

 R_gt:
[[ 0.99772494  0.0650168   0.01789158]
 [-0.06478522  0.99781142 -0.01320955]
 [-0.01871033  0.01202038  0.99975309]]

 t_gt:
[-0.65559225  0.75468783  0.02539837]

Pose Error in degrees for R and t:
10.53376908964534 6.161238686334635

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99999722e-01  7.08283491e-04 -2.33231652e-04]
 [-7.08179707e-04  9.99999650e-01  4.44762079e-04]
 [ 2.33546588e-04 -4.44596785e-04  9.99999874e-01]]

 t_estimated:
[[-0.99893767]
 [-0.0460638 ]
 [-0.00128787]]

 R_gt:
[[ 9.89539972e-01  1.43689462e-01 -1.28461996e-02]
 [-1.43706526e-01  9.89619994e-01 -4.80973322e-04]
 [ 1.26440175e-02  2.32281077e-03  9.99917895e-01]]

 t_gt:
[-0.629976    0.77399374 -0.06374899]

Pose Error in degrees for R and t:
8.253476219831601 53.57743968245896

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.99631337 -0.08577745 -0.00137907]
 [ 0.08578018 -0.99631197 -0.00205491]
 [-0.00119771 -0.00216564  0.99999694]]

 t_estimated:
[[0.9304982 ]
 [0.36629483]
 [0.00109342]]

 R_gt:
[[ 0.98863818  0.14841945 -0.02381673]
 [-0.14854527  0.98889928 -0.00359735]
 [ 0.02301803  0.0070945   0.99971038]]

 t_gt:
[-0.59248385  0.79845646 -0.10691195]

Pose Error in degrees for R and t:
176.38217110666562 74.99213785776972

Number of keypoints:
Image1: 407
Image2: 407

 R_estimated:
[[-3.00425117e-01 -9.53800469e-01  3.06811524e-03]
 [-9.53805121e-01  3.00420995e-01 -1.73716733e-03]
 [ 7.35184785e-04 -3.44827273e-03 -9.99993784e-01]]

 t_estimated:
[[0.79155937]
 [0.61109128]
 [0.00110142]]

 R_gt:
[[ 9.91887967e-01  1.27117271e-01  2.83847584e-04]
 [-1.27117261e-01  9.91885943e-01 -1.86693954e-03]
 [-5.17775642e-04  1.81668214e-03  9.99997541e-01]]

 t_gt:
[-0.96308291  0.26919566  0.00223553]

Pose Error in degrees for R and t:
179.91842351629495 53.28523685573459

Number of keypoints:
Image1: 341
Image2: 341

 R_estimated:
[[-0.41846401  0.90818456 -0.00941741]
 [ 0.90816873  0.41853544  0.00759254]
 [ 0.01083695 -0.0053754  -0.99992683]]

 t_estimated:
[[ 0.78174349]
 [-0.62356636]
 [-0.00648987]]

 R_gt:
[[ 0.9776951   0.20987922  0.00798884]
 [-0.21002663  0.97723081  0.03015869]
 [-0.00147701 -0.03116358  0.99951273]]

 t_gt:
[-0.95396218  0.23374183  0.18793862]

Pose Error in degrees for R and t:
178.5841308020564 26.78205938302915

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.93095756e-01 -1.17306515e-01 -3.61581861e-05]
 [ 1.17306519e-01  9.93095740e-01  1.80397538e-04]
 [ 1.47467342e-05 -1.83393620e-04  9.99999983e-01]]

 t_estimated:
[[-9.40321726e-01]
 [-3.40285693e-01]
 [-8.35848030e-04]]

 R_gt:
[[ 0.9719796   0.22823283  0.05625483]
 [-0.23040118  0.9724456   0.03557506]
 [-0.04658504 -0.04753776  0.99778311]]

 t_gt:
[-0.94404074  0.14426638  0.2966046 ]

Pose Error in degrees for R and t:
20.36453408375157 33.03241376639041

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[-0.69972652  0.71417143  0.01849208]
 [ 0.71434976  0.69977066  0.00504324]
 [-0.00933847  0.0167387  -0.99981629]]

 t_estimated:
[[9.21313533e-01]
 [3.88819454e-01]
 [8.97966406e-04]]

 R_gt:
[[ 0.9990061   0.03970484 -0.02026204]
 [-0.03935896  0.99907592  0.01726669]
 [ 0.02092819 -0.01645106  0.99964646]]

 t_gt:
[ 0.10488019  0.98119    -0.16206889]

Pose Error in degrees for R and t:
179.39438546853188 61.44593792375648

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.91113737e-01 -1.33016860e-01  2.73875304e-04]
 [ 1.33016919e-01  9.91113745e-01 -2.11358076e-04]
 [-2.43327390e-04  2.45909942e-04  9.99999940e-01]]

 t_estimated:
[[9.12957682e-01]
 [4.08053629e-01]
 [7.12135477e-04]]

 R_gt:
[[ 0.99049482  0.13754627 -0.0011777 ]
 [-0.13744673  0.99003493  0.03066469]
 [ 0.00538261 -0.03020992  0.99952925]]

 t_gt:
[-0.2566435   0.95615589  0.14106749]

Pose Error in degrees for R and t:
15.648923157368237 81.02759905143937

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 4.86374725e-02  9.98816447e-01  3.18923341e-04]
 [-9.98815419e-01  4.86378868e-02 -1.45432169e-03]
 [-1.46811218e-03 -2.47811020e-04  9.99998892e-01]]

 t_estimated:
[[0.6530978 ]
 [0.75727291]
 [0.00100168]]

 R_gt:
[[ 0.98261409  0.1840759   0.02418954]
 [-0.18504994  0.9815883   0.04733843]
 [-0.0150306  -0.05099077  0.99858705]]

 t_gt:
[-0.22903384  0.93475438  0.27162058]

Pose Error in degrees for R and t:
76.62100503172651 56.04409183334216

Number of keypoints:
Image1: 756
Image2: 756

 R_estimated:
[[ 9.99963317e-01 -8.56531136e-03  2.14489261e-05]
 [ 8.56531126e-03  9.99963317e-01  4.55562381e-06]
 [-2.14871597e-05 -4.37173997e-06  1.00000000e+00]]

 t_estimated:
[[ 6.93038873e-01]
 [-7.20900168e-01]
 [ 2.62720828e-04]]

 R_gt:
[[ 0.99895526 -0.03717888 -0.02655976]
 [ 0.03751225  0.99922185  0.01218366]
 [ 0.0260863  -0.01316674  0.99957235]]

 t_gt:
[ 0.80591335 -0.5603926  -0.19095497]

Pose Error in degrees for R and t:
2.3521617220495856 15.747678511111745

Number of keypoints:
Image1: 631
Image2: 631

 R_estimated:
[[ 9.99585981e-01  2.87726802e-02  1.62050394e-05]
 [-2.87726787e-02  9.99585977e-01 -8.26768100e-05]
 [-1.85771636e-05  8.21763178e-05  9.99999996e-01]]

 t_estimated:
[[ 9.38469399e-02]
 [-9.95586568e-01]
 [-3.70763422e-04]]

 R_gt:
[[ 0.9976198  -0.02648411 -0.06367615]
 [ 0.02958373  0.99839767  0.04823413]
 [ 0.06229626 -0.05000299  0.99680334]]

 t_gt:
[ 0.75700642 -0.64476444 -0.10592497]

Pose Error in degrees for R and t:
5.624573908481491 44.52040211159501

Number of keypoints:
Image1: 568
Image2: 568

 R_estimated:
[[ 9.93011561e-01  1.18014503e-01  7.85035709e-04]
 [-1.18008384e-01  9.92997045e-01 -5.55791038e-03]
 [-1.43545217e-03  5.42642847e-03  9.99984247e-01]]

 t_estimated:
[[-0.99687855]
 [-0.07893456]
 [-0.0015761 ]]

 R_gt:
[[ 0.99842967  0.04169577 -0.03739968]
 [-0.03933433  0.99731297  0.06180466]
 [ 0.03987654 -0.06023584  0.99738704]]

 t_gt:
[-0.80188226 -0.48438799  0.3497901 ]

Pose Error in degrees for R and t:
6.290602799372813 33.16874522916989

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.38886581  0.92129116  0.00244623]
 [ 0.92128915 -0.38887119  0.00234598]
 [ 0.0031126   0.00134141 -0.99999426]]

 t_estimated:
[[-9.73227540e-01]
 [-2.29842513e-01]
 [-7.58556149e-04]]

 R_gt:
[[ 0.98635168  0.13137719  0.09924561]
 [-0.12812711  0.99101134 -0.03847637]
 [-0.10340918  0.02523478  0.99431873]]

 t_gt:
[-0.44032154  0.77734235  0.44928368]

Pose Error in degrees for R and t:
175.2987883769168 75.55053966564662

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-8.65776968e-02 -9.96244928e-01 -5.87710759e-04]
 [-9.96244749e-01  8.65781474e-02 -7.90094889e-04]
 [ 8.38010935e-04  5.17099162e-04 -9.99999515e-01]]

 t_estimated:
[[6.71538692e-01]
 [7.40969166e-01]
 [6.93182399e-04]]

 R_gt:
[[ 0.94901338  0.30551431  0.07767727]
 [-0.30241287  0.95190342 -0.0492625 ]
 [-0.08899266  0.02325969  0.99576011]]

 t_gt:
[-0.36069605  0.91463814  0.18257994]

Pose Error in degrees for R and t:
177.9088719885293 64.1750017535682

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.00668088  0.99997623 -0.00170543]
 [-0.99997532 -0.00668456 -0.00216016]
 [-0.00217151  0.00169096  0.99999621]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.8890529   0.44878496  0.09042017]
 [-0.44256612  0.89306544 -0.08105793]
 [-0.1171296   0.03204798  0.992599  ]]

 t_gt:
[-0.27456267  0.94887634  0.15572103]

Pose Error in degrees for R and t:
64.14008247688233 18.682738853769205

Number of keypoints:
Image1: 342
Image2: 342

 R_estimated:
[[ 9.90464942e-01 -1.37764812e-01 -2.34878255e-04]
 [ 1.37764846e-01  9.90464956e-01  1.33045471e-04]
 [ 2.14309697e-04 -1.64134841e-04  9.99999964e-01]]

 t_estimated:
[[-0.26588841]
 [-0.96400299]
 [-0.00126013]]

 R_gt:
[[ 0.99860285  0.05281696 -0.00178724]
 [-0.05277682  0.99845336  0.01751738]
 [ 0.00271053 -0.01739755  0.99984422]]

 t_gt:
[-0.75211808  0.6427705   0.14548016]

Pose Error in degrees for R and t:
10.990526727835059 65.17573234736409

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[-0.10845468  0.99410026 -0.00149859]
 [-0.99409787 -0.10845819 -0.0024997 ]
 [-0.00264749  0.00121864  0.99999575]]

 t_estimated:
[[0.70519472]
 [0.70901201]
 [0.00154268]]

 R_gt:
[[ 9.97490370e-01  5.80067953e-02  4.05953467e-02]
 [-5.79221199e-02  9.98316587e-01 -3.26636584e-03]
 [-4.07161252e-02  9.07385811e-04  9.99169616e-01]]

 t_gt:
[-0.75857368  0.45136964  0.46992703]

Pose Error in degrees for R and t:
92.92311436945639 77.63194750570906

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.1216662   0.99254327 -0.00742952]
 [-0.99256841  0.12164511 -0.0032281 ]
 [-0.00230026  0.00776705  0.99996719]]

 t_estimated:
[[0.88017709]
 [0.47464365]
 [0.00130397]]

 R_gt:
[[ 0.99943241  0.02643924  0.02088491]
 [-0.02657688  0.99962769  0.00633994]
 [-0.02070989 -0.00689105  0.99976107]]

 t_gt:
[-0.91381286 -0.08623919  0.39687386]

Pose Error in degrees for R and t:
81.50734694919906 32.35671174791983

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99998812e-01  1.50114498e-03  3.49447668e-04]
 [-1.50096184e-03  9.99998736e-01 -5.23739775e-04]
 [-3.50233436e-04  5.23214645e-04  9.99999802e-01]]

 t_estimated:
[[ 4.38501326e-01]
 [-8.98730232e-01]
 [-7.45917301e-04]]

 R_gt:
[[ 0.94739729 -0.31979609 -0.01301219]
 [ 0.31979496  0.94748397 -0.00221012]
 [ 0.01303521 -0.00206673  0.99991208]]

 t_gt:
[ 0.86862781 -0.49511428 -0.01864332]

Pose Error in degrees for R and t:
18.75343434552571 34.32193206137684

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999995e-01  7.51329583e-05 -7.00155667e-05]
 [-7.51256428e-05  9.99999992e-01  1.04481308e-04]
 [ 7.00234161e-05 -1.04476048e-04  9.99999992e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.88719544 -0.46075251 -0.02430449]
 [ 0.46073491  0.88751232 -0.00664549]
 [ 0.02463231 -0.00530221  0.99968186]]

 t_gt:
[ 0.89968536 -0.43593302 -0.02299241]

Pose Error in degrees for R and t:
27.481257689177593 26.06303475564684

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 6.96733170e-02  9.97550386e-01  6.23347258e-03]
 [-9.97569793e-01  6.96696323e-02  8.06585116e-04]
 [ 3.70325552e-04 -6.27452141e-03  9.99980246e-01]]

 t_estimated:
[[9.37332124e-01]
 [3.48436369e-01]
 [7.65794219e-04]]

 R_gt:
[[ 0.88438569 -0.46626981 -0.02131342]
 [ 0.46551784  0.88444324 -0.0324442 ]
 [ 0.03397891  0.01877103  0.99924567]]

 t_gt:
[ 0.89764192 -0.4349724  -0.07097889]

Pose Error in degrees for R and t:
113.80704286308423 46.38777467949892

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 1.99293051e-01  9.79939937e-01 -2.26028963e-05]
 [ 9.79930084e-01 -1.99290944e-01  4.48895069e-03]
 [ 4.39439750e-03 -9.16765936e-04 -9.99989924e-01]]

 t_estimated:
[[-0.33281812]
 [-0.94298467]
 [-0.00346686]]

 R_gt:
[[ 9.89338268e-01  1.44523815e-01  1.79814667e-02]
 [-1.44563648e-01  9.89495990e-01  9.33331108e-04]
 [-1.76572123e-02 -3.52307153e-03  9.99837860e-01]]

 t_gt:
[-0.75723696  0.64805201  0.08136822]

Pose Error in degrees for R and t:
179.66260153275655 68.93891790442817

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 8.09088672e-01  5.87686026e-01  8.09718754e-04]
 [-5.87686374e-01  8.09088779e-01  2.70266442e-04]
 [-4.96302547e-04 -6.94530195e-04  9.99999636e-01]]

 t_estimated:
[[0.24530946]
 [0.96944411]
 [0.00117937]]

 R_gt:
[[ 0.92854085  0.36796918  0.04909182]
 [-0.3657517   0.9294387  -0.04868088]
 [-0.06354072  0.02724663  0.99760734]]

 t_gt:
[-0.67069249  0.74098255  0.03341323]

Pose Error in degrees for R and t:
14.970919785173173 56.36822617792433

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.45644945e-01 -3.25199711e-01 -8.86691018e-04]
 [ 3.25200072e-01  9.45645190e-01  2.95583125e-04]
 [ 7.42371549e-04 -5.67868671e-04  9.99999563e-01]]

 t_estimated:
[[-0.34865352]
 [-0.93725117]
 [-0.00097936]]

 R_gt:
[[ 0.83118885  0.55309646  0.05665208]
 [-0.54982541  0.83282637 -0.06397464]
 [-0.08256528  0.02202644  0.99634201]]

 t_gt:
[-0.59786064  0.800194    0.04745747]

Pose Error in degrees for R and t:
52.731701792382964 57.208532278300396

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.97890830e-01  6.49143195e-02 -1.50687320e-04]
 [-6.49143101e-02  9.97890840e-01  6.62224617e-05]
 [ 1.54668282e-04 -5.63010238e-05  9.99999986e-01]]

 t_estimated:
[[-9.96071177e-01]
 [-8.85548039e-02]
 [-5.06207699e-04]]

 R_gt:
[[ 0.96382991  0.26101856  0.05386651]
 [-0.2591718   0.96504646 -0.03893862]
 [-0.0621481   0.0235689   0.99778899]]

 t_gt:
[-0.71537079  0.69631295  0.05824863]

Pose Error in degrees for R and t:
11.993385396012638 49.39285566458224

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.94567450e-01  1.04094016e-01 -1.50822153e-04]
 [-1.04093993e-01  9.94567452e-01  1.54058247e-04]
 [ 1.66039346e-04 -1.37521638e-04  9.99999977e-01]]

 t_estimated:
[[-9.97643521e-01]
 [ 6.86101954e-02]
 [-2.12866724e-04]]

 R_gt:
[[ 0.90822381  0.41595669  0.04594423]
 [-0.4131131   0.9086792  -0.06033891]
 [-0.06684752  0.0358207   0.9971198 ]]

 t_gt:
[-0.66155531  0.74958541  0.02159362]

Pose Error in degrees for R and t:
19.054114679943947 44.649352409688014

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 8.11413000e-01 -5.84472685e-01 -7.90027595e-04]
 [ 5.84472840e-01  8.11413272e-01 -4.15822594e-05]
 [ 6.65342571e-04 -4.28009286e-04  9.99999687e-01]]

 t_estimated:
[[-0.24895955]
 [-0.96851336]
 [-0.00101203]]

 R_gt:
[[ 0.87455664  0.48315152  0.04143689]
 [-0.47981002  0.87454413 -0.07040174]
 [-0.07025244  0.04168856  0.99665777]]

 t_gt:
[-0.63830407  0.76964467  0.01466247]

Pose Error in degrees for R and t:
64.75493674242253 54.0899742470899

Number of keypoints:
Image1: 411
Image2: 411

 R_estimated:
[[ 9.99842507e-01  1.77470764e-02  3.85426453e-05]
 [-1.77470760e-02  9.99842508e-01 -1.00526231e-05]
 [-3.87149798e-05  9.36702063e-06  9.99999999e-01]]

 t_estimated:
[[3.44419680e-01]
 [9.38815535e-01]
 [6.89360030e-04]]

 R_gt:
[[ 0.99909467  0.00863578  0.04165244]
 [-0.00819988  0.99990934 -0.01063384]
 [-0.04174063  0.01028288  0.99907518]]

 t_gt:
[-0.57223029  0.03014509  0.81953876]

Pose Error in degrees for R and t:
2.5195409974014593 80.31555676160441

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[-0.99772656 -0.06728331  0.00383023]
 [-0.0672697   0.99772841  0.00357751]
 [-0.00406224  0.00331172 -0.99998627]]

 t_estimated:
[[0.99975456]
 [0.02199797]
 [0.00262808]]

 R_gt:
[[ 0.99855776 -0.05266282 -0.01043818]
 [ 0.05276875  0.9985547   0.01016219]
 [ 0.00988793 -0.01069814  0.99989371]]

 t_gt:
[ 0.29604896 -0.95206575 -0.07697935]

Pose Error in degrees for R and t:
179.66987032698225 74.04808806634563

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-0.98237751 -0.18688657  0.00279846]
 [-0.18683782  0.98230994  0.01260167]
 [-0.00510403  0.01185674 -0.99991668]]

 t_estimated:
[[0.9987127 ]
 [0.05069608]
 [0.00168987]]

 R_gt:
[[ 0.99566036 -0.07535752 -0.05462111]
 [ 0.07775146  0.99603945  0.04311979]
 [ 0.05115514 -0.04717937  0.99757538]]

 t_gt:
[ 0.39325705 -0.89862101 -0.19449725]

Pose Error in degrees for R and t:
177.4766471395838 69.70428082525997

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.99992243e-01  3.93845476e-03  4.34715051e-05]
 [-3.93845400e-03  9.99992244e-01 -1.77535009e-05]
 [-4.35410893e-05  1.75821527e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99536078e-01]
 [-3.04543206e-02]
 [ 4.04326101e-04]]

 R_gt:
[[ 0.99782214 -0.06545911  0.00818545]
 [ 0.06561993  0.99761749 -0.02127438]
 [-0.00677229  0.02176566  0.9997405 ]]

 t_gt:
[ 0.61400993 -0.78478534 -0.08428391]

Pose Error in degrees for R and t:
4.191831626284732 50.38757214235401

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.99999976e-01 -2.21200980e-04  1.36714931e-06]
 [ 2.21200993e-04  9.99999975e-01 -9.86969975e-06]
 [-1.36496609e-06  9.87000192e-06  1.00000000e+00]]

 t_estimated:
[[9.03460706e-01]
 [4.28670904e-01]
 [9.87651231e-05]]

 R_gt:
[[ 0.99479913 -0.08474342 -0.05651243]
 [ 0.0864562   0.99584517  0.0285813 ]
 [ 0.05385653 -0.03331844  0.99799271]]

 t_gt:
[ 0.59006219 -0.78409493 -0.1924104 ]

Pose Error in degrees for R and t:
6.100489436785752 78.64073746207714

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-1.12880244e-01 -9.93607030e-01 -1.76642808e-03]
 [ 9.93608598e-01 -1.12880171e-01 -1.41343722e-04]
 [-5.89545885e-05 -1.77109304e-03  9.99998430e-01]]

 t_estimated:
[[ 9.97019434e-01]
 [-7.71472404e-02]
 [ 7.42553445e-04]]

 R_gt:
[[ 0.98109545 -0.18106183 -0.06832205]
 [ 0.18353077  0.98250179  0.03173201]
 [ 0.06138122 -0.04367041  0.99715842]]

 t_gt:
[ 0.54913055 -0.82358413 -0.14200289]

Pose Error in degrees for R and t:
86.04466571131023 52.34353780998019

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 7.80712203e-01 -6.24890575e-01 -4.75148114e-04]
 [ 6.24890753e-01  7.80712050e-01  4.91412969e-04]
 [ 6.38745258e-05 -6.80567764e-04  9.99999766e-01]]

 t_estimated:
[[ 5.28146538e-01]
 [-8.49153215e-01]
 [ 2.29511552e-04]]

 R_gt:
[[ 0.99593034  0.05564339 -0.07089287]
 [-0.05136346  0.99682513  0.06082758]
 [ 0.07405251 -0.05693903  0.99562739]]

 t_gt:
[-0.96340529 -0.26692739  0.0244954 ]

Pose Error in degrees for R and t:
42.07079356748298 73.61135710443364

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99874807e-01  1.58231112e-02 -8.20391144e-07]
 [-1.58231113e-02  9.99874805e-01 -6.32585881e-05]
 [-1.80659242e-07  6.32636497e-05  9.99999998e-01]]

 t_estimated:
[[ 6.92405816e-02]
 [-9.97599990e-01]
 [-4.19898085e-05]]

 R_gt:
[[ 0.99315547  0.0391255  -0.11005343]
 [-0.03180809  0.99721289  0.06748337]
 [ 0.11238731 -0.06352103  0.99163152]]

 t_gt:
[-0.2041446  -0.81026878 -0.54935369]

Pose Error in degrees for R and t:
7.50545240752062 37.41909973533791

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-9.98522450e-01  5.43322632e-02  9.60297014e-04]
 [ 5.43366648e-02  9.98508145e-01  5.38613593e-03]
 [-6.66223435e-04  5.43035699e-03 -9.99985034e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10089613e-03]
 [7.75190433e-04]]

 R_gt:
[[ 0.98986679  0.02154609 -0.14035307]
 [-0.00844874  0.99560584  0.09325519]
 [ 0.14174522 -0.09112458  0.98569944]]

 t_gt:
[ 0.34814919 -0.87260836 -0.34255917]

Pose Error in degrees for R and t:
171.78516815326998 69.80746054655289

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.73640736e-01  2.28086705e-01  4.14914097e-04]
 [-2.28085598e-01  9.73639351e-01 -1.83700573e-03]
 [-8.22973278e-04  1.69394768e-03  9.99998227e-01]]

 t_estimated:
[[-0.94290483]
 [-0.33305469]
 [-0.00225037]]

 R_gt:
[[ 0.98772246  0.07568708  0.13666454]
 [-0.07132919  0.99678501 -0.03651926]
 [-0.13898854  0.02632313  0.98994393]]

 t_gt:
[-0.3948105   0.5335575   0.74795793]

Pose Error in degrees for R and t:
12.047026785362581 78.87899398158015

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.75541312 -0.65524794 -0.00106989]
 [ 0.65524532 -0.75540274 -0.00450242]
 [ 0.002142   -0.00410223  0.99998929]]

 t_estimated:
[[0.94820195]
 [0.31766669]
 [0.00096379]]

 R_gt:
[[ 0.95878616  0.21934913  0.18060217]
 [-0.21090854  0.97534803 -0.06493074]
 [-0.19039253  0.02416415  0.98141004]]

 t_gt:
[-0.37490157  0.76029821  0.5304672 ]

Pose Error in degrees for R and t:
151.76283059310668 83.48578461772988

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 7.82789410e-01  6.22275704e-01  3.69973824e-03]
 [ 6.22281874e-01 -7.82792922e-01 -7.14627453e-04]
 [ 2.45143361e-03  2.86168285e-03 -9.99992901e-01]]

 t_estimated:
[[-0.98385936]
 [ 0.17892801]
 [-0.00235049]]

 R_gt:
[[ 0.90594495  0.39304174  0.15742368]
 [-0.37905912  0.91857155 -0.11199467]
 [-0.18862295  0.04178842  0.98115997]]

 t_gt:
[-0.31306126  0.8983941   0.30802709]

Pose Error in degrees for R and t:
172.31186336553225 62.093368673203884

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-6.29252379e-01 -7.77199571e-01 -1.50640729e-03]
 [ 7.77200403e-01 -6.29253153e-01  5.19551743e-05]
 [-9.88291075e-04 -1.13808743e-03  9.99998864e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.9730313   0.21136022 -0.09239561]
 [-0.20860877  0.9772375   0.03859299]
 [ 0.09844954 -0.01827785  0.9949735 ]]

 t_gt:
[-0.25494979  0.93890336 -0.23121654]

Pose Error in degrees for R and t:
141.19537938162148 81.37503161871196

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 6.53593929e-01  7.56844346e-01  1.26957773e-03]
 [-7.56845310e-01  6.53593786e-01  5.81870531e-04]
 [-3.89402693e-04 -1.34118100e-03  9.99999025e-01]]

 t_estimated:
[[0.32073979]
 [0.94716662]
 [0.00117263]]

 R_gt:
[[ 0.93195648  0.33967281 -0.1268029 ]
 [-0.33214252  0.94007365  0.07709213]
 [ 0.14538983 -0.02972937  0.98892814]]

 t_gt:
[-0.1622299   0.96641212 -0.19932154]

Pose Error in degrees for R and t:
30.638382712408877 30.335136875944574

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-5.85731873e-01 -8.10497606e-01 -3.43551777e-03]
 [ 8.10502264e-01 -5.85735501e-01  6.17534850e-05]
 [-2.06235577e-03 -2.74832395e-03  9.99994097e-01]]

 t_estimated:
[[0.999772  ]
 [0.02127442]
 [0.00182866]]

 R_gt:
[[ 0.87941662  0.45987699 -0.12304451]
 [-0.4558994   0.88797813  0.06042228]
 [ 0.13704789  0.00295931  0.99055941]]

 t_gt:
[-0.09278706  0.97882527 -0.18245998]

Pose Error in degrees for R and t:
153.30174335100943 85.85529811963735

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-9.57210956e-01  2.89390652e-01 -4.85981907e-04]
 [-2.89389517e-01 -9.57209987e-01 -1.65793278e-03]
 [-9.44976982e-04 -1.44635335e-03  9.99998508e-01]]

 t_estimated:
[[0.68100834]
 [0.73227526]
 [0.00076518]]

 R_gt:
[[ 0.95791933 -0.28505255 -0.03371484]
 [ 0.28515283  0.95848046 -0.00188907]
 [ 0.03285416 -0.00780375  0.99942994]]

 t_gt:
[ 0.85374078 -0.51841367 -0.04872319]

Pose Error in degrees for R and t:
179.75368661450383 78.36093234786631

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.80571658  0.59227946  0.00508269]
 [-0.58971658  0.80297186 -0.08643231]
 [-0.05527334  0.0666426   0.99624476]]

 t_estimated:
[[-0.99981909]
 [-0.01890414]
 [-0.00210046]]

 R_gt:
[[ 0.9391248  -0.34257183 -0.02626326]
 [ 0.34228781  0.93947927 -0.01479852]
 [ 0.02974412  0.00490745  0.99954554]]

 t_gt:
[ 0.86323552 -0.50087807 -0.06281398]

Pose Error in degrees for R and t:
56.56733003224777 31.407922315843937

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.81594368  0.14901961  0.55859562]
 [ 0.45515027  0.43018326 -0.77960284]
 [-0.3564746   0.89035696  0.283179  ]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.92899676 -0.36755868 -0.04320336]
 [ 0.36656484  0.92993028 -0.02932388]
 [ 0.05095518  0.01140479  0.99863576]]

 t_gt:
[ 0.86331162 -0.49438223 -0.10138666]

Pose Error in degrees for R and t:
74.22774115141289 69.80137130392949

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.30119871 -0.95344764  0.01472846]
 [-0.95356011 -0.30113697  0.00629665]
 [-0.00156824 -0.01594102 -0.9998717 ]]

 t_estimated:
[[0.62278138]
 [0.78237827]
 [0.00525246]]

 R_gt:
[[ 0.9889357   0.14823671  0.00582139]
 [-0.1483395   0.98761724  0.05106268]
 [ 0.00181973 -0.05136055  0.9986781 ]]

 t_gt:
[-0.34427739  0.88758789  0.30604055]

Pose Error in degrees for R and t:
176.73522552302555 61.208256192427406

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99996649e-01 -2.55478215e-03 -4.17478027e-04]
 [ 2.55475997e-03  9.99996735e-01 -5.36413497e-05]
 [ 4.17613706e-04  5.25746138e-05  9.99999911e-01]]

 t_estimated:
[[ 0.9994861]
 [-0.0316766]
 [-0.0049122]]

 R_gt:
[[ 9.80764969e-01  1.95191927e-01  8.40763946e-04]
 [-1.95173160e-01  9.80585806e-01  1.89767783e-02]
 [ 2.87887698e-03 -1.87752465e-02  9.99819202e-01]]

 t_gt:
[-0.12548372  0.98868266  0.08222181]

Pose Error in degrees for R and t:
11.454569848282194 80.95899867290905

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.99435955  0.10604148 -0.00207383]
 [-0.10603491  0.99435771  0.00305537]
 [ 0.00238612 -0.00281824  0.99999318]]

 t_estimated:
[[7.89476995e-01]
 [6.13779664e-01]
 [7.73997054e-04]]

 R_gt:
[[ 0.97939291  0.19757642  0.04188199]
 [-0.19606656  0.97987014 -0.03756601]
 [-0.04846199  0.02858009  0.99841575]]

 t_gt:
[-0.11596557  0.98490322  0.12852098]

Pose Error in degrees for R and t:
6.289412694280367 59.13207018474393

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.99717623e-01 -2.37626976e-02  9.34697206e-05]
 [ 2.37626942e-02  9.99717627e-01  3.76163084e-05]
 [-9.43371922e-05 -3.53845940e-05  9.99999995e-01]]

 t_estimated:
[[9.78025514e-01]
 [2.08484681e-01]
 [4.81372334e-04]]

 R_gt:
[[ 0.99350012 -0.11215491  0.01950936]
 [ 0.11286819  0.99278818 -0.04040165]
 [-0.01483697  0.04234114  0.99899247]]

 t_gt:
[ 0.59475746 -0.79582178 -0.11371569]

Pose Error in degrees for R and t:
5.712644678969997 65.43554876154857

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-9.74272030e-01 -2.25374884e-01  4.15613052e-04]
 [-2.25375005e-01  9.74272053e-01 -2.70612798e-04]
 [-3.43930854e-04 -3.57319273e-04 -9.99999877e-01]]

 t_estimated:
[[0.99046831]
 [0.13773723]
 [0.00099157]]

 R_gt:
[[ 0.99710852 -0.07477925  0.01360372]
 [ 0.07511801  0.99682621 -0.02634412]
 [-0.01159008  0.02728988  0.9995597 ]]

 t_gt:
[ 0.45225535 -0.88692327 -0.09397986]

Pose Error in degrees for R and t:
179.43844931330455 70.99267394545008

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999977e-01 -3.74458220e-05  2.10111225e-04]
 [ 3.74668486e-05  9.99999994e-01 -1.00070667e-04]
 [-2.10107477e-04  1.00078537e-04  9.99999973e-01]]

 t_estimated:
[[8.48273865e-01]
 [5.29557538e-01]
 [5.13442316e-04]]

 R_gt:
[[ 0.99682635 -0.06121684  0.050908  ]
 [ 0.06354851  0.99693917 -0.0455214 ]
 [-0.04796576  0.04861296  0.99766527]]

 t_gt:
[ 0.16065517 -0.96649964  0.20017083]

Pose Error in degrees for R and t:
5.294970707927666 67.94881048139041

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.92163015e-01 -1.24950193e-01 -3.20980441e-05]
 [ 1.24950197e-01  9.92162996e-01  1.95277676e-04]
 [ 7.44650831e-06 -1.97757945e-04  9.99999980e-01]]

 t_estimated:
[[0.82389386]
 [0.56674205]
 [0.00153308]]

 R_gt:
[[ 0.99524445  0.09504199  0.02136977]
 [-0.09533125  0.99536087  0.01298658]
 [-0.02003523 -0.01496166  0.99968702]]

 t_gt:
[-0.37638192  0.83441603  0.40259972]

Pose Error in degrees for R and t:
12.720786655087782 80.59470624548763

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99998725e-01 -1.45466940e-03 -6.59350245e-04]
 [ 1.45498532e-03  9.99998827e-01  4.78921232e-04]
 [ 6.58652800e-04 -4.79879966e-04  9.99999668e-01]]

 t_estimated:
[[-0.99994951]
 [-0.00937769]
 [-0.00360955]]

 R_gt:
[[ 9.77959480e-01  2.08704824e-01  6.19063423e-03]
 [-2.08796268e-01  9.77590178e-01  2.68649508e-02]
 [-4.44751976e-04 -2.75650331e-02  9.99619009e-01]]

 t_gt:
[-0.19608757  0.97039155  0.14103157]

Pose Error in degrees for R and t:
12.23405016141807 79.25323449958873

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.98762729e-01 -4.97293687e-02 -4.09824912e-05]
 [ 4.97293854e-02  9.98762465e-01  7.25114490e-04]
 [ 4.87228806e-06 -7.26255361e-04  9.99999736e-01]]

 t_estimated:
[[-8.83822699e-01]
 [-4.67821461e-01]
 [-7.19725325e-04]]

 R_gt:
[[ 0.9721263   0.23319904  0.02427323]
 [-0.23334334  0.9723891   0.00326453]
 [-0.02284066 -0.00883752  0.99969966]]

 t_gt:
[-0.09914651  0.98411445  0.14727089]

Pose Error in degrees for R and t:
16.401267309206574 68.10740152293396

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 7.64531183e-01  6.44586409e-01  6.56046630e-04]
 [-6.44585781e-01  7.64531405e-01 -9.49475527e-04]
 [-1.11358727e-03  3.03025319e-04  9.99999334e-01]]

 t_estimated:
[[9.34803724e-01]
 [3.55163915e-01]
 [7.68753063e-04]]

 R_gt:
[[ 9.88610478e-01 -1.50490765e-01 -1.39821249e-03]
 [ 1.50495884e-01  9.88601204e-01  4.35888834e-03]
 [ 7.25487733e-04 -4.52061643e-03  9.99989600e-01]]

 t_gt:
[ 0.79453918 -0.60692872  0.0185747 ]

Pose Error in degrees for R and t:
48.791197416912894 58.18398847630352

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 8.11906645e-01  5.83786402e-01  1.01829624e-03]
 [-5.83786641e-01  8.11907108e-01 -7.47034914e-05]
 [-8.70372841e-04 -5.33815483e-04  9.99999479e-01]]

 t_estimated:
[[-0.81062238]
 [ 0.58556826]
 [ 0.00108314]]

 R_gt:
[[ 0.9896134  -0.14308147 -0.01388553]
 [ 0.14270838  0.98945202 -0.02487726]
 [ 0.0172994   0.02263721  0.99959385]]

 t_gt:
[ 0.77935088 -0.59947893 -0.18231078]

Pose Error in degrees for R and t:
43.96489871870692 10.582164630256198

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.10600665  0.99436169 -0.00272471]
 [-0.9943622   0.10599894 -0.00283395]
 [-0.00252916  0.00300977  0.99999227]]

 t_estimated:
[[0.62865216]
 [0.77768608]
 [0.00090324]]

 R_gt:
[[ 0.97240057 -0.23268742 -0.01718201]
 [ 0.2318862   0.97195018 -0.03927513]
 [ 0.02583864  0.03420592  0.99908095]]

 t_gt:
[ 0.80305043 -0.57270235 -0.16468765]

Pose Error in degrees for R and t:
97.3707533011075 86.59990702145606

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.76792121 -0.64027773 -0.01847822]
 [ 0.6393884  -0.76794869  0.03791142]
 [-0.03846416  0.01729822  0.99911024]]

 t_estimated:
[[0.99522177]
 [0.09631178]
 [0.01605196]]

 R_gt:
[[ 0.99622908  0.08608603  0.01085579]
 [-0.08598617  0.99625222 -0.00938811]
 [-0.01162413  0.0084191   0.99989744]]

 t_gt:
[-0.35705584  0.9338461   0.02103771]

Pose Error in degrees for R and t:
145.1423723991473 74.62878855165165

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.92369634e-01 -1.23297645e-01  4.47547322e-04]
 [ 1.23297823e-01  9.92369635e-01 -3.93195713e-04]
 [-3.95652267e-04  4.45377097e-04  9.99999823e-01]]

 t_estimated:
[[-8.12508212e-01]
 [-5.82949296e-01]
 [-7.24160625e-04]]

 R_gt:
[[ 0.98377666  0.17909336  0.01041319]
 [-0.17818068  0.98220971 -0.05929931]
 [-0.02084823  0.05648164  0.99818667]]

 t_gt:
[-0.31184607  0.94621246 -0.08622072]

Pose Error in degrees for R and t:
17.713280143604628 72.65324060914826

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.34644257e-01 -3.55584184e-01 -2.06218459e-05]
 [ 3.55583972e-01  9.34643760e-01 -1.03955399e-03]
 [ 3.88923038e-04  9.64280372e-04  9.99999459e-01]]

 t_estimated:
[[-0.42943199]
 [-0.90309732]
 [-0.00184306]]

 R_gt:
[[ 0.94560542  0.32467609  0.02042118]
 [-0.32341107  0.94499458 -0.04889737]
 [-0.03517461  0.03963359  0.99859551]]

 t_gt:
[-0.27415328  0.96149537  0.01914776]

Pose Error in degrees for R and t:
39.85853172670337 41.35510737934632

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.89795475e-01  1.42495318e-01  3.54886457e-05]
 [-1.42495315e-01  9.89795474e-01 -7.43555374e-05]
 [-4.57218169e-05  6.85398087e-05  9.99999997e-01]]

 t_estimated:
[[-6.09161049e-01]
 [ 7.93046530e-01]
 [-1.32286373e-04]]

 R_gt:
[[ 9.94853450e-01  1.01319398e-01  6.83906286e-04]
 [-1.01309499e-01  9.94598059e-01  2.25938942e-02]
 [ 1.60971155e-03 -2.25465402e-02  9.99743696e-01]]

 t_gt:
[-0.38052668  0.91634404  0.12455141]

Pose Error in degrees for R and t:
2.7094475508085876 16.566587557642606

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.97681599  0.21406108 -0.00289274]
 [-0.21405354  0.97681818  0.00270751]
 [ 0.00340525 -0.00202554  0.99999215]]

 t_estimated:
[[-0.98273142]
 [-0.18500028]
 [-0.00372163]]

 R_gt:
[[ 0.96482227  0.25731368 -0.05391408]
 [-0.25536601  0.96599706  0.04045893]
 [ 0.06249279 -0.02526767  0.99772483]]

 t_gt:
[-0.29185894  0.95317196 -0.07925638]

Pose Error in degrees for R and t:
4.421926505528714 83.63990121342913

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-8.09789957e-01  5.86715904e-01 -2.16193602e-03]
 [-5.86715331e-01 -8.09792692e-01 -9.56969749e-04]
 [-2.31218936e-03  4.93496519e-04  9.99997205e-01]]

 t_estimated:
[[0.69832356]
 [0.71578165]
 [0.00091885]]

 R_gt:
[[ 0.90977491  0.39810436 -0.11756271]
 [-0.390208    0.91680328  0.08490529]
 [ 0.14158332 -0.03137081  0.98942892]]

 t_gt:
[-0.13593742  0.98023976 -0.14370467]

Pose Error in degrees for R and t:
120.90979210540168 52.657572272599715

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.99580266 -0.09151859 -0.00118934]
 [ 0.09152013  0.99580236  0.0013154 ]
 [ 0.00106397 -0.00141873  0.99999843]]

 t_estimated:
[[0.08826003]
 [0.99607752]
 [0.00630429]]

 R_gt:
[[ 0.98661648  0.16278793 -0.00940236]
 [-0.16245835  0.98629016  0.02895281]
 [ 0.01398756 -0.02703851  0.99953706]]

 t_gt:
[-0.73728034  0.67460058  0.0364933 ]

Pose Error in degrees for R and t:
14.704341317143072 52.61901599955355

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.99907163 -0.04265537  0.00603259]
 [-0.04236355  0.99820929  0.04223194]
 [-0.0078232   0.04193717 -0.99908962]]

 t_estimated:
[[0.99993714]
 [0.01112587]
 [0.00139073]]

 R_gt:
[[ 0.9668789   0.24551653 -0.06975027]
 [-0.23791619  0.96591739  0.10197971]
 [ 0.09241106 -0.08200833  0.99233896]]

 t_gt:
[-0.76064413  0.64673171 -0.05620153]

Pose Error in degrees for R and t:
175.52350222536475 41.107352851005935

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.85588653 -0.51716162 -0.00145083]
 [ 0.51715636  0.85588599 -0.00291114]
 [ 0.00274728  0.0017413   0.99999471]]

 t_estimated:
[[-0.34064526]
 [-0.94018093]
 [-0.00454194]]

 R_gt:
[[ 0.94508867  0.3000577  -0.12950758]
 [-0.27873564  0.94695819  0.15992828]
 [ 0.17062615 -0.11504788  0.97859677]]

 t_gt:
[-0.80568862  0.55927693 -0.19512859]

Pose Error in degrees for R and t:
49.509986560815605 75.49400906571364

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99560622e-01 -2.96402218e-02 -1.40508302e-04]
 [ 2.96401980e-02  9.99560619e-01 -1.68219226e-04]
 [ 1.45432621e-04  1.63980621e-04  9.99999976e-01]]

 t_estimated:
[[-0.58693841]
 [-0.80962975]
 [-0.00172629]]

 R_gt:
[[ 0.9913187   0.12977125  0.02113013]
 [-0.12866541  0.9905624  -0.04723088]
 [-0.02706086  0.04410235  0.99866051]]

 t_gt:
[-0.3821087   0.92382598  0.02320549]

Pose Error in degrees for R and t:
9.595383601099673 58.417698897133164

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 2.93775450e-01 -9.55872988e-01 -1.67787041e-03]
 [ 9.55874250e-01  2.93776099e-01 -1.48753377e-04]
 [ 6.35107558e-04 -1.56013303e-03  9.99998581e-01]]

 t_estimated:
[[ 4.44744576e-01]
 [-8.95657403e-01]
 [-2.81437905e-04]]

 R_gt:
[[ 0.94200294  0.33558963  0.00307737]
 [-0.33500069  0.94081984 -0.0513091 ]
 [-0.0201138   0.04730239  0.99867841]]

 t_gt:
[-0.27808279  0.96048991 -0.01136209]

Pose Error in degrees for R and t:
92.55850499552112 10.281566764372831

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-7.42514637e-01  6.69829807e-01 -2.08157862e-04]
 [-6.69826624e-01 -7.42511999e-01 -2.86791502e-03]
 [-2.07557467e-03 -1.99003920e-03  9.99995866e-01]]

 t_estimated:
[[0.44358843]
 [0.89622968]
 [0.00129326]]

 R_gt:
[[ 0.87185542  0.48855753 -0.03432448]
 [-0.48946563  0.87162339 -0.02637202]
 [ 0.01703313  0.03979268  0.99906253]]

 t_gt:
[-0.19376804  0.97914187 -0.06111577]

Pose Error in degrees for R and t:
108.67568873654334 37.673741829741886

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.17713695  0.98417544 -0.00460456]
 [-0.98416807  0.17710334 -0.00689999]
 [-0.00597532  0.0057539   0.99996559]]

 t_estimated:
[[0.65423735]
 [0.75628888]
 [0.0007911 ]]

 R_gt:
[[ 0.98329565 -0.18151629  0.01348668]
 [ 0.18188881  0.98267926 -0.03547071]
 [-0.0068144   0.03733152  0.99927899]]

 t_gt:
[ 0.55418843 -0.82745693 -0.0904998 ]

Pose Error in degrees for R and t:
90.27950399231571 74.73419757894749

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.83280125  0.43983636  0.33613397]
 [-0.3860518   0.89664121 -0.21679148]
 [-0.39674434  0.05077909  0.91652355]]

 t_estimated:
[[0.89167059]
 [0.45109441]
 [0.03791305]]

 R_gt:
[[ 0.93763857 -0.34657817 -0.02678472]
 [ 0.34612792  0.93797216 -0.020082  ]
 [ 0.0320834   0.00955854  0.99943922]]

 t_gt:
[ 0.64315563 -0.75980445 -0.09512115]

Pose Error in degrees for R and t:
51.86814921956524 76.87165675937148

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-7.90808103e-01 -6.12058843e-01 -2.55279196e-03]
 [ 6.12061879e-01 -7.90809672e-01 -5.64353104e-04]
 [-1.67335526e-03 -2.00876165e-03  9.99996582e-01]]

 t_estimated:
[[0.99992003]
 [0.01256883]
 [0.00139654]]

 R_gt:
[[ 0.87181957 -0.48982476 -0.00172109]
 [ 0.48973518  0.87171772 -0.01636545]
 [ 0.00951714  0.01342567  0.99986384]]

 t_gt:
[ 0.69819327 -0.71508841 -0.0342743 ]

Pose Error in degrees for R and t:
112.93657482294415 46.44095328788449

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.99744023 -0.07149162 -0.00139369]
 [ 0.07149391  0.99743964  0.00167013]
 [ 0.00127072 -0.0017655   0.99999763]]

 t_estimated:
[[-0.39935237]
 [-0.91670091]
 [-0.01330879]]

 R_gt:
[[ 0.98498792  0.17261227  0.00213527]
 [-0.17259098  0.98496191 -0.00792911]
 [-0.00347196  0.00744181  0.99996587]]

 t_gt:
[-0.71648615  0.69697142 -0.02963836]

Pose Error in degrees for R and t:
14.051375286262473 69.36646606879101

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 4.13831723e-01 -9.10352550e-01 -1.24066358e-03]
 [ 9.10353110e-01  4.13832288e-01 -2.27351385e-04]
 [ 7.20396560e-04 -1.03535673e-03  9.99999205e-01]]

 t_estimated:
[[-0.00777178]
 [-0.99996896]
 [-0.0012953 ]]

 R_gt:
[[ 0.89256435  0.44728302  0.05715541]
 [-0.44405643  0.89391944 -0.06100407]
 [-0.07837843  0.02906989  0.99650015]]

 t_gt:
[-0.62878334  0.77595408  0.050267  ]

Pose Error in degrees for R and t:
92.17126942849474 39.546478391876626

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-8.59429306e-01 -5.11250707e-01 -1.99581006e-03]
 [ 5.11254566e-01 -8.59424175e-01 -2.97597733e-03]
 [-1.93776898e-04 -3.57800914e-03  9.99993580e-01]]

 t_estimated:
[[0.90384714]
 [0.42785201]
 [0.00173276]]

 R_gt:
[[ 0.78649919  0.61404837  0.06605693]
 [-0.61411594  0.78891773 -0.02167927]
 [-0.06542623 -0.02351554  0.99758085]]

 t_gt:
[-0.55835654  0.82518556  0.08547963]

Pose Error in degrees for R and t:
172.80556247038606 81.28824949768112

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[-0.0825601  -0.99655614 -0.00772565]
 [-0.99655209  0.08249077  0.00889924]
 [-0.0082313   0.00843374 -0.99993056]]

 t_estimated:
[[0.67591683]
 [0.73697654]
 [0.00141999]]

 R_gt:
[[ 0.99652691  0.05550127  0.06208429]
 [-0.05821074  0.99739     0.04271535]
 [-0.0595519  -0.0461807   0.99715631]]

 t_gt:
[-0.42174666  0.12290869  0.8983447 ]

Pose Error in degrees for R and t:
175.7051903895507 78.8598708525237

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-7.83669291e-01 -6.21178239e-01 -1.93624350e-04]
 [-6.21175034e-01  7.83664166e-01  3.47159084e-03]
 [-2.00474022e-03  2.84085375e-03 -9.99993955e-01]]

 t_estimated:
[[0.88373037]
 [0.46799089]
 [0.0022718 ]]

 R_gt:
[[ 0.99256012  0.0853525   0.08683376]
 [-0.09398957  0.99045829  0.1007893 ]
 [-0.0774036  -0.10820075  0.99111081]]

 t_gt:
[-0.32614741  0.08063874  0.94187327]

Pose Error in degrees for R and t:
173.51712497164036 75.62019793421145

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 5.33416711e-01  8.45852348e-01  6.45588792e-04]
 [-8.45851274e-01  5.33417072e-01 -1.36002428e-03]
 [-1.49474782e-03  1.79387578e-04  9.99998867e-01]]

 t_estimated:
[[0.00835044]
 [0.99996459]
 [0.0010438 ]]

 R_gt:
[[ 0.98379567  0.12309956  0.13036126]
 [-0.14508808  0.97374178  0.17543058]
 [-0.1053431  -0.19150018  0.97582292]]

 t_gt:
[-0.34873     0.14349451  0.92617316]

Pose Error in degrees for R and t:
51.43438187454694 81.8627921790084

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.43025074 -0.90256791  0.01598372]
 [ 0.90253303  0.43044925  0.01214838]
 [-0.01784492  0.00919899  0.99979845]]

 t_estimated:
[[9.40820072e-01]
 [3.38905633e-01]
 [7.51453731e-04]]

 R_gt:
[[ 0.97456732 -0.21716528 -0.05529299]
 [ 0.21858387  0.97559332  0.02096611]
 [ 0.04939063 -0.03251934  0.99824992]]

 t_gt:
[ 0.98314324 -0.16072109  0.08716715]

Pose Error in degrees for R and t:
52.09252038935543 29.47655610172896

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.16618578  0.98609349  0.00138604]
 [-0.98609231  0.1661882  -0.00185708]
 [-0.0020616  -0.00105814  0.99999732]]

 t_estimated:
[[0.23268053]
 [0.97255234]
 [0.00130719]]

 R_gt:
[[ 0.93672871 -0.34518153 -0.05821238]
 [ 0.34813271  0.93601915  0.05170151]
 [ 0.03664257 -0.06869662  0.9969644 ]]

 t_gt:
[ 0.98304995 -0.08595367  0.16194059]

Pose Error in degrees for R and t:
100.82628159672609 81.64223057142242

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.81437060e-01 -1.91783464e-01  6.32932411e-04]
 [ 1.91782690e-01  9.81436781e-01  1.11607284e-03]
 [-8.35227463e-04 -9.73969766e-04  9.99999177e-01]]

 t_estimated:
[[0.26885506]
 [0.96317976]
 [0.00130512]]

 R_gt:
[[ 0.93049155 -0.36624693 -0.00688953]
 [ 0.36572193  0.92776116  0.0742157 ]
 [-0.02078854 -0.071577    0.99721828]]

 t_gt:
[ 0.97712784 -0.07750797  0.19802449]

Pose Error in degrees for R and t:
11.257412893708388 79.14582036465983

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 8.87432134e-01 -4.60934621e-01  1.86610444e-03]
 [ 4.60937574e-01  8.87430931e-01 -1.70170910e-03]
 [-8.71662162e-04  2.37030899e-03  9.99996811e-01]]

 t_estimated:
[[-0.69852011]
 [-0.71558922]
 [-0.00131301]]

 R_gt:
[[ 0.96032215  0.2706833   0.06716229]
 [-0.26819621  0.96236683 -0.0438069 ]
 [-0.07649242  0.02405575  0.99677986]]

 t_gt:
[-0.71009579  0.69741817  0.09680839]

Pose Error in degrees for R and t:
43.32419899045213 89.81803724416675

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.99797037e-01  2.01465689e-02 -2.58930143e-05]
 [-2.01465846e-02  9.99795761e-01 -1.59730751e-03]
 [-6.29253987e-06  1.59750497e-03  9.99998724e-01]]

 t_estimated:
[[8.38993234e-01]
 [5.44141461e-01]
 [6.50886915e-04]]

 R_gt:
[[ 9.09490171e-01  4.11587858e-01  5.85079590e-02]
 [-4.12286006e-01  9.11054753e-01 -1.68538796e-04]
 [-5.33737620e-02 -2.39687411e-02  9.98287358e-01]]

 t_gt:
[-0.65880681  0.74270456  0.11984794]

Pose Error in degrees for R and t:
23.435311270901835 81.45882568072571

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.83142096  0.15844826 -0.53257238]
 [ 0.46388397  0.32967068  0.82227058]
 [ 0.30586084 -0.93070478  0.2005935 ]]

 t_estimated:
[[-0.83163112]
 [-0.46582918]
 [-0.30231251]]

 R_gt:
[[ 0.86791002  0.49100168  0.07516279]
 [-0.49230308  0.87042257 -0.00139414]
 [-0.06610813 -0.03579291  0.99716987]]

 t_gt:
[-0.62068149  0.77338375  0.12896536]

Pose Error in degrees for R and t:
89.14280062739154 83.28530383909771

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 5.96110853e-01 -8.02901097e-01 -1.29550012e-03]
 [ 8.02902045e-01  5.96110801e-01  4.68153766e-04]
 [ 3.96380443e-04 -1.31923124e-03  9.99999051e-01]]

 t_estimated:
[[9.73728204e-01]
 [2.27711390e-01]
 [9.52767323e-04]]

 R_gt:
[[ 0.98791416 -0.15499669  0.00121397]
 [ 0.15424527  0.98383714  0.09095527]
 [-0.01529245 -0.08966949  0.99585403]]

 t_gt:
[ 0.56897599 -0.6785927   0.4645194 ]

Pose Error in degrees for R and t:
44.77812203907835 66.42511832819207

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99994737e-01  3.06825261e-03  1.05449748e-03]
 [-3.06768128e-03  9.99995147e-01 -5.42998663e-04]
 [-1.05615842e-03  5.39760943e-04  9.99999297e-01]]

 t_estimated:
[[9.99996445e-01]
 [2.64003598e-03]
 [3.73492416e-04]]

 R_gt:
[[ 0.97279256 -0.23154688  0.00778995]
 [ 0.22808222  0.9630567   0.14317895]
 [-0.04065482 -0.13750772  0.98966527]]

 t_gt:
[ 0.54969979 -0.65667805  0.51633717]

Pose Error in degrees for R and t:
15.846531315287516 56.759330551358204

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[-0.2781474   0.95985369 -0.03626176]
 [ 0.95921074  0.27954914  0.04203609]
 [ 0.05048544 -0.02309044 -0.99845784]]

 t_estimated:
[[-0.98338589]
 [-0.18151282]
 [-0.00229763]]

 R_gt:
[[ 0.99973194 -0.01816084  0.01437116]
 [ 0.01768716  0.99931851  0.03240352]
 [-0.01494854 -0.03213973  0.99937154]]

 t_gt:
[ 0.45109058 -0.55572196  0.69834833]

Pose Error in degrees for R and t:
176.45920311385024 69.8590980886319

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.89235636e-01 -1.46331260e-01 -1.38803428e-04]
 [ 1.46331298e-01  9.89235587e-01  3.22174361e-04]
 [ 9.01651102e-05 -3.39017645e-04  9.99999938e-01]]

 t_estimated:
[[ 0.10292261]
 [-0.99468876]
 [ 0.00110168]]

 R_gt:
[[ 0.99629231  0.0485483   0.07103007]
 [-0.05452528  0.99490799  0.08477224]
 [-0.06655238 -0.08833027  0.99386502]]

 t_gt:
[-0.17095451 -0.09902184  0.98029038]

Pose Error in degrees for R and t:
13.019141665195736 85.29756942083127

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-0.99998348 -0.00354007  0.00452959]
 [-0.00350106  0.99995696  0.00859148]
 [-0.0045598   0.00857548 -0.99995283]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99267868  0.06660278  0.10076339]
 [-0.08155738  0.98494135  0.15244027]
 [-0.08909277 -0.15954181  0.98316211]]

 t_gt:
[-0.14970533 -0.06123688  0.98683249]

Pose Error in degrees for R and t:
174.27523393926305 81.42351870791815

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.94842464e-01 -1.01431098e-01 -4.52793866e-04]
 [ 1.01431251e-01  9.94842496e-01  3.30824531e-04]
 [ 4.16902684e-04 -3.75045740e-04  9.99999843e-01]]

 t_estimated:
[[-0.99965618]
 [-0.02592996]
 [-0.00389373]]

 R_gt:
[[ 0.99643929  0.03660595  0.07595521]
 [-0.03517916  0.99918069 -0.02002386]
 [-0.07662621  0.01728105  0.99691056]]

 t_gt:
[-0.68147755  0.40684104  0.60833273]

Pose Error in degrees for R and t:
9.091007740532172 48.06206617463837

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.27020043  0.96266767 -0.01620746]
 [ 0.96262898  0.27043405  0.01452118]
 [ 0.01836212 -0.01167815 -0.9997632 ]]

 t_estimated:
[[0.90795747]
 [0.41905729]
 [0.0020542 ]]

 R_gt:
[[ 0.98424103  0.15805269  0.07930805]
 [-0.15563665  0.98716561 -0.0358096 ]
 [-0.08394985  0.02290335  0.99620683]]

 t_gt:
[-0.73226517  0.64192837  0.22741083]

Pose Error in degrees for R and t:
176.4826676098731 66.70946831004393

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-9.99720455e-01  2.18746452e-02 -8.97287358e-03]
 [ 2.18741327e-02  9.99760720e-01  1.55265902e-04]
 [ 8.97412294e-03 -4.10513294e-05 -9.99959731e-01]]

 t_estimated:
[[ 0.99977574]
 [ 0.02079445]
 [-0.00400876]]

 R_gt:
[[ 0.95896783  0.28246122  0.02444266]
 [-0.2831681   0.95849525  0.03321988]
 [-0.01404531 -0.03877689  0.99914969]]

 t_gt:
[-0.70556011  0.69574909  0.13460362]

Pose Error in degrees for R and t:
179.41917604995487 46.2531177559137

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.37767879  0.92517229  0.03761605]
 [-0.92304987  0.37298505  0.09413338]
 [ 0.07305937 -0.07027367  0.9948487 ]]

 t_estimated:
[[0.18672198]
 [0.98241222]
 [0.00106092]]

 R_gt:
[[ 0.99568196  0.09281744  0.00138157]
 [-0.09262282  0.99437315 -0.05140552]
 [-0.0061448   0.05105549  0.99867653]]

 t_gt:
[-0.32619421  0.91842489 -0.22381477]

Pose Error in degrees for R and t:
63.15971120212507 32.74070488938048

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.99894537 -0.04588227 -0.00172026]
 [ 0.04588571  0.99894466  0.00201579]
 [ 0.00162596 -0.00209259  0.99999649]]

 t_estimated:
[[-0.81312121]
 [-0.58209376]
 [-0.00086644]]

 R_gt:
[[ 0.97316947  0.22961553  0.01475151]
 [-0.2289387   0.97271516 -0.03757021]
 [-0.02297615  0.03318427  0.9991852 ]]

 t_gt:
[-0.32507622  0.94559739  0.0130779 ]

Pose Error in degrees for R and t:
16.078608710510412 73.37471199004078

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 8.68887297e-01 -4.95009285e-01  8.20249216e-04]
 [ 4.95009781e-01  8.68887209e-01 -5.78704713e-04]
 [-4.26239846e-04  9.08860558e-04  9.99999496e-01]]

 t_estimated:
[[-0.07057822]
 [-0.99750555]
 [-0.0011763 ]]

 R_gt:
[[ 0.90519425  0.42384305 -0.03132124]
 [-0.42496079  0.90363572 -0.05338651]
 [ 0.00567532  0.06163532  0.99808281]]

 t_gt:
[-0.21839201  0.97277309 -0.07757218]

Pose Error in degrees for R and t:
54.91281786922454 17.284426898949583

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.93026691e-01 -1.17889661e-01 -1.35455228e-04]
 [ 1.17889665e-01  9.93026700e-01  2.39379223e-05]
 [ 1.31688625e-04 -3.97397674e-05  9.99999991e-01]]

 t_estimated:
[[ 0.09952072]
 [-0.99503498]
 [-0.00100525]]

 R_gt:
[[ 0.98537389 -0.16281172 -0.05030618]
 [ 0.16135369  0.98638352 -0.03181196]
 [ 0.05480049  0.0232291   0.99822726]]

 t_gt:
[ 0.56011565 -0.75328145 -0.34472817]

Pose Error in degrees for R and t:
4.264385459468494 36.328756678913635

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.32982871  0.94403767 -0.00242911]
 [-0.94403726  0.32981934 -0.00358384]
 [-0.00258211  0.00347522  0.99999063]]

 t_estimated:
[[3.1482863e-01]
 [9.4914850e-01]
 [2.4237971e-04]]

 R_gt:
[[ 0.95266058 -0.30100333 -0.04283701]
 [ 0.30113246  0.95357474 -0.00356433]
 [ 0.04192139 -0.00950453  0.99907672]]

 t_gt:
[ 0.62127849 -0.77806222 -0.09290974]

Pose Error in degrees for R and t:
88.30017532191835 57.11716731650696

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.99982069  0.0188878   0.00135465]
 [-0.01888603  0.99982079 -0.0013046 ]
 [-0.00137905  0.00127878  0.99999823]]

 t_estimated:
[[9.99997459e-01]
 [2.19129552e-03]
 [5.30228777e-04]]

 R_gt:
[[ 0.88937401 -0.45569033 -0.03686766]
 [ 0.45431495  0.88993547 -0.04014744]
 [ 0.05110528  0.01895596  0.99851394]]

 t_gt:
[ 0.69331215 -0.71180582 -0.1124755 ]

Pose Error in degrees for R and t:
28.341244660358647 46.23588640690879

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.92792671e-01  1.19842659e-01 -6.70433505e-04]
 [-1.19842656e-01  9.92792897e-01  4.42141555e-05]
 [ 6.70900363e-04  3.64510427e-05  9.99999774e-01]]

 t_estimated:
[[0.80934291]
 [0.58733566]
 [0.00093674]]

 R_gt:
[[ 0.99312196 -0.09466781 -0.06889855]
 [ 0.09846104  0.99367742  0.05394392]
 [ 0.06335682 -0.0603568   0.99616429]]

 t_gt:
[ 0.54118337 -0.84075048  0.01609932]

Pose Error in degrees for R and t:
13.39552396825279 86.8021101423251

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 2.71589166e-01  9.62413265e-01  1.81239999e-04]
 [-9.62412694e-01  2.71589203e-01 -1.05439519e-03]
 [-1.06398674e-03  1.11934634e-04  9.99999428e-01]]

 t_estimated:
[[-2.75549519e-02]
 [ 9.99620166e-01]
 [ 4.98729836e-04]]

 R_gt:
[[ 0.98684418 -0.13099971 -0.0947544 ]
 [ 0.14549642  0.97513192  0.16717732]
 [ 0.07049825 -0.17876353  0.98136246]]

 t_gt:
[ 0.41079198 -0.81025437  0.41801652]

Pose Error in degrees for R and t:
82.8821437735278 34.809208010823625

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-5.09313801e-01 -8.60576808e-01 -2.64742867e-03]
 [ 8.60580229e-01 -5.09314791e-01 -3.36261160e-04]
 [-1.05899602e-03 -2.44958722e-03  9.99996439e-01]]

 t_estimated:
[[0.98795475]
 [0.1547399 ]
 [0.00099192]]

 R_gt:
[[ 0.9630213  -0.17193891 -0.20743226]
 [ 0.20400092  0.96824279  0.14452827]
 [ 0.17599522 -0.18150027  0.96751425]]

 t_gt:
[ 0.55856953 -0.82184356  0.1121305 ]

Pose Error in degrees for R and t:
110.23750885266473 64.86322004053658

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999891e-01 -4.67387284e-04  2.21692051e-05]
 [ 4.67388969e-04  9.99999888e-01 -7.60231776e-05]
 [-2.21336703e-05  7.60335309e-05  9.99999997e-01]]

 t_estimated:
[[-4.22053812e-02]
 [-9.99108951e-01]
 [ 9.55767150e-05]]

 R_gt:
[[ 0.9933601   0.05618409 -0.10038773]
 [-0.04920359  0.99628248  0.0707044 ]
 [ 0.10398729 -0.0652952   0.99243274]]

 t_gt:
[-0.71593172 -0.36779246 -0.59343953]

Pose Error in degrees for R and t:
7.690463544720804 66.57026102791512

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.02615656  0.99965544  0.00220106]
 [-0.99965007 -0.0261476  -0.00400557]
 [-0.00394664 -0.00230506  0.99998956]]

 t_estimated:
[[0.0448524 ]
 [0.9989853 ]
 [0.00407749]]

 R_gt:
[[ 0.98021905  0.11744293 -0.15930116]
 [-0.09482634  0.98519321  0.14283264]
 [ 0.17371739 -0.12490045  0.97684323]]

 t_gt:
[-0.89594679 -0.34858543 -0.27525905]

Pose Error in degrees for R and t:
86.0920168868113 67.07415422519682

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-7.51488457e-01 -6.59743982e-01 -1.72532924e-03]
 [ 6.59743472e-01 -7.51490309e-01  9.30721937e-04]
 [-1.91060640e-03 -4.38847912e-04  9.99998078e-01]]

 t_estimated:
[[ 0.99945476]
 [-0.03300101]
 [ 0.00105758]]

 R_gt:
[[ 0.96969757  0.12642253 -0.20905364]
 [-0.09498907  0.98347218  0.15413726]
 [ 0.22508523 -0.12960794  0.96568037]]

 t_gt:
[-0.63279303 -0.46824072 -0.61670382]

Pose Error in degrees for R and t:
145.4898552803961 51.85543241258642

Number of keypoints:
Image1: 472
Image2: 472

 R_estimated:
[[ 9.99975829e-01  6.95281630e-03 -1.26476977e-06]
 [-6.95281630e-03  9.99975829e-01  2.64311705e-06]
 [ 1.28311631e-06 -2.63425945e-06  1.00000000e+00]]

 t_estimated:
[[9.11234507e-02]
 [9.95839604e-01]
 [2.20726152e-05]]

 R_gt:
[[ 0.99989553 -0.00487558  0.0135891 ]
 [ 0.00485687  0.99998672  0.00145804]
 [-0.0135972  -0.00139188  0.99990678]]

 t_gt:
[ 0.01844279 -0.19792681  0.98004329]

Pose Error in degrees for R and t:
1.036113393936657 78.73184142864665

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.98778791e-01  4.94056432e-02  9.15418158e-05]
 [-4.94056376e-02  9.98778794e-01 -6.25862940e-05]
 [-9.45221405e-05  5.79871813e-05  9.99999994e-01]]

 t_estimated:
[[0.93436854]
 [0.35630587]
 [0.00124582]]

 R_gt:
[[ 0.99915057 -0.03904971 -0.01315501]
 [ 0.03927029  0.99908393  0.01698635]
 [ 0.01247919 -0.01748892  0.9997693 ]]

 t_gt:
[ 0.60252299 -0.79797244  0.01435373]

Pose Error in degrees for R and t:
5.224966791561378 73.81891039773531

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 5.46495799e-01  8.37461257e-01  9.92824303e-04]
 [ 8.37449068e-01 -5.46493626e-01  4.87592438e-03]
 [ 4.62596991e-03 -1.83323240e-03 -9.99987620e-01]]

 t_estimated:
[[0.71706971]
 [0.69700102]
 [0.00077187]]

 R_gt:
[[ 0.98832236 -0.14375736 -0.05051497]
 [ 0.14504755  0.98916068  0.02286269]
 [ 0.04668122 -0.02992256  0.99846159]]

 t_gt:
[ 0.66243641 -0.73853584 -0.12547037]

Pose Error in degrees for R and t:
177.13169057360463 87.7165029127053

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 0.99179778  0.12739634  0.01036074]
 [-0.12725777  0.99178333 -0.01308781]
 [-0.01194295  0.01166198  0.99986067]]

 t_estimated:
[[-0.23234759]
 [-0.97261781]
 [-0.00540343]]

 R_gt:
[[ 0.97495258 -0.22203908 -0.01284831]
 [ 0.22210563  0.97501443  0.0039439 ]
 [ 0.01165067 -0.0066991   0.9999092 ]]

 t_gt:
[ 0.62789696 -0.7776156  -0.03254821]

Pose Error in degrees for R and t:
20.21749346315273 52.36649898186328

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.9988787   0.04731522  0.0016186 ]
 [-0.04731269  0.99887889 -0.00156957]
 [-0.00169105  0.00149123  0.99999746]]

 t_estimated:
[[0.02305487]
 [0.99973297]
 [0.00156606]]

 R_gt:
[[ 0.93110036 -0.36171396 -0.04705869]
 [ 0.36029417  0.93214033 -0.03607168]
 [ 0.0569126   0.01663101  0.99823993]]

 t_gt:
[ 0.66608159 -0.72870078 -0.15915555]

Pose Error in degrees for R and t:
24.137255548403555 44.487853307316634

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-8.31898559e-02  9.96530669e-01  2.46441828e-03]
 [ 9.96533319e-01  8.31917760e-02 -6.86982423e-04]
 [-8.89618387e-04  2.39872496e-03 -9.99996727e-01]]

 t_estimated:
[[0.99660768]
 [0.08228871]
 [0.00130617]]

 R_gt:
[[ 0.86331232 -0.50178756 -0.05386294]
 [ 0.50207169  0.86477816 -0.00910689]
 [ 0.05114903 -0.01918141  0.99850611]]

 t_gt:
[ 0.71627649 -0.69507167 -0.06183335]

Pose Error in degrees for R and t:
177.64635554216446 48.96124729680279

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 0.7603594  -0.6492406  -0.01844523]
 [-0.64912526 -0.75864334 -0.05564779]
 [ 0.02213545  0.05428559 -0.99828007]]

 t_estimated:
[[ 0.34362461]
 [ 0.9386495 ]
 [-0.02931279]]

 R_gt:
[[ 0.99970211 -0.02333779 -0.00718779]
 [ 0.02321207  0.99958673 -0.01699628]
 [ 0.00758142  0.0168255   0.99983009]]

 t_gt:
[ 0.71381776 -0.49209482 -0.49830402]

Pose Error in degrees for R and t:
175.58433818120872 78.3453291311337

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.99850325e-01 -1.72996593e-02  2.23943761e-04]
 [ 1.72997849e-02  9.99850184e-01 -5.71474404e-04]
 [-2.14023898e-04  5.75263047e-04  9.99999812e-01]]

 t_estimated:
[[0.57106427]
 [0.82090489]
 [0.00087052]]

 R_gt:
[[ 9.99688698e-01  1.08651222e-02 -2.24450153e-02]
 [-1.08837727e-02  9.99940910e-01 -6.98454078e-04]
 [ 2.24357370e-02  9.43365231e-04  9.99747645e-01]]

 t_gt:
[ 0.79176411  0.27944842 -0.54315576]

Pose Error in degrees for R and t:
2.0718976110620666 47.072222439511464

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.17788239e-01  3.97069720e-01  6.20326644e-04]
 [-3.97069740e-01  9.17788435e-01 -9.63646929e-05]
 [-6.07592122e-04 -1.57870558e-04  9.99999803e-01]]

 t_estimated:
[[-0.39376577]
 [ 0.9192102 ]
 [ 0.00106549]]

 R_gt:
[[ 0.99434652  0.10484741 -0.01678964]
 [-0.1045472   0.99436083  0.01783248]
 [ 0.01856453 -0.01597557  0.99970024]]

 t_gt:
[-0.04614589  0.99831375 -0.03521658]

Pose Error in degrees for R and t:
17.442564213508387 20.6433068603048

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-5.17529902e-01 -8.55663543e-01 -1.64388274e-03]
 [-8.55664987e-01  5.17529944e-01  4.32910576e-04]
 [ 4.80332742e-04  1.63065707e-03 -9.99998555e-01]]

 t_estimated:
[[0.81987441]
 [0.57254277]
 [0.00085582]]

 R_gt:
[[ 0.99867942 -0.04011683 -0.03209992]
 [ 0.04320611  0.99382868  0.1021661 ]
 [ 0.02780224 -0.10341755  0.99424976]]

 t_gt:
[ 0.21348054 -0.75278308  0.62269069]

Pose Error in degrees for R and t:
178.66905594715865 75.20031901882497

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 7.79047911e-01 -6.26959311e-01 -2.52507168e-03]
 [ 6.26964145e-01  7.79044882e-01  2.24354273e-03]
 [ 5.60534166e-04 -3.33095668e-03  9.99994295e-01]]

 t_estimated:
[[0.97261683]
 [0.23241246]
 [0.00097652]]

 R_gt:
[[ 0.98264097 -0.09726626 -0.15797945]
 [ 0.11133922  0.99032643  0.08280474]
 [ 0.14839667 -0.09895654  0.98396509]]

 t_gt:
[ 0.5636012  -0.82211068 -0.08054634]

Pose Error in degrees for R and t:
34.27044318782346 69.08266678759146

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.08723718 -0.9961854  -0.00207742]
 [-0.99617991  0.08722814  0.00410367]
 [-0.00390681  0.00242748 -0.99998942]]

 t_estimated:
[[0.54597791]
 [0.83779369]
 [0.0031378 ]]

 R_gt:
[[ 0.97465477 -0.1369954  -0.17686651]
 [ 0.15079594  0.98628951  0.06703941]
 [ 0.16525702 -0.09201085  0.98194932]]

 t_gt:
[ 0.57934228 -0.80051833 -0.15340445]

Pose Error in degrees for R and t:
175.90995505155414 69.21620950401167

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 0.96475869  0.26313086 -0.00168006]
 [ 0.26309647 -0.9644823   0.02354021]
 [ 0.00457377 -0.02315264 -0.99972148]]

 t_estimated:
[[-0.11148773]
 [ 0.9937001 ]
 [ 0.01142822]]

 R_gt:
[[ 0.99784497 -0.0193474  -0.06271204]
 [ 0.02366779  0.99734426  0.06888369]
 [ 0.06121407 -0.07021788  0.99565161]]

 t_gt:
[ 0.0603546  -0.99427709 -0.08814981]

Pose Error in degrees for R and t:
174.22430202084806 5.284634673648498

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99929136e-01 -1.19046947e-02 -2.48328874e-05]
 [ 1.19046924e-02  9.99929133e-01 -9.07266425e-05]
 [ 2.59112006e-05  9.04245854e-05  9.99999996e-01]]

 t_estimated:
[[-0.80777227]
 [-0.58949302]
 [-0.00139031]]

 R_gt:
[[ 0.98599558 -0.14927101 -0.0743803 ]
 [ 0.15166585  0.98804615  0.02762589]
 [ 0.06936824 -0.03851922  0.99684773]]

 t_gt:
[ 0.43192521 -0.82256584 -0.36990006]

Pose Error in degrees for R and t:
9.189735130500546 82.15382994344027

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.82607347e-01  1.85695429e-01  9.37623752e-05]
 [-1.85695452e-01  9.82607248e-01  4.42418119e-04]
 [-9.97656714e-06 -4.52134541e-04  9.99999898e-01]]

 t_estimated:
[[0.57607128]
 [0.81739843]
 [0.00129746]]

 R_gt:
[[ 0.94247227 -0.31088406 -0.12287237]
 [ 0.31524535  0.94885299  0.01730028]
 [ 0.11121066 -0.05503905  0.9922709 ]]

 t_gt:
[ 0.61333151 -0.75672257 -0.22626403]

Pose Error in degrees for R and t:
29.862173041588168 74.60245849777272

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 5.99587440e-01  8.00309241e-01 -1.45461590e-04]
 [-8.00309076e-01  5.99587176e-01 -7.75013144e-04]
 [-5.33033277e-04  5.81102378e-04  9.99999689e-01]]

 t_estimated:
[[-1.89397492e-01]
 [ 9.81900497e-01]
 [ 7.08254609e-05]]

 R_gt:
[[ 0.99911356 -0.01239001 -0.04024519]
 [ 0.00816082  0.9945865  -0.10359053]
 [ 0.04131028  0.10316949  0.9938054 ]]

 t_gt:
[ 0.21678582  0.18015976 -0.95945108]

Pose Error in degrees for R and t:
54.095236670751866 82.19671862602705

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.47462537e-01 -5.30853883e-01 -1.18435558e-03]
 [ 5.30855164e-01  8.47461230e-01  1.50265688e-03]
 [ 2.06004198e-04 -1.90216668e-03  9.99998170e-01]]

 t_estimated:
[[ 0.69580728]
 [-0.71822795]
 [ 0.00092304]]

 R_gt:
[[ 9.95579409e-01 -3.73411930e-05 -9.39369285e-02]
 [-1.17811181e-02  9.92053287e-01 -1.25261509e-01]
 [ 9.31955626e-02  1.25813929e-01  9.87666592e-01]]

 t_gt:
[ 0.17027738  0.28069103 -0.944573  ]

Pose Error in degrees for R and t:
33.61377197563597 85.18194900473094

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-1.02456374e-01 -9.94655877e-01 -1.27427677e-02]
 [ 9.94737354e-01 -1.02441033e-01 -1.85258429e-03]
 [ 5.37301568e-04 -1.28655161e-02  9.99917091e-01]]

 t_estimated:
[[0.99792647]
 [0.06386729]
 [0.00798341]]

 R_gt:
[[ 0.99184225  0.00524685 -0.12737092]
 [-0.02474816  0.98806772 -0.15201707]
 [ 0.12505364  0.15392929  0.98013647]]

 t_gt:
[ 0.16202165  0.32538369 -0.93159779]

Pose Error in degrees for R and t:
97.25668065306843 79.91961141522977

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99974702e-01  7.11238478e-03 -9.32111211e-05]
 [-7.11237567e-03  9.99974702e-01  9.77829068e-05]
 [ 9.39042327e-05 -9.71174806e-05  9.99999991e-01]]

 t_estimated:
[[8.15382796e-01]
 [5.78921785e-01]
 [6.79485664e-04]]

 R_gt:
[[ 0.98499455 -0.17242866 -0.00736404]
 [ 0.17254677  0.98477864  0.0209304 ]
 [ 0.00364356 -0.02188569  0.99975445]]

 t_gt:
[ 0.96729805 -0.2276237   0.11190147]

Pose Error in degrees for R and t:
10.418001809962597 48.92716434641771

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999830e-01 -4.30510895e-04  3.93858714e-04]
 [ 4.30646327e-04  9.99999848e-01 -3.43840986e-04]
 [-3.93710627e-04  3.44010541e-04  9.99999863e-01]]

 t_estimated:
[[8.01223461e-01]
 [5.98364785e-01]
 [7.41485557e-04]]

 R_gt:
[[ 0.98915347 -0.14654142  0.0100041 ]
 [ 0.14656008  0.989201   -0.00111664]
 [-0.00973212  0.00257155  0.99994967]]

 t_gt:
[ 0.97865696 -0.20377539 -0.02657358]

Pose Error in degrees for R and t:
8.420710399100422 48.534328737070965

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-1.70432978e-01 -9.85366707e-01  2.24766280e-03]
 [-9.85369270e-01  1.70432640e-01 -3.42590265e-04]
 [-4.54980629e-05 -2.27316653e-03 -9.99997415e-01]]

 t_estimated:
[[0.78310053]
 [0.62189346]
 [0.00144299]]

 R_gt:
[[ 0.94457276 -0.32817389 -0.00918068]
 [ 0.32828873  0.94442123  0.01716771]
 [ 0.0030362  -0.01922902  0.99981047]]

 t_gt:
[ 0.99426666 -0.0957901   0.04751915]

Pose Error in degrees for R and t:
179.52397522923243 44.01910923922906

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.9949128  -0.10072266 -0.00186322]
 [ 0.10072496  0.9949136   0.00118669]
 [ 0.00173422 -0.00136833  0.99999756]]

 t_estimated:
[[ 0.62813974]
 [-0.77799292]
 [-0.0129413 ]]

 R_gt:
[[ 0.99794078 -0.06373319  0.00734023]
 [ 0.06341364  0.99727409  0.03771178]
 [-0.00972453 -0.03716853  0.99926098]]

 t_gt:
[ 0.39339152 -0.79336481  0.46455934]

Pose Error in degrees for R and t:
3.0343599424529373 30.87096241676391

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.93776814  0.3469139   0.0155455 ]
 [ 0.34692649  0.93789026 -0.00196634]
 [-0.01526212  0.00354917 -0.99987723]]

 t_estimated:
[[ 0.98533263]
 [-0.17045632]
 [ 0.00801531]]

 R_gt:
[[ 0.98502274 -0.17236059 -0.00462297]
 [ 0.17210827  0.9844923  -0.03397756]
 [ 0.01040744  0.03267338  0.99941186]]

 t_gt:
[ 0.96857803 -0.15130345 -0.19739265]

Pose Error in degrees for R and t:
179.1890223477577 11.8802491055122

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-7.92252179e-01 -6.10192626e-01 -1.20193657e-03]
 [-6.10193555e-01  7.92252109e-01  6.48454400e-04]
 [ 5.56554690e-04  1.24715336e-03 -9.99999067e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96701137 -0.25471409  0.00306426]
 [ 0.25470615  0.96667689 -0.02569816]
 [ 0.00358327  0.02563151  0.99966497]]

 t_gt:
[ 0.98403459 -0.14614368 -0.10157727]

Pose Error in degrees for R and t:
179.45909955809822 45.4665181903837

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.87470644 -0.48462959 -0.0047762 ]
 [-0.48455011  0.87468122 -0.01199809]
 [ 0.00999228 -0.0081805  -0.99991661]]

 t_estimated:
[[8.14857234e-01]
 [5.79661319e-01]
 [6.66277378e-04]]

 R_gt:
[[ 0.95346574 -0.30000657  0.02998135]
 [ 0.30115627  0.95240896 -0.04714138]
 [-0.01441191  0.05397666  0.99843813]]

 t_gt:
[ 0.98226635 -0.07823929 -0.17038613]

Pose Error in degrees for R and t:
179.96660058989406 40.979782787416354

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.99713663 -0.06897661  0.03099643]
 [ 0.06996586  0.99703435 -0.03205133]
 [-0.02869372  0.03412824  0.99900547]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.99829906  0.01596771 -0.05608377]
 [-0.01959903  0.99770368 -0.06482706]
 [ 0.05492002  0.06581596  0.99631901]]

 t_gt:
[ 0.02378211  0.3971683  -0.9174376 ]

Pose Error in degrees for R and t:
7.240756118794456 85.84785212216767

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 0.94657938  0.32240565 -0.00648648]
 [ 0.3224339  -0.94597467  0.03418045]
 [ 0.00488392 -0.03444597 -0.99939463]]

 t_estimated:
[[-0.17391767]
 [ 0.98461246]
 [ 0.01705693]]

 R_gt:
[[ 0.99519197  0.02989419 -0.09327176]
 [-0.03743403  0.99607815 -0.0801642 ]
 [ 0.09050948  0.08326997  0.99240784]]

 t_gt:
[ 0.02146445  0.43799833 -0.8987195 ]

Pose Error in degrees for R and t:
178.2217445066954 65.65713045337452

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.45047951e-01 -3.26930696e-01 -8.30614749e-04]
 [ 3.26931474e-01  9.45047410e-01  1.09777710e-03]
 [ 4.26073286e-04 -1.30900610e-03  9.99999052e-01]]

 t_estimated:
[[-3.51275788e-01]
 [-9.36271999e-01]
 [-2.54877088e-04]]

 R_gt:
[[ 0.9889377   0.04840738 -0.14020857]
 [-0.06464016  0.9914154  -0.11365011]
 [ 0.13350337  0.12145575  0.98357783]]

 t_gt:
[ 0.02860404  0.46766905 -0.8834407 ]

Pose Error in degrees for R and t:
24.630014705965632 63.40454406123915

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99999528e-01  4.85996842e-04 -8.41689795e-04]
 [-4.84975602e-04  9.99999147e-01  1.21310025e-03]
 [ 8.42278640e-04 -1.21269147e-03  9.99998910e-01]]

 t_estimated:
[[-0.75840042]
 [-0.65178842]
 [-0.00081327]]

 R_gt:
[[ 0.99696983 -0.04930031 -0.06016649]
 [ 0.05061945  0.99850548  0.02059327]
 [ 0.05906163 -0.02357521  0.99797614]]

 t_gt:
[ 0.551716   -0.67052955 -0.49598345]

Pose Error in degrees for R and t:
4.601167935700588 88.9098757446072

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99884989e-01 -1.51642061e-02  2.34351577e-04]
 [ 1.51643157e-02  9.99884903e-01 -4.73108212e-04]
 [-2.27150294e-04  4.76607580e-04  9.99999861e-01]]

 t_estimated:
[[0.58928969]
 [0.80792052]
 [0.00144789]]

 R_gt:
[[ 0.98784081 -0.11755182 -0.10174439]
 [ 0.1246887   0.98994102  0.06685249]
 [ 0.09286238 -0.0787262   0.99256169]]

 t_gt:
[ 0.49292575 -0.832716   -0.25220679]

Pose Error in degrees for R and t:
9.306433540417235 67.50161161457281

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99998880e-01  1.22794534e-04 -1.49143011e-03]
 [-1.19487580e-04  9.99997535e-01  2.21719109e-03]
 [ 1.49169869e-03 -2.21701040e-03  9.99996430e-01]]

 t_estimated:
[[-0.72116464]
 [-0.69276261]
 [-0.00123487]]

 R_gt:
[[ 0.95665729 -0.26253774 -0.12601705]
 [ 0.26389469  0.96453239 -0.00611063]
 [ 0.12315166 -0.02740869  0.99200938]]

 t_gt:
[ 0.61563736 -0.68045273 -0.39746033]

Pose Error in degrees for R and t:
16.907881614177803 88.40083190657217

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.96420698e-01 -8.45324118e-02  2.54422617e-04]
 [ 8.45324695e-02  9.96420700e-01 -2.25342598e-04]
 [-2.34463209e-04  2.46043001e-04  9.99999942e-01]]

 t_estimated:
[[8.44498358e-01]
 [5.35557699e-01]
 [6.88558971e-04]]

 R_gt:
[[ 0.99301323 -0.06895853 -0.09575256]
 [ 0.06782401  0.99758355 -0.01506344]
 [ 0.09656027  0.00846514  0.99529166]]

 t_gt:
[ 0.58129636 -0.52051268 -0.62542873]

Pose Error in degrees for R and t:
5.649782656007078 77.77750050507593

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.94277157 -0.33329502  0.00980761]
 [-0.3330022   0.94263393  0.02346944]
 [-0.01706723  0.01886036 -0.99967645]]

 t_estimated:
[[0.91748403]
 [0.39776997]
 [0.00145172]]

 R_gt:
[[ 0.98495009 -0.13997724 -0.10139338]
 [ 0.13520205  0.98942294 -0.05257009]
 [ 0.10767981  0.03807159  0.99345709]]

 t_gt:
[ 0.64224124 -0.52023827 -0.56291947]

Pose Error in degrees for R and t:
174.49384771571545 67.57376247304589

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.55278299  0.83289979 -0.02662546]
 [-0.83245089  0.5504578  -0.06341713]
 [-0.03816393  0.0572203   0.99763187]]

 t_estimated:
[[0.60064792]
 [0.79951108]
 [0.00202922]]

 R_gt:
[[ 0.97593737 -0.21802619  0.00324494]
 [ 0.21770813  0.97345657 -0.07061507]
 [ 0.01223825  0.06962242  0.99749787]]

 t_gt:
[ 0.72464696 -0.61428393 -0.3123172 ]

Pose Error in degrees for R and t:
69.03646973226725 86.76089851662478

Number of keypoints:
Image1: 474
Image2: 474

 R_estimated:
[[ 9.99885802e-01  1.51123302e-02  3.19016270e-06]
 [-1.51123302e-02  9.99885802e-01 -1.21669289e-06]
 [-3.20818546e-06  1.16834316e-06  1.00000000e+00]]

 t_estimated:
[[9.79085670e-01]
 [2.03446373e-01]
 [9.08242736e-04]]

 R_gt:
[[ 0.99996809 -0.00718663 -0.0034424 ]
 [ 0.00714545  0.99990794 -0.01158006]
 [ 0.00352516  0.01155531  0.99992671]]

 t_gt:
[ 0.31915943 -0.30631485 -0.89683247]

Pose Error in degrees for R and t:
1.4520387700840307 75.56087490578818

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.9872498   0.15916536  0.00205218]
 [-0.1591522   0.98723884 -0.00548146]
 [-0.00289845  0.00508496  0.99998287]]

 t_estimated:
[[-0.95628959]
 [-0.29241913]
 [-0.00112903]]

 R_gt:
[[ 0.99496426 -0.0912263  -0.04151481]
 [ 0.09162715  0.99576315  0.00787041]
 [ 0.04062176 -0.01163395  0.99910689]]

 t_gt:
[ 0.6358693  -0.72070964 -0.27613015]

Pose Error in degrees for R and t:
14.645640399293805 66.60834957276815

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.06361091e-01 -4.22503928e-01  5.58088125e-05]
 [ 4.22503903e-01  9.06360972e-01 -4.90929635e-04]
 [ 1.56836770e-04  4.68538961e-04  9.99999878e-01]]

 t_estimated:
[[-0.30572609]
 [-0.9521184 ]
 [-0.00145584]]

 R_gt:
[[ 0.97102837 -0.22004046 -0.09320193]
 [ 0.22247403  0.97480045  0.01646318]
 [ 0.08723024 -0.03672082  0.99551084]]

 t_gt:
[ 0.69495666 -0.68966659 -0.20345816]

Pose Error in degrees for R and t:
13.334365947621224 63.61030517308804

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.97218234e-01 -7.45369791e-02  1.82480604e-04]
 [ 7.45369733e-02  9.97218250e-01  3.81799218e-05]
 [-1.84818805e-04 -2.44721622e-05  9.99999983e-01]]

 t_estimated:
[[ 0.96017269]
 [-0.27940519]
 [ 0.00107359]]

 R_gt:
[[ 0.99580216 -0.08413964  0.03602418]
 [ 0.08466164  0.9963221  -0.01321636]
 [-0.03478042  0.01621033  0.9992636 ]]

 t_gt:
[ 0.7086498  -0.69247955  0.1352314 ]

Pose Error in degrees for R and t:
2.262944844262739 29.0668160450357

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99988959e-01 -4.69918519e-03  1.15772378e-05]
 [ 4.69918539e-03  9.99988959e-01 -1.71385471e-05]
 [-1.14965728e-05  1.71927615e-05  1.00000000e+00]]

 t_estimated:
[[ 0.65016009]
 [-0.75979675]
 [-0.00087493]]

 R_gt:
[[ 0.99301411 -0.11282487  0.03454053]
 [ 0.11391088  0.99299837 -0.03126615]
 [-0.03077199  0.03498307  0.99891441]]

 t_gt:
[ 0.73612364 -0.67544193 -0.04359124]

Pose Error in degrees for R and t:
6.789997492462182 7.326788961735914

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.94611362e-01  1.03673551e-01  1.81954893e-04]
 [-1.03673538e-01  9.94611377e-01 -8.17221985e-05]
 [-1.89446837e-04  6.24179198e-05  9.99999980e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99328975 -0.10637375  0.04536942]
 [ 0.10747431  0.99395148 -0.02256666]
 [-0.0426951   0.02729215  0.99871558]]

 t_gt:
[ 0.7855382  -0.616669    0.05146922]

Pose Error in degrees for R and t:
12.432878189590063 52.287194330901826

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999952e-01 -1.75190279e-04 -2.55055717e-04]
 [ 1.75190392e-04  9.99999985e-01  4.22195546e-07]
 [ 2.55055639e-04 -4.66878837e-07  9.99999967e-01]]

 t_estimated:
[[-0.82379168]
 [-0.56689199]
 [-0.00085633]]

 R_gt:
[[ 0.99024455  0.13932865  0.0013989 ]
 [-0.13930171  0.98973159  0.03201842]
 [ 0.00307576 -0.03190098  0.99948649]]

 t_gt:
[-0.453685    0.88748652  0.08085538]

Pose Error in degrees for R and t:
8.227728128096166 82.56298010651204

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 8.28500582e-01  5.59987793e-01  6.75623029e-04]
 [-5.59986411e-01  8.28500382e-01 -1.52841239e-03]
 [-1.41564622e-03  8.87950837e-04  9.99998604e-01]]

 t_estimated:
[[0.56433278]
 [0.82554622]
 [0.00139686]]

 R_gt:
[[ 0.96962508  0.24458642  0.00214375]
 [-0.24452625  0.96952142 -0.0153479 ]
 [-0.00583333  0.01435736  0.99987989]]

 t_gt:
[-0.37145062  0.92793684 -0.03094595]

Pose Error in degrees for R and t:
19.914408500200175 56.19350814016795

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.99995117 -0.00437421 -0.00886121]
 [ 0.00451062  0.99987073  0.01543276]
 [ 0.00879256 -0.01547198  0.99984164]]

 t_estimated:
[[0.50563776]
 [0.86274443]
 [0.00158012]]

 R_gt:
[[ 0.93003753  0.36719779 -0.01398596]
 [-0.36739346  0.92843949 -0.0549641 ]
 [-0.00719877  0.05625724  0.99839042]]

 t_gt:
[-0.28210133  0.95650849 -0.07423173]

Pose Error in degrees for R and t:
22.20899468411358 46.963510155617904

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99992897e-01 -3.76908513e-03 -1.45165099e-06]
 [ 3.76908510e-03  9.99992897e-01 -1.66264656e-05]
 [ 1.51430724e-06  1.66208761e-05  1.00000000e+00]]

 t_estimated:
[[ 9.99900968e-01]
 [-1.40731689e-02]
 [-4.04367308e-06]]

 R_gt:
[[ 0.99549585 -0.09243931 -0.02105322]
 [ 0.09274272  0.99559295  0.0139494 ]
 [ 0.01967111 -0.01583894  0.99968122]]

 t_gt:
[ 0.51532202 -0.85062579 -0.10430237]

Pose Error in degrees for R and t:
5.298751848538113 58.180675898305665

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.45479244e-01  3.25682257e-01  2.59384572e-04]
 [-3.25682237e-01  9.45479279e-01 -1.16805678e-04]
 [-2.83284275e-04  2.59603962e-05  9.99999960e-01]]

 t_estimated:
[[0.5010824 ]
 [0.86539878]
 [0.00117902]]

 R_gt:
[[ 9.52340506e-01 -3.02872003e-01  3.62868504e-02]
 [ 3.03058659e-01  9.52972241e-01  3.32754936e-04]
 [-3.46811393e-02  1.06801920e-02  9.99342486e-01]]

 t_gt:
[ 0.61612504 -0.78397134  0.07601891]

Pose Error in degrees for R and t:
36.704627453191286 68.3072739743281

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.97890668e-01  6.49134965e-02  6.72670181e-04]
 [-6.49123432e-02  9.97889665e-01 -1.61400350e-03]
 [-7.76021231e-04  1.56693443e-03  9.99998471e-01]]

 t_estimated:
[[0.56497886]
 [0.82510454]
 [0.00117704]]

 R_gt:
[[ 0.89500713 -0.44603376  0.00413655]
 [ 0.44588907  0.89489217  0.01876257]
 [-0.01206981 -0.014948    0.9998155 ]]

 t_gt:
[ 0.68611561 -0.72614975  0.04418054]

Pose Error in degrees for R and t:
30.231399267977004 77.79227138013918

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.95610734  0.29299908  0.0032088 ]
 [-0.2930112   0.95609901  0.00437315]
 [-0.0017866  -0.00512142  0.99998529]]

 t_estimated:
[[-0.506201  ]
 [ 0.86228178]
 [ 0.01518816]]

 R_gt:
[[ 0.98714949 -0.15357423  0.04416689]
 [ 0.15361812  0.98812735  0.002414  ]
 [-0.04401217  0.00440109  0.99902162]]

 t_gt:
[ 0.33212723 -0.9096706   0.24938104]

Pose Error in degrees for R and t:
25.98779557665729 18.426869874205657

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99999984e-01 -2.86327863e-06  1.78574101e-04]
 [ 2.93817945e-06  9.99999912e-01 -4.19439481e-04]
 [-1.78572884e-04  4.19439999e-04  9.99999896e-01]]

 t_estimated:
[[6.93081451e-01]
 [7.20859174e-01]
 [3.92400821e-04]]

 R_gt:
[[ 0.97075423 -0.23624114  0.04275027]
 [ 0.23545782  0.97162186  0.02257517]
 [-0.04686903 -0.01184928  0.99883077]]

 t_gt:
[ 0.29841909 -0.91766471  0.26236906]

Pose Error in degrees for R and t:
13.926613378364639 62.962386124221396

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.99322419  0.11619344  0.00218776]
 [ 0.11620877 -0.99318239 -0.00917983]
 [ 0.00110621  0.00937187 -0.99995547]]

 t_estimated:
[[-0.0462972 ]
 [ 0.99892049]
 [-0.00379826]]

 R_gt:
[[ 0.92559275 -0.37573809  0.04581506]
 [ 0.3769412   0.92599872 -0.02097793]
 [-0.03454199  0.03668575  0.99872991]]

 t_gt:
[ 0.47152377 -0.88179418 -0.0102152 ]

Pose Error in degrees for R and t:
177.64160859884032 25.493554730952546

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.81577237e-01  1.91065753e-01  7.53259194e-05]
 [-1.91065748e-01  9.81577239e-01 -6.53076527e-05]
 [-8.64162638e-05  4.97123021e-05  9.99999995e-01]]

 t_estimated:
[[0.80917617]
 [0.58756549]
 [0.00084908]]

 R_gt:
[[ 0.98997079 -0.13489271  0.04198572]
 [ 0.13467091  0.99085651  0.00808514]
 [-0.0426923  -0.00234913  0.99908473]]

 t_gt:
[ 0.6670018  -0.70508676  0.24075144]

Pose Error in degrees for R and t:
18.92202538801893 82.78218333592893

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 7.33476697e-01  6.79714335e-01 -5.98373351e-04]
 [ 6.79634161e-01 -7.33376071e-01  1.60295212e-02]
 [ 1.04566626e-02 -1.21639552e-02 -9.99871340e-01]]

 t_estimated:
[[7.32742330e-01]
 [6.80505816e-01]
 [7.15568682e-04]]

 R_gt:
[[ 0.95999398 -0.28001852 -0.001495  ]
 [ 0.28000922  0.95988018  0.01496006]
 [-0.00275368 -0.0147792   0.99988637]]

 t_gt:
[ 0.77174279 -0.63535321  0.02719115]

Pose Error in degrees for R and t:
178.39439590620267 82.3485444388707

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.98020062e-01  6.28957796e-02 -2.77063657e-04]
 [-6.28955769e-02  9.98019876e-01  6.88035073e-04]
 [ 3.19789539e-04 -6.69246728e-04  9.99999725e-01]]

 t_estimated:
[[0.75414464]
 [0.65670788]
 [0.00079217]]

 R_gt:
[[ 0.88522735 -0.46414319 -0.03070739]
 [ 0.46477886  0.88524214  0.01806864]
 [ 0.01879661 -0.03026675  0.99936468]]

 t_gt:
[ 0.83408872 -0.55160987  0.00474869]

Pose Error in degrees for R and t:
31.353300757169368 74.52720788703522

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.79823999e-01 -1.99861639e-01 -5.06713610e-04]
 [ 1.99861696e-01  9.79824116e-01  6.40363351e-05]
 [ 4.83691809e-04 -1.64016979e-04  9.99999870e-01]]

 t_estimated:
[[-0.35932747]
 [-0.93320955]
 [-0.00192332]]

 R_gt:
[[ 0.99002233  0.1402583  -0.01353038]
 [-0.1404282   0.99000989 -0.0126079 ]
 [ 0.01162627  0.0143831   0.99982837]]

 t_gt:
[-0.61538869  0.77514468 -0.14299466]

Pose Error in degrees for R and t:
19.62497445676443 59.86949167170711

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99932177e-01  1.16430501e-02 -2.83871643e-04]
 [-1.16429976e-02  9.99932201e-01  1.85625299e-04]
 [ 2.86013641e-04 -1.82307592e-04  9.99999942e-01]]

 t_estimated:
[[-9.83547395e-01]
 [-1.80649513e-01]
 [-5.24316055e-04]]

 R_gt:
[[ 0.97161784  0.23012759 -0.05478635]
 [-0.22983455  0.97315953  0.01167129]
 [ 0.05600183  0.00125222  0.99843006]]

 t_gt:
[-0.59475094  0.78037116 -0.19311183]

Pose Error in degrees for R and t:
13.035073667596413 63.63465605501641

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.75255946e-01 -2.21077780e-01 -6.74562261e-04]
 [ 2.21078044e-01  9.75256059e-01  3.44466959e-04]
 [ 5.81716941e-04 -4.85074355e-04  9.99999713e-01]]

 t_estimated:
[[-0.38370915]
 [-0.92345348]
 [-0.00098135]]

 R_gt:
[[ 0.93098496  0.3619545  -0.0475183 ]
 [-0.36056499  0.93206008  0.03543901]
 [ 0.05711679 -0.01585945  0.99824086]]

 t_gt:
[-0.57359866  0.81346548 -0.09622108]

Pose Error in degrees for R and t:
34.129736188423344 57.9264101637315

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.98610613e-01 -5.26956428e-02  1.15810504e-04]
 [ 5.26956313e-02  9.98610615e-01  1.00139487e-04]
 [-1.20926513e-04 -9.38976465e-05  9.99999988e-01]]

 t_estimated:
[[0.4540493 ]
 [0.89097576]
 [0.0011949 ]]

 R_gt:
[[ 0.99796541 -0.00571602  0.06349418]
 [ 0.01091355  0.99658905 -0.0817965 ]
 [-0.06280961  0.08232361  0.99462433]]

 t_gt:
[-0.17015225  0.51168097 -0.84215842]

Pose Error in degrees for R and t:
6.464679774762012 67.81294883121257

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.9781821  -0.20743866 -0.01135738]
 [-0.20751928  0.97820974  0.00643905]
 [ 0.00977419  0.00865544 -0.99991477]]

 t_estimated:
[[ 0.98663891]
 [ 0.1627721 ]
 [-0.00699277]]

 R_gt:
[[ 0.99279384  0.04486214  0.11111429]
 [-0.02662948  0.98668491 -0.16044698]
 [-0.11683308  0.15633265  0.98077057]]

 t_gt:
[-0.62122015  0.67346278 -0.4006662 ]

Pose Error in degrees for R and t:
175.0362498816567 59.96709621048174

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[-7.52195195e-01 -6.58931963e-01 -3.32524988e-03]
 [-6.58940352e-01  7.52185337e-01  3.85126971e-03]
 [-3.65205031e-05  5.08804790e-03 -9.99987055e-01]]

 t_estimated:
[[8.55841589e-01]
 [5.17237596e-01]
 [6.66543294e-04]]

 R_gt:
[[ 0.9845614   0.09614625  0.1462664 ]
 [-0.06982801  0.98200345 -0.17547763]
 [-0.16050569  0.16255516  0.97355793]]

 t_gt:
[-0.72814733  0.6846987  -0.03145097]

Pose Error in degrees for R and t:
175.25645728189028 74.39238537393499

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 8.55763846e-01  5.17365889e-01  8.81795354e-04]
 [-5.17365961e-01  8.55764241e-01 -1.61988230e-04]
 [-8.38416116e-04 -3.17587230e-04  9.99999598e-01]]

 t_estimated:
[[0.30357244]
 [0.95280639]
 [0.00194041]]

 R_gt:
[[ 0.99329765  0.11349682 -0.02187704]
 [-0.1133507   0.99352487  0.00783137]
 [ 0.02262344 -0.00529882  0.9997301 ]]

 t_gt:
[-0.65793653  0.73756688 -0.15203495]

Pose Error in degrees for R and t:
24.680115000912952 59.819085650393966

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.95971365e-01 -8.96715520e-02 -2.30899537e-04]
 [ 8.96716196e-02  9.95971340e-01  3.01224272e-04]
 [ 2.02958073e-04 -3.20715884e-04  9.99999928e-01]]

 t_estimated:
[[-8.38502929e-01]
 [-5.44896701e-01]
 [-6.51011590e-04]]

 R_gt:
[[ 0.97258291  0.22937134 -0.03836599]
 [-0.22787447  0.97288109  0.03970932]
 [ 0.04643379 -0.02987775  0.9984748 ]]

 t_gt:
[-0.65396203  0.75262425 -0.07674896]

Pose Error in degrees for R and t:
18.635697450153742 82.05071173401214

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.09286262e-01  4.16170913e-01 -5.15512765e-04]
 [-4.16167869e-01  9.09283196e-01  2.89384240e-03]
 [ 1.67308013e-03 -2.41679129e-03  9.99995680e-01]]

 t_estimated:
[[8.37531061e-01]
 [5.46389311e-01]
 [6.64707192e-04]]

 R_gt:
[[ 0.92355442  0.38035588 -0.04875877]
 [-0.37939619  0.92481131  0.0279817 ]
 [ 0.05573559 -0.00734356  0.99841847]]

 t_gt:
[-0.5678321   0.81572414 -0.11027617]

Pose Error in degrees for R and t:
3.841008934986388 88.28388567030969

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.76322245  0.63812386 -0.10143679]
 [ 0.63715768  0.76936487  0.04591073]
 [ 0.10733864 -0.02959113 -0.99378206]]

 t_estimated:
[[ 0.91729645]
 [-0.39098903]
 [-0.07546395]]

 R_gt:
[[ 0.99781164 -0.05416433 -0.03792347]
 [ 0.04911884  0.9911615  -0.12323716]
 [ 0.04426243  0.12110519  0.99165219]]

 t_gt:
[ 0.44613399 -0.14864112 -0.88253628]

Pose Error in degrees for R and t:
173.82189154522482 57.727008182686816

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-7.81889494e-01 -6.23411858e-01 -2.54440590e-03]
 [-6.23417048e-01  7.81882634e-01  3.27565864e-03]
 [-5.26576489e-05  4.14742910e-03 -9.99991398e-01]]

 t_estimated:
[[8.14835807e-01]
 [5.79691385e-01]
 [7.10406109e-04]]

 R_gt:
[[ 0.99544638 -0.06229839 -0.07215313]
 [ 0.04709151  0.97947178 -0.19600883]
 [ 0.08288198  0.19171944  0.97794392]]

 t_gt:
[ 0.36969361  0.04963044 -0.92782728]

Pose Error in degrees for R and t:
172.01736081145515 70.7706237323086

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.88552077e-01 -1.50880044e-01 -6.19439816e-05]
 [ 1.50880056e-01  9.88552019e-01  3.38059021e-04]
 [ 1.02284882e-05 -3.43535058e-04  9.99999941e-01]]

 t_estimated:
[[2.43313586e-01]
 [9.69947567e-01]
 [4.64509325e-04]]

 R_gt:
[[ 0.99106805 -0.04330645 -0.12613519]
 [ 0.01661404  0.97853219 -0.20542594]
 [ 0.13232279  0.20149591  0.97051002]]

 t_gt:
[ 0.31097054  0.16686967 -0.93565583]

Pose Error in degrees for R and t:
15.584173258734145 76.28552633786364

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.98973781 -0.14288602  0.00162759]
 [ 0.14288891  0.98973705 -0.00182643]
 [-0.00134992  0.00204025  0.99999701]]

 t_estimated:
[[-0.63161596]
 [-0.77528096]
 [-0.00085009]]

 R_gt:
[[ 9.88491627e-01 -1.51267485e-01  7.68907136e-04]
 [ 1.51203507e-01  9.87896199e-01 -3.46190769e-02]
 [ 4.47650841e-03  3.43370178e-02  9.99399550e-01]]

 t_gt:
[ 0.73539067 -0.66585981 -0.12582239]

Pose Error in degrees for R and t:
1.9436172092582844 87.02782898574418

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99161327e-01 -4.09465334e-02 -1.53539058e-04]
 [ 4.09465730e-02  9.99161302e-01  2.64771260e-04]
 [ 1.42568820e-04 -2.70836102e-04  9.99999953e-01]]

 t_estimated:
[[0.98829541]
 [0.15254835]
 [0.00108963]]

 R_gt:
[[ 0.9628335  -0.26906999  0.02347567]
 [ 0.26983275  0.9620789  -0.03993431]
 [-0.01184028  0.04478476  0.99892636]]

 t_gt:
[ 0.77212324 -0.63358323 -0.04896927]

Pose Error in degrees for R and t:
13.558449947733717 48.211685317388216

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-3.21180620e-02 -9.99478182e-01 -3.43411393e-03]
 [ 9.99484055e-01 -3.21170780e-02 -3.41315705e-04]
 [ 2.30843896e-04 -3.44330452e-03  9.99994045e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075910e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91865533 -0.39366888  0.03311882]
 [ 0.39463358  0.91832749 -0.03064525]
 [-0.01834912  0.04122212  0.99898114]]

 t_gt:
[ 0.81251319 -0.58252274 -0.02212639]

Pose Error in degrees for R and t:
68.66564151547966 35.83702737644887

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[-1.95906007e-01  9.80594189e-01  7.47482284e-03]
 [-9.80622428e-01 -1.95905712e-01 -7.78784419e-04]
 [ 7.00689018e-04 -7.48254747e-03  9.99971760e-01]]

 t_estimated:
[[0.57989104]
 [0.81469355]
 [0.0008894 ]]

 R_gt:
[[ 0.98642071 -0.16381126  0.01186111]
 [ 0.16283998  0.98487067  0.0592674 ]
 [-0.02138949 -0.05653101  0.99817163]]

 t_gt:
[ 0.57571128 -0.74611639  0.33446503]

Pose Error in degrees for R and t:
110.72942718843868 74.11491103408906

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 8.43324038e-01  5.37405284e-01  3.59017727e-04]
 [-5.37401619e-01  8.43320418e-01 -3.18944026e-03]
 [-2.01678903e-03  2.49679493e-03  9.99994849e-01]]

 t_estimated:
[[0.71666044]
 [0.69742123]
 [0.00120245]]

 R_gt:
[[ 0.92420951 -0.38188306 -0.00165432]
 [ 0.38064035  0.92083544  0.08470733]
 [-0.03082526 -0.07891684  0.99640476]]

 t_gt:
[ 0.74063608 -0.63764759  0.21181066]

Pose Error in degrees for R and t:
55.1737754159095 85.04747324571932

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.09842652e-01 -4.14938219e-01  3.55290667e-03]
 [-4.14943099e-01 -9.09847067e-01  7.34100051e-04]
 [ 2.92799555e-03 -2.14216964e-03 -9.99993419e-01]]

 t_estimated:
[[0.56029028]
 [0.8282958 ]
 [0.00093382]]

 R_gt:
[[ 0.85896802 -0.51149409 -0.02342079]
 [ 0.51059292  0.85223644  0.11396495]
 [-0.03833225 -0.10985044  0.99320894]]

 t_gt:
[ 0.79611795 -0.56572005  0.2148419 ]

Pose Error in degrees for R and t:
173.36048333736457 88.72072145574933

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.99953068 -0.030603   -0.00137057]
 [ 0.03060458  0.99953091  0.00114815]
 [ 0.00133479 -0.00118956  0.9999984 ]]

 t_estimated:
[[-7.83508887e-01]
 [-6.21380208e-01]
 [-6.78362673e-04]]

 R_gt:
[[ 0.99378651  0.11083406 -0.01022674]
 [-0.11096257  0.99374005 -0.01295152]
 [ 0.00872815  0.01400692  0.99986413]]

 t_gt:
[-0.43154734  0.88953492 -0.14998173]

Pose Error in degrees for R and t:
8.177799203557642 77.61283846735043

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99887699e-01 -1.49350938e-02 -1.23822417e-03]
 [ 1.49351062e-02  9.99888465e-01  7.34781192e-07]
 [ 1.23807509e-03 -1.92277081e-05  9.99999233e-01]]

 t_estimated:
[[-0.62986445]
 [-0.77670401]
 [-0.00128807]]

 R_gt:
[[ 0.97101342  0.23792341 -0.02292738]
 [-0.23880252  0.96978239 -0.04994999]
 [ 0.01035137  0.05397806  0.99848828]]

 t_gt:
[-0.33458078  0.9283273  -0.16206209]

Pose Error in degrees for R and t:
14.985089582741171 59.330424780323696

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.97074147e-01 -7.64402755e-02  1.73483919e-04]
 [ 7.64403389e-02  9.97074079e-01 -3.94388468e-04]
 [-1.42829155e-04  4.06495715e-04  9.99999907e-01]]

 t_estimated:
[[-7.77067376e-01]
 [-6.29416964e-01]
 [-7.61084599e-04]]

 R_gt:
[[ 9.33967181e-01  3.55080687e-01 -4.02740152e-02]
 [-3.57358433e-01  9.28057624e-01 -1.04904231e-01]
 [ 1.27608510e-04  1.12369912e-01  9.93666296e-01]]

 t_gt:
[-0.26689367  0.95002731 -0.16191319]

Pose Error in degrees for R and t:
26.112450113933747 67.0177642659349

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 1.00000000e+00 -6.63358257e-14 -7.96598031e-14]
 [ 6.63358257e-14  1.00000000e+00  3.27073438e-14]
 [ 7.98378291e-14 -3.38480329e-14  1.00000000e+00]]

 t_estimated:
[[0.80076345]
 [0.59897872]
 [0.0015474 ]]

 R_gt:
[[ 9.92691168e-01 -1.20430911e-01  7.78002444e-03]
 [ 1.20438053e-01  9.92721361e-01 -4.88671549e-04]
 [-7.66418657e-03  1.42206510e-03  9.99968493e-01]]

 t_gt:
[ 0.561581   -0.82522384  0.06026938]

Pose Error in degrees for R and t:
6.931800283613492 87.4492250314173

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.55617557e-01 -2.94606894e-01  1.36508678e-03]
 [ 2.94607792e-01  9.55618120e-01 -5.06887086e-04]
 [-1.15516923e-03  8.86555399e-04  9.99998940e-01]]

 t_estimated:
[[0.74728339]
 [0.66450505]
 [0.00075943]]

 R_gt:
[[ 0.96327238 -0.26851768  0.00213492]
 [ 0.26843909  0.96313357  0.01774541]
 [-0.00681981 -0.01652051  0.99983975]]

 t_gt:
[ 0.6147062  -0.78671302  0.05673551]

Pose Error in degrees for R and t:
1.8785329536654616 86.36661979411153

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.56016793e-01  2.93311903e-01  1.35248678e-04]
 [-2.93311902e-01  9.56016803e-01 -2.46693070e-05]
 [-1.36535810e-04 -1.60857753e-05  9.99999991e-01]]

 t_estimated:
[[-0.76806605]
 [-0.64037013]
 [-0.00080334]]

 R_gt:
[[ 0.89850859 -0.43690326  0.04240037]
 [ 0.43680473  0.89947537  0.0120365 ]
 [-0.04339674  0.00770533  0.99902692]]

 t_gt:
[ 0.67424961 -0.73384359  0.08283144]

Pose Error in degrees for R and t:
43.04347224985705 87.24855859344876

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.71740940e-01 -2.36049577e-01 -3.77664969e-04]
 [ 2.36049571e-01  9.71741013e-01 -6.16740194e-05]
 [ 3.81550666e-04 -2.92164844e-05  9.99999927e-01]]

 t_estimated:
[[ 9.90701770e-01]
 [ 1.36051414e-01]
 [-1.25847876e-04]]

 R_gt:
[[ 0.99894169  0.04361632 -0.01461747]
 [-0.0435923   0.99904754  0.00191601]
 [ 0.01468733 -0.00127692  0.99989126]]

 t_gt:
[-0.29371877  0.95588906  0.0023202 ]

Pose Error in degrees for R and t:
16.173556983119234 80.73865802619004

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.89990833e-01  1.41131667e-01  5.23950397e-05]
 [-1.41131665e-01  9.89990834e-01 -4.63206589e-05]
 [-5.84079209e-05  3.84624285e-05  9.99999998e-01]]

 t_estimated:
[[0.72631486]
 [0.68736167]
 [0.00081152]]

 R_gt:
[[ 9.99816047e-01 -1.91814722e-02  3.56258123e-04]
 [ 1.91849192e-02  9.99554799e-01 -2.28576917e-02]
 [ 8.21913900e-05  2.28604287e-02  9.99738983e-01]]

 t_gt:
[ 0.5890435   0.68992375 -0.42075288]

Pose Error in degrees for R and t:
9.304679179437604 25.615350410542693

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.86705855  0.49819325  0.00359868]
 [-0.49816932  0.86705961 -0.00591311]
 [-0.00606614  0.00333426  0.99997604]]

 t_estimated:
[[0.42233171]
 [0.90644066]
 [0.00112322]]

 R_gt:
[[ 0.99351635 -0.055309    0.09933466]
 [ 0.06959274  0.98674047 -0.14662944]
 [-0.08990775  0.15259097  0.9841918 ]]

 t_gt:
[ 0.275355    0.69756158 -0.66150394]

Pose Error in degrees for R and t:
34.85394453933602 41.59583838188532

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999773e-01 -1.73815693e-04 -6.50993923e-04]
 [ 1.74394183e-04  9.99999590e-01  8.88674758e-04]
 [ 6.50839190e-04 -8.88788086e-04  9.99999393e-01]]

 t_estimated:
[[0.0622705 ]
 [0.99805781]
 [0.00172974]]

 R_gt:
[[ 0.98642032  0.16422956 -0.00170337]
 [-0.16404814  0.98572139  0.03796995]
 [ 0.00791554 -0.03717484  0.99927736]]

 t_gt:
[-0.41028432  0.90895322  0.07396493]

Pose Error in degrees for R and t:
9.695442620701725 28.143721022575573

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.70439111  0.70981022  0.0016188 ]
 [ 0.70979767 -0.70436047 -0.00797485]
 [-0.00452041  0.00676643 -0.99996689]]

 t_estimated:
[[0.70661828]
 [0.70759427]
 [0.00097599]]

 R_gt:
[[ 0.96111788  0.27604346 -0.00721413]
 [-0.27560715  0.96056047  0.03694023]
 [ 0.01712634 -0.03351516  0.99929197]]

 t_gt:
[-0.35566075  0.93461329 -0.00185358]

Pose Error in degrees for R and t:
178.31397685348296 65.79461184863317

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.98522328 -0.17126552  0.00179344]
 [-0.17125753  0.98521846  0.00392984]
 [-0.00243998  0.00356463 -0.99999067]]

 t_estimated:
[[0.57452696]
 [0.81848439]
 [0.00144354]]

 R_gt:
[[ 0.91688886  0.39913655 -0.00197112]
 [-0.39913322  0.91689055  0.00216938]
 [ 0.00267318 -0.00120266  0.99999581]]

 t_gt:
[-0.27851667  0.9602686  -0.01768274]

Pose Error in degrees for R and t:
179.93736925653363 51.24996164872701

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.73900083  0.67356967  0.01347826]
 [-0.67370216 -0.73890323 -0.01214143]
 [ 0.00178103 -0.01805286  0.99983545]]

 t_estimated:
[[0.46829601]
 [0.88356081]
 [0.00437602]]

 R_gt:
[[ 0.99185504 -0.12714926  0.00748755]
 [ 0.12734694  0.9910748  -0.03942781]
 [-0.00240794  0.0400607   0.99919408]]

 t_gt:
[ 0.8398151  -0.50207062 -0.20648413]

Pose Error in degrees for R and t:
144.9771306898944 87.063369024777

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99940807e-01 -1.08794483e-02 -1.39405671e-04]
 [ 1.08794773e-02  9.99940795e-01  2.09549860e-04]
 [ 1.37117631e-04 -2.11054117e-04  9.99999968e-01]]

 t_estimated:
[[-0.99563795]
 [-0.09328157]
 [-0.00190371]]

 R_gt:
[[ 0.9766613  -0.21297159  0.02784534]
 [ 0.21452285  0.97363405 -0.07757032]
 [-0.01059057  0.08173409  0.99659833]]

 t_gt:
[ 0.84874324 -0.47686564 -0.22854773]

Pose Error in degrees for R and t:
12.658080938729197 36.85813880564397

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.99871251  0.03747982  0.03418469]
 [-0.04097905 -0.99328636 -0.10818005]
 [ 0.02990062 -0.10944162  0.9935434 ]]

 t_estimated:
[[0.94148988]
 [0.33703755]
 [0.00158234]]

 R_gt:
[[ 0.96649939 -0.24060694  0.08936753]
 [ 0.25066333  0.95969815 -0.12706794]
 [-0.0551925   0.1452125   0.98786044]]

 t_gt:
[ 0.85212454 -0.44972036 -0.26764785]

Pose Error in degrees for R and t:
168.10571573203086 49.438003026548174

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[-0.98357199 -0.18050673  0.00186261]
 [-0.18050142  0.983571    0.00270625]
 [-0.00232051  0.00232559 -0.9999946 ]]

 t_estimated:
[[0.98982693]
 [0.14226257]
 [0.0020037 ]]

 R_gt:
[[ 0.99189276 -0.11900627  0.04458003]
 [ 0.11947045  0.9928061  -0.00790847]
 [-0.04331828  0.01317035  0.99897438]]

 t_gt:
[ 0.10648565 -0.94051346  0.32263794]

Pose Error in degrees for R and t:
177.41321468261148 88.40977855991184

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99998119e-01 -1.93666801e-03  1.07466551e-04]
 [ 1.93672469e-03  9.99997984e-01 -5.29855005e-04]
 [-1.06440181e-04  5.30062141e-04  9.99999854e-01]]

 t_estimated:
[[ 9.99173696e-01]
 [ 4.06415946e-02]
 [-4.31990416e-04]]

 R_gt:
[[ 0.97319337 -0.22624877  0.04131509]
 [ 0.22585782  0.97406047  0.01393865]
 [-0.04339697 -0.00423278  0.99904963]]

 t_gt:
[ 0.26035185 -0.94642337  0.191049  ]

Pose Error in degrees for R and t:
13.19789936751248 77.19755936674784

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.75875844 -0.42536054 -0.49330927]
 [ 0.21635596 -0.87891864  0.42507895]
 [-0.61439053  0.21580184  0.75891623]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.93098147 -0.36398967  0.02802931]
 [ 0.36483981  0.93036439 -0.03624833]
 [-0.01288315  0.04397345  0.99895018]]

 t_gt:
[ 0.4505884  -0.88563987 -0.11230366]

Pose Error in degrees for R and t:
140.53624954576807 77.50695331902584

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-8.35721256e-01 -5.49151679e-01 -1.55425250e-03]
 [ 5.49151948e-01 -8.35722476e-01  2.86321900e-04]
 [-1.45615790e-03 -6.14235491e-04  9.99998751e-01]]

 t_estimated:
[[9.84577223e-01]
 [1.74948781e-01]
 [7.84523684e-04]]

 R_gt:
[[ 0.97464595 -0.21273896 -0.06933789]
 [ 0.21348894  0.97693916  0.0035107 ]
 [ 0.06699169 -0.01822474  0.99758666]]

 t_gt:
[ 0.77099596 -0.60994086 -0.18313213]

Pose Error in degrees for R and t:
134.3993586690782 49.28831686591794

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-2.89861791e-01 -9.57051292e-01 -5.74156506e-03]
 [-9.57068514e-01  2.89856719e-01  1.71497071e-03]
 [ 2.29162758e-05  5.99217563e-03 -9.99982046e-01]]

 t_estimated:
[[8.08678452e-01]
 [5.88250574e-01]
 [6.50877424e-04]]

 R_gt:
[[ 0.92542829 -0.3735624  -0.06350408]
 [ 0.37468099  0.92713267  0.00627678]
 [ 0.05653127 -0.02960223  0.99796177]]

 t_gt:
[ 0.81370235 -0.5777146  -0.06429875]

Pose Error in degrees for R and t:
177.65997610270915 71.44947704059777

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.79515395e-01 -2.01369173e-01 -2.17842069e-04]
 [ 2.01369241e-01  9.79515340e-01  3.57025669e-04]
 [ 1.41485685e-04 -3.93578831e-04  9.99999913e-01]]

 t_estimated:
[[-0.36409576]
 [-0.93136098]
 [-0.00100579]]

 R_gt:
[[ 0.83843814 -0.54352588 -0.04001483]
 [ 0.54408292  0.8390228   0.00373614]
 [ 0.03154293 -0.02490399  0.99919155]]

 t_gt:
[ 0.85802843 -0.5134849  -0.01097612]

Pose Error in degrees for R and t:
21.46164023048253 80.45359738278192

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99999985e-01 -1.32123439e-04 -1.13109991e-04]
 [ 1.32125566e-04  9.99999991e-01  1.87977021e-05]
 [ 1.13107507e-04 -1.88126465e-05  9.99999993e-01]]

 t_estimated:
[[-0.92278127]
 [-0.38532119]
 [-0.00152119]]

 R_gt:
[[ 0.99551101 -0.09462139  0.00214505]
 [ 0.09454913  0.99526387  0.02260552]
 [-0.00427472 -0.02230045  0.99974229]]

 t_gt:
[ 0.09487506 -0.95676277  0.27496132]

Pose Error in degrees for R and t:
5.574267638581278 73.69838411630187

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.93281734e-01  1.15721065e-01  1.81479385e-04]
 [-1.15720999e-01  9.93281700e-01 -3.37747116e-04]
 [-2.19344608e-04  3.14477065e-04  9.99999926e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.69657747e-01 -2.44467403e-01  3.03746235e-04]
 [ 2.44399022e-01  9.69357968e-01 -2.47742492e-02]
 [ 5.76135615e-03  2.40960107e-02  9.99692427e-01]]

 t_gt:
[ 0.42740237 -0.89035324 -0.15683852]

Pose Error in degrees for R and t:
20.842516572458152 64.87985226929183

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.9612276   0.2757428   0.0027206 ]
 [ 0.27574982 -0.96122573 -0.0026699 ]
 [ 0.00187891  0.00331658 -0.99999273]]

 t_estimated:
[[0.58138492]
 [0.81362715]
 [0.00155867]]

 R_gt:
[[ 0.94499106 -0.32688945  0.01164723]
 [ 0.32702759  0.94492409 -0.01311208]
 [-0.00671957  0.01619956  0.99984605]]

 t_gt:
[ 0.36256818 -0.93034646 -0.05477018]

Pose Error in degrees for R and t:
178.88966148202192 56.8899533741046

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99999603e-01  8.88930591e-04 -6.38986876e-05]
 [-8.88911053e-04  9.99999558e-01  3.05158543e-04]
 [ 6.41699242e-05 -3.05101621e-04  9.99999951e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.98736162 -0.15846443 -0.0027289 ]
 [ 0.15842949  0.98732009 -0.00995171]
 [ 0.0042713   0.00939348  0.99994622]]

 t_gt:
[ 0.81642168 -0.57420787 -0.0611635 ]

Pose Error in degrees for R and t:
9.187918425563293 44.457017026086085

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-8.28104189e-01 -5.60568601e-01  2.50889268e-03]
 [-5.60563651e-01  8.28107766e-01  2.43325694e-03]
 [-3.44164095e-03  6.08596229e-04 -9.99993892e-01]]

 t_estimated:
[[0.96170877]
 [0.27406209]
 [0.00249147]]

 R_gt:
[[ 0.96551777 -0.26006057  0.01208435]
 [ 0.26030552  0.96358087 -0.06124505]
 [ 0.00428364  0.06227855  0.99804996]]

 t_gt:
[ 0.85871461 -0.48100425 -0.17676009]

Pose Error in degrees for R and t:
179.36181108541902 46.0867887740621

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.94221355e-01  1.07341375e-01  1.31389453e-03]
 [-1.07341541e-01  9.94222204e-01  5.57461621e-05]
 [-1.30031925e-03 -1.96459488e-04  9.99999135e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.94216697 -0.33157732  0.04877794]
 [ 0.33479653  0.93780341 -0.09184263]
 [-0.01529082  0.10286134  0.99457781]]

 t_gt:
[ 0.87274197 -0.45376317 -0.18005676]

Pose Error in degrees for R and t:
26.349053087660543 37.94667730739075

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.96275623  0.27036859  0.00112241]
 [-0.27036689  0.96275625 -0.00146333]
 [-0.00147624  0.00110537  0.9999983 ]]

 t_estimated:
[[-8.63493121e-01]
 [-5.04360108e-01]
 [-7.15404408e-04]]

 R_gt:
[[ 0.99431694 -0.07819981  0.07224003]
 [ 0.08397712  0.99319109 -0.08074293]
 [-0.06543443  0.08635053  0.9941141 ]]

 t_gt:
[ 0.66118517  0.1577643  -0.73344706]

Pose Error in degrees for R and t:
21.24001334650375 49.460346424974496

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-8.07240097e-01  5.90222599e-01 -8.42913223e-04]
 [-5.90220608e-01 -8.07239960e-01 -1.81123957e-03]
 [-1.74946776e-03 -9.64600454e-04  9.99998004e-01]]

 t_estimated:
[[0.54823723]
 [0.83632213]
 [0.00111375]]

 R_gt:
[[ 0.98652475 -0.07641652  0.14467177]
 [ 0.10229111  0.97817619 -0.18085238]
 [-0.12769462  0.19321371  0.9728113 ]]

 t_gt:
[ 0.22559077  0.45527824 -0.86129585]

Pose Error in degrees for R and t:
149.22745473024617 59.769679148695

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.67339434e-01 -2.53483061e-01 -8.70644532e-04]
 [-2.53483512e-01 -9.67339601e-01 -4.52421611e-04]
 [-7.27527720e-04  6.58339298e-04 -9.99999519e-01]]

 t_estimated:
[[0.36263412]
 [0.93193069]
 [0.00129976]]

 R_gt:
[[ 0.96432359 -0.14153972  0.22370962]
 [ 0.19195536  0.9557977  -0.22271696]
 [-0.18229847  0.2577135   0.94886862]]

 t_gt:
[ 0.48753233  0.12824141 -0.86363555]

Pose Error in degrees for R and t:
167.57969234384814 72.83134246753994

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999914e-01  4.12810325e-04  3.66847794e-05]
 [-4.12811655e-04  9.99999914e-01  3.62438062e-05]
 [-3.66698144e-05 -3.62589470e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99997795e-01]
 [-2.09706437e-03]
 [-1.06710780e-04]]

 R_gt:
[[ 0.997179   -0.07496988 -0.00370121]
 [ 0.07489653  0.99704357 -0.01715881]
 [ 0.00497585  0.01683383  0.9998457 ]]

 t_gt:
[ 0.83842319 -0.5198708  -0.16364873]

Pose Error in degrees for R and t:
4.437490750363988 32.90958279315077

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 6.72296663e-01 -7.40281490e-01 -7.15498217e-04]
 [ 7.40281618e-01  6.72296893e-01 -1.17932133e-04]
 [ 5.68330204e-04 -4.50384798e-04  9.99999737e-01]]

 t_estimated:
[[-0.16325759]
 [-0.98658248]
 [-0.00140739]]

 R_gt:
[[ 0.98485567 -0.16976453 -0.0352063 ]
 [ 0.16934973  0.98544935 -0.01445502]
 [ 0.03714775  0.00827386  0.99927616]]

 t_gt:
[ 0.84564677 -0.51455972 -0.14180917]

Pose Error in degrees for R and t:
38.04797529085925 68.29690568144652

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999936e-01  3.57268139e-04 -1.00299555e-05]
 [-3.57262654e-04  9.99999789e-01  5.41679325e-04]
 [ 1.02234781e-05 -5.41675707e-04  9.99999853e-01]]

 t_estimated:
[[ 9.13852637e-01]
 [ 4.06046003e-01]
 [-1.62380982e-05]]

 R_gt:
[[ 0.97763501 -0.19638449 -0.07525339]
 [ 0.19526325  0.98050234 -0.02205348]
 [ 0.07811767  0.0068664   0.99691992]]

 t_gt:
[ 0.87144193 -0.4448776  -0.20657419]

Pose Error in degrees for R and t:
12.190367312472079 51.994865793920084

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 5.49586543e-01  8.35436625e-01  5.25854028e-04]
 [-8.35436183e-01  5.49586794e-01 -8.60502154e-04]
 [-1.00789744e-03  3.36029220e-05  9.99999492e-01]]

 t_estimated:
[[-2.97717960e-01]
 [ 9.54653529e-01]
 [ 8.10284833e-04]]

 R_gt:
[[ 0.99821899  0.05916278 -0.00769214]
 [-0.05921938  0.99821805 -0.00741613]
 [ 0.00723915  0.00785825  0.99994272]]

 t_gt:
[-0.39829873  0.90391488 -0.1558718 ]

Pose Error in degrees for R and t:
53.2712969110713 11.074004620102434

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99588575 -0.09059907  0.00183952]
 [ 0.0906042   0.99588268 -0.00292796]
 [-0.00156667  0.00308258  0.99999402]]

 t_estimated:
[[-0.66965561]
 [-0.74266983]
 [-0.00169764]]

 R_gt:
[[ 0.99490173  0.10048198  0.00862491]
 [-0.10015776  0.99445174 -0.03215728]
 [-0.01180975  0.03112933  0.9994459 ]]

 t_gt:
[-0.4120319   0.90834772 -0.07165289]

Pose Error in degrees for R and t:
11.090099343920206 66.51172872794184

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 8.77180671e-01 -4.80160037e-01 -6.39583582e-04]
 [ 4.80159875e-01  8.77180903e-01 -3.96925245e-04]
 [ 7.51618144e-04  4.10727803e-05  9.99999717e-01]]

 t_estimated:
[[ 0.79724717]
 [-0.60365232]
 [-0.00091161]]

 R_gt:
[[ 0.99948896  0.03142893 -0.00582517]
 [-0.03160859  0.99893122 -0.03373932]
 [ 0.00475815  0.03390685  0.99941434]]

 t_gt:
[-0.40118016  0.84905892 -0.34373453]

Pose Error in degrees for R and t:
30.562847867172938 33.68877782245923

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-2.85990967e-01  9.58231569e-01 -1.19437921e-03]
 [-9.58230570e-01 -2.85992602e-01 -1.55111481e-03]
 [-1.82791080e-03  7.00885850e-04  9.99998084e-01]]

 t_estimated:
[[0.4983778 ]
 [0.86695939]
 [0.00099081]]

 R_gt:
[[ 0.98195753  0.18648165  0.03136297]
 [-0.18593688  0.9823682  -0.01950524]
 [-0.0344474   0.0133216   0.99931671]]

 t_gt:
[-0.72474938  0.67507854  0.13786697]

Pose Error in degrees for R and t:
95.89864741762428 77.04396709622961

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 6.80642541e-01  7.32615302e-01  7.42232017e-04]
 [-7.32614782e-01  6.80642943e-01 -8.74323699e-04]
 [-1.14573791e-03  5.13317560e-05  9.99999342e-01]]

 t_estimated:
[[3.97420675e-04]
 [9.99999080e-01]
 [1.29684547e-03]]

 R_gt:
[[ 0.96467162  0.25529868  0.06504773]
 [-0.25258993  0.96642772 -0.04706264]
 [-0.07487957  0.02896991  0.99677126]]

 t_gt:
[-0.70963753  0.68354013  0.1708434 ]

Pose Error in degrees for R and t:
32.67871170128423 46.88389122539571

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-2.72153171e-01  9.62210119e-01  9.18364466e-03]
 [-9.62253542e-01 -2.72131949e-01 -3.51034228e-03]
 [-8.78523739e-04 -9.79234539e-03  9.99951668e-01]]

 t_estimated:
[[0.75086728]
 [0.66045131]
 [0.00154785]]

 R_gt:
[[ 0.96610147  0.23025688  0.11674698]
 [-0.22739901  0.97308311 -0.03741306]
 [-0.12221942  0.00959669  0.99245613]]

 t_gt:
[-0.72599427  0.59965277  0.33667324]

Pose Error in degrees for R and t:
92.68639486032025 81.45635397875118

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99942546 -0.03386993 -0.00125586]
 [ 0.03387261  0.99942377  0.00218444]
 [ 0.00118115 -0.00222573  0.99999683]]

 t_estimated:
[[0.54844689]
 [0.83618443]
 [0.00126388]]

 R_gt:
[[ 0.96897183  0.2469907  -0.00949292]
 [-0.24695231  0.96901447  0.00506336]
 [ 0.01044968 -0.00256198  0.99994193]]

 t_gt:
[-0.62048599  0.78330392 -0.03784307]

Pose Error in degrees for R and t:
16.24786933477664 71.66121314555417

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.0012613   0.99999484 -0.00295408]
 [-0.99999526 -0.00126959 -0.00280539]
 [-0.00280913  0.00295053  0.9999917 ]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.92080015  0.38742199 -0.04508691]
 [-0.38856279  0.9212096  -0.01976229]
 [ 0.03387825  0.03571675  0.99878768]]

 t_gt:
[-0.5253169   0.83899501 -0.14187857]

Pose Error in degrees for R and t:
67.27465401171469 33.32638795070337

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 3.92171443e-01 -9.19891918e-01 -6.47129436e-04]
 [-9.19892127e-01 -3.92171478e-01 -7.67454186e-05]
 [-1.83188217e-04  6.25386635e-04 -9.99999788e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.89970276  0.43201182 -0.06246795]
 [-0.43523063  0.89876798 -0.05281556]
 [ 0.03332727  0.07470736  0.99664857]]

 t_gt:
[-0.48422215  0.85300159 -0.1947234 ]

Pose Error in degrees for R and t:
175.28634380243224 52.89286105447962

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.92997926e-01 -1.18131786e-01 -6.36371776e-06]
 [ 1.18131786e-01  9.92997918e-01  1.24729484e-04]
 [-8.41535825e-06 -1.24607876e-04  9.99999992e-01]]

 t_estimated:
[[-0.65895178]
 [-0.75218477]
 [-0.00079011]]

 R_gt:
[[ 0.99869822 -0.04538179  0.0232748 ]
 [ 0.04532014  0.9989672   0.00318516]
 [-0.02339505 -0.00212554  0.99972495]]

 t_gt:
[ 0.07199723 -0.78806185  0.61137134]

Pose Error in degrees for R and t:
4.395317543676556 56.98610762817302

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999727e-01 -7.23857754e-04  1.48873076e-04]
 [ 7.23859236e-04  9.99999738e-01 -9.90663852e-06]
 [-1.48865866e-04  1.00143990e-05  9.99999989e-01]]

 t_estimated:
[[1.21970289e-01]
 [9.92533599e-01]
 [5.51121024e-04]]

 R_gt:
[[ 0.98866219 -0.13758961  0.0601308 ]
 [ 0.13817021  0.9903925  -0.00559777]
 [-0.0587823   0.01384306  0.99817528]]

 t_gt:
[ 0.40631318 -0.83964807  0.36041743]

Pose Error in degrees for R and t:
8.612601049108731 38.40657742570067

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99991593e-01  8.12351222e-04 -4.01916190e-03]
 [-7.88525011e-04  9.99982129e-01  5.92619118e-03]
 [ 4.02390422e-03 -5.92297215e-03  9.99974363e-01]]

 t_estimated:
[[-0.72569904]
 [-0.68801153]
 [-0.00101885]]

 R_gt:
[[ 0.96257863 -0.26751775  0.04331429]
 [ 0.26570777  0.96307918  0.0433286 ]
 [-0.0533053  -0.03019856  0.99812195]]

 t_gt:
[ 0.60698995 -0.74461817  0.27768143]

Pose Error in degrees for R and t:
15.913957421419122 85.89807524749845

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 8.41254598e-02 -9.96453821e-01 -1.64012940e-03]
 [ 9.96455166e-01  8.41254974e-02  4.61849008e-05]
 [ 9.19555807e-05 -1.63820074e-03  9.99998654e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98487146  0.17327267 -0.00230653]
 [-0.17327183  0.98451043 -0.02674175]
 [-0.00236318  0.02673697  0.99963938]]

 t_gt:
[-0.70032336  0.70464858 -0.11409456]

Pose Error in degrees for R and t:
95.16487481607292 45.715369301721644

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 1.66531866e-01  9.86033602e-01  2.20741865e-03]
 [ 9.86036022e-01 -1.66532164e-01 -4.95383742e-05]
 [ 3.18759702e-04  2.18484402e-03 -9.99997562e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.76256979e-01  2.15601216e-01  2.09676194e-02]
 [-2.15566745e-01  9.76481415e-01 -3.89428507e-03]
 [-2.13136761e-02 -7.17129759e-04  9.99771504e-01]]

 t_gt:
[-0.70129901  0.71088111  0.05317652]

Pose Error in degrees for R and t:
179.06754385907578 45.64917034187845

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-2.64779023e-01 -9.64296442e-01 -4.94379235e-03]
 [-9.64308691e-01  2.64780235e-01  4.19752946e-04]
 [ 9.04252227e-04  4.87848370e-03 -9.99987691e-01]]

 t_estimated:
[[8.00805694e-01]
 [5.98924101e-01]
 [4.02830111e-04]]

 R_gt:
[[ 0.9940166   0.10321503  0.03574807]
 [-0.10343292  0.99462693  0.00432194]
 [-0.03510995 -0.00799323  0.99935147]]

 t_gt:
[-0.68140098  0.69852525  0.2185296 ]

Pose Error in degrees for R and t:
178.39019062043585 82.69113089836716

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-0.53739944 -0.84332478 -0.00227181]
 [ 0.84332406 -0.53740314  0.00154759]
 [-0.002526   -0.00108419  0.99999622]]

 t_estimated:
[[ 0.98299372]
 [-0.18363182]
 [ 0.00164329]]

 R_gt:
[[ 0.99820349  0.05574481  0.02196022]
 [-0.05540575  0.99833965 -0.01578885]
 [-0.02280441  0.01454429  0.9996339 ]]

 t_gt:
[-0.92590176  0.35848028 -0.11915463]

Pose Error in degrees for R and t:
125.70002795793188 12.530724407107577

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[-7.74378451e-01 -6.32706505e-01  4.52694283e-03]
 [-6.32711329e-01  7.74387608e-01  4.54656108e-04]
 [-3.79327231e-03 -2.51217212e-03 -9.99989650e-01]]

 t_estimated:
[[0.95249097]
 [0.30454932]
 [0.00326643]]

 R_gt:
[[ 0.99433476  0.09611264  0.04538607]
 [-0.09400856  0.99448928 -0.04642265]
 [-0.0495984   0.04189311  0.99788968]]

 t_gt:
[-0.87347508  0.42278075 -0.2414492 ]

Pose Error in degrees for R and t:
178.02684646931843 45.250525324309535

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99600199e-01  2.82744084e-02 -1.40231017e-05]
 [-2.82744112e-02  9.99600160e-01 -2.78986013e-04]
 [ 6.12933022e-06  2.79270969e-04  9.99999961e-01]]

 t_estimated:
[[-8.01117859e-01]
 [-5.98506303e-01]
 [-6.18250595e-04]]

 R_gt:
[[ 0.98205662  0.17517597  0.0698386 ]
 [-0.16752224  0.98041936 -0.10351558]
 [-0.08660501  0.08995958  0.99217233]]

 t_gt:
[-0.85026487  0.42680754 -0.30803405]

Pose Error in degrees for R and t:
10.947123378676007 64.79198824652563

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.18030965e-01  3.96508619e-01  2.51323308e-04]
 [-3.96508649e-01  9.18030982e-01  8.31804098e-05]
 [-1.97740834e-04 -1.76014057e-04  9.99999965e-01]]

 t_estimated:
[[5.08322603e-01]
 [8.61166372e-01]
 [7.81699699e-04]]

 R_gt:
[[ 0.98852388 -0.14627066  0.03775533]
 [ 0.14628916  0.98923946  0.0022702 ]
 [-0.03768145  0.00328033  0.99928499]]

 t_gt:
[ 0.65937787 -0.71730968  0.22513918]

Pose Error in degrees for R and t:
31.845548364544594 73.5982769981161

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99993788e-01  3.47801213e-03 -5.71949106e-04]
 [-3.47807165e-03  9.99993946e-01 -1.03091110e-04]
 [ 5.71587091e-04  1.05079750e-04  9.99999831e-01]]

 t_estimated:
[[-0.00900864]
 [-0.99995879]
 [-0.00112608]]

 R_gt:
[[ 0.96272088 -0.26432594  0.05746559]
 [ 0.26589345  0.96376286 -0.02147913]
 [-0.04970625  0.03595905  0.99811688]]

 t_gt:
[ 0.69983169 -0.70753117  0.09815935]

Pose Error in degrees for R and t:
15.982755304524538 45.48572529799289

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.88920449e-01 -1.48445523e-01  5.22650126e-04]
 [ 1.48445429e-01  9.88920577e-01  2.15210789e-04]
 [-5.48806542e-04 -1.35241328e-04  9.99999840e-01]]

 t_estimated:
[[0.98754684]
 [0.15732198]
 [0.00101492]]

 R_gt:
[[ 0.96040795 -0.27303572  0.05540512]
 [ 0.27492885  0.96099989 -0.02989845]
 [-0.04508164  0.04394879  0.99801665]]

 t_gt:
[ 0.68959218 -0.72202589  0.05604681]

Pose Error in degrees for R and t:
8.206456753712027 55.425946885857215

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 2.40592796e-01  9.70581114e-01 -9.34916790e-03]
 [-9.70625816e-01  2.40573664e-01 -3.13646220e-03]
 [-7.95027400e-04  9.82915393e-03  9.99951377e-01]]

 t_estimated:
[[ 0.715741  ]
 [ 0.69836539]
 [-0.00077376]]

 R_gt:
[[ 0.98196007 -0.18884957  0.00947924]
 [ 0.18858451  0.98177069  0.02369632]
 [-0.0137821  -0.02148203  0.99967416]]

 t_gt:
[ 0.72286622 -0.67874219  0.12951246]

Pose Error in degrees for R and t:
86.98013768583533 87.51976621725859

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.50757313e-01 -3.09929975e-01 -1.98556811e-03]
 [ 3.09931876e-01  9.50758489e-01  7.26376272e-04]
 [ 1.66266995e-03 -1.30599840e-03  9.99997765e-01]]

 t_estimated:
[[ 9.99973639e-01]
 [-7.26087798e-03]
 [-2.58650636e-05]]

 R_gt:
[[ 0.9335583  -0.35708474  0.03096928]
 [ 0.3559761   0.93379572  0.03614056]
 [-0.04182487 -0.02271618  0.99886744]]

 t_gt:
[ 0.77219258 -0.61992544  0.13932361]

Pose Error in degrees for R and t:
3.9739644956445432 39.04332929343622

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.3373325   0.94137803 -0.00376795]
 [ 0.94136586 -0.33729684  0.00781998]
 [ 0.00609065 -0.00618495 -0.99996232]]

 t_estimated:
[[-0.32675961]
 [-0.9451068 ]
 [-0.00113458]]

 R_gt:
[[ 0.88495327 -0.46160806  0.06146064]
 [ 0.46146445  0.88698911  0.01735643]
 [-0.06252757  0.01300131  0.99795841]]

 t_gt:
[ 0.79884132 -0.59263555  0.10312931]

Pose Error in degrees for R and t:
178.4559809055372 72.60498312448826

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.57561636e-01  2.88228367e-01  3.47909374e-04]
 [-2.88228415e-01  9.57561680e-01  9.49647566e-05]
 [-3.05773148e-04 -1.91211975e-04  9.99999935e-01]]

 t_estimated:
[[-0.53041638]
 [ 0.84773587]
 [ 0.00153539]]

 R_gt:
[[ 0.97745398  0.2054788  -0.0486033 ]
 [-0.20531078  0.97865959  0.00847945]
 [ 0.04930799  0.00168996  0.99878274]]

 t_gt:
[-0.59977443  0.77099922 -0.21408137]

Pose Error in degrees for R and t:
5.659298090687478 13.734778391470366

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99963138e-01  8.58036086e-03 -3.17168952e-04]
 [-8.58036250e-03  9.99963188e-01 -3.82579908e-06]
 [ 3.17124449e-04  6.54708263e-06  9.99999950e-01]]

 t_estimated:
[[-0.57951694]
 [-0.81495885]
 [-0.00147788]]

 R_gt:
[[ 0.95870668  0.27993152 -0.05020359]
 [-0.28191845  0.9586822  -0.03809097]
 [ 0.03746612  0.05067138  0.99801209]]

 t_gt:
[-0.545661    0.79868307 -0.2536916 ]

Pose Error in degrees for R and t:
16.241834725726136 70.47007724302011

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.65249478e-01 -2.61329720e-01 -4.72390174e-04]
 [ 2.61329693e-01  9.65249593e-01 -1.18430618e-04]
 [ 4.86923864e-04 -9.13448762e-06  9.99999881e-01]]

 t_estimated:
[[-0.30236453]
 [-0.95319149]
 [-0.00129482]]

 R_gt:
[[ 0.93959869  0.33585472 -0.06600152]
 [-0.33849185  0.94036702 -0.03364305]
 [ 0.05076547  0.05395208  0.99725221]]

 t_gt:
[-0.51850509  0.8183825  -0.24779538]

Pose Error in degrees for R and t:
35.12882215312808 51.46615399756005

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.33881272e-01 -3.57552350e-01  4.69974102e-03]
 [ 3.57557620e-01  9.33891030e-01 -3.04798797e-04]
 [-4.28006445e-03  1.96507410e-03  9.99988910e-01]]

 t_estimated:
[[0.05255865]
 [0.99861438]
 [0.00262793]]

 R_gt:
[[ 0.99395752  0.10974389 -0.00219444]
 [-0.10974963  0.99395699 -0.00222855]
 [ 0.00193613  0.00245581  0.99999467]]

 t_gt:
[-0.79213277  0.61024273 -0.01137928]

Pose Error in degrees for R and t:
27.25368875698721 55.40765045546241

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.22908280e-01  3.85019760e-01  3.00385339e-04]
 [-3.85019871e-01  9.22908125e-01  5.40276275e-04]
 [-6.92110282e-05 -6.14279772e-04  9.99999809e-01]]

 t_estimated:
[[-0.41717097]
 [ 0.90882711]
 [ 0.00128942]]

 R_gt:
[[ 0.94948301  0.3136068  -0.01151171]
 [-0.31370739  0.94948457 -0.00819047]
 [ 0.00836049  0.01138718  0.99990034]]

 t_gt:
[-0.69848319  0.71447452 -0.04058816]

Pose Error in degrees for R and t:
4.444458771051499 19.83589223741512

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.87876333e-01 -1.55242600e-01  2.91505366e-04]
 [ 1.55242759e-01  9.87871577e-01 -3.07138275e-03]
 [ 1.88839580e-04  3.07940043e-03  9.99995241e-01]]

 t_estimated:
[[-0.56867447]
 [-0.822547  ]
 [-0.00507745]]

 R_gt:
[[ 0.92037852  0.39044766  0.02130387]
 [-0.3904999   0.92060111 -0.0018652 ]
 [-0.02034177 -0.00660281  0.99977166]]

 t_gt:
[-0.66556381  0.74489093  0.04650074]

Pose Error in degrees for R and t:
31.941679343712178 76.440514928479

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.88371881e-01 -1.52055450e-01 -4.05852419e-04]
 [ 1.52055513e-01  9.88371946e-01  1.30060889e-04]
 [ 3.81356679e-04 -1.90260624e-04  9.99999909e-01]]

 t_estimated:
[[-0.62880034]
 [-0.77756529]
 [-0.00153366]]

 R_gt:
[[ 0.99809139  0.06027576 -0.01349984]
 [-0.06031058  0.99817748 -0.00221359]
 [ 0.01334236  0.00302414  0.99990602]]

 t_gt:
[-0.42208124  0.88630087 -0.19057333]

Pose Error in degrees for R and t:
12.226525515538762 64.94679424753082

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 0.94270243 -0.33362084  0.00304392]
 [ 0.33363219  0.94269158 -0.00470492]
 [-0.00129982  0.00545089  0.9999843 ]]

 t_estimated:
[[-0.27338005]
 [-0.96189278]
 [-0.00506259]]

 R_gt:
[[ 0.99352297  0.11325454 -0.00926931]
 [-0.11340392  0.99339287 -0.01765149]
 [ 0.00721009  0.0185885   0.99980152]]

 t_gt:
[-0.39760762  0.90865657 -0.12748108]

Pose Error in degrees for R and t:
26.014055657454364 40.12086241161063

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 0.35147738  0.93617351  0.00654308]
 [ 0.93619344 -0.3514502  -0.00495969]
 [-0.00234356  0.00786881 -0.99996629]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99330977  0.11502095 -0.01031189]
 [-0.11536231  0.9923895  -0.04308134]
 [ 0.00527797  0.0439826   0.99901781]]

 t_gt:
[-0.38425981  0.90149493 -0.1991263 ]

Pose Error in degrees for R and t:
177.76286979393774 76.65143009021796

Number of keypoints:
Image1: 402
Image2: 402

 R_estimated:
[[ 9.94377535e-01 -1.05892839e-01 -1.54031226e-04]
 [ 1.05892886e-01  9.94377486e-01  3.33841823e-04]
 [ 1.17813724e-04 -3.48275621e-04  9.99999932e-01]]

 t_estimated:
[[0.99779493]
 [0.06636166]
 [0.00118503]]

 R_gt:
[[ 0.99871685  0.04336362  0.02616083]
 [-0.04316581  0.99903521 -0.00803495]
 [-0.0264834   0.00689655  0.99962568]]

 t_gt:
[-0.8159245   0.51930309  0.25414859]

Pose Error in degrees for R and t:
8.703318611561045 38.797770716512375

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[ 0.95028942 -0.31135134  0.00322046]
 [-0.31135933 -0.9502893   0.00236898]
 [ 0.00232279 -0.00325394 -0.99999201]]

 t_estimated:
[[0.05859237]
 [0.99828138]
 [0.00110552]]

 R_gt:
[[ 0.99601657  0.01626125  0.08767313]
 [-0.0140782   0.99957676 -0.02545435]
 [-0.08804992  0.02411891  0.9958243 ]]

 t_gt:
[-0.73422441  0.42056761  0.53295159]

Pose Error in degrees for R and t:
179.55609529281938 67.82640540711908

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.56899757e-01 -2.90418374e-01 -1.54754349e-04]
 [ 2.90418415e-01  9.56899600e-01  5.46990565e-04]
 [-1.07717353e-05 -5.68358651e-04  9.99999838e-01]]

 t_estimated:
[[-0.50385658]
 [-0.86378684]
 [-0.00092038]]

 R_gt:
[[ 0.99433103  0.00461864  0.10623339]
 [ 0.00301499  0.9974305  -0.07157683]
 [-0.10629067  0.07149185  0.99176159]]

 t_gt:
[-0.71009403  0.59151576  0.38193661]

Pose Error in degrees for R and t:
18.457584461874806 81.16963704026676

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99999998e-01 -1.86781420e-05 -5.45162076e-05]
 [ 1.86828748e-05  9.99999996e-01  8.68141496e-05]
 [ 5.45145859e-05 -8.68151680e-05  9.99999995e-01]]

 t_estimated:
[[-9.31115288e-01]
 [-3.64724845e-01]
 [-3.29364496e-04]]

 R_gt:
[[ 0.99497548  0.09118304  0.04134246]
 [-0.09143542  0.99580136  0.00425102]
 [-0.04078115 -0.00800962  0.99913538]]

 t_gt:
[-0.39847324  0.82392579  0.40294587]

Pose Error in degrees for R and t:
5.7590417954557775 85.96386486523623

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.89795298e-01 -1.42496139e-01 -3.44819751e-04]
 [ 1.42496194e-01  9.89795340e-01  1.39245450e-04]
 [ 3.21459044e-04 -1.86959994e-04  9.99999931e-01]]

 t_estimated:
[[-0.50119018]
 [-0.86533618]
 [-0.00130518]]

 R_gt:
[[ 9.93393569e-01  1.08836738e-01  3.63872915e-02]
 [-1.08910956e-01  9.94051440e-01  6.07401850e-05]
 [-3.61640647e-02 -4.02324792e-03  9.99337650e-01]]

 t_gt:
[-0.22308139  0.92388391  0.31092315]

Pose Error in degrees for R and t:
14.596432893732963 46.52249127489963

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-9.11033745e-01 -4.12331795e-01  7.63575769e-05]
 [-4.12331679e-01  9.11033601e-01  6.03089298e-04]
 [-3.18237211e-04  5.17950054e-04 -9.99999815e-01]]

 t_estimated:
[[0.98209472]
 [0.18837593]
 [0.00211658]]

 R_gt:
[[ 9.93393044e-01  1.07548583e-01  4.00598661e-02]
 [-1.07605594e-01  9.94193221e-01 -7.30558677e-04]
 [-3.99048793e-02 -3.58539389e-03  9.99196315e-01]]

 t_gt:
[0.1170272  0.91711762 0.38105105]

Pose Error in degrees for R and t:
177.72984620185727 73.2317534997812

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.34980508e-01  3.54698767e-01  4.83668957e-04]
 [-3.54698775e-01  9.34980628e-01 -7.12264379e-05]
 [-4.77485035e-04 -1.04961456e-04  9.99999880e-01]]

 t_estimated:
[[0.31087428]
 [0.95045003]
 [0.00138738]]

 R_gt:
[[ 0.99621428 -0.08114238 -0.0311872 ]
 [ 0.08256248  0.99546207  0.04731031]
 [ 0.02720696 -0.04970659  0.99839305]]

 t_gt:
[ 0.36925797 -0.923982    0.099528  ]

Pose Error in degrees for R and t:
25.678493241749486 40.24686485724578

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 3.52380075e-01  9.35856397e-01  1.04230528e-03]
 [-9.35856545e-01  3.52380765e-01 -5.69070610e-04]
 [-8.99856704e-04 -7.74919078e-04  9.99999295e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.97508368 -0.20729741 -0.07899409]
 [ 0.21199936  0.97562954  0.05660888]
 [ 0.06533444 -0.0719454   0.99526615]]

 t_gt:
[ 0.54621285 -0.83694882 -0.03417891]

Pose Error in degrees for R and t:
81.65868433093715 55.59617910561557

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.4792959  -0.87765208 -0.00150833]
 [ 0.87753177 -0.47920017 -0.01746967]
 [ 0.0146095  -0.00969675  0.99984626]]

 t_estimated:
[[ 9.99999822e-01]
 [-1.30661491e-04]
 [-5.82753432e-04]]

 R_gt:
[[ 0.95183861 -0.28335126 -0.11711157]
 [ 0.28918379  0.95660178  0.03587845]
 [ 0.10186244 -0.0680169   0.99247051]]

 t_gt:
[ 0.59708298 -0.79205483 -0.12704751]

Pose Error in degrees for R and t:
102.0681155859991 53.32606089547931

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.96898394e-01  7.86993079e-02 -1.04045293e-04]
 [-7.86992670e-02  9.96898341e-01  3.51309432e-04]
 [ 1.31370390e-04 -3.42031520e-04  9.99999933e-01]]

 t_estimated:
[[-0.68241967]
 [-0.73095998]
 [-0.00095177]]

 R_gt:
[[ 0.99444827 -0.07547382  0.07332701]
 [ 0.07954804  0.99534958 -0.05432409]
 [-0.06888692  0.05985562  0.99582776]]

 t_gt:
[ 0.71278141 -0.63998697 -0.28698315]

Pose Error in degrees for R and t:
10.391328285528383 88.94924834528084

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 8.20864294e-01 -5.71122856e-01  7.03049717e-04]
 [ 5.71122334e-01  8.20864551e-01  8.17869911e-04]
 [-1.04421279e-03 -2.69832812e-04  9.99999418e-01]]

 t_estimated:
[[ 0.9195074 ]
 [-0.3930704 ]
 [ 0.00134083]]

 R_gt:
[[ 0.99081305 -0.10573964  0.08432145]
 [ 0.10960422  0.99306209 -0.04259017]
 [-0.07923271  0.05144091  0.99552769]]

 t_gt:
[ 0.76054921 -0.64480126 -0.07613301]

Pose Error in degrees for R and t:
29.126129486577774 17.696352234366522

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99597830e-01  2.83579443e-02 -7.12228034e-05]
 [-2.83579714e-02  9.99597746e-01 -4.13651208e-04]
 [ 5.94638559e-05  4.15504584e-04  9.99999912e-01]]

 t_estimated:
[[-0.03310483]
 [-0.99945064]
 [-0.00157642]]

 R_gt:
[[ 0.98081957 -0.10512484  0.16414247]
 [ 0.11958575  0.98952811 -0.08082775]
 [-0.15392715  0.09890567  0.98311967]]

 t_gt:
[ 0.80627967 -0.59048697 -0.03518847]

Pose Error in degrees for R and t:
13.300202744471456 55.699982462143915

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.96420401e-01  8.45361278e-02 -1.67522838e-04]
 [-8.45360906e-02  9.96420394e-01  2.17993872e-04]
 [ 1.85351530e-04 -2.03051816e-04  9.99999962e-01]]

 t_estimated:
[[-0.45686657]
 [-0.88953471]
 [-0.00096794]]

 R_gt:
[[ 0.99295462 -0.00884828  0.11816723]
 [ 0.01156059  0.9996842  -0.02228702]
 [-0.11793262  0.02349602  0.99274394]]

 t_gt:
[0.07264285 0.05067824 0.99606964]

Pose Error in degrees for R and t:
8.796905164270143 85.45556156376742

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.46222011e-01  3.23516934e-01  8.35993188e-04]
 [-3.23516783e-01  9.46222380e-01 -3.13934598e-04]
 [-8.92598623e-04  2.65940003e-05  9.99999601e-01]]

 t_estimated:
[[0.82003185]
 [0.5723139 ]
 [0.0021355 ]]

 R_gt:
[[ 0.98645007 -0.05954709  0.15287782]
 [ 0.06980652  0.99559163 -0.06264069]
 [-0.14847395  0.07246497  0.98625796]]

 t_gt:
[ 0.71175339 -0.27972327  0.64433066]

Pose Error in degrees for R and t:
24.48474735425233 64.85269706356735

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99998721e-01  1.58061055e-03 -2.45488983e-04]
 [-1.58059200e-03  9.99998748e-01  7.57548045e-05]
 [ 2.45608415e-04 -7.53666897e-05  9.99999967e-01]]

 t_estimated:
[[-0.00106225]
 [-0.99999859]
 [-0.00129938]]

 R_gt:
[[ 0.97815984 -0.16154388  0.13079444]
 [ 0.16639531  0.9856895  -0.02698371]
 [-0.1245636   0.04815827  0.99104293]]

 t_gt:
[ 0.83908841 -0.4758479   0.26362741]

Pose Error in degrees for R and t:
12.271473300385962 61.665821546364015

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99785394e-01 -2.07159516e-02  1.25197838e-04]
 [ 2.07159611e-02  9.99785399e-01 -7.52776108e-05]
 [-1.23611523e-04  7.78550493e-05  9.99999989e-01]]

 t_estimated:
[[ 9.08755345e-01]
 [-4.17329259e-01]
 [ 1.07661397e-04]]

 R_gt:
[[ 0.98498511 -0.16976622 -0.03136055]
 [ 0.17121194  0.98389785  0.05129084]
 [ 0.02214839 -0.05588967  0.99819138]]

 t_gt:
[ 0.74954786 -0.65440796  0.09964046]

Pose Error in degrees for R and t:
9.301918099124704 17.39432475976617

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-9.96209291e-01 -8.62088253e-02  1.16226959e-02]
 [-8.61974643e-02  9.96276979e-01  1.47584042e-03]
 [-1.17066548e-02  4.68399022e-04 -9.99931365e-01]]

 t_estimated:
[[0.99863282]
 [0.05188166]
 [0.00638568]]

 R_gt:
[[ 0.96385203 -0.26438425 -0.03301626]
 [ 0.26500051  0.96411804  0.01586983]
 [ 0.02763602 -0.02404463  0.99932835]]

 t_gt:
[ 0.79211978 -0.61030956  0.00827636]

Pose Error in degrees for R and t:
178.96662254002769 40.58639725650394

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 8.11038619e-01 -5.84991478e-01  1.15302830e-03]
 [ 5.84990417e-01  8.11039399e-01  1.14217002e-03]
 [-1.60331111e-03 -2.51833493e-04  9.99998683e-01]]

 t_estimated:
[[ 0.85322161]
 [-0.52154297]
 [ 0.00241078]]

 R_gt:
[[ 0.95070197 -0.30736091 -0.04118037]
 [ 0.30561017  0.95115134 -0.04374882]
 [ 0.05261573  0.02900749  0.99819363]]

 t_gt:
[ 0.81088207 -0.5743243  -0.11234713]

Pose Error in degrees for R and t:
18.280647464996562 7.638667499456206

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99972779e-01 -7.37740898e-03  1.21260587e-04]
 [ 7.37740763e-03  9.99972786e-01  1.15468979e-05]
 [-1.21342473e-04 -1.06519948e-05  9.99999993e-01]]

 t_estimated:
[[9.98169288e-01]
 [6.04815433e-02]
 [2.33339295e-04]]

 R_gt:
[[ 0.9695522  -0.24487379 -0.00236645]
 [ 0.24483208  0.96909631  0.03015635]
 [-0.00509131 -0.02981784  0.99954269]]

 t_gt:
[ 0.75415661 -0.64730159  0.11067275]

Pose Error in degrees for R and t:
13.861880954320133 44.467165986113514

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.99318155 -0.11650361 -0.00416217]
 [-0.1165207   0.99317967  0.00413093]
 [ 0.00365251  0.00458775 -0.99998281]]

 t_estimated:
[[ 0.99337981]
 [-0.11483284]
 [-0.00315725]]

 R_gt:
[[ 0.9540691  -0.29956631 -0.00343036]
 [ 0.29936062  0.95284096  0.0497607 ]
 [-0.01163837 -0.04850345  0.9987549 ]]

 t_gt:
[ 0.75524202 -0.63633242  0.15713224]

Pose Error in degrees for R and t:
179.78275584625783 34.632117694333786

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.80823181  0.58865575 -0.01567648]
 [ 0.58851355  0.8083828   0.01300179]
 [ 0.02032617  0.00128263 -0.99979258]]

 t_estimated:
[[ 0.73447618]
 [-0.67841269]
 [-0.01734841]]

 R_gt:
[[ 0.92149099 -0.38546372  0.04767021]
 [ 0.38439504  0.92267364  0.03022595]
 [-0.05563481 -0.00952939  0.99840621]]

 t_gt:
[ 0.75625312 -0.63556678  0.15535796]

Pose Error in degrees for R and t:
178.4679661233764 10.285180725722839

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[-1.30229254e-01 -9.91483411e-01  9.93848550e-04]
 [-9.91483269e-01  1.30227966e-01 -1.26658888e-03]
 [ 1.12637499e-03 -1.15033113e-03 -9.99998704e-01]]

 t_estimated:
[[8.33359361e-01]
 [5.52731102e-01]
 [7.10451288e-04]]

 R_gt:
[[ 0.99746328  0.07040899  0.01051564]
 [-0.07006027  0.99707662 -0.03047746]
 [-0.01263098  0.02966308  0.9994797 ]]

 t_gt:
[-0.84632549  0.42724316 -0.31811389]

Pose Error in degrees for R and t:
179.35968873102865 62.006675280765414

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 0.46388603  0.88588821 -0.0034393 ]
 [-0.88588992  0.46386693 -0.00515046]
 [-0.00296735  0.00543607  0.99998082]]

 t_estimated:
[[0.35255363]
 [0.93579049]
 [0.00145084]]

 R_gt:
[[ 0.99204154  0.12037713  0.03694805]
 [-0.11773016  0.99078509 -0.06696371]
 [-0.04466822  0.06208059  0.99707127]]

 t_gt:
[-0.84103891  0.41969102 -0.34134002]

Pose Error in degrees for R and t:
55.65104774658807 84.50629920957836

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.91752803e-01  1.28164894e-01 -3.69797674e-04]
 [-1.28164824e-01  9.91752860e-01  2.07139782e-04]
 [ 3.93295949e-04 -1.58036406e-04  9.99999910e-01]]

 t_estimated:
[[-0.94754712]
 [-0.31961344]
 [-0.00130657]]

 R_gt:
[[ 0.98033316  0.19193117  0.04593141]
 [-0.18439276  0.97375477 -0.13341729]
 [-0.07033253  0.12232368  0.98999517]]

 t_gt:
[-0.79751655  0.43517496 -0.41783981]

Pose Error in degrees for R and t:
8.865215920823273 51.89222286305111

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99692383e-01  2.48014409e-02  1.69882168e-04]
 [-2.48014777e-02  9.99692372e-01  2.18138040e-04]
 [-1.64419770e-04 -2.22284266e-04  9.99999962e-01]]

 t_estimated:
[[9.75986078e-01]
 [2.17831245e-01]
 [8.50903295e-04]]

 R_gt:
[[ 0.98517136 -0.17002447  0.02300731]
 [ 0.16859196  0.98419804  0.05415362]
 [-0.03185088 -0.0494707   0.99826742]]

 t_gt:
[ 0.58333865 -0.74201786  0.33034151]

Pose Error in degrees for R and t:
11.669005428288058 65.9221953999016

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-7.94095713e-01  6.07790346e-01 -1.70113946e-03]
 [-6.07786324e-01 -7.94097084e-01 -2.36761366e-03]
 [-2.78988261e-03 -8.46182560e-04  9.99995750e-01]]

 t_estimated:
[[0.79142123]
 [0.61127017]
 [0.00110315]]

 R_gt:
[[ 9.20344038e-01 -3.91109296e-01 -3.62351175e-04]
 [ 3.89858600e-01  9.17325612e-01  8.07791893e-02]
 [-3.12603081e-02 -7.44848617e-02  9.96731968e-01]]

 t_gt:
[ 0.74856114 -0.63124996  0.20292784]

Pose Error in degrees for R and t:
165.61110571692686 78.06588510956668

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.98824938 -0.15282978  0.00249593]
 [ 0.15283408  0.98825051 -0.00163349]
 [-0.00221696  0.00199576  0.99999555]]

 t_estimated:
[[9.87911749e-01]
 [1.55014346e-01]
 [9.63357317e-04]]

 R_gt:
[[ 0.86227827 -0.5062652  -0.0130949 ]
 [ 0.50426206  0.85590021  0.11469485]
 [-0.04685859 -0.10550135  0.99331413]]

 t_gt:
[ 0.79482883 -0.56555215  0.21999524]

Pose Error in degrees for R and t:
22.674937187051192 45.75211836310048

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99768656e-01  2.15088347e-02 -6.54260233e-05]
 [-2.15088408e-02  9.99768654e-01 -9.36662832e-05]
 [ 6.33962346e-05  9.50518520e-05  9.99999993e-01]]

 t_estimated:
[[-0.86966781]
 [-0.49363586]
 [-0.00124344]]

 R_gt:
[[ 0.99887813  0.04101584  0.02366415]
 [-0.04031483  0.9987545  -0.02936429]
 [-0.02483852  0.02837793  0.99928857]]

 t_gt:
[-0.81191786  0.41745313 -0.4080714 ]

Pose Error in degrees for R and t:
2.423790878922111 59.96450522139236

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.96813018e-01  7.97668160e-02  1.03019667e-03]
 [-7.97665575e-02  9.96813529e-01 -2.89709251e-04]
 [-1.05002316e-03  2.06610711e-04  9.99999427e-01]]

 t_estimated:
[[-0.79719471]
 [-0.60368449]
 [ 0.00675531]]

 R_gt:
[[ 0.99031762  0.12913421  0.05093579]
 [-0.12375293  0.98751114 -0.09750566]
 [-0.06289085  0.09025811  0.99393097]]

 t_gt:
[-0.8072984   0.39558689 -0.43792728]

Pose Error in degrees for R and t:
6.833132859249783 66.30887056519813

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99944568e-01 -1.05271362e-02  2.02769906e-04]
 [ 1.05271968e-02  9.99944542e-01 -3.00204426e-04]
 [-1.99598368e-04  3.02322383e-04  9.99999934e-01]]

 t_estimated:
[[-0.44953178]
 [-0.89326316]
 [-0.0014501 ]]

 R_gt:
[[ 0.99561294  0.08329457  0.04262041]
 [-0.07772956  0.98987291 -0.11877913]
 [-0.05208211  0.11494458  0.99200619]]

 t_gt:
[-0.62017331  0.39283623 -0.6790175 ]

Pose Error in degrees for R and t:
8.926537448758095 85.92088415784383

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.98209577e-01 -5.98132811e-02  1.07493798e-04]
 [ 5.98132709e-02  9.98209579e-01  9.57045665e-05]
 [-1.13025743e-04 -8.91036592e-05  9.99999990e-01]]

 t_estimated:
[[9.95794083e-01]
 [9.16150127e-02]
 [9.13181957e-04]]

 R_gt:
[[ 0.98485984 -0.17267757  0.01526037]
 [ 0.17253635  0.98495126  0.01015607]
 [-0.01678435 -0.00736911  0.99983201]]

 t_gt:
[ 0.7446752  -0.66015263  0.09827182]

Pose Error in degrees for R and t:
6.593933477204358 47.06619117244724

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.18904813e-01  3.94479065e-01  4.61031341e-04]
 [-3.94478943e-01  9.18904920e-01 -3.34843817e-04]
 [-5.55732843e-04  1.25822439e-04  9.99999838e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075933e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9528609  -0.30274203 -0.02007148]
 [ 0.30340471  0.95052069  0.06675028]
 [-0.00113033 -0.06969319  0.99756845]]

 t_gt:
[ 0.78215359 -0.60591385  0.14527277]

Pose Error in degrees for R and t:
41.08621811233848 38.70430617858686

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.66906942e-01  2.55128761e-01  5.30755198e-04]
 [-2.55128669e-01  9.66907083e-01 -2.35777321e-04]
 [-5.73344536e-04  9.25638610e-05  9.99999831e-01]]

 t_estimated:
[[0.25005581]
 [0.96823077]
 [0.00112335]]

 R_gt:
[[ 0.92864831 -0.3707937  -0.01113699]
 [ 0.37088034  0.92865554  0.00693856]
 [ 0.00777042 -0.01057441  0.99991401]]

 t_gt:
[ 0.81696838 -0.57602818  0.02746288]

Pose Error in degrees for R and t:
36.55751914423571 69.3039921205714

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.28390442e-01  3.71604552e-01  1.11506657e-03]
 [-3.71602823e-01  9.28390603e-01 -1.49347384e-03]
 [-1.59019901e-03  9.72164956e-04  9.99998263e-01]]

 t_estimated:
[[-0.81513832]
 [-0.57926553]
 [-0.00098879]]

 R_gt:
[[ 0.98452952 -0.07304635  0.15926742]
 [ 0.07382924  0.99727078  0.0010006 ]
 [-0.15890598  0.01077326  0.98723499]]

 t_gt:
[ 0.29000863 -0.42941272  0.85527756]

Pose Error in degrees for R and t:
27.564703136296803 89.34101813140434

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.75747949 -0.65285118  0.00318723]
 [-0.65282799  0.75748208  0.00604311]
 [-0.00635952  0.00249682 -0.99997666]]

 t_estimated:
[[0.99154274]
 [0.12975745]
 [0.00244825]]

 R_gt:
[[ 0.9619371  -0.0642603   0.26560922]
 [ 0.06847202  0.99763149 -0.00661712]
 [-0.26455644  0.02455216  0.96405837]]

 t_gt:
[ 0.19488953 -0.23261213  0.95284294]

Pose Error in degrees for R and t:
165.603100162109 80.48005418713117

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.04043381  0.9991778   0.00297206]
 [ 0.99918145  0.04042991  0.00136112]
 [ 0.00123984  0.00302466 -0.99999466]]

 t_estimated:
[[0.69224903]
 [0.7216583 ]
 [0.00075408]]

 R_gt:
[[ 0.93751542 -0.09542582  0.33460266]
 [ 0.12106326  0.9910312  -0.05657086]
 [-0.32620402  0.09354382  0.94066068]]

 t_gt:
[ 0.41119956 -0.29308516  0.8631431 ]

Pose Error in degrees for R and t:
162.9484781003784 85.76795122364403

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[-7.71631798e-01  6.36069467e-01  3.27331793e-05]
 [-6.36068015e-01 -7.71629924e-01 -2.17707709e-03]
 [-1.35951436e-03 -1.70072244e-03  9.99997630e-01]]

 t_estimated:
[[0.54669507]
 [0.83733125]
 [0.00093452]]

 R_gt:
[[ 0.99884867 -0.03394912  0.03389674]
 [ 0.03405349  0.99941714 -0.00248233]
 [-0.03379268  0.00363434  0.99942201]]

 t_gt:
[ 0.70166063 -0.62414915  0.34367164]

Pose Error in degrees for R and t:
142.45321534275675 82.02714007212434

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 0.5572154  -0.83036541 -0.00207104]
 [ 0.83033344  0.55721323 -0.00773286]
 [ 0.00757512  0.00258921  0.99996796]]

 t_estimated:
[[ 0.71507277]
 [-0.69901279]
 [-0.00721538]]

 R_gt:
[[ 0.99491351 -0.01306933  0.09987778]
 [ 0.01625506  0.99938329 -0.0311502 ]
 [-0.0994084   0.03261528  0.99451174]]

 t_gt:
[0.18587506 0.61044858 0.76993701]

Pose Error in degrees for R and t:
55.616959763760335 72.5812800791328

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 8.94656034e-01  4.46755602e-01  1.09462677e-04]
 [-4.46755436e-01  8.94655867e-01 -6.77774227e-04]
 [-4.00730859e-04  5.57471756e-04  9.99999764e-01]]

 t_estimated:
[[-0.96581324]
 [ 0.25923699]
 [-0.00097953]]

 R_gt:
[[ 0.98870952  0.08292545  0.12480685]
 [-0.07203732  0.99339076 -0.08936469]
 [-0.13139259  0.07936586  0.98814819]]

 t_gt:
[-0.26870784  0.96130597  0.06072015]

Pose Error in degrees for R and t:
23.734032427503507 59.424841385511264

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[-2.42245445e-01 -9.70214925e-01 -3.78357931e-04]
 [-9.70209066e-01  2.42245309e-01 -3.40270260e-03]
 [ 3.39300828e-03 -4.57202911e-04 -9.99994139e-01]]

 t_estimated:
[[7.54905666e-01]
 [6.55833019e-01]
 [6.97694701e-04]]

 R_gt:
[[ 0.99990589  0.01265964 -0.00525041]
 [-0.01276759  0.99969772 -0.0209897 ]
 [ 0.00498312  0.02105517  0.99976568]]

 t_gt:
[ 0.74926824  0.21707819 -0.62567896]

Pose Error in degrees for R and t:
178.89050967114062 44.96347908367094

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 0.99695577  0.07794847 -0.00179939]
 [ 0.07741815 -0.9869065   0.14149905]
 [ 0.00925381 -0.1412076  -0.98993676]]

 t_estimated:
[[-0.01250807]
 [ 0.99761629]
 [ 0.06786223]]

 R_gt:
[[ 0.99997999  0.00467607 -0.00429091]
 [-0.00470572  0.99996419 -0.00701439]
 [ 0.00425834  0.00703513  0.99996642]]

 t_gt:
[ 0.97445963 -0.144583   -0.17182606]

Pose Error in degrees for R and t:
172.2597167184913 80.32336082138667

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 8.58544988e-01 -5.12738231e-01 -9.51278696e-05]
 [ 5.12738230e-01  8.58544921e-01  3.54909783e-04]
 [-1.00304265e-04 -3.53481711e-04  9.99999932e-01]]

 t_estimated:
[[-0.43685176]
 [-0.89953281]
 [-0.00112301]]

 R_gt:
[[ 0.998006    0.06284588 -0.0058429 ]
 [-0.06289877  0.99797465 -0.00948687]
 [ 0.00523554  0.00983569  0.99993789]]

 t_gt:
[ 0.73529122  0.64294128 -0.21441392]

Pose Error in degrees for R and t:
34.45730631089398 25.931269915067695

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.87443314e-01  1.57972905e-01 -5.13473307e-04]
 [-1.57972861e-01  9.87443446e-01  1.25184296e-04]
 [ 5.26801579e-04 -4.24975488e-05  9.99999860e-01]]

 t_estimated:
[[-0.99992804]
 [-0.01183942]
 [-0.00193448]]

 R_gt:
[[ 0.98835613 -0.15186342  0.00955586]
 [ 0.15157789  0.98811092  0.02570303]
 [-0.01334517 -0.02395462  0.99962381]]

 t_gt:
[ 0.53407522 -0.82316811  0.19276388]

Pose Error in degrees for R and t:
17.88685532414539 58.3543830578964

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 2.59223926e-01  9.65815288e-01  1.94578054e-03]
 [-9.65807950e-01  2.59229745e-01 -3.86567780e-03]
 [-4.23793490e-03 -8.77174136e-04  9.99990635e-01]]

 t_estimated:
[[0.71409438]
 [0.70004905]
 [0.00073923]]

 R_gt:
[[ 0.97018887 -0.24234594  0.00186837]
 [ 0.24218219  0.9697632   0.03012714]
 [-0.00911326 -0.02877613  0.99954448]]

 t_gt:
[ 0.58983099 -0.79845691  0.12068956]

Pose Error in degrees for R and t:
89.01415207040849 82.08668140158694

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 7.04526560e-01  7.09671765e-01  2.88307633e-03]
 [-7.09677561e-01  7.04522370e-01  2.44736039e-03]
 [-2.94369208e-04 -3.77028497e-03  9.99992849e-01]]

 t_estimated:
[[0.74237957]
 [0.66997866]
 [0.00108061]]

 R_gt:
[[ 0.91305337 -0.40783545  0.00202465]
 [ 0.40733687  0.91216058  0.04517143]
 [-0.02026932 -0.04041856  0.99897719]]

 t_gt:
[ 0.66189476 -0.74204942  0.10610367]

Pose Error in degrees for R and t:
69.30931432397772 89.67539125848171

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.30885774e-01  3.65310121e-01  4.36962518e-04]
 [-3.65310276e-01  9.30885751e-01  3.47901531e-04]
 [-2.79670231e-04 -4.83483484e-04  9.99999844e-01]]

 t_estimated:
[[0.16900514]
 [0.98561404]
 [0.00149562]]

 R_gt:
[[ 0.99585254 -0.08833786 -0.02180103]
 [ 0.08875141  0.99587644  0.0188076 ]
 [ 0.02004935 -0.02066315  0.9995845 ]]

 t_gt:
[ 0.42594095 -0.90254655 -0.06311912]

Pose Error in degrees for R and t:
26.55793987181977 35.147698543057395

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-9.53725560e-01 -3.00676271e-01 -1.15599895e-03]
 [ 3.00678170e-01 -9.53723126e-01 -2.19949748e-03]
 [-4.41166229e-04 -2.44530061e-03  9.99996913e-01]]

 t_estimated:
[[8.76791525e-01]
 [4.80870093e-01]
 [7.58470178e-04]]

 R_gt:
[[ 0.98641686 -0.1499718  -0.06701661]
 [ 0.15279634  0.98747977  0.03921169]
 [ 0.06029661 -0.04891846  0.99698088]]

 t_gt:
[ 0.43328767 -0.89105614 -0.13520635]

Pose Error in degrees for R and t:
153.79604185895764 87.20963321958352

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-0.99986068  0.01663249 -0.00140486]
 [-0.01663049 -0.99986069 -0.00142473]
 [-0.00142836 -0.00140117  0.999998  ]]

 t_estimated:
[[9.39727608e-01]
 [3.41923182e-01]
 [7.48190771e-04]]

 R_gt:
[[ 0.95829739 -0.26268396 -0.11253514]
 [ 0.2662619   0.96373699  0.01777576]
 [ 0.10378529 -0.04699838  0.99348867]]

 t_gt:
[ 0.56436599 -0.79697462 -0.21522659]

Pose Error in degrees for R and t:
165.5839246063155 75.06724746411291

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[-4.93273732e-01  8.69873393e-01  1.14280722e-03]
 [-8.69873819e-01 -4.93271987e-01 -1.51201155e-03]
 [-7.51543831e-04 -1.73993366e-03  9.99998204e-01]]

 t_estimated:
[[0.62899941]
 [0.7774053 ]
 [0.00086282]]

 R_gt:
[[ 0.98353498  0.1794682  -0.02122114]
 [-0.17962691  0.98371682 -0.00580638]
 [ 0.0198343   0.00952175  0.99975846]]

 t_gt:
[-0.64543108  0.75331022 -0.12626334]

Pose Error in degrees for R and t:
109.21764257900386 79.656878253156

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 7.41042157e-02 -9.97247767e-01 -2.33589932e-03]
 [ 9.97249860e-01  7.41066239e-02 -9.61714913e-04]
 [ 1.13217366e-03 -2.25820814e-03  9.99996809e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075933e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.93947373  0.34246914 -0.01022433]
 [-0.34259847  0.93933904 -0.01637403]
 [ 0.00399732  0.01888465  0.99981425]]

 t_gt:
[-0.61806423  0.78517559 -0.03867689]

Pose Error in degrees for R and t:
105.78748355375845 52.000367936188646

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-8.72783912e-01  4.88070045e-01 -5.98956443e-03]
 [ 4.88064605e-01  8.72804101e-01  2.43778090e-03]
 [ 6.41752424e-03 -7.95638446e-04 -9.99979091e-01]]

 t_estimated:
[[ 0.96707814]
 [-0.25446186]
 [-0.0030058 ]]

 R_gt:
[[ 0.90097452  0.43218473  0.0382386 ]
 [-0.43019418  0.9013112  -0.05070547]
 [-0.0563779   0.02923382  0.99798187]]

 t_gt:
[-0.60716828  0.79181908  0.06610011]

Pose Error in degrees for R and t:
177.08536477562689 37.92037255194388

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99996387e-01  2.67624189e-03  2.52630126e-04]
 [-2.67629748e-03  9.99996395e-01  2.19968160e-04]
 [-2.52040527e-04 -2.20643478e-04  9.99999944e-01]]

 t_estimated:
[[0.99997264]
 [0.00729229]
 [0.0012439 ]]

 R_gt:
[[ 0.98584586 -0.15743453  0.05763634]
 [ 0.1573612   0.98752316  0.00583232]
 [-0.05783517  0.00331965  0.99832002]]

 t_gt:
[ 0.60076379 -0.75583276  0.26038377]

Pose Error in degrees for R and t:
9.79102940446036 53.44747245569395

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-3.27309953e-01  9.44917030e-01  4.17895784e-05]
 [-9.44914672e-01 -3.27309036e-01 -2.24904745e-03]
 [-2.11148513e-03 -7.75623200e-04  9.99997470e-01]]

 t_estimated:
[[0.24027343]
 [0.97070466]
 [0.00106788]]

 R_gt:
[[ 0.95036361 -0.30753544  0.04723717]
 [ 0.30442981  0.95044626  0.06303202]
 [-0.06428041 -0.04552318  0.99689355]]

 t_gt:
[ 0.68402442 -0.67569402  0.27486029]

Pose Error in degrees for R and t:
126.99485161142626 60.57703415956296

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.99913264  0.0414875  -0.00357222]
 [-0.04143884  0.99905955  0.01276101]
 [ 0.00409829 -0.01260191  0.99991219]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.87911343 -0.47647296 -0.01154742]
 [ 0.47599152  0.87647408  0.07227937]
 [-0.02431702 -0.06903767  0.99731819]]

 t_gt:
[ 0.80045701 -0.5773099   0.16118884]

Pose Error in degrees for R and t:
31.047886089036133 36.98550080875254

Number of keypoints:
Image1: 447
Image2: 447

 R_estimated:
[[-0.59056336  0.80552984 -0.04854476]
 [ 0.80551968  0.59205009  0.02479387]
 [ 0.04871313 -0.02446141 -0.99851323]]

 t_estimated:
[[ 0.89677412]
 [-0.44167249]
 [-0.02686251]]

 R_gt:
[[ 0.998857    0.0465098   0.01100319]
 [-0.04665198  0.99882639  0.0129882 ]
 [-0.01038606 -0.01348575  0.99985477]]

 t_gt:
[-0.95153696 -0.04362146  0.304425  ]

Pose Error in degrees for R and t:
177.08014735618002 32.624181467129496

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.83476625e-01 -1.81035029e-01 -2.13803710e-04]
 [ 1.81035038e-01  9.83476647e-01  2.19377931e-05]
 [ 2.06299446e-04 -6.02812694e-05  9.99999977e-01]]

 t_estimated:
[[-0.67297101]
 [-0.73966802]
 [-0.00111456]]

 R_gt:
[[ 0.98404305  0.17755306  0.01158687]
 [-0.17765117  0.98406121  0.00799529]
 [-0.00998276 -0.00992572  0.99990105]]

 t_gt:
[-0.97104761  0.21818168  0.09727945]

Pose Error in degrees for R and t:
20.676535958458995 60.528112400654614

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[-0.58536389  0.81071134 -0.00981052]
 [ 0.81070323  0.58542842  0.00581677]
 [ 0.01045908 -0.00454849 -0.99993496]]

 t_estimated:
[[ 0.89192242]
 [-0.45215567]
 [-0.00544503]]

 R_gt:
[[ 0.96818599  0.24933121  0.02122257]
 [-0.24997251  0.9675615   0.03658496]
 [-0.0114118  -0.0407253   0.99910527]]

 t_gt:
[-0.95475362  0.20953349  0.21104797]

Pose Error in degrees for R and t:
179.17126233083562 18.655845046779792

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 7.05527145e-01 -7.08682786e-01 -3.94958224e-04]
 [ 7.08682399e-01  7.05527201e-01 -7.91076233e-04]
 [ 8.39275879e-04  2.78225814e-04  9.99999609e-01]]

 t_estimated:
[[ 0.11005855]
 [-0.99392362]
 [-0.00171937]]

 R_gt:
[[ 0.99403131  0.10897934  0.00497438]
 [-0.10880519  0.9936903  -0.0272123 ]
 [-0.00790857  0.02650798  0.99961741]]

 t_gt:
[-0.83746164  0.52644789 -0.14666498]

Pose Error in degrees for R and t:
51.402579229860265 52.03597040806522

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.08934504 -0.99595598  0.00944227]
 [-0.99594574  0.08943571  0.00966137]
 [-0.01046678 -0.0085408  -0.99990875]]

 t_estimated:
[[0.74083502]
 [0.6716346 ]
 [0.00839267]]

 R_gt:
[[ 0.9738047   0.22356721  0.04149274]
 [-0.22409374  0.97453038  0.00845946]
 [-0.03854391 -0.01753697  0.99910294]]

 t_gt:
[-0.8411216   0.5324777   0.09477314]

Pose Error in degrees for R and t:
177.02786157228678 74.65048659376349

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.9118594  -0.41049414 -0.00264553]
 [ 0.41048806  0.91186239 -0.00255758]
 [ 0.00346223  0.00124619  0.99999323]]

 t_estimated:
[[-0.8057045 ]
 [-0.59230169]
 [-0.00435516]]

 R_gt:
[[ 0.93662107  0.34782996  0.04188163]
 [-0.34902052  0.93677023  0.02539723]
 [-0.03039949 -0.03840481  0.99880005]]

 t_gt:
[-0.80547921  0.58363153  0.10284683]

Pose Error in degrees for R and t:
44.73717936830039 72.37147688734754

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.98159463e-01  6.06434814e-02  2.34101979e-04]
 [-6.06434841e-02  9.98159490e-01  4.46971888e-06]
 [-2.33400053e-04 -1.86582518e-05  9.99999973e-01]]

 t_estimated:
[[0.39378911]
 [0.91919754]
 [0.00245478]]

 R_gt:
[[ 0.99845509 -0.05152036 -0.02084663]
 [ 0.0514176   0.99866247 -0.00547215]
 [ 0.02110043  0.0043914   0.99976786]]

 t_gt:
[ 0.77910893 -0.5028394  -0.3743552 ]

Pose Error in degrees for R and t:
6.547023928273411 81.00646078942444

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[-0.28480929  0.95852831  0.01035117]
 [-0.95857227 -0.28484303  0.00191411]
 [ 0.00478319 -0.00937719  0.99994459]]

 t_estimated:
[[0.31759323]
 [0.94822637]
 [0.00113833]]

 R_gt:
[[ 0.99681431 -0.0741667  -0.0293604 ]
 [ 0.07357304  0.99707411 -0.02080512]
 [ 0.03081708  0.01857856  0.99935258]]

 t_gt:
[ 0.81992546 -0.21617683 -0.53008473]

Pose Error in degrees for R and t:
110.81185899511497 86.85776883253163

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.34275625 -0.93924596 -0.01830809]
 [ 0.93942318 -0.34265968 -0.00827185]
 [ 0.00149585 -0.02003427  0.99979817]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.99173323 -0.12830647 -0.00204085]
 [ 0.12814103  0.99104988 -0.03743521]
 [ 0.00682529  0.03686368  0.99929668]]

 t_gt:
[ 0.91044645 -0.30685645 -0.27735604]

Pose Error in degrees for R and t:
102.7064464262136 26.813896734704645

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99276428e-01  3.80343067e-02  1.12227515e-04]
 [-3.80342986e-02  9.99276432e-01 -7.30958201e-05]
 [-1.14926459e-04  6.87744352e-05  9.99999991e-01]]

 t_estimated:
[[ 9.79039246e-01]
 [-2.03671170e-01]
 [-4.58180474e-04]]

 R_gt:
[[ 0.99673219 -0.08011656  0.01043498]
 [ 0.0799755   0.99670888  0.01322914]
 [-0.01146037 -0.01235144  0.999858  ]]

 t_gt:
[ 0.67991063 -0.68843809  0.2525362 ]

Pose Error in degrees for R and t:
6.8392456596450915 36.316431351995995

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.99690464 -0.07801061  0.00977113]
 [-0.07799679  0.99695201  0.00178819]
 [-0.00988085  0.00102054 -0.99995066]]

 t_estimated:
[[0.99891239]
 [0.0463413 ]
 [0.00514903]]

 R_gt:
[[ 0.99312026 -0.11694399 -0.00616213]
 [ 0.11698019  0.99311657  0.0059724 ]
 [ 0.0054214  -0.00665241  0.99996282]]

 t_gt:
[ 0.8077434  -0.58830631  0.03803002]

Pose Error in degrees for R and t:
179.75167618186072 38.757931132686814

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 3.99646495e-01  9.16669187e-01  5.29365406e-04]
 [-9.16668537e-01  3.99646843e-01 -1.09306564e-03]
 [-1.21353880e-03 -4.84127623e-05  9.99999262e-01]]

 t_estimated:
[[2.35178340e-01]
 [9.71951859e-01]
 [8.55297629e-04]]

 R_gt:
[[ 0.98874458 -0.1495316   0.00523759]
 [ 0.14959073  0.98865148 -0.01386519]
 [-0.00310535  0.01449214  0.99989007]]

 t_gt:
[ 0.87849693 -0.4774311  -0.01739819]

Pose Error in degrees for R and t:
75.04935016137227 75.08110485656829

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.99999749 -0.0016928   0.00146847]
 [ 0.00169546  0.99999692 -0.00181091]
 [-0.0014654   0.0018134   0.99999728]]

 t_estimated:
[[0.99857434]
 [0.05333957]
 [0.00204313]]

 R_gt:
[[ 0.99352594  0.03510101  0.1080472 ]
 [-0.02918254  0.99801074 -0.0558727 ]
 [-0.10979372  0.05235828  0.99257433]]

 t_gt:
[-0.77391218  0.59911876  0.20522344]

Pose Error in degrees for R and t:
7.135684356109982 42.231702744853735

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.92347709  0.38362046  0.00504085]
 [-0.38363626 -0.92323087 -0.02163298]
 [-0.00364498 -0.02191142  0.99975327]]

 t_estimated:
[[0.60202161]
 [0.79836678]
 [0.01343371]]

 R_gt:
[[ 0.9841223   0.00712992  0.17734942]
 [ 0.01789374  0.99011653 -0.1390981 ]
 [-0.17658877  0.14006281  0.97426893]]

 t_gt:
[-0.54296205  0.8311954  -0.11960944]

Pose Error in degrees for R and t:
157.78503315691069 70.42034047880112

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 1.99244063e-01  9.79949474e-01  9.11746021e-04]
 [-9.79934909e-01  1.99246075e-01 -5.34565618e-03]
 [-5.42013478e-03  1.71638503e-04  9.99985296e-01]]

 t_estimated:
[[0.04968917]
 [0.99875237]
 [0.00496892]]

 R_gt:
[[ 0.97630176 -0.046902    0.21127313]
 [ 0.0759041   0.98842947 -0.13132479]
 [-0.20266952  0.1442492   0.96856445]]

 t_gt:
[-0.2437961   0.96600604  0.08599873]

Pose Error in degrees for R and t:
83.05917210942715 17.61449920285806

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 0.8682186   0.49618028  0.00126389]
 [-0.49611583  0.86805862  0.01852901]
 [ 0.0080966  -0.01671427  0.99982752]]

 t_estimated:
[[0.74610498]
 [0.66582786]
 [0.00078703]]

 R_gt:
[[ 0.98116528 -0.19211518  0.0202038 ]
 [ 0.19145124  0.98101833  0.03082606]
 [-0.02574222 -0.02637733  0.99932029]]

 t_gt:
[ 0.67927944 -0.69776293  0.22739027]

Pose Error in degrees for R and t:
40.8381905869959 87.56977379523565

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 8.82224772e-01  4.70828309e-01  3.94696326e-04]
 [-4.70827802e-01  8.82224618e-01 -9.51343095e-04]
 [-7.96130077e-04  6.53464441e-04  9.99999470e-01]]

 t_estimated:
[[0.7462558 ]
 [0.66565884]
 [0.00076285]]

 R_gt:
[[ 9.36031524e-01 -3.51461357e-01 -1.79281391e-02]
 [ 3.51916813e-01  9.34712501e-01  4.96563179e-02]
 [-6.94371056e-04 -5.27897657e-02  9.98604580e-01]]

 t_gt:
[ 0.76742387 -0.62500441  0.14293388]

Pose Error in degrees for R and t:
48.785405457908126 80.9808927685744

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.10282121e-01  4.13988303e-01  3.81962242e-04]
 [-4.13988402e-01  9.10281002e-01  1.44903599e-03]
 [ 2.52190976e-04 -1.47715949e-03  9.99998877e-01]]

 t_estimated:
[[7.87794851e-01]
 [6.15937335e-01]
 [6.87430062e-04]]

 R_gt:
[[ 0.85367581 -0.5123784  -0.09330796]
 [ 0.51800128  0.85390738  0.05017332]
 [ 0.05396884 -0.09116637  0.99437181]]

 t_gt:
[ 0.85374852 -0.51159332  0.09688005]

Pose Error in degrees for R and t:
55.862131122731 69.05105835790312

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99996444e-01  2.66642769e-03  4.73442007e-05]
 [-2.66643066e-03  9.99996443e-01  6.27788152e-05]
 [-4.71766371e-05 -6.29048320e-05  9.99999997e-01]]

 t_estimated:
[[8.01490828e-01]
 [5.98006744e-01]
 [6.22275488e-04]]

 R_gt:
[[ 0.99964971 -0.02633073  0.00256198]
 [ 0.02626962  0.99941876  0.02171429]
 [-0.00313308 -0.02163942  0.99976053]]

 t_gt:
[ 0.54425644 -0.66724872  0.50849196]

Pose Error in degrees for R and t:
2.078119634220394 87.85011685425108

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999972e-01 -2.34914198e-04  3.97372961e-05]
 [ 2.34911364e-04  9.99999970e-01  7.13253804e-05]
 [-3.97540502e-05 -7.13160437e-05  9.99999997e-01]]

 t_estimated:
[[ 9.97023392e-01]
 [-7.70987697e-02]
 [ 3.68915246e-04]]

 R_gt:
[[ 0.99631238 -0.08578796 -0.00152631]
 [ 0.08577874  0.99629842 -0.00559773]
 [ 0.00200021  0.00544502  0.99998227]]

 t_gt:
[ 0.80219626 -0.58558897 -0.11647628]

Pose Error in degrees for R and t:
4.919485177800406 32.33731448624256

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99883158e-01 -1.34806906e-02 -7.20709875e-03]
 [ 1.34856430e-02  9.99908860e-01  6.39009272e-04]
 [ 7.19782761e-03 -7.36126970e-04  9.99973824e-01]]

 t_estimated:
[[9.61495415e-01]
 [2.74819951e-01]
 [7.48828205e-04]]

 R_gt:
[[ 0.99609189 -0.08589686 -0.02056697]
 [ 0.08104935  0.98145908 -0.17369069]
 [ 0.03510357  0.17134423  0.98458461]]

 t_gt:
[ 0.61948116 -0.06516692 -0.78230197]

Pose Error in degrees for R and t:
10.839039274300859 54.75083320887234

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.96641635e-01  8.18868252e-02  1.51921110e-05]
 [-8.18868216e-02  9.96641621e-01 -1.65059875e-04]
 [-2.86573193e-05  1.63261510e-04  9.99999986e-01]]

 t_estimated:
[[-1.86038075e-01]
 [-9.82542404e-01]
 [-5.08067909e-04]]

 R_gt:
[[ 0.99966085  0.00653332 -0.02521728]
 [-0.00274818  0.98908417  0.14731975]
 [ 0.02590403 -0.14720075  0.98876728]]

 t_gt:
[-0.10943956 -0.32740723  0.9385241 ]

Pose Error in degrees for R and t:
9.676685002124024 70.02716515277172

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.96700803e-01  8.11634647e-02  1.87210234e-05]
 [-8.11634604e-02  9.96700790e-01 -1.69293022e-04]
 [-3.23996670e-05  1.67215028e-04  9.99999985e-01]]

 t_estimated:
[[-1.90754766e-03]
 [-9.99998083e-01]
 [-4.41029808e-04]]

 R_gt:
[[ 0.99712222  0.03162804 -0.06890192]
 [-0.01846491  0.98277047  0.18390334]
 [ 0.07353131 -0.18210228  0.98052604]]

 t_gt:
[-0.39721489 -0.34546307  0.85022091]

Pose Error in degrees for R and t:
11.77864009867994 69.7666049049939

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.98097661e-01 -6.16527338e-02 -1.26701416e-05]
 [ 6.16527329e-02  9.98097659e-01 -6.02468326e-05]
 [ 1.63604206e-05  5.93510738e-05  9.99999998e-01]]

 t_estimated:
[[ 2.86903117e-01]
 [-9.57959603e-01]
 [-8.00954633e-06]]

 R_gt:
[[ 0.99381253  0.08940037 -0.06591531]
 [-0.06953413  0.96352137  0.2584367 ]
 [ 0.0866152  -0.25225476  0.96377606]]

 t_gt:
[-0.66009947 -0.19067514  0.72657531]

Pose Error in degrees for R and t:
17.488038497430285 89.61431997084856

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-2.95878034e-01  9.55222651e-01  2.42404653e-03]
 [-9.55225370e-01 -2.95879165e-01  1.13633370e-04]
 [ 8.25770030e-04 -2.28188912e-03  9.99997056e-01]]

 t_estimated:
[[7.57349246e-01]
 [6.53009659e-01]
 [7.09793108e-04]]

 R_gt:
[[ 0.99120496 -0.13167969 -0.0131524 ]
 [ 0.13183872  0.99119775  0.01205004]
 [ 0.01145051 -0.0136776   0.99984076]]

 t_gt:
[ 0.64299752 -0.76576443  0.01261062]

Pose Error in degrees for R and t:
114.78477488212049 89.25118380159299

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.93098760e-01 -1.17281035e-01  1.04815007e-04]
 [ 1.17281064e-01  9.93098706e-01 -3.35457713e-04]
 [-6.47488206e-05  3.45435455e-04  9.99999938e-01]]

 t_estimated:
[[-0.30117744]
 [-0.9535671 ]
 [-0.00139136]]

 R_gt:
[[ 0.9825683  -0.17411251  0.06514896]
 [ 0.1775733   0.98274866 -0.05171161]
 [-0.05502096  0.06237856  0.99653492]]

 t_gt:
[ 0.53059003 -0.8381461  -0.12643313]

Pose Error in degrees for R and t:
5.850078096435729 50.23779913016841

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.94630580e-01 -1.03489114e-01 -1.12699920e-04]
 [ 1.03488950e-01  9.94630097e-01 -1.00388202e-03]
 [ 2.15985593e-04  9.86828558e-04  9.99999490e-01]]

 t_estimated:
[[-0.42538899]
 [-0.90500795]
 [-0.0021957 ]]

 R_gt:
[[ 0.97926445 -0.16393329  0.1190243 ]
 [ 0.1788014   0.97560633 -0.12736997]
 [-0.09523987  0.14601101  0.98468755]]

 t_gt:
[ 0.32637663 -0.77385668 -0.5427929 ]

Pose Error in degrees for R and t:
10.77036448517211 55.757187337062305

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99999950e-01 -2.94574244e-04  1.10778763e-04]
 [ 2.94598271e-04  9.99999933e-01 -2.16932633e-04]
 [-1.10714853e-04  2.16965258e-04  9.99999970e-01]]

 t_estimated:
[[9.99994891e-01]
 [3.12679461e-03]
 [6.64870977e-04]]

 R_gt:
[[ 0.99914889 -0.00469823  0.0409898 ]
 [ 0.00773438  0.99721277 -0.07421211]
 [-0.04052589  0.07446659  0.99640012]]

 t_gt:
[ 0.65854128  0.51133297 -0.55214307]

Pose Error in degrees for R and t:
4.860945842630845 48.71769280331104

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99999999e-01  3.51931381e-05  1.48386633e-06]
 [-3.51931380e-05  9.99999999e-01 -4.02425766e-08]
 [-1.48386774e-06  4.01903547e-08  1.00000000e+00]]

 t_estimated:
[[9.99996527e-01]
 [2.51913468e-03]
 [7.74589300e-04]]

 R_gt:
[[ 0.99378631  0.0674171   0.08856444]
 [-0.06151282  0.99580176 -0.06778997]
 [-0.0927621   0.06192108  0.99376128]]

 t_gt:
[0.04715976 0.98826317 0.14529921]

Pose Error in degrees for R and t:
7.397367198265253 87.14768604865341

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.99999753e-01 -3.24464754e-04  6.23174102e-04]
 [ 3.24848856e-04  9.99999757e-01 -6.16361343e-04]
 [-6.22973963e-04  6.16563628e-04  9.99999616e-01]]

 t_estimated:
[[0.99997501]
 [0.00699171]
 [0.00104893]]

 R_gt:
[[ 0.97977965  0.15385292  0.12791516]
 [-0.13612342  0.98111726 -0.13740403]
 [-0.14663958  0.11721316  0.98222067]]

 t_gt:
[-0.12365695  0.99055005  0.05932583]

Pose Error in degrees for R and t:
13.669439615007411 83.30027376986654

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 0.95789553 -0.28709363 -0.00366036]
 [-0.28710518 -0.95766293 -0.02126804]
 [ 0.00260053  0.02142346 -0.99976711]]

 t_estimated:
[[ 0.16739957]
 [ 0.98583353]
 [-0.01047098]]

 R_gt:
[[ 0.99523997 -0.01564247  0.09619268]
 [ 0.02502624  0.99495774 -0.09711927]
 [-0.09418856  0.09906467  0.9906135 ]]

 t_gt:
[-0.8599871   0.15065564 -0.48757057]

Pose Error in degrees for R and t:
173.98377574112493 89.4462135490275

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.98174976  0.0807034  -0.17220443]
 [-0.04025681  0.97316373  0.22656509]
 [ 0.18586768 -0.21549783  0.95865212]]

 t_estimated:
[[0.98754144]
 [0.15430335]
 [0.03086067]]

 R_gt:
[[ 0.98628538  0.009051    0.16479889]
 [ 0.01597999  0.98856729 -0.14992912]
 [-0.16427151  0.15050699  0.97486545]]

 t_gt:
[-0.88229291  0.39345933 -0.25835824]

Pose Error in degrees for R and t:
29.561531131392172 35.05891520890375

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.18927373  0.98191988  0.00296674]
 [ 0.98143276 -0.1892737   0.03106764]
 [ 0.03106746 -0.00296863 -0.99951288]]

 t_estimated:
[[7.50814435e-01]
 [6.60512796e-01]
 [7.28239025e-04]]

 R_gt:
[[ 0.96970368  0.01058571  0.24405476]
 [ 0.04133184  0.97754738 -0.20662173]
 [-0.24076151  0.21044932  0.94749353]]

 t_gt:
[-0.77742661  0.59085163 -0.21564372]

Pose Error in degrees for R and t:
162.87776055405817 78.83733514032356

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.32634865 -0.94521801 -0.00771144]
 [-0.94523859  0.32629491  0.00745894]
 [-0.00453412  0.00972337 -0.99994245]]

 t_estimated:
[[0.83386509]
 [0.55196743]
 [0.00098566]]

 R_gt:
[[ 0.99832857  0.01666751 -0.05533034]
 [-0.01297802  0.9977098   0.06638471]
 [ 0.05630959 -0.06555532  0.99625983]]

 t_gt:
[-0.56705234 -0.54577389  0.61691369]

Pose Error in degrees for R and t:
179.47502835368033 39.33198594873181

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.90816492e-01  1.35211984e-01  6.30623137e-04]
 [-1.35211179e-01  9.90816099e-01 -1.18091904e-03]
 [-7.84505963e-04  1.08480676e-03  9.99999104e-01]]

 t_estimated:
[[0.38337695]
 [0.92358993]
 [0.00193625]]

 R_gt:
[[ 0.99544146  0.07122412 -0.06342082]
 [-0.06392391  0.99181532  0.11052122]
 [ 0.07077354 -0.10596231  0.99184856]]

 t_gt:
[-0.92906667 -0.1630378   0.33204487]

Pose Error in degrees for R and t:
8.35240862339779 59.59427790809649

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-7.37373517e-01 -6.75435336e-01 -8.20992001e-03]
 [ 6.75383152e-01 -7.37418920e-01  8.42221715e-03]
 [-1.17428134e-02  6.65478230e-04  9.99930829e-01]]

 t_estimated:
[[0.99748776]
 [0.0705573 ]
 [0.00631206]]

 R_gt:
[[ 0.99257438  0.10383241 -0.06335899]
 [-0.08934619  0.97581851  0.19948794]
 [ 0.08253989 -0.19234588  0.97784994]]

 t_gt:
[-0.82356617 -0.12366878  0.55357456]

Pose Error in degrees for R and t:
143.27716183442067 34.23585033209476

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.90938996e-01  1.34312608e-01  1.72018389e-04]
 [-1.34312606e-01  9.90939011e-01 -2.69063747e-05]
 [-1.74073598e-04  3.55833783e-06  9.99999985e-01]]

 t_estimated:
[[9.08059192e-01]
 [4.18841272e-01]
 [7.02445592e-04]]

 R_gt:
[[ 0.99535519 -0.09626772 -0.00103758]
 [ 0.09626357  0.99534977 -0.00357176]
 [ 0.00137704  0.00345512  0.99999314]]

 t_gt:
[ 0.81309629 -0.57768505 -0.07179418]

Pose Error in degrees for R and t:
13.244737590489878 60.24245760753664

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-7.28978977e-01  6.84533858e-01 -1.74586721e-03]
 [-6.84530557e-01 -7.28980969e-01 -2.15967870e-03]
 [-2.75107716e-03 -3.79260917e-04  9.99996144e-01]]

 t_estimated:
[[0.46322901]
 [0.88623753]
 [0.00138691]]

 R_gt:
[[ 0.9963209  -0.07689479 -0.03784079]
 [ 0.07186264  0.99016895 -0.1200098 ]
 [ 0.04669659  0.11684792  0.99205149]]

 t_gt:
[ 0.66405776 -0.12642634 -0.73691497]

Pose Error in degrees for R and t:
141.15724981740502 78.78185409056884

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.98831564 -0.15020845  0.02587683]
 [-0.15105605 -0.98791631  0.03469054]
 [ 0.02035333 -0.03819405 -0.99906304]]

 t_estimated:
[[0.70774267]
 [0.70646836]
 [0.00166106]]

 R_gt:
[[ 0.99311279 -0.10687247 -0.0480024 ]
 [ 0.08911212  0.95505749 -0.28270983]
 [ 0.07605956  0.2764854   0.95800302]]

 t_gt:
[ 0.49636371  0.14548704 -0.85583678]

Pose Error in degrees for R and t:
165.5329208314041 63.08564194188729

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 4.64954515e-01  8.85334006e-01  9.98833520e-04]
 [-8.85333900e-01  4.64955255e-01 -7.05273376e-04]
 [-1.08881540e-03 -5.56381135e-04  9.99999252e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99690558  0.04026112 -0.06752123]
 [-0.04629146  0.99484135 -0.09025978]
 [ 0.06353898  0.09310644  0.99362735]]

 t_gt:
[-0.16079931  0.42751137 -0.88959407]

Pose Error in degrees for R and t:
60.12554930904913 64.81292172945304

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99998702e-01 -1.60630096e-03  1.27603082e-04]
 [ 1.60626641e-03  9.99998673e-01  2.70376167e-04]
 [-1.28037218e-04 -2.70170852e-04  9.99999955e-01]]

 t_estimated:
[[2.95737449e-01]
 [9.55268794e-01]
 [9.44667757e-04]]

 R_gt:
[[ 0.99243152  0.03150368 -0.11869434]
 [-0.05157425  0.9840906  -0.17002084]
 [ 0.11145039  0.17485628  0.97826662]]

 t_gt:
[-0.00364424  0.35654955 -0.93426931]

Pose Error in degrees for R and t:
12.240840980127812 70.20594163042449

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 5.33708234e-01 -8.45668679e-01 -7.57028495e-05]
 [ 8.45665430e-01  5.33706428e-01 -2.72560677e-03]
 [ 2.34536337e-03  1.39065949e-03  9.99996283e-01]]

 t_estimated:
[[ 0.09964763]
 [-0.99501503]
 [-0.00392852]]

 R_gt:
[[ 0.98105416  0.07696226 -0.17779326]
 [-0.11839735  0.96456981 -0.23576843]
 [ 0.15334924  0.2523519   0.95540699]]

 t_gt:
[-0.06251038  0.45912234 -0.88617105]

Pose Error in degrees for R and t:
65.48210747593167 62.63990698466189

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99954890e-01  9.49816257e-03  5.18613329e-05]
 [-9.49816384e-03  9.99954891e-01  2.43435666e-05]
 [-5.16277743e-05 -2.48350559e-05  9.99999998e-01]]

 t_estimated:
[[ 7.09134945e-01]
 [-7.05072775e-01]
 [ 1.07227216e-04]]

 R_gt:
[[ 0.9966241  -0.07364123 -0.03629829]
 [ 0.07273796  0.99702292 -0.02556605]
 [ 0.03807413  0.02283997  0.99901352]]

 t_gt:
[ 0.39887716 -0.73337947 -0.55050119]

Pose Error in degrees for R and t:
5.384358777261999 36.880915463139836

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.80214217  0.52531005  0.28393183]
 [-0.44783335  0.84374911 -0.2958593 ]
 [-0.39498509  0.11016707  0.91205811]]

 t_estimated:
[[0.76200076]
 [0.63500064]
 [0.12700013]]

 R_gt:
[[ 0.9791441  -0.19750698 -0.04761809]
 [ 0.19711888  0.98029586 -0.01274138]
 [ 0.04919744  0.00308927  0.99878356]]

 t_gt:
[ 0.57421566 -0.79045924 -0.21319139]

Pose Error in degrees for R and t:
49.359790268235216 84.75212532055565

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.28361904 -0.95893512 -0.0019198 ]
 [ 0.95893569  0.28362142 -0.00110576]
 [ 0.00160485 -0.00152735  0.99999755]]

 t_estimated:
[[9.70275533e-01]
 [2.42001692e-01]
 [7.56255287e-04]]

 R_gt:
[[ 0.93564327 -0.34527439 -0.07319532]
 [ 0.34273068  0.9383434  -0.0452379 ]
 [ 0.08430303  0.01724042  0.99629059]]

 t_gt:
[ 0.70221398 -0.67140794 -0.23686896]

Pose Error in degrees for R and t:
53.56429897411027 58.75624628208512

Number of keypoints:
Image1: 476
Image2: 476

 R_estimated:
[[ 9.98223872e-01  5.95742522e-02 -9.46359383e-05]
 [-5.95742512e-02  9.98223877e-01  1.31883699e-05]
 [ 9.52535405e-05 -7.52708047e-06  9.99999995e-01]]

 t_estimated:
[[-0.99524864]
 [ 0.09735822]
 [-0.00123029]]

 R_gt:
[[ 0.99468007  0.09967841  0.02598557]
 [-0.10060587  0.99422999  0.03721692]
 [-0.0221253  -0.03963317  0.9989692 ]]

 t_gt:
[-0.9170528   0.18074904  0.35544893]

Pose Error in degrees for R and t:
3.4975979992646886 21.587674499941667

Number of keypoints:
Image1: 311
Image2: 311

 R_estimated:
[[ 9.89830958e-01 -1.42248421e-01 -2.46106219e-04]
 [ 1.42248432e-01  9.89830987e-01  2.87919647e-05]
 [ 2.39507950e-04 -6.35074018e-05  9.99999969e-01]]

 t_estimated:
[[-0.3569111 ]
 [-0.9341377 ]
 [-0.00110158]]

 R_gt:
[[ 0.97787997  0.20916276  0.00130353]
 [-0.20915572  0.97774568  0.01630296]
 [ 0.0021361  -0.01621432  0.99986619]]

 t_gt:
[-0.87788923  0.47841274  0.02077868]

Pose Error in degrees for R and t:
20.27325624683652 82.32245154757705

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.81487134e-01 -1.91528032e-01 -1.34312437e-04]
 [ 1.91527977e-01  9.81487094e-01 -3.45158805e-04]
 [ 1.97933511e-04  3.13044337e-04  9.99999931e-01]]

 t_estimated:
[[-0.71952702]
 [-0.69446367]
 [-0.00104431]]

 R_gt:
[[ 0.95594724  0.28999163  0.0454887 ]
 [-0.29254883  0.95392871  0.06659372]
 [-0.02408027 -0.07696788  0.99674317]]

 t_gt:
[-0.84766125  0.4958519   0.18868309]

Pose Error in degrees for R and t:
28.379886266217373 74.61123912196993

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 1.00000000e+00 -4.26322914e-06  3.54953063e-06]
 [ 4.26324856e-06  1.00000000e+00 -5.47010823e-06]
 [-3.54950731e-06  5.47012337e-06  1.00000000e+00]]

 t_estimated:
[[9.99797907e-01]
 [2.01033637e-02]
 [9.97915065e-06]]

 R_gt:
[[ 0.99021634 -0.13886554  0.01372535]
 [ 0.13912353  0.99007151 -0.02009915]
 [-0.01079787  0.02181228  0.99970342]]

 t_gt:
[ 0.75590834 -0.65308258 -0.04566969]

Pose Error in degrees for R and t:
8.111081319276066 42.0444094909471

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.54342522e-01  2.98714488e-01 -7.81833297e-05]
 [-2.98714474e-01  9.54342517e-01  1.49791282e-04]
 [ 1.19358502e-04 -1.19597698e-04  9.99999986e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.95988999 -0.28020357  0.00992066]
 [ 0.28020391  0.95993987  0.00130231]
 [-0.0098875   0.0015296   0.9999503 ]]

 t_gt:
[ 0.77411164 -0.63304578  0.00205121]

Pose Error in degrees for R and t:
33.65797228238538 72.27255358388838

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 0.89411817  0.44782995  0.00101551]
 [-0.44782809  0.89411818 -0.00163642]
 [-0.00164082  0.00100838  0.99999815]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.91417318 -0.39852036  0.07395812]
 [ 0.39464061  0.91675173  0.06184266]
 [-0.0924469  -0.02734809  0.99534217]]

 t_gt:
[ 0.77501281 -0.60854485  0.17037695]

Pose Error in degrees for R and t:
50.308732640321814 72.66840429080001

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 3.62059095e-02  9.99328079e-01  5.70289077e-03]
 [-9.99343865e-01  3.62109330e-02 -7.80052118e-04]
 [-9.86034980e-04 -5.67090641e-03  9.99983434e-01]]

 t_estimated:
[[0.10003874]
 [0.99497987]
 [0.00270375]]

 R_gt:
[[ 0.99619288  0.07855887 -0.03777425]
 [-0.07717916  0.99634225  0.0366822 ]
 [ 0.04051847 -0.0336266   0.9986118 ]]

 t_gt:
[-0.00915832  0.8744052   0.48510996]

Pose Error in degrees for R and t:
83.50355548469103 29.493564627996143

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99998803e-01 -1.54684933e-03  3.56215439e-05]
 [ 1.54683903e-03  9.99998762e-01  2.87294408e-04]
 [-3.60659009e-05 -2.87238963e-04  9.99999958e-01]]

 t_estimated:
[[0.20203021]
 [0.97937859]
 [0.00117039]]

 R_gt:
[[ 0.9801528   0.17406213 -0.09487422]
 [-0.16913277  0.98389701  0.05779661]
 [ 0.10340672 -0.04060398  0.99380965]]

 t_gt:
[ 0.00722793  0.98583738 -0.16754828]

Pose Error in degrees for R and t:
11.854156664719712 14.811480858514118

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.83766799e-01 -1.79451582e-01  1.24654068e-04]
 [ 1.79451626e-01  9.83766566e-01 -6.76349912e-04]
 [-1.25844293e-06  6.87739963e-04  9.99999764e-01]]

 t_estimated:
[[-0.52331336]
 [-0.85213854]
 [-0.00174412]]

 R_gt:
[[ 0.97358704  0.22435448 -0.04233258]
 [-0.22374739  0.97446839  0.01863463]
 [ 0.04543262 -0.00867138  0.99892932]]

 t_gt:
[-0.04577109  0.99109514 -0.12504171]

Pose Error in degrees for R and t:
23.442136913958215 34.877183361764665

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[-0.91606205  0.39838657 -0.04602667]
 [ 0.39828326  0.91718669  0.01179054]
 [ 0.04691224 -0.00753079 -0.99887063]]

 t_estimated:
[[ 0.97653383]
 [-0.21398372]
 [-0.02434444]]

 R_gt:
[[ 0.99881082  0.04857884  0.00426444]
 [-0.04866886  0.99851376  0.02453409]
 [-0.00306644 -0.02471298  0.9996901 ]]

 t_gt:
[-0.4712232   0.7885027   0.39523687]

Pose Error in degrees for R and t:
177.19621926215976 50.31890157088058

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 5.85484541e-01 -8.10682893e-01 -1.04806975e-03]
 [ 8.10683166e-01  5.85485051e-01 -2.42046266e-04]
 [ 8.09851938e-04 -7.07938156e-04  9.99999421e-01]]

 t_estimated:
[[0.86521588]
 [0.50139719]
 [0.00152865]]

 R_gt:
[[ 0.98697815  0.16028641 -0.0134788 ]
 [-0.15982653  0.98668385  0.03017216]
 [ 0.0181364  -0.02762596  0.99945417]]

 t_gt:
[-0.61176794  0.78585254  0.09041996]

Pose Error in degrees for R and t:
63.39950489671093 82.23277206384266

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.89253094e-01 -1.46211514e-01 -7.13331917e-04]
 [ 1.46211710e-01  9.89253295e-01  2.31273671e-04]
 [ 6.71851076e-04 -3.33085674e-04  9.99999719e-01]]

 t_estimated:
[[-0.7771375]
 [-0.629329 ]
 [-0.0015238]]

 R_gt:
[[ 0.98822106  0.15047323  0.02787621]
 [-0.15203514  0.98612391  0.06667284]
 [-0.01745682 -0.07012587  0.99738525]]

 t_gt:
[-0.63638336  0.67220168  0.37836639]

Pose Error in degrees for R and t:
17.608750095917404 85.93174434144575

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 2.80525354e-01  9.59842273e-01  2.88745867e-03]
 [ 9.59846570e-01 -2.80523137e-01 -1.15424926e-03]
 [-2.97898262e-04  3.09531348e-03 -9.99995165e-01]]

 t_estimated:
[[-9.19883122e-01]
 [-3.92191706e-01]
 [-8.41613103e-04]]

 R_gt:
[[ 0.99308769  0.09697312 -0.06613436]
 [-0.09431651  0.9946479   0.04218571]
 [ 0.06987081 -0.03565561  0.99691791]]

 t_gt:
[ 0.01308     0.99648978 -0.0826863 ]

Pose Error in degrees for R and t:
176.01719466101738 66.2480704986866

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.90368832e-01 -1.38454217e-01 -7.82787833e-05]
 [ 1.38454227e-01  9.90368824e-01  1.39418897e-04]
 [ 5.82217324e-05 -1.48914159e-04  9.99999987e-01]]

 t_estimated:
[[-7.65619608e-01]
 [-6.43293167e-01]
 [-7.19567301e-04]]

 R_gt:
[[ 0.98050086  0.18733072 -0.05937431]
 [-0.18508177  0.98185098  0.0414101 ]
 [ 0.06605374 -0.02961383  0.99737578]]

 t_gt:
[-0.12180262  0.98308132 -0.13680368]

Pose Error in degrees for R and t:
19.153628483116155 57.38056090578973

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.92326739e-01 -1.23643109e-01 -1.56255646e-04]
 [ 1.23643106e-01  9.92326751e-01 -2.62292374e-05]
 [ 1.58299722e-04  6.70804021e-06  9.99999987e-01]]

 t_estimated:
[[-0.46609715]
 [-0.88473271]
 [-0.00121696]]

 R_gt:
[[ 0.97920714  0.20169117  0.02178262]
 [-0.20042038  0.9784345  -0.04997913]
 [-0.03139321  0.04457503  0.99851205]]

 t_gt:
[-0.05196801  0.99115793 -0.12208717]

Pose Error in degrees for R and t:
18.967419905800476 31.511078036023733

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-0.57299616  0.81950317 -0.00948447]
 [ 0.81944851  0.57307041  0.00971794]
 [ 0.01339915 -0.00220369 -0.9999078 ]]

 t_estimated:
[[ 0.56355604]
 [-0.82601205]
 [-0.01042513]]

 R_gt:
[[ 0.99551379  0.09397017 -0.01100166]
 [-0.09358949  0.99512432  0.03111949]
 [ 0.01387199 -0.02995015  0.99945511]]

 t_gt:
[-0.65100785  0.74634263  0.13842493]

Pose Error in degrees for R and t:
177.80799460872154 9.999090733141065

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.68113981e-01 -2.50509755e-01  4.27973699e-04]
 [ 2.50510058e-01  9.68113536e-01 -9.44820331e-04]
 [-1.77640421e-04  1.02190549e-03  9.99999462e-01]]

 t_estimated:
[[-0.36393683]
 [-0.9314219 ]
 [-0.00179482]]

 R_gt:
[[ 0.98810047  0.15249867 -0.02002807]
 [-0.15151216  0.98747894  0.04392702]
 [ 0.02647508 -0.04036949  0.99883417]]

 t_gt:
[-0.67910866  0.72088311  0.13834368]

Pose Error in degrees for R and t:
23.424785356436317 64.87832536016474

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 4.63939909e-01 -8.85862641e-01 -2.67253822e-03]
 [ 8.85865098e-01  4.63942661e-01 -4.85357007e-04]
 [ 1.66986413e-03 -2.14233185e-03  9.99996311e-01]]

 t_estimated:
[[0.30207388]
 [0.95328389]
 [0.00109447]]

 R_gt:
[[ 0.9934637   0.09946744  0.05600732]
 [-0.10525709  0.98809024  0.11224205]
 [-0.04417648 -0.11740316  0.99210161]]

 t_gt:
[-0.58966193  0.45784436  0.66534003]

Pose Error in degrees for R and t:
68.59124371845174 74.98556605414221

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[-9.96364784e-01 -8.28236755e-02 -1.99363106e-02]
 [-8.28391279e-02  9.96562931e-01 -5.09136662e-05]
 [ 1.98720050e-02  1.60077800e-03 -9.99801251e-01]]

 t_estimated:
[[ 0.99859778]
 [ 0.05208346]
 [-0.00947574]]

 R_gt:
[[ 0.99225797  0.12050423  0.03005316]
 [-0.12030354  0.99270148 -0.00840602]
 [-0.03084623  0.00472488  0.99951356]]

 t_gt:
[-0.80773526  0.58536733  0.07006309]

Pose Error in degrees for R and t:
179.41346301830043 39.03343602858579

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99980897e-01 -6.18049969e-03 -8.48786293e-05]
 [ 6.18049440e-03  9.99980899e-01 -6.25553710e-05]
 [ 8.52636315e-05  6.20295841e-05  9.99999994e-01]]

 t_estimated:
[[-9.64882871e-01]
 [-2.62679436e-01]
 [-7.47232772e-04]]

 R_gt:
[[ 0.97503569  0.2212018   0.01937711]
 [-0.22188196  0.97397287  0.04633523]
 [-0.00862243 -0.04947789  0.99873824]]

 t_gt:
[-0.81324099  0.56711269  0.13046953]

Pose Error in degrees for R and t:
13.472619957145698 50.534315424313405

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-5.96158274e-01 -8.02866871e-01 -3.16400884e-04]
 [-8.02866894e-01  5.96158076e-01  5.46239519e-04]
 [-2.49932671e-04  5.79673004e-04 -9.99999801e-01]]

 t_estimated:
[[9.29686376e-01]
 [3.68351191e-01]
 [8.00763459e-04]]

 R_gt:
[[ 0.92712684  0.37473156 -0.00346409]
 [-0.37420469  0.92624203  0.04526042]
 [ 0.02016955 -0.04066522  0.99896921]]

 t_gt:
[-0.78442973  0.62006235  0.01388108]

Pose Error in degrees for R and t:
179.49551955839922 59.942966423410176

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.99696968e-01 -2.46164225e-02  6.97864546e-05]
 [ 2.46164229e-02  9.99696970e-01 -4.23840085e-06]
 [-6.96609729e-05  5.95500935e-06  9.99999998e-01]]

 t_estimated:
[[9.95538177e-01]
 [9.43562295e-02]
 [7.99629057e-04]]

 R_gt:
[[ 9.97060227e-01 -7.65954285e-02 -2.04636827e-03]
 [ 7.65951744e-02  9.97062082e-01 -3.95159626e-04]
 [ 2.07048157e-03  2.37260388e-04  9.99998216e-01]]

 t_gt:
[ 0.69707709 -0.71699356  0.00193986]

Pose Error in degrees for R and t:
2.984693590628077 51.22118559292219

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.94617579e-01 -1.03614001e-01  1.01397061e-04]
 [ 1.03613984e-01  9.94617573e-01  1.62321965e-04]
 [-1.17670127e-04 -1.50942127e-04  9.99999982e-01]]

 t_estimated:
[[0.98293538]
 [0.18394772]
 [0.00112851]]

 R_gt:
[[ 0.98709232 -0.1540337   0.04384997]
 [ 0.15517332  0.98759917 -0.02386399]
 [-0.03963001  0.03036024  0.99875353]]

 t_gt:
[ 0.75996139 -0.64183681  0.10248994]

Pose Error in degrees for R and t:
4.110549540850099 51.02036072176532

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.35624846  0.93435411  0.00833193]
 [ 0.93438058  0.35627287 -0.00160489]
 [-0.00446798  0.00721345 -0.999964  ]]

 t_estimated:
[[0.95837811]
 [0.28549954]
 [0.00118465]]

 R_gt:
[[ 0.99321866 -0.07385461  0.08979405]
 [ 0.07825236  0.99584979 -0.04647861]
 [-0.08598869  0.05318965  0.99487528]]

 t_gt:
[ 0.77028586 -0.37451197  0.51613998]

Pose Error in degrees for R and t:
173.7667066661133 50.80855705936634

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.86714025e-01  1.62465141e-01  7.15097930e-04]
 [-1.62464626e-01  9.86714101e-01 -7.27327004e-04]
 [-8.23762495e-04  6.01485638e-04  9.99999480e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99518605 -0.08448681 -0.04967052]
 [ 0.08170509  0.99510419 -0.05561519]
 [ 0.05412682  0.05128979  0.99721653]]

 t_gt:
[ 0.72083237 -0.37240905 -0.58456154]

Pose Error in degrees for R and t:
14.75423604479018 86.01280410160457

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 1.37331875e-01  9.90525078e-01 -1.58602668e-04]
 [-9.90521254e-01  1.37330896e-01 -2.80556146e-03]
 [-2.75719794e-03  5.42392331e-04  9.99996052e-01]]

 t_estimated:
[[6.12174270e-02]
 [9.98124222e-01]
 [6.80718294e-04]]

 R_gt:
[[ 0.9717864  -0.23184129 -0.04336493]
 [ 0.22894406  0.97140546 -0.06289031]
 [ 0.05670688  0.05118777  0.99707832]]

 t_gt:
[ 0.80114122 -0.5214761  -0.29365867]

Pose Error in degrees for R and t:
95.52120345554526 61.858283855924014

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 7.30381291e-01  6.83039019e-01  9.31644350e-04]
 [-6.83038314e-01  7.30376476e-01  2.97741910e-03]
 [ 1.35324231e-03 -2.81100000e-03  9.99995133e-01]]

 t_estimated:
[[0.66740868]
 [0.74469059]
 [0.00125837]]

 R_gt:
[[ 9.29317720e-01 -3.69281767e-01 -7.82506702e-04]
 [ 3.69155948e-01  9.29054036e-01 -2.41507313e-02]
 [ 9.64541721e-03  2.21548039e-02  9.99708152e-01]]

 t_gt:
[ 0.82116687 -0.5665542  -0.06856613]

Pose Error in degrees for R and t:
64.76970216391288 82.75802411147656

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 0.54554652 -0.83793769  0.01547326]
 [-0.83795123 -0.54504506  0.0276337 ]
 [-0.01472169 -0.02804131 -0.99949835]]

 t_estimated:
[[0.48847111]
 [0.87243373]
 [0.01598022]]

 R_gt:
[[ 0.99821083 -0.01587287 -0.05766763]
 [ 0.01437026  0.99954935 -0.02638932]
 [ 0.05806067  0.02551306  0.9979868 ]]

 t_gt:
[ 0.81906156  0.25046255 -0.51614597]

Pose Error in degrees for R and t:
178.92496079729926 52.38505808569014

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[ 9.99857699e-01  1.68694481e-02  6.19802459e-05]
 [-1.68694631e-02  9.99857669e-01  2.49953929e-04]
 [-5.77548394e-05 -2.50963933e-04  9.99999967e-01]]

 t_estimated:
[[6.64338166e-01]
 [7.47432096e-01]
 [2.51581385e-04]]

 R_gt:
[[ 0.99424309 -0.06327446 -0.08648296]
 [ 0.05961485  0.99723931 -0.04426723]
 [ 0.08904436  0.0388566   0.99526875]]

 t_gt:
[ 0.92721032  0.13166704 -0.35063487]

Pose Error in degrees for R and t:
7.16932846810544 44.413716374252104

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99587233e-01 -2.87290838e-02 -6.26048606e-05]
 [ 2.87291213e-02  9.99586977e-01  7.15948130e-04]
 [ 4.20104695e-05 -7.17451193e-04  9.99999742e-01]]

 t_estimated:
[[0.75444548]
 [0.65636218]
 [0.00083513]]

 R_gt:
[[ 0.99159454 -0.08193784 -0.10013576]
 [ 0.07950259  0.99643932 -0.02808223]
 [ 0.10208056  0.01988509  0.99457699]]

 t_gt:
[ 0.96345649  0.12154707 -0.23870046]

Pose Error in degrees for R and t:
6.684595265592699 36.248997870305274

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.22229307  0.97435642  0.03486211]
 [ 0.97432388 -0.22068998 -0.04459715]
 [-0.0357598   0.04388062 -0.99839658]]

 t_estimated:
[[0.94667211]
 [0.32213148]
 [0.00657411]]

 R_gt:
[[ 0.99584687  0.08129867 -0.04099531]
 [-0.08427436  0.9934603  -0.07702296]
 [ 0.03446524  0.08015892  0.99618619]]

 t_gt:
[-0.45790091  0.67665809 -0.57659395]

Pose Error in degrees for R and t:
174.58410421393882 77.33209351542149

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99998755e-01 -1.57485512e-03  9.86917714e-05]
 [ 1.57484460e-03  9.99998754e-01  1.06602932e-04]
 [-9.88595327e-05 -1.06447376e-04  9.99999989e-01]]

 t_estimated:
[[2.30900378e-03]
 [9.99997228e-01]
 [4.61735344e-04]]

 R_gt:
[[ 0.99186141  0.08009845 -0.09896598]
 [-0.09678399  0.97937817 -0.17733778]
 [ 0.08272113  0.18547402  0.9791611 ]]

 t_gt:
[-0.2181584   0.56200133 -0.79784799]

Pose Error in degrees for R and t:
12.830435929424052 55.86618223977148

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.07200042e-01  4.20699274e-01 -4.51657916e-04]
 [-4.20699400e-01  9.07200067e-01 -2.29263773e-04]
 [ 3.13292989e-04  3.98000319e-04  9.99999872e-01]]

 t_estimated:
[[-0.46990348]
 [ 0.88271734]
 [-0.00090743]]

 R_gt:
[[ 0.98597646  0.08454394 -0.14388781]
 [-0.11910871  0.9604005  -0.25188012]
 [ 0.11689433  0.26548635  0.95700161]]

 t_gt:
[-0.13340218  0.54008057 -0.83097343]

Pose Error in degrees for R and t:
25.26436531263164 57.30419701975315

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99302967e-01 -3.73306499e-02 -4.85597910e-05]
 [ 3.73306558e-02  9.99302960e-01  1.27784418e-04]
 [ 4.37556675e-05 -1.29508117e-04  9.99999991e-01]]

 t_estimated:
[[ 9.99810098e-01]
 [-1.94825350e-02]
 [ 4.46003239e-04]]

 R_gt:
[[ 0.99432218 -0.10257796 -0.02829903]
 [ 0.10305232  0.9945501   0.01585946]
 [ 0.0265181  -0.01868485  0.99947451]]

 t_gt:
[ 0.53864131 -0.84052417 -0.05817781]

Pose Error in degrees for R and t:
4.194204570031559 56.296956993316726

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.91491981e-01  1.30167223e-01  3.82428123e-04]
 [-1.30167171e-01  9.91492049e-01 -1.58866181e-04]
 [-3.99853613e-04  1.07734957e-04  9.99999914e-01]]

 t_estimated:
[[ 9.99582874e-01]
 [-2.88802228e-02]
 [-1.00490328e-04]]

 R_gt:
[[ 0.96802842 -0.24263653 -0.06363716]
 [ 0.24303349  0.97001675 -0.00152356]
 [ 0.06209822 -0.01399055  0.9979724 ]]

 t_gt:
[ 0.66319846 -0.73331013 -0.14974663]

Pose Error in degrees for R and t:
21.854840763172206 46.833950783387735

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.93225120e-01  1.16205535e-01  3.66494115e-04]
 [-1.16205431e-01  9.93225157e-01 -2.92958296e-04]
 [-3.98054550e-04  2.48384932e-04  9.99999890e-01]]

 t_estimated:
[[ 8.90375937e-01]
 [-4.55225705e-01]
 [-4.97818827e-04]]

 R_gt:
[[ 0.92247585 -0.37685716 -0.0837665 ]
 [ 0.37213713  0.92577109 -0.06680047]
 [ 0.10272294  0.03044872  0.99424404]]

 t_gt:
[ 0.74865319 -0.59859511 -0.28496016]

Pose Error in degrees for R and t:
29.373148402801604 20.078936496752238

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.0889812  -0.99598601 -0.0097069 ]
 [ 0.99592982 -0.08882725 -0.01528082]
 [ 0.01435725 -0.01102709  0.99983612]]

 t_estimated:
[[ 0.98169608]
 [-0.19041075]
 [-0.00406816]]

 R_gt:
[[ 0.99795666 -0.01998025 -0.06069388]
 [ 0.01628019  0.99801451 -0.06085265]
 [ 0.06178898  0.05973971  0.99629947]]

 t_gt:
[ 0.32117308  0.08941165 -0.94279022]

Pose Error in degrees for R and t:
94.11314871488375 72.4159315467384

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-8.75121361e-01 -4.83900159e-01 -1.79984609e-03]
 [ 4.83902606e-01 -8.75120855e-01 -1.32573141e-03]
 [-9.33561208e-04 -2.03112609e-03  9.99997501e-01]]

 t_estimated:
[[0.75499602]
 [0.65572856]
 [0.00103318]]

 R_gt:
[[ 0.9946712   0.02538327 -0.09992555]
 [-0.03276863  0.99679651 -0.07297229]
 [ 0.09775226  0.07585658  0.99231501]]

 t_gt:
[ 0.12085961  0.43743089 -0.89109325]

Pose Error in degrees for R and t:
152.7836266520831 67.84188817612457

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-8.35883263e-01 -5.48906566e-01  8.68191730e-04]
 [-5.48905116e-01  8.35883377e-01  1.46764742e-03]
 [-1.53130834e-03  7.50227030e-04 -9.99998546e-01]]

 t_estimated:
[[0.99981909]
 [0.01890414]
 [0.00210046]]

 R_gt:
[[ 0.99204255  0.05201174 -0.11466039]
 [-0.06518238  0.99130881 -0.11427764]
 [ 0.10771976  0.12084139  0.98680902]]

 t_gt:
[ 0.0262493   0.59593761 -0.80260161]

Pose Error in degrees for R and t:
171.99935302596072 87.94697311541559

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.62326697e-02 -9.95358163e-01 -1.18352495e-03]
 [ 9.95358609e-01  9.62317222e-02  8.33198406e-04]
 [-7.15438191e-04 -1.25821265e-03  9.99998953e-01]]

 t_estimated:
[[ 0.98988244]
 [-0.14188595]
 [ 0.00106252]]

 R_gt:
[[ 0.98516115  0.1711738   0.01259997]
 [-0.17111233  0.98523449 -0.00578584]
 [-0.01340415  0.00354415  0.99990389]]

 t_gt:
[-0.87404592  0.48570838  0.01144975]

Pose Error in degrees for R and t:
94.33551487796068 20.91585221659058

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.97561179e-01  6.97930135e-02 -7.93679937e-04]
 [-6.97927312e-02  9.97561443e-01  3.77998053e-04]
 [ 8.18126126e-04 -3.21683093e-04  9.99999614e-01]]

 t_estimated:
[[-0.83933623]
 [-0.54361155]
 [-0.00108722]]

 R_gt:
[[ 0.95495516  0.29457627  0.03586614]
 [-0.29571802  0.95473139  0.03222811]
 [-0.02475029 -0.04138266  0.99883673]]

 t_gt:
[-0.86988361  0.46002191  0.17799535]

Pose Error in degrees for R and t:
13.463007036798542 61.32386583134067

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.76137738  0.64827372 -0.00675774]
 [ 0.64826506  0.76140576  0.00369821]
 [ 0.00754284 -0.00156508 -0.99997033]]

 t_estimated:
[[ 0.90485955]
 [-0.42568994]
 [-0.00415538]]

 R_gt:
[[ 0.93549835  0.34936607  0.05279068]
 [-0.35247521  0.93315172  0.07062721]
 [-0.02458787 -0.08467872  0.99610483]]

 t_gt:
[-0.86742423  0.42019559  0.26647863]

Pose Error in degrees for R and t:
179.89232228119 15.230353135164268

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.75649207e-01 -2.19335289e-01 -8.09397564e-04]
 [ 2.19336327e-01  9.75648060e-01  1.56143290e-03]
 [ 4.47209827e-04 -1.70094106e-03  9.99998453e-01]]

 t_estimated:
[[-0.6975308 ]
 [-0.71655436]
 [-0.00079265]]

 R_gt:
[[ 0.99859072  0.04958136 -0.01895904]
 [-0.05033944  0.99785672 -0.04183047]
 [ 0.01684374  0.0427264   0.99894476]]

 t_gt:
[-0.45797958  0.71476139 -0.52855544]

Pose Error in degrees for R and t:
15.7676533924924 78.91345187586407

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.32460169e-01 -3.61272686e-01  2.80536109e-04]
 [ 3.61272762e-01  9.32460134e-01 -2.98857181e-04]
 [-1.53619801e-04  3.80022473e-04  9.99999916e-01]]

 t_estimated:
[[-0.5493189 ]
 [-0.83561218]
 [-0.00101164]]

 R_gt:
[[ 0.98834067  0.13796064 -0.06441569]
 [-0.144705    0.98270638 -0.11553489]
 [ 0.04736174  0.1235101   0.99121268]]

 t_gt:
[-0.44003361  0.72571622 -0.52887276]

Pose Error in degrees for R and t:
30.28403760365094 68.64388765043557

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.9999931  -0.00267818  0.0025733 ]
 [ 0.002689    0.99998753 -0.0042094 ]
 [-0.002562    0.00421629  0.99998783]]

 t_estimated:
[[-0.99113395]
 [-0.13285978]
 [-0.0013286 ]]

 R_gt:
[[ 0.98554339  0.1245611  -0.11484784]
 [-0.14642791  0.9672065  -0.20753577]
 [ 0.0852306   0.22135262  0.97146272]]

 t_gt:
[-0.26931469  0.65249616 -0.70832081]

Pose Error in degrees for R and t:
15.767183316102741 79.561646228824

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-0.62131923 -0.78355646  0.00129725]
 [-0.78354696  0.6213186   0.00416707]
 [-0.00407114  0.00157262 -0.99999048]]

 t_estimated:
[[0.91201913]
 [0.41013878]
 [0.00269828]]

 R_gt:
[[ 0.99315922 -0.11614532  0.01208638]
 [ 0.11629424  0.99313648 -0.01244523]
 [-0.01055855  0.01376602  0.99984976]]

 t_gt:
[ 0.63075524 -0.77431252 -0.05087189]

Pose Error in degrees for R and t:
179.56413579099438 75.07538227838117

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.97886816  0.20448974 -0.00103158]
 [-0.2044882  -0.97886798 -0.00143107]
 [-0.00130242 -0.00118988  0.99999844]]

 t_estimated:
[[8.50247387e-01]
 [5.26382664e-01]
 [8.19910691e-04]]

 R_gt:
[[ 0.95345743 -0.29587165  0.05812516]
 [ 0.29486386  0.95520072  0.02541494]
 [-0.0630414  -0.00709297  0.99798503]]

 t_gt:
[ 0.69517271 -0.69547846  0.1817818 ]

Pose Error in degrees for R and t:
174.6066404199151 76.98947605934323

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 8.77866108e-01  4.78905849e-01  5.33813713e-04]
 [-4.78905883e-01  8.77866249e-01 -7.02489532e-05]
 [-5.02259676e-04 -1.93977352e-04  9.99999855e-01]]

 t_estimated:
[[0.72824917]
 [0.68531193]
 [0.00084191]]

 R_gt:
[[ 0.90380555 -0.42635712  0.03681342]
 [ 0.42429418  0.90398669  0.05275033]
 [-0.0557698  -0.03205653  0.9979287 ]]

 t_gt:
[ 0.75775458 -0.63264712  0.15989249]

Pose Error in degrees for R and t:
53.92822525938571 83.19975949651548

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 4.60822426e-01  8.87490272e-01  1.92601759e-03]
 [ 8.87492024e-01 -4.60823058e-01 -1.27782558e-04]
 [ 7.74147541e-04  1.76821032e-03 -9.99998137e-01]]

 t_estimated:
[[-9.99344137e-01]
 [-3.62020201e-02]
 [-8.41907445e-04]]

 R_gt:
[[ 0.99722628  0.06492488 -0.03640391]
 [-0.06583027  0.99753638 -0.02423728]
 [ 0.03474017  0.02656702  0.99904299]]

 t_gt:
[-0.32315269  0.82298358 -0.46719415]

Pose Error in degrees for R and t:
179.75316879103227 72.92996521255483

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.95190339 -0.30630679  0.00748885]
 [-0.30634569 -0.95190857  0.00473274]
 [ 0.00567903 -0.00679929 -0.99996076]]

 t_estimated:
[[0.11157889]
 [0.99374946]
 [0.00348684]]

 R_gt:
[[ 0.9965306   0.06750018 -0.04867723]
 [-0.07058379  0.99540704 -0.06467571]
 [ 0.04408825  0.06788863  0.99671779]]

 t_gt:
[-0.2013724   0.785407   -0.58530762]

Pose Error in degrees for R and t:
176.17670372978642 40.88822594084334

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.97265226e-01  7.39055130e-02 -2.11320100e-04]
 [-7.39054988e-02  9.97265246e-01  7.45505954e-05]
 [ 2.16251892e-04 -5.87289990e-05  9.99999975e-01]]

 t_estimated:
[[-8.44130592e-01]
 [-5.36136997e-01]
 [-8.14797869e-04]]

 R_gt:
[[ 9.99610214e-01  1.60433913e-02  2.28794741e-02]
 [-1.60679065e-02  9.99871022e-01  8.91868898e-04]
 [-2.28619861e-02 -1.25803742e-03  9.99737571e-01]]

 t_gt:
[-0.26128754  0.85933315  0.43963094]

Pose Error in degrees for R and t:
3.5721625157584866 76.08290233156345

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99333184e-01  3.65123768e-02  1.81138464e-04]
 [-3.65123713e-02  9.99333200e-01 -3.36344757e-05]
 [-1.82245756e-04  2.69982529e-05  9.99999983e-01]]

 t_estimated:
[[0.96261853]
 [0.27085898]
 [0.00098662]]

 R_gt:
[[ 0.99109546 -0.13034713  0.02717919]
 [ 0.13046887  0.99144896 -0.00275336]
 [-0.02658801  0.0062749   0.9996269 ]]

 t_gt:
[ 0.70159005 -0.70536531  0.1011493 ]

Pose Error in degrees for R and t:
9.711995700100465 61.02625079369306

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-7.69355312e-02 -9.97034140e-01 -1.96178216e-03]
 [ 9.97035982e-01 -7.69362022e-02  2.68774964e-04]
 [-4.18909884e-04 -1.93528906e-03  9.99998040e-01]]

 t_estimated:
[[9.99403399e-01]
 [3.45268363e-02]
 [8.62530853e-04]]

 R_gt:
[[ 0.97708533 -0.211108    0.02716059]
 [ 0.21113805  0.97745491  0.00178636]
 [-0.02692644  0.00398871  0.99962948]]

 t_gt:
[ 0.76904877 -0.63655068  0.05802773]

Pose Error in degrees for R and t:
82.23565147043603 41.6979551315523

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.90579046e-01  1.36941877e-01  2.75720897e-04]
 [-1.36942051e-01  9.90578765e-01  7.64433799e-04]
 [-1.68440266e-04 -7.94989889e-04  9.99999670e-01]]

 t_estimated:
[[9.19737385e-01]
 [3.92533510e-01]
 [7.65172534e-04]]

 R_gt:
[[ 9.64767704e-01 -2.63093361e-01  2.29813181e-03]
 [ 2.63092246e-01  9.64770417e-01  2.99758062e-04]
 [-2.29685606e-03  3.14896333e-04  9.99997253e-01]]

 t_gt:
[ 0.83098503 -0.55628547 -0.0032172 ]

Pose Error in degrees for R and t:
23.124974383059183 56.912112522560655

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99169930e-01  4.07363563e-02  3.06350772e-05]
 [-4.07363548e-02  9.99169929e-01 -4.92173421e-05]
 [-3.26145831e-05  4.79285269e-05  9.99999998e-01]]

 t_estimated:
[[ 6.33486103e-01]
 [-7.73754067e-01]
 [-2.20425892e-05]]

 R_gt:
[[ 0.99613819 -0.0465192   0.07446343]
 [ 0.05271146  0.99511402 -0.08347921]
 [-0.07021576  0.08708155  0.99372298]]

 t_gt:
[ 0.19333658  0.83741861 -0.51122504]

Pose Error in degrees for R and t:
8.251976761544968 58.30019558404438

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.97817837e-01  6.60267413e-02  1.82673793e-04]
 [-6.60267327e-02  9.97817853e-01 -5.28783622e-05]
 [-1.85766558e-04  4.07016193e-05  9.99999982e-01]]

 t_estimated:
[[ 9.77505608e-01]
 [-2.10909001e-01]
 [ 4.22877973e-04]]

 R_gt:
[[ 0.99277014 -0.08493764  0.08481391]
 [ 0.08968798  0.99451305 -0.05384664]
 [-0.07977499  0.06106411  0.99493966]]

 t_gt:
[0.66815398 0.73771588 0.09667232]

Pose Error in degrees for R and t:
10.518511474936478 60.16035852790045

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-7.59729854e-01 -6.50238462e-01  7.00778883e-04]
 [-6.50235878e-01  7.59729206e-01  2.19915492e-03]
 [-1.96237729e-03  1.21509207e-03 -9.99997336e-01]]

 t_estimated:
[[0.98023063]
 [0.19785509]
 [0.0011306 ]]

 R_gt:
[[ 0.99039238 -0.12277598  0.06363449]
 [ 0.12502452  0.99161687 -0.03262356]
 [-0.05909654  0.04026573  0.99743919]]

 t_gt:
[0.89954282 0.43487981 0.04125848]

Pose Error in degrees for R and t:
177.33129992054796 14.56812428084478

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 0.97084791  0.23967768  0.00299055]
 [-0.23966843  0.9708497  -0.00314734]
 [-0.00365772  0.00233885  0.99999058]]

 t_estimated:
[[0.47811681]
 [0.87829101]
 [0.00303526]]

 R_gt:
[[ 0.99690236 -0.06372758  0.0460926 ]
 [ 0.06523973  0.99735409 -0.03208477]
 [-0.04392518  0.03499298  0.99842109]]

 t_gt:
[ 0.79697672 -0.54610797  0.25805849]

Pose Error in degrees for R and t:
17.814450158731912 84.38689801045055

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.89759947 -0.44080329 -0.00276586]
 [ 0.44080814 -0.89760016 -0.00146514]
 [-0.00183679 -0.00253432  0.9999951 ]]

 t_estimated:
[[0.94805346]
 [0.31810719]
 [0.00156703]]

 R_gt:
[[ 0.99413712  0.04861388  0.09658238]
 [-0.04335004  0.99749616 -0.05588551]
 [-0.09905737  0.05137054  0.99375495]]

 t_gt:
[-0.28884431  0.74448932  0.60191745]

Pose Error in degrees for R and t:
156.5353104602394 87.93293795466914

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 5.28735509e-02 -9.98600745e-01  9.69205247e-04]
 [-9.98598148e-01 -5.28709580e-02  2.52987053e-03]
 [-2.47508779e-03 -1.10160980e-03 -9.99996330e-01]]

 t_estimated:
[[0.47108446]
 [0.88208252]
 [0.00313981]]

 R_gt:
[[ 0.98898485  0.09118357  0.11659645]
 [-0.08326892  0.99399061 -0.07105663]
 [-0.1223742   0.06056495  0.99063346]]

 t_gt:
[-0.36669945  0.77696243  0.51172346]

Pose Error in degrees for R and t:
177.87629869593468 59.05565056249063

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99999924e-01  3.44668574e-04  1.81032675e-04]
 [-3.44637777e-04  9.99999926e-01 -1.70123285e-04]
 [-1.81091298e-04  1.70060882e-04  9.99999969e-01]]

 t_estimated:
[[ 9.36373294e-01]
 [-3.51004774e-01]
 [-8.38279182e-04]]

 R_gt:
[[ 9.89794574e-01 -1.42465482e-01 -3.28743176e-03]
 [ 1.42503694e-01  9.89543536e-01  2.22734241e-02]
 [ 8.00717200e-05 -2.25155537e-02  9.99746267e-01]]

 t_gt:
[ 0.90725442 -0.38449848  0.17044156]

Pose Error in degrees for R and t:
8.314637655410753 10.150985051483296

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.97596174e-01 -6.92955206e-02  7.05916844e-05]
 [ 6.92955066e-02  9.97596160e-01  1.84601060e-04]
 [-8.32140199e-05 -1.79265625e-04  9.99999980e-01]]

 t_estimated:
[[9.73597204e-01]
 [2.28271896e-01]
 [6.52615722e-04]]

 R_gt:
[[ 0.98948125 -0.14031485 -0.03521332]
 [ 0.14118784  0.98970007  0.02365987]
 [ 0.03153101 -0.02838309  0.99909957]]

 t_gt:
[ 0.99120887 -0.08640198  0.1001982 ]

Pose Error in degrees for R and t:
4.783280032808635 19.024297043899153

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999991e-01  1.12256826e-04 -7.65446056e-05]
 [-1.12254822e-04  9.99999993e-01  2.61819673e-05]
 [ 7.65475442e-05 -2.61733746e-05  9.99999997e-01]]

 t_estimated:
[[-0.56403475]
 [-0.8257496 ]
 [-0.00154922]]

 R_gt:
[[ 0.99017931 -0.11582866 -0.07828541]
 [ 0.12004491  0.99143372  0.05146259]
 [ 0.07165393 -0.0603558   0.9956014 ]]

 t_gt:
[0.97871124 0.14969779 0.14040971]

Pose Error in degrees for R and t:
8.659267410159924 47.479219014262036

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.98858156e-01 -4.77743002e-02 -2.54440810e-05]
 [ 4.77742773e-02  9.98857988e-01 -5.81587112e-04]
 [ 5.31999408e-05  5.79707457e-04  9.99999831e-01]]

 t_estimated:
[[ 0.99946045]
 [ 0.03271387]
 [-0.00293536]]

 R_gt:
[[ 9.93147210e-01 -1.13256111e-01  2.88604982e-02]
 [ 1.13281899e-01  9.93562999e-01  7.89909852e-04]
 [-2.87635968e-02  2.48564527e-03  9.99582523e-01]]

 t_gt:
[ 0.71703945 -0.66648246  0.20409691]

Pose Error in degrees for R and t:
4.114508779262636 46.03249768583878

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 3.08950985e-01  9.51077772e-01  6.01239302e-04]
 [-9.51076768e-01  3.08951537e-01 -1.38880062e-03]
 [-1.50661120e-03 -1.42753413e-04  9.99998855e-01]]

 t_estimated:
[[0.25301204]
 [0.96746244]
 [0.0011543 ]]

 R_gt:
[[ 0.99270276 -0.09480035  0.07453269]
 [ 0.09737779  0.99474286 -0.03171082]
 [-0.07113405  0.03873753  0.99671402]]

 t_gt:
[ 0.76203685 -0.5169877   0.38990197]

Pose Error in degrees for R and t:
77.63870732465162 72.12679155588903

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-7.38705683e-01  6.74028073e-01 -2.65443355e-04]
 [-6.74026443e-01 -7.38704661e-01 -1.94351540e-03]
 [-1.50606818e-03 -1.25677003e-03  9.99998076e-01]]

 t_estimated:
[[7.67772996e-01]
 [6.40721593e-01]
 [6.83072061e-04]]

 R_gt:
[[ 0.99368984  0.02969152  0.1081616 ]
 [-0.02254026  0.99751537 -0.0667465 ]
 [-0.10987424  0.063888    0.99189031]]

 t_gt:
[-0.10602856  0.69560017  0.710562  ]

Pose Error in degrees for R and t:
136.20467194533637 68.60684505251996

Number of keypoints:
Image1: 570
Image2: 570

 R_estimated:
[[ 9.99549935e-01  2.99963659e-02  3.80259993e-04]
 [ 2.99435441e-02 -9.98398305e-01  4.80021653e-02]
 [ 1.81954145e-03 -4.79691749e-02 -9.98847159e-01]]

 t_estimated:
[[0.06046121]
 [0.99789271]
 [0.02354934]]

 R_gt:
[[ 0.99842736  0.03171344 -0.04624134]
 [-0.03151227  0.99949089  0.00506957]
 [ 0.04637892 -0.00360445  0.99891727]]

 t_gt:
[ 0.04580252  0.95853843 -0.28125827]

Pose Error in degrees for R and t:
176.96077180530693 17.69946073099522

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.70964214e-01  2.39224763e-01  8.95872231e-05]
 [-2.39224751e-01  9.70964212e-01 -1.29913347e-04]
 [-1.18064477e-04  1.04709729e-04  9.99999988e-01]]

 t_estimated:
[[1.32297943e-01]
 [9.91209995e-01]
 [1.56812257e-05]]

 R_gt:
[[ 0.99560879  0.0228997  -0.09076785]
 [-0.02269047  0.99973733  0.00333353]
 [ 0.09082056 -0.00125907  0.99586639]]

 t_gt:
[ 0.52631005  0.76982601 -0.36106183]

Pose Error in degrees for R and t:
13.570615251853509 33.624626143302535

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.20821502e-01  3.89983221e-01  9.21614194e-04]
 [-3.89982540e-01  9.20821871e-01 -8.36655130e-04]
 [-1.17492397e-03  4.10996589e-04  9.99999225e-01]]

 t_estimated:
[[0.3847968 ]
 [0.92300081]
 [0.00096109]]

 R_gt:
[[ 0.98862588 -0.00874827 -0.15014199]
 [ 0.00446516  0.99957372 -0.02883867]
 [ 0.15032992  0.02783992  0.98824365]]

 t_gt:
[ 0.76955177  0.47206219 -0.43005506]

Pose Error in degrees for R and t:
24.9340178741612 42.994301448250425

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-0.90446885 -0.42309346  0.05411122]
 [-0.42311702  0.90600097  0.01158588]
 [-0.05392672 -0.01241631 -0.9984677 ]]

 t_estimated:
[[0.96811901]
 [0.24904979]
 [0.0268288 ]]

 R_gt:
[[ 0.99945284 -0.0303909  -0.01300889]
 [ 0.03107191  0.99795798  0.05579557]
 [ 0.01128685 -0.05616881  0.9983568 ]]

 t_gt:
[0.69742301 0.00924781 0.71660005]

Pose Error in degrees for R and t:
176.8134475808005 45.83578934170358

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 7.79057347e-01  6.26952490e-01  4.74651284e-04]
 [-6.26952659e-01  7.79057247e-01  4.10615552e-04]
 [-1.12344080e-04 -6.17476947e-04  9.99999803e-01]]

 t_estimated:
[[-9.07386116e-01]
 [-4.20297505e-01]
 [-6.66438530e-04]]

 R_gt:
[[ 0.99705695 -0.06297738 -0.04370964]
 [ 0.06468347  0.99715164  0.03878041]
 [ 0.04114364 -0.04149285  0.99829119]]

 t_gt:
[0.99132982 0.08351005 0.10144587]

Pose Error in degrees for R and t:
42.61360769859354 20.822591756101364

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 1.00000000e+00 -1.02943654e-10 -2.50201390e-13]
 [ 1.02942654e-10  1.00000000e+00  1.10591657e-13]
 [ 2.50200034e-13 -1.10590356e-13  1.00000000e+00]]

 t_estimated:
[[-0.33568975]
 [-0.9419718 ]
 [-0.00123379]]

 R_gt:
[[ 0.99838694 -0.05453011 -0.01579633]
 [ 0.05499908  0.99800681  0.03092937]
 [ 0.01407872 -0.03174755  0.99939681]]

 t_gt:
[0.95368576 0.242686   0.17772725]

Pose Error in degrees for R and t:
3.7180130548520687 56.70395096177443

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 8.34746746e-01  5.50633763e-01 -5.73647018e-04]
 [-5.50628860e-01  8.34742935e-01  3.47732521e-03]
 [ 2.39358046e-03 -2.58681930e-03  9.99993790e-01]]

 t_estimated:
[[8.97054517e-01]
 [4.41919122e-01]
 [8.26017051e-04]]

 R_gt:
[[ 0.9889238  -0.10106313  0.10870629]
 [ 0.09985764  0.9948651   0.01649656]
 [-0.10981662 -0.00545876  0.99393721]]

 t_gt:
[ 0.39864479 -0.69427908  0.59921523]

Pose Error in degrees for R and t:
39.69091919366255 87.06024619365454

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.51400035e-01 -3.07954908e-01 -1.32249011e-03]
 [ 3.07956690e-01 -9.51399249e-01 -1.46491786e-03]
 [-8.07087456e-04 -1.80099258e-03  9.99998053e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.9665273  -0.20398852  0.15561159]
 [ 0.20325327  0.9789052   0.0207919 ]
 [-0.15657107  0.01153347  0.98759916]]

 t_gt:
[ 0.56445916 -0.69995306  0.4375518 ]

Pose Error in degrees for R and t:
150.3429140901387 77.41906121066118

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.07285083  0.99733874  0.00286234]
 [-0.99725222 -0.07280522 -0.01368969]
 [-0.01344487 -0.00385178  0.99990219]]

 t_estimated:
[[0.09841504]
 [0.99508538]
 [0.010935  ]]

 R_gt:
[[ 0.93776847 -0.31214697  0.15216778]
 [ 0.3100149   0.94996545  0.03816013]
 [-0.1564657   0.01138851  0.98761773]]

 t_gt:
[ 0.69459388 -0.65633492  0.29455698]

Pose Error in degrees for R and t:
112.59609715047053 54.44178646688429

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.58844111e-01 -2.83932929e-01 -2.50773623e-04]
 [ 2.83932958e-01  9.58844131e-01  8.75145564e-05]
 [ 2.15604553e-04 -1.55115714e-04  9.99999965e-01]]

 t_estimated:
[[0.69029395]
 [0.7235283 ]
 [0.00102588]]

 R_gt:
[[ 0.99836608  0.03051135 -0.04832953]
 [-0.03117571  0.99942866 -0.01304896]
 [ 0.04790379  0.01453548  0.9987469 ]]

 t_gt:
[-0.02669595  0.60861283 -0.79301813]

Pose Error in degrees for R and t:
18.483980526854754 65.09550189292202

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.24158874  0.97037698 -0.00184378]
 [-0.97037277 -0.24159348 -0.00304658]
 [-0.00340178  0.00105314  0.99999366]]

 t_estimated:
[[0.00728388]
 [0.99997293]
 [0.00104055]]

 R_gt:
[[ 0.99394119  0.07934693 -0.0760648 ]
 [-0.08397668  0.99467545 -0.05973677]
 [ 0.07091947  0.06576277  0.99531169]]

 t_gt:
[-0.15884431  0.74838334 -0.64396495]

Pose Error in degrees for R and t:
99.3953373862976 41.70880039177852

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 1.66480304e-01  9.86044706e-01 -3.83013611e-04]
 [-9.86032700e-01  1.66476330e-01 -5.01468508e-03]
 [-4.88094097e-03  1.21251024e-03  9.99987353e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.99568165  0.06469838 -0.06657776]
 [-0.06925526  0.99523785 -0.06859174]
 [ 0.0618225   0.07290704  0.99542152]]

 t_gt:
[-0.10622461  0.74452817 -0.65908584]

Pose Error in degrees for R and t:
76.72961391044235 84.54392997897973

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.59832901e-01 -2.80568246e-01 -1.50403980e-03]
 [ 2.80570687e-01  9.59831718e-01  1.77838578e-03]
 [ 9.44666532e-04 -2.12894266e-03  9.99997288e-01]]

 t_estimated:
[[-0.69459325]
 [-0.71940015]
 [-0.00190822]]

 R_gt:
[[ 0.98748725  0.15752853  0.00735303]
 [-0.15757336  0.98748853  0.00614344]
 [-0.00629397 -0.00722356  0.99995425]]

 t_gt:
[-0.90734461  0.41051519  0.09057067]

Pose Error in degrees for R and t:
25.36472325189327 70.44339811777864

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.78935458e-01 -2.04169826e-01 -2.24923080e-04]
 [ 2.04169860e-01  9.78935468e-01  1.35863070e-04]
 [ 1.92446041e-04 -1.78923691e-04  9.99999965e-01]]

 t_estimated:
[[-0.95263849]
 [-0.30410313]
 [-0.00108998]]

 R_gt:
[[ 0.97167235  0.23552271  0.01953238]
 [-0.23607948  0.97112826  0.03430342]
 [-0.01088875 -0.03794138  0.99922042]]

 t_gt:
[-0.91110175  0.36145357  0.19810331]

Pose Error in degrees for R and t:
25.523663025880754 40.72800605978681

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.9535238  -0.30121591 -0.00783229]
 [ 0.30123295  0.95354998  0.00106734]
 [ 0.00714698 -0.00337708  0.99996876]]

 t_estimated:
[[-0.84015988]
 [-0.54228501]
 [-0.00763782]]

 R_gt:
[[ 0.96365876  0.26332102  0.04497776]
 [-0.26584856  0.96182955  0.06487084]
 [-0.02617877 -0.07447044  0.99687949]]

 t_gt:
[-0.90170328  0.29588137  0.31525452]

Pose Error in degrees for R and t:
33.21431374003249 53.507680064247396

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 7.76444771e-01 -6.30183339e-01  1.57391347e-03]
 [ 6.30179497e-01  7.76445916e-01  2.35375047e-03]
 [-2.70535302e-03 -8.35709247e-04  9.99995991e-01]]

 t_estimated:
[[0.97822396]
 [0.20753967]
 [0.00227419]]

 R_gt:
[[ 0.99279731 -0.11922836 -0.01178592]
 [ 0.11957741  0.99218676  0.03561546]
 [ 0.00744822 -0.03676706  0.99929719]]

 t_gt:
[ 0.89298369 -0.3711123   0.25466801]

Pose Error in degrees for R and t:
32.269537035668236 37.146256913385386

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.98504615e-01 -5.46674798e-02  2.55383390e-05]
 [ 5.46674858e-02  9.98504508e-01 -4.61178263e-04]
 [-2.88693273e-07  4.61884741e-04  9.99999893e-01]]

 t_estimated:
[[ 0.99111799]
 [ 0.13297875]
 [-0.00133268]]

 R_gt:
[[ 0.99443903 -0.09182454 -0.05157273]
 [ 0.09377303  0.99491602  0.03672479]
 [ 0.04793937 -0.04135615  0.99799402]]

 t_gt:
[0.98524114 0.08322937 0.14957532]

Pose Error in degrees for R and t:
4.256788842854841 9.11997098097034

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.99919359 -0.0379244   0.01318723]
 [ 0.03821062  0.99902363 -0.02217515]
 [-0.01233338  0.02266116  0.99966712]]

 t_estimated:
[[ 0.89074334]
 [-0.45153035]
 [-0.05192936]]

 R_gt:
[[ 0.99192365 -0.08777428 -0.09155588]
 [ 0.09274549  0.9943561   0.05152612]
 [ 0.08651693 -0.05960123  0.99446612]]

 t_gt:
[0.96396072 0.25171563 0.0861334 ]

Pose Error in degrees for R and t:
7.956045962194234 42.22499498570848

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.99998239 -0.0032335  -0.0049762 ]
 [ 0.00327348  0.99996227  0.00804645]
 [ 0.00494999 -0.0080626   0.99995525]]

 t_estimated:
[[-0.32568067]
 [-0.94547845]
 [ 0.00161595]]

 R_gt:
[[ 0.99905064 -0.02202997  0.03761186]
 [ 0.02346685  0.99899422 -0.03819421]
 [-0.03673245  0.0390411   0.99856186]]

 t_gt:
[0.94355308 0.02411521 0.33034231]

Pose Error in degrees for R and t:
3.773641975214389 70.75771026128173

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-7.54061279e-01 -6.56788044e-01 -4.58831657e-03]
 [ 6.56793700e-01 -7.54070230e-01  3.51734712e-04]
 [-3.69092809e-03 -2.74834789e-03  9.99989412e-01]]

 t_estimated:
[[0.94240112]
 [0.33448245]
 [0.0012718 ]]

 R_gt:
[[ 0.99102594  0.10054363  0.08808736]
 [-0.09509093  0.99340443 -0.06406647]
 [-0.09394779  0.05511545  0.99404942]]

 t_gt:
[-0.43373599  0.83347923  0.34232364]

Pose Error in degrees for R and t:
144.64051900807542 82.55735019967305

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 3.93699668e-01  9.19237940e-01 -1.47696875e-03]
 [-9.19239090e-01  3.93698690e-01 -9.15380831e-04]
 [-2.59972128e-04  1.71807254e-03  9.99998490e-01]]

 t_estimated:
[[-0.65329503]
 [ 0.75710169]
 [-0.00162543]]

 R_gt:
[[ 0.98686009  0.1207146   0.10740392]
 [-0.11338055  0.99094069 -0.07197905]
 [-0.1151199   0.05885588  0.9916066 ]]

 t_gt:
[-0.43090987  0.81087372  0.39598043]

Pose Error in degrees for R and t:
60.478796970329036 26.51962285661602

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.75520759 -0.65521599 -0.01880158]
 [ 0.65494227 -0.75543875  0.01905021]
 [-0.02668545  0.00207292  0.99964173]]

 t_estimated:
[[0.99355912]
 [0.11217603]
 [0.01602515]]

 R_gt:
[[ 0.99646015 -0.03917242  0.07438337]
 [ 0.04625786  0.99430039 -0.09605329]
 [-0.07019744  0.09915516  0.99259281]]

 t_gt:
[ 0.0413955   0.79047984 -0.61108758]

Pose Error in degrees for R and t:
136.74477902572414 83.10737830891671

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.88258723e-02 -9.95102099e-01 -2.29346544e-03]
 [-9.95104542e-01  9.88270500e-02 -4.05725558e-04]
 [ 6.30394778e-04  2.24214170e-03 -9.99997288e-01]]

 t_estimated:
[[8.37149371e-01]
 [5.46973918e-01]
 [6.81163036e-04]]

 R_gt:
[[ 0.9910566  -0.08882417  0.09958668]
 [ 0.09708954  0.9919349  -0.08146778]
 [-0.09154761  0.0904084   0.99168763]]

 t_gt:
[ 0.54332609  0.8230639  -0.16541637]

Pose Error in degrees for R and t:
179.35289549401432 25.186559759119273

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 8.08330126e-01 -5.88729463e-01 -1.64330801e-04]
 [ 5.88729457e-01  8.08330142e-01 -8.68867115e-05]
 [ 1.83986306e-04 -2.65132366e-05  9.99999983e-01]]

 t_estimated:
[[-2.66778354e-01]
 [-9.63757616e-01]
 [-7.52930121e-04]]

 R_gt:
[[ 0.98959862 -0.12027195  0.07892551]
 [ 0.12347714  0.99165485 -0.037054  ]
 [-0.07381044  0.04641474  0.99619146]]

 t_gt:
[0.83065508 0.55644872 0.01941517]

Pose Error in degrees for R and t:
29.4729573212251 40.72083911939225

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 7.86792680e-01  6.17217258e-01 -3.68184136e-04]
 [-6.17217198e-01  7.86791881e-01 -1.21104186e-03]
 [-4.57791644e-04  1.18008845e-03  9.99999199e-01]]

 t_estimated:
[[5.03768683e-01]
 [8.63838539e-01]
 [3.05126833e-04]]

 R_gt:
[[ 0.99149541 -0.12415547  0.03901575]
 [ 0.1244549   0.9922104  -0.00533372]
 [-0.03804914  0.01014443  0.99922364]]

 t_gt:
[ 0.67368398 -0.72264604  0.15470161]

Pose Error in degrees for R and t:
45.309159018544264 73.45182640365887

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.89452414e-01  1.44858269e-01  4.81760392e-05]
 [-1.44858178e-01  9.89451298e-01  1.49588349e-03]
 [ 1.69023249e-04 -1.48708423e-03  9.99998880e-01]]

 t_estimated:
[[0.82752853]
 [0.56142132]
 [0.0016226 ]]

 R_gt:
[[ 9.74454394e-01 -2.21180076e-01  3.89780778e-02]
 [ 2.21365760e-01  9.75190312e-01 -4.43915663e-04]
 [-3.79120521e-02  9.06109032e-03  9.99238970e-01]]

 t_gt:
[ 0.75686418 -0.6488795   0.07817935]

Pose Error in degrees for R and t:
21.23603579331189 74.80180498562319

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 3.18418796e-01 -9.47944680e-01  3.21768139e-03]
 [-9.47948540e-01 -3.18422662e-01 -7.56859589e-04]
 [ 1.74204370e-03 -2.80919806e-03 -9.99994537e-01]]

 t_estimated:
[[0.39357959]
 [0.91928947]
 [0.00140564]]

 R_gt:
[[ 0.9627702  -0.26964828  0.0190948 ]
 [ 0.26973151  0.96293344 -0.0018601 ]
 [-0.01788575  0.00694085  0.99981601]]

 t_gt:
[ 0.81600417 -0.57779211  0.01713095]

Pose Error in degrees for R and t:
179.53452164044032 77.879315825431

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-1.27350012e-01  9.91853783e-01  2.83691168e-03]
 [-9.91857781e-01 -1.27350470e-01 -1.95878697e-05]
 [ 3.41853732e-04 -2.81630744e-03  9.99995976e-01]]

 t_estimated:
[[0.80230594]
 [0.59691246]
 [0.00083455]]

 R_gt:
[[ 0.99874126  0.04531803  0.02148779]
 [-0.04407676  0.99750827 -0.05509051]
 [-0.02393177  0.05407393  0.99824983]]

 t_gt:
[-0.47301479  0.80696827 -0.35363715]

Pose Error in degrees for R and t:
94.80152540567805 84.15188596211668

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 1.50615961e-01  9.88592348e-01  3.82077148e-05]
 [-9.88590936e-01  1.50615812e-01 -1.68467532e-03]
 [-1.67121181e-03  2.15967192e-04  9.99998580e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99463206  0.10315162  0.00822078]
 [-0.10291781  0.99437628 -0.02499885]
 [-0.01075411  0.02401843  0.99965353]]

 t_gt:
[-0.50640698  0.85913603 -0.07373772]

Pose Error in degrees for R and t:
75.43333882003401 31.1424881908434

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.97104729e-01  7.60399100e-02 -3.02928553e-04]
 [-7.60395482e-02  9.97104232e-01  1.06635019e-03]
 [ 3.83136514e-04 -1.04022826e-03  9.99999386e-01]]

 t_estimated:
[[-0.21384007]
 [ 0.97686047]
 [ 0.00400699]]

 R_gt:
[[ 0.97780537  0.20888682 -0.01623181]
 [-0.20924044  0.97755758 -0.02449864]
 [ 0.01074957  0.02735059  0.99956805]]

 t_gt:
[-0.5562892   0.82656136 -0.08566593]

Pose Error in degrees for R and t:
7.900330057266596 22.172964459925378

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99999981e-01 -9.08385747e-05 -1.70780085e-04]
 [ 9.08683342e-05  9.99999981e-01  1.74256521e-04]
 [ 1.70764252e-04 -1.74272037e-04  9.99999970e-01]]

 t_estimated:
[[-0.9999939 ]
 [-0.00329952]
 [-0.00114697]]

 R_gt:
[[ 0.99421544  0.10156809 -0.03493519]
 [-0.10053269  0.99447515  0.03020252]
 [ 0.03780944 -0.02651561  0.99893269]]

 t_gt:
[-0.25273908  0.94925949  0.18716138]

Pose Error in degrees for R and t:
6.37648617558638 75.55853625186329

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.96638661 -0.25680222 -0.01222876]
 [ 0.25692327  0.96638389  0.00962304]
 [ 0.00934646 -0.01244143  0.99987892]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.97688199  0.19931522 -0.07730728]
 [-0.19240201  0.97731959  0.08847573]
 [ 0.0931888  -0.07155647  0.9930734 ]]

 t_gt:
[-0.2347444   0.94802664  0.21480354]

Pose Error in degrees for R and t:
26.848629764954826 18.734591695203893

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 1.00000000e+00 -4.23550084e-14 -3.70797143e-16]
 [ 4.22439861e-14  1.00000000e+00  1.16538181e-15]
 [ 3.79904441e-16 -1.15903923e-15  1.00000000e+00]]

 t_estimated:
[[-9.21454887e-01]
 [ 3.88484945e-01]
 [-5.82432889e-04]]

 R_gt:
[[ 0.95077879  0.2895583  -0.11035158]
 [-0.27978313  0.95525494  0.09596528]
 [ 0.13320109 -0.06036749  0.98924813]]

 t_gt:
[-0.1264236   0.99063021 -0.05166095]

Pose Error in degrees for R and t:
18.622885868073826 59.90940877790289

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.98183737e-01 -6.02430553e-02 -4.88616072e-05]
 [ 6.02430604e-02  9.98183731e-01  1.10659501e-04]
 [ 4.21063950e-05 -1.13402087e-04  9.99999993e-01]]

 t_estimated:
[[0.43413606]
 [0.90084653]
 [0.00118529]]

 R_gt:
[[ 0.99710893  0.06861061 -0.03265565]
 [-0.06981555  0.99686167 -0.03731675]
 [ 0.02999271  0.03948891  0.99877033]]

 t_gt:
[-0.3351343   0.82455385 -0.45584642]

Pose Error in degrees for R and t:
7.950808320211375 53.36163678880388

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-5.66650667e-01  8.23957609e-01  9.37723986e-04]
 [ 8.23956604e-01  5.66647043e-01  2.57732814e-03]
 [ 1.59225060e-03  2.23308858e-03 -9.99996239e-01]]

 t_estimated:
[[8.23780000e-01]
 [5.66909253e-01]
 [6.40575428e-04]]

 R_gt:
[[ 0.99726723  0.06394259 -0.03700356]
 [-0.06634907  0.9954804  -0.06794781]
 [ 0.03249148  0.07021788  0.99700297]]

 t_gt:
[-0.22929751  0.80220115 -0.55126759]

Pose Error in degrees for R and t:
179.95521257864317 74.60146765702292

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.18848892  0.98201367 -0.01100393]
 [ 0.98196026 -0.1882835   0.01741775]
 [ 0.01503261 -0.01408847 -0.99978775]]

 t_estimated:
[[0.51564571]
 [0.85676518]
 [0.00793301]]

 R_gt:
[[ 0.99903222  0.00146768  0.04396626]
 [-0.0019337   0.99994269  0.01054477]
 [-0.04394964 -0.01061926  0.99897798]]

 t_gt:
[-0.15793364  0.48246258  0.86156069]

Pose Error in degrees for R and t:
180.0 70.19901466007451

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.63161508e-01 -2.68923516e-01 -2.27122030e-04]
 [ 2.68923546e-01  9.63161520e-01  1.15843455e-04]
 [ 1.87602171e-04 -1.72654419e-04  9.99999967e-01]]

 t_estimated:
[[-0.72522264]
 [-0.68851384]
 [-0.00089534]]

 R_gt:
[[ 0.98382361  0.1789436   0.0083613 ]
 [-0.17905554  0.98371611  0.01553984]
 [-0.00544341 -0.01678495  0.99984449]]

 t_gt:
[-0.87734996  0.46817653  0.10520356]

Pose Error in degrees for R and t:
25.93180265215206 71.70957188137787

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-7.01191824e-01 -7.12970192e-01  1.87907380e-03]
 [-7.12969268e-01  7.01194184e-01  1.24047318e-03]
 [-2.20201602e-03 -4.69912223e-04 -9.99997465e-01]]

 t_estimated:
[[0.93385536]
 [0.35764433]
 [0.00216777]]

 R_gt:
[[ 0.95028545  0.30984397  0.03091355]
 [-0.31103871  0.94920867  0.04751644]
 [-0.0146195  -0.05476794  0.99839204]]

 t_gt:
[-0.85859335  0.47207579  0.19990475]

Pose Error in degrees for R and t:
177.51275054250118 50.76271725497165

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.82418038  0.56632348  0.00210148]
 [ 0.56631592 -0.82418164  0.00330141]
 [ 0.00360167 -0.00153086 -0.99999234]]

 t_estimated:
[[9.18328337e-01]
 [3.95818839e-01]
 [7.15766436e-04]]

 R_gt:
[[ 0.92788337  0.3702819   0.04386199]
 [-0.37269838  0.9245931   0.07887809]
 [-0.01134697 -0.08953631  0.99591876]]

 t_gt:
[-0.85870691  0.44300944  0.25761421]

Pose Error in degrees for R and t:
175.60445688405198 52.19043075720146

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.98901862  0.14778369 -0.00146637]
 [-0.14777638 -0.98901174 -0.00423239]
 [-0.00207574 -0.00396921  0.99998997]]

 t_estimated:
[[0.9758068 ]
 [0.21863071]
 [0.00130508]]

 R_gt:
[[ 0.98695805  0.16091597  0.00456212]
 [-0.16088889  0.98695581 -0.0058101 ]
 [-0.0054362   0.00500195  0.99997242]]

 t_gt:
[-0.89231354  0.45136092  0.00706125]

Pose Error in degrees for R and t:
162.24164953330316 39.4630123611736

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.21588467  0.97641795  0.0013428 ]
 [-0.97641365 -0.21587882 -0.0035669 ]
 [-0.00319291 -0.00208117  0.99999274]]

 t_estimated:
[[0.34778744]
 [0.9375705 ]
 [0.0023346 ]]

 R_gt:
[[ 0.96661628  0.25547204  0.01968014]
 [-0.25589962  0.96641522  0.02358081]
 [-0.01299439 -0.02782839  0.99952819]]

 t_gt:
[-0.90084421  0.4102462   0.14204846]

Pose Error in degrees for R and t:
87.66260618895227 85.89042907770421

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 8.60773700e-01 -5.08987086e-01 -8.84688152e-04]
 [ 5.08987504e-01  8.60773848e-01  3.21040298e-04]
 [ 5.98111059e-04 -7.26638260e-04  9.99999557e-01]]

 t_estimated:
[[ 7.23631882e-01]
 [-6.90186117e-01]
 [-1.52309571e-04]]

 R_gt:
[[ 0.95646389  0.28955376  0.0365612 ]
 [-0.29118583  0.95522582  0.05247848]
 [-0.01972853 -0.06083889  0.99795193]]

 t_gt:
[-0.90476761  0.34861825  0.24466484]

Pose Error in degrees for R and t:
47.62688189694341 26.444335784499252

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.34654896 -0.93802984 -0.00195894]
 [-0.93802821 -0.34654099 -0.00352451]
 [ 0.00262724  0.00305895 -0.99999187]]

 t_estimated:
[[ 5.68609033e-01]
 [ 8.22607689e-01]
 [-5.98534312e-04]]

 R_gt:
[[ 0.99819181  0.04240006 -0.04261136]
 [-0.04286935  0.99902887 -0.01017859]
 [ 0.04213796  0.01198694  0.99904032]]

 t_gt:
[-0.1489832   0.7313564  -0.66552372]

Pose Error in degrees for R and t:
177.86178664067634 58.84838135515799

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.96314537e-01  8.17936300e-02 -2.58291507e-02]
 [ 8.18430254e-02  9.96644862e-01 -8.59297017e-04]
 [ 2.56722053e-02 -2.97006595e-03 -9.99666003e-01]]

 t_estimated:
[[ 0.99316678]
 [ 0.11625071]
 [-0.01027263]]

 R_gt:
[[ 0.99440877  0.08425461 -0.06365484]
 [-0.08796481  0.99443839 -0.05792285]
 [ 0.05842099  0.06319867  0.99628969]]

 t_gt:
[-0.20366402  0.78822695 -0.58070582]

Pose Error in degrees for R and t:
175.17099219087328 83.99155654776197

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.93364793e-01 -1.15006034e-01 -2.80564597e-05]
 [ 1.15006037e-01  9.93364788e-01  9.40834363e-05]
 [ 1.70501362e-05 -9.66858354e-05  9.99999995e-01]]

 t_estimated:
[[-0.38147445]
 [-0.92437889]
 [-0.00096089]]

 R_gt:
[[ 0.99792263  0.05388971 -0.03530921]
 [-0.05542964  0.99748399 -0.04420249]
 [ 0.03283782  0.04606805  0.99839859]]

 t_gt:
[-0.17422772  0.83620018 -0.52001342]

Pose Error in degrees for R and t:
10.265377481198167 45.08939277495886

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-0.52500348 -0.85109113  0.003904  ]
 [-0.8510826   0.52495777 -0.00881766]
 [ 0.0054552  -0.00795193 -0.9999535 ]]

 t_estimated:
[[8.67895837e-01]
 [4.96745577e-01]
 [8.05098179e-04]]

 R_gt:
[[ 0.98891369 -0.09198432  0.11657566]
 [ 0.0918667   0.99575111  0.00639916]
 [-0.11666791  0.00438128  0.99316123]]

 t_gt:
[ 0.35317039 -0.68438755  0.63787487]

Pose Error in degrees for R and t:
174.19466765628675 88.11246018344748

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.25246537 -0.96734925 -0.02228595]
 [-0.96730629  0.25174709  0.03069101]
 [-0.02407851  0.02930576 -0.99928044]]

 t_estimated:
[[0.88663829]
 [0.46246247]
 [0.00100754]]

 R_gt:
[[ 0.96763912 -0.18520994  0.17138328]
 [ 0.1853809   0.98255038  0.01515123]
 [-0.17119815  0.01711074  0.98508784]]

 t_gt:
[ 0.51375664 -0.70379084  0.49064506]

Pose Error in degrees for R and t:
171.93281436043245 82.49956037495356

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 8.26207513e-01  5.63363009e-01  1.80698792e-03]
 [ 5.63365904e-01 -8.26202934e-01 -2.75130646e-03]
 [-5.70455667e-05  3.29114545e-03 -9.99994583e-01]]

 t_estimated:
[[0.95566513]
 [0.29445384]
 [0.00104788]]

 R_gt:
[[ 0.93814166 -0.2990158   0.17458765]
 [ 0.29708045  0.95410626  0.03774378]
 [-0.17785981  0.01645809  0.98391832]]

 t_gt:
[ 0.66525393 -0.66522848  0.33898124]

Pose Error in degrees for R and t:
177.3817801001551 63.88105253558811

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.98710018e-01 -5.07769612e-02 -1.09868256e-05]
 [ 5.07769613e-02  9.98710018e-01  1.26862042e-05]
 [ 1.03284859e-05 -1.32277169e-05  1.00000000e+00]]

 t_estimated:
[[9.90804073e-01]
 [1.35304360e-01]
 [1.36877732e-04]]

 R_gt:
[[ 9.99278411e-01 -3.79870064e-02  4.91684527e-04]
 [ 3.79312222e-02  9.98356404e-01  4.29797540e-02]
 [-2.12383364e-03 -4.29309414e-02  9.99075452e-01]]

 t_gt:
[0.68370346 0.04393618 0.72843613]

Pose Error in degrees for R and t:
2.5693816920143457 46.88533527356291

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.68296416e-01  2.49803108e-01  6.76439317e-04]
 [-2.49803039e-01  9.68296652e-01 -1.86693524e-04]
 [-7.01630548e-04  1.17980735e-05  9.99999754e-01]]

 t_estimated:
[[0.48364687]
 [0.87526257]
 [0.00106288]]

 R_gt:
[[ 0.99696117 -0.07122245 -0.03155934]
 [ 0.07265283  0.99626186  0.04674236]
 [ 0.02811279 -0.04889386  0.99840835]]

 t_gt:
[0.96737684 0.0560497  0.24706372]

Pose Error in degrees for R and t:
18.875444851856503 58.85607721025278

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.99998395 -0.00324162 -0.00464593]
 [ 0.00326976  0.99997627  0.00606359]
 [ 0.00462616 -0.00607868  0.99997082]]

 t_estimated:
[[-0.04408849]
 [-0.99900649]
 [ 0.00649976]]

 R_gt:
[[ 0.99744707 -0.07001529 -0.01404904]
 [ 0.07050428  0.9967886   0.03800032]
 [ 0.01134338 -0.03889407  0.99917882]]

 t_gt:
[0.95483554 0.19737453 0.22210894]

Pose Error in degrees for R and t:
4.293309145415995 76.24137914558382

Number of keypoints:
Image1: 304
Image2: 304

 R_estimated:
[[-0.98722965  0.15309031 -0.04405658]
 [ 0.15286311  0.98821081  0.00850052]
 [ 0.04483853  0.00165734 -0.99899287]]

 t_estimated:
[[ 0.99455358]
 [-0.10143112]
 [-0.02397705]]

 R_gt:
[[ 0.99870429  0.02811289 -0.04241586]
 [-0.0279173   0.99959697  0.00520379]
 [ 0.04254534 -0.00401244  0.99908644]]

 t_gt:
[ 0.10724498  0.95291873 -0.28362723]

Pose Error in degrees for R and t:
174.99295319773645 89.0370527382996

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.03470712  0.99930844  0.01334399]
 [ 0.99928587 -0.03450056 -0.01540995]
 [-0.01493892  0.01386929 -0.99979221]]

 t_estimated:
[[0.80585194]
 [0.59209591]
 [0.0050074 ]]

 R_gt:
[[ 0.99540018  0.01722641 -0.09424297]
 [-0.01780726  0.99982738 -0.00533288]
 [ 0.09413463  0.00698655  0.99553545]]

 t_gt:
[ 0.60225032  0.66758431 -0.43775077]

Pose Error in degrees for R and t:
177.66581190065065 28.549260959928645

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99602309e-01  2.81992849e-02 -1.57165507e-04]
 [-2.81991656e-02  9.99602068e-01  7.15394043e-04]
 [ 1.77276566e-04 -7.10677601e-04  9.99999732e-01]]

 t_estimated:
[[5.55257206e-01]
 [8.31678670e-01]
 [1.58781773e-04]]

 R_gt:
[[ 0.98919033 -0.0239583  -0.14466647]
 [ 0.02016587  0.99941519 -0.02762972]
 [ 0.14524349  0.0244136   0.9890952 ]]

 t_gt:
[ 0.82235117  0.39388778 -0.41059829]

Pose Error in degrees for R and t:
8.944933788240863 38.358857064128344

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.97560845e-01  6.98022364e-02  8.94379497e-05]
 [-6.98022340e-02  9.97560849e-01 -2.96189000e-05]
 [-9.12872625e-05  2.33036863e-05  9.99999996e-01]]

 t_estimated:
[[ 9.33190377e-01]
 [-3.59382323e-01]
 [ 2.58941394e-04]]

 R_gt:
[[ 0.99189804 -0.11963649  0.04274252]
 [ 0.11840522  0.99250399  0.03026862]
 [-0.04604349 -0.02496233  0.99862753]]

 t_gt:
[ 0.58827586 -0.72035554  0.36744988]

Pose Error in degrees for R and t:
11.248614419322116 36.103726059389814

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.99999688e-01  7.77340464e-04  1.42414612e-04]
 [-7.77347100e-04  9.99999697e-01  4.65491009e-05]
 [-1.42378384e-04 -4.66597919e-05  9.99999989e-01]]

 t_estimated:
[[9.99995719e-01]
 [2.83454084e-03]
 [7.26377686e-04]]

 R_gt:
[[ 0.98370862 -0.17498652  0.04122757]
 [ 0.1732788   0.98398075  0.0419099 ]
 [-0.0478995  -0.03408299  0.99827084]]

 t_gt:
[ 0.66844937 -0.67064028  0.32158523]

Pose Error in degrees for R and t:
10.625756770715531 48.18103858268686

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.62937125  0.77709864 -0.00308654]
 [-0.77709777 -0.62937748 -0.00174624]
 [-0.0032996   0.00129951  0.99999371]]

 t_estimated:
[[0.85816693]
 [0.51336949]
 [0.00113842]]

 R_gt:
[[ 0.97754238 -0.20937698  0.02392829]
 [ 0.20874997  0.97761627  0.02627272]
 [-0.02889307 -0.02068803  0.99936858]]

 t_gt:
[ 0.76985403 -0.61408156  0.17386377]

Pose Error in degrees for R and t:
141.08426968082654 69.78093478116189

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 1.00000000e+00  2.00833794e-12  3.16847243e-15]
 [-2.00828243e-12  1.00000000e+00 -1.73976502e-15]
 [-3.16890611e-15  1.73976502e-15  1.00000000e+00]]

 t_estimated:
[[0.92934419]
 [0.36921289]
 [0.00109946]]

 R_gt:
[[ 0.99405629 -0.10415368  0.03169488]
 [ 0.1045099   0.99447564 -0.0098094 ]
 [-0.03049814  0.01306267  0.99944986]]

 t_gt:
[ 0.73985626 -0.64905518  0.17703133]

Pose Error in degrees for R and t:
6.284347154232143 63.37583181977972

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.60681864e-01  2.77651501e-01 -1.67985929e-05]
 [-2.77650876e-01  9.60679568e-01 -2.18139820e-03]
 [-5.89530419e-04  2.10029383e-03  9.99997621e-01]]

 t_estimated:
[[-0.96811506]
 [-0.25050161]
 [-0.00147354]]

 R_gt:
[[ 0.99522051 -0.0548982   0.08075902]
 [ 0.05764368  0.99782157 -0.03207668]
 [-0.0788221   0.03657892  0.99621691]]

 t_gt:
[ 0.67954164 -0.26845264  0.68275643]

Pose Error in degrees for R and t:
19.96219696582711 53.72704171732721

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 8.49387841e-01  5.27768789e-01  6.32342646e-04]
 [-5.27767748e-01  8.49387726e-01 -1.30179208e-03]
 [-1.22414931e-03  7.71996310e-04  9.99998953e-01]]

 t_estimated:
[[-0.39028204]
 [ 0.92069485]
 [ 0.00095521]]

 R_gt:
[[ 0.99306041  0.05540311  0.10373506]
 [-0.04859851  0.99656765 -0.06701904]
 [-0.10709206  0.06151277  0.99234417]]

 t_gt:
[-0.25815524  0.78088322  0.56883852]

Pose Error in degrees for R and t:
29.68461306295835 34.889983816425705

Number of keypoints:
Image1: 511
Image2: 511

 R_estimated:
[[ 9.90132731e-01  1.40132505e-01  2.36987552e-04]
 [-1.40132428e-01  9.90132720e-01 -3.14760665e-04]
 [-2.78757330e-04  2.78445195e-04  9.99999922e-01]]

 t_estimated:
[[-9.82139965e-01]
 [-1.88149419e-01]
 [-9.40747093e-04]]

 R_gt:
[[ 0.99902717  0.02892699 -0.03327043]
 [-0.02768664  0.99892551  0.03715231]
 [ 0.03430927 -0.03619557  0.99875586]]

 t_gt:
[-0.93477161  0.06237037  0.34973128]

Pose Error in degrees for R and t:
7.0477929412907345 25.039989345402173

Number of keypoints:
Image1: 392
Image2: 392

 R_estimated:
[[ 9.90842989e-01 -1.35019068e-01 -1.50053512e-04]
 [ 1.35019090e-01  9.90842986e-01  1.47139484e-04]
 [ 1.28812834e-04 -1.66052215e-04  9.99999978e-01]]

 t_estimated:
[[-3.88866414e-01]
 [-9.21293936e-01]
 [-6.29298171e-04]]

 R_gt:
[[ 0.99448603  0.10450198  0.00878603]
 [-0.10484793  0.99251144  0.06267245]
 [-0.00217161 -0.06324769  0.99799496]]

 t_gt:
[-0.89832769  0.17289009  0.40387668]

Pose Error in degrees for R and t:
14.239810392998368 79.05931223797315

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 0.40736066  0.91326339  0.0026969 ]
 [ 0.91326551 -0.40735209 -0.00322305]
 [-0.00184491  0.00377593 -0.99999117]]

 t_estimated:
[[0.39405416]
 [0.91908654]
 [0.00111947]]

 R_gt:
[[ 0.97949565  0.2004614  -0.02007515]
 [-0.1985106   0.97733244  0.07358213]
 [ 0.03437054 -0.06808793  0.99708681]]

 t_gt:
[-0.91884128  0.36908835  0.13965847]

Pose Error in degrees for R and t:
175.95545924120262 88.69968954819294

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999930e-01  3.46370329e-04  1.40273611e-04]
 [-3.46372930e-04  9.99999940e-01  1.85215859e-05]
 [-1.40267187e-04 -1.85701716e-05  9.99999990e-01]]

 t_estimated:
[[0.96784646]
 [0.25153966]
 [0.00101846]]

 R_gt:
[[ 0.99698938 -0.07696793 -0.0093383 ]
 [ 0.07695074  0.99703139 -0.00223937]
 [ 0.00948256  0.00151405  0.9999539 ]]

 t_gt:
[ 0.8037608 -0.5789888 -0.1368961]

Pose Error in degrees for R and t:
4.469283940414276 50.79189067103808

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 6.03473670e-01 -7.97382345e-01 -9.62166948e-04]
 [ 7.97382657e-01  6.03474018e-01 -9.19049720e-05]
 [ 6.53926156e-04 -7.11753007e-04  9.99999533e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 9.89097770e-01 -1.43214893e-01 -3.42828692e-02]
 [ 1.43158842e-01  9.89690482e-01 -4.11506797e-03]
 [ 3.45189908e-02 -8.37656639e-04  9.99403458e-01]]

 t_gt:
[ 0.85645901 -0.49152237 -0.15774574]

Pose Error in degrees for R and t:
44.68546090672465 60.90003231316691

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 1.70201360e-01  9.85409304e-01  1.59242040e-05]
 [ 9.85405714e-01 -1.70200783e-01  2.69673876e-03]
 [ 2.66010178e-03 -4.43296802e-04 -9.99996364e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98096272 -0.18857554 -0.0463858 ]
 [ 0.18860811  0.98204543 -0.00371123]
 [ 0.04625349 -0.00510865  0.99891593]]

 t_gt:
[ 0.86197223 -0.48488713 -0.14794711]

Pose Error in degrees for R and t:
178.1433588814649 61.3371142966018

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 2.17914219e-01  9.75967846e-01  3.96692894e-04]
 [-9.75967806e-01  2.17914376e-01 -4.07558207e-04]
 [-4.84208790e-04 -2.98346765e-04  9.99999838e-01]]

 t_estimated:
[[9.72373262e-01]
 [2.33430215e-01]
 [7.57890305e-04]]

 R_gt:
[[ 0.99881734  0.0442316   0.02015162]
 [-0.04440793  0.99897825  0.00839856]
 [-0.01975938 -0.00928263  0.99976162]]

 t_gt:
[-0.48556066  0.79645285  0.36040769]

Pose Error in degrees for R and t:
74.88139737324393 73.38394505264556

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.96071206 -0.27752343 -0.00361616]
 [ 0.27753579  0.9607088   0.0035339 ]
 [ 0.00249334 -0.00439867  0.99998722]]

 t_estimated:
[[-0.62349982]
 [-0.78182307]
 [-0.0008161 ]]

 R_gt:
[[ 0.98840574  0.15177424 -0.00431988]
 [-0.15172905  0.98837728  0.00936509]
 [ 0.00569068 -0.00860091  0.99994635]]

 t_gt:
[-0.59435964  0.80235487  0.05443604]

Pose Error in degrees for R and t:
24.84338398089668 75.1220511797336

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.37282129  0.92790177 -0.00160893]
 [ 0.92789769 -0.37281257  0.00408136]
 [ 0.00318728 -0.00301454 -0.99999038]]

 t_estimated:
[[-8.41336927e-01]
 [-5.40510738e-01]
 [ 5.62785938e-04]]

 R_gt:
[[ 0.98524629  0.17028603  0.01707727]
 [-0.17094168  0.98399948  0.05023947]
 [-0.00824899 -0.05241783  0.99859083]]

 t_gt:
[-0.63476393  0.72557273  0.2657423 ]

Pose Error in degrees for R and t:
177.71246256569233 81.83524613318085

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999962e-01 -2.23826641e-04 -1.63235829e-04]
 [ 2.23846777e-04  9.99999967e-01  1.23347884e-04]
 [ 1.63208216e-04 -1.23384419e-04  9.99999979e-01]]

 t_estimated:
[[-0.98700112]
 [-0.16070837]
 [-0.00127095]]

 R_gt:
[[ 0.9960019   0.08731817 -0.01885864]
 [-0.08710637  0.99612911  0.01182653]
 [ 0.01981906 -0.01013678  0.99975183]]

 t_gt:
[-0.29042402  0.92605141  0.24100347]

Pose Error in degrees for R and t:
5.173402855055036 82.0957326292265

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999202e-01 -1.22053793e-03 -3.26980304e-04]
 [ 1.22054639e-03  9.99999255e-01  2.56739651e-05]
 [ 3.26948725e-04 -2.60730393e-05  9.99999946e-01]]

 t_estimated:
[[-0.99997196]
 [-0.00724711]
 [-0.00188559]]

 R_gt:
[[ 0.97993056  0.17760412 -0.09051422]
 [-0.17388278  0.98361866  0.04753389]
 [ 0.09747451 -0.03084077  0.99475954]]

 t_gt:
[-0.01874854  0.98913447 -0.14581318]

Pose Error in degrees for R and t:
11.770979970143525 89.32076579443496

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999820e-01 -5.91196793e-04 -9.94361318e-05]
 [ 5.91266676e-04  9.99999577e-01  7.04240728e-04]
 [ 9.90197449e-05 -7.04299395e-04  9.99999747e-01]]

 t_estimated:
[[0.57912333]
 [0.81523858]
 [0.00149052]]

 R_gt:
[[ 0.96749905  0.24609752 -0.05815541]
 [-0.2446687   0.96912225  0.03065249]
 [ 0.06390402 -0.01542811  0.99783594]]

 t_gt:
[-0.08910824  0.98891935 -0.118736  ]

Pose Error in degrees for R and t:
14.736611485236503 41.02497220920251

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.67271509e-01 -2.53743551e-01 -1.97094141e-04]
 [ 2.53743606e-01  9.67271454e-01  3.41881727e-04]
 [ 1.03893253e-04 -3.80703832e-04  9.99999922e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075928e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99258376 -0.12153957  0.00253545]
 [ 0.1215601   0.99211949 -0.03038003]
 [ 0.00117662  0.03046328  0.99953464]]

 t_gt:
[ 0.77198106 -0.61823501 -0.14775221]

Pose Error in degrees for R and t:
7.91559720252172 39.65099753525591

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 0.99999054 -0.00385617  0.00201064]
 [ 0.00385853  0.99999187 -0.0011684 ]
 [-0.00200612  0.00117614  0.9999973 ]]

 t_estimated:
[[-0.38263465]
 [-0.92389924]
 [-0.00096139]]

 R_gt:
[[ 0.96335318 -0.26819263 -0.00491057]
 [ 0.2680553   0.96321032 -0.01926004]
 [ 0.00989505  0.01723882  0.99980205]]

 t_gt:
[ 0.78831321 -0.61103323 -0.07211575]

Pose Error in degrees for R and t:
15.374449894928176 74.75384200359515

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99998889e-01 -1.40736936e-03 -4.91274913e-04]
 [ 1.40747254e-03  9.99998988e-01  2.09749076e-04]
 [ 4.90979222e-04 -2.10440299e-04  9.99999857e-01]]

 t_estimated:
[[ 9.99999828e-01]
 [-3.82591328e-04]
 [ 4.44148323e-04]]

 R_gt:
[[ 0.91978694 -0.38778351  0.06013669]
 [ 0.38526443  0.92148011  0.0494539 ]
 [-0.07459222 -0.02231807  0.9969639 ]]

 t_gt:
[ 0.78327476 -0.60578078  0.13967926]

Pose Error in degrees for R and t:
23.12752973888232 38.411531452850774

Number of keypoints:
Image1: 501
Image2: 501

 R_estimated:
[[ 2.92427649e-01  9.56286076e-01  1.73522554e-03]
 [ 9.56283460e-01 -2.92431258e-01  2.42975457e-03]
 [ 2.83097465e-03  9.48840070e-04 -9.99995543e-01]]

 t_estimated:
[[0.19488707]
 [0.98082511]
 [0.00106496]]

 R_gt:
[[ 0.99398628  0.10230644  0.03903321]
 [-0.10371706  0.99395489  0.03599848]
 [-0.03511414 -0.03983088  0.99858928]]

 t_gt:
[-0.89426308  0.20098314  0.39987412]

Pose Error in degrees for R and t:
179.45620313045484 88.66632917671961

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.96810543e-01 -7.97982334e-02 -9.91788656e-04]
 [ 7.97989718e-02  9.96810711e-01  7.28561297e-04]
 [ 9.30487650e-04 -8.05381297e-04  9.99999243e-01]]

 t_estimated:
[[-0.71090802]
 [-0.70328435]
 [-0.00095296]]

 R_gt:
[[ 0.98110312  0.19336882  0.00672555]
 [-0.19346274  0.98092339  0.01899583]
 [-0.00292326 -0.01993733  0.99979644]]

 t_gt:
[-0.89704347  0.43788398  0.05975474]

Pose Error in degrees for R and t:
15.770465061114757 70.74934059670568

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.68526491e-01 -2.48909940e-01 -5.28267542e-04]
 [ 2.48910032e-01  9.68526604e-01  1.16769054e-04]
 [ 4.82576190e-04 -2.44585013e-04  9.99999854e-01]]

 t_estimated:
[[-0.52394189]
 [-0.85175298]
 [-0.00132392]]

 R_gt:
[[ 0.95705259  0.28499289  0.05319473]
 [-0.28740615  0.95674831  0.04505739]
 [-0.0380528  -0.05841077  0.9975667 ]]

 t_gt:
[-0.85083131  0.49538943  0.17514392]

Pose Error in degrees for R and t:
31.315815758752333 88.64741571889397

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.99999981e-01 -2.90078443e-05  1.91303755e-04]
 [ 2.90447731e-05  9.99999981e-01 -1.93037623e-04]
 [-1.91298152e-04  1.93043176e-04  9.99999963e-01]]

 t_estimated:
[[0.82216327]
 [0.56925062]
 [0.00112984]]

 R_gt:
[[ 0.99587236 -0.08038879 -0.04213878]
 [ 0.07974641  0.99667423 -0.01672044]
 [ 0.04334372  0.01329038  0.99897198]]

 t_gt:
[ 0.45185797 -0.76099764 -0.46551796]

Pose Error in degrees for R and t:
5.280365846386465 86.43256204217897

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.90361257e-01  1.38507914e-01  3.72621089e-04]
 [-1.38507871e-01  9.90361323e-01 -1.38970320e-04]
 [-3.88278004e-04  8.60198669e-05  9.99999921e-01]]

 t_estimated:
[[-9.99877381e-01]
 [ 1.56590625e-02]
 [-1.32565819e-04]]

 R_gt:
[[ 0.97450964 -0.21897849 -0.04876118]
 [ 0.21881059  0.9757271  -0.00881949]
 [ 0.04950919 -0.00207513  0.99877152]]

 t_gt:
[ 0.61471979 -0.76806758 -0.17942067]

Pose Error in degrees for R and t:
20.80923755668038 51.19676285273358

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99999878e-01  4.46107925e-04 -2.11060283e-04]
 [-4.45874170e-04  9.99999289e-01  1.10628062e-03]
 [ 2.11553654e-04 -1.10618638e-03  9.99999366e-01]]

 t_estimated:
[[-7.99723649e-01]
 [-6.00367802e-01]
 [-7.66753259e-04]]

 R_gt:
[[ 0.92897655 -0.35976405 -0.08701424]
 [ 0.35557777  0.93270975 -0.06014058]
 [ 0.10279639  0.024929    0.99438969]]

 t_gt:
[ 0.72275558 -0.63179352 -0.28010946]

Pose Error in degrees for R and t:
21.897768900165723 78.55182662662591

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.85797439e-01 -1.67936711e-01 -8.18592734e-04]
 [ 1.67937407e-01  9.85797275e-01  8.71236583e-04]
 [ 6.60653880e-04 -9.96335134e-04  9.99999285e-01]]

 t_estimated:
[[0.62280488]
 [0.7823763 ]
 [0.00119083]]

 R_gt:
[[ 0.99744523  0.0431245  -0.05694981]
 [-0.04791936  0.99516716 -0.08570338]
 [ 0.052978    0.08821299  0.99469132]]

 t_gt:
[-0.21255461  0.45946886 -0.86238559]

Pose Error in degrees for R and t:
13.635278677853883 76.93416232526278

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.98444628 -0.17567744  0.00171696]
 [ 0.17565406  0.9844071   0.00939795]
 [-0.00334119 -0.00895018  0.99995436]]

 t_estimated:
[[0.22389673]
 [0.97460931]
 [0.00263408]]

 R_gt:
[[ 0.99176343  0.05092908 -0.11752587]
 [-0.07006597  0.98381476 -0.16492132]
 [ 0.10722498  0.17179796  0.97927956]]

 t_gt:
[-0.07223777  0.40787315 -0.91017647]

Pose Error in degrees for R and t:
18.273164816377225 67.7316082976939

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 6.26038211e-01 -7.79776904e-01 -4.91303531e-03]
 [ 7.79788134e-01  6.26043170e-01  6.43806621e-04]
 [ 2.57374667e-03 -4.23417418e-03  9.99987724e-01]]

 t_estimated:
[[8.76251789e-01]
 [4.81852745e-01]
 [8.57389226e-04]]

 R_gt:
[[ 0.98006152  0.10586619 -0.16814272]
 [-0.14166413  0.96567806 -0.21771034]
 [ 0.13932427  0.23718916  0.96142061]]

 t_gt:
[-0.13995734  0.50713831 -0.850425  ]

Pose Error in degrees for R and t:
60.44422643867392 83.0502402223736

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-9.94177027e-01 -1.07748843e-01 -1.49201542e-03]
 [ 1.07750359e-01 -9.94177504e-01 -9.75545221e-04]
 [-1.37821430e-03 -1.13062984e-03  9.99998411e-01]]

 t_estimated:
[[0.71492369]
 [0.69920199]
 [0.00082746]]

 R_gt:
[[ 0.9831691   0.18267996  0.00265682]
 [-0.18258608  0.98195078  0.04933681]
 [ 0.00640382 -0.04899055  0.99877888]]

 t_gt:
[-0.88429854  0.37965808  0.27180111]

Pose Error in degrees for R and t:
175.65921454845088 68.49863537784148

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 8.30885433e-01 -5.56438783e-01  2.29756254e-03]
 [ 5.56443214e-01  8.30882258e-01 -2.37143681e-03]
 [-5.89444543e-04  3.24885538e-03  9.99994549e-01]]

 t_estimated:
[[0.71556326]
 [0.69854736]
 [0.00089557]]

 R_gt:
[[ 0.94672015  0.3217614   0.01381725]
 [-0.32204435  0.94620225  0.03144516]
 [-0.00295645 -0.03421935  0.99940952]]

 t_gt:
[-0.85821024  0.49805222  0.12417394]

Pose Error in degrees for R and t:
52.63393107737169 74.56889667112587

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-9.87137566e-01 -1.59870944e-01  8.40564958e-04]
 [-1.59872115e-01  9.87136460e-01 -1.58624241e-03]
 [-5.76158245e-04 -1.70022237e-03 -9.99998389e-01]]

 t_estimated:
[[0.99988224]
 [0.01525244]
 [0.00169472]]

 R_gt:
[[ 0.90167088  0.43039993  0.04179248]
 [-0.43233059  0.89926912  0.06636796]
 [-0.00901857 -0.07790969  0.99691949]]

 t_gt:
[-0.84069994  0.50508571  0.19522303]

Pose Error in degrees for R and t:
178.11094986767907 33.63673137288102

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[-0.22181699 -0.97507988 -0.00405658]
 [-0.97508777  0.22181054  0.00198038]
 [-0.00103124  0.00439481 -0.99998981]]

 t_estimated:
[[0.81776858]
 [0.57554617]
 [0.00107178]]

 R_gt:
[[ 0.99212613 -0.12038219 -0.03454881]
 [ 0.12094581  0.99255017  0.01471112]
 [ 0.03251975 -0.01877406  0.99929445]]

 t_gt:
[ 0.58522157 -0.80679476 -0.08122771]

Pose Error in degrees for R and t:
178.99755041848823 89.18974653126214

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[-0.0039945   0.99996467  0.00739628]
 [ 0.99998113  0.00402887 -0.00463746]
 [-0.00466709  0.00737762 -0.99996189]]

 t_estimated:
[[-0.70669462]
 [-0.70751598]
 [-0.00196249]]

 R_gt:
[[ 0.96081795 -0.26875481 -0.067825  ]
 [ 0.2688919   0.96314297 -0.00726141]
 [ 0.06727674 -0.01126037  0.99767017]]

 t_gt:
[ 0.69767256 -0.70013501 -0.15186824]

Pose Error in degrees for R and t:
177.64672156298673 89.85026856654058

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.98200338e-01  5.99673469e-02 -4.93333644e-05]
 [-5.99673574e-02  9.98200307e-01 -2.50144500e-04]
 [ 3.42440774e-05  2.52652716e-04  9.99999967e-01]]

 t_estimated:
[[0.76607966]
 [0.64274485]
 [0.00100272]]

 R_gt:
[[ 0.91883621 -0.3851956  -0.08581664]
 [ 0.37972497  0.92217196 -0.07353741]
 [ 0.10746387  0.0349812   0.99359259]]

 t_gt:
[ 0.75796648 -0.58256338 -0.29343947]

Pose Error in degrees for R and t:
26.782156523533242 78.11612141077997

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999499e-01  9.97501672e-04 -8.63700293e-05]
 [-9.97462661e-04  9.99999401e-01  4.50545666e-04]
 [ 8.68193976e-05 -4.50459289e-04  9.99999895e-01]]

 t_estimated:
[[-0.95808178]
 [-0.28649177]
 [-0.00133252]]

 R_gt:
[[ 0.9974423   0.05645193 -0.04382822]
 [-0.06006499  0.99447798 -0.08605466]
 [ 0.03872739  0.08846765  0.99532571]]

 t_gt:
[-0.34632192  0.60383245 -0.71794673]

Pose Error in degrees for R and t:
6.46299120912284 80.8065482326531

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.61804633e-01 -2.73736814e-01  7.36829120e-05]
 [ 2.73736783e-01  9.61804602e-01  2.86015056e-04]
 [-1.49161414e-04 -2.54920883e-04  9.99999956e-01]]

 t_estimated:
[[0.37389068]
 [0.92747211]
 [0.00111609]]

 R_gt:
[[ 0.99013658  0.07810306 -0.11631281]
 [-0.09865167  0.9781555  -0.18297446]
 [ 0.09948091  0.1926438   0.97621203]]

 t_gt:
[-0.17912374  0.53438101 -0.82604577]

Pose Error in degrees for R and t:
24.438255576276404 64.67648684761868

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.99357781 -0.11314005  0.0015707 ]
 [-0.11313754  0.99357804  0.00160175]
 [-0.00174183  0.00141375 -0.99999748]]

 t_estimated:
[[0.99987359]
 [0.0157771 ]
 [0.00197214]]

 R_gt:
[[ 0.98604729  0.06769422 -0.15207861]
 [-0.10485625  0.96213391 -0.25160272]
 [ 0.12928814  0.26403839  0.95580745]]

 t_gt:
[-0.08464167  0.49845793 -0.86277198]

Pose Error in degrees for R and t:
171.0878664570739 85.49947334859795

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.98141371e-01 -6.09403783e-02  2.73353538e-04]
 [ 6.09403259e-02  9.98141392e-01  1.96088285e-04]
 [-2.84795175e-04 -1.79065576e-04  9.99999943e-01]]

 t_estimated:
[[0.61493109]
 [0.7885798 ]
 [0.0012845 ]]

 R_gt:
[[ 0.99469963 -0.07750248 -0.0675831 ]
 [ 0.07423943  0.9960102  -0.04952068]
 [ 0.07115147  0.04424112  0.99648417]]

 t_gt:
[ 0.72157691 -0.33344827 -0.6067446 ]

Pose Error in degrees for R and t:
4.901938578562392 79.63081420172853

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.99808506  0.05186213 -0.0337126 ]
 [-0.05072815  0.99814496  0.03366449]
 [ 0.03539598 -0.03188985  0.99886444]]

 t_estimated:
[[-0.56360263]
 [-0.82598256]
 [-0.01024121]]

 R_gt:
[[ 0.97399404 -0.22128026 -0.0486914 ]
 [ 0.21793358  0.97374281 -0.06580397]
 [ 0.061974    0.05348165  0.99664369]]

 t_gt:
[ 0.80549656 -0.50357624 -0.31238802]

Pose Error in degrees for R and t:
16.568375381683047 88.00366561089926

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 4.25683919e-01  9.04871882e-01  2.78200412e-04]
 [-9.04871694e-01  4.25684010e-01 -5.83398132e-04]
 [-6.46326033e-04 -3.39247468e-06  9.99999791e-01]]

 t_estimated:
[[0.45982429]
 [0.8880093 ]
 [0.00105464]]

 R_gt:
[[ 0.93329993 -0.35692884 -0.03942983]
 [ 0.35498066  0.93359799 -0.04881895]
 [ 0.0542364   0.03156575  0.99802903]]

 t_gt:
[ 0.82737332 -0.53674988 -0.16538727]

Pose Error in degrees for R and t:
85.74092590054461 84.46999839011579

Number of keypoints:
Image1: 403
Image2: 403

 R_estimated:
[[ 0.86766723  0.4969326  -0.01454531]
 [ 0.49686603 -0.8658276   0.05887886]
 [ 0.01666509 -0.05831433 -0.99815916]]

 t_estimated:
[[-0.13853051]
 [ 0.98998166]
 [ 0.02730569]]

 R_gt:
[[ 0.99188338  0.12654798 -0.0124013 ]
 [-0.12669862  0.99186701 -0.01212709]
 [ 0.01076562  0.01359971  0.99984873]]

 t_gt:
[-0.77044537  0.61761505 -0.15800501]

Pose Error in degrees for R and t:
177.06862978559846 44.4515140224403

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.99272028e-01 -3.81433650e-02 -7.05510497e-04]
 [ 3.81438262e-02  9.99272047e-01  6.52245362e-04]
 [ 6.80118085e-04 -6.78681415e-04  9.99999538e-01]]

 t_estimated:
[[-0.27687048]
 [-0.96090341]
 [-0.00271442]]

 R_gt:
[[ 0.97763756  0.20995384  0.01209893]
 [-0.21029414  0.9764809   0.04755252]
 [-0.00183006 -0.04903309  0.99879486]]

 t_gt:
[-0.82090921  0.55893581  0.11704199]

Pose Error in degrees for R and t:
14.589001112952891 71.93380824288606

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.88996070e-01 -1.47941790e-01 -1.16681190e-07]
 [ 1.47941789e-01  9.88996067e-01  8.16377846e-05]
 [-1.19622427e-05 -8.07567102e-05  9.99999997e-01]]

 t_estimated:
[[-9.58994278e-01]
 [-2.83424440e-01]
 [-7.49800070e-04]]

 R_gt:
[[ 0.93873354  0.3440584  -0.02008973]
 [-0.3429194   0.93827067  0.0453176 ]
 [ 0.0344424  -0.03565177  0.99877004]]

 t_gt:
[-0.79060941  0.61206398 -0.01773264]

Pose Error in degrees for R and t:
28.747632007809102 54.21613118641729

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.52021139e-01  3.06032191e-01  2.19132840e-04]
 [-3.06032142e-01  9.52021153e-01 -2.30137054e-04]
 [-2.79048446e-04  1.52033648e-04  9.99999950e-01]]

 t_estimated:
[[-5.13762439e-01]
 [ 8.57932291e-01]
 [ 5.83393467e-04]]

 R_gt:
[[ 0.99731604  0.07165491 -0.01505053]
 [-0.07108699  0.99684014  0.03542676]
 [ 0.01754106 -0.03426218  0.9992593 ]]

 t_gt:
[-0.59683854  0.76584941  0.23928737]

Pose Error in degrees for R and t:
13.903912377204954 15.459360956262875

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.76227018e-01  2.16750430e-01  2.46726195e-04]
 [-2.16750477e-01  9.76227022e-01  1.80604000e-04]
 [-2.01714784e-04 -2.29788525e-04  9.99999953e-01]]

 t_estimated:
[[-0.64255321]
 [ 0.76624009]
 [ 0.00122558]]

 R_gt:
[[ 0.98576711  0.16503689 -0.03203781]
 [-0.1638475   0.98579979  0.03678024]
 [ 0.03765313 -0.03100747  0.99881037]]

 t_gt:
[-0.64983966  0.75721694  0.06580976]

Pose Error in degrees for R and t:
4.136006289122121 3.7602677214683924

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.59382963e-01 -2.82106342e-01 -5.84399678e-04]
 [ 2.82106459e-01  9.59383099e-01  1.26951235e-04]
 [ 5.24849425e-04 -2.86657776e-04  9.99999821e-01]]

 t_estimated:
[[-0.34385276]
 [-0.93902299]
 [-0.00105154]]

 R_gt:
[[ 0.99247761  0.11131199  0.05097291]
 [-0.11590557  0.9883759   0.09837684]
 [-0.03943031 -0.1035453   0.99384249]]

 t_gt:
[-0.6096631   0.52788177  0.59131358]

Pose Error in degrees for R and t:
23.784919024307168 73.34066997541625

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.997483    0.06570264 -0.02666125]
 [-0.06433539  0.99671213  0.04925324]
 [ 0.02980966 -0.04741401  0.99843042]]

 t_estimated:
[[-0.99368487]
 [-0.11164999]
 [-0.011165  ]]

 R_gt:
[[ 0.99284215  0.10875364 -0.04937314]
 [-0.10655581  0.99328032  0.04516219]
 [ 0.05395315 -0.03957888  0.99775911]]

 t_gt:
[-0.23759805  0.96165958  0.13695991]

Pose Error in degrees for R and t:
2.8205409524227933 82.6922280256775

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-7.26565023e-03  9.99973334e-01 -7.35331509e-04]
 [-9.99972976e-01 -7.26646858e-03 -1.11640408e-03]
 [-1.12171757e-03  7.27200236e-04  9.99999106e-01]]

 t_estimated:
[[3.77862486e-03]
 [9.99992838e-01]
 [2.14419897e-04]]

 R_gt:
[[ 0.97585651  0.20535631 -0.07438833]
 [-0.20118422  0.97772134  0.05988727]
 [ 0.0850291  -0.04347546  0.99542969]]

 t_gt:
[-0.16325924  0.97846764 -0.12628343]

Pose Error in degrees for R and t:
78.82465460983298 12.090862170835019

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999995e-01  8.91937757e-05 -3.81933039e-05]
 [-8.91888607e-05  9.99999988e-01  1.28670912e-04]
 [ 3.82047801e-05 -1.28667505e-04  9.99999991e-01]]

 t_estimated:
[[-8.46184201e-01]
 [-5.32890019e-01]
 [-7.25362415e-04]]

 R_gt:
[[ 0.97569745  0.2187945   0.01197472]
 [-0.21835925  0.97540257 -0.03015273]
 [-0.0182772   0.02680421  0.99947407]]

 t_gt:
[-0.10590356  0.99054188 -0.08724236]

Pose Error in degrees for R and t:
12.760389362356454 64.01265142049941

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99911332e-01  1.33162903e-02  6.88914896e-05]
 [-1.33162893e-02  9.99911334e-01 -1.42652472e-05]
 [-6.90753415e-05  1.33466033e-05  9.99999998e-01]]

 t_estimated:
[[9.82184075e-01]
 [1.87921091e-01]
 [3.27358897e-04]]

 R_gt:
[[ 0.99142417 -0.13063495 -0.00356357]
 [ 0.13065395  0.99141106  0.00575425]
 [ 0.00278152 -0.0061708   0.99997675]]

 t_gt:
[ 0.6230029  -0.78186447  0.02356556]

Pose Error in degrees for R and t:
8.279219133519192 62.290916247807644

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-1.53241380e-01 -9.88187790e-01 -1.40409404e-03]
 [-9.88188726e-01  1.53241715e-01 -1.33600248e-04]
 [ 3.47187912e-04  1.36703681e-03 -9.99999005e-01]]

 t_estimated:
[[0.78226552]
 [0.62294464]
 [0.0007966 ]]

 R_gt:
[[ 0.98519818 -0.14975049  0.08342219]
 [ 0.15593929  0.98503738 -0.0733664 ]
 [-0.07118746  0.08528921  0.99380897]]

 t_gt:
[ 0.44550341 -0.86615534 -0.22649866]

Pose Error in degrees for R and t:
179.65427476044422 78.97453243387287

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.96011125  0.27960688 -0.00252507]
 [-0.27958824  0.96010132  0.0059893 ]
 [ 0.00409897 -0.00504441  0.99997888]]

 t_estimated:
[[0.83351032]
 [0.55250321]
 [0.00086464]]

 R_gt:
[[ 0.98071166 -0.13246355  0.14372549]
 [ 0.15289573  0.97799811 -0.14192059]
 [-0.1217643   0.16115774  0.97938827]]

 t_gt:
[ 0.10113804 -0.75703581 -0.64549817]

Pose Error in degrees for R and t:
27.275495427500623 70.45645132830366

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99348231e-01  3.60986690e-02  5.73245368e-06]
 [-3.60986683e-02  9.99348226e-01 -9.33721611e-05]
 [-9.09932816e-06  9.31043700e-05  9.99999996e-01]]

 t_estimated:
[[-1.43934378e-01]
 [-9.89587162e-01]
 [-3.78271731e-04]]

 R_gt:
[[ 0.99925228  0.02439282 -0.02999861]
 [-0.02056637  0.99233995  0.12181521]
 [ 0.0327412  -0.12110692  0.99209864]]

 t_gt:
[-0.36144291 -0.25138849  0.89786572]

Pose Error in degrees for R and t:
7.253916221110067 72.51505158164738

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99228956e-01  3.92618691e-02 -9.14879183e-06]
 [-3.92618701e-02  9.99228943e-01 -1.56706724e-04]
 [ 2.98913871e-06  1.56945095e-04  9.99999988e-01]]

 t_estimated:
[[ 6.24145606e-02]
 [-9.98050206e-01]
 [-4.56000811e-04]]

 R_gt:
[[ 0.99669398  0.05279253 -0.06176854]
 [-0.04186124  0.9851497   0.16651619]
 [ 0.06964257 -0.16337944  0.9841015 ]]

 t_gt:
[-0.63597208 -0.25191855  0.72943578]

Pose Error in degrees for R and t:
10.249840849119249 77.79554325504307

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.21864497  0.97578923  0.00545448]
 [ 0.9758036   0.21863387  0.00256293]
 [ 0.00130834  0.00588288 -0.99998184]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99262864  0.10419778 -0.06190155]
 [-0.08489177  0.96227834  0.2584814 ]
 [ 0.08650041 -0.2513204   0.9640306 ]]

 t_gt:
[-0.70732268 -0.14568827  0.69171493]

Pose Error in degrees for R and t:
167.53589558988827 44.989641668713986

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999430e-01 -1.05653855e-03 -1.52460778e-04]
 [ 1.05657970e-03  9.99999405e-01  2.70069929e-04]
 [ 1.52175348e-04 -2.70230863e-04  9.99999952e-01]]

 t_estimated:
[[-0.04850818]
 [ 0.99881987]
 [-0.00241406]]

 R_gt:
[[ 0.99981552 -0.01767708  0.00761973]
 [ 0.01741301  0.99929196  0.03336915]
 [-0.00820355 -0.03322975  0.99941391]]

 t_gt:
[ 0.32863967 -0.64661189  0.68839598]

Pose Error in degrees for R and t:
2.164645188114202 48.436297101464746

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 1.00000000e+00 -4.16888746e-14  2.32098412e-14]
 [ 4.16333634e-14  1.00000000e+00 -1.01036800e-15]
 [-2.32188400e-14  1.01492165e-15  1.00000000e+00]]

 t_estimated:
[[0.65418415]
 [0.75633475]
 [0.00091642]]

 R_gt:
[[ 0.99539551 -0.09583448  0.00188673]
 [ 0.09580455  0.9953215   0.01253312]
 [-0.0030788  -0.01229521  0.9999193 ]]

 t_gt:
[ 0.77122684 -0.63477222  0.0476801 ]

Pose Error in degrees for R and t:
5.546456619045342 88.59795929770722

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999722e-01 -7.41660547e-04 -7.28765157e-05]
 [ 7.41650337e-04  9.99999715e-01 -1.40021192e-04]
 [ 7.29803432e-05  1.39967104e-04  9.99999988e-01]]

 t_estimated:
[[9.99997087e-01]
 [2.36582682e-03]
 [4.79319890e-04]]

 R_gt:
[[ 0.99547582 -0.0908572  -0.02782368]
 [ 0.08666352  0.98820113 -0.12628565]
 [ 0.0389697   0.12330219  0.99160397]]

 t_gt:
[ 0.69598384 -0.20999673 -0.6866643 ]

Pose Error in degrees for R and t:
8.986227337266927 45.96036077371944

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.27264932 -0.94773837 -0.16569347]
 [-0.94559928  0.29573718 -0.13557849]
 [ 0.17749466  0.11971424 -0.97681326]]

 t_estimated:
[[ 0.83391191]
 [ 0.54367463]
 [-0.09491486]]

 R_gt:
[[ 0.99662233 -0.08194954 -0.00538927]
 [ 0.08198435  0.99661124  0.00660353]
 [ 0.00482949 -0.00702381  0.99996364]]

 t_gt:
[ 0.79370708 -0.60789061  0.02231766]

Pose Error in degrees for R and t:
167.63609670481895 70.77559858088235

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-9.22701644e-01  3.85514819e-01  2.82173758e-05]
 [-3.85513657e-01 -9.22698678e-01 -2.52396188e-03]
 [-9.46988573e-04 -2.33974196e-03  9.99996814e-01]]

 t_estimated:
[[7.77198764e-01]
 [6.29254837e-01]
 [6.57528565e-04]]

 R_gt:
[[ 0.99680711 -0.07278129 -0.03283835]
 [ 0.07017203  0.99474034 -0.07461658]
 [ 0.03809616  0.07207413  0.99667207]]

 t_gt:
[ 0.74744136 -0.27687186 -0.60388193]

Pose Error in degrees for R and t:
161.44705758773418 66.02797994808034

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.28229221e-01  3.72008707e-01  1.85425005e-04]
 [-3.72008562e-01  9.28229135e-01 -5.50791642e-04]
 [-3.77016178e-04  4.42281208e-04  9.99999831e-01]]

 t_estimated:
[[0.13432921]
 [0.99093622]
 [0.0010333 ]]

 R_gt:
[[ 0.99507089 -0.09129293 -0.03872469]
 [ 0.07877638  0.96490364 -0.25051094]
 [ 0.060236    0.24622526  0.96733913]]

 t_gt:
[ 0.50719589  0.11461703 -0.8541752 ]

Pose Error in degrees for R and t:
30.481033057894415 79.5820793714247

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 0.06969994  0.99755259  0.00554593]
 [ 0.99756156 -0.06967843 -0.00398045]
 [-0.00358427  0.00580984 -0.9999767 ]]

 t_estimated:
[[0.99605482]
 [0.08872421]
 [0.00167404]]

 R_gt:
[[ 0.99816125  0.01903542 -0.05753974]
 [-0.01609944  0.9985654   0.05105799]
 [ 0.05842923 -0.05003827  0.99703716]]

 t_gt:
[-0.84128775 -0.44897512  0.30109177]

Pose Error in degrees for R and t:
175.99440637901495 28.681682322978574

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 0.10407509 -0.99456694 -0.00223149]
 [-0.99456339 -0.10406637 -0.00372106]
 [ 0.00346862  0.00260663 -0.99999059]]

 t_estimated:
[[ 0.74720752]
 [ 0.66458986]
 [-0.00111286]]

 R_gt:
[[ 0.9951114   0.07665978 -0.06226253]
 [-0.06922521  0.99108184  0.11385564]
 [ 0.07043625 -0.1089895   0.99154421]]

 t_gt:
[-0.91460699 -0.1405815   0.37911857]

Pose Error in degrees for R and t:
178.0365553022923 38.99032959185512

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.93489386 -0.34689294 -0.0750917 ]
 [ 0.34675446  0.93783125 -0.01529369]
 [ 0.07572862 -0.0117404   0.99705935]]

 t_estimated:
[[0.97152661]
 [0.23692714]
 [0.00125358]]

 R_gt:
[[ 0.99163489  0.11524752 -0.05811456]
 [-0.10383173  0.97974651  0.17121654]
 [ 0.07666974 -0.16375056  0.98351787]]

 t_gt:
[-0.88497898 -0.04558279  0.46339445]

Pose Error in degrees for R and t:
28.355992750539606 29.541415406465696

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.71695774 -0.69708357 -0.00678904]
 [-0.69709268 -0.71681837 -0.01527147]
 [ 0.00577898  0.01568159 -0.99986034]]

 t_estimated:
[[ 0.42887236]
 [ 0.90333326]
 [-0.00758436]]

 R_gt:
[[ 0.99558834 -0.00569352  0.09365498]
 [ 0.01540942  0.99452511 -0.10335033]
 [-0.09255439  0.10433689  0.99022678]]

 t_gt:
[-0.82668132  0.33200674 -0.45427912]

Pose Error in degrees for R and t:
175.53006627073876 87.0661698491148

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 7.92099026e-01  6.10392600e-01  8.70138599e-05]
 [-6.10392594e-01  7.92098975e-01  3.07951691e-04]
 [ 1.19047844e-04 -2.97040850e-04  9.99999949e-01]]

 t_estimated:
[[0.86235251]
 [0.50630743]
 [0.00096712]]

 R_gt:
[[ 0.98365609  0.03521249  0.17657784]
 [-0.00799109  0.98826153 -0.1525615 ]
 [-0.17987743  0.14865721  0.97239173]]

 t_gt:
[-0.8614294   0.4985142  -0.09707207]

Pose Error in degrees for R and t:
38.71105038972468 60.623377587802416

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.99924413  0.03880571  0.00229686]
 [-0.03879265  0.99923224 -0.00548339]
 [-0.00250788  0.00539015  0.99998233]]

 t_estimated:
[[ 9.99983969e-01]
 [-5.65832162e-03]
 [ 2.12872150e-04]]

 R_gt:
[[ 0.96846999  0.02295296  0.24806933]
 [ 0.03388144  0.97436054 -0.22242698]
 [-0.24681519  0.22381792  0.94286233]]

 t_gt:
[-0.71274443  0.67110084 -0.20400747]

Pose Error in degrees for R and t:
19.318594333853532 44.22767871962999

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[-8.09161147e-01  5.87584735e-01  1.55472042e-03]
 [-5.87586660e-01 -8.09156361e-01 -2.81062359e-03]
 [-3.93467594e-04 -3.18778039e-03  9.99994842e-01]]

 t_estimated:
[[0.01922719]
 [0.99981386]
 [0.00160227]]

 R_gt:
[[ 0.99876388 -0.04480424 -0.02156732]
 [ 0.04468094  0.99898313 -0.00616885]
 [ 0.0218218   0.00519802  0.99974821]]

 t_gt:
[ 0.80546993 -0.39787237 -0.43922177]

Pose Error in degrees for R and t:
146.58320803785605 67.47942725252149

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.96354361e-01 -8.53110464e-02 -1.13942895e-04]
 [ 8.53110930e-02  9.96354238e-01  4.99590511e-04]
 [ 7.09068970e-05 -5.07489777e-04  9.99999869e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075924e-03]
 [7.75189821e-04]]

 R_gt:
[[ 0.99754164 -0.06705702 -0.02039213]
 [ 0.06660645  0.997538   -0.02197314]
 [ 0.02181475  0.02056162  0.99955064]]

 t_gt:
[ 0.85407659 -0.09697782 -0.51102689]

Pose Error in degrees for R and t:
2.0321983078310693 31.41928581868882

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.69241789e-01 -2.46110441e-01  6.56637605e-05]
 [ 2.46110400e-01  9.69241726e-01  3.83256366e-04]
 [-1.57967450e-04 -3.55307552e-04  9.99999924e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99165169 -0.12894418  0.00169377]
 [ 0.12892494  0.99104925 -0.03464734]
 [ 0.0027888   0.03457647  0.99939841]]

 t_gt:
[ 0.92840902 -0.293099   -0.22836302]

Pose Error in degrees for R and t:
7.12559154039963 21.979408598039182

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99962205e-01 -8.69323939e-03  1.24361379e-04]
 [ 8.69322599e-03  9.99962207e-01  1.07847119e-04]
 [-1.25294220e-04 -1.06761942e-04  9.99999986e-01]]

 t_estimated:
[[0.12810177]
 [0.99176015]
 [0.00132157]]

 R_gt:
[[ 0.99964941 -0.019996    0.01733948]
 [ 0.0192356   0.99889335  0.04292961]
 [-0.01818014 -0.04257957  0.99892742]]

 t_gt:
[ 0.07507323 -0.60727114  0.7909398 ]

Pose Error in degrees for R and t:
2.7184613556982336 53.729011840073056

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.99999842e-01 -5.34820976e-05  5.59860564e-04]
 [ 5.34570703e-05  9.99999998e-01  4.47176653e-05]
 [-5.59862955e-04 -4.46877297e-05  9.99999842e-01]]

 t_estimated:
[[7.79975608e-01]
 [6.25809575e-01]
 [6.53245903e-04]]

 R_gt:
[[ 0.99727414 -0.07305027  0.01043861]
 [ 0.07230108  0.99559516  0.05969619]
 [-0.01475462 -0.05877803  0.9981622 ]]

 t_gt:
[ 0.49214813 -0.69904444  0.5187746 ]

Pose Error in degrees for R and t:
5.419922028965156 86.9466220288886

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999084e-01 -1.35302923e-03  4.49810896e-05]
 [ 1.35303666e-03  9.99999071e-01 -1.65535556e-04]
 [-4.47570734e-05  1.65596265e-04  9.99999985e-01]]

 t_estimated:
[[ 9.85979117e-01]
 [-1.66865985e-01]
 [-9.61247709e-04]]

 R_gt:
[[ 9.94842759e-01 -1.01351777e-01 -3.99521881e-03]
 [ 1.01355651e-01  9.94849639e-01  9.93016324e-04]
 [ 3.87224488e-03 -1.39236724e-03  9.99992078e-01]]

 t_gt:
[ 0.74833017 -0.66326641 -0.00892356]

Pose Error in degrees for R and t:
5.744533087498658 31.948604843844688

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99295400e-01  3.75106262e-02  1.28676494e-03]
 [-3.75099839e-02  9.99296118e-01 -5.19701314e-04]
 [-1.30535353e-03  4.71068600e-04  9.99999037e-01]]

 t_estimated:
[[0.56368278]
 [0.82599061]
 [0.0011162 ]]

 R_gt:
[[ 0.99019849 -0.12383818  0.0645849 ]
 [ 0.1233671   0.99229746  0.01122118]
 [-0.06547739 -0.00314393  0.99784868]]

 t_gt:
[ 0.51259242 -0.77777914  0.36374252]

Pose Error in degrees for R and t:
9.963552002581478 69.32340257875852

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999966e-01 -2.61882305e-04 -1.21618716e-05]
 [ 2.61884844e-04  9.99999944e-01  2.09240247e-04]
 [ 1.21070746e-05 -2.09243425e-04  9.99999978e-01]]

 t_estimated:
[[-0.59082706]
 [-0.80679767]
 [-0.00095141]]

 R_gt:
[[ 0.95316817 -0.29733881  0.05531776]
 [ 0.29422351  0.95397491  0.05800317]
 [-0.07001868 -0.03901153  0.99678246]]

 t_gt:
[ 0.67119347 -0.68601291  0.28086582]

Pose Error in degrees for R and t:
17.814955962005467 80.98766293080966

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999889e-01 -3.93379562e-04 -2.60776846e-04]
 [ 3.94458266e-04  9.99991313e-01  4.14943982e-03]
 [ 2.59142276e-04 -4.14954223e-03  9.99991357e-01]]

 t_estimated:
[[0.664725  ]
 [0.74708767]
 [0.00083195]]

 R_gt:
[[ 0.88713252 -0.46148033  0.00574462]
 [ 0.45954893  0.88443136  0.08121194]
 [-0.042558   -0.06940613  0.99667989]]

 t_gt:
[ 0.78128449 -0.59448767  0.19020767]

Pose Error in degrees for R and t:
27.79750055941024 85.67791084989854

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.91947937e-01 -1.26646320e-01 -1.84170058e-05]
 [ 1.26646321e-01  9.91947910e-01  2.32447015e-04]
 [-1.11698488e-05 -2.32907783e-04  9.99999973e-01]]

 t_estimated:
[[9.84763963e-01]
 [1.73895697e-01]
 [4.73873840e-04]]

 R_gt:
[[ 0.9804195  -0.19170146  0.04505292]
 [ 0.19003703  0.98101246  0.03873239]
 [-0.05162227 -0.02941107  0.99823363]]

 t_gt:
[ 0.64276769 -0.70051528  0.31004523]

Pose Error in degrees for R and t:
5.051038396304062 59.24922013126833

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.67755331e-01  2.51888276e-01  1.38443484e-03]
 [-2.51888549e-01  9.67756250e-01  2.32325189e-05]
 [-1.33394347e-03 -3.71206677e-04  9.99999041e-01]]

 t_estimated:
[[0.63772599]
 [0.77026283]
 [0.00086063]]

 R_gt:
[[ 0.94171211 -0.33610942  0.01451142]
 [ 0.33472325  0.94041461  0.05984722]
 [-0.0337614  -0.05150105  0.99810229]]

 t_gt:
[ 0.7369933  -0.64603499  0.19869491]

Pose Error in degrees for R and t:
34.37849293242547 88.42726520520478

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 7.93022186e-01  6.09191863e-01  1.04232739e-03]
 [-6.09190385e-01  7.93022713e-01 -1.43208370e-03]
 [-1.69900303e-03  5.00698322e-04  9.99998431e-01]]

 t_estimated:
[[0.46337769]
 [0.88616033]
 [0.00099012]]

 R_gt:
[[ 0.86200641 -0.50336921 -0.05971418]
 [ 0.50644067  0.86023611  0.05926544]
 [ 0.02153642 -0.08132904  0.99645466]]

 t_gt:
[ 0.83769748 -0.53294235  0.11931214]

Pose Error in degrees for R and t:
68.0733556700081 85.18240161627027

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.96140323  0.27470507  0.01552282]
 [ 0.27461429  0.96152326 -0.00774658]
 [-0.01705357 -0.0031848  -0.99984951]]

 t_estimated:
[[ 0.81851046]
 [-0.57429865]
 [ 0.01488944]]

 R_gt:
[[ 0.99421088 -0.06062874  0.08871091]
 [ 0.05091831  0.99285692  0.10789627]
 [-0.0946194  -0.10275532  0.99019555]]

 t_gt:
[ 0.17681399 -0.41959377  0.89032459]

Pose Error in degrees for R and t:
174.69061458504862 66.487279076314

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-1.24884351e-01 -9.92170602e-01 -1.18092498e-03]
 [-9.92148338e-01  1.24889471e-01 -6.65555139e-03]
 [ 6.75092752e-03  3.40478542e-04 -9.99977154e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98557751 -0.07010843  0.15401928]
 [ 0.03954032  0.98035628  0.19322841]
 [-0.16454106 -0.18435214  0.96898881]]

 t_gt:
[ 0.09896987 -0.26462058  0.95926061]

Pose Error in degrees for R and t:
166.15886255551365 84.32460350564916

Number of keypoints:
Image1: 24
Image2: 24

 R_estimated:
[[ 9.81686415e-01 -1.90504022e-01 -1.94867571e-05]
 [ 1.90504022e-01  9.81686403e-01  1.50400584e-04]
 [-9.52203163e-06 -1.51358516e-04  9.99999988e-01]]

 t_estimated:
[[ 1.93915370e-01]
 [-9.81018251e-01]
 [ 1.42229406e-04]]

 R_gt:
[[ 0.98485029  0.01607573  0.17266006]
 [-0.05817863  0.96861499  0.24166063]
 [-0.16335723 -0.24804464  0.95487576]]

 t_gt:
[-0.17206333  0.06536025  0.98291518]

Pose Error in degrees for R and t:
21.682386428148913 84.41366579547882

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.97423148e-01 -7.17430275e-02 -3.32366377e-05]
 [ 7.17430330e-02  9.97423125e-01  2.17768840e-04]
 [ 1.75275952e-05 -2.19592179e-04  9.99999976e-01]]

 t_estimated:
[[-0.34972153]
 [ 0.93685283]
 [-0.00127468]]

 R_gt:
[[ 0.99919362 -0.00820935  0.03930396]
 [ 0.00797738  0.9999507   0.00606015]
 [-0.03935186 -0.00574172  0.99920824]]

 t_gt:
[-0.00312928 -0.1753481   0.98450152]

Pose Error in degrees for R and t:
4.302818636421699 80.53553292954511

Number of keypoints:
Image1: 434
Image2: 434

 R_estimated:
[[ 9.99848122e-01  1.74279154e-02  1.73498212e-05]
 [-1.74279152e-02  9.99848122e-01 -1.13354266e-05]
 [-1.75447390e-05  1.10313338e-05  1.00000000e+00]]

 t_estimated:
[[2.74240874e-01]
 [9.61660947e-01]
 [4.07054524e-04]]

 R_gt:
[[ 0.99952228 -0.01048849  0.02906917]
 [ 0.01041829  0.99994285  0.00255028]
 [-0.02909447 -0.00224727  0.99957447]]

 t_gt:
[ 0.07412813 -0.28784829  0.9548028 ]

Pose Error in degrees for R and t:
2.311586013410182 75.16153087058417

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[-9.61708917e-01 -2.74068191e-01  1.60812148e-03]
 [-2.74066840e-01  9.61710114e-01  1.01223326e-03]
 [-1.82396763e-03  5.32740977e-04 -9.99998195e-01]]

 t_estimated:
[[0.8973447 ]
 [0.44132821]
 [0.00137482]]

 R_gt:
[[ 0.99754238 -0.0680294  -0.01678199]
 [ 0.06850416  0.99721203  0.02959222]
 [ 0.014723   -0.03066948  0.99942101]]

 t_gt:
[ 0.61699777 -0.77841292  0.11570258]

Pose Error in degrees for R and t:
179.4443820183989 77.86105309197947

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-9.99544925e-01 -1.50306216e-02  2.61538570e-02]
 [-1.50089697e-02  9.99886835e-01  1.02398632e-03]
 [-2.61662884e-02  6.30977879e-04 -9.99657405e-01]]

 t_estimated:
[[ 0.99990082]
 [-0.0032474 ]
 [ 0.01370439]]

 R_gt:
[[ 9.97857943e-01 -6.54148203e-02  6.93262803e-04]
 [ 6.54066860e-02  9.97824060e-01  8.34342938e-03]
 [-1.23766304e-03 -8.27982557e-03  9.99964614e-01]]

 t_gt:
[ 0.72570431 -0.6744639   0.13583707]

Pose Error in degrees for R and t:
178.44066270275093 43.140078407645

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-9.98787429e-01  4.30666968e-02  2.38522854e-02]
 [ 4.30597489e-02  9.99072175e-01 -8.05062400e-04]
 [-2.38648260e-02  2.22987216e-04 -9.99715170e-01]]

 t_estimated:
[[ 0.99968274]
 [-0.02169845]
 [ 0.01279051]]

 R_gt:
[[ 0.99475957 -0.1011668  -0.01477916]
 [ 0.10107398  0.99485487 -0.00693037]
 [ 0.01540479  0.00540063  0.99986716]]

 t_gt:
[ 0.84757535 -0.51158553 -0.14105412]

Pose Error in degrees for R and t:
179.49389160648684 31.06272875697281

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.43008509 -0.90277271 -0.00531444]
 [ 0.90278109 -0.43005056 -0.00654433]
 [ 0.00362257 -0.00761239  0.99996446]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.90311599e-01 -1.38787514e-01  4.62358152e-03]
 [ 1.38861791e-01  9.89942180e-01 -2.70635032e-02]
 [-8.20070494e-04  2.74442203e-02  9.99622829e-01]]

 t_gt:
[ 0.90173607 -0.41586106 -0.11803242]

Pose Error in degrees for R and t:
107.50145701964281 25.795825854802697

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.97692222e-01  6.78986570e-02 -5.19024825e-05]
 [-6.78986673e-02  9.97692196e-01 -2.32407206e-04]
 [ 3.60025645e-05  2.35394971e-04  9.99999972e-01]]

 t_estimated:
[[9.15261654e-01]
 [4.02859263e-01]
 [7.20678467e-04]]

 R_gt:
[[ 0.99803608  0.06094419  0.01446974]
 [-0.06047288  0.99768483 -0.03110592]
 [-0.0163324   0.03017083  0.99941164]]

 t_gt:
[-0.82519084  0.43802218 -0.35664638]

Pose Error in degrees for R and t:
1.9981864132199607 54.615455870492355

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 0.39702645  0.91778693 -0.0060947 ]
 [ 0.91777807 -0.39695223  0.01059909]
 [ 0.0073084  -0.0098017  -0.99992525]]

 t_estimated:
[[-0.29860708]
 [-0.95437165]
 [-0.00292752]]

 R_gt:
[[ 0.99097915  0.12768615  0.0406974 ]
 [-0.12433946  0.98930461 -0.0762607 ]
 [-0.04999968  0.07051323  0.99625772]]

 t_gt:
[-0.8329283   0.41479566 -0.36629907]

Pose Error in degrees for R and t:
175.74415543251624 81.6002575640626

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.79574912e-01  2.01079455e-01  2.10826092e-04]
 [-2.01079283e-01  9.79574756e-01 -6.48300736e-04]
 [-3.36879875e-04  5.92666377e-04  9.99999768e-01]]

 t_estimated:
[[-9.44206052e-01]
 [-3.29354206e-01]
 [-8.59932652e-04]]

 R_gt:
[[ 0.98502832  0.16755114  0.04056573]
 [-0.16123995  0.97869545 -0.12711336]
 [-0.06099999  0.11866967  0.99105879]]

 t_gt:
[-0.77814144  0.42622259 -0.46133524]

Pose Error in degrees for R and t:
7.9106315647251115 53.505588975678755

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99998573e-01 -1.50524267e-03 -7.67395904e-04]
 [ 1.50505081e-03  9.99998836e-01 -2.50527851e-04]
 [ 7.67772116e-04  2.49372523e-04  9.99999674e-01]]

 t_estimated:
[[-0.99876392]
 [-0.04932167]
 [-0.00616521]]

 R_gt:
[[ 9.91006293e-01  1.33798990e-01 -2.18751704e-03]
 [-1.33815652e-01  9.90808567e-01 -1.97689026e-02]
 [-4.77559415e-04  1.98841469e-02  9.99801098e-01]]

 t_gt:
[-0.76819139  0.63050967 -0.11108352]

Pose Error in degrees for R and t:
7.857666833782008 42.53801690761422

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.86722171e-01 -1.62414195e-01 -9.93490244e-04]
 [ 1.62414685e-01  9.86722495e-01  4.33750850e-04]
 [ 9.09851877e-04 -5.89348986e-04  9.99999412e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97696897  0.21277879 -0.01606486]
 [-0.21312742  0.97671478 -0.02459619]
 [ 0.0104571   0.02745418  0.99956729]]

 t_gt:
[-0.74488557  0.65645695 -0.1192047 ]

Pose Error in degrees for R and t:
21.710050175927556 42.017650517486594

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 6.94387807e-01  7.19600943e-01  2.38040306e-04]
 [ 7.19555814e-01 -6.94347889e-01  1.09745200e-02]
 [ 8.06255772e-03 -7.44928958e-03 -9.99939750e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.92410309  0.3821242  -0.00375868]
 [-0.38213955  0.92400312 -0.01369688]
 [-0.00176103  0.01409437  0.99989905]]

 t_gt:
[-0.69186401  0.72169431 -0.02194352]

Pose Error in degrees for R and t:
179.89604606747145 46.398406621402195

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.86986309e-01  1.60804075e-01  2.74138251e-04]
 [-1.60804064e-01  9.86986347e-01 -6.32770009e-05]
 [-2.80745911e-04  1.83709886e-05  9.99999960e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97652776 -0.21474523 -0.01665058]
 [ 0.21510917  0.97627959  0.02458131]
 [ 0.01097667 -0.02758702  0.99955913]]

 t_gt:
[ 0.75524359 -0.65220706  0.06506208]

Pose Error in degrees for R and t:
21.734371355672753 49.65293668202543

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.72885606e-01  2.31286774e-01  1.63608018e-04]
 [-2.31286772e-01  9.72885619e-01 -3.07917168e-05]
 [-1.66293604e-04 -7.88355225e-06  9.99999986e-01]]

 t_estimated:
[[-9.84438886e-01]
 [-1.75725121e-01]
 [-8.72860806e-04]]

 R_gt:
[[ 9.66820583e-01 -2.55258975e-01 -1.00327306e-02]
 [ 2.55453858e-01  9.66195155e-01  3.47635503e-02]
 [ 8.20009931e-04 -3.61738213e-02  9.99344953e-01]]

 t_gt:
[ 0.74069432 -0.66196372  0.11478654]

Pose Error in degrees for R and t:
28.247398735261267 52.19726071935067

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 1.14332508e-01  9.93441923e-01  1.10641522e-03]
 [-9.93440010e-01  1.14334659e-01 -2.12883938e-03]
 [-2.24137989e-03 -8.55761603e-04  9.99997122e-01]]

 t_estimated:
[[0.01817879]
 [0.9998336 ]
 [0.0015149 ]]

 R_gt:
[[ 0.93864496 -0.34170698  0.04671869]
 [ 0.34143398  0.93980218  0.01393956]
 [-0.04866892  0.00286637  0.99881123]]

 t_gt:
[ 0.73108261 -0.6695101   0.13143228]

Pose Error in degrees for R and t:
103.4429358937342 49.01135960330308

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.76742270e-01  2.14416665e-01 -1.78206870e-04]
 [-2.14416591e-01  9.76742235e-01  3.63849837e-04]
 [ 2.52077645e-04 -3.17177006e-04  9.99999918e-01]]

 t_estimated:
[[-9.99604813e-01]
 [-2.80979206e-02]
 [-8.51452140e-04]]

 R_gt:
[[ 9.93061570e-01  1.16794965e-01 -1.37423776e-02]
 [-1.16772405e-01  9.93156338e-01  2.47524492e-03]
 [ 1.39379737e-02 -8.53690914e-04  9.99902671e-01]]

 t_gt:
[-0.63005426  0.77165768 -0.08704054]

Pose Error in degrees for R and t:
5.728121861398528 52.54072234493746

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[-0.6594523  -0.75171459 -0.00691742]
 [-0.75172473  0.65947524 -0.0015261 ]
 [ 0.00570906  0.0041936  -0.99997491]]

 t_estimated:
[[ 0.90916279]
 [ 0.41642715]
 [-0.0033841 ]]

 R_gt:
[[ 9.72981739e-01  2.28300942e-01 -3.44432848e-02]
 [-2.28134064e-01  9.73590955e-01  8.78498254e-03]
 [ 3.55398024e-02 -6.91283164e-04  9.99367645e-01]]

 t_gt:
[-0.59725322  0.79125353 -0.13117337]

Pose Error in degrees for R and t:
177.8689358343418 77.69843693719389

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 5.44223282e-01 -8.38938977e-01 -1.55324066e-03]
 [ 8.38939809e-01  5.44224181e-01 -1.93792479e-04]
 [ 1.00789119e-03 -1.19760905e-03  9.99998775e-01]]

 t_estimated:
[[-0.01397575]
 [-0.99990153]
 [-0.00127052]]

 R_gt:
[[ 0.94525465  0.32263837 -0.04896294]
 [-0.32068308  0.94617363  0.04381242]
 [ 0.06046429 -0.02571361  0.99783905]]

 t_gt:
[-0.5891968   0.80225852 -0.0960645 ]

Pose Error in degrees for R and t:
75.88760703638978 37.45577367611077

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99899703e-01 -1.41620220e-02  1.48240092e-04]
 [ 1.41621152e-02  9.99899503e-01 -6.47323283e-04]
 [-1.39057788e-04  6.49357751e-04  9.99999779e-01]]

 t_estimated:
[[-0.0421079 ]
 [-0.99910574]
 [-0.00382799]]

 R_gt:
[[ 0.98599997 -0.1643209  -0.02831402]
 [ 0.16509685  0.98588781  0.02769571]
 [ 0.0233634  -0.0319823   0.99921484]]

 t_gt:
[ 0.75793779 -0.65228511  0.00737816]

Pose Error in degrees for R and t:
8.973068269000462 51.701507628482595

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.96631620e-01  8.20081518e-02  2.79209177e-04]
 [-8.20081228e-02  9.96631655e-01 -1.13755249e-04]
 [-2.87597562e-04  9.04746573e-05  9.99999955e-01]]

 t_estimated:
[[9.31226208e-01]
 [3.64441087e-01]
 [6.65759575e-04]]

 R_gt:
[[ 0.95969351 -0.27910716 -0.032968  ]
 [ 0.27995919  0.95969051  0.02483349]
 [ 0.02470728 -0.03306171  0.9991474 ]]

 t_gt:
[ 0.793459   -0.60801678  0.02717349]

Pose Error in degrees for R and t:
21.07699022632979 58.84723853478696

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-5.12580101e-01 -8.58637253e-01 -1.92549856e-03]
 [ 8.58639207e-01 -5.12577141e-01 -1.84011195e-03]
 [ 5.93022124e-04 -2.59651333e-03  9.99996453e-01]]

 t_estimated:
[[0.87049406]
 [0.49217807]
 [0.00091824]]

 R_gt:
[[ 0.94274768 -0.33146246 -0.03686394]
 [ 0.3303673   0.94328247 -0.03280281]
 [ 0.04564562  0.01874631  0.99878129]]

 t_gt:
[ 0.81457193 -0.57371678 -0.08556658]

Pose Error in degrees for R and t:
101.52464733323107 64.74607926893124

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-6.63624309e-03  9.99977968e-01 -1.55294516e-04]
 [-9.99977278e-01 -6.63642230e-03 -1.18346553e-03]
 [-1.18447006e-03  1.47437223e-04  9.99999288e-01]]

 t_estimated:
[[3.23677034e-03]
 [9.99994622e-01]
 [5.28031771e-04]]

 R_gt:
[[ 0.99287813 -0.018082    0.11775371]
 [ 0.02285117  0.99896673 -0.03928331]
 [-0.11692061  0.04169359  0.99226595]]

 t_gt:
[0.22979733 0.0174837  0.97308145]

Pose Error in degrees for R and t:
91.76821981235302 88.92614408040976

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999887e-01  3.50982264e-04  3.20957159e-04]
 [-3.50923742e-04  9.99999922e-01 -1.82375301e-04]
 [-3.21021145e-04  1.82262649e-04  9.99999932e-01]]

 t_estimated:
[[9.99988829e-01]
 [4.66250676e-03]
 [7.77083961e-04]]

 R_gt:
[[ 0.98824906 -0.07718256  0.13193729]
 [ 0.08544146  0.99464677 -0.05811903]
 [-0.12674389  0.06870872  0.98955331]]

 t_gt:
[ 0.81355411 -0.37343702  0.44572918]

Pose Error in degrees for R and t:
9.512704986803978 35.6934491841129

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999119e-01 -8.06260329e-04  1.05474927e-03]
 [ 8.07294734e-04  9.99999193e-01 -9.80653996e-04]
 [-1.05395776e-03  9.81504626e-04  9.99998963e-01]]

 t_estimated:
[[-0.47762989]
 [-0.87856023]
 [-0.00126963]]

 R_gt:
[[ 0.9761608  -0.18772899  0.10894491]
 [ 0.19245392  0.98069917 -0.0345144 ]
 [-0.10036197  0.05465766  0.99344884]]

 t_gt:
[ 0.85956003 -0.49144519  0.14013629]

Pose Error in degrees for R and t:
12.71927792421049 88.79471047306798

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99999855e-01 -3.19452228e-05  5.38284200e-04]
 [ 3.20204495e-05  9.99999990e-01 -1.39744799e-04]
 [-5.38279730e-04  1.39762015e-04  9.99999845e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.99615385 -0.05713516  0.06642518]
 [ 0.06110254  0.99636592 -0.05932958]
 [-0.0627953   0.06316038  0.99602573]]

 t_gt:
[ 0.75671564 -0.56086306 -0.33587804]

Pose Error in degrees for R and t:
6.1108385773394085 41.713908165564604

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.70084469e-01  2.42767536e-01  2.15587475e-04]
 [-2.42767458e-01  9.70084454e-01 -3.35817060e-04]
 [-2.90663538e-04  2.73433291e-04  9.99999920e-01]]

 t_estimated:
[[-0.9999925 ]
 [-0.00373821]
 [-0.00101474]]

 R_gt:
[[ 0.99181752 -0.08886539  0.09165642]
 [ 0.0940016   0.99414281 -0.0533274 ]
 [-0.0863823   0.06150806  0.99436113]]

 t_gt:
[ 0.78386852 -0.61759049 -0.06428163]

Pose Error in degrees for R and t:
20.232357051285305 38.60291505468628

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.9934451  -0.11429365 -0.00194596]
 [ 0.1142976   0.99344443  0.00205568]
 [ 0.00169825 -0.00226462  0.99999599]]

 t_estimated:
[[-0.68059771]
 [-0.73265693]
 [-0.00076558]]

 R_gt:
[[ 0.98368748 -0.07681942  0.16265849]
 [ 0.09111356  0.9924316  -0.08231683]
 [-0.15510549  0.09579514  0.98324234]]

 t_gt:
[ 0.88806904 -0.45188294  0.08447003]

Pose Error in degrees for R and t:
10.791281345899225 74.13288073018751

Number of keypoints:
Image1: 337
Image2: 337

 R_estimated:
[[-0.2634712   0.96465248 -0.0053402 ]
 [-0.96465158 -0.26349445 -0.00424407]
 [-0.00550117  0.00403324  0.99997673]]

 t_estimated:
[[0.60519674]
 [0.79607482]
 [0.001335  ]]

 R_gt:
[[ 0.99578561 -0.08860723 -0.02370311]
 [ 0.08965153  0.99484596  0.04737363]
 [ 0.0193817  -0.04929842  0.99859644]]

 t_gt:
[ 0.39636293 -0.90662982  0.1446333 ]

Pose Error in degrees for R and t:
110.4341606734966 61.20517425854623

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99062949e-01  4.31615171e-02  3.21064598e-03]
 [-4.31587277e-02  9.99067792e-01 -9.33082487e-04]
 [-3.24792625e-03  7.93640745e-04  9.99994411e-01]]

 t_estimated:
[[-0.42223832]
 [-0.90648366]
 [-0.00147636]]

 R_gt:
[[ 0.97805183 -0.19255126 -0.0796256 ]
 [ 0.19742419  0.97856374  0.05862276]
 [ 0.06663142 -0.07305547  0.99509989]]

 t_gt:
[ 0.52146961 -0.85218477 -0.04301827]

Pose Error in degrees for R and t:
14.931953577919517 56.47019970922293

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 7.81647253e-01  6.23718724e-01  1.58933430e-03]
 [-6.23719392e-01  7.81648330e-01 -9.43067445e-05]
 [-1.30112138e-03 -9.17584012e-04  9.99998733e-01]]

 t_estimated:
[[0.73549122]
 [0.67753131]
 [0.00199862]]

 R_gt:
[[ 0.95459067 -0.27067198 -0.12448237]
 [ 0.27583781  0.96085278  0.02599573]
 [ 0.11257255 -0.05915187  0.99188147]]

 t_gt:
[ 0.58443334 -0.78844749 -0.19180255]

Pose Error in degrees for R and t:
54.97312196702346 83.98806551679736

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.86991399e-01  1.60772917e-01 -2.18069101e-04]
 [-1.60772925e-01  9.86991422e-01 -1.69941968e-05]
 [ 2.12500125e-04  5.18327332e-05  9.99999976e-01]]

 t_estimated:
[[-0.98820762]
 [ 0.15311269]
 [-0.00148618]]

 R_gt:
[[ 0.99420076  0.09877976  0.04251344]
 [-0.09903325  0.9950767   0.00388676]
 [-0.04191991 -0.00807432  0.99908881]]

 t_gt:
[-0.39634091  0.83784018  0.37541673]

Pose Error in degrees for R and t:
4.337057653101464 58.70844675891475

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 4.68414065e-01 -8.83508988e-01 -3.63011780e-04]
 [ 8.83507434e-01  4.68412373e-01  2.11262019e-03]
 [-1.69647972e-03 -1.31030462e-03  9.99997703e-01]]

 t_estimated:
[[0.50245742]
 [0.86460093]
 [0.00133632]]

 R_gt:
[[ 0.99046464  0.12891821  0.04858427]
 [-0.12953299  0.99152727  0.00969655]
 [-0.04692253 -0.01589633  0.99877227]]

 t_gt:
[-0.28887362  0.87954908  0.37808128]

Pose Error in degrees for R and t:
69.54568854792925 51.98865543986816

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.90872776e-01 -1.34799874e-01 -3.68674658e-04]
 [ 1.34799977e-01  9.90872794e-01  2.67908438e-04]
 [ 3.29195664e-04 -3.15160513e-04  9.99999896e-01]]

 t_estimated:
[[-0.47592711]
 [-0.87948387]
 [-0.00122662]]

 R_gt:
[[ 0.9912906   0.12605783  0.03810977]
 [-0.12635175  0.99197068  0.00541404]
 [-0.03712053 -0.01018204  0.99925887]]

 t_gt:
[-0.02689967  0.9418626   0.33491975]

Pose Error in degrees for R and t:
15.162914926512324 35.317455703812065

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.99841707e-01  1.77466086e-02  1.27204120e-03]
 [ 1.77462090e-02 -9.99842471e-01  3.24762871e-04]
 [ 1.27760426e-03 -3.02137555e-04 -9.99999138e-01]]

 t_estimated:
[[0.09026435]
 [0.9959167 ]
 [0.00150441]]

 R_gt:
[[ 0.99751991 -0.06565669 -0.02535952]
 [ 0.06559322  0.99784    -0.00331097]
 [ 0.02552286  0.00163968  0.99967284]]

 t_gt:
[ 0.34166337 -0.87488625 -0.3432786 ]

Pose Error in degrees for R and t:
179.8739168177548 32.75516563243046

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 0.77905927 -0.62694574 -0.00238378]
 [-0.62694915 -0.77905944 -0.00107081]
 [-0.00118577  0.00232873 -0.99999659]]

 t_estimated:
[[0.14500275]
 [0.9894305 ]
 [0.00121851]]

 R_gt:
[[ 0.99036538 -0.12311543 -0.06340153]
 [ 0.12515911  0.99170195  0.02934688]
 [ 0.05926314 -0.03699965  0.99755611]]

 t_gt:
[ 0.355808   -0.90802525 -0.22111268]

Pose Error in degrees for R and t:
179.4642444082503 32.1019141392112

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99807171e-01 -1.96291464e-02  5.63786632e-04]
 [ 1.96289599e-02  9.99807277e-01  3.34412351e-04]
 [-5.70242206e-04 -3.23281321e-04  9.99999785e-01]]

 t_estimated:
[[0.68136728]
 [0.7319411 ]
 [0.00091952]]

 R_gt:
[[ 0.95972008 -0.25946244 -0.10778389]
 [ 0.26279025  0.96469107  0.01766362]
 [ 0.09939621 -0.04527626  0.99401668]]

 t_gt:
[ 0.55532179 -0.80476698 -0.20968502]

Pose Error in degrees for R and t:
15.39781537025478 77.82743565658501

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[-9.43795241e-01  3.30529821e-01 -7.62034612e-04]
 [-3.30528324e-01 -9.43794690e-01 -1.61567950e-03]
 [-1.25323448e-03 -1.27299660e-03  9.99998404e-01]]

 t_estimated:
[[9.42670116e-01]
 [3.33724997e-01]
 [8.24012339e-04]]

 R_gt:
[[ 0.99985002  0.01608696 -0.00642207]
 [-0.01614875  0.99982305 -0.00970176]
 [ 0.00626503  0.00980413  0.99993201]]

 t_gt:
[ 0.77021109  0.35607087 -0.52913931]

Pose Error in degrees for R and t:
159.7759403600885 32.387082071704384

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 6.21351243e-01  7.83521619e-01  4.06271977e-03]
 [ 7.83532058e-01 -6.21345349e-01 -2.73313755e-03]
 [ 3.82879680e-04  4.88150959e-03 -9.99988012e-01]]

 t_estimated:
[[-0.99582595]
 [-0.09125098]
 [-0.00198372]]

 R_gt:
[[ 0.99989654  0.01175795 -0.00833279]
 [-0.01181164  0.99990882 -0.00655481]
 [ 0.00825438  0.00665192  0.99994438]]

 t_gt:
[ 0.97190873 -0.04619645 -0.23077979]

Pose Error in degrees for R and t:
179.62264695023705 15.596570835431839

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.95190632e-01 -9.79571548e-02  3.42182566e-05]
 [ 9.79571529e-02  9.95190632e-01  5.38357214e-05]
 [-3.93272825e-05 -5.02248827e-05  9.99999998e-01]]

 t_estimated:
[[-0.4279882 ]
 [-0.9037836 ]
 [-0.00113827]]

 R_gt:
[[ 0.99778586  0.06615748 -0.00671193]
 [-0.06614109  0.99780724  0.002444  ]
 [ 0.0068582  -0.00199519  0.99997478]]

 t_gt:
[ 0.73201279  0.66912834 -0.12815822]

Pose Error in degrees for R and t:
9.423448204479724 23.37985738747962

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.97880849e-01  6.50676963e-02  7.59029892e-05]
 [-6.50676887e-02  9.97880848e-01 -9.83435851e-05]
 [-8.21411297e-05  9.31963481e-05  9.99999992e-01]]

 t_estimated:
[[-0.53707554]
 [-0.84353356]
 [-0.00099717]]

 R_gt:
[[ 0.99837635 -0.02865195  0.04923188]
 [ 0.0294335   0.99945111 -0.01521495]
 [-0.04876915  0.01664049  0.99867098]]

 t_gt:
[ 0.67515668 -0.54605377  0.49597251]

Pose Error in degrees for R and t:
6.148296624764124 84.4041980370072

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.98189232e-01 -6.01519351e-02 -4.06316711e-05]
 [ 6.01519348e-02  9.98189233e-01 -6.85505214e-06]
 [ 4.09704412e-05  4.39856560e-06  9.99999999e-01]]

 t_estimated:
[[ 1.49051342e-01]
 [-9.88829306e-01]
 [-5.48842648e-04]]

 R_gt:
[[ 0.99478146  0.00631357  0.10183501]
 [-0.00169284  0.99896748 -0.04539404]
 [-0.10201696  0.04498553  0.99376444]]

 t_gt:
[-0.15844444  0.93226022  0.32524798]

Pose Error in degrees for R and t:
7.38409340533813 18.97842762121979

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.42725802 -0.90411947 -0.00430952]
 [-0.90412233 -0.42723037 -0.00608419]
 [ 0.00365968  0.00649585 -0.9999722 ]]

 t_estimated:
[[ 0.63768126]
 [ 0.77029603]
 [-0.00257697]]

 R_gt:
[[ 0.98652133  0.11098619  0.12024154]
 [-0.09901911  0.98991446 -0.10131253]
 [-0.13027276  0.08804195  0.987561  ]]

 t_gt:
[-0.2956314   0.95512963  0.01815134]

Pose Error in degrees for R and t:
178.8284854554527 56.82711416593141

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99999672e-01 -2.17344532e-04  7.80497052e-04]
 [ 2.17929490e-04  9.99999695e-01 -7.49461525e-04]
 [-7.80333923e-04  7.49631372e-04  9.99999415e-01]]

 t_estimated:
[[0.68960859]
 [0.72418   ]
 [0.00181955]]

 R_gt:
[[ 0.98667031 -0.05117489  0.15447592]
 [ 0.05260841  0.99860181 -0.00520107]
 [-0.15399366  0.01325867  0.98798224]]

 t_gt:
[ 0.20326694 -0.31034573  0.92863775]

Pose Error in degrees for R and t:
9.332052415892163 85.24576644477553

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.98214032e-01 -5.97333155e-02 -8.22436204e-04]
 [ 5.97334432e-02  9.98214355e-01  1.31616475e-04]
 [ 8.13105736e-04 -1.80508359e-04  9.99999653e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.96406148 -0.05155367  0.26063142]
 [ 0.05751853  0.99822696 -0.01530591]
 [-0.2593803   0.02974645  0.96531665]]

 t_gt:
[ 0.18382376 -0.16591825  0.96885497]

Pose Error in degrees for R and t:
15.18358888340662 80.57471442686706

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.99999895e-01 -3.34410958e-04  3.12659703e-04]
 [ 3.34519946e-04  9.99999883e-01 -3.48595518e-04]
 [-3.12543093e-04  3.48700072e-04  9.99999890e-01]]

 t_estimated:
[[0.96018979]
 [0.27934619]
 [0.00112619]]

 R_gt:
[[ 0.94471568 -0.09122578  0.31494549]
 [ 0.11695443  0.99108907 -0.06374495]
 [-0.30632429  0.0970543   0.94696594]]

 t_gt:
[ 0.45671492 -0.27906479  0.84470961]

Pose Error in degrees for R and t:
19.687318016632496 68.80589640557054

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.32509113e-01  3.61145862e-01 -6.48091349e-04]
 [-3.61144993e-01  9.32508953e-01  1.16037731e-03]
 [ 1.02341645e-03 -8.48007472e-04  9.99999117e-01]]

 t_estimated:
[[0.59319872]
 [0.80505541]
 [0.00103345]]

 R_gt:
[[ 0.9850276  -0.17020118  0.02741162]
 [ 0.17029955  0.98539156 -0.00126101]
 [-0.02679733  0.0059099   0.99962361]]

 t_gt:
[ 0.73788587 -0.66821299  0.09495184]

Pose Error in degrees for R and t:
31.016691693552414 84.25291748044698

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 1.33130888e-01 -9.91098426e-01 -2.78059448e-04]
 [-9.91082553e-01 -1.33130335e-01  5.62916826e-03]
 [-5.61607795e-03 -4.73836301e-04 -9.99984117e-01]]

 t_estimated:
[[0.66790214]
 [0.74423381]
 [0.00477073]]

 R_gt:
[[ 0.95007406 -0.31182679 -0.0111184 ]
 [ 0.31180824  0.94748107  0.07110652]
 [-0.01163923 -0.0710224   0.9974071 ]]

 t_gt:
[ 0.77945646 -0.60527239  0.16153313]

Pose Error in degrees for R and t:
176.61945353812806 85.93391091763995

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.94778517e-01  1.02056028e-01  5.19246600e-04]
 [-1.02055901e-01  9.94778630e-01 -2.64599753e-04]
 [-5.43539421e-04  2.10225970e-04  9.99999830e-01]]

 t_estimated:
[[8.49630625e-01]
 [5.27377772e-01]
 [6.97478854e-04]]

 R_gt:
[[ 0.92311457 -0.38442543 -0.00882395]
 [ 0.38451653  0.92301379  0.0139386 ]
 [ 0.00278587 -0.01625991  0.99986409]]

 t_gt:
[ 0.81936484 -0.57189519  0.03971334]

Pose Error in degrees for R and t:
28.486169311964165 66.76019574354291

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99267728e-01  3.82623256e-02 -3.65857711e-05]
 [-3.82623267e-02  9.99267729e-01 -3.08341487e-05]
 [ 3.53791942e-05  3.22114264e-05  9.99999999e-01]]

 t_estimated:
[[-8.30297701e-01]
 [-5.57319686e-01]
 [-7.03572058e-04]]

 R_gt:
[[ 0.99873875  0.04164531  0.02804055]
 [-0.04069495  0.9986058  -0.03361881]
 [-0.02940103  0.03243499  0.99904191]]

 t_gt:
[-0.81160857  0.38650937 -0.43806624]

Pose Error in degrees for R and t:
2.5144334897877547 62.69186838122202

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-4.58303854e-01 -8.88792114e-01 -2.48103425e-03]
 [ 8.88795456e-01 -4.58300548e-01 -1.80149138e-03]
 [ 4.64091975e-04 -3.03076241e-03  9.99995300e-01]]

 t_estimated:
[[ 9.83548597e-01]
 [-1.80642867e-01]
 [ 5.57697280e-04]]

 R_gt:
[[ 0.99069661  0.12744866  0.04771576]
 [-0.12190356  0.98695962 -0.10512335]
 [-0.06049176  0.09832769  0.99331446]]

 t_gt:
[-0.78820004  0.38669138 -0.4787593 ]

Pose Error in degrees for R and t:
124.57371760431273 32.290213731109866

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.93992777e-01  1.09445679e-01 -5.08431855e-05]
 [-1.09445685e-01  9.93992464e-01 -7.89176374e-04]
 [-3.58342006e-05  7.90000183e-04  9.99999687e-01]]

 t_estimated:
[[-0.83478781]
 [-0.55056783]
 [-0.00209242]]

 R_gt:
[[ 0.99805618  0.04348106  0.04465062]
 [-0.03808397  0.99260089 -0.11529705]
 [-0.0493336   0.11337166  0.99232708]]

 t_gt:
[-0.44574089  0.35115848 -0.82340925]

Pose Error in degrees for R and t:
8.082721779312637 79.60196493124913

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99946628e-01 -1.03314063e-02  6.01137557e-05]
 [ 1.03314134e-02  9.99946622e-01 -1.18860706e-04]
 [-5.88825487e-05  1.19475422e-04  9.99999991e-01]]

 t_estimated:
[[ 9.92759097e-01]
 [ 1.20120654e-01]
 [-6.35513060e-04]]

 R_gt:
[[ 0.98191557 -0.18769783  0.02474132]
 [ 0.185961    0.98072736  0.05993218]
 [-0.03551181 -0.05424764  0.99789579]]

 t_gt:
[ 0.60802744 -0.72283402  0.32834983]

Pose Error in degrees for R and t:
10.844270833009857 58.89628774443708

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999112e-01 -1.26120223e-03  4.30850215e-04]
 [ 1.26109729e-03  9.99999175e-01  2.43742655e-04]
 [-4.31157269e-04 -2.43199095e-04  9.99999877e-01]]

 t_estimated:
[[9.78077950e-01]
 [2.08237862e-01]
 [7.18481440e-04]]

 R_gt:
[[ 0.91135829 -0.41139435  0.0133956 ]
 [ 0.40883034  0.90849558  0.086567  ]
 [-0.04778263 -0.07341788  0.99615563]]

 t_gt:
[ 0.75842837 -0.61349397  0.22002626]

Pose Error in degrees for R and t:
24.693745735763134 52.10564292361972

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.99089655  0.13461617  0.00158771]
 [-0.1346118   0.99089501 -0.00259589]
 [-0.00192271  0.00235854  0.99999537]]

 t_estimated:
[[-0.83168833]
 [-0.55523725]
 [-0.00247473]]

 R_gt:
[[ 0.87137407 -0.49052174 -0.00976058]
 [ 0.48839822  0.86536529  0.11229286]
 [-0.04663458 -0.10261672  0.99362713]]

 t_gt:
[ 0.79069295 -0.56925735  0.22527924]

Pose Error in degrees for R and t:
37.706207257198294 69.9954534033172

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 1.28770823e-01  9.91674378e-01 -4.74184572e-05]
 [-9.91671735e-01  1.28770369e-01 -2.31547079e-03]
 [-2.29008696e-03  3.45188623e-04  9.99997318e-01]]

 t_estimated:
[[0.0128524 ]
 [0.99991658]
 [0.00128524]]

 R_gt:
[[ 0.98388363 -0.17641093  0.02919374]
 [ 0.17624031  0.9843119   0.0083337 ]
 [-0.03020603 -0.00305382  0.9995386 ]]

 t_gt:
[ 0.69353136 -0.70041829  0.16860748]

Pose Error in degrees for R and t:
92.77092050914138 46.27247754154051

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.96965483 -0.24445163 -0.00359352]
 [ 0.24444452  0.96966053 -0.00230776]
 [ 0.00404863  0.00135931  0.99999088]]

 t_estimated:
[[ 0.99844421]
 [-0.05545342]
 [-0.0058368 ]]

 R_gt:
[[ 0.95555674 -0.28904125  0.05800713]
 [ 0.29025603  0.95685322 -0.0135476 ]
 [-0.05158837  0.02978227  0.99822385]]

 t_gt:
[ 0.72032685 -0.68629219  0.10065911]

Pose Error in degrees for R and t:
4.490631021611817 40.8279778919764

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-7.37774567e-01 -6.75046988e-01 -5.00999486e-04]
 [-6.75045339e-01  7.37770627e-01  2.87963546e-03]
 [-1.57426654e-03  2.46271917e-03 -9.99995728e-01]]

 t_estimated:
[[0.94023725]
 [0.34051622]
 [0.00161926]]

 R_gt:
[[ 0.93829892 -0.3397929   0.06430366]
 [ 0.34226017  0.9390604  -0.03197608]
 [-0.04952042  0.05201145  0.99741771]]

 t_gt:
[ 0.72842696 -0.68395399  0.04001379]

Pose Error in degrees for R and t:
177.73580612222244 63.12397357286968

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.89913894e-01 -1.41667277e-01 -9.29743815e-04]
 [ 1.41667567e-01  9.89914257e-01  2.53631300e-04]
 [ 8.84435402e-04 -3.82787692e-04  9.99999536e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97778016  0.20953188 -0.00652841]
 [-0.20962019  0.97759434 -0.01920448]
 [ 0.00235798  0.02014657  0.99979508]]

 t_gt:
[-0.70834889  0.70060288 -0.08600844]

Pose Error in degrees for R and t:
20.276464084396476 45.07022767377009

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99472180e-01  3.24854379e-02 -2.40530320e-04]
 [-3.24854154e-02  9.99472205e-01  9.68327922e-05]
 [ 2.43549025e-04 -8.89679545e-05  9.99999966e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9619571   0.27194721  0.02615181]
 [-0.27207576  0.9622746   0.00144313]
 [-0.02477284 -0.00850288  0.99965787]]

 t_gt:
[-0.69495039  0.71532899  0.07313271]

Pose Error in degrees for R and t:
14.006646980714159 46.15799829521235

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99581296e-01  2.89349425e-02  5.13914567e-05]
 [-2.89349444e-02  9.99581296e-01  3.63525348e-05]
 [-5.03180804e-05 -3.78243228e-05  9.99999998e-01]]

 t_estimated:
[[0.9287565 ]
 [0.3706879 ]
 [0.00135783]]

 R_gt:
[[ 0.98206637  0.18386746  0.04170711]
 [-0.18394983  0.98293363 -0.00187094]
 [-0.04133986 -0.00583445  0.99912848]]

 t_gt:
[-0.69828535  0.70276609  0.13607865]

Pose Error in degrees for R and t:
9.257101051364128 67.17949997135929

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999704e-01  7.64008516e-04 -8.75967376e-05]
 [-7.63994398e-04  9.99999695e-01  1.61087077e-04]
 [ 8.77197828e-05 -1.61020106e-04  9.99999983e-01]]

 t_estimated:
[[-9.12189238e-01]
 [ 4.09768562e-01]
 [ 7.20805755e-04]]

 R_gt:
[[ 0.96997152  0.24317138  0.0047641 ]
 [-0.24303423  0.96981271 -0.01994319]
 [-0.00947079  0.01818603  0.9997891 ]]

 t_gt:
[-0.60586436  0.79435573 -0.04390159]

Pose Error in degrees for R and t:
14.077312207816776 28.582000905186277

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.21721562  0.97599914 -0.01559006]
 [-0.97603425 -0.21738417 -0.01006271]
 [-0.01321023  0.01303065  0.99982783]]

 t_estimated:
[[0.0118475 ]
 [0.99992911]
 [0.00118475]]

 R_gt:
[[ 0.91364284  0.40423832 -0.04298434]
 [-0.40522763  0.91405468 -0.01715076]
 [ 0.03235717  0.03308777  0.99892758]]

 t_gt:
[-0.51640106  0.84661922 -0.12870837]

Pose Error in degrees for R and t:
78.68236810631578 32.829386740241354

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 6.59370067e-01 -7.51818281e-01 -6.21806126e-04]
 [ 7.51818401e-01  6.59370221e-01 -5.79496614e-05]
 [ 4.53568057e-04 -4.29275015e-04  9.99999805e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.88852089  0.45639771 -0.04722591]
 [-0.45860532  0.88661657 -0.05992615]
 [ 0.01452073  0.0749036   0.99708419]]

 t_gt:
[-0.47670491  0.86526325 -0.15515133]

Pose Error in degrees for R and t:
76.12385150716621 30.38884480132996

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.41647002e-01  3.36601788e-01  4.00334713e-04]
 [-3.36601853e-01  9.41647058e-01  1.06630447e-04]
 [-3.41082006e-04 -2.35161647e-04  9.99999914e-01]]

 t_estimated:
[[-0.009884  ]
 [ 0.9999504 ]
 [ 0.00122348]]

 R_gt:
[[ 0.98374609  0.17024479  0.05710998]
 [-0.16914049  0.98530766 -0.02367778]
 [-0.06030184  0.01363429  0.99808608]]

 t_gt:
[-0.73239253  0.63556552  0.24424914]

Pose Error in degrees for R and t:
10.499182927995703 49.97874069207834

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.88985844e-01  1.48002464e-01 -1.50673253e-03]
 [-1.48002089e-01  9.88986984e-01  3.57702175e-04]
 [ 1.54307967e-03 -1.30762825e-04  9.99998801e-01]]

 t_estimated:
[[-0.95862184]
 [-0.28466923]
 [-0.002757  ]]

 R_gt:
[[ 0.97175814  0.22300275  0.07717128]
 [-0.22051052  0.97458249 -0.03954352]
 [-0.08402832  0.02141037  0.99623253]]

 t_gt:
[-0.72883966  0.64433979  0.23155774]

Pose Error in degrees for R and t:
6.657493123094851 59.027974786698266

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.76788468e-01 -2.14203078e-01 -1.15338229e-03]
 [ 2.14206160e-01  9.76776708e-01  4.79404963e-03]
 [ 9.96967713e-05 -4.92983399e-03  9.99987843e-01]]

 t_estimated:
[[9.58105142e-01]
 [2.86415230e-01]
 [9.23920098e-04]]

 R_gt:
[[ 0.97152063  0.19544267  0.13397111]
 [-0.19152162  0.98060282 -0.04167995]
 [-0.13951847  0.01483556  0.99010816]]

 t_gt:
[-0.72628176  0.5630526   0.39431787]

Pose Error in degrees for R and t:
24.935539759258084 57.70875888123265

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99751073e-01 -2.23103261e-02 -2.04990898e-04]
 [ 2.23103227e-02  9.99751094e-01 -1.88609043e-05]
 [ 2.05360667e-04  1.42827962e-05  9.99999979e-01]]

 t_estimated:
[[-0.66246919]
 [-0.74908744]
 [-0.00160404]]

 R_gt:
[[ 0.99835957  0.05723618  0.00123335]
 [-0.05721827  0.99830202 -0.01093861]
 [-0.001857    0.01085084  0.99994012]]

 t_gt:
[-0.41088589  0.90880333 -0.07245204]

Pose Error in degrees for R and t:
4.602447415049291 65.89201340025983

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99999962e-01 -1.58884500e-04 -2.27271089e-04]
 [ 1.58885048e-04  9.99999987e-01  2.39073792e-06]
 [ 2.27270706e-04 -2.42684780e-06  9.99999974e-01]]

 t_estimated:
[[-0.86891283]
 [-0.49496312]
 [-0.00141491]]

 R_gt:
[[ 0.99656091  0.08261744  0.00640736]
 [-0.08230516  0.99584026 -0.03909406]
 [-0.00960948  0.03843257  0.99921538]]

 t_gt:
[-0.40442553  0.90466331 -0.13425459]

Pose Error in degrees for R and t:
5.257325321081092 84.48107740836546

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.98282334e-01 -5.85858526e-02  2.82811566e-04]
 [ 5.85859851e-02  9.98282248e-01 -4.85591705e-04]
 [-2.53876962e-04  5.01326415e-04  9.99999842e-01]]

 t_estimated:
[[-0.47624688]
 [-0.87931076]
 [-0.00122424]]

 R_gt:
[[ 9.99989092e-01  7.49689208e-04 -4.56755241e-03]
 [-8.67493769e-04  9.99655888e-01 -2.62321498e-02]
 [ 4.54633157e-03  2.62359838e-02  9.99645892e-01]]

 t_gt:
[-0.38514918  0.78679459 -0.48230113]

Pose Error in degrees for R and t:
3.720642836246059 59.48124341943269

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.99227067e-01 -3.93098597e-02 -5.79303235e-05]
 [ 3.93098734e-02  9.99227035e-01  2.59124648e-04]
 [ 4.76993918e-05 -2.61201596e-04  9.99999965e-01]]

 t_estimated:
[[0.83661388]
 [0.547791  ]
 [0.00149592]]

 R_gt:
[[ 0.99908554  0.02452578  0.03504018]
 [-0.02458595  0.99969797  0.00129662]
 [-0.0349987  -0.00215638  0.99938527]]

 t_gt:
[-0.79167887  0.37249226  0.48424588]

Pose Error in degrees for R and t:
4.1758950787674145 62.770408287224036

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[ 9.20016588e-01 -3.91879405e-01 -1.01171817e-04]
 [ 3.91879349e-01  9.20016241e-01  8.31570706e-04]
 [-2.32795719e-04 -8.04705989e-04  9.99999649e-01]]

 t_estimated:
[[ 0.54678959]
 [-0.83726881]
 [ 0.00144522]]

 R_gt:
[[ 9.96736343e-01  2.78853295e-03  8.06837520e-02]
 [-7.28781501e-04  9.99673832e-01 -2.55483940e-02]
 [-8.07291730e-02  2.54071819e-02  9.96412431e-01]]

 t_gt:
[-0.7207507   0.44633638  0.53037936]

Pose Error in degrees for R and t:
23.670932290759247 39.91153542122625

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[-0.10535175  0.994434   -0.00142253]
 [-0.99443404 -0.10535355 -0.00125421]
 [-0.00139709  0.00128247  0.9999982 ]]

 t_estimated:
[[5.08643327e-01]
 [8.60977096e-01]
 [6.37082412e-04]]

 R_gt:
[[ 9.94449798e-01  9.94060210e-05  1.05217852e-01]
 [ 7.34733826e-03  9.97493692e-01 -7.03813986e-02]
 [-1.04961797e-01  7.07648442e-02  9.91955754e-01]]

 t_gt:
[-0.70196506  0.61525867  0.35875036]

Pose Error in degrees for R and t:
96.45755133383541 80.043390076752

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.99952753e-01  9.71972165e-03  1.34909112e-04]
 [-9.71972150e-03  9.99952762e-01 -1.79042180e-06]
 [-1.34920142e-04  4.79058209e-07  9.99999991e-01]]

 t_estimated:
[[ 8.25125788e-01]
 [-5.64948526e-01]
 [-7.72251368e-04]]

 R_gt:
[[ 0.99959673 -0.01830032 -0.02171469]
 [ 0.0179434   0.99970321 -0.01651975]
 [ 0.02200995  0.01612367  0.99962694]]

 t_gt:
[-0.22220774 -0.67095128 -0.70742356]

Pose Error in degrees for R and t:
2.238148604988473 78.68225072861874

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 7.47801047e-01  6.63922705e-01  4.84799313e-04]
 [-6.63922216e-01  7.47801132e-01 -8.70924114e-04]
 [-9.40759769e-04  3.29408930e-04  9.99999503e-01]]

 t_estimated:
[[0.52973129]
 [0.8481648 ]
 [0.00110617]]

 R_gt:
[[ 0.99329894 -0.10684888 -0.04404896]
 [ 0.10761133  0.99407598  0.01530846]
 [ 0.04215271 -0.01994706  0.99891141]]

 t_gt:
[ 0.28476041 -0.93679464 -0.20329119]

Pose Error in degrees for R and t:
47.83228234512194 49.91415602868776

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.45812453e-01  3.24712215e-01  8.83651354e-04]
 [-3.24711760e-01  9.45812818e-01 -6.21622372e-04]
 [-1.03761716e-03  3.01006194e-04  9.99999416e-01]]

 t_estimated:
[[-0.69772738]
 [-0.7163603 ]
 [-0.00210311]]

 R_gt:
[[ 0.97760532 -0.187917   -0.09473404]
 [ 0.19166297  0.98093845  0.03204509]
 [ 0.08690667 -0.04948476  0.99498634]]

 t_gt:
[ 0.41174188 -0.88811176 -0.20426973]

Pose Error in degrees for R and t:
30.461595374228825 69.55219032583014

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99727721e-01 -2.33251513e-02 -6.48302048e-04]
 [ 2.33255951e-02  9.99727686e-01  6.85630815e-04]
 [ 6.32133064e-04 -7.00566163e-04  9.99999555e-01]]

 t_estimated:
[[-0.85359105]
 [ 0.52092229]
 [ 0.00472134]]

 R_gt:
[[ 0.99746255  0.06989098 -0.01355488]
 [-0.06998008  0.99752881 -0.00623054]
 [ 0.01308582  0.00716171  0.99988848]]

 t_gt:
[-0.41346683  0.89072892 -0.18880458]

Pose Error in degrees for R and t:
5.4129321038058436 35.30960321621243

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.96153230e-01 -8.76245499e-02 -8.24771289e-04]
 [ 8.76246490e-02  9.96153559e-01  8.47345450e-05]
 [ 8.14174028e-04 -1.56678885e-04  9.99999656e-01]]

 t_estimated:
[[-0.5829592 ]
 [-0.81249939]
 [-0.00182175]]

 R_gt:
[[ 0.99281933  0.11960667 -0.00174048]
 [-0.11961282  0.99250659 -0.0249654 ]
 [-0.00125883  0.02499303  0.99968665]]

 t_gt:
[-0.40679962  0.9088216  -0.09250607]

Pose Error in degrees for R and t:
11.984401014684698 59.92713893856919

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.94398947e-01 -1.05690500e-01 -5.02339269e-04]
 [ 1.05690534e-01  9.94399069e-01  4.29028510e-05]
 [ 4.94991278e-04 -9.57550556e-05  9.99999873e-01]]

 t_estimated:
[[-0.43211984]
 [-0.90181532]
 [-0.00125252]]

 R_gt:
[[ 0.99536817  0.09584606 -0.00739087]
 [-0.09606531  0.99458404 -0.03968763]
 [ 0.00354694  0.04021271  0.99918421]]

 t_gt:
[-0.3993506   0.89440436 -0.20139497]

Pose Error in degrees for R and t:
11.803849426071405 50.67133174299192

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99905197e-01  1.37693987e-02  2.10585271e-05]
 [-1.37693985e-02  9.99905197e-01 -1.07708120e-05]
 [-2.12048383e-05  1.04798277e-05  1.00000000e+00]]

 t_estimated:
[[0.55874925]
 [0.82933565]
 [0.00128564]]

 R_gt:
[[ 0.99987971  0.00103501  0.01546907]
 [-0.00130798  0.99984263  0.0176734 ]
 [-0.01544751 -0.01769066  0.99972354]]

 t_gt:
[ 0.76637652 -0.1747488   0.61816655]

Pose Error in degrees for R and t:
1.5279933310225369 73.49603865779231

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-8.41058815e-01 -5.40943187e-01 -7.34146132e-04]
 [-5.40940834e-01  8.41049200e-01  4.38824470e-03]
 [-1.75633806e-03  4.08790151e-03 -9.99990102e-01]]

 t_estimated:
[[0.98684715]
 [0.16165078]
 [0.00131727]]

 R_gt:
[[ 0.99902681  0.0439407   0.00395834]
 [-0.04395479  0.99902665  0.00346075]
 [-0.003802   -0.00363039  0.99998562]]

 t_gt:
[0.66776744 0.74399255 0.02370079]

Pose Error in degrees for R and t:
179.70692422653892 38.80506310567254

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.90379954 -0.42795317 -0.00157667]
 [-0.42794768  0.90375262  0.00959072]
 [-0.00267946  0.00934283 -0.99995276]]

 t_estimated:
[[9.55796985e-01]
 [2.94026200e-01]
 [8.47337752e-04]]

 R_gt:
[[ 0.99817832  0.05673732  0.02052708]
 [-0.05693855  0.99833334  0.00938643]
 [-0.01995997 -0.01053763  0.99974467]]

 t_gt:
[0.68007185 0.65365367 0.33202281]

Pose Error in degrees for R and t:
178.7261025329862 32.59671682665858

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.96209739e-01  8.69802391e-02  7.70782809e-04]
 [-8.69821296e-02  9.96205630e-01  2.90710314e-03]
 [-5.14997648e-04 -2.96312879e-03  9.99995477e-01]]

 t_estimated:
[[0.94570883]
 [0.32500416]
 [0.00266397]]

 R_gt:
[[ 0.9953344   0.0961427  -0.0080856 ]
 [-0.09621709  0.99531745 -0.00932988]
 [ 0.00715097  0.01006369  0.99992352]]

 t_gt:
[-0.78929144  0.60474036 -0.10633962]

Pose Error in degrees for R and t:
1.0144953309800941 56.62063442532135

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 7.35522071e-01 -6.77500761e-01  3.31968786e-05]
 [ 6.77500755e-01  7.35522056e-01 -1.79850266e-04]
 [ 9.74316556e-05  1.54774750e-04  9.99999983e-01]]

 t_estimated:
[[-0.32809753]
 [-0.94464333]
 [-0.00099123]]

 R_gt:
[[ 0.95324602  0.30209821 -0.00763212]
 [-0.30214979  0.95323419 -0.00703809]
 [ 0.00514944  0.00901422  0.99994629]]

 t_gt:
[-0.71188399  0.70164759 -0.03019677]

Pose Error in degrees for R and t:
60.23693376752676 64.58260254141584

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.98412989 -0.17744457 -0.00133823]
 [ 0.177446    0.98413     0.00103438]
 [ 0.00113345 -0.00125543  0.99999857]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.91986883  0.39199712  0.01339705]
 [-0.39188888  0.91995859 -0.00999293]
 [-0.01624157  0.00394263  0.99986051]]

 t_gt:
[-0.66542951  0.74618927  0.0201278 ]

Pose Error in degrees for R and t:
33.314340932449305 48.463520865095965

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99982190e-01 -5.96621349e-03 -1.52140040e-04]
 [ 5.96620721e-03  9.99982201e-01 -4.17014558e-05]
 [ 1.52386132e-04  4.07930141e-05  9.99999988e-01]]

 t_estimated:
[[-9.99991786e-01]
 [-3.97453015e-03]
 [-7.94906030e-04]]

 R_gt:
[[ 0.97653956  0.21236584 -0.03565581]
 [-0.21201682  0.97717566  0.01332513]
 [ 0.03767232 -0.00545237  0.99927482]]

 t_gt:
[-0.62598797  0.76905931 -0.12917759]

Pose Error in degrees for R and t:
12.782535745300638 51.46234320223297

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.97414764 -0.22257968 -0.03866087]
 [ 0.22364905  0.9743249   0.02592462]
 [ 0.03189795 -0.03390087  0.99891604]]

 t_estimated:
[[-7.58010700e-01]
 [-6.52241765e-01]
 [-6.78005992e-04]]

 R_gt:
[[ 0.948578    0.31319537 -0.04590708]
 [-0.31492999  0.94838726 -0.03715497]
 [ 0.03190095  0.04970273  0.99825404]]

 t_gt:
[-0.54573144  0.81213995 -0.20641197]

Pose Error in degrees for R and t:
31.500907022174175 83.34438244221995

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.51646189  0.85630315  0.00346937]
 [-0.85630897  0.51645012  0.00377118]
 [ 0.00143752 -0.00491853  0.99998687]]

 t_estimated:
[[-0.18999225]
 [ 0.98178257]
 [ 0.00243439]]

 R_gt:
[[ 0.93121977  0.35853135 -0.06546881]
 [-0.36169541  0.93120609 -0.04508444]
 [ 0.04480156  0.06566317  0.99683573]]

 t_gt:
[-0.50905903  0.82595589 -0.24218954]

Pose Error in degrees for R and t:
38.0585460553323 24.90098398059131

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99998824e-01  1.53187624e-03  7.90432150e-05]
 [-1.53187675e-03  9.99998827e-01  6.30516601e-06]
 [-7.90334635e-05 -6.42624305e-06  9.99999997e-01]]

 t_estimated:
[[ 9.14175327e-01]
 [-4.05318465e-01]
 [ 6.42206047e-04]]

 R_gt:
[[ 0.98912731 -0.13818644  0.05032105]
 [ 0.13789327  0.99040322  0.00927532]
 [-0.05111915 -0.00223539  0.99869001]]

 t_gt:
[ 0.66274628 -0.71590111  0.21966559]

Pose Error in degrees for R and t:
8.544144332679858 26.340204145588267

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-5.00891212e-02  9.98744731e-01 -2.05526231e-04]
 [-9.98743102e-01 -5.00894115e-02 -1.80769683e-03]
 [-1.81572237e-03  1.14721960e-04  9.99998345e-01]]

 t_estimated:
[[0.38008153]
 [0.92495247]
 [0.00097903]]

 R_gt:
[[ 0.95578765 -0.29062594  0.0447918 ]
 [ 0.28886817  0.95645422  0.0418371 ]
 [-0.05499972 -0.02704806  0.99811969]]

 t_gt:
[ 0.75664656 -0.6313502   0.16994968]

Pose Error in degrees for R and t:
109.76782623738717 72.7695816034762

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-3.91094269e-01  9.20340766e-01  4.25992534e-03]
 [ 9.20350444e-01  3.91092904e-01  1.18335615e-03]
 [-5.76935670e-04  4.38342799e-03 -9.99990226e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.91318869 -0.40710519  0.01874891]
 [ 0.40479551  0.91141281  0.07393735]
 [-0.04718774 -0.05992885  0.99708651]]

 t_gt:
[ 0.8019466  -0.57549807  0.16026112]

Pose Error in degrees for R and t:
179.64880705905364 55.22757296525275

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.2705807   0.96265977 -0.00849976]
 [ 0.9626606   0.27063693  0.00634227]
 [ 0.00840579 -0.00646629 -0.99994376]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98231539 -0.18704727  0.00840372]
 [ 0.18692874  0.98228457  0.01321126]
 [-0.01072563 -0.01140653  0.99987686]]

 t_gt:
[ 0.72818251 -0.68041324  0.08238963]

Pose Error in degrees for R and t:
179.4037970913018 47.485839200082424

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.87056986 -0.49203374 -0.003303  ]
 [ 0.49204062 -0.87057056 -0.00170937]
 [-0.00203443 -0.00311333  0.99999308]]

 t_estimated:
[[9.98120678e-01]
 [6.12725327e-02]
 [8.88007721e-04]]

 R_gt:
[[ 0.93049068 -0.36520811  0.02847247]
 [ 0.36453072  0.93081876  0.02635434]
 [-0.03612763 -0.01414391  0.99924676]]

 t_gt:
[ 0.7813991  -0.61452427  0.10851436]

Pose Error in degrees for R and t:
129.1285049529466 42.06600422355551

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-9.98179485e-01 -6.03132353e-02 -1.72886364e-04]
 [ 6.03134637e-02 -9.98177363e-01 -2.05889360e-03]
 [-4.83927212e-05 -2.06557272e-03  9.99997866e-01]]

 t_estimated:
[[8.30939810e-01]
 [5.56361942e-01]
 [6.49046916e-04]]

 R_gt:
[[ 0.87485052 -0.47931955  0.06993547]
 [ 0.47976685  0.87732338  0.01135026]
 [-0.06679629  0.02362275  0.99748708]]

 t_gt:
[ 0.8106038  -0.57860705  0.09019624]

Pose Error in degrees for R and t:
147.87244557724125 69.40826817461104

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.99999541e-01 -9.58326896e-04 -8.29308382e-07]
 [ 9.58326791e-04  9.99999534e-01 -1.18232263e-04]
 [ 9.42613153e-07  1.18231414e-04  9.99999993e-01]]

 t_estimated:
[[-0.99625768]
 [ 0.08641955]
 [-0.00151574]]

 R_gt:
[[ 0.99392479 -0.10780239  0.02214486]
 [ 0.10759934  0.99414335  0.01014945]
 [-0.02310902 -0.00770581  0.99970207]]

 t_gt:
[ 0.06065945 -0.94771316  0.31330529]

Pose Error in degrees for R and t:
6.286504458074278 81.78961831666231

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999681e-01  7.99331504e-04 -4.34050941e-06]
 [-7.99324644e-04  9.99998701e-01  1.39998708e-03]
 [ 5.45955755e-06 -1.39998316e-03  9.99999020e-01]]

 t_estimated:
[[-8.09328664e-01]
 [-5.87356006e-01]
 [ 1.90331422e-04]]

 R_gt:
[[ 0.97150731 -0.23582903  0.02360666]
 [ 0.23631158  0.97146516 -0.02030941]
 [-0.01814389  0.0253098   0.9995143 ]]

 t_gt:
[ 0.34003397 -0.93777077 -0.0704478 ]

Pose Error in degrees for R and t:
13.8270935906112 74.00266482279784

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.99936891  0.03496705  0.00625195]
 [-0.03409146  0.99359947 -0.10769337]
 [-0.00997765  0.10741227  0.9941645 ]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.93341476 -0.35874464  0.00623396]
 [ 0.35874746  0.93285427 -0.03291398]
 [ 0.00599216  0.03295814  0.99943829]]

 t_gt:
[ 0.44520071 -0.88314483 -0.14782266]

Pose Error in degrees for R and t:
23.39311301473026 77.03131105715771

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.99932943 -0.00813198 -0.03570095]
 [ 0.00694689 -0.99942477  0.03319447]
 [-0.03595035  0.0329242   0.99881108]]

 t_estimated:
[[0.76326587]
 [0.64606421]
 [0.0051226 ]]

 R_gt:
[[ 0.99237549 -0.12242875  0.0142409 ]
 [ 0.12297113  0.99128962 -0.04715783]
 [-0.00834233  0.04854873  0.99878597]]

 t_gt:
[ 0.8385946  -0.49193629 -0.23400382]

Pose Error in degrees for R and t:
172.5587890858972 71.27359436905158

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 5.55769833e-01  8.31335693e-01  9.26721311e-04]
 [-8.31332385e-01  5.55770312e-01 -2.41345577e-03]
 [-2.52143612e-03  5.70912473e-04  9.99996658e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97803351 -0.20431155  0.04134251]
 [ 0.20716007  0.97470773 -0.0838397 ]
 [-0.02316689  0.09056159  0.99562115]]

 t_gt:
[ 0.84692051 -0.47951794 -0.22975682]

Pose Error in degrees for R and t:
68.30987059249375 32.3011392342924

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.92381282e-01  1.23204551e-01 -1.73969347e-04]
 [-1.23204326e-01  9.92380846e-01  9.75335555e-04]
 [ 2.92809627e-04 -9.46470972e-04  9.99999509e-01]]

 t_estimated:
[[-0.92374107]
 [-0.38301459]
 [-0.00150202]]

 R_gt:
[[ 0.96913523 -0.21867055  0.11384841]
 [ 0.23365129  0.96201119 -0.14121404]
 [-0.07864346  0.16345625  0.98341134]]

 t_gt:
[ 0.84665841 -0.44918535 -0.28531046]

Pose Error in degrees for R and t:
22.795980810039055 52.43796400106126

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.33471793  0.94229396  0.00678293]
 [ 0.94231644 -0.334694   -0.00443374]
 [-0.00190768  0.00787572 -0.99996717]]

 t_estimated:
[[-0.9989124 ]
 [-0.04634127]
 [-0.00514903]]

 R_gt:
[[ 9.96973296e-01  7.61564365e-02 -1.56458549e-02]
 [-7.61546858e-02  9.97095892e-01  7.32593450e-04]
 [ 1.56561045e-02  4.61637704e-04  9.99877520e-01]]

 t_gt:
[-0.46796878  0.88219515 -0.05231573]

Pose Error in degrees for R and t:
179.90997983170848 64.73236237402438

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.97829440e-01 -6.58513400e-02 -9.61939028e-05]
 [ 6.58513531e-02  9.97829434e-01  1.39888702e-04]
 [ 8.67732491e-05 -1.45919564e-04  9.99999986e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99964615  0.01909928 -0.01848153]
 [-0.01915288  0.99981273 -0.00270813]
 [ 0.01842712  0.00306165  0.99982577]]

 t_gt:
[ 0.26156682  0.92867799 -0.26294486]

Pose Error in degrees for R and t:
4.987202675362421 74.67812688619662

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-5.62278925e-03  9.99983955e-01  6.88789893e-04]
 [-9.99982462e-01 -5.62149677e-03 -1.86422178e-03]
 [-1.86031984e-03 -6.99259939e-04  9.99998025e-01]]

 t_estimated:
[[-0.02893531]
 [ 0.99958017]
 [ 0.00149146]]

 R_gt:
[[ 0.99596263 -0.03624146  0.08212468]
 [ 0.04626056  0.99125524 -0.12358201]
 [-0.07692731  0.12688261  0.98893071]]

 t_gt:
[ 0.19898948  0.77355111 -0.60168253]

Pose Error in degrees for R and t:
92.99228457099136 39.95302908395332

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.98297619 -0.18370725  0.00307461]
 [ 0.18371308  0.98297838 -0.00173499]
 [-0.00270355  0.0022703   0.99999377]]

 t_estimated:
[[0.73780518]
 [0.67501325]
 [0.0007849 ]]

 R_gt:
[[ 0.9962564  -0.07610457  0.0410074 ]
 [ 0.07826292  0.99547617 -0.05387344]
 [-0.03672203  0.05688141  0.99770514]]

 t_gt:
[ 0.78874998  0.03987091 -0.61341975]

Pose Error in degrees for R and t:
7.176131194319513 52.52784913331567

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99992576e-01 -3.85336827e-03  1.46629938e-05]
 [ 3.85336683e-03  9.99992571e-01  9.66612616e-05]
 [-1.50353563e-05 -9.66040421e-05  9.99999995e-01]]

 t_estimated:
[[ 5.09621476e-01]
 [-8.60398692e-01]
 [ 2.04775367e-04]]

 R_gt:
[[ 0.98738756 -0.09132334  0.12933109]
 [ 0.11247856  0.97950795 -0.16707464]
 [-0.1114231   0.17951455  0.97742446]]

 t_gt:
[ 0.35708778  0.39782139 -0.8451192 ]

Pose Error in degrees for R and t:
13.460560212143193 80.76533137970948

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-9.49327949e-01  3.14286529e-01 -6.50271054e-04]
 [-3.14284624e-01 -9.49326511e-01 -2.08575892e-03]
 [-1.27284548e-03 -1.77569905e-03  9.99997613e-01]]

 t_estimated:
[[0.50969476]
 [0.86035432]
 [0.00130357]]

 R_gt:
[[ 0.96720008 -0.14186459  0.21070959]
 [ 0.18791866  0.95774009 -0.21776144]
 [-0.17091227  0.25021588  0.95298523]]

 t_gt:
[ 0.50359528  0.17795339 -0.84541374]

Pose Error in degrees for R and t:
171.4882063445247 65.87800915157932

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 0.97351997  0.22857758  0.00334142]
 [-0.22857113  0.97352472 -0.00220315]
 [-0.00375654  0.00138106  0.99999199]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.98983347 -0.14219607 -0.00328896]
 [ 0.14211055  0.98967091 -0.01885633]
 [ 0.00593782  0.01819744  0.99981671]]

 t_gt:
[ 0.81963715 -0.5608916  -0.11659996]

Pose Error in degrees for R and t:
21.412794681973796 59.52401937734083

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.70409785 -0.71009494 -0.00337576]
 [ 0.71009754 -0.70406594 -0.00725528]
 [ 0.00277518 -0.00750555  0.99996798]]

 t_estimated:
[[0.93598883]
 [0.35201912]
 [0.00272883]]

 R_gt:
[[ 9.69632413e-01 -2.44018463e-01  1.64252822e-02]
 [ 2.44570217e-01  9.67404710e-01 -6.56812925e-02]
 [ 1.38372222e-04  6.77041679e-02  9.97704640e-01]]

 t_gt:
[ 0.85658904 -0.47920533 -0.19135691]

Pose Error in degrees for R and t:
120.64057910809947 50.76177567069906

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.41157664e-01  3.37965216e-01  1.32864633e-03]
 [-3.37965772e-01  9.41158378e-01  2.12528424e-04]
 [-1.17863941e-03 -6.49059737e-04  9.99999095e-01]]

 t_estimated:
[[0.3120172 ]
 [0.95007484]
 [0.00175291]]

 R_gt:
[[ 0.94978367 -0.30778278  0.05640107]
 [ 0.31207947  0.94486255 -0.09919929]
 [-0.02275873  0.11181935  0.99346783]]

 t_gt:
[ 0.86840826 -0.45504013 -0.1969913 ]

Pose Error in degrees for R and t:
38.41118079797046 80.69388308565368

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 1.00000000e+00 -1.54741333e-06  8.28567258e-07]
 [ 1.54742062e-06  1.00000000e+00 -8.80621897e-06]
 [-8.28553632e-07  8.80622026e-06  1.00000000e+00]]

 t_estimated:
[[0.78842838]
 [0.61512421]
 [0.00170305]]

 R_gt:
[[ 0.99486842 -0.10115981  0.00210191]
 [ 0.10104192  0.99437929  0.0316441 ]
 [-0.00529188 -0.03126967  0.99949689]]

 t_gt:
[ 0.14015515 -0.95229301  0.27109879]

Pose Error in degrees for R and t:
6.08151097655007 61.65272739421238

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-5.61917510e-01  8.27192909e-01 -7.75994588e-04]
 [-8.27189635e-01 -5.61917574e-01 -2.43899361e-03]
 [-2.45356322e-03 -7.28618538e-04  9.99996725e-01]]

 t_estimated:
[[0.33096831]
 [0.94364085]
 [0.00138398]]

 R_gt:
[[ 0.96860261 -0.24857504 -0.00448644]
 [ 0.24839507  0.96834872 -0.02451408]
 [ 0.01043835  0.02262981  0.99968995]]

 t_gt:
[ 0.44801423 -0.87320768 -0.19181139]

Pose Error in degrees for R and t:
138.5812147337937 47.46959291632922

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99999900e-01  4.96991327e-05  4.44973587e-04]
 [-4.94886493e-05  9.99999887e-01 -4.73023108e-04]
 [-4.44997046e-04  4.73001040e-04  9.99999789e-01]]

 t_estimated:
[[0.96596129]
 [0.25868464]
 [0.00102653]]

 R_gt:
[[ 0.9474202  -0.31814971  0.03432545]
 [ 0.31812096  0.94802933  0.00640127]
 [-0.03457774  0.00485498  0.99939045]]

 t_gt:
[ 0.30456389 -0.95092633  0.05458898]

Pose Error in degrees for R and t:
18.662669738398534 87.23366277222058

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99992262e-01 -3.93291647e-03  9.31920623e-05]
 [ 3.93291674e-03  9.99992266e-01 -2.79646078e-06]
 [-9.31803433e-05  3.16295576e-06  9.99999996e-01]]

 t_estimated:
[[-9.86681328e-01]
 [-1.62664477e-01]
 [ 4.73572530e-04]]

 R_gt:
[[ 0.99021028  0.13843244 -0.01787214]
 [-0.13868542  0.99024182 -0.01371505]
 [ 0.0157994   0.01606007  0.99974674]]

 t_gt:
[-0.61101709  0.77133932 -0.17802746]

Pose Error in degrees for R and t:
8.292255708064376 61.48913915651309

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99580870e-01  2.89483355e-02 -2.78874699e-04]
 [-2.89483610e-02  9.99580905e-01 -8.77763732e-05]
 [ 2.76216844e-04  9.58125490e-05  9.99999957e-01]]

 t_estimated:
[[-0.99398903]
 [-0.10947046]
 [-0.0014264 ]]

 R_gt:
[[ 0.97288219  0.22582738 -0.05002637]
 [-0.2250785   0.97413174  0.0202212 ]
 [ 0.05329944 -0.00841208  0.99854306]]

 t_gt:
[-0.61727021  0.77150165 -0.15415149]

Pose Error in degrees for R and t:
11.788054892061457 58.0402718610418

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99826464e-01  1.86263270e-02 -3.19953216e-04]
 [-1.86263571e-02  9.99826510e-01 -9.15406223e-05]
 [ 3.18192642e-04  9.74842995e-05  9.99999945e-01]]

 t_estimated:
[[-9.89070304e-01]
 [-1.47441398e-01]
 [-9.83601296e-04]]

 R_gt:
[[ 0.92778269  0.36959533 -0.05116387]
 [-0.36851972  0.92915513  0.02942465]
 [ 0.05841464 -0.00844425  0.99825725]]

 t_gt:
[-0.56653675  0.8165229  -0.11102463]

Pose Error in degrees for R and t:
20.88042204414893 63.891997042783736

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 0.98250927 -0.18620126  0.00215016]
 [-0.18618489 -0.98249492 -0.00623865]
 [ 0.00327417  0.00572921 -0.99997823]]

 t_estimated:
[[8.29443374e-01]
 [5.58590364e-01]
 [7.03514312e-04]]

 R_gt:
[[ 9.91548801e-01 -1.29733789e-01 -8.41452441e-04]
 [ 1.29666193e-01  9.91209076e-01 -2.62864181e-02]
 [ 4.24479990e-03  2.59553325e-02  9.99654575e-01]]

 t_gt:
[ 0.97051432 -0.13979619 -0.1963644 ]

Pose Error in degrees for R and t:
178.13917979296062 43.38456653146916

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99077514e-01 -4.29405775e-02  4.77110606e-04]
 [ 4.29408231e-02  9.99077484e-01 -5.16983469e-04]
 [-4.54470895e-04  5.36994081e-04  9.99999753e-01]]

 t_estimated:
[[8.23637477e-01]
 [5.67116277e-01]
 [6.59437532e-04]]

 R_gt:
[[ 0.95302171 -0.30279373 -0.00809682]
 [ 0.30243842  0.95270203 -0.0298184 ]
 [ 0.0167421   0.02596938  0.99952284]]

 t_gt:
[ 0.9907271  -0.0969747  -0.09516151]

Pose Error in degrees for R and t:
15.25864243385251 40.45274992119634

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.98883073 -0.14903246  0.00176281]
 [ 0.14902949  0.98883127  0.00170981]
 [-0.00199794 -0.001428    0.99999698]]

 t_estimated:
[[8.26939092e-01]
 [5.62291087e-01]
 [6.87397416e-04]]

 R_gt:
[[ 0.95128785 -0.30798501 -0.01409103]
 [ 0.30731682  0.95090203 -0.03662422]
 [ 0.02467878  0.03050905  0.99923005]]

 t_gt:
[ 0.98769371 -0.09483588 -0.12436757]

Pose Error in degrees for R and t:
9.65174300907787 40.23942803644539

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[-0.91568576  0.40183032  0.00720972]
 [-0.40187599 -0.91566957 -0.00670223]
 [ 0.00390857 -0.00903455  0.99995155]]

 t_estimated:
[[0.66980312]
 [0.74253831]
 [0.00079929]]

 R_gt:
[[ 9.89950515e-01 -1.35765903e-01  3.95626573e-02]
 [ 1.35657212e-01  9.90740886e-01  5.42040986e-03]
 [-3.99318379e-02  1.30161900e-06  9.99202213e-01]]

 t_gt:
[ 0.67395619 -0.70772202  0.21192593]

Pose Error in degrees for R and t:
164.10186868453678 85.76063658877932

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999888e-01  3.64033668e-04 -3.03015965e-04]
 [-3.63873019e-04  9.99999793e-01  5.30053729e-04]
 [ 3.03208859e-04 -5.29943410e-04  9.99999814e-01]]

 t_estimated:
[[9.95833670e-01]
 [9.11847698e-02]
 [7.99866401e-04]]

 R_gt:
[[ 0.95593237 -0.29304804 -0.01776909]
 [ 0.29339971  0.95572946  0.02231569]
 [ 0.01044256 -0.0265459   0.99959262]]

 t_gt:
[ 0.77737    -0.62890847  0.01303868]

Pose Error in degrees for R and t:
17.149722406972774 44.20951848507905

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.92755973  0.37365704  0.00365521]
 [-0.37357218  0.9274897  -0.01437644]
 [-0.00876203  0.01196952  0.99988997]]

 t_estimated:
[[-9.99982376e-01]
 [-5.87731035e-03]
 [-8.39615765e-04]]

 R_gt:
[[ 0.88102512 -0.47218791 -0.02887899]
 [ 0.47276921  0.88099874  0.01818514]
 [ 0.01685611 -0.02967504  0.99941702]]

 t_gt:
[ 0.83514484 -0.55000731  0.00500661]

Pose Error in degrees for R and t:
50.21906333453515 33.70540697117048

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 2.28907146e-01 -9.73444327e-01  2.76789084e-03]
 [-9.73447458e-01 -2.28909685e-01 -6.33932807e-04]
 [ 1.25069531e-03 -2.54928456e-03 -9.99995968e-01]]

 t_estimated:
[[0.73689488]
 [0.67600686]
 [0.00080931]]

 R_gt:
[[ 0.99595444 -0.08720587 -0.021687  ]
 [ 0.0873675   0.99615376  0.00661259]
 [ 0.02102709 -0.00848065  0.999743  ]]

 t_gt:
[ 0.53418409 -0.82768834 -0.17198654]

Pose Error in degrees for R and t:
179.64233347716538 80.44323587299343

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.90748828e-01  1.35706530e-01 -7.05355593e-04]
 [-1.35704794e-01  9.90747084e-01  2.10331637e-03]
 [ 9.84262763e-04 -1.98813809e-03  9.99997539e-01]]

 t_estimated:
[[0.64652138]
 [0.76289522]
 [0.00099465]]

 R_gt:
[[ 0.95309708 -0.30204265  0.01942999]
 [ 0.3020568   0.953287    0.00226763]
 [-0.01920632  0.00370788  0.99980898]]

 t_gt:
[ 0.62852242 -0.77678265  0.0396014 ]

Pose Error in degrees for R and t:
25.408872495500344 79.26824352554293

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.11485664 -0.99338106 -0.001425  ]
 [-0.99338116  0.11485447  0.00152148]
 [-0.00134774  0.00159032 -0.99999783]]

 t_estimated:
[[7.57446154e-01]
 [6.52897249e-01]
 [7.11217046e-04]]

 R_gt:
[[ 0.89938751 -0.43702597  0.01055776]
 [ 0.43682496  0.89938499  0.0170621 ]
 [-0.01695183 -0.01073369  0.99979957]]

 t_gt:
[ 0.68004536 -0.73130257  0.05229587]

Pose Error in degrees for R and t:
178.83040637635634 87.8411855572344

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.57598778e-01 -2.88105144e-01  8.43460780e-05]
 [ 2.88105154e-01  9.57598695e-01 -4.00012842e-04]
 [ 3.44760631e-05  4.07352348e-04  9.99999916e-01]]

 t_estimated:
[[-0.32603242]
 [-0.9453576 ]
 [-0.00136415]]

 R_gt:
[[ 0.9912788   0.13159871 -0.00693276]
 [-0.13147868  0.99119557  0.01564836]
 [ 0.00893119 -0.01459908  0.99985432]]

 t_gt:
[-0.44081313  0.89732804 -0.02204926]

Pose Error in degrees for R and t:
24.323922767135425 45.20708684213565

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 8.01035926e-01 -5.98614798e-01 -1.33027860e-03]
 [ 5.98615340e-01  8.01036625e-01  1.19722670e-05]
 [ 1.05843510e-03 -8.05915393e-04  9.99999115e-01]]

 t_estimated:
[[0.55015715]
 [0.83505996]
 [0.00140346]]

 R_gt:
[[ 9.69226287e-01  2.46172092e-01 -6.54286121e-04]
 [-2.46097937e-01  9.68860846e-01 -2.72899405e-02]
 [-6.08322905e-03  2.66123599e-02  9.99627948e-01]]

 t_gt:
[-0.3579875   0.93214601 -0.05430262]

Pose Error in degrees for R and t:
51.04581392783079 54.45288523723393

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.38348402e-01  3.45690340e-01 -6.82069174e-04]
 [-3.45690610e-01  9.38348494e-01 -3.24745989e-04]
 [ 5.27757031e-04  5.40509789e-04  9.99999715e-01]]

 t_estimated:
[[0.43295036]
 [0.90141618]
 [0.00169121]]

 R_gt:
[[ 0.92911096  0.36917785 -0.02149478]
 [-0.36968257  0.92574857 -0.07953547]
 [-0.00946254  0.08184422  0.99660024]]

 t_gt:
[-0.27076766  0.95727142 -0.10156922]

Pose Error in degrees for R and t:
4.929868639709975 41.79800446610384

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99568189e-01  2.93838558e-02  1.57997630e-04]
 [-2.93838236e-02  9.99568182e-01 -2.02501065e-04]
 [-1.63879666e-04  1.97771049e-04  9.99999967e-01]]

 t_estimated:
[[5.89471750e-01]
 [8.07788668e-01]
 [7.24051858e-04]]

 R_gt:
[[ 0.98709336 -0.15851993  0.02276967]
 [ 0.1583599   0.98734318  0.00869366]
 [-0.02385898 -0.00497541  0.99970254]]

 t_gt:
[ 0.56908552 -0.80505476  0.16741717]

Pose Error in degrees for R and t:
10.890506032694343 71.6553007218891

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.95007253e-01  9.98024901e-02 -1.73520568e-04]
 [-9.98024050e-02  9.95007177e-01  4.44413506e-04]
 [ 2.17007785e-04 -4.24876891e-04  9.99999886e-01]]

 t_estimated:
[[0.48067764]
 [0.87689693]
 [0.00088699]]

 R_gt:
[[ 0.96470127 -0.26332667  0.00347248]
 [ 0.26305801  0.96416773  0.03435094]
 [-0.01239313 -0.03222493  0.99940375]]

 t_gt:
[ 0.60389089 -0.78844463  0.11692245]

Pose Error in degrees for R and t:
21.08198262406986 66.35903486881179

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-8.22983078e-01 -5.68055461e-01 -3.44172216e-03]
 [ 5.68051195e-01 -8.22990263e-01  2.20600207e-03]
 [-4.08563535e-03 -1.39572018e-04  9.99991644e-01]]

 t_estimated:
[[0.94426183]
 [0.3291922 ]
 [0.00144383]]

 R_gt:
[[ 0.89060889 -0.45125035  0.0564803 ]
 [ 0.45053686  0.89239283  0.02550964]
 [-0.06191369  0.00272703  0.99807723]]

 t_gt:
[ 0.67810184 -0.72474507  0.12215759]

Pose Error in degrees for R and t:
118.58552527331783 66.30288711268379

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.85111817  0.49935519  0.1619946 ]
 [-0.50565145 -0.86273356  0.00272446]
 [ 0.14111865 -0.07959397  0.98678788]]

 t_estimated:
[[0.60232681]
 [0.7982485 ]
 [0.0013238 ]]

 R_gt:
[[ 9.92685332e-01  1.20642717e-01 -4.56508083e-03]
 [-1.20726038e-01  9.92207093e-01 -3.08296865e-02]
 [ 8.10438232e-04  3.11546533e-02  9.99513772e-01]]

 t_gt:
[-0.40571876  0.90098713 -0.15367003]

Pose Error in degrees for R and t:
142.96306612045933 61.66454839305745

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-1.45631945e-03  9.99998918e-01 -2.06530633e-04]
 [-9.99998834e-01 -1.45641414e-03 -4.59094922e-04]
 [-4.59395219e-04  2.05861804e-04  9.99999873e-01]]

 t_estimated:
[[3.01310359e-04]
 [9.99999952e-01]
 [6.91513465e-05]]

 R_gt:
[[ 0.96898289  0.24610157 -0.02249705]
 [-0.24709819  0.96625265 -0.07279053]
 [ 0.00382412  0.07609128  0.99709299]]

 t_gt:
[-0.31265693  0.93347281 -0.17571043]

Pose Error in degrees for R and t:
75.8912684587567 21.034190582862845

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 7.39077324e-01 -6.73619084e-01 -1.42775649e-03]
 [ 6.73619730e-01  7.39078114e-01 -3.80168066e-05]
 [ 1.08083242e-03 -9.33667582e-04  9.99998980e-01]]

 t_estimated:
[[-0.00759197]
 [-0.99997059]
 [-0.00108457]]

 R_gt:
[[ 0.93209276  0.36045711 -0.0356973 ]
 [-0.36204914  0.92409854 -0.12231819]
 [-0.01110185  0.12693678  0.99184835]]

 t_gt:
[-0.26150883  0.95323915 -0.15148682]

Pose Error in degrees for R and t:
63.993448566402094 17.99908477029144

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.85179705e-01  1.71524950e-01  3.74150783e-04]
 [-1.71524636e-01  9.85179544e-01 -7.51655465e-04]
 [-4.97533364e-04  6.76339632e-04  9.99999648e-01]]

 t_estimated:
[[-9.37885275e-01]
 [-3.46944596e-01]
 [-8.10618216e-04]]

 R_gt:
[[ 0.99739173 -0.0036889   0.07208502]
 [ 0.0110609   0.99470848 -0.10213515]
 [-0.07132715  0.10266628  0.99215535]]

 t_gt:
[-0.23831304  0.54230641 -0.80567404]

Pose Error in degrees for R and t:
12.52403497102026 87.93615494860602

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.93654038e-01 -1.12479554e-01 -5.42170820e-05]
 [ 1.12479557e-01  9.93654036e-01  7.02771003e-05]
 [ 4.59682855e-05 -7.59294379e-05  9.99999996e-01]]

 t_estimated:
[[ 2.27441868e-01]
 [-9.73791625e-01]
 [-2.61786888e-04]]

 R_gt:
[[ 0.9862794  -0.07100905  0.14902872]
 [ 0.09320557  0.9846329  -0.14768418]
 [-0.13625178  0.15954837  0.97774212]]

 t_gt:
[ 0.39957869 -0.12078641 -0.9087065 ]

Pose Error in degrees for R and t:
12.233947262802392 77.95149958253415

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99970609e-01  7.66691124e-03  1.60196641e-05]
 [-7.66686423e-03  9.99968632e-01 -1.98839312e-03]
 [-3.12639951e-05  1.98821186e-03  9.99998023e-01]]

 t_estimated:
[[-0.29359549]
 [-0.95592257]
 [-0.0037053 ]]

 R_gt:
[[ 0.98165934 -0.09664772  0.16432818]
 [ 0.12045782  0.98255201 -0.14170572]
 [-0.14776547  0.15890135  0.97617429]]

 t_gt:
[ 0.67804731 -0.40238049 -0.61509494]

Pose Error in degrees for R and t:
14.156285017433223 79.17253999069837

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 1.00000000e+00  1.31672451e-13 -3.14765575e-15]
 [-1.31727962e-13  1.00000000e+00  7.69783542e-17]
 [ 3.14787259e-15 -7.69783542e-17  1.00000000e+00]]

 t_estimated:
[[-0.67658593]
 [-0.73636109]
 [-0.00195384]]

 R_gt:
[[ 0.98788592 -0.15453879 -0.01413023]
 [ 0.15381575  0.98717381 -0.04275688]
 [ 0.02055664  0.04006563  0.99898529]]

 t_gt:
[ 0.7496636  -0.62561876 -0.21588343]

Pose Error in degrees for R and t:
9.240678097281483 87.35722736479455

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-9.20914183e-01 -3.89765390e-01 -9.68983548e-05]
 [-3.89765033e-01  9.20912941e-01  1.60411693e-03]
 [-5.35994311e-04  1.51502162e-03 -9.99998709e-01]]

 t_estimated:
[[9.75207634e-01]
 [2.21289748e-01]
 [9.57964277e-04]]

 R_gt:
[[ 0.96317628 -0.26775591  0.02446086]
 [ 0.26848755  0.96266871 -0.03438957]
 [-0.0143393   0.03969159  0.99910871]]

 t_gt:
[ 0.77422753 -0.63208289 -0.03229461]

Pose Error in degrees for R and t:
179.30021933114548 52.03876379925275

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-8.06781139e-01  5.90840967e-01 -3.33842574e-03]
 [-5.90843602e-01 -8.06786082e-01 -2.38097705e-04]
 [-2.83407330e-03  1.78039475e-03  9.99994399e-01]]

 t_estimated:
[[8.01819867e-01]
 [5.97565368e-01]
 [7.29574749e-04]]

 R_gt:
[[ 0.91553721 -0.4021373   0.00884972]
 [ 0.4022305   0.91521705 -0.02422584]
 [ 0.00164344  0.02573912  0.99966765]]

 t_gt:
[ 0.81963093 -0.57165352 -0.03764817]

Pose Error in degrees for R and t:
167.50073947829407 71.60486003374072

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.147847    0.98888837 -0.01552629]
 [ 0.98886234 -0.14753518  0.01961245]
 [ 0.01710385 -0.018253   -0.99968709]]

 t_estimated:
[[ 0.53844127]
 [-0.84257447]
 [-0.01221712]]

 R_gt:
[[ 0.99422563  0.10240326 -0.03208816]
 [-0.10205257  0.99470105  0.01240047]
 [ 0.03318688 -0.00905449  0.99940761]]

 t_gt:
[-0.66090327  0.72021879 -0.21093072]

Pose Error in degrees for R and t:
176.8777846347507 16.23591957535679

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.33475740e-01  3.58640519e-01  1.45037926e-04]
 [-3.58640433e-01  9.33475687e-01 -4.25975051e-04]
 [-2.88161291e-04  3.45620912e-04  9.99999899e-01]]

 t_estimated:
[[-7.78138623e-01]
 [ 6.28092560e-01]
 [ 1.42474312e-04]]

 R_gt:
[[ 0.97233193  0.23095383 -0.03506842]
 [-0.22924217  0.97224021  0.04685671]
 [ 0.0449162  -0.03752178  0.99828517]]

 t_gt:
[-0.66015462  0.74984362 -0.0439367 ]

Pose Error in degrees for R and t:
8.410733731198395 10.049704849637015

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.47414481e-01 -3.20008495e-01 -6.03262572e-04]
 [ 3.20008686e-01  9.47414576e-01  2.48405188e-04]
 [ 4.92047984e-04 -4.28391935e-04  9.99999787e-01]]

 t_estimated:
[[-0.61423855]
 [-0.78911993]
 [-0.00086148]]

 R_gt:
[[ 0.91947339  0.38990172 -0.05044838]
 [-0.38907404  0.92084739  0.0256997 ]
 [ 0.05647469 -0.00400185  0.99839513]]

 t_gt:
[-0.56634791  0.81657511 -0.11160255]

Pose Error in degrees for R and t:
41.72356865554952 72.75808362547758

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99999919e-01 -3.94727622e-04  7.62728150e-05]
 [ 3.94725304e-04  9.99999922e-01  3.04012276e-05]
 [-7.62848092e-05 -3.03711183e-05  9.99999997e-01]]

 t_estimated:
[[0.84109414]
 [0.54088783]
 [0.00100149]]

 R_gt:
[[ 0.99837627 -0.05611906 -0.00987834]
 [ 0.0562883   0.99825435  0.01790784]
 [ 0.008857   -0.01843464  0.99979128]]

 t_gt:
[ 0.54886007 -0.83307404  0.06884959]

Pose Error in degrees for R and t:
3.4066941913125266 89.3632970287588

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.96621886e-01  8.21267133e-02  1.37462771e-04]
 [-8.21266971e-02  9.96621890e-01 -1.20162542e-04]
 [-1.46866961e-04  1.08467256e-04  9.99999983e-01]]

 t_estimated:
[[1.48581454e-01]
 [9.88900037e-01]
 [5.18475071e-04]]

 R_gt:
[[ 0.98927533 -0.14575627  0.00943909]
 [ 0.14546041  0.98900273  0.02677061]
 [-0.01323695 -0.02510985  0.99959718]]

 t_gt:
[ 0.94798744 -0.25777347  0.18674219]

Pose Error in degrees for R and t:
13.185538615710673 83.45624022034102

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.92197638e-01  1.24673563e-01 -5.91064541e-04]
 [-1.24672832e-01  9.92197246e-01  1.14480215e-03]
 [ 7.29179172e-04 -1.06218030e-03  9.99999170e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.88854856e-01 -1.47377969e-01  2.11377718e-02]
 [ 1.47428610e-01  9.89072925e-01 -8.59197386e-04]
 [-2.07794828e-02  3.96611387e-03  9.99776653e-01]]

 t_gt:
[ 0.98190272 -0.18897441 -0.0124785 ]

Pose Error in degrees for R and t:
15.689420968131941 47.618502072919256

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 3.40076391e-01  9.40396761e-01  1.40720799e-03]
 [-9.40397777e-01  3.40075577e-01  7.89116603e-04]
 [ 2.63525629e-04 -1.59169519e-03  9.99998699e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.94044692 -0.33992577 -0.00340181]
 [ 0.33984387  0.93988456  0.03353302]
 [-0.00820159 -0.03269161  0.99943211]]

 t_gt:
[ 0.99099971 -0.09601349  0.09327908]

Pose Error in degrees for R and t:
90.00846770952664 84.85170337644533

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-5.99359902e-02  9.98201912e-01  7.87395170e-04]
 [ 9.98200725e-01  5.99345151e-02  1.77965273e-03]
 [ 1.72926061e-03  8.92643678e-04 -9.99998106e-01]]

 t_estimated:
[[-0.10176532]
 [-0.99480789]
 [-0.00103842]]

 R_gt:
[[ 0.99842237 -0.03133906 -0.0465867 ]
 [ 0.02552695  0.99238613 -0.12049099]
 [ 0.05000806  0.11911205  0.99162124]]

 t_gt:
[ 0.30289807  0.05675901 -0.95133126]

Pose Error in degrees for R and t:
177.33850857870993 85.04916135778163

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.99630971 -0.08575803  0.00353934]
 [-0.08573593  0.99629993  0.00598353]
 [-0.00403938  0.00565801 -0.99997583]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99545669 -0.02239286 -0.09254407]
 [ 0.00825335  0.98858687 -0.15042954]
 [ 0.09485648  0.14898173  0.98428015]]

 t_gt:
[ 0.24306517  0.19417087 -0.95037729]

Pose Error in degrees for R and t:
174.46223504758254 75.94936646322631

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999799e-01 -1.59640075e-04 -6.13908914e-04]
 [ 1.60145176e-04  9.99999649e-01  8.22801785e-04]
 [ 6.13777347e-04 -8.22899934e-04  9.99999473e-01]]

 t_estimated:
[[-5.35949602e-02]
 [ 9.98562742e-01]
 [ 1.73901111e-04]]

 R_gt:
[[ 0.99212238 -0.01695792 -0.12411972]
 [-0.00464713  0.98513378 -0.17172865]
 [ 0.1251868   0.17095221  0.97729471]]

 t_gt:
[ 0.22639983  0.2534517  -0.94048145]

Pose Error in degrees for R and t:
12.255315417301876 76.06682929484306

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[-3.37979163e-01 -9.41153566e-01 -2.25287640e-04]
 [-9.41153510e-01  3.37979023e-01  5.01161314e-04]
 [-3.95527262e-04  3.81412335e-04 -9.99999849e-01]]

 t_estimated:
[[0.82414484]
 [0.56637787]
 [0.00118242]]

 R_gt:
[[ 0.99738256 -0.01985627 -0.06953546]
 [ 0.02361502  0.99828018  0.05365771]
 [ 0.0683504  -0.05515942  0.99613587]]

 t_gt:
[ 0.38065943 -0.74249381 -0.55118177]

Pose Error in degrees for R and t:
178.56819265498692 83.83077883516687

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.97980896 -0.19992664 -0.00193371]
 [ 0.19992988  0.9798088   0.00165962]
 [ 0.00156286 -0.00201271  0.99999675]]

 t_estimated:
[[-0.61807527]
 [-0.78611808]
 [-0.00115098]]

 R_gt:
[[ 0.9891028  -0.12612824 -0.07595279]
 [ 0.12971444  0.99056198  0.04427408]
 [ 0.06965261 -0.05364346  0.99612823]]

 t_gt:
[ 0.38647532 -0.87188724 -0.30074818]

Pose Error in degrees for R and t:
6.433411218513365 63.45621128185268

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.92248156e-01  1.24271624e-01  3.99412492e-04]
 [-1.24271562e-01  9.92248229e-01 -1.76532709e-04]
 [-4.18254345e-04  1.25528640e-04  9.99999905e-01]]

 t_estimated:
[[0.46596149]
 [0.88480328]
 [0.00174517]]

 R_gt:
[[ 0.94847269 -0.28839223 -0.13126338]
 [ 0.29195172  0.95639696  0.00830706]
 [ 0.12314509 -0.0462017   0.99131341]]

 t_gt:
[ 0.61637952 -0.72949246 -0.29650809]

Pose Error in degrees for R and t:
25.231522766094912 68.9755898649086

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.93033690e-01 -1.17830754e-01 -6.43187403e-05]
 [ 1.17830762e-01  9.93033682e-01  1.31581242e-04]
 [ 4.83663586e-05 -1.38243332e-04  9.99999989e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99776728 -0.04614316 -0.04827113]
 [ 0.04943708  0.99636164  0.06941668]
 [ 0.04489208 -0.07164805  0.99641936]]

 t_gt:
[ 0.36259946 -0.86332043  0.35099781]

Pose Error in degrees for R and t:
6.294451794640645 88.02962795228879

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.31252665e-01  3.64373974e-01 -2.84116119e-04]
 [-3.64372175e-01 -9.31250027e-01 -2.51102492e-03]
 [-1.17953527e-03 -2.23487464e-03  9.99996807e-01]]

 t_estimated:
[[0.4407572 ]
 [0.89762563]
 [0.0011508 ]]

 R_gt:
[[ 0.98112528 -0.10809507 -0.16033362]
 [ 0.11760202  0.99174927  0.05101053]
 [ 0.15349713 -0.0689034   0.98574417]]

 t_gt:
[ 0.59745782 -0.76755652 -0.23216619]

Pose Error in degrees for R and t:
165.22264798838535 64.79161212379127

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.96892257e-01  7.87770752e-02 -1.66739753e-06]
 [-7.87770448e-02  9.96891891e-01  8.57271851e-04]
 [ 6.91955841e-05 -8.54476318e-04  9.99999633e-01]]

 t_estimated:
[[0.49785137]
 [0.86726162]
 [0.00113665]]

 R_gt:
[[ 0.97444046 -0.1542923  -0.16327689]
 [ 0.15967485  0.98696147  0.02029039]
 [ 0.15801755 -0.04584263  0.98637149]]

 t_gt:
[ 0.61755065 -0.73191823 -0.2879703 ]

Pose Error in degrees for R and t:
16.56322168216984 70.87419351917916

Number of keypoints:
Image1: 414
Image2: 414

 R_estimated:
[[ 9.95645181e-01  9.32235764e-02  1.94308983e-04]
 [-9.32235683e-02  9.95645200e-01 -5.00025220e-05]
 [-1.98124220e-04  3.16705933e-05  9.99999980e-01]]

 t_estimated:
[[0.47528172]
 [0.87983085]
 [0.00222784]]

 R_gt:
[[ 9.99491343e-01 -3.18819194e-02  7.57310990e-04]
 [ 3.18913327e-02  9.99238723e-01 -2.24419835e-02]
 [-4.21633600e-05  2.24554215e-02  9.99748505e-01]]

 t_gt:
[ 0.69569867 -0.60320123 -0.3900662 ]

Pose Error in degrees for R and t:
7.2904354759058965 78.40858187362426

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 0.99999158 -0.00148841  0.00382296]
 [ 0.00153626  0.99992014 -0.01254442]
 [-0.00380398  0.01255019  0.99991401]]

 t_estimated:
[[-0.64878941]
 [-0.76092585]
 [-0.00800975]]

 R_gt:
[[ 9.99957862e-01 -9.17030614e-03 -5.26085484e-04]
 [ 9.16672150e-03  9.99933378e-01 -7.06347501e-03]
 [ 5.90605117e-04  7.05865170e-03  9.99974821e-01]]

 t_gt:
[ 0.94876532 -0.20978255 -0.23629568]

Pose Error in degrees for R and t:
0.594152934462143 62.99763616162471

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-4.55120981e-03  9.99979079e-01  4.59662700e-03]
 [ 9.99989546e-01  4.55318874e-03 -4.20144105e-04]
 [-4.41064625e-04  4.59466678e-03 -9.99989347e-01]]

 t_estimated:
[[0.7181799 ]
 [0.69585705]
 [0.00076975]]

 R_gt:
[[ 0.99733631  0.07242004 -0.00878834]
 [-0.07227846  0.99726323  0.01554046]
 [ 0.00988974 -0.01486384  0.99984136]]

 t_gt:
[0.16764558 0.98508645 0.03872527]

Pose Error in degrees for R and t:
179.2057326953167 36.301880879639015

Number of keypoints:
Image1: 648
Image2: 648

 R_estimated:
[[ 9.99850999e-01 -1.72620698e-02  9.90959070e-06]
 [ 1.72620687e-02  9.99850995e-01  9.56331827e-05]
 [-1.15589408e-05 -9.54478732e-05  9.99999995e-01]]

 t_estimated:
[[0.25585505]
 [0.96671415]
 [0.00139837]]

 R_gt:
[[ 0.99984435  0.00332647  0.01735742]
 [-0.00348334  0.9999542   0.00895291]
 [-0.017327   -0.00901296  0.99980877]]

 t_gt:
[-0.25344871  0.07149674  0.96470305]

Pose Error in degrees for R and t:
1.6268164209993083 89.6780080344568

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[-9.94606223e-01  1.03711489e-01 -1.54561385e-03]
 [-1.03711431e-01 -9.94607423e-01 -1.17691701e-04]
 [-1.54948499e-03  4.32409268e-05  9.99998799e-01]]

 t_estimated:
[[8.38993234e-01]
 [5.44141461e-01]
 [6.50886915e-04]]

 R_gt:
[[ 0.99982105 -0.01860871  0.00337913]
 [ 0.0185727   0.99977556  0.01017778]
 [-0.00356767 -0.01011307  0.99994213]]

 t_gt:
[ 0.45712991 -0.77056896  0.4441348 ]

Pose Error in degrees for R and t:
175.11288796199761 87.96668787580714

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-9.97941632e-01 -6.41218735e-02  9.40286522e-04]
 [-6.41226784e-02  9.97941659e-01 -8.52508302e-04]
 [-8.83686662e-04 -9.11047217e-04 -9.99999195e-01]]

 t_estimated:
[[0.99920533]
 [0.03980898]
 [0.00199045]]

 R_gt:
[[ 0.99224971 -0.11810146 -0.03865149]
 [ 0.11910995  0.99256767  0.02493762]
 [ 0.03541864 -0.02934797  0.9989415 ]]

 t_gt:
[ 0.64492679 -0.76054292 -0.07512588]

Pose Error in degrees for R and t:
177.97441945453588 52.12155374929362

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.74687509e-01  2.23571397e-01  3.01592067e-04]
 [-2.23571350e-01  9.74687549e-01 -1.82867000e-04]
 [-3.34841863e-04  1.10810835e-04  9.99999938e-01]]

 t_estimated:
[[0.67671106]
 [0.73624822]
 [0.00083855]]

 R_gt:
[[ 0.99549372 -0.08650212  0.03886584]
 [ 0.08710134  0.99610221 -0.01398916]
 [-0.03750354  0.01731185  0.99914622]]

 t_gt:
[ 0.71890211 -0.68293679  0.12952642]

Pose Error in degrees for R and t:
18.052506736688198 89.07100190553237

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 2.31222517e-01  9.72900313e-01  1.06216049e-03]
 [-9.72898751e-01  2.31224161e-01 -1.84587864e-03]
 [-2.04145307e-03 -6.06565904e-04  9.99997732e-01]]

 t_estimated:
[[0.01322193]
 [0.9999113 ]
 [0.00160484]]

 R_gt:
[[ 0.99189506 -0.11800127  0.04712835]
 [ 0.11940684  0.99244483 -0.02821993]
 [-0.04344257  0.03361889  0.99849017]]

 t_gt:
[ 0.72446064 -0.68840776  0.03537716]

Pose Error in degrees for R and t:
83.49701915789709 47.25699040478344

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[-9.35301401e-01  3.53530997e-01  1.50706150e-02]
 [ 3.53563643e-01  9.35410322e-01 -5.29057091e-04]
 [-1.42842469e-02  4.83359368e-03 -9.99886292e-01]]

 t_estimated:
[[ 0.99916199]
 [-0.04052035]
 [ 0.00578113]]

 R_gt:
[[ 0.99094125 -0.12370345  0.05228876]
 [ 0.12512546  0.99183019 -0.0248519 ]
 [-0.04878721  0.03116975  0.9983225 ]]

 t_gt:
[ 0.76861008 -0.63818094  0.04431284]

Pose Error in degrees for R and t:
175.99421077387916 37.43141558229519

Number of keypoints:
Image1: 378
Image2: 378

 R_estimated:
[[ 9.99780066e-01  2.09718432e-02  2.55478063e-05]
 [-2.09718413e-02  9.99780064e-01 -7.19748088e-05]
 [-2.70516319e-05  7.14231946e-05  9.99999997e-01]]

 t_estimated:
[[ 0.83247478]
 [-0.55405951]
 [ 0.00195178]]

 R_gt:
[[ 0.99995347 -0.00341545 -0.00903906]
 [ 0.00337704  0.99998566 -0.00429439]
 [ 0.00905302  0.00426429  0.999949  ]]

 t_gt:
[ 0.2875416  -0.19149746 -0.93842877]

Pose Error in degrees for R and t:
1.5094780921174433 69.9011704603296

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 8.82604072e-01 -4.70115450e-01 -1.23101834e-03]
 [ 4.70116406e-01  8.82604188e-01  6.41392367e-04]
 [ 7.84973484e-04 -1.14481743e-03  9.99999037e-01]]

 t_estimated:
[[0.99989446]
 [0.01449122]
 [0.00103509]]

 R_gt:
[[ 0.9960273  -0.06633683 -0.05941219]
 [ 0.06747867  0.99756937  0.01741683]
 [ 0.05811247 -0.02135584  0.99808114]]

 t_gt:
[ 0.61747168 -0.67873942 -0.39754435]

Pose Error in degrees for R and t:
24.446235678646147 52.615618921898935

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.56423941e-01 -2.91974026e-01  2.10093146e-03]
 [ 2.91976492e-01  9.56424997e-01 -9.76174727e-04]
 [-1.72436570e-03  1.54705948e-03  9.99997317e-01]]

 t_estimated:
[[9.74573041e-01]
 [2.24068503e-01]
 [8.32968411e-04]]

 R_gt:
[[ 0.97468838 -0.20207936 -0.09564623]
 [ 0.20481445  0.9786048   0.01959106]
 [ 0.08963951 -0.03868454  0.99522176]]

 t_gt:
[ 0.69079337 -0.6895322  -0.21760024]

Pose Error in degrees for R and t:
7.742958400706533 58.76530348801701

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99604752e-01 -2.81128920e-02  6.65360466e-05]
 [ 2.81128880e-02  9.99604753e-01  6.02836036e-05]
 [-6.82044949e-05 -5.83892562e-05  9.99999996e-01]]

 t_estimated:
[[5.21837077e-01]
 [8.53045004e-01]
 [5.33875288e-04]]

 R_gt:
[[ 9.95259352e-01 -5.96902734e-02 -7.67890258e-02]
 [ 5.98146936e-02  9.98208834e-01 -6.80113602e-04]
 [ 7.66925459e-02 -3.91556563e-03  9.97047162e-01]]

 t_gt:
[ 0.5745651  -0.63678806 -0.51417499]

Pose Error in degrees for R and t:
4.768678506226488 75.89769647429506

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-4.47451708e-01  8.94308088e-01 -1.12224935e-04]
 [-8.94306625e-01 -4.47451197e-01 -1.75680504e-03]
 [-1.62134013e-03 -6.85721913e-04  9.99998451e-01]]

 t_estimated:
[[0.30333202]
 [0.95288444]
 [0.00096077]]

 R_gt:
[[ 0.98550255 -0.15380467 -0.0716179 ]
 [ 0.15021913  0.98722773 -0.05305796]
 [ 0.07886353  0.04153086  0.99601936]]

 t_gt:
[ 0.6698037  -0.56679525 -0.47969381]

Pose Error in degrees for R and t:
125.40234371308769 70.28277118774908

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.01724591  0.99980959  0.00913002]
 [ 0.9998307   0.01730342 -0.00625768]
 [-0.00641447  0.00902056 -0.99993874]]

 t_estimated:
[[0.7020174 ]
 [0.7121589 ]
 [0.00112683]]

 R_gt:
[[ 0.97395117 -0.21965215  0.05634016]
 [ 0.22287778  0.97304103 -0.05929675]
 [-0.04179604  0.07030897  0.99664896]]

 t_gt:
[ 0.72905026 -0.66749291 -0.15145605]

Pose Error in degrees for R and t:
174.72510368838232 87.92118081719488

Number of keypoints:
Image1: 351
Image2: 351

 R_estimated:
[[ 9.99206826e-01  3.98206097e-02  1.94160141e-04]
 [-3.98205537e-02  9.99206807e-01 -2.84181056e-04]
 [-2.05322397e-04  2.76224087e-04  9.99999941e-01]]

 t_estimated:
[[0.89216964]
 [0.45169885]
 [0.00121675]]

 R_gt:
[[ 0.99737129 -0.05976292 -0.04097627]
 [ 0.05997437  0.9981918   0.00393992]
 [ 0.04066633 -0.00638758  0.99915243]]

 t_gt:
[ 0.59136903 -0.69960178 -0.40104864]

Pose Error in degrees for R and t:
6.188454838519396 77.81293074369653

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99400259e-01  3.46074606e-02 -1.20210684e-03]
 [-3.46068355e-02  9.99400860e-01  5.36896056e-04]
 [ 1.21996722e-03 -4.94972944e-04  9.99999133e-01]]

 t_estimated:
[[-0.98319679]
 [-0.1825036 ]
 [-0.00406308]]

 R_gt:
[[ 0.9915816  -0.0937248  -0.08933727]
 [ 0.09972396  0.99287434  0.06522877]
 [ 0.08258702 -0.07358895  0.99386362]]

 t_gt:
[ 0.50398602 -0.83959799 -0.20266552]

Pose Error in degrees for R and t:
9.81711528475291 70.03388579917079

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999557e-01 -9.40836011e-04 -3.16276915e-05]
 [ 9.40831245e-04  9.99999546e-01 -1.50382777e-04]
 [ 3.17691627e-05  1.50352954e-04  9.99999988e-01]]

 t_estimated:
[[9.93938598e-01]
 [1.09932880e-01]
 [9.08536196e-04]]

 R_gt:
[[ 0.96472745 -0.23756954 -0.11341109]
 [ 0.23844372  0.97113807 -0.00599024]
 [ 0.11155994 -0.02126276  0.99353064]]

 t_gt:
[ 0.59959895 -0.67766724 -0.42573256]

Pose Error in degrees for R and t:
15.220203408978339 58.59528755350627

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.97254171e-01 -7.40547326e-02  1.26450527e-04]
 [ 7.40547053e-02  9.97254159e-01  2.08359781e-04]
 [-1.41533342e-04 -1.98423404e-04  9.99999970e-01]]

 t_estimated:
[[0.37623875]
 [0.92652219]
 [0.00101297]]

 R_gt:
[[ 9.99199005e-01 -2.05374092e-03 -3.99541356e-02]
 [-9.71004101e-04  9.97144343e-01 -7.55142155e-02]
 [ 3.99951548e-02  7.54927823e-02  9.96343963e-01]]

 t_gt:
[ 0.15141129  0.2902199  -0.94490583]

Pose Error in degrees for R and t:
6.474467470647889 71.04019154726917

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-0.27406175  0.96152499 -0.01896997]
 [ 0.96150993  0.27435526  0.01509457]
 [ 0.01971832 -0.01410297 -0.9997061 ]]

 t_estimated:
[[ 0.8480389 ]
 [-0.52978759]
 [-0.01245493]]

 R_gt:
[[ 0.99607253  0.02065444 -0.08609327]
 [-0.02784568  0.99614557 -0.08318166]
 [ 0.08404344  0.08525276  0.99280907]]

 t_gt:
[ 0.0738784   0.40480983 -0.91141153]

Pose Error in degrees for R and t:
177.62813936737683 81.92554052707716

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 5.28370149e-01 -8.49013540e-01 -9.97935612e-04]
 [ 8.49014123e-01  5.28369879e-01  5.38637204e-04]
 [ 6.99688390e-05 -1.13186125e-03  9.99999357e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99142385  0.03714313 -0.1252916 ]
 [-0.05154892  0.99216883 -0.11376999]
 [ 0.12008462  0.119253    0.98557513]]

 t_gt:
[ 0.05025291  0.44955356 -0.89183869]

Pose Error in degrees for R and t:
61.370692579902766 87.07921316433736

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.99743477  0.02538367  0.06692944]
 [-0.02086334  0.99750833 -0.06739329]
 [-0.06847336  0.06582404  0.99547908]]

 t_estimated:
[[0.96544519]
 [0.26060269]
 [0.00135027]]

 R_gt:
[[ 0.9919718  -0.1154031  -0.051717  ]
 [ 0.11817808  0.99150863  0.05426007]
 [ 0.04501517 -0.05993666  0.99718615]]

 t_gt:
[ 0.74946433 -0.63985525  0.1699661 ]

Pose Error in degrees for R and t:
12.630301175951526 56.148091794814256

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 1.00000000e+00  3.44169138e-15  1.09910995e-17]
 [-3.49720253e-15  1.00000000e+00 -4.64146950e-16]
 [ 7.10437026e-16  1.37773636e-15  1.00000000e+00]]

 t_estimated:
[[7.14983508e-01]
 [6.99141312e-01]
 [1.01096012e-04]]

 R_gt:
[[ 0.99407661 -0.10785042 -0.01343377]
 [ 0.10862132  0.9900957   0.08894691]
 [ 0.00370684 -0.0898798   0.99594557]]

 t_gt:
[ 0.6340489  -0.62676426  0.45293327]

Pose Error in degrees for R and t:
8.085640112999062 89.1300154181368

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99998935e-01 -1.45922878e-03 -1.56871825e-06]
 [ 1.45922918e-03  9.99998892e-01  2.95550534e-04]
 [ 1.13744067e-06 -2.95552508e-04  9.99999956e-01]]

 t_estimated:
[[3.95950564e-03]
 [9.99992149e-01]
 [1.57436553e-04]]

 R_gt:
[[ 0.99811756 -0.05272384  0.03131113]
 [ 0.04763295  0.98819799  0.14558776]
 [-0.03861788 -0.1438226   0.98884983]]

 t_gt:
[ 0.34657784 -0.48524699  0.80275723]

Pose Error in degrees for R and t:
8.996631880460074 61.06975080648037

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99172634e-01  4.06691620e-02  2.59795740e-04]
 [-4.06690473e-02  9.99172578e-01 -4.32616979e-04]
 [-2.77174950e-04  4.21693401e-04  9.99999873e-01]]

 t_estimated:
[[-9.83947174e-01]
 [-1.78458405e-01]
 [-7.46244139e-04]]

 R_gt:
[[ 9.89297361e-01  1.45904547e-01 -8.56751611e-04]
 [-1.45634166e-01  9.87789968e-01  5.53204411e-02]
 [ 8.91728856e-03 -5.46035141e-02  9.98468567e-01]]

 t_gt:
[-0.75126955  0.60526165  0.26315851]

Pose Error in degrees for R and t:
6.8492077990861695 50.87612395194362

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-4.85765704e-02  9.98819458e-01 -8.23740678e-05]
 [-9.98817706e-01 -4.85766395e-02 -1.87088786e-03]
 [-1.87268065e-03 -8.60463843e-06  9.99998246e-01]]

 t_estimated:
[[0.00728388]
 [0.99997293]
 [0.00104055]]

 R_gt:
[[ 0.96919186  0.24611906  0.00955338]
 [-0.24627326  0.96770876  0.05373644]
 [ 0.00398133 -0.05443348  0.9985095 ]]

 t_gt:
[-0.72255426  0.67165646  0.16368549]

Pose Error in degrees for R and t:
78.57640625817915 48.198990859952715

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.99967903  0.02522503  0.00235389]
 [ 0.02522069 -0.99968018  0.00185752]
 [ 0.0024     -0.00179756 -0.9999955 ]]

 t_estimated:
[[0.71159107]
 [0.70259309]
 [0.00104317]]

 R_gt:
[[ 0.89080255  0.4531477   0.03355727]
 [-0.45390705  0.8908272   0.01983571]
 [-0.02090574 -0.03290148  0.99924001]]

 t_gt:
[-0.64190755  0.76289487  0.07711102]

Pose Error in degrees for R and t:
178.33299582202204 85.45112738343485

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 5.33251873e-01 -8.45956425e-01  4.08112468e-04]
 [-8.45954706e-01 -5.33251666e-01 -1.81579057e-03]
 [ 1.75370635e-03  6.23029058e-04 -9.99998268e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.98263322 -0.18541769 -0.00721941]
 [ 0.18518418  0.98237949 -0.02523681]
 [ 0.01177026  0.02346126  0.99965506]]

 t_gt:
[ 0.97757393 -0.1612872  -0.1354092 ]

Pose Error in degrees for R and t:
178.42231764268934 50.49749062016027

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.93033068  0.36663865  0.00780584]
 [ 0.36659716  0.93035871 -0.00626048]
 [-0.00955756 -0.00296272 -0.99994994]]

 t_estimated:
[[ 0.93577761]
 [-0.35248143]
 [ 0.00878131]]

 R_gt:
[[ 0.97595788 -0.21693173 -0.02116928]
 [ 0.21630677  0.97591391 -0.02835625]
 [ 0.02681011  0.02309512  0.99937422]]

 t_gt:
[ 0.97792501 -0.1554378  -0.13964876]

Pose Error in degrees for R and t:
179.39426415039662 14.376989626097025

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.98873499e-01  4.74374519e-02  1.19217180e-03]
 [ 4.74438641e-02 -9.98855300e-01 -6.09669457e-03]
 [ 9.01595467e-04  6.14638787e-03 -9.99980704e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.95154351 -0.30653391  0.02454355]
 [ 0.30724485  0.95101899 -0.03411852]
 [-0.01288406  0.04000599  0.99911632]]

 t_gt:
[ 0.98889633 -0.08271905 -0.12345692]

Pose Error in degrees for R and t:
177.46874964554775 38.368137914990534

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 9.99998828e-01 -1.53131839e-03 -2.52159389e-06]
 [ 1.53131840e-03  9.99998828e-01  1.29999620e-06]
 [ 2.51960022e-06 -1.30385603e-06  1.00000000e+00]]

 t_estimated:
[[-5.37696838e-02]
 [ 9.98553360e-01]
 [-9.31264844e-05]]

 R_gt:
[[ 0.99910365  0.0072969  -0.04171122]
 [-0.00957009  0.99846513 -0.05455019]
 [ 0.04124895  0.05490108  0.997639  ]]

 t_gt:
[ 0.0472491   0.31763014 -0.94703676]

Pose Error in degrees for R and t:
3.9787619855879455 71.65619329136267

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99872833e-01  1.59471045e-02 -8.45421864e-05]
 [-1.59470934e-02  9.99872829e-01  1.29542999e-04]
 [ 8.65972708e-05 -1.28178323e-04  9.99999988e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99992397  0.01194442 -0.00306276]
 [-0.01202416  0.99955033 -0.02749799]
 [ 0.00273232  0.02753249  0.9996166 ]]

 t_gt:
[-0.29400769  0.53351397 -0.79304623]

Pose Error in degrees for R and t:
1.6081693056399577 72.96435110890059

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.72747852e-01  2.31865480e-01 -1.23295096e-04]
 [-2.31865512e-01  9.72747761e-01 -4.22590824e-04]
 [ 2.19508040e-05  4.39662197e-04  9.99999903e-01]]

 t_estimated:
[[-0.45056324]
 [-0.8927439 ]
 [-0.00104782]]

 R_gt:
[[ 0.99403709 -0.04727438  0.09826286]
 [ 0.03126455  0.98686353  0.15850533]
 [-0.10446586 -0.15448807  0.98245565]]

 t_gt:
[ 0.0930594  -0.31757101  0.94365704]

Pose Error in degrees for R and t:
19.00216856525008 76.07853725451616

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 5.35027930e-01 -8.44832403e-01 -1.82340515e-03]
 [ 8.44833775e-01  5.35028870e-01 -3.30393634e-05]
 [ 1.00348712e-03 -1.52279728e-03  9.99998337e-01]]

 t_estimated:
[[9.89099442e-01]
 [1.47247072e-01]
 [7.70927078e-04]]

 R_gt:
[[ 0.98754338 -0.15730848  0.00346769]
 [ 0.15732094  0.98753927 -0.00420222]
 [-0.00276272  0.00469631  0.99998552]]

 t_gt:
[ 0.78088862 -0.62464573 -0.00553843]

Pose Error in degrees for R and t:
48.60463379741755 47.1254847909346

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.60502672 -0.79620009 -0.00284247]
 [ 0.79617769  0.60497233  0.01046706]
 [-0.00661426 -0.00859596  0.99994118]]

 t_estimated:
[[0.98969419]
 [0.14316331]
 [0.00311225]]

 R_gt:
[[ 0.96204443 -0.27287347  0.00324759]
 [ 0.27283915  0.96155785 -0.0310877 ]
 [ 0.00536067  0.03079429  0.99951167]]

 t_gt:
[ 0.83903367 -0.53612681 -0.09268523]

Pose Error in degrees for R and t:
37.00876389350572 41.11906636989207

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-4.87245087e-01 -8.73264745e-01  9.53964166e-04]
 [-8.73265162e-01  4.87245272e-01 -4.37720808e-05]
 [-4.26589915e-04 -8.54391403e-04 -9.99999544e-01]]

 t_estimated:
[[0.95694562]
 [0.29025839]
 [0.00226764]]

 R_gt:
[[ 0.92720022 -0.37380764  0.02383657]
 [ 0.3745347   0.92441785 -0.07193785]
 [ 0.00485672  0.07562868  0.99712454]]

 t_gt:
[ 0.87638148 -0.45907345 -0.14562644]

Pose Error in degrees for R and t:
178.33489572837604 45.164858909568984

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 6.49973963e-01 -7.59956356e-01  4.28982008e-04]
 [ 7.59956034e-01  6.49974090e-01  7.13676093e-04]
 [-8.21189873e-04 -1.37863413e-04  9.99999653e-01]]

 t_estimated:
[[9.94687813e-01]
 [1.02932868e-01]
 [9.89739117e-04]]

 R_gt:
[[ 0.99816888  0.02997508  0.05254807]
 [-0.03195443  0.99879511  0.03723952]
 [-0.05136834 -0.03885026  0.99792344]]

 t_gt:
[-0.26645158 -0.04341314  0.96287011]

Pose Error in degrees for R and t:
51.35704129039667 74.42189211143665

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.93981353e-01 -1.09548941e-01 -3.16123491e-04]
 [ 1.09549073e-01  9.93981292e-01  4.36795239e-04]
 [ 2.66370381e-04 -4.68797358e-04  9.99999855e-01]]

 t_estimated:
[[-0.89793838]
 [-0.4401196 ]
 [-0.00117995]]

 R_gt:
[[ 0.9943491   0.07151281  0.07846388]
 [-0.07835986  0.99303577  0.08796771]
 [-0.07162683 -0.09361868  0.99302735]]

 t_gt:
[-0.28236009  0.03966452  0.95848814]

Pose Error in degrees for R and t:
12.56881847455343 76.41109665881005

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 0.9816021  -0.19087454 -0.00492221]
 [ 0.1909006   0.98159388  0.00551529]
 [ 0.00377888 -0.00635347  0.99997268]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.98802333  0.09821745  0.1190118 ]
 [-0.11790452  0.9780779   0.17164316]
 [-0.09954496 -0.18361921  0.97794399]]

 t_gt:
[-0.27980838  0.06667585  0.95773775]

Pose Error in degrees for R and t:
20.954105106108834 87.4615903245575

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999975e-01  2.13777028e-04 -6.68162499e-05]
 [-2.13776883e-04  9.99999977e-01  2.18008685e-06]
 [ 6.68167144e-05 -2.16580302e-06  9.99999998e-01]]

 t_estimated:
[[ 4.49614189e-01]
 [ 8.93222766e-01]
 [-4.13548666e-04]]

 R_gt:
[[ 9.93926712e-01  1.10049270e-01 -4.42207960e-04]
 [-1.10049644e-01  9.93897360e-01 -7.52862059e-03]
 [-3.88720257e-04  7.53227279e-03  9.99971849e-01]]

 t_gt:
[-0.71553041  0.69597161 -0.06033031]

Pose Error in degrees for R and t:
6.320594901518415 72.54419802396521

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.78742778 -0.61639957 -0.00300996]
 [ 0.61640481 -0.78742847 -0.00122976]
 [-0.0016121  -0.00282371  0.99999471]]

 t_estimated:
[[ 0.94447085]
 [-0.32859317]
 [ 0.00116114]]

 R_gt:
[[ 0.90506106  0.42383852  0.03501294]
 [-0.42212781  0.90530635 -0.04719623]
 [-0.05170176  0.02793675  0.99827167]]

 t_gt:
[-0.63270899  0.77412082  0.02040338]

Pose Error in degrees for R and t:
167.0033198746821 31.578629341584932

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99998381e-01 -1.71510079e-03  5.44217784e-04]
 [ 1.71559883e-03  9.99998109e-01 -9.16014690e-04]
 [-5.42645697e-04  9.16946867e-04  9.99999432e-01]]

 t_estimated:
[[-9.99987705e-01]
 [-4.95143708e-03]
 [-2.69473426e-04]]

 R_gt:
[[ 0.80740704  0.58609618  0.06771763]
 [-0.5851313   0.81016638 -0.03538987]
 [-0.07560404 -0.01104829  0.99707655]]

 t_gt:
[-0.56904963  0.81802672  0.08375443]

Pose Error in degrees for R and t:
36.257341407507056 55.59981587859718

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 3.18359544e-01  9.47969745e-01  7.50489067e-04]
 [-9.47969033e-01  3.18360260e-01 -1.20729143e-03]
 [-1.38340164e-03 -3.27087648e-04  9.99998990e-01]]

 t_estimated:
[[0.0118475 ]
 [0.99992911]
 [0.00118475]]

 R_gt:
[[ 0.99707821  0.01170354  0.07549237]
 [-0.01195662  0.99992431  0.00288472]
 [-0.0754528  -0.00377835  0.99714249]]

 t_gt:
[-0.16468433  0.22752063  0.95974655]

Pose Error in degrees for R and t:
70.867888058252 76.89769672788023

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-1.75252160e-01 -9.84522740e-01 -1.28623273e-03]
 [-9.84523580e-01  1.75252047e-01  2.00866147e-04]
 [ 2.76576292e-05  1.30152868e-03 -9.99999153e-01]]

 t_estimated:
[[8.51303574e-01]
 [5.24672866e-01]
 [7.79629534e-04]]

 R_gt:
[[ 0.99136376 -0.0639201   0.11451336]
 [ 0.06578073  0.99775508 -0.0125389 ]
 [-0.11345454  0.0199637   0.99334242]]

 t_gt:
[ 0.51387704 -0.43415381  0.73989246]

Pose Error in degrees for R and t:
175.62807741086297 77.86279306691463

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.19552688e-01  3.92966694e-01  1.77012876e-04]
 [-3.92966639e-01  9.19552686e-01 -2.80455527e-04]
 [-2.72982347e-04  1.88333479e-04  9.99999945e-01]]

 t_estimated:
[[-0.84796594]
 [-0.53004977]
 [-0.00100036]]

 R_gt:
[[ 0.98512235 -0.10226515  0.13812419]
 [ 0.10496418  0.99439948 -0.01238063]
 [-0.13608468  0.02669391  0.99033755]]

 t_gt:
[ 0.59562201 -0.55088161  0.58460574]

Pose Error in degrees for R and t:
30.16020158986927 77.66323290186953

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.99572652  0.0923233  -0.00225834]
 [-0.09231186  0.99571891  0.00473023]
 [ 0.00268538 -0.00450154  0.99998626]]

 t_estimated:
[[0.77661721]
 [0.6299722 ]
 [0.00086015]]

 R_gt:
[[ 0.98504464 -0.17224749 -0.00404549]
 [ 0.1720509   0.9846278  -0.03011052]
 [ 0.00917028  0.02896358  0.99953755]]

 t_gt:
[ 0.55033935 -0.82284879 -0.14158555]

Pose Error in degrees for R and t:
15.339822500687255 84.77364674332351

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99878510e-01 -1.55873264e-02  5.28991967e-06]
 [ 1.55873266e-02  9.99878510e-01 -3.39888643e-05]
 [-4.75948147e-06  3.40671907e-05  9.99999999e-01]]

 t_estimated:
[[0.65789134]
 [0.75311245]
 [0.00078695]]

 R_gt:
[[ 0.94431619 -0.32799751 -0.02613307]
 [ 0.32793546  0.94467578 -0.00677747]
 [ 0.02690986 -0.00217038  0.99963442]]

 t_gt:
[ 0.62647163 -0.77679958 -0.06415388]

Pose Error in degrees for R and t:
18.32096631807378 80.04249824633943

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.50203273  0.86483709  0.0044663 ]
 [-0.86484698 -0.50201501 -0.00454194]
 [-0.00168588 -0.00614287  0.99997971]]

 t_estimated:
[[0.63453836]
 [0.77289092]
 [0.00084053]]

 R_gt:
[[ 0.88197026 -0.47129944 -0.00196229]
 [ 0.47118047  0.88182715 -0.01922407]
 [ 0.01079126  0.01602951  0.99981294]]

 t_gt:
[ 0.68696377 -0.72563838 -0.03911164]

Pose Error in degrees for R and t:
148.2557519903181 82.82113118463894

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.20429222 -0.97890918 -0.00123032]
 [-0.97890871 -0.2042898  -0.00184784]
 [ 0.00155753  0.00158187 -0.99999754]]

 t_estimated:
[[7.31836795e-01]
 [6.81479925e-01]
 [1.33977153e-04]]

 R_gt:
[[ 0.99166551 -0.11921495 -0.04887126]
 [ 0.12081808  0.99218172  0.03128176]
 [ 0.04475945 -0.03692502  0.9983151 ]]

 t_gt:
[ 0.62852698 -0.77130941 -0.10017798]

Pose Error in degrees for R and t:
179.69324069472077 86.23489837746412

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.65768774 -0.74072624  0.13700903]
 [-0.73022326 -0.58224878  0.35743581]
 [-0.18498874 -0.33512833 -0.92383341]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.98925225 -0.14589778 -0.00971503]
 [ 0.14609366  0.98897834  0.02407412]
 [ 0.00609531 -0.02523516  0.99966307]]

 t_gt:
[ 0.55036875 -0.83388562  0.04158134]

Pose Error in degrees for R and t:
156.401170753663 79.03686131436821

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.55990357 -0.42279921 -0.71256496]
 [-0.80059865  0.05454373  0.59671332]
 [-0.21342397  0.90458046 -0.36903171]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.98795196 -0.15372212 -0.01790275]
 [ 0.15387607  0.9880619   0.00755425]
 [ 0.01652768 -0.01021833  0.99981136]]

 t_gt:
[ 0.5120414  -0.8562619  -0.06803793]

Pose Error in degrees for R and t:
163.93873649997164 79.93115405273431

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[-0.76703146  0.40066239  0.50113111]
 [-0.6305992  -0.32668943 -0.7040019 ]
 [-0.11835284 -0.85600448  0.50323845]]

 t_estimated:
[[0.76200076]
 [0.63500064]
 [0.12700013]]

 R_gt:
[[ 0.99287631  0.11858359  0.01158779]
 [-0.11778584  0.99153503 -0.05462985]
 [-0.01796652  0.05287563  0.99843922]]

 t_gt:
[-0.36642053  0.92622881 -0.08852224]

Pose Error in degrees for R and t:
136.8914076185367 72.68043853513755

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-5.06623884e-01  8.62166282e-01  1.24204831e-03]
 [-8.62166889e-01 -5.06622013e-01 -1.54613822e-03]
 [-7.03779223e-04 -1.85416347e-03  9.99998033e-01]]

 t_estimated:
[[0.36792034]
 [0.92985656]
 [0.00118302]]

 R_gt:
[[ 0.95217332  0.30551017  0.00552443]
 [-0.3049079   0.95116867 -0.04805416]
 [-0.01993451  0.04407123  0.99882959]]

 t_gt:
[-0.28929001  0.95712309 -0.0150559 ]

Pose Error in degrees for R and t:
102.68417664832013 38.41473486431476

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.99854716 -0.05386078 -0.0016075 ]
 [ 0.05386328 -0.99854711 -0.00155214]
 [-0.00152157 -0.00163647  0.9999975 ]]

 t_estimated:
[[0.74883777]
 [0.66275254]
 [0.00103717]]

 R_gt:
[[ 0.87792755  0.47718839 -0.03919264]
 [-0.47845699  0.87743858 -0.03435683]
 [ 0.01799504  0.04891483  0.9986412 ]]

 t_gt:
[-0.19357451  0.97820953 -0.07506682]

Pose Error in degrees for R and t:
154.53133622417917 59.782952106692626

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.54949946e-01 -2.96766672e-01 -3.78621907e-04]
 [ 2.96764182e-01  9.54945854e-01 -3.07173369e-03]
 [ 1.27315161e-03  2.82099050e-03  9.99995211e-01]]

 t_estimated:
[[-0.48069489]
 [-0.87687201]
 [-0.00528236]]

 R_gt:
[[ 0.9845671   0.17380298 -0.02047719]
 [-0.17254724  0.98361375  0.05226219]
 [ 0.02922586 -0.04792222  0.99842296]]

 t_gt:
[-0.7375649   0.67199484  0.06649025]

Pose Error in degrees for R and t:
27.445902712940516 76.40478114554215

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.93572591e-01 -1.13196718e-01  9.44167265e-05]
 [ 1.13196756e-01  9.93572358e-01 -6.80529045e-04]
 [-1.67761953e-05  6.86842674e-04  9.99999764e-01]]

 t_estimated:
[[-0.10984048]
 [-0.99394865]
 [-0.00107687]]

 R_gt:
[[ 0.96705709  0.23690422 -0.09314171]
 [-0.22604085  0.96744857  0.11379034]
 [ 0.11706778 -0.08898763  0.98912845]]

 t_gt:
[-0.78162843  0.61165313 -0.1222188 ]

Pose Error in degrees for R and t:
21.670424699254525 58.53579725778165

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.31066021  0.94888028 -0.05582513]
 [-0.95005566 -0.31180972 -0.0129978 ]
 [-0.02974017  0.04899908  0.99835595]]

 t_estimated:
[[7.80320477e-01]
 [6.25379471e-01]
 [6.85616328e-04]]

 R_gt:
[[ 0.94294605  0.29842909 -0.14762287]
 [-0.27161285  0.9459298   0.17732133]
 [ 0.1925593  -0.1271086   0.973018  ]]

 t_gt:
[-0.82662591  0.51371779 -0.2297469 ]

Pose Error in degrees for R and t:
92.32872543962476 71.09971749414808

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99742428e-01  2.26946614e-02  1.75313689e-04]
 [-2.26946254e-02  9.99742423e-01 -2.04409674e-04]
 [-1.79907541e-04  2.00378346e-04  9.99999964e-01]]

 t_estimated:
[[-0.99993858]
 [-0.01101524]
 [-0.00122392]]

 R_gt:
[[ 0.9823649  -0.17263196 -0.07181864]
 [ 0.17268706  0.98496062 -0.00549184]
 [ 0.07168705 -0.00700729  0.99740167]]

 t_gt:
[ 0.59341533 -0.75162668 -0.28795065]

Pose Error in degrees for R and t:
11.99137788567867 54.214873338374744

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-2.84958690e-01 -9.58508657e-01  7.72648842e-03]
 [-9.58539642e-01  2.84953997e-01 -1.72491783e-03]
 [-5.48345081e-04 -7.89767576e-03 -9.99968663e-01]]

 t_estimated:
[[0.93805369]
 [0.34641129]
 [0.00738228]]

 R_gt:
[[ 0.94552109 -0.32081747 -0.05537734]
 [ 0.32139611  0.94694327  0.001625  ]
 [ 0.05191882 -0.01933481  0.9984635 ]]

 t_gt:
[ 0.64594684 -0.75791175 -0.09122747]

Pose Error in degrees for R and t:
178.10173003746817 69.95792149862164

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.032365   -0.99946598 -0.00450208]
 [ 0.99946468 -0.03234276 -0.00492987]
 [ 0.00478163 -0.00465923  0.99997771]]

 t_estimated:
[[9.99987772e-01]
 [4.87798902e-03]
 [8.12998188e-04]]

 R_gt:
[[ 0.88293363 -0.46558853 -0.06046226]
 [ 0.46494509  0.88498122 -0.02516118]
 [ 0.06522334 -0.00589687  0.99785225]]

 t_gt:
[ 0.70613154 -0.70076329 -0.10153356]

Pose Error in degrees for R and t:
64.17006606954394 45.362248877248184

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[-9.94515855e-01 -1.04584030e-01  6.28465325e-04]
 [ 1.04581665e-01 -9.94511651e-01 -3.04146972e-03]
 [ 9.43105248e-04 -2.95906391e-03  9.99995177e-01]]

 t_estimated:
[[7.95842954e-01]
 [6.05502698e-01]
 [6.89638608e-04]]

 R_gt:
[[ 0.99714118  0.0755219   0.00211535]
 [-0.07535536  0.996183   -0.04406875]
 [-0.0054353   0.0437843   0.99902641]]

 t_gt:
[-0.29784457  0.92182493 -0.24804718]

Pose Error in degrees for R and t:
178.32480702688747 71.27907396774299

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.99748435  0.07086021  0.0019522 ]
 [-0.07085477  0.99748292 -0.00272564]
 [-0.00214043  0.00258046  0.99999438]]

 t_estimated:
[[0.79856103]
 [0.60191324]
 [0.00085499]]

 R_gt:
[[ 0.97963634  0.20028251  0.01409436]
 [-0.19946196  0.97884132 -0.04567465]
 [-0.02294357  0.04193331  0.99885736]]

 t_gt:
[-0.32325573  0.94627648 -0.00815835]

Pose Error in degrees for R and t:
7.896571091411356 71.85457392959101

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99738033e-01 -2.28656131e-02  1.01420533e-03]
 [ 2.28674325e-02  9.99736849e-01 -1.82005746e-03]
 [-9.72321710e-04  1.84277294e-03  9.99997829e-01]]

 t_estimated:
[[-0.76124278]
 [-0.64846607]
 [-0.00108439]]

 R_gt:
[[ 0.91416198  0.40497683 -0.01737732]
 [-0.40528739  0.91244176 -0.05649998]
 [-0.00702495  0.05869359  0.9982516 ]]

 t_gt:
[-0.22681803  0.97240583 -0.05459378]

Pose Error in degrees for R and t:
25.441692906264322 62.75157989945383

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.93525893e-01 -1.13604409e-01  5.81682281e-04]
 [ 1.13604510e-01  9.93526041e-01 -1.42559973e-04]
 [-5.61721053e-04  2.07718755e-04  9.99999821e-01]]

 t_estimated:
[[0.68207308]
 [0.73127794]
 [0.00298189]]

 R_gt:
[[ 0.99712166  0.0531576   0.05406845]
 [-0.05203232  0.9984036  -0.02200851]
 [-0.05515166  0.01913263  0.99829487]]

 t_gt:
[-0.76002769  0.52379405  0.38470469]

Pose Error in degrees for R and t:
10.097714134202604 82.28716079399528

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.90476097e-01 -1.37684704e-01 -1.53583462e-04]
 [ 1.37684714e-01  9.90476106e-01  6.09425699e-05]
 [ 1.43729890e-04 -8.15082539e-05  9.99999986e-01]]

 t_estimated:
[[-9.55421591e-01]
 [-2.95244005e-01]
 [-7.49350267e-04]]

 R_gt:
[[ 0.98040273  0.18967179  0.05325141]
 [-0.18906872  0.98183046 -0.01619246]
 [-0.05535504  0.005808    0.99845022]]

 t_gt:
[-0.72649122  0.6661306   0.16876177]

Pose Error in degrees for R and t:
19.105857220237755 60.177950854885474

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.99992895  0.01136571 -0.00359416]
 [-0.011354    0.99993022  0.00326203]
 [ 0.00363099 -0.00322099  0.99998822]]

 t_estimated:
[[0.01851532]
 [0.99982716]
 [0.00168321]]

 R_gt:
[[ 0.95501217  0.2963983  -0.01002208]
 [-0.29540219  0.9537102   0.0563506 ]
 [ 0.02626123 -0.05085431  0.9983607 ]]

 t_gt:
[-0.71891557  0.69196743  0.06588995]

Pose Error in degrees for R and t:
16.849519375615408 47.26193390027479

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.99999999e-01 -1.95290300e-05  3.69833889e-05]
 [ 1.95264158e-05  9.99999997e-01  7.06835444e-05]
 [-3.69847692e-05 -7.06828222e-05  9.99999997e-01]]

 t_estimated:
[[0.74809024]
 [0.66359637]
 [0.00092077]]

 R_gt:
[[ 0.99933175 -0.03639998 -0.00339425]
 [ 0.03648043  0.99895053  0.02765921]
 [ 0.0023841  -0.02776423  0.99961168]]

 t_gt:
[ 0.6502849  -0.65305156  0.38814071]

Pose Error in degrees for R and t:
2.626423893921339 86.93513230114849

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-0.42768533 -0.90351841 -0.027198  ]
 [ 0.90391982 -0.42736247 -0.01703764]
 [ 0.00377042 -0.03187156  0.99948486]]

 t_estimated:
[[0.94416176]
 [0.32947311]
 [0.00245875]]

 R_gt:
[[ 0.99774306  0.02996491  0.06008123]
 [-0.03519874  0.99549417  0.08803533]
 [-0.05717224 -0.08995144  0.99430327]]

 t_gt:
[-0.08098061 -0.20643296  0.97510388]

Pose Error in degrees for R and t:
117.31418941787258 81.83204375084061

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.94598367e-01 -1.03797913e-01 -2.85079554e-04]
 [ 1.03798044e-01  9.94598273e-01  4.91323730e-04]
 [ 2.32541254e-04 -5.18260480e-04  9.99999839e-01]]

 t_estimated:
[[-0.99401813]
 [-0.10921054]
 [-0.00101121]]

 R_gt:
[[ 0.99464445  0.05079728  0.09001224]
 [-0.0640929   0.98636088  0.15159921]
 [-0.08108403 -0.15655582  0.98433438]]

 t_gt:
[-0.10094192 -0.12790705  0.98663596]

Pose Error in degrees for R and t:
13.733067434512368 83.49388799284165

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.20714485  0.97114447 -0.11819231]
 [ 0.9750614  -0.19510697  0.10577591]
 [ 0.07966355 -0.1371557  -0.98734089]]

 t_estimated:
[[-0.74111508]
 [-0.67137698]
 [-0.001182  ]]

 R_gt:
[[ 0.95378524  0.29447766  0.05979567]
 [-0.29172398  0.95515813 -0.05069446]
 [-0.07204296  0.03090845  0.99692257]]

 t_gt:
[-0.70035895  0.71091957  0.06395858]

Pose Error in degrees for R and t:
175.5479417774192 87.6114522851558

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 8.86573999e-01 -4.62585061e-01 -1.26684330e-03]
 [ 4.62585603e-01  8.86574608e-01  1.56618209e-04]
 [ 1.05070186e-03 -7.24877103e-04  9.99999185e-01]]

 t_estimated:
[[-0.66070074]
 [-0.75064762]
 [-0.0016354 ]]

 R_gt:
[[ 0.88628162  0.45920286  0.06031519]
 [-0.45964761  0.88807316 -0.0071109 ]
 [-0.05682982 -0.02142126  0.99815408]]

 t_gt:
[-0.63966216  0.76118472  0.10691185]

Pose Error in degrees for R and t:
55.03743688328608 81.43501376145585

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99976050e-01 -6.90693942e-03 -4.41136843e-04]
 [ 6.90657972e-03  9.99975820e-01 -8.11778396e-04]
 [ 4.46733081e-04  8.08712206e-04  9.99999573e-01]]

 t_estimated:
[[-0.99992398]
 [-0.01226901]
 [-0.0012269 ]]

 R_gt:
[[ 8.43903383e-01  5.31770128e-01  7.10474388e-02]
 [-5.33171225e-01  8.46007062e-01  8.90459416e-04]
 [-5.96334558e-02 -3.86321444e-02  9.97472223e-01]]

 t_gt:
[-0.60377     0.78868399  0.11592819]

Pose Error in degrees for R and t:
32.86535343289098 53.56535302347933

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 7.89456555e-01  6.13806382e-01  2.69086209e-04]
 [-6.13806173e-01  7.89456544e-01 -5.88486239e-04]
 [-5.73648478e-04  2.99417543e-04  9.99999791e-01]]

 t_estimated:
[[-2.56670491e-01]
 [ 9.66498879e-01]
 [ 4.19030875e-04]]

 R_gt:
[[ 0.98928932  0.14590521 -0.00415597]
 [-0.14562431  0.98852565  0.04011591]
 [ 0.00996137 -0.03907997  0.99918572]]

 t_gt:
[-0.27029745  0.94502283  0.18404113]

Pose Error in degrees for R and t:
29.571270084402844 10.63648711568834

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.07468799 -0.9969266   0.02364422]
 [-0.99675254 -0.07391726  0.03194688]
 [-0.03010098 -0.02595348 -0.99920986]]

 t_estimated:
[[0.70468765]
 [0.70923899]
 [0.01988381]]

 R_gt:
[[ 9.84309566e-01  1.76426519e-01  2.72602917e-03]
 [-1.76447090e-01  9.84214390e-01  1.37350728e-02]
 [-2.59865447e-04 -1.39991848e-02  9.99901800e-01]]

 t_gt:
[-0.08571837  0.99320568  0.07870732]

Pose Error in degrees for R and t:
177.12454450711428 49.79078528195709

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99456572e-01  3.29628580e-02  1.01474634e-04]
 [-3.29628373e-02  9.99456558e-01 -1.99425549e-04]
 [-1.07993125e-04  1.95972284e-04  9.99999975e-01]]

 t_estimated:
[[ 0.68146782]
 [-0.73184559]
 [-0.00190796]]

 R_gt:
[[ 0.98526065  0.1648676   0.04560485]
 [-0.16305414  0.98576482 -0.04098893]
 [-0.05171383  0.03294943  0.99811838]]

 t_gt:
[-0.05110604  0.98569494  0.16060406]

Pose Error in degrees for R and t:
8.328684643346026 40.84251050340828

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.22156243 -0.97512798 -0.00595993]
 [-0.9751146   0.22160031 -0.00669516]
 [ 0.00784936  0.00432822 -0.99995983]]

 t_estimated:
[[ 0.80135153]
 [ 0.5981826 ]
 [-0.00364805]]

 R_gt:
[[ 0.97308816 -0.2280504  -0.03303751]
 [ 0.22850309  0.97348506  0.01061309]
 [ 0.02974204 -0.01787563  0.9993971 ]]

 t_gt:
[ 0.83284182 -0.55311037 -0.02105778]

Pose Error in degrees for R and t:
178.5832145387079 70.32923158339379

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999903e-01 -4.14232553e-04 -1.46517101e-04]
 [ 4.14278724e-04  9.99999864e-01  3.15237022e-04]
 [ 1.46386500e-04 -3.15297691e-04  9.99999940e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.96921173 -0.24480319 -0.02645226]
 [ 0.24475964  0.96957094 -0.00491464]
 [ 0.02685054 -0.00171041  0.99963747]]

 t_gt:
[ 0.83109542 -0.55313469 -0.05764047]

Pose Error in degrees for R and t:
14.230477749306575 78.81599400155206

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.98289684 -0.17994478  0.03916223]
 [ 0.18415298  0.9618012  -0.2025491 ]
 [-0.00121863  0.20629671  0.97848872]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.95265833 -0.30138914 -0.04007599]
 [ 0.30061343  0.95343759 -0.02426483]
 [ 0.04552415  0.01106974  0.99890177]]

 t_gt:
[ 0.8390129  -0.53284439 -0.11015539]

Pose Error in degrees for R and t:
13.349169587531176 73.93756228394734

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.77485770e-01 -2.11001308e-01  1.34527551e-04]
 [ 2.11001302e-01  9.77485779e-01  5.65258207e-05]
 [-1.43425790e-04 -2.68676970e-05  9.99999989e-01]]

 t_estimated:
[[-0.70431249]
 [-0.70988963]
 [-0.00079673]]

 R_gt:
[[ 0.98011683  0.18583758 -0.06954472]
 [-0.18425796  0.98246399  0.02853088]
 [ 0.07362726 -0.01514933  0.99717065]]

 t_gt:
[-0.31330598  0.9287568  -0.19811654]

Pose Error in degrees for R and t:
23.259105378020777 63.992317566384735

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-9.99992828e-01  3.71685641e-03 -7.27303600e-04]
 [-3.71537994e-03 -9.99991056e-01 -2.02098138e-03]
 [-7.34808792e-04 -2.01826468e-03  9.99997693e-01]]

 t_estimated:
[[0.77950046]
 [0.62640096]
 [0.00093353]]

 R_gt:
[[ 0.93540986  0.32804074 -0.13190575]
 [-0.32035805  0.94421238  0.07637754]
 [ 0.1496019  -0.02918726  0.98831494]]

 t_gt:
[-0.15383225  0.96382339 -0.21766973]

Pose Error in degrees for R and t:
160.8210569673484 61.07761478544209

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.92699992 -0.37505713 -0.00181721]
 [ 0.37505993 -0.92699925 -0.00156463]
 [-0.00109773 -0.00213197  0.99999712]]

 t_estimated:
[[0.8543399 ]
 [0.51971322]
 [0.00122574]]

 R_gt:
[[ 0.86247433  0.48680575 -0.1384159 ]
 [-0.47751059  0.87334797  0.09616231]
 [ 0.16769626 -0.01684286  0.98569491]]

 t_gt:
[-0.10619935  0.97642759 -0.18791186]

Pose Error in degrees for R and t:
173.01042509783784 65.38608121290069

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.99844580e-01  1.76298593e-02 -6.00323859e-05]
 [-1.76298571e-02  9.99844581e-01  3.69874377e-05]
 [ 6.06751390e-05 -3.59233267e-05  9.99999998e-01]]

 t_estimated:
[[9.95132921e-01]
 [9.85407220e-02]
 [4.43084264e-04]]

 R_gt:
[[ 9.94387168e-01  1.05466375e-01  8.45720836e-03]
 [-1.05477685e-01  9.94421172e-01  7.82012364e-04]
 [-8.32717183e-03 -1.66965550e-03  9.99963812e-01]]

 t_gt:
[-0.37791423  0.92506781  0.03782037]

Pose Error in degrees for R and t:
5.068024654963061 73.44705217960224

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.18049453e-01 -3.96465040e-01  8.21455693e-04]
 [ 3.96465479e-01  9.18049514e-01 -4.61686846e-04]
 [-5.71094307e-04  7.49530181e-04  9.99999556e-01]]

 t_estimated:
[[0.63607956]
 [0.77162297]
 [0.0008859 ]]

 R_gt:
[[ 0.96710579  0.25027314 -0.04549261]
 [-0.24877217  0.9678856   0.03619544]
 [ 0.05309171 -0.02368804  0.998308  ]]

 t_gt:
[-0.31248935  0.94672635 -0.07784358]

Pose Error in degrees for R and t:
37.965198215198654 57.88104859080213

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.88793942e-01  1.49282526e-01 -1.12555106e-03]
 [-1.49281469e-01  9.88794266e-01  9.71091815e-04]
 [ 1.25790547e-03 -7.92185789e-04  9.99998895e-01]]

 t_estimated:
[[-0.97845295]
 [-0.20645931]
 [-0.00209047]]

 R_gt:
[[ 0.91179355  0.39431084 -0.11467821]
 [-0.38936482  0.91887879  0.06369106]
 [ 0.13049057 -0.01342171  0.99135871]]

 t_gt:
[-0.14147468  0.97638441 -0.16327402]

Pose Error in degrees for R and t:
16.375422480008186 86.39853638797464

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999856e-01  4.67788894e-04  2.61791173e-04]
 [-4.67760708e-04  9.99999885e-01 -1.07716940e-04]
 [-2.61841532e-04  1.07594469e-04  9.99999960e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99280367 -0.11969958  0.00340536]
 [ 0.11971281  0.99279954 -0.00421045]
 [-0.00287687  0.00458725  0.99998571]]

 t_gt:
[ 0.78094751 -0.6243426  -0.01781336]

Pose Error in degrees for R and t:
6.908450708125647 39.28627718586352

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 0.99992921  0.00424281  0.01111673]
 [-0.00406574  0.99986527 -0.01590294]
 [-0.01118271  0.01585662  0.99981174]]

 t_estimated:
[[0.98827203]
 [0.14973819]
 [0.02994764]]

 R_gt:
[[ 0.99267253 -0.11979558 -0.01584197]
 [ 0.11930949  0.99244332 -0.02867689]
 [ 0.01915792  0.02657676  0.99946325]]

 t_gt:
[ 0.76006035 -0.60398209 -0.23982054]

Pose Error in degrees for R and t:
7.324345051658064 49.19208656753331

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.99999786e-01  6.20109442e-04  2.07452303e-04]
 [-6.20067462e-04  9.99999787e-01 -2.02362962e-04]
 [-2.07577746e-04  2.02234285e-04  9.99999958e-01]]

 t_estimated:
[[9.99999939e-01]
 [3.46546385e-04]
 [3.46033907e-05]]

 R_gt:
[[ 0.97296448 -0.23076022 -0.00947358]
 [ 0.23024182  0.97236535 -0.0386472 ]
 [ 0.01813124  0.03542144  0.99920849]]

 t_gt:
[ 0.79965069 -0.58040454 -0.15391345]

Pose Error in degrees for R and t:
13.55860609067613 36.922942433497454

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99742804e-01 -2.26785737e-02 -8.64229891e-05]
 [ 2.26785834e-02  9.99742801e-01  1.13359724e-04]
 [ 8.38299243e-05 -1.15290519e-04  9.99999990e-01]]

 t_estimated:
[[-0.99213673]
 [-0.1251528 ]
 [-0.00121973]]

 R_gt:
[[ 0.99366749  0.11034323  0.02120936]
 [-0.11100179  0.99327571  0.03290929]
 [-0.01743496 -0.03505553  0.99923335]]

 t_gt:
[-0.38648789  0.79905441  0.46058567]

Pose Error in degrees for R and t:
7.976486949909111 73.56764477969716

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99999788e-01  6.44051445e-04 -9.89686786e-05]
 [-6.44037037e-04  9.99999782e-01  1.45534952e-04]
 [ 9.90623890e-05 -1.45471181e-04  9.99999985e-01]]

 t_estimated:
[[9.99987485e-01]
 [4.97910856e-03]
 [4.87534530e-04]]

 R_gt:
[[ 0.97824693  0.20724672  0.00904011]
 [-0.20743452  0.97769112  0.03303655]
 [-0.00199109 -0.03419377  0.99941312]]

 t_gt:
[-0.18199005  0.96725309  0.17692111]

Pose Error in degrees for R and t:
12.09179528819265 79.79995814401015

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-2.20949013e-01 -9.75283282e-01 -2.01347889e-03]
 [ 9.75285359e-01 -2.20948466e-01 -4.92812211e-04]
 [ 3.57564385e-05 -2.07260285e-03  9.99997852e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97353585  0.22587448  0.03474861]
 [-0.22593565  0.97414029 -0.00220841]
 [-0.03434866 -0.00570103  0.99939447]]

 t_gt:
[-0.1225613  0.9769049  0.1750301]

Pose Error in degrees for R and t:
115.83767065028835 83.1427637902395

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 8.40275209e-01 -5.42160070e-01 -1.78287991e-04]
 [ 5.42160033e-01  8.40275223e-01 -2.18627870e-04]
 [ 2.68342283e-04  8.70469559e-05  9.99999960e-01]]

 t_estimated:
[[-0.10707311]
 [-0.99425033]
 [-0.00127468]]

 R_gt:
[[ 0.98528232  0.17054847  0.01152878]
 [-0.17060988  0.98532744  0.00461417]
 [-0.0105733  -0.00651367  0.99992366]]

 t_gt:
[-0.74989915  0.65865304  0.06186631]

Pose Error in degrees for R and t:
42.658582109862145 54.924816798767

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 8.05096392e-01 -5.93139816e-01  2.22657175e-03]
 [-5.93142586e-01 -8.05096990e-01  8.42585439e-04]
 [ 1.29283524e-03 -1.99903702e-03 -9.99997166e-01]]

 t_estimated:
[[0.34888091]
 [0.9371663 ]
 [0.00120304]]

 R_gt:
[[ 0.91432663  0.39999532  0.0633382 ]
 [-0.39795848  0.91641381 -0.04258888]
 [-0.07507958  0.01373382  0.99708331]]

 t_gt:
[-0.66212656  0.74587991  0.07246776]

Pose Error in degrees for R and t:
179.80006321022225 62.08913622835544

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.62205298 -0.3481905  -0.70129414]
 [-0.4542995  -0.56898716  0.68546742]
 [-0.6377006   0.74499462  0.19575739]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.82535529  0.56189746  0.05531285]
 [-0.55911003  0.82702367 -0.05854835]
 [-0.07864382  0.01739683  0.99675188]]

 t_gt:
[-0.59554234  0.80172699  0.05062754]

Pose Error in degrees for R and t:
150.82764797058795 81.33146000095391

Number of keypoints:
Image1: 441
Image2: 441

 R_estimated:
[[ 2.94180657e-01  9.55749690e-01 -5.21716568e-04]
 [-9.55748461e-01  2.94179266e-01 -1.85422228e-03]
 [-1.61869417e-03  1.04410613e-03  9.99998145e-01]]

 t_estimated:
[[0.31452385]
 [0.94924889]
 [0.00113547]]

 R_gt:
[[ 0.99792825  0.06416671  0.00469253]
 [-0.06422396  0.99784992  0.0131097 ]
 [-0.00384136 -0.01338388  0.99990295]]

 t_gt:
[-0.72980067  0.65720103  0.18835548]

Pose Error in degrees for R and t:
69.21593875830118 66.76386510920521

Number of keypoints:
Image1: 387
Image2: 387

 R_estimated:
[[ 6.44394416e-01  7.64693127e-01 -5.09353373e-04]
 [ 7.64677995e-01 -6.44377165e-01  6.75530342e-03]
 [ 4.83751841e-03 -4.74257111e-03 -9.99977053e-01]]

 t_estimated:
[[-0.503867  ]
 [-0.86377199]
 [-0.00399894]]

 R_gt:
[[ 9.96364113e-01  6.90585361e-02  4.99142228e-02]
 [-6.91889074e-02  9.97603660e-01  8.88657562e-04]
 [-4.97334926e-02 -4.33874071e-03  9.98752996e-01]]

 t_gt:
[-0.71404264  0.46909624  0.51970359]

Pose Error in degrees for R and t:
179.29757367547717 87.27811807037925

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.99905817e-01 -1.37237431e-02  1.26424021e-04]
 [ 1.37237622e-02  9.99905813e-01 -1.51688994e-04]
 [-1.24330373e-04  1.53409721e-04  9.99999981e-01]]

 t_estimated:
[[-0.86395748]
 [-0.50356379]
 [-0.00098738]]

 R_gt:
[[ 0.99979483  0.01962344  0.00517573]
 [-0.01970702  0.99966994  0.01648149]
 [-0.00485066 -0.01657975  0.9998506 ]]

 t_gt:
[-0.90922752 -0.27424779  0.31319878]

Pose Error in degrees for R and t:
2.156543599769797 22.582742450053725

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.54905259e-01  2.96910596e-01  2.11876438e-04]
 [-2.96910526e-01  9.54905254e-01 -3.09215052e-04]
 [-2.94131149e-04  2.32362735e-04  9.99999930e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99727834  0.05529729  0.04875165]
 [-0.05308169  0.99754725 -0.04562631]
 [-0.05115476  0.04291508  0.99776756]]

 t_gt:
[-0.31821471  0.94665783 -0.05077739]

Pose Error in degrees for R and t:
14.662727811660865 71.62004276591932

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.80658605e-01  1.95726083e-01  3.89510565e-05]
 [-1.95726076e-01  9.80658596e-01 -1.44548114e-04]
 [-6.64895245e-05  1.34128614e-04  9.99999989e-01]]

 t_estimated:
[[-0.75894362]
 [-0.6511558 ]
 [-0.00084516]]

 R_gt:
[[ 0.98577681  0.156387    0.06153279]
 [-0.15212175  0.98596472 -0.06879322]
 [-0.07142742  0.05845409  0.9957308 ]]

 t_gt:
[-0.31616375  0.94858458 -0.01509228]

Pose Error in degrees for R and t:
5.804875274983195 67.80789908910272

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.85813363e-01  1.67845151e-01  1.37112783e-04]
 [-1.67845148e-01  9.85813372e-01 -2.80977459e-05]
 [-1.39883685e-04  4.68541793e-06  9.99999990e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.95948766  0.28150783  0.01167628]
 [-0.28116861  0.95934735 -0.02441182]
 [-0.01807375  0.02013998  0.99963345]]

 t_gt:
[-0.26486925  0.96335153 -0.04240403]

Pose Error in degrees for R and t:
6.857091700435746 68.6750998890095

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.88142838e-01  1.53535898e-01 -6.78345296e-04]
 [-1.53536144e-01  9.88142979e-01 -3.25741896e-04]
 [ 6.20289066e-04  4.26030043e-04  9.99999717e-01]]

 t_estimated:
[[-0.98944781]
 [-0.14486391]
 [-0.00273328]]

 R_gt:
[[ 0.98770396  0.13603687  0.0770414 ]
 [-0.13398572  0.99049105 -0.03122163]
 [-0.08055707  0.02051622  0.99653823]]

 t_gt:
[-0.43657536  0.82402046  0.36109865]

Pose Error in degrees for R and t:
4.912861914751091 71.84367284644863

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.7563134   0.65373828  0.0248256 ]
 [ 0.65388575  0.75658832 -0.00274672]
 [-0.02057839  0.01415572 -0.99968802]]

 t_estimated:
[[0.84364426]
 [0.53686453]
 [0.00639124]]

 R_gt:
[[ 0.94657299  0.31772926  0.05520303]
 [-0.31536143  0.94777822 -0.04755481]
 [-0.06743031  0.02760571  0.9973421 ]]

 t_gt:
[-0.3458097   0.93054415  0.1204294 ]

Pose Error in degrees for R and t:
174.58602917776506 77.95935854318063

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-9.96438017e-01 -8.42719387e-02 -3.08523202e-03]
 [-8.42688017e-02  9.96442414e-01 -1.13329195e-03]
 [ 3.16976075e-03 -8.69266375e-04 -9.99994598e-01]]

 t_estimated:
[[9.99666785e-01]
 [2.57981666e-02]
 [8.79785422e-04]]

 R_gt:
[[ 0.89211169  0.44631191  0.07029946]
 [-0.44176909  0.89428108 -0.07142159]
 [-0.09474456  0.03266071  0.99496533]]

 t_gt:
[-0.27063415  0.95507881  0.12075437]

Pose Error in degrees for R and t:
175.4306363990569 75.77097537911092

Number of keypoints:
Image1: 605
Image2: 605

 R_estimated:
[[ 9.99995731e-01  2.92195391e-03  2.43994615e-05]
 [-2.92195330e-03  9.99995731e-01 -2.50912662e-05]
 [-2.44726728e-05  2.50198650e-05  9.99999999e-01]]

 t_estimated:
[[ 6.18336819e-01]
 [-7.85913174e-01]
 [ 2.49050257e-04]]

 R_gt:
[[ 0.99897721 -0.02749618 -0.03589805]
 [ 0.02803978  0.99949797  0.01473864]
 [ 0.03547483 -0.0157299   0.99924645]]

 t_gt:
[ 0.77185583 -0.57212979 -0.27731947]

Pose Error in degrees for R and t:
2.837255449639069 22.0522050383346

Number of keypoints:
Image1: 561
Image2: 561

 R_estimated:
[[ 0.48423485  0.87483095  0.01369003]
 [ 0.87484496 -0.48389581 -0.02216159]
 [-0.01276309  0.02270807 -0.99966067]]

 t_estimated:
[[-0.5196405 ]
 [ 0.85429053]
 [-0.01270565]]

 R_gt:
[[ 0.99685716 -0.03197481 -0.07248055]
 [ 0.03549216  0.99822795  0.04775474]
 [ 0.07082561 -0.05017714  0.99622507]]

 t_gt:
[ 0.76836805 -0.61585667 -0.17415826]

Pose Error in degrees for R and t:
176.98344303486098 22.604074015734614

Number of keypoints:
Image1: 419
Image2: 419

 R_estimated:
[[ 0.87992345  0.47505538  0.00755679]
 [ 0.47506449 -0.87948471 -0.02864227]
 [-0.00696058  0.02879297 -0.99956116]]

 t_estimated:
[[-0.25226826]
 [ 0.96755145]
 [-0.01431482]]

 R_gt:
[[ 0.99788528  0.03009198 -0.05761783]
 [-0.02666873  0.99788468  0.05927875]
 [ 0.05927973 -0.05761615  0.99657678]]

 t_gt:
[-0.4172195  -0.90833969 -0.0291014 ]

Pose Error in degrees for R and t:
177.62357311297865 39.35809700407482

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99220914 -0.12456253 -0.00227885]
 [ 0.12456757  0.99220864  0.00222048]
 [ 0.0019845  -0.00248705  0.99999494]]

 t_estimated:
[[-0.46269231]
 [-0.88651846]
 [-0.00092538]]

 R_gt:
[[ 0.98766949  0.09109243  0.12732835]
 [-0.0872364   0.99555356 -0.0355489 ]
 [-0.13000084  0.02400405  0.99122375]]

 t_gt:
[-0.41660088  0.61013121  0.67393146]

Pose Error in degrees for R and t:
14.523472853788167 69.58861974060616

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-9.78511337e-01 -2.06170066e-01  3.07702256e-03]
 [-2.06170757e-01  9.78516024e-01  9.44414986e-05]
 [-3.03038689e-03 -5.41979994e-04 -9.99995261e-01]]

 t_estimated:
[[0.9795777 ]
 [0.20103274]
 [0.00365514]]

 R_gt:
[[ 0.95568664  0.25160769  0.15283477]
 [-0.2451551   0.9676257  -0.06000481]
 [-0.16298546  0.01987853  0.98642847]]

 t_gt:
[-0.3757684   0.82257248  0.42681686]

Pose Error in degrees for R and t:
170.95296578319912 78.3945983035949

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-9.16898476e-01 -3.99117246e-01 -1.61505175e-03]
 [-3.99115412e-01  9.16899709e-01 -1.34622684e-03]
 [ 2.01814282e-03 -5.89761294e-04 -9.99997790e-01]]

 t_estimated:
[[9.99903646e-01]
 [1.38463312e-02]
 [9.89024395e-04]]

 R_gt:
[[ 0.90016637  0.41368742  0.13625272]
 [-0.40265251  0.90967721 -0.10177806]
 [-0.16605067  0.03675487  0.98543219]]

 t_gt:
[-0.30207407  0.91762775  0.25828389]

Pose Error in degrees for R and t:
172.21215412067048 73.19689122229222

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99999969e-01  2.35764334e-04 -7.51188046e-05]
 [-2.35770172e-04  9.99999969e-01 -7.77161707e-05]
 [ 7.51004796e-05  7.77338791e-05  9.99999994e-01]]

 t_estimated:
[[-0.5911449 ]
 [-0.8065648 ]
 [-0.00096169]]

 R_gt:
[[ 0.99548618  0.06238307 -0.07152019]
 [-0.0573961   0.99590936  0.06978028]
 [ 0.07558112 -0.06536057  0.99499428]]

 t_gt:
[-0.95964002 -0.2734149  -0.06584315]

Pose Error in degrees for R and t:
6.681007908513751 38.01249559772713

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-8.45778002e-01 -5.33534728e-01 -5.14668410e-04]
 [-5.33534760e-01  8.45776396e-01  1.71722496e-03]
 [-4.80904759e-04  1.72698458e-03 -9.99998393e-01]]

 t_estimated:
[[9.63605657e-01]
 [2.67326051e-01]
 [9.59255808e-04]]

 R_gt:
[[ 0.99132734  0.06009535 -0.11686081]
 [-0.05106083  0.99557958  0.07882398]
 [ 0.12108165 -0.07217367  0.99001523]]

 t_gt:
[-0.51886942 -0.59352524 -0.61522542]

Pose Error in degrees for R and t:
174.631279059145 48.758030766534795

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.99999985e-01  1.63411410e-04  5.01243402e-05]
 [-1.63407059e-04  9.99999983e-01 -8.67900612e-05]
 [-5.01385218e-05  8.67818693e-05  9.99999995e-01]]

 t_estimated:
[[ 1.70150847e-01]
 [-9.85418016e-01]
 [ 1.51572677e-04]]

 R_gt:
[[ 0.98935658  0.03062603 -0.14224833]
 [-0.01683647  0.99512804  0.09714718]
 [ 0.14453038 -0.09371826  0.9850519 ]]

 t_gt:
[ 0.22526989 -0.85624193 -0.46486905]

Pose Error in degrees for R and t:
10.016847812281704 28.113528970346394

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-0.53759766 -0.84319973 -0.00172221]
 [ 0.84320074 -0.53759333 -0.00243562]
 [ 0.00112787 -0.00276155  0.99999555]]

 t_estimated:
[[0.82939299]
 [0.55866443]
 [0.00114715]]

 R_gt:
[[ 0.99441297 -0.10132644  0.02962631]
 [ 0.10268826  0.99351813 -0.04876011]
 [-0.02449433  0.05153001  0.99837154]]

 t_gt:
[ 0.76099182 -0.5741581  -0.30204955]

Pose Error in degrees for R and t:
116.69277445477712 71.93757120669973

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 7.80175536e-01  6.25560300e-01 -6.65619142e-04]
 [-6.25560205e-01  7.80175810e-01  3.68156802e-04]
 [ 7.49604233e-04  1.29157917e-04  9.99999711e-01]]

 t_estimated:
[[-0.95368531]
 [-0.30080397]
 [-0.00113941]]

 R_gt:
[[ 0.96903518 -0.1659337   0.1828593 ]
 [ 0.17668902  0.98327961 -0.04406977]
 [-0.17248922  0.07501473  0.98215044]]

 t_gt:
[ 0.67427969 -0.64517474  0.35929994]

Pose Error in degrees for R and t:
49.807704253558235 63.29551648139531

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999311e-01  1.46998183e-04  1.16438218e-03]
 [-1.45789323e-04  9.99999450e-01 -1.03821500e-03]
 [-1.16453415e-03  1.03804453e-03  9.99998783e-01]]

 t_estimated:
[[0.99385492]
 [0.11068454]
 [0.00115296]]

 R_gt:
[[ 0.94589483 -0.14492021  0.29031411]
 [ 0.16756907  0.98434775 -0.05459851]
 [-0.27785739  0.10029267  0.95537219]]

 t_gt:
[ 0.54598541 -0.50530437  0.66825701]

Pose Error in degrees for R and t:
19.40484936136504 60.825481976185706

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.72606406e-01  2.32455629e-01 -1.07673631e-03]
 [-2.32454421e-01  9.72606625e-01  1.13818846e-03]
 [ 1.31181919e-03 -8.56717269e-04  9.99998773e-01]]

 t_estimated:
[[-0.97905906]
 [ 0.20355442]
 [-0.00299384]]

 R_gt:
[[ 0.999633    0.00245799  0.02698972]
 [-0.00235428  0.99998994 -0.00388713]
 [-0.02699949  0.00382225  0.99962808]]

 t_gt:
[-0.57593832 -0.26506111  0.77332895]

Pose Error in degrees for R and t:
13.403973416756958 59.49536652510584

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 5.41423298e-02  9.98533100e-01  5.06431188e-04]
 [ 9.98522934e-01 -5.41440677e-02  4.51338649e-03]
 [ 4.53418605e-03  2.61317896e-04 -9.99989686e-01]]

 t_estimated:
[[-0.22824269]
 [-0.97359774]
 [-0.00356629]]

 R_gt:
[[ 0.99759265 -0.0610778  -0.03284218]
 [ 0.06176351  0.99788404  0.02030397]
 [ 0.03153314 -0.02228348  0.99925392]]

 t_gt:
[ 0.39120323 -0.89295481 -0.22269202]

Pose Error in degrees for R and t:
177.68300115193935 38.65844312395219

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.98035056e-01  6.26580013e-02  4.81777005e-05]
 [-6.26580025e-02  9.98035057e-01  2.49413955e-05]
 [-4.65202560e-05 -2.79111055e-05  9.99999999e-01]]

 t_estimated:
[[ 5.95332066e-01]
 [-8.03479563e-01]
 [-5.67870532e-04]]

 R_gt:
[[ 0.99402185 -0.08237909 -0.0716586 ]
 [ 0.08612643  0.994984    0.05087746]
 [ 0.0671081  -0.05674415  0.99613063]]

 t_gt:
[ 0.44608157 -0.86249128 -0.23899796]

Pose Error in degrees for R and t:
9.825136424723354 16.52484284646497

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.97256208e-01  7.40272634e-02 -1.41988742e-04]
 [-7.40272636e-02  9.97256218e-01  3.41145312e-06]
 [ 1.41851697e-04  7.10894525e-06  9.99999990e-01]]

 t_estimated:
[[-9.95701999e-01]
 [-9.26130210e-02]
 [-5.97930155e-04]]

 R_gt:
[[ 0.96225569  0.26467098  0.0633461 ]
 [-0.26322885  0.96425788 -0.0302816 ]
 [-0.06909659  0.01246521  0.99753095]]

 t_gt:
[-0.71959148  0.68652165  0.10428871]

Pose Error in degrees for R and t:
11.788230877438513 49.2427601614213

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 8.76495750e-01  4.81405609e-01  1.95973976e-03]
 [-4.81406937e-01  8.76497177e-01  2.43265118e-04]
 [-1.60059717e-03 -1.15665316e-03  9.99998050e-01]]

 t_estimated:
[[-0.82827586]
 [ 0.56031527]
 [ 0.00243071]]

 R_gt:
[[ 0.92140186  0.38471365  0.05489853]
 [-0.38191535  0.9225558  -0.05505747]
 [-0.07182881  0.02976435  0.99697201]]

 t_gt:
[-0.67890777  0.73295378  0.04316241]

Pose Error in degrees for R and t:
7.600845492765202 13.316390585801672

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 7.49886577e-02  9.97184227e-01  5.64982267e-04]
 [ 9.97182565e-01 -7.49895916e-02  1.86896903e-03]
 [ 1.90607423e-03  4.23238987e-04 -9.99998094e-01]]

 t_estimated:
[[-0.50800192]
 [-0.86135547]
 [-0.00089912]]

 R_gt:
[[ 0.89001317  0.45424968  0.03915223]
 [-0.4514141   0.88999678 -0.06427339]
 [-0.0640416   0.03953086  0.99716315]]

 t_gt:
[-0.65367725  0.75665053  0.01363905]

Pose Error in degrees for R and t:
175.7637406114355 71.35594031902222

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.87145223e-01 -1.59825863e-01 -5.55068708e-05]
 [ 1.59825846e-01  9.87145198e-01 -2.37485698e-04]
 [ 9.27496977e-05  2.25561440e-04  9.99999970e-01]]

 t_estimated:
[[-0.60358798]
 [-0.79729513]
 [-0.00142407]]

 R_gt:
[[ 0.99910075  0.03181339  0.02802279]
 [-0.03042619  0.9983528  -0.04864846]
 [-0.02952377  0.04775277  0.99842286]]

 t_gt:
[-0.22515594  0.91917505 -0.32314398]

Pose Error in degrees for R and t:
11.439396903910527 53.380920335312666

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.9887129   0.14980256  0.00244769]
 [-0.14979276  0.98871015 -0.00379001]
 [-0.00298781  0.00338059  0.99998982]]

 t_estimated:
[[-0.86699396]
 [-0.49831655]
 [-0.00144839]]

 R_gt:
[[ 0.99679002  0.07945871  0.00984143]
 [-0.07932011  0.99675445 -0.01374061]
 [-0.01090149  0.0129168   0.99985727]]

 t_gt:
[-0.17928573  0.98191096 -0.06088925]

Pose Error in degrees for R and t:
4.122767507252409 70.50195811949207

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[-7.02962718e-01 -7.11223425e-01 -2.15800939e-03]
 [ 7.11226482e-01 -7.02961637e-01 -1.35219221e-03]
 [-5.55287035e-04 -2.48537414e-03  9.99996757e-01]]

 t_estimated:
[[0.97669434]
 [0.21463159]
 [0.0012058 ]]

 R_gt:
[[ 0.99530433  0.09615521  0.01113374]
 [-0.09629803  0.99526752  0.01301891]
 [-0.00983001 -0.01402957  0.99985311]]

 t_gt:
[-0.07709119  0.98975535  0.1201719 ]

Pose Error in degrees for R and t:
140.18920013005126 82.1093362987304

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.95735834e-01  9.22502701e-02  1.89924635e-04]
 [-9.22502420e-02  9.95735843e-01 -1.52090760e-04]
 [-2.03145180e-04  1.33921626e-04  9.99999970e-01]]

 t_estimated:
[[-0.21705823]
 [ 0.97615778]
 [ 0.00130965]]

 R_gt:
[[ 0.99807773 -0.06125663 -0.00937276]
 [ 0.06127497  0.99811882  0.00167331]
 [ 0.00925259 -0.00224359  0.9999547 ]]

 t_gt:
[ 0.73258639 -0.67672706 -0.07319615]

Pose Error in degrees for R and t:
8.823457737459837 34.94501128430544

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.31057425 -0.95054625 -0.0023382 ]
 [ 0.95054514 -0.31057913  0.00212893]
 [-0.00274985 -0.00156137  0.999995  ]]

 t_estimated:
[[0.95718018]
 [0.28948864]
 [0.00155639]]

 R_gt:
[[ 0.99962969 -0.01956181  0.01888998]
 [ 0.01964714  0.99979634 -0.00438249]
 [-0.01880028  0.00475303  0.99981249]]

 t_gt:
[ 0.42378019 -0.87891288  0.21891209]

Pose Error in degrees for R and t:
106.9749441347598 81.28385121314848

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99999561e-01 -8.12389426e-04 -4.67632898e-04]
 [ 8.12548732e-04  9.99999612e-01  3.40574677e-04]
 [ 4.67356038e-04 -3.40954502e-04  9.99999833e-01]]

 t_estimated:
[[-0.01381145]
 [-0.99990396]
 [-0.00114296]]

 R_gt:
[[ 0.99824975  0.05781054 -0.01242469]
 [-0.05787458  0.99831212 -0.00477643]
 [ 0.01212792  0.00548824  0.9999116 ]]

 t_gt:
[-0.90259347  0.16283889 -0.39850788]

Pose Error in degrees for R and t:
3.4447229780278223 81.3787728791493

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.89304255e-01  1.45866688e-01  2.94163364e-05]
 [-1.45866691e-01  9.89304246e-01  1.29507953e-04]
 [-1.02108102e-05 -1.32413633e-04  9.99999991e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.9962235  -0.08634263  0.0091965 ]
 [ 0.08630427  0.9962592   0.00451324]
 [-0.00955196 -0.0037015   0.9999476 ]]

 t_gt:
[ 0.82021119 -0.56206127  0.10649285]

Pose Error in degrees for R and t:
13.352267971756557 68.81461720201168

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-7.79110130e-01 -6.26653906e-01  1.70964048e-02]
 [-6.26886362e-01  7.78860591e-01 -1.97400354e-02]
 [-9.45545649e-04 -2.60971646e-02 -9.99658964e-01]]

 t_estimated:
[[0.99537121]
 [0.09479726]
 [0.01579954]]

 R_gt:
[[ 0.98727972 -0.15566674  0.03233893]
 [ 0.15536861  0.9877892   0.0115526 ]
 [-0.03374159 -0.00638055  0.99940979]]

 t_gt:
[ 0.85395808 -0.47912205  0.20297206]

Pose Error in degrees for R and t:
177.59924315539993 36.119170232274854

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 8.07345992e-01  5.90078196e-01  4.13963619e-04]
 [-5.90078341e-01  8.07345771e-01  5.97510646e-04]
 [ 1.83662269e-05 -7.26668791e-04  9.99999736e-01]]

 t_estimated:
[[0.55063543]
 [0.83474533]
 [0.00092544]]

 R_gt:
[[ 0.98054816 -0.19355982  0.0325666 ]
 [ 0.19309448  0.98103481  0.01689893]
 [-0.03521977 -0.01028069  0.99932674]]

 t_gt:
[ 0.88490826 -0.42499091  0.19057833]

Pose Error in degrees for R and t:
47.35621797190223 82.37556877246969

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-9.93486936e-01  1.13932923e-01  1.73128979e-03]
 [-1.13944238e-01 -9.93442523e-01 -9.41613511e-03]
 [ 6.47129107e-04 -9.55207771e-03  9.99954168e-01]]

 t_estimated:
[[0.84812413]
 [0.52979637]
 [0.00112483]]

 R_gt:
[[ 0.95697411 -0.28000104  0.07616372]
 [ 0.28553955  0.95539704 -0.07539455]
 [-0.05165573  0.09389812  0.99424005]]

 t_gt:
[ 0.85810378 -0.46594958 -0.21575192]

Pose Error in degrees for R and t:
170.09761329466295 61.27034371933393

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.99390855 -0.10946227  0.01279884]
 [-0.1095617   0.99395288 -0.00734232]
 [-0.01191773 -0.00869986 -0.99989113]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.88657585 -0.43318377  0.16227945]
 [ 0.45451344  0.88098689 -0.13145022]
 [-0.0860244   0.19029863  0.9779495 ]]

 t_gt:
[ 0.89883122 -0.32126766 -0.29814346]

Pose Error in degrees for R and t:
172.5966157598747 28.353219148571924

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.07741681 -0.99699802 -0.00125711]
 [ 0.99699567  0.07741334  0.00260812]
 [-0.00250298 -0.00145524  0.99999581]]

 t_estimated:
[[0.99991294]
 [0.01314103]
 [0.00119464]]

 R_gt:
[[ 0.79922239 -0.56476784  0.20562175]
 [ 0.59212695  0.79854919 -0.10818952]
 [-0.10309788  0.20822165  0.97263269]]

 t_gt:
[ 0.9428532  -0.24842471 -0.22206533]

Pose Error in degrees for R and t:
51.34881506538259 20.075474585416536

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-6.02897375e-02  9.98168101e-01  5.05853126e-03]
 [ 9.98180882e-01  6.02903395e-02  3.35416366e-05]
 [-2.71500375e-04  5.05135141e-03 -9.99987205e-01]]

 t_estimated:
[[-0.00759197]
 [-0.99997059]
 [-0.00108457]]

 R_gt:
[[ 0.99804001  0.05253011 -0.03403028]
 [-0.05264931  0.9986102  -0.00260607]
 [ 0.03384612  0.00439146  0.99941672]]

 t_gt:
[-0.71405246  0.57134907 -0.40458537]

Pose Error in degrees for R and t:
178.92480297179497 55.564897480078756

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.95965067 -0.28118698 -0.00211483]
 [ 0.28118955  0.9596517   0.00102852]
 [ 0.0017403  -0.00158169  0.99999723]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99419072  0.06772149 -0.08366524]
 [-0.06711668  0.99769535  0.01002748]
 [ 0.08415037 -0.00435467  0.99644316]]

 t_gt:
[-0.63203443  0.5166967  -0.57754394]

Pose Error in degrees for R and t:
20.74098344742408 78.57752952216869

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 8.28669283e-01  5.59738479e-01  2.32053296e-04]
 [-5.59738170e-01  8.28669152e-01 -7.85957866e-04]
 [-6.32226269e-04  5.21410054e-04  9.99999664e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99253308  0.05663072 -0.10804199]
 [-0.05926492  0.99801513 -0.02133204]
 [ 0.1066193   0.0275754   0.99391748]]

 t_gt:
[-0.48993786  0.41141927 -0.7685669 ]

Pose Error in degrees for R and t:
31.337730216705502 60.708345047942984

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.96330652  0.26826432  0.00864891]
 [-0.26819805  0.96332974 -0.00810067]
 [-0.01050487  0.0054838   0.99992979]]

 t_estimated:
[[0.69698235]
 [0.71708764]
 [0.00095739]]

 R_gt:
[[ 0.99629904 -0.04068834  0.07571696]
 [ 0.03261385  0.99393987  0.10497412]
 [-0.07952929 -0.10211603  0.99158773]]

 t_gt:
[ 0.12589447 -0.36619979  0.92198064]

Pose Error in degrees for R and t:
19.163700264872745 79.98136803903564

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.67699153e-01  2.52107303e-01  5.06893087e-04]
 [-2.52106148e-01  9.67698114e-01 -1.68833558e-03]
 [-9.16161215e-04  1.50601005e-03  9.99998446e-01]]

 t_estimated:
[[8.23859728e-01]
 [5.66793320e-01]
 [6.92901370e-04]]

 R_gt:
[[ 0.99426065  0.00447278  0.10688756]
 [-0.0228826   0.98489422  0.17164194]
 [-0.10450592 -0.17310234  0.97934326]]

 t_gt:
[-0.13449003 -0.05221686  0.98953819]

Pose Error in degrees for R and t:
18.09708113633692 81.9688516471836

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-5.55793751e-01  8.31319949e-01 -6.69915519e-04]
 [-8.31317762e-01 -5.55793887e-01 -1.98327592e-03]
 [-2.02107179e-03 -5.45379695e-04  9.99997809e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97727059  0.15799487  0.14134841]
 [-0.18008044  0.97050996  0.16025678]
 [-0.11186014 -0.1820682   0.97690263]]

 t_gt:
[-0.50192345  0.52105588  0.69034312]

Pose Error in degrees for R and t:
114.35262871137984 58.75942483760863

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.99453520e-01  3.30551778e-02 -1.25001014e-04]
 [-3.30551723e-02  9.99453527e-01  4.58050506e-05]
 [ 1.26446798e-04 -4.16480890e-05  9.99999991e-01]]

 t_estimated:
[[-0.99955238]
 [ 0.029897  ]
 [-0.00110324]]

 R_gt:
[[ 0.98905943  0.14719209  0.00980674]
 [-0.14734873  0.98892572  0.01774902]
 [-0.00708623 -0.0190002   0.99979494]]

 t_gt:
[-0.95363324  0.24760086  0.17110656]

Pose Error in degrees for R and t:
6.677015282951257 16.174013322625207

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-9.97880549e-01 -6.50700369e-02 -5.47874487e-04]
 [ 6.50713758e-02 -9.97876256e-01 -2.94859008e-03]
 [-3.54846076e-04 -2.97799163e-03  9.99995503e-01]]

 t_estimated:
[[8.41427355e-01]
 [5.40369649e-01]
 [8.06008001e-04]]

 R_gt:
[[ 0.97876526  0.20193998  0.03520054]
 [-0.20336676  0.97815104  0.04316718]
 [-0.02571371 -0.04940853  0.9984477 ]]

 t_gt:
[-0.93089542  0.18301895  0.31612939]

Pose Error in degrees for R and t:
172.0307424803455 46.83291813184956

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.49849071e-01 -5.27025675e-01 -7.02918248e-04]
 [ 5.27026143e-01  8.49848292e-01  1.15136067e-03]
 [-9.42276108e-06 -1.34893909e-03  9.99999090e-01]]

 t_estimated:
[[-0.64327283]
 [-0.76563648]
 [-0.0009172 ]]

 R_gt:
[[ 0.9838343   0.16328188  0.07355588]
 [-0.16683022  0.9849621   0.04493164]
 [-0.06511253 -0.05647659  0.99627904]]

 t_gt:
[-0.89355839 -0.0357765   0.44751922]

Pose Error in degrees for R and t:
41.60171838538409 53.00228564146794

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[-6.84840110e-01 -7.28689862e-01  2.26028006e-03]
 [-7.28688814e-01  6.84843502e-01  1.41094104e-03]
 [-2.57607654e-03 -6.80771776e-04 -9.99996450e-01]]

 t_estimated:
[[0.92374712]
 [0.38299454]
 [0.00253765]]

 R_gt:
[[ 0.9942583   0.10695311 -0.00339004]
 [-0.10697784  0.99422928 -0.00802267]
 [ 0.0025129   0.0083391   0.99996223]]

 t_gt:
[-0.9668612   0.24701613 -0.06451711]

Pose Error in degrees for R and t:
179.8048839201716 36.994513293998324

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[-0.92462394  0.38070672 -0.01153086]
 [ 0.3806967   0.92469464  0.00313802]
 [ 0.01185719 -0.00148827 -0.99992859]]

 t_estimated:
[[ 0.98335015]
 [-0.18163311]
 [-0.00564801]]

 R_gt:
[[ 9.77228122e-01  2.12107965e-01  5.88500332e-03]
 [-2.12190109e-01  9.76859115e-01  2.68449285e-02]
 [-5.36803880e-05 -2.74823487e-02  9.99621697e-01]]

 t_gt:
[-0.95519138  0.24305536  0.16891867]

Pose Error in degrees for R and t:
179.179537193506 10.13738672941524

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 0.36293113  0.9318151  -0.00126981]
 [-0.93181303  0.36292622 -0.00300661]
 [-0.00234076  0.00227442  0.99999467]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96729356  0.24930554  0.0467943 ]
 [-0.25112699  0.96720456  0.03810058]
 [-0.03576021 -0.04860521  0.99817761]]

 t_gt:
[-0.94396144  0.18368691  0.27421873]

Pose Error in degrees for R and t:
54.32525586877957 79.74200194445787

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 2.59146632e-01  9.65837731e-01  7.07211135e-04]
 [-9.65836501e-01  2.59147449e-01 -1.56633440e-03]
 [-1.69609682e-03 -2.77140044e-04  9.99998523e-01]]

 t_estimated:
[[0.01605631]
 [0.99987002]
 [0.00145966]]

 R_gt:
[[ 0.99782665  0.01467458  0.06423216]
 [-0.01986814  0.99651871  0.08096948]
 [-0.06281972 -0.08207012  0.99464504]]

 t_gt:
[-0.2435479   0.01357418  0.96979388]

Pose Error in degrees for R and t:
74.1904037677394 89.36529259795077

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99277962e-01  3.79898403e-02  5.71029303e-04]
 [-3.79888395e-02  9.99276765e-01 -1.67160636e-03]
 [-6.34120374e-04  1.64870666e-03  9.99998440e-01]]

 t_estimated:
[[0.51216504]
 [0.85888648]
 [0.00099355]]

 R_gt:
[[ 0.98584971  0.15092048  0.0729568 ]
 [-0.15845558  0.98101494  0.11181595]
 [-0.05469652 -0.12179362  0.99104717]]

 t_gt:
[-0.57916047  0.62230636  0.52660037]

Pose Error in degrees for R and t:
10.274252949083378 76.2085832546109

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 0.23619924  0.96673895  0.09811073]
 [ 0.96971349 -0.22805024 -0.08745766]
 [-0.06217455  0.11579673 -0.99132509]]

 t_estimated:
[[9.99326729e-01]
 [3.66800186e-02]
 [8.15111525e-04]]

 R_gt:
[[ 0.96864302  0.23354393  0.08478625]
 [-0.24235692  0.9632994   0.11540509]
 [-0.05472277 -0.13233489  0.98969353]]

 t_gt:
[-0.57960169  0.72513654  0.37180489]

Pose Error in degrees for R and t:
175.9206234987394 56.47434045867729

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99883575e-01  1.52558636e-02 -3.09298407e-04]
 [-1.52557182e-02  9.99883516e-01  4.67028051e-04]
 [ 3.16387295e-04 -4.62255108e-04  9.99999843e-01]]

 t_estimated:
[[-0.52603224]
 [-0.85046385]
 [-0.00115228]]

 R_gt:
[[ 0.98388498  0.17811054 -0.01572588]
 [-0.17869931  0.98250908 -0.05236845]
 [ 0.0061234   0.05433507  0.99850346]]

 t_gt:
[-0.36894482  0.89386564 -0.25472326]

Pose Error in degrees for R and t:
9.924903836372955 55.54005066122641

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.98259393e-01  5.89752582e-02 -3.19758900e-04]
 [-5.89752604e-02  9.98259445e-01  2.55822142e-06]
 [ 3.19353214e-04  1.63040959e-05  9.99999949e-01]]

 t_estimated:
[[-0.91773421]
 [-0.39719313]
 [-0.00124107]]

 R_gt:
[[ 0.94467887  0.32756748 -0.01677584]
 [-0.32795871  0.94253398 -0.06381568]
 [-0.00509303  0.06578762  0.99782099]]

 t_gt:
[-0.28199284  0.94711722 -0.15313068]

Pose Error in degrees for R and t:
16.21785181591525 83.26923922562186

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.93536482 -0.35365898 -0.0042413 ]
 [-0.35367055  0.93536707  0.00236459]
 [ 0.00313091  0.00371178 -0.99998821]]

 t_estimated:
[[ 0.95838037]
 [-0.28547821]
 [-0.00304329]]

 R_gt:
[[ 0.90559001  0.42399069 -0.01176093]
 [-0.41949383  0.89119447 -0.17261468]
 [-0.06270636  0.1612526   0.98491877]]

 t_gt:
[-0.21417991  0.96459873 -0.15387094]

Pose Error in degrees for R and t:
179.46191680182858 61.30352963941528

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99271730e-01 -3.81575722e-02 -9.76316943e-05]
 [ 3.81575797e-02  9.99271731e-01  7.58956650e-05]
 [ 9.46645979e-05 -7.95657816e-05  9.99999992e-01]]

 t_estimated:
[[8.11021870e-01]
 [5.85015358e-01]
 [7.46664081e-04]]

 R_gt:
[[ 0.99943036 -0.00719033 -0.03299626]
 [ 0.00688918  0.9999339  -0.00922532]
 [ 0.0330592   0.00899338  0.99941356]]

 t_gt:
[-0.20406315  0.10971734 -0.97278998]

Pose Error in degrees for R and t:
2.6483269791801844 84.14336235823893

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999970e-01 -1.38876684e-04 -2.03647776e-04]
 [ 1.38898173e-04  9.99999985e-01  1.05510068e-04]
 [ 2.03633120e-04 -1.05538351e-04  9.99999974e-01]]

 t_estimated:
[[-0.91938806]
 [-0.39334635]
 [-0.00206064]]

 R_gt:
[[ 0.99919066  0.01207448 -0.03839709]
 [-0.01304936  0.99959621 -0.02524361]
 [ 0.03807606  0.02572415  0.99894424]]

 t_gt:
[-0.48415831  0.33200084 -0.8095469 ]

Pose Error in degrees for R and t:
2.7254283686238328 71.56635166917576

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99998684e-01 -1.67104690e-04  1.61363572e-03]
 [ 1.70107979e-04  9.99998253e-01 -1.86123584e-03]
 [-1.61332188e-03  1.86150789e-03  9.99996966e-01]]

 t_estimated:
[[0.99990176]
 [0.0138948 ]
 [0.00184615]]

 R_gt:
[[ 0.99808734 -0.02462581  0.0567038 ]
 [ 0.02669579  0.99899355 -0.03604494]
 [-0.05575926  0.03749035  0.99774043]]

 t_gt:
[-0.78958001 -0.5220292   0.32256614]

Pose Error in degrees for R and t:
3.994195303356783 37.23500069728797

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99994435e-01 -3.33591565e-03  4.36973103e-05]
 [ 3.33591962e-03  9.99994432e-01 -9.11330624e-05]
 [-4.33930548e-05  9.12783259e-05  9.99999995e-01]]

 t_estimated:
[[-0.01271011]
 [-0.9999182 ]
 [-0.00142771]]

 R_gt:
[[ 0.99997921  0.00556989  0.00337304]
 [-0.00554324  0.99995211 -0.00807472]
 [-0.00341784  0.00805497  0.99996186]]

 t_gt:
[-0.4106004  -0.79401145 -0.44827796]

Pose Error in degrees for R and t:
0.7093180327379225 36.88848735053162

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.99808227e-01  1.95772815e-02  4.89665419e-04]
 [-1.95764516e-02  9.99807008e-01 -1.64583128e-03]
 [-5.21791820e-04  1.63592974e-03  9.99998526e-01]]

 t_estimated:
[[-0.73489198]
 [-0.67818006]
 [-0.002363  ]]

 R_gt:
[[ 0.99641741  0.08134069  0.02316697]
 [-0.08120353  0.99667459 -0.00685832]
 [-0.02364811  0.0049517   0.99970835]]

 t_gt:
[-0.86661513  0.46867221  0.17124422]

Pose Error in degrees for R and t:
3.783675843573396 71.42052841645152

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-1.85015526e-01 -9.82734108e-01 -1.71125144e-03]
 [ 9.82735591e-01 -1.85015046e-01 -4.35984800e-04]
 [ 1.11849870e-04 -1.76237165e-03  9.99998441e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9924433   0.1222113  -0.01104216]
 [-0.1223622   0.9923835  -0.01424447]
 [ 0.00921744  0.01548746  0.99983795]]

 t_gt:
[-0.79064608  0.57665631 -0.20578209]

Pose Error in degrees for R and t:
107.69016228959583 37.90658383258452

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999953e-01  3.00689623e-04  6.09787932e-05]
 [-3.00694760e-04  9.99999951e-01  8.42646089e-05]
 [-6.09534528e-05 -8.42829409e-05  9.99999995e-01]]

 t_estimated:
[[9.76595842e-01]
 [2.15082433e-01]
 [3.28208978e-04]]

 R_gt:
[[ 0.98015772 -0.19696769 -0.02223977]
 [ 0.1974154   0.98011389  0.02009089]
 [ 0.01783982 -0.02408313  0.99955076]]

 t_gt:
[ 0.86078036 -0.50766826  0.03647055]

Pose Error in degrees for R and t:
11.520737980212722 42.99140764517235

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99953761e-01  9.59424229e-03  6.52878740e-04]
 [-9.59403321e-03  9.99953924e-01 -3.22619204e-04]
 [-6.55943945e-04  3.16340546e-04  9.99999735e-01]]

 t_estimated:
[[ 0.74161015]
 [-0.6708301 ]
 [-0.00116927]]

 R_gt:
[[ 0.89627136 -0.44343453  0.00797684]
 [ 0.44347731  0.89585833 -0.02765747]
 [ 0.0051177   0.02832657  0.9995851 ]]

 t_gt:
[ 0.91670968 -0.39201816 -0.07723421]

Pose Error in degrees for R and t:
26.928649219319684 19.4540162561028

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 1.00000000e+00 -7.77156117e-16  6.07153217e-18]
 [ 8.88178420e-16  1.00000000e+00  1.27935856e-17]
 [ 1.75640752e-16 -1.66750294e-16  1.00000000e+00]]

 t_estimated:
[[-0.42680745]
 [-0.90434106]
 [-0.00163   ]]

 R_gt:
[[ 0.78413896 -0.61330501  0.09478158]
 [ 0.62048783  0.77753103 -0.10217582]
 [-0.01103132  0.1389312   0.99024055]]

 t_gt:
[ 0.95029412 -0.24387664 -0.19355947]

Pose Error in degrees for R and t:
39.108278749116614 79.35464087488732

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 1.00000000e+00  4.76632459e-14  3.41021673e-16]
 [-4.57604243e-14  1.00000000e+00 -1.21779463e-15]
 [ 1.14615966e-15  1.21779463e-15  1.00000000e+00]]

 t_estimated:
[[-8.80578437e-12]
 [-1.00000000e+00]
 [-8.79677536e-15]]

 R_gt:
[[ 0.9954009   0.07991222  0.05284074]
 [-0.08063318  0.99667538  0.01167227]
 [-0.05173117 -0.01587919  0.99853419]]

 t_gt:
[-0.33556302  0.83926391  0.4278242 ]

Pose Error in degrees for R and t:
5.55411090040789 32.93752829903652

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.16002553  0.98710708  0.0033832 ]
 [-0.9870949  -0.160001   -0.00658288]
 [-0.00595669 -0.00439297  0.99997261]]

 t_estimated:
[[0.09273954]
 [0.99567136]
 [0.00615788]]

 R_gt:
[[ 0.982516    0.15941589  0.09617236]
 [-0.1542067   0.98625078 -0.05939807]
 [-0.10431793  0.04352989  0.99359101]]

 t_gt:
[-0.28686654  0.94015496  0.18389191]

Pose Error in degrees for R and t:
90.30771437808647 24.409675704204595

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.88282304e-01  1.52637107e-01 -1.79164773e-05]
 [-1.52637108e-01  9.88282286e-01 -1.92430680e-04]
 [-1.16655252e-05  1.92910555e-04  9.99999981e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.96199811  0.26005666  0.08325044]
 [-0.25680399  0.96527868 -0.04782902]
 [-0.09279783  0.02463255  0.9953801 ]]

 t_gt:
[-0.24603573  0.96271623  0.112445  ]

Pose Error in degrees for R and t:
8.314337427251688 75.93856478842108

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 2.02566172e-01 -9.79267225e-01 -1.62721488e-03]
 [-9.79267990e-01 -2.02567591e-01  7.58393167e-04]
 [-1.07229057e-03  1.43985464e-03 -9.99998389e-01]]

 t_estimated:
[[0.71278535]
 [0.70138079]
 [0.00142557]]

 R_gt:
[[ 0.99917266 -0.00505557 -0.04034358]
 [ 0.00146044  0.99606232 -0.08863785]
 [ 0.04063284  0.08850591  0.99524636]]

 t_gt:
[ 0.27065963  0.64686006 -0.71296243]

Pose Error in degrees for R and t:
174.56640554214957 49.789243801458255

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.46122515e-01 -3.23806573e-01 -1.22094642e-03]
 [ 3.23808186e-01  9.46121554e-01  1.50456593e-03]
 [ 6.67975389e-04 -1.81885614e-03  9.99998123e-01]]

 t_estimated:
[[-0.61339889]
 [-0.78977279]
 [-0.00086884]]

 R_gt:
[[ 0.99989283  0.01305329  0.0065948 ]
 [-0.01192702  0.9887835  -0.14887647]
 [-0.00846445  0.14878247  0.98883437]]

 t_gt:
[ 0.07276886  0.77957317 -0.62206942]

Pose Error in degrees for R and t:
21.42712907849822 48.71678646065443

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 8.65935106e-01 -5.00156332e-01  1.90332050e-04]
 [ 5.00156359e-01  8.65935100e-01 -1.38319825e-04]
 [-9.56336668e-05  2.14971777e-04  9.99999972e-01]]

 t_estimated:
[[-0.7516172 ]
 [-0.65959906]
 [-0.00081432]]

 R_gt:
[[ 0.99810793  0.06098046 -0.00791994]
 [-0.0614836   0.98752222 -0.14497951]
 [-0.00101972  0.14519191  0.9894036 ]]

 t_gt:
[ 0.04978731  0.85993274 -0.50797333]

Pose Error in degrees for R and t:
34.531511867770234 52.82739683510967

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.27377197e-01 -3.74125466e-01  1.29247688e-03]
 [ 3.74127180e-01  9.27376130e-01 -1.53868969e-03]
 [-6.22949208e-04  1.91049647e-03  9.99997981e-01]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.9942738  -0.10635992  0.01040497]
 [ 0.10642445  0.99430338 -0.005816  ]
 [-0.00972694  0.00688927  0.99992881]]

 t_gt:
[ 0.84463664 -0.53403311  0.03738437]

Pose Error in degrees for R and t:
15.873407656110512 59.358969026373074

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99787609e-01 -2.06046114e-02 -4.31423282e-04]
 [ 2.06049130e-02  9.99787447e-01  7.06656953e-04]
 [ 4.16771190e-04 -7.15396304e-04  9.99999657e-01]]

 t_estimated:
[[9.99987772e-01]
 [4.87798864e-03]
 [8.12998175e-04]]

 R_gt:
[[ 0.98584957 -0.16402201  0.0346219 ]
 [ 0.16343419  0.98636747  0.01920097]
 [-0.037299   -0.01327147  0.99921605]]

 t_gt:
[ 0.84412176 -0.47716539  0.2444824 ]

Pose Error in degrees for R and t:
8.553765664111904 32.6499272522004

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-7.35783207e-01 -6.77215022e-01 -1.69870494e-03]
 [ 6.77212984e-01 -7.35785165e-01  1.66303822e-03]
 [-2.37611636e-03  7.32505558e-05  9.99997174e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.90605198e-01 -1.36579462e-01 -6.99624919e-03]
 [ 1.36579582e-01  9.90628580e-01 -3.70409932e-04]
 [ 6.98204274e-03 -5.88757403e-04  9.99975350e-01]]

 t_gt:
[ 0.9525635  -0.30416925  0.01019077]

Pose Error in degrees for R and t:
129.52412737997105 17.89459865397018

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999921e-01 -3.83134362e-04  1.08931559e-04]
 [ 3.83132810e-04  9.99999927e-01  1.42685466e-05]
 [-1.08937018e-04 -1.42268102e-05  9.99999994e-01]]

 t_estimated:
[[9.99992907e-01]
 [3.71851743e-03]
 [5.99474704e-04]]

 R_gt:
[[ 0.99698319 -0.07683038  0.01103046]
 [ 0.07693748  0.99699005 -0.00960669]
 [-0.01025811  0.01042692  0.99989257]]

 t_gt:
[ 0.85068344 -0.52565924  0.0044783 ]

Pose Error in degrees for R and t:
4.4663055026025775 31.926692314336837

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99890779e-01  2.72362294e-05  1.47793675e-02]
 [ 2.22836994e-04  9.99856847e-01 -1.69185174e-02]
 [-1.47777126e-02  1.69199629e-02  9.99747635e-01]]

 t_estimated:
[[0.99986256]
 [0.00287901]
 [0.01632677]]

 R_gt:
[[ 0.98089577 -0.19318272  0.02288851]
 [ 0.19302165  0.98115338  0.00904711]
 [-0.02420367 -0.00445545  0.99969658]]

 t_gt:
[ 0.85110328 -0.51223041  0.11507918]

Pose Error in degrees for R and t:
11.22345693580995 31.6367727166311

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99792353e-01 -2.03762458e-02  2.42996494e-04]
 [ 2.03767413e-02  9.99789843e-01 -2.24890632e-03]
 [-1.97121158e-04  2.25339081e-03  9.99997442e-01]]

 t_estimated:
[[-0.65110641]
 [-0.75897225]
 [-0.00464327]]

 R_gt:
[[ 0.97490072 -0.21945406  0.03752103]
 [ 0.21840088  0.97539152  0.03023207]
 [-0.04323129 -0.02127849  0.99883835]]

 t_gt:
[ 0.85354556 -0.47630577  0.21117006]

Pose Error in degrees for R and t:
11.826660384458934 78.74203638693473

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99440327e-01 -3.34519319e-02 -1.30446056e-05]
 [ 3.34519317e-02  9.99440327e-01 -1.04566632e-05]
 [ 1.33871005e-05  1.00144436e-05  1.00000000e+00]]

 t_estimated:
[[ 7.51775834e-01]
 [-6.59418492e-01]
 [-5.90668098e-04]]

 R_gt:
[[ 0.99650892 -0.07013058 -0.04529318]
 [ 0.07076637  0.99741402  0.01259263]
 [ 0.04429258 -0.01575349  0.99889427]]

 t_gt:
[ 0.4323443  -0.85755846 -0.27869679]

Pose Error in degrees for R and t:
3.430884065205837 27.04111482889639

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.86081200e-01  1.66264152e-01  3.14854900e-04]
 [-1.66264137e-01  9.86081250e-01 -7.34301552e-05]
 [-3.22681316e-04  2.00590173e-05  9.99999948e-01]]

 t_estimated:
[[ 0.58667135]
 [-0.80982444]
 [-0.001053  ]]

 R_gt:
[[ 0.99223767 -0.12029962 -0.03149851]
 [ 0.12046198  0.99271256  0.00329714]
 [ 0.03087183 -0.00706556  0.99949864]]

 t_gt:
[ 0.46413259 -0.87515452 -0.13669496]

Pose Error in degrees for R and t:
16.587429265368947 11.139784541346984

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 8.35370822e-01 -5.49682752e-01 -2.11229779e-03]
 [ 5.49684103e-01  8.35372600e-01  7.16912061e-05]
 [ 1.72514828e-03 -1.22098526e-03  9.99997767e-01]]

 t_estimated:
[[0.98331608]
 [0.18190205]
 [0.00106371]]

 R_gt:
[[ 0.98237835 -0.18495414 -0.02691257]
 [ 0.18542893  0.98252158  0.01638868]
 [ 0.02341083 -0.02109001  0.9995038 ]]

 t_gt:
[ 0.47444149 -0.88022716 -0.01026715]

Pose Error in degrees for R and t:
22.73228496193825 72.15759496963311

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 1.81616998e-01  9.83368456e-01  1.32140964e-03]
 [-9.83367488e-01  1.81619102e-01 -1.69880910e-03]
 [-1.91054852e-03 -9.90898664e-04  9.99997684e-01]]

 t_estimated:
[[0.27732175]
 [0.96077591]
 [0.00151542]]

 R_gt:
[[ 9.95380821e-01 -9.60034681e-02 -2.29005609e-04]
 [ 9.60031399e-02  9.95376104e-01  3.20110302e-03]
 [-7.85800740e-05 -3.20843596e-03  9.99995324e-01]]

 t_gt:
[ 0.83704118 -0.54712421  0.00414276]

Pose Error in degrees for R and t:
85.0453385442597 72.93072411170392

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999897e-01  2.90016540e-04 -3.49680550e-04]
 [-2.89814115e-04  9.99999791e-01  5.78797273e-04]
 [ 3.49848338e-04 -5.78695870e-04  9.99999771e-01]]

 t_estimated:
[[8.76149328e-01]
 [4.82039146e-01]
 [7.85080043e-04]]

 R_gt:
[[ 0.98857361 -0.14736053  0.03172038]
 [ 0.14639169  0.98874185  0.03096706]
 [-0.03592522 -0.02597009  0.99901684]]

 t_gt:
[ 0.76363659 -0.61855788  0.18505487]

Pose Error in degrees for R and t:
8.837533337369187 68.22048487998632

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.12813901  0.99127955  0.03074497]
 [ 0.99154493 -0.12741026 -0.02460238]
 [-0.02047061  0.03363754 -0.99922443]]

 t_estimated:
[[-0.98955291]
 [ 0.14048896]
 [-0.03237114]]

 R_gt:
[[ 0.98466998 -0.17412628  0.0102196 ]
 [ 0.1734085   0.98356448  0.05031205]
 [-0.01881151 -0.04776822  0.99868139]]

 t_gt:
[ 0.70618938 -0.68089742  0.19410115]

Pose Error in degrees for R and t:
179.3202125254823 36.79787345234659

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.98402877e-01  5.64950515e-02  6.31729637e-05]
 [-5.64950553e-02  9.98402877e-01  5.87164067e-05]
 [-5.97548823e-05 -6.21915895e-05  9.99999996e-01]]

 t_estimated:
[[0.95889017]
 [0.28377555]
 [0.00103581]]

 R_gt:
[[ 9.93943535e-01 -1.09843564e-01 -3.24124119e-03]
 [ 1.09891160e-01  9.93582612e-01  2.67819255e-02]
 [ 2.78544655e-04 -2.69764626e-02  9.99635921e-01]]

 t_gt:
[ 0.81375736 -0.55487243  0.17296112]

Pose Error in degrees for R and t:
9.671068371861193 51.46270920068971

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.75542243  0.65519108  0.00784851]
 [ 0.65482182 -0.75446146 -0.04467975]
 [-0.02335238  0.03889146 -0.99897053]]

 t_estimated:
[[0.951708  ]
 [0.30700258]
 [0.00113705]]

 R_gt:
[[ 0.99732816 -0.07005894  0.02067362]
 [ 0.06947719  0.99719918  0.02766476]
 [-0.02255367 -0.02615456  0.9994039 ]]

 t_gt:
[ 0.79328475 -0.36413357  0.48796111]

Pose Error in degrees for R and t:
178.47374786193723 49.92870407524436

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99998776e-01 -1.55968040e-03  1.23805808e-04]
 [ 1.55969371e-03  9.99998778e-01 -1.07532100e-04]
 [-1.23637941e-04  1.07725068e-04  9.99999987e-01]]

 t_estimated:
[[ 0.99999204]
 [-0.00376473]
 [ 0.00131795]]

 R_gt:
[[ 0.9996898   0.02474666  0.00285011]
 [-0.0247898   0.99956216  0.0161094 ]
 [-0.00245013 -0.01617488  0.99986594]]

 t_gt:
[-0.3854318   0.89791969  0.21256192]

Pose Error in degrees for R and t:
1.7795994565313822 67.13699881508106

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 9.12201711e-01  4.09741409e-01 -1.24083364e-04]
 [-4.09741346e-01  9.12201679e-01  3.55368606e-04]
 [ 2.58798286e-04 -2.73325766e-04  9.99999929e-01]]

 t_estimated:
[[0.721127  ]
 [0.69280248]
 [0.00076553]]

 R_gt:
[[ 0.9964676  -0.02873772 -0.07890934]
 [ 0.03254247  0.99834785  0.04736864]
 [ 0.07741778 -0.04976974  0.99575567]]

 t_gt:
[ 0.16087084 -0.84907698 -0.50317874]

Pose Error in degrees for R and t:
26.46709973465943 61.795529476626086

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[-0.40375611 -0.91484474 -0.006333  ]
 [ 0.91480888 -0.40379874  0.00844301]
 [-0.0102813  -0.00238456  0.9999443 ]]

 t_estimated:
[[0.93392055]
 [0.35746614]
 [0.00322042]]

 R_gt:
[[ 0.99286107 -0.09180761 -0.07613985]
 [ 0.09441276  0.99504006  0.03134588]
 [ 0.07288451 -0.03831105  0.99660454]]

 t_gt:
[ 0.33577144 -0.90101372 -0.27464855]

Pose Error in degrees for R and t:
108.5321186416441 89.46241244783137

Number of keypoints:
Image1: 399
Image2: 399

 R_estimated:
[[ 9.53305245e-01  3.02007928e-01  5.67059704e-04]
 [-3.02007859e-01  9.53305413e-01 -2.05365474e-04]
 [-6.02603087e-04  2.45194965e-05  9.99999818e-01]]

 t_estimated:
[[0.66353148]
 [0.74814689]
 [0.0014874 ]]

 R_gt:
[[ 0.98844795 -0.12926797 -0.07912522]
 [ 0.13138364  0.99108505  0.02213005]
 [ 0.07555983 -0.0322699   0.99661849]]

 t_gt:
[ 0.37004935 -0.89073238 -0.2639305 ]

Pose Error in degrees for R and t:
25.51779331122752 65.08635398923788

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 9.92882250e-01  1.19099156e-01  4.77759921e-04]
 [-1.19099376e-01  9.92882231e-01  4.62838620e-04]
 [-4.19235647e-04 -5.16445159e-04  9.99999779e-01]]

 t_estimated:
[[0.55870364]
 [0.82936513]
 [0.00193012]]

 R_gt:
[[ 0.99774246 -0.05343814  0.04065767]
 [ 0.05624761  0.9958598  -0.07140891]
 [-0.03667382  0.07353432  0.99661762]]

 t_gt:
[ 0.8065496   0.41791764 -0.41811792]

Pose Error in degrees for R and t:
11.048599813536837 37.210274233757346

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99999211e-01 -1.24000959e-03  1.99796710e-04]
 [ 1.24000618e-03  9.99999231e-01  1.72173869e-05]
 [-1.99817906e-04 -1.69696241e-05  9.99999980e-01]]

 t_estimated:
[[1.85271865e-01]
 [9.82687027e-01]
 [7.36404151e-04]]

 R_gt:
[[ 0.99708844 -0.07151081  0.02646844]
 [ 0.07454566  0.98719167 -0.14105217]
 [-0.0160425   0.14261516  0.98964823]]

 t_gt:
[ 0.63522242  0.574503   -0.51617709]

Pose Error in degrees for R and t:
9.228802320412651 47.01041788335728

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.73697537e-01 -2.27844467e-01 -7.31559614e-05]
 [ 2.27844479e-01  9.73697463e-01  3.79261941e-04]
 [-1.51809611e-05 -3.85954600e-04  9.99999925e-01]]

 t_estimated:
[[-6.15446464e-02]
 [ 9.98104313e-01]
 [ 1.92032154e-04]]

 R_gt:
[[ 0.99739173 -0.05351237  0.04843237]
 [ 0.06339987  0.97026957 -0.23357274]
 [-0.03449409  0.23603435  0.97113185]]

 t_gt:
[ 0.36379923  0.70001509 -0.61451525]

Pose Error in degrees for R and t:
16.91314122640839 47.454134903968054

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.88534567 -0.46383988 -0.03186854]
 [-0.46370034  0.88590967 -0.01208552]
 [ 0.03383839  0.00407759 -0.999419  ]]

 t_estimated:
[[ 0.97205823]
 [ 0.23417465]
 [-0.01627969]]

 R_gt:
[[ 0.99262042  0.1152023   0.03787966]
 [-0.11589559  0.99312368  0.01660023]
 [-0.03570615 -0.02086865  0.99914455]]

 t_gt:
[-0.84248502  0.46119616  0.27841893]

Pose Error in degrees for R and t:
179.61182009543074 44.31772658406834

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.30347935e-01  3.66677936e-01 -1.07568444e-04]
 [-3.66677943e-01  9.30347803e-01 -5.00975713e-04]
 [-8.36206751e-05  5.05524695e-04  9.99999869e-01]]

 t_estimated:
[[-9.31555719e-01]
 [ 3.63597941e-01]
 [-6.93210907e-04]]

 R_gt:
[[ 0.93727091  0.34567733  0.04505768]
 [-0.34630599  0.93809795  0.00671435]
 [-0.0399464  -0.0218972   0.99896206]]

 t_gt:
[-0.84564817  0.52524491  0.09485228]

Pose Error in degrees for R and t:
2.906943765832439 11.852219458102939

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.95334966e-01 -9.64794569e-02 -1.42433676e-04]
 [ 9.64777528e-02  9.95306175e-01  7.59355505e-03]
 [-5.90856951e-04 -7.57187254e-03  9.99971158e-01]]

 t_estimated:
[[-0.73080992]
 [-0.68257096]
 [ 0.00370755]]

 R_gt:
[[ 0.86077775  0.50288922  0.07850946]
 [-0.50373095  0.8638016  -0.01013306]
 [-0.07291212 -0.03082567  0.99686148]]

 t_gt:
[-0.80780055  0.58168392  0.0954049 ]

Pose Error in degrees for R and t:
36.07892815189282 78.83343840183782

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.47485584e-01 -3.19797747e-01 -6.84955917e-04]
 [ 3.19797815e-01  9.47485809e-01 -1.15197123e-05]
 [ 6.52669989e-04 -2.08132644e-04  9.99999765e-01]]

 t_estimated:
[[ 8.07811319e-01]
 [-5.89440786e-01]
 [-6.57450014e-04]]

 R_gt:
[[ 0.99655433 -0.08185205  0.01343888]
 [ 0.08181293  0.99664225  0.00344439]
 [-0.01367473 -0.00233253  0.99990364]]

 t_gt:
[ 0.86801734 -0.4691625   0.16258058]

Pose Error in degrees for R and t:
13.981133579808667 12.141580010192934

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 0.17569019  0.98443941  0.00346395]
 [-0.98444219  0.17567938  0.0032139 ]
 [ 0.00255535 -0.00397471  0.99998884]]

 t_estimated:
[[0.5725982 ]
 [0.81983563]
 [0.0009191 ]]

 R_gt:
[[ 0.99616583 -0.08709315  0.00819569]
 [ 0.08696164  0.99609658  0.01518366]
 [-0.00948583 -0.01441229  0.99985108]]

 t_gt:
[ 0.92164809 -0.31107547  0.23194148]

Pose Error in degrees for R and t:
84.8762678046062 74.16211240578633

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.80846815e-01 -1.94780559e-01  2.42636651e-04]
 [ 1.94780564e-01  9.80846844e-01  5.55621183e-06]
 [-2.39071635e-04  4.18111109e-05  9.99999971e-01]]

 t_estimated:
[[0.8014921 ]
 [0.59800447]
 [0.0010382 ]]

 R_gt:
[[ 0.99640414 -0.03738424 -0.07602865]
 [ 0.03243514  0.99733765 -0.0653092 ]
 [ 0.07826765  0.06260845  0.99496373]]

 t_gt:
[ 0.53248348  0.39578696 -0.74820721]

Pose Error in degrees for R and t:
10.87480084013135 48.49488755703433

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.98902702e-01 -4.68336392e-02 -4.91636429e-05]
 [ 4.68336432e-02  9.98902699e-01  8.52629579e-05]
 [ 4.51165210e-05 -8.74719116e-05  9.99999995e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99855464 -0.01377598  0.05193861]
 [ 0.01578931  0.99913126 -0.03855407]
 [-0.05136235  0.03931825  0.99790626]]

 t_gt:
[0.93796037 0.30853273 0.15823371]

Pose Error in degrees for R and t:
4.143214968231158 71.66689409157435

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999326e-01 -1.02585227e-03  5.43382220e-04]
 [ 1.02631442e-03  9.99999111e-01 -8.50915554e-04]
 [-5.42508824e-04  8.51472662e-04  9.99999490e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99264947  0.0810707   0.08985076]
 [-0.07556325  0.99514239 -0.06309768]
 [-0.09453029  0.05584446  0.9939547 ]]

 t_gt:
[-0.09158657  0.98402759  0.15264859]

Pose Error in degrees for R and t:
7.738662574177882 84.92748154191847

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.42885862  0.90335549  0.00539828]
 [ 0.90337078 -0.42885871 -0.00120036]
 [ 0.00123075  0.00539143 -0.99998471]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97719311  0.18581196  0.1027906 ]
 [-0.17605973  0.97958447 -0.0970333 ]
 [-0.11872267  0.07672314  0.98995888]]

 t_gt:
[-0.18105293  0.979386    0.08957068]

Pose Error in degrees for R and t:
172.14274397277686 79.74987266147618

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.49153338  0.86751471  0.07624417]
 [ 0.86763804  0.49535776 -0.04271919]
 [-0.07482766  0.04515443 -0.99617363]]

 t_estimated:
[[ 0.8334325 ]
 [-0.55085391]
 [ 0.04416146]]

 R_gt:
[[ 0.99754647  0.03814548  0.05869532]
 [-0.03850551  0.99924674  0.00501917]
 [-0.05845922 -0.00726705  0.99826232]]

 t_gt:
[-0.69494672  0.33901298  0.63412874]

Pose Error in degrees for R and t:
172.26353371283196 42.44430082859967

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-6.09742278e-01 -7.92597030e-01 -2.07443671e-03]
 [ 7.92599431e-01 -6.09742277e-01 -7.06047372e-04]
 [-7.05260712e-04 -2.07470429e-03  9.99997599e-01]]

 t_estimated:
[[0.99987132]
 [0.01600648]
 [0.0010671 ]]

 R_gt:
[[ 0.99486776  0.09626335  0.03116139]
 [-0.09644002  0.99533093  0.00422084]
 [-0.03061018 -0.00720387  0.99950499]]

 t_gt:
[-0.81895911  0.53957255  0.19536489]

Pose Error in degrees for R and t:
133.10885140387313 35.90322910071771

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.99200411 -0.12618404 -0.00233125]
 [ 0.12618983  0.99200289  0.00252969]
 [ 0.0019934  -0.00280364  0.99999408]]

 t_estimated:
[[-0.71285385]
 [-0.70131225]
 [-0.00071549]]

 R_gt:
[[ 0.9930951   0.11649962 -0.01376865]
 [-0.11620366  0.99301266  0.02059164]
 [ 0.0160708  -0.01884898  0.99969323]]

 t_gt:
[-0.83097413  0.5563058  -0.00241864]

Pose Error in degrees for R and t:
13.984993198789262 78.33314639440468

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.99998619e-01  1.66131584e-03 -5.12532761e-05]
 [-1.66132640e-03  9.99998599e-01 -2.06825850e-04]
 [ 5.09096012e-05  2.06910713e-04  9.99999977e-01]]

 t_estimated:
[[ 0.08309558]
 [-0.99654043]
 [-0.00151723]]

 R_gt:
[[ 0.99819669  0.05902882  0.01088028]
 [-0.05874992  0.99797555 -0.02436176]
 [-0.01229718  0.02367873  0.99964392]]

 t_gt:
[-0.78875818  0.60982068 -0.07732577]

Pose Error in degrees for R and t:
3.616240344454381 47.69043682328999

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99997094e-01  2.40748271e-03 -1.27784617e-04]
 [-2.40751750e-03  9.99997065e-01 -2.72812695e-04]
 [ 1.27127450e-04  2.73119546e-04  9.99999955e-01]]

 t_estimated:
[[-0.11395556]
 [-0.99348477]
 [-0.00146467]]

 R_gt:
[[ 0.99770682  0.06765362  0.00168323]
 [-0.06749399  0.99655714 -0.04813965]
 [-0.00493415  0.04791588  0.99883849]]

 t_gt:
[-0.81903189  0.54269012 -0.1862101 ]

Pose Error in degrees for R and t:
4.639281027087806 63.54157008295847

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 8.48531192e-01  5.29145175e-01  4.47682132e-04]
 [-5.29144360e-01  8.48530926e-01 -1.23012411e-03]
 [-1.03078637e-03  8.06910204e-04  9.99999143e-01]]

 t_estimated:
[[-9.99997205e-01]
 [-2.26170911e-03]
 [-6.88586737e-04]]

 R_gt:
[[ 0.99996253  0.0058622   0.00625312]
 [-0.0054153   0.9975985  -0.06905135]
 [-0.00664263  0.06901485  0.99759302]]

 t_gt:
[-0.86906871  0.3776598  -0.3195194 ]

Pose Error in degrees for R and t:
31.858824736529854 29.723047603307517

Number of keypoints:
Image1: 355
Image2: 355

 R_estimated:
[[ 9.76795167e-01  2.14175631e-01  1.20499718e-05]
 [-2.14175628e-01  9.76795163e-01 -1.01104568e-04]
 [-3.34244889e-05  9.61776434e-05  9.99999995e-01]]

 t_estimated:
[[-0.99721996]
 [ 0.07450687]
 [-0.00104122]]

 R_gt:
[[ 0.99269201  0.11938433  0.01759582]
 [-0.11911326  0.99275563 -0.01578622]
 [-0.01935193  0.013576    0.9997203 ]]

 t_gt:
[-0.84425243  0.53349373 -0.05120807]

Pose Error in degrees for R and t:
5.680078767353062 28.150953745901028

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-8.97558667e-01 -4.40895039e-01 -6.05990062e-05]
 [-4.40891336e-01  8.97550549e-01  4.22393519e-03]
 [-1.80792140e-03  3.81794722e-03 -9.99991077e-01]]

 t_estimated:
[[0.99418082]
 [0.1077182 ]
 [0.00113418]]

 R_gt:
[[ 0.96529883  0.25775707  0.04195119]
 [-0.25763977  0.96620523 -0.00828344]
 [-0.04266823 -0.00281172  0.99908505]]

 t_gt:
[-0.83375778  0.55063031  0.04067213]

Pose Error in degrees for R and t:
177.63345166681142 39.686776305210465

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.98307966e-01  5.81474867e-02 -2.72167737e-04]
 [-5.81474315e-02  9.98307985e-01  2.06755107e-04]
 [ 2.83729515e-04 -1.90579415e-04  9.99999942e-01]]

 t_estimated:
[[-9.91736558e-01]
 [-1.28289988e-01]
 [-5.26800770e-04]]

 R_gt:
[[ 0.90245666  0.42610591  0.06328479]
 [-0.42283567  0.90428716 -0.05895236]
 [-0.08234736  0.02644381  0.99625291]]

 t_gt:
[-0.77903637  0.62688408 -0.01089398]

Pose Error in degrees for R and t:
22.388454963194913 46.196946519519436

Number of keypoints:
Image1: 351
Image2: 351

 R_estimated:
[[ 9.99999986e-01 -6.78675412e-05 -1.55248101e-04]
 [ 6.78971199e-05  9.99999980e-01  1.90527831e-04]
 [ 1.55235167e-04 -1.90538370e-04  9.99999970e-01]]

 t_estimated:
[[-0.71465215]
 [ 0.69947714]
 [ 0.0020077 ]]

 R_gt:
[[ 0.98922456  0.14591046  0.01204515]
 [-0.14574809  0.98922982 -0.01347297]
 [-0.01388076  0.01157118  0.9998369 ]]

 t_gt:
[-0.86012041  0.50811423 -0.04486437]

Pose Error in degrees for R and t:
8.455132101319025 14.067248007861371

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[-8.83684155e-01 -4.68079548e-01  1.96252943e-03]
 [-4.68083535e-01  8.83679239e-01 -2.96756603e-03]
 [-3.45189554e-04 -3.54101879e-03 -9.99993671e-01]]

 t_estimated:
[[0.97749663]
 [0.21093957]
 [0.00219829]]

 R_gt:
[[ 0.96998914  0.24252222  0.01744418]
 [-0.24260594  0.97012104  0.0028131 ]
 [-0.01624112 -0.00696107  0.99984431]]

 t_gt:
[-0.83292503  0.5524161   0.03274676]

Pose Error in degrees for R and t:
178.89772219196203 45.76659133058689

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-8.12630695e-01 -5.82778915e-01  3.00527753e-04]
 [-5.82775008e-01  8.12626938e-01  3.27870399e-03]
 [-2.15497650e-03  2.48923543e-03 -9.99994580e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075945e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91313512  0.40613284  0.0352258 ]
 [-0.40482122  0.91356506 -0.03896818]
 [-0.04800653  0.02132198  0.99861978]]

 t_gt:
[-0.78487348  0.61921819 -0.0232907 ]

Pose Error in degrees for R and t:
178.1835721467593 38.46691623440325

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 9.99885048e-01  1.51621794e-02  1.39669099e-06]
 [-1.51621792e-02  9.99885044e-01 -8.81261422e-05]
 [-2.73271480e-06  8.80948350e-05  9.99999996e-01]]

 t_estimated:
[[-8.10222390e-01]
 [-5.86122136e-01]
 [-7.20722095e-04]]

 R_gt:
[[ 0.99822924  0.0482304   0.03483203]
 [-0.04787098  0.99879304 -0.011078  ]
 [-0.03532353  0.00939055  0.999331  ]]

 t_gt:
[-0.70069368  0.67780717  0.2227236 ]

Pose Error in degrees for R and t:
2.8172594114118117 80.19593568411645

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.99999984e-01  9.78080436e-05 -1.52312330e-04]
 [-9.78370862e-05  9.99999977e-01 -1.90682012e-04]
 [ 1.52293676e-04  1.90696911e-04  9.99999970e-01]]

 t_estimated:
[[-0.72887071]
 [-0.68465061]
 [-0.00101618]]

 R_gt:
[[ 0.99082313  0.1301113   0.03663407]
 [-0.12927096  0.99130854 -0.02446672]
 [-0.03949864  0.01950619  0.9990293 ]]

 t_gt:
[-0.73931381  0.67133308  0.05222054]

Pose Error in degrees for R and t:
7.865714014983628 85.4584214562669

Number of keypoints:
Image1: 304
Image2: 304

 R_estimated:
[[-0.08451902  0.99641443 -0.00384892]
 [-0.99640169 -0.08454126 -0.00603677]
 [-0.00634051  0.00332485  0.99997437]]

 t_estimated:
[[0.14921794]
 [0.98880366]
 [0.00115239]]

 R_gt:
[[ 0.98799212  0.14657663  0.04886905]
 [-0.14480052  0.98872659 -0.03812642]
 [-0.05390562  0.03059264  0.99807674]]

 t_gt:
[-0.77904198  0.62433476  0.05744297]

Pose Error in degrees for R and t:
86.50924483193903 59.92298341635424

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 1.00000000e+00  1.10467191e-14  4.06819760e-16]
 [-1.10467191e-14  1.00000000e+00 -4.67182716e-16]
 [-3.41333949e-16  5.83910633e-16  1.00000000e+00]]

 t_estimated:
[[ 8.72317730e-01]
 [-4.88939421e-01]
 [ 1.40595153e-04]]

 R_gt:
[[ 0.97863409 -0.18738605  0.08463805]
 [ 0.19375643  0.9782095  -0.07460105]
 [-0.06881413  0.08940677  0.99361473]]

 t_gt:
[ 0.89011881 -0.37405449 -0.26033008]

Pose Error in degrees for R and t:
12.779345176592583 16.398817573028413

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.18163839 -0.98328363  0.01268073]
 [-0.98298363  0.18119349 -0.03020088]
 [ 0.02739837 -0.01795059 -0.99946341]]

 t_estimated:
[[0.91293759]
 [0.40809541]
 [0.00175903]]

 R_gt:
[[ 0.93571613 -0.33622174  0.10672561]
 [ 0.34323688  0.93760477 -0.05555688]
 [-0.08138658  0.08861748  0.9927346 ]]

 t_gt:
[ 0.93523664 -0.3398487  -0.09917305]

Pose Error in degrees for R and t:
179.32272816209675 44.361100393111144

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 1.00000000e+00  7.28861416e-14  8.00141203e-17]
 [-7.29416527e-14  1.00000000e+00 -5.06593465e-17]
 [-2.00577402e-17  2.74289597e-16  1.00000000e+00]]

 t_estimated:
[[ 9.49418658e-01]
 [-3.14012851e-01]
 [-3.75164696e-04]]

 R_gt:
[[ 0.92625904 -0.36737208  0.08416321]
 [ 0.3713319   0.92776155 -0.03703037]
 [-0.06447922  0.06555175  0.99576365]]

 t_gt:
[ 0.97366489 -0.22334635 -0.04575037]

Pose Error in degrees for R and t:
22.347906949678936 5.975556638310798

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 4.57948980e-01  8.88977828e-01  1.07402147e-03]
 [ 8.88973957e-01 -4.57950170e-01  2.63544367e-03]
 [ 2.83469930e-03 -2.52121627e-04 -9.99995950e-01]]

 t_estimated:
[[-0.79249829]
 [-0.60987183]
 [-0.00167547]]

 R_gt:
[[ 0.99993292 -0.00931277 -0.00685747]
 [ 0.00983025  0.9967599   0.07983765]
 [ 0.00609103 -0.07989894  0.99678428]]

 t_gt:
[ 0.27903879 -0.34588524  0.89582406]

Pose Error in degrees for R and t:
175.79958950028117 89.3300237321714

Number of keypoints:
Image1: 605
Image2: 605

 R_estimated:
[[ 0.90192658 -0.43188469 -0.00201268]
 [-0.4318837  -0.90188101 -0.00933396]
 [ 0.00221599  0.00928779 -0.99995441]]

 t_estimated:
[[ 0.26523168]
 [ 0.96417477]
 [-0.00437889]]

 R_gt:
[[ 0.99918909  0.02014003 -0.03486263]
 [-0.01337502  0.98276162  0.18439606]
 [ 0.03797552 -0.18378042  0.98223299]]

 t_gt:
[-0.16596476 -0.25911973  0.9514792 ]

Pose Error in degrees for R and t:
170.66656579917435 72.66114699577463

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[ 0.80179281 -0.59404162 -0.06513711]
 [-0.59656507 -0.8020512  -0.02870537]
 [-0.03519111  0.06187428 -0.99746336]]

 t_estimated:
[[0.90432574]
 [0.42684175]
 [0.00103352]]

 R_gt:
[[ 0.99662264  0.05050646 -0.06475766]
 [-0.03444442  0.97288999  0.22869034]
 [ 0.07455207 -0.22568732  0.97134254]]

 t_gt:
[-0.46865802 -0.26038753  0.84413151]

Pose Error in degrees for R and t:
171.58933288880323 57.717689627203

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99942524e-01 -1.07213954e-02 -1.71906898e-05]
 [ 1.07213944e-02  9.99942522e-01 -6.09387952e-05]
 [ 1.78430506e-05  6.07509845e-05  9.99999998e-01]]

 t_estimated:
[[-9.69537871e-01]
 [-2.44940000e-01]
 [-8.43953133e-04]]

 R_gt:
[[ 0.99630754  0.07557457 -0.04075026]
 [-0.07430889  0.99673053  0.03173725]
 [ 0.04301564 -0.02859155  0.99866466]]

 t_gt:
[-0.66302086  0.74499283 -0.07340996]

Pose Error in degrees for R and t:
5.737984903653055 62.58661030734579

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.89143396e-01  1.46953495e-01 -1.16129751e-04]
 [-1.46953519e-01  9.89143370e-01 -2.37474155e-04]
 [ 7.99713162e-05  2.51961667e-04  9.99999965e-01]]

 t_estimated:
[[-0.37317916]
 [ 0.92775881]
 [-0.00095636]]

 R_gt:
[[ 0.99748319  0.04788991 -0.05229229]
 [-0.04876508  0.99868925 -0.01557933]
 [ 0.05147809  0.01809021  0.9985102 ]]

 t_gt:
[-0.37509675  0.73111611 -0.56988741]

Pose Error in degrees for R and t:
6.477322282195559 35.03288386183486

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.91567182e-01  1.29591079e-01 -8.21649993e-04]
 [-1.29591457e-01  9.91567383e-01 -4.24429303e-04]
 [ 7.59719082e-04  5.27328988e-04  9.99999572e-01]]

 t_estimated:
[[-0.61816552]
 [ 0.78602568]
 [-0.00591757]]

 R_gt:
[[ 0.99836742  0.03822336 -0.04245576]
 [-0.03786152  0.99923953  0.00930574]
 [ 0.0427791  -0.00768322  0.99905482]]

 t_gt:
[-0.3822835   0.8666223  -0.32066356]

Pose Error in degrees for R and t:
5.807369359867586 23.161562898085155

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99998989e-01 -1.42188098e-03  2.94697422e-05]
 [ 1.42187723e-03  9.99998981e-01  1.26795069e-04]
 [-2.96499997e-05 -1.26753038e-04  9.99999992e-01]]

 t_estimated:
[[ 7.48869631e-03]
 [-9.99971942e-01]
 [ 1.85928398e-04]]

 R_gt:
[[ 0.99948615 -0.03043278  0.01003331]
 [ 0.03054423  0.99946983 -0.01123594]
 [-0.00968596  0.01153632  0.9998868 ]]

 t_gt:
[ 0.9335899  -0.33643447 -0.1233764 ]

Pose Error in degrees for R and t:
1.8785336396442807 69.91624217785599

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.92259537e-01 -1.24181192e-01 -2.08650886e-04]
 [ 1.24181327e-01  9.92259168e-01  8.61506326e-04]
 [ 1.00052872e-04 -8.80748412e-04  9.99999607e-01]]

 t_estimated:
[[-0.73633829]
 [-0.67661307]
 [-0.00081815]]

 R_gt:
[[ 9.99881225e-01 -1.53881192e-02  6.36180257e-04]
 [ 1.54006648e-02  9.99258911e-01 -3.52695335e-02]
 [-9.29635270e-05  3.52749551e-02  9.99377076e-01]]

 t_gt:
[ 0.40607426  0.49636313 -0.76728569]

Pose Error in degrees for R and t:
6.5854171069270455 50.63739409824009

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-1.53233154e-01  9.88189441e-01  1.10907150e-03]
 [-9.88190000e-01 -1.53232646e-01 -5.29844672e-04]
 [-3.53640950e-04 -1.17716314e-03  9.99999245e-01]]

 t_estimated:
[[0.68383764]
 [0.7296338 ]
 [0.00077621]]

 R_gt:
[[ 0.99602315  0.07645895 -0.0457248 ]
 [-0.08085759  0.99131691 -0.10369076]
 [ 0.03739985  0.10697511  0.99355748]]

 t_gt:
[-0.32702676  0.71666659 -0.61598904]

Pose Error in degrees for R and t:
94.46342788735039 72.61488826101281

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.93615665e-01  1.12818038e-01  1.26847647e-05]
 [-1.12818031e-01  9.93615633e-01 -2.57282697e-04]
 [-4.16299096e-05  2.54209048e-04  9.99999967e-01]]

 t_estimated:
[[-0.96198764]
 [-0.27309078]
 [-0.00110299]]

 R_gt:
[[ 0.99874444  0.04820749 -0.01361829]
 [-0.04772362  0.99828739  0.03385651]
 [ 0.01522676 -0.0331635   0.99933372]]

 t_gt:
[-0.18729262  0.90964415  0.37076811]

Pose Error in degrees for R and t:
4.280735318773522 86.0634799003203

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.29658058e-01 -3.68423054e-01 -5.90163012e-04]
 [ 3.68423084e-01  9.29658231e-01 -6.01277421e-05]
 [ 5.70802348e-04 -1.61531437e-04  9.99999824e-01]]

 t_estimated:
[[-0.13672458]
 [-0.99060826]
 [-0.00128985]]

 R_gt:
[[ 0.99857163  0.05260533 -0.00933741]
 [-0.05189668  0.99656947  0.06446772]
 [ 0.0126954  -0.06389147  0.99787568]]

 t_gt:
[0.04113731 0.837716   0.54455452]

Pose Error in degrees for R and t:
24.892861434915456 33.26158559517042

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.97246110e-01  7.41633077e-02 -1.85767548e-05]
 [-7.41633098e-02  9.97246096e-01 -1.63685802e-04]
 [ 6.38611567e-06  1.64612743e-04  9.99999986e-01]]

 t_estimated:
[[-6.07519723e-01]
 [-7.94304420e-01]
 [-5.24141777e-04]]

 R_gt:
[[ 0.9982009   0.05153197 -0.03066605]
 [-0.04409011  0.97731476  0.20715463]
 [ 0.04064488 -0.20542947  0.97782748]]

 t_gt:
[-0.01492895  0.10542682  0.994315  ]

Pose Error in degrees for R and t:
12.187016420287252 85.68771600918521

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-6.12508735e-01  7.90453032e-01  4.12955117e-03]
 [-7.90463352e-01 -6.12505696e-01 -2.11232137e-03]
 [ 8.59682787e-04 -4.55807415e-03  9.99989242e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 9.99597572e-01 -2.83275649e-02  1.66887147e-03]
 [ 2.83682928e-02  9.99010299e-01 -3.42608261e-02]
 [-6.96633665e-04  3.42934837e-02  9.99410708e-01]]

 t_gt:
[ 0.64965606 -0.07609041 -0.75641077]

Pose Error in degrees for R and t:
129.40719692558633 79.80526477096389

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99999934e-01  3.64010424e-04 -1.95250652e-05]
 [-3.64007987e-04  9.99999926e-01  1.24683894e-04]
 [ 1.95704500e-05 -1.24676778e-04  9.99999992e-01]]

 t_estimated:
[[-0.96393102]
 [ 0.26614225]
 [-0.00230114]]

 R_gt:
[[ 9.99763386e-01 -2.17377697e-02  9.05446034e-04]
 [ 2.17550659e-02  9.99315063e-01 -2.99508467e-02]
 [-2.53407167e-04  2.99632984e-02  9.99550634e-01]]

 t_gt:
[ 0.61239281  0.37122538 -0.69797332]

Pose Error in degrees for R and t:
2.1396358594944713 60.666021530649495

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.78908234 -0.61428389  0.00208898]
 [ 0.61425878 -0.78900809  0.01234471]
 [-0.00593493  0.01102416  0.99992162]]

 t_estimated:
[[0.9899216 ]
 [0.14161004]
 [0.00134867]]

 R_gt:
[[ 0.99776063  0.05852478 -0.03239051]
 [-0.06105563  0.99462248 -0.08365238]
 [ 0.02732097  0.08544182  0.99596768]]

 t_gt:
[-0.32272569  0.73519409 -0.59610216]

Pose Error in degrees for R and t:
145.58677704312592 77.51604445121094

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.98013840e-01  6.29950041e-02  6.22214952e-05]
 [-6.29949933e-02  9.98013830e-01 -1.61405287e-04]
 [-7.22656394e-05  1.57165068e-04  9.99999985e-01]]

 t_estimated:
[[-9.26918116e-01]
 [-3.75262611e-01]
 [-8.81974450e-04]]

 R_gt:
[[ 0.99912723  0.0405424  -0.01010858]
 [-0.04023399  0.99876989  0.02898329]
 [ 0.01127174 -0.02855036  0.99952839]]

 t_gt:
[-0.13023075  0.92267001  0.3629325 ]

Pose Error in degrees for R and t:
2.192968736551525 76.94710937527

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.38032430e-01  3.46545121e-01 -1.28084784e-03]
 [-3.46544042e-01  9.38033178e-01  9.92215996e-04]
 [ 1.54532538e-03 -4.86860593e-04  9.99998687e-01]]

 t_estimated:
[[-0.95830657]
 [-0.28573361]
 [-0.00219795]]

 R_gt:
[[ 0.99915175  0.03987245 -0.01034876]
 [-0.03901892  0.99660253  0.07252834]
 [ 0.01320615 -0.07206281  0.99731257]]

 t_gt:
[0.17646572 0.69562572 0.69639408]

Pose Error in degrees for R and t:
18.47949284427486 68.32122469493126

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.43547402e-01 -3.31237491e-01 -1.57629115e-04]
 [ 3.31237399e-01  9.43547347e-01 -4.36275080e-04]
 [ 2.93241197e-04  3.59433560e-04  9.99999892e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99850048  0.04556645 -0.03034292]
 [-0.03809007  0.97635883  0.21277446]
 [ 0.03932117 -0.21129937  0.97663026]]

 t_gt:
[-0.00806709  0.05004757  0.99871425]

Pose Error in degrees for R and t:
25.03216139396714 87.07467355714762

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-0.91058707  0.41330766 -0.00282125]
 [-0.41329968 -0.91059008 -0.00301454]
 [-0.00381494 -0.00157898  0.99999148]]

 t_estimated:
[[0.79482297]
 [0.60683645]
 [0.002443  ]]

 R_gt:
[[ 0.99983186 -0.01721108 -0.00628105]
 [ 0.01772492  0.99542743  0.09386554]
 [ 0.00463664 -0.09396029  0.99556483]]

 t_gt:
[ 0.33883498 -0.38299888  0.8593618 ]

Pose Error in degrees for R and t:
156.6265923937201 87.7651522050992

Number of keypoints:
Image1: 487
Image2: 487

 R_estimated:
[[ 8.05236133e-01 -5.92952256e-01 -1.54658920e-03]
 [ 5.92950383e-01  8.05237560e-01 -1.52187840e-03]
 [ 2.14777294e-03  3.08420822e-04  9.99997646e-01]]

 t_estimated:
[[-0.03393091]
 [-0.99941942]
 [-0.00308463]]

 R_gt:
[[ 0.9991236   0.0148762  -0.03912048]
 [-0.00729129  0.98227352  0.18731681]
 [ 0.04121255 -0.18686683  0.9815203 ]]

 t_gt:
[-0.10614057 -0.30814081  0.9454012 ]

Pose Error in degrees for R and t:
38.570920905772454 72.02228002043917

Number of keypoints:
Image1: 415
Image2: 415

 R_estimated:
[[ 0.98900304  0.14772278 -0.00713901]
 [-0.14762348  0.98895995  0.01286552]
 [ 0.00896072 -0.01167015  0.99989175]]

 t_estimated:
[[-0.85978668]
 [-0.51063473]
 [-0.0043644 ]]

 R_gt:
[[ 0.99652119  0.05249633 -0.06472743]
 [-0.03606947  0.97183495  0.23289019]
 [ 0.07512966 -0.22974531  0.97034703]]

 t_gt:
[-0.47325576 -0.26760305  0.83929589]

Pose Error in degrees for R and t:
14.441833803610024 57.32429930945999

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.97076236e-01  7.64130670e-02  1.48482793e-04]
 [-7.64130510e-02  9.97076243e-01 -1.10378223e-04]
 [-1.56483004e-04  9.87094796e-05  9.99999983e-01]]

 t_estimated:
[[ 8.76943339e-01]
 [-4.80593769e-01]
 [ 1.01086024e-04]]

 R_gt:
[[ 0.97749451 -0.1931253   0.08489717]
 [ 0.19941845  0.97717726 -0.0731853 ]
 [-0.06882585  0.08846896  0.9936984 ]]

 t_gt:
[ 0.87257256 -0.42124763 -0.24732078]

Pose Error in degrees for R and t:
16.991143565110786 14.620101697386565

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-6.17303674e-02  9.98092850e-01 -1.58477904e-04]
 [-9.98091463e-01 -6.17305460e-02 -1.66440245e-03]
 [-1.67101111e-03  5.54312682e-05  9.99998602e-01]]

 t_estimated:
[[1.40183691e-01]
 [9.90125287e-01]
 [6.70284638e-04]]

 R_gt:
[[ 0.9391019  -0.32864502  0.10039825]
 [ 0.33461587  0.94105579 -0.04945318]
 [-0.07822732  0.08003767  0.99371679]]

 t_gt:
[ 0.93380319 -0.34910544 -0.07833902]

Pose Error in degrees for R and t:
113.08340961295436 77.59581545479399

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99263411e-01 -3.83651248e-02 -8.68093675e-04]
 [ 3.83655048e-02  9.99263682e-01  4.25331206e-04]
 [ 8.51136598e-04 -4.58322764e-04  9.99999533e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.93154512 -0.35718199  0.068158  ]
 [ 0.36011271  0.93218616 -0.03670145]
 [-0.05042679  0.0587345   0.99699832]]

 t_gt:
[ 0.97319889 -0.22154839 -0.06164595]

Pose Error in degrees for R and t:
19.375328549507675 77.49345005869522

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99837337e-01 -1.80360629e-02 -2.53106646e-06]
 [ 1.80360630e-02  9.99837336e-01  3.84788308e-05]
 [ 1.83664814e-06 -3.85182222e-05  9.99999999e-01]]

 t_estimated:
[[-9.68049183e-01]
 [-2.50760267e-01]
 [-2.60803394e-04]]

 R_gt:
[[ 0.99550297  0.08514669 -0.04152472]
 [-0.08421735  0.99616721  0.02364267]
 [ 0.04337847 -0.02003846  0.99885796]]

 t_gt:
[-0.65378629  0.7434669  -0.14078513]

Pose Error in degrees for R and t:
6.498059597790844 63.48052082475758

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.73789166  0.67482003  0.01156828]
 [ 0.67488825 -0.73758535 -0.02221941]
 [-0.00646151  0.02420282 -0.99968619]]

 t_estimated:
[[-8.65483614e-01]
 [-5.00936528e-01]
 [-8.41910131e-04]]

 R_gt:
[[ 0.99649994  0.06614392 -0.05112478]
 [-0.06674656  0.99771808 -0.01018179]
 [ 0.05033516  0.01355807  0.99864035]]

 t_gt:
[-0.47641209  0.7560274  -0.44883637]

Pose Error in degrees for R and t:
178.99726751739215 88.05254279277668

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.33640883  0.94129787  0.02806087]
 [-0.94169429 -0.33645419 -0.00323069]
 [ 0.00640016 -0.02751159  0.999601  ]]

 t_estimated:
[[0.78774502]
 [0.61600083]
 [0.00087625]]

 R_gt:
[[ 0.99827094  0.04359149 -0.039462  ]
 [-0.04313582  0.9989933   0.01231521]
 [ 0.03995905 -0.01059138  0.99914467]]

 t_gt:
[-0.43390357  0.8656747  -0.24966981]

Pose Error in degrees for R and t:
107.22180930233974 78.97529792926353

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 9.67313761e-01  2.53582482e-01  1.14748477e-04]
 [-2.53582453e-01  9.67313749e-01 -2.25231669e-04]
 [-1.68112585e-04  1.88771492e-04  9.99999968e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99855463  0.04079769  0.0349932 ]
 [-0.04038674  0.99910821 -0.01238754]
 [-0.03546672  0.01095715  0.99931036]]

 t_gt:
[-0.65002364  0.72090865  0.24033306]

Pose Error in degrees for R and t:
12.541382331860241 49.63920564517229

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999960e-01 -1.79077018e-04  2.17128321e-04]
 [ 1.79163671e-04  9.99999904e-01 -3.99130926e-04]
 [-2.17056825e-04  3.99169812e-04  9.99999897e-01]]

 t_estimated:
[[-0.89139684]
 [-0.45322261]
 [-0.00096515]]

 R_gt:
[[ 0.99143869  0.12582766  0.03487867]
 [-0.12526861  0.99196389 -0.01780739]
 [-0.03683776  0.01328649  0.99923258]]

 t_gt:
[-0.73541261  0.67448135  0.06513995]

Pose Error in degrees for R and t:
7.5594202582649 69.52544262213723

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[-0.63604551 -0.77151315 -0.01461411]
 [-0.77154045  0.63616123 -0.00492119]
 [ 0.01309369  0.00814528 -0.9998811 ]]

 t_estimated:
[[ 0.92179492]
 [ 0.38761393]
 [-0.00703999]]

 R_gt:
[[ 0.9876899   0.14765567  0.05164655]
 [-0.14598882  0.98867799 -0.03469586]
 [-0.05618458  0.02672914  0.99806262]]

 t_gt:
[-0.76885414  0.63523639  0.07306182]

Pose Error in degrees for R and t:
178.8328444271476 62.41825059865156

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.99999991e-01 -4.34021869e-05 -1.23212757e-04]
 [ 4.34107350e-05  9.99999997e-01  6.93742765e-05]
 [ 1.23209745e-04 -6.93796247e-05  9.99999990e-01]]

 t_estimated:
[[-9.79600378e-01]
 [-2.00955168e-01]
 [-3.47461960e-04]]

 R_gt:
[[ 0.98922842  0.14537299  0.0171584 ]
 [-0.14503957  0.98923692 -0.01933966]
 [-0.01978565  0.016643    0.999665  ]]

 t_gt:
[-0.85671996  0.51221184 -0.06058002]

Pose Error in degrees for R and t:
8.484685377157831 42.58005796697588

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99807938e-01  1.95978591e-02 -1.02958308e-04]
 [-1.95978555e-02  9.99807943e-01  3.60163670e-05]
 [ 1.03644377e-04 -3.39916876e-05  9.99999994e-01]]

 t_estimated:
[[-9.94208089e-01]
 [-1.07471669e-01]
 [-3.39587218e-04]]

 R_gt:
[[ 9.69113091e-01  2.45577586e-01  2.25945427e-02]
 [-2.45634668e-01  9.69362428e-01 -2.70788845e-04]
 [-2.19689935e-02 -5.28755472e-03  9.99744164e-01]]

 t_gt:
[-0.83276522  0.55264577  0.03293553]

Pose Error in degrees for R and t:
13.160820456069581 39.77730911581838

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 4.36375916e-02 -9.99044671e-01 -2.34668240e-03]
 [ 9.99047401e-01  4.36380021e-02 -1.24012801e-04]
 [ 2.26298860e-04 -2.33903533e-03  9.99997239e-01]]

 t_estimated:
[[ 9.05972462e-01]
 [-4.23335860e-01]
 [ 8.04482585e-04]]

 R_gt:
[[ 0.90913003  0.41516504  0.03347639]
 [-0.41332729  0.90917884 -0.05053865]
 [-0.05141833  0.03210856  0.99816065]]

 t_gt:
[-0.77900079  0.62544551 -0.04444864]

Pose Error in degrees for R and t:
112.03531843301852 13.936669251109185

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.99727497e-01  2.33437348e-02 -4.87589947e-05]
 [-2.33437338e-02  9.99727498e-01  2.08356388e-05]
 [ 4.92320894e-05 -1.96917441e-05  9.99999999e-01]]

 t_estimated:
[[-9.93921586e-01]
 [-1.10090062e-01]
 [-2.42487657e-04]]

 R_gt:
[[ 0.99355061  0.11173155  0.01928204]
 [-0.11156935  0.99371271 -0.0093278 ]
 [-0.020203    0.00711606  0.99977009]]

 t_gt:
[-0.84943707  0.52749225 -0.01444293]

Pose Error in degrees for R and t:
5.220984192359706 38.16767281386762

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.87150318e-01 -1.59793731e-01 -4.62085093e-04]
 [ 1.59793811e-01  9.87150403e-01  1.42374621e-04]
 [ 4.33396914e-04 -2.14383490e-04  9.99999883e-01]]

 t_estimated:
[[-0.1065696 ]
 [-0.99430471]
 [-0.00103466]]

 R_gt:
[[ 9.64709790e-01  2.59939481e-01  4.20139766e-02]
 [-2.59723493e-01  9.65624820e-01 -1.06198951e-02]
 [-4.33293097e-02 -6.67522752e-04  9.99059258e-01]]

 t_gt:
[-0.83485269  0.5495367   0.03209985]

Pose Error in degrees for R and t:
24.390021899128108 62.77601420482047

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.95195746e-01  9.79041457e-02 -4.52857093e-04]
 [-9.79036865e-02  9.95195446e-01  9.44268914e-04]
 [ 5.43129158e-04 -8.95396028e-04  9.99999452e-01]]

 t_estimated:
[[-9.77381318e-01]
 [ 2.11484120e-01]
 [ 4.75412364e-04]]

 R_gt:
[[ 0.90727267  0.41513741  0.06719903]
 [-0.41224614  0.90953075 -0.05298036]
 [-0.08311327  0.02036414  0.99633155]]

 t_gt:
[-7.83715532e-01  6.21119911e-01 -1.47255724e-04]

Pose Error in degrees for R and t:
19.50145527308291 26.188645470779043

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99999953e-01 -3.02020771e-04  6.06599670e-05]
 [ 3.02033261e-04  9.99999933e-01 -2.06006402e-04]
 [-6.05977447e-05  2.06024714e-04  9.99999977e-01]]

 t_estimated:
[[0.97843564]
 [0.20654932]
 [0.00104173]]

 R_gt:
[[ 0.997748    0.06678166  0.00628312]
 [-0.06665114  0.9975933  -0.0190943 ]
 [-0.00754239  0.01863297  0.999798  ]]

 t_gt:
[-0.78678844  0.61276993 -0.07400648]

Pose Error in degrees for R and t:
4.008464763421745 49.95929059929495

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99997188e-01  2.35483977e-03 -2.81436167e-04]
 [-2.35492733e-03  9.99997179e-01 -3.11175634e-04]
 [ 2.80702604e-04  3.11837521e-04  9.99999912e-01]]

 t_estimated:
[[-0.31770932]
 [-0.94818694]
 [-0.00152168]]

 R_gt:
[[ 0.99691267  0.07844467  0.00361868]
 [-0.07825057  0.99620304 -0.03816661]
 [-0.00659821  0.03776546  0.9992648 ]]

 t_gt:
[-0.82552169  0.54935826 -0.12930368]

Pose Error in degrees for R and t:
4.8751205996854665 75.02357206778086

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99997838e-01  2.03234108e-03 -4.39433887e-04]
 [-2.03234202e-03  9.99997935e-01 -1.68926492e-06]
 [ 4.39429546e-04  2.58234122e-06  9.99999903e-01]]

 t_estimated:
[[-0.18017477]
 [-0.9836335 ]
 [-0.00147972]]

 R_gt:
[[ 0.99962929  0.02621309 -0.00743687]
 [-0.02657997  0.99816134 -0.05446888]
 [ 0.00599533  0.05464635  0.9984877 ]]

 t_gt:
[-0.86790057  0.40819881 -0.28305889]

Pose Error in degrees for R and t:
3.4442589478099888 75.83439431221045

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.96296869e-01  8.59799359e-02 -3.76598915e-06]
 [-8.59799359e-02  9.96296869e-01 -1.28488905e-05]
 [ 2.64729641e-06  1.31251089e-05  1.00000000e+00]]

 t_estimated:
[[ 0.13946728]
 [-0.99022617]
 [-0.00100244]]

 R_gt:
[[ 0.99708977 -0.01593333 -0.07455476]
 [ 0.01963552  0.99859566  0.04921378]
 [ 0.0736662  -0.0505345   0.99600107]]

 t_gt:
[-0.00422315 -0.84017493 -0.54229904]

Pose Error in degrees for R and t:
7.854375917652973 33.70374683382817

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 0.2552844   0.96684858  0.00580545]
 [ 0.96686301 -0.25526406 -0.00402149]
 [-0.00240625  0.0066397  -0.99997506]]

 t_estimated:
[[-0.85721152]
 [-0.5149549 ]
 [-0.00313997]]

 R_gt:
[[ 0.99362206 -0.07920307 -0.08027517]
 [ 0.08210509  0.99605997  0.03351755]
 [ 0.07730413 -0.03989391  0.99620864]]

 t_gt:
[ 0.27422805 -0.90680484 -0.3201624 ]

Pose Error in degrees for R and t:
175.96016367448235 76.53228248784447

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[-0.14196593  0.98976819  0.01430418]
 [ 0.9897679   0.14214536 -0.01241795]
 [-0.01432416  0.01239489 -0.99982058]]

 t_estimated:
[[ 0.73833514]
 [-0.67435764]
 [ 0.01014915]]

 R_gt:
[[ 0.98968695 -0.1201737  -0.07797829]
 [ 0.12244319  0.99215988  0.02500957]
 [ 0.07436139 -0.03429914  0.99664065]]

 t_gt:
[ 0.33631178 -0.90463414 -0.26178516]

Pose Error in degrees for R and t:
176.6600078104035 31.162752836862325

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.96343518e-01 -8.54376575e-02  7.94516560e-06]
 [ 8.54376562e-02  9.96343513e-01  1.03549232e-04]
 [-1.67631180e-05 -1.02491790e-04  9.99999995e-01]]

 t_estimated:
[[ 9.95796102e-01]
 [-9.15943226e-02]
 [ 7.76426275e-04]]

 R_gt:
[[ 9.95789669e-01 -9.16809673e-02  2.87603715e-04]
 [ 9.16169563e-02  9.95195629e-01  3.45329804e-02]
 [-3.45184611e-03 -3.43604442e-02  9.99403986e-01]]

 t_gt:
[ 0.78738462 -0.54450676  0.28902914]

Pose Error in degrees for R and t:
2.003837610810847 33.47021069840452

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.26296658e-01  3.76794750e-01 -4.66748192e-04]
 [-3.76787383e-01  9.26285022e-01  5.22731357e-03]
 [ 2.40196617e-03 -4.66617826e-03  9.99986229e-01]]

 t_estimated:
[[0.68656518]
 [0.72706759]
 [0.00098786]]

 R_gt:
[[ 0.99896584 -0.04061399  0.02044773]
 [ 0.04009191  0.99887358  0.02537794]
 [-0.02145446 -0.02453108  0.99946937]]

 t_gt:
[ 0.6694851  -0.10570677  0.73526579]

Pose Error in degrees for R and t:
24.507583226110818 67.44838644799134

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.99609576 -0.06417239 -0.06062294]
 [-0.0638206   0.9979315  -0.00772342]
 [ 0.06099317 -0.00382427 -0.99813086]]

 t_estimated:
[[ 0.99955835]
 [ 0.0079658 ]
 [-0.0286294 ]]

 R_gt:
[[ 0.99896038  0.0455883  -0.00141168]
 [-0.045525    0.9985187   0.02980495]
 [ 0.00276809 -0.02970818  0.99955492]]

 t_gt:
[-0.48338197  0.83970023  0.24747809]

Pose Error in degrees for R and t:
176.45625049152994 61.081518745346294

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.79815048e-01  1.99906037e-01  2.19675709e-04]
 [-1.99905940e-01  9.79815011e-01 -3.97956881e-04]
 [-2.94795540e-04  3.46009662e-04  9.99999897e-01]]

 t_estimated:
[[5.47818744e-01]
 [8.36596918e-01]
 [4.68235165e-04]]

 R_gt:
[[ 0.99560447 -0.09313592  0.00982123]
 [ 0.09311462  0.99565207  0.00265311]
 [-0.01002507 -0.00172586  0.99994895]]

 t_gt:
[ 0.8304302  -0.55673216  0.02085616]

Pose Error in degrees for R and t:
16.884656863163936 89.37973753643078

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 1.35147698e-01  9.90823932e-01  1.74247953e-03]
 [-9.90824917e-01  1.35149261e-01 -8.12489607e-04]
 [-1.04052897e-03 -1.61668604e-03  9.99998152e-01]]

 t_estimated:
[[0.28303928]
 [0.9591072 ]
 [0.00146652]]

 R_gt:
[[ 0.98893702 -0.14514814  0.03057953]
 [ 0.14454371  0.98927328  0.02113978]
 [-0.03332014 -0.01648501  0.99930929]]

 t_gt:
[ 0.77958613 -0.61154347  0.13512975]

Pose Error in degrees for R and t:
90.5808965943788 68.55031229106449

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 8.70014809e-01 -4.93025586e-01 -5.76447010e-05]
 [ 4.93025542e-01  8.70014667e-01  5.42167880e-04]
 [-2.17150902e-04 -5.00114394e-04  9.99999851e-01]]

 t_estimated:
[[9.80109941e-01]
 [1.98454302e-01]
 [6.27389650e-04]]

 R_gt:
[[ 0.98442305 -0.1750729   0.01610211]
 [ 0.17416262  0.98360735  0.04675032]
 [-0.02402306 -0.04321686  0.99877777]]

 t_gt:
[ 0.7120266  -0.67828511  0.18151427]

Pose Error in degrees for R and t:
19.67574197416331 55.71084815206653

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.20896344 -0.97783375 -0.01324539]
 [-0.97780084  0.20913255 -0.0130033 ]
 [ 0.01548511  0.01023414 -0.99982772]]

 t_estimated:
[[ 0.78023555]
 [ 0.62542241]
 [-0.00890517]]

 R_gt:
[[ 0.99722178  0.04062192  0.06245105]
 [-0.04120759  0.99911832  0.00811027]
 [-0.06206685 -0.01066188  0.99801476]]

 t_gt:
[-0.67256642  0.30009079  0.67646133]

Pose Error in degrees for R and t:
177.94130462635775 69.9340997402351

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.83373014e-01  1.81593908e-01 -1.08046975e-03]
 [-1.81594141e-01  9.83373557e-01 -1.20476365e-04]
 [ 1.04062760e-03  3.14680182e-04  9.99999409e-01]]

 t_estimated:
[[-0.98477664]
 [-0.17380229]
 [-0.00278083]]

 R_gt:
[[ 0.9950403   0.09206625  0.03767446]
 [-0.09207687  0.99575061 -0.00147035]
 [-0.03765022 -0.00200572  0.99928891]]

 t_gt:
[-0.81321366  0.51459215  0.27180593]

Pose Error in degrees for R and t:
5.63422300073314 44.712933327001814

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.75662752e-01 -2.19274507e-01 -9.40937222e-04]
 [ 2.19274864e-01  9.75663081e-01  2.93124587e-04]
 [ 8.53762960e-04 -4.92314622e-04  9.99999514e-01]]

 t_estimated:
[[8.39661099e-01]
 [5.43110572e-01]
 [3.81254126e-04]]

 R_gt:
[[ 0.99372918  0.11050601 -0.01705363]
 [-0.11024236  0.99378029  0.01575269]
 [ 0.01868848 -0.0137743   0.99973009]]

 t_gt:
[-0.83376421  0.55189552 -0.01576631]

Pose Error in degrees for R and t:
19.046528447924373 66.40024618267154

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99972317e-01  7.40609832e-03  7.17089723e-04]
 [-7.40444221e-03  9.99969975e-01 -2.28524525e-03]
 [-7.33992944e-04  2.27987234e-03  9.99997132e-01]]

 t_estimated:
[[-0.99979389]
 [-0.02015387]
 [-0.00244885]]

 R_gt:
[[ 0.99816051 -0.00722526  0.0601982 ]
 [ 0.00873767  0.99965209 -0.02490224]
 [-0.05999667  0.02538217  0.99787536]]

 t_gt:
[0.69874361 0.34129293 0.62871019]

Pose Error in degrees for R and t:
3.7528977740434515 45.00722757139782

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99950507e-01 -9.91523453e-03 -8.19700162e-04]
 [ 9.91444623e-03  9.99950390e-01 -9.60229788e-04]
 [ 8.29180400e-04  9.52055390e-04  9.99999203e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99123161  0.085171    0.10102107]
 [-0.07964444  0.99516078 -0.05753994]
 [-0.10543226  0.04898974  0.99321816]]

 t_gt:
[-0.13475959  0.95680525  0.25761127]

Pose Error in degrees for R and t:
8.543083373512628 82.438380246027

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-9.59962747e-01 -2.80127493e-01 -3.34222939e-04]
 [-2.78283970e-01  9.53507199e-01  1.15680825e-01]
 [-3.20866956e-02  1.11142292e-01 -9.93286381e-01]]

 t_estimated:
[[0.99874854]
 [0.04962726]
 [0.00620341]]

 R_gt:
[[ 0.9752219   0.19358001  0.10708678]
 [-0.18568418  0.97939241 -0.07944323]
 [-0.12025765  0.05759096  0.99107055]]

 t_gt:
[-0.20086782  0.96883291  0.14496521]

Pose Error in degrees for R and t:
173.78793158199838 81.27821539253868

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99999994e-01 -9.08587963e-05 -6.08980007e-05]
 [ 9.08645901e-05  9.99999991e-01  9.51446889e-05]
 [ 6.08893554e-05 -9.51502219e-05  9.99999994e-01]]

 t_estimated:
[[ 9.94773133e-01]
 [-1.02109676e-01]
 [-1.68028652e-04]]

 R_gt:
[[ 0.99668606 -0.08046915  0.01188178]
 [ 0.08042747  0.99675239  0.00389468]
 [-0.01215694 -0.0029259   0.999922  ]]

 t_gt:
[ 0.87089082 -0.46728714  0.15228889]

Pose Error in degrees for R and t:
4.665098103167349 23.93197130717491

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.99397308  0.10961837  0.00115469]
 [-0.10961524  0.99397097 -0.00249051]
 [-0.00142073  0.00234892  0.99999623]]

 t_estimated:
[[0.69018996]
 [0.72362773]
 [0.00085738]]

 R_gt:
[[ 9.97188661e-01 -7.49232881e-02  9.15193120e-04]
 [ 7.49082046e-02  9.97122500e-01  1.15761881e-02]
 [-1.77983711e-03 -1.14744450e-02  9.99933152e-01]]

 t_gt:
[ 0.95442929 -0.24929828  0.16405822]

Pose Error in degrees for R and t:
10.619924431253342 61.41388849190806

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.98978029  0.11544104  0.08371582]
 [ 0.1075381   0.98979818 -0.0934619 ]
 [-0.09365111 -0.0835041  -0.99209704]]

 t_estimated:
[[0.79996  ]
 [0.59997  ]
 [0.0099995]]

 R_gt:
[[ 0.99643544 -0.01639519 -0.08274539]
 [ 0.01009499  0.99705703 -0.0759882 ]
 [ 0.08374745  0.07488265  0.99366919]]

 t_gt:
[ 0.37739839  0.50806976 -0.77423225]

Pose Error in degrees for R and t:
179.46075535816823 53.20252593657858

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 0.24259841  0.96985826 -0.02282479]
 [-0.97009147  0.24232163 -0.01423956]
 [-0.00827941  0.02559663  0.99963807]]

 t_estimated:
[[0.77415333]
 [0.63299716]
 [0.00110278]]

 R_gt:
[[ 0.99207455  0.11766909  0.0440841 ]
 [-0.11815223  0.99295892  0.00852567]
 [-0.04277098 -0.01366674  0.99899182]]

 t_gt:
[-0.85539532  0.46665936  0.2247841 ]

Pose Error in degrees for R and t:
69.28195539226424 68.49606081199707

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99862161e-01  1.66023845e-02 -1.37735641e-04]
 [-1.66023617e-02  9.99862158e-01  1.64804753e-04]
 [ 1.40452807e-04 -1.62495300e-04  9.99999977e-01]]

 t_estimated:
[[-9.97379770e-01]
 [-7.23433321e-02]
 [-1.89138361e-04]]

 R_gt:
[[ 0.93850115  0.34136302  0.05183784]
 [-0.3420964   0.93964791  0.00572192]
 [-0.04675586 -0.02310387  0.99863912]]

 t_gt:
[-0.84652117  0.52214578  0.10375789]

Pose Error in degrees for R and t:
19.27698287652066 36.24369230253723

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.97808161e-01  6.61719500e-02 -3.83123322e-04]
 [-6.61719524e-02  9.97808234e-01  6.48326156e-06]
 [ 3.82712616e-04  1.88829669e-05  9.99999927e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.85467628  0.51249247  0.08294399]
 [-0.51289742  0.85826173 -0.01798191]
 [-0.08040383 -0.02717262  0.99639186]]

 t_gt:
[-0.80365882  0.5883873   0.08906671]

Pose Error in degrees for R and t:
27.540759929186024 36.70138205761825

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.97492472e-01 -7.07726467e-02  8.91471966e-06]
 [ 7.07726436e-02  9.97492453e-01  1.99594186e-04]
 [-2.30181744e-05 -1.98462780e-04  9.99999980e-01]]

 t_estimated:
[[ 7.98814760e-02]
 [ 9.96804368e-01]
 [-5.22412640e-05]]

 R_gt:
[[ 0.99755619 -0.06004083  0.03570984]
 [ 0.06246799  0.99550037 -0.07125981]
 [-0.03127023  0.0733165   0.99681804]]

 t_gt:
[ 0.84408303  0.36403686 -0.39370167]

Pose Error in degrees for R and t:
4.613661714518201 64.51208604388266

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.45026910e-01 -3.26991795e-01 -7.10334751e-04]
 [ 3.26992551e-01  9.45025305e-01  1.74457742e-03]
 [ 1.00821813e-04 -1.88094678e-03  9.99998226e-01]]

 t_estimated:
[[-6.48770326e-01]
 [-7.60984273e-01]
 [-1.20169802e-06]]

 R_gt:
[[ 0.99625728 -0.07994387  0.03286956]
 [ 0.08368795  0.98724921 -0.1354091 ]
 [-0.02162469  0.13765413  0.99024462]]

 t_gt:
[ 0.69396839  0.53949613 -0.47681423]

Pose Error in degrees for R and t:
16.494505546856466 30.596447073775263

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.99874654e-01 -1.58298580e-02  3.04479820e-04]
 [-1.58321707e-02 -9.99820431e-01  1.04138888e-02]
 [ 1.39574764e-04 -1.04174041e-02 -9.99945728e-01]]

 t_estimated:
[[-0.05638255]
 [ 0.99839492]
 [ 0.00534651]]

 R_gt:
[[ 0.99667839 -0.06802264  0.04476932]
 [ 0.07663294  0.96942338 -0.23312149]
 [-0.02754292  0.23577938  0.97141665]]

 t_gt:
[ 0.43048304  0.6686377  -0.60630684]

Pose Error in degrees for R and t:
167.04212377063203 50.204368073962094

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.38625814e-01 -3.44838764e-01  8.23463084e-03]
 [ 3.44851378e-01  9.38657293e-01 -1.19595389e-04]
 [-7.68825517e-03  2.95197911e-03  9.99966088e-01]]

 t_estimated:
[[0.99844139]
 [0.05546897]
 [0.00616322]]

 R_gt:
[[ 0.9949631  -0.09935897  0.01327469]
 [ 0.09941784  0.99503865 -0.0038596 ]
 [-0.0128252   0.00515979  0.99990415]]

 t_gt:
[ 0.85088541 -0.52021278  0.0732986 ]

Pose Error in degrees for R and t:
14.472044044113535 34.79938837470971

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.92965637e-01  1.18401681e-01  5.33579902e-04]
 [-1.18401353e-01  9.92965633e-01 -6.08689782e-04]
 [-6.01896399e-04  5.41231455e-04  9.99999672e-01]]

 t_estimated:
[[0.587729  ]
 [0.80905733]
 [0.00092995]]

 R_gt:
[[ 0.98733793 -0.15454804  0.03578739]
 [ 0.15390843  0.98788388  0.01999208]
 [-0.03844299 -0.0142315   0.9991599 ]]

 t_gt:
[ 0.84323555 -0.46449081  0.27055884]

Pose Error in degrees for R and t:
15.847107123233616 83.10524838048669

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-7.71402403e-01  6.36347165e-01  7.85814982e-04]
 [-6.36346932e-01 -7.71399089e-01 -2.45512528e-03]
 [-9.56135051e-04 -2.39394049e-03  9.99996677e-01]]

 t_estimated:
[[0.81726971]
 [0.57625449]
 [0.00099183]]

 R_gt:
[[ 0.99208594 -0.12449608 -0.01629382]
 [ 0.12438565  0.99220568 -0.00758106]
 [ 0.01711055  0.00549402  0.99983857]]

 t_gt:
[ 0.96458903 -0.25344573 -0.07302921]

Pose Error in degrees for R and t:
147.63165382440593 50.04335834882526

Number of keypoints:
Image1: 372
Image2: 372

 R_estimated:
[[ 9.95260668e-01 -9.72430057e-02 -6.76271907e-06]
 [ 9.72430060e-02  9.95260665e-01  7.72188168e-05]
 [-7.78321572e-07 -7.75104784e-05  9.99999997e-01]]

 t_estimated:
[[-1.16032345e-01]
 [ 9.93245430e-01]
 [-1.08079447e-04]]

 R_gt:
[[ 0.99921509 -0.01025074 -0.03825098]
 [ 0.00657688  0.99545891 -0.09495712]
 [ 0.03905131  0.09463063  0.99474692]]

 t_gt:
[ 0.29719536  0.61617892 -0.72938224]

Pose Error in degrees for R and t:
7.780186605759543 54.7172803062668

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-7.11135891e-01  7.03053909e-01 -9.72386254e-04]
 [-7.03051908e-01 -7.11136321e-01 -1.77417928e-03]
 [-1.93884286e-03 -5.78044549e-04  9.99997953e-01]]

 t_estimated:
[[0.60026916]
 [0.79979762]
 [0.00084189]]

 R_gt:
[[ 0.99990622  0.01168704  0.00708816]
 [-0.01041376  0.98726724 -0.15872266]
 [-0.00885293  0.15863324  0.98729818]]

 t_gt:
[ 0.06352022  0.75872492 -0.64830678]

Pose Error in degrees for R and t:
134.8342469878561 49.87856096820658

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.11879385e-01 -4.10458027e-01 -4.40858089e-04]
 [ 4.10458163e-01  9.11879388e-01  2.78457069e-04]
 [ 2.87714466e-04 -4.34873062e-04  9.99999864e-01]]

 t_estimated:
[[-0.30524587]
 [-0.95227284]
 [-0.00117856]]

 R_gt:
[[ 0.99810265  0.06128887 -0.00592999]
 [-0.06144809  0.98525051 -0.15970012]
 [-0.00394445  0.15975998  0.98714831]]

 t_gt:
[ 0.02811328  0.85163852 -0.52337508]

Pose Error in degrees for R and t:
29.23568077851227 35.019491346329275

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 1.00000000e+00  2.03751275e-05 -1.31105530e-05]
 [-2.03751485e-05  1.00000000e+00 -1.60049212e-06]
 [ 1.31105204e-05  1.60075925e-06  1.00000000e+00]]

 t_estimated:
[[ 1.14372332e-02]
 [-9.99934504e-01]
 [ 4.21065606e-04]]

 R_gt:
[[ 0.99435687  0.09346923  0.05018089]
 [-0.09377327  0.99558632  0.00374042]
 [-0.04960951 -0.00842469  0.99873339]]

 t_gt:
[-0.37017827  0.87138411  0.32195929]

Pose Error in degrees for R and t:
6.099143694783311 28.90465191241597

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-2.80688928e-02 -9.99605315e-01 -1.16286272e-03]
 [ 9.99605589e-01 -2.80678189e-02 -9.29758816e-04]
 [ 8.96752834e-04 -1.18850138e-03  9.99998892e-01]]

 t_estimated:
[[9.99999389e-01]
 [1.04691123e-03]
 [3.54605847e-04]]

 R_gt:
[[ 0.98020686  0.17572569  0.09119281]
 [-0.17048282  0.98337847 -0.0624644 ]
 [-0.1006539   0.0456811   0.99387222]]

 t_gt:
[-0.29865537  0.94126686  0.15754893]

Pose Error in degrees for R and t:
101.75656708397457 72.68565570146576

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-1.88966273e-01 -9.81981359e-01 -2.08743506e-03]
 [ 9.81983565e-01 -1.88966191e-01 -2.38417071e-04]
 [-1.60333532e-04 -2.09487971e-03  9.99997793e-01]]

 t_estimated:
[[9.96585068e-01]
 [8.25674728e-02]
 [9.02614751e-04]]

 R_gt:
[[ 0.95809777  0.27777567  0.06993744]
 [-0.27454459  0.96014555 -0.05239691]
 [-0.08170453  0.03100105  0.99617409]]

 t_gt:
[-0.24713481  0.96637565  0.07101051]

Pose Error in degrees for R and t:
117.02844093488636 80.4193603575012

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.97381381e-01  7.23212993e-02  1.06008288e-04]
 [-7.23212984e-02  9.97381386e-01 -1.20275993e-05]
 [-1.06600545e-04  4.32944660e-06  9.99999994e-01]]

 t_estimated:
[[ 8.95183398e-01]
 [-4.45697970e-01]
 [ 5.98750607e-05]]

 R_gt:
[[ 0.99613463 -0.07082902 -0.05195572]
 [ 0.07204571  0.9971598   0.0219455 ]
 [ 0.05025447 -0.02560472  0.9984086 ]]

 t_gt:
[ 0.4178357  -0.87175894 -0.25583135]

Pose Error in degrees for R and t:
8.859263263221415 40.30911268140929

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-0.8002368  -0.59966925  0.0042257 ]
 [-0.59966815  0.80024705  0.00166257]
 [-0.0043786  -0.00120357 -0.99998969]]

 t_estimated:
[[0.97297037]
 [0.23090199]
 [0.00359651]]

 R_gt:
[[ 0.9913113  -0.12472362 -0.04178036]
 [ 0.12534065  0.99203501  0.01250121]
 [ 0.03988849 -0.01763004  0.9990481 ]]

 t_gt:
[ 0.46399728 -0.87622377 -0.1301477 ]

Pose Error in degrees for R and t:
178.30760052216138 75.60142990011958

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.83845366e-01 -1.79020301e-01 -1.67519103e-04]
 [ 1.79020332e-01  9.83843988e-01  1.65185363e-03]
 [-1.30902672e-04 -1.65515786e-03  9.99998622e-01]]

 t_estimated:
[[0.61385749]
 [0.78941596]
 [0.00119428]]

 R_gt:
[[ 0.9828573  -0.17945192 -0.04229803]
 [ 0.18037322  0.98341348  0.01907732]
 [ 0.03817332 -0.02638031  0.9989234 ]]

 t_gt:
[ 0.47376139 -0.87867922 -0.05893192]

Pose Error in degrees for R and t:
2.6131081931928906 66.24091607838612

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.93640622e-01  1.12597284e-01  4.06494237e-04]
 [-1.12597141e-01  9.93640657e-01 -3.58099707e-04]
 [-4.44230255e-04  3.10052327e-04  9.99999853e-01]]

 t_estimated:
[[0.75023387]
 [0.66117094]
 [0.00145772]]

 R_gt:
[[ 0.99696128 -0.07738713  0.00885135]
 [ 0.07749906  0.99690628 -0.01304568]
 [-0.00781379  0.01369261  0.99987629]]

 t_gt:
[ 0.85697054 -0.51310311 -0.04823591]

Pose Error in degrees for R and t:
10.941917115049792 72.32549351764668

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.88743355  0.46059539  0.01770797]
 [ 0.45911837 -0.88669026  0.05468737]
 [ 0.04089024 -0.04040135 -0.99834649]]

 t_estimated:
[[9.41924228e-01]
 [3.35824272e-01]
 [8.97925861e-04]]

 R_gt:
[[ 0.9795066  -0.2008242   0.01532098]
 [ 0.20072042  0.97961461  0.00807999]
 [-0.01663132 -0.0048395   0.99984993]]

 t_gt:
[ 0.85591948 -0.5102174   0.08414303]

Pose Error in degrees for R and t:
177.24000907481556 50.584208929398045

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.98976036e-01  4.52337851e-02  8.85392308e-04]
 [-4.52325043e-02  9.98975482e-01 -1.41674093e-03]
 [-9.48569762e-04  1.37524173e-03  9.99998604e-01]]

 t_estimated:
[[-0.91660038]
 [-0.39980358]
 [-0.00092121]]

 R_gt:
[[ 0.97845308 -0.20420428  0.03048972]
 [ 0.20366648  0.97883901  0.01984386]
 [-0.03389659 -0.01320661  0.9993385 ]]

 t_gt:
[ 0.86733503 -0.46963708  0.16483614]

Pose Error in degrees for R and t:
14.512264148540913 52.599059637848

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-5.28255075e-01 -8.49084658e-01 -1.34875848e-03]
 [ 8.49085300e-01 -5.28252544e-01 -1.84478549e-03]
 [ 8.53893961e-04 -2.11972830e-03  9.99997389e-01]]

 t_estimated:
[[9.34272803e-01]
 [3.56558219e-01]
 [7.52232531e-04]]

 R_gt:
[[ 0.99781999  0.02246324  0.06206441]
 [-0.02757672  0.99618393  0.08280489]
 [-0.05996675 -0.08433519  0.99463168]]

 t_gt:
[-0.29756518  0.08420873  0.95098047]

Pose Error in degrees for R and t:
123.41189739754593 75.68419063413741

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.82746142e-01  1.84956906e-01 -9.81891094e-04]
 [-1.84956219e-01  9.82746475e-01  7.50450454e-04]
 [ 1.10375101e-03 -5.55895425e-04  9.99999236e-01]]

 t_estimated:
[[-9.35103782e-01]
 [-3.54372965e-01]
 [-8.47782214e-04]]

 R_gt:
[[ 0.981903    0.1725474   0.07806907]
 [-0.18005803  0.9783127   0.10238785]
 [-0.05870913 -0.11459199  0.99167685]]

 t_gt:
[-0.58284049  0.66085662  0.47282713]

Pose Error in degrees for R and t:
7.412383714273828 71.9151088185109

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-5.28284343e-01 -8.49066330e-01 -1.42141690e-03]
 [ 8.49066984e-01 -5.28281389e-01 -2.00778096e-03]
 [ 9.53831122e-04 -2.26755741e-03  9.99996974e-01]]

 t_estimated:
[[9.37896060e-01]
 [3.46915427e-01]
 [8.16271593e-04]]

 R_gt:
[[ 0.96899719  0.23650444  0.07149043]
 [-0.24301036  0.96455405  0.10287248]
 [-0.04462617 -0.11705609  0.9921223 ]]

 t_gt:
[-0.58500051  0.74589758  0.31845127]

Pose Error in degrees for R and t:
135.91298657281217 73.16321526275956

Number of keypoints:
Image1: 370
Image2: 370

 R_estimated:
[[ 9.99919992e-01 -1.26493926e-02 -3.87474799e-05]
 [ 1.26493937e-02  9.99919993e-01  2.84064020e-05]
 [ 3.83850561e-05 -2.88942614e-05  9.99999999e-01]]

 t_estimated:
[[-9.99336297e-01]
 [ 3.64271635e-02]
 [-1.64706197e-04]]

 R_gt:
[[ 0.99528675  0.09693263 -0.00280795]
 [-0.09696048  0.99521582 -0.01199192]
 [ 0.00163215  0.01220687  0.99992415]]

 t_gt:
[-0.9639961   0.23886705 -0.11685058]

Pose Error in degrees for R and t:
6.328029560569812 13.571758930492651

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.92770181e-01 -1.20030431e-01 -2.50209971e-04]
 [ 1.20030505e-01  9.92770158e-01  3.03469605e-04]
 [ 2.11975405e-04 -3.31308404e-04  9.99999923e-01]]

 t_estimated:
[[-9.33660547e-01]
 [ 3.58159063e-01]
 [ 2.61282610e-04]]

 R_gt:
[[ 0.9774063   0.21123165  0.00761414]
 [-0.21135079  0.97716294  0.02199028]
 [-0.00279473 -0.02310268  0.99972936]]

 t_gt:
[-0.95649257  0.25191751  0.14717179]

Pose Error in degrees for R and t:
19.13861008533953 10.48443818895248

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99514325e-01  3.11568686e-02 -6.02747955e-04]
 [-3.11569243e-02  9.99514502e-01 -8.32626508e-05]
 [ 5.99861118e-04  1.02001985e-04  9.99999815e-01]]

 t_estimated:
[[-0.98941749]
 [-0.14507947]
 [-0.002232  ]]

 R_gt:
[[ 0.96567587  0.25587309  0.04471172]
 [-0.2575662   0.96553934  0.03733367]
 [-0.0336185  -0.04756853  0.99830211]]

 t_gt:
[-0.94472997  0.20102344  0.25898816]

Pose Error in degrees for R and t:
13.526772494634907 25.1780751905318

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999890e-01  4.20253123e-04  2.07780411e-04]
 [-4.20232725e-04  9.99999907e-01 -9.82079077e-05]
 [-2.07821664e-04  9.81205808e-05  9.99999974e-01]]

 t_estimated:
[[ 9.71275712e-01]
 [ 2.37956904e-01]
 [-5.69910956e-05]]

 R_gt:
[[ 0.98312706 -0.18113984 -0.02544444]
 [ 0.18191052  0.98278806  0.03220144]
 [ 0.01917346 -0.03628624  0.99915747]]

 t_gt:
[ 0.8468499  -0.52441694  0.08849924]

Pose Error in degrees for R and t:
10.7495373138957 45.75475055027517

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.94192768  0.33579991  0.00326657]
 [-0.33579198  0.94193217 -0.00274561]
 [-0.00399886  0.00148928  0.9999909 ]]

 t_estimated:
[[-8.46303614e-01]
 [-5.32700842e-01]
 [-8.48896027e-05]]

 R_gt:
[[ 0.90323797 -0.42903861 -0.0092999 ]
 [ 0.42899799  0.90328498 -0.00605325]
 [ 0.01099698  0.00147884  0.99993871]]

 t_gt:
[ 0.91264572 -0.40765972 -0.02985533]

Pose Error in degrees for R and t:
45.03429184539825 56.2746711332002

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99932864e-01 -1.15261126e-02  1.19006485e-03]
 [ 1.15271805e-02  9.99933160e-01 -8.94461304e-04]
 [-1.17967564e-03  9.08119346e-04  9.99998892e-01]]

 t_estimated:
[[ 0.43546863]
 [-0.90020157]
 [-0.0020517 ]]

 R_gt:
[[ 0.78952127 -0.60892906  0.07655275]
 [ 0.61369184  0.78456367 -0.08855291]
 [-0.00613772  0.1168945   0.9931247 ]]

 t_gt:
[ 0.95185522 -0.25698969 -0.16711656]

Pose Error in degrees for R and t:
37.745303357438075 49.745157931775374

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99909711e-01 -1.34375969e-02 -8.58608140e-06]
 [ 1.34375620e-02  9.99908222e-01 -1.72630552e-03]
 [ 3.17826910e-05  1.72603428e-03  9.99998510e-01]]

 t_estimated:
[[-0.9228653 ]
 [-0.38511879]
 [-0.00177474]]

 R_gt:
[[ 0.99982347  0.01597184  0.00991838]
 [-0.01587591  0.9998275  -0.00966111]
 [-0.01006984  0.0095019   0.99990414]]

 t_gt:
[-0.99984766  0.00100824 -0.0174252 ]

Pose Error in degrees for R and t:
1.833275357374981 22.725336881083457

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-0.86920834  0.4943918   0.0073217 ]
 [ 0.4944325   0.86919877  0.00547769]
 [-0.00365588  0.00838134 -0.99995819]]

 t_estimated:
[[8.17053059e-01]
 [5.76561970e-01]
 [7.70804772e-04]]

 R_gt:
[[ 0.99585309  0.0894089   0.01684962]
 [-0.08934658  0.99599154 -0.00439388]
 [-0.01717461  0.0028707   0.99984901]]

 t_gt:
[-0.85368964  0.50692991  0.11931499]

Pose Error in degrees for R and t:
178.6972950844881 66.10002067199893

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.48540628 -0.87370159 -0.03203547]
 [-0.86838294 -0.48605537  0.0982916 ]
 [-0.10144854 -0.0198923  -0.99464189]]

 t_estimated:
[[0.62418635]
 [0.78054579]
 [0.03375891]]

 R_gt:
[[ 0.99197888  0.12611071 -0.00861861]
 [-0.12620975  0.99193061 -0.01209621]
 [ 0.00702438  0.01308733  0.99989005]]

 t_gt:
[-0.79194676  0.58670739 -0.16909989]

Pose Error in degrees for R and t:
177.20659075538796 87.58833899854574

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 0.00131978 -0.9999956   0.00265602]
 [-0.99975011 -0.00126018  0.02231886]
 [-0.02231541 -0.00268482 -0.99974738]]

 t_estimated:
[[0.6970894 ]
 [0.71689336]
 [0.01141368]]

 R_gt:
[[ 0.99947253 -0.00833699 -0.031423  ]
 [ 0.00782664  0.99983615 -0.01634777]
 [ 0.03155337  0.01609272  0.999373  ]]

 t_gt:
[-0.15476779  0.12276113 -0.98029416]

Pose Error in degrees for R and t:
179.08471696284727 88.21958448354683

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99250867e-01 -3.86999744e-02  1.31527622e-04]
 [ 3.86999871e-02  9.99250870e-01 -9.60070702e-05]
 [-1.27713620e-04  1.01025265e-04  9.99999987e-01]]

 t_estimated:
[[0.8559845 ]
 [0.51699932]
 [0.00149668]]

 R_gt:
[[ 0.99962839  0.00974061 -0.02549596]
 [-0.01053765  0.99945468 -0.03131499]
 [ 0.02517661  0.03157163  0.99918417]]

 t_gt:
[-0.53716288  0.3240191  -0.77876034]

Pose Error in degrees for R and t:
3.631321228225936 72.93532435139299

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.22354861 -0.97466569  0.00726702]
 [-0.97462543  0.2234393  -0.01342184]
 [ 0.01145807 -0.01008306 -0.99988352]]

 t_estimated:
[[8.39548225e-01]
 [5.43284572e-01]
 [8.07257908e-04]]

 R_gt:
[[ 0.99637881 -0.03202372  0.07877306]
 [ 0.03528979  0.99856021 -0.04041702]
 [-0.07736573  0.04305076  0.99607357]]

 t_gt:
[-0.57838844 -0.59137002  0.56191486]

Pose Error in degrees for R and t:
178.1580306701924 36.253005652301525

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.85213853 -0.52310965  0.01470456]
 [-0.52318786  0.85221549 -0.00179471]
 [-0.01159263 -0.00922259 -0.99989027]]

 t_estimated:
[[0.99239392]
 [0.12234993]
 [0.01359444]]

 R_gt:
[[ 0.98109505  0.19243314 -0.02055931]
 [-0.19332975  0.97935217 -0.05911069]
 [ 0.00876019  0.06196695  0.99803988]]

 t_gt:
[-0.35955251  0.89566328 -0.26174276]

Pose Error in degrees for R and t:
179.0503659902531 75.47563860321574

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.9923574  -0.10965236  0.05659631]
 [ 0.12169145  0.94562662 -0.30163138]
 [-0.02044439  0.30621342  0.95174333]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 9.44698259e-01  3.27078511e-01 -2.37656043e-02]
 [-3.27939447e-01  9.42033014e-01 -7.09218203e-02]
 [-8.08938086e-04  7.47930127e-02  9.97198390e-01]]

 t_gt:
[-0.27241229  0.9455473  -0.17813434]

Pose Error in degrees for R and t:
29.275276415160523 69.76037901236478

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.66456008  0.74690605  0.02216425]
 [-0.74712132 -0.66468376 -0.00228652]
 [ 0.0130244  -0.01807891  0.99975173]]

 t_estimated:
[[0.44586822]
 [0.89509439]
 [0.00274936]]

 R_gt:
[[ 0.91035695  0.41350833 -0.01621082]
 [-0.40940922  0.89424297 -0.18086852]
 [-0.06029378  0.1712911   0.98337351]]

 t_gt:
[-0.21320305  0.96171372 -0.1721952 ]

Pose Error in degrees for R and t:
107.61815605609026 40.067142268700664

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 3.93123867e-01  9.19483911e-01  1.72133117e-03]
 [-9.19484533e-01  3.93125501e-01 -7.30866495e-04]
 [-1.34871916e-03 -1.29541632e-03  9.99998251e-01]]

 t_estimated:
[[0.17697234]
 [0.9842146 ]
 [0.00155239]]

 R_gt:
[[ 9.98236456e-01  4.19397983e-02 -4.20097070e-02]
 [-4.18805743e-02  9.99119880e-01  2.33777044e-03]
 [ 4.20712349e-02 -5.74200644e-04  9.99114659e-01]]

 t_gt:
[-0.7003128   0.49423729 -0.51506455]

Pose Error in degrees for R and t:
64.49230957700358 68.79536554135362

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.75606755e-01 -2.19525491e-01  1.34284917e-04]
 [ 2.19525519e-01  9.75606726e-01 -2.50371926e-04]
 [-7.60462485e-05  2.73743508e-04  9.99999960e-01]]

 t_estimated:
[[-0.15319776]
 [-0.98819459]
 [-0.00138016]]

 R_gt:
[[ 0.99484551  0.05364284 -0.08605016]
 [-0.0530276   0.99854835  0.00943546]
 [ 0.08643199 -0.00482313  0.99624587]]

 t_gt:
[-0.59774935  0.46739855 -0.65133272]

Pose Error in degrees for R and t:
16.50643954715277 68.32089406493664

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.85653242e-01 -1.68782665e-01  3.14977920e-04]
 [ 1.68782808e-01  9.85653139e-01 -5.03817771e-04]
 [-2.25423270e-04  5.49752478e-04  9.99999823e-01]]

 t_estimated:
[[-0.71357009]
 [-0.70058215]
 [-0.00154103]]

 R_gt:
[[ 0.99316048  0.04764876 -0.10659302]
 [-0.04988257  0.99858639 -0.01838494]
 [ 0.10556637  0.02357692  0.99413266]]

 t_gt:
[-0.47727946  0.3728822  -0.79571552]

Pose Error in degrees for R and t:
13.97440634507606 85.37901779674526

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.22886145e-01  3.85072062e-01  8.18684647e-04]
 [-3.85071487e-01  9.22886420e-01 -7.78055391e-04]
 [-1.05516034e-03  4.02804426e-04  9.99999362e-01]]

 t_estimated:
[[0.76132875]
 [0.64836498]
 [0.00117671]]

 R_gt:
[[ 0.95862342 -0.27677735  0.06659558]
 [ 0.28107694  0.95732132 -0.06731122]
 [-0.04512296  0.08324343  0.99550688]]

 t_gt:
[ 0.86132296 -0.46885222 -0.19570474]

Pose Error in degrees for R and t:
39.23667886466345 69.41893472543339

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.95221072e-01  9.76469399e-02  3.03347698e-04]
 [-9.76468699e-02  9.95221097e-01 -2.37743889e-04]
 [-3.25112992e-04  2.06986775e-04  9.99999926e-01]]

 t_estimated:
[[ 8.72987791e-01]
 [-4.87742048e-01]
 [-1.07441704e-04]]

 R_gt:
[[ 0.8853422  -0.43939479  0.15198782]
 [ 0.45846496  0.87941121 -0.12823368]
 [-0.07731392  0.1832117   0.98002832]]

 t_gt:
[ 0.90079097 -0.32317873 -0.29005369]

Pose Error in degrees for R and t:
34.471559682501066 19.258772000048165

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.92356606  0.38343523  0.00177801]
 [-0.38342895  0.92356522 -0.00308551]
 [-0.0028252   0.00216793  0.99999366]]

 t_estimated:
[[-0.54117624]
 [-0.84090462]
 [-0.00277526]]

 R_gt:
[[ 0.79419589 -0.57117539  0.20739174]
 [ 0.59995206  0.79123096 -0.1183657 ]
 [-0.09648666  0.21843043  0.97107093]]

 t_gt:
[ 0.9407387  -0.23845827 -0.2411397 ]

Pose Error in degrees for R and t:
60.40464027141012 72.06634361542413

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.88577025e-01  1.50716471e-01  1.06471644e-04]
 [-1.50716475e-01  9.88577030e-01  2.27312158e-05]
 [-1.01829453e-04 -3.85185885e-05  9.99999994e-01]]

 t_estimated:
[[0.67480811]
 [0.73799282]
 [0.00078273]]

 R_gt:
[[ 0.99550508 -0.09344777  0.0154044 ]
 [ 0.09335216  0.99561041  0.0067694 ]
 [-0.01596943 -0.00530034  0.99985813]]

 t_gt:
[ 0.80609071 -0.56489004  0.17640017]

Pose Error in degrees for R and t:
14.06056028357769 82.69161101491281

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.26727682 -0.96355516 -0.01116045]
 [-0.96357752 -0.26735565  0.00627022]
 [-0.00902551  0.00907808 -0.99991806]]

 t_estimated:
[[0.80731919]
 [0.59011188]
 [0.00192219]]

 R_gt:
[[ 0.98618532 -0.16263301  0.03148172]
 [ 0.16223391  0.98664073  0.01483464]
 [-0.03347467 -0.00952247  0.99939422]]

 t_gt:
[ 0.85039586 -0.48295591  0.20875934]

Pose Error in degrees for R and t:
178.35280655892163 66.30022697694127

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.39490756e-01  3.42574106e-01 -3.18932282e-04]
 [-3.42573519e-01  9.39490261e-01  1.19752350e-03]
 [ 7.09874314e-04 -1.01580450e-03  9.99999232e-01]]

 t_estimated:
[[8.40803829e-01]
 [5.41339452e-01]
 [7.19866292e-04]]

 R_gt:
[[ 0.9827471  -0.18317268  0.02566282]
 [ 0.18254795  0.98288257  0.02485904]
 [-0.02977803 -0.01974505  0.99936117]]

 t_gt:
[ 0.88376422 -0.41360343  0.21884471]

Pose Error in degrees for R and t:
30.63931794724327 58.71267831149061

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.60229633  0.79774166  0.02910978]
 [ 0.79773695  0.60282751 -0.01465423]
 [-0.02923846  0.01439576 -0.9994688 ]]

 t_estimated:
[[ 0.8930964 ]
 [-0.44953093]
 [ 0.01734268]]

 R_gt:
[[ 0.99866585 -0.05147888 -0.00391828]
 [ 0.05147279  0.99867327 -0.00167923]
 [ 0.00399882  0.00147465  0.9999914 ]]

 t_gt:
[ 0.71369808 -0.69684065 -0.07105034]

Pose Error in degrees for R and t:
178.2959250148862 18.300924528294356

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-7.16294103e-01 -6.97793182e-01 -2.72647523e-03]
 [ 6.97798464e-01 -7.16289977e-01 -2.44363783e-03]
 [-2.47793064e-04 -3.65289359e-03  9.99993297e-01]]

 t_estimated:
[[0.93085067]
 [0.36539609]
 [0.00165338]]

 R_gt:
[[ 0.99959687 -0.00325073  0.02818808]
 [ 0.0034026   0.99997983 -0.00536925]
 [-0.02817041  0.00546209  0.99958821]]

 t_gt:
[ 0.09542808 -0.86110283  0.49939503]

Pose Error in degrees for R and t:
135.5667640574697 76.99779052856448

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99048485e-01  4.36130762e-02 -1.55787998e-04]
 [-4.36130018e-02  9.99048398e-01  4.52954917e-04]
 [ 1.75394507e-04 -4.45729541e-04  9.99999885e-01]]

 t_estimated:
[[0.90963345]
 [0.41540637]
 [0.00213029]]

 R_gt:
[[ 0.99729276  0.07192105 -0.01530813]
 [-0.07205633  0.99736504 -0.00845741]
 [ 0.01465888  0.00953742  0.99984706]]

 t_gt:
[-0.85715235  0.34138123 -0.38567953]

Pose Error in degrees for R and t:
1.9151028132852375 50.30474349779006

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 0.99966404 -0.02581827  0.00228464]
 [ 0.02582458  0.99966263 -0.00277647]
 [-0.00221219  0.00283454  0.99999354]]

 t_estimated:
[[-0.87559362]
 [-0.48304713]
 [-0.00113126]]

 R_gt:
[[ 0.99881988  0.02940803  0.0386369 ]
 [-0.02682112  0.99746786 -0.06586698]
 [-0.04047713  0.06475417  0.9970803 ]]

 t_gt:
[-0.27259392  0.84074149 -0.46781011]

Pose Error in degrees for R and t:
5.195870568753617 80.39196304088392

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99963750e-01 -8.51344947e-03 -1.40769053e-04]
 [ 8.51342327e-03  9.99963743e-01 -1.85729260e-04]
 [ 1.42345146e-04  1.84524101e-04  9.99999973e-01]]

 t_estimated:
[[-0.99105295]
 [-0.13346355]
 [-0.00123501]]

 R_gt:
[[ 0.99685374  0.07652042  0.02065893]
 [-0.0755651   0.9961873  -0.04359833]
 [-0.02391569  0.04190123  0.99883535]]

 t_gt:
[-0.20884192  0.93193008 -0.29646479]

Pose Error in degrees for R and t:
5.581164534193075 85.24122435513287

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.99471879e-01 -3.24952843e-02 -1.38091039e-04]
 [ 3.24952869e-02  9.99471889e-01  1.64535204e-05]
 [ 1.37483449e-04 -2.09321389e-05  9.99999990e-01]]

 t_estimated:
[[-9.60072306e-01]
 [-2.79750799e-01]
 [-8.10871880e-04]]

 R_gt:
[[ 0.9947521   0.10022226  0.02056518]
 [-0.09994865  0.99489566 -0.01389627]
 [-0.02185299  0.01176884  0.99969244]]

 t_gt:
[-0.14487348  0.98810727 -0.05153338]

Pose Error in degrees for R and t:
7.74007368801097 82.10876610687987

Number of keypoints:
Image1: 425
Image2: 425

 R_estimated:
[[-0.89668183  0.44233922 -0.01725435]
 [ 0.44231992  0.89684269  0.00512728]
 [ 0.01774243 -0.0030344  -0.99983799]]

 t_estimated:
[[ 0.97054049]
 [-0.24076877]
 [-0.00903087]]

 R_gt:
[[ 0.98923967  0.14626371  0.00349934]
 [-0.14630115  0.98911844  0.01553653]
 [-0.00118923 -0.01588049  0.99987236]]

 t_gt:
[-0.95727489  0.25007469  0.14521513]

Pose Error in degrees for R and t:
178.8939138015735 7.863995764394305

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99958355e-01 -9.10159667e-03 -6.70905001e-04]
 [ 9.10201603e-03  9.99958381e-01  6.24682462e-04]
 [ 6.65191471e-04 -6.30763035e-04  9.99999580e-01]]

 t_estimated:
[[9.07297251e-01]
 [4.20489239e-01]
 [7.05518858e-04]]

 R_gt:
[[ 0.97891783  0.20281127  0.02425341]
 [-0.20364056  0.97827722  0.03880221]
 [-0.0158575  -0.04292257  0.9989523 ]]

 t_gt:
[-0.94090146  0.1944187   0.27731897]

Pose Error in degrees for R and t:
12.526643896831136 39.490442198722256

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 8.80214527e-01 -4.74575567e-01 -6.46419054e-04]
 [ 4.74575516e-01  8.80214759e-01 -2.39552513e-04]
 [ 6.82673361e-04 -9.59170542e-05  9.99999762e-01]]

 t_estimated:
[[-0.41249027]
 [-0.91096136]
 [-0.00108836]]

 R_gt:
[[ 0.98053705  0.18408405  0.0682722 ]
 [-0.1870286   0.98155906  0.03952793]
 [-0.0597371  -0.05152718  0.99688252]]

 t_gt:
[-0.92067287  0.02921424  0.38924028]

Pose Error in degrees for R and t:
39.29741442237851 69.34549711454562

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.98728359e-01 -5.04149295e-02  1.93723022e-06]
 [ 5.04149293e-02  9.98728357e-01  5.37566744e-05]
 [-4.64490570e-06 -5.35906499e-05  9.99999999e-01]]

 t_estimated:
[[ 3.01136263e-01]
 [-9.53581071e-01]
 [ 3.03569180e-04]]

 R_gt:
[[ 0.99655504 -0.03906644  0.07315526]
 [ 0.03136638  0.99412373  0.10360216]
 [-0.07677287 -0.10095014  0.99192583]]

 t_gt:
[ 0.1295501  -0.37302679  0.91873162]

Pose Error in degrees for R and t:
7.334498828927865 66.73387494040058

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.78023108e-01  2.08488346e-01 -1.84679761e-03]
 [-2.08486627e-01  9.78024620e-01  1.08112426e-03]
 [ 2.03161534e-03 -6.72331902e-04  9.99997710e-01]]

 t_estimated:
[[9.24230492e-01]
 [3.81834205e-01]
 [7.98816328e-04]]

 R_gt:
[[ 0.99495653  0.02271397  0.09770301]
 [-0.03926408  0.9844919   0.17098141]
 [-0.0923042  -0.17395436  0.98041873]]

 t_gt:
[-0.20910218  0.0301812   0.97742794]

Pose Error in degrees for R and t:
15.288604576796414 79.57469006424772

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 7.88252278e-01  6.15352200e-01  1.28517754e-04]
 [-6.15351781e-01  7.88251954e-01 -1.02105016e-03]
 [-7.29609832e-04  7.25761484e-04  9.99999470e-01]]

 t_estimated:
[[-9.99486503e-01]
 [-3.20287851e-02]
 [-9.42023094e-04]]

 R_gt:
[[ 0.9766514   0.16454817  0.13811691]
 [-0.18594042  0.96947674  0.15981754]
 [-0.1076036  -0.18176716  0.97743682]]

 t_gt:
[-0.51259074  0.53829054  0.66894995]

Pose Error in degrees for R and t:
30.2909233641728 60.36607782813655

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.24798962e-01  3.80455600e-01  6.44943035e-04]
 [-3.80454717e-01  9.24798805e-01 -1.17401479e-03]
 [-1.04310305e-03  8.40356043e-04  9.99999103e-01]]

 t_estimated:
[[-0.7829193 ]
 [-0.62211769]
 [-0.00263609]]

 R_gt:
[[ 0.99439061 -0.10405891  0.01896619]
 [ 0.10489787  0.99320022 -0.05049805]
 [-0.01358278  0.05220352  0.99854404]]

 t_gt:
[ 0.73196914 -0.57748639 -0.36156694]

Pose Error in degrees for R and t:
28.520312451507035 77.7102766504847

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.53166003e-01  3.02446209e-01  9.27862317e-04]
 [-3.02443794e-01  9.53164878e-01 -2.11335281e-03]
 [-1.52358132e-03  1.73374985e-03  9.99997336e-01]]

 t_estimated:
[[-0.84674081]
 [-0.53199834]
 [-0.00278533]]

 R_gt:
[[ 0.97248741 -0.16559013  0.16385322]
 [ 0.17559156  0.98326984 -0.04846158]
 [-0.15308771  0.0758985   0.98529387]]

 t_gt:
[ 0.70198131 -0.66051712  0.26634446]

Pose Error in degrees for R and t:
29.138994457139198 75.89237542065455

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.86628483 -0.49703283  0.05008943]
 [-0.49950424 -0.86320226  0.07333051]
 [ 0.00678964 -0.08854499 -0.99604904]]

 t_estimated:
[[0.92618126]
 [0.3767517 ]
 [0.01569799]]

 R_gt:
[[ 0.94993711 -0.14548731  0.27650132]
 [ 0.166561    0.98454039 -0.05419463]
 [-0.26434299  0.09753485  0.95948392]]

 t_gt:
[ 0.55868685 -0.52228353  0.64427395]

Pose Error in degrees for R and t:
175.58889338837707 70.6833959025643

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.95211705 -0.30571672 -0.00322768]
 [-0.30571013 -0.95185914 -0.02248326]
 [ 0.00380121  0.02239343 -0.99974201]]

 t_estimated:
[[ 0.15424121]
 [ 0.98797247]
 [-0.01095698]]

 R_gt:
[[ 0.99511281  0.06170369 -0.07708374]
 [-0.05604881  0.99572006  0.0734799 ]
 [ 0.08128893 -0.06880028  0.99431364]]

 t_gt:
[-0.95105238 -0.2567154   0.17203654]

Pose Error in degrees for R and t:
177.96818612268245 66.28395257317887

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.95026214e-01 -9.96133716e-02  1.01748432e-04]
 [ 9.96133662e-02  9.95026218e-01  5.68247152e-05]
 [-1.06902859e-04 -4.64065774e-05  9.99999993e-01]]

 t_estimated:
[[ 3.42677370e-01]
 [-9.39452887e-01]
 [ 7.02029537e-04]]

 R_gt:
[[ 0.99150323  0.05198635 -0.11923703]
 [-0.04286756  0.99604618  0.07779963]
 [ 0.12281011 -0.07202754  0.98981316]]

 t_gt:
[-0.44937492 -0.74182126 -0.49775838]

Pose Error in degrees for R and t:
11.761280826886637 57.141506194112296

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 7.82077815e-01  6.23180126e-01  9.06446199e-04]
 [ 6.23177146e-01 -7.82077392e-01  2.28001897e-03]
 [ 2.12977359e-03 -1.21827570e-03 -9.99996990e-01]]

 t_estimated:
[[-9.08151592e-01]
 [-4.18641132e-01]
 [-5.37429123e-04]]

 R_gt:
[[ 0.98869448  0.02781432 -0.14733837]
 [-0.012791    0.9947075   0.1019411 ]
 [ 0.1493936  -0.09890424  0.98381835]]

 t_gt:
[ 0.28582039 -0.91064511 -0.29838261]

Pose Error in degrees for R and t:
171.61435438297372 83.00252415227727

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.77085249e-01  2.12848113e-01  3.10512030e-04]
 [-2.12847647e-01  9.77084751e-01 -1.12652552e-03]
 [-5.43175401e-04  1.03461972e-03  9.99999317e-01]]

 t_estimated:
[[-9.97390979e-01]
 [-7.21847167e-02]
 [-7.76179750e-04]]

 R_gt:
[[ 0.98763378  0.10177202  0.11925562]
 [-0.09831236  0.99455601 -0.0345567 ]
 [-0.1221233   0.0224044   0.99226202]]

 t_gt:
[-0.43159834  0.66314303  0.61152612]

Pose Error in degrees for R and t:
9.635975032653429 67.53438921013117

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-9.05442320e-01 -4.24439449e-01 -5.03591440e-03]
 [ 4.24447066e-01 -9.05452614e-01 -5.02023949e-04]
 [-4.34670309e-03 -2.59203282e-03  9.99987194e-01]]

 t_estimated:
[[0.9639843]
 [0.2659267]
 [0.0041551]]

 R_gt:
[[ 0.9530659   0.26935292  0.13825388]
 [-0.26402818  0.96289681 -0.05585606]
 [-0.14816923  0.01673086  0.98882042]]

 t_gt:
[-0.37099043  0.84940324  0.37534016]

Pose Error in degrees for R and t:
170.4795709054287 82.51940663784049

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.27034962  0.96275582 -0.00350848]
 [ 0.96274586 -0.27032198  0.00681458]
 [ 0.00561235 -0.00522009 -0.99997063]]

 t_estimated:
[[-0.67186341]
 [-0.74067445]
 [-0.00095571]]

 R_gt:
[[ 0.89906347  0.41885685  0.12745311]
 [-0.40859044  0.90728547 -0.09943913]
 [-0.15728744  0.03732475  0.98684774]]

 t_gt:
[-0.29907338  0.92337231  0.24070458]

Pose Error in degrees for R and t:
172.1652686055424 61.104615095806636

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-1.07563226e-01  9.94198180e-01  3.62370482e-04]
 [-9.94196674e-01 -1.07562401e-01 -1.81727677e-03]
 [-1.76775582e-03 -5.55739682e-04  9.99998283e-01]]

 t_estimated:
[[0.08294736]
 [0.99655323]
 [0.00118496]]

 R_gt:
[[ 0.96314868  0.26282492  0.05716436]
 [-0.26132606  0.96470616 -0.03240754]
 [-0.06366419  0.01627411  0.9978391 ]]

 t_gt:
[-0.71752462  0.69155803  0.08310177]

Pose Error in degrees for R and t:
81.03203096288425 50.96787026190434

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.98143887 -0.19174539 -0.00338467]
 [ 0.19175492  0.98143897  0.00275744]
 [ 0.00279312 -0.00335529  0.99999047]]

 t_estimated:
[[0.51359751]
 [0.85800996]
 [0.00604232]]

 R_gt:
[[ 0.91512295  0.40018503  0.04901201]
 [-0.39729939  0.91577623 -0.05921141]
 [-0.06857903  0.03471342  0.99704152]]

 t_gt:
[-0.66979947  0.74203184  0.02752122]

Pose Error in degrees for R and t:
34.89554066707746 72.97256016602931

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.62093944e-01 -8.86824242e-01 -3.45701131e-03]
 [-8.86830832e-01 -4.62088103e-01 -2.37917118e-03]
 [ 5.12462882e-04  4.16518481e-03 -9.99991194e-01]]

 t_estimated:
[[0.44759267]
 [0.89423705]
 [0.00094829]]

 R_gt:
[[ 0.88276131  0.46836288  0.0369979 ]
 [-0.46537439  0.88249994 -0.06797824]
 [-0.06448826  0.04279065  0.99700089]]

 t_gt:
[-0.64543811  0.76377554  0.00752194]

Pose Error in degrees for R and t:
178.52173422794584 66.78951198691898

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 9.38416994e-01  3.45504453e-01 -4.68107186e-04]
 [-3.45504580e-01  9.38417037e-01 -2.22440099e-04]
 [ 3.62425714e-04  3.70474745e-04  9.99999866e-01]]

 t_estimated:
[[-0.05257287]
 [ 0.99861639]
 [-0.00118302]]

 R_gt:
[[ 0.99930969  0.00596304  0.03667825]
 [-0.00566282  0.99994946 -0.00828994]
 [-0.03672614  0.0080778   0.99929334]]

 t_gt:
[-0.57416168 -0.06406141  0.81623189]

Pose Error in degrees for R and t:
19.996824245368636 88.00839482624933

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.30268340e-01  3.66879737e-01  2.72183518e-04]
 [-3.66879646e-01  9.30268356e-01 -3.33567696e-04]
 [-3.75582942e-04  2.10448874e-04  9.99999907e-01]]

 t_estimated:
[[0.495188  ]
 [0.86878529]
 [0.00098057]]

 R_gt:
[[ 0.99818462 -0.05705396 -0.01929494]
 [ 0.05733492  0.99825125  0.01434875]
 [ 0.01844268 -0.01542832  0.99971123]]

 t_gt:
[ 0.34648088 -0.92696629 -0.14382107]

Pose Error in degrees for R and t:
24.84162141497444 50.66136547816142

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.06607802 -0.99780626 -0.0040463 ]
 [ 0.99729193 -0.06591165 -0.03262616]
 [ 0.03228789 -0.00619122  0.99945943]]

 t_estimated:
[[ 0.52859906]
 [-0.84840438]
 [-0.02816097]]

 R_gt:
[[ 0.99486638 -0.07952263 -0.06259287]
 [ 0.08252573  0.99548075  0.04697475]
 [ 0.0585739  -0.05189918  0.99693356]]

 t_gt:
[ 0.4219572  -0.88052312 -0.21594248]

Pose Error in degrees for R and t:
89.2085567262338 12.534103916732098

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[ 9.74654415e-01 -2.23715640e-01 -2.88657367e-04]
 [ 2.23715690e-01  9.74654435e-01  1.52534400e-04]
 [ 2.47216852e-04 -2.13245509e-04  9.99999947e-01]]

 t_estimated:
[[-0.13414753]
 [-0.99096078]
 [-0.00108183]]

 R_gt:
[[ 9.98232935e-01  5.94157302e-02 -8.09569636e-04]
 [-5.93935204e-02  9.98088753e-01  1.70392516e-02]
 [ 1.82130516e-03 -1.69605021e-02  9.99854875e-01]]

 t_gt:
[-0.7379127   0.65664404  0.15589567]

Pose Error in degrees for R and t:
16.36159740502072 56.503367380436615

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 9.70939011e-01 -2.39326721e-01 -3.95935303e-04]
 [ 2.39326854e-01  9.70939004e-01  3.29113508e-04]
 [ 3.05663372e-04 -4.14307095e-04  9.99999867e-01]]

 t_estimated:
[[ 0.41003818]
 [-0.91206779]
 [-0.00101698]]

 R_gt:
[[ 9.97014316e-01  6.44851636e-02  4.24732038e-02]
 [-6.45665424e-02  9.97913430e-01  5.48953826e-04]
 [-4.23486200e-02 -3.28960548e-03  9.99097898e-01]]

 t_gt:
[-0.73954329  0.46796211  0.48382557]

Pose Error in degrees for R and t:
17.717496829623332 43.06779651440705

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.99624341e-01  2.74075343e-02  6.07188489e-05]
 [-2.74075364e-02  9.99624342e-01  3.39770148e-05]
 [-5.97648132e-05 -3.56284051e-05  9.99999998e-01]]

 t_estimated:
[[0.84223038]
 [0.53911605]
 [0.00137008]]

 R_gt:
[[ 0.99968296  0.02339022  0.00931606]
 [-0.02351335  0.9996356   0.0132842 ]
 [-0.00900139 -0.01349936  0.99986881]]

 t_gt:
[-0.92764346 -0.18231256  0.32594439]

Pose Error in degrees for R and t:
0.9521346383006641 28.46233931368161

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-9.90917117e-01 -1.33333826e-01 -1.74745198e-02]
 [-1.33345742e-01  9.91069461e-01 -4.86693888e-04]
 [ 1.73833557e-02  1.84787951e-03 -9.99847190e-01]]

 t_estimated:
[[ 0.99839557]
 [ 0.05597748]
 [-0.00853255]]

 R_gt:
[[ 0.98771913  0.15550947  0.0151018 ]
 [-0.15555866  0.98782528  0.00211151]
 [-0.01458984 -0.00443435  0.99988372]]

 t_gt:
[-0.75398172  0.65316342  0.06992217]

Pose Error in degrees for R and t:
179.85473765174714 44.20858125194441

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.97081387e-01 -7.63411654e-02 -8.57124643e-04]
 [ 7.63421993e-02  9.97080897e-01  1.24636509e-03]
 [ 7.59473645e-04 -1.30816221e-03  9.99998856e-01]]

 t_estimated:
[[0.24054403]
 [0.97063747]
 [0.00120876]]

 R_gt:
[[ 0.92093875  0.38543451  0.0575648 ]
 [-0.38327129  0.92252713 -0.04524751]
 [-0.07054604  0.01960706  0.99731648]]

 t_gt:
[-0.66605168  0.74369984  0.05732105]

Pose Error in degrees for R and t:
27.34389784131843 55.825344357607335

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.91685107e-01  1.28688036e-01 -1.95240658e-04]
 [-1.28688015e-01  9.91685122e-01  1.19374784e-04]
 [ 2.08979362e-04 -9.32570632e-05  9.99999974e-01]]

 t_estimated:
[[-9.94965200e-01]
 [ 1.00220345e-01]
 [-3.64805444e-04]]

 R_gt:
[[ 0.82946745  0.55597249  0.05365219]
 [-0.55300185  0.83093489 -0.06112937]
 [-0.07856847  0.0210348   0.99668667]]

 t_gt:
[-0.59703199  0.80091838  0.04563496]

Pose Error in degrees for R and t:
26.749961852537353 47.60191378073054

Number of keypoints:
Image1: 529
Image2: 529

 R_estimated:
[[ 9.99994915e-01 -3.18881215e-03  3.24054022e-05]
 [ 3.18881263e-03  9.99994916e-01 -1.47578637e-05]
 [-3.23581774e-05  1.48611234e-05  9.99999999e-01]]

 t_estimated:
[[ 7.75492678e-01]
 [-6.31356351e-01]
 [ 5.13701811e-04]]

 R_gt:
[[ 0.9990144  -0.03326451 -0.0293962 ]
 [ 0.03365152  0.99935207  0.01278838]
 [ 0.02895182 -0.01376445  0.99948534]]

 t_gt:
[ 0.79516482 -0.56590912 -0.21785264]

Pose Error in degrees for R and t:
2.528531927035539 13.13863717622797

Number of keypoints:
Image1: 497
Image2: 497

 R_estimated:
[[ 9.99612289e-01  2.78436913e-02  1.24555286e-05]
 [-2.78436901e-02  9.99612286e-01 -8.34689501e-05]
 [-1.47747831e-05  8.30897804e-05  9.99999996e-01]]

 t_estimated:
[[ 9.47626837e-02]
 [-9.95499795e-01]
 [-4.37366377e-04]]

 R_gt:
[[ 0.9972284  -0.02895004 -0.06854138]
 [ 0.03233085  0.99828776  0.04875055]
 [ 0.0670131  -0.05083038  0.99645597]]

 t_gt:
[ 0.76476304 -0.63020763 -0.134074  ]

Pose Error in degrees for R and t:
5.878676505822888 45.58092203008603

Number of keypoints:
Image1: 411
Image2: 411

 R_estimated:
[[ 9.98742735e-01  5.01293333e-02 -8.01877877e-06]
 [-5.01293338e-02  9.98742732e-01 -7.50523528e-05]
 [ 4.24637260e-06  7.53599681e-05  9.99999997e-01]]

 t_estimated:
[[-3.23347631e-01]
 [-9.46280193e-01]
 [-3.24444690e-04]]

 R_gt:
[[ 0.9982451   0.03597929 -0.04702159]
 [-0.03308797  0.99759572  0.06088507]
 [ 0.04909984 -0.05922271  0.99703569]]

 t_gt:
[-0.70875075 -0.65703872  0.25685113]

Pose Error in degrees for R and t:
4.50496582242904 31.697693169882502

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.99187478 -0.04983245 -0.11705187]
 [ 0.06551248  0.98878863  0.13418335]
 [ 0.10905288 -0.14076143  0.98401915]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.98924711  0.13155052  0.06390756]
 [-0.13034929  0.99121001 -0.02263905]
 [-0.06632447  0.01406625  0.99769833]]

 t_gt:
[-0.43750309  0.83365074  0.33707195]

Pose Error in degrees for R and t:
17.423558743387556 76.7611611655504

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.95801364 -0.28479686 -0.03317535]
 [ 0.28579746  0.9577962   0.0307613 ]
 [ 0.0230145  -0.03895118  0.99897605]]

 t_estimated:
[[-0.67517517]
 [-0.73765685]
 [-0.00093256]]

 R_gt:
[[ 0.94779824  0.31532587  0.047396  ]
 [-0.31347425  0.94864006 -0.04261373]
 [-0.05839775  0.02553281  0.99796617]]

 t_gt:
[-0.34549354  0.93228943  0.10710103]

Pose Error in degrees for R and t:
35.46520443595225 62.96460126077222

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99996442e-01 -2.66176330e-03 -1.75320163e-04]
 [ 2.66161694e-03  9.99996114e-01 -8.29840807e-04]
 [ 1.77528321e-04  8.29371220e-04  9.99999640e-01]]

 t_estimated:
[[-0.9489427 ]
 [-0.31544567]
 [-0.00133844]]

 R_gt:
[[ 0.89871477  0.43457617  0.05878656]
 [-0.43134722  0.9001776  -0.06016688]
 [-0.07906478  0.02871678  0.99645518]]

 t_gt:
[-0.27344686  0.95635959  0.10297162]

Pose Error in degrees for R and t:
26.292743037139374 87.57383555999365

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-0.05996125 -0.99811164 -0.01333453]
 [-0.99811181  0.06012884 -0.01254367]
 [ 0.01332177  0.01255721 -0.99983241]]

 t_estimated:
[[ 0.77817927]
 [ 0.62799196]
 [-0.0079448 ]]

 R_gt:
[[ 0.99766529  0.0463949   0.05011134]
 [-0.0443838   0.99819114 -0.04052484]
 [-0.05190167  0.03820744  0.99792062]]

 t_gt:
[-0.33194624  0.94215867 -0.0463545 ]

Pose Error in degrees for R and t:
179.53234617306344 70.5051172534786

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.97053354e-01  7.67110995e-02 -1.27926497e-04]
 [-7.67111093e-02  9.97053359e-01 -7.33167430e-05]
 [ 1.21925335e-04  8.29140880e-05  9.99999989e-01]]

 t_estimated:
[[-0.00833304]
 [-0.99996474]
 [-0.00104163]]

 R_gt:
[[ 0.98612261  0.15213278  0.06646628]
 [-0.14697733  0.98616862 -0.07660288]
 [-0.07720094  0.06577167  0.99484311]]

 t_gt:
[-0.32180271  0.94633511 -0.02988108]

Pose Error in degrees for R and t:
7.19279531935348 19.336705710842185

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.9620316   0.2724525  -0.01627381]
 [ 0.27239139  0.96216843  0.00590332]
 [ 0.01726652  0.00124634 -0.99985015]]

 t_estimated:
[[ 0.97101838]
 [-0.23882755]
 [-0.0092036 ]]

 R_gt:
[[ 0.96231397  0.2706722   0.02621272]
 [-0.26995477  0.96246709 -0.02792955]
 [-0.03278907  0.01980123  0.99926651]]

 t_gt:
[-0.27690072  0.9606513  -0.02179633]

Pose Error in degrees for R and t:
179.1100395010837 60.1252880751934

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-2.78812590e-01  9.60337630e-01  3.89578136e-03]
 [ 9.60344607e-01  2.78815657e-01 -2.56805019e-04]
 [-1.33282436e-03  3.66969214e-03 -9.99992378e-01]]

 t_estimated:
[[-0.9410388 ]
 [-0.3382972 ]
 [-0.00098549]]

 R_gt:
[[ 0.99415401  0.10712602  0.01344334]
 [-0.10699516  0.99420786 -0.0101064 ]
 [-0.01444788  0.00860855  0.99985878]]

 t_gt:
[-0.3759789   0.92657267  0.01014694]

Pose Error in degrees for R and t:
178.8574487068474 87.68784359031274

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99999937e-01  2.17346802e-04 -2.82331839e-04]
 [-2.17253924e-04  9.99999922e-01  3.28956752e-04]
 [ 2.82403315e-04 -3.28895394e-04  9.99999906e-01]]

 t_estimated:
[[-0.8931302 ]
 [-0.44979686]
 [-0.00110821]]

 R_gt:
[[ 0.96895605  0.24472812 -0.0350978 ]
 [-0.2436481   0.96932295  0.03237674]
 [ 0.04194417 -0.02282052  0.99885925]]

 t_gt:
[-0.31845267  0.94663957 -0.04961266]

Pose Error in degrees for R and t:
14.386432232868913 81.87571539872324

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.46691926e-01 -3.22139507e-01 -7.31741146e-04]
 [ 3.22139887e-01  9.46691959e-01  4.77020739e-04]
 [ 5.39066234e-04 -6.87314692e-04  9.99999619e-01]]

 t_estimated:
[[9.70773019e-01]
 [2.39998762e-01]
 [5.83198253e-04]]

 R_gt:
[[ 0.90941321  0.40039483 -0.11247721]
 [-0.39601346  0.91628843  0.05990717]
 [ 0.12704782 -0.00993684  0.99184663]]

 t_gt:
[-0.14750339  0.97556378 -0.16284364]

Pose Error in degrees for R and t:
42.95178239449274 84.78767414075416

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99999957e-01 -4.39754156e-05 -2.89627278e-04]
 [ 4.40878906e-05  9.99999924e-01  3.88349091e-04]
 [ 2.89610178e-04 -3.88361844e-04  9.99999883e-01]]

 t_estimated:
[[-0.99999404]
 [-0.00318615]
 [-0.00133   ]]

 R_gt:
[[ 0.99429268  0.1041663   0.02305788]
 [-0.10465086  0.99428923  0.02092753]
 [-0.02074601 -0.02322075  0.99951532]]

 t_gt:
[-0.3881367   0.81243213  0.43509073]

Pose Error in degrees for R and t:
6.255370660117389 67.35829660756878

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99998152e-01  1.92037153e-03  8.65584260e-05]
 [-1.92038202e-03  9.99998149e-01  1.21271457e-04]
 [-8.63253795e-05 -1.21437458e-04  9.99999989e-01]]

 t_estimated:
[[0.99996492]
 [0.00831518]
 [0.00101061]]

 R_gt:
[[ 0.97796448  0.2085795   0.00891143]
 [-0.20874626  0.97760072  0.02685582]
 [-0.00310936 -0.02812346  0.99960008]]

 t_gt:
[-0.18704529  0.96930197  0.1595862 ]

Pose Error in degrees for R and t:
12.044617997331962 79.6991078911864

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.65943314e-01  2.58753594e-01 -3.03667289e-04]
 [-2.58753679e-01  9.65943297e-01 -2.84371327e-04]
 [ 2.19743279e-04  3.53261610e-04  9.99999913e-01]]

 t_estimated:
[[-0.98161186]
 [ 0.1908812 ]
 [-0.00158728]]

 R_gt:
[[ 0.97261578  0.23029584  0.0313313 ]
 [-0.23046237  0.97308005  0.00176552]
 [-0.03007985 -0.0089367   0.99950781]]

 t_gt:
[-0.11152963  0.97777491  0.1775313 ]

Pose Error in degrees for R and t:
2.4694611453113007 72.79233398044714

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99999824e-01  5.44189699e-04 -2.37284290e-04]
 [-5.44070066e-04  9.99999725e-01  5.03950667e-04]
 [ 2.37558469e-04 -5.03821478e-04  9.99999845e-01]]

 t_estimated:
[[0.98366541]
 [0.18000384]
 [0.00098764]]

 R_gt:
[[ 9.90506484e-01 -1.37465470e-01  4.19471827e-04]
 [ 1.37462952e-01  9.90501485e-01  2.94768573e-03]
 [-8.21412001e-04 -2.86114255e-03  9.99994863e-01]]

 t_gt:
[ 0.78804203 -0.61534538  0.01843426]

Pose Error in degrees for R and t:
7.934039405955366 48.361897421368475

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.99999914e-01 -2.91039511e-05 -4.14069396e-04]
 [ 2.94220093e-05  9.99999705e-01  7.68142482e-04]
 [ 4.14046918e-04 -7.68154598e-04  9.99999619e-01]]

 t_estimated:
[[-6.73628355e-01]
 [-7.39069944e-01]
 [-6.75948189e-04]]

 R_gt:
[[ 0.99114029 -0.13187358 -0.01582278]
 [ 0.13145827  0.99100825 -0.02488439]
 [ 0.01896112  0.02258399  0.99956407]]

 t_gt:
[ 0.77195333 -0.60309629 -0.20090525]

Pose Error in degrees for R and t:
7.7572835168421665 85.74798770788088

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 0.97919839 -0.20281757 -0.00596122]
 [ 0.20284641  0.97919926  0.00470641]
 [ 0.00488268 -0.00581772  0.99997116]]

 t_estimated:
[[-0.90099143]
 [-0.43381069]
 [-0.00476715]]

 R_gt:
[[ 0.97220801 -0.23356314 -0.01614056]
 [ 0.23290427  0.97187506 -0.03483883]
 [ 0.02382393  0.03011097  0.99926188]]

 t_gt:
[ 0.8033838  -0.57693181 -0.14739118]

Pose Error in degrees for R and t:
2.9415456138532243 61.779887510923004

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.98126705e-01 -6.11800498e-02  2.85295839e-04]
 [ 6.11801127e-02  9.98126719e-01 -2.17083035e-04]
 [-2.71480249e-04  2.34130806e-04  9.99999936e-01]]

 t_estimated:
[[9.83448888e-01]
 [1.81183814e-01]
 [8.42715414e-04]]

 R_gt:
[[ 0.97002283 -0.24050165 -0.03483689]
 [ 0.2408      0.97056321  0.00458846]
 [ 0.03270726 -0.01283877  0.99938309]]

 t_gt:
[ 0.83861791 -0.54306473 -0.04243479]

Pose Error in degrees for R and t:
10.617684271273138 43.422270613310396

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 1.00000000e+00 -5.72348721e-06 -1.73427771e-05]
 [ 5.72380393e-06  1.00000000e+00  1.82626941e-05]
 [ 1.73426725e-05 -1.82627933e-05  1.00000000e+00]]

 t_estimated:
[[9.97373449e-01]
 [7.24300786e-02]
 [2.94119310e-04]]

 R_gt:
[[ 0.96039531 -0.27709803 -0.02926387]
 [ 0.2770477   0.96083787 -0.00584982]
 [ 0.02973904 -0.0024888   0.99955496]]

 t_gt:
[ 0.84246592 -0.53582073 -0.05610102]

Pose Error in degrees for R and t:
16.178945865022133 36.73340294142377

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999974e-01  2.24143090e-04  2.81812755e-05]
 [-2.24143388e-04  9.99999975e-01  1.05578131e-05]
 [-2.81789083e-05 -1.05641295e-05  1.00000000e+00]]

 t_estimated:
[[9.99981016e-01]
 [6.11626170e-03]
 [7.48260241e-04]]

 R_gt:
[[ 0.9465735  -0.3197283  -0.04208141]
 [ 0.31901849  0.94747319 -0.02281202]
 [ 0.04716443  0.00816823  0.99885451]]

 t_gt:
[ 0.84652471 -0.52258673 -0.10148412]

Pose Error in degrees for R and t:
18.84824419191542 32.51652694032536

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.99059580e-01  4.33584439e-02 -3.33700700e-05]
 [-4.33584296e-02  9.99059520e-01  3.50721770e-04]
 [ 4.85454363e-05 -3.48945070e-04  9.99999938e-01]]

 t_estimated:
[[0.02031509]
 [0.99979257]
 [0.00145108]]

 R_gt:
[[ 9.88809230e-01  1.49184261e-01  8.96362384e-04]
 [-1.49055667e-01  9.87664833e-01  4.79494086e-02]
 [ 6.26875704e-03 -4.75459141e-02  9.98849464e-01]]

 t_gt:
[-0.31736095  0.91373378  0.25371755]

Pose Error in degrees for R and t:
6.678285766427605 24.842621811023523

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 8.93074723e-01  4.49907598e-01  8.31985100e-04]
 [-4.49907717e-01  8.93075049e-01 -4.78799717e-05]
 [-7.64566697e-04 -3.31556125e-04  9.99999653e-01]]

 t_estimated:
[[-0.24910139]
 [ 0.96847592]
 [ 0.00170018]]

 R_gt:
[[ 9.82598700e-01  1.85721739e-01  2.46066071e-03]
 [-1.85737611e-01  9.82437938e-01  1.78039818e-02]
 [ 8.89483608e-04 -1.79508357e-02  9.99838812e-01]]

 t_gt:
[-0.10960495  0.98975681  0.09147799]

Pose Error in degrees for R and t:
16.065470383666582 9.593858983789788

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99899812e-01 -1.41550360e-02 -4.19539192e-05]
 [ 1.41550335e-02  9.99899811e-01 -5.90218713e-05]
 [ 4.27851726e-05  5.84220989e-05  9.99999997e-01]]

 t_estimated:
[[ 9.40558860e-01]
 [-3.39630583e-01]
 [-3.13351994e-04]]

 R_gt:
[[ 0.98222685  0.18229733  0.04469737]
 [-0.18058721  0.98275534 -0.03974642]
 [-0.05117247  0.03096869  0.99820966]]

 t_gt:
[-0.09256241  0.98450289  0.14895054]

Pose Error in degrees for R and t:
11.782665091694858 65.0722950768306

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99286274e-01 -3.77739615e-02 -2.65358092e-04]
 [ 3.77740311e-02  9.99286272e-01  2.62688903e-04]
 [ 2.55245899e-04 -2.72525060e-04  9.99999930e-01]]

 t_estimated:
[[-0.76878222]
 [-0.63950868]
 [-0.0015947 ]]

 R_gt:
[[ 0.98175418  0.17808132 -0.06667801]
 [-0.17656741  0.98389036  0.02800356]
 [ 0.07059078 -0.01572015  0.99738057]]

 t_gt:
[-0.3240904   0.9246751  -0.19985338]

Pose Error in degrees for R and t:
13.05936200511105 70.00951326948608

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 1.03319514e-01 -9.94647539e-01 -1.16278545e-03]
 [-9.94647815e-01 -1.03320454e-01  7.79939464e-04]
 [-8.95904388e-04  1.07597904e-03 -9.99999020e-01]]

 t_estimated:
[[0.64925016]
 [0.76057446]
 [0.0008498 ]]

 R_gt:
[[ 0.93846274  0.32007267 -0.12977698]
 [-0.31281827  0.94696961  0.07344157]
 [ 0.14640175 -0.02832561  0.98881848]]

 t_gt:
[-0.1515193   0.96480377 -0.2149316 ]

Pose Error in degrees for R and t:
176.79217631433764 50.5615802098648

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 3.29861477e-01 -9.44029193e-01  5.37661492e-04]
 [-9.44027827e-01 -3.29859872e-01  1.98138884e-03]
 [-1.69313595e-03 -1.16115126e-03 -9.99997893e-01]]

 t_estimated:
[[0.30904711]
 [0.95104207]
 [0.00297652]]

 R_gt:
[[ 0.85931892  0.49183652 -0.14023946]
 [-0.47987632  0.87021971  0.11152261]
 [ 0.17689011 -0.02853644  0.98381674]]

 t_gt:
[-0.11661343  0.97678283 -0.17971256]

Pose Error in degrees for R and t:
178.03277528496145 26.82517689514106

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.88211464 -0.47099567 -0.00606866]
 [ 0.47095714 -0.88212996  0.00678959]
 [-0.00855121  0.00313112  0.99995854]]

 t_estimated:
[[0.86478696]
 [0.50213436]
 [0.00214587]]

 R_gt:
[[ 0.99660918  0.04478864  0.06903372]
 [-0.04317043  0.99876137 -0.02476559]
 [-0.07005721  0.02170138  0.99730695]]

 t_gt:
[-0.74103788  0.47514671  0.47444543]

Pose Error in degrees for R and t:
154.43828122565438 66.34463656721874

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-6.99102479e-01 -7.15021403e-01 -3.43139281e-04]
 [-7.15017112e-01  6.99096443e-01  3.83311608e-03]
 [-2.50087259e-03  2.92509141e-03 -9.99992595e-01]]

 t_estimated:
[[0.92743935]
 [0.37396748]
 [0.00213696]]

 R_gt:
[[ 0.9825489   0.17284551  0.06871758]
 [-0.17137555  0.98484223 -0.02678903]
 [-0.07230623  0.0145451   0.99727655]]

 t_gt:
[-0.72660903  0.65586957  0.20463241]

Pose Error in degrees for R and t:
176.67169944067115 64.6482266181779

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99565751e-01 -2.94666038e-02 -1.70125327e-04]
 [ 2.94666047e-02  9.99565765e-01  3.06455674e-06]
 [ 1.69961151e-04 -8.07624174e-06  9.99999986e-01]]

 t_estimated:
[[-9.94884926e-01]
 [-1.01014019e-01]
 [-3.89532759e-04]]

 R_gt:
[[ 0.95754525  0.28814321  0.00902385]
 [-0.28825948  0.95657728  0.04323123]
 [ 0.00382594 -0.04399646  0.99902392]]

 t_gt:
[-0.7106123   0.69602536  0.10285363]

Pose Error in degrees for R and t:
18.618546938231347 50.45908489030356

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[-9.92163108e-01 -1.24779925e-01 -6.50667772e-03]
 [-1.24788664e-01  9.92182887e-01  9.53227101e-04]
 [ 6.33687067e-03  1.75771638e-03 -9.99978377e-01]]

 t_estimated:
[[0.61158483]
 [0.79117721]
 [0.00161795]]

 R_gt:
[[ 9.97950129e-01  6.39559374e-02 -2.44683654e-03]
 [-6.40032013e-02  9.97356173e-01 -3.43978966e-02]
 [ 2.41278892e-04  3.44845760e-02  9.99404912e-01]]

 t_gt:
[-0.28006099  0.90952032 -0.30714594]

Pose Error in degrees for R and t:
179.43032685592786 56.7828445358004

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.93876998e-01 -1.10492093e-01 -1.01919407e-04]
 [ 1.10492096e-01  9.93877002e-01  2.68804077e-05]
 [ 9.83252827e-05 -3.79771079e-05  9.99999994e-01]]

 t_estimated:
[[-0.80252422]
 [-0.59661895]
 [-0.00084387]]

 R_gt:
[[ 0.98225805  0.18687391  0.01574212]
 [-0.18584388  0.98121017 -0.05184967]
 [-0.0251354   0.04800493  0.9985312 ]]

 t_gt:
[-0.32393287  0.94593777 -0.0164085 ]

Pose Error in degrees for R and t:
17.370586702254588 72.27873726258673

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.57085846e-01 -2.89803863e-01  6.35971844e-04]
 [ 2.89804317e-01  9.57085583e-01 -8.03577709e-04]
 [-3.75799558e-04  9.53400238e-04  9.99999475e-01]]

 t_estimated:
[[-0.50469636]
 [-0.86329641]
 [-0.00094868]]

 R_gt:
[[ 0.91942992  0.39310268 -0.01094635]
 [-0.39306593  0.91776391 -0.0566476 ]
 [-0.01222171  0.05638726  0.99833391]]

 t_gt:
[-0.2332962   0.97139838 -0.04425008]

Pose Error in degrees for R and t:
40.13980802360239 43.8778590444232

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99653936e-01 -2.63059223e-02  8.30070506e-05]
 [ 2.63059268e-02  9.99653938e-01 -5.33826842e-05]
 [-8.15740443e-05  5.55477878e-05  9.99999995e-01]]

 t_estimated:
[[9.35845074e-01]
 [3.52411276e-01]
 [5.39333366e-04]]

 R_gt:
[[ 0.98152551 -0.17882726 -0.06803697]
 [ 0.17943901  0.98376444  0.00292909]
 [ 0.0664086  -0.01508344  0.99767922]]

 t_gt:
[ 0.60426949 -0.76155822 -0.23428075]

Pose Error in degrees for R and t:
9.649784910931908 72.72282129109944

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-2.99010558e-01  9.54249702e-01  4.38748821e-04]
 [ 9.54246597e-01  2.99008330e-01  2.72951294e-03]
 [ 2.47344736e-03  1.23482776e-03 -9.99996179e-01]]

 t_estimated:
[[6.54778882e-01]
 [7.55820155e-01]
 [7.13007110e-04]]

 R_gt:
[[ 0.9425697  -0.32995646 -0.05188104]
 [ 0.33079716  0.94366461  0.00830681]
 [ 0.04621731 -0.02499198  0.99861957]]

 t_gt:
[ 0.65296728 -0.75438357 -0.06737331]

Pose Error in degrees for R and t:
177.08147161491948 81.79720843819709

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99827237e-01 -1.85554213e-02 -1.09173007e-03]
 [ 1.85558810e-02  9.99827740e-01  4.12474124e-04]
 [ 1.08388838e-03 -4.32660877e-04  9.99999319e-01]]

 t_estimated:
[[-1.50849045e-01]
 [-9.88556441e-01]
 [-8.53269950e-04]]

 R_gt:
[[ 0.87942737 -0.47230328 -0.05946965]
 [ 0.4716831   0.88141513 -0.02495846]
 [ 0.06420613 -0.00610176  0.99791844]]

 t_gt:
[ 0.71222189 -0.69508034 -0.09799637]

Pose Error in degrees for R and t:
27.37079813993745 54.565507738985495

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.37587446e-01  3.47749330e-01  4.30071458e-04]
 [-3.47749542e-01  9.37585890e-01  1.71890154e-03]
 [ 1.94517930e-04 -1.76117766e-03  9.99998430e-01]]

 t_estimated:
[[0.41483103]
 [0.90989686]
 [0.00170712]]

 R_gt:
[[ 0.95705662  0.28343067  0.060905  ]
 [-0.28084153  0.95856722 -0.04770454]
 [-0.07190204  0.02855133  0.99700226]]

 t_gt:
[-0.70514047  0.70538225  0.07219971]

Pose Error in degrees for R and t:
5.965496721748301 69.54728724716016

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.92475746e-01  1.22441021e-01 -2.99787445e-04]
 [-1.22441008e-01  9.92475791e-01  6.31620500e-05]
 [ 3.05265407e-04 -2.59805258e-05  9.99999953e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.89774918  0.43656231  0.05882845]
 [-0.43709358  0.89940609 -0.00418114]
 [-0.05473582 -0.02195972  0.99825869]]

 t_gt:
[-0.64918449  0.752491    0.110981  ]

Pose Error in degrees for R and t:
19.193358221892588 63.40245814088743

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.98929257e-01  4.62636334e-02 -1.24403941e-04]
 [-4.62636376e-02  9.98929264e-01 -3.09569615e-05]
 [ 1.22838556e-04  3.66791934e-05  9.99999992e-01]]

 t_estimated:
[[-0.92912027]
 [-0.36977582]
 [-0.00117018]]

 R_gt:
[[ 0.85639051  0.51080713  0.07530861]
 [-0.51218497  0.85887452 -0.00118238]
 [-0.06528467 -0.03755849  0.99715892]]

 t_gt:
[-0.61263249  0.7803676   0.12533095]

Pose Error in degrees for R and t:
28.48428313092576 73.70986016265596

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99999996e-01 -8.40020352e-05  3.83712203e-05]
 [ 8.39996861e-05  9.99999995e-01  6.12176647e-05]
 [-3.83763625e-05 -6.12144412e-05  9.99999997e-01]]

 t_estimated:
[[8.44509751e-01]
 [5.35539760e-01]
 [6.68153211e-04]]

 R_gt:
[[ 0.99891056 -0.0451841  -0.01164174]
 [ 0.04552199  0.99849477  0.03059388]
 [ 0.01024237 -0.03109023  0.99946352]]

 t_gt:
[ 0.69424276 -0.65589488  0.29635939]

Pose Error in degrees for R and t:
3.201099187252657 76.39452382969606

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99996961e-01 -7.05878570e-04 -2.36219217e-03]
 [ 7.11587476e-04  9.99996826e-01  2.41681574e-03]
 [ 2.36047869e-03 -2.41848930e-03  9.99994290e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.99858845  0.01373216  0.05130244]
 [-0.01813876  0.99609192  0.08643405]
 [-0.04991372 -0.08724281  0.99493584]]

 t_gt:
[ 0.02275267 -0.30430541  0.95230275]

Pose Error in degrees for R and t:
5.799659773988057 88.53368187396204

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-3.78681024e-01 -9.25525113e-01 -1.98676583e-03]
 [ 9.25526868e-01 -3.78681935e-01  8.94862502e-05]
 [-8.35174100e-04 -1.80491841e-03  9.99998022e-01]]

 t_estimated:
[[0.99577611]
 [0.09180915]
 [0.00100889]]

 R_gt:
[[ 0.99616546  0.03814781  0.07873673]
 [-0.04968169  0.98741153  0.15016912]
 [-0.07201699 -0.1535049   0.98551903]]

 t_gt:
[-0.05100443 -0.18655214  0.9811202 ]

Pose Error in degrees for R and t:
115.04693448580029 86.16253481236332

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99999984e-01  1.38816154e-04 -1.08762596e-04]
 [-1.38808603e-04  9.99999988e-01  6.94306230e-05]
 [ 1.08772233e-04 -6.94155248e-05  9.99999992e-01]]

 t_estimated:
[[-9.99951596e-01]
 [ 9.82088114e-03]
 [-5.96817343e-04]]

 R_gt:
[[ 0.98930217  0.14580148 -0.00478531]
 [-0.14583068  0.98928956 -0.00633111]
 [ 0.00381049  0.00696098  0.99996925]]

 t_gt:
[-0.715234    0.69615193 -0.06174803]

Pose Error in degrees for R and t:
8.388859518340942 43.77409762633437

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.9925005  -0.12217649 -0.00395703]
 [ 0.12221774  0.99242056  0.0128165 ]
 [ 0.00236117 -0.013204    0.99991004]]

 t_estimated:
[[0.30823366]
 [0.95128227]
 [0.00735178]]

 R_gt:
[[ 0.89761737  0.43774677  0.05157415]
 [-0.43528649  0.89875905 -0.05251724]
 [-0.06934209  0.02469075  0.99728726]]

 t_gt:
[-0.63099448  0.77435558  0.04711065]

Pose Error in degrees for R and t:
33.28087410916917 57.147149047711814

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.99999475 -0.00304709  0.00110252]
 [ 0.00304873  0.99999424 -0.00148881]
 [-0.00109798  0.00149217  0.99999828]]

 t_estimated:
[[-9.99889690e-01]
 [-1.48265418e-02]
 [-8.83758280e-04]]

 R_gt:
[[ 0.79422855  0.60399147  0.06629428]
 [-0.60375293  0.79675259 -0.02584462]
 [-0.06843066 -0.01949856  0.99746552]]

 t_gt:
[-0.56215574  0.82270527  0.08448048]

Pose Error in degrees for R and t:
37.58434239102373 56.645252792453356

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[-9.39641308e-01 -3.42145214e-01  3.29623849e-03]
 [-3.42139915e-01  9.39646731e-01  2.07337748e-03]
 [-3.80669591e-03  8.20456374e-04 -9.99992418e-01]]

 t_estimated:
[[0.96972406]
 [0.24419201]
 [0.002348  ]]

 R_gt:
[[ 0.99902097  0.01347793  0.04215418]
 [-0.01471569  0.99946488  0.02919609]
 [-0.04173848 -0.02978793  0.99868398]]

 t_gt:
[-0.1310515  -0.21067926  0.968731  ]

Pose Error in degrees for R and t:
177.13292287798188 79.84827714159371

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[-0.4926933  -0.87019717 -0.00319412]
 [ 0.87020223 -0.49268458 -0.00315895]
 [ 0.00117521 -0.00433592  0.99998991]]

 t_estimated:
[[0.98160449]
 [0.19092307]
 [0.0009996 ]]

 R_gt:
[[ 0.99529709  0.06135533  0.0749622 ]
 [-0.06742959  0.99439929  0.08138446]
 [-0.06954924 -0.08605685  0.99385972]]

 t_gt:
[-0.25957149 -0.00493097  0.96571131]

Pose Error in degrees for R and t:
123.32330436080429 75.23988557644333

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-7.23435367e-01 -6.90390548e-01 -1.47010340e-03]
 [ 6.90392038e-01 -7.23432650e-01 -2.00882995e-03]
 [ 3.23356409e-04 -2.46820632e-03  9.99996902e-01]]

 t_estimated:
[[0.94938078]
 [0.31412599]
 [0.0010004 ]]

 R_gt:
[[ 0.99017668  0.08416777  0.1116533 ]
 [-0.10193531  0.98111339  0.16439739]
 [-0.09570768 -0.17416377  0.98005486]]

 t_gt:
[-0.24328511  0.02078949  0.969732  ]

Pose Error in degrees for R and t:
141.93510663914398 77.08710042144936

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.96921034 -0.23715769 -0.06623862]
 [ 0.24304159  0.96455876  0.10274817]
 [ 0.03952352 -0.11568333  0.9924995 ]]

 t_estimated:
[[-0.99227127]
 [-0.12403391]
 [-0.00364806]]

 R_gt:
[[ 0.98316005 -0.18262218  0.006751  ]
 [ 0.18264692  0.98317294 -0.0032778 ]
 [-0.00603924  0.00445663  0.99997213]]

 t_gt:
[ 0.80163821 -0.59780625  0.00196392]

Pose Error in degrees for R and t:
8.139690505704648 43.837961287901386

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.5054296   0.86276767  0.01314783]
 [ 0.86278695  0.50553218 -0.00599079]
 [-0.01181531  0.00831586 -0.99989562]]

 t_estimated:
[[0.97822983]
 [0.2075033 ]
 [0.00296433]]

 R_gt:
[[ 0.95481823 -0.29718626  0.00117125]
 [ 0.29708059  0.95435685 -0.03076714]
 [ 0.00802588  0.02972463  0.99952635]]

 t_gt:
[ 0.85680012 -0.50876923 -0.08394888]

Pose Error in degrees for R and t:
178.47399159188043 42.91814431406191

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.45000005 -0.8930253  -0.00240075]
 [ 0.8930124   0.44997414  0.00722012]
 [-0.00536748 -0.00539296  0.99997105]]

 t_estimated:
[[0.94758877]
 [0.31948521]
 [0.00217337]]

 R_gt:
[[ 0.92319768 -0.38351099  0.02497798]
 [ 0.38430329  0.92054221 -0.07009846]
 [ 0.00388976  0.07431436  0.9972271 ]]

 t_gt:
[ 0.88167991 -0.45201145 -0.13537423]

Pose Error in degrees for R and t:
40.90720306492535 46.3093202949035

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 0.52061459 -0.85373314  0.01000856]
 [-0.85374398 -0.52042558  0.01668636]
 [-0.00903698 -0.01723191 -0.99981068]]

 t_estimated:
[[0.46036129]
 [0.88767193]
 [0.01029683]]

 R_gt:
[[ 0.99906614  0.00591388 -0.04280619]
 [-0.00843353  0.99822866 -0.05890851]
 [ 0.04238308  0.05921492  0.99734509]]

 t_gt:
[ 0.05188125  0.30038922 -0.95240467]

Pose Error in degrees for R and t:
176.96523292833643 73.69655325658665

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999819e-01 -5.93230836e-04 -1.04273739e-04]
 [ 5.93233205e-04  9.99999824e-01  2.26875954e-05]
 [ 1.04260261e-04 -2.27494499e-05  9.99999994e-01]]

 t_estimated:
[[ 0.999905  ]
 [-0.01361324]
 [-0.00216024]]

 R_gt:
[[ 0.99971211  0.00236749  0.02390342]
 [-0.00231061  0.99999441 -0.00241484]
 [-0.02390771  0.00235855  0.99971163]]

 t_gt:
[-0.37769946  0.02691477  0.92553698]

Pose Error in degrees for R and t:
1.3918274159046025 67.6644983206197

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.046279    0.99882057  0.01468729]
 [-0.99882126  0.04648451 -0.01397421]
 [-0.01464046 -0.01402326  0.99979448]]

 t_estimated:
[[0.67771597]
 [0.73532183]
 [0.00169429]]

 R_gt:
[[ 0.99165546 -0.06945846  0.10861099]
 [ 0.04939134  0.98286322  0.17759658]
 [-0.11908422 -0.17075048  0.9780912 ]]

 t_gt:
[ 0.16423547 -0.36015411  0.91832224]

Pose Error in degrees for R and t:
91.31755796305559 81.25899189585553

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.90617263  0.42270231 -0.01318746]
 [-0.42272489 -0.90625731 -0.00116277]
 [-0.01244274  0.00452099  0.99991237]]

 t_estimated:
[[0.62843333]
 [0.77785104]
 [0.00439464]]

 R_gt:
[[ 0.98519547  0.17053791 -0.0175106 ]
 [-0.16967802  0.98458385  0.04245452]
 [ 0.02447988 -0.0388551   0.99894501]]

 t_gt:
[-0.73634602  0.67375674  0.06201923]

Pose Error in degrees for R and t:
145.21869851563986 86.46773807774622

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 7.72474309e-01 -6.35045223e-01 -1.00287670e-03]
 [ 6.35045574e-01  7.72474671e-01  4.06340034e-05]
 [ 7.48892420e-04 -6.68261134e-04  9.99999496e-01]]

 t_estimated:
[[-0.10507145]
 [-0.99446411]
 [-0.00106133]]

 R_gt:
[[ 0.96659035  0.24186123 -0.08489201]
 [-0.23194345  0.96625926  0.11199669]
 [ 0.10911549 -0.08856578  0.99007591]]

 t_gt:
[-0.77399692  0.62882794 -0.07419025]

Pose Error in degrees for R and t:
53.75439627789204 57.04753152397043

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.9233242  -0.3839698   0.00629463]
 [-0.38314422  0.92219866  0.05244176]
 [-0.02594096  0.04600899 -0.99860415]]

 t_estimated:
[[9.99987772e-01]
 [4.87798913e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.94398444  0.29950916 -0.13852166]
 [-0.27538032  0.94628868  0.16941675]
 [ 0.1818232  -0.12178194  0.97576166]]

 t_gt:
[-0.81884905  0.53745581 -0.20156262]

Pose Error in degrees for R and t:
173.01037821738322 35.27583801597538

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 8.86938503e-01  4.61886906e-01  7.59677788e-04]
 [-4.61885459e-01  8.86938251e-01 -1.53656333e-03]
 [-1.38350577e-03  1.01195306e-03  9.99998531e-01]]

 t_estimated:
[[0.72207468]
 [0.69181433]
 [0.00104346]]

 R_gt:
[[ 9.93744126e-01  1.11674588e-01  8.16903286e-04]
 [-1.11512719e-01  9.92655587e-01 -4.68950704e-02]
 [-6.04840648e-03  4.65110730e-02  9.98899613e-01]]

 t_gt:
[-0.35118725  0.92072237 -0.17011124]

Pose Error in degrees for R and t:
21.256971129475403 67.46746438309296

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999680e-01  8.05909954e-05 -7.96273774e-04]
 [-8.02689207e-05  9.99999915e-01  4.04501004e-04]
 [ 7.96306305e-04 -4.04436958e-04  9.99999601e-01]]

 t_estimated:
[[-0.7927009 ]
 [-0.60960988]
 [-0.00104029]]

 R_gt:
[[ 0.95732701  0.28896859  0.00466433]
 [-0.28860671  0.95672768 -0.03710985]
 [-0.01518609  0.03418032  0.99930033]]

 t_gt:
[-0.29503922  0.95532353 -0.01757331]

Pose Error in degrees for R and t:
16.926698509446247 69.60571712993539

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.13453197  0.99090127 -0.00397743]
 [-0.99090516 -0.1345188   0.0034141 ]
 [ 0.00284799  0.00440057  0.99998626]]

 t_estimated:
[[0.79522966]
 [0.60630769]
 [0.00087871]]

 R_gt:
[[ 0.88269667  0.46834166 -0.03876425]
 [-0.46956543  0.88228581 -0.03285048]
 [ 0.01881628  0.04719969  0.99870794]]

 t_gt:
[-0.19585074  0.97740932 -0.07945758]

Pose Error in degrees for R and t:
69.78957970142544 64.1004545812367

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.91955001e-01 -1.26588866e-01 -7.30831722e-04]
 [ 1.26590001e-01  9.91953485e-01  1.80393413e-03]
 [ 4.96593098e-04 -1.88193747e-03  9.99998106e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99200504 -0.11676156 -0.04789531]
 [ 0.11848542  0.99234273  0.03489729]
 [ 0.04345307 -0.04029258  0.99824251]]

 t_gt:
[ 0.62584742 -0.77619989 -0.07634621]

Pose Error in degrees for R and t:
3.3423641179112096 39.433673887006414

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.95917194e-01  9.02701489e-02  4.91886416e-04]
 [-9.02701075e-02  9.95917314e-01 -1.05731284e-04]
 [-4.99422577e-04  6.08969646e-05  9.99999873e-01]]

 t_estimated:
[[9.84731614e-01]
 [1.74077339e-01]
 [8.53320290e-04]]

 R_gt:
[[ 0.98993989 -0.14116961 -0.00948676]
 [ 0.14135568  0.98968701  0.02319794]
 [ 0.00611308 -0.02430454  0.99968573]]

 t_gt:
[ 0.54261699 -0.83899079  0.04075845]

Pose Error in degrees for R and t:
13.379813143831527 67.15014372443642

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.20037379 -0.97971638 -0.00248359]
 [-0.97971875  0.20036979  0.00176662]
 [-0.00123315  0.00278721 -0.99999536]]

 t_estimated:
[[0.62021531]
 [0.7844295 ]
 [0.00182411]]

 R_gt:
[[ 0.98971699 -0.14181442 -0.01869503]
 [ 0.14206107  0.98977844  0.01260114]
 [ 0.0167168  -0.01512627  0.99974598]]

 t_gt:
[ 0.48660064 -0.8720685  -0.05211868]

Pose Error in degrees for R and t:
179.68117939744556 67.51917839221022

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.97979006  0.20002276 -0.00152429]
 [-0.19999077  0.9797246   0.01197491]
 [ 0.00388864 -0.01142805  0.99992714]]

 t_estimated:
[[-0.94426012]
 [-0.32919457]
 [ 0.00193916]]

 R_gt:
[[ 0.98464202 -0.17367188 -0.01781816]
 [ 0.17309877  0.98445303 -0.02980304]
 [ 0.02271719  0.02626067  0.99939691]]

 t_gt:
[ 0.54805821 -0.8132784  -0.1954749 ]

Pose Error in degrees for R and t:
21.66927500462581 75.51291718529717

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.87596005 -0.48237505 -0.00288212]
 [ 0.48238041 -0.87596044 -0.00156281]
 [-0.00177076 -0.00275923  0.99999463]]

 t_estimated:
[[0.84439302]
 [0.53572051]
 [0.00199238]]

 R_gt:
[[ 0.94678166 -0.32072562 -0.02718078]
 [ 0.32071705  0.94716255 -0.00479496]
 [ 0.02728213 -0.00417798  0.99961845]]

 t_gt:
[ 0.62132825 -0.7811851  -0.06083628]

Pose Error in degrees for R and t:
132.45182187178096 83.91365179021687

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.95696498e-01 -9.26740392e-02 -7.88762761e-05]
 [ 9.26740349e-02  9.95696500e-01 -5.63745701e-05]
 [ 8.37612912e-05  4.88221793e-05  9.99999995e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.88780554 -0.46020078 -0.00409251]
 [ 0.46001922  0.88764738 -0.02154283]
 [ 0.01354618  0.0172428   0.9997586 ]]

 t_gt:
[ 0.68149172 -0.73034617 -0.04651362]

Pose Error in degrees for R and t:
22.115406658314594 43.43710684197492

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.98326004e-01  5.78375247e-02  9.83040127e-05]
 [-5.78374999e-02  9.98325982e-01 -2.38959026e-04]
 [-1.11960249e-04  2.32873351e-04  9.99999967e-01]]

 t_estimated:
[[-0.79968831]
 [-0.60041421]
 [-0.00117689]]

 R_gt:
[[ 0.99669682  0.01860274  0.07905723]
 [-0.01841903  0.99982571 -0.00304392]
 [-0.07909991  0.00157789  0.99686506]]

 t_gt:
[-0.24837198  0.33349644  0.9094457 ]

Pose Error in degrees for R and t:
5.060466592555431 89.84609474066681

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.873115   -0.48750581 -0.00287645]
 [ 0.48751115 -0.87311538 -0.00155567]
 [-0.00175307 -0.00276058  0.99999465]]

 t_estimated:
[[0.90743728]
 [0.42018292]
 [0.00197269]]

 R_gt:
[[ 0.99162651 -0.04402804  0.12140498]
 [ 0.04710012  0.99863514 -0.02254117]
 [-0.12024635  0.02807109  0.99234654]]

 t_gt:
[ 0.42479188 -0.26264143  0.8663552 ]

Pose Error in degrees for R and t:
148.27380328565818 73.92928183444423

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.79095691e-01 -2.03400165e-01  3.68780549e-06]
 [ 2.03400161e-01  9.79095672e-01 -2.00446842e-04]
 [ 3.71602063e-05  1.97006739e-04  9.99999980e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98432496 -0.09132228  0.15087916]
 [ 0.09490499  0.99534635 -0.01669901]
 [-0.14865176  0.0307564   0.98841126]]

 t_gt:
[ 0.55801466 -0.49926275  0.66283961]

Pose Error in degrees for R and t:
10.798859039787798 60.32474440607571

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.29983984  0.92203275 -0.2448503 ]
 [-0.55755335 -0.03889275 -0.82922953]
 [-0.77409969  0.38515316  0.50242086]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99585241 -0.05719728 -0.0707553 ]
 [ 0.05775105  0.99831434  0.00580565]
 [ 0.07030292 -0.00986805  0.99747678]]

 t_gt:
[ 0.56999377 -0.6831066  -0.45658786]

Pose Error in degrees for R and t:
100.65316914415574 80.89504781562098

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999854e-01  9.12032352e-05  5.32371352e-04]
 [-9.07451836e-05  9.99999626e-01 -8.60359418e-04]
 [-5.32449621e-04  8.60310982e-04  9.99999488e-01]]

 t_estimated:
[[0.56181833]
 [0.82726003]
 [0.0009979 ]]

 R_gt:
[[ 0.98602562 -0.15606569 -0.05827816]
 [ 0.15332522  0.98696667 -0.04887411]
 [ 0.06514608  0.03925568  0.99710292]]

 t_gt:
[ 0.68008887 -0.58863926 -0.43701597]

Pose Error in degrees for R and t:
9.923717041391878 83.95512036973143

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.81546454e-01  1.91204702e-01  2.70565360e-03]
 [-1.91202419e-01  9.81550033e-01 -1.08096572e-03]
 [-2.86242011e-03  5.43690555e-04  9.99995755e-01]]

 t_estimated:
[[0.9256522 ]
 [0.37836878]
 [0.0022522 ]]

 R_gt:
[[ 0.97238919 -0.21933533  0.07970153]
 [ 0.2238618   0.97317635 -0.05305465]
 [-0.06592733  0.06943217  0.99540621]]

 t_gt:
[ 0.72653864 -0.68250041 -0.07959142]

Pose Error in degrees for R and t:
24.437441712286677 65.53697099350353

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[ 9.99945761e-01 -1.04151238e-02  1.23613015e-05]
 [ 1.04151238e-02  9.99945761e-01 -2.46539434e-06]
 [-1.23349537e-05  2.59400511e-06  1.00000000e+00]]

 t_estimated:
[[ 9.90391494e-01]
 [-1.38288945e-01]
 [ 9.25122094e-04]]

 R_gt:
[[ 0.99998597 -0.00472473 -0.00277663]
 [ 0.00469783  0.99994435 -0.00949767]
 [ 0.00282094  0.00948452  0.99995109]]

 t_gt:
[ 0.27783415 -0.21179986 -0.93698933]

Pose Error in degrees for R and t:
0.6506152989720406 72.32680573248629

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.91889056e-01  1.27106653e-01 -5.33230126e-06]
 [-1.27106652e-01  9.91889055e-01  4.87001269e-05]
 [ 1.14791614e-05 -4.76273520e-05  9.99999999e-01]]

 t_estimated:
[[-0.99988332]
 [-0.01524212]
 [-0.00101614]]

 R_gt:
[[ 0.99606514 -0.0777336  -0.04258382]
 [ 0.07818342  0.99689833  0.00900496]
 [ 0.04175149 -0.01229912  0.99905155]]

 t_gt:
[ 0.62747573 -0.71291102 -0.31310077]

Pose Error in degrees for R and t:
12.035959799251078 51.95951838164678

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.52472571  0.85126126  0.00414729]
 [ 0.85126683 -0.5247008  -0.00581836]
 [-0.00277686  0.0065835  -0.99997447]]

 t_estimated:
[[-0.99989506]
 [-0.01439849]
 [-0.00159983]]

 R_gt:
[[ 0.97296107 -0.21387863 -0.08720089]
 [ 0.21603289  0.9762553   0.01595927]
 [ 0.08171673 -0.03436553  0.99606273]]

 t_gt:
[ 0.69511999 -0.69064829 -0.19953231]

Pose Error in degrees for R and t:
176.76561859828936 46.78141464361815

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-0.27627846  0.96077925  0.02394697]
 [ 0.9607905   0.27671919 -0.01755311]
 [-0.02349125  0.01815848 -0.99955912]]

 t_estimated:
[[ 0.78494781]
 [-0.61938045]
 [ 0.01499292]]

 R_gt:
[[ 0.99559161 -0.08362438  0.04247685]
 [ 0.08450619  0.99623367 -0.01942188]
 [-0.04069204  0.02292655  0.99890868]]

 t_gt:
[ 0.7244251  -0.67826222  0.12316106]

Pose Error in degrees for R and t:
175.66311045433696 7.868534244660816

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[-0.75315362 -0.65777176  0.00979469]
 [-0.65778726  0.75320112  0.00199724]
 [-0.0086911  -0.0049386  -0.99995004]]

 t_estimated:
[[0.98187298]
 [0.18939633]
 [0.0073813 ]]

 R_gt:
[[ 0.99134639 -0.11734914  0.05883545]
 [ 0.1190841   0.99251994 -0.0269039 ]
 [-0.05523762  0.03367776  0.99790581]]

 t_gt:
[ 0.71766359 -0.68820074  0.10648341]

Pose Error in degrees for R and t:
176.98505913668788 54.893520018016154

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.50398150e-01  3.11035619e-01  4.48066236e-04]
 [-3.11035546e-01  9.50398252e-01 -2.27088412e-04]
 [-4.96473952e-04  7.64598807e-05  9.99999874e-01]]

 t_estimated:
[[0.70011873]
 [0.71402583]
 [0.00093404]]

 R_gt:
[[ 0.99017744 -0.12750271  0.0573702 ]
 [ 0.12918776  0.99126025 -0.02670328]
 [-0.05346386  0.03385382  0.99799621]]

 t_gt:
[ 0.76382573 -0.64292727  0.05669908]

Pose Error in degrees for R and t:
25.751619421757304 85.65539686394067

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99827091e-01 -1.85952162e-02  8.34639231e-05]
 [ 1.85952692e-02  9.99826857e-01 -6.86545980e-04]
 [-7.06830010e-05  6.87979304e-04  9.99999761e-01]]

 t_estimated:
[[ 0.36920551]
 [-0.92933824]
 [-0.00421117]]

 R_gt:
[[ 0.98386267 -0.17890662 -0.00269917]
 [ 0.17873202  0.98337969 -0.03191123]
 [ 0.00836333  0.03091406  0.99948773]]

 t_gt:
[ 0.9723934  -0.15360103 -0.17566386]

Pose Error in degrees for R and t:
9.410889436502844 59.834458860191944

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-9.53984516e-01  2.99627427e-01  1.17025215e-02]
 [ 2.99642871e-01  9.54051333e-01 -4.51806783e-04]
 [-1.13001800e-02  3.07556047e-03 -9.99931421e-01]]

 t_estimated:
[[ 0.99270766]
 [-0.12040775]
 [ 0.00578586]]

 R_gt:
[[ 0.97233276 -0.2334217  -0.0091417 ]
 [ 0.23305911  0.97199791 -0.03006329]
 [ 0.01590325  0.02710053  0.99950646]]

 t_gt:
[ 0.98031054 -0.14924152 -0.12929892]

Pose Error in degrees for R and t:
179.79513753000248 7.952331629277836

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-3.28066503e-01  9.44652799e-01  1.86001955e-03]
 [ 9.44654593e-01  3.28065301e-01  9.26897832e-04]
 [ 2.65388755e-04  2.06116014e-03 -9.99997841e-01]]

 t_estimated:
[[8.12250998e-01]
 [5.83307702e-01]
 [6.63603757e-04]]

 R_gt:
[[ 0.95213325 -0.30441662  0.0277908 ]
 [ 0.30537683  0.95130969 -0.0418792 ]
 [-0.01368913  0.04836086  0.99873666]]

 t_gt:
[ 0.98547935 -0.07832352 -0.15065151]

Pose Error in degrees for R and t:
177.4305925631273 41.00346513492508

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.92673283  0.37570488  0.00347867]
 [-0.3757108   0.92673617  0.00121554]
 [-0.00276713 -0.00243346  0.99999321]]

 t_estimated:
[[-0.53972588]
 [ 0.84180176]
 [ 0.00811054]]

 R_gt:
[[ 0.99155865  0.12961174 -0.00353393]
 [-0.12926376  0.99028872  0.05117133]
 [ 0.01013229 -0.05028265  0.99868311]]

 t_gt:
[-0.75427074  0.60047094  0.26553775]

Pose Error in degrees for R and t:
14.902642299413744 23.832504187000104

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 8.10928388e-01  5.85145269e-01  4.02920044e-04]
 [-5.85145167e-01  8.10928487e-01 -3.50378599e-04]
 [-5.31761721e-04  4.83652359e-05  9.99999857e-01]]

 t_estimated:
[[0.00728388]
 [0.99997293]
 [0.00104055]]

 R_gt:
[[ 0.96992271  0.24316469  0.01099855]
 [-0.24340593  0.96855275  0.05157203]
 [ 0.00188896 -0.05269826  0.99860813]]

 t_gt:
[-0.72243763  0.67124257  0.16588334]

Pose Error in degrees for R and t:
21.93088362670909 48.23055253871726

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-4.23305226e-01 -9.05981245e-01 -3.26628343e-03]
 [ 9.05986828e-01 -4.23299375e-01 -2.34665027e-03]
 [ 7.43405401e-04 -3.95255909e-03  9.99991912e-01]]

 t_estimated:
[[0.99984238]
 [0.01772317]
 [0.00105388]]

 R_gt:
[[ 0.89198547  0.45057894  0.03659938]
 [-0.4510754   0.89246361  0.00622419]
 [-0.02985829 -0.02206123  0.99931057]]

 t_gt:
[-0.64083918  0.76444903  0.07030523]

Pose Error in degrees for R and t:
141.86020363712407 51.162362895074885

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 1.00000000e+00 -3.14785593e-05 -3.01667144e-07]
 [ 3.14785931e-05  9.99999993e-01  1.12818113e-04]
 [ 2.98115790e-07 -1.12818123e-04  9.99999994e-01]]

 t_estimated:
[[9.37276121e-01]
 [3.48587791e-01]
 [1.61101079e-04]]

 R_gt:
[[ 0.98941082 -0.13265337 -0.05890342]
 [ 0.13525321  0.9898958   0.04257036]
 [ 0.05266151 -0.05008702  0.99735611]]

 t_gt:
[ 0.77113243 -0.63001916  0.0918185 ]

Pose Error in degrees for R and t:
8.75779209259179 59.790594488654065

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999892e-01  3.02641845e-04  3.52719668e-04]
 [-3.02576622e-04  9.99999937e-01 -1.84952259e-04]
 [-3.52775620e-04  1.84845515e-04  9.99999921e-01]]

 t_estimated:
[[ 8.94085734e-01]
 [ 4.47895851e-01]
 [-8.17102706e-05]]

 R_gt:
[[ 0.98973177 -0.13913582 -0.0327519 ]
 [ 0.14121345  0.98726391  0.07326118]
 [ 0.02214193 -0.07713384  0.9967753 ]]

 t_gt:
[ 0.71069273 -0.63459932  0.30364378]

Pose Error in degrees for R and t:
9.312879792011504 69.44165558417409

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.99975988 -0.00744044  0.02061122]
 [ 0.00791569  0.99970244 -0.0230731 ]
 [-0.02043341  0.02323071  0.99952129]]

 t_estimated:
[[-9.07152915e-01]
 [-4.20800536e-01]
 [-7.04858520e-04]]

 R_gt:
[[ 0.99678968 -0.0777033   0.01932951]
 [ 0.07460424  0.98893045  0.12825932]
 [-0.02908126 -0.12640544  0.99155265]]

 t_gt:
[ 0.43363999 -0.5525325   0.71180349]

Pose Error in degrees for R and t:
9.507149499369262 80.71337029146254

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.99935509 -0.03587561  0.00153305]
 [ 0.03587251  0.99935437  0.0020023 ]
 [-0.0016039  -0.00194601  0.99999682]]

 t_estimated:
[[0.08662454]
 [0.99618218]
 [0.01082807]]

 R_gt:
[[ 0.99877719  0.00477711 -0.04921961]
 [-0.00837116  0.99729131 -0.07307525]
 [ 0.04873687  0.0733981   0.99611129]]

 t_gt:
[ 0.10343389  0.32521487 -0.93996634]

Pose Error in degrees for R and t:
5.739373942833951 71.17037313464624

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.91484276 -0.40379483  0.00352937]
 [-0.4037838  -0.91464785  0.019441  ]
 [-0.00462205 -0.01921056 -0.99980478]]

 t_estimated:
[[0.14639745]
 [0.98916853]
 [0.01064959]]

 R_gt:
[[ 0.99555401  0.02433855 -0.09099592]
 [-0.03197038  0.99600585 -0.08336548]
 [ 0.08860372  0.08590448  0.99235516]]

 t_gt:
[ 0.05250521  0.41312969 -0.90915734]

Pose Error in degrees for R and t:
175.30917355089585 66.00484665618939

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-5.55855713e-01 -8.31272747e-01 -3.16961368e-03]
 [ 8.31278787e-01 -5.55851333e-01 -2.20771435e-03]
 [ 7.33787833e-05 -3.86200324e-03  9.99992540e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98967655  0.04222673 -0.13695205]
 [-0.05836084  0.99153103 -0.11601772]
 [ 0.1308935   0.12281402  0.98376012]]

 t_gt:
[ 0.04758969  0.45076477 -0.89137329]

Pose Error in degrees for R and t:
126.90209648412183 87.23175611551979

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[-7.94488271e-01 -6.07279072e-01 -7.18108267e-04]
 [ 6.07276774e-01 -7.94480611e-01 -3.93435973e-03]
 [ 1.81873123e-03 -3.56189313e-03  9.99992003e-01]]

 t_estimated:
[[8.62045329e-01]
 [5.06830671e-01]
 [7.21981013e-04]]

 R_gt:
[[ 0.99726326 -0.05320503 -0.05134295]
 [ 0.05391732  0.99846694  0.01257721]
 [ 0.05059548 -0.01531016  0.99860209]]

 t_gt:
[ 0.57352274 -0.67628148 -0.46229323]

Pose Error in degrees for R and t:
139.54340583986556 81.2972284290712

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99999967e-01  2.39434023e-04  8.90090154e-05]
 [-2.39429040e-04  9.99999970e-01 -5.59904562e-05]
 [-8.90224187e-05  5.59691431e-05  9.99999994e-01]]

 t_estimated:
[[-9.99992703e-01]
 [-3.68873893e-03]
 [-9.93341568e-04]]

 R_gt:
[[ 0.99088184 -0.09449924 -0.09604469]
 [ 0.10080205  0.9929082   0.06303279]
 [ 0.08940681 -0.07213883  0.99338   ]]

 t_gt:
[ 0.49387909 -0.81972998 -0.29004518]

Pose Error in degrees for R and t:
8.67888218245007 60.62236803139894

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99969788e-01 -7.77274746e-03  8.26760979e-05]
 [ 7.77275488e-03  9.99969788e-01 -8.97436090e-05]
 [-8.19760456e-05  9.03835187e-05  9.99999993e-01]]

 t_estimated:
[[0.9989923 ]
 [0.04485981]
 [0.00140813]]

 R_gt:
[[ 0.96109021 -0.24787744 -0.12191793]
 [ 0.24830349  0.9686091  -0.01192572]
 [ 0.12104688 -0.01880997  0.99246923]]

 t_gt:
[ 0.6071994  -0.65933567 -0.44337949]

Pose Error in degrees for R and t:
15.640307387580204 54.80328168461404

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 0.19705844  0.98039028  0.00169458]
 [-0.98038978  0.19706121 -0.00165874]
 [-0.00196015 -0.00133448  0.99999719]]

 t_estimated:
[[0.17522507]
 [0.98452728]
 [0.00148496]]

 R_gt:
[[ 0.99765092 -0.01961764 -0.06563954]
 [ 0.0239006   0.9975914   0.06512179]
 [ 0.06420451 -0.06653695  0.99571552]]

 t_gt:
[ 0.23289352 -0.93164925 -0.27890909]

Pose Error in degrees for R and t:
80.0384748292777 28.73656783493842

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 1.91251835e-01  9.81531268e-01  4.37095303e-03]
 [-9.81540876e-01  1.91252158e-01  3.47876199e-04]
 [-4.94502832e-04 -4.35680103e-03  9.99990387e-01]]

 t_estimated:
[[0.70374063]
 [0.71045571]
 [0.00134302]]

 R_gt:
[[ 0.98815407 -0.13467379 -0.07358913]
 [ 0.13767393  0.9897739   0.03733921]
 [ 0.0678086  -0.04702646  0.99658957]]

 t_gt:
[ 0.395177   -0.85260394 -0.34190886]

Pose Error in degrees for R and t:
86.92155730555241 70.84684489631213

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.97278014  0.23167447 -0.00507264]
 [-0.23165765  0.97279037  0.00369254]
 [ 0.00579009 -0.00241692  0.99998032]]

 t_estimated:
[[-0.98917676]
 [-0.14655581]
 [-0.00712209]]

 R_gt:
[[ 0.94564836 -0.29873538 -0.12848089]
 [ 0.30305143  0.95285554  0.01501245]
 [ 0.11793978 -0.05313192  0.99159785]]

 t_gt:
[ 0.61431142 -0.74459748 -0.26114377]

Pose Error in degrees for R and t:
31.760045780673515 60.21956494183894

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.92803589 -0.37243959  0.00617518]
 [-0.37238062  0.92803709  0.00893466]
 [-0.00905842  0.00599217 -0.99994102]]

 t_estimated:
[[0.93557302]
 [0.35312537]
 [0.00236535]]

 R_gt:
[[ 0.99886607 -0.01933599 -0.04350157]
 [ 0.01443971  0.99380521 -0.11019084]
 [ 0.0453633   0.10943854  0.99295703]]

 t_gt:
[ 0.25375271  0.12727008 -0.95885968]

Pose Error in degrees for R and t:
176.7472018815537 73.73511329211172

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 1.00000000e+00  3.95863897e-13  6.07319447e-16]
 [-3.95850019e-13  1.00000000e+00 -1.35440229e-15]
 [ 1.44005596e-15  1.20330856e-15  1.00000000e+00]]

 t_estimated:
[[7.46393473e-02]
 [9.97210593e-01]
 [1.73161034e-05]]

 R_gt:
[[ 0.99548055 -0.01010169 -0.09443623]
 [-0.00280114  0.99077129 -0.135512  ]
 [ 0.09493377  0.1351654   0.98626398]]

 t_gt:
[ 0.20534334  0.23665699 -0.94964603]

Pose Error in degrees for R and t:
9.509606915638003 75.44512658464969

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.95719965e-01 -9.24090694e-02  1.52177195e-03]
 [ 9.24086873e-02  9.95721112e-01  3.19689953e-04]
 [-1.54480271e-03 -1.77696720e-04  9.99998791e-01]]

 t_estimated:
[[0.57851065]
 [0.81567245]
 [0.00197277]]

 R_gt:
[[ 0.99206171 -0.00455813 -0.12567544]
 [-0.01564149  0.98711031 -0.15927224]
 [ 0.12478201  0.15997417  0.97920183]]

 t_gt:
[ 0.1914331   0.29273815 -0.93683389]

Pose Error in degrees for R and t:
13.041300239991655 69.6547429576543

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.96800288  0.25093189  0.00190004]
 [ 0.25092563 -0.96800165  0.00302296]
 [ 0.0025978  -0.00244947 -0.99999363]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98682781 -0.16174934  0.00314334]
 [ 0.16161974  0.986528    0.02533152]
 [-0.00719784 -0.02449092  0.99967397]]

 t_gt:
[ 0.95813386 -0.24193441  0.15312495]

Pose Error in degrees for R and t:
178.46881525004386 51.43151405329971

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.61233538 -0.79059379  0.00261622]
 [-0.79059406  0.61233948  0.00117711]
 [-0.00253263 -0.00134758 -0.99999588]]

 t_estimated:
[[0.97607849]
 [0.21741312]
 [0.00152037]]

 R_gt:
[[ 9.89198686e-01 -1.45524878e-01  1.75995106e-02]
 [ 1.45562415e-01  9.89349375e-01 -8.66422677e-04]
 [-1.72862539e-02  3.41876832e-03  9.99844577e-01]]

 t_gt:
[ 0.98019319 -0.19738237 -0.01617155]

Pose Error in degrees for R and t:
178.9906175194491 23.963076694674893

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-9.42436259e-01 -3.34385847e-01 -5.93326801e-05]
 [-3.34385492e-01  9.42434971e-01  1.63359731e-03]
 [-4.90334627e-04  1.55940133e-03 -9.99998664e-01]]

 t_estimated:
[[0.97548924]
 [0.22004401]
 [0.00117671]]

 R_gt:
[[ 9.41840938e-01 -3.35948765e-01 -8.60693005e-03]
 [ 3.36058345e-01  9.41472996e-01  2.63484666e-02]
 [-7.47990153e-04 -2.77094788e-02  9.99615236e-01]]

 t_gt:
[ 0.99281727 -0.09545508  0.07212629]

Pose Error in degrees for R and t:
179.9128704709094 18.636843438753274

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.99999967e-01  2.48918775e-04  6.77859933e-05]
 [-2.48915013e-04  9.99999967e-01 -5.55077540e-05]
 [-6.77998080e-05  5.54908792e-05  9.99999996e-01]]

 t_estimated:
[[ 0.99989107]
 [-0.01471888]
 [-0.00109944]]

 R_gt:
[[ 0.99842742 -0.05420317 -0.01430791]
 [ 0.05435618  0.99846559  0.01054246]
 [ 0.0137145  -0.0113025   0.9998422 ]]

 t_gt:
[ 0.59389685 -0.80012678 -0.08416452]

Pose Error in degrees for R and t:
3.2893498681930646 52.72065014141197

Number of keypoints:
Image1: 634
Image2: 634

 R_estimated:
[[ 9.99906837e-01  1.36497979e-02 -3.01483718e-06]
 [-1.36497979e-02  9.99906837e-01  6.02826435e-06]
 [ 3.09684089e-06 -5.98655083e-06  1.00000000e+00]]

 t_estimated:
[[-1.57896631e-01]
 [ 9.87455645e-01]
 [-4.76056531e-05]]

 R_gt:
[[ 9.99869097e-01  4.28050320e-05  1.61990688e-02]
 [-1.40398302e-04  9.99981261e-01  5.97060325e-03]
 [-1.61985826e-02 -5.97167177e-03  9.99850376e-01]]

 t_gt:
[-0.18206535  0.00286882  0.98328225]

Pose Error in degrees for R and t:
1.2593657908267857 88.19296248987362

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 0.45416059  0.8909162  -0.00254538]
 [-0.8909185   0.45415311 -0.00302957]
 [-0.0015431   0.00364363  0.99999217]]

 t_estimated:
[[0.6367118 ]
 [0.77110142]
 [0.00081945]]

 R_gt:
[[ 0.99958976 -0.02792511 -0.00639364]
 [ 0.02800731  0.99951949  0.01328934]
 [ 0.00601892 -0.01346283  0.99989077]]

 t_gt:
[ 0.57017878 -0.81155861  0.12754913]

Pose Error in degrees for R and t:
64.59973551417828 74.77264230245625

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 8.86669164e-01  4.62403678e-01  7.95137890e-04]
 [-4.62399765e-01  8.86666706e-01 -2.93426815e-03]
 [-2.06183868e-03  2.23405351e-03  9.99995379e-01]]

 t_estimated:
[[0.68817618]
 [0.72554321]
 [0.00077848]]

 R_gt:
[[ 0.99052923 -0.13132696 -0.04007281]
 [ 0.13226695  0.99097373  0.02179626]
 [ 0.0368481  -0.0268901   0.99895915]]

 t_gt:
[ 0.6528553  -0.75139964 -0.09580469]

Pose Error in degrees for R and t:
35.22574906078295 84.4929619617911

Number of keypoints:
Image1: 394
Image2: 394

 R_estimated:
[[ 9.97946844e-01  6.40475058e-02 -1.16744053e-04]
 [-6.40475311e-02  9.97946823e-01 -2.27781152e-04]
 [ 1.01915542e-04  2.34790650e-04  9.99999967e-01]]

 t_estimated:
[[-0.51630501]
 [ 0.856392  ]
 [-0.00467648]]

 R_gt:
[[ 0.99945214 -0.03307623 -0.00103155]
 [ 0.03304961  0.99925308 -0.02005208]
 [ 0.00169401  0.02000631  0.99979784]]

 t_gt:
[ 0.68512052 -0.62236249 -0.37851658]

Pose Error in degrees for R and t:
5.681922535039596 27.754963853085293

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 5.47922622e-01 -8.36527961e-01  1.33026261e-03]
 [-8.36528206e-01 -5.47923615e-01 -5.23243621e-04]
 [ 1.16659022e-03 -8.26105179e-04 -9.99998978e-01]]

 t_estimated:
[[0.57819533]
 [0.81589786]
 [0.00091777]]

 R_gt:
[[ 0.99984729 -0.01697753  0.00418786]
 [ 0.01700389  0.99983557 -0.00625828]
 [-0.00408215  0.00632752  0.9999713 ]]

 t_gt:
[ 0.91791718 -0.37151794 -0.13929272]

Pose Error in degrees for R and t:
179.8019003279956 76.85084008118758

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 8.32303105e-01 -5.54320519e-01  5.51756415e-04]
 [ 5.54320307e-01  8.32303281e-01  4.95845971e-04]
 [-7.34086270e-04 -1.06844356e-04  9.99999725e-01]]

 t_estimated:
[[0.69146382]
 [0.72241045]
 [0.00096708]]

 R_gt:
[[ 0.99827322  0.05826929 -0.00744587]
 [-0.05814937  0.99819069  0.01533477]
 [ 0.00832498 -0.01487565  0.99985398]]

 t_gt:
[0.32506158 0.94374361 0.0606875 ]

Pose Error in degrees for R and t:
37.01372121671642 24.96072704057748

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.00459072  0.99998558 -0.00278639]
 [ 0.99997813  0.00460391  0.00474724]
 [ 0.00476    -0.00276453 -0.99998485]]

 t_estimated:
[[-0.2656647 ]
 [-0.9640616 ]
 [-0.00273881]]

 R_gt:
[[ 0.99691203 -0.05033628 -0.06027118]
 [ 0.05358402  0.99712826  0.05352001]
 [ 0.0574054  -0.05658359  0.99674625]]

 t_gt:
[ 0.46535897 -0.87376202  0.14135402]

Pose Error in degrees for R and t:
175.07572163750405 44.08208863538886

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.61028425e-01 -2.76439637e-01  2.34359516e-03]
 [-2.76448145e-01 -9.60961696e-01  1.13596405e-02]
 [-8.88149710e-04 -1.15648199e-02 -9.99932731e-01]]

 t_estimated:
[[0.2019156 ]
 [0.97938738]
 [0.00551829]]

 R_gt:
[[ 0.98119108 -0.10946267 -0.15900392]
 [ 0.1165119   0.99254802  0.03568027]
 [ 0.15391361 -0.05353488  0.98663311]]

 t_gt:
[ 0.61138633 -0.731032   -0.30298345]

Pose Error in degrees for R and t:
178.0564343531502 53.54530073881288

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 8.95059725e-01 -4.45946278e-01 -7.20261113e-05]
 [ 4.45946238e-01  8.95059547e-01  6.01001026e-04]
 [-2.03546512e-04 -5.70051586e-04  9.99999817e-01]]

 t_estimated:
[[-0.45851818]
 [-0.88868449]
 [-0.00097765]]

 R_gt:
[[ 9.71391456e-01 -1.67576179e-01 -1.68275129e-01]
 [ 1.70145852e-01  9.85417972e-01  8.65524805e-04]
 [ 1.65678191e-01 -2.94714408e-02  9.85739690e-01]]

 t_gt:
[ 0.64428723 -0.67630507 -0.357079  ]

Pose Error in degrees for R and t:
19.282628332404173 72.18446126924535

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.03604398  0.99933805 -0.00492849]
 [ 0.99931122 -0.03599858  0.00901023]
 [ 0.00882685 -0.00524986 -0.99994726]]

 t_estimated:
[[-0.02055995]
 [-0.99977997]
 [-0.00416019]]

 R_gt:
[[ 0.99708393 -0.00739464  0.07595219]
 [ 0.01562097  0.99399664 -0.10829215]
 [-0.07469565  0.10916316  0.99121351]]

 t_gt:
[-0.23156974  0.56420559 -0.79249449]

Pose Error in degrees for R and t:
173.06483325690377 56.218763455216916

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-1.98837839e-01 -9.80031839e-01 -1.05310472e-03]
 [-9.80031521e-01  1.98838988e-01 -1.12941062e-03]
 [ 1.31625664e-03  8.07506259e-04 -9.99998808e-01]]

 t_estimated:
[[8.78030336e-01]
 [4.78604861e-01]
 [3.40922414e-04]]

 R_gt:
[[ 0.98525582 -0.07891881  0.15179866]
 [ 0.10228435  0.98294083 -0.1528593 ]
 [-0.13714588  0.16613247  0.97652025]]

 t_gt:
[ 0.42922734 -0.10419524 -0.89716623]

Pose Error in degrees for R and t:
179.45882415590594 70.93137421713479

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.06250422  0.99519246  0.07540024]
 [-0.99771487 -0.06424709  0.02091276]
 [ 0.02565647 -0.0739208   0.99693403]]

 t_estimated:
[[0.19703148]
 [0.97985158]
 [0.03270275]]

 R_gt:
[[ 0.97957975 -0.09875055  0.1751311 ]
 [ 0.12613674  0.98016574 -0.15285235]
 [-0.15656296  0.17182215  0.97260756]]

 t_gt:
[ 0.66278637 -0.36029358 -0.65643184]

Pose Error in degrees for R and t:
101.11066145910954 75.88247905233662

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999189e-01 -7.79275225e-04  1.00780704e-03]
 [ 7.80729769e-04  9.99998653e-01 -1.44368854e-03]
 [-1.00668066e-03  1.44447419e-03  9.99998450e-01]]

 t_estimated:
[[0.95631732]
 [0.29230832]
 [0.00360874]]

 R_gt:
[[ 9.92951708e-01  1.18431239e-01 -4.51722647e-03]
 [-1.18515615e-01  9.92065775e-01 -4.19422225e-02]
 [-4.86295215e-04  4.21812456e-02  9.99109849e-01]]

 t_gt:
[-0.39598471  0.8990579  -0.18679133]

Pose Error in degrees for R and t:
7.239472692245854 83.30644466084395

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.99982789 -0.01560709  0.01003007]
 [ 0.01570054  0.99983343 -0.00930616]
 [-0.00988316  0.00946203  0.99990639]]

 t_estimated:
[[0.06651719]
 [0.99775791]
 [0.0073908 ]]

 R_gt:
[[ 0.96922275  0.24500465 -0.02407186]
 [-0.24617185  0.96552771 -0.08459106]
 [ 0.00251627  0.08791356  0.99612446]]

 t_gt:
[-0.30664199  0.93269071 -0.18989134]

Pose Error in degrees for R and t:
15.833427882658324 24.660077259394665

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-9.92183603e-01 -1.24786291e-01  2.81167280e-04]
 [-1.24784166e-01  9.92175767e-01  4.01978449e-03]
 [-7.80581357e-04  3.95327904e-03 -9.99991881e-01]]

 t_estimated:
[[0.61207672]
 [0.7907968 ]
 [0.00158159]]

 R_gt:
[[ 0.933682    0.3563133  -0.03577458]
 [-0.3578986   0.92509587 -0.12691043]
 [-0.01212531  0.13129816  0.99126858]]

 t_gt:
[-0.26288921  0.95254493 -0.15345169]

Pose Error in degrees for R and t:
178.82774550681188 53.692517578818894

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99941989e-01  1.07711114e-02  4.34309211e-05]
 [-1.07711098e-02  9.99941989e-01 -3.74536133e-05]
 [-4.38318187e-05  3.69836413e-05  9.99999998e-01]]

 t_estimated:
[[0.45505311]
 [0.89046363]
 [0.00109125]]

 R_gt:
[[ 0.98512037 -0.16994784  0.02562955]
 [ 0.16959314  0.9853925   0.01547716]
 [-0.0278846  -0.01089914  0.99955143]]

 t_gt:
[ 0.56887334 -0.79771019  0.20010389]

Pose Error in degrees for R and t:
10.533855214834151 63.176347832298276

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.95243183e-01 -9.74217411e-02  1.05127886e-04]
 [ 9.74217494e-02  9.95243185e-01 -7.74828404e-05]
 [-9.70792989e-05  8.73560113e-05  9.99999991e-01]]

 t_estimated:
[[9.53245844e-01]
 [3.02194801e-01]
 [8.14562048e-04]]

 R_gt:
[[ 0.96542521 -0.26066252  0.00307117]
 [ 0.26037156  0.96478505  0.03736759]
 [-0.01270366 -0.03527489  0.99929656]]

 t_gt:
[ 0.59966568 -0.78976509  0.12912078]

Pose Error in degrees for R and t:
9.755298334660266 70.544715698164

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.39635702  0.91024802  0.11979002]
 [ 0.66816031 -0.19650569 -0.7175983 ]
 [-0.62965301  0.36446406 -0.68607801]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.88690882 -0.45838406  0.05725536]
 [ 0.45731087  0.88875291  0.03139302]
 [-0.06527639 -0.00165804  0.99786582]]

 t_gt:
[ 0.68041184 -0.72070837  0.13273723]

Pose Error in degrees for R and t:
142.8722917679543 86.46763254062975

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.98380706e-01  5.68854411e-02 -1.13716888e-04]
 [-5.68854746e-02  9.98380660e-01 -3.16648960e-04]
 [ 9.55200258e-05  3.22605051e-04  9.99999943e-01]]

 t_estimated:
[[-0.59930863]
 [ 0.80051565]
 [-0.00196605]]

 R_gt:
[[ 0.99381948  0.10339869 -0.04038663]
 [-0.1028459   0.99457668  0.01553882]
 [ 0.04177436 -0.01128929  0.99906339]]

 t_gt:
[-0.66326339  0.70742725 -0.24418919]

Pose Error in degrees for R and t:
3.636983997398154 15.35879244787442

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.97705208e-01  6.77075175e-02 -9.81965136e-05]
 [-6.77075085e-02  9.97705209e-01  9.16434195e-05]
 [ 1.04176122e-04 -8.47844756e-05  9.99999991e-01]]

 t_estimated:
[[-9.98062219e-01]
 [ 6.22231866e-02]
 [-2.86885020e-04]]

 R_gt:
[[ 0.97144166  0.23462144 -0.03542311]
 [-0.23297603  0.9714372   0.04509852]
 [ 0.04499195 -0.03555805  0.99835405]]

 t_gt:
[-0.66019506  0.74967479 -0.04615405]

Pose Error in degrees for R and t:
10.190554553918137 45.12389169175994

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-9.89679466e-01 -1.43202207e-01 -5.26139047e-03]
 [-1.43205135e-01  9.89693011e-01  1.82110765e-04]
 [ 5.18108271e-03  9.33689418e-04 -9.99986142e-01]]

 t_estimated:
[[ 0.9989941 ]
 [ 0.04478898]
 [-0.00217442]]

 R_gt:
[[ 0.91665105  0.3968186  -0.04782191]
 [-0.39602122  0.91788637  0.02554102]
 [ 0.05402907 -0.00447366  0.99852958]]

 t_gt:
[-0.56814863  0.81634705 -0.10384909]

Pose Error in degrees for R and t:
176.7898691121927 57.94129007048197

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99494652e-01 -3.17867673e-02  2.07417305e-04]
 [ 3.17868278e-02  9.99494628e-01 -2.95151275e-04]
 [-1.97930577e-04  3.01595259e-04  9.99999935e-01]]

 t_estimated:
[[0.81914172]
 [0.57359033]
 [0.00098391]]

 R_gt:
[[ 0.98813483 -0.15331042 -0.00923496]
 [ 0.15282814  0.98743963 -0.04009187]
 [ 0.01526416  0.03820539  0.99915324]]

 t_gt:
[ 0.74327416 -0.64232898 -0.1869679 ]

Pose Error in degrees for R and t:
7.369572952011839 76.09993023948758

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-7.58662771e-01 -6.51481392e-01 -1.67240123e-03]
 [ 6.51482030e-01 -7.58664038e-01  2.04128443e-04]
 [-1.40177656e-03 -9.34674701e-04  9.99998581e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96321485 -0.26767804  0.02377231]
 [ 0.26840929  0.96262167 -0.03627626]
 [-0.01317334  0.04132257  0.99905904]]

 t_gt:
[ 0.7735478  -0.63253343 -0.03905462]

Pose Error in degrees for R and t:
123.80789721801996 39.50651584049193

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-9.99649179e-01 -2.64130101e-02  1.96756513e-03]
 [-2.64139529e-02  9.99650987e-01 -4.54741526e-04]
 [-1.95486733e-03 -5.06553166e-04 -9.99997961e-01]]

 t_estimated:
[[0.99985599]
 [0.01683968]
 [0.00210496]]

 R_gt:
[[ 0.91758978 -0.396884    0.02263836]
 [ 0.39739272  0.91727979 -0.02602594]
 [-0.01043704  0.03287785  0.9994045 ]]

 t_gt:
[ 0.8155555  -0.57810361 -0.02579622]

Pose Error in degrees for R and t:
178.95031007088102 36.32705283698962

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.71878224e-01  2.35483634e-01  4.18481414e-04]
 [-2.35483599e-01  9.71878314e-01 -1.32316796e-04]
 [-4.37871452e-04  3.00503037e-05  9.99999904e-01]]

 t_estimated:
[[-0.20750966]
 [ 0.97823189]
 [ 0.00145164]]

 R_gt:
[[ 0.98984212 -0.13559994  0.04272172]
 [ 0.13536291  0.99076039  0.0083977 ]
 [-0.04346538 -0.00253057  0.99905136]]

 t_gt:
[ 0.66426284 -0.70615516  0.24515252]

Pose Error in degrees for R and t:
21.550821677330216 34.07871159965363

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.9966658  -0.08151743 -0.00349148]
 [ 0.08151331 -0.9966714   0.00130686]
 [-0.00358639  0.0010179   0.99999305]]

 t_estimated:
[[7.75958350e-01]
 [6.30783729e-01]
 [7.25873106e-04]]

 R_gt:
[[ 0.95846912 -0.28509785 -0.00746396]
 [ 0.28519001  0.95827869  0.01920109]
 [ 0.00167817 -0.02053213  0.9997877 ]]

 t_gt:
[ 0.77364969 -0.63310578  0.02536202]

Pose Error in degrees for R and t:
158.75430029633 78.4054042600486

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.96138625e-01  8.77940947e-02  1.90775055e-04]
 [-8.77940832e-02  9.96138642e-01 -6.77613826e-05]
 [-1.95987453e-04  5.07508094e-05  9.99999980e-01]]

 t_estimated:
[[8.00411146e-01]
 [5.99451021e-01]
 [6.85870734e-04]]

 R_gt:
[[ 0.88314526 -0.46823561 -0.02847739]
 [ 0.46877337  0.88316852  0.01629317]
 [ 0.01752194 -0.02773876  0.99946119]]

 t_gt:
[ 0.83463221 -0.55080259  0.00236152]

Pose Error in degrees for R and t:
33.034794594654464 70.25276037422526

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99998303e-01  1.83320429e-03  1.82797004e-04]
 [-1.83317288e-03  9.99998305e-01 -1.71842391e-04]
 [-1.83111716e-04  1.71507001e-04  9.99999969e-01]]

 t_estimated:
[[-0.01258359]
 [-0.99992019]
 [-0.001124  ]]

 R_gt:
[[ 0.99032549 -0.13875634 -0.00173042]
 [ 0.13859827  0.98966068 -0.03690619]
 [ 0.0068337   0.03630868  0.99931726]]

 t_gt:
[ 0.95843544 -0.1320109  -0.25293208]

Pose Error in degrees for R and t:
8.349267051915696 83.09496319357953

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 7.28991214e-01  6.84522615e-01  7.74279387e-04]
 [ 6.84517873e-01 -7.28989632e-01  3.06577750e-03]
 [ 2.66303568e-03 -1.70491678e-03 -9.99995001e-01]]

 t_estimated:
[[-7.83394289e-01]
 [-6.21524675e-01]
 [-6.82994149e-04]]

 R_gt:
[[ 0.95196046 -0.30611514 -0.00812258]
 [ 0.30575497  0.95163852 -0.02996014]
 [ 0.01690024  0.02603675  0.99951791]]

 t_gt:
[ 0.9904099  -0.10065717 -0.09463806]

Pose Error in degrees for R and t:
178.88636129675317 44.49955401170615

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.91925701e-01  1.26818488e-01 -6.88804399e-04]
 [-1.26818201e-01  9.91925877e-01  4.46326859e-04]
 [ 7.39845405e-04 -3.55370147e-04  9.99999663e-01]]

 t_estimated:
[[8.31414764e-01]
 [5.55651885e-01]
 [6.87687977e-04]]

 R_gt:
[[ 0.9572303  -0.2893225   0.0017888 ]
 [ 0.28918944  0.95656253 -0.03685509]
 [ 0.0089523   0.03579548  0.99931866]]

 t_gt:
[ 0.9851522  -0.10257283 -0.13767337]

Pose Error in degrees for R and t:
24.197983789242684 40.36088251417175

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99919062e-01  1.27225424e-02 -7.32862003e-05]
 [-1.27225472e-02  9.99919063e-01 -6.60825208e-05]
 [ 7.24395311e-05  6.70095594e-05  9.99999995e-01]]

 t_estimated:
[[-9.94680715e-01]
 [-1.03004387e-01]
 [-6.09106080e-04]]

 R_gt:
[[ 0.98976678  0.14090359 -0.02255346]
 [-0.14115432  0.98993759 -0.00992366]
 [ 0.02092802  0.01300566  0.99969631]]

 t_gt:
[-0.61648897  0.76400599 -0.19035808]

Pose Error in degrees for R and t:
7.512302188504515 57.68120028278722

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 8.00282751e-01 -5.99622812e-01 -3.42306006e-05]
 [ 5.99622761e-01  8.00282704e-01 -3.70997643e-04]
 [ 2.49852807e-04  2.76377567e-04  9.99999931e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97297189  0.22642463 -0.04537678]
 [-0.22555702  0.97394641  0.02347207]
 [ 0.04950961 -0.01260224  0.99869406]]

 t_gt:
[-0.63064271  0.76489313 -0.13125656]

Pose Error in degrees for R and t:
49.99300284282425 40.46450528386063

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.28640878e-01 -5.59780458e-01 -3.66729315e-04]
 [ 5.59780494e-01  8.28640935e-01 -6.51582391e-06]
 [ 3.07534353e-04 -1.99888639e-04  9.99999933e-01]]

 t_estimated:
[[-0.34895566]
 [-0.93713871]
 [-0.00098854]]

 R_gt:
[[ 0.92529735  0.37530933 -0.05447924]
 [-0.37422074  0.9268746   0.02935308]
 [ 0.06151255 -0.00677343  0.99808268]]

 t_gt:
[-0.56420207  0.81703739 -0.11885251]

Pose Error in degrees for R and t:
56.17432706817617 55.34188404225716

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99995760e-01  5.16466132e-04 -2.86588767e-03]
 [-5.06968186e-04  9.99994381e-01  3.31387502e-03]
 [ 2.86758307e-03 -3.31240805e-03  9.99990402e-01]]

 t_estimated:
[[-0.62559881]
 [-0.78014396]
 [-0.00123636]]

 R_gt:
[[ 0.99209446  0.12521088 -0.00840097]
 [-0.12516259  0.99211811  0.00612181]
 [ 0.00910099 -0.00502271  0.99994574]]

 t_gt:
[-0.43320543  0.89923984 -0.06083388]

Pose Error in degrees for R and t:
7.171427450099746 64.50397224514647

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.87717484e-01 -1.56249346e-01 -5.60257891e-04]
 [ 1.56249510e-01  9.87717583e-01  2.60395252e-04]
 [ 5.12689982e-04 -3.44736964e-04  9.99999809e-01]]

 t_estimated:
[[-0.65750009]
 [-0.75345367]
 [-0.00109038]]

 R_gt:
[[ 0.96907392  0.2467412  -0.00379888]
 [-0.24674178  0.96860829 -0.03026911]
 [-0.00378906  0.03027039  0.99953464]]

 t_gt:
[-0.35079091  0.93389208 -0.06921939]

Pose Error in degrees for R and t:
23.343431349650977 61.77573990348889

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 2.93610310e-01  9.55921685e-01  2.59173867e-03]
 [-9.55924830e-01  2.93611498e-01 -8.18081471e-05]
 [-8.39166456e-04 -2.45348763e-03  9.99996638e-01]]

 t_estimated:
[[0.4697835 ]
 [0.88277998]
 [0.00172082]]

 R_gt:
[[ 0.92783615  0.37219567 -0.0242933 ]
 [-0.37286019  0.92384897 -0.08648126]
 [-0.00974466  0.0892987   0.99595715]]

 t_gt:
[-0.26560345  0.95788062 -0.10917657]

Pose Error in degrees for R and t:
51.259872533903845 43.89316313543902

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99999993e-01 -1.01557294e-04  5.45182372e-05]
 [ 1.01561713e-04  9.99999992e-01 -8.10540074e-05]
 [-5.45100051e-05  8.10595439e-05  9.99999995e-01]]

 t_estimated:
[[ 9.99999989e-01]
 [-5.62225093e-05]
 [ 1.37006617e-04]]

 R_gt:
[[ 0.99547842 -0.093553   -0.01643086]
 [ 0.09364853  0.99559139  0.00516559]
 [ 0.0158751  -0.00667984  0.99985187]]

 t_gt:
[ 0.5458412  -0.8300241  -0.11453113]

Pose Error in degrees for R and t:
5.456323182813223 56.91571548024456

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.15842875e-01  4.01533443e-01  1.65010446e-03]
 [ 4.01534345e-01 -9.15843934e-01 -2.42651584e-04]
 [ 1.41380544e-03  8.84804339e-04 -9.99998609e-01]]

 t_estimated:
[[0.74280528]
 [0.6695071 ]
 [0.00075565]]

 R_gt:
[[ 0.95329926 -0.3017647   0.01261099]
 [ 0.30161237  0.95334676  0.0126638 ]
 [-0.015845   -0.00826717  0.99984063]]

 t_gt:
[ 0.6307119  -0.77405299  0.05517672]

Pose Error in degrees for R and t:
179.62267890593063 87.15144724484882

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-5.09084472e-01 -8.60713997e-01 -2.10147218e-03]
 [ 8.60714816e-01 -5.09086840e-01  7.71058052e-04]
 [-1.73349229e-03 -1.41623456e-03  9.99997495e-01]]

 t_estimated:
[[9.70873397e-01]
 [2.39591155e-01]
 [9.62213475e-04]]

 R_gt:
[[ 0.90187953 -0.43159675  0.01840903]
 [ 0.43134405  0.90204243  0.01618343]
 [-0.0235915  -0.00665451  0.99970009]]

 t_gt:
[ 0.67584665 -0.73441978  0.06212007]

Pose Error in degrees for R and t:
95.045209264425 61.2975620249824

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99992780e-01 -3.79996773e-03 -5.87051919e-06]
 [ 3.79996720e-03  9.99992776e-01 -8.84204339e-05]
 [ 6.20647158e-06  8.83974877e-05  9.99999996e-01]]

 t_estimated:
[[ 7.37812101e-01]
 [-6.75005896e-01]
 [-5.85763992e-04]]

 R_gt:
[[ 0.9970374  -0.07236702  0.02607163]
 [ 0.07331426  0.99660699 -0.03742595]
 [-0.02327545  0.03922641  0.99895899]]

 t_gt:
[ 0.85022472 -0.01899719 -0.52607702]

Pose Error in degrees for R and t:
4.743752182973878 50.17555258291425

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 7.06547312e-01  7.07665049e-01 -1.03659996e-03]
 [-7.07665700e-01  7.06547255e-01 -4.82642427e-04]
 [ 3.90857681e-04  1.07457595e-03  9.99999346e-01]]

 t_estimated:
[[9.18389698e-01]
 [3.95676266e-01]
 [8.09153919e-04]]

 R_gt:
[[ 0.98792086 -0.09838703  0.11972124]
 [ 0.11675508  0.9805744  -0.15761101]
 [-0.10188841  0.16968539  0.98021717]]

 t_gt:
[ 0.4363267   0.35527601 -0.82667887]

Pose Error in degrees for R and t:
52.45035028134873 57.27391854687723

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 8.66897140e-01  4.98486997e-01  2.51116876e-04]
 [-4.98486652e-01  8.66896965e-01 -8.42694655e-04]
 [-6.37764786e-04  6.05351175e-04  9.99999613e-01]]

 t_estimated:
[[-0.34930628]
 [-0.93700773]
 [-0.00127484]]

 R_gt:
[[ 0.96987699 -0.13822208  0.20058426]
 [ 0.18111465  0.95982359 -0.21432605]
 [-0.16290078  0.24419789  0.95594476]]

 t_gt:
[ 0.49522552  0.20496716 -0.84423939]

Pose Error in degrees for R and t:
42.68882546453966 68.65610338510912

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 1.00000000e+00 -2.14799867e-05 -3.54480838e-06]
 [ 2.14800303e-05  1.00000000e+00  1.22789167e-05]
 [ 3.54454463e-06 -1.22789928e-05  1.00000000e+00]]

 t_estimated:
[[0.42122438]
 [0.90695593]
 [0.00097891]]

 R_gt:
[[ 0.99515925 -0.09827279  0.00124264]
 [ 0.09817554  0.99459502  0.0338116 ]
 [-0.004559   -0.03352516  0.99942692]]

 t_gt:
[ 0.12328039 -0.94200353  0.31213987]

Pose Error in degrees for R and t:
5.960839394103175 36.66683645876522

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.86332633e-01  1.64765884e-01  3.75421056e-04]
 [-1.64765720e-01  9.86332637e-01 -4.31922849e-04]
 [-4.41456191e-04  3.64163081e-04  9.99999836e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.96856854 -0.24872205 -0.00351424]
 [ 0.24860306  0.96839137 -0.02037129]
 [ 0.00847006  0.01885828  0.99978568]]

 t_gt:
[ 0.4411287  -0.88323674 -0.15905449]

Pose Error in degrees for R and t:
23.911818603396295 79.94480286775116

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.99999676  0.00120026 -0.00224595]
 [-0.00119528  0.99999682  0.00222139]
 [ 0.00224861 -0.0022187   0.99999501]]

 t_estimated:
[[-0.57589207]
 [-0.81752511]
 [-0.0010068 ]]

 R_gt:
[[ 0.9459447  -0.32363156  0.02126591]
 [ 0.32373602  0.94614657 -0.00156723]
 [-0.01961324  0.00836751  0.9997722 ]]

 t_gt:
[ 0.33711315 -0.94146205  0.00198185]

Pose Error in degrees for R and t:
19.00651495312937 54.86351761286314

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.84995999  0.52684006 -0.00275131]
 [-0.52684457 -0.84996072  0.00125257]
 [-0.00167859  0.00251415  0.99999543]]

 t_estimated:
[[0.61969816]
 [0.78483979]
 [0.00083405]]

 R_gt:
[[ 0.98819347 -0.15319888 -0.00187704]
 [ 0.15315405  0.9880893  -0.01493961]
 [ 0.00414292  0.01447561  0.99988692]]

 t_gt:
[ 0.82009342 -0.56570112 -0.08619182]

Pose Error in degrees for R and t:
157.01861158645588 86.32173512904723

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99643545 -0.08429101  0.00337975]
 [ 0.08428505  0.99643993  0.00186987]
 [-0.00352533 -0.00157834  0.99999254]]

 t_estimated:
[[0.02848575]
 [0.99959084]
 [0.00258961]]

 R_gt:
[[ 0.96750453 -0.25239063  0.01526776]
 [ 0.25284727  0.96537152 -0.06422838]
 [ 0.00147155  0.066002    0.9978187 ]]

 t_gt:
[ 0.85862898 -0.47803483 -0.18503775]

Pose Error in degrees for R and t:
10.547113435111678 63.00840877501062

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.17599121e-01  3.97506197e-01  8.22215656e-04]
 [-3.97505883e-01  9.17599477e-01 -5.22132352e-04]
 [-9.62015501e-04  1.52272628e-04  9.99999526e-01]]

 t_estimated:
[[0.61500093]
 [0.78852579]
 [0.00096794]]

 R_gt:
[[ 0.94556589 -0.32074342  0.05502648]
 [ 0.32473707  0.94099011 -0.09530326]
 [-0.02121192  0.10798435  0.99392625]]

 t_gt:
[ 0.87128403 -0.45435023 -0.18555322]

Pose Error in degrees for R and t:
42.752840771167776 79.78199531316464

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99356931e-01 -3.58569930e-02 -3.64919543e-05]
 [ 3.58569999e-02  9.99356909e-01  2.10254962e-04]
 [ 2.89293759e-05 -2.11428246e-04  9.99999977e-01]]

 t_estimated:
[[0.66785914]
 [0.74428686]
 [0.00111506]]

 R_gt:
[[ 0.99179023 -0.12724938  0.01259578]
 [ 0.12767465  0.99090744 -0.04243382]
 [-0.0070815   0.04369319  0.99902027]]

 t_gt:
[ 0.84337006 -0.49729677 -0.20352608]

Pose Error in degrees for R and t:
5.85545403431072 78.87827622258936

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99937296e-01 -1.11981550e-02  7.48610000e-05]
 [ 1.11981288e-02  9.99937241e-01  3.40873397e-04]
 [-7.86734549e-05 -3.40013720e-04  9.99999939e-01]]

 t_estimated:
[[0.99408575]
 [0.10858187]
 [0.0018721 ]]

 R_gt:
[[ 0.97704303 -0.20982246  0.03689394]
 [ 0.21220621  0.9738267  -0.08141955]
 [-0.01884502  0.0873793   0.99599706]]

 t_gt:
[ 0.8489488  -0.47698212 -0.22753899]

Pose Error in degrees for R and t:
12.654576952935248 37.65436860514509

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.11972059  0.69941409  0.70461828]
 [ 0.58684982  0.5226066  -0.61845745]
 [-0.80079602  0.4875472  -0.34788426]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.96755903 -0.22945843  0.10572599]
 [ 0.24253248  0.96079909 -0.13431751]
 [-0.07076143  0.15560292  0.98528191]]

 t_gt:
[ 0.85100158 -0.45012033 -0.2705328 ]

Pose Error in degrees for R and t:
103.08722640905548 75.53111903197491

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-8.37754778e-01 -5.46043407e-01 -1.87907037e-03]
 [ 5.46046453e-01 -8.37746684e-01 -3.71016572e-03]
 [ 4.51726560e-04 -4.13426877e-03  9.99991352e-01]]

 t_estimated:
[[0.91850799]
 [0.3954005 ]
 [0.00122795]]

 R_gt:
[[ 9.92878279e-01 -1.14033385e-01  3.44921797e-02]
 [ 1.13975757e-01  9.93477021e-01  3.60733383e-03]
 [-3.46774450e-02  3.48833120e-04  9.99397964e-01]]

 t_gt:
[ 0.0881393  -0.93590556  0.34104581]

Pose Error in degrees for R and t:
140.3661636448367 73.22092925630908

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99998952e-01 -1.34266773e-03 -5.42061185e-04]
 [ 1.34283171e-03  9.99999053e-01  3.02269441e-04]
 [ 5.41654824e-04 -3.02997021e-04  9.99999807e-01]]

 t_estimated:
[[-0.99436859]
 [-0.10595731]
 [-0.00203764]]

 R_gt:
[[ 9.71773938e-01 -2.33696497e-01  3.22772658e-02]
 [ 2.33788220e-01  9.72286725e-01  9.44894229e-04]
 [-3.16027153e-02  6.62710557e-03  9.99478769e-01]]

 t_gt:
[ 0.30850351 -0.94857985  0.07086509]

Pose Error in degrees for R and t:
13.574797111140539 78.08843872450986

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999898e-01  2.36582930e-06  4.51109958e-04]
 [-2.11392159e-06  9.99999844e-01 -5.58417201e-04]
 [-4.51111208e-04  5.58416190e-04  9.99999742e-01]]

 t_estimated:
[[9.99987491e-01]
 [4.93954688e-03]
 [7.87186271e-04]]

 R_gt:
[[ 0.93152273 -0.36330598  0.016563  ]
 [ 0.36367279  0.93086917 -0.03499697]
 [-0.00270197  0.03862337  0.99925008]]

 t_gt:
[ 0.45339182 -0.8814991  -0.13189086]

Pose Error in degrees for R and t:
21.433107004284572 63.32506583673476

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 7.95409773e-01 -6.06071527e-01 -7.73152045e-04]
 [ 6.06071480e-01  7.95410120e-01 -3.20905996e-04]
 [ 8.09464948e-04 -2.13333639e-04  9.99999650e-01]]

 t_estimated:
[[ 8.59542211e-01]
 [-5.11064231e-01]
 [-7.34771437e-04]]

 R_gt:
[[ 0.99624708  0.08573034 -0.01192329]
 [-0.08580414  0.99629541 -0.00580766]
 [ 0.01138051  0.00680941  0.99991246]]

 t_gt:
[-0.54034276  0.84051202 -0.0396136 ]

Pose Error in degrees for R and t:
42.23207382353775 26.62306207518458

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99999854e-01 -5.30525082e-04 -1.04447729e-04]
 [ 5.30542279e-04  9.99999846e-01  1.64690155e-04]
 [ 1.04360340e-04 -1.64745545e-04  9.99999981e-01]]

 t_estimated:
[[ 0.43036131]
 [-0.90265598]
 [ 0.00115071]]

 R_gt:
[[ 0.99905182  0.03831252 -0.0207119 ]
 [-0.03835364  0.9992632  -0.00161244]
 [ 0.0206345   0.002406    0.9997847 ]]

 t_gt:
[ 0.02044308  0.99056209 -0.13553167]

Pose Error in degrees for R and t:
2.5222686700299857 27.68752257078219

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-8.61799215e-01 -5.07245538e-01 -2.01946534e-03]
 [ 5.07247848e-01 -8.61799816e-01 -8.34979387e-04]
 [-1.31683529e-03 -1.74395403e-03  9.99997612e-01]]

 t_estimated:
[[0.9032415 ]
 [0.42913089]
 [0.00121567]]

 R_gt:
[[ 0.99692564 -0.0268985   0.073603  ]
 [ 0.03521032  0.99284955 -0.11406361]
 [-0.07000923  0.11630534  0.99074311]]

 t_gt:
[ 0.16327047  0.80626255 -0.56858021]

Pose Error in degrees for R and t:
147.81719402494988 60.476952755756365

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 1.74983474e-01  9.84566781e-01 -3.00627737e-03]
 [-9.84571283e-01  1.74983930e-01 -1.12593058e-04]
 [ 4.15194845e-04  2.97959629e-03  9.99995475e-01]]

 t_estimated:
[[-0.33410035]
 [ 0.94253234]
 [-0.003123  ]]

 R_gt:
[[ 0.99996501 -0.00464512  0.00694039]
 [ 0.00453184  0.99985731  0.01624177]
 [-0.00701502 -0.01620915  0.99984416]]

 t_gt:
[ 0.85948945 -0.32366672  0.39562322]

Pose Error in degrees for R and t:
80.19279924111049 53.597244001342204

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99760835e-01  2.18678615e-02  2.62835336e-04]
 [-2.18678441e-02  9.99760868e-01 -6.90001949e-05]
 [-2.64281371e-04  6.32360504e-05  9.99999963e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.99876446  0.04958093  0.00346741]
 [-0.0496025   0.99874931  0.00628087]
 [-0.00315202 -0.006445    0.99997453]]

 t_gt:
[0.59870206 0.79646513 0.08484776]

Pose Error in degrees for R and t:
1.6403690908442865 52.25281152292447

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99692442e-01 -2.47996386e-02  1.46326764e-05]
 [ 2.47996377e-02  9.99692440e-01  6.12100859e-05]
 [-1.61461640e-05 -6.08283751e-05  9.99999998e-01]]

 t_estimated:
[[-0.93872524]
 [-0.34463241]
 [-0.00484034]]

 R_gt:
[[ 0.99813864  0.0594791   0.01347734]
 [-0.05962459  0.99816377  0.01061529]
 [-0.01282118 -0.01139889  0.9998523 ]]

 t_gt:
[0.69696666 0.67363668 0.24586806]

Pose Error in degrees for R and t:
4.934041489696461 27.425894738620464

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99544097e-01  3.01926752e-02 -3.41354730e-05]
 [-3.01926832e-02  9.99544062e-01 -2.66427891e-04]
 [ 2.60757385e-05  2.67337067e-04  9.99999964e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99750572  0.06946823 -0.01250788]
 [-0.0695981   0.9975222  -0.01029456]
 [ 0.01176237  0.01113914  0.99986843]]

 t_gt:
[-0.40556197  0.89150349 -0.20184404]

Pose Error in degrees for R and t:
2.436447336006185 27.283858256675472

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 0.96517833  0.26158587  0.00190317]
 [-0.26158159  0.96517878 -0.00223324]
 [-0.00242108  0.00165764  0.9999957 ]]

 t_estimated:
[[0.3969581 ]
 [0.91783433]
 [0.00210031]]

 R_gt:
[[ 0.99292384  0.11870049  0.00359271]
 [-0.11856597  0.99259565 -0.02640424]
 [-0.00670013  0.02579262  0.99964477]]

 t_gt:
[-0.41247833  0.90857906 -0.06592208]

Pose Error in degrees for R and t:
8.465157904863336 47.92907753266028

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.41715315e-01  3.36410859e-01  4.85574632e-06]
 [-3.36410810e-01  9.41715169e-01  5.54657914e-04]
 [ 1.82020215e-04 -5.23963378e-04  9.99999846e-01]]

 t_estimated:
[[-0.36808951]
 [ 0.92978856]
 [ 0.00182908]]

 R_gt:
[[ 0.99644338  0.08403567 -0.00637453]
 [-0.0842247   0.99563245 -0.04029296]
 [ 0.00296106  0.04068714  0.99916734]]

 t_gt:
[-0.40121921  0.88955065 -0.21845545]

Pose Error in degrees for R and t:
15.01712925513392 12.997716590368157

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 9.99999046e-01  1.37744352e-03  1.00807637e-04]
 [-1.37746082e-03  9.99999037e-01  1.71817561e-04]
 [-1.00570871e-04 -1.71956256e-04  9.99999980e-01]]

 t_estimated:
[[ 0.99308657]
 [-0.11737558]
 [ 0.00142543]]

 R_gt:
[[ 0.99944069 -0.02337029 -0.02391084]
 [ 0.0227973   0.99945358 -0.02392666]
 [ 0.0244565   0.02336803  0.99942779]]

 t_gt:
[-0.09384811 -0.60964481 -0.78709957]

Pose Error in degrees for R and t:
2.4014526780171117 88.69561539018713

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99987008e-01  5.09641229e-03  9.83534235e-05]
 [-5.09642215e-03  9.99987008e-01  1.00253041e-04]
 [-9.78412149e-05 -1.00752989e-04  9.99999990e-01]]

 t_estimated:
[[ 9.80148748e-01]
 [-1.98263348e-01]
 [ 2.77945981e-04]]

 R_gt:
[[ 0.99298143 -0.11113066 -0.04046014]
 [ 0.11194907  0.99354023  0.01857338]
 [ 0.03813432 -0.02297279  0.9990085 ]]

 t_gt:
[ 0.30821332 -0.93614593 -0.1692198 ]

Pose Error in degrees for R and t:
7.1691908234066775 60.81367563976254

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.55644304  0.83086966  0.00517214]
 [ 0.83088477 -0.55644122 -0.00191799]
 [ 0.00128439  0.00536471 -0.99998479]]

 t_estimated:
[[0.73049279]
 [0.68291868]
 [0.00153465]]

 R_gt:
[[ 0.97464263 -0.20108808 -0.09815455]
 [ 0.20512606  0.97818418  0.03285147]
 [ 0.08940696 -0.05215322  0.99462855]]

 t_gt:
[ 0.44084413 -0.8769133  -0.19151899]

Pose Error in degrees for R and t:
175.54592576384204 73.91155216412136

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[ 9.67063205e-01 -2.54536249e-01 -2.33884869e-04]
 [ 2.54536327e-01  9.67063128e-01  4.06552409e-04]
 [ 1.22699108e-04 -4.52694071e-04  9.99999890e-01]]

 t_estimated:
[[ 5.58005878e-01]
 [-8.29836951e-01]
 [ 2.72184273e-04]]

 R_gt:
[[ 0.99889865  0.03404268  0.03230358]
 [-0.03386581  0.99940797 -0.00601451]
 [-0.03248927  0.00491414  0.99945992]]

 t_gt:
[-0.81810509  0.46322724  0.34077058]

Pose Error in degrees for R and t:
16.79919194055668 32.773423958670634

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.95705947e-01 -9.25724801e-02 -5.25806086e-05]
 [ 9.25724945e-02  9.95705720e-01  6.72630571e-04]
 [-9.91226739e-06 -6.74609778e-04  9.99999772e-01]]

 t_estimated:
[[0.82746669]
 [0.56151306]
 [0.0013985 ]]

 R_gt:
[[ 0.99611073  0.00941885  0.08760875]
 [-0.0069959   0.99958472 -0.02793061]
 [-0.08783542  0.02720932  0.99576356]]

 t_gt:
[-0.73217219  0.43292597  0.52583172]

Pose Error in degrees for R and t:
7.8352098906122825 68.77574990472644

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 0.99452066  0.10443861 -0.00460773]
 [-0.10442079  0.99452535  0.00395359]
 [ 0.00499541 -0.00345079  0.99998157]]

 t_estimated:
[[-0.99008759]
 [-0.14032584]
 [-0.00593456]]

 R_gt:
[[ 0.99387813  0.00330032  0.11044243]
 [ 0.00499825  0.99718728 -0.07478394]
 [-0.11037765  0.0748785   0.99106534]]

 t_gt:
[-0.70761941  0.60445796  0.36593079]

Pose Error in degrees for R and t:
10.032881953865218 52.148829237452155

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 4.24402885e-01 -9.05472210e-01 -1.50626237e-03]
 [ 9.05464649e-01  4.24405506e-01 -3.70615060e-03]
 [ 3.99508242e-03  2.09033678e-04  9.99991998e-01]]

 t_estimated:
[[ 0.77974539]
 [-0.6260853 ]
 [-0.00378447]]

 R_gt:
[[ 0.98191073 -0.18917096  0.00803008]
 [ 0.18892745  0.98168398  0.02454498]
 [-0.01252621 -0.02258346  0.99966677]]

 t_gt:
[ 0.72638115 -0.67549059  0.1268183 ]

Pose Error in degrees for R and t:
54.012589434035114 8.572843414537736

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-7.79608790e-01 -6.26259786e-01 -2.96899135e-03]
 [ 6.26266122e-01 -7.79606253e-01 -2.19867929e-03]
 [-9.37699798e-04 -3.57348840e-03  9.99993175e-01]]

 t_estimated:
[[9.99283500e-01]
 [3.78382882e-02]
 [8.66706428e-04]]

 R_gt:
[[ 0.93183221 -0.36172517  0.02901326]
 [ 0.36073653  0.93203602  0.03430063]
 [-0.03944859 -0.02149536  0.99899075]]

 t_gt:
[ 0.77715192 -0.61567281  0.13031457]

Pose Error in degrees for R and t:
120.05620252025729 41.11319081288789

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.92129580e-01  1.25213675e-01  6.57641775e-04]
 [-1.25213759e-01  9.92129783e-01  8.89393487e-05]
 [-6.41329569e-04 -1.70585158e-04  9.99999780e-01]]

 t_estimated:
[[ 9.47120015e-01]
 [ 3.20878229e-01]
 [-9.16291685e-04]]

 R_gt:
[[ 0.88068926 -0.46957243  0.06235979]
 [ 0.46934935  0.88280581  0.01909248]
 [-0.06401731  0.01245514  0.99787072]]

 t_gt:
[ 0.80450368 -0.58495877  0.1029421 ]

Pose Error in degrees for R and t:
35.412536113472456 54.9587051882917

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.87996748e-01  1.54474549e-01  2.00782388e-04]
 [-1.54474518e-01  9.87996760e-01 -1.62827987e-04]
 [-2.23525128e-04  1.29857759e-04  9.99999967e-01]]

 t_estimated:
[[0.98607379]
 [0.1663048 ]
 [0.00109499]]

 R_gt:
[[ 0.98718008 -0.1481077   0.05948649]
 [ 0.14756561  0.98896039  0.01342357]
 [-0.06081838 -0.00447276  0.99813903]]

 t_gt:
[ 0.66238039 -0.69636865  0.27626604]

Pose Error in degrees for R and t:
17.739045480986608 57.47626104173491

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99054831e-01  4.34675448e-02  1.29771804e-04]
 [-4.34674994e-02  9.99054786e-01 -3.34322826e-04]
 [-1.44181334e-04  3.28365978e-04  9.99999936e-01]]

 t_estimated:
[[ 0.66106729]
 [-0.75032493]
 [-0.00159324]]

 R_gt:
[[ 0.9536517  -0.29905996  0.03333565]
 [ 0.2975795   0.95372619  0.04302373]
 [-0.04466029 -0.03110968  0.99851792]]

 t_gt:
[ 0.76579293 -0.62569198  0.14856226]

Pose Error in degrees for R and t:
20.10365669903914 12.715184396394571

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 1.64279022e-01  9.86409526e-01  2.94122268e-03]
 [ 9.86413902e-01 -1.64277902e-01 -6.20000330e-04]
 [-1.28396339e-04  3.00311599e-03 -9.99995482e-01]]

 t_estimated:
[[-9.99991799e-01]
 [-3.97137331e-03]
 [-7.94274661e-04]]

 R_gt:
[[ 0.91117135 -0.41173371  0.01557923]
 [ 0.41028217  0.91013724  0.05760488]
 [-0.03789794 -0.04609544  0.99821767]]

 t_gt:
[ 0.80986878 -0.57293642  0.12592224]

Pose Error in degrees for R and t:
178.84796425206721 36.12946155887801

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.51965237 -0.85392415 -0.02783827]
 [ 0.85409588  0.52004204 -0.00874733]
 [ 0.02194663 -0.01923098  0.99957417]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.97677903  0.2124372  -0.02782796]
 [-0.21200704  0.97710959  0.0176152 ]
 [ 0.03093281 -0.01130599  0.9994579 ]]

 t_gt:
[-0.63140932  0.77059036 -0.08667616]

Pose Error in degrees for R and t:
70.91948067525671 87.39611886773721

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.54172094e-01  2.99258395e-01  1.69386397e-04]
 [-2.99258343e-01  9.54172085e-01 -2.77786415e-04]
 [-2.44753688e-04  2.14365753e-04  9.99999947e-01]]

 t_estimated:
[[-9.99974594e-01]
 [-7.07320668e-03]
 [-8.84150834e-04]]

 R_gt:
[[ 0.94536051  0.32345831 -0.04084248]
 [-0.32479446  0.94524924 -0.03182064]
 [ 0.02831315  0.0433465   0.99865916]]

 t_gt:
[-0.54055309  0.82157367 -0.18116033]

Pose Error in degrees for R and t:
3.3287953494431486 57.66365875017331

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99999862e-01  2.62359540e-04 -4.55512844e-04]
 [-2.61764416e-04  9.99999113e-01  1.30606123e-03]
 [ 4.55855097e-04 -1.30594181e-03  9.99999043e-01]]

 t_estimated:
[[-8.01627398e-01]
 [-5.97823805e-01]
 [-4.61483628e-04]]

 R_gt:
[[ 0.93030339  0.3623725  -0.05675663]
 [-0.36485538  0.93012267 -0.04185646]
 [ 0.03762297  0.05964672  0.99751028]]

 t_gt:
[-0.50822677  0.83332572 -0.21742537]

Pose Error in degrees for R and t:
21.717789454303194 84.79766824621645

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 8.44089878e-01  5.36201698e-01 -1.30591018e-04]
 [-5.36201571e-01  8.44089450e-01 -9.35699562e-04]
 [-3.91493194e-04  8.59837638e-04  9.99999554e-01]]

 t_estimated:
[[-6.67285598e-01]
 [ 7.44801693e-01]
 [-6.07376462e-04]]

 R_gt:
[[ 0.99442399  0.10516074 -0.00806512]
 [-0.10521646  0.99442588 -0.00690913]
 [ 0.00729419  0.00772002  0.99994406]]

 t_gt:
[-0.78857377  0.60948149 -0.08175401]

Pose Error in degrees for R and t:
26.393324325055676 11.421648115490703

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.32615353e-01 -3.60865654e-01 -2.14080743e-03]
 [ 3.60866670e-01  9.32617412e-01  9.55397925e-05]
 [ 1.96207725e-03 -8.61647926e-04  9.99997704e-01]]

 t_estimated:
[[-0.10681029]
 [-0.99427818]
 [-0.00157074]]

 R_gt:
[[ 0.95047495  0.3105137  -0.01345853]
 [-0.31062989  0.95050132 -0.00759327]
 [ 0.0104344   0.01139816  0.99988095]]

 t_gt:
[-0.7034175   0.70933708 -0.04521871]

Pose Error in degrees for R and t:
39.25615648500961 50.94433496857173

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.92222276e-01 -1.24478144e-01 -3.82819503e-04]
 [ 1.24478193e-01  9.92222338e-01  1.05604032e-04]
 [ 3.66696669e-04 -1.52435353e-04  9.99999921e-01]]

 t_estimated:
[[-9.82418417e-01]
 [-1.86691787e-01]
 [-4.81171924e-04]]

 R_gt:
[[ 0.91846852  0.39525897  0.013654  ]
 [-0.39523999  0.91856902 -0.00418732]
 [-0.01419697 -0.00154988  0.9998982 ]]

 t_gt:
[-0.66430274  0.74695444  0.02758501]

Pose Error in degrees for R and t:
30.444698871639638 59.12547335641492

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999902e-01 -4.21260900e-04 -1.34307979e-04]
 [ 4.21274293e-04  9.99999906e-01  9.97068357e-05]
 [ 1.34265964e-04 -9.97634064e-05  9.99999986e-01]]

 t_estimated:
[[-9.99998901e-01]
 [-1.46039877e-03]
 [-2.53684522e-04]]

 R_gt:
[[ 0.97118017  0.23807748  0.01135918]
 [-0.23773607  0.97099762 -0.02539437]
 [-0.01707588  0.02196137  0.99961263]]

 t_gt:
[-0.60801106  0.79315303 -0.03508294]

Pose Error in degrees for R and t:
13.882308033355471 52.63712440550359

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999351e-01 -1.37894787e-04  1.13135030e-03]
 [ 1.38873315e-04  9.99999616e-01 -8.64887382e-04]
 [-1.13123061e-03  8.65043935e-04  9.99998986e-01]]

 t_estimated:
[[-0.8016806 ]
 [-0.59775151]
 [-0.00116366]]

 R_gt:
[[ 0.91216487  0.40757243 -0.04290573]
 [-0.40853963  0.91259132 -0.01651114]
 [ 0.03242696  0.03258905  0.99894251]]

 t_gt:
[-0.5135331   0.84856586 -0.12735675]

Pose Error in degrees for R and t:
24.24881712333467 84.52601413600003

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.56250880e-01  2.92546930e-01  7.40327837e-04]
 [-2.92545897e-01  9.56250666e-01 -1.24995728e-03]
 [-1.07361015e-03  9.78692873e-04  9.99998945e-01]]

 t_estimated:
[[-0.68100834]
 [-0.73227526]
 [-0.00076518]]

 R_gt:
[[ 0.88388061  0.46539298 -0.04653075]
 [-0.46756246  0.88173932 -0.06261989]
 [ 0.01188449  0.07710439  0.99695215]]

 t_gt:
[-0.47298276  0.86855115 -0.14800745]

Pose Error in degrees for R and t:
11.71126963678628 71.7116101775765

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-1.54828044e-01 -9.87941378e-01  3.31837356e-04]
 [-9.87939099e-01  1.54826939e-01 -2.22628680e-03]
 [ 2.14806349e-03 -6.72526728e-04 -9.99997467e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 9.81416516e-01  1.91809611e-01 -5.48679828e-03]
 [-1.91888041e-01  9.81071289e-01 -2.60302559e-02]
 [ 3.90911462e-04  2.65996889e-02  9.99645851e-01]]

 t_gt:
[-0.70216178  0.7031947  -0.11174101]

Pose Error in degrees for R and t:
178.8281808800158 70.0704058575724

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.99995363  0.0094761   0.00171743]
 [-0.00947305  0.99995355 -0.00177511]
 [-0.00173417  0.00175876  0.99999695]]

 t_estimated:
[[-8.02240013e-01]
 [-5.97001316e-01]
 [-6.23825827e-04]]

 R_gt:
[[ 0.96875653  0.24699069  0.02250676]
 [-0.24702281  0.96900889 -0.00140141]
 [-0.02215537 -0.00420171  0.99974556]]

 t_gt:
[-0.69795789  0.71361241  0.0601008 ]

Pose Error in degrees for R and t:
13.81174270223333 82.30702364522138

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.41620743e-01  3.36675070e-01  5.22500193e-04]
 [-3.36675088e-01  9.41620880e-01 -5.52834696e-05]
 [-5.10609658e-04 -1.23856737e-04  9.99999862e-01]]

 t_estimated:
[[0.63059488]
 [0.7761115 ]
 [0.00102254]]

 R_gt:
[[ 0.98772951  0.15089772  0.0402359 ]
 [-0.15094864  0.98854018 -0.00177886]
 [-0.04004259 -0.00431564  0.9991889 ]]

 t_gt:
[-0.69633544  0.70143529  0.15200492]

Pose Error in degrees for R and t:
11.223374159039986 83.94737512637407

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.9875885   0.15705991  0.00106399]
 [-0.15705378  0.98758007 -0.00443914]
 [-0.00174799  0.00421694  0.99998958]]

 t_estimated:
[[8.20357818e-01]
 [5.71850114e-01]
 [7.05987795e-04]]

 R_gt:
[[ 0.98688317 -0.15858526  0.03020874]
 [ 0.15844346  0.98734268  0.00703445]
 [-0.03094168 -0.00215499  0.99951898]]

 t_gt:
[ 0.67797015 -0.7087959   0.19484571]

Pose Error in degrees for R and t:
18.242759847940405 81.31565948902124

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.95241144e-01 -9.74426031e-02 -5.98593418e-05]
 [ 9.74426213e-02  9.95240994e-01  5.47469453e-04]
 [ 6.22762216e-06 -5.50696976e-04  9.99999848e-01]]

 t_estimated:
[[9.66685684e-01]
 [2.55965218e-01]
 [7.71287598e-04]]

 R_gt:
[[ 0.9602762  -0.27369606  0.05442809]
 [ 0.27489116  0.96134742 -0.01569584]
 [-0.04802727  0.03003504  0.99839383]]

 t_gt:
[ 0.7080639  -0.69919186  0.09887489]

Pose Error in degrees for R and t:
10.841961428648577 59.62995891791969

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.15563918 -0.98781283 -0.00150399]
 [ 0.98776024  0.15561465  0.01066718]
 [-0.01030314 -0.00314581  0.99994197]]

 t_estimated:
[[ 0.48798788]
 [-0.87279797]
 [ 0.00956735]]

 R_gt:
[[ 0.9505915  -0.30511901  0.0572702 ]
 [ 0.30724868  0.95106222 -0.03284471]
 [-0.04444498  0.0488186   0.99781871]]

 t_gt:
[ 0.71052531 -0.70268383  0.03727226]

Pose Error in degrees for R and t:
63.3055264334069 16.181163118127042

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.76000552  0.64961699 -0.01973244]
 [ 0.64944604 -0.75794995  0.06108773]
 [ 0.02472743 -0.05924216 -0.99793733]]

 t_estimated:
[[-0.35044562]
 [ 0.93605626]
 [ 0.03140923]]

 R_gt:
[[ 0.99822724  0.05941665  0.00353212]
 [-0.05936918  0.99816102 -0.01229922]
 [-0.00425487  0.01206789  0.99991871]]

 t_gt:
[-0.41789933  0.90689165 -0.053923  ]

Pose Error in degrees for R and t:
177.0525803399008 6.455786137345084

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-6.91270371e-01 -7.22593092e-01 -2.12073634e-03]
 [ 7.22595774e-01 -6.91270185e-01 -9.37584081e-04]
 [-7.88510021e-04 -2.18055921e-03  9.99997312e-01]]

 t_estimated:
[[ 0.98597476]
 [-0.16689111]
 [ 0.00106181]]

 R_gt:
[[ 0.99739496  0.0719007   0.00586109]
 [-0.0716074   0.99661753 -0.04032375]
 [-0.00873974  0.03980013  0.99916951]]

 t_gt:
[-0.40193362  0.9007422  -0.16465981]

Pose Error in degrees for R and t:
137.85881261301017 56.852442472246075

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-1.71651390e-01  9.85153163e-01  3.00760302e-03]
 [ 9.85157744e-01  1.71651027e-01  3.80108824e-04]
 [-1.41792738e-04  3.02820961e-03 -9.99995405e-01]]

 t_estimated:
[[-0.94912756]
 [-0.31488777]
 [-0.00160186]]

 R_gt:
[[ 9.99873843e-01 -1.59359301e-02 -6.15609767e-04]
 [ 1.59191464e-02  9.99636602e-01 -2.17596342e-02]
 [ 9.63382768e-04  2.17483844e-02  9.99762909e-01]]

 t_gt:
[-0.37826447  0.71318631 -0.59015361]

Pose Error in degrees for R and t:
179.11285264749927 82.21865809218681

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.99678197  0.08004632 -0.0042759 ]
 [-0.07996256  0.99665147  0.01708348]
 [ 0.00562905 -0.01668659  0.99984492]]

 t_estimated:
[[0.68114679]
 [0.73214636]
 [0.0008644 ]]

 R_gt:
[[ 0.98270902  0.17896088  0.04750889]
 [-0.17802546  0.98374983 -0.02328284]
 [-0.05090406  0.01442223  0.99859892]]

 t_gt:
[-0.72893646  0.65477401  0.19980649]

Pose Error in degrees for R and t:
6.812611229916428 89.02881235338496

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.99701319 -0.07721492  0.00159787]
 [-0.07721957  0.99700933 -0.00308739]
 [-0.0013547  -0.00320155 -0.99999396]]

 t_estimated:
[[0.99715362]
 [0.07535591]
 [0.00247697]]

 R_gt:
[[ 0.96830243  0.23896555  0.07271277]
 [-0.23624291  0.97069257 -0.04411039]
 [-0.08112241  0.02553437  0.99637679]]

 t_gt:
[-0.71815209  0.66564664  0.20290917]

Pose Error in degrees for R and t:
175.53131181440634 48.28353049332831

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.35692828e-01  5.49196753e-01  6.50795918e-04]
 [-5.49196704e-01  8.35693071e-01 -2.67730558e-04]
 [-6.90902392e-04 -1.33674466e-04  9.99999752e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96946014  0.20945523  0.12758085]
 [-0.20624968  0.9777614  -0.03799011]
 [-0.13270053  0.01051555  0.99109994]]

 t_gt:
[-0.7231946   0.57893585  0.37659374]

Pose Error in degrees for R and t:
22.566742362339284 54.91400431590171

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99998168e-01  1.90867089e-03 -1.42392235e-04]
 [-1.90868539e-03  9.99998173e-01 -1.01723181e-04]
 [ 1.42197819e-04  1.01994777e-04  9.99999985e-01]]

 t_estimated:
[[-4.76734852e-03]
 [-9.99988175e-01]
 [-9.60260760e-04]]

 R_gt:
[[ 0.98891271 -0.04292697  0.14216255]
 [ 0.04437107  0.99899057 -0.00700744]
 [-0.14171821  0.01323871  0.98981828]]

 t_gt:
[ 0.20108585 -0.29761163  0.93326941]

Pose Error in degrees for R and t:
8.59996534834025 72.79728719242371

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 0.89147258  0.45114913  0.04172657]
 [-0.44290644  0.88716381 -0.12951545]
 [-0.09544908  0.09697851  0.99069907]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.96764292 -0.05014976  0.24729267]
 [ 0.05681259  0.99818672 -0.01988293]
 [-0.24584793  0.03328919  0.96873622]]

 t_gt:
[ 0.20649969 -0.18184099  0.96140092]

Pose Error in degrees for R and t:
31.80416454734345 81.84265347145532

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.99994719e-01  3.23581698e-03 -3.01542039e-04]
 [-3.23584579e-03  9.99994760e-01 -9.50722026e-05]
 [ 3.01232823e-04  9.60474441e-05  9.99999950e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.95156708 -0.0933351   0.29293218]
 [ 0.11641525  0.99124318 -0.06233542]
 [-0.28454831  0.09341874  0.95409842]]

 t_gt:
[ 0.51075792 -0.30453606  0.80398018]

Pose Error in degrees for R and t:
18.552902257619316 72.51183988026752

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 0.99800725  0.06307724  0.0016733 ]
 [-0.06307288  0.99800569 -0.00254001]
 [-0.00183018  0.00242941  0.99999537]]

 t_estimated:
[[-0.81286272]
 [-0.58245415]
 [-0.00116959]]

 R_gt:
[[ 0.99803605 -0.02523848  0.05733003]
 [ 0.02655253  0.99939787 -0.022291  ]
 [-0.05673249  0.02377063  0.99810631]]

 t_gt:
[ 0.63075829 -0.38989222  0.67091581]

Pose Error in degrees for R and t:
6.120138785964857 73.35683540956093

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.86934225  0.49076116  0.05828841]
 [-0.45093115  0.83594191 -0.31282938]
 [-0.20225023  0.24567174  0.94801911]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99447048  0.01606952  0.10378151]
 [-0.01022743  0.99834475 -0.05658869]
 [-0.10451842  0.05521501  0.99298887]]

 t_gt:
[-0.2307018   0.95903672  0.16439357]

Pose Error in degrees for R and t:
31.161765038067987 63.94035911735152

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-4.05785205e-01  9.13968100e-01  8.23981344e-04]
 [-9.13966750e-01 -4.05782526e-01 -2.30699338e-03]
 [-1.77416113e-03 -1.68923533e-03  9.99996999e-01]]

 t_estimated:
[[0.0337076 ]
 [0.99943032]
 [0.00168538]]

 R_gt:
[[ 0.98536574  0.12164556  0.11940464]
 [-0.10895902  0.9882055  -0.10760125]
 [-0.13108437  0.09301686  0.98699789]]

 t_gt:
[-0.29850137  0.95437807  0.00770913]

Pose Error in degrees for R and t:
107.53754240150754 19.30266017013376

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.95024592e-01 -9.96294125e-02 -2.02711725e-04]
 [ 9.96294739e-02  9.95024555e-01  3.19437276e-04]
 [ 1.69877796e-04 -3.38044008e-04  9.99999928e-01]]

 t_estimated:
[[-0.23528955]
 [-0.97192436]
 [-0.00136546]]

 R_gt:
[[ 0.99981555  0.01869266 -0.00433006]
 [-0.01871431  0.99981263 -0.00486273]
 [ 0.00423758  0.004943    0.99997821]]

 t_gt:
[ 0.76788751  0.50442531 -0.39484664]

Pose Error in degrees for R and t:
6.800526270882828 47.902054963438324

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 3.53326105e-01  9.35500209e-01  1.51597092e-04]
 [-9.35499926e-01  3.53325860e-01  8.51419536e-04]
 [ 7.42939981e-04 -4.42647817e-04  9.99999626e-01]]

 t_estimated:
[[0.52348832]
 [0.85203176]
 [0.00136325]]

 R_gt:
[[ 0.99984532  0.01747493 -0.00187962]
 [-0.01748638  0.99982741 -0.00618281]
 [ 0.00177072  0.00621465  0.99997844]]

 t_gt:
[ 0.98937897  0.03984753 -0.13979064]

Pose Error in degrees for R and t:
68.3086265522637 56.517028827894926

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.8680726  -0.49640073  0.00602358]
 [-0.49635647  0.86808632  0.00750897]
 [-0.00895645  0.00352848 -0.99995366]]

 t_estimated:
[[0.96254605]
 [0.27106182]
 [0.00553187]]

 R_gt:
[[ 9.97680371e-01  6.80529562e-02  1.31269446e-03]
 [-6.80592742e-02  9.97666873e-01  5.34018841e-03]
 [-9.47118710e-04 -5.41667060e-03  9.99984540e-01]]

 t_gt:
[0.70855213 0.70553783 0.01304782]

Pose Error in degrees for R and t:
179.42340062076283 29.151986232202276

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.76186679e-01  2.16929335e-01  1.10982015e-03]
 [-2.16928501e-01  9.76187147e-01 -8.24884479e-04]
 [-1.26233380e-03  5.64489619e-04  9.99999044e-01]]

 t_estimated:
[[9.80110908e-01]
 [1.98448628e-01]
 [8.66587893e-04]]

 R_gt:
[[ 0.99665842 -0.07904443 -0.02057917]
 [ 0.07921213  0.99682884  0.00748949]
 [ 0.01992188 -0.00909438  0.99976054]]

 t_gt:
[ 0.39445461 -0.90399502 -0.16491984]

Pose Error in degrees for R and t:
17.119474437974254 78.04931114132819

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.57884017e-01 -2.87155125e-01  3.79807576e-04]
 [ 2.87155360e-01  9.57883568e-01 -9.32221033e-04]
 [-9.61193890e-05  1.00202341e-03  9.99999493e-01]]

 t_estimated:
[[-0.23061442]
 [-0.97304408]
 [-0.00148783]]

 R_gt:
[[ 0.98877552 -0.1357532  -0.06240861]
 [ 0.13802974  0.98985379  0.03372487]
 [ 0.0571964  -0.04195966  0.99748059]]

 t_gt:
[ 0.3922203  -0.90447259 -0.16760838]

Pose Error in degrees for R and t:
9.719429180670128 37.8248215981529

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.60465567e-01  2.78398509e-01  4.05991607e-04]
 [-2.78398751e-01  9.60465267e-01  7.78095717e-04]
 [-1.73320150e-04 -8.60361700e-04  9.99999615e-01]]

 t_estimated:
[[0.82453603]
 [0.56580231]
 [0.00284323]]

 R_gt:
[[ 0.95903824 -0.26144187 -0.1090595 ]
 [ 0.26464068  0.96421856  0.01571703]
 [ 0.1010478  -0.04393459  0.99391106]]

 t_gt:
[ 0.55814016 -0.80069415 -0.21764291]

Pose Error in degrees for R and t:
32.0775630589821 89.62452308150434

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.98909952e-01  4.66757800e-02  5.29447578e-04]
 [-4.66758401e-02  9.98910084e-01  1.01720242e-04]
 [-5.24122653e-04 -1.26321773e-04  9.99999855e-01]]

 t_estimated:
[[0.93419176]
 [0.35676754]
 [0.00163854]]

 R_gt:
[[ 0.98079868 -0.19394897  0.02045411]
 [ 0.19262792  0.97979431  0.05383758]
 [-0.03048343 -0.04886438  0.99834041]]

 t_gt:
[ 0.62549424 -0.72394973  0.29095316]

Pose Error in degrees for R and t:
14.211648941646281 70.94191473993865

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99192278e-01  4.01840328e-02  1.86674517e-04]
 [-4.01840328e-02  9.99192296e-01 -3.78432619e-06]
 [-1.86675809e-04 -3.72006541e-06  9.99999983e-01]]

 t_estimated:
[[9.77995609e-01]
 [2.08625441e-01]
 [1.18068948e-04]]

 R_gt:
[[ 0.9096714  -0.41508137  0.01431511]
 [ 0.41243335  0.90685746  0.08666219]
 [-0.04895453 -0.07292986  0.99613475]]

 t_gt:
[ 0.76553642 -0.60669256  0.21419179]

Pose Error in degrees for R and t:
27.254945137049877 51.527052898623204

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-7.51026499e-01 -6.60271780e-01  6.11969594e-04]
 [-6.60271338e-01  7.51026725e-01  7.87065424e-04]
 [-9.79282608e-04  1.87041007e-04 -9.99999503e-01]]

 t_estimated:
[[0.95403875]
 [0.29967994]
 [0.00141333]]

 R_gt:
[[ 0.87752439 -0.47952261 -0.00292071]
 [ 0.47703946  0.87232956  0.10712665]
 [-0.0488226  -0.0953985   0.99424118]]

 t_gt:
[ 0.78778413 -0.57363204  0.22437122]

Pose Error in degrees for R and t:
176.55681112110662 54.550323730956116

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.98002307e-01  6.31774731e-02 -3.64475321e-05]
 [-6.31774763e-02  9.98002303e-01 -9.41017741e-05]
 [ 3.04296087e-05  9.62164508e-05  9.99999995e-01]]

 t_estimated:
[[-8.65981422e-01]
 [-5.00075851e-01]
 [-5.65856613e-04]]

 R_gt:
[[ 0.99887143  0.04005125  0.02550809]
 [-0.03925597  0.99875031 -0.03094908]
 [-0.02671535  0.02991312  0.99919488]]

 t_gt:
[-0.80914065  0.40197453 -0.42861157]

Pose Error in degrees for R and t:
2.6628291862491595 60.00492514386769

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.93207480e-01  1.16356772e-01  6.23691438e-05]
 [-1.16356702e-01  9.93207251e-01 -6.88382911e-04]
 [-1.42043499e-04  6.76449988e-04  9.99999761e-01]]

 t_estimated:
[[-0.98101417]
 [-0.19393315]
 [-0.00106084]]

 R_gt:
[[ 0.99046915  0.12843411  0.04975784]
 [-0.12281341  0.98706286 -0.10307989]
 [-0.06235323  0.09598588  0.99342825]]

 t_gt:
[-0.79490737  0.39048102 -0.46437791]

Pose Error in degrees for R and t:
6.558988281154246 45.20431123461745

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.98334748 -0.18172785 -0.00165046]
 [-0.18172359  0.98334662 -0.00244315]
 [ 0.00206696 -0.00210254 -0.99999565]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99717032  0.0621875   0.04224086]
 [-0.0568648   0.99147274 -0.11725671]
 [-0.04917286  0.11452294  0.992203  ]]

 t_gt:
[-0.53721172  0.37265243 -0.75665959]

Pose Error in degrees for R and t:
178.09568570359346 57.54479743674835

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.49697216e-01 -3.13169586e-01 -9.15642012e-05]
 [ 3.13169597e-01  9.49697136e-01  3.91544826e-04]
 [-3.56616715e-05 -4.00524155e-04  9.99999919e-01]]

 t_estimated:
[[ 9.46927945e-01]
 [-3.21445085e-01]
 [ 7.23361426e-04]]

 R_gt:
[[ 9.84152253e-01 -1.75948201e-01  2.20420111e-02]
 [ 1.75893245e-01  9.84399990e-01  4.42943343e-03]
 [-2.24778395e-02 -4.81241493e-04  9.99747019e-01]]

 t_gt:
[ 0.74264378 -0.66303435  0.09415765]

Pose Error in degrees for R and t:
8.218110248003432 23.59074368382681

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.60961627e-01 -2.76681666e-01  8.37646082e-05]
 [ 2.76681644e-01  9.60961613e-01  2.13064868e-04]
 [-1.39445716e-04 -1.81571032e-04  9.99999974e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.95137587 -0.30759263 -0.0164271 ]
 [ 0.30795711  0.94861605  0.07274571]
 [-0.00679313 -0.07426719  0.99721538]]

 t_gt:
[ 0.77967494 -0.60484819  0.16206679]

Pose Error in degrees for R and t:
4.664987398613524 38.92937422242109

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99887712e-01 -1.49841835e-02  1.92686072e-04]
 [ 1.49841825e-02  9.99887731e-01  6.51274922e-06]
 [-1.92762028e-04 -3.62477465e-06  9.99999981e-01]]

 t_estimated:
[[9.99324214e-01]
 [3.67560951e-02]
 [3.24455032e-04]]

 R_gt:
[[ 0.92587086 -0.37769775 -0.01040615]
 [ 0.37780279  0.92582045  0.01115278]
 [ 0.00542138 -0.01425659  0.99988352]]

 t_gt:
[ 0.81802519 -0.57415794  0.03431394]

Pose Error in degrees for R and t:
21.354973796540314 37.214232250494874

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99179015e-01  4.05127139e-02 -1.23031704e-04]
 [-4.05126696e-02  9.99178966e-01  3.43526089e-04]
 [ 1.36847865e-04 -3.38259717e-04  9.99999933e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.9854678  -0.16758067 -0.0277516 ]
 [ 0.16857403  0.98493617  0.03851727]
 [ 0.02087924 -0.04263577  0.99887203]]

 t_gt:
[ 0.75500741 -0.65320619  0.05731915]

Pose Error in degrees for R and t:
12.30235861269287 49.577067169820715

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.69168573e-01  2.46398034e-01  5.35422494e-04]
 [-2.46397946e-01  9.69168717e-01 -2.26158171e-04]
 [-5.74639660e-04  8.72583890e-05  9.99999831e-01]]

 t_estimated:
[[-0.55442636]
 [ 0.83223198]
 [ 0.00115834]]

 R_gt:
[[ 0.96199214 -0.27112996 -0.03256855]
 [ 0.27182655  0.96215417  0.019253  ]
 [ 0.02611682 -0.0273734   0.99928362]]

 t_gt:
[ 0.79325897 -0.60870215  0.01489635]

Pose Error in degrees for R and t:
30.10112516825542 18.849972885933795

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99950008  0.03147849  0.00294766]
 [-0.03147449  0.99950358 -0.00139429]
 [-0.00299009  0.00130082  0.99999468]]

 t_estimated:
[[0.86950342]
 [0.49387794]
 [0.00695603]]

 R_gt:
[[ 0.94764933 -0.31690495 -0.03914311]
 [ 0.31553438  0.94817613 -0.03742869]
 [ 0.04897674  0.02311834  0.99853233]]

 t_gt:
[ 0.8127083  -0.57454475 -0.09697187]

Pose Error in degrees for R and t:
20.501871199951914 65.02497723485348

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.97348337e-01 -7.27756393e-02 -3.60864217e-05]
 [ 7.27756472e-02  9.97348284e-01  3.24527915e-04]
 [ 1.23730043e-05 -3.26293589e-04  9.99999947e-01]]

 t_estimated:
[[-0.63586686]
 [-0.77179823]
 [-0.00091229]]

 R_gt:
[[ 0.99457317  0.10358007 -0.00978934]
 [-0.10354173  0.99461512  0.00430107]
 [ 0.01018149 -0.00326361  0.99994296]]

 t_gt:
[-0.62434191  0.77840574 -0.06543456]

Pose Error in degrees for R and t:
10.135933523210806 78.24576337758697

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.23928722e-01 -3.82564318e-01 -5.09424384e-04]
 [ 3.82564366e-01  9.23928842e-01 -4.68501712e-06]
 [ 4.72464202e-04 -1.90558995e-04  9.99999870e-01]]

 t_estimated:
[[-0.01114757]
 [-0.99993724]
 [-0.00111476]]

 R_gt:
[[ 0.97470042  0.2211883  -0.03219041]
 [-0.22116431  0.97522671  0.0043485 ]
 [ 0.03235456  0.00288135  0.99947238]]

 t_gt:
[-0.59018209  0.79582135 -0.135475  ]

Pose Error in degrees for R and t:
35.32014065353418 37.90399160869955

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 5.82284776e-01  8.12984609e-01  6.82225347e-04]
 [-8.12984587e-01  5.82283620e-01  1.35917926e-03]
 [ 7.07743171e-04 -1.34606808e-03  9.99998844e-01]]

 t_estimated:
[[0.77815918]
 [0.62806648]
 [0.00089341]]

 R_gt:
[[ 0.95010477  0.30826373 -0.04769748]
 [-0.30666974  0.95105932  0.03792764]
 [ 0.0570555  -0.02140777  0.99814239]]

 t_gt:
[-0.58977144  0.8012533  -0.10081072]

Pose Error in degrees for R and t:
36.621917050149314 87.46588603367344

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 8.11821231e-01 -5.83905964e-01 -3.36495444e-04]
 [ 5.83906060e-01  8.11821125e-01  4.15918786e-04]
 [ 3.03166498e-05 -5.34133430e-04  9.99999857e-01]]

 t_estimated:
[[9.67166660e-01]
 [2.54141576e-01]
 [8.42838943e-04]]

 R_gt:
[[ 0.98011802 -0.19721295 -0.02179224]
 [ 0.19777426  0.97986019  0.02755358]
 [ 0.01591906 -0.03131557  0.99938366]]

 t_gt:
[ 0.74526948 -0.66298686  0.07086481]

Pose Error in degrees for R and t:
24.411133365617594 56.470449213319576

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-2.36925839e-01 -9.71527105e-01 -1.10961918e-03]
 [ 9.71526764e-01 -2.36927064e-01  1.14567145e-03]
 [-1.37594969e-03 -8.06585565e-04  9.99998728e-01]]

 t_estimated:
[[9.74335827e-01]
 [2.25097461e-01]
 [9.10466601e-04]]

 R_gt:
[[ 0.97179525 -0.23573105 -0.00668444]
 [ 0.23582286  0.97121335  0.03363237]
 [-0.00143658 -0.03425909  0.99941236]]

 t_gt:
[ 0.72226516 -0.67869853  0.13304641]

Pose Error in degrees for R and t:
90.07838541205294 56.55909366364056

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.99994469  0.01039049 -0.00163033]
 [-0.01038422  0.99993883  0.00380834]
 [ 0.0016698  -0.0037912   0.99999142]]

 t_estimated:
[[0.99979081]
 [0.01938814]
 [0.00651463]]

 R_gt:
[[ 0.94526805 -0.32371329  0.04094697]
 [ 0.32331446  0.94615235  0.01622992]
 [-0.0439971  -0.00210225  0.99902954]]

 t_gt:
[ 0.71509463 -0.6841367   0.14351528]

Pose Error in degrees for R and t:
19.649051905819704 45.36274710291374

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 1.00000000e+00 -2.79797019e-13 -6.22345600e-16]
 [ 2.79810897e-13  1.00000000e+00 -2.40692882e-17]
 [ 1.07765630e-15 -8.67361738e-19  1.00000000e+00]]

 t_estimated:
[[0.06075318]
 [0.99815151]
 [0.00161573]]

 R_gt:
[[ 0.99296543  0.11837549  0.002454  ]
 [-0.11834364  0.99291643 -0.010619  ]
 [-0.00369288  0.0102541   0.9999409 ]]

 t_gt:
[-0.78512171  0.61775995 -0.04423289]

Pose Error in degrees for R and t:
6.82614160434912 55.33007374210012

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99998547e-01 -1.70445300e-03 -3.63955458e-05]
 [ 1.70443971e-03  9.99998482e-01 -3.62111965e-04]
 [ 3.70126933e-05  3.62049405e-04  9.99999934e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.97943902  0.20142856 -0.01119199]
 [-0.20162078  0.97925974 -0.02001337]
 [ 0.00692869  0.02185952  0.99973752]]

 t_gt:
[-0.75437946  0.64977877 -0.09326938]

Pose Error in degrees for R and t:
11.796164365561507 41.19841729609805

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999838e-01 -5.69715689e-04 -2.38539213e-07]
 [ 5.69715689e-04  9.99999838e-01  2.08432166e-06]
 [ 2.37351704e-07 -2.08445723e-06  1.00000000e+00]]

 t_estimated:
[[-8.76981194e-01]
 [-4.80523903e-01]
 [-8.74721604e-04]]

 R_gt:
[[ 0.91805594  0.39644347 -0.00257254]
 [-0.39643887  0.91795091 -0.01424549]
 [-0.00328579  0.01409849  0.99989491]]

 t_gt:
[-0.68252307  0.73062833 -0.01856059]

Pose Error in degrees for R and t:
23.40429629015842 75.67086313127278

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 9.55577422e-01 -2.94740161e-01 -1.65450210e-04]
 [ 2.94740197e-01  9.55577390e-01  2.61869958e-04]
 [ 8.09168864e-05 -2.99001847e-04  9.99999952e-01]]

 t_estimated:
[[ 2.60349980e-01]
 [-9.65514311e-01]
 [ 4.87777134e-05]]

 R_gt:
[[ 0.99763549  0.06767242  0.01196775]
 [-0.06726977  0.99724193 -0.03138287]
 [-0.0140586   0.0305035   0.99943494]]

 t_gt:
[-0.83515974  0.43632138 -0.33486096]

Pose Error in degrees for R and t:
21.10045586862947 50.30321123160842

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.62047942e-01 -2.72880273e-01 -3.36434520e-04]
 [ 2.72880162e-01  9.62047972e-01 -3.42339689e-04]
 [ 4.17083895e-04  2.37540887e-04  9.99999885e-01]]

 t_estimated:
[[-0.34221639]
 [-0.93962001]
 [-0.00147507]]

 R_gt:
[[ 0.99130162  0.1259367   0.03822858]
 [-0.12298586  0.98981925 -0.07163499]
 [-0.04686053  0.06631008  0.99669756]]

 t_gt:
[-0.83700574  0.42023294 -0.35046493]

Pose Error in degrees for R and t:
23.45740144721091 83.80542429825455

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.82688561e-01  1.85264131e-01 -6.27107321e-04]
 [-1.85261503e-01  9.82684724e-01  2.98484300e-03]
 [ 1.16923313e-03 -2.81699222e-03  9.99995349e-01]]

 t_estimated:
[[9.44262464e-01]
 [3.29192419e-01]
 [8.66295839e-04]]

 R_gt:
[[ 0.9821211   0.18320057  0.04332204]
 [-0.17619349  0.97557659 -0.13117436]
 [-0.06629577  0.12119554  0.99041188]]

 t_gt:
[-0.79039048  0.43263879 -0.43371253]

Pose Error in degrees for R and t:
8.118668812238443 52.822204603073054

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999678e-01 -7.91050896e-04 -1.36911413e-04]
 [ 7.91051099e-04  9.99999687e-01  1.42584635e-06]
 [ 1.36910243e-04 -1.53414981e-06  9.99999991e-01]]

 t_estimated:
[[-0.99025533]
 [-0.13926014]
 [-0.00100139]]

 R_gt:
[[ 0.99430086  0.10109413  0.03386117]
 [-0.10126286  0.9948551   0.00329659]
 [-0.03335438 -0.00670555  0.99942099]]

 t_gt:
[-0.39920184  0.86055854  0.31634932]

Pose Error in degrees for R and t:
6.172053966676503 74.02884053768355

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 2.35470781e-01  9.71881288e-01 -5.23164290e-04]
 [-9.71879435e-01  2.35469173e-01 -2.15223672e-03]
 [-1.96852953e-03  1.01524147e-03  9.99997547e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98957084  0.13648596  0.04607101]
 [-0.13728924  0.99042233  0.01473402]
 [-0.04361955 -0.02090545  0.99882888]]

 t_gt:
[-0.30470508  0.87540544  0.37526008]

Pose Error in degrees for R and t:
68.55730553422401 29.087582236252672

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.38722208e-01 -3.44674583e-01 -2.18709668e-04]
 [ 3.44674605e-01  9.38722223e-01  7.13397510e-05]
 [ 1.80718626e-04 -1.42351877e-04  9.99999974e-01]]

 t_estimated:
[[-0.47468909]
 [-0.88015268]
 [-0.00123617]]

 R_gt:
[[ 0.9899458   0.1386224   0.02814386]
 [-0.13876834  0.99031977  0.00329373]
 [-0.02741522 -0.00716488  0.9995984 ]]

 t_gt:
[-0.07598355  0.97034376  0.22947654]

Pose Error in degrees for R and t:
28.182331559670764 35.088433719702515

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[-0.69909591  0.71447344  0.02815334]
 [ 0.71446432  0.69956619 -0.01216118]
 [-0.02838397  0.01161272 -0.99952964]]

 t_estimated:
[[ 0.91635231]
 [-0.4000698 ]
 [ 0.0155753 ]]

 R_gt:
[[ 0.99585042 -0.08712052 -0.0262889 ]
 [ 0.08836735  0.99479573  0.05071327]
 [ 0.02173319 -0.05282552  0.99836749]]

 t_gt:
[ 0.39329881 -0.90505373  0.16184498]

Pose Error in degrees for R and t:
179.33317226670394 43.530676378867426

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.69260197e-01  2.46035755e-01  1.03790834e-03]
 [-2.46035752e-01  9.69260745e-01 -1.32624536e-04]
 [-1.03863419e-03 -1.26814876e-04  9.99999453e-01]]

 t_estimated:
[[0.76175598]
 [0.64786236]
 [0.00147914]]

 R_gt:
[[ 0.97620489 -0.20132781 -0.08057299]
 [ 0.20641388  0.97658054  0.06069363]
 [ 0.06646672 -0.07587981  0.99489925]]

 t_gt:
[ 0.53791619 -0.8425686  -0.02691346]

Pose Error in degrees for R and t:
26.671707473029247 82.17502505964546

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.95084321  0.30967056  0.00115536]
 [-0.30966833  0.95084298 -0.00177895]
 [-0.00164945  0.00133372  0.99999775]]

 t_estimated:
[[0.58150205]
 [0.81354374]
 [0.00139784]]

 R_gt:
[[ 0.95320206 -0.27653457 -0.12220766]
 [ 0.28221157  0.95883333  0.03153836]
 [ 0.10845513 -0.06455112  0.99200345]]

 t_gt:
[ 0.59188981 -0.79021162 -0.158846  ]

Pose Error in degrees for R and t:
35.08711697810439 72.60793625297892

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.85670309e-01  1.68683184e-01  1.57369916e-04]
 [-1.68683156e-01  9.85670311e-01 -1.77157456e-04]
 [-1.84998338e-04  1.48073190e-04  9.99999972e-01]]

 t_estimated:
[[0.45838839]
 [0.88875104]
 [0.00129082]]

 R_gt:
[[ 0.9968797  -0.05462469  0.05697504]
 [ 0.05782626  0.99674768 -0.05613674]
 [-0.053723    0.05925742  0.99679508]]

 t_gt:
[ 0.74816221 -0.564734   -0.34832287]

Pose Error in degrees for R and t:
13.72113232554464 80.82742418278347

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.71589048  0.69818133  0.00660629]
 [ 0.69767837 -0.71568077  0.03234074]
 [ 0.0273077  -0.01854336 -0.99945507]]

 t_estimated:
[[0.70640274]
 [0.70780969]
 [0.00078092]]

 R_gt:
[[ 0.99244203 -0.08634543  0.08719632]
 [ 0.09126077  0.99435959 -0.05404174]
 [-0.0820384   0.0615909   0.99472353]]

 t_gt:
[ 0.77914709 -0.62329936 -0.06654111]

Pose Error in degrees for R and t:
176.61658337189812 83.73296910419009

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.76285268e-01  2.16487303e-01  5.68542485e-04]
 [-2.16486943e-01  9.76285307e-01 -6.34100216e-04]
 [-6.92334321e-04  4.95980675e-04  9.99999637e-01]]

 t_estimated:
[[0.89343209]
 [0.44919358]
 [0.00205715]]

 R_gt:
[[ 0.98572211 -0.06699874  0.15447787]
 [ 0.08009502  0.993559   -0.08016595]
 [-0.14811159  0.09139503  0.98473789]]

 t_gt:
[ 0.92766812 -0.35973978  0.10009565]

Pose Error in degrees for R and t:
19.479374277882528 48.131628651874884

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.88661446  0.46248964  0.00425671]
 [ 0.46235975 -0.88652435  0.017264  ]
 [ 0.0117581  -0.01333838 -0.9998419 ]]

 t_estimated:
[[0.32046251]
 [0.94724948]
 [0.00471268]]

 R_gt:
[[ 0.99412196 -0.02464838  0.10542116]
 [ 0.02896672  0.99879421 -0.03963369]
 [-0.10431779  0.04245462  0.99363781]]

 t_gt:
[ 0.41995947 -0.06214001  0.90541298]

Pose Error in degrees for R and t:
177.17422059999325 85.41223313612423

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-9.95499089e-01 -9.47698559e-02 -4.89076282e-04]
 [ 9.47706639e-02 -9.95497037e-01 -2.04236262e-03]
 [-2.93319578e-04 -2.07952022e-03  9.99997795e-01]]

 t_estimated:
[[8.09578305e-01]
 [5.87011512e-01]
 [6.72407230e-04]]

 R_gt:
[[ 0.98989817 -0.08811637  0.11107257]
 [ 0.09436043  0.99416565 -0.05226591]
 [-0.10581934  0.06221904  0.99243734]]

 t_gt:
[ 0.85978942 -0.41733848  0.29426306]

Pose Error in degrees for R and t:
169.33453832069742 63.17401948395349

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99998272e-01  1.81142463e-03  4.17643171e-04]
 [-1.81103967e-03  9.99997937e-01 -9.20268487e-04]
 [-4.19309306e-04  9.19510529e-04  9.99999489e-01]]

 t_estimated:
[[-0.24091373]
 [-0.97054319]
 [-0.0025457 ]]

 R_gt:
[[ 0.97666432 -0.19637111  0.08698548]
 [ 0.19997156  0.97918576 -0.03474255]
 [-0.07835322  0.05132618  0.99560383]]

 t_gt:
[ 0.86603343 -0.49399025  0.07719932]

Pose Error in degrees for R and t:
12.724592498207182 74.2998477621609

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.79891066e-01  1.99533061e-01  2.37479922e-04]
 [-1.99532913e-01  9.79890979e-01 -5.34166204e-04]
 [-3.39288251e-04  4.76039631e-04  9.99999829e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.9943108  -0.06168158  0.08683724]
 [ 0.05299205  0.99367174  0.09904671]
 [-0.09239705 -0.09388203  0.99128646]]

 t_gt:
[ 0.18376546 -0.44623125  0.87584698]

Pose Error in degrees for R and t:
16.62799641263095 70.0367234933115

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 9.59802758e-01 -2.80673550e-01  1.01240061e-03]
 [ 2.80673504e-01  9.59803286e-01  1.90485260e-04]
 [-1.02516960e-03  1.01325748e-04  9.99999469e-01]]

 t_estimated:
[[ 0.97423997]
 [-0.22550841]
 [ 0.00156375]]

 R_gt:
[[ 0.98375748 -0.09101714  0.15471135]
 [ 0.06020702  0.97929412  0.19328347]
 [-0.16910024 -0.18082966  0.96886834]]

 t_gt:
[ 0.15965358 -0.32535538  0.93201642]

Pose Error in degrees for R and t:
18.576007466421842 76.68121943384341

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-2.65265477e-01 -9.64175282e-01 -5.02877981e-04]
 [-9.64175325e-01  2.65265194e-01  5.65485507e-04]
 [-4.11831123e-04  6.34866324e-04 -9.99999714e-01]]

 t_estimated:
[[0.90249818]
 [0.43069232]
 [0.00107784]]

 R_gt:
[[ 0.98301782 -0.02385871  0.18195033]
 [-0.02227401  0.96866884  0.24735427]
 [-0.18215126 -0.24720709  0.95168803]]

 t_gt:
[-0.06168593 -0.0594342   0.99632446]

Pose Error in degrees for R and t:
162.8476430428145 85.400201658625

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.91845854e-01 -1.27443246e-01 -1.43312255e-04]
 [ 1.27443290e-01  9.91845793e-01  3.60521794e-04]
 [ 9.61975900e-05 -3.75846232e-04  9.99999925e-01]]

 t_estimated:
[[9.70237985e-01]
 [2.42152570e-01]
 [6.20179761e-04]]

 R_gt:
[[ 0.98078638 -0.19218542  0.03349735]
 [ 0.19102868  0.98096436  0.03489569]
 [-0.03956716 -0.02782563  0.9988286 ]]

 t_gt:
[ 0.66201935 -0.69984569  0.26822823]

Pose Error in degrees for R and t:
4.6435414896001035 61.769929316494604

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99992137e-01  7.78209062e-04  3.88838851e-03]
 [-7.63774888e-04  9.99992818e-01 -3.71222954e-03]
 [-3.89124948e-03  3.70923050e-03  9.99985550e-01]]

 t_estimated:
[[0.88221029]
 [0.47085427]
 [0.00111716]]

 R_gt:
[[ 0.93880014 -0.34445106 -0.00294744]
 [ 0.34414865  0.93754039  0.05079105]
 [-0.01473205 -0.04869703  0.99870424]]

 t_gt:
[ 0.75460071 -0.63677588  0.15841165]

Pose Error in degrees for R and t:
20.433011182914473 68.52687040434179

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 8.59360337e-01  5.11369903e-01  7.96070099e-04]
 [-5.11369890e-01  8.59360681e-01 -2.36121131e-04]
 [-8.04856582e-04 -2.04173144e-04  9.99999655e-01]]

 t_estimated:
[[0.71110367]
 [0.70308672]
 [0.0008017 ]]

 R_gt:
[[ 0.85551746 -0.51194946 -0.07744629]
 [ 0.51632021  0.85472051  0.05354297]
 [ 0.03878361 -0.0857933   0.99555675]]

 t_gt:
[ 0.84714788 -0.52106744  0.10406342]

Pose Error in degrees for R and t:
61.98669328149162 76.34129826509218

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 1.00000000e+00  1.97508676e-12  1.97532962e-14]
 [-1.97510064e-12  1.00000000e+00 -1.11359489e-14]
 [-2.01193229e-14  1.11035313e-14  1.00000000e+00]]

 t_estimated:
[[-0.99617132]
 [-0.08674746]
 [-0.01084343]]

 R_gt:
[[ 0.99756319 -0.06958926  0.0051266 ]
 [ 0.06951409  0.99748688  0.01370503]
 [-0.00606779 -0.01331542  0.99989353]]

 t_gt:
[ 0.69309424 -0.67668749  0.24842387]

Pose Error in degrees for R and t:
4.075069086425277 50.62202256671903

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.15335202 -0.9881657   0.00342122]
 [-0.98816999  0.15334454 -0.00235213]
 [ 0.00179967 -0.00374145 -0.99999138]]

 t_estimated:
[[0.76083873]
 [0.64893803]
 [0.00196402]]

 R_gt:
[[ 9.94512846e-01 -1.03812433e-01 -1.29415051e-02]
 [ 1.03827406e-01  9.94594843e-01  4.65173096e-04]
 [ 1.28232869e-02 -1.80686102e-03  9.99916450e-01]]

 t_gt:
[ 0.83573018 -0.54626888 -0.05608362]

Pose Error in degrees for R and t:
179.5326550079658 73.66511225107006

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.66472902 -0.74706773  0.00501447]
 [-0.74708381  0.66472288 -0.00304585]
 [-0.00105778 -0.0057709  -0.99998279]]

 t_estimated:
[[0.99842201]
 [0.05581241]
 [0.00620138]]

 R_gt:
[[ 9.89735768e-01 -1.42863541e-01  3.73805290e-03]
 [ 1.42910221e-01  9.89545665e-01 -1.93793322e-02]
 [-9.29402752e-04  1.97143802e-02  9.99805659e-01]]

 t_gt:
[ 0.89254668 -0.44649939 -0.06323549]

Pose Error in degrees for R and t:
179.8492521053948 30.022853928881208

Number of keypoints:
Image1: 362
Image2: 362

 R_estimated:
[[ 9.99972188e-01  7.45816133e-03  1.59015418e-06]
 [-7.45816138e-03  9.99972187e-01  3.10814188e-05]
 [-1.35829972e-06 -3.10924140e-05  1.00000000e+00]]

 t_estimated:
[[2.24512984e-01]
 [9.74471041e-01]
 [3.32505149e-04]]

 R_gt:
[[ 9.98617489e-01 -6.99727440e-03  5.20896133e-02]
 [ 6.98484786e-03  9.99975184e-01  3.94277946e-04]
 [-5.20919876e-02 -3.00704780e-05  9.98642162e-01]]

 t_gt:
[-0.05431649 -0.13558317  0.98927596]

Pose Error in degrees for R and t:
3.0990493786794513 81.72133714023853

Number of keypoints:
Image1: 483
Image2: 483

 R_estimated:
[[ 9.94005594e-01 -1.09329209e-01 -4.90192790e-05]
 [ 1.09329220e-01  9.94005536e-01  3.39950743e-04]
 [ 1.15588888e-05 -3.43272180e-04  9.99999941e-01]]

 t_estimated:
[[0.88193319]
 [0.47137248]
 [0.00135401]]

 R_gt:
[[ 0.99941442 -0.01303755  0.03162765]
 [ 0.0128472   0.99989802  0.00620591]
 [-0.0317052  -0.00579598  0.99947998]]

 t_gt:
[ 0.1008474  -0.29199944  0.95108681]

Pose Error in degrees for R and t:
5.8343886487650884 87.28247078819155

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[ 9.33460318e-01  3.58680674e-01  9.12681052e-05]
 [-3.58680052e-01  9.33459119e-01 -1.64112538e-03]
 [-6.73835004e-04  1.49918937e-03  9.99998649e-01]]

 t_estimated:
[[0.52839641]
 [0.84899648]
 [0.00148426]]

 R_gt:
[[ 9.97959724e-01 -6.38242723e-02 -1.07975686e-03]
 [ 6.38284552e-02  9.97523889e-01  2.95282229e-02]
 [-8.07689045e-04 -2.95366151e-02  9.99562812e-01]]

 t_gt:
[ 0.57695297 -0.76810886  0.27773019]

Pose Error in degrees for R and t:
24.743165637417807 69.70525596396654

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99998406e-01 -1.67383727e-03 -6.21683626e-04]
 [ 1.67388397e-03  9.99998596e-01  7.45995449e-05]
 [ 6.21557886e-04 -7.56400522e-05  9.99999804e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075966e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99866272 -0.04756677 -0.02026863]
 [ 0.04751217  0.99886506 -0.00316935]
 [ 0.02039581  0.00220221  0.99978988]]

 t_gt:
[ 0.81232534 -0.4690028  -0.34664669]

Pose Error in degrees for R and t:
2.8659470373399016 35.84558113798172

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 9.99977399e-01 -6.72191204e-03  1.29491877e-04]
 [ 6.72192317e-03  9.99977404e-01 -8.57494139e-05]
 [-1.28912551e-04  8.66179104e-05  9.99999988e-01]]

 t_estimated:
[[ 9.90217278e-01]
 [ 1.39533436e-01]
 [-4.03190769e-04]]

 R_gt:
[[ 0.99730121 -0.06908973 -0.0248596 ]
 [ 0.06863751  0.99746815 -0.01860989]
 [ 0.0260825   0.01685276  0.99951829]]

 t_gt:
[ 0.85067637 -0.15459093 -0.50244538]

Pose Error in degrees for R and t:
3.984890549669538 34.81633970301973

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-0.93550252  0.35330393  0.00337145]
 [ 0.35331248  0.9355023   0.00239509]
 [-0.0023078   0.00343179 -0.99999145]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.91957872e-01 -1.26575299e-01  2.38302786e-04]
 [ 1.26515598e-01  9.91424155e-01 -3.27451414e-02]
 [ 3.90789556e-03  3.25123474e-02  9.99463645e-01]]

 t_gt:
[ 0.92896294 -0.2964725  -0.2216572 ]

Pose Error in degrees for R and t:
179.59359291078036 21.895264558087568

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.81068449e-01  1.93660528e-01  5.45547619e-04]
 [-1.93660261e-01  9.81068523e-01 -5.07288062e-04]
 [-6.33461271e-04  3.92033418e-04  9.99999723e-01]]

 t_estimated:
[[0.33368246]
 [0.94268468]
 [0.00126875]]

 R_gt:
[[ 0.9883385  -0.13996591  0.05996748]
 [ 0.13978646  0.99015551  0.00719393]
 [-0.06038344  0.00127266  0.99817454]]

 t_gt:
[ 0.56491191 -0.77069189  0.29480255]

Pose Error in degrees for R and t:
19.51541869333453 57.47658629399204

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.96029244e-01 -8.90249201e-02  5.55127865e-04]
 [ 8.90251920e-02  9.96029256e-01 -4.85822119e-04]
 [-5.09673319e-04  5.33313402e-04  9.99999728e-01]]

 t_estimated:
[[ 9.80680731e-01]
 [ 1.95614913e-01]
 [-3.31574526e-04]]

 R_gt:
[[ 0.9514905  -0.30328274  0.05183302]
 [ 0.30003931  0.95191046  0.06199136]
 [-0.06814093 -0.04343321  0.99673005]]

 t_gt:
[ 0.6756025  -0.68158602  0.28107251]

Pose Error in degrees for R and t:
13.307959841237404 58.053391951776575

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99998129e-01  1.83963035e-03  5.97916564e-04]
 [-1.83960529e-03  9.99998307e-01 -4.24630918e-05]
 [-5.97993669e-04  4.13630819e-05  9.99999820e-01]]

 t_estimated:
[[9.57960344e-01]
 [2.86900313e-01]
 [4.35481264e-04]]

 R_gt:
[[ 0.88204969 -0.47115202 -0.00218274]
 [ 0.469968    0.8794858   0.07506452]
 [-0.03344696 -0.06723692  0.99717609]]

 t_gt:
[ 0.79141588 -0.58615206  0.17345509]

Pose Error in degrees for R and t:
28.538672904016963 53.83920565032474

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.95019760e-01 -9.96778048e-02  1.09921185e-04]
 [ 9.96777947e-02  9.95019763e-01  9.30594868e-05]
 [-1.18649717e-04 -8.16393269e-05  9.99999990e-01]]

 t_estimated:
[[0.76873891]
 [0.63956214]
 [0.00087346]]

 R_gt:
[[ 0.99964052 -0.02117956  0.01648475]
 [ 0.02048708  0.99894737  0.04104738]
 [-0.01733659 -0.04069536  0.99902144]]

 t_gt:
[ 0.06117375 -0.60176092  0.79633006]

Pose Error in degrees for R and t:
5.183750021746118 70.2971984632847

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99464554e-01 -3.27142178e-02  6.20314564e-04]
 [ 3.27145719e-02  9.99464573e-01 -5.69578121e-04]
 [-6.01349128e-04  5.89566468e-04  9.99999645e-01]]

 t_estimated:
[[5.61584366e-01]
 [8.27419247e-01]
 [6.24327001e-04]]

 R_gt:
[[ 0.99846872 -0.05423282  0.01098768]
 [ 0.0534734   0.99673863  0.06044761]
 [-0.01422985 -0.05976753  0.99811069]]

 t_gt:
[ 0.38365621 -0.66876752  0.6368343 ]

Pose Error in degrees for R and t:
3.7496553610469294 70.27547657452408

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99991253e-01  2.11537242e-04  4.17723459e-03]
 [-1.92241967e-04  9.99989314e-01 -4.61901184e-03]
 [-4.17816704e-03  4.61816839e-03  9.99980608e-01]]

 t_estimated:
[[0.97059314]
 [0.24071149]
 [0.00263388]]

 R_gt:
[[ 0.99503752 -0.09930616  0.00625673]
 [ 0.09910468  0.99471405  0.02688873]
 [-0.00889374 -0.0261353   0.99961896]]

 t_gt:
[ 0.69794712 -0.6993145   0.15436661]

Pose Error in degrees for R and t:
5.981784005042021 59.36971994740151

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.51519821  0.8569326   0.01540527]
 [-0.85693085 -0.51535582  0.00882607]
 [ 0.01550255 -0.00865407  0.99984238]]

 t_estimated:
[[0.3207398 ]
 [0.94716664]
 [0.00115791]]

 R_gt:
[[ 0.99752891 -0.06999299 -0.00598344]
 [ 0.0700597   0.99747348  0.01173678]
 [ 0.00514583 -0.01212661  0.99991227]]

 t_gt:
[ 0.76576619 -0.63566135  0.09765651]

Pose Error in degrees for R and t:
125.03115985937467 69.12364432116314

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.10495397 -0.99445997 -0.00583325]
 [-0.99447299  0.10496855 -0.00225138]
 [ 0.00285122  0.00556471 -0.99998045]]

 t_estimated:
[[ 0.81270225]
 [ 0.58267711]
 [-0.00155952]]

 R_gt:
[[ 0.99683211 -0.07534114 -0.02548876]
 [ 0.07381732  0.99568646 -0.05622145]
 [ 0.02961359  0.05416225  0.99809277]]

 t_gt:
[ 0.78262905 -0.3658863  -0.50360597]

Pose Error in degrees for R and t:
176.37726985246843 64.93562991643297

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 9.99999990e-01 -1.19043888e-04 -7.63166227e-05]
 [ 1.19046080e-04  9.99999993e-01  2.87196567e-05]
 [ 7.63132032e-05 -2.87287416e-05  9.99999997e-01]]

 t_estimated:
[[-0.99992188]
 [-0.01241619]
 [-0.00144056]]

 R_gt:
[[ 0.99550992 -0.0883989  -0.0338356 ]
 [ 0.07826454  0.96979669 -0.23101726]
 [ 0.05323509  0.22733352  0.97236031]]

 t_gt:
[ 0.52369547  0.08341499 -0.84781189]

Pose Error in degrees for R and t:
14.340680956337815 58.43477062943999

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99999988e-01  1.51106484e-04  3.16501237e-05]
 [-1.51105045e-04  9.99999988e-01 -4.54518829e-05]
 [-3.16569914e-05  4.54470999e-05  9.99999998e-01]]

 t_estimated:
[[-6.67619534e-02]
 [-9.97768931e-01]
 [ 3.64768730e-05]]

 R_gt:
[[ 0.99497444 -0.01054751  0.09956842]
 [ 0.0208255   0.99448788 -0.10276238]
 [-0.09793651  0.10431965  0.98971032]]

 t_gt:
[-0.86800757  0.23941044 -0.43502355]

Pose Error in degrees for R and t:
8.273771319135978 79.57534966006719

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.15956098 -0.9870936  -0.01365709]
 [-0.98715021  0.15941842  0.01096515]
 [-0.00864644  0.01523121 -0.99984661]]

 t_estimated:
[[8.97822942e-01]
 [4.40356265e-01]
 [5.69933961e-04]]

 R_gt:
[[ 0.98503172  0.02098261  0.17108673]
 [ 0.00517846  0.98851277 -0.15104979]
 [-0.17229124  0.1496754   0.9736092 ]]

 t_gt:
[-0.88509356  0.43076476 -0.17621324]

Pose Error in degrees for R and t:
178.27386301692712 52.76628064127182

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.64221233 -0.76652135 -0.00288663]
 [ 0.76648158  0.6422108  -0.0084424 ]
 [ 0.0083251   0.00320926  0.9999602 ]]

 t_estimated:
[[-0.08756908]
 [-0.99609831]
 [-0.01094614]]

 R_gt:
[[ 0.96841495  0.01674806  0.24877947]
 [ 0.03857779  0.97566305 -0.21585442]
 [-0.24634087  0.21863412  0.9442018 ]]

 t_gt:
[-0.74969226  0.6291793  -0.20517046]

Pose Error in degrees for R and t:
52.80137358129823 56.02516336674021

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.97635822e-01  6.87223048e-02  1.05105671e-04]
 [-6.87222159e-02  9.97635592e-01 -6.94314892e-04]
 [-1.52572078e-04  6.85450314e-04  9.99999753e-01]]

 t_estimated:
[[0.99720405]
 [0.0747091 ]
 [0.00162411]]

 R_gt:
[[ 0.99838149  0.01958445 -0.0534094 ]
 [-0.01700852  0.99868964  0.04827479]
 [ 0.05428499 -0.04728798  0.99740527]]

 t_gt:
[-0.87056054 -0.39067497  0.29916119]

Pose Error in degrees for R and t:
5.065307091436495 26.2558478712841

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-4.35074225e-01 -9.00394338e-01 -6.74212005e-04]
 [-9.00394590e-01  4.35074079e-01  3.57621345e-04]
 [-2.86680667e-05  7.62648672e-04 -9.99999709e-01]]

 t_estimated:
[[0.9510256 ]
 [0.30911025]
 [0.00107704]]

 R_gt:
[[ 0.99518725  0.0788374  -0.05821261]
 [-0.07186977  0.99094827  0.1133874 ]
 [ 0.06662482 -0.10865784  0.99184389]]

 t_gt:
[-0.91600552 -0.13077507  0.3792516 ]

Pose Error in degrees for R and t:
179.66880046798713 24.33382968296773

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99894936e-01 -1.44945177e-02 -1.62729274e-04]
 [ 1.44945057e-02  9.99894946e-01 -7.48800141e-05]
 [ 1.63797529e-04  7.25134665e-05  9.99999984e-01]]

 t_estimated:
[[-0.13968279]
 [-0.99019576]
 [-0.00103469]]

 R_gt:
[[ 0.99046121  0.12704934 -0.05334676]
 [-0.11702415  0.9799678   0.16114639]
 [ 0.07275161 -0.15336673  0.98548793]]

 t_gt:
[-0.90854625  0.01309067  0.41757915]

Pose Error in degrees for R and t:
12.555788836609679 83.48208457438821

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-0.00572942  0.99998129 -0.00214527]
 [-0.99997971 -0.00573536 -0.00277195]
 [-0.0027842   0.00212935  0.99999386]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9990161   0.02886414 -0.03364979]
 [-0.02502445  0.99367992  0.10943127]
 [ 0.03659434 -0.10848074  0.99342484]]

 t_gt:
[-0.47484071 -0.24296224  0.84586976]

Pose Error in degrees for R and t:
88.98812226228893 75.81582331752827

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.86173424e-01 -1.65715097e-01 -6.95426512e-04]
 [ 1.65715378e-01  9.86173554e-01  3.66600570e-04]
 [ 6.25059986e-04 -4.76774606e-04  9.99999691e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99599226  0.06430715 -0.0621526 ]
 [-0.05398272  0.98636109  0.15549574]
 [ 0.07130341 -0.15151713  0.98588001]]

 t_gt:
[-0.74079127 -0.19984697  0.64131855]

Pose Error in degrees for R and t:
16.112358838870755 78.24094000823139

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.48136678e-01  3.17862894e-01  1.45787271e-04]
 [-3.17862691e-01  9.48136432e-01 -7.84209014e-04]
 [-3.87497170e-04  6.97196994e-04  9.99999682e-01]]

 t_estimated:
[[-9.90721480e-01]
 [-1.35905675e-01]
 [-7.72191333e-04]]

 R_gt:
[[ 0.99228854  0.10695733 -0.06262662]
 [-0.08800239  0.96380181  0.25167876]
 [ 0.08727832 -0.24422642  0.96578268]]

 t_gt:
[-0.73033631 -0.14033579  0.66851682]

Pose Error in degrees for R and t:
19.781262660583252 42.08801386375986

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.97564322e-01  6.97523041e-02  2.00584043e-04]
 [-6.97522933e-02  9.97564341e-01 -6.03646912e-05]
 [-2.04306064e-04  4.62264653e-05  9.99999978e-01]]

 t_estimated:
[[7.72101437e-01]
 [6.35498875e-01]
 [7.42405228e-04]]

 R_gt:
[[ 0.99124836 -0.13193493 -0.00432165]
 [ 0.13196253  0.99123079  0.00693654]
 [ 0.00336866 -0.00744562  0.99996625]]

 t_gt:
[ 0.63043628 -0.77566393  0.02992601]

Pose Error in degrees for R and t:
11.591955128437958 89.64759568802485

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.86735083e-01  1.62337857e-01  5.43934324e-04]
 [-1.62337302e-01  9.86734873e-01 -9.43323374e-04]
 [-6.89856061e-04  8.42509437e-04  9.99999407e-01]]

 t_estimated:
[[-0.98483759]
 [-0.17347347]
 [-0.00136593]]

 R_gt:
[[ 0.98392744 -0.16136591  0.07647135]
 [ 0.16632851  0.98401333 -0.06366937]
 [-0.06497452  0.07536598  0.99503664]]

 t_gt:
[ 0.49031367 -0.85530016 -0.16749372]

Pose Error in degrees for R and t:
19.619632664921582 70.47132015670618

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.98929832  0.14589624 -0.00176537]
 [-0.14589156  0.98929733  0.0025392 ]
 [ 0.00211693 -0.00225447  0.99999522]]

 t_estimated:
[[-0.82793125]
 [-0.56082895]
 [-0.00085885]]

 R_gt:
[[ 0.98021868 -0.14721612  0.13228299]
 [ 0.1651512   0.97673803 -0.13677632]
 [-0.10907049  0.15591792  0.9817297 ]]

 t_gt:
[ 0.21952171 -0.7658482  -0.60438958]

Pose Error in degrees for R and t:
20.69073673451429 75.62424343308307

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.64542682  0.75302252 -0.12798951]
 [ 0.75270932  0.65552286  0.06097916]
 [ 0.12981873 -0.05698131 -0.9898991 ]]

 t_estimated:
[[ 0.8972032 ]
 [-0.4353395 ]
 [-0.07420202]]

 R_gt:
[[ 0.99985936 -0.01606558  0.00492508]
 [ 0.01589993  0.99936026  0.03203262]
 [-0.0054355  -0.03194939  0.99947433]]

 t_gt:
[ 0.27826739 -0.64044699  0.71581765]

Pose Error in degrees for R and t:
171.3599357450261 61.61726258989474

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99997948e-01 -1.66663711e-03 -1.15150975e-03]
 [ 1.66777207e-03  9.99998124e-01  9.85373435e-04]
 [ 1.14986533e-03 -9.87291869e-04  9.99998852e-01]]

 t_estimated:
[[0.99993858]
 [0.01101524]
 [0.00122392]]

 R_gt:
[[ 9.94856365e-01 -1.01293317e-01  5.21566758e-04]
 [ 1.01266416e-01  9.94683844e-01  1.87130790e-02]
 [-2.41413648e-03 -1.85633324e-02  9.99823918e-01]]

 t_gt:
[ 0.75636328 -0.6440416   0.11456439]

Pose Error in degrees for R and t:
5.808851409063791 41.46479051582982

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.90638839  0.42244167 -0.00176566]
 [ 0.42243553  0.9063879   0.00303364]
 [ 0.00288191  0.00200378 -0.99999384]]

 t_estimated:
[[9.94352533e-01]
 [1.06123727e-01]
 [8.91795999e-04]]

 R_gt:
[[ 0.9951906  -0.09169549 -0.03445434]
 [ 0.08749708  0.99027445 -0.10817089]
 [ 0.04403853  0.10463595  0.99353437]]

 t_gt:
[ 0.72391796 -0.2721399  -0.63394216]

Pose Error in degrees for R and t:
178.9904348040837 46.3395014282791

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.91669125e-01 -1.28811279e-01 -1.65915411e-05]
 [ 1.28811280e-01  9.91669116e-01  1.37486379e-04]
 [-1.25647738e-06 -1.38478175e-04  9.99999990e-01]]

 t_estimated:
[[1.59872962e-01]
 [9.87137595e-01]
 [6.12052944e-05]]

 R_gt:
[[ 0.99790904  0.04394779 -0.04739331]
 [-0.04831521  0.99427229 -0.09532966]
 [ 0.04293249  0.09742032  0.99431689]]

 t_gt:
[-0.25817406  0.54101726 -0.80040395]

Pose Error in degrees for R and t:
11.764021912502244 60.47953278818168

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99709291e-01  2.40924641e-02  9.41384838e-04]
 [-2.40912069e-02  9.99708887e-01 -1.32481933e-03]
 [-9.73028951e-04  1.30175510e-03  9.99998679e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98991053  0.07492418 -0.12026047]
 [-0.09605541  0.9788069  -0.18085871]
 [ 0.10416181  0.19058553  0.97612812]]

 t_gt:
[-0.16258963  0.51961857 -0.83878552]

Pose Error in degrees for R and t:
13.00970712239353 58.820413126246535

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999928e-01  3.65456894e-04 -1.04974646e-04]
 [-3.65457021e-04  9.99999933e-01 -1.19067459e-06]
 [ 1.04974204e-04  1.22903822e-06  9.99999994e-01]]

 t_estimated:
[[-2.58748026e-01]
 [ 9.65944785e-01]
 [-3.62810250e-04]]

 R_gt:
[[ 0.9854651   0.06099815 -0.15854751]
 [-0.10034428  0.96210284 -0.25355452]
 [ 0.13707272  0.26577904  0.9542391 ]]

 t_gt:
[-0.05979905  0.47958561 -0.87545515]

Pose Error in degrees for R and t:
18.01996916254618 61.377034656471295

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99999777e-01  6.61265615e-04  9.49246705e-05]
 [-6.61264741e-04  9.99999781e-01 -9.23751385e-06]
 [-9.49307582e-05  9.17474145e-06  9.99999995e-01]]

 t_estimated:
[[ 9.99999966e-01]
 [-1.68805955e-04]
 [ 1.99271938e-04]]

 R_gt:
[[ 0.99327234 -0.1107134  -0.03393822]
 [ 0.11129678  0.99366109  0.01581495]
 [ 0.03197203 -0.01948558  0.99929898]]

 t_gt:
[ 0.55633245 -0.82641056 -0.08683192]

Pose Error in degrees for R and t:
6.76420345323305 56.18903523191157

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999908e-01  3.84877947e-04 -1.88008482e-04]
 [-3.84814811e-04  9.99999870e-01  3.35732831e-04]
 [ 1.88137674e-04 -3.35660451e-04  9.99999926e-01]]

 t_estimated:
[[9.99981533e-01]
 [6.07666226e-03]
 [8.82549843e-05]]

 R_gt:
[[ 0.96500814 -0.25283477 -0.06951493]
 [ 0.25318074  0.96741056 -0.00394045]
 [ 0.0682456  -0.01379701  0.99757319]]

 t_gt:
[ 0.67971738 -0.7157709  -0.16017587]

Pose Error in degrees for R and t:
15.222590550198847 47.51934862526249

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.99995843 -0.00862554 -0.00295762]
 [ 0.00863045  0.99996139  0.00165197]
 [ 0.00294326 -0.00167742  0.99999426]]

 t_estimated:
[[9.99878228e-01]
 [1.55825464e-02]
 [8.44690404e-04]]

 R_gt:
[[ 0.92090733 -0.38023049 -0.08575976]
 [ 0.37499218  0.92428737 -0.07122532]
 [ 0.10634862  0.03343324  0.99376669]]

 t_gt:
[ 0.75236575 -0.58859123 -0.29581437]

Pose Error in degrees for R and t:
22.64690021205063 42.025023846550056

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.98637473e-01  5.21842463e-02  4.91684521e-05]
 [-5.21842467e-02  9.98637474e-01  7.62835884e-06]
 [-4.87033786e-05 -1.01837836e-05  9.99999999e-01]]

 t_estimated:
[[-6.39628216e-01]
 [ 7.68684425e-01]
 [ 1.85615959e-05]]

 R_gt:
[[ 0.99333246  0.10034857 -0.05674208]
 [-0.09789766  0.9942034   0.04443903]
 [ 0.06087178 -0.03858722  0.99739874]]

 t_gt:
[-0.12677524  0.99103623  0.04213358]

Pose Error in degrees for R and t:
4.941329551156667 32.554081489015644

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999420e-01 -1.06186493e-03 -1.79257247e-04]
 [ 1.06186540e-03  9.99999436e-01  2.48824901e-06]
 [ 1.79254504e-04 -2.67859464e-06  9.99999984e-01]]

 t_estimated:
[[-0.99996842]
 [-0.00783863]
 [-0.00130644]]

 R_gt:
[[ 0.97847888  0.19622016 -0.06384934]
 [-0.19316669  0.97984047  0.05097933]
 [ 0.07256471 -0.03754853  0.99665656]]

 t_gt:
[-0.15796038  0.98098319 -0.11278522]

Pose Error in degrees for R and t:
12.233277348988835 81.34912839381185

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999975e-01  2.22330614e-04  1.36467781e-07]
 [-2.22330608e-04  9.99999974e-01 -4.51046690e-05]
 [-1.46495927e-07  4.51046375e-05  9.99999999e-01]]

 t_estimated:
[[-0.79234967]
 [-0.61006666]
 [-0.00081754]]

 R_gt:
[[ 0.97766704  0.20913656  0.02072265]
 [-0.20809145  0.97712611 -0.04384336]
 [-0.02941801  0.03855225  0.99882279]]

 t_gt:
[-0.08527448  0.99156182 -0.09763919]

Pose Error in degrees for R and t:
12.350833602833156 57.501890359083504

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.99999976e-01  7.98302664e-05 -2.03303227e-04]
 [-7.97797577e-05  9.99999966e-01  2.48436290e-04]
 [ 2.03323052e-04 -2.48420064e-04  9.99999948e-01]]

 t_estimated:
[[0.00231002]
 [0.99999593]
 [0.00167718]]

 R_gt:
[[ 0.99657509  0.08182613 -0.01193023]
 [-0.08135017  0.99603347  0.0360585 ]
 [ 0.01483394 -0.03496482  0.99927819]]

 t_gt:
[-0.63174289  0.74404932  0.21746616]

Pose Error in degrees for R and t:
5.15111172036404 42.016535660931126

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 6.21026310e-01 -7.83784924e-01 -2.74123967e-03]
 [ 7.83786748e-01  6.21029787e-01 -5.80681020e-04]
 [ 2.15752052e-03 -1.78792914e-03  9.99996074e-01]]

 t_estimated:
[[ 9.02200270e-01]
 [-4.31316512e-01]
 [-8.59758059e-04]]

 R_gt:
[[ 0.98682036  0.16001483 -0.02408255]
 [-0.15885576  0.98631447  0.04413466]
 [ 0.03081568 -0.03972761  0.99873492]]

 t_gt:
[-0.66577262  0.73696501  0.11674504]

Pose Error in degrees for R and t:
60.84477380096809 23.273999692498904

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 8.41275698e-01 -5.40605183e-01  1.11147280e-03]
 [ 5.40605831e-01  8.41275932e-01 -3.76739090e-04]
 [-7.31388215e-04  9.17810120e-04  9.99999311e-01]]

 t_estimated:
[[-0.30525707]
 [-0.95226934]
 [-0.001106  ]]

 R_gt:
[[ 0.99262851  0.10734819  0.05626642]
 [-0.11284927  0.98794336  0.10598349]
 [-0.04421113 -0.11155184  0.99277481]]

 t_gt:
[-0.59949833  0.49202844  0.6312763 ]

Pose Error in degrees for R and t:
39.65087295539862 73.3669752367405

Number of keypoints:
Image1: 433
Image2: 433

 R_estimated:
[[-0.92228127 -0.38613461 -0.01724314]
 [-0.38614227  0.9224343  -0.00301771]
 [ 0.01707091  0.00387512 -0.99984677]]

 t_estimated:
[[ 0.97664936]
 [ 0.2146836 ]
 [-0.00818381]]

 R_gt:
[[ 0.99235814  0.12072298 -0.02550834]
 [-0.12119682  0.99246773 -0.01791234]
 [ 0.02315351  0.02086731  0.99951324]]

 t_gt:
[-0.74277314  0.61644381 -0.26131416]

Pose Error in degrees for R and t:
177.40764265686545 53.77554813524089

Number of keypoints:
Image1: 336
Image2: 336

 R_estimated:
[[ 9.88491226e-01 -1.51277971e-01  2.67528284e-04]
 [ 1.51278135e-01  9.88490940e-01 -7.67006852e-04]
 [-1.48418044e-04  7.98650724e-04  9.99999670e-01]]

 t_estimated:
[[-0.32196465]
 [-0.94675009]
 [-0.00174035]]

 R_gt:
[[ 0.97899151  0.20362073  0.01063976]
 [-0.20389127  0.97809469  0.04195645]
 [-0.00186383 -0.04324454  0.99906221]]

 t_gt:
[-0.82529151  0.55526913  0.10281104]

Pose Error in degrees for R and t:
20.616778480428525 74.92012676820733

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.12017585e-01 -4.10016989e-01 -1.04877880e-02]
 [ 4.10045811e-01  9.12064686e-01  6.64935172e-04]
 [ 9.29290637e-03 -4.90690612e-03  9.99944781e-01]]

 t_estimated:
[[-0.06463723]
 [-0.99790818]
 [-0.00113399]]

 R_gt:
[[ 0.94348064  0.33033807 -0.02684484]
 [-0.32897185  0.94325457  0.04525636]
 [ 0.04027128 -0.0338672   0.99861363]]

 t_gt:
[-0.79357268  0.60779637 -0.02873993]

Pose Error in degrees for R and t:
43.537269874393544 56.27564408961324

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 4.24901806e-01 -9.05238658e-01 -1.19484198e-03]
 [ 9.05239437e-01  4.24901622e-01  4.16295863e-04]
 [ 1.30843188e-04 -1.25850295e-03  9.99999200e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99504897 -0.07835791 -0.06111988]
 [ 0.07535148  0.99590013 -0.05003564]
 [ 0.06478984  0.04518085  0.99687559]]

 t_gt:
[ 0.7179995  -0.34428752 -0.60493208]

Pose Error in degrees for R and t:
60.59432693808752 44.23707405309923

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.83068887e-01  1.83234373e-01  8.53299030e-04]
 [-1.83233823e-01  9.83069122e-01 -6.83516689e-04]
 [-9.64095680e-04  5.15590746e-04  9.99999402e-01]]

 t_estimated:
[[0.38147445]
 [0.92437889]
 [0.00096089]]

 R_gt:
[[ 0.97341833 -0.22455526 -0.04506249]
 [ 0.22164356  0.97317403 -0.06168791]
 [ 0.05770652  0.05005987  0.99707757]]

 t_gt:
[ 0.80460472 -0.51623979 -0.29344119]

Pose Error in degrees for R and t:
23.870375054186265 80.1803765660632

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-0.93481348  0.35513744 -0.00107278]
 [-0.35513505 -0.93481301 -0.00193081]
 [-0.00168855 -0.00142396  0.99999756]]

 t_estimated:
[[0.68058384]
 [0.73266962]
 [0.0009266 ]]

 R_gt:
[[ 0.932095   -0.36162723 -0.02058934]
 [ 0.36073398  0.93192008 -0.03734554]
 [ 0.03269264  0.02738202  0.99909038]]

 t_gt:
[ 0.82453837 -0.55275743 -0.12081265]

Pose Error in degrees for R and t:
179.6143190357618 81.02131790772007

Number of keypoints:
Image1: 512
Image2: 512

 R_estimated:
[[ 9.99089687e-01  4.26590537e-02 -5.71336746e-05]
 [-4.26590511e-02  9.99089687e-01  4.66135070e-05]
 [ 5.90701532e-05 -4.41338057e-05  9.99999997e-01]]

 t_estimated:
[[-0.28267081]
 [ 0.95921636]
 [ 0.0010865 ]]

 R_gt:
[[ 0.99431698  0.09784154  0.04194965]
 [-0.09937176  0.99439557  0.03608866]
 [-0.0381839  -0.04005221  0.99846866]]

 t_gt:
[-0.88274331  0.19390918  0.42797604]

Pose Error in degrees for R and t:
4.518975205373979 64.151591106419

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 3.59386375e-01 -9.33188833e-01 -1.87789400e-04]
 [ 9.33188823e-01  3.59386306e-01  3.21504631e-04]
 [-2.32535593e-04 -2.90787353e-04  9.99999931e-01]]

 t_estimated:
[[0.5493189 ]
 [0.83561218]
 [0.00101164]]

 R_gt:
[[ 0.98275543  0.18471865  0.00836478]
 [-0.18486759  0.98247784  0.02365851]
 [-0.00384801 -0.02479809  0.99968539]]

 t_gt:
[-0.90734687  0.41122928  0.08724754]

Pose Error in degrees for R and t:
79.59867735379159 81.10023520682692

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 0.06366826  0.99796257  0.00413037]
 [ 0.99796967 -0.06367468  0.00144172]
 [ 0.00170178  0.00403019 -0.99999043]]

 t_estimated:
[[-0.12135343]
 [-0.99260882]
 [-0.00103721]]

 R_gt:
[[ 0.95802299  0.28130101  0.05531857]
 [-0.28340862  0.95836932  0.03474177]
 [-0.043243   -0.04896149  0.99786455]]

 t_gt:
[-0.85217547  0.49639236  0.16550406]

Pose Error in degrees for R and t:
179.74939032543097 67.07781059046653

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.99859441 -0.05298271 -0.00142673]
 [ 0.0529844   0.99859465  0.00117205]
 [ 0.00136263 -0.00124599  0.9999983 ]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99181308 -0.12760666  0.00485484]
 [ 0.12768661  0.9915181  -0.02425257]
 [-0.00171897  0.02467367  0.99969337]]

 t_gt:
[ 0.76204894 -0.63826812 -0.10906518]

Pose Error in degrees for R and t:
4.551346521207698 72.59905807020738

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.81413312e-01  1.91905717e-01  3.26994076e-04]
 [-1.91905777e-01  9.81413342e-01  1.60670672e-04]
 [-2.90082728e-04 -2.20436388e-04  9.99999934e-01]]

 t_estimated:
[[0.67914697]
 [0.73400115]
 [0.00130605]]

 R_gt:
[[ 9.61919247e-01 -2.73330748e-01  5.92381376e-04]
 [ 2.73324369e-01  9.61878147e-01 -9.11640826e-03]
 [ 1.92169419e-03  8.93208102e-03  9.99958472e-01]]

 t_gt:
[ 0.78038611 -0.62398304 -0.04053002]

Pose Error in degrees for R and t:
26.93204151215887 85.87459733158835

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-6.35925484e-02 -9.97975506e-01 -9.36098315e-04]
 [-9.97975080e-01  6.35937007e-02 -1.25753326e-03]
 [ 1.31451735e-03  8.54233046e-04 -9.99998771e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.91797451 -0.39151344  0.06356698]
 [ 0.38855638  0.91983274  0.05414006]
 [-0.07966774 -0.0249992   0.99650716]]

 t_gt:
[ 0.77879248 -0.6102885   0.14501801]

Pose Error in degrees for R and t:
175.44716966919262 63.270663811107084

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999622e-01 -2.61104100e-04 -8.29096714e-04]
 [ 2.61725615e-04  9.99999685e-01  7.49609176e-04]
 [ 8.28900726e-04 -7.49825888e-04  9.99999375e-01]]

 t_estimated:
[[-0.94761826]
 [-0.31939812]
 [-0.00211522]]

 R_gt:
[[ 0.99645344  0.08085031 -0.02334555]
 [-0.08035949  0.99653914  0.02123391]
 [ 0.02498146 -0.01928241  0.99950128]]

 t_gt:
[-0.1180123   0.88937078  0.44169301]

Pose Error in degrees for R and t:
4.956604472009485 80.027992304031

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999923e-01 -1.81942099e-04 -3.47283627e-04]
 [ 1.82067290e-04  9.99999918e-01  3.60488884e-04]
 [ 3.47218011e-04 -3.60552085e-04  9.99999875e-01]]

 t_estimated:
[[-9.99998642e-01]
 [ 7.50967376e-04]
 [-1.46706151e-03]]

 R_gt:
[[ 0.98098506  0.17119686 -0.09143661]
 [-0.16704982  0.98461336  0.051276  ]
 [ 0.09880679 -0.03502645  0.99448924]]

 t_gt:
[ 0.01808571  0.98911088 -0.14605676]

Pose Error in degrees for R and t:
11.46062073761654 89.01855434637547

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999699e-01 -6.75491201e-04  3.80975759e-04]
 [ 6.75962551e-04  9.99999005e-01 -1.23845125e-03]
 [-3.80138816e-04  1.23870840e-03  9.99999161e-01]]

 t_estimated:
[[-0.86712202]
 [-0.49809433]
 [-0.00120211]]

 R_gt:
[[ 0.97097599  0.2339452  -0.04975564]
 [-0.23295279  0.97216776  0.02495541]
 [ 0.05420894 -0.01264025  0.99844959]]

 t_gt:
[-0.05870698  0.99126426 -0.11810445]

Pose Error in degrees for R and t:
13.928990774074784 63.7240393036296

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 5.06544613e-01 -8.62206942e-01  3.42701085e-03]
 [-8.62209924e-01 -5.06550207e-01 -9.66592478e-04]
 [ 2.56935580e-03 -2.46518055e-03 -9.99993661e-01]]

 t_estimated:
[[0.62089154]
 [0.78389605]
 [0.00081912]]

 R_gt:
[[ 0.99884522  0.04667592  0.0114026 ]
 [-0.04686021  0.99876543  0.01650033]
 [-0.0106178  -0.01701471  0.99979857]]

 t_gt:
[-0.47638621  0.79383163  0.37800467]

Pose Error in degrees for R and t:
178.79891827874175 70.9249159727074

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 5.06760916e-02  9.98715103e-01 -2.76762552e-04]
 [-9.98713217e-01  5.06754480e-02 -1.97720055e-03]
 [-1.96063498e-03  3.76603214e-04  9.99998007e-01]]

 t_estimated:
[[0.0138395 ]
 [0.99990356]
 [0.00115329]]

 R_gt:
[[ 0.98733223  0.15822608 -0.01186833]
 [-0.15797847  0.98724984  0.01948396]
 [ 0.01479942 -0.0173623   0.99973943]]

 t_gt:
[-0.60326503  0.79484945  0.06546494]

Pose Error in degrees for R and t:
78.00864900517557 38.14043086719284

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-2.67777946e-02  9.99641272e-01 -5.26600982e-04]
 [-9.99638978e-01 -2.67788878e-02 -2.19185636e-03]
 [-2.20517186e-03  4.67717789e-04  9.99997459e-01]]

 t_estimated:
[[0.01012321]
 [0.99994813]
 [0.0011248 ]]

 R_gt:
[[ 0.98661046  0.16142582  0.02326833]
 [-0.16255782  0.98486607  0.06011509]
 [-0.01321142 -0.06309222  0.99792007]]

 t_gt:
[-0.63626282  0.69925835  0.32589476]

Pose Error in degrees for R and t:
82.2747060856656 46.12021050875516

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999585e-01  8.94157627e-04  1.72558331e-04]
 [-8.94135659e-04  9.99999592e-01 -1.27341527e-04]
 [-1.72672124e-04  1.27187183e-04  9.99999977e-01]]

 t_estimated:
[[ 9.99422464e-01]
 [ 3.39811663e-02]
 [-1.36564460e-04]]

 R_gt:
[[ 0.99705679 -0.07503231 -0.01574497]
 [ 0.07494605  0.99716858 -0.00604071]
 [ 0.01615433  0.00484293  0.9998576 ]]

 t_gt:
[ 0.79845845 -0.5536055  -0.23661161]

Pose Error in degrees for R and t:
4.459937742888339 38.81101714558544

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999855e-01 -3.90353063e-04 -3.69965045e-04]
 [ 3.90596456e-04  9.99999707e-01  6.58036907e-04]
 [ 3.69708070e-04 -6.58181319e-04  9.99999715e-01]]

 t_estimated:
[[-0.51128016]
 [-0.85941314]
 [-0.00128462]]

 R_gt:
[[ 9.86984853e-01 -1.54630485e-01 -4.41664305e-02]
 [ 1.54475803e-01  9.87972168e-01 -6.91359557e-03]
 [ 4.47038552e-02  1.20939800e-06  9.98999484e-01]]

 t_gt:
[ 0.83705327 -0.50868015 -0.20146051]

Pose Error in degrees for R and t:
9.230005171438844 89.45817606583495

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99997750e-01 -2.11594627e-03 -1.49080695e-04]
 [ 2.11601730e-03  9.99997647e-01  4.77960030e-04]
 [ 1.48069006e-04 -4.78274412e-04  9.99999875e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98236811 -0.18046759 -0.04882859]
 [ 0.18033375  0.98357898 -0.00717984]
 [ 0.04932204 -0.00175228  0.99878087]]

 t_gt:
[ 0.85943443 -0.47789455 -0.18162947]

Pose Error in degrees for R and t:
10.657768323359226 61.78941295841365

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99751821e-01  2.22776903e-02  1.31525574e-05]
 [-2.22776892e-02  9.99751819e-01 -7.60355504e-05]
 [-1.48431896e-05  7.57236714e-05  9.99999997e-01]]

 t_estimated:
[[-0.98986942]
 [-0.14197726]
 [-0.00099285]]

 R_gt:
[[ 0.98484636  0.1734071   0.00280597]
 [-0.17338785  0.98412893  0.03778583]
 [ 0.00379085 -0.03769838  0.99928225]]

 t_gt:
[-0.90311877  0.36361101  0.22839333]

Pose Error in degrees for R and t:
8.979422068430885 32.63550134174523

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.12337537 -0.99235034  0.00439666]
 [-0.99235927 -0.12336841  0.00182116]
 [-0.00126482 -0.00458775 -0.99998868]]

 t_estimated:
[[0.59114646]
 [0.8065584 ]
 [0.00306829]]

 R_gt:
[[ 0.94857579  0.31627146  0.01325775]
 [-0.31649856  0.94834251  0.02183577]
 [-0.00566725 -0.02490768  0.99967385]]

 t_gt:
[-0.86282817  0.49618129  0.09660066]

Pose Error in degrees for R and t:
178.35870815641752 83.70991926795772

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 8.75053501e-01 -4.84025823e-01 -6.10806347e-04]
 [ 4.84026056e-01  8.75053531e-01  3.10263478e-04]
 [ 3.84312716e-04 -5.67143329e-04  9.99999765e-01]]

 t_estimated:
[[-0.75796375]
 [-0.65229588]
 [-0.00101604]]

 R_gt:
[[ 0.90216634  0.42930487  0.04235325]
 [-0.43122433  0.90017453  0.06108886]
 [-0.01190081 -0.07337612  0.99723341]]

 t_gt:
[-0.84040703  0.50822236  0.1882181 ]

Pose Error in degrees for R and t:
54.623641585407704 72.22405842147607

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.95125209 -0.30840595  0.00228983]
 [-0.30839092 -0.9510616   0.01941341]
 [-0.00380944 -0.01917321 -0.99980892]]

 t_estimated:
[[0.09540188]
 [0.99538269]
 [0.01057301]]

 R_gt:
[[ 0.99766291  0.04051823 -0.05502325]
 [-0.04521394  0.99518283 -0.08698644]
 [ 0.05123241  0.0892709   0.99468893]]

 t_gt:
[-0.20146767  0.44832249 -0.87087182]

Pose Error in degrees for R and t:
175.64450332168192 65.30269719931746

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99850282e-01  1.72041339e-02  1.85262469e-03]
 [-1.72038202e-02  9.99851986e-01 -1.85132410e-04]
 [-1.85553552e-03  1.53232470e-04  9.99998267e-01]]

 t_estimated:
[[0.1907329 ]
 [0.98163868]
 [0.00254311]]

 R_gt:
[[ 0.9912906   0.05788642 -0.11829238]
 [-0.07711917  0.98325589 -0.16510783]
 [ 0.10675288  0.1727933   0.97915577]]

 t_gt:
[-0.09310813  0.42547944 -0.90016561]

Pose Error in degrees for R and t:
12.126951873573637 66.57058041133682

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 0.99996665  0.00743849 -0.00337036]
 [-0.00743287  0.99997097  0.00167569]
 [ 0.00338272 -0.00165058  0.99999292]]

 t_estimated:
[[ 0.00715676]
 [-0.99996649]
 [-0.00397463]]

 R_gt:
[[ 0.97946355  0.11690142 -0.164277  ]
 [-0.15096926  0.96526837 -0.21322447]
 [ 0.13364427  0.23364593  0.96309271]]

 t_gt:
[-0.16665082  0.52458062 -0.83489082]

Pose Error in degrees for R and t:
17.252728550087827 58.50411408697974

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.99999904e-01  4.08316931e-04  1.57088813e-04]
 [-4.08309049e-04  9.99999915e-01 -5.02050584e-05]
 [-1.57109299e-04  5.01409128e-05  9.99999986e-01]]

 t_estimated:
[[0.99836387]
 [0.05716659]
 [0.00125091]]

 R_gt:
[[ 0.99623117 -0.07635441 -0.04116006]
 [ 0.07543868  0.99687624 -0.02338511]
 [ 0.0428174   0.02019235  0.99887799]]

 t_gt:
[ 0.4183581  -0.7301874  -0.54018779]

Pose Error in degrees for R and t:
5.15446498075308 67.95989098575899

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 3.05247964e-01 -9.52270347e-01 -2.20608357e-03]
 [ 9.52272512e-01  3.05249118e-01 -1.98537519e-04]
 [ 8.62466454e-04 -2.04018956e-03  9.99997547e-01]]

 t_estimated:
[[9.99977089e-01]
 [6.71689034e-03]
 [8.39611333e-04]]

 R_gt:
[[ 0.97635747 -0.21039209 -0.04960313]
 [ 0.20994559  0.97761129 -0.01410835]
 [ 0.0514612   0.00336173  0.99866875]]

 t_gt:
[ 0.59419113 -0.77749253 -0.20601519]

Pose Error in degrees for R and t:
60.147500870407285 53.929362125509456

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 0.76463419  0.64415666 -0.0199186 ]
 [-0.64345972  0.76480251  0.03219782]
 [ 0.03597423 -0.01180274  0.99928302]]

 t_estimated:
[[-0.99537121]
 [-0.09479726]
 [-0.01579954]]

 R_gt:
[[ 0.93231633 -0.35262738 -0.08025268]
 [ 0.34899418  0.93545104 -0.05598527]
 [ 0.09481419  0.02418879  0.99520029]]

 t_gt:
[ 0.71142881 -0.64956595 -0.26820351]

Pose Error in degrees for R and t:
60.85597288192393 50.03487643613426

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 3.32180852e-01 -9.43215712e-01 -5.74591896e-05]
 [-9.43194912e-01 -3.32173121e-01 -6.66155655e-03]
 [ 6.26419840e-03  2.26703674e-03 -9.99977810e-01]]

 t_estimated:
[[0.46360386]
 [0.88604204]
 [0.00098014]]

 R_gt:
[[ 0.99808774  0.04394375 -0.04346136]
 [-0.04456808  0.99891593 -0.01348646]
 [ 0.04282213  0.0153981   0.99896328]]

 t_gt:
[-0.14417596  0.72135508 -0.67739216]

Pose Error in degrees for R and t:
177.58594794500004 55.13488135989683

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-8.57636085e-01 -5.14255079e-01 -1.43497377e-03]
 [ 5.14256935e-01 -8.57634604e-01 -1.64029446e-03]
 [-3.87153399e-04 -2.14472093e-03  9.99997625e-01]]

 t_estimated:
[[9.03990447e-01]
 [4.27551852e-01]
 [8.28588860e-04]]

 R_gt:
[[ 0.99501605  0.08135017 -0.05766323]
 [-0.08464337  0.99476976 -0.05717535]
 [ 0.05271014  0.0617716   0.99669721]]

 t_gt:
[-0.21141345  0.80063511 -0.56061375]

Pose Error in degrees for R and t:
153.8414669877259 81.33060630126187

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 3.39120626e-01 -9.40742835e-01 -3.47158360e-04]
 [ 9.40741314e-01  3.39119354e-01  1.96062688e-03]
 [-1.72671757e-03 -9.91475225e-04  9.99998018e-01]]

 t_estimated:
[[0.94084776]
 [0.3388262 ]
 [0.00151262]]

 R_gt:
[[ 0.99892179  0.04064135 -0.02240227]
 [-0.04141467  0.99852407 -0.03515206]
 [ 0.02094034  0.03604209  0.9991306 ]]

 t_gt:
[-0.15671197  0.86188871 -0.48227503]

Pose Error in degrees for R and t:
72.56714515993255 81.72879512734261

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.53472878e-01 -3.01478731e-01  2.14301021e-04]
 [ 3.01478800e-01  9.53472767e-01 -4.63728298e-04]
 [-6.45259686e-05  5.06759569e-04  9.99999870e-01]]

 t_estimated:
[[-0.7929422 ]
 [-0.60929602]
 [-0.00100929]]

 R_gt:
[[ 0.98702237  0.16047523  0.00593984]
 [-0.16040742  0.98699542 -0.01048951]
 [-0.00754603  0.00940214  0.99992753]]

 t_gt:
[-0.88274369  0.46935287 -0.02171331]

Pose Error in degrees for R and t:
26.787279210229563 65.54289980936974

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-3.75099072e-01  9.26982687e-01  1.94549688e-03]
 [-9.26974861e-01 -3.75103937e-01  3.82673977e-03]
 [ 4.27708506e-03 -3.68020164e-04  9.99990786e-01]]

 t_estimated:
[[8.58021296e-01]
 [5.13613680e-01]
 [6.66165603e-04]]

 R_gt:
[[ 0.96329272  0.26737074  0.02409464]
 [-0.26788333  0.9632136   0.02137874]
 [-0.017492   -0.02704808  0.99948067]]

 t_gt:
[-0.89232782  0.43079078  0.1347975 ]

Pose Error in degrees for R and t:
96.51512444592262 57.02408502488238

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-9.45106126e-01  3.26763477e-01 -2.02255126e-04]
 [-3.26762113e-01 -9.45103647e-01 -2.37040126e-03]
 [-9.65712615e-04 -2.17419144e-03  9.99997170e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.95131713  0.30585878  0.03802702]
 [-0.30748554  0.95029181  0.04896356]
 [-0.02116065 -0.05827249  0.99807585]]

 t_gt:
[-0.89969474  0.37477946  0.22380736]

Pose Error in degrees for R and t:
143.06833415906792 56.63059433859264

Number of keypoints:
Image1: 804
Image2: 804

 R_estimated:
[[-0.07640737 -0.99684338 -0.02156826]
 [-0.99685871  0.07682508 -0.01925131]
 [ 0.02084753  0.02002957 -0.99958201]]

 t_estimated:
[[ 0.75188481]
 [ 0.65915502]
 [-0.01356033]]

 R_gt:
[[ 0.99908484  0.02166272 -0.03687118]
 [-0.02043748  0.99923653  0.03329295]
 [ 0.03756461 -0.03250823  0.99876605]]

 t_gt:
[-0.89015377 -0.38487336 -0.24392367]

Pose Error in degrees for R and t:
178.06058424962802 23.121147251915094

Number of keypoints:
Image1: 632
Image2: 632

 R_estimated:
[[ 9.98635365e-01  5.22245694e-02  4.52366070e-05]
 [-5.22245436e-02  9.98635265e-01 -4.53088823e-04]
 [-6.88372396e-05  4.50108061e-04  9.99999896e-01]]

 t_estimated:
[[-0.9835133 ]
 [-0.18083115]
 [-0.00130094]]

 R_gt:
[[ 0.99528645  0.09694312  0.00255334]
 [-0.09694141  0.993878    0.05299292]
 [ 0.00259922 -0.05299061  0.99859168]]

 t_gt:
[-0.92887648  0.18231358  0.32241315]

Pose Error in degrees for R and t:
4.003709721358828 28.336524628500403

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 9.95154546e-01  9.83230820e-02  3.87827429e-05]
 [-9.83230691e-02  9.95154516e-01 -2.53138898e-04]
 [-6.34842184e-05  2.48099087e-04  9.99999967e-01]]

 t_estimated:
[[-9.89511080e-01]
 [-1.44454172e-01]
 [-9.02838576e-04]]

 R_gt:
[[ 0.98061522  0.19415544 -0.02639558]
 [-0.19164907  0.97843469  0.07704748]
 [ 0.04078494 -0.07049453  0.99667777]]

 t_gt:
[-0.93238557  0.33673902  0.13139248]

Pose Error in degrees for R and t:
7.223137829103446 29.091558559355665

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-1.60468660e-01 -9.87040180e-01  1.22164574e-03]
 [-9.87038998e-01  1.60470674e-01  1.78277848e-03]
 [-1.95571231e-03 -9.19731918e-04 -9.99997665e-01]]

 t_estimated:
[[0.77758405]
 [0.62877401]
 [0.00250817]]

 R_gt:
[[ 0.99456517 -0.09627656  0.03964039]
 [ 0.09692726  0.99518087 -0.01481939]
 [-0.03802334  0.01858121  0.99910366]]

 t_gt:
[ 0.74074391 -0.63385582  0.22254272]

Pose Error in degrees for R and t:
178.80278656744463 79.7469018936244

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.87278263e-01 -1.59001979e-01 -4.69013331e-05]
 [ 1.59001980e-01  9.87278264e-01 -6.79491542e-07]
 [ 4.64127072e-05 -6.78655758e-06  9.99999999e-01]]

 t_estimated:
[[-0.96178776]
 [-0.2737936 ]
 [-0.00117006]]

 R_gt:
[[ 0.99587985 -0.03185117  0.08490155]
 [ 0.03517309  0.99866153 -0.0379238 ]
 [-0.08358081  0.04075395  0.99566704]]

 t_gt:
[0.52238133 0.02030023 0.85247032]

Pose Error in degrees for R and t:
8.980461087746198 59.40438851023739

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 8.33337027e-01 -5.52763146e-01 -1.51766426e-03]
 [ 5.52765059e-01  8.33335785e-01  1.50283893e-03]
 [ 4.34009960e-04 -2.09128310e-03  9.99997719e-01]]

 t_estimated:
[[-4.49781709e-01]
 [-8.93138474e-01]
 [-2.84475424e-04]]

 R_gt:
[[ 0.99222119  0.06560615  0.10578791]
 [-0.05868019  0.99600457 -0.06731448]
 [-0.10978238  0.06058313  0.99210675]]

 t_gt:
[-0.29761899  0.7846056   0.5438906 ]

Pose Error in degrees for R and t:
37.822509292969706 55.45505143459585

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.64579157  0.7635125   0.00138381]
 [-0.76350555 -0.64577517 -0.0058055 ]
 [-0.00353894 -0.00480569  0.99998219]]

 t_estimated:
[[0.43076008]
 [0.90246143]
 [0.00302154]]

 R_gt:
[[ 0.9907932  -0.12638671  0.04853465]
 [ 0.12503379  0.99169946  0.02998219]
 [-0.05192158 -0.02363643  0.99837116]]

 t_gt:
[ 0.59884524 -0.69630503  0.39565602]

Pose Error in degrees for R and t:
137.46287205196145 68.3315968478052

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 8.96790406e-02  9.95962930e-01  3.93852439e-03]
 [ 9.95970711e-01 -8.96787956e-02 -2.39114506e-04]
 [ 1.15052940e-04  3.94409850e-03 -9.99992215e-01]]

 t_estimated:
[[-0.71197074]
 [-0.70220598]
 [-0.00210589]]

 R_gt:
[[ 0.98519517 -0.16852273  0.03146066]
 [ 0.16758671  0.98539037  0.03034918]
 [-0.03611634 -0.02462752  0.99904402]]

 t_gt:
[ 0.69592553 -0.67482197  0.24556663]

Pose Error in degrees for R and t:
179.68139652320315 88.731842142985

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.98033973e-01 -6.26662066e-02  1.06563708e-03]
 [ 6.26676341e-02  9.98033521e-01 -1.36353913e-03]
 [-9.78093699e-04  1.42763933e-03  9.99998503e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97987443 -0.19891637  0.01668251]
 [ 0.19862616  0.97991788  0.01757679]
 [-0.01984434 -0.01391022  0.99970663]]

 t_gt:
[ 0.78952398 -0.60018864  0.12816193]

Pose Error in degrees for R and t:
7.997118875411584 38.023492229358865

Number of keypoints:
Image1: 431
Image2: 431

 R_estimated:
[[ 0.99362441  0.11271256 -0.00253019]
 [ 0.11270286 -0.99245501  0.04828159]
 [ 0.00293084 -0.04825893 -0.99883056]]

 t_estimated:
[[-0.00585219]
 [ 0.99967214]
 [ 0.02492738]]

 R_gt:
[[ 0.99851751  0.02927966 -0.04588455]
 [-0.02916142  0.99956978  0.00324914]
 [ 0.04595934 -0.00190723  0.9989416 ]]

 t_gt:
[ 0.07933477  0.94626255 -0.31351744]

Pose Error in degrees for R and t:
176.93376804213693 20.33565614914666

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 0.96431609 -0.26472517  0.00387986]
 [-0.26473002 -0.96393108  0.02747523]
 [-0.00353346 -0.02752192 -0.99961496]]

 t_estimated:
[[0.20860273]
 [0.97790269]
 [0.01382859]]

 R_gt:
[[ 0.99516     0.0172036  -0.09675264]
 [-0.0174221   0.99984734 -0.00141149]
 [ 0.09671389  0.00309075  0.99530717]]

 t_gt:
[ 0.58003204  0.69297237 -0.42819636]

Pose Error in degrees for R and t:
179.28000089062945 37.558209350161526

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 8.95512292e-01  4.45036235e-01 -6.95809669e-04]
 [-4.45036731e-01  8.95511824e-01 -9.38778263e-04]
 [ 2.05315443e-04  1.15034833e-03  9.99999317e-01]]

 t_estimated:
[[ 0.0335797 ]
 [ 0.99943453]
 [-0.00173894]]

 R_gt:
[[ 0.98830358 -0.01747436 -0.15149711]
 [ 0.01326103  0.99949822 -0.02877588]
 [ 0.15192383  0.02642981  0.98803926]]

 t_gt:
[ 0.79706362  0.4258599  -0.42817395]

Pose Error in degrees for R and t:
28.678373911753283 63.05539651651597

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 1.00000000e+00 -4.99600361e-16 -9.05308814e-18]
 [ 3.88578059e-16  1.00000000e+00 -1.43656788e-18]
 [-1.01009695e-15  1.40645416e-15  1.00000000e+00]]

 t_estimated:
[[8.10352074e-01]
 [5.85943139e-01]
 [3.92639071e-04]]

 R_gt:
[[ 0.99947013 -0.03170413 -0.00745579]
 [ 0.03204694  0.99815664  0.05154311]
 [ 0.00580799 -0.05175401  0.99864297]]

 t_gt:
[0.67145267 0.05088897 0.73929806]

Pose Error in degrees for R and t:
3.4999336861258805 54.954876739369276

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999963e-01  2.59811229e-04  7.70458670e-05]
 [-2.59819992e-04  9.99999960e-01  1.13754422e-04]
 [-7.70163092e-05 -1.13774436e-04  9.99999991e-01]]

 t_estimated:
[[9.25223889e-01]
 [3.79421324e-01]
 [4.62916038e-04]]

 R_gt:
[[ 0.99705759 -0.06442104 -0.04154862]
 [ 0.06629387  0.99676668  0.04540333]
 [ 0.03848911 -0.04802353  0.99810424]]

 t_gt:
[0.98248502 0.07608079 0.17010262]

Pose Error in degrees for R and t:
5.158702890417274 20.287595172163712

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999831e-01 -5.81234178e-04  4.05564288e-06]
 [ 5.81235763e-04  9.99999750e-01 -4.02386680e-04]
 [-3.82176097e-06  4.02388970e-04  9.99999919e-01]]

 t_estimated:
[[ 9.36711878e-01]
 [ 3.50100270e-01]
 [-8.11384579e-04]]

 R_gt:
[[ 0.99791176 -0.06297024 -0.0143871 ]
 [ 0.06344393  0.99736206  0.03528102]
 [ 0.01212617 -0.03611957  0.99927368]]

 t_gt:
[0.95462783 0.21378021 0.20732518]

Pose Error in degrees for R and t:
4.214569772728408 14.32971194400205

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-8.71741062e-01 -4.89964957e-01 -1.36462882e-03]
 [ 4.89962346e-01 -8.71741606e-01  1.86346149e-03]
 [-2.10263455e-03  9.55839157e-04  9.99997333e-01]]

 t_estimated:
[[8.72711396e-01]
 [4.88235776e-01]
 [8.04342300e-04]]

 R_gt:
[[ 0.98920558 -0.09596263  0.11074319]
 [ 0.09492497  0.99537721  0.01461714]
 [-0.11163454 -0.00394634  0.99374163]]

 t_gt:
[ 0.38159233 -0.68266049  0.62318692]

Pose Error in degrees for R and t:
145.21859729684087 89.98728276902675

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999758e-01 -6.54106528e-04  2.35320843e-04]
 [ 6.54251178e-04  9.99999597e-01 -6.15142868e-04]
 [-2.34918379e-04  6.15296678e-04  9.99999783e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.96759038 -0.19279344  0.16309516]
 [ 0.19216268  0.98116396  0.0197839 ]
 [-0.16383781  0.01219917  0.98641216]]

 t_gt:
[ 0.53764353 -0.69866974  0.47201698]

Pose Error in degrees for R and t:
14.591888129066877 78.81035894258167

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 6.45081502e-01  7.64107693e-01  3.04788674e-03]
 [ 7.64113716e-01 -6.45074803e-01 -2.95426074e-03]
 [-2.91258417e-04  4.23467102e-03 -9.99990991e-01]]

 t_estimated:
[[9.07421875e-01]
 [4.20220231e-01]
 [7.05067502e-04]]

 R_gt:
[[ 0.93941768 -0.3030307   0.16021056]
 [ 0.30055831  0.9529235   0.04003881]
 [-0.16480166  0.01053941  0.98627101]]

 t_gt:
[ 0.68161647 -0.65910802  0.3177666 ]

Pose Error in degrees for R and t:
176.55830261154682 70.0154209851736

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999992e-01  1.17038742e-06 -1.23424385e-04]
 [-1.15242179e-06  9.99999989e-01  1.45559776e-04]
 [ 1.23424554e-04 -1.45559632e-04  9.99999982e-01]]

 t_estimated:
[[-0.99999468]
 [-0.00309868]
 [-0.00102174]]

 R_gt:
[[ 0.99407643  0.10312349 -0.0343084 ]
 [-0.10225008  0.99440995  0.02633068]
 [ 0.03683296 -0.02266682  0.99906451]]

 t_gt:
[-0.32997264  0.93040675  0.15956609]

Pose Error in degrees for R and t:
6.391983930048252 70.9177694641515

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-8.26964531e-01 -5.62251796e-01 -1.60671459e-03]
 [ 5.62252882e-01 -8.26965304e-01 -2.88419540e-04]
 [-1.16653281e-03 -1.14189264e-03  9.99998668e-01]]

 t_estimated:
[[9.30103437e-01]
 [3.67296784e-01]
 [8.18032926e-04]]

 R_gt:
[[ 0.97614888  0.20372675 -0.07501644]
 [-0.19811316  0.97723045  0.07598044]
 [ 0.08878777 -0.05930635  0.99428289]]

 t_gt:
[-0.26820164  0.95376504  0.13564705]

Pose Error in degrees for R and t:
157.44079957568695 84.20493948280371

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99976292e-01 -6.88043369e-03  2.73025438e-04]
 [ 6.88018640e-03  9.99975929e-01  8.96554459e-04]
 [-2.79187550e-04 -8.94654737e-04  9.99999561e-01]]

 t_estimated:
[[0.02848575]
 [0.99959084]
 [0.00258961]]

 R_gt:
[[ 0.9493455   0.29600402 -0.10547256]
 [-0.28756064  0.95369378  0.08819653]
 [ 0.12669514 -0.05339953  0.9905035 ]]

 t_gt:
[-0.15477051  0.98460331 -0.08125525]

Pose Error in degrees for R and t:
19.130913207158812 11.598281910465282

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-0.15347788 -0.98786192 -0.02394499]
 [-0.98770656  0.15409122 -0.02629934]
 [ 0.02966983  0.01961426 -0.99936729]]

 t_estimated:
[[ 0.76111119]
 [ 0.64840118]
 [-0.01690154]]

 R_gt:
[[ 0.9982894   0.04827751  0.03298902]
 [-0.04697436  0.99812614 -0.03920021]
 [-0.0348197   0.03758282  0.9986868 ]]

 t_gt:
[-0.54432742  0.83137725 -0.11189076]

Pose Error in degrees for R and t:
178.0295071388871 82.72317336294532

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99789897e-01 -2.04961966e-02 -2.58532581e-04]
 [ 2.04962366e-02  9.99789918e-01  1.52983244e-04]
 [ 2.55342693e-04 -1.58250047e-04  9.99999955e-01]]

 t_estimated:
[[-9.99319204e-01]
 [-3.68934757e-02]
 [-2.76500593e-05]]

 R_gt:
[[ 9.93341491e-01  1.12681997e-01  2.39943424e-02]
 [-1.12697570e-01  9.93628761e-01 -7.13192897e-04]
 [-2.39215371e-02 -1.99522333e-03  9.99712220e-01]]

 t_gt:
[-0.54975954  0.82733036  0.11527759]

Pose Error in degrees for R and t:
7.770865073259608 58.744254237468176

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 4.57379195e-01 -8.89268376e-01 -2.45486724e-03]
 [ 8.89271398e-01  4.57379771e-01  3.54325279e-04]
 [ 8.07716350e-04 -2.34510423e-03  9.99996924e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97754646  0.21067928  0.00418774]
 [-0.21067058  0.97755359 -0.00257763]
 [-0.00463669  0.00163781  0.99998751]]

 t_gt:
[-0.58456589  0.81100558  0.02350869]

Pose Error in degrees for R and t:
74.94493269312431 36.160436518422564

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999667e-01  6.50034350e-04 -4.93446979e-04]
 [-6.49594820e-04  9.99999393e-01  8.90371776e-04]
 [ 4.94025452e-04 -8.90050938e-04  9.99999482e-01]]

 t_estimated:
[[0.96597636]
 [0.25862839]
 [0.00101351]]

 R_gt:
[[ 0.99123705 -0.12748087  0.03458994]
 [ 0.12772055  0.99179771 -0.00482973]
 [-0.03368987  0.00920537  0.99938892]]

 t_gt:
[ 0.68749176 -0.71278857  0.13887957]

Pose Error in degrees for R and t:
7.647698914220513 61.32150904273155

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.66285437e-01  2.57472960e-01  3.57855939e-04]
 [-2.57472928e-01  9.66285503e-01 -1.33603479e-04]
 [-3.80190289e-04  3.69608800e-05  9.99999927e-01]]

 t_estimated:
[[0.83494796]
 [0.5503281 ]
 [0.00094558]]

 R_gt:
[[ 9.75604241e-01 -2.17199685e-01  3.19422898e-02]
 [ 2.17311719e-01  9.76101773e-01 -6.48582340e-05]
 [-3.11649078e-02  7.00513504e-03  9.99488695e-01]]

 t_gt:
[ 0.76269905 -0.64386289  0.06107977]

Pose Error in degrees for R and t:
27.529719810416786 73.58838447047245

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 4.71039865e-01  8.82111256e-01  1.08564110e-03]
 [-8.82110408e-01  4.71040980e-01 -1.27394343e-03]
 [-1.63514129e-03 -3.57577168e-04  9.99998599e-01]]

 t_estimated:
[[0.38868158]
 [0.92137108]
 [0.00139814]]

 R_gt:
[[ 0.96351873 -0.26729291  0.01360327]
 [ 0.26733509  0.9636024  -0.00137317]
 [-0.01274007  0.00495974  0.99990613]]

 t_gt:
[ 0.82310248 -0.56769309  0.01506168]

Pose Error in degrees for R and t:
77.40573522761146 78.28110765404278

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-1.61073544e-01 -9.86937759e-01 -3.02889320e-03]
 [-9.86942373e-01  1.61071977e-01  7.55736434e-04]
 [-2.57995005e-04  3.11107219e-03 -9.99995127e-01]]

 t_estimated:
[[7.79912638e-01]
 [6.25888050e-01]
 [6.52646559e-04]]

 R_gt:
[[ 0.99542742 -0.04655265  0.08341196]
 [ 0.05457698  0.99381937 -0.09666371]
 [-0.07839718  0.10077447  0.99181584]]

 t_gt:
[ 0.13793237  0.83738862 -0.52891868]

Pose Error in degrees for R and t:
179.76584867226052 50.850832198157164

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.58948966  0.80777471 -0.0013992 ]
 [-0.80777438  0.58948426 -0.00297755]
 [-0.00158038  0.00288547  0.99999459]]

 t_estimated:
[[8.02097884e-01]
 [5.97192206e-01]
 [6.74031835e-04]]

 R_gt:
[[ 0.99087466 -0.09310927  0.09746032]
 [ 0.10035182  0.99232533 -0.0722503 ]
 [-0.08998537  0.08137154  0.99261314]]

 t_gt:
[ 0.65391754  0.75603467 -0.02834475]

Pose Error in degrees for R and t:
59.80592557463308 12.582121450528657

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-7.11731288e-01  7.02449400e-01  1.84776396e-03]
 [ 7.02451669e-01  7.11730447e-01  1.19362987e-03]
 [-4.76645280e-04  2.14750860e-03 -9.99997581e-01]]

 t_estimated:
[[-0.02855968]
 [-0.99958872]
 [-0.00259633]]

 R_gt:
[[ 0.98937234 -0.12389419  0.07611088]
 [ 0.12712075  0.99111564 -0.03912053]
 [-0.07058871  0.04837914  0.9963319 ]]

 t_gt:
[0.86339261 0.50342428 0.03342455]

Pose Error in degrees for R and t:
175.06681070114266 58.13212647439643

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.85809409e-01 -1.67865048e-01 -1.06524038e-03]
 [ 1.67865436e-01  9.85809877e-01  2.85150752e-04]
 [ 1.00225764e-03 -4.59921335e-04  9.99999392e-01]]

 t_estimated:
[[-0.58173918]
 [-0.81335756]
 [-0.00538647]]

 R_gt:
[[ 0.9992414  -0.00596807  0.03848622]
 [ 0.00743223  0.99924823 -0.03803368]
 [-0.03823082  0.03829157  0.99853439]]

 t_gt:
[0.4135724  0.74909634 0.51750607]

Pose Error in degrees for R and t:
9.801681230304576 31.49760842796548

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 0.99628963  0.08596466 -0.00412993]
 [-0.08594127  0.99628478  0.0055431 ]
 [ 0.00459109 -0.0051676   0.99997611]]

 t_estimated:
[[7.89764750e-01]
 [6.13409514e-01]
 [6.38968244e-04]]

 R_gt:
[[ 0.98942692  0.11912728  0.08272044]
 [-0.11368679  0.99121068 -0.06764629]
 [-0.0900517   0.05752652  0.99427417]]

 t_gt:
[-0.45636055  0.84669359  0.27357818]

Pose Error in degrees for R and t:
6.754577395254012 80.84375842478278

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 8.88535156e-01 -4.58806312e-01  1.42981120e-03]
 [ 4.58808287e-01  8.88533624e-01 -1.71893093e-03]
 [-4.81778971e-04  2.18333979e-03  9.99997500e-01]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.98588978  0.13051257  0.10482507]
 [-0.12383376  0.98997561 -0.0679155 ]
 [-0.11263897  0.0539763   0.99216841]]

 t_gt:
[-0.44482292  0.80973162  0.38271044]

Pose Error in degrees for R and t:
35.33677382884429 84.89745908829732

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.97900293e-01  6.47684487e-02  2.30312195e-04]
 [-6.47684276e-02  9.97900316e-01 -9.81557730e-05]
 [-2.36186009e-04  8.30327160e-05  9.99999969e-01]]

 t_estimated:
[[8.81453939e-01]
 [4.72269650e-01]
 [5.75837526e-04]]

 R_gt:
[[ 0.99121919 -0.13192164 -0.00904692]
 [ 0.13213482  0.99078601  0.02972448]
 [ 0.00504202 -0.03065815  0.99951758]]

 t_gt:
[ 0.90194891 -0.37881952  0.20732569]

Pose Error in degrees for R and t:
11.442313435052556 51.957862537367355

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.20158775 -0.97946925 -0.00154094]
 [ 0.97943434  0.20156655  0.00890547]
 [-0.00841204 -0.00330448  0.99995916]]

 t_estimated:
[[0.99881209]
 [0.04848602]
 [0.0048486 ]]

 R_gt:
[[ 0.99250459 -0.11481716 -0.04187831]
 [ 0.11612101  0.9927766   0.03015496]
 [ 0.03811338 -0.0347904   0.99866767]]

 t_gt:
[ 0.99054464 -0.00746607  0.13698753]

Pose Error in degrees for R and t:
71.78598958627838 8.242501102774384

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 6.27042774e-01  7.78984705e-01  4.33548220e-04]
 [-7.78983795e-01  6.27042753e-01 -1.27763869e-03]
 [-1.26711427e-03  4.63407073e-04  9.99999090e-01]]

 t_estimated:
[[-9.98573241e-01]
 [-5.33928102e-02]
 [-8.30889629e-04]]

 R_gt:
[[ 0.99103254 -0.10093407 -0.08756936]
 [ 0.10594744  0.99287001  0.05461773]
 [ 0.0814315  -0.06340467  0.99465948]]

 t_gt:
[0.97247906 0.19914875 0.12093081]

Pose Error in degrees for R and t:
57.4098273359916 10.940394224249838

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.43670802  0.89956223  0.00859595]
 [-0.89955035  0.43676606 -0.00667701]
 [-0.0097608  -0.00481659  0.99994076]]

 t_estimated:
[[-0.46984509]
 [ 0.88269744]
 [ 0.00952955]]

 R_gt:
[[ 0.98355606  0.18051336  0.00569202]
 [-0.18059451  0.98332349  0.02146789]
 [-0.00172191 -0.0221427   0.9997535 ]]

 t_gt:
[-0.87968758  0.45672245  0.13249289]

Pose Error in degrees for R and t:
53.71624444092746 35.14207629043082

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.80799217e-01 -1.95019119e-01 -6.62277496e-04]
 [ 1.95019551e-01  9.80799129e-01  6.65537587e-04]
 [ 5.19768638e-04 -7.81915804e-04  9.99999559e-01]]

 t_estimated:
[[-0.78956463]
 [-0.61366662]
 [-0.00098819]]

 R_gt:
[[ 0.94793058  0.3175712   0.02399769]
 [-0.31835599  0.94694768  0.04403915]
 [-0.00873914 -0.04938614  0.99874117]]

 t_gt:
[-0.85870342  0.48055767  0.17802462]

Pose Error in degrees for R and t:
29.93034962595936 67.4850977861676

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.99468288 -0.1028823   0.00460554]
 [-0.10287049  0.99469101  0.00273065]
 [-0.00486202  0.00224236 -0.99998567]]

 t_estimated:
[[0.99801857]
 [0.06270274]
 [0.00522523]]

 R_gt:
[[ 0.92302012  0.38300375  0.03662909]
 [-0.38471571  0.92002949  0.07443351]
 [-0.00519138 -0.08279553  0.9965531 ]]

 t_gt:
[-0.85804978  0.45819809  0.23195923]

Pose Error in degrees for R and t:
178.30310753564137 34.26856978864879

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 5.75371037e-01  8.17892147e-01  7.78796438e-04]
 [ 8.17888174e-01 -5.75370823e-01  2.71108142e-03]
 [ 2.66546895e-03 -9.22909331e-04 -9.99996022e-01]]

 t_estimated:
[[0.46559173]
 [0.88499875]
 [0.00124824]]

 R_gt:
[[ 0.99744555  0.06401411 -0.03173549]
 [-0.06549186  0.9967007  -0.04794119]
 [ 0.0285621   0.0498972   0.99834617]]

 t_gt:
[-0.30483109  0.81725091 -0.48905925]

Pose Error in degrees for R and t:
178.4270911085566 54.49818502723274

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.68890336  0.72476958 -0.01101003]
 [ 0.72474238 -0.68845299  0.02794576]
 [ 0.01267435 -0.02723136 -0.99954881]]

 t_estimated:
[[-0.39301388]
 [ 0.919415  ]
 [ 0.01470184]]

 R_gt:
[[ 0.99805456  0.05603747 -0.02736419]
 [-0.057687    0.9962963  -0.06376773]
 [ 0.02368927  0.0652226   0.99758921]]

 t_gt:
[-0.24010272  0.82303822 -0.51474146]

Pose Error in degrees for R and t:
178.89741548596166 32.487383600910945

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 5.20818556e-01  8.53667047e-01 -7.77959094e-04]
 [ 8.53648602e-01 -5.20800823e-01  7.11105078e-03]
 [ 5.66530798e-03 -4.36767089e-03 -9.99974414e-01]]

 t_estimated:
[[0.68684008]
 [0.72680707]
 [0.00148026]]

 R_gt:
[[ 0.99817196 -0.01199725  0.05924734]
 [ 0.01084294  0.9997461   0.01976737]
 [-0.05946907 -0.01908804  0.99804784]]

 t_gt:
[-0.01424764  0.12324363  0.99227416]

Pose Error in degrees for R and t:
179.681369503319 85.33916029414988

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.92669334  0.37046095 -0.06323079]
 [-0.36047994  0.92377687  0.12919174]
 [ 0.10627164 -0.0969277   0.98960162]]

 t_estimated:
[[-0.99537121]
 [-0.09479726]
 [-0.01579954]]

 R_gt:
[[ 0.99750626 -0.0327283  -0.06251924]
 [ 0.03234443  0.9994514  -0.00715255]
 [ 0.06271974  0.00511276  0.99801801]]

 t_gt:
[ 0.77708781 -0.26685472 -0.57002025]

Pose Error in degrees for R and t:
24.445716117158593 42.337735200695654

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999182e-01  8.22098967e-04 -9.79913929e-04]
 [-8.21217734e-04  9.99999258e-01  8.99359998e-04]
 [ 9.80652566e-04 -8.98554539e-04  9.99999115e-01]]

 t_estimated:
[[-0.42612867]
 [-0.90466151]
 [-0.00137906]]

 R_gt:
[[ 0.98820205 -0.11215611 -0.10429381]
 [ 0.10632949  0.99252757 -0.05987073]
 [ 0.1102302   0.04807582  0.9927427 ]]

 t_gt:
[ 0.76873596 -0.31559689 -0.55627657]

Pose Error in degrees for R and t:
9.354407649963614 87.63272821955113

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.99242623 -0.12277698 -0.00399891]
 [ 0.12279859  0.99241524  0.00570045]
 [ 0.00326869 -0.00614834  0.99997576]]

 t_estimated:
[[0.49997983]
 [0.86603648]
 [0.00099202]]

 R_gt:
[[ 0.96107153 -0.25881026 -0.09673416]
 [ 0.25222597  0.96473938 -0.07522922]
 [ 0.11279491  0.04790204  0.99246291]]

 t_gt:
[ 0.83045828 -0.44305415 -0.33770116]

Pose Error in degrees for R and t:
10.511816143293084 88.2134387962087

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99999851e-01  5.41041165e-04 -7.26535981e-05]
 [-5.41030060e-04  9.99999842e-01  1.52777785e-04]
 [ 7.27362457e-05 -1.52738454e-04  9.99999986e-01]]

 t_estimated:
[[-0.9837201 ]
 [-0.1797    ]
 [-0.00163609]]

 R_gt:
[[ 0.9991167   0.02276107 -0.03534465]
 [-0.02310068  0.99968997 -0.00920986]
 [ 0.03512449  0.01001847  0.99933228]]

 t_gt:
[ 0.6449497   0.5445167  -0.53622891]

Pose Error in degrees for R and t:
2.4541419461322667 42.9942350583107

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 0.99846643  0.05471864 -0.00840543]
 [ 0.0546757  -0.99849033 -0.00525717]
 [-0.00868041  0.00478954 -0.99995085]]

 t_estimated:
[[0.12599019]
 [0.99203084]
 [0.00113505]]

 R_gt:
[[ 0.99614043  0.06902856 -0.05422924]
 [-0.06901653  0.99761384  0.0021031 ]
 [ 0.05424566  0.00164766  0.99852553]]

 t_gt:
[ 0.63048344  0.64216627 -0.43601963]

Pose Error in degrees for R and t:
179.78589530072122 44.27572579930781

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 6.14072224e-01  7.89248863e-01  1.23936921e-03]
 [-7.89248955e-01  6.14073127e-01 -5.29896206e-04]
 [-1.17928331e-03 -6.52776313e-04  9.99999092e-01]]

 t_estimated:
[[0.45698775]
 [0.88947214]
 [0.00122517]]

 R_gt:
[[ 0.99129136  0.0560546  -0.11916246]
 [-0.05286355  0.99815778  0.02978259]
 [ 0.12061371 -0.02322337  0.99242786]]

 t_gt:
[ 0.87857584  0.32285726 -0.35194841]

Pose Error in degrees for R and t:
49.467207689795885 46.50906979894801

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.98246777e-01  5.91888558e-02 -2.26903664e-04]
 [-5.91888459e-02  9.98246802e-01  5.01253072e-05]
 [ 2.29472717e-04 -3.66072603e-05  9.99999973e-01]]

 t_estimated:
[[-0.67992129]
 [-0.73328453]
 [-0.00092006]]

 R_gt:
[[ 0.99429611  0.1066071   0.00324675]
 [-0.10661478  0.99259749  0.05816862]
 [ 0.00297871 -0.05818234  0.99830113]]

 t_gt:
[-0.85777582  0.42043012  0.29573494]

Pose Error in degrees for R and t:
4.312843032000033 74.05866098422896

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.17033710e-01  3.98800964e-01  2.63944207e-03]
 [-3.98797667e-01  9.17037369e-01 -1.69826391e-03]
 [-3.09773630e-03  5.04761914e-04  9.99995075e-01]]

 t_estimated:
[[0.91753991]
 [0.39764179]
 [0.00123491]]

 R_gt:
[[ 0.96412477  0.26487323 -0.01748575]
 [-0.26344023  0.96283861  0.05950823]
 [ 0.03259799 -0.05276558  0.99807405]]

 t_gt:
[-0.84753796  0.52870381  0.04638636]

Pose Error in degrees for R and t:
8.962827216802737 55.43381201943775

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-5.49333992e-01  8.35602836e-01 -2.54216603e-04]
 [ 8.35597623e-01  5.49331593e-01  3.37825222e-03]
 [ 2.96252635e-03  1.64336599e-03 -9.99994261e-01]]

 t_estimated:
[[-0.04671147]
 [-0.99890681]
 [-0.00179659]]

 R_gt:
[[ 0.92014744  0.39119084  0.01731637]
 [-0.38913663  0.90859714  0.15173724]
 [ 0.04362388 -0.14635767  0.98826883]]

 t_gt:
[-0.84502141  0.50131131  0.18608006]

Pose Error in degrees for R and t:
175.0347876670168 62.50795862563192

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.98254422e-01  5.90601854e-02  5.13540245e-05]
 [-5.90601810e-02  9.98254420e-01 -8.37034720e-05]
 [-5.62079245e-05  8.05243831e-05  9.99999995e-01]]

 t_estimated:
[[0.82428906]
 [0.56616827]
 [0.00101774]]

 R_gt:
[[ 0.99967313  0.00812563 -0.02422516]
 [-0.00763103  0.99976084  0.02045703]
 [ 0.02438519 -0.02026498  0.99949707]]

 t_gt:
[-0.31039072 -0.74130838 -0.5950794 ]

Pose Error in degrees for R and t:
3.4547031137282915 47.45550294386184

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.84404909e-01  1.75917492e-01  1.02680689e-04]
 [-1.75917182e-01  9.84403987e-01 -1.39093233e-03]
 [-3.45768607e-04  1.35117732e-03  9.99999027e-01]]

 t_estimated:
[[-0.61488498]
 [-0.78861439]
 [-0.00195202]]

 R_gt:
[[ 0.99807439  0.06054954 -0.01341395]
 [-0.06036169  0.9980785   0.01398089]
 [ 0.01423523 -0.01314382  0.99981233]]

 t_gt:
[-0.9463863   0.30490195 -0.1067135 ]

Pose Error in degrees for R and t:
6.768716205879777 70.02092317340907

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 8.26092254e-01  5.63534870e-01 -1.95449700e-04]
 [-5.63532961e-01  8.26090267e-01  2.33936815e-03]
 [ 1.47977462e-03 -1.82239156e-03  9.99997245e-01]]

 t_estimated:
[[7.42204432e-01]
 [6.70173174e-01]
 [7.06188803e-04]]

 R_gt:
[[ 0.99846148 -0.0437021  -0.03411314]
 [ 0.04326832  0.99897454 -0.01332498]
 [ 0.03465976  0.01182901  0.99932908]]

 t_gt:
[ 0.31555724 -0.85128086 -0.41921896]

Pose Error in degrees for R and t:
36.85150146170475 70.33052307934828

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.39809940e-01  3.41697429e-01  3.78965678e-04]
 [-3.41697268e-01  9.39809976e-01 -4.31813353e-04]
 [-5.03705237e-04  2.76330945e-04  9.99999835e-01]]

 t_estimated:
[[-7.26951878e-01]
 [ 6.86688297e-01]
 [ 3.87205868e-04]]

 R_gt:
[[ 0.99717448  0.07442553 -0.01016365]
 [-0.07430411  0.99716605  0.01184037]
 [ 0.0110162  -0.01105172  0.99987802]]

 t_gt:
[-0.75506197  0.64565927  0.11404176]

Pose Error in degrees for R and t:
15.742459646567038 7.112688317511373

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.44992267e-01 -3.27092553e-01 -2.76158122e-04]
 [ 3.27092605e-01  9.44992275e-01  1.67786299e-04]
 [ 2.06085643e-04 -2.48886035e-04  9.99999948e-01]]

 t_estimated:
[[-0.30207388]
 [-0.95328389]
 [-0.00109447]]

 R_gt:
[[ 0.99744121  0.02354155  0.06751008]
 [-0.02898206  0.9963113   0.08077537]
 [-0.06535891 -0.08252528  0.99444336]]

 t_gt:
[-0.46836083  0.17511628  0.86600948]

Pose Error in degrees for R and t:
21.460039311694356 88.48699939637925

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.69275055e-01 -2.45978010e-01 -8.27897387e-04]
 [ 2.45978708e-01  9.69274828e-01  8.84864866e-04]
 [ 5.84802798e-04 -1.06132257e-03  9.99999266e-01]]

 t_estimated:
[[-0.515388  ]
 [-0.85695634]
 [-0.00102227]]

 R_gt:
[[ 0.99559982 -0.02722538  0.08966744]
 [ 0.01609693  0.99233112  0.12255944]
 [-0.09231587 -0.12057694  0.98840249]]

 t_gt:
[-0.13066934 -0.06584811  0.98923685]

Pose Error in degrees for R and t:
15.632689562968702 82.94840410170046

Number of keypoints:
Image1: 350
Image2: 350

 R_estimated:
[[ 9.95983022e-01 -8.95409751e-02  4.83451546e-04]
 [ 8.95414276e-02  9.95982583e-01 -1.01348814e-03]
 [-3.90760603e-04  1.05270592e-03  9.99999370e-01]]

 t_estimated:
[[-0.39240918]
 [-0.91970901]
 [-0.01226279]]

 R_gt:
[[ 9.98134847e-01 -4.11762308e-04 -6.10553096e-02]
 [ 3.83234330e-03  9.98428341e-01  5.59110960e-02]
 [ 6.09359753e-02 -5.60406693e-02  9.96568110e-01]]

 t_gt:
[ 0.77508364 -0.21938624  0.5925496 ]

Pose Error in degrees for R and t:
6.94600576186313 83.70516282881408

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.76349603e-01 -2.16197483e-01 -3.19018259e-04]
 [ 2.16197677e-01  9.76349268e-01  8.18982965e-04]
 [ 1.34411188e-04 -8.68584698e-04  9.99999614e-01]]

 t_estimated:
[[0.87199858]
 [0.48950312]
 [0.00227676]]

 R_gt:
[[ 0.99310602  0.01407768 -0.11637859]
 [-0.00660643  0.99790648  0.06433642]
 [ 0.11704051 -0.06312455  0.99111975]]

 t_gt:
[ 0.97258907 -0.17102455  0.15754714]

Pose Error in degrees for R and t:
15.12345454789023 40.11631724824479

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.89938552e-01  1.41496056e-01  7.28116995e-04]
 [-1.41496603e-01  9.89938446e-01  7.64005648e-04]
 [-6.12687221e-04 -8.59344726e-04  9.99999443e-01]]

 t_estimated:
[[0.17695449]
 [0.98421795]
 [0.00146243]]

 R_gt:
[[ 0.98886187  0.03443751 -0.14479941]
 [-0.02045412  0.99507633  0.09697523]
 [ 0.14742596 -0.09293409  0.98469805]]

 t_gt:
[ 0.94494021 -0.19320591  0.26412018]

Pose Error in degrees for R and t:
11.985625180961527 88.70735158417156

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 7.88290509e-01  6.15302916e-01  6.28648709e-04]
 [-6.15302439e-01  7.88290721e-01 -8.04575393e-04]
 [-9.90615529e-04  2.47430062e-04  9.99999479e-01]]

 t_estimated:
[[-6.05026863e-01]
 [ 7.96204983e-01]
 [ 3.46846610e-04]]

 R_gt:
[[ 9.92713203e-01 -1.17297528e-01 -2.75948420e-02]
 [ 1.17334110e-01  9.93092184e-01 -2.69376559e-04]
 [ 2.74374639e-02 -2.97001287e-03  9.99619137e-01]]

 t_gt:
[ 0.69969333 -0.69975649 -0.14411832]

Pose Error in degrees for R and t:
44.74083970700517 11.323894559405202

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99914483e-01  1.30774707e-02  7.84090503e-05]
 [-1.30774940e-02  9.99914440e-01  3.04605579e-04]
 [-7.44188710e-05 -3.05604924e-04  9.99999951e-01]]

 t_estimated:
[[0.38891739]
 [0.92127213]
 [0.00096267]]

 R_gt:
[[ 0.9897258  -0.13340474 -0.05143301]
 [ 0.13042947  0.98979298 -0.05742391]
 [ 0.05856899  0.05012607  0.99702422]]

 t_gt:
[ 0.72721306 -0.5670958  -0.38673442]

Pose Error in degrees for R and t:
9.445877745740198 76.1136927208552

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.99985952e-01  5.25988820e-03  6.55059444e-04]
 [-5.26004470e-03  9.99986138e-01  2.37417334e-04]
 [-6.53801575e-04 -2.40859641e-04  9.99999757e-01]]

 t_estimated:
[[-9.99997669e-01]
 [ 2.14298140e-03]
 [ 2.64973984e-04]]

 R_gt:
[[ 0.98470599 -0.12337427 -0.12301738]
 [ 0.10912842  0.98717671 -0.11650659]
 [ 0.13581467  0.10130041  0.98554174]]

 t_gt:
[ 0.65105286 -0.3054825  -0.69484575]

Pose Error in degrees for R and t:
12.047157926975087 49.31574016119206

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-5.43071019e-01 -8.39686723e-01  2.74307284e-04]
 [-8.39686766e-01  5.43070963e-01 -2.54448887e-04]
 [ 6.46890308e-05 -3.68516012e-04 -9.99999930e-01]]

 t_estimated:
[[9.04855087e-01]
 [4.25718941e-01]
 [8.09351598e-04]]

 R_gt:
[[ 0.99068811 -0.12781013 -0.0469134 ]
 [ 0.12843792  0.99166038  0.01062405]
 [ 0.04516368 -0.01655108  0.9988419 ]]

 t_gt:
[ 0.70563444 -0.68850166 -0.16746794]

Pose Error in degrees for R and t:
178.0548698232301 69.80274876328093

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.78198572e-01  2.07671483e-01  3.31116634e-04]
 [-2.07671437e-01  9.78198623e-01 -1.67604367e-04]
 [-3.58704483e-04  9.51868854e-05  9.99999931e-01]]

 t_estimated:
[[9.32811489e-01]
 [3.60363591e-01]
 [8.98662321e-04]]

 R_gt:
[[ 0.97468934 -0.21878613 -0.04598098]
 [ 0.2181201   0.97573527 -0.01909301]
 [ 0.04904192  0.00858029  0.99875929]]

 t_gt:
[ 0.70061593 -0.67704735 -0.22526473]

Pose Error in degrees for R and t:
24.776417865566643 65.83555474482468

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99994203e-01 -3.37964115e-03 -4.15093206e-04]
 [ 3.37972438e-03  9.99994269e-01  1.99966145e-04]
 [ 4.14415014e-04 -2.01367886e-04  9.99999894e-01]]

 t_estimated:
[[ 9.21706328e-01]
 [-3.87888419e-01]
 [-1.37637981e-04]]

 R_gt:
[[ 0.95651474 -0.28710712 -0.05146288]
 [ 0.28459275  0.95728841 -0.0510429 ]
 [ 0.06391904  0.03417741  0.99736975]]

 t_gt:
[ 0.67119481 -0.68326408 -0.28748516]

Pose Error in degrees for R and t:
16.949447540211118 27.906284704544017

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.33574084  0.94195352 -0.00128273]
 [-0.94194926  0.3357342  -0.00376074]
 [-0.00311179  0.0024709   0.99999211]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99670233  0.05444563 -0.06017183]
 [-0.05948738  0.99456621 -0.08544391]
 [ 0.05519256  0.08874187  0.99452452]]

 t_gt:
[-0.25873547  0.48078996 -0.83779292]

Pose Error in degrees for R and t:
67.33062923355408 61.4258447070314

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99998041e-01  1.96393824e-03  2.45432841e-04]
 [-1.96393782e-03  9.99998071e-01 -1.94428639e-06]
 [-2.45436186e-04  1.46226774e-06  9.99999970e-01]]

 t_estimated:
[[-9.99999100e-01]
 [-1.33034468e-03]
 [-1.73900392e-04]]

 R_gt:
[[ 0.98937709  0.13156141 -0.06185082]
 [-0.13774803  0.98438738 -0.10958242]
 [ 0.04646786  0.11693859  0.99205193]]

 t_gt:
[-0.46308832  0.63473148 -0.61859935]

Pose Error in degrees for R and t:
10.530544880223687 62.46107795635078

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.9077975  -0.19801506 -0.36972117]
 [ 0.11506867 -0.96529246  0.23445613]
 [-0.4033149   0.17029536  0.8990754 ]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99321673  0.11577532 -0.01091226]
 [-0.11608912  0.99263366 -0.0346835 ]
 [ 0.00681627  0.03571552  0.9993387 ]]

 t_gt:
[-0.68514384  0.682515   -0.25446257]

Pose Error in degrees for R and t:
177.6996157523767 81.56965342630897

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.99999885e-01 -4.27957703e-04  2.17050909e-04]
 [ 4.28009677e-04  9.99999880e-01 -2.39465608e-04]
 [-2.16948402e-04  2.39558480e-04  9.99999948e-01]]

 t_estimated:
[[-0.97681684]
 [-0.21405554]
 [-0.00301487]]

 R_gt:
[[ 0.99589517 -0.08856083  0.01873019]
 [ 0.08901408  0.99571815 -0.02493123]
 [-0.01644215  0.02649611  0.99951342]]

 t_gt:
[ 0.48318668 -0.85863025 -0.1711278 ]

Pose Error in degrees for R and t:
5.369940000232836 73.28122362346258

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.86479919e-01  1.63881421e-01 -4.98875627e-04]
 [-1.63881541e-01  9.86480003e-01 -2.08347302e-04]
 [ 4.57986579e-04  2.87286936e-04  9.99999854e-01]]

 t_estimated:
[[0.67262527]
 [0.73998267]
 [0.0009487 ]]

 R_gt:
[[ 0.98746493 -0.15674591 -0.01857803]
 [ 0.15570125  0.98661996 -0.04834847]
 [ 0.025908    0.04485004  0.99865792]]

 t_gt:
[ 0.48473649 -0.78651032 -0.38266441]

Pose Error in degrees for R and t:
18.6577623150396 75.14812385496455

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 0.70888902  0.47906492 -0.51766124]
 [ 0.07443408  0.67902701  0.73032998]
 [ 0.70138144 -0.55625454  0.44569604]]

 t_estimated:
[[ 0.67710534]
 [ 0.73527774]
 [-0.02991648]]

 R_gt:
[[ 0.95991008 -0.27898694 -0.02719643]
 [ 0.27807072  0.95998808 -0.03313841]
 [ 0.03535341  0.02424722  0.99908047]]

 t_gt:
[ 0.59852064 -0.77606626 -0.19873149]

Pose Error in degrees for R and t:
70.55377429990747 80.8269198293784

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[-1.10806038e-01 -9.93841848e-01  6.35424994e-04]
 [-9.93841768e-01  1.10806465e-01  6.83100340e-04]
 [-7.49302902e-04 -5.55820258e-04 -9.99999565e-01]]

 t_estimated:
[[0.62278822]
 [0.78238854]
 [0.00173479]]

 R_gt:
[[ 0.99714057  0.01600905 -0.07385965]
 [-0.02235005  0.99605878 -0.0858335 ]
 [ 0.07219555  0.08723904  0.9935682 ]]

 t_gt:
[ 0.05775697  0.37994808 -0.9232029 ]

Pose Error in degrees for R and t:
173.6148130886739 70.63190661092867

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-2.46287480e-01 -9.69194132e-01 -2.28307374e-03]
 [ 9.69196775e-01 -2.46286060e-01 -8.87605032e-04]
 [ 2.97972352e-04 -2.43135371e-03  9.99997000e-01]]

 t_estimated:
[[0.99986142]
 [0.01660505]
 [0.00118608]]

 R_gt:
[[ 0.99399289  0.0537106  -0.09535995]
 [-0.07030975  0.98109938 -0.18028163]
 [ 0.08387496  0.18590333  0.97898142]]

 t_gt:
[-0.06486283  0.55770412 -0.82750162]

Pose Error in degrees for R and t:
108.29170091419964 86.75678155177238

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[-8.25040501e-01 -5.65072776e-01 -9.63878469e-04]
 [ 5.65071328e-01 -8.25031151e-01 -4.24183747e-03]
 [ 1.60171712e-03 -4.04434780e-03  9.99990539e-01]]

 t_estimated:
[[9.72373262e-01]
 [2.33430214e-01]
 [7.57890306e-04]]

 R_gt:
[[ 0.9912853   0.09714226 -0.08897173]
 [-0.11071576  0.98037056 -0.16314591]
 [ 0.07137793  0.17157524  0.98258202]]

 t_gt:
[-0.15447821  0.69600909 -0.70121882]

Pose Error in degrees for R and t:
151.72514041434817 89.32804136607548

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.96781737e-01 -8.01632404e-02 -1.55759205e-04]
 [ 8.01632599e-02  9.96781740e-01  1.22666767e-04]
 [ 1.45424565e-04 -1.34758159e-04  9.99999980e-01]]

 t_estimated:
[[ 0.00867797]
 [ 0.99996015]
 [-0.0020956 ]]

 R_gt:
[[ 0.9987721  -0.00206648 -0.04949957]
 [-0.00202189  0.99659878 -0.08238987]
 [ 0.04950281  0.08238937  0.99537007]]

 t_gt:
[ 0.11653788  0.17715159 -0.97725955]

Pose Error in degrees for R and t:
7.18004533451167 79.61836993591389

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.12776879  0.99180279  0.00153987]
 [ 0.99180326  0.12776667  0.00140071]
 [ 0.00119249  0.00170621 -0.99999783]]

 t_estimated:
[[-8.74525010e-01]
 [-4.84979643e-01]
 [-8.67584335e-04]]

 R_gt:
[[ 0.99328805  0.04890834 -0.10481772]
 [-0.06478994  0.98595718 -0.15391648]
 [ 0.09581914  0.15967459  0.98250771]]

 t_gt:
[-0.08428758  0.39656493 -0.91412902]

Pose Error in degrees for R and t:
178.36532138563257 83.23362332051832

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.94965976e-01 -1.00213287e-01 -5.78785415e-05]
 [ 1.00213294e-01  9.94965968e-01  1.34872640e-04]
 [ 4.40711486e-05 -1.39993887e-04  9.99999989e-01]]

 t_estimated:
[[-3.74857078e-01]
 [ 9.27082503e-01]
 [ 4.50437514e-04]]

 R_gt:
[[ 0.98968341  0.12005501 -0.07818994]
 [-0.13074704  0.9799638  -0.15025645]
 [ 0.05858455  0.15892959  0.98555022]]

 t_gt:
[-0.34940523  0.58080324 -0.73524389]

Pose Error in degrees for R and t:
16.24863314604133 48.002485839883185

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.48472681e-01  3.16858881e-01  1.53918666e-04]
 [-3.16857570e-01  9.48467116e-01  3.37773701e-03]
 [ 9.24279176e-04 -3.25246157e-03  9.99994284e-01]]

 t_estimated:
[[0.37399745]
 [0.92742721]
 [0.00216183]]

 R_gt:
[[ 0.99717067 -0.05624262  0.04986701]
 [ 0.05180935  0.99493497  0.08613349]
 [-0.05445823 -0.08330641  0.99503468]]

 t_gt:
[ 0.22556075 -0.37729381  0.89820473]

Pose Error in degrees for R and t:
22.274024993616163 74.71552833201319

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.99894887 -0.04561889 -0.00448001]
 [ 0.0456371   0.99894987  0.00405139]
 [ 0.00429048 -0.00425159  0.99998176]]

 t_estimated:
[[-0.71305121]
 [-0.70110063]
 [-0.00398353]]

 R_gt:
[[ 0.99078278 -0.10246518  0.08860524]
 [ 0.09198038  0.98906725  0.11525961]
 [-0.0994459  -0.10604671  0.9893765 ]]

 t_gt:
[ 0.38536842 -0.39873606  0.83216629]

Pose Error in degrees for R and t:
8.867548544685567 89.91682178631405

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.97338818e-01  7.28999701e-02  9.36225097e-04]
 [-7.28995776e-02  9.97339186e-01 -4.46848202e-04]
 [-9.66309197e-04  3.77408644e-04  9.99999462e-01]]

 t_estimated:
[[0.57333936]
 [0.81931749]
 [0.00091442]]

 R_gt:
[[ 0.99177645 -0.08925302  0.09172206]
 [ 0.07466623  0.98560124  0.15170604]
 [-0.10394079 -0.14361013  0.98416105]]

 t_gt:
[ 0.39279695 -0.34540187  0.85229578]

Pose Error in degrees for R and t:
13.542734432014205 86.73188274867485

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.99999818e-01 -5.94386534e-04  1.05308109e-04]
 [ 5.94372424e-04  9.99999814e-01  1.33964704e-04]
 [-1.05387716e-04 -1.33902088e-04  9.99999985e-01]]

 t_estimated:
[[0.31453112]
 [0.94924642]
 [0.00118701]]

 R_gt:
[[ 0.99788523  0.00657631 -0.06467512]
 [-0.00578236  0.99990561  0.01245207]
 [ 0.0647503  -0.01205119  0.99782852]]

 t_gt:
[ 0.96447553 -0.12784883 -0.23117444]

Pose Error in degrees for R and t:
3.8007153783936 79.52985719690845

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99999690e-01  7.86906790e-04  1.45316623e-05]
 [-7.86907284e-04  9.99999690e-01  3.40113705e-05]
 [-1.45048940e-05 -3.40227950e-05  9.99999999e-01]]

 t_estimated:
[[-7.77957420e-01]
 [ 6.28316633e-01]
 [-6.79268747e-04]]

 R_gt:
[[ 0.99649368  0.05494371 -0.06309491]
 [-0.05102101  0.99675929  0.06218766]
 [ 0.06630693 -0.0587495   0.99606889]]

 t_gt:
[ 0.89190756 -0.13740331  0.43083783]

Pose Error in degrees for R and t:
5.89965706358889 38.69439726001598

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99327856e-01  3.66583481e-02 -4.73015562e-05]
 [-3.66583236e-02  9.99327759e-01  4.43518121e-04]
 [ 6.35283998e-05 -4.41486017e-04  9.99999901e-01]]

 t_estimated:
[[-9.99991799e-01]
 [-3.97137327e-03]
 [-7.94274661e-04]]

 R_gt:
[[ 0.98478761  0.12238913 -0.12334586]
 [-0.10864789  0.98768469  0.11257918]
 [ 0.13560535 -0.09746505  0.98595763]]

 t_gt:
[ 0.84862797 -0.01342414  0.52881979]

Pose Error in degrees for R and t:
10.629534204836302 31.89826129180972

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99999941e-01  3.27305237e-04  1.04157300e-04]
 [-3.27302442e-04  9.99999946e-01 -2.68458387e-05]
 [-1.04166081e-04  2.68117461e-05  9.99999994e-01]]

 t_estimated:
[[ 9.99998400e-01]
 [-1.77582505e-03]
 [ 2.17262572e-04]]

 R_gt:
[[ 0.98678382 -0.16171922 -0.01015397]
 [ 0.16184677  0.98672747  0.01326775]
 [ 0.00787367 -0.01473558  0.99986061]]

 t_gt:
[ 0.7304731  -0.68229503  0.02970759]

Pose Error in degrees for R and t:
9.379116321856257 42.9717374258734

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.99997776  0.00361564 -0.00560344]
 [-0.00360822  0.9999926   0.00133337]
 [ 0.00560822 -0.00131312  0.99998341]]

 t_estimated:
[[0.69293714]
 [0.72099758]
 [0.00077946]]

 R_gt:
[[ 0.98455158 -0.16490893 -0.05885057]
 [ 0.16632417  0.98586864  0.01998945]
 [ 0.05472227 -0.02946806  0.99806675]]

 t_gt:
[ 0.78627243 -0.61296425 -0.07778487]

Pose Error in degrees for R and t:
10.271640355248696 84.09778482667816

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-0.18442706 -0.98262544 -0.02083021]
 [ 0.98279157 -0.18459886  0.00663343]
 [-0.01036341 -0.01924838  0.99976102]]

 t_estimated:
[[0.99153531]
 [0.12853236]
 [0.01836177]]

 R_gt:
[[ 0.96233055 -0.23149815 -0.1425728 ]
 [ 0.22939324  0.97283236 -0.03125464]
 [ 0.14593476 -0.00262749  0.98929105]]

 t_gt:
[ 0.8244011  -0.47801611 -0.30308979]

Pose Error in degrees for R and t:
87.52939966096481 41.37348668140195

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.80889065  0.58755342  0.02183784]
 [ 0.58762574 -0.80662362 -0.06367361]
 [-0.01979673  0.06433746 -0.99773182]]

 t_estimated:
[[-0.48513881]
 [ 0.8736546 ]
 [-0.03698622]]

 R_gt:
[[ 0.9897373   0.1353884  -0.04572183]
 [-0.13449346  0.99066741  0.02214785]
 [ 0.04829308 -0.01577157  0.99870852]]

 t_gt:
[-0.85569234  0.50527856 -0.11173272]

Pose Error in degrees for R and t:
178.0259847314144 30.604609391261327

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.95904337e-01  9.04130889e-02 -1.56090001e-04]
 [-9.04130734e-02  9.95904346e-01  1.03468608e-04]
 [ 1.64805627e-04 -8.89322589e-05  9.99999982e-01]]

 t_estimated:
[[-0.70628   ]
 [-0.70793212]
 [-0.00082606]]

 R_gt:
[[ 0.94121143  0.33566927 -0.03803234]
 [-0.33023462  0.93795496  0.10576812]
 [ 0.07117501 -0.08699083  0.99366314]]

 t_gt:
[-0.85717112  0.51092476  0.06491192]

Pose Error in degrees for R and t:
15.700808552236593 75.89798320668108

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 5.57764998e-01 -8.29998822e-01  4.04043452e-04]
 [-8.29997766e-01 -5.57764968e-01 -1.39638899e-03]
 [ 1.38436250e-03  4.43501737e-04 -9.99998943e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.93156107  0.36269701 -0.02538217]
 [-0.35702666  0.92572578  0.12475628]
 [ 0.06874473 -0.10715581  0.99186216]]

 t_gt:
[-0.88616997  0.44994986  0.11067022]

Pose Error in degrees for R and t:
175.36164583471725 85.54846057669957

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999937e-01  3.45119134e-04  8.04009981e-05]
 [-3.45117645e-04  9.99999940e-01 -1.85425068e-05]
 [-8.04073927e-05  1.85147578e-05  9.99999997e-01]]

 t_estimated:
[[9.98426652e-01]
 [5.60683385e-02]
 [7.49729633e-04]]

 R_gt:
[[ 0.99233698 -0.12295443 -0.01222348]
 [ 0.123215    0.99210099  0.02350971]
 [ 0.00923747 -0.0248353   0.99964859]]

 t_gt:
[ 0.65052609 -0.75729765  0.05758543]

Pose Error in degrees for R and t:
7.252504481391048 52.62094928722703

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999996e-01  8.50666387e-05  1.50044333e-05]
 [-8.50666373e-05  9.99999996e-01 -9.55102661e-08]
 [-1.50044413e-05  9.42338891e-08  1.00000000e+00]]

 t_estimated:
[[ 9.85036714e-01]
 [-1.72344553e-01]
 [-1.65171058e-04]]

 R_gt:
[[ 0.98209841 -0.18750626 -0.0179937 ]
 [ 0.18785846  0.98198156  0.0205144 ]
 [ 0.01382341 -0.0235275   0.99962734]]

 t_gt:
[ 0.69457989 -0.71940876 -0.00313247]

Pose Error in degrees for R and t:
10.936683311389862 36.0821510719446

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999328e-01  1.14770391e-03  1.63282228e-04]
 [-1.14770214e-03  9.99999341e-01 -1.09735661e-05]
 [-1.63294715e-04  1.07861593e-05  9.99999987e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075937e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97211624 -0.23347685  0.02187742]
 [ 0.2327867   0.9720623   0.0300729 ]
 [-0.02828654 -0.02414208  0.99930754]]

 t_gt:
[ 0.71548374 -0.69037434  0.10708074]

Pose Error in degrees for R and t:
13.717044461983244 44.48594154646628

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 3.59965312e-01  9.32964889e-01  1.22051055e-03]
 [ 9.32963632e-01 -3.59966957e-01  1.62810199e-03]
 [ 1.95830546e-03  5.52631716e-04 -9.99997930e-01]]

 t_estimated:
[[-9.79456730e-01]
 [-2.01652856e-01]
 [-8.00209746e-04]]

 R_gt:
[[ 0.9995428   0.02867657 -0.00960088]
 [-0.02874299  0.99956234 -0.00694926]
 [ 0.00939653  0.0072223   0.99992913]]

 t_gt:
[ 0.68970314  0.61944089 -0.37497009]

Pose Error in degrees for R and t:
179.9255433166846 36.85591987421439

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-8.88167927e-01 -4.59510182e-01 -2.85080946e-03]
 [ 4.59509492e-01 -8.88172370e-01  9.31191733e-04]
 [-2.95990228e-03 -4.82919378e-04  9.99995503e-01]]

 t_estimated:
[[0.88527851]
 [0.46505948]
 [0.00128116]]

 R_gt:
[[ 0.99844712  0.03311221 -0.04482012]
 [-0.03246626  0.99936018  0.01504655]
 [ 0.04528925 -0.013568    0.99888169]]

 t_gt:
[ 0.96018433  0.25131771 -0.12200599]

Pose Error in degrees for R and t:
154.53094105669308 14.816019902932592

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.31047998 -0.95056383 -0.00553069]
 [-0.91397104  0.3001168  -0.27310592]
 [ 0.26126446 -0.07973903 -0.96196807]]

 t_estimated:
[[0.82566453]
 [0.56415984]
 [0.00132743]]

 R_gt:
[[ 0.98788651  0.09846851 -0.11993956]
 [-0.08939257  0.99287138  0.07884478]
 [ 0.12684779 -0.06716787  0.98964574]]

 t_gt:
[ 0.85670057  0.4941757  -0.14783269]

Pose Error in degrees for R and t:
167.82560857872352 9.617477577606836

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[-0.71135459 -0.70276966 -0.00945813]
 [ 0.70242063 -0.71041146 -0.0438272 ]
 [ 0.02408127 -0.03782027  0.99899435]]

 t_estimated:
[[9.99036245e-01]
 [4.38829005e-02]
 [9.33678734e-04]]

 R_gt:
[[ 0.99844659 -0.03195301 -0.04564774]
 [ 0.03308503  0.99915842  0.02425905]
 [ 0.04483429 -0.02573202  0.99866323]]

 t_gt:
[ 0.72999061 -0.57279653 -0.37285097]

Pose Error in degrees for R and t:
133.44388417614024 45.26708000877111

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 8.56190793e-01  5.16659601e-01 -4.27604598e-04]
 [-5.16658460e-01  8.56190185e-01  1.54977505e-03]
 [ 1.16681702e-03 -1.10597760e-03  9.99998708e-01]]

 t_estimated:
[[-9.98730597e-01]
 [-5.03633378e-02]
 [-8.53615895e-04]]

 R_gt:
[[ 0.99722839 -0.03752994 -0.06423963]
 [ 0.03943585  0.99881121  0.02867039]
 [ 0.06308826 -0.03112505  0.99752293]]

 t_gt:
[ 0.65096004 -0.61350078 -0.44706578]

Pose Error in degrees for R and t:
33.54383452297686 51.76749401141102

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.99569033  0.09264789  0.00413845]
 [-0.09263553  0.9956953  -0.00308537]
 [-0.00440649  0.00268871  0.99998668]]

 t_estimated:
[[0.93231912]
 [0.36151149]
 [0.00951346]]

 R_gt:
[[ 0.99753708  0.02245274 -0.06645696]
 [-0.01896982  0.99843639  0.05259006]
 [ 0.06753516 -0.05120013  0.99640303]]

 t_gt:
[-0.05365429 -0.63563039 -0.77012676]

Pose Error in degrees for R and t:
6.603586158801823 73.31335913521976

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[ 0.69840964 -0.69672086 -0.16371932]
 [ 0.71474841  0.69076981  0.1094156 ]
 [ 0.03686024 -0.19343504  0.98042042]]

 t_estimated:
[[-0.00728388]
 [-0.99997293]
 [-0.00104055]]

 R_gt:
[[ 0.95609629  0.29285331 -0.01079814]
 [-0.29290798  0.95613316 -0.00385247]
 [ 0.00919697  0.00684545  0.99993439]]

 t_gt:
[-0.95964013  0.27917359 -0.03395465]

Pose Error in degrees for R and t:
63.39931474911851 74.20830339973418

Number of keypoints:
Image1: 20
Image2: 20

 R_estimated:
[[ 0.99175582  0.12804939  0.00487263]
 [-0.12800273  0.99173373 -0.00891648]
 [-0.0059741   0.00821926  0.99994838]]

 t_estimated:
[[-0.99993858]
 [-0.01101524]
 [-0.00122392]]

 R_gt:
[[ 0.84228234  0.53819709  0.03009327]
 [-0.53751613  0.84278603 -0.0280812 ]
 [-0.04047494  0.0074767   0.99915269]]

 t_gt:
[-0.89350306  0.44904686 -0.00303311]

Pose Error in degrees for R and t:
25.2655640177213 27.313949714856218

Number of keypoints:
Image1: 17
Image2: 17

 R_estimated:
[[ 3.79100907e-01  9.25355150e-01  5.90680127e-04]
 [ 9.25349160e-01 -3.79100632e-01  3.41231414e-03]
 [ 3.38152967e-03 -7.47026028e-04 -9.99994004e-01]]

 t_estimated:
[[0.52491497]
 [0.85115336]
 [0.00149553]]

 R_gt:
[[ 6.60042961e-01  7.51227609e-01 -2.84440991e-04]
 [-7.50030225e-01  6.58970084e-01 -5.66940783e-02]
 [-4.24023691e-02  3.76332688e-02  9.98391547e-01]]

 t_gt:
[-0.79703882  0.60282655 -0.03645912]

Pose Error in degrees for R and t:
176.98482478993103 84.56792066685838

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-0.11284346  0.99330749  0.0246291 ]
 [ 0.99331732  0.11337969 -0.02158131]
 [-0.02422932  0.0220292  -0.99946368]]

 t_estimated:
[[ 0.72989635]
 [-0.68336376]
 [ 0.01628798]]

 R_gt:
[[ 0.99471601 -0.09541471 -0.03788998]
 [ 0.09350613  0.99439749 -0.04931499]
 [ 0.04238329  0.04551088  0.99806459]]

 t_gt:
[ 0.62903919 -0.41952067 -0.65445557]

Pose Error in degrees for R and t:
178.03188207962023 42.67935761889288

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.96024480e-01  8.90797211e-02  1.95923803e-04]
 [-8.90796706e-02  9.96024472e-01 -2.52809020e-04]
 [-2.17665059e-04  2.34351144e-04  9.99999949e-01]]

 t_estimated:
[[-9.10717168e-01]
 [-4.13030168e-01]
 [-5.66469102e-04]]

 R_gt:
[[ 0.98932563 -0.14417028 -0.02122329]
 [ 0.14224135  0.98703671 -0.07433971]
 [ 0.03166578  0.07052763  0.99700704]]

 t_gt:
[ 0.5617123  -0.53299993 -0.63276407]

Pose Error in degrees for R and t:
14.067150142726625 73.07872004564399

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99415901e-01 -3.41709381e-02  4.51222111e-04]
 [ 3.41711799e-02  9.99415849e-01 -5.39643712e-04]
 [-4.32518397e-04  5.54747299e-04  9.99999753e-01]]

 t_estimated:
[[-8.02298825e-01]
 [-5.96922146e-01]
 [-7.38765033e-04]]

 R_gt:
[[ 0.99012545 -0.13536599 -0.03642879]
 [ 0.13240425  0.98841951 -0.07414179]
 [ 0.04604347  0.0685865   0.99658208]]

 t_gt:
[ 0.58994827 -0.45275048 -0.66856416]

Pose Error in degrees for R and t:
7.439830301233863 78.31305875678787

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99999982e-01 -1.22508668e-04  1.42818120e-04]
 [ 1.22523767e-04  9.99999987e-01 -1.05720721e-04]
 [-1.42805167e-04  1.05738218e-04  9.99999984e-01]]

 t_estimated:
[[0.55867217]
 [0.82938678]
 [0.0017243 ]]

 R_gt:
[[ 0.99885863 -0.04770023  0.00253681]
 [ 0.04773378  0.99874396 -0.01522757]
 [-0.00180774  0.01533062  0.99988043]]

 t_gt:
[ 0.77668942 -0.62651709 -0.06503751]

Pose Error in degrees for R and t:
2.865937701356143 85.07668425279167

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99997120e-01 -2.08564763e-03  1.18707668e-03]
 [ 2.08658506e-03  9.99997512e-01 -7.89003191e-04]
 [-1.18542815e-03  7.91477856e-04  9.99998984e-01]]

 t_estimated:
[[-0.30989857]
 [-0.95076881]
 [-0.00123959]]

 R_gt:
[[ 0.98278449 -0.18371023 -0.01962148]
 [ 0.18355531  0.98296433 -0.00942374]
 [ 0.02101899  0.00565951  0.9997624 ]]

 t_gt:
[ 0.74484671 -0.66306698 -0.07446858]

Pose Error in degrees for R and t:
10.543145981590698 66.4412755804531

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99999996e-01  5.92471436e-05  7.37959201e-05]
 [-5.92535428e-05  9.99999994e-01  8.67151329e-05]
 [-7.37907820e-05 -8.67195052e-05  9.99999994e-01]]

 t_estimated:
[[8.25896825e-01]
 [5.63820904e-01]
 [6.50312461e-04]]

 R_gt:
[[ 0.97352808 -0.2254349  -0.03770933]
 [ 0.22365741  0.97357404 -0.04616587]
 [ 0.04712023  0.03650936  0.99822136]]

 t_gt:
[ 0.77450213 -0.60846932 -0.17294951]

Pose Error in degrees for R and t:
13.433129873006173 72.75377451306129

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 1.00000000e+00  2.38198350e-13  2.10335221e-17]
 [-2.38198350e-13  1.00000000e+00  4.64146950e-16]
 [-2.14672030e-17 -4.63930110e-16  1.00000000e+00]]

 t_estimated:
[[0.88387802]
 [0.46771575]
 [0.00127267]]

 R_gt:
[[ 0.99879711 -0.0490034   0.00189265]
 [ 0.0490081   0.99879517 -0.00219517]
 [-0.00178245  0.00228529  0.9999955 ]]

 t_gt:
[ 0.77976859 -0.62220061 -0.06947906]

Pose Error in degrees for R and t:
2.814328467243701 66.5393670994263

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.98920890e-01  4.64440676e-02  6.49314205e-05]
 [-4.64440699e-02  9.98920891e-01  3.31968880e-05]
 [-6.33195539e-05 -3.61767443e-05  9.99999997e-01]]

 t_estimated:
[[0.80492842]
 [0.59337132]
 [0.00084286]]

 R_gt:
[[ 0.99678442 -0.0782695   0.01714468]
 [ 0.07851533  0.99681193 -0.01416697]
 [-0.01598076  0.01546838  0.99975313]]

 t_gt:
[ 0.80140646 -0.59670162  0.0411688 ]

Pose Error in degrees for R and t:
7.270935865590599 73.07953625622511

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99999875e-01 -2.60543760e-04  4.26283987e-04]
 [ 2.60909869e-04  9.99999597e-01 -8.59007426e-04]
 [-4.26060006e-04  8.59118541e-04  9.99999540e-01]]

 t_estimated:
[[-9.19370116e-01]
 [-3.93392716e-01]
 [-8.72267662e-04]]

 R_gt:
[[ 0.98092991 -0.19425564 -0.00635891]
 [ 0.19404906  0.98068487 -0.02451062]
 [ 0.01099755  0.02280967  0.99967939]]

 t_gt:
[ 0.78318437 -0.61562675 -0.08732664]

Pose Error in degrees for R and t:
11.27096072801475 61.459681436943605

Number of keypoints:
Image1: 370
Image2: 370

 R_estimated:
[[ 9.99945753e-01 -1.04158426e-02  2.90510887e-05]
 [ 1.04158457e-02  9.99945748e-01 -1.09263059e-04]
 [-2.79114458e-05  1.09559724e-04  9.99999994e-01]]

 t_estimated:
[[-0.84649569]
 [-0.5323935 ]
 [-0.00148497]]

 R_gt:
[[ 0.99958745 -0.02834621 -0.00452729]
 [ 0.02830738  0.99956388 -0.00837203]
 [ 0.00476274  0.00824049  0.99995417]]

 t_gt:
[ 0.14097571 -0.93550004 -0.32398385]

Pose Error in degrees for R and t:
1.1620307799267795 67.71586756338215

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 9.99928785e-01  1.19342121e-02  6.75478558e-06]
 [-1.19342120e-02  9.99928785e-01 -8.68442088e-06]
 [-6.85794626e-06  8.60318938e-06  1.00000000e+00]]

 t_estimated:
[[-3.41026927e-01]
 [-9.40053346e-01]
 [-5.84543829e-04]]

 R_gt:
[[ 9.99885818e-01  1.50921404e-02 -9.98297959e-04]
 [-1.51078576e-02  9.99722104e-01 -1.81073297e-02]
 [ 7.24288269e-04  1.81203456e-02  9.99835725e-01]]

 t_gt:
[-0.08570633  0.67539628 -0.73245771]

Pose Error in degrees for R and t:
1.0534492274853482 52.75300685355517

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.99998861e-01  1.50689637e-03  8.80615226e-05]
 [-1.50690589e-03  9.99998859e-01  1.08145229e-04]
 [-8.78984585e-05 -1.08277806e-04  9.99999990e-01]]

 t_estimated:
[[ 0.96633752]
 [-0.25727151]
 [ 0.00178052]]

 R_gt:
[[ 0.9954724   0.09373306 -0.01579383]
 [-0.09417235  0.99510892 -0.02984197]
 [ 0.01291906  0.0311937   0.99942885]]

 t_gt:
[ 0.08842062  0.91802743 -0.38653257]

Pose Error in degrees for R and t:
5.650527784037329 81.29040414930125

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 5.33982283e-01 -8.45495047e-01 -1.02298438e-03]
 [ 8.45495489e-01  5.33982563e-01 -1.30869403e-06]
 [ 5.47362315e-04 -8.64229857e-04  9.99999477e-01]]

 t_estimated:
[[ 8.38005507e-01]
 [-5.45661741e-01]
 [-1.87204232e-04]]

 R_gt:
[[ 9.84277656e-01 -1.76627453e-01 -5.55294798e-04]
 [ 1.76587659e-01  9.84111039e-01 -1.84594025e-02]
 [ 3.80590994e-03  1.80717459e-02  9.99829141e-01]]

 t_gt:
[ 0.72764015 -0.67736053 -0.10827056]

Pose Error in degrees for R and t:
47.5636170181189 11.650837246032346

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 8.33585590e-01  5.52390274e-01 -2.22652015e-04]
 [-5.52388923e-01  8.33582509e-01 -2.58430060e-03]
 [-1.24194369e-03  2.27722625e-03  9.99996636e-01]]

 t_estimated:
[[8.65285194e-01]
 [5.01279301e-01]
 [7.71198925e-04]]

 R_gt:
[[ 0.95727446 -0.28651111 -0.0392018 ]
 [ 0.28637458  0.9580728  -0.00917198]
 [ 0.04018579 -0.00244569  0.99918869]]

 t_gt:
[ 0.76579643 -0.63199402 -0.11890913]

Pose Error in degrees for R and t:
50.23393466318478 69.773325005739

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999690e-01 -7.63069228e-04 -1.95771783e-04]
 [ 7.63069509e-04  9.99999709e-01  1.36002509e-06]
 [ 1.95770688e-04 -1.50941215e-06  9.99999981e-01]]

 t_estimated:
[[9.99988829e-01]
 [4.71077322e-03]
 [3.88811832e-04]]

 R_gt:
[[ 0.92254162 -0.38281624 -0.0486689 ]
 [ 0.38165875  0.92376355 -0.0315671 ]
 [ 0.05704282  0.01054714  0.99831532]]

 t_gt:
[ 0.78348633 -0.60073938 -0.15893824]

Pose Error in degrees for R and t:
22.689031191260227 38.68575461284739

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-0.84138502  0.54043396  0.00154152]
 [-0.54043501 -0.84137392 -0.00446415]
 [-0.00111558 -0.00458916  0.99998885]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.96105687  0.27620079  0.00904805]
 [-0.27582672  0.96073906 -0.02998692]
 [-0.01697494  0.02632334  0.99950944]]

 t_gt:
[-0.91251285  0.39987601 -0.08613631]

Pose Error in degrees for R and t:
131.2648266137562 64.44362888878831

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-0.89368867 -0.43682702  0.10248271]
 [ 0.25815311 -0.68740753 -0.67884303]
 [ 0.36698437 -0.5802181   0.72709658]]

 t_estimated:
[[0.91817852]
 [0.3961496 ]
 [0.00370233]]

 R_gt:
[[ 0.83971395  0.54302866 -0.00105569]
 [-0.54208558  0.83813652 -0.06057656]
 [-0.03201073  0.0514391   0.99816258]]

 t_gt:
[-0.84097442  0.53548602 -0.07756773]

Pose Error in degrees for R and t:
171.6017969490751 55.92212104883733

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 9.94458801e-01  1.05127029e-01  2.68718351e-05]
 [-1.05126851e-01  9.94457528e-01 -1.60339710e-03]
 [-1.95283272e-04  1.59168741e-03  9.99998714e-01]]

 t_estimated:
[[-9.99963649e-01]
 [-8.47426822e-03]
 [-9.41585357e-04]]

 R_gt:
[[ 0.67879201  0.73429707 -0.00699038]
 [-0.73340753  0.67743034 -0.05657679]
 [-0.03680938  0.0435306   0.99837404]]

 t_gt:
[-0.77688241  0.62790644 -0.04676774]

Pose Error in degrees for R and t:
41.34281574887885 39.50427169435408

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-8.00275080e-03  9.99965055e-01  2.41740114e-03]
 [ 9.99967882e-01  8.00166940e-03  4.56681739e-04]
 [ 4.37322536e-04  2.42097821e-03 -9.99996974e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98927568 -0.08947807  0.11544982]
 [ 0.0623293   0.97342886  0.22034523]
 [-0.13209771 -0.2107859   0.96856606]]

 t_gt:
[ 0.21020511 -0.21273435  0.95423158]

Pose Error in degrees for R and t:
176.38795380006593 77.85261320007373

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 9.99997889e-01  2.04382823e-03 -2.10783971e-04]
 [-2.04385037e-03  9.99997906e-01 -1.04892285e-04]
 [ 2.10569148e-04  1.05322874e-04  9.99999972e-01]]

 t_estimated:
[[-3.53602478e-04]
 [-9.99999669e-01]
 [-7.32470235e-04]]

 R_gt:
[[ 0.97128566 -0.15082157  0.184005  ]
 [ 0.08181771  0.93796808  0.33693145]
 [-0.22340658 -0.31220218  0.92337431]]

 t_gt:
[ 0.25078858 -0.14079704  0.95774803]

Pose Error in degrees for R and t:
23.652252266524535 81.95176084344727

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[ 7.54613163e-01  6.56165781e-01  2.33302296e-03]
 [ 6.56166957e-01 -7.54615676e-01  3.26569023e-04]
 [ 1.97481911e-03  1.28441929e-03 -9.99997225e-01]]

 t_estimated:
[[0.7576576 ]
 [0.65265175]
 [0.00080774]]

 R_gt:
[[ 0.96934622 -0.17647163  0.17095589]
 [ 0.10231591  0.92252289  0.37213391]
 [-0.22338044 -0.34323571  0.91229976]]

 t_gt:
[ 0.28628991 -0.14848869  0.94656706]

Pose Error in degrees for R and t:
164.363912278211 83.06386639127133

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[-9.44916739e-01 -3.27309105e-01  1.05226262e-03]
 [-3.27310720e-01  9.44913823e-01 -2.35792626e-03]
 [-2.22526756e-04 -2.57246083e-03 -9.99996666e-01]]

 t_estimated:
[[0.94136011]
 [0.33739838]
 [0.00186408]]

 R_gt:
[[ 0.99831036  0.04136954 -0.04081079]
 [-0.0406752   0.99901539  0.01771377]
 [ 0.04150316 -0.01602354  0.99900956]]

 t_gt:
[ 0.80062596  0.50410918 -0.32383946]

Pose Error in degrees for R and t:
177.87365094075778 22.607589386259914

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.99839327  0.05655525 -0.00351845]
 [ 0.05656495  0.99839521 -0.00272113]
 [ 0.00335891 -0.00291578 -0.99999011]]

 t_estimated:
[[9.96356275e-01]
 [8.52848170e-02]
 [8.20046317e-04]]

 R_gt:
[[ 0.99483716  0.05252601 -0.08682697]
 [-0.04887382  0.99784983  0.04366862]
 [ 0.08893479 -0.03919968  0.99526536]]

 t_gt:
[ 0.92184774  0.33085512 -0.20182081]

Pose Error in degrees for R and t:
174.69707907251689 18.819381249068545

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999737e-01  4.70944585e-04  5.51914304e-04]
 [-4.70299963e-04  9.99999208e-01 -1.16752280e-03]
 [-5.52463705e-04  1.16726293e-03  9.99999166e-01]]

 t_estimated:
[[0.53869533]
 [0.84250009]
 [0.00097062]]

 R_gt:
[[ 0.98089882  0.12508951 -0.14896335]
 [-0.11265187  0.98961966  0.08922576]
 [ 0.15857904 -0.07074121  0.98480853]]

 t_gt:
[ 0.65932438  0.71467631 -0.23351475]

Pose Error in degrees for R and t:
12.166242132161093 16.850739572152726

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99670896e-01 -2.56534702e-02  1.03780222e-05]
 [ 2.56534699e-02  9.99670895e-01  3.49703915e-05]
 [-1.12717186e-05 -3.46926503e-05  9.99999999e-01]]

 t_estimated:
[[9.69454534e-01]
 [2.45269291e-01]
 [9.38307793e-04]]

 R_gt:
[[ 0.99857516 -0.01939927  0.04971891]
 [ 0.01927993  0.99980946  0.00289622]
 [-0.0497652  -0.00193466  0.99875887]]

 t_gt:
[ 0.28783235 -0.33981696  0.89536416]

Pose Error in degrees for R and t:
2.8769176410479207 78.6656598925168

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 0.96312359  0.26905273 -0.00189076]
 [-0.26905544  0.96312373 -0.00136016]
 [ 0.00145508  0.00181872  0.99999729]]

 t_estimated:
[[-0.44251099]
 [ 0.89672424]
 [-0.00834617]]

 R_gt:
[[ 0.99862177 -0.04481678  0.0273032 ]
 [ 0.04462303  0.99897374  0.00769449]
 [-0.02762107 -0.00646614  0.99959781]]

 t_gt:
[ 0.70222367 -0.56067931  0.43877173]

Pose Error in degrees for R and t:
18.254558797253427 35.196661494946355

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 7.33677111e-01 -6.79496554e-01 -1.52656930e-03]
 [ 6.79493922e-01  7.33678602e-01 -1.92859115e-03]
 [ 2.43048227e-03  3.77668619e-04  9.99996975e-01]]

 t_estimated:
[[ 0.69177815]
 [-0.72210353]
 [-0.00307807]]

 R_gt:
[[ 0.99776691 -0.06635684 -0.00761845]
 [ 0.06651515  0.99752241  0.02288102]
 [ 0.00608066 -0.02333709  0.99970968]]

 t_gt:
[ 0.7480326  -0.65237794  0.12186158]

Pose Error in degrees for R and t:
39.01940309109178 8.817379386069037

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.44533584 -0.89536216 -0.00160957]
 [-0.89536116  0.44532969  0.00314141]
 [-0.00209591  0.00284013 -0.99999377]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.98344639 -0.17819162 -0.03289035]
 [ 0.17853316  0.98390341  0.00773077]
 [ 0.03098348 -0.01347591  0.99942939]]

 t_gt:
[ 0.71513796 -0.69646618 -0.05926686]

Pose Error in degrees for R and t:
178.7944424527706 84.96422642721379

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 7.63421434e-01 -6.45895773e-01 -2.52262779e-03]
 [ 6.45892775e-01  7.63425592e-01 -1.97192791e-03]
 [ 3.19949852e-03 -1.23935029e-04  9.99994874e-01]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.97126638 -0.2339723  -0.04358067]
 [ 0.2348277   0.97191135  0.01559919]
 [ 0.0387068  -0.02538504  0.99892792]]

 t_gt:
[ 0.7229223  -0.68983039 -0.03895361]

Pose Error in degrees for R and t:
26.78600980679606 84.37482158819861

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.97265935  0.07475677 -0.21987545]
 [-0.0332928   0.98187961  0.18655834]
 [ 0.22983772 -0.17413745  0.95752325]]

 t_estimated:
[[-0.53887206]
 [-0.84238695]
 [-0.00106496]]

 R_gt:
[[ 0.95366057 -0.30015461 -0.02093527]
 [ 0.30044114  0.95372131  0.01222149]
 [ 0.01629835 -0.01794495  0.99970585]]

 t_gt:
[ 0.74870063 -0.66269751 -0.01671477]

Pose Error in degrees for R and t:
25.67178757747859 81.0941253341998

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999769e-01 -6.75338328e-04 -7.99485241e-05]
 [ 6.75291493e-04  9.99999601e-01 -5.84396414e-04]
 [ 8.03431575e-05  5.84342291e-04  9.99999826e-01]]

 t_estimated:
[[ 0.87311365]
 [ 0.48750645]
 [-0.00316408]]

 R_gt:
[[ 0.99971992 -0.02104452 -0.01087371]
 [ 0.02154865  0.99858897  0.04854867]
 [ 0.00983669 -0.0487681   0.99876149]]

 t_gt:
[ 0.68848872 -0.44592832  0.57195385]

Pose Error in degrees for R and t:
3.1159657928181432 67.54694868781895

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.0368463  -0.91061332 -0.41161358]
 [-0.6493251  -0.33491034  0.68279717]
 [-0.75961784  0.24211248 -0.60362429]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99616095 -0.07860904  0.03852692]
 [ 0.07208948  0.98629216  0.14842945]
 [-0.04966652 -0.14508133  0.98817197]]

 t_gt:
[ 0.42543759 -0.4203767   0.80142765]

Pose Error in degrees for R and t:
152.7000765260947 81.77651631398527

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-0.79882358 -0.56663817 -0.20199525]
 [ 0.3548565  -0.71499715  0.60237525]
 [-0.48575484  0.40951223  0.77223181]]

 t_estimated:
[[0.80387507]
 [0.59479545]
 [0.00180241]]

 R_gt:
[[ 0.98960296 -0.12767468  0.06622096]
 [ 0.11024299  0.96905169  0.22087607]
 [-0.09237162 -0.21127922  0.97305108]]

 t_gt:
[ 0.37344073 -0.42256872  0.82581941]

Pose Error in degrees for R and t:
140.46528438883408 87.11415489241945

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-9.85792237e-01 -1.67965110e-01 -1.17782589e-03]
 [ 1.67966539e-01 -9.85791914e-01 -1.24240883e-03]
 [-9.52409899e-04 -1.42259232e-03  9.99998535e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99743858 -0.0624839  -0.03483027]
 [ 0.06597619  0.99170595  0.11029835]
 [ 0.02764941 -0.1123133   0.9932877 ]]

 t_gt:
[ 0.27507265 -0.77466007  0.56941796]

Pose Error in degrees for R and t:
166.65333100102063 85.62489986781894

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 5.44292102e-01  8.38891835e-01  2.56851930e-03]
 [ 8.38895556e-01 -5.44291586e-01 -9.56911216e-04]
 [ 5.95278440e-04  2.67555865e-03 -9.99996244e-01]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.98592166 -0.13625342 -0.09691779]
 [ 0.1480988   0.98066944  0.12788027]
 [ 0.0776198  -0.14043287  0.98704235]]

 t_gt:
[ 0.47542045 -0.81017085  0.34292651]

Pose Error in degrees for R and t:
170.92086564516583 84.81780618025121

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-9.13407112e-01 -4.07046661e-01 -6.81362941e-04]
 [ 4.07044446e-01 -9.13393390e-01 -5.22827382e-03]
 [ 1.50579899e-03 -5.05288749e-03  9.99986100e-01]]

 t_estimated:
[[8.55663112e-01]
 [5.17532794e-01]
 [6.66923704e-04]]

 R_gt:
[[ 0.96109393 -0.24678744 -0.12407508]
 [ 0.26233196  0.95614683  0.13024829]
 [ 0.08648958 -0.15773034  0.98368691]]

 t_gt:
[ 0.58957533 -0.76260195  0.26615635]

Pose Error in degrees for R and t:
141.25917552640843 83.68561559671315

Number of keypoints:
Image1: 337
Image2: 337

 R_estimated:
[[ 9.12972601e-01  4.08020537e-01  5.20764430e-04]
 [-4.08020264e-01  9.12972702e-01 -5.57177237e-04]
 [-7.02783464e-04  2.96205111e-04  9.99999709e-01]]

 t_estimated:
[[-0.49626301]
 [ 0.86817167]
 [ 0.00098929]]

 R_gt:
[[ 0.99971451 -0.01233437 -0.02048638]
 [ 0.01243427  0.99991094  0.00477369]
 [ 0.02042588 -0.00502666  0.99977818]]

 t_gt:
[ 0.32003946 -0.93539671 -0.15035871]

Pose Error in degrees for R and t:
24.821096381560118 13.818450308464579

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-2.89164308e-01  9.57276777e-01 -2.27490008e-03]
 [-9.57278132e-01 -2.89167072e-01 -9.90838088e-04]
 [-1.60633249e-03  1.89119709e-03  9.99996922e-01]]

 t_estimated:
[[-3.06467982e-01]
 [ 9.51880594e-01]
 [-8.43314959e-04]]

 R_gt:
[[ 9.99682420e-01 -2.42976270e-05 -2.51961713e-02]
 [-1.19168147e-03  9.98836494e-01 -4.82160372e-02]
 [ 2.51675736e-02  4.82316272e-02  9.98518454e-01]]

 t_gt:
[ 0.06677978 -0.37084215 -0.92629183]

Pose Error in degrees for R and t:
106.80151823272136 68.11887179932563

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.39783751e-01  3.41769312e-01  4.88335719e-04]
 [-3.41769262e-01  9.39783878e-01 -1.86730076e-04]
 [-5.22748645e-04  8.58775322e-06  9.99999863e-01]]

 t_estimated:
[[0.24307021]
 [0.9700082 ]
 [0.00098591]]

 R_gt:
[[ 0.99792777 -0.06304991 -0.01280827]
 [ 0.0609871   0.99043326 -0.12378174]
 [ 0.02049032  0.12274469  0.99222654]]

 t_gt:
[ 0.34143109  0.00401288 -0.93989824]

Pose Error in degrees for R and t:
24.600078083861025 85.06890717576388

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.98628000e-01  5.23652242e-02  2.63504850e-05]
 [-5.23652230e-02  9.98627999e-01 -4.62319445e-05]
 [-2.87352783e-05  4.47886653e-05  9.99999999e-01]]

 t_estimated:
[[ 1.58584704e-01]
 [-9.87345261e-01]
 [-4.77512485e-04]]

 R_gt:
[[ 0.99915169 -0.03628194  0.01947763]
 [ 0.03509384  0.99768816  0.05818993]
 [-0.02154367 -0.05745722  0.99811504]]

 t_gt:
[ 0.36223109 -0.43098318  0.82646363]

Pose Error in degrees for R and t:
6.154326010330507 61.146032550394764

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.73216639e-01  2.29889331e-01  5.18135264e-04]
 [-2.29888444e-01  9.73216003e-01 -1.38363238e-03]
 [-8.22339853e-04  1.22746074e-03  9.99998909e-01]]

 t_estimated:
[[-9.49846810e-01]
 [-3.12714341e-01]
 [-8.82462229e-04]]

 R_gt:
[[ 0.99742861 -0.04823583  0.05301202]
 [ 0.04214826  0.9929807   0.11051141]
 [-0.05797003 -0.10799235  0.99246045]]

 t_gt:
[ 0.2320192  -0.29814238  0.9258932 ]

Pose Error in degrees for R and t:
17.391480702109536 82.64790805313311

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.49908871e-01 -3.12526992e-01 -1.26216056e-04]
 [ 3.12526913e-01  9.49908807e-01 -4.33179531e-04]
 [ 2.55274039e-04  3.72035165e-04  9.99999898e-01]]

 t_estimated:
[[0.94876104]
 [0.31599187]
 [0.00127785]]

 R_gt:
[[ 0.99532419 -0.07320473  0.06301424]
 [ 0.06441097  0.98918584  0.13177044]
 [-0.0719782  -0.12709567  0.98927541]]

 t_gt:
[ 0.31543693 -0.28855279  0.90401152]

Pose Error in degrees for R and t:
16.538549498485832 77.92164700972565

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.73579185e-01  2.28349641e-01  1.06700533e-04]
 [-2.28349594e-01  9.73579144e-01 -3.37376102e-04]
 [-1.80921125e-04  3.04097327e-04  9.99999937e-01]]

 t_estimated:
[[-0.6184732 ]
 [-0.78580547]
 [-0.00082026]]

 R_gt:
[[ 0.99388346 -0.05354167  0.09658826]
 [ 0.03854167  0.98778723  0.15097112]
 [-0.10349028 -0.14632413  0.98380818]]

 t_gt:
[ 0.1620235  -0.19745376  0.96683008]

Pose Error in degrees for R and t:
18.91263417422292 86.89534156066951

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.55498865  0.82982279 -0.05815271]
 [ 0.82852518  0.55766421  0.05056348]
 [ 0.07438841 -0.02011882 -0.99702638]]

 t_estimated:
[[-0.18992668]
 [-0.98128785]
 [-0.03165445]]

 R_gt:
[[ 0.99306647 -0.08050402  0.08566715]
 [ 0.06329491  0.98023491  0.18743807]
 [-0.09906328 -0.18071571  0.97853435]]

 t_gt:
[ 0.24407075 -0.24542493  0.93818765]

Pose Error in degrees for R and t:
175.4596001538739 80.51559536051451

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.73892474 -0.67332684  0.02492392]
 [-0.67343886  0.73922704  0.00484562]
 [-0.02168712 -0.01320419 -0.99967761]]

 t_estimated:
[[0.99537121]
 [0.09479726]
 [0.01579954]]

 R_gt:
[[ 0.98952137 -0.07630893  0.12257759]
 [ 0.04664437  0.97235874  0.22878773]
 [-0.13664601 -0.22067198  0.96572812]]

 t_gt:
[ 0.17309381 -0.15144003  0.97319292]

Pose Error in degrees for R and t:
166.8801808868498 80.01952890040089

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.99783833e-01 -2.07914935e-02 -1.17354129e-05]
 [ 2.07914938e-02  9.99783833e-01  2.84041996e-05]
 [ 1.11423103e-05 -2.86420563e-05  1.00000000e+00]]

 t_estimated:
[[0.7822754 ]
 [0.6229317 ]
 [0.00114133]]

 R_gt:
[[ 0.99999129  0.00310007 -0.0028851 ]
 [-0.00316764  0.9997151  -0.02364074]
 [ 0.00281093  0.02364952  0.9997162 ]]

 t_gt:
[-0.11131339 -0.48642884 -0.86660043]

Pose Error in degrees for R and t:
1.935705713445384 66.97836138408927

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-9.43177911e-01  3.32274902e-01 -2.96934676e-03]
 [-3.32276530e-01 -9.43182010e-01  5.84143404e-05]
 [-2.78122483e-03  1.04173936e-03  9.99995590e-01]]

 t_estimated:
[[0.85783815]
 [0.51391828]
 [0.00130768]]

 R_gt:
[[ 0.99984523 -0.00797433 -0.01568234]
 [ 0.00649957  0.99574388 -0.09193764]
 [ 0.01634948  0.09182046  0.99564165]]

 t_gt:
[-0.00854576  0.39201154 -0.91992061]

Pose Error in degrees for R and t:
161.02141106358707 78.8762884233866

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 8.82368755e-01  4.70554666e-01  1.92011746e-03]
 [-4.70558550e-01  8.82359804e-01  3.97842106e-03]
 [ 1.77830129e-04 -4.41396212e-03  9.99990243e-01]]

 t_estimated:
[[0.3063693 ]
 [0.9519121 ]
 [0.00109818]]

 R_gt:
[[ 0.9986604  -0.05147622 -0.00526601]
 [ 0.05012859  0.98766775 -0.14832258]
 [ 0.01283646  0.14785968  0.98892516]]

 t_gt:
[ 0.10755499  0.48619773 -0.86720453]

Pose Error in degrees for R and t:
32.19285700854645 60.3423357167915

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.99329689 -0.11552842  0.00380418]
 [-0.11558296 -0.99307847  0.02087423]
 [ 0.00136629 -0.02117401 -0.99977487]]

 t_estimated:
[[0.05525824]
 [0.99841145]
 [0.01100431]]

 R_gt:
[[ 0.99074259  0.12880853  0.04287089]
 [-0.13005073  0.99112362  0.02756511]
 [-0.03893902 -0.03288597  0.99870004]]

 t_gt:
[-0.85590881  0.46067643  0.23494115]

Pose Error in degrees for R and t:
176.91680597971813 65.46594851968231

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-9.11699498e-02  9.95835036e-01  7.88581341e-04]
 [-9.95834112e-01 -9.11685605e-02 -1.64770178e-03]
 [-1.56894533e-03 -9.35517088e-04  9.99998332e-01]]

 t_estimated:
[[0.22201665]
 [0.9750422 ]
 [0.00114442]]

 R_gt:
[[ 0.96558896  0.25602165  0.04572126]
 [-0.2579924   0.96513711  0.04415008]
 [-0.03282377 -0.054426    0.99797827]]

 t_gt:
[-0.82919517  0.52717718  0.18579447]

Pose Error in degrees for R and t:
80.38968721470407 70.72287904137808

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.72560115e-01  2.32651042e-01  5.60839706e-04]
 [-2.32651293e-01  9.72560121e-01  4.32007269e-04]
 [-4.44943391e-04 -5.50633122e-04  9.99999749e-01]]

 t_estimated:
[[-0.89461512]
 [ 0.44683612]
 [ 0.00112941]]

 R_gt:
[[ 0.92038341  0.38809681  0.04770904]
 [-0.3883297   0.92150823 -0.00466603]
 [-0.04577478 -0.01423169  0.99885055]]

 t_gt:
[-0.78899622  0.61034868  0.07042334]

Pose Error in degrees for R and t:
9.78748150474618 11.859828060559101

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.99922224  0.03940692 -0.00141829]
 [-0.03940195  0.99921775  0.00337212]
 [ 0.00155007 -0.00331362  0.99999331]]

 t_estimated:
[[0.60395745]
 [0.79701473]
 [0.00170927]]

 R_gt:
[[ 0.99725153 -0.05458806  0.05009736]
 [ 0.04898476  0.99305451  0.10696713]
 [-0.05558931 -0.10421848  0.9929995 ]]

 t_gt:
[ 0.20695696 -0.4416726   0.87298003]

Pose Error in degrees for R and t:
8.464589552758557 76.9657061309856

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.82813403 -0.56052076 -0.00324299]
 [ 0.56052801 -0.82813296 -0.00203841]
 [-0.00154306 -0.00350586  0.99999266]]

 t_estimated:
[[0.9207441 ]
 [0.39016531]
 [0.00115093]]

 R_gt:
[[ 0.99219265 -0.09305522  0.08303427]
 [ 0.07589095  0.9788251   0.19010861]
 [-0.09896751 -0.18232264  0.97824518]]

 t_gt:
[ 0.16634    -0.4397728   0.88257061]

Pose Error in degrees for R and t:
141.22370607600158 89.00233056779787

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 9.99997239e-01 -2.35005109e-03 -1.54209340e-06]
 [ 2.35005147e-03  9.99997182e-01  3.37827947e-04]
 [ 7.48176121e-07 -3.37830638e-04  9.99999943e-01]]

 t_estimated:
[[ 2.21560888e-04]
 [ 9.99999968e-01]
 [-1.23901765e-04]]

 R_gt:
[[ 0.98878668 -0.10451817  0.10666522]
 [ 0.07668628  0.96826096  0.23788652]
 [-0.1281441  -0.22703896  0.96541836]]

 t_gt:
[ 0.10773867 -0.40978377  0.90579779]

Pose Error in degrees for R and t:
15.945893036321316 65.80319865513377

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 1.00000000e+00 -1.42108547e-14  6.42389787e-17]
 [ 1.41553436e-14  1.00000000e+00  3.41523684e-17]
 [ 7.27309922e-16  3.48299948e-18  1.00000000e+00]]

 t_estimated:
[[ 9.39732357e-01]
 [ 3.41910883e-01]
 [-2.13294375e-04]]

 R_gt:
[[ 9.98727456e-01 -5.04054921e-02  1.06847362e-03]
 [ 5.04067045e-02  9.98727552e-01 -8.52503669e-04]
 [-1.02402796e-03  9.05497021e-04  9.99998534e-01]]

 t_gt:
[ 0.79089355 -0.61163029  0.0198944 ]

Pose Error in degrees for R and t:
2.891592150020483 57.71703841019153

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 1.00000000e+00 -2.70788947e-12 -2.01663772e-14]
 [ 2.70783396e-12  1.00000000e+00  1.71238891e-14]
 [ 2.05835782e-14 -1.67760771e-14  1.00000000e+00]]

 t_estimated:
[[ 0.6414853 ]
 [-0.76713228]
 [-0.00216171]]

 R_gt:
[[ 0.99607421 -0.08599278  0.02102108]
 [ 0.08624183  0.99621076 -0.0112043 ]
 [-0.01997763  0.01297401  0.99971609]]

 t_gt:
[ 0.78385867 -0.61464669  0.08817615]

Pose Error in degrees for R and t:
5.126061076545855 13.053772101568045

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 1.00000000e+00  5.62327962e-14 -7.58941521e-19]
 [-5.61772850e-14  1.00000000e+00 -1.25177917e-16]
 [ 2.52131215e-16 -7.39114174e-16  1.00000000e+00]]

 t_estimated:
[[ 9.59918006e-01]
 [ 2.80280918e-01]
 [-1.71395482e-04]]

 R_gt:
[[ 9.81740580e-01 -1.90223730e-01  8.94813383e-04]
 [ 1.90195520e-01  9.81487686e-01 -2.24772871e-02]
 [ 3.39817412e-03  2.22377066e-02  9.99746694e-01]]

 t_gt:
[ 0.78563583 -0.61667376 -0.04989813]

Pose Error in degrees for R and t:
11.041871161139312 54.457079967409335

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.98530843e-01 -5.41861783e-02 -1.16234149e-04]
 [ 5.41862418e-02  9.98530642e-01  6.39068890e-04]
 [ 8.14346590e-05 -6.44428289e-04  9.99999789e-01]]

 t_estimated:
[[-9.71256187e-01]
 [-2.38035169e-01]
 [-8.23495794e-04]]

 R_gt:
[[ 9.89428539e-01  1.44958677e-01  4.38271788e-03]
 [-1.44956727e-01  9.89437945e-01 -5.82621807e-04]
 [-4.42139838e-03 -5.85195020e-05  9.99990328e-01]]

 t_gt:
[-0.86622825  0.49929144  0.01888564]

Pose Error in degrees for R and t:
11.443953159712468 43.74162147579288

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-9.97707820e-01  6.69774272e-02 -9.65043415e-03]
 [ 6.69683640e-02  9.97754304e-01  1.25962031e-03]
 [ 9.71312834e-03  6.10459246e-04 -9.99952640e-01]]

 t_estimated:
[[ 0.99985897]
 [-0.01622293]
 [-0.004343  ]]

 R_gt:
[[ 0.96306972  0.26924442 -0.00202821]
 [-0.26921319  0.96277825 -0.02412287]
 [-0.00454209  0.02377745  0.99970734]]

 t_gt:
[-0.81754852  0.57429108 -0.04247562]

Pose Error in degrees for R and t:
179.56337361551644 34.25247573841792

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.84661848e-01 -1.74472862e-01 -5.15043108e-04]
 [ 1.74473076e-01  9.84661862e-01  4.05089403e-04]
 [ 4.36466198e-04 -4.88737235e-04  9.99999785e-01]]

 t_estimated:
[[-0.22716138]
 [-0.9738558 ]
 [-0.00160939]]

 R_gt:
[[ 0.95248838  0.30247492 -0.03573633]
 [-0.3030229   0.95292041 -0.0109721 ]
 [ 0.03073399  0.02128038  0.99930151]]

 t_gt:
[-0.78222465  0.61885547 -0.07171121]

Pose Error in degrees for R and t:
27.757176534545884 64.85760611139925

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 5.37786667e-01 -8.43079135e-01 -1.75291361e-03]
 [ 8.43079156e-01  5.37788653e-01 -9.49048632e-04]
 [ 1.74282015e-03 -9.67459227e-04  9.99998013e-01]]

 t_estimated:
[[ 9.60958432e-01]
 [-2.76691436e-01]
 [-8.61410699e-04]]

 R_gt:
[[ 0.99497275 -0.07519704 -0.0661357 ]
 [ 0.07879035  0.99545373  0.05350914]
 [ 0.06181115 -0.05845122  0.99637482]]

 t_gt:
[ 0.57149919 -0.8065458   0.15123674]

Pose Error in degrees for R and t:
53.242726692922126 39.4462456719024

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-7.38602518e-01 -6.74141092e-01  3.30703804e-04]
 [-6.74139187e-01  7.38599062e-01 -2.78970832e-03]
 [ 1.63639949e-03 -2.28342598e-03 -9.99996054e-01]]

 t_estimated:
[[9.03368494e-01]
 [4.28864594e-01]
 [7.24433435e-04]]

 R_gt:
[[ 0.97687479 -0.18843761 -0.10103016]
 [ 0.19471453  0.97924344  0.05628336]
 [ 0.08832705 -0.074653    0.99328966]]

 t_gt:
[ 0.65447339 -0.75308706  0.06726405]

Pose Error in degrees for R and t:
176.2187551582612 74.43645194212858

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.97842553  0.20514911 -0.0244404 ]
 [ 0.20524249  0.97871022 -0.00134874]
 [ 0.02364338 -0.00633585 -0.99970038]]

 t_estimated:
[[ 0.99276352]
 [ 0.11991328]
 [-0.00643376]]

 R_gt:
[[ 0.94941843 -0.29642552 -0.10361532]
 [ 0.30272374  0.95170279  0.0511812 ]
 [ 0.08343962 -0.07995833  0.99330017]]

 t_gt:
[ 0.70024253 -0.71218438  0.04953588]

Pose Error in degrees for R and t:
172.80091769235864 52.44980849301643

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.61640017  0.76139615 -0.20081518]
 [-0.39046008  0.51700819  0.76173713]
 [ 0.68380681 -0.39112459  0.61597874]]

 t_estimated:
[[-0.91930781]
 [ 0.08850687]
 [-0.38345753]]

 R_gt:
[[ 0.99933641  0.01775416 -0.0318125 ]
 [-0.02141353  0.99270271 -0.11867383]
 [ 0.02947248  0.11927651  0.9924232 ]]

 t_gt:
[ 0.15926332  0.37412783 -0.91359923]

Pose Error in degrees for R and t:
70.97658972302172 76.28884034104232

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.1776271   0.98409604  0.00189871]
 [ 0.98409298 -0.17763196  0.00280924]
 [ 0.00310184  0.00136951 -0.99999425]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 9.99039784e-01 -1.23775339e-02 -4.20206012e-02]
 [ 5.73404190e-05  9.59620680e-01 -2.81296786e-01]
 [ 4.38054977e-02  2.81025838e-01  9.58699190e-01]]

 t_gt:
[ 0.21045753  0.39733277 -0.89321571]

Pose Error in degrees for R and t:
169.13832757842997 74.29164362091969

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.99976012 -0.02186773  0.00122886]
 [ 0.02187014  0.99975884 -0.00198884]
 [-0.00118507  0.00201524  0.99999727]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.99807869 -0.04680957 -0.04061158]
 [ 0.03099396  0.94452579 -0.32697044]
 [ 0.05366276  0.32508403  0.94416127]]

 t_gt:
[ 0.26491488  0.366395   -0.89195   ]

Pose Error in degrees for R and t:
19.16193073761295 72.35976109302237

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.13374847e-01 -4.07106432e-01  3.27750688e-03]
 [-4.07104771e-01 -9.13380693e-01 -1.18905982e-03]
 [ 3.47768541e-03 -2.48231358e-04 -9.99993922e-01]]

 t_estimated:
[[0.59420178]
 [0.80431557]
 [0.00084046]]

 R_gt:
[[ 0.99950879 -0.02298381 -0.02132836]
 [ 0.01964799  0.98919976 -0.14524953]
 [ 0.02443734  0.14475869  0.98916486]]

 t_gt:
[ 0.24808663  0.27331456 -0.92938268]

Pose Error in degrees for R and t:
171.5402075862051 68.50231885673492

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 7.18398955e-03  9.99973350e-01 -1.29953375e-03]
 [-9.99974098e-01  7.18340947e-03 -4.50494682e-04]
 [-4.41147594e-04  1.30273644e-03  9.99999054e-01]]

 t_estimated:
[[-4.30274217e-03]
 [ 9.99990640e-01]
 [-4.53761640e-04]]

 R_gt:
[[ 0.99786548 -0.05931669 -0.02732459]
 [ 0.05343489  0.98210425 -0.18060118]
 [ 0.03754846  0.17875557  0.98317599]]

 t_gt:
[ 0.34845393  0.19221009 -0.91740675]

Pose Error in degrees for R and t:
93.29680973385128 78.9815390503016

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 0.99993655  0.00393571  0.01055488]
 [-0.00381605  0.9999285  -0.01133299]
 [-0.01059872  0.01129199  0.99988007]]

 t_estimated:
[[0.99962932]
 [0.02709023]
 [0.00270902]]

 R_gt:
[[ 0.98918271 -0.13877981 -0.04750754]
 [ 0.12505018  0.96712123 -0.22144941]
 [ 0.07667901  0.21311336  0.9740133 ]]

 t_gt:
[ 0.48762336  0.04863554 -0.87169837]

Pose Error in degrees for R and t:
14.91169587934949 60.895847775858364

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99093339e-01  4.25734529e-02 -4.21248058e-05]
 [-4.25734459e-02  9.99093328e-01  1.55891521e-04]
 [ 4.87234527e-05 -1.53956782e-04  9.99999987e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99345702 -0.09884419 -0.05721894]
 [ 0.1005636   0.99453732  0.02799438]
 [ 0.05413974 -0.03356546  0.9979684 ]]

 t_gt:
[ 0.64425148 -0.76332858 -0.04763926]

Pose Error in degrees for R and t:
8.943289754347308 50.07051295732713

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 6.34145624e-01 -7.73213443e-01  5.47059692e-04]
 [ 7.73212102e-01  6.34145616e-01  1.54401717e-03]
 [-1.54077034e-03 -5.56138559e-04  9.99998658e-01]]

 t_estimated:
[[0.99996733]
 [0.00793798]
 [0.00152298]]

 R_gt:
[[ 0.9737112  -0.21688183 -0.06964705]
 [ 0.21937391  0.97516982  0.03029759]
 [ 0.0613472  -0.04478007  0.99711136]]

 t_gt:
[ 0.68464631 -0.72883981 -0.00720823]

Pose Error in degrees for R and t:
38.26813145388091 47.24791581448045

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99999486e-01  8.42090029e-04  5.65050202e-04]
 [-8.41944480e-04  9.99999612e-01 -2.57774105e-04]
 [-5.65267052e-04  2.57298231e-04  9.99999807e-01]]

 t_estimated:
[[0.94365782]
 [0.33092078]
 [0.00116535]]

 R_gt:
[[ 0.9653762  -0.26074628  0.00789442]
 [ 0.26085969  0.96470491 -0.03601989]
 [ 0.00177637  0.03683102  0.99932004]]

 t_gt:
[ 0.63619544 -0.76050419 -0.12995666]

Pose Error in degrees for R and t:
15.314295250862028 69.60240442766538

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99812520e-01  1.93623169e-02 -1.57695280e-04]
 [-1.93623051e-02  9.99812530e-01  7.62641317e-05]
 [ 1.59142368e-04 -7.31964896e-05  9.99999985e-01]]

 t_estimated:
[[-0.99805797]
 [ 0.06227986]
 [-0.00122769]]

 R_gt:
[[ 0.99438095  0.10331531 -0.02307047]
 [-0.10340191  0.99463599 -0.00257171]
 [ 0.02268163  0.00494403  0.99973022]]

 t_gt:
[-0.82657548  0.55330843 -0.10306675]

Pose Error in degrees for R and t:
5.001947766077832 30.733148501247204

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.95436007  0.29789874 -0.02128837]
 [ 0.29789901  0.95459192  0.00323221]
 [ 0.02128458 -0.00325709 -0.99976815]]

 t_estimated:
[[ 0.99180125]
 [-0.12736868]
 [-0.01036787]]

 R_gt:
[[ 0.99041895  0.12760444 -0.05279382]
 [-0.12810697  0.99174047 -0.00622861]
 [ 0.05156312  0.01293257  0.99858607]]

 t_gt:
[-0.71909747  0.66539319 -0.20037647]

Pose Error in degrees for R and t:
175.88897706742674 37.26206276718675

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999998e-01  4.57031983e-05  3.93687052e-05]
 [-4.58156601e-05  9.99995905e-01  2.86137997e-03]
 [-3.92377698e-05 -2.86138177e-03  9.99995905e-01]]

 t_estimated:
[[0.76536677]
 [0.64358723]
 [0.00303045]]

 R_gt:
[[ 0.98360126  0.1769297  -0.03500368]
 [-0.17811379  0.9834139  -0.03422749]
 [ 0.02836764  0.03990207  0.99880127]]

 t_gt:
[-0.63758747  0.7457005  -0.19342434]

Pose Error in degrees for R and t:
10.640531821819321 89.50432177703605

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.94398593e-01 -1.05694993e-01 -8.65530167e-05]
 [ 1.05694995e-01  9.94398596e-01  1.63185754e-05]
 [ 8.43434065e-05 -2.53753891e-05  9.99999996e-01]]

 t_estimated:
[[ 7.13609434e-01]
 [-7.00543642e-01]
 [-4.25542525e-04]]

 R_gt:
[[ 9.98144891e-01 -5.66177249e-02  2.23621370e-02]
 [ 5.66239378e-02  9.98395696e-01  3.06286154e-04]
 [-2.23444151e-02  9.61015995e-04  9.99750464e-01]]

 t_gt:
[ 0.84381693 -0.50476325  0.18217313]

Pose Error in degrees for R and t:
3.10025958740567 17.120668095398944

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99474551e-01  3.24126867e-02  1.98823695e-04]
 [-3.24126641e-02  9.99474565e-01 -1.15974611e-04]
 [-2.02478275e-04  1.09469267e-04  9.99999974e-01]]

 t_estimated:
[[9.97083468e-01]
 [7.63170837e-02]
 [5.11008940e-04]]

 R_gt:
[[ 0.98323094 -0.18166984  0.01583672]
 [ 0.18134237  0.9832143   0.02014036]
 [-0.0192302  -0.01693101  0.9996719 ]]

 t_gt:
[ 0.83638452 -0.53542106  0.11741051]

Pose Error in degrees for R and t:
12.403206491893012 37.519754691583465

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.97681504e-01 -6.80559372e-02 -7.37906280e-05]
 [ 6.80558884e-02  9.97681368e-01 -5.33785327e-04]
 [ 1.09946795e-04  5.27525861e-04  9.99999855e-01]]

 t_estimated:
[[-0.52704417]
 [-0.84983593]
 [-0.00182368]]

 R_gt:
[[ 9.59336890e-01 -2.82261177e-01 -1.14647887e-03]
 [ 2.82260035e-01  9.59337644e-01 -9.16965776e-04]
 [ 1.35930378e-03  5.56741206e-04  9.99999169e-01]]

 t_gt:
[ 0.84857888 -0.52893597 -0.01185833]

Pose Error in degrees for R and t:
12.492983275281908 89.86868577774814

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.12214559  0.99243094 -0.01269982]
 [ 0.99241652 -0.12194616  0.01544587]
 [ 0.01378027 -0.01449015 -0.99980005]]

 t_estimated:
[[ 0.63555627]
 [-0.77199397]
 [-0.00967141]]

 R_gt:
[[ 0.98902044  0.14728037  0.01213021]
 [-0.14768985  0.98794132  0.04646755]
 [-0.00513972 -0.04774882  0.99884529]]

 t_gt:
[-0.5913522   0.76426172  0.25730643]

Pose Error in degrees for R and t:
177.1557686467637 14.45785426438719

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99524941e-01 -3.08203199e-02 -3.25498051e-05]
 [ 3.08203236e-02  9.99524934e-01  1.17998691e-04]
 [ 2.88975844e-05 -1.18945830e-04  9.99999993e-01]]

 t_estimated:
[[0.75322599]
 [0.65776072]
 [0.00119999]]

 R_gt:
[[ 0.97127018  0.23793026 -0.00494627]
 [-0.23737255  0.97005929  0.05136601]
 [ 0.01701985 -0.04871616  0.99866688]]

 t_gt:
[-0.52385315  0.84587872  0.10033474]

Pose Error in degrees for R and t:
15.799829451770082 80.68127163138195

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.59059103 -0.80677688  0.01770033]
 [-0.80691783 -0.59066187  0.00147412]
 [ 0.00926563 -0.01515331 -0.99984225]]

 t_estimated:
[[0.45614328]
 [0.88990571]
 [0.00106576]]

 R_gt:
[[ 0.89521124  0.44513802  0.02119406]
 [-0.4456003   0.89477152  0.02868987]
 [-0.00619337 -0.03512735  0.99936264]]

 t_gt:
[-0.47335102  0.87904158  0.0567865 ]

Pose Error in degrees for R and t:
177.24034664823145 55.49982494315171

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.12073041  0.9926836  -0.00185174]
 [-0.99268394 -0.12073315 -0.00144713]
 [-0.00166011  0.00166348  0.99999724]]

 t_estimated:
[[3.93938245e-01]
 [9.19136812e-01]
 [4.24195378e-04]]

 R_gt:
[[ 0.99884402 -0.03664901  0.03110001]
 [ 0.03304201  0.99344084  0.1094671 ]
 [-0.03490757 -0.10831292  0.9935038 ]]

 t_gt:
[ 0.1315915  -0.37914235  0.91593382]

Pose Error in degrees for R and t:
99.10679703391583 72.76711847273981

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.99949323 -0.03180562 -0.00130022]
 [-0.03180913  0.9994901   0.00277803]
 [ 0.0012112   0.00281798 -0.9999953 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189842e-04]]

 R_gt:
[[ 0.99560792 -0.07878441  0.05057157]
 [ 0.06818322  0.98037628  0.184969  ]
 [-0.06415127 -0.18070831  0.98144176]]

 t_gt:
[ 0.18800354 -0.39865098  0.89762579]

Pose Error in degrees for R and t:
176.59342444948217 79.19527690269628

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.99939156 -0.03477206  0.00272146]
 [-0.0347631   0.99939023  0.00327036]
 [-0.00283352  0.00317376 -0.99999095]]

 t_estimated:
[[0.99820894]
 [0.0598071 ]
 [0.00142398]]

 R_gt:
[[ 0.99591832 -0.07249052  0.05378911]
 [ 0.06438406  0.98811653  0.13957069]
 [-0.06326724 -0.13553816  0.9887495 ]]

 t_gt:
[ 0.19959615 -0.43470425  0.87817629]

Pose Error in degrees for R and t:
176.3326769709071 79.95097480968471

Number of keypoints:
Image1: 378
Image2: 378

 R_estimated:
[[ 9.83145366e-01 -1.82825531e-01 -1.20000502e-04]
 [ 1.82825563e-01  9.83145304e-01  3.53826711e-04]
 [ 5.32893738e-05 -3.69802251e-04  9.99999930e-01]]

 t_estimated:
[[0.98168922]
 [0.19048695]
 [0.00099615]]

 R_gt:
[[ 0.9975017  -0.02875794  0.06452566]
 [ 0.02981943  0.99943406 -0.01555155]
 [-0.06404265  0.01743683  0.99779499]]

 t_gt:
[-0.4958745   0.21052907  0.84248798]

Pose Error in degrees for R and t:
9.639899467668915 63.52211383901686

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 5.83658553e-01  8.11991864e-01 -3.45066014e-03]
 [-8.11994467e-01  5.83664387e-01  9.32475250e-04]
 [ 2.77118975e-03  2.25766979e-03  9.99993612e-01]]

 t_estimated:
[[-0.39525842]
 [ 0.91855974]
 [-0.00433424]]

 R_gt:
[[ 0.99572579 -0.04051059  0.08300797]
 [ 0.04573862  0.99702244 -0.0620793 ]
 [-0.08024641  0.06561089  0.99461318]]

 t_gt:
[-0.58486789  0.66807634  0.46000386]

Pose Error in degrees for R and t:
57.06942529658559 32.55788181922536

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.93710457e-01  1.11979999e-01 -8.45091370e-05]
 [-1.11980010e-01  9.93710450e-01 -1.35307497e-04]
 [ 6.88258791e-05  1.43919809e-04  9.99999987e-01]]

 t_estimated:
[[-0.50241878]
 [ 0.86462393]
 [-0.00091504]]

 R_gt:
[[ 0.99589344 -0.03193527  0.08471812]
 [ 0.03753864  0.99715285 -0.06539811]
 [-0.08238877  0.06830914  0.9942565 ]]

 t_gt:
[-0.59451513  0.76689723  0.2417031 ]

Pose Error in degrees for R and t:
10.423675674111875 15.939524103372122

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-0.02095728  0.99977849 -0.00193795]
 [-0.99977103 -0.02096543 -0.00428335]
 [-0.00432303  0.00184774  0.99998895]]

 t_estimated:
[[0.05334566]
 [0.99857541]
 [0.00117715]]

 R_gt:
[[ 0.99703337 -0.07654992 -0.00807096]
 [ 0.07588105  0.99506159 -0.06398716]
 [ 0.0129302   0.0631844   0.9979183 ]]

 t_gt:
[ 0.48395894 -0.55726164 -0.67471713]

Pose Error in degrees for R and t:
95.62101361196963 57.89686643899877

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 6.35774360e-01  7.71873252e-01  1.62661430e-03]
 [-7.71872409e-01  6.35776266e-01 -1.23393571e-03]
 [-1.98660474e-03 -4.71034012e-04  9.99997916e-01]]

 t_estimated:
[[0.02855968]
 [0.99958872]
 [0.00259633]]

 R_gt:
[[ 0.99954849 -0.01677891 -0.02494943]
 [ 0.015014    0.99747958 -0.06934332]
 [ 0.02605008  0.06893722  0.99728109]]

 t_gt:
[ 0.02152683  0.35655742 -0.93402538]

Pose Error in degrees for R and t:
51.59761407961476 69.23103633152925

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.97492298e-01  7.07727868e-02 -5.73619210e-04]
 [-7.07727774e-02  9.97492462e-01  3.66901332e-05]
 [ 5.74777501e-04  3.99849932e-06  9.99999835e-01]]

 t_estimated:
[[8.55367739e-01]
 [5.18020836e-01]
 [6.66693483e-04]]

 R_gt:
[[ 0.99903639  0.03655783 -0.0242818 ]
 [-0.03847799  0.99572037 -0.0840278 ]
 [ 0.0211066   0.08488052  0.99616851]]

 t_gt:
[-0.22806504  0.76085286 -0.60752718]

Pose Error in degrees for R and t:
5.35939317068288 78.54179192618993

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99997728e-01  2.11298159e-03  2.82312364e-04]
 [-2.11300368e-03  9.99997765e-01  7.79909665e-05]
 [-2.82146940e-04 -7.85873164e-05  9.99999957e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9993626  -0.0271146   0.02326655]
 [ 0.02568575  0.99789029  0.05963701]
 [-0.02483486 -0.05900089  0.99794875]]

 t_gt:
[ 0.15642305 -0.45767146  0.87525349]

Pose Error in degrees for R and t:
4.008085707426447 81.04367038589142

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.60764888  0.74777917 -0.26756148]
 [-0.66281328  0.66307449  0.34786603]
 [ 0.43754016 -0.0340371   0.89855444]]

 t_estimated:
[[-0.66685271]
 [ 0.57115151]
 [-0.47863704]]

 R_gt:
[[ 0.99984879 -0.01096737  0.01355943]
 [ 0.01145623  0.99926365 -0.03661674]
 [-0.01314818  0.03676651  0.99923712]]

 t_gt:
[ 0.26805817 -0.18694866 -0.94508995]

Pose Error in degrees for R and t:
55.63770847844948 80.39680530316325

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.37552828 -0.91822951  0.12582959]
 [-0.92395603  0.36025707 -0.12853055]
 [ 0.07268954 -0.16452786 -0.98369041]]

 t_estimated:
[[8.77762188e-01]
 [4.79096563e-01]
 [1.54840472e-04]]

 R_gt:
[[ 0.99893639 -0.01822201 -0.04236603]
 [ 0.01254885  0.99136629 -0.13051454]
 [ 0.04437851  0.12984469  0.99054   ]]

 t_gt:
[ 0.12016301  0.17489386 -0.97722719]

Pose Error in degrees for R and t:
175.53216373228398 79.09890110684668

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.81758679 -0.57566955  0.01250648]
 [-0.57577347 -0.81711996  0.02828223]
 [-0.00606192 -0.03032408 -0.99952174]]

 t_estimated:
[[0.3305068 ]
 [0.94371883]
 [0.01265026]]

 R_gt:
[[ 0.99925177 -0.01130784  0.03700347]
 [ 0.01309947  0.99873557 -0.04854171]
 [-0.03640725  0.04899083  0.99813533]]

 t_gt:
[-0.57351225  0.81706974  0.05899777]

Pose Error in degrees for R and t:
179.7277438220377 54.38888171510063

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99523710e-01  3.08601569e-02 -5.40601781e-05]
 [-3.08601636e-02  9.99523704e-01 -1.28089968e-04]
 [ 5.00815530e-05  1.29697266e-04  9.99999990e-01]]

 t_estimated:
[[-0.66950292]
 [ 0.74280881]
 [-0.00095585]]

 R_gt:
[[ 0.99840355  0.00331307  0.0563873 ]
 [ 0.00108945  0.99696331 -0.07786694]
 [-0.05647382  0.07780481  0.99536731]]

 t_gt:
[-0.54903991  0.83295003 -0.06891613]

Pose Error in degrees for R and t:
5.770109346251173 9.469851512967807

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99694249e-01 -2.47260979e-02 -1.70663259e-04]
 [ 2.47260701e-02  9.99694251e-01 -1.62817448e-04]
 [ 1.74636919e-04  1.58547835e-04  9.99999972e-01]]

 t_estimated:
[[-0.7799924 ]
 [ 0.6257864 ]
 [-0.00179914]]

 R_gt:
[[ 0.99840323 -0.01534915  0.05436564]
 [ 0.02039405  0.99541194 -0.09348235]
 [-0.05268197  0.0944424   0.9941351 ]]

 t_gt:
[-0.50066411  0.84923952 -0.16771308]

Pose Error in degrees for R and t:
6.217427973472948 22.741477007676004

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[-0.89338606 -0.44617242  0.05283484]
 [-0.446567    0.89473763  0.00474165]
 [-0.04938892 -0.01935817 -0.99859201]]

 t_estimated:
[[0.98950159]
 [0.14130252]
 [0.03033489]]

 R_gt:
[[ 0.99718381 -0.04838974 -0.0573121 ]
 [ 0.0432586   0.99521394 -0.0876191 ]
 [ 0.06127846  0.08489312  0.9945051 ]]

 t_gt:
[ 0.29027087 -0.13453212 -0.94744073]

Pose Error in degrees for R and t:
178.5512433198399 76.14454688260221

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.63194084e-01  2.68806898e-01 -9.15685779e-05]
 [-2.68806913e-01  9.63194043e-01 -2.79909477e-04]
 [ 1.29567106e-05  2.94221419e-04  9.99999957e-01]]

 t_estimated:
[[-0.4038536 ]
 [-0.91482248]
 [-0.0014475 ]]

 R_gt:
[[ 0.98436559 -0.17046052 -0.0443684 ]
 [ 0.15971925  0.97001587 -0.18319175]
 [ 0.0742656   0.1732409   0.98207619]]

 t_gt:
[ 0.45576669 -0.36560308 -0.81154859]

Pose Error in degrees for R and t:
27.38464037188636 81.28186851652003

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.58056287e-01  2.86580022e-01 -2.03161784e-04]
 [-2.86580078e-01  9.58056232e-01 -3.40162829e-04]
 [ 9.71565416e-05  3.84117257e-04  9.99999922e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98512158 -0.1563394  -0.07136814]
 [ 0.14062706  0.97201524 -0.18817631]
 [ 0.09879053  0.1753393   0.97953952]]

 t_gt:
[ 0.4019978  -0.22005173 -0.88880538]

Pose Error in degrees for R and t:
27.770779886272187 77.38116691729928

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.98922672  0.1463287  -0.004291  ]
 [-0.14629654  0.98921572  0.00704096]
 [ 0.00527502 -0.00633735  0.99996601]]

 t_estimated:
[[-0.98820488]
 [-0.15312724]
 [-0.00178055]]

 R_gt:
[[ 0.99614291  0.0652114  -0.0587237 ]
 [-0.06444634  0.99781087  0.01482375]
 [ 0.05956197 -0.01098203  0.99816402]]

 t_gt:
[-0.16365819  0.8542929  -0.49335548]

Pose Error in degrees for R and t:
5.644624230950566 88.17821738024436

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 8.60857842e-01 -5.08844826e-01 -8.47915984e-04]
 [ 5.08845194e-01  8.60857996e-01  2.81389327e-04]
 [ 5.86751751e-04 -6.73694182e-04  9.99999601e-01]]

 t_estimated:
[[9.99999892e-01]
 [3.40876177e-04]
 [3.14443378e-04]]

 R_gt:
[[ 0.97970989  0.17150746 -0.10369745]
 [-0.17191362  0.98509922  0.00508562]
 [ 0.10302455  0.01284505  0.99459585]]

 t_gt:
[-0.23597928  0.89442446 -0.37989295]

Pose Error in degrees for R and t:
40.912991181245836 76.3615796127986

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 7.97703715e-01 -6.03048924e-01  8.82876426e-04]
 [-6.03049340e-01 -7.97703835e-01  2.93909940e-04]
 [ 5.27031837e-04 -7.66871096e-04 -9.99999567e-01]]

 t_estimated:
[[0.39679773]
 [0.91790553]
 [0.00099448]]

 R_gt:
[[ 0.97730334  0.14189481 -0.15730618]
 [-0.13829203  0.9898192   0.03367561]
 [ 0.16048437 -0.01115707  0.98697571]]

 t_gt:
[-0.00554326  0.86629555 -0.49950104]

Pose Error in degrees for R and t:
178.34707753711567 37.58200989287067

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99776592e-01 -2.11365472e-02 -1.15638055e-04]
 [ 2.11365436e-02  9.99776598e-01 -3.24243618e-05]
 [ 1.16297560e-04  2.99729291e-05  9.99999993e-01]]

 t_estimated:
[[ 0.15505593]
 [-0.98790491]
 [-0.00124321]]

 R_gt:
[[ 0.99852549  0.04585828  0.02905283]
 [-0.04653813  0.99864727  0.02317219]
 [-0.0279502  -0.02448983  0.99930824]]

 t_gt:
[-0.63320826  0.50035333  0.59050305]

Pose Error in degrees for R and t:
4.411830236673951 53.614275359108746

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.98991969e-01 -4.48892614e-02  9.03996437e-06]
 [ 4.48892616e-02  9.98991969e-01 -2.03712126e-05]
 [-8.11640311e-06  2.07564751e-05  1.00000000e+00]]

 t_estimated:
[[ 8.30176785e-01]
 [-5.57500173e-01]
 [-2.52647134e-04]]

 R_gt:
[[ 0.99683589 -0.06827344  0.04069781]
 [ 0.0669896   0.99723559  0.03212831]
 [-0.04277871 -0.0293006   0.99865484]]

 t_gt:
[ 0.68990496 -0.4421741   0.57316072]

Pose Error in degrees for R and t:
3.2478761412896264 35.00415829942687

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99666803e-01  2.58118558e-02  1.73440761e-04]
 [-2.58118311e-02  9.99666809e-01 -1.42964594e-04]
 [-1.77073153e-04  1.38440135e-04  9.99999975e-01]]

 t_estimated:
[[-0.60146987]
 [-0.79889432]
 [-0.00136583]]

 R_gt:
[[ 0.98224993 -0.18522144  0.02962889]
 [ 0.18410079  0.98221297  0.03692616]
 [-0.03594042 -0.03081657  0.99887855]]

 t_gt:
[ 0.80378754 -0.55053945  0.22545932]

Pose Error in degrees for R and t:
12.425136862860194 87.48166493548929

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-0.74413041 -0.66794635  0.01084407]
 [-0.66789925  0.74420835  0.00803288]
 [-0.01343578 -0.00126524 -0.99990894]]

 t_estimated:
[[0.92848604]
 [0.37125356]
 [0.00919018]]

 R_gt:
[[ 9.98181055e-01  6.02745928e-02  9.56337962e-04]
 [-6.02666762e-02  9.98159542e-01 -6.72914213e-03]
 [-1.36023694e-03  6.65988871e-03  9.99977081e-01]]

 t_gt:
[-0.957005    0.27433183 -0.09425224]

Pose Error in degrees for R and t:
179.33723781169928 38.03957559350278

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99335536e-01 -3.64479265e-02 -1.89325284e-04]
 [ 3.64478824e-02  9.99335528e-01 -2.31538191e-04]
 [ 1.97638570e-04  2.24483836e-04  9.99999955e-01]]

 t_estimated:
[[-9.89496169e-01]
 [-1.44555773e-01]
 [-9.79528606e-04]]

 R_gt:
[[ 0.99462221  0.10338629 -0.00612467]
 [-0.10335847  0.99463327  0.00458623]
 [ 0.00656647 -0.00392792  0.99997093]]

 t_gt:
[-9.74477658e-01  2.24483550e-01  6.54795017e-04]

Pose Error in degrees for R and t:
8.034193164471203 21.284276966457433

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.99731508  0.01244819  0.07216422]
 [ 0.00325321  0.97694198 -0.21348017]
 [-0.0731577   0.21314176  0.97427847]]

 t_estimated:
[[-0.77070808]
 [-0.60371927]
 [-0.20379426]]

 R_gt:
[[ 9.96286065e-01  7.37140900e-02  4.44947890e-02]
 [-7.36199023e-02  9.97279105e-01 -3.73522335e-03]
 [-4.46484455e-02  4.46331792e-04  9.99001961e-01]]

 t_gt:
[-0.98663779  0.14468157  0.07492072]

Pose Error in degrees for R and t:
12.935036475977993 48.86813422132441

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999990e-01  2.47617933e-05 -1.40730336e-04]
 [-2.47386574e-05  9.99999986e-01  1.64397876e-04]
 [ 1.40734405e-04 -1.64394393e-04  9.99999977e-01]]

 t_estimated:
[[-9.96497205e-01]
 [ 8.36257954e-02]
 [ 2.16831286e-04]]

 R_gt:
[[ 0.98664053  0.16285766  0.00424539]
 [-0.16276798  0.98652902 -0.01637328]
 [-0.00685436  0.01546393  0.99985684]]

 t_gt:
[-0.57791804  0.81353567 -0.0645791 ]

Pose Error in degrees for R and t:
9.420449078228156 49.91582965907417

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.07361615e-01 -4.20347418e-01 -1.71677586e-03]
 [ 4.20348311e-01  9.07362807e-01  1.80624938e-04]
 [ 1.48181333e-03 -8.85535968e-04  9.99998510e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.92519701  0.37931303 -0.0114879 ]
 [-0.37940899  0.92519665 -0.00779845]
 [ 0.00767038  0.01157394  0.99990359]]

 t_gt:
[-0.52288723  0.85055164 -0.05613239]

Pose Error in degrees for R and t:
47.1574655093204 84.8717546171117

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-8.61925339e-03  9.99962837e-01  1.79858299e-04]
 [-9.99962001e-01 -8.61901099e-03 -1.30761110e-03]
 [-1.30601231e-03 -1.91122096e-04  9.99999129e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.85806025  0.51121085 -0.04895818]
 [-0.51291316  0.85783665 -0.03217863]
 [ 0.0255476   0.0527233   0.99828262]]

 t_gt:
[-0.43980637  0.88987561 -0.12120954]

Pose Error in degrees for R and t:
59.74934986205166 27.502732470745098

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999863e-01  4.97095459e-04  1.62714601e-04]
 [-4.97078059e-04  9.99999871e-01 -1.06963632e-04]
 [-1.62767751e-04  1.06882736e-04  9.99999981e-01]]

 t_estimated:
[[ 0.99904199]
 [-0.04374315]
 [-0.00128332]]

 R_gt:
[[ 0.99534698 -0.09631728  0.00240206]
 [ 0.09632444  0.99534683 -0.00254938]
 [-0.0021459   0.00276796  0.99999427]]

 t_gt:
[ 0.5667252  -0.82131816  0.06526126]

Pose Error in degrees for R and t:
5.559179850637022 52.98489444718855

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999730e-01  7.30344133e-04  8.34612054e-05]
 [-7.30347707e-04  9.99999732e-01  4.28006691e-05]
 [-8.34299239e-05 -4.28616133e-05  9.99999996e-01]]

 t_estimated:
[[9.99999444e-01]
 [9.07178881e-04]
 [5.38350920e-04]]

 R_gt:
[[ 9.84245278e-01 -1.73908200e-01 -3.18760213e-02]
 [ 1.73827303e-01  9.84761215e-01 -5.33562674e-03]
 [ 3.23175522e-02 -2.89549960e-04  9.99477551e-01]]

 t_gt:
[ 0.64525581 -0.74878471 -0.15154667]

Pose Error in degrees for R and t:
10.227020653436231 49.87220842224634

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.28188830e-01  3.72108748e-01  7.58456294e-04]
 [-3.72108379e-01  9.28189104e-01 -5.84926945e-04]
 [-9.21647300e-04  2.60694714e-04  9.99999541e-01]]

 t_estimated:
[[-0.70491358]
 [ 0.70929254]
 [ 0.00097271]]

 R_gt:
[[ 0.9704145  -0.24088144 -0.01647139]
 [ 0.23873308  0.9674763  -0.08364567]
 [ 0.03608317  0.0772389   0.99635998]]

 t_gt:
[ 0.60597214 -0.68938406 -0.39692239]

Pose Error in degrees for R and t:
36.0677386639741 23.57761860993315

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999976e-01 -2.18141283e-04 -1.20667281e-05]
 [ 2.18141723e-04  9.99999976e-01  3.64854478e-05]
 [ 1.20587688e-05 -3.64880792e-05  9.99999999e-01]]

 t_estimated:
[[1.97744331e-03]
 [9.99997991e-01]
 [3.28522022e-04]]

 R_gt:
[[ 0.99770782  0.01304727 -0.06640409]
 [-0.01353957  0.99988443 -0.00697273]
 [ 0.06630499  0.00785648  0.99776804]]

 t_gt:
[ 0.10906378  0.17852664 -0.97787184]

Pose Error in degrees for R and t:
3.9054959365787743 79.72221677594861

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.46882415 -0.88329036 -0.00143651]
 [-0.88328915  0.4688185   0.00308178]
 [-0.00204864  0.00271366 -0.99999422]]

 t_estimated:
[[0.84689936]
 [0.5317524 ]
 [0.00092964]]

 R_gt:
[[ 0.99566732 -0.01516785 -0.09175087]
 [ 0.01232543  0.9994299  -0.03146247]
 [ 0.09217572  0.03019613  0.9952843 ]]

 t_gt:
[ 0.34571592 -0.04254374 -0.93737428]

Pose Error in degrees for R and t:
174.58712081117875 74.377833027682

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.1175135  -0.95138687 -0.28469913]
 [-0.99269963  0.10469606  0.05988478]
 [-0.02716672  0.28965799 -0.95674459]]

 t_estimated:
[[0.72608257]
 [0.6876064 ]
 [0.00124117]]

 R_gt:
[[ 0.98916089 -0.13716488  0.05241548]
 [ 0.13878952  0.98990669 -0.02869898]
 [-0.04794968  0.03566238  0.99821285]]

 t_gt:
[ 0.70603835 -0.70740558 -0.03297262]

Pose Error in degrees for R and t:
171.87483515511119 88.49956049625425

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99999415e-01 -3.38932359e-05  1.08073518e-03]
 [ 3.52741303e-05  9.99999183e-01 -1.27774267e-03]
 [-1.08069099e-03  1.27778005e-03  9.99998600e-01]]

 t_estimated:
[[ 0.04552212]
 [-0.99893412]
 [-0.00763974]]

 R_gt:
[[ 0.98847505 -0.14899134 -0.02680682]
 [ 0.14912561  0.98881361  0.00307794]
 [ 0.02604867 -0.00704064  0.99963559]]

 t_gt:
[ 0.57165686 -0.82012094 -0.02469967]

Pose Error in degrees for R and t:
8.723841567203044 32.278904106855435

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.63116725e-01  2.69083933e-01  1.01593318e-04]
 [-2.69083948e-01  9.63116706e-01  1.96625781e-04]
 [-4.49373830e-05 -2.16710710e-04  9.99999976e-01]]

 t_estimated:
[[4.78890646e-01]
 [8.77874262e-01]
 [7.27378361e-04]]

 R_gt:
[[ 0.9748868  -0.22047287 -0.03141794]
 [ 0.22140082  0.97472318  0.02993239]
 [ 0.02402548 -0.0361372   0.99905781]]

 t_gt:
[ 0.58361034 -0.80705888  0.08974933]

Pose Error in degrees for R and t:
28.485956343269976 64.59934857062842

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-9.99353017e-01 -3.59614181e-02  5.68962491e-04]
 [-3.59599016e-02  9.99350150e-01  2.48249843e-03]
 [-6.57866914e-04  2.46043246e-03 -9.99996757e-01]]

 t_estimated:
[[9.98878348e-01]
 [4.73438844e-02]
 [7.76129253e-04]]

 R_gt:
[[ 0.95652456 -0.2780666  -0.0879796 ]
 [ 0.28396398  0.95673221  0.06346562]
 [ 0.06652565 -0.08568996  0.99409819]]

 t_gt:
[ 0.62881669 -0.76374205  0.1459029 ]

Pose Error in degrees for R and t:
175.6538871980869 53.69623781721877

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 7.76834638e-01 -6.29703890e-01 -9.77217683e-04]
 [ 6.29704624e-01  7.76833242e-01  1.48329494e-03]
 [-1.74901414e-04 -1.76763338e-03  9.99998422e-01]]

 t_estimated:
[[ 7.40574127e-02]
 [-9.97253861e-01]
 [ 4.86430058e-04]]

 R_gt:
[[ 0.9936763   0.1110099   0.01685985]
 [-0.11145584  0.99336594  0.02832328]
 [-0.01360351 -0.03002413  0.99945688]]

 t_gt:
[-0.85201043  0.43130691  0.29673655]

Pose Error in degrees for R and t:
45.45049558477563 60.45705194065921

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.40462859e-01 -3.39896471e-01  1.90556606e-05]
 [ 3.39895542e-01  9.40460155e-01 -2.39112115e-03]
 [ 7.94812552e-04  2.25523757e-03  9.99997141e-01]]

 t_estimated:
[[-0.56387689]
 [-0.82585509]
 [-0.00249503]]

 R_gt:
[[ 0.93621871  0.34982639  0.03340102]
 [-0.35045033  0.93646238  0.01492492]
 [-0.02605789 -0.02567888  0.99933064]]

 t_gt:
[-0.84905523  0.5214965   0.08453767]

Pose Error in degrees for R and t:
40.43089959558093 87.25613603082738

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.53198914 -0.84671822 -0.00747104]
 [ 0.846748   -0.5319906  -0.00195549]
 [-0.00231878 -0.00736639  0.99997018]]

 t_estimated:
[[ 0.97267509]
 [-0.2321089 ]
 [ 0.00535003]]

 R_gt:
[[ 0.87641827  0.47800364  0.05833868]
 [-0.47933618  0.87756745  0.0106096 ]
 [-0.04612498 -0.03726255  0.9982408 ]]

 t_gt:
[-0.81978232  0.56503256  0.09324776]

Pose Error in degrees for R and t:
150.78438047670264 21.869902627827347

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[-0.23008837 -0.79307473  0.56399629]
 [-0.96957143  0.13702331 -0.20286904]
 [ 0.08360967 -0.5935125  -0.80047007]]

 t_estimated:
[[0.77135632]
 [0.61743619]
 [0.1542141 ]]

 R_gt:
[[ 0.99601544 -0.08369874 -0.03078556]
 [ 0.08281039  0.99614221 -0.02903916]
 [ 0.03309765  0.02637383  0.99910371]]

 t_gt:
[ 0.59007864 -0.61648717 -0.52129719]

Pose Error in degrees for R and t:
164.87287918260648 89.66355869236324

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 7.22097602e-01 -6.91791050e-01 -4.43728257e-04]
 [ 6.91791156e-01  7.22097206e-01  7.88475280e-04]
 [-2.25045207e-04 -8.76323393e-04  9.99999591e-01]]

 t_estimated:
[[ 0.98263144]
 [-0.18556529]
 [ 0.00098687]]

 R_gt:
[[ 0.98621367 -0.16487483 -0.01412402]
 [ 0.16290906  0.98233984 -0.09202474]
 [ 0.02904664  0.0884546   0.99565674]]

 t_gt:
[ 0.5582564  -0.63103837 -0.53864679]

Pose Error in degrees for R and t:
34.72700111451822 48.30788975141108

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-9.79156997e-01  2.03096676e-01  1.82077147e-03]
 [-2.03103436e-01 -9.79144204e-01 -5.06182277e-03]
 [ 7.54758452e-04 -5.32612413e-03  9.99985531e-01]]

 t_estimated:
[[0.71335948]
 [0.70079666]
 [0.00151342]]

 R_gt:
[[ 0.9703644  -0.24066848 -0.0217356 ]
 [ 0.23724806  0.96592349 -0.1034711 ]
 [ 0.04589739  0.09524859  0.99439487]]

 t_gt:
[ 0.59377209 -0.67400894 -0.43948454]

Pose Error in degrees for R and t:
177.84868845445666 87.16640556820687

Number of keypoints:
Image1: 318
Image2: 318

 R_estimated:
[[ 9.95580649e-01  9.39104219e-02  6.80426649e-05]
 [-9.39103776e-02  9.95580535e-01 -4.90156016e-04]
 [-1.13772711e-04  4.81599932e-04  9.99999878e-01]]

 t_estimated:
[[0.82514222]
 [0.56492443]
 [0.00083941]]

 R_gt:
[[ 0.99934516 -0.00300175 -0.03605235]
 [ 0.00331965  0.99995612  0.0087151 ]
 [ 0.03602462 -0.00882909  0.9993116 ]]

 t_gt:
[-0.16414073 -0.26693803 -0.94963251]

Pose Error in degrees for R and t:
5.965776969377186 73.31938805218229

Number of keypoints:
Image1: 383
Image2: 383

 R_estimated:
[[ 9.99999335e-01  1.13636101e-03 -1.95184210e-04]
 [-1.13620783e-03  9.99999048e-01  7.83107291e-04]
 [ 1.96073916e-04 -7.82885001e-04  9.99999674e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.99951638 -0.0142942   0.02762512]
 [ 0.01423613  0.99989588  0.00230381]
 [-0.02765626 -0.0019098   0.99961596]]

 t_gt:
[-0.69150997 -0.25012155  0.6776822 ]

Pose Error in degrees for R and t:
1.8242679954472958 42.93903991009237

Number of keypoints:
Image1: 570
Image2: 570

 R_estimated:
[[ 9.86389828e-01 -1.64423548e-01 -5.98169132e-05]
 [ 1.64423556e-01  9.86389812e-01  1.79986962e-04]
 [ 2.94086989e-05 -1.87372618e-04  9.99999982e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99886799  0.01452608  0.04528602]
 [-0.01359692  0.99969231 -0.02073788]
 [-0.04557458  0.02009797  0.99875837]]

 t_gt:
[-0.91620073  0.20442831  0.34465243]

Pose Error in degrees for R and t:
10.660324541387398 80.76142183771421

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 9.73697233e-01  2.27845763e-01  8.15650609e-05]
 [-2.27845721e-01  9.73697180e-01 -3.60433603e-04]
 [-1.61542939e-04  3.32368952e-04  9.99999932e-01]]

 t_estimated:
[[-5.27918425e-01]
 [ 8.49294944e-01]
 [-4.83520014e-04]]

 R_gt:
[[ 0.99855821 -0.05023222  0.01894519]
 [ 0.05101509  0.99775481 -0.04340036]
 [-0.01672212  0.04430475  0.99887799]]

 t_gt:
[ 0.69222362  0.40885244 -0.59469837]

Pose Error in degrees for R and t:
16.296161920767336 88.97356309237954

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-2.37156687e-01  9.71469170e-01  2.08724688e-03]
 [ 9.71471188e-01  2.37154623e-01  1.19009015e-03]
 [ 6.61135646e-04  2.30993805e-03 -9.99997114e-01]]

 t_estimated:
[[0.79482723]
 [0.60683501]
 [0.00097405]]

 R_gt:
[[ 0.99076495 -0.11688942  0.06873403]
 [ 0.11911529  0.99245134 -0.02920837]
 [-0.06480016  0.03712649  0.99720749]]

 t_gt:
[ 0.94868321 -0.01120744  0.31602938]

Pose Error in degrees for R and t:
175.74695688958826 41.62174936237906

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-3.00558283e-02  9.99548183e-01 -2.77547162e-04]
 [-9.99546234e-01 -3.00563211e-02 -1.98578945e-03]
 [-1.99323428e-03  2.17736674e-04  9.99997990e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97746503 -0.18078506  0.10899328]
 [ 0.18479219  0.98238591 -0.02777353]
 [-0.10205261  0.0472895   0.99365486]]

 t_gt:
[ 0.94290095 -0.01322407  0.33281064]

Pose Error in degrees for R and t:
102.42801399990019 89.59909296414597

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.85607864  0.51673614  0.01063583]
 [ 0.51614631 -0.85580946  0.03439713]
 [ 0.02687649 -0.02395701 -0.99935165]]

 t_estimated:
[[0.89022807]
 [0.45551389]
 [0.00103999]]

 R_gt:
[[ 0.99117916 -0.13224786 -0.0086377 ]
 [ 0.13229167  0.99119983  0.00469718]
 [ 0.00794046 -0.00579824  0.99995114]]

 t_gt:
[ 0.66018045 -0.75091844  0.01683082]

Pose Error in degrees for R and t:
177.9238020522466 75.77827920119164

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.97780682e-01 -6.65851666e-02  3.55501846e-04]
 [ 6.65851248e-02  9.97780740e-01  1.28328440e-04]
 [-3.63257665e-04 -1.04372504e-04  9.99999929e-01]]

 t_estimated:
[[0.96120038]
 [0.27584745]
 [0.00142189]]

 R_gt:
[[ 0.98924917 -0.14612958 -0.00553337]
 [ 0.14619531  0.98915158  0.01437891]
 [ 0.00337243 -0.0150334   0.9998804 ]]

 t_gt:
[ 0.6689708  -0.74074652  0.06142201]

Pose Error in degrees for R and t:
4.671813965846344 63.974616742684866

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.14649576  0.98919462 -0.00574378]
 [-0.9892103  -0.14648488  0.00227246]
 [ 0.00140652  0.00601471  0.99998092]]

 t_estimated:
[[0.80252671]
 [0.59661525]
 [0.00105596]]

 R_gt:
[[ 0.99607713 -0.06977885 -0.05442085]
 [ 0.07246268  0.99616633  0.049014  ]
 [ 0.05079204 -0.05276513  0.99731418]]

 t_gt:
[ 0.70904701 -0.70515767 -0.00223483]

Pose Error in degrees for R and t:
102.56449503522664 81.47047818093506

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.91220882  0.40971726  0.00261603]
 [ 0.40970609  0.91220909 -0.00393728]
 [-0.00399954 -0.00251982 -0.99998883]]

 t_estimated:
[[0.93509133]
 [0.35440294]
 [0.00166386]]

 R_gt:
[[ 0.99970798  0.01910567 -0.01482394]
 [-0.02059763  0.993937   -0.10801213]
 [ 0.0126705   0.10828564  0.99403949]]

 t_gt:
[-0.07966507  0.4579953  -0.88537776]

Pose Error in degrees for R and t:
179.27651074350874 85.04647721332809

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.99998072 -0.00268342  0.00559987]
 [ 0.00272264  0.99997173 -0.00700886]
 [-0.0055809   0.00702397  0.99995976]]

 t_estimated:
[[9.80098392e-01]
 [1.98510794e-01]
 [7.78473703e-04]]

 R_gt:
[[ 0.99758519 -0.00694271 -0.06911478]
 [-0.00679757  0.98046089 -0.19659779]
 [ 0.06912891  0.19659237  0.97804533]]

 t_gt:
[ 0.07713181  0.29719356 -0.95169673]

Pose Error in degrees for R and t:
11.764025506922296 82.30775715547212

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.99958204 -0.02717706  0.00985704]
 [ 0.02725606  0.9995967  -0.00797113]
 [-0.00963643  0.00823646  0.99991965]]

 t_estimated:
[[0.99836798]
 [0.0570496 ]
 [0.00259316]]

 R_gt:
[[ 0.98928387 -0.14239069 -0.03230736]
 [ 0.12703758  0.94847444 -0.29027413]
 [ 0.07197553  0.28305838  0.95639851]]

 t_gt:
[ 0.31115576 -0.07095156 -0.94770669]

Pose Error in degrees for R and t:
17.800875605578238 72.29340999454584

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.4191822   0.9078358  -0.01097451]
 [-0.90790038 -0.4191745   0.00310342]
 [-0.00178284  0.01126466  0.99993496]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.99405224  0.10023762 -0.0426019 ]
 [-0.10110337  0.99470132 -0.01866641]
 [ 0.04050523  0.02286283  0.99891795]]

 t_gt:
[-0.30234999  0.89923772 -0.3161582 ]

Pose Error in degrees for R and t:
109.00809330258447 75.12997714383823

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.98785992 -0.153214   -0.02565643]
 [ 0.15419365  0.98714907  0.04196477]
 [ 0.01889713 -0.04541137  0.99878962]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.99212204  0.05694145 -0.11159257]
 [-0.05536969  0.99831935  0.0171317 ]
 [ 0.11238132 -0.01081837  0.99360669]]

 t_gt:
[ 0.17451746  0.79176687 -0.58536218]

Pose Error in degrees for R and t:
13.231461966446098 60.588583123009634

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.97259630e-01  7.39808242e-02  2.59623212e-04]
 [-7.39804452e-02  9.97258909e-01 -1.24992140e-03]
 [-3.51381777e-04  1.22728911e-03  9.99999185e-01]]

 t_estimated:
[[-0.77740391]
 [-0.62899887]
 [-0.00189125]]

 R_gt:
[[ 0.98249333  0.08418912 -0.16619311]
 [-0.08355603  0.99644539  0.01081375]
 [ 0.16651235  0.00326213  0.98603368]]

 t_gt:
[ 0.24498105  0.71517606 -0.65460483]

Pose Error in degrees for R and t:
9.624961854953405 50.27852580211978

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 6.95932625e-01  7.18106726e-01  7.14607550e-04]
 [-7.18106063e-01  6.95932970e-01 -9.91850377e-04]
 [-1.20957338e-03  1.77097022e-04  9.99999253e-01]]

 t_estimated:
[[0.00661099]
 [0.99997735]
 [0.00126085]]

 R_gt:
[[ 0.99091113  0.12269615 -0.05513951]
 [-0.12363905  0.99222896 -0.01402176]
 [ 0.05298976  0.02071148  0.99838042]]

 t_gt:
[-0.33758876  0.88437398 -0.32236082]

Pose Error in degrees for R and t:
38.95313700922066 28.14997437563517

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.12841222  0.99170792  0.00507039]
 [-0.99171508 -0.12842728  0.00276449]
 [ 0.00339274 -0.00467339  0.99998332]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.98523035  0.14180715 -0.09597809]
 [-0.1416263   0.98988187  0.0087175 ]
 [ 0.09624288  0.00500442  0.99534547]]

 t_gt:
[-0.19729494  0.90937262 -0.3662187 ]

Pose Error in degrees for R and t:
89.35225078972486 40.11120407548213

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.83367624  0.36663187  0.41299516]
 [ 0.36983831  0.18472529 -0.91054719]
 [-0.41012627  0.91184299  0.01840658]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.97945042  0.13089164 -0.15344178]
 [-0.12596757  0.99116954  0.04142557]
 [ 0.15750921 -0.02124552  0.98728929]]

 t_gt:
[ 0.02296004  0.86691436 -0.49792803]

Pose Error in degrees for R and t:
94.75669297352368 61.578565530833494

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[ 9.99523994e-01 -3.08507639e-02 -1.29073714e-04]
 [ 3.08507632e-02  9.99524002e-01 -7.43675643e-06]
 [ 1.29241704e-04  3.45119391e-06  9.99999992e-01]]

 t_estimated:
[[-0.96634001]
 [-0.25726501]
 [-0.0013025 ]]

 R_gt:
[[ 0.99246617  0.12247922  0.00312825]
 [-0.12243669  0.9924118  -0.01134403]
 [-0.00449373  0.01087576  0.99993076]]

 t_gt:
[-0.6905294   0.723116   -0.01650469]

Pose Error in degrees for R and t:
8.82796084551247 61.23127687576891

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99997312e-01  2.31547595e-03 -1.20750217e-04]
 [-2.31545724e-03  9.99997307e-01  1.54899125e-04]
 [ 1.21108557e-04 -1.54619116e-04  9.99999981e-01]]

 t_estimated:
[[-0.31461097]
 [-0.94922009]
 [-0.00107743]]

 R_gt:
[[ 0.98933241  0.14049785 -0.03849051]
 [-0.1411605   0.98987228 -0.01506554]
 [ 0.03598425  0.0203384   0.99914548]]

 t_gt:
[-0.65920301  0.69161172 -0.29516882]

Pose Error in degrees for R and t:
8.310123287079708 63.33448543206309

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[-7.07418872e-02  9.97494597e-01  3.36960996e-04]
 [-9.97491146e-01 -7.07407383e-02 -2.67624873e-03]
 [-2.64570678e-03 -5.25438496e-04  9.99996362e-01]]

 t_estimated:
[[0.03922781]
 [0.99922862]
 [0.00182676]]

 R_gt:
[[ 0.99420978  0.10695113 -0.01041568]
 [-0.10701263  0.9942424  -0.00559001]
 [ 0.00975845  0.00667205  0.99992972]]

 t_gt:
[-0.80072839  0.58972394 -0.10516518]

Pose Error in degrees for R and t:
87.91770466175053 56.10545339967286

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99858671e-01 -1.68117499e-02  5.51483660e-05]
 [ 1.68117418e-02  9.99858662e-01  1.44281670e-04]
 [-5.75661988e-05 -1.43334138e-04  9.99999988e-01]]

 t_estimated:
[[0.78319462]
 [0.62177529]
 [0.0012899 ]]

 R_gt:
[[ 0.99757436 -0.0677965   0.01575845]
 [ 0.06739447  0.99741888  0.02476526]
 [-0.01739728 -0.02364207  0.99956889]]

 t_gt:
[ 0.57036782 -0.76035179  0.31071804]

Pose Error in degrees for R and t:
3.3600934431411433 88.5297347221532

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.95936619e-01 -9.00566743e-02  2.13990460e-04]
 [ 9.00567293e-02  9.95936603e-01 -2.63030734e-04]
 [-1.89433258e-04  2.81233221e-04  9.99999943e-01]]

 t_estimated:
[[-0.50361248]
 [-0.86392904]
 [-0.00103838]]

 R_gt:
[[ 9.99214530e-01 -3.95903578e-02 -1.99656206e-03]
 [ 3.96404586e-02  9.97686197e-01  5.52367653e-02]
 [-1.95215657e-04 -5.52717310e-02  9.98471037e-01]]

 t_gt:
[ 0.59807582 -0.70681295  0.37778403]

Pose Error in degrees for R and t:
4.303033594750077 71.99828234182067

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-9.95109133e-01  9.87288632e-02 -3.22879627e-03]
 [-9.87293202e-02 -9.95114326e-01 -1.79246822e-05]
 [-3.21479110e-03  3.00939845e-04  9.99994787e-01]]

 t_estimated:
[[0.88137783]
 [0.47240908]
 [0.00166724]]

 R_gt:
[[ 0.99472398  0.04735799 -0.09101475]
 [-0.04339099  0.99804064  0.04507966]
 [ 0.09297011 -0.04089185  0.99482812]]

 t_gt:
[ 0.6881731  -0.06824903 -0.72232947]

Pose Error in degrees for R and t:
171.74128151771765 55.03368453058279

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.99908041 -0.04284777 -0.00154877]
 [-0.04285282  0.99907563  0.00339325]
 [ 0.00140194  0.0034565  -0.99999304]]

 t_estimated:
[[9.86807188e-01]
 [1.61898054e-01]
 [7.70943115e-04]]

 R_gt:
[[ 0.96767681  0.2507021   0.02741673]
 [-0.2503542   0.96802971 -0.01551719]
 [-0.03043044  0.00815189  0.99950288]]

 t_gt:
[-8.84629791e-01  4.66293573e-01 -6.61056452e-04]

Pose Error in degrees for R and t:
178.45319236779721 37.11105536323004

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.00322779e-01 -4.35222501e-01 -5.17528006e-04]
 [ 4.35219801e-01  9.00320341e-01 -2.64754507e-03]
 [ 1.61821218e-03  2.15840670e-03  9.99996361e-01]]

 t_estimated:
[[-0.28696376]
 [-0.95793322]
 [-0.00396779]]

 R_gt:
[[ 9.47498670e-01  3.18081927e-01  3.27402894e-02]
 [-3.17912974e-01  9.48063002e-01 -1.03829857e-02]
 [-3.43426563e-02 -5.70838596e-04  9.99409709e-01]]

 t_gt:
[-0.87797801  0.47813779  0.0232133 ]

Pose Error in degrees for R and t:
44.39053839682065 78.10210062985905

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999965e-01  2.63148125e-04  1.98778861e-05]
 [-2.63149069e-04  9.99999964e-01  4.75235126e-05]
 [-1.98653796e-05 -4.75287418e-05  9.99999999e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.92274329  0.38465836  0.02418419]
 [-0.38411665  0.92296662 -0.02425534]
 [-0.0316512   0.01309172  0.99941348]]

 t_gt:
[-0.8741728   0.48543621 -0.01317614]

Pose Error in degrees for R and t:
22.68152429015173 65.76556706840353

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 9.99369972e-01  3.54916390e-02  5.92351832e-05]
 [-3.54916414e-02  9.99369972e-01  4.03033841e-05]
 [-5.77674303e-05 -4.23803457e-05  9.99999997e-01]]

 t_estimated:
[[9.04676967e-01]
 [4.26097477e-01]
 [7.24749268e-04]]

 R_gt:
[[ 0.99664271 -0.07696915 -0.02792201]
 [ 0.07773024  0.99660206  0.02726349]
 [ 0.02572908 -0.02934138  0.99923776]]

 t_gt:
[ 0.57082888 -0.81867406  0.06266716]

Pose Error in degrees for R and t:
6.847166465488511 80.35017004699921

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[-0.21410405 -0.97680646 -0.00293246]
 [-0.97680802  0.21409521  0.00305593]
 [-0.00235723  0.00351874 -0.99999103]]

 t_estimated:
[[8.15128799e-01]
 [5.79279350e-01]
 [6.89618273e-04]]

 R_gt:
[[ 0.98810224 -0.15120324 -0.02813478]
 [ 0.14974984  0.98755157 -0.04812868]
 [ 0.03506207  0.04334301  0.99844421]]

 t_gt:
[ 0.58142589 -0.68169998 -0.44410479]

Pose Error in degrees for R and t:
176.9339753188621 85.48408489166086

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-8.89573829e-01 -4.56791346e-01 -2.62553883e-04]
 [ 4.56779297e-01 -8.89545883e-01 -7.79718579e-03]
 [ 3.32813327e-03 -7.05610160e-03  9.99969567e-01]]

 t_estimated:
[[0.8912054 ]
 [0.45359557]
 [0.00199822]]

 R_gt:
[[ 0.97255156 -0.23250884 -0.009053  ]
 [ 0.23063212  0.96839558 -0.09497012]
 [ 0.0308485   0.09027614  0.99543865]]

 t_gt:
[ 0.58290263 -0.6919067  -0.42601601]

Pose Error in degrees for R and t:
139.4384537623514 78.1828595043538

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.98364222e-01 -5.71741186e-02  7.41353506e-06]
 [ 5.71741179e-02  9.98364219e-01  7.53829509e-05]
 [-1.17113619e-05 -7.48357788e-05  9.99999997e-01]]

 t_estimated:
[[9.68680677e-01]
 [2.48309263e-01]
 [5.04936437e-04]]

 R_gt:
[[ 0.99293228 -0.11811055 -0.01161077]
 [ 0.11843131  0.99243076  0.03246696]
 [ 0.00768889 -0.03361241  0.99940546]]

 t_gt:
[ 0.62649104 -0.74569195  0.22683141]

Pose Error in degrees for R and t:
4.032050423770377 65.0503233861372

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-0.01955391  0.99979903 -0.00442009]
 [-0.99979495 -0.01957672 -0.00517726]
 [-0.00526275  0.00431794  0.99997683]]

 t_estimated:
[[0.01265721]
 [0.99991934]
 [0.00105477]]

 R_gt:
[[ 0.98797538 -0.12791157 -0.08685037]
 [ 0.13322561  0.98936345  0.05840719]
 [ 0.07845628 -0.06927538  0.9945077 ]]

 t_gt:
[ 0.64907667 -0.73956787  0.17815398]

Pose Error in degrees for R and t:
98.79842381266488 43.020905657141256

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99742817e-01  2.26781813e-02  1.09213243e-05]
 [-2.26780240e-02  9.99733845e-01  4.23638716e-03]
 [ 8.51551384e-05 -4.23554531e-03  9.99991026e-01]]

 t_estimated:
[[-0.99759434]
 [ 0.06892294]
 [ 0.00742723]]

 R_gt:
[[ 0.99052542 -0.02151523 -0.13562779]
 [ 0.04368929  0.98570739  0.16270233]
 [ 0.13018948 -0.16708528  0.97730892]]

 t_gt:
[ 0.33959911 -0.69977757  0.62847737]

Pose Error in degrees for R and t:
12.453362152288431 67.52098497511263

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-3.65077750e-01 -9.30971949e-01 -3.07660887e-03]
 [ 9.30975079e-01 -3.65081762e-01  8.42534184e-04]
 [-1.90758948e-03 -2.55665570e-03  9.99994912e-01]]

 t_estimated:
[[ 0.86413851]
 [-0.50325177]
 [ 0.00151407]]

 R_gt:
[[ 0.99512654  0.02167778 -0.09619797]
 [-0.02086719  0.99973899  0.00943968]
 [ 0.09637772 -0.00738603  0.99531702]]

 t_gt:
[ 0.12669407  0.24141311 -0.96211658]

Pose Error in degrees for R and t:
112.71957357045841 89.22837041126876

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.66830343e-01 -2.55419391e-01 -1.49650572e-04]
 [ 2.55419429e-01  9.66830280e-01  3.54370444e-04]
 [ 5.41736216e-05 -3.80839762e-04  9.99999926e-01]]

 t_estimated:
[[8.05168238e-01]
 [5.93045994e-01]
 [7.46909312e-04]]

 R_gt:
[[ 0.98478258  0.0334395  -0.17054198]
 [-0.03351774  0.99943552  0.00243089]
 [ 0.17052751  0.00332169  0.98534747]]

 t_gt:
[ 0.17851529  0.2073217  -0.96184718]

Pose Error in degrees for R and t:
19.379595483178058 74.57553629453186

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 8.70498799e-01 -4.92170538e-01 -4.43552371e-05]
 [ 4.92170525e-01  8.70498748e-01  3.21035293e-04]
 [-1.19392934e-04 -3.01291177e-04  9.99999947e-01]]

 t_estimated:
[[9.09417749e-01]
 [4.15883158e-01]
 [7.46648398e-04]]

 R_gt:
[[ 0.97604729  0.01690561 -0.21690248]
 [-0.02005072  0.99972394 -0.01230023]
 [ 0.21663546  0.01635485  0.97611543]]

 t_gt:
[ 0.29604923  0.10098059 -0.94981986]

Pose Error in degrees for R and t:
32.97544128072904 71.90946689105951

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-4.18594820e-01 -9.08168399e-01  2.92158076e-03]
 [-9.08172743e-01  4.18589643e-01 -2.23173967e-03]
 [ 8.03852003e-04 -3.58749468e-03 -9.99993242e-01]]

 t_estimated:
[[0.72338934]
 [0.69043993]
 [0.00074885]]

 R_gt:
[[ 0.99731839 -0.0690672   0.02419993]
 [ 0.06949976  0.99742794 -0.01749514]
 [-0.02292962  0.01912986  0.99955408]]

 t_gt:
[ 0.63675975 -0.76213179  0.11701351]

Pose Error in degrees for R and t:
179.3647958303493 86.24481784745532

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 1.51460309e-01 -9.88462943e-01 -8.86490266e-04]
 [-9.88463339e-01 -1.51460294e-01 -8.35244878e-05]
 [-5.17072157e-05  8.88913773e-04 -9.99999604e-01]]

 t_estimated:
[[0.63161596]
 [0.77528096]
 [0.00085009]]

 R_gt:
[[ 0.97809106 -0.2069788   0.02226664]
 [ 0.2078258   0.97703258 -0.0470517 ]
 [-0.01201688  0.05064865  0.99864379]]

 t_gt:
[ 0.7409446  -0.66749382 -0.07384511]

Pose Error in degrees for R and t:
178.47384518812615 87.15893698178625

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 0.91971032 -0.3925928   0.00195423]
 [-0.39259545 -0.91971045  0.0012203 ]
 [ 0.00131825 -0.00188954 -0.99999735]]

 t_estimated:
[[0.64755117]
 [0.76202151]
 [0.00083555]]

 R_gt:
[[ 0.94535183 -0.32274477  0.04630249]
 [ 0.32487025  0.94445276 -0.04966607]
 [-0.02770074  0.06199447  0.99769217]]

 t_gt:
[ 0.78097951 -0.62375378 -0.03165784]

Pose Error in degrees for R and t:
177.3257270043659 88.25886004199633

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.82904318 -0.5591174   0.00866775]
 [-0.55916776 -0.82879838  0.02060738]
 [-0.00433813 -0.02193113 -0.99975007]]

 t_estimated:
[[0.25936916]
 [0.96572484]
 [0.01015707]]

 R_gt:
[[ 0.99739339  0.04923226  0.05275709]
 [-0.04478957  0.99559726 -0.08233565]
 [-0.05657841  0.07975898  0.99520737]]

 t_gt:
[-0.70013589  0.66075402 -0.27058059]

Pose Error in degrees for R and t:
177.74468245104586 63.01452527653597

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.91879081e-01  1.27184215e-01  2.52887657e-04]
 [-1.27184219e-01  9.91879113e-01  6.96295688e-07]
 [-2.50745427e-04 -3.28539605e-05  9.99999968e-01]]

 t_estimated:
[[-1.04263139e-01]
 [ 9.94549282e-01]
 [ 9.61155837e-04]]

 R_gt:
[[ 0.99094981  0.09758292  0.09218042]
 [-0.08880305  0.99150914 -0.0949869 ]
 [-0.10066666  0.0859416   0.99120185]]

 t_gt:
[-0.75512013  0.65080506  0.07903391]

Pose Error in degrees for R and t:
7.838588568496841 43.44249588644448

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.99993104  0.00255938  0.01146154]
 [ 0.00263936  0.99997224  0.00696845]
 [-0.01144339  0.00699822 -0.99991003]]

 t_estimated:
[[0.99693992]
 [0.07797295]
 [0.0055695 ]]

 R_gt:
[[ 0.99061914  0.13188021  0.03582416]
 [-0.13233279  0.99114896  0.0105454 ]
 [-0.03411545 -0.01518666  0.99930278]]

 t_gt:
[-0.76486935  0.59071831  0.2569567 ]

Pose Error in degrees for R and t:
177.36527847711338 44.35371768787575

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.76579342  0.64294601  0.01344848]
 [ 0.64296298  0.76588882 -0.00359421]
 [-0.01261092  0.00589445 -0.99990311]]

 t_estimated:
[[ 0.95408778]
 [-0.29945209]
 [ 0.00670452]]

 R_gt:
[[ 0.97039361 -0.24109193  0.01457847]
 [ 0.24075195  0.97034197  0.02182956]
 [-0.01940864 -0.01767427  0.9996555 ]]

 t_gt:
[ 0.87144929 -0.48292678  0.08577794]

Pose Error in degrees for R and t:
178.6709321267932 12.411900212566673

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 4.33876216e-01  9.00967303e-01  3.05758831e-03]
 [ 9.00971685e-01 -4.33877868e-01 -1.34837658e-04]
 [ 1.20513558e-03  2.81330334e-03 -9.99995316e-01]]

 t_estimated:
[[7.69805796e-01]
 [6.38277832e-01]
 [6.67654637e-04]]

 R_gt:
[[ 0.92460889 -0.3793418   0.03461831]
 [ 0.37924592  0.9252466   0.00955881]
 [-0.03565606  0.00429052  0.99935548]]

 t_gt:
[ 0.90182522 -0.43084534  0.03291775]

Pose Error in degrees for R and t:
178.9129924733161 65.21255035963961

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 8.75140529e-01  4.83868394e-01  6.56696256e-04]
 [-4.83868139e-01  8.75140766e-01 -5.13937595e-04]
 [-8.23379823e-04  1.32013223e-04  9.99999652e-01]]

 t_estimated:
[[0.16074823]
 [0.98699413]
 [0.00160748]]

 R_gt:
[[ 0.78162018 -0.62373189  0.00549427]
 [ 0.62342531  0.78146112  0.02569486]
 [-0.02032006 -0.01665796  0.99965529]]

 t_gt:
[ 0.95105547 -0.30781236  0.02729553]

Pose Error in degrees for R and t:
67.53877950222544 81.32180412422244

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.98158214  0.19103454  0.00151891]
 [-0.19103142  0.98158191 -0.00198594]
 [-0.00187032  0.0016592   0.99999687]]

 t_estimated:
[[0.82540236]
 [0.56454407]
 [0.00097335]]

 R_gt:
[[ 0.99725443  0.01381909 -0.07275732]
 [-0.01543119  0.99964639 -0.02164781]
 [ 0.07243247  0.02271029  0.99711479]]

 t_gt:
[ 0.32708484  0.11287506 -0.93822957]

Pose Error in degrees for R and t:
11.089465508949797 70.56201859139969

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999744e-01 -7.14053383e-04  3.84961468e-05]
 [ 7.14052458e-04  9.99999745e-01  2.40460154e-05]
 [-3.85133071e-05 -2.40185209e-05  9.99999999e-01]]

 t_estimated:
[[-1.79329382e-01]
 [ 9.83789055e-01]
 [-2.59994437e-04]]

 R_gt:
[[ 0.995788   -0.03665627 -0.08404951]
 [ 0.03731979  0.9992835   0.00632497]
 [ 0.08375754 -0.00943551  0.99644194]]

 t_gt:
[ 0.60152205 -0.53801077 -0.59052149]

Pose Error in degrees for R and t:
5.26569268448438 50.43106338062634

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.34797551  0.88756175 -0.30190593]
 [ 0.89942855 -0.22521565  0.37457468]
 [ 0.26446422 -0.40188562 -0.87666791]]

 t_estimated:
[[-0.75417038]
 [-0.65353303]
 [-0.06419978]]

 R_gt:
[[ 0.98948015 -0.07618123 -0.12298666]
 [ 0.08122276  0.99602758  0.03650239]
 [ 0.11971715 -0.04610779  0.99173746]]

 t_gt:
[ 0.61674031 -0.65844541 -0.43137111]

Pose Error in degrees for R and t:
145.23512141766494 89.59219270172677

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.14528516  0.98864563  0.03836709]
 [ 0.98885461 -0.143822   -0.03849405]
 [-0.03253894  0.04353209 -0.99852199]]

 t_estimated:
[[-0.29343901]
 [-0.95597725]
 [-0.00102244]]

 R_gt:
[[ 0.98972958  0.1427679  -0.00736873]
 [-0.14294888  0.98893691 -0.03960774]
 [ 0.00163251  0.04025357  0.99918754]]

 t_gt:
[-0.35626623  0.91976238 -0.16465581]

Pose Error in degrees for R and t:
175.349729561195 39.23473777177106

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-1.18018203e-01 -9.93011337e-01  4.33298848e-04]
 [-9.93011280e-01  1.18018414e-01  5.00934512e-04]
 [-5.48570892e-04 -3.71151254e-04 -9.99999781e-01]]

 t_estimated:
[[0.71951436]
 [0.69447631]
 [0.00131779]]

 R_gt:
[[ 0.9644601   0.26317639 -0.02356761]
 [-0.26421462  0.95961175 -0.09662603]
 [-0.00281449  0.09941789  0.99504114]]

 t_gt:
[-0.29652316  0.93739061 -0.18268241]

Pose Error in degrees for R and t:
175.81841376654245 64.0617540287128

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 7.51846789e-01 -6.59336384e-01 -1.39254030e-03]
 [ 6.59335505e-01  7.51848071e-01 -1.08175600e-03]
 [ 1.76021983e-03 -1.04836488e-04  9.99998445e-01]]

 t_estimated:
[[-0.078001  ]
 [-0.9969503 ]
 [-0.00243753]]

 R_gt:
[[ 0.94749774  0.31973256  0.00443968]
 [-0.31881539  0.94566596 -0.06381337]
 [-0.02460211  0.05904708  0.9979515 ]]

 t_gt:
[-0.30846973  0.95089256 -0.02549066]

Pose Error in degrees for R and t:
59.98954811995912 22.5014962203258

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.64845745e-01 -2.62816231e-01 -5.63352083e-04]
 [ 2.62816519e-01  9.64845691e-01  5.18372165e-04]
 [ 4.07311211e-04 -6.48207411e-04  9.99999707e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 9.97592959e-01 -4.86568084e-02  4.94195016e-02]
 [ 4.87167482e-02  9.98812589e-01 -2.35139910e-05]
 [-4.93610047e-02  2.43203640e-03  9.98778469e-01]]

 t_gt:
[ 0.5812863  -0.00529167  0.8136819 ]

Pose Error in degrees for R and t:
12.76832730784011 89.95299783061537

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-5.74170370e-01 -8.18727926e-01 -3.60115705e-03]
 [-8.18735618e-01  5.74167941e-01  1.77871412e-03]
 [ 6.11386010e-04  3.96968049e-03 -9.99991934e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98822324 -0.13147781  0.07829173]
 [ 0.13159439  0.99129699  0.00367189]
 [-0.07809375  0.00667422  0.99692408]]

 t_gt:
[ 0.87997327 -0.13539073  0.4553201 ]

Pose Error in degrees for R and t:
176.17577284833013 51.34056504103029

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-3.66915027e-01  9.30254095e-01  8.25086120e-04]
 [ 9.30253091e-01  3.66912820e-01  2.04197098e-03]
 [ 1.59681719e-03  1.51676875e-03 -9.99997575e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98211304 -0.13983374  0.12610056]
 [ 0.14333527  0.98948952 -0.01909911]
 [-0.12210501  0.03683201  0.9918338 ]]

 t_gt:
[0.82980532 0.09603107 0.54972826]

Pose Error in degrees for R and t:
173.20312810382558 84.158551312607

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.93862552e-01  1.10621997e-01  4.37510082e-05]
 [-1.10621988e-01  9.93862540e-01 -1.64555014e-04]
 [-6.16858923e-05  1.58705242e-04  9.99999986e-01]]

 t_estimated:
[[-9.99037308e-01]
 [-4.38655301e-02]
 [-5.21247323e-04]]

 R_gt:
[[ 9.92398691e-01  1.23063113e-01 -2.02567262e-04]
 [-1.22945052e-01  9.91367260e-01 -4.55630254e-02]
 [-5.40676824e-03  4.52422758e-02  9.98961001e-01]]

 t_gt:
[-0.40295183  0.90403066 -0.14268283]

Pose Error in degrees for R and t:
2.699494587776191 68.7165253167176

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.41567395e-01 -3.36824159e-01 -5.71252026e-04]
 [ 3.36824363e-01  9.41567446e-01  3.06272489e-04]
 [ 4.34712337e-04 -4.80787789e-04  9.99999790e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9881584   0.14957085  0.03421078]
 [-0.15114695  0.98727898  0.04935052]
 [-0.02639389 -0.05393638  0.99819469]]

 t_gt:
[-0.43368285  0.82774289  0.35603496]

Pose Error in degrees for R and t:
28.54267561649932 64.47924608800301

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.93323429e-01 -1.15360822e-01  6.68283079e-04]
 [-1.15358200e-01  9.93319014e-01  3.13416374e-03]
 [-1.02537799e-03  3.03614634e-03 -9.99994865e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075884e-03]
 [7.75189836e-04]]

 R_gt:
[[ 0.98558759  0.13545117  0.10134041]
 [-0.15087329  0.97478259  0.16442727]
 [-0.07651298 -0.17734737  0.98116866]]

 t_gt:
[-0.32623129  0.55368481  0.76616335]

Pose Error in degrees for R and t:
174.26774707718113 71.09991248402153

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.98211928e-01 -5.97741323e-02  2.20831219e-05]
 [ 5.97741283e-02  9.98211917e-01  1.51001441e-04]
 [-3.10696155e-05 -1.49411440e-04  9.99999988e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99523075 -0.08919603  0.03948813]
 [ 0.08879749  0.99598087  0.01174199]
 [-0.0403765  -0.00818002  0.99915089]]

 t_gt:
[ 0.8665434  -0.2712843   0.41893599]

Pose Error in degrees for R and t:
2.8955375409244244 74.60696797854295

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.93238227e-01 -1.16093993e-01  9.52515003e-05]
 [ 1.16093994e-01  9.93238232e-01 -1.06102996e-06]
 [-9.44842525e-05  1.21119826e-05  9.99999995e-01]]

 t_estimated:
[[6.50502562e-01]
 [7.59503746e-01]
 [6.90503635e-04]]

 R_gt:
[[ 0.98859009 -0.12806101  0.07930676]
 [ 0.12807482  0.99175251  0.00493463]
 [-0.07928301  0.00527858  0.99683839]]

 t_gt:
[ 0.85834028 -0.07075384  0.50817897]

Pose Error in degrees for R and t:
4.605873865168989 59.670928297822435

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99653492e-01  2.63229096e-02  3.14244176e-07]
 [-2.63229096e-02  9.99653492e-01 -2.43505597e-05]
 [-9.55112870e-07  2.43338502e-05  1.00000000e+00]]

 t_estimated:
[[-4.89913422e-01]
 [ 8.71771020e-01]
 [-3.57406765e-04]]

 R_gt:
[[ 0.98372426 -0.10415061  0.14642243]
 [ 0.11032618  0.9932907  -0.03468503]
 [-0.14182571  0.05027466  0.98861438]]

 t_gt:
[0.72361479 0.26520404 0.63721932]

Pose Error in degrees for R and t:
11.578553669289859 82.90359855377403

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.98298681e-01  5.83033305e-02 -6.81636872e-04]
 [-5.83031622e-02  9.98298889e-01  2.64216467e-04]
 [ 6.95882032e-04 -2.24025365e-04  9.99999733e-01]]

 t_estimated:
[[0.94799145]
 [0.31829114]
 [0.00172049]]

 R_gt:
[[ 0.98287667 -0.18396683  0.01045154]
 [ 0.18383408  0.98287806  0.01249284]
 [-0.01257078 -0.0103585   0.99986758]]

 t_gt:
[ 0.86143065 -0.50447654  0.05865716]

Pose Error in degrees for R and t:
13.972480011811106 48.99237977882854

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99237303e-01  3.90452011e-02  5.34244146e-04]
 [-3.90451057e-02  9.99237431e-01 -1.87917594e-04]
 [-5.41174029e-04  1.66914650e-04  9.99999840e-01]]

 t_estimated:
[[ 9.96087941e-01]
 [-8.83664615e-02]
 [ 4.27756128e-04]]

 R_gt:
[[ 0.91853805 -0.39530249  0.00475879]
 [ 0.39504952  0.91827249  0.02667937]
 [-0.0149162  -0.02262596  0.9996323 ]]

 t_gt:
[ 0.90887451 -0.41374696  0.05254123]

Pose Error in degrees for R and t:
25.565552617308995 19.62640331162506

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.02987481  0.99953963  0.00529432]
 [ 0.99955141 -0.02988554  0.00195776]
 [ 0.00211508  0.00523346 -0.99998407]]

 t_estimated:
[[-0.17493764]
 [-0.98457845]
 [-0.00144577]]

 R_gt:
[[ 8.53311187e-01 -5.20746642e-01  2.61079296e-02]
 [ 5.20499654e-01  8.53711254e-01  1.60466329e-02]
 [-3.06449625e-02 -1.03215620e-04  9.99530004e-01]]

 t_gt:
[ 0.93268973 -0.36008612  0.02068451]

Pose Error in degrees for R and t:
178.9617516254411 78.96897028409218

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[ 9.99798622e-01 -2.00677389e-02 -2.13070751e-05]
 [ 2.00677377e-02  9.99798621e-01 -5.40310559e-05]
 [ 2.23870654e-05  5.35925905e-05  9.99999998e-01]]

 t_estimated:
[[-0.43261771]
 [-0.9015752 ]
 [-0.00202108]]

 R_gt:
[[ 0.99987488 -0.002957   -0.01559069]
 [ 0.00301263  0.99998945  0.00353966]
 [ 0.01558004 -0.00358662  0.99987212]]

 t_gt:
[ 0.27320472 -0.45826688 -0.84578404]

Pose Error in degrees for R and t:
1.3390708511043925 72.74179967476756

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99986831e-01  5.13123844e-03  8.85342389e-05]
 [-5.13123731e-03  9.99986835e-01 -1.30576686e-05]
 [-8.86000754e-05  1.26032065e-05  9.99999996e-01]]

 t_estimated:
[[9.61652326e-01]
 [2.74271070e-01]
 [4.29409293e-04]]

 R_gt:
[[ 0.99396422 -0.10911172  0.01146803]
 [ 0.10930049  0.99385901 -0.01725739]
 [-0.0095149   0.01840662  0.99978555]]

 t_gt:
[ 0.6665611  -0.74541693 -0.00706451]

Pose Error in degrees for R and t:
6.669755404361415 64.11599178852038

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-3.57909389e-01 -9.33747594e-01 -4.03723058e-03]
 [-9.33756272e-01  3.57904604e-01  1.87613651e-03]
 [-3.06894543e-04  4.44127624e-03 -9.99990090e-01]]

 t_estimated:
[[8.01960089e-01]
 [5.97377312e-01]
 [6.02186037e-04]]

 R_gt:
[[ 0.96959908 -0.24468371 -0.00286545]
 [ 0.24429111  0.96858628 -0.04650495]
 [ 0.0141548   0.04439022  0.99891377]]

 t_gt:
[ 0.7563047  -0.64261381 -0.12268125]

Pose Error in degrees for R and t:
178.00637049412185 77.14000879449655

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99999622e-01 -8.65944589e-04 -8.10736727e-05]
 [ 8.66008070e-04  9.99999316e-01  7.86274184e-04]
 [ 8.03927474e-05 -7.86344097e-04  9.99999688e-01]]

 t_estimated:
[[0.5370712 ]
 [0.84353555]
 [0.00151715]]

 R_gt:
[[ 0.98737496 -0.15430266 -0.03578189]
 [ 0.15522127  0.98757618  0.024498  ]
 [ 0.03155772 -0.02974349  0.99905943]]

 t_gt:
[ 0.542796   -0.83873866  0.04347366]

Pose Error in degrees for R and t:
9.190534825952238 65.42274455217382

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999907e-01  1.97387182e-04  3.84753464e-04]
 [-1.97255469e-04  9.99999922e-01 -3.42339194e-04]
 [-3.84821008e-04  3.42263267e-04  9.99999867e-01]]

 t_estimated:
[[-9.99985216e-01]
 [-5.40962702e-03]
 [-5.51637502e-04]]

 R_gt:
[[ 0.95275588 -0.29857249 -0.05577501]
 [ 0.3009211   0.95281858  0.03979134]
 [ 0.04126263 -0.05469508  0.99765015]]

 t_gt:
[ 0.60506371 -0.79225825  0.07889721]

Pose Error in degrees for R and t:
17.91420570941034 53.071891892446736

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.98042071e-01  6.25458652e-02 -1.98493481e-04]
 [-6.25460078e-02  9.98041745e-01 -8.19897089e-04]
 [ 1.46823608e-04  8.30706763e-04  9.99999644e-01]]

 t_estimated:
[[0.83518374]
 [0.5499697 ]
 [0.00120343]]

 R_gt:
[[ 0.93069299 -0.35628163 -0.08291707]
 [ 0.36136841  0.9306651   0.05722544]
 [ 0.05678037 -0.08322348  0.99491231]]

 t_gt:
[ 0.6229898  -0.7753472   0.10353952]

Pose Error in degrees for R and t:
25.33464219308637 84.60519220326414

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 4.97635200e-01  8.67353722e-01  7.53179435e-03]
 [ 8.67385853e-01 -4.97626070e-01 -3.17442685e-03]
 [ 9.94666274e-04  8.11267841e-03 -9.99966597e-01]]

 t_estimated:
[[0.37121018]
 [0.92854828]
 [0.00104566]]

 R_gt:
[[ 0.98677215 -0.03973575 -0.15716999]
 [ 0.06355219  0.98670999  0.14954965]
 [ 0.14913888 -0.15755924  0.97618267]]

 t_gt:
[ 0.67742604 -0.7168455   0.16500454]

Pose Error in degrees for R and t:
168.2708731985094 65.54454430887532

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.32005615 -0.9473381   0.01070462]
 [-0.94725611 -0.32018353 -0.01372471]
 [ 0.01642938 -0.00574733 -0.99984851]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96888577 -0.12883448 -0.21133691]
 [ 0.17672672  0.95789951  0.22626606]
 [ 0.17328816 -0.25657423  0.95086327]]

 t_gt:
[ 0.71932727 -0.61297792  0.32684299]

Pose Error in degrees for R and t:
175.46077080043653 77.86067473101346

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-6.72406708e-01 -7.40180643e-01 -1.35464597e-03]
 [-7.40181783e-01  6.72406439e-01  7.13250571e-04]
 [ 3.82938407e-04  1.48227874e-03 -9.99998828e-01]]

 t_estimated:
[[0.73909217]
 [0.67360299]
 [0.00133651]]

 R_gt:
[[ 0.93591895 -0.23047519 -0.26633959]
 [ 0.29619242  0.92420417  0.24107195]
 [ 0.19059141 -0.30451125  0.93324634]]

 t_gt:
[ 0.78236577 -0.55638969  0.27988269]

Pose Error in degrees for R and t:
174.1575698162203 78.23905769779778

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.47840251e-01  3.18744472e-01  9.05753966e-04]
 [-3.18741611e-01  9.47838588e-01 -2.40768476e-03]
 [-1.62594477e-03  1.99339905e-03  9.99996691e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98640334 -0.16425823  0.00531194]
 [ 0.16432754  0.98533811 -0.04587671]
 [ 0.00230173  0.04612575  0.99893243]]

 t_gt:
[ 0.50371164 -0.78119708 -0.36878951]

Pose Error in degrees for R and t:
28.158411837515274 59.93376000695287

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.98860974e-01  4.77091276e-02  7.70331698e-04]
 [-4.77086213e-02  9.98861075e-01 -6.62895272e-04]
 [-8.01080504e-04  6.25388754e-04  9.99999484e-01]]

 t_estimated:
[[-0.58138492]
 [-0.81362715]
 [-0.00155867]]

 R_gt:
[[ 0.96854438 -0.24815694  0.01844872]
 [ 0.24866057  0.96800405 -0.03371236]
 [-0.0094917   0.03723992  0.99926117]]

 t_gt:
[ 0.37131555 -0.91507288 -0.15737337]

Pose Error in degrees for R and t:
17.256919587900065 58.0690956913452

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.91879742 -0.29892363 -0.25779055]
 [ 0.3571053   0.90774073  0.22018759]
 [ 0.16818771 -0.29436616  0.94077705]]

 t_estimated:
[[-0.18992668]
 [-0.98128785]
 [-0.03165445]]

 R_gt:
[[ 0.94082974 -0.33610605  0.04326688]
 [ 0.33761551  0.9406669  -0.03408175]
 [-0.02924452  0.04667418  0.99848176]]

 t_gt:
[ 0.38628161 -0.92128199 -0.04501113]

Pose Error in degrees for R and t:
22.972791339799038 33.684680073304406

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 5.52305752e-01 -8.33640727e-01 -1.22257845e-03]
 [ 8.33640714e-01  5.52306722e-01 -6.66838028e-04]
 [ 1.23114163e-03 -6.50892695e-04  9.99999030e-01]]

 t_estimated:
[[ 9.92252903e-01]
 [ 1.24234358e-01]
 [-5.31506151e-06]]

 R_gt:
[[ 0.99882071  0.02269133 -0.04291737]
 [-0.02001365  0.99788629  0.06182554]
 [ 0.04422944 -0.06089312  0.99716312]]

 t_gt:
[0.59034491 0.54213165 0.59798508]

Pose Error in degrees for R and t:
57.84372886544081 49.222774765337505

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.97248198e-01  7.41350669e-02  1.50911724e-04]
 [-7.41350709e-02  9.97248209e-01  2.13737773e-05]
 [-1.48911900e-04 -3.25028123e-05  9.99999988e-01]]

 t_estimated:
[[-5.38154340e-01]
 [ 8.42846072e-01]
 [ 6.36619123e-04]]

 R_gt:
[[ 0.99009676  0.13178528 -0.04837939]
 [-0.12815268  0.98915387  0.07176878]
 [ 0.05731309 -0.06485687  0.99624736]]

 t_gt:
[-0.31089811  0.94472668  0.10408586]

Pose Error in degrees for R and t:
5.9266459757269505 15.498681916919486

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-0.29988674  0.95206483 -0.0603366 ]
 [ 0.95219099  0.30259271  0.04207099]
 [ 0.05831172 -0.04483544 -0.99729109]]

 t_estimated:
[[0.10074256]
 [0.99483283]
 [0.01259282]]

 R_gt:
[[ 0.99143863  0.10946521 -0.07117895]
 [-0.10351543  0.99119985  0.08250212]
 [ 0.07958402 -0.07442762  0.99404518]]

 t_gt:
[-0.02349709  0.98950933  0.14254534]

Pose Error in degrees for R and t:
169.63243668944148 10.319459082494815

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-9.54550785e-01 -2.98042612e-01 -1.84399412e-03]
 [ 2.98043855e-01 -9.54552079e-01 -4.34275981e-04]
 [-1.63075568e-03 -9.64129594e-04  9.99998206e-01]]

 t_estimated:
[[9.73982829e-01]
 [2.26619767e-01]
 [9.64339435e-04]]

 R_gt:
[[ 0.99857774  0.01034756  0.05229758]
 [-0.01746446  0.99034378  0.13752745]
 [-0.05036922 -0.13824547  0.9891165 ]]

 t_gt:
[-0.11074853 -0.00398955  0.99384045]

Pose Error in degrees for R and t:
163.50036374038646 83.81074723697098

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.93663735 -0.33648675 -0.09740192]
 [ 0.34446792  0.93525022  0.08154064]
 [ 0.06365783 -0.10992584  0.99189918]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.99437812 -0.01588695  0.10469133]
 [-0.00895974  0.9725122   0.23268044]
 [-0.10550936 -0.23230967  0.96690255]]

 t_gt:
[-0.0337065  -0.03661293  0.99876091]

Pose Error in degrees for R and t:
23.805680371311826 86.64237598327253

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 6.31322082e-01 -7.75520066e-01 -1.02746744e-03]
 [ 7.75520746e-01  6.31321491e-01  8.63903315e-04]
 [-2.13120801e-05 -1.34222355e-03  9.99999099e-01]]

 t_estimated:
[[0.89043432]
 [0.45511088]
 [0.00089943]]

 R_gt:
[[ 0.99269534 -0.06601737  0.10098666]
 [ 0.02980306  0.94525126  0.32497999]
 [-0.11691196 -0.31959578  0.94031334]]

 t_gt:
[ 0.06485991 -0.12895905  0.98952653]

Pose Error in degrees for R and t:
51.731332653022356 89.99729737436355

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.99999949e-01 -3.14592046e-04 -6.01947195e-05]
 [ 3.14593767e-04  9.99999950e-01  2.85903834e-05]
 [ 6.01857221e-05 -2.86093189e-05  9.99999998e-01]]

 t_estimated:
[[-9.99987420e-01]
 [-4.96607675e-03]
 [-7.05678250e-04]]

 R_gt:
[[ 0.99621685  0.08003792 -0.0338509 ]
 [-0.07952951  0.99670188  0.01609979]
 [ 0.03502729 -0.01334576  0.99929689]]

 t_gt:
[-0.36116233  0.90432495 -0.22750421]

Pose Error in degrees for R and t:
5.071503498590838 69.09451794801043

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99343074e-01  3.62410028e-02 -1.04366036e-04]
 [-3.62409952e-02  9.99343077e-01  7.39319521e-05]
 [ 1.06976843e-04 -7.01010552e-05  9.99999992e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99286659  0.1096906  -0.04673493]
 [-0.10906289  0.99390936  0.01577703]
 [ 0.04818063 -0.01056695  0.99878254]]

 t_gt:
[-0.285123    0.94475563 -0.16168388]

Pose Error in degrees for R and t:
5.064113391272141 73.60143570302668

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.99975773  0.01065381 -0.01926076]
 [ 0.01077389  0.9999231  -0.00614112]
 [ 0.01919385 -0.00634714 -0.99979563]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99836629  0.04693754 -0.03258069]
 [-0.04731869  0.99881884 -0.01102825]
 [ 0.03202396  0.01255262  0.99940847]]

 t_gt:
[ 0.14559667  0.90984502 -0.38856614]

Pose Error in degrees for R and t:
177.05917349566244 81.5230840912959

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[-1.58378291e-01 -9.87378339e-01 -5.77017323e-04]
 [ 9.87372369e-01 -1.58379340e-01  3.43372022e-03]
 [-3.48176859e-03 -2.59042210e-05  9.99993938e-01]]

 t_estimated:
[[ 0.99885455]
 [-0.04782314]
 [ 0.00159303]]

 R_gt:
[[ 0.99947999 -0.01344091 -0.02934684]
 [ 0.01403281  0.99970171  0.02001084]
 [ 0.02906972 -0.02041229  0.99936842]]

 t_gt:
[ 0.40260551 -0.78783274 -0.46607765]

Pose Error in degrees for R and t:
98.3417334339048 63.954898925727186

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 8.00142989e-01  5.99809215e-01 -3.20508640e-04]
 [-5.99809198e-01  8.00142428e-01 -1.01033444e-03]
 [-3.49555346e-04  1.00065605e-03  9.99999438e-01]]

 t_estimated:
[[0.8330532 ]
 [0.5531921 ]
 [0.00093287]]

 R_gt:
[[ 0.99838436 -0.05407138 -0.01751797]
 [ 0.05416681  0.99852086  0.00498655]
 [ 0.01722302 -0.0059268   0.99983355]]

 t_gt:
[ 0.58342131 -0.79443693 -0.16878843]

Pose Error in degrees for R and t:
39.9723772526151 87.34124969393748

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99829301e-01 -1.84758124e-02  1.11505676e-04]
 [ 1.84758186e-02  9.99829306e-01 -5.52286305e-05]
 [-1.10466249e-04  5.72793618e-05  9.99999992e-01]]

 t_estimated:
[[9.88340004e-01]
 [1.52262940e-01]
 [1.85125244e-04]]

 R_gt:
[[ 0.98181235 -0.18985353 -0.00144829]
 [ 0.18970039  0.98127131 -0.03350247]
 [ 0.00778187  0.03261836  0.9994368 ]]

 t_gt:
[ 0.71275842 -0.69108002 -0.11993264]

Pose Error in degrees for R and t:
10.068213551929475 53.18740645292429

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[-3.16325062e-02  9.99497781e-01  1.88950706e-03]
 [ 9.99499460e-01  3.16315710e-02  5.22804314e-04]
 [ 4.62773675e-04  1.90509890e-03 -9.99998078e-01]]

 t_estimated:
[[9.68498353e-01]
 [2.49018556e-01]
 [8.35632745e-04]]

 R_gt:
[[ 0.99617862 -0.06865482  0.05397714]
 [ 0.06698708  0.99723612  0.03212392]
 [-0.05603386 -0.02838528  0.99802498]]

 t_gt:
[-0.20758575 -0.83466234  0.51014403]

Pose Error in degrees for R and t:
178.88096565473268 65.89145647098415

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.85617561e-01 -1.68991188e-01 -3.79093334e-05]
 [ 1.68991187e-01  9.85617562e-01 -2.44708917e-05]
 [ 4.14994699e-05  1.77125973e-05  9.99999999e-01]]

 t_estimated:
[[ 6.85634329e-01]
 [-7.27945831e-01]
 [-6.59352584e-04]]

 R_gt:
[[ 0.98066576 -0.19323552  0.03085879]
 [ 0.19216809  0.98075528  0.03450339]
 [-0.03693319 -0.02790557  0.9989275 ]]

 t_gt:
[ 0.23806841 -0.93932008  0.24698424]

Pose Error in degrees for R and t:
2.9971366800122765 32.130474269753115

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999936e-01 -1.14709395e-04  3.39108082e-04]
 [ 1.14717573e-04  9.99999993e-01 -2.40948901e-05]
 [-3.39105316e-04  2.41337902e-05  9.99999942e-01]]

 t_estimated:
[[-7.21739522e-01]
 [-6.92164453e-01]
 [-6.57543075e-04]]

 R_gt:
[[ 0.93711133 -0.34894199  0.0077289 ]
 [ 0.3472933   0.93442917  0.07891988]
 [-0.03476094 -0.07127218  0.99685127]]

 t_gt:
[ 0.4512133  -0.86111985  0.23426302]

Pose Error in degrees for R and t:
20.894108776610764 74.32240074965104

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99653045e-01 -2.63271833e-02 -8.17596290e-04]
 [ 2.63271846e-02  9.99653380e-01 -9.22330126e-06]
 [ 8.17555718e-04 -1.23049073e-05  9.99999666e-01]]

 t_estimated:
[[-0.99697367]
 [-0.0775424 ]
 [-0.00553874]]

 R_gt:
[[ 0.99680402  0.06833897  0.04137094]
 [-0.06856877  0.9976375   0.00416315]
 [-0.04099002 -0.00698711  0.99913512]]

 t_gt:
[-0.72690711  0.53675346  0.42837108]

Pose Error in degrees for R and t:
5.953451536830761 47.10057961270829

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.42276065  0.90514605 -0.04454283]
 [ 0.90243049 -0.41597125  0.11219238]
 [ 0.08302195 -0.08762733 -0.99268767]]

 t_estimated:
[[-0.99961238]
 [-0.02780563]
 [-0.00139028]]

 R_gt:
[[ 0.99558055  0.07685524 -0.05398305]
 [-0.06955404  0.989577    0.12609562]
 [ 0.06311096 -0.12178374  0.99054874]]

 t_gt:
[-0.68930135  0.26943831  0.67250773]

Pose Error in degrees for R and t:
165.32859791367434 47.10888297866355

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-9.60976307e-01  2.76630142e-01 -5.49392346e-04]
 [-2.76628246e-01 -9.60974275e-01 -2.29286014e-03]
 [-1.16222614e-03 -2.05140683e-03  9.99997220e-01]]

 t_estimated:
[[0.52184802]
 [0.85303801]
 [0.00089511]]

 R_gt:
[[ 0.98758297 -0.01141735 -0.15668829]
 [ 0.0472291   0.97279651  0.226796  ]
 [ 0.14983501 -0.23138009  0.96125625]]

 t_gt:
[ 0.45655353 -0.62452171  0.63366513]

Pose Error in degrees for R and t:
165.81036001973982 72.90709271095079

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99999604e-01 -2.29295087e-04 -8.60154163e-04]
 [ 2.30094070e-04  9.99999542e-01  9.28900031e-04]
 [ 8.59940777e-04 -9.29097580e-04  9.99999199e-01]]

 t_estimated:
[[8.38311118e-01]
 [5.45191592e-01]
 [7.73149656e-04]]

 R_gt:
[[ 0.99188638 -0.12666726 -0.01075483]
 [ 0.12694399  0.99142853  0.0308927 ]
 [ 0.00674867 -0.03200809  0.99946493]]

 t_gt:
[ 0.668929   -0.72442852  0.16654522]

Pose Error in degrees for R and t:
7.4955624313412255 80.44774515126711

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-8.50327071e-01 -5.26250857e-01 -1.97672725e-03]
 [ 5.26253076e-01 -8.50327609e-01 -8.11536873e-04]
 [-1.25379378e-03 -1.73033057e-03  9.99997717e-01]]

 t_estimated:
[[9.73728204e-01]
 [2.27711390e-01]
 [9.52767323e-04]]

 R_gt:
[[ 0.96487896 -0.262384   -0.01276018]
 [ 0.26203338  0.95787167  0.11755909]
 [-0.01862352 -0.11677467  0.99298412]]

 t_gt:
[ 0.65661886 -0.65754042  0.36944859]

Pose Error in degrees for R and t:
133.07282098936236 60.66001899306243

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.01512025 -0.99988281  0.00239597]
 [ 0.99909984 -0.0152033  -0.03960258]
 [ 0.03963436  0.00179502  0.99921264]]

 t_estimated:
[[ 0.99751581]
 [-0.06689847]
 [-0.02206383]]

 R_gt:
[[ 0.94147777 -0.33697421 -0.00823027]
 [ 0.33347461  0.92758745  0.16845163]
 [-0.0491298  -0.16133914  0.98567509]]

 t_gt:
[ 0.64316459 -0.62938663  0.43613276]

Pose Error in degrees for R and t:
72.00877384043714 47.61965047842363

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.66371176 -0.73791522 -0.12234309]
 [ 0.74414278  0.66797159  0.00809127]
 [ 0.07575104 -0.096411    0.99245489]]

 t_estimated:
[[-0.13896766]
 [-0.99014456]
 [-0.01737096]]

 R_gt:
[[ 0.99479356  0.0967916   0.03189242]
 [-0.09813111  0.99422205  0.04350717]
 [-0.02749644 -0.04641059  0.99854387]]

 t_gt:
[-0.751556    0.50272337  0.42712151]

Pose Error in degrees for R and t:
54.20505325717531 66.37515572601781

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99994069e-01  3.44215903e-03 -1.14946549e-04]
 [-3.44215139e-03  9.99994074e-01  6.65857206e-05]
 [ 1.15175066e-04 -6.61896622e-05  9.99999991e-01]]

 t_estimated:
[[-9.98612292e-01]
 [ 5.26637648e-02]
 [ 1.37022978e-04]]

 R_gt:
[[ 0.98079049  0.1948637   0.00888391]
 [-0.19475705  0.98078237 -0.01162212]
 [-0.01097755  0.00966877  0.99989269]]

 t_gt:
[-0.68667988  0.72433076 -0.06177135]

Pose Error in degrees for R and t:
11.069301982377278 43.62553176196053

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99999991e-01 -1.22441102e-04  5.70905405e-05]
 [ 1.22481250e-04  9.99999745e-01 -7.03751300e-04]
 [-5.70043578e-05  7.03758286e-04  9.99999751e-01]]

 t_estimated:
[[-0.76853217]
 [-0.63980935]
 [-0.00151539]]

 R_gt:
[[ 0.98374328  0.17764641  0.02631029]
 [-0.17458446  0.98036412 -0.09168407]
 [-0.04208089  0.08560095  0.99544001]]

 t_gt:
[-0.58780143  0.74558079 -0.31400441]

Pose Error in degrees for R and t:
11.531136178809819 88.57837960933522

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.83925598e-01  1.78578657e-01  2.83212805e-04]
 [-1.78578619e-01  9.83925634e-01 -1.55183472e-04]
 [-3.06372795e-04  1.02113239e-04  9.99999948e-01]]

 t_estimated:
[[0.84143014]
 [0.54036477]
 [0.00111578]]

 R_gt:
[[ 9.88390258e-01 -1.51937824e-01  2.31891961e-04]
 [ 1.51821039e-01  9.87689983e-01  3.76783780e-02]
 [-5.95300404e-03 -3.72058481e-02  9.99289394e-01]]

 t_gt:
[ 0.95186239 -0.18101464  0.24736954]

Pose Error in degrees for R and t:
19.147667533199133 45.30055846474654

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 2.42315145e-01  9.70197478e-01 -4.73765965e-04]
 [-9.70193002e-01  2.42312467e-01 -3.19498828e-03]
 [-2.98497017e-03  1.23383847e-03  9.99994784e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98361732 -0.17264871  0.05185518]
 [ 0.1694201   0.98363566  0.06130672]
 [-0.06159065 -0.05151674  0.99677052]]

 t_gt:
[ 0.90849205 -0.17549613  0.3792668 ]

Pose Error in degrees for R and t:
85.94338878595919 80.24519091088663

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-6.85445550e-01 -7.28118552e-01 -2.78790353e-03]
 [ 7.28121392e-01 -6.85448202e-01 -5.58446179e-06]
 [-1.90689731e-03 -2.03376004e-03  9.99996114e-01]]

 t_estimated:
[[0.9433499 ]
 [0.33179559]
 [0.00162647]]

 R_gt:
[[ 0.96709445 -0.24621842  0.0640772 ]
 [ 0.24082605  0.96713681  0.08153818]
 [-0.08204764 -0.06342353  0.99460784]]

 t_gt:
[ 0.9310056  -0.13686862  0.33837192]

Pose Error in degrees for R and t:
119.22482485163009 33.55019269151851

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99999963e-01  2.70115244e-04  1.96630046e-05]
 [-2.70115217e-04  9.99999964e-01 -1.36540854e-06]
 [-1.96633727e-05  1.36009721e-06  1.00000000e+00]]

 t_estimated:
[[-0.99935761]
 [-0.03581772]
 [-0.00120449]]

 R_gt:
[[ 0.99856637  0.04780479 -0.02407997]
 [-0.04760855  0.99882887  0.00863386]
 [ 0.02446517 -0.00747544  0.99967348]]

 t_gt:
[-0.53860293  0.82605617 -0.16594605]

Pose Error in degrees for R and t:
3.089331374420923 59.41145184471076

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.93923977e-01 -1.10068724e-01 -6.26678453e-05]
 [ 1.10068735e-01  9.93923955e-01  2.10336851e-04]
 [ 3.91355639e-05 -2.15956610e-04  9.99999976e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 9.92346397e-01  1.23468032e-01  2.27569414e-03]
 [-1.23485643e-01  9.92281010e-01  1.13368915e-02]
 [-8.58032677e-04 -1.15318271e-02  9.99933836e-01]]

 t_gt:
[-0.62333561  0.77821001  0.07643232]

Pose Error in degrees for R and t:
13.427955528909111 61.22786375053692

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.97537337e-01  7.01369312e-02 -2.68409013e-04]
 [-7.01366396e-02  9.97536918e-01  9.74361161e-04]
 [ 3.36086601e-04 -9.53136331e-04  9.99999489e-01]]

 t_estimated:
[[-9.94445628e-01]
 [-1.05248720e-01]
 [-7.73887649e-04]]

 R_gt:
[[ 9.23601486e-01  3.83338134e-01  3.41757866e-03]
 [-3.83353675e-01  9.23562180e-01  8.47233585e-03]
 [ 9.18507550e-05 -9.13505864e-03  9.99958170e-01]]

 t_gt:
[-0.60629035  0.79513178  0.01332179]

Pose Error in degrees for R and t:
18.52579866503238 58.719661192579686

Number of keypoints:
Image1: 455
Image2: 455

 R_estimated:
[[-0.99508496 -0.0877274   0.04593281]
 [-0.08770969  0.99614318  0.00240463]
 [-0.04596661 -0.00163594 -0.99894164]]

 t_estimated:
[[0.99869594]
 [0.04443768]
 [0.02513389]]

 R_gt:
[[ 0.99973313 -0.02248406  0.00550741]
 [ 0.02232498  0.99937061  0.02756073]
 [-0.00612291 -0.02743046  0.99960507]]

 t_gt:
[ 0.05971144 -0.72816273  0.68279835]

Pose Error in degrees for R and t:
176.96264037943584 87.45310319053233

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[-0.92459366 -0.38095072 -0.00176397]
 [ 0.38095125 -0.92455511 -0.00860165]
 [ 0.00164592 -0.00862502  0.99996145]]

 t_estimated:
[[9.73769594e-01]
 [2.27534281e-01]
 [9.64128310e-04]]

 R_gt:
[[ 0.9966703  -0.0721295   0.03801759]
 [ 0.07132271  0.99720672  0.02217464]
 [-0.03951024 -0.01938929  0.99903078]]

 t_gt:
[ 0.07126386 -0.78591824  0.61421005]

Pose Error in degrees for R and t:
153.5086019692526 83.75174594150364

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 7.72109616e-01 -6.35489240e-01  4.09633822e-04]
 [ 6.35480128e-01  7.72094747e-01 -5.89139845e-03]
 [ 3.42764420e-03  4.80911955e-03  9.99982562e-01]]

 t_estimated:
[[-0.04281675]
 [-0.99905746]
 [-0.00713612]]

 R_gt:
[[ 0.99213431 -0.11746128  0.04328858]
 [ 0.11669632  0.99297003  0.01979207]
 [-0.04530851 -0.01458502  0.99886688]]

 t_gt:
[ 0.10354849 -0.90396332  0.41488314]

Pose Error in degrees for R and t:
32.858185516351085 26.399321105181325

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999908e-01  3.32975406e-04  2.70264806e-04]
 [-3.32961977e-04  9.99999943e-01 -4.97328779e-05]
 [-2.70281351e-04  4.96428855e-05  9.99999962e-01]]

 t_estimated:
[[0.79590098]
 [0.60542413]
 [0.00180321]]

 R_gt:
[[ 0.98408431 -0.16608475 -0.06319105]
 [ 0.16803574  0.98541441  0.02688033]
 [ 0.05780491 -0.03707081  0.99763926]]

 t_gt:
[ 0.62469133 -0.77917742 -0.0514129 ]

Pose Error in degrees for R and t:
10.424137921471269 88.5464265841377

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.11255073  0.99301739  0.03533821]
 [-0.99362953 -0.11227306 -0.00975233]
 [-0.0057167  -0.03621072  0.99932783]]

 t_estimated:
[[0.10984312]
 [0.99393601]
 [0.00506965]]

 R_gt:
[[ 0.96171193 -0.24549985 -0.12181696]
 [ 0.25550157  0.96393502  0.07448717]
 [ 0.09913816 -0.10275986  0.98975361]]

 t_gt:
[ 0.62638245 -0.77819701  0.04532597]

Pose Error in degrees for R and t:
111.31263808043506 45.21532130264696

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.6692681  -0.74301785 -0.00216658]
 [ 0.74299832 -0.66926761  0.0058621 ]
 [-0.00580567  0.00231355  0.99998047]]

 t_estimated:
[[0.96802298]
 [0.25085961]
 [0.00098376]]

 R_gt:
[[ 0.948623   -0.27952916 -0.14824856]
 [ 0.30423497  0.93452765  0.18466125]
 [ 0.08692496 -0.22027556  0.9715561 ]]

 t_gt:
[ 0.55194981 -0.77189801  0.31547564]

Pose Error in degrees for R and t:
115.29837426614908 70.06387011542554

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.60481657e-01 -2.78340977e-01 -1.13436997e-03]
 [ 2.78341961e-01  9.60481687e-01  8.25145654e-04]
 [ 8.59869731e-04 -1.10828003e-03  9.99999016e-01]]

 t_estimated:
[[-0.59061616]
 [-0.80695206]
 [-0.00095724]]

 R_gt:
[[ 0.98756638 -0.1571996   0.00110554]
 [ 0.15707275  0.98700513  0.03387505]
 [-0.00641685 -0.03327962  0.99942581]]

 t_gt:
[ 0.54567094 -0.82557977  0.14374027]

Pose Error in degrees for R and t:
7.365369476722547 69.89243799288387

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 7.61090376e-01  6.48645803e-01  2.50126590e-04]
 [-6.48645745e-01  7.61090415e-01 -2.78671207e-04]
 [-3.71127859e-04  4.98504254e-05  9.99999930e-01]]

 t_estimated:
[[0.88368126]
 [0.46808825]
 [0.00090662]]

 R_gt:
[[ 9.47558705e-01 -3.19580346e-01  2.25200196e-04]
 [ 3.19577756e-01  9.47550898e-01  4.06470033e-03]
 [-1.51247878e-03 -3.77899939e-03  9.99991641e-01]]

 t_gt:
[ 0.63976419 -0.76851886  0.00897423]

Pose Error in degrees for R and t:
59.07759898730992 78.13413961420966

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.9981144   0.06114905  0.00533252]
 [ 0.06113825 -0.99812696  0.00216429]
 [ 0.00545487 -0.00183419 -0.99998344]]

 t_estimated:
[[0.76990556]
 [0.63815701]
 [0.00102929]]

 R_gt:
[[ 0.86655816 -0.49896438 -0.01057488]
 [ 0.49899453  0.86584013  0.03640463]
 [-0.00900836 -0.03682316  0.99928088]]

 t_gt:
[ 0.71467764 -0.69672158  0.061765  ]

Pose Error in degrees for R and t:
177.79660168966808 83.93364864929549

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-0.91982606 -0.39182464 -0.01983603]
 [-0.39185652  0.92002317 -0.00241523]
 [ 0.01919596  0.00555129 -0.99980033]]

 t_estimated:
[[ 0.96992473]
 [ 0.24320755]
 [-0.00980373]]

 R_gt:
[[ 0.99713361  0.05058634  0.05627167]
 [-0.04833022  0.9980002  -0.04075165]
 [-0.05822062  0.03791685  0.99758301]]

 t_gt:
[-0.79864158  0.57675194  0.17183955]

Pose Error in degrees for R and t:
178.37668985169535 50.50310078063504

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[-0.98490414 -0.17299272 -0.00611218]
 [-0.1730047   0.98491988  0.00148418]
 [ 0.00576325  0.00251921 -0.99998022]]

 t_estimated:
[[ 0.98913247]
 [ 0.14699863]
 [-0.00288961]]

 R_gt:
[[ 0.98861152  0.08809478  0.12201119]
 [-0.08115838  0.99485066 -0.06069788]
 [-0.12673106  0.05010538  0.99067075]]

 t_gt:
[-0.74517999  0.52411758  0.41231972]

Pose Error in degrees for R and t:
173.49640673379875 48.60635986207411

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.94232249 -0.33464314  0.00650267]
 [ 0.33466424  0.94233424 -0.00245353]
 [-0.00530663  0.00448823  0.99997585]]

 t_estimated:
[[0.11089866]
 [0.99382257]
 [0.00426533]]

 R_gt:
[[ 0.97055606  0.20883997  0.12003052]
 [-0.19998445  0.97638294 -0.08174216]
 [-0.13426739  0.05533285  0.98939868]]

 t_gt:
[-0.72014932  0.65944865  0.21566739]

Pose Error in degrees for R and t:
32.373138132377385 54.800074322828785

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99997758e-01  2.11731204e-03  5.62132233e-06]
 [-2.11731261e-03  9.99997753e-01  1.02925792e-04]
 [-5.40338368e-06 -1.02937463e-04  9.99999995e-01]]

 t_estimated:
[[9.99883194e-01]
 [1.52636619e-02]
 [7.86416192e-04]]

 R_gt:
[[ 0.98448154 -0.17495544 -0.01366982]
 [ 0.17460927  0.98435907 -0.02340261]
 [ 0.01755071  0.02065213  0.99963322]]

 t_gt:
[ 0.59512153 -0.79107267 -0.14154292]

Pose Error in degrees for R and t:
10.307289492957384 54.34762210712658

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.99998378  0.00546748  0.00159682]
 [-0.00544375  0.99987993 -0.01450857]
 [-0.00167595  0.01449965  0.99989347]]

 t_estimated:
[[9.93902231e-01]
 [1.10262234e-01]
 [7.71064574e-04]]

 R_gt:
[[ 0.92751145 -0.37347811 -0.0153906 ]
 [ 0.37365285  0.92750724  0.0106433 ]
 [ 0.01029975 -0.01562243  0.99982565]]

 t_gt:
[ 0.678665   -0.73424154  0.01741186]

Pose Error in degrees for R and t:
22.3231551959429 53.58846108976048

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-9.71574845e-01 -2.36730835e-01 -9.12853513e-04]
 [ 2.36732143e-01 -9.71573301e-01 -1.79260063e-03]
 [-4.62540256e-04 -1.95774745e-03  9.99997977e-01]]

 t_estimated:
[[9.37294388e-01]
 [3.48537929e-01]
 [7.36866657e-04]]

 R_gt:
[[ 0.87146771 -0.48890135 -0.03897655]
 [ 0.48634489  0.871699   -0.06007443]
 [ 0.06334581  0.03339612  0.99743318]]

 t_gt:
[ 0.73879641 -0.65971995 -0.13765698]

Pose Error in degrees for R and t:
137.10751389230683 62.4559214058103

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[-0.50873482  0.86089206 -0.00733061]
 [ 0.86086829  0.50878012  0.00696995]
 [ 0.00973004 -0.00276484 -0.99994884]]

 t_estimated:
[[0.44291566]
 [0.89656275]
 [0.00097559]]

 R_gt:
[[ 0.99875925  0.04121511  0.0279805 ]
 [-0.03986091  0.99808422 -0.04733087]
 [-0.02987683  0.04615631  0.99848778]]

 t_gt:
[-0.66101873  0.71936082 -0.21348125]

Pose Error in degrees for R and t:
177.79672990440818 69.39224724477195

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 0.9865615   0.14485969 -0.07557823]
 [-0.13065323  0.97718199  0.16746667]
 [ 0.09811286 -0.15534163  0.98297652]]

 t_estimated:
[[9.10306688e-01]
 [4.13933546e-01]
 [8.67785213e-04]]

 R_gt:
[[ 0.99029948  0.07542539  0.11669895]
 [-0.06722745  0.99508851 -0.0726627 ]
 [-0.12160566  0.06411314  0.99050585]]

 t_gt:
[-0.75433886  0.58493005  0.29804316]

Pose Error in degrees for R and t:
18.208767803585335 63.62150833996852

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-2.37607729e-01  9.71361167e-01  2.23096517e-04]
 [ 9.71357142e-01  2.37606069e-01  2.94256445e-03]
 [ 2.80528375e-03  9.15882451e-04 -9.99995646e-01]]

 t_estimated:
[[0.90583198]
 [0.42363263]
 [0.00195222]]

 R_gt:
[[ 0.98035446  0.13649067  0.14239338]
 [-0.12314394  0.98746704 -0.09870947]
 [-0.15408179  0.07923528  0.9848762 ]]

 t_gt:
[-0.72799094  0.62735441  0.27650614]

Pose Error in degrees for R and t:
170.20355634514956 66.85060998552738

Number of keypoints:
Image1: 421
Image2: 421

 R_estimated:
[[ 9.91121461e-01  1.32959146e-01  3.39921513e-04]
 [-1.32959206e-01  9.91121498e-01  1.60876257e-04]
 [-3.15513550e-04 -2.04643606e-04  9.99999929e-01]]

 t_estimated:
[[0.03806756]
 [0.99927336]
 [0.00190338]]

 R_gt:
[[ 0.99892772 -0.04385783  0.01480086]
 [ 0.04345788  0.99870984  0.02628995]
 [-0.01593432 -0.0256182   0.99954501]]

 t_gt:
[ 0.10984159 -0.79884445  0.59142402]

Pose Error in degrees for R and t:
10.286136701375609 37.537299804069676

Number of keypoints:
Image1: 373
Image2: 373

 R_estimated:
[[ 9.88918882e-01  1.48453712e-01 -9.69437195e-04]
 [-1.48452296e-01  9.88918582e-01  1.39811306e-03]
 [ 1.16624953e-03 -1.23870522e-03  9.99998553e-01]]

 t_estimated:
[[0.45118998]
 [0.89242724]
 [0.00110586]]

 R_gt:
[[ 0.99567096 -0.06804522  0.06331936]
 [ 0.06769127  0.99767701  0.00771721]
 [-0.06369693 -0.00339679  0.99796372]]

 t_gt:
[-0.15584273 -0.68875853  0.70804289]

Pose Error in degrees for R and t:
12.973212558350284 46.827389392658475

Number of keypoints:
Image1: 333
Image2: 333

 R_estimated:
[[-9.99942851e-01 -1.06871300e-02 -2.81765281e-04]
 [-1.06874080e-02  9.99942383e-01  1.00455427e-03]
 [ 2.71013244e-04  1.00750820e-03 -9.99999456e-01]]

 t_estimated:
[[9.96302826e-01]
 [8.59051991e-02]
 [9.87416082e-04]]

 R_gt:
[[ 0.99313225 -0.11680957  0.0066279 ]
 [ 0.11668069  0.9930189   0.01735465]
 [-0.00860838 -0.01646112  0.99982764]]

 t_gt:
[ 0.07445726 -0.98873349  0.12985452]

Pose Error in degrees for R and t:
179.56709455749782 89.3910978861811

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.97189626e-01 -7.49189495e-02 -2.65004821e-05]
 [ 7.49189517e-02  9.97189622e-01  9.57664804e-05]
 [ 1.92512816e-05 -9.74827291e-05  9.99999995e-01]]

 t_estimated:
[[-0.8830296 ]
 [-0.46931612]
 [-0.00105298]]

 R_gt:
[[ 0.99882647  0.03921941  0.0284308 ]
 [-0.04101308  0.99700694  0.06553819]
 [-0.02577591 -0.06662803  0.99744438]]

 t_gt:
[-0.26570704 -0.01597587  0.96392144]

Pose Error in degrees for R and t:
7.763256687238619 76.04794170700592

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.11184753 -0.99371285 -0.00499015]
 [-0.99368633  0.1117972   0.00942723]
 [-0.00881008  0.00601305 -0.99994311]]

 t_estimated:
[[0.64616301]
 [0.76319764]
 [0.00164838]]

 R_gt:
[[ 0.99435948  0.07897564  0.0708075 ]
 [-0.08850501  0.98568441  0.14350057]
 [-0.05846066 -0.14895737  0.98711381]]

 t_gt:
[-0.35255707  0.08625633  0.9318065 ]

Pose Error in degrees for R and t:
171.49222820804846 80.7674046913136

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.14066000e-01  4.05565438e-01  1.50055493e-04]
 [-4.05564847e-01  9.14065188e-01 -1.40949336e-03]
 [-7.08802294e-04  1.22751272e-03  9.99998995e-01]]

 t_estimated:
[[-0.94566202]
 [-0.32514888]
 [-0.00124103]]

 R_gt:
[[ 0.97466532  0.21234573  0.07027988]
 [-0.2190949   0.96960982  0.10887518]
 [-0.04502471 -0.12151548  0.99156741]]

 t_gt:
[-0.65487144  0.52540223  0.54322729]

Pose Error in degrees for R and t:
13.653921315546814 63.39872774857182

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99996992e-01  5.03128828e-04 -2.40053138e-03]
 [-4.94327041e-04  9.99993159e-01  3.66578462e-03]
 [ 2.40235932e-03 -3.66458695e-03  9.99990400e-01]]

 t_estimated:
[[-0.73782197]
 [-0.6749946 ]
 [-0.00101631]]

 R_gt:
[[ 0.99686936  0.07886771  0.00580506]
 [-0.07900072  0.99648132  0.0280334 ]
 [-0.00357389 -0.02840296  0.99958963]]

 t_gt:
[-0.64649939  0.7100376   0.2790791 ]

Pose Error in degrees for R and t:
4.731648322051941 89.85368203530935

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 8.62728480e-01 -5.05666646e-01  9.01224729e-04]
 [ 5.05666765e-01  8.62728875e-01  1.07474422e-04]
 [-8.31858827e-04  3.62998148e-04  9.99999588e-01]]

 t_estimated:
[[8.59832994e-01]
 [5.10574783e-01]
 [7.83090158e-04]]

 R_gt:
[[ 0.97009955  0.24223944  0.01510028]
 [-0.24249384  0.96998385  0.01817984]
 [-0.01024264 -0.02129747  0.99971978]]

 t_gt:
[-0.66264937  0.74371139  0.08825632]

Pose Error in degrees for R and t:
44.42282362904719 79.04847673188866

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.52041247e-01  3.05969641e-01  2.04643825e-04]
 [-3.05969369e-01  9.52040973e-01 -8.55487192e-04]
 [-4.56582416e-04  7.51844352e-04  9.99999613e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.85793912  0.50794723  0.07701084]
 [-0.50642119  0.86137443 -0.03966108]
 [-0.08648024 -0.00497281  0.99624099]]

 t_gt:
[-0.58082274  0.80742833  0.10346229]

Pose Error in degrees for R and t:
13.64536656335258 54.67343729947362

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.30157090e-01  3.67161797e-01  5.91678403e-05]
 [-3.67161619e-01  9.30156774e-01 -8.49250367e-04]
 [-3.66847658e-04  7.68212090e-04  9.99999638e-01]]

 t_estimated:
[[0.50986364]
 [0.8602545 ]
 [0.00112305]]

 R_gt:
[[ 0.9932691  -0.0938271   0.06792701]
 [ 0.08017875  0.98013007  0.18142502]
 [-0.08359984 -0.17475827  0.98105504]]

 t_gt:
[ 0.29885955 -0.48595408  0.82129873]

Pose Error in degrees for R and t:
28.807710203669426 74.64824597911561

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 0.4443097  -0.89560881 -0.0217657 ]
 [-0.89559444 -0.44464641  0.01414793]
 [-0.02234905  0.01320717 -0.99966299]]

 t_estimated:
[[0.89678477]
 [0.44246342]
 [0.0017915 ]]

 R_gt:
[[ 0.9736267  -0.22331017  0.04675427]
 [ 0.20104421  0.93662104  0.28691675]
 [-0.10786321 -0.26995074  0.95681322]]

 t_gt:
[ 0.48007032 -0.55033027  0.68313182]

Pose Error in degrees for R and t:
163.59033609628875 79.14975979114142

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.99668809e-01 -2.57256087e-02  6.82067320e-04]
 [ 2.57284764e-02  9.99658405e-01 -4.59547965e-03]
 [-5.63612819e-04  4.61150622e-03  9.99989208e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.94149579 -0.33346849  0.0488425 ]
 [ 0.30398578  0.90280991  0.30418209]
 [-0.14553093 -0.27153894  0.95136006]]

 t_gt:
[ 0.5746256 -0.5687345  0.5885121]

Pose Error in degrees for R and t:
25.25066889400073 55.01825902424659

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999859e-01  4.29460289e-04  3.10873809e-04]
 [-4.29420370e-04  9.99999900e-01 -1.28465482e-04]
 [-3.10928949e-04  1.28331968e-04  9.99999943e-01]]

 t_estimated:
[[9.13960781e-01]
 [4.05802188e-01]
 [5.23848222e-04]]

 R_gt:
[[ 0.98118479 -0.19283656  0.00954516]
 [ 0.19247115  0.98083112  0.03040566]
 [-0.0152251  -0.02799579  0.99949216]]

 t_gt:
[ 0.65871171 -0.73158686  0.1757258 ]

Pose Error in degrees for R and t:
11.283439572110332 72.22684453484653

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99995523e-01  2.98336757e-03  2.30606773e-04]
 [-2.98343735e-03  9.99995504e-01  3.02852701e-04]
 [-2.29702215e-04 -3.03539346e-04  9.99999928e-01]]

 t_estimated:
[[9.99992176e-01]
 [3.87894560e-03]
 [7.75789120e-04]]

 R_gt:
[[ 9.47193516e-01 -3.20583304e-01 -7.12239000e-03]
 [ 3.20661210e-01  9.47012875e-01  1.85085486e-02]
 [ 8.11086450e-04 -1.98146785e-02  9.99804067e-01]]

 t_gt:
[ 0.73596301 -0.67371525  0.06682975]

Pose Error in degrees for R and t:
18.90637831443595 42.828164071197904

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.12975801  0.99137845  0.01821087]
 [-0.99154414 -0.12970343 -0.00415172]
 [-0.00175392 -0.0185956   0.99982555]]

 t_estimated:
[[0.04586237]
 [0.99893421]
 [0.00520419]]

 R_gt:
[[ 0.92691637 -0.37506554  0.01232842]
 [ 0.37437437  0.9264741   0.03859082]
 [-0.02589596 -0.03115537  0.99917955]]

 t_gt:
[ 0.71212327 -0.69080456  0.12517791]

Pose Error in degrees for R and t:
119.46514433116154 48.946975668561386

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-2.15737699e-02  9.99766972e-01  7.58222262e-04]
 [-9.99762802e-01 -2.15714030e-02 -3.00236037e-03]
 [-2.98530482e-03 -8.22814645e-04  9.99995205e-01]]

 t_estimated:
[[0.79451863]
 [0.60723924]
 [0.00081073]]

 R_gt:
[[ 0.99381754 -0.10253719 -0.04260011]
 [ 0.10037923  0.99369058 -0.05003509]
 [ 0.04746108  0.0454492   0.99783858]]

 t_gt:
[ 0.9196158  -0.05753272 -0.38858303]

Pose Error in degrees for R and t:
97.12219572014325 45.94084168010441

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.95898433e-01  9.04756728e-02 -6.81213328e-04]
 [ 9.04739703e-02  9.95896360e-01  2.21366843e-03]
 [ 8.78701015e-04  2.14295685e-03 -9.99997318e-01]]

 t_estimated:
[[9.99591602e-01]
 [2.85597600e-02]
 [9.84819312e-04]]

 R_gt:
[[ 0.99239925 -0.08174562 -0.09198729]
 [ 0.07049755  0.99032655 -0.11951251]
 [ 0.10086669  0.11211891  0.98856162]]

 t_gt:
[ 0.66973986  0.04926003 -0.74096016]

Pose Error in degrees for R and t:
174.7207032195584 47.92185994520889

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.122617    0.99245277  0.00160299]
 [ 0.99245184 -0.12261998  0.00191941]
 [ 0.00210149  0.00135554 -0.99999687]]

 t_estimated:
[[-0.12678793]
 [-0.99192907]
 [-0.00124302]]

 R_gt:
[[ 0.98264191  0.09704658 -0.15810477]
 [-0.11019365  0.99095375 -0.07660866]
 [ 0.14923952  0.09270115  0.98444623]]

 t_gt:
[-0.45500913  0.13973844 -0.8794543 ]

Pose Error in degrees for R and t:
177.7618176007637 85.42133351123866

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999911e-01  4.16243458e-04 -7.26097412e-05]
 [-4.16235547e-04  9.99999907e-01  1.08943314e-04]
 [ 7.26550814e-05 -1.08913082e-04  9.99999991e-01]]

 t_estimated:
[[9.68813622e-01]
 [2.47790521e-01]
 [1.56763931e-04]]

 R_gt:
[[ 0.99915928 -0.03140316 -0.02637207]
 [ 0.03087211  0.9993182  -0.02029149]
 [ 0.0269913   0.01946012  0.99944708]]

 t_gt:
[ 0.85692276 -0.02757669 -0.51470663]

Pose Error in degrees for R and t:
2.6271052459874857 34.58504935903792

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99999998e-01 -6.75927641e-05  1.97038785e-05]
 [ 6.75922766e-05  9.99999997e-01  2.47408496e-05]
 [-1.97055508e-05 -2.47395177e-05  9.99999999e-01]]

 t_estimated:
[[-0.01154301]
 [-0.9999289 ]
 [-0.00299183]]

 R_gt:
[[ 0.99908013  0.00450825 -0.04265912]
 [-0.00597397  0.99939467 -0.03427742]
 [ 0.04247887  0.03450004  0.99850138]]

 t_gt:
[ 0.72705764  0.32561711 -0.60445073]

Pose Error in degrees for R and t:
3.153184581017552 70.59897654014641

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 8.90236336e-01  4.55498847e-01  2.58630295e-04]
 [-4.55498603e-01  8.90236242e-01 -6.75313703e-04]
 [-5.37846675e-04  4.83383058e-04  9.99999739e-01]]

 t_estimated:
[[-8.70112829e-01]
 [ 4.92851994e-01]
 [-7.59766765e-04]]

 R_gt:
[[ 0.99744656  0.07061766  0.01074085]
 [-0.06966677  0.99496797 -0.072009  ]
 [-0.01577184  0.07107671  0.99734665]]

 t_gt:
[ 0.28989391  0.85925819 -0.42146992]

Pose Error in degrees for R and t:
23.432404773907486 80.12106428748145

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.98969037e-01  4.53966837e-02  6.28958390e-05]
 [-4.53966882e-02  9.98969036e-01  7.22442128e-05]
 [-5.95513480e-05 -7.50249945e-05  9.99999995e-01]]

 t_estimated:
[[0.36200064]
 [0.93217728]
 [0.0010255 ]]

 R_gt:
[[ 0.99999017  0.00256336 -0.0037014 ]
 [-0.00257766  0.99998902 -0.00405361]
 [ 0.00369138  0.00406273  0.99998481]]

 t_gt:
[-0.77468308 -0.50638513 -0.37873503]

Pose Error in degrees for R and t:
2.474923619609532 41.16084463184984

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.99550249e-01  2.99793056e-02  7.35611241e-04]
 [-2.99783397e-02  9.99549715e-01 -1.29074183e-03]
 [-7.73975550e-04  1.26810891e-03  9.99998896e-01]]

 t_estimated:
[[0.57876219]
 [0.81549586]
 [0.00091234]]

 R_gt:
[[ 0.99945636  0.00288882  0.03285495]
 [-0.0037916   0.99961529  0.02748099]
 [-0.03276301 -0.02759128  0.99908195]]

 t_gt:
[-0.63118001 -0.35547442  0.68938359]

Pose Error in degrees for R and t:
2.903681354674438 49.11354688518815

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.91593027e-01 -1.29395777e-01 -4.24494334e-05]
 [ 1.29395783e-01  9.91593001e-01  2.25697575e-04]
 [ 1.28882479e-05 -2.29292920e-04  9.99999974e-01]]

 t_estimated:
[[0.30118323]
 [0.95356567]
 [0.0010873 ]]

 R_gt:
[[ 9.97915468e-01  4.54883857e-02  4.57768297e-02]
 [-4.54445680e-02  9.98965337e-01 -1.98855483e-03]
 [-4.58194664e-02 -9.62511590e-05  9.98949679e-01]]

 t_gt:
[-0.91576227  0.06473547  0.3964704 ]

Pose Error in degrees for R and t:
10.379275035136738 77.66356628311668

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99999497e-01  4.53861108e-04  8.94081905e-04]
 [-4.53318497e-04  9.99999713e-01 -6.07000776e-04]
 [-8.94357143e-04  6.06595167e-04  9.99999416e-01]]

 t_estimated:
[[0.87744188]
 [0.47968171]
 [0.00110006]]

 R_gt:
[[ 0.98510969 -0.15618827 -0.07186078]
 [ 0.15399241  0.98744487 -0.03519404]
 [ 0.07645521  0.02360449  0.99679413]]

 t_gt:
[ 0.64728066 -0.64430556 -0.4073059 ]

Pose Error in degrees for R and t:
10.083105220561531 75.02239347023162

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99570840e-01 -2.92929843e-02  2.36956089e-04]
 [ 2.92930250e-02  9.99570853e-01 -1.70430117e-04]
 [-2.31861993e-04  1.77298136e-04  9.99999957e-01]]

 t_estimated:
[[-0.1902519 ]
 [-0.98173458]
 [-0.0011924 ]]

 R_gt:
[[ 0.95457663 -0.29639557 -0.03052836]
 [ 0.29634594  0.95505994 -0.00627453]
 [ 0.03101721 -0.00305613  0.9995141 ]]

 t_gt:
[ 0.66922069 -0.74096286 -0.05583645]

Pose Error in degrees for R and t:
15.668537702729024 53.11757275318234

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.99998517e-01 -2.17230430e-04  1.70853915e-03]
 [ 2.19039827e-04  9.99999415e-01 -1.05891582e-03]
 [-1.70830812e-03  1.05928849e-03  9.99997980e-01]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.89734367 -0.41232555 -0.15735765]
 [ 0.42705747  0.90119962  0.07390705]
 [ 0.11133711 -0.13352007  0.98477179]]

 t_gt:
[ 0.70842869 -0.70361309  0.05529381]

Pose Error in degrees for R and t:
26.949313921186832 85.52016830039973

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99999920e-01  3.70031626e-04  1.49161135e-04]
 [-3.70020649e-04  9.99999929e-01 -7.36086850e-05]
 [-1.49188362e-04  7.35534864e-05  9.99999986e-01]]

 t_estimated:
[[8.98723759e-01]
 [4.38514495e-01]
 [8.01007796e-04]]

 R_gt:
[[ 0.98715311 -0.15566823 -0.03600886]
 [ 0.15689451  0.98702362  0.03418162]
 [ 0.03022014 -0.03939293  0.99876596]]

 t_gt:
[ 0.67498315 -0.73518827  0.06241762]

Pose Error in degrees for R and t:
9.458185605521896 73.48402432059677

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.92777225e-01  1.19971768e-01  3.95133918e-04]
 [-1.19971686e-01  9.92777288e-01 -2.23472039e-04]
 [-4.19090315e-04  1.74453069e-04  9.99999897e-01]]

 t_estimated:
[[0.87391382]
 [0.48607986]
 [0.00100204]]

 R_gt:
[[ 0.95710059 -0.28846541 -0.02733561]
 [ 0.28934577  0.95650572  0.03710828]
 [ 0.01544253 -0.04342596  0.99893638]]

 t_gt:
[ 0.70404007 -0.6988622   0.1261713 ]

Pose Error in degrees for R and t:
23.83918389050082 73.99662764162699

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99998954e-01  1.20437843e-03  8.01187666e-04]
 [-1.20390442e-03  9.99999100e-01 -5.91857162e-04]
 [-8.01899765e-04  5.90891990e-04  9.99999504e-01]]

 t_estimated:
[[8.10300024e-01]
 [5.86014928e-01]
 [6.13503689e-04]]

 R_gt:
[[ 0.91799225 -0.39273111 -0.05525666]
 [ 0.39639987  0.91299632  0.09646076]
 [ 0.01256656 -0.11045448  0.99380092]]

 t_gt:
[ 0.69761714 -0.67693082  0.23472324]

Pose Error in degrees for R and t:
24.240497864362066 80.28591900962847

Number of keypoints:
Image1: 357
Image2: 357

 R_estimated:
[[ 9.98529700e-01  5.42072898e-02 -9.34611399e-05]
 [-5.42072317e-02  9.98529561e-01  5.40273833e-04]
 [ 1.22610491e-04 -5.34413198e-04  9.99999850e-01]]

 t_estimated:
[[9.46958752e-01]
 [3.21353873e-01]
 [9.00150905e-04]]

 R_gt:
[[ 0.9935509  -0.10711352 -0.03719832]
 [ 0.10926132  0.99210642  0.06152887]
 [ 0.03031427 -0.06519637  0.99741114]]

 t_gt:
[ 0.65077529 -0.70486127  0.28224478]

Pose Error in degrees for R and t:
10.183219153172002 67.04540599458805

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 8.66191121e-01  4.99711353e-01  1.22742288e-03]
 [-4.99712859e-01  8.66188310e-01  2.20700990e-03]
 [ 3.96885555e-05 -2.52505137e-03  9.99996811e-01]]

 t_estimated:
[[0.50411302]
 [0.86363548]
 [0.00195393]]

 R_gt:
[[ 0.96466177 -0.26047946 -0.03974603]
 [ 0.26302198  0.96094046  0.08608836]
 [ 0.01576992 -0.09350046  0.9954943 ]]

 t_gt:
[ 0.67833871 -0.68775856  0.25854353]

Pose Error in degrees for R and t:
45.48443887940584 75.43322540762846

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 7.67681001e-01  6.40829695e-01  1.78407329e-03]
 [-6.40827415e-01  7.67683054e-01 -1.71864644e-03]
 [-2.47096250e-03  1.76089141e-04  9.99996932e-01]]

 t_estimated:
[[0.79754699]
 [0.6032553 ]
 [0.00135868]]

 R_gt:
[[ 0.9187938  -0.3874646  -0.07542851]
 [ 0.39294743  0.91595529  0.08135559]
 [ 0.03756676 -0.1043885   0.9938261 ]]

 t_gt:
[ 0.74641114 -0.64014129  0.18190529]

Pose Error in degrees for R and t:
63.197561997543254 77.91418514948528

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[-7.22872368e-01 -6.90979163e-01 -1.82642635e-03]
 [ 6.90977943e-01 -7.22874613e-01  1.33257749e-03]
 [-2.24106052e-03 -2.98736882e-04  9.99997444e-01]]

 t_estimated:
[[0.93344868]
 [0.35870956]
 [0.00100479]]

 R_gt:
[[ 0.98047297 -0.19470914 -0.02759666]
 [ 0.19608686  0.97862125  0.06205356]
 [ 0.01492436 -0.06625337  0.99769141]]

 t_gt:
[ 0.62261675 -0.76351101  0.17146231]

Pose Error in degrees for R and t:
125.04143335692663 72.09290984753385

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.90119275e-01  1.40227524e-01  2.50752843e-04]
 [-1.40227659e-01  9.90119082e-01  6.38771828e-04]
 [-1.58701783e-04 -6.67622783e-04  9.99999765e-01]]

 t_estimated:
[[0.14654839]
 [0.98920162]
 [0.00192827]]

 R_gt:
[[ 0.94563778 -0.30797222 -0.10451088]
 [ 0.31635025  0.94559858  0.07592868]
 [ 0.0754402  -0.10486403  0.99162079]]

 t_gt:
[ 0.6598219  -0.74737116  0.07791925]

Pose Error in degrees for R and t:
27.333174874741502 50.024896557781695

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.25423341  0.9671291  -0.00516551]
 [ 0.96710009  0.25426878  0.00805013]
 [ 0.00909894 -0.00294896 -0.99995426]]

 t_estimated:
[[0.61793566]
 [0.78622819]
 [0.00086304]]

 R_gt:
[[ 0.88155319 -0.4346238  -0.18429814]
 [ 0.46403689  0.86953983  0.16902564]
 [ 0.08679197 -0.23452659  0.96822717]]

 t_gt:
[ 0.69048422 -0.6837392   0.23607679]

Pose Error in degrees for R and t:
165.8103775190453 83.64453438319862

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.66978008 -0.74253073  0.00653947]
 [ 0.74253613  0.66980291  0.00203781]
 [-0.00589329  0.00349091  0.99997654]]

 t_estimated:
[[8.96264114e-01]
 [4.43520063e-01]
 [7.68665621e-04]]

 R_gt:
[[ 0.97472215 -0.22248775 -0.02037377]
 [ 0.22230458  0.97491702 -0.01083999]
 [ 0.02227416  0.00603584  0.99973352]]

 t_gt:
[ 0.65845391 -0.74813619 -0.08204078]

Pose Error in degrees for R and t:
35.13635214205617 75.03243815789318

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-5.83160738e-01  8.12354777e-01  1.80849881e-03]
 [ 8.12356744e-01  5.83158511e-01  1.63430193e-03]
 [ 2.72991507e-04  2.42220692e-03 -9.99997029e-01]]

 t_estimated:
[[9.38088783e-01]
 [3.46394115e-01]
 [7.43335010e-04]]

 R_gt:
[[ 0.95566523 -0.29267881 -0.03229274]
 [ 0.29145131  0.95583602 -0.0378475 ]
 [ 0.04194317  0.02675755  0.99876156]]

 t_gt:
[ 0.66138214 -0.73105666 -0.16771951]

Pose Error in degrees for R and t:
179.01042617984945 68.46455348921799

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.98318788e-01 -5.79618387e-02 -1.53995789e-04]
 [ 5.79618754e-02  9.98318767e-01  2.45646266e-04]
 [ 1.39498777e-04 -2.54159167e-04  9.99999958e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.91120792 -0.40540228 -0.07313508]
 [ 0.40477386  0.91410452 -0.02387229]
 [ 0.07653091 -0.0078514   0.9970362 ]]

 t_gt:
[ 0.71591051 -0.68796716 -0.11905176]

Pose Error in degrees for R and t:
21.072117722091043 68.73905026473405

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999940e-01  3.36360977e-04  7.66140016e-05]
 [-3.36361516e-04  9.99999943e-01  7.02232779e-06]
 [-7.66116353e-05 -7.04809738e-06  9.99999997e-01]]

 t_estimated:
[[-9.99999445e-01]
 [-1.02009053e-03]
 [-2.62491230e-04]]

 R_gt:
[[ 0.99968806  0.02432892 -0.00574759]
 [-0.02405816  0.99877451  0.04325534]
 [ 0.00679243 -0.04310417  0.99904756]]

 t_gt:
[0.28225757 0.67698825 0.67971875]

Pose Error in degrees for R and t:
2.85018184903598 73.55311135302907

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99999362e-01 -2.08421755e-04  1.10997123e-03]
 [ 2.09438648e-04  9.99999558e-01 -9.16106079e-04]
 [-1.10977980e-03  9.16337965e-04  9.99998964e-01]]

 t_estimated:
[[0.61092009]
 [0.76801131]
 [0.19218552]]

 R_gt:
[[ 0.99818712  0.04207121 -0.04305464]
 [-0.04130725  0.99897643  0.01848923]
 [ 0.04378842 -0.01667756  0.99890146]]

 t_gt:
[ 0.59020363  0.72030214 -0.36445096]

Pose Error in degrees for R and t:
3.6617842715656836 32.464387002757135

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.99998458 -0.00452231  0.00322177]
 [ 0.00453011  0.99998682 -0.00241697]
 [-0.00321079  0.00243153  0.99999189]]

 t_estimated:
[[-0.38147445]
 [-0.92437889]
 [-0.00096089]]

 R_gt:
[[ 0.99742004  0.06677403 -0.02638212]
 [-0.06608174  0.99746802  0.02630914]
 [ 0.02807154 -0.02449817  0.99930584]]

 t_gt:
[ 0.53965537  0.83319982 -0.12062398]

Pose Error in degrees for R and t:
4.705982099160193 12.59359402397029

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[ 7.68395276e-01 -6.39974028e-01  1.39377410e-03]
 [ 6.39974139e-01  7.68396331e-01  4.23102657e-04]
 [-1.34174561e-03  5.66869294e-04  9.99998939e-01]]

 t_estimated:
[[7.88612917e-01]
 [6.14889492e-01]
 [7.61944847e-04]]

 R_gt:
[[ 0.99661658  0.04128758  0.0710592 ]
 [-0.03845278  0.99842652 -0.04082441]
 [-0.07263354  0.03795284  0.99663586]]

 t_gt:
[-0.73409375  0.65591442  0.17573459]

Pose Error in degrees for R and t:
42.32024332128132 79.89416274782747

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 0.92892677 -0.37025467 -0.00255603]
 [ 0.37025816  0.92892831  0.00104508]
 [ 0.00198742 -0.0019172   0.99999619]]

 t_estimated:
[[0.45265937]
 [0.89168298]
 [0.00097346]]

 R_gt:
[[ 0.99116408  0.0840253   0.1026325 ]
 [-0.07554273  0.99360505 -0.08392373]
 [-0.109028    0.07542834  0.99117287]]

 t_gt:
[-0.72357077  0.68094826  0.11293718]

Pose Error in degrees for R and t:
27.434055303197383 73.75359181812313

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 6.25878399e-01 -7.79914733e-01 -3.03945986e-03]
 [ 7.79920531e-01  6.25871342e-01  3.00471260e-03]
 [-4.41108803e-04 -4.25112186e-03  9.99990867e-01]]

 t_estimated:
[[0.99374716]
 [0.11163239]
 [0.00218887]]

 R_gt:
[[ 0.9765775   0.11509311  0.1817931 ]
 [-0.09820709  0.99019619 -0.09933528]
 [-0.19144429  0.07915482  0.97830581]]

 t_gt:
[-0.70556514  0.58659824  0.39759319]

Pose Error in degrees for R and t:
58.60764632403912 50.59486918140692

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 9.99884539e-01  1.51956428e-02  2.64452112e-05]
 [-1.51956454e-02  9.99884534e-01  1.02386767e-04]
 [-2.48863249e-05 -1.02776798e-04  9.99999994e-01]]

 t_estimated:
[[-3.39093939e-02]
 [ 9.99424899e-01]
 [ 1.56799353e-04]]

 R_gt:
[[ 0.99970468  0.0136452   0.02013136]
 [-0.01406563  0.9996834   0.02086783]
 [-0.01984003 -0.02114658  0.99957927]]

 t_gt:
[-0.74373372 -0.0668969   0.66512026]

Pose Error in degrees for R and t:
1.657759775750445 87.61955917060565

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.26077828  0.96518128 -0.02048852]
 [-0.96531304  0.26041367 -0.01885332]
 [-0.01286139  0.02469437  0.99961231]]

 t_estimated:
[[0.10189724]
 [0.99479343]
 [0.00172707]]

 R_gt:
[[ 0.9931733   0.10688333  0.04673056]
 [-0.10502933  0.9936449  -0.04049873]
 [-0.05076185  0.03531374  0.99808643]]

 t_gt:
[-0.81635857  0.55592679  0.15653783]

Pose Error in degrees for R and t:
68.85879867927929 61.95804502701982

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.95476776e-01  9.50038713e-02  5.02269598e-04]
 [-9.50044656e-02  9.95475953e-01  1.33368791e-03]
 [-3.73291793e-04 -1.37537319e-03  9.99998985e-01]]

 t_estimated:
[[-0.0288061 ]
 [ 0.99958016]
 [ 0.00311616]]

 R_gt:
[[ 0.97162264  0.23229652  0.04459225]
 [-0.22875131  0.9707625  -0.07275509]
 [-0.06018917  0.06048841  0.99635289]]

 t_gt:
[-0.71573055  0.6962292   0.05472376]

Pose Error in degrees for R and t:
9.316816921950988 44.21526588106055

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.98765964  0.15660581  0.00174639]
 [-0.15660266  0.98766001 -0.00181757]
 [-0.00200948  0.00152165  0.99999682]]

 t_estimated:
[[0.46931716]
 [0.8830224 ]
 [0.00358379]]

 R_gt:
[[ 0.97970192 -0.20009252 -0.01210682]
 [ 0.20015813  0.97975347  0.00445038]
 [ 0.01097098 -0.0067834   0.99991678]]

 t_gt:
[ 0.72544067 -0.68815615  0.01330209]

Pose Error in degrees for R and t:
20.573328605671755 74.50538148823671

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.07143893e-01  4.20819946e-01  7.28240502e-04]
 [-4.20819664e-01  9.07144172e-01 -5.12439985e-04]
 [-8.76264093e-04  1.58398879e-04  9.99999604e-01]]

 t_estimated:
[[0.30190981]
 [0.95333583]
 [0.0011253 ]]

 R_gt:
[[ 0.96686302 -0.25523973 -0.00542481]
 [ 0.25527188  0.96684914  0.00631768]
 [ 0.0036324  -0.00749229  0.99996514]]

 t_gt:
[ 0.69679768 -0.71690305  0.02286925]

Pose Error in degrees for R and t:
39.678641742483165 61.767306298904394

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-3.43097592e-01  9.39298350e-01 -1.62820344e-03]
 [-9.39294134e-01 -3.43101022e-01 -2.86693388e-03]
 [-3.25154453e-03  5.45723830e-04  9.99994565e-01]]

 t_estimated:
[[0.55724263]
 [0.83034907]
 [0.00103402]]

 R_gt:
[[ 0.9340945  -0.35467139  0.04093504]
 [ 0.35271203  0.93449176  0.04815676]
 [-0.0553324  -0.03054443  0.99800014]]

 t_gt:
[ 0.68892278 -0.70450998  0.17044381]

Pose Error in degrees for R and t:
130.8287215924078 78.40948084008838

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99611977e-01 -2.78548751e-02  2.39343193e-05]
 [ 2.78548759e-02  9.99611977e-01 -3.15499186e-05]
 [-2.30462132e-05  3.22043641e-05  9.99999999e-01]]

 t_estimated:
[[ 3.24034656e-01]
 [-9.46045208e-01]
 [ 7.76791673e-05]]

 R_gt:
[[ 0.99825576 -0.02443066  0.05375578]
 [ 0.02285616  0.99929733  0.02970801]
 [-0.05444399 -0.0284262   0.99811156]]

 t_gt:
[ 0.26723259 -0.17331065  0.94791886]

Pose Error in degrees for R and t:
3.529060914868818 75.48544359679158

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-7.14294946e-01  6.99844516e-01  6.19047089e-04]
 [-6.99844327e-01 -7.14293176e-01 -1.78246903e-03]
 [-8.05270063e-04 -1.70644521e-03  9.99998220e-01]]

 t_estimated:
[[8.03119597e-01]
 [5.95817436e-01]
 [7.05109391e-04]]

 R_gt:
[[ 0.99208948 -0.11589907  0.04823122]
 [ 0.11488809  0.99310732  0.02323472]
 [-0.05059201 -0.01750889  0.99856557]]

 t_gt:
[ 0.94495218 -0.17820822  0.27442157]

Pose Error in degrees for R and t:
142.22789026272068 49.23761070624782

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.76649065e-01 -2.14840481e-01  4.15026717e-04]
 [-2.14657682e-01 -9.75894193e-01 -3.94031028e-02]
 [ 8.87040371e-03  3.83939148e-02 -9.99223310e-01]]

 t_estimated:
[[ 0.12246862]
 [ 0.99224983]
 [-0.02101715]]

 R_gt:
[[ 0.98965359 -0.14209886 -0.01986845]
 [ 0.14088917  0.98861578 -0.05281941]
 [ 0.02714699  0.04947447  0.99840663]]

 t_gt:
[ 0.95297455 -0.07967335 -0.29238958]

Pose Error in degrees for R and t:
174.6761610052519 87.48971019626555

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.69542906e-01  2.44921377e-01  2.67722842e-04]
 [-2.44921304e-01  9.69542921e-01 -2.80607698e-04]
 [-3.28295610e-04  2.06490176e-04  9.99999925e-01]]

 t_estimated:
[[-8.97233919e-01]
 [ 4.41555539e-01]
 [ 8.36798205e-06]]

 R_gt:
[[ 0.98862059 -0.15034828 -0.00502967]
 [ 0.15031123  0.98594139  0.07298369]
 [-0.00601438 -0.07290926  0.99732032]]

 t_gt:
[ 0.61020338 -0.74430054  0.27141949]

Pose Error in degrees for R and t:
23.21459008374777 28.81946933826217

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.79702645e-01 -2.00456161e-01  2.32908344e-04]
 [ 2.00455316e-01  9.79693555e-01 -4.26664673e-03]
 [ 6.27096822e-04  4.22673280e-03  9.99990871e-01]]

 t_estimated:
[[-0.06701134]
 [-0.99772443]
 [-0.0074457 ]]

 R_gt:
[[ 0.9770771  -0.21079905  0.02974503]
 [ 0.20787283  0.97485158  0.08033778]
 [-0.04593188 -0.07231387  0.99632387]]

 t_gt:
[ 0.61060557 -0.72226254  0.32480403]

Pose Error in degrees for R and t:
5.1677585807630955 47.36830289608723

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-2.04944133e-02  9.99789937e-01  2.47286041e-04]
 [-9.99788562e-01 -2.04939691e-02 -1.68185137e-03]
 [-1.67643020e-03 -2.81702312e-04  9.99998555e-01]]

 t_estimated:
[[0.33384618]
 [0.94262693]
 [0.00109569]]

 R_gt:
[[ 0.96732575 -0.25268947  0.02073346]
 [ 0.25017062  0.96456445  0.08385137]
 [-0.04118594 -0.07592442  0.99626265]]

 t_gt:
[ 0.63155968 -0.72783798  0.26717829]

Pose Error in degrees for R and t:
105.84676098654735 61.64435166857283

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.97597403e-01  6.92778475e-02  4.12830050e-05]
 [-6.92778484e-02  9.97597403e-01  1.97459567e-05]
 [-3.98158612e-05 -2.25585128e-05  9.99999999e-01]]

 t_estimated:
[[0.35757571]
 [0.93388137]
 [0.00228189]]

 R_gt:
[[ 0.99748964  0.07078301 -0.00215116]
 [-0.07080676  0.99739059 -0.01408115]
 [ 0.00114848  0.01419883  0.9998989 ]]

 t_gt:
[ 0.08114444  0.95909001 -0.27122304]

Pose Error in degrees for R and t:
0.8212702282521841 22.471066322276275

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-9.48410622e-02 -9.95491993e-01  9.29715011e-04]
 [-9.95491728e-01  9.48420613e-02  1.09692314e-03]
 [-1.18015429e-03 -8.21490247e-04 -9.99998966e-01]]

 t_estimated:
[[0.7970397 ]
 [0.60392436]
 [0.00175559]]

 R_gt:
[[ 0.99389843  0.10988698  0.0095328 ]
 [-0.10991814  0.99393717  0.00273077]
 [-0.0091741  -0.00376138  0.9999506 ]]

 t_gt:
[0.35502398 0.93036305 0.09155633]

Pose Error in degrees for R and t:
179.39399296040304 32.32829399307621

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.88314783e-01  1.52426532e-01  2.06518013e-04]
 [-1.52426598e-01  9.88314729e-01  3.57898335e-04]
 [-1.49551592e-04 -3.85195054e-04  9.99999915e-01]]

 t_estimated:
[[0.14452665]
 [0.98950037]
 [0.00103378]]

 R_gt:
[[ 0.98429875  0.17587988  0.01493957]
 [-0.17634944  0.9835036   0.04026854]
 [-0.00761028 -0.04227145  0.99907713]]

 t_gt:
[0.25447685 0.89965861 0.35476177]

Pose Error in degrees for R and t:
2.8018222687639627 21.97335552056762

Number of keypoints:
Image1: 374
Image2: 374

 R_estimated:
[[ 6.06720956e-01 -7.94914831e-01 -3.03849797e-04]
 [ 7.94905505e-01  6.06715607e-01 -4.62710244e-03]
 [ 3.86250277e-03  2.56582814e-03  9.99989249e-01]]

 t_estimated:
[[ 0.17687869]
 [-0.98421482]
 [-0.00592662]]

 R_gt:
[[ 0.99689595 -0.05872534 -0.05243126]
 [ 0.05974779  0.99804817  0.01816923]
 [ 0.05126237 -0.02124506  0.99845904]]

 t_gt:
[ 0.49178301 -0.75854395 -0.42750503]

Pose Error in degrees for R and t:
49.34263325211952 33.27051426822369

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 0.9815631   0.19110966  0.00331298]
 [-0.19097761  0.98130095 -0.02399995]
 [-0.00783765  0.02292476  0.99970647]]

 t_estimated:
[[0.99243905]
 [0.1227291 ]
 [0.00151517]]

 R_gt:
[[ 0.99201926 -0.08093707 -0.09668545]
 [ 0.0860582   0.99503294  0.05003357]
 [ 0.09215579 -0.05795452  0.99405632]]

 t_gt:
[ 0.5118721  -0.76036348 -0.39979286]

Pose Error in degrees for R and t:
17.40334239212651 65.53877177133326

Number of keypoints:
Image1: 377
Image2: 377

 R_estimated:
[[-0.9724959  -0.23289924  0.00310828]
 [-0.2329035   0.97249925 -0.00108436]
 [-0.00277025 -0.00177847 -0.99999458]]

 t_estimated:
[[0.9858548 ]
 [0.16755636]
 [0.00389666]]

 R_gt:
[[ 0.98847969 -0.11065608 -0.10326553]
 [ 0.1152116   0.99256587  0.03923188]
 [ 0.09815724 -0.05067742  0.9938791 ]]

 t_gt:
[ 0.54862607 -0.74767772 -0.37414899]

Pose Error in degrees for R and t:
174.71676878768832 65.5354880445474

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.74301244e-01 -2.25246873e-01 -9.65884879e-04]
 [ 2.25246691e-01  9.74301720e-01 -2.94526006e-04]
 [ 1.00740436e-03  6.93946804e-05  9.99999490e-01]]

 t_estimated:
[[ 0.92871673]
 [-0.37078356]
 [-0.00218916]]

 R_gt:
[[ 0.99648378  0.08179283 -0.01816602]
 [-0.08265367  0.99516067 -0.05313456]
 [ 0.01373219  0.05444975  0.9984225 ]]

 t_gt:
[-0.47134871  0.69663727 -0.54085757]

Pose Error in degrees for R and t:
18.02030485980744 45.98337609616558

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-7.37837162e-01 -6.74977000e-01 -1.54003416e-03]
 [ 6.74978739e-01 -7.37835739e-01 -1.45729933e-03]
 [-1.52648711e-04 -2.11473992e-03  9.99997752e-01]]

 t_estimated:
[[0.88813265]
 [0.45958612]
 [0.00100128]]

 R_gt:
[[ 0.9319672   0.35756914 -0.05982994]
 [-0.36011554  0.93209633 -0.03889302]
 [ 0.04186048  0.05779267  0.99745071]]

 t_gt:
[-0.49380816  0.84682581 -0.19758429]

Pose Error in degrees for R and t:
158.61688557994856 87.1583626395684

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999754e-01 -6.23345012e-04 -3.21221686e-04]
 [ 6.23529430e-04  9.99999641e-01  5.74334943e-04]
 [ 3.20863562e-04 -5.74535093e-04  9.99999783e-01]]

 t_estimated:
[[0.17620315]
 [0.98435293]
 [0.00132484]]

 R_gt:
[[ 0.83269814  0.54305782 -0.10817477]
 [-0.54585874  0.83786548  0.00438625]
 [ 0.09301797  0.05539622  0.99412235]]

 t_gt:
[-0.38050218  0.90587097 -0.1860534 ]

Pose Error in degrees for R and t:
33.69311060552432 34.47182904623946

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 7.38179641e-01  6.74604178e-01 -1.40828169e-04]
 [-6.74604178e-01  7.38179565e-01 -3.64758802e-04]
 [-1.42111335e-04  3.64260793e-04  9.99999924e-01]]

 t_estimated:
[[-0.99993173]
 [-0.01162711]
 [-0.00116271]]

 R_gt:
[[ 0.99347067  0.06162091  0.09601228]
 [-0.05709392  0.99715607 -0.04919942]
 [-0.09877019  0.04339667  0.99416418]]

 t_gt:
[-0.47746423  0.63483821  0.60746058]

Pose Error in degrees for R and t:
39.47861161142746 62.00827776478276

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.42163667 -0.90675933 -0.00316764]
 [-0.90675916  0.42161906  0.00501862]
 [-0.00321514  0.00498832 -0.99998239]]

 t_estimated:
[[0.86982434]
 [0.49336069]
 [0.00092045]]

 R_gt:
[[ 0.96744725  0.13676261  0.21293666]
 [-0.12098394  0.98896515 -0.08550771]
 [-0.22227957  0.05696269  0.97331785]]

 t_gt:
[-0.38358502  0.59105778  0.70958666]

Pose Error in degrees for R and t:
171.62219424992765 87.62763326865458

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.21791006e-01 -3.87686467e-01  7.38102807e-04]
 [ 3.87687072e-01  9.21787750e-01 -2.46548424e-03]
 [ 2.75460750e-04  2.55881412e-03  9.99996688e-01]]

 t_estimated:
[[0.95034591]
 [0.31119375]
 [0.00104779]]

 R_gt:
[[ 0.92734209  0.28015828  0.24809115]
 [-0.25636749  0.95856821 -0.1241917 ]
 [-0.27260455  0.05156555  0.96074314]]

 t_gt:
[-0.34193677  0.75291255  0.56231836]

Pose Error in degrees for R and t:
41.76808915169566 84.83251911403558

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99884856e-01  1.51741705e-02  1.39036934e-04]
 [-1.51741501e-02  9.99884855e-01 -1.46834064e-04]
 [-1.41249010e-04  1.44707389e-04  9.99999980e-01]]

 t_estimated:
[[8.91861611e-01]
 [4.52307861e-01]
 [6.82621921e-04]]

 R_gt:
[[ 0.99408591 -0.10343579 -0.03306812]
 [ 0.10304304  0.99458737 -0.0133736 ]
 [ 0.03427272  0.0098878   0.99936374]]

 t_gt:
[ 0.55078164 -0.77554377 -0.30849869]

Pose Error in degrees for R and t:
7.09885292504096 81.93908343905228

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99167067e-01 -4.08037512e-02  4.75694276e-04]
 [ 4.08038511e-02  9.99167156e-01 -2.02212029e-04]
 [-4.67047087e-04  2.21453758e-04  9.99999866e-01]]

 t_estimated:
[[9.82547882e-01]
 [1.86007706e-01]
 [8.89989024e-04]]

 R_gt:
[[ 0.97674967 -0.20285143 -0.06935441]
 [ 0.20496119  0.97845821  0.02472064]
 [ 0.06284484 -0.03836086  0.99728601]]

 t_gt:
[ 0.64316719 -0.76191285 -0.07632023]

Pose Error in degrees for R and t:
10.354383953949542 60.649363349226014

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.54478896e-01 -2.98278334e-01  2.70675346e-04]
 [ 2.98278246e-01  9.54478907e-01  3.21836560e-04]
 [-3.54350781e-04 -2.26449637e-04  9.99999912e-01]]

 t_estimated:
[[9.95396347e-01]
 [9.58405266e-02]
 [8.40706374e-04]]

 R_gt:
[[ 0.95154067 -0.28358768 -0.11894736]
 [ 0.28737143  0.95769234  0.01560869]
 [ 0.10948796 -0.04903352  0.99277813]]

 t_gt:
[ 0.72769203 -0.67401401 -0.12715906]

Pose Error in degrees for R and t:
6.93904038053362 48.72778825463291

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.99868546  0.0512302   0.00167792]
 [-0.05122759  0.99868578 -0.00156144]
 [-0.00175571  0.00147344  0.99999737]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.99734953 -0.05476687 -0.04791824]
 [ 0.05593118  0.9981629   0.0233042 ]
 [ 0.04655368 -0.02592328  0.99857945]]

 t_gt:
[ 0.54251262 -0.78696671 -0.2938766 ]

Pose Error in degrees for R and t:
6.889485586963585 65.8500188682466

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.68341083e-01  2.49629835e-01  7.01965113e-04]
 [-2.49629643e-01  9.68341323e-01 -3.50285628e-04]
 [-7.67183570e-04  1.63964664e-04  9.99999692e-01]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.99850049 -0.04893984 -0.02454835]
 [ 0.0487246   0.99876957 -0.0093081 ]
 [ 0.02497327  0.00809733  0.99965501]]

 t_gt:
[ 0.50739822 -0.77239918 -0.38202953]

Pose Error in degrees for R and t:
17.323081817055872 86.82729120193595

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.73066513  0.68222172  0.02649517]
 [ 0.68249991  0.73088275  0.00206828]
 [-0.01795384  0.01959417 -0.9996468 ]]

 t_estimated:
[[0.94743723]
 [0.31993683]
 [0.00176761]]

 R_gt:
[[ 0.99441365  0.01584609  0.10436303]
 [-0.0123917   0.99935618 -0.03366533]
 [-0.10482973  0.03218368  0.99396928]]

 t_gt:
[-0.32136169  0.16685929  0.93213982]

Pose Error in degrees for R and t:
172.35613292242948 75.5557453368558

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.48657781e-01  3.16303250e-01  8.18316253e-04]
 [-3.16303407e-01  9.48658079e-01  6.68639962e-05]
 [-7.55153025e-04 -3.22267269e-04  9.99999663e-01]]

 t_estimated:
[[-0.8397791 ]
 [ 0.5429271 ]
 [ 0.00110849]]

 R_gt:
[[ 0.99146434  0.12734074  0.02799885]
 [-0.12505806  0.98953243 -0.07201161]
 [-0.03687541  0.06789573  0.99701137]]

 t_gt:
[-0.67452366  0.73233028 -0.09332844]

Pose Error in degrees for R and t:
12.018894089899636 15.43147667298186

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 0.47087787 -0.87853016 -0.08036665]
 [ 0.88211217  0.47014784  0.02896776]
 [ 0.01233516 -0.08453268  0.99634435]]

 t_estimated:
[[-0.31313577]
 [-0.94970781]
 [-0.00103005]]

 R_gt:
[[ 0.96669776  0.25539306  0.01643006]
 [-0.25314926  0.96367965 -0.08507575]
 [-0.03756101  0.07808326  0.99623928]]

 t_gt:
[-0.62411156  0.77889061 -0.06175901]

Pose Error in degrees for R and t:
77.22222251235718 57.02840221225432

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 8.77802239e-01 -4.79006900e-01 -3.95203133e-03]
 [ 4.79013586e-01  8.77807020e-01  9.05548111e-04]
 [ 3.03535705e-03 -2.68796886e-03  9.99991781e-01]]

 t_estimated:
[[ 0.1616491 ]
 [-0.98682357]
 [-0.00698604]]

 R_gt:
[[ 0.95534512  0.29546903 -0.00374837]
 [-0.29420181  0.94991124 -0.10542432]
 [-0.02758936  0.10181935  0.99442073]]

 t_gt:
[-0.6037659   0.7858676  -0.13371182]

Pose Error in degrees for R and t:
46.21299370349739 29.2874112642767

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.28607365e-01  3.71063136e-01  7.15186172e-04]
 [-3.71062704e-01  9.28607572e-01 -6.68654293e-04]
 [-9.12240254e-04  3.55538386e-04  9.99999521e-01]]

 t_estimated:
[[0.75679093]
 [0.65365552]
 [0.00139372]]

 R_gt:
[[ 0.99323838 -0.10625321 -0.04678448]
 [ 0.10784968  0.99361756  0.03304395]
 [ 0.04297581 -0.03786558  0.99835857]]

 t_gt:
[ 0.69588869 -0.71785788 -0.0204694 ]

Pose Error in degrees for R and t:
28.12676449157858 86.7104489844482

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-1.27555744e-01  9.91830400e-01 -1.41058064e-03]
 [-9.91831403e-01 -1.27555597e-01  1.94463070e-04]
 [ 1.29469293e-05  1.42386306e-03  9.99998986e-01]]

 t_estimated:
[[7.91613183e-01]
 [6.11022182e-01]
 [6.78913536e-04]]

 R_gt:
[[ 0.97519451 -0.18479568 -0.12185169]
 [ 0.18525982  0.98266027 -0.00761011]
 [ 0.12114605 -0.01515279  0.992519  ]]

 t_gt:
[ 0.76477981 -0.56520088 -0.3092892 ]

Pose Error in degrees for R and t:
108.18280350241804 74.93886629055997

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999413e-01  3.16772713e-04 -1.03594010e-03]
 [-3.15664225e-04  9.99999378e-01  1.07001969e-03]
 [ 1.03627841e-03 -1.06969205e-03  9.99998891e-01]]

 t_estimated:
[[-0.72099132]
 [-0.6929436 ]
 [-0.00082493]]

 R_gt:
[[ 0.91890621 -0.36261703 -0.15530853]
 [ 0.36329304  0.93133897 -0.02503006]
 [ 0.153722   -0.03342221  0.987549  ]]

 t_gt:
[ 0.81365192 -0.54818876 -0.19354491]

Pose Error in degrees for R and t:
23.227552957071307 78.07609560252214

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.25990306 -0.96563363  0.00144893]
 [ 0.96560156  0.25988141 -0.0086771 ]
 [ 0.00800235  0.0036543   0.9999613 ]]

 t_estimated:
[[ 0.91629652]
 [-0.40042296]
 [-0.00788373]]

 R_gt:
[[ 0.9998391  -0.00768096  0.01621146]
 [ 0.00875422  0.99769798 -0.06724067]
 [-0.01565877  0.06737229  0.99760542]]

 t_gt:
[ 0.2311181   0.12770039 -0.9645087 ]

Pose Error in degrees for R and t:
74.53470960576082 80.31435219683298

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999429e-01 -1.06603931e-03  6.83159606e-05]
 [ 1.06605271e-03  9.99999412e-01 -1.96351993e-04]
 [-6.81066015e-05  1.96424709e-04  9.99999978e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99897387  0.0452337  -0.00245955]
 [-0.04520758  0.99195774 -0.11821936]
 [-0.00290853  0.11820909  0.99298425]]

 t_gt:
[-0.08133508  0.40412163 -0.91108195]

Pose Error in degrees for R and t:
7.282878729813954 85.36614742152653

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 1.60041091e-01  9.87110352e-01  4.42090306e-05]
 [-9.87109525e-01  1.60041014e-01 -1.28810391e-03]
 [-1.27857596e-03  1.62510399e-04  9.99999169e-01]]

 t_estimated:
[[-4.96831249e-01]
 [ 8.67847088e-01]
 [ 3.76962773e-04]]

 R_gt:
[[ 0.96845224  0.24570096 -0.04161172]
 [-0.24908396  0.95950913 -0.13152951]
 [ 0.00760902  0.13774443  0.99043895]]

 t_gt:
[-0.42064281  0.77628256 -0.46951572]

Pose Error in degrees for R and t:
66.80951748985461 28.053837899013384

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.68711451e-01 -2.48189578e-01 -2.39537317e-04]
 [ 2.48189097e-01  9.68710789e-01 -1.25680452e-03]
 [ 5.43968167e-04  1.15803038e-03  9.99999182e-01]]

 t_estimated:
[[-0.09607784]
 [-0.9953664 ]
 [-0.00384311]]

 R_gt:
[[ 0.97572764 -0.21879612  0.0091098 ]
 [ 0.21869269  0.97573052  0.01112309]
 [-0.01132296 -0.00886006  0.99989703]]

 t_gt:
[ 0.8299574  -0.5534954   0.06937981]

Pose Error in degrees for R and t:
1.9490706421627697 61.905735540372156

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-5.25807921e-01  8.50601943e-01 -1.53810031e-03]
 [-8.50600117e-01 -5.25810046e-01 -1.79903331e-03]
 [-2.33900983e-03  3.62362340e-04  9.99997199e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.90234675 -0.42411948 -0.07675537]
 [ 0.4240839   0.90545275 -0.01757761]
 [ 0.07695287 -0.01668916  0.99689576]]

 t_gt:
[ 0.90559288 -0.41875724 -0.06740861]

Pose Error in degrees for R and t:
146.88666977076318 65.59582042356855

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.99999107e-01 -4.94373342e-04  1.24158264e-03]
 [ 4.94380945e-04  9.99999878e-01 -5.81668163e-06]
 [-1.24157962e-03  6.43049123e-06  9.99999229e-01]]

 t_estimated:
[[7.42976915e-01]
 [6.69316668e-01]
 [7.08271606e-04]]

 R_gt:
[[ 0.77380117 -0.63040745 -0.06178274]
 [ 0.62692833  0.77614646 -0.06750508]
 [ 0.09050774  0.01350282  0.99580439]]

 t_gt:
[ 0.95057153 -0.29814343 -0.08674251]

Pose Error in degrees for R and t:
39.367658728799654 59.55979346596844

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 6.19861462e-01 -7.84711125e-01 -4.68130472e-04]
 [ 7.84711072e-01  6.19860781e-01  1.07077390e-03]
 [-5.50072472e-04 -1.03107864e-03  9.99999317e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99776621 -0.06002431  0.02931746]
 [ 0.06015041  0.99818418 -0.00340428]
 [-0.02905926  0.00516005  0.99956323]]

 t_gt:
[ 0.53030275 -0.78667322  0.31610796]

Pose Error in degrees for R and t:
48.27660514692775 58.12243972884848

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 7.79522855e-01 -6.26371064e-01 -1.84625066e-03]
 [ 6.26370322e-01  7.79524960e-01 -1.02745762e-03]
 [ 2.08276820e-03 -3.55509930e-04  9.99997768e-01]]

 t_estimated:
[[ 0.60503482]
 [-0.79619452]
 [-0.00267283]]

 R_gt:
[[ 0.9947168  -0.10045065  0.0212032 ]
 [ 0.1001158   0.99484333  0.01631348]
 [-0.02273226 -0.01410471  0.99964128]]

 t_gt:
[ 0.53842881 -0.80624837  0.2450673 ]

Pose Error in degrees for R and t:
33.066305278364254 14.75050499341876

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99744338e-01  2.26062736e-02 -4.64729282e-04]
 [-2.26061969e-02  9.99744433e-01  1.69700164e-04]
 [ 4.68446801e-04 -1.59151016e-04  9.99999878e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.90857390e-01 -1.34911544e-01 -2.54010742e-04]
 [ 1.34855033e-01  9.90383520e-01  3.09088285e-02]
 [-3.91769207e-03 -3.06600898e-02  9.99521891e-01]]

 t_gt:
[ 0.54771835 -0.82373622  0.14650339]

Pose Error in degrees for R and t:
9.219024995031429 56.95654779044342

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.91635932e-01  1.29065533e-01  5.16685111e-04]
 [-1.29063960e-01  9.91633401e-01 -2.38598809e-03]
 [-8.20311037e-04  2.29934609e-03  9.99997020e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9971527  -0.04035197 -0.06371876]
 [ 0.04217867  0.99872853  0.02757981]
 [ 0.06252529 -0.03018984  0.99758695]]

 t_gt:
[ 0.48494052 -0.68749031 -0.54054581]

Pose Error in degrees for R and t:
10.595783295227418 61.158565052886274

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.59888751e-01  2.80381045e-01  2.35782638e-04]
 [-2.80381018e-01  9.59888777e-01 -1.42420052e-04]
 [-2.66256991e-04  7.05984296e-05  9.99999962e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99408384 -0.07143523 -0.08182579]
 [ 0.07495654  0.99635245  0.04079485]
 [ 0.07861354 -0.04668765  0.99581192]]

 t_gt:
[ 0.54943783 -0.73950588 -0.38890759]

Pose Error in degrees for R and t:
21.147105051257903 42.56854431320313

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 8.63411727e-01  5.04499878e-01 -2.50716417e-04]
 [-5.04499632e-01  8.63410545e-01 -1.53363279e-03]
 [-5.57246357e-04  1.45064288e-03  9.99998793e-01]]

 t_estimated:
[[8.01192585e-01]
 [5.98406263e-01]
 [6.22043932e-04]]

 R_gt:
[[ 0.99017413 -0.10848614 -0.08824458]
 [ 0.11062538  0.9936667   0.01970531]
 [ 0.08554885 -0.02927409  0.99590371]]

 t_gt:
[ 0.56920429 -0.72019139 -0.39664951]

Pose Error in degrees for R and t:
36.95895621545 88.57728647096063

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.28671707e-01  3.70902174e-01 -6.61686386e-04]
 [-3.70902032e-01  9.28671941e-01  3.29605990e-04]
 [ 7.36741159e-04 -6.06749318e-05  9.99999727e-01]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.98587154 -0.16617036  0.02106162]
 [ 0.16642543  0.98599234 -0.01098906]
 [-0.01894072  0.01433933  0.99971803]]

 t_gt:
[ 0.84058231 -0.54168129 -0.00166245]

Pose Error in degrees for R and t:
31.375922843547382 67.08933532484261

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-9.66897096e-01 -2.55166090e-01 -5.21489885e-04]
 [-2.55166622e-01  9.66895274e-01  1.87712795e-03]
 [ 2.52467074e-05  1.94805637e-03 -9.99998102e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 8.99705549e-01 -4.36494585e-01 -1.75603505e-03]
 [ 4.36497698e-01  8.99702513e-01  2.16940128e-03]
 [ 6.32408495e-04 -2.71752665e-03  9.99996318e-01]]

 t_gt:
[ 0.90734021 -0.42039496 -0.00134955]

Pose Error in degrees for R and t:
180.0 25.037500738789827

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-7.36782109e-01 -6.76130256e-01  3.00150565e-06]
 [-6.76129497e-01  7.36781288e-01  1.49546546e-03]
 [-1.01334089e-03  1.09980279e-03 -9.99998882e-01]]

 t_estimated:
[[0.98770459]
 [0.15632735]
 [0.0011843 ]]

 R_gt:
[[ 0.69599721 -0.7175712   0.02608988]
 [ 0.71683243  0.69647362  0.03280349]
 [-0.04170998 -0.00412949  0.99912064]]

 t_gt:
[ 0.96255426 -0.26907177  0.03301036]

Pose Error in degrees for R and t:
177.5569576231873 24.674360624406987

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-9.98028128e-01 -1.19168751e-02 -6.16266490e-02]
 [-1.19080838e-02  9.99928966e-01 -5.09942612e-04]
 [ 6.16283483e-02  2.24918228e-04 -9.98099141e-01]]

 t_estimated:
[[ 0.9995274 ]
 [ 0.00596657]
 [-0.03015572]]

 R_gt:
[[ 0.99663381  0.08188441 -0.00409256]
 [-0.08161729  0.99564184  0.04511506]
 [ 0.00776951 -0.04462828  0.99897304]]

 t_gt:
[-0.29094062  0.53366577  0.79407455]

Pose Error in degrees for R and t:
176.1461615440239 71.84643827424448

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99063369e-01 -4.32710181e-02  6.56167327e-05]
 [ 4.32710230e-02  9.99063368e-01 -7.57959848e-05]
 [-6.22755045e-05  7.85642950e-05  9.99999995e-01]]

 t_estimated:
[[-0.70604415]
 [-0.70816648]
 [-0.00137808]]

 R_gt:
[[ 0.98462247  0.17323799  0.02255253]
 [-0.17435939  0.98253186  0.06503762]
 [-0.01089148 -0.06796858  0.99762767]]

 t_gt:
[-0.34776639  0.73564103  0.58128376]

Pose Error in degrees for R and t:
13.107763155843955 73.96533121433134

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-5.60973810e-01 -8.27828116e-01 -2.99901580e-03]
 [ 8.27833500e-01 -5.60971333e-01 -1.69080917e-03]
 [-2.82662519e-04 -3.43118541e-03  9.99994074e-01]]

 t_estimated:
[[0.79424755]
 [0.60759294]
 [0.00128727]]

 R_gt:
[[ 0.95820226  0.28578111  0.01336382]
 [-0.28593125  0.95503781  0.07839869]
 [ 0.00964121 -0.07894179  0.99683163]]

 t_gt:
[-0.21272885  0.93027721  0.29888248]

Pose Error in degrees for R and t:
140.78849313715946 66.63075291997221

Number of keypoints:
Image1: 639
Image2: 639

 R_estimated:
[[-0.85588913  0.51475387  0.04982224]
 [ 0.51478197  0.85721867 -0.01325397]
 [-0.04953109  0.01430366 -0.99867015]]

 t_estimated:
[[ 0.96379503]
 [-0.26535757]
 [ 0.0261631 ]]

 R_gt:
[[ 9.98817660e-01 -4.81910226e-02 -6.51496375e-03]
 [ 4.81924602e-02  9.98838275e-01  7.37410350e-05]
 [ 6.50431066e-03 -3.87009988e-04  9.99978605e-01]]

 t_gt:
[ 0.51887054 -0.84618978 -0.12139283]

Pose Error in degrees for R and t:
177.40833286968717 43.82553472447545

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.99915423e-01  1.30055301e-02  4.85971920e-05]
 [-1.30055317e-02  9.99915424e-01  3.24477067e-05]
 [-4.81710822e-05 -3.30769947e-05  9.99999998e-01]]

 t_estimated:
[[9.99903272e-01]
 [1.39081622e-02]
 [9.81615326e-05]]

 R_gt:
[[ 0.99728658 -0.07343249  0.00531858]
 [ 0.07325222  0.99690652  0.02849883]
 [-0.00739486 -0.02803284  0.99957917]]

 t_gt:
[ 0.35679786 -0.8878249   0.29062387]

Pose Error in degrees for R and t:
5.222216595560393 69.85214917478605

Number of keypoints:
Image1: 373
Image2: 373

 R_estimated:
[[ 0.33212567  0.94321159  0.00666594]
 [-0.94322949  0.33213986 -0.00111707]
 [-0.00326766 -0.0059165   0.99997716]]

 t_estimated:
[[0.7592543 ]
 [0.6507894 ]
 [0.00246511]]

 R_gt:
[[ 0.99386664 -0.09888897  0.04950063]
 [ 0.09804212  0.9949966   0.01925726]
 [-0.05115689 -0.0142865   0.99858803]]

 t_gt:
[ 0.10207806 -0.83252042  0.54450879]

Pose Error in degrees for R and t:
76.29214789441622 62.422370986828966

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.85557088e-01 -1.69343507e-01 -6.25654163e-05]
 [ 1.69343386e-01  9.85556710e-01 -8.87791424e-04]
 [ 2.12003479e-04  8.64374091e-04  9.99999604e-01]]

 t_estimated:
[[-0.43555965]
 [-0.90015662]
 [-0.00241978]]

 R_gt:
[[ 0.97750038  0.20894252 -0.02889474]
 [-0.20798907  0.97757898  0.03285692]
 [ 0.03511329 -0.02610846  0.99904251]]

 t_gt:
[-0.34024351  0.93913019 -0.04763238]

Pose Error in degrees for R and t:
21.933429964434662 45.80898652470356

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999923e-01  2.27946146e-04 -3.19472369e-04]
 [-2.27819512e-04  9.99999895e-01  3.96367173e-04]
 [ 3.19562686e-04 -3.96294360e-04  9.99999870e-01]]

 t_estimated:
[[-7.80231249e-01]
 [-6.25490825e-01]
 [-6.52913179e-04]]

 R_gt:
[[ 0.97348     0.22660118  0.03142179]
 [-0.22664162  0.97397552 -0.00232255]
 [-0.0311301  -0.00486022  0.99950342]]

 t_gt:
[-0.21818487  0.96949197  0.11171695]

Pose Error in degrees for R and t:
13.214401626488804 64.13535482611395

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.98538954 -0.16790191  0.02857283]
 [-0.16790984  0.98580004  0.00213884]
 [-0.02852622 -0.00269007 -0.99958942]]

 t_estimated:
[[0.99376008]
 [0.11041779]
 [0.01577397]]

 R_gt:
[[ 0.9716162   0.22693852  0.06679539]
 [-0.22983941  0.97242959  0.03942346]
 [-0.05600607 -0.0536571   0.99698742]]

 t_gt:
[-0.23551169  0.91867805  0.31711968]

Pose Error in degrees for R and t:
174.60906338745562 82.66898685274825

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.98369181e-01 -5.70873834e-02  9.67973674e-05]
 [ 5.70873858e-02  9.98369185e-01 -2.22920044e-05]
 [-9.53669166e-05  2.77815588e-05  9.99999995e-01]]

 t_estimated:
[[0.83377275]
 [0.55210703]
 [0.00090864]]

 R_gt:
[[ 0.99849138 -0.05331114 -0.01318197]
 [ 0.05370296  0.99806373  0.03137518]
 [ 0.01148418 -0.03203649  0.99942106]]

 t_gt:
[ 0.50293288 -0.85051845  0.15387293]

Pose Error in degrees for R and t:
1.963811573217411 87.12795420433812

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.92412095e-01 -1.22951167e-01 -1.11516064e-03]
 [ 1.22953127e-01  9.92410654e-01  1.90304976e-03]
 [ 8.72715109e-04 -2.02572209e-03  9.99997567e-01]]

 t_estimated:
[[-6.48174192e-01]
 [-7.61492059e-01]
 [-2.46937172e-04]]

 R_gt:
[[ 0.99433968 -0.09188097 -0.05334717]
 [ 0.095253    0.99335827  0.06454445]
 [ 0.04706253 -0.06926097  0.99648842]]

 t_gt:
[ 0.53743469 -0.8427078   0.03174134]

Pose Error in degrees for R and t:
4.972681288265773 72.9410077598277

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-1.39197768e-01 -9.90264204e-01 -8.86908395e-04]
 [ 9.90264209e-01 -1.39198455e-01  7.66050923e-04]
 [-8.82049087e-04 -7.71641062e-04  9.99999313e-01]]

 t_estimated:
[[9.93892827e-01]
 [1.10346963e-01]
 [7.71656227e-04]]

 R_gt:
[[ 0.99100677 -0.11387245 -0.07027158]
 [ 0.11708461  0.99217233  0.04342115]
 [ 0.06477718 -0.05125926  0.99658215]]

 t_gt:
[ 0.56441613 -0.81381028 -0.13837364]

Pose Error in degrees for R and t:
91.45222553135292 61.89681796276684

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.99998344  0.00564524  0.00112195]
 [-0.00564353  0.99998291 -0.00152338]
 [-0.00113053  0.00151702  0.99999821]]

 t_estimated:
[[7.53898632e-01]
 [6.56990465e-01]
 [6.17363187e-04]]

 R_gt:
[[ 0.98740799  0.14817009 -0.0554167 ]
 [-0.14657693  0.98868709  0.03183333]
 [ 0.05950617 -0.02330819  0.99795638]]

 t_gt:
[-0.19580386  0.96747208 -0.16018309]

Pose Error in degrees for R and t:
8.983483927461071 60.79703857102347

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999935e-01  1.19904252e-05 -3.59955483e-04]
 [-1.17593032e-05  9.99999794e-01  6.42080032e-04]
 [ 3.59963108e-04 -6.42075758e-04  9.99999729e-01]]

 t_estimated:
[[-0.98357285]
 [-0.1805039 ]
 [-0.00167032]]

 R_gt:
[[ 0.95929544  0.27633101 -0.05825789]
 [-0.27646393  0.96100623  0.00593475]
 [ 0.05762632  0.01041358  0.99828349]]

 t_gt:
[-0.13924698  0.97508396 -0.17268915]

Pose Error in degrees for R and t:
16.39978847445223 87.77874725665622

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-2.19185872e-01 -9.75682905e-01 -6.49609455e-04]
 [-9.75680229e-01  2.19183553e-01  2.58075529e-03]
 [-2.37561511e-03  1.19947620e-03 -9.99996459e-01]]

 t_estimated:
[[0.7770995 ]
 [0.62937392]
 [0.00219916]]

 R_gt:
[[ 0.96293105  0.26947177  0.01224668]
 [-0.26974761  0.96211148  0.03971694]
 [-0.00107931 -0.04154713  0.99913534]]

 t_gt:
[-0.13076681  0.98267923  0.13130716]

Pose Error in degrees for R and t:
178.1862594076177 58.8592212556881

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99999934e-01  3.57780204e-04  5.97959668e-05]
 [-3.57784132e-04  9.99999934e-01  6.56951257e-05]
 [-5.97724584e-05 -6.57165154e-05  9.99999996e-01]]

 t_estimated:
[[9.24384257e-01]
 [3.81462065e-01]
 [6.61917792e-04]]

 R_gt:
[[ 0.9988241   0.03512786  0.03339613]
 [-0.03567945  0.99923387  0.01607266]
 [-0.03280596 -0.01724571  0.99931292]]

 t_gt:
[0.43905595 0.2261758  0.86952538]

Pose Error in degrees for R and t:
2.9205830881750092 60.481178035644646

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99988467e-01  4.75726036e-03  6.58741804e-04]
 [-4.75690221e-03  9.99988538e-01 -5.44193021e-04]
 [-6.61323121e-04  5.41053174e-04  9.99999635e-01]]

 t_estimated:
[[-9.99977004e-01]
 [ 6.75580865e-03]
 [ 5.91510497e-04]]

 R_gt:
[[ 0.99318833  0.11223966  0.03127641]
 [-0.11377093  0.9921204   0.05248049]
 [-0.02513988 -0.05568183  0.99813222]]

 t_gt:
[0.07921705 0.44070125 0.89415159]

Pose Error in degrees for R and t:
7.144461059337285 85.6580370529561

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99885326e-01  1.51438022e-02  2.46826186e-05]
 [-1.51438135e-02  9.99885172e-01  5.54107373e-04]
 [-1.62884919e-05 -5.54417620e-04  9.99999846e-01]]

 t_estimated:
[[0.77323092]
 [0.63412312]
 [0.00134842]]

 R_gt:
[[ 0.98286336  0.17464865  0.05896508]
 [-0.17844176  0.98168643  0.06670763]
 [-0.04623537 -0.07608624  0.99602861]]

 t_gt:
[-0.01976195  0.52234721  0.85250388]

Pose Error in degrees for R and t:
10.613912377409866 71.5122782504794

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.28944521e-01 -3.70218769e-01 -3.73969216e-04]
 [-3.70213550e-01 -9.28935937e-01  4.46679434e-03]
 [-2.00108455e-03 -4.01095566e-03 -9.99989954e-01]]

 t_estimated:
[[0.96134648]
 [0.2753371 ]
 [0.00155558]]

 R_gt:
[[ 0.90885799 -0.41608688 -0.02914254]
 [ 0.41580275  0.90932301 -0.01548684]
 [ 0.03294425  0.00195809  0.99945505]]

 t_gt:
[ 0.90175415 -0.42898226 -0.05304413]

Pose Error in degrees for R and t:
179.40976767449354 41.52202645116001

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99966781e-01  8.13986647e-03 -4.24743317e-04]
 [-8.13831021e-03  9.99960598e-01  3.54538462e-03]
 [ 4.53585538e-04 -3.54181015e-03  9.99993625e-01]]

 t_estimated:
[[0.92880125]
 [0.37057636]
 [0.00118018]]

 R_gt:
[[ 0.7869148  -0.61697689  0.0103253 ]
 [ 0.61630275  0.78666539  0.0364597 ]
 [-0.03061662 -0.02232776  0.99928138]]

 t_gt:
[ 0.93713812 -0.34499764  0.05242875]

Pose Error in degrees for R and t:
38.604159154325664 42.04415259843726

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.05610645 -0.99842309  0.00184611]
 [-0.99841764  0.05609896 -0.00388887]
 [ 0.00377917 -0.00206138 -0.99999073]]

 t_estimated:
[[0.90514518]
 [0.42510013]
 [0.00144592]]

 R_gt:
[[ 0.64663005 -0.76245658 -0.02302325]
 [ 0.76279876  0.64643535  0.016089  ]
 [ 0.00261687 -0.02796667  0.99960486]]

 t_gt:
[ 0.97088398 -0.23839984  0.02344799]

Pose Error in degrees for R and t:
179.7886797969508 38.969481919046345

Number of keypoints:
Image1: 319
Image2: 319

 R_estimated:
[[ 9.99655067e-01 -2.62629645e-02  5.41982495e-05]
 [ 2.62629627e-02  9.99655068e-01  3.25983517e-05]
 [-5.50356842e-05 -3.11637009e-05  9.99999998e-01]]

 t_estimated:
[[6.67916201e-01]
 [7.44236460e-01]
 [1.98108540e-04]]

 R_gt:
[[ 0.9943662  -0.10597646  0.00245366]
 [ 0.10593653  0.99261444 -0.0591109 ]
 [ 0.00382988  0.05903818  0.99824885]]

 t_gt:
[ 0.95080062  0.10119265 -0.29281091]

Pose Error in degrees for R and t:
5.701559865035744 44.73998765256425

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.35629592e-01 -3.52983151e-01 -4.01870808e-04]
 [ 3.52983368e-01  9.35629253e-01  8.02072722e-04]
 [ 9.28839262e-05 -8.92296685e-04  9.99999598e-01]]

 t_estimated:
[[9.60369885e-01]
 [2.78727544e-01]
 [8.00584129e-04]]

 R_gt:
[[ 0.98881555 -0.14260435  0.04367515]
 [ 0.14707361  0.98096161 -0.12681477]
 [-0.02475858  0.13181963  0.99096525]]

 t_gt:
[ 0.88029694  0.29331592 -0.37288479]

Pose Error in degrees for R and t:
14.53847201464954 22.04835543857949

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.93824576e-01 -1.10962634e-01  7.40960189e-05]
 [ 1.10962624e-01  9.93824572e-01  1.23461978e-04]
 [-8.73381106e-05 -1.14477659e-04  9.99999990e-01]]

 t_estimated:
[[2.20250586e-01]
 [9.75443322e-01]
 [7.31322592e-05]]

 R_gt:
[[ 0.98708373 -0.15984881  0.01071864]
 [ 0.15854007  0.96499075 -0.20894433]
 [ 0.02305689  0.20794458  0.97786887]]

 t_gt:
[ 0.74679187  0.45320859 -0.48672772]

Pose Error in degrees for R and t:
12.423679700320625 52.66133732585307

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99862670e-01 -1.65709612e-02 -2.09621432e-04]
 [ 1.65710263e-02  9.99862642e-01  3.12907901e-04]
 [ 2.04407454e-04 -3.16338571e-04  9.99999929e-01]]

 t_estimated:
[[-0.93437783]
 [-0.35628183]
 [-0.0011493 ]]

 R_gt:
[[ 0.99980407  0.00994645 -0.0171425 ]
 [-0.00988674  0.99994464  0.00358041]
 [ 0.01717691 -0.00341021  0.99984663]]

 t_gt:
[ 0.09110545  0.94734042 -0.30699498]

Pose Error in degrees for R and t:
1.810777750897745 65.02048078878956

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.99095054 -0.13421669 -0.00170445]
 [ 0.13422049  0.99094869  0.00235822]
 [ 0.00137251 -0.00256565  0.99999577]]

 t_estimated:
[[-0.99540776]
 [-0.09571228]
 [-0.0015952 ]]

 R_gt:
[[ 0.99246859  0.06976841 -0.10069108]
 [-0.07891554  0.9928175  -0.08991615]
 [ 0.09369422  0.09718488  0.99084674]]

 t_gt:
[-0.11971928  0.68834364 -0.71543716]

Pose Error in degrees for R and t:
14.298581998243414 86.87997346121088

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-5.41533866e-01 -8.40677122e-01 -1.74598460e-03]
 [-8.40677263e-01  5.41535764e-01 -8.69804557e-04]
 [ 1.67673789e-03  9.96780927e-04 -9.99998097e-01]]

 t_estimated:
[[9.72447392e-01]
 [2.33120950e-01]
 [8.32574822e-04]]

 R_gt:
[[ 0.97290054  0.12855851 -0.19219034]
 [-0.16267515  0.97125117 -0.17380678]
 [ 0.16432024  0.20036113  0.96584397]]

 t_gt:
[-0.10038164  0.69599308 -0.7109973 ]

Pose Error in degrees for R and t:
165.591257445473 86.32810801296395

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999893e-01  4.62095387e-04 -2.74237979e-05]
 [-4.62094810e-04  9.99999893e-01  2.10544796e-05]
 [ 2.74335242e-05 -2.10418050e-05  9.99999999e-01]]

 t_estimated:
[[-2.65358306e-02]
 [-9.99647855e-01]
 [-1.23728909e-04]]

 R_gt:
[[ 9.99528340e-01 -5.57947772e-04 -3.07213164e-02]
 [-2.65520488e-03  9.94528258e-01 -1.04441404e-01]
 [ 3.06120553e-02  1.04473088e-01  9.94055513e-01]]

 t_gt:
[ 0.02534527  0.26665746 -0.96345805]

Pose Error in degrees for R and t:
6.250664499968143 74.50722206860294

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99936170e-01  1.12983238e-02  5.42212820e-05]
 [-1.12983188e-02  9.99936168e-01 -9.33257356e-05]
 [-5.52722453e-05  9.27071693e-05  9.99999994e-01]]

 t_estimated:
[[ 6.21889284e-01]
 [-7.83105159e-01]
 [-1.69792188e-04]]

 R_gt:
[[ 0.99002656 -0.1336815  -0.04446346]
 [ 0.12825118  0.9858165  -0.1082454 ]
 [ 0.05830285  0.10146324  0.99312874]]

 t_gt:
[ 0.54370315 -0.4496136  -0.70868505]

Pose Error in degrees for R and t:
10.595413048288751 46.34311204695973

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.26601029e-01 -3.76045907e-01 -9.77180173e-05]
 [ 3.76045871e-01  9.26601009e-01 -2.70803270e-04]
 [ 1.92380075e-04  2.14180131e-04  9.99999959e-01]]

 t_estimated:
[[ 7.45420498e-01]
 [-6.66594302e-01]
 [-5.63819388e-04]]

 R_gt:
[[ 0.95416573 -0.29811454  0.02639901]
 [ 0.299147    0.94738327 -0.11390955]
 [ 0.00894878  0.1165857   0.99314035]]

 t_gt:
[ 0.69485741 -0.64925519 -0.3092586 ]

Pose Error in degrees for R and t:
8.156139329200794 18.024344628995504

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.99840973e-01 -1.78333085e-02 -2.94195353e-05]
 [ 1.78333102e-02  9.99840972e-01  5.89081525e-05]
 [ 2.83643295e-05 -5.94234322e-05  9.99999998e-01]]

 t_estimated:
[[-0.71481778]
 [-0.69931037]
 [-0.00073845]]

 R_gt:
[[ 0.99906345  0.04143097 -0.01255121]
 [-0.04137875  0.9991336   0.00445051]
 [ 0.01272387 -0.00392722  0.99991145]]

 t_gt:
[-0.43843072  0.8873564  -0.14274847]

Pose Error in degrees for R and t:
3.4785390242262872 72.11942109000739

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-0.46268102 -0.88646371 -0.01041021]
 [-0.88650871  0.4625699   0.01146233]
 [-0.00534549  0.01453215 -0.99988011]]

 t_estimated:
[[0.78844757]
 [0.61510094]
 [0.00111837]]

 R_gt:
[[ 0.99995871 -0.00554891 -0.00718176]
 [ 0.00565066  0.99988116  0.01431593]
 [ 0.00710074 -0.01435607  0.99987092]]

 t_gt:
[0.36816664 0.90985967 0.191334  ]

Pose Error in degrees for R and t:
179.8883818056285 31.772053322425542

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.98664978e-01 -5.16550466e-02  1.35949937e-04]
 [ 5.16550148e-02  9.98664963e-01  2.27886406e-04]
 [-1.47539921e-04 -2.20559676e-04  9.99999965e-01]]

 t_estimated:
[[0.99995131]
 [0.00979144]
 [0.00122393]]

 R_gt:
[[ 0.99696474 -0.07750724 -0.00745686]
 [ 0.07748066  0.99698696 -0.00371029]
 [ 0.00772142  0.003121    0.9999655 ]]

 t_gt:
[ 0.98820076 -0.12410172 -0.08976646]

Pose Error in degrees for R and t:
1.56140946574602 9.309946466357351

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 1.83874470e-01 -9.82948111e-01 -1.78642907e-03]
 [ 9.82949733e-01  1.83874239e-01  2.94192825e-04]
 [ 3.93020038e-05 -1.81006453e-03  9.99998361e-01]]

 t_estimated:
[[0.95496359]
 [0.29672083]
 [0.00113686]]

 R_gt:
[[ 0.99578811 -0.08999332  0.01756613]
 [ 0.08949499  0.99561268  0.02732918]
 [-0.01994786 -0.02564181  0.99947179]]

 t_gt:
[ 0.35005378 -0.84110158  0.41232327]

Pose Error in degrees for R and t:
74.27360509823076 85.11333631784942

Number of keypoints:
Image1: 551
Image2: 551

 R_estimated:
[[ 9.90730701e-01  1.35840369e-01  2.70649593e-04]
 [-1.35840433e-01  9.90730701e-01  2.33395034e-04]
 [-2.36436394e-04 -2.67996784e-04  9.99999936e-01]]

 t_estimated:
[[0.72595242]
 [0.6877444 ]
 [0.00084907]]

 R_gt:
[[ 0.9869926  -0.1579443   0.0299983 ]
 [ 0.15723404  0.98725187  0.02473712]
 [-0.03352354 -0.01969916  0.99924358]]

 t_gt:
[ 0.41616686 -0.84322716  0.34025447]

Pose Error in degrees for R and t:
17.02039243830432 73.887842036224

Number of keypoints:
Image1: 351
Image2: 351

 R_estimated:
[[-8.66250469e-01 -4.99609375e-01  7.72739721e-04]
 [-4.99608912e-01  8.66250781e-01  7.20829750e-04]
 [-1.02951969e-03  2.38351458e-04 -9.99999442e-01]]

 t_estimated:
[[0.95233146]
 [0.30505895]
 [0.00195551]]

 R_gt:
[[ 9.80497882e-01 -1.86241604e-01  6.27515007e-02]
 [ 1.86642752e-01  9.82427373e-01 -5.49773780e-04]
 [-6.15464482e-02  1.22511778e-02  9.98028828e-01]]

 t_gt:
[ 0.35579549 -0.86607673  0.35117043]

Pose Error in degrees for R and t:
176.58209669549035 85.68053452067659

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.99908267e-01 -1.35444554e-02  7.63572672e-05]
 [ 1.35444580e-02  9.99908269e-01 -3.26354249e-05]
 [-7.59082338e-05  3.36666489e-05  9.99999997e-01]]

 t_estimated:
[[-0.82469168]
 [-0.56558155]
 [-0.00106568]]

 R_gt:
[[ 9.99922126e-01 -6.80865409e-04 -1.25012699e-02]
 [ 8.32303679e-04  9.99925449e-01  1.21116209e-02]
 [ 1.24928478e-02 -1.21211427e-02  9.99847894e-01]]

 t_gt:
[0.30768742 0.94821316 0.07886859]

Pose Error in degrees for R and t:
1.2424265666888576 37.80297600525443

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.99433451e-01  3.36563978e-02  1.56949863e-04]
 [-3.36564062e-02  9.99433461e-01  5.12060301e-05]
 [-1.55137534e-04 -5.64593877e-05  9.99999986e-01]]

 t_estimated:
[[9.99355489e-01]
 [3.58929250e-02]
 [5.52631263e-04]]

 R_gt:
[[ 0.99742294 -0.07119805  0.00890976]
 [ 0.07111966  0.99742754  0.00894423]
 [-0.0095233  -0.00828735  0.99991996]]

 t_gt:
[ 0.9089557  -0.34732651  0.23057284]

Pose Error in degrees for R and t:
6.0517496744166115 26.358868687131174

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.10937171 -0.94375399 -0.31203562]
 [-0.96193257  0.02139834  0.27244788]
 [-0.25044673  0.32995532 -0.91016807]]

 t_estimated:
[[0.65977615]
 [0.75146166]
 [0.00089888]]

 R_gt:
[[ 0.98559883 -0.16886977  0.00895807]
 [ 0.16881306  0.98562517  0.00675463]
 [-0.00996937 -0.00514483  0.99993656]]

 t_gt:
[ 0.89724038 -0.4335619   0.08356898]

Pose Error in degrees for R and t:
179.7950829281094 74.55889120208444

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.99793531e-01  2.03193606e-02  1.34666894e-04]
 [-2.03193656e-02  9.99793540e-01  3.57377120e-05]
 [-1.33912924e-04 -3.84666792e-05  9.99999990e-01]]

 t_estimated:
[[0.73967001]
 [0.67296869]
 [0.0011911 ]]

 R_gt:
[[ 0.99794036 -0.06218848  0.01576877]
 [ 0.06234186  0.99800995 -0.00948149]
 [-0.01514762  0.01044461  0.99983106]]

 t_gt:
[ 0.45947322 -0.88167789  0.10737065]

Pose Error in degrees for R and t:
4.848855183286862 75.32385712755294

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[-0.94421848 -0.32863001  0.02130196]
 [-0.32861733  0.94445385  0.00419285]
 [-0.02149662 -0.00304122 -0.9997643 ]]

 t_estimated:
[[0.98735248]
 [0.15812213]
 [0.01150988]]

 R_gt:
[[ 0.99389886 -0.10972936  0.01118868]
 [ 0.10982219  0.99391789 -0.00812987]
 [-0.01022814  0.00930901  0.99990423]]

 t_gt:
[ 0.44531464 -0.89476767  0.03294972]

Pose Error in degrees for R and t:
178.23391064559607 72.62771397289643

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[-0.79932693  0.60059875  0.01891042]
 [ 0.60061949  0.79951812 -0.00519593]
 [-0.01823989  0.00720472 -0.99980768]]

 t_estimated:
[[ 0.96833043]
 [-0.24945562]
 [ 0.01039607]]

 R_gt:
[[ 0.97867441 -0.19878158  0.05178977]
 [ 0.19834389  0.98003894  0.01350095]
 [-0.05343898 -0.00294119  0.99856657]]

 t_gt:
[ 0.4489006  -0.84592578  0.28791984]

Pose Error in degrees for R and t:
176.1525383661506 49.55647012326707

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999999e-01  1.22419889e-05 -3.26457350e-05]
 [-1.22408050e-05  9.99999999e-01  3.62655019e-05]
 [ 3.26461790e-05 -3.62651023e-05  9.99999999e-01]]

 t_estimated:
[[-0.60803681]
 [-0.79390822]
 [-0.00098868]]

 R_gt:
[[ 0.99386603  0.10108867  0.04486448]
 [-0.09896702  0.99396962 -0.04722759]
 [-0.04936842  0.04249748  0.99787634]]

 t_gt:
[-0.55050516  0.83301964  0.05497583]

Pose Error in degrees for R and t:
6.853722932236913 70.93333338648824

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999973e-01  1.57195487e-04  1.71264529e-04]
 [-1.57147786e-04  9.99999949e-01 -2.78498113e-04]
 [-1.71308299e-04  2.78471191e-04  9.99999947e-01]]

 t_estimated:
[[0.46704018]
 [0.88423397]
 [0.00193914]]

 R_gt:
[[ 0.97334426  0.22687127  0.03365958]
 [-0.22623447  0.97383141 -0.02169937]
 [-0.03770191  0.01350565  0.99919856]]

 t_gt:
[-0.51843966  0.85300782  0.05998311]

Pose Error in degrees for R and t:
13.286344850446698 59.18667217651711

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999606e-01 -8.87073520e-04  4.06369608e-05]
 [ 8.87082226e-04  9.99999583e-01 -2.14735686e-04]
 [-4.04464575e-05  2.14771649e-04  9.99999976e-01]]

 t_estimated:
[[-9.99968018e-01]
 [-7.95948484e-03]
 [-7.81241972e-04]]

 R_gt:
[[ 0.95393602  0.29661985  0.04498333]
 [-0.29563869  0.95491103 -0.02725789]
 [-0.05104105  0.01270421  0.99861585]]

 t_gt:
[-0.49634878  0.86482434  0.07560921]

Pose Error in degrees for R and t:
17.54611873370446 60.69948566684951

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.99388551  0.11039902 -0.00191287]
 [-0.11040737  0.99387375 -0.00501888]
 [ 0.00134707  0.00519938  0.99998558]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.9977518   0.06698406  0.00233014]
 [-0.06645675  0.99321974 -0.09538085]
 [-0.00870435  0.09501184  0.99543865]]

 t_gt:
[-0.20378362  0.80532533 -0.5567076 ]

Pose Error in degrees for R and t:
5.7608138327481 75.28961502125362

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999958e-01  8.26791024e-05  2.76957474e-04]
 [-8.25957738e-05  9.99999951e-01 -3.00869459e-04]
 [-2.76982336e-04  3.00846571e-04  9.99999916e-01]]

 t_estimated:
[[ 0.99942262]
 [-0.03393605]
 [ 0.00166584]]

 R_gt:
[[ 0.99717842  0.07480206 -0.00631126]
 [-0.07462596  0.97869945 -0.19125232]
 [-0.00812986  0.19118321  0.98152068]]

 t_gt:
[-0.1346842   0.69355733 -0.70769936]

Pose Error in degrees for R and t:
11.829171566734162 80.83245829798426

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999857e-01 -2.93389308e-04  4.47107058e-04]
 [ 2.93706250e-04  9.99999706e-01 -7.08971309e-04]
 [-4.46898922e-04  7.09102526e-04  9.99999649e-01]]

 t_estimated:
[[9.14432786e-01]
 [4.04737153e-01]
 [7.18893700e-04]]

 R_gt:
[[ 0.99895767  0.01366805 -0.04356146]
 [-0.0238857   0.96959628 -0.24354345]
 [ 0.03890777  0.24432882  0.96891147]]

 t_gt:
[ 0.05417101  0.46138761 -0.88554332]

Pose Error in degrees for R and t:
14.331141449003091 76.37065781607102

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 1.00000000e+00 -3.64874797e-13 -2.55104640e-15]
 [ 3.64819286e-13  1.00000000e+00  7.70495728e-15]
 [ 2.55053140e-15 -7.70564846e-15  1.00000000e+00]]

 t_estimated:
[[ 9.04642405e-01]
 [-4.26171460e-01]
 [ 7.59146919e-05]]

 R_gt:
[[ 0.9928098  -0.11955427 -0.00598523]
 [ 0.1196702   0.99247158  0.02606488]
 [ 0.00282398 -0.02659422  0.99964204]]

 t_gt:
[ 0.74443699 -0.65720321  0.11788767]

Pose Error in degrees for R and t:
7.0395873075299775 17.53378458623905

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 1.86184709e-01 -9.82513707e-01 -1.43841967e-03]
 [ 9.82514760e-01  1.86184526e-01  2.61198112e-04]
 [ 1.11807593e-05 -1.46189965e-03  9.99998931e-01]]

 t_estimated:
[[ 9.72893094e-01]
 [-2.31254549e-01]
 [ 6.01610338e-04]]

 R_gt:
[[ 0.97987994 -0.19669192 -0.03387676]
 [ 0.19806399  0.97922494  0.0434673 ]
 [ 0.02462351 -0.04930291  0.99848025]]

 t_gt:
[ 0.77188503 -0.63157402  0.07285435]

Pose Error in degrees for R and t:
67.93797681852446 26.225755790976613

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.52513356  0.84735681 -0.07887446]
 [ 0.84047784 -0.50185318  0.20430463]
 [ 0.13353553 -0.17357945 -0.97572457]]

 t_estimated:
[[0.9170409 ]
 [0.39871343]
 [0.00797427]]

 R_gt:
[[ 9.68757004e-01 -2.47862870e-01 -8.61426416e-03]
 [ 2.48012818e-01  9.68185368e-01  3.32697353e-02]
 [ 9.46966660e-05 -3.43658826e-02  9.99409198e-01]]

 t_gt:
[ 0.77116513 -0.63052805  0.08796999]

Pose Error in degrees for R and t:
165.98121866342532 62.83906203807463

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-8.88547316e-01 -4.58772992e-01 -3.31800717e-03]
 [ 4.58775056e-01 -8.88552432e-01  1.54643570e-04]
 [-3.01916963e-03 -1.38481080e-03  9.99994483e-01]]

 t_estimated:
[[0.97070768]
 [0.24025821]
 [0.00161247]]

 R_gt:
[[ 0.99827427 -0.05868761 -0.0015746 ]
 [ 0.05849845  0.99660848 -0.05786357]
 [ 0.00496597  0.05767107  0.9983232 ]]

 t_gt:
[ 0.7943669   0.40543508 -0.45233132]

Pose Error in degrees for R and t:
149.34869770807884 29.798578423669543

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.27213035e-01 -3.74532838e-01 -1.06841163e-03]
 [ 3.74534341e-01  9.27208266e-01  2.97644961e-03]
 [-1.24138022e-04 -3.15995972e-03  9.99995000e-01]]

 t_estimated:
[[-6.55798588e-01]
 [-7.54935816e-01]
 [-3.54358584e-04]]

 R_gt:
[[ 0.99107397 -0.13213335  0.0176581 ]
 [ 0.13330155  0.98360326 -0.12146832]
 [-0.00131837  0.12273722  0.99243816]]

 t_gt:
[ 0.8538163   0.32712034 -0.40495679]

Pose Error in degrees for R and t:
16.052115359032477 36.22108726533738

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.65434293 -0.75618443 -0.00452044]
 [ 0.75619724  0.65433881  0.00254276]
 [ 0.0010351  -0.00508218  0.99998655]]

 t_estimated:
[[9.87659915e-01]
 [1.56612812e-01]
 [5.65298048e-04]]

 R_gt:
[[ 0.98609453 -0.15735785  0.05343707]
 [ 0.16470536  0.96821607 -0.18822909]
 [-0.02211836  0.19441238  0.98066999]]

 t_gt:
[ 0.76969841  0.46045912 -0.44220104]

Pose Error in degrees for R and t:
41.35535356497073 33.68864292564268

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.99955961  0.02950032  0.00321342]
 [-0.02949372  0.99956279 -0.00208333]
 [-0.00327348  0.00198764  0.99999267]]

 t_estimated:
[[0.69522319]
 [0.71879007]
 [0.00235669]]

 R_gt:
[[ 0.99881288 -0.04148977 -0.02552608]
 [ 0.04317951  0.99663661  0.06964482]
 [ 0.02255107 -0.07066403  0.99724473]]

 t_gt:
[ 0.42849504 -0.71833513  0.54807539]

Pose Error in degrees for R and t:
6.046785738431743 77.4588441525942

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.6843392   0.72915032 -0.00443522]
 [ 0.72913014 -0.68423651  0.01377086]
 [ 0.00700629 -0.0126578  -0.99989534]]

 t_estimated:
[[-0.97986046]
 [ 0.1996134 ]
 [ 0.00528932]]

 R_gt:
[[ 0.99780837 -0.06127649 -0.02496131]
 [ 0.06467937  0.98282448  0.1728322 ]
 [ 0.01394266 -0.17406721  0.98463443]]

 t_gt:
[ 0.30467911 -0.64469851  0.7010952 ]

Pose Error in degrees for R and t:
169.56226328796114 64.94265394606018

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.57531392e-01 -2.88328851e-01  3.27721569e-04]
 [ 2.88328985e-01  9.57529916e-01 -1.69023864e-03]
 [ 1.73541358e-04  1.71294818e-03  9.99998518e-01]]

 t_estimated:
[[0.38045522]
 [0.92479883]
 [0.00097553]]

 R_gt:
[[ 0.97807092 -0.19419375 -0.07527502]
 [ 0.20597295  0.95544684  0.21141456]
 [ 0.03086591 -0.22228239  0.97449367]]

 t_gt:
[ 0.59454748 -0.60493309  0.52968788]

Pose Error in degrees for R and t:
14.00881483285532 70.5656837135254

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.97921624e-01 -6.44391158e-02  1.80230437e-04]
 [ 6.44390862e-02  9.97921629e-01  1.65849649e-04]
 [-1.90543056e-04 -1.53891067e-04  9.99999970e-01]]

 t_estimated:
[[0.16430827]
 [0.98640842]
 [0.00110688]]

 R_gt:
[[ 0.99257398  0.06909467 -0.10010975]
 [-0.08177238  0.9883164  -0.12862121]
 [ 0.09005295  0.13585228  0.98662756]]

 t_gt:
[-0.14849249  0.60924673 -0.7789534 ]

Pose Error in degrees for R and t:
12.365647548863423 54.850956589392396

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.93011061  0.36725311  0.00440468]
 [-0.36712113  0.9299948  -0.01821385]
 [-0.01078542  0.01532385  0.99982441]]

 t_estimated:
[[-0.9957938 ]
 [-0.09161303]
 [-0.00132773]]

 R_gt:
[[ 0.9763982   0.13783083 -0.16627647]
 [-0.16903154  0.96691262 -0.19107203]
 [ 0.13443834  0.21466719  0.96739046]]

 t_gt:
[-0.16804384  0.69173387 -0.70232864]

Pose Error in degrees for R and t:
18.927126119197446 83.97872871030931

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.06016288  0.99818544  0.00249954]
 [ 0.99818685 -0.06016724  0.00170833]
 [ 0.00185562  0.00239223 -0.99999542]]

 t_estimated:
[[-0.74924211]
 [-0.66229485]
 [-0.00133602]]

 R_gt:
[[ 0.96995221  0.1617107  -0.18177378]
 [-0.19828683  0.95836301 -0.20548103]
 [ 0.1409759   0.23534947  0.96163214]]

 t_gt:
[-0.17540266  0.72944551 -0.66116803]

Pose Error in degrees for R and t:
177.0925210746674 69.46340235523907

Number of keypoints:
Image1: 414
Image2: 414

 R_estimated:
[[ 9.99999967e-01 -2.49378802e-04  5.56890805e-05]
 [ 2.49379302e-04  9.99999969e-01 -8.97420352e-06]
 [-5.56868407e-05  8.98809093e-06  9.99999998e-01]]

 t_estimated:
[[9.58592713e-01]
 [2.84780337e-01]
 [4.12048545e-04]]

 R_gt:
[[ 0.99571428 -0.08265334 -0.04148809]
 [ 0.08285088  0.99655759  0.00305178]
 [ 0.04109326 -0.00647708  0.99913414]]

 t_gt:
[ 0.9793556  -0.14731934 -0.1384183 ]

Pose Error in degrees for R and t:
5.302128702633142 26.260399150167768

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 0.99020374  0.1395837   0.00359625]
 [-0.13959294  0.99020592  0.00245737]
 [-0.00321802 -0.00293531  0.99999051]]

 t_estimated:
[[0.39240918]
 [0.91970901]
 [0.01226279]]

 R_gt:
[[ 0.9920427  -0.07888594 -0.09812386]
 [ 0.08487829  0.99467505  0.05846283]
 [ 0.09298963 -0.06632553  0.99345545]]

 t_gt:
[ 0.95989708 -0.19013157  0.20602812]

Pose Error in degrees for R and t:
14.358026443634635 78.20953266882121

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.87838215e-01 -1.55480214e-01 -1.25084623e-03]
 [ 1.55482830e-01  9.87835745e-01  2.37282127e-03]
 [ 8.66703860e-04 -2.53844864e-03  9.99996403e-01]]

 t_estimated:
[[-0.40647264]
 [-0.91366071]
 [ 0.00202678]]

 R_gt:
[[ 0.98614105 -0.06373127 -0.153182  ]
 [ 0.07474852  0.99493141  0.06726897]
 [ 0.14811875 -0.07778681  0.98590556]]

 t_gt:
[ 0.98229163 -0.16841995  0.08208449]

Pose Error in degrees for R and t:
10.721401044776032 75.80459643420227

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.94087004e-01 -1.08586465e-01  9.05758612e-05]
 [ 1.08586450e-01  9.94086998e-01  1.50009652e-04]
 [-1.06329304e-04 -1.39287334e-04  9.99999985e-01]]

 t_estimated:
[[0.96472933]
 [0.26324119]
 [0.00118347]]

 R_gt:
[[ 0.99801807 -0.01585113 -0.06090976]
 [ 0.01575796  0.99987374 -0.00199637]
 [ 0.06093307  0.00103221  0.99814044]]

 t_gt:
[ 0.74625832 -0.07407838 -0.66152167]

Pose Error in degrees for R and t:
6.373539114700634 45.60075615967882

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.80181539e-01 -1.98100976e-01  3.92016896e-04]
 [ 1.98101078e-01  9.80181567e-01 -2.41653198e-04]
 [-3.36376001e-04  3.14522974e-04  9.99999894e-01]]

 t_estimated:
[[-0.08348635]
 [-0.99650734]
 [-0.00177631]]

 R_gt:
[[ 9.93641404e-01  3.89521650e-04 -1.12594763e-01]
 [ 1.70503001e-03  9.99827480e-01  1.85015738e-02]
 [ 1.12583253e-01 -1.85755992e-02  9.93468719e-01]]

 t_gt:
[ 0.70059753  0.0697776  -0.71013674]

Pose Error in degrees for R and t:
13.144620593496404 82.71743281269589

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999998e-01  5.77473631e-05 -4.61937712e-08]
 [-5.77473630e-05  9.99999998e-01  8.33158697e-07]
 [ 4.62418839e-08 -8.33156028e-07  1.00000000e+00]]

 t_estimated:
[[-0.67183431]
 [ 0.74070068]
 [-0.0010806 ]]

 R_gt:
[[ 0.99245667  0.05016444 -0.11186503]
 [-0.04832745  0.99864995  0.01907769]
 [ 0.11267121 -0.01352741  0.99353975]]

 t_gt:
[ 0.35854509  0.53979326 -0.76162238]

Pose Error in degrees for R and t:
7.1027316005153756 80.80672363829433

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.22056738 -0.97536982 -0.00193707]
 [-0.97537064  0.22056968 -0.00106196]
 [ 0.00146306  0.00165512 -0.99999756]]

 t_estimated:
[[8.28164655e-01]
 [5.60484864e-01]
 [1.45744068e-04]]

 R_gt:
[[ 0.99663286 -0.07715981 -0.02773719]
 [ 0.07794455  0.99655387  0.02838896]
 [ 0.02545075 -0.03045594  0.99921203]]

 t_gt:
[ 0.71605081 -0.69671016  0.04319936]

Pose Error in degrees for R and t:
179.74248621030546 78.31571143973623

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.44495059 -0.89530358  0.02122411]
 [-0.84205827  0.4263219   0.33043533]
 [-0.30488824  0.12915546 -0.94358997]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.99350491 -0.11319182  0.01162955]
 [ 0.11316631  0.99357168  0.00290953]
 [-0.01188473 -0.00157429  0.99992808]]

 t_gt:
[ 0.6894572  -0.71991373  0.07983095]

Pose Error in degrees for R and t:
167.333325096358 82.35986061714951

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.98148142e-01  6.08292520e-02  2.97998445e-04]
 [-6.08291932e-02  9.98148169e-01 -2.02672321e-04]
 [-3.09775009e-04  1.84169996e-04  9.99999935e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99639219 -0.08292622  0.01804835]
 [ 0.08348941  0.99596076 -0.03305858]
 [-0.01523371  0.03444696  0.99929059]]

 t_gt:
[ 0.62608917 -0.77386074 -0.0956656 ]

Pose Error in degrees for R and t:
8.534347434533524 51.41959652742938

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-6.88229932e-01 -7.25488387e-01 -2.48193768e-03]
 [ 7.25492633e-01 -6.88225857e-01 -2.36842529e-03]
 [ 1.01313577e-05 -3.43064868e-03  9.99994115e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99391214 -0.10962015  0.01104284]
 [ 0.11010128  0.99190515 -0.06325762]
 [-0.00401922  0.06408815  0.99793629]]

 t_gt:
[ 0.8093945  -0.41578426 -0.41473364]

Pose Error in degrees for R and t:
127.20927551466781 36.12044190911825

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.98749751e-01  4.99885332e-02  2.86402255e-04]
 [-4.99885312e-02  9.98749792e-01 -1.41300506e-05]
 [-2.86750533e-04 -2.04443526e-07  9.99999959e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.97148478 -0.23676679 -0.01262911]
 [ 0.23556025  0.96985976 -0.06230708]
 [ 0.02700084  0.05755502  0.99797656]]

 t_gt:
[ 0.86591461 -0.44326098 -0.2317576 ]

Pose Error in degrees for R and t:
16.934916852258173 35.75381566338347

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.92598629e-01 -1.21439988e-01  5.39459075e-04]
 [ 1.21436552e-01  9.92589764e-01  4.32724062e-03]
 [-1.06096161e-03 -4.22970306e-03  9.99990492e-01]]

 t_estimated:
[[-0.56868366]
 [-0.82252874]
 [ 0.00673609]]

 R_gt:
[[ 0.93547591 -0.35323865 -0.01031379]
 [ 0.35294829  0.93536902 -0.0226038 ]
 [ 0.01763151  0.01750465  0.99969061]]

 t_gt:
[ 0.88056432 -0.47259758 -0.03546833]

Pose Error in degrees for R and t:
13.80427962909932 83.55344494904688

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 1.05392944e-01 -9.94430147e-01 -1.00545660e-03]
 [ 9.94430549e-01  1.05392412e-01  5.67874571e-04]
 [-4.58744097e-04 -1.05970673e-03  9.99999333e-01]]

 t_estimated:
[[ 8.71347889e-01]
 [-4.90665409e-01]
 [ 5.59442443e-04]]

 R_gt:
[[ 0.99951104  0.0295447   0.01025807]
 [-0.02956234  0.99956157  0.00151666]
 [-0.01020855 -0.00181903  0.99994624]]

 t_gt:
[-0.41446169  0.90566962  0.08935343]

Pose Error in degrees for R and t:
85.64555543302785 36.3442243762307

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-9.89456480e-01 -1.22700631e-01 -7.69443222e-02]
 [-1.23037437e-01  9.92401962e-01 -3.65940519e-04]
 [ 7.64045975e-02  9.10495000e-03 -9.97035324e-01]]

 t_estimated:
[[ 0.99898682]
 [ 0.01241111]
 [-0.04325856]]

 R_gt:
[[ 0.99929847  0.03594675 -0.01054224]
 [-0.03592723  0.9993521   0.00213051]
 [ 0.01061321 -0.00175133  0.99994245]]

 t_gt:
[-0.25972059  0.94626289 -0.19269603]

Pose Error in degrees for R and t:
174.99239916782875 76.1501957524398

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 0.8416261   0.53932475  0.02818362]
 [ 0.53924143 -0.83633106 -0.09883844]
 [-0.02973518  0.09838278 -0.9947043 ]]

 t_estimated:
[[-0.23325535]
 [ 0.97126581]
 [-0.04727225]]

 R_gt:
[[ 0.99949853 -0.02906672  0.01255419]
 [ 0.02889427  0.99948893  0.01363099]
 [-0.01294354 -0.01326226  0.99982803]]

 t_gt:
[0.76455794 0.51762947 0.38407147]

Pose Error in degrees for R and t:
174.63593453937932 72.16585554131646

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99824454e-01  1.87360555e-02  1.45713412e-04]
 [-1.87360546e-02  9.99824465e-01 -7.73399021e-06]
 [-1.45832738e-04  5.00253810e-06  9.99999989e-01]]

 t_estimated:
[[ 9.93702849e-01]
 [-1.12047478e-01]
 [ 1.04590496e-04]]

 R_gt:
[[ 0.98995209 -0.14009257 -0.01922816]
 [ 0.13967933  0.98996641 -0.02135886]
 [ 0.02202757  0.01845841  0.99958656]]

 t_gt:
[ 0.83072324 -0.53072494 -0.16801769]

Pose Error in degrees for R and t:
9.264749072638159 27.75575515778414

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 0.28105949  0.95959774  0.01333186]
 [ 0.95960556 -0.28082287 -0.01719561]
 [-0.01275697  0.01762632 -0.99976326]]

 t_estimated:
[[0.83949992]
 [0.54335897]
 [0.00095397]]

 R_gt:
[[ 0.96266724 -0.27043302 -0.01180042]
 [ 0.26953423  0.9616711  -0.05040609]
 [ 0.02497928  0.04534319  0.99865895]]

 t_gt:
[ 0.87386904 -0.45375528 -0.1745252 ]

Pose Error in degrees for R and t:
177.18426018702698 60.863330388498845

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.54177014e-01 -2.99025434e-01 -1.14024819e-02]
 [ 2.99054652e-01  9.54235551e-01  9.09897811e-04]
 [ 1.06085710e-02 -4.27816883e-03  9.99934576e-01]]

 t_estimated:
[[-0.48676403]
 [-0.87350805]
 [-0.006668  ]]

 R_gt:
[[ 0.93770637 -0.34647727  0.02571894]
 [ 0.34742876  0.93489682 -0.0725339 ]
 [ 0.00108666  0.07695112  0.99703359]]

 t_gt:
[ 0.8774976  -0.44127835 -0.18780679]

Pose Error in degrees for R and t:
5.543358313244409 87.6833714063325

Number of keypoints:
Image1: 545
Image2: 545

 R_estimated:
[[ 9.99411631e-01 -3.42985546e-02  2.71492279e-05]
 [ 3.42985527e-02  9.99411629e-01  6.87107336e-05]
 [-2.94899330e-05 -6.77391271e-05  9.99999997e-01]]

 t_estimated:
[[-0.48830037]
 [-0.87267505]
 [-0.00100482]]

 R_gt:
[[ 0.99807105 -0.06116876  0.01064519]
 [ 0.06130951  0.99802795 -0.01343577]
 [-0.00980304  0.01406222  0.99985276]]

 t_gt:
[ 0.40060415 -0.91589018  0.02571936]

Pose Error in degrees for R and t:
1.8327876058229655 52.86942574498049

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.96198545e-01 -8.71117082e-02  9.96744276e-05]
 [ 8.71117088e-02  9.96198550e-01 -1.53683830e-06]
 [-9.91616436e-05  1.02138058e-05  9.99999995e-01]]

 t_estimated:
[[8.01415166e-01]
 [5.98108138e-01]
 [6.21734031e-04]]

 R_gt:
[[ 0.995737   -0.06791772  0.06241414]
 [ 0.0704577   0.99673512 -0.039436  ]
 [-0.05953232  0.04366595  0.9972703 ]]

 t_gt:
[-0.31977755 -0.77062698  0.55124983]

Pose Error in degrees for R and t:
4.351424168086311 44.20497157722506

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 9.95519683e-01 -9.45545138e-02  6.85804966e-05]
 [ 9.45545084e-02  9.95519683e-01  7.85229507e-05]
 [-7.56979337e-05 -7.16865479e-05  9.99999995e-01]]

 t_estimated:
[[5.13781275e-01]
 [8.57921196e-01]
 [1.52383653e-04]]

 R_gt:
[[ 0.99124988 -0.07118562  0.11115941]
 [ 0.07527207  0.9966162  -0.03300699]
 [-0.10843309  0.04108585  0.99325416]]

 t_gt:
[-0.48273078 -0.49309035  0.72376301]

Pose Error in degrees for R and t:
6.765683756468154 47.86031231136121

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 4.74416485e-01  8.80300461e-01  3.13584219e-04]
 [-8.80299594e-01  4.74416473e-01 -1.27827956e-03]
 [-1.27403961e-03  3.30388836e-04  9.99999134e-01]]

 t_estimated:
[[-1.68833210e-01]
 [ 9.85644288e-01]
 [ 8.27251641e-04]]

 R_gt:
[[ 0.98927627  0.14590898 -0.00652414]
 [-0.14568384  0.98896369  0.02694358]
 [ 0.01038399 -0.02570413  0.9996159 ]]

 t_gt:
[-0.58717747  0.80848569  0.0396675 ]

Pose Error in degrees for R and t:
53.31767243049767 26.35674546818372

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 6.68399100e-01  7.43802809e-01  1.56028169e-04]
 [-7.43802322e-01  6.68398877e-01 -1.02313478e-03]
 [-8.65299575e-04  5.67808251e-04  9.99999464e-01]]

 t_estimated:
[[-2.84081344e-01]
 [ 9.58800055e-01]
 [ 4.93933136e-04]]

 R_gt:
[[ 0.98105041  0.19285833  0.01863645]
 [-0.19332502  0.98074138  0.02777745]
 [-0.0129205  -0.03085519  0.99944063]]

 t_gt:
[-0.56517137  0.81288299  0.14072159]

Pose Error in degrees for R and t:
36.96947392339205 19.945688291458705

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.31074215 -0.95049336 -0.00130194]
 [ 0.94937144  0.31044134 -0.04816689]
 [ 0.04618649  0.01373146  0.99883845]]

 t_estimated:
[[ 0.96274058]
 [-0.26683122]
 [-0.04395072]]

 R_gt:
[[ 0.96495445  0.26151414 -0.0217597 ]
 [-0.26088429  0.96496442  0.02799397]
 [ 0.02831816 -0.0213363   0.99937191]]

 t_gt:
[-0.53302613  0.8460718   0.00675677]

Pose Error in degrees for R and t:
87.1030573072705 42.334881715804244

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999954e-01 -2.95392143e-04 -7.55527207e-05]
 [ 2.95406733e-04  9.99999938e-01  1.93183951e-04]
 [ 7.54956510e-05 -1.93206261e-04  9.99999978e-01]]

 t_estimated:
[[0.39830755]
 [0.91725134]
 [0.00103997]]

 R_gt:
[[ 0.99890697  0.04579282 -0.00937768]
 [-0.04560392  0.9987678   0.01959152]
 [ 0.01026377 -0.01914213  0.99976443]]

 t_gt:
[-0.58892315  0.7697775   0.24619528]

Pose Error in degrees for R and t:
2.9099920216623385 61.85120625981186

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999978e-01 -1.85816087e-04 -9.30312198e-05]
 [ 1.85828168e-04  9.99999974e-01  1.29862777e-04]
 [ 9.30070868e-05 -1.29880062e-04  9.99999987e-01]]

 t_estimated:
[[-4.06669099e-01]
 [ 9.13575404e-01]
 [-4.73683413e-04]]

 R_gt:
[[ 0.99266354  0.09348197 -0.07669311]
 [-0.09428906  0.99552093 -0.00695458]
 [ 0.0757001   0.01413557  0.99703095]]

 t_gt:
[-0.45912672  0.78499666 -0.41591214]

Pose Error in degrees for R and t:
6.976548611748871 25.302581167426283

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.58221269e-01 -2.86027924e-01 -1.58910851e-04]
 [ 2.86027967e-01  9.58221176e-01  4.25133061e-04]
 [ 3.06718150e-05 -4.52824489e-04  9.99999897e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.98315612  0.0907714  -0.15863831]
 [-0.09280643  0.995669   -0.00544831]
 [ 0.15745731  0.02007959  0.98732215]]

 t_gt:
[-0.21458253  0.64975561 -0.72922698]

Pose Error in degrees for R and t:
23.72426957703505 74.91082931268974

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-0.35910105 -0.92830608  0.09640675]
 [-0.92822857  0.36599221  0.0666441 ]
 [-0.09715024 -0.06555554 -0.9931084 ]]

 t_estimated:
[[0.83424882]
 [0.54803762]
 [0.06069328]]

 R_gt:
[[ 0.99931181 -0.00685689 -0.03645061]
 [ 0.00676502  0.99997309 -0.00266313]
 [ 0.0364682   0.00241549  0.9993316 ]]

 t_gt:
[ 0.32769069 -0.91561733 -0.23294575]

Pose Error in degrees for R and t:
175.07743722319066 75.96258779820064

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.68625835e-01 -2.48523336e-01 -3.79510466e-04]
 [ 2.48522283e-01  9.68624493e-01 -1.80736016e-03]
 [ 8.16774310e-04  1.65633894e-03  9.99998295e-01]]

 t_estimated:
[[ 0.72145005]
 [-0.69244351]
 [-0.00564046]]

 R_gt:
[[ 0.99144394 -0.10898019 -0.07185053]
 [ 0.10582481  0.99330402 -0.04635551]
 [ 0.07642161  0.03835614  0.99633761]]

 t_gt:
[ 0.68894806 -0.630334   -0.35781227]

Pose Error in degrees for R and t:
9.52384277385253 20.68597525321298

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.05670769  0.99830507  0.01308528]
 [ 0.99830556 -0.0565267  -0.01381056]
 [-0.01304749  0.01384628 -0.99981901]]

 t_estimated:
[[0.92135355]
 [0.38869603]
 [0.00479872]]

 R_gt:
[[ 0.9670951  -0.24457731 -0.07006557]
 [ 0.23874659  0.96759411 -0.08223091]
 [ 0.08790699  0.06279798  0.9941473 ]]

 t_gt:
[ 0.80707241 -0.52205562 -0.27584789]

Pose Error in degrees for R and t:
179.00739089589408 57.360301504412966

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.96762194e-01  8.04057982e-02  1.92451412e-04]
 [-8.04057897e-02  9.96762212e-01 -5.16610011e-05]
 [-1.95982139e-04  3.60195250e-05  9.99999980e-01]]

 t_estimated:
[[0.25365844]
 [0.96729253]
 [0.00160055]]

 R_gt:
[[ 9.99676979e-01 -8.09010218e-04  2.53971236e-02]
 [ 1.73659136e-03  9.99329774e-01 -3.65445394e-02]
 [-2.53500694e-02  3.65768952e-02  9.99009077e-01]]

 t_gt:
[-0.00370354 -0.81035891 -0.58592212]

Pose Error in degrees for R and t:
5.330178994136207 38.21163043238607

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-1.87542998e-01 -9.82256378e-01  1.80007235e-04]
 [-9.82256215e-01  1.87542850e-01 -6.38201747e-04]
 [ 5.93118666e-04 -2.96503494e-04 -9.99999780e-01]]

 t_estimated:
[[7.67039889e-01]
 [6.41599049e-01]
 [6.85469069e-04]]

 R_gt:
[[ 0.99791456  0.04376203  0.04744928]
 [-0.03930428  0.99506421 -0.09111758]
 [-0.05120311  0.08906277  0.99470826]]

 t_gt:
[-0.73363366  0.4192314  -0.53481462]

Pose Error in degrees for R and t:
178.8706490271867 72.89555857819717

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 6.47985383e-01  7.61652546e-01  5.85027595e-04]
 [-7.61652333e-01  6.47985643e-01 -5.74796140e-04]
 [-8.16884427e-04 -7.31281357e-05  9.99999664e-01]]

 t_estimated:
[[0.40312255]
 [0.91514551]
 [0.00095527]]

 R_gt:
[[ 0.99341502  0.06026676  0.09743732]
 [-0.05015973  0.99341104 -0.10304397]
 [-0.10300465  0.09747832  0.98989224]]

 t_gt:
[-0.85202609  0.46272847  0.24481402]

Pose Error in degrees for R and t:
47.0927832891678 85.39839713515553

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.25341548e-01  3.79134543e-01  1.35173011e-04]
 [-3.79134567e-01  9.25341481e-01  3.50361423e-04]
 [ 7.75292408e-06 -3.75452742e-04  9.99999929e-01]]

 t_estimated:
[[7.59649477e-01]
 [6.50332366e-01]
 [6.96287330e-04]]

 R_gt:
[[ 0.99312676 -0.11602418  0.015427  ]
 [ 0.11652946  0.99248474 -0.03734192]
 [-0.01097789  0.03888345  0.99918356]]

 t_gt:
[ 0.82712179 -0.51655645 -0.22144743]

Pose Error in degrees for R and t:
29.052073919574084 73.00818633381326

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 0.3955402   0.91843682  0.00466367]
 [ 0.91844796 -0.39552853 -0.00324449]
 [-0.00113524  0.00556667 -0.99998386]]

 t_estimated:
[[-8.01566609e-01]
 [-5.97905163e-01]
 [-6.22817878e-04]]

 R_gt:
[[ 0.97079586 -0.2398773   0.00390053]
 [ 0.23917419  0.96642015 -0.09394834]
 [ 0.01876792  0.09213737  0.9955696 ]]

 t_gt:
[ 0.86542841 -0.3884517  -0.31644739]

Pose Error in degrees for R and t:
175.4294649938083 62.53258061298883

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 0.99835856  0.05709631  0.00449412]
 [-0.05709     0.99836788 -0.00151921]
 [-0.00457353  0.00126015  0.99998875]]

 t_estimated:
[[0.90874153]
 [0.41735741]
 [0.00127632]]

 R_gt:
[[ 0.93001805 -0.36750182  0.00283067]
 [ 0.36682589  0.92777932 -0.06829576]
 [ 0.02247323  0.06455581  0.99766112]]

 t_gt:
[ 0.89797139 -0.4108484  -0.15764192]

Pose Error in degrees for R and t:
25.1378726575649 49.88288714700144

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.0102298   0.99994647 -0.00154888]
 [ 0.99993423  0.01023768  0.00517007]
 [ 0.00518565 -0.00149589 -0.99998544]]

 t_estimated:
[[ 0.99977519]
 [ 0.02089768]
 [-0.00358568]]

 R_gt:
[[ 9.98112048e-01  1.89457193e-03 -6.13872457e-02]
 [-9.15405583e-04  9.99872513e-01  1.59806660e-02]
 [ 6.14099910e-02 -1.58940720e-02  9.97986558e-01]]

 t_gt:
[ 0.67330684  0.0598308  -0.73693838]

Pose Error in degrees for R and t:
176.58429910811154 47.38659080547081

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.95137338e-01 -9.84911755e-02  1.08021093e-03]
 [ 9.84924224e-02  9.95137114e-01 -1.16908335e-03]
 [-9.59813597e-04  1.26979109e-03  9.99998733e-01]]

 t_estimated:
[[0.07412775]
 [0.99724736]
 [0.00166999]]

 R_gt:
[[ 0.99492988  0.0356332  -0.09405279]
 [-0.03355538  0.99915885  0.02358491]
 [ 0.09481439 -0.02030873  0.99528786]]

 t_gt:
[ 0.36710512  0.49335803 -0.78856305]

Pose Error in degrees for R and t:
9.491862888267487 58.80879009205162

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.25213196e-01 -3.79447443e-01 -4.23964083e-04]
 [ 3.79447546e-01  9.25213230e-01  1.94100386e-04]
 [ 3.18606284e-04 -3.40456370e-04  9.99999891e-01]]

 t_estimated:
[[ 7.90985989e-01]
 [-6.11834261e-01]
 [-4.16547917e-05]]

 R_gt:
[[ 0.99933724  0.03220666  0.01695453]
 [-0.03246986  0.99935255  0.01549371]
 [-0.01644476 -0.01603295  0.99973659]]

 t_gt:
[-0.06099087  0.75569359  0.65207922]

Pose Error in degrees for R and t:
24.188455943204154 59.294242914782224

Number of keypoints:
Image1: 466
Image2: 466

 R_estimated:
[[ 9.99883879e-01 -1.52388473e-02  8.19105695e-05]
 [ 1.52388454e-02  9.99883882e-01  2.44496130e-05]
 [-8.22736421e-05 -2.31985514e-05  9.99999996e-01]]

 t_estimated:
[[9.64152111e-01]
 [2.65349134e-01]
 [7.38298621e-04]]

 R_gt:
[[ 0.99585638 -0.08694094 -0.02669728]
 [ 0.08759347  0.99586078  0.02431479]
 [ 0.02447188 -0.02655194  0.99934737]]

 t_gt:
[ 0.96197735 -0.197155    0.18902243]

Pose Error in degrees for R and t:
4.624158019268803 28.917468671300302

Number of keypoints:
Image1: 413
Image2: 413

 R_estimated:
[[-4.08226564e-01 -9.12880534e-01 -4.51591269e-04]
 [-9.12877910e-01  4.08226502e-01 -2.24608840e-03]
 [ 2.23476190e-03 -5.04665254e-04 -9.99997376e-01]]

 t_estimated:
[[0.81122683]
 [0.58473045]
 [0.00115559]]

 R_gt:
[[ 0.98959002 -0.11992386 -0.07956606]
 [ 0.12389736  0.99118138  0.04701794]
 [ 0.07322496 -0.05638684  0.99572015]]

 t_gt:
[ 0.96810637 -0.17873816  0.17556401]

Pose Error in degrees for R and t:
177.83514511505808 47.07479172469656

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[-6.02220887e-01 -7.98324993e-01 -2.68501254e-03]
 [ 7.98311988e-01 -6.02226547e-01  4.59960113e-03]
 [-5.28896237e-03  6.26498173e-04  9.99985817e-01]]

 t_estimated:
[[8.35628554e-01]
 [5.49294295e-01]
 [8.34793761e-04]]

 R_gt:
[[ 0.98472453 -0.10608255 -0.13808024]
 [ 0.11875094  0.9891076   0.08697588]
 [ 0.12734919 -0.10204426  0.986595  ]]

 t_gt:
[ 0.95031587 -0.17794506  0.25541202]

Pose Error in degrees for R and t:
120.74997945510295 45.84673586829954

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.99729237e-01 -2.32677106e-02  2.58049611e-04]
 [ 2.32675146e-02  9.99729002e-01  7.38313542e-04]
 [-2.75158546e-04 -7.32109460e-04  9.99999694e-01]]

 t_estimated:
[[-9.42668401e-01]
 [-3.33729921e-01]
 [-7.90829196e-04]]

 R_gt:
[[ 0.99991197 -0.0109291  -0.0075832 ]
 [ 0.0107154   0.99956236 -0.02757573]
 [ 0.00788176  0.0274913   0.99959088]]

 t_gt:
[ 0.42385223  0.33104689 -0.8430642 ]

Pose Error in degrees for R and t:
1.8279090681303 59.37841584530898

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 6.91074955e-01  7.22782938e-01  4.79737105e-04]
 [ 7.22739037e-01 -6.91040004e-01  1.05828450e-02]
 [ 7.98061732e-03 -6.96681439e-03 -9.99943885e-01]]

 t_estimated:
[[0.90510996]
 [0.42517621]
 [0.00107368]]

 R_gt:
[[ 0.9982686  -0.05865753  0.00438088]
 [ 0.05840332  0.99729545  0.04462208]
 [-0.00698591 -0.04428848  0.99899463]]

 t_gt:
[ 0.72940439 -0.45464481  0.51114317]

Pose Error in degrees for R and t:
177.24617656315567 62.132021543712355

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 1.63023984e-01  9.86619275e-01  2.36353460e-03]
 [ 9.86621495e-01 -1.63026082e-01  7.22909283e-04]
 [ 1.09855402e-03  2.21406249e-03 -9.99996946e-01]]

 t_estimated:
[[-0.65300308]
 [-0.75735448]
 [-0.00107579]]

 R_gt:
[[ 0.98172355 -0.17288849  0.07954702]
 [ 0.15208034  0.96397588  0.21822421]
 [-0.11441001 -0.20213841  0.97265168]]

 t_gt:
[ 0.495146   -0.3671999   0.78739741]

Pose Error in degrees for R and t:
174.41749106709602 87.3589641596009

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[-0.99269185  0.04033202  0.11373747]
 [ 0.04079777  0.99916586  0.00176929]
 [-0.11357124  0.0063966  -0.99350926]]

 t_estimated:
[[ 0.99800378]
 [-0.02492887]
 [ 0.05802599]]

 R_gt:
[[ 9.96439972e-01  8.42645692e-02  2.38835931e-03]
 [-8.42967056e-02  9.96155239e-01  2.38375998e-02]
 [-3.70336368e-04 -2.39545283e-02  9.99713541e-01]]

 t_gt:
[-0.82028851  0.52852778  0.21859813]

Pose Error in degrees for R and t:
173.4376374899312 35.00097760472495

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[-0.18932543  0.98190822 -0.00348138]
 [ 0.98190944  0.18933455  0.00250681]
 [ 0.0031206  -0.00294379 -0.9999908 ]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97629515  0.21629398  0.00796254]
 [-0.21643445  0.97534864  0.04301779]
 [ 0.00153767 -0.0437213   0.99904316]]

 t_gt:
[-0.81990706  0.55208812  0.15149626]

Pose Error in degrees for R and t:
178.30882657305804 56.83028231927213

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 0.99939793 -0.03439202 -0.00457842]
 [ 0.03444981  0.99931918  0.01320579]
 [ 0.00412113 -0.01335557  0.99990232]]

 t_estimated:
[[-0.98129569]
 [-0.19250298]
 [-0.0011738 ]]

 R_gt:
[[ 0.95674073  0.28849578  0.03764943]
 [-0.28894105  0.95732195  0.0068989 ]
 [-0.0340523  -0.01747912  0.99926769]]

 t_gt:
[-0.77253293  0.63082415  0.07248285]

Pose Error in degrees for R and t:
18.902638117475103 50.46402209550407

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.46193037e-01  3.23602675e-01  2.12746183e-04]
 [-3.23602655e-01  9.46193060e-01 -1.24063390e-04]
 [-2.41446207e-04  4.85426858e-05  9.99999970e-01]]

 t_estimated:
[[0.62738659]
 [0.77870748]
 [0.00085012]]

 R_gt:
[[ 0.99775355 -0.06620104  0.01022558]
 [ 0.06604119  0.99770021  0.0152617 ]
 [-0.01121266 -0.01455166  0.99983177]]

 t_gt:
[ 0.31199962 -0.9039837   0.29235202]

Pose Error in degrees for R and t:
22.696408137475565 59.47289203897488

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.99649653  0.08357829  0.00305498]
 [ 0.08359235  0.99648843  0.00480861]
 [-0.00264235  0.00504714 -0.99998377]]

 t_estimated:
[[9.22923565e-01]
 [3.84982528e-01]
 [7.38929996e-04]]

 R_gt:
[[ 0.9776756  -0.21004512  0.00563072]
 [ 0.20997909  0.97765106  0.01034317]
 [-0.00767746 -0.00892928  0.99993154]]

 t_gt:
[ 0.61635796 -0.78536308  0.05751256]

Pose Error in degrees for R and t:
179.45071703958794 74.54135836465053

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 8.67910326e-01  4.96720396e-01  7.16624836e-04]
 [-4.96720649e-01  8.67910449e-01  2.21214933e-04]
 [-5.12084214e-04 -5.47957079e-04  9.99999719e-01]]

 t_estimated:
[[8.87046545e-01]
 [4.61679196e-01]
 [8.64567782e-04]]

 R_gt:
[[ 0.94373217 -0.33006316 -0.02066195]
 [ 0.33026006  0.94386529  0.00688633]
 [ 0.01722979 -0.01332229  0.99976326]]

 t_gt:
[ 0.71798711 -0.69562846 -0.02440398]

Pose Error in degrees for R and t:
49.079685767949805 71.5963366814875

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-2.20292077e-01 -9.75431222e-01 -2.30906188e-03]
 [-9.75433944e-01  2.20291099e-01  6.72796674e-04]
 [-1.47601102e-04  2.40054911e-03 -9.99997108e-01]]

 t_estimated:
[[0.85012337]
 [0.52658217]
 [0.00121219]]

 R_gt:
[[ 0.98944705 -0.14477159  0.00596044]
 [ 0.14488952  0.98891681 -0.03241108]
 [-0.00120262  0.03293298  0.99945731]]

 t_gt:
[ 0.84979822 -0.49369986 -0.18467114]

Pose Error in degrees for R and t:
178.91885429779137 62.46851762850271

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.27420116e-01 -3.74021014e-01 -4.58453433e-04]
 [ 3.74020804e-01  9.27420188e-01 -4.83840697e-04]
 [ 6.06145557e-04  2.77252474e-04  9.99999778e-01]]

 t_estimated:
[[ 0.68778391]
 [-0.72591318]
 [-0.00183133]]

 R_gt:
[[ 0.97307453 -0.22695643  0.04021575]
 [ 0.22887967  0.97204588 -0.05234443]
 [-0.02721139  0.06013985  0.99781943]]

 t_gt:
[ 0.84974176 -0.49765232 -0.17401466]

Pose Error in degrees for R and t:
9.553455352254955 18.91336609331819

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-9.91875225e-01  1.27163585e-01 -3.60017440e-03]
 [-1.27164583e-01 -9.91881629e-01  4.88062228e-05]
 [-3.56474048e-03  5.06224360e-04  9.99993518e-01]]

 t_estimated:
[[0.85046975]
 [0.52602306]
 [0.00096847]]

 R_gt:
[[ 0.94564981 -0.31896997  0.06328662]
 [ 0.32411385  0.94030843 -0.10377886]
 [-0.02640593  0.11865028  0.99258522]]

 t_gt:
[ 0.86757417 -0.42077894 -0.26506629]

Pose Error in degrees for R and t:
168.50991193599063 58.918992643387575

Number of keypoints:
Image1: 442
Image2: 442

 R_estimated:
[[ 9.90184530e-01 -1.39766219e-01 -2.82478961e-05]
 [ 1.39766222e-01  9.90184502e-01  2.36723555e-04]
 [-5.11532741e-06 -2.38348104e-04  9.99999972e-01]]

 t_estimated:
[[-4.17270723e-01]
 [-9.08782216e-01]
 [-1.69250356e-04]]

 R_gt:
[[ 0.99722305  0.00536549  0.07428137]
 [-0.00365346  0.99972553 -0.02315889]
 [-0.07438422  0.02282354  0.9969684 ]]

 t_gt:
[-0.71917046  0.06071867  0.69217562]

Pose Error in degrees for R and t:
9.417798964522838 75.83048289783773

Number of keypoints:
Image1: 336
Image2: 336

 R_estimated:
[[ 9.88151447e-01 -1.53481979e-01  2.56189936e-06]
 [ 1.53481969e-01  9.88151388e-01  3.45306581e-04]
 [-5.55298818e-05 -3.40821992e-04  9.99999940e-01]]

 t_estimated:
[[-4.93222711e-01]
 [-8.69903055e-01]
 [-1.78199417e-04]]

 R_gt:
[[ 0.99548981 -0.02320339  0.09198772]
 [ 0.02438921  0.9996333  -0.01178877]
 [-0.09167981  0.01398009  0.99569073]]

 t_gt:
[-0.60204496 -0.28617692  0.74541575]

Pose Error in degrees for R and t:
9.163562328179902 56.92368675382562

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.91250170e-01 -1.31995888e-01  4.31111469e-04]
 [ 1.31995238e-01  9.91249508e-01  1.29257942e-03]
 [-5.97954201e-04 -1.22436491e-03  9.99999072e-01]]

 t_estimated:
[[0.95663224]
 [0.29128225]
 [0.00306613]]

 R_gt:
[[ 0.98683322 -0.13853082  0.0834864 ]
 [ 0.13910778  0.99027667 -0.00111638]
 [-0.08252081  0.01271593  0.99650858]]

 t_gt:
[ 0.11609818 -0.87963771  0.46125775]

Pose Error in degrees for R and t:
4.783817118907789 81.73536989890464

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.62670537e-01  2.70675582e-01  4.07714160e-04]
 [-2.70674886e-01  9.62669978e-01 -1.27283932e-03]
 [-7.37020707e-04  1.11496693e-03  9.99999107e-01]]

 t_estimated:
[[-0.99298497]
 [-0.11823635]
 [-0.001002  ]]

 R_gt:
[[ 0.99530095 -0.08567493  0.04511293]
 [ 0.0784163   0.98653949  0.14349308]
 [-0.05679938 -0.13928083  0.98862225]]

 t_gt:
[ 0.40134053 -0.40816929  0.81995342]

Pose Error in degrees for R and t:
22.196517219638036 69.44622992150329

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.01562223  0.99983839  0.0088963 ]
 [ 0.99987005  0.01565688 -0.00383901]
 [-0.00397768  0.00883517 -0.99995306]]

 t_estimated:
[[0.90516952]
 [0.4250484 ]
 [0.00141212]]

 R_gt:
[[ 0.97805316 -0.17265495  0.11662899]
 [ 0.12943719  0.94213269  0.30924534]
 [-0.16327285 -0.28736103  0.94380297]]

 t_gt:
[ 0.37626817 -0.27298771  0.88538126]

Pose Error in degrees for R and t:
174.1355804456373 76.94985362139937

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-5.58661774e-01 -8.29395286e-01 -6.94862935e-04]
 [-8.29386829e-01  5.58651838e-01  5.06086439e-03]
 [-3.80927061e-03  3.40362164e-03 -9.99986952e-01]]

 t_estimated:
[[9.97326518e-01]
 [7.30699086e-02]
 [7.77339453e-04]]

 R_gt:
[[ 0.9735755  -0.17430619  0.14753957]
 [ 0.1205757   0.94103172  0.31610199]
 [-0.19393799 -0.28995961  0.93718208]]

 t_gt:
[ 0.37237397 -0.21346589  0.90319983]

Pose Error in degrees for R and t:
162.70237617291355 69.11566336261319

Number of keypoints:
Image1: 762
Image2: 762

 R_estimated:
[[ 9.99992447e-01 -3.88634569e-03  4.23021001e-05]
 [ 3.88634560e-03  9.99992448e-01  2.27497752e-06]
 [-4.23106220e-05 -2.11055976e-06  9.99999999e-01]]

 t_estimated:
[[0.80801301]
 [0.58916368]
 [0.00106296]]

 R_gt:
[[ 0.9996742  -0.0191576  -0.01690932]
 [ 0.01965109  0.99937166  0.02947543]
 [ 0.01633392 -0.02979845  0.99942294]]

 t_gt:
[ 0.40116856 -0.09444166  0.91112269]

Pose Error in degrees for R and t:
2.1414505524533807 74.36689353566516

Number of keypoints:
Image1: 481
Image2: 481

 R_estimated:
[[-3.25472893e-01 -9.45550914e-01 -9.30463927e-04]
 [-9.45547869e-01  3.25468852e-01  3.04191913e-03]
 [-2.57345238e-03  1.86986040e-03 -9.99994940e-01]]

 t_estimated:
[[0.83299633]
 [0.55327715]
 [0.00123224]]

 R_gt:
[[ 0.99324489 -0.10732393 -0.04413268]
 [ 0.1089638   0.99337285  0.03656871]
 [ 0.03991549 -0.04113129  0.99835618]]

 t_gt:
[ 0.95478057 -0.15022398  0.25656736]

Pose Error in degrees for R and t:
179.40199340691473 44.55891379621546

Number of keypoints:
Image1: 397
Image2: 397

 R_estimated:
[[ 9.08180113e-01  4.18578997e-01  7.10880681e-04]
 [-4.18579034e-01  9.08180368e-01 -1.02598849e-04]
 [-6.88553602e-04 -2.04381514e-04  9.99999742e-01]]

 t_estimated:
[[0.09271114]
 [0.99569224]
 [0.00127002]]

 R_gt:
[[ 0.98731094 -0.12044936 -0.10348511]
 [ 0.12874006  0.98864227  0.07754117]
 [ 0.09296918 -0.08988031  0.99160374]]

 t_gt:
[ 0.92769864 -0.16253169  0.33609327]

Pose Error in degrees for R and t:
32.77040941755073 85.6759838482072

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 9.99999863e-01 -5.14122471e-04 -1.00759098e-04]
 [ 5.14126996e-04  9.99999867e-01  4.48860088e-05]
 [ 1.00736008e-04 -4.49378056e-05  9.99999994e-01]]

 t_estimated:
[[-9.88069464e-01]
 [ 1.54007999e-01]
 [-5.20390440e-04]]

 R_gt:
[[ 0.98320957  0.18183789 -0.01533652]
 [-0.1822157   0.98284443 -0.02855036]
 [ 0.0098818   0.03086643  0.99947419]]

 t_gt:
[-0.79318077  0.5881022  -0.15811409]

Pose Error in degrees for R and t:
10.682238065842169 29.029211247286888

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 5.46668941e-01 -8.37347930e-01 -1.23001735e-03]
 [ 8.37348421e-01  5.46669540e-01 -1.89422095e-04]
 [ 8.31025216e-04 -9.26401906e-04  9.99999226e-01]]

 t_estimated:
[[-0.04529348]
 [-0.99897293]
 [-0.00125815]]

 R_gt:
[[ 9.58779134e-01  2.84152179e-01  3.77986762e-04]
 [-2.84031071e-01  9.58408713e-01 -2.79284908e-02]
 [-8.29815069e-03  2.66698013e-02  9.99609159e-01]]

 t_gt:
[-0.78194901  0.61972542 -0.06705327]

Pose Error in degrees for R and t:
73.38489440470613 54.29674361909119

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[-0.78504745 -0.6194296  -0.00273445]
 [-0.61943443  0.78502959  0.00543359]
 [-0.0012191   0.00595944 -0.9999815 ]]

 t_estimated:
[[0.93776069]
 [0.34728061]
 [0.00103051]]

 R_gt:
[[ 0.926194    0.37691085 -0.01017388]
 [-0.37681246  0.92623181  0.01036808]
 [ 0.01333214 -0.00576949  0.99989367]]

 t_gt:
[-0.76219012  0.64734013 -0.00411965]

Pose Error in degrees for R and t:
179.3926411665471 60.662868707162474

Number of keypoints:
Image1: 736
Image2: 736

 R_estimated:
[[ 9.99999999e-01  2.22964374e-05 -3.23002976e-05]
 [-2.22993894e-05  9.99999996e-01 -9.13923381e-05]
 [ 3.22982598e-05  9.13930583e-05  9.99999995e-01]]

 t_estimated:
[[0.61548134]
 [0.78815058]
 [0.00117917]]

 R_gt:
[[ 9.99657910e-01 -1.27336750e-03 -2.61289901e-02]
 [ 5.39952495e-04  9.99607015e-01 -2.80425090e-02]
 [ 2.61542657e-02  2.80191215e-02  9.99264541e-01]]

 t_gt:
[-0.69936252  0.16835615 -0.69465694]

Pose Error in degrees for R and t:
2.19222875253107 72.62804343030325

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.99999461e-01 -1.03058630e-03  1.24129916e-04]
 [ 1.03063146e-03  9.99999403e-01 -3.64284973e-04]
 [-1.23754414e-04  3.64412709e-04  9.99999926e-01]]

 t_estimated:
[[9.97235344e-01]
 [7.43038100e-02]
 [7.82145368e-04]]

 R_gt:
[[ 0.99610143 -0.08744208  0.01169895]
 [ 0.08805299  0.9936143  -0.07055779]
 [-0.00545524  0.0713128   0.99743838]]

 t_gt:
[-0.23156244 -0.32922159 -0.91541902]

Pose Error in degrees for R and t:
6.437987393958302 75.16118603412099

Number of keypoints:
Image1: 488
Image2: 488

 R_estimated:
[[ 9.98310895e-01  5.80977670e-02  7.83433436e-05]
 [-5.80977431e-02  9.98310861e-01 -2.79228150e-04]
 [-9.44335427e-05  2.74204933e-04  9.99999958e-01]]

 t_estimated:
[[ 9.77195270e-01]
 [-2.12342056e-01]
 [ 5.05804845e-04]]

 R_gt:
[[ 0.9913401  -0.13129353  0.00281026]
 [ 0.13096995  0.98687158 -0.09450566]
 [ 0.00963418  0.09405571  0.99551996]]

 t_gt:
[ 0.11417415 -0.3160412  -0.94185043]

Pose Error in degrees for R and t:
12.149339020199937 79.73489986627257

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[ 9.99947521e-01  1.02331974e-02  4.87272575e-04]
 [-1.02330239e-02  9.99947577e-01 -3.57240871e-04]
 [-4.90902747e-04  3.52235851e-04  9.99999817e-01]]

 t_estimated:
[[0.36055358]
 [0.93273644]
 [0.00195953]]

 R_gt:
[[ 0.98140636 -0.19167978  0.01005635]
 [ 0.19129234  0.98104633  0.03090234]
 [-0.01578912 -0.02840468  0.99947153]]

 t_gt:
[ 0.63288607 -0.74934538  0.19477353]

Pose Error in degrees for R and t:
11.777713281100764 61.94163540574901

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 9.79437257e-01 -2.01748988e-01  7.69807517e-05]
 [ 2.01749001e-01  9.79437230e-01 -2.28972888e-04]
 [-2.92027658e-05  2.39795367e-04  9.99999971e-01]]

 t_estimated:
[[ 6.68517906e-01]
 [-7.43695735e-01]
 [-6.79766886e-04]]

 R_gt:
[[ 0.94931663 -0.31343048  0.02364908]
 [ 0.31389034  0.94926599 -0.0191313 ]
 [-0.01645362  0.02558425  0.99953704]]

 t_gt:
[ 0.69791081 -0.71614845  0.00720414]

Pose Error in degrees for R and t:
6.866770956796371 2.3520520096349724

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-2.23960237e-01  9.74597856e-01  9.11442423e-04]
 [ 9.74595476e-01  2.23957249e-01  2.60950297e-03]
 [ 2.33909186e-03  1.47271257e-03 -9.99996180e-01]]

 t_estimated:
[[-0.62334363]
 [-0.78194585]
 [-0.00184421]]

 R_gt:
[[ 0.87411046 -0.48559666 -0.01134029]
 [ 0.4856653   0.87337714  0.03661201]
 [-0.00787464 -0.0375107   0.9992648 ]]

 t_gt:
[ 0.75261923 -0.65329848  0.08225201]

Pose Error in degrees for R and t:
178.53981980641473 87.61856351885935

Number of keypoints:
Image1: 589
Image2: 589

 R_estimated:
[[ 9.99814114e-01  1.92804672e-02 -3.80980504e-05]
 [-1.92804708e-02  9.99814110e-01 -9.65331021e-05]
 [ 3.62297650e-05  9.72497063e-05  9.99999995e-01]]

 t_estimated:
[[-8.11506181e-01]
 [-5.84343710e-01]
 [ 3.83082884e-04]]

 R_gt:
[[ 0.99984878  0.01603029  0.00678779]
 [-0.01592247  0.99974729 -0.01585375]
 [-0.00704054  0.01574252  0.99985045]]

 t_gt:
[-0.92543759  0.36277277 -0.10936719]

Pose Error in degrees for R and t:
1.0032182180237055 57.38628432386831

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99999721e-01 -7.45845810e-04  4.71526595e-05]
 [ 7.45859283e-04  9.99999681e-01 -2.86365182e-04]
 [-4.69390602e-05  2.86400271e-04  9.99999958e-01]]

 t_estimated:
[[9.99554712e-01]
 [2.98297158e-02]
 [7.51840803e-04]]

 R_gt:
[[ 0.99957672 -0.02467941 -0.01544387]
 [ 0.02417997  0.9992057  -0.03167893]
 [ 0.0162135   0.0312926   0.99937899]]

 t_gt:
[-0.86150369  0.07116597 -0.50273929]

Pose Error in degrees for R and t:
2.4217245350725505 30.753498232273056

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99712902e-01  2.39603280e-02  1.26835675e-04]
 [-2.39603003e-02  9.99712888e-01 -2.15631651e-04]
 [-1.31965864e-04  2.12530723e-04  9.99999969e-01]]

 t_estimated:
[[ 0.96399556]
 [-0.26591609]
 [ 0.00109518]]

 R_gt:
[[ 0.9941479  -0.10520526  0.02455982]
 [ 0.10701966  0.99010168 -0.09080088]
 [-0.01476312  0.09289768  0.99556587]]

 t_gt:
[-0.44325669 -0.22193211 -0.86848699]

Pose Error in degrees for R and t:
9.212067036184973 68.33165862434262

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.99999675e-01 -8.01658797e-04 -8.88360852e-05]
 [ 8.01664110e-04  9.99999677e-01  5.97930343e-05]
 [ 8.87881229e-05 -5.98642315e-05  9.99999994e-01]]

 t_estimated:
[[-9.90570504e-01]
 [ 1.37001996e-01]
 [-7.28162373e-04]]

 R_gt:
[[ 0.99583895  0.09099149  0.00521488]
 [-0.09089075  0.99571412 -0.01714764]
 [-0.00675223  0.01660195  0.99983853]]

 t_gt:
[-0.69309688  0.7146925  -0.09397523]

Pose Error in degrees for R and t:
5.3639182999344 38.32147135506148

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999141e-01 -1.27262774e-03 -3.12252962e-04]
 [ 1.27291665e-03  9.99998760e-01  9.26777843e-04]
 [ 3.11073131e-04 -9.27174519e-04  9.99999522e-01]]

 t_estimated:
[[0.42391441]
 [0.9057011 ]
 [0.00144681]]

 R_gt:
[[ 0.97564889  0.2191727  -0.00858222]
 [-0.21932846  0.97525522 -0.02780288]
 [ 0.00227629  0.02900803  0.99957653]]

 t_gt:
[-0.72619363  0.68062686 -0.09690143]

Pose Error in degrees for R and t:
12.855222830990579 72.03353118446842

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 0.60444472 -0.79663297 -0.00474238]
 [ 0.79664454  0.60444712  0.00107317]
 [ 0.0020116  -0.00442666  0.99998818]]

 t_estimated:
[[-0.33257065]
 [-0.94307535]
 [-0.0023755 ]]

 R_gt:
[[ 0.93018036  0.36709659  0.00229447]
 [-0.36652414  0.92904336 -0.05038375]
 [-0.02062828  0.04602438  0.99872658]]

 t_gt:
[-0.72198925  0.68799137 -0.07348054]

Pose Error in degrees for R and t:
74.401949897045 65.8868022545454

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 9.99946620e-01  1.03322708e-02 -4.59483268e-05]
 [-1.03322673e-02  9.99946618e-01  7.49999294e-05]
 [ 4.67207936e-05 -7.45211755e-05  9.99999996e-01]]

 t_estimated:
[[-9.80088718e-01]
 [ 1.98559710e-01]
 [-3.83637697e-04]]

 R_gt:
[[ 0.99584306  0.09106657  0.00229682]
 [-0.0910223   0.99573642 -0.01498385]
 [-0.00365185  0.01471161  0.99988529]]

 t_gt:
[-0.69712886  0.71044756 -0.09631003]

Pose Error in degrees for R and t:
4.713068341512068 34.47721802463793

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999675e-01 -7.91364180e-04 -1.56328596e-04]
 [ 7.91377841e-04  9.99999683e-01  8.73468833e-05]
 [ 1.56259424e-04 -8.74705698e-05  9.99999984e-01]]

 t_estimated:
[[-9.99975610e-01]
 [-6.93970573e-03]
 [-7.86750263e-04]]

 R_gt:
[[ 0.97251582  0.2324924  -0.01275121]
 [-0.2327748   0.97208727 -0.02937321]
 [ 0.00556572  0.0315335   0.99948733]]

 t_gt:
[-0.72924267  0.67550279 -0.10909217]

Pose Error in degrees for R and t:
13.624694689080275 43.56251132829662

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.99967826e-01 -8.00004527e-03 -5.89011943e-04]
 [ 7.99997104e-03  9.99967991e-01 -1.28262586e-04]
 [ 5.90019196e-04  1.23546381e-04  9.99999818e-01]]

 t_estimated:
[[0.00833304]
 [0.99996474]
 [0.00104163]]

 R_gt:
[[ 0.92982159  0.36800836  0.00120177]
 [-0.36756318  0.92884613 -0.04628392]
 [-0.01814986  0.04259327  0.99892749]]

 t_gt:
[-0.72378129  0.68652119 -0.06949317]

Pose Error in degrees for R and t:
22.20686652107238 47.125615341784446

Number of keypoints:
Image1: 435
Image2: 435

 R_estimated:
[[ 9.99999380e-01 -1.04775600e-03  3.76801110e-04]
 [ 1.04778722e-03  9.99999448e-01 -8.26621148e-05]
 [-3.76714292e-04  8.30568710e-05  9.99999926e-01]]

 t_estimated:
[[-0.26656091]
 [-0.96379385]
 [ 0.0068334 ]]

 R_gt:
[[ 0.99979309  0.01740946  0.01060678]
 [-0.01723149  0.99971342 -0.01667099]
 [-0.01089453  0.01648454  0.99980466]]

 t_gt:
[-0.91750377  0.39469464 -0.04902017]

Pose Error in degrees for R and t:
1.5326651213520186 82.17380000422851

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99999033e-01 -1.38834643e-03  7.64187204e-05]
 [ 1.38836269e-03  9.99999014e-01 -2.13031737e-04]
 [-7.61228832e-05  2.13137628e-04  9.99999974e-01]]

 t_estimated:
[[ 0.98411557]
 [-0.17752018]
 [ 0.00176943]]

 R_gt:
[[ 0.99983913 -0.01032847 -0.0147173 ]
 [ 0.0098606   0.99945521 -0.03152082]
 [ 0.01503455  0.03137134  0.99939447]]

 t_gt:
[-0.89568827  0.17832666 -0.40735995]

Pose Error in degrees for R and t:
2.0451840505825847 23.958736155232177

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.81297485e-01  1.92494760e-01 -1.00667158e-03]
 [-1.92494666e-01  9.81298001e-01  1.90315416e-04]
 [ 1.02447953e-03  7.02287128e-06  9.99999475e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99481347 -0.09782895  0.02786368]
 [ 0.09999273  0.99077805 -0.09143686]
 [-0.018661    0.09374845  0.99542171]]

 t_gt:
[-0.56898938 -0.16592008 -0.80543257]

Pose Error in degrees for R and t:
17.661216824387456 56.234924137053085

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.93001179e-01 -1.18103842e-01  3.74770353e-04]
 [ 1.18103867e-01  9.93001246e-01 -4.59231140e-05]
 [-3.66723732e-04  8.98635344e-05  9.99999929e-01]]

 t_estimated:
[[0.89458579]
 [0.44689472]
 [0.00116924]]

 R_gt:
[[ 0.98460632 -0.17452764 -0.00956657]
 [ 0.1746788   0.98445749  0.01820094]
 [ 0.00624128 -0.01959147  0.99978838]]

 t_gt:
[ 0.64699608 -0.75811211  0.08162172]

Pose Error in degrees for R and t:
3.4832476464122464 76.10799189727905

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[-4.44565142e-01  8.95746123e-01  8.46952915e-04]
 [-8.95745573e-01 -4.44563094e-01 -1.87716117e-03]
 [-1.30493583e-03 -1.59317475e-03  9.99997879e-01]]

 t_estimated:
[[0.27870231]
 [0.96037678]
 [0.0012065 ]]

 R_gt:
[[ 0.94966891 -0.31260406  0.02019548]
 [ 0.31298494  0.94955269 -0.01975649]
 [-0.01300091  0.02508204  0.9996009 ]]

 t_gt:
[ 0.70018976 -0.71394335 -0.0043805 ]

Pose Error in degrees for R and t:
134.63052359082735 60.6255367040103

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.97802189  0.12529359 -0.16665742]
 [-0.05083911  0.91848546  0.39217324]
 [ 0.20220921 -0.3750813   0.9046687 ]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.87660331 -0.48059653 -0.02439119]
 [ 0.48104981  0.87650203  0.01829497]
 [ 0.01258593 -0.02777135  0.9995351 ]]

 t_gt:
[ 0.75915833 -0.64981375  0.03769241]

Pose Error in degrees for R and t:
41.141714348941306 79.0212051522346

Number of keypoints:
Image1: 675
Image2: 675

 R_estimated:
[[ 0.70858029 -0.70070377  0.08323573]
 [-0.70156624 -0.68693909  0.18952437]
 [-0.07562256 -0.19268862 -0.97834162]]

 t_estimated:
[[0.38550607]
 [0.91669742]
 [0.10512332]]

 R_gt:
[[ 0.99976123  0.00197767 -0.02179303]
 [-0.00265938  0.99950736 -0.03124949]
 [ 0.02172019  0.03130049  0.99927359]]

 t_gt:
[-0.71528569  0.22482821 -0.66167867]

Pose Error in degrees for R and t:
170.18907130134974 81.99813106589491

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[-2.91918126e-02 -9.99573687e-01 -5.31928432e-04]
 [-9.99573554e-01  2.91921949e-02 -7.25631190e-04]
 [ 7.40850002e-04  5.10519103e-04 -9.99999595e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99662695 -0.08116605  0.01216189]
 [ 0.08180001  0.99439712 -0.06694374]
 [-0.00666086  0.06771333  0.99768232]]

 t_gt:
[-0.34701865 -0.32614291 -0.87932295]

Pose Error in degrees for R and t:
177.6434277129675 61.724689821669074

Number of keypoints:
Image1: 445
Image2: 445

 R_estimated:
[[ 9.97232581e-01  7.43449517e-02  8.32589388e-05]
 [-7.43449252e-02  9.97232546e-01 -2.86049221e-04]
 [-1.04294839e-04  2.79067723e-04  9.99999956e-01]]

 t_estimated:
[[ 9.78001131e-01]
 [-2.08598849e-01]
 [ 5.55526731e-04]]

 R_gt:
[[ 0.99127276 -0.13175295  0.0045232 ]
 [ 0.13156275  0.98650103 -0.09750187]
 [ 0.00838369  0.097247    0.99522458]]

 t_gt:
[ 0.08778729 -0.31334289 -0.9455737 ]

Pose Error in degrees for R and t:
13.093504025928606 81.33286768046322

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.99387433e-01 -3.49959361e-02 -2.07406212e-04]
 [ 3.49959964e-02  9.99387409e-01  2.94974807e-04]
 [ 1.96956238e-04 -3.02052502e-04  9.99999935e-01]]

 t_estimated:
[[-9.84398543e-01]
 [ 1.75952985e-01]
 [-2.35365407e-04]]

 R_gt:
[[ 0.98180043  0.18942919 -0.0136201 ]
 [-0.1897875   0.98125654 -0.03343021]
 [ 0.0070328   0.03540641  0.99934832]]

 t_gt:
[-0.79307435  0.58652544 -0.16438062]

Pose Error in degrees for R and t:
13.104629894747417 27.878540700603452

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99575946e-01 -2.91183720e-02 -2.20736200e-04]
 [ 2.91184062e-02  9.99575958e-01  1.53027680e-04]
 [ 2.16186681e-04 -1.59390274e-04  9.99999964e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.59821496e-01  2.80610266e-01  8.11020141e-04]
 [-2.80500240e-01  9.59519010e-01 -2.53498377e-02]
 [-7.89226414e-03  2.41035178e-02  9.99678770e-01]]

 t_gt:
[-0.78336042  0.61862308 -0.0604313 ]

Pose Error in degrees for R and t:
18.02371086573139 38.603251911543694

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 6.05687489e-01 -7.95699123e-01 -2.36025161e-03]
 [ 7.95701379e-01  6.05689124e-01  2.78178585e-05]
 [ 1.40744408e-03 -1.89490439e-03  9.99997214e-01]]

 t_estimated:
[[0.95541133]
 [0.29527061]
 [0.00210908]]

 R_gt:
[[ 0.92475475  0.38047958 -0.00800142]
 [-0.38041771  0.92477839  0.00828503]
 [ 0.01055245 -0.00461801  0.99993409]]

 t_gt:
[-0.76272753  0.64670504 -0.00439435]

Pose Error in degrees for R and t:
75.08509237492557 57.467711701528195

Number of keypoints:
Image1: 444
Image2: 444

 R_estimated:
[[ 9.98325566e-01  5.78451721e-02 -1.02651337e-07]
 [-5.78451719e-02  9.98325563e-01 -8.15732211e-05]
 [-4.61613756e-06  8.14425700e-05  9.99999997e-01]]

 t_estimated:
[[-1.12434122e-01]
 [ 9.93659170e-01]
 [-1.45158306e-04]]

 R_gt:
[[ 0.9969434   0.00680075  0.07783854]
 [-0.00519551  0.99977024 -0.02081003]
 [-0.07796289  0.0203429   0.99674899]]

 t_gt:
[-0.70587865  0.06378421  0.70545511]

Pose Error in degrees for R and t:
5.492672393094302 81.79923175095625

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 1.66718521e-01  9.86003948e-01 -1.07225766e-03]
 [-9.86004033e-01  1.66717246e-01 -1.18581160e-03]
 [-9.90451074e-04  1.25494713e-03  9.99998722e-01]]

 t_estimated:
[[5.20615590e-01]
 [8.53791033e-01]
 [5.28064693e-04]]

 R_gt:
[[ 0.99539288 -0.02912636  0.09135831]
 [ 0.03002694  0.99951345 -0.00850817]
 [-0.09106598  0.01121265  0.99578198]]

 t_gt:
[-0.55202573 -0.34775276  0.75784933]

Pose Error in degrees for R and t:
82.23969505193928 54.27459734203241

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-0.94638158  0.32302274  0.00426872]
 [ 0.32303146  0.946387    0.00152291]
 [-0.00354793  0.00282019 -0.99998973]]

 t_estimated:
[[0.99814179]
 [0.06090463]
 [0.00189391]]

 R_gt:
[[ 0.98486502 -0.15258172  0.08221896]
 [ 0.152898    0.98823876  0.0024641 ]
 [-0.08162858  0.01014416  0.9966114 ]]

 t_gt:
[ 0.19017763 -0.88088615  0.43344211]

Pose Error in degrees for R and t:
175.0785538616294 82.12599793477155

Number of keypoints:
Image1: 880
Image2: 880

 R_estimated:
[[ 9.99917819e-01 -1.28200718e-02  1.33797270e-05]
 [ 1.28200722e-02  9.99917819e-01 -2.50943702e-05]
 [-1.30569158e-05  2.52638370e-05  1.00000000e+00]]

 t_estimated:
[[8.85925589e-01]
 [4.63826934e-01]
 [6.53015396e-04]]

 R_gt:
[[ 0.9997612  -0.01666304 -0.01412288]
 [ 0.01701483  0.99953888  0.02514864]
 [ 0.01369784 -0.02538306  0.99958463]]

 t_gt:
[ 0.28148995 -0.09983414  0.95435662]

Pose Error in degrees for R and t:
1.6699951686594368 78.24679057172541

Number of keypoints:
Image1: 493
Image2: 493

 R_estimated:
[[-0.82791343 -0.56085126 -0.00228515]
 [ 0.56085496 -0.82791266 -0.00153107]
 [-0.0010332  -0.00254923  0.99999622]]

 t_estimated:
[[0.83300908]
 [0.55325791]
 [0.00124889]]

 R_gt:
[[ 0.99354466 -0.10662321 -0.03872992]
 [ 0.10800622  0.99351488  0.03555365]
 [ 0.03468846 -0.03950693  0.99861688]]

 t_gt:
[ 0.94332187 -0.18563323  0.27510752]

Pose Error in degrees for R and t:
139.73049256015562 46.88725181564723

Number of keypoints:
Image1: 357
Image2: 357

 R_estimated:
[[ 2.92125936e-01  9.56379137e-01  1.17639081e-03]
 [-9.56379122e-01  2.92127018e-01 -8.83411365e-04]
 [-1.18853174e-03 -8.67008243e-04  9.99998918e-01]]

 t_estimated:
[[0.15520615]
 [0.98788145]
 [0.00113289]]

 R_gt:
[[ 0.98714458 -0.12359185 -0.1013434 ]
 [ 0.13116217  0.98876008  0.07176419]
 [ 0.09133505 -0.08413312  0.99225953]]

 t_gt:
[ 0.93620824 -0.18197617  0.30066393]

Pose Error in degrees for R and t:
80.63017033588773 88.0444022447337

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.99532036 -0.09659774 -0.00250329]
 [-0.09658703 -0.99531612  0.00409476]
 [-0.00288711 -0.00383382 -0.99998848]]

 t_estimated:
[[0.2149749 ]
 [0.97660026]
 [0.00614214]]

 R_gt:
[[ 0.996755   -0.0696162   0.04041443]
 [ 0.06411429  0.9901677   0.12431981]
 [-0.04867148 -0.12132527  0.99141842]]

 t_gt:
[ 0.38208322 -0.39446913  0.8357072 ]

Pose Error in degrees for R and t:
172.59073024122966 72.66444322975126

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.9791884   0.20107745 -0.02753077]
 [-0.20149457 -0.97939941  0.01329447]
 [-0.0242904   0.0185651   0.99953255]]

 t_estimated:
[[0.79738347]
 [0.60347233]
 [0.00086956]]

 R_gt:
[[ 0.9798154  -0.16537912  0.11230877]
 [ 0.12584823  0.94678741  0.29623624]
 [-0.15532435 -0.27612203  0.94848881]]

 t_gt:
[ 0.37550249 -0.28039913  0.88338791]

Pose Error in degrees for R and t:
177.30026986430045 82.4740904964439

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 4.10858456e-01  9.11699003e-01  5.07728839e-04]
 [-9.11696441e-01  4.10858530e-01 -2.20631635e-03]
 [-2.22010114e-03  4.43589154e-04  9.99997437e-01]]

 t_estimated:
[[-9.81925786e-01]
 [ 1.89266254e-01]
 [-1.88821922e-04]]

 R_gt:
[[ 0.97193771 -0.18210516  0.14891896]
 [ 0.1273207   0.93952806  0.31792341]
 [-0.19780864 -0.29004043  0.93634848]]

 t_gt:
[ 0.38217871 -0.22286066  0.89681245]

Pose Error in degrees for R and t:
77.31241104818709 65.31555149852353

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.99953637e-01 -9.62928377e-03 -3.73329973e-05]
 [ 9.62928341e-03  9.99953637e-01 -9.75357254e-06]
 [ 3.74251863e-05  9.39363032e-06  9.99999999e-01]]

 t_estimated:
[[-9.43721530e-01]
 [-3.30740603e-01]
 [ 5.71732720e-04]]

 R_gt:
[[ 0.99632933  0.08524552 -0.00775268]
 [-0.08494991  0.99584853  0.03267991]
 [ 0.01050729 -0.03190226  0.99943504]]

 t_gt:
[-0.81195545  0.52198044  0.26127528]

Pose Error in degrees for R and t:
5.765791325354992 53.57506712551896

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99947809e-01 -1.02159275e-02 -1.18231271e-04]
 [ 1.02159435e-02  9.99947807e-01  1.36131285e-04]
 [ 1.16834393e-04 -1.37332024e-04  9.99999984e-01]]

 t_estimated:
[[-9.87021179e-01]
 [-1.60589942e-01]
 [-2.50243025e-04]]

 R_gt:
[[ 0.97574776  0.21888243  0.00249125]
 [-0.2188148   0.97501358  0.03832091]
 [ 0.0059585  -0.03793706  0.99926185]]

 t_gt:
[-0.81590744  0.56488542  0.12328632]

Pose Error in degrees for R and t:
13.411252108850485 44.39185372420442

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.02252133e-01  4.31208797e-01 -2.49263395e-04]
 [-4.31208851e-01  9.02252111e-01 -2.34353549e-04]
 [ 1.23843113e-04  3.18930571e-04  9.99999941e-01]]

 t_estimated:
[[-0.86850364]
 [ 0.49568181]
 [-0.00098886]]

 R_gt:
[[ 0.95988111  0.27873447  0.03057648]
 [-0.27906908  0.96024407  0.00720352]
 [-0.02735222 -0.01544757  0.99950649]]

 t_gt:
[-0.76891439  0.63630679  0.06232441]

Pose Error in degrees for R and t:
9.520038788616494 10.533241573429017

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 9.99413773e-01 -3.42353451e-02 -2.28851901e-04]
 [ 3.42354347e-02  9.99413716e-01  3.99858408e-04]
 [ 2.15028439e-04 -4.07458845e-04  9.99999894e-01]]

 t_estimated:
[[9.48909794e-01]
 [3.15546558e-01]
 [7.56706375e-04]]

 R_gt:
[[ 0.99994394 -0.00533498 -0.00920286]
 [ 0.0051532   0.99979322 -0.01969561]
 [ 0.00930612  0.01964724  0.99976427]]

 t_gt:
[ 0.31392335  0.51920383 -0.7949085 ]

Pose Error in degrees for R and t:
2.084723174092192 62.540828987469105

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.96547040e-01  8.30271801e-02  6.96174847e-04]
 [-8.30261980e-02  9.96546467e-01 -1.33753959e-03]
 [-8.04822724e-04  1.27512036e-03  9.99998863e-01]]

 t_estimated:
[[-0.9407297 ]
 [-0.33915377]
 [-0.00153463]]

 R_gt:
[[ 0.99864401 -0.05171055 -0.00609193]
 [ 0.05184281  0.99836712  0.02397116]
 [ 0.00484244 -0.02425439  0.99969391]]

 t_gt:
[ 0.86495349 -0.43573321  0.24898197]

Pose Error in degrees for R and t:
7.874952403843663 48.21871196981992

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-8.76077486e-01 -4.82169462e-01 -9.21594444e-04]
 [-4.82170342e-01  8.76075863e-01  1.68603431e-03]
 [-5.56760876e-06  1.92146221e-03 -9.99998154e-01]]

 t_estimated:
[[ 9.97908099e-01]
 [-6.46484828e-02]
 [-1.53122790e-05]]

 R_gt:
[[ 0.98211741 -0.17467041  0.07026614]
 [ 0.15801633  0.96763177  0.19677307]
 [-0.10236208 -0.18215095  0.97792798]]

 t_gt:
[ 0.53350567 -0.39917806  0.74567323]

Pose Error in degrees for R and t:
172.4520932930169 56.06966542739577

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[-0.80928187  0.58711342  0.01899166]
 [ 0.58713723  0.80947268 -0.00488419]
 [-0.0182408   0.00719802 -0.99980771]]

 t_estimated:
[[ 0.96641728]
 [-0.2568066 ]
 [ 0.00938156]]

 R_gt:
[[ 0.99003506 -0.1406289   0.00732799]
 [ 0.14080975  0.98924357 -0.03960806]
 [-0.00167913  0.04024505  0.99918881]]

 t_gt:
[ 0.84664371 -0.48260199 -0.22425375]

Pose Error in degrees for R and t:
177.92295919438632 19.94128134830749

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.87986244e-01  1.54541630e-01  2.57321584e-04]
 [-1.54541673e-01  9.87986258e-01  1.56196263e-04]
 [-2.30091364e-04 -1.94086667e-04  9.99999955e-01]]

 t_estimated:
[[-0.45973007]
 [-0.88805782]
 [-0.00125609]]

 R_gt:
[[ 0.97224259 -0.23098736  0.03727789]
 [ 0.23294647  0.9705312  -0.06168221]
 [-0.02193241  0.0686537   0.99740027]]

 t_gt:
[ 0.85415652 -0.47879165 -0.20291672]

Pose Error in degrees for R and t:
22.696108552114662 88.12218958498785

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.69310616  0.72079392  0.00774427]
 [ 0.72080632  0.69313479 -0.00155488]
 [-0.00648858  0.00450442 -0.9999688 ]]

 t_estimated:
[[ 0.9612028 ]
 [-0.27582209]
 [ 0.00336966]]

 R_gt:
[[ 0.94540122 -0.32030276  0.06018589]
 [ 0.32528571  0.93877759 -0.11351782]
 [-0.02014063  0.1268971   0.99171196]]

 t_gt:
[ 0.8694801  -0.40217724 -0.28680626]

Pose Error in degrees for R and t:
174.65522938963596 18.966348181054926

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.87493440e-01  1.57659873e-01  2.64033142e-04]
 [-1.57659846e-01  9.87493473e-01 -1.19985448e-04]
 [-2.79647895e-04  7.68574188e-05  9.99999958e-01]]

 t_estimated:
[[0.41920723]
 [0.90788981]
 [0.00117755]]

 R_gt:
[[ 0.99706775 -0.07553227  0.01227437]
 [ 0.07532781  0.99702437  0.016335  ]
 [-0.01347174 -0.01536227  0.99979108]]

 t_gt:
[ 0.38645595 -0.88502692  0.25957495]

Pose Error in degrees for R and t:
13.447942268705889 50.11893002265602

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.98524140e-01 -5.43081911e-02  4.03741443e-04]
 [ 5.43082970e-02  9.98524183e-01 -2.56049619e-04]
 [-3.89240003e-04  2.77598236e-04  9.99999886e-01]]

 t_estimated:
[[-0.1016603 ]
 [-0.99481863]
 [-0.00103735]]

 R_gt:
[[ 0.97416916 -0.22575231  0.00555691]
 [ 0.22572152  0.97417566  0.00556307]
 [-0.00666923 -0.00416432  0.9999693 ]]

 t_gt:
[ 0.64637121 -0.76245203  0.02951549]

Pose Error in degrees for R and t:
9.943076204151897 46.15096823169316

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 7.58322732e-01  6.51879193e-01  3.88380129e-04]
 [-6.51879269e-01  7.58322760e-01  1.02058834e-04]
 [-2.27987461e-04 -3.30570488e-04  9.99999919e-01]]

 t_estimated:
[[7.85707349e-01]
 [6.18597950e-01]
 [7.32935960e-04]]

 R_gt:
[[ 0.94043686 -0.33918014 -0.02313533]
 [ 0.3394478   0.9405845   0.00870811]
 [ 0.01880699 -0.01604234  0.99969464]]

 t_gt:
[ 0.72970142 -0.68332224 -0.02462822]

Pose Error in degrees for R and t:
60.53691803759081 81.33760669874239

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99998979e-01  1.40793067e-03  2.43224743e-04]
 [-1.40791603e-03  9.99999007e-01 -6.03841250e-05]
 [-2.43309518e-04  6.00416233e-05  9.99999969e-01]]

 t_estimated:
[[ 0.98219366]
 [-0.18781041]
 [-0.00478108]]

 R_gt:
[[ 0.99960057 -0.00461158 -0.02788194]
 [ 0.00473072  0.99998023  0.00422511]
 [ 0.02786115 -0.00435557  0.99960181]]

 t_gt:
[ 0.28075133 -0.95689184 -0.07440901]

Pose Error in degrees for R and t:
1.6672200633088858 62.88215250045789

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99998280e-01 -1.68950446e-03  7.65477552e-04]
 [ 1.68950718e-03  9.99998573e-01 -2.91333767e-06]
 [-7.65471538e-04  4.20661249e-06  9.99999707e-01]]

 t_estimated:
[[-0.48500478]
 [-0.87451084]
 [-0.00107302]]

 R_gt:
[[ 0.99290994 -0.09453857 -0.07205257]
 [ 0.09155107  0.99484162 -0.04369993]
 [ 0.07581144  0.0367942   0.99644284]]

 t_gt:
[ 0.65477884 -0.65941679 -0.36936997]

Pose Error in degrees for R and t:
7.162628280545567 74.96004261248832

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.32043762 -0.94721339  0.01032133]
 [-0.94725022  0.3203423  -0.00989108]
 [ 0.00606261 -0.01294636 -0.99989781]]

 t_estimated:
[[0.90075573]
 [0.43429294]
 [0.00536164]]

 R_gt:
[[ 0.97088909 -0.22886398 -0.07068306]
 [ 0.22299622  0.97135594 -0.08210746]
 [ 0.08744966  0.06395497  0.99411376]]

 t_gt:
[ 0.79003462 -0.54047486 -0.28936522]

Pose Error in degrees for R and t:
173.88510790763505 61.617707895267124

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 7.61522368e-01 -6.48138488e-01 -4.27257092e-04]
 [ 6.48138463e-01  7.61521535e-01  1.21868432e-03]
 [-4.64510734e-04 -1.20497712e-03  9.99999166e-01]]

 t_estimated:
[[0.99970305]
 [0.02428428]
 [0.00202369]]

 R_gt:
[[ 0.99854766  0.04869389 -0.0230984 ]
 [-0.0480938   0.99850782  0.02586294]
 [ 0.02432399 -0.02471348  0.99939883]]

 t_gt:
[-0.60559519  0.78495765  0.13075146]

Pose Error in degrees for R and t:
43.217140250477094 54.12006659954777

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.45738917  0.88926189  0.00290313]
 [ 0.88926252 -0.45739455  0.00154948]
 [ 0.00270577  0.00187292 -0.99999459]]

 t_estimated:
[[-0.9999095 ]
 [-0.01340661]
 [-0.00111722]]

 R_gt:
[[ 0.99183398  0.0884013  -0.09193315]
 [-0.08902755  0.99602523 -0.00271758]
 [ 0.09132847  0.01088015  0.99576131]]

 t_gt:
[-0.41162554  0.75304389 -0.5133121 ]

Pose Error in degrees for R and t:
177.5953627144227 66.29260174749275

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 6.00409799e-01 -7.99690798e-01 -1.64332744e-03]
 [ 7.99691884e-01  6.00410601e-01  6.21124475e-06]
 [ 9.81704138e-04 -1.31788491e-03  9.99998650e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 9.81500310e-01  8.74984367e-02 -1.70302590e-01]
 [-8.87488812e-02  9.96053891e-01  2.72825364e-04]
 [ 1.69654448e-01  1.48463787e-02  9.85391671e-01]]

 t_gt:
[-0.17363847  0.60748574 -0.77511983]

Pose Error in degrees for R and t:
58.92840730830336 84.39025211596174

Number of keypoints:
Image1: 513
Image2: 513

 R_estimated:
[[ 9.99429635e-01 -3.37698472e-02  4.90293932e-05]
 [ 3.37698462e-02  9.99429636e-01  2.07567915e-05]
 [-4.97023822e-05 -1.90892375e-05  9.99999999e-01]]

 t_estimated:
[[9.87287262e-01]
 [1.58945155e-01]
 [5.48234906e-04]]

 R_gt:
[[ 0.99525608 -0.09368472 -0.02623718]
 [ 0.09422995  0.99534105  0.02041477]
 [ 0.02420245 -0.02278963  0.99944666]]

 t_gt:
[ 0.97018796 -0.19904225  0.13826609]

Pose Error in degrees for R and t:
3.948519961131241 22.135824751951475

Number of keypoints:
Image1: 429
Image2: 429

 R_estimated:
[[ 9.28197873e-01 -3.72086145e-01  7.80019003e-04]
 [-3.72086509e-01 -9.28197976e-01  3.84209481e-04]
 [ 5.81053034e-04 -6.46856971e-04 -9.99999622e-01]]

 t_estimated:
[[0.16366162]
 [0.98651588]
 [0.00113654]]

 R_gt:
[[ 0.98944998 -0.1178808  -0.08422878]
 [ 0.12227565  0.99128186  0.04907269]
 [ 0.07770963 -0.05885297  0.9952378 ]]

 t_gt:
[ 0.96651575 -0.18736815  0.17532964]

Pose Error in degrees for R and t:
177.8081959991045 88.48372792182246

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[-2.28601341e-01  9.73515259e-01  3.07687244e-03]
 [ 9.73519747e-01  2.28597338e-01  1.60003211e-03]
 [ 8.54290831e-04  3.36116556e-03 -9.99993986e-01]]

 t_estimated:
[[-0.87980754]
 [-0.47532459]
 [-0.00228521]]

 R_gt:
[[ 0.98409425 -0.10117956 -0.14601849]
 [ 0.11432819  0.98983063  0.08464704]
 [ 0.1359694  -0.09999429  0.98565361]]

 t_gt:
[ 0.96103194 -0.17389339  0.21489228]

Pose Error in degrees for R and t:
170.41394336194148 40.23882974707768

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999907e-01  4.27072869e-04 -5.34459943e-05]
 [-4.27065313e-04  9.99999899e-01  1.41324593e-04]
 [ 5.35063448e-05 -1.41301755e-04  9.99999989e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99793419  0.00676319 -0.06389289]
 [-0.00561501  0.99982011  0.01811817]
 [ 0.0640043  -0.0177205   0.99779271]]

 t_gt:
[ 0.60936776  0.14539532 -0.77944283]

Pose Error in degrees for R and t:
3.8167927959321415 52.46750559757792

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-1.29571253e-02 -9.99914821e-01 -1.56951353e-03]
 [ 9.99916045e-01 -1.29573109e-02  1.08129400e-04]
 [-1.28456865e-04 -1.56798072e-03  9.99998762e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075623e-03]
 [7.75189837e-04]]

 R_gt:
[[ 0.99508359  0.04811706 -0.08657449]
 [-0.04631583  0.99866937  0.02269084]
 [ 0.08755117 -0.01856805  0.995987  ]]

 t_gt:
[ 0.17753244  0.63682022 -0.75029477]

Pose Error in degrees for R and t:
93.55796011703734 79.69287638017201

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99999992e-01  1.25752443e-04 -1.70744930e-05]
 [-1.25753351e-04  9.99999991e-01 -5.31682310e-05]
 [ 1.70678068e-05  5.31703777e-05  9.99999998e-01]]

 t_estimated:
[[-0.55010399]
 [-0.83509528]
 [-0.00121518]]

 R_gt:
[[ 0.99839694  0.03459349  0.0447961 ]
 [-0.03535775  0.99924027  0.01639413]
 [-0.0441954  -0.01795152  0.99886183]]

 t_gt:
[-0.20346393  0.54562315  0.81295622]

Pose Error in degrees for R and t:
3.3879896026645935 69.83597384201023

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[ 5.47498936e-01 -8.36797365e-01 -3.88391171e-03]
 [ 8.36804745e-01  5.47501141e-01  5.65220190e-04]
 [ 1.65347132e-03 -3.55953320e-03  9.99992298e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.99284281 -0.11790352  0.01899239]
 [ 0.1184841   0.99240489 -0.03305449]
 [-0.01495162  0.03506771  0.99927285]]

 t_gt:
[ 0.83039134 -0.52914065 -0.17452907]

Pose Error in degrees for R and t:
50.06800865114743 58.331841587016854

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.67267687e-01  2.53757378e-01  6.44507113e-04]
 [-2.53757125e-01  9.67267863e-01 -4.49707605e-04]
 [-7.37527641e-04  2.71439363e-04  9.99999691e-01]]

 t_estimated:
[[0.78957187]
 [0.61365669]
 [0.00131201]]

 R_gt:
[[ 0.97166254 -0.23610024  0.01128703]
 [ 0.23607452  0.96695599 -0.09624737]
 [ 0.01180991  0.09618529  0.99529319]]

 t_gt:
[ 0.86398288 -0.38756822 -0.32144122]

Pose Error in degrees for R and t:
28.91320133146892 63.645673592695566

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.23769496e-01 -3.82948883e-01 -2.67307321e-04]
 [ 3.82948634e-01  9.23769378e-01 -6.93532464e-04]
 [ 5.12517800e-04  5.38299161e-04  9.99999724e-01]]

 t_estimated:
[[ 0.49185973]
 [-0.87067126]
 [-0.00235772]]

 R_gt:
[[ 0.9328129  -0.36028223  0.007523  ]
 [ 0.3597825   0.92993034 -0.07605942]
 [ 0.02040671  0.0736562   0.9970748 ]]

 t_gt:
[ 0.89687171 -0.40587236 -0.17575199]

Pose Error in degrees for R and t:
4.560257347364735 37.35127547763558

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99733454e-01  2.30872481e-02  2.94974204e-06]
 [-2.30872481e-02  9.99733454e-01  1.79579826e-05]
 [-2.53435540e-06 -1.80212974e-05  1.00000000e+00]]

 t_estimated:
[[7.44856235e-01]
 [6.67224619e-01]
 [7.04705515e-04]]

 R_gt:
[[ 0.99962539  0.0068472   0.02650252]
 [-0.00582022  0.99923767 -0.03860108]
 [-0.02674649  0.03843209  0.99890274]]

 t_gt:
[-0.52614729 -0.43355394 -0.73157365]

Pose Error in degrees for R and t:
2.8511701834037715 47.02356560935856

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.08702502  0.99618926 -0.00579667]
 [ 0.99617079  0.08706948  0.00791643]
 [ 0.00839098 -0.00508555 -0.99995186]]

 t_estimated:
[[-0.04968917]
 [-0.99875237]
 [-0.00496892]]

 R_gt:
[[ 0.99723353  0.0490165   0.05589901]
 [-0.04359122  0.99457592 -0.09444681]
 [-0.06022411  0.09174764  0.99395893]]

 t_gt:
[-0.78702593  0.4845482  -0.38184188]

Pose Error in degrees for R and t:
174.48328163458956 63.70840612550999

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.96757930e-01 -8.04588327e-02 -6.85010398e-05]
 [ 8.04588391e-02  9.96757928e-01  9.53673686e-05]
 [ 6.06058073e-05 -1.00569695e-04  9.99999993e-01]]

 t_estimated:
[[8.21325046e-01]
 [5.70460074e-01]
 [6.87301294e-04]]

 R_gt:
[[ 0.99303307  0.05951441  0.10171231]
 [-0.0497337   0.99412624 -0.09612581]
 [-0.10683473  0.09039651  0.99015848]]

 t_gt:
[-0.81390012  0.4331186   0.38726591]

Pose Error in degrees for R and t:
11.178847538932834 65.09382831130536

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-0.27536369  0.96114898  0.01916955]
 [ 0.96116953  0.27563573 -0.01334469]
 [-0.01811005  0.01475054 -0.99972719]]

 t_estimated:
[[ 0.8023487 ]
 [-0.59673934]
 [ 0.01177803]]

 R_gt:
[[ 0.99390029 -0.1091544   0.01575882]
 [ 0.10993026  0.99199722 -0.06209302]
 [-0.00885597  0.06344629  0.99794644]]

 t_gt:
[ 0.80882895 -0.43189418 -0.39907787]

Pose Error in degrees for R and t:
175.92890095048568 25.579010023169655

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 8.67507014e-01  4.97424946e-01  6.32254104e-05]
 [-4.97424857e-01  8.67506767e-01  7.21273099e-04]
 [ 3.03930761e-04 -6.57159363e-04  9.99999738e-01]]

 t_estimated:
[[7.61688506e-01]
 [6.47943023e-01]
 [6.77056450e-04]]

 R_gt:
[[ 0.97166374 -0.23610243 -0.01121549]
 [ 0.23474366  0.96945068 -0.07113906]
 [ 0.02766837  0.06649053  0.99740406]]

 t_gt:
[ 0.86582718 -0.4288169  -0.25779711]

Pose Error in degrees for R and t:
43.65429577128894 67.57540903590191

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-9.07100840e-01 -4.20913366e-01  7.10584343e-05]
 [-4.20903472e-01  9.07080649e-01  6.70546631e-03]
 [-2.88687612e-03  6.05262538e-03 -9.99977516e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.93322404 -0.3592187  -0.00742179]
 [ 0.35881661  0.93284698 -0.03236537]
 [ 0.01854977  0.02754073  0.99944908]]

 t_gt:
[ 0.88739456 -0.45719216 -0.05921336]

Pose Error in degrees for R and t:
179.03970453703278 27.634248486045614

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.95879714 -0.28266069  0.02847778]
 [-0.28215245  0.95914842  0.02059846]
 [-0.03313679  0.01171466 -0.99938217]]

 t_estimated:
[[0.99676576]
 [0.07974126]
 [0.00996766]]

 R_gt:
[[ 0.99653204 -0.08155861 -0.01652106]
 [ 0.08207115  0.99607468  0.03319335]
 [ 0.01374918 -0.0344341   0.99931217]]

 t_gt:
[ 0.69347508 -0.70431547  0.15176307]

Pose Error in degrees for R and t:
178.7608376798206 50.46258760053936

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-9.33433818e-01 -3.58681042e-01  7.01557328e-03]
 [-3.58675662e-01  9.33459989e-01  2.05380366e-03]
 [-7.28541739e-03 -5.99225595e-04 -9.99973281e-01]]

 t_estimated:
[[0.98501207]
 [0.17243982]
 [0.00396629]]

 R_gt:
[[ 9.94219466e-01 -1.06046149e-01  1.68087224e-02]
 [ 1.06026258e-01  9.94361519e-01  2.05949888e-03]
 [-1.69326953e-02 -2.65778376e-04  9.99856452e-01]]

 t_gt:
[ 0.67611272 -0.72941668  0.10403313]

Pose Error in degrees for R and t:
178.6174136424109 57.27473549408059

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.91783581e-01  1.27926925e-01  1.71893271e-04]
 [-1.27926933e-01  9.91783595e-01  3.37284227e-05]
 [-1.66166153e-04 -5.54410749e-05  9.99999985e-01]]

 t_estimated:
[[0.71536514]
 [0.69875021]
 [0.00092305]]

 R_gt:
[[ 0.99738569 -0.06962819  0.01934218]
 [ 0.07033544  0.99677296 -0.03870968]
 [-0.01658503  0.03996862  0.99906298]]

 t_gt:
[ 0.60346114 -0.78606318 -0.13393778]

Pose Error in degrees for R and t:
11.630772245000474 83.24117385873062

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.39709305 -0.91776153 -0.00555797]
 [-0.9177454   0.39702019  0.01087886]
 [-0.00777758  0.00942072 -0.99992538]]

 t_estimated:
[[0.81984225]
 [0.57258824]
 [0.00118303]]

 R_gt:
[[ 0.99808165 -0.01188634 -0.06076269]
 [ 0.01203673  0.99992525  0.0021111 ]
 [ 0.06073299 -0.00283805  0.99814965]]

 t_gt:
[ 0.74338344 -0.05950214 -0.66621359]

Pose Error in degrees for R and t:
177.2472621417905 54.92846087797424

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 7.60877875e-01 -6.48894439e-01 -9.30442726e-04]
 [ 6.48895037e-01  7.60877674e-01  6.29607563e-04]
 [ 2.99404250e-04 -1.08281413e-03  9.99999369e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075866e-03]
 [7.75189838e-04]]

 R_gt:
[[ 9.93818979e-01  1.53540887e-03 -1.11004003e-01]
 [ 7.75891865e-04  9.99783766e-01  2.07686430e-02]
 [ 1.11011539e-01 -2.07271628e-02  9.93603187e-01]]

 t_gt:
[ 0.70467144  0.0683223  -0.70623666]

Pose Error in degrees for R and t:
40.9672125017232 45.224378977782294

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99998132e-01  1.92510567e-03 -1.70731195e-04]
 [-1.92501001e-03  9.99997991e-01  5.58721157e-04]
 [ 1.71806449e-04 -5.58391455e-04  9.99999829e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075937e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.9935861   0.04762193 -0.10256208]
 [-0.04602828  0.99878133  0.01784194]
 [ 0.10328759 -0.01300674  0.99456622]]

 t_gt:
[ 0.34486552  0.54498662 -0.76423645]

Pose Error in degrees for R and t:
6.495273548698287 69.75951800536829

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.99999987e-01 -1.49862353e-04  5.27750472e-05]
 [ 1.49862612e-04  9.99999989e-01 -4.90422754e-06]
 [-5.27743116e-05  4.91213648e-06  9.99999999e-01]]

 t_estimated:
[[9.55048625e-01]
 [2.96448957e-01]
 [3.74443107e-04]]

 R_gt:
[[ 0.99660658 -0.0726622  -0.0386631 ]
 [ 0.07285594  0.99733575  0.0036345 ]
 [ 0.03829541 -0.00643952  0.99924558]]

 t_gt:
[ 0.98351159 -0.13952908 -0.11505037]

Pose Error in degrees for R and t:
4.7241288121773 26.117252572070925

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.98499138e-01 -5.47635685e-02 -6.50999322e-04]
 [ 5.47642753e-02  9.98498680e-01  1.12265014e-03]
 [ 5.88541636e-04 -1.15661670e-03  9.99999158e-01]]

 t_estimated:
[[0.91865819]
 [0.3950464 ]
 [0.00233755]]

 R_gt:
[[ 0.99243561 -0.06863738 -0.10178443]
 [ 0.07494066  0.99541452  0.0594434 ]
 [ 0.09723764 -0.0666212   0.99302905]]

 t_gt:
[ 0.9592488  -0.20151429  0.19807508]

Pose Error in degrees for R and t:
6.777325413260078 36.671071374660904

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-2.78579145e-01 -9.60412850e-01  9.04260244e-04]
 [-9.60412060e-01  2.78580167e-01  1.32900841e-03]
 [-1.52830573e-03 -4.98228415e-04 -9.99998708e-01]]

 t_estimated:
[[0.83468659]
 [0.55072105]
 [0.00215125]]

 R_gt:
[[ 0.98653085 -0.05347925 -0.15458531]
 [ 0.06442873  0.99568984  0.0667124 ]
 [ 0.15035143 -0.07577326  0.98572468]]

 t_gt:
[ 0.98258785 -0.17014317  0.07464868]

Pose Error in degrees for R and t:
175.53494851958274 43.396881886174874

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 1.00000000e+00  1.33226763e-14 -2.07117852e-14]
 [-1.32116540e-14  1.00000000e+00 -2.09001653e-15]
 [ 2.07141162e-14  2.08822759e-15  1.00000000e+00]]

 t_estimated:
[[-8.67913960e-01]
 [-4.96714292e-01]
 [-5.19575620e-04]]

 R_gt:
[[ 9.88919395e-01  1.48423640e-01  2.94967902e-03]
 [-1.48451124e-01  9.88604382e-01  2.49770538e-02]
 [ 7.90967416e-04 -2.51377658e-02  9.99683852e-01]]

 t_gt:
[-0.59032413  0.80317129  0.08020785]

Pose Error in degrees for R and t:
8.658261415941933 83.49083069337041

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999925e-01 -3.87704480e-04  9.28520978e-06]
 [ 3.87704549e-04  9.99999925e-01 -7.39769857e-06]
 [-9.28234096e-06  7.40129793e-06  1.00000000e+00]]

 t_estimated:
[[-0.8445806 ]
 [-0.53542706]
 [-0.00121051]]

 R_gt:
[[ 0.9817903   0.1892439   0.01661158]
 [-0.18965139  0.98145463  0.0279106 ]
 [-0.01102175 -0.03055206  0.9994732 ]]

 t_gt:
[-0.56507155  0.81278703  0.14167348]

Pose Error in degrees for R and t:
11.102145373816606 87.59924581586043

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999987e-01  1.63309503e-04 -1.24033185e-06]
 [-1.63309502e-04  9.99999987e-01  9.33434765e-07]
 [ 1.24048428e-06 -9.33232195e-07  1.00000000e+00]]

 t_estimated:
[[-0.93767111]
 [-0.34752133]
 [-0.00134982]]

 R_gt:
[[ 0.96598681  0.25698975 -0.02874308]
 [-0.25651487  0.96634906  0.01922572]
 [ 0.03271649 -0.01119838  0.99940232]]

 t_gt:
[-0.52946484  0.84798306 -0.02432511]

Pose Error in degrees for R and t:
15.00326791860851 78.35749822409615

Number of keypoints:
Image1: 413
Image2: 413

 R_estimated:
[[ 9.99899135e-01 -1.42021463e-02  1.35377095e-04]
 [ 1.42021697e-02  9.99899129e-01 -1.73167621e-04]
 [-1.32904087e-04  1.75072803e-04  9.99999976e-01]]

 t_estimated:
[[-0.44701216]
 [-0.89451419]
 [-0.004949  ]]

 R_gt:
[[ 0.99808238 -0.0612388   0.00895725]
 [ 0.06134423  0.99804377 -0.01204347]
 [-0.00820252  0.01257037  0.99988736]]

 t_gt:
[ 0.38400074 -0.92289761  0.02834487]

Pose Error in degrees for R and t:
2.8306841616667775 49.174932879143626

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.99425161e-01 -3.39013763e-02  2.12076434e-04]
 [ 3.39013132e-02  9.99425142e-01  2.94487594e-04]
 [-2.21938054e-04 -2.87128641e-04  9.99999934e-01]]

 t_estimated:
[[0.13701308]
 [0.99056751]
 [0.00185153]]

 R_gt:
[[ 0.9960695  -0.07212074  0.05141705]
 [ 0.07425557  0.99639973 -0.04089691]
 [-0.04828356  0.04455492  0.99783904]]

 t_gt:
[-0.26309139 -0.87869936  0.39833446]

Pose Error in degrees for R and t:
4.393848436155257 25.079505792610895

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.85871099e-01 -1.67505751e-01  1.27714094e-05]
 [ 1.67505732e-01  9.85871014e-01  4.16454519e-04]
 [-8.23494895e-05 -4.08431190e-04  9.99999913e-01]]

 t_estimated:
[[ 6.89252661e-01]
 [ 7.24521052e-01]
 [-1.20330743e-04]]

 R_gt:
[[ 0.99164256 -0.07064204  0.10795612]
 [ 0.07519455  0.99641756 -0.03869441]
 [-0.10483659  0.04648882  0.99340203]]

 t_gt:
[-0.5180431  -0.49240556  0.69940554]

Pose Error in degrees for R and t:
8.549372577365629 44.44647294485813

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-4.15947968e-01  9.09388279e-01  4.96456167e-04]
 [-9.09387016e-01 -4.15946308e-01 -1.98087281e-03]
 [-1.59488340e-03 -1.27541081e-03  9.99997915e-01]]

 t_estimated:
[[0.05823431]
 [0.9983024 ]
 [0.0010399 ]]

 R_gt:
[[ 0.99043478 -0.13564451 -0.0252816 ]
 [ 0.13499058  0.99050522 -0.02602304]
 [ 0.02857185  0.022362    0.99934166]]

 t_gt:
[ 0.82733177 -0.51960675 -0.21337988]

Pose Error in degrees for R and t:
122.37016219068899 61.915874276481894

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99999685e-01  7.89411142e-04 -8.65216025e-05]
 [-7.89405738e-04  9.99999686e-01  6.24809240e-05]
 [ 8.65708985e-05 -6.24126036e-05  9.99999994e-01]]

 t_estimated:
[[ 0.41098343]
 [-0.9116405 ]
 [-0.0020532 ]]

 R_gt:
[[ 0.96354028 -0.26701751 -0.01705485]
 [ 0.26578005  0.96252043 -0.05399121]
 [ 0.03083206  0.04748981  0.99839641]]

 t_gt:
[ 0.87154207 -0.45280594 -0.18809893]

Pose Error in degrees for R and t:
15.842268634337136 39.52276514890314

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-9.58424979e-01  2.85260061e-01  6.94666650e-03]
 [ 2.85255763e-01  9.58450059e-01 -1.62284751e-03]
 [-7.12096649e-03  4.26199062e-04 -9.99974555e-01]]

 t_estimated:
[[ 0.95153362]
 [-0.30749884]
 [ 0.00531426]]

 R_gt:
[[ 0.93999766 -0.34054603  0.02080361]
 [ 0.34112377  0.93697172 -0.07562513]
 [ 0.00626211  0.07818462  0.99691948]]

 t_gt:
[ 0.87456183 -0.44203765 -0.19935976]

Pose Error in degrees for R and t:
178.5408174061526 14.750976664322218

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99766661e-01  2.16014469e-02  1.81681575e-05]
 [-2.16014459e-02  9.99766660e-01 -5.36162022e-05]
 [-1.93221057e-05  5.32112330e-05  9.99999998e-01]]

 t_estimated:
[[-9.81468650e-01]
 [-1.91620878e-01]
 [-8.53656658e-04]]

 R_gt:
[[ 0.99927534  0.03800444 -0.00234927]
 [-0.03801227  0.99926992 -0.00372266]
 [ 0.00220564  0.00380958  0.9999897 ]]

 t_gt:
[-0.42144833  0.88474075 -0.19903545]

Pose Error in degrees for R and t:
0.9740201076432367 75.8611003747519

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.95517962e-01 -9.45720822e-02 -3.29048537e-04]
 [ 9.45723259e-02  9.95517650e-01  8.27086041e-04]
 [ 2.49354377e-04 -8.54497895e-04  9.99999604e-01]]

 t_estimated:
[[-7.64055429e-01]
 [-6.45150160e-01]
 [-7.56831878e-04]]

 R_gt:
[[ 0.99903049  0.04010266 -0.0181252 ]
 [-0.04000535  0.99918319  0.00567695]
 [ 0.01833761 -0.00494633  0.99981967]]

 t_gt:
[-0.27843978  0.93681051 -0.21179555]

Pose Error in degrees for R and t:
7.794856427174036 66.95339615664876

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.86818379  0.49299182  0.05670959]
 [ 0.49307504  0.86988218 -0.01349058]
 [-0.0559814   0.01624978 -0.99829957]]

 t_estimated:
[[ 0.95298171]
 [-0.30144197]
 [ 0.03096115]]

 R_gt:
[[ 0.9995569  -0.02833977  0.0091489 ]
 [ 0.02830501  0.99959187  0.00395538]
 [-0.00925776 -0.0036943   0.99995022]]

 t_gt:
[0.79544147 0.59439322 0.1181929 ]

Pose Error in degrees for R and t:
176.2043085092302 54.3716305898483

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.8856047  -0.46414653  0.01650198]
 [ 0.45522444 -0.86044171  0.22893398]
 [-0.09205992  0.21025711  0.97330207]]

 t_estimated:
[[8.49639926e-01]
 [5.27362713e-01]
 [7.51228909e-04]]

 R_gt:
[[ 0.99383921  0.10189263  0.04361215]
 [-0.10045485  0.99436227 -0.03394743]
 [-0.04682588  0.02935702  0.99847152]]

 t_gt:
[-0.55810415  0.8237      0.10019014]

Pose Error in degrees for R and t:
157.93498688048726 87.72340456639529

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.08055731 -0.99674567 -0.00293093]
 [-0.99673886  0.08056996 -0.0044866 ]
 [ 0.00470814  0.00255994 -0.99998564]]

 t_estimated:
[[ 0.690713  ]
 [ 0.72312851]
 [-0.0008417 ]]

 R_gt:
[[ 9.71069112e-01  2.35864947e-01  3.73157918e-02]
 [-2.35694129e-01  9.71785910e-01 -8.95798401e-03]
 [-3.83769791e-02 -9.58717290e-05  9.99262640e-01]]

 t_gt:
[-0.52086761  0.84876681  0.09105949]

Pose Error in degrees for R and t:
178.85440505519935 75.29035299596973

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999970e-01 -2.23040557e-04 -1.01421521e-04]
 [ 2.23034975e-04  9.99999974e-01 -5.50484480e-05]
 [ 1.01433796e-04  5.50258258e-05  9.99999993e-01]]

 t_estimated:
[[-0.92763181]
 [-0.37349287]
 [-0.00151647]]

 R_gt:
[[ 0.95551549  0.29070672  0.04980243]
 [-0.29015749  0.9568085  -0.01807403]
 [-0.05290633  0.00281985  0.99859544]]

 t_gt:
[-0.50348583  0.85818964  0.10006275]

Pose Error in degrees for R and t:
17.17830384720859 81.58337820660292

Number of keypoints:
Image1: 353
Image2: 353

 R_estimated:
[[ 9.93697722e-01 -1.12092984e-01  1.15975164e-05]
 [ 1.12092984e-01  9.93697693e-01 -2.39372952e-04]
 [ 1.53076031e-05  2.39164357e-04  9.99999971e-01]]

 t_estimated:
[[ 0.6889116 ]
 [-0.72484253]
 [-0.00202876]]

 R_gt:
[[ 0.99774373 -0.06468877  0.01793573]
 [ 0.06488549  0.99783672 -0.0105793 ]
 [-0.01721233  0.01171995  0.99978269]]

 t_gt:
[ 0.44351699 -0.88758277  0.12445682]

Pose Error in degrees for R and t:
2.9686563144007403 18.44111682398412

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 9.44789166e-01  3.27678846e-01 -7.37019824e-05]
 [-3.27678853e-01  9.44789159e-01 -1.22466711e-04]
 [ 2.95030837e-05  1.39855802e-04  9.99999990e-01]]

 t_estimated:
[[0.85498927]
 [0.51864488]
 [0.0009115 ]]

 R_gt:
[[ 0.99410574 -0.10728071  0.01562925]
 [ 0.10751745  0.99408783 -0.01513052]
 [-0.01391281  0.0167228   0.99976377]]

 t_gt:
[ 0.44042853 -0.89776559  0.0062974 ]

Pose Error in degrees for R and t:
25.32410723323847 84.89080680388298

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99142648e-01  4.13975455e-02  4.59774597e-04]
 [-4.13975813e-02  9.99142750e-01  6.86874437e-05]
 [-4.56536964e-04 -8.76621107e-05  9.99999892e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.78917695e-01 -1.97749899e-01  5.11394814e-02]
 [ 1.97468403e-01  9.80252820e-01  1.05467130e-02]
 [-5.22148908e-02 -2.24989461e-04  9.98635926e-01]]

 t_gt:
[ 0.44753103 -0.85199442  0.27170108]

Pose Error in degrees for R and t:
14.091798487308091 81.34312805734345

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99995591e-01 -2.96934979e-03  9.29277265e-06]
 [ 2.96934812e-03  9.99995576e-01  1.74623308e-04]
 [-9.81124922e-06 -1.74594945e-04  9.99999985e-01]]

 t_estimated:
[[0.70830815]
 [0.70590133]
 [0.0016926 ]]

 R_gt:
[[ 0.99993535 -0.0083827  -0.00762126]
 [ 0.00845098  0.99992376  0.00898747]
 [ 0.00754594 -0.00905145  0.99993044]]

 t_gt:
[0.64998608 0.72366295 0.23201299]

Pose Error in degrees for R and t:
0.7388882121475283 13.683377807728828

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.67050840e-01  2.54583233e-01  2.25389920e-04]
 [-2.54583283e-01  9.67050825e-01  2.33587154e-04]
 [-1.58496135e-04 -2.83271159e-04  9.99999947e-01]]

 t_estimated:
[[4.25243264e-01]
 [9.05078734e-01]
 [8.06914576e-04]]

 R_gt:
[[ 9.96851906e-01 -7.92045825e-02  3.61402169e-03]
 [ 7.92011618e-02  9.96857796e-01  1.01778256e-03]
 [-3.68378244e-03 -7.28386265e-04  9.99992409e-01]]

 t_gt:
[ 0.92572249 -0.36987008  0.07895572]

Pose Error in degrees for R and t:
19.29276363936397 86.61991366106957

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 3.25125541e-01  9.45670728e-01  5.06076453e-04]
 [-9.45670088e-01  3.25125913e-01 -1.10685555e-03]
 [-1.21125947e-03 -1.18714354e-04  9.99999259e-01]]

 t_estimated:
[[0.59588482]
 [0.80306939]
 [0.00091675]]

 R_gt:
[[ 0.98238939 -0.18635633  0.01348864]
 [ 0.18621333  0.98244625  0.0111638 ]
 [-0.01533174 -0.00845492  0.99984717]]

 t_gt:
[ 0.88607714 -0.44920644  0.11437162]

Pose Error in degrees for R and t:
81.76835990882837 80.36559265333531

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99792593e-01 -2.03571593e-02  5.97012636e-04]
 [ 2.03566573e-02  9.99792433e-01  8.35161995e-04]
 [-6.13890242e-04 -8.22835596e-04  9.99999473e-01]]

 t_estimated:
[[0.048045  ]
 [0.99884298]
 [0.00209322]]

 R_gt:
[[ 0.99164351  0.07238411 -0.1067873 ]
 [-0.08592494  0.98801864 -0.12819999]
 [ 0.09622788  0.13630366  0.98598203]]

 t_gt:
[-0.14588854  0.60720153 -0.78103959]

Pose Error in degrees for R and t:
11.235655526030513 53.283581277637275

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99969036e-01 -7.86311869e-03  3.13923273e-04]
 [ 7.86302156e-03  9.99969038e-01  3.09431998e-04]
 [-3.16346654e-04 -3.06954031e-04  9.99999903e-01]]

 t_estimated:
[[-2.21039006e-01]
 [ 9.75264525e-01]
 [ 9.29815090e-04]]

 R_gt:
[[ 0.97582317  0.14531228 -0.16325607]
 [-0.17473833  0.96738301 -0.18340028]
 [ 0.13128071  0.20749294  0.96938653]]

 t_gt:
[-0.18673699  0.70404682 -0.68516229]

Pose Error in degrees for R and t:
17.272904609954697 43.3419045014946

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 7.95638035e-01 -6.05771609e-01  9.36075448e-04]
 [ 6.05771991e-01  7.95638276e-01 -1.69185827e-04]
 [-6.42289485e-04  7.01658968e-04  9.99999548e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.97215842  0.15941727 -0.17174035]
 [-0.1923625   0.96146661 -0.19641338]
 [ 0.13381001  0.22398128  0.96536288]]

 t_gt:
[-0.18813235  0.73324864 -0.65341614]

Pose Error in degrees for R and t:
49.80906410164124 70.43616252698864

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.91030961e-01  1.33631952e-01  3.68451146e-04]
 [-1.33631833e-01  9.91030990e-01 -3.31617488e-04]
 [-4.09461196e-04  2.79406396e-04  9.99999877e-01]]

 t_estimated:
[[0.35755829]
 [0.93389012]
 [0.00114884]]

 R_gt:
[[ 0.99810136 -0.0573807  -0.02239144]
 [ 0.05871434  0.99620092  0.0643248 ]
 [ 0.01861457 -0.06551808  0.99767692]]

 t_gt:
[ 0.48060642 -0.72569501  0.49232533]

Pose Error in degrees for R and t:
11.689117458562961 59.6481343890819

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-8.57772589e-01 -5.14015749e-01 -3.74112912e-03]
 [ 5.14022197e-01 -8.57776343e-01 -9.62366048e-04]
 [-2.71438076e-03 -2.74851463e-03  9.99992539e-01]]

 t_estimated:
[[0.99836566]
 [0.0571099 ]
 [0.00211518]]

 R_gt:
[[ 0.9978752  -0.06167807 -0.02101761]
 [ 0.06436704  0.98323179  0.17062703]
 [ 0.01014148 -0.1716179   0.98511136]]

 t_gt:
[ 0.29896494 -0.64009584  0.70774097]

Pose Error in degrees for R and t:
145.5424277345402 74.727057017818

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.91134905e-01 -1.32848646e-01 -1.68421693e-03]
 [ 1.32848693e-01  9.91136326e-01 -8.45028322e-05]
 [ 1.68051466e-03 -1.39992310e-04  9.99998578e-01]]

 t_estimated:
[[ 0.40684528]
 [ 0.91348991]
 [-0.00361947]]

 R_gt:
[[ 0.98128847 -0.17958744 -0.06943749]
 [ 0.19074871  0.95585441  0.22351198]
 [ 0.026232   -0.23257653  0.97222442]]

 t_gt:
[ 0.5660862  -0.59579267  0.56971705]

Pose Error in degrees for R and t:
13.883924553600705 71.578615422902

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 5.08318705e-01 -8.61166356e-01 -2.14513031e-03]
 [ 8.61168889e-01  5.08318458e-01  6.99728660e-04]
 [ 4.87826549e-04 -2.20300465e-03  9.99997454e-01]]

 t_estimated:
[[-0.01189104]
 [-0.99992871]
 [-0.001081  ]]

 R_gt:
[[ 0.99918079 -0.04045269 -0.00106968]
 [ 0.04034064  0.99780189 -0.05255342]
 [ 0.00319238  0.05246687  0.99861773]]

 t_gt:
[ 0.66948384  0.57154776 -0.47447292]

Pose Error in degrees for R and t:
57.20919278369719 54.62292581325963

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-3.28792911e-01 -9.44400846e-01 -1.50456947e-03]
 [ 9.44401728e-01 -3.28793687e-01  2.94330569e-04]
 [-7.72658983e-04 -1.32414421e-03  9.99998825e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.92237091e-01 -1.23487707e-01  1.47091852e-02]
 [ 1.24359927e-01  9.84877509e-01 -1.20620871e-01]
 [ 4.08552504e-04  1.21513007e-01  9.92589462e-01]]

 t_gt:
[ 0.8297347   0.36405834 -0.4230861 ]

Pose Error in degrees for R and t:
102.22858934572689 33.84664090599253

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.68200166 -0.73133645  0.00455402]
 [-0.7313409  -0.68194725  0.00940448]
 [-0.00377224 -0.00974441 -0.99994541]]

 t_estimated:
[[0.35154115]
 [0.93615699]
 [0.00537788]]

 R_gt:
[[ 0.98738331 -0.14907597  0.05338996]
 [ 0.15654646  0.96971195 -0.18748818]
 [-0.0238239   0.19348092  0.98081411]]

 t_gt:
[ 0.74761449  0.48388211 -0.45489633]

Pose Error in degrees for R and t:
171.38523509363614 44.49100327598923

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.95823426e-01  9.12998741e-02  1.93088424e-04]
 [-9.12998484e-02  9.95823437e-01 -1.38136087e-04]
 [-2.04893786e-04  1.19930207e-04  9.99999972e-01]]

 t_estimated:
[[9.99996019e-01]
 [2.71338862e-03]
 [7.74335765e-04]]

 R_gt:
[[ 0.99130671 -0.13116046 -0.01035017]
 [ 0.13133773  0.99115954  0.01879125]
 [ 0.00779414 -0.01998693  0.99977021]]

 t_gt:
[ 0.76321745 -0.64361809  0.05705151]

Pose Error in degrees for R and t:
12.840902085391214 40.40230746907112

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99544525e-01  3.01703959e-02  7.00274191e-04]
 [-3.01698103e-02  9.99544441e-01 -8.32150979e-04]
 [-7.25061499e-04  8.10644815e-04  9.99999409e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97907514 -0.2006424  -0.03397333]
 [ 0.20195708  0.97853111  0.04110605]
 [ 0.02499629 -0.04710713  0.99857723]]

 t_gt:
[ 0.77450462 -0.62919676  0.06522288]

Pose Error in degrees for R and t:
13.708205813713741 39.412034214412834

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.98163439 -0.19074435  0.00324361]
 [ 0.19076268  0.98161231 -0.00684567]
 [-0.00187819  0.00733871  0.99997131]]

 t_estimated:
[[-0.06651719]
 [-0.99775791]
 [-0.0073908 ]]

 R_gt:
[[ 0.97005088 -0.24289382 -0.00194737]
 [ 0.24286901  0.96975634  0.02424559]
 [-0.0039999  -0.02399163  0.9997039 ]]

 t_gt:
[ 0.76935339 -0.63458285  0.07348448]

Pose Error in degrees for R and t:
3.553184218483777 54.44799038176065

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999909e-01  4.10405024e-04 -1.14510202e-04]
 [-4.10419291e-04  9.99999908e-01 -1.24597085e-04]
 [ 1.14459056e-04  1.24644071e-04  9.99999986e-01]]

 t_estimated:
[[-0.51221162]
 [-0.85885832]
 [-0.0012798 ]]

 R_gt:
[[ 0.99834309  0.05722017  0.00603927]
 [-0.05650856  0.99483699 -0.08430204]
 [-0.01083237  0.08382166  0.99642117]]

 t_gt:
[-0.19512595  0.80429738 -0.56127675]

Pose Error in degrees for R and t:
5.826772975570123 53.83494426308992

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99998786e-01  1.37216360e-03 -7.38320556e-04]
 [-1.37178919e-03  9.99998930e-01  5.07377816e-04]
 [ 7.39015971e-04 -5.06364380e-04  9.99999599e-01]]

 t_estimated:
[[-2.42946196e-01]
 [-9.70039612e-01]
 [-5.44209006e-04]]

 R_gt:
[[ 0.9981314   0.06073666 -0.00666164]
 [-0.06092711  0.98117056 -0.18328364]
 [-0.00459482  0.18334757  0.98303721]]

 t_gt:
[-0.11253107  0.65309484 -0.7488684 ]

Pose Error in degrees for R and t:
11.139542494787975 52.71491318776817

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-2.89305779e-01  9.57230403e-01  3.48153128e-03]
 [ 9.57236577e-01  2.89305907e-01  4.77895586e-04]
 [-5.49771379e-04  3.47090704e-03 -9.99993825e-01]]

 t_estimated:
[[0.99240833]
 [0.12296742]
 [0.00217257]]

 R_gt:
[[ 0.99897985 -0.0161229  -0.04218648]
 [ 0.00634414  0.9749413  -0.22236969]
 [ 0.04471435  0.22187555  0.97404928]]

 t_gt:
[ 0.13409962  0.34539293 -0.92882776]

Pose Error in degrees for R and t:
174.22964853997786 80.00654308879405

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999484e-01 -1.01568514e-03 -2.30410839e-06]
 [ 1.01568537e-03  9.99999479e-01  9.98215303e-05]
 [ 2.20271994e-06 -9.98238191e-05  9.99999995e-01]]

 t_estimated:
[[ 1.91535093e-01]
 [-9.81485409e-01]
 [ 8.37300908e-04]]

 R_gt:
[[ 0.99915187 -0.00849122 -0.04029455]
 [ 0.0045379   0.9952543  -0.09720716]
 [ 0.04092838  0.09694177  0.99444747]]

 t_gt:
[ 0.08410293  0.18277542 -0.97955084]

Pose Error in degrees for R and t:
6.0537939237778815 80.55487431741244

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 1.00000000e+00 -6.84909542e-06 -1.21384602e-06]
 [ 6.84909544e-06  1.00000000e+00  1.79071346e-08]
 [ 1.21384590e-06 -1.79154483e-08  1.00000000e+00]]

 t_estimated:
[[ 9.85624481e-01]
 [-1.68948992e-01]
 [ 7.88235474e-04]]

 R_gt:
[[ 0.98654822 -0.1584197  -0.04031264]
 [ 0.15420637  0.98373898 -0.09207258]
 [ 0.05424337  0.08461781  0.99493505]]

 t_gt:
[ 0.60430588 -0.55707086 -0.56963712]

Pose Error in degrees for R and t:
10.700169423225692 46.42636619138402

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.07151915  0.99741659  0.00671972]
 [ 0.99742669 -0.07148286 -0.00549461]
 [-0.00500008  0.0070954  -0.99996233]]

 t_estimated:
[[-0.99989697]
 [ 0.01392178]
 [-0.00349888]]

 R_gt:
[[ 0.95142872 -0.30723593  0.01969635]
 [ 0.30728552  0.94375917 -0.12204378]
 [ 0.01890731  0.12216815  0.99232858]]

 t_gt:
[ 0.69408817 -0.63992058 -0.32976244]

Pose Error in degrees for R and t:
174.29120396987287 45.430679861028956

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[-6.90293440e-01  7.23529514e-01 -9.16389243e-05]
 [-7.23529335e-01 -6.90293167e-01  8.02974378e-04]
 [ 5.17717939e-04  6.20591396e-04  9.99999673e-01]]

 t_estimated:
[[0.99972424]
 [0.02345032]
 [0.00123423]]

 R_gt:
[[ 0.99945114  0.01969336 -0.02666678]
 [-0.01984954  0.99978678 -0.00562711]
 [ 0.02655022  0.00615251  0.99962835]]

 t_gt:
[-0.07833899  0.83792943 -0.54012709]

Pose Error in degrees for R and t:
132.52433530728408 86.59839623345181

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-6.57207154e-01 -7.53707947e-01 -1.75686969e-03]
 [ 7.53709636e-01 -6.57202781e-01 -2.50802585e-03]
 [ 7.35699374e-04 -2.97246214e-03  9.99995312e-01]]

 t_estimated:
[[0.98289958]
 [0.18413815]
 [0.00124418]]

 R_gt:
[[ 0.99068453  0.07978131 -0.11036186]
 [-0.09150379  0.99019038 -0.10559283]
 [ 0.10085603  0.11470752  0.98826625]]

 t_gt:
[-0.13316194  0.68518403 -0.71609409]

Pose Error in degrees for R and t:
136.1572150332374 89.67872682148462

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.51234452e-01 -3.08468817e-01  7.82779119e-05]
 [ 3.08468816e-01  9.51234455e-01  2.42446050e-05]
 [-8.19393515e-05  1.08399126e-06  9.99999997e-01]]

 t_estimated:
[[-0.94088615]
 [-0.33871901]
 [-0.00163632]]

 R_gt:
[[ 0.97060922  0.13976016 -0.19592088]
 [-0.17560762  0.96796145 -0.17947915]
 [ 0.16456091  0.20860888  0.96405479]]

 t_gt:
[-0.11624889  0.70726702 -0.69732314]

Pose Error in degrees for R and t:
31.197378277672946 82.58548768704824

Number of keypoints:
Image1: 411
Image2: 411

 R_estimated:
[[ 9.99993166e-01 -3.69623199e-03  7.46878323e-05]
 [ 3.69623378e-03  9.99993169e-01 -2.38603303e-05]
 [-7.45991288e-05  2.41362309e-05  9.99999997e-01]]

 t_estimated:
[[6.76778868e-01]
 [7.36186213e-01]
 [4.72366416e-04]]

 R_gt:
[[ 0.99465876 -0.10318967 -0.00242685]
 [ 0.10287244  0.99297834 -0.05839961]
 [ 0.00843609  0.05783706  0.99828988]]

 t_gt:
[ 0.94027382  0.10240678 -0.32465056]

Pose Error in degrees for R and t:
6.61705106896159 44.63519848108303

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 0.32928555 -0.94420024  0.00754515]
 [-0.94420005 -0.3292004   0.0106476 ]
 [-0.0075696  -0.01063024 -0.99991485]]

 t_estimated:
[[0.53951827]
 [0.84194369]
 [0.00713187]]

 R_gt:
[[ 0.98879818 -0.14388629  0.03968596]
 [ 0.14777492  0.98112813 -0.12469877]
 [-0.0209943   0.12916673  0.99140011]]

 t_gt:
[ 0.87905503  0.28499044 -0.38215534]

Pose Error in degrees for R and t:
175.7967269351119 44.643996518563114

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.49426804e-01  3.13986563e-01  1.08741591e-03]
 [-3.13987369e-01  9.49426925e-01  6.68853517e-04]
 [-8.22410928e-04 -9.76462318e-04  9.99999185e-01]]

 t_estimated:
[[0.55593457]
 [0.83122499]
 [0.00132813]]

 R_gt:
[[ 0.98652414 -0.16285332  0.01574831]
 [ 0.16268731  0.96616131 -0.20016071]
 [ 0.01738191  0.20002601  0.97963602]]

 t_gt:
[ 0.76707887  0.44161019 -0.4653713 ]

Pose Error in degrees for R and t:
30.05870171437763 37.54217554832099

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99985362e-01 -5.41006908e-03  8.56337523e-05]
 [ 5.41005380e-03  9.99985350e-01  1.77657967e-04]
 [-8.65936396e-05 -1.77192083e-04  9.99999981e-01]]

 t_estimated:
[[9.85904022e-01]
 [1.67309871e-01]
 [8.16145714e-04]]

 R_gt:
[[ 0.99696798 -0.0772608   0.00920497]
 [ 0.07706151  0.99681696  0.02044608]
 [-0.01075569 -0.01967492  0.99974855]]

 t_gt:
[ 0.34397712 -0.88063544  0.32582351]

Pose Error in degrees for R and t:
4.308498906615309 78.92724372599233

Number of keypoints:
Image1: 637
Image2: 637

 R_estimated:
[[-7.32401037e-01  6.80872966e-01 -8.51397945e-04]
 [-6.80869850e-01 -7.32400634e-01 -2.35787567e-03]
 [-2.22897820e-03 -1.14721940e-03  9.99996858e-01]]

 t_estimated:
[[0.80853906]
 [0.58844181]
 [0.00090949]]

 R_gt:
[[ 0.98753355 -0.15395802  0.03278125]
 [ 0.15329131  0.98793687  0.02198166]
 [-0.03576982 -0.01668249  0.99922064]]

 t_gt:
[ 0.41009066 -0.84757756  0.33680547]

Pose Error in degrees for R and t:
145.9345670232351 80.39414876743935

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.65628222e-01 -2.59927003e-01  2.98887283e-04]
 [ 2.59927054e-01  9.65628244e-01 -1.44533006e-04]
 [-2.51045972e-04  2.17254040e-04  9.99999945e-01]]

 t_estimated:
[[-0.08893182]
 [-0.9960364 ]
 [-0.00161694]]

 R_gt:
[[ 9.81382644e-01 -1.85244939e-01  5.07205018e-02]
 [ 1.85480502e-01  9.82648163e-01  6.38701740e-05]
 [-4.98518630e-02  9.34526591e-03  9.98713555e-01]]

 t_gt:
[ 0.36867263 -0.87783088  0.30576696]

Pose Error in degrees for R and t:
5.244204072175244 32.74667814905754

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[-0.86478365 -0.50213186  0.00358275]
 [ 0.50207259 -0.86451671  0.02310759]
 [-0.00850571  0.02178187  0.99972656]]

 t_estimated:
[[0.91339161]
 [0.40707697]
 [0.00202526]]

 R_gt:
[[ 9.99277538e-01  3.35779461e-02 -1.78506230e-02]
 [-3.35674033e-02  9.99435240e-01  8.89035495e-04]
 [ 1.78706052e-02 -2.89157100e-04  9.99840610e-01]]

 t_gt:
[-0.3668337   0.88897091 -0.2741601 ]

Pose Error in degrees for R and t:
151.7956818290923 88.4951530201685

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99764284e-01 -2.17106006e-02  1.61476713e-04]
 [ 2.17105976e-02  9.99764297e-01  1.99248126e-05]
 [-1.61871232e-04 -1.64143600e-05  9.99999987e-01]]

 t_estimated:
[[ 0.98586907]
 [-0.16750463]
 [ 0.00209249]]

 R_gt:
[[ 0.99970219 -0.0217479  -0.0110913 ]
 [ 0.02187196  0.9996979   0.01118182]
 [ 0.01084518 -0.01142019  0.99987614]]

 t_gt:
[0.8521385  0.52292425 0.02025362]

Pose Error in degrees for R and t:
0.9080961265473227 41.18849702955074

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99859290e-01 -1.67748656e-02  7.08633294e-05]
 [ 1.67748490e-02  9.99859266e-01  2.29062367e-04]
 [-7.46958470e-05 -2.27841413e-04  9.99999971e-01]]

 t_estimated:
[[9.95603512e-01]
 [9.36670378e-02]
 [3.65446926e-04]]

 R_gt:
[[ 0.99511883 -0.09829324 -0.00879584]
 [ 0.09817318  0.99508096 -0.01318632]
 [ 0.01004881  0.01225853  0.9998748 ]]

 t_gt:
[ 0.95925323 -0.22994009 -0.16419745]

Pose Error in degrees for R and t:
4.766579152791964 21.02274865851426

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 7.46056709e-01 -6.65881188e-01 -1.27694758e-03]
 [ 6.65881457e-01  7.46057515e-01 -2.63849181e-04]
 [ 1.12836855e-03 -6.53449266e-04  9.99999150e-01]]

 t_estimated:
[[ 9.43096146e-01]
 [-3.32519816e-01]
 [-4.80738501e-04]]

 R_gt:
[[ 0.98291758  0.1708372  -0.06846737]
 [-0.16825841  0.98485438  0.04184833]
 [ 0.07458029 -0.02961275  0.9967747 ]]

 t_gt:
[-0.1880368   0.97025904 -0.15244527]

Pose Error in degrees for R and t:
51.712099973762015 60.00702232148698

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.70787815  0.70632789 -0.00307148]
 [ 0.70628988 -0.70777776  0.01432657]
 [ 0.00794533 -0.01231082 -0.99989265]]

 t_estimated:
[[7.12003594e-01]
 [7.02175668e-01]
 [4.62178678e-04]]

 R_gt:
[[ 0.94487805  0.31818506 -0.07722832]
 [-0.31643183  0.9479956   0.03429474]
 [ 0.08412457 -0.00796677  0.99642347]]

 t_gt:
[-0.14927884  0.97565498 -0.16066483]

Pose Error in degrees for R and t:
176.23467543116706 54.63944501162681

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.01932542 -0.99975394  0.01088978]
 [ 0.999791    0.0193965   0.00646004]
 [-0.00666967  0.01076267  0.99991984]]

 t_estimated:
[[ 0.99996845]
 [-0.00781008]
 [-0.00144729]]

 R_gt:
[[ 0.95068615  0.31013497 -0.00345163]
 [-0.30948994  0.94932079  0.05484757]
 [ 0.02028695 -0.05107461  0.99848887]]

 t_gt:
[-0.12911177  0.98600423  0.10547892]

Pose Error in degrees for R and t:
106.99742488426435 82.12796218402072

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.85379664e-01 -1.70372449e-01  3.83079001e-04]
 [ 1.70372592e-01  9.85379641e-01 -3.77389721e-04]
 [-3.13181437e-04  4.37138319e-04  9.99999855e-01]]

 t_estimated:
[[-0.82150041]
 [-0.57020718]
 [-0.00091379]]

 R_gt:
[[ 0.92029782 -0.3894378  -0.03726338]
 [ 0.38932455  0.92104042 -0.01056713]
 [ 0.03843575 -0.0047821   0.99924914]]

 t_gt:
[ 0.89627098 -0.44048277 -0.0517036 ]

Pose Error in degrees for R and t:
13.304510588991668 60.98272566374414

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.46961133e-01  3.21347581e-01 -5.87022546e-04]
 [-3.21346632e-01  9.46960730e-01  1.31088903e-03]
 [ 9.77138317e-04 -1.05272324e-03  9.99998968e-01]]

 t_estimated:
[[9.98888630e-01]
 [4.71253271e-02]
 [8.41523698e-04]]

 R_gt:
[[ 0.78658639 -0.61741369  0.00903763]
 [ 0.6167204   0.78626125  0.03809291]
 [-0.0306255  -0.02438962  0.99923239]]

 t_gt:
[ 0.93737116 -0.34403295  0.05455851]

Pose Error in degrees for R and t:
56.90315744985648 23.050128852743928

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.72368323  0.69007511  0.00888335]
 [ 0.69012687 -0.72356656 -0.01327922]
 [-0.00273596  0.01574058 -0.99987237]]

 t_estimated:
[[-0.92846543]
 [-0.37139148]
 [-0.00450654]]

 R_gt:
[[ 0.64947297 -0.76020943 -0.01629684]
 [ 0.76036759  0.64917055  0.02046819]
 [-0.00498095 -0.02568453  0.99965692]]

 t_gt:
[ 0.97004643 -0.24148822  0.02633175]

Pose Error in degrees for R and t:
179.40865391096503 35.797770573919756

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.99815506e-01  1.92081570e-02  9.74345287e-06]
 [-1.92081577e-02  9.99815504e-01  6.76956263e-05]
 [-8.44134702e-06 -6.78702906e-05  9.99999998e-01]]

 t_estimated:
[[8.80275533e-01]
 [4.74462410e-01]
 [6.37896775e-04]]

 R_gt:
[[ 0.99912183  0.03766734  0.01838369]
 [-0.0379314   0.99917949  0.01418916]
 [-0.01783442 -0.01487328  0.99973105]]

 t_gt:
[0.60399321 0.35440657 0.71385446]

Pose Error in degrees for R and t:
1.7015682581521778 45.549852676455316

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-8.33116125e-01  5.53097266e-01 -9.67352573e-04]
 [-5.53092659e-01 -8.33114404e-01 -2.98345217e-03]
 [-2.45605460e-03 -1.95052651e-03  9.99995082e-01]]

 t_estimated:
[[0.49594128]
 [0.86835515]
 [0.00125799]]

 R_gt:
[[ 0.99365078  0.11098145  0.01848227]
 [-0.11175734  0.99256314  0.04825078]
 [-0.01298997 -0.0500102   0.99866446]]

 t_gt:
[0.20710263 0.52753234 0.8239042 ]

Pose Error in degrees for R and t:
140.03715656718393 55.81736872528398

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99998931e-01  1.45822763e-03 -1.04163414e-04]
 [-1.45818646e-03  9.99998859e-01  3.94239773e-04]
 [ 1.04738187e-04 -3.94087462e-04  9.99999917e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98440241  0.16908968  0.0485947 ]
 [-0.17195042  0.98312894  0.06236864]
 [-0.03722986 -0.06975107  0.99686989]]

 t_gt:
[0.05193792 0.53468811 0.84345189]

Pose Error in degrees for R and t:
10.744068651809522 86.89021011927338

Number of keypoints:
Image1: 639
Image2: 639

 R_estimated:
[[-0.9382865   0.34258284  0.04749146]
 [ 0.34261218  0.93944475 -0.0077755 ]
 [-0.04727935  0.00897551 -0.99884138]]

 t_estimated:
[[ 0.9851414 ]
 [-0.1700262 ]
 [ 0.02423861]]

 R_gt:
[[ 0.99868752 -0.05078787 -0.00663439]
 [ 0.05075501  0.99869943 -0.00496625]
 [ 0.00687776  0.00462279  0.9999659 ]]

 t_gt:
[ 0.53637833 -0.82338517 -0.18529748]

Pose Error in degrees for R and t:
177.57527185669787 48.400920802910086

Number of keypoints:
Image1: 427
Image2: 427

 R_estimated:
[[ 8.12154289e-01  5.83440377e-01  1.65458714e-03]
 [-5.83439831e-01  8.12155926e-01 -8.45477123e-04]
 [-1.83706824e-03 -2.78694171e-04  9.99998274e-01]]

 t_estimated:
[[0.26935346]
 [0.96303706]
 [0.00288798]]

 R_gt:
[[ 0.9976536  -0.06833043  0.00435187]
 [ 0.06821346  0.99741121  0.022805  ]
 [-0.00589877 -0.02245497  0.99973047]]

 t_gt:
[ 0.36567619 -0.89798977  0.24473517]

Pose Error in degrees for R and t:
39.62946611392488 40.040091092268156

Number of keypoints:
Image1: 396
Image2: 396

 R_estimated:
[[ 0.62293968  0.782237   -0.00717193]
 [ 0.782221   -0.6227721   0.01688868]
 [ 0.00874447 -0.01613066 -0.99983165]]

 t_estimated:
[[0.97085196]
 [0.23967365]
 [0.00173677]]

 R_gt:
[[ 0.99415816 -0.10066441  0.03895051]
 [ 0.10026629  0.99488886  0.0120174 ]
 [-0.03996099 -0.00804122  0.99916868]]

 t_gt:
[ 0.1662204  -0.88625588  0.43234395]

Pose Error in degrees for R and t:
179.42155814545808 87.11761469699266

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[-9.98542544e-01 -5.39428560e-02 -1.71958154e-03]
 [ 5.39434025e-02 -9.98543957e-01 -2.72961139e-04]
 [-1.70235346e-03 -3.65323389e-04  9.99998484e-01]]

 t_estimated:
[[7.84353014e-01]
 [6.20314335e-01]
 [6.89238150e-04]]

 R_gt:
[[ 9.96216400e-01  8.69020762e-02 -8.30357304e-04]
 [-8.67527297e-02  9.94982068e-01  4.98459951e-02]
 [ 5.15843582e-03 -4.95852342e-02  9.98755627e-01]]

 t_gt:
[-0.34697136  0.50435382  0.79071999]

Pose Error in degrees for R and t:
178.11176473630528 87.63559914783771

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99967386e-01 -8.07633955e-03 -1.89356481e-06]
 [ 8.07633831e-03  9.99967037e-01  8.35622461e-04]
 [-4.85526834e-06 -8.35610501e-04  9.99999651e-01]]

 t_estimated:
[[-8.75206911e-01]
 [-4.83748701e-01]
 [-2.37630881e-04]]

 R_gt:
[[ 0.98530371  0.16917891  0.0235591 ]
 [-0.17034858  0.98339119  0.06264499]
 [-0.0125699  -0.06573784  0.99775724]]

 t_gt:
[-0.34478859  0.71630386  0.60665444]

Pose Error in degrees for R and t:
10.924971758637648 87.42690616076375

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.57090707e-01  2.89787051e-01 -9.19030800e-04]
 [-2.89786332e-01  9.57090997e-01  8.40150599e-04]
 [ 1.12306087e-03 -5.37777766e-04  9.99999225e-01]]

 t_estimated:
[[-8.00854448e-01]
 [-5.98858519e-01]
 [-7.92140898e-04]]

 R_gt:
[[ 0.9568677   0.2899904   0.01757104]
 [-0.29041633  0.95313768  0.08478273]
 [ 0.00783833 -0.0862286   0.99624363]]

 t_gt:
[-0.23921041  0.91152943  0.33450332]

Pose Error in degrees for R and t:
4.9316435876935545 69.23294258248805

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.98555813e-01  5.37233897e-02  2.91640980e-04]
 [-5.37234210e-02  9.98555849e-01  1.00479583e-04]
 [-2.85821702e-04 -1.16002422e-04  9.99999952e-01]]

 t_estimated:
[[-0.50893131]
 [ 0.86079697]
 [ 0.00418337]]

 R_gt:
[[ 0.98394541 -0.17747242  0.01885246]
 [ 0.17759381  0.9840914  -0.00492965]
 [-0.01767751  0.00819894  0.99981024]]

 t_gt:
[ 0.84441781 -0.53536918  0.0183958 ]

Pose Error in degrees for R and t:
13.352100620730535 27.06160480317911

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99129750e-01 -4.17058647e-02  6.02465391e-04]
 [ 4.17058850e-02  9.99129931e-01 -2.11312920e-05]
 [-6.01059905e-04  4.62392548e-05  9.99999818e-01]]

 t_estimated:
[[0.92532595]
 [0.37916754]
 [0.0019646 ]]

 R_gt:
[[ 0.91096571 -0.41248042  0.00109504]
 [ 0.41246082  0.91094514  0.00736559]
 [-0.00403592 -0.00625805  0.9999724 ]]

 t_gt:
[ 0.9014293  -0.43277583  0.01141495]

Pose Error in degrees for R and t:
21.974172252434133 47.92955419623002

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-0.98743042 -0.15805105  0.0010186 ]
 [ 0.15804714 -0.98742647 -0.003174  ]
 [ 0.00150744 -0.00297312  0.99999444]]

 t_estimated:
[[8.01642509e-01]
 [5.97803395e-01]
 [6.23361204e-04]]

 R_gt:
[[ 0.69614732 -0.71767588  0.01790817]
 [ 0.71716351  0.69634643  0.02789429]
 [-0.03248918 -0.00657481  0.99945069]]

 t_gt:
[ 0.9634854  -0.26636254  0.02732922]

Pose Error in degrees for R and t:
125.0599854093777 52.18198563045754

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.22400426 -0.97451629 -0.01183619]
 [-0.9744309   0.22416977 -0.01524254]
 [ 0.01750742  0.00811915 -0.99981377]]

 t_estimated:
[[ 0.76947388]
 [ 0.63863607]
 [-0.0073429 ]]

 R_gt:
[[ 0.99853219 -0.05156063 -0.01661018]
 [ 0.0521777   0.99787159  0.03911409]
 [ 0.01455795 -0.03992454  0.99909634]]

 t_gt:
[ 0.48999808 -0.85963106  0.14469388]

Pose Error in degrees for R and t:
179.6324990230819 80.03694355759762

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99997495e-01  2.21677063e-03  3.09431464e-04]
 [-2.21684860e-03  9.99997511e-01  2.51852572e-04]
 [-3.08872395e-04 -2.52537904e-04  9.99999920e-01]]

 t_estimated:
[[-0.99998328]
 [ 0.00568225]
 [ 0.00107622]]

 R_gt:
[[ 0.99313425 -0.09916141 -0.06206679]
 [ 0.10297213  0.99277785  0.06155251]
 [ 0.05551456 -0.06752204  0.99617222]]

 t_gt:
[ 0.54480725 -0.83750131 -0.04214993]

Pose Error in degrees for R and t:
7.772147764813581 56.6602603264568

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.99922349 -0.03886414 -0.00648101]
 [ 0.03885462 -0.99924361  0.00158884]
 [-0.00653786  0.00133578  0.99997774]]

 t_estimated:
[[0.89906706]
 [0.43780657]
 [0.00195449]]

 R_gt:
[[ 0.99291558 -0.10731933 -0.05100067]
 [ 0.10913961  0.993433    0.03433693]
 [ 0.04698148 -0.03966053  0.99810809]]

 t_gt:
[ 0.54890042 -0.83076727 -0.09238006]

Pose Error in degrees for R and t:
171.55291024071306 82.55338484437827

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.99999464e-01  3.38507841e-04  9.78725855e-04]
 [-3.37693215e-04  9.99999597e-01 -8.32378336e-04]
 [-9.79007227e-04  8.32047381e-04  9.99999175e-01]]

 t_estimated:
[[0.80167725]
 [0.59774836]
 [0.00323868]]

 R_gt:
[[ 0.97871281  0.2038652  -0.02366013]
 [-0.20316204  0.97871338  0.02907929]
 [ 0.02908505 -0.02365326  0.99929785]]

 t_gt:
[-0.34792414  0.93722272 -0.02371416]

Pose Error in degrees for R and t:
11.93517796125449 73.66674935496924

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999850e-01 -2.42842609e-04 -4.90642343e-04]
 [ 2.43157521e-04  9.99999764e-01  6.41878194e-04]
 [ 4.90486352e-04 -6.41997401e-04  9.99999674e-01]]

 t_estimated:
[[-0.79140944]
 [-0.61128526]
 [-0.00119453]]

 R_gt:
[[ 0.9703485   0.23987985  0.02971135]
 [-0.23956991  0.97078373 -0.01362803]
 [-0.03211195  0.00610525  0.99946557]]

 t_gt:
[-0.21694692  0.97294032  0.07950576]

Pose Error in degrees for R and t:
14.0182080183485 64.96668256232763

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99999981e-01 -1.63842600e-04 -1.05060436e-04]
 [ 1.63849729e-04  9.99999984e-01  6.78548873e-05]
 [ 1.05049317e-04 -6.78721001e-05  9.99999992e-01]]

 t_estimated:
[[-9.97103544e-01]
 [ 7.60550825e-02]
 [-3.82966823e-04]]

 R_gt:
[[ 0.96818535  0.24176657  0.06455313]
 [-0.24436609  0.96901951  0.03587557]
 [-0.05387985 -0.05050867  0.9972692 ]]

 t_gt:
[-0.23106771  0.92879332  0.28974244]

Pose Error in degrees for R and t:
14.716667852074082 72.48671503192055

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 0.99999878  0.00112431 -0.00108128]
 [-0.00112265  0.99999818  0.00153984]
 [ 0.00108301 -0.00153862  0.99999823]]

 t_estimated:
[[9.78244151e-01]
 [2.07455225e-01]
 [8.43313923e-04]]

 R_gt:
[[ 0.99299281 -0.10769168 -0.04865814]
 [ 0.10955315  0.99327939  0.03734482]
 [ 0.04430896 -0.04241431  0.99811719]]

 t_gt:
[ 0.67960215 -0.73356627  0.00463085]

Pose Error in degrees for R and t:
7.169191776794286 59.160255495456134

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 6.07861145e-01 -7.94043010e-01 -7.26472399e-04]
 [ 7.94043253e-01  6.07860388e-01  1.03043159e-03]
 [-3.76613204e-04 -1.20320983e-03  9.99999205e-01]]

 t_estimated:
[[9.91170290e-01]
 [1.32592557e-01]
 [8.18472577e-04]]

 R_gt:
[[ 0.97605844 -0.18409107 -0.1158453 ]
 [ 0.18576958  0.98258645  0.00375766]
 [ 0.11313602 -0.02518784  0.99326069]]

 t_gt:
[ 0.75852911 -0.59945678 -0.25550961]

Pose Error in degrees for R and t:
42.37052270514944 47.76764001937489

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999732e-01 -1.41683715e-04 -7.18350445e-04]
 [ 1.42194966e-04  9.99999737e-01  7.11699836e-04]
 [ 7.18249420e-04 -7.11801791e-04  9.99999489e-01]]

 t_estimated:
[[0.92328349]
 [0.38411794]
 [0.00100031]]

 R_gt:
[[ 0.91992985 -0.35754554 -0.16090639]
 [ 0.35918963  0.93305532 -0.01976994]
 [ 0.15720265 -0.03960826  0.98677179]]

 t_gt:
[ 0.81074787 -0.55413741 -0.18873162]

Pose Error in degrees for R and t:
23.066583955054035 57.621684080282236

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[-0.86576394 -0.50026201 -0.01381039]
 [-0.50028416  0.86585886 -0.00204993]
 [ 0.01298335  0.00513436 -0.99990253]]

 t_estimated:
[[ 0.9458346 ]
 [ 0.32458608]
 [-0.00638563]]

 R_gt:
[[ 0.99245044  0.11876522  0.03061779]
 [-0.11634056  0.99063206 -0.07150299]
 [-0.0388242   0.06740193  0.99696988]]

 t_gt:
[-0.68096112  0.72777044 -0.08149939]

Pose Error in degrees for R and t:
179.91170879351515 65.96265453303327

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.85520886e-01 -1.69554002e-01 -1.53075415e-04]
 [ 1.69553961e-01  9.85520873e-01 -2.50459837e-04]
 [ 1.93325484e-04  2.20878858e-04  9.99999957e-01]]

 t_estimated:
[[-0.76613814]
 [-0.64267244]
 [-0.00211667]]

 R_gt:
[[ 0.96886815  0.24704876  0.0162367 ]
 [-0.24482574  0.96577963 -0.08561933]
 [-0.03683378  0.07897929  0.99619456]]

 t_gt:
[-0.62652266  0.77653106 -0.06684964]

Pose Error in degrees for R and t:
24.53191340836783 88.91643133246134

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-9.77345849e-01 -2.11639196e-01 -1.98567862e-03]
 [-2.11641270e-01  9.77347004e-01  8.97901107e-04]
 [ 1.75066599e-03  1.29781147e-03 -9.99997625e-01]]

 t_estimated:
[[9.84963057e-01]
 [1.72764999e-01]
 [1.75685664e-04]]

 R_gt:
[[ 0.95382915  0.30033186  0.00344856]
 [-0.2981296   0.94810504 -0.11052561]
 [-0.03646413  0.10439473  0.99386719]]

 t_gt:
[-0.60418313  0.78844838 -0.11537722]

Pose Error in degrees for R and t:
179.62901784816972 62.68371842238385

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.66645863  0.7428103   0.06376323]
 [ 0.73639406 -0.64251225 -0.21190044]
 [-0.11643317  0.18817774 -0.97520893]]

 t_estimated:
[[0.7203906 ]
 [0.69356811]
 [0.0008189 ]]

 R_gt:
[[ 0.9957132  -0.06556676 -0.06524092]
 [ 0.06708376  0.9975202   0.02133177]
 [ 0.06368079 -0.02561739  0.99764137]]

 t_gt:
[ 0.5487683  -0.72513631 -0.41596956]

Pose Error in degrees for R and t:
170.13778904937104 83.80315943125163

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-9.38742917e-01 -3.44604625e-01 -3.06395776e-03]
 [-3.44600127e-01  9.38747630e-01 -1.90804006e-03]
 [ 3.53380252e-03 -7.35318863e-04 -9.99993486e-01]]

 t_estimated:
[[9.71206681e-01]
 [2.38236912e-01]
 [8.69477781e-04]]

 R_gt:
[[ 0.99918215 -0.03857013 -0.01214905]
 [ 0.03840101  0.99916607 -0.01394064]
 [ 0.01267753  0.01346223  0.99982894]]

 t_gt:
[ 0.4823541  -0.79250511 -0.37318919]

Pose Error in degrees for R and t:
178.96808710010887 73.779356430108

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.98770856e-01  4.95656024e-02  1.66057807e-04]
 [-4.95654000e-02  9.98770321e-01 -1.05717267e-03]
 [-2.18253009e-04  1.04764254e-03  9.99999427e-01]]

 t_estimated:
[[-0.6802811 ]
 [-0.73294803]
 [-0.00219446]]

 R_gt:
[[ 0.99257802  0.02907454  0.11808315]
 [-0.02460208  0.99892991 -0.03915938]
 [-0.11909484  0.03596367  0.99223119]]

 t_gt:
[-0.36136646  0.28094174  0.88909281]

Pose Error in degrees for R and t:
7.235126413096686 87.82429961630424

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 5.42223483e-01 -8.40230813e-01 -2.42405413e-03]
 [ 8.40229154e-01  5.42228006e-01 -1.93878282e-03]
 [ 2.94341510e-03 -9.85507374e-04  9.99995183e-01]]

 t_estimated:
[[ 0.57016002]
 [-0.82152892]
 [-0.00278878]]

 R_gt:
[[ 0.99663881 -0.04972776 -0.06511193]
 [ 0.05168922  0.99824806  0.02880932]
 [ 0.06356497 -0.03207837  0.99746194]]

 t_gt:
[ 0.51005103 -0.71267026 -0.48161089]

Pose Error in degrees for R and t:
54.38504248369782 28.641855980249904

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-0.00295517  0.99999449  0.00150994]
 [-0.99999396 -0.00295241 -0.00183261]
 [-0.00182814 -0.00151535  0.99999718]]

 t_estimated:
[[-0.185787  ]
 [ 0.98258879]
 [ 0.00156677]]

 R_gt:
[[ 0.99325806 -0.07820353 -0.08557914]
 [ 0.08233095  0.99555197  0.0458185 ]
 [ 0.0816156  -0.05255494  0.99527754]]

 t_gt:
[ 0.55058349 -0.75209673 -0.3622269 ]

Pose Error in degrees for R and t:
94.91674177486567 32.66288067575616

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.99992051  0.01182175  0.00438377]
 [-0.01181202  0.99992773 -0.00223769]
 [-0.0044099   0.00218573  0.99998789]]

 t_estimated:
[[0.9983781 ]
 [0.0568763 ]
 [0.00250033]]

 R_gt:
[[ 0.98903346 -0.1152419  -0.09237328]
 [ 0.11804811  0.99268005  0.02550414]
 [ 0.08875803 -0.03612807  0.9953974 ]]

 t_gt:
[ 0.57520538 -0.72891176 -0.3712498 ]

Pose Error in degrees for R and t:
9.379800354932028 57.8669991252128

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 1.00000000e+00  2.99825608e-06  5.40023857e-06]
 [-2.99815187e-06  1.00000000e+00 -1.92966618e-05]
 [-5.40029642e-06  1.92966456e-05  1.00000000e+00]]

 t_estimated:
[[9.99996140e-01]
 [2.77173035e-03]
 [1.95665356e-04]]

 R_gt:
[[ 9.97624483e-01 -5.95684012e-02  3.46007690e-02]
 [ 5.95161035e-02  9.98224346e-01  2.55853228e-03]
 [-3.46915203e-02 -4.92900235e-04  9.99397319e-01]]

 t_gt:
[ 0.48007677 -0.76374239  0.43153663]

Pose Error in degrees for R and t:
3.9512401599752174 61.44237001346484

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-9.97861898e-01  6.03115645e-02  2.51822999e-02]
 [ 6.03024548e-02  9.98179521e-01 -1.12168068e-03]
 [-2.52041064e-02  3.99272091e-04 -9.99682246e-01]]

 t_estimated:
[[ 0.99821685]
 [-0.05827462]
 [ 0.01292989]]

 R_gt:
[[ 0.99473664 -0.09896708  0.02655397]
 [ 0.09851071  0.99497475  0.01797964]
 [-0.02819984 -0.01526888  0.99948551]]

 t_gt:
[ 0.51190758 -0.80702775  0.29437533]

Pose Error in degrees for R and t:
177.01672330787457 55.8175338692399

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-7.23629140e-01 -6.90187021e-01 -1.65652423e-03]
 [ 6.90188761e-01 -7.23628829e-01 -8.89640678e-04]
 [-5.84690238e-04 -1.78708432e-03  9.99998232e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99075321 -0.13547311  0.00755346]
 [ 0.13512357  0.9901842   0.03577323]
 [-0.01232465 -0.03442166  0.99933049]]

 t_gt:
[ 0.53214259 -0.81938052  0.21316618]

Pose Error in degrees for R and t:
128.5849310741116 58.01046117883402

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[ 0.97785461  0.20862735  0.01658281]
 [-0.20803964  0.97761036 -0.03158301]
 [-0.02280061  0.02743371  0.99936356]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.97458584 -0.22384764  0.00866311]
 [ 0.22366426  0.97449392  0.0182972 ]
 [-0.01253828 -0.01589496  0.99979494]]

 t_gt:
[ 0.82562438 -0.55737885  0.08759682]

Pose Error in degrees for R and t:
25.107868119542857 56.48692029094669

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[-5.39249386e-01  8.42145965e-01 -5.23474830e-04]
 [-8.42144307e-01 -5.39249408e-01 -1.74428146e-03]
 [-1.75122309e-03 -4.99761359e-04  9.99998342e-01]]

 t_estimated:
[[0.66480094]
 [0.74702014]
 [0.00078304]]

 R_gt:
[[ 0.89938241 -0.43183274 -0.06805201]
 [ 0.43208065  0.90175723 -0.01179868]
 [ 0.06646131 -0.01879177  0.9976123 ]]

 t_gt:
[ 0.90493324 -0.42224219 -0.05298458]

Pose Error in degrees for R and t:
148.2793899218344 73.3732617137508

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[-7.60568986e-01  6.49256832e-01 -6.18430039e-04]
 [ 6.49252800e-01  7.60567050e-01  2.92660136e-03]
 [ 2.37047344e-03  1.82436479e-03 -9.99995526e-01]]

 t_estimated:
[[7.32691558e-01]
 [6.80560483e-01]
 [7.14124326e-04]]

 R_gt:
[[ 7.71249370e-01 -6.33083822e-01 -6.61688323e-02]
 [ 6.30810044e-01  7.74082710e-01 -5.36106782e-02]
 [ 8.51602149e-02 -3.92883754e-04  9.96366843e-01]]

 t_gt:
[ 0.95105816 -0.30158457 -0.06734341]

Pose Error in degrees for R and t:
176.19984024528674 60.55830275878445

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.87458862e-01 -1.57876399e-01 -1.95085668e-04]
 [ 1.57876294e-01  9.87458787e-01 -4.69911020e-04]
 [ 2.66826916e-04  4.33218399e-04  9.99999871e-01]]

 t_estimated:
[[ 0.04771611]
 [-0.99885849]
 [-0.00221222]]

 R_gt:
[[ 0.99984291  0.00849679  0.01560038]
 [-0.00741646  0.99765357 -0.0680755 ]
 [-0.01614264  0.06794984  0.99755897]]

 t_gt:
[ 0.00542751  0.27274876 -0.96206999]

Pose Error in degrees for R and t:
10.335820178445282 74.33275043019299

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.89673455e-01 -1.43340209e-01 -1.91827061e-04]
 [ 1.43340174e-01  9.89673461e-01 -1.84837374e-04]
 [ 2.16340780e-04  1.55432119e-04  9.99999965e-01]]

 t_estimated:
[[ 0.01104731]
 [-0.99993812]
 [-0.00130694]]

 R_gt:
[[ 0.99774976  0.06702614 -0.00186757]
 [-0.06676172  0.99045426 -0.12060112]
 [-0.00623407  0.12045509  0.99269992]]

 t_gt:
[-0.21534523  0.50539714 -0.83558372]

Pose Error in degrees for R and t:
13.923529987613493 59.55886962440997

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-4.38684815e-01  8.98640856e-01 -4.95296761e-04]
 [-8.98638935e-01 -4.38684924e-01 -1.89783864e-03]
 [-1.92275456e-03 -3.87460040e-04  9.99998076e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.95713703  0.2851893  -0.05056293]
 [-0.28943189  0.94834684 -0.12987803]
 [ 0.01091075  0.13894634  0.99024048]]

 t_gt:
[-0.44792571  0.79778871 -0.40360343]

Pose Error in degrees for R and t:
99.47092342034317 37.34192013736544

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 0.00565139 -0.99923993 -0.0385698 ]
 [-0.99932083 -0.00423893 -0.03660484]
 [ 0.03641352  0.03875047 -0.99858523]]

 t_estimated:
[[ 0.71082084]
 [ 0.70288461]
 [-0.02620964]]

 R_gt:
[[ 0.99593309  0.08703681 -0.02331593]
 [-0.08811005  0.9948652  -0.04980741]
 [ 0.01886135  0.0516587   0.99848628]]

 t_gt:
[-0.46969409  0.71617175 -0.51622233]

Pose Error in degrees for R and t:
174.03517678549483 79.45266661498208

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-3.28479463e-01 -9.44508779e-01 -2.09965574e-03]
 [ 9.44511099e-01 -3.28479028e-01 -5.58257892e-04]
 [-1.62413396e-04 -2.16652440e-03  9.99997640e-01]]

 t_estimated:
[[ 9.91458641e-01]
 [-1.30417898e-01]
 [ 9.66745689e-04]]

 R_gt:
[[ 0.92610239  0.37128868 -0.06692633]
 [-0.37358614  0.92724719 -0.02542906]
 [ 0.05261602  0.04855209  0.99743331]]

 t_gt:
[-0.48443217  0.85421861 -0.18877511]

Pose Error in degrees for R and t:
131.10403441011564 53.709300367215874

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.16269302e-01 -4.00561594e-01  9.87241426e-04]
 [ 4.00562366e-01  9.16269175e-01 -7.68049528e-04]
 [-5.96927744e-04  1.09919197e-03  9.99999218e-01]]

 t_estimated:
[[-0.19812087]
 [-0.98017691]
 [-0.0011586 ]]

 R_gt:
[[ 0.82798158  0.55085242 -0.10492215]
 [-0.55291433  0.83316594  0.01095299]
 [ 0.09345108  0.04894457  0.99442035]]

 t_gt:
[-0.38030396  0.90902468 -0.17042014]

Pose Error in degrees for R and t:
57.51230368874097 35.366989459518436

Number of keypoints:
Image1: 324
Image2: 324

 R_estimated:
[[-0.24412909  0.96942508  0.02481926]
 [ 0.96942722  0.24462255 -0.01925309]
 [-0.02473578  0.01936023 -0.99950654]]

 t_estimated:
[[ 0.77761174]
 [-0.6285395 ]
 [ 0.01606488]]

 R_gt:
[[ 0.99731518 -0.0545301  -0.04889051]
 [ 0.05531015  0.99836116  0.0147483 ]
 [ 0.04800532 -0.01741139  0.99869562]]

 t_gt:
[ 0.48072872 -0.75486265 -0.44618636]

Pose Error in degrees for R and t:
179.04191561573936 32.742124518018

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[-0.97281024 -0.2313213   0.01143191]
 [-0.23119336  0.97283998  0.01148901]
 [-0.01377907  0.00853364 -0.99986865]]

 t_estimated:
[[0.9992707 ]
 [0.03799508]
 [0.00379951]]

 R_gt:
[[ 0.99286168 -0.07505141 -0.09270716]
 [ 0.07949029  0.99581289  0.04514534]
 [ 0.08892974 -0.05219182  0.99466916]]

 t_gt:
[ 0.48997955 -0.75879245 -0.42913174]

Pose Error in degrees for R and t:
175.89395364144434 62.66699666897029

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.89138604e-01  1.46985624e-01  2.21370639e-04]
 [-1.46985501e-01  9.89138522e-01 -4.96751939e-04]
 [-2.91981621e-04  4.58818245e-04  9.99999852e-01]]

 t_estimated:
[[-0.20088006]
 [-0.97961426]
 [-0.00176013]]

 R_gt:
[[ 0.98916137 -0.10501553 -0.10263166]
 [ 0.1095064   0.99321627  0.03913558]
 [ 0.09782551 -0.04994926  0.99394961]]

 t_gt:
[ 0.53466532 -0.7502664  -0.38888729]

Pose Error in degrees for R and t:
15.932619916936071 51.078682620043075

Number of keypoints:
Image1: 351
Image2: 351

 R_estimated:
[[ 9.99994472e-01  3.30551522e-03  3.60137142e-04]
 [-3.30553160e-03  9.99994536e-01  4.48990183e-05]
 [-3.59986760e-04 -4.60892147e-05  9.99999934e-01]]

 t_estimated:
[[ 0.99880819]
 [-0.04860551]
 [ 0.00443993]]

 R_gt:
[[ 0.99779361  0.06634994  0.00221236]
 [-0.06632312  0.99774157 -0.0105817 ]
 [-0.00290941  0.0104106   0.999941  ]]

 t_gt:
[ 0.03906413  0.9738445  -0.22383228]

Pose Error in degrees for R and t:
3.6672920749420372 89.46654389272483

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 5.58722934e-01  8.29353936e-01 -8.55711057e-04]
 [-8.29351331e-01  5.58723380e-01  2.13422193e-03]
 [ 2.24813113e-03 -4.82753631e-04  9.99997356e-01]]

 t_estimated:
[[8.77949162e-01]
 [4.78753352e-01]
 [7.04049048e-04]]

 R_gt:
[[ 0.99274645  0.12016322  0.00386344]
 [-0.1201101   0.99269033 -0.01178907]
 [-0.00525221  0.01123876  0.99992297]]

 t_gt:
[ 0.23252105  0.97048775 -0.06393342]

Pose Error in degrees for R and t:
49.138882409683134 48.031579247352674

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99999709e-01  7.45422511e-04  1.64636065e-04]
 [-7.45415836e-04  9.99999721e-01 -4.06011297e-05]
 [-1.64666284e-04  4.04783955e-05  9.99999986e-01]]

 t_estimated:
[[9.99999913e-01]
 [3.78113936e-04]
 [1.74227344e-04]]

 R_gt:
[[ 0.98448841  0.17464258  0.01682211]
 [-0.17505224  0.98418691  0.02706274]
 [-0.01182878 -0.02958787  0.99949146]]

 t_gt:
[0.22707183 0.9300266  0.28894448]

Pose Error in degrees for R and t:
10.193837600004198 76.8516103559719

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 8.85271912e-01  4.65073744e-01  2.35847744e-04]
 [-4.65073516e-01  8.85270688e-01  1.55995920e-03]
 [ 5.16706970e-04 -1.49067460e-03  9.99998755e-01]]

 t_estimated:
[[8.55990508e-01]
 [5.16991092e-01]
 [6.79357546e-04]]

 R_gt:
[[ 0.99498202 -0.09659552 -0.02606251]
 [ 0.0961797   0.99522274 -0.01676774]
 [ 0.0275569   0.01417718  0.99951927]]

 t_gt:
[ 0.50927985 -0.79812444 -0.32191832]

Pose Error in degrees for R and t:
33.29579434770929 88.67653356016102

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-1.44320343e-01 -9.89530470e-01 -1.04329076e-03]
 [ 9.89529515e-01 -1.44321882e-01  1.59182635e-03]
 [-1.72573036e-03 -8.02634071e-04  9.99998189e-01]]

 t_estimated:
[[ 0.99790704]
 [-0.06465467]
 [ 0.00114835]]

 R_gt:
[[ 0.9783243  -0.1966685  -0.06482603]
 [ 0.19841363  0.97987972  0.02161846]
 [ 0.05927027 -0.03401144  0.99766196]]

 t_gt:
[ 0.62661797 -0.77440444 -0.08745103]

Pose Error in degrees for R and t:
86.96125038576658 47.5244972143516

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99935461e-01  1.13268698e-02 -8.80270076e-04]
 [-1.13250215e-02  9.99933713e-01  2.07704848e-03]
 [ 9.03738183e-04 -2.06694536e-03  9.99997455e-01]]

 t_estimated:
[[ 0.99963489]
 [-0.02696953]
 [ 0.00165505]]

 R_gt:
[[ 0.95302543 -0.28287134 -0.10828066]
 [ 0.28644927  0.95791255  0.01872167]
 [ 0.09842773 -0.04885886  0.99394339]]

 t_gt:
[ 0.71544288 -0.69057773 -0.10603717]

Pose Error in degrees for R and t:
18.32015824440369 42.80835988478635

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.82201024  0.56946742  0.00245458]
 [ 0.56946029 -0.82195619 -0.01014875]
 [-0.00376183  0.00974016 -0.99994549]]

 t_estimated:
[[-0.99985336]
 [-0.01709151]
 [-0.00106822]]

 R_gt:
[[ 0.99173787  0.06465492  0.11080063]
 [-0.05903289  0.99683366 -0.05328828]
 [-0.11389596  0.04630775  0.99241299]]

 t_gt:
[-0.459554    0.60237225  0.65265442]

Pose Error in degrees for R and t:
174.74677401789052 63.352899610644855

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.76200962e-01  2.16866656e-01 -7.31276002e-04]
 [-2.16866867e-01  9.76201164e-01 -2.20837015e-04]
 [ 6.65980300e-04  3.74170842e-04  9.99999708e-01]]

 t_estimated:
[[-0.81455809]
 [-0.58008093]
 [-0.00111127]]

 R_gt:
[[ 0.96365387  0.14718353  0.22295543]
 [-0.12934593  0.98725982 -0.09267818]
 [-0.23375474  0.06047142  0.97041348]]

 t_gt:
[-0.37866741  0.59993171  0.70476445]

Pose Error in degrees for R and t:
14.69366104694412 87.68774388702744

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-8.21750383e-01 -5.69844570e-01 -1.86405363e-03]
 [ 5.69847378e-01 -8.21748646e-01 -1.76891095e-03]
 [-5.23779249e-04 -2.51582932e-03  9.99996698e-01]]

 t_estimated:
[[0.94889722]
 [0.31558346]
 [0.00107341]]

 R_gt:
[[ 0.92099784  0.29899548  0.24972825]
 [-0.27306169  0.95267841 -0.13357297]
 [-0.27784781  0.05482937  0.95905921]]

 t_gt:
[-0.33620746  0.76777511  0.54542271]

Pose Error in degrees for R and t:
162.44375092483398 85.63305869914497

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99246949e-01 -3.88012072e-02  3.98105547e-05]
 [ 3.88012017e-02  9.99246941e-01  1.31466723e-04]
 [-4.48816426e-05 -1.29823024e-04  9.99999991e-01]]

 t_estimated:
[[-9.81676568e-01]
 [-1.90552698e-01]
 [-8.86115602e-04]]

 R_gt:
[[ 0.99979285  0.01586943  0.01278051]
 [-0.01605935  0.99975997  0.01493378]
 [-0.01254153 -0.01513529  0.99980621]]

 t_gt:
[-0.85179987  0.0043901   0.52384894]

Pose Error in degrees for R and t:
3.3318253251076526 33.395485661795995

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 3.95605336e-01 -9.18415971e-01 -2.91917371e-03]
 [ 9.18419487e-01  3.95607826e-01 -3.06735756e-04]
 [ 1.43655898e-03 -2.55967972e-03  9.99995692e-01]]

 t_estimated:
[[ 0.76816993]
 [-0.64024554]
 [-0.00077548]]

 R_gt:
[[ 0.99144657  0.1231543   0.04321036]
 [-0.12088361  0.99131787 -0.05173862]
 [-0.0492072   0.04607278  0.99772536]]

 t_gt:
[-0.78921943  0.6080742   0.08589793]

Pose Error in degrees for R and t:
73.80877386870247 5.35347985658824

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.87430662e-01 -1.58050728e-01 -8.08925998e-04]
 [ 1.58051993e-01  9.87429034e-01  1.86273760e-03]
 [ 5.04349982e-04 -1.96717659e-03  9.99997938e-01]]

 t_estimated:
[[9.92944928e-01]
 [1.18573360e-01]
 [8.53045396e-04]]

 R_gt:
[[ 0.96805755  0.24853846  0.03306616]
 [-0.24562232  0.96654059 -0.07395841]
 [-0.05034212  0.06347357  0.99671249]]

 t_gt:
[-0.69456194  0.71923918  0.01669469]

Pose Error in degrees for R and t:
23.895408580972052 52.81684536495754

Number of keypoints:
Image1: 387
Image2: 387

 R_estimated:
[[ 9.95650448e-01 -9.31667700e-02  3.72223612e-04]
 [ 9.31668257e-02  9.95650503e-01 -1.35076088e-04]
 [-3.58020024e-04  1.69167460e-04  9.99999922e-01]]

 t_estimated:
[[-7.82377173e-01]
 [-6.22804548e-01]
 [-6.73302214e-04]]

 R_gt:
[[ 0.99724943  0.03603794  0.06477195]
 [-0.0336342   0.99871809 -0.03783459]
 [-0.06605247  0.03555219  0.99718293]]

 t_gt:
[-0.68624077  0.68365341  0.24837796]

Pose Error in degrees for R and t:
8.499051882061798 83.62995128825408

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.95921049e-01  9.02225978e-02  1.07080195e-03]
 [-9.02218643e-02  9.95921435e-01 -7.14676281e-04]
 [-1.13091457e-03  6.15151404e-04  9.99999171e-01]]

 t_estimated:
[[-0.76350353]
 [-0.64580319]
 [-0.00077434]]

 R_gt:
[[ 0.99208894  0.07720022  0.09899407]
 [-0.06872112  0.99388887 -0.08638075]
 [-0.10505754  0.07889496  0.991332  ]]

 t_gt:
[-0.70067049  0.70794807  0.08871523]

Pose Error in degrees for R and t:
7.539538400915693 85.5435933903802

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-0.99454738 -0.10422394 -0.00358983]
 [-0.10419337  0.99452606 -0.00785169]
 [ 0.00438852 -0.00743484 -0.99996273]]

 t_estimated:
[[0.99595921]
 [0.08978249]
 [0.00208796]]

 R_gt:
[[ 0.97644921  0.11388552  0.18323928]
 [-0.09572804  0.98984493 -0.10508323]
 [-0.19334576  0.08506802  0.97743606]]

 t_gt:
[-0.70574133  0.59640538  0.38240004]

Pose Error in degrees for R and t:
169.62608426792082 49.56805554856479

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99989341e-01  4.61159447e-03  2.27838867e-04]
 [-4.61159588e-03  9.99989367e-01  5.62914435e-06]
 [-2.27810485e-04 -6.67978513e-06  9.99999974e-01]]

 t_estimated:
[[-0.88177234]
 [ 0.4716626 ]
 [ 0.00345407]]

 R_gt:
[[ 0.99918647  0.04001405 -0.00509679]
 [-0.03968833  0.99779753  0.05313989]
 [ 0.00721197 -0.05289494  0.99857352]]

 t_gt:
[-0.00320036  0.71945798  0.69452859]

Pose Error in degrees for R and t:
3.668613439706818 69.84491711603685

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999981e-01  1.23343451e-04  1.49249887e-04]
 [-1.23346474e-04  9.99999992e-01  2.02466165e-05]
 [-1.49247388e-04 -2.02650256e-05  9.99999989e-01]]

 t_estimated:
[[0.66941046]
 [0.74289175]
 [0.00121534]]

 R_gt:
[[ 0.99822837  0.04179077 -0.04236873]
 [-0.04069184  0.99882061  0.02649209]
 [ 0.04342659 -0.02472181  0.9987511 ]]

 t_gt:
[ 0.60936553  0.74110995 -0.28183273]

Pose Error in degrees for R and t:
3.7145231956770273 16.63705487559079

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999909e-01 -3.68292601e-04 -2.16460672e-04]
 [ 3.68341041e-04  9.99999907e-01  2.23786365e-04]
 [ 2.16378233e-04 -2.23866076e-04  9.99999952e-01]]

 t_estimated:
[[-9.99974549e-01]
 [-7.07946633e-03]
 [-8.84933230e-04]]

 R_gt:
[[ 0.99722714  0.0688929  -0.02812882]
 [-0.06813459  0.99730846  0.02709158]
 [ 0.02991966 -0.02510067  0.99923743]]

 t_gt:
[ 0.52549739  0.84347574 -0.11136052]

Pose Error in degrees for R and t:
4.532052181486694 57.90282371207322

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99981717e-01  5.99267775e-03  8.08492751e-04]
 [-5.99199295e-03  9.99981689e-01 -8.46793205e-04]
 [-8.13552505e-04  8.41933240e-04  9.99999315e-01]]

 t_estimated:
[[8.11421558e-01]
 [5.84460867e-01]
 [7.41701607e-04]]

 R_gt:
[[ 0.97624589 -0.21506444 -0.02629124]
 [ 0.21438999  0.9763952  -0.02626094]
 [ 0.03131782  0.02000053  0.99930938]]

 t_gt:
[ 0.65737356 -0.73594713 -0.16199331]

Pose Error in degrees for R and t:
12.92428438127195 84.0791428455416

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 8.91513052e-01 -4.52991130e-01 -1.87456581e-03]
 [ 4.52991178e-01  8.91514898e-01 -4.23000396e-04]
 [ 1.86281878e-03 -4.72051401e-04  9.99998154e-01]]

 t_estimated:
[[-0.12873694]
 [-0.99167674]
 [-0.00201151]]

 R_gt:
[[ 0.95801192 -0.28347587 -0.04307988]
 [ 0.28152856  0.95844266 -0.04614572]
 [ 0.05437094  0.03208007  0.99800558]]

 t_gt:
[ 0.65511505 -0.72111189 -0.22543716]

Pose Error in degrees for R and t:
11.08617162552136 50.85937867196396

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.24625175e-01  3.80878122e-01 -3.76929928e-04]
 [-3.80877523e-01  9.24624825e-01  1.11577799e-03]
 [ 7.73494195e-04 -8.88112285e-04  9.99999306e-01]]

 t_estimated:
[[0.31770083]
 [0.94818959]
 [0.00163763]]

 R_gt:
[[ 0.91761978 -0.38942334 -0.0795208 ]
 [ 0.38875249  0.92101935 -0.0243925 ]
 [ 0.08273925 -0.00853073  0.99653519]]

 t_gt:
[ 0.71082586 -0.68907567 -0.14107203]

Pose Error in degrees for R and t:
45.56213915721261 64.67353399995945

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 3.88314321e-01  9.21526979e-01 -1.22761152e-04]
 [-9.21525960e-01  3.88313686e-01 -1.54445208e-03]
 [-1.37558442e-03  7.12860448e-04  9.99998800e-01]]

 t_estimated:
[[-7.34615922e-02]
 [ 9.97297913e-01]
 [ 5.16634261e-04]]

 R_gt:
[[ 0.98215136 -0.1875025  -0.0149085 ]
 [ 0.18808583  0.97975212  0.06862524]
 [ 0.00173909 -0.07020481  0.99753098]]

 t_gt:
[ 0.59673918 -0.76791315  0.23283416]

Pose Error in degrees for R and t:
78.07994947828209 35.947493875625796

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.99248841  0.12096103  0.01830825]
 [-0.12055728  0.99246802 -0.0217525 ]
 [-0.02080155  0.01938191  0.99959574]]

 t_estimated:
[[0.63813366]
 [0.76992213]
 [0.00231208]]

 R_gt:
[[ 0.94579477 -0.3047735  -0.11218483]
 [ 0.31597061  0.94338283  0.10095168]
 [ 0.07506661 -0.13092664  0.98854532]]

 t_gt:
[ 0.6496875  -0.74868994  0.13179352]

Pose Error in degrees for R and t:
27.138934670709904 80.70366024155415

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.7523194  -0.65858154 -0.01690767]
 [ 0.65870759  0.75239421  0.00269455]
 [ 0.01094665 -0.01316438  0.99985342]]

 t_estimated:
[[-0.03118347]
 [-0.99951233]
 [-0.00164124]]

 R_gt:
[[ 0.88060168 -0.43708226 -0.18302968]
 [ 0.46635318  0.86786199  0.17125753]
 [ 0.08399203 -0.23616554  0.96807574]]

 t_gt:
[ 0.68988379 -0.68257563  0.24114492]

Pose Error in degrees for R and t:
19.435695664042022 48.67464885850161

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.74132530e-01 -2.25977453e-01 -6.89082423e-05]
 [ 2.25977464e-01  9.74132479e-01  3.15028097e-04]
 [-4.06349012e-06 -3.22450827e-04  9.99999948e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99264769 -0.11277584 -0.04396251]
 [ 0.1153266   0.99147736  0.06060023]
 [ 0.03675432 -0.06522506  0.99719353]]

 t_gt:
[ 0.66129974 -0.71222476  0.23541141]

Pose Error in degrees for R and t:
7.7815056448536835 48.755745620728945

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 8.35396214e-01 -5.49647778e-01 -6.96346556e-04]
 [ 5.49647687e-01  8.35396498e-01 -3.33998261e-04]
 [ 7.65306877e-04 -1.03724391e-04  9.99999702e-01]]

 t_estimated:
[[-0.37034292]
 [-0.9288929 ]
 [-0.00202373]]

 R_gt:
[[ 0.96249868 -0.26810453 -0.04143043]
 [ 0.27070224  0.95917877  0.08182516]
 [ 0.01780221 -0.08997289  0.99578429]]

 t_gt:
[ 0.684135   -0.68959451  0.23752622]

Pose Error in degrees for R and t:
18.43874193955928 67.24979858484062

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.97905776  0.14250236 -0.14539248]
 [-0.07722384  0.92075124  0.38243122]
 [ 0.18836766 -0.36319449  0.91247322]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.91500029 -0.39674258 -0.0732782 ]
 [ 0.40175628  0.91263566  0.07540873]
 [ 0.03695909 -0.09843881  0.99445602]]

 t_gt:
[ 0.75044762 -0.63859656  0.17036084]

Pose Error in degrees for R and t:
35.00478916290699 83.8265253698488

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 1.00000000e+00 -4.26701730e-12 -3.78387913e-15]
 [ 4.26703117e-12  1.00000000e+00 -7.32920669e-17]
 [ 2.34582725e-15  1.70545002e-16  1.00000000e+00]]

 t_estimated:
[[-6.74016836e-02]
 [-9.97725556e-01]
 [-8.52772041e-04]]

 R_gt:
[[ 0.98926525 -0.14612813 -0.00119894]
 [ 0.14595962  0.98765371  0.056906  ]
 [-0.00713033 -0.05646996  0.99837832]]

 t_gt:
[ 0.61457255 -0.754938    0.22884319]

Pose Error in degrees for R and t:
9.01452852831958 44.63454597677932

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.92586866 -0.322249    0.19728863]
 [-0.11097433  0.73103117  0.67325933]
 [-0.36118129  0.60145574 -0.71260022]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97907025 -0.20114868  0.03098696]
 [ 0.1989414   0.97799843  0.0627909 ]
 [-0.0429344  -0.05531135  0.99754523]]

 t_gt:
[ 0.61315662 -0.73302974  0.29445942]

Pose Error in degrees for R and t:
156.1365045536277 52.330280176034776

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99998468e-01 -1.72186867e-03 -3.16272261e-04]
 [ 1.72186228e-03  9.99998517e-01 -2.04627834e-05]
 [ 3.16307026e-04  1.99181748e-05  9.99999950e-01]]

 t_estimated:
[[ 9.99999286e-01]
 [-1.19511700e-03]
 [-1.41248245e-05]]

 R_gt:
[[ 0.97012312 -0.24167836  0.02128943]
 [ 0.23958343  0.96813636  0.07289348]
 [-0.03822729 -0.06561506  0.99711217]]

 t_gt:
[ 0.62686117 -0.73674044  0.25349279]

Pose Error in degrees for R and t:
14.513673421089536 51.116594225224866

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-4.33606852e-02  9.99059108e-01  8.65969010e-04]
 [-9.99058001e-01 -4.33591118e-02 -1.75987311e-03]
 [-1.72066961e-03 -9.41462572e-04  9.99998076e-01]]

 t_estimated:
[[0.274196  ]
 [0.96167292]
 [0.00132462]]

 R_gt:
[[ 0.99808606 -0.02314602  0.05735305]
 [ 0.02158298  0.99938344  0.02771426]
 [-0.05795787 -0.02642299  0.99796913]]

 t_gt:
[ 0.24227334 -0.1649833   0.95607747]

Pose Error in degrees for R and t:
93.81884785329615 84.78098098400254

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.74934181 -0.66180426 -0.02240463]
 [ 0.66210551  0.74934361  0.01002229]
 [ 0.01015597 -0.02234435  0.99969875]]

 t_estimated:
[[-0.00759197]
 [-0.99997059]
 [-0.00108457]]

 R_gt:
[[ 0.99263091 -0.10320626  0.06350889]
 [ 0.1011389   0.99425815  0.03495232]
 [-0.06675056 -0.02827141  0.99736885]]

 t_gt:
[ 0.8775806  -0.19480006  0.43806989]

Pose Error in degrees for R and t:
35.90028789187631 79.18393941501267

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99220837e-01 -3.94674882e-02 -1.88537308e-04]
 [ 3.94675977e-02  9.99220660e-01  6.17285179e-04]
 [ 1.64027678e-04 -6.24245329e-04  9.99999792e-01]]

 t_estimated:
[[9.89521264e-01]
 [1.44386323e-01]
 [5.07210430e-04]]

 R_gt:
[[ 0.98940291 -0.1450426  -0.00673912]
 [ 0.1446641   0.98867645 -0.03990004]
 [ 0.01245024  0.03850182  0.99918029]]

 t_gt:
[ 0.97307108 -0.09756463 -0.20883923]

Pose Error in degrees for R and t:
6.509363505670512 18.43525681953044

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 6.93378993e-01  7.20572241e-01  1.10346131e-03]
 [-7.20571862e-01  6.93379825e-01 -7.81297204e-04]
 [-1.32809889e-03 -2.53388104e-04  9.99999086e-01]]

 t_estimated:
[[0.11335486]
 [0.99355345]
 [0.00149   ]]

 R_gt:
[[ 0.98113466 -0.19286492 -0.01334322]
 [ 0.19281623  0.98122308 -0.00487192]
 [ 0.01403231  0.0022081   0.99989911]]

 t_gt:
[ 0.72763715 -0.68556684 -0.02328686]

Pose Error in degrees for R and t:
57.22729337414477 53.223095054494536

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999209e-01  1.10021322e-03  6.09225072e-04]
 [-1.09973181e-03  9.99999083e-01 -7.89975645e-04]
 [-6.10093655e-04  7.89305037e-04  9.99999502e-01]]

 t_estimated:
[[ 0.2992565 ]
 [-0.95416495]
 [-0.00384641]]

 R_gt:
[[ 9.70255445e-01 -2.42072308e-01 -2.58224597e-03]
 [ 2.42073198e-01  9.70258325e-01 -2.01975820e-04]
 [ 2.55431814e-03 -4.27883721e-04  9.99996833e-01]]

 t_gt:
[ 0.68893874 -0.72472816  0.01151139]

Pose Error in degrees for R and t:
14.073097082469225 26.151038926721753

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-1.53162724e-01 -9.88198443e-01 -2.23989761e-03]
 [ 9.88200971e-01 -1.53162658e-01 -2.01731550e-04]
 [-1.43717867e-04 -2.24436674e-03  9.99997471e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.93858813 -0.34270559  0.04008453]
 [ 0.34098809  0.93903526  0.04405166]
 [-0.05273677 -0.0276777   0.99822553]]

 t_gt:
[ 0.68349918 -0.71075206  0.16631409]

Pose Error in degrees for R and t:
78.86513596562163 55.88472602928808

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.97207985e-01  7.46679551e-02  9.64686034e-04]
 [-7.46678515e-02  9.97208449e-01 -1.43102656e-04]
 [-9.72678246e-04  7.06720774e-05  9.99999524e-01]]

 t_estimated:
[[0.89704478]
 [0.44193723]
 [0.00146337]]

 R_gt:
[[ 0.993154   -0.11161169 -0.03446719]
 [ 0.11015612  0.99304479 -0.04157638]
 [ 0.03886817  0.03749556  0.99854035]]

 t_gt:
[ 0.94735408 -0.08097363 -0.30977979]

Pose Error in degrees for R and t:
11.101947577635098 35.55275894014029

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.59419049  0.80432269  0.0016338 ]
 [ 0.80431277 -0.5941916   0.00415964]
 [ 0.00431648 -0.00115753 -0.99999001]]

 t_estimated:
[[8.03734145e-01]
 [5.94988263e-01]
 [6.24987671e-04]]

 R_gt:
[[ 0.9915616  -0.09640861 -0.08666239]
 [ 0.0863788   0.98984902 -0.11285909]
 [ 0.09666381  0.10442133  0.98982472]]

 t_gt:
[ 0.73589126  0.0287313  -0.67648988]

Pose Error in degrees for R and t:
176.95760815676329 52.54537670108828

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.99527917  0.09699322 -0.00341855]
 [ 0.09698443  0.99528237  0.00265192]
 [ 0.00365965  0.00230785 -0.99999064]]

 t_estimated:
[[0.77119203]
 [0.63660183]
 [0.00098241]]

 R_gt:
[[ 0.98598855  0.06772162 -0.15244775]
 [-0.0803052   0.99371727 -0.07795151]
 [ 0.14621195  0.08910251  0.98523258]]

 t_gt:
[-0.26288613  0.10303061 -0.95930995]

Pose Error in degrees for R and t:
171.43452453899994 82.06274014548171

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.71248683e-01  2.38066955e-01 -3.47869407e-04]
 [-2.38064774e-01  9.71244319e-01  3.10422888e-03]
 [ 1.07688050e-03 -2.93216276e-03  9.99995121e-01]]

 t_estimated:
[[8.05475034e-01]
 [5.92629299e-01]
 [6.95574295e-04]]

 R_gt:
[[ 0.98051957 -0.19621635  0.00899862]
 [ 0.19587504  0.98018092  0.02964126]
 [-0.01463612 -0.02730063  0.99951941]]

 t_gt:
[ 0.66857404 -0.7245438   0.16746656]

Pose Error in degrees for R and t:
25.133069968859974 83.72789970856621

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.36413017e-01  3.50897668e-01  1.22017853e-03]
 [-3.50897550e-01  9.36413802e-01 -3.16812830e-04]
 [-1.25376090e-03 -1.31489999e-04  9.99999205e-01]]

 t_estimated:
[[-0.72133609]
 [ 0.69258198]
 [ 0.00210534]]

 R_gt:
[[ 9.51642986e-01 -3.07163171e-01 -5.10453550e-03]
 [ 3.07204791e-01  9.51517975e-01  1.54703514e-02]
 [ 1.06108936e-04 -1.62893264e-02  9.99867045e-01]]

 t_gt:
[ 0.72790577 -0.68263242  0.06454592]

Pose Error in degrees for R and t:
38.444465939524555 3.88019721339043

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.76437408e-01 -2.15800624e-01  2.79934865e-04]
 [ 2.15800490e-01  9.76437377e-01  4.45298342e-04]
 [-3.69434525e-04 -3.74395878e-04  9.99999862e-01]]

 t_estimated:
[[9.65695380e-01]
 [2.59676466e-01]
 [7.52685409e-04]]

 R_gt:
[[ 0.92880379 -0.3700217   0.0201811 ]
 [ 0.36888215  0.92839245  0.04488424]
 [-0.03534425 -0.03424324  0.99878762]]

 t_gt:
[ 0.7039444  -0.69483369  0.147202  ]

Pose Error in degrees for R and t:
9.644792824214742 60.034747834018546

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.62802617e-01  2.70205145e-01  5.47451925e-04]
 [-2.70204254e-01  9.62802117e-01 -1.32051389e-03]
 [-8.83897520e-04  1.12347039e-03  9.99998978e-01]]

 t_estimated:
[[-0.61972976]
 [-0.78481061]
 [-0.00270624]]

 R_gt:
[[ 0.99278911 -0.10298305  0.06136224]
 [ 0.09061095  0.97978717  0.17834283]
 [-0.0784888  -0.17149654  0.98205339]]

 t_gt:
[ 0.33968469 -0.51783186  0.78515252]

Pose Error in degrees for R and t:
23.892194706530198 78.82756336780727

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99852688e-01  1.70039666e-02 -2.33815420e-03]
 [-1.70020037e-02  9.99855088e-01  8.56836655e-04]
 [ 2.35238499e-03 -8.16957127e-04  9.99996899e-01]]

 t_estimated:
[[-0.81967361]
 [-0.5728221 ]
 [-0.00316476]]

 R_gt:
[[ 0.97101082 -0.23626251  0.0363171 ]
 [ 0.21743064  0.93610899  0.27644802]
 [-0.0993112  -0.26053823  0.9603423 ]]

 t_gt:
[ 0.50941378 -0.57170318  0.64315867]

Pose Error in degrees for R and t:
21.59653681527998 84.71532438720108

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 0.58899594 -0.30222787 -0.74949456]
 [-0.44680451 -0.89458002  0.00960777]
 [-0.6733866   0.32921861 -0.66194078]]

 t_estimated:
[[0.0711266 ]
 [0.99746586]
 [0.00169349]]

 R_gt:
[[ 0.94278895 -0.33047863  0.04396936]
 [ 0.30461839  0.90749731  0.28923125]
 [-0.1354862  -0.25929035  0.95624905]]

 t_gt:
[ 0.58240395 -0.58097752  0.56856904]

Pose Error in degrees for R and t:
167.16657791193137 57.51233918118414

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99999872e-01  4.82340040e-04  1.51634559e-04]
 [-4.82324984e-04  9.99999879e-01 -9.93133893e-05]
 [-1.51682443e-04  9.92402394e-05  9.99999984e-01]]

 t_estimated:
[[9.60109263e-01]
 [2.79625088e-01]
 [1.16686517e-04]]

 R_gt:
[[ 0.98674352 -0.16093337 -0.02093035]
 [ 0.16154639  0.9863487   0.0319133 ]
 [ 0.01550887 -0.03487091  0.99927134]]

 t_gt:
[ 0.65294921 -0.74965898  0.10802199]

Pose Error in degrees for R and t:
9.564975030015473 65.33627938558013

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 0.96136447  0.27524788 -0.00411871]
 [-0.27522122  0.96136189  0.00604938]
 [ 0.00562465 -0.0046821   0.99997322]]

 t_estimated:
[[-0.96861301]
 [ 0.24840357]
 [-0.00919248]]

 R_gt:
[[ 0.95551711 -0.29336819 -0.03037969]
 [ 0.29437198  0.95498833  0.03663523]
 [ 0.01826459 -0.043947    0.99886707]]

 t_gt:
[ 0.70447721 -0.70041637  0.11458084]

Pose Error in degrees for R and t:
33.15340038622379 30.973546323337587

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 1.29598380e-01  9.91562259e-01  2.92356531e-03]
 [-9.91566341e-01  1.29599783e-01 -2.94859877e-04]
 [-6.71265355e-04 -2.86069560e-03  9.99995683e-01]]

 t_estimated:
[[0.26873767]
 [0.96321237]
 [0.00141441]]

 R_gt:
[[ 0.92268671 -0.3823655  -0.04945713]
 [ 0.38551517  0.91672657  0.10483259]
 [ 0.00525446 -0.11579317  0.99325934]]

 t_gt:
[ 0.67475727 -0.69036235  0.26096447]

Pose Error in degrees for R and t:
105.35535220257053 61.10121961307317

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.93913866e-01 -1.10159864e-01  1.74753496e-04]
 [ 1.10159856e-01  9.93913881e-01  5.35730165e-05]
 [-1.79591522e-04 -3.39961440e-05  9.99999983e-01]]

 t_estimated:
[[0.92556499]
 [0.37858754]
 [0.00096389]]

 R_gt:
[[ 0.98322281 -0.1662327  -0.07510297]
 [ 0.16519663  0.9860614  -0.01983962]
 [ 0.07735359  0.00709989  0.99697777]]

 t_gt:
[ 0.66368132 -0.67135549 -0.32986196]

Pose Error in degrees for R and t:
5.51010821609626 68.91236739257191

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.80551504e-01 -1.96261917e-01  8.62891447e-05]
 [ 1.96261916e-01  9.80551508e-01  2.58105317e-05]
 [-8.96765754e-05 -8.37328287e-06  9.99999996e-01]]

 t_estimated:
[[9.93227879e-01]
 [1.16180403e-01]
 [7.02615597e-04]]

 R_gt:
[[ 0.95478698 -0.29580461 -0.02970758]
 [ 0.29599957  0.95518473  0.00231736]
 [ 0.02769133 -0.01100671  0.9995553 ]]

 t_gt:
[ 0.66424787 -0.74699342 -0.02784953]

Pose Error in degrees for R and t:
6.140635160661282 55.044228143183666

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-5.09932819e-01 -8.60213652e-01 -9.96896918e-04]
 [-8.60213839e-01  5.09931141e-01  1.54360303e-03]
 [-8.19479617e-04  1.64467837e-03 -9.99998312e-01]]

 t_estimated:
[[9.48312533e-01]
 [3.17337033e-01]
 [7.39713364e-04]]

 R_gt:
[[ 0.89528631 -0.41276236 -0.16759819]
 [ 0.43114616  0.89750236  0.09274674]
 [ 0.11213727 -0.15529542  0.98148175]]

 t_gt:
[ 0.70551578 -0.70319191  0.08813975]

Pose Error in degrees for R and t:
176.46874766408604 63.514851653325834

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[ 9.99999997e-01  7.73484661e-05  5.31657141e-06]
 [-7.73486753e-05  9.99999996e-01  3.93677214e-05]
 [-5.31352636e-06 -3.93681325e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99998546e-01]
 [-1.70219683e-03]
 [-1.04277813e-04]]

 R_gt:
[[ 0.99999674  0.00183749  0.00147518]
 [-0.0018404   0.9999972   0.00198765]
 [-0.00147169 -0.00199116  0.99999649]]

 t_gt:
[-0.83510958 -0.54559574  0.07012337]

Pose Error in degrees for R and t:
0.17304632915708604 33.46872597956781

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99436503e-01 -3.35655753e-02  1.66397547e-04]
 [ 3.35655146e-02  9.99436456e-01  3.55039741e-04]
 [-1.78220888e-04 -3.49254458e-04  9.99999923e-01]]

 t_estimated:
[[0.54612061]
 [0.83770471]
 [0.0017601 ]]

 R_gt:
[[ 0.99939304  0.01079514  0.03310817]
 [-0.01186662  0.99940647  0.032337  ]
 [-0.03274    -0.03271068  0.99892846]]

 t_gt:
[-0.67798429 -0.23502154  0.69649276]

Pose Error in degrees for R and t:
3.6804648744375483 55.53421786762219

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 0.99294006  0.11860378  0.00178579]
 [-0.11859743  0.99293687 -0.00331945]
 [-0.00216688  0.00308422  0.9999929 ]]

 t_estimated:
[[0.4118452 ]
 [0.91124805]
 [0.00324288]]

 R_gt:
[[ 0.99686454  0.05985964  0.05174456]
 [-0.05962902  0.99820306 -0.00600507]
 [-0.052011    0.00290043  0.99864232]]

 t_gt:
[-0.90374335  0.18316752  0.38690777]

Pose Error in degrees for R and t:
4.431815335354174 78.2268899480997

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999999e-01  4.72990053e-05  2.07417220e-06]
 [-4.72990395e-05  9.99999999e-01  1.64640900e-05]
 [-2.07339346e-06 -1.64641881e-05  1.00000000e+00]]

 t_estimated:
[[-0.0047027]
 [-0.9999877]
 [-0.0015739]]

 R_gt:
[[ 0.99916381 -0.03124157 -0.02640869]
 [ 0.03108914  0.99949769 -0.00615464]
 [ 0.02658902  0.00532912  0.99963232]]

 t_gt:
[ 0.90373557 -0.0837849  -0.419812  ]

Pose Error in degrees for R and t:
2.3690792635404714 85.40024726755581

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999987e-01 -7.87279000e-05  1.38269262e-04]
 [ 7.86710288e-05  9.99999912e-01  4.11265293e-04]
 [-1.38301628e-04 -4.11254410e-04  9.99999906e-01]]

 t_estimated:
[[0.75066677]
 [0.66068035]
 [0.00093291]]

 R_gt:
[[ 0.99852564  0.004621   -0.05409265]
 [-0.00593156  0.9996926  -0.02408113]
 [ 0.05396555  0.02436769  0.99824503]]

 t_gt:
[ 0.73699137  0.29651638 -0.6073893 ]

Pose Error in degrees for R and t:
3.4251570272135727 41.53326919800487

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.75981153e-01  2.17854949e-01 -1.02954009e-04]
 [-2.17854962e-01  9.75980849e-01 -7.73300238e-04]
 [-6.79861423e-05  7.77155499e-04  9.99999696e-01]]

 t_estimated:
[[0.24165169]
 [0.97036227]
 [0.00123453]]

 R_gt:
[[ 0.99764204  0.06841525  0.00555065]
 [-0.06807086  0.99651902 -0.0481179 ]
 [-0.00882257  0.04762786  0.99882595]]

 t_gt:
[ 0.34665043  0.86521846 -0.36225749]

Pose Error in degrees for R and t:
9.087353145578541 22.646683371886684

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[-0.91499582 -0.40255741 -0.02702186]
 [-0.40254503  0.91537962 -0.00613672]
 [ 0.02720564  0.00526244 -0.99961601]]

 t_estimated:
[[ 0.96628166]
 [ 0.25716736]
 [-0.0128335 ]]

 R_gt:
[[ 0.998695    0.04486488  0.02441542]
 [-0.04378892  0.99811618 -0.04298693]
 [-0.02629898  0.04186069  0.99877729]]

 t_gt:
[-0.66776969  0.72214262 -0.18053716]

Pose Error in degrees for R and t:
179.33458039087833 62.79180275119843

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.71557734e-01 -2.36802798e-01 -7.15435957e-05]
 [ 2.36802806e-01  9.71557721e-01  1.62752516e-04]
 [ 3.09684818e-05 -1.75065189e-04  9.99999984e-01]]

 t_estimated:
[[-0.43654122]
 [-0.89968346]
 [-0.00120243]]

 R_gt:
[[ 0.99105636  0.0762974   0.10947989]
 [-0.06855601  0.99498671 -0.07281855]
 [-0.11448751  0.06466213  0.99131784]]

 t_gt:
[-0.75071088  0.59903072  0.27855946]

Pose Error in degrees for R and t:
19.39208464445779 77.78640346773415

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.70853369e-01  2.39674228e-01  3.24510268e-05]
 [-2.39674188e-01  9.70853270e-01 -4.60636000e-04]
 [-1.41907763e-04  4.39432338e-04  9.99999893e-01]]

 t_estimated:
[[-9.99994884e-01]
 [-3.10316495e-03]
 [-7.75791221e-04]]

 R_gt:
[[ 0.98098391  0.13209172  0.14220243]
 [-0.11888183  0.98808762 -0.09773106]
 [-0.15341832  0.07896681  0.98500157]]

 t_gt:
[-0.72513173  0.62262962  0.29413658]

Pose Error in degrees for R and t:
11.910954326399242 43.69995303573228

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999999e-01 -1.01508515e-05  3.97224504e-05]
 [ 1.01516401e-05  1.00000000e+00 -1.98525415e-05]
 [-3.97222489e-05  1.98529447e-05  9.99999999e-01]]

 t_estimated:
[[0.55978588]
 [0.82863674]
 [0.00096018]]

 R_gt:
[[ 0.98365738 -0.17860319 -0.02276739]
 [ 0.17815011  0.9837871  -0.0205826 ]
 [ 0.02607448  0.01619076  0.99952825]]

 t_gt:
[ 0.60304392 -0.78239615 -0.15554512]

Pose Error in degrees for R and t:
10.426597244694904 71.8867597206205

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.01103196  0.99993736 -0.00189083]
 [ 0.99991997 -0.01102001  0.00621456]
 [ 0.00619333 -0.00195924 -0.9999789 ]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.92436408 -0.38068059 -0.02516372]
 [ 0.3808405   0.9246388   0.00172827]
 [ 0.0226088  -0.0111806   0.99968141]]

 t_gt:
[ 0.69052176 -0.72317974 -0.01381163]

Pose Error in degrees for R and t:
178.46123922290087 44.03849346974057

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.19983703  0.97979953 -0.00761837]
 [ 0.97981273 -0.19978263  0.00734234]
 [ 0.005672   -0.00893185 -0.99994402]]

 t_estimated:
[[9.40639659e-01]
 [3.39406063e-01]
 [7.45947390e-04]]

 R_gt:
[[ 0.87743731 -0.47757184 -0.04505055]
 [ 0.47501123  0.87812195 -0.05713928]
 [ 0.06684817  0.02873697  0.99734957]]

 t_gt:
[ 0.73389643 -0.66439021 -0.14135658]

Pose Error in degrees for R and t:
179.27355675454578 62.30734272982097

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999889e-01 -4.70067885e-04 -6.96569066e-06]
 [ 4.70068162e-04  9.99999889e-01  3.98833213e-05]
 [ 6.94694201e-06 -3.98865912e-05  9.99999999e-01]]

 t_estimated:
[[-9.51225651e-01]
 [-3.08494518e-01]
 [-9.45486284e-04]]

 R_gt:
[[ 0.9964416   0.08416657  0.0047431 ]
 [-0.08427294  0.99597164  0.03065995]
 [-0.00214311 -0.03095067  0.99951893]]

 t_gt:
[-0.65719988  0.70038894  0.27846659]

Pose Error in degrees for R and t:
5.172621912281733 65.86952357548066

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99998465e-01 -1.67267026e-03  5.21057498e-04]
 [ 1.67325139e-03  9.99997976e-01 -1.11685782e-03]
 [-5.19188308e-04  1.11772796e-03  9.99999241e-01]]

 t_estimated:
[[-0.99969219]
 [-0.02471924]
 [-0.00211577]]

 R_gt:
[[ 0.96443103  0.26356254  0.02021142]
 [-0.26400783  0.9642241   0.02392527]
 [-0.0131821  -0.02841049  0.99950979]]

 t_gt:
[-0.66449488  0.73999077  0.10421231]

Pose Error in degrees for R and t:
15.502560189313753 49.77597909797707

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.43229747e-03  9.99954445e-01  1.46282893e-03]
 [-9.99955086e-01  9.43363778e-03 -9.12071460e-04]
 [-9.25829709e-04 -1.45416030e-03  9.99998514e-01]]

 t_estimated:
[[0.01411925]
 [0.99989949]
 [0.00128357]]

 R_gt:
[[ 0.85148442  0.51761622  0.08394747]
 [-0.51641419  0.85553268 -0.03715854]
 [-0.09105358 -0.01171203  0.99577718]]

 t_gt:
[-0.58015247  0.8064467   0.11431026]

Pose Error in degrees for R and t:
58.46227836492709 37.02992727424022

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.99345427e-01 -3.61754782e-02 -2.28256131e-04]
 [ 3.61755926e-02  9.99345314e-01  5.18563280e-04]
 [ 2.09347420e-04 -5.26481144e-04  9.99999839e-01]]

 t_estimated:
[[0.59289666]
 [0.80527756]
 [0.00126417]]

 R_gt:
[[ 0.99874714  0.04296544  0.0256724 ]
 [-0.04452283  0.99698585  0.06354449]
 [-0.02286416 -0.06460766  0.99764922]]

 t_gt:
[-0.29629804  0.01682508  0.95494732]

Pose Error in degrees for R and t:
6.021016183337503 80.73981313923531

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.9376332  -0.34686443  0.02300089]
 [-0.34762274 -0.93586464  0.05758303]
 [ 0.00155222 -0.06198739 -0.99807573]]

 t_estimated:
[[0.15593916]
 [0.98761469]
 [0.01732657]]

 R_gt:
[[ 0.99461026  0.07773124  0.06862479]
 [-0.086982    0.98572588  0.1441476 ]
 [-0.05644009 -0.14933967  0.98717353]]

 t_gt:
[-0.32962905  0.06938269  0.94155761]

Pose Error in degrees for R and t:
167.5377970179276 88.08394402785866

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-3.50869043e-01  9.36423770e-01 -1.19894366e-03]
 [-9.36420171e-01 -3.50871030e-01 -2.60469777e-03]
 [-2.85977550e-03  2.08807211e-04  9.99995889e-01]]

 t_estimated:
[[0.35795773]
 [0.93373655]
 [0.00152322]]

 R_gt:
[[ 0.97466365  0.2108773   0.07457362]
 [-0.21870054  0.96838328  0.12001528]
 [-0.04690675 -0.13328416  0.98996663]]

 t_gt:
[-0.63488976  0.49577445  0.59255607]

Pose Error in degrees for R and t:
98.332182400723 76.31630713382611

Number of keypoints:
Image1: 390
Image2: 390

 R_estimated:
[[-0.23447735 -0.97209281 -0.00747934]
 [ 0.97203005 -0.23434275 -0.01552635]
 [ 0.01334032 -0.01091072  0.99985148]]

 t_estimated:
[[9.49394334e-01]
 [3.14085343e-01]
 [8.92287908e-04]]

 R_gt:
[[ 0.99852218 -0.05084996  0.01914435]
 [ 0.05041808  0.99847651  0.02244817]
 [-0.02025703 -0.02144857  0.99956424]]

 t_gt:
[ 0.13269701 -0.80826124  0.57367697]

Pose Error in degrees for R and t:
100.68416098666599 82.68239760367369

Number of keypoints:
Image1: 336
Image2: 336

 R_estimated:
[[ 0.98240287  0.18658876 -0.00832107]
 [-0.18653569  0.98242493  0.00675987]
 [ 0.00943614 -0.00508873  0.99994253]]

 t_estimated:
[[0.62765054]
 [0.77849473]
 [0.00086692]]

 R_gt:
[[ 0.99478216 -0.08040706  0.06278828]
 [ 0.0803949   0.9967602   0.00274604]
 [-0.06280586  0.00231655  0.99802277]]

 t_gt:
[-0.06425227 -0.77497737  0.62871433]

Pose Error in degrees for R and t:
15.9111010119407 49.97672601024228

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[-8.11559707e-01 -5.84264608e-01 -2.38952557e-03]
 [ 5.84269296e-01 -8.11549278e-01 -4.14240309e-03]
 [ 4.81041768e-04 -4.75793386e-03  9.99988565e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 9.93115788e-01 -1.17117077e-01 -2.08594019e-03]
 [ 1.17136403e-01  9.92966758e-01  1.72394570e-02]
 [ 5.18961550e-05 -1.73647834e-02  9.99848908e-01]]

 t_gt:
[ 0.07234054 -0.99474931  0.07239231]

Pose Error in degrees for R and t:
137.52287279477602 84.95195930801879

Number of keypoints:
Image1: 443
Image2: 443

 R_estimated:
[[-0.56491565 -0.82264456  0.06423582]
 [-0.82268184  0.5675326   0.03318635]
 [-0.06375649 -0.03409815 -0.99738279]]

 t_estimated:
[[0.89031534]
 [0.45384097]
 [0.03697268]]

 R_gt:
[[ 0.99972292 -0.02210625  0.00815179]
 [ 0.02185513  0.99931819  0.02978102]
 [-0.00880431 -0.02959516  0.9995235 ]]

 t_gt:
[ 0.01021477 -0.67388118  0.73876912]

Pose Error in degrees for R and t:
174.63324757962607 74.3698722139982

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 8.97107869e-01  4.41804854e-01  2.43794474e-03]
 [-4.41802813e-01  8.97111171e-01 -1.34948332e-03]
 [-2.78331574e-03  1.33541260e-04  9.99996118e-01]]

 t_estimated:
[[-9.89791088e-01]
 [-1.42523617e-01]
 [-7.87423300e-04]]

 R_gt:
[[ 0.99708697 -0.06424147  0.04111226]
 [ 0.06350356  0.99780101  0.01900784]
 [-0.0422424  -0.01634223  0.99897361]]

 t_gt:
[-0.03163631 -0.7379523   0.67411093]

Pose Error in degrees for R and t:
29.98259736525948 82.18597099976925

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 8.73703401e-02 -9.96175726e-01  5.88406408e-04]
 [-9.96150985e-01 -8.73723171e-02 -7.02096428e-03]
 [ 7.04552463e-03  2.72824146e-05 -9.99975180e-01]]

 t_estimated:
[[9.17555294e-01]
 [3.97607294e-01]
 [8.49588235e-04]]

 R_gt:
[[ 0.9926015  -0.11599288  0.03588741]
 [ 0.11532736  0.99312408  0.02013101]
 [-0.03797566 -0.01584248  0.99915363]]

 t_gt:
[ 0.0922023  -0.92410698  0.37084367]

Pose Error in degrees for R and t:
178.09861280579847 73.58958058954723

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99393656e-01 -3.48177588e-02 -2.09041362e-04]
 [ 3.48178857e-02  9.99393470e-01  6.37639472e-04]
 [ 1.86713395e-04 -6.44531221e-04  9.99999775e-01]]

 t_estimated:
[[-0.91170292]
 [-0.4108487 ]
 [-0.00105889]]

 R_gt:
[[ 0.99762093  0.06556453 -0.02134567]
 [-0.06528599  0.99777568  0.01352395]
 [ 0.02218452 -0.01209785  0.99968061]]

 t_gt:
[-0.59981377  0.79836067 -0.05332623]

Pose Error in degrees for R and t:
5.91937437609209 77.3553917965839

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 7.71117272e-01  6.36692515e-01 -8.91625586e-04]
 [ 6.36645830e-01 -7.71042148e-01  1.32700219e-02]
 [ 7.76144269e-03 -1.08003928e-02 -9.99911552e-01]]

 t_estimated:
[[0.77329807]
 [0.63404218]
 [0.00077797]]

 R_gt:
[[ 0.99073553  0.13566242  0.00631502]
 [-0.13573871  0.99064971  0.0137347 ]
 [-0.00439284 -0.01446385  0.99988652]]

 t_gt:
[-0.6330899   0.76767209  0.09938181]

Pose Error in degrees for R and t:
178.59764773685697 89.84224149774488

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 5.73403396e-01  8.19272782e-01  8.08658896e-04]
 [-8.19273075e-01  5.73402538e-01  1.07583083e-03]
 [ 4.17711857e-04 -1.27939751e-03  9.99999094e-01]]

 t_estimated:
[[8.61657937e-01]
 [5.07488927e-01]
 [7.66599588e-04]]

 R_gt:
[[ 0.90545535  0.42438412  0.00701926]
 [-0.42443869  0.90539352  0.01069394]
 [-0.00181719 -0.01266074  0.99991881]]

 t_gt:
[-0.59627609  0.80246644  0.02241509]

Pose Error in degrees for R and t:
29.904557531380057 83.88490613524775

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-9.99945997e-01 -1.03921979e-02 -7.40736003e-05]
 [-1.03923722e-02  9.99941579e-01  2.97259098e-03]
 [ 4.31775191e-05  2.97320025e-03 -9.99995579e-01]]

 t_estimated:
[[9.99985020e-01]
 [5.41754988e-03]
 [7.81202394e-04]]

 R_gt:
[[ 0.98594147 -0.16677108 -0.01033785]
 [ 0.16700072  0.98555965  0.02798587]
 [ 0.00552013 -0.02931817  0.9995549 ]]

 t_gt:
[ 0.97202388 -0.16842159  0.16371849]

Pose Error in degrees for R and t:
179.56376950632324 13.778244056377103

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.85290343e-01  1.70888636e-01  1.22268550e-04]
 [-1.70888550e-01  9.85290225e-01 -5.25801766e-04]
 [-2.10323553e-04  4.97173107e-04  9.99999854e-01]]

 t_estimated:
[[9.99988831e-01]
 [4.66195259e-03]
 [7.76992099e-04]]

 R_gt:
[[ 0.98155314 -0.18745882  0.0375825 ]
 [ 0.18532077  0.98119223  0.05402292]
 [-0.04700343 -0.04606059  0.99783256]]

 t_gt:
[ 0.93874183 -0.17087286  0.2992762 ]

Pose Error in degrees for R and t:
20.93556103782468 20.253981821018083

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 7.98258773e-01 -6.02314529e-01  3.72385531e-04]
 [ 6.02314176e-01  7.98258771e-01  7.53367222e-04]
 [-7.51024040e-04 -3.77088910e-04  9.99999647e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.96573671 -0.25293952  0.05810008]
 [ 0.24803707  0.9654295   0.0801545 ]
 [-0.07636689 -0.06299757  0.99508774]]

 t_gt:
[ 0.93739431 -0.13742005  0.32001194]

Pose Error in degrees for R and t:
23.178494160758795 82.45884872842672

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.07857542 -0.99688313 -0.0070661 ]
 [-0.9969061   0.07858773 -0.00148071]
 [ 0.00203141  0.00692789 -0.99997394]]

 t_estimated:
[[ 0.70093741]
 [ 0.71321812]
 [-0.00258207]]

 R_gt:
[[ 0.99643722  0.07668669  0.03509583]
 [-0.078368    0.9957038   0.04931778]
 [-0.03116329 -0.05189173  0.99816578]]

 t_gt:
[-0.7123958   0.40278311  0.57468077]

Pose Error in degrees for R and t:
176.99563733465556 77.66914449332124

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-9.93190174e-01 -1.15912157e-01 -1.17324703e-02]
 [-1.15916322e-01  9.93258929e-01 -3.26675194e-04]
 [ 1.16912465e-02  1.03553421e-03 -9.99931119e-01]]

 t_estimated:
[[ 0.99792897]
 [ 0.06408568]
 [-0.00555002]]

 R_gt:
[[ 0.98058619  0.19559817  0.01387456]
 [-0.19571327  0.98063264  0.00741073]
 [-0.0121569  -0.00998243  0.9998758 ]]

 t_gt:
[-0.70383578  0.71012836  0.01824547]

Pose Error in degrees for R and t:
179.8989017872869 48.930780778201225

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.00108892  0.99999788  0.00174704]
 [-0.99999784 -0.00108582 -0.00177254]
 [-0.00177064 -0.00174897  0.9999969 ]]

 t_estimated:
[[0.08447523]
 [0.99642373]
 [0.00191989]]

 R_gt:
[[ 0.98443376  0.17305449  0.03070081]
 [-0.17009266  0.98204818 -0.08154613]
 [-0.04426174  0.07505554  0.99619655]]

 t_gt:
[-0.61276603  0.74342714 -0.26801843]

Pose Error in degrees for R and t:
80.28930128771287 46.48927646910524

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.27820618  0.95837762  0.06413784]
 [ 0.9593173  -0.27389487 -0.0684976 ]
 [-0.04807954  0.08058499 -0.99558747]]

 t_estimated:
[[-0.78056263]
 [-0.62500857]
 [-0.00928879]]

 R_gt:
[[ 0.99037357 -0.13675083 -0.02145691]
 [ 0.13744559  0.9898839   0.03519515]
 [ 0.01642645 -0.03780585  0.99914987]]

 t_gt:
[ 0.67809922 -0.72261432  0.13420131]

Pose Error in degrees for R and t:
176.949218195258 85.47435262869476

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99994815e-01  3.19176350e-03  4.27023320e-04]
 [-3.19181427e-03  9.99994899e-01  1.18264585e-04]
 [-4.26643670e-04 -1.19626950e-04  9.99999902e-01]]

 t_estimated:
[[-9.99997153e-01]
 [ 2.36854362e-03]
 [ 2.89540402e-04]]

 R_gt:
[[ 0.9640768  -0.26454918 -0.02388933]
 [ 0.26536792  0.95527831  0.1304733 ]
 [-0.01169598 -0.13212556  0.99116367]]

 t_gt:
[ 0.64984144 -0.65620533  0.38353705]

Pose Error in degrees for R and t:
17.365210723766467 49.36161154566341

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.65920595 -0.63736982  0.3990078 ]
 [-0.75183072  0.54871929 -0.36559228]
 [ 0.01407421 -0.54098692 -0.84091323]]

 t_estimated:
[[0.75437673]
 [0.64763358]
 [0.10717503]]

 R_gt:
[[ 0.94504561 -0.32624515 -0.02130873]
 [ 0.3251276   0.93095479  0.16617905]
 [-0.03437832 -0.16397473  0.98586531]]

 t_gt:
[ 0.64238673 -0.64023658  0.42123202]

Pose Error in degrees for R and t:
168.3371124188714 83.39011999794118

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.92714633e-01 -1.20489212e-01 -8.30535293e-05]
 [ 1.20489222e-01  9.92714628e-01  1.21278732e-04]
 [ 6.78356747e-05 -1.30402227e-04  9.99999989e-01]]

 t_estimated:
[[0.42800401]
 [0.90377633]
 [0.00095537]]

 R_gt:
[[ 0.99805126  0.04449298  0.04374272]
 [-0.04272474  0.99826378 -0.04056314]
 [-0.04547156  0.03861576  0.99821924]]

 t_gt:
[-0.75430874  0.65075665  0.08679922]

Pose Error in degrees for R and t:
10.024815601304741 74.61081015946446

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.26354205e-01 -3.76653389e-01  3.33379680e-04]
 [ 3.76653243e-01  9.26354226e-01  4.28282742e-04]
 [-4.70141821e-04 -2.71172981e-04  9.99999853e-01]]

 t_estimated:
[[-7.81016805e-01]
 [-6.24509546e-01]
 [-7.59743974e-04]]

 R_gt:
[[ 0.9905393   0.07525772  0.11475024]
 [-0.06902115  0.99596257 -0.05739689]
 [-0.11860671  0.04893315  0.99173453]]

 t_gt:
[-0.71910714  0.54000792  0.43735153]

Pose Error in degrees for R and t:
27.27392005438336 77.05225107372392

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 3.18978067e-01  9.47762095e-01  7.06677212e-05]
 [ 9.47745548e-01 -3.18972937e-01  5.88568677e-03]
 [ 5.60077191e-03 -1.81042997e-03 -9.99982677e-01]]

 t_estimated:
[[-0.97300358]
 [-0.23078562]
 [-0.0014246 ]]

 R_gt:
[[ 0.97599018  0.18413231  0.1163508 ]
 [-0.17530375  0.98108325 -0.0821227 ]
 [-0.12927052  0.05975463  0.98980731]]

 t_gt:
[-0.70964784  0.66545471  0.23145187]

Pose Error in degrees for R and t:
172.8268736944914 57.54868407585138

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 5.79350481e-01  8.15078054e-01  8.85975404e-04]
 [-8.15078215e-01  5.79350875e-01 -2.57264550e-04]
 [-7.22981315e-04 -5.73092910e-04  9.99999574e-01]]

 t_estimated:
[[0.5430189 ]
 [0.83971995]
 [0.00093302]]

 R_gt:
[[ 0.98731647 -0.15858541  0.00767094]
 [ 0.15835034  0.98706668  0.02499261]
 [-0.01153551 -0.02346133  0.99965742]]

 t_gt:
[ 0.54728679 -0.82658224  0.13129728]

Pose Error in degrees for R and t:
63.7297283296671 66.62246465913863

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.9981412   0.05462688 -0.02701942]
 [-0.05484499  0.99846748 -0.0073976 ]
 [ 0.0265739   0.00886573  0.99960754]]

 t_estimated:
[[-0.76200076]
 [-0.63500063]
 [-0.12700013]]

 R_gt:
[[ 9.47331530e-01 -3.20255043e-01 -7.30873008e-04]
 [ 3.20247784e-01  9.47290821e-01  9.01396245e-03]
 [-2.19502808e-03 -8.77306792e-03  9.99958533e-01]]

 t_gt:
[ 0.63851097 -0.76938205  0.01884147]

Pose Error in degrees for R and t:
21.895259257224208 89.97819201913404

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.79821807e-01  1.99872853e-01 -2.60815592e-04]
 [-1.99872773e-01  9.79821811e-01  3.03954178e-04]
 [ 3.16304995e-04 -2.45690997e-04  9.99999920e-01]]

 t_estimated:
[[-0.99708073]
 [-0.07634751]
 [-0.00103572]]

 R_gt:
[[ 0.86436336 -0.50283062 -0.00617521]
 [ 0.50267107  0.86361465  0.03861785]
 [-0.01408484 -0.03648391  0.99923517]]

 t_gt:
[ 0.71583937 -0.69478592  0.06961697]

Pose Error in degrees for R and t:
41.78112651008254 48.64087419487247

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99866910e-01 -1.63122657e-02  2.67801405e-04]
 [ 1.63123256e-02  9.99866920e-01 -2.23035394e-04]
 [-2.64127554e-04  2.27374174e-04  9.99999939e-01]]

 t_estimated:
[[-0.57029124]
 [-0.8214414 ]
 [-0.00138757]]

 R_gt:
[[ 0.98392829 -0.16411445 -0.0703674 ]
 [ 0.16598596  0.98589258  0.02158355]
 [ 0.06583251 -0.0329168   0.99728791]]

 t_gt:
[ 0.62868102 -0.77049107 -0.10537406]

Pose Error in degrees for R and t:
9.5671921842874 74.06610013914384

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-3.37467339e-01  9.41337013e-01  6.49484487e-04]
 [-9.41336079e-01 -3.37465762e-01 -1.80156654e-03]
 [-1.47670249e-03 -1.21935305e-03  9.99998166e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96343177 -0.23732592 -0.12440176]
 [ 0.2487708   0.96472148  0.08617333]
 [ 0.09956159 -0.11397012  0.98848301]]

 t_gt:
[ 0.61549429 -0.78515461  0.06854944]

Pose Error in degrees for R and t:
124.05686020063403 38.62677033763592

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.99341538 -0.11455018  0.00203264]
 [-0.11446569  0.9931206   0.02467972]
 [-0.00484572  0.02428455 -0.99969334]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9510251  -0.26933163 -0.15169896]
 [ 0.29477108  0.93793532  0.18272412]
 [ 0.09307099 -0.21849169  0.97139049]]

 t_gt:
[ 0.54723964 -0.77824677  0.30799472]

Pose Error in degrees for R and t:
173.93832857652947 56.97106922039273

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.88030564e-01 -1.54258193e-01 -1.19043349e-04]
 [ 1.54258207e-01  9.88030562e-01  1.20832361e-04]
 [ 9.89790851e-05 -1.37749480e-04  9.99999986e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99694462  0.06753507 -0.03924553]
 [-0.06682913  0.99758376  0.01901791]
 [ 0.04043493 -0.01633763  0.99904879]]

 t_gt:
[-0.24928671  0.93096219 -0.26676869]

Pose Error in degrees for R and t:
12.96811164249323 75.72326400753616

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99999987e-01 -1.14316992e-04 -1.15003489e-04]
 [ 1.14328685e-04  9.99999988e-01  1.01674823e-04]
 [ 1.14991865e-04 -1.01687970e-04  9.99999988e-01]]

 t_estimated:
[[-9.99997163e-01]
 [-2.28920928e-03]
 [-6.58476822e-04]]

 R_gt:
[[ 0.99207704  0.11440629 -0.05189695]
 [-0.11340124  0.99330797  0.02192632]
 [ 0.05405815 -0.01586794  0.99841166]]

 t_gt:
[-0.26860558  0.95051024 -0.15614522]

Pose Error in degrees for R and t:
7.300510992875771 74.54201212178043

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.81008083e-01 -1.93966837e-01 -8.38207307e-05]
 [ 1.93966851e-01  9.81008062e-01  2.05834582e-04]
 [ 4.23037297e-05 -2.18183832e-04  9.99999975e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99721873  0.05640601 -0.04871479]
 [-0.05604164  0.9983901   0.00883291]
 [ 0.04913403 -0.00607788  0.99877374]]

 t_gt:
[ 0.17263842  0.92460537 -0.33955985]

Pose Error in degrees for R and t:
14.683647836837268 79.90730007195336

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-9.37558634e-01 -3.47826106e-01 -8.98783771e-04]
 [-3.47827247e-01  9.37554583e-01  2.75866786e-03]
 [-1.16877856e-04  2.89903436e-03 -9.99995791e-01]]

 t_estimated:
[[0.8560641 ]
 [0.51686889]
 [0.00089734]]

 R_gt:
[[ 0.99823489  0.0077836   0.05888092]
 [-0.01610853  0.98969741  0.14226569]
 [-0.05716748 -0.14296319  0.98807598]]

 t_gt:
[-0.1023782  -0.0080495   0.99471298]

Pose Error in degrees for R and t:
175.29232637838652 84.7840250531114

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.96309414 -0.26903861 -0.00824023]
 [ 0.26914886  0.96225295  0.04035029]
 [-0.00292661 -0.04107898  0.99915162]]

 t_estimated:
[[0.51381886]
 [0.85255474]
 [0.09560644]]

 R_gt:
[[ 0.99399169 -0.01753986  0.10804267]
 [-0.00893387  0.9707843   0.23978761]
 [-0.10909166 -0.23931162  0.96479491]]

 t_gt:
[-0.02811352 -0.03552047  0.99897344]

Pose Error in degrees for R and t:
20.225911121877736 87.08927471258389

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-6.53253031e-01  7.57138217e-01 -1.48231558e-03]
 [-7.57137832e-01 -6.53254507e-01 -9.23664451e-04]
 [-1.66767099e-03  5.18930606e-04  9.99998475e-01]]

 t_estimated:
[[0.77249337]
 [0.63502235]
 [0.00078109]]

 R_gt:
[[ 0.9924007  -0.07270445  0.09927176]
 [ 0.03682129  0.94527213  0.32419968]
 [-0.11740959 -0.31807991  0.94076564]]

 t_gt:
[ 0.07840581 -0.14868473  0.98577146]

Pose Error in degrees for R and t:
134.76373153056318 88.10429917479634

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.95676833 -0.29071974 -0.00874052]
 [ 0.29058588 -0.95674721  0.01395072]
 [-0.01241822  0.01080774  0.99986448]]

 t_estimated:
[[0.99775261]
 [0.0668351 ]
 [0.00477394]]

 R_gt:
[[ 0.99753912  0.0527658   0.04617176]
 [-0.0524063   0.99858546 -0.00897883]
 [-0.04658042  0.00653753  0.99889305]]

 t_gt:
[-0.73406813  0.51774314  0.43941555]

Pose Error in degrees for R and t:
166.10779691545002 45.91560079985122

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.87069119e-01  1.60293178e-01  8.06707855e-04]
 [-1.60291430e-01  9.87067908e-01 -1.89804769e-03]
 [-1.10051953e-03  1.74419591e-03  9.99997873e-01]]

 t_estimated:
[[0.16664995]
 [0.98601221]
 [0.0027775 ]]

 R_gt:
[[ 0.99625315  0.08137646 -0.02927862]
 [-0.07774178  0.99098881  0.10907968]
 [ 0.03789152 -0.10639411  0.99360191]]

 t_gt:
[-0.67995997  0.34166001  0.64878569]

Pose Error in degrees for R and t:
8.070677172275092 76.97550165671065

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.62181091e-01 -2.72408899e-01  9.69146113e-04]
 [-2.72407142e-01 -9.62180692e-01 -1.63215179e-03]
 [ 1.37710635e-03  1.30642327e-03 -9.99998198e-01]]

 t_estimated:
[[0.57953621]
 [0.81494604]
 [0.00085604]]

 R_gt:
[[ 0.98981102 -0.00245193 -0.14236679]
 [ 0.03379195  0.97533068  0.21814852]
 [ 0.13832008 -0.22073571  0.9654752 ]]

 t_gt:
[ 0.38711687 -0.60251402  0.69793795]

Pose Error in degrees for R and t:
168.61844643014862 74.56941565915686

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.98273657e-01  5.87341633e-02 -6.72348718e-05]
 [-5.87341703e-02  9.98273653e-01 -1.07630636e-04]
 [ 6.07972057e-05  1.11393813e-04  9.99999992e-01]]

 t_estimated:
[[-0.96432062]
 [-0.2647352 ]
 [-0.0010066 ]]

 R_gt:
[[ 0.99634296 -0.07333557  0.04384847]
 [ 0.07178529  0.99677325  0.03592415]
 [-0.04634168 -0.03264547  0.99839241]]

 t_gt:
[-0.15903335 -0.85930624  0.4861082 ]

Pose Error in degrees for R and t:
8.20431461840651 67.64411365733602

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99998459e-01  1.75559828e-03 -1.28275302e-05]
 [-1.75560439e-03  9.99998338e-01 -4.92538291e-04]
 [ 1.19628095e-05  4.92560052e-04  9.99999879e-01]]

 t_estimated:
[[3.08412611e-01]
 [9.51252491e-01]
 [5.99732297e-04]]

 R_gt:
[[ 0.98035719 -0.19523276  0.02799874]
 [ 0.19448114  0.98052171  0.02744717]
 [-0.03281139 -0.02146314  0.99923119]]

 t_gt:
[ 0.24439832 -0.94502324  0.21725683]

Pose Error in degrees for R and t:
11.564713402033952 34.56835218565576

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-0.28171799  0.95945361  0.00915064]
 [ 0.9594838   0.28175172 -0.00260719]
 [-0.00507969  0.0080454  -0.99995473]]

 t_estimated:
[[0.99258492]
 [0.12140893]
 [0.00591959]]

 R_gt:
[[ 0.93808576 -0.34639212  0.00289453]
 [ 0.3453348   0.93581374  0.07067469]
 [-0.02718924 -0.06529943  0.99749486]]

 t_gt:
[ 0.45256462 -0.86579062  0.21352253]

Pose Error in degrees for R and t:
178.8644997416492 69.79634431751082

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.99857492e-01  1.68814733e-02  1.02889732e-04]
 [-1.68814646e-02  9.99857494e-01 -8.56489117e-05]
 [-1.04320949e-04  8.38997768e-05  9.99999991e-01]]

 t_estimated:
[[ 0.98844706]
 [-0.15155826]
 [ 0.00158243]]

 R_gt:
[[ 0.99943522 -0.0215374  -0.02582139]
 [ 0.02211249  0.99950916  0.02220344]
 [ 0.02533009 -0.02276125  0.99942044]]

 t_gt:
[ 0.44415023 -0.87057858 -0.21171561]

Pose Error in degrees for R and t:
2.9587185349707004 55.206016246096894

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99822834e-01  1.88226559e-02  9.31961475e-05]
 [-1.88226430e-02  9.99822829e-01 -1.36810400e-04]
 [-9.57547709e-05  1.35031964e-04  9.99999986e-01]]

 t_estimated:
[[ 9.96169429e-01]
 [-8.74435203e-02]
 [ 3.14130271e-04]]

 R_gt:
[[ 0.99873321 -0.04535566 -0.02179222]
 [ 0.04559617  0.99890318  0.01066175]
 [ 0.02128443 -0.011642    0.99970599]]

 t_gt:
[ 0.54889236 -0.81655126 -0.17877698]

Pose Error in degrees for R and t:
3.9415448541594404 51.81987553516948

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.03725645  0.99930458 -0.00151828]
 [-0.99930514  0.03725473 -0.00114622]
 [-0.00108886  0.00155993  0.99999819]]

 t_estimated:
[[ 7.95527436e-02]
 [ 9.96830640e-01]
 [-1.89036222e-04]]

 R_gt:
[[ 0.98587696 -0.16746414 -0.00156391]
 [ 0.16738948  0.98564349 -0.02210007]
 [ 0.00524132  0.02152577  0.99975524]]

 t_gt:
[ 0.68848788 -0.72044769 -0.08330402]

Pose Error in degrees for R and t:
97.50893735763317 48.442029275799015

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 0.51120589  0.85936394  0.01273404]
 [ 0.85938904 -0.51092054 -0.02026518]
 [-0.01090908  0.02130318 -0.99971354]]

 t_estimated:
[[-0.51412553]
 [ 0.85762924]
 [-0.0121253 ]]

 R_gt:
[[ 0.98736568 -0.15821406  0.00880337]
 [ 0.15844816  0.98639362 -0.04382435]
 [-0.00175003  0.04466632  0.99900008]]

 t_gt:
[ 0.49125233 -0.78313793 -0.38126911]

Pose Error in degrees for R and t:
176.2683011047783 23.1346081370139

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.79031637  0.5085922   0.34166359]
 [-0.55234651 -0.83274575 -0.03805055]
 [ 0.26516669 -0.21878867  0.93905173]]

 t_estimated:
[[0.59129585]
 [0.80645324]
 [0.00154789]]

 R_gt:
[[ 0.96808265 -0.2503709   0.01147888]
 [ 0.25062215  0.96744429 -0.03519867]
 [-0.00229223  0.03695262  0.99931469]]

 t_gt:
[ 0.4000796  -0.89382843 -0.20250199]

Pose Error in degrees for R and t:
161.94481261699195 61.01511478646867

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999778e-01 -6.40994824e-04  1.83303647e-04]
 [ 6.41058804e-04  9.99999734e-01 -3.49191670e-04]
 [-1.83079768e-04  3.49309101e-04  9.99999922e-01]]

 t_estimated:
[[-9.99993536e-01]
 [-3.53593857e-03]
 [-6.51590119e-04]]

 R_gt:
[[ 0.943425   -0.32740925  0.05247722]
 [ 0.32927405  0.94369858 -0.03180499]
 [-0.03910899  0.04728519  0.99811555]]

 t_gt:
[ 0.35796357 -0.93313753 -0.03341306]

Pose Error in degrees for R and t:
19.463839830642346 69.22861948175672

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.99799217  0.06182794  0.01374552]
 [-0.0616175   0.99798349 -0.01523957]
 [-0.01466003  0.014362    0.99978939]]

 t_estimated:
[[0.35157122]
 [0.93616058]
 [0.00102201]]

 R_gt:
[[ 0.98887896 -0.03222699 -0.14518858]
 [ 0.05345539  0.98801987  0.14477453]
 [ 0.13878288 -0.1509251   0.97875368]]

 t_gt:
[ 0.65909792 -0.72795194  0.18888068]

Pose Error in degrees for R and t:
14.329362732287173 63.2840927061362

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-9.18312816e-01  3.95850753e-01 -1.93734494e-03]
 [ 3.95855458e-01  9.18299649e-01 -4.92046938e-03]
 [-1.68708328e-04 -5.28543866e-03 -9.99986018e-01]]

 t_estimated:
[[0.99178309]
 [0.12792107]
 [0.00157927]]

 R_gt:
[[ 0.96964872 -0.1182029  -0.21402856]
 [ 0.16708112  0.95943615  0.22708015]
 [ 0.17850493 -0.25594833  0.95006575]]

 t_gt:
[ 0.71553916 -0.62000662  0.32186254]

Pose Error in degrees for R and t:
165.86830109749408 50.886691650360056

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-0.56162954 -0.82137078 -0.09961076]
 [ 0.82450374 -0.54555522 -0.15021011]
 [ 0.06903503 -0.16649188  0.98362321]]

 t_estimated:
[[0.99797107]
 [0.06350725]
 [0.00453623]]

 R_gt:
[[ 0.93947477 -0.22269055 -0.26037492]
 [ 0.28713753  0.92635549  0.24375583]
 [ 0.18691692 -0.30376575  0.9342301 ]]

 t_gt:
[ 0.77657277 -0.55932057  0.28999177]

Pose Error in degrees for R and t:
108.71213140571906 42.201098297603316

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.36453286 -0.24069514  0.89954524]
 [-0.93082318  0.1213193  -0.34474605]
 [-0.0261535  -0.96298883 -0.26826948]]

 t_estimated:
[[0.70224688]
 [0.70224688]
 [0.11704115]]

 R_gt:
[[ 0.99870712  0.02870079 -0.04196319]
 [-0.02579439  0.99733454  0.06825489]
 [ 0.04381061 -0.06708328  0.99678574]]

 t_gt:
[0.42113102 0.46367627 0.779521  ]

Pose Error in degrees for R and t:
138.2104321798213 44.55402873972327

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.68190788  0.73129904 -0.01426026]
 [ 0.73128095  0.6820359   0.00743014]
 [ 0.01515966 -0.00536159 -0.99987071]]

 t_estimated:
[[ 0.99937062]
 [ 0.03504453]
 [-0.00549936]]

 R_gt:
[[ 0.98962583  0.13374769 -0.05245775]
 [-0.12922656  0.98823928  0.08175327]
 [ 0.06277556 -0.07412635  0.99527115]]

 t_gt:
[-0.3326875   0.92316916  0.19255575]

Pose Error in degrees for R and t:
174.25320368081606 72.47120771590902

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-2.50072041e-01 -9.68227227e-01 -1.03990799e-04]
 [-9.68226209e-01  2.50071619e-01  1.48089750e-03]
 [-1.40784013e-03  4.71017677e-04 -9.99998898e-01]]

 t_estimated:
[[0.77990455]
 [0.62589679]
 [0.00144929]]

 R_gt:
[[ 0.98970378  0.12321246 -0.07283738]
 [-0.11644269  0.98903256  0.09085893]
 [ 0.08323314 -0.08144175  0.99319716]]

 t_gt:
[-0.10957907  0.97172973  0.2091262 ]

Pose Error in degrees for R and t:
179.52942824854136 58.46331439740593

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 9.99916396e-01  1.29304464e-02  7.21066946e-05]
 [-1.29304475e-02  9.99916398e-01  1.44727390e-05]
 [-7.19135274e-05 -1.54039008e-05  9.99999997e-01]]

 t_estimated:
[[0.63556589]
 [0.77204602]
 [0.00097239]]

 R_gt:
[[ 0.99496999 -0.09387438  0.03496099]
 [ 0.09352357  0.99555048  0.01154704]
 [-0.03588985 -0.00821924  0.99932155]]

 t_gt:
[ 0.88869149 -0.27930907  0.36361226]

Pose Error in degrees for R and t:
6.471048476100716 69.54105506098816

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.84708960e-01  1.74207478e-01  1.39676081e-04]
 [-1.74207480e-01  9.84708969e-01 -3.61627596e-06]
 [-1.38170272e-04 -2.07716387e-05  9.99999990e-01]]

 t_estimated:
[[0.43350008]
 [0.90115305]
 [0.00092543]]

 R_gt:
[[ 9.89021523e-01 -1.23202252e-01  8.15916939e-02]
 [ 1.23583201e-01  9.92333695e-01  3.80302890e-04]
 [-8.10131102e-02  9.70630596e-03  9.96666173e-01]]

 t_gt:
[ 0.87090596 -0.05717008  0.48811308]

Pose Error in degrees for R and t:
17.753446040430042 70.94530958356512

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.08883710e-01  4.17049183e-01  6.17385691e-04]
 [-4.17049254e-01  9.08883887e-01 -1.56502298e-05]
 [-5.67658822e-04 -2.43256003e-04  9.99999809e-01]]

 t_estimated:
[[-0.03763373]
 [ 0.99929106]
 [ 0.00103959]]

 R_gt:
[[ 0.98441825 -0.09381262  0.14872637]
 [ 0.10072308  0.99412572 -0.03962143]
 [-0.14413666  0.05398363  0.98808419]]

 t_gt:
[0.68485093 0.31274593 0.6581559 ]

Pose Error in degrees for R and t:
31.494494524234618 73.29554865183786

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999944e-01  2.95186858e-04 -1.56909162e-04]
 [-2.95185104e-04  9.99999956e-01  1.12003168e-05]
 [ 1.56912462e-04 -1.11539989e-05  9.99999988e-01]]

 t_estimated:
[[-0.86215183]
 [-0.50664864]
 [-0.00117004]]

 R_gt:
[[ 0.99341049  0.11457745  0.00273001]
 [-0.11438964  0.99269619 -0.0383235 ]
 [-0.00710137  0.03775996  0.99926203]]

 t_gt:
[-0.41700069  0.90263906 -0.10655123]

Pose Error in degrees for R and t:
6.919264097865547 84.39450910459936

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.96090445e-01  8.83366409e-02 -6.81018062e-04]
 [-8.83360916e-02  9.96090406e-01  7.98512681e-04]
 [ 7.48893486e-04 -7.35232378e-04  9.99999449e-01]]

 t_estimated:
[[3.56103834e-01]
 [9.34446260e-01]
 [4.97037662e-04]]

 R_gt:
[[ 0.99009714  0.13512346  0.03808427]
 [-0.13753641  0.98801106  0.07012558]
 [-0.02815278 -0.07466916  0.99681117]]

 t_gt:
[-0.43121253  0.77114427  0.46839328]

Pose Error in degrees for R and t:
5.33538685359392 55.439978687271

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.46458796e-01 -3.22824089e-01 -5.95915048e-04]
 [ 3.22824402e-01  9.46458726e-01  5.34447481e-04]
 [ 3.91476475e-04 -6.98208439e-04  9.99999680e-01]]

 t_estimated:
[[-0.66871079]
 [-0.74352197]
 [-0.00097866]]

 R_gt:
[[ 0.98710756  0.12078501  0.10502281]
 [-0.13808578  0.97444533  0.17716616]
 [-0.08094128 -0.18938301  0.97856155]]

 t_gt:
[-0.30364586  0.49431465  0.81452576]

Pose Error in degrees for R and t:
28.857055730905458 80.48651737434292

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[-5.94633423e-01 -8.03993679e-01 -2.29290231e-03]
 [ 8.03996472e-01 -5.94633755e-01 -6.07880690e-04]
 [-8.74704878e-04 -2.20495154e-03  9.99997187e-01]]

 t_estimated:
[[9.62259886e-01]
 [2.72130727e-01]
 [8.82871944e-04]]

 R_gt:
[[ 0.98902734 -0.1449528  -0.02852968]
 [ 0.14531324  0.98932423  0.0109806 ]
 [ 0.02663415 -0.01500484  0.99953276]]

 t_gt:
[ 0.53126562 -0.84678141  0.02679716]

Pose Error in degrees for R and t:
118.14546227801395 73.69180351127099

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 4.96150232e-01  8.68236234e-01  8.87725155e-04]
 [-8.68233327e-01  4.96150897e-01 -2.27512390e-03]
 [-2.41579064e-03  3.58050689e-04  9.99997018e-01]]

 t_estimated:
[[-8.63611151e-02]
 [ 9.96263492e-01]
 [ 9.01452462e-04]]

 R_gt:
[[ 0.95464334 -0.29422347 -0.04569017]
 [ 0.29606004  0.95430907  0.04052298]
 [ 0.03167942 -0.05221162  0.99813351]]

 t_gt:
[ 0.59382722 -0.7982058   0.10117672]

Pose Error in degrees for R and t:
77.51037352374371 32.176067625476634

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.28942809  0.95718146 -0.00591922]
 [ 0.95718907 -0.2893901   0.00651621]
 [ 0.00452423 -0.00755179 -0.99996125]]

 t_estimated:
[[9.12105939e-01]
 [4.09953752e-01]
 [8.23200306e-04]]

 R_gt:
[[ 0.93355939 -0.3488868  -0.08213192]
 [ 0.35397268  0.93343529  0.05832699]
 [ 0.05631547 -0.08352334  0.99491344]]

 t_gt:
[ 0.60847595 -0.78559693  0.11222516]

Pose Error in degrees for R and t:
173.7679880498977 76.52456198916995

Number of keypoints:
Image1: 364
Image2: 364

 R_estimated:
[[ 9.99962911e-01 -8.61259095e-03 -3.51625102e-06]
 [ 8.61259093e-03  9.99962911e-01 -5.94739265e-06]
 [ 3.56734307e-06  5.91688804e-06  1.00000000e+00]]

 t_estimated:
[[-0.64881001]
 [-0.76095002]
 [-0.000801  ]]

 R_gt:
[[ 0.99984148 -0.00174235 -0.01776715]
 [ 0.00194178  0.99993451  0.0112283 ]
 [ 0.01774655 -0.01126104  0.99977892]]

 t_gt:
[ 0.25093596 -0.64197714 -0.72449741]

Pose Error in degrees for R and t:
1.265128964588554 70.95667243105366

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 4.08874635e-01  9.12590463e-01  4.24533695e-04]
 [-9.12589736e-01  4.08874846e-01 -1.15466290e-03]
 [-1.22731550e-03  8.46872795e-05  9.99999243e-01]]

 t_estimated:
[[0.39809293]
 [0.91734459]
 [0.00096158]]

 R_gt:
[[ 0.99472653 -0.10212041  0.00951862]
 [ 0.10222561  0.9946961  -0.01135764]
 [-0.00830769  0.01227204  0.99989074]]

 t_gt:
[ 0.65505962 -0.75541892  0.01546467]

Pose Error in degrees for R and t:
71.73397317767268 64.39337792236704

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99997059e-01 -2.41968117e-03  1.64180970e-04]
 [ 2.41968802e-03  9.99997072e-01 -4.15638870e-05]
 [-1.64079918e-04  4.19610315e-05  9.99999986e-01]]

 t_estimated:
[[9.50201292e-01]
 [3.11636684e-01]
 [2.84743066e-04]]

 R_gt:
[[ 0.97105181 -0.23878021 -0.00665071]
 [ 0.2382308   0.97010501 -0.04626505]
 [ 0.01749978  0.04334193  0.99890717]]

 t_gt:
[ 0.75250966 -0.64444183 -0.13573482]

Pose Error in degrees for R and t:
13.926293922683447 59.058322380052886

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.95668820e-01 -9.29691293e-02  5.84611280e-04]
 [ 9.29679609e-02  9.95667508e-01  1.78112204e-03]
 [-7.47667821e-04 -1.71905757e-03  9.99998243e-01]]

 t_estimated:
[[0.41582279]
 [0.90944467]
 [0.00134136]]

 R_gt:
[[ 9.85842407e-01 -1.67661894e-01 -1.68185117e-03]
 [ 1.67670700e-01  9.85791436e-01  1.00458340e-02]
 [-2.65354160e-05 -1.01854981e-02  9.99948499e-01]]

 t_gt:
[ 0.85906427 -0.51121466  0.0258486 ]

Pose Error in degrees for R and t:
4.345856042998091 83.81908079728329

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.86570138 -0.50055853 -0.00151111]
 [ 0.50055413  0.86570148 -0.00255217]
 [ 0.00258568  0.00145303  0.9999956 ]]

 t_estimated:
[[ 0.87258966]
 [-0.48844359]
 [-0.00318663]]

 R_gt:
[[ 0.92233708 -0.38636595 -0.00387385]
 [ 0.38633873  0.92202175  0.02485179]
 [-0.00603033 -0.02441802  0.99968305]]

 t_gt:
[ 0.90794534 -0.41663676  0.04526676]

Pose Error in degrees for R and t:
7.472168329330729 5.36270440073087

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99947263e-01  1.02564321e-02  5.25261192e-04]
 [-1.02564141e-02  9.99947401e-01 -3.69275832e-05]
 [-5.25612309e-04  3.15383395e-05  9.99999861e-01]]

 t_estimated:
[[9.99636879e-01]
 [2.69357555e-02]
 [7.58441157e-04]]

 R_gt:
[[ 8.60920747e-01 -5.08366103e-01  1.94607492e-02]
 [ 5.08220800e-01  8.61141279e-01  1.21536143e-02]
 [-2.29364906e-02 -5.73341733e-04  9.99736392e-01]]

 t_gt:
[ 0.93086783 -0.36506825  0.01450042]

Pose Error in degrees for R and t:
31.168224010787235 22.970278583190268

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-6.40686499e-01 -7.67802259e-01  7.07639111e-04]
 [-7.67801844e-01  6.40686889e-01  7.99625633e-04]
 [-1.06732947e-03 -3.10172669e-05 -9.99999430e-01]]

 t_estimated:
[[0.93710476]
 [0.34904307]
 [0.00189697]]

 R_gt:
[[ 0.9719039  -0.23419701  0.02355382]
 [ 0.23372647  0.97207338  0.02109094]
 [-0.02783595 -0.01499274  0.9994997 ]]

 t_gt:
[ 0.8691468  -0.48461933  0.0986304 ]

Pose Error in degrees for R and t:
178.15671490237372 49.79564924053082

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.55485957  0.83190606 -0.00794801]
 [-0.83177752  0.55491433  0.01470511]
 [ 0.01664374 -0.0015483   0.99986028]]

 t_estimated:
[[-0.99758276]
 [-0.06906342]
 [-0.00767371]]

 R_gt:
[[ 9.22616255e-01 -3.83342224e-01  4.27710271e-02]
 [ 3.82970762e-01  9.23605607e-01  1.68997061e-02]
 [-4.59817591e-02  7.88316414e-04  9.98941664e-01]]

 t_gt:
[ 0.90193112 -0.4285646   0.05341015]

Pose Error in degrees for R and t:
78.90311041554789 29.475911068686234

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.99906052  0.04328922 -0.00203244]
 [-0.04328197  0.99905681  0.0034863 ]
 [ 0.00218145 -0.00339506  0.99999186]]

 t_estimated:
[[0.92532595]
 [0.37916754]
 [0.0019646 ]]

 R_gt:
[[ 0.80188239 -0.59718109  0.01897214]
 [ 0.59641144  0.8019422   0.03436978]
 [-0.03573982 -0.01624531  0.99922879]]

 t_gt:
[ 0.94506742 -0.32416361  0.04201807]

Pose Error in degrees for R and t:
39.198204022539315 41.26513174193537

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.62626932  0.77959107  0.00494953]
 [ 0.77960363 -0.62627224 -0.00112921]
 [ 0.00221943  0.00456586 -0.99998711]]

 t_estimated:
[[-0.98462332]
 [-0.17466619]
 [-0.00293795]]

 R_gt:
[[ 0.99765358  0.04715887  0.0496303 ]
 [-0.04283859  0.99547882 -0.08476432]
 [-0.05340339  0.0824403   0.9951639 ]]

 t_gt:
[-0.67046283  0.66092388 -0.33713383]

Pose Error in degrees for R and t:
174.21811775216364 56.92729879496989

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.97533649 -0.21951118 -0.02309923]
 [ 0.21997088  0.97530786  0.01968248]
 [ 0.01820834 -0.0242782   0.99953941]]

 t_estimated:
[[0.99788905]
 [0.06479799]
 [0.00431987]]

 R_gt:
[[ 0.99114958  0.09129919  0.09637219]
 [-0.08061309  0.99071382 -0.10948719]
 [-0.10547255  0.10074962  0.98930459]]

 t_gt:
[-0.74989808  0.66144842  0.01178345]

Pose Error in degrees for R and t:
20.340830720442803 45.137836029401804

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 4.32191914e-01  9.01781630e-01  2.02537583e-04]
 [-9.01779434e-01  4.32190342e-01  2.31540764e-03]
 [ 2.00045728e-03 -1.18334469e-03  9.99997299e-01]]

 t_estimated:
[[0.99990222]
 [0.01393592]
 [0.00116133]]

 R_gt:
[[ 0.99012833  0.13304083  0.04411538]
 [-0.13163784  0.99073646 -0.03332777]
 [-0.04814021  0.02719186  0.99846956]]

 t_gt:
[-0.76245592  0.64126748  0.08623804]

Pose Error in degrees for R and t:
56.87056841814356 41.119069564342574

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.62402967e-01  2.71625662e-01  1.70703584e-04]
 [-2.71625630e-01  9.62402973e-01 -1.87199160e-04]
 [-2.15133732e-04  1.33793558e-04  9.99999968e-01]]

 t_estimated:
[[1.58977960e-01]
 [9.87281918e-01]
 [6.49452122e-04]]

 R_gt:
[[ 0.99851403 -0.05140328  0.01808949]
 [ 0.05167996  0.99854916 -0.01509794]
 [-0.01728716  0.01600971  0.99972187]]

 t_gt:
[ 0.63401236 -0.7667372   0.10070947]

Pose Error in degrees for R and t:
18.763110553797258 48.994887169071085

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[-9.18496129e-01 -3.95424233e-01 -2.12991961e-03]
 [ 3.95424446e-01 -9.18498445e-01  3.38069782e-04]
 [-2.09000883e-03 -5.31706496e-04  9.99997675e-01]]

 t_estimated:
[[7.88366011e-01]
 [6.15206122e-01]
 [6.78454755e-04]]

 R_gt:
[[ 0.98189629 -0.1875933   0.02623783]
 [ 0.18864022  0.98098273 -0.04568307]
 [-0.01716904  0.04980498  0.99861157]]

 t_gt:
[ 0.73213196 -0.67831844 -0.06218424]

Pose Error in degrees for R and t:
145.8723744020221 80.80238440118177

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.35234093e-01 -3.54027547e-01  1.29873843e-03]
 [ 3.54028674e-01  9.35234253e-01 -7.68143328e-04]
 [-9.42680771e-04  1.17818447e-03  9.99998862e-01]]

 t_estimated:
[[0.72085176]
 [0.69308856]
 [0.00099154]]

 R_gt:
[[ 0.95030054 -0.30866077  0.04071648]
 [ 0.31053931  0.94907751 -0.05306167]
 [-0.02226479  0.06306773  0.99776047]]

 t_gt:
[ 0.77865251 -0.62555628 -0.04878116]

Pose Error in degrees for R and t:
4.611414305988199 82.6645222881028

Number of keypoints:
Image1: 262
Image2: 262

 R_estimated:
[[ 9.98747431e-01 -5.00356634e-02  2.40634600e-05]
 [ 5.00356605e-02  9.98747426e-01  1.07892973e-04]
 [-2.94318153e-05 -1.06553799e-04  9.99999994e-01]]

 t_estimated:
[[0.92701246]
 [0.3750284 ]
 [0.00126519]]

 R_gt:
[[ 0.99702022 -0.05676501  0.05224153]
 [ 0.05644774  0.99837724  0.00754418]
 [-0.05258515 -0.0045727   0.99860645]]

 t_gt:
[ 0.61109337 -0.09582597  0.78573678]

Pose Error in degrees for R and t:
3.0465805011498013 57.88990579255048

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.99465101 -0.10327548 -0.0018828 ]
 [ 0.10327909  0.99465055  0.00192916]
 [ 0.00167349 -0.00211329  0.99999637]]

 t_estimated:
[[-4.64951225e-01]
 [-8.85336259e-01]
 [ 2.58405890e-04]]

 R_gt:
[[ 9.88135513e-01 -1.33557253e-01  7.58434246e-02]
 [ 1.33172746e-01  9.91041056e-01  1.01314177e-02]
 [-7.65166648e-02  8.94531870e-05  9.97068838e-01]]

 t_gt:
[ 0.86339845 -0.13255938  0.48679679]

Pose Error in degrees for R and t:
4.812081526782116 73.50374036620964

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.73676420e-01  2.27933368e-01  7.80582168e-04]
 [-2.27932879e-01  9.73676618e-01 -6.67898642e-04]
 [-9.12270993e-04  4.72396817e-04  9.99999472e-01]]

 t_estimated:
[[0.5638831 ]
 [0.82585378]
 [0.00117476]]

 R_gt:
[[ 0.98268621 -0.13540415  0.1264671 ]
 [ 0.13821427  0.99030795 -0.01367338]
 [-0.12338935  0.03091645  0.99187704]]

 t_gt:
[0.80199617 0.10559057 0.58792242]

Pose Error in degrees for R and t:
22.27103049642198 57.307842910121295

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99580084e-01 -2.89763386e-02  1.64102159e-04]
 [ 2.89764274e-02  9.99579934e-01 -5.66889402e-04]
 [-1.47606846e-04  5.71406450e-04  9.99999826e-01]]

 t_estimated:
[[-0.59222497]
 [-0.80576763]
 [-0.00284724]]

 R_gt:
[[ 0.99013928  0.13948271 -0.01303211]
 [-0.13993851  0.98910628 -0.04566953]
 [ 0.00651977  0.04704327  0.99887203]]

 t_gt:
[-0.34289952  0.91486838 -0.21315668]

Pose Error in degrees for R and t:
10.061890318337277 57.758383771119064

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99992341e-01 -3.89339728e-03  3.98669419e-04]
 [ 3.89399927e-03  9.99991262e-01 -1.52049931e-03]
 [-3.92746028e-04  1.52204008e-03  9.99998765e-01]]

 t_estimated:
[[-0.62136529]
 [-0.78351983]
 [-0.00136264]]

 R_gt:
[[ 9.65696709e-01  2.58313091e-01 -2.65712075e-02]
 [-2.59675037e-01  9.60373898e-01 -1.01241884e-01]
 [-6.33645928e-04  1.04669219e-01  9.94507340e-01]]

 t_gt:
[-0.29655831  0.93447435 -0.19700473]

Pose Error in degrees for R and t:
16.377764694281062 56.794763565124676

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 5.47479628e-02  9.98500199e-01 -1.15134509e-04]
 [ 9.98494382e-01 -5.47472493e-02  3.42172164e-03]
 [ 3.41028644e-03 -3.02293450e-04 -9.99994139e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189838e-04]]

 R_gt:
[[ 0.95131556  0.30819033  0.00434424]
 [-0.30755923  0.95010206 -0.05208366]
 [-0.0201794   0.04821227  0.9986341 ]]

 t_gt:
[-0.31755799  0.94810355 -0.01601792]

Pose Error in degrees for R and t:
177.56309656538244 71.66158501301112

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99891041e-01  1.47616518e-02 -1.18303860e-05]
 [-1.47616517e-02  9.99891041e-01  9.58508930e-06]
 [ 1.19705888e-05 -9.40940888e-06  1.00000000e+00]]

 t_estimated:
[[-0.65109508]
 [ 0.75899546]
 [-0.00104722]]

 R_gt:
[[ 0.99769848  0.00752344 -0.06738964]
 [-0.00848034  0.99986765 -0.01392096]
 [ 0.0672759   0.01446008  0.99762962]]

 t_gt:
[ 0.38124925  0.01854501 -0.92428626]

Pose Error in degrees for R and t:
3.9638710155089973 76.5152824195499

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 8.36970285e-01  5.47247893e-01  6.96885476e-04]
 [-5.47247849e-01  8.36970561e-01 -2.68508556e-04]
 [-7.30213369e-04 -1.56635396e-04  9.99999721e-01]]

 t_estimated:
[[0.11707152]
 [0.99312288]
 [0.00109302]]

 R_gt:
[[ 0.99591916 -0.04336415 -0.07915818]
 [ 0.04496664  0.99881628  0.01857722]
 [ 0.07825822 -0.02206119  0.99668867]]

 t_gt:
[ 0.61057095 -0.6182459  -0.49494962]

Pose Error in degrees for R and t:
36.01285052040314 57.10817311594204

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.59946526  0.80036961  0.00706257]
 [ 0.80039184 -0.59939355 -0.01001389]
 [-0.00378155  0.01165581 -0.99992492]]

 t_estimated:
[[-0.99999437]
 [-0.00251034]
 [-0.00222865]]

 R_gt:
[[ 0.98810735 -0.09180834 -0.12335565]
 [ 0.09712815  0.99455321  0.03782578]
 [ 0.11921019 -0.04935739  0.99164149]]

 t_gt:
[ 0.61533047 -0.6857136  -0.38879979]

Pose Error in degrees for R and t:
175.3354914419045 52.21217606385256

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.91999201e-01 -1.26243934e-01 -2.34785591e-04]
 [ 1.26244089e-01  9.91998851e-01  8.42375452e-04]
 [ 1.26562245e-04 -8.65276068e-04  9.99999618e-01]]

 t_estimated:
[[-0.60832169]
 [-0.7936901 ]
 [-0.00087027]]

 R_gt:
[[ 0.99663575 -0.07985481  0.0184353 ]
 [ 0.07946135  0.99661399  0.02112022]
 [-0.02005869 -0.01958504  0.9996068 ]]

 t_gt:
[ 0.58097808 -0.76422387  0.28004705]

Pose Error in degrees for R and t:
3.112976525462507 75.3513096804097

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-6.22674725e-01 -7.82479835e-01 -1.22291151e-03]
 [ 7.82479733e-01 -6.22675692e-01  6.70400643e-04]
 [-1.28605226e-03 -5.39461939e-04  9.99999028e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075980e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99826556 -0.05862038  0.00545784]
 [ 0.0583212   0.99731084  0.04438758]
 [-0.00804392 -0.04399227  0.99899981]]

 t_gt:
[ 0.60681766 -0.72338298  0.32937727]

Pose Error in degrees for R and t:
125.17093794641734 52.78361638119354

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99997386e-01 -2.28646054e-03  3.39877551e-06]
 [ 2.28645920e-03  9.99997324e-01  3.51327887e-04]
 [-4.20206377e-06 -3.51319197e-04  9.99999938e-01]]

 t_estimated:
[[5.37271212e-03]
 [9.99985275e-01]
 [7.64333763e-04]]

 R_gt:
[[ 0.99653062  0.03138011 -0.07708309]
 [-0.02845533  0.99884303  0.03875949]
 [ 0.07821055 -0.03643139  0.99627091]]

 t_gt:
[ 0.78238835 -0.28155516 -0.55551342]

Pose Error in degrees for R and t:
5.2754935420560685 73.87272043669792

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99999998e-01 -5.52898694e-05  1.73913257e-07]
 [ 5.52898693e-05  9.99999998e-01  6.17418037e-07]
 [-1.73947394e-07 -6.17408420e-07  1.00000000e+00]]

 t_estimated:
[[-9.90170977e-01]
 [-1.39860030e-01]
 [-7.79424379e-04]]

 R_gt:
[[ 0.99326958  0.11570618  0.00539874]
 [-0.11561518  0.99318288 -0.01486834]
 [-0.00708226  0.01414409  0.99987417]]

 t_gt:
[-0.69287823  0.72057752 -0.02622591]

Pose Error in degrees for R and t:
6.706744655963588 54.1752228555865

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 0.30055098  0.91003199 -0.28550111]
 [-0.70859212  0.01268726 -0.70550424]
 [-0.6384092   0.41434383  0.64865467]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.99084982  0.12839017 -0.041629  ]
 [-0.12902381  0.99155798 -0.01287264]
 [ 0.03962425  0.01812563  0.99904972]]

 t_gt:
[-0.65651999  0.67579254 -0.33509096]

Pose Error in degrees for R and t:
85.12787660289412 84.57982386852514

Number of keypoints:
Image1: 306
Image2: 306

 R_estimated:
[[-0.10213138  0.99476862  0.00213792]
 [-0.99476368 -0.1021222  -0.00403364]
 [-0.00379421 -0.00253869  0.99998958]]

 t_estimated:
[[0.1313029 ]
 [0.99133686]
 [0.00328257]]

 R_gt:
[[ 0.9948311   0.10151503 -0.00273701]
 [-0.1015264   0.99482435 -0.00415241]
 [ 0.00230139  0.0044079   0.99998714]]

 t_gt:
[-0.81079199  0.58387854 -0.04125782]

Pose Error in degrees for R and t:
90.03582973090818 61.82114091781316

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.96380282e-01  8.50078162e-02  6.47682925e-05]
 [-8.50078245e-02  9.96380274e-01  1.37754614e-04]
 [-5.28236301e-05 -1.42761792e-04  9.99999988e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99061215  0.12458692 -0.05627278]
 [-0.1257362   0.99191193 -0.01737065]
 [ 0.05365366  0.02428247  0.99826357]]

 t_gt:
[-0.32492078  0.88743682 -0.32692871]

Pose Error in degrees for R and t:
4.10121413799018 27.74198625811738

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99997136e-01  2.35651963e-03 -4.18769180e-04]
 [-2.35644351e-03  9.99997207e-01  1.82171617e-04]
 [ 4.19197301e-04 -1.81184289e-04  9.99999896e-01]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.98683044  0.1301741  -0.09602817]
 [-0.1296782   0.99149081  0.01140749]
 [ 0.09669602  0.00119562  0.99531238]]

 t_gt:
[-0.16930117  0.9115042  -0.37482958]

Pose Error in degrees for R and t:
9.190974165349079 24.489272874797887

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99998515e-01 -1.50022772e-03  8.48245061e-04]
 [ 1.50128299e-03  9.99998098e-01 -1.24478907e-03]
 [-8.46375981e-04  1.24606068e-03  9.99998865e-01]]

 t_estimated:
[[-9.99967893e-01]
 [-7.96434606e-03]
 [-8.84927339e-04]]

 R_gt:
[[ 0.97921038  0.13049635 -0.1552983 ]
 [-0.1256182   0.99123659  0.04086068]
 [ 0.1592698  -0.02050358  0.98702153]]

 t_gt:
[ 0.03411455  0.86229862 -0.50524973]

Pose Error in degrees for R and t:
11.939010027746278 87.67693726923439

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 7.79913695e-01 -6.25868065e-01  4.87793024e-03]
 [-6.25878662e-01 -7.79919932e-01  8.94070515e-04]
 [ 3.24482484e-03 -3.75029029e-03 -9.99987703e-01]]

 t_estimated:
[[0.73960092]
 [0.67304516]
 [0.00083195]]

 R_gt:
[[ 0.99526731  0.02048457 -0.09499248]
 [-0.01986749  0.99977564  0.00743592]
 [ 0.09512421 -0.0055143   0.99544928]]

 t_gt:
[ 0.13386997  0.24267374 -0.96082687]

Pose Error in degrees for R and t:
178.68436338342187 74.83845767736811

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.29519969 -0.95543204 -0.00259888]
 [ 0.95543448 -0.29519413 -0.00232165]
 [ 0.001451   -0.00316841  0.99999393]]

 t_estimated:
[[9.25026496e-01]
 [3.79901886e-01]
 [7.34418766e-04]]

 R_gt:
[[ 9.85097116e-01  3.15202942e-02 -1.69088596e-01]
 [-3.18591157e-02  9.99492187e-01  7.08373069e-04]
 [ 1.69025871e-01  4.68897751e-03  9.85599898e-01]]

 t_gt:
[ 0.18775397  0.19194082 -0.96327938]

Pose Error in degrees for R and t:
109.27294158490947 75.76564502502615

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-7.16429352e-01 -6.97655877e-01 -2.29358798e-03]
 [ 6.97659190e-01 -7.16428775e-01 -1.21041123e-03]
 [-7.98741916e-04 -2.46731686e-03  9.99996637e-01]]

 t_estimated:
[[9.82698325e-01]
 [1.85211212e-01]
 [8.99083555e-04]]

 R_gt:
[[ 0.97669606  0.01193927 -0.21429374]
 [-0.01640211  0.9996843  -0.01905771]
 [ 0.2139985   0.02212748  0.97658306]]

 t_gt:
[ 0.30282857  0.09003052 -0.94878309]

Pose Error in degrees for R and t:
136.83779629978656 71.73510064121592

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 0.58715751  0.80946211  0.00414126]
 [-0.80946467  0.58716679 -0.00145159]
 [-0.00360661 -0.00249989  0.99999037]]

 t_estimated:
[[-0.37818428]
 [ 0.92571751]
 [ 0.0048734 ]]

 R_gt:
[[ 0.9907382  -0.13506482 -0.01401477]
 [ 0.13534929  0.99055599  0.02191092]
 [ 0.01092389 -0.023604    0.99966184]]

 t_gt:
[ 0.68149734 -0.71676335  0.14768772]

Pose Error in degrees for R and t:
61.834740804864005 22.995986051061607

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.71151033  0.70266767 -0.00334593]
 [ 0.7026479   0.71151649  0.00549645]
 [ 0.00624287  0.00155977 -0.9999793 ]]

 t_estimated:
[[8.29407247e-01]
 [5.58643906e-01]
 [7.78055579e-04]]

 R_gt:
[[ 0.98749009 -0.12982116 -0.08949848]
 [ 0.13504602  0.9893116   0.05500621]
 [ 0.08140236 -0.0664046   0.99446722]]

 t_gt:
[ 0.66250017 -0.73260129  0.15616939]

Pose Error in degrees for R and t:
173.84459419595004 81.9324382578775

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99983794e-01 -2.72510710e-03  4.99849649e-03]
 [ 2.72876071e-03  9.99996015e-01 -7.24266721e-04]
 [-4.99650287e-03  7.37894685e-04  9.99987245e-01]]

 t_estimated:
[[0.70904429]
 [0.70516272]
 [0.00131615]]

 R_gt:
[[ 0.99024098 -0.0240587  -0.13727628]
 [ 0.04674587  0.98526486  0.16452876]
 [ 0.13129554 -0.16934066  0.97677294]]

 t_gt:
[ 0.36751641 -0.67728478  0.63735157]

Pose Error in degrees for R and t:
12.728106216409634 77.51572184416109

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[-0.33017821 -0.94391484 -0.00266975]
 [ 0.94390724 -0.3301868   0.00397495]
 [-0.00463354 -0.00120755  0.99998854]]

 t_estimated:
[[0.98057787]
 [0.19611557]
 [0.00239165]]

 R_gt:
[[ 0.9961149  -0.08267691 -0.03032766]
 [ 0.08344138  0.99620233  0.02487705]
 [ 0.02815426 -0.02731128  0.99923074]]

 t_gt:
[ 0.60303557 -0.79768738  0.00655251]

Pose Error in degrees for R and t:
104.52857834997907 64.22106342214076

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 0.04218536  0.99907421  0.00843372]
 [ 0.99909314 -0.0421344  -0.00613138]
 [-0.00577035  0.00868473 -0.99994564]]

 t_estimated:
[[-8.14840327e-01]
 [-5.79685065e-01]
 [-6.83590878e-04]]

 R_gt:
[[ 0.98746684 -0.15554419 -0.02676563]
 [ 0.15382282  0.98642639 -0.05745796]
 [ 0.03533931  0.05261974  0.99798896]]

 t_gt:
[ 0.57798235 -0.67016432 -0.46563525]

Pose Error in degrees for R and t:
178.35702437939915 85.28722164882264

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[-0.15776498  0.98722961  0.02208876]
 [ 0.98735965  0.1580512  -0.0118636 ]
 [-0.01520325  0.01993789 -0.99968562]]

 t_estimated:
[[-0.51888846]
 [-0.85483548]
 [-0.00332621]]

 R_gt:
[[ 0.97213246 -0.23417587 -0.01092698]
 [ 0.23197899  0.96764366 -0.09925153]
 [ 0.03381524  0.09395068  0.99500197]]

 t_gt:
[ 0.58452897 -0.68538953 -0.43424311]

Pose Error in degrees for R and t:
175.93310083338292 73.49886517000965

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.1506514  -0.98849449 -0.01352002]
 [-0.98849574  0.15043764  0.0156428 ]
 [-0.01342891  0.01572109 -0.99978623]]

 t_estimated:
[[0.63544889]
 [0.77213275]
 [0.00396622]]

 R_gt:
[[ 0.96581833  0.25791699  0.0259727 ]
 [-0.25758938  0.96613327 -0.01530321]
 [-0.02903915  0.00808944  0.99954519]]

 t_gt:
[-0.88262281  0.47006597 -0.00386753]

Pose Error in degrees for R and t:
179.3923429374159 78.58443171793041

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.35682508e-01  3.52842678e-01  5.36598693e-04]
 [-3.52841513e-01  9.35681795e-01 -1.56361065e-03]
 [-1.05379420e-03  1.27370884e-03  9.99998634e-01]]

 t_estimated:
[[-9.89774053e-01]
 [ 1.42643610e-01]
 [-3.53957787e-04]]

 R_gt:
[[ 0.93953903  0.34122699  0.02880865]
 [-0.34119498  0.93997273 -0.00618087]
 [-0.0291886  -0.00402189  0.99956511]]

 t_gt:
[-0.87023245  0.49199489  0.02522941]

Pose Error in degrees for R and t:
1.7870193701387305 21.32943473406603

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.58924667e-01  2.79770201e-01  4.68200537e-02]
 [ 2.83660294e-01 -9.46099707e-01 -1.56307970e-01]
 [ 5.66127008e-04  1.63168558e-01 -9.86598044e-01]]

 t_estimated:
[[9.59263215e-01]
 [2.82513698e-01]
 [3.09247791e-04]]

 R_gt:
[[ 0.91343965  0.406231    0.02459263]
 [-0.40565604  0.91367705 -0.02525721]
 [-0.03272967  0.01309539  0.99937821]]

 t_gt:
[-0.86606675  0.49977223 -0.01249413]

Pose Error in degrees for R and t:
169.84909752569214 46.401756972540454

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.99876810e-01 -1.56959204e-02  5.43816879e-05]
 [ 1.56959193e-02  9.99876811e-01  1.98724889e-05]
 [-5.46869057e-05 -1.90164703e-05  9.99999998e-01]]

 t_estimated:
[[ 7.86419156e-01]
 [-6.17693119e-01]
 [ 3.49328701e-04]]

 R_gt:
[[ 0.99643949 -0.08039298 -0.02539844]
 [ 0.07924089  0.99590749 -0.04346382]
 [ 0.02878804  0.04129696  0.99873251]]

 t_gt:
[ 0.54403689 -0.58456134 -0.60192351]

Pose Error in degrees for R and t:
4.67888199745291 37.9348524776328

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.99004335e-01 -4.45992308e-02  1.11679524e-03]
 [ 4.45992481e-02  9.99004958e-01  9.42176670e-06]
 [-1.11610418e-03  4.03958422e-05  9.99999376e-01]]

 t_estimated:
[[0.46269849]
 [0.88651476]
 [0.00129607]]

 R_gt:
[[ 0.98558773 -0.16903471 -0.00664486]
 [ 0.16739994  0.98021569 -0.1056203 ]
 [ 0.02436651  0.10298526  0.99438443]]

 t_gt:
[ 0.55750593 -0.61438023 -0.55832255]

Pose Error in degrees for R and t:
9.389555155614259 73.29622591047702

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-2.61412202e-01 -9.65221508e-01 -3.33176034e-03]
 [ 9.65225881e-01 -2.61416103e-01  7.87043429e-04]
 [-1.63064705e-03 -3.01015856e-03  9.99994140e-01]]

 t_estimated:
[[0.99979108]
 [0.02036926]
 [0.00169744]]

 R_gt:
[[ 0.96994937 -0.24234552 -0.02163483]
 [ 0.23863789  0.96490004 -0.10963345]
 [ 0.04744372  0.10117558  0.99373663]]

 t_gt:
[ 0.59422731 -0.66615304 -0.45070393]

Pose Error in degrees for R and t:
91.38112677145187 54.56569730385599

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.96926671  0.24597939  0.0040221 ]
 [ 0.2459883   0.96927096  0.00188597]
 [-0.0034346   0.00281739 -0.99999013]]

 t_estimated:
[[ 0.99999502]
 [-0.00263054]
 [ 0.00174291]]

 R_gt:
[[ 0.99418332  0.10453749  0.02592998]
 [-0.10515254  0.99417665  0.0235767 ]
 [-0.02331445 -0.02616644  0.99938585]]

 t_gt:
[-0.8417448   0.4360251   0.31835168]

Pose Error in degrees for R and t:
178.56795428950932 32.61272274382284

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.96921661 -0.20196465 -0.14081708]
 [ 0.20629444  0.97834735  0.01670546]
 [ 0.1343941  -0.04524099  0.98989468]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.93855998  0.34326267  0.03572171]
 [-0.34382971  0.93896829  0.01094359]
 [-0.02978492 -0.02255276  0.99930241]]

 t_gt:
[-0.84871285  0.52191663  0.0853788 ]

Pose Error in degrees for R and t:
33.41423765913903 71.3680355564077

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 9.94247889e-01  1.07103209e-01 -1.92407997e-04]
 [-1.07103300e-01  9.94247747e-01 -5.48408891e-04]
 [ 1.32564866e-04  5.65861914e-04  9.99999831e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.8700319   0.48833904  0.06760406]
 [-0.48956024  0.87196796  0.00172502]
 [-0.05810671 -0.03459733  0.99771039]]

 t_gt:
[-0.81471054  0.57186081  0.09603097]

Pose Error in degrees for R and t:
23.480982568173662 35.62381474711123

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999592e-01  8.64274950e-04  2.61268152e-04]
 [-8.64251130e-04  9.99999622e-01 -9.12698789e-05]
 [-2.61346935e-04  9.10440404e-05  9.99999962e-01]]

 t_estimated:
[[ 0.99988264]
 [ 0.01527919]
 [-0.00111787]]

 R_gt:
[[ 0.99056645 -0.13453897 -0.02604489]
 [ 0.1346759   0.99088288  0.00359845]
 [ 0.02532331 -0.00707204  0.99965411]]

 t_gt:
[ 0.54985969 -0.83473905 -0.02941159]

Pose Error in degrees for R and t:
7.933978989352127 57.51533237544521

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-0.99662586 -0.03873719  0.07236247]
 [-0.03854507  0.99924866  0.00404994]
 [-0.07246498  0.00124706 -0.99737018]]

 t_estimated:
[[0.98817664]
 [0.15040356]
 [0.02976074]]

 R_gt:
[[ 0.97617019 -0.21468401 -0.03167329]
 [ 0.2157345   0.97583585  0.03467648]
 [ 0.02346335 -0.04068303  0.99889643]]

 t_gt:
[ 0.58195433 -0.80591701  0.10875164]

Pose Error in degrees for R and t:
177.40248746802376 62.8000329271675

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.60637758 -0.79507574 -0.01268082]
 [ 0.79481092 -0.6065052   0.0206648 ]
 [-0.02412107  0.00245182  0.99970604]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.96120879 -0.26025882 -0.09133849]
 [ 0.26601082  0.96224949  0.05756753]
 [ 0.07290775 -0.07963131  0.99415451]]

 t_gt:
[ 0.63071834 -0.76454343  0.13291995]

Pose Error in degrees for R and t:
112.14348558412446 55.27317063336768

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.96941594e-01 -7.81501127e-02  1.32716508e-04]
 [ 7.81501086e-02  9.96941603e-01  3.53762444e-05]
 [-1.35075265e-04 -2.48962400e-05  9.99999991e-01]]

 t_estimated:
[[0.30773494]
 [0.95147152]
 [0.00107813]]

 R_gt:
[[ 0.99794466  0.01359842 -0.06262105]
 [-0.0141449   0.99986595 -0.00830202]
 [ 0.06249918  0.00917164  0.99800216]]

 t_gt:
[ 0.08029698  0.23477353 -0.96872792]

Pose Error in degrees for R and t:
6.404780004595889 75.69721598353932

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.98234839e-01  5.93890751e-02 -3.79517555e-04]
 [-5.93888833e-02  9.98234798e-01  4.98242016e-04]
 [ 4.08437762e-04 -4.74823414e-04  9.99999804e-01]]

 t_estimated:
[[-0.85194522]
 [-0.52363009]
 [-0.00093007]]

 R_gt:
[[ 0.99681958 -0.02012707 -0.07711461]
 [ 0.01773266  0.99934341 -0.031615  ]
 [ 0.0777006   0.03014761  0.99652056]]

 t_gt:
[ 0.37417991 -0.09015143 -0.92296377]

Pose Error in degrees for R and t:
6.550786187465926 74.29310074526386

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.99983486  0.01781949  0.00356657]
 [-0.01783939 -0.99982502 -0.00562828]
 [ 0.00346565 -0.00569098  0.9999778 ]]

 t_estimated:
[[0.75783713]
 [0.65244257]
 [0.0012547 ]]

 R_gt:
[[ 0.98404928 -0.15779929  0.08213956]
 [ 0.16008443  0.98685922 -0.02197128]
 [-0.0775927   0.0347706   0.99637867]]

 t_gt:
[ 0.68966763 -0.71735194  0.09881677]

Pose Error in degrees for R and t:
171.87712462438802 86.86155619803256

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99596470e-01 -2.84058994e-02  4.15505458e-05]
 [ 2.84058939e-02  9.99596463e-01  1.27419667e-04]
 [-4.51532488e-05 -1.26187969e-04  9.99999991e-01]]

 t_estimated:
[[0.36731839]
 [0.93009401]
 [0.00152778]]

 R_gt:
[[ 0.99537037  0.08563459 -0.04365054]
 [-0.08635075  0.99615453 -0.01477987]
 [ 0.04221709  0.01848098  0.99893804]]

 t_gt:
[-0.26412669  0.89890097 -0.3495914 ]

Pose Error in degrees for R and t:
7.076302357303717 42.395379698602724

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.92435922e-01 -1.22763758e-01 -7.69140638e-06]
 [ 1.22763754e-01  9.92435871e-01  3.20332709e-04]
 [-3.16920196e-05 -3.18853913e-04  9.99999949e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99306934  0.04528614 -0.10845354]
 [-0.04293461  0.99879125  0.02393084]
 [ 0.10940675 -0.01910955  0.99381345]]

 t_gt:
[ 0.25827645  0.76913832 -0.5845678 ]

Pose Error in degrees for R and t:
11.50879737174378 56.102247146621494

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-5.30534212e-01 -8.47663273e-01 -6.52790949e-04]
 [ 8.42255108e-01 -5.27235901e-01  1.12377209e-01]
 [-9.56022078e-02  5.90701376e-02  9.93665405e-01]]

 t_estimated:
[[0.98827203]
 [0.14973819]
 [0.02994764]]

 R_gt:
[[ 0.98375509  0.07439795 -0.16337862]
 [-0.07365081  0.99722666  0.01064047]
 [ 0.16371773  0.00156516  0.9865062 ]]

 t_gt:
[ 0.29290856  0.69157436 -0.66024956]

Pose Error in degrees for R and t:
127.11330817032137 68.08346587903634

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.98687257e-01 -5.12223529e-02  1.81625280e-04]
 [ 5.12224020e-02  9.98687233e-01 -2.76831231e-04]
 [-1.67206901e-04  2.85771106e-04  9.99999945e-01]]

 t_estimated:
[[9.97324414e-01]
 [7.30979272e-02]
 [8.40205920e-04]]

 R_gt:
[[ 0.99951283  0.02384231 -0.02015943]
 [-0.02623445  0.99139733 -0.12822826]
 [ 0.01693003  0.12869521  0.99154043]]

 t_gt:
[-0.08215455  0.47849963 -0.87423609]

Pose Error in degrees for R and t:
8.633475612469415 87.26641562904484

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.52956793e-01  3.03105694e-01 -5.38044757e-04]
 [-3.03105294e-01  9.52956803e-01  7.15146764e-04]
 [ 7.29498469e-04 -5.18419752e-04  9.99999600e-01]]

 t_estimated:
[[-0.89405858]
 [-0.44794911]
 [-0.00091981]]

 R_gt:
[[ 0.99746425 -0.01879223 -0.06864806]
 [ 0.00422779  0.97845576 -0.20641559]
 [ 0.07104879  0.20560343  0.97605324]]

 t_gt:
[ 0.10334539  0.25637155 -0.96103765]

Pose Error in degrees for R and t:
22.18975144506881 78.0912123707179

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-8.80714873e-01 -4.73645939e-01  9.14841902e-04]
 [-4.73640910e-01  8.80692585e-01 -6.69769685e-03]
 [ 2.36664244e-03 -6.33206779e-03 -9.99977152e-01]]

 t_estimated:
[[0.99928538]
 [0.03774637]
 [0.00198665]]

 R_gt:
[[ 0.98865622 -0.14533785 -0.03788334]
 [ 0.12733907  0.94486107 -0.30170031]
 [ 0.07964384  0.29345443  0.95265067]]

 t_gt:
[ 0.30478446 -0.04796659 -0.95121272]

Pose Error in degrees for R and t:
172.38871825179592 72.49035380567858

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.99935786 -0.03364184  0.01233293]
 [ 0.03392742  0.99914257 -0.02372898]
 [-0.01152407  0.02413217  0.99964235]]

 t_estimated:
[[-0.89147081]
 [-0.45307693]
 [-0.00104879]]

 R_gt:
[[ 0.99174295 -0.12793889 -0.00883607]
 [ 0.12791893  0.99178075 -0.00276558]
 [ 0.00911795  0.00161173  0.99995733]]

 t_gt:
[ 0.66529601 -0.74637913 -0.0173037 ]

Pose Error in degrees for R and t:
5.682792953369073 75.23194592393382

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.98794720e-01 -4.90825104e-02  1.18198277e-04]
 [ 4.90824791e-02  9.98794696e-01  2.54046968e-04]
 [-1.30525075e-04 -2.47939306e-04  9.99999961e-01]]

 t_estimated:
[[-0.60971054]
 [-0.7926237 ]
 [-0.00085875]]

 R_gt:
[[ 9.88048167e-01 -1.54133350e-01 -2.05552398e-03]
 [ 1.54147189e-01  9.87975041e-01  1.20188449e-02]
 [ 1.78398176e-04 -1.21932015e-02  9.99925552e-01]]

 t_gt:
[ 0.67001527 -0.73951568  0.06477723]

Pose Error in degrees for R and t:
6.092410093213191 79.77077914176196

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.99818708  0.06003917  0.00422594]
 [-0.05998382  0.99812491 -0.01219071]
 [-0.00494994  0.01191512  0.99991676]]

 t_estimated:
[[0.8107904 ]
 [0.58533563]
 [0.00105847]]

 R_gt:
[[ 0.99508079 -0.08792096 -0.04565109]
 [ 0.09032212  0.99447368  0.05352159]
 [ 0.04069414 -0.0573828   0.99752292]]

 t_gt:
[ 0.69308415 -0.7184392   0.05898703]

Pose Error in degrees for R and t:
9.786069108672928 81.8664832644058

Number of keypoints:
Image1: 396
Image2: 396

 R_estimated:
[[ 9.99998980e-01 -1.42814201e-03  2.27272119e-05]
 [ 1.42814101e-03  9.99998979e-01  4.39085898e-05]
 [-2.27898964e-05 -4.38760874e-05  9.99999999e-01]]

 t_estimated:
[[-4.08934094e-01]
 [ 9.12563871e-01]
 [-2.98219859e-04]]

 R_gt:
[[ 0.99884845 -0.04591694  0.01394032]
 [ 0.04652696  0.99780493 -0.04711648]
 [-0.01174678  0.04771087  0.99879242]]

 t_gt:
[ 0.50448145  0.49289611 -0.70890894]

Pose Error in degrees for R and t:
3.813258964824186 75.8943334115014

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99999989e-01 -8.23724093e-05 -1.25891546e-04]
 [ 8.23674482e-05  9.99999996e-01 -3.94123473e-05]
 [ 1.25894792e-04  3.94019775e-05  9.99999991e-01]]

 t_estimated:
[[-0.70722075]
 [-0.70699148]
 [-0.00136664]]

 R_gt:
[[ 0.99199006 -0.10573181  0.06911111]
 [ 0.10837315  0.99347089 -0.03564022]
 [-0.06489183  0.04284477  0.99697215]]

 t_gt:
[0.93366167 0.07797039 0.34956617]

Pose Error in degrees for R and t:
7.5987301600164034 44.28241644342683

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99769960e-01  2.14358346e-02  7.30115510e-04]
 [-2.14359363e-02  9.99770215e-01  1.31775908e-04]
 [-7.27123014e-04 -1.47396304e-04  9.99999725e-01]]

 t_estimated:
[[-0.99884145]
 [ 0.04811152]
 [ 0.00101643]]

 R_gt:
[[ 0.97954159 -0.17495417  0.09944967]
 [ 0.17901271  0.98327953 -0.03339712]
 [-0.0919436   0.05051692  0.99448254]]

 t_gt:
[ 0.95087038 -0.00948579  0.30944392]

Pose Error in degrees for R and t:
12.91670372234553 18.211269545329536

Number of keypoints:
Image1: 337
Image2: 337

 R_estimated:
[[ 9.82511469e-01  1.86199335e-01  1.01052592e-03]
 [-1.86198462e-01  9.82511743e-01 -8.99241051e-04]
 [-1.16029166e-03  6.95356276e-04  9.99999085e-01]]

 t_estimated:
[[0.74251082]
 [0.66983119]
 [0.00196431]]

 R_gt:
[[ 0.9995604  -0.01564571 -0.02518264]
 [ 0.01586992  0.99983619  0.00872902]
 [ 0.02504194 -0.00912397  0.99964458]]

 t_gt:
[ 0.04066055 -0.72379221 -0.68881896]

Pose Error in degrees for R and t:
11.743497870325003 62.87194449364638

Number of keypoints:
Image1: 366
Image2: 366

 R_estimated:
[[ 9.99995072e-01 -3.13903542e-03  4.62533985e-05]
 [ 3.13903412e-03  9.99995073e-01  2.80006706e-05]
 [-4.63410657e-05 -2.78553416e-05  9.99999999e-01]]

 t_estimated:
[[4.96270964e-01]
 [8.68167646e-01]
 [2.63761072e-04]]

 R_gt:
[[ 0.99897356 -0.02026277  0.04051044]
 [ 0.02020096  0.99979404  0.00195784]
 [-0.0405414  -0.0011363   0.99917715]]

 t_gt:
[-0.53923713 -0.29013128  0.79059924]

Pose Error in degrees for R and t:
2.5200749943356007 58.71591250947075

Number of keypoints:
Image1: 558
Image2: 558

 R_estimated:
[[ 9.91106176e-01  1.33073208e-01 -2.64213239e-04]
 [-1.33073230e-01  9.91106206e-01 -6.90487513e-05]
 [ 2.52674842e-04  1.03594353e-04  9.99999963e-01]]

 t_estimated:
[[-0.3989202 ]
 [ 0.91698345]
 [-0.00200629]]

 R_gt:
[[ 0.99901173  0.00702506  0.04388804]
 [-0.00616897  0.9997889  -0.01959292]
 [-0.04401665  0.01930309  0.99884502]]

 t_gt:
[-0.92435217  0.11953012  0.36233358]

Pose Error in degrees for R and t:
7.77687635936261 61.46973219038811

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.86658836  0.49902215 -0.00122745]
 [ 0.49901902 -0.86656706  0.00644561]
 [ 0.00215284 -0.00619821 -0.99997847]]

 t_estimated:
[[8.68293970e-01]
 [4.96049283e-01]
 [8.30903321e-04]]

 R_gt:
[[ 0.99475677  0.08000471 -0.06372034]
 [-0.07877026  0.99665772  0.02165806]
 [ 0.06524055 -0.01652516  0.99773223]]

 t_gt:
[-0.24597056  0.86799707 -0.43136941]

Pose Error in degrees for R and t:
177.60976640662852 77.48846632443389

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.90052427e-01  1.40697995e-01  5.16595008e-04]
 [-1.40698408e-01  9.90052114e-01  8.76874510e-04]
 [-3.88081495e-04 -9.40835832e-04  9.99999482e-01]]

 t_estimated:
[[0.69886713]
 [0.71524979]
 [0.00157215]]

 R_gt:
[[ 0.97885457  0.17924277 -0.09857183]
 [-0.17945225  0.9837433   0.00680868]
 [ 0.09818956  0.01102506  0.99510586]]

 t_gt:
[-0.25673783  0.90177704 -0.34768357]

Pose Error in degrees for R and t:
6.132737416169487 62.28825078659621

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 8.34936808e-01  5.50344898e-01  1.01019429e-03]
 [ 5.50342815e-01 -8.34936905e-01  1.77474733e-03]
 [ 1.82017163e-03 -9.25848700e-04 -9.99997915e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.97556258  0.13930149 -0.16992274]
 [-0.13545746  0.99019707  0.03406633]
 [ 0.17300235 -0.01021625  0.9848678 ]]

 t_gt:
[ 0.01995518  0.83233998 -0.55390608]

Pose Error in degrees for R and t:
175.84988667123685 39.07082922099737

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.99999513  0.0026801  -0.00160152]
 [-0.00267677  0.99999425  0.00208034]
 [ 0.00160709 -0.00207605  0.99999655]]

 t_estimated:
[[-0.71870244]
 [-0.69531733]
 [-0.0007795 ]]

 R_gt:
[[ 0.99631431 -0.06751013 -0.052914  ]
 [ 0.06290823  0.99445633 -0.0842618 ]
 [ 0.05831022  0.08062314  0.9950376 ]]

 t_gt:
[ 0.36668576 -0.27479483 -0.88883596]

Pose Error in degrees for R and t:
6.955574080891247 85.8840280472091

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 9.10128288e-02  9.95847951e-01  1.87731707e-03]
 [ 9.95849523e-01 -9.10138348e-02  4.57406685e-04]
 [ 6.26369335e-04  1.82789543e-03 -9.99998133e-01]]

 t_estimated:
[[-7.38524469e-01]
 [-6.74226540e-01]
 [-4.26603153e-04]]

 R_gt:
[[ 0.9822015  -0.18279818 -0.0431898 ]
 [ 0.17252079  0.96889874 -0.17740495]
 [ 0.07427615  0.1667958   0.98318966]]

 t_gt:
[ 0.48224488 -0.40686071 -0.77582487]

Pose Error in degrees for R and t:
174.88108991492007 85.32507184461565

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 0.04775319  0.99885834 -0.00128692]
 [ 0.99884201 -0.04774478  0.00592258]
 [ 0.00585438 -0.00156825 -0.99998163]]

 t_estimated:
[[0.04993699]
 [0.99873989]
 [0.0049937 ]]

 R_gt:
[[ 0.98550711 -0.15503152 -0.06884938]
 [ 0.14081839  0.97399036 -0.17752168]
 [ 0.09458113  0.16525402  0.98170587]]

 t_gt:
[ 0.4117838  -0.23689193 -0.87995245]

Pose Error in degrees for R and t:
176.3743866027145 77.26603909114992

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-5.23037778e-01 -8.52306443e-01 -2.28228970e-03]
 [ 8.52309389e-01 -5.23037198e-01 -8.91831046e-04]
 [-4.33609063e-04 -2.41167827e-03  9.99996998e-01]]

 t_estimated:
[[9.99918024e-01]
 [1.27757839e-02]
 [8.51718930e-04]]

 R_gt:
[[ 0.99909716 -0.01515455  0.03967947]
 [ 0.01686294  0.99892903 -0.04310164]
 [-0.03898332  0.04373119  0.9982827 ]]

 t_gt:
[-0.6016519   0.78226646  0.161475  ]

Pose Error in degrees for R and t:
120.6510019596207 53.738537099546946

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 5.68951454e-01  8.22370844e-01  6.61481339e-04]
 [-8.22369848e-01  5.68951806e-01 -1.29416107e-03]
 [-1.44063134e-03  1.92332517e-04  9.99998944e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 9.98039373e-01  3.91193144e-04  6.25938211e-02]
 [ 4.70016571e-03  9.96688212e-01 -8.11823102e-02]
 [-6.24171580e-02  8.13172786e-02  9.94731840e-01]]

 t_gt:
[-0.57612397  0.81638401 -0.03997894]

Pose Error in degrees for R and t:
55.72459523086227 35.57677871866793

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999660e-01 -2.01544104e-04  7.99025199e-04]
 [ 2.02324826e-04  9.99999502e-01 -9.77131919e-04]
 [-7.98827866e-04  9.77293250e-04  9.99999203e-01]]

 t_estimated:
[[-0.88773959]
 [-0.46034444]
 [-0.0011925 ]]

 R_gt:
[[ 0.99800927 -0.01873995  0.06021841]
 [ 0.02418217  0.99556119 -0.09096053]
 [-0.05824658  0.09223488  0.99403225]]

 t_gt:
[-0.52510683  0.84301699 -0.11655544]

Pose Error in degrees for R and t:
6.310041419610957 85.51380326612781

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.93577925e-01 -1.13147536e-01 -7.35584392e-04]
 [ 1.13148525e-01  9.93576983e-01  1.48006387e-03]
 [ 5.63394140e-04 -1.55378908e-03  9.99998634e-01]]

 t_estimated:
[[-0.78017892]
 [-0.62555594]
 [-0.00078489]]

 R_gt:
[[ 0.99926064 -0.02983195  0.02428342]
 [ 0.02820667  0.99750446  0.06472693]
 [-0.02615436 -0.06399347  0.99760691]]

 t_gt:
[ 0.16298857 -0.46068156  0.87247191]

Pose Error in degrees for R and t:
6.2068946141958845 80.7735402736368

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99530797e-01 -3.06298036e-02  1.18934045e-05]
 [ 3.06298036e-02  9.99530797e-01 -4.94451860e-06]
 [-1.17363745e-05  5.30649127e-06  1.00000000e+00]]

 t_estimated:
[[ 7.39826633e-01]
 [-6.72797383e-01]
 [ 4.83443624e-04]]

 R_gt:
[[ 0.99974574 -0.01705237  0.01482575]
 [ 0.0173736   0.99961065 -0.02182795]
 [-0.01444858  0.02208102  0.99965182]]

 t_gt:
[ 0.52489927 -0.84614532 -0.09229762]

Pose Error in degrees for R and t:
1.6947561922767158 16.749435880605013

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.90750320e-01  1.35697473e-01 -3.38302134e-06]
 [-1.35697471e-01  9.90750301e-01 -1.94791703e-04]
 [-2.30810125e-05  1.93449010e-04  9.99999981e-01]]

 t_estimated:
[[-0.85967755]
 [-0.51083623]
 [-0.00092043]]

 R_gt:
[[ 0.99923786 -0.01269217 -0.03691567]
 [ 0.00821823  0.99287148 -0.11891112]
 [ 0.03816217  0.11851764  0.99221793]]

 t_gt:
[ 0.10014221  0.19948046 -0.9747713 ]

Pose Error in degrees for R and t:
11.021848858469205 79.2167203138608

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99999893e-01  4.54020403e-04  9.00160563e-05]
 [-4.54022133e-04  9.99999897e-01  1.92047392e-05]
 [-9.00073277e-05 -1.92456064e-05  9.99999996e-01]]

 t_estimated:
[[8.84092771e-01]
 [4.67311021e-01]
 [6.17535553e-04]]

 R_gt:
[[ 0.99473936 -0.10230232  0.00525945]
 [ 0.10226156  0.99472915  0.00752917]
 [-0.00600101 -0.00695202  0.99995749]]

 t_gt:
[ 0.55915244 -0.81307035  0.16206528]

Pose Error in degrees for R and t:
5.919873710004652 83.4260221076447

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-7.10402584e-01 -7.03790218e-01 -2.73821744e-03]
 [-7.03793652e-01  7.10404319e-01  4.45012286e-04]
 [ 1.63204620e-03  2.24327793e-03 -9.99996152e-01]]

 t_estimated:
[[9.34475221e-01]
 [3.56027336e-01]
 [7.72293571e-04]]

 R_gt:
[[ 0.98261196 -0.18302736 -0.03119637]
 [ 0.18278082  0.98309659 -0.01062858]
 [ 0.03261535  0.00474195  0.99945639]]

 t_gt:
[ 0.65526001 -0.73272657 -0.1837011 ]

Pose Error in degrees for R and t:
178.00613188304925 69.43243583833137

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999205e-01 -1.19787006e-03  3.93873822e-04]
 [ 1.19799111e-03  9.99999235e-01 -3.07256060e-04]
 [-3.93505468e-04  3.07727673e-04  9.99999875e-01]]

 t_estimated:
[[ 9.99956066e-01]
 [-9.36515493e-03]
 [ 3.98925361e-04]]

 R_gt:
[[ 0.96717477 -0.25378443 -0.01288586]
 [ 0.25203197  0.96449844 -0.07888111]
 [ 0.03244789  0.07304401  0.9968003 ]]

 t_gt:
[ 0.6176492  -0.69612006 -0.36595947]

Pose Error in degrees for R and t:
15.300885451895018 51.39151383912035

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.9999981   0.00155958 -0.0011681 ]
 [-0.00155819  0.99999809  0.0011831 ]
 [ 0.00116994 -0.00118128  0.99999862]]

 t_estimated:
[[0.05713536]
 [0.99836531]
 [0.00150356]]

 R_gt:
[[ 9.90024615e-01  1.40897326e-01 -6.65321198e-04]
 [-1.40896996e-01  9.89983981e-01 -8.90098225e-03]
 [-5.95458214e-04  8.90691998e-03  9.99960050e-01]]

 t_gt:
[-0.56762937  0.82014975 -0.07177243]

Pose Error in degrees for R and t:
8.0317065172696 38.16176142454475

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[-0.39743919 -0.91762557 -0.00232351]
 [ 0.91762708 -0.39743281 -0.00277603]
 [ 0.00162392 -0.00323542  0.99999345]]

 t_estimated:
[[9.79024550e-01]
 [2.03740885e-01]
 [7.63074474e-04]]

 R_gt:
[[ 0.9326736   0.36058034 -0.01012394]
 [-0.36068647  0.93260693 -0.01224458]
 [ 0.00502537  0.01507245  0.9998739 ]]

 t_gt:
[-0.52504844  0.84898089 -0.05962869]

Pose Error in degrees for R and t:
134.55948512717922 70.05556347012661

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.36307319 -0.93175854 -0.00196985]
 [ 0.9317593  -0.36306829 -0.00245374]
 [ 0.00157111 -0.00272631  0.99999505]]

 t_estimated:
[[9.93141519e-01]
 [1.16917584e-01]
 [4.48209391e-04]]

 R_gt:
[[ 0.86111395  0.50542699 -0.05501033]
 [-0.50713243  0.86157565 -0.02246409]
 [ 0.03604114  0.04724246  0.99823299]]

 t_gt:
[-0.44061554  0.88837077 -0.12905551]

Pose Error in degrees for R and t:
141.74843795893935 70.50131225783018

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.75721655e-01  2.19013888e-01  4.09941141e-04]
 [-2.19013563e-01  9.75721550e-01 -7.18566655e-04]
 [-5.57364482e-04  6.11338377e-04  9.99999658e-01]]

 t_estimated:
[[-0.69846069]
 [ 0.71564723]
 [ 0.00130533]]

 R_gt:
[[ 0.99808036  0.06187133  0.00264892]
 [-0.06186392  0.99808088 -0.00294314]
 [-0.0028242   0.00277431  0.99999212]]

 t_gt:
[-0.95836911  0.28302181 -0.03777961]

Pose Error in degrees for R and t:
9.105795002119832 29.32243086901457

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.97778371e-01 -6.66204067e-02 -2.08953904e-04]
 [ 6.66203741e-02  9.97778382e-01 -1.59300736e-04]
 [ 2.19102368e-04  1.45026241e-04  9.99999965e-01]]

 t_estimated:
[[-0.96144532]
 [-0.27499401]
 [-0.00108678]]

 R_gt:
[[ 9.93155701e-01  1.16740316e-01 -3.71014336e-03]
 [-1.16743921e-01  9.93162608e-01 -7.80756205e-04]
 [ 3.59429839e-03  1.20867578e-03  9.99992688e-01]]

 t_gt:
[-0.96586275  0.25804119 -0.02288888]

Pose Error in degrees for R and t:
10.52585243645285 30.94187933035953

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 5.43962280e-01  8.39109658e-01 -1.41857400e-04]
 [-8.39109189e-01  5.43961779e-01 -1.16284149e-03]
 [-8.98586518e-04  7.51575754e-04  9.99999314e-01]]

 t_estimated:
[[-4.61913234e-01]
 [ 8.86925082e-01]
 [ 2.52771030e-04]]

 R_gt:
[[ 0.99558451  0.08640034  0.03667909]
 [-0.08640141  0.99626028 -0.00157367]
 [-0.03667692 -0.00160253  0.99932538]]

 t_gt:
[-0.9830694   0.173164    0.05990642]

Pose Error in degrees for R and t:
52.12649134401309 52.57723721993545

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99211060e-01  3.97012695e-02 -1.03251458e-03]
 [-3.97010289e-02  9.99211571e-01  2.52472386e-04]
 [ 1.04172399e-03 -2.11281310e-04  9.99999435e-01]]

 t_estimated:
[[-0.9689311 ]
 [-0.24727929]
 [-0.00504652]]

 R_gt:
[[ 0.99921968  0.03255285  0.02236799]
 [-0.03306473  0.99919048  0.02290442]
 [-0.02160528 -0.0236261   0.9994875 ]]

 t_gt:
[-0.5783454   0.46375746  0.67115245]

Pose Error in degrees for R and t:
1.907913752446087 63.748494860660564

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 9.99543590e-01 -3.02094057e-02  5.45132166e-05]
 [ 3.02094080e-02  9.99543591e-01 -4.33748538e-05]
 [-5.31780078e-05  4.50018691e-05  9.99999998e-01]]

 t_estimated:
[[ 8.69085039e-01]
 [-4.94662694e-01]
 [-1.21042787e-04]]

 R_gt:
[[ 0.99587368 -0.0840306   0.0342526 ]
 [ 0.08290029  0.99600467  0.03318368]
 [-0.03690554 -0.03020681  0.99886198]]

 t_gt:
[ 0.73882139 -0.48752957  0.46525033]

Pose Error in degrees for R and t:
4.102577779380634 27.96856961286531

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.19832769e-01 -3.92310670e-01  1.21879255e-04]
 [ 3.92310628e-01  9.19832755e-01  2.71229143e-04]
 [-2.18514618e-04 -2.01670926e-04  9.99999956e-01]]

 t_estimated:
[[ 9.56263874e-01]
 [-2.92504128e-01]
 [ 8.58819352e-04]]

 R_gt:
[[ 0.97606485 -0.21469234  0.03471872]
 [ 0.21380365  0.97648662  0.02757656]
 [-0.03982366 -0.01949333  0.99901686]]

 t_gt:
[ 0.81250137 -0.55910256  0.16506318]

Pose Error in degrees for R and t:
11.013332923076657 19.83945679023467

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.96673210e-01  8.15015830e-02 -6.25078582e-05]
 [-8.15015873e-02  9.96673209e-01 -7.03723796e-05]
 [ 5.65644473e-05  7.52327551e-05  9.99999996e-01]]

 t_estimated:
[[-9.54116958e-01]
 [ 2.99433807e-01]
 [-4.75121685e-04]]

 R_gt:
[[ 0.9858924   0.16700059  0.01122344]
 [-0.16732034  0.98509741  0.03985022]
 [-0.00440241 -0.0411662   0.99914288]]

 t_gt:
[-0.59058442  0.77915814  0.21005388]

Pose Error in degrees for R and t:
5.492808985655152 37.18453362986688

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.50926113e-01 -3.09417816e-01 -3.78022233e-04]
 [ 3.09417829e-01  9.50926183e-01 -2.51409301e-05]
 [ 3.67250291e-04 -9.30596520e-05  9.99999928e-01]]

 t_estimated:
[[-0.1719058 ]
 [-0.98511286]
 [-0.00102938]]

 R_gt:
[[ 0.97161274  0.23648885 -0.00641578]
 [-0.23571829  0.97003926  0.05882464]
 [ 0.02013409 -0.05564315  0.99824777]]

 t_gt:
[-0.5258091   0.84301742  0.11334202]

Pose Error in degrees for R and t:
31.86874988419901 42.2520268958682

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.38427127  0.92318233 -0.00836486]
 [ 0.9231483   0.38433866  0.0090005 ]
 [ 0.01152404 -0.00426337 -0.99992451]]

 t_estimated:
[[-0.06701134]
 [-0.99772443]
 [-0.0074457 ]]

 R_gt:
[[ 8.94873135e-01  4.46031593e-01  1.60040048e-02]
 [-4.46318856e-01  8.94233438e-01  3.38631661e-02]
 [ 7.92017670e-04 -3.74468224e-02  9.99298664e-01]]

 t_gt:
[-0.47004723  0.88100494  0.05372054]

Pose Error in degrees for R and t:
178.50487510739364 32.01583135672962

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.83833692  0.54457829  0.02501379]
 [ 0.54459634  0.83867167 -0.00668271]
 [-0.02461762  0.00802005 -0.99966477]]

 t_estimated:
[[ 0.95759168]
 [-0.28782368]
 [ 0.01325526]]

 R_gt:
[[ 0.99700457 -0.07493515  0.01916294]
 [ 0.07499886  0.99717949 -0.0026509 ]
 [-0.01891004  0.00408071  0.99981341]]

 t_gt:
[ 0.8569389  -0.5099408   0.07494064]

Pose Error in degrees for R and t:
177.4160330560998 14.450415754743881

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.83079974  0.55638425  0.01443437]
 [ 0.55645046 -0.82979898 -0.04238567]
 [-0.01160509  0.04324602 -0.99899705]]

 t_estimated:
[[-0.30040667]
 [ 0.95353877]
 [-0.02279565]]

 R_gt:
[[ 0.98012297 -0.19826015  0.00716079]
 [ 0.19811     0.98002073  0.01763885]
 [-0.01051505 -0.01586876  0.99981897]]

 t_gt:
[ 0.8429197  -0.5322297   0.07885379]

Pose Error in degrees for R and t:
178.21493212303753 40.31332568555608

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.79287844e-01  2.02469253e-01  1.23270182e-03]
 [-2.02468327e-01  9.79288455e-01 -8.35920263e-04]
 [-1.37641881e-03  5.69023476e-04  9.99998891e-01]]

 t_estimated:
[[0.79955151]
 [0.60059623]
 [0.00124347]]

 R_gt:
[[ 0.95449745 -0.29789074 -0.01396431]
 [ 0.29788204  0.954598   -0.00275341]
 [ 0.01415057 -0.0015311   0.99989887]]

 t_gt:
[ 0.85533313 -0.51733282 -0.02778483]

Pose Error in degrees for R and t:
29.026447285915427 68.09058774942095

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.23752828e-01 -3.82988752e-01 -5.73365285e-04]
 [ 3.82988921e-01  9.23752910e-01  2.17507578e-04]
 [ 4.46344894e-04 -4.20515792e-04  9.99999812e-01]]

 t_estimated:
[[-0.61601366]
 [-0.78773429]
 [-0.00136286]]

 R_gt:
[[ 0.99845474 -0.05383616 -0.01375041]
 [ 0.05295583  0.99691759 -0.05788286]
 [ 0.01682422  0.05706511  0.99822908]]

 t_gt:
[ 0.40265824 -0.38482678 -0.83052676]

Pose Error in degrees for R and t:
19.751125760289906 86.7765488496244

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.02085868  0.99976168  0.00644166]
 [ 0.99977856 -0.02084023 -0.0029182 ]
 [-0.00278326  0.00650111 -0.99997499]]

 t_estimated:
[[-0.56171386]
 [-0.82733031]
 [-0.00145146]]

 R_gt:
[[ 0.99949792  0.00921106 -0.03032836]
 [-0.01106243  0.9980505  -0.06142297]
 [ 0.02970295  0.06172817  0.99765156]]

 t_gt:
[-0.12910648  0.58119371 -0.8034584 ]

Pose Error in degrees for R and t:
178.30667403174056 65.97394191622918

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99163562e-01 -4.08686151e-02 -1.39023072e-03]
 [ 4.08693546e-02  9.99164370e-01  5.07731480e-04]
 [ 1.36831872e-03 -5.64124627e-04  9.99998905e-01]]

 t_estimated:
[[-0.44311795]
 [-0.8964617 ]
 [-0.0017043 ]]

 R_gt:
[[ 0.99779384  0.06105132 -0.02608469]
 [-0.06295958  0.99480616 -0.07997371]
 [ 0.02106684  0.08143975  0.99645616]]

 t_gt:
[-0.27969972  0.81558386 -0.50654816]

Pose Error in degrees for R and t:
7.628442139909133 52.674929167319696

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 9.97485103e-01 -7.08764250e-02  3.11535450e-05]
 [ 7.08764179e-02  9.97485087e-01  1.88267581e-04]
 [-4.44189297e-05 -1.85586056e-04  9.99999982e-01]]

 t_estimated:
[[0.67053032]
 [0.74188163]
 [0.00085965]]

 R_gt:
[[ 0.99772511 -0.02781794  0.06140139]
 [ 0.02853353  0.99953429 -0.01081323]
 [-0.06107138  0.01254006  0.99805425]]

 t_gt:
[-0.49328529  0.14597269  0.85753227]

Pose Error in degrees for R and t:
4.332466914267893 77.18927054408316

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.87978368e-01 -1.54592185e-01  3.46066765e-05]
 [ 1.54592172e-01  9.87978339e-01  2.47352738e-04]
 [-7.24294470e-05 -2.39029233e-04  9.99999969e-01]]

 t_estimated:
[[4.06611733e-01]
 [9.13600936e-01]
 [4.77543231e-04]]

 R_gt:
[[ 0.99553833 -0.041047    0.08496083]
 [ 0.04601396  0.9972932  -0.05735567]
 [-0.0823763   0.06100987  0.99473197]]

 t_gt:
[-0.60394583  0.60723864  0.51624672]

Pose Error in degrees for R and t:
8.689072467629641 71.9739806161312

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.96643951e-01 -8.18586139e-02  4.31539498e-05]
 [ 8.18586077e-02  9.96643944e-01  1.29360577e-04]
 [-5.35984003e-05 -1.25393914e-04  9.99999991e-01]]

 t_estimated:
[[3.03383830e-01]
 [9.52868266e-01]
 [5.65746268e-04]]

 R_gt:
[[ 0.99569411 -0.03003489  0.08769296]
 [ 0.03570913  0.99731896 -0.06387793]
 [-0.08553975  0.06673458  0.99409693]]

 t_gt:
[-0.6126995   0.73843089  0.28163654]

Pose Error in degrees for R and t:
6.832882531801218 58.8082678755809

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999979e-01  1.03799009e-04  1.76567659e-04]
 [-1.03766892e-04  9.99999978e-01 -1.81895595e-04]
 [-1.76586536e-04  1.81877269e-04  9.99999968e-01]]

 t_estimated:
[[-9.99981640e-01]
 [-6.00092470e-03]
 [-8.42004537e-04]]

 R_gt:
[[ 0.99871606 -0.03432124  0.03727172]
 [ 0.02987498  0.99304158  0.11391642]
 [-0.04092175 -0.11265696  0.99279139]]

 t_gt:
[ 0.10311083 -0.33716558  0.93578177]

Pose Error in degrees for R and t:
7.1344483761942765 84.15293097316905

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99633887  0.08538033  0.0043657 ]
 [-0.08539854  0.99633815  0.00416995]
 [-0.00399368 -0.00452751  0.99998178]]

 t_estimated:
[[0.56561367]
 [0.82463955]
 [0.00712697]]

 R_gt:
[[ 0.99517593 -0.08191104  0.05400038]
 [ 0.07018097  0.97896391  0.19158449]
 [-0.068557   -0.18687058  0.97998952]]

 t_gt:
[ 0.1869615  -0.39340273  0.90015537]

Pose Error in degrees for R and t:
14.527951650710893 77.74563704841287

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 8.48084753e-01  5.29860534e-01  2.56693903e-04]
 [ 5.29779155e-01 -8.47945806e-01 -1.79431685e-02]
 [-9.28971432e-03  1.53533187e-02 -9.99838975e-01]]

 t_estimated:
[[0.84306213]
 [0.5378155 ]
 [0.00085503]]

 R_gt:
[[ 0.99489911 -0.08115261  0.05992382]
 [ 0.07052528  0.98425936  0.16204714]
 [-0.07213146 -0.15699467  0.98496183]]

 t_gt:
[ 0.19756831 -0.4168445   0.88724711]

Pose Error in degrees for R and t:
173.19548962733455 86.74014878821703

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 0.12247412  0.99246411  0.00388424]
 [-0.99239927  0.12251153 -0.01160214]
 [-0.01199057 -0.00243375  0.99992515]]

 t_estimated:
[[0.08662454]
 [0.99618218]
 [0.01082807]]

 R_gt:
[[ 0.99940436 -0.0292583  -0.01830246]
 [ 0.02604944  0.98740649 -0.15604711]
 [ 0.02263768  0.15547697  0.98757991]]

 t_gt:
[ 0.25938417  0.26446318 -0.92885902]

Pose Error in degrees for R and t:
84.92049141543106 73.98644297732507

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-0.98121876 -0.19276368  0.00720507]
 [-0.19274643  0.98124394  0.00302301]
 [-0.00765266  0.00157748 -0.99996947]]

 t_estimated:
[[ 0.9975262 ]
 [-0.07019214]
 [ 0.00381412]]

 R_gt:
[[ 0.99778872 -0.06177176 -0.02454086]
 [ 0.05589429  0.97958    -0.19312961]
 [ 0.03597023  0.19132976  0.98086689]]

 t_gt:
[ 0.33834273  0.20554075 -0.91830126]

Pose Error in degrees for R and t:
177.62304835785923 71.36272221912887

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-8.45302334e-01  5.34287410e-01 -9.63805181e-04]
 [-5.34280754e-01 -8.45298627e-01 -3.78233035e-03]
 [-2.83555468e-03 -2.68227011e-03  9.99992382e-01]]

 t_estimated:
[[0.54927017]
 [0.83564125]
 [0.0024457 ]]

 R_gt:
[[ 0.98963955 -0.13694712 -0.04312515]
 [ 0.12336833  0.96473755 -0.23251201]
 [ 0.07344664  0.22478182  0.97163759]]

 t_gt:
[ 0.47607058  0.07347494 -0.87633226]

Pose Error in degrees for R and t:
155.46243580372627 71.29190483370886

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 0.96511318  0.26164917 -0.00981088]
 [ 0.26155761 -0.96170273  0.08194804]
 [ 0.01200649 -0.08165524 -0.99658831]]

 t_estimated:
[[-0.17612144]
 [ 0.98354139]
 [ 0.0403433 ]]

 R_gt:
[[ 0.99518817  0.09524779 -0.0229913 ]
 [-0.09504974  0.99542595  0.0095924 ]
 [ 0.02379975 -0.00736188  0.99968943]]

 t_gt:
[-0.83592131  0.54874103 -0.01090126]

Pose Error in degrees for R and t:
174.60927839909314 46.64683274252442

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.90049060e-01 -1.40721937e-01 -4.42016694e-04]
 [ 1.40722145e-01  9.90049012e-01  4.81050680e-04]
 [ 3.69923808e-04 -5.38465311e-04  9.99999787e-01]]

 t_estimated:
[[-0.5288652 ]
 [-0.84870525]
 [-0.00100288]]

 R_gt:
[[ 0.9919877   0.11612572 -0.04976072]
 [-0.11643561  0.99319327 -0.00335702]
 [ 0.04903217  0.00912349  0.99875512]]

 t_gt:
[-0.70216843  0.68626084 -0.1897513 ]

Pose Error in degrees for R and t:
15.040141987619704 77.82546116903437

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.95715059e-01 -9.24742511e-02 -1.86990369e-04]
 [ 9.24742983e-02  9.95715037e-01  2.61881937e-04]
 [ 1.61971786e-04 -2.78051592e-04  9.99999948e-01]]

 t_estimated:
[[-9.99550240e-01]
 [-2.99801902e-02]
 [-7.11941459e-04]]

 R_gt:
[[ 0.98488103  0.16957557 -0.03539609]
 [-0.17074411  0.98476043 -0.03306441]
 [ 0.0292491   0.03860884  0.99882615]]

 t_gt:
[-0.61946669  0.75956122 -0.19831231]

Pose Error in degrees for R and t:
15.361325212957702 53.37625912505139

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.92212873  0.38680295  0.00787878]
 [-0.38686893 -0.92207836 -0.01019488]
 [ 0.00332145 -0.01244905  0.99991699]]

 t_estimated:
[[0.71475462]
 [0.69937485]
 [0.00080946]]

 R_gt:
[[ 0.99387304 -0.09289102 -0.05990022]
 [ 0.09461489  0.99515823  0.0266202 ]
 [ 0.05713779 -0.03212352  0.99784922]]

 t_gt:
[ 0.63378916 -0.77300283 -0.02789129]

Pose Error in degrees for R and t:
162.65117484576177 84.97228676999559

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99767138e-01  2.15793585e-02  3.68647328e-05]
 [-2.15793748e-02  9.99767002e-01  5.22347947e-04]
 [-2.55842098e-05 -5.23021830e-04  9.99999863e-01]]

 t_estimated:
[[0.69198877]
 [0.72190704]
 [0.00133221]]

 R_gt:
[[ 0.97538909 -0.20689413 -0.07623659]
 [ 0.20982561  0.97719501  0.03260992]
 [ 0.06775156 -0.04780369  0.9965559 ]]

 t_gt:
[ 0.68094529 -0.73226755  0.009887  ]

Pose Error in degrees for R and t:
14.101650770984369 86.70887218775492

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.97658088e-01  6.83979589e-02  2.42810315e-04]
 [-6.83980061e-02  9.97658096e-01  1.91748232e-04]
 [-2.29126488e-04 -2.07906916e-04  9.99999952e-01]]

 t_estimated:
[[0.90548907]
 [0.42436434]
 [0.00210785]]

 R_gt:
[[ 0.96308689 -0.26912568 -0.00606552]
 [ 0.2688628   0.96277467 -0.02787526]
 [ 0.0133422   0.02521677  0.99959299]]

 t_gt:
[ 0.64911238 -0.75458568 -0.09619549]

Pose Error in degrees for R and t:
19.59855175164542 74.49382983558581

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.35807174  0.93369347  0.00106398]
 [-0.93369264 -0.35806896 -0.0021645 ]
 [-0.00164    -0.00176848  0.99999709]]

 t_estimated:
[[0.40231119]
 [0.91550213]
 [0.00124815]]

 R_gt:
[[ 0.99494582 -0.07723566 -0.06415384]
 [ 0.08165043  0.9942469   0.06932135]
 [ 0.05843012 -0.07420864  0.99552974]]

 t_gt:
[ 0.51566221 -0.81542502  0.26301052]

Pose Error in degrees for R and t:
115.63514918490377 57.40220326473042

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999982e-01  1.29381189e-04 -1.38400397e-04]
 [-1.29200248e-04  9.99999138e-01  1.30658109e-03]
 [ 1.38569325e-04 -1.30656319e-03  9.99999137e-01]]

 t_estimated:
[[0.77507397]
 [0.63186943]
 [0.00117053]]

 R_gt:
[[ 0.97694318 -0.18810635 -0.10098098]
 [ 0.19543331  0.97833614  0.06829027]
 [ 0.08594675 -0.086451    0.99254159]]

 t_gt:
[ 0.639649   -0.7595672   0.11792718]

Pose Error in degrees for R and t:
13.094216729858848 89.085175012979

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-0.48900441  0.8722807   0.0010345 ]
 [-0.87227999 -0.48900125 -0.00232471]
 [-0.00152193 -0.00203917  0.99999676]]

 t_estimated:
[[0.50903182]
 [0.86074697]
 [0.00112369]]

 R_gt:
[[ 0.94799959 -0.29802359 -0.11170336]
 [ 0.30624531  0.94971722  0.06519087]
 [ 0.08665849 -0.09600916  0.99160072]]

 t_gt:
[ 0.69214366 -0.71625225  0.08899362]

Pose Error in degrees for R and t:
137.04114263669737 74.68718370571409

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.98271937e-01  5.87631618e-02 -1.75143993e-04]
 [-5.87631612e-02  9.98271952e-01  8.49924347e-06]
 [ 1.75340778e-04  1.80745846e-06  9.99999985e-01]]

 t_estimated:
[[-0.96523394]
 [-0.26138194]
 [-0.00170838]]

 R_gt:
[[ 0.98862301  0.1503193   0.0051693 ]
 [-0.15028087  0.98861695 -0.00725194]
 [-0.00620032  0.00639241  0.99996036]]

 t_gt:
[-0.86238686  0.50622818 -0.00468301]

Pose Error in degrees for R and t:
5.3011443129801785 45.565440549219225

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 0.73395207 -0.67918909 -0.00406723]
 [ 0.67919869  0.73395262  0.00164234]
 [ 0.00186969 -0.00396786  0.99999038]]

 t_estimated:
[[-0.37741976]
 [-0.92604025]
 [-0.00194546]]

 R_gt:
[[ 0.96544923  0.26054192 -0.00487983]
 [-0.260569    0.96498518 -0.03009863]
 [-0.0031331   0.03032918  0.99953529]]

 t_gt:
[-0.81374663  0.57765496 -0.0642741 ]

Pose Error in degrees for R and t:
57.91744037332267 76.83932256814605

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.79354842e-01  2.02148689e-01 -1.43359476e-05]
 [-2.02148678e-01  9.79354763e-01 -4.00583058e-04]
 [-6.69373615e-05  3.95210951e-04  9.99999920e-01]]

 t_estimated:
[[0.10765088]
 [0.9941875 ]
 [0.0015831 ]]

 R_gt:
[[ 0.954493    0.29559769 -0.03954173]
 [-0.29635818  0.95496155 -0.01483314]
 [ 0.0333759   0.02587607  0.99910822]]

 t_gt:
[-0.7767522   0.62365267 -0.08782573]

Pose Error in degrees for R and t:
6.061235083158473 57.56987850581263

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99997630e-01  8.69639934e-04  1.99602592e-03]
 [-8.65293451e-04  9.99997255e-01 -2.17740003e-03]
 [-1.99791400e-03  2.17566772e-03  9.99995637e-01]]

 t_estimated:
[[0.99985659]
 [0.01680431]
 [0.00210054]]

 R_gt:
[[ 0.99954304  0.0081873  -0.02911413]
 [-0.01116519  0.99455177 -0.10363856]
 [ 0.02810619  0.10391566  0.99418788]]

 t_gt:
[ 0.22640466  0.30524845 -0.9249672 ]

Pose Error in degrees for R and t:
6.113026200940348 76.72890525044062

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.94674754  0.32197491 -0.00112174]
 [-0.3219713  -0.94674591 -0.00258122]
 [-0.00189309 -0.00208259  0.99999604]]

 t_estimated:
[[0.63735314]
 [0.77056988]
 [0.0017442 ]]

 R_gt:
[[ 0.99929018 -0.01295348 -0.03540166]
 [ 0.00294605  0.96306359 -0.26925865]
 [ 0.03758226  0.26896235  0.96241638]]

 t_gt:
[ 0.2243957   0.38064915 -0.89708015]

Pose Error in degrees for R and t:
161.84694258279507 64.22925210815129

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-1.56733623e-02 -9.99875060e-01 -2.05205058e-03]
 [ 9.99876696e-01 -1.56713327e-02 -1.00143654e-03]
 [ 9.69153054e-04 -2.06749343e-03  9.99997393e-01]]

 t_estimated:
[[0.99995741]
 [0.00917373]
 [0.00101172]]

 R_gt:
[[ 0.99801555 -0.05065021 -0.03742945]
 [ 0.03578804  0.94512534 -0.32474259]
 [ 0.05182383  0.32275793  0.94506136]]

 t_gt:
[ 0.28374016  0.35184148 -0.89201967]

Pose Error in degrees for R and t:
89.97657422550421 73.37818024204438

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 9.89193749e-01 -1.46613868e-01 -3.16719501e-04]
 [ 1.46613840e-01  9.89193798e-01 -1.11405895e-04]
 [ 3.29630616e-04  6.37665526e-05  9.99999944e-01]]

 t_estimated:
[[-0.01013461]
 [-0.99994801]
 [-0.00112607]]

 R_gt:
[[ 0.99300152 -0.05749251  0.10316858]
 [ 0.04019289  0.98588266  0.16254588]
 [-0.111056   -0.15726018  0.98129191]]

 t_gt:
[ 0.16359634 -0.19044888  0.96796976]

Pose Error in degrees for R and t:
12.44370760439455 79.18193596163393

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.01982183e-01  4.31773237e-01  1.16950496e-04]
 [-4.31773011e-01  9.01981932e-01 -8.13368092e-04]
 [-4.56677808e-04  6.83147460e-04  9.99999662e-01]]

 t_estimated:
[[3.35940399e-01]
 [9.41883205e-01]
 [2.76199557e-04]]

 R_gt:
[[ 0.99270812 -0.08221876  0.08815087]
 [ 0.06374424  0.97872792  0.1950124 ]
 [-0.10230928 -0.1879702   0.97683085]]

 t_gt:
[ 0.2408229  -0.23891958  0.9407028 ]

Pose Error in degrees for R and t:
32.232713582588026 81.72801353271079

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 2.71722344e-01  9.62371068e-01  2.98248321e-03]
 [ 9.62375637e-01 -2.71719998e-01 -1.17343546e-03]
 [-3.18880007e-04  3.18911782e-03 -9.99994864e-01]]

 t_estimated:
[[-0.91191661]
 [-0.41037431]
 [-0.00100898]]

 R_gt:
[[ 0.98869227 -0.08001896  0.12682801]
 [ 0.04787219  0.96990205  0.23874643]
 [-0.14211453 -0.22997347  0.96276386]]

 t_gt:
[ 0.1752525  -0.14901746  0.97318054]

Pose Error in degrees for R and t:
174.03684309428138 84.2812921621023

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999997e-01  7.03533515e-05  9.63329124e-06]
 [-7.03535360e-05  9.99999997e-01  1.91551886e-05]
 [-9.63194358e-06 -1.91558663e-05  1.00000000e+00]]

 t_estimated:
[[ 9.99991639e-01]
 [-4.08369662e-03]
 [-2.14703588e-04]]

 R_gt:
[[ 0.99893466 -0.04576492  0.00586984]
 [ 0.04574783  0.99894886  0.00301259]
 [-0.00600141 -0.00274045  0.99997877]]

 t_gt:
[ 0.78848825 -0.59196467  0.16692547]

Pose Error in degrees for R and t:
2.653181402342472 37.73374579393025

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999989e-01 -1.45091875e-04  3.85393098e-05]
 [ 1.45090706e-04  9.99999989e-01  3.03321722e-05]
 [-3.85437103e-05 -3.03265802e-05  9.99999999e-01]]

 t_estimated:
[[9.85916691e-01]
 [1.67236208e-01]
 [5.73574277e-04]]

 R_gt:
[[ 0.99583773 -0.08751868  0.0254203 ]
 [ 0.0878061   0.99608316 -0.01039829]
 [-0.02441125  0.01258763  0.99962327]]

 t_gt:
[ 0.77737182 -0.6179778   0.11745849]

Pose Error in degrees for R and t:
5.262216372565234 48.45998447721629

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99999624e-01 -6.68629425e-04  5.51979700e-04]
 [ 6.68678682e-04  9.99999772e-01 -8.90573445e-05]
 [-5.51920028e-04  8.94264081e-05  9.99999844e-01]]

 t_estimated:
[[-6.29060921e-01]
 [-7.77355761e-01]
 [-6.15171224e-04]]

 R_gt:
[[ 0.98330067 -0.18179662  0.0083177 ]
 [ 0.18193303  0.98309462 -0.02061338]
 [-0.00442915  0.02178374  0.99975356]]

 t_gt:
[ 0.78782661 -0.6156145  -0.01865516]

Pose Error in degrees for R and t:
10.516915307877419 89.02432156066082

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 8.52422777e-01  5.22852664e-01  7.08557068e-04]
 [-5.22852740e-01  8.52423020e-01 -8.75354229e-05]
 [-6.49758484e-04 -2.95853816e-04  9.99999745e-01]]

 t_estimated:
[[0.00938436]
 [0.99995542]
 [0.00104271]]

 R_gt:
[[ 0.99715042 -0.05477844  0.05187138]
 [ 0.04884842  0.9927971   0.10939569]
 [-0.05748943 -0.10654956  0.99264469]]

 t_gt:
[ 0.21952897 -0.43198202  0.87475629]

Pose Error in degrees for R and t:
35.172857961122325 64.59648752019184

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.75980264 -0.637892    0.12567319]
 [-0.64544602 -0.76329444  0.02794683]
 [ 0.07809859 -0.10234934 -0.99167798]]

 t_estimated:
[[ 3.10391945e-01]
 [ 9.50608416e-01]
 [-6.92623353e-04]]

 R_gt:
[[ 0.99171366 -0.09832967  0.08267258]
 [ 0.08133118  0.97871151  0.18843822]
 [-0.09944109 -0.18015327  0.97859896]]

 t_gt:
[ 0.19842905 -0.44200833  0.87478829]

Pose Error in degrees for R and t:
164.5188130914386 68.9494202869251

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.99999714e-01 -7.56529344e-04 -1.18835508e-06]
 [ 7.56529671e-04  9.99999668e-01  3.04062326e-04]
 [ 9.58322613e-07 -3.04063138e-04  9.99999954e-01]]

 t_estimated:
[[3.22040731e-01]
 [9.46725775e-01]
 [2.71508917e-04]]

 R_gt:
[[ 0.98818487 -0.10760472  0.10914639]
 [ 0.07903987  0.9678934   0.23861052]
 [-0.13131668 -0.22716442  0.96496257]]

 t_gt:
[ 0.11674876 -0.40433372  0.90712952]

Pose Error in degrees for R and t:
16.124315470682685 69.82131744060973

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-0.79328393 -0.60858943 -0.01787502]
 [-0.60861105  0.793454   -0.00483109]
 [ 0.01712316  0.0070465  -0.99982856]]

 t_estimated:
[[ 0.95457541]
 [ 0.2978446 ]
 [-0.00862376]]

 R_gt:
[[ 0.99096175  0.12836184  0.03897051]
 [-0.12991666  0.99070107  0.0404155 ]
 [-0.03342077 -0.0451138   0.99842295]]

 t_gt:
[-0.84857691  0.4421592   0.29053824]

Pose Error in degrees for R and t:
178.30320829806956 47.0905676749249

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.98558427e-01  5.36755737e-02 -1.81799974e-05]
 [-5.36755730e-02  9.98558427e-01  3.57897356e-05]
 [ 2.00748242e-05 -3.47623203e-05  9.99999999e-01]]

 t_estimated:
[[-9.86444081e-01]
 [-1.64097401e-01]
 [-3.44920956e-04]]

 R_gt:
[[ 0.96571374  0.25525545  0.04734197]
 [-0.25707575  0.96566875  0.03736716]
 [-0.03617816 -0.04825718  0.99817973]]

 t_gt:
[-0.83229177  0.52729752  0.1710197 ]

Pose Error in degrees for R and t:
12.27469980810969 42.74158926557084

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99926740e-01  1.20974556e-02 -4.08707386e-04]
 [-1.20971173e-02  9.99926491e-01  8.20493385e-04]
 [ 4.18603225e-04 -8.15489094e-04  9.99999580e-01]]

 t_estimated:
[[-9.98463447e-01]
 [-5.54116483e-02]
 [-5.41646765e-04]]

 R_gt:
[[ 0.92209861  0.38415586  0.04646187]
 [-0.38476511  0.92300278  0.00461864]
 [-0.04111066 -0.02213622  0.9989096 ]]

 t_gt:
[-0.7919731   0.60505121  0.08180249]

Pose Error in degrees for R and t:
22.091972463701367 40.78334178391297

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 9.99967607e-01  8.04879759e-03 -3.76281857e-05]
 [-8.04879317e-03  9.99967601e-01  1.16095538e-04]
 [ 3.85613960e-05 -1.15788916e-04  9.99999993e-01]]

 t_estimated:
[[0.33011534]
 [0.94394002]
 [0.00105468]]

 R_gt:
[[ 0.9999873   0.00473585 -0.00158302]
 [-0.00478762  0.99939859 -0.03433902]
 [ 0.00141903  0.03434593  0.99940968]]

 t_gt:
[-0.1532324   0.02751396 -0.98780707]

Pose Error in degrees for R and t:
1.9852196685388201 88.52993489612484

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.98908328e-01 -4.66955671e-02 -1.29466681e-03]
 [ 4.66964935e-02  9.98908882e-01  6.94800230e-04]
 [ 1.26081008e-03 -7.54498136e-04  9.99998921e-01]]

 t_estimated:
[[-0.03293664]
 [-0.9994568 ]
 [-0.00113575]]

 R_gt:
[[ 0.99971483 -0.02304631 -0.00623694]
 [ 0.02225031  0.99403931 -0.10672125]
 [ 0.00865881  0.10655264  0.99426993]]

 t_gt:
[ 0.0993426   0.38295476 -0.91840988]

Pose Error in degrees for R and t:
6.324820815545064 67.35777032376578

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99592382e-01 -2.85494080e-02 -4.41443693e-05]
 [ 2.85494319e-02  9.99592137e-01  6.99055517e-04]
 [ 2.41687433e-05 -7.00030865e-04  9.99999755e-01]]

 t_estimated:
[[0.48106982]
 [0.87668155]
 [0.00113527]]

 R_gt:
[[ 0.99847612 -0.05496918 -0.00479529]
 [ 0.0535768   0.98661953 -0.15398301]
 [ 0.01319551  0.1534915   0.98806207]]

 t_gt:
[ 0.11176389  0.52348792 -0.84467108]

Pose Error in degrees for R and t:
9.026377302182533 59.220233119059316

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.99012053e-01 -4.44400432e-02 -3.49129085e-05]
 [ 4.44400441e-02  9.99012053e-01  2.44697040e-05]
 [ 3.37909817e-05 -2.59970605e-05  9.99999999e-01]]

 t_estimated:
[[ 8.86362350e-01]
 [-4.62991544e-01]
 [ 7.84131084e-04]]

 R_gt:
[[ 0.99983474 -0.00531188 -0.01737458]
 [ 0.00540991  0.99996952  0.00558937]
 [ 0.01734408 -0.00568193  0.99983326]]

 t_gt:
[ 0.23341163 -0.97177877 -0.03413257]

Pose Error in degrees for R and t:
2.4713803351013013 48.94479670166628

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 5.80103166e-01 -8.14541353e-01  1.64364601e-03]
 [-8.14542727e-01 -5.80103467e-01  3.35611542e-04]
 [ 6.80115269e-04 -1.53350922e-03 -9.99998593e-01]]

 t_estimated:
[[0.52934659]
 [0.84840481]
 [0.00120855]]

 R_gt:
[[ 0.99970005  0.0064998  -0.023617  ]
 [-0.00766523  0.9987388  -0.0496119 ]
 [ 0.02326504  0.04977853  0.99848919]]

 t_gt:
[-0.09166015 -0.18327934 -0.97877837]

Pose Error in degrees for R and t:
176.91263436975362 78.15891193817092

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 7.11580071e-01  7.02604987e-01  1.87455325e-04]
 [-7.02603068e-01  7.11578705e-01 -2.16220274e-03]
 [-1.65256365e-03  1.40687369e-03  9.99997645e-01]]

 t_estimated:
[[0.6194254 ]
 [0.78505437]
 [0.00134658]]

 R_gt:
[[ 0.99804581 -0.06180947 -0.00912928]
 [ 0.06022712  0.99061406 -0.12269675]
 [ 0.01662711  0.12190747  0.99240209]]

 t_gt:
[ 0.33031274  0.08117623 -0.94037435]

Pose Error in degrees for R and t:
48.61796214939329 74.51027466776284

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-4.45785719e-01  8.95132888e-01  3.49370938e-03]
 [ 8.95139706e-01  4.45782352e-01  1.73258953e-03]
 [-6.53612209e-06  3.89972165e-03 -9.99992396e-01]]

 t_estimated:
[[9.33955201e-01]
 [3.57389162e-01]
 [8.17824169e-04]]

 R_gt:
[[ 0.99763263 -0.06501812 -0.02239636]
 [ 0.06719859  0.99089116  0.11670116]
 [ 0.01460525 -0.11792971  0.99291459]]

 t_gt:
[ 0.23637197 -0.7479239   0.62027263]

Pose Error in degrees for R and t:
175.67300505135685 87.36164038627686

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.78306902e-01 -2.07160586e-01 -3.12699006e-04]
 [ 2.07160711e-01  9.78306825e-01  4.42184336e-04]
 [ 2.14312405e-04 -4.97370936e-04  9.99999853e-01]]

 t_estimated:
[[8.20728752e-01]
 [5.71317664e-01]
 [6.65096233e-04]]

 R_gt:
[[ 0.98781991 -0.13089978 -0.08412426]
 [ 0.14111552  0.98143447  0.12989171]
 [ 0.06555937 -0.14018079  0.9879528 ]]

 t_gt:
[ 0.43984372 -0.80481072  0.39851876]

Pose Error in degrees for R and t:
9.76791596386292 84.34460043742494

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.17883314e-01 -3.96850248e-01 -3.19234606e-04]
 [ 3.96850368e-01  9.17883166e-01  5.28275047e-04]
 [ 8.33739875e-05 -6.11583221e-04  9.99999810e-01]]

 t_estimated:
[[8.55087589e-01]
 [5.18482871e-01]
 [8.52743595e-04]]

 R_gt:
[[ 0.9640085  -0.23766821 -0.11916587]
 [ 0.253185    0.95743024  0.13864666]
 [ 0.08114132 -0.1638281   0.9831462 ]]

 t_gt:
[ 0.56822504 -0.76716522  0.29762029]

Pose Error in degrees for R and t:
13.85425762627621 84.92993161537827

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99887033e-01  1.50291325e-02 -2.16884541e-04]
 [-1.50290964e-02  9.99887043e-01  1.67234757e-04]
 [ 2.19373435e-04 -1.63956287e-04  9.99999962e-01]]

 t_estimated:
[[7.72862277e-01]
 [6.34573696e-01]
 [3.54796799e-04]]

 R_gt:
[[ 0.99984984 -0.0115175  -0.01287768]
 [ 0.01210054  0.99885956  0.04619047]
 [ 0.01233083 -0.04633909  0.99884911]]

 t_gt:
[ 0.6648264  -0.42894301  0.61156664]

Pose Error in degrees for R and t:
3.139366556278115 76.00481923335792

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.98389380e-01 -5.67327429e-02 -2.02230553e-04]
 [ 5.67329087e-02  9.98388950e-01  9.39408191e-04]
 [ 1.48609546e-04 -9.49368290e-04  9.99999538e-01]]

 t_estimated:
[[0.79093718]
 [0.61189419]
 [0.00196751]]

 R_gt:
[[ 0.99657833 -0.07338491  0.03802972]
 [ 0.0667998   0.98607473  0.15230027]
 [-0.0486758  -0.14923927  0.98760171]]

 t_gt:
[ 0.41958441 -0.41051247  0.80958535]

Pose Error in degrees for R and t:
9.017048850459595 85.28108190937118

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.98997926e-01 -4.47528337e-02  5.72950567e-04]
 [ 4.47526858e-02  9.98998061e-01  2.68451332e-04]
 [-5.84390463e-04 -2.42541247e-04  9.99999800e-01]]

 t_estimated:
[[0.17103985]
 [0.98525906]
 [0.00315389]]

 R_gt:
[[ 0.99062244 -0.11861113  0.06781062]
 [ 0.10109914  0.97021696  0.22013485]
 [-0.09190118 -0.21121364  0.9731095 ]]

 t_gt:
[ 0.36595702 -0.41042689  0.83523962]

Pose Error in degrees for R and t:
13.829885677358654 70.1749449386542

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.95721667e-01  9.24032266e-02  8.07013535e-05]
 [-9.24032112e-02  9.95721656e-01 -1.76827206e-04]
 [-9.66954897e-05  1.68613616e-04  9.99999981e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99922599 -0.03071356  0.02456504]
 [ 0.02904352  0.99741879  0.06567801]
 [-0.02651755 -0.06491435  0.99753803]]

 t_gt:
[ 0.26320774 -0.35256385  0.89800914]

Pose Error in degrees for R and t:
8.089136915178527 77.0269172014178

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99983095e-01 -5.81015963e-03  2.25662747e-04]
 [ 5.81024615e-03  9.99983046e-01 -3.84649065e-04]
 [-2.23424049e-04  3.85953719e-04  9.99999901e-01]]

 t_estimated:
[[ 7.69235183e-01]
 [-6.38965596e-01]
 [ 4.47970758e-04]]

 R_gt:
[[ 0.99737136 -0.04912823  0.05327692]
 [ 0.04263117  0.99223066  0.11688565]
 [-0.05860349 -0.114307    0.99171474]]

 t_gt:
[ 0.22609407 -0.29160956  0.9294328 ]

Pose Error in degrees for R and t:
7.745671275058781 68.858998179447

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.24669183e-01  3.80771415e-01  1.76879007e-04]
 [-3.80771176e-01  9.24668967e-01 -7.83269420e-04]
 [-4.61801134e-04  6.56914667e-04  9.99999678e-01]]

 t_estimated:
[[0.70636422]
 [0.70784818]
 [0.00074198]]

 R_gt:
[[ 0.9951445  -0.06984009  0.06936133]
 [ 0.05925203  0.98773676  0.14445432]
 [-0.07859831 -0.13964305  0.98707766]]

 t_gt:
[ 0.26968122 -0.25668631  0.92810785]

Pose Error in degrees for R and t:
27.669898147396268 89.45643478752764

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 8.58725533e-01  5.12435705e-01  3.27361012e-04]
 [-5.12435253e-01  8.58725367e-01 -9.24807310e-04]
 [-7.55017491e-04  6.26404327e-04  9.99999519e-01]]

 t_estimated:
[[-9.92325067e-01]
 [-1.23654214e-01]
 [-7.72838837e-04]]

 R_gt:
[[ 0.98699161 -0.09598832  0.12898122]
 [ 0.06513036  0.9721574   0.22509414]
 [-0.1469954  -0.21376513  0.96576261]]

 t_gt:
[ 0.21736601 -0.20523683  0.95426928]

Pose Error in degrees for R and t:
38.492399249559384 78.9855337701826

Number of keypoints:
Image1: 15
Image2: 15

 R_estimated:
[[ 9.99996224e-01  2.62307425e-03 -8.19371693e-04]
 [-2.62254559e-03  9.99996353e-01  6.45604296e-04]
 [ 8.21062172e-04 -6.43453019e-04  9.99999456e-01]]

 t_estimated:
[[ 1.05223395e-01]
 [-9.94448564e-01]
 [-3.01272831e-04]]

 R_gt:
[[ 0.97393426 -0.1472904   0.17250767]
 [ 0.08409969  0.94077206  0.32844427]
 [-0.21066732 -0.3053755   0.92863593]]

 t_gt:
[ 0.25536444 -0.15102295  0.954977  ]

Pose Error in degrees for R and t:
22.866763940139094 79.81848757146585

Number of keypoints:
Image1: 20
Image2: 20

 R_estimated:
[[ 0.99817012  0.03908533  0.0461383 ]
 [-0.03711568  0.99839394 -0.04280147]
 [-0.04773711  0.0410107   0.99801768]]

 t_estimated:
[[ 9.92730918e-01]
 [ 1.20351457e-01]
 [-9.23143831e-04]]

 R_gt:
[[ 0.97071254 -0.17243476  0.16728976]
 [ 0.10155348  0.92555271  0.36474639]
 [-0.21773061 -0.33707468  0.91595541]]

 t_gt:
[ 0.2857255  -0.15263699  0.94607763]

Pose Error in degrees for R and t:
26.7911933835755 74.66839401382519

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[-0.56605414 -0.81192904 -0.14266723]
 [ 0.82342378 -0.54859317 -0.14497867]
 [ 0.03944613 -0.19954137  0.97909512]]

 t_estimated:
[[0.99523804]
 [0.09746469]
 [0.00137274]]

 R_gt:
[[ 0.96029974  0.27777965  0.02575104]
 [-0.27685887  0.96029857 -0.03431458]
 [-0.03425997  0.02582392  0.99907891]]

 t_gt:
[-0.91794672  0.39110945 -0.06638682]

Pose Error in degrees for R and t:
140.8465046107238 28.89018955223428

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.47413074 -0.87198183  0.12185127]
 [-0.87630784  0.48077257  0.03069695]
 [-0.08534993 -0.09222486 -0.99207357]]

 t_estimated:
[[0.71109518]
 [0.69875683]
 [0.07799063]]

 R_gt:
[[ 8.39985901e-01  5.42608510e-01 -2.50149794e-04]
 [-5.41601120e-01  8.38397827e-01 -6.12971603e-02]
 [-3.30508695e-02  5.16253212e-02  9.98119416e-01]]

 t_gt:
[-0.84202673  0.53386373 -0.07733367]

Pose Error in degrees for R and t:
173.66310242796658 76.59978680661176

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.68622278 -0.67538187 -0.27010668]
 [ 0.72690412  0.65032021  0.22066723]
 [ 0.02662119 -0.34776854  0.93720241]]

 t_estimated:
[[8.42605021e-01]
 [5.38531658e-01]
 [6.56745925e-04]]

 R_gt:
[[ 0.67174711  0.74078041 -0.00130711]
 [-0.73938965  0.6703757  -0.06244287]
 [-0.04538019  0.04291378  0.99804778]]

 t_gt:
[-0.77504492  0.6304623  -0.04269266]

Pose Error in degrees for R and t:
96.74880602022162 71.72604316006424

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.76839721e-01  2.13972229e-01  2.12656296e-04]
 [-2.13972187e-01  9.76839732e-01 -2.05645477e-04]
 [-2.51733540e-04  1.55380137e-04  9.99999956e-01]]

 t_estimated:
[[0.68212788]
 [0.73123253]
 [0.00074546]]

 R_gt:
[[ 0.98568031 -0.16860596 -0.00268591]
 [ 0.16854729  0.98557988 -0.01494226]
 [ 0.00516671  0.01427582  0.99988456]]

 t_gt:
[ 0.70968242 -0.69786116 -0.09664713]

Pose Error in degrees for R and t:
22.077562974650608 88.49428456937497

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.98391761e-01  5.66906655e-02  2.43481591e-04]
 [-5.66906125e-02  9.98391770e-01 -2.19308836e-04]
 [-2.55522780e-04  2.05153015e-04  9.99999946e-01]]

 t_estimated:
[[ 8.94668768e-01]
 [-4.46729515e-01]
 [-7.32028689e-04]]

 R_gt:
[[ 0.95952548 -0.27969539 -0.03287166]
 [ 0.27957865  0.96008717 -0.00819462]
 [ 0.03385231 -0.00132715  0.99942548]]

 t_gt:
[ 0.75708473 -0.64385247 -0.11080033]

Pose Error in degrees for R and t:
19.5901541510902 15.192879555849085

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-5.80567334e-01 -8.14210095e-01 -1.86888654e-03]
 [ 8.14212035e-01 -5.80564031e-01 -2.04175780e-03]
 [ 5.77411508e-04 -2.70704780e-03  9.99996169e-01]]

 t_estimated:
[[0.77985773]
 [0.62595546]
 [0.0012933 ]]

 R_gt:
[[ 0.91948524 -0.38967012 -0.05199779]
 [ 0.38889783  0.92095041 -0.02463882]
 [ 0.05748838  0.00243261  0.99834323]]

 t_gt:
[ 0.78810629 -0.59938787 -0.14008091]

Pose Error in degrees for R and t:
102.59339992195045 76.15834009309775

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.99999944e-01  2.94385664e-04 -1.56731233e-04]
 [-2.94333182e-04  9.99999901e-01  3.34765906e-04]
 [ 1.56829768e-04 -3.34719756e-04  9.99999932e-01]]

 t_estimated:
[[0.71686121]
 [0.69721444]
 [0.00142458]]

 R_gt:
[[ 9.99786867e-01 -1.92128143e-02 -7.54978699e-03]
 [ 1.92175860e-02  9.99815114e-01  5.22868056e-04]
 [ 7.53936325e-03 -6.67220742e-04  9.99971269e-01]]

 t_gt:
[ 0.11552958 -0.99153363 -0.05927875]

Pose Error in degrees for R and t:
1.195736283505144 52.513293517017516

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.08330807e-01  4.18252440e-01 -2.03828783e-04]
 [-4.18252285e-01  9.08330737e-01  5.46637980e-04]
 [ 4.13776618e-04 -4.11276263e-04  9.99999830e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99957527  0.02894278 -0.00354268]
 [-0.02897474  0.99953485 -0.00954318]
 [ 0.00326543  0.00964257  0.999948  ]]

 t_gt:
[-0.03027451  0.88245789 -0.46941616]

Pose Error in degrees for R and t:
23.072594738741618 88.40112845623528

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 1.00000000e+00 -5.46595547e-11 -6.74021453e-14]
 [ 5.46593326e-11  1.00000000e+00  4.29684635e-14]
 [ 6.74015761e-14 -4.29690598e-14  1.00000000e+00]]

 t_estimated:
[[ 8.41619822e-01]
 [-5.40070432e-01]
 [ 6.38376704e-05]]

 R_gt:
[[ 0.99427251  0.10622735 -0.01171904]
 [-0.10639724  0.99421196 -0.01489484]
 [ 0.0100694   0.01605672  0.99982069]]

 t_gt:
[ 0.08221662  0.96989537 -0.22922348]

Pose Error in degrees for R and t:
6.199139982371611 62.9587858035775

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-1.15982394e-01 -9.93251180e-01 -4.21090543e-04]
 [-9.92199341e-01  1.15879056e-01 -4.59620775e-02]
 [ 4.57006833e-02 -4.91298601e-03 -9.98943097e-01]]

 t_estimated:
[[8.69774142e-01]
 [4.93449553e-01]
 [6.93047125e-04]]

 R_gt:
[[ 9.98531035e-01 -5.19153431e-02  1.54662539e-02]
 [ 5.19151238e-02  9.98651218e-01  4.10621733e-04]
 [-1.54670689e-02  3.94057106e-04  9.99879654e-01]]

 t_gt:
[ 0.74238872 -0.64943843  0.1645865 ]

Pose Error in degrees for R and t:
178.84193968431228 71.01264482860392

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.85187996e-01  1.71477532e-01 -2.60975627e-04]
 [-1.71477532e-01  9.85188031e-01  2.20470527e-05]
 [ 2.60890638e-04  2.30309646e-05  9.99999966e-01]]

 t_estimated:
[[-0.9176668 ]
 [-0.39734972]
 [-0.00091767]]

 R_gt:
[[ 0.99671277 -0.07911073  0.01744849]
 [ 0.07937911  0.99672773 -0.01529885]
 [-0.01618112  0.01663456  0.99973044]]

 t_gt:
[ 0.79816549 -0.60028322  0.05091078]

Pose Error in degrees for R and t:
14.481379664627578 60.397861941715874

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99327542e-01 -3.66667904e-02  1.04265189e-04]
 [ 3.66667913e-02  9.99327547e-01 -6.16890148e-06]
 [-1.03968881e-04  9.98782307e-06  9.99999995e-01]]

 t_estimated:
[[ 9.99982001e-01]
 [-5.99360460e-03]
 [-2.73515769e-04]]

 R_gt:
[[ 0.97940128 -0.20185504 -0.00501972]
 [ 0.20168007  0.9791548  -0.02408542]
 [ 0.00977687  0.02257759  0.9996971 ]]

 t_gt:
[ 0.78255511 -0.61789742 -0.07622525]

Pose Error in degrees for R and t:
9.644692730296692 38.16214485757237

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999967e-01  2.56582789e-04 -1.71342802e-05]
 [-2.56581568e-04  9.99999965e-01  7.12089330e-05]
 [ 1.71525506e-05 -7.12045343e-05  9.99999997e-01]]

 t_estimated:
[[-0.54269987]
 [-0.83992569]
 [-0.00129772]]

 R_gt:
[[ 0.98424099 -0.17375547 -0.03285955]
 [ 0.17423595  0.98462692  0.0123191 ]
 [ 0.03021425 -0.01784953  0.99938423]]

 t_gt:
[ 0.70891864 -0.70371806 -0.04706643]

Pose Error in degrees for R and t:
10.236367640568087 78.08842233048145

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999834e-01  5.55107137e-04  1.57073476e-04]
 [-5.55107533e-04  9.99999846e-01  2.47813390e-06]
 [-1.57072076e-04 -2.56532616e-06  9.99999988e-01]]

 t_estimated:
[[9.69853422e-01]
 [2.43688183e-01]
 [6.39739033e-04]]

 R_gt:
[[ 0.97312664 -0.22670229 -0.04038155]
 [ 0.22753096  0.97361882  0.01720972]
 [ 0.03541477 -0.02593571  0.99903615]]

 t_gt:
[ 0.71937219 -0.69389799 -0.03176823]

Pose Error in degrees for R and t:
13.404253647074174 58.091078691802984

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999690e-01  7.41489565e-04  2.64682264e-04]
 [-7.41432740e-04  9.99999702e-01 -2.14726597e-04]
 [-2.64841403e-04  2.14530287e-04  9.99999942e-01]]

 t_estimated:
[[ 9.73693638e-01]
 [-2.27860841e-01]
 [-3.68825159e-04]]

 R_gt:
[[ 0.95692573 -0.2901979  -0.0088773 ]
 [ 0.29031273  0.95677583  0.01725869]
 [ 0.00348611 -0.01909137  0.99981178]]

 t_gt:
[ 0.74376676 -0.66830221  0.01353377]

Pose Error in degrees for R and t:
16.954703447197797 28.77987101857271

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.96859723e-01 -7.91875981e-02 -1.28322217e-04]
 [ 7.91876784e-02  9.96859368e-01  8.43566337e-04]
 [ 6.11192122e-05 -8.51078843e-04  9.99999636e-01]]

 t_estimated:
[[-6.80992698e-01]
 [-7.32290205e-01]
 [-2.65578897e-05]]

 R_gt:
[[ 0.99865456 -0.02437301  0.04575841]
 [ 0.02404521  0.99968183  0.00770122]
 [-0.04593164 -0.0065906   0.99892277]]

 t_gt:
[ 0.36213581 -0.39281575  0.84531263]

Pose Error in degrees for R and t:
4.124326289173803 87.64901949873702

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-9.82396960e-01  1.86800415e-01 -1.34856914e-03]
 [-1.86798975e-01 -9.82397514e-01 -1.12541014e-03]
 [-1.53505805e-03 -8.53688164e-04  9.99998457e-01]]

 t_estimated:
[[9.87088819e-01]
 [1.60172021e-01]
 [7.66373307e-04]]

 R_gt:
[[ 0.99857984 -0.04897966  0.02093841]
 [ 0.04865514  0.99869199  0.01571189]
 [-0.02168014 -0.01467044  0.9996569 ]]

 t_gt:
[ 0.70876777 -0.57422036  0.40977949]

Pose Error in degrees for R and t:
172.03322926466842 52.55809106048821

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.77296432e-01  2.11876548e-01  1.14670980e-04]
 [-2.11876516e-01  9.77296414e-01 -2.45669228e-04]
 [-1.64119085e-04  2.15795572e-04  9.99999963e-01]]

 t_estimated:
[[-9.98436077e-01]
 [-5.58986607e-02]
 [-8.59979395e-04]]

 R_gt:
[[ 0.99771917 -0.06652929 -0.0113911 ]
 [ 0.06681326  0.99740859  0.02670454]
 [ 0.00958422 -0.02740512  0.99957841]]

 t_gt:
[ 0.74263359 -0.65924835  0.11784298]

Pose Error in degrees for R and t:
16.14294261387754 45.19287794368996

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.87704006e-01 -1.56335386e-01 -2.08806268e-04]
 [ 1.56334707e-01  9.87702277e-01 -1.91620680e-03]
 [ 5.05809356e-04  1.86000147e-03  9.99998142e-01]]

 t_estimated:
[[-0.74385184]
 [-0.66833389]
 [-0.0037759 ]]

 R_gt:
[[ 0.99873879  0.04413293 -0.02396588]
 [-0.04400629  0.99901459  0.00579291]
 [ 0.02419809 -0.00473077  0.99969613]]

 t_gt:
[ 0.70215513  0.65669432 -0.27519219]

Pose Error in degrees for R and t:
11.607240872540718 16.229204196036356

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[-0.77025091  0.63722677  0.02560447]
 [ 0.63749312  0.77044998  0.0030582 ]
 [-0.0177782   0.01867825 -0.99966747]]

 t_estimated:
[[0.91423397]
 [0.40517187]
 [0.00346301]]

 R_gt:
[[ 0.99586384  0.04528969 -0.07877515]
 [-0.04245773  0.99840242  0.03726512]
 [ 0.08033676 -0.03376693  0.99619589]]

 t_gt:
[ 0.93805504  0.28361881 -0.19903045]

Pose Error in degrees for R and t:
176.32136137642442 13.63263600995022

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.16386809  0.98647646  0.00338184]
 [-0.98648059  0.16387315 -0.00127656]
 [-0.00181348 -0.00312693  0.99999347]]

 t_estimated:
[[0.2749491 ]
 [0.96145723]
 [0.00172924]]

 R_gt:
[[ 0.982874    0.12080572 -0.13916055]
 [-0.10985373  0.9904005   0.08389129]
 [ 0.14795969 -0.06716745  0.98670969]]

 t_gt:
[ 0.68644943  0.69427707 -0.2162557 ]

Pose Error in degrees for R and t:
74.42587773074322 31.142644060449246

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 9.97195928e-01 -7.48350251e-02 -3.07741336e-05]
 [ 7.48350267e-02  9.97195926e-01  5.55312948e-05]
 [ 2.65321549e-05 -5.76785641e-05  9.99999998e-01]]

 t_estimated:
[[ 3.39006184e-01]
 [-9.40784144e-01]
 [-3.44112702e-05]]

 R_gt:
[[ 0.99856938 -0.02977679 -0.04441949]
 [ 0.03086019  0.99923849  0.02390525]
 [ 0.04367325 -0.02524291  0.99872669]]

 t_gt:
[ 0.71269639 -0.5853403  -0.38657547]

Pose Error in degrees for R and t:
3.8546320863433827 37.59896545232009

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.99764865e-01  2.16844107e-02  9.92334846e-06]
 [-2.16844102e-02  9.99764865e-01 -4.48434340e-05]
 [-1.08934186e-05  4.46177078e-05  9.99999999e-01]]

 t_estimated:
[[ 3.81888190e-01]
 [-9.24208503e-01]
 [-2.29934163e-04]]

 R_gt:
[[ 0.99745727 -0.03394987 -0.06266828]
 [ 0.03596943  0.99886026  0.03137666]
 [ 0.06153209 -0.03355158  0.99754125]]

 t_gt:
[ 0.62967602 -0.64476982 -0.4333359 ]

Pose Error in degrees for R and t:
5.168222718995427 33.231074368687025

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.96140376e-01  8.77743654e-02  1.12320804e-04]
 [-8.77743329e-02  9.96140349e-01 -2.66948925e-04]
 [-1.35318558e-04  2.56059719e-04  9.99999958e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99761884  0.03080291 -0.06170982]
 [-0.02786479  0.99846314  0.04791837]
 [ 0.06309134 -0.04608623  0.99694278]]

 t_gt:
[-0.34920435 -0.46902191 -0.81121808]

Pose Error in degrees for R and t:
5.607269466090535 69.43402306725864

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 8.94036747e-01 -4.47991965e-01  1.22218781e-03]
 [ 4.47993386e-01  8.94035790e-01 -1.39041759e-03]
 [-4.69783736e-04  1.79061647e-03  9.99998286e-01]]

 t_estimated:
[[-0.11043126]
 [-0.99388131]
 [-0.00220863]]

 R_gt:
[[ 0.9995802   0.028637   -0.00434511]
 [-0.02869072  0.99950456 -0.01292085]
 [ 0.00397311  0.01304047  0.99990659]]

 t_gt:
[ 0.64884243  0.6794043  -0.34265624]

Pose Error in degrees for R and t:
28.266372769681656 41.74263865964495

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.99934298  0.03619837 -0.00181363]
 [-0.03619416  0.99934212  0.00230384]
 [ 0.00189583 -0.00223669  0.9999957 ]]

 t_estimated:
[[-0.88934844]
 [-0.45722817]
 [-0.00132147]]

 R_gt:
[[ 0.99835485  0.04736515 -0.03234138]
 [-0.04698507  0.99881899  0.01238437]
 [ 0.03289041 -0.01084356  0.99939918]]

 t_gt:
[ 0.9022      0.42348337 -0.08183517]

Pose Error in degrees for R and t:
1.9476380986455013 5.196110202935375

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999631e-01 -8.48511736e-04  1.36967967e-04]
 [ 8.48496278e-04  9.99999634e-01  1.12873730e-04]
 [-1.37063692e-04 -1.12757472e-04  9.99999984e-01]]

 t_estimated:
[[0.38263478]
 [0.92389919]
 [0.00096139]]

 R_gt:
[[ 0.9904354   0.08734357 -0.10681471]
 [-0.0811811   0.99484602  0.06074435]
 [ 0.11156993 -0.05149193  0.99242162]]

 t_gt:
[ 0.87875781  0.45224523 -0.15250891]

Pose Error in degrees for R and t:
8.594389489567007 41.06841431056612

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 1.49193489e-01  9.88802574e-01  3.28213273e-03]
 [ 9.88807580e-01 -1.49195736e-01  4.49432874e-04]
 [ 9.34080591e-04  3.17834527e-03 -9.99994513e-01]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.99368451 -0.11125524 -0.01456606]
 [ 0.11154517  0.99353879  0.02094233]
 [ 0.01214096 -0.02243447  0.99967433]]

 t_gt:
[ 0.64562808 -0.76283803  0.0352494 ]

Pose Error in degrees for R and t:
178.66910925899143 89.53372545982572

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99999914e-01 -4.06733442e-04  7.46321885e-05]
 [ 4.06735735e-04  9.99999917e-01 -3.07117982e-05]
 [-7.46196908e-05  3.07421511e-05  9.99999997e-01]]

 t_estimated:
[[-0.00676511]
 [-0.99997662]
 [-0.00100015]]

 R_gt:
[[ 0.98387357 -0.17826575 -0.01463463]
 [ 0.17848709  0.98381934  0.01553972]
 [ 0.0116275  -0.0179004   0.99977233]]

 t_gt:
[ 0.68976315 -0.72365009 -0.02360802]

Pose Error in degrees for R and t:
10.326064805493395 44.02880649807489

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99998298e-01 -1.83678144e-03  1.74130624e-04]
 [ 1.83682253e-03  9.99998285e-01 -2.36134282e-04]
 [-1.73696598e-04  2.36453727e-04  9.99999957e-01]]

 t_estimated:
[[ 0.67723901]
 [-0.73576227]
 [-0.00109951]]

 R_gt:
[[ 0.97500986 -0.22094723  0.02319739]
 [ 0.22024908  0.97500594  0.02922473]
 [-0.02907541 -0.02338449  0.99930338]]

 t_gt:
[ 0.71213637 -0.69297417  0.112466  ]

Pose Error in degrees for R and t:
12.822719297598994 7.239930068629436

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.99999284 -0.00232989 -0.00298062]
 [ 0.00235092  0.99997223  0.00707157]
 [ 0.00296406 -0.00707853  0.99997055]]

 t_estimated:
[[0.60672648]
 [0.79490902]
 [0.00162226]]

 R_gt:
[[ 9.98083294e-01 -6.18709056e-02  6.26478389e-04]
 [ 6.18723840e-02  9.97963213e-01 -1.55138204e-02]
 [ 3.34800813e-04  1.55228525e-02  9.99879517e-01]]

 t_gt:
[ 0.75693088 -0.65070397 -0.06033223]

Pose Error in degrees for R and t:
3.655499674932739 86.6693356404655

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99999952e-01 -3.06776750e-04 -3.38180663e-05]
 [ 3.06780444e-04  9.99999947e-01  1.09271401e-04]
 [ 3.37845426e-05 -1.09281771e-04  9.99999993e-01]]

 t_estimated:
[[0.67343345]
 [0.73924627]
 [0.00153053]]

 R_gt:
[[ 9.79982149e-01 -1.98523189e-01 -1.49503866e-02]
 [ 1.98486184e-01  9.80095716e-01 -3.91492371e-03]
 [ 1.54300326e-02  8.68751464e-04  9.99880479e-01]]

 t_gt:
[ 0.74486527 -0.66665193 -0.02740324]

Pose Error in degrees for R and t:
11.46674097742383 89.49835196105106

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.97648729e-01  6.85347360e-02 -6.06758781e-05]
 [-6.85347169e-02  9.97648694e-01  2.75010811e-04]
 [ 7.93810039e-05 -2.70205782e-04  9.99999960e-01]]

 t_estimated:
[[0.58123797]
 [0.81373316]
 [0.00088066]]

 R_gt:
[[ 0.97362256 -0.22412916 -0.0427042 ]
 [ 0.22201539  0.97380301 -0.04913972]
 [ 0.05260019  0.03836237  0.99787884]]

 t_gt:
[ 0.77479386 -0.60355687 -0.18818499]

Pose Error in degrees for R and t:
17.241109319577728 87.65248773870202

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.99403248e-01  3.45419348e-02  5.82823569e-05]
 [-3.45419316e-02  9.99403248e-01 -5.44878547e-05]
 [-6.01296927e-05  5.24421538e-05  9.99999997e-01]]

 t_estimated:
[[ 7.84958330e-01]
 [-6.19548551e-01]
 [ 1.16006343e-04]]

 R_gt:
[[ 0.99373271 -0.10470534 -0.03914179]
 [ 0.10246999  0.99319775 -0.05531098]
 [ 0.04466669  0.05095465  0.99770205]]

 t_gt:
[ 0.6187776  -0.45016446 -0.64379052]

Pose Error in degrees for R and t:
8.830932407463068 40.134030820623366

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 7.99617775e-01  6.00509292e-01  6.99418072e-05]
 [-6.00508984e-01  7.99617473e-01 -9.25628650e-04]
 [-6.11775296e-04  6.98148438e-04  9.99999569e-01]]

 t_estimated:
[[-3.29303283e-01]
 [ 9.44224201e-01]
 [ 7.61181240e-05]]

 R_gt:
[[ 0.98907911 -0.14488857 -0.0270363 ]
 [ 0.14247261  0.98684484 -0.07641441]
 [ 0.03775244  0.07172871  0.99671042]]

 t_gt:
[ 0.56103105 -0.53612945 -0.63072131]

Pose Error in degrees for R and t:
45.40320583194307 46.288795140046915

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.99103988e-01  4.23227592e-02  7.69678942e-05]
 [-4.23227514e-02  9.99103986e-01 -1.00573253e-04]
 [-8.11554675e-05  9.72256446e-05  9.99999992e-01]]

 t_estimated:
[[ 6.30252460e-01]
 [-7.76390260e-01]
 [-1.28045061e-05]]

 R_gt:
[[ 0.99110236 -0.12829084 -0.03548029]
 [ 0.1251782   0.98896733 -0.07921205]
 [ 0.0452509   0.07406679  0.99622629]]

 t_gt:
[ 0.57220822 -0.43466792 -0.69544342]

Pose Error in degrees for R and t:
10.917311923409343 45.72391575351764

Number of keypoints:
Image1: 21
Image2: 21

 R_estimated:
[[ 9.99996087e-01 -2.79734141e-03  5.63919547e-06]
 [ 2.79734325e-03  9.99996023e-01 -3.59642585e-04]
 [-4.63312995e-06  3.59656953e-04  9.99999935e-01]]

 t_estimated:
[[-9.99998645e-01]
 [-1.45102584e-03]
 [-7.76972611e-04]]

 R_gt:
[[ 0.95752425  0.2879908  -0.01437804]
 [-0.28797663  0.95763259  0.00316883]
 [ 0.01468263  0.00110647  0.99989178]]

 t_gt:
[-0.96317642  0.26816952 -0.01939811]

Pose Error in degrees for R and t:
16.9195247952133 15.676835795529302

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 0.97139605  0.23745353  0.00235229]
 [ 0.23745754 -0.9713966  -0.00159893]
 [ 0.00190533  0.00211176 -0.99999596]]

 t_estimated:
[[-0.99861697]
 [-0.05255879]
 [-0.00131397]]

 R_gt:
[[ 0.84067731  0.54074244  0.02929894]
 [-0.54056133  0.84118041 -0.01448335]
 [-0.03247708 -0.0036612   0.9994656 ]]

 t_gt:
[-0.8969401   0.44195547  0.01318442]

Pose Error in degrees for R and t:
179.39208814238484 29.25496851019222

Number of keypoints:
Image1: 17
Image2: 17

 R_estimated:
[[ 5.36509575e-01  8.43892435e-01  1.74211425e-03]
 [ 8.43893256e-01 -5.36510951e-01  4.13658915e-04]
 [ 1.28374700e-03  1.24822650e-03 -9.99998397e-01]]

 t_estimated:
[[-7.58010700e-01]
 [-6.52241765e-01]
 [-6.78005992e-04]]

 R_gt:
[[ 0.65765277  0.75331443  0.00311803]
 [-0.75249703  0.65712207 -0.04404054]
 [-0.03522414  0.02661708  0.99902486]]

 t_gt:
[-0.80047776  0.59879764 -0.02601429]

Pose Error in degrees for R and t:
177.48597866596933 77.51244711487438

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.79677733e-01  2.00577933e-01  1.79268514e-04]
 [-2.00577649e-01  9.79673860e-01  2.78114710e-03]
 [ 3.82212059e-04 -2.76058514e-03  9.99996117e-01]]

 t_estimated:
[[0.26334383]
 [0.9646983 ]
 [0.00268718]]

 R_gt:
[[ 9.98239078e-01  6.73367802e-04 -5.93154527e-02]
 [-5.97802286e-03  9.95986631e-01 -8.93001855e-02]
 [ 5.90170698e-02  8.94969027e-02  9.94237342e-01]]

 t_gt:
[ 0.10532406  0.19514775 -0.97510215]

Pose Error in degrees for R and t:
12.995078225044711 77.67979848218717

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-9.79304856e-01 -2.02390699e-01  6.05879514e-05]
 [-2.02390205e-01  9.79303047e-01  1.93597905e-03]
 [-4.51158117e-04  1.88365128e-03 -9.99998124e-01]]

 t_estimated:
[[9.91881225e-01]
 [1.27164260e-01]
 [9.41957478e-04]]

 R_gt:
[[ 0.99219888  0.05614858 -0.1113082 ]
 [-0.07277266  0.98578665 -0.15142146]
 [ 0.10122374  0.15834043  0.98218248]]

 t_gt:
[-0.1004049   0.41042699 -0.90634902]

Pose Error in degrees for R and t:
173.01233435194573 87.23429972197066

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.42382685e-01 -3.34536739e-01 -2.12902162e-04]
 [ 3.34536785e-01  9.42382663e-01  2.37519888e-04]
 [ 1.21176178e-04 -2.95058235e-04  9.99999949e-01]]

 t_estimated:
[[9.77722312e-01]
 [2.09900584e-01]
 [9.08664939e-04]]

 R_gt:
[[ 0.99005582  0.11776474 -0.07694832]
 [-0.12765713  0.98192644 -0.13972719]
 [ 0.05910303  0.14816134  0.98719546]]

 t_gt:
[-0.35727992  0.57970464 -0.73232069]

Pose Error in degrees for R and t:
28.1518009993934 76.80266155477945

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.98939878  0.14521651 -0.00148981]
 [-0.145212    0.98939664  0.00278627]
 [ 0.00187863 -0.00254039  0.99999501]]

 t_estimated:
[[-0.93764719]
 [-0.34758641]
 [-0.00119446]]

 R_gt:
[[ 0.99678605  0.0179155  -0.07808063]
 [-0.02556663  0.99484758 -0.0981084 ]
 [ 0.07592082  0.09978951  0.99210785]]

 t_gt:
[ 0.05155488  0.3914129  -0.91876985]

Pose Error in degrees for R and t:
10.155295414300742 79.43839249681263

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[-3.79349027e-01 -9.25252533e-01 -1.43730060e-03]
 [ 9.25246525e-01 -3.79351745e-01  3.33485392e-03]
 [-3.63082453e-03 -6.47837933e-05  9.99993406e-01]]

 t_estimated:
[[ 9.99998452e-01]
 [-7.68959861e-05]
 [ 1.75797851e-03]]

 R_gt:
[[ 0.99444095  0.05642677 -0.08889689]
 [-0.07191954  0.9806523  -0.18206678]
 [ 0.07690376  0.18744746  0.97926004]]

 t_gt:
[-0.08424791  0.57345634 -0.8148927 ]

Pose Error in degrees for R and t:
116.40804432080532 85.08231556464376

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 0.13683855  0.97958446 -0.14727356]
 [ 0.98356802 -0.11668314  0.13776426]
 [ 0.11776739 -0.16370503 -0.9794547 ]]

 t_estimated:
[[0.94410288]
 [0.32964932]
 [0.0010394 ]]

 R_gt:
[[ 0.99111194  0.09787991 -0.09009028]
 [-0.11132901  0.98098827 -0.15895876]
 [ 0.07281883  0.1675759   0.98316645]]

 t_gt:
[-0.16014331  0.70388926 -0.6920217 ]

Pose Error in degrees for R and t:
172.5057104088714 85.40421667465299

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99039324e-01 -4.38226239e-02  7.78947283e-05]
 [ 4.38226183e-02  9.99039325e-01  7.28314971e-05]
 [-8.10115641e-05 -6.93479788e-05  9.99999994e-01]]

 t_estimated:
[[ 9.94240687e-01]
 [-1.07166997e-01]
 [ 8.31463150e-04]]

 R_gt:
[[ 0.99550565 -0.09353206  0.01482884]
 [ 0.09389292  0.99524374 -0.02595133]
 [-0.01232984  0.02722738  0.99955313]]

 t_gt:
[ 0.51576682 -0.83378594 -0.19694059]

Pose Error in degrees for R and t:
3.3404411139525734 52.98766477519876

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-3.00182685e-01 -9.53876330e-01 -3.20973874e-03]
 [ 9.53881658e-01 -3.00179650e-01 -1.40001474e-03]
 [ 3.71942673e-04 -3.48197110e-03  9.99993869e-01]]

 t_estimated:
[[0.99026138]
 [0.13921447]
 [0.00131334]]

 R_gt:
[[ 0.98745629 -0.15713374 -0.01542271]
 [ 0.15615972  0.98638923 -0.05147514]
 [ 0.02330117  0.04842124  0.99855488]]

 t_gt:
[ 0.48917725 -0.77925071 -0.39175752]

Pose Error in degrees for R and t:
98.4866177402341 67.94998229303555

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 0.72297401  0.6908323   0.00770176]
 [ 0.69086914 -0.72287588 -0.01225963]
 [-0.00290193  0.0141843  -0.99989519]]

 t_estimated:
[[-0.35608661]
 [ 0.93441714]
 [-0.00818173]]

 R_gt:
[[ 0.96113807 -0.27466062 -0.02784212]
 [ 0.27368025  0.96120273 -0.03445201]
 [ 0.03622481  0.02549402  0.99901904]]

 t_gt:
[ 0.59892305 -0.77319846 -0.20845943]

Pose Error in degrees for R and t:
178.2521925578857 20.924346196741542

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-9.12878043e-01 -4.07658275e-01 -2.16427566e-02]
 [-4.07521595e-01  9.13134171e-01 -1.05894213e-02]
 [ 2.40796058e-02 -8.46959460e-04 -9.99709685e-01]]

 t_estimated:
[[ 0.95028494]
 [ 0.31134755]
 [-0.00460795]]

 R_gt:
[[ 0.99045628  0.13131802 -0.04187496]
 [-0.13016485  0.99106317  0.02916895]
 [ 0.04533094 -0.02343946  0.99869701]]

 t_gt:
[-0.86154913  0.50349032 -0.06504303]

Pose Error in degrees for R and t:
176.55138808769132 48.573634384453065

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.81272738e-01 -1.92621528e-01 -8.71966217e-04]
 [ 1.92621825e-01  9.81273030e-01  2.70260604e-04]
 [ 8.03578921e-04 -4.33159087e-04  9.99999583e-01]]

 t_estimated:
[[-0.66998163]
 [-0.74237651]
 [-0.00131627]]

 R_gt:
[[ 0.94209524  0.3326958  -0.04208839]
 [-0.32731869  0.93956755  0.10037742]
 [ 0.0729388  -0.08078841  0.99405885]]

 t_gt:
[-0.85196592  0.52158075  0.04590859]

Pose Error in degrees for R and t:
31.045978117646406 79.42445512775733

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.17183218  0.98512508  0.00150876]
 [ 0.9851246   0.1718289   0.00208603]
 [ 0.00179575  0.00184477 -0.99999669]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.92666688  0.37548747 -0.01729776]
 [-0.36977499  0.91890043  0.13743519]
 [ 0.06749919 -0.12095931  0.99035933]]

 t_gt:
[-0.8752415   0.46445916  0.13501853]

Pose Error in degrees for R and t:
173.19425099200788 84.53590306573884

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.9999639  -0.00397678  0.00750944]
 [ 0.00399071  0.99999034 -0.00184089]
 [-0.00750204  0.00187079  0.99997011]]

 t_estimated:
[[0.70671921]
 [0.70748948]
 [0.00256619]]

 R_gt:
[[ 0.98872182 -0.14948545 -0.00920221]
 [ 0.14957369  0.98870354  0.00971175]
 [ 0.00764667 -0.01097999  0.99990999]]

 t_gt:
[ 0.73033481 -0.68271567  0.02259173]

Pose Error in degrees for R and t:
8.450439981681408 88.09826410083924

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.79040468e-01  2.03664615e-01  6.97303741e-04]
 [-2.03664662e-01  9.79040707e-01 -4.24119796e-06]
 [-6.83552529e-04 -1.37863826e-04  9.99999757e-01]]

 t_estimated:
[[0.62971069]
 [0.77682894]
 [0.00111453]]

 R_gt:
[[ 0.98554076 -0.15811414 -0.06092088]
 [ 0.15915157  0.9871747   0.01253912]
 [ 0.05815698 -0.02205372  0.99806361]]

 t_gt:
[ 0.79437872 -0.59736744 -0.11006629]

Pose Error in degrees for R and t:
21.192930924445744 87.93382241804476

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-9.81845450e-01 -1.89452565e-01 -9.34010013e-03]
 [ 1.89468454e-01 -9.81886450e-01 -8.38667035e-04]
 [-9.01203014e-03 -2.59309575e-03  9.99956029e-01]]

 t_estimated:
[[0.60905423]
 [0.79312396]
 [0.00270691]]

 R_gt:
[[ 0.96579736 -0.22158627 -0.13466764]
 [ 0.21866069  0.97512492 -0.0363299 ]
 [ 0.13936835  0.00563999  0.99022426]]

 t_gt:
[ 0.82614288 -0.47025126 -0.31040571]

Pose Error in degrees for R and t:
156.35656358869775 82.56750250042016

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 9.98951614e-01 -4.57785193e-02 -5.81478447e-06]
 [ 4.57785196e-02  9.98951605e-01  1.31672651e-04]
 [-2.19090719e-07 -1.31800800e-04  9.99999991e-01]]

 t_estimated:
[[4.49183067e-02]
 [9.98990663e-01]
 [4.12561474e-05]]

 R_gt:
[[ 0.99825328  0.00425868 -0.05893154]
 [-0.00345085  0.99989782  0.01379531]
 [ 0.05898376 -0.01356754  0.99816786]]

 t_gt:
[ 0.9705237  -0.15754069 -0.18238608]

Pose Error in degrees for R and t:
4.4852054138103625 83.46587715502066

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99999935e-01  3.52565446e-04 -8.17143423e-05]
 [-3.52553998e-04  9.99999928e-01  1.40068716e-04]
 [ 8.17637198e-05 -1.40039898e-04  9.99999987e-01]]

 t_estimated:
[[-0.90176861]
 [ 0.43221739]
 [-0.00122475]]

 R_gt:
[[ 0.99662991  0.06331554 -0.05216867]
 [-0.05987702  0.99608399  0.06504081]
 [ 0.05608197 -0.06169741  0.99651845]]

 t_gt:
[ 0.81111426 -0.09782827  0.57664832]

Pose Error in degrees for R and t:
5.92874900740895 39.246914819219846

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.55617742e-01 -2.94608526e-01 -7.39828299e-04]
 [ 2.94609397e-01  9.55616123e-01  1.76883307e-03]
 [ 1.85878546e-04 -1.90828863e-03  9.99998162e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98464068  0.12140148 -0.12548135]
 [-0.10765774  0.98796496  0.11105994]
 [ 0.1374539  -0.09584414  0.9858604 ]]

 t_gt:
[ 0.88314791 -0.00742039  0.46903594]

Pose Error in degrees for R and t:
25.582508942681486 27.934467223331527

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.62198949e-01  2.72344084e-01 -1.37209500e-03]
 [-2.72345155e-01  9.62199396e-01 -6.62430200e-04]
 [ 1.13982004e-03  1.01107307e-03  9.99998839e-01]]

 t_estimated:
[[-0.36911964]
 [ 0.92937193]
 [-0.00430186]]

 R_gt:
[[ 0.99737379 -0.05737077  0.04420619]
 [ 0.05322378  0.99453118  0.08986649]
 [-0.04911935 -0.08727703  0.99497165]]

 t_gt:
[ 0.26497233 -0.38789094  0.88279685]

Pose Error in degrees for R and t:
19.84780974239824 62.47735739667916

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.28246894 -0.95925978  0.00565382]
 [-0.9592656   0.28248887  0.00308933]
 [-0.00456061 -0.00455088 -0.99997924]]

 t_estimated:
[[0.76991458]
 [0.63813299]
 [0.00422087]]

 R_gt:
[[ 0.99177328 -0.0959579   0.0847229 ]
 [ 0.08548068  0.98913016  0.11964319]
 [-0.09528237 -0.11141643  0.98919493]]

 t_gt:
[ 0.38573001 -0.39109922  0.8356158 ]

Pose Error in degrees for R and t:
171.50571445718938 87.08049853927837

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.34241630e-01  3.56639519e-01  9.11386148e-04]
 [-3.56640140e-01  9.34241617e-01  6.42001135e-04]
 [-6.22491893e-04 -9.24821070e-04  9.99999379e-01]]

 t_estimated:
[[0.47364009]
 [0.88071737]
 [0.00140735]]

 R_gt:
[[ 0.99286506 -0.08928315  0.07903535]
 [ 0.07604999  0.98467222  0.15696657]
 [-0.09183833 -0.14983535  0.98443597]]

 t_gt:
[ 0.417405   -0.35331508  0.8372225 ]

Pose Error in degrees for R and t:
27.542438042610055 83.55250223811046

Number of keypoints:
Image1: 484
Image2: 484

 R_estimated:
[[ 9.96705793e-01 -8.11017169e-02 -2.73019592e-04]
 [ 8.11018048e-02  9.96705769e-01  3.27583265e-04]
 [ 2.45552637e-04 -3.48646519e-04  9.99999909e-01]]

 t_estimated:
[[-0.91865819]
 [-0.3950464 ]
 [-0.00233755]]

 R_gt:
[[ 9.97927264e-01  3.79757347e-03 -6.42423566e-02]
 [-4.49659460e-05  9.98299638e-01  5.82949476e-02]
 [ 6.43548488e-02 -5.81718958e-02  9.96230517e-01]]

 t_gt:
[ 0.76916035 -0.24482617  0.59029866]

Pose Error in degrees for R and t:
6.869476685836093 52.3195076562633

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[-0.93967011  0.34198871  0.00798772]
 [ 0.34203173  0.93967612  0.00480373]
 [-0.00586304  0.00724598 -0.99995656]]

 t_estimated:
[[0.83468659]
 [0.55072105]
 [0.00215125]]

 R_gt:
[[ 0.99292745  0.01842195 -0.11728668]
 [-0.01081537  0.99781629  0.06516368]
 [ 0.1182315  -0.06343495  0.99095822]]

 t_gt:
[ 0.97072256 -0.17561172  0.16388483]

Pose Error in degrees for R and t:
173.09436406812407 44.44781104785685

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 3.28811134e-01  9.44394609e-01  1.43578007e-03]
 [-9.44393001e-01  3.28813449e-01 -1.89071555e-03]
 [-2.25768537e-03 -7.34252324e-04  9.99997182e-01]]

 t_estimated:
[[0.12278994]
 [0.99243163]
 [0.00144459]]

 R_gt:
[[ 0.98919287  0.04526115 -0.13945843]
 [-0.03093159  0.99417404  0.10325506]
 [ 0.14331973 -0.09782708  0.98483043]]

 t_gt:
[ 0.92439463 -0.19029376  0.33057957]

Pose Error in degrees for R and t:
69.25889120190995 85.70626810396598

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99998304e-01  1.83874713e-03 -1.01608721e-04]
 [-1.83875558e-03  9.99998306e-01 -8.31758384e-05]
 [ 1.01455609e-04  8.33625309e-05  9.99999991e-01]]

 t_estimated:
[[0.00844988]
 [0.99996366]
 [0.0011344 ]]

 R_gt:
[[ 0.99860583  0.0527208  -0.00259411]
 [-0.05266435  0.99844162  0.01847252]
 [ 0.00356429 -0.01830973  0.99982564]]

 t_gt:
[-0.76627242  0.57024178  0.29605895]

Pose Error in degrees for R and t:
3.1065118659453144 55.661432753111804

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.28028677  0.95991116 -0.00314366]
 [ 0.95990493 -0.280266    0.00578729]
 [ 0.00467422 -0.00463971 -0.99997831]]

 t_estimated:
[[0.28448421]
 [0.95867281]
 [0.00389704]]

 R_gt:
[[ 0.9977053   0.00215476  0.06766116]
 [-0.00832458  0.9958126   0.09104123]
 [-0.0671814  -0.09139579  0.99354558]]

 t_gt:
[-0.34247073  0.04640375  0.93838185]

Pose Error in degrees for R and t:
177.7595047406527 87.17505704168897

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.97859158 -0.20577589  0.00384783]
 [ 0.20579066  0.97858811 -0.0039403 ]
 [-0.00295462  0.0046478   0.99998483]]

 t_estimated:
[[-0.04972317]
 [-0.99875068]
 [-0.0049688 ]]

 R_gt:
[[ 0.99454682 -0.0515164   0.09068241]
 [ 0.03971486  0.9910495   0.12744797]
 [-0.09643634 -0.12315253  0.98769075]]

 t_gt:
[-0.00351811 -0.16048672  0.98703173]

Pose Error in degrees for R and t:
12.95495322054953 81.05091058440867

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.92288374 -0.38504402  0.00516752]
 [-0.38507144 -0.92286563  0.00624559]
 [ 0.0023641  -0.00775382 -0.99996714]]

 t_estimated:
[[0.19085944]
 [0.98161369]
 [0.0026919 ]]

 R_gt:
[[ 0.99957364  0.01450058 -0.02533219]
 [-0.01388141  0.99960517  0.02444707]
 [ 0.02567583 -0.02408417  0.99938015]]

 t_gt:
[-0.77479044 -0.4441819  -0.44989133]

Pose Error in degrees for R and t:
178.51369771395278 54.18979187153452

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.27482925e-01  3.73865475e-01  1.74702105e-04]
 [-3.73864715e-01  9.27481803e-01 -1.63697356e-03]
 [-7.74040923e-04  1.45295007e-03  9.99998645e-01]]

 t_estimated:
[[0.84062259]
 [0.54162065]
 [0.00085429]]

 R_gt:
[[ 0.99808781  0.0599685  -0.01501154]
 [-0.05983978  0.99816923  0.00886286]
 [ 0.01551556 -0.00794691  0.99984819]]

 t_gt:
[-0.94320422  0.2583979  -0.20879734]

Pose Error in degrees for R and t:
18.550117327263976 49.22399615122069

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.3409983   0.94004516 -0.00593815]
 [-0.94006224  0.34097901 -0.00403656]
 [-0.00176976  0.00695869  0.99997422]]

 t_estimated:
[[7.45204529e-01]
 [6.66835602e-01]
 [6.99722563e-04]]

 R_gt:
[[ 0.99807395 -0.05159705 -0.03444323]
 [ 0.05122299  0.99861945 -0.01165625]
 [ 0.0349962   0.00987101  0.99933848]]

 t_gt:
[ 0.3597974  -0.85293482 -0.37821691]

Pose Error in degrees for R and t:
73.02932335240135 72.48777442686293

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 8.51284484e-01 -5.24704411e-01  8.92858688e-05]
 [-5.24704411e-01 -8.51284488e-01 -3.01112641e-05]
 [ 9.18071883e-05 -2.12154373e-05 -9.99999996e-01]]

 t_estimated:
[[0.32147125]
 [0.94691871]
 [0.00109344]]

 R_gt:
[[ 0.99496032  0.0985596   0.01843682]
 [-0.09951045  0.99317593  0.06082495]
 [-0.01231586 -0.0623538   0.99797737]]

 t_gt:
[-0.84144826  0.3820541   0.3820988 ]

Pose Error in degrees for R and t:
176.35734830097624 84.73912898557028

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.49051639e-01  3.15120504e-01 -2.33468084e-04]
 [-3.15120336e-01  9.49051555e-01  5.66146638e-04]
 [ 3.99977662e-04 -4.63731854e-04  9.99999812e-01]]

 t_estimated:
[[0.23839735]
 [0.97116708]
 [0.00109861]]

 R_gt:
[[ 0.96934749  0.24557531 -0.00756846]
 [-0.24473004  0.96781637  0.05865073]
 [ 0.02172757 -0.05500164  0.99824937]]

 t_gt:
[-0.85295781  0.51647599  0.07560111]

Pose Error in degrees for R and t:
5.348583724497951 72.64299447853766

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.93249707e-01  1.15993263e-01 -7.63744644e-04]
 [-1.15992929e-01  9.93249929e-01  4.68194377e-04]
 [ 8.12896707e-04 -3.76444949e-04  9.99999599e-01]]

 t_estimated:
[[-0.95678221]
 [-0.29080152]
 [-0.00150674]]

 R_gt:
[[ 0.91898099  0.39328335  0.02832171]
 [-0.39274492  0.90661047  0.15430474]
 [ 0.03500792 -0.15292728  0.98761671]]

 t_gt:
[-0.83699113  0.50726262  0.20525712]

Pose Error in degrees for R and t:
18.89783440987696 49.23211374163677

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.99080399e-01 -4.28760127e-02 -5.51600736e-05]
 [ 4.28760237e-02  9.99080377e-01  2.17456801e-04]
 [ 4.57856666e-05 -2.19621872e-04  9.99999975e-01]]

 t_estimated:
[[-4.43875784e-01]
 [-8.96088101e-01]
 [-6.35734415e-04]]

 R_gt:
[[ 0.99862138  0.02695752 -0.04504738]
 [-0.02724513  0.99961249 -0.00577214]
 [ 0.04487318  0.00699172  0.99896844]]

 t_gt:
[ 0.61054605  0.58142507 -0.53775311]

Pose Error in degrees for R and t:
4.780542070588595 37.657884168909426

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[-0.81411544 -0.58069674 -0.00271064]
 [ 0.58070105 -0.81411604 -0.00116823]
 [-0.00152839 -0.00252515  0.99999564]]

 t_estimated:
[[0.91605703]
 [0.40104544]
 [0.00144261]]

 R_gt:
[[ 9.96336881e-01  7.06660628e-02 -4.81518312e-02]
 [-7.07799818e-02  9.97492188e-01 -6.57923290e-04]
 [ 4.79844213e-02  4.06436558e-03  9.98839583e-01]]

 t_gt:
[ 0.61948374  0.68643435 -0.38085138]

Pose Error in degrees for R and t:
148.56486402087546 32.62424032736219

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999998e-01  4.54189749e-05  5.16187782e-05]
 [-4.54189307e-05  9.99999999e-01 -8.58373790e-07]
 [-5.16188171e-05  8.56029318e-07  9.99999999e-01]]

 t_estimated:
[[-1.11055878e-01]
 [ 9.93814104e-01]
 [-3.44804833e-04]]

 R_gt:
[[ 0.99235679  0.0468112  -0.11418702]
 [-0.04514969  0.99883461  0.01709846]
 [ 0.11485478 -0.01181227  0.9933128 ]]

 t_gt:
[ 0.89413038  0.29194506 -0.33955698]

Pose Error in degrees for R and t:
7.138684867204755 78.99131630154025

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 1.30203050e-03  9.99996775e-01  2.18052385e-03]
 [ 9.99999040e-01 -1.30305940e-03  4.70503058e-04]
 [ 4.73342893e-04  2.17990914e-03 -9.99997512e-01]]

 t_estimated:
[[0.01851532]
 [0.99982716]
 [0.00168321]]

 R_gt:
[[ 0.99627469 -0.0349304  -0.07885205]
 [ 0.03378718  0.99930482 -0.0157998 ]
 [ 0.07934851  0.01307584  0.99676062]]

 t_gt:
[ 0.71329356 -0.18147828 -0.67696228]

Pose Error in degrees for R and t:
177.45000620899123 80.24825434050219

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.88249036 -0.41624228 -0.21898202]
 [ 0.40710705 -0.9091759   0.08753871]
 [-0.23553049 -0.01189706  0.97179414]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.98659546 -0.12882422 -0.1001726 ]
 [ 0.12252418  0.9902205  -0.06672196]
 [ 0.10778784  0.05355263  0.99273082]]

 t_gt:
[ 0.77407904 -0.3362107  -0.53643639]

Pose Error in degrees for R and t:
148.9059954393566 72.00554155047604

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 3.81427404e-01  9.24395764e-01  2.36770463e-03]
 [ 9.24398793e-01 -3.81425937e-01 -1.06080975e-03]
 [-7.75040800e-05  2.59332521e-03 -9.99996634e-01]]

 t_estimated:
[[0.39333006]
 [0.91939682]
 [0.00097601]]

 R_gt:
[[ 0.95585957 -0.27715099 -0.0975725 ]
 [ 0.27037615  0.95965751 -0.07716461]
 [ 0.11502159  0.04737648  0.99223235]]

 t_gt:
[ 0.83221569 -0.44864512 -0.32578305]

Pose Error in degrees for R and t:
179.70380778865942 85.09721164474303

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999972e-01 -2.18641595e-04  8.61200785e-05]
 [ 2.18644450e-04  9.99999976e-01 -3.31406151e-05]
 [-8.61128305e-05  3.31594439e-05  9.99999996e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99644866  0.05707793 -0.06191446]
 [-0.06276083  0.99358294 -0.09410494]
 [ 0.05614498  0.09765618  0.99363469]]

 t_gt:
[-0.24991476  0.48118406 -0.84024074]

Pose Error in degrees for R and t:
7.334340520945863 69.60439980947555

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.97767946 -0.21007682  0.00325509]
 [ 0.21005459 -0.9776706  -0.00610538]
 [ 0.004465   -0.00528536  0.99997606]]

 t_estimated:
[[8.09249629e-01]
 [5.87464888e-01]
 [2.08413321e-04]]

 R_gt:
[[ 0.98917053  0.1366685  -0.05352057]
 [-0.14184369  0.98384234 -0.1092542 ]
 [ 0.03772295  0.11566292  0.99257166]]

 t_gt:
[-0.48749418  0.64895109 -0.58413347]

Pose Error in degrees for R and t:
175.89672968372113 89.23277236096764

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99999857e-01 -5.31699891e-04 -6.20571576e-05]
 [ 5.31699920e-04  9.99999859e-01  4.59156958e-07]
 [ 6.20569047e-05 -4.92152677e-07  9.99999998e-01]]

 t_estimated:
[[0.62274553]
 [0.78242387]
 [0.00093928]]

 R_gt:
[[ 0.994683    0.10150988  0.01742509]
 [-0.10174845  0.99472198  0.01331139]
 [-0.01598269 -0.01501364  0.9997587 ]]

 t_gt:
[-0.75772846  0.62524605  0.18685542]

Pose Error in degrees for R and t:
5.997402618567041 88.99664607992267

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-4.71528008e-01 -8.81846334e-01 -2.89495411e-03]
 [-8.81850915e-01  4.71523333e-01  2.17029325e-03]
 [-5.48826729e-04  3.57627199e-03 -9.99993455e-01]]

 t_estimated:
[[0.8074406 ]
 [0.58994818]
 [0.00090622]]

 R_gt:
[[ 0.99082817 -0.12715473 -0.04572735]
 [ 0.12769857  0.99177068  0.00916515]
 [ 0.04418416 -0.01491952  0.99891201]]

 t_gt:
[ 0.70949433 -0.68070876 -0.18235509]

Pose Error in degrees for R and t:
178.0749026676724 80.1466844747967

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.40269564e-01  3.40430340e-01  5.75211871e-04]
 [-3.40430188e-01  9.40269731e-01 -3.47609254e-04]
 [-6.59191047e-04  1.31026916e-04  9.99999774e-01]]

 t_estimated:
[[-9.99796655e-01]
 [-2.01559633e-02]
 [-6.21436047e-04]]

 R_gt:
[[ 0.97448827 -0.21859064 -0.05090489]
 [ 0.21796493  0.97579824 -0.01760606]
 [ 0.05352048  0.00606157  0.99854858]]

 t_gt:
[ 0.70658416 -0.66805225 -0.23333455]

Pose Error in degrees for R and t:
32.66564170275751 46.145433033607404

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.12970337e-01 -4.08022757e-01 -1.61055775e-03]
 [ 4.08024011e-01  9.12971042e-01  5.31924733e-04]
 [ 1.25335519e-03 -1.14277774e-03  9.99998562e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.95607334 -0.28843763 -0.05222871]
 [ 0.28583145  0.9568642  -0.05207338]
 [ 0.06499488  0.03485773  0.99727703]]

 t_gt:
[ 0.67708144 -0.67401577 -0.29540389]

Pose Error in degrees for R and t:
8.478064833166899 47.92625959083544

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999974e-01  2.13316231e-04  8.05939464e-05]
 [-2.13313658e-04  9.99999977e-01 -3.19280953e-05]
 [-8.06007553e-05  3.19109027e-05  9.99999996e-01]]

 t_estimated:
[[ 9.99999769e-01]
 [ 6.63619243e-04]
 [-1.44447013e-04]]

 R_gt:
[[ 0.99356842 -0.1119262  -0.01715023]
 [ 0.11184223  0.99370907 -0.00581137]
 [ 0.0176932   0.00385628  0.99983656]]

 t_gt:
[ 0.6981735  -0.70550409 -0.12172815]

Pose Error in degrees for R and t:
6.520199029843248 45.75541668230249

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-3.79660472e-01  9.25125895e-01  6.70758794e-05]
 [-9.25123827e-01 -3.79659468e-01 -2.14308566e-03]
 [-1.95715805e-03 -8.75698408e-04  9.99997701e-01]]

 t_estimated:
[[0.2678362 ]
 [0.96346377]
 [0.00115804]]

 R_gt:
[[ 0.99156185 -0.11950479 -0.05025075]
 [ 0.11609136  0.99103712 -0.06610359]
 [ 0.0576993   0.05971286  0.9965471 ]]

 t_gt:
[ 0.71180978 -0.52965926 -0.4612894 ]

Pose Error in degrees for R and t:
119.14855733658928 71.32538683069606

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.89677701  0.44247875  0.00188387]
 [-0.44247443  0.89677812 -0.00231817]
 [-0.00271516  0.00124531  0.99999554]]

 t_estimated:
[[0.37570429]
 [0.92673725]
 [0.00208725]]

 R_gt:
[[ 0.98609567 -0.1168271  -0.11818454]
 [ 0.10172874  0.98672347 -0.12660103]
 [ 0.13140621  0.1128178   0.98488804]]

 t_gt:
[ 0.63533898 -0.27245398 -0.72257401]

Pose Error in degrees for R and t:
34.044181097826694 89.12323383921343

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99015474e-01 -4.43630655e-02 -3.52726755e-05]
 [ 4.43630749e-02  9.99015418e-01  3.33875153e-04]
 [ 2.04262213e-05 -3.35111248e-04  9.99999944e-01]]

 t_estimated:
[[0.50557815]
 [0.86278011]
 [0.00109908]]

 R_gt:
[[ 0.99672631 -0.05380571  0.06034368]
 [ 0.04875228  0.99541522  0.08228918]
 [-0.06449446 -0.0790781   0.99477924]]

 t_gt:
[ 0.17184413 -0.35138615  0.9203246 ]

Pose Error in degrees for R and t:
5.8569174523943515 77.568231399909

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-0.15944138 -0.98719609 -0.00472415]
 [-0.98720386  0.15945179 -0.0019125 ]
 [ 0.00264129  0.00435876 -0.99998701]]

 t_estimated:
[[ 7.32479831e-01]
 [ 6.80788387e-01]
 [-6.85338090e-04]]

 R_gt:
[[ 0.98975232 -0.10736796  0.09414055]
 [ 0.09655249  0.98891997  0.11275974]
 [-0.10520405 -0.10251586  0.98915158]]

 t_gt:
[ 0.37585122 -0.39535533  0.83811098]

Pose Error in degrees for R and t:
171.884299266205 89.68053251496117

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-1.87881410e-01 -9.82160356e-01 -7.84921332e-03]
 [ 9.82191344e-01 -1.87882335e-01 -6.25955184e-04]
 [-8.59940160e-04 -7.82703472e-03  9.99968999e-01]]

 t_estimated:
[[0.98477378]
 [0.17378361]
 [0.00445599]]

 R_gt:
[[ 0.98935033 -0.09490164  0.11035751]
 [ 0.07691264  0.98457277  0.15716229]
 [-0.12356985 -0.14700177  0.98138714]]

 t_gt:
[ 0.35933721 -0.32889152  0.87333106]

Pose Error in degrees for R and t:
96.32868499391839 72.50626811738485

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[-1.52163480e-01 -9.88355177e-01 -5.65380297e-04]
 [-9.88355078e-01  1.52163000e-01  8.13066630e-04]
 [-7.17568651e-04  6.82515536e-04 -9.99999510e-01]]

 t_estimated:
[[9.96232706e-01]
 [8.67146173e-02]
 [9.85393379e-04]]

 R_gt:
[[ 0.99530164 -0.09472957 -0.02000384]
 [ 0.09433056  0.99534052 -0.02000713]
 [ 0.02180596  0.01802638  0.99959929]]

 t_gt:
[ 0.71492548 -0.65268327 -0.25077103]

Pose Error in degrees for R and t:
178.38677004774206 49.05093433831852

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.86724180e-01  1.62404829e-01  2.52405642e-04]
 [-1.62404806e-01  9.86724210e-01 -1.07690339e-04]
 [-2.66544188e-04  6.52687721e-05  9.99999962e-01]]

 t_estimated:
[[0.68081203]
 [0.73245766]
 [0.00087305]]

 R_gt:
[[ 0.97202053 -0.23293486 -0.03029407]
 [ 0.23314736  0.97243518  0.0036763 ]
 [ 0.02860362 -0.0106361   0.99953381]]

 t_gt:
[ 0.73400735 -0.67736358 -0.04910988]

Pose Error in degrees for R and t:
22.893071431507153 89.79728637353875

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 1.25569413e-01  9.92084782e-01 -3.27086174e-04]
 [-9.92080886e-01  1.25567976e-01 -2.86330165e-03]
 [-2.79956645e-03  6.84039049e-04  9.99995847e-01]]

 t_estimated:
[[0.01361259]
 [0.99990658]
 [0.00123751]]

 R_gt:
[[ 0.95768752 -0.28579671 -0.03398677]
 [ 0.28603782  0.95821542  0.00233403]
 [ 0.03190102 -0.01195698  0.99941873]]

 t_gt:
[ 0.75029336 -0.65959132 -0.04471202]

Pose Error in degrees for R and t:
99.42196317495112 49.505760466797526

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 9.99790495e-01  2.04686763e-02 -1.42772511e-05]
 [-2.04686766e-02  9.99790494e-01 -2.29148359e-05]
 [ 1.38052236e-05  2.32022715e-05  1.00000000e+00]]

 t_estimated:
[[-0.3833483 ]
 [ 0.92360339]
 [-0.00092926]]

 R_gt:
[[ 0.99788447  0.00930101 -0.06433551]
 [-0.00878678  0.99992746  0.00826556]
 [ 0.06440697 -0.00768315  0.99789338]]

 t_gt:
[ 0.95523496 -0.10542549 -0.27642656]

Pose Error in degrees for R and t:
3.775938107082185 62.399603835614656

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.85605918e-01 -1.69058979e-01 -1.86819889e-04]
 [ 1.69059039e-01  9.85605857e-01  3.68684402e-04]
 [ 1.21801368e-04 -3.94961120e-04  9.99999915e-01]]

 t_estimated:
[[-0.89872533]
 [-0.43851079]
 [-0.00103726]]

 R_gt:
[[ 0.99602508  0.04891197 -0.07443825]
 [-0.0447383   0.99738643  0.05673661]
 [ 0.07701888 -0.05318072  0.99561001]]

 t_gt:
[ 0.95352863 -0.14456899  0.26435385]

Pose Error in degrees for R and t:
13.521950037002126 37.454222264507536

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-9.81534805e-01 -1.90967595e-01 -1.09910992e-02]
 [-1.90975080e-01  9.81594814e-01 -3.74136409e-04]
 [ 1.08602539e-02  1.73179815e-03 -9.99939526e-01]]

 t_estimated:
[[ 0.98279849]
 [ 0.18459717]
 [-0.00556903]]

 R_gt:
[[ 0.98518666  0.12564178 -0.1167087 ]
 [-0.11253171  0.98721923  0.11285352]
 [ 0.12939568 -0.09804847  0.98673277]]

 t_gt:
[0.80313132 0.01586401 0.59559082]

Pose Error in degrees for R and t:
172.89575807063676 37.91457177286886

Number of keypoints:
Image1: 386
Image2: 386

 R_estimated:
[[ 9.93967055e-01 -1.09679023e-01 -7.54444094e-05]
 [ 1.09679023e-01  9.93967058e-01 -1.04975751e-05]
 [ 7.61406214e-05  2.15957476e-06  9.99999997e-01]]

 t_estimated:
[[-0.24314993]
 [-0.96998519]
 [-0.00261452]]

 R_gt:
[[ 0.99980433  0.01363076 -0.01427162]
 [-0.01409365  0.99936108 -0.03281849]
 [ 0.01381475  0.03301313  0.99935959]]

 t_gt:
[ 0.06357454  0.72829208 -0.68231145]

Pose Error in degrees for R and t:
7.3813868814362635 43.93670390214599

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[-0.6447237   0.76426988 -0.01493014]
 [ 0.76425802  0.64486443  0.00771634]
 [ 0.01552528 -0.00643557 -0.99985876]]

 t_estimated:
[[ 0.89796572]
 [-0.4399835 ]
 [-0.00848994]]

 R_gt:
[[ 0.99568691  0.09234958 -0.00885979]
 [-0.09271092  0.99398839 -0.05823132]
 [ 0.00342859  0.05880117  0.99826388]]

 t_gt:
[-0.41690108  0.81486527 -0.4027258 ]

Pose Error in degrees for R and t:
179.87681247953088 43.157932130075025

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.05537149  0.99846111 -0.00306742]
 [ 0.99845291  0.05538613  0.00491533]
 [ 0.00507766 -0.0027905  -0.99998322]]

 t_estimated:
[[-0.16574206]
 [-0.98616527]
 [-0.00276237]]

 R_gt:
[[ 0.98073016  0.19401796 -0.02290975]
 [-0.19497352  0.97943985 -0.05178942]
 [ 0.01239117  0.05525829  0.99839546]]

 t_gt:
[-0.58193782  0.78238689 -0.22185386]

Pose Error in degrees for R and t:
178.9495219218663 47.584793066678934

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999942e-01  9.61403412e-06  3.40241911e-04]
 [-9.49013498e-06  9.99999934e-01 -3.64149896e-04]
 [-3.40245389e-04  3.64146646e-04  9.99999876e-01]]

 t_estimated:
[[9.68716625e-01]
 [2.48169225e-01]
 [3.68422704e-04]]

 R_gt:
[[ 0.98489178 -0.17238383 -0.01652717]
 [ 0.17264851  0.98485141  0.0161484 ]
 [ 0.01349273 -0.01875702  0.99973325]]

 t_gt:
[ 0.73369238 -0.67940203  0.01041042]

Pose Error in degrees for R and t:
10.027272869715723 57.17075630292925

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999265e-01  5.91091669e-04 -1.05891831e-03]
 [-5.89845986e-04  9.99999134e-01  1.17629878e-03]
 [ 1.05961270e-03 -1.17567332e-03  9.99998748e-01]]

 t_estimated:
[[-6.98354798e-03]
 [-9.99975518e-01]
 [ 4.40053084e-04]]

 R_gt:
[[ 0.98267218 -0.17691228 -0.0552901 ]
 [ 0.17840846  0.98367921  0.02336964]
 [ 0.05025285 -0.03282774  0.99819679]]

 t_gt:
[ 0.77159981 -0.63371602 -0.05511566]

Pose Error in degrees for R and t:
10.809332864221885 51.07609161814931

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-2.18500743e-01 -9.75836577e-01 -6.31944125e-04]
 [-9.75835711e-01  2.18499498e-01  1.62306501e-03]
 [-1.44576673e-03  9.71314554e-04 -9.99998483e-01]]

 t_estimated:
[[8.99206188e-01]
 [4.37524205e-01]
 [8.94732526e-04]]

 R_gt:
[[ 0.95779464 -0.24805805 -0.14524788]
 [ 0.24638946  0.96871769 -0.02965679]
 [ 0.14806034 -0.00738155  0.98895139]]

 t_gt:
[ 0.82452925 -0.4898855  -0.28313197]

Pose Error in degrees for R and t:
173.00498345634747 58.20836445462997

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[-0.18309353  0.98266739  0.02900975]
 [ 0.98300571  0.1833959  -0.00810717]
 [-0.01328693  0.02703238 -0.99954625]]

 t_estimated:
[[0.9816779 ]
 [0.19053664]
 [0.00207105]]

 R_gt:
[[ 0.99153309  0.12718177 -0.02618283]
 [-0.1257852   0.99082534  0.04943572]
 [ 0.03223064 -0.04572288  0.99843382]]

 t_gt:
[-0.86960207  0.48102558  0.11138504]

Pose Error in degrees for R and t:
178.4900658652201 40.3781464324459

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99883685e-01 -1.52438753e-02  4.90989216e-04]
 [ 1.52445105e-02  9.99882928e-01 -1.31721348e-03]
 [-4.70852297e-04  1.32454516e-03  9.99999012e-01]]

 t_estimated:
[[-0.65885673]
 [-0.75226741]
 [-0.00124548]]

 R_gt:
[[ 0.94835009  0.31496802 -0.03776453]
 [-0.31081531  0.94639114  0.0879621 ]
 [ 0.06344593 -0.07168033  0.99540733]]

 t_gt:
[-0.84842628  0.52818325  0.0345732 ]

Pose Error in degrees for R and t:
19.937719115563734 80.69945232606271

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-4.97270826e-01  8.67595251e-01  4.55116634e-04]
 [-8.67589185e-01 -4.97265232e-01 -4.03674611e-03]
 [-3.27594807e-03 -2.40221034e-03  9.99991749e-01]]

 t_estimated:
[[0.02851852]
 [0.99959169]
 [0.00177402]]

 R_gt:
[[ 0.91846052  0.39550334 -0.00244041]
 [-0.39029497  0.90732979  0.15627766]
 [ 0.06402349 -0.1425814   0.98770939]]

 t_gt:
[-0.85652484  0.48804962  0.16784743]

Pose Error in degrees for R and t:
96.86187982062977 62.37250232810346

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99999606e-01  8.68533671e-04  1.81015584e-04]
 [-8.68526225e-04  9.99999622e-01 -4.12104996e-05]
 [-1.81051308e-04  4.10532665e-05  9.99999983e-01]]

 t_estimated:
[[9.99980279e-01]
 [6.20143419e-03]
 [9.91610210e-04]]

 R_gt:
[[ 0.99622237 -0.08523216  0.01661827]
 [ 0.08567423  0.9959291  -0.02799813]
 [-0.01416418  0.02931648  0.99946972]]

 t_gt:
[ 0.44193027 -0.87118779 -0.21384452]

Pose Error in degrees for R and t:
5.290531918897695 64.13151772766587

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 9.99784894e-01  2.07373501e-02  3.58802843e-04]
 [-2.07372597e-02  9.99784928e-01 -2.53868693e-04]
 [-3.63990238e-04  2.46373496e-04  9.99999903e-01]]

 t_estimated:
[[9.53714180e-01]
 [3.00713539e-01]
 [7.93439418e-04]]

 R_gt:
[[ 0.98729948 -0.15723127 -0.0227759 ]
 [ 0.15611209  0.98673069 -0.04462163]
 [ 0.02948939  0.04049986  0.9987441 ]]

 t_gt:
[ 0.48256625 -0.79462505 -0.36837596]

Pose Error in degrees for R and t:
10.602587732690269 77.23319574878039

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.28764668 -0.95773097 -0.00328274]
 [-0.95773237  0.28763354  0.0039569 ]
 [-0.00284542  0.00428218 -0.99998678]]

 t_estimated:
[[8.28570235e-01]
 [5.59884929e-01]
 [4.81654122e-04]]

 R_gt:
[[ 0.9567834  -0.28939819 -0.02852157]
 [ 0.28846913  0.95693149 -0.03266636]
 [ 0.03674656  0.02302809  0.99905933]]

 t_gt:
[ 0.60786846 -0.77162682 -0.18731787]

Pose Error in degrees for R and t:
177.54764383433002 85.89702316571444

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.78165094 -0.62371306  0.00195746]
 [-0.62370518  0.78161478 -0.00837785]
 [ 0.0036954  -0.00776943 -0.99996299]]

 t_estimated:
[[0.91114282]
 [0.41208954]
 [0.00098822]]

 R_gt:
[[ 0.94682886  0.32172352  0.0027178 ]
 [-0.32149721  0.94642327 -0.03036848]
 [-0.01234218  0.02787997  0.99953479]]

 t_gt:
[-0.90125946  0.42700586 -0.07346685]

Pose Error in degrees for R and t:
179.87460551131267 49.813024759234004

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.12072578 -0.99267531 -0.0045832 ]
 [ 0.9926846  -0.12071689 -0.00217005]
 [ 0.00160089 -0.00481166  0.99998714]]

 t_estimated:
[[9.99965870e-01]
 [8.21139856e-03]
 [9.12377618e-04]]

 R_gt:
[[ 0.84611596  0.53299332 -0.00228045]
 [-0.53291484  0.84590185 -0.02124094]
 [-0.00939155  0.01918786  0.99977205]]

 t_gt:
[-0.85710892  0.51410473 -0.0325673 ]

Pose Error in degrees for R and t:
129.1483134614025 31.47282786838496

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.89172923 -0.45255869 -0.00309985]
 [ 0.45256512  0.89172953  0.00180525]
 [ 0.00194724 -0.00301268  0.99999357]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.82623767  0.56306949  0.01686479]
 [-0.56169962  0.82576068 -0.05109345]
 [-0.04269496  0.03274227  0.99855154]]

 t_gt:
[-0.84242908  0.53747014 -0.03793521]

Pose Error in degrees for R and t:
61.23859227278451 32.77661563244518

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-6.28020103e-01 -7.78197114e-01 -4.95874603e-05]
 [-7.78195124e-01  6.28018350e-01  2.30224449e-03]
 [-1.76045818e-03  1.48444454e-03 -9.99997349e-01]]

 t_estimated:
[[0.97715136]
 [0.21254045]
 [0.00133673]]

 R_gt:
[[ 0.99612003  0.01452629 -0.08679497]
 [-0.02495447  0.99242508 -0.12029807]
 [ 0.08438986  0.12199692  0.98893626]]

 t_gt:
[ 0.07522357  0.39617978 -0.91508633]

Pose Error in degrees for R and t:
172.60857924313987 80.99702110862411

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.35406627e-01  3.53572844e-01 -8.28222286e-04]
 [-3.53573117e-01  9.35397565e-01 -4.17688758e-03]
 [-7.02116913e-04  4.19992546e-03  9.99990934e-01]]

 t_estimated:
[[0.1825656 ]
 [0.98319184]
 [0.00190173]]

 R_gt:
[[ 0.99571463  0.05870801 -0.0714564 ]
 [-0.07021496  0.98277062 -0.17097531]
 [ 0.06018773  0.17526094  0.98268039]]

 t_gt:
[-0.11605013  0.60505057 -0.78768406]

Pose Error in degrees for R and t:
19.91469320728713 55.096493883821545

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99611397e-01  2.78739264e-02 -3.16343830e-04]
 [-2.78736847e-02  9.99611176e-01  7.44427796e-04]
 [ 3.36970954e-04 -7.35320841e-04  9.99999673e-01]]

 t_estimated:
[[-6.35904197e-01]
 [-7.71767963e-01]
 [ 2.51035004e-04]]

 R_gt:
[[ 0.99017003  0.10735025 -0.08966124]
 [-0.11946312  0.98249289 -0.14296017]
 [ 0.07274424  0.15226658  0.98565882]]

 t_gt:
[-0.18960254  0.73123715 -0.65524278]

Pose Error in degrees for R and t:
10.931190095178343 63.644405901927925

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.97593047e-01 -6.93405457e-02  3.90620777e-05]
 [ 6.93405281e-02  9.97592988e-01  3.47321235e-04]
 [-6.30514988e-05 -3.43776664e-04  9.99999939e-01]]

 t_estimated:
[[0.17374324]
 [0.98478795]
 [0.00244559]]

 R_gt:
[[ 0.99760727  0.02043457 -0.06604776]
 [-0.02633116  0.99562167 -0.08968834]
 [ 0.06392437  0.09121352  0.99377745]]

 t_gt:
[-0.01973015  0.30193923 -0.95312298]

Pose Error in degrees for R and t:
8.330661705311257 73.04699764699255

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-3.66396614e-01  9.30458241e-01  9.91628919e-04]
 [-9.30457513e-01 -3.66394161e-01 -2.03341568e-03]
 [-1.52868133e-03 -1.66770520e-03  9.99997441e-01]]

 t_estimated:
[[0.01066289]
 [0.99994245]
 [0.00118477]]

 R_gt:
[[ 0.99068685  0.08332403 -0.10769219]
 [-0.09833123  0.98489192 -0.14254147]
 [ 0.09418694  0.15180286  0.98391238]]

 t_gt:
[-0.19610639  0.47903427 -0.85560999]

Pose Error in degrees for R and t:
106.59246341853037 61.58190849385161

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-6.21203577e-01 -7.83647323e-01 -1.72872211e-03]
 [ 7.83649227e-01 -6.21202238e-01 -1.29132099e-03]
 [-6.19458049e-05 -2.15688496e-03  9.99997672e-01]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99064382  0.12230984 -0.06053541]
 [-0.12840774  0.98560507 -0.1099756 ]
 [ 0.04621221  0.11671944  0.99208924]]

 t_gt:
[-0.4386979   0.61304828 -0.65705096]

Pose Error in degrees for R and t:
135.72714092252633 70.41155559376146

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.97331461e-01  7.30065008e-02  8.50772872e-05]
 [-7.30065099e-02  9.97331458e-01  1.09500204e-04]
 [-7.68560282e-05 -1.15419195e-04  9.99999990e-01]]

 t_estimated:
[[0.99882427]
 [0.04846616]
 [0.00105361]]

 R_gt:
[[ 0.99020402 -0.13260382 -0.04372976]
 [ 0.13325217  0.99100631  0.01226796]
 [ 0.04170996 -0.01797435  0.99896855]]

 t_gt:
[ 0.71300861 -0.68737533 -0.13832526]

Pose Error in degrees for R and t:
12.111920808813222 47.25707018766068

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 2.43325617e-01  9.69941020e-01  2.65743832e-03]
 [ 9.69944017e-01 -2.43327699e-01  4.85580955e-04]
 [ 1.11761324e-03  2.45941211e-03 -9.99996351e-01]]

 t_estimated:
[[-9.87971857e-01]
 [-1.54631022e-01]
 [-9.25934261e-04]]

 R_gt:
[[ 0.97595044 -0.21474112 -0.03752174]
 [ 0.21416443  0.97661689 -0.01879233]
 [ 0.04067906  0.01030457  0.99911948]]

 t_gt:
[ 0.691023   -0.69260218 -0.20685607]

Pose Error in degrees for R and t:
179.36397050543562 54.87081232741989

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.62146722  0.7812944   0.05794434]
 [ 0.78215115 -0.61450439 -0.10307243]
 [-0.04492286  0.10937737 -0.99298466]]

 t_estimated:
[[ 0.65743625]
 [ 0.75342294]
 [-0.01146541]]

 R_gt:
[[ 0.95859127 -0.28087811 -0.04702965]
 [ 0.27872747  0.9591976  -0.04744635]
 [ 0.05843654  0.03237289  0.9977662 ]]

 t_gt:
[ 0.66134032 -0.69745013 -0.27602952]

Pose Error in degrees for R and t:
172.48581997775705 84.97898960070779

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999558e-01  9.32611556e-04  1.21758399e-04]
 [-9.32632662e-04  9.99999550e-01  1.73402433e-04]
 [-1.21596627e-04 -1.73515912e-04  9.99999978e-01]]

 t_estimated:
[[0.01898735]
 [0.99981897]
 [0.00122717]]

 R_gt:
[[ 0.9964848   0.05713709 -0.06127074]
 [-0.06248311  0.9940508  -0.0892231 ]
 [ 0.05580829  0.0927377   0.99412524]]

 t_gt:
[-0.25988583  0.48348821 -0.83588188]

Pose Error in degrees for R and t:
7.085661620556186 61.48163873859152

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.48572549e-01 -3.16559666e-01 -3.10966253e-04]
 [ 3.16559729e-01  9.48572563e-01  1.77445877e-04]
 [ 2.38801848e-04 -2.66759681e-04  9.99999936e-01]]

 t_estimated:
[[ 9.93503625e-01]
 [-1.13799126e-01]
 [ 5.53357885e-04]]

 R_gt:
[[ 0.99038598  0.13307896 -0.0377578 ]
 [-0.13608353  0.98630229 -0.09321639]
 [ 0.02483591  0.09745809  0.99493002]]

 t_gt:
[-0.53990733  0.66464225 -0.5164792 ]

Pose Error in degrees for R and t:
26.827962311548717 52.24245526136334

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.86219202  0.25799388 -0.43596339]
 [-0.04907779  0.89909053  0.43500298]
 [ 0.50419867 -0.35365998  0.78785044]]

 t_estimated:
[[0.64514193]
 [0.76406211]
 [0.000991  ]]

 R_gt:
[[ 0.99525819  0.07661545  0.05994062]
 [-0.08029304  0.99486849  0.06157192]
 [-0.05491568 -0.06609299  0.99630152]]

 t_gt:
[-0.58536663  0.3796515   0.71638722]

Pose Error in degrees for R and t:
38.85089523202619 85.01716465477126

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.20728325e-01 -3.90204240e-01 -3.90733508e-05]
 [ 3.90204242e-01  9.20728321e-01  8.59259138e-05]
 [ 2.44728471e-06 -9.43610100e-05  9.99999996e-01]]

 t_estimated:
[[8.69124410e-01]
 [4.94592953e-01]
 [7.55103745e-04]]

 R_gt:
[[ 0.99799996 -0.0256744  -0.05777175]
 [ 0.02582714  0.9996651   0.00190018]
 [ 0.05770443 -0.00338849  0.99832809]]

 t_gt:
[ 0.80253109 -0.27540445 -0.52924119]

Pose Error in degrees for R and t:
21.741124637534714 55.88286371772539

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.31167304 -0.95018809 -0.00158453]
 [-0.95017303  0.31165744  0.00639177]
 [-0.00557956  0.00349772 -0.99997832]]

 t_estimated:
[[9.65368238e-01]
 [2.60890014e-01]
 [7.51844422e-04]]

 R_gt:
[[ 0.98900958 -0.09477595 -0.11347578]
 [ 0.08947309  0.99468516 -0.050953  ]
 [ 0.11770219  0.04023935  0.99223364]]

 t_gt:
[ 0.75869674 -0.28134657 -0.58755712]

Pose Error in degrees for R and t:
173.23626580203248 48.8083749814287

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99998493e-01 -1.68185282e-03 -4.29959312e-04]
 [ 1.68248510e-03  9.99997498e-01  1.47445054e-03]
 [ 4.27478428e-04 -1.47517172e-03  9.99998821e-01]]

 t_estimated:
[[0.42598165]
 [0.90473129]
 [0.00095942]]

 R_gt:
[[ 0.96577854 -0.24065158 -0.09674123]
 [ 0.23454783  0.96955723 -0.07033234]
 [ 0.11072279  0.04523551  0.99282151]]

 t_gt:
[ 0.83026133 -0.43924058 -0.34312364]

Pose Error in degrees for R and t:
15.326549716383358 87.47542961020487

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 8.47826446e-01 -5.30273242e-01 -7.79394240e-04]
 [ 5.30273713e-01  8.47826276e-01  6.28469119e-04]
 [ 3.27530559e-04 -9.46125017e-04  9.99999499e-01]]

 t_estimated:
[[ 6.04116248e-01]
 [-7.96896168e-01]
 [ 2.39262425e-04]]

 R_gt:
[[ 0.99470516  0.09431423  0.04081804]
 [-0.09655653  0.99369677  0.05695047]
 [-0.03518975 -0.06058968  0.99754168]]

 t_gt:
[-0.81666968  0.36868979  0.44398027]

Pose Error in degrees for R and t:
37.71172137205705 38.08795918486654

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.98298967e-01  5.83023339e-02 -1.02965669e-04]
 [-5.83023307e-02  9.98298972e-01  3.43703624e-05]
 [ 1.04794394e-04 -2.83087589e-05  9.99999994e-01]]

 t_estimated:
[[-9.82504257e-01]
 [-1.86239293e-01]
 [-5.56764475e-04]]

 R_gt:
[[ 0.97438719  0.22482046  0.00505947]
 [-0.22474552  0.97279418  0.05620779]
 [ 0.00771489 -0.05590447  0.99840528]]

 t_gt:
[-0.85113977  0.51270577  0.11266709]

Pose Error in degrees for R and t:
10.18417335328856 42.20894120248969

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.20182572  0.977215   -0.06570565]
 [-0.9775244  -0.20515442 -0.04855618]
 [-0.06092963  0.05442899  0.99665694]]

 t_estimated:
[[7.52666327e-01]
 [6.58401758e-01]
 [7.25112068e-04]]

 R_gt:
[[ 0.9118549   0.40952789  0.02840852]
 [-0.40914245  0.90098281  0.14433613]
 [ 0.0335146  -0.14323632  0.98911999]]

 t_gt:
[-0.82184935  0.54173829  0.17630447]

Pose Error in degrees for R and t:
78.51077744160334 74.82494261676578

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99998412e-01 -7.03211939e-04 -1.63768729e-03]
 [ 7.07756761e-04  9.99995896e-01  2.77622210e-03]
 [ 1.63572830e-03 -2.77737678e-03  9.99994805e-01]]

 t_estimated:
[[0.62046366]
 [0.78423311]
 [0.00180984]]

 R_gt:
[[ 0.99559166  0.09242708 -0.01594209]
 [-0.09233043  0.99570491  0.00675732]
 [ 0.01649856 -0.00525544  0.99985   ]]

 t_gt:
[-0.73529925  0.67754381  0.01641337]

Pose Error in degrees for R and t:
5.409765856927923 85.68984077432793

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.99271364 -0.12049131  0.00121776]
 [ 0.12049303  0.99271311 -0.0014552 ]
 [-0.00103355  0.00159133  0.9999982 ]]

 t_estimated:
[[0.30525707]
 [0.95226934]
 [0.001106  ]]

 R_gt:
[[ 0.99689656  0.04245487  0.06630474]
 [-0.04703797  0.99649646  0.0691472 ]
 [-0.06313709 -0.07205083  0.99540098]]

 t_gt:
[-0.56371099  0.28299818  0.77597806]

Pose Error in degrees for R and t:
10.975912715561106 84.3603290259293

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99210712e-01 -3.97232100e-02 -1.41398979e-04]
 [ 3.97232850e-02  9.99210554e-01  5.74798683e-04]
 [ 1.18454504e-04 -5.79961833e-04  9.99999825e-01]]

 t_estimated:
[[0.03116359]
 [0.99951331]
 [0.00140214]]

 R_gt:
[[ 0.9959092  -0.00796592  0.0900095 ]
 [-0.00336051  0.99215285  0.12498002]
 [-0.09029955 -0.12477134  0.98806759]]

 t_gt:
[-0.23021934  0.01361349  0.97304354]

Pose Error in degrees for R and t:
9.093430212923382 89.55327473147281

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 9.98645437e-01 -5.20024806e-02  1.74143413e-03]
 [ 5.20024916e-02  9.98646954e-01  3.89397560e-05]
 [-1.74110285e-03  5.16719041e-05  9.99998483e-01]]

 t_estimated:
[[0.48852899]
 [0.8723732 ]
 [0.01744746]]

 R_gt:
[[ 0.99798701 -0.00746025 -0.06298371]
 [ 0.01077622  0.99856401  0.05247159]
 [ 0.06250295 -0.05304432  0.99663497]]

 t_gt:
[ 0.8346652  -0.23024     0.50032344]

Pose Error in degrees for R and t:
5.3735311524051745 77.54737338703855

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[-0.40468914 -0.91422701 -0.02038833]
 [ 0.91431333 -0.40413465 -0.02657676]
 [ 0.01605756 -0.02939665  0.99943884]]

 t_estimated:
[[0.8992634 ]
 [0.43739682]
 [0.00305872]]

 R_gt:
[[ 9.92833494e-01  7.04644860e-03 -1.19298938e-01]
 [ 5.13165893e-04  9.97999696e-01  6.32121977e-02]
 [ 1.19506051e-01 -6.28204865e-02  9.90844230e-01]]

 t_gt:
[ 0.97583664 -0.17543883  0.1302462 ]

Pose Error in degrees for R and t:
114.08810323198364 36.75551945563795

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.9466896  -0.32214219 -0.00179366]
 [ 0.3221446   0.94668963  0.00126721]
 [ 0.00128982 -0.00177748  0.99999759]]

 t_estimated:
[[-0.77091611]
 [-0.63693336]
 [-0.00206127]]

 R_gt:
[[ 0.98810003  0.02296954 -0.15208935]
 [-0.00917737  0.99583024  0.09076535]
 [ 0.15354036 -0.08828955  0.98419093]]

 t_gt:
[ 0.96156514 -0.19346335  0.1948446 ]

Pose Error in degrees for R and t:
22.124022242513316 51.79591518187145

Number of keypoints:
Image1: 351
Image2: 351

 R_estimated:
[[ 9.99008370e-01  4.45225800e-02 -1.27841472e-04]
 [-4.45225837e-02  9.99008378e-01 -2.64274803e-05]
 [ 1.26538082e-04  3.20931066e-05  9.99999991e-01]]

 t_estimated:
[[-0.99204017]
 [ 0.12590994]
 [-0.00172982]]

 R_gt:
[[ 0.99822005  0.03797339 -0.04599022]
 [-0.03678024  0.99897085  0.02653666]
 [ 0.04695071 -0.02479726  0.99858907]]

 t_gt:
[ 0.87322483  0.40268902 -0.27444482]

Pose Error in degrees for R and t:
3.065532223185102 35.40306451567898

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 0.99987476 -0.01541547  0.00358132]
 [ 0.0154403   0.99985619 -0.00701355]
 [-0.00347269  0.00706797  0.99996899]]

 t_estimated:
[[-9.99472407e-01]
 [-3.24674970e-02]
 [-8.77499918e-04]]

 R_gt:
[[ 0.99351906  0.05754355 -0.0980225 ]
 [-0.05240375  0.9971523   0.05423559]
 [ 0.10086384 -0.04874666  0.99370519]]

 t_gt:
[ 0.91592221  0.34261157 -0.20905458]

Pose Error in degrees for R and t:
7.913212381742431 22.122735084702633

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-1.52713819e-01 -9.88257097e-01 -5.13806343e-03]
 [-9.88270108e-01  1.52707354e-01  1.63019894e-03]
 [-8.26435599e-04  5.32674841e-03 -9.99985471e-01]]

 t_estimated:
[[0.76549419]
 [0.64344171]
 [0.00118498]]

 R_gt:
[[ 0.97868338  0.12784244 -0.16073015]
 [-0.11359252  0.98897917  0.09496061]
 [ 0.17109819 -0.07467821  0.98241944]]

 t_gt:
[ 0.64235618  0.71586666 -0.27370323]

Pose Error in degrees for R and t:
175.74170947591193 17.821602833295483

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 9.99994862e-01  3.20572757e-03  7.75840856e-06]
 [-3.20572761e-03  9.99994862e-01  5.00315343e-06]
 [-7.74232995e-06 -5.02799907e-06  1.00000000e+00]]

 t_estimated:
[[6.06881232e-01]
 [7.94792433e-01]
 [3.97765015e-04]]

 R_gt:
[[ 0.99852631 -0.02900275  0.04588546]
 [ 0.02874834  0.99956792  0.006179  ]
 [-0.04604385 -0.00485146  0.99892834]]

 t_gt:
[ 0.43569087 -0.42762288  0.79203039]

Pose Error in degrees for R and t:
3.2273873839375735 85.69051682599604

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.98734434e-01  5.02944132e-02  4.62303414e-05]
 [-5.02944087e-02  9.98734431e-01 -9.41220779e-05]
 [-5.09056484e-05  9.16778325e-05  9.99999995e-01]]

 t_estimated:
[[9.99987772e-01]
 [4.87798916e-03]
 [8.12998189e-04]]

 R_gt:
[[ 0.99831379 -0.05770665  0.00629564]
 [ 0.05749136  0.99788923  0.03021331]
 [-0.00802543 -0.0298003   0.99952377]]

 t_gt:
[ 0.71934532 -0.60561112  0.34026091]

Pose Error in degrees for R and t:
6.4343636865736995 44.22067528666689

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.81870731e-01  1.89551678e-01 -1.69393650e-04]
 [-1.89551622e-01  9.81870711e-01  2.99271267e-04]
 [ 2.23050035e-04 -2.61736857e-04  9.99999941e-01]]

 t_estimated:
[[-9.97817402e-01]
 [ 6.60288896e-02]
 [-7.85654385e-04]]

 R_gt:
[[ 0.99766077 -0.06625207 -0.01687057]
 [ 0.06679109  0.99719945  0.03364456]
 [ 0.01459421 -0.03469297  0.99929202]]

 t_gt:
[ 0.72803235 -0.67422603  0.12404903]

Pose Error in degrees for R and t:
14.895391247721022 39.55090009507819

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99999840e-01 -1.43358740e-04  5.47964405e-04]
 [ 1.43607223e-04  9.99999887e-01 -4.53453403e-04]
 [-5.47899337e-04  4.53532022e-04  9.99999747e-01]]

 t_estimated:
[[0.57584525]
 [0.81755808]
 [0.0010156 ]]

 R_gt:
[[ 0.99848403 -0.02515608  0.04894315]
 [ 0.02319854  0.99892485  0.04014966]
 [-0.04989929 -0.03895312  0.99799379]]

 t_gt:
[ 0.37560937 -0.38144479  0.84464044]

Pose Error in degrees for R and t:
3.8751493391826464 84.56579839475936

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 3.59403615e-01  9.33181907e-01  7.55121979e-04]
 [ 9.33180401e-01 -3.59404394e-01  1.67968856e-03]
 [ 1.83884913e-03  1.00978890e-04 -9.99998304e-01]]

 t_estimated:
[[0.84659238]
 [0.53223271]
 [0.00311247]]

 R_gt:
[[ 0.99895961 -0.03016639  0.03418156]
 [ 0.02735968  0.99643628  0.0797955 ]
 [-0.0364666  -0.07877715  0.99622449]]

 t_gt:
[ 0.52063121 -0.37842629  0.76533436]

Pose Error in degrees for R and t:
177.3437239123119 76.0111160196583

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.99832573  0.05769031 -0.00419086]
 [-0.0576759   0.99832929  0.00348096]
 [ 0.00438467 -0.00323342  0.99998516]]

 t_estimated:
[[0.83472795]
 [0.55065823]
 [0.00218515]]

 R_gt:
[[ 0.99176848 -0.09867282  0.08160009]
 [ 0.0815102   0.97801312  0.19195734]
 [-0.0987455  -0.18372677  0.97800422]]

 t_gt:
[ 0.43229825 -0.36413818  0.82493733]

Pose Error in degrees for R and t:
14.696046711816155 80.66896372558413

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999788e-01  3.12282203e-04 -5.70911549e-04]
 [-3.11845335e-04  9.99999659e-01  7.65140174e-04]
 [ 5.71150294e-04 -7.64961976e-04  9.99999544e-01]]

 t_estimated:
[[0.99982586]
 [0.01861378]
 [0.00132956]]

 R_gt:
[[ 0.98429193 -0.17311887 -0.03461427]
 [ 0.17339128  0.98483976  0.00501449]
 [ 0.03322245 -0.01093718  0.99938817]]

 t_gt:
[ 0.72059521 -0.68903028 -0.07732923]

Pose Error in degrees for R and t:
10.188596722204458 44.964767799199365

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999887e-01  4.26351477e-04  2.11054083e-04]
 [-4.26354155e-04  9.99999909e-01  1.26450425e-05]
 [-2.11048673e-04 -1.27350249e-05  9.99999978e-01]]

 t_estimated:
[[9.54728111e-01]
 [2.97478768e-01]
 [7.84989117e-04]]

 R_gt:
[[ 0.97013889 -0.23755689 -0.04895773]
 [ 0.23858583  0.97098484  0.01629677]
 [ 0.04366721 -0.02749095  0.99866824]]

 t_gt:
[ 0.72833166 -0.68376192 -0.04475077]

Pose Error in degrees for R and t:
14.120479681280841 60.53321503621328

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99993193e-01 -2.63899088e-03  2.57879089e-03]
 [ 2.63749396e-03  9.99996351e-01  5.83701985e-04]
 [-2.58032187e-03 -5.76896466e-04  9.99996505e-01]]

 t_estimated:
[[0.67453095]
 [0.73824609]
 [0.00084954]]

 R_gt:
[[ 0.95259802 -0.30296293 -0.02777419]
 [ 0.30340728  0.95276611  0.01343761]
 [ 0.02239217 -0.02122701  0.99952355]]

 t_gt:
[ 0.75258806 -0.65823257 -0.01846888]

Pose Error in degrees for R and t:
17.601579447113867 88.75712120205536

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99998816e-01  1.50744754e-03  3.09865745e-04]
 [-1.50742664e-03  9.99998862e-01 -6.76849226e-05]
 [-3.09967423e-04  6.72177426e-05  9.99999950e-01]]

 t_estimated:
[[-9.99998166e-01]
 [-1.84421715e-03]
 [-5.16994317e-04]]

 R_gt:
[[ 9.97311499e-01  7.32780739e-02 -6.64875863e-04]
 [-7.31440269e-02  9.95957591e-01  5.21431546e-02]
 [ 4.48319833e-03 -5.19549061e-02  9.98638931e-01]]

 t_gt:
[-0.32916936  0.26052799  0.90761925]

Pose Error in degrees for R and t:
5.088504743448988 70.8392851415805

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 5.30260529e-01 -8.47833356e-01  1.53991376e-03]
 [-8.47834684e-01 -5.30260353e-01  5.53739407e-04]
 [ 3.47076474e-04 -1.59921845e-03 -9.99998661e-01]]

 t_estimated:
[[0.33475593]
 [0.9423032 ]
 [0.00177165]]

 R_gt:
[[ 0.98916041  0.12730228 -0.07319027]
 [-0.1212696   0.98925085  0.0817071 ]
 [ 0.08280457 -0.07194647  0.99396449]]

 t_gt:
[0.1299459  0.71444164 0.68752251]

Pose Error in degrees for R and t:
178.23316005432196 44.11542993497814

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.94713144 -0.32084175 -0.00161409]
 [ 0.32084379 -0.94713135 -0.00121584]
 [-0.00113867 -0.00166943  0.99999796]]

 t_estimated:
[[0.87208814]
 [0.48934805]
 [0.00087384]]

 R_gt:
[[ 0.97140204  0.19439134 -0.13634419]
 [-0.17716801  0.9757092   0.12885398]
 [ 0.15808018 -0.10101384  0.98224461]]

 t_gt:
[0.56927984 0.70640085 0.42061657]

Pose Error in degrees for R and t:
172.11433588335998 32.594338778821204

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.99889345e-01 -1.48758477e-02 -8.40948368e-05]
 [ 1.48758282e-02  9.99889323e-01 -2.27262322e-04]
 [ 8.74662491e-05  2.25986194e-04  9.99999971e-01]]

 t_estimated:
[[ 0.66676969]
 [-0.74525244]
 [-0.00412076]]

 R_gt:
[[ 0.99871326 -0.04883848  0.01367282]
 [ 0.04892124  0.99878544 -0.00577252]
 [-0.01337414  0.00643307  0.99988927]]

 t_gt:
[ 0.76267153 -0.63811616  0.1055457 ]

Pose Error in degrees for R and t:
2.1273368788632543 10.37537670340685

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[-0.68770053 -0.72029915 -0.09075856]
 [ 0.7232815  -0.66895851 -0.17134285]
 [ 0.0627044  -0.18347656  0.98102218]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99604735 -0.08691142  0.01832652]
 [ 0.08722927  0.99603841 -0.01727486]
 [-0.01675173  0.01880465  0.99968239]]

 t_gt:
[ 0.78499348 -0.61706269  0.05494433]

Pose Error in degrees for R and t:
128.6121465057958 47.47016975547699

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.83993461e-01  1.78203947e-01  4.72086892e-04]
 [-1.78203779e-01  9.83993532e-01 -3.78022558e-04]
 [-5.31895560e-04  2.87844057e-04  9.99999817e-01]]

 t_estimated:
[[0.58229333]
 [0.81297823]
 [0.00093018]]

 R_gt:
[[ 0.97482192 -0.22261024 -0.01290676]
 [ 0.22232509  0.97475725 -0.02046986]
 [ 0.01713892  0.01708432  0.99970629]]

 t_gt:
[ 0.77712485 -0.62456982 -0.07739193]

Pose Error in degrees for R and t:
23.162381257517065 86.82883396810685

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99964211e-01 -8.46033112e-03 -2.11998162e-05]
 [ 8.46033227e-03  9.99964209e-01  5.51634520e-05]
 [ 2.07323564e-05 -5.53408352e-05  9.99999998e-01]]

 t_estimated:
[[ 1.98876720e-01]
 [ 9.80024507e-01]
 [-1.24872261e-04]]

 R_gt:
[[ 0.99977041 -0.01026154 -0.01878827]
 [ 0.01057433  0.99980511  0.0166362 ]
 [ 0.018614   -0.01683047  0.99968453]]

 t_gt:
[ 0.52967216 -0.83888047  0.12540718]

Pose Error in degrees for R and t:
1.4411285804137808 44.20912086359524

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99999922e-01 -2.84286020e-04 -2.73561753e-04]
 [ 2.84297718e-04  9.99999959e-01  4.27230395e-05]
 [ 2.73549596e-04 -4.28008091e-05  9.99999962e-01]]

 t_estimated:
[[ 9.45790684e-01]
 [ 3.24776477e-01]
 [-4.71909957e-04]]

 R_gt:
[[ 0.99886509  0.04556058 -0.01387633]
 [-0.04546145  0.99893894  0.00741719]
 [ 0.01419987 -0.00677748  0.99987595]]

 t_gt:
[ 0.27572218  0.92518473 -0.26078821]

Pose Error in degrees for R and t:
2.7705463610869767 55.84893535785947

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.10945352 -0.9939384  -0.01031381]
 [ 0.99392342 -0.10931828 -0.01287401]
 [ 0.01166848 -0.01166024  0.99986393]]

 t_estimated:
[[ 9.98565319e-01]
 [ 5.35459333e-02]
 [-3.69966264e-04]]

 R_gt:
[[ 9.93517483e-01  1.12471796e-01 -1.64865130e-02]
 [-1.12487806e-01  9.93653089e-01 -9.48409000e-07]
 [ 1.63818345e-02  1.85632807e-03  9.99863174e-01]]

 t_gt:
[ 0.25550251  0.95523953 -0.14911709]

Pose Error in degrees for R and t:
102.73534896303404 72.16118171844988

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-0.20051617  0.97967333 -0.00578254]
 [-0.97968444 -0.20053203 -0.00230153]
 [-0.00341433  0.00520357  0.99998063]]

 t_estimated:
[[0.116239  ]
 [0.99322073]
 [0.00103785]]

 R_gt:
[[ 0.95652784  0.28856792  0.04221683]
 [-0.28729268  0.95724625 -0.03380823]
 [-0.05016732  0.0202104   0.99853589]]

 t_gt:
[-0.92463031  0.37916644 -0.03593883]

Pose Error in degrees for R and t:
84.86437067182005 74.3904375675618

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.56648089  0.82404683  0.00679881]
 [ 0.82407009 -0.56648645 -0.0012637 ]
 [ 0.00281009  0.00631856 -0.99997609]]

 t_estimated:
[[-0.96784552]
 [-0.25153047]
 [-0.00273403]]

 R_gt:
[[ 0.8376745   0.54609361  0.00906848]
 [-0.54460019  0.83641138 -0.06185701]
 [-0.04136433  0.04687741  0.99804339]]

 t_gt:
[-0.84544637  0.52996628 -0.06600139]

Pose Error in degrees for R and t:
176.27330186372978 46.75344012024738

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 0.98203493  0.18869563  0.00116785]
 [-0.18869324  0.98203424 -0.00190188]
 [-0.00150575  0.00164734  0.99999751]]

 t_estimated:
[[-9.99999733e-01]
 [ 6.23020250e-04]
 [ 3.80910438e-04]]

 R_gt:
[[ 0.65470153  0.75582317  0.00976354]
 [-0.75325475  0.65344538 -0.07493641]
 [-0.06301822  0.04170674  0.99714018]]

 t_gt:
[-0.77000523  0.63707068 -0.03511256]

Pose Error in degrees for R and t:
38.424511153416866 39.6112063088826

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 0.36800984  0.82823869 -0.42259842]
 [ 0.84983054 -0.11518009  0.51431663]
 [ 0.37730201 -0.54841063 -0.74624994]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.96256091  0.26829605 -0.03864809]
 [-0.26749711  0.96324309  0.02464686]
 [ 0.04384061 -0.01338635  0.99894865]]

 t_gt:
[-0.97075317  0.23998352  0.00679684]

Pose Error in degrees for R and t:
136.6522824379568 50.60732579969767

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.64936598e-01 -2.62458374e-01  3.60051212e-03]
 [-2.62460540e-01 -9.64942717e-01  1.34554221e-04]
 [ 3.43897307e-03 -1.07482865e-03 -9.99993509e-01]]

 t_estimated:
[[0.16284871]
 [0.98664958]
 [0.00170692]]

 R_gt:
[[ 0.84586419  0.53339503  0.00158606]
 [-0.5333172   0.84568082  0.01994555]
 [ 0.0092977  -0.01771779  0.99979966]]

 t_gt:
[-0.90689499  0.42084172  0.02082589]

Pose Error in degrees for R and t:
178.8275396593728 74.480152002217

Number of keypoints:
Image1: 21
Image2: 21

 R_estimated:
[[ 0.72423726 -0.67702141 -0.13085258]
 [ 0.68368032  0.72973304  0.00842065]
 [ 0.08978649 -0.09555988  0.99136608]]

 t_estimated:
[[-0.63075775]
 [-0.77195886]
 [-0.07889346]]

 R_gt:
[[ 0.6659326   0.74596026  0.00873739]
 [-0.74557229  0.66589682 -0.02651901]
 [-0.02560103  0.0111451   0.99961076]]

 t_gt:
[-0.81162629  0.58408382 -0.01043328]

Pose Error in degrees for R and t:
91.72756119547377 86.45261455725843

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.97397992e-01  7.20897134e-02  5.63810051e-04]
 [-7.20891708e-02  9.97397758e-01 -9.29873376e-04]
 [-6.29377186e-04  8.86809239e-04  9.99999409e-01]]

 t_estimated:
[[-0.64145057]
 [-0.76716295]
 [-0.00147186]]

 R_gt:
[[ 0.99328005 -0.11272672 -0.02621659]
 [ 0.11113602  0.99223758 -0.05579364]
 [ 0.0323022   0.05250525  0.99809709]]

 t_gt:
[ 0.60539765 -0.52151282 -0.60126372]

Pose Error in degrees for R and t:
11.131587780332568 89.2758981354657

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.61332153  0.78963605  0.01765238]
 [ 0.7896411  -0.61252602 -0.03576044]
 [-0.01742519  0.03587169 -0.99920448]]

 t_estimated:
[[-0.19604636]
 [ 0.98044658]
 [-0.01703912]]

 R_gt:
[[ 0.98989882 -0.13922135 -0.02681189]
 [ 0.13719976  0.98831263 -0.06644233]
 [ 0.03574908  0.06209309  0.99743004]]

 t_gt:
[ 0.56299951 -0.5784832  -0.59024464]

Pose Error in degrees for R and t:
175.19324534087306 48.126469161424524

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 0.46005339  0.887744    0.01617006]
 [ 0.88775467 -0.45958692 -0.02591333]
 [-0.01557286  0.02627657 -0.99953341]]

 t_estimated:
[[-0.44279035]
 [ 0.89650025]
 [-0.01496695]]

 R_gt:
[[ 0.99413378 -0.10481454 -0.02667621]
 [ 0.1025797   0.9919227  -0.07460594]
 [ 0.03428089  0.07143176  0.99685601]]

 t_gt:
[ 0.55366272 -0.40607837 -0.72701991]

Pose Error in degrees for R and t:
175.57886741258713 53.25000024020109

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99784597e-01  2.07543311e-02  1.29170301e-04]
 [-2.07543353e-02  9.99784605e-01  3.11182785e-05]
 [-1.28496640e-04 -3.37924193e-05  9.99999991e-01]]

 t_estimated:
[[0.73952238]
 [0.67313134]
 [0.0009221 ]]

 R_gt:
[[ 0.99565248 -0.09274529 -0.00856222]
 [ 0.09260864  0.99558775 -0.01511023]
 [ 0.00992644  0.014251    0.99984843]]

 t_gt:
[ 0.73627697 -0.66997695 -0.09501109]

Pose Error in degrees for R and t:
6.584034593970697 84.63942728010602

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 7.84127948e-01 -6.20598024e-01  1.20570556e-03]
 [-6.20597861e-01 -7.84128811e-01 -5.50870939e-04]
 [ 1.28729788e-03 -3.16304991e-04 -9.99999121e-01]]

 t_estimated:
[[0.67274471]
 [0.73987325]
 [0.00145932]]

 R_gt:
[[ 0.97807266 -0.20543925 -0.03416606]
 [ 0.20504897  0.9786433  -0.01458014]
 [ 0.03643159  0.00725397  0.99930924]]

 t_gt:
[ 0.74981634 -0.65158634 -0.11493784]

Pose Error in degrees for R and t:
178.72262581309295 88.72930782754507

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 4.81821778e-01  8.76269104e-01  4.81805238e-04]
 [-8.76267306e-01  4.81821798e-01 -1.83423857e-03]
 [-1.83943085e-03  4.61585909e-04  9.99998202e-01]]

 t_estimated:
[[0.27991349]
 [0.96002457]
 [0.00112415]]

 R_gt:
[[ 0.97271087 -0.22626089 -0.05137168]
 [ 0.22284069  0.97270437 -0.06470817]
 [ 0.06461088  0.05149347  0.99658015]]

 t_gt:
[ 0.77276068 -0.58645147 -0.24272536]

Pose Error in degrees for R and t:
74.32421187978379 69.69762406719498

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999954e-01 -2.97580690e-04  5.57110615e-05]
 [ 2.97581401e-04  9.99999956e-01 -1.27513984e-05]
 [-5.57072645e-05  1.27679764e-05  9.99999998e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99072559 -0.13529095 -0.01259157]
 [ 0.13555835  0.99048732  0.02361436]
 [ 0.00927721 -0.02510191  0.99964144]]

 t_gt:
[ 0.65682215 -0.75212299  0.05381134]

Pose Error in degrees for R and t:
7.917886819481418 41.58641381288315

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99999840e-01  5.56114608e-04  1.07032244e-04]
 [-5.56111361e-04  9.99999845e-01 -3.03619710e-05]
 [-1.07049112e-04  3.03024443e-05  9.99999994e-01]]

 t_estimated:
[[ 9.99911183e-01]
 [-1.33226566e-02]
 [ 3.63497573e-04]]

 R_gt:
[[ 0.97996387 -0.19817298 -0.01995089]
 [ 0.19858351  0.9798538   0.02122619]
 [ 0.01534257 -0.02476242  0.99957489]]

 t_gt:
[ 6.96950658e-01 -7.17119035e-01  2.63446339e-04]

Pose Error in degrees for R and t:
11.597730711449682 45.053777443815065

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 4.20605395e-01 -9.07242280e-01 -1.59581013e-03]
 [ 9.07243683e-01  4.20604693e-01  7.69447710e-04]
 [-2.68702654e-05 -1.77142252e-03  9.99998431e-01]]

 t_estimated:
[[ 9.46201354e-01]
 [-3.23577620e-01]
 [ 7.21809964e-04]]

 R_gt:
[[ 0.96866245 -0.24759364  0.0197638 ]
 [ 0.24694286  0.96854956  0.03052449]
 [-0.02669968 -0.02468749  0.9993379 ]]

 t_gt:
[ 0.71816339 -0.68836932  0.10192657]

Pose Error in degrees for R and t:
50.84508494448406 25.532405528765306

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999295e-01 -1.12433114e-03  3.82512058e-04]
 [ 1.12494704e-03  9.99998065e-01 -1.61375834e-03]
 [-3.80696919e-04  1.61418751e-03  9.99998625e-01]]

 t_estimated:
[[8.39441557e-01]
 [5.43449542e-01]
 [6.83584330e-04]]

 R_gt:
[[ 0.98714992 -0.12962725 -0.09344737]
 [ 0.12526036  0.99080198 -0.05119154]
 [ 0.09922323  0.0388292   0.99430687]]

 t_gt:
[ 0.69364908 -0.48511508 -0.53246061]

Pose Error in degrees for R and t:
9.492704140865214 71.44116357723222

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999686e-01 -3.92461187e-04  6.88752272e-04]
 [ 3.92769838e-04  9.99999822e-01 -4.48053095e-04]
 [-6.88576306e-04  4.48323475e-04  9.99999662e-01]]

 t_estimated:
[[0.66070792]
 [0.75064256]
 [0.00089044]]

 R_gt:
[[ 0.95121948 -0.29300957 -0.09657427]
 [ 0.28956735  0.95594187 -0.04823518]
 [ 0.1064522   0.01791756  0.99415624]]

 t_gt:
[ 0.79097473 -0.55743086 -0.25224953]

Pose Error in degrees for R and t:
18.06272039289561 84.0334788996823

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 6.44626978e-02  9.97909205e-01  4.66682143e-03]
 [ 9.97919983e-01 -6.44595604e-02 -8.19739288e-04]
 [-5.17204123e-04  4.70995697e-03 -9.99988774e-01]]

 t_estimated:
[[-0.73000317]
 [-0.68344074]
 [-0.00203433]]

 R_gt:
[[ 9.37931993e-01 -3.19394224e-01 -1.35171909e-01]
 [ 3.16024224e-01  9.47621189e-01 -4.62818559e-02]
 [ 1.42873794e-01  6.91778936e-04  9.89740479e-01]]

 t_gt:
[ 0.809012   -0.53014377 -0.25386446]

Pose Error in degrees for R and t:
175.7014481993598 76.83576943134713

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 8.04157063e-01 -5.94416829e-01  2.25276119e-04]
 [ 5.94416684e-01  8.04156451e-01 -1.09923862e-03]
 [ 4.72248691e-04  1.01786838e-03  9.99999370e-01]]

 t_estimated:
[[-0.07819106]
 [-0.99693603]
 [-0.00217197]]

 R_gt:
[[ 0.99946212  0.03149    -0.00925149]
 [-0.03150486  0.99950221 -0.00144939]
 [ 0.00920166  0.00174045  0.99995599]]

 t_gt:
[ 0.67882941  0.6484521  -0.3445294 ]

Pose Error in degrees for R and t:
38.27948530162798 45.66956590888755

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-0.25679394  0.9584909   0.12390347]
 [-0.95801586 -0.23553189 -0.16349414]
 [-0.12752442 -0.16068579  0.97873265]]

 t_estimated:
[[0.25560832]
 [0.95823999]
 [0.12822057]]

 R_gt:
[[ 0.99793307  0.02218914 -0.06031912]
 [-0.02111749  0.99960922  0.01832944]
 [ 0.06070275 -0.0170168   0.99801095]]

 t_gt:
[ 0.9692246   0.14101051 -0.20179125]

Pose Error in degrees for R and t:
104.14919600083986 69.08454416326431

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.46822166  0.85668968 -0.21645153]
 [-0.88279611 -0.44301917  0.15622116]
 [ 0.03794088  0.2642287   0.96371349]]

 t_estimated:
[[ 0.49732829]
 [ 0.86653009]
 [-0.04231044]]

 R_gt:
[[ 0.98590824  0.1102876  -0.12578583]
 [-0.10002268  0.99132961  0.08521265]
 [ 0.13409332 -0.07143018  0.98839152]]

 t_gt:
[ 0.79652382  0.57472164 -0.18773611]

Pose Error in degrees for R and t:
111.67680626213503 25.565754790802625

Number of keypoints:
Image1: 345
Image2: 345

 R_estimated:
[[-0.88093311  0.47321285  0.00514419]
 [-0.47323481 -0.88081515 -0.01461133]
 [-0.00238319 -0.01530601  0.99988002]]

 t_estimated:
[[0.95669175]
 [0.29109864]
 [0.00157351]]

 R_gt:
[[ 0.99989293 -0.00636392 -0.01318528]
 [ 0.00630467  0.99997003 -0.00456541]
 [ 0.01321384  0.0044823   0.99990231]]

 t_gt:
[-0.1057312  -0.94186499 -0.31892202]

Pose Error in degrees for R and t:
152.12512593021538 67.9244028646871

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.93514096e-01  1.13708960e-01  1.17445645e-04]
 [-1.13708934e-01  9.93514084e-01 -2.08318221e-04]
 [-1.40371550e-04  1.93612470e-04  9.99999971e-01]]

 t_estimated:
[[1.47079308e-01]
 [9.89124372e-01]
 [8.08190693e-04]]

 R_gt:
[[ 9.99708674e-01 -4.51501872e-04 -2.41540092e-02]
 [-8.73902630e-05  9.99751743e-01 -2.22801950e-02]
 [ 2.41582815e-02  2.22763648e-02  9.99459503e-01]]

 t_gt:
[-0.13289978 -0.85955471 -0.49346058]

Pose Error in degrees for R and t:
6.8043828553815136 29.5236765816174

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.89038853e-01 -1.47655394e-01  1.80362033e-04]
 [ 1.47655485e-01  9.89038615e-01 -6.90424162e-04]
 [-7.64401634e-05  7.09487764e-04  9.99999745e-01]]

 t_estimated:
[[-0.68636831]
 [-0.72725306]
 [-0.00123893]]

 R_gt:
[[ 9.99281304e-01 -7.89183600e-04 -3.78990336e-02]
 [-2.44912084e-03  9.96352219e-01 -8.52988132e-02]
 [ 3.78281484e-02  8.53315220e-02  9.95633718e-01]]

 t_gt:
[-0.09041861 -0.18414593 -0.97873119]

Pose Error in degrees for R and t:
10.058985245617794 78.62709534020019

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.89512693e-01  1.44445941e-01  3.37264882e-05]
 [-1.44445934e-01  9.89512680e-01 -1.68486565e-04]
 [-5.77099883e-05  1.61847941e-04  9.99999985e-01]]

 t_estimated:
[[-2.05841353e-01]
 [ 9.78585367e-01]
 [-1.27921293e-04]]

 R_gt:
[[ 0.99881324 -0.02808046 -0.03979519]
 [ 0.02914383  0.99922529  0.02642146]
 [ 0.0390222  -0.0275491   0.99885851]]

 t_gt:
[ 0.70070823 -0.64280284 -0.30953592]

Pose Error in degrees for R and t:
10.316876626973382 39.35493323556419

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.90616082e-01  1.36673481e-01  3.72100165e-04]
 [-1.36673180e-01  9.90615917e-01 -7.39842298e-04]
 [-4.69725168e-04  6.82043565e-04  9.99999657e-01]]

 t_estimated:
[[-0.58094148]
 [-0.8139394 ]
 [-0.00310664]]

 R_gt:
[[ 0.9978056  -0.02433868 -0.06157743]
 [ 0.02706761  0.99866972  0.04388221]
 [ 0.06042817 -0.04545246  0.99713703]]

 t_gt:
[ 0.58268707 -0.72917231 -0.35886422]

Pose Error in degrees for R and t:
10.305386084245866 75.16064127887599

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.59649133  0.80258972 -0.00691593]
 [ 0.80192044 -0.59559011  0.04686187]
 [ 0.03349179 -0.03349872 -0.99887744]]

 t_estimated:
[[-0.92266805]
 [-0.3854183 ]
 [-0.01167934]]

 R_gt:
[[ 0.99809042  0.03815549 -0.04858955]
 [-0.03599174  0.99835415  0.0446546 ]
 [ 0.05021312 -0.04282063  0.99781975]]

 t_gt:
[-0.7361127  -0.38260651 -0.55834609]

Pose Error in degrees for R and t:
173.89348795770974 33.573994301462434

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 0.99122588 -0.13214773 -0.00286933]
 [ 0.13215285  0.99122794  0.0016733 ]
 [ 0.00262303 -0.00203781  0.99999448]]

 t_estimated:
[[-0.31061235]
 [-0.95053611]
 [-0.00103884]]

 R_gt:
[[ 0.99987679  0.01445913 -0.0061696 ]
 [-0.01470777  0.99899646 -0.0423074 ]
 [ 0.00555162  0.042393    0.9990855 ]]

 t_gt:
[-0.33976863  0.47355635 -0.81258948]

Pose Error in degrees for R and t:
8.803585405493353 69.89437242667984

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 0.01176483  0.99990612 -0.00702397]
 [ 0.99989689 -0.01170629  0.0083168 ]
 [ 0.00823379 -0.00712109 -0.99994075]]

 t_estimated:
[[0.80966424]
 [0.58689135]
 [0.00153636]]

 R_gt:
[[ 9.99161636e-01 -4.06848725e-02  4.62541477e-03]
 [ 4.09453654e-02  9.91805717e-01 -1.21014313e-01]
 [ 3.36500142e-04  1.21102424e-01  9.92640118e-01]]

 t_gt:
[ 0.16175627  0.40386464 -0.9004045 ]

Pose Error in degrees for R and t:
175.58868634018745 68.49332745761409

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[-1.99851193e-01 -9.79822987e-01 -2.53270786e-03]
 [ 9.79826192e-01 -1.99849547e-01 -8.89864474e-04]
 [ 3.65749149e-04 -2.65945398e-03  9.99996397e-01]]

 t_estimated:
[[0.97986816]
 [0.19964274]
 [0.00107915]]

 R_gt:
[[ 0.99861622 -0.05200368 -0.00781747]
 [ 0.05011187  0.98609864 -0.15842193]
 [ 0.01594723  0.15781084  0.98734024]]

 t_gt:
[ 0.07935361  0.5937779  -0.80070644]

Pose Error in degrees for R and t:
98.90250272969612 78.72983793438225

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 0.2288071  -0.97343002  0.00901721]
 [-0.9734217  -0.22869156  0.01226206]
 [-0.00987409 -0.0115832  -0.99988416]]

 t_estimated:
[[0.59657036]
 [0.80251939]
 [0.00815082]]

 R_gt:
[[ 0.99757315 -0.04785868  0.05057945]
 [ 0.04266061  0.9941468   0.09925677]
 [-0.05503371 -0.09685841  0.99377632]]

 t_gt:
[ 0.17663376 -0.44273124  0.8790845 ]

Pose Error in degrees for R and t:
172.83072346453417 75.95046485195611

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.00742316  0.99997076 -0.00183493]
 [ 0.99995196 -0.00741125  0.00641482]
 [ 0.00640103 -0.00188246 -0.99997774]]

 t_estimated:
[[7.08345024e-01]
 [7.05866276e-01]
 [3.57428316e-04]]

 R_gt:
[[ 0.99317498 -0.08247968  0.08246371]
 [ 0.06661699  0.98152273  0.17937519]
 [-0.09573412 -0.1726575   0.98031868]]

 t_gt:
[ 0.12400391 -0.43650209  0.89111669]

Pose Error in degrees for R and t:
176.09243802798247 77.29354906238505

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[-0.28318843 -0.95906086 -0.00256514]
 [-0.95905559  0.28317345  0.00501668]
 [-0.00408492  0.00388078 -0.99998413]]

 t_estimated:
[[0.700656  ]
 [0.71349547]
 [0.00232046]]

 R_gt:
[[ 0.98991051 -0.10084577  0.09953827]
 [ 0.07604571  0.97084615  0.22732011]
 [-0.1195609  -0.21745783  0.96871956]]

 t_gt:
[ 0.1013334  -0.42571456  0.89916553]

Pose Error in degrees for R and t:
167.13603360034358 76.6641223911939

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[-0.95760793  0.28629405  0.03198062]
 [ 0.28632044  0.95812619 -0.00384926]
 [-0.03174349  0.00547062 -0.99948108]]

 t_estimated:
[[ 0.98598519]
 [-0.1660459 ]
 [ 0.01618539]]

 R_gt:
[[ 0.99910554 -0.04018899 -0.01322104]
 [ 0.03966761  0.9985063  -0.03756352]
 [ 0.01471203  0.03700596  0.99920648]]

 t_gt:
[ 0.6133169  -0.21298574 -0.76057836]

Pose Error in degrees for R and t:
178.63848460420402 51.11373074280744

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[-0.24832981  0.96854648  0.01581216]
 [ 0.96855116  0.24852642 -0.01196971]
 [-0.01552296  0.01234245 -0.99980333]]

 t_estimated:
[[ 0.77745396]
 [-0.62886285]
 [ 0.00984132]]

 R_gt:
[[ 0.99146527 -0.12209237 -0.04572065]
 [ 0.11815327  0.9897079  -0.08073388]
 [ 0.05510829  0.0746423   0.99568633]]

 t_gt:
[ 0.65156214 -0.30317998 -0.69537665]

Pose Error in degrees for R and t:
178.41806223214687 46.340217500552605

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 8.92511940e-01  4.51023703e-01  2.36186000e-04]
 [-4.51023734e-01  8.92511950e-01  9.95860445e-05]
 [-1.65883161e-04 -1.95407226e-04  9.99999967e-01]]

 t_estimated:
[[0.74149546]
 [0.67095723]
 [0.00094298]]

 R_gt:
[[ 0.98204497 -0.18731612 -0.02240753]
 [ 0.18329675  0.97551336 -0.12155634]
 [ 0.04462907  0.11526551  0.99233196]]

 t_gt:
[ 0.60272069 -0.38742002 -0.69759122]

Pose Error in degrees for R and t:
38.174059076269714 79.26221557974547

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99998927e-01  1.46460920e-03 -3.16754972e-06]
 [-1.46461024e-03  9.99998863e-01 -3.58393163e-04]
 [ 2.64264020e-06  3.58397418e-04  9.99999936e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99060233 -0.06392569  0.12092138]
 [ 0.03955559  0.9801766   0.19413846]
 [-0.13093571 -0.18753036  0.97349258]]

 t_gt:
[ 0.14964366 -0.15973761  0.97575134]

Pose Error in degrees for R and t:
13.592908834720205 80.9215408787657

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.73449640e-01 -2.28889637e-01  2.30918083e-03]
 [ 2.28890255e-01  9.73452234e-01 -3.31121723e-06]
 [-2.24711933e-03  5.31772292e-04  9.99997334e-01]]

 t_estimated:
[[ 0.99221009]
 [-0.12456147]
 [ 0.00189181]]

 R_gt:
[[ 0.9904706  -0.09063782  0.10370147]
 [ 0.0652797   0.97193694  0.22600663]
 [-0.12127588 -0.21708313  0.96859036]]

 t_gt:
[ 0.22631914 -0.20746154  0.9517034 ]

Pose Error in degrees for R and t:
16.766271723636336 75.39236648562124

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 9.99987238e-01  5.00908681e-03 -6.57836796e-04]
 [-5.00912402e-03  9.99987453e-01 -5.49355220e-05]
 [ 6.57553365e-04  5.82300070e-05  9.99999782e-01]]

 t_estimated:
[[-0.00729147]
 [-0.99997287]
 [-0.00104164]]

 R_gt:
[[ 0.98504031 -0.10225474  0.13871274]
 [ 0.06097487  0.95967059  0.27443959]
 [-0.16118155 -0.26187549  0.95154734]]

 t_gt:
[ 0.20528472 -0.15201706  0.96682418]

Pose Error in degrees for R and t:
18.631284334211152 81.40152510371217

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-9.17382692e-01 -3.97990861e-01 -3.50311162e-03]
 [ 3.97991991e-01 -9.17388803e-01  3.98371330e-04]
 [-3.37226352e-03 -1.02875140e-03  9.99993785e-01]]

 t_estimated:
[[0.97389724]
 [0.22698245]
 [0.00177029]]

 R_gt:
[[ 0.9982028  -0.03787034  0.0464687 ]
 [ 0.03302729  0.99434781  0.10090018]
 [-0.05002609 -0.09918344  0.99381127]]

 t_gt:
[ 0.20306978 -0.27370386  0.94013236]

Pose Error in degrees for R and t:
154.53975916319897 82.10793144917609

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99899188e-01  1.41982591e-02 -1.51075054e-04]
 [-1.41982790e-02  9.99899191e-01 -1.31570979e-04]
 [ 1.49191745e-04  1.33702721e-04  9.99999980e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99622827 -0.06431564  0.05827292]
 [ 0.05555545  0.98842729  0.14115819]
 [-0.06667575 -0.13738762  0.98827101]]

 t_gt:
[ 0.26827574 -0.30445864  0.91396557]

Pose Error in degrees for R and t:
9.774210858215817 72.43249164634564

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.61084504e-01  2.76254545e-01  4.87902383e-05]
 [-2.76254538e-01  9.61084500e-01 -1.14781224e-04]
 [-7.86003765e-05  9.68359307e-05  9.99999992e-01]]

 t_estimated:
[[-0.62439618]
 [-0.78110738]
 [-0.0008162 ]]

 R_gt:
[[ 0.99285762 -0.07664107  0.09144884]
 [ 0.05839424  0.98048195  0.18773591]
 [-0.10405155 -0.18105419  0.97795293]]

 t_gt:
[ 0.22783753 -0.21172176  0.950402  ]

Pose Error in degrees for R and t:
23.280025289826284 88.71985841379154

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99995728e-01  2.92264913e-03  5.18593838e-05]
 [-2.92267138e-03  9.99995635e-01  4.34138151e-04]
 [-5.05903239e-05 -4.34287864e-04  9.99999904e-01]]

 t_estimated:
[[0.86011202]
 [0.51009798]
 [0.00271329]]

 R_gt:
[[ 0.99961864 -0.0271779  -0.00486893]
 [ 0.0273669   0.99864883  0.04415985]
 [ 0.00366278 -0.04427548  0.99901299]]

 t_gt:
[ 0.6864433  -0.46376769  0.56010277]

Pose Error in degrees for R and t:
3.058972901118909 69.18382285109129

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999328e-01  5.54538910e-04 -1.01817261e-03]
 [-5.53178659e-04  9.99998955e-01  1.33576953e-03]
 [ 1.01891228e-03 -1.33520540e-03  9.99998590e-01]]

 t_estimated:
[[-0.99983288]
 [-0.01796653]
 [-0.00337972]]

 R_gt:
[[ 0.9956947  -0.08178117  0.04363401]
 [ 0.07453224  0.98622105  0.14768828]
 [-0.05511047 -0.14379972  0.98807053]]

 t_gt:
[ 0.41509468 -0.42504729  0.8043825 ]

Pose Error in degrees for R and t:
9.90555631699669 65.78842637750621

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-8.23942739e-01 -5.66670870e-01 -1.57720168e-03]
 [ 5.66673012e-01 -8.23940673e-01 -1.86126714e-03]
 [-2.44794748e-04 -2.42733517e-03  9.99997024e-01]]

 t_estimated:
[[9.33043376e-01]
 [3.59763216e-01]
 [6.98235943e-04]]

 R_gt:
[[ 0.98889418 -0.13070386  0.07074433]
 [ 0.11223904  0.96879725  0.22098265]
 [-0.09741921 -0.21058687  0.97270808]]

 t_gt:
[ 0.3641079  -0.42851654  0.82692141]

Pose Error in degrees for R and t:
138.7047377561708 79.2723166122161

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[-3.90951983e-01  9.20407230e-01 -2.66053915e-03]
 [ 9.20384849e-01  3.90961031e-01  6.41892523e-03]
 [ 6.94819231e-03  6.07716276e-05 -9.99975859e-01]]

 t_estimated:
[[0.52642112]
 [0.85022342]
 [0.00096947]]

 R_gt:
[[ 0.99992211  0.0034519  -0.01194268]
 [-0.00357492  0.99993988 -0.01029101]
 [ 0.01190595  0.01033343  0.99987594]]

 t_gt:
[-0.03497097 -0.900715   -0.43300061]

Pose Error in degrees for R and t:
179.42668139033037 38.312769214300964

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99770511e-01 -2.14221673e-02 -1.26994353e-04]
 [ 2.14221997e-02  9.99770485e-01  2.59953711e-04]
 [ 1.21396434e-04 -2.62614553e-04  9.99999958e-01]]

 t_estimated:
[[0.14571451]
 [0.98932482]
 [0.0019173 ]]

 R_gt:
[[ 0.9997558   0.00641152 -0.02112679]
 [-0.0079256   0.99734728 -0.07234936]
 [ 0.02060782  0.07249997  0.99715582]]

 t_gt:
[-0.06656607  0.17516754 -0.98228575]

Pose Error in degrees for R and t:
4.6345312742836935 80.69356717625762

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 5.56149422e-01  8.31081189e-01  1.37029036e-03]
 [-8.31082063e-01  5.56149788e-01  1.32276814e-04]
 [-6.52153923e-04 -1.21238941e-03  9.99999052e-01]]

 t_estimated:
[[0.54554378]
 [0.83808174]
 [0.0009883 ]]

 R_gt:
[[ 0.99848275 -0.05473974 -0.00589262]
 [ 0.05339515  0.98888666 -0.13874747]
 [ 0.0134224   0.13822225  0.9903101 ]]

 t_gt:
[ 0.20501155  0.28817523 -0.93537442]

Pose Error in degrees for R and t:
59.81749011551363 69.36381519647479

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.20528888e-01 -3.90674354e-01  3.39166464e-04]
 [ 3.90674491e-01  9.20528718e-01 -5.67097945e-04]
 [-9.06618467e-05  6.54533726e-04  9.99999782e-01]]

 t_estimated:
[[-0.45840419]
 [-0.88874282]
 [-0.00133646]]

 R_gt:
[[ 0.99641077  0.06773447 -0.05077486]
 [-0.0654842   0.99684977  0.04474425]
 [ 0.05364553 -0.0412589   0.9977075 ]]

 t_gt:
[-0.11542619  0.9911138  -0.06610766]

Pose Error in degrees for R and t:
27.099005027235336 34.12199217555226

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-9.93463475e-01 -1.14147773e-01 -7.80982011e-04]
 [ 1.14149203e-01 -9.93461326e-01 -2.13362905e-03]
 [-5.32326421e-04 -2.20883100e-03  9.99997419e-01]]

 t_estimated:
[[0.78667019]
 [0.61737245]
 [0.00112865]]

 R_gt:
[[ 0.99639042  0.05638872 -0.06345158]
 [-0.0524164   0.99666106  0.06260894]
 [ 0.06677053 -0.05905752  0.9960186 ]]

 t_gt:
[ 0.42330199  0.90532774 -0.03459939]

Pose Error in degrees for R and t:
176.56879019109005 26.888996442325574

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.23167576 -0.97277787 -0.00543625]
 [-0.97264202  0.2315377   0.01891565]
 [-0.01714202  0.00966982 -0.9998063 ]]

 t_estimated:
[[0.74493567]
 [0.6671356 ]
 [0.0009725 ]]

 R_gt:
[[ 0.99077518  0.09167221 -0.09980201]
 [-0.0880516   0.99530854  0.0401062 ]
 [ 0.10301033 -0.03094774  0.99419802]]

 t_gt:
[ 0.42462258  0.81925481 -0.38537932]

Pose Error in degrees for R and t:
177.07281755342916 30.40202670799438

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-0.85676641  0.51233036 -0.05889751]
 [ 0.51208262  0.85869449  0.02037565]
 [ 0.06101403 -0.01270321 -0.99805607]]

 t_estimated:
[[ 0.99145071]
 [ 0.12884362]
 [-0.02061107]]

 R_gt:
[[ 0.99318674 -0.10598538 -0.04844821]
 [ 0.10705395  0.99405135  0.02000622]
 [ 0.04603972 -0.02505633  0.99862462]]

 t_gt:
[ 0.65654986 -0.75202199 -0.0583541 ]

Pose Error in degrees for R and t:
173.493133444307 56.27231720690618

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.02684741e-01  9.15338688e-01  2.91236676e-04]
 [ 9.15304127e-01 -4.02672262e-01  8.56761772e-03]
 [ 7.95954490e-03 -3.18347879e-03 -9.99963255e-01]]

 t_estimated:
[[8.38330681e-01]
 [5.45161932e-01]
 [3.70543383e-04]]

 R_gt:
[[ 0.97322792 -0.22302948 -0.05554137]
 [ 0.22447952  0.97424558  0.02131337]
 [ 0.04935747 -0.03320964  0.99822885]]

 t_gt:
[ 0.687526   -0.72604626 -0.01283825]

Pose Error in degrees for R and t:
176.66123254069572 79.59781820775973

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999731e-01  7.27868687e-04  9.25474441e-05]
 [-7.27865274e-04  9.99999734e-01 -3.69112142e-05]
 [-9.25742860e-05  3.68438422e-05  9.99999995e-01]]

 t_estimated:
[[ 9.55694161e-01]
 [-2.94361317e-01]
 [ 2.93094933e-04]]

 R_gt:
[[ 0.96696196 -0.2537054   0.02487638]
 [ 0.25468217  0.96567789 -0.05102408]
 [-0.01107732  0.05567486  0.99838766]]

 t_gt:
[ 0.62670644 -0.76043124 -0.17024502]

Pose Error in degrees for R and t:
15.13087630079493 34.64084764025295

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[ 9.99992599e-01 -3.84555924e-03 -1.19967677e-04]
 [ 3.84559495e-03  9.99992561e-01  2.98908713e-04]
 [ 1.18817313e-04 -2.99367848e-04  9.99999948e-01]]

 t_estimated:
[[0.39114011]
 [0.92032968]
 [0.00164345]]

 R_gt:
[[ 0.997477    0.0656154  -0.02708193]
 [-0.06523658  0.99776132  0.01465227]
 [ 0.02798319 -0.0128486   0.99952585]]

 t_gt:
[-0.80374337  0.5942661   0.02905849]

Pose Error in degrees for R and t:
4.341577792137188 76.5502660681619

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-0.98168071 -0.19049863 -0.00364087]
 [ 0.19050463 -0.98168533 -0.00137736]
 [-0.0033118  -0.00204573  0.99999242]]

 t_estimated:
[[0.86423095]
 [0.50309096]
 [0.00208751]]

 R_gt:
[[ 0.99603472  0.07831066 -0.04224679]
 [-0.07885295  0.99682143 -0.01133263]
 [ 0.04122545  0.01461845  0.9990427 ]]

 t_gt:
[-0.5581743   0.78218044 -0.27683065]

Pose Error in degrees for R and t:
173.5281858767236 84.86737254644142

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.8715747   0.4902595   0.00177933]
 [ 0.4902312  -0.87155407  0.008178  ]
 [ 0.00556013 -0.00625545 -0.99996498]]

 t_estimated:
[[0.8987839 ]
 [0.438391  ]
 [0.00091118]]

 R_gt:
[[ 0.98796138  0.15073504 -0.03482211]
 [-0.15211997  0.98750013 -0.04127798]
 [ 0.0281654   0.04607883  0.99854062]]

 t_gt:
[-0.55012364  0.79521187 -0.25495503]

Pose Error in degrees for R and t:
178.47230415481937 81.60128407768278

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-5.35457120e-01 -8.44559309e-01 -2.29058667e-03]
 [ 8.44562349e-01 -5.35456181e-01 -1.05701885e-03]
 [-3.33793679e-04 -2.50053153e-03  9.99996818e-01]]

 t_estimated:
[[0.95589355]
 [0.29371031]
 [0.00133505]]

 R_gt:
[[ 0.999436   -0.03054813 -0.01399011]
 [ 0.02765624  0.98439141 -0.17380971]
 [ 0.01908078  0.17332456  0.98467976]]

 t_gt:
[ 0.25028723  0.28643717 -0.92482974]

Pose Error in degrees for R and t:
120.95214186985034 71.20743788834326

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.99614084  0.08670796  0.01360729]
 [-0.08667432  0.99623205 -0.00304434]
 [-0.01381998  0.00185319  0.99990278]]

 t_estimated:
[[0.98126536]
 [0.19265681]
 [0.00128438]]

 R_gt:
[[ 0.99779023 -0.06428753 -0.01680829]
 [ 0.05915     0.97456031 -0.21618255]
 [ 0.03027802  0.21471102  0.97620846]]

 t_gt:
[ 0.32755801  0.2324145  -0.91579979]

Pose Error in degrees for R and t:
15.132522665210375 68.59110478577844

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[ 7.64630428e-01  6.44468821e-01  4.98518468e-04]
 [-6.44466946e-01  7.64629705e-01 -1.94166432e-03]
 [-1.63252414e-03  1.16337694e-03  9.99997991e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075959e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99111781 -0.12943666 -0.0305279 ]
 [ 0.11794767  0.96159298 -0.24784621]
 [ 0.06143656  0.24204405  0.96831821]]

 t_gt:
[ 0.45401044  0.11610132 -0.88339969]

Pose Error in degrees for R and t:
49.3590399115747 63.01975150553005

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.99973697 -0.01457685  0.01770588]
 [ 0.01474315  0.99984808 -0.0092985 ]
 [-0.01756765  0.00955709  0.9998    ]]

 t_estimated:
[[0.63508201]
 [0.77239704]
 [0.00858219]]

 R_gt:
[[ 0.99953892 -0.02239552 -0.02054558]
 [ 0.02086227  0.99718598 -0.07201587]
 [ 0.02209984  0.07155357  0.99719214]]

 t_gt:
[ 0.5220912   0.0089201  -0.85284302]

Pose Error in degrees for R and t:
4.235158087834899 70.66193588459973

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 7.94128302e-02  9.96841808e-01 -1.13082405e-04]
 [-9.96837095e-01  7.94121047e-02 -3.08593454e-03]
 [-3.06720846e-03  3.57787533e-04  9.99995232e-01]]

 t_estimated:
[[0.1132909 ]
 [0.99356121]
 [0.00113291]]

 R_gt:
[[ 0.99895342 -0.03563652 -0.02868537]
 [ 0.02748654  0.96879043 -0.24635308]
 [ 0.03656911  0.24530743  0.96875515]]

 t_gt:
[ 0.31597658  0.29346094 -0.90224136]

Pose Error in degrees for R and t:
88.19977299913849 70.95282619224223

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[-0.01564192 -0.9998765  -0.00152103]
 [ 0.99987643 -0.01563949 -0.00159299]
 [ 0.001569   -0.00154576  0.99999757]]

 t_estimated:
[[9.99994892e-01]
 [3.10073418e-03]
 [7.75184759e-04]]

 R_gt:
[[ 0.99664497 -0.071427   -0.03998063]
 [ 0.05454859  0.94373115 -0.32618499]
 [ 0.06102948  0.32290995  0.94446013]]

 t_gt:
[ 0.34326499  0.30423004 -0.88860184]

Pose Error in degrees for R and t:
88.84695942032523 69.90866077679954

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-0.02708561  0.99950391 -0.01607154]
 [-0.99961694 -0.02717314 -0.00525361]
 [-0.00568772  0.01592308  0.99985704]]

 t_estimated:
[[0.87956444]
 [0.47577863]
 [0.00104337]]

 R_gt:
[[ 0.98773398  0.15611611  0.00307095]
 [-0.15596232  0.98733376 -0.02910147]
 [-0.00757522  0.02826669  0.99957179]]

 t_gt:
[-0.84515913  0.52527362 -0.09896292]

Pose Error in degrees for R and t:
82.5770819113437 60.42508036625178

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 8.34693103e-01 -5.50714972e-01 -6.65701531e-04]
 [ 5.50715135e-01  8.34693257e-01  7.82178416e-05]
 [ 5.12580843e-04 -4.31899802e-04  9.99999775e-01]]

 t_estimated:
[[-0.23441033]
 [-0.972137  ]
 [-0.00120633]]

 R_gt:
[[ 0.96759767  0.25170872 -0.01990946]
 [-0.25230049  0.96693715 -0.03709268]
 [ 0.00991443  0.04091467  0.99911354]]

 t_gt:
[-0.80163253  0.58582819 -0.11912439]

Pose Error in degrees for R and t:
48.075996184161845 67.57643444806286

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 8.70240075e-01  4.92625540e-01  1.51283177e-03]
 [ 4.92623314e-01 -8.70241133e-01  1.62485115e-03]
 [ 2.11697161e-03 -6.68754384e-04 -9.99997536e-01]]

 t_estimated:
[[0.60675931]
 [0.7948812 ]
 [0.0026496 ]]

 R_gt:
[[ 0.95880346  0.27957778 -0.05031963]
 [-0.28127931  0.9591391  -0.03057254]
 [ 0.03971559  0.04346749  0.99826548]]

 t_gt:
[-0.75553363  0.63854067 -0.1464061 ]

Pose Error in degrees for R and t:
178.67409434871627 87.20578111375461

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99979344e-01  6.41037512e-03 -4.67014051e-04]
 [-6.41014715e-03  9.99979336e-01  4.88022886e-04]
 [ 4.70132810e-04 -4.85019176e-04  9.99999772e-01]]

 t_estimated:
[[ 5.62915784e-01]
 [ 8.26514110e-01]
 [-4.95477439e-04]]

 R_gt:
[[ 0.99476634 -0.07949175 -0.06419855]
 [ 0.08203318  0.9959054   0.03797345]
 [ 0.06091801 -0.04304079  0.9972139 ]]

 t_gt:
[ 0.6121228  -0.78875837  0.0562665 ]

Pose Error in degrees for R and t:
6.559656813623302 72.0989404846328

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999996e-01 -8.66934274e-05 -1.46724756e-06]
 [ 8.66940724e-05  9.99999897e-01  4.45481176e-04]
 [ 1.42862712e-06 -4.45481302e-04  9.99999901e-01]]

 t_estimated:
[[0.73050316]
 [0.68290867]
 [0.00093714]]

 R_gt:
[[ 0.9768151  -0.1926661  -0.09334069]
 [ 0.19730142  0.97939041  0.04318789]
 [ 0.08309682 -0.06060282  0.9946972 ]]

 t_gt:
[ 0.66309277 -0.74760952  0.03725574]

Pose Error in degrees for R and t:
12.711239377403713 88.50310705252333

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 8.81387487e-01 -4.72297064e-01  9.56981362e-03]
 [-4.72326651e-01 -8.81423051e-01  9.69740605e-04]
 [ 7.97704867e-03 -5.37479525e-03 -9.99953738e-01]]

 t_estimated:
[[0.46865313]
 [0.88338173]
 [0.00098045]]

 R_gt:
[[ 0.95053336 -0.2974119  -0.0896206 ]
 [ 0.30141569  0.95285859  0.03474665]
 [ 0.07506141 -0.06004112  0.9953702 ]]

 t_gt:
[ 0.70295674 -0.71111675  0.01283717]

Pose Error in degrees for R and t:
178.38937253478846 72.61853470408501

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99803305e-01  1.98330308e-02 -3.81401624e-05]
 [-1.98330353e-02  9.99803299e-01 -1.22269110e-04]
 [ 3.57076932e-05  1.23001496e-04  9.99999992e-01]]

 t_estimated:
[[-0.30696067]
 [ 0.95172013]
 [-0.00198472]]

 R_gt:
[[ 0.99774928  0.05852274  0.03273038]
 [-0.05919734  0.99804563  0.02001652]
 [-0.0314955  -0.02190909  0.99926379]]

 t_gt:
[-0.67320035  0.54417474  0.5006747 ]

Pose Error in degrees for R and t:
3.1420829389952765 43.65127826200119

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.86463959e-01  1.63978193e-01  1.00487917e-04]
 [-1.63978189e-01  9.86463964e-01 -4.02465850e-05]
 [-1.05727271e-04  2.32239789e-05  9.99999994e-01]]

 t_estimated:
[[0.54064052]
 [0.84125325]
 [0.00089449]]

 R_gt:
[[ 0.9980389  -0.03979051  0.04830509]
 [ 0.03883636  0.99903444  0.02053816]
 [-0.04907548 -0.01862157  0.99862192]]

 t_gt:
[ 0.5744919  -0.31261079  0.7564612 ]

Pose Error in degrees for R and t:
12.070991389139351 87.23237448539572

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-9.40327249e-01  3.40258538e-01 -2.96507474e-03]
 [-3.40259584e-01 -9.40331532e-01 -1.59657032e-04]
 [-2.84247794e-03  8.58765240e-04  9.99995591e-01]]

 t_estimated:
[[0.84883293]
 [0.5286591 ]
 [0.00148918]]

 R_gt:
[[ 0.98499568 -0.17015619  0.02879931]
 [ 0.1689458   0.98480362  0.04023934]
 [-0.03520876 -0.03477037  0.99877563]]

 t_gt:
[ 0.79846404 -0.54350605  0.25895242]

Pose Error in degrees for R and t:
169.88150740363508 66.99454448198928

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-4.33489705e-01 -9.01156847e-01 -1.73565471e-03]
 [-9.01157036e-01  4.33491681e-01 -9.78725603e-04]
 [ 1.63437716e-03  1.13982998e-03 -9.99998015e-01]]

 t_estimated:
[[0.83647467]
 [0.54800489]
 [0.00087681]]

 R_gt:
[[ 9.93928084e-01  1.08435410e-01 -1.86631113e-02]
 [-1.08399988e-01  9.94103112e-01  2.90259169e-03]
 [ 1.88679548e-02 -8.62505298e-04  9.99820718e-01]]

 t_gt:
[-0.52065598  0.84288966 -0.13584686]

Pose Error in degrees for R and t:
179.0299950398495 88.49449458561703

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 8.72221113e-01 -4.89109973e-01 -1.32806021e-03]
 [ 4.89110789e-01  8.72221593e-01  3.59314122e-04]
 [ 9.82618671e-04 -9.62969941e-04  9.99999054e-01]]

 t_estimated:
[[-0.27665925]
 [-0.96096742]
 [-0.00112922]]

 R_gt:
[[ 0.94541225  0.3257823  -0.00784567]
 [-0.32586494  0.94530816 -0.01429828]
 [ 0.00275854  0.01607374  0.99986656]]

 t_gt:
[-0.5280724   0.84691585 -0.06223407]

Pose Error in degrees for R and t:
48.30779983188708 48.110806720466854

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[-1.50135702e-01 -9.88664354e-01 -1.43761334e-03]
 [-9.88665388e-01  1.50135761e-01  6.77851751e-05]
 [ 1.48820387e-04  1.43149553e-03 -9.99998964e-01]]

 t_estimated:
[[0.55721054]
 [0.83037076]
 [0.00090751]]

 R_gt:
[[ 0.87000574  0.48940332 -0.05978842]
 [-0.49039054  0.87150026 -0.00214277]
 [ 0.05105834  0.03118351  0.99820848]]

 t_gt:
[-0.44251644  0.88678239 -0.13340234]

Pose Error in degrees for R and t:
176.79328973734607 60.681613654414754

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.46220881 -0.88676664  0.00281751]
 [-0.88674964  0.46217317 -0.00842869]
 [ 0.0061721  -0.00639424 -0.99996051]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99887816 -0.03999921  0.02535611]
 [ 0.037942    0.99630855  0.07700063]
 [-0.02834238 -0.07595241  0.99670874]]

 t_gt:
[ 0.20181567 -0.50052919  0.84186754]

Pose Error in degrees for R and t:
176.53059925720416 82.12710453989132

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-5.25505786e-01  8.50789809e-01  6.08243916e-04]
 [-8.50789431e-01 -5.25504439e-01 -1.55824820e-03]
 [-1.00610681e-03 -1.33635594e-03  9.99998601e-01]]

 t_estimated:
[[0.81638644]
 [0.5775054 ]
 [0.00083818]]

 R_gt:
[[ 0.99933092 -0.02885297  0.02247138]
 [ 0.02851378  0.99947657  0.01527287]
 [-0.02290078 -0.01462216  0.99963089]]

 t_gt:
[ 0.294554   -0.6467499   0.70352861]

Pose Error in degrees for R and t:
123.35084619509986 82.38927165078871

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.86608205 -0.49951253  0.01972618]
 [ 0.49979574  0.86603686 -0.01357883]
 [-0.0103008   0.02161944  0.99971321]]

 t_estimated:
[[0.8066222 ]
 [0.59106674]
 [0.00085538]]

 R_gt:
[[ 0.99968615 -0.00687249 -0.0240713 ]
 [ 0.00470117  0.99600938 -0.0891213 ]
 [ 0.02458797  0.08898023  0.99573042]]

 t_gt:
[ 0.07407892  0.22260421 -0.97209037]

Pose Error in degrees for R and t:
30.00152600288436 79.01826033534712

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99997754e-01 -2.11933224e-03 -1.16054670e-05]
 [ 2.11933072e-03  9.99997746e-01 -1.30144790e-04]
 [ 1.18812609e-05  1.30119901e-04  9.99999991e-01]]

 t_estimated:
[[-0.89868053]
 [ 0.43860054]
 [-0.00169251]]

 R_gt:
[[ 0.99929242 -0.01080816  0.0360236 ]
 [ 0.01280766  0.99836505 -0.05571898]
 [-0.03536277  0.05614063  0.99779655]]

 t_gt:
[-0.52810694  0.8474422  -0.05426581]

Pose Error in degrees for R and t:
3.838559981103025 32.17991873740526

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99893429e-01  1.45989412e-02  4.37005673e-05]
 [-1.45989390e-02  9.99893429e-01 -4.94995067e-05]
 [-4.44185504e-05  4.88562495e-05  9.99999998e-01]]

 t_estimated:
[[-6.19530503e-01]
 [ 7.84972511e-01]
 [-3.36104786e-04]]

 R_gt:
[[ 0.99880287  0.00182209  0.04888742]
 [ 0.00173373  0.9973619  -0.07258229]
 [-0.04889006  0.07258024  0.99616304]]

 t_gt:
[-0.51954891  0.84898284 -0.09642125]

Pose Error in degrees for R and t:
5.085257658842763 8.759225981912598

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 8.33396745e-01 -5.52674963e-01 -5.00297306e-04]
 [ 5.52675149e-01  8.33396690e-01  3.70293934e-04]
 [ 2.12293932e-04 -5.85103647e-04  9.99999806e-01]]

 t_estimated:
[[ 8.46555866e-01]
 [-5.32299867e-01]
 [ 1.28863027e-04]]

 R_gt:
[[ 0.9985648  -0.02129514  0.04914797]
 [ 0.02579392  0.99535144 -0.0927963 ]
 [-0.04694319  0.09393101  0.99447164]]

 t_gt:
[-0.45277303  0.8667135  -0.20929474]

Pose Error in degrees for R and t:
32.74906031913169 32.3627486564699

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-4.74862200e-01 -8.80059808e-01 -7.89982410e-04]
 [-8.80057555e-01  4.74858416e-01  2.86082609e-03]
 [-2.14256827e-03  2.05372816e-03 -9.99995596e-01]]

 t_estimated:
[[9.65790000e-01]
 [2.59323672e-01]
 [9.53395854e-04]]

 R_gt:
[[ 0.99117071 -0.12651262 -0.03968545]
 [ 0.12233444  0.98800228 -0.09426385]
 [ 0.05113433  0.08857579  0.99475638]]

 t_gt:
[ 0.50252682 -0.52555531 -0.68648264]

Pose Error in degrees for R and t:
175.11961398350095 69.61100868752655

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99989137e-01  4.65940103e-03  1.29419793e-04]
 [-4.65929036e-03  9.99988790e-01 -8.42653163e-04]
 [-1.33344602e-04  8.42041005e-04  9.99999637e-01]]

 t_estimated:
[[-0.01596355]
 [-0.99987036]
 [-0.00210341]]

 R_gt:
[[ 0.97860329 -0.20187477 -0.03978155]
 [ 0.19289178  0.96739821 -0.16411778]
 [ 0.07161585  0.1529322   0.98563791]]

 t_gt:
[ 0.52449631 -0.477632   -0.70482004]

Pose Error in degrees for R and t:
15.200261218753797 61.9215684986884

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99767317 -0.06809233  0.00341658]
 [ 0.06810168  0.99767474 -0.00269878]
 [-0.00322487  0.00292517  0.99999052]]

 t_estimated:
[[0.53412523]
 [0.84540352]
 [0.00176863]]

 R_gt:
[[ 0.98648201 -0.15137201 -0.06276111]
 [ 0.13941626  0.97655988 -0.1639959 ]
 [ 0.08611427  0.15302912  0.98446217]]

 t_gt:
[ 0.4247023  -0.25629465 -0.86829776]

Pose Error in degrees for R and t:
11.018890582234588 89.50518071586197

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 0.77640486 -0.6301981   0.00677137]
 [-0.6301764  -0.77614266  0.02191516]
 [-0.00855534 -0.02128219 -0.9997369 ]]

 t_estimated:
[[0.25025475]
 [0.96808358]
 [0.01366551]]

 R_gt:
[[ 0.99785777  0.01220256  0.06428171]
 [-0.01164051  0.99989066 -0.00911476]
 [-0.06438591  0.00834731  0.99789051]]

 t_gt:
[-0.57206747  0.26214189  0.77718752]

Pose Error in degrees for R and t:
177.92602628130103 83.03671385457217

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 0.99751115  0.07049539 -0.00138388]
 [ 0.07048686 -0.99651468  0.04461056]
 [ 0.00176578 -0.04459708 -0.99900349]]

 t_estimated:
[[-0.05270552]
 [ 0.9983619 ]
 [ 0.02226296]]

 R_gt:
[[ 0.99821197  0.02660718  0.05352977]
 [-0.0251859   0.9993163  -0.02706552]
 [-0.05421342  0.02566861  0.99819936]]

 t_gt:
[-0.85659349  0.32936034  0.39720192]

Pose Error in degrees for R and t:
179.0620026667669 67.49209422869582

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99932589e-01  1.16103521e-02  1.27578393e-04]
 [-1.16103529e-02  9.99932598e-01  6.06038399e-06]
 [-1.27499431e-04 -7.54120563e-06  9.99999992e-01]]

 t_estimated:
[[ 8.93731031e-01]
 [ 4.48602470e-01]
 [-8.17476462e-04]]

 R_gt:
[[ 0.99981082  0.01593913  0.01116466]
 [-0.0161344   0.9997151   0.01756101]
 [-0.0108812  -0.01773704  0.99978313]]

 t_gt:
[-0.9499664  -0.1870502   0.25015209]

Pose Error in degrees for R and t:
1.2158669920308807 21.071877179209064

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.98630678e-01 -5.23141264e-02 -3.16940427e-05]
 [ 5.23141306e-02  9.98630667e-01  1.51114114e-04]
 [ 2.37452401e-05 -1.52565236e-04  9.99999988e-01]]

 t_estimated:
[[3.29401034e-01]
 [9.44189851e-01]
 [6.96321831e-04]]

 R_gt:
[[ 0.99844109 -0.02084909  0.05178654]
 [ 0.0152251   0.99417239  0.10671779]
 [-0.05370984 -0.10576342  0.99294008]]

 t_gt:
[ 0.01380461 -0.20589478  0.97847676]

Pose Error in degrees for R and t:
7.08197550532087 79.09534779497113

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99282324e-01 -3.78789791e-02  1.39509696e-04]
 [ 3.78790515e-02  9.99282174e-01 -5.59692546e-04]
 [-1.18208971e-04  5.64575363e-04  9.99999834e-01]]

 t_estimated:
[[4.70926485e-01]
 [8.82172245e-01]
 [6.12689686e-04]]

 R_gt:
[[ 0.99531969 -0.07938562  0.05511355]
 [ 0.06761732  0.97950105  0.18974914]
 [-0.06904719 -0.18513433  0.98028457]]

 t_gt:
[ 0.17444702 -0.37744721  0.9094514 ]

Pose Error in degrees for R and t:
11.612720597214164 75.50683455848977

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-9.64785843e-01  2.60629737e-01  3.55023526e-02]
 [ 2.60775522e-01  9.65399313e-01 -5.41866058e-04]
 [-3.44151732e-02  8.73535982e-03 -9.99369446e-01]]

 t_estimated:
[[0.99376008]
 [0.11041779]
 [0.01577397]]

 R_gt:
[[ 0.99339888 -0.08969818  0.07150247]
 [ 0.07304993  0.9752775   0.2085624 ]
 [-0.08844167 -0.20196266  0.97539225]]

 t_gt:
[ 0.1728964  -0.35433032  0.91899774]

Pose Error in degrees for R and t:
174.96597327038293 81.53591595528992

Number of keypoints:
Image1: 365
Image2: 365

 R_estimated:
[[ 1.81659157e-01 -9.83358476e-01 -2.46139489e-03]
 [ 9.83360688e-01  1.81661755e-01 -8.74472309e-04]
 [ 1.30706107e-03 -2.26158307e-03  9.99996588e-01]]

 t_estimated:
[[ 9.81175377e-01]
 [-1.93118815e-01]
 [ 5.86029622e-05]]

 R_gt:
[[ 0.99765321 -0.02930456  0.061876  ]
 [ 0.03063016  0.99931837 -0.02058277]
 [-0.06123031  0.02243001  0.9978718 ]]

 t_gt:
[-0.51816242  0.31020832  0.7970436 ]

Pose Error in degrees for R and t:
77.89782132644373 55.37042456133175

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.49420968e-01 -3.14006088e-01 -3.91522123e-05]
 [ 3.14006077e-01  9.49420885e-01  4.08920784e-04]
 [-9.12316878e-05 -4.00531999e-04  9.99999916e-01]]

 t_estimated:
[[ 0.99995697]
 [-0.00919662]
 [ 0.00121423]]

 R_gt:
[[ 0.99577236 -0.03551922  0.08471541]
 [ 0.04132126  0.99684673 -0.06774666]
 [-0.08204067  0.07096119  0.99409972]]

 t_gt:
[-0.59216726  0.71452415  0.37254957]

Pose Error in degrees for R and t:
17.252856446027295 53.25457474607594

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 5.21291722e-01  8.53378079e-01  8.91511540e-04]
 [-8.53377409e-01  5.21292448e-01 -1.08714063e-03]
 [-1.39248021e-03 -1.94078399e-04  9.99999012e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99638277 -0.02954646  0.07967746]
 [ 0.03503002  0.99704893 -0.06831319]
 [-0.07742347  0.07085755  0.99447694]]

 t_gt:
[-0.58811104  0.79021672  0.17228739]

Pose Error in degrees for R and t:
60.69991958906037 38.12070150815612

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-6.83239711e-01 -7.30193685e-01 -8.24451206e-04]
 [-7.30192675e-01  6.83240164e-01 -1.23919365e-03]
 [ 1.46814956e-03 -2.44658080e-04 -9.99998892e-01]]

 t_estimated:
[[9.05002470e-01]
 [4.25405353e-01]
 [9.03196078e-04]]

 R_gt:
[[ 0.99919013 -0.04000015  0.0043688 ]
 [ 0.04009856  0.99887066 -0.02547063]
 [-0.00334356  0.02562545  0.9996667 ]]

 t_gt:
[ 0.70038506 -0.67882033 -0.22059854]

Pose Error in degrees for R and t:
179.55046177742128 69.8257023007332

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99803133e-01 -1.98377825e-02  3.97421810e-04]
 [ 1.98376592e-02  9.99803166e-01  3.11767014e-04]
 [-4.03528350e-04 -3.03821718e-04  9.99999872e-01]]

 t_estimated:
[[-0.45397615]
 [-0.89101248]
 [ 0.00155196]]

 R_gt:
[[ 9.86883183e-01 -1.61438981e-01  6.50335795e-04]
 [ 1.61435636e-01  9.86815841e-01 -1.15285471e-02]
 [ 1.22007863e-03  1.14824748e-02  9.99934211e-01]]

 t_gt:
[ 0.69193482 -0.72185191 -0.01249105]

Pose Error in degrees for R and t:
8.1819229361875 70.78961771695667

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.94594572e-01  1.03833042e-01  5.80677966e-04]
 [-1.03831831e-01  9.94593191e-01 -1.82627251e-03]
 [-7.67165781e-04  1.75610787e-03  9.99998164e-01]]

 t_estimated:
[[0.48925075]
 [0.87214263]
 [0.0009669 ]]

 R_gt:
[[ 0.98589563 -0.16733865  0.0025363 ]
 [ 0.16734485  0.98589479 -0.0026653 ]
 [-0.0020533   0.00305185  0.99999401]]

 t_gt:
[ 0.69762899 -0.71611066  0.02234529]

Pose Error in degrees for R and t:
15.59360710937833 73.5479080108459

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999971e-01  1.23740357e-04  2.07388511e-04]
 [-1.23640737e-04  9.99999877e-01 -4.80297751e-04]
 [-2.07447918e-04  4.80272095e-04  9.99999863e-01]]

 t_estimated:
[[-0.62712678]
 [-0.77891602]
 [-0.00135805]]

 R_gt:
[[ 0.99955544 -0.0165503  -0.02482513]
 [ 0.01565329  0.99923351 -0.03588142]
 [ 0.02539959  0.03547748  0.9990478 ]]

 t_gt:
[ 0.13908445  0.11074182 -0.98406898]

Pose Error in degrees for R and t:
2.653018231318137 80.0873992751698

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.87301678e-01 -1.58855719e-01 -5.07562047e-04]
 [ 1.58855753e-01  9.87301802e-01  2.64358467e-05]
 [ 4.96917439e-04 -1.06729307e-04  9.99999871e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99829802  0.04467034 -0.03748995]
 [-0.04639871  0.99783634 -0.04657751]
 [ 0.03532802  0.04823802  0.9982109 ]]

 t_gt:
[-0.24719981  0.75283119 -0.6100307 ]

Pose Error in degrees for R and t:
12.236646214397679 41.354129418146435

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.99997625  0.00667301 -0.00172444]
 [-0.00667111  0.99997713  0.00110725]
 [ 0.00173179 -0.00109572  0.9999979 ]]

 t_estimated:
[[-7.66813239e-03]
 [-9.99970274e-01]
 [-8.06723956e-04]]

 R_gt:
[[ 0.99524898  0.09456717 -0.02317052]
 [-0.09583094  0.99350315 -0.06138702]
 [ 0.01721417  0.06331758  0.99784522]]

 t_gt:
[-0.33953879  0.87357813 -0.34867557]

Pose Error in degrees for R and t:
6.344290059399573 29.463728689116692

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.99108703e-01  4.22112804e-02  8.26420186e-05]
 [-4.22112766e-02  9.99108706e-01 -4.74319164e-05]
 [-8.45705221e-05  4.39012154e-05  9.99999995e-01]]

 t_estimated:
[[ 9.43131226e-01]
 [-3.32420366e-01]
 [ 4.37110805e-04]]

 R_gt:
[[ 0.99900157 -0.03856653  0.02256529]
 [ 0.03841972  0.99923794  0.00692173]
 [-0.02281442 -0.00604662  0.99972129]]

 t_gt:
[ 0.78237467 -0.47007041  0.40856295]

Pose Error in degrees for R and t:
4.817920381065122 26.578582918155817

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.95073312e-01  9.91417384e-02  1.38990914e-04]
 [-9.91417280e-02  9.95073320e-01 -8.00943352e-05]
 [-1.46246841e-04  6.59199361e-05  9.99999987e-01]]

 t_estimated:
[[7.86637438e-01]
 [6.17414803e-01]
 [7.08044499e-04]]

 R_gt:
[[ 0.98639834 -0.16312468  0.02020844]
 [ 0.16266919  0.98642538  0.02244688]
 [-0.02359571 -0.01885348  0.99954426]]

 t_gt:
[ 0.82948823 -0.53639463  0.15566011]

Pose Error in degrees for R and t:
15.165111772027448 71.25004486859352

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99968486e-01  7.93715827e-03  1.70220316e-04]
 [-7.93715661e-03  9.99968500e-01 -1.04109869e-05]
 [-1.70297588e-04  9.05959348e-06  9.99999985e-01]]

 t_estimated:
[[0.45555239]
 [0.89020788]
 [0.00139313]]

 R_gt:
[[ 0.96420168 -0.26499549  0.00959268]
 [ 0.26495535  0.96424647  0.00534055]
 [-0.0106641  -0.00260628  0.99993999]]

 t_gt:
[ 0.83982434 -0.54245157  0.02100878]

Pose Error in degrees for R and t:
15.832746420885593 84.24462439396783

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[ 9.99108024e-01  4.22274392e-02 -4.74288967e-06]
 [-4.22274394e-02  9.99108013e-01 -1.48231419e-04]
 [-1.52077413e-06  1.48299480e-04  9.99999989e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346797e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.99222515 -0.12204704 -0.02434599]
 [ 0.12361519  0.98915592  0.07930539]
 [ 0.01440288 -0.08169833  0.99655321]]

 t_gt:
[ 0.74299801 -0.58949409  0.31693955]

Pose Error in degrees for R and t:
10.615758146016756 47.65011786089651

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 9.76552192e-01 -2.15280700e-01 -1.92420624e-04]
 [ 2.15280608e-01  9.76552144e-01 -4.12896048e-04]
 [ 2.76797323e-04  3.61790112e-04  9.99999896e-01]]

 t_estimated:
[[-0.0119039 ]
 [-0.9999277 ]
 [-0.00170056]]

 R_gt:
[[ 0.97089251 -0.22875992 -0.07097129]
 [ 0.23520032  0.96657895  0.10200517]
 [ 0.04526446 -0.11572851  0.99224898]]

 t_gt:
[ 0.80292465 -0.56510131  0.1896642 ]

Pose Error in degrees for R and t:
7.226170170837358 56.2768872716679

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-5.24698102e-02 -9.98621956e-01 -1.05298056e-03]
 [-9.98622350e-01  5.24703714e-02 -5.12597850e-04]
 [ 5.67141749e-04  1.02463401e-03 -9.99999314e-01]]

 t_estimated:
[[8.63021427e-01]
 [5.05166868e-01]
 [6.72658945e-04]]

 R_gt:
[[ 0.96736855 -0.24330859 -0.07070026]
 [ 0.2494121   0.96356785  0.09659213]
 [ 0.04462336 -0.11107316  0.99281022]]

 t_gt:
[ 0.7996768  -0.57729842  0.16505617]

Pose Error in degrees for R and t:
178.34646462712828 66.50823829477365

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.68991689e-01 -2.47093270e-01 -1.47248979e-04]
 [ 2.47093283e-01  9.68991694e-01  7.80904216e-05]
 [ 1.23387420e-04 -1.12053203e-04  9.99999986e-01]]

 t_estimated:
[[-0.70141342]
 [-0.71275401]
 [-0.00096839]]

 R_gt:
[[ 0.98093145  0.19431299  0.00401489]
 [-0.19434891  0.98053334  0.02797019]
 [ 0.00149786 -0.0282172   0.99960055]]

 t_gt:
[-0.58344946  0.80379007  0.116225  ]

Pose Error in degrees for R and t:
25.563658246376402 80.57375489862419

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.80314728e-01  1.97441212e-01  4.64143845e-05]
 [-1.97441215e-01  9.80314725e-01  7.48687456e-05]
 [-3.07185286e-05 -8.25590464e-05  9.99999996e-01]]

 t_estimated:
[[-7.97465675e-01]
 [ 6.03364155e-01]
 [ 4.40184237e-04]]

 R_gt:
[[ 0.96601843  0.25798102 -0.01597201]
 [-0.25660209  0.96461067  0.06067329]
 [ 0.03105954 -0.05451234  0.99802986]]

 t_gt:
[-0.51486228  0.8537377   0.07777387]

Pose Error in degrees for R and t:
5.041946179014304 22.220709186982376

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.4807632  -0.83821577  0.25741226]
 [-0.87424493  0.48082902 -0.06707654]
 [-0.06754667 -0.25728929 -0.96397078]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 0.89323587  0.44958565  0.00153179]
 [-0.44928028  0.89249184  0.04008393]
 [ 0.01665425 -0.03649206  0.999195  ]]

 t_gt:
[-0.45953818  0.88763348  0.03051997]

Pose Error in degrees for R and t:
166.11907745794443 76.66088880611115

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.96543755e-01  8.30694751e-02  8.19580433e-05]
 [-8.30694756e-02  9.96543758e-01  3.21139511e-06]
 [-8.14080076e-05 -1.00085074e-05  9.99999997e-01]]

 t_estimated:
[[0.19005445]
 [0.98177299]
 [0.00105002]]

 R_gt:
[[ 0.99876076 -0.04345686  0.02425746]
 [ 0.04375385  0.99897288 -0.01184124]
 [-0.02371698  0.01288857  0.99963575]]

 t_gt:
[ 0.65775895 -0.74848022  0.08444241]

Pose Error in degrees for R and t:
7.426288497344077 52.42936775624181

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99996815e-01  2.40641441e-03 -7.61165617e-04]
 [-2.40573910e-03  9.99996713e-01  8.86890406e-04]
 [ 7.63297341e-04 -8.85056415e-04  9.99999317e-01]]

 t_estimated:
[[0.99987968]
 [0.01547801]
 [0.00103187]]

 R_gt:
[[ 0.95849038 -0.20285955  0.20035791]
 [ 0.2036599   0.97889715  0.01683755]
 [-0.19954492  0.02466597  0.97957779]]

 t_gt:
[ 0.58667547 -0.65028166  0.48264444]

Pose Error in degrees for R and t:
16.697650569716206 54.75753190764354

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.98944482e-01  4.59051189e-02  1.62530336e-03]
 [-4.59049634e-02  9.98945803e-01 -1.32863930e-04]
 [-1.62968910e-03  5.81141984e-05  9.99998670e-01]]

 t_estimated:
[[0.94378846]
 [0.33054728]
 [0.00135576]]

 R_gt:
[[ 0.89978874 -0.34147484  0.27161502]
 [ 0.33387614  0.93960983  0.07523698]
 [-0.28090385  0.02298846  0.95946083]]

 t_gt:
[ 0.66923783 -0.61503287  0.41695958]

Pose Error in degrees for R and t:
27.944344634379284 64.60306562926384

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-7.26830622e-01 -6.86805214e-01 -3.98068909e-03]
 [ 6.86816630e-01 -7.26814870e-01 -4.80221155e-03]
 [ 4.04959902e-04 -6.22439787e-03  9.99980546e-01]]

 t_estimated:
[[9.99992176e-01]
 [3.87894560e-03]
 [7.75789120e-04]]

 R_gt:
[[ 9.92505295e-01 -1.08325604e-01 -5.65706810e-02]
 [ 1.08543220e-01  9.94091654e-01  7.72733040e-04]
 [ 5.61532030e-02 -6.90697537e-03  9.98398311e-01]]

 t_gt:
[ 0.81531929 -0.53704464 -0.21641974]

Pose Error in degrees for R and t:
130.40188310982498 35.60382979209786

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-3.72507546e-02 -9.99301515e-01 -2.97731145e-03]
 [ 9.99305950e-01 -3.72505429e-02 -1.26549908e-04]
 [ 1.55550468e-05 -2.97995913e-03  9.99995560e-01]]

 t_estimated:
[[0.93568496]
 [0.3528312 ]
 [0.00194934]]

 R_gt:
[[ 0.94771027 -0.31789901 -0.02803053]
 [ 0.31817649  0.94801351  0.00592144]
 [ 0.02469145 -0.01453004  0.99958996]]

 t_gt:
[ 0.89304036 -0.44950885 -0.02051109]

Pose Error in degrees for R and t:
73.59866582309441 47.393170934306106

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.98576804 -0.16810562 -0.00136662]
 [ 0.16810712  0.98576816  0.00106844]
 [ 0.00116756 -0.00128298  0.9999985 ]]

 t_estimated:
[[9.10070824e-01]
 [4.14452144e-01]
 [7.18287943e-04]]

 R_gt:
[[ 0.88007167 -0.47481884 -0.00466443]
 [ 0.47483569  0.88006848  0.00333415]
 [ 0.00252257 -0.00514935  0.99998369]]

 t_gt:
[ 0.9243669  -0.38148901 -0.00346047]

Pose Error in degrees for R and t:
18.671913443626163 46.91144378857993

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 2.83485745e-01  9.58884347e-01  1.32906236e-02]
 [ 9.58976392e-01 -2.83463314e-01 -3.58164951e-03]
 [ 3.33016557e-04  1.37607408e-02 -9.99905261e-01]]

 t_estimated:
[[-0.54231981]
 [-0.84016569]
 [-0.00329068]]

 R_gt:
[[ 0.97045326  0.23971635  0.02749869]
 [-0.23943537  0.97082337 -0.01312976]
 [-0.02984446  0.00615829  0.99953531]]

 t_gt:
[-0.88907381  0.45772569  0.00591278]

Pose Error in degrees for R and t:
178.0060981609843 84.400313174925

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 7.24997914e-01  6.88750833e-01 -5.61296207e-04]
 [-6.88749738e-01  7.24997878e-01  1.36969227e-03]
 [ 1.35031525e-03 -6.06431423e-04  9.99998904e-01]]

 t_estimated:
[[-0.95312465]
 [ 0.30257009]
 [-0.00217732]]

 R_gt:
[[ 9.53283216e-01  3.00098698e-01  3.45086462e-02]
 [-2.99875054e-01  9.53908940e-01 -1.15898003e-02]
 [-3.63968091e-02  7.01230786e-04  9.99336801e-01]]

 t_gt:
[-0.88430475  0.46633553  0.02315801]

Pose Error in degrees for R and t:
26.15606701945858 10.294752049750283

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 0.8153896   0.57886602  0.00734397]
 [ 0.57890404 -0.81538092 -0.00490479]
 [ 0.00314892  0.00825077 -0.999961  ]]

 t_estimated:
[[-0.99842201]
 [-0.05581241]
 [-0.00620138]]

 R_gt:
[[ 0.93125939  0.36357411  0.0238588 ]
 [-0.36312198  0.93149914 -0.02126921]
 [-0.02995763  0.01114402  0.99948832]]

 t_gt:
[-0.88252725  0.47013594 -0.01085643]

Pose Error in degrees for R and t:
178.2922546265584 31.24440392190713

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.98454095e-01  5.55822304e-02 -1.90870536e-04]
 [-5.55822160e-02  9.98454111e-01  7.99096065e-05]
 [ 1.95017026e-04 -6.91770664e-05  9.99999979e-01]]

 t_estimated:
[[-9.88593486e-01]
 [ 1.50608311e-01]
 [-2.38247914e-04]]

 R_gt:
[[ 0.94998189  0.30810692 -0.05104496]
 [-0.30699108  0.95128215  0.0286153 ]
 [ 0.05737499 -0.011513    0.99828689]]

 t_gt:
[-0.50910282  0.85347082 -0.11136371]

Pose Error in degrees for R and t:
15.113298826813946 50.81236390398884

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 8.63954371e-01 -5.03534034e-01  6.02664192e-03]
 [ 5.03546498e-01  8.63967876e-01 -6.58427588e-04]
 [-4.87528432e-03  3.60354583e-03  9.99981623e-01]]

 t_estimated:
[[0.06588126]
 [0.99782653]
 [0.00137253]]

 R_gt:
[[ 0.86936693  0.49267798 -0.03834686]
 [-0.49018718  0.86959423  0.05935025]
 [ 0.06258727 -0.03279934  0.99750062]]

 t_gt:
[-0.4395935   0.89740747 -0.03764806]

Pose Error in degrees for R and t:
59.85860041324326 29.951958908393134

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-9.66254007e-01  2.57590968e-01  2.94670828e-04]
 [ 2.57590845e-01  9.66254002e-01 -4.01509715e-04]
 [-3.88152142e-04 -3.12055863e-04 -9.99999876e-01]]

 t_estimated:
[[ 0.78753506]
 [-0.61626781]
 [ 0.00158674]]

 R_gt:
[[ 0.83855963  0.5411296  -0.0632253 ]
 [-0.53439621  0.8395541   0.09782226]
 [ 0.10601529 -0.04824171  0.99319367]]

 t_gt:
[-0.39532402  0.91663516 -0.05915155]

Pose Error in degrees for R and t:
174.4375011379021 28.798638615890706

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99998186e-01  1.90133465e-03  1.12111420e-04]
 [-1.90135741e-03  9.99998172e-01  2.03212180e-04]
 [-1.11724841e-04 -2.03424976e-04  9.99999973e-01]]

 t_estimated:
[[0.99706182]
 [0.07658311]
 [0.00166245]]

 R_gt:
[[ 0.99534817 -0.08981955 -0.03483744]
 [ 0.09030286  0.99583482  0.01256523]
 [ 0.03356406 -0.0156525   0.99931434]]

 t_gt:
[ 0.65718821 -0.7345193  -0.16907112]

Pose Error in degrees for R and t:
5.68898877546705 53.22140378237539

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-9.91537751e-01 -1.29815941e-01 -8.42423830e-04]
 [-1.29818236e-01  9.91530387e-01  3.83639710e-03]
 [ 3.37263327e-04  3.91329453e-03 -9.99992286e-01]]

 t_estimated:
[[0.89756847]
 [0.44087382]
 [0.00105472]]

 R_gt:
[[ 0.98716114 -0.15825954 -0.0215686 ]
 [ 0.156414    0.98520205 -0.07008323]
 [ 0.03234153  0.06581023  0.99730778]]

 t_gt:
[ 0.56313529 -0.658302   -0.4995169 ]

Pose Error in degrees for R and t:
178.18163871474985 77.60221852872004

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.70400703e-01 -2.41500431e-01 -1.35949080e-04]
 [ 2.41500457e-01  9.70400679e-01  2.28244036e-04]
 [ 7.68040466e-05 -2.54319938e-04  9.99999965e-01]]

 t_estimated:
[[ 9.17147074e-01]
 [-3.98548861e-01]
 [ 2.21479675e-04]]

 R_gt:
[[ 0.97145197 -0.23682007 -0.01400816]
 [ 0.23437476  0.96720902 -0.09784723]
 [ 0.0367213   0.0917716   0.99510289]]

 t_gt:
[ 0.59312363 -0.68578847 -0.4217802 ]

Pose Error in degrees for R and t:
5.693508298365535 35.19368748294221

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99999888e-01  4.49936416e-04  1.43453056e-04]
 [-4.49937548e-04  9.99999899e-01  7.85553670e-06]
 [-1.43449507e-04 -7.92008074e-06  9.99999990e-01]]

 t_estimated:
[[0.85057653]
 [0.52585019]
 [0.00107011]]

 R_gt:
[[ 0.99436666 -0.10574025 -0.00736374]
 [ 0.10594249  0.99368154  0.03706336]
 [ 0.00339855 -0.03763512  0.99928548]]

 t_gt:
[ 0.57114307 -0.77367681  0.27426225]

Pose Error in degrees for R and t:
6.4762837588454865 85.45418220438192

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-9.29511105e-01 -3.68793254e-01  8.00427530e-04]
 [-3.68784441e-01  9.29500240e-01  5.22878590e-03]
 [-2.67233855e-03  4.56502934e-03 -9.99986009e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98826936 -0.13123291 -0.07811262]
 [ 0.1359453   0.98899362  0.05839836]
 [ 0.06958923 -0.06833218  0.99523296]]

 t_gt:
[ 0.630623   -0.75236473  0.19042572]

Pose Error in degrees for R and t:
176.63334442767768 51.06528387996359

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.9999835   0.00451042  0.00355645]
 [-0.0044814   0.99995693 -0.00812783]
 [-0.00359296  0.00811176  0.99996064]]

 t_estimated:
[[0.59712116]
 [0.80215037]
 [0.00105685]]

 R_gt:
[[ 0.99083437 -0.024749   -0.13279565]
 [ 0.04644802  0.98555027  0.1628876 ]
 [ 0.12684623 -0.16756278  0.9776675 ]]

 t_gt:
[ 0.33654962 -0.72125745  0.60541064]

Pose Error in degrees for R and t:
12.835487204896646 67.85473025009628

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-4.95763572e-01 -8.68456721e-01 -1.18466080e-03]
 [-8.68457443e-01  4.95763671e-01  2.29577987e-04]
 [ 3.87933243e-04  1.14264389e-03 -9.99999272e-01]]

 t_estimated:
[[0.82090486]
 [0.57106425]
 [0.00091517]]

 R_gt:
[[ 0.99481909  0.022342   -0.09917913]
 [-0.02132382  0.99970865  0.01132186]
 [ 0.09940359 -0.00914778  0.99500536]]

 t_gt:
[ 0.12683855  0.22494883 -0.96607971]

Pose Error in degrees for R and t:
175.31461099860886 76.60291030470898

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.77013139  0.6378752   0.00358743]
 [ 0.63788412 -0.77012856 -0.00241959]
 [ 0.00121939  0.00415177 -0.99999064]]

 t_estimated:
[[-0.99985659]
 [-0.01680431]
 [-0.00210054]]

 R_gt:
[[ 0.98447217  0.03631047 -0.17174285]
 [-0.03552902  0.99933935  0.00762802]
 [ 0.17190625 -0.00140717  0.98511264]]

 t_gt:
[ 0.17029699  0.22237141 -0.9599739 ]

Pose Error in degrees for R and t:
176.60157088329865 80.09628888813415

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-8.56419763e-01 -5.16277747e-01 -1.57404336e-03]
 [ 5.16279831e-01 -8.56411887e-01 -3.71709986e-03]
 [ 5.71026495e-04 -3.99604462e-03  9.99991853e-01]]

 t_estimated:
[[9.06182875e-01]
 [4.22885342e-01]
 [7.64711287e-04]]

 R_gt:
[[ 0.97496562  0.02095901 -0.22136561]
 [-0.02259536  0.99973273 -0.00485941]
 [ 0.22120409  0.00974024  0.97517898]]

 t_gt:
[ 0.29341714  0.1001593  -0.95072314]

Pose Error in degrees for R and t:
150.3440349111129 72.09025531036087

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99686051e-01 -2.50552383e-02  1.87964385e-04]
 [ 2.50552355e-02  9.99686068e-01  1.74019525e-05]
 [-1.88341387e-04 -1.26869972e-05  9.99999982e-01]]

 t_estimated:
[[0.78689027]
 [0.6170896 ]
 [0.0020315 ]]

 R_gt:
[[ 0.99129107  0.11892903 -0.05655059]
 [-0.12000639  0.99264321 -0.01604079]
 [ 0.05422678  0.02268698  0.99827106]]

 t_gt:
[-0.31712057  0.88712387 -0.33532937]

Pose Error in degrees for R and t:
8.963702299446926 72.70961792277409

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.86811647  0.49629607  0.00800046]
 [ 0.4963578  -0.86805252 -0.01066518]
 [ 0.00165174  0.01322971 -0.99991112]]

 t_estimated:
[[8.62456961e-01]
 [5.06129886e-01]
 [7.27198112e-04]]

 R_gt:
[[ 0.99002524  0.09998688 -0.09926203]
 [-0.09914011  0.99498308  0.01343368]
 [ 0.10010711 -0.00345803  0.99497076]]

 t_gt:
[-0.0744496   0.90084002 -0.42772014]

Pose Error in degrees for R and t:
178.7530513635964 66.95702521476949

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.97739937e-01  6.71916322e-02 -5.49971783e-04]
 [-6.71907533e-02  9.97739042e-01  1.48518445e-03]
 [ 6.48520287e-04 -1.44487482e-03  9.99998746e-01]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.97887908  0.11208362 -0.17097742]
 [-0.10840007  0.99363127  0.03076271]
 [ 0.173336   -0.01157902  0.98479533]]

 t_gt:
[ 0.12954966  0.79152382 -0.59724947]

Pose Error in degrees for R and t:
10.274508964817619 63.23253222463773

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-0.99936789 -0.0329887  -0.01324998]
 [-0.03302005  0.99945237  0.00215389]
 [ 0.01317167  0.00259004 -0.9999099 ]]

 t_estimated:
[[ 0.99983266]
 [ 0.01718349]
 [-0.00627468]]

 R_gt:
[[ 0.99116735  0.13258958  0.00261269]
 [-0.1325499   0.99110667 -0.01177534]
 [-0.004151    0.01132517  0.99992697]]

 t_gt:
[-0.68431255  0.72894942 -0.01868331]

Pose Error in degrees for R and t:
179.41642207283317 47.812812304590324

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.25317523e-01  3.79193195e-01  5.12633068e-05]
 [-3.79193154e-01  9.25317341e-01  6.09033843e-04]
 [ 1.83506662e-04 -5.82988382e-04  9.99999813e-01]]

 t_estimated:
[[-9.98030859e-01]
 [-6.27199283e-02]
 [-7.83999104e-04]]

 R_gt:
[[ 0.98724672  0.15647302 -0.02932085]
 [-0.15714705  0.98732298 -0.02232096]
 [ 0.02545673  0.02664403  0.99932074]]

 t_gt:
[-0.66118297  0.71097669 -0.23947699]

Pose Error in degrees for R and t:
13.428502674249248 52.01345893924051

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99411207e-01 -3.43108188e-02 -8.56113242e-05]
 [ 3.43108300e-02  9.99411201e-01  1.32970477e-04]
 [ 8.09985904e-05 -1.35829581e-04  9.99999987e-01]]

 t_estimated:
[[-0.91074453]
 [-0.41296918]
 [-0.00092181]]

 R_gt:
[[ 0.99302443  0.11707355 -0.01401942]
 [-0.11724885  0.99302534 -0.01242807]
 [ 0.01246648  0.01398519  0.99982494]]

 t_gt:
[-0.77853838  0.60836789 -0.15416384]

Pose Error in degrees for R and t:
8.761073822418613 62.744806606511766

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999933e-01  3.44740664e-04  1.25755666e-04]
 [-3.44740481e-04  9.99999941e-01 -1.47780260e-06]
 [-1.25756168e-04  1.43444943e-06  9.99999992e-01]]

 t_estimated:
[[-0.99988098]
 [-0.01530996]
 [-0.00190715]]

 R_gt:
[[ 0.99371153 -0.11189997  0.00409536]
 [ 0.11179258  0.99351579  0.02068491]
 [-0.00638257 -0.02009618  0.99977776]]

 t_gt:
[ 0.62497495 -0.76779679  0.14104749]

Pose Error in degrees for R and t:
6.554089026869059 52.16318559121426

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 6.50730089e-01 -7.59309096e-01 -2.19421047e-04]
 [ 7.59308663e-01  6.50729344e-01  1.29449984e-03]
 [-8.40141790e-04 -1.00897830e-03  9.99999138e-01]]

 t_estimated:
[[ 0.9078934 ]
 [-0.41919885]
 [ 0.00137544]]

 R_gt:
[[ 0.99455403 -0.1040321  -0.00641378]
 [ 0.10418971  0.99399739  0.03334758]
 [ 0.00290588 -0.03383358  0.99942268]]

 t_gt:
[ 0.64977486 -0.74753523  0.13778139]

Pose Error in degrees for R and t:
43.464050288128355 25.380432509331456

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999438e-01 -1.05758947e-03  7.43310014e-05]
 [ 1.05756067e-03  9.99999366e-01  3.86415373e-04]
 [-7.47396231e-05 -3.86336547e-04  9.99999923e-01]]

 t_estimated:
[[0.484015  ]
 [0.87505893]
 [0.0011587 ]]

 R_gt:
[[ 0.99732885 -0.01431195 -0.07163122]
 [ 0.01733882  0.99897451  0.04181475]
 [ 0.0709601  -0.042944    0.99655383]]

 t_gt:
[ 0.76212565 -0.59588845 -0.25314314]

Pose Error in degrees for R and t:
4.825336290630826 81.2078417853681

Number of keypoints:
Image1: 419
Image2: 419

 R_estimated:
[[ 9.20275970e-01 -3.91262393e-01 -2.42454507e-03]
 [ 3.91268675e-01  9.20270944e-01  3.19574903e-03]
 [ 9.80861965e-04 -3.88961958e-03  9.99991954e-01]]

 t_estimated:
[[-0.26361068]
 [-0.96462845]
 [-0.00116642]]

 R_gt:
[[ 0.99887277  0.00684574 -0.04697798]
 [-0.00649978  0.99995119  0.00751496]
 [ 0.04702682 -0.00720103  0.99886714]]

 t_gt:
[-0.21338165  0.01921312 -0.97677998]

Pose Error in degrees for R and t:
23.55783948740794 87.77318372453374

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[-8.20835164e-01 -5.71160133e-01 -2.39492810e-03]
 [ 5.71164568e-01 -8.20833112e-01 -2.00942228e-03]
 [-8.18134393e-04 -3.01730254e-03  9.99995113e-01]]

 t_estimated:
[[9.93039711e-01]
 [1.17777253e-01]
 [8.06693510e-04]]

 R_gt:
[[ 0.99986778 -0.0099532   0.01283118]
 [ 0.00988923  0.99993914  0.00500106]
 [-0.0128795  -0.0048737   0.99990501]]

 t_gt:
[-0.84065969 -0.24029606  0.485334  ]

Pose Error in degrees for R and t:
144.6017984790533 30.37681746113819

Number of keypoints:
Image1: 648
Image2: 648

 R_estimated:
[[ 3.86625792e-01 -9.22233908e-01 -2.26175096e-03]
 [ 9.22236658e-01  3.86625172e-01  7.23000156e-04]
 [ 2.07674594e-04 -2.36540015e-03  9.99997181e-01]]

 t_estimated:
[[-0.08770416]
 [-0.99614598]
 [-0.00108277]]

 R_gt:
[[ 0.99886916  0.02042088  0.04293942]
 [-0.01960615  0.99962228 -0.01928802]
 [-0.04331674  0.01842493  0.99889141]]

 t_gt:
[-0.90717683  0.26737844  0.32486762]

Pose Error in degrees for R and t:
68.45455009344364 79.21427745661155

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.55115648e-01  2.96233075e-01 -2.54465852e-04]
 [-2.96228378e-01  9.55104693e-01  4.87579708e-03]
 [ 1.68741389e-03 -4.58157008e-03  9.99988081e-01]]

 t_estimated:
[[0.72938335]
 [0.68410449]
 [0.00098432]]

 R_gt:
[[ 0.99298822 -0.1179522  -0.00784249]
 [ 0.11782121  0.99291526 -0.01541336]
 [ 0.0096057   0.01438087  0.9998508 ]]

 t_gt:
[ 0.67390585 -0.73435709 -0.08105898]

Pose Error in degrees for R and t:
24.03248975224392 89.37425650379066

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-1.17286395e-01 -9.93098092e-01 -2.86230873e-04]
 [-9.93097821e-01  1.17286582e-01 -7.58387860e-04]
 [ 7.86724577e-04  1.95306678e-04 -9.99999671e-01]]

 t_estimated:
[[0.74649603]
 [0.6653894 ]
 [0.00078744]]

 R_gt:
[[ 9.86474202e-01 -1.63919904e-01  3.25097500e-04]
 [ 1.63913590e-01  9.86456811e-01  5.95693603e-03]
 [-1.29712704e-03 -5.82269003e-03  9.99982489e-01]]

 t_gt:
[ 0.6752709  -0.73597106  0.04853657]

Pose Error in degrees for R and t:
179.7742048662157 89.17388485409947

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 5.05686509e-01  8.62710132e-01  3.51886699e-03]
 [ 8.62716361e-01 -5.05687792e-01 -5.80882498e-04]
 [ 1.27831486e-03  3.32952856e-03 -9.99993640e-01]]

 t_estimated:
[[-0.48459627]
 [-0.87473733]
 [-0.00102669]]

 R_gt:
[[ 0.99161276 -0.12711067 -0.0233862 ]
 [ 0.12806737  0.99072384  0.04542922]
 [ 0.01739436 -0.04804365  0.99869422]]

 t_gt:
[ 0.67942591 -0.72564608  0.10871156]

Pose Error in degrees for R and t:
177.2280577780676 72.21832048609649

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 7.29832352e-01 -6.83625698e-01 -8.01586670e-04]
 [ 6.83626119e-01  7.29832241e-01  4.79037744e-04]
 [ 2.57541284e-04 -8.97602828e-04  9.99999564e-01]]

 t_estimated:
[[0.89237387]
 [0.45129536]
 [0.00117013]]

 R_gt:
[[ 0.9979053   0.04637025 -0.04513209]
 [-0.04621499  0.9989216   0.00445462]
 [ 0.04529058 -0.00235867  0.99897129]]

 t_gt:
[-0.08531369  0.90565101 -0.41535265]

Pose Error in degrees for R and t:
45.8500153853897 70.60381220601221

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.65173656  0.75838291 -0.00973755]
 [-0.75843397 -0.65174355  0.00287283]
 [-0.00416768  0.00925762  0.99994846]]

 t_estimated:
[[ 6.46197236e-01]
 [ 7.63170446e-01]
 [-4.45841980e-05]]

 R_gt:
[[ 0.99450928  0.0223203  -0.10224301]
 [-0.01799775  0.99891253  0.04300563]
 [ 0.10309256 -0.04092915  0.9938299 ]]

 t_gt:
[ 0.52157042  0.65929586 -0.54156557]

Pose Error in degrees for R and t:
129.58803536242527 32.836998521516676

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.85144999 -0.52442911 -0.0026509 ]
 [ 0.52443315 -0.85145089 -0.00111995]
 [-0.00166978 -0.0023438   0.99999586]]

 t_estimated:
[[0.9081663 ]
 [0.4186079 ]
 [0.00118251]]

 R_gt:
[[ 0.98363528  0.04517788 -0.17441707]
 [-0.04200619  0.99887899  0.02183146]
 [ 0.17520814 -0.01414691  0.98443021]]

 t_gt:
[ 0.46666702  0.52930833 -0.7085581 ]

Pose Error in degrees for R and t:
150.99353761873127 49.86835257911212

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.89754637e-01  1.42778563e-01  1.98683853e-04]
 [-1.42778579e-01  9.89754653e-01  6.79449707e-05]
 [-1.86947182e-04 -9.56166480e-05  9.99999978e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99704423  0.01505224 -0.07534199]
 [-0.01547649  0.99986775 -0.00505412]
 [ 0.07525699  0.0062047   0.99714581]]

 t_gt:
[ 0.11105653  0.18297158 -0.97682539]

Pose Error in degrees for R and t:
8.52016472463428 79.4761281483799

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.96586494e-01 -8.25551067e-02 -1.19110375e-04]
 [ 8.25551370e-02  9.96586460e-01  2.77841855e-04]
 [ 9.57665229e-05 -2.86726614e-04  9.99999954e-01]]

 t_estimated:
[[0.79652074]
 [0.60461048]
 [0.0009316 ]]

 R_gt:
[[ 0.99436983 -0.01105345 -0.10538727]
 [ 0.00818886  0.99958645 -0.02757696]
 [ 0.10564874  0.02655894  0.99404896]]

 t_gt:
[ 0.3327439  -0.01977095 -0.94280995]

Pose Error in degrees for R and t:
7.520820747625848 75.39194680386619

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.23604771e-01  3.83345209e-01 -8.22759600e-04]
 [-3.83344796e-01  9.23605102e-01  6.18501390e-04]
 [ 9.97004510e-04 -2.55850224e-04  9.99999470e-01]]

 t_estimated:
[[0.53936569]
 [0.84207092]
 [0.00110075]]

 R_gt:
[[ 0.99264813 -0.11720142  0.03022991]
 [ 0.11811296  0.99253612 -0.0303511 ]
 [-0.02644608  0.03369761  0.99908268]]

 t_gt:
[ 0.71012679 -0.69263959 -0.12637384]

Pose Error in degrees for R and t:
29.40611069739543 78.44124322922887

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.97865934 -0.20528478  0.00916832]
 [ 0.20525879  0.97870074  0.00370095]
 [-0.00973279 -0.00174009  0.99995112]]

 t_estimated:
[[0.99537121]
 [0.09479726]
 [0.01579954]]

 R_gt:
[[ 0.98718476 -0.15747857 -0.02582792]
 [ 0.15771095  0.98745832  0.00724274]
 [ 0.02436436 -0.01122416  0.99964014]]

 t_gt:
[ 0.5771124  -0.81664461  0.00573183]

Pose Error in degrees for R and t:
3.4349346261129114 60.19062388110885

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 4.82028816e-01 -8.76154660e-01 -1.11004355e-03]
 [ 8.76155281e-01  4.82028932e-01  1.77845986e-04]
 [ 3.79252517e-04 -1.05829741e-03  9.99999368e-01]]

 t_estimated:
[[0.89161019]
 [0.45280277]
 [0.00096034]]

 R_gt:
[[ 0.97435572 -0.22236614 -0.03440588]
 [ 0.22341959  0.97424326  0.03054641]
 [ 0.02672793 -0.03745022  0.99894093]]

 t_gt:
[ 0.58198137 -0.80929545  0.0796151 ]

Pose Error in degrees for R and t:
48.360160006219274 81.22667344983495

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 0.64099512  0.76753261  0.00435336]
 [ 0.76700222 -0.64074482  0.03396583]
 [ 0.02885927 -0.0184329  -0.99941351]]

 t_estimated:
[[-0.99682918]
 [-0.07895677]
 [-0.0098696 ]]

 R_gt:
[[ 0.95197153 -0.29540875 -0.08052049]
 [ 0.30054922  0.95178345  0.06146552]
 [ 0.05848116 -0.08271449  0.99485613]]

 t_gt:
[ 0.63340841 -0.75973566  0.14695415]

Pose Error in degrees for R and t:
173.02022554669344 55.04981000343911

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99886978e-01  1.50343255e-02  1.94846176e-05]
 [-1.50343249e-02  9.99886978e-01 -2.97747267e-05]
 [-1.99300583e-05  2.94784235e-05  9.99999999e-01]]

 t_estimated:
[[-9.99135342e-01]
 [-4.15754059e-02]
 [-2.30646925e-04]]

 R_gt:
[[ 0.99250076  0.12070176  0.01930905]
 [-0.12119615  0.99226527  0.026851  ]
 [-0.0159184  -0.02899014  0.99945185]]

 t_gt:
[-0.8679666   0.41837856  0.26756934]

Pose Error in degrees for R and t:
6.375917884461265 31.814409718897146

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.9566349   0.13482401 -0.25820951]
 [-0.14012713 -0.99013117  0.00215736]
 [-0.25537042  0.03824596  0.96608654]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.93256023  0.35900282  0.03804397]
 [-0.35965538  0.93301143  0.01170546]
 [-0.03129276 -0.02459876  0.999207  ]]

 t_gt:
[-0.84908562  0.52192814  0.08151465]

Pose Error in degrees for R and t:
151.31542779933358 71.31501501299533

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999941e-01  8.83580086e-05 -3.32505999e-04]
 [-8.82541714e-05  9.99999947e-01  3.12288435e-04]
 [ 3.32533575e-04 -3.12259072e-04  9.99999896e-01]]

 t_estimated:
[[-9.96972516e-01]
 [-7.77543120e-02]
 [-2.61737204e-04]]

 R_gt:
[[ 0.88145272  0.46875117  0.05755693]
 [-0.47013955  0.88250014  0.01272223]
 [-0.04483036 -0.03827378  0.99826099]]

 t_gt:
[-0.8249989   0.55706658  0.09515066]

Pose Error in degrees for R and t:
28.21990644808551 38.816087725626595

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.99528448e-01 -3.06779764e-02  1.32009576e-03]
 [ 3.06779608e-02  9.99529320e-01  3.20723571e-05]
 [-1.32045833e-03  8.44061254e-06  9.99999128e-01]]

 t_estimated:
[[0.96823306]
 [0.2500226 ]
 [0.00366738]]

 R_gt:
[[ 0.99613528 -0.08748656 -0.00777811]
 [ 0.08687805  0.99446836 -0.05903393]
 [ 0.01289946  0.05813039  0.99822572]]

 t_gt:
[ 0.52873069 -0.57159538 -0.62747317]

Pose Error in degrees for R and t:
4.722201398839104 68.48642944918426

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.77036308e-01  2.13070387e-01  1.03077164e-03]
 [-2.13069798e-01  9.77036763e-01 -6.52485241e-04]
 [-1.14612707e-03  4.17875466e-04  9.99999256e-01]]

 t_estimated:
[[0.76928516]
 [0.63890255]
 [0.0019706 ]]

 R_gt:
[[ 0.9847333  -0.17344964  0.01467858]
 [ 0.17400156  0.97848985 -0.11082256]
 [ 0.00485941  0.11168436  0.99373116]]

 t_gt:
[ 0.5486588  -0.6487685  -0.52732623]

Pose Error in degrees for R and t:
23.221983287143214 89.62550743881702

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999349e-01  1.08608821e-03  3.50739555e-04]
 [-1.08582125e-03  9.99999121e-01 -7.60414762e-04]
 [-3.51565124e-04  7.60033426e-04  9.99999649e-01]]

 t_estimated:
[[-0.37644228]
 [-0.92643706]
 [-0.0023626 ]]

 R_gt:
[[ 0.9663983  -0.25638079 -0.01854388]
 [ 0.25292153  0.96127563 -0.10944872]
 [ 0.04588639  0.10108109  0.99381939]]

 t_gt:
[ 0.61146731 -0.66856722 -0.42323233]

Pose Error in degrees for R and t:
16.149767764942023 67.0328546838274

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.97052747e-01  7.67155900e-02  7.32774304e-04]
 [-7.67152563e-02  9.97052930e-01 -4.73187401e-04]
 [-7.66915618e-04  4.15577830e-04  9.99999620e-01]]

 t_estimated:
[[0.50670488]
 [0.86211874]
 [0.00120072]]

 R_gt:
[[ 0.98969306 -0.14081974 -0.02604719]
 [ 0.141093    0.98995531  0.00898862]
 [ 0.02451901 -0.01257031  0.99962012]]

 t_gt:
[ 0.64422557 -0.76415541 -0.03224802]

Pose Error in degrees for R and t:
12.609739230112119 70.585539484767

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.99999768e-01  6.51225368e-04  1.99662442e-04]
 [-6.51272864e-04  9.99999760e-01  2.37908673e-04]
 [-1.99507461e-04 -2.38038653e-04  9.99999952e-01]]

 t_estimated:
[[9.75995168e-01]
 [2.17791679e-01]
 [4.65044229e-04]]

 R_gt:
[[ 0.94545192 -0.32422594 -0.03161344]
 [ 0.32500624  0.94541416  0.02370001]
 [ 0.02220295 -0.03268108  0.99921929]]

 t_gt:
[ 0.74020399 -0.67112071  0.04117103]

Pose Error in degrees for R and t:
19.12039594412528 54.80996722512404

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 8.63292384e-01  5.04703773e-01  6.00475354e-04]
 [-5.04701325e-01  8.63290942e-01 -2.30695064e-03]
 [-1.68271163e-03  1.68851221e-03  9.99997159e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.92142439 -0.38721525 -0.03228022]
 [ 0.38786529  0.92156063  0.01690305]
 [ 0.0232029  -0.02809382  0.99933555]]

 t_gt:
[ 0.74598472 -0.66532974  0.02903684]

Pose Error in degrees for R and t:
53.16460354170969 41.93183269672517

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 0.62776221  0.77840429  0.00117325]
 [ 0.77839681 -0.62776174  0.00368786]
 [ 0.00360716 -0.00140185 -0.99999251]]

 t_estimated:
[[-0.98057979]
 [-0.19611596]
 [-0.00134326]]

 R_gt:
[[ 0.97986196 -0.19882991  0.01835527]
 [ 0.1985162   0.97993945  0.01760759]
 [-0.02148887 -0.01360904  0.99967622]]

 t_gt:
[ 0.86228682 -0.49861218  0.08858519]

Pose Error in degrees for R and t:
179.53652554100304 41.59343017042139

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.98958667e-01  4.56205082e-02  5.91919648e-04]
 [-4.56205064e-02  9.98958843e-01 -1.66001675e-05]
 [-5.92060674e-04 -1.04207929e-05  9.99999825e-01]]

 t_estimated:
[[0.9790416 ]
 [0.20365762]
 [0.00106072]]

 R_gt:
[[ 0.90919854 -0.41628512  0.00798587]
 [ 0.41578592  0.90878305  0.03516412]
 [-0.02189737 -0.02865001  0.99934967]]

 t_gt:
[ 0.91113083 -0.40621847  0.06947785]

Pose Error in degrees for R and t:
27.283658562234802 35.96467925039725

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 2.39377605e-01 -9.70443383e-01  3.06268381e-02]
 [ 9.70926545e-01  2.39261060e-01 -7.46921947e-03]
 [-7.93551397e-05  3.15243739e-02  9.99502980e-01]]

 t_estimated:
[[0.21600293]
 [0.97639162]
 [0.00145948]]

 R_gt:
[[ 0.8439782  -0.53561767  0.02853704]
 [ 0.53521347  0.8444575   0.0209637 ]
 [-0.0353283  -0.00241984  0.99937288]]

 t_gt:
[ 0.93507456 -0.35340855  0.02716562]

Pose Error in degrees for R and t:
43.820090426960405 81.77581839967146

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.99220193e-01  3.94821857e-02  4.02452867e-04]
 [-3.94814253e-02  9.99218774e-01 -1.74872799e-03]
 [-4.71182064e-04  1.73147490e-03  9.99998390e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.99907037e-01 -5.17467649e-03 -1.26228426e-02]
 [ 5.17202371e-03  9.99986438e-01 -2.01037284e-04]
 [ 1.26225339e-02  1.36510129e-04  9.99920516e-01]]

 t_gt:
[ 0.41421369 -0.48269631 -0.77164195]

Pose Error in degrees for R and t:
2.6677361711505405 65.66212926294722

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.2526819  -0.96753307  0.00562326]
 [-0.96752985  0.25270948  0.00488925]
 [-0.00615156 -0.00420525 -0.99997224]]

 t_estimated:
[[0.80960501]
 [0.58695577]
 [0.00475984]]

 R_gt:
[[ 0.99299874 -0.11732899  0.0136684 ]
 [ 0.11762999  0.99277095 -0.0238397 ]
 [-0.01077325  0.0252819   0.99962222]]

 t_gt:
[ 0.68454303 -0.7283185  -0.03087089]

Pose Error in degrees for R and t:
179.87499059755558 82.72846654756071

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 1.00000000e+00 -2.22044605e-16 -7.24138631e-16]
 [ 2.77555756e-16  1.00000000e+00  1.19118582e-15]
 [ 7.90600224e-16 -1.41523620e-15  1.00000000e+00]]

 t_estimated:
[[9.65276050e-01]
 [2.61230900e-01]
 [7.51440857e-04]]

 R_gt:
[[ 0.96787687 -0.25141159  0.00258827]
 [ 0.25124061  0.96672571 -0.04816645]
 [ 0.009607    0.04727004  0.99883532]]

 t_gt:
[ 0.76105712 -0.63924209 -0.11027968]

Pose Error in degrees for R and t:
14.823406310027496 55.419917962702506

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999997e-01 -6.45453252e-05 -3.42064406e-05]
 [ 6.45472028e-05  9.99999996e-01  5.48899918e-05]
 [ 3.42028976e-05 -5.48921996e-05  9.99999998e-01]]

 t_estimated:
[[-9.11103191e-02]
 [ 9.95840418e-01]
 [-8.78971464e-04]]

 R_gt:
[[ 0.99814695  0.00366921 -0.06074218]
 [-0.00457272  0.99988084 -0.01472807]
 [ 0.06068102  0.01497867  0.99804494]]

 t_gt:
[ 0.55254722  0.22999154 -0.80112137]

Pose Error in degrees for R and t:
3.5902897223103096 79.6654033203768

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.92882625e-01 -1.19095343e-01  6.26252578e-04]
 [ 1.19095716e-01  9.92882599e-01 -5.95738640e-04]
 [-5.50845590e-04  6.66082544e-04  9.99999626e-01]]

 t_estimated:
[[-0.65248247]
 [-0.75780277]
 [-0.00125815]]

 R_gt:
[[ 0.99338449  0.00133018 -0.11482828]
 [-0.00221336  0.9999694  -0.00755467]
 [ 0.11481417  0.00775811  0.99335669]]

 t_gt:
[ 0.64257692  0.1707962  -0.74694281]

Pose Error in degrees for R and t:
9.602892177555306 56.786508329356465

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.90672843e-01  1.36261919e-01 -8.54206789e-05]
 [-1.36261935e-01  9.90672820e-01 -2.23009025e-04]
 [ 5.42363072e-05  2.32568572e-04  9.99999971e-01]]

 t_estimated:
[[-8.38156124e-02]
 [ 9.96481050e-01]
 [-6.78329930e-04]]

 R_gt:
[[ 0.98577646  0.00615919 -0.16795145]
 [-0.00473803  0.99994903  0.00886539]
 [ 0.16799665 -0.00794308  0.9857558 ]]

 t_gt:
[ 0.66381162  0.13677544 -0.73528676]

Pose Error in degrees for R and t:
12.24967950585544 85.34503472170324

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.93346597e-01 -1.15162993e-01 -1.49303418e-04]
 [ 1.15163030e-01  9.93346569e-01  2.64648647e-04]
 [ 1.17832307e-04 -2.80082067e-04  9.99999954e-01]]

 t_estimated:
[[0.99987583]
 [0.01557653]
 [0.00238767]]

 R_gt:
[[ 0.99528087  0.09623997  0.01244318]
 [-0.09610303  0.99530943 -0.01115447]
 [-0.01345742  0.00990603  0.99986005]]

 t_gt:
[-0.45858407  0.88460933  0.08465804]

Pose Error in degrees for R and t:
12.170912675818531 63.60571420302418

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.75723531e-01 -2.19005916e-01  2.02212271e-06]
 [ 2.19005915e-01  9.75723530e-01  4.64004411e-05]
 [-1.21350038e-05 -4.48311454e-05  9.99999999e-01]]

 t_estimated:
[[-8.38502929e-01]
 [-5.44896701e-01]
 [-6.51011590e-04]]

 R_gt:
[[ 0.99297936  0.10410357  0.05617846]
 [-0.11000199  0.98727452  0.11484382]
 [-0.04350718 -0.12021672  0.99179338]]

 t_gt:
[-0.37336022  0.57178553  0.73052273]

Pose Error in degrees for R and t:
20.190986746418304 89.9413283073864

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 4.15041944e-01 -9.09802265e-01 -1.50249164e-04]
 [-9.09802124e-01 -4.15041964e-01  5.13680022e-04]
 [-5.29706956e-04 -7.65017466e-05 -9.99999857e-01]]

 t_estimated:
[[0.41197015]
 [0.91119648]
 [0.00125406]]

 R_gt:
[[ 0.98986074  0.08345156  0.11494833]
 [-0.10656873  0.97132744  0.21252363]
 [-0.09391639 -0.22261882  0.97037049]]

 t_gt:
[-0.23153888  0.34283302  0.91041489]

Pose Error in degrees for R and t:
166.10651338553382 77.4000234717966

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[ 0.58200799 -0.8129553   0.01924535]
 [-0.81298164 -0.5811741   0.03602122]
 [-0.01809874 -0.03661075 -0.9991657 ]]

 t_estimated:
[[0.46000172]
 [0.88767384]
 [0.02082261]]

 R_gt:
[[ 0.99570927 -0.08160118  0.04363764]
 [ 0.0812326   0.99664349  0.01017898]
 [-0.04432132 -0.0065901   0.99899535]]

 t_gt:
[ 0.83016976 -0.26118551  0.49254471]

Pose Error in degrees for R and t:
176.08258089343124 80.77638478367093

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.99314184 -0.11506785  0.02070459]
 [ 0.1146673   0.99321066  0.01959587]
 [-0.02281887 -0.01708734  0.99959358]]

 t_estimated:
[[0.81759347]
 [0.56024553]
 [0.13291297]]

 R_gt:
[[ 0.98825848 -0.12959005  0.08094047]
 [ 0.12939092  0.99156344  0.00772387]
 [-0.0812588   0.00284007  0.99668816]]

 t_gt:
[ 0.84678879 -0.09048397  0.52417687]

Pose Error in degrees for R and t:
3.6348227984680292 44.65875360758065

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 3.09767570e-01  9.50811263e-01  1.41242621e-03]
 [-9.50811701e-01  3.09768713e-01 -6.73111998e-04]
 [-1.07752792e-03 -1.13444310e-03  9.99998776e-01]]

 t_estimated:
[[0.01013461]
 [0.99994801]
 [0.00112607]]

 R_gt:
[[ 0.98289323 -0.11022101  0.14755714]
 [ 0.11595446  0.99277673 -0.03080468]
 [-0.14309596  0.04738784  0.98857384]]

 t_gt:
[0.73952825 0.2282546  0.63324387]

Pose Error in degrees for R and t:
78.87642006617558 76.32285176877302

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.99998692 -0.0034498  -0.00377487]
 [ 0.00346855  0.99998163  0.00497132]
 [ 0.00375766 -0.00498435  0.99998052]]

 t_estimated:
[[0.06651719]
 [0.99775791]
 [0.0073908 ]]

 R_gt:
[[ 0.99008157  0.13979673 -0.01394197]
 [-0.14033057  0.98881024 -0.05060842]
 [ 0.0067109   0.05206262  0.99862046]]

 t_gt:
[-0.33289414  0.91538409 -0.22639226]

Pose Error in degrees for R and t:
8.874092642471561 27.18759594579496

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999848e-01 -4.92729995e-04  2.48992102e-04]
 [ 4.92868300e-04  9.99999724e-01 -5.55705326e-04]
 [-2.48718220e-04  5.55827962e-04  9.99999815e-01]]

 t_estimated:
[[-8.87577321e-01]
 [-4.60658398e-01]
 [-5.81876391e-04]]

 R_gt:
[[ 0.96679451  0.25462996 -0.02173629]
 [-0.25553626  0.96216981 -0.09449986]
 [-0.00314842  0.09691638  0.99528698]]

 t_gt:
[-0.30577991  0.93565153 -0.17622392]

Pose Error in degrees for R and t:
15.83520170934055 80.82155088682485

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.96591775e-01 -8.24902766e-02 -4.34392196e-04]
 [ 8.24904355e-02  9.96591791e-01  3.61473934e-04]
 [ 4.03093612e-04 -3.96075151e-04  9.99999840e-01]]

 t_estimated:
[[-0.78183761]
 [-0.62348124]
 [-0.00104513]]

 R_gt:
[[ 0.95772793  0.28748614  0.01039001]
 [-0.28727638  0.9576791  -0.01797017]
 [-0.01511655  0.01422627  0.99978411]]

 t_gt:
[-0.33670285  0.94100345  0.03381851]

Pose Error in degrees for R and t:
21.469290085004772 71.12610127939914

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 0.13782851  0.99006876  0.02769738]
 [-0.9903234   0.1372984   0.02021643]
 [ 0.01621285 -0.03021577  0.9994119 ]]

 t_estimated:
[[0.54456804]
 [0.83871365]
 [0.00224964]]

 R_gt:
[[ 0.99776333 -0.04375879  0.0505326 ]
 [ 0.04453767  0.99890421 -0.01439552]
 [-0.04984631  0.01661357  0.998619  ]]

 t_gt:
[0.63473248 0.15815608 0.75637381]

Pose Error in degrees for R and t:
84.69061296248962 61.31432032485263

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999781e-01 -6.39843360e-04  1.70077962e-04]
 [ 6.39839083e-04  9.99999795e-01  2.52035380e-05]
 [-1.70094053e-04 -2.50947099e-05  9.99999985e-01]]

 t_estimated:
[[0.42662647]
 [0.90442727]
 [0.00108331]]

 R_gt:
[[ 0.98810636 -0.13228261  0.07841049]
 [ 0.13303807  0.99110123 -0.00448127]
 [-0.07711986  0.01485863  0.9969115 ]]

 t_gt:
[ 0.89900847 -0.1365455   0.41609987]

Pose Error in degrees for R and t:
8.826623610512767 74.90049891125352

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.00361529  0.9999909   0.00226394]
 [-0.99998742 -0.00360738 -0.00348643]
 [-0.00347823 -0.00227651  0.99999136]]

 t_estimated:
[[5.55945612e-04]
 [9.99996207e-01]
 [2.69749135e-03]]

 R_gt:
[[ 0.98067562 -0.14657235  0.12958835]
 [ 0.1508127   0.9882833  -0.02349774]
 [-0.12462562  0.04258754  0.99128955]]

 t_gt:
[0.85537294 0.07301498 0.51284105]

Pose Error in degrees for R and t:
98.98928618903682 85.70603873237356

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.66014346e-01 -2.58485234e-01 -1.29162655e-03]
 [ 2.58486563e-01  9.66014340e-01  9.95503166e-04]
 [ 9.90406904e-04 -1.29553845e-03  9.99998670e-01]]

 t_estimated:
[[0.75060285]
 [0.66075315]
 [0.00079513]]

 R_gt:
[[ 0.99256979  0.10756348 -0.05687657]
 [-0.10070468  0.98857591  0.11214187]
 [ 0.06828975 -0.10558077  0.99206358]]

 t_gt:
[-0.50699382  0.32716448  0.79744634]

Pose Error in degrees for R and t:
22.147520318564098 80.57583930641167

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.28393908e-01 -3.71595760e-01  1.15852843e-03]
 [ 3.71596660e-01  9.28394018e-01 -6.86025651e-04]
 [-8.20646641e-04  1.06740733e-03  9.99999094e-01]]

 t_estimated:
[[-0.02244681]
 [-0.99974655]
 [-0.00172668]]

 R_gt:
[[ 0.98747029  0.12729497 -0.09326558]
 [-0.11221567  0.98196779  0.15214057]
 [ 0.11095133 -0.13976802  0.98394911]]

 t_gt:
[-0.19446351  0.61265979  0.76604956]

Pose Error in degrees for R and t:
30.519725829281523 52.44937748826538

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 4.24025418e-01 -9.05649298e-01 -1.33939486e-03]
 [ 9.05650237e-01  4.24025429e-01  2.90130112e-04]
 [ 3.05181346e-04 -1.33604581e-03  9.99999061e-01]]

 t_estimated:
[[9.99528376e-01]
 [3.06982672e-02]
 [8.01509442e-04]]

 R_gt:
[[ 0.96949421  0.22977319 -0.08535332]
 [-0.21446092  0.96378101  0.15853358]
 [ 0.11868962 -0.13539137  0.98365769]]

 t_gt:
[-0.42339218  0.84622944  0.32347301]

Pose Error in degrees for R and t:
78.42001220683669 66.61201325636173

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 8.69551644e-01 -4.93833508e-01  2.89904239e-03]
 [ 4.93836875e-01  8.69554397e-01 -5.40905742e-04]
 [-2.25375768e-03  1.90199951e-03  9.99995651e-01]]

 t_estimated:
[[0.86412272]
 [0.50328026]
 [0.00094959]]

 R_gt:
[[ 0.99606642 -0.08393493  0.02841105]
 [ 0.08449412  0.99624018 -0.01910511]
 [-0.02669948  0.02143076  0.99941394]]

 t_gt:
[ 0.6434749  -0.75639581  0.11749652]

Pose Error in degrees for R and t:
24.824529178200834 79.89376994234242

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.30508956e-01  3.66268052e-01 -8.92789639e-04]
 [-3.66266517e-01  9.30508752e-01  1.51668147e-03]
 [ 1.38626054e-03 -1.08428674e-03  9.99998451e-01]]

 t_estimated:
[[0.62302353]
 [0.78220262]
 [0.0008558 ]]

 R_gt:
[[ 0.97438664 -0.22419876  0.01746374]
 [ 0.22482018  0.97295384 -0.05306805]
 [-0.0050938   0.05563567  0.99843819]]

 t_gt:
[ 0.75128278 -0.65189451 -0.10299386]

Pose Error in degrees for R and t:
34.622340300946604 87.59660341502851

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.92400975e-01  1.23045303e-01 -3.98333191e-04]
 [-1.23044687e-01  9.92400261e-01  1.31405159e-03]
 [ 5.56993838e-04 -1.25505329e-03  9.99999057e-01]]

 t_estimated:
[[-0.74139377]
 [-0.67106984]
 [-0.00074813]]

 R_gt:
[[ 0.94049406 -0.33583986  0.05178539]
 [ 0.3381815   0.93995453 -0.04601509]
 [-0.0332211   0.06078982  0.99759772]]

 t_gt:
[ 0.78460423 -0.61977749 -0.01649408]

Pose Error in degrees for R and t:
27.086245578460957 80.45777799568174

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 1.17210429e-01  9.93103991e-01 -2.48558774e-03]
 [-9.93106756e-01  1.17207934e-01 -1.12725647e-03]
 [-8.28152291e-04  2.60058019e-03  9.99996276e-01]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.96850357 -0.24893746  0.00565057]
 [ 0.24878153  0.96835363  0.0199959 ]
 [-0.01044912 -0.01796137  0.99978309]]

 t_gt:
[ 0.87474109 -0.47999789  0.06655862]

Pose Error in degrees for R and t:
97.68823042375752 69.5106317846514

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.96579529e-01  8.26383496e-02  3.81554370e-04]
 [-8.26382925e-02  9.96579593e-01 -1.63128903e-04]
 [-3.93730002e-04  1.31039924e-04  9.99999914e-01]]

 t_estimated:
[[-9.89304446e-01]
 [ 1.45865380e-01]
 [-6.24719744e-05]]

 R_gt:
[[ 0.92436238 -0.38020764  0.03156243]
 [ 0.38029117  0.92486026  0.00354936]
 [-0.03053998  0.00872197  0.99949474]]

 t_gt:
[ 0.90199052 -0.43136695  0.01832087]

Pose Error in degrees for R and t:
27.15373100331305 17.20241815031639

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.7865129   0.34474247 -0.51239641]
 [ 0.59057212 -0.17719965  0.78728956]
 [ 0.18061568 -0.92182043 -0.34296511]]

 t_estimated:
[[0.83750624]
 [0.54642707]
 [0.00087149]]

 R_gt:
[[ 0.7587028  -0.65138883 -0.00801865]
 [ 0.65142844  0.75856929  0.01457625]
 [-0.003411   -0.01628245  0.99986128]]

 t_gt:
[ 0.95705571 -0.28963088  0.01258224]

Pose Error in degrees for R and t:
110.19627159977928 49.962492947686826

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.97415764e-01 -7.18398029e-02  9.14249938e-04]
 [ 7.18424414e-02  9.97410581e-01 -3.28585956e-03]
 [-6.75827059e-04  3.34305008e-03  9.99994184e-01]]

 t_estimated:
[[-0.89501602]
 [-0.44578817]
 [-0.01480652]]

 R_gt:
[[ 0.99596352 -0.06110803  0.06574334]
 [ 0.0595812   0.99791196  0.02494274]
 [-0.06712931 -0.02092404  0.99752479]]

 t_gt:
[-0.2319234  -0.79313997  0.56315231]

Pose Error in degrees for R and t:
4.108362646270118 56.44004683116549

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 9.99965832e-01 -8.26369499e-03  2.13930318e-04]
 [ 8.26373357e-03  9.99965839e-01 -1.80052130e-04]
 [-2.12435113e-04  1.81813841e-04  9.99999961e-01]]

 t_estimated:
[[-6.30726801e-01]
 [ 7.76004881e-01]
 [ 3.57971170e-04]]

 R_gt:
[[ 0.98160374 -0.18682456  0.03936651]
 [ 0.18528336  0.9818808   0.03975864]
 [-0.04608072 -0.03173303  0.99843389]]

 t_gt:
[ 0.23522364 -0.92506809  0.29819268]

Pose Error in degrees for R and t:
10.745268833439292 29.990022696143768

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99996480e-01  2.15463254e-03 -1.54825731e-03]
 [-2.15429598e-03  9.99997656e-01  2.19013611e-04]
 [ 1.54872557e-03 -2.15677436e-04  9.99998777e-01]]

 t_estimated:
[[-0.58596587]
 [-0.81033348]
 [-0.00190974]]

 R_gt:
[[ 0.93849059 -0.34496782  0.01521318]
 [ 0.34252868  0.93561966  0.08538079]
 [-0.04368771 -0.07491728  0.99623213]]

 t_gt:
[ 0.45003185 -0.8541394   0.26060931]

Pose Error in degrees for R and t:
20.868724221154867 64.66330721004891

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.98438578e-01 -5.58602656e-02 -1.89902177e-04]
 [ 5.58602862e-02  9.98438590e-01  1.04802921e-04]
 [ 1.83751343e-04 -1.15247269e-04  9.99999976e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99658992  0.07372221  0.03705587]
 [-0.07428694  0.99713695  0.01409041]
 [-0.03591034 -0.01679491  0.99921406]]

 t_gt:
[-0.71857701  0.53634213  0.44270104]

Pose Error in degrees for R and t:
7.7885648669905425 57.838340956867384

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99841973e-01 -1.77764610e-02 -1.65074059e-04]
 [ 1.77762622e-02  9.99841344e-01 -1.13667893e-03]
 [ 1.85253998e-04  1.13356490e-03  9.99999340e-01]]

 t_estimated:
[[-9.99994884e-01]
 [-3.10316489e-03]
 [-7.75791221e-04]]

 R_gt:
[[ 0.99460653  0.06739814 -0.07883855]
 [-0.05588382  0.9885597   0.14009341]
 [ 0.08737971 -0.13493261  0.98699444]]

 t_gt:
[-0.65506327  0.12686602  0.74484705]

Pose Error in degrees for R and t:
10.36366507233794 49.149437183446224

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.98976196  0.14272319  0.00116708]
 [-0.1427139   0.98974614 -0.00594304]
 [-0.00200333  0.00571563  0.99998166]]

 t_estimated:
[[9.99994892e-01]
 [3.10075924e-03]
 [7.75189838e-04]]

 R_gt:
[[ 0.98612405 -0.0166668  -0.16517411]
 [ 0.05658119  0.96911929  0.24001248]
 [ 0.15607391 -0.24602786  0.95661456]]

 t_gt:
[ 0.47471626 -0.61543112  0.62919712]

Pose Error in degrees for R and t:
20.114420461369452 61.75171654334453

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.7905829   0.61199952 -0.0208632 ]
 [ 0.61192457 -0.78829124  0.06438354]
 [ 0.02295642 -0.06366724 -0.99770711]]

 t_estimated:
[[-0.30551879]
 [ 0.9516037 ]
 [ 0.03329657]]

 R_gt:
[[ 0.99820006  0.03960329 -0.04503942]
 [-0.03819704  0.99876776  0.03166678]
 [ 0.04623818 -0.02988839  0.99848312]]

 t_gt:
[ 0.1884813   0.98006878 -0.06276928]

Pose Error in degrees for R and t:
173.60295767787824 29.195252142894592

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.8343064   0.55126291  0.00648319]
 [-0.5512914  -0.83430366 -0.00389891]
 [ 0.00325963 -0.00682702  0.99997138]]

 t_estimated:
[[0.53979499]
 [0.84179572]
 [0.0011564 ]]

 R_gt:
[[ 0.99195054  0.11504015 -0.05290949]
 [-0.11361313  0.99309427  0.02924597]
 [ 0.05590789 -0.0229982   0.99817053]]

 t_gt:
[-0.26766835  0.96166581 -0.05960301]

Pose Error in degrees for R and t:
139.9985960540461 48.31988332514194

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99901784e-01 -1.40150438e-02 -8.83822256e-06]
 [ 1.40150448e-02  9.99901777e-01  1.19143502e-04]
 [ 7.16755304e-06 -1.19255669e-04  9.99999993e-01]]

 t_estimated:
[[0.66389366]
 [0.74782647]
 [0.00088221]]

 R_gt:
[[ 0.99567507  0.0680106  -0.06329714]
 [-0.06612322  0.99731551  0.03144708]
 [ 0.06526561 -0.02712427  0.99749882]]

 t_gt:
[ 0.17708143  0.97695276 -0.1191867 ]

Pose Error in degrees for R and t:
6.168134649448982 31.99987797087472

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999058e-01  9.86075406e-04 -9.54655425e-04]
 [-9.84859945e-04  9.99998705e-01  1.27282772e-03]
 [ 9.55909293e-04 -1.27188632e-03  9.99998734e-01]]

 t_estimated:
[[-0.99982069]
 [-0.01871918]
 [-0.00286029]]

 R_gt:
[[ 0.99717913  0.05190787 -0.05422667]
 [-0.04615571  0.99367091  0.10241568]
 [ 0.05919997 -0.09962421  0.99326178]]

 t_gt:
[0.16178201 0.27208666 0.94857547]

Pose Error in degrees for R and t:
7.1216338036766595 80.23779498334792

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.30833882  0.95124032 -0.0083086 ]
 [ 0.95121526  0.30840637  0.00866292]
 [ 0.01080294 -0.00523215 -0.99992796]]

 t_estimated:
[[ 0.98009935]
 [ 0.19848858]
 [-0.00274767]]

 R_gt:
[[ 0.98692906  0.14701689 -0.06601462]
 [-0.13852731  0.98322339  0.1186708 ]
 [ 0.0823537  -0.10797439  0.9907365 ]]

 t_gt:
[-0.33658567  0.87559231  0.34647972]

Pose Error in degrees for R and t:
172.01956919996599 80.96461994181782

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.05513417 -0.99847782 -0.00150512]
 [ 0.99847815  0.05513598 -0.00118856]
 [ 0.00126974 -0.0014373   0.99999816]]

 t_estimated:
[[9.08692984e-01]
 [4.17464796e-01]
 [4.53001083e-04]]

 R_gt:
[[ 0.98381533  0.1602556  -0.08016363]
 [-0.15003792  0.9813212   0.12040933]
 [ 0.09796224 -0.10643238  0.98948224]]

 t_gt:
[-0.22889273  0.93066549  0.28542927]

Pose Error in degrees for R and t:
96.07723496931486 79.59201813957336

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.32915395  0.84617795  0.41909493]
 [ 0.75369323  0.50280285 -0.42324439]
 [-0.5688622   0.17655645 -0.80325813]]

 t_estimated:
[[0.84482045]
 [0.50783687]
 [0.168464  ]]

 R_gt:
[[ 0.98655944 -0.04714274 -0.15645454]
 [ 0.07082346  0.98623331  0.1494238 ]
 [ 0.14725583 -0.15849535  0.97631658]]

 t_gt:
[ 0.68861982 -0.70505326  0.16941857]

Pose Error in degrees for R and t:
156.93770489970794 75.38936361213055

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 0.89313487  0.44975944  0.00515212]
 [ 0.44978755 -0.89310211 -0.0077324 ]
 [ 0.00112365  0.00922344 -0.99995683]]

 t_estimated:
[[0.58650929]
 [0.80994141]
 [0.00132995]]

 R_gt:
[[ 0.96827483 -0.13948089 -0.20733611]
 [ 0.18532486  0.95740975  0.22140448]
 [ 0.16762371 -0.25280485  0.95288646]]

 t_gt:
[ 0.72796308 -0.60671468  0.31932281]

Pose Error in degrees for R and t:
164.5159462979181 86.32932509178065

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.61401478e-01  2.75138630e-01  2.43580276e-03]
 [ 2.75139958e-01 -9.61404158e-01 -2.21167844e-04]
 [ 2.28093908e-03  8.82817760e-04 -9.99997009e-01]]

 t_estimated:
[[-9.99887470e-01]
 [-1.49683753e-02]
 [-9.97891686e-04]]

 R_gt:
[[ 0.93344006 -0.2412912  -0.26545682]
 [ 0.30496969  0.92341157  0.23303381]
 [ 0.18889599 -0.29847942  0.93553657]]

 t_gt:
[ 0.79103054 -0.55186488  0.26403756]

Pose Error in degrees for R and t:
162.6406784916657 38.469034138812894

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[-0.95896383  0.28131389 -0.03536747]
 [-0.28159577 -0.95952794  0.003156  ]
 [-0.03304825  0.01298582  0.99936939]]

 t_estimated:
[[0.69492609]
 [0.7190797 ]
 [0.00145262]]

 R_gt:
[[ 9.86370373e-01 -1.64536239e-01  6.86783269e-04]
 [ 1.64363720e-01  9.85128740e-01 -5.00596128e-02]
 [ 7.56038050e-03  4.94916237e-02  9.98745832e-01]]

 t_gt:
[ 0.51586579 -0.75284824 -0.40878113]

Pose Error in degrees for R and t:
173.07174482614843 79.42845916339924

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99999020e-01 -3.42643441e-04  1.35777454e-03]
 [ 3.44881695e-04  9.99998582e-01 -1.64858166e-03]
 [-1.35720774e-03  1.64904832e-03  9.99997719e-01]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.97029268 -0.24033625  0.02776429]
 [ 0.24114565  0.96999869 -0.03085026]
 [-0.01951638  0.03662998  0.99913838]]

 t_gt:
[ 0.33746166 -0.93494759 -0.10951091]

Pose Error in degrees for R and t:
14.09740292499177 84.9705244237659

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.93771689e-01  1.11435266e-01  1.09917079e-04]
 [-1.11435230e-01  9.93771656e-01 -2.90839621e-04]
 [-1.41642268e-04  2.76779547e-04  9.99999952e-01]]

 t_estimated:
[[-9.87712686e-01]
 [-1.56278780e-01]
 [-7.69846209e-04]]

 R_gt:
[[ 0.93941833 -0.34097266  0.03507131]
 [ 0.34211224  0.93903511 -0.03424698]
 [-0.02125566  0.04417102  0.998798  ]]

 t_gt:
[ 0.40930819 -0.91085671 -0.05297983]

Pose Error in degrees for R and t:
26.526160853518807 74.81773067138343

Number of keypoints:
Image1: 421
Image2: 421

 R_estimated:
[[-0.60488396 -0.79480446  0.0490027 ]
 [-0.79480424  0.60638029  0.02427271]
 [-0.04900633 -0.02426538 -0.99850367]]

 t_estimated:
[[0.90150014]
 [0.43189051]
 [0.02771447]]

 R_gt:
[[ 0.99927461 -0.0366391   0.01041967]
 [ 0.0363241   0.99891901  0.02901515]
 [-0.01147105 -0.02861616  0.99952484]]

 t_gt:
[ 0.0606864  -0.78102726  0.6215413 ]

Pose Error in degrees for R and t:
175.57108821094639 74.6102421703382

Number of keypoints:
Image1: 356
Image2: 356

 R_estimated:
[[ 9.98887291e-01  4.71604273e-02 -2.71894151e-04]
 [-4.71603312e-02  9.98887271e-01  3.49509332e-04]
 [ 2.88074616e-04 -3.36297812e-04  9.99999902e-01]]

 t_estimated:
[[0.59747003]
 [0.80189076]
 [0.00087734]]

 R_gt:
[[ 0.99608309 -0.05900387  0.06586547]
 [ 0.05844927  0.99823756  0.01030985]
 [-0.06635725 -0.00642045  0.99777471]]

 t_gt:
[-0.2206727  -0.60337226  0.76631944]

Pose Error in degrees for R and t:
7.182528933168647 52.047233935819364

Number of keypoints:
Image1: 348
Image2: 348

 R_estimated:
[[ 9.86536549e-04 -9.99999366e-01  5.43505551e-04]
 [-9.99999433e-01 -9.86318092e-04  4.02061885e-04]
 [-4.01525560e-04 -5.43901892e-04 -9.99999771e-01]]

 t_estimated:
[[0.81482045]
 [0.57970392]
 [0.00331643]]

 R_gt:
[[ 0.99303605 -0.11694627  0.01430196]
 [ 0.11669797  0.99302039  0.01714184]
 [-0.01620622 -0.01535339  0.99975101]]

 t_gt:
[ 0.07449964 -0.97913656  0.18905398]

Pose Error in degrees for R and t:
178.68433466172846 59.58374197400428

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.95544654e-01 -9.42911902e-02  1.11568361e-04]
 [ 9.42912184e-02  9.95544618e-01 -2.82913983e-04]
 [-8.43949849e-05  2.92173420e-04  9.99999954e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075931e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99804762 -0.00486293  0.06227335]
 [ 0.0016497   0.99866902  0.051541  ]
 [-0.06244018 -0.05133707  0.9967275 ]]

 t_gt:
[-0.09259901 -0.18249649  0.97883628]

Pose Error in degrees for R and t:
6.987667518487924 84.69798334013089

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-4.03132804e-01  9.15141482e-01  1.05650629e-04]
 [-9.15137961e-01 -4.03130927e-01 -2.82276139e-03]
 [-2.54063500e-03 -1.23463262e-03  9.99996010e-01]]

 t_estimated:
[[0.67771597]
 [0.73532183]
 [0.00169429]]

 R_gt:
[[ 0.98645215 -0.08109696  0.14260482]
 [ 0.0463034   0.97156225  0.23221175]
 [-0.15738036 -0.22246203  0.96215407]]

 t_gt:
[ 0.14906713 -0.29480392  0.94385891]

Pose Error in degrees for R and t:
118.15584458912221 83.44531777792136

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.99411759 -0.10828227 -0.00227376]
 [ 0.10827047  0.99410991 -0.00479614]
 [ 0.00277971  0.00452174  0.99998591]]

 t_estimated:
[[0.90555652]
 [0.42422467]
 [0.00090646]]

 R_gt:
[[ 0.97072159 -0.20612019  0.12335445]
 [ 0.14954032  0.92042119  0.36119572]
 [-0.18798674 -0.33217234  0.9242944 ]]

 t_gt:
[ 0.3599252  -0.40415563  0.84089957]

Pose Error in degrees for R and t:
23.164011424307493 81.06916445761078

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.89603489e-01 -1.43822347e-01 -2.57403825e-04]
 [ 1.43822423e-01  9.89603464e-01  3.07145070e-04]
 [ 2.10553392e-04 -3.40972275e-04  9.99999920e-01]]

 t_estimated:
[[-7.30686687e-02]
 [-9.97326879e-01]
 [-2.57473468e-04]]

 R_gt:
[[ 0.9979742   0.05282396  0.03545855]
 [-0.05454074  0.99729082  0.04936026]
 [-0.03275534 -0.05119483  0.9981517 ]]

 t_gt:
[-0.40547164  0.10621042  0.90791635]

Pose Error in degrees for R and t:
11.868004620735162 85.61068997146565

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 7.31552508e-01 -6.81784905e-01 -5.21125487e-04]
 [ 6.81785034e-01  7.31552565e-01  1.07683229e-04]
 [ 3.07813887e-04 -4.34071495e-04  9.99999858e-01]]

 t_estimated:
[[7.85559052e-01]
 [6.18786214e-01]
 [7.72281662e-04]]

 R_gt:
[[ 0.99446917  0.07693494  0.0715035 ]
 [-0.08601116  0.9872396   0.13401778]
 [-0.0602806  -0.13942673  0.98839647]]

 t_gt:
[-0.31684132  0.05333788  0.94697764]

Pose Error in degrees for R and t:
48.43091172870125 77.57499811403844

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999908e-01 -1.95660439e-04 -3.82321691e-04]
 [ 1.96022688e-04  9.99999532e-01  9.47689675e-04]
 [ 3.82136086e-04 -9.47764531e-04  9.99999478e-01]]

 t_estimated:
[[-0.65790427]
 [-0.7531011 ]
 [-0.00084174]]

 R_gt:
[[ 0.97371412  0.20777289  0.09333445]
 [-0.21818168  0.96846881  0.12027112]
 [-0.06540252 -0.13747337  0.98834445]]

 t_gt:
[-0.60412397  0.44284179  0.66251444]

Pose Error in degrees for R and t:
15.13501464394229 86.36538645407441

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99999920e-01 -3.99814075e-04 -2.04496880e-05]
 [ 3.99816826e-04  9.99999911e-01  1.34674314e-04]
 [ 2.03958415e-05 -1.34682480e-04  9.99999991e-01]]

 t_estimated:
[[-0.01015239]
 [ 0.99994697]
 [ 0.0017278 ]]

 R_gt:
[[ 0.99719672  0.07457547  0.00630096]
 [-0.07470523  0.99692355  0.02372691]
 [-0.00451286 -0.02413044  0.99969898]]

 t_gt:
[-0.63864984  0.72387525  0.26101917]

Pose Error in degrees for R and t:
4.52514638514687 43.04887424554753

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999420e-01 -1.07689326e-03  1.67318568e-05]
 [ 1.07689636e-03  9.99999403e-01 -1.86691651e-04]
 [-1.65307998e-05  1.86709562e-04  9.99999982e-01]]

 t_estimated:
[[-9.94477147e-01]
 [-1.04949824e-01]
 [-8.59353983e-04]]

 R_gt:
[[ 0.9758998   0.21811727  0.00675119]
 [-0.21819829  0.97578228  0.0154584 ]
 [-0.00321661 -0.01655867  0.99985828]]

 t_gt:
[-0.66028772  0.74827194  0.06410332]

Pose Error in degrees for R and t:
12.700725773540167 54.68614589640343

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.81492866e-01  1.91498572e-01  2.27405758e-04]
 [-1.91498484e-01  9.81492842e-01 -3.61747076e-04]
 [-2.92471172e-04  3.11504316e-04  9.99999909e-01]]

 t_estimated:
[[-9.99988849e-01]
 [-4.65833314e-03]
 [-7.76388857e-04]]

 R_gt:
[[ 0.86261306  0.50111992  0.06912253]
 [-0.49990014  0.86536753 -0.03520107]
 [-0.0774567  -0.00418903  0.99698669]]

 t_gt:
[-0.58064898  0.80867153  0.09432453]

Pose Error in degrees for R and t:
19.547328299326413 54.77405958502382

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 0.99986189  0.01648437  0.00211387]
 [-0.0164785   0.9998604  -0.00276297]
 [-0.00215912  0.00272776  0.99999395]]

 t_estimated:
[[0.46339063]
 [0.88614841]
 [0.00318065]]

 R_gt:
[[ 0.97981733 -0.19702863 -0.03371758]
 [ 0.1969843   0.98039522 -0.00467443]
 [ 0.03397803 -0.00206228  0.99942068]]

 t_gt:
[ 0.61785644 -0.7776052  -0.11654856]

Pose Error in degrees for R and t:
12.482551544109825 66.22566330998511

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99941956e-01 -1.07742460e-02 -1.93027988e-05]
 [ 1.07742469e-02  9.99941955e-01  4.67263213e-05]
 [ 1.87982375e-05 -4.69315822e-05  9.99999999e-01]]

 t_estimated:
[[-0.8305489 ]
 [-0.55694486]
 [-0.00097368]]

 R_gt:
[[ 0.91849136 -0.39306669 -0.04325034]
 [ 0.39286042  0.91949882 -0.01355072]
 [ 0.04509525 -0.00454524  0.99897201]]

 t_gt:
[ 0.70868278 -0.70207295 -0.06973008]

Pose Error in degrees for R and t:
22.68155560409731 78.60850144612422

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-4.48587981e-01  8.93733098e-01 -3.15790504e-03]
 [ 8.93718450e-01  4.48598800e-01  5.14271538e-03]
 [ 6.01284736e-03 -5.15317692e-04 -9.99981790e-01]]

 t_estimated:
[[-0.03396058]
 [-0.9994114 ]
 [-0.00485151]]

 R_gt:
[[ 0.88319002 -0.46632559 -0.05016007]
 [ 0.46401965  0.88433876 -0.05128957]
 [ 0.06827676  0.0220228   0.99742296]]

 t_gt:
[ 0.72997428 -0.6695415  -0.13730161]

Pose Error in degrees for R and t:
177.89765441766625 49.83258652973452

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-9.96632311e-01 -6.21069302e-02 -5.35421890e-02]
 [-6.22039886e-02  9.98063446e-01  1.46578407e-04]
 [ 5.34293982e-02  3.47662249e-03 -9.98565577e-01]]

 t_estimated:
[[ 0.99949394]
 [ 0.02174545]
 [-0.02321638]]

 R_gt:
[[ 0.99442803  0.08338409  0.06451671]
 [-0.07629387  0.99148954 -0.10548945]
 [-0.0727637   0.09997901  0.99232561]]

 t_gt:
[-0.44629085  0.8726471  -0.19827132]

Pose Error in degrees for R and t:
179.30945611651995 65.00837661478491

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.93808199e-01  1.11109232e-01 -3.73282104e-05]
 [-1.11109225e-01  9.93808190e-01  1.48970827e-04]
 [ 5.36491153e-05 -1.43900921e-04  9.99999988e-01]]

 t_estimated:
[[-6.26788698e-01]
 [-7.79189273e-01]
 [-6.11384181e-05]]

 R_gt:
[[ 0.98617767  0.10040244  0.13181144]
 [-0.08749662  0.99110234 -0.10030596]
 [-0.14070949  0.08738643  0.98618713]]

 t_gt:
[-0.46603065  0.84425437  0.26466958]

Pose Error in degrees for R and t:
9.588061412643569 68.5464146113745

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 4.83501306e-02  9.98830369e-01  3.98460018e-04]
 [-9.98829402e-01  4.83506535e-02 -1.42825129e-03]
 [-1.44584656e-03 -3.28937445e-04  9.99998901e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98284618  0.04173174  0.17964774]
 [-0.0209696   0.99303334 -0.11595043]
 [-0.18323461  0.11019462  0.97687379]]

 t_gt:
[-0.23206396  0.78607317  0.57291822]

Pose Error in degrees for R and t:
86.11520281319093 38.260298377065716

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.94073660e-01 -1.08708569e-01 -7.74302938e-05]
 [ 1.08708576e-01  9.94073658e-01  8.88661131e-05]
 [ 6.73109074e-05 -9.67567992e-05  9.99999993e-01]]

 t_estimated:
[[0.45389606]
 [0.89105409]
 [0.00098459]]

 R_gt:
[[ 0.99890087  0.03744678  0.02821471]
 [-0.03601062  0.9981092  -0.04980673]
 [-0.0300256   0.04873715  0.9983595 ]]

 t_gt:
[-0.64528725  0.73668356 -0.20224166]

Pose Error in degrees for R and t:
8.970812974677681 68.69500609640409

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-8.91391427e-01 -4.53231481e-01 -1.59666877e-03]
 [ 4.53233169e-01 -8.91391531e-01 -9.12837618e-04]
 [-1.00953028e-03 -1.53735887e-03  9.99998309e-01]]

 t_estimated:
[[9.04720425e-01]
 [4.26004937e-01]
 [8.64107378e-04]]

 R_gt:
[[ 0.99066289  0.07059244  0.11664249]
 [-0.0625794   0.99551226 -0.07098954]
 [-0.12112891  0.0630275   0.99063301]]

 t_gt:
[-0.74039274  0.58495315  0.33113199]

Pose Error in degrees for R and t:
156.9467104798286 65.14209019503625

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.99012111  0.14015581  0.00406581]
 [-0.14012939  0.99011388 -0.0061859 ]
 [-0.00489261  0.00555505  0.9999726 ]]

 t_estimated:
[[-0.89361887]
 [-0.44882209]
 [-0.00201266]]

 R_gt:
[[ 0.98136166  0.13818991  0.13354192]
 [-0.12597272  0.98737672 -0.09600748]
 [-0.14512296  0.07739573  0.98638113]]

 t_gt:
[-0.72160677  0.63725788  0.27052923]

Pose Error in degrees for R and t:
9.080745245407138 69.00530347717809

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.40013783e-01  3.41136159e-01  4.56648359e-04]
 [-3.41136184e-01  9.40013885e-01 -2.35584254e-05]
 [-4.37292429e-04 -1.33634034e-04  9.99999895e-01]]

 t_estimated:
[[0.50905023]
 [0.86073599]
 [0.00119216]]

 R_gt:
[[ 0.99869941 -0.03146935  0.04011205]
 [ 0.03174142  0.99947658 -0.00615815]
 [-0.03989841  0.00742391  0.99917628]]

 t_gt:
[ 0.17654329 -0.86265595  0.47398015]

Pose Error in degrees for R and t:
21.877854970193294 49.301046101525166

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.00000000e+00  1.49917409e-07 -2.29256539e-07]
 [-1.49917339e-07  1.00000000e+00  3.07567168e-07]
 [ 2.29256585e-07 -3.07567134e-07  1.00000000e+00]]

 t_estimated:
[[9.58031516e-01]
 [2.86662754e-01]
 [2.83532560e-04]]

 R_gt:
[[ 0.99899587 -0.03241906  0.0309323 ]
 [ 0.03294712  0.99931763 -0.01670894]
 [-0.03036974  0.01771202  0.99938223]]

 t_gt:
[ 0.03741923 -0.98608228  0.1619924 ]

Pose Error in degrees for R and t:
2.750648702496399 75.71304816477229

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.74607442 -0.47935051 -0.46216453]
 [-0.66219939  0.46143452  0.5903983 ]
 [-0.06974906  0.74652614 -0.6616901 ]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99574885 -0.05984526  0.07002263]
 [ 0.05887081  0.99813855  0.01590537]
 [-0.0708442  -0.01171468  0.9974185 ]]

 t_gt:
[-0.01194366 -0.83508647  0.54998904]

Pose Error in degrees for R and t:
171.76581836082784 59.43379668967844

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-0.99102017  0.13351591 -0.00724778]
 [-0.13354183 -0.99103796  0.00321501]
 [-0.00675358  0.00415402  0.99996857]]

 t_estimated:
[[0.77514989]
 [0.6317763 ]
 [0.00116564]]

 R_gt:
[[ 0.9852994  -0.17018198  0.01493763]
 [ 0.16982522  0.98521375  0.02260067]
 [-0.01856344 -0.01973147  0.99963304]]

 t_gt:
[ 0.55396239 -0.81967032  0.14582949]

Pose Error in degrees for R and t:
177.87697206960775 84.93565721406243

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 4.96660658e-01  8.67944779e-01  2.27858711e-04]
 [-8.67944350e-01  4.96660649e-01 -8.97030526e-04]
 [-8.91741417e-04  2.47751090e-04  9.99999572e-01]]

 t_estimated:
[[0.61297022]
 [0.79010546]
 [0.00093134]]

 R_gt:
[[ 9.47082675e-01 -3.20958880e-01  4.31034461e-03]
 [ 3.20964575e-01  9.47090817e-01 -5.06617476e-04]
 [-3.91924653e-03  1.86364447e-03  9.99990245e-01]]

 t_gt:
[ 0.63899906 -0.76918146  0.0063311 ]

Pose Error in degrees for R and t:
78.94207293640486 77.52338174381902

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.49018007e-01 -3.15221791e-01 -2.13046534e-04]
 [ 3.15221859e-01  9.49017881e-01  4.91313404e-04]
 [ 4.73122787e-05 -5.33422191e-04  9.99999857e-01]]

 t_estimated:
[[-0.58327274]
 [-0.81227579]
 [-0.00097865]]

 R_gt:
[[ 0.85957652 -0.5109249  -0.00914024]
 [ 0.51080143  0.85858425  0.04376054]
 [-0.01451026 -0.04228442  0.99900012]]

 t_gt:
[ 0.72043513 -0.68907942  0.07837587]

Pose Error in degrees for R and t:
12.619997490379394 81.98480853867879

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 0.63580846 -0.77184585  0.00125764]
 [-0.77184175 -0.63579746  0.00468023]
 [-0.00281281 -0.00394643 -0.99998826]]

 t_estimated:
[[0.37390948]
 [0.92745819]
 [0.00360616]]

 R_gt:
[[ 0.99657034  0.04348357  0.07041387]
 [-0.04091843  0.99846012 -0.03747155]
 [-0.07193435  0.03446288  0.99681457]]

 t_gt:
[-0.79067424  0.51994616  0.32324948]

Pose Error in degrees for R and t:
179.85930171007035 79.17829437078309

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.86758769  0.4972832  -0.00100741]
 [ 0.49727836  0.86758552  0.00309802]
 [ 0.0024146   0.00218684 -0.99999469]]

 t_estimated:
[[9.99994884e-01]
 [3.10316489e-03]
 [7.75791221e-04]]

 R_gt:
[[ 0.98802263  0.09075978  0.12480084]
 [-0.08372722  0.99465048 -0.06049937]
 [-0.12962427  0.04932546  0.99033636]]

 t_gt:
[-0.75202875  0.51700631  0.40884867]

Pose Error in degrees for R and t:
172.22283845018998 41.40066705258305

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-3.88381089e-02 -9.99245376e-01 -5.28790897e-04]
 [ 9.99245515e-01 -3.88381289e-02  2.75338111e-05]
 [-4.80502824e-05 -5.27322570e-04  9.99999860e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075957e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96861611  0.21800211  0.11940561]
 [-0.21088817  0.97504072 -0.06943998]
 [-0.13156369  0.04207951  0.99041508]]

 t_gt:
[-0.71585727  0.65672322  0.23719819]

Pose Error in degrees for R and t:
104.8838453006241 44.46868701668541

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99996813e-01 -2.49061523e-03 -4.12553916e-04]
 [ 2.49061421e-03  9.99996898e-01 -2.99667140e-06]
 [ 4.12560100e-04  1.96914920e-06  9.99999915e-01]]

 t_estimated:
[[-0.99986388]
 [-0.01627503]
 [-0.00271   ]]

 R_gt:
[[ 0.99766081  0.05310019  0.04303873]
 [-0.05622636  0.99559606  0.07502043]
 [-0.03886635 -0.07726537  0.99625262]]

 t_gt:
[-0.52284066  0.17525868  0.83421942]

Pose Error in degrees for R and t:
5.957949843216747 58.82482079142514

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.54362992e-01  2.98648948e-01  2.92385616e-04]
 [-2.98648885e-01  9.54360725e-01  2.10943174e-03]
 [ 3.50938223e-04 -2.10048423e-03  9.99997732e-01]]

 t_estimated:
[[-0.02228218]
 [ 0.99974904]
 [ 0.00231483]]

 R_gt:
[[ 0.98230914  0.18537987  0.02650986]
 [-0.18627853  0.98180664  0.03682418]
 [-0.01920237 -0.04111106  0.99896993]]

 t_gt:
[-0.72542452  0.65880161  0.1993482 ]

Pose Error in degrees for R and t:
7.113568440392923 47.52551825630913

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 0.80952574 -0.58706493  0.00477983]
 [ 0.58707693  0.80952967 -0.00154906]
 [-0.00296002  0.00406013  0.99998738]]

 t_estimated:
[[8.05610776e-01]
 [5.92444739e-01]
 [7.12929891e-04]]

 R_gt:
[[ 0.98479517  0.16797141  0.04430248]
 [-0.16596242  0.98507181 -0.04570918]
 [-0.0513197   0.03766148  0.99797191]]

 t_gt:
[-0.67309686  0.73301449 -0.09813449]

Pose Error in degrees for R and t:
45.686581525015804 83.79688137400491

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999994e-01 -1.05529075e-04  1.19024982e-05]
 [ 1.05528462e-04  9.99999993e-01  5.14849736e-05]
 [-1.19079313e-05 -5.14837173e-05  9.99999999e-01]]

 t_estimated:
[[-0.99994975]
 [-0.0099126 ]
 [-0.00149364]]

 R_gt:
[[ 9.99307968e-01  2.97616645e-02 -2.23283310e-02]
 [-2.97508252e-02  9.99558071e-01  8.09227957e-04]
 [ 2.23422164e-02 -1.44120563e-04  9.99749831e-01]]

 t_gt:
[-0.41859035  0.85008172 -0.31959846]

Pose Error in degrees for R and t:
2.136962678838298 65.75620141977981

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99999844e-01 -5.16981824e-04 -2.11659954e-04]
 [ 5.17145630e-04  9.99999566e-01  7.74590165e-04]
 [ 2.11259413e-04 -7.74699504e-04  9.99999678e-01]]

 t_estimated:
[[0.56918019]
 [0.82221141]
 [0.00151878]]

 R_gt:
[[ 9.93760397e-01  1.11537218e-01 -4.53561280e-05]
 [-1.11529259e-01  9.93693992e-01  1.16412840e-02]
 [ 1.34370772e-03 -1.15638280e-02  9.99932456e-01]]

 t_gt:
[-0.61075142  0.78833299  0.07425493]

Pose Error in degrees for R and t:
6.463162117542344 72.50265854370798

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.99995631  0.00143563 -0.00923646]
 [-0.00133218  0.99993644  0.01119576]
 [ 0.00925195 -0.01118296  0.99989467]]

 t_estimated:
[[-0.70805496]
 [-0.70615669]
 [-0.00094914]]

 R_gt:
[[ 0.93977371  0.3417567   0.00530166]
 [-0.34178954  0.93974553  0.00763782]
 [-0.00237181 -0.00899033  0.99995651]]

 t_gt:
[-0.61494281  0.78834876  0.01875024]

Pose Error in degrees for R and t:
19.92065428314179 83.03273507799138

Number of keypoints:
Image1: 435
Image2: 435

 R_estimated:
[[-0.61356303 -0.78673426  0.06774672]
 [-0.78677324  0.61638826  0.03245597]
 [-0.06729251 -0.03338752 -0.9971745 ]]

 t_estimated:
[[0.90425722]
 [0.42526473]
 [0.03832486]]

 R_gt:
[[ 0.99975204 -0.02205051  0.00316784]
 [ 0.02196097  0.99942453  0.0258391 ]
 [-0.00373534 -0.02576271  0.99966119]]

 t_gt:
[ 0.10139396 -0.77313836  0.62608014]

Pose Error in degrees for R and t:
174.86707769999924 77.69545941816672

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.84762231e-01 -1.73890486e-01  2.33377483e-03]
 [ 1.73889158e-01  9.84764937e-01  7.61929756e-04]
 [-2.43071196e-03 -3.44501507e-04  9.99996986e-01]]

 t_estimated:
[[0.99843261]
 [0.0559288 ]
 [0.00207144]]

 R_gt:
[[ 0.99633269 -0.07891074  0.03307816]
 [ 0.07811362  0.99663857  0.02469062]
 [-0.03491561 -0.0220162   0.99914794]]

 t_gt:
[ 0.16025284 -0.82430606  0.54299037]

Pose Error in degrees for R and t:
5.94491800446717 83.39499167703755

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[-0.99795166 -0.04659785  0.04383075]
 [-0.04673986  0.99890463 -0.00222014]
 [-0.04367928 -0.00426423 -0.9990365 ]]

 t_estimated:
[[0.9989375 ]
 [0.03987398]
 [0.02310698]]

 R_gt:
[[ 0.99188655 -0.1168572   0.05006045]
 [ 0.1160643   0.99307047  0.01845781]
 [-0.05187036 -0.01249768  0.9985758 ]]

 t_gt:
[ 0.10537    -0.88459085  0.45430848]

Pose Error in degrees for R and t:
174.5603464489404 85.3836372478952

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.70085733e-01 -2.42762442e-01 -2.57810276e-04]
 [ 2.42762465e-01  9.70085760e-01  6.08683559e-05]
 [ 2.35321527e-04 -1.21634182e-04  9.99999965e-01]]

 t_estimated:
[[ 9.12535442e-01]
 [-4.08997457e-01]
 [-3.82669076e-04]]

 R_gt:
[[ 0.98504937 -0.17176339 -0.01324335]
 [ 0.17159774  0.9850837  -0.01280126]
 [ 0.01524357  0.01033757  0.99983032]]

 t_gt:
[ 0.71815153 -0.69220246 -0.07151316]

Pose Error in degrees for R and t:
4.293048998225705 20.202967398036865

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.24429575  0.96948687  0.02036672]
 [ 0.96964566  0.24445191 -0.00552859]
 [-0.01033858  0.01839789 -0.99977729]]

 t_estimated:
[[-0.27252868]
 [-0.96214474]
 [-0.00236981]]

 R_gt:
[[ 0.97467359 -0.22362126  0.00202023]
 [ 0.22362479  0.97467487 -0.00114197]
 [-0.00171396  0.00156523  0.99999677]]

 t_gt:
[ 0.6628509  -0.74833687  0.02491222]

Pose Error in degrees for R and t:
178.7043260643557 57.36376476009288

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.97511880e-01 -7.04969377e-02 -4.80652324e-04]
 [ 7.04970070e-02  9.97511983e-01  1.28826999e-04]
 [ 4.70374544e-04 -1.62391012e-04  9.99999876e-01]]

 t_estimated:
[[7.60696046e-01]
 [6.49107844e-01]
 [7.29334656e-04]]

 R_gt:
[[ 0.94523775 -0.32455603  0.03448681]
 [ 0.32336542  0.94558945  0.035984  ]
 [-0.04428927 -0.02286147  0.99875718]]

 t_gt:
[ 0.67521325 -0.72159191  0.15294505]

Pose Error in degrees for R and t:
15.145906613617035 87.40059416004482

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.02466511e-01  4.30759958e-01  2.32637892e-04]
 [-4.30759648e-01  9.02466309e-01 -8.29311815e-04]
 [-5.67182183e-04  6.48215124e-04  9.99999629e-01]]

 t_estimated:
[[-5.55600154e-01]
 [ 8.31449609e-01]
 [ 1.29784460e-04]]

 R_gt:
[[ 0.99805448 -0.02935942  0.05502495]
 [ 0.02754068  0.99905795  0.03352991]
 [-0.0559564  -0.03195008  0.99792138]]

 t_gt:
[ 0.34332015 -0.19857793  0.91798588]

Pose Error in degrees for R and t:
27.393595821655712 69.16137183873

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-9.89913626e-01 -1.41669080e-01  9.40264384e-04]
 [-1.41666046e-01  9.89910684e-01  2.75102155e-03]
 [-1.32051245e-03  2.59007018e-03 -9.99995774e-01]]

 t_estimated:
[[0.99849081]
 [0.05490423]
 [0.00127684]]

 R_gt:
[[ 0.99116886 -0.1273203   0.03709132]
 [ 0.12689089  0.99182203  0.01372082]
 [-0.03853472 -0.00889264  0.99921763]]

 t_gt:
[ 0.97253458 -0.16298649  0.16616824]

Pose Error in degrees for R and t:
177.71378658964036 15.776335899347133

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.98983293e-01 -4.50809550e-02 -2.94745943e-04]
 [-4.50816807e-02 -9.98977909e-01 -3.28308292e-03]
 [-1.46440173e-04  3.29303263e-03 -9.99994567e-01]]

 t_estimated:
[[0.4053463 ]
 [0.91416259]
 [0.0010667 ]]

 R_gt:
[[ 0.99005186 -0.13779686 -0.02847271]
 [ 0.13591612  0.9889091  -0.05987382]
 [ 0.03640879  0.05540746  0.99779964]]

 t_gt:
[ 0.93886909 -0.0724666  -0.33656117]

Pose Error in degrees for R and t:
176.45844798372738 71.7018468781967

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99832139e-01 -1.83219179e-02 -3.09208605e-05]
 [ 1.83219173e-02  9.99832139e-01 -1.89711993e-05]
 [ 3.12632589e-05  1.84014854e-05  9.99999999e-01]]

 t_estimated:
[[ 6.40960133e-01]
 [-7.67574116e-01]
 [-2.91287833e-04]]

 R_gt:
[[ 0.98842909 -0.15167493 -0.00191298]
 [ 0.15125152  0.98455295  0.08820767]
 [-0.01149492 -0.08747656  0.9961007 ]]

 t_gt:
[ 0.59534767 -0.73089844  0.3336894 ]

Pose Error in degrees for R and t:
9.195407758903396 19.52158821755177

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-8.66005481e-01  5.00033324e-01 -1.08697435e-03]
 [-5.00031407e-01 -8.66005721e-01 -1.63804236e-03]
 [-1.76040177e-03 -8.75032355e-04  9.99998068e-01]]

 t_estimated:
[[0.59232801]
 [0.80569634]
 [0.00097007]]

 R_gt:
[[ 0.97481374 -0.22086176  0.03094903]
 [ 0.21700524  0.97135872  0.09680789]
 [-0.0514444  -0.08765374  0.99482214]]

 t_gt:
[ 0.60815284 -0.71043927  0.35415557]

Pose Error in degrees for R and t:
162.7026076605179 77.7704537912601

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.69740204 -0.71667903  0.00125068]
 [-0.71665927  0.697394    0.00641074]
 [-0.00546666  0.00357455 -0.99997867]]

 t_estimated:
[[0.99693114]
 [0.07827145]
 [0.00137318]]

 R_gt:
[[ 0.96486773 -0.26175772  0.02265267]
 [ 0.25856906  0.96132515  0.09485352]
 [-0.04660564 -0.08566328  0.99523348]]

 t_gt:
[ 0.63195429 -0.71954222  0.28791106]

Pose Error in degrees for R and t:
175.87351079921123 54.96402561901736

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[-9.95553706e-01 -9.41939451e-02  5.64352021e-04]
 [-9.41921132e-02  9.95550423e-01  2.68359109e-03]
 [-8.14618925e-04  2.61850155e-03 -9.99996240e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99125028 -0.12309796 -0.04765498]
 [ 0.12546081  0.99082508  0.05025064]
 [ 0.04103219 -0.05578965  0.99759835]]

 t_gt:
[ 0.67975608 -0.7193087   0.14327126]

Pose Error in degrees for R and t:
177.6479547592836 47.341025815323185

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99999935e-01 -3.59151289e-04 -2.92849625e-05]
 [ 3.59152206e-04  9.99999935e-01  3.13343878e-05]
 [ 2.92737068e-05 -3.13449036e-05  9.99999999e-01]]

 t_estimated:
[[8.86023703e-01]
 [4.63639945e-01]
 [4.55966677e-06]]

 R_gt:
[[ 0.96021915 -0.27667063 -0.03783828]
 [ 0.2785831   0.95843675  0.061563  ]
 [ 0.01923272 -0.06965505  0.99738491]]

 t_gt:
[ 0.69600939 -0.69544442  0.17868405]

Pose Error in degrees for R and t:
16.639989255479097 72.88768102313674

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.57349651  0.81918789  0.00574033]
 [ 0.81920655  0.57349461  0.00213599]
 [-0.00154227  0.0059275  -0.99998124]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.91150823 -0.40566742 -0.06772901]
 [ 0.41013599  0.90884243  0.07611171]
 [ 0.03067934 -0.09715496  0.99479585]]

 t_gt:
[ 0.74504975 -0.64294072  0.17756154]

Pose Error in degrees for R and t:
175.37547429992892 41.99613279842352

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 1.00000000e+00 -1.11022302e-16 -4.13081028e-16]
 [ 1.66533454e-16  1.00000000e+00 -1.49619900e-17]
 [-6.35776154e-16  1.34332649e-15  1.00000000e+00]]

 t_estimated:
[[-0.78173401]
 [-0.62360934]
 [-0.00182497]]

 R_gt:
[[ 0.98404695 -0.17731711  0.01452116]
 [ 0.17640111  0.98305241  0.04990162]
 [-0.02312421 -0.04654484  0.99864822]]

 t_gt:
[ 0.55935588 -0.78532071  0.26531563]

Pose Error in degrees for R and t:
10.619156333662298 87.02032958537193

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999982e-01  1.13609495e-04  1.50494125e-04]
 [-1.13609222e-04  9.99999994e-01 -1.82032039e-06]
 [-1.50494331e-04  1.80322284e-06  9.99999989e-01]]

 t_estimated:
[[-0.99982635]
 [-0.0182093 ]
 [-0.0039613 ]]

 R_gt:
[[ 0.95012152 -0.29252885 -0.10815069]
 [ 0.30470187  0.94462722  0.12179977]
 [ 0.06653232 -0.14867902  0.98664427]]

 t_gt:
[ 0.62218955 -0.75744359  0.19788728]

Pose Error in degrees for R and t:
19.839136013916118 52.477504199983755

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.99990062 -0.0130807  -0.00525745]
 [ 0.01309607  0.99991004  0.00289926]
 [ 0.00521905 -0.00296783  0.99998198]]

 t_estimated:
[[-0.9824089 ]
 [-0.18420167]
 [-0.03070028]]

 R_gt:
[[ 0.88518818 -0.43308675 -0.16993643]
 [ 0.45938528  0.87139868  0.17212884]
 [ 0.07353477 -0.23043358  0.97030566]]

 t_gt:
[ 0.67801328 -0.68955732  0.25457554]

Pose Error in degrees for R and t:
29.491932527999627 56.84648205220132

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99998371e-01 -1.80514635e-03  8.39296620e-06]
 [ 1.80514455e-03  9.99998349e-01  2.10454615e-04]
 [-8.77285372e-06 -2.10439121e-04  9.99999978e-01]]

 t_estimated:
[[0.00500081]
 [0.99998516]
 [0.0021628 ]]

 R_gt:
[[ 0.99784668  0.0643443  -0.01281423]
 [-0.06329595  0.99553246  0.07006889]
 [ 0.01726558 -0.06910711  0.99745972]]

 t_gt:
[-0.24652109  0.7502298   0.61350028]

Pose Error in degrees for R and t:
5.547086643753977 41.382524345057426

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.06756109e-01  5.90883918e-01 -8.81013960e-04]
 [-5.90884289e-01  8.06753359e-01 -2.18491100e-03]
 [-5.80267800e-04  2.28326761e-03  9.99997225e-01]]

 t_estimated:
[[-0.56776538]
 [ 0.82318683]
 [-0.00243287]]

 R_gt:
[[ 0.99823783  0.03727282 -0.0461864 ]
 [-0.03531178  0.99846996  0.042571  ]
 [ 0.04770312 -0.04086475  0.99802536]]

 t_gt:
[ 0.67551386  0.72825628 -0.11542882]

Pose Error in degrees for R and t:
34.33073205874886 77.5118070933376

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999996e-01 -7.88634591e-05  4.92146381e-05]
 [ 7.88634659e-05  9.99999997e-01 -1.35137139e-07]
 [-4.92146273e-05  1.39018375e-07  9.99999999e-01]]

 t_estimated:
[[-0.69846517]
 [-0.71564059]
 [-0.00222711]]

 R_gt:
[[ 0.99620594  0.07376843 -0.04618583]
 [-0.07229711  0.99684486  0.03277025]
 [ 0.04845823 -0.02930683  0.99839449]]

 t_gt:
[ 0.50802409  0.84126131 -0.18490789]

Pose Error in degrees for R and t:
5.306292842745977 16.968360519542955

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[ 0.99116364 -0.03508176 -0.12792153]
 [ 0.06611718  0.96671257  0.24717469]
 [ 0.11499202 -0.25344838  0.96048985]]

 t_estimated:
[[0.79115481]
 [0.60858062]
 [0.06085806]]

 R_gt:
[[ 0.99959877  0.00957543  0.02663685]
 [-0.01025743  0.99961986  0.02559996]
 [-0.0263825  -0.02586285  0.99931686]]

 t_gt:
[-0.63892996 -0.12985364  0.75822591]

Pose Error in degrees for R and t:
16.015730032604985 57.42693015442626

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.94813063e-01  1.01718048e-01  6.38510912e-04]
 [-1.01718306e-01  9.94813167e-01  3.85626915e-04]
 [-5.95973846e-04 -4.48574941e-04  9.99999722e-01]]

 t_estimated:
[[-0.49356113]
 [ 0.86970858]
 [ 0.002096  ]]

 R_gt:
[[ 0.99501088  0.08566416  0.05112795]
 [-0.08420548  0.99599595 -0.03004296]
 [-0.05349752  0.02558694  0.99823978]]

 t_gt:
[-0.84535992  0.4726822   0.24887375]

Pose Error in degrees for R and t:
3.514095268977387 34.01878403215276

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.62145047e-01 -2.72536955e-01 -7.19386796e-04]
 [ 2.72537189e-01  9.62145218e-01  2.47477830e-04]
 [ 6.24707711e-04 -4.34169223e-04  9.99999711e-01]]

 t_estimated:
[[-0.63732786]
 [-0.77058732]
 [-0.00289694]]

 R_gt:
[[ 0.97560519  0.21424034  0.04790861]
 [-0.21081468  0.97517042 -0.06783251]
 [-0.06125078  0.05607863  0.99654479]]

 t_gt:
[-0.73752031  0.67106708  0.07571506]

Pose Error in degrees for R and t:
28.50705863334273 87.28930598616

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99999827e-01 -5.86065079e-04  4.11004571e-05]
 [ 5.86065098e-04  9.99999828e-01 -4.63037636e-07]
 [-4.11001787e-05  4.87125100e-07  9.99999999e-01]]

 t_estimated:
[[ 9.55348426e-01]
 [ 2.95481609e-01]
 [-6.24422079e-05]]

 R_gt:
[[ 0.9997372  -0.01773173 -0.01458181]
 [ 0.01793891  0.99973733  0.01422588]
 [ 0.01432506 -0.01448426  0.99979296]]

 t_gt:
[ 0.99948078 -0.02357383 -0.0219644 ]

Pose Error in degrees for R and t:
1.5301265528385966 18.578481935312976

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.20595173e-01 -3.90516664e-01  1.12379906e-03]
 [ 3.90516055e-01  9.20595830e-01  7.27780602e-04]
 [-1.31877518e-03 -2.31129732e-04  9.99999104e-01]]

 t_estimated:
[[0.74165364]
 [0.67078229]
 [0.00099819]]

 R_gt:
[[ 0.99827881  0.02099517 -0.05477359]
 [-0.02140366  0.9997471  -0.00690423]
 [ 0.05461371  0.00806416  0.99847522]]

 t_gt:
[ 0.72061645  0.43252508 -0.54188005]

Pose Error in degrees for R and t:
24.41506079081456 34.50901312185227

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99999794e-01 -4.61222881e-05  6.39600691e-04]
 [ 4.63996228e-05  9.99999905e-01 -4.33597961e-04]
 [-6.39580632e-04  4.33627549e-04  9.99999701e-01]]

 t_estimated:
[[-0.7756951 ]
 [-0.63110709]
 [-0.00097695]]

 R_gt:
[[ 0.99812415  0.06114166 -0.00328462]
 [-0.06115129  0.99812429 -0.00290723]
 [ 0.00310008  0.00310244  0.99999114]]

 t_gt:
[ 0.51645019  0.84553844 -0.13543981]

Pose Error in degrees for R and t:
3.5176707192199683 20.91663315693504

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.99805539e-01  1.97197635e-02  1.18940746e-04]
 [-1.97197422e-02  9.99805531e-01 -1.78080082e-04]
 [-1.22429312e-04  1.75699971e-04  9.99999977e-01]]

 t_estimated:
[[ 9.87024348e-01]
 [-1.60567817e-01]
 [-9.55626328e-04]]

 R_gt:
[[ 9.99981470e-01 -4.39970863e-04 -6.04334947e-03]
 [ 4.01434605e-04  9.99979061e-01 -6.44679026e-03]
 [ 6.04662230e-03  6.44472422e-03  9.99960414e-01]]

 t_gt:
[-0.56133683 -0.60566754 -0.563975  ]

Pose Error in degrees for R and t:
1.2602349475567545 62.85374339795627

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.98507742e-01  5.46050463e-02 -7.59888831e-04]
 [-5.46032549e-02  9.98505691e-01  2.20657025e-03]
 [ 8.79243193e-04 -2.16178508e-03  9.99997277e-01]]

 t_estimated:
[[-0.52250833]
 [-0.85263342]
 [-0.00113836]]

 R_gt:
[[ 0.99951334 -0.0103521   0.02941861]
 [ 0.00959725  0.99962479  0.02568196]
 [-0.0296734  -0.02538727  0.99923676]]

 t_gt:
[-0.49595387 -0.56330337  0.66084723]

Pose Error in degrees for R and t:
4.30366478197975 42.38098965563666

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 0.97192475  0.23528877 -0.00121752]
 [ 0.23512126 -0.97100973  0.04310559]
 [ 0.00896003 -0.04218166 -0.99906978]]

 t_estimated:
[[-0.07169797]
 [ 0.99721467]
 [ 0.0205501 ]]

 R_gt:
[[ 0.99879306  0.02863518  0.03990149]
 [-0.02881291  0.99957779  0.00389104]
 [-0.03977329 -0.00503681  0.99919552]]

 t_gt:
[-0.89579745 -0.11121959  0.43032213]

Pose Error in degrees for R and t:
177.55271961757532 87.83142250487906

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-0.76003321 -0.64983731  0.00780969]
 [-0.64982364  0.76007157  0.00452257]
 [-0.00887486 -0.00163762 -0.99995928]]

 t_estimated:
[[0.9299381 ]
 [0.36768377]
 [0.00487627]]

 R_gt:
[[ 0.98176562 -0.17977802 -0.06178416]
 [ 0.18068577  0.98349573  0.00937371]
 [ 0.05907992 -0.02036572  0.99804562]]

 t_gt:
[ 0.66829118 -0.73198248 -0.13262182]

Pose Error in degrees for R and t:
177.5493415499169 69.40960955663914

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.943676    0.33075913  0.00860229]
 [-0.33086715 -0.94347105 -0.01973075]
 [ 0.00158988 -0.02146565  0.99976832]]

 t_estimated:
[[0.74593353]
 [0.66601208]
 [0.00333006]]

 R_gt:
[[ 0.95541709 -0.29160293 -0.04633432]
 [ 0.29279982  0.95593302  0.02141367]
 [ 0.03804856 -0.03402588  0.99869663]]

 t_gt:
[ 0.65158336 -0.75844501  0.01415225]

Pose Error in degrees for R and t:
177.70260836311624 88.90853338787456

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.98097629e-01 -6.15949894e-02  2.67946095e-03]
 [ 6.15974936e-02  9.98100699e-01 -8.62245861e-04]
 [-2.62126183e-03  1.02565363e-03  9.99996039e-01]]

 t_estimated:
[[0.29024154]
 [0.95695246]
 [0.00135684]]

 R_gt:
[[ 0.89122013 -0.41605377 -0.18062634]
 [ 0.44105519  0.88785156  0.13111074]
 [ 0.10582115 -0.19651459  0.97477389]]

 t_gt:
[ 0.6947768  -0.70032942  0.16378005]

Pose Error in degrees for R and t:
25.69836851740486 62.0755670808131

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.99999848e-01  4.04847328e-04  3.75461952e-04]
 [-4.04782727e-04  9.99999903e-01 -1.72116302e-04]
 [-3.75531597e-04  1.71964296e-04  9.99999915e-01]]

 t_estimated:
[[0.88583707]
 [0.46399474]
 [0.00125222]]

 R_gt:
[[ 0.98664495 -0.16283778 -0.00395262]
 [ 0.16287808  0.98608643  0.0332232 ]
 [-0.00151239 -0.03342371  0.99943945]]

 t_gt:
[ 0.61992596 -0.76374357  0.17996545]

Pose Error in degrees for R and t:
9.594124675538897 78.75494033990265

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.75430518e-01 -2.20307060e-01  3.21348413e-04]
 [ 2.20306996e-01  9.75430560e-01  2.23045357e-04]
 [-3.62591530e-04 -1.46769945e-04  9.99999923e-01]]

 t_estimated:
[[0.98739379]
 [0.15827966]
 [0.00102525]]

 R_gt:
[[ 0.95486046 -0.29556901 -0.02967712]
 [ 0.2965122   0.95438479  0.03509005]
 [ 0.01795252 -0.04230564  0.99894342]]

 t_gt:
[ 0.70399738 -0.70155189  0.11051079]

Pose Error in degrees for R and t:
5.216309609367004 54.2538911161021

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999995e-01  1.01312491e-04 -9.12955681e-07]
 [-1.01312201e-04  9.99999946e-01  3.12181137e-04]
 [ 9.44583481e-07 -3.12181043e-04  9.99999951e-01]]

 t_estimated:
[[8.10699677e-01]
 [5.85461740e-01]
 [7.65123544e-04]]

 R_gt:
[[ 0.92959843 -0.36681123 -0.03598548]
 [ 0.36835841  0.92129505  0.12460951]
 [-0.01255484 -0.12909202  0.99155269]]

 t_gt:
[ 0.63152525 -0.70364316  0.32567187]

Pose Error in degrees for R and t:
22.89410915743136 84.24526175591645

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.8105289  -0.58569672 -0.00150056]
 [ 0.58566624  0.81050834 -0.00844326]
 [ 0.0061614   0.00596468  0.99996323]]

 t_estimated:
[[-0.08662454]
 [-0.99618218]
 [-0.01082807]]

 R_gt:
[[ 0.99295491 -0.09073732  0.07620192]
 [ 0.07538084  0.97992097  0.18458999]
 [-0.09142081 -0.17754613  0.97985689]]

 t_gt:
[ 0.27750397 -0.46155429  0.84259076]

Pose Error in degrees for R and t:
33.2343893026847 64.74612675476853

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-0.68210889 -0.73118408 -0.00986432]
 [ 0.73088834 -0.6821335   0.0222737 ]
 [-0.02301496  0.00798337  0.99970324]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.97508957 -0.21467814  0.05579506]
 [ 0.18917367  0.93621611  0.29616557]
 [-0.11581616 -0.27823313  0.95350603]]

 t_gt:
[ 0.45849763 -0.53055352  0.71294662]

Pose Error in degrees for R and t:
121.6276555524779 78.87366481665907

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-0.63427348  0.77310211  0.00320678]
 [ 0.77310162  0.63428    -0.00166689]
 [-0.00332267  0.00142191 -0.99999347]]

 t_estimated:
[[-0.01221525]
 [-0.99992132]
 [ 0.00285427]]

 R_gt:
[[ 0.93955172 -0.33830518  0.05283188]
 [ 0.30566035  0.89821671  0.31587918]
 [-0.15431776 -0.28063613  0.9473284 ]]

 t_gt:
[ 0.57263765 -0.55961419  0.59909772]

Pose Error in degrees for R and t:
178.20208442961624 56.33850230223699

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 3.22384369e-01 -9.46607679e-01 -1.49035696e-03]
 [ 9.46608771e-01  3.22384592e-01  9.44472604e-05]
 [ 3.91063619e-04 -1.44123329e-03  9.99998885e-01]]

 t_estimated:
[[ 9.89824181e-01]
 [-1.42295192e-01]
 [ 4.10568309e-04]]

 R_gt:
[[ 0.97893088 -0.20416824  0.00320802]
 [ 0.20400275  0.97857557  0.02782004]
 [-0.00881929 -0.02657908  0.9996072 ]]

 t_gt:
[ 0.69336452 -0.70723175  0.13809014]

Pose Error in degrees for R and t:
59.43315499528477 38.09384127695514

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-0.24250905 -0.9701458  -0.00254855]
 [ 0.97014705 -0.24251314  0.00143856]
 [-0.00201367 -0.0021236   0.99999572]]

 t_estimated:
[[0.99993858]
 [0.01101524]
 [0.00122392]]

 R_gt:
[[ 0.9600699  -0.27975738 -0.00100782]
 [ 0.27970795  0.95982055  0.02253057]
 [-0.00533612 -0.02191226  0.999745  ]]

 t_gt:
[ 0.70610775 -0.70257046  0.08835499]

Pose Error in degrees for R and t:
87.7935230661645 45.69853865962526

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.11437516 -0.99342944 -0.00403344]
 [-0.99343477 -0.11438363  0.00193417]
 [-0.00238283  0.00378574 -0.99999   ]]

 t_estimated:
[[0.57497673]
 [0.8181693 ]
 [0.00086854]]

 R_gt:
[[ 0.92988845 -0.36653453  0.03097253]
 [ 0.36497919  0.92986089  0.04637006]
 [-0.04579666 -0.03181517  0.99844365]]

 t_gt:
[ 0.70007485 -0.69617288  0.1588664 ]

Pose Error in degrees for R and t:
176.83106473566806 80.39106263602713

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999987e-01  1.61104550e-04 -1.32445389e-05]
 [-1.61106198e-04  9.99999979e-01 -1.24518241e-04]
 [ 1.32244781e-05  1.24520373e-04  9.99999992e-01]]

 t_estimated:
[[-0.76807495]
 [-0.64035945]
 [-0.00080439]]

 R_gt:
[[ 0.99494963  0.09670478 -0.02689145]
 [-0.09825382  0.99310694 -0.06392294]
 [ 0.02052467  0.0662421   0.99759228]]

 t_gt:
[-0.45994823  0.69255339 -0.55571344]

Pose Error in degrees for R and t:
6.856376410883011 84.85012061922738

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.13288467 -0.82846845  0.544042  ]
 [-0.99085507 -0.12400835  0.05318053]
 [ 0.02340736 -0.54613365 -0.83737097]]

 t_estimated:
[[0.75482941]
 [0.64699664]
 [0.10783277]]

 R_gt:
[[ 9.96347498e-01  8.46634892e-02 -1.10595384e-02]
 [-8.53802768e-02  9.86898037e-01 -1.36903749e-01]
 [-6.75992680e-04  1.37348350e-01  9.90521885e-01]]

 t_gt:
[-0.25347465  0.60748319 -0.7528046 ]

Pose Error in degrees for R and t:
161.19870493911264 83.07716700745516

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.15263689 -0.98827833 -0.00281618]
 [-0.98828017  0.15262996  0.00253115]
 [-0.00207165  0.00316952 -0.99999283]]

 t_estimated:
[[8.06327416e-01]
 [5.91469098e-01]
 [6.36326816e-04]]

 R_gt:
[[ 0.98971163  0.13993689 -0.02980837]
 [-0.14305606  0.97135909 -0.18972862]
 [ 0.00240535  0.19204113  0.98138356]]

 t_gt:
[-0.26226758  0.63964354 -0.7225454 ]

Pose Error in degrees for R and t:
172.07405643881984 80.42165529925919

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-1.97560314e-01  9.80290701e-01 -2.52342839e-04]
 [-9.80287025e-01 -1.97560268e-01 -2.69992938e-03]
 [-2.69656859e-03 -2.86030485e-04  9.99996323e-01]]

 t_estimated:
[[0.28490715]
 [0.95855428]
 [0.00126625]]

 R_gt:
[[ 0.99408115 -0.09546406 -0.05186819]
 [ 0.09246773  0.99406082 -0.05739069]
 [ 0.05703855  0.05225522  0.99700385]]

 t_gt:
[ 0.88692237 -0.04107844 -0.46008833]

Pose Error in degrees for R and t:
106.85813233100087 77.71749591513851

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 5.66579107e-02  9.98393434e-01  6.57907884e-04]
 [-9.98391945e-01  5.66590195e-02 -1.81079162e-03]
 [-1.84515888e-03 -5.54254263e-04  9.99998144e-01]]

 t_estimated:
[[0.31035342]
 [0.95062035]
 [0.00130401]]

 R_gt:
[[ 0.9932739  -0.06502269 -0.09580632]
 [ 0.0527875   0.99073581 -0.12512724]
 [ 0.10305455  0.11922871  0.98750443]]

 t_gt:
[ 0.58828876  0.07143774 -0.80548928]

Pose Error in degrees for R and t:
90.50993875283353 75.55578651743927

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-9.93040758e-01  1.17769266e-01 -6.72375858e-04]
 [ 1.17766199e-01  9.93035066e-01  3.53270805e-03]
 [ 1.08373724e-03  3.42893994e-03 -9.99993534e-01]]

 t_estimated:
[[9.97415461e-01]
 [7.18437704e-02]
 [9.33035979e-04]]

 R_gt:
[[ 0.97808513  0.13286249 -0.16030364]
 [-0.14623396  0.98642784 -0.07467403]
 [ 0.14820641  0.09648035  0.98423872]]

 t_gt:
[-0.61875859  0.18876182 -0.76256592]

Pose Error in degrees for R and t:
171.33880193348242 52.82082780880828

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 1.00000000e+00  7.32986847e-06  2.43061053e-05]
 [-7.33284216e-06  9.99999992e-01  1.22345294e-04]
 [-2.43052083e-05 -1.22345472e-04  9.99999992e-01]]

 t_estimated:
[[ 9.92656130e-01]
 [-1.20969633e-01]
 [ 3.93529928e-04]]

 R_gt:
[[ 0.9998585  -0.01676209 -0.00176505]
 [ 0.01675807  0.99985866 -0.00192961]
 [ 0.00179799  0.00189957  0.99999641]]

 t_gt:
[ 0.87681113  0.35055962 -0.32910515]

Pose Error in degrees for R and t:
0.9710773209317943 34.12298491523577

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99833389e-01 -1.82535988e-02 -1.91772882e-05]
 [ 1.82536023e-02  9.99833369e-01  2.02434249e-04]
 [ 1.54789391e-05 -2.02750576e-04  9.99999979e-01]]

 t_estimated:
[[ 0.59768541]
 [-0.80172888]
 [-0.00171981]]

 R_gt:
[[ 9.97944545e-01  6.40806396e-02  1.56301714e-03]
 [-6.40998931e-02  9.97672003e-01  2.33024184e-02]
 [-6.59430730e-05 -2.33548227e-02  9.99727194e-01]]

 t_gt:
[-0.54489502  0.81460129  0.19878169]

Pose Error in degrees for R and t:
4.903258216428686 11.73266321950412

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99999633e-01  8.36861107e-04  1.82522870e-04]
 [-8.36836545e-04  9.99999641e-01 -1.34604987e-04]
 [-1.82635451e-04  1.34452196e-04  9.99999974e-01]]

 t_estimated:
[[-9.99997873e-01]
 [-1.99455322e-03]
 [-5.25664664e-04]]

 R_gt:
[[ 0.98825531  0.15246447  0.01032407]
 [-0.15259432  0.98820039  0.01327406]
 [-0.00817906 -0.01469399  0.99985816]]

 t_gt:
[-0.6122577   0.78635777  0.08235267]

Pose Error in degrees for R and t:
8.779141530160814 52.36386815702072

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-8.42050819e-01 -5.39397977e-01  4.90538753e-04]
 [ 5.39379800e-01 -8.42029258e-01 -7.49396068e-03]
 [ 4.45527522e-03 -6.04570903e-03  9.99971800e-01]]

 t_estimated:
[[9.11376316e-01]
 [4.11573958e-01]
 [2.95941407e-04]]

 R_gt:
[[ 0.99871415  0.04907328  0.01270207]
 [-0.04820213  0.99693586 -0.06159675]
 [-0.01568619  0.06090542  0.99801961]]

 t_gt:
[-0.46250559  0.57006316 -0.67905565]

Pose Error in degrees for R and t:
150.16165433211617 79.2167322130021

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99960110e-01 -8.93180581e-03  2.89550228e-05]
 [ 8.93181172e-03  9.99960088e-01 -2.10907812e-04]
 [-2.70700795e-05  2.11158020e-04  9.99999977e-01]]

 t_estimated:
[[ 7.40474999e-01]
 [-6.72083897e-01]
 [-1.03650496e-04]]

 R_gt:
[[ 0.99341164  0.11448614 -0.00520888]
 [-0.11435334  0.98719684 -0.11120021]
 [-0.00758845  0.11106386  0.99378355]]

 t_gt:
[-0.43432875  0.65575764 -0.61752769]

Pose Error in degrees for R and t:
9.544195915980989 40.33529740476981

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.19785866  0.98022996  0.00108272]
 [ 0.98022862  0.19785594  0.00220952]
 [ 0.00195162  0.00149848 -0.99999697]]

 t_estimated:
[[-0.80295842]
 [-0.59603333]
 [-0.00142783]]

 R_gt:
[[ 0.92892381  0.36512957 -0.06149412]
 [-0.36980773  0.92318558 -0.10474024]
 [ 0.01852687  0.1200364   0.99259622]]

 t_gt:
[-0.4699718   0.83295475 -0.29208372]

Pose Error in degrees for R and t:
177.70674739999814 83.18384555847493

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-0.5034963   0.86324095  0.03614612]
 [ 0.86323303  0.50436983 -0.02097165]
 [-0.0363346   0.02064338 -0.99912644]]

 t_estimated:
[[ 0.8712691 ]
 [-0.49040524]
 [ 0.01982056]]

 R_gt:
[[ 0.99781379 -0.03258837 -0.05749432]
 [ 0.0343831   0.9989434   0.03051373]
 [ 0.05643778 -0.03242426  0.99787939]]

 t_gt:
[ 0.46834497 -0.70743567 -0.52932764]

Pose Error in degrees for R and t:
178.6629197674753 41.88442190237586

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.53709265  0.84340765  0.01396494]
 [ 0.84339733 -0.53665281 -0.02616691]
 [-0.01457505  0.02583205 -0.99956004]]

 t_estimated:
[[-0.41967751]
 [ 0.90753713]
 [-0.01572099]]

 R_gt:
[[ 0.99535053 -0.06400074 -0.0719861 ]
 [ 0.06674518  0.99710702  0.03639384]
 [ 0.06944761 -0.04102933  0.99674085]]

 t_gt:
[ 0.53827827 -0.74845874 -0.38738355]

Pose Error in degrees for R and t:
177.79776183333846 25.964258667049524

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.37760311 -0.82100306  0.42821707]
 [-0.92341112  0.36821515 -0.10830287]
 [-0.06875903 -0.43631591 -0.89716254]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.99164739 -0.10129664 -0.07984406]
 [ 0.10299593  0.994529    0.01745525]
 [ 0.0776376  -0.02553323  0.99665377]]

 t_gt:
[ 0.56062868 -0.72803468 -0.39453896]

Pose Error in degrees for R and t:
166.48658038275124 86.22031097885422

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.69707493e-01 -2.44268919e-01 -2.71341332e-04]
 [ 2.44268969e-01  9.69707503e-01  1.70869467e-04]
 [ 2.21383626e-04 -2.31973670e-04  9.99999949e-01]]

 t_estimated:
[[0.93951645]
 [0.34250247]
 [0.00094614]]

 R_gt:
[[ 0.99907849 -0.04220342  0.00791329]
 [ 0.04181768  0.99815924  0.04391577]
 [-0.0097519  -0.04354423  0.99900329]]

 t_gt:
[ 0.40111371 -0.54232646  0.73823424]

Pose Error in degrees for R and t:
12.002552491331487 78.94196160003648

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.70324592e-01 -2.41805534e-01 -5.18922699e-04]
 [ 2.41805442e-01  9.70324726e-01 -2.34240744e-04]
 [ 5.60164234e-04  1.01811221e-04  9.99999838e-01]]

 t_estimated:
[[ 0.99997308]
 [-0.00722825]
 [-0.00125926]]

 R_gt:
[[ 0.98599043 -0.16199266 -0.03977602]
 [ 0.16482539  0.98281178  0.08314994]
 [ 0.02562387 -0.08854095  0.99574226]]

 t_gt:
[ 0.64691876 -0.68614686  0.33271399]

Pose Error in degrees for R and t:
6.985875318680412 49.34958809703333

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.87980022e-01  1.54580451e-01 -6.00297350e-04]
 [-1.54578846e-01  9.87978116e-01  2.15007120e-03]
 [ 9.25439621e-04 -2.03143412e-03  9.99997508e-01]]

 t_estimated:
[[0.81766994]
 [0.57568647]
 [0.00097574]]

 R_gt:
[[ 0.9507382  -0.30806591 -0.03452502]
 [ 0.30997121  0.94612633  0.09360294]
 [ 0.00382996 -0.09969343  0.99501041]]

 t_gt:
[ 0.68679616 -0.66912312  0.28387547]

Pose Error in degrees for R and t:
27.503672940251867 79.82563173673829

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99236655e-01  3.90652674e-02 -1.10371266e-04]
 [-3.90653656e-02  9.99236046e-01 -1.10503414e-03]
 [ 6.71184931e-05  1.10850231e-03  9.99999383e-01]]

 t_estimated:
[[ 0.43088324]
 [ 0.90240145]
 [-0.0033549 ]]

 R_gt:
[[ 0.99586992 -0.06435683 -0.06403147]
 [ 0.06541923  0.99775073  0.01462474]
 [ 0.06294705 -0.01875258  0.99784108]]

 t_gt:
[ 0.54768258 -0.69993547 -0.45840389]

Pose Error in degrees for R and t:
7.058296120306985 66.79029227083188

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99638746e-01  2.68770310e-02  4.66980499e-05]
 [-2.68770252e-02  9.99638740e-01 -1.20935828e-04]
 [-4.99315758e-05  1.19637035e-04  9.99999992e-01]]

 t_estimated:
[[-0.76230287]
 [-0.64721951]
 [-0.00111425]]

 R_gt:
[[ 0.99979577 -0.00906592  0.01807563]
 [ 0.00952358  0.99963238 -0.02540377]
 [-0.0178386   0.02557128  0.9995136 ]]

 t_gt:
[ 0.0205296  -0.99966198 -0.01595209]

Pose Error in degrees for R and t:
2.731484426785582 50.84882217157473

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99105843e-01  4.22789918e-02 -4.62074852e-05]
 [-4.22789953e-02  9.99105841e-01 -7.57500906e-05]
 [ 4.29635309e-05  7.76359642e-05  9.99999996e-01]]

 t_estimated:
[[-5.29513816e-01]
 [-8.48301194e-01]
 [-4.51202019e-04]]

 R_gt:
[[ 0.98765765  0.06453667  0.14270959]
 [-0.05684756  0.99673602 -0.05731756]
 [-0.14594291  0.04849801  0.98810413]]

 t_gt:
[-0.41820834  0.49297706  0.76293866]

Pose Error in degrees for R and t:
8.912776436472893 78.63314813586992

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999887e-01 -4.74531256e-04 -3.67691631e-05]
 [ 4.74528200e-04  9.99999884e-01 -8.30728137e-05]
 [ 3.68085795e-05  8.30553563e-05  9.99999996e-01]]

 t_estimated:
[[9.33782435e-01]
 [3.57840908e-01]
 [4.98357607e-04]]

 R_gt:
[[ 0.99266065 -0.1123387  -0.04477743]
 [ 0.11413439  0.99266815  0.03979892]
 [ 0.03997885 -0.04461642  0.99820417]]

 t_gt:
[ 0.64681365 -0.76131001  0.04515721]

Pose Error in degrees for R and t:
7.334320239761486 70.63542684975258

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999897e-01  3.20922392e-04  3.21031381e-04]
 [-3.20962832e-04  9.99999941e-01  1.25925400e-04]
 [-3.20990950e-04 -1.26028426e-04  9.99999941e-01]]

 t_estimated:
[[0.86734713]
 [0.49770286]
 [0.00090822]]

 R_gt:
[[ 0.97645153 -0.19168818 -0.09898205]
 [ 0.19509143  0.98044518  0.0258439 ]
 [ 0.09209413 -0.04454541  0.99475392]]

 t_gt:
[ 0.74243354 -0.65746854 -0.12855955]

Pose Error in degrees for R and t:
12.64715223895508 71.54215390760595

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.41712558e-01 -3.36414984e-01  1.55459835e-03]
 [-3.36417229e-01 -9.41711810e-01  1.52178885e-03]
 [ 9.52031053e-04 -1.95608134e-03 -9.99997634e-01]]

 t_estimated:
[[0.28984487]
 [0.95707166]
 [0.00194527]]

 R_gt:
[[ 0.92219005 -0.34785525 -0.16900397]
 [ 0.3503279   0.93649145 -0.01594495]
 [ 0.16381796 -0.04450202  0.9854861 ]]

 t_gt:
[ 0.8024844  -0.56371809 -0.19555228]

Pose Error in degrees for R and t:
179.24745685664303 72.10322684149892

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99139912e-01  4.14659447e-02 -1.06397298e-04]
 [-4.14659459e-02  9.99139918e-01 -8.84327448e-06]
 [ 1.05939093e-04  1.32475331e-05  9.99999994e-01]]

 t_estimated:
[[-5.34568776e-01]
 [-8.45124805e-01]
 [-5.35780508e-04]]

 R_gt:
[[ 0.98921745  0.06443999  0.13151514]
 [-0.05804554  0.99696407 -0.05189378]
 [-0.13445974  0.0437      0.98995509]]

 t_gt:
[-0.42309147  0.5330409   0.73270799]

Pose Error in degrees for R and t:
8.21452091384407 77.01434066261467

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.0483156   0.99879543  0.00856051]
 [-0.99882322 -0.04827722 -0.00463553]
 [-0.00421667 -0.0087744   0.99995261]]

 t_estimated:
[[0.1095374 ]
 [0.99395374]
 [0.00758392]]

 R_gt:
[[ 0.95799993  0.16771115  0.23261428]
 [-0.1487776   0.98412093 -0.09680836]
 [-0.24515642  0.05813472  0.96773896]]

 t_gt:
[-0.37235007  0.62638888  0.6848302 ]

Pose Error in degrees for R and t:
84.46316060949675 54.05495540542644

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.68957595 -0.59908455 -0.40691856]
 [ 0.34570799 -0.76602575  0.54193222]
 [-0.63637331  0.23302843  0.73534125]]

 t_estimated:
[[0.84515425]
 [0.50709255]
 [0.16903085]]

 R_gt:
[[ 0.91202122  0.33350558  0.23872864]
 [-0.30854532  0.94138325 -0.13637445]
 [-0.2702168   0.05071785  0.96146266]]

 t_gt:
[-0.32585604  0.80653538  0.49327328]

Pose Error in degrees for R and t:
165.55378876922816 77.46899668161686

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 8.45771377e-02 -9.96416634e-01 -7.74436751e-04]
 [-9.96416893e-01 -8.45768839e-02 -3.54844776e-04]
 [ 2.88073790e-04  8.01673617e-04 -9.99999637e-01]]

 t_estimated:
[[0.71450061]
 [0.69963432]
 [0.00082834]]

 R_gt:
[[ 0.99619649 -0.08553847 -0.01656807]
 [ 0.08513844  0.99609142 -0.0235158 ]
 [ 0.01851464  0.0220157   0.999586  ]]

 t_gt:
[ 0.46075024 -0.80300206 -0.37801706]

Pose Error in degrees for R and t:
178.3136131289538 76.5312726199043

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-1.52298108e-01 -9.88333861e-01  1.21082611e-03]
 [-9.88334594e-01  1.52298155e-01 -5.45250329e-05]
 [-1.30517645e-04 -1.20500539e-03 -9.99999265e-01]]

 t_estimated:
[[0.81368557]
 [0.58130281]
 [0.00168172]]

 R_gt:
[[ 0.97917996 -0.19484316 -0.05695054]
 [ 0.19558803  0.98065559  0.00775365]
 [ 0.05433793 -0.01873104  0.99834627]]

 t_gt:
[ 0.6071136  -0.782424   -0.13865699]

Pose Error in degrees for R and t:
178.10913965711993 87.7682738009928

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.99990386e-01  4.35095827e-03  5.44291579e-04]
 [-4.35151391e-03  9.99990008e-01  1.02386819e-03]
 [-5.39831333e-04 -1.02622684e-03  9.99999328e-01]]

 t_estimated:
[[0.94351127]
 [0.33133757]
 [0.0013755 ]]

 R_gt:
[[ 0.95249112 -0.28958856 -0.09433541]
 [ 0.29224966  0.95621732  0.01543453]
 [ 0.08573463 -0.04227065  0.99542022]]

 t_gt:
[ 0.7022874  -0.70510575 -0.09807283]

Pose Error in degrees for R and t:
18.053130546566692 64.60519941009784

Number of keypoints:
Image1: 420
Image2: 420

 R_estimated:
[[ 6.87176599e-01 -7.26488897e-01 -1.48452665e-03]
 [ 7.26490359e-01  6.87175908e-01  1.01517936e-03]
 [ 2.82614418e-04 -1.77610180e-03  9.99998383e-01]]

 t_estimated:
[[-0.495188  ]
 [-0.86878529]
 [-0.00098057]]

 R_gt:
[[ 0.99638648 -0.06340624 -0.05649938]
 [ 0.06461517  0.99771265  0.01983853]
 [ 0.05511315 -0.02341696  0.99820545]]

 t_gt:
[ 0.51054122 -0.75069809 -0.41928515]

Pose Error in degrees for R and t:
43.04360865875711 66.43477948228313

Number of keypoints:
Image1: 381
Image2: 381

 R_estimated:
[[ 0.46569488  0.88488558  0.01028505]
 [ 0.88488237 -0.46549162 -0.01734185]
 [-0.01055794  0.01717707 -0.99979672]]

 t_estimated:
[[ 0.41642438]
 [-0.90910827]
 [ 0.01062447]]

 R_gt:
[[ 0.99132436 -0.08551129 -0.09981569]
 [ 0.09097007  0.99452126  0.051492  ]
 [ 0.09486585 -0.06012568  0.99367279]]

 t_gt:
[ 0.52820885 -0.75583145 -0.38692923]

Pose Error in degrees for R and t:
175.51705035481336 25.447317263244873

Number of keypoints:
Image1: 401
Image2: 401

 R_estimated:
[[ 9.92188509e-01  1.24747479e-01  1.68989700e-04]
 [-1.24747454e-01  9.92188515e-01 -1.52115375e-04]
 [-1.86645649e-04  1.29846092e-04  9.99999974e-01]]

 t_estimated:
[[ 9.92003547e-01]
 [-1.26207830e-01]
 [ 7.38993191e-04]]

 R_gt:
[[ 0.98781393 -0.11528531 -0.10456147]
 [ 0.11976576  0.99208963  0.03762069]
 [ 0.09939679 -0.04968414  0.99380636]]

 t_gt:
[ 0.55728468 -0.74369773 -0.36925259]

Pose Error in degrees for R and t:
15.326181189942833 49.72807615951818

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-7.64845423e-01  6.44211883e-01 -1.59026002e-03]
 [ 6.44211163e-01  7.64847032e-01  9.97697441e-04]
 [ 1.85903420e-03 -2.61378936e-04 -9.99998238e-01]]

 t_estimated:
[[0.99631578]
 [0.08575311]
 [0.00112833]]

 R_gt:
[[ 0.99706703  0.06288604 -0.04362566]
 [-0.0653343   0.99622513 -0.05716407]
 [ 0.03986644  0.05984693  0.99741102]]

 t_gt:
[-0.61251948  0.19936038 -0.76490217]

Pose Error in degrees for R and t:
178.79529874055055 53.55647851720553

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-5.95544984e-03 -9.99982230e-01 -2.69497023e-04]
 [ 9.99982046e-01 -5.95526965e-03 -6.64576507e-04]
 [ 6.62959770e-04 -2.73450037e-04  9.99999743e-01]]

 t_estimated:
[[9.99981637e-01]
 [6.02434082e-03]
 [6.57838626e-04]]

 R_gt:
[[ 0.94992101  0.29714656 -0.09671818]
 [-0.3005496   0.95350289 -0.0224175 ]
 [ 0.08556084  0.05036456  0.99505887]]

 t_gt:
[-0.93510828  0.27445542 -0.22415782]

Pose Error in degrees for R and t:
107.87487297982321 20.999244011619957

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 0.89425234  0.41961581  0.15567701]
 [-0.38935946  0.55785282  0.73293891]
 [ 0.22070789 -0.71604665  0.66224257]]

 t_estimated:
[[0.77164341]
 [0.61704628]
 [0.15433838]]

 R_gt:
[[ 0.82249753  0.56449954 -0.06955206]
 [-0.56609931  0.8243271  -0.00406923]
 [ 0.05503719  0.04272099  0.99756993]]

 t_gt:
[-0.89468043  0.4375366  -0.09004806]

Pose Error in degrees for R and t:
50.169296172308826 64.25976159495347

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.99470402  0.10277188 -0.00136168]
 [ 0.10270391 -0.99335891  0.05186502]
 [ 0.00397763 -0.05173019 -0.99865318]]

 t_estimated:
[[-0.12885128]
 [ 0.99128091]
 [ 0.02755904]]

 R_gt:
[[ 0.99401977  0.1068274  -0.02265477]
 [-0.10753341  0.99366456 -0.03268226]
 [ 0.01901965  0.03492424  0.99920864]]

 t_gt:
[-0.56510875  0.7599824  -0.32105896]

Pose Error in degrees for R and t:
178.9029778986576 35.18229818558398

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.57226176e-01 -2.89340468e-01 -3.77478521e-04]
 [ 2.89340454e-01  9.57226250e-01 -9.22373454e-05]
 [ 3.88020345e-04 -2.09278052e-05  9.99999925e-01]]

 t_estimated:
[[-0.43363597]
 [-0.90108759]
 [-0.00099458]]

 R_gt:
[[ 9.16725196e-01  3.92753055e-01 -7.32096375e-02]
 [-3.93802917e-01  9.19194465e-01  1.03593735e-04]
 [ 6.73337183e-02  2.87358466e-02  9.97316430e-01]]

 t_gt:
[-0.47009275  0.86665929 -0.16707628]

Pose Error in degrees for R and t:
40.21839781409905 54.76575324189332

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 0.99987952 -0.01548185 -0.00112363]
 [ 0.01548344  0.99987911  0.00142245]
 [ 0.00110147 -0.00143968  0.99999836]]

 t_estimated:
[[-0.63886784]
 [ 0.76931523]
 [ 0.00139827]]

 R_gt:
[[ 0.82001131  0.56664436 -0.08059773]
 [-0.56580861  0.82379092  0.0350729 ]
 [ 0.08626896  0.01684261  0.99612905]]

 t_gt:
[-0.39132614  0.91341012 -0.11200808]

Pose Error in degrees for R and t:
35.78621197153518 17.7211121244017

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[-0.04517767 -0.99709277 -0.06135941]
 [-0.99710132  0.04877174 -0.05839754]
 [ 0.06122037  0.05854328 -0.99640592]]

 t_estimated:
[[ 0.7306841 ]
 [ 0.68159172]
 [-0.03915954]]

 R_gt:
[[ 0.99861713  0.03137946  0.04218079]
 [-0.0320768   0.99935843  0.01596276]
 [-0.04165317 -0.01729361  0.99898296]]

 t_gt:
[0.36209288 0.11471634 0.92505616]

Pose Error in degrees for R and t:
177.53842443877429 72.14913495317964

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-8.79057546e-03 -9.99956066e-01 -3.25453997e-03]
 [ 9.99960868e-01 -8.78728826e-03 -1.02296308e-03]
 [ 9.94319552e-04 -3.26340505e-03  9.99994181e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99242517  0.11531188  0.04236895]
 [-0.11771979  0.99125837  0.05957334]
 [-0.03512919 -0.06410972  0.99732406]]

 t_gt:
[-0.00694497  0.36921081  0.92931972]

Pose Error in degrees for R and t:
97.27208755696094 89.70895308740342

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999533e-01  3.73637318e-04 -8.91742095e-04]
 [-3.71989225e-04  9.99998224e-01  1.84762314e-03]
 [ 8.92430852e-04 -1.84729056e-03  9.99997896e-01]]

 t_estimated:
[[-0.70995773]
 [-0.70424363]
 [-0.00096256]]

 R_gt:
[[ 0.98148547  0.18000416  0.06545056]
 [-0.1843289   0.98054836  0.06743571]
 [-0.05203918 -0.0782513   0.99557455]]

 t_gt:
[-0.07747348  0.5308978   0.84388707]

Pose Error in degrees for R and t:
11.776235103393462 71.35577411649928

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999847e-01 -1.17344613e-04  5.41456342e-04]
 [ 1.17685745e-04  9.99999795e-01 -6.30037909e-04]
 [-5.41382299e-04  6.30101534e-04  9.99999655e-01]]

 t_estimated:
[[8.18634951e-01]
 [5.74313667e-01]
 [7.93250921e-04]]

 R_gt:
[[ 0.90227528 -0.43078893 -0.01788437]
 [ 0.43062352  0.90244504 -0.01245034]
 [ 0.02150241  0.0035327   0.99976191]]

 t_gt:
[ 0.90403326 -0.42578519 -0.03782631]

Pose Error in degrees for R and t:
25.53983277180181 60.29668211933918

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99849022e-01 -1.73676159e-02  5.47819531e-04]
 [ 1.73677253e-02  9.99849151e-01 -1.95551787e-04]
 [-5.44340624e-04  2.05036642e-04  9.99999831e-01]]

 t_estimated:
[[0.99453925]
 [0.10435799]
 [0.00104685]]

 R_gt:
[[ 0.78917707 -0.61410487  0.00858644]
 [ 0.6135354   0.78892516  0.03422082]
 [-0.02778968 -0.02173832  0.99937687]]

 t_gt:
[ 0.93652453 -0.34704321  0.04982784]

Pose Error in degrees for R and t:
36.93808719182512 26.45997642219048

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 8.62081448e-01 -5.06763343e-01  2.54760555e-03]
 [-5.06766290e-01 -8.62083242e-01  6.40415891e-04]
 [ 1.87170876e-03 -1.84313127e-03 -9.99996550e-01]]

 t_estimated:
[[0.75451387]
 [0.65628077]
 [0.00209007]]

 R_gt:
[[ 0.64477868 -0.76353624 -0.03566894]
 [ 0.76419064  0.64493473  0.00848118]
 [ 0.0165286  -0.03272614  0.99932704]]

 t_gt:
[ 0.9717921  -0.23511444  0.01847484]

Pose Error in degrees for R and t:
179.16445289860113 54.621999700253056

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999797e-01  9.65154514e-05 -6.30282232e-04]
 [-9.61614685e-05  9.99999838e-01  5.61632195e-04]
 [ 6.30336336e-04 -5.61571472e-04  9.99999644e-01]]

 t_estimated:
[[-0.75586843]
 [-0.65472191]
 [-0.0014591 ]]

 R_gt:
[[ 0.98300763  0.16718261 -0.07580835]
 [-0.16403855  0.98538074  0.04599738]
 [ 0.08239083 -0.03278058  0.99605985]]

 t_gt:
[-0.1504566   0.97573436 -0.15907631]

Pose Error in degrees for R and t:
10.79252712064577 58.34002581994018

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999538e-01 -9.13141069e-04 -2.99126888e-04]
 [ 9.13192025e-04  9.99999569e-01  1.70256133e-04]
 [ 2.98971291e-04 -1.70529215e-04  9.99999941e-01]]

 t_estimated:
[[-0.98474266]
 [ 0.17400891]
 [-0.00167217]]

 R_gt:
[[ 0.93254896  0.34897773 -0.0925553 ]
 [-0.34300075  0.93636654  0.07461986]
 [ 0.1127068  -0.03784084  0.99290751]]

 t_gt:
[-0.17641201  0.97499643 -0.13513238]

Pose Error in degrees for R and t:
21.465923666468687 69.90336992806037

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.40897966 -0.78668881  0.46244605]
 [-0.90903519  0.39561346 -0.13093899]
 [-0.07994165 -0.47393112 -0.87692567]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.93693816  0.34864693 -0.02433579]
 [-0.3470065   0.93630351  0.05405561]
 [ 0.0416321  -0.04220274  0.99824121]]

 t_gt:
[-0.12186182  0.99164602  0.04228316]

Pose Error in degrees for R and t:
157.5669520900694 58.36115631089593

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999906e-01 -4.30253423e-04 -4.82459291e-05]
 [ 4.30254612e-04  9.99999907e-01  2.46300945e-05]
 [ 4.82353275e-05 -2.46508502e-05  9.99999999e-01]]

 t_estimated:
[[-9.99999247e-01]
 [ 1.03358808e-04]
 [-1.22275466e-03]]

 R_gt:
[[ 0.98387335  0.17685214 -0.02677951]
 [-0.17604944  0.98392814  0.02983936]
 [ 0.0316267  -0.02464323  0.99919554]]

 t_gt:
[-0.32438399  0.9455769  -0.02567797]

Pose Error in degrees for R and t:
10.446519495263992 71.06393450017339

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.94402187e-01  1.05661205e-01  1.43430900e-05]
 [-1.05661203e-01  9.94402182e-01 -1.06837165e-04]
 [-2.55513435e-05  1.04723602e-04  9.99999994e-01]]

 t_estimated:
[[-9.84053317e-01]
 [ 1.77871784e-01]
 [-8.35080797e-04]]

 R_gt:
[[ 0.96936533  0.24555021  0.00605504]
 [-0.24538312  0.96921063 -0.02042435]
 [-0.01088409  0.01831264  0.9997732 ]]

 t_gt:
[-0.17999202  0.98352071 -0.01702571]

Pose Error in degrees for R and t:
8.235681046647672 69.38562104988846

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999943e-01  3.37556881e-04 -1.28727754e-05]
 [-3.37555870e-04  9.99999940e-01  7.84653447e-05]
 [ 1.28992612e-05 -7.84609949e-05  9.99999997e-01]]

 t_estimated:
[[-9.99989269e-01]
 [-4.55793977e-03]
 [-8.28419626e-04]]

 R_gt:
[[ 0.96822868  0.2450572   0.0498064 ]
 [-0.24697811  0.96831733  0.03691284]
 [-0.0391821  -0.0480409   0.99807621]]

 t_gt:
[-0.18654146  0.95006226  0.25016791]

Pose Error in degrees for R and t:
14.670821687485411 79.51361415501852

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.99794377 -0.06347288  0.00891248]
 [-0.06346052  0.99798296  0.00166288]
 [-0.00900005  0.00109387 -0.9999589 ]]

 t_estimated:
[[0.99942568]
 [0.03343078]
 [0.0055404 ]]

 R_gt:
[[ 0.98693105 -0.15895681  0.02643485]
 [ 0.15939244  0.98709841 -0.01522796]
 [-0.02367278  0.01924215  0.99953417]]

 t_gt:
[ 0.83611892 -0.54846522 -0.0095426 ]

Pose Error in degrees for R and t:
178.07276191450973 35.18952937885803

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.52080601 -0.7105184  -0.47320682]
 [-0.60396792 -0.08507191  0.79245537]
 [-0.60331074  0.69851726 -0.38482436]]

 t_estimated:
[[0.83750624]
 [0.54642707]
 [0.00087149]]

 R_gt:
[[ 0.88715999 -0.46140947 -0.00698976]
 [ 0.46138534  0.88718644 -0.00486113]
 [ 0.00844525  0.00108774  0.99996379]]

 t_gt:
[ 0.91343227 -0.40660805 -0.01764597]

Pose Error in degrees for R and t:
159.8863987600513 57.12498890681416

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.31063686 -0.74063281  0.59579173]
 [-0.39092223 -0.67088174 -0.63015673]
 [ 0.86642054 -0.03715833 -0.49793042]]

 t_estimated:
[[0.72610822]
 [0.68758003]
 [0.00074093]]

 R_gt:
[[ 6.95339153e-01 -7.17697102e-01  3.76008141e-02]
 [ 7.16650181e-01  6.96355779e-01  3.87585902e-02]
 [-5.40007556e-02 -4.03775400e-06  9.98540709e-01]]

 t_gt:
[ 0.96156307 -0.27191793  0.03817199]

Pose Error in degrees for R and t:
140.61464692238906 59.25208588046534

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.89759630e-01  1.42743284e-01  4.78662521e-04]
 [-1.42743339e-01  9.89759735e-01  8.31651586e-05]
 [-4.61889622e-04 -1.50639403e-04  9.99999882e-01]]

 t_estimated:
[[0.05344305]
 [0.99856929]
 [0.00179411]]

 R_gt:
[[ 0.99698345  0.07752598 -0.00354238]
 [-0.07735595  0.99639028  0.0349535 ]
 [ 0.00623975 -0.03457394  0.99938323]]

 t_gt:
[-0.20413611  0.5979903   0.77507164]

Pose Error in degrees for R and t:
4.267134435253677 54.012010011328016

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99997992e-01 -1.54271611e-03  1.27876425e-03]
 [ 1.54207433e-03  9.99998685e-01  5.02707234e-04]
 [-1.27953810e-03 -5.00734275e-04  9.99999056e-01]]

 t_estimated:
[[0.6750601 ]
 [0.7377612 ]
 [0.00150777]]

 R_gt:
[[ 0.98418343  0.175971    0.02041546]
 [-0.17691827  0.98225002  0.06232744]
 [-0.00908556 -0.06495325  0.99784735]]

 t_gt:
[-0.33449707  0.76623107  0.54863617]

Pose Error in degrees for R and t:
10.912649916443154 70.10380220589433

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999032e-01 -1.15512409e-03  7.75147508e-04]
 [ 1.15464717e-03  9.99999144e-01  6.15429581e-04]
 [-7.75857742e-04 -6.14533963e-04  9.99999510e-01]]

 t_estimated:
[[0.6603568]
 [0.7509512]
 [0.0010915]]

 R_gt:
[[ 0.96011884  0.27938624  0.0106676 ]
 [-0.27944943  0.95772817  0.0682885 ]
 [ 0.00886255 -0.06854545  0.99760925]]

 t_gt:
[-0.18203809  0.94432141  0.27407884]

Pose Error in degrees for R and t:
16.774689507557593 53.897730378957746

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999994e-01 -5.35757715e-05 -9.29734128e-05]
 [ 5.35878945e-05  9.99999990e-01  1.30395034e-04]
 [ 9.29664259e-05 -1.30400016e-04  9.99999987e-01]]

 t_estimated:
[[ 3.82204311e-02]
 [-9.99269319e-01]
 [ 1.61251217e-04]]

 R_gt:
[[ 0.9966878   0.08122338  0.00403621]
 [-0.080279    0.99060852 -0.110684  ]
 [-0.01298888  0.10999305  0.9938476 ]]

 t_gt:
[-0.22004257  0.8233486  -0.52314277]

Pose Error in degrees for R and t:
7.882064301783397 33.773520819750914

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 0.00271962 -0.95826923  0.2858543 ]
 [-0.99909265 -0.01475348 -0.03995271]
 [ 0.0425028  -0.28548627 -0.95743987]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99592357  0.09016531 -0.00249378]
 [-0.08883032  0.97564064 -0.2005854 ]
 [-0.01565355  0.19998983  0.97967272]]

 t_gt:
[-0.15615338  0.73569584 -0.65906581]

Pose Error in degrees for R and t:
177.2969985929567 76.59043329667688

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.99999886e-01  2.23856557e-04 -4.20745301e-04]
 [-2.23650541e-04  9.99999855e-01  4.89627973e-04]
 [ 4.20854846e-04 -4.89533818e-04  9.99999792e-01]]

 t_estimated:
[[-2.07762453e-01]
 [-9.78179227e-01]
 [-4.03939010e-04]]

 R_gt:
[[ 0.99834353  0.0419688  -0.03935748]
 [-0.05076431  0.96448367 -0.25921987]
 [ 0.02708059  0.26078808  0.96501622]]

 t_gt:
[-0.0070875   0.55516639 -0.83170911]

Pose Error in degrees for R and t:
15.45962299372994 57.23165331838472

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.99919058e-01 -1.27230591e-02 -1.63512239e-05]
 [ 1.27230596e-02  9.99919058e-01  3.22702374e-05]
 [ 1.59393243e-05 -3.24756630e-05  9.99999999e-01]]

 t_estimated:
[[-4.56266565e-01]
 [ 8.89842980e-01]
 [-5.41525855e-04]]

 R_gt:
[[ 9.99972862e-01 -6.40161109e-04 -7.33017096e-03]
 [ 2.54587510e-04  9.98616089e-01 -5.25806832e-02]
 [ 7.35314302e-03  5.25770289e-02  9.98590029e-01]]

 t_gt:
[ 0.14422522  0.83217165 -0.53543387]

Pose Error in degrees for R and t:
3.1252790936350086 47.5468662036824

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.99999597  0.00112782 -0.00260728]
 [-0.00111921  0.99999393  0.00329987]
 [ 0.00261099 -0.00329694  0.99999116]]

 t_estimated:
[[-0.99993834]
 [-0.00982412]
 [-0.00517682]]

 R_gt:
[[ 0.99504512 -0.09914318  0.00738031]
 [ 0.099332    0.98836011 -0.11522334]
 [ 0.00412943  0.11538544  0.99331154]]

 t_gt:
[ 0.75901827  0.46172306 -0.45902405]

Pose Error in degrees for R and t:
8.939512678422144 40.43597523121677

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99394055e-01  3.48069459e-02 -9.15898105e-06]
 [-3.48069456e-02  9.99394054e-01  3.20765863e-05]
 [ 1.02699192e-05 -3.17383535e-05  9.99999999e-01]]

 t_estimated:
[[-1.38076213e-02]
 [ 9.99904621e-01]
 [-3.12719522e-04]]

 R_gt:
[[ 0.99068523 -0.12701583  0.0490785 ]
 [ 0.13401534  0.97332654 -0.18620655]
 [-0.02411814  0.19104979  0.98128418]]

 t_gt:
[ 0.68696891  0.54629974 -0.47919757]

Pose Error in degrees for R and t:
14.646627319208905 57.52632291615496

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 6.03593092e-01  7.97292084e-01  8.43898250e-04]
 [-7.97291353e-01  6.03593682e-01 -1.07989436e-03]
 [-1.37036287e-03 -2.10160025e-05  9.99999061e-01]]

 t_estimated:
[[-0.07187893]
 [ 0.99741286]
 [ 0.00100721]]

 R_gt:
[[ 0.99329046  0.06447581 -0.09600838]
 [-0.07612704  0.98947097 -0.12308859]
 [ 0.08706256  0.12957168  0.98774017]]

 t_gt:
[-0.14314955  0.60351156 -0.78439914]

Pose Error in degrees for R and t:
49.58824385534709 52.30560989661826

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.01489799  0.99988555 -0.00263354]
 [-0.99988503  0.01489044 -0.00286237]
 [-0.00282283  0.00267588  0.99999244]]

 t_estimated:
[[1.72238287e-02]
 [9.99851487e-01]
 [5.85912298e-04]]

 R_gt:
[[ 0.97702321  0.12972302 -0.16910815]
 [-0.16139906  0.96852048 -0.18952349]
 [ 0.13919985  0.2124629   0.96720312]]

 t_gt:
[-0.15267863  0.67971339 -0.71741127]

Pose Error in degrees for R and t:
81.70831204169257 47.42440278239177

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 6.98789275e-01 -7.15327281e-01 -6.55740953e-04]
 [ 7.15327579e-01  6.98789065e-01  5.45805626e-04]
 [ 6.77949524e-05 -8.50472705e-04  9.99999636e-01]]

 t_estimated:
[[0.5224945 ]
 [0.85264212]
 [0.00095695]]

 R_gt:
[[ 0.96788055  0.16081524 -0.19325264]
 [-0.20075524  0.95708505 -0.20901129]
 [ 0.15134741  0.24109478  0.958627  ]]

 t_gt:
[-0.1595729   0.72141749 -0.67386445]

Pose Error in degrees for R and t:
58.501639210906795 57.92086041754901

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-0.15289957 -0.98813469 -0.01454502]
 [-0.98766654  0.15329611 -0.03186078]
 [ 0.03371243  0.00949413 -0.99938648]]

 t_estimated:
[[ 0.75620315]
 [ 0.65411689]
 [-0.01696732]]

 R_gt:
[[ 0.99948185 -0.03214125 -0.00166316]
 [ 0.03214704  0.99947736  0.00345239]
 [ 0.00155089 -0.00350423  0.9999922 ]]

 t_gt:
[ 0.95872856 -0.25652452  0.12261615]

Pose Error in degrees for R and t:
178.22514449802222 56.281289932676756

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 8.36001257e-01  5.48724559e-01 -1.80458154e-03]
 [-5.48727507e-01  8.35997581e-01 -2.48353506e-03]
 [ 1.45849117e-04  3.06646196e-03  9.99995288e-01]]

 t_estimated:
[[ 0.48576501]
 [ 0.87408865]
 [-0.00117947]]

 R_gt:
[[ 9.94830245e-01 -1.01545774e-01  1.31036955e-03]
 [ 1.01553309e-01  9.94784444e-01 -9.53322523e-03]
 [-3.34972757e-04  9.61708355e-03  9.99953850e-01]]

 t_gt:
[ 0.90531625 -0.42246018 -0.04393054]

Pose Error in degrees for R and t:
39.110080952517244 85.9541278038745

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99998739e-01  1.30627095e-03 -9.03493603e-04]
 [-1.30500889e-03  9.99998174e-01  1.39604169e-03]
 [ 9.05315562e-04 -1.39486086e-03  9.99998617e-01]]

 t_estimated:
[[9.78272997e-01]
 [2.07320581e-01]
 [3.47159436e-04]]

 R_gt:
[[ 0.97443435 -0.22455048  0.00740187]
 [ 0.22446706  0.97442381  0.01062813]
 [-0.00959923 -0.00869578  0.99991567]]

 t_gt:
[ 0.88252514 -0.46429472  0.07469804]

Pose Error in degrees for R and t:
13.069270853411908 39.9041587888732

Number of keypoints:
Image1: 483
Image2: 483

 R_estimated:
[[ 9.99873151e-01 -1.59273278e-02  3.38118598e-05]
 [ 1.59273268e-02  9.99873152e-01  2.94426984e-05]
 [-3.42765143e-05 -2.89004311e-05  9.99999999e-01]]

 t_estimated:
[[9.99920901e-01]
 [1.25771732e-02]
 [8.12719756e-05]]

 R_gt:
[[ 0.99827875 -0.05751893  0.01149361]
 [ 0.05762425  0.99829676 -0.00916202]
 [-0.01094782  0.00980806  0.999891  ]]

 t_gt:
[ 0.44753897 -0.89117855  0.07422716]

Pose Error in degrees for R and t:
2.5320191035622175 64.1318866681717

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.38984105e-01  3.43960214e-01  4.71662563e-04]
 [-3.43960211e-01  9.38984220e-01 -9.06412185e-05]
 [-4.74060677e-04 -7.71224911e-05  9.99999885e-01]]

 t_estimated:
[[0.61844502]
 [0.78582732]
 [0.0010869 ]]

 R_gt:
[[ 9.93557135e-01 -1.12693865e-01  1.20935975e-02]
 [ 1.12695698e-01  9.93630162e-01  4.04661394e-04]
 [-1.20627386e-02  9.60447372e-04  9.99926836e-01]]

 t_gt:
[ 0.42671772 -0.898028    0.10704063]

Pose Error in degrees for R and t:
26.59731800288395 63.78906077245882

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[-0.85703065 -0.51514984  0.01091375]
 [-0.5151376   0.85709759  0.00412038]
 [-0.01147676 -0.0020908  -0.99993195]]

 t_estimated:
[[0.96041857]
 [0.27848716]
 [0.00640837]]

 R_gt:
[[ 0.97812249 -0.2013193   0.05241683]
 [ 0.20080471  0.97951775  0.0149513 ]
 [-0.05435361 -0.00409882  0.99851255]]

 t_gt:
[ 0.4523709  -0.84269368  0.29193822]

Pose Error in degrees for R and t:
176.22025600159594 78.36613383514158

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.98726980e-01 -5.04421607e-02 -8.73396539e-05]
 [ 5.04421805e-02  9.98726954e-01  2.41913669e-04]
 [ 7.50258183e-05 -2.46011311e-04  9.99999967e-01]]

 t_estimated:
[[-0.71688335]
 [-0.69719275]
 [-0.00072928]]

 R_gt:
[[ 0.99956438  0.01626676 -0.0246343 ]
 [-0.01630375  0.99986637 -0.00131596]
 [ 0.02460944  0.00171638  0.99969515]]

 t_gt:
[-0.13773012  0.83380234 -0.53460647]

Pose Error in degrees for R and t:
4.076173340752222 61.17116423574195

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99313209e-01  3.70552669e-02  1.34203177e-04]
 [-3.70552697e-02  9.99313217e-01  1.79224826e-05]
 [-1.33446886e-04 -2.28831085e-05  9.99999991e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99897348 -0.04500867 -0.00510414]
 [ 0.04507897  0.99887756  0.01456642]
 [ 0.00444281 -0.01478159  0.99988077]]

 t_gt:
[ 0.97138118 -0.09431317  0.21799915]

Pose Error in degrees for R and t:
4.787975877089778 13.77151077540371

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99939093e-01  1.10367859e-02  1.93059179e-05]
 [-1.10367936e-02  9.99938987e-01  4.60358800e-04]
 [-1.42238584e-05 -4.60543837e-04  9.99999894e-01]]

 t_estimated:
[[0.906245  ]
 [0.42275088]
 [0.00129729]]

 R_gt:
[[ 0.990961   -0.13393204 -0.0077389 ]
 [ 0.13371227  0.99072841 -0.02407938]
 [ 0.01089222  0.02282691  0.99967958]]

 t_gt:
[ 0.92506041 -0.33431721 -0.18026433]

Pose Error in degrees for R and t:
8.453255460834315 45.83199746645775

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999418e-01 -3.75066198e-05  1.07849955e-03]
 [ 3.93342450e-05  9.99998563e-01 -1.69462857e-03]
 [-1.07843445e-03  1.69467000e-03  9.99997983e-01]]

 t_estimated:
[[-0.7584867 ]
 [-0.65168663]
 [-0.00157015]]

 R_gt:
[[ 0.99805697 -0.05935722  0.01899462]
 [ 0.05912409  0.99817162  0.01261405]
 [-0.01970907 -0.01146656  0.99974028]]

 t_gt:
[ 0.67853508 -0.70655613  0.20091934]

Pose Error in degrees for R and t:
3.6377318217198056 86.87456240939481

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.76341060e-01 -2.16235099e-01 -7.18489671e-04]
 [-2.16235812e-01 -9.76340507e-01 -1.13489883e-03]
 [-4.56085609e-04  1.26341152e-03 -9.99999098e-01]]

 t_estimated:
[[0.41700234]
 [0.90890316]
 [0.00202428]]

 R_gt:
[[ 0.99596032 -0.08967163  0.00477833]
 [ 0.08942781  0.99527335  0.03788397]
 [-0.00815326 -0.03730362  0.99927141]]

 t_gt:
[ 0.59704991 -0.77015073  0.22449779]

Pose Error in degrees for R and t:
177.88413390221385 63.21994627320353

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99788817e-01 -2.05368805e-02  7.46446052e-04]
 [ 2.05368317e-02  9.99789094e-01  7.29529434e-05]
 [-7.47786848e-04 -5.76079000e-05  9.99999719e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.99333691 -0.11000435 -0.03439053]
 [ 0.10971488  0.99391095 -0.01021064]
 [ 0.03530401  0.00637059  0.99935635]]

 t_gt:
[ 0.6216898  -0.77463894 -0.11591507]

Pose Error in degrees for R and t:
5.544268685712763 61.399905881727925

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[-9.88050135e-02 -9.95105431e-01 -1.65873568e-03]
 [ 9.95106372e-01 -9.88064013e-02  7.76494816e-04]
 [-9.36587912e-04 -1.57389687e-03  9.99998323e-01]]

 t_estimated:
[[0.99512964]
 [0.09856922]
 [0.00104861]]

 R_gt:
[[ 0.9943225  -0.10229117  0.02931714]
 [ 0.10145715  0.99442747  0.02864185]
 [-0.03208342 -0.02550497  0.9991598 ]]

 t_gt:
[ 0.37079288 -0.81335716  0.44828871]

Pose Error in degrees for R and t:
89.8437759968484 73.18483993725562

Number of keypoints:
Image1: 548
Image2: 548

 R_estimated:
[[ 9.99957392e-01 -9.22984444e-03  1.54672665e-04]
 [ 9.22981967e-03  9.99957391e-01  1.60137409e-04]
 [-1.56144118e-04 -1.58702985e-04  9.99999975e-01]]

 t_estimated:
[[9.59154576e-01]
 [2.82882474e-01]
 [6.56334117e-05]]

 R_gt:
[[ 0.98559707 -0.16552297  0.03464986]
 [ 0.16474591  0.98603981  0.02418089]
 [-0.03816773 -0.01812397  0.99910668]]

 t_gt:
[ 0.43335685 -0.83362814  0.3424412 ]

Pose Error in degrees for R and t:
9.29742992695937 79.63840129378482

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[ 7.98948159e-01 -6.01399819e-01 -3.11321013e-04]
 [ 6.01399858e-01  7.98947804e-01  7.85566645e-04]
 [-2.23710398e-04 -8.14855437e-04  9.99999643e-01]]

 t_estimated:
[[ 9.67052942e-01]
 [-2.54574145e-01]
 [ 7.82723024e-04]]

 R_gt:
[[ 0.98013367 -0.18619681  0.06833398]
 [ 0.18693238  0.98236279 -0.00447631]
 [-0.06629445  0.0171606   0.99765267]]

 t_gt:
[ 0.3421798  -0.86633001  0.3638479 ]

Pose Error in degrees for R and t:
26.494087961404738 56.5138086957499

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.68591591e-01 -2.48657053e-01  1.92468516e-05]
 [ 2.48657011e-01  9.68591466e-01  5.12961087e-04]
 [-1.46193729e-04 -4.92063931e-04  9.99999868e-01]]

 t_estimated:
[[0.9994483 ]
 [0.03318578]
 [0.00134468]]

 R_gt:
[[ 0.99529486 -0.09661856 -0.00728624]
 [ 0.09595037  0.99328084 -0.06471069]
 [ 0.01348896  0.06370685  0.99787704]]

 t_gt:
[ 0.90338149  0.15448408 -0.4000457 ]

Pose Error in degrees for R and t:
9.63098055512595 24.841717659680832

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.95654793e-01 -9.31210540e-02  5.33687134e-05]
 [ 9.31210392e-02  9.95654768e-01  2.32815011e-04]
 [-7.48167933e-05 -2.26833632e-04  9.99999971e-01]]

 t_estimated:
[[4.60543698e-01]
 [8.87637026e-01]
 [1.13754196e-04]]

 R_gt:
[[ 0.9889551  -0.14464583  0.03231998]
 [ 0.14768664  0.98009568 -0.13267404]
 [-0.01248547  0.1359815   0.99063189]]

 t_gt:
[ 0.85683145  0.29323228 -0.42409279]

Pose Error in degrees for R and t:
8.449812111842949 49.092184736700354

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.93665319e-01 -1.12379841e-01  7.76014152e-05]
 [ 1.12379827e-01  9.93665309e-01  1.65842322e-04]
 [-9.57471681e-05 -1.56070930e-04  9.99999983e-01]]

 t_estimated:
[[2.83273724e-01]
 [9.59039096e-01]
 [9.78026145e-05]]

 R_gt:
[[ 0.98589995 -0.16449474  0.03071606]
 [ 0.16731747  0.96615456 -0.19634328]
 [ 0.00262177  0.19871468  0.98005373]]

 t_gt:
[ 0.77245537  0.43718312 -0.46063394]

Pose Error in degrees for R and t:
11.90664457130694 50.35365990504467

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999526e-01 -9.72166492e-04 -5.87329854e-05]
 [ 9.72178055e-04  9.99999508e-01  1.97163431e-04]
 [ 5.85412808e-05 -1.97220436e-04  9.99999979e-01]]

 t_estimated:
[[0.04970033]
 [0.99871186]
 [0.01022259]]

 R_gt:
[[ 0.99992901 -0.00278471 -0.01167981]
 [ 0.00287696  0.99996561  0.00779292]
 [ 0.01165825 -0.00782545  0.99990225]]

 t_gt:
[ 0.62128681  0.78253815 -0.04045665]

Pose Error in degrees for R and t:
0.798397727739866 35.70871837721115

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.3073924   0.94981906  0.0579108 ]
 [ 0.95079158 -0.30408624 -0.05938791]
 [-0.03879789  0.07331649 -0.99655377]]

 t_estimated:
[[0.72944647]
 [0.68403722]
 [0.00096615]]

 R_gt:
[[ 0.99389842  0.05522264 -0.09548905]
 [-0.0628612   0.99489637 -0.07893133]
 [ 0.09064319  0.08445276  0.99229616]]

 t_gt:
[-0.07312054  0.66930314 -0.73938264]

Pose Error in degrees for R and t:
174.67777892553144 66.18552836226245

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-6.21425729e-01 -7.83465603e-01 -3.42230637e-03]
 [ 7.83471168e-01 -6.21427929e-01 -5.07008049e-04]
 [-1.72949339e-03 -2.99634622e-03  9.99994015e-01]]

 t_estimated:
[[0.97187178]
 [0.23550477]
 [0.00165848]]

 R_gt:
[[ 0.97428967  0.11577853 -0.1932791 ]
 [-0.14924411  0.97430626 -0.16868311]
 [ 0.16878388  0.19319208  0.96653514]]

 t_gt:
[-0.07480523  0.67850635 -0.73077583]

Pose Error in degrees for R and t:
136.55798109838634 85.0734613311001

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 0.98474908 -0.17396112 -0.00260443]
 [-0.17395387 -0.98422483 -0.032273  ]
 [ 0.0030509   0.03223385 -0.9994757 ]]

 t_estimated:
[[ 0.08757797]
 [ 0.99601875]
 [-0.01663599]]

 R_gt:
[[ 0.99973609  0.00432172 -0.02259151]
 [-0.00671987  0.99422014 -0.107156  ]
 [ 0.02199758  0.10727933  0.99398557]]

 t_gt:
[-0.01186752  0.32085587 -0.94705368]

Pose Error in degrees for R and t:
171.90095493672436 70.47036897152216

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99998424e-01  1.77540872e-03 -5.82489554e-07]
 [-1.77540881e-03  9.99998357e-01 -3.64960689e-04]
 [-6.54657910e-08  3.64961148e-04  9.99999933e-01]]

 t_estimated:
[[-0.01472984]
 [-0.99988996]
 [-0.00176002]]

 R_gt:
[[ 0.99275877 -0.1099058  -0.04849136]
 [ 0.1032462   0.98698875 -0.12326071]
 [ 0.06140856  0.11736115  0.99118837]]

 t_gt:
[ 0.46684891 -0.31762794 -0.82532696]

Pose Error in degrees for R and t:
9.829201379018478 71.81000829418298

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.18913551  0.98194897  0.00199674]
 [ 0.98194918  0.18913086  0.00230741]
 [ 0.00188811  0.00239711 -0.99999534]]

 t_estimated:
[[-0.9603589 ]
 [-0.27876189]
 [-0.00161134]]

 R_gt:
[[ 9.57412797e-01 -2.86935910e-01  3.20943713e-02]
 [ 2.88724564e-01  9.51345766e-01 -1.07612730e-01]
 [ 3.44884001e-04  1.12295232e-01  9.93674377e-01]]

 t_gt:
[ 0.69224207 -0.66174794 -0.28790724]

Pose Error in degrees for R and t:
175.197913733339 61.32329689217135

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.0238316   0.99964767  0.01168716]
 [-0.9996783  -0.02372757 -0.00896053]
 [-0.00868007 -0.01189694  0.99989155]]

 t_estimated:
[[0.09841504]
 [0.99508538]
 [0.010935  ]]

 R_gt:
[[ 0.9849727   0.005169    0.17263321]
 [-0.00638514  0.99995872  0.00648996]
 [-0.17259261 -0.00749411  0.98496422]]

 t_gt:
[-0.26167553  0.00769501  0.96512523]

Pose Error in degrees for R and t:
91.35361526167308 89.56787288492949

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.78746904  0.61635324 -0.00109461]
 [-0.61635023  0.78745632 -0.00499418]
 [-0.00221622  0.00460742  0.99998693]]

 t_estimated:
[[0.68059771]
 [0.73265693]
 [0.00076558]]

 R_gt:
[[ 0.97377204  0.04496829  0.22304078]
 [-0.04709529  0.99888198  0.00422173]
 [-0.22260142 -0.01461575  0.97479964]]

 t_gt:
[-0.39895465  0.14303618  0.90574601]

Pose Error in degrees for R and t:
37.57636767456739 80.44247474869886

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 0.1366312   0.92819826  0.34609235]
 [-0.91776982 -0.01289511  0.39690335]
 [ 0.3728679  -0.37186249  0.85011047]]

 t_estimated:
[[0.0311536 ]
 [0.99951124]
 [0.00259613]]

 R_gt:
[[ 0.9753628   0.09649281  0.19838615]
 [-0.0957275   0.9953161  -0.01347024]
 [-0.19875697 -0.00585237  0.98003124]]

 t_gt:
[-0.59322812  0.31397567  0.74128245]

Pose Error in degrees for R and t:
86.49230772875356 72.70656388426397

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-4.04530050e-01 -9.14524647e-01 -3.29092976e-04]
 [-9.14524482e-01  4.04530177e-01 -5.54574965e-04]
 [ 6.40300514e-04  7.66213451e-05 -9.99999792e-01]]

 t_estimated:
[[8.10915088e-01]
 [5.85163490e-01]
 [6.39522940e-04]]

 R_gt:
[[ 0.99966556  0.0151178   0.02097868]
 [-0.01433503  0.99921338 -0.03698166]
 [-0.0215199   0.03666843  0.99909516]]

 t_gt:
[-0.7049105   0.03597587 -0.70838332]

Pose Error in degrees for R and t:
179.82790116026527 56.56272036122696

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.97928345e-01  6.43352000e-02 -4.74419858e-06]
 [-6.43351998e-02  9.97928345e-01  2.31549594e-05]
 [ 6.22404917e-06 -2.28017713e-05  1.00000000e+00]]

 t_estimated:
[[0.67646519]
 [0.7364742 ]
 [0.00077934]]

 R_gt:
[[ 0.99637728  0.05983977  0.06042247]
 [-0.05457602  0.99485948 -0.0853044 ]
 [-0.06521528  0.0816979   0.99452068]]

 t_gt:
[-0.82412502  0.55736602 -0.10080215]

Pose Error in degrees for R and t:
6.0150765119629 81.54197881288944

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 8.72694735e-01  4.88266165e-01  2.26418026e-04]
 [-4.88260614e-01  8.72682404e-01  5.19556590e-03]
 [ 2.33922801e-03 -4.64469401e-03  9.99986477e-01]]

 t_estimated:
[[0.60429314]
 [0.79676129]
 [0.00111804]]

 R_gt:
[[ 0.99323621  0.05776976  0.10071579]
 [-0.04909552  0.99503467 -0.08657739]
 [-0.1052165   0.08104785  0.99114106]]

 t_gt:
[-0.7675343   0.4199033   0.48432666]

Pose Error in degrees for R and t:
27.28979847201045 82.60485743790107

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.92361243e-01 -1.23365936e-01 -9.55988447e-05]
 [ 1.23365953e-01  9.92361224e-01  2.04842070e-04]
 [ 6.95980530e-05 -2.15070973e-04  9.99999974e-01]]

 t_estimated:
[[-0.99779105]
 [-0.06641479]
 [-0.00144621]]

 R_gt:
[[ 0.99954838  0.02610751 -0.01483275]
 [-0.02664676  0.99894319 -0.0374354 ]
 [ 0.01384027  0.03781394  0.99918846]]

 t_gt:
[-0.32138234  0.86242355 -0.39107416]

Pose Error in degrees for R and t:
8.905042849776995 74.69481607584757

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 0.91166051 -0.41091957  0.00449752]
 [-0.41089768 -0.9113381   0.02501943]
 [-0.00618221 -0.02465724 -0.99967685]]

 t_estimated:
[[0.1392602 ]
 [0.99015855]
 [0.01387943]]

 R_gt:
[[ 0.99864517 -0.04983069 -0.01500177]
 [ 0.0480501   0.99363179 -0.10191735]
 [ 0.019985    0.10105888  0.99467896]]

 t_gt:
[ 0.42496814  0.70034671 -0.57351248]

Pose Error in degrees for R and t:
175.54846967276143 41.86877351165753

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[-0.09615875 -0.99535991  0.003486  ]
 [-0.99532609  0.09618567  0.00861942]
 [-0.00891473 -0.00264087 -0.99995678]]

 t_estimated:
[[0.55619384]
 [0.83101854]
 [0.00752347]]

 R_gt:
[[ 0.99362998 -0.11207627  0.01177198]
 [ 0.11250638  0.98054166 -0.16087733]
 [ 0.00648841  0.16117736  0.98690308]]

 t_gt:
[ 0.64044132  0.59458959 -0.48610507]

Pose Error in degrees for R and t:
174.36815122477003 32.148985430899266

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.96126694e-01 -8.79295716e-02 -1.30816118e-05]
 [ 8.79295682e-02  9.96126680e-01 -1.67233876e-04]
 [ 2.77357457e-05  1.65435868e-04  9.99999986e-01]]

 t_estimated:
[[ 0.38563773]
 [-0.92264869]
 [-0.00171161]]

 R_gt:
[[ 0.99375416 -0.11024849  0.01732331]
 [ 0.11096434  0.99266605 -0.04797853]
 [-0.01190777  0.04960196  0.99869814]]

 t_gt:
[ 0.82422152 -0.48393347 -0.2940532 ]

Pose Error in degrees for R and t:
3.195071523324972 40.105923407810366

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-7.85594363e-01 -6.18738896e-01 -1.91731800e-03]
 [ 6.18740783e-01 -7.85595014e-01 -5.63076308e-04]
 [-1.15783825e-03 -1.62867242e-03  9.99998003e-01]]

 t_estimated:
[[ 9.89618794e-01]
 [-1.43716260e-01]
 [ 5.27422238e-04]]

 R_gt:
[[ 0.97109588 -0.23868499  0.00208478]
 [ 0.23785156  0.96689732 -0.09238727]
 [ 0.02003484  0.09021255  0.99572078]]

 t_gt:
[ 0.86457771 -0.39030509 -0.31649221]

Pose Error in degrees for R and t:
128.02564780996215 24.28254343587845

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-7.38030440e-01  6.74765464e-01 -1.62428748e-03]
 [-6.74763205e-01 -7.38032200e-01 -1.75754456e-03]
 [-2.38470683e-03 -2.01111964e-04  9.99997136e-01]]

 t_estimated:
[[0.7465885 ]
 [0.66528554]
 [0.00087423]]

 R_gt:
[[ 0.92978161 -0.36808874  0.00436899]
 [ 0.36751486  0.92752549 -0.0680392 ]
 [ 0.02099228  0.06486745  0.99767307]]

 t_gt:
[ 0.89715649 -0.41383466 -0.15443804]

Pose Error in degrees for R and t:
159.17894947198843 66.77434085811976

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99974494e-01 -7.14115367e-03  1.27448491e-04]
 [ 7.14112704e-03  9.99974480e-01  2.08158827e-04]
 [-1.28931732e-04 -2.07243392e-04  9.99999970e-01]]

 t_estimated:
[[0.01250023]
 [0.99992052]
 [0.0016424 ]]

 R_gt:
[[ 0.99651061  0.0769493  -0.03236251]
 [-0.0788333   0.99497946 -0.06165923]
 [ 0.02745468  0.06399567  0.99757195]]

 t_gt:
[-0.41447422  0.76390158 -0.49463674]

Pose Error in degrees for R and t:
6.314851836835061 40.725200465404306

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.26781186 -0.91602044 -0.29863583]
 [ 0.96255843 -0.26787008 -0.04155595]
 [-0.04192951 -0.29858361  0.95346198]]

 t_estimated:
[[ 0.91289969]
 [-0.38555838]
 [ 0.1340108 ]]

 R_gt:
[[ 0.99612019  0.07813662 -0.0405023 ]
 [-0.08114832  0.99356704 -0.07898938]
 [ 0.03406981  0.08196869  0.99605209]]

 t_gt:
[-0.35154139  0.77474826 -0.52553191]

Pose Error in degrees for R and t:
111.82147887425668 46.36516788179581

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 1.74491798e-02 -9.99846587e-01 -1.52568978e-03]
 [ 9.99847744e-01  1.74493420e-02 -9.30802032e-05]
 [ 1.19688206e-04 -1.52383331e-03  9.99998832e-01]]

 t_estimated:
[[8.87422980e-01]
 [4.60955254e-01]
 [8.41159223e-04]]

 R_gt:
[[ 0.99888496  0.03138242 -0.03527544]
 [-0.03342226  0.99771083 -0.05878528]
 [ 0.03334918  0.05989785  0.9976464 ]]

 t_gt:
[-0.13665324  0.77125241 -0.62168771]

Pose Error in degrees for R and t:
90.92646794407896 76.48377601660171

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99573345e-01 -2.92026148e-02 -5.78368980e-04]
 [ 2.92032771e-02  9.99572806e-01  1.17200652e-03]
 [ 5.43896250e-04 -1.18839675e-03  9.99999146e-01]]

 t_estimated:
[[-0.89344806]
 [-0.44916479]
 [ 0.00124809]]

 R_gt:
[[ 9.98094736e-01  7.81582681e-04 -6.16948201e-02]
 [ 2.11213063e-04  9.99870214e-01  1.60871147e-02]
 [ 6.16994568e-02 -1.60687025e-02  9.97964985e-01]]

 t_gt:
[ 0.68207727  0.02520539 -0.7308456 ]

Pose Error in degrees for R and t:
3.9841421475240613 51.564432887690636

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.03712472  0.99930351 -0.00377597]
 [-0.9993082  -0.03713272 -0.00207057]
 [-0.00220934  0.00369649  0.99999073]]

 t_estimated:
[[ 2.04459156e-02]
 [ 9.99790848e-01]
 [-4.74454304e-04]]

 R_gt:
[[ 0.99389569  0.02152802 -0.10820222]
 [-0.01889444  0.99950067  0.02530081]
 [ 0.10869262 -0.0231017   0.99380696]]

 t_gt:
[ 0.51722558  0.25412036 -0.81725183]

Pose Error in degrees for R and t:
91.13996015640177 74.63125835530606

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999983e-01  1.83349052e-04 -2.07949569e-07]
 [-1.83349024e-04  9.99999975e-01  1.28115430e-04]
 [ 2.31439406e-07 -1.28115390e-04  9.99999992e-01]]

 t_estimated:
[[0.93344277]
 [0.35872483]
 [0.00104642]]

 R_gt:
[[ 0.99946977  0.0313186  -0.00889979]
 [-0.03112138  0.99928522  0.02143316]
 [ 0.00956435 -0.02114396  0.99973052]]

 t_gt:
[0.1683344  0.91528993 0.36593425]

Pose Error in degrees for R and t:
2.217435399448217 60.93177901409687

Number of keypoints:
Image1: 487
Image2: 487

 R_estimated:
[[ 9.99803192e-01 -1.98386965e-02  6.34961051e-05]
 [ 1.98386970e-02  9.99803194e-01 -6.96452302e-06]
 [-6.33454416e-05  8.22283233e-06  9.99999998e-01]]

 t_estimated:
[[9.84791085e-01]
 [1.73741956e-01]
 [5.01103295e-04]]

 R_gt:
[[ 0.99646813 -0.08021836 -0.02483139]
 [ 0.08088567  0.99635361  0.02713022]
 [ 0.02256472 -0.02904171  0.99932422]]

 t_gt:
[ 0.94528376 -0.20813268  0.25123573]

Pose Error in degrees for R and t:
4.073929880539302 26.508065896335594

Number of keypoints:
Image1: 439
Image2: 439

 R_estimated:
[[ 8.27444006e-01  5.61548208e-01  1.62541103e-04]
 [-5.61548214e-01  8.27444018e-01 -1.62908903e-05]
 [-1.43641784e-04 -7.77948667e-05  9.99999987e-01]]

 t_estimated:
[[0.81709614]
 [0.57650026]
 [0.0011623 ]]

 R_gt:
[[ 0.98969578 -0.12191783 -0.07509354]
 [ 0.12533062  0.99120314  0.04252099]
 [ 0.06924943 -0.05149363  0.99627006]]

 t_gt:
[ 0.97171456 -0.17501148  0.15856164]

Pose Error in degrees for R and t:
41.561321459322144 46.11013585003076

Number of keypoints:
Image1: 431
Image2: 431

 R_estimated:
[[-9.33318777e-01 -3.58998032e-01  6.03929087e-03]
 [-3.58983936e-01  9.33337859e-01  3.31266805e-03]
 [-6.82594013e-03  9.23766889e-04 -9.99976276e-01]]

 t_estimated:
[[0.96151894]
 [0.27471918]
 [0.00327047]]

 R_gt:
[[ 0.98541105 -0.10872773 -0.13093673]
 [ 0.12089723  0.98867851  0.0888646 ]
 [ 0.11979229 -0.10339747  0.9874007 ]]

 t_gt:
[ 0.9429163  -0.17554002  0.28300982]

Pose Error in degrees for R and t:
174.29262463829815 30.75819798369427

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99960393e-01 -8.90014215e-03 -1.11326240e-05]
 [ 8.90014226e-03  9.99960393e-01  1.00997388e-05]
 [ 1.10422940e-05 -1.01984207e-05  1.00000000e+00]]

 t_estimated:
[[-6.66252388e-01]
 [ 7.45726284e-01]
 [ 2.56011591e-04]]

 R_gt:
[[ 0.99755     0.06705022 -0.01994911]
 [-0.06642973  0.99733045  0.0303138 ]
 [ 0.02192912 -0.02891481  0.9993413 ]]

 t_gt:
[-0.6412429   0.75310932  0.14708466]

Pose Error in degrees for R and t:
4.81022746846976 8.552241109729591

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.89068102  0.17484292  0.41966328]
 [ 0.37792664  0.22834446 -0.89723479]
 [-0.25270293  0.95775193  0.13730428]]

 t_estimated:
[[-0.05263775]
 [ 0.8306218 ]
 [-0.55434348]]

 R_gt:
[[ 0.99096083  0.08736471 -0.10180231]
 [-0.08750225  0.9961595   0.00311711]
 [ 0.10168491  0.00581882  0.99479991]]

 t_gt:
[-0.38325126  0.7328362  -0.56220065]

Pose Error in degrees for R and t:
85.31799685628476 19.8583220575209

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 1.00000000e+00  8.35848340e-06  1.41926629e-06]
 [-8.35848334e-06  1.00000000e+00 -4.36635416e-08]
 [-1.41926665e-06  4.36516791e-08  1.00000000e+00]]

 t_estimated:
[[-0.99996185]
 [-0.00847289]
 [-0.00212173]]

 R_gt:
[[ 0.97899697  0.09271947 -0.18156753]
 [-0.09161944  0.99568936  0.01445486]
 [ 0.18212528  0.00248423  0.98327196]]

 t_gt:
[-0.15833372  0.5859273  -0.79474501]

Pose Error in degrees for R and t:
11.768502980959601 81.08033758988162

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999976e-01 -6.50707324e-05 -2.07454137e-04]
 [ 6.51308678e-05  9.99999956e-01  2.89879754e-04]
 [ 2.07435265e-04 -2.89893258e-04  9.99999936e-01]]

 t_estimated:
[[0.80234272]
 [0.59686299]
 [0.00085142]]

 R_gt:
[[ 0.99960597 -0.02423589 -0.01419197]
 [ 0.02451286  0.99950569  0.01967157]
 [ 0.01370908 -0.02001233  0.99970565]]

 t_gt:
[ 0.43666471 -0.88531781  0.15980081]

Pose Error in degrees for R and t:
1.9535057738169996 79.75121807280931

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.43452917  0.8995173  -0.04531042]
 [ 0.88709113 -0.43614088 -0.15116368]
 [-0.15573607  0.02549055 -0.98746975]]

 t_estimated:
[[0.65615746]
 [0.75462352]
 [0.00084885]]

 R_gt:
[[ 0.99567456 -0.06991151 -0.06118653]
 [ 0.06776056  0.99703202 -0.03654535]
 [ 0.06356113  0.03224029  0.99745708]]

 t_gt:
[ 0.58319284 -0.71918961 -0.37769355]

Pose Error in degrees for R and t:
174.47617631970908 80.77153005259986

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.96683608e-01  8.13741049e-02  2.02064171e-04]
 [-8.13742033e-02  9.96683474e-01  5.39517717e-04]
 [-1.57491249e-04 -5.54171276e-04  9.99999834e-01]]

 t_estimated:
[[0.99346535]
 [0.11412895]
 [0.00108694]]

 R_gt:
[[ 0.97701471 -0.20454222 -0.06003929]
 [ 0.20131275  0.97794134 -0.05571582]
 [ 0.0701116   0.04234768  0.99663997]]

 t_gt:
[ 0.765016   -0.59712395 -0.24123332]

Pose Error in degrees for R and t:
17.05869178041225 46.24266321157117

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 1.40102503e-02 -9.99900188e-01 -1.82403821e-03]
 [ 9.99901718e-01  1.40111684e-02 -4.91542697e-04]
 [ 5.17050542e-04 -1.81697231e-03  9.99998216e-01]]

 t_estimated:
[[9.79855411e-01]
 [1.99706751e-01]
 [7.66332591e-04]]

 R_gt:
[[ 0.99254374 -0.11536896 -0.03933281]
 [ 0.11370497  0.99261689 -0.0422062 ]
 [ 0.04391139  0.03741934  0.99833453]]

 t_gt:
[ 0.79195162 -0.49173764 -0.36194852]

Pose Error in degrees for R and t:
82.66778150520078 47.35005448551508

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 8.29797203e-01  5.58063820e-01  1.17252822e-03]
 [-5.58062402e-01  8.29797906e-01 -1.33838684e-03]
 [-1.71986673e-03  4.56245737e-04  9.99998417e-01]]

 t_estimated:
[[0.576928  ]
 [0.81679452]
 [0.0008917 ]]

 R_gt:
[[ 0.96723239 -0.25155379 -0.03437619]
 [ 0.24861333  0.96586584 -0.07275461]
 [ 0.0515049   0.0618241   0.99675691]]

 t_gt:
[ 0.85787615 -0.44314251 -0.26014078]

Pose Error in degrees for R and t:
48.63498716354956 82.37178847446685

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.97688611e-01 -4.40629814e-01 -7.23806826e-04]
 [ 4.40629678e-01  8.97688903e-01 -3.46251930e-04]
 [ 8.02322279e-04 -8.10435477e-06  9.99999678e-01]]

 t_estimated:
[[ 9.42445504e-01]
 [-3.34359181e-01]
 [-6.40138015e-04]]

 R_gt:
[[ 0.94398042 -0.32994242  0.00622042]
 [ 0.32905751  0.93968736 -0.09331381]
 [ 0.02494409  0.09013367  0.99561719]]

 t_gt:
[ 0.86697215 -0.43068328 -0.2507413 ]

Pose Error in degrees for R and t:
8.700276126941402 16.005044361551384

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999998e-01  5.13801135e-05  2.68995825e-05]
 [-5.13801081e-05  9.99999999e-01 -2.02344701e-07]
 [-2.68995928e-05  2.00962598e-07  1.00000000e+00]]

 t_estimated:
[[-9.54991080e-01]
 [-2.96633062e-01]
 [-9.29884206e-04]]

 R_gt:
[[ 0.99024328  0.13746313  0.02288195]
 [-0.13780402  0.99036007  0.01402026]
 [-0.0207337  -0.01703619  0.99963974]]

 t_gt:
[-0.59770304  0.7890842   0.14176456]

Pose Error in degrees for R and t:
8.056969493267928 70.33008972660063

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999922e-01  3.90109956e-04 -5.94529255e-05]
 [-3.90107525e-04  9.99999923e-01  4.09057202e-05]
 [ 5.94688786e-05 -4.08825239e-05  9.99999997e-01]]

 t_estimated:
[[-0.79042888]
 [-0.61255246]
 [-0.00129165]]

 R_gt:
[[ 0.98436807  0.17587984  0.00933407]
 [-0.17607182  0.98400694  0.02701288]
 [-0.00443442 -0.02823419  0.99959073]]

 t_gt:
[-0.57338     0.81066041  0.11859626]

Pose Error in degrees for R and t:
10.246308256351883 87.50632522676281

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 1.00000000e+00 -1.89293026e-13 -2.95878773e-16]
 [ 1.89293026e-13  1.00000000e+00  1.50053581e-16]
 [ 4.31675095e-16 -3.18755439e-17  1.00000000e+00]]

 t_estimated:
[[-3.18740213e-01]
 [ 9.47841674e-01]
 [ 9.15088953e-04]]

 R_gt:
[[ 0.97175891  0.23215041 -0.04232715]
 [-0.23201663  0.9726782   0.00811313]
 [ 0.04305369  0.00193654  0.99906999]]

 t_gt:
[-0.52704143  0.84639546 -0.07643333]

Pose Error in degrees for R and t:
13.650456688816144 14.030160237669074

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999633e-01 -8.39132970e-04 -1.73430947e-04]
 [ 8.39138916e-04  9.99999647e-01  3.42190810e-05]
 [ 1.73402172e-04 -3.43646011e-05  9.99999984e-01]]

 t_estimated:
[[-9.99894103e-01]
 [-1.45429846e-02]
 [-5.34034869e-04]]

 R_gt:
[[ 0.98691347  0.16124183  0.00124027]
 [-0.16118742  0.98673169 -0.01950455]
 [-0.00436818  0.01904926  0.99980816]]

 t_gt:
[-0.31853758  0.94291227 -0.09721249]

Pose Error in degrees for R and t:
9.393788048647647 72.25128102514013

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99999790e-01 -6.46436552e-04  4.53262350e-05]
 [ 6.46443297e-04  9.99999780e-01 -1.48961676e-04]
 [-4.52299307e-05  1.48990945e-04  9.99999988e-01]]

 t_estimated:
[[0.99996757]
 [0.00796757]
 [0.00117608]]

 R_gt:
[[ 0.96770399  0.25173039  0.01346071]
 [-0.24780484  0.95970173 -0.13253677]
 [-0.04628093  0.12492045  0.991086  ]]

 t_gt:
[-0.25515465  0.94763675 -0.19204347]

Pose Error in degrees for R and t:
16.442411059881483 75.65134072277031

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99996608e-01  5.64362752e-04 -2.54276316e-03]
 [-5.57517890e-04  9.99996222e-01  2.69180426e-03]
 [ 2.54427271e-03 -2.69037749e-03  9.99993144e-01]]

 t_estimated:
[[0.78577272]
 [0.61851289]
 [0.00174229]]

 R_gt:
[[ 0.96477839  0.26302209  0.00468203]
 [-0.25589689  0.94247126 -0.21509491]
 [-0.06098651  0.20632084  0.97658143]]

 t_gt:
[-0.21333639  0.92903449 -0.30229538]

Pose Error in degrees for R and t:
19.711349324384848 66.01739897191386

Number of keypoints:
Image1: 499
Image2: 499

 R_estimated:
[[-0.87087795 -0.49107444  0.02043236]
 [-0.49107937  0.87109978  0.00512138]
 [-0.02031361 -0.00557381 -0.99977812]]

 t_estimated:
[[0.96636662]
 [0.25695284]
 [0.01052603]]

 R_gt:
[[ 0.99486069 -0.09328479 -0.03937692]
 [ 0.0935932   0.99559163  0.00605846]
 [ 0.03863794 -0.00971295  0.9992061 ]]

 t_gt:
[ 0.98742634 -0.13942232 -0.07450263]

Pose Error in degrees for R and t:
179.15632880958165 23.421335335662555

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[ 0.99632919  0.08350023  0.01886441]
 [-0.08319404  0.99639722 -0.01647228]
 [-0.02017188  0.01484241  0.99968635]]

 t_estimated:
[[0.48852899]
 [0.8723732 ]
 [0.01744746]]

 R_gt:
[[ 0.99100752 -0.09447747 -0.0947546 ]
 [ 0.1003161   0.99321201  0.0588687 ]
 [ 0.08855017 -0.06784412  0.99375853]]

 t_gt:
[ 0.95999459 -0.17708431  0.21691364]

Pose Error in degrees for R and t:
13.009532495970141 71.4406878480086

Number of keypoints:
Image1: 282
Image2: 282

 R_estimated:
[[-0.66728421  0.74297689  0.05212606]
 [ 0.74395132  0.668233   -0.00104939]
 [-0.03561202  0.03807901 -0.99863996]]

 t_estimated:
[[0.8992634 ]
 [0.43739682]
 [0.00305872]]

 R_gt:
[[ 0.98540306 -0.07903708 -0.15077769]
 [ 0.09038222  0.99344868  0.06992634]
 [ 0.14426284 -0.08253303  0.98609089]]

 t_gt:
[ 0.98063637 -0.16163983  0.11056613]

Pose Error in degrees for R and t:
173.2493700784927 35.75844691067358

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.97612723e-01 -6.90566145e-02  1.97454488e-04]
 [ 6.90566261e-02  9.97612740e-01 -5.21950203e-05]
 [-1.93378701e-04  6.57059571e-05  9.99999979e-01]]

 t_estimated:
[[9.02914966e-01]
 [4.29818429e-01]
 [8.25304745e-04]]

 R_gt:
[[ 0.9982284  -0.01927482 -0.05629105]
 [ 0.01910052  0.99981091 -0.00362442]
 [ 0.05635081  0.002544    0.99840728]]

 t_gt:
[ 0.78232997 -0.11761592 -0.61165865]

Pose Error in degrees for R and t:
4.324819901175693 49.05614629351719

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 0.99491894 -0.10064393  0.00266552]
 [ 0.10065094  0.9949183  -0.00263932]
 [-0.00238634  0.0028942   0.99999296]]

 t_estimated:
[[0.61989655]
 [0.78467918]
 [0.0026156 ]]

 R_gt:
[[ 0.9938551  -0.00155819 -0.11067182]
 [ 0.0034317   0.99985382  0.01673587]
 [ 0.11062978 -0.01701198  0.99371545]]

 t_gt:
[ 0.71779886  0.06320218 -0.693376  ]

Pose Error in degrees for R and t:
8.671806171567004 60.4791085852315

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99606619e-01 -2.80463459e-02 -9.51987080e-05]
 [ 2.80463731e-02  9.99606579e-01  2.97258882e-04]
 [ 8.68242294e-05 -2.99811925e-04  9.99999951e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.99196552  0.04884742 -0.11669481]
 [-0.04680346  0.99870022  0.02019559]
 [ 0.11752954 -0.01457072  0.9929625 ]]

 t_gt:
[ 0.39891677  0.52690364 -0.75049182]

Pose Error in degrees for R and t:
8.07010322726122 61.468493079473916

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.79526144 -0.60625994 -0.00285048]
 [-0.60623952 -0.7951726  -0.01319757]
 [ 0.00573453  0.01222359 -0.99990885]]

 t_estimated:
[[ 0.36039506]
 [ 0.93277774]
 [-0.00640961]]

 R_gt:
[[ 0.99660552 -0.08205217 -0.00669297]
 [ 0.08222533  0.9960924   0.03222372]
 [ 0.00402361 -0.03266489  0.99945783]]

 t_gt:
[ 0.67148899 -0.70989493  0.21248935]

Pose Error in degrees for R and t:
179.10478753982946 65.0684731197355

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.86740288 -0.42736894  0.25488828]
 [ 0.49008148  0.82244707 -0.28879223]
 [-0.08621129  0.37541524  0.92283856]]

 t_estimated:
[[-7.49049235e-01]
 [-6.62513972e-01]
 [-6.92282103e-04]]

 R_gt:
[[ 0.99595783 -0.08781814  0.01887166]
 [ 0.08787916  0.99612778 -0.00244516]
 [-0.01858415  0.00409384  0.99981868]]

 t_gt:
[ 0.64521682 -0.75640752  0.10743797]

Pose Error in degrees for R and t:
32.05465895920376 88.98254493168541

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.98219318 -0.18786603 -0.00170646]
 [ 0.1878686  -0.98219303 -0.00149782]
 [-0.00139468 -0.00179174  0.99999742]]

 t_estimated:
[[0.86884727]
 [0.49507901]
 [0.00109289]]

 R_gt:
[[ 0.99842146 -0.04450351  0.03428834]
 [ 0.04632157  0.99745541 -0.05420794]
 [-0.03178804  0.05571005  0.99794021]]

 t_gt:
[ 0.53273157 -0.8277155  -0.17630692]

Pose Error in degrees for R and t:
166.57737707324742 86.96849152441406

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.16328661e-01  4.00426969e-01 -1.65276168e-04]
 [-4.00426806e-01  9.16327724e-01 -1.36961113e-03]
 [-3.96982099e-04  1.32119494e-03  9.99999048e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99377619 -0.11131207  0.00430826]
 [ 0.11136179  0.99179746 -0.06273331]
 [ 0.00271026  0.06282333  0.99802117]]

 t_gt:
[ 0.81413978 -0.39871204 -0.4221435 ]

Pose Error in degrees for R and t:
30.205110387915994 65.54790011845495

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 0.67675658  0.73617048  0.00731738]
 [ 0.73619468 -0.67665482 -0.0124757 ]
 [-0.0042329   0.01383003 -0.9998954 ]]

 t_estimated:
[[-0.27940791]
 [ 0.96014383]
 [-0.00741948]]

 R_gt:
[[ 0.97109943 -0.23831781 -0.0130519 ]
 [ 0.23717953  0.96968477 -0.05879174]
 [ 0.02666624  0.05399707  0.99818393]]

 t_gt:
[ 0.86399004 -0.45242406 -0.22098344]

Pose Error in degrees for R and t:
176.65069582250555 47.611183366497194

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.34544579  0.93842663  0.00476062]
 [-0.93841429  0.34546895 -0.00546079]
 [-0.0067692  -0.00258103  0.99997376]]

 t_estimated:
[[-0.0630558 ]
 [ 0.99798803]
 [ 0.00662258]]

 R_gt:
[[ 0.93812592 -0.34602799 -0.0136082 ]
 [ 0.34581906  0.93817204 -0.01555565]
 [ 0.01814861  0.00988706  0.99978589]]

 t_gt:
[ 0.87403751 -0.48538888 -0.02135563]

Pose Error in degrees for R and t:
90.04099553515837 57.33903646252048

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.40751237e-01  3.39097399e-01  2.53775353e-04]
 [-3.39097045e-01  9.40750946e-01 -9.22366879e-04]
 [-5.51511614e-04  7.81663310e-04  9.99999542e-01]]

 t_estimated:
[[0.7079024 ]
 [0.70630982]
 [0.00079629]]

 R_gt:
[[ 0.99133486 -0.12001282  0.05340892]
 [ 0.10906829  0.97859627  0.17450356]
 [-0.07320845 -0.16716629  0.98320633]]

 t_gt:
[ 0.4450427  -0.42613126  0.78762246]

Pose Error in degrees for R and t:
28.447840013224113 89.15810675660732

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-0.99391906 -0.11010622 -0.0012343 ]
 [ 0.11010844 -0.99391775 -0.00190803]
 [-0.0010167  -0.00203234  0.99999742]]

 t_estimated:
[[0.86845883]
 [0.4957599 ]
 [0.00117201]]

 R_gt:
[[ 0.97628978 -0.18004629  0.12017673]
 [ 0.13350394  0.93781215  0.32044496]
 [-0.17039743 -0.2968028   0.93961266]]

 t_gt:
[ 0.37854607 -0.26780157  0.8859939 ]

Pose Error in degrees for R and t:
164.61287360914363 78.63696914625693

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-6.78531746e-01 -7.34569269e-01 -1.63056266e-03]
 [ 7.34571034e-01 -6.78529257e-01 -1.85578885e-03]
 [ 2.56820987e-04 -2.45697575e-03  9.99996949e-01]]

 t_estimated:
[[9.99085952e-01]
 [4.27391948e-02]
 [7.88795122e-04]]

 R_gt:
[[ 0.97493807 -0.16937644  0.14424859]
 [ 0.1161744   0.94054314  0.31918956]
 [-0.18973496 -0.2944321   0.93664791]]

 t_gt:
[ 0.36449938 -0.20448346  0.90847494]

Pose Error in degrees for R and t:
125.22098799206465 69.13646577853835

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.89747960e-01  1.42824206e-01 -4.70521017e-04]
 [-1.42824041e-01  9.89748028e-01  3.67242702e-04]
 [ 5.18148396e-04 -2.96276002e-04  9.99999822e-01]]

 t_estimated:
[[-0.92937291]
 [-0.36914038]
 [-0.00117687]]

 R_gt:
[[ 0.9980202   0.04519578  0.04374339]
 [-0.04317174  0.99800076 -0.04615414]
 [-0.04574136  0.04417432  0.99797615]]

 t_gt:
[-0.75093622  0.63643591  0.17619341]

Pose Error in degrees for R and t:
6.763755961870249 62.4347651926678

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.76709681e-01  2.14565116e-01  1.00651591e-04]
 [-2.14565106e-01  9.76709683e-01 -1.03584899e-04]
 [-1.20533089e-04  7.95760543e-05  9.99999990e-01]]

 t_estimated:
[[7.08961081e-02]
 [9.97483564e-01]
 [5.30206015e-04]]

 R_gt:
[[ 0.99527822  0.03740222  0.08957225]
 [-0.03297696  0.99818439 -0.05038694]
 [-0.09129397  0.04719446  0.99470416]]

 t_gt:
[-0.53767039  0.36662566  0.75927346]

Pose Error in degrees for R and t:
11.920776299618758 70.85336592946521

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-2.81150430e-01 -9.59663299e-01  8.87820477e-04]
 [-9.59663709e-01  2.81150354e-01 -2.11262075e-04]
 [-4.68705819e-05 -9.11405515e-04 -9.99999584e-01]]

 t_estimated:
[[0.78111118]
 [0.62439078]
 [0.00121458]]

 R_gt:
[[ 0.99639703  0.01019361  0.08419666]
 [-0.00604277  0.99876063 -0.0494081 ]
 [-0.08459563  0.0487202   0.99522272]]

 t_gt:
[-0.07173445  0.03305747  0.99687581]

Pose Error in degrees for R and t:
177.7782234167815 88.04119082463292

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 1.00000000e+00  1.23286754e-05 -1.59848344e-05]
 [-1.23286851e-05  1.00000000e+00 -6.03619677e-07]
 [ 1.59848270e-05  6.03816749e-07  1.00000000e+00]]

 t_estimated:
[[-1.33263419e-02]
 [ 9.99911196e-01]
 [-9.77579739e-05]]

 R_gt:
[[ 0.99578352  0.01423626 -0.09062983]
 [-0.01681441  0.99947415 -0.02773722]
 [ 0.09018713  0.02914334  0.99549802]]

 t_gt:
[ 0.11986559  0.27076845 -0.9551527 ]

Pose Error in degrees for R and t:
5.509975242790153 74.38092819570116

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.99998728e-01  1.59510357e-03 -5.20946062e-06]
 [-1.59510166e-03  9.99998667e-01  3.48559458e-04]
 [ 5.76544212e-06 -3.48550705e-04  9.99999939e-01]]

 t_estimated:
[[-0.99994721]
 [-0.01022441]
 [-0.00102244]]

 R_gt:
[[ 0.98504018  0.02465671 -0.17055445]
 [-0.02734425  0.99953605 -0.01342301]
 [ 0.17014375  0.01788593  0.98525646]]

 t_gt:
[ 0.21831673  0.20518446 -0.95406349]

Pose Error in degrees for R and t:
9.95230244440515 77.32458317154749

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.99999583e-01 -9.13195845e-04 -1.14321405e-06]
 [ 9.13195935e-04  9.99999580e-01  8.14895941e-05]
 [ 1.06879761e-06 -8.14906041e-05  9.99999997e-01]]

 t_estimated:
[[-2.20206581e-01]
 [ 9.75453260e-01]
 [-6.32134564e-07]]

 R_gt:
[[ 0.96595704  0.03427684 -0.25642446]
 [-0.03890452  0.9991588  -0.01299202]
 [ 0.25576255  0.02252613  0.96647654]]

 t_gt:
[ 0.26252767  0.18101215 -0.94779419]

Pose Error in degrees for R and t:
15.036402088581294 83.17950403547565

Number of keypoints:
Image1: 380
Image2: 380

 R_estimated:
[[ 9.91986164e-01 -1.26346468e-01 -1.44916906e-04]
 [ 1.26346515e-01  9.91986093e-01  3.85317051e-04]
 [ 9.50721070e-05 -4.00538929e-04  9.99999915e-01]]

 t_estimated:
[[-0.64369026]
 [-0.76528565]
 [-0.00085032]]

 R_gt:
[[ 9.97566969e-01 -1.55977720e-04  6.97247773e-02]
 [ 1.75713671e-03  9.99736060e-01 -2.29036239e-02]
 [-6.97024727e-02  2.29697483e-02  9.97302833e-01]]

 t_gt:
[-0.70610244  0.03570762  0.70720882]

Pose Error in degrees for R and t:
8.34847469696343 64.74907253052743

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[ 9.93921793e-01 -1.10088458e-01  8.17777348e-06]
 [ 1.10088455e-01  9.93921775e-01  1.94664095e-04]
 [-2.95583372e-05 -1.92580608e-04  9.99999981e-01]]

 t_estimated:
[[6.06909810e-01]
 [7.94770613e-01]
 [3.94085636e-04]]

 R_gt:
[[ 0.99503732 -0.01956147  0.09756751]
 [ 0.02088099  0.99970408 -0.01252811]
 [-0.09729409  0.01450301  0.99514996]]

 t_gt:
[-0.61454719 -0.22689583  0.75554619]

Pose Error in degrees for R and t:
7.646109587704853 56.426441548453035

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.92898461e-01 -1.18964870e-01  7.80900631e-05]
 [ 1.18964847e-01  9.92898435e-01  2.48735760e-04]
 [-1.07126319e-04 -2.37679380e-04  9.99999966e-01]]

 t_estimated:
[[9.68880236e-01]
 [2.47529660e-01]
 [3.94130953e-04]]

 R_gt:
[[ 0.98722524 -0.13155864  0.08988895]
 [ 0.13195061  0.99125498  0.00158742]
 [-0.08931139  0.01029416  0.99594999]]

 t_gt:
[ 0.06650368 -0.85048676  0.52177537]

Pose Error in degrees for R and t:
5.208217727551602 81.61170387655018

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 2.77998406e-01 -9.60575954e-01  3.27470078e-03]
 [-9.60581187e-01 -2.77999594e-01  9.57474083e-05]
 [ 8.18392831e-04 -3.17223359e-03 -9.99994634e-01]]

 t_estimated:
[[0.09152092]
 [0.99580222]
 [0.00136598]]

 R_gt:
[[ 0.99838649 -0.05548877  0.01206555]
 [ 0.05533757  0.99838871  0.01250358]
 [-0.01274022 -0.0118165   0.99984958]]

 t_gt:
[ 0.19925243 -0.91800478  0.34287855]

Pose Error in degrees for R and t:
178.90282486155462 26.43408895633506

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.97941762e-01  6.41261364e-02  2.80608889e-04]
 [-6.41261247e-02  9.97941801e-01 -5.04588019e-05]
 [-2.83267068e-04  3.23605851e-05  9.99999959e-01]]

 t_estimated:
[[0.84463937]
 [0.53533481]
 [0.00099136]]

 R_gt:
[[ 0.98122864 -0.1927623   0.0057692 ]
 [ 0.19268632  0.9811905   0.01172692]
 [-0.00792163 -0.0103954   0.99991507]]

 t_gt:
[ 0.58546778 -0.80726013  0.0745557 ]

Pose Error in degrees for R and t:
14.807411049645873 86.42077738427145

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 0.92491416 -0.38016736  0.00256637]
 [-0.38017197 -0.92491439  0.00162659]
 [ 0.00175529 -0.00248012 -0.99999538]]

 t_estimated:
[[0.08017   ]
 [0.99678031]
 [0.00133617]]

 R_gt:
[[ 0.94610767 -0.32347785 -0.01553729]
 [ 0.32360241  0.94617268  0.00619327]
 [ 0.0126981  -0.01088743  0.99986013]]

 t_gt:
[ 0.70814876 -0.70585761 -0.01704016]

Pose Error in degrees for R and t:
179.57595023757034 49.696568473071856

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99249078e-01 -3.87460872e-02 -1.45860953e-04]
 [ 3.87461381e-02  9.99249020e-01  3.63521504e-04]
 [ 1.31666379e-04 -3.68900076e-04  9.99999923e-01]]

 t_estimated:
[[0.93903548]
 [0.34381718]
 [0.00145156]]

 R_gt:
[[ 0.99980297 -0.01826107 -0.00782862]
 [ 0.01798851  0.99927674 -0.03351152]
 [ 0.00843616  0.03336454  0.99940781]]

 t_gt:
[ 0.54433401  0.11883821 -0.83040832]

Pose Error in degrees for R and t:
2.314423996430921 56.57793713176648

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.92548236e-01  1.21852149e-01  2.28912124e-04]
 [-1.21852074e-01  9.92548221e-01 -3.19524977e-04]
 [-2.66141126e-04  2.89250535e-04  9.99999923e-01]]

 t_estimated:
[[0.97456604]
 [0.22409807]
 [0.00104232]]

 R_gt:
[[ 0.9975482  -0.06794374  0.01682136]
 [ 0.06693806  0.99627027  0.05445474]
 [-0.02045769 -0.05319521  0.99837453]]

 t_gt:
[ 0.66275371 -0.45669885  0.59345065]

Pose Error in degrees for R and t:
11.351493629230315 57.03200362694741

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.10944833  0.99398865  0.0027608 ]
 [ 0.99399069 -0.10945299  0.00159854]
 [ 0.00189111  0.00256925 -0.99999491]]

 t_estimated:
[[-0.66865306]
 [-0.74357217]
 [-0.00187298]]

 R_gt:
[[ 0.98049948 -0.17372473  0.0918793 ]
 [ 0.14838698  0.9609731   0.23347749]
 [-0.1288541  -0.21529024  0.96801131]]

 t_gt:
[ 0.46956183 -0.34291156  0.81358672]

Pose Error in degrees for R and t:
174.63202004556462 86.5304370645547

Number of keypoints:
Image1: 337
Image2: 337

 R_estimated:
[[ 9.99999996e-01  4.01909549e-05 -7.54854503e-05]
 [-4.01845428e-05  9.99999996e-01  8.49439751e-05]
 [ 7.54888639e-05 -8.49409415e-05  9.99999994e-01]]

 t_estimated:
[[-0.35592977]
 [-0.93451141]
 [ 0.0015569 ]]

 R_gt:
[[ 0.99985288  0.01650007  0.00485221]
 [-0.0163916   0.99963303 -0.0215606 ]
 [-0.00520581  0.02147828  0.99975558]]

 t_gt:
[-0.90690979  0.37810344 -0.18588284]

Pose Error in degrees for R and t:
1.581265240743568 88.23299385579027

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.99999252  0.00269245  0.00277636]
 [-0.00268566  0.9999934  -0.00244656]
 [-0.00278293  0.00243909  0.99999315]]

 t_estimated:
[[0.99915239]
 [0.04078243]
 [0.00559453]]

 R_gt:
[[ 0.99934138 -0.03560839 -0.00707208]
 [ 0.03531674  0.99865927 -0.03783176]
 [ 0.00840937  0.03755764  0.99925887]]

 t_gt:
[-0.83116907  0.01457665 -0.55582866]

Pose Error in degrees for R and t:
3.0381041746023394 33.59394800092945

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 1.14459093e-01 -9.93427709e-01  7.09554469e-04]
 [ 9.93403879e-01  1.14451316e-01 -7.04486202e-03]
 [ 6.91735169e-03  1.51122268e-03  9.99974933e-01]]

 t_estimated:
[[ 0.98305937]
 [-0.18323691]
 [-0.00430227]]

 R_gt:
[[ 0.99344964 -0.11181567  0.02354211]
 [ 0.11356274  0.98898489 -0.09492526]
 [-0.01266856  0.09697729  0.99520554]]

 t_gt:
[-0.31675275 -0.25533918 -0.91349307]

Pose Error in degrees for R and t:
77.09355949963002 74.89023168919216

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.99999781e-01 -6.61100502e-04 -2.88737498e-05]
 [ 6.61100599e-04  9.99999781e-01  3.35321846e-06]
 [ 2.88715267e-05 -3.37230618e-06  1.00000000e+00]]

 t_estimated:
[[-9.99999694e-01]
 [-5.15005937e-04]
 [-5.89628538e-04]]

 R_gt:
[[ 0.9961587   0.08756372  0.001597  ]
 [-0.0875478   0.99612962 -0.00787173]
 [-0.00227957  0.00770135  0.999967  ]]

 t_gt:
[-0.7247441   0.68769344 -0.04270501]

Pose Error in degrees for R and t:
5.0816538266652485 43.579804356278956

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 8.89498711e-01 -4.56937514e-01 -3.89586897e-04]
 [ 4.56936886e-01  8.89498430e-01 -1.10667748e-03]
 [ 8.52219389e-04  8.06371565e-04  9.99999312e-01]]

 t_estimated:
[[-0.42137933]
 [-0.90688159]
 [-0.00229011]]

 R_gt:
[[ 0.96816288  0.24995421 -0.01357775]
 [-0.25026817  0.96765816 -0.03168641]
 [ 0.00521852  0.03407509  0.99940521]]

 t_gt:
[-0.74352421  0.65934666 -0.11150669]

Pose Error in degrees for R and t:
41.71979439170846 73.47771500647791

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-9.94442668e-01 -1.05279481e-01 -1.00866706e-04]
 [-1.05279510e-01  9.94441463e-01  1.54973018e-03]
 [-6.28487536e-05  1.55173701e-03 -9.99998794e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.30978729e-01  3.65072403e-01 -2.43964059e-04]
 [-3.64820969e-01  9.30312915e-01 -3.77224125e-02]
 [-1.35437847e-02  3.52079741e-02  9.99287466e-01]]

 t_gt:
[-0.73398968  0.67649659 -0.06009591]

Pose Error in degrees for R and t:
179.7368581884576 42.95115358309499

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 2.13100417e-01 -9.77030261e-01 -2.86305090e-04]
 [-9.77030263e-01 -2.13100483e-01  2.23449783e-04]
 [-2.79328953e-04  2.32111495e-04 -9.99999934e-01]]

 t_estimated:
[[0.67095958]
 [0.74149172]
 [0.00180852]]

 R_gt:
[[ 0.98149465  0.1914083  -0.00562998]
 [-0.1914676   0.98049592 -0.04437692]
 [-0.00297448  0.04463361  0.9989995 ]]

 t_gt:
[-0.78920899  0.58579426 -0.18437532]

Pose Error in degrees for R and t:
177.95470374112017 84.5199481119615

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.99980834  0.01691447 -0.00985839]
 [ 0.01690245  0.9998563   0.00130169]
 [ 0.00987899  0.00113481 -0.99995056]]

 t_estimated:
[[ 0.99998669]
 [-0.0022907 ]
 [-0.00462307]]

 R_gt:
[[ 0.9633695   0.26816727 -0.0025705 ]
 [-0.26815565  0.96310797 -0.02271714]
 [-0.00361664  0.02257457  0.99973916]]

 t_gt:
[-0.78419868  0.61725913 -0.06343177]

Pose Error in degrees for R and t:
179.47467518571352 38.25073853791122

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-9.91887698e-01 -1.27082557e-01 -2.96954777e-03]
 [ 1.27085052e-01 -9.91891600e-01 -6.66539560e-04]
 [-2.86076394e-03 -1.03851752e-03  9.99995369e-01]]

 t_estimated:
[[0.97348258]
 [0.22875345]
 [0.00187805]]

 R_gt:
[[ 9.22671728e-01  3.85500543e-01 -8.18058524e-03]
 [-3.85484560e-01  9.22707061e-01  3.51627699e-03]
 [ 8.90270476e-03 -9.07214080e-05  9.99960728e-01]]

 t_gt:
[-0.76184521  0.64756828 -0.01572258]

Pose Error in degrees for R and t:
164.6268154653917 53.59144320618396

Number of keypoints:
Image1: 610
Image2: 610

 R_estimated:
[[ 9.98909962e-01  4.66778251e-02  2.60525526e-04]
 [-4.66778393e-02  9.98909994e-01  4.86429605e-05]
 [-2.57971004e-04 -6.07507064e-05  9.99999965e-01]]

 t_estimated:
[[-0.79901322]
 [ 0.60127386]
 [ 0.00690098]]

 R_gt:
[[ 0.99960191 -0.00615944 -0.02754483]
 [ 0.00550586  0.99970287 -0.02373673]
 [ 0.02768435  0.02357613  0.99933862]]

 t_gt:
[-0.6888236   0.08683496 -0.71970949]

Pose Error in degrees for R and t:
3.6681536540345596 53.300078796507385

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 9.99999966e-01  1.97496435e-05  2.59104707e-04]
 [-1.96727074e-05  9.99999956e-01 -2.96929856e-04]
 [-2.59110559e-04  2.96924749e-04  9.99999922e-01]]

 t_estimated:
[[0.99894782]
 [0.04584543]
 [0.00120646]]

 R_gt:
[[ 0.99516043 -0.09710521  0.01506056]
 [ 0.09797275  0.9923038  -0.07572469]
 [-0.00759106  0.07683354  0.99701446]]

 t_gt:
[-0.08100506 -0.37234789 -0.92455136]

Pose Error in degrees for R and t:
7.131918131770751 84.3123241575791

Number of keypoints:
Image1: 486
Image2: 486

 R_estimated:
[[ 9.97647479e-01  6.85529087e-02  7.36668433e-05]
 [-6.85528847e-02  9.97647442e-01 -2.88873163e-04]
 [-9.32966334e-05  2.83143508e-04  9.99999956e-01]]

 t_estimated:
[[ 9.59042621e-01]
 [-2.83261627e-01]
 [ 3.18230038e-04]]

 R_gt:
[[ 0.99111442 -0.13296549  0.00370541]
 [ 0.13275597  0.9870384  -0.09017476]
 [ 0.0083333   0.08986453  0.99591847]]

 t_gt:
[ 0.16568978 -0.35867381 -0.9186403 ]

Pose Error in degrees for R and t:
12.676068071264519 74.91749169051624

Number of keypoints:
Image1: 410
Image2: 410

 R_estimated:
[[ 9.98252779e-01  5.90879443e-02  6.48167892e-05]
 [-5.90879364e-02  9.98252775e-01 -1.16636735e-04]
 [-7.15953645e-05  1.12603055e-04  9.99999991e-01]]

 t_estimated:
[[-0.56707926]
 [ 0.82366252]
 [ 0.00107608]]

 R_gt:
[[ 0.999487   -0.01547692 -0.02804988]
 [ 0.01489068  0.9996685  -0.02101868]
 [ 0.02836586  0.02058967  0.99938563]]

 t_gt:
[-0.62021159 -0.04315182 -0.78324677]

Pose Error in degrees for R and t:
4.7070108207038555 71.61964040935383

Number of keypoints:
Image1: 298
Image2: 298

 R_estimated:
[[ 9.99999512e-01 -9.77829891e-04 -1.43269687e-04]
 [ 9.77841747e-04  9.99999518e-01  8.27081879e-05]
 [ 1.43188743e-04 -8.28482425e-05  9.99999986e-01]]

 t_estimated:
[[ 0.92158681]
 [-0.388171  ]
 [ 0.00101372]]

 R_gt:
[[ 0.99435461 -0.10449826  0.01843049]
 [ 0.10564826  0.99117886 -0.0800174 ]
 [-0.00990651  0.08151245  0.99662301]]

 t_gt:
[ 0.04308094 -0.3886683  -0.92037003]

Pose Error in degrees for R and t:
7.618934881350112 79.06824814896953

Number of keypoints:
Image1: 478
Image2: 478

 R_estimated:
[[ 9.90287454e-01  1.39035018e-01  1.46351013e-04]
 [-1.39034953e-01  9.90287399e-01 -3.85736283e-04]
 [-1.98560415e-04  3.61641896e-04  9.99999915e-01]]

 t_estimated:
[[ 8.59575689e-01]
 [-5.11008333e-01]
 [-3.44587018e-04]]

 R_gt:
[[ 0.99099752 -0.1338337   0.00355232]
 [ 0.13366187  0.98750639 -0.08346507]
 [ 0.00766238  0.08318792  0.99650484]]

 t_gt:
[ 0.21613283 -0.39933863 -0.89096311]

Pose Error in degrees for R and t:
16.39651079154914 67.03586142907484

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99988759e-01  4.72404187e-03 -4.07573260e-04]
 [-4.72397277e-03  9.99988827e-01  1.70347082e-04]
 [ 4.08373433e-04 -1.68419802e-04  9.99999902e-01]]

 t_estimated:
[[-9.99998801e-01]
 [ 2.01417350e-04]
 [-1.53564105e-03]]

 R_gt:
[[ 0.98100609  0.19368261 -0.01073187]
 [-0.19395492  0.980258   -0.03841364]
 [ 0.00307976  0.03976603  0.99920483]]

 t_gt:
[-0.79048522  0.58839711 -0.17006455]

Pose Error in degrees for R and t:
11.146759885138554 37.733678029364526

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99312274e-01  3.70805353e-02 -1.09726175e-04]
 [-3.70805281e-02  9.99312279e-01  6.64090208e-05]
 [ 1.12113196e-04 -6.22946451e-05  9.99999992e-01]]

 t_estimated:
[[-9.93998823e-01]
 [ 1.09389421e-01]
 [-5.43553373e-04]]

 R_gt:
[[ 9.61194058e-01  2.75873182e-01 -2.13087524e-04]
 [-2.75806692e-01  9.60944420e-01 -2.27088631e-02]
 [-6.05987416e-03  2.18859807e-02  9.99742110e-01]]

 t_gt:
[-0.78468563  0.61738231 -0.05574535]

Pose Error in degrees for R and t:
13.950143974011725 32.05467964376992

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99967328e-01 -8.08208358e-03 -1.48112112e-04]
 [ 8.08210734e-03  9.99967326e-01  1.60537224e-04]
 [ 1.46809798e-04 -1.61729037e-04  9.99999976e-01]]

 t_estimated:
[[-9.99692757e-01]
 [-2.47858247e-02]
 [-2.32862440e-04]]

 R_gt:
[[ 0.92330542  0.3839526  -0.00933654]
 [-0.38390716  0.92335035  0.00625703]
 [ 0.01102344 -0.00219214  0.99993716]]

 t_gt:
[-0.76235412  0.64706622 -0.0110224 ]

Pose Error in degrees for R and t:
23.04970908705284 41.74767538030063

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.99971467e-01  7.55417194e-03 -4.69905650e-06]
 [-7.55416943e-03  9.99971385e-01  4.03464994e-04]
 [ 7.74676597e-06 -4.03417984e-04  9.99999919e-01]]

 t_estimated:
[[-0.83879213]
 [ 0.5444478 ]
 [ 0.00208589]]

 R_gt:
[[ 0.99600623  0.08927765  0.00109387]
 [-0.08925949  0.99594194 -0.01146436]
 [-0.00211308  0.01132034  0.99993398]]

 t_gt:
[-0.71290431  0.69686693 -0.07838321]

Pose Error in degrees for R and t:
4.738350024960105 12.252271066148786

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.44586788 -0.81752817  0.36448527]
 [-0.84813136  0.51603117  0.1199376 ]
 [-0.28613813 -0.25565507 -0.92345301]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.97026628  0.2417151  -0.01250687]
 [-0.24198547  0.96983814 -0.02926765]
 [ 0.0050545   0.03142362  0.9994927 ]]

 t_gt:
[-0.73952751  0.66475932 -0.10580222]

Pose Error in degrees for R and t:
158.83194779363274 77.89097709417919

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99993465e-01 -3.60993244e-03 -1.95793587e-04]
 [ 3.60993795e-03  9.99993484e-01  2.77768308e-05]
 [ 1.95692039e-04 -2.84834520e-05  9.99999980e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 9.30003097e-01  3.67548898e-01  6.92053940e-04]
 [-3.67223164e-01  9.29255850e-01 -4.03542941e-02]
 [-1.54748199e-02  3.72751904e-02  9.99185292e-01]]

 t_gt:
[-0.73026115  0.68042627 -0.06114529]

Pose Error in degrees for R and t:
21.892183402798807 43.26471479109229

Number of keypoints:
Image1: 367
Image2: 367

 R_estimated:
[[ 9.99924576e-01  1.22810911e-02 -1.32793446e-04]
 [-1.22810937e-02  9.99924584e-01 -1.90918654e-05]
 [ 1.32548962e-04  2.07212742e-05  9.99999991e-01]]

 t_estimated:
[[-0.87571118]
 [ 0.48279388]
 [ 0.00632525]]

 R_gt:
[[ 0.9999177   0.01186635 -0.00482623]
 [-0.01197476  0.99965966 -0.02314152]
 [ 0.00455073  0.02319785  0.9997199 ]]

 t_gt:
[-0.88037761  0.33586232 -0.33486082]

Pose Error in degrees for R and t:
1.3541967942723838 21.41022246563474

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 8.44148361e-02  9.96429285e-01  1.67792732e-03]
 [ 9.96430094e-01 -8.44165192e-02  9.58772029e-04]
 [ 1.09699331e-03  1.59100269e-03 -9.99998133e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.9987448  -0.05004941 -0.00179108]
 [ 0.04992127  0.99775977 -0.04452889]
 [ 0.0040166   0.04438373  0.99900605]]

 t_gt:
[-0.74576999 -0.11916193 -0.65545981]

Pose Error in degrees for R and t:
178.20722708001225 41.707338260872255

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.97692820e-01  6.78898557e-02  6.73241170e-05]
 [-6.78898311e-02  9.97692773e-01 -3.18403584e-04]
 [-8.87851583e-05  3.13098347e-04  9.99999947e-01]]

 t_estimated:
[[ 9.27997907e-01]
 [-3.72585224e-01]
 [ 3.69435925e-04]]

 R_gt:
[[ 0.99261745 -0.12045292  0.01419944]
 [ 0.12125862  0.98810986 -0.09452684]
 [-0.00264359  0.09555137  0.99542107]]

 t_gt:
[-0.14594533 -0.30819185 -0.94006263]

Pose Error in degrees for R and t:
12.14592211491043 88.79919171977988

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.99866371e-01 -1.63474404e-02  4.63842365e-05]
 [ 1.63474447e-02  9.99866367e-01 -9.27729688e-05]
 [-4.48614375e-05  9.35188353e-05  9.99999995e-01]]

 t_estimated:
[[ 0.99981235]
 [ 0.01926969]
 [-0.00198566]]

 R_gt:
[[ 0.99895216 -0.04382571  0.01321565]
 [ 0.04370304  0.99899985  0.00944998]
 [-0.01361721 -0.00886144  0.99986804]]

 t_gt:
[ 0.05643847 -0.91346427  0.40298602]

Pose Error in degrees for R and t:
1.82686068022465 87.82077349355731

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.86022333e-01  1.66612910e-01  3.12150102e-04]
 [-1.66612848e-01  9.86022369e-01 -2.14748904e-04]
 [-3.43566923e-04  1.59738997e-04  9.99999928e-01]]

 t_estimated:
[[0.71393802]
 [0.70020844]
 [0.00080762]]

 R_gt:
[[ 0.98475382 -0.17390334  0.00422578]
 [ 0.17385287  0.98471774  0.01034511]
 [-0.00596097 -0.0094514   0.99993789]]

 t_gt:
[ 0.54849346 -0.83243688  0.07876398]

Pose Error in degrees for R and t:
19.614951195290992 78.97569483584947

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99825557e-01  1.86774562e-02  8.58590450e-05]
 [-1.86774569e-02  9.99825561e-01  7.84835928e-06]
 [-8.56974805e-05 -9.45061880e-06  9.99999996e-01]]

 t_estimated:
[[ 9.99075943e-01]
 [-4.29764372e-02]
 [-5.35402307e-04]]

 R_gt:
[[ 0.94945226 -0.31384207 -0.00669975]
 [ 0.31387481  0.94945356  0.00459193]
 [ 0.00491911 -0.00646096  0.99996712]]

 t_gt:
[ 0.69343666 -0.72049252 -0.00601058]

Pose Error in degrees for R and t:
19.367948964569297 43.63393351939945

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.97699219e-01 -6.77957622e-02  6.33041550e-05]
 [ 6.77957527e-02  9.97699211e-01  1.41188624e-04]
 [-7.27304959e-05 -1.36572027e-04  9.99999988e-01]]

 t_estimated:
[[0.96839079]
 [0.24943421]
 [0.00136099]]

 R_gt:
[[ 0.99966131 -0.02576565 -0.00392246]
 [ 0.02559395  0.99892356 -0.03868862]
 [ 0.00491528  0.03857566  0.99924387]]

 t_gt:
[ 0.63010973 -0.02667557 -0.77604777]

Pose Error in degrees for R and t:
3.291326724578326 52.95210137691218

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-4.09931158e-01  9.12116443e-01 -1.99073671e-04]
 [-9.12113436e-01 -4.09930349e-01 -2.48770655e-03]
 [-2.35068439e-03 -8.38210657e-04  9.99996886e-01]]

 t_estimated:
[[0.38921631]
 [0.92114526]
 [0.00144154]]

 R_gt:
[[ 0.99639238 -0.08081411  0.0259102 ]
 [ 0.07890469  0.99457756  0.06774634]
 [-0.03124508 -0.0654571   0.99736642]]

 t_gt:
[ 0.62242183 -0.46492009  0.62963511]

Pose Error in degrees for R and t:
118.8332340479884 79.33335432863971

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.11477470e-01  4.11349944e-01 -2.11420577e-04]
 [-4.11349686e-01  9.11477291e-01  7.63798114e-04]
 [ 5.06893366e-04 -6.09216985e-04  9.99999686e-01]]

 t_estimated:
[[-0.80422998]
 [-0.59431677]
 [-0.00131196]]

 R_gt:
[[ 0.97813602 -0.17869495  0.10639135]
 [ 0.1479362   0.95740536  0.2479725 ]
 [-0.14617166 -0.22681159  0.96290755]]

 t_gt:
[ 0.45053201 -0.32159928  0.8328234 ]

Pose Error in degrees for R and t:
37.20374652832222 80.07888475945295

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.98135459e-01 -6.10377151e-02 -4.80942972e-05]
 [ 6.10377187e-02  9.98135457e-01  7.58717287e-05]
 [ 4.33735864e-05 -7.86658289e-05  9.99999996e-01]]

 t_estimated:
[[0.64540402]
 [0.76384097]
 [0.0007862 ]]

 R_gt:
[[ 0.99762     0.04633837  0.05105118]
 [-0.04398414  0.99795856 -0.04630107]
 [-0.05309318  0.04394482  0.9976223 ]]

 t_gt:
[-0.73206096  0.62584262  0.26908691]

Pose Error in degrees for R and t:
7.262402811776549 89.66878839817284

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 0.53269267 -0.84627252  0.00783168]
 [-0.84626062 -0.53254086  0.0155946 ]
 [-0.00902659 -0.01493477 -0.99984772]]

 t_estimated:
[[0.46647818]
 [0.88448413]
 [0.00927005]]

 R_gt:
[[ 0.99451237  0.03041234  0.10009987]
 [-0.02589487  0.99860063 -0.04612572]
 [-0.10136194  0.04328058  0.99390738]]

 t_gt:
[-0.41192788  0.27231428  0.86957481]

Pose Error in degrees for R and t:
178.45438898055707 86.74595344019386

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[-6.63317884e-01 -7.48337108e-01 -9.78957312e-04]
 [-7.48337746e-01  6.63317414e-01  7.91129688e-04]
 [ 5.73277308e-05  1.25736118e-03 -9.99999208e-01]]

 t_estimated:
[[8.75077883e-01]
 [4.83981622e-01]
 [6.98386180e-04]]

 R_gt:
[[ 0.99679636  0.00506441  0.07981282]
 [-0.00184388  0.99918291 -0.04036321]
 [-0.07995172  0.04008609  0.99599218]]

 t_gt:
[ 0.04527503 -0.04225665  0.99808043]

Pose Error in degrees for R and t:
176.8008080015465 88.86175687829497

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.43866726e-01  3.30325666e-01  7.46542160e-04]
 [-3.30325293e-01  9.43866974e-01 -5.80586200e-04]
 [-8.96419012e-04  3.01394238e-04  9.99999553e-01]]

 t_estimated:
[[-0.72218837]
 [-0.69169597]
 [-0.00080243]]

 R_gt:
[[ 0.98958012 -0.13194239  0.05765575]
 [ 0.11883774  0.9744914   0.19037666]
 [-0.08130368 -0.18154123  0.98001675]]

 t_gt:
[ 0.4471024  -0.42247603  0.78842466]

Pose Error in degrees for R and t:
28.898763238684506 88.20635816423348

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.83141035e-01  1.82848831e-01  9.71563113e-05]
 [-1.82848421e-01  9.83139714e-01 -1.66050887e-03]
 [-3.99140334e-04  1.61474953e-03  9.99998617e-01]]

 t_estimated:
[[0.91369504]
 [0.4063981 ]
 [0.00140137]]

 R_gt:
[[ 0.97528623 -0.1829602   0.12386881]
 [ 0.13490857  0.93710294  0.32192777]
 [-0.17497694 -0.2972608   0.9386261 ]]

 t_gt:
[ 0.37915269 -0.26629079  0.88618985]

Pose Error in degrees for R and t:
28.3746848490626 76.14581599806291

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.39443665  0.91892199  0.0014509 ]
 [ 0.91892199  0.39443317  0.0022017 ]
 [ 0.0014509   0.0022017  -0.99999652]]

 t_estimated:
[[-0.55025601]
 [-0.83499496]
 [-0.00131839]]

 R_gt:
[[ 0.97610125 -0.16229559  0.14452731]
 [ 0.1091275   0.94116295  0.31985006]
 [-0.18793373 -0.29643379  0.93638055]]

 t_gt:
[ 0.34970612 -0.19081032  0.91722247]

Pose Error in degrees for R and t:
178.21570019225865 88.03371019233836

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.34002527e-01 -3.57265493e-01 -8.04084621e-04]
 [ 3.57266297e-01  9.34001593e-01  1.34803407e-03]
 [ 2.69410259e-04 -1.54633957e-03  9.99998768e-01]]

 t_estimated:
[[-0.53734561]
 [-0.84336126]
 [-0.00121799]]

 R_gt:
[[ 0.99801881 -0.00544583  0.06267762]
 [ 0.00706905  0.99964432 -0.02570171]
 [-0.06251624  0.0260941   0.99770336]]

 t_gt:
[-0.72754995 -0.00108286  0.68605386]

Pose Error in degrees for R and t:
20.944639285357823 66.98180624393261

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 9.81505934e-01 -1.91430838e-01  5.80052350e-04]
 [ 1.91431370e-01  9.81505418e-01 -1.07001755e-03]
 [-3.64490168e-04  1.16126879e-03  9.99999259e-01]]

 t_estimated:
[[0.94702042]
 [0.32117188]
 [0.00097031]]

 R_gt:
[[ 0.99458799 -0.01467473  0.10286102]
 [ 0.01650906  0.99971912 -0.01700085]
 [-0.1025827   0.01860625  0.99455024]]

 t_gt:
[-0.64048991 -0.16790651  0.74938647]

Pose Error in degrees for R and t:
11.751589218674695 48.71867705060706

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-0.85922449  0.51144937 -0.01236209]
 [-0.51154272 -0.85923714  0.00596452]
 [-0.00757142  0.0114486   0.9999058 ]]

 t_estimated:
[[0.77499647]
 [0.63196021]
 [0.00260066]]

 R_gt:
[[ 9.88337505e-01 -1.21126807e-01  9.22950513e-02]
 [ 1.21588528e-01  9.92579997e-01  6.24546484e-04]
 [-9.16860768e-02  1.06050231e-02  9.95731359e-01]]

 t_gt:
[-0.013732   -0.82149306  0.57005313]

Pose Error in degrees for R and t:
156.26953000356218 58.108615747847956

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999866e-01  5.14734984e-04 -5.10876823e-05]
 [-5.14736389e-04  9.99999867e-01 -2.74866996e-05]
 [ 5.10735272e-05  2.75129926e-05  9.99999998e-01]]

 t_estimated:
[[-4.67432566e-02]
 [ 9.98906823e-01]
 [-4.77171754e-04]]

 R_gt:
[[ 0.99432598  0.00383969 -0.10630729]
 [-0.00700748  0.99954258 -0.02944813]
 [ 0.10614599  0.03002675  0.99389637]]

 t_gt:
[ 0.2187021   0.13839707 -0.96592735]

Pose Error in degrees for R and t:
6.336230545032247 82.61801161590668

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 2.80322580e-01  9.59905789e-01  3.56197737e-04]
 [ 9.59896459e-01 -2.80321458e-01  4.32061422e-03]
 [ 4.24723247e-03 -8.69252777e-04 -9.99990603e-01]]

 t_estimated:
[[0.00900864]
 [0.99995879]
 [0.00112608]]

 R_gt:
[[ 0.98114266  0.02176789 -0.19205639]
 [-0.02463246  0.99961834 -0.0125417 ]
 [ 0.1917099   0.0170357   0.98130331]]

 t_gt:
[ 0.24532914  0.15949924 -0.95622885]

Pose Error in degrees for R and t:
173.86475689953522 80.7567688010722

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.36540845  0.93052736 -0.02440268]
 [-0.93070785 -0.3647744   0.02688004]
 [ 0.01611114  0.03253395  0.99934077]]

 t_estimated:
[[-0.10496693]
 [ 0.99404585]
 [-0.02923695]]

 R_gt:
[[ 0.96318832  0.02996367 -0.26715351]
 [-0.03424002  0.99934943 -0.01136372]
 [ 0.26663941  0.02009301  0.96358656]]

 t_gt:
[ 0.28926189  0.15009737 -0.94540909]

Pose Error in degrees for R and t:
109.95701311162959 81.57691471896226

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 1.00000000e+00  1.11022302e-16  1.02424579e-15]
 [-5.55111512e-17  1.00000000e+00 -5.19847837e-16]
 [-7.91413376e-16 -1.05574187e-16  1.00000000e+00]]

 t_estimated:
[[-9.30275283e-01]
 [-3.66862005e-01]
 [-4.07441001e-04]]

 R_gt:
[[ 0.9897524   0.14222102  0.01281912]
 [-0.14246174  0.98958872  0.02050102]
 [-0.00976964 -0.0221156   0.99970784]]

 t_gt:
[-0.59530142  0.79546392  0.11337269]

Pose Error in degrees for R and t:
8.300517392053598 74.81583210703772

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99909118e-01 -1.34709899e-02 -5.35907624e-04]
 [ 1.34715265e-02  9.99908744e-01  1.01064206e-03]
 [ 5.22244371e-04 -1.01776970e-03  9.99999346e-01]]

 t_estimated:
[[-9.92699863e-01]
 [-1.20608395e-01]
 [-7.73130734e-04]]

 R_gt:
[[ 0.98390176  0.17844196  0.00988876]
 [-0.1786477   0.98354206  0.02703319]
 [-0.00490247 -0.02836423  0.99958573]]

 t_gt:
[-0.56968337  0.81278653  0.12181508]

Pose Error in degrees for R and t:
11.17381990093909 62.134242712165516

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 1.00000000e+00  2.77555756e-16  3.06043168e-16]
 [-3.33066907e-16  1.00000000e+00 -3.55157527e-16]
 [-6.44991872e-16  5.00440618e-16  1.00000000e+00]]

 t_estimated:
[[-7.53244018e-01]
 [ 6.57741108e-01]
 [ 2.90645700e-04]]

 R_gt:
[[ 0.96971473  0.24191301 -0.03366399]
 [-0.24161017  0.97028891  0.01282022]
 [ 0.03576634 -0.00429735  0.9993511 ]]

 t_gt:
[-0.53047125  0.84657474 -0.04372025]

Pose Error in degrees for R and t:
14.145705934408866 16.98356174777635

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 7.95627913e-01  6.05785368e-01  5.59078718e-04]
 [-6.05782173e-01  7.95626155e-01 -2.64197143e-03]
 [-2.04528529e-03  1.76334629e-03  9.99996354e-01]]

 t_estimated:
[[0.50637519]
 [0.8623127 ]
 [0.00098325]]

 R_gt:
[[ 0.99140259 -0.12688671 -0.03197429]
 [ 0.12584251  0.99150804 -0.03279775]
 [ 0.03586401  0.0284913   0.99894967]]

 t_gt:
[ 0.81654547 -0.50762852 -0.27489412]

Pose Error in degrees for R and t:
44.620492519740374 88.5945970943434

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-9.53351361e-01 -3.01860089e-01 -1.29222711e-03]
 [ 3.01861942e-01 -9.53350269e-01 -1.62237043e-03]
 [-7.42216185e-04 -1.93676324e-03  9.99997849e-01]]

 t_estimated:
[[0.81192361]
 [0.5837628 ]
 [0.00102775]]

 R_gt:
[[ 0.9650142  -0.26110535 -0.02393264]
 [ 0.25921569  0.96377916 -0.06274709]
 [ 0.03944889  0.05434675  0.99774257]]

 t_gt:
[ 0.86736648 -0.44677735 -0.21923819]

Pose Error in degrees for R and t:
147.3526361348947 63.69189481756469

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.07270514  0.99735017  0.00256749]
 [-0.99735086  0.07269881  0.00247734]
 [ 0.00228412 -0.0027408   0.99999364]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.94196921 -0.3354242   0.01366318]
 [ 0.33534111  0.93828756 -0.08463844]
 [ 0.01556926  0.08430782  0.99631774]]

 t_gt:
[ 0.87109884 -0.4368585  -0.22436901]

Pose Error in degrees for R and t:
105.55565153297309 64.42767755883617

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[-2.00558948e-01 -9.79679660e-01 -1.96774032e-03]
 [ 9.79681634e-01 -2.00558398e-01 -4.74844270e-04]
 [ 7.05484259e-05 -2.02299332e-03  9.99997951e-01]]

 t_estimated:
[[ 9.70415053e-01]
 [-2.41442347e-01]
 [ 4.67917762e-04]]

 R_gt:
[[ 0.99310596 -0.11716256 -0.00374051]
 [ 0.11668562  0.99110679 -0.06396251]
 [ 0.01120191  0.06308512  0.99794496]]

 t_gt:
[ 0.81633321 -0.37550469 -0.43885798]

Pose Error in degrees for R and t:
94.90479834537538 28.03758778697724

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 8.87595992e-01  4.60622504e-01  5.13970977e-04]
 [-4.60622247e-01  8.87596106e-01 -5.45970310e-04]
 [-7.07684848e-04  2.47854592e-04  9.99999719e-01]]

 t_estimated:
[[0.63192832]
 [0.77502614]
 [0.00104451]]

 R_gt:
[[ 0.96965763 -0.24403922 -0.01445318]
 [ 0.24285762  0.96836214 -0.05740098]
 [ 0.02800477  0.05214944  0.99824623]]

 t_gt:
[ 0.86429746 -0.45643098 -0.21133068]

Pose Error in degrees for R and t:
41.66167037948867 78.91836841671702

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 8.87814966e-01  4.60199947e-01  7.72001726e-04]
 [-4.60200096e-01  8.87815224e-01  1.72549242e-05]
 [-6.77454170e-04 -3.70594448e-04  9.99999702e-01]]

 t_estimated:
[[0.57862424]
 [0.8155937 ]
 [0.00095168]]

 R_gt:
[[ 0.94104399 -0.33789609 -0.01617674]
 [ 0.3376845   0.94114855 -0.01447707]
 [ 0.02011705  0.00816173  0.99976421]]

 t_gt:
[ 0.86881722 -0.49473727 -0.01979059]

Pose Error in degrees for R and t:
47.161386493315604 84.30716754245063

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.96399376e-01  8.47832799e-02  2.81983032e-04]
 [-8.47831724e-02  9.96399355e-01 -3.73543863e-04]
 [-3.12637985e-04  3.48291456e-04  9.99999890e-01]]

 t_estimated:
[[ 9.99999772e-01]
 [-6.18492705e-04]
 [-2.69515284e-04]]

 R_gt:
[[ 0.99659649 -0.08192048 -0.00924464]
 [ 0.08218533  0.99606063  0.03328246]
 [ 0.0064823  -0.03392911  0.99940368]]

 t_gt:
[ 0.67786652 -0.70748005  0.19992239]

Pose Error in degrees for R and t:
9.778472484828502 47.29295323985357

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.9926951  -0.11898413  0.01998033]
 [ 0.120209    0.98955652 -0.07954678]
 [-0.01030686  0.08136752  0.99663087]]

 t_estimated:
[[-0.67719918]
 [-0.73363244]
 [-0.05643326]]

 R_gt:
[[ 9.95121890e-01 -9.67343172e-02  1.93362605e-02]
 [ 9.67554419e-02  9.95307660e-01 -1.69979664e-04]
 [-1.92281332e-02  2.04023559e-03  9.99813352e-01]]

 t_gt:
[ 0.65933121 -0.74336956  0.11262345]

Pose Error in degrees for R and t:
4.7553808380514235 84.6922217162858

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.63524943e-01 -2.67618420e-01 -2.56731046e-04]
 [ 2.67618508e-01  9.63524863e-01  4.14655328e-04]
 [ 1.36397342e-04 -4.68236731e-04  9.99999881e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99812811 -0.0547718   0.02719676]
 [ 0.0560283   0.99728529 -0.04777248]
 [-0.02450572  0.04920737  0.99848789]]

 t_gt:
[ 0.56619782 -0.8070543  -0.16758101]

Pose Error in degrees for R and t:
12.745766429953777 55.653983241574245

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99997387e-01 -2.28432263e-03 -8.71073652e-05]
 [ 2.28479936e-03  9.99979780e-01  5.93453385e-03]
 [ 7.35492139e-05 -5.93471737e-03  9.99982387e-01]]

 t_estimated:
[[0.71151974]
 [0.70259021]
 [0.01032687]]

 R_gt:
[[ 0.998146   -0.02089712 -0.05716355]
 [ 0.02075486  0.99978006 -0.00309688]
 [ 0.05721625  0.00190563  0.99835955]]

 t_gt:
[ 0.78155518 -0.14552707 -0.60662457]

Pose Error in degrees for R and t:
3.4763362739125534 63.41137825977655

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.97383987e-01 -7.22790245e-02 -9.61720533e-04]
 [ 7.22804881e-02  9.97383084e-01  1.58573970e-03]
 [ 8.44588073e-04 -1.65110501e-03  9.99998280e-01]]

 t_estimated:
[[0.74401668]
 [0.66816023]
 [0.00103913]]

 R_gt:
[[ 0.9933292  -0.00350191 -0.11526462]
 [ 0.00521529  0.99988001  0.01456402]
 [ 0.11520005 -0.01506851  0.9932285 ]]

 t_gt:
[ 0.71006033  0.05831481 -0.70172196]

Pose Error in degrees for R and t:
7.6698712535893865 55.491312363520755

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.99097747 -0.13400416 -0.00255787]
 [ 0.13401216  0.99097431  0.00326362]
 [ 0.00209744 -0.00357696  0.9999914 ]]

 t_estimated:
[[7.58322570e-01]
 [6.51879127e-01]
 [6.95708780e-04]]

 R_gt:
[[ 0.99079857  0.04339038 -0.12820341]
 [-0.04112767  0.99894871  0.02024554]
 [ 0.12894731 -0.01478585  0.99154102]]

 t_gt:
[ 0.45755196  0.4490881  -0.76744126]

Pose Error in degrees for R and t:
12.483670123995074 50.26861175971147

Number of keypoints:
Image1: 447
Image2: 447

 R_estimated:
[[ 9.99850309e-01  1.73017572e-02  9.84004124e-05]
 [-1.73017566e-02  9.99850313e-01 -7.17557298e-06]
 [-9.85098331e-05  5.47199887e-06  9.99999995e-01]]

 t_estimated:
[[9.57132918e-01]
 [2.89648469e-01]
 [5.84077332e-04]]

 R_gt:
[[ 0.99470024 -0.09688974 -0.03441973]
 [ 0.09722445  0.99522889  0.0081634 ]
 [ 0.03346528 -0.01146661  0.99937465]]

 t_gt:
[ 0.98618686 -0.16369608 -0.02527978]

Pose Error in degrees for R and t:
6.869912290922682 26.300466419588087

Number of keypoints:
Image1: 338
Image2: 338

 R_estimated:
[[ 7.56337896e-01 -6.54180513e-01 -9.18205232e-04]
 [ 6.54181125e-01  7.56337556e-01  7.46485413e-04]
 [ 2.06136891e-04 -1.16526774e-03  9.99999300e-01]]

 t_estimated:
[[-0.08565115]
 [-0.99632439]
 [-0.00125958]]

 R_gt:
[[ 0.99049038 -0.1028537  -0.09138836]
 [ 0.10828763  0.99250576  0.0566207 ]
 [ 0.08488002 -0.0659787   0.99420503]]

 t_gt:
[ 0.96111618 -0.17490854  0.2136883 ]

Pose Error in degrees for R and t:
35.29558184959644 84.73997884543002

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[ 0.84244584 -0.53823882  0.02416567]
 [ 0.53855158  0.84254849 -0.00861679]
 [-0.01572286  0.02027363  0.99967083]]

 t_estimated:
[[-0.15255223]
 [-0.98827315]
 [-0.00663271]]

 R_gt:
[[ 0.98398376 -0.08973019 -0.1540307 ]
 [ 0.10185228  0.99214085  0.07268493]
 [ 0.14629864 -0.08720914  0.98538936]]

 t_gt:
[ 0.97730854 -0.17429223  0.12037541]

Pose Error in degrees for R and t:
29.26846816110416 88.71879850931295

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99995546e-01  2.61353843e-03 -1.44139035e-03]
 [-2.61287258e-03  9.99996479e-01  4.63635816e-04]
 [ 1.44259700e-03 -4.59867581e-04  9.99998854e-01]]

 t_estimated:
[[-0.51880368]
 [-0.85489191]
 [-0.0015999 ]]

 R_gt:
[[ 0.98450926  0.1753204   0.00197178]
 [-0.1752253   0.98423826 -0.02389931]
 [-0.00613067  0.02318376  0.99971264]]

 t_gt:
[-0.33990139  0.93632277 -0.08812902]

Pose Error in degrees for R and t:
10.046370721766797 51.3932490865535

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99998379e-01  1.61094342e-03 -8.03706618e-04]
 [-1.61066135e-03  9.99998641e-01  3.51485521e-04]
 [ 8.04271749e-04 -3.50190452e-04  9.99999615e-01]]

 t_estimated:
[[-0.38263465]
 [-0.92389924]
 [-0.00096139]]

 R_gt:
[[ 0.96098216  0.27638913  0.01103345]
 [-0.27243128  0.9526189  -0.13526748]
 [-0.04789669  0.12698428  0.99074717]]

 t_gt:
[-0.26191904  0.94917363 -0.17455039]

Pose Error in degrees for R and t:
17.72197204164017 39.05389209268664

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.99999007e-01  1.33413640e-03 -4.54398104e-04]
 [-1.33408358e-03  9.99999103e-01  1.16526667e-04]
 [ 4.54553159e-04 -1.15920346e-04  9.99999890e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 9.58409560e-01  2.85397530e-01  3.18071569e-04]
 [-2.78859000e-01  9.36687839e-01 -2.11786933e-01]
 [-6.07408849e-02  2.02889215e-01  9.77315900e-01]]

 t_gt:
[-0.21764426  0.93477961 -0.28074555]

Pose Error in degrees for R and t:
20.52094351376824 38.68536315546023

Number of keypoints:
Image1: 466
Image2: 466

 R_estimated:
[[ 0.98329971  0.18197425 -0.002654  ]
 [-0.1819695   0.98330227  0.00193545]
 [ 0.00296189 -0.00142018  0.99999461]]

 t_estimated:
[[-0.97989589]
 [-0.19947881]
 [-0.00349963]]

 R_gt:
[[ 0.99716444 -0.07154812 -0.02331116]
 [ 0.07221687  0.9969603   0.02925215]
 [ 0.02114751 -0.03085225  0.99930015]]

 t_gt:
[ 0.92413884 -0.22621809  0.30788437]

Pose Error in degrees for R and t:
14.739704129393532 30.513266889679112

Number of keypoints:
Image1: 404
Image2: 404

 R_estimated:
[[-1.12658452e-01  9.93632844e-01 -1.35802592e-03]
 [-9.93625360e-01 -1.12663016e-01 -3.96091053e-03]
 [-4.08869009e-03  9.03138952e-04  9.99991233e-01]]

 t_estimated:
[[0.35531898]
 [0.93474439]
 [0.00116117]]

 R_gt:
[[ 0.99035511 -0.12184145 -0.06596784]
 [ 0.12443261  0.99154984  0.03669018]
 [ 0.06093945 -0.04454463  0.99714662]]

 t_gt:
[ 0.97548412 -0.16155006  0.14944001]

Pose Error in degrees for R and t:
103.62685150496802 78.71008478595297

Number of keypoints:
Image1: 430
Image2: 430

 R_estimated:
[[ 9.34133069e-01 -3.56924240e-01 -7.05102720e-04]
 [ 3.56924781e-01  9.34132683e-01  9.11855259e-04]
 [ 3.33196250e-04 -1.10346279e-03  9.99999336e-01]]

 t_estimated:
[[9.84444826e-01]
 [1.75691414e-01]
 [9.54844642e-04]]

 R_gt:
[[ 0.98557766 -0.11268903 -0.12624047]
 [ 0.12453848  0.98810153  0.09025944]
 [ 0.11456699 -0.10467934  0.98788478]]

 t_gt:
[ 0.93462664 -0.18207493  0.30548612]

Pose Error in degrees for R and t:
16.60853113572063 27.32824234154812

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.999822   -0.00919116  0.0164767 ]
 [ 0.0067798   0.99000787  0.14084902]
 [-0.01760663 -0.14071224  0.98989397]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 9.98326042e-01  8.45286438e-04 -5.78355125e-02]
 [-4.01282040e-05  9.99903085e-01  1.39137064e-02]
 [ 5.78408370e-02 -1.38873799e-02  9.98229080e-01]]

 t_gt:
[ 0.72187725  0.04144438 -0.69077899]

Pose Error in degrees for R and t:
8.479822232057293 65.71600388997096

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.93721703e-01  1.11879914e-01  2.50674672e-04]
 [-1.11879975e-01  9.93721697e-01  2.45616631e-04]
 [-2.21621292e-04 -2.72120053e-04  9.99999938e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.99414318  0.01400814 -0.10715927]
 [-0.01149446  0.99964547  0.02403523]
 [ 0.10745768 -0.02266143  0.99395138]]

 t_gt:
[ 0.61209587  0.19447764 -0.76649663]

Pose Error in degrees for R and t:
8.498981984127393 78.64663064451841

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.00000000e+00  3.91353616e-15  4.12945502e-16]
 [-3.92741395e-15  1.00000000e+00  1.63720965e-15]
 [-3.19812536e-16 -8.70699048e-16  1.00000000e+00]]

 t_estimated:
[[ 9.92616351e-01]
 [-1.21296182e-01]
 [-1.27011708e-04]]

 R_gt:
[[ 0.99910912  0.0346476  -0.02411659]
 [-0.03417588  0.99922162  0.01968701]
 [ 0.02477963 -0.01884493  0.99951598]]

 t_gt:
[0.27043738 0.9530068  0.13653445]

Pose Error in degrees for R and t:
2.6589558351666978 81.20920127206392

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999980e-01 -1.98455324e-04 -3.15642174e-05]
 [ 1.98456503e-04  9.99999980e-01  3.73321547e-05]
 [ 3.15568080e-05 -3.73384181e-05  9.99999999e-01]]

 t_estimated:
[[-0.9999832 ]
 [-0.00567461]
 [-0.0011829 ]]

 R_gt:
[[ 0.99516191  0.08529719 -0.04876733]
 [-0.08845506  0.99384126 -0.06675584]
 [ 0.04277321  0.07074659  0.99657665]]

 t_gt:
[-0.37801433  0.74155497 -0.55425751]

Pose Error in degrees for R and t:
6.893231397737845 68.00933206477157

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 1.43048951e-01  9.89708169e-01  3.83889361e-03]
 [-9.89715601e-01  1.43047232e-01  7.20067145e-04]
 [ 1.63513230e-04 -3.90241775e-03  9.99992372e-01]]

 t_estimated:
[[0.0128524 ]
 [0.99991658]
 [0.00128524]]

 R_gt:
[[ 0.99434719  0.09123642 -0.05431742]
 [-0.09554339  0.99197196 -0.08284527]
 [ 0.04632358  0.0875665   0.99508109]]

 t_gt:
[-0.34276146  0.7645223  -0.54591229]

Pose Error in degrees for R and t:
76.60080228600854 40.5929314884469

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-7.39981149e-02  9.96917009e-01 -2.60913232e-02]
 [ 9.97256760e-01  7.40198381e-02 -1.33562101e-04]
 [ 1.79812519e-03 -2.60296318e-02 -9.99659555e-01]]

 t_estimated:
[[0.68531423]
 [0.72824575]
 [0.00159006]]

 R_gt:
[[ 0.99743453  0.04719973 -0.05381972]
 [-0.05175393  0.99489414 -0.08664689]
 [ 0.04945571  0.08920898  0.99478431]]

 t_gt:
[-0.15752093  0.72168764 -0.67405794]

Pose Error in degrees for R and t:
179.79419177408855 65.3834864230588

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.50662359  0.86205743  0.01376699]
 [ 0.86207818 -0.50627696 -0.02246872]
 [-0.01239941  0.02325141 -0.99965275]]

 t_estimated:
[[-0.44387859]
 [ 0.89597836]
 [-0.01394909]]

 R_gt:
[[ 0.99369306 -0.11087162  0.01682784]
 [ 0.11167238  0.99203674 -0.05824373]
 [-0.01023519  0.05975515  0.99816073]]

 t_gt:
[ 0.81476213 -0.45681112 -0.35705221]

Pose Error in degrees for R and t:
175.16457633348853 40.00683293473522

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 8.04616742e-01  5.93794310e-01  4.64977411e-04]
 [-5.93793886e-01  8.04616793e-01 -7.97957384e-04]
 [-8.47951187e-04  3.65949127e-04  9.99999574e-01]]

 t_estimated:
[[0.79079241]
 [0.6120836 ]
 [0.00101849]]

 R_gt:
[[ 0.97214443 -0.23437487 -0.002223  ]
 [ 0.23312     0.96783426 -0.09461419]
 [ 0.02432765  0.09146057  0.99551143]]

 t_gt:
[ 0.86040267 -0.38763345 -0.33082857]

Pose Error in degrees for R and t:
50.24761510347748 63.71740258921388

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 7.09520706e-01  7.04683580e-01  1.19160326e-03]
 [-7.04682102e-01  7.09521680e-01 -1.45629829e-03]
 [-1.87169784e-03  1.93572301e-04  9.99998230e-01]]

 t_estimated:
[[0.0119039 ]
 [0.9999277 ]
 [0.00170056]]

 R_gt:
[[ 0.92998174 -0.36759995  0.002371  ]
 [ 0.36685831  0.92765513 -0.06980178]
 [ 0.02345983  0.06578403  0.99755763]]

 t_gt:
[ 0.89518849 -0.41838594 -0.15359289]

Pose Error in degrees for R and t:
66.48114216650494 65.92321007329956

Number of keypoints:
Image1: 317
Image2: 317

 R_estimated:
[[-5.31863120e-01 -8.46830310e-01 -2.15925384e-04]
 [-8.46830262e-01  5.31863163e-01 -2.88681032e-04]
 [ 3.59306606e-04  2.93133549e-05 -9.99999935e-01]]

 t_estimated:
[[0.96698078]
 [0.25484722]
 [0.00102761]]

 R_gt:
[[ 0.99959373  0.02513223 -0.01348867]
 [-0.02566091  0.99884531 -0.04062103]
 [ 0.01245191  0.04095007  0.99908289]]

 t_gt:
[-0.28576996  0.87114018 -0.39931231]

Pose Error in degrees for R and t:
178.1997241789531 86.86224719271182

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[ 9.94331643e-01 -1.06322965e-01 -1.04360240e-04]
 [ 1.06322996e-01  9.94331582e-01  3.55175412e-04]
 [ 6.60053800e-05 -3.64258044e-04  9.99999931e-01]]

 t_estimated:
[[0.12958641]
 [0.99156746]
 [0.00115702]]

 R_gt:
[[ 0.99790362 -0.06247207 -0.01690786]
 [ 0.06041283  0.99285661 -0.10289206]
 [ 0.02321471  0.10165483  0.99454853]]

 t_gt:
[ 0.53951738  0.6262947  -0.56273968]

Pose Error in degrees for R and t:
6.53136047799264 46.34800254422412

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[-8.73075256e-01  4.87585337e-01 -3.67941021e-04]
 [-4.59281890e-01 -8.22647710e-01 -3.35128170e-01]
 [-1.63706268e-01 -2.92423124e-01  9.42172476e-01]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 9.93109643e-01 -1.15571967e-01  1.93990739e-02]
 [ 1.17188082e-01  9.78722058e-01 -1.68433849e-01]
 [ 4.80328121e-04  1.69546590e-01  9.85521577e-01]]

 t_gt:
[ 0.64511062  0.5816097  -0.49554258]

Pose Error in degrees for R and t:
157.44797603199234 38.718629720721374

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99911154e-01  1.33297678e-02  4.79895638e-05]
 [-1.33297685e-02  9.99911155e-01  1.51916908e-05]
 [-4.77827985e-05 -1.58300308e-05  9.99999999e-01]]

 t_estimated:
[[0.75536514]
 [0.65530325]
 [0.00107734]]

 R_gt:
[[ 0.99963063  0.01115816  0.02478962]
 [-0.01021618  0.99923346 -0.0377862 ]
 [-0.02519178  0.03751863  0.99897855]]

 t_gt:
[-0.69865935 -0.15915356 -0.69752796]

Pose Error in degrees for R and t:
2.5936487665708174 50.74386548408133

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.91436013  0.35780262 -0.18953322]
 [ 0.37812828  0.92196098 -0.08370759]
 [ 0.14479143 -0.14820675 -0.97829965]]

 t_estimated:
[[0.90771343]
 [0.41894466]
 [0.0232747 ]]

 R_gt:
[[ 0.99659787  0.05475581  0.06160093]
 [-0.0489129   0.99449651 -0.09265569]
 [-0.0663352   0.08932662  0.99379018]]

 t_gt:
[-0.82123647  0.52934312 -0.21299418]

Pose Error in degrees for R and t:
174.9555465246828 58.08643800256606

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.92358603e-01 -1.23387206e-01 -1.96758887e-05]
 [ 1.23387207e-01  9.92358598e-01  1.02976645e-04]
 [ 6.81953683e-06 -1.04617512e-04  9.99999995e-01]]

 t_estimated:
[[9.06122575e-01]
 [4.23014536e-01]
 [7.62898811e-04]]

 R_gt:
[[ 0.99303677  0.05839751  0.10231816]
 [-0.04918181  0.99469272 -0.09038262]
 [-0.10705242  0.08472083  0.99063701]]

 t_gt:
[-0.78413345  0.4181531   0.45856594]

Pose Error in degrees for R and t:
12.853690958993537 57.772230400036094

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.98634958e-01  5.22323482e-02  5.49806388e-05]
 [-5.22323615e-02  9.98634920e-01  2.76961575e-04]
 [-4.04392324e-05 -2.79455280e-04  9.99999960e-01]]

 t_estimated:
[[0.44381657]
 [0.89611601]
 [0.00171644]]

 R_gt:
[[ 0.99975401 -0.01171686 -0.01879712]
 [ 0.01192     0.99987118  0.01076335]
 [ 0.01866769 -0.01098426  0.99976523]]

 t_gt:
[ 0.33570375 -0.94015497  0.05840913]

Pose Error in degrees for R and t:
3.873852786787353 46.1004013823819

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-0.61684575 -0.78708001 -0.00252614]
 [ 0.78708044 -0.61684947  0.00105158]
 [-0.00238592 -0.00133961  0.99999626]]

 t_estimated:
[[8.55041044e-01]
 [5.18559816e-01]
 [7.28314348e-04]]

 R_gt:
[[ 0.99447812 -0.0802772  -0.06758447]
 [ 0.07750445  0.99607686 -0.0427019 ]
 [ 0.07074656  0.0372278   0.99679919]]

 t_gt:
[ 0.61390258 -0.68837765 -0.3863416 ]

Pose Error in degrees for R and t:
123.60676098366957 80.34788375097543

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.99098634 -0.13394782 -0.00201477]
 [ 0.13395096  0.9909868   0.0015161 ]
 [ 0.00179354 -0.00177231  0.99999682]]

 t_estimated:
[[-0.38906098]
 [-0.92121125]
 [-0.00118256]]

 R_gt:
[[ 0.97388341 -0.21689849 -0.06711665]
 [ 0.21179637  0.97438202 -0.07564241]
 [ 0.08180377  0.0594521   0.99487381]]

 t_gt:
[ 0.77647266 -0.56199578 -0.28504554]

Pose Error in degrees for R and t:
7.4623532257764 77.52822162264273

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.92580716e-01 -1.21433857e-01  6.11070824e-03]
 [-1.21587437e-01 -9.91380516e-01  4.87972146e-02]
 [ 1.32403135e-04 -4.91781595e-02 -9.98790014e-01]]

 t_estimated:
[[0.04935803]
 [0.99849562]
 [0.02388053]]

 R_gt:
[[ 0.99799787  0.05775364 -0.02576022]
 [-0.05697747  0.99792688  0.02991876]
 [ 0.02743458 -0.02839047  0.99922028]]

 t_gt:
[-0.62648771  0.77202459  0.10719693]

Pose Error in degrees for R and t:
175.6077364332305 42.055108830984544

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-8.99446879e-01 -4.36727819e-01  1.62519003e-02]
 [-4.36791517e-01  8.99562671e-01 -4.13689345e-04]
 [-1.44389332e-02 -7.47078377e-03 -9.99867844e-01]]

 t_estimated:
[[0.99537121]
 [0.09479726]
 [0.01579954]]

 R_gt:
[[ 0.99129278  0.09002944 -0.09609023]
 [-0.0902945   0.99591386  0.00159854]
 [ 0.09584061  0.00709254  0.99537125]]

 t_gt:
[-0.40680343  0.75463896 -0.51481162]

Pose Error in degrees for R and t:
175.50398877915586 70.03070542014831

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 8.53663728e-01 -5.20823955e-01  8.05216628e-04]
 [ 5.20823932e-01  8.53664083e-01  2.54764955e-04]
 [-8.20072206e-04  2.01892489e-04  9.99999643e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.98018778  0.08950824 -0.17669125]
 [-0.08957861  0.99595084  0.00760021]
 [ 0.17665637  0.00837888  0.98423667]]

 t_gt:
[-0.16146297  0.59330145 -0.78862101]

Pose Error in degrees for R and t:
37.92470436785825 79.19964318917341

Number of keypoints:
Image1: 457
Image2: 457

 R_estimated:
[[ 9.98931487e-01  4.62140457e-02  3.81228852e-04]
 [-4.62139957e-02  9.98931553e-01 -1.38776942e-04]
 [-3.87234973e-04  1.21010548e-04  9.99999918e-01]]

 t_estimated:
[[0.95047536]
 [0.31079558]
 [0.00164442]]

 R_gt:
[[ 0.99360296 -0.10854908  0.03117125]
 [ 0.10770002  0.99379601  0.02772765]
 [-0.03398868 -0.02419268  0.99912865]]

 t_gt:
[ 0.38548035 -0.80775543  0.44602249]

Pose Error in degrees for R and t:
9.171997654142618 83.33429679395643

Number of keypoints:
Image1: 518
Image2: 518

 R_estimated:
[[ 9.99722045e-01  2.35734274e-02  3.56585439e-04]
 [-2.35734564e-02  9.99722104e-01  7.72267220e-05]
 [-3.54665847e-04 -8.56112078e-05  9.99999933e-01]]

 t_estimated:
[[0.37586536]
 [0.92667267]
 [0.0017321 ]]

 R_gt:
[[ 0.9853751  -0.16667545  0.03544871]
 [ 0.16597616  0.98588682  0.0218551 ]
 [-0.03859127 -0.01565058  0.9991323 ]]

 t_gt:
[ 0.43597302 -0.83332519  0.339848  ]

Pose Error in degrees for R and t:
11.181757545760291 52.57200893260625

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 0.9673056  -0.25360561  0.00201796]
 [ 0.25360869  0.96730582 -0.00144666]
 [-0.0015851   0.00191114  0.99999692]]

 t_estimated:
[[0.08024051]
 [0.99677238]
 [0.00250866]]

 R_gt:
[[ 0.98053549 -0.18212513  0.07336942]
 [ 0.18309084  0.98307302 -0.00660123]
 [-0.07092608  0.01990677  0.99728284]]

 t_gt:
[ 0.31135547 -0.86408309  0.39549739]

Pose Error in degrees for R and t:
5.8402511190954725 33.35096577956237

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99999635e-01 -6.72654618e-04  5.26818798e-04]
 [ 6.72451004e-04  9.99999699e-01  3.86578152e-04]
 [-5.27078673e-04 -3.86223751e-04  9.99999787e-01]]

 t_estimated:
[[0.67689084]
 [0.73607972]
 [0.00233094]]

 R_gt:
[[ 0.9980337  -0.05835079  0.02287877]
 [ 0.05781181  0.99804917  0.02355938]
 [-0.02420766 -0.02219091  0.99946056]]

 t_gt:
[ 0.60628036 -0.7231876   0.33079272]

Pose Error in degrees for R and t:
3.7738777103665724 83.0405393925789

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-9.98440838e-01  3.28411031e-02  4.51370596e-02]
 [ 3.28652476e-02  9.99459770e-01 -2.07279558e-04]
 [-4.51194826e-02  1.27648427e-03 -9.98980782e-01]]

 t_estimated:
[[0.99489776]
 [0.09884554]
 [0.02019924]]

 R_gt:
[[ 0.99633634 -0.08550551  0.00157932]
 [ 0.08536101  0.99543622  0.04266845]
 [-0.00521998 -0.04237702  0.99908822]]

 t_gt:
[ 0.57005467 -0.77999765  0.25814984]

Pose Error in degrees for R and t:
177.25981134359552 60.31302114433641

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 0.9109875  -0.41241284  0.00417316]
 [ 0.41242434  0.91098873 -0.00238894]
 [-0.00281647  0.0038974   0.99998844]]

 t_estimated:
[[0.4636507 ]
 [0.88601744]
 [0.00105856]]

 R_gt:
[[ 0.99286044 -0.11349383 -0.03671366]
 [ 0.11307383  0.99349699 -0.01334276]
 [ 0.03798981  0.00909742  0.99923657]]

 t_gt:
[ 0.62297312 -0.77198147 -0.12628971]

Pose Error in degrees for R and t:
18.00854269688068 66.71651142831843

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99409737e-01 -3.43536842e-02  3.92793282e-05]
 [ 3.43536832e-02  9.99409738e-01  2.73065640e-05]
 [-4.01942241e-05 -2.59410563e-05  9.99999999e-01]]

 t_estimated:
[[-9.11286106e-01]
 [-4.11772968e-01]
 [-8.09848116e-04]]

 R_gt:
[[ 0.99946416  0.0237126  -0.02254606]
 [-0.02377694  0.99971348 -0.00259758]
 [ 0.02247853  0.00313209  0.99974231]]

 t_gt:
[-0.24128318  0.86020602 -0.44925275]

Pose Error in degrees for R and t:
3.5757028413817755 82.30106614173529

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99672305e-01  2.55982044e-02  1.17107380e-04]
 [-2.55982063e-02  9.99672312e-01  1.45688284e-05]
 [-1.16696069e-04 -1.75617931e-05  9.99999993e-01]]

 t_estimated:
[[-9.98665620e-01]
 [-5.16332079e-02]
 [-9.95162328e-04]]

 R_gt:
[[ 0.9992832  -0.03628583 -0.01072785]
 [ 0.03641388  0.99926346  0.01205177]
 [ 0.01028319 -0.01243389  0.99986986]]

 t_gt:
[0.99430558 0.0794589  0.07101196]

Pose Error in degrees for R and t:
3.6699911591474543 4.325104994588807

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.88714083  0.46143809 -0.00748531]
 [-0.46147341 -0.88714547  0.00390028]
 [-0.00484082  0.00691437  0.99996438]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99282124 -0.11926757 -0.00907043]
 [ 0.11906911  0.99268561 -0.01993845]
 [ 0.01138265  0.01871556  0.99976027]]

 t_gt:
[ 0.93708391 -0.29796133 -0.18191426]

Pose Error in degrees for R and t:
159.3595271784724 55.049449305580644

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99919923e-01  1.26549486e-02  1.05908974e-06]
 [-1.26549485e-02  9.99919920e-01 -8.23159125e-05]
 [-2.10070857e-06  8.22959182e-05  9.99999997e-01]]

 t_estimated:
[[-1.32742582e-01]
 [-9.91150517e-01]
 [-2.44904916e-04]]

 R_gt:
[[ 9.85829701e-01  4.22536859e-03  1.67698372e-01]
 [-4.10651562e-03  9.99991366e-01 -1.05287383e-03]
 [-1.67700338e-01  3.49114637e-04  9.85837348e-01]]

 t_gt:
[-0.26475501  0.02576271  0.96397151]

Pose Error in degrees for R and t:
9.66618479183973 89.4629324153466

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-8.10095717e-01 -5.86294406e-01  1.94879471e-03]
 [-5.86290177e-01  8.10097700e-01  2.35461078e-03]
 [-2.95920925e-03  7.64900915e-04 -9.99995329e-01]]

 t_estimated:
[[0.94668078]
 [0.32216885]
 [0.00165215]]

 R_gt:
[[ 9.74035229e-01  3.68603612e-02  2.23374439e-01]
 [-3.79235941e-02  9.99281225e-01  4.74048836e-04]
 [-2.23194501e-01 -8.93297250e-03  9.74731684e-01]]

 t_gt:
[-0.37842267  0.13051271  0.91638568]

Pose Error in degrees for R and t:
167.49578917904623 71.65824170185736

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 8.63398192e-01  5.04495819e-01 -5.24687855e-03]
 [-5.04482333e-01  8.63413942e-01  3.73359277e-03]
 [ 6.41381004e-03 -5.76619717e-04  9.99979265e-01]]

 t_estimated:
[[-0.99876392]
 [-0.04932167]
 [-0.00616521]]

 R_gt:
[[ 0.97601071  0.09502913  0.19588863]
 [-0.09492704  0.99543552 -0.00992775]
 [-0.19593706 -0.00890498  0.98057536]]

 t_gt:
[-0.60030579  0.32438155  0.73103322]

Pose Error in degrees for R and t:
27.362787374236344 54.61570288133344

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99999320e-01  1.14991958e-03 -1.93164442e-04]
 [-1.14993477e-03  9.99999336e-01 -7.85286537e-05]
 [ 1.93074012e-04  7.87507268e-05  9.99999978e-01]]

 t_estimated:
[[-0.30910629]
 [-0.95102659]
 [-0.00130966]]

 R_gt:
[[ 0.99984338  0.00750906 -0.01602677]
 [-0.00924532  0.9937568  -0.11117998]
 [ 0.01509143  0.11131127  0.99367028]]

 t_gt:
[-0.03497499  0.3590168  -0.93267555]

Pose Error in degrees for R and t:
6.457306232646945 70.76751421007367

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-0.94407108 -0.32974035  0.00104294]
 [ 0.32973259 -0.94406331 -0.00457047]
 [ 0.00249167 -0.00397096  0.99998901]]

 t_estimated:
[[8.23780000e-01]
 [5.66909253e-01]
 [6.40575428e-04]]

 R_gt:
[[ 0.99500165 -0.08611337 -0.05055948]
 [ 0.07849444  0.98744696 -0.1370697 ]
 [ 0.0617288   0.13241593  0.98926963]]

 t_gt:
[ 0.3772188  -0.17233785 -0.90994815]

Pose Error in degrees for R and t:
156.05189902293623 77.73330027889958

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-4.92537656e-01  8.70291051e-01  3.79785518e-04]
 [-8.70290266e-01 -4.92536502e-01 -1.62691938e-03]
 [-1.22883515e-03 -1.13184270e-03  9.99998604e-01]]

 t_estimated:
[[0.1719058 ]
 [0.98511286]
 [0.00102938]]

 R_gt:
[[ 0.96200559 -0.27024287  0.03890269]
 [ 0.27295667  0.95520855 -0.11433175]
 [-0.00626356  0.12060645  0.99267965]]

 t_gt:
[ 0.68485298 -0.66149137 -0.30562325]

Pose Error in degrees for R and t:
135.40971977643449 57.708424877025806

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99989482e-01 -4.58634974e-03  4.22597000e-05]
 [ 4.58634995e-03  9.99989483e-01 -4.85046504e-06]
 [-4.22370096e-05  5.04423179e-06  9.99999999e-01]]

 t_estimated:
[[-0.5725982 ]
 [-0.81983563]
 [-0.0009191 ]]

 R_gt:
[[ 0.99981198 -0.01755476 -0.00827075]
 [ 0.01761963  0.99981404  0.00788136]
 [ 0.00813037 -0.00802603  0.99993499]]

 t_gt:
[0.98910952 0.12705011 0.07430097]

Pose Error in degrees for R and t:
0.9915302516237229 47.887318313680645

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 2.80788756e-01  9.59710166e-01  1.06804719e-02]
 [ 9.59769586e-01 -2.80769884e-01 -3.25792588e-03]
 [-1.27909720e-04  1.11655811e-02 -9.99937655e-01]]

 t_estimated:
[[0.8014921 ]
 [0.59800447]
 [0.0010382 ]]

 R_gt:
[[ 0.99519048  0.03145861 -0.09277586]
 [-0.03818886  0.9966962  -0.07167664]
 [ 0.09021374  0.07487399  0.99310333]]

 t_gt:
[ 0.04134002  0.59932673 -0.79943635]

Pose Error in degrees for R and t:
179.27445948136875 67.00170235248041

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.61587693  0.7877683  -0.0108035 ]
 [ 0.78773136  0.61596245  0.00834117]
 [ 0.01322546 -0.00337312 -0.99990685]]

 t_estimated:
[[0.61512758]
 [0.78842712]
 [0.00085792]]

 R_gt:
[[ 0.97602814  0.09645034 -0.19510916]
 [-0.13010621  0.97720085 -0.16778446]
 [ 0.17447736  0.18914614  0.96632366]]

 t_gt:
[-0.03165873  0.64733358 -0.76154905]

Pose Error in degrees for R and t:
174.1426675497035 60.64312692186799

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[-0.23284296 -0.97234255  0.01827884]
 [-0.97231344  0.23313577  0.0159466 ]
 [-0.01976701 -0.01405971 -0.99970575]]

 t_estimated:
[[0.76713773]
 [0.64135132]
 [0.01296886]]

 R_gt:
[[ 0.99477811 -0.10172811 -0.00825823]
 [ 0.10102365  0.99294067 -0.06214195]
 [ 0.01452088  0.06098344  0.99803283]]

 t_gt:
[ 0.92083681  0.11372288 -0.37299689]

Pose Error in degrees for R and t:
178.68677499635962 39.239586121222914

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 9.77659449e-01 -2.10195152e-01  2.13098291e-05]
 [ 2.10195113e-01  9.77659320e-01  5.18295098e-04]
 [-1.29776870e-04 -5.02236878e-04  9.99999865e-01]]

 t_estimated:
[[7.37068407e-01]
 [6.75818073e-01]
 [3.09454849e-04]]

 R_gt:
[[ 0.9888355  -0.14504194  0.03414115]
 [ 0.1482822   0.98040683 -0.1296694 ]
 [-0.01466505  0.13328463  0.9909687 ]]

 t_gt:
[ 0.86178418  0.28539215 -0.41937972]

Pose Error in degrees for R and t:
8.556240928944892 34.11257310502848

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.92294542e-01 -1.23901315e-01  8.10785533e-05]
 [ 1.23901300e-01  9.92294533e-01  1.67155496e-04]
 [-1.01164591e-04 -1.55821748e-04  9.99999983e-01]]

 t_estimated:
[[3.06964927e-01]
 [9.51720814e-01]
 [1.58116623e-04]]

 R_gt:
[[ 0.98627732 -0.16375035  0.02103256]
 [ 0.16464032  0.96609858 -0.19886351]
 [ 0.01224472  0.19959854  0.97980126]]

 t_gt:
[ 0.76496633  0.43878326 -0.47148251]

Pose Error in degrees for R and t:
11.79683860449277 49.281553741320685

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 5.18177673e-01 -8.55272856e-01  4.90651405e-04]
 [-8.55272938e-01 -5.18177765e-01 -7.58873537e-05]
 [ 3.19149042e-04 -3.80317736e-04 -9.99999877e-01]]

 t_estimated:
[[0.6623288 ]
 [0.74921224]
 [0.00125918]]

 R_gt:
[[ 0.99343717  0.06429796 -0.09459755]
 [-0.07495398  0.99067457 -0.11378321]
 [ 0.08639919  0.12012649  0.98899225]]

 t_gt:
[-0.15093578  0.61139669 -0.77679629]

Pose Error in degrees for R and t:
171.5917905941456 69.07665279345426

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-8.13708479e-01  5.81273174e-01  9.42011333e-05]
 [-5.81271550e-01 -8.13705801e-01 -2.50082768e-03]
 [-1.37701204e-03 -2.08970113e-03  9.99996868e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.97713293  0.12707367 -0.17048498]
 [-0.15829915  0.97004775 -0.18424877]
 [ 0.14196499  0.20702323  0.96798088]]

 t_gt:
[-0.14943178  0.67819778 -0.71952617]

Pose Error in degrees for R and t:
136.50051274476164 70.83586196671008

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.01074649  0.99993208 -0.00451169]
 [-0.99994161 -0.01075152 -0.00109081]
 [-0.00113925  0.0044997   0.99998923]]

 t_estimated:
[[ 1.00575061e-02]
 [ 9.99949082e-01]
 [-8.25198622e-04]]

 R_gt:
[[ 0.9658306   0.16167225 -0.20257024]
 [-0.2039795   0.95634171 -0.20928997]
 [ 0.15988901  0.2434585   0.95664201]]

 t_gt:
[-0.15069688  0.71862832 -0.67886949]

Pose Error in degrees for R and t:
81.26716046231029 44.140328145089384

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-0.31439824 -0.94886801 -0.02834167]
 [-0.9490823   0.31481521 -0.01158307]
 [ 0.0199132   0.02325687 -0.99953118]]

 t_estimated:
[[ 0.73914201]
 [ 0.67341999]
 [-0.01321371]]

 R_gt:
[[ 0.99980264 -0.01913722 -0.00523974]
 [ 0.01883688  0.99845493 -0.05227005]
 [ 0.00623156  0.05216209  0.99861857]]

 t_gt:
[ 0.39842754  0.73961835 -0.54242069]

Pose Error in degrees for R and t:
176.2798238744868 36.895128912688556

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.97701084e-01 -6.77683212e-02  2.93237961e-05]
 [ 6.77683182e-02  9.97701081e-01  9.46326577e-05]
 [-3.56694794e-05 -9.24278809e-05  9.99999995e-01]]

 t_estimated:
[[ 2.29872571e-01]
 [ 9.73220689e-01]
 [-3.04456924e-04]]

 R_gt:
[[ 0.99363632 -0.11213423  0.01064986]
 [ 0.11259917  0.98638068 -0.11989346]
 [ 0.00293797  0.12033078  0.99272897]]

 t_gt:
[ 0.79523715  0.40578458 -0.45048502]

Pose Error in degrees for R and t:
7.3868003516864755 54.699952108104576

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-9.96037114e-01 -8.89304495e-02 -1.20149687e-03]
 [ 8.89380475e-02 -9.95986530e-01 -1.00427152e-02]
 [-3.03571522e-04 -1.01097759e-02  9.99948849e-01]]

 t_estimated:
[[0.85329626]
 [0.52142476]
 [0.00130827]]

 R_gt:
[[ 0.98863382 -0.1405046   0.05349449]
 [ 0.14818337  0.97076034 -0.18885251]
 [-0.02539721  0.194634    0.98054609]]

 t_gt:
[ 0.7233523   0.50650272 -0.46927226]

Pose Error in degrees for R and t:
166.59825894422832 28.270306388896838

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999999e-01  1.36800056e-05 -4.79085696e-05]
 [-1.36713427e-05  9.99999984e-01  1.80818307e-04]
 [ 4.79110424e-05 -1.80817652e-04  9.99999983e-01]]

 t_estimated:
[[0.76445676]
 [0.64466916]
 [0.00274468]]

 R_gt:
[[ 0.99547922  0.09439308  0.01055084]
 [-0.09246034  0.98848864 -0.11975701]
 [-0.02173321  0.1182404   0.99274694]]

 t_gt:
[-0.24643794  0.84990757 -0.46575257]

Pose Error in degrees for R and t:
8.7594647998711 69.00787011477627

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.98097494  0.19412458  0.00195498]
 [-0.19149392  0.96923847 -0.15461843]
 [-0.03191008  0.15130244  0.98797233]]

 t_estimated:
[[-0.70224688]
 [-0.70224688]
 [-0.11704115]]

 R_gt:
[[ 0.99455206  0.10420835  0.00234728]
 [-0.1015393   0.97368325 -0.2040374 ]
 [-0.02354817  0.2026879   0.97895954]]

 t_gt:
[-0.17506036  0.77223428 -0.61074388]

Pose Error in degrees for R and t:
5.959373199342728 69.64221578326472

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.99996772 -0.00608441  0.00524694]
 [ 0.00611213  0.99996737 -0.00528274]
 [-0.00521463  0.00531464  0.99997228]]

 t_estimated:
[[-0.06651719]
 [-0.99775791]
 [-0.0073908 ]]

 R_gt:
[[ 0.99724998  0.06520191 -0.03522411]
 [-0.07227409  0.96077354 -0.26775226]
 [ 0.01638509  0.26956181  0.96284343]]

 t_gt:
[-0.04778568  0.61970013 -0.78338259]

Pose Error in degrees for R and t:
16.00086350462382 52.45803710237987

Number of keypoints:
Image1: 624
Image2: 624

 R_estimated:
[[-0.79632947  0.60271909  0.0508829 ]
 [ 0.60276167  0.79775614 -0.01623287]
 [-0.05037601  0.01774355 -0.99857269]]

 t_estimated:
[[ 0.95556261]
 [-0.29351995]
 [ 0.0273154 ]]

 R_gt:
[[ 0.99847873 -0.05388628  0.01170952]
 [ 0.05399521  0.99849871 -0.00919532]
 [-0.0111962   0.00981365  0.99988967]]

 t_gt:
[ 0.43304864 -0.89697305  0.08892821]

Pose Error in degrees for R and t:
176.1433451413773 47.194347758516386

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.98922471e-01 -4.64093487e-02  2.64114245e-04]
 [ 4.64093061e-02  9.98922494e-01  1.65134197e-04]
 [-2.71493431e-04 -1.52698902e-04  9.99999951e-01]]

 t_estimated:
[[0.99731536]
 [0.07321781]
 [0.00110936]]

 R_gt:
[[ 0.99275075 -0.11898176  0.0170209 ]
 [ 0.11888107  0.99288588  0.00675069]
 [-0.01770246 -0.00467832  0.99983295]]

 t_gt:
[ 0.41371948 -0.89169642  0.18361286]

Pose Error in degrees for R and t:
4.296219342744309 69.66402782460504

Number of keypoints:
Image1: 407
Image2: 407

 R_estimated:
[[-0.17886003  0.98387312 -0.00166362]
 [-0.98387155 -0.17886339 -0.00215806]
 [-0.00242082  0.0012508   0.99999629]]

 t_estimated:
[[4.83632106e-01]
 [8.75271037e-01]
 [7.74025446e-04]]

 R_gt:
[[ 0.97778624 -0.20364373  0.04963603]
 [ 0.20308683  0.97902901  0.01607098]
 [-0.05186766 -0.00563397  0.99863858]]

 t_gt:
[ 0.45793118 -0.84129335  0.28727083]

Pose Error in degrees for R and t:
112.07173064758621 59.02479185331115

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99971250e-01  7.57824581e-03  2.62143923e-04]
 [-7.57818371e-03  9.99971257e-01 -2.37058000e-04]
 [-2.63932872e-04  2.35064610e-04  9.99999938e-01]]

 t_estimated:
[[-0.87248603]
 [-0.48863774]
 [-0.00113902]]

 R_gt:
[[ 0.99974127 -0.02133968 -0.00772068]
 [ 0.02134885  0.99977062  0.0011577 ]
 [ 0.00769298 -0.00132248  0.99996949]]

 t_gt:
[ 0.98465574  0.07184472 -0.15903272]

Pose Error in degrees for R and t:
1.723038555070835 26.616753097215376

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[-0.95901162  0.28336171 -0.00169216]
 [-0.28335521 -0.95900934 -0.00330278]
 [-0.00255867 -0.00268792  0.99999311]]

 t_estimated:
[[0.83830383]
 [0.54520123]
 [0.00151867]]

 R_gt:
[[ 0.99593709 -0.09002376 -0.00211111]
 [ 0.08999904  0.99589493 -0.00966169]
 [ 0.00297161  0.00943244  0.99995062]]

 t_gt:
[ 0.9183227  -0.38629913 -0.08635046]

Pose Error in degrees for R and t:
168.70339021420196 56.007004709792035

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.55060219 -0.83473079 -0.00785749]
 [-0.83468784  0.55039482  0.01901998]
 [-0.01155184  0.017031   -0.99978823]]

 t_estimated:
[[9.04996452e-01]
 [4.25418216e-01]
 [8.73548699e-04]]

 R_gt:
[[ 0.97846713 -0.2061664   0.00984561]
 [ 0.20609756  0.97850308  0.00745388]
 [-0.01117114 -0.00526392  0.99992321]]

 t_gt:
[ 0.88644028 -0.45693694  0.07370384]

Pose Error in degrees for R and t:
179.0488946696417 52.56215790761428

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99999942e-01 -3.14113161e-04 -1.35089111e-04]
 [ 3.14193354e-04  9.99999774e-01  5.94017223e-04]
 [ 1.34902491e-04 -5.94059632e-04  9.99999814e-01]]

 t_estimated:
[[0.62381184]
 [0.78157186]
 [0.00205379]]

 R_gt:
[[ 0.98128461  0.19121029 -0.02277413]
 [-0.19055198  0.98126983  0.0282886 ]
 [ 0.02775664 -0.02341789  0.99933995]]

 t_gt:
[-0.34235823  0.93943244 -0.01604784]

Pose Error in degrees for R and t:
11.214560077036696 58.62521928657074

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.86935121e-01  1.61118139e-01 -1.09626427e-04]
 [-1.61118133e-01  9.86935126e-01  6.70603435e-05]
 [ 1.18998810e-04 -4.85214030e-05  9.99999992e-01]]

 t_estimated:
[[-9.19780564e-01]
 [ 3.92432421e-01]
 [-7.12847298e-04]]

 R_gt:
[[ 0.97010493  0.24177418  0.02104061]
 [-0.24140081  0.9702428  -0.0188268 ]
 [-0.02496627  0.01318593  0.99960114]]

 t_gt:
[-0.20276665  0.97857643  0.03569123]

Pose Error in degrees for R and t:
4.983492354883863 55.214865650468454

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999895e-01  4.38633108e-04  1.29464090e-04]
 [-4.38615780e-04  9.99999895e-01 -1.33840734e-04]
 [-1.29522784e-04  1.33783935e-04  9.99999983e-01]]

 t_estimated:
[[-0.78906855]
 [ 0.61430416]
 [ 0.00110553]]

 R_gt:
[[ 0.96816261  0.24340427  0.05844399]
 [-0.24578089  0.96859852  0.03755218]
 [-0.04746837 -0.05072022  0.99758426]]

 t_gt:
[-0.21285939  0.93826938  0.27265628]

Pose Error in degrees for R and t:
14.697049586470971 41.8713955368319

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 0.99779122  0.06620777  0.00540565]
 [-0.06619649  0.99780409 -0.00224034]
 [-0.0055421   0.00187755  0.99998288]]

 t_estimated:
[[-0.87884944]
 [ 0.47530843]
 [ 0.04129837]]

 R_gt:
[[ 9.97537212e-01  7.01344866e-02  1.13111462e-03]
 [-7.01363595e-02  9.97086796e-01  2.99679908e-02]
 [ 9.73787924e-04 -2.99725715e-02  9.99549544e-01]]

 t_gt:
[-0.13262606  0.49513265  0.85863496]

Pose Error in degrees for R and t:
1.876801201733969 67.20971403200423

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.93861333 -0.34490453  0.00677319]
 [-0.34495307 -0.93818317  0.0286308 ]
 [-0.0035204  -0.02920968 -0.99956711]]

 t_estimated:
[[0.25657692]
 [0.96643959]
 [0.01275939]]

 R_gt:
[[ 0.98418256  0.17573528  0.02242825]
 [-0.17681187  0.9822749   0.06224688]
 [-0.01109086 -0.06522782  0.99780807]]

 t_gt:
[-0.31526789  0.76724522  0.55851672]

Pose Error in degrees for R and t:
174.53367086398208 48.10773776248992

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99999723e-01  2.81194600e-04 -6.88439920e-04]
 [-2.80191226e-04  9.99998899e-01  1.45712253e-03]
 [ 6.88848897e-04 -1.45692923e-03  9.99998701e-01]]

 t_estimated:
[[7.77262510e-01]
 [6.29175971e-01]
 [7.67287769e-04]]

 R_gt:
[[ 0.96229074  0.2717071   0.0131371 ]
 [-0.27199051  0.96029347  0.06211191]
 [ 0.00426185 -0.06334308  0.99798182]]

 t_gt:
[-0.16160541  0.945934    0.28123401]

Pose Error in degrees for R and t:
16.168617049580817 61.98096308758129

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.97753393e-01  6.69934444e-02  2.11458451e-04]
 [-6.69934054e-02  9.97753401e-01 -1.86428144e-04]
 [-2.23472852e-04  1.71842991e-04  9.99999960e-01]]

 t_estimated:
[[-9.01212495e-01]
 [ 4.33377371e-01]
 [ 3.03545569e-04]]

 R_gt:
[[ 0.98756479 -0.1542478   0.03038692]
 [ 0.15480648  0.98779982 -0.01694493]
 [-0.02740231  0.02143783  0.99939377]]

 t_gt:
[ 0.83212216 -0.55452122 -0.00888367]

Pose Error in degrees for R and t:
12.885507146504418 8.012148503853306

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 4.63628336e-01 -8.85911523e-01  1.44754609e-02]
 [ 8.86010429e-01  4.63664303e-01 -9.66586058e-04]
 [-5.85544475e-03  1.32735460e-02  9.99894758e-01]]

 t_estimated:
[[9.95404776e-01]
 [9.57519327e-02]
 [9.48031053e-04]]

 R_gt:
[[ 0.87457518 -0.48481191 -0.00873543]
 [ 0.48471768  0.87460171 -0.01097648]
 [ 0.01296181  0.00536498  0.99990095]]

 t_gt:
[ 0.91886629 -0.39354885 -0.02835565]

Pose Error in degrees for R and t:
33.402899768835496 28.725309180056577

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.24752068e-01 -3.80569759e-01 -5.20672258e-04]
 [ 3.80569973e-01  9.24752041e-01  3.98463184e-04]
 [ 3.29849695e-04 -5.66631881e-04  9.99999785e-01]]

 t_estimated:
[[-0.1719058 ]
 [-0.98511286]
 [-0.00102938]]

 R_gt:
[[ 0.69474752 -0.71798085  0.042784  ]
 [ 0.71673846  0.69606257  0.04223946]
 [-0.06010709  0.00131821  0.99819013]]

 t_gt:
[ 0.96083017 -0.2740842   0.04102734]

Pose Error in degrees for R and t:
23.770878027611243 83.98496909367441

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 4.10111587e-01 -9.12035341e-01  1.50619520e-04]
 [ 9.12035333e-01  4.10111607e-01  1.44073039e-04]
 [-1.93170517e-04  7.82843013e-05  9.99999978e-01]]

 t_estimated:
[[-0.00833304]
 [-0.99996474]
 [-0.00104163]]

 R_gt:
[[ 0.90252938 -0.43062457  0.00182279]
 [ 0.43057823  0.90248031  0.01147573]
 [-0.00658699 -0.00957358  0.99993239]]

 t_gt:
[ 0.89935117 -0.43656608  0.02403196]

Pose Error in degrees for R and t:
40.28666840621888 64.59389894867158

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[-2.30589500e-01 -9.73002983e-01 -9.67876447e-03]
 [-9.72120854e-01  2.30792495e-01 -4.14230662e-02]
 [ 4.25385532e-02 -1.42795340e-04 -9.99094816e-01]]

 t_estimated:
[[0.9998504 ]
 [0.01725864]
 [0.00115058]]

 R_gt:
[[ 0.79456426 -0.60711577  0.00885731]
 [ 0.60660981  0.79436714  0.03172476]
 [-0.02629724 -0.01983551  0.99945759]]

 t_gt:
[ 0.93493603 -0.3516315   0.04743318]

Pose Error in degrees for R and t:
179.5050389299224 21.754251073999605

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.99148099  0.13015763 -0.00494305]
 [-0.13013993  0.99148855  0.00374998]
 [ 0.00538906 -0.00307475  0.99998075]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.6441469  -0.76325229 -0.05022476]
 [ 0.7643446   0.64479498  0.00415993]
 [ 0.02920954 -0.04106939  0.99872986]]

 t_gt:
[ 0.97219095 -0.23351051  0.01782143]

Pose Error in degrees for R and t:
57.37047835329305 81.06039112914091

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.97464991e-01  7.11588081e-02  1.29074513e-04]
 [-7.11588119e-02  9.97464998e-01  2.51939968e-05]
 [-1.26954534e-04 -3.43149188e-05  9.99999991e-01]]

 t_estimated:
[[0.30561479]
 [0.95215446]
 [0.00121759]]

 R_gt:
[[ 0.99858358  0.02744605  0.04556988]
 [-0.0281566   0.99949135  0.01501799]
 [-0.04513491 -0.01627992  0.99884794]]

 t_gt:
[0.3402528  0.01824797 0.94015693]

Pose Error in degrees for R and t:
3.7019248282431247 82.96325245774355

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-0.96434469  0.04877951 -0.26011512]
 [-0.05128737 -0.99867985  0.00285868]
 [-0.25963228  0.01609738  0.96557338]]

 t_estimated:
[[0.03775979]
 [0.99928593]
 [0.00134856]]

 R_gt:
[[ 0.99274259  0.11154902  0.04492788]
 [-0.11418891  0.99157033  0.06123326]
 [-0.03771942 -0.06591933  0.99711176]]

 t_gt:
[-0.01315227  0.29034612  0.95683131]

Pose Error in degrees for R and t:
171.1715050440181 73.08620770463718

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-4.51693337e-01  8.92172851e-01  8.56529750e-04]
 [-8.92170399e-01 -4.51689246e-01 -2.96731054e-03]
 [-2.26046863e-03 -2.10448489e-03  9.99995231e-01]]

 t_estimated:
[[0.194221  ]
 [0.98095679]
 [0.0014074 ]]

 R_gt:
[[ 0.981076    0.18170647  0.06687492]
 [-0.18620165  0.98011802  0.06854288]
 [-0.05309081 -0.07969797  0.99540456]]

 t_gt:
[-0.1116021   0.5242414   0.84422504]

Pose Error in degrees for R and t:
106.32215481952873 60.4112684144061

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.97688048e-01  6.79589011e-02 -3.83748451e-04]
 [-6.79586420e-02  9.97687926e-01  6.51916411e-04]
 [ 4.27164719e-04 -6.24330188e-04  9.99999714e-01]]

 t_estimated:
[[0.69692851]
 [0.71714016]
 [0.00079883]]

 R_gt:
[[ 0.98307275  0.16830574 -0.0723939 ]
 [-0.16550225  0.98526439  0.04317386]
 [ 0.07859378 -0.03046205  0.99644029]]

 t_gt:
[-0.16931483  0.97200521 -0.16290597]

Pose Error in degrees for R and t:
7.471346083031373 54.62443374523774

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999906e-01  1.09831092e-04  4.18619973e-04]
 [-1.09660711e-04  9.99999911e-01 -4.07007275e-04]
 [-4.18664638e-04  4.06961331e-04  9.99999830e-01]]

 t_estimated:
[[-0.70689644]
 [-0.70731633]
 [-0.00102144]]

 R_gt:
[[ 0.93772482  0.33663302 -0.08572905]
 [-0.33309096  0.94139581  0.05315607]
 [ 0.09859791 -0.02129069  0.99489922]]

 t_gt:
[-0.16373089  0.97474913 -0.15184309]

Pose Error in degrees for R and t:
20.447486581963155 55.0011432345698

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-1.03576471e-02 -9.99944509e-01 -1.92325903e-03]
 [ 9.99946288e-01 -1.03583457e-02  3.53638901e-04]
 [-3.73541059e-04 -1.91949286e-03  9.99998088e-01]]

 t_estimated:
[[0.99998706]
 [0.00496842]
 [0.00109426]]

 R_gt:
[[ 0.944125    0.32935046 -0.01248994]
 [-0.32828057  0.94307806  0.05324564]
 [ 0.0293144  -0.04617084  0.99850309]]

 t_gt:
[-0.12495662  0.98916977  0.07700011]

Pose Error in degrees for R and t:
109.83182782690496 83.11042915325356

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-8.73239997e-01 -4.87288215e-01 -1.45027849e-03]
 [ 4.87289836e-01 -8.73239586e-01 -1.11402500e-03]
 [-7.23589336e-04 -1.67951715e-03  9.99998328e-01]]

 t_estimated:
[[9.13014550e-01]
 [4.07926264e-01]
 [7.71127154e-04]]

 R_gt:
[[ 0.99585215 -0.0893852  -0.01701424]
 [ 0.08902638  0.99581202 -0.02080381]
 [ 0.0188023   0.01920308  0.99963971]]

 t_gt:
[ 0.48486358 -0.81503599 -0.3172123 ]

Pose Error in degrees for R and t:
145.72165089326268 83.68651152532506

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999854e-01  1.76588463e-04  5.10983952e-04]
 [-1.76237549e-04  9.99999749e-01 -6.86705055e-04]
 [-5.11105088e-04  6.86614900e-04  9.99999634e-01]]

 t_estimated:
[[-0.51099256]
 [-0.85958284]
 [-0.00198533]]

 R_gt:
[[ 0.97903557 -0.19478584 -0.0595754 ]
 [ 0.19600569  0.98048388  0.01530787]
 [ 0.05543075 -0.02666467  0.99810731]]

 t_gt:
[ 0.61544721 -0.78133122 -0.10366416]

Pose Error in degrees for R and t:
11.837109934836255 69.06333336798811

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-8.66430371e-01 -4.99291167e-01  2.59642427e-03]
 [-4.99288556e-01  8.66434255e-01  1.61843762e-03]
 [-3.05770253e-03  1.05898581e-04 -9.99995320e-01]]

 t_estimated:
[[0.91276749]
 [0.40847606]
 [0.00168097]]

 R_gt:
[[ 0.95360145 -0.28402524 -0.0998737 ]
 [ 0.28723385  0.95767077  0.0190644 ]
 [ 0.09023088 -0.04686754  0.99481789]]

 t_gt:
[ 0.70778395 -0.70016963 -0.09383161]

Pose Error in degrees for R and t:
175.34198782537257 68.90705583288342

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 0.98454736  0.17511032  0.00169627]
 [-0.17510461  0.98454503 -0.00307525]
 [-0.00220856  0.0027307   0.99999383]]

 t_estimated:
[[-0.9119203 ]
 [-0.41036413]
 [-0.00162843]]

 R_gt:
[[ 0.99023589  0.06506134  0.12328973]
 [-0.05889504  0.99685543 -0.05301554]
 [-0.12635081  0.04523506  0.9909533 ]]

 t_gt:
[-0.43997132  0.56542591  0.69765233]

Pose Error in degrees for R and t:
9.96772437959903 80.32541145323162

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.14477227  0.98931284  0.01735199]
 [ 0.98931247 -0.14441978 -0.02009397]
 [-0.01737325  0.02007559 -0.99964751]]

 t_estimated:
[[-0.94406569]
 [ 0.32963123]
 [-0.00912232]]

 R_gt:
[[ 0.95978576  0.15696591  0.2327534 ]
 [-0.1380386   0.98580255 -0.09559332]
 [-0.24445308  0.05962028  0.96782636]]

 t_gt:
[-0.37097682  0.60403166  0.70535237]

Pose Error in degrees for R and t:
166.02183603757103 57.118744270025786

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.86940831  0.49407236  0.00465669]
 [-0.49396455  0.86935737 -0.01472357]
 [-0.01132283  0.01050055  0.99988076]]

 t_estimated:
[[0.1122424 ]
 [0.99367537]
 [0.00330125]]

 R_gt:
[[ 0.91616104  0.31618664  0.24632624]
 [-0.29028047  0.94719983 -0.13619641]
 [-0.27638343  0.053274    0.95956937]]

 t_gt:
[-0.33139969  0.78670331  0.52083793]

Pose Error in degrees for R and t:
19.44898366689724 41.7334211396075

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999749e-01 -5.88677250e-04 -3.93371712e-04]
 [ 5.88814921e-04  9.99999765e-01  3.49954119e-04]
 [ 3.93165609e-04 -3.50185654e-04  9.99999861e-01]]

 t_estimated:
[[ 0.99659762]
 [-0.0823835 ]
 [-0.00247953]]

 R_gt:
[[ 0.99543234  0.09242451 -0.02392537]
 [-0.09330431  0.99488512 -0.03870083]
 [ 0.0202265   0.04075674  0.99896442]]

 t_gt:
[-0.51550806  0.73622403 -0.43843543]

Pose Error in degrees for R and t:
5.967663704368089 55.01795585943574

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.95297938e-01  9.68605820e-02 -2.03333366e-04]
 [-9.68605742e-02  9.95297959e-01  4.77935768e-05]
 [ 2.07006597e-04 -2.78738619e-05  9.99999978e-01]]

 t_estimated:
[[-9.96933234e-01]
 [ 7.82559505e-02]
 [-3.64674350e-04]]

 R_gt:
[[ 0.92258239  0.37891043 -0.07258199]
 [-0.38064535  0.92465272 -0.01124288]
 [ 0.0628533   0.03800021  0.99729896]]

 t_gt:
[-0.47909581  0.8585079  -0.18284255]

Pose Error in degrees for R and t:
17.307335021506454 56.98377108550767

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.97852701e-01  6.54970068e-02 -3.59703527e-04]
 [-6.54969332e-02  9.97852748e-01  2.12745856e-04]
 [ 3.72865370e-04 -1.88729549e-04  9.99999913e-01]]

 t_estimated:
[[-9.99760223e-01]
 [ 2.18949377e-02]
 [-3.28636832e-04]]

 R_gt:
[[ 0.82310846  0.55980127 -0.09546545]
 [-0.56050782  0.82786182  0.02178542]
 [ 0.09122754  0.03557704  0.99519427]]

 t_gt:
[-0.38370136  0.91202541 -0.14485482]

Pose Error in degrees for R and t:
30.903755001761223 66.1949649086187

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.65367850e-01 -2.60892281e-01 -3.63931259e-04]
 [ 2.60892414e-01  9.65367807e-01  3.81696178e-04]
 [ 2.51745935e-04 -4.63424123e-04  9.99999861e-01]]

 t_estimated:
[[ 5.42484246e-01]
 [-8.40065931e-01]
 [-2.72848777e-04]]

 R_gt:
[[ 0.99749688  0.05143784 -0.04852629]
 [-0.05466743  0.99620169 -0.06776536]
 [ 0.04485674  0.07024863  0.99652003]]

 t_gt:
[-0.44262292  0.2016378  -0.87374318]

Pose Error in degrees for R and t:
18.785565917918277 65.84122761304963

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-2.50910968e-01 -9.68009167e-01  1.39262454e-03]
 [ 9.68010066e-01 -2.50910019e-01  8.21713733e-04]
 [-4.46002977e-04  1.55425156e-03  9.99998693e-01]]

 t_estimated:
[[0.99161293]
 [0.12922997]
 [0.00184486]]

 R_gt:
[[ 0.95592132  0.27658834 -0.09855667]
 [-0.28052225  0.95942887 -0.0283169 ]
 [ 0.08672578  0.05471615  0.99472894]]

 t_gt:
[-0.928344    0.27393792 -0.25126764]

Pose Error in degrees for R and t:
120.839051446578 27.67202426204215

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[-0.26284465  0.96483244  0.00332459]
 [-0.96483392 -0.26283171 -0.00387213]
 [-0.00286215 -0.00422545  0.99998698]]

 t_estimated:
[[0.26706491]
 [0.96367279]
 [0.00332974]]

 R_gt:
[[ 0.83211788  0.54822184 -0.08386402]
 [-0.55089933  0.83449866 -0.01100372]
 [ 0.0639515   0.05535634  0.99641638]]

 t_gt:
[-0.89529189  0.42973027 -0.11740663]

Pose Error in degrees for R and t:
71.99595134904735 79.94302475739549

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[ 9.94677108e-01 -1.03031839e-01  1.37531124e-03]
 [ 1.03037296e-01  9.94666022e-01 -4.77706025e-03]
 [-8.75786057e-04  4.89334083e-03  9.99987644e-01]]

 t_estimated:
[[-0.66679062]
 [-0.74523658]
 [-0.00356573]]

 R_gt:
[[ 0.99594678 -0.0646529  -0.06252716]
 [ 0.06619584  0.99754308  0.02292966]
 [ 0.06089194 -0.02697537  0.99777989]]

 t_gt:
[ 0.51896313 -0.74029163 -0.42737053]

Pose Error in degrees for R and t:
4.53576918683729 78.04305853088721

Number of keypoints:
Image1: 369
Image2: 369

 R_estimated:
[[ 0.99012499 -0.14003508  0.00653304]
 [ 0.14009037  0.99009825 -0.00895277]
 [-0.00521465  0.00977957  0.99993858]]

 t_estimated:
[[0.99999685]
 [0.00199099]
 [0.00152947]]

 R_gt:
[[ 0.9911508  -0.08576278 -0.10131612]
 [ 0.0914381   0.99441213  0.05275796]
 [ 0.09622575 -0.06155404  0.99345471]]

 t_gt:
[ 0.53579672 -0.75484196 -0.37833251]

Pose Error in degrees for R and t:
7.713336684815574 57.74329358499247

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 9.97579825e-01  6.95304381e-02  1.01340939e-04]
 [-6.95304188e-02  9.97579815e-01 -1.82372269e-04]
 [-1.13776099e-04  1.74884618e-04  9.99999978e-01]]

 t_estimated:
[[ 6.99199322e-01]
 [-7.14926714e-01]
 [-3.20008396e-04]]

 R_gt:
[[ 0.98746971 -0.1178329  -0.10497381]
 [ 0.12210614  0.99189237  0.03523858]
 [ 0.09997053 -0.04761375  0.9938507 ]]

 t_gt:
[ 0.5626263  -0.73863651 -0.37130546]

Pose Error in degrees for R and t:
12.617193134083593 22.84216475682221

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 0.9645521   0.26387061 -0.00339753]
 [-0.26386174  0.96455632  0.0028446 ]
 [ 0.00402771 -0.00184729  0.99999018]]

 t_estimated:
[[-8.01642509e-01]
 [-5.97803395e-01]
 [-6.23361204e-04]]

 R_gt:
[[ 0.99827232 -0.02861598 -0.0513267 ]
 [ 0.03025041  0.99904986  0.03136227]
 [ 0.05038097 -0.03286182  0.99818926]]

 t_gt:
[ 0.46105727 -0.73295628 -0.50020125]

Pose Error in degrees for R and t:
17.282866142616577 86.05077305095546

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.11842969e-01  4.10538697e-01  6.15143791e-04]
 [-4.10538440e-01  9.11843153e-01 -5.03190605e-04]
 [-7.67493869e-04  2.06290643e-04  9.99999684e-01]]

 t_estimated:
[[0.65384719]
 [0.75662584]
 [0.00109339]]

 R_gt:
[[ 0.99616397 -0.06052115 -0.06320308]
 [ 0.06260582  0.99753964  0.03155296]
 [ 0.06113774 -0.03538902  0.99750146]]

 t_gt:
[ 0.53679062 -0.75418267 -0.37823845]

Pose Error in degrees for R and t:
28.06745075720228 77.28693618753924

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99041301e-01  4.37775327e-02  8.58811470e-05]
 [-4.37775147e-02  9.99041285e-01 -2.00598102e-04]
 [-9.45805014e-05  1.96646125e-04  9.99999976e-01]]

 t_estimated:
[[ 6.74504245e-01]
 [-7.38270606e-01]
 [-7.31601130e-04]]

 R_gt:
[[ 0.99249985 -0.09916222 -0.07149792]
 [ 0.10033545  0.99486931  0.01301315]
 [ 0.06984155 -0.02009065  0.99735591]]

 t_gt:
[ 0.56083927 -0.73000553 -0.39057809]

Pose Error in degrees for R and t:
9.23676835368261 23.434425271721032

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.98975040e-01 -4.52643950e-02 -5.83647015e-05]
 [ 4.52643957e-02  9.98975042e-01  9.68915194e-06]
 [ 5.78663065e-05 -1.23210639e-05  9.99999998e-01]]

 t_estimated:
[[-2.75661160e-01]
 [-9.61254588e-01]
 [-7.36308972e-04]]

 R_gt:
[[ 0.99942547  0.03057182  0.01463268]
 [-0.02956616  0.99746944 -0.06465797]
 [-0.01657218  0.06418861  0.99779996]]

 t_gt:
[-0.27003056  0.46124823 -0.84518256]

Pose Error in degrees for R and t:
5.754071074694486 68.38809574722957

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.57687073 -0.81393876 -0.06873033]
 [-0.81347264  0.58008573 -0.04198587]
 [ 0.07404341  0.03168982 -0.99675139]]

 t_estimated:
[[ 0.90180356]
 [ 0.43044754]
 [-0.03827865]]

 R_gt:
[[ 0.99568571  0.09276329 -0.0022336 ]
 [-0.09240692  0.98908669 -0.11475326]
 [-0.00843547  0.11446539  0.99339143]]

 t_gt:
[-0.34814277  0.59905386 -0.72106247]

Pose Error in degrees for R and t:
172.55733694162578 88.3672031143183

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99996959e-01 -2.39220728e-03 -5.99095741e-04]
 [ 2.39239699e-03  9.99997088e-01  3.16144825e-04]
 [ 5.98337712e-04 -3.17577139e-04  9.99999771e-01]]

 t_estimated:
[[ 9.99999216e-01]
 [-1.21543467e-03]
 [-3.02405670e-04]]

 R_gt:
[[ 0.94306736  0.32849244 -0.05210179]
 [-0.3324104   0.93617421 -0.11437367]
 [ 0.0112053   0.12518133  0.99206988]]

 t_gt:
[-0.46666164  0.82057323 -0.32997954]

Pose Error in degrees for R and t:
20.79715999347311 62.1240483048716

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99999985e-01  1.72219305e-04 -9.73357754e-06]
 [-1.72218434e-04  9.99999981e-01  8.94036727e-05]
 [ 9.74897440e-06 -8.94019951e-05  9.99999996e-01]]

 t_estimated:
[[9.78420267e-01]
 [2.06622913e-01]
 [8.68163502e-04]]

 R_gt:
[[ 0.99310442 -0.10760702 -0.04653928]
 [ 0.10951756  0.99315388  0.04064117]
 [ 0.04184798 -0.04545805  0.99808923]]

 t_gt:
[ 0.66415341 -0.746395    0.04236461]

Pose Error in degrees for R and t:
7.17956929595537 60.28832726516032

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-9.36932520e-01 -3.49504719e-01 -1.97626140e-03]
 [ 3.49506322e-01 -9.36933859e-01 -5.23470498e-04]
 [-1.66867082e-03 -1.18117239e-03  9.99997910e-01]]

 t_estimated:
[[9.94354022e-01]
 [1.06110068e-01]
 [8.55726353e-04]]

 R_gt:
[[ 0.97718216 -0.18513683 -0.10411775]
 [ 0.18790203  0.98203515  0.01732276]
 [ 0.0990399  -0.03649108  0.9944138 ]]

 t_gt:
[ 0.75337726 -0.63397432 -0.1746404 ]

Pose Error in degrees for R and t:
148.80341780102273 47.02311866974801

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.22006907 -0.9754791   0.00318357]
 [-0.97548344  0.22006341 -0.00203659]
 [ 0.00128607 -0.00355371 -0.99999286]]

 t_estimated:
[[0.78027565]
 [0.62543496]
 [0.00101203]]

 R_gt:
[[ 0.92020992 -0.35317942 -0.16875938]
 [ 0.35558556  0.93449362 -0.01677541]
 [ 0.16362936 -0.04457076  0.98551404]]

 t_gt:
[ 0.80646974 -0.55816907 -0.19507397]

Pose Error in degrees for R and t:
172.94370106791848 73.74141694440293

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.96693053e-01 -8.12583070e-02 -2.13521290e-04]
 [ 8.12583541e-02  9.96693047e-01  2.21957183e-04]
 [ 1.94779320e-04 -2.38573571e-04  9.99999953e-01]]

 t_estimated:
[[8.26630402e-01]
 [5.62744932e-01]
 [5.65289468e-04]]

 R_gt:
[[ 0.99561206 -0.06730216 -0.06502986]
 [ 0.06852092  0.99750994  0.01672056]
 [ 0.0637426  -0.02110397  0.99774387]]

 t_gt:
[ 0.55126819 -0.71424193 -0.43123294]

Pose Error in degrees for R and t:
3.9092925508771077 86.93233660552532

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.99602181 -0.08903315 -0.00369628]
 [ 0.08902648 -0.99602739  0.0019323 ]
 [-0.00385364  0.00159555  0.9999913 ]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9997163  -0.02356488  0.00378984]
 [ 0.0236273   0.9995688  -0.01744855]
 [-0.00337639  0.01753261  0.99984095]]

 t_gt:
[ 0.42400347 -0.87059556 -0.24956848]

Pose Error in degrees for R and t:
173.542246733216 79.58235790463796

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.87340301e-01  1.58616287e-01  5.21431537e-05]
 [-1.58616239e-01  9.87340172e-01 -5.22518772e-04]
 [-1.34363018e-04  5.07633090e-04  9.99999862e-01]]

 t_estimated:
[[-0.82644823]
 [-0.56301191]
 [-0.00095103]]

 R_gt:
[[ 0.98935366  0.0518202   0.13599276]
 [-0.04547481  0.99774523 -0.04936758]
 [-0.13824378  0.0426579   0.98947901]]

 t_gt:
[-0.3999202   0.42322865  0.81298299]

Pose Error in degrees for R and t:
10.434173679961502 84.75254457314652

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[ 9.98697557e-01 -5.10214550e-02  3.03871934e-05]
 [ 5.10214586e-02  9.98697549e-01 -1.28798057e-04]
 [-2.37761513e-05  1.30180704e-04  9.99999991e-01]]

 t_estimated:
[[ 8.95158850e-01]
 [ 4.45747019e-01]
 [-4.78551116e-04]]

 R_gt:
[[ 0.99871991 -0.0505374   0.00208219]
 [ 0.05036559  0.99742789  0.05101018]
 [-0.00465396 -0.05083985  0.99869477]]

 t_gt:
[ 0.45416348 -0.58671749  0.67044621]

Pose Error in degrees for R and t:
2.9342410164925905 81.68009059037946

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[-0.55435526 -0.83215161  0.01462671]
 [-0.832137    0.55450025  0.00880289]
 [-0.01543585 -0.0072915  -0.99985427]]

 t_estimated:
[[0.87106971]
 [0.4910854 ]
 [0.00852517]]

 R_gt:
[[ 0.98161374 -0.18494973 -0.04718595]
 [ 0.18841071  0.97845815  0.08438579]
 [ 0.03056268 -0.09172384  0.99531445]]

 t_gt:
[ 0.66115057 -0.69586725  0.28044375]

Pose Error in degrees for R and t:
178.60172874851094 76.31588289192588

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.98577293e-01 -5.33228677e-02  2.48732543e-04]
 [ 5.33228655e-02  9.98577324e-01  1.53726838e-05]
 [-2.49198393e-04 -2.08768104e-06  9.99999969e-01]]

 t_estimated:
[[9.36010611e-01]
 [3.51970932e-01]
 [7.73562489e-04]]

 R_gt:
[[ 0.94525012 -0.32381036 -0.04060245]
 [ 0.32620944  0.94110953  0.08889271]
 [ 0.00942786 -0.09727084  0.99521272]]

 t_gt:
[ 0.69762149 -0.66922236  0.25586263]

Pose Error in degrees for R and t:
16.908718323881285 65.31481002933445

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.99774566e-01 -2.12304884e-02  2.89764097e-04]
 [ 2.12306437e-02  9.99774457e-01 -5.43860516e-04]
 [-2.78152318e-04  5.49889789e-04  9.99999810e-01]]

 t_estimated:
[[ 0.16493755]
 [-0.98629322]
 [-0.00461327]]

 R_gt:
[[ 0.9866832  -0.16229619 -0.01075724]
 [ 0.16256535  0.98615861  0.03261245]
 [ 0.00531519 -0.03392667  0.99940999]]

 t_gt:
[ 0.63243018 -0.75946367  0.15246965]

Pose Error in degrees for R and t:
8.376807935078302 31.497608582506302

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.89582591e-01  1.43963949e-01  8.22976892e-04]
 [-1.43963673e-01  9.89582898e-01 -3.85273816e-04]
 [-8.69869398e-04  2.62781485e-04  9.99999587e-01]]

 t_estimated:
[[-0.1842235 ]
 [ 0.98287984]
 [ 0.00298588]]

 R_gt:
[[ 0.95520365 -0.29425688 -0.0316037 ]
 [ 0.29530563  0.9547121   0.03631499]
 [ 0.01948574 -0.04402161  0.99884057]]

 t_gt:
[ 0.70489124 -0.70055847  0.11111331]

Pose Error in degrees for R and t:
25.58338044874689 35.10589459156867

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.04389679  0.99902418 -0.00487465]
 [-0.99901361 -0.04392801 -0.00649186]
 [-0.00669966  0.00458487  0.99996705]]

 t_estimated:
[[0.02855968]
 [0.99958872]
 [0.00259633]]

 R_gt:
[[ 0.92690077 -0.37293089 -0.04217243]
 [ 0.37528619  0.9197834   0.11471253]
 [-0.00399099 -0.12215325  0.99250337]]

 t_gt:
[ 0.65109152 -0.69948868  0.29461063]

Pose Error in degrees for R and t:
114.74550561479359 47.168771271504724

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 0.24754131  0.96886224  0.00540878]
 [ 0.96887428 -0.24752265 -0.00389373]
 [-0.0024337   0.00620429 -0.99997779]]

 t_estimated:
[[-0.96925558]
 [ 0.24602664]
 [-0.00380941]]

 R_gt:
[[ 0.98229936 -0.17376697 -0.06996038]
 [ 0.17359591  0.98478032 -0.0085649 ]
 [ 0.0703849  -0.00373275  0.99751254]]

 t_gt:
[ 0.66977833 -0.70025186 -0.2470715 ]

Pose Error in degrees for R and t:
178.00628965491617 34.8625371561369

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-0.98253385 -0.18461341  0.02334803]
 [-0.18446443  0.98280329  0.00840013]
 [-0.02449729  0.00394654 -0.99969211]]

 t_estimated:
[[0.84275232]
 [0.53827406]
 [0.00543711]]

 R_gt:
[[ 0.95561896 -0.29297673 -0.03094787]
 [ 0.29321531  0.95604102  0.00338221]
 [ 0.0285967  -0.01230723  0.99951475]]

 t_gt:
[ 0.65791849 -0.75285779 -0.01866601]

Pose Error in degrees for R and t:
179.73338034607218 81.42423983337825

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.9075862  -0.41906824 -0.0258671 ]
 [-0.41871416 -0.90793742  0.01811354]
 [-0.03107652 -0.00560868 -0.99950127]]

 t_estimated:
[[0.11980261]
 [0.9926502 ]
 [0.01711466]]

 R_gt:
[[ 0.8934267  -0.41387583 -0.17463209]
 [ 0.43515241  0.89388437  0.10776398]
 [ 0.11150012 -0.17227141  0.97871822]]

 t_gt:
[ 0.70143866 -0.70293243  0.11777013]

Pose Error in degrees for R and t:
172.6915311568455 52.28629786708114

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 9.99741473e-01 -2.27373317e-02 -2.54590253e-05]
 [ 2.27373319e-02  9.99741473e-01  5.15310528e-06]
 [ 2.53352756e-05 -5.73064337e-06  1.00000000e+00]]

 t_estimated:
[[ 0.39303476]
 [-0.9195227 ]
 [-0.00129791]]

 R_gt:
[[ 0.99994512 -0.00168638 -0.0103012 ]
 [ 0.00159874  0.99996227 -0.00847894]
 [ 0.01031476  0.00846284  0.99991076]]

 t_gt:
[-0.38349158 -0.59706556 -0.7045899 ]

Pose Error in degrees for R and t:
1.4310033010196341 66.47155470459359

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.96566556e-01  8.27954840e-02  8.73171956e-05]
 [-8.27954950e-02  9.96566550e-01  1.30941376e-04]
 [-7.61760418e-05 -1.37721267e-04  9.99999988e-01]]

 t_estimated:
[[6.07473754e-01]
 [7.94339574e-01]
 [5.29109173e-04]]

 R_gt:
[[ 0.99930239 -0.02365678  0.02887254]
 [ 0.02297049  0.99945118  0.02386236]
 [-0.02942133 -0.02318261  0.99929832]]

 t_gt:
[-0.30484477 -0.73247267  0.60873102]

Pose Error in degrees for R and t:
6.45018099051494 39.94196440121072

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.87599739e-01  1.56992713e-01  2.07841755e-04]
 [-1.56992680e-01  9.87599752e-01 -1.67017788e-04]
 [-2.31485041e-04  1.32317089e-04  9.99999964e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99929996  0.01323784  0.03497344]
 [-0.01360573  0.99985374  0.01030791]
 [-0.03483217 -0.01077584  0.99933532]]

 t_gt:
[-0.82845583 -0.3093438   0.46686974]

Pose Error in degrees for R and t:
8.520582425572858 53.00292748257502

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999993e-01 -6.62303770e-05 -9.99441122e-05]
 [ 6.62343395e-05  9.99999997e-01  3.96443460e-05]
 [ 9.99414863e-05 -3.96509655e-05  9.99999994e-01]]

 t_estimated:
[[ 8.95836161e-01]
 [ 4.44384451e-01]
 [-1.80625261e-04]]

 R_gt:
[[ 0.99947609 -0.024605   -0.02103844]
 [ 0.02477348  0.99966339  0.00777209]
 [ 0.02084025 -0.00828919  0.99974776]]

 t_gt:
[ 0.97508614 -0.06479092 -0.21215363]

Pose Error in degrees for R and t:
1.9044142961789081 32.35337657034978

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99990883e-01 -4.23636444e-03 -5.35018776e-04]
 [ 4.23693240e-03  9.99990457e-01  1.06493002e-03]
 [ 5.30502238e-04 -1.06718715e-03  9.99999290e-01]]

 t_estimated:
[[ 0.00963706]
 [-0.99994922]
 [ 0.00294632]]

 R_gt:
[[ 0.99828114  0.01207878 -0.05734889]
 [-0.01292414  0.99981312 -0.01439168]
 [ 0.05716506  0.01510787  0.99824986]]

 t_gt:
[ 0.73418582  0.35077171 -0.5813178 ]

Pose Error in degrees for R and t:
3.509930684302134 69.7943184969454

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99987631e-01  9.44063944e-04 -4.88330677e-03]
 [-9.17036678e-04  9.99984267e-01  5.53390505e-03]
 [ 4.88845430e-03 -5.52935842e-03  9.99972764e-01]]

 t_estimated:
[[-0.60410478]
 [-0.79690418]
 [-0.00107111]]

 R_gt:
[[ 0.9977449   0.06699874  0.0041945 ]
 [-0.06688012  0.99747195 -0.02403962]
 [-0.00579463  0.02370539  0.99970168]]

 t_gt:
[ 0.40938623  0.88566547 -0.21908808]

Pose Error in degrees for R and t:
4.181974753174993 17.661034684619302

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.96769687e-01 -8.03129196e-02 -1.59741840e-04]
 [ 8.03129374e-02  9.96769693e-01  1.08601388e-04]
 [ 1.50503730e-04 -1.21079908e-04  9.99999981e-01]]

 t_estimated:
[[ 0.6796094 ]
 [-0.73357332]
 [-0.00111343]]

 R_gt:
[[ 0.99966532 -0.02571472  0.00322599]
 [ 0.02569744  0.99965655  0.00528465]
 [-0.00335958 -0.00519997  0.99998005]]

 t_gt:
[ 0.97240019 -0.13256096  0.19200379]

Pose Error in degrees for R and t:
3.1528546608184045 40.7221911376233

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.97070658  0.24008459  0.00938711]
 [ 0.24012573  0.97073542  0.00351732]
 [-0.00826795  0.00566837 -0.99994975]]

 t_estimated:
[[ 0.99444193]
 [-0.10519474]
 [ 0.00439557]]

 R_gt:
[[ 0.9986888   0.05036621 -0.00922013]
 [-0.05015481  0.998503    0.02185711]
 [ 0.0103087  -0.02136513  0.99971765]]

 t_gt:
[-0.50853008  0.85277259  0.11906327]

Pose Error in degrees for R and t:
179.78794771320207 53.49538924903668

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.85590158 -0.51697474 -0.01302314]
 [-0.51700005  0.85598386 -0.001603  ]
 [ 0.01197631  0.00536095 -0.99991391]]

 t_estimated:
[[ 0.96473249]
 [ 0.26316516]
 [-0.00594289]]

 R_gt:
[[ 0.99247789  0.12188351  0.01149368]
 [-0.12207109  0.9923721   0.0172484 ]
 [-0.0093021  -0.01852167  0.9997841 ]]

 t_gt:
[-0.59455023  0.79450875  0.12355517]

Pose Error in degrees for R and t:
179.87042604059252 68.57831286386121

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.99929367  0.03756334  0.00107999]
 [-0.03756079  0.99929172 -0.00229212]
 [-0.00116533  0.00224994  0.99999679]]

 t_estimated:
[[0.68744909]
 [0.72623217]
 [0.00076045]]

 R_gt:
[[ 0.99498191 -0.08311425 -0.05570398]
 [ 0.07941856  0.99468231 -0.06556311]
 [ 0.0608566   0.06081018  0.9962919 ]]

 t_gt:
[ 0.83326635 -0.00981447 -0.55278464]

Pose Error in degrees for R and t:
8.389818195539831 55.578245514251044

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 7.83594606e-01  6.21272478e-01  3.08788238e-05]
 [-6.21272479e-01  7.83594606e-01  1.82002536e-05]
 [-1.28891631e-05 -3.34457840e-05  9.99999999e-01]]

 t_estimated:
[[0.87586931]
 [0.48254754]
 [0.00091047]]

 R_gt:
[[ 0.99389942 -0.04487665 -0.10074842]
 [ 0.03163612  0.99109157 -0.12936377]
 [ 0.10565676  0.12538766  0.98646532]]

 t_gt:
[ 0.4835121   0.09972069 -0.86963891]

Pose Error in degrees for R and t:
41.6538616973534 61.91235809331274

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 4.14963031e-01  9.09835472e-01  2.25759559e-03]
 [ 9.09836442e-01 -4.14965896e-01  9.76567879e-04]
 [ 1.82534127e-03  1.64880317e-03 -9.99996975e-01]]

 t_estimated:
[[-0.89927003]
 [-0.43739248]
 [-0.00111296]]

 R_gt:
[[ 0.97240651  0.16539771 -0.1645227 ]
 [-0.1797942   0.98070648 -0.07674141]
 [ 0.14865573  0.10420383  0.98338265]]

 t_gt:
[-0.69422646  0.22075963 -0.68506555]

Pose Error in degrees for R and t:
179.51545309967298 58.095777874247766

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.87336865e-01 -1.58637489e-01 -2.49565639e-04]
 [ 1.58637415e-01  9.87336866e-01 -2.90028867e-04]
 [ 2.92414807e-04  2.46765744e-04  9.99999927e-01]]

 t_estimated:
[[ 0.13229828]
 [-0.99120829]
 [-0.00181528]]

 R_gt:
[[ 0.99686182  0.07636094 -0.02086446]
 [-0.07770047  0.99426509 -0.07347026]
 [ 0.01513408  0.07486118  0.99707909]]

 t_gt:
[-0.36906606  0.66382975 -0.65047699]

Pose Error in degrees for R and t:
14.233731915156387 45.11876434044258

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.99939302 -0.03481337  0.00127524]
 [ 0.03481083  0.99939199  0.00196463]
 [-0.00134286 -0.00191904  0.99999726]]

 t_estimated:
[[ 0.09012128]
 [-0.99585795]
 [ 0.01204583]]

 R_gt:
[[ 0.99763931  0.06824902 -0.00757793]
 [-0.06862568  0.98701032 -0.14526219]
 [-0.00243415  0.14543951  0.98936377]]

 t_gt:
[-0.18511439  0.56494018 -0.80409904]

Pose Error in degrees for R and t:
10.348088253980475 53.9161240416726

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 8.84809867e-01  4.65952222e-01  1.63820604e-04]
 [-4.65951426e-01  8.84808908e-01 -1.57015269e-03]
 [-8.76566066e-04  1.31295415e-03  9.99998754e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99178995  0.12487027 -0.02756454]
 [-0.1278478   0.97279398 -0.19320079]
 [ 0.00268929  0.19513863  0.98077168]]

 t_gt:
[-0.21700701  0.61381705 -0.75903662]

Pose Error in degrees for R and t:
23.266143335168334 77.54393003337073

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-1.21903255e-01 -9.92539724e-01 -2.11969472e-03]
 [ 9.92541956e-01 -1.21902440e-01 -5.10145962e-04]
 [ 2.47944174e-04 -2.16607440e-03  9.99997623e-01]]

 t_estimated:
[[9.99996565e-01]
 [2.54721834e-03]
 [6.17741809e-04]]

 R_gt:
[[ 0.9802184  -0.1978323   0.00589181]
 [ 0.19761086  0.97991644  0.02667406]
 [-0.01104931 -0.02498273  0.99962687]]

 t_gt:
[ 0.68236504 -0.71580236  0.1483406 ]

Pose Error in degrees for R and t:
85.60691951437896 47.10702636540229

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99030987e-01  4.40121011e-02  1.48194991e-04]
 [-4.40121032e-02  9.99030998e-01  1.10516081e-05]
 [-1.47564985e-04 -1.75632722e-05  9.99999989e-01]]

 t_estimated:
[[8.69939780e-01]
 [4.93157417e-01]
 [7.34863305e-04]]

 R_gt:
[[ 0.95681498 -0.29067862 -0.00320797]
 [ 0.29068522  0.95662587  0.019157  ]
 [-0.00249926 -0.01926358  0.9998113 ]]

 t_gt:
[ 0.71587678 -0.69394955  0.07716511]

Pose Error in degrees for R and t:
19.454599322825295 73.70398082694362

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.9999102   0.00982171  0.00911732]
 [ 0.00983221  0.99995105  0.00110674]
 [-0.009106    0.00119629 -0.99995782]]

 t_estimated:
[[0.99749512]
 [0.07057329]
 [0.00478565]]

 R_gt:
[[ 0.92992956 -0.36677078  0.02663182]
 [ 0.36530253  0.92966795  0.04764481]
 [-0.04223333 -0.03457911  0.99850919]]

 t_gt:
[ 0.70103957 -0.69545972  0.15773174]

Pose Error in degrees for R and t:
177.47781398095262 49.38616620174806

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.96741314  0.25210761  0.02352791]
 [-0.25183093  0.96766837 -0.01411084]
 [-0.02632467  0.00772596  0.99962359]]

 t_estimated:
[[0.99775791]
 [0.06651719]
 [0.0073908 ]]

 R_gt:
[[ 0.99315493 -0.08306054  0.08212764]
 [ 0.06628822  0.97969636  0.18921281]
 [-0.09617571 -0.18247301  0.97849561]]

 t_gt:
[ 0.23711064 -0.43027307  0.87100151]

Pose Error in degrees for R and t:
22.35498051932419 77.61991387423167

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-0.15479043  0.98794561  0.00184463]
 [ 0.98794561  0.15478641  0.00215614]
 [ 0.00184463  0.00215614 -0.99999597]]

 t_estimated:
[[-0.6500806 ]
 [-0.75986394]
 [-0.00141877]]

 R_gt:
[[ 0.9764193  -0.20622247  0.06386249]
 [ 0.17758317  0.93545429  0.30559774]
 [-0.1227617  -0.28705027  0.95001631]]

 t_gt:
[ 0.43446395 -0.51347987  0.73998615]

Pose Error in degrees for R and t:
172.9130106736088 83.8755499988261

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 8.52863018e-01 -5.22134094e-01 -8.11891686e-04]
 [ 5.22134461e-01  8.52863121e-01  3.18774029e-04]
 [ 5.25989688e-04 -6.95787208e-04  9.99999620e-01]]

 t_estimated:
[[-0.01357898]
 [-0.99990704]
 [-0.00123445]]

 R_gt:
[[ 0.94023844 -0.33570028  0.05706975]
 [ 0.29897262  0.89407089  0.33354491]
 [-0.16299491 -0.29654985  0.94100533]]

 t_gt:
[ 0.55761597 -0.54597756  0.62527828]

Pose Error in degrees for R and t:
23.293338733651485 57.48074108237442

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 4.91250369e-01 -8.71018378e-01 -2.44928133e-04]
 [ 8.71015715e-01  4.91249529e-01 -2.35031148e-03]
 [ 2.16748532e-03  9.41255128e-04  9.99997208e-01]]

 t_estimated:
[[ 0.79136362]
 [-0.61133994]
 [-0.00266477]]

 R_gt:
[[ 9.88410227e-01 -1.51810982e-01 -8.29610544e-04]
 [ 1.51166864e-01  9.83681612e-01  9.75768192e-02]
 [-1.39974359e-02 -9.65711619e-02  9.95227290e-01]]

 t_gt:
[ 0.58818868 -0.72595957  0.35639414]

Pose Error in degrees for R and t:
52.13656382371787 24.72448899638429

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 6.71783008e-01  7.40747816e-01  5.13165947e-04]
 [-7.40747257e-01  6.71783156e-01 -9.44714751e-04]
 [-1.04453163e-03  2.54517050e-04  9.99999422e-01]]

 t_estimated:
[[-2.87233199e-01]
 [ 9.57860349e-01]
 [ 8.01239994e-04]]

 R_gt:
[[ 0.97298853 -0.22909238  0.02848049]
 [ 0.22494276  0.96856699  0.10620422]
 [-0.05191579 -0.0969284   0.99393647]]

 t_gt:
[ 0.61112218 -0.70792901  0.35407089]

Pose Error in degrees for R and t:
61.25389042203155 31.422293184814468

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.96629506e-01  8.20342210e-02  1.20430546e-04]
 [-8.20341889e-02  9.96629484e-01 -2.50526518e-04]
 [-1.40576380e-04  2.39802697e-04  9.99999961e-01]]

 t_estimated:
[[ 0.60598951]
 [-0.79547217]
 [-0.00086589]]

 R_gt:
[[ 0.96299051 -0.2684558   0.02413922]
 [ 0.26468666  0.95877099  0.10344004]
 [-0.05091324 -0.09322232  0.99434249]]

 t_gt:
[ 0.63293081 -0.71309922  0.30147653]

Pose Error in degrees for R and t:
21.104341319480948 18.095714891658442

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.95644736e-01  9.32285060e-02 -6.66214623e-05]
 [-9.32284997e-02  9.95644735e-01  9.21659458e-05]
 [ 7.49238016e-05 -8.55535199e-05  9.99999994e-01]]

 t_estimated:
[[-3.13945384e-01]
 [-9.49440769e-01]
 [-7.22787587e-04]]

 R_gt:
[[ 0.99809987 -0.03115553  0.05317199]
 [ 0.02930322  0.99894852  0.03526039]
 [-0.05421394 -0.03363458  0.99796265]]

 t_gt:
[ 0.37705023 -0.20063989  0.90419951]

Pose Error in degrees for R and t:
7.971283385610092 85.90163563602442

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.73657778 -0.67502603 -0.04234435]
 [ 0.67611185  0.73654203  0.01945761]
 [ 0.018054   -0.04296156  0.99891359]]

 t_estimated:
[[-0.01848421]
 [-0.99982774]
 [-0.00168038]]

 R_gt:
[[ 0.99057047 -0.13529644  0.02160832]
 [ 0.13522508  0.99080366  0.00469493]
 [-0.02204453 -0.00172819  0.99975482]]

 t_gt:
[ 0.98543158 -0.14969845  0.08071536]

Pose Error in degrees for R and t:
34.93132311837361 82.45400137922931

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.60492111e-01 -2.78307008e-01 -3.36552736e-04]
 [ 2.78307183e-01  9.60491861e-01  7.04700675e-04]
 [ 1.27133027e-04 -7.70524483e-04  9.99999695e-01]]

 t_estimated:
[[0.9782023 ]
 [0.20765169]
 [0.0010179 ]]

 R_gt:
[[ 0.99099752 -0.12889585 -0.03621798]
 [ 0.12628188  0.98972881 -0.06700743]
 [ 0.04448282  0.06182966  0.99709466]]

 t_gt:
[ 0.91732005 -0.06190323 -0.39330893]

Pose Error in degrees for R and t:
9.851857502189604 27.862717625146644

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.98229404  0.18718516  0.00775497]
 [-0.18714405  0.98231576 -0.00573181]
 [-0.00869074  0.00417903  0.9999535 ]]

 t_estimated:
[[0.58837531]
 [0.80838804]
 [0.01797983]]

 R_gt:
[[ 0.98332894 -0.18139815 -0.01261949]
 [ 0.18129183  0.98338666 -0.00914409]
 [ 0.01406804  0.00670424  0.99987866]]

 t_gt:
[ 0.72346832 -0.68875708 -0.04698159]

Pose Error in degrees for R and t:
21.27303947333995 82.41731635419481

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.77413387e-01 -4.79734346e-01 -8.40239937e-04]
 [ 4.79734115e-01  8.77413789e-01 -4.70800899e-04]
 [ 9.63097469e-04  9.99524813e-06  9.99999536e-01]]

 t_estimated:
[[-0.24706246]
 [-0.96899823]
 [-0.0016043 ]]

 R_gt:
[[ 9.72484054e-01 -2.32960793e-01 -2.24964213e-03]
 [ 2.32960773e-01  9.72486009e-01 -1.68900523e-04]
 [ 2.22604645e-03 -3.59030437e-04  9.99996814e-01]]

 t_gt:
[ 0.67734504 -0.73554561  0.01327967]

Pose Error in degrees for R and t:
15.1968138989047 56.94973677465753

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.99781375 -0.06568434  0.00729993]
 [-0.06562036 -0.99780688 -0.00868314]
 [ 0.00785427  0.00818514 -0.99993565]]

 t_estimated:
[[7.57778193e-01]
 [6.52511857e-01]
 [6.97128055e-04]]

 R_gt:
[[ 0.94224467 -0.33262915  0.03915257]
 [ 0.33111522  0.94272083  0.0404961 ]
 [-0.0503806  -0.02519234  0.99841203]]

 t_gt:
[ 0.67846119 -0.716617    0.1617111 ]

Pose Error in degrees for R and t:
178.5544872216963 87.32705672316975

Number of keypoints:
Image1: 305
Image2: 305

 R_estimated:
[[ 0.88881842  0.45801797 -0.01487782]
 [ 0.45793011 -0.88648045  0.0667265 ]
 [ 0.01737304 -0.06612074 -0.99766038]]

 t_estimated:
[[-0.21234935]
 [ 0.97657499]
 [ 0.03477116]]

 R_gt:
[[ 0.99946329  0.0089353   0.03150467]
 [-0.00988834  0.99949477  0.03022237]
 [-0.03121896 -0.03051808  0.99904643]]

 t_gt:
[-0.58153297 -0.13660813  0.80197109]

Pose Error in degrees for R and t:
174.81381260906775 88.97059553903476

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99468932e-01  3.25710877e-02  9.88731843e-04]
 [-3.25729528e-02  9.99467492e-01  1.93274481e-03]
 [-9.25253735e-04 -1.96392431e-03  9.99997643e-01]]

 t_estimated:
[[0.84873802]
 [0.52879489]
 [0.00444365]]

 R_gt:
[[ 0.99629768  0.0691375   0.0511015 ]
 [-0.06844187  0.99753942 -0.01523393]
 [-0.05202873  0.0116797   0.99857667]]

 t_gt:
[-0.85890728  0.3691481   0.35497601]

Pose Error in degrees for R and t:
3.678896654715318 57.84535660993069

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 6.61689341e-01 -7.49776549e-01 -1.53088891e-03]
 [ 7.49777984e-01  6.61689038e-01  7.68799955e-04]
 [ 4.36544231e-04 -1.65653353e-03  9.99998533e-01]]

 t_estimated:
[[ 3.08251994e-03]
 [-9.99994816e-01]
 [-9.30810294e-04]]

 R_gt:
[[ 0.97887911  0.19855542  0.04869959]
 [-0.19551373  0.97881188 -0.06085044]
 [-0.05974966  0.05004403  0.99695797]]

 t_gt:
[-0.75725063  0.64658553  0.09218807]

Pose Error in degrees for R and t:
60.11091841989768 49.53358390835999

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-5.99076442e-01  8.00668521e-01 -6.11028323e-03]
 [-8.00682875e-01 -5.99088398e-01 -1.59452975e-04]
 [-3.78826877e-03  4.79687462e-03  9.99981319e-01]]

 t_estimated:
[[ 3.74609767e-01]
 [ 9.27182568e-01]
 [-9.29616245e-05]]

 R_gt:
[[ 0.99855779  0.05336569 -0.00586315]
 [-0.05289571  0.99663347  0.06263851]
 [ 0.00918628 -0.06223814  0.99801879]]

 t_gt:
[-0.16861005  0.71552901  0.67792985]

Pose Error in degrees for R and t:
123.79721517240854 53.11577466187417

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.23556095 -0.9718546  -0.00311132]
 [ 0.97185698 -0.23556651  0.00155656]
 [-0.00224567 -0.0026571   0.99999395]]

 t_estimated:
[[0.99376973]
 [0.11142956]
 [0.00227407]]

 R_gt:
[[ 0.99834713  0.03720934 -0.04379817]
 [-0.03562219  0.99869916  0.03648702]
 [ 0.04509855 -0.03486622  0.99837411]]

 t_gt:
[ 0.67425118  0.71589775 -0.18131675]

Pose Error in degrees for R and t:
105.74345228845876 41.460681664698825

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.30229432e-01 -3.66978444e-01 -1.61618805e-04]
 [ 3.66978312e-01  9.30228496e-01  1.36499111e-03]
 [-3.50579897e-04 -1.32906550e-03  9.99999055e-01]]

 t_estimated:
[[ 0.45583402]
 [-0.89006211]
 [ 0.00218577]]

 R_gt:
[[ 0.9969504   0.07073328 -0.03296046]
 [-0.06976417  0.99712098  0.02970243]
 [ 0.03496698 -0.02731319  0.99901553]]

 t_gt:
[ 0.51427936  0.84928744 -0.11927949]

Pose Error in degrees for R and t:
25.679257285674975 58.550069672655994

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99956104e-01 -9.36798355e-03  1.73640172e-04]
 [ 9.36799635e-03  9.99956117e-01 -7.30719988e-05]
 [-1.72948014e-04  7.46954518e-05  9.99999982e-01]]

 t_estimated:
[[-0.52587209]
 [ 0.85056298]
 [ 0.00107906]]

 R_gt:
[[ 9.82850549e-01 -1.84402466e-01 -7.55557053e-04]
 [ 1.84106987e-01  9.81028867e-01  6.07252834e-02]
 [-1.04563318e-02 -5.98224245e-02  9.98153960e-01]]

 t_gt:
[ 0.58146945 -0.77484108  0.24802132]

Pose Error in degrees for R and t:
10.674273323282925 15.298991333851074

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99999414e-01 -7.83206154e-04  7.47359101e-04]
 [ 7.83358594e-04  9.99999672e-01 -2.03700716e-04]
 [-7.47199316e-04  2.04286047e-04  9.99999700e-01]]

 t_estimated:
[[0.55814094]
 [0.829745  ]
 [0.00138503]]

 R_gt:
[[ 0.94771208 -0.29889201 -0.11183215]
 [ 0.3110092   0.94357634  0.11374172]
 [ 0.07152553 -0.14257423  0.98719614]]

 t_gt:
[ 0.6373128  -0.75232383  0.16685699]

Pose Error in degrees for R and t:
20.051318727354307 74.43713772437229

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-0.82200056  0.56832712  0.03632292]
 [ 0.5685083   0.82265466 -0.00613425]
 [-0.03336748  0.01560753 -0.99932128]]

 t_estimated:
[[ 0.99599874]
 [-0.08771708]
 [ 0.01709432]]

 R_gt:
[[ 0.8808189  -0.43895735 -0.1774111 ]
 [ 0.46696669  0.8672692   0.17259047]
 [ 0.07810379 -0.23486587  0.96888439]]

 t_gt:
[ 0.68640671 -0.68364573  0.24794022]

Pose Error in degrees for R and t:
171.22102549223146 41.59413981594975

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99992218e-01 -3.93829580e-03  2.33798447e-04]
 [ 3.93829155e-03  9.99992245e-01  1.86226022e-05]
 [-2.33869975e-04 -1.77016908e-05  9.99999972e-01]]

 t_estimated:
[[7.89410865e-01]
 [6.13865103e-01]
 [3.48288285e-04]]

 R_gt:
[[ 0.99207415 -0.11630935 -0.04756392]
 [ 0.11899435  0.99118949  0.05816062]
 [ 0.04038093 -0.06336019  0.99717325]]

 t_gt:
[ 0.66831585 -0.71760005  0.19596963]

Pose Error in degrees for R and t:
7.834938896479452 85.00122617772145

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[-0.70504768 -0.32761881 -0.62894648]
 [-0.14328596 -0.80278593  0.5787952 ]
 [-0.69453358  0.49819742  0.51905918]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.96116162 -0.27301789 -0.04037956]
 [ 0.27533251  0.95863605  0.07217459]
 [ 0.01900423 -0.08048966  0.99657418]]

 t_gt:
[ 0.68952524 -0.69404082  0.20703208]

Pose Error in degrees for R and t:
158.91509785172985 82.2093018293779

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.16385862  0.98648284  0.00139609]
 [ 0.98648118 -0.1638613   0.00208933]
 [ 0.00228985  0.00103486 -0.99999684]]

 t_estimated:
[[-0.62892466]
 [-0.77746465]
 [-0.00158021]]

 R_gt:
[[ 0.91253971 -0.40293325 -0.07011699]
 [ 0.40753745  0.91026645  0.07299155]
 [ 0.03441469 -0.09518374  0.99486466]]

 t_gt:
[ 0.74941462 -0.64036633  0.16825189]

Pose Error in degrees for R and t:
174.24377770436834 88.49461076890483

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.98610514e-01 -5.26975994e-02 -6.99180960e-05]
 [ 5.26976060e-02  9.98610511e-01  9.53351695e-05]
 [ 6.47970111e-05 -9.88872189e-05  9.99999993e-01]]

 t_estimated:
[[-2.50448625e-01]
 [ 9.68129866e-01]
 [-2.21098886e-04]]

 R_gt:
[[ 0.99658437  0.03431956  0.07510872]
 [-0.03204941  0.99899819 -0.03122113]
 [-0.07610461  0.02870741  0.99668629]]

 t_gt:
[-0.74096737  0.45501344  0.49389283]

Pose Error in degrees for R and t:
6.787526319035112 51.246055617545906

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.67557139  0.73726554 -0.00654395]
 [ 0.73726198 -0.67543146  0.01539863]
 [ 0.00693288 -0.01522748 -0.99986002]]

 t_estimated:
[[-0.44868986]
 [ 0.89364666]
 [ 0.00854708]]

 R_gt:
[[ 0.98901463  0.08734589  0.11924659]
 [-0.08139545  0.99522357 -0.05390089]
 [-0.12338481  0.04360283  0.99140039]]

 t_gt:
[-0.73747402  0.514368    0.43767297]

Pose Error in degrees for R and t:
175.582783124142 37.41069899065228

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999150e-01  1.30047669e-03 -9.18787397e-05]
 [-1.30048818e-03  9.99999147e-01 -1.25180270e-04]
 [ 9.17158673e-05  1.25299651e-04  9.99999988e-01]]

 t_estimated:
[[3.33233510e-03]
 [9.99994007e-01]
 [9.39155753e-04]]

 R_gt:
[[ 0.96815876  0.22316698  0.11341921]
 [-0.21792947  0.97430912 -0.05681339]
 [-0.12318441  0.03028746  0.99192157]]

 t_gt:
[-0.7119063   0.65778828  0.2459756 ]

Pose Error in degrees for R and t:
14.653063712484554 49.03157352535795

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 1.00000000e+00  1.16573418e-15 -2.51643324e-16]
 [-9.99200722e-16  1.00000000e+00  2.09793120e-16]
 [ 6.44449771e-16  1.62738746e-16  1.00000000e+00]]

 t_estimated:
[[0.64114065]
 [0.76742277]
 [0.00097959]]

 R_gt:
[[ 0.98594563 -0.16660212  0.01246782]
 [ 0.16629065  0.98580937  0.02293394]
 [-0.01611183 -0.02053788  0.99965965]]

 t_gt:
[ 0.55337607 -0.8211545   0.13957152]

Pose Error in degrees for R and t:
9.698687298716361 74.02344232847213

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.89049433e-01 -1.47584600e-01  6.25041426e-05]
 [ 1.47584613e-01  9.89049333e-01 -4.44892622e-04]
 [ 3.83961915e-06  4.49245446e-04  9.99999899e-01]]

 t_estimated:
[[-0.45377173]
 [-0.89111715]
 [-0.00120043]]

 R_gt:
[[ 0.94761558 -0.31939694  0.00318149]
 [ 0.31937245  0.94760582  0.00651583]
 [-0.00509628 -0.00515864  0.99997372]]

 t_gt:
[ 0.63650468 -0.77102559  0.01952779]

Pose Error in degrees for R and t:
10.148515246729364 66.53287249562975

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 0.3360965   0.94182601  0.00170582]
 [ 0.94155265 -0.33604161  0.02355092]
 [ 0.0227541  -0.00630926 -0.99972118]]

 t_estimated:
[[-9.99974549e-01]
 [-7.07946583e-03]
 [-8.84933229e-04]]

 R_gt:
[[ 0.86080219 -0.50888284 -0.00752182]
 [ 0.50872022  0.85990286  0.04207562]
 [-0.0149441  -0.04004473  0.99908606]]

 t_gt:
[ 0.7186969  -0.69111011  0.07643018]

Pose Error in degrees for R and t:
177.34898245192903 44.4506774489338

Number of keypoints:
Image1: 489
Image2: 489

 R_estimated:
[[ 9.98964349e-01  4.54997379e-02  4.84308058e-05]
 [-4.54997384e-02  9.98964351e-01  1.00272168e-05]
 [-4.79244127e-05 -1.22204211e-05  9.99999999e-01]]

 t_estimated:
[[0.65510889]
 [0.75553389]
 [0.00093855]]

 R_gt:
[[ 0.99974411 -0.02250974 -0.00237434]
 [ 0.02255678  0.99949367  0.02246412]
 [ 0.00186873 -0.02251253  0.99974485]]

 t_gt:
[ 0.17516768 -0.87490321  0.45150932]

Pose Error in degrees for R and t:
4.107872009979192 56.91782226742773

Number of keypoints:
Image1: 380
Image2: 380

 R_estimated:
[[-0.54927612  0.83563805  0.00218765]
 [-0.83563689 -0.54926348 -0.0045403 ]
 [-0.00259245 -0.00432196  0.9999873 ]]

 t_estimated:
[[0.29889836]
 [0.95428101]
 [0.00274219]]

 R_gt:
[[ 0.99658607 -0.07929845  0.02300312]
 [ 0.07855058  0.99640538  0.03174197]
 [-0.02543706 -0.02982773  0.9992314 ]]

 t_gt:
[ 0.19247102 -0.84561853  0.49787971]

Pose Error in degrees for R and t:
127.85297848826316 41.57712015163484

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.22385448e-01  3.86269022e-01  1.15232833e-03]
 [-3.86269788e-01  9.22385694e-01  5.30919045e-04]
 [-8.57813590e-04 -9.34821622e-04  9.99999195e-01]]

 t_estimated:
[[0.66306217]
 [0.7485623 ]
 [0.0017449 ]]

 R_gt:
[[ 0.99188843 -0.11365381  0.0569371 ]
 [ 0.11294572  0.99348064  0.01550335]
 [-0.05832727 -0.00894717  0.99825732]]

 t_gt:
[ 0.0913296  -0.86566436  0.49222365]

Pose Error in degrees for R and t:
29.41700923720084 54.084773119874576

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-8.69211731e-01 -4.94438184e-01 -1.35994236e-03]
 [ 4.94440054e-01 -8.69208505e-01 -2.36792657e-03]
 [-1.12801577e-05 -2.73063953e-03  9.99996272e-01]]

 t_estimated:
[[9.77024517e-01]
 [2.13125446e-01]
 [7.98222645e-04]]

 R_gt:
[[ 0.99966988  0.01696788 -0.0193023 ]
 [-0.01724324  0.99975173 -0.01416867]
 [ 0.01905816  0.01449678  0.99971379]]

 t_gt:
[-0.23998369  0.78016417 -0.57771247]

Pose Error in degrees for R and t:
151.3483830476734 86.06307445844196

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99999904e-01  2.72666320e-04  3.42104741e-04]
 [-2.72592238e-04  9.99999939e-01 -2.16577274e-04]
 [-3.42163773e-04  2.16483999e-04  9.99999918e-01]]

 t_estimated:
[[-9.85944852e-01]
 [-1.67070731e-01]
 [-3.45792997e-04]]

 R_gt:
[[ 0.99474669  0.10230448 -0.00363343]
 [-0.10226601  0.99471124  0.00965946]
 [ 0.00460237 -0.00923698  0.99994698]]

 t_gt:
[-0.59870255  0.79964116  0.04614394]

Pose Error in degrees for R and t:
5.886635876628522 62.82723441774483

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.96171979 -0.27358346 -0.0157209 ]
 [ 0.27302987 -0.96152352  0.03045012]
 [-0.02344667  0.02499221  0.99941265]]

 t_estimated:
[[8.61282061e-01]
 [5.08126614e-01]
 [7.45053686e-04]]

 R_gt:
[[ 0.95241671  0.30475097  0.00540949]
 [-0.30478135  0.9524024   0.00628323]
 [-0.00323673 -0.00763339  0.99996561]]

 t_gt:
[-0.620339    0.78411341  0.01859242]

Pose Error in degrees for R and t:
178.12998635313258 82.19256638007536

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.05713426 -0.9983624  -0.00286249]
 [ 0.99836575  0.05713749 -0.00106232]
 [ 0.00122414 -0.00279712  0.99999534]]

 t_estimated:
[[0.99233906]
 [0.12354019]
 [0.00100439]]

 R_gt:
[[ 0.99732444  0.06033858  0.0412737 ]
 [-0.06287623  0.99601623  0.06323672]
 [-0.03729411 -0.06566235  0.99714424]]

 t_gt:
[-0.62098446  0.26398177  0.73803247]

Pose Error in degrees for R and t:
90.34462793483465 54.34709561922941

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99636178e-01 -2.69718371e-02 -1.76876777e-04]
 [ 2.69718182e-02  9.99636188e-01 -1.08351957e-04]
 [ 1.79734878e-04  1.03541848e-04  9.99999978e-01]]

 t_estimated:
[[-9.99992164e-01]
 [-3.88195716e-03]
 [-7.76391432e-04]]

 R_gt:
[[ 0.98181812  0.18894701  0.01827323]
 [-0.18932527  0.98167108  0.0218631 ]
 [-0.01380744 -0.02492511  0.9995931 ]]

 t_gt:
[-0.7204293   0.68562535  0.10440065]

Pose Error in degrees for R and t:
12.557768854673336 44.13664729249608

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.56535819e-01 -2.91614793e-01  2.00690885e-04]
 [ 2.91614812e-01  9.56535027e-01 -1.24227122e-03]
 [ 1.70296805e-04  1.24680136e-03  9.99999208e-01]]

 t_estimated:
[[-0.09782701]
 [-0.99520166]
 [-0.00188129]]

 R_gt:
[[ 0.98420341  0.17264137  0.0392277 ]
 [-0.17001901  0.98345729 -0.06249721]
 [-0.0493689   0.05484086  0.99727321]]

 t_gt:
[-0.64526637  0.74339998 -0.17603348]

Pose Error in degrees for R and t:
27.149977402017615 47.43880755875454

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999857e-01 -5.07651391e-04 -1.69694135e-04]
 [ 5.07663512e-04  9.99999869e-01  7.13949556e-05]
 [ 1.69657869e-04 -7.14810929e-05  9.99999983e-01]]

 t_estimated:
[[-0.99829773]
 [-0.05823633]
 [-0.00318903]]

 R_gt:
[[ 0.99726665  0.07374676  0.00455071]
 [-0.07382863  0.99704123  0.02142173]
 [-0.00295716 -0.02169904  0.99976051]]

 t_gt:
[-0.63195481  0.73900885  0.2334503 ]

Pose Error in degrees for R and t:
4.441074541132499 54.04869893331857

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.96027956e-01 -8.90410494e-02 -4.87369595e-05]
 [ 8.90410503e-02  9.96027957e-01  1.60977854e-05]
 [ 4.71100105e-05 -2.03734343e-05  9.99999999e-01]]

 t_estimated:
[[-0.77608495]
 [-0.63062768]
 [-0.00093843]]

 R_gt:
[[ 0.9817736   0.18996705  0.00577594]
 [-0.19003956  0.98162908  0.01702025]
 [-0.00243566 -0.01780703  0.99983864]]

 t_gt:
[-0.65794695  0.74935327  0.07466916]

Pose Error in degrees for R and t:
16.095005585332796 87.82282390389257

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99860497e-01 -1.65318285e-02  2.38434836e-03]
 [ 1.65301229e-02  9.99863099e-01  7.33268096e-04]
 [-2.39614420e-03 -6.93752232e-04  9.99996889e-01]]

 t_estimated:
[[0.26016285]
 [0.96549958]
 [0.01121827]]

 R_gt:
[[ 0.86777669  0.49455397  0.04878114]
 [-0.49387538  0.8691454  -0.02594238]
 [-0.05522797 -0.0015785   0.9984723 ]]

 t_gt:
[-0.57999381  0.81181903  0.06750583]

Pose Error in degrees for R and t:
30.737142589422007 50.67819012555349

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.96064103e-01 -8.86357799e-02 -4.65781563e-05]
 [ 8.86357846e-02  9.96064097e-01  1.10226057e-04]
 [ 3.66248566e-05 -1.13920710e-04  9.99999993e-01]]

 t_estimated:
[[4.11611804e-01]
 [9.11358984e-01]
 [7.25014760e-04]]

 R_gt:
[[ 0.99815144  0.05120278  0.03275839]
 [-0.05315282  0.9966746   0.06174795]
 [-0.02948821 -0.06337489  0.99755314]]

 t_gt:
[-0.3329289  0.0868466  0.9389441]

Pose Error in degrees for R and t:
9.015947870423712 86.72041629888321

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 4.64176562e-01  8.85741599e-01  1.39231804e-03]
 [-8.85741282e-01  4.64178055e-01 -1.05523372e-03]
 [-1.58094789e-03 -7.43418800e-04  9.99998474e-01]]

 t_estimated:
[[-0.23729517]
 [ 0.97143685]
 [ 0.00120363]]

 R_gt:
[[ 0.99420244  0.07919892  0.07273224]
 [-0.0892571   0.98502877  0.14747983]
 [-0.05996386 -0.15311662  0.98638703]]

 t_gt:
[-0.31395773  0.0663794   0.94711368]

Pose Error in degrees for R and t:
58.181429057098676 81.94497674294465

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.92182697e-01 -1.24793724e-01 -1.47246717e-04]
 [ 1.24793739e-01  9.92182702e-01  9.58416693e-05]
 [ 1.34135206e-04 -1.13467914e-04  9.99999985e-01]]

 t_estimated:
[[-9.19675127e-01]
 [ 3.92679823e-01]
 [-4.67216267e-04]]

 R_gt:
[[ 0.97313666  0.21286203  0.08772501]
 [-0.22292362  0.96640259  0.12794404]
 [-0.05754372 -0.14406367  0.98789399]]

 t_gt:
[-0.60894248  0.47027093  0.63877563]

Pose Error in degrees for R and t:
21.728590127865463 41.8926928323996

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.39550403  0.91846339  0.00124833]
 [ 0.91846227  0.3955      0.00260868]
 [ 0.00190226  0.00217828 -0.99999582]]

 t_estimated:
[[-0.55120224]
 [-0.83436888]
 [-0.00216158]]

 R_gt:
[[ 0.99925496  0.00221797  0.03852664]
 [-0.00317867  0.9996852   0.02490486]
 [-0.03846005 -0.02500838  0.99894705]]

 t_gt:
[-0.20495293 -0.1120445   0.97233756]

Pose Error in degrees for R and t:
178.96496037215564 78.20824567636807

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.98575461e-01  5.33571810e-02  2.45107091e-04]
 [-5.33573243e-02  9.98575290e-01  6.21053086e-04]
 [-2.11620243e-04 -6.33246630e-04  9.99999777e-01]]

 t_estimated:
[[0.95038341]
 [0.31107358]
 [0.00214534]]

 R_gt:
[[ 0.98872068 -0.06217721  0.13625428]
 [ 0.03227009  0.97682503  0.21159424]
 [-0.14625372 -0.20481002  0.96781311]]

 t_gt:
[ 0.09690879 -0.26520104  0.95931074]

Pose Error in degrees for R and t:
15.651125549327297 89.3318293674404

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 2.28146199e-03  9.99992743e-01  3.05110601e-03]
 [ 9.99997299e-01 -2.28009858e-03 -4.50262137e-04]
 [-4.43302047e-04  3.05212503e-03 -9.99995244e-01]]

 t_estimated:
[[-7.80476659e-01]
 [-6.25184562e-01]
 [-6.69362486e-04]]

 R_gt:
[[ 0.97298717 -0.19176975  0.12853507]
 [ 0.13729314  0.92826337  0.34565685]
 [-0.18560122 -0.31867155  0.92951582]]

 t_gt:
[ 0.34060084 -0.39893616  0.85137595]

Pose Error in degrees for R and t:
172.87077070482644 89.02637416907595

Number of keypoints:
Image1: 410
Image2: 410

 R_estimated:
[[ 9.99999883e-01 -4.74844769e-04  9.62228897e-05]
 [ 4.74853547e-04  9.99999883e-01 -9.12211952e-05]
 [-9.61795625e-05  9.12668763e-05  9.99999991e-01]]

 t_estimated:
[[ 0.9990988 ]
 [-0.04241513]
 [-0.00159759]]

 R_gt:
[[ 0.99949402 -0.03102323  0.00708995]
 [ 0.03079082  0.99905154  0.03079406]
 [-0.00803859 -0.03055882  0.99950085]]

 t_gt:
[ 0.02923049 -0.75151863  0.65906397]

Pose Error in degrees for R and t:
2.516407634532141 86.55863749612209

Number of keypoints:
Image1: 349
Image2: 349

 R_estimated:
[[ 7.42387676e-01 -6.69943228e-01 -6.05057779e-03]
 [-6.69969950e-01 -7.42368823e-01 -5.36615756e-03]
 [-8.96739397e-04  8.03747454e-03 -9.99967297e-01]]

 t_estimated:
[[0.43778352]
 [0.89907971]
 [0.00111965]]

 R_gt:
[[ 0.99635988 -0.05386086  0.06608141]
 [ 0.05309626  0.9985013   0.01327396]
 [-0.06669757 -0.00971629  0.99772639]]

 t_gt:
[-0.2457868  -0.55140686  0.7972072 ]

Pose Error in degrees for R and t:
178.42377635597697 52.95317269097385

Number of keypoints:
Image1: 392
Image2: 392

 R_estimated:
[[ 1.11935208e-01  9.93715082e-01  9.19731485e-04]
 [-9.93713779e-01  1.11936691e-01 -1.76129623e-03]
 [-1.85317832e-03 -7.16798792e-04  9.99998026e-01]]

 t_estimated:
[[0.07475572]
 [0.9972013 ]
 [0.00107025]]

 R_gt:
[[ 0.99296823 -0.1162248   0.0225279 ]
 [ 0.11585834  0.99312137  0.01692345]
 [-0.02433948 -0.01419413  0.99960274]]

 t_gt:
[ 0.07111548 -0.96521218  0.25161089]

Pose Error in degrees for R and t:
90.2481656831297 16.877974146537763

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.03504703 -0.7556277  -0.65406305]
 [-0.86647138 -0.30314616  0.39664814]
 [-0.49799503  0.58062826 -0.64410541]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99873059 -0.03396865  0.03720018]
 [ 0.03411253  0.99941286 -0.00323447]
 [-0.03706904  0.00449917  0.99930293]]

 t_gt:
[ 0.20106593 -0.86857638  0.45293218]

Pose Error in degrees for R and t:
174.28489077029224 67.29731674623767

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 8.57504674e-01  5.14475346e-01  9.22885838e-04]
 [-5.14475316e-01  8.57505141e-01 -2.87768610e-04]
 [-9.39429206e-04 -2.28039055e-04  9.99999533e-01]]

 t_estimated:
[[0.51456393]
 [0.85745066]
 [0.00152549]]

 R_gt:
[[ 0.99868467 -0.04212281  0.02923417]
 [ 0.04269919  0.99890037 -0.01936887]
 [-0.02838655  0.02059168  0.99938532]]

 t_gt:
[ 0.1541849  -0.98366747  0.09287267]

Pose Error in degrees for R and t:
33.44972909628501 40.18485160221449

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99613852e-01  2.77707857e-02  9.64049236e-04]
 [-2.77678241e-02  9.99610016e-01 -2.96034313e-03]
 [-1.04588433e-03  2.93243045e-03  9.99995153e-01]]

 t_estimated:
[[-0.73583315]
 [-0.67714865]
 [-0.00439054]]

 R_gt:
[[ 0.99561475 -0.06658031  0.06571312]
 [ 0.06573814  0.99772532  0.0148914 ]
 [-0.06655649 -0.01050585  0.99772785]]

 t_gt:
[ 0.04764702 -0.86720152  0.49567256]

Pose Error in degrees for R and t:
6.618002609271916 56.63382285034481

Number of keypoints:
Image1: 319
Image2: 319

 R_estimated:
[[ 0.95748796 -0.28845725  0.00303521]
 [ 0.28846558  0.95748618 -0.00279668]
 [-0.00209945  0.00355334  0.99999148]]

 t_estimated:
[[-0.48053441]
 [-0.8769753 ]
 [-0.00100111]]

 R_gt:
[[ 0.9985281   0.04110678  0.03538986]
 [-0.03914865  0.99775328 -0.05435933]
 [-0.03754592  0.05289464  0.99789419]]

 t_gt:
[-0.68405848  0.70060628 -0.20301437]

Pose Error in degrees for R and t:
19.38018622750549 73.41140959968797

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.70780934e-01 -2.39967442e-01  6.65985807e-05]
 [ 2.39967451e-01  9.70780874e-01 -3.42226358e-04]
 [ 1.74705552e-05  3.48208315e-04  9.99999939e-01]]

 t_estimated:
[[-0.39979476]
 [-0.91660261]
 [-0.00195022]]

 R_gt:
[[ 0.98924783  0.07728149  0.12415943]
 [-0.0688228   0.99509605 -0.07104045]
 [-0.12904064  0.06173261  0.98971629]]

 t_gt:
[-0.75823506  0.55559923  0.34115845]

Pose Error in degrees for R and t:
19.85832425896533 78.06565882202476

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.50977903 -0.86029951 -0.00317759]
 [ 0.86030079 -0.5097849   0.00138191]
 [-0.00280874 -0.00202921  0.999994  ]]

 t_estimated:
[[0.99925597]
 [0.03850029]
 [0.00228671]]

 R_gt:
[[ 0.97973522  0.14905682  0.13379304]
 [-0.13688719  0.98592175 -0.09601666]
 [-0.1462217   0.07575727  0.98634706]]

 t_gt:
[-0.72788296  0.63708837  0.25358391]

Pose Error in degrees for R and t:
129.1244516672861 45.39353153156615

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.99968067  0.02443138 -0.00645487]
 [-0.02447363  0.99967902 -0.00655003]
 [ 0.00629277  0.00670591  0.99995772]]

 t_estimated:
[[-0.33692223]
 [-0.93893594]
 [-0.06987637]]

 R_gt:
[[ 0.99469287  0.07604046  0.06930762]
 [-0.06734356  0.99046582 -0.12017756]
 [-0.07778556  0.11487225  0.99033   ]]

 t_gt:
[-0.44131957  0.86283683 -0.24647442]

Pose Error in degrees for R and t:
8.322549478225046 49.89162725398297

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99429663e-01  3.37684014e-02 -2.07399230e-04]
 [-3.37685342e-02  9.99429453e-01 -6.74360224e-04]
 [ 1.84508832e-04  6.80979180e-04  9.99999751e-01]]

 t_estimated:
[[-0.72205309]
 [-0.69183428]
 [-0.00215995]]

 R_gt:
[[ 0.98679663  0.09455068  0.13149955]
 [-0.08135937  0.99141903 -0.10231578]
 [-0.14004533  0.09026685  0.98602234]]

 t_gt:
[-0.45759853  0.84917335  0.26364409]

Pose Error in degrees for R and t:
10.08029326311297 75.06955480610887

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-0.01752952  0.99984503 -0.00162394]
 [-0.99984204 -0.01753419 -0.00290747]
 [-0.0029355   0.00157272  0.99999445]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98379555  0.02299401  0.17781221]
 [-0.00281684  0.99360224 -0.11289811]
 [-0.17927047  0.1105682   0.97756674]]

 t_gt:
[-0.13458747  0.7353472   0.66419177]

Pose Error in degrees for R and t:
90.87550439191862 42.67727515648452

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.73677132e-01  2.27931394e-01  3.49130178e-04]
 [-2.27931369e-01  9.73677194e-01 -1.11020602e-04]
 [-3.65245172e-04  2.85205022e-05  9.99999933e-01]]

 t_estimated:
[[0.37587894]
 [0.9266681 ]
 [0.00112212]]

 R_gt:
[[ 0.98192177 -0.18661522 -0.03171259]
 [ 0.18628531  0.9824089  -0.01310542]
 [ 0.0336      0.0069618   0.99941081]]

 t_gt:
[ 0.61225099 -0.77655762 -0.14868417]

Pose Error in degrees for R and t:
24.005189253534883 60.68269882379549

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[-9.10249754e-02 -9.95848458e-01 -5.50771774e-04]
 [-9.95848140e-01  9.10243812e-02  1.02178454e-03]
 [-9.67408897e-04  6.41492959e-04 -9.99999326e-01]]

 t_estimated:
[[0.82511197]
 [0.56496836]
 [0.00099291]]

 R_gt:
[[ 0.92133172 -0.38707849 -0.03631389]
 [ 0.38714684  0.9220027  -0.00542657]
 [ 0.03558224 -0.00905842  0.99932506]]

 t_gt:
[ 0.70048455 -0.71230857 -0.0440216 ]

Pose Error in degrees for R and t:
178.54774352959487 79.8920884542721

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 7.94201334e-01 -6.07651751e-01 -1.89515337e-03]
 [ 6.07653985e-01  7.94201332e-01  9.37018500e-04]
 [ 9.35752396e-04 -1.89577884e-03  9.99997765e-01]]

 t_estimated:
[[-0.49917031]
 [-0.86650331]
 [-0.00100639]]

 R_gt:
[[ 0.8812204  -0.47030897 -0.04753946]
 [ 0.46776043  0.8820891  -0.0558496 ]
 [ 0.06820053  0.02697909  0.9973059 ]]

 t_gt:
[ 0.73013884 -0.66788033 -0.14433689]

Pose Error in degrees for R and t:
10.295616974556353 77.6195454139335

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 2.02920033e-01 -9.79194506e-01 -1.25690412e-03]
 [ 9.79195258e-01  2.02919427e-01  5.93463092e-04]
 [-3.26065536e-04 -1.35118010e-03  9.99999034e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99795658  0.0423053  -0.04788493]
 [-0.03802808  0.99548779  0.08693949]
 [ 0.05134702 -0.08494143  0.99506233]]

 t_gt:
[0.26713373 0.39291246 0.87992009]

Pose Error in degrees for R and t:
80.76064591373155 74.39327912945244

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-1.54565905e-01 -9.87980757e-01 -1.84512361e-03]
 [-9.87982005e-01  1.54563730e-01  1.26917055e-03]
 [-9.68726893e-04  2.01911941e-03 -9.99997492e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.98805577  0.14326505 -0.05675072]
 [-0.13720962  0.98556812  0.09913854]
 [ 0.0701353  -0.0901686   0.99345422]]

 t_gt:
[-0.3407376   0.89977798  0.27257562]

Pose Error in degrees for R and t:
179.2759886360658 74.63139644426236

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.22417239 -0.97454362 -0.00338761]
 [ 0.97454787 -0.2241643  -0.00261053]
 [ 0.00178469 -0.0038866   0.99999085]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98696686  0.14155599 -0.07653999]
 [-0.13333627  0.98564598  0.10355214]
 [ 0.09009913 -0.09199805  0.99167458]]

 t_gt:
[-0.17933281  0.95120971  0.25107734]

Pose Error in degrees for R and t:
111.03632738317798 79.8522124437638

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.92527117e-01  1.22024073e-01  2.19998389e-04]
 [-1.22023976e-01  9.92527068e-01 -4.10352957e-04]
 [-2.68427295e-04  3.80441359e-04  9.99999892e-01]]

 t_estimated:
[[0.99792532]
 [0.06436519]
 [0.00147793]]

 R_gt:
[[ 0.98649242 -0.1637806  -0.00294371]
 [ 0.1633443   0.98489924 -0.05737542]
 [ 0.0122965   0.0561196   0.99834836]]

 t_gt:
[ 0.51351799 -0.72394148 -0.46066041]

Pose Error in degrees for R and t:
16.75109257624188 62.27844270941624

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.95836634e-01  9.11557234e-02 -1.82474039e-04]
 [-9.11557334e-02  9.95836648e-01 -4.69578386e-05]
 [ 1.77433860e-04  6.33958908e-05  9.99999982e-01]]

 t_estimated:
[[-0.59172082]
 [-0.8061423 ]
 [-0.00103087]]

 R_gt:
[[ 0.9715765  -0.23362193  0.03823143]
 [ 0.2346891   0.97171555 -0.02628778]
 [-0.03100843  0.03451322  0.99892281]]

 t_gt:
[ 0.29261707 -0.9550688  -0.04710459]

Pose Error in degrees for R and t:
18.96575988836133 53.3573503561142

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.28923424e-01  3.70270286e-01  1.08927841e-03]
 [-3.70268587e-01  9.28923545e-01 -1.49047187e-03]
 [-1.56373381e-03  9.81208657e-04  9.99998296e-01]]

 t_estimated:
[[-9.99987772e-01]
 [-4.87798913e-03]
 [-8.12998189e-04]]

 R_gt:
[[ 0.93933604 -0.34120461  0.03503439]
 [ 0.3423012   0.93903214 -0.03237937]
 [-0.02185     0.04240864  0.99886117]]

 t_gt:
[ 0.41507106 -0.908746   -0.04355133]

Pose Error in degrees for R and t:
41.806503434412676 65.75761126971862

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[-0.7711965  -0.63646377 -0.01303203]
 [ 0.6354832  -0.7708962   0.04336073]
 [-0.03764387  0.02515801  0.99897448]]

 t_estimated:
[[0.99884501]
 [0.04711533]
 [0.00942307]]

 R_gt:
[[ 0.98673704 -0.05361597 -0.15321153]
 [ 0.07730258  0.98518399  0.1530867 ]
 [ 0.14273393 -0.16290007  0.97626337]]

 t_gt:
[ 0.68509435 -0.69594801  0.21517925]

Pose Error in degrees for R and t:
137.0025511059885 49.19089456609376

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[ 6.76688459e-01 -7.36266378e-01 -2.13330991e-03]
 [ 7.36269373e-01  6.76687004e-01  1.45198325e-03]
 [ 3.74536647e-04 -2.55323106e-03  9.99996670e-01]]

 t_estimated:
[[-0.60063154]
 [-0.79952487]
 [-0.00131717]]

 R_gt:
[[ 0.96895487 -0.15235085 -0.19471403]
 [ 0.19376528  0.95712161  0.21534443]
 [ 0.15355705 -0.24638728  0.95692871]]

 t_gt:
[ 0.73292743 -0.59898879  0.32253653]

Pose Error in degrees for R and t:
40.68866038384967 87.80719813308971

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-5.27638473e-01  8.49468349e-01  1.07962259e-03]
 [-8.49468669e-01 -5.27636640e-01 -1.59876212e-03]
 [-7.88449383e-04 -1.76067397e-03  9.99998139e-01]]

 t_estimated:
[[7.61209452e-01]
 [6.48505727e-01]
 [7.01451716e-04]]

 R_gt:
[[ 0.93424149 -0.25108756 -0.25327142]
 [ 0.3093154   0.9239658   0.22496775]
 [ 0.17752738 -0.28851563  0.94087317]]

 t_gt:
[ 0.79445525 -0.54957726  0.25846796]

Pose Error in degrees for R and t:
139.28373254230635 75.60980396817345

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 9.99999412e-01 -1.07737560e-03 -1.27403660e-04]
 [ 1.07737729e-03  9.99999420e-01  1.32172323e-05]
 [ 1.27389346e-04 -1.33544863e-05  9.99999992e-01]]

 t_estimated:
[[-9.99573336e-01]
 [-2.92033633e-02]
 [-5.56389809e-04]]

 R_gt:
[[ 0.99651455  0.07682341  0.03249573]
 [-0.07759145  0.99671703  0.02311146]
 [-0.03061424 -0.0255526   0.99920448]]

 t_gt:
[-0.71514789  0.53112793  0.45438598]

Pose Error in degrees for R and t:
5.041983196295638 45.64682332709164

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99933153 -0.03634723 -0.00392067]
 [ 0.03639263  0.99926302  0.01220593]
 [ 0.00347413 -0.01234046  0.99991782]]

 t_estimated:
[[0.22886818]
 [0.97345264]
 [0.00305158]]

 R_gt:
[[ 0.99371464  0.05474932 -0.09763714]
 [-0.03908388  0.98703346  0.15568272]
 [ 0.10489394 -0.1508887   0.98297035]]

 t_gt:
[-0.4497003  -0.15508594  0.87961241]

Pose Error in degrees for R and t:
10.986665645521935 75.45106975644615

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-0.88779058 -0.46002817 -0.01421183]
 [ 0.45998758 -0.88582794 -0.06099414]
 [ 0.01546979 -0.06068729  0.99803694]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98306613 -0.0269177  -0.18126139]
 [ 0.0728607   0.96502204  0.25184389]
 [ 0.16814132 -0.26078531  0.95064135]]

 t_gt:
[ 0.52139241 -0.61800072  0.58840893]

Pose Error in degrees for R and t:
149.72803970482101 58.672470601089465

Number of keypoints:
Image1: 321
Image2: 321

 R_estimated:
[[-3.13599585e-01  9.49555198e-01 -4.76850565e-04]
 [ 9.49543111e-01  3.13598060e-01  4.91294226e-03]
 [ 4.81464927e-03  1.08790648e-03 -9.99987818e-01]]

 t_estimated:
[[0.99988086]
 [0.01538278]
 [0.0012819 ]]

 R_gt:
[[ 0.99560934 -0.06302517  0.06921246]
 [ 0.0616725   0.99786449  0.02151006]
 [-0.07041957 -0.01714615  0.99737026]]

 t_gt:
[-0.19843547 -0.79790109  0.56918997]

Pose Error in degrees for R and t:
177.58429140546477 77.88021888573996

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.99993586e-01 -3.48044530e-03  8.44985007e-04]
 [ 3.48077945e-03  9.99993864e-01 -3.94303610e-04]
 [-8.43607470e-04  3.97242287e-04  9.99999565e-01]]

 t_estimated:
[[0.11011336]
 [0.99391798]
 [0.00144886]]

 R_gt:
[[ 0.9807312  -0.19126837  0.03977943]
 [ 0.18962653  0.98097354  0.04161899]
 [-0.04698183 -0.03327368  0.99834146]]

 t_gt:
[ 0.25607159 -0.9173993   0.30464055]

Pose Error in degrees for R and t:
11.274604515777247 27.971455573451657

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-9.33207103e-01  3.59337622e-01 -9.87947242e-04]
 [ 3.59334074e-01  9.33205201e-01  2.65998043e-03]
 [ 1.87778855e-03  2.12730953e-03 -9.99995974e-01]]

 t_estimated:
[[9.40485691e-01]
 [3.39832228e-01]
 [8.49580570e-04]]

 R_gt:
[[ 0.93821898 -0.34563623  0.01671828]
 [ 0.34303233  0.9353344   0.08647483]
 [-0.04552539 -0.07539782  0.9961137 ]]

 t_gt:
[ 0.45642504 -0.84949872  0.26462826]

Pose Error in degrees for R and t:
179.13608754250689 81.90591650454098

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99754948e-01  2.21369508e-02 -2.96418407e-07]
 [-2.21369506e-02  9.99754937e-01 -1.45175832e-04]
 [-2.91740448e-06  1.45146818e-04  9.99999989e-01]]

 t_estimated:
[[-0.62207949]
 [ 0.78295145]
 [-0.00203341]]

 R_gt:
[[ 0.99714551  0.05671893 -0.0498464 ]
 [-0.05510685  0.99792982  0.03315151]
 [ 0.05162392 -0.03030943  0.99820605]]

 t_gt:
[-0.04133385  0.95176252 -0.30403885]

Pose Error in degrees for R and t:
3.9460464614884625 39.509867824391215

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.90881807 -0.4171895  -0.00162503]
 [-0.41717228  0.90880527 -0.00634663]
 [ 0.00412458 -0.00509001 -0.99997854]]

 t_estimated:
[[0.99891239]
 [0.0463413 ]
 [0.00514903]]

 R_gt:
[[ 0.99129745  0.11778368 -0.05879289]
 [-0.11596103  0.992688    0.03352793]
 [ 0.06231178 -0.02641749  0.99770655]]

 t_gt:
[-0.2464412   0.95787067 -0.14748056]

Pose Error in degrees for R and t:
176.82096577090152 78.3142598950288

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.79173805e-01 -2.03022473e-01  7.30969700e-04]
 [ 2.03022585e-01  9.79174052e-01 -8.14880043e-05]
 [-6.99202666e-04  2.28194277e-04  9.99999730e-01]]

 t_estimated:
[[9.81539375e-01]
 [1.91258647e-01]
 [7.65034587e-04]]

 R_gt:
[[ 0.99612086  0.06098588 -0.06342436]
 [-0.059337    0.997857    0.02757587]
 [ 0.06497086 -0.02370451  0.99760513]]

 t_gt:
[ 0.2179326   0.93585823 -0.27690208]

Pose Error in degrees for R and t:
15.684662891167843 66.87810649179306

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.9917806   0.1266249   0.0183677 ]
 [-0.12566196  0.99098296 -0.04649565]
 [-0.02408958  0.04380537  0.99874961]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99363349  0.09973241 -0.05241173]
 [-0.09279148  0.98826106  0.12136186]
 [ 0.06389995 -0.11572509  0.99122331]]

 t_gt:
[-0.3964226   0.29497491  0.86938997]

Pose Error in degrees for R and t:
10.599335514213303 66.74450435725392

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 8.02611523e-01 -5.96500005e-01 -1.57717236e-03]
 [ 5.96500822e-01  8.02612463e-01  6.03757166e-05]
 [ 1.22984407e-03 -9.89242853e-04  9.99998754e-01]]

 t_estimated:
[[0.65985037]
 [0.75139654]
 [0.00084633]]

 R_gt:
[[ 0.98674919  0.13346312 -0.09227818]
 [-0.11829797  0.98098989  0.1538327 ]
 [ 0.11105482 -0.14087786  0.98377901]]

 t_gt:
[-0.19224268  0.6963785   0.69144757]

Pose Error in degrees for R and t:
45.03441106468991 66.60984527469299

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99168034e-01  4.07818570e-02  2.83489197e-04]
 [-4.07818626e-02  9.99168074e-01  1.40750987e-05]
 [-2.82679347e-04 -2.56246062e-05  9.99999960e-01]]

 t_estimated:
[[0.19996876]
 [0.97980164]
 [0.00111155]]

 R_gt:
[[ 0.97218866  0.21835425 -0.08468508]
 [-0.20409603  0.96724609  0.1509274 ]
 [ 0.11486696 -0.1294459   0.98491032]]

 t_gt:
[-0.3960716   0.85270351  0.34062297]

Pose Error in degrees for R and t:
14.080611365281642 40.82963570704064

Number of keypoints:
Image1: 373
Image2: 373

 R_estimated:
[[ 9.99905239e-01 -1.37663686e-02  2.17007398e-05]
 [ 1.37663677e-02  9.99905238e-01  3.84129425e-05]
 [-2.22274901e-05 -3.81105620e-05  9.99999999e-01]]

 t_estimated:
[[-1.27550101e-01]
 [ 9.91832125e-01]
 [ 8.55358983e-05]]

 R_gt:
[[ 0.9981707  -0.0439779   0.04147552]
 [ 0.0449834   0.9987083  -0.02362538]
 [-0.04038305  0.02544774  0.99885977]]

 t_gt:
[0.77894124 0.34487387 0.52374857]

Pose Error in degrees for R and t:
3.2546485738223363 75.95122862951457

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.95546148e-01 -9.42754831e-02  8.27094139e-06]
 [ 9.42754804e-02  9.95546134e-01  1.67743720e-04]
 [-2.40482240e-05 -1.66216867e-04  9.99999986e-01]]

 t_estimated:
[[0.7645543 ]
 [0.6445585 ]
 [0.00103211]]

 R_gt:
[[ 0.98824178 -0.13466658  0.07240547]
 [ 0.13578149  0.99068117 -0.01069111]
 [-0.07029107  0.02039736  0.99731797]]

 t_gt:
[ 0.92538933 -0.13727959  0.35328303]

Pose Error in degrees for R and t:
4.822177954443886 51.728376272707735

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.96980426e-01 -7.76531557e-02 -1.30850917e-04]
 [ 7.76531941e-02  9.96980381e-01  3.19733597e-04]
 [ 1.05627474e-04 -3.28929129e-04  9.99999940e-01]]

 t_estimated:
[[-0.95514514]
 [-0.29613613]
 [-0.0010694 ]]

 R_gt:
[[ 0.98012474 -0.15885555  0.11883193]
 [ 0.16254952  0.98645501 -0.02200443]
 [-0.11372744  0.04088298  0.99267047]]

 t_gt:
[0.88494446 0.04522813 0.46349511]

Pose Error in degrees for R and t:
8.463051607202578 30.77986922808321

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.39600181 -0.90437379 -0.15903026]
 [ 0.89377438  0.41934161 -0.1591225 ]
 [ 0.21059423 -0.07912437  0.97436616]]

 t_estimated:
[[ 0.95030433]
 [-0.29226924]
 [-0.10723983]]

 R_gt:
[[ 0.99040488  0.13755261 -0.01330746]
 [-0.13803952  0.9892627  -0.04800272]
 [ 0.0065614   0.04937865  0.99875774]]

 t_gt:
[-0.33599728  0.9150387  -0.22318154]

Pose Error in degrees for R and t:
74.34611510211396 55.750107086266986

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-7.74767912e-01  6.32243979e-01  1.49456721e-03]
 [-6.32244965e-01 -7.74761075e-01 -3.40324978e-03]
 [-9.93751682e-04 -3.58166132e-03  9.99993092e-01]]

 t_estimated:
[[0.69697506]
 [0.71709393]
 [0.00143706]]

 R_gt:
[[ 0.96649513  0.25559849 -0.02359377]
 [-0.25667133  0.96142042 -0.09894355]
 [-0.00260582  0.10168499  0.99481261]]

 t_gt:
[-0.3009523   0.9350557  -0.18734606]

Pose Error in degrees for R and t:
125.98175399415794 62.580798781393554

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-2.18790926e-01 -9.75768916e-01 -2.35652823e-03]
 [ 9.75771415e-01 -2.18788174e-01 -1.37157278e-03]
 [ 8.22757575e-04 -2.59952056e-03  9.99996283e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.95467292  0.29755604  0.00779711]
 [-0.29708872  0.95413777 -0.03688246]
 [-0.01841429  0.03289433  0.99928898]]

 t_gt:
[-0.32676717  0.94507585  0.00740643]

Pose Error in degrees for R and t:
119.95527391161986 71.10533572072666

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.98947824 -0.14467287 -0.00160406]
 [ 0.14467644  0.98947612  0.0023936 ]
 [ 0.00124089 -0.00260049  0.99999585]]

 t_estimated:
[[0.99556619]
 [0.09405075]
 [0.00155221]]

 R_gt:
[[ 0.9674811  -0.25293138  0.00272732]
 [ 0.2528299   0.96730708  0.01984945]
 [-0.00765909 -0.01851456  0.99979934]]

 t_gt:
[ 0.87492442 -0.47986133  0.06511808]

Pose Error in degrees for R and t:
6.415214703399759 34.30847443197973

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.89008746e-01  1.47855520e-01  6.66933482e-04]
 [-1.47856995e-01  9.89001342e-01  3.82806880e-03]
 [-9.35970054e-05 -3.88460431e-03  9.99992451e-01]]

 t_estimated:
[[1.06452815e-01]
 [9.94317481e-01]
 [7.37874115e-04]]

 R_gt:
[[ 0.92403552 -0.38110773  0.03026291]
 [ 0.38118204  0.92449338  0.00351857]
 [-0.02931873  0.0082848   0.99953541]]

 t_gt:
[ 0.9011482  -0.43310088  0.01885604]

Pose Error in degrees for R and t:
30.961455909707663 70.44594069207483

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.94495881e-01 -1.04774437e-01 -5.10547055e-04]
 [-1.04775476e-01 -9.94472503e-01 -6.82207656e-03]
 [ 2.07054220e-04  6.83801985e-03 -9.99976599e-01]]

 t_estimated:
[[0.81130103]
 [0.58462787]
 [0.00094447]]

 R_gt:
[[ 0.73732539 -0.67535182 -0.01588422]
 [ 0.67551058  0.73730439  0.00819853]
 [ 0.00617478 -0.01677463  0.99984001]]

 t_gt:
[ 0.96173809 -0.2738915   0.00657979]

Pose Error in degrees for R and t:
179.62460326876155 51.6735895993961

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 3.19081911e-01 -9.47726692e-01 -9.22704646e-04]
 [-9.47726727e-01 -3.19080711e-01 -1.24519079e-03]
 [ 8.85683291e-04  1.27178971e-03 -9.99998799e-01]]

 t_estimated:
[[0.63161235]
 [0.77528383]
 [0.00090359]]

 R_gt:
[[ 0.9951096  -0.09425181  0.02954741]
 [ 0.09486908  0.99528439 -0.02022354]
 [-0.02750086  0.02292757  0.99935838]]

 t_gt:
[ 0.65145206 -0.75077685  0.1092901 ]

Pose Error in degrees for R and t:
179.8602058137619 80.18303692422326

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.87777141e-01  1.55872057e-01  4.69839538e-04]
 [-1.55872271e-01  9.87777113e-01  4.59378853e-04]
 [-3.92492416e-04 -5.26998886e-04  9.99999784e-01]]

 t_estimated:
[[0.70201481]
 [0.71216116]
 [0.00130103]]

 R_gt:
[[ 0.97181406 -0.23520319  0.01601035]
 [ 0.23573604  0.97019558 -0.05611124]
 [-0.00233522  0.05830364  0.99829569]]

 t_gt:
[ 0.7575895  -0.64282895 -0.11326561]

Pose Error in degrees for R and t:
22.84523838344987 85.76233037598342

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.60483365e-01  2.78333604e-01  1.45273274e-03]
 [-2.78332748e-01  9.60484407e-01 -7.65243911e-04]
 [-1.60832024e-03  3.30660951e-04  9.99998652e-01]]

 t_estimated:
[[9.75207634e-01]
 [2.21289748e-01]
 [9.57964277e-04]]

 R_gt:
[[ 0.93685489 -0.34521739  0.05591886]
 [ 0.34773929  0.93655153 -0.04413337]
 [-0.03713446  0.06079222  0.99745886]]

 t_gt:
[ 0.78596941 -0.6182311  -0.00651084]

Pose Error in degrees for R and t:
36.67099307202204 50.97429877153408

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 9.99892422e-01 -1.46677755e-02  5.54548671e-07]
 [ 1.46677754e-02  9.99892421e-01  5.43629870e-05]
 [-1.35187310e-06 -5.43490048e-05  9.99999999e-01]]

 t_estimated:
[[0.97556719]
 [0.21969803]
 [0.00119333]]

 R_gt:
[[ 0.99991425 -0.01062314 -0.0076323 ]
 [ 0.01057029  0.99991918 -0.00701238]
 [ 0.00770631  0.00693145  0.99994542]]

 t_gt:
[ 0.5421637  -0.56253677 -0.6241882 ]

Pose Error in degrees for R and t:
0.6436736975157167 66.1349371427241

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-9.81097753e-01 -1.93246380e-01  1.01506916e-02]
 [-1.93230162e-01  9.81150105e-01  2.56420416e-03]
 [-1.04548753e-02  5.54315166e-04 -9.99945193e-01]]

 t_estimated:
[[0.99264429]
 [0.12094513]
 [0.00543888]]

 R_gt:
[[ 0.99147958 -0.12890746  0.01872768]
 [ 0.12948043  0.99101666 -0.03347328]
 [-0.01424506  0.03561331  0.99926392]]

 t_gt:
[ 0.70062257 -0.71121347 -0.05747535]

Pose Error in degrees for R and t:
178.652753672668 52.4727564264896

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.8593029   0.51141626  0.00720695]
 [-0.51144437 -0.85931217 -0.00269401]
 [ 0.00481526 -0.00600092  0.9999704 ]]

 t_estimated:
[[0.55244696]
 [0.83354758]
 [0.00088675]]

 R_gt:
[[ 0.96515182 -0.26149935  0.00999116]
 [ 0.26166251  0.9637798  -0.05158202]
 [ 0.00385913  0.05239838  0.99861878]]

 t_gt:
[ 0.7668426  -0.63374501 -0.10158589]

Pose Error in degrees for R and t:
164.4295178781215 83.98972324236951

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-6.33266069e-01  7.73921816e-01  4.37130616e-03]
 [ 7.73931525e-01  6.33268553e-01  9.66689983e-04]
 [-2.02006826e-03  3.99526361e-03 -9.99989979e-01]]

 t_estimated:
[[0.98225952]
 [0.18752227]
 [0.00127566]]

 R_gt:
[[ 0.97679764 -0.21318652  0.02045704]
 [ 0.2127564   0.9768716   0.02133915]
 [-0.0245337  -0.0164925   0.9995627 ]]

 t_gt:
[ 0.86511584 -0.49166196  0.09921239]

Pose Error in degrees for R and t:
179.07703539436008 40.73838737020476

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-0.90173782  0.43213045  0.01149706]
 [ 0.43213941  0.90180498 -0.00182109]
 [-0.01115505  0.00332619 -0.99993225]]

 t_estimated:
[[ 0.95589514]
 [-0.29363932]
 [ 0.00635839]]

 R_gt:
[[ 0.90952853 -0.41529308  0.01702623]
 [ 0.41446736  0.90927295  0.03792292]
 [-0.03123083 -0.02743517  0.99913551]]

 t_gt:
[ 0.90916348 -0.40859097  0.08046856]

Pose Error in degrees for R and t:
178.38597923588773 8.288407789902545

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.92087626e-01  1.25544333e-01  8.73329732e-04]
 [-1.25543156e-01  9.92087316e-01 -1.29342594e-03]
 [-1.02880165e-03  1.17355130e-03  9.99998782e-01]]

 t_estimated:
[[9.29790908e-01]
 [3.68088023e-01]
 [2.71011499e-04]]

 R_gt:
[[ 0.83458292 -0.55001245  0.03096762]
 [ 0.54935426  0.83513494  0.02754886]
 [-0.04101479 -0.00597939  0.99914108]]

 t_gt:
[ 0.93706233 -0.34723722  0.03661275]

Pose Error in degrees for R and t:
40.63910244964467 41.97231162926556

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[-8.72413509e-01  4.88765313e-01  1.77169742e-03]
 [-4.88768520e-01 -8.72407338e-01 -3.28189362e-03]
 [-5.84339313e-05 -3.72911826e-03  9.99993045e-01]]

 t_estimated:
[[0.52158938]
 [0.85319587]
 [0.00115141]]

 R_gt:
[[ 0.98883359 -0.14794616 -0.01786143]
 [ 0.14821704  0.98884279  0.01489419]
 [ 0.01545845 -0.0173753   0.99972922]]

 t_gt:
[ 0.64008578 -0.76749653  0.03520326]

Pose Error in degrees for R and t:
159.26004596340923 71.28128382425086

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.71818315e-01  2.35731087e-01  1.31807695e-04]
 [-2.35731073e-01  9.71817590e-01  1.19688435e-03]
 [ 1.54049811e-04 -1.19422530e-03  9.99999275e-01]]

 t_estimated:
[[0.72445899]
 [0.68931732]
 [0.00090107]]

 R_gt:
[[ 0.94195509 -0.33432201 -0.03080492]
 [ 0.33493825  0.94207794  0.01748949]
 [ 0.0231732  -0.02679178  0.99937232]]

 t_gt:
[ 0.74755782 -0.66345892  0.03129814]

Pose Error in degrees for R and t:
33.2487777531115 85.16598289374646

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 6.05963762e-01  7.95491660e-01  9.68689475e-04]
 [-7.95490840e-01  6.05964531e-01 -1.14431458e-03]
 [-1.49728417e-03 -7.71704362e-05  9.99998876e-01]]

 t_estimated:
[[0.64210101]
 [0.76661931]
 [0.00105987]]

 R_gt:
[[ 0.92047363 -0.38973025 -0.02895687]
 [ 0.39031641  0.9204995   0.01826427]
 [ 0.0195362  -0.02811352  0.99941408]]

 t_gt:
[ 0.7441166  -0.6672955   0.03173653]

Pose Error in degrees for R and t:
75.68869696918674 88.06704926531917

Number of keypoints:
Image1: 325
Image2: 325

 R_estimated:
[[ 9.59118959e-01  2.83003002e-01  3.51474212e-04]
 [-2.83002984e-01  9.59119023e-01 -1.01948229e-04]
 [-3.65957258e-04 -1.68777135e-06  9.99999933e-01]]

 t_estimated:
[[-0.052951  ]
 [ 0.99859657]
 [ 0.00104449]]

 R_gt:
[[ 0.9961022  -0.07160612  0.05151846]
 [ 0.07118381  0.99741382  0.00998626]
 [-0.05210057 -0.00628016  0.99862178]]

 t_gt:
[ 0.7521201  -0.24588688  0.61143683]

Pose Error in degrees for R and t:
20.75027859966644 73.45736989267077

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-5.94717696e-01 -8.03933748e-01 -1.17958163e-03]
 [-8.03934438e-01  5.94717895e-01  2.12156441e-04]
 [ 5.30958580e-04  1.07447948e-03 -9.99999282e-01]]

 t_estimated:
[[0.76376711]
 [0.64549144]
 [0.00077304]]

 R_gt:
[[ 0.98831904 -0.13051859  0.07868213]
 [ 0.13000666  0.99144518  0.0116122 ]
 [-0.07952518 -0.00124803  0.99683158]]

 t_gt:
[ 0.83641279 -0.11081456  0.53678095]

Pose Error in degrees for R and t:
175.82549809908377 55.409330786229894

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-5.70914981e-01 -8.21009185e-01 -5.46390486e-05]
 [-8.21009043e-01  5.70914919e-01 -5.54198991e-04]
 [ 4.86196710e-04 -2.71541354e-04 -9.99999845e-01]]

 t_estimated:
[[0.84786933]
 [0.530204  ]
 [0.00114268]]

 R_gt:
[[ 0.98284438 -0.11498672  0.14420497]
 [ 0.11984249  0.99246774 -0.02542181]
 [-0.1401953   0.04226725  0.98922082]]

 t_gt:
[0.7408762  0.19399564 0.64301489]

Pose Error in degrees for R and t:
173.66478671238377 42.96600379580316

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.74620806e-01 -2.23861473e-01 -5.70919838e-04]
 [ 2.23861503e-01  9.74620966e-01 -1.19992227e-05]
 [ 5.59116608e-04 -1.16112281e-04  9.99999837e-01]]

 t_estimated:
[[-0.17240134]
 [-0.98502457]
 [-0.00209208]]

 R_gt:
[[ 0.99395585  0.10934593  0.00975469]
 [-0.1090833   0.99373302 -0.02439505]
 [-0.01236086  0.02318357  0.9996544 ]]

 t_gt:
[-4.40150857e-01  8.97923475e-01 -8.10415151e-04]

Pose Error in degrees for R and t:
19.2668050237654 36.04136858154114

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 6.64342384e-01 -7.47427652e-01 -1.04926342e-03]
 [ 7.47428063e-01  6.64342751e-01 -1.31299334e-06]
 [ 6.98051914e-04 -7.83376648e-04  9.99999450e-01]]

 t_estimated:
[[ 9.60318393e-01]
 [-2.78906042e-01]
 [ 5.67081698e-05]]

 R_gt:
[[ 0.99162906  0.12082091  0.04553554]
 [-0.1246127   0.98788488  0.09248551]
 [-0.03380927 -0.09738577  0.9946721 ]]

 t_gt:
[-0.41242027  0.68697452  0.59831056]

Pose Error in degrees for R and t:
55.72580744712984 54.01154758064815

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.22598868  0.95860946 -0.17319649]
 [ 0.95773769 -0.18616605  0.21927314]
 [ 0.177954   -0.21543006 -0.96016783]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.98869812  0.10359353  0.10836479]
 [-0.12331835  0.97303241  0.19493304]
 [-0.08524817 -0.20609347  0.97481172]]

 t_gt:
[-0.27290624  0.42366597  0.8637299 ]

Pose Error in degrees for R and t:
158.37963091115702 80.72047263300335

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999965e-01 -6.82574931e-05 -2.56176150e-04]
 [ 6.83298078e-05  9.99999958e-01  2.82286779e-04]
 [ 2.56156871e-04 -2.82304274e-04  9.99999927e-01]]

 t_estimated:
[[-0.99459842]
 [ 0.1037682 ]
 [-0.00247782]]

 R_gt:
[[ 0.9976562   0.00295009 -0.0683635 ]
 [-0.00407635  0.99985802 -0.01635327]
 [ 0.06830607  0.01659392  0.99752705]]

 t_gt:
[ 0.52479322  0.20774139 -0.82549112]

Pose Error in degrees for R and t:
4.025281707799755 60.10869740337614

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999835e-01  5.60611928e-04 -1.23228966e-04]
 [-5.60598505e-04  9.99999837e-01  1.08935711e-04]
 [ 1.23290016e-04 -1.08866611e-04  9.99999986e-01]]

 t_estimated:
[[-0.34188748]
 [ 0.93973963]
 [-0.00154388]]

 R_gt:
[[ 0.99209068  0.00543234 -0.12540443]
 [-0.00600803  0.99997315 -0.00422133]
 [ 0.12537927  0.00494135  0.99209729]]

 t_gt:
[ 0.59649138  0.16938412 -0.78454258]

Pose Error in degrees for R and t:
7.207376404291012 87.50428151623613

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.9975837   0.06944661 -0.001983  ]
 [-0.06944343  0.99758456  0.00162709]
 [ 0.00209121 -0.00148545  0.99999671]]

 t_estimated:
[[-0.96498915]
 [ 0.26223859]
 [-0.00518249]]

 R_gt:
[[ 0.98468387  0.01161723 -0.17395884]
 [-0.01057913  0.99992102  0.00688975]
 [ 0.17402538 -0.00494503  0.98472943]]

 t_gt:
[ 0.61834295  0.16954598 -0.76740222]

Pose Error in degrees for R and t:
10.453429542233625 56.75257258181391

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.44290057e-01 -3.29114398e-01  4.82027791e-05]
 [ 3.29114379e-01  9.44290037e-01  2.28948011e-04]
 [-1.20867491e-04 -2.00329103e-04  9.99999973e-01]]

 t_estimated:
[[9.12923268e-01]
 [4.08130402e-01]
 [8.26174903e-04]]

 R_gt:
[[ 0.99693482  0.06598037 -0.04205319]
 [-0.06634209  0.99777096 -0.00723952]
 [ 0.04148143  0.01000773  0.9990894 ]]

 t_gt:
[-0.20945171  0.90655936 -0.36644251]

Pose Error in degrees for R and t:
23.138868519869444 79.71885933658602

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.91854844e-01 -1.27373251e-01 -1.51400744e-04]
 [ 1.27373288e-01  9.91854814e-01  2.69903026e-04]
 [ 1.15789131e-04 -2.86989035e-04  9.99999952e-01]]

 t_estimated:
[[-0.80124772]
 [-0.59833158]
 [-0.00118958]]

 R_gt:
[[ 0.99416614  0.03198995 -0.10300818]
 [-0.0288525   0.99907784  0.03180589]
 [ 0.10393019 -0.02864869  0.99417221]]

 t_gt:
[ 0.38530169  0.73155327 -0.56246994]

Pose Error in degrees for R and t:
10.966739267722756 41.77520163441616

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 4.72053153e-01  8.81569844e-01  6.56511250e-04]
 [-8.81568399e-01  4.72053575e-01 -1.60642833e-03]
 [-1.72608725e-03  1.79559985e-04  9.99998494e-01]]

 t_estimated:
[[0.18805095]
 [0.98215876]
 [0.00100752]]

 R_gt:
[[ 0.98397238  0.05833567 -0.1685079 ]
 [-0.0570318   0.99829321  0.01256941]
 [ 0.16895339 -0.0027574   0.98562085]]

 t_gt:
[ 0.37780837  0.60945348 -0.69701312]

Pose Error in degrees for R and t:
59.24833999308669 48.015847213644534

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 0.61112617  0.71924823 -0.33046451]
 [ 0.63572293 -0.19727033  0.74628464]
 [ 0.47157307 -0.66615794 -0.57779965]]

 t_estimated:
[[-0.84515425]
 [-0.50709255]
 [-0.16903085]]

 R_gt:
[[ 0.99234906 -0.12305831 -0.01006904]
 [ 0.12298059  0.99237722 -0.00798692]
 [ 0.01097447  0.00668822  0.99991752]]

 t_gt:
[ 0.67060565 -0.73989934 -0.05326372]

Pose Error in degrees for R and t:
126.13250052458737 79.4808259214879

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 7.85746160e-01  6.18549055e-01 -1.97136893e-04]
 [-6.18547784e-01  7.85743812e-01 -2.30240400e-03]
 [-1.26925073e-03  1.93104369e-03  9.99997330e-01]]

 t_estimated:
[[0.58656856]
 [0.80989911]
 [0.00086899]]

 R_gt:
[[ 9.87012646e-01 -1.60633533e-01 -2.03043338e-03]
 [ 1.60645882e-01  9.86963851e-01  9.71966589e-03]
 [ 4.42199114e-04 -9.91948986e-03  9.99950321e-01]]

 t_gt:
[ 0.67331612 -0.73742627  0.05336571]

Pose Error in degrees for R and t:
47.459545186821586 78.3315279608918

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-4.00742355e-01  9.16190705e-01  3.95850497e-04]
 [-9.16189260e-01 -4.00740858e-01 -2.00105975e-03]
 [-1.67471888e-03 -1.16458337e-03  9.99997920e-01]]

 t_estimated:
[[0.46090689]
 [0.88744792]
 [0.00101076]]

 R_gt:
[[ 0.99330875 -0.10918683 -0.03763959]
 [ 0.11116737  0.99226255  0.05528628]
 [ 0.03131123 -0.05909978  0.99776074]]

 t_gt:
[ 0.68338469 -0.72428417  0.09163956]

Pose Error in degrees for R and t:
119.9979432819597 70.87106050011043

Number of keypoints:
Image1: 661
Image2: 661

 R_estimated:
[[ 9.93350555e-01  1.15128944e-01 -3.92824582e-05]
 [-1.15128950e-01  9.93350533e-01 -2.06467810e-04]
 [ 1.52508298e-05  2.09617462e-04  9.99999978e-01]]

 t_estimated:
[[7.26533301e-01]
 [6.87131245e-01]
 [1.22328466e-04]]

 R_gt:
[[ 0.99864319  0.01321826 -0.05038672]
 [-0.01301026  0.99990546  0.00444497]
 [ 0.05044116 -0.00378355  0.99871949]]

 t_gt:
[-0.2392569   0.13636617 -0.96133262]

Pose Error in degrees for R and t:
6.536376368250124 85.3973947713216

Number of keypoints:
Image1: 423
Image2: 423

 R_estimated:
[[ 9.99516032e-01  3.11078702e-02  4.63264269e-05]
 [-3.11078706e-02  9.99516033e-01  8.97495510e-06]
 [-4.60248147e-05 -1.04117280e-05  9.99999999e-01]]

 t_estimated:
[[9.57825846e-01]
 [2.87347754e-01]
 [9.57825846e-04]]

 R_gt:
[[ 9.99958666e-01 -9.17364854e-03  2.47823035e-04]
 [ 9.17115639e-03  9.99920479e-01  8.69899714e-03]
 [-3.26504460e-04 -8.69559224e-03  9.99961496e-01]]

 t_gt:
[-0.90836776 -0.33842399  0.24563635]

Pose Error in degrees for R and t:
2.3609400951720105 14.74498611247714

Number of keypoints:
Image1: 768
Image2: 768

 R_estimated:
[[ 9.99613257e-01  2.78088972e-02  3.92424915e-05]
 [-2.78088970e-02  9.99613258e-01 -6.39059112e-06]
 [-3.94050301e-05  5.29682920e-06  9.99999999e-01]]

 t_estimated:
[[-2.67643584e-01]
 [ 9.63517971e-01]
 [-1.76033180e-04]]

 R_gt:
[[ 0.99894102  0.02386894  0.03934504]
 [-0.02320713  0.99958275 -0.01720357]
 [-0.03973889  0.01627337  0.99907728]]

 t_gt:
[-0.90491408  0.30001277  0.3018656 ]

Pose Error in degrees for R and t:
2.470846217606582 57.91282083754707

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.63436896e-01 -2.67935231e-01 -2.43314531e-04]
 [ 2.67935267e-01  9.63436908e-01  1.32385804e-04]
 [ 1.98947378e-04 -1.92737912e-04  9.99999962e-01]]

 t_estimated:
[[ 7.90313147e-01]
 [-6.12703132e-01]
 [-4.44643015e-05]]

 R_gt:
[[ 0.99643971 -0.08252284 -0.017319  ]
 [ 0.08151656  0.99529094 -0.05245325]
 [ 0.02156606  0.05085476  0.99847288]]

 t_gt:
[ 0.52622788 -0.58019509 -0.62165736]

Pose Error in degrees for R and t:
11.286243642526998 39.520242757851435

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-0.99942531  0.03352383  0.00501975]
 [-0.03354492 -0.99942848 -0.00417754]
 [ 0.00487684 -0.00434353  0.99997867]]

 t_estimated:
[[0.67321485]
 [0.73944645]
 [0.00083837]]

 R_gt:
[[ 0.98569098 -0.1685471   0.00252997]
 [ 0.16776679  0.97944404 -0.11199662]
 [ 0.01639825  0.11081824  0.99370546]]

 t_gt:
[ 0.5465919  -0.62783518 -0.5541302 ]

Pose Error in degrees for R and t:
172.20585057624425 84.44845041952743

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.47399745e-01  3.20051055e-01  1.02273309e-03]
 [-3.20050569e-01  9.47400263e-01 -6.12546204e-04]
 [-1.16498366e-03  2.52999810e-04  9.99999289e-01]]

 t_estimated:
[[-0.56626146]
 [-0.82422501]
 [-0.00104863]]

 R_gt:
[[ 0.96810069 -0.24972171 -0.02053672]
 [ 0.24598942  0.96281694 -0.11167907]
 [ 0.04766143  0.10306491  0.9935321 ]]

 t_gt:
[ 0.60141801 -0.66553004 -0.44200242]

Pose Error in degrees for R and t:
33.68245505273855 77.96845683119612

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 7.34059251e-01 -6.79084149e-01 -1.31701934e-03]
 [ 6.79085144e-01  7.34059332e-01  5.13202875e-04]
 [ 6.18262402e-04 -1.27108959e-03  9.99999001e-01]]

 t_estimated:
[[-0.06306344]
 [-0.99800894]
 [-0.00107962]]

 R_gt:
[[ 0.99013151  0.13828748  0.02270584]
 [-0.1388599   0.98997229  0.02595925]
 [-0.0188879  -0.02885549  0.99940468]]

 t_gt:
[-0.87835965  0.4112801   0.24358366]

Pose Error in degrees for R and t:
50.77557657476313 69.18621829461249

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-3.78535309e-01  9.25586849e-01 -7.46245274e-05]
 [-9.25585611e-01 -3.78534933e-01 -1.60667423e-03]
 [-1.51536453e-03 -5.39111537e-04  9.99998707e-01]]

 t_estimated:
[[0.38263465]
 [0.92389924]
 [0.00096139]]

 R_gt:
[[ 0.92729235  0.3715376   0.04570068]
 [-0.37213454  0.92816469  0.00503501]
 [-0.04054753 -0.02167503  0.99894258]]

 t_gt:
[-0.84832658  0.52348977  0.07937554]

Pose Error in degrees for R and t:
90.43029675317996 80.84365762492516

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 0.9970747   0.07632237  0.00411551]
 [-0.0762702   0.99701953 -0.01161534]
 [-0.00498975  0.01126747  0.99992407]]

 t_estimated:
[[-0.97131978]
 [-0.23777099]
 [-0.00168632]]

 R_gt:
[[ 0.88334341  0.46522431  0.05718884]
 [-0.46652913  0.88443357  0.01130338]
 [-0.04532126 -0.03666468  0.99829963]]

 t_gt:
[-0.82839509  0.55237336  0.09297979]

Pose Error in degrees for R and t:
23.667055063088313 47.69001606658932

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99999719e-01  6.99749045e-04  2.70437913e-04]
 [-6.99822954e-04  9.99999718e-01  2.73293464e-04]
 [-2.70246600e-04 -2.73482645e-04  9.99999926e-01]]

 t_estimated:
[[0.84121647]
 [0.54069498]
 [0.00194691]]

 R_gt:
[[ 0.98615504 -0.1642734  -0.02263668]
 [ 0.16456634  0.98629523  0.01178465]
 [ 0.02039085 -0.01534716  0.99967448]]

 t_gt:
[ 0.57072409 -0.81992857  0.04462236]

Pose Error in degrees for R and t:
9.617554041870608 87.88770676175672

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.97729673e-01  6.73385752e-02  1.00758598e-03]
 [-6.73382473e-02  9.97730141e-01 -3.55998827e-04]
 [-1.02927135e-03  2.87341520e-04  9.99999429e-01]]

 t_estimated:
[[-0.62110731]
 [ 0.78371011]
 [ 0.0049169 ]]

 R_gt:
[[ 0.97361442 -0.22460848 -0.04032207]
 [ 0.2260695   0.9734348   0.03630287]
 [ 0.03109749 -0.04446086  0.99852693]]

 t_gt:
[ 0.57720282 -0.81173881  0.08897756]

Pose Error in degrees for R and t:
17.185209224974393 6.155091308987278

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-7.87070563e-01 -6.16858702e-01 -2.29563205e-03]
 [ 6.16862796e-01 -7.87067708e-01 -2.17121758e-03]
 [-4.67483400e-04 -3.12499145e-03  9.99995008e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.94757413 -0.31103128 -0.07323363]
 [ 0.31555417  0.94692704  0.06127598]
 [ 0.05028863 -0.08117287  0.9954307 ]]

 t_gt:
[ 0.63906546 -0.75363211  0.15373348]

Pose Error in degrees for R and t:
123.67271842022156 50.44307488457784

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.59679751  0.80233405 -0.00963397]
 [ 0.80230479  0.59686661  0.00756763]
 [ 0.01182196 -0.00321304 -0.99992496]]

 t_estimated:
[[ 0.77075734]
 [-0.6370786 ]
 [-0.00799868]]

 R_gt:
[[ 0.99661121  0.0115178  -0.08144599]
 [-0.01227353  0.99988634 -0.00878698]
 [ 0.08133652  0.00975625  0.99663887]]

 t_gt:
[ 0.16939008  0.1246748  -0.97763142]

Pose Error in degrees for R and t:
175.37870645483568 86.62041087517711

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.35950902e-01 -3.52130277e-01  4.20872328e-04]
 [ 3.52130331e-01  9.35950974e-01 -5.89343031e-05]
 [-3.73163313e-04  2.03361526e-04  9.99999910e-01]]

 t_estimated:
[[9.33495303e-01]
 [3.58588659e-01]
 [8.31992249e-04]]

 R_gt:
[[ 0.99291277 -0.01274903 -0.1181603 ]
 [ 0.00924236  0.99950279 -0.03017154]
 [ 0.1184865   0.0288654   0.99253555]]

 t_gt:
[ 0.34239635 -0.02910301 -0.93910476]

Pose Error in degrees for R and t:
21.172365439851053 72.03668190429958

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.85170867e-01  1.71576038e-01  1.63417250e-04]
 [-1.71576044e-01  9.85170879e-01  2.37619702e-05]
 [-1.56916932e-04 -5.14480861e-05  9.99999986e-01]]

 t_estimated:
[[0.50763462]
 [0.86157177]
 [0.00108238]]

 R_gt:
[[ 0.99521009 -0.09774807  0.00152877]
 [ 0.09773914  0.99456454 -0.03591474]
 [ 0.00199045  0.0358923   0.99935278]]

 t_gt:
[ 0.69632489 -0.62728972 -0.3487682 ]

Pose Error in degrees for R and t:
15.626402526428333 79.20159405977482

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.59455421e-01  2.81860363e-01 -1.76828555e-04]
 [-2.81860341e-01  9.59455433e-01  1.42752032e-04]
 [ 2.09895258e-04 -8.71232542e-05  9.99999974e-01]]

 t_estimated:
[[-0.99844989]
 [-0.0556478 ]
 [-0.00107015]]

 R_gt:
[[ 0.99628237  0.02075315 -0.08361877]
 [-0.01945065  0.99967823  0.01634829]
 [ 0.08393173 -0.01466058  0.99636379]]

 t_gt:
[ 0.13512189  0.26965525 -0.95342966]

Pose Error in degrees for R and t:
15.974675206129449 81.43693954062935

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.73758618e-01 -2.27583160e-01 -2.43236027e-04]
 [ 2.27583286e-01  9.73758248e-01  8.49775357e-04]
 [ 4.34585259e-05 -8.82832532e-04  9.99999609e-01]]

 t_estimated:
[[-7.58010700e-01]
 [-6.52241765e-01]
 [-6.78005992e-04]]

 R_gt:
[[ 0.9860724   0.03247858 -0.16311328]
 [-0.0305647   0.99943178  0.01422571]
 [ 0.16348265 -0.00904102  0.98650479]]

 t_gt:
[ 0.19744541  0.19492203 -0.96073967]

Pose Error in degrees for R and t:
17.67150926502125 73.96940399913127

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-0.94413494  0.32955389  0.00185487]
 [ 0.32954743  0.94413391 -0.00310804]
 [-0.00277551 -0.00232314 -0.99999345]]

 t_estimated:
[[0.90097206]
 [0.43387593]
 [0.00100667]]

 R_gt:
[[ 0.97617142  0.02664808 -0.21535707]
 [-0.02673668  0.9996403   0.002502  ]
 [ 0.21534533  0.00331618  0.97653246]]

 t_gt:
[ 0.27963931  0.12003321 -0.95257225]

Pose Error in degrees for R and t:
167.87876587640278 72.35804400128801

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 1.17562391e-01  9.93064772e-01  1.20111247e-03]
 [-9.93063553e-01  1.17564468e-01 -1.83705389e-03]
 [-1.96552165e-03 -9.76812569e-04  9.99997591e-01]]

 t_estimated:
[[0.01572543]
 [0.99987549]
 [0.00131045]]

 R_gt:
[[ 0.99578601 -0.09145931 -0.00676818]
 [ 0.09165659  0.99499582  0.03978501]
 [ 0.00309586 -0.04023694  0.99918516]]

 t_gt:
[ 0.51851661 -0.79870405  0.30530701]

Pose Error in degrees for R and t:
88.5292834104232 37.80975841813546

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 6.19724056e-01 -7.84818079e-01 -1.63614281e-03]
 [ 7.84813946e-01  6.19726141e-01 -2.56541811e-03]
 [ 3.02734698e-03  3.05783623e-04  9.99995371e-01]]

 t_estimated:
[[ 0.89233112]
 [-0.45136827]
 [-0.00344415]]

 R_gt:
[[ 0.98911201 -0.12908822 -0.07067938]
 [ 0.13327495  0.98937369  0.05811292]
 [ 0.06242602 -0.06690032  0.99580431]]

 t_gt:
[ 0.61171543 -0.76407639  0.20491827]

Pose Error in degrees for R and t:
44.44037904440357 27.123387400841843

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.02918365  0.97819553 -0.20562544]
 [ 0.96153361  0.0836835   0.26162989]
 [ 0.27313264 -0.19008045 -0.94301006]]

 t_estimated:
[[0.61489893]
 [0.78860521]
 [0.00106568]]

 R_gt:
[[ 0.99085316 -0.03566518 -0.13014961]
 [ 0.0557914   0.98642594  0.15443933]
 [ 0.12287515 -0.16028889  0.97939245]]

 t_gt:
[ 0.34592706 -0.75179362  0.56137405]

Pose Error in degrees for R and t:
149.3160933363233 67.69357281908165

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99999506e-01  9.93627254e-04  2.32838685e-05]
 [-9.93628970e-04  9.99999504e-01  7.38112157e-05]
 [-2.32105161e-05 -7.38343148e-05  9.99999997e-01]]

 t_estimated:
[[9.99432491e-01]
 [3.36800798e-02]
 [5.89796261e-04]]

 R_gt:
[[ 0.99557242 -0.08807367 -0.03283783]
 [ 0.08877121  0.99584209  0.02045008]
 [ 0.03090066 -0.02327499  0.99925147]]

 t_gt:
[ 0.63664692 -0.76778682 -0.07200068]

Pose Error in degrees for R and t:
5.589356594330932 52.38272368755122

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.91494302e-01  1.30142767e-01  1.38140686e-03]
 [-1.30142059e-01  9.91495182e-01 -5.91153269e-04]
 [-1.44659257e-03  4.06345965e-04  9.99998871e-01]]

 t_estimated:
[[0.85769402]
 [0.51415528]
 [0.00230563]]

 R_gt:
[[ 0.98728617 -0.15744583 -0.02185163]
 [ 0.15581047  0.98577522 -0.0630022 ]
 [ 0.03145984  0.05879644  0.99777372]]

 t_gt:
[ 0.5721991  -0.66940534 -0.47379815]

Pose Error in degrees for R and t:
16.935152507155802 81.63370526310987

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.92287382  0.38224024 -0.04686491]
 [-0.38013021  0.92368004  0.04812693]
 [ 0.06168423 -0.02660031  0.99774119]]

 t_estimated:
[[0.87825999]
 [0.4781809 ]
 [0.00155056]]

 R_gt:
[[ 0.97182479 -0.23533359 -0.01327887]
 [ 0.23292479  0.96745604 -0.09886622]
 [ 0.03611304  0.09298784  0.99501217]]

 t_gt:
[ 0.58896203 -0.6855518  -0.42795145]

Pose Error in degrees for R and t:
36.85181325396975 79.11837904876111

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.66744306e-01  2.55744489e-01 -4.51056147e-04]
 [-2.55744030e-01  9.66744129e-01  8.82735158e-04]
 [ 6.61810534e-04 -7.38024271e-04  9.99999509e-01]]

 t_estimated:
[[-1.40909341e-01]
 [ 9.90022203e-01]
 [ 7.71504769e-04]]

 R_gt:
[[ 0.95117964  0.30409644 -0.05276196]
 [-0.30297302  0.95257773  0.02832875]
 [ 0.0588745  -0.01096039  0.99820502]]

 t_gt:
[-0.50007265  0.85778644 -0.11886868]

Pose Error in degrees for R and t:
4.438725106112063 23.132205531887863

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99998998e-01  1.37573960e-03  3.34130198e-04]
 [-1.37572729e-03  9.99999053e-01 -3.70704139e-05]
 [-3.34180881e-04  3.66107047e-05  9.99999943e-01]]

 t_estimated:
[[-9.99999854e-01]
 [ 4.44039139e-04]
 [ 3.09253144e-04]]

 R_gt:
[[ 0.87722236  0.47876301 -0.035599  ]
 [-0.47619226  0.87713762  0.06221076]
 [ 0.06100917 -0.03762077  0.99742772]]

 t_gt:
[-0.44537537  0.89490018 -0.02818601]

Pose Error in degrees for R and t:
28.773207096800746 63.5277731499325

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 6.99766280e-01 -7.14361967e-01 -3.75945919e-03]
 [ 7.14364890e-01  6.99773009e-01 -7.34472885e-04]
 [ 3.15544756e-03 -2.17166629e-03  9.99992663e-01]]

 t_estimated:
[[0.69391684]
 [0.72005466]
 [0.00084316]]

 R_gt:
[[ 0.84355214  0.53460177 -0.051203  ]
 [-0.52777167  0.84284902  0.10517749]
 [ 0.09938447 -0.06170005  0.9931343 ]]

 t_gt:
[-0.3975325   0.91665386 -0.04139577]

Pose Error in degrees for R and t:
78.02817071568569 67.4089264779714

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.78501968e-01  2.06236808e-01 -5.26858947e-04]
 [-2.06231323e-01  9.78489298e-01  5.22836845e-03]
 [ 1.59380786e-03 -5.00731400e-03  9.99986193e-01]]

 t_estimated:
[[0.37829649]
 [0.92568005]
 [0.00286588]]

 R_gt:
[[ 0.97279701  0.2298787   0.02865624]
 [-0.22957299  0.97319693 -0.01359638]
 [-0.03101329  0.0066483   0.99949685]]

 t_gt:
[-0.89156893  0.45284736  0.00584052]

Pose Error in degrees for R and t:
2.4206762683838945 85.3004255315548

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99982036e-01 -5.91303413e-03 -9.81596610e-04]
 [ 5.91488733e-03  9.99980710e-01  1.89589501e-03]
 [ 9.70367183e-04 -1.90166699e-03  9.99997721e-01]]

 t_estimated:
[[-0.99996859]
 [ 0.00786108]
 [ 0.00101182]]

 R_gt:
[[ 0.95837336  0.28355436  0.03343125]
 [-0.28320446  0.95894464 -0.01485805]
 [-0.03627189  0.00477321  0.9993311 ]]

 t_gt:
[-0.88975329  0.45627597  0.01230108]

Pose Error in degrees for R and t:
16.946561799413725 26.705964087651687

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99999284e-01 -6.30569286e-04 -1.01680019e-03]
 [ 6.30575689e-04  9.99999801e-01  5.97657181e-06]
 [ 1.01679622e-03 -6.61773701e-06  9.99999483e-01]]

 t_estimated:
[[-0.80086318]
 [-0.59884595]
 [-0.00130136]]

 R_gt:
[[ 0.939024    0.34298328  0.02443544]
 [-0.34256412  0.93928538 -0.01978223]
 [-0.02973718  0.01020614  0.99950591]]

 t_gt:
[-0.89022483  0.45543145 -0.00905231]

Pose Error in degrees for R and t:
20.17174634956946 63.881648164761856

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99987107e-01  5.07715591e-03  8.56850842e-05]
 [-5.07718255e-03  9.99987062e-01  3.13635788e-04]
 [-8.40915978e-05 -3.14066783e-04  9.99999947e-01]]

 t_estimated:
[[0.74860934]
 [0.66300952]
 [0.00155636]]

 R_gt:
[[ 9.93798178e-01 -9.70177733e-02 -5.43435112e-02]
 [ 9.68501212e-02  9.95282666e-01 -5.70797320e-03]
 [ 5.46405203e-02  4.09438211e-04  9.98506561e-01]]

 t_gt:
[ 0.79403051 -0.54258803 -0.27406892]

Pose Error in degrees for R and t:
6.644550357724833 76.45251931740127

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 7.37479904e-01  6.75368268e-01  1.04601574e-03]
 [-6.75367314e-01  7.37480633e-01 -1.14362293e-03]
 [-1.54378299e-03  1.36954084e-04  9.99998799e-01]]

 t_estimated:
[[0.03980902]
 [0.99920643]
 [0.00132697]]

 R_gt:
[[ 0.95446377 -0.29641935 -0.03371779]
 [ 0.29680775  0.95491032  0.0070717 ]
 [ 0.03010153 -0.01675691  0.99940691]]

 t_gt:
[ 0.88582621 -0.46321951 -0.02719564]

Pose Error in degrees for R and t:
59.77503957421502 64.6831245141202

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 0.93242751 -0.36133871 -0.00364307]
 [ 0.36135189  0.93242075  0.00404443]
 [ 0.00193547 -0.00508757  0.99998519]]

 t_estimated:
[[-0.51653685]
 [-0.85626403]
 [-0.00126293]]

 R_gt:
[[ 0.87935735 -0.47598885 -0.01289452]
 [ 0.4760955   0.87936689  0.00689461]
 [ 0.00805735 -0.0122014   0.9998928 ]]

 t_gt:
[ 0.92377362 -0.38292846  0.00284396]

Pose Error in degrees for R and t:
7.266156616073048 81.41486322232343

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-9.49700740e-03 -9.99951663e-01 -2.54536049e-03]
 [ 9.99954686e-01 -9.49529882e-03 -6.82497333e-04]
 [ 6.58295385e-04 -2.55172683e-03  9.99996528e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99527638 -0.09579939  0.01572023]
 [ 0.09546306  0.99521238  0.02090465]
 [-0.01764795 -0.01930512  0.99965891]]

 t_gt:
[ 0.59761838 -0.76855555  0.2284177 ]

Pose Error in degrees for R and t:
85.06674759824388 53.458185162832

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 7.02512029e-01  7.11671627e-01 -5.87145086e-04]
 [-7.11671187e-01  7.02509973e-01 -1.96445250e-03]
 [-9.85569829e-04  1.79790575e-03  9.99997898e-01]]

 t_estimated:
[[-1.40866089e-01]
 [ 9.90028651e-01]
 [-1.26605938e-04]]

 R_gt:
[[ 9.96675014e-01 -8.14804030e-02  7.79698156e-04]
 [ 8.13880436e-02  9.95916965e-01  3.90415240e-02]
 [-3.95759298e-03 -3.88477484e-02  9.99237376e-01]]

 t_gt:
[ 0.62953483 -0.74415883  0.22341339]

Pose Error in degrees for R and t:
50.09619524563409 34.366168196603525

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-6.93641799e-01 -7.20320106e-01  2.63960630e-05]
 [-7.20319854e-01  6.93641586e-01  8.10764090e-04]
 [-6.02319082e-04  5.43366253e-04 -9.99999671e-01]]

 t_estimated:
[[0.91018996]
 [0.41418756]
 [0.00170448]]

 R_gt:
[[ 0.99760648  0.00907979 -0.06854794]
 [-0.00648915  0.9992592   0.03792727]
 [ 0.06884173 -0.03739091  0.99692737]]

 t_gt:
[ 0.79510021 -0.50109573 -0.34164123]

Pose Error in degrees for R and t:
177.23987759266964 58.96495354412799

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[ 9.98571873e-01 -5.34246236e-02 -1.55745250e-04]
 [ 5.34246056e-02  9.98571879e-01 -1.17039895e-04]
 [ 1.61775639e-04  1.08552119e-04  9.99999981e-01]]

 t_estimated:
[[-0.9640788 ]
 [-0.26561355]
 [-0.00122969]]

 R_gt:
[[ 0.99015968  0.13993922  0.00125053]
 [-0.13991341  0.99008495 -0.01250293]
 [-0.00298797  0.01220624  0.99992098]]

 t_gt:
[-0.6765415   0.73597619 -0.02511259]

Pose Error in degrees for R and t:
11.129228786377633 62.820160025812584

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 8.99324342e-01 -4.37281539e-01 -7.64443937e-04]
 [ 4.37281921e-01  8.99324379e-01  4.28489508e-04]
 [ 5.00112517e-04 -7.19628557e-04  9.99999616e-01]]

 t_estimated:
[[-0.2043288 ]
 [-0.97890176]
 [-0.00104249]]

 R_gt:
[[ 0.98470184  0.17261986 -0.02379857]
 [-0.17327174  0.98445327 -0.02877646]
 [ 0.01846144  0.03246036  0.99930229]]

 t_gt:
[-0.65494272  0.72803244 -0.20253098]

Pose Error in degrees for R and t:
35.95529575831485 54.64523555158624

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.57477990e-01 -2.88506119e-01 -3.45004973e-04]
 [ 2.88506187e-01  9.57478017e-01  1.66716057e-04]
 [ 2.82236075e-04 -2.59163025e-04  9.99999927e-01]]

 t_estimated:
[[-0.28614052]
 [-0.95818704]
 [-0.00109632]]

 R_gt:
[[ 0.99125514  0.13120629 -0.01411146]
 [-0.13146124  0.99113908 -0.01899618]
 [ 0.01149382  0.02068546  0.99972037]]

 t_gt:
[-0.75696203  0.63126435 -0.16886032]

Pose Error in degrees for R and t:
24.353480579530157 67.16450082973206

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 0.49830568 -0.86699215  0.00400716]
 [-0.86699337 -0.49827583  0.00660991]
 [-0.00373407 -0.00676794 -0.99997013]]

 t_estimated:
[[0.45325303]
 [0.89136733]
 [0.00509562]]

 R_gt:
[[ 0.99091928  0.12223115 -0.05601365]
 [-0.12321773  0.99227411 -0.01449286]
 [ 0.05381064  0.02126342  0.99832477]]

 t_gt:
[-0.32480475  0.88902994 -0.32268816]

Pose Error in degrees for R and t:
177.97420779654985 49.940018459611196

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.98362632  0.17836782  0.02577193]
 [ 0.17918709  0.98322595  0.03403987]
 [-0.01926801  0.03810051 -0.99908813]]

 t_estimated:
[[9.58459084e-01]
 [2.85229083e-01]
 [7.44723453e-04]]

 R_gt:
[[ 0.98885397  0.11432848 -0.09537531]
 [-0.11347432  0.9934373   0.0143472 ]
 [ 0.09639058 -0.00336394  0.99533763]]

 t_gt:
[-0.13123722  0.91142532 -0.38997522]

Pose Error in degrees for R and t:
175.64112815600893 82.30561407671952

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 8.19253756e-01  5.73430575e-01  8.12029170e-04]
 [-5.73419836e-01  8.19245666e-01 -5.12160267e-03]
 [-3.60213494e-03  3.73025859e-03  9.99986555e-01]]

 t_estimated:
[[0.57593054]
 [0.81749731]
 [0.00147297]]

 R_gt:
[[ 0.97905123  0.12381809 -0.16164105]
 [-0.11933832  0.99215791  0.03717061]
 [ 0.16497597 -0.01710062  0.98614946]]

 t_gt:
[ 0.07210033  0.84047462 -0.53703255]

Pose Error in degrees for R and t:
29.570339648712356 43.29609573621679

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-0.85024705  0.52638229 -0.0012775 ]
 [-0.52637868 -0.85024695 -0.00236767]
 [-0.00233249 -0.00134065  0.99999638]]

 t_estimated:
[[0.60590864]
 [0.79553286]
 [0.00148144]]

 R_gt:
[[ 0.99923584 -0.03357409 -0.02002549]
 [ 0.03257284  0.99829686 -0.04840627]
 [ 0.02161731  0.04771824  0.99862682]]

 t_gt:
[ 0.27936018 -0.14677133 -0.94890256]

Pose Error in degrees for R and t:
150.14440492987032 87.0709333563422

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.61177989  0.79102029  0.00350253]
 [-0.79101813  0.61174407  0.00771447]
 [ 0.00395965 -0.00749012  0.99996411]]

 t_estimated:
[[0.47565268]
 [0.87963167]
 [0.00162895]]

 R_gt:
[[ 0.99899031  0.02840441 -0.03481416]
 [-0.03026063  0.99808126 -0.05401728]
 [ 0.03321302  0.05501639  0.997933  ]]

 t_gt:
[-0.20211958  0.68721734 -0.69776787]

Pose Error in degrees for R and t:
50.7572153179942 59.520982083283165

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 7.84753514e-01  6.19787867e-01  4.99223079e-03]
 [-6.19767944e-01  7.84768917e-01 -5.04396896e-03]
 [-7.04393831e-03  8.64247758e-04  9.99974818e-01]]

 t_estimated:
[[0.5829592 ]
 [0.81249939]
 [0.00182175]]

 R_gt:
[[ 0.99656857  0.07878172 -0.02537733]
 [-0.08041638  0.9941869  -0.07159179]
 [ 0.01958958  0.07338735  0.99711129]]

 t_gt:
[-0.31419759  0.84907616 -0.42467582]

Pose Error in degrees for R and t:
33.99456896314617 59.606505466929235

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.9907137  -0.13537527  0.0126449 ]
 [ 0.1355091   0.99072149 -0.01040244]
 [-0.01111934  0.01201934  0.99986594]]

 t_estimated:
[[-0.55922712]
 [-0.82901401]
 [-0.00089333]]

 R_gt:
[[ 0.99834455 -0.05743558  0.00323142]
 [ 0.05750098  0.99799243 -0.02652286]
 [-0.00170132  0.02666532  0.99964242]]

 t_gt:
[ 0.68401646 -0.70982691 -0.16812863]

Pose Error in degrees for R and t:
4.607041680692243 78.10691456243438

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 6.54788695e-01  7.55811914e-01  3.40729008e-04]
 [-7.55811187e-01  6.54788590e-01 -1.16299707e-03]
 [-1.10211251e-03  5.03990540e-04  9.99999266e-01]]

 t_estimated:
[[0.51736652]
 [0.8557633 ]
 [0.00102856]]

 R_gt:
[[ 0.98622432 -0.16535684  0.00435814]
 [ 0.16538115  0.98620886 -0.00631931]
 [-0.00325228  0.00695251  0.99997023]]

 t_gt:
[ 0.68487426 -0.72856132  0.0120688 ]

Pose Error in degrees for R and t:
58.61619573727623 74.3873409040977

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 7.58248494e-01  6.51961492e-01  2.33101298e-03]
 [ 6.51960814e-01 -7.58251797e-01  1.14448433e-03]
 [ 2.51365450e-03  6.51925596e-04 -9.99996628e-01]]

 t_estimated:
[[-0.97325045]
 [-0.22973723]
 [-0.00208852]]

 R_gt:
[[ 9.86510954e-01 -1.63695167e-01 -8.11634375e-04]
 [ 1.63695603e-01  9.86510123e-01  1.17375946e-03]
 [ 6.08498262e-04 -1.29067760e-03  9.99998789e-01]]

 t_gt:
[ 0.69495511 -0.71873935  0.02124031]

Pose Error in degrees for R and t:
179.9137384222547 59.25030265628073

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.35716404e-01  3.52752853e-01 -4.85624518e-04]
 [-3.52753061e-01  9.35716347e-01 -4.42615559e-04]
 [ 2.98272899e-04  5.85468174e-04  9.99999784e-01]]

 t_estimated:
[[-0.16928214]
 [ 0.98556691]
 [-0.0011928 ]]

 R_gt:
[[ 0.99820067 -0.02605421  0.05400564]
 [ 0.02746135  0.99929804 -0.0254834 ]
 [-0.05330395  0.02692096  0.99821525]]

 t_gt:
[-0.57210013  0.48970108  0.65794703]

Pose Error in degrees for R and t:
22.45088768958931 54.641211902068186

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.25349716  0.96729597  0.00881447]
 [ 0.96726666  0.25357763 -0.00967463]
 [-0.01159338  0.00607346 -0.99991435]]

 t_estimated:
[[ 0.18112208]
 [-0.9833872 ]
 [ 0.01201712]]

 R_gt:
[[ 0.9964939  -0.02869606  0.07859199]
 [ 0.0342701   0.99692193 -0.07051637]
 [-0.07632689  0.0729629   0.99440972]]

 t_gt:
[-0.59569021  0.76181702  0.25453488]

Pose Error in degrees for R and t:
173.2269252664642 31.35111946531198

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.67131522 -0.74116153 -0.00393185]
 [ 0.7411708   0.67131412  0.00178878]
 [ 0.00131373 -0.00411501  0.99999067]]

 t_estimated:
[[0.89485654]
 [0.44635228]
 [0.00119163]]

 R_gt:
[[ 0.99686271 -0.02722122  0.07432461]
 [ 0.03265053  0.9968093  -0.0728335 ]
 [-0.07210555  0.07503123  0.99457073]]

 t_gt:
[-0.57388474  0.81327877  0.0960934 ]

Pose Error in degrees for R and t:
46.50858879437061 81.34866517259982

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99996903e-01 -2.41478292e-03  6.01514988e-04]
 [ 2.41426061e-03  9.99996709e-01  8.67546729e-04]
 [-6.03607945e-04 -8.66091829e-04  9.99999443e-01]]

 t_estimated:
[[0.57896433]
 [0.81534826]
 [0.00274224]]

 R_gt:
[[ 0.99859754 -0.0308038   0.04307125]
 [ 0.02574888  0.99321925  0.11337295]
 [-0.04627173 -0.11210417  0.99261822]]

 t_gt:
[ 0.07236074 -0.29148457  0.95383472]

Pose Error in degrees for R and t:
7.065134202691069 78.86323995134225

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-7.09305308e-01 -7.04900762e-01 -9.46911609e-04]
 [ 7.04899149e-01 -7.09299012e-01 -3.47869731e-03]
 [ 1.78049292e-03 -3.13493566e-03  9.99993501e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99504514 -0.0828262   0.05501033]
 [ 0.07087342  0.97886388  0.1918386 ]
 [-0.06973702 -0.18698902  0.97988394]]

 t_gt:
[ 0.18508089 -0.38936905  0.9022953 ]

Pose Error in degrees for R and t:
131.00064127895607 85.187851030249

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.99753985  0.03395384 -0.06133019]
 [-0.03299227  0.99931734  0.01662417]
 [ 0.06185278 -0.01455985  0.99797908]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99425149 -0.08575051  0.06413022]
 [ 0.07298427  0.98093443  0.18011598]
 [-0.07835231 -0.17439985  0.98155299]]

 t_gt:
[ 0.19001628 -0.39478692  0.89890884]

Pose Error in degrees for R and t:
13.702904927370342 87.61365048110446

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.53977965e-01  2.99876387e-01  4.41435571e-04]
 [-2.99876622e-01  9.53977784e-01  6.31361525e-04]
 [-2.31789315e-04 -7.34681191e-04  9.99999703e-01]]

 t_estimated:
[[0.79724333]
 [0.60365717]
 [0.00104079]]

 R_gt:
[[ 0.99746605 -0.0026635   0.07109347]
 [ 0.00329472  0.9999562  -0.00877443]
 [-0.07106688  0.00898706  0.99743011]]

 t_gt:
[-0.44718046  0.08442524  0.89045045]

Pose Error in degrees for R and t:
18.08671968807366 72.26463774750259

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-5.38891324e-01  8.42375104e-01  5.70855432e-04]
 [-8.42360781e-01 -5.38877935e-01 -6.23585500e-03]
 [-4.94530760e-03 -3.84131438e-03  9.99980394e-01]]

 t_estimated:
[[0.52857474]
 [0.84887639]
 [0.00419778]]

 R_gt:
[[ 0.99753561  0.02269013  0.06639722]
 [-0.02072156  0.99932889 -0.03019197]
 [-0.06703715  0.02874176  0.99733607]]

 t_gt:
[-0.8197235   0.29650523  0.4900388 ]

Pose Error in degrees for R and t:
121.39086722144327 79.65751153754614

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.92927714e-01  1.18720329e-01  1.95568440e-04]
 [-1.18720376e-01  9.92927696e-01  2.51163853e-04]
 [-1.64367065e-04 -2.72605509e-04  9.99999949e-01]]

 t_estimated:
[[0.37546931]
 [0.92683414]
 [0.00112754]]

 R_gt:
[[ 0.99978198  0.00754643  0.01942133]
 [-0.00778402  0.99989595  0.0121506 ]
 [-0.01932716 -0.01229938  0.99973689]]

 t_gt:
[-0.92452805 -0.24754631  0.28977353]

Pose Error in degrees for R and t:
6.509569813248599 54.8135150218536

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.07103486  0.93513653 -0.34709325]
 [ 0.95997799  0.0304184   0.27841873]
 [ 0.27091754 -0.35297931 -0.89554971]]

 t_estimated:
[[0.61590617]
 [0.78778696]
 [0.0071617 ]]

 R_gt:
[[ 0.99924102 -0.03890062 -0.0021673 ]
 [ 0.03884706  0.9990255  -0.02096438]
 [ 0.00298055  0.02086489  0.99977718]]

 t_gt:
[ 0.63870311 -0.54143806 -0.54672038]

Pose Error in degrees for R and t:
154.46920564522543 87.87543820719898

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 9.99999986e-01 -1.18444503e-04 -1.14878829e-04]
 [ 1.18462212e-04  9.99999981e-01  1.54154610e-04]
 [ 1.14860568e-04 -1.54168216e-04  9.99999982e-01]]

 t_estimated:
[[0.99987638]
 [0.01568844]
 [0.0010459 ]]

 R_gt:
[[ 0.96877063 -0.18736739  0.16240649]
 [ 0.18914923  0.98193808  0.00456687]
 [-0.16032884  0.02629531  0.98671257]]

 t_gt:
[ 0.62259715 -0.68057635  0.38624944]

Pose Error in degrees for R and t:
14.370124026981342 52.247847707387635

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.26614046  0.96356722  0.02659819]
 [ 0.96355663  0.2667072  -0.02063714]
 [-0.0269792   0.02013648 -0.99943316]]

 t_estimated:
[[-0.61394037]
 [-0.78935191]
 [-0.00088592]]

 R_gt:
[[ 0.90992826 -0.32365661  0.25937666]
 [ 0.31804189  0.9458756   0.06455279]
 [-0.26623158  0.02375499  0.9636162 ]]

 t_gt:
[ 0.66328913 -0.62547512  0.41088734]

Pose Error in degrees for R and t:
166.5507447501879 85.05864828393902

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 6.47169064e-01  7.62345514e-01  1.23310704e-03]
 [-7.62345601e-01  6.47169944e-01 -4.97855829e-04]
 [-1.17756797e-03 -6.17856834e-04  9.99999116e-01]]

 t_estimated:
[[-0.23944376]
 [ 0.97090908]
 [ 0.00149959]]

 R_gt:
[[ 9.83515746e-01  1.80716183e-01  6.23745596e-03]
 [-1.80824185e-01  9.82911587e-01  3.44469029e-02]
 [ 9.36600720e-05 -3.50073297e-02  9.99387067e-01]]

 t_gt:
[-0.58781638  0.79391642  0.15546261]

Pose Error in degrees for R and t:
39.302337432678954 24.244320209260643

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.30687178e-01  3.65815967e-01  2.34349956e-04]
 [-3.65815954e-01  9.30687208e-01 -9.84516704e-05]
 [-2.54121699e-04  5.89875454e-06  9.99999968e-01]]

 t_estimated:
[[-6.12240779e-01]
 [ 7.90671134e-01]
 [ 6.22198457e-04]]

 R_gt:
[[ 0.96826139  0.24960808 -0.0128879 ]
 [-0.24847334  0.96687676  0.05840143]
 [ 0.02703738 -0.05334549  0.99821005]]

 t_gt:
[-0.51766749  0.85100571  0.08837218]

Pose Error in degrees for R and t:
7.818384309525265 8.167173026526648

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-0.94712175 -0.09100336 -0.30769916]
 [-0.03879096 -0.91943335  0.39132796]
 [-0.31852103  0.38257117  0.86728522]]

 t_estimated:
[[0.80721818]
 [0.58920143]
 [0.03522063]]

 R_gt:
[[ 0.89322615  0.44952489  0.00868967]
 [-0.44950593  0.89243943  0.03868824]
 [ 0.00963533 -0.03846345  0.99921334]]

 t_gt:
[-0.46502166  0.88425696  0.04294745]

Pose Error in degrees for R and t:
156.11493863966783 81.53853733213192

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 0.36807323 -0.92979527 -0.00169174]
 [-0.92979423 -0.36806732 -0.00302298]
 [ 0.00218808  0.00268565 -0.999994  ]]

 t_estimated:
[[ 6.44027845e-01]
 [ 7.65001825e-01]
 [-5.85047006e-04]]

 R_gt:
[[ 0.99284235 -0.11599788 -0.02844537]
 [ 0.11807352  0.98913767  0.0875464 ]
 [ 0.01798194 -0.09027802  0.9957549 ]]

 t_gt:
[ 0.7237728  -0.59431576  0.35063046]

Pose Error in degrees for R and t:
176.72261861957395 89.3541447119432

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 9.99939212e-01  1.09988346e-02  7.72850647e-04]
 [-1.09986503e-02  9.99939484e-01 -2.42387428e-04]
 [-7.75469856e-04  2.33872380e-04  9.99999672e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.97221563 -0.22211349 -0.07390188]
 [ 0.22940838  0.9668578   0.1120617 ]
 [ 0.0465623  -0.12590187  0.99094919]]

 t_gt:
[ 0.79298193 -0.56969862  0.21592392]

Pose Error in degrees for R and t:
15.762848897243707 38.10189198760927

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-0.9691127  -0.24644808 -0.0091608 ]
 [ 0.24626458 -0.96904364  0.01755487]
 [-0.01320358  0.01475667  0.99980393]]

 t_estimated:
[[8.58314830e-01]
 [5.13122996e-01]
 [6.66393501e-04]]

 R_gt:
[[ 0.96371559 -0.25377614 -0.08276922]
 [ 0.26178421  0.95914972  0.1072356 ]
 [ 0.0521745  -0.12501099  0.99078256]]

 t_gt:
[ 0.80152792 -0.57166098  0.17537594]

Pose Error in degrees for R and t:
150.7915790530796 66.74975564596808

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 4.32464886e-01  9.01650765e-01 -1.40151495e-04]
 [-9.01650257e-01  4.32464466e-01 -1.13991387e-03]
 [-9.67193672e-04  6.19340354e-04  9.99999340e-01]]

 t_estimated:
[[-1.89674865e-01]
 [ 9.81846912e-01]
 [ 2.96083096e-04]]

 R_gt:
[[ 0.99954089 -0.02040826  0.02241785]
 [ 0.02011518  0.99971064  0.01321625]
 [-0.02268107 -0.0127596   0.99966101]]

 t_gt:
[ 0.56101712 -0.31962473  0.76360974]

Pose Error in degrees for R and t:
65.55233285801665 65.16495144060865

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.94089840e-01 -1.08560474e-01  1.13056385e-04]
 [ 1.08560464e-01  9.94089844e-01  8.79148216e-05]
 [-1.21932279e-04 -7.51217773e-05  9.99999990e-01]]

 t_estimated:
[[ 9.31742609e-01]
 [-3.63118669e-01]
 [ 7.36044756e-04]]

 R_gt:
[[ 0.98952802 -0.142668    0.02192145]
 [ 0.14205838  0.9894834   0.02726375]
 [-0.02557976 -0.02386452  0.99938762]]

 t_gt:
[ 0.81701355 -0.53599447  0.21260005]

Pose Error in degrees for R and t:
2.793946832436566 17.053287840376747

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.92465156  0.38081103  0.00156465]
 [-0.38080676  0.92465135 -0.00246869]
 [-0.00238686  0.00168685  0.99999573]]

 t_estimated:
[[0.59338954]
 [0.80491326]
 [0.00187189]]

 R_gt:
[[ 0.96833951 -0.24891213  0.01901101]
 [ 0.24866756  0.9684828   0.0143481 ]
 [-0.0219833  -0.0091654   0.99971632]]

 t_gt:
[ 0.82983838 -0.55381112  0.06827524]

Pose Error in degrees for R and t:
36.81513667080571 87.31899411596007

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 4.01059563e-01 -9.16050210e-01 -1.79969092e-03]
 [ 9.16051560e-01  4.01060483e-01 -1.67293181e-04]
 [ 8.75033862e-04 -1.58151514e-03  9.99998367e-01]]

 t_estimated:
[[ 8.92318564e-01]
 [-4.51406176e-01]
 [ 2.11526505e-04]]

 R_gt:
[[ 0.99259564  0.12135832 -0.0051304 ]
 [-0.1213686   0.99260608 -0.00169984]
 [ 0.00488702  0.00230962  0.99998548]]

 t_gt:
[-0.55368676  0.82903235 -0.07833472]

Pose Error in degrees for R and t:
73.3266839215794 29.73694337556347

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 8.50918896e-01 -5.25290463e-01 -2.63867890e-03]
 [ 5.25293078e-01  8.50921293e-01  3.66277664e-04]
 [ 2.05290590e-03 -1.69775235e-03  9.99996452e-01]]

 t_estimated:
[[0.7775935 ]
 [0.62876626]
 [0.0011537 ]]

 R_gt:
[[ 0.93919488  0.34329347 -0.00794157]
 [-0.34338254  0.93903253 -0.01753533]
 [ 0.00143743  0.01919578  0.99981465]]

 t_gt:
[-0.52446593  0.84900068 -0.06429099]

Pose Error in degrees for R and t:
51.781938543278535 82.76567858325076

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.01584644  0.99987293 -0.00173767]
 [ 0.99986564 -0.01583898  0.00422231]
 [ 0.00419425 -0.00180435 -0.99998958]]

 t_estimated:
[[-0.6518993 ]
 [-0.75830435]
 [-0.0013469 ]]

 R_gt:
[[ 0.86572216  0.49748531 -0.05508031]
 [-0.49880471  0.86662297 -0.01260725]
 [ 0.04146272  0.03838861  0.99840198]]

 t_gt:
[-0.44197434  0.88780386 -0.12830817]

Pose Error in degrees for R and t:
178.80892427404274 67.3606083024995

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.96018926e-01  8.91420010e-02 -5.90367941e-05]
 [-8.91420071e-02  9.96018921e-01 -1.09937015e-04]
 [ 4.90017584e-05  1.14762006e-04  9.99999992e-01]]

 t_estimated:
[[-0.81216891]
 [ 0.58342157]
 [-0.00096972]]

 R_gt:
[[ 0.99675004  0.07167648  0.0367657 ]
 [-0.07225662  0.99727784  0.01469063]
 [-0.0356118  -0.01729871  0.99921606]]

 t_gt:
[-0.69952099  0.58045417  0.41682531]

Pose Error in degrees for R and t:
2.4788412439056837 24.990956812028028

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.61303278e-01  2.75492170e-01  2.68228593e-04]
 [-2.75492108e-01  9.61303302e-01 -2.46710298e-04]
 [-3.25815787e-04  1.63268558e-04  9.99999934e-01]]

 t_estimated:
[[0.69173041]
 [0.72215464]
 [0.00130757]]

 R_gt:
[[ 0.99851702 -0.01885821  0.05107441]
 [ 0.01825308  0.99975776  0.01228321]
 [-0.05129339 -0.01133229  0.99861886]]

 t_gt:
[ 0.36542232 -0.08306889  0.92712787]

Pose Error in degrees for R and t:
17.314736114945802 78.8138376761731

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.93014354e-01  1.17992530e-01  5.04855010e-04]
 [-1.17992325e-01  9.93014419e-01 -4.17446363e-04]
 [-5.50583857e-04  3.54961214e-04  9.99999785e-01]]

 t_estimated:
[[0.90248019]
 [0.43072918]
 [0.00136739]]

 R_gt:
[[ 0.98870562 -0.14640729  0.03203399]
 [ 0.14524174  0.98873695  0.03610414]
 [-0.03695881 -0.03104329  0.99883445]]

 t_gt:
[ 0.79218973 -0.53983174  0.28463507]

Pose Error in degrees for R and t:
15.41397431577788 61.13133825894445

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.56415385e-01  2.92009586e-01 -1.10061518e-04]
 [-2.92009601e-01  9.56415375e-01 -1.51959907e-04]
 [ 6.08907785e-05  1.77475813e-04  9.99999982e-01]]

 t_estimated:
[[9.00093840e-01]
 [4.35695465e-01]
 [7.35972069e-04]]

 R_gt:
[[ 0.99492817 -0.08717468 -0.05020699]
 [ 0.08261797  0.99280953 -0.08661717]
 [ 0.05739721  0.08202949  0.99497568]]

 t_gt:
[ 0.42505934 -0.38250989 -0.82037232]

Pose Error in degrees for R and t:
22.591515513310107 77.56501180628554

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.99999858 -0.00128529  0.00108566]
 [ 0.0012875   0.99999709 -0.00203804]
 [-0.00108304  0.00203943  0.99999733]]

 t_estimated:
[[0.84541422]
 [0.53411021]
 [0.00104115]]

 R_gt:
[[ 0.9798751  -0.19478093 -0.043653  ]
 [ 0.1843623   0.96694197 -0.17616532]
 [ 0.07652379  0.16457257  0.98339194]]

 t_gt:
[ 0.50240757 -0.43423748 -0.74767937]

Pose Error in degrees for R and t:
15.06597752432659 78.9285261995112

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.40612476e-01  3.39481500e-01  6.93797726e-04]
 [-3.39480578e-01  9.40612328e-01 -1.17704056e-03]
 [-1.05217819e-03  8.71608179e-04  9.99999067e-01]]

 t_estimated:
[[0.61438744]
 [0.78900282]
 [0.00161681]]

 R_gt:
[[ 0.98571429 -0.15445753 -0.06717276]
 [ 0.14106545  0.97497411 -0.17183241]
 [ 0.09203386  0.15990181  0.98283313]]

 t_gt:
[ 0.41913019 -0.24735696 -0.87358137]

Pose Error in degrees for R and t:
30.29076192130261 86.50677147395932

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.77749233e-01  2.09777103e-01  6.22669618e-05]
 [-2.09777067e-01  9.77749173e-01 -3.69657757e-04]
 [-1.38427204e-04  3.48370408e-04  9.99999930e-01]]

 t_estimated:
[[-4.85009462e-01]
 [ 8.74508791e-01]
 [-4.41729122e-04]]

 R_gt:
[[ 0.99940923 -0.0101587   0.03286842]
 [ 0.01202602  0.99829449 -0.05712679]
 [-0.0322315   0.0574875   0.99782561]]

 t_gt:
[-0.51205294  0.85129449 -0.11445297]

Pose Error in degrees for R and t:
13.285694246625267 6.848179957546036

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.91635311e-01 -1.29071323e-01 -5.42929636e-05]
 [ 1.29071330e-01  9.91635300e-01  1.53713182e-04]
 [ 3.39988554e-05 -1.59435084e-04  9.99999987e-01]]

 t_estimated:
[[-0.99993329]
 [-0.01149349]
 [-0.00114935]]

 R_gt:
[[ 0.99916182  0.00450167  0.04069659]
 [-0.00173117  0.99769294 -0.06786142]
 [-0.04090796  0.06773389  0.99686408]]

 t_gt:
[-0.52769946  0.83867587 -0.13474447]

Pose Error in degrees for R and t:
8.850478997207613 58.78976407387696

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999460e-01 -1.02905499e-03  1.46638268e-04]
 [ 1.02905501e-03  9.99999471e-01 -1.05351946e-07]
 [-1.46638082e-04  2.56250734e-07  9.99999989e-01]]

 t_estimated:
[[8.85066827e-03]
 [9.99960504e-01]
 [8.09678062e-04]]

 R_gt:
[[ 0.99882951 -0.02523292  0.04126889]
 [ 0.02897945  0.99525764 -0.09285644]
 [-0.03873051  0.09394324  0.99482401]]

 t_gt:
[-0.42328737  0.86281813 -0.27635609]

Pose Error in degrees for R and t:
6.018102807823368 30.81633123216401

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99999973e-01 -2.17482019e-04  8.55149500e-05]
 [ 2.17479639e-04  9.99999976e-01  2.78432312e-05]
 [-8.55210033e-05 -2.78246327e-05  9.99999996e-01]]

 t_estimated:
[[0.5061216 ]
 [0.86246163]
 [0.00093168]]

 R_gt:
[[ 0.99909439 -0.03446202  0.02496311]
 [ 0.03258098  0.99686074  0.07215342]
 [-0.02737136 -0.07127482  0.99708103]]

 t_gt:
[ 0.17990612 -0.47932107  0.85900238]

Pose Error in degrees for R and t:
4.774791592434034 71.24383534250786

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 1.00000000e+00 -7.18864042e-07 -6.84723384e-08]
 [ 7.18862978e-07  1.00000000e+00 -1.55406103e-05]
 [ 6.84835100e-08  1.55406103e-05  1.00000000e+00]]

 t_estimated:
[[ 9.99999997e-01]
 [-7.17104179e-05]
 [-1.31938257e-05]]

 R_gt:
[[ 0.99963068 -0.02133055  0.01684847]
 [ 0.02140394  0.99976151 -0.00421195]
 [-0.01675433  0.00457095  0.99984964]]

 t_gt:
[ 0.38998163 -0.77072948  0.50387538]

Pose Error in degrees for R and t:
1.5775152522331637 67.0436180255391

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-7.55376592e-01 -6.55288799e-01 -1.67167323e-03]
 [ 6.55290644e-01 -7.55376191e-01 -9.91078257e-04]
 [-6.13299672e-04 -1.84406914e-03  9.99998112e-01]]

 t_estimated:
[[0.91091998]
 [0.41258196]
 [0.00095285]]

 R_gt:
[[ 0.99947074 -0.00755598 -0.03167464]
 [ 0.00430806  0.99483952 -0.10136696]
 [ 0.0322776   0.10117694  0.99434454]]

 t_gt:
[ 0.07968025  0.22059138 -0.97210622]

Pose Error in degrees for R and t:
138.7809100809978 80.63820393309048

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.02429691 -0.99970114 -0.00269998]
 [ 0.99970375 -0.02430068  0.00137225]
 [-0.00143745 -0.00266584  0.99999541]]

 t_estimated:
[[0.99993298]
 [0.01140469]
 [0.00199081]]

 R_gt:
[[ 9.99684802e-01 -2.16535791e-03 -2.50066225e-02]
 [ 1.07548468e-04  9.96631847e-01 -8.20027290e-02]
 [ 2.50993251e-02  8.19740943e-02  9.96318054e-01]]

 t_gt:
[ 0.35236375  0.18847704 -0.91668762]

Pose Error in degrees for R and t:
91.43890538979491 69.34961258263253

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[-0.24781985 -0.96880459 -0.00172854]
 [ 0.96880313 -0.24782313  0.00204929]
 [-0.00241374 -0.00116676  0.99999641]]

 t_estimated:
[[0.98384637]
 [0.1790093 ]
 [0.00140952]]

 R_gt:
[[ 0.99931043 -0.02079659 -0.03075821]
 [ 0.01217922  0.96617827 -0.25758715]
 [ 0.03507501  0.25703456  0.96576465]]

 t_gt:
[ 0.25887452  0.34739176 -0.90127851]

Pose Error in degrees for R and t:
104.18896288022098 71.60243292890219

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 0.42757558  0.90397694  0.0021962 ]
 [-0.90381953  0.42754432 -0.01777926]
 [-0.01701101  0.00561701  0.99983952]]

 t_estimated:
[[-9.99991799e-01]
 [-3.97137331e-03]
 [-7.94274661e-04]]

 R_gt:
[[ 0.9975849  -0.05910358 -0.03648743]
 [ 0.04408145  0.94468191 -0.325012  ]
 [ 0.0536785   0.3226187   0.94500521]]

 t_gt:
[ 0.31205506  0.33087684 -0.89058529]

Pose Error in degrees for R and t:
69.86040108466949 71.78044248383343

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.98206366e-01 -5.98669455e-02 -1.52957585e-05]
 [ 5.98669472e-02  9.98206351e-01  1.71342845e-04]
 [ 5.01055055e-06 -1.71951229e-04  9.99999985e-01]]

 t_estimated:
[[7.06484122e-01]
 [7.07728622e-01]
 [6.18509554e-04]]

 R_gt:
[[ 0.99466217 -0.08215337 -0.06243481]
 [ 0.08379649  0.99618915  0.02417975]
 [ 0.06021151 -0.02928207  0.99775665]]

 t_gt:
[ 0.62600824 -0.77949732 -0.0223073 ]

Pose Error in degrees for R and t:
4.059388445546242 83.71803225030865

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.99764375 -0.06849161  0.00398032]
 [ 0.06851073  0.99763842 -0.00488462]
 [-0.00363637  0.0051458   0.99998015]]

 t_estimated:
[[7.94105760e-01]
 [6.07779269e-01]
 [6.33763576e-04]]

 R_gt:
[[ 0.97739377 -0.192516   -0.08740269]
 [ 0.19602004  0.98003058  0.03340175]
 [ 0.07922697 -0.04977893  0.9956134 ]]

 t_gt:
[ 0.66945159 -0.74270464  0.01497949]

Pose Error in degrees for R and t:
9.255743430736036 85.39853736524212

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99999997e-01 -8.02567288e-05 -5.09165649e-07]
 [ 8.02568208e-05  9.99999980e-01  1.83249793e-04]
 [ 4.94458611e-07 -1.83249833e-04  9.99999983e-01]]

 t_estimated:
[[8.94619689e-01]
 [4.46828301e-01]
 [2.87140959e-04]]

 R_gt:
[[ 0.95404383 -0.29058449 -0.0732275 ]
 [ 0.29255015  0.95608993  0.01751093]
 [ 0.06492404 -0.03812919  0.9971622 ]]

 t_gt:
[ 0.69662978 -0.7169443  -0.02641617]

Pose Error in degrees for R and t:
17.507707016393503 72.37052968685364

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-6.53270835e-01 -7.57123910e-01 -7.74904488e-04]
 [-7.57124182e-01  6.53270973e-01  9.44076075e-05]
 [ 4.34744352e-04  6.48372663e-04 -9.99999695e-01]]

 t_estimated:
[[0.88615694]
 [0.46338406]
 [0.00104131]]

 R_gt:
[[ 0.9884321   0.15155556  0.00568442]
 [-0.15143368  0.98830642 -0.01782008]
 [-0.00831989  0.01675183  0.99982497]]

 t_gt:
[-0.8575496   0.51227695 -0.04670126]

Pose Error in degrees for R and t:
179.9133845494243 58.49377587531631

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 5.67578969e-01 -8.23318690e-01 -6.70259509e-04]
 [ 8.23318944e-01  5.67578941e-01  2.48420814e-04]
 [ 1.75895683e-04 -6.92835780e-04  9.99999745e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.96718008  0.25383033 -0.01149551]
 [-0.25407925  0.96656277 -0.03462539]
 [ 0.00232181  0.03640844  0.9993337 ]]

 t_gt:
[-0.80836183  0.58154935 -0.09138657]

Pose Error in degrees for R and t:
70.16308894325716 54.74301257034148

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.78323781e-01 -2.07044724e-01  3.88094731e-03]
 [-2.07046270e-01 -9.78331151e-01 -3.35801118e-06]
 [ 3.79754691e-03 -8.00250443e-04 -9.99992469e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.95715394  0.28639137 -0.04284284]
 [-0.28748728  0.95753264 -0.02194419]
 [ 0.03473825  0.03331953  0.99884128]]

 t_gt:
[-0.7691059   0.62951537 -0.11039253]

Pose Error in degrees for R and t:
178.22921236524112 51.34781025768124

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[ 9.99792345e-01 -2.03781154e-02 -7.58028381e-06]
 [ 2.03781151e-02  9.99792344e-01 -4.03311294e-05]
 [ 8.40058213e-06  4.01682826e-05  9.99999999e-01]]

 t_estimated:
[[-9.90373148e-01]
 [-1.38423043e-01]
 [-2.99126052e-04]]

 R_gt:
[[ 0.99595338  0.08618135 -0.02548671]
 [-0.08582176  0.99619981  0.01486801]
 [ 0.02667144 -0.01262022  0.99956452]]

 t_gt:
[-0.83297008  0.55259864  0.0282063 ]

Pose Error in degrees for R and t:
6.332204858095323 41.543677769408426

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.95438404e-01 -9.54062492e-02 -1.75855281e-04]
 [ 9.54062850e-02  9.95438395e-01  2.07940077e-04]
 [ 1.55214316e-04 -2.23769237e-04  9.99999963e-01]]

 t_estimated:
[[-0.76814097]
 [-0.64027952]
 [-0.00126111]]

 R_gt:
[[ 0.99367944  0.10261902 -0.0455029 ]
 [-0.10290163  0.99468409 -0.00393577]
 [ 0.04485787  0.00859256  0.9989564 ]]

 t_gt:
[-0.67005576  0.71690496 -0.19254235]

Pose Error in degrees for R and t:
11.670519287032247 86.79431723078535

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.94317510e-01 -1.06454830e-01 -2.40315777e-04]
 [ 1.06454889e-01  9.94317502e-01  2.47113051e-04]
 [ 2.12643805e-04 -2.71291623e-04  9.99999941e-01]]

 t_estimated:
[[-0.99299332]
 [-0.11816519]
 [-0.00112207]]

 R_gt:
[[ 0.98620851  0.16147458 -0.03632371]
 [-0.16273814  0.98604627 -0.03505046]
 [ 0.03015749  0.0404795   0.99872545]]

 t_gt:
[-0.59228943  0.77537876 -0.21904568]

Pose Error in degrees for R and t:
15.713669231207046 60.213963961393354

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-9.95122065e-01 -8.56040004e-02  4.90309102e-02]
 [-8.54519210e-02  9.96328760e-01  5.19336514e-03]
 [-4.92954788e-02  9.78246782e-04 -9.98783760e-01]]

 t_estimated:
[[0.99050695]
 [0.13581277]
 [0.0212338 ]]

 R_gt:
[[ 0.99284354 -0.11231509 -0.04057628]
 [ 0.11294294  0.99350935  0.01352241]
 [ 0.03879453 -0.01800855  0.99908396]]

 t_gt:
[ 0.66151571 -0.74748687 -0.06050076]

Pose Error in degrees for R and t:
179.4080542894201 56.46591353492292

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-5.29998943e-01  8.47998092e-01  5.96181490e-04]
 [-8.47995223e-01 -5.29994993e-01 -3.06755918e-03]
 [-2.28531113e-03 -2.13136218e-03  9.99995117e-01]]

 t_estimated:
[[0.53117287]
 [0.84726211]
 [0.00151596]]

 R_gt:
[[ 0.97253129 -0.22792566 -0.04725155]
 [ 0.22891644  0.97330331  0.01667585]
 [ 0.04219015 -0.02703416  0.99874347]]

 t_gt:
[ 0.68886078 -0.72462136 -0.01986741]

Pose Error in degrees for R and t:
135.23762255384648 75.63665492164841

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.99997203  0.00475908 -0.00576997]
 [-0.0047136   0.99995791  0.00787154]
 [ 0.00580718 -0.00784412  0.99995237]]

 t_estimated:
[[0.97997189]
 [0.19913222]
 [0.00120686]]

 R_gt:
[[ 0.96791953 -0.2481215   0.03959053]
 [ 0.25025243  0.9660935  -0.06352915]
 [-0.02248465  0.07139938  0.99719348]]

 t_gt:
[ 0.61533987 -0.76000175 -0.209175  ]

Pose Error in degrees for R and t:
15.494553709235985 63.16501339612731

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 9.99999930e-01  3.05892807e-04 -2.13636131e-04]
 [-3.05853284e-04  9.99999936e-01  1.85007964e-04]
 [ 2.13692710e-04 -1.84942610e-04  9.99999960e-01]]

 t_estimated:
[[-0.25064507]
 [-0.96807852]
 [-0.00101476]]

 R_gt:
[[ 0.99943272 -0.03019887 -0.01487447]
 [ 0.02730083  0.98563512 -0.16666634]
 [ 0.01969316  0.16616582  0.98590101]]

 t_gt:
[ 0.25507465  0.27905448 -0.92577833]

Pose Error in degrees for R and t:
9.786337298565282 70.540503326613

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-0.28665229  0.9580341   0.0010622 ]
 [ 0.95803155  0.28664834  0.00287675]
 [ 0.00245155  0.00184224 -0.9999953 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99792699 -0.06140193 -0.01925857]
 [ 0.05617378  0.97719358 -0.20478439]
 [ 0.03139334  0.20327789  0.97861739]]

 t_gt:
[ 0.32903627  0.22595301 -0.91688623]

Pose Error in degrees for R and t:
174.19023444512493 70.79042528501188

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 7.19511491e-04  9.99999504e-01 -6.89338265e-04]
 [-9.99996935e-01  7.17876164e-04 -2.36963256e-03]
 [-2.36913652e-03  6.91041129e-04  9.99996955e-01]]

 t_estimated:
[[0.07693479]
 [0.99703558]
 [0.00103966]]

 R_gt:
[[ 0.99053916 -0.13235117 -0.03625396]
 [ 0.12006004  0.96378575 -0.23812216]
 [ 0.06645685  0.23151727  0.97055789]]

 t_gt:
[ 0.46718781  0.09426445 -0.87911874]

Pose Error in degrees for R and t:
98.04377998631946 82.5873799977908

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.98249809e-01 -5.91378822e-02  1.72311769e-04]
 [ 5.91378720e-02  9.98249822e-01  6.36389618e-05]
 [-1.75773666e-04 -5.33374301e-05  9.99999983e-01]]

 t_estimated:
[[ 0.65873667]
 [-0.75237285]
 [ 0.00104401]]

 R_gt:
[[ 0.99855169 -0.03256398  0.04284608]
 [ 0.02836207  0.99504913  0.09525702]
 [-0.04573551 -0.09390361  0.99453003]]

 t_gt:
[ 0.17714189 -0.26109813  0.94891966]

Pose Error in degrees for R and t:
6.208145151842871 71.69208009903606

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.14403107  0.98957185  0.00161491]
 [-0.98956955 -0.14402594 -0.00293851]
 [-0.00267528 -0.00202131  0.99999438]]

 t_estimated:
[[-0.06559906]
 [ 0.99784247]
 [ 0.00267894]]

 R_gt:
[[ 0.99638111 -0.0568497   0.06320292]
 [ 0.0471667   0.98825748  0.14534425]
 [-0.07072373 -0.14183619  0.98736022]]

 t_gt:
[ 0.21931889 -0.26651492  0.93854623]

Pose Error in degrees for R and t:
101.57411235630597 73.87029614300675

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-1.20699449e-01  9.92689087e-01 -1.43390228e-04]
 [-9.92687251e-01 -1.20699502e-01 -1.91108228e-03]
 [-1.91441766e-03 -8.83249274e-05  9.99998164e-01]]

 t_estimated:
[[0.06534241]
 [0.99786229]
 [0.0011015 ]]

 R_gt:
[[ 0.99325771 -0.07572275  0.08778369]
 [ 0.05900633  0.98199906  0.17943634]
 [-0.09979102 -0.1730458   0.97984542]]

 t_gt:
[ 0.23598557 -0.21860864  0.94684797]

Pose Error in degrees for R and t:
101.31664423666493 78.36486915658583

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.99886024e-01  1.50974189e-02  8.54830867e-05]
 [-1.50974535e-02  9.99885939e-01  4.20402836e-04]
 [-7.91263387e-05 -4.21645497e-04  9.99999908e-01]]

 t_estimated:
[[0.47463041]
 [0.88018463]
 [0.0010003 ]]

 R_gt:
[[ 0.99682992  0.06438541 -0.0467529 ]
 [-0.06281431  0.9974342   0.0343295 ]
 [ 0.04884385 -0.03128362  0.99831556]]

 t_gt:
[-0.08066333  0.99597988 -0.03895516]

Pose Error in degrees for R and t:
4.329665181129172 33.03665737996925

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999628e-01 -4.40929142e-04  7.41439839e-04]
 [ 4.42231432e-04  9.99998358e-01 -1.75718847e-03]
 [-7.40663826e-04  1.75751570e-03  9.99998181e-01]]

 t_estimated:
[[-0.72811354]
 [-0.68545064]
 [-0.00284419]]

 R_gt:
[[ 0.99624992  0.06833552 -0.05309216]
 [-0.06504963  0.99599607  0.06131459]
 [ 0.05706988 -0.05763084  0.99670556]]

 t_gt:
[0.24105148 0.96407009 0.11163803]

Pose Error in degrees for R and t:
6.120914944891224 33.21166389216863

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99988374e-01  9.27838878e-04 -4.73187962e-03]
 [-9.08860629e-04  9.99991542e-01  4.01129543e-03]
 [ 4.73556144e-03 -4.00694818e-03  9.99980759e-01]]

 t_estimated:
[[0.74730016]
 [0.66448589]
 [0.00098588]]

 R_gt:
[[ 0.99109811  0.09649857 -0.09172361]
 [-0.09331604  0.99489575  0.0383844 ]
 [ 0.09495996 -0.02948269  0.99504438]]

 t_gt:
[ 0.37250816  0.86840707 -0.3272718 ]

Pose Error in degrees for R and t:
7.62200916560308 31.229547386608107

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 0.05675563 -0.99815009 -0.02179878]
 [-0.99816804 -0.0562712  -0.02222849]
 [ 0.02096073  0.02302044 -0.99951524]]

 t_estimated:
[[ 0.69244291]
 [ 0.72133161]
 [-0.01426612]]

 R_gt:
[[ 9.99873696e-01 -4.38040510e-05 -1.59005718e-02]
 [-1.95985500e-05  9.99991055e-01 -3.99355382e-03]
 [ 1.59008550e-02  3.99368605e-03  9.99866136e-01]]

 t_gt:
[ 0.1104029  -0.95338027 -0.28085095]

Pose Error in degrees for R and t:
177.4245122594166 52.609150079620846

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.95697809e-01 -9.26599749e-02  3.67074654e-05]
 [ 9.26599754e-02  9.95697810e-01 -9.82434066e-06]
 [-3.56392197e-05  1.31833873e-05  9.99999999e-01]]

 t_estimated:
[[0.86826247]
 [0.49610436]
 [0.00086845]]

 R_gt:
[[ 0.99972717  0.00518895 -0.02275354]
 [-0.00654925  0.99816454 -0.06019671]
 [ 0.02239994  0.0603307   0.99792731]]

 t_gt:
[-0.03702527  0.00507462 -0.99930144]

Pose Error in degrees for R and t:
6.750270810865162 88.2523246912881

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-4.43331076e-01 -8.96357777e-01  5.40804917e-04]
 [-8.96344274e-01  4.43327567e-01  5.25462308e-03]
 [-4.94977599e-03  1.84479031e-03 -9.99986048e-01]]

 t_estimated:
[[0.85323643]
 [0.5215188 ]
 [0.00239452]]

 R_gt:
[[ 0.99831378 -0.05762249 -0.00704576]
 [ 0.0562077   0.98980124 -0.13089484]
 [ 0.01451736  0.13027881  0.9913713 ]]

 t_gt:
[ 0.25554983  0.20008467 -0.9458649 ]

Pose Error in degrees for R and t:
175.70717534699966 71.32936742084186

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.01430685 -0.99989603 -0.00179851]
 [ 0.99989563 -0.01430318 -0.00203683]
 [ 0.00201089 -0.00182746  0.99999631]]

 t_estimated:
[[8.74954685e-01]
 [4.84204303e-01]
 [7.01448513e-04]]

 R_gt:
[[ 0.99948555 -0.03156567  0.00565648]
 [ 0.03123589  0.99820463  0.05110281]
 [-0.0072582  -0.05090043  0.99867808]]

 t_gt:
[ 0.60364647 -0.46391461  0.64837811]

Pose Error in degrees for R and t:
89.05868571957176 72.30267054015346

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-7.46600225e-03  9.99971766e-01 -8.51679769e-04]
 [ 9.99964094e-01  7.46935387e-03  4.00244496e-03]
 [ 4.00869345e-03 -8.21766926e-04 -9.99991628e-01]]

 t_estimated:
[[-9.99949711e-01]
 [-9.98649348e-03]
 [ 9.19673749e-04]]

 R_gt:
[[ 0.99513601 -0.08408067  0.05132022]
 [ 0.07540377  0.98544181  0.15237511]
 [-0.0633834  -0.14776461  0.98698972]]

 t_gt:
[ 0.38700164 -0.42224771  0.81971739]

Pose Error in degrees for R and t:
176.06882954887746 67.54166294357323

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-3.87175227e-01  9.22005963e-01 -5.89922078e-04]
 [ 9.22003116e-01  3.87175515e-01  2.31831764e-03]
 [ 2.36590607e-03  3.53685165e-04 -9.99997139e-01]]

 t_estimated:
[[0.68059326]
 [0.73266063]
 [0.00109759]]

 R_gt:
[[ 0.98806869 -0.13242239  0.0786436 ]
 [ 0.1113753   0.96702974  0.22901494]
 [-0.10637656 -0.21752368  0.97024089]]

 t_gt:
[ 0.33952404 -0.42329037  0.83996945]

Pose Error in degrees for R and t:
177.21249361922608 85.51900133831148

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.78978987e-01  2.03959813e-01  7.33722006e-04]
 [-2.03960484e-01  9.78978612e-01  9.99333136e-04]
 [-5.14474351e-04 -1.12797644e-03  9.99999231e-01]]

 t_estimated:
[[0.45220309]
 [0.8919127 ]
 [0.00202328]]

 R_gt:
[[ 0.99784109 -0.04302998  0.04961068]
 [ 0.03847485  0.99525444  0.08937283]
 [-0.0532212  -0.0872711   0.99476214]]

 t_gt:
[ 0.1486989  -0.44920518  0.88096728]

Pose Error in degrees for R and t:
15.24860657829304 70.63242667650619

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.82379626 -0.56688108 -0.00235795]
 [-0.56687795  0.8237553   0.00875253]
 [-0.00301927  0.00854697 -0.99995892]]

 t_estimated:
[[ 0.99999228]
 [ 0.00363016]
 [-0.00150614]]

 R_gt:
[[ 0.99376056 -0.07224486  0.08497768]
 [ 0.05637582  0.98273821  0.17620397]
 [-0.09624028 -0.17031406  0.98067931]]

 t_gt:
[ 0.07847841 -0.42781422  0.90045329]

Pose Error in degrees for R and t:
172.01040340705458 85.66610884218838

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.46869948e-01  3.21616563e-01  2.98120379e-04]
 [-3.21616250e-01  9.46869766e-01 -7.95765694e-04]
 [-5.38212600e-04  6.57606262e-04  9.99999639e-01]]

 t_estimated:
[[2.18274394e-01]
 [9.75887317e-01]
 [4.82785654e-04]]

 R_gt:
[[ 0.99074662 -0.09444115  0.09748078]
 [ 0.07159284  0.97380813  0.21580386]
 [-0.11530827 -0.20682849  0.97155904]]

 t_gt:
[ 0.09001281 -0.43764612  0.89463041]

Pose Error in degrees for R and t:
27.244606228941542 65.98261037313961

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99965984e-01  8.24799268e-03  3.71831236e-05]
 [-8.24799347e-03  9.99965985e-01  2.10540407e-05]
 [-3.70082052e-05 -2.13600107e-05  9.99999999e-01]]

 t_estimated:
[[0.32126254]
 [0.94698959]
 [0.00104988]]

 R_gt:
[[ 0.99995218  0.00874646 -0.00434264]
 [-0.00891365  0.99915032 -0.04023444]
 [ 0.0039872   0.04027103  0.99917989]]

 t_gt:
[-0.22080519  0.28074258 -0.9340389 ]

Pose Error in degrees for R and t:
2.321847346205774 78.81700294002287

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 6.46814708e-01  7.62642997e-01  2.52830961e-03]
 [-7.62640895e-01  6.46819284e-01 -1.91812367e-03]
 [-3.09820300e-03 -6.87521701e-04  9.99994964e-01]]

 t_estimated:
[[0.64960771]
 [0.7602691 ]
 [0.00084474]]

 R_gt:
[[ 0.99943582 -0.03352302 -0.00216668]
 [ 0.03305402  0.99285207 -0.11467692]
 [ 0.00599579  0.11454055  0.99339953]]

 t_gt:
[ 0.14806137  0.37822127 -0.91379784]

Pose Error in degrees for R and t:
51.997820503470635 67.48285791075216

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 4.24653661e-01  9.05353642e-01  2.01257096e-03]
 [ 9.05354480e-01 -4.24655864e-01  8.14250875e-04]
 [ 1.59183506e-03  1.47631552e-03 -9.99997643e-01]]

 t_estimated:
[[0.16096313]
 [0.98695815]
 [0.00211794]]

 R_gt:
[[ 0.99834815 -0.05716299 -0.00583702]
 [ 0.05553849  0.98601391 -0.15713199]
 [ 0.01473737  0.15654794  0.98755962]]

 t_gt:
[ 0.12158296  0.54330043 -0.83068781]

Pose Error in degrees for R and t:
172.67492938546874 56.3563585930682

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.71254264e-01  2.38044399e-01  1.34927588e-04]
 [-2.38044299e-01  9.71254156e-01 -5.25911612e-04]
 [-2.56239295e-04  4.78675153e-04  9.99999853e-01]]

 t_estimated:
[[-0.57334295]
 [-0.81931448]
 [-0.00127823]]

 R_gt:
[[ 0.99174771 -0.06200332  0.11221064]
 [ 0.04089359  0.98254479  0.18148055]
 [-0.12150448 -0.17539366  0.97697219]]

 t_gt:
[ 0.15968017 -0.17539484  0.97146224]

Pose Error in degrees for R and t:
20.781159365477706 87.08179407046843

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[-9.76747766e-01 -2.14390996e-01  5.50610677e-04]
 [-2.14389427e-01  9.76746009e-01  2.09948537e-03]
 [-9.87917540e-04  1.93262253e-03 -9.99997644e-01]]

 t_estimated:
[[9.78654748e-01]
 [2.05509857e-01]
 [7.63977164e-04]]

 R_gt:
[[ 0.99182471 -0.08593668  0.09433251]
 [ 0.06466172  0.97576458  0.20905489]
 [-0.11001206 -0.20124521  0.97334404]]

 t_gt:
[ 0.23500231 -0.22516678  0.94555478]

Pose Error in degrees for R and t:
172.80660565679656 79.37183470557001

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[-0.06153404  0.99797814  0.01591199]
 [ 0.99780014  0.06190142 -0.02372983]
 [-0.02466682  0.0144168  -0.99959177]]

 t_estimated:
[[0.99844139]
 [0.05546895]
 [0.00616322]]

 R_gt:
[[ 0.98718967 -0.08998379  0.13175372]
 [ 0.05392432  0.96536611  0.25526971]
 [-0.15016139 -0.24489533  0.95785145]]

 t_gt:
[ 0.19019699 -0.15177655  0.96994277]

Pose Error in degrees for R and t:
177.5909886117832 79.19543185643285

Number of keypoints:
Image1: 322
Image2: 322

 R_estimated:
[[ 0.2533169   0.96696795  0.02834654]
 [ 0.96697846 -0.25225444 -0.03633667]
 [-0.02798586  0.03661519 -0.9989375 ]]

 t_estimated:
[[-0.58891259]
 [ 0.80786713]
 [-0.02307935]]

 R_gt:
[[ 0.9987881  -0.04656548 -0.01594185]
 [ 0.04588673  0.9981218  -0.04059175]
 [ 0.01780201  0.03981027  0.99904848]]

 t_gt:
[ 0.61870154 -0.25873351 -0.74179875]

Pose Error in degrees for R and t:
176.12641668244788 56.20223592031898

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.99130273e-01  4.16975995e-02  8.73017309e-05]
 [-4.16975805e-02  9.99130256e-01 -2.08670213e-04]
 [-9.59268477e-05  2.04848456e-04  9.99999974e-01]]

 t_estimated:
[[-0.4651598 ]
 [-0.88522603]
 [-0.00110686]]

 R_gt:
[[ 0.98968552 -0.13443391 -0.049506  ]
 [ 0.12956354  0.98737675 -0.09110721]
 [ 0.061129    0.08375246  0.99461006]]

 t_gt:
[ 0.64208845 -0.31449997 -0.69915105]

Pose Error in degrees for R and t:
11.62558699147651 88.88287276961383

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.82487725e-01  1.86327034e-01  3.25552038e-04]
 [-1.86326832e-01  9.82487653e-01 -5.69100361e-04]
 [-4.25889640e-04  4.98475039e-04  9.99999785e-01]]

 t_estimated:
[[5.18398963e-01]
 [8.55138563e-01]
 [7.43338921e-04]]

 R_gt:
[[ 0.98194699 -0.18736867 -0.02593141]
 [ 0.183098    0.97594309 -0.11836593]
 [ 0.04748591  0.11148109  0.992631  ]]

 t_gt:
[ 0.60171617 -0.40108302 -0.69070259]

Pose Error in degrees for R and t:
22.53433875610064 88.19110440963476

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999985e-01  1.70390277e-04  1.78756176e-05]
 [-1.70391601e-04  9.99999983e-01  7.40851083e-05]
 [-1.78629939e-05 -7.40881531e-05  9.99999997e-01]]

 t_estimated:
[[9.08683883e-01]
 [4.17484249e-01]
 [7.08801781e-04]]

 R_gt:
[[ 0.9969362  -0.07803861 -0.00533597]
 [ 0.0779426   0.9968249  -0.01624757]
 [ 0.00658751  0.01578312  0.99985386]]

 t_gt:
[ 0.74704163 -0.65578325 -0.10898227]

Pose Error in degrees for R and t:
4.589985612648336 66.11086146867183

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-1.36138211e-01  9.90688332e-01  1.73661914e-03]
 [-9.90689819e-01 -1.36137526e-01 -5.07021466e-04]
 [-2.65881217e-04 -1.78947590e-03  9.99998364e-01]]

 t_estimated:
[[0.17932363]
 [0.98378935]
 [0.0012453 ]]

 R_gt:
[[ 0.97889751 -0.20273413 -0.02566986]
 [ 0.20254748  0.97922396 -0.00968644]
 [ 0.0271006   0.00428399  0.99962333]]

 t_gt:
[ 0.75050756 -0.65664824 -0.0745083 ]

Pose Error in degrees for R and t:
109.52740493258767 59.2353645546754

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.97975535 -0.20018329  0.00247041]
 [ 0.20018763  0.97975618 -0.00165482]
 [-0.00208913  0.00211587  0.99999558]]

 t_estimated:
[[8.18587924e-01]
 [5.74380884e-01]
 [6.40594409e-04]]

 R_gt:
[[ 0.97284856 -0.22656673 -0.04725883]
 [ 0.22379478  0.97294014 -0.05747932]
 [ 0.0590035   0.04534238  0.99722732]]

 t_gt:
[ 0.77416475 -0.59409626 -0.2184458 ]

Pose Error in degrees for R and t:
4.538972990856396 73.00163323491161

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99993963e-01 -3.47481906e-03 -3.54814742e-06]
 [ 3.47481901e-03  9.99993963e-01 -1.43506356e-05]
 [ 3.59799186e-06  1.43382198e-05  1.00000000e+00]]

 t_estimated:
[[ 5.76224162e-01]
 [-8.17291590e-01]
 [-4.14973903e-04]]

 R_gt:
[[ 0.99318973 -0.11090514 -0.03572014]
 [ 0.10896394  0.99266546 -0.0523534 ]
 [ 0.04126468  0.04810477  0.99798897]]

 t_gt:
[ 0.61942868 -0.4941239  -0.61004072]

Pose Error in degrees for R and t:
7.1152769062286 40.44524829375462

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99999875e-01  4.98570175e-04 -2.93279553e-05]
 [-4.98571892e-04  9.99999874e-01 -5.85652620e-05]
 [ 2.92987527e-05  5.85798768e-05  9.99999998e-01]]

 t_estimated:
[[-0.3937511 ]
 [-0.91921616]
 [-0.00130895]]

 R_gt:
[[ 0.98894996 -0.14548041 -0.02852248]
 [ 0.14315621  0.98712716 -0.0713114 ]
 [ 0.0385295   0.0664395   0.99704577]]

 t_gt:
[ 0.56689341 -0.55936121 -0.60477012]

Pose Error in degrees for R and t:
9.427244878339396 73.03721100268194

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 8.78819907e-01  4.77153462e-01  3.80174418e-04]
 [-4.77153367e-01  8.78819984e-01 -3.15564299e-04]
 [-4.84677474e-04  9.59226838e-05  9.99999878e-01]]

 t_estimated:
[[-5.09107912e-01]
 [ 8.60702449e-01]
 [ 6.54674128e-04]]

 R_gt:
[[ 0.99238426 -0.1191014  -0.03146634]
 [ 0.11645268  0.99030778 -0.07568886]
 [ 0.04017576  0.07144818  0.99663389]]

 t_gt:
[ 0.56513058 -0.43138427 -0.70323185]

Pose Error in degrees for R and t:
35.57708919049151 48.74081489120896

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[-9.93093489e-01  1.17325580e-01  1.75509904e-04]
 [ 1.17325454e-01  9.93087061e-01  3.58149524e-03]
 [ 2.45904393e-04  3.57735138e-03 -9.99993571e-01]]

 t_estimated:
[[9.99964523e-01]
 [8.37179601e-03]
 [9.30199557e-04]]

 R_gt:
[[ 0.95830264  0.28473832 -0.02409571]
 [-0.28447942  0.95858558  0.01362315]
 [ 0.02697697 -0.00620058  0.99961602]]

 t_gt:
[-0.96413942  0.26533064 -0.00590209]

Pose Error in degrees for R and t:
178.45757403707054 15.868997241316828

Number of keypoints:
Image1: 23
Image2: 23

 R_estimated:
[[ 0.98224906 -0.18752498  0.00460154]
 [ 0.18756059  0.98221002 -0.00919198]
 [-0.00279596  0.00989189  0.99994717]]

 t_estimated:
[[-0.99677915]
 [-0.08018782]
 [-0.00111372]]

 R_gt:
[[ 0.8403897   0.54176027  0.015527  ]
 [-0.54187755  0.84044593  0.00438864]
 [-0.01067273 -0.01210206  0.99986954]]

 t_gt:
[-0.89983571  0.43589424  0.01708515]

Pose Error in degrees for R and t:
43.635208624876476 30.462061726079316

Number of keypoints:
Image1: 18
Image2: 18

 R_estimated:
[[ 9.85919433e-01 -1.67219767e-01  6.49030139e-04]
 [ 1.67220444e-01  9.85918815e-01 -1.18885864e-03]
 [-4.41090362e-04  1.28064994e-03  9.99999083e-01]]

 t_estimated:
[[-0.1835644]
 [-0.9830053]
 [-0.0021648]]

 R_gt:
[[ 0.65665373  0.75415743  0.00726252]
 [-0.75359879  0.65648859 -0.03333875]
 [-0.02991051  0.01641917  0.999417  ]]

 t_gt:
[-0.80314012  0.59559177 -0.01537469]

Pose Error in degrees for R and t:
58.59998801885542 64.02310541073057

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[ 9.99999089e-01 -1.34947952e-03  6.05301228e-06]
 [ 1.34947976e-03  9.99999089e-01 -3.98819534e-05]
 [-5.99918688e-06  3.98900855e-05  9.99999999e-01]]

 t_estimated:
[[ 2.13319627e-01]
 [-9.76982416e-01]
 [-3.08766830e-04]]

 R_gt:
[[ 0.9987573  -0.02775861 -0.04139225]
 [ 0.02883698  0.99925492  0.02565981]
 [ 0.04064983 -0.02682229  0.99881285]]

 t_gt:
[ 0.7074551  -0.61733936 -0.34409211]

Pose Error in degrees for R and t:
3.1920288273007245 41.04884537671638

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[-7.35954227e-01 -6.77030646e-01 -9.37947475e-04]
 [-6.77025903e-01  7.35942129e-01  5.01097871e-03]
 [-2.70231109e-03  4.32286570e-03 -9.99987005e-01]]

 t_estimated:
[[0.94453783]
 [0.32839891]
 [0.0015638 ]]

 R_gt:
[[ 0.99780002 -0.02923932 -0.05949489]
 [ 0.0315132   0.99879404  0.03765038]
 [ 0.05832217 -0.03944227  0.99751871]]

 t_gt:
[ 0.6119735  -0.6942234  -0.37886977]

Pose Error in degrees for R and t:
177.71465619167716 69.5458669089758

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99826430e-01  1.86295795e-02  2.22423554e-04]
 [-1.86295186e-02  9.99826418e-01 -2.72958352e-04]
 [-2.27470044e-04  2.68767331e-04  9.99999938e-01]]

 t_estimated:
[[9.99470270e-01]
 [3.25324861e-02]
 [9.03680172e-04]]

 R_gt:
[[ 0.99795878  0.03789336 -0.05139794]
 [-0.03557009  0.99833594  0.04538449]
 [ 0.05303238 -0.04346454  0.99764598]]

 t_gt:
[-0.67545411 -0.32818552 -0.66034537]

Pose Error in degrees for R and t:
4.086524521090784 46.65657536544979

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.99991489e-01 -4.12504423e-03  7.90331820e-05]
 [ 4.12505233e-03  9.99991487e-01 -1.02630196e-04]
 [-7.86091551e-05  1.02955338e-04  9.99999992e-01]]

 t_estimated:
[[ 9.25662784e-01]
 [-3.78349077e-01]
 [ 6.21895563e-04]]

 R_gt:
[[ 0.99981426 -0.01239986 -0.01478149]
 [ 0.01233533  0.99991451 -0.00445714]
 [ 0.01483675  0.00427306  0.99988076]]

 t_gt:
[ 0.07661806 -0.94615238 -0.31452401]

Pose Error in degrees for R and t:
1.003768280035394 64.61473741782487

Number of keypoints:
Image1: 300
Image2: 300

 R_estimated:
[[-9.31226682e-01 -3.64425285e-01 -3.32835333e-03]
 [ 3.64423164e-01 -9.31232629e-01  1.24459674e-03]
 [-3.55303374e-03 -5.39273586e-05  9.99993687e-01]]

 t_estimated:
[[0.91106759]
 [0.41225441]
 [0.0014671 ]]

 R_gt:
[[ 0.99976537 -0.010364   -0.01901696]
 [ 0.00985082  0.99959201 -0.0268276 ]
 [ 0.01928797  0.0266337   0.99945888]]

 t_gt:
[ 0.04582031 -0.86844651 -0.49366098]

Pose Error in degrees for R and t:
158.0546594694816 71.51842015551503

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.33172818e-01  3.59427127e-01 -7.95657194e-04]
 [-3.59426995e-01  9.33173157e-01  3.07041120e-04]
 [ 8.52844842e-04 -5.41752437e-07  9.99999636e-01]]

 t_estimated:
[[-0.81067801]
 [-0.58548968]
 [-0.00173222]]

 R_gt:
[[ 0.99932919 -0.01131716 -0.03483075]
 [ 0.00823183  0.99613448 -0.08745639]
 [ 0.03568657  0.08711026  0.99555881]]

 t_gt:
[-0.0085162  -0.17122008 -0.985196  ]

Pose Error in degrees for R and t:
22.28061810610368 83.75050814412197

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99999974e-01  2.19070434e-04 -5.79372158e-05]
 [-2.19069579e-04  9.99999976e-01  1.47580902e-05]
 [ 5.79404474e-05 -1.47453975e-05  9.99999998e-01]]

 t_estimated:
[[-0.92120305]
 [-0.38907955]
 [-0.00143044]]

 R_gt:
[[ 9.99196009e-01  4.01000212e-02  5.14284597e-04]
 [-4.01005515e-02  9.99194509e-01  1.05333242e-03]
 [-4.71722630e-04 -1.07309619e-03  9.99999261e-01]]

 t_gt:
[ 0.55624205  0.82740567 -0.07742509]

Pose Error in degrees for R and t:
2.2867693415152766 33.464488893874744

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 9.99999076e-01  1.27587817e-03 -4.68434879e-04]
 [-1.27544389e-03  9.99998758e-01  9.26227771e-04]
 [ 4.69616051e-04 -9.25629454e-04  9.99999461e-01]]

 t_estimated:
[[-0.99998662]
 [-0.00478039]
 [-0.00197761]]

 R_gt:
[[ 0.99793315  0.019385   -0.06127347]
 [-0.01830666  0.99966891  0.01810802]
 [ 0.06160477 -0.01694959  0.99795707]]

 t_gt:
[ 0.97507519  0.11280353 -0.19105953]

Pose Error in degrees for R and t:
3.7601652695804213 12.780799212447533

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 8.62011200e-01 -5.06889049e-01 -4.27514506e-04]
 [ 5.06889208e-01  8.62011100e-01  4.41059320e-04]
 [ 1.44954110e-04 -5.96900564e-04  9.99999811e-01]]

 t_estimated:
[[ 0.00423223]
 [-0.99999051]
 [-0.00103008]]

 R_gt:
[[ 0.98611464  0.11818768 -0.11666539]
 [-0.10893409  0.99059796  0.08275291]
 [ 0.12534928 -0.06889492  0.98971772]]

 t_gt:
[ 0.72632052  0.67186552 -0.14510422]

Pose Error in degrees for R and t:
37.87584610980331 48.03814371245896

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99999971e-01 -2.04067072e-04  1.24048183e-04]
 [ 2.04058379e-04  9.99999977e-01  7.00883431e-05]
 [-1.24062483e-04 -7.00630280e-05  9.99999990e-01]]

 t_estimated:
[[6.31147646e-01]
 [7.75662367e-01]
 [7.35292339e-04]]

 R_gt:
[[ 0.99127643 -0.10193586 -0.08355053]
 [ 0.09869396  0.99422845 -0.04205621]
 [ 0.08735515  0.03344361  0.99561621]]

 t_gt:
[ 0.70057321 -0.44385866 -0.55873667]

Pose Error in degrees for R and t:
7.875669909977053 84.40650917096085

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-4.98463309e-01  8.66910797e-01  6.69345930e-06]
 [-8.66908974e-01 -4.98462244e-01 -2.05478148e-03]
 [-1.77797582e-03 -1.03003580e-03  9.99997889e-01]]

 t_estimated:
[[0.57163376]
 [0.82050832]
 [0.00097217]]

 R_gt:
[[ 0.95530627 -0.27878898 -0.09831826]
 [ 0.27576804  0.96024566 -0.04335831]
 [ 0.10649769  0.01430821  0.99421043]]

 t_gt:
[ 0.79172969 -0.55740361 -0.24993062]

Pose Error in degrees for R and t:
136.1160079569826 89.71249680968214

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99997027e-01  2.41568542e-03  3.33282510e-04]
 [-2.41497846e-03  9.99994867e-01 -2.10556117e-03]
 [-3.38367172e-04  2.10475004e-03  9.99997728e-01]]

 t_estimated:
[[0.50086277]
 [0.86552601]
 [0.00109838]]

 R_gt:
[[ 9.38009617e-01 -3.23300855e-01 -1.24962270e-01]
 [ 3.20341696e-01  9.46295481e-01 -4.36488622e-02]
 [ 1.32363328e-01  9.12365180e-04  9.91201257e-01]]

 t_gt:
[ 0.81298127 -0.53610301 -0.2272774 ]

Pose Error in degrees for R and t:
20.450463794505986 86.72842773395186

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.99999935e-01 -1.60738414e-04  3.23918162e-04]
 [ 1.60918447e-04  9.99999833e-01 -5.55847827e-04]
 [-3.23828762e-04  5.55899915e-04  9.99999793e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.98970397 -0.14262864 -0.01193976]
 [ 0.14291422  0.98933605  0.0281077 ]
 [ 0.00780208 -0.02952447  0.99953327]]

 t_gt:
[ 0.66333405 -0.74262537  0.09217099]

Pose Error in degrees for R and t:
8.393000647950519 81.27956099440793

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 9.99999951e-01  3.12151477e-04  2.15316880e-05]
 [-3.12152908e-04  9.99999949e-01  6.65077917e-05]
 [-2.15109264e-05 -6.65145096e-05  9.99999998e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075939e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97915909 -0.20209787 -0.02006275]
 [ 0.20256004  0.97896076  0.0245773 ]
 [ 0.014673   -0.02812899  0.99949712]]

 t_gt:
[ 0.69906714 -0.71458086  0.02606409]

Pose Error in degrees for R and t:
11.83377985109665 45.823737748044124

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 1.00000000e+00  6.41708908e-14  5.10388173e-16]
 [-6.41708908e-14  1.00000000e+00 -4.04800434e-16]
 [-5.98154339e-16  1.60570342e-16  1.00000000e+00]]

 t_estimated:
[[ 9.40963148e-01]
 [-3.38508842e-01]
 [-3.43369924e-04]]

 R_gt:
[[ 0.96622858 -0.25710468  0.01724754]
 [ 0.25643801  0.96597791  0.03356973]
 [-0.02529251 -0.02801243  0.99928732]]

 t_gt:
[ 0.721227   -0.68319232  0.11436724]

Pose Error in degrees for R and t:
15.039557414054562 24.51186132456687

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.98660540e-01 -5.17409157e-02  5.31253510e-05]
 [ 5.17409155e-02  9.98660542e-01  3.91853977e-06]
 [-5.32569407e-05 -1.16453675e-06  9.99999999e-01]]

 t_estimated:
[[0.17717274]
 [0.98417924]
 [0.00102412]]

 R_gt:
[[ 0.99780571  0.06602056  0.00492402]
 [-0.06618901  0.9964029   0.05290151]
 [-0.00141451 -0.05311095  0.9985881 ]]

 t_gt:
[-0.24278335  0.16842538  0.95534765]

Pose Error in degrees for R and t:
7.4126266561674035 82.89289356242124

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.91516429  0.40290206 -0.01201027]
 [ 0.40289293  0.91524125  0.00327766]
 [ 0.01231287 -0.00183926 -0.9999225 ]]

 t_estimated:
[[ 0.97949417]
 [-0.20136517]
 [-0.00657526]]

 R_gt:
[[ 0.99025213  0.11966982 -0.07126834]
 [-0.11320832  0.98960349  0.08869861]
 [ 0.08114061 -0.07976604  0.99350654]]

 t_gt:
[0.19378759 0.43565139 0.87900753]

Pose Error in degrees for R and t:
174.00174454603732 84.47332905902704

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.03187532e-01  4.29210829e-01  5.50873927e-03]
 [-4.29245779e-01  9.03129821e-01  1.02268367e-02]
 [-5.85637651e-04 -1.16013545e-02  9.99932531e-01]]

 t_estimated:
[[0.79850216]
 [0.60199036]
 [0.00138389]]

 R_gt:
[[ 0.97258562  0.18823696 -0.13653925]
 [-0.17160012  0.97721764  0.12489319]
 [ 0.15693774 -0.09803835  0.98273055]]

 t_gt:
[0.60518607 0.68719228 0.40189127]

Pose Error in degrees for R and t:
18.22527279050051 26.171005221109432

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999923e-01 -1.20873610e-04  3.72384272e-04]
 [ 1.21034784e-04  9.99999899e-01 -4.32823922e-04]
 [-3.72331918e-04  4.32868960e-04  9.99999837e-01]]

 t_estimated:
[[0.6156115 ]
 [0.78804936]
 [0.00083303]]

 R_gt:
[[ 9.85658783e-01 -1.65695429e-01 -3.19859199e-02]
 [ 1.65800486e-01  9.86158850e-01  6.27090105e-04]
 [ 3.14396045e-02 -5.92059865e-03  9.99488167e-01]]

 t_gt:
[ 0.72586586 -0.68257264 -0.08493141]

Pose Error in degrees for R and t:
9.714922454334038 84.77193892023182

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999822e-01 -5.10618681e-04  3.09328087e-04]
 [ 5.10684816e-04  9.99999847e-01 -2.13760762e-04]
 [-3.09218889e-04  2.13918693e-04  9.99999929e-01]]

 t_estimated:
[[-0.37185181]
 [-0.92829133]
 [-0.00119691]]

 R_gt:
[[ 0.96853809 -0.24408067 -0.04856475]
 [ 0.24505531  0.96939034  0.01513995]
 [ 0.04338293 -0.02656439  0.99870486]]

 t_gt:
[ 0.73171974 -0.68023193 -0.0432521 ]

Pose Error in degrees for R and t:
14.43693204182195 68.93579632406542

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.17772980e-01  3.97102214e-01 -1.60872251e-03]
 [-3.97102000e-01  9.17774366e-01  4.63711017e-04]
 [ 1.66058495e-03  2.13245484e-04  9.99998598e-01]]

 t_estimated:
[[-0.99936286]
 [-0.03560071]
 [-0.00254291]]

 R_gt:
[[ 0.95161706 -0.30527729 -0.03509477]
 [ 0.30585518  0.951997    0.01236988]
 [ 0.02963426 -0.0225054   0.99930663]]

 t_gt:
[ 0.75406082 -0.65606556 -0.03114902]

Pose Error in degrees for R and t:
41.24404303608309 43.10146873712897

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.98741359e-01 -5.01567381e-02  1.10944821e-05]
 [ 5.01567369e-02  9.98741355e-01  9.04146155e-05]
 [-1.56154203e-05 -8.97443529e-05  9.99999996e-01]]

 t_estimated:
[[8.72693578e-01]
 [4.88267598e-01]
 [8.19626469e-04]]

 R_gt:
[[ 0.99821781 -0.03191689  0.05042377]
 [ 0.03015245  0.9989185   0.0353967 ]
 [-0.0514982  -0.03381234  0.99810035]]

 t_gt:
[ 0.43093773 -0.4112      0.80324793]

Pose Error in degrees for R and t:
3.6944308228704097 79.8655107581188

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-0.79506971  0.60643094  0.01028011]
 [-0.60649261 -0.79507741 -0.00431499]
 [ 0.00555674 -0.00966553  0.99993785]]

 t_estimated:
[[0.57705138]
 [0.81670735]
 [0.00090094]]

 R_gt:
[[ 0.99887199 -0.0310836   0.03590386]
 [ 0.02839228  0.99691255  0.07321066]
 [-0.0380677  -0.07210747  0.99667   ]]

 t_gt:
[ 0.52850579 -0.38522209  0.75649559]

Pose Error in degrees for R and t:
144.3762413154945 89.48678550782365

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-0.47721888  0.25079889 -0.84223634]
 [-0.64629284 -0.7495729   0.14298966]
 [-0.59545589  0.61256868  0.51979986]]

 t_estimated:
[[0.30395238]
 [0.95268655]
 [0.00113415]]

 R_gt:
[[ 0.99247405 -0.09213047  0.08066603]
 [ 0.07645027  0.98077146  0.17956442]
 [-0.09565725 -0.17204547  0.98043328]]

 t_gt:
[ 0.44094952 -0.36526921  0.81984262]

Pose Error in degrees for R and t:
158.62009423283624 77.70004703032517

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.96134649e-01 -8.78384403e-02 -4.11173172e-04]
 [ 8.78388830e-02  9.96133944e-01  1.22331547e-03]
 [ 3.02129431e-04 -1.25470392e-03  9.99999167e-01]]

 t_estimated:
[[0.84596476]
 [0.53321415]
 [0.00512706]]

 R_gt:
[[ 0.99849483 -0.0269064   0.04779701]
 [ 0.02670025  0.9996313   0.00492441]
 [-0.04791192 -0.00364096  0.99884421]]

 t_gt:
[ 0.3941088  -0.40941844  0.82283339]

Pose Error in degrees for R and t:
4.464852317905805 83.14753472099898

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[-0.99961792 -0.0274485  -0.00325584]
 [ 0.02738281 -0.99944924  0.01874551]
 [-0.00376858  0.01864919  0.99981899]]

 t_estimated:
[[0.99088768]
 [0.13468376]
 [0.00137432]]

 R_gt:
[[ 0.99848243 -0.05319612  0.0142637 ]
 [ 0.05287359  0.99835768  0.0220552 ]
 [-0.01541364 -0.02126729  0.99965496]]

 t_gt:
[ 0.7145793  -0.5934558   0.37038715]

Pose Error in degrees for R and t:
175.3788111080408 51.049555762788245

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 0.8877316   0.46035994 -0.00115565]
 [-0.46035374  0.88772852  0.00353584]
 [ 0.00265366 -0.00260687  0.99999308]]

 t_estimated:
[[0.97742758]
 [0.2112669 ]
 [0.00127269]]

 R_gt:
[[ 0.99770005 -0.06648285 -0.01326133]
 [ 0.06683456  0.99736542  0.02821098]
 [ 0.01135096 -0.02903216  0.99951317]]

 t_gt:
[ 0.73537606 -0.66840717  0.11159706]

Pose Error in degrees for R and t:
31.271563319207598 54.710604179069904

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999972e-01 -2.19808683e-04 -8.83561257e-05]
 [ 2.19811260e-04  9.99999975e-01  2.91531423e-05]
 [ 8.83497155e-05 -2.91725632e-05  9.99999996e-01]]

 t_estimated:
[[-0.99738603]
 [-0.07223853]
 [-0.00164639]]

 R_gt:
[[ 0.99857422  0.03544143 -0.03990682]
 [-0.03428892  0.99898454  0.02921207]
 [ 0.04090166 -0.0278014   0.99877609]]

 t_gt:
[ 0.91977504  0.38061613 -0.09563072]

Pose Error in degrees for R and t:
3.4723635230706056 19.14205559720103

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.97448883e-01  7.13842733e-02  1.08890970e-04]
 [-7.13842549e-02  9.97448876e-01 -1.64799725e-04]
 [-1.20377285e-04  1.56606201e-04  9.99999980e-01]]

 t_estimated:
[[-5.98108262e-01]
 [ 8.01415152e-01]
 [-5.09971159e-04]]

 R_gt:
[[ 0.99268435  0.06196887 -0.10362254]
 [-0.05555174  0.99642068  0.06371321]
 [ 0.10719961 -0.05749045  0.99257343]]

 t_gt:
[ 0.91729748  0.35864224 -0.17303488]

Pose Error in degrees for R and t:
7.033506851759281 74.86266133846443

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.98026317 -0.1976908   0.00156739]
 [ 0.19769331  0.98026254 -0.00164319]
 [-0.00121161  0.00192062  0.99999742]]

 t_estimated:
[[-9.56395480e-01]
 [-2.92074337e-01]
 [-5.16782820e-04]]

 R_gt:
[[ 0.97718402  0.13068265 -0.1674342 ]
 [-0.11519266  0.98838262  0.09914976]
 [ 0.17844606 -0.07759954  0.98088461]]

 t_gt:
[ 0.62364031  0.72922414 -0.28161131]

Pose Error in degrees for R and t:
21.700718587403024 35.973487518395224

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 0.99999551  0.00277593 -0.00112707]
 [-0.00277376  0.99999431  0.00192101]
 [ 0.0011324  -0.00191788  0.99999752]]

 t_estimated:
[[-0.99262902]
 [-0.12118113]
 [-0.00166464]]

 R_gt:
[[ 0.9579042   0.28441045  0.03909613]
 [-0.28295999  0.95834751 -0.03876797]
 [-0.04849408  0.02607284  0.9984834 ]]

 t_gt:
[-0.91968121  0.3889376  -0.05398169]

Pose Error in degrees for R and t:
16.65719864684655 30.018923971095745

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 1.00000000e+00  4.91759411e-14 -4.40836603e-16]
 [-4.91620633e-14  1.00000000e+00  2.73761049e-16]
 [ 4.10262102e-16  6.49938545e-16  1.00000000e+00]]

 t_estimated:
[[-9.99375061e-01]
 [-3.53445703e-02]
 [-4.98095413e-04]]

 R_gt:
[[ 0.83745273  0.54649281  0.00431066]
 [-0.54512877  0.8358712  -0.06444396]
 [-0.0388218   0.05161804  0.9979122 ]]

 t_gt:
[-0.84187775  0.53455862 -0.07408727]

Pose Error in degrees for R and t:
33.31974980488261 34.664682745813394

Number of keypoints:
Image1: 30
Image2: 30

 R_estimated:
[[-0.82448257 -0.5581272  -0.09339447]
 [ 0.56449277 -0.7995926  -0.20493798]
 [ 0.03970394 -0.2216883   0.97430893]]

 t_estimated:
[[0.99993854]
 [0.01101898]
 [0.00122269]]

 R_gt:
[[ 0.66084294  0.75051387  0.00383672]
 [-0.74844569  0.65938456 -0.0709945 ]
 [-0.05581265  0.04404393  0.99746944]]

 t_gt:
[-0.77085069  0.63575944 -0.03998931]

Pose Error in degrees for R and t:
165.86105129446452 40.19549381701489

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.99869657e-01 -1.61452525e-02 -1.13574074e-05]
 [ 1.61452528e-02  9.99869656e-01  2.91516057e-05]
 [ 1.08852670e-05 -2.93311742e-05  1.00000000e+00]]

 t_estimated:
[[-4.13764865e-01]
 [-9.10383687e-01]
 [-4.22450708e-04]]

 R_gt:
[[ 0.9998132  -0.01380185 -0.01355919]
 [ 0.01394853  0.99984541  0.01070508]
 [ 0.01340923 -0.01089155  0.99985101]]

 t_gt:
[ 0.28383209 -0.94958904  0.13311645]

Pose Error in degrees for R and t:
0.9958097707916093 41.669310726539095

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.98703215e-01 -5.09081618e-02 -4.98046289e-04]
 [ 5.09080824e-02  9.98703328e-01 -1.70821129e-04]
 [ 5.06096676e-04  1.45245029e-04  9.99999861e-01]]

 t_estimated:
[[ 0.68680321]
 [-0.72681535]
 [-0.00638722]]

 R_gt:
[[ 9.99260465e-01  3.73955915e-02 -8.90658376e-03]
 [-3.73911856e-02  9.99300393e-01  5.97104269e-04]
 [ 8.92259473e-03 -2.62686546e-04  9.99960262e-01]]

 t_gt:
[ 0.1492064   0.93306921 -0.32729085]

Pose Error in degrees for R and t:
5.084243448334028 54.99813403790051

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.44312948 -0.87484416  0.19566288]
 [-0.89584212  0.42406217 -0.13280876]
 [ 0.03321374 -0.23413453 -0.9716367 ]]

 t_estimated:
[[0.65649595]
 [0.75355768]
 [0.03411582]]

 R_gt:
[[ 0.99368119  0.1113725  -0.01391148]
 [-0.11145188  0.99375623 -0.00514791]
 [ 0.01325154  0.00666624  0.99989039]]

 t_gt:
[ 0.14840984  0.97309453 -0.17624287]

Pose Error in degrees for R and t:
174.62150571051544 34.44184683054844

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99809127e-01 -1.95373641e-02 -2.45139091e-05]
 [ 1.95373636e-02  9.99809127e-01 -1.86348538e-05]
 [ 2.48733059e-05  1.81523598e-05  1.00000000e+00]]

 t_estimated:
[[ 0.63379205]
 [-0.77350237]
 [-0.00131043]]

 R_gt:
[[ 0.99865749 -0.04996084  0.01369934]
 [ 0.04998556  0.99874907 -0.00143504]
 [-0.01361078  0.00211808  0.99990481]]

 t_gt:
[ 0.75230749 -0.64220833  0.14697586]

Pose Error in degrees for R and t:
1.9156953362684341 13.2539205494646

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.99590482e-01  2.86158195e-02  6.44166466e-05]
 [-2.86158219e-02  9.99590483e-01  3.70656369e-05]
 [-6.33296033e-05 -3.88937932e-05  9.99999997e-01]]

 t_estimated:
[[0.55790127]
 [0.82990687]
 [0.00087354]]

 R_gt:
[[ 0.99635944 -0.08355162  0.01697068]
 [ 0.08383904  0.99633556 -0.01695818]
 [-0.01549088  0.01831954  0.99971221]]

 t_gt:
[ 0.78943034 -0.61248983  0.04069339]

Pose Error in degrees for R and t:
6.585942876057573 86.10950485905605

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.52327217  0.85216434 -0.00147471]
 [ 0.85215027  0.52327235  0.00509529]
 [ 0.0051137   0.00140955 -0.99998593]]

 t_estimated:
[[8.03635837e-01]
 [5.95120905e-01]
 [7.42046011e-04]]

 R_gt:
[[ 0.97721548 -0.2119061  -0.01206175]
 [ 0.21154755  0.9770278  -0.02579955]
 [ 0.01725226  0.02266008  0.99959389]]

 t_gt:
[ 0.78157429 -0.61660848 -0.09452838]

Pose Error in degrees for R and t:
179.74298842352644 74.86617910545863

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.91204502e-01 -1.32338975e-01 -1.73272957e-04]
 [ 1.32339029e-01  9.91204451e-01  3.44158088e-04]
 [ 1.26203397e-04 -3.64061822e-04  9.99999926e-01]]

 t_estimated:
[[0.17637833]
 [0.98432067]
 [0.00187102]]

 R_gt:
[[ 0.99643806  0.05769947 -0.06149746]
 [-0.06322082  0.99375219 -0.09198605]
 [ 0.05580541  0.09554608  0.99385884]]

 t_gt:
[-0.25733382  0.48544409 -0.83553776]

Pose Error in degrees for R and t:
12.774848329405156 64.4765018978274

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99998431e-01 -1.74683839e-03 -2.95212186e-04]
 [ 1.74683956e-03  9.99998474e-01  3.70810219e-06]
 [ 2.95205258e-04 -4.22378469e-06  9.99999956e-01]]

 t_estimated:
[[-0.99996509]
 [-0.00824198]
 [-0.0013777 ]]

 R_gt:
[[ 0.98981174  0.13528131 -0.04441036]
 [-0.13925088  0.98481479 -0.10368979]
 [ 0.02970854  0.1088174   0.993617  ]]

 t_gt:
[-0.51202989  0.65689638 -0.55345509]

Pose Error in degrees for R and t:
10.29810557546446 59.51183460789055

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 6.43515168e-01  7.65430068e-01  2.24487272e-03]
 [-7.65432327e-01  6.43516350e-01  2.44406862e-04]
 [-1.25753594e-03 -1.87557767e-03  9.99997450e-01]]

 t_estimated:
[[-0.45483536]
 [ 0.8905713 ]
 [ 0.00274956]]

 R_gt:
[[ 0.99509071  0.09037054  0.04034925]
 [-0.09194523  0.99499975  0.03904559]
 [-0.03661944 -0.04256418  0.99842163]]

 t_gt:
[-0.69945844  0.51141762  0.49920929]

Pose Error in degrees for R and t:
44.81185505043518 39.19815088786266

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99999970e-01  1.23170885e-04  2.10090042e-04]
 [-1.23134200e-04  9.99999977e-01 -1.74620909e-04]
 [-2.10111546e-04  1.74595034e-04  9.99999963e-01]]

 t_estimated:
[[9.69384743e-01]
 [2.45545475e-01]
 [7.99822395e-04]]

 R_gt:
[[ 0.99070434 -0.13006543 -0.03984968]
 [ 0.13054868  0.99139354  0.00976774]
 [ 0.03823642 -0.0148786   0.99915753]]

 t_gt:
[ 0.70066506 -0.69898236 -0.14315074]

Pose Error in degrees for R and t:
7.861642057088035 59.50470749130922

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-0.75087247 -0.66044566 -0.00143821]
 [-0.66044642  0.75086637  0.00319838]
 [-0.00103246  0.00335143 -0.99999385]]

 t_estimated:
[[9.04029559e-01]
 [4.27469282e-01]
 [7.55246081e-04]]

 R_gt:
[[ 0.97675249 -0.21257792 -0.02765811]
 [ 0.21211586  0.97706505 -0.01872307]
 [ 0.03100386  0.01242157  0.99944196]]

 t_gt:
[ 0.67829445 -0.70962553 -0.19065215]

Pose Error in degrees for R and t:
178.1105166547714 71.95817719946005

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.44046710e-01  3.29811723e-01  1.90682151e-04]
 [-3.29811776e-01  9.44046614e-01  4.28643053e-04]
 [-3.86413354e-05 -4.67548283e-04  9.99999890e-01]]

 t_estimated:
[[-9.92718822e-01]
 [-1.20452013e-01]
 [-8.08402935e-04]]

 R_gt:
[[ 0.96038083 -0.27472333 -0.04686107]
 [ 0.27260844  0.96098144 -0.04688833]
 [ 0.05791308  0.03225579  0.99779957]]

 t_gt:
[ 0.65073231 -0.70468565 -0.2827819 ]

Pose Error in degrees for R and t:
35.35860028652957 55.88298996775866

Number of keypoints:
Image1: 352
Image2: 352

 R_estimated:
[[ 8.30765980e-01 -5.56611505e-01 -3.39390494e-03]
 [-5.56615167e-01 -8.30770443e-01 -1.64216847e-04]
 [-2.72815093e-03  2.02552473e-03 -9.99994227e-01]]

 t_estimated:
[[0.15507143]
 [0.98790267]
 [0.00108442]]

 R_gt:
[[ 0.99766733 -0.01480717 -0.06665392]
 [ 0.01805416  0.9986669   0.04836733]
 [ 0.06584926 -0.04945859  0.99660342]]

 t_gt:
[ 0.89730809 -0.22665952  0.37876596]

Pose Error in degrees for R and t:
178.48563381885108 85.16077871292622

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 0.74524467 -0.66676852  0.00548826]
 [-0.66676338 -0.74511335  0.01525415]
 [-0.00608161 -0.01502745 -0.99986859]]

 t_estimated:
[[0.31332137]
 [0.94960747]
 [0.00868188]]

 R_gt:
[[ 0.99156638 -0.00286412 -0.12957264]
 [ 0.01128228  0.99786911  0.0642768 ]
 [ 0.12911312 -0.06519702  0.98948437]]

 t_gt:
[ 0.97686451 -0.19843423  0.07974696]

Pose Error in degrees for R and t:
178.25208256541615 83.2042532357882

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.93895013e-01 -1.10329951e-01  6.42427338e-05]
 [ 1.10329939e-01  9.93895001e-01  1.75117371e-04]
 [-8.31712230e-05 -1.66960385e-04  9.99999983e-01]]

 t_estimated:
[[ 1.06424648e-01]
 [ 9.94320768e-01]
 [-7.21398457e-05]]

 R_gt:
[[ 0.98669284  0.00755591 -0.16242097]
 [ 0.0063851   0.99634887  0.08513695]
 [ 0.1624714  -0.08504171  0.98304184]]

 t_gt:
[ 0.96758952 -0.22176452  0.12079332]

Pose Error in degrees for R and t:
12.331975905150207 83.24994177285801

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999986e-01 -6.60081762e-05 -1.52257924e-04]
 [ 6.60345666e-05  9.99999983e-01  1.73328124e-04]
 [ 1.52246480e-04 -1.73338176e-04  9.99999973e-01]]

 t_estimated:
[[-9.55225348e-01]
 [ 2.95878892e-01]
 [ 4.64356678e-04]]

 R_gt:
[[ 0.99458098  0.0996179  -0.02974706]
 [-0.09978632  0.99500014 -0.00421306]
 [ 0.02917919  0.00715961  0.99954951]]

 t_gt:
[-0.70343381  0.70119064 -0.11624356]

Pose Error in degrees for R and t:
5.9778627546594425 28.435785898021635

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 2.21644775e-01  9.75127451e-01  2.18577701e-04]
 [-9.75126022e-01  2.21644826e-01 -1.67680606e-03]
 [-1.68354624e-03  1.58514498e-04  9.99998570e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.99726169  0.04898272  0.05540611]
 [-0.05217285  0.99697182  0.05766004]
 [-0.052414   -0.06039223  0.99679744]]

 t_gt:
[-0.63018768  0.36440771  0.68561688]

Pose Error in degrees for R and t:
74.41185380805949 68.78676485465725

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-3.62570985e-01  9.31935956e-01  6.13631889e-03]
 [ 9.31954913e-01  3.62573406e-01  7.52335600e-04]
 [-1.52373745e-03  5.99154759e-03 -9.99980890e-01]]

 t_estimated:
[[-0.04591249]
 [-0.9989445 ]
 [-0.00139129]]

 R_gt:
[[ 9.96933097e-01  1.82016985e-04  7.82520871e-02]
 [-9.77886834e-03  9.92448125e-01  1.22274020e-01]
 [-7.76384880e-02 -1.22664026e-01  9.89406843e-01]]

 t_gt:
[-0.29268329  0.0603839   0.95430094]

Pose Error in degrees for R and t:
179.98920301817807 87.23669622325917

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 0.78319894 -0.62174809 -0.00536011]
 [ 0.6217612   0.78320612  0.00108338]
 [ 0.00352448 -0.00418121  0.99998505]]

 t_estimated:
[[-0.27687048]
 [-0.96090341]
 [-0.00271442]]

 R_gt:
[[ 0.99507172  0.09433366  0.03057848]
 [-0.09608868  0.99342842  0.06219517]
 [-0.02451021 -0.06482662  0.99759469]]

 t_gt:
[-0.82272376  0.36428906  0.43637036]

Pose Error in degrees for R and t:
44.08280297175941 82.90913984603661

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 0.11526936 -0.99331429  0.00630075]
 [-0.99332979 -0.11524746  0.00373617]
 [-0.00298504 -0.00668939 -0.99997317]]

 t_estimated:
[[0.53357427]
 [0.84573879]
 [0.00493861]]

 R_gt:
[[ 9.72580190e-01  2.32567850e-01  2.61321939e-04]
 [-2.32200232e-01  9.70980432e-01  5.72760929e-02]
 [ 1.30674085e-02 -5.57661707e-02  9.98357614e-01]]

 t_gt:
[-0.85377547  0.51140554  0.09763111]

Pose Error in degrees for R and t:
177.39741681741586 88.70758633874242

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.25102591e-01  3.79717222e-01  1.67505280e-04]
 [-3.79717037e-01  9.25102437e-01 -6.72270995e-04]
 [-4.10232417e-04  5.58315031e-04  9.99999760e-01]]

 t_estimated:
[[-9.94227971e-01]
 [-1.07284135e-01]
 [-9.24863229e-04]]

 R_gt:
[[ 0.91632139  0.39921496  0.03137332]
 [-0.39911717  0.90409818  0.15268739]
 [ 0.03259109 -0.15243256  0.9877755 ]]

 t_gt:
[-0.83000521  0.52063824  0.20006791]

Pose Error in degrees for R and t:
9.105995073659813 39.7203044200273

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-6.29037775e-01  7.77374148e-01  9.54597207e-04]
 [ 7.77371501e-01  6.29031142e-01  3.65673555e-03]
 [ 2.24218031e-03  3.04230146e-03 -9.99992858e-01]]

 t_estimated:
[[9.90039710e-01]
 [1.40785463e-01]
 [9.08293312e-04]]

 R_gt:
[[ 0.9981796  -0.01944074 -0.05708995]
 [ 0.01960015  0.99980544  0.00222808]
 [ 0.05703547 -0.0033447   0.99836597]]

 t_gt:
[ 0.7820243  -0.23582512 -0.57690945]

Pose Error in degrees for R and t:
176.93955024635113 42.225091722126976

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.45529811  0.88993899 -0.02668744]
 [ 0.88993848  0.45578782  0.01633887]
 [ 0.02670441 -0.01631113 -0.99951029]]

 t_estimated:
[[0.29552741]
 [0.95530954]
 [0.00687273]]

 R_gt:
[[ 0.98908908 -0.08672638 -0.11908814]
 [ 0.08121528  0.99542291 -0.0503839 ]
 [ 0.12291301  0.04016168  0.99160446]]

 t_gt:
[ 0.74978613 -0.26126118 -0.60791722]

Pose Error in degrees for R and t:
173.63457738757435 88.15584671719161

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99995413e-01 -3.02880017e-03 -1.43315802e-05]
 [ 3.02882120e-03  9.99993763e-01  1.81657636e-03]
 [ 8.82944406e-06 -1.81661144e-03  9.99998350e-01]]

 t_estimated:
[[0.55076883]
 [0.8346568 ]
 [0.00130824]]

 R_gt:
[[ 0.96799638 -0.23036448 -0.0995717 ]
 [ 0.2236553   0.97184584 -0.07413115]
 [ 0.11384582  0.04948847  0.99226466]]

 t_gt:
[ 0.82620718 -0.42542694 -0.36931507]

Pose Error in degrees for R and t:
14.844684123498507 84.29074292665233

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.98178865e-01 -6.03236662e-02 -9.63869728e-05]
 [ 6.03236661e-02  9.98178869e-01 -4.23692284e-06]
 [ 9.64670262e-05 -1.58520873e-06  9.99999995e-01]]

 t_estimated:
[[-7.39780958e-01]
 [-6.72847422e-01]
 [-6.93631760e-04]]

 R_gt:
[[ 0.9910566   0.12846984 -0.03607845]
 [-0.12708455  0.99115002  0.03837235]
 [ 0.04068888 -0.03344354  0.99861124]]

 t_gt:
[-0.86915653  0.49441144  0.01114702]

Pose Error in degrees for R and t:
11.216359524220804 71.92183002022632

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.14203202  0.98986073  0.00162718]
 [ 0.98986121  0.14202955  0.00154971]
 [ 0.00130289  0.00183079 -0.99999748]]

 t_estimated:
[[-0.21912783]
 [-0.97569548]
 [-0.0011533 ]]

 R_gt:
[[ 0.94491636  0.32488939 -0.03975768]
 [-0.31996507  0.94245733  0.09693299]
 [ 0.06896176 -0.07887254  0.99449647]]

 t_gt:
[-0.85028907  0.52425617  0.04651843]

Pose Error in degrees for R and t:
174.250946049911 71.01951879128937

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 3.33798717e-01 -9.42644327e-01 -2.98458660e-04]
 [ 9.42641704e-01  3.33798508e-01 -2.27454236e-03]
 [ 2.24370950e-03  4.77899739e-04  9.99997369e-01]]

 t_estimated:
[[ 0.65854521]
 [-0.75253669]
 [-0.00259461]]

 R_gt:
[[ 0.92248556  0.38587918 -0.0108125 ]
 [-0.38031057  0.91326523  0.14598064]
 [ 0.06620619 -0.13055295  0.98922792]]

 t_gt:
[-0.86642372  0.47659597  0.14888322]

Pose Error in degrees for R and t:
93.45386703097704 21.624118600342893

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.99999868e-01  4.99019219e-04  1.21918988e-04]
 [-4.99014929e-04  9.99999875e-01 -3.52086055e-05]
 [-1.21936543e-04  3.51477614e-05  9.99999992e-01]]

 t_estimated:
[[9.99011224e-01]
 [4.44578577e-02]
 [2.72365227e-04]]

 R_gt:
[[ 0.98436171 -0.17546744 -0.01562076]
 [ 0.1757483   0.98425137  0.01899751]
 [ 0.01204199 -0.02144453  0.99969763]]

 t_gt:
[ 0.73501978 -0.67727138  0.03239462]

Pose Error in degrees for R and t:
10.242110019515644 45.23571269974639

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.9999289   0.00801698 -0.0088274 ]
 [-0.00795085  0.99994026  0.00750134]
 [ 0.00888701 -0.00743062  0.9999329 ]]

 t_estimated:
[[-0.48610632]
 [-0.873899  ]
 [-0.00109237]]

 R_gt:
[[ 0.98152949 -0.18438979 -0.05099979]
 [ 0.18593469  0.98217956  0.02740342]
 [ 0.04503802 -0.0363793   0.99832266]]

 t_gt:
[ 0.7745535  -0.63220554 -0.01957134]

Pose Error in degrees for R and t:
11.44864666110278 79.86373565172093

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.94199718  0.33561449  0.0020559 ]
 [ 0.33561082 -0.94199874  0.00193772]
 [ 0.00258699 -0.00113535 -0.99999601]]

 t_estimated:
[[0.02855968]
 [0.99958872]
 [0.00259633]]

 R_gt:
[[ 0.95812598 -0.25116042 -0.13752364]
 [ 0.25049988  0.96785736 -0.02237278]
 [ 0.1387226  -0.01301292  0.99024539]]

 t_gt:
[ 0.83138561 -0.49854963 -0.24545107]

Pose Error in degrees for R and t:
178.83266062550902 61.62516863021607

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[ 0.34359902 -0.93887278  0.02139214]
 [-0.93885612 -0.34287831  0.03136328]
 [-0.02211123 -0.03086054 -0.9992791 ]]

 t_estimated:
[[0.53212368]
 [0.84641813]
 [0.02051182]]

 R_gt:
[[ 0.99983365  0.01575048 -0.00928982]
 [-0.01610766  0.99908201 -0.03970252]
 [ 0.00865606  0.03984537  0.99916789]]

 t_gt:
[ 0.02434233  0.72179661 -0.69167702]

Pose Error in degrees for R and t:
179.94832656502697 52.431656933403545

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.99973485e-01 -7.28171927e-03 -7.30043284e-05]
 [ 7.28172642e-03  9.99973483e-01  9.82078847e-05]
 [ 7.22872703e-05 -9.87368783e-05  9.99999993e-01]]

 t_estimated:
[[-8.94826799e-01]
 [ 4.46413171e-01]
 [-5.29147813e-04]]

 R_gt:
[[ 0.99532209  0.09638597 -0.00674355]
 [-0.0966166   0.99357117 -0.05900713]
 [ 0.00101225  0.05938205  0.99823434]]

 t_gt:
[-0.42505419  0.81410736 -0.39567429]

Pose Error in degrees for R and t:
6.865651787565487 41.92779404692093

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.11609294  0.99323257 -0.00339116]
 [ 0.99322304 -0.11607151  0.0059502 ]
 [ 0.00551631 -0.00405896 -0.99997655]]

 t_estimated:
[[-0.41480936]
 [-0.90990441]
 [-0.00267619]]

 R_gt:
[[ 0.97640176  0.2146908  -0.02342494]
 [-0.21574071  0.97457011 -0.06056889]
 [ 0.00982595  0.06419414  0.99788931]]

 t_gt:
[-0.60140549  0.76468021 -0.23146406]

Pose Error in degrees for R and t:
178.3397847614894 63.5320057706021

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.99322772e-01 -3.67966912e-02  9.61323021e-06]
 [ 3.67966900e-02  9.99322767e-01  1.01452353e-04]
 [-1.33398307e-05 -1.01029912e-04  9.99999995e-01]]

 t_estimated:
[[-1.41441956e-01]
 [ 9.89946537e-01]
 [-1.60895646e-04]]

 R_gt:
[[ 0.99812419  0.01437841 -0.05950463]
 [-0.01393592  0.99987228  0.00782984]
 [ 0.05961018 -0.00698563  0.99819744]]

 t_gt:
[ 0.95976839 -0.05183404 -0.27596716]

Pose Error in degrees for R and t:
4.512985266560176 79.22107176096654

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-3.78898983e-01 -9.25430002e-01 -3.85636482e-03]
 [-9.25437883e-01  3.78893228e-01  2.15541342e-03]
 [-5.33533735e-04  4.38551005e-03 -9.99990241e-01]]

 t_estimated:
[[6.99621552e-01]
 [7.14513405e-01]
 [5.27494293e-04]]

 R_gt:
[[ 0.99596651  0.04297124 -0.07877016]
 [-0.03918722  0.99803174  0.04896646]
 [ 0.0807195  -0.04568133  0.99568949]]

 t_gt:
[ 0.97508069 -0.15247315  0.16115082]

Pose Error in degrees for R and t:
177.59519951747052 55.01734969858742

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.98130089e-01 -6.11252030e-02 -1.87121790e-04]
 [ 6.11252372e-02  9.98130088e-01  1.82897684e-04]
 [ 1.75592231e-04 -1.93993546e-04  9.99999966e-01]]

 t_estimated:
[[-0.97236138]
 [ 0.23347752]
 [-0.00126414]]

 R_gt:
[[ 0.98570055  0.12809944 -0.1094763 ]
 [-0.11552842  0.98670031  0.11434512]
 [ 0.12266812 -0.10006215  0.98739102]]

 t_gt:
[0.74579044 0.04278602 0.66480522]

Pose Error in degrees for R and t:
13.916541408532622 44.27243567357968

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[-3.85669411e-01 -9.22631999e-01 -3.04965551e-03]
 [ 9.22635668e-01 -3.85672430e-01  4.49250202e-04]
 [-1.59066066e-03 -2.64045889e-03  9.99995249e-01]]

 t_estimated:
[[0.98445386]
 [0.17563719]
 [0.00147594]]

 R_gt:
[[ 0.99747497 -0.07052991 -0.00831442]
 [ 0.07040921  0.99741975 -0.01404724]
 [ 0.0092842   0.01342748  0.99986657]]

 t_gt:
[ 0.72879084 -0.66331018 -0.16995153]

Pose Error in degrees for R and t:
108.64801936579599 53.079366206520135

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 5.41366181e-01  8.40786138e-01  1.15269745e-03]
 [-8.40786872e-01  5.41366137e-01  3.76672777e-04]
 [-3.07330118e-04 -1.17309079e-03  9.99999265e-01]]

 t_estimated:
[[7.58345954e-01]
 [6.51851942e-01]
 [6.78305877e-04]]

 R_gt:
[[ 0.97554165 -0.2180555  -0.02774304]
 [ 0.21832335  0.97585173  0.00701591]
 [ 0.02554318 -0.01289992  0.99959021]]

 t_gt:
[ 0.73482234 -0.67771964 -0.02705958]

Pose Error in degrees for R and t:
69.84615015229274 83.36993822587763

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99946546e-01 -1.03385946e-02  1.37144945e-04]
 [ 1.03384484e-02  9.99946030e-01  1.02669891e-03]
 [-1.47752167e-04 -1.02522616e-03  9.99999464e-01]]

 t_estimated:
[[0.00905525]
 [0.99995816]
 [0.00129361]]

 R_gt:
[[ 0.9624505  -0.26909365 -0.03574495]
 [ 0.26947505  0.96298761  0.00623248]
 [ 0.03274532 -0.01562881  0.9993418 ]]

 t_gt:
[ 0.74778238 -0.66292681 -0.03673623]

Pose Error in degrees for R and t:
15.175544095244057 48.991176762410895

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 0.99182916 -0.12754127  0.00285395]
 [ 0.12754593  0.99183151 -0.00151373]
 [-0.00263758  0.00186538  0.99999478]]

 t_estimated:
[[0.68052231]
 [0.73272676]
 [0.00093222]]

 R_gt:
[[ 0.99600486 -0.05484271  0.07047978]
 [ 0.04895031  0.99536591  0.08277518]
 [-0.07469326 -0.07899438  0.99407273]]

 t_gt:
[ 0.1284315  -0.32483264  0.93701073]

Pose Error in degrees for R and t:
7.577868846697748 81.38816550112455

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.99297801  0.11747993 -0.01389706]
 [-0.11741141  0.99306728  0.00565086]
 [ 0.01446458 -0.00397951  0.99988746]]

 t_estimated:
[[0.56402272]
 [0.82575875]
 [0.00092161]]

 R_gt:
[[ 0.9890941  -0.10808021  0.10005888]
 [ 0.09674835  0.98899827  0.11190577]
 [-0.11105281 -0.10100434  0.9886681 ]]

 t_gt:
[ 0.35077763 -0.388636    0.8520077 ]

Pose Error in degrees for R and t:
15.546318480145835 82.97584274830537

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-7.41387416e-01 -6.71066256e-01  3.84451620e-03]
 [-6.71077151e-01  7.41378508e-01 -3.65582708e-03]
 [-3.96939496e-04 -5.29035117e-03 -9.99985927e-01]]

 t_estimated:
[[0.97564788]
 [0.219297  ]
 [0.00447545]]

 R_gt:
[[ 0.98657247 -0.10473733  0.12532462]
 [ 0.08285718  0.98219853  0.16858771]
 [-0.14075141 -0.15593896  0.97768662]]

 t_gt:
[ 0.3344811  -0.3188133   0.88683734]

Pose Error in degrees for R and t:
169.34179354297078 74.90679685179116

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.98187776e-01 -6.01760127e-02  1.09941428e-04]
 [ 6.01759581e-02  9.98187685e-01  4.46141406e-04]
 [-1.36589190e-04 -4.38717067e-04  9.99999894e-01]]

 t_estimated:
[[0.22389673]
 [0.97460931]
 [0.00263408]]

 R_gt:
[[ 0.99789084  0.0081478  -0.0644035 ]
 [-0.01404985  0.99568781 -0.091697  ]
 [ 0.06337854  0.09240855  0.9937027 ]]

 t_gt:
[ 0.06067213  0.23503828 -0.97009066]

Pose Error in degrees for R and t:
7.642270419411978 76.1075872023886

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.50163277e-01 -3.11752701e-01 -6.71531589e-06]
 [ 3.11752697e-01  9.50163261e-01  1.83811313e-04]
 [-5.09230269e-05 -1.76744277e-04  9.99999983e-01]]

 t_estimated:
[[8.76251789e-01]
 [4.81852745e-01]
 [8.57389226e-04]]

 R_gt:
[[ 0.99152708  0.06724328 -0.11114019]
 [-0.08354169  0.98527501 -0.14918064]
 [ 0.09947219  0.15720095  0.98254445]]

 t_gt:
[-0.13640849  0.43716429 -0.888977  ]

Pose Error in degrees for R and t:
24.922172070523153 84.81577220882538

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.88295490e-01  1.52550836e-01  5.16371646e-04]
 [-1.52550812e-01  9.88295625e-01 -8.45898465e-05]
 [-5.23232090e-04  4.82684993e-06  9.99999863e-01]]

 t_estimated:
[[0.68278858]
 [0.73061555]
 [0.00082491]]

 R_gt:
[[ 0.99030166  0.11879997 -0.07203321]
 [-0.12744194  0.98322952 -0.13045558]
 [ 0.0553261   0.13837081  0.98883453]]

 t_gt:
[-0.37761168  0.58703706 -0.7160984 ]

Pose Error in degrees for R and t:
8.739930553923674 80.18434461078729

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99641111e-01  2.67871876e-02 -3.09101340e-04]
 [-2.67872613e-02  9.99641129e-01 -2.36961174e-04]
 [ 3.02642889e-04  2.45156110e-04  9.99999924e-01]]

 t_estimated:
[[-0.64236573]
 [-0.76639601]
 [-0.0018512 ]]

 R_gt:
[[ 0.9964539   0.01566898 -0.08266476]
 [-0.02468988  0.99370672 -0.10925985]
 [ 0.0804324   0.11091506  0.9905701 ]]

 t_gt:
[ 0.06413584  0.39058725 -0.91832902]

Pose Error in degrees for R and t:
7.862066495935432 70.19359092222625

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.99804288e-01 -1.97701590e-02  7.26224942e-04]
 [ 1.97702666e-02  9.99804539e-01 -1.41362097e-04]
 [-7.23288242e-04  1.55692092e-04  9.99999726e-01]]

 t_estimated:
[[-0.27281467]
 [-0.96206547]
 [ 0.00147945]]

 R_gt:
[[ 0.9951825   0.05655508 -0.08008467]
 [-0.07000296  0.98179774 -0.17656161]
 [ 0.0686417   0.18131859  0.98102618]]

 t_gt:
[-0.09987193  0.58676666 -0.80357357]

Pose Error in degrees for R and t:
12.168647308456286 57.42179638912368

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-8.72631294e-01 -4.88379185e-01 -6.29939239e-04]
 [ 4.88371326e-01 -8.72608294e-01 -6.94363124e-03]
 [ 2.84143476e-03 -6.36687417e-03  9.99975694e-01]]

 t_estimated:
[[0.94612916]
 [0.32378642]
 [0.00140167]]

 R_gt:
[[ 0.99063394  0.10220186 -0.09055385]
 [-0.11516314  0.98166203 -0.15191506]
 [ 0.07336657  0.1609211   0.98423699]]

 t_gt:
[-0.17180458  0.71606617 -0.67655926]

Pose Error in degrees for R and t:
157.12508669807437 86.0804983658245

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 0.99924263 -0.03782217 -0.00914626]
 [ 0.03801496  0.99903688  0.02191274]
 [ 0.00830867 -0.02224384  0.99971805]]

 t_estimated:
[[0.06152699]
 [0.99810448]
 [0.00136727]]

 R_gt:
[[ 0.94467516  0.32771248  0.01387707]
 [-0.3270676   0.94432777 -0.03565592]
 [-0.02479007  0.02914391  0.99926698]]

 t_gt:
[-0.90236013  0.42645292 -0.06232259]

Pose Error in degrees for R and t:
21.582913259589677 68.28192428699981

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-9.61320592e-01 -2.75431348e-01 -5.39662603e-04]
 [-2.75431863e-01  9.61318072e-01  2.20312175e-03]
 [-8.80213804e-05  2.26654658e-03 -9.99997428e-01]]

 t_estimated:
[[0.98224354]
 [0.18760742]
 [0.00103903]]

 R_gt:
[[ 0.85433151  0.51966029  0.00833024]
 [-0.51945402  0.85429297 -0.0187041 ]
 [-0.01683732  0.0116517   0.9997898 ]]

 t_gt:
[-0.86345345  0.50427171 -0.01257743]

Pose Error in degrees for R and t:
179.4292980980881 41.102951555622695

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.35748039 -0.93392006 -0.00104259]
 [ 0.93385633  0.35746865 -0.01133681]
 [ 0.01096037  0.00307906  0.99993519]]

 t_estimated:
[[-0.10747214]
 [-0.99411733]
 [-0.01343402]]

 R_gt:
[[ 0.83040001  0.55666942  0.0235405 ]
 [-0.55491032  0.8300978  -0.05488077]
 [-0.05009159  0.03250925  0.99821525]]

 t_gt:
[-0.84504724  0.53369757 -0.03258949]

Pose Error in degrees for R and t:
102.89136266101191 63.94069946898326

Number of keypoints:
Image1: 234
Image2: 234

 R_estimated:
[[ 9.99994019e-01 -3.45710205e-03  1.03891349e-04]
 [ 3.45710990e-03  9.99994021e-01 -7.54622218e-05]
 [-1.03629847e-04  7.58209343e-05  9.99999992e-01]]

 t_estimated:
[[ 0.63498093]
 [-0.77252618]
 [-0.00158836]]

 R_gt:
[[ 0.99676097 -0.07831947  0.01827111]
 [ 0.07882325  0.9964779  -0.0286221 ]
 [-0.01596482  0.02996911  0.99942285]]

 t_gt:
[ 0.38589243 -0.89527178 -0.2226555 ]

Pose Error in degrees for R and t:
4.725708552287089 20.444844598644416

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.99995835e-01  2.88361921e-03  1.19983940e-04]
 [-2.88361290e-03  9.99995841e-01 -5.26982762e-05]
 [-1.20135403e-04  5.23520695e-05  9.99999991e-01]]

 t_estimated:
[[ 8.09431902e-01]
 [-5.87213414e-01]
 [-6.34437709e-04]]

 R_gt:
[[ 0.98756435 -0.15589842 -0.02031158]
 [ 0.15500825  0.98711026 -0.03982334]
 [ 0.02625893  0.03617852  0.99900024]]

 t_gt:
[ 0.47316285 -0.81471674 -0.33519181]

Pose Error in degrees for R and t:
9.46569472927357 30.50121931219764

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 0.82795339  0.56079535  0.0013265 ]
 [-0.56079201  0.82795372 -0.00222571]
 [-0.00234645  0.0010989   0.99999664]]

 t_estimated:
[[0.46563579]
 [0.88497561]
 [0.001216  ]]

 R_gt:
[[ 0.95592809 -0.29262249 -0.02392135]
 [ 0.29193098  0.95601088 -0.02864049]
 [ 0.03125007  0.02039406  0.99930332]]

 t_gt:
[ 0.6117644  -0.77212411 -0.17195544]

Pose Error in degrees for R and t:
51.153807726758025 66.50552062075461

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99999510e-01 -9.80941296e-04 -1.30528487e-04]
 [ 9.80931856e-04  9.99999516e-01 -7.23655863e-05]
 [ 1.30599410e-04  7.22375113e-05  9.99999989e-01]]

 t_estimated:
[[ 0.99883579]
 [-0.04815206]
 [-0.00290651]]

 R_gt:
[[ 0.99898837 -0.0422534   0.01537884]
 [ 0.04249216  0.99897559 -0.01554289]
 [-0.01470623  0.01617961  0.99976092]]

 t_gt:
[ 0.78445996 -0.61985216  0.02014612]

Pose Error in degrees for R and t:
2.684362115001314 35.576910062366885

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99999040e-01  1.37147425e-03  1.99451670e-04]
 [-1.37147401e-03  9.99999060e-01 -1.36471949e-06]
 [-1.99453354e-04  1.09117540e-06  9.99999980e-01]]

 t_estimated:
[[-9.99997634e-01]
 [-2.16704570e-03]
 [-1.91529868e-04]]

 R_gt:
[[ 0.99277161 -0.11952682  0.01088709]
 [ 0.11979881  0.99236854 -0.02918623]
 [-0.0073153   0.03027989  0.99951541]]

 t_gt:
[ 0.77118216 -0.63320283 -0.06581983]

Pose Error in degrees for R and t:
7.177168689106087 39.66446726591317

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99998836e-01  1.01129182e-03 -1.14284142e-03]
 [-1.01039279e-03  9.99999180e-01  7.86961149e-04]
 [ 1.14363633e-03 -7.85805514e-04  9.99999037e-01]]

 t_estimated:
[[-0.57384208]
 [-0.81896475]
 [-0.00141689]]

 R_gt:
[[ 0.96983077 -0.24365073 -0.00794914]
 [ 0.2434497   0.96969662 -0.02048778]
 [ 0.01270003  0.01793497  0.9997589 ]]

 t_gt:
[ 0.77436797 -0.63029607 -0.05550775]

Pose Error in degrees for R and t:
14.2124059798784 85.87664680615711

Number of keypoints:
Image1: 403
Image2: 403

 R_estimated:
[[ 9.99174629e-01 -4.06209280e-02 -1.54436754e-05]
 [ 4.06209267e-02  9.99174626e-01 -8.15856607e-05]
 [ 1.87450138e-05  8.08909859e-05  9.99999997e-01]]

 t_estimated:
[[-0.34707394]
 [-0.9378368 ]
 [-0.00134518]]

 R_gt:
[[ 0.99893664 -0.0457448   0.00564789]
 [ 0.04583797  0.9987938  -0.01760495]
 [-0.00483577  0.01784509  0.9998292 ]]

 t_gt:
[ 0.19848679 -0.93856852 -0.28229793]

Pose Error in degrees for R and t:
1.0966799622027448 35.73624173569128

Number of keypoints:
Image1: 457
Image2: 457

 R_estimated:
[[ 0.98585971  0.16734899  0.00865767]
 [ 0.16740153 -0.98120171 -0.09602052]
 [-0.00757402  0.09611207 -0.9953417 ]]

 t_estimated:
[[-0.09160849]
 [ 0.99462882]
 [-0.04818095]]

 R_gt:
[[ 0.99981052 -0.01903841  0.00412506]
 [ 0.01912816  0.99955435 -0.02293069]
 [-0.00368674  0.02300612  0.99972818]]

 t_gt:
[ 0.21230942 -0.34804205 -0.91312181]

Pose Error in degrees for R and t:
173.1371434629885 71.23865761251898

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.99953469e-01  9.64659598e-03 -4.53806602e-05]
 [-9.64659344e-03  9.99953469e-01  5.59571531e-05]
 [ 4.59183446e-05 -5.55167806e-05  9.99999997e-01]]

 t_estimated:
[[ 7.49875793e-01]
 [-6.61578635e-01]
 [-6.48033701e-05]]

 R_gt:
[[ 0.99836039  0.05511664 -0.01543577]
 [-0.0555375   0.99805618 -0.02829927]
 [ 0.01384539  0.02911058  0.99948036]]

 t_gt:
[ 0.2573417   0.78654234 -0.5613612 ]

Pose Error in degrees for R and t:
3.206113990574784 70.89205577411586

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.64777965 -0.76134237  0.02719027]
 [ 0.76176508  0.64777146 -0.01029996]
 [-0.00977128  0.0273847   0.99957721]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.94926873  0.31229858  0.03685353]
 [-0.31179434  0.94996174 -0.01888003]
 [-0.04090578  0.00643157  0.99914205]]

 t_gt:
[-9.34317873e-01  3.56440641e-01  4.27349957e-04]

Pose Error in degrees for R and t:
67.80602493346781 69.47594192276313

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[ 9.99999936e-01 -3.58657179e-04 -1.57567302e-07]
 [ 3.58657179e-04  9.99999936e-01 -1.30822492e-06]
 [ 1.58036496e-07  1.30816833e-06  1.00000000e+00]]

 t_estimated:
[[0.01217244]
 [0.99992305]
 [0.0023911 ]]

 R_gt:
[[ 0.82547464  0.56403729  0.02128426]
 [-0.56201178  0.82483335 -0.06158395]
 [-0.05229106  0.0388742   0.99787424]]

 t_gt:
[-0.85050427  0.52397583 -0.0457364 ]

Pose Error in degrees for R and t:
34.523966572675114 59.10452778788402

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 0.7217364  -0.35971528 -0.59135564]
 [ 0.63892155  0.67483325  0.36929573]
 [ 0.26622513 -0.64436403  0.71688156]]

 t_estimated:
[[ 0.09277231]
 [-0.97843972]
 [ 0.18452374]]

 R_gt:
[[ 0.63203804  0.77478733  0.01525859]
 [-0.77144149  0.6309326  -0.08246956]
 [-0.0735226   0.04035306  0.99647632]]

 t_gt:
[-0.76524259  0.64305973 -0.02963045]

Pose Error in degrees for R and t:
97.47980068702293 45.11743169336572

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.97751628e-01  6.70200544e-02 -1.99294425e-05]
 [-6.70200520e-02  9.97751385e-01 -6.96715051e-04]
 [-2.68092517e-05  6.96484248e-04  9.99999757e-01]]

 t_estimated:
[[-0.99842561]
 [-0.05603409]
 [-0.002547  ]]

 R_gt:
[[ 0.99785824 -0.01281004 -0.06415562]
 [ 0.01434591  0.9996199   0.02354484]
 [ 0.06383005 -0.02441545  0.99766194]]

 t_gt:
[ 0.97261199 -0.16147283 -0.16718985]

Pose Error in degrees for R and t:
6.0678886851521945 15.928086558111769

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999502e-01 -9.93243813e-04  9.49650095e-05]
 [ 9.93276153e-04  9.99999449e-01 -3.41105720e-04]
 [-9.46261560e-05  3.41199877e-04  9.99999937e-01]]

 t_estimated:
[[-9.99991927e-01]
 [-3.94007852e-03]
 [-7.88015703e-04]]

 R_gt:
[[ 0.98911127  0.08662725 -0.11897911]
 [-0.07634665  0.99315305  0.08841096]
 [ 0.12582368 -0.07836452  0.98895223]]

 t_gt:
[ 0.749815    0.6488464  -0.12952144]

Pose Error in degrees for R and t:
9.773427894906302 41.21317783312347

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.42540939e-01 -3.34090659e-01  9.88274931e-05]
 [ 3.34090589e-01  9.42540869e-01  4.33689588e-04]
 [-2.38040591e-04 -3.75752856e-04  9.99999901e-01]]

 t_estimated:
[[ 0.921553  ]
 [-0.38824387]
 [ 0.002599  ]]

 R_gt:
[[ 0.97582277  0.14646508 -0.16222797]
 [-0.12742558  0.98429335  0.12218317]
 [ 0.17757652 -0.09855748  0.97915903]]

 t_gt:
[ 0.45640358  0.87893445 -0.13845578]

Pose Error in degrees for R and t:
29.82045319872591 85.46895068352904

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 6.57564616e-01  7.53396969e-01  1.33497463e-03]
 [-7.53396663e-01  6.57565807e-01 -8.22805343e-04]
 [-1.49773272e-03 -4.64717755e-04  9.99998770e-01]]

 t_estimated:
[[0.01190391]
 [0.9999277 ]
 [0.00170056]]

 R_gt:
[[ 0.97965613 -0.19770462 -0.03445197]
 [ 0.19806049  0.98016401  0.00718792]
 [ 0.03234776 -0.01386492  0.99938054]]

 t_gt:
[ 0.74186107 -0.66590846 -0.07879138]

Pose Error in degrees for R and t:
60.33596106521193 48.9161161416218

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999954e-01  1.87841504e-04  2.38239943e-04]
 [-1.87837948e-04  9.99999982e-01 -1.49469910e-05]
 [-2.38242747e-04  1.49022398e-05  9.99999972e-01]]

 t_estimated:
[[8.80438831e-01]
 [4.74159110e-01]
 [7.76618881e-04]]

 R_gt:
[[ 0.96807339 -0.2424449  -0.06368437]
 [ 0.24353541  0.96984249  0.00983397]
 [ 0.05938016 -0.02502985  0.99792162]]

 t_gt:
[ 0.77265968 -0.62725496 -0.09771508]

Pose Error in degrees for R and t:
14.56609992596183 67.49369793122467

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-0.32234834  0.94661148  0.00427169]
 [ 0.94661526  0.32232718  0.00497326]
 [ 0.00333086  0.00564676 -0.99997851]]

 t_estimated:
[[0.58150675]
 [0.81353654]
 [0.00286457]]

 R_gt:
[[ 0.94783494 -0.28576897 -0.14122578]
 [ 0.28574948  0.95807773 -0.02086054]
 [ 0.1412668  -0.02058192  0.98975725]]

 t_gt:
[ 0.82617017 -0.51843339 -0.22061205]

Pose Error in degrees for R and t:
173.41972859437516 86.67342512155955

Number of keypoints:
Image1: 356
Image2: 356

 R_estimated:
[[ 9.98985493e-01  4.50239512e-02  9.10719213e-04]
 [-4.50235580e-02  9.98985825e-01 -4.47673557e-04]
 [-9.29951616e-04  4.06215570e-04  9.99999485e-01]]

 t_estimated:
[[0.33347952]
 [0.94275562]
 [0.00180259]]

 R_gt:
[[ 0.9993121  -0.03304597  0.01687894]
 [ 0.03308167  0.99945075 -0.00185138]
 [-0.01680776  0.00240804  0.99985529]]

 t_gt:
[ 0.75654047 -0.5765982   0.30851424]

Pose Error in degrees for R and t:
4.568484272892985 73.0974773734366

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[-1.52664386e-01  9.88277984e-01 -4.59497238e-04]
 [ 9.88274047e-01  1.52665075e-01  2.78980504e-03]
 [ 2.82725208e-03 -2.82053219e-05 -9.99996003e-01]]

 t_estimated:
[[-0.38891739]
 [-0.92127213]
 [-0.00096267]]

 R_gt:
[[ 0.99803242 -0.05916297 -0.0207844 ]
 [ 0.05968303  0.99789682  0.02529174]
 [ 0.01924551 -0.02648334  0.99946321]]

 t_gt:
[ 0.77247335 -0.6344533   0.0274577 ]

Pose Error in degrees for R and t:
178.04028583074515 73.4979653155818

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 3.69511719e-01 -9.29216460e-01 -4.22616014e-03]
 [ 9.29225557e-01  3.69512472e-01  6.29911979e-04]
 [ 9.76294302e-04 -4.15981587e-03  9.99990871e-01]]

 t_estimated:
[[0.94453783]
 [0.32839891]
 [0.0015638 ]]

 R_gt:
[[ 0.99740144 -0.06064192 -0.03890149]
 [ 0.06209638  0.99737138  0.03733532]
 [ 0.03653552 -0.03965391  0.99854544]]

 t_gt:
[ 0.71603681 -0.69680642 -0.04185819]

Pose Error in degrees for R and t:
64.8471663850439 63.42121854913646

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.72190729e-01 -2.34190269e-01 -3.24241481e-04]
 [ 2.34190274e-01  9.72190781e-01 -2.31310506e-05]
 [ 3.20641645e-04 -5.34464082e-05  9.99999947e-01]]

 t_estimated:
[[-0.1016603 ]
 [-0.99481863]
 [-0.00103735]]

 R_gt:
[[ 0.99130033  0.12847064  0.02862129]
 [-0.13065867  0.9867433   0.09626011]
 [-0.01587603 -0.09916082  0.9949445 ]]

 t_gt:
[-0.8383113   0.13629607  0.52788024]

Pose Error in degrees for R and t:
21.77594523230572 87.08155251075536

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.84799107e-01 -1.73696282e-01 -5.65514125e-04]
 [ 1.73696448e-01  9.84799206e-01  2.59336133e-04]
 [ 5.11872140e-04 -3.53621787e-04  9.99999806e-01]]

 t_estimated:
[[-0.37804145]
 [-0.92578764]
 [-0.00137971]]

 R_gt:
[[ 0.99420084  0.1072437   0.00798201]
 [-0.10752873  0.99030621  0.08793273]
 [ 0.0015258  -0.08828037  0.99609468]]

 t_gt:
[-0.87835611 -0.13707003  0.45793269]

Pose Error in degrees for R and t:
16.943966371616696 62.72118584590773

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-0.11707771  0.9931069   0.00561257]
 [-0.99311698 -0.11705589 -0.00407211]
 [-0.00338706 -0.00605069  0.99997596]]

 t_estimated:
[[0.05491632]
 [0.99847848]
 [0.00499239]]

 R_gt:
[[ 0.99396209  0.10964967  0.00395205]
 [-0.10967255  0.99180275  0.06557477]
 [ 0.00327021 -0.06561099  0.99783988]]

 t_gt:
[-0.90401923 -0.20172233  0.37690494]

Pose Error in degrees for R and t:
90.47838751419346 75.5710561277558

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99999921e-01 -3.83644285e-04  1.07681643e-04]
 [ 3.83644344e-04  9.99999926e-01 -5.30647632e-07]
 [-1.07681431e-04  5.71959043e-07  9.99999994e-01]]

 t_estimated:
[[0.2985185 ]
 [0.95440325]
 [0.00106996]]

 R_gt:
[[ 0.99410179 -0.10686257 -0.01846329]
 [ 0.10666546  0.99423001 -0.01137239]
 [ 0.01957207  0.00933593  0.99976446]]

 t_gt:
[ 0.73361204 -0.66675491 -0.13134405]

Pose Error in degrees for R and t:
6.233859945685048 65.32334848186332

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.99999462e-01  8.93786818e-04  5.25590586e-04]
 [-8.93574193e-04  9.99999519e-01 -4.04640868e-04]
 [-5.25951996e-04  4.04170996e-04  9.99999780e-01]]

 t_estimated:
[[ 9.97446703e-01]
 [-7.14117070e-02]
 [-6.65938105e-04]]

 R_gt:
[[ 0.97174803 -0.23442348 -0.02740424]
 [ 0.23475986  0.97200504  0.0097268 ]
 [ 0.02435589 -0.01588543  0.99957661]]

 t_gt:
[ 0.73196958 -0.6811771  -0.01477477]

Pose Error in degrees for R and t:
13.727387339722895 38.853319967958996

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-0.07614677  0.99708577  0.00465108]
 [ 0.99709586  0.07614012  0.00159115]
 [ 0.00123238  0.00475873 -0.99998792]]

 t_estimated:
[[0.67879605]
 [0.73432638]
 [0.00082881]]

 R_gt:
[[ 0.95556668 -0.29276038 -0.03438546]
 [ 0.29310379  0.95606551  0.00529367]
 [ 0.03132478 -0.01513719  0.99939496]]

 t_gt:
[ 0.75257757 -0.65743148 -0.03756117]

Pose Error in degrees for R and t:
178.37011656167437 88.39285600297367

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999985e-01  1.69461101e-04  4.20879683e-05]
 [-1.69460449e-04  9.99999986e-01 -1.54905807e-05]
 [-4.20905927e-05  1.54834482e-05  9.99999999e-01]]

 t_estimated:
[[9.99983526e-01]
 [5.72764883e-03]
 [3.75637898e-04]]

 R_gt:
[[ 0.99524596 -0.09580415 -0.01752065]
 [ 0.09613988  0.9951787   0.01939855]
 [ 0.0155768  -0.02099129  0.9996582 ]]

 t_gt:
[ 0.6433531  -0.76556808  0.00151955]

Pose Error in degrees for R and t:
5.718099733238146 50.285823551152546

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.99999549  0.00166813  0.00249946]
 [ 0.00153684 -0.99866457  0.05164023]
 [ 0.00258226 -0.05163615 -0.99866263]]

 t_estimated:
[[0.18992668]
 [0.98128785]
 [0.03165445]]

 R_gt:
[[ 0.98729114 -0.15886461 -0.0043718 ]
 [ 0.15891857  0.98711654  0.01858433]
 [ 0.00136254 -0.01904376  0.99981727]]

 t_gt:
[ 0.68119075 -0.73185955  0.01899382]

Pose Error in degrees for R and t:
175.97903526213773 53.9715177758434

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999492e-01 -1.00078018e-03  1.21191675e-04]
 [ 1.00080000e-03  9.99999486e-01 -1.63632202e-04]
 [-1.21027853e-04  1.63753408e-04  9.99999979e-01]]

 t_estimated:
[[ 0.74542954]
 [-0.666584  ]
 [-0.00075498]]

 R_gt:
[[ 0.97824921 -0.20582597  0.02577913]
 [ 0.20509496  0.97833013  0.02839511]
 [-0.03106635 -0.02249089  0.99926356]]

 t_gt:
[ 0.70937534 -0.69417668  0.12208758]

Pose Error in degrees for R and t:
12.005995489157195 7.509054491358155

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99409879e-01  3.43493265e-02 -1.33692694e-04]
 [-3.43492851e-02  9.99409844e-01  3.00645066e-04]
 [ 1.43940750e-04 -2.95875400e-04  9.99999946e-01]]

 t_estimated:
[[0.70554735]
 [0.70866235]
 [0.00077875]]

 R_gt:
[[ 0.99995994  0.0037308  -0.0081683 ]
 [-0.00335948  0.99898398  0.0449348 ]
 [ 0.00832818 -0.04490454  0.99895667]]

 t_gt:
[ 0.57759186 -0.3397218   0.74227807]

Pose Error in degrees for R and t:
3.1420016565273845 80.36631443951676

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.94899614 -0.31522633  0.00622029]
 [ 0.31510211 -0.94892976 -0.01558762]
 [ 0.01081625 -0.01283257  0.99985916]]

 t_estimated:
[[8.01343790e-01]
 [5.98203763e-01]
 [6.23128919e-04]]

 R_gt:
[[ 0.99767833 -0.05619621  0.038467  ]
 [ 0.04986288  0.98751553  0.14941965]
 [-0.04638289 -0.14715413  0.9880254 ]]

 t_gt:
[ 0.4009747  -0.38350067  0.83195344]

Pose Error in degrees for R and t:
158.69083590150515 84.6968430292211

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.99358004 -0.11275327 -0.00924189]
 [ 0.11267147 -0.99359207  0.00894037]
 [-0.01019072  0.00784168  0.99991733]]

 t_estimated:
[[0.82439302]
 [0.56601478]
 [0.00184998]]

 R_gt:
[[ 0.99265132 -0.09774785  0.07133972]
 [ 0.07999013  0.97236982  0.21931104]
 [-0.09080523 -0.21199256  0.97304296]]

 t_gt:
[ 0.34287263 -0.3760227   0.86083987]

Pose Error in degrees for R and t:
168.35819841124143 85.90445234404885

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 7.37828200e-01 -6.74988127e-01 -7.58764951e-04]
 [ 6.74988547e-01  7.37827885e-01  6.87930555e-04]
 [ 9.54929822e-05 -1.01973221e-03  9.99999476e-01]]

 t_estimated:
[[0.78790268]
 [0.61579786]
 [0.00153465]]

 R_gt:
[[ 0.99516305  0.05712431 -0.07992117]
 [-0.05395412  0.99768891  0.04129812]
 [ 0.08209446 -0.03678649  0.99594555]]

 t_gt:
[ 0.91200945  0.29240932 -0.28763788]

Pose Error in degrees for R and t:
45.913591547798625 26.07775621672796

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999428e-01 -5.83177634e-04  8.96613196e-04]
 [ 5.84031980e-04  9.99999375e-01 -9.52892949e-04]
 [-8.96056930e-04  9.53416055e-04  9.99999144e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.98120144  0.1234157  -0.14836366]
 [-0.11276347  0.99053829  0.07822221]
 [ 0.15661374 -0.0600211   0.98583397]]

 t_gt:
[ 0.82421998  0.3160479  -0.46986716]

Pose Error in degrees for R and t:
11.898506668040127 52.67393414972778

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999952e-01  1.42233561e-04 -2.74934513e-04]
 [-1.42175981e-04  9.99999968e-01  2.09440113e-04]
 [ 2.74964293e-04 -2.09401014e-04  9.99999940e-01]]

 t_estimated:
[[0.67114229]
 [0.74132711]
 [0.00146218]]

 R_gt:
[[ 0.96137722  0.21854313 -0.16731083]
 [-0.20182587  0.97307243  0.11133728]
 [ 0.18713719 -0.07326875  0.97959724]]

 t_gt:
[ 0.56511141  0.76013114 -0.32070195]

Pose Error in degrees for R and t:
16.839239774177983 19.557321126705066

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[-0.18347287  0.98302391  0.00130466]
 [-0.98302039 -0.18346793 -0.00322942]
 [-0.00293524 -0.00187502  0.99999393]]

 t_estimated:
[[0.09839634]
 [0.99514479]
 [0.00223628]]

 R_gt:
[[ 9.99623563e-01  2.74348127e-02  2.41032842e-04]
 [-2.74289032e-02  9.99498960e-01 -1.58157787e-02]
 [-6.74669309e-04  1.58030542e-02  9.99874790e-01]]

 t_gt:
[ 0.6281671   0.71348131 -0.31040381]

Pose Error in degrees for R and t:
99.00249936367695 39.544313383025475

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99997966e-01 -2.01493190e-03 -8.95882314e-05]
 [ 2.01496696e-03  9.99997893e-01  3.93075134e-04]
 [ 8.87960230e-05 -3.93254852e-04  9.99999919e-01]]

 t_estimated:
[[5.79775995e-03]
 [9.99982710e-01]
 [9.83012436e-04]]

 R_gt:
[[ 0.99771853  0.05669278 -0.03665025]
 [-0.05614536  0.99829795  0.01579842]
 [ 0.0374842  -0.01370418  0.99920282]]

 t_gt:
[ 0.83371056  0.52670374 -0.16586101]

Pose Error in degrees for R and t:
4.049862733895271 57.90225437963673

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.99993634 -0.00310222  0.01084816]
 [ 0.00326036  0.99988824 -0.01459023]
 [-0.01080168  0.01462467  0.99983471]]

 t_estimated:
[[-0.82571332]
 [-0.56408854]
 [-0.00127622]]

 R_gt:
[[ 0.99150861  0.08224128 -0.10073457]
 [-0.07748577  0.99572677  0.05025106]
 [ 0.10443717 -0.04201884  0.99364275]]

 t_gt:
[ 0.87147264  0.45313095 -0.18763735]

Pose Error in degrees for R and t:
8.798802380497152 12.850660768216645

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 4.29860686e-01  9.02892549e-01  2.19896978e-03]
 [ 9.02894525e-01 -4.29862113e-01  1.99778313e-04]
 [ 1.12563215e-03  1.89956093e-03 -9.99997562e-01]]

 t_estimated:
[[-9.87612542e-01]
 [-1.56910404e-01]
 [-7.69168647e-04]]

 R_gt:
[[ 0.99917386 -0.02973202 -0.0276934 ]
 [ 0.03007231  0.99947654  0.01195966]
 [ 0.0273237  -0.01278273  0.99954558]]

 t_gt:
[ 0.76847487 -0.55128158 -0.32486151]

Pose Error in degrees for R and t:
178.61939901231682 47.762621769423355

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 0.03997406  0.99905885  0.01683687]
 [ 0.99907862 -0.03970008 -0.01630402]
 [-0.01562025  0.0174731  -0.99972531]]

 t_estimated:
[[ 0.78541229]
 [-0.61886993]
 [ 0.01129342]]

 R_gt:
[[ 0.99754505 -0.04327623 -0.05505539]
 [ 0.04430038  0.99886509  0.01752519]
 [ 0.054235   -0.0199213   0.99832934]]

 t_gt:
[ 0.68512177 -0.58370565 -0.43577044]

Pose Error in degrees for R and t:
178.3978116716683 26.56602458082541

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 0.89674038  0.44255457  0.00146119]
 [-0.44249193  0.89666029 -0.0141847 ]
 [-0.00758769  0.01207343  0.99989832]]

 t_estimated:
[[-9.98338368e-01]
 [ 5.76232503e-02]
 [ 2.51279200e-04]]

 R_gt:
[[ 9.97517388e-01 -4.08032912e-04 -7.04176910e-02]
 [ 4.06130632e-03  9.98652406e-01  5.17484653e-02]
 [ 7.03018402e-02 -5.19069235e-02  9.96174374e-01]]

 t_gt:
[ 0.42181024 -0.73234496 -0.53455306]

Pose Error in degrees for R and t:
26.996756296001855 62.39044824702723

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[-0.68095161 -0.14771699 -0.71727582]
 [-0.573273   -0.5019505   0.6476139 ]
 [-0.45570053  0.85218859  0.25712184]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 9.51440753e-01  3.07815486e-01 -3.23754894e-03]
 [-3.07833074e-01  9.51381763e-01 -1.05936080e-02]
 [-1.80692467e-04  1.10763699e-02  9.99938882e-01]]

 t_gt:
[-0.95249373  0.30178153 -0.0410316 ]

Pose Error in degrees for R and t:
150.0165495250063 54.71163824016973

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 8.02726084e-01  5.96339795e-01  3.11175003e-03]
 [-5.96347518e-01  8.02720635e-01  3.03641738e-03]
 [-6.87129438e-04 -4.29309584e-03  9.99990549e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.8424944   0.53797408  0.02803205]
 [-0.53658623  0.84265472 -0.04481259]
 [-0.04772927  0.02271261  0.99860241]]

 t_gt:
[-0.88530386  0.4642299  -0.02697528]

Pose Error in degrees for R and t:
5.127938485219041 64.40027881461712

Number of keypoints:
Image1: 26
Image2: 26

 R_estimated:
[[ 0.4402846  -0.85353364 -0.27862123]
 [ 0.89604406  0.43742034  0.07595052]
 [ 0.05704827 -0.28309675  0.95739319]]

 t_estimated:
[[-0.01854262]
 [-0.99982665]
 [-0.00168556]]

 R_gt:
[[ 0.65420789  0.75627238 -0.0080215 ]
 [-0.75494605  0.6523491  -0.06706036]
 [-0.04548303  0.04992671  0.99771695]]

 t_gt:
[-0.78744395  0.61432035 -0.0504236 ]

Pose Error in degrees for R and t:
113.98390898651127 53.163928607063674

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.86504288  0.50162317  0.0086613 ]
 [ 0.50165582 -0.86461762 -0.02788931]
 [-0.00650121  0.02847044 -0.99957349]]

 t_estimated:
[[-0.3429558 ]
 [ 0.93922924]
 [-0.01515768]]

 R_gt:
[[ 0.99549258 -0.0947854   0.0030435 ]
 [ 0.09479228  0.99360976 -0.06126403]
 [ 0.00278278  0.06127786  0.99811681]]

 t_gt:
[ 0.46771612 -0.5974602  -0.65137005]

Pose Error in degrees for R and t:
174.92898606694618 44.62783994589859

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99998784e-01 -1.55856896e-03  5.39066820e-05]
 [ 1.55857119e-03  9.99998785e-01 -4.12445304e-05]
 [-5.38423340e-05  4.13284977e-05  9.99999998e-01]]

 t_estimated:
[[ 0.71908246]
 [-0.69492411]
 [ 0.00094848]]

 R_gt:
[[ 0.99379852 -0.11013936 -0.01530302]
 [ 0.10935923  0.99299061 -0.04483616]
 [ 0.02013397  0.0428857   0.99887754]]

 t_gt:
[ 0.51781816 -0.6818005  -0.51673246]

Pose Error in degrees for R and t:
6.781331798436024 32.256911438670876

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99999991e-01  1.12269248e-04  7.73516933e-05]
 [-1.12268064e-04  9.99999994e-01 -1.53008340e-05]
 [-7.73534106e-05  1.52921497e-05  9.99999997e-01]]

 t_estimated:
[[ 0.92635422]
 [-0.37665219]
 [ 0.00099549]]

 R_gt:
[[ 0.99816927 -0.05894592 -0.01349755]
 [ 0.05812419  0.99680586 -0.05476832]
 [ 0.01668285  0.05388498  0.9984081 ]]

 t_gt:
[ 0.57434922 -0.30273454 -0.76057529]

Pose Error in degrees for R and t:
4.6667986359477025 49.810379321272826

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999392e-01 -1.10278586e-03  1.94739556e-05]
 [ 1.10278498e-03  9.99999391e-01  4.48696599e-05]
 [-1.95234254e-05 -4.48481570e-05  9.99999999e-01]]

 t_estimated:
[[-2.38476479e-02]
 [ 9.99715587e-01]
 [-1.87682168e-04]]

 R_gt:
[[ 0.99936135 -0.03567503  0.0021274 ]
 [ 0.03570523  0.99922622 -0.01646365]
 [-0.00153779  0.01653037  0.99986231]]

 t_gt:
[ 0.81134669 -0.57813272 -0.08648183]

Pose Error in degrees for R and t:
2.199892655264954 53.32317691723235

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999995e-01 -1.67923205e-05  1.00149777e-04]
 [ 1.67933767e-05  1.00000000e+00 -1.05449693e-05]
 [-1.00149600e-04  1.05466511e-05  9.99999995e-01]]

 t_estimated:
[[7.50289151e-01]
 [6.61109672e-01]
 [4.37765976e-04]]

 R_gt:
[[ 0.98596631 -0.16477015 -0.02684223]
 [ 0.1640476   0.98607626 -0.02722127]
 [ 0.03095418  0.02243679  0.99926857]]

 t_gt:
[ 0.75802754 -0.63104094 -0.1648684 ]

Pose Error in degrees for R and t:
9.716234042467054 81.28727246225759

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.99999363e-01  1.10712288e-03  2.21452629e-04]
 [-1.10713017e-03  9.99999387e-01  3.27757432e-05]
 [-2.21416206e-04 -3.30208992e-05  9.99999975e-01]]

 t_estimated:
[[ 0.99998282]
 [-0.00577525]
 [-0.0010008 ]]

 R_gt:
[[ 0.97188713 -0.23338457 -0.03110186]
 [ 0.23201542  0.97179879 -0.04212258]
 [ 0.04005492  0.03372303  0.99862768]]

 t_gt:
[ 0.77565097 -0.61394044 -0.14643326]

Pose Error in degrees for R and t:
13.85869161069293 38.80074126504163

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.90186428e-01 -1.39752712e-01 -1.29603758e-04]
 [ 1.39752695e-01  9.90186430e-01 -1.30581433e-04]
 [ 1.46580992e-04  1.11187488e-04  9.99999983e-01]]

 t_estimated:
[[ 0.73452015]
 [-0.67858554]
 [-0.00134709]]

 R_gt:
[[ 0.99573394 -0.0916776   0.01037866]
 [ 0.09194049  0.99535159 -0.0286678 ]
 [-0.00770139  0.02950074  0.99953566]]

 t_gt:
[ 0.52818786 -0.81044433 -0.25337239]

Pose Error in degrees for R and t:
3.2682158801722387 20.238341190013635

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999565e-01  9.22271142e-04  1.41666709e-04]
 [-9.22268054e-04  9.99999574e-01 -2.18617842e-05]
 [-1.41686811e-04  2.17311200e-05  9.99999990e-01]]

 t_estimated:
[[ 9.99977303e-01]
 [-6.73732975e-03]
 [-4.57065444e-05]]

 R_gt:
[[ 0.98778314 -0.15561187 -0.00827697]
 [ 0.1549421   0.98642383 -0.05440497]
 [ 0.01663071  0.05245815  0.99848453]]

 t_gt:
[ 0.48982021 -0.78163145 -0.3861715 ]

Pose Error in degrees for R and t:
9.529146453822586 60.32412640908187

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999839e-01  5.29018726e-04  2.06472637e-04]
 [-5.28990942e-04  9.99999851e-01 -1.34596853e-04]
 [-2.06543811e-04  1.34487609e-04  9.99999970e-01]]

 t_estimated:
[[9.99999831e-01]
 [5.47883273e-04]
 [1.96223985e-04]]

 R_gt:
[[ 0.9622117  -0.27063647 -0.03005219]
 [ 0.26945641  0.96225599 -0.03816253]
 [ 0.03924619  0.02862349  0.99881963]]

 t_gt:
[ 0.59577994 -0.77025343 -0.22749926]

Pose Error in degrees for R and t:
15.950811704862119 53.465038190064384

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.62175576  0.77791363  0.09094042]
 [ 0.78121384  0.62426251  0.00112049]
 [-0.05589905  0.07174058 -0.99585571]]

 t_estimated:
[[-0.04993699]
 [-0.99873989]
 [-0.0049937 ]]

 R_gt:
[[ 0.99889864  0.00782444 -0.04627259]
 [-0.01160521  0.996564   -0.08201109]
 [ 0.04547329  0.08245777  0.9955566 ]]

 t_gt:
[ 0.02888174  0.25073872 -0.96762386]

Pose Error in degrees for R and t:
175.6693899884449 75.69798990810244

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 4.47136014e-01 -8.94424188e-01 -8.64622587e-03]
 [-8.94457128e-01 -4.47153699e-01  1.26053571e-04]
 [-3.97893725e-03  7.67731527e-03 -9.99962613e-01]]

 t_estimated:
[[3.99181638e-01]
 [9.16871862e-01]
 [9.59239635e-05]]

 R_gt:
[[ 0.99268423  0.05863647 -0.10554781]
 [-0.07559344  0.98345951 -0.16459943]
 [ 0.09415093  0.17137389  0.98069637]]

 t_gt:
[-0.11361408  0.43054474 -0.8953899 ]

Pose Error in degrees for R and t:
168.45709477021555 69.55452729564061

Number of keypoints:
Image1: 36
Image2: 36

 R_estimated:
[[ 9.96052288e-01 -8.87677335e-02 -3.59841666e-04]
 [ 8.87677301e-02  9.96052353e-01 -2.54651986e-05]
 [ 3.60681626e-04 -6.57765852e-06  9.99999935e-01]]

 t_estimated:
[[0.58967743]
 [0.80763842]
 [0.00084481]]

 R_gt:
[[ 0.98605146  0.13725544 -0.09415155]
 [-0.15194426  0.97321367 -0.17253703]
 [ 0.06794844  0.18443611  0.9804922 ]]

 t_gt:
[-0.33619117  0.59560217 -0.72954339]

Pose Error in degrees for R and t:
17.59702930394513 73.61020861686553

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.98097615e-01  6.16534676e-02 -3.62463182e-05]
 [-6.16534726e-02  9.98097603e-01 -1.55528314e-04]
 [ 2.65885035e-05  1.57467150e-04  9.99999987e-01]]

 t_estimated:
[[-0.77174638]
 [-0.63592917]
 [-0.00126932]]

 R_gt:
[[ 0.99731558  0.0158526  -0.07149817]
 [-0.02041623  0.99776914 -0.06355352]
 [ 0.0703315   0.06484182  0.99541331]]

 t_gt:
[ 0.08166821  0.35308604 -0.93201961]

Pose Error in degrees for R and t:
6.022034929389755 73.35853551714388

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 0.99915339  0.04039057 -0.00781705]
 [-0.04033184  0.99915796  0.00753138]
 [ 0.00811466 -0.00720973  0.99994108]]

 t_estimated:
[[-0.72026151]
 [-0.69370089]
 [-0.00156239]]

 R_gt:
[[ 0.99280685  0.04658103 -0.11030173]
 [-0.06491528  0.98348098 -0.16896713]
 [ 0.10060928  0.17491215  0.97942939]]

 t_gt:
[-0.02371168  0.51733794 -0.85545263]

Pose Error in degrees for R and t:
11.813904590841188 70.0949376769334

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[-0.03187444  0.99941688  0.0122441 ]
 [ 0.99941688  0.03201972 -0.0118587 ]
 [-0.01224383  0.01185897 -0.99985472]]

 t_estimated:
[[0.98857649]
 [0.15067523]
 [0.00367501]]

 R_gt:
[[ 0.99180809  0.08976654 -0.09088078]
 [-0.10385706  0.98088498 -0.16455191]
 [ 0.07437268  0.172642    0.98217246]]

 t_gt:
[-0.14182648  0.67120957 -0.72757334]

Pose Error in degrees for R and t:
175.68935199341632 87.60746358315247

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.84487968e-01 -1.75451224e-01 -5.55630021e-04]
 [ 1.75451580e-01  9.84487831e-01  6.74120386e-04]
 [ 4.28735747e-04 -7.61149575e-04  9.99999618e-01]]

 t_estimated:
[[0.79862082]
 [0.60183148]
 [0.00191058]]

 R_gt:
[[ 0.99592367 -0.05013558  0.07498458]
 [ 0.04583007  0.99726047  0.05805973]
 [-0.07769022 -0.054386    0.99549207]]

 t_gt:
[ 0.01865833 -0.27825749  0.96032528]

Pose Error in degrees for R and t:
9.141096127964618 81.33085828485274

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.98857697e-01 -4.77824149e-02  3.76022660e-04]
 [ 4.77824973e-02  9.98857741e-01 -2.13461368e-04]
 [-3.65393445e-04  2.31184832e-04  9.99999907e-01]]

 t_estimated:
[[0.54177649]
 [0.84052204]
 [0.0009606 ]]

 R_gt:
[[ 0.99030912 -0.0986514   0.09774961]
 [ 0.08629065  0.98858765  0.12348447]
 [-0.10881582 -0.11385289  0.98751976]]

 t_gt:
[ 0.21430438 -0.33386039  0.91793838]

Pose Error in degrees for R and t:
9.422341481353438 80.58233234557181

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 2.82909921e-01  9.59145529e-01  1.35323211e-03]
 [ 9.59145315e-01 -2.82911496e-01  1.16148843e-03]
 [ 1.49688135e-03  9.69349636e-04 -9.99998410e-01]]

 t_estimated:
[[0.28945443]
 [0.95719057]
 [0.0015315 ]]

 R_gt:
[[ 0.98351084 -0.11752705  0.13745415]
 [ 0.0934534   0.98098806  0.17008775]
 [-0.15483083 -0.15443665  0.9757949 ]]

 t_gt:
[ 0.2761962  -0.31040508  0.9095957 ]

Pose Error in degrees for R and t:
177.54827137929922 77.53885129061486

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 2.24087826e-01  9.74568562e-01  8.73639148e-04]
 [-9.74567607e-01  2.24088917e-01 -1.46196099e-03]
 [-1.62055407e-03 -5.23812753e-04  9.99998550e-01]]

 t_estimated:
[[0.01066289]
 [0.99994245]
 [0.00118477]]

 R_gt:
[[ 0.9974003   0.00989863 -0.07137634]
 [-0.00834973  0.99972477  0.02196478]
 [ 0.071574   -0.02131205  0.99720737]]

 t_gt:
[ 0.96137597 -0.14042719 -0.23672018]

Pose Error in degrees for R and t:
76.63452432285472 82.50448882305251

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99360170e-01  3.57664739e-02 -1.02111968e-04]
 [-3.57664895e-02  9.99360162e-01 -1.55297144e-04]
 [ 9.64922019e-05  1.58849967e-04  9.99999983e-01]]

 t_estimated:
[[-0.50545712]
 [ 0.86285049]
 [-0.00145966]]

 R_gt:
[[ 0.9943071   0.01884238 -0.10486935]
 [-0.01444342  0.99899011  0.04255038]
 [ 0.10556449 -0.040794    0.99357518]]

 t_gt:
[ 0.97777114 -0.20413564 -0.04787735]

Pose Error in degrees for R and t:
6.587578659070204 47.91054581503421

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99819135e-01  1.90174361e-02  1.87934118e-04]
 [ 1.90113454e-02 -9.99669776e-01  1.72889718e-02]
 [ 5.16663975e-04 -1.72822720e-02 -9.99850517e-01]]

 t_estimated:
[[-0.05325948]
 [ 0.99855076]
 [ 0.0077334 ]]

 R_gt:
[[ 0.98975009  0.10189369 -0.10006133]
 [-0.09176171  0.99063409  0.10111716]
 [ 0.1094266  -0.09089895  0.98982916]]

 t_gt:
[ 0.81646865 -0.0537699   0.57488064]

Pose Error in degrees for R and t:
173.43033198657687 84.6792670607572

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 9.99999745e-01  6.92362494e-04  1.73746070e-04]
 [-6.92335358e-04  9.99999748e-01 -1.56194189e-04]
 [-1.73854169e-04  1.56073859e-04  9.99999973e-01]]

 t_estimated:
[[ 9.99670500e-01]
 [ 2.56688715e-02]
 [-3.44275696e-06]]

 R_gt:
[[ 0.99084923 -0.13442285 -0.01222954]
 [ 0.13452126  0.99088195  0.00766115]
 [ 0.01108833 -0.00923628  0.999896  ]]

 t_gt:
[ 0.73188767 -0.68135702 -0.00964614]

Pose Error in degrees for R and t:
7.813059566079356 44.425854920439726

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-0.98631878 -0.1647827   0.00468327]
 [-0.16472673  0.98628303  0.01053025]
 [-0.00635424  0.00961472 -0.99993359]]

 t_estimated:
[[9.90039710e-01]
 [1.40785463e-01]
 [9.08293312e-04]]

 R_gt:
[[ 0.98651    -0.15032957 -0.064801  ]
 [ 0.15130733  0.98843162  0.01043083]
 [ 0.06248278 -0.02009603  0.99784361]]

 t_gt:
[ 0.80037997 -0.58406691 -0.13512125]

Pose Error in degrees for R and t:
176.78584073359318 44.760439503345246

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.89327121e-01  1.45655720e-01  4.03231585e-03]
 [-1.45651914e-01  9.89335142e-01 -1.22357131e-03]
 [-4.16753193e-03  6.23197763e-04  9.99991122e-01]]

 t_estimated:
[[0.29552117]
 [0.95531147]
 [0.00687307]]

 R_gt:
[[ 0.96822808 -0.21525151 -0.12728853]
 [ 0.21146829  0.97645295 -0.04268063]
 [ 0.13347828  0.01440692  0.99094749]]

 t_gt:
[ 0.82516331 -0.46365056 -0.32269749]

Pose Error in degrees for R and t:
22.2023261754646 78.38727963548719

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.98874736e-01 -4.74262426e-02 -1.14759455e-04]
 [ 4.74262446e-02  9.98874742e-01  1.39459210e-05]
 [ 1.13968919e-04 -1.93728381e-05  9.99999993e-01]]

 t_estimated:
[[-0.65780537]
 [-0.75318715]
 [-0.00109634]]

 R_gt:
[[ 9.87885969e-01  1.48361574e-01 -4.54921070e-02]
 [-1.48249198e-01  9.88932781e-01  5.86913180e-03]
 [ 4.58597361e-02  9.45736515e-04  9.98947021e-01]]

 t_gt:
[-0.84241789  0.505587   -0.18631664]

Pose Error in degrees for R and t:
11.552288634842801 80.00573219432174

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 2.16352777e-01  9.76311675e-01  2.64365266e-03]
 [ 9.76314704e-01 -2.16354737e-01  4.76061550e-04]
 [ 1.03675123e-03  2.47803973e-03 -9.99996392e-01]]

 t_estimated:
[[-0.51591613]
 [-0.85663825]
 [-0.00120823]]

 R_gt:
[[ 0.94690321  0.32071608 -0.02271925]
 [-0.31645348  0.94214626  0.11054071]
 [ 0.0568574  -0.09748254  0.99361127]]

 t_gt:
[-0.87511753  0.4686981   0.12038023]

Pose Error in degrees for R and t:
173.88219508206205 87.14336226354092

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-4.35095977e-01  9.00384027e-01 -3.08111794e-04]
 [-9.00381850e-01 -4.35095635e-01 -2.07674077e-03]
 [-2.00392231e-03 -6.26163287e-04  9.99997796e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.94168933  0.33495623 -0.03201192]
 [-0.32991784  0.93783091  0.10783342]
 [ 0.0661414  -0.09098412  0.99365392]]

 t_gt:
[-0.90850028  0.40900161  0.08570251]

Pose Error in degrees for R and t:
96.48159303375778 66.20807663841377

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-0.75479918  0.65544777 -0.02581514]
 [ 0.65545634  0.7551757   0.00930916]
 [ 0.02559663 -0.00989416 -0.99962339]]

 t_estimated:
[[ 0.93636018]
 [-0.35079845]
 [-0.01304102]]

 R_gt:
[[ 0.99645015  0.08352682  0.01054545]
 [-0.08324586  0.99622072 -0.02478234]
 [-0.01257702  0.02381576  0.99963664]]

 t_gt:
[-0.6527541   0.7415992  -0.15473433]

Pose Error in degrees for R and t:
179.53918680613924 29.617166368509817

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 7.63936534e-01 -6.45289314e-01 -1.63528732e-03]
 [ 6.45290715e-01  7.63936940e-01  4.94447966e-04]
 [ 9.30194400e-04 -1.43296259e-03  9.99998541e-01]]

 t_estimated:
[[-0.21190849]
 [-0.97728852]
 [-0.00139413]]

 R_gt:
[[ 0.9792619   0.20258769 -0.00215679]
 [-0.20256492  0.97884833 -0.02867848]
 [-0.00369941  0.02852129  0.99958645]]

 t_gt:
[-0.71675835  0.69117046 -0.0924168 ]

Pose Error in degrees for R and t:
51.904015813095924 58.435577468925395

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-8.14178034e-01 -5.80615051e-01 -5.39100887e-04]
 [-5.80613269e-01  8.14172377e-01  3.40194504e-03]
 [-1.53629944e-03  3.08279805e-03 -9.99994068e-01]]

 t_estimated:
[[0.90896544]
 [0.4168668 ]
 [0.00197258]]

 R_gt:
[[ 0.93357405  0.35835425  0.00467543]
 [-0.35754374  0.93219601 -0.05631613]
 [-0.0245404   0.05090371  0.99840117]]

 t_gt:
[-0.71704034  0.69220488 -0.08188747]

Pose Error in degrees for R and t:
179.85063198547127 68.69274575670511

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 1.00000000e+00 -1.11022302e-16 -1.33747180e-15]
 [ 2.22044605e-16  1.00000000e+00  2.06236937e-15]
 [ 4.31729305e-16 -1.24986826e-15  1.00000000e+00]]

 t_estimated:
[[-0.66790453]
 [-0.7442446 ]
 [-0.00187582]]

 R_gt:
[[ 0.99910347 -0.01933657 -0.03765656]
 [ 0.01971716  0.99975823  0.00977706]
 [ 0.03745826 -0.01051086  0.99924327]]

 t_gt:
[ 0.8266445  -0.40339831 -0.39233745]

Pose Error in degrees for R and t:
2.4943956941490657 75.45403319426981

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.90163843e-01 -1.39909956e-01  8.75895960e-04]
 [ 1.39911724e-01  9.90160908e-01 -2.46714255e-03]
 [-5.22100134e-04  2.56542346e-03  9.99996573e-01]]

 t_estimated:
[[-0.02855968]
 [-0.99958872]
 [-0.00259633]]

 R_gt:
[[ 0.98825257 -0.09060816 -0.12306757]
 [ 0.08640721  0.99549377 -0.03906664]
 [ 0.12605265  0.02797402  0.99162898]]

 t_gt:
[ 0.76022767 -0.29545558 -0.57858438]

Pose Error in degrees for R and t:
7.9832428094843175 74.0305720090799

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-0.18279696 -0.98269867  0.02980927]
 [ 0.9824887  -0.18147742  0.04221262]
 [-0.03607258  0.03700361  0.99866386]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97218482 -0.20435215 -0.11444159]
 [ 0.19611817  0.97737657 -0.0792156 ]
 [ 0.12804037  0.05456825  0.99026647]]

 t_gt:
[ 0.81556166 -0.39413084 -0.42369808]

Pose Error in degrees for R and t:
89.48419456117527 35.51071171289229

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.80635803e-01  1.95840272e-01  9.88432700e-05]
 [-1.95840250e-01  9.80635793e-01 -1.92158236e-04]
 [-1.34561570e-04  1.69079755e-04  9.99999977e-01]]

 t_estimated:
[[-9.00462982e-01]
 [ 4.34932450e-01]
 [-4.26677681e-04]]

 R_gt:
[[ 0.99287144  0.1106832   0.04423307]
 [-0.11178248  0.99346134  0.02320752]
 [-0.04137587 -0.02798716  0.99875113]]

 t_gt:
[-0.84146214  0.47390951  0.25952117]

Pose Error in degrees for R and t:
5.677605006799906 15.482205868246243

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.18404752e-01 -3.95640962e-01 -9.69809066e-04]
 [ 3.95641382e-01  9.18405040e-01  2.80422348e-04]
 [ 7.79730967e-04 -6.41237816e-04  9.99999490e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 9.73595949e-01  2.28070053e-01  9.74901015e-03]
 [-2.28277041e-01  9.72574020e-01  4.46074910e-02]
 [ 6.92186646e-04 -4.56553971e-02  9.98956188e-01]]

 t_gt:
[-0.83013267  0.54926282  0.09586498]

Pose Error in degrees for R and t:
36.59154604778349 57.031760580983835

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-0.21096343  0.97749155  0.002169  ]
 [ 0.97749263  0.21095898  0.00211277]
 [ 0.00160765  0.00256589 -0.99999542]]

 t_estimated:
[[0.96674328]
 [0.25574658]
 [0.00106119]]

 R_gt:
[[ 0.90801667  0.41888696  0.00638205]
 [-0.41758807  0.90376995  0.09390841]
 [ 0.03356865 -0.08793643  0.99556022]]

 t_gt:
[-0.80014115  0.59544535  0.07224245]

Pose Error in degrees for R and t:
176.00727685988872 51.598279966476426

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99978479e-01 -6.56056024e-03  1.57804900e-05]
 [ 6.56056028e-03  9.99978479e-01 -2.83834122e-06]
 [-1.57615293e-05  2.94180899e-06  1.00000000e+00]]

 t_estimated:
[[ 9.90928138e-01]
 [ 1.34392604e-01]
 [-2.31156282e-04]]

 R_gt:
[[ 0.99819711 -0.05771924 -0.01645872]
 [ 0.0577637   0.99832806  0.00225382]
 [ 0.0163018  -0.00320127  0.99986152]]

 t_gt:
[ 0.79789338 -0.57982897 -0.16481659]

Pose Error in degrees for R and t:
3.085410069240117 44.53939304492602

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.06307279e-01 -4.22619164e-01 -3.96552171e-04]
 [ 4.22619332e-01  9.06307117e-01  5.56177494e-04]
 [ 1.24346787e-04 -6.71658325e-04  9.99999767e-01]]

 t_estimated:
[[9.64004634e-01]
 [2.65884346e-01]
 [7.61782390e-04]]

 R_gt:
[[ 0.99140164 -0.1283723  -0.0253539 ]
 [ 0.12805765  0.9916724  -0.01368073]
 [ 0.02689947  0.01031569  0.99958448]]

 t_gt:
[ 0.7785731  -0.60210909 -0.17688577]

Pose Error in degrees for R and t:
17.708793285188946 53.820142354352974

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99967149e-01  7.67166043e-03  2.61665417e-03]
 [-7.67162617e-03  9.99970572e-01 -2.31311894e-05]
 [-2.61675462e-03  3.05643689e-06  9.99996576e-01]]

 t_estimated:
[[0.989815  ]
 [0.14235524]
 [0.00111865]]

 R_gt:
[[ 0.96060038 -0.27432336 -0.04463808]
 [ 0.27480079  0.961489    0.00483504]
 [ 0.04159263 -0.01691153  0.99899103]]

 t_gt:
[ 0.77921967 -0.62432683 -0.05507002]

Pose Error in degrees for R and t:
16.606666034771138 46.97279652298351

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[-0.1580428  -0.98459888 -0.07474971]
 [ 0.94596858 -0.12926541 -0.29737836]
 [ 0.28313585 -0.11770939  0.95182908]]

 t_estimated:
[[ 0.99356534]
 [-0.02053629]
 [-0.11138302]]

 R_gt:
[[ 0.99950748  0.02914306  0.01166246]
 [-0.02950241  0.99905488  0.03192734]
 [-0.01072076 -0.03225683  0.99942178]]

 t_gt:
[-0.68025647  0.36713919  0.63439731]

Pose Error in degrees for R and t:
101.59651954920501 41.05495155076313

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.91620032e-01  1.29188663e-01  2.87838286e-05]
 [-1.29188503e-01  9.91618396e-01  1.81304237e-03]
 [ 2.05681946e-04 -1.80156768e-03  9.99998356e-01]]

 t_estimated:
[[0.68052231]
 [0.73272676]
 [0.00093222]]

 R_gt:
[[ 0.99729676 -0.02094691  0.07043634]
 [ 0.01314417  0.99390287  0.10947656]
 [-0.07230062 -0.10825586  0.99149064]]

 t_gt:
[-0.1954635  -0.07435347  0.97788833]

Pose Error in degrees for R and t:
11.190112143137842 79.24636049595789

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 6.65416608e-01 -7.46471373e-01  1.10753727e-03]
 [-7.46469661e-01 -6.65417483e-01 -1.61824483e-03]
 [ 1.94494810e-03  2.50064019e-04 -9.99998077e-01]]

 t_estimated:
[[0.56402272]
 [0.82575875]
 [0.00092161]]

 R_gt:
[[ 0.99228705 -0.07517221  0.09856883]
 [ 0.06112559  0.98847506  0.13849575]
 [-0.10784389 -0.13140315  0.98544548]]

 t_gt:
[ 0.10203219 -0.22931557  0.96798957]

Pose Error in degrees for R and t:
170.5363016766971 82.47731290752598

Number of keypoints:
Image1: 493
Image2: 493

 R_estimated:
[[ 9.98776873e-01 -4.94444982e-02 -1.41272955e-05]
 [ 4.94444993e-02  9.98776869e-01  9.04793694e-05]
 [ 9.63630896e-06 -9.10672187e-05  9.99999996e-01]]

 t_estimated:
[[4.38450866e-02]
 [9.99038341e-01]
 [3.57577751e-05]]

 R_gt:
[[ 0.99777508  0.00692697 -0.06630342]
 [-0.00298104  0.99822822  0.05943286]
 [ 0.06659743 -0.05910331  0.99602739]]

 t_gt:
[ 0.78228918 -0.24523646  0.57261044]

Pose Error in degrees for R and t:
5.9813416051036 77.83775908475975

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.93415667e-01  1.14549586e-01 -1.92491524e-03]
 [ 1.14564099e-01 -9.93170623e-01  2.20721529e-02]
 [ 6.16586712e-04 -2.21473487e-02 -9.99754527e-01]]

 t_estimated:
[[-0.10274947]
 [ 0.99463984]
 [ 0.01158172]]

 R_gt:
[[ 0.99234979  0.02114651 -0.12163042]
 [-0.01335353  0.9978262   0.06453451]
 [ 0.12273083 -0.06241736  0.99047513]]

 t_gt:
[ 0.97803319 -0.16665623  0.12520692]

Pose Error in degrees for R and t:
174.69050414286988 74.64462159324289

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99921728e-01 -1.19020482e-02  3.85723759e-03]
 [ 1.19002622e-02  9.99929071e-01  4.85642875e-04]
 [-3.86274415e-03 -4.39702725e-04  9.99992443e-01]]

 t_estimated:
[[-0.99199303]
 [-0.12625151]
 [ 0.00322108]]

 R_gt:
[[ 0.98897754  0.05076125 -0.13909358]
 [-0.03594799  0.99360728  0.10701895]
 [ 0.14363659 -0.10083937  0.98447929]]

 t_gt:
[ 0.91568229 -0.20188655  0.34751656]

Pose Error in degrees for R and t:
10.75291854727068 28.146708692015725

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999883e-01  4.58903089e-04  1.55615467e-04]
 [-4.58887530e-04  9.99999890e-01 -1.00003032e-04]
 [-1.55661342e-04  9.99316107e-05  9.99999983e-01]]

 t_estimated:
[[9.99995313e-01]
 [3.02803234e-03]
 [4.52377302e-04]]

 R_gt:
[[ 9.90901496e-01 -1.32145885e-01 -2.55043116e-02]
 [ 1.32081088e-01  9.91229861e-01 -4.20484850e-03]
 [ 2.58363750e-02  7.98125316e-04  9.99666443e-01]]

 t_gt:
[ 0.6915046  -0.70089767 -0.17482518]

Pose Error in degrees for R and t:
7.763368032247221 46.42528197206741

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999445e-01  1.03213985e-03  2.11083450e-04]
 [-1.03211146e-03  9.99999458e-01 -1.34522215e-04]
 [-2.11222182e-04  1.34304279e-04  9.99999969e-01]]

 t_estimated:
[[9.99998184e-01]
 [1.88586360e-03]
 [2.75672058e-04]]

 R_gt:
[[ 0.97977876 -0.19993949 -0.00754315]
 [ 0.19958369  0.9793028  -0.03365289]
 [ 0.01411588  0.03146687  0.99940516]]

 t_gt:
[ 0.62458943 -0.74959696 -0.21907176]

Pose Error in degrees for R and t:
11.751901118408032 51.456086859292434

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99997825e-01  2.06861422e-03  2.66785942e-04]
 [-2.06861337e-03  9.99997860e-01 -3.48532355e-06]
 [-2.66792581e-04  2.93343900e-06  9.99999964e-01]]

 t_estimated:
[[9.99965868e-01]
 [8.23810088e-03]
 [6.29618174e-04]]

 R_gt:
[[ 0.9601315  -0.2757966  -0.04564012]
 [ 0.27372496  0.96066787 -0.04681271]
 [ 0.05675649  0.03245275  0.99786095]]

 t_gt:
[ 0.6341062  -0.72349649 -0.27287755]

Pose Error in degrees for R and t:
16.51483479340386 51.1007763525101

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[-0.01719724  0.99929512  0.03336954]
 [ 0.99858342  0.0188466  -0.04975895]
 [-0.05035277  0.03246655 -0.99820365]]

 t_estimated:
[[0.98754144]
 [0.15430335]
 [0.03086067]]

 R_gt:
[[ 0.99642829  0.06942476 -0.04807088]
 [-0.07269722  0.99489188 -0.07004906]
 [ 0.04296237  0.0732929   0.99638468]]

 t_gt:
[-0.39433158  0.55534683 -0.73218338]

Pose Error in degrees for R and t:
175.59830623971166 70.95427853394689

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999996e-01  7.51107376e-05 -3.69971202e-05]
 [-7.51100846e-05  9.99999997e-01  1.76523322e-05]
 [ 3.69984460e-05 -1.76495533e-05  9.99999999e-01]]

 t_estimated:
[[-9.99997098e-01]
 [-2.36769265e-03]
 [-4.44176036e-04]]

 R_gt:
[[ 0.99305886  0.11751634 -0.00488758]
 [-0.1176088   0.99158525 -0.0541098 ]
 [-0.00151308  0.05430928  0.99852339]]

 t_gt:
[-0.66221258  0.68610544 -0.30122055]

Pose Error in degrees for R and t:
7.435273231742983 48.64519522321342

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 1.45220056e-01  9.89399217e-01  5.70276352e-04]
 [-9.89399047e-01  1.45220457e-01 -7.38354057e-04]
 [-8.13342719e-04 -4.57007062e-04  9.99999565e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99356306  0.03873024  0.10645375]
 [-0.05340486  0.98889964  0.13865776]
 [-0.09990129 -0.1434506   0.98460276]]

 t_gt:
[-0.26228171  0.11030187  0.95866668]

Pose Error in degrees for R and t:
79.52072783897611 83.70426303460916

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-0.66108203 -0.75029432 -0.0053844 ]
 [ 0.75025628 -0.66092574 -0.01710789]
 [ 0.00927727 -0.0153494   0.99983915]]

 t_estimated:
[[ 9.75362727e-01]
 [ 2.20607231e-01]
 [-6.71954744e-06]]

 R_gt:
[[ 0.97034211  0.24161043  0.00770957]
 [-0.24170091  0.97024009  0.01464641]
 [-0.00394244 -0.01607468  0.99986263]]

 t_gt:
[-0.93839326  0.33882733  0.06792739]

Pose Error in degrees for R and t:
145.3725806112994 32.804241006766986

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 7.65859548e-01  6.43007895e-01  7.27419388e-06]
 [-6.43007756e-01  7.65859390e-01 -6.48129467e-04]
 [-4.22323374e-04  4.91698777e-04  9.99999790e-01]]

 t_estimated:
[[-7.20922335e-01]
 [ 6.93015809e-01]
 [-2.75035157e-04]]

 R_gt:
[[ 0.95864686  0.28355117  0.02438121]
 [-0.28306479  0.95885873 -0.02155861]
 [-0.0294914   0.01376592  0.99947027]]

 t_gt:
[-0.92275624  0.38462396 -0.0241935 ]

Pose Error in degrees for R and t:
23.624582906785516 21.283985154256367

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[-0.12884228  0.99166394  0.00151693]
 [-0.99165892 -0.12883593 -0.00372548]
 [-0.00349899 -0.00198428  0.99999191]]

 t_estimated:
[[0.03028901]
 [0.99953739]
 [0.00275355]]

 R_gt:
[[ 0.89856634  0.43834459  0.02077946]
 [-0.43876446  0.89826833  0.02449785]
 [-0.0079276  -0.03112925  0.99948374]]

 t_gt:
[-0.87384542  0.47999452  0.07745605]

Pose Error in degrees for R and t:
71.40364425566567 63.0303903310335

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 8.46131457e-01  5.32974123e-01  3.77268011e-04]
 [-5.32957048e-01  8.46109613e-01 -7.43698557e-03]
 [-4.28293095e-03  6.09159979e-03  9.99972274e-01]]

 t_estimated:
[[8.13305771e-01]
 [5.81836166e-01]
 [6.32430615e-04]]

 R_gt:
[[ 0.99982125 -0.01438254 -0.01232691]
 [ 0.01176228  0.98148502 -0.19118233]
 [ 0.01484852  0.19100276  0.98147719]]

 t_gt:
[ 0.18473825  0.36259072 -0.91345484]

Pose Error in degrees for R and t:
34.590709493062434 68.86053242238155

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 7.53887890e-01  6.57003015e-01  2.95988061e-04]
 [-6.57002611e-01  7.53887813e-01 -8.57461896e-04]
 [-7.86496843e-04  4.51965211e-04  9.99999589e-01]]

 t_estimated:
[[-9.99991799e-01]
 [-3.97137332e-03]
 [-7.94274661e-04]]

 R_gt:
[[ 0.99842245 -0.05221909 -0.02067371]
 [ 0.04508955  0.96475391 -0.25926558]
 [ 0.03348374  0.25792437  0.96558507]]

 t_gt:
[ 0.27628243  0.31228608 -0.90892542]

Pose Error in degrees for R and t:
46.29171600702429 73.93078231711564

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 9.99999472e-01  1.02021259e-03 -1.22829753e-04]
 [-1.02021984e-03  9.99999478e-01 -5.89177048e-05]
 [ 1.22769580e-04  5.90429870e-05  9.99999991e-01]]

 t_estimated:
[[-1.40896593e-02]
 [-9.99900317e-01]
 [-9.14711682e-04]]

 R_gt:
[[ 0.99526822 -0.09454964 -0.02243653]
 [ 0.08400294  0.953181   -0.29049984]
 [ 0.04885184  0.28724027  0.95661153]]

 t_gt:
[ 0.34968329  0.25326904 -0.90198469]

Pose Error in degrees for R and t:
17.73789527456132 75.08737892910645

Number of keypoints:
Image1: 264
Image2: 264

 R_estimated:
[[ 9.92598791e-01 -1.21438861e-01  4.92747423e-04]
 [ 1.21438814e-01  9.92598912e-01  1.22580811e-04]
 [-5.03986630e-04 -6.18349015e-05  9.99999871e-01]]

 t_estimated:
[[0.92709653]
 [0.37481899]
 [0.00165849]]

 R_gt:
[[ 0.9920992  -0.12342407 -0.02250271]
 [ 0.12369859  0.99225603  0.01128605]
 [ 0.02093533 -0.01397969  0.99968251]]

 t_gt:
[ 0.63554698 -0.77198473  0.01093643]

Pose Error in degrees for R and t:
1.4697690201796278 72.54978436099583

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[-1.88697353e-01  9.82035037e-01  7.04093117e-04]
 [ 9.82032612e-01  1.88695116e-01  2.47033033e-03]
 [ 2.29309200e-03  1.15758720e-03 -9.99996701e-01]]

 t_estimated:
[[-0.4149234 ]
 [-0.90985445]
 [-0.00186064]]

 R_gt:
[[ 0.97492127 -0.22246195 -0.00637774]
 [ 0.22247806  0.97493652  0.00199142]
 [ 0.00577516 -0.00336033  0.99997736]]

 t_gt:
[ 0.65546841 -0.75419296 -0.03942251]

Pose Error in degrees for R and t:
179.5880221064716 65.52412900722834

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.53337319  0.84580655  0.01114973]
 [ 0.84582239  0.5334444  -0.0046443 ]
 [-0.00987594  0.00695354 -0.99992705]]

 t_estimated:
[[ 0.92252631]
 [-0.38590242]
 [ 0.00495319]]

 R_gt:
[[ 0.97084557 -0.22767933  0.07498072]
 [ 0.23406604  0.96788825 -0.09167814]
 [-0.05169927  0.1065559   0.99296159]]

 t_gt:
[ 0.55808857 -0.76937753 -0.31079796]

Pose Error in degrees for R and t:
173.33381175218008 35.88290163035233

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.98706503e-01  5.08460272e-02  4.66104627e-05]
 [-5.08460235e-02  9.98706501e-01 -7.68363216e-05]
 [-5.04569938e-05  7.43669773e-05  9.99999996e-01]]

 t_estimated:
[[-9.14856602e-01]
 [ 4.03778652e-01]
 [-4.45165831e-04]]

 R_gt:
[[ 0.99301124  0.11709028 -0.01477816]
 [-0.11741893  0.99279717 -0.02382654]
 [ 0.01188219  0.02539493  0.99960603]]

 t_gt:
[-0.81365357  0.55503579 -0.17292526]

Pose Error in degrees for R and t:
4.1436361192393 14.404201890136754

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.76894206e-01  2.13723419e-01  1.05517361e-04]
 [-2.13723394e-01  9.76894195e-01 -2.06080986e-04]
 [-1.47123630e-04  1.78767793e-04  9.99999973e-01]]

 t_estimated:
[[-7.35077573e-01]
 [ 6.77983010e-01]
 [ 1.69928201e-06]]

 R_gt:
[[ 0.98746651  0.15105105 -0.04575109]
 [-0.1517001   0.98836577 -0.01103526]
 [ 0.04355206  0.01783719  0.9988921 ]]

 t_gt:
[-0.75926914  0.6293325  -0.16568337]

Pose Error in degrees for R and t:
4.523406568953969 10.00315908971561

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-6.81577103e-01 -7.31745260e-01 -1.23570952e-03]
 [-7.31746304e-01  6.81576107e-01  1.16541336e-03]
 [-1.05556187e-05  1.69854494e-03 -9.99998557e-01]]

 t_estimated:
[[0.80990612]
 [0.58655852]
 [0.00108421]]

 R_gt:
[[ 0.98257847  0.1813944  -0.04044434]
 [-0.18337694  0.98164882 -0.0523443 ]
 [ 0.0302083   0.05884896  0.99780882]]

 t_gt:
[-0.63684714  0.72428259 -0.26427346]

Pose Error in degrees for R and t:
176.81075950549186 84.76512149917683

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.59702793  0.80205178 -0.01644959]
 [ 0.80201227  0.59721462  0.0105366 ]
 [ 0.01827483 -0.00690213 -0.99980918]]

 t_estimated:
[[ 0.86156454]
 [-0.50753276]
 [-0.01081818]]

 R_gt:
[[ 0.9851578   0.17158935  0.0045599 ]
 [-0.17118493  0.98409967 -0.04736135]
 [-0.01261387  0.04587868  0.99886712]]

 t_gt:
[-0.82693183  0.54209841 -0.14937558]

Pose Error in degrees for R and t:
179.47054849036746 9.608297381102862

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 5.76474789e-01 -8.17113616e-01 -1.46852793e-03]
 [ 8.17114776e-01  5.76474868e-01  4.11340376e-04]
 [ 5.10457624e-04 -1.43708323e-03  9.99998837e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.97254772  0.23152247 -0.02338527]
 [-0.23224108  0.97202603 -0.03506757]
 [ 0.01461231  0.03953693  0.99911115]]

 t_gt:
[-0.79564767  0.59176896 -0.12943835]

Pose Error in degrees for R and t:
68.24951534347436 54.020852467767696

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 5.90415766e-01  8.07098839e-01  8.28964995e-04]
 [-8.07098733e-01  5.90416245e-01 -5.41525447e-04]
 [-9.26498959e-04 -3.49331435e-04  9.99999510e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.96814355  0.24646012 -0.04420556]
 [-0.24865165  0.96709336 -0.05388148]
 [ 0.02947205  0.06315694  0.9975683 ]]

 t_gt:
[-0.7231603   0.65980701 -0.20419084]

Pose Error in degrees for R and t:
39.65913351030252 49.01761953661425

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.36597673e-01 -3.50404724e-01 -1.15227361e-03]
 [ 3.50405630e-01  9.36597777e-01  7.05321696e-04]
 [ 8.32068847e-04 -1.06436582e-03  9.99999087e-01]]

 t_estimated:
[[8.98516275e-01]
 [4.38939487e-01]
 [7.93742293e-04]]

 R_gt:
[[ 0.99503804 -0.07892987 -0.06057552]
 [ 0.08367781  0.99324994  0.08032796]
 [ 0.05382637 -0.08499768  0.99492601]]

 t_gt:
[ 0.48056849 -0.80752359  0.34199352]

Pose Error in degrees for R and t:
16.824524840823578 85.54844917516095

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999935e-01  2.37678389e-04 -2.70376911e-04]
 [-2.37554450e-04  9.99999867e-01  4.58333742e-04]
 [ 2.70485811e-04 -4.58269483e-04  9.99999858e-01]]

 t_estimated:
[[0.82564109]
 [0.56419486]
 [0.0009771 ]]

 R_gt:
[[ 0.97736487 -0.18483289 -0.10293146]
 [ 0.19351772  0.97767199  0.08190692]
 [ 0.08549334 -0.09997155  0.99131025]]

 t_gt:
[ 0.62247386 -0.76620385  0.15955547]

Pose Error in degrees for R and t:
13.295835892645641 85.30752470174168

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.99934747  0.03610591 -0.00100064]
 [-0.03610479  0.99934739  0.0011142 ]
 [ 0.00104022 -0.00107734  0.99999888]]

 t_estimated:
[[-0.99990108]
 [-0.01362157]
 [-0.0035049 ]]

 R_gt:
[[ 0.94746163 -0.29764487 -0.11715171]
 [ 0.30749133  0.94841369  0.07721057]
 [ 0.08812674 -0.10917637  0.99010852]]

 t_gt:
[ 0.68244654 -0.72082663  0.12114321]

Pose Error in degrees for R and t:
21.305758176846155 47.702143605471264

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[-0.46761867 -0.88374702  0.01799932]
 [ 0.87930221 -0.46299285  0.11164784]
 [-0.09033489  0.06803545  0.99358482]]

 t_estimated:
[[9.96348403e-01]
 [8.53761440e-02]
 [8.80166433e-04]]

 R_gt:
[[ 0.99945366  0.00539092 -0.03261547]
 [-0.01003452  0.9895347  -0.14394679]
 [ 0.0314979   0.14419543  0.98904762]]

 t_gt:
[ 0.17188659  0.36383804 -0.91546539]

Pose Error in degrees for R and t:
118.88443051972344 78.3743604289158

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-5.92079548e-01  8.05870381e-01  3.83887473e-03]
 [ 8.05877850e-01  5.92081313e-01  7.81481580e-04]
 [-1.64315313e-03  3.55636338e-03 -9.99992326e-01]]

 t_estimated:
[[0.99004953]
 [0.14070909]
 [0.00169529]]

 R_gt:
[[ 0.99867588 -0.02292169 -0.04604694]
 [ 0.00853528  0.95665356 -0.29110319]
 [ 0.0507226   0.29032582  0.95558258]]

 t_gt:
[ 0.21314278  0.39131311 -0.89523416]

Pose Error in degrees for R and t:
174.71656680554136 74.65886128818498

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-2.82372403e-01 -9.59304833e-01 -2.51526857e-04]
 [-9.59302181e-01  2.82370982e-01  2.44007845e-03]
 [-2.26975516e-03  9.30301077e-04 -9.99996991e-01]]

 t_estimated:
[[0.98374574]
 [0.17956246]
 [0.00128259]]

 R_gt:
[[ 0.9974388  -0.05444112 -0.04638516]
 [ 0.03621591  0.94369259 -0.32883501]
 [ 0.06167519  0.32631375  0.94324719]]

 t_gt:
[ 0.26229507  0.36392131 -0.89373518]

Pose Error in degrees for R and t:
166.11583022560222 71.20204166301153

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.39111943e-01  3.43611326e-01  1.21784468e-04]
 [-3.43611236e-01  9.39111865e-01 -4.73381890e-04]
 [-2.77028618e-04  4.02712074e-04  9.99999881e-01]]

 t_estimated:
[[-6.13061798e-01]
 [-7.90034625e-01]
 [-7.23664430e-04]]

 R_gt:
[[ 0.98699176 -0.08766866  0.13477098]
 [ 0.05412525  0.97050547  0.23492676]
 [-0.15139027 -0.22457651  0.96262436]]

 t_gt:
[ 0.18743037 -0.1694479   0.9675522 ]

Pose Error in degrees for R and t:
28.832418809151783 88.95354161044897

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.99999969e-01  2.47144593e-04 -3.16442075e-05]
 [-2.47144484e-04  9.99999969e-01  3.44548300e-06]
 [ 3.16450580e-05 -3.43766220e-06  9.99999999e-01]]

 t_estimated:
[[ 1.26897012e-01]
 [-9.91915858e-01]
 [-2.79522794e-04]]

 R_gt:
[[ 0.98131322 -0.12022678  0.15024178]
 [ 0.07135037  0.95247148  0.29615514]
 [-0.17870587 -0.27990108  0.94324921]]

 t_gt:
[ 0.22477421 -0.15375299  0.96220402]

Pose Error in degrees for R and t:
20.200660480147903 79.58572209529927

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-8.45448551e-02  9.96417119e-01  2.25661284e-03]
 [ 9.96419345e-01  8.45427681e-02  1.00491317e-03]
 [ 8.10532395e-04  2.33349293e-03 -9.99996949e-01]]

 t_estimated:
[[-0.67693066]
 [-0.73604527]
 [-0.00149862]]

 R_gt:
[[ 0.97518472 -0.14772756  0.16490661]
 [ 0.08313389  0.93466433  0.34567812]
 [-0.20519804 -0.32338966  0.92374907]]

 t_gt:
[ 0.25035467 -0.13957756  0.95804   ]

Pose Error in degrees for R and t:
174.79011383912734 86.09093773774534

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99944166e-01 -1.05671656e-02 -1.55094820e-05]
 [ 1.05671661e-02  9.99944166e-01  2.95097075e-05]
 [ 1.51967821e-05 -2.96719512e-05  9.99999999e-01]]

 t_estimated:
[[7.31338726e-02]
 [9.97322133e-01]
 [1.27886370e-05]]

 R_gt:
[[ 0.99995584  0.00568696 -0.00743426]
 [-0.00614541  0.99797194 -0.06335895]
 [ 0.00705894  0.06340289  0.99796235]]

 t_gt:
[-0.11582742  0.5308418  -0.83951831]

Pose Error in degrees for R and t:
3.7795949956991177 58.60476587338778

Number of keypoints:
Image1: 161
Image2: 161

 R_estimated:
[[ 6.67767032e-01  7.44370312e-01  1.72641178e-04]
 [-7.44341147e-01  6.67742886e-01 -8.70026163e-03]
 [-6.59149638e-03  5.68124395e-03  9.99962137e-01]]

 t_estimated:
[[0.28108983]
 [0.95968041]
 [0.00141965]]

 R_gt:
[[ 9.98334410e-01 -5.70768537e-02  8.44304253e-03]
 [ 5.76929335e-02  9.89427560e-01 -1.33060178e-01]
 [-7.58619376e-04  1.33326119e-01  9.91071176e-01]]

 t_gt:
[ 0.1900327   0.46128114 -0.86666446]

Pose Error in degrees for R and t:
51.87116362098654 60.33892886990859

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 2.56923331e-01  9.66431231e-01  1.03765212e-03]
 [-9.66429839e-01  2.56924822e-01 -1.73279997e-03]
 [-1.94123060e-03 -5.57621231e-04  9.99997960e-01]]

 t_estimated:
[[0.38213088]
 [0.92410737]
 [0.00124879]]

 R_gt:
[[ 0.99906226 -0.04200488 -0.01046433]
 [ 0.03955013  0.98397767 -0.17385085]
 [ 0.0175996   0.17327338  0.98471603]]

 t_gt:
[ 0.01312046  0.6619871  -0.74940038]

Pose Error in degrees for R and t:
78.0080927888376 51.98810612435432

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999881e-01 -4.85975192e-04  4.03922625e-05]
 [ 4.85979039e-04  9.99999877e-01 -9.52924015e-05]
 [-4.03459478e-05  9.53120200e-05  9.99999995e-01]]

 t_estimated:
[[-0.95478655]
 [ 0.29729046]
 [-0.00100916]]

 R_gt:
[[ 0.99324756  0.10158923 -0.05603098]
 [-0.09844905  0.99355323  0.05622121]
 [ 0.06138187 -0.05032569  0.99684464]]

 t_gt:
[-3.04841962e-01  9.52402634e-01  7.75631456e-04]

Pose Error in degrees for R and t:
7.357449787865635 54.956482151739635

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 0.99999319 -0.00286075 -0.00233007]
 [ 0.00286515  0.99999412  0.00188677]
 [ 0.00232466 -0.00189343  0.99999551]]

 t_estimated:
[[-0.9998379 ]
 [-0.0174525 ]
 [-0.00442486]]

 R_gt:
[[ 0.98132532  0.16414547 -0.10028765]
 [-0.15457515  0.98323124  0.09676671]
 [ 0.11449031 -0.07945807  0.99024116]]

 t_gt:
[-0.17681568  0.98280606 -0.05318325]

Pose Error in degrees for R and t:
12.217690427322765 80.8006542271648

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999711e-01 -1.35356166e-04  7.48475950e-04]
 [ 1.35501639e-04  9.99999972e-01 -1.94311100e-04]
 [-7.48449627e-04  1.94412463e-04  9.99999701e-01]]

 t_estimated:
[[-0.74872642]
 [-0.66287825]
 [-0.00108669]]

 R_gt:
[[ 0.97997542  0.16835165 -0.10633842]
 [-0.1549569   0.98014624  0.12370363]
 [ 0.12505324 -0.10474924  0.9866055 ]]

 t_gt:
[0.01272259 0.9997355  0.01915908]

Pose Error in degrees for R and t:
13.286615402034656 47.75908124984078

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99122931e-01 -4.18731851e-02  7.25754808e-05]
 [ 4.18731834e-02  9.99122933e-01  2.42025663e-05]
 [-7.35252658e-05 -2.11423725e-05  9.99999997e-01]]

 t_estimated:
[[5.78600530e-01]
 [8.15610985e-01]
 [3.83653410e-04]]

 R_gt:
[[ 0.99699174 -0.0553964   0.05420487]
 [ 0.04915788  0.99267876  0.11032694]
 [-0.05991894 -0.10733017  0.99241669]]

 t_gt:
[ 0.22972076 -0.42495444  0.875581  ]

Pose Error in degrees for R and t:
7.083866033162144 77.6815476512139

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.01771613e-01  4.32208997e-01  1.82806006e-03]
 [-4.32212023e-01  9.01770131e-01  1.84331870e-03]
 [-8.51791032e-04 -2.45236201e-03  9.99996630e-01]]

 t_estimated:
[[0.02197268]
 [0.99975689]
 [0.00183106]]

 R_gt:
[[ 0.99119626 -0.10270415  0.08356172]
 [ 0.08556812  0.97849992  0.18765657]
 [-0.10103802 -0.17885374  0.97867407]]

 t_gt:
[ 0.22221108 -0.4404963   0.86981909]

Pose Error in degrees for R and t:
33.14728201686145 64.2837928302621

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 6.39067833e-01 -7.69149151e-01 -1.37427587e-03]
 [ 7.69150330e-01  6.39066134e-01  1.49896783e-03]
 [-2.74676666e-04 -2.01496686e-03  9.99997932e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.98673465 -0.10988536  0.11949966]
 [ 0.07784022  0.9662087   0.24572774]
 [-0.14246282 -0.23316568  0.96194517]]

 t_gt:
[ 0.12145206 -0.39084452  0.91240888]

Pose Error in degrees for R and t:
47.34724290442044 83.6617032666905

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99830567e-01 -1.84074721e-02  4.40830322e-05]
 [ 1.84074659e-02  9.99830559e-01  1.36558997e-04]
 [-4.65892687e-05 -1.35724403e-04  9.99999990e-01]]

 t_estimated:
[[6.53891473e-01]
 [7.56588174e-01]
 [5.26129609e-04]]

 R_gt:
[[ 0.99735605 -0.06258165  0.0369334 ]
 [ 0.05829471  0.99249254  0.1075137 ]
 [-0.04338472 -0.10507608  0.99351728]]

 t_gt:
[ 0.3770798  -0.44386037  0.81289532]

Pose Error in degrees for R and t:
6.954242613837818 84.90412687918256

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.97476938e-01 -7.09912347e-02  5.18378388e-05]
 [ 7.09912511e-02  9.97476831e-01 -4.61935296e-04]
 [-1.89136861e-05  4.64449837e-04  9.99999892e-01]]

 t_estimated:
[[-0.70380164]
 [-0.71039463]
 [-0.00164825]]

 R_gt:
[[ 0.99176247 -0.10371091  0.07517564]
 [ 0.08847267  0.97903672  0.18346355]
 [-0.09262657 -0.17530122  0.98014799]]

 t_gt:
[ 0.30553723 -0.41386994  0.85753057]

Pose Error in degrees for R and t:
11.556200115633303 85.55167429328473

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 9.54167490e-02 -9.95437413e-01  3.36360169e-06]
 [-9.95437348e-01 -9.54167416e-02  3.61716715e-04]
 [-3.59745407e-04 -3.78620878e-05 -9.99999935e-01]]

 t_estimated:
[[0.61611489]
 [0.787655  ]
 [0.0014295 ]]

 R_gt:
[[ 0.98488944 -0.13577924  0.10750778]
 [ 0.10262603  0.9575915   0.26923378]
 [-0.13950391 -0.25413249  0.95705594]]

 t_gt:
[ 0.2318032  -0.38604079  0.89288285]

Pose Error in degrees for R and t:
163.87247842001864 80.79466089601141

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.99978790e-01  6.51303708e-03  2.77857630e-05]
 [-6.51303572e-03  9.99978789e-01 -4.86662850e-05]
 [-2.81021390e-05  4.84842831e-05  9.99999998e-01]]

 t_estimated:
[[ 0.99908281]
 [-0.04280533]
 [ 0.00111095]]

 R_gt:
[[ 0.99952568 -0.02158242 -0.02197243]
 [ 0.02168511  0.99975507  0.00443135]
 [ 0.0218721  -0.00490659  0.99974843]]

 t_gt:
[ 0.37361082 -0.91088503 -0.17522389]

Pose Error in degrees for R and t:
2.063320702436712 65.6654277660477

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99939120e-01 -1.10343532e-02  1.12827357e-05]
 [ 1.10343532e-02  9.99939120e-01 -6.63205714e-06]
 [-1.12088683e-05  6.75615107e-06  1.00000000e+00]]

 t_estimated:
[[0.91716948]
 [0.39849565]
 [0.00116387]]

 R_gt:
[[ 0.999614   -0.01271009 -0.02469436]
 [ 0.01186299  0.99934543 -0.03417519]
 [ 0.02511339  0.03386796  0.99911019]]

 t_gt:
[ 0.22802434 -0.71262208 -0.66345661]

Pose Error in degrees for R and t:
2.4181906698028146 85.66361240121961

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.70551879e-01  2.40892130e-01  1.79467906e-04]
 [-2.40892187e-01  9.70551787e-01  4.27630153e-04]
 [-7.11701579e-05 -4.58269665e-04  9.99999892e-01]]

 t_estimated:
[[0.64960771]
 [0.7602691 ]
 [0.00084474]]

 R_gt:
[[ 0.99822867 -0.05497163 -0.02275662]
 [ 0.05216687  0.9926171  -0.10949426]
 [ 0.02860862  0.1081122   0.99372636]]

 t_gt:
[ 0.34127965 -0.12907214 -0.93105778]

Pose Error in degrees for R and t:
18.19175771981872 82.94732278317296

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.94484403e-01  1.04884513e-01  1.08891912e-04]
 [-1.04884496e-01  9.94484399e-01 -1.49748098e-04]
 [-1.23997564e-04  1.37501075e-04  9.99999983e-01]]

 t_estimated:
[[0.29856212]
 [0.95438972]
 [0.00096524]]

 R_gt:
[[ 0.99930917 -0.03531685 -0.01159108]
 [ 0.03567104  0.99885807  0.0317893 ]
 [ 0.01045436 -0.03217944  0.99942705]]

 t_gt:
[ 0.67935527 -0.64202211  0.35536463]

Pose Error in degrees for R and t:
8.287223892470799 65.8223915327916

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.91028904e-01  1.33647607e-01 -1.67279787e-04]
 [-1.33647498e-01  9.91028782e-01  5.46635252e-04]
 [ 2.38835577e-04 -5.19374810e-04  9.99999837e-01]]

 t_estimated:
[[-0.61687533]
 [-0.78706044]
 [-0.00082361]]

 R_gt:
[[ 0.9991125  -0.03293592  0.02625731]
 [ 0.03074076  0.99631776  0.08004348]
 [-0.02879821 -0.0791653   0.99644539]]

 t_gt:
[ 0.25514268 -0.34272059  0.90412654]

Pose Error in degrees for R and t:
10.651760792195155 83.59210052999471

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-8.36716072e-02  9.96493378e-01 -9.47421232e-05]
 [-9.96491455e-01 -8.36716320e-02 -1.95894443e-03]
 [-1.96000238e-03 -6.94983130e-05  9.99998077e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99737721 -0.06450588  0.0328287 ]
 [ 0.06111233  0.99354234  0.09559443]
 [-0.03878356 -0.09333763  0.9948789 ]]

 t_gt:
[ 0.42216911 -0.34927527  0.83652856]

Pose Error in degrees for R and t:
98.53977624311318 69.77145508718691

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 0.92874531 -0.37071669  0.00113661]
 [-0.37053608 -0.92838026 -0.02851498]
 [ 0.01162618  0.026062   -0.99959272]]

 t_estimated:
[[-0.05463038]
 [ 0.9982913 ]
 [-0.02073662]]

 R_gt:
[[ 0.99444563 -0.09723657 -0.04030449]
 [ 0.09486806  0.99385534 -0.05701997]
 [ 0.04560175  0.05288041  0.99755927]]

 t_gt:
[ 0.6219975  -0.40439996 -0.67050711]

Pose Error in degrees for R and t:
174.82837204293065 64.92622631396485

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.83093992e-01  1.83101545e-01  1.63616998e-04]
 [-1.83101507e-01  9.83093987e-01 -2.25302193e-04]
 [-2.02104067e-04  1.91534713e-04  9.99999961e-01]]

 t_estimated:
[[-9.32956033e-01]
 [ 3.59990295e-01]
 [-1.66456160e-04]]

 R_gt:
[[ 0.98833379 -0.15116634 -0.01857997]
 [ 0.14911836  0.98525326 -0.08390149]
 [ 0.03098973  0.08015369  0.9963003 ]]

 t_gt:
[ 0.56036906 -0.5214553  -0.6434834 ]

Pose Error in degrees for R and t:
19.816683322063707 44.73159928936593

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.50640154 -0.86225052  0.00902923]
 [-0.86229372  0.50640355 -0.00223081]
 [-0.00264892 -0.00891554 -0.99995675]]

 t_estimated:
[[0.89624193]
 [0.44353243]
 [0.00542145]]

 R_gt:
[[ 0.98803999 -0.14924263 -0.03878254]
 [ 0.14595434  0.98628781 -0.07703008]
 [ 0.04974794  0.07044935  0.99627384]]

 t_gt:
[ 0.59923739 -0.47743085 -0.64263079]

Pose Error in degrees for R and t:
176.04010368168625 71.22687555437227

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99984109e-01 -5.63678567e-03  8.96370481e-05]
 [ 5.63677789e-03  9.99984109e-01  8.68490062e-05]
 [-9.01251730e-05 -8.63423620e-05  9.99999992e-01]]

 t_estimated:
[[-0.47812751]
 [ 0.87828981]
 [ 0.00104757]]

 R_gt:
[[ 0.9912745   0.11847076 -0.05779642]
 [-0.11846542  0.99295271  0.00352715]
 [ 0.05780738  0.0033511   0.99832219]]

 t_gt:
[-0.34561315  0.88280865 -0.31812016]

Pose Error in degrees for R and t:
7.868044992115742 19.902084658933457

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-3.68564265e-01  9.29602234e-01  2.62464438e-04]
 [-9.29600661e-01 -3.68563087e-01 -1.96531801e-03]
 [-1.73022931e-03 -9.68333103e-04  9.99998034e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98099713  0.16923695 -0.09489311]
 [-0.16938953  0.98552801  0.00651338]
 [ 0.09462194  0.00968515  0.99546568]]

 t_gt:
[-0.24621686  0.90727176 -0.34093285]

Pose Error in degrees for R and t:
101.9685395347958 25.12770060127911

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.88609534e-01 -1.50502577e-01 -4.03829682e-04]
 [ 1.50502785e-01  9.88609435e-01  5.45509179e-04]
 [ 3.17129296e-04 -6.00073067e-04  9.99999770e-01]]

 t_estimated:
[[-0.9384624 ]
 [-0.34537322]
 [-0.00238188]]

 R_gt:
[[ 0.97843734  0.13542199 -0.15595468]
 [-0.13016343  0.99053829  0.04349891]
 [ 0.16036966 -0.02226145  0.98680555]]

 t_gt:
[ 0.00980976  0.87258232 -0.48836858]

Pose Error in degrees for R and t:
18.7791529610061 71.97635735817997

Number of keypoints:
Image1: 341
Image2: 341

 R_estimated:
[[ 9.14459652e-01 -4.04676975e-01 -3.02795989e-04]
 [ 4.04677012e-01  9.14459683e-01  7.09795625e-05]
 [ 2.48170929e-04 -1.87442522e-04  9.99999952e-01]]

 t_estimated:
[[-0.44357998]
 [-0.89623428]
 [-0.00095974]]

 R_gt:
[[ 0.994103    0.10836899  0.00385278]
 [-0.10829357  0.99398727 -0.01621563]
 [-0.00558639  0.01570321  0.99986083]]

 t_gt:
[-0.6940968   0.71809661 -0.05066452]

Pose Error in degrees for R and t:
30.105636957164787 70.3881302644355

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 8.05337512e-01 -5.92816388e-01 -4.70761230e-04]
 [ 5.92816574e-01  8.05337221e-01  6.85257277e-04]
 [-2.71102029e-05 -8.30938450e-04  9.99999654e-01]]

 t_estimated:
[[ 9.35977430e-01]
 [-3.52059077e-01]
 [ 8.10812010e-04]]

 R_gt:
[[ 0.99210885  0.1174137  -0.04397821]
 [-0.11796761  0.99296487 -0.01021506]
 [ 0.04246991  0.01532231  0.99898028]]

 t_gt:
[-0.65804332  0.65955683 -0.36326818]

Pose Error in degrees for R and t:
43.193361532347716 31.960718306613796

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.90165446e-01  1.39900401e-01 -5.17578086e-04]
 [-1.39899856e-01  9.90165182e-01  9.71034301e-04]
 [ 6.48335888e-04 -8.89075512e-04  9.99999395e-01]]

 t_estimated:
[[-0.95782585]
 [-0.28734775]
 [-0.00095783]]

 R_gt:
[[ 0.99535818  0.09598502  0.00698492]
 [-0.0959456   0.99536995 -0.00581532]
 [-0.00750967  0.005119    0.99995846]]

 t_gt:
[-0.81879918  0.57345381  0.02680738]

Pose Error in degrees for R and t:
2.600573239769418 51.72323944583287

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99110589e-01 -4.21666290e-02  8.44713854e-05]
 [ 4.21666288e-02  9.99110592e-01  4.88786532e-06]
 [-8.46023607e-05 -1.32164445e-06  9.99999996e-01]]

 t_estimated:
[[ 0.99408667]
 [-0.10858242]
 [ 0.00124641]]

 R_gt:
[[ 0.99887928 -0.04672994  0.00752852]
 [ 0.04657102  0.99871171  0.02012862]
 [-0.00845838 -0.01975583  0.99976916]]

 t_gt:
[ 0.58808125 -0.76168982  0.27200929]

Pose Error in degrees for R and t:
1.2564516808526915 48.11413644832416

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.51217196e-01 -3.08521910e-01 -2.78584698e-04]
 [ 3.08521978e-01  9.51217183e-01  2.43162721e-04]
 [ 1.89973525e-04 -3.17250063e-04  9.99999932e-01]]

 t_estimated:
[[-0.46090689]
 [-0.88744792]
 [-0.00101076]]

 R_gt:
[[ 0.9996052   0.00545109 -0.02755755]
 [-0.00364345  0.99786615  0.06518746]
 [ 0.02785486 -0.06506097  0.99749284]]

 t_gt:
[ 0.6924377  -0.62528481  0.35992907]

Pose Error in degrees for R and t:
18.669158340781596 76.38511649996667

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 0.32428966  0.94592759 -0.00756397]
 [ 0.94592255 -0.32419814  0.0112287 ]
 [ 0.00816931 -0.01079628 -0.99990835]]

 t_estimated:
[[-0.04832985]
 [-0.99881699]
 [-0.00536998]]

 R_gt:
[[ 0.99168532  0.06628393 -0.11029671]
 [-0.06191271  0.99717262  0.04259156]
 [ 0.11280873 -0.03540906  0.9929858 ]]

 t_gt:
[ 0.46884777  0.2011278  -0.86007521]

Pose Error in degrees for R and t:
173.6764279325273 77.35376884613076

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99999883e-01 -4.40820629e-06 -4.84631350e-04]
 [ 4.67304406e-06  9.99999851e-01  5.46472855e-04]
 [ 4.84628868e-04 -5.46475056e-04  9.99999733e-01]]

 t_estimated:
[[-9.75216026e-01]
 [-2.21253200e-01]
 [-8.50973845e-04]]

 R_gt:
[[ 0.9645014   0.26337341  0.01927201]
 [-0.26316308  0.96466647 -0.01278829]
 [-0.02195917  0.00726295  0.99973214]]

 t_gt:
[-0.88041137  0.47409373 -0.01053316]

Pose Error in degrees for R and t:
15.326975584839111 41.08761367920538

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-7.33648779e-01 -6.79523492e-01 -2.70067309e-03]
 [ 6.79528761e-01 -7.33645011e-01 -2.37931703e-03]
 [-3.64533520e-04 -3.58076807e-03  9.99993523e-01]]

 t_estimated:
[[0.97131978]
 [0.23777099]
 [0.00168632]]

 R_gt:
[[ 0.93182379  0.36174448  0.02906991]
 [-0.36179515  0.93225072 -0.00367923]
 [-0.0284311  -0.00708903  0.99957041]]

 t_gt:
[-0.86436666  0.50178892  0.03283527]

Pose Error in degrees for R and t:
158.41196157699042 43.928161062151794

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99311098 -0.11702448  0.00598858]
 [ 0.11715306  0.99265139 -0.03030484]
 [-0.00239817  0.03079765  0.99952276]]

 t_estimated:
[[0.58954023]
 [0.80773788]
 [0.00135526]]

 R_gt:
[[ 0.90600782  0.4223908   0.02711908]
 [-0.42176998  0.90633523 -0.02582662]
 [-0.03548718  0.01196129  0.99929804]]

 t_gt:
[-0.86000192  0.51023918 -0.00725728]

Pose Error in degrees for R and t:
31.743751119861876 84.55581412742197

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99973303e-01  7.30703592e-03  3.04970615e-05]
 [-7.30703695e-03  9.99973303e-01  3.39610137e-05]
 [-3.02480930e-05 -3.41829502e-05  9.99999999e-01]]

 t_estimated:
[[9.51060806e-01]
 [3.09002970e-01]
 [7.13061216e-04]]

 R_gt:
[[ 0.99691907 -0.07641553 -0.01768779]
 [ 0.07664509  0.99697768  0.01271134]
 [ 0.0166626  -0.01402802  0.9997619 ]]

 t_gt:
[ 0.53033512 -0.84777059 -0.00544879]

Pose Error in degrees for R and t:
4.967859949609506 75.9709731398125

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.97024221e-01  7.70868121e-02 -5.71574734e-04]
 [-7.70865621e-02  9.97024304e-01  4.47318451e-04]
 [ 6.04356255e-04 -4.01926599e-04  9.99999737e-01]]

 t_estimated:
[[0.80055848]
 [0.59925391]
 [0.00093197]]

 R_gt:
[[ 0.9872475  -0.15635052 -0.02995339]
 [ 0.15514851  0.98712222 -0.03897125]
 [ 0.03566086  0.03382694  0.99879042]]

 t_gt:
[ 0.58865182 -0.70483927 -0.39584169]

Pose Error in degrees for R and t:
13.678010073555244 87.21985704482637

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[ 0.81204367  0.58358288  0.00401271]
 [-0.58334971  0.81188085 -0.02350755]
 [-0.01697645  0.01674835  0.99971561]]

 t_estimated:
[[-9.95880193e-01]
 [-9.06754720e-02]
 [-7.75004022e-04]]

 R_gt:
[[ 0.97030406 -0.24162675 -0.01122979]
 [ 0.23935044  0.96579796 -0.09972429]
 [ 0.03494126  0.09407473  0.99495127]]

 t_gt:
[ 0.59249908 -0.67576423 -0.43850604]

Pose Error in degrees for R and t:
49.85839385652722 58.099684281312996

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99999898e-01  4.25836673e-04 -1.52717506e-04]
 [-4.25802370e-04  9.99999884e-01  2.24576293e-04]
 [ 1.52813121e-04 -2.24511242e-04  9.99999963e-01]]

 t_estimated:
[[-0.8778119 ]
 [-0.47900437]
 [-0.00104193]]

 R_gt:
[[ 0.99669963 -0.07815209 -0.0219763 ]
 [ 0.07852718  0.99677096  0.0167837 ]
 [ 0.0205933  -0.0184536   0.99961733]]

 t_gt:
[ 0.52467326 -0.85037484  0.03975685]

Pose Error in degrees for R and t:
4.782972509794683 86.94626035819996

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99229221e-01 -3.92549054e-02  1.28826186e-04]
 [ 3.92549124e-02  9.99229228e-01 -5.24716423e-05]
 [-1.26667121e-04  5.74882589e-05  9.99999990e-01]]

 t_estimated:
[[8.43784002e-01]
 [5.36682404e-01]
 [7.45392228e-04]]

 R_gt:
[[ 0.98432328 -0.16815504 -0.05322474]
 [ 0.17052237  0.98439013  0.04356852]
 [ 0.04506723 -0.05196094  0.99763157]]

 t_gt:
[ 0.61119814 -0.7767624   0.15191118]

Pose Error in degrees for R and t:
8.485893007307695 84.3208446441953

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-8.96228775e-01 -4.43589260e-01 -1.59721474e-03]
 [ 4.43591362e-01 -8.96228127e-01 -1.35941713e-03]
 [-8.28445934e-04 -1.92685941e-03  9.99997800e-01]]

 t_estimated:
[[8.65357341e-01]
 [5.01154773e-01]
 [7.52484644e-04]]

 R_gt:
[[ 0.98599746 -0.11633105 -0.1194876 ]
 [ 0.12878304  0.98637256  0.10239217]
 [ 0.10594772 -0.11634593  0.98754186]]

 t_gt:
[ 0.50809321 -0.80499414  0.30630985]

Pose Error in degrees for R and t:
146.68025049427985 87.9090403319963

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.95522744e-01 -9.45223032e-02 -7.49680132e-06]
 [ 9.45223032e-02  9.95522733e-01  1.51389804e-04]
 [-6.84647682e-06 -1.51420608e-04  9.99999989e-01]]

 t_estimated:
[[0.70411363]
 [0.71008618]
 [0.00127367]]

 R_gt:
[[ 0.99498202  0.01707079 -0.09858678]
 [-0.01687501  0.99985396  0.00282337]
 [ 0.09862186 -0.00114615  0.99512468]]

 t_gt:
[ 0.16718757  0.18921199 -0.96759865]

Pose Error in degrees for R and t:
8.540691054357126 75.47257057741417

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.81086075e-01 -1.93571981e-01 -3.31973161e-05]
 [ 1.93571984e-01  9.81086067e-01  1.28731443e-04]
 [ 7.65062378e-06 -1.32722697e-04  9.99999991e-01]]

 t_estimated:
[[0.50765529]
 [0.86155945]
 [0.00119209]]

 R_gt:
[[ 9.85103945e-01  3.08166275e-02 -1.69173686e-01]
 [-3.14130007e-02  9.99506395e-01 -8.50302930e-04]
 [ 1.69065376e-01  6.15124824e-03  9.85586045e-01]]

 t_gt:
[ 0.18798484  0.18370966 -0.96483805]

Pose Error in degrees for R and t:
16.196683239867017 75.37105962320757

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 6.83936877e-01 -7.29539511e-01 -1.56553390e-03]
 [ 7.29540983e-01  6.83936726e-01  7.13429797e-04]
 [ 5.50250905e-04 -1.63006209e-03  9.99998520e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97861684  0.00667391 -0.20558174]
 [-0.01187159  0.99964091 -0.0240558 ]
 [ 0.20534794  0.02598169  0.97834412]]

 t_gt:
[ 0.30934351  0.07573578 -0.94792968]

Pose Error in degrees for R and t:
48.769050779596824 72.01054537386352

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99412349e-01 -3.42776521e-02 -1.28769725e-05]
 [ 3.42776528e-02  9.99412347e-01  6.04206970e-05]
 [ 1.07983257e-05 -6.08265831e-05  9.99999998e-01]]

 t_estimated:
[[-1.33594237e-02]
 [ 9.99910704e-01]
 [ 3.30757836e-04]]

 R_gt:
[[ 0.99691211  0.01097997 -0.07775432]
 [-0.01114352  0.99993635 -0.00167487]
 [ 0.07773035  0.00253605  0.99697136]]

 t_gt:
[ 0.19251988  0.15481209 -0.96900429]

Pose Error in degrees for R and t:
5.161673761390647 81.2626132679901

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.23938955  0.97091842 -0.00317218]
 [-0.97092236 -0.23938274  0.00238219]
 [ 0.00155354  0.00365021  0.99999213]]

 t_estimated:
[[8.55417846e-01]
 [5.17937929e-01]
 [7.81203511e-04]]

 R_gt:
[[ 0.99142774  0.00456227 -0.1305764 ]
 [-0.00631697  0.99989575 -0.01302588]
 [ 0.1305018   0.01373854  0.99135312]]

 t_gt:
[ 0.29216982  0.05524292 -0.95476961]

Pose Error in degrees for R and t:
103.71399661481453 73.8714233359701

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-2.78080456e-01  9.60554822e-01  2.38631260e-03]
 [ 9.60557569e-01  2.78077866e-01  1.36262994e-03]
 [ 6.45300040e-04  2.67111138e-03 -9.99996224e-01]]

 t_estimated:
[[-0.64774219]
 [-0.76185221]
 [-0.00335618]]

 R_gt:
[[ 0.99505826 -0.03893667 -0.09134616]
 [ 0.03633733  0.99889051 -0.0299464 ]
 [ 0.09241082  0.02647899  0.99536834]]

 t_gt:
[ 0.48742505 -0.23354037 -0.8413535 ]

Pose Error in degrees for R and t:
176.82323351158186 82.24260627463335

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99999945e-01 -1.56578419e-04  2.91606962e-04]
 [ 1.56648379e-04  9.99999959e-01 -2.39903717e-04]
 [-2.91569386e-04  2.39949383e-04  9.99999929e-01]]

 t_estimated:
[[8.01601206e-01]
 [5.97858743e-01]
 [6.56223649e-04]]

 R_gt:
[[ 0.99322773 -0.11306901 -0.02671913]
 [ 0.11329473  0.99353594  0.0070773 ]
 [ 0.02574696 -0.01005634  0.99961788]]

 t_gt:
[ 0.50947725 -0.86017029 -0.02323784]

Pose Error in degrees for R and t:
6.686205033868567 83.92224572883195

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.90808371e-01  1.35272788e-01  2.11778606e-04]
 [-1.35272815e-01  9.90808383e-01  1.17168327e-04]
 [-1.93982332e-04 -1.44739247e-04  9.99999971e-01]]

 t_estimated:
[[0.25880641]
 [0.96592868]
 [0.00101195]]

 R_gt:
[[ 0.97817359 -0.20546017 -0.03100601]
 [ 0.20654912  0.97772393  0.03734062]
 [ 0.02264357 -0.04292867  0.99882156]]

 t_gt:
[ 0.58103908 -0.80428414  0.12458171]

Pose Error in degrees for R and t:
19.863701212648333 51.216569217429324

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.99996363  0.0084434   0.00120648]
 [-0.00844128  0.99996284 -0.00174749]
 [-0.00122119  0.00173724  0.99999775]]

 t_estimated:
[[-0.03107297]
 [-0.99951376]
 [-0.00258941]]

 R_gt:
[[ 0.96566524 -0.24190407 -0.09472812]
 [ 0.24767495  0.96730068  0.05465037]
 [ 0.0784096  -0.07623551  0.99400173]]

 t_gt:
[ 0.63027534 -0.76584987  0.12738516]

Pose Error in degrees for R and t:
16.02079522350793 41.79251159976567

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.78448051e-01 -2.06492246e-01  6.03122837e-04]
 [ 2.06492993e-01  9.78446570e-01 -1.71875687e-03]
 [-2.35213504e-04  1.80625495e-03  9.99998341e-01]]

 t_estimated:
[[-0.96034571]
 [-0.27881005]
 [-0.00103263]]

 R_gt:
[[ 0.97489417  0.22234822  0.0119025 ]
 [-0.22251531  0.97481011  0.01528155]
 [-0.00820379 -0.01754656  0.99981145]]

 t_gt:
[-0.89304628  0.44210291  0.08374583]

Pose Error in degrees for R and t:
24.798097422821915 42.75325444032678

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 6.89864156e-01 -7.23932575e-01  3.01205617e-03]
 [-7.23936620e-01 -6.89866376e-01  3.92905893e-04]
 [ 1.79347890e-03 -2.45158946e-03 -9.99995387e-01]]

 t_estimated:
[[0.0468027 ]
 [0.99890326]
 [0.00133722]]

 R_gt:
[[ 0.90781084  0.41693619  0.04519759]
 [-0.41727993  0.90877656 -0.00200422]
 [-0.04190854 -0.01704014  0.99897559]]

 t_gt:
[-0.84469948  0.53174888  0.06104031]

Pose Error in degrees for R and t:
178.46973141337332 60.54675880018816

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.72923036  0.68390011  0.02244366]
 [ 0.68422813  0.72915054  0.01309027]
 [-0.00741237  0.0249024  -0.99966241]]

 t_estimated:
[[0.99894282]
 [0.04585311]
 [0.00327522]]

 R_gt:
[[ 0.88301292  0.46661452  0.05058713]
 [-0.46701977  0.88423735 -0.00420171]
 [-0.04669072 -0.01991364  0.99871088]]

 t_gt:
[-0.83853026  0.54159813  0.05948507]

Pose Error in degrees for R and t:
176.8882975114751 35.6477840887567

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99942236e-01  1.07476416e-02  1.09663125e-04]
 [-1.07476354e-02  9.99942241e-01 -5.67907271e-05]
 [-1.10267158e-04  5.56088274e-05  9.99999992e-01]]

 t_estimated:
[[-9.97034689e-01]
 [ 7.69534102e-02]
 [ 4.69038008e-05]]

 R_gt:
[[ 0.99089806 -0.13457478  0.00329648]
 [ 0.13460429  0.99083753 -0.01109666]
 [-0.00177299  0.01143958  0.99993291]]

 t_gt:
[ 0.7642623  -0.64200818 -0.06106257]

Pose Error in degrees for R and t:
8.376801714310153 35.76670486285544

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 0.96288999 -0.26987236  0.0034324 ]
 [ 0.2697344   0.96267965  0.02216426]
 [-0.00928582 -0.02041591  0.99974845]]

 t_estimated:
[[ 0.09953029]
 [-0.99443815]
 [ 0.03444538]]

 R_gt:
[[ 0.97253735 -0.22768214 -0.04827419]
 [ 0.22721614  0.97372901 -0.01500503]
 [ 0.0504214   0.00362458  0.99872155]]

 t_gt:
[ 0.8201745  -0.55785502 -0.12693131]

Pose Error in degrees for R and t:
4.439760119564797 50.80125500218441

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.99168648 -0.12831277 -0.00968236]
 [ 0.12833229  0.99173021  0.00141928]
 [ 0.00942018 -0.00265004  0.99995212]]

 t_estimated:
[[-0.1697668 ]
 [-0.98547556]
 [-0.00414065]]

 R_gt:
[[ 9.07184549e-01 -4.19936042e-01 -2.58895557e-02]
 [ 4.20057304e-01  9.07496663e-01 -8.00432711e-04]
 [ 2.38305695e-02 -1.01483513e-02  9.99664584e-01]]

 t_gt:
[ 0.89839684 -0.43857273 -0.02317503]

Pose Error in degrees for R and t:
17.48967764808663 73.75288249636684

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 6.23568937e-01  7.81764902e-01  2.32793747e-03]
 [ 7.81766420e-01 -6.23571266e-01  3.75835228e-04]
 [ 1.74544971e-03  1.58554417e-03 -9.99997220e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.97053983e-01 -7.63458164e-02  7.40796064e-03]
 [ 7.67011780e-02  9.93218596e-01 -8.73705866e-02]
 [-6.88527322e-04  8.76818133e-02  9.96147986e-01]]

 t_gt:
[ 0.39883653 -0.51667291 -0.75761371]

Pose Error in degrees for R and t:
175.32839577299595 89.40979779533086

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 8.17522498e-01 -5.75895506e-01 -1.15366947e-03]
 [ 5.75895261e-01  8.17523288e-01 -5.67881353e-04]
 [ 1.27019197e-03 -2.00136996e-04  9.99999173e-01]]

 t_estimated:
[[ 0.65765007]
 [-0.7533218 ]
 [-0.00162716]]

 R_gt:
[[ 0.98775664 -0.15498492  0.01782461]
 [ 0.15600137  0.9803485  -0.12075146]
 [ 0.00123929  0.12205438  0.99252283]]

 t_gt:
[ 0.4930367  -0.65569506 -0.57182061]

Pose Error in degrees for R and t:
27.088166719439677 35.00265725236609

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-8.72814595e-01 -4.88051899e-01 -1.65899016e-04]
 [ 4.88048962e-01 -8.72808056e-01 -3.78252560e-03]
 [ 1.70127080e-03 -3.38241039e-03  9.99992832e-01]]

 t_estimated:
[[8.76821505e-01]
 [4.80815537e-01]
 [6.83948132e-04]]

 R_gt:
[[ 0.96089476 -0.27690552 -0.00215649]
 [ 0.27503672  0.95525936 -0.10879159]
 [ 0.03218381  0.10394452  0.99406197]]

 t_gt:
[ 0.62901243 -0.68399888 -0.36944403]

Pose Error in degrees for R and t:
134.7849458440226 77.14986679868161

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.97355893e-01 -7.26714255e-02 -2.94734473e-04]
 [ 7.26714720e-02  9.97355922e-01  1.50230356e-04]
 [ 2.83037718e-04 -1.71251919e-04  9.99999945e-01]]

 t_estimated:
[[-9.85856229e-01]
 [ 1.67593203e-01]
 [-1.19120119e-04]]

 R_gt:
[[ 9.77036223e-01  2.12994688e-01  5.81455125e-03]
 [-2.13073941e-01  9.76714259e-01  2.50779682e-02]
 [-3.37774645e-04 -2.57406064e-02  9.99669037e-01]]

 t_gt:
[-0.57304917  0.81378134  0.09682241]

Pose Error in degrees for R and t:
16.534518160625357 45.46725496122182

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.99999048e-01 -1.36095121e-03 -2.27852693e-04]
 [ 1.36099286e-03  9.99999057e-01  1.82710370e-04]
 [ 2.27603819e-04 -1.83020302e-04  9.99999957e-01]]

 t_estimated:
[[-8.68031104e-01]
 [ 4.96509665e-01]
 [ 3.92252216e-04]]

 R_gt:
[[ 0.96120177  0.27557342 -0.01230473]
 [-0.27422356  0.95942433  0.06562508]
 [ 0.02988991 -0.0597051   0.99776909]]

 t_gt:
[-0.51183981  0.85460724  0.08755843]

Pose Error in degrees for R and t:
16.49615380533181 29.69809624215319

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 3.33811130e-01  9.42636696e-01  2.48771587e-03]
 [ 9.42639584e-01 -3.33812243e-01  3.44764237e-05]
 [ 8.62928759e-04  2.33351084e-03 -9.99996905e-01]]

 t_estimated:
[[-8.87450680e-01]
 [-4.60901960e-01]
 [-8.20385059e-04]]

 R_gt:
[[ 0.88766972  0.46040073 -0.00857828]
 [-0.45982676  0.88724761  0.03676315]
 [ 0.02453703 -0.02868938  0.99928801]]

 t_gt:
[-0.45026971  0.89279282  0.01334799]

Pose Error in degrees for R and t:
177.9112414463841 89.31766237522747

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99999988e-01  1.50128812e-04 -3.78484869e-05]
 [-1.50129184e-04  9.99999989e-01 -9.82010851e-06]
 [ 3.78470122e-05  9.82579056e-06  9.99999999e-01]]

 t_estimated:
[[-0.74648492]
 [-0.66540084]
 [-0.00141059]]

 R_gt:
[[ 0.99885737  0.042714   -0.02144595]
 [-0.04311958  0.99889321 -0.01881488]
 [ 0.02061847  0.01971849  0.99959233]]

 t_gt:
[-0.59836361  0.55604401 -0.57686744]

Pose Error in degrees for R and t:
2.945493255720974 85.55563841415567

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[-0.37017689 -0.92747363 -0.05255213]
 [-0.92775375  0.37198716 -0.0299756 ]
 [ 0.0473503   0.03765916 -0.99816819]]

 t_estimated:
[[ 0.84239239]
 [ 0.53818799]
 [-0.02699526]]

 R_gt:
[[ 9.99925462e-01  7.03869010e-04 -1.21787873e-02]
 [-8.12918559e-04  9.99960235e-01 -8.94185806e-03]
 [ 1.21714737e-02  8.95128093e-03  9.99885866e-01]]

 t_gt:
[-0.72617627 -0.1478675  -0.67141881]

Pose Error in degrees for R and t:
175.676408352194 47.68696570374372

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.99947181e-01  1.02778445e-02 -3.61132662e-05]
 [-1.02778425e-02  9.99947180e-01  5.49315826e-05]
 [ 3.66759370e-05 -5.45575147e-05  9.99999998e-01]]

 t_estimated:
[[-0.70301348]
 [ 0.7111752 ]
 [-0.00136926]]

 R_gt:
[[ 0.99853065  0.03095992  0.04448233]
 [-0.03014431  0.99936736 -0.01890609]
 [-0.04504017  0.01753784  0.99883101]]

 t_gt:
[-0.88681296  0.33459674  0.31875979]

Pose Error in degrees for R and t:
3.0070067463570163 30.575242443116636

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.90159501e-01  1.39943407e-01  7.64021612e-05]
 [-1.39943425e-01  9.90159448e-01  3.25532007e-04]
 [-3.00942636e-05 -3.33020589e-04  9.99999944e-01]]

 t_estimated:
[[0.54206354]
 [0.840337  ]
 [0.00092345]]

 R_gt:
[[ 0.99617693 -0.08656653 -0.01169306]
 [ 0.08636284  0.99612024 -0.01688106]
 [ 0.01311046  0.01580607  0.99978958]]

 t_gt:
[ 0.68410068 -0.71201912 -0.15822465]

Pose Error in degrees for R and t:
13.059854604301712 76.84088505939887

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 1.97085994e-01 -9.80385353e-01 -1.29268698e-03]
 [ 9.80386193e-01  1.97085615e-01  4.15636368e-04]
 [-1.52713799e-04 -1.34924857e-03  9.99999078e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98606097 -0.16605098  0.01043524]
 [ 0.16602996  0.98611563  0.00286841]
 [-0.01076638 -0.0010962   0.9999422 ]]

 t_gt:
[ 0.67692083 -0.73303781  0.06658653]

Pose Error in degrees for R and t:
69.07817831128683 47.5694514688008

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.79024429e-01 -2.03739725e-01  1.13624982e-03]
 [ 2.03740644e-01  9.79024602e-01 -7.60208216e-04]
 [-9.57531914e-04  9.75762684e-04  9.99999066e-01]]

 t_estimated:
[[-0.63746476]
 [-0.77047906]
 [-0.00083657]]

 R_gt:
[[ 0.98834973 -0.15212237 -0.00476228]
 [ 0.15218984  0.98812586  0.02108812]
 [ 0.0014984  -0.02156721  0.99976609]]

 t_gt:
[ 0.68787391 -0.72167999  0.07750791]

Pose Error in degrees for R and t:
3.271868295643301 83.25336335827257

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-7.25649051e-01 -6.88063395e-01 -1.48984598e-03]
 [ 6.88064267e-01 -7.25649746e-01 -1.03717358e-04]
 [-1.00974224e-03 -1.10037218e-03  9.99998885e-01]]

 t_estimated:
[[9.58459084e-01]
 [2.85229083e-01]
 [7.44723453e-04]]

 R_gt:
[[ 9.99065385e-01  9.42733509e-04 -4.32307656e-02]
 [ 4.13185684e-04  9.99508993e-01  3.13233734e-02]
 [ 4.32395310e-02 -3.13120069e-02  9.98573064e-01]]

 t_gt:
[ 0.73814265  0.61768666 -0.27130909]

Pose Error in degrees for R and t:
136.5522977686701 27.937439455622588

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.73057269  0.29412779 -0.61624052]
 [-0.60604254 -0.69509939  0.38671602]
 [-0.31460449  0.65599213  0.68607459]]

 t_estimated:
[[0.57593054]
 [0.81749731]
 [0.00147297]]

 R_gt:
[[ 0.99388894  0.01262071 -0.10966961]
 [-0.00674305  0.99852958  0.05379024]
 [ 0.1101871  -0.05272128  0.99251112]]

 t_gt:
[ 0.70738724  0.44059895 -0.5526987 ]

Pose Error in degrees for R and t:
148.88789062749217 39.93436726834878

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.92755622e-01 -1.20151022e-01  8.24041968e-05]
 [ 1.20151012e-01  9.92755620e-01  1.17349659e-04]
 [-9.59069109e-05 -1.06598586e-04  9.99999990e-01]]

 t_estimated:
[[7.44271271e-01]
 [6.67877212e-01]
 [5.52026101e-04]]

 R_gt:
[[ 0.98560717  0.01960971 -0.16791439]
 [-0.01359301  0.99922681  0.03690157]
 [ 0.16850828 -0.03408832  0.98511043]]

 t_gt:
[ 0.64993292  0.35735332 -0.67073527]

Pose Error in degrees for R and t:
12.63663988756916 43.778137797435065

Number of keypoints:
Image1: 387
Image2: 387

 R_estimated:
[[ 9.89791049e-01 -1.42526065e-01 -2.21916090e-05]
 [ 1.42526067e-01  9.89791036e-01  1.59074107e-04]
 [-7.07150905e-07 -1.60613010e-04  9.99999987e-01]]

 t_estimated:
[[ 1.53450563e-01]
 [-9.88156281e-01]
 [ 2.99715802e-04]]

 R_gt:
[[ 0.99971861 -0.00442214  0.02330378]
 [ 0.00554047  0.99882416 -0.04815896]
 [-0.02306361  0.0482749   0.99856811]]

 t_gt:
[-0.48062313  0.85761566 -0.18302129]

Pose Error in degrees for R and t:
8.4844565161139 22.888271421814146

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 6.55115294e-01 -7.55528682e-01 -6.02220000e-04]
 [ 7.55528895e-01  6.55114853e-01  7.86158254e-04]
 [-1.99441843e-04 -9.70018907e-04  9.99999510e-01]]

 t_estimated:
[[ 8.19511906e-01]
 [-5.73061573e-01]
 [ 8.18202080e-04]]

 R_gt:
[[ 0.99981435 -0.00284135  0.01905953]
 [ 0.00379867  0.99872204 -0.05038617]
 [-0.01889252  0.05044866  0.99854817]]

 t_gt:
[-0.46841773  0.85305795 -0.22994994]

Pose Error in degrees for R and t:
48.97640813918336 29.20062239309439

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[-4.37382950e-01 -8.99273930e-01 -1.59789120e-03]
 [ 8.99275024e-01 -4.37383615e-01  7.47914688e-05]
 [-7.66149449e-04 -1.40423114e-03  9.99998721e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99826967 -0.04886153  0.03271052]
 [ 0.0518082   0.99400199 -0.09631191]
 [-0.0278079   0.09783888  0.9948135 ]]

 t_gt:
[-0.24416819  0.87413312 -0.419849  ]

Pose Error in degrees for R and t:
113.14814936011767 76.00826466738305

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[-0.35123618  0.80605638 -0.47634678]
 [ 0.81361393  0.51452343  0.27073606]
 [ 0.46332011 -0.29247008 -0.83653794]]

 t_estimated:
[[ 0.82908264]
 [-0.48638628]
 [-0.2757723 ]]

 R_gt:
[[ 9.99642455e-01  2.67364088e-02  9.03929642e-04]
 [-2.67096658e-02  9.99404220e-01 -2.18285174e-02]
 [-1.48606456e-03  2.17969455e-02  9.99761075e-01]]

 t_gt:
[-0.8335972   0.42915918 -0.34776157]

Pose Error in degrees for R and t:
147.50176037998753 36.49053660078807

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 6.38920791e-02 -9.97953466e-01 -2.58475214e-03]
 [ 9.97956518e-01  6.38938390e-02 -6.04047703e-04]
 [ 7.67961236e-04 -2.54087638e-03  9.99996477e-01]]

 t_estimated:
[[ 6.37168460e-01]
 [-7.70724422e-01]
 [-4.67685501e-04]]

 R_gt:
[[ 0.99885914  0.01191617 -0.04622207]
 [-0.01102069  0.99974748  0.019576  ]
 [ 0.04644449 -0.01904414  0.99873876]]

 t_gt:
[-0.75724757 -0.41363141 -0.50545542]

Pose Error in degrees for R and t:
87.02690899526081 80.59209705324571

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-9.71384351e-01 -2.37512892e-01 -2.63409665e-04]
 [-2.37474555e-01  9.71206401e-01  1.90778240e-02]
 [-4.27540399e-03  1.85944527e-02 -9.99817967e-01]]

 t_estimated:
[[ 9.99634841e-01]
 [-2.70133153e-02]
 [-6.82948630e-04]]

 R_gt:
[[ 0.99787514 -0.00524821 -0.06494372]
 [ 0.00500022  0.99997966 -0.00398796]
 [ 0.06496344  0.00365554  0.99788011]]

 t_gt:
[-0.5537372  -0.5069676  -0.66057473]

Pose Error in degrees for R and t:
176.39466784197768 57.35794617338325

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 8.90645423e-01 -4.54619940e-01 -8.45229352e-03]
 [ 4.54641212e-01  8.90674409e-01  6.82430386e-04]
 [ 7.21799508e-03 -4.45056447e-03  9.99964046e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99798043 -0.06152377  0.01583169]
 [ 0.05982561  0.99400018  0.09156032]
 [-0.02137022 -0.09042902  0.99567403]]

 t_gt:
[ 0.30495662 -0.61595526  0.72636119]

Pose Error in degrees for R and t:
24.135539098355604 82.91236061275482

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99999906e-01  4.13984330e-04 -1.28977738e-04]
 [-4.13971139e-04  9.99999909e-01  1.02285336e-04]
 [ 1.29020071e-04 -1.02231933e-04  9.99999986e-01]]

 t_estimated:
[[ 4.74460045e-01]
 [ 8.80276977e-01]
 [-3.29424086e-04]]

 R_gt:
[[ 0.99766091 -0.0635457   0.02522123]
 [ 0.0613596   0.99493622  0.07960484]
 [-0.0301521  -0.07787196  0.99650772]]

 t_gt:
[ 0.30620198 -0.61743747  0.72457665]

Pose Error in degrees for R and t:
5.995034471919796 66.51717990101581

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-4.09948106e-01 -9.12103196e-01 -3.21087800e-03]
 [-9.12108848e-01  4.09945613e-01  1.42955909e-03]
 [ 1.23799378e-05  3.51471527e-03 -9.99993823e-01]]

 t_estimated:
[[0.8551609 ]
 [0.51836186]
 [0.00090781]]

 R_gt:
[[ 0.99952098 -0.0307746  -0.00357285]
 [ 0.03062443  0.99886445 -0.03648268]
 [ 0.00469159  0.03635544  0.99932779]]

 t_gt:
[ 0.43990036 -0.44930313 -0.77756953]

Pose Error in degrees for R and t:
178.5610472189513 81.80294342222811

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.94689437e-01  1.02920573e-01  5.28809131e-04]
 [-1.02920369e-01  9.94689518e-01 -4.00167262e-04]
 [-5.67186344e-04  3.43616917e-04  9.99999780e-01]]

 t_estimated:
[[0.8917877 ]
 [0.45245111]
 [0.00163932]]

 R_gt:
[[ 0.98668198 -0.16257663 -0.00543202]
 [ 0.16128419  0.98208906 -0.09740803]
 [ 0.02117125  0.09523564  0.99522939]]

 t_gt:
[ 0.56109544 -0.66892464 -0.4875569 ]

Pose Error in degrees for R and t:
16.232564032656956 78.64291464609715

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[-9.57520044e-01  2.88344031e-01 -3.61746476e-03]
 [-2.88340947e-01 -9.57526842e-01 -1.35818864e-03]
 [-3.85544520e-03 -2.57429635e-04  9.99992535e-01]]

 t_estimated:
[[0.61747816]
 [0.7865865 ]
 [0.00155145]]

 R_gt:
[[ 0.98174504 -0.18850796 -0.02536624]
 [ 0.18346746  0.97368365 -0.13520503]
 [ 0.05018688  0.12808315  0.9904923 ]]

 t_gt:
[ 0.54272585 -0.54156252 -0.64199587]

Pose Error in degrees for R and t:
174.01302905940955 84.72935465758665

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[-0.37000646  0.929028    0.0014814 ]
 [ 0.92902832  0.37000347  0.00195127]
 [ 0.00126466  0.00209824 -0.999997  ]]

 t_estimated:
[[-0.08931495]
 [-0.99600283]
 [-0.00109612]]

 R_gt:
[[ 0.99064054 -0.12870486 -0.04547988]
 [ 0.12123057  0.9826658  -0.1402519 ]
 [ 0.06274272  0.13342493  0.98907051]]

 t_gt:
[ 0.41848682 -0.24458943 -0.87466839]

Pose Error in degrees for R and t:
178.14040663344227 78.04207266040615

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99367429e-01 -3.55631640e-02 -4.83265092e-05]
 [ 3.55631684e-02  9.99367426e-01  9.31703698e-05]
 [ 4.49825059e-05 -9.48300768e-05  9.99999994e-01]]

 t_estimated:
[[ 7.20497195e-01]
 [-6.93457695e-01]
 [-4.65350936e-04]]

 R_gt:
[[ 0.99987626  0.00971819  0.01238125]
 [-0.00974281  0.99995114  0.0019547 ]
 [-0.01236162 -0.00207538  0.99992172]]

 t_gt:
[0.76998161 0.23130573 0.5946646 ]

Pose Error in degrees for R and t:
2.6930209255314748 66.79063565700025

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.43223546e-01 -3.32153915e-01 -1.76605780e-03]
 [ 3.32157122e-01  9.43221902e-01  2.02222623e-03]
 [ 9.94094036e-04 -2.49402008e-03  9.99996396e-01]]

 t_estimated:
[[-0.55922712]
 [-0.82901401]
 [-0.00089333]]

 R_gt:
[[ 0.99878943 -0.0474833   0.01291126]
 [ 0.04775451  0.99862583 -0.02158852]
 [-0.01186855  0.0221794   0.9996838 ]]

 t_gt:
[ 0.81005282 -0.58600186 -0.02040204]

Pose Error in degrees for R and t:
16.74551313682888 88.11930227715824

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-6.94057739e-01 -7.19917428e-01 -1.65888280e-03]
 [ 7.19917687e-01 -6.94059240e-01  5.43184425e-04]
 [-1.54241087e-03 -8.17257715e-04  9.99998477e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.87740998e-01 -1.55524175e-01  1.34457834e-02]
 [ 1.55542024e-01  9.87829293e-01 -3.64503296e-04]
 [-1.32250076e-02  2.45081146e-03  9.99910036e-01]]

 t_gt:
[ 0.7340663 -0.6760686  0.0638586]

Pose Error in degrees for R and t:
125.00566701821916 42.94435354711518

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.72581847  0.68788536 -0.00112844]
 [ 0.68769798 -0.72558042  0.02458723]
 [ 0.01609442 -0.01862189 -0.99969705]]

 t_estimated:
[[-0.99987638]
 [-0.01568844]
 [-0.0010459 ]]

 R_gt:
[[ 9.71999790e-01 -1.58451135e-01  1.73522813e-01]
 [ 1.55975914e-01  9.87367164e-01  2.79015197e-02]
 [-1.75750927e-01 -5.46562260e-05  9.84434189e-01]]

 t_gt:
[ 0.51698006 -0.61889489  0.59135499]

Pose Error in degrees for R and t:
178.3042498638467 59.48092715181325

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 0.98678129 -0.16199861  0.00437372]
 [-0.16200746 -0.98678798  0.00174918]
 [ 0.00403257 -0.00243463 -0.99998891]]

 t_estimated:
[[0.1426827 ]
 [0.98976734]
 [0.00150192]]

 R_gt:
[[ 0.91633484 -0.29865486  0.26671471]
 [ 0.28510244  0.95434397  0.08912229]
 [-0.28115415 -0.00562436  0.95964623]]

 t_gt:
[ 0.61157424 -0.59594946  0.52040483]

Pose Error in degrees for R and t:
175.84894636432662 59.880268889922

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-7.85854867e-01  6.18406495e-01 -2.35253060e-03]
 [-6.18403847e-01 -7.85858388e-01 -1.81007159e-03]
 [-2.96811594e-03  3.23604075e-05  9.99995595e-01]]

 t_estimated:
[[1.84731236e-01]
 [9.82788828e-01]
 [6.99945884e-04]]

 R_gt:
[[ 0.85940292 -0.41650252  0.29656919]
 [ 0.39674819  0.90909428  0.12703422]
 [-0.3225191   0.00848979  0.94652467]]

 t_gt:
[ 0.7023518  -0.5765284   0.41751282]

Pose Error in degrees for R and t:
166.6745748687623 64.11494595708798

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.59501548e-01  2.81703337e-01  9.50809746e-05]
 [-2.81703303e-01  9.59501524e-01 -2.72706593e-04]
 [-1.68052698e-04  2.34877774e-04  9.99999958e-01]]

 t_estimated:
[[-2.82142692e-01]
 [ 9.59372373e-01]
 [ 3.89909371e-04]]

 R_gt:
[[ 0.99341431  0.11350689  0.01566491]
 [-0.11341169  0.9935246  -0.0068618 ]
 [-0.01634219  0.00504097  0.99985335]]

 t_gt:
[-0.72330633  0.68856244  0.052055  ]

Pose Error in degrees for R and t:
9.893899716583467 30.153395860354134

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-1.15223769e-01 -9.93339191e-01  8.56722617e-04]
 [-9.93337835e-01  1.15225134e-01  1.76448897e-03]
 [-1.85145203e-03 -6.47703920e-04 -9.99998076e-01]]

 t_estimated:
[[0.79543937]
 [0.60602956]
 [0.00209404]]

 R_gt:
[[ 0.99598067  0.08266814  0.03449821]
 [-0.08277324  0.99656733  0.00159375]
 [-0.03424831 -0.00444332  0.99940253]]

 t_gt:
[-0.67700059  0.69372033  0.2458095 ]

Pose Error in degrees for R and t:
178.30869458086514 83.24735993118875

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 7.39629354e-01  6.73013782e-01  9.31530356e-04]
 [-6.73013649e-01  7.39629895e-01 -4.96915594e-04]
 [-1.02341874e-03 -2.59399284e-04  9.99999443e-01]]

 t_estimated:
[[0.07113042]
 [0.99746615]
 [0.00132067]]

 R_gt:
[[ 0.99857653 -0.0399716   0.03533355]
 [ 0.03938267  0.99907646  0.01720524]
 [-0.03598811 -0.01578961  0.99922657]]

 t_gt:
[ 0.69653931 -0.3382796   0.6327716 ]

Pose Error in degrees for R and t:
44.62626816927982 73.3190742046045

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.99721209  0.07461173 -0.00106363]
 [-0.07460899 -0.99720992 -0.00242234]
 [-0.00124139 -0.00233623  0.9999965 ]]

 t_estimated:
[[0.8593152 ]
 [0.51144521]
 [0.0010905 ]]

 R_gt:
[[ 0.99180081 -0.12223292 -0.03727081]
 [ 0.12351352  0.99175312  0.03422281]
 [ 0.03278014 -0.03854517  0.99871856]]

 t_gt:
[ 0.78237238 -0.62188231  0.03399799]

Pose Error in degrees for R and t:
177.21387544384834 69.25050360187835

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 9.71475283e-01 -2.37140815e-01 -8.75895687e-05]
 [ 2.37140745e-01  9.71475178e-01 -4.95876791e-04]
 [ 2.02683718e-04  4.60960991e-04  9.99999873e-01]]

 t_estimated:
[[ 0.34198107]
 [-0.93970532]
 [-0.00169306]]

 R_gt:
[[ 0.98691462 -0.15524244 -0.04358759]
 [ 0.15663804  0.98718013  0.03065167]
 [ 0.03827022 -0.03707622  0.99857907]]

 t_gt:
[ 0.78006845 -0.62569221  0.00156986]

Pose Error in degrees for R and t:
5.644693174622835 31.269828921616483

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.72656390e-01 -2.32248891e-01 -2.81128585e-05]
 [ 2.32248891e-01  9.72656361e-01  2.36232348e-04]
 [-2.75205501e-05 -2.36302083e-04  9.99999972e-01]]

 t_estimated:
[[9.99954458e-01]
 [9.51157420e-03]
 [7.81600354e-04]]

 R_gt:
[[ 0.99457246 -0.10391784 -0.00499955]
 [ 0.10402379  0.99409034  0.03104521]
 [ 0.00174445 -0.03139602  0.99950506]]

 t_gt:
[ 0.67685582 -0.72140522  0.14642645]

Pose Error in degrees for R and t:
7.671458706190224 47.92693500839227

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[-0.08539424  0.99557793 -0.03914598]
 [ 0.99549696  0.08687832  0.03792034]
 [ 0.04115359 -0.03573152 -0.99851372]]

 t_estimated:
[[ 0.72290355]
 [-0.6904289 ]
 [-0.02680263]]

 R_gt:
[[ 0.99678072  0.07623203 -0.02483318]
 [-0.07549969  0.99671923  0.02916782]
 [ 0.02697409 -0.02719891  0.99926607]]

 t_gt:
[-0.45513787  0.89038187 -0.00834515]

Pose Error in degrees for R and t:
174.68828614811815 19.344754827805435

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99999682e-01  1.65077159e-04 -7.80304937e-04]
 [-1.64199414e-04  9.99999354e-01  1.12480451e-03]
 [ 7.80490112e-04 -1.12467602e-03  9.99999063e-01]]

 t_estimated:
[[-0.72923095]
 [-0.68426716]
 [-0.00081752]]

 R_gt:
[[ 0.95796594  0.28673554 -0.00920375]
 [-0.28661301  0.95796289  0.01265378]
 [ 0.01244409 -0.00948401  0.99987737]]

 t_gt:
[-0.53403253  0.84513539 -0.02356748]

Pose Error in degrees for R and t:
16.670511445367335 79.11454963267433

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 0.96433508 -0.26463903 -0.00490373]
 [ 0.26465773  0.96433548  0.00365538]
 [ 0.00376148 -0.00482282  0.9999813 ]]

 t_estimated:
[[-0.60814245]
 [-0.79382731]
 [-0.00098246]]

 R_gt:
[[ 0.88376212  0.46602803 -0.04221959]
 [-0.46514809  0.88474789  0.02929117]
 [ 0.05100392 -0.00624788  0.99867845]]

 t_gt:
[-0.46281195  0.88278362 -0.08061125]

Pose Error in degrees for R and t:
43.18907802201059 65.21319883292658

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.98986805e-01  4.50019475e-02 -4.33260182e-04]
 [-4.50019383e-02  9.98986899e-01  3.08640704e-05]
 [ 4.34210189e-04 -1.13352511e-05  9.99999906e-01]]

 t_estimated:
[[7.79643762e-01]
 [6.26222852e-01]
 [7.37600532e-04]]

 R_gt:
[[ 0.99569534 -0.09105698  0.01730664]
 [ 0.09113245  0.99583158 -0.00366765]
 [-0.01690162  0.00522986  0.99984365]]

 t_gt:
[ 0.85779891 -0.51234154  0.04107515]

Pose Error in degrees for R and t:
7.874959512116186 69.63692757410567

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99305503e-01 -3.72623353e-02  1.72077260e-04]
 [ 3.72623408e-02  9.99305517e-01 -2.90733772e-05]
 [-1.70874413e-04  3.54651873e-05  9.99999985e-01]]

 t_estimated:
[[9.79710413e-01]
 [2.00416569e-01]
 [8.40185813e-04]]

 R_gt:
[[ 9.75997091e-01 -2.17782560e-01  5.68370351e-04]
 [ 2.17744956e-01  9.75874286e-01  1.59788478e-02]
 [-4.03561732e-03 -1.54707544e-02  9.99872738e-01]]

 t_gt:
[ 0.8479035  -0.52732502  0.05466231]

Pose Error in degrees for R and t:
10.483122315160598 43.52606528068486

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 5.92926959e-01 -8.05252257e-01 -2.53453411e-03]
 [ 8.05255608e-01  5.92927513e-01  6.07941415e-04]
 [ 1.01324881e-03 -2.40141266e-03  9.99996603e-01]]

 t_estimated:
[[-0.20157983]
 [-0.97947124]
 [-0.00129218]]

 R_gt:
[[ 0.95042129 -0.31003895 -0.02396972]
 [ 0.30999792  0.9507213  -0.00549487]
 [ 0.02449187 -0.0022075   0.9996978 ]]

 t_gt:
[ 0.86003857 -0.50856982 -0.04111432]

Pose Error in degrees for R and t:
35.59474568046449 71.04555967997798

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99948692e-01  1.01295458e-02 -7.10138481e-05]
 [-1.01295386e-02  9.99948690e-01  1.01375446e-04]
 [ 7.20370916e-05 -1.00650907e-04  9.99999992e-01]]

 t_estimated:
[[-0.65171083]
 [ 0.75846712]
 [ 0.00078244]]

 R_gt:
[[ 9.93427433e-01  1.14464912e-01 -5.93478908e-04]
 [-1.14324922e-01  9.92439875e-01  4.46435300e-02]
 [ 5.69902194e-03 -4.42814601e-02  9.99003165e-01]]

 t_gt:
[-0.57546684  0.7741444   0.26370126]

Pose Error in degrees for R and t:
6.512178307102233 15.760097306423628

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-0.90880624  0.41707232 -0.01104115]
 [ 0.41706462  0.90887155  0.00310094]
 [ 0.0113283  -0.00178672 -0.99993424]]

 t_estimated:
[[ 0.97631148]
 [-0.21630218]
 [-0.00540987]]

 R_gt:
[[ 9.72719207e-01  2.31985310e-01 -4.00239511e-04]
 [-2.31811521e-01  9.72050461e-01  3.71622429e-02]
 [ 9.01091907e-03 -3.60554979e-02  9.99309320e-01]]

 t_gt:
[-0.52993653  0.84401737  0.08247396]

Pose Error in degrees for R and t:
178.62899548173385 45.54153018493523

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-3.33465956e-01 -9.42762030e-01 -4.60265859e-04]
 [-9.42762124e-01  3.33465814e-01  3.59324371e-04]
 [-1.85274444e-04  5.53743664e-04 -9.99999830e-01]]

 t_estimated:
[[0.7189527 ]
 [0.69505817]
 [0.00107199]]

 R_gt:
[[ 0.89477956  0.44647441  0.00548022]
 [-0.4464938   0.89458032  0.01924714]
 [ 0.00369058 -0.01966877  0.99979976]]

 t_gt:
[-0.47088198  0.88195335  0.02069899]

Pose Error in degrees for R and t:
179.3100869911855 74.06842403722844

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 5.29908009e-01  8.48054413e-01  1.10229375e-03]
 [ 8.48050373e-01 -5.29908943e-01  2.66018151e-03]
 [ 2.84009399e-03 -4.74850861e-04 -9.99995854e-01]]

 t_estimated:
[[-0.59424679]
 [-0.8042823 ]
 [-0.0008538 ]]

 R_gt:
[[ 0.99780765 -0.02845851  0.05974284]
 [ 0.02866879  0.99958555 -0.00265627]
 [-0.05964182  0.00436403  0.99821086]]

 t_gt:
[-0.44152294  0.0489589   0.89591323]

Pose Error in degrees for R and t:
178.26608033305828 77.15984394465946

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 2.73067338e-01  9.61994705e-01  6.45153113e-04]
 [-9.61994115e-01  2.73067916e-01 -1.11189404e-03]
 [-1.24580679e-03 -3.17011553e-04  9.99999174e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99538017 -0.04154481  0.08657152]
 [ 0.04620678  0.99754881 -0.05255646]
 [-0.08417521  0.05631392  0.99485852]]

 t_gt:
[-0.60050218  0.54747907  0.58280684]

Pose Error in degrees for R and t:
76.85457466494653 73.90194303403126

Number of keypoints:
Image1: 311
Image2: 311

 R_estimated:
[[ 9.76914628e-01 -2.13629937e-01 -2.44138651e-04]
 [ 2.13630069e-01  9.76914252e-01  8.58913084e-04]
 [ 5.50129799e-05 -8.91240113e-04  9.99999601e-01]]

 t_estimated:
[[0.00519744]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.99516824 -0.02690082  0.09443136]
 [ 0.03303632  0.99740187 -0.06401821]
 [-0.09246353  0.06682924  0.99347082]]

 t_gt:
[-0.6270623   0.71043071  0.31950131]

Pose Error in degrees for R and t:
12.485350935840529 44.968637652277245

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.99832826  0.05752638  0.00560351]
 [ 0.05754486  0.99833781  0.00319584]
 [-0.00541035  0.00351295 -0.99997919]]

 t_estimated:
[[0.96490261]
 [0.26260008]
 [0.00203566]]

 R_gt:
[[ 0.99901033 -0.0406474   0.01809222]
 [ 0.03851054  0.99363025  0.1059066 ]
 [-0.0222822  -0.10510518  0.99421102]]

 t_gt:
[ 0.19106483 -0.46296027  0.86554146]

Pose Error in degrees for R and t:
178.69718358507646 86.29912814858822

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 8.03963454e-01 -5.94678601e-01 -3.54628479e-04]
 [ 5.94678684e-01  8.03963116e-01  7.55742429e-04]
 [-1.64315633e-04 -8.18479291e-04  9.99999652e-01]]

 t_estimated:
[[0.92941875]
 [0.36902543]
 [0.0010058 ]]

 R_gt:
[[ 0.99658754 -0.07270825  0.03907418]
 [ 0.065076    0.98330354  0.16993614]
 [-0.05077817 -0.16681414  0.98467964]]

 t_gt:
[ 0.19943408 -0.4282073   0.88139921]

Pose Error in degrees for R and t:
33.97126468075325 88.38261741609479

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.23640272  0.97162135 -0.00810564]
 [-0.97163913  0.23643852  0.00377191]
 [ 0.00558136  0.00698407  0.99996003]]

 t_estimated:
[[-0.31097491]
 [ 0.95037967]
 [-0.00854948]]

 R_gt:
[[ 0.99774268 -0.05887816  0.03229444]
 [ 0.055615    0.99401368  0.09403628]
 [-0.03763802 -0.09202868  0.99504492]]

 t_gt:
[ 0.24567233 -0.52615469  0.8141292 ]

Pose Error in degrees for R and t:
79.80806224400024 54.30960759731447

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-1.80665577e-01 -9.83544218e-01  8.49323401e-04]
 [-9.83544582e-01  1.80665570e-01 -8.53143365e-05]
 [-6.95330738e-05 -8.50760793e-04 -9.99999636e-01]]

 t_estimated:
[[0.7084096 ]
 [0.70580035]
 [0.00130462]]

 R_gt:
[[ 0.99223041 -0.12433054 -0.00453318]
 [ 0.12336639  0.9879516  -0.09345101]
 [ 0.01609721  0.09216701  0.99561363]]

 t_gt:
[ 0.52837578 -0.62076462 -0.579198  ]

Pose Error in degrees for R and t:
176.16152284469499 86.29697188508034

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 5.64911006e-01  8.25151005e-01  1.17255798e-03]
 [ 8.25150041e-01 -5.64912171e-01  1.28428526e-03]
 [ 1.72212155e-03  2.42029384e-04 -9.99998488e-01]]

 t_estimated:
[[-8.52080141e-01]
 [-5.23410896e-01]
 [-6.83304042e-04]]

 R_gt:
[[ 0.99632891 -0.08199437 -0.02463549]
 [ 0.07944626  0.99268641 -0.09089961]
 [ 0.03190958  0.08860952  0.99555539]]

 t_gt:
[ 0.38969083 -0.27426547 -0.87915841]

Pose Error in degrees for R and t:
176.2287654573473 79.17012047119961

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 2.27238435e-01  9.73838055e-01  1.46184985e-03]
 [ 9.73835975e-01 -2.27241272e-01  2.21327580e-03]
 [ 2.48756482e-03  9.20660643e-04 -9.99996482e-01]]

 t_estimated:
[[9.22524765e-01]
 [3.85936966e-01]
 [8.46352995e-04]]

 R_gt:
[[ 0.99919362 -0.02932364 -0.02742176]
 [ 0.02646631  0.99470611 -0.09929539]
 [ 0.03018859  0.09849063  0.99468034]]

 t_gt:
[ 0.07138029  0.37351589 -0.92487336]

Pose Error in degrees for R and t:
176.6276409499315 77.92330078671026

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[ 9.06359303e-01 -4.22505309e-01 -1.44123241e-03]
 [ 4.22505301e-01  9.06360395e-01 -3.25170065e-04]
 [ 1.44366205e-03 -3.14207417e-04  9.99998909e-01]]

 t_estimated:
[[ 0.99904459]
 [-0.04368973]
 [-0.00105294]]

 R_gt:
[[ 0.99452506  0.10290176 -0.01821128]
 [-0.10280208  0.99468171  0.00627969]
 [ 0.01876178 -0.00437331  0.99981376]]

 t_gt:
[-0.48328026  0.86742678 -0.11836791]

Pose Error in degrees for R and t:
30.913290870887906 58.62806066557304

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 7.90065199e-01 -6.13021697e-01 -1.17436131e-03]
 [-6.13021998e-01 -7.90065829e-01  1.26372780e-04]
 [-1.00529200e-03  6.20066579e-04 -9.99999302e-01]]

 t_estimated:
[[0.33941541]
 [0.94063601]
 [0.0010348 ]]

 R_gt:
[[ 0.99432054  0.09948877 -0.03780798]
 [-0.09914496  0.99501349  0.01086272]
 [ 0.03870024 -0.00705285  0.999225  ]]

 t_gt:
[-0.29904824  0.94702675 -0.1170918 ]

Pose Error in degrees for R and t:
179.74789616598505 37.89061345345605

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-4.26584409e-01  9.04446745e-01  1.35142132e-03]
 [ 9.04447321e-01  4.26582265e-01  1.61693337e-03]
 [ 8.85937755e-04  1.91204796e-03 -9.99997780e-01]]

 t_estimated:
[[7.94951024e-01]
 [6.06673150e-01]
 [7.47134421e-04]]

 R_gt:
[[ 0.99957061  0.02918447  0.00278261]
 [-0.02903407  0.99861587 -0.04386086]
 [-0.00405841  0.04376055  0.99903303]]

 t_gt:
[ 0.09843841  0.89863034 -0.42752004]

Pose Error in degrees for R and t:
178.47466302459918 51.45645820012252

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.99781531e-01 -2.09019024e-02  2.08432438e-05]
 [ 2.09019052e-02  9.99781521e-01 -1.46507050e-04]
 [-1.77764139e-05  1.46910706e-04  9.99999989e-01]]

 t_estimated:
[[-0.96596129]
 [-0.25868464]
 [-0.00102653]]

 R_gt:
[[ 0.99584726 -0.0847377   0.03329858]
 [ 0.0838399   0.9961008   0.02746682]
 [-0.03549567 -0.02456052  0.99906761]]

 t_gt:
[-0.06912941 -0.92160485  0.38192359]

Pose Error in degrees for R and t:
4.4028895584222845 72.2545123706035

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.92532070e-01 -1.21983968e-01 -3.83023233e-05]
 [ 1.21983968e-01  9.92532071e-01 -2.03956207e-05]
 [ 4.05042230e-05  1.55710383e-05  9.99999999e-01]]

 t_estimated:
[[ 0.37695202]
 [-0.92623223]
 [-0.00102118]]

 R_gt:
[[ 0.98037853 -0.19564299  0.02411013]
 [ 0.1951735   0.98055439  0.02048045]
 [-0.02764758 -0.01537143  0.99949922]]

 t_gt:
[ 0.24960865 -0.95149255  0.17988176]

Pose Error in degrees for R and t:
4.635256332039249 12.78434437889256

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.93819629e-01 -1.11005980e-01  4.65548727e-04]
 [ 1.11006070e-01  9.93819713e-01 -1.73373311e-04]
 [-4.43426029e-04  2.23980534e-04  9.99999877e-01]]

 t_estimated:
[[9.45937921e-01]
 [3.24346551e-01]
 [8.74249465e-04]]

 R_gt:
[[ 9.40367846e-01 -3.40158637e-01  3.51462129e-04]
 [ 3.39501467e-01  9.38613792e-01  6.11766021e-02]
 [-2.11386655e-02 -5.74082513e-02  9.98126810e-01]]

 t_gt:
[ 0.44760544 -0.8737023   0.19050897]

Pose Error in degrees for R and t:
13.960086265456074 81.9410903928441

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999894e-01  4.33315733e-04 -1.53283272e-04]
 [-4.33409136e-04  9.99999720e-01 -6.09843656e-04]
 [ 1.53018974e-04  6.09910026e-04  9.99999802e-01]]

 t_estimated:
[[-0.68085301]
 [-0.73241738]
 [-0.00199007]]

 R_gt:
[[ 0.99793969  0.05862501 -0.02603989]
 [-0.05650271  0.99551224  0.07592013]
 [ 0.03037459 -0.07429282  0.99677292]]

 t_gt:
[-0.70260008  0.40961713  0.58186506]

Pose Error in degrees for R and t:
5.676864768381916 79.79336402300297

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.99986579 -0.00936685  0.01344084]
 [ 0.0095455   0.99986613 -0.01328953]
 [-0.01331456  0.01341605  0.99982135]]

 t_estimated:
[[0.42989042]
 [0.90288039]
 [0.00110512]]

 R_gt:
[[ 0.98563983  0.01739237 -0.16796072]
 [ 0.01976469  0.97596014  0.21704945]
 [ 0.16769883 -0.21725232  0.96160181]]

 t_gt:
[ 0.36897514 -0.66316806  0.6512031 ]

Pose Error in degrees for R and t:
17.01040561997905 63.93293423003805

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.26811705 -0.95703101 -0.11047573]
 [ 0.96297707  0.26957744  0.0017796 ]
 [ 0.02807863 -0.10686273  0.99387723]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.97323227 -0.07932655 -0.21569695]
 [ 0.13868094  0.95111598  0.27594595]
 [ 0.18326361 -0.29847195  0.93665786]]

 t_gt:
[ 0.62834243 -0.60166544  0.49313739]

Pose Error in degrees for R and t:
68.9277843120372 53.28188494385058

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[-0.60187026  0.79855433  0.00794746]
 [-0.79858974 -0.60186937 -0.00277142]
 [ 0.0025702  -0.0080148   0.99996458]]

 t_estimated:
[[0.60684939]
 [0.79481249]
 [0.0026302 ]]

 R_gt:
[[ 0.99168887 -0.01878064 -0.12727594]
 [ 0.03598426  0.99029301  0.13425326]
 [ 0.1235189  -0.13771712  0.98273969]]

 t_gt:
[ 0.61531891 -0.75431915  0.22887827]

Pose Error in degrees for R and t:
128.82496170483836 76.9656963188444

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.99945909  0.03285376 -0.0014664 ]
 [ 0.03281859  0.99926748  0.01968356]
 [ 0.002112    0.01962479 -0.99980518]]

 t_estimated:
[[ 0.99419856]
 [-0.10755268]
 [-0.00128591]]

 R_gt:
[[ 0.97273489 -0.10118012 -0.20868222]
 [ 0.14893045  0.96228817  0.22764461]
 [ 0.17777913 -0.25251558  0.95111997]]

 t_gt:
[ 0.69781793 -0.63138481  0.33823565]

Pose Error in degrees for R and t:
168.49144044470935 40.42620821761036

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-0.12502475 -0.99209628  0.01066692]
 [ 0.99197414 -0.1251994  -0.01767541]
 [ 0.0188712   0.00837144  0.99978688]]

 t_estimated:
[[0.62123583]
 [0.78362322]
 [0.00083276]]

 R_gt:
[[ 0.94535855 -0.21120493 -0.24837273]
 [ 0.27215289  0.93068322  0.24446033]
 [ 0.17952576 -0.29869692  0.93731036]]

 t_gt:
[ 0.7671083  -0.56587065  0.30221725]

Pose Error in degrees for R and t:
84.95668381314121 88.0872573006573

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.43724676  0.75229095  0.49282208]
 [ 0.85661827 -0.18148769 -0.48297759]
 [-0.27389853  0.63334079 -0.72378107]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.98951475 -0.14367909 -0.01473716]
 [ 0.14302902  0.9889749  -0.03834745]
 [ 0.02008429  0.03583681  0.9991563 ]]

 t_gt:
[ 0.43542763 -0.82434162 -0.36175084]

Pose Error in degrees for R and t:
135.52483011284912 76.7809620224134

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 1.00000000e+00 -1.19248952e-13 -4.64324595e-15]
 [ 1.19896017e-13  1.00000000e+00  4.28272821e-15]
 [ 4.64324595e-15 -4.30396488e-15  1.00000000e+00]]

 t_estimated:
[[-1.00000000e+00]
 [-5.70420822e-13]
 [-5.47703802e-15]]

 R_gt:
[[ 0.97925153 -0.1946257   0.05646189]
 [ 0.19599008  0.98040806 -0.01966981]
 [-0.05152707  0.03032825  0.99821153]]

 t_gt:
[ 0.16980871 -0.97981684  0.10547022]

Pose Error in degrees for R and t:
11.780884076903531 80.22330299327858

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99999448e-01  1.05004562e-03  3.61843510e-05]
 [-1.05004918e-03  9.99999444e-01  9.85888781e-05]
 [-3.60808081e-05 -9.86268190e-05  9.99999994e-01]]

 t_estimated:
[[0.99952618]
 [0.03073139]
 [0.00173246]]

 R_gt:
[[ 9.46626729e-01 -3.20693659e-01  3.24523053e-02]
 [ 3.20888338e-01  9.47116031e-01 -8.55680822e-04]
 [-3.04610421e-02  1.12233212e-02  9.99473363e-01]]

 t_gt:
[ 0.39257766 -0.91592859  0.08341218]

Pose Error in degrees for R and t:
18.86709495357832 68.63005165284795

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99997110e-01  2.45992745e-04 -2.39144369e-03]
 [-2.39150015e-04  9.99995878e-01  2.86120381e-03]
 [ 2.39213767e-03 -2.86062363e-03  9.99993047e-01]]

 t_estimated:
[[0.48476655]
 [0.87464301]
 [0.00099362]]

 R_gt:
[[ 0.99525336  0.07844877 -0.05759312]
 [-0.07090623  0.98986869  0.12301823]
 [ 0.06666031 -0.11835113  0.99073241]]

 t_gt:
[-0.1529352   0.18569877  0.97063216]

Pose Error in degrees for R and t:
8.723297033340973 84.87972839296367

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.75084380e-01 -2.21834266e-01 -1.00830122e-04]
 [ 2.21834286e-01  9.75084342e-01  2.74998591e-04]
 [ 3.73137626e-05 -2.90514409e-04  9.99999957e-01]]

 t_estimated:
[[0.62412067]
 [0.78132702]
 [0.00121558]]

 R_gt:
[[ 0.98637981  0.13807616 -0.08939552]
 [-0.12427382  0.98160639  0.14493052]
 [ 0.107763   -0.13184721  0.9853954 ]]

 t_gt:
[-0.24665739  0.79302305  0.55702295]

Pose Error in degrees for R and t:
22.61337952951876 62.202796478518685

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 2.05543729e-01 -9.78646721e-01 -1.54002577e-03]
 [ 9.78647927e-01  2.05543642e-01  2.16449002e-04]
 [ 1.04715400e-04 -1.55163276e-03  9.99998791e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97571355  0.19911478 -0.09130952]
 [-0.18448868  0.97169722  0.14754423]
 [ 0.1181031  -0.12711517  0.98483197]]

 t_gt:
[-0.32451904  0.88953171  0.32159094]

Pose Error in degrees for R and t:
89.71127289966148 71.24574019625464

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.41262426  0.91052582  0.02615266]
 [-0.91077691  0.4119233   0.02836576]
 [ 0.01505487 -0.03552364  0.99925543]]

 t_estimated:
[[0.07426199]
 [0.9972325 ]
 [0.00353629]]

 R_gt:
[[ 0.99651848  0.03012263 -0.0777426 ]
 [-0.02640759  0.99848066  0.0483751 ]
 [ 0.07908192 -0.04615391  0.99579941]]

 t_gt:
[ 0.14409118 -0.92687751  0.34660614]

Pose Error in degrees for R and t:
64.17680364173728 24.16278576727205

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 6.14362461e-01  7.89022239e-01 -1.63500353e-03]
 [-7.89023846e-01  6.14360107e-01 -1.74025384e-03]
 [-3.68618041e-04  2.35920341e-03  9.99997149e-01]]

 t_estimated:
[[-2.45608098e-01]
 [ 9.69368921e-01]
 [-7.46602697e-04]]

 R_gt:
[[ 0.9848502   0.12343673 -0.12179911]
 [-0.1022407   0.98062356  0.1671059 ]
 [ 0.14006581 -0.15212087  0.97838638]]

 t_gt:
[-0.33309911  0.10128829  0.93743569]

Pose Error in degrees for R and t:
47.02113493173293 79.67114664287519

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.99984833 -0.01622068 -0.00634027]
 [ 0.01629823  0.99979058  0.01237596]
 [ 0.00613819 -0.01247742  0.99990331]]

 t_estimated:
[[0.35661094]
 [0.93425229]
 [0.00113933]]

 R_gt:
[[ 0.97436213  0.15850836 -0.15967353]
 [-0.12510355  0.97155806  0.20106048]
 [ 0.1870017  -0.17593007  0.96647806]]

 t_gt:
[-0.14596107  0.57772955  0.80307156]

Pose Error in degrees for R and t:
16.844723542222667 60.75081626966952

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.99990688e-01  4.31524942e-03  4.94427830e-05]
 [-4.31525193e-03  9.99990688e-01  5.07963008e-05]
 [-4.92231239e-05 -5.10091858e-05  9.99999997e-01]]

 t_estimated:
[[0.69085724]
 [0.72299014]
 [0.00123588]]

 R_gt:
[[ 0.99475937 -0.09695636  0.03245155]
 [ 0.09669393  0.99526788  0.00954793]
 [-0.03322289 -0.00635926  0.99942732]]

 t_gt:
[ 0.90815866 -0.26970795  0.32016475]

Pose Error in degrees for R and t:
6.119232184714537 64.35413701795461

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-3.86507447e-02  9.99252567e-01  6.53549265e-04]
 [-9.99251274e-01 -3.86495424e-02 -1.76172107e-03]
 [-1.73514493e-03 -7.21151767e-04  9.99998235e-01]]

 t_estimated:
[[0.00759197]
 [0.99997059]
 [0.00108457]]

 R_gt:
[[ 0.98935153 -0.12255641  0.07851452]
 [ 0.12315842  0.99238241 -0.00284899]
 [-0.07756702  0.0124883   0.99690846]]

 t_gt:
[ 0.88481542 -0.03643881  0.46451467]

Pose Error in degrees for R and t:
99.35310041590898 88.32578236897092

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 8.59633661e-01 -5.10910571e-01 -5.97231531e-04]
 [ 5.10910809e-01  8.59633659e-01  3.43169411e-04]
 [ 3.38071447e-04 -6.00132022e-04  9.99999763e-01]]

 t_estimated:
[[-0.57446301]
 [-0.81852985]
 [-0.00106579]]

 R_gt:
[[ 0.98547519 -0.08708829  0.14578862]
 [ 0.09400154  0.99471872 -0.04120755]
 [-0.14142887  0.05431382  0.98845701]]

 t_gt:
[0.65953434 0.34705958 0.66675641]

Pose Error in degrees for R and t:
26.935300516570777 48.41983234718508

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.97994418e-01 -6.33019489e-02  7.65493071e-05]
 [ 6.33019568e-02  9.97994414e-01 -1.05454561e-04]
 [-6.97203017e-05  1.10088784e-04  9.99999992e-01]]

 t_estimated:
[[-0.73105504]
 [-0.68231804]
 [-0.00078608]]

 R_gt:
[[ 0.99140609  0.13066197 -0.00646553]
 [-0.13081314  0.98957003 -0.06031793]
 [-0.00148307  0.06064622  0.9981582 ]]

 t_gt:
[-0.37149007  0.90347758 -0.21383029]

Pose Error in degrees for R and t:
11.675048466973163 69.8358277733904

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99892076e-01  1.46911819e-02 -7.92780942e-05]
 [-1.46911822e-02  9.99892079e-01 -3.63054747e-06]
 [ 7.92162013e-05  4.79484457e-06  9.99999997e-01]]

 t_estimated:
[[-9.99090890e-01]
 [ 4.26272636e-02]
 [-5.56490749e-04]]

 R_gt:
[[ 0.98465581  0.17247533  0.02657485]
 [-0.17256628  0.98499775  0.00111461]
 [-0.02598451 -0.00568298  0.99964658]]

 t_gt:
[-0.41607992  0.89348025  0.16902823]

Pose Error in degrees for R and t:
9.22149331847563 63.019050780299956

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 6.88921439e-01  7.24828099e-01  3.38787063e-03]
 [ 7.24835929e-01 -6.88916129e-01 -2.72835914e-03]
 [ 3.56367347e-04  4.33527546e-03 -9.99990539e-01]]

 t_estimated:
[[-3.14206038e-01]
 [ 9.49354815e-01]
 [-8.56359088e-06]]

 R_gt:
[[ 0.98240481  0.16619169  0.08521294]
 [-0.17642832  0.97549248  0.13148417]
 [-0.06127324 -0.14420399  0.98764894]]

 t_gt:
[-0.36851629  0.68173265  0.63200976]

Pose Error in degrees for R and t:
174.56560417722122 40.27142524004588

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 1.00000000e+00 -1.17234000e-12 -1.51181151e-15]
 [ 1.17261756e-12  1.00000000e+00  3.01147995e-15]
 [ 1.50682418e-15 -3.01408204e-15  1.00000000e+00]]

 t_estimated:
[[ 0.34190957]
 [-0.93972069]
 [-0.00478322]]

 R_gt:
[[ 0.98826358 -0.15206373 -0.01459084]
 [ 0.15221335  0.9882999   0.00974773]
 [ 0.01293807 -0.01185333  0.9998459 ]]

 t_gt:
[ 0.85446338 -0.51947271 -0.0063587 ]

Pose Error in degrees for R and t:
8.808868319439203 38.70838718319014

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.90914465  0.41646882 -0.00311829]
 [ 0.41645611  0.90914697  0.0040123 ]
 [ 0.00450598  0.00234913 -0.99998709]]

 t_estimated:
[[ 0.83235905]
 [-0.554231  ]
 [-0.00253068]]

 R_gt:
[[ 0.9258697  -0.37753096 -0.01539027]
 [ 0.37782127  0.92549754  0.02656107]
 [ 0.00421616 -0.0304062   0.99952904]]

 t_gt:
[ 0.90630128 -0.42036546  0.04371349]

Pose Error in degrees for R and t:
178.90400412169947 9.163822684960438

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999946e-01  3.29542926e-04  7.45404268e-06]
 [-3.29543296e-04  9.99999944e-01  4.96815996e-05]
 [-7.43767004e-06 -4.96840533e-05  9.99999999e-01]]

 t_estimated:
[[ 9.99794884e-01]
 [-2.02517782e-02]
 [ 2.36962601e-04]]

 R_gt:
[[ 8.66378259e-01 -4.99258256e-01  1.14077478e-02]
 [ 4.99200504e-01  8.66452278e-01  7.72713365e-03]
 [-1.37414310e-02 -9.98741402e-04  9.99904947e-01]]

 t_gt:
[ 0.92964831 -0.36839484  0.00626645]

Pose Error in degrees for R and t:
29.979586937613043 20.45945834313539

Number of keypoints:
Image1: 384
Image2: 384

 R_estimated:
[[ 9.99609025e-01 -2.79606310e-02  2.49945890e-05]
 [ 2.79606310e-02  9.99609025e-01  5.58909478e-07]
 [-2.50004442e-05  1.40173520e-07  1.00000000e+00]]

 t_estimated:
[[ 0.77751713]
 [-0.62886062]
 [ 0.00119962]]

 R_gt:
[[ 0.99978802  0.0035865  -0.02027983]
 [-0.00322227  0.99983242  0.01797857]
 [ 0.02034054 -0.0179097   0.99963304]]

 t_gt:
[-0.39253871 -0.50519793 -0.76856256]

Pose Error in degrees for R and t:
2.376185406514929 89.33698556359784

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 0.70397294  0.71017278  0.00875883]
 [-0.70991223  0.70324064  0.03843467]
 [ 0.02113569 -0.03327497  0.99922273]]

 t_estimated:
[[0.63161235]
 [0.77528383]
 [0.00090359]]

 R_gt:
[[ 0.99593734 -0.08979974  0.00668106]
 [ 0.0898238   0.99595245 -0.00329702]
 [-0.00635818  0.00388406  0.99997199]]

 t_gt:
[ 0.62619322 -0.77766216  0.05588943]

Pose Error in degrees for R and t:
50.47499777664614 78.0330737871422

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 9.99982824e-01 -5.84699283e-03  4.05286400e-04]
 [ 5.84686961e-03  9.99982861e-01  3.04563285e-04]
 [-4.07060233e-04 -3.02188397e-04  9.99999871e-01]]

 t_estimated:
[[0.93026817]
 [0.36687637]
 [0.00169037]]

 R_gt:
[[ 0.97301002 -0.23058501 -0.00903778]
 [ 0.23001042  0.97225398 -0.04262882]
 [ 0.01861567  0.03939973  0.99904979]]

 t_gt:
[ 0.74732412 -0.65090299 -0.13353637]

Pose Error in degrees for R and t:
13.227644810858214 62.85878241515785

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 4.18952110e-01 -9.08007960e-01  8.20409796e-04]
 [-9.08007163e-01 -4.18952850e-01 -1.22535625e-03]
 [ 1.45634625e-03 -2.31572385e-04 -9.99998913e-01]]

 t_estimated:
[[5.68393472e-01]
 [8.22756789e-01]
 [3.57830972e-04]]

 R_gt:
[[ 0.99160451 -0.12632771  0.02760171]
 [ 0.12706504  0.99153202 -0.02681312]
 [-0.023982    0.03009594  0.99925995]]

 t_gt:
[ 0.69384156 -0.71977233  0.0226203 ]

Pose Error in degrees for R and t:
179.38562025502046 78.59081619913461

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99748775e-01  2.24114994e-02  3.33879933e-04]
 [-2.24116515e-02  9.99748722e-01  4.58990738e-04]
 [-3.23509365e-04 -4.66358229e-04  9.99999839e-01]]

 t_estimated:
[[0.89082036]
 [0.45435346]
 [0.00142318]]

 R_gt:
[[ 0.96572785 -0.25894044  0.01788791]
 [ 0.25949024  0.96475223 -0.04379238]
 [-0.00591877  0.04693318  0.99888133]]

 t_gt:
[ 0.7651034  -0.64055458 -0.06562478]

Pose Error in degrees for R and t:
16.54192962062448 67.0182377478198

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-8.80761490e-02  9.96113712e-01 -2.54677663e-04]
 [ 9.96110251e-01  8.80765144e-02  2.62609666e-03]
 [ 2.63832201e-03 -2.23905503e-05 -9.99996519e-01]]

 t_estimated:
[[8.02423053e-01]
 [5.96755420e-01]
 [4.60849312e-04]]

 R_gt:
[[ 0.92567812 -0.37348598  0.06023188]
 [ 0.37597974  0.92588723 -0.03702624]
 [-0.04193945  0.05692069  0.99749812]]

 t_gt:
[ 0.79437689 -0.60739754  0.00579593]

Pose Error in degrees for R and t:
176.03693802758465 74.04029656936024

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-6.16034710e-01  7.87718837e-01 -5.19922955e-04]
 [-7.87716382e-01 -6.16034226e-01 -2.17558962e-03]
 [-2.03404326e-03 -9.30686889e-04  9.99997498e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99510784 -0.09809373 -0.01177317]
 [ 0.09787228  0.99503469 -0.01811349]
 [ 0.01349151  0.0168724   0.99976694]]

 t_gt:
[ 0.55272087 -0.80899661 -0.2000603 ]

Pose Error in degrees for R and t:
133.65368099177536 36.31810761527461

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.95976877  0.11773282 -0.25491741]
 [-0.00671144  0.91721205  0.39834283]
 [ 0.28071135 -0.38060615  0.88110164]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.97312762 -0.2295235  -0.01848465]
 [ 0.22944159  0.97330127 -0.00648061]
 [ 0.01947813  0.00206558  0.99980814]]

 t_gt:
[ 0.64943241 -0.75879036 -0.04974661]

Pose Error in degrees for R and t:
32.54792101907601 88.56537371079595

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.54917515e-01  2.96870088e-01  8.31153546e-04]
 [-2.96869429e-01  9.54917720e-01 -8.30231897e-04]
 [-1.04015427e-03  5.46058901e-04  9.99999310e-01]]

 t_estimated:
[[7.70162227e-01]
 [6.37847672e-01]
 [7.01375353e-04]]

 R_gt:
[[ 0.91094914 -0.41161354 -0.02732546]
 [ 0.41167524  0.91132397 -0.00360811]
 [ 0.02638692 -0.0079618   0.9996203 ]]

 t_gt:
[ 0.75857401 -0.65145007 -0.01335212]

Pose Error in degrees for R and t:
41.61367290561076 80.28835194332692

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.60823207e-01 -2.77161329e-01 -6.03027570e-04]
 [ 2.77161479e-01  9.60823336e-01  1.79697682e-04]
 [ 5.29597713e-04 -3.39793716e-04  9.99999802e-01]]

 t_estimated:
[[ 9.61860350e-01]
 [-2.73540783e-01]
 [-3.25988681e-04]]

 R_gt:
[[ 0.97164712 -0.23642966 -0.00178452]
 [ 0.23642776  0.97151872  0.01590805]
 [-0.0020272  -0.01587893  0.99987128]]

 t_gt:
[ 0.86485389 -0.49862538  0.05831361]

Pose Error in degrees for R and t:
2.5778119141539677 14.477925095828477

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.93259978e-01  1.15907286e-01  3.42888703e-04]
 [-1.15907236e-01  9.93260029e-01 -1.63542176e-04]
 [-3.59533373e-04  1.22696617e-04  9.99999928e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075925e-03]
 [7.75189813e-04]]

 R_gt:
[[ 0.92378595 -0.38258653  0.01576586]
 [ 0.38258936  0.92391409  0.0029031 ]
 [-0.01567702  0.0033502   0.99987141]]

 t_gt:
[ 0.8973595  -0.44113047  0.01224116]

Pose Error in degrees for R and t:
29.165025124137276 26.36327654148926

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 7.02241700e-01  7.11938597e-01 -1.71029302e-04]
 [-7.11938575e-01  7.02241554e-01 -5.15211475e-04]
 [-2.46695052e-04  4.83565340e-04  9.99999853e-01]]

 t_estimated:
[[0.00833304]
 [0.99996474]
 [0.00104163]]

 R_gt:
[[ 0.6892394  -0.72429324  0.01865749]
 [ 0.72408954  0.68948939  0.01725047]
 [-0.02535874  0.0016195   0.99967673]]

 t_gt:
[ 0.96753569 -0.25234347  0.01405194]

Pose Error in degrees for R and t:
91.81335001442004 75.86204620971033

Number of keypoints:
Image1: 362
Image2: 362

 R_estimated:
[[ 9.96869459e-01 -7.90650425e-02  3.55940610e-05]
 [ 7.90650392e-02  9.96869456e-01  8.58801160e-05]
 [-4.22727473e-05 -8.27970190e-05  9.99999996e-01]]

 t_estimated:
[[0.94219356]
 [0.33506663]
 [0.00128125]]

 R_gt:
[[ 0.99873475 -0.04521621  0.0220177 ]
 [ 0.04605046  0.99817908 -0.03897525]
 [-0.02021529  0.03993944  0.99899662]]

 t_gt:
[ 0.67381713  0.5012658  -0.54286562]

Pose Error in degrees for R and t:
3.2059023110158127 36.66620027068449

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.29811362e-01  3.68036253e-01  3.83608595e-04]
 [-3.68036284e-01  9.29811429e-01  1.14872675e-05]
 [-3.52455925e-04 -1.51862874e-04  9.99999926e-01]]

 t_estimated:
[[0.43256319]
 [0.90160316]
 [0.00091421]]

 R_gt:
[[ 0.99103263 -0.11372577  0.0701615 ]
 [ 0.11587023  0.99289105 -0.02727846]
 [-0.06656075  0.03516292  0.99716203]]

 t_gt:
[ 0.94772188 -0.04566824  0.31581267]

Pose Error in degrees for R and t:
28.515147078030726 68.34211597391433

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-0.99974416  0.02252833  0.00202152]
 [-0.02253846 -0.99973276 -0.00514018]
 [ 0.00190518 -0.00518443  0.99998475]]

 t_estimated:
[[0.76376711]
 [0.64549144]
 [0.00077304]]

 R_gt:
[[ 0.98021842 -0.17112496  0.09944485]
 [ 0.17433555  0.9843827  -0.02448338]
 [-0.09370268  0.04133475  0.99474106]]

 t_gt:
[ 0.92528812 -0.00216606  0.37925877]

Pose Error in degrees for R and t:
171.34252190058334 45.12199142578663

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.98972149e-01  4.53271363e-02  3.10866275e-04]
 [-4.53268059e-02  9.98971713e-01 -9.98165687e-04]
 [-3.55790608e-04  9.83049146e-04  9.99999454e-01]]

 t_estimated:
[[-0.18621925]
 [ 0.98250318]
 [-0.00314646]]

 R_gt:
[[ 0.98937719  0.14433123 -0.0173961 ]
 [-0.14506979  0.98796126 -0.05373914]
 [ 0.00943153  0.05569234  0.99840272]]

 t_gt:
[-0.33137358  0.91197678 -0.24184688]

Pose Error in degrees for R and t:
6.5550939107203785 16.566554122545764

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 0.95950014  0.28169369 -0.00285337]
 [-0.28167151  0.95948949  0.00640941]
 [ 0.00454327 -0.00534612  0.99997539]]

 t_estimated:
[[-9.07152915e-01]
 [-4.20800536e-01]
 [-7.04858520e-04]]

 R_gt:
[[ 0.97160152  0.23639255 -0.01047759]
 [-0.23654866  0.96920588 -0.06844417]
 [-0.00602453  0.0689796   0.99759935]]

 t_gt:
[-0.33281842  0.93547727 -0.11880309]

Pose Error in degrees for R and t:
5.0671251306961045 84.74155472777943

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.98072160e-01 -6.20641468e-02  7.23415762e-05]
 [ 6.20641597e-02  9.98072143e-01 -1.91323524e-04]
 [-6.03277808e-05  1.95444502e-04  9.99999979e-01]]

 t_estimated:
[[0.69461976]
 [0.71937561]
 [0.00145623]]

 R_gt:
[[ 0.9681445   0.24916452  0.02476846]
 [-0.25011522  0.96698462  0.04880529]
 [-0.01178977 -0.053445    0.99850081]]

 t_gt:
[-0.3719914   0.91047457  0.18071653]

Pose Error in degrees for R and t:
18.296015504304666 66.618984636948

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.28883271 -0.95737877  0.00124412]
 [-0.95737386  0.28882625 -0.00383343]
 [ 0.00331071 -0.00229831 -0.99999188]]

 t_estimated:
[[7.85077736e-01]
 [6.19397134e-01]
 [3.72798758e-04]]

 R_gt:
[[ 0.9971274   0.02201769 -0.07247313]
 [-0.02158067  0.99974425  0.00680439]
 [ 0.07260529 -0.00521998  0.99734723]]

 t_gt:
[ 0.40295356  0.41154931 -0.81746902]

Pose Error in degrees for R and t:
176.79518274382355 55.1829724893545

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-0.97387928 -0.22706197  0.00141534]
 [ 0.22703649 -0.97383328 -0.01015724]
 [ 0.00368463 -0.00957059  0.99994741]]

 t_estimated:
[[0.80972792]
 [0.58680466]
 [0.00098806]]

 R_gt:
[[ 0.99022955  0.02124951 -0.13782203]
 [-0.0221358   0.99974338 -0.00490399]
 [ 0.13768296  0.00790775  0.99044536]]

 t_gt:
[ 0.51058132  0.27183569 -0.81572794]

Pose Error in degrees for R and t:
168.1139550818774 55.10038148387403

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.07097691 -0.99745005  0.00746185]
 [-0.99746872 -0.07100647 -0.00377365]
 [ 0.00429387 -0.00717512 -0.99996504]]

 t_estimated:
[[0.70612854]
 [0.70808327]
 [0.0007592 ]]

 R_gt:
[[ 0.98064313  0.02419844 -0.19430395]
 [-0.02321507  0.99970409  0.00733374]
 [ 0.19442508 -0.00268048  0.98091436]]

 t_gt:
[ 0.57815325  0.22748837 -0.78357377]

Pose Error in degrees for R and t:
172.71749744561274 55.337846949609585

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 9.99673806e-01 -2.55398044e-02  2.63000407e-05]
 [ 2.55397964e-02  9.99673770e-01  2.68653605e-04]
 [-3.31528214e-05 -2.67894274e-04  9.99999964e-01]]

 t_estimated:
[[9.49140865e-01]
 [3.14850403e-01]
 [9.17931204e-04]]

 R_gt:
[[ 0.99600964 -0.08731677 -0.01844927]
 [ 0.08827384  0.99430708  0.05968567]
 [ 0.01313289 -0.06107624  0.99804659]]

 t_gt:
[ 0.59931563 -0.67928757  0.42354359]

Pose Error in degrees for R and t:
5.052111776094135 69.18511719220345

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[-9.55265971e-01  2.95726454e-01 -3.57628537e-03]
 [-2.95731443e-01 -9.55270652e-01  9.45616711e-04]
 [-3.13667658e-03  1.96093550e-03  9.99993158e-01]]

 t_estimated:
[[7.82293131e-01]
 [6.22910044e-01]
 [7.31115075e-04]]

 R_gt:
[[ 0.97179656 -0.23381644 -0.03066482]
 [ 0.23560723  0.96819846  0.08415172]
 [ 0.01001357 -0.08900304  0.99598121]]

 t_gt:
[ 0.65912432 -0.69453801  0.2883957 ]

Pose Error in degrees for R and t:
176.41223420427087 85.22721127053178

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.42438449 -0.90547809 -0.0026901 ]
 [ 0.90548147 -0.42437889 -0.0024204 ]
 [ 0.00105    -0.00346302  0.99999345]]

 t_estimated:
[[9.46121719e-01]
 [3.23810344e-01]
 [7.44391596e-04]]

 R_gt:
[[ 0.9304509  -0.36175199 -0.05827291]
 [ 0.36566796  0.9268884   0.08464743]
 [ 0.02339054 -0.10006949  0.99470591]]

 t_gt:
[ 0.72643092 -0.65241112  0.21600429]

Pose Error in degrees for R and t:
93.85703814062495 61.56278938354497

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999971e-01  2.12814076e-04  1.12253580e-04]
 [-2.12804484e-04  9.99999974e-01 -8.54514122e-05]
 [-1.12271762e-04  8.54275217e-05  9.99999990e-01]]

 t_estimated:
[[-9.91190383e-01]
 [ 1.32443972e-01]
 [ 4.68357043e-04]]

 R_gt:
[[ 0.98889981 -0.14356082  0.03831164]
 [ 0.14253962  0.9893886   0.02817977]
 [-0.04195076 -0.02240585  0.99886808]]

 t_gt:
[ 0.46658173 -0.82032561  0.33070739]

Pose Error in degrees for R and t:
8.678677000403814 55.18255071737657

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99997926e-01 -1.95283270e-03  5.77631706e-04]
 [ 1.95293350e-03  9.99998078e-01 -1.74000560e-04]
 [-5.77290802e-04  1.75128275e-04  9.99999818e-01]]

 t_estimated:
[[0.30266449]
 [0.95309643]
 [0.00118692]]

 R_gt:
[[ 0.95644524 -0.27040874 -0.10996504]
 [ 0.28441854  0.9480523   0.14248986]
 [ 0.0657218  -0.1675596   0.98366838]]

 t_gt:
[ 0.58126972 -0.77153905  0.25855948]

Pose Error in degrees for R and t:
19.170613162251268 56.0054169063881

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.99993252 -0.00880407 -0.00757865]
 [ 0.00885385  0.99993928  0.00656059]
 [ 0.00752043 -0.00662725  0.99994976]]

 t_estimated:
[[-0.99386117]
 [-0.11024007]
 [-0.00933295]]

 R_gt:
[[ 0.89561091 -0.40953094 -0.17368682]
 [ 0.43597478  0.88565057  0.15984257]
 [ 0.08836517 -0.21887967  0.97174233]]

 t_gt:
[ 0.66234526 -0.71154524  0.23452532]

Pose Error in degrees for R and t:
28.067581198212523 54.406744435977195

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.87167302e-01 -1.59689438e-01 -3.96961120e-05]
 [ 1.59689442e-01  9.87167295e-01  1.19141560e-04]
 [ 2.01610548e-05 -1.23951702e-04  9.99999992e-01]]

 t_estimated:
[[9.93200197e-01]
 [1.16416089e-01]
 [8.14098522e-04]]

 R_gt:
[[ 0.99658696  0.07656097 -0.03088184]
 [-0.07456724  0.99533276  0.06125614]
 [ 0.03542838 -0.05874391  0.9976438 ]]

 t_gt:
[-0.27327355  0.9085831   0.31590871]

Pose Error in degrees for R and t:
14.083443939482338 80.48043021122825

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.1236823  -0.99001515 -0.06762174]
 [-0.99000189  0.12776335 -0.05977284]
 [ 0.06781559  0.05955281 -0.99591893]]

 t_estimated:
[[ 0.72845554]
 [ 0.68371505]
 [-0.04343114]]

 R_gt:
[[ 0.99745053  0.04615514 -0.05443013]
 [-0.04309934  0.99749836  0.05603251]
 [ 0.05688013 -0.05354364  0.99694393]]

 t_gt:
[ 0.54483527  0.83826809 -0.02147438]

Pose Error in degrees for R and t:
174.50954556894632 13.842416139335361

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.94991021e-01 -9.99643241e-02  4.62262328e-05]
 [ 9.99643122e-02  9.94991001e-01  2.12429534e-04]
 [-6.72300604e-05 -2.06744505e-04  9.99999976e-01]]

 t_estimated:
[[-0.65044429]
 [-0.75955107]
 [-0.00209821]]

 R_gt:
[[ 0.9924703   0.08432355 -0.08883865]
 [-0.08148359  0.99605518  0.03512959]
 [ 0.09145105 -0.02762636  0.99542615]]

 t_gt:
[ 0.46452347  0.796898   -0.38622731]

Pose Error in degrees for R and t:
11.844124174661006 24.957506121302053

Number of keypoints:
Image1: 483
Image2: 483

 R_estimated:
[[-0.18566475  0.9825595  -0.0102677 ]
 [-0.98260533 -0.18569481 -0.00204802]
 [-0.00391896  0.00970885  0.99994519]]

 t_estimated:
[[0.36907215]
 [0.92940017]
 [0.00103382]]

 R_gt:
[[ 0.99901567 -0.02317591  0.0378137 ]
 [ 0.02186741  0.99916091  0.03464947]
 [-0.03858422 -0.03378839  0.99868431]]

 t_gt:
[-0.1713508  -0.52367182  0.83450988]

Pose Error in degrees for R and t:
102.04284696085344 56.696165493545635

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[ 9.99995260e-01 -2.93448585e-03  9.31788556e-04]
 [ 2.93451899e-03  9.99995694e-01 -3.41925827e-05]
 [-9.31684206e-04  3.69267718e-05  9.99999565e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.99892458  0.01365205  0.04430446]
 [-0.01458304  0.99967826  0.02076408]
 [-0.04400614 -0.02138695  0.99880283]]

 t_gt:
[-0.71685566 -0.15992535  0.67863233]

Pose Error in degrees for R and t:
2.9251384524314354 65.11099360676452

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.85305142e-01 -1.70802672e-01  4.74735671e-04]
 [ 1.70802906e-01  9.85305084e-01 -5.08105682e-04]
 [-3.80973662e-04  5.81725374e-04  9.99999758e-01]]

 t_estimated:
[[0.14337856]
 [0.98966174]
 [0.00349704]]

 R_gt:
[[ 0.98797257  0.14008707  0.06546134]
 [-0.13712145  0.98940064 -0.04780654]
 [-0.07146421  0.03825555  0.99670969]]

 t_gt:
[-0.82513755  0.52455093  0.20974829]

Pose Error in degrees for R and t:
18.397257371993327 66.32460932692567

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.94883875e-01  1.01024998e-01  1.55622396e-04]
 [-1.01024943e-01  9.94883839e-01 -3.28389630e-04]
 [-1.88001768e-04  3.10987804e-04  9.99999934e-01]]

 t_estimated:
[[-0.55598413]
 [-0.83119158]
 [-0.00148858]]

 R_gt:
[[ 0.99985588 -0.01117942  0.0127861 ]
 [ 0.01222318  0.9963283  -0.08474669]
 [-0.01179168  0.08489058  0.99632018]]

 t_gt:
[ 0.27546306  0.14569118 -0.95020744]

Pose Error in degrees for R and t:
8.112513286115362 74.16690994808536

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.58116074e-01  2.86380137e-01  7.97605751e-05]
 [-2.86380103e-01  9.58116042e-01 -2.93380856e-04]
 [-1.60438336e-04  2.58251072e-04  9.99999954e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99889581  0.04683573 -0.0037358 ]
 [-0.04691229  0.98981323 -0.1344259 ]
 [-0.00259881  0.13445236  0.99091639]]

 t_gt:
[-0.03646609  0.41449308 -0.90932156]

Pose Error in degrees for R and t:
15.92407190004935 87.94346754948828

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-3.79182165e-01 -9.25321967e-01 -3.78846103e-04]
 [-9.25322037e-01  3.79182078e-01  2.83027812e-04]
 [-1.18240199e-04  4.57873746e-04 -9.99999888e-01]]

 t_estimated:
[[9.03459115e-01]
 [4.28673417e-01]
 [8.53931110e-04]]

 R_gt:
[[ 0.97636511  0.21236032 -0.0401861 ]
 [-0.21599653  0.96525918 -0.14703912]
 [ 0.00756553  0.15224358  0.98831423]]

 t_gt:
[-0.37615174  0.74774723 -0.54715989]

Pose Error in degrees for R and t:
174.02044799608444 88.86744105608913

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.23379178e-01 -3.83888797e-01 -5.34758470e-04]
 [ 3.83888864e-01  9.23379304e-01  2.44253648e-05]
 [ 4.84408280e-04 -2.27841695e-04  9.99999857e-01]]

 t_estimated:
[[ 0.68254548]
 [-0.73084247]
 [-0.00097536]]

 R_gt:
[[ 0.9934022  -0.11436118 -0.00859361]
 [ 0.11425348  0.99337768 -0.01205603]
 [ 0.00991553  0.01099391  0.99988995]]

 t_gt:
[ 0.65896056 -0.74700048 -0.088098  ]

Pose Error in degrees for R and t:
16.03250660611623 5.255488762086647

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.98985275e-01 -4.50377234e-02  1.52026349e-04]
 [ 4.50376903e-02  9.98985265e-01  2.14124444e-04]
 [-1.61515760e-04 -2.07060251e-04  9.99999966e-01]]

 t_estimated:
[[9.62620108e-01]
 [2.70854138e-01]
 [7.50288471e-04]]

 R_gt:
[[ 0.98089154 -0.19309838  0.02376672]
 [ 0.19275085  0.98111477  0.01611871]
 [-0.02643058 -0.01123053  0.99958712]]

 t_gt:
[ 0.60224439 -0.78556467  0.14209094]

Pose Error in degrees for R and t:
8.698836022538643 68.46523336451915

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.99999845 -0.00120216  0.001283  ]
 [ 0.00120417  0.99999805 -0.00156564]
 [-0.00128112  0.00156718  0.99999795]]

 t_estimated:
[[-0.04246112]
 [-0.99907906]
 [-0.00617141]]

 R_gt:
[[ 0.95469725 -0.29683555  0.02101376]
 [ 0.29581912  0.95435199  0.04125084]
 [-0.03229936 -0.03316546  0.99892767]]

 t_gt:
[ 0.6684239  -0.72578415  0.1626249 ]

Pose Error in degrees for R and t:
17.38507739120206 45.914574593200726

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.96784551e-01  8.01283787e-02 -4.70401075e-05]
 [-8.01283830e-02  9.96784547e-01 -9.74943297e-05]
 [ 3.90767897e-05  1.00950089e-04  9.99999994e-01]]

 t_estimated:
[[-0.77581791]
 [-0.63095523]
 [-0.00143559]]

 R_gt:
[[ 0.99928558  0.0049146   0.03749407]
 [-0.00669408  0.99885036  0.04747511]
 [-0.03721794 -0.04769249  0.99816871]]

 t_gt:
[-0.15161373  0.02141345  0.98820784]

Pose Error in degrees for R and t:
5.4985474726373695 84.10561453634608

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99988732e-01  4.73379118e-03  3.56957314e-04]
 [-4.73374206e-03  9.99988786e-01 -1.38310722e-04]
 [-3.57608045e-04  1.36619420e-04  9.99999927e-01]]

 t_estimated:
[[ 0.87682878]
 [-0.48079889]
 [ 0.00192581]]

 R_gt:
[[ 0.99917351 -0.01502718  0.03779906]
 [ 0.01313935  0.99867721  0.04971367]
 [-0.03849643 -0.04917593  0.99804822]]

 t_gt:
[0.11286186 0.03049648 0.99314257]

Pose Error in degrees for R and t:
3.732919766809966 85.05436567341627

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-3.64513439e-01 -9.31195990e-01 -1.99506996e-03]
 [ 9.31198126e-01 -3.64512729e-01 -7.21625536e-04]
 [-5.52535882e-05 -2.12084761e-03  9.99997749e-01]]

 t_estimated:
[[ 9.99393217e-01]
 [-3.48232322e-02]
 [ 7.34892543e-04]]

 R_gt:
[[ 0.99769559  0.06151216  0.02864995]
 [-0.06322925  0.99597685  0.06350098]
 [-0.02462866 -0.06516528  0.99757058]]

 t_gt:
[-0.48082976  0.65816836  0.57932473]

Pose Error in degrees for R and t:
115.00117215721912 59.79921358077038

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.91618852 -0.40071173 -0.00535705]
 [ 0.40064204 -0.9161722   0.01069884]
 [-0.00919513  0.0076559   0.99992842]]

 t_estimated:
[[0.96159007]
 [0.27448373]
 [0.00179401]]

 R_gt:
[[ 0.99775947 -0.058998    0.03155976]
 [ 0.0579254   0.99774493  0.03389734]
 [-0.03348804 -0.0319936   0.99892665]]

 t_gt:
[ 0.76817495 -0.23616297  0.59509184]

Pose Error in degrees for R and t:
153.01695597346696 47.55251936876755

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.81471377e-01  1.91595012e-01  2.29922994e-03]
 [-1.91593068e-01  9.81473899e-01 -1.03998600e-03]
 [-2.45589030e-03  5.80199975e-04  9.99996816e-01]]

 t_estimated:
[[0.49963258]
 [0.86623605]
 [0.00154685]]

 R_gt:
[[ 0.99079106 -0.1324082  -0.02831101]
 [ 0.13155333  0.99084884 -0.03019284]
 [ 0.03204979  0.02619025  0.99914329]]

 t_gt:
[ 0.97902027 -0.10218998 -0.17628535]

Pose Error in degrees for R and t:
18.791440130137328 66.39949604620271

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.83183561e-01  1.82619552e-01  4.30601878e-04]
 [-1.82619755e-01  9.83174884e-01  4.14393995e-03]
 [ 3.33407503e-04 -4.15289004e-03  9.99991321e-01]]

 t_estimated:
[[0.87586931]
 [0.48254754]
 [0.00091047]]

 R_gt:
[[ 0.99307597 -0.09276589 -0.0720781 ]
 [ 0.08570915  0.99173279 -0.09549306]
 [ 0.08034162  0.08865428  0.99281741]]

 t_gt:
[ 0.77910831 -0.02004189 -0.62656888]

Pose Error in degrees for R and t:
17.169590689841417 47.766360214161026

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.12880651e-01 -4.08225202e-01 -1.04942973e-03]
 [ 4.08225908e-01  9.12880760e-01  5.71320424e-04]
 [ 7.24776816e-04 -9.49951766e-04  9.99999286e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99062573 -0.13653447  0.00443395]
 [ 0.13500484  0.9834513   0.12082155]
 [-0.02085734 -0.11909051  0.99266339]]

 t_gt:
[ 0.55457944 -0.70518141  0.4417701 ]

Pose Error in degrees for R and t:
17.65771676914417 56.44532563475543

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.64844376e-01  2.62821745e-01  2.45180746e-04]
 [-2.62821650e-01  9.64844365e-01 -3.62545014e-04]
 [-3.31845974e-04  2.85360710e-04  9.99999904e-01]]

 t_estimated:
[[9.98852798e-01]
 [4.78790768e-02]
 [8.26160176e-04]]

 R_gt:
[[ 0.96341768 -0.26696048  0.02362988]
 [ 0.26098909  0.95458509  0.14370682]
 [-0.06092033 -0.1322832   0.98933765]]

 t_gt:
[ 0.62759961 -0.68209835  0.37531396]

Pose Error in degrees for R and t:
31.72893333098005 53.52076187699861

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 0.09629956  0.9937972  -0.05561939]
 [ 0.94857615 -0.07470183  0.3076084 ]
 [ 0.3015455  -0.08238178 -0.94988607]]

 t_estimated:
[[-0.79572254]
 [-0.58841251]
 [-0.14351431]]

 R_gt:
[[ 0.95486943 -0.29586087  0.02629005]
 [ 0.2895448   0.94690425  0.13977226]
 [-0.06624779 -0.12585232  0.9898339 ]]

 t_gt:
[ 0.63943849 -0.68709077  0.34499955]

Pose Error in degrees for R and t:
162.40723938798155 81.13915520969724

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.77276407  0.63455146  0.01342166]
 [ 0.63448535 -0.77287942  0.00925944]
 [ 0.01624891  0.00136048 -0.99986705]]

 t_estimated:
[[7.74192328e-01]
 [6.32950079e-01]
 [6.60010510e-04]]

 R_gt:
[[ 0.99261171 -0.10919566  0.0529002 ]
 [ 0.09909127  0.98114831  0.16592196]
 [-0.0700205  -0.15945475  0.98471951]]

 t_gt:
[ 0.38272816 -0.56041     0.73447927]

Pose Error in degrees for R and t:
172.17349570583818 86.6794793639347

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.96572543  0.25956279 -0.00124748]
 [-0.25955882 -0.96572357 -0.00268395]
 [-0.00190138 -0.00226816  0.99999562]]

 t_estimated:
[[0.96491554]
 [0.26255803]
 [0.00113329]]

 R_gt:
[[ 0.96867004 -0.24694795  0.02640349]
 [ 0.23226279  0.93841778  0.25578854]
 [-0.08794298 -0.24164211  0.96637179]]

 t_gt:
[ 0.54199627 -0.6000096   0.58841186]

Pose Error in degrees for R and t:
179.0804559489926 68.52408219307469

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.21868639  0.97579373  0.00168888]
 [ 0.97579399  0.21868307  0.0019499 ]
 [ 0.00153338  0.00207441 -0.99999667]]

 t_estimated:
[[-0.68321677]
 [-0.73021412]
 [-0.00147888]]

 R_gt:
[[ 0.94447125 -0.32582176  0.04261039]
 [ 0.30365454  0.9149706   0.26574936]
 [-0.12557294 -0.23805357  0.96310018]]

 t_gt:
[ 0.59229291 -0.59855419  0.53937186]

Pose Error in degrees for R and t:
174.6471608255137 88.1885439798638

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 8.67464279e-01  4.97499235e-01  4.86296545e-04]
 [-4.97498972e-01  8.67464378e-01 -5.70686147e-04]
 [-7.05760852e-04  2.53117816e-04  9.99999719e-01]]

 t_estimated:
[[3.64961846e-01]
 [9.31022049e-01]
 [8.91695333e-04]]

 R_gt:
[[ 0.98536467 -0.17045911  0.00100993]
 [ 0.17036983  0.98500338  0.02723995]
 [-0.00563888 -0.02666947  0.99962815]]

 t_gt:
[ 0.64707582 -0.74776402  0.14880141]

Pose Error in degrees for R and t:
39.67878925738681 62.61972458034455

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.54582435e-01 -2.97946443e-01 -5.40589371e-04]
 [ 2.97946365e-01  9.54582587e-01 -2.20771329e-04]
 [ 5.81815232e-04  4.96777945e-05  9.99999830e-01]]

 t_estimated:
[[ 9.91680913e-01]
 [-1.28718683e-01]
 [-6.84057959e-04]]

 R_gt:
[[ 0.94446802 -0.32818567 -0.0165659 ]
 [ 0.32841233  0.94443795  0.01349   ]
 [ 0.01121764 -0.01818221  0.99977181]]

 t_gt:
[ 0.74504256 -0.66547234  0.04536674]

Pose Error in degrees for R and t:
2.1962487550265517 34.464985275360135

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.11800552  0.9930118   0.0015029 ]
 [-0.9930103  -0.11800158 -0.00248423]
 [-0.00228953 -0.00178555  0.99999578]]

 t_estimated:
[[0.24706246]
 [0.96899823]
 [0.0016043 ]]

 R_gt:
[[ 0.92588792 -0.37772714 -0.00738575]
 [ 0.37779591  0.92562203  0.02222383]
 [-0.00155919 -0.02336748  0.99972505]]

 t_gt:
[ 0.72941148 -0.68073929  0.06747534]

Pose Error in degrees for R and t:
118.98062518927244 61.35921485108078

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.97578977 -0.2186417  -0.00548976]
 [ 0.21860161 -0.97578853  0.00707753]
 [-0.00690429  0.00570611  0.99995988]]

 t_estimated:
[[0.90349342]
 [0.42859936]
 [0.00149338]]

 R_gt:
[[ 0.99352076 -0.11108794 -0.02401378]
 [ 0.11027061  0.99335244 -0.03303558]
 [ 0.02752508  0.03017363  0.99916462]]

 t_gt:
[ 0.963653   -0.09462439 -0.2498382 ]

Pose Error in degrees for R and t:
161.02938241142215 33.929491842186636

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 7.99443115e-01 -6.00741764e-01 -1.98395319e-04]
 [ 6.00741769e-01  7.99442934e-01  5.67550121e-04]
 [-1.82345324e-04 -5.72908392e-04  9.99999819e-01]]

 t_estimated:
[[9.71758482e-01]
 [2.35976383e-01]
 [7.73693059e-04]]

 R_gt:
[[ 0.99092316 -0.10655767 -0.08195994]
 [ 0.09781875  0.98974195 -0.10412903]
 [ 0.09221569  0.09516552  0.99118043]]

 t_gt:
[ 0.78626161  0.01225949 -0.61777211]

Pose Error in degrees for R and t:
31.936354995460732 39.96192980305301

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.93870509  0.34455241  0.01078861]
 [-0.34434086  0.93867976 -0.01759802]
 [-0.01619049  0.01280439  0.99978694]]

 t_estimated:
[[0.26489532]
 [0.96421896]
 [0.01059581]]

 R_gt:
[[ 0.98859392  0.04004896 -0.14518205]
 [-0.05214451  0.99539037 -0.08049083]
 [ 0.14129011  0.08714234  0.98612538]]

 t_gt:
[-0.02449947  0.0628327  -0.99772332]

Pose Error in degrees for R and t:
20.057395509969314 87.50552787693285

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99999979e-01  2.00293749e-04 -3.35446784e-05]
 [-2.00286817e-04  9.99999959e-01  2.06519213e-04]
 [ 3.35860416e-05 -2.06512490e-04  9.99999978e-01]]

 t_estimated:
[[0.94533243]
 [0.32610673]
 [0.00100048]]

 R_gt:
[[ 0.9990634  -0.02242671 -0.03702068]
 [ 0.0213882   0.99937362 -0.02820984]
 [ 0.03762963  0.02739154  0.99891657]]

 t_gt:
[ 0.74682895  0.04257096 -0.6636522 ]

Pose Error in degrees for R and t:
2.957731237353145 44.00985316822747

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.09089444  0.99582697 -0.00817618]
 [-0.99585355  0.09085999 -0.004492  ]
 [-0.00373036  0.00855058  0.99995649]]

 t_estimated:
[[0.09668755]
 [0.99531298]
 [0.00189583]]

 R_gt:
[[ 0.99952872  0.01175413 -0.02837686]
 [-0.01275098  0.9992994  -0.035189  ]
 [ 0.02794355  0.03553307  0.99897821]]

 t_gt:
[ 0.69965632  0.39939093 -0.59242546]

Pose Error in degrees for R and t:
84.10027470514548 62.351638557080314

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.73687127e-01 -2.27887156e-01  9.07400539e-04]
 [ 2.27886928e-01  9.73687540e-01  3.49368077e-04]
 [-9.63141096e-04 -1.33390478e-04  9.99999527e-01]]

 t_estimated:
[[0.81346053]
 [0.58161924]
 [0.00100801]]

 R_gt:
[[ 0.99600804  0.08696198  0.02019474]
 [-0.08443291  0.99104984 -0.10340348]
 [-0.02900561  0.1012857   0.99443432]]

 t_gt:
[ 0.14159999  0.87359663 -0.46559465]

Pose Error in degrees for R and t:
19.078357624801765 51.47783883857255

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.99630639e-01  2.71767060e-02 -1.07204301e-04]
 [-2.71766586e-02  9.99630558e-01  4.21089853e-04]
 [ 1.18608531e-04 -4.18020865e-04  9.99999906e-01]]

 t_estimated:
[[ 5.09684260e-01]
 [ 8.60361122e-01]
 [-8.33286037e-04]]

 R_gt:
[[ 9.99982806e-01  8.02021377e-04  5.69521815e-03]
 [-8.65950733e-04  9.99937678e-01  1.11597722e-02]
 [-5.68627014e-03 -1.11642144e-02  9.99920751e-01]]

 t_gt:
[-0.71134229 -0.51817662  0.47485275]

Pose Error in degrees for R and t:
1.66481555357499 36.02361368206621

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99992677e-01 -3.82702508e-03  1.99467542e-05]
 [ 3.82701637e-03  9.99992589e-01  4.19764136e-04]
 [-2.15530542e-05 -4.19684725e-04  9.99999912e-01]]

 t_estimated:
[[2.86126438e-01]
 [9.58191633e-01]
 [6.75418759e-04]]

 R_gt:
[[ 0.99928796  0.01188409  0.0357972 ]
 [-0.01316486  0.99927432  0.03574329]
 [-0.03534684 -0.03618827  0.99871977]]

 t_gt:
[-0.66501339 -0.20937036  0.71688301]

Pose Error in degrees for R and t:
3.0305113707805846 67.01994696331383

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.97907107e-01 -6.46637819e-02 -2.92557370e-05]
 [ 6.46637882e-02  9.97907043e-01  3.59065705e-04]
 [ 5.97595960e-06 -3.60206005e-04  9.99999935e-01]]

 t_estimated:
[[3.90705945e-01]
 [9.20515174e-01]
 [8.24173660e-04]]

 R_gt:
[[ 0.99584986  0.07196582  0.05571522]
 [-0.07151921  0.99738953 -0.00997141]
 [-0.05628728  0.00594619  0.99839656]]

 t_gt:
[-0.89030054  0.2635231   0.37137654]

Pose Error in degrees for R and t:
8.47156126825121 83.97498676013092

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-0.90143214  0.43291838 -0.0013301 ]
 [-0.43291431 -0.90143148 -0.00254491]
 [-0.00230074 -0.00171824  0.99999588]]

 t_estimated:
[[0.42508256]
 [0.90515327]
 [0.00154249]]

 R_gt:
[[ 0.99018804 -0.13495151 -0.03627718]
 [ 0.13281866  0.9895626  -0.05589173]
 [ 0.04344079  0.0505238   0.99777692]]

 t_gt:
[ 0.60842122 -0.64409291 -0.46364636]

Pose Error in degrees for R and t:
162.0596803358129 71.02904976570116

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99999804e-01  3.92533261e-04  4.87429379e-04]
 [-3.92331800e-04  9.99999838e-01 -4.13341233e-04]
 [-4.87591550e-04  4.13149918e-04  9.99999796e-01]]

 t_estimated:
[[0.96661923]
 [0.25621523]
 [0.00100897]]

 R_gt:
[[ 9.55406749e-01 -2.95037795e-01 -1.22241371e-02]
 [ 2.95000311e-01  9.55484846e-01 -4.80978826e-03]
 [ 1.30998481e-02  9.89074929e-04  9.99912948e-01]]

 t_gt:
[ 0.66911094 -0.74273449 -0.02521955]

Pose Error in degrees for R and t:
17.1994406988838 62.841720595008915

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99998655e-01  7.29165959e-04 -1.46899135e-03]
 [-7.27265899e-04  9.99998899e-01  1.29356460e-03]
 [ 1.46993296e-03 -1.29249452e-03  9.99998084e-01]]

 t_estimated:
[[-0.59044453]
 [-0.80707548]
 [-0.00210434]]

 R_gt:
[[ 0.90427202 -0.41114831 -0.11510334]
 [ 0.41843265  0.90700669  0.04745793]
 [ 0.08488762 -0.0910775   0.99221862]]

 t_gt:
[ 0.70560059 -0.70807484  0.02752862]

Pose Error in degrees for R and t:
25.62008099832482 81.09515648871239

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.97497075e-01  7.07070718e-02  3.08754883e-04]
 [-7.07070248e-02  9.97497113e-01 -1.60693368e-04]
 [-3.19344262e-04  1.38460025e-04  9.99999939e-01]]

 t_estimated:
[[0.70039084]
 [0.71375817]
 [0.00139588]]

 R_gt:
[[ 0.98538422 -0.17001093  0.01071087]
 [ 0.16967481  0.98513381  0.02688988]
 [-0.01512374 -0.02467913  0.99958128]]

 t_gt:
[ 0.61132629 -0.76479877  0.20337898]

Pose Error in degrees for R and t:
13.933769777014012 83.25618807335893

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.88203360e-01  1.53147323e-01  1.29420752e-04]
 [-1.53147350e-01  9.88203335e-01  2.40014879e-04]
 [-9.11363824e-05 -2.57003955e-04  9.99999963e-01]]

 t_estimated:
[[0.66162136]
 [0.74983754]
 [0.00091892]]

 R_gt:
[[ 0.95200461 -0.30579653 -0.0132579 ]
 [ 0.30607742  0.95135058  0.03534238]
 [ 0.0018052  -0.03770395  0.99928765]]

 t_gt:
[ 0.69966199 -0.70029265  0.14164501]

Pose Error in degrees for R and t:
26.715537906022305 86.44169415477091

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.98235660e-01 -5.93764687e-02  4.63934427e-05]
 [ 5.93764596e-02  9.98235646e-01  1.78092582e-04]
 [-5.68860969e-05 -1.75023688e-04  9.99999983e-01]]

 t_estimated:
[[0.76157752]
 [0.64807318]
 [0.00091536]]

 R_gt:
[[ 0.93271224 -0.35981945 -0.02404628]
 [ 0.35916861  0.92091272  0.15138673]
 [-0.03232667 -0.14983707  0.98818289]]

 t_gt:
[ 0.59133934 -0.70278292  0.39549205]

Pose Error in degrees for R and t:
19.84049296840515 89.72830262746103

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.97944845e-01 -6.40785962e-02  1.37439279e-04]
 [ 6.40786067e-02  9.97944852e-01 -7.34379655e-05]
 [-1.32451019e-04  8.20939566e-05  9.99999988e-01]]

 t_estimated:
[[0.91930694]
 [0.39354018]
 [0.00093601]]

 R_gt:
[[ 0.98364092 -0.18010966 -0.0035156 ]
 [ 0.18002316  0.98350864 -0.01735912]
 [ 0.00658444  0.01644142  0.99984225]]

 t_gt:
[ 0.59393371 -0.80052715 -0.07999391]

Pose Error in degrees for R and t:
6.7767168417721875 76.65035350327189

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999869e-01 -5.10864713e-04 -1.57941039e-05]
 [ 5.10866276e-04  9.99999865e-01  9.91176629e-05]
 [ 1.57434661e-05 -9.91257186e-05  9.99999995e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191470e-04]]

 R_gt:
[[ 0.92482913 -0.38027412 -0.00912127]
 [ 0.38037946  0.92466798  0.01734094]
 [ 0.0018398  -0.0195071   0.99980707]]

 t_gt:
[ 0.67587511 -0.73586312  0.04121052]

Pose Error in degrees for R and t:
22.354528558348143 47.60843048645571

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.12683261e-01  4.08665663e-01  1.28100978e-03]
 [-4.08664092e-01  9.12683903e-01 -1.32376720e-03]
 [-1.71013520e-03  6.84677466e-04  9.99998303e-01]]

 t_estimated:
[[8.43753967e-01]
 [5.36729614e-01]
 [7.50670789e-04]]

 R_gt:
[[ 0.85451379 -0.51755263 -0.04411207]
 [ 0.51549195  0.8554093  -0.0504377 ]
 [ 0.06383795  0.02036017  0.99775211]]

 t_gt:
[ 0.75331246 -0.64799269 -0.11236464]

Pose Error in degrees for R and t:
55.38511505336548 73.27794674265336

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 7.09950227e-01  7.04251854e-01 -1.56849504e-05]
 [-7.04250983e-01  7.09949314e-01 -1.58895033e-03]
 [-1.10788570e-03  1.13912179e-03  9.99998737e-01]]

 t_estimated:
[[0.41730229]
 [0.90876706]
 [0.0011069 ]]

 R_gt:
[[ 0.99835697  0.04802193  0.03127503]
 [-0.04659624  0.99790804 -0.04483649]
 [-0.03336173  0.04330609  0.99850454]]

 t_gt:
[-0.69540286  0.70488461 -0.13983046]

Pose Error in degrees for R and t:
42.16015083162929 69.49874312531257

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[-0.66580447 -0.74592149 -0.01747995]
 [-0.7455592   0.66420263  0.05455579]
 [-0.0290841   0.04935582 -0.99835771]]

 t_estimated:
[[9.52406617e-01]
 [3.04829596e-01]
 [7.43486821e-04]]

 R_gt:
[[ 0.99093473  0.07875262  0.10884611]
 [-0.07076368  0.99463905 -0.0754069 ]
 [-0.11419986  0.06702139  0.99119467]]

 t_gt:
[-0.75210824  0.61244841  0.24339298]

Pose Error in degrees for R and t:
175.5851614764973 58.0324075939633

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.18397068  0.98293038  0.00162802]
 [ 0.98292985 -0.18397332  0.00165057]
 [ 0.00192191  0.00129658 -0.99999731]]

 t_estimated:
[[9.88007904e-01]
 [1.54401235e-01]
 [8.00006400e-04]]

 R_gt:
[[ 0.97961592  0.13321183  0.15035911]
 [-0.119042    0.987878   -0.09963807]
 [-0.16180832  0.07970846  0.98359803]]

 t_gt:
[-0.7324079   0.60718401  0.30806858]

Pose Error in degrees for R and t:
170.28476120412307 50.9772899083564

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 9.94520850e-01 -1.04534449e-01  9.10049786e-04]
 [ 1.04533847e-01  9.94521093e-01  6.85997842e-04]
 [-9.76774114e-04 -5.87108152e-04  9.99999351e-01]]

 t_estimated:
[[0.98386308]
 [0.1788842 ]
 [0.00372675]]

 R_gt:
[[ 0.99807639 -0.0555717   0.02750163]
 [ 0.05519362  0.99837425  0.01430321]
 [-0.028251   -0.01275855  0.99951931]]

 t_gt:
[ 0.12828818 -0.8094816   0.57295871]

Pose Error in degrees for R and t:
3.3021167818086683 89.0574313444891

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 0.51464027  0.85641433  0.04122974]
 [-0.84735384  0.50067637  0.17695945]
 [ 0.13090785 -0.12600663  0.98335419]]

 t_estimated:
[[0.66306217]
 [0.7485623 ]
 [0.0017449 ]]

 R_gt:
[[ 0.99406138 -0.08942267  0.06202502]
 [ 0.08970451  0.9959676  -0.00177405]
 [-0.06161531  0.00732733  0.99807279]]

 t_gt:
[ 0.00716169 -0.83941638  0.54344167]

Pose Error in degrees for R and t:
65.40634106371785 51.48946258463723

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 5.90647667e-01 -8.06929161e-01  8.13959060e-04]
 [-8.06926726e-01 -5.90647963e-01 -2.05981269e-03]
 [ 2.14288618e-03  5.59818239e-04 -9.99997547e-01]]

 t_estimated:
[[0.70430238]
 [0.70989949]
 [0.00093285]]

 R_gt:
[[ 0.99292444 -0.11857147 -0.00650074]
 [ 0.11867372  0.99275786  0.01868599]
 [ 0.00423889 -0.0193257   0.99980417]]

 t_gt:
[ 0.07398024 -0.99599258  0.0502563 ]

Pose Error in degrees for R and t:
179.25595953967436 49.08768315323443

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.99349573e-01  3.60614667e-02 -3.42197570e-05]
 [-3.60614676e-02  9.99349573e-01 -2.73155121e-05]
 [ 3.32124622e-05  2.85317600e-05  9.99999999e-01]]

 t_estimated:
[[-5.97607822e-01]
 [ 8.01788271e-01]
 [-6.78406822e-04]]

 R_gt:
[[ 0.99902686  0.03027391  0.03208091]
 [-0.03254813  0.99680713  0.07289905]
 [-0.02977112 -0.073872    0.99682329]]

 t_gt:
[-0.20586689 -0.07643299  0.9755905 ]

Pose Error in degrees for R and t:
4.578286003324273 86.49803693590283

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.66412442e-01 -2.56995641e-01 -4.81711963e-04]
 [ 2.56995917e-01  9.66412276e-01  6.41940028e-04]
 [ 3.00556566e-04 -7.44176838e-04  9.99999678e-01]]

 t_estimated:
[[0.61405977]
 [0.78925762]
 [0.00173463]]

 R_gt:
[[ 0.99396954  0.08410572  0.07035815]
 [-0.09255288  0.98757848  0.1269717 ]
 [-0.05880403 -0.13271754  0.98940843]]

 t_gt:
[-0.43866051  0.1464079   0.88664631]

Pose Error in degrees for R and t:
21.632986361609326 81.24137191390979

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-3.61230316e-01  9.32476602e-01 -2.13058866e-04]
 [ 9.32462497e-01  3.61226090e-01  5.42243483e-03]
 [ 5.13325603e-03  1.76007844e-03 -9.99985276e-01]]

 t_estimated:
[[-0.05491632]
 [-0.99847848]
 [-0.00499239]]

 R_gt:
[[ 0.97536755  0.21349705  0.05547789]
 [-0.21753877  0.97263745  0.0815601 ]
 [-0.03654558 -0.09161961  0.99512336]]

 t_gt:
[-0.69159654  0.58542135  0.42305563]

Pose Error in degrees for R and t:
179.15631773306993 56.72468038308391

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999949e-01  3.17804114e-04  1.61164708e-06]
 [-3.17804182e-04  9.99999949e-01  4.21777569e-05]
 [-1.59824273e-06 -4.21782670e-05  9.99999999e-01]]

 t_estimated:
[[-9.51422230e-01]
 [-3.07887962e-01]
 [-8.62148653e-04]]

 R_gt:
[[ 0.99589477  0.08971717  0.0120226 ]
 [-0.09005296  0.99545564  0.03097852]
 [-0.00918902 -0.03193346  0.99944757]]

 t_gt:
[-0.6631306   0.68195858  0.30852927]

Pose Error in degrees for R and t:
5.480448931169758 65.12219863602947

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-2.19652002e-01 -9.75578152e-01  5.16762338e-04]
 [-9.75569473e-01  2.19647734e-01 -4.36766670e-03]
 [ 4.14749453e-03 -1.46350430e-03 -9.99990328e-01]]

 t_estimated:
[[7.62682472e-01]
 [6.46773103e-01]
 [2.48412971e-05]]

 R_gt:
[[ 0.9559573   0.29242821  0.02511382]
 [-0.29301197  0.95580984  0.02392636]
 [-0.01700718 -0.03023126  0.9993978 ]]

 t_gt:
[-0.66178826  0.74228966  0.1050826 ]

Pose Error in degrees for R and t:
178.16597774158038 88.58816320460349

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.7487999  -0.65879346  0.07273159]
 [ 0.66201368  0.74872972 -0.03378905]
 [-0.0321963   0.07345054  0.99677902]]

 t_estimated:
[[0.74111508]
 [0.67137698]
 [0.001182  ]]

 R_gt:
[[ 0.84293046  0.53026224  0.09104053]
 [-0.52955324  0.8476039  -0.03378864]
 [-0.09508353 -0.01972875  0.99527376]]

 t_gt:
[-0.5775092   0.80669435  0.12540873]

Pose Error in degrees for R and t:
73.52030235401811 83.4688441657463

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.78498816e-01 -2.06251600e-01  5.86415328e-04]
 [ 2.06251510e-01  9.78498988e-01  2.10598696e-04]
 [-6.17243123e-04 -8.51215278e-05  9.99999806e-01]]

 t_estimated:
[[0.99785472]
 [0.06537669]
 [0.00344088]]

 R_gt:
[[ 0.99868096  0.03270428  0.03957678]
 [-0.0363284   0.99485025  0.09462088]
 [-0.03627896 -0.09593419  0.99472665]]

 t_gt:
[-0.29882973 -0.0352289   0.95365597]

Pose Error in degrees for R and t:
15.06863819955116 72.70987046169564

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-3.51993869e-01  9.36001782e-01 -9.90596868e-04]
 [-9.35998901e-01 -3.51995246e-01 -2.32487958e-03]
 [-2.52477681e-03  1.08854224e-04  9.99996807e-01]]

 t_estimated:
[[0.55221229]
 [0.83370212]
 [0.0015382 ]]

 R_gt:
[[ 0.98465439  0.16787916  0.04766421]
 [-0.17129417  0.98196564  0.08000858]
 [-0.03337308 -0.08694646  0.99565436]]

 t_gt:
[-0.69294884  0.52974589  0.48907176]

Pose Error in degrees for R and t:
100.9317885366472 86.5746693009946

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99999982e-01  1.83110943e-04 -4.80531975e-05]
 [-1.83110636e-04  9.99999983e-01  6.39984762e-06]
 [ 4.80543686e-05 -6.39104846e-06  9.99999999e-01]]

 t_estimated:
[[-9.99983232e-01]
 [-5.79055755e-03]
 [-6.95618725e-05]]

 R_gt:
[[ 9.82187538e-01  1.82144377e-01  4.61522487e-02]
 [-1.82295964e-01  9.83243091e-01 -9.47993703e-04]
 [-4.55514266e-02 -7.48237787e-03  9.98933925e-01]]

 t_gt:
[-0.708929    0.69502482  0.11983394]

Pose Error in degrees for R and t:
10.822544978747304 45.17981099480472

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.99999972e-01 -1.67007616e-04  1.68463003e-04]
 [ 1.67018269e-04  9.99999984e-01 -6.32239619e-05]
 [-1.68452441e-04  6.32520965e-05  9.99999984e-01]]

 t_estimated:
[[0.92205334]
 [0.38706083]
 [0.0012444 ]]

 R_gt:
[[ 0.9998908  -0.01200278 -0.00877084]
 [ 0.01190648  0.99986957 -0.01091636]
 [ 0.00890037  0.01081204  0.99990201]]

 t_gt:
[ 0.46982509  0.46880409 -0.74798871]

Pose Error in degrees for R and t:
1.0491630847282933 52.140396808154186

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 0.99999866  0.00105765 -0.00124811]
 [-0.00105522  0.99999754  0.00194965]
 [ 0.00125016 -0.00194833  0.99999732]]

 t_estimated:
[[-0.94206499]
 [-0.33542737]
 [-0.00142357]]

 R_gt:
[[ 0.99810489  0.06153143 -0.00131392]
 [-0.06150996  0.99802192  0.01299625]
 [ 0.00211086 -0.01289003  0.99991491]]

 t_gt:
[-0.53404307  0.83991136  0.09667936]

Pose Error in degrees for R and t:
3.523212064230214 77.21833717111933

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.89564787e-01 -1.44088566e-01  1.30947876e-04]
 [ 1.44088572e-01  9.89564794e-01 -4.09661384e-05]
 [-1.23678656e-04  5.94067406e-05  9.99999991e-01]]

 t_estimated:
[[-7.81745302e-01]
 [-6.23597403e-01]
 [-7.49516109e-04]]

 R_gt:
[[ 0.98404159  0.17793945 -0.00103474]
 [-0.17792264  0.98400003  0.00933862]
 [ 0.00268034 -0.00900418  0.99995592]]

 t_gt:
[-0.61592982  0.78763223  0.01630731]

Pose Error in degrees for R and t:
18.541824336449242 89.44551748256698

Number of keypoints:
Image1: 686
Image2: 686

 R_estimated:
[[-0.85639764  0.51292373  0.05909599]
 [ 0.51293977  0.85827441 -0.01605697]
 [-0.05895657  0.01656153 -0.99812316]]

 t_estimated:
[[ 0.96395603]
 [-0.26426359]
 [ 0.03087938]]

 R_gt:
[[ 9.98978011e-01 -4.50059603e-02 -4.33766466e-03]
 [ 4.50054617e-02  9.98987385e-01 -1.26842132e-04]
 [ 4.33997823e-03 -6.95185790e-05  9.99990703e-01]]

 t_gt:
[ 0.50598362 -0.85563865 -0.10891775]

Pose Error in degrees for R and t:
176.7290933404291 44.72465030734259

Number of keypoints:
Image1: 359
Image2: 359

 R_estimated:
[[ 9.99797153e-01  2.01406730e-02  7.59514318e-05]
 [-2.01407085e-02  9.99797031e-01  4.99149475e-04]
 [-6.58828096e-05 -5.00577940e-04  9.99999873e-01]]

 t_estimated:
[[0.99044783]
 [0.13788133]
 [0.00135766]]

 R_gt:
[[ 9.97127615e-01 -7.57427775e-02  7.76366236e-04]
 [ 7.56832774e-02  9.96663428e-01  3.05638275e-02]
 [-3.08855225e-03 -3.04172390e-02  9.99532870e-01]]

 t_gt:
[ 0.34331912 -0.89670997  0.27936217]

Pose Error in degrees for R and t:
5.760538331781478 77.48005853155912

Number of keypoints:
Image1: 356
Image2: 356

 R_estimated:
[[ 0.9741497  -0.22588443  0.00293033]
 [ 0.22589065  0.97415062 -0.0019973 ]
 [-0.00240342  0.0026076   0.99999371]]

 t_estimated:
[[0.43778352]
 [0.89907971]
 [0.00111965]]

 R_gt:
[[ 0.99334661 -0.09843188  0.05978726]
 [ 0.09783066  0.99511946  0.01290317]
 [-0.06076558 -0.00696891  0.9981283 ]]

 t_gt:
[ 0.06119401 -0.82297573  0.56477096]

Pose Error in degrees for R and t:
8.150709701127015 44.56141731730215

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.99178904  0.12680906 -0.01655205]
 [-0.12653072  0.99181863  0.01690487]
 [ 0.01856033 -0.01467172  0.99972009]]

 t_estimated:
[[0.45056324]
 [0.8927439 ]
 [0.00104782]]

 R_gt:
[[ 0.99126574 -0.06431347  0.11513541]
 [ 0.04054813  0.9793706   0.19796351]
 [-0.12549196 -0.19156555  0.97342314]]

 t_gt:
[ 0.12028517 -0.29810413  0.94692418]

Pose Error in degrees for R and t:
16.637447212145634 77.8224170689175

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.02897867  0.99957883 -0.00154998]
 [-0.99957649 -0.02898266 -0.00261704]
 [-0.00266086  0.00147348  0.99999537]]

 t_estimated:
[[0.01907441]
 [0.9998168 ]
 [0.00158953]]

 R_gt:
[[ 0.97488857 -0.19393237  0.10947136]
 [ 0.14834122  0.93214845  0.33029488]
 [-0.16609792 -0.30576076  0.93750713]]

 t_gt:
[ 0.36160986 -0.42534186  0.82965211]

Pose Error in degrees for R and t:
103.32462781769551 65.35166485191066

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 8.75179062e-01  4.83797480e-01  1.26829218e-03]
 [-4.83795648e-01  8.75179697e-01 -1.50672217e-03]
 [-1.83893195e-03  7.05057454e-04  9.99998061e-01]]

 t_estimated:
[[0.01234473]
 [0.99992304]
 [0.00123447]]

 R_gt:
[[ 0.94776258 -0.30973251  0.07624221]
 [ 0.26038369  0.88930125  0.37595853]
 [-0.18424823 -0.33646639  0.9234939 ]]

 t_gt:
[ 0.4959431  -0.49082882  0.71632919]

Pose Error in degrees for R and t:
51.13172842216714 61.06713474861614

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.99998468  0.00519129  0.00192035]
 [-0.00518893  0.99998578 -0.00122957]
 [-0.00192671  0.00121958  0.9999974 ]]

 t_estimated:
[[0.99840477]
 [0.05548202]
 [0.01047191]]

 R_gt:
[[ 0.99905898  0.02561615  0.03498954]
 [-0.02573264  0.99966425  0.00287921]
 [-0.03490362 -0.00377593  0.99938382]]

 t_gt:
[0.06413779 0.69404316 0.71707073]

Pose Error in degrees for R and t:
2.242937670183704 83.68171633611331

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.99620493 -0.08690018 -0.00490973]
 [ 0.08691349  0.99621256  0.00256456]
 [ 0.00466828 -0.00298155  0.99998466]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99036256  0.10108722  0.09467095]
 [-0.0902464   0.98954072 -0.11253877]
 [-0.10505706  0.10291086  0.98912713]]

 t_gt:
[-0.330697    0.94342156 -0.02439791]

Pose Error in degrees for R and t:
13.671926703929332 19.726451493220377

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-2.34904604e-01  9.72009872e-01  4.07858343e-03]
 [ 9.72018260e-01  2.34900018e-01  1.57606969e-03]
 [ 5.73895975e-04  4.33468360e-03 -9.99990441e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.98046028  0.1187639   0.15681834]
 [-0.10471672  0.98995187 -0.09502206]
 [-0.16652763  0.07674508  0.98304624]]

 t_gt:
[-0.32506878  0.86898851  0.37308077]

Pose Error in degrees for R and t:
169.487729127802 29.81047412856046

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-7.05854968e-02  9.97491203e-01  5.38394678e-03]
 [ 9.97505501e-01  7.05807738e-02  1.06249834e-03]
 [ 6.79829616e-04  5.44551351e-03 -9.99984942e-01]]

 t_estimated:
[[0.64185878]
 [0.76682244]
 [0.00081145]]

 R_gt:
[[ 0.9850276  -0.17082811  0.02320858]
 [ 0.17099888  0.98525556 -0.00556106]
 [-0.02191603  0.00944627  0.99971492]]

 t_gt:
[ 0.56693391 -0.82106987  0.06655984]

Pose Error in degrees for R and t:
178.55053582356973 74.59327510016315

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.39532554e-01 -3.42458554e-01  8.48155977e-04]
 [ 3.42458688e-01  9.39532888e-01 -1.34134642e-05]
 [-7.92276878e-04  3.03060769e-04  9.99999640e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.94085849 -0.33874469 -0.00620969]
 [ 0.33865781  0.94083547 -0.01184529]
 [ 0.00985418  0.00904294  0.99991035]]

 t_gt:
[ 0.65790308 -0.75235413 -0.03356803]

Pose Error in degrees for R and t:
0.8199848530246997 41.559196840384104

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-9.54062391e-01 -2.99607391e-01 -6.04761954e-04]
 [-2.99608000e-01  9.54060655e-01  1.82033762e-03]
 [ 3.15929804e-05  1.91790718e-03 -9.99998160e-01]]

 t_estimated:
[[8.95207391e-01]
 [4.45649094e-01]
 [7.81840516e-04]]

 R_gt:
[[ 0.84964163 -0.52723303 -0.01163682]
 [ 0.52727874  0.84969178  0.001124  ]
 [ 0.00929506 -0.00708999  0.99993113]]

 t_gt:
[ 0.74374971 -0.66844931  0.00344867]

Pose Error in degrees for R and t:
179.43036624990546 68.41265987915594

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 9.98881302e-01 -4.72871632e-02 -2.61662838e-04]
 [ 4.72870591e-02  9.98881265e-01 -3.90605826e-04]
 [ 2.79840748e-04  3.77795590e-04  9.99999889e-01]]

 t_estimated:
[[ 0.71287883]
 [-0.70127585]
 [-0.00399543]]

 R_gt:
[[ 0.99991227 -0.01274195 -0.00367814]
 [ 0.01268393  0.99980008 -0.0154833 ]
 [ 0.00387541  0.01543511  0.99987381]]

 t_gt:
[ 0.01981615 -0.80814583 -0.58864899]

Pose Error in degrees for R and t:
2.1704385888177127 54.3232534024363

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 6.10968901e-01  7.91654569e-01 -2.12641838e-04]
 [-7.91652391e-01  6.10966542e-01 -2.52507877e-03]
 [-1.86907310e-03  1.71108302e-03  9.99996789e-01]]

 t_estimated:
[[0.34729406]
 [0.93775551]
 [0.00120267]]

 R_gt:
[[ 0.99876231 -0.0374365   0.03275213]
 [ 0.03686078  0.99915809  0.01799818]
 [-0.03339859 -0.01676847  0.99930192]]

 t_gt:
[-0.0956493  -0.85096081  0.51644643]

Pose Error in degrees for R and t:
54.50980664826078 33.84055551620894

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.84696692e-01 -1.74275923e-01 -5.72656770e-04]
 [ 1.74276397e-01  9.84696344e-01  9.21044746e-04]
 [ 4.03377104e-04 -1.00675027e-03  9.99999412e-01]]

 t_estimated:
[[0.90602082]
 [0.42322934]
 [0.00178649]]

 R_gt:
[[ 0.99952224 -0.01056466  0.02906067]
 [ 0.00993051  0.99971097  0.02190072]
 [-0.02928246 -0.02160156  0.99933834]]

 t_gt:
[-0.59417428 -0.62647962  0.50446032]

Pose Error in degrees for R and t:
9.673766555121638 36.62304410532656

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99631721e-01 -2.71370767e-02 -3.46602450e-05]
 [ 2.71370792e-02  9.99631719e-01  7.24829482e-05]
 [ 3.26805050e-05 -7.33968320e-05  9.99999997e-01]]

 t_estimated:
[[-1.70450545e-01]
 [ 9.85366232e-01]
 [ 3.93045263e-05]]

 R_gt:
[[ 0.99431747  0.03414061  0.10083115]
 [-0.03202837  0.99923343 -0.02249728]
 [-0.10152123  0.01914168  0.99464927]]

 t_gt:
[-0.69469243  0.33130095  0.63846857]

Pose Error in degrees for R and t:
6.865140338385979 63.583790443384984

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-8.45013945e-01 -5.34744170e-01 -3.23550049e-04]
 [-5.34744253e-01  8.45013910e-01  2.74312734e-04]
 [ 1.26717157e-04  4.04814615e-04 -9.99999910e-01]]

 t_estimated:
[[9.86632392e-01]
 [1.62959725e-01]
 [8.06731310e-04]]

 R_gt:
[[ 0.98783633  0.10567931  0.1140676 ]
 [-0.10100584  0.9938201  -0.04602491]
 [-0.1182262   0.03394521  0.99240625]]

 t_gt:
[-0.7377303   0.55082881  0.39030966]

Pose Error in degrees for R and t:
174.23933341832594 50.37271673983843

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 0.90201506 -0.43130094  0.01866357]
 [ 0.43146444  0.90211221 -0.00565683]
 [-0.01439684  0.01315521  0.99980982]]

 t_estimated:
[[0.48069489]
 [0.87687201]
 [0.00528236]]

 R_gt:
[[ 0.96038275  0.26667887  0.08091498]
 [-0.26672649  0.96371603 -0.01041726]
 [-0.08075606 -0.01157647  0.99666616]]

 t_gt:
[-0.70101884  0.68146281  0.21019284]

Pose Error in degrees for R and t:
41.209389987010915 74.82964772781921

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99998893e-01 -1.48401890e-03 -1.08905884e-04]
 [ 1.48404241e-03  9.99998875e-01  2.16140839e-04]
 [ 1.08585004e-04 -2.16302220e-04  9.99999971e-01]]

 t_estimated:
[[-4.48073866e-01]
 [ 8.93996418e-01]
 [-4.63565822e-04]]

 R_gt:
[[ 0.98256311  0.16498203 -0.08574127]
 [-0.16352978  0.98625264  0.0237409 ]
 [ 0.0884791  -0.00930629  0.99603498]]

 t_gt:
[-0.10455692  0.95056814 -0.29238342]

Pose Error in degrees for R and t:
10.828617445930313 26.2608109420014

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 6.12128284e-01 -7.90757120e-01  1.46310029e-03]
 [ 7.90758447e-01  6.12126738e-01 -1.39087292e-03]
 [ 2.04239854e-04  2.00835157e-03  9.99997962e-01]]

 t_estimated:
[[-0.04005681]
 [-0.99919493]
 [-0.00222538]]

 R_gt:
[[ 0.93186675  0.34868823 -0.1002039 ]
 [-0.34345955  0.93684814  0.06596311]
 [ 0.11687556 -0.02705255  0.99277773]]

 t_gt:
[-0.17834915  0.97248384 -0.14988917]

Pose Error in degrees for R and t:
72.87012081376488 15.372389934329941

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.99999376e-01 -6.67872269e-04 -8.95881599e-04]
 [ 6.68917538e-04  9.99999095e-01  1.16695709e-03]
 [ 8.95101410e-04 -1.16755564e-03  9.99998918e-01]]

 t_estimated:
[[ 0.01845352]
 [ 0.99982894]
 [-0.00124454]]

 R_gt:
[[ 9.16467661e-01  3.96382472e-01 -5.44923725e-02]
 [-3.95713516e-01  9.18085126e-01  2.30151296e-02]
 [ 5.91507310e-02  4.70548807e-04  9.98248847e-01]]

 t_gt:
[-0.10657406  0.99182326 -0.07020387]

Pose Error in degrees for R and t:
23.623436104261717 8.200770532765572

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 2.12609027e-04  9.99999063e-01  1.35226808e-03]
 [-9.99998977e-01  2.14521135e-04 -1.41401255e-03]
 [-1.41430132e-03 -1.35196607e-03  9.99998086e-01]]

 t_estimated:
[[-5.44455840e-04]
 [ 9.99998965e-01]
 [ 1.33173025e-03]]

 R_gt:
[[ 0.99877765  0.03825662  0.03130244]
 [-0.03911319  0.99886235  0.02726005]
 [-0.03022287 -0.02845051  0.99913848]]

 t_gt:
[ 0.14866748 -0.01609916  0.98875619]

Pose Error in degrees for R and t:
87.7930533899722 89.1483625458943

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 2.49890929e-01 -9.68269592e-01 -2.91919369e-03]
 [ 9.68273385e-01  2.49893013e-01 -3.66494201e-04]
 [ 1.08435130e-03 -2.73499398e-03  9.99995672e-01]]

 t_estimated:
[[ 9.74404962e-01]
 [-2.24799685e-01]
 [ 2.68641663e-04]]

 R_gt:
[[ 0.9943334   0.09873336  0.03940968]
 [-0.10064728  0.99366568  0.04997143]
 [-0.03422667 -0.05365382  0.99797305]]

 t_gt:
[0.05174371 0.16663441 0.98466013]

Pose Error in degrees for R and t:
81.32452375970492 89.242270684505

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99999983e-01 -1.34584792e-04 -1.25598840e-04]
 [ 1.34605972e-04  9.99999977e-01  1.68634748e-04]
 [ 1.25576142e-04 -1.68651652e-04  9.99999978e-01]]

 t_estimated:
[[-6.49245739e-03]
 [ 9.99978674e-01]
 [-7.07310790e-04]]

 R_gt:
[[ 0.97709953  0.2033712   0.06259048]
 [-0.20793353  0.97503134  0.0779608 ]
 [-0.04517203 -0.08919     0.99498998]]

 t_gt:
[-0.19599345  0.60299306  0.7732955 ]

Pose Error in degrees for R and t:
13.20974709626646 52.86423616112915

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-9.87000239e-01  1.60709568e-01  1.72130748e-03]
 [ 1.60710760e-01  9.87001377e-01  5.77108656e-04]
 [-1.60618597e-03  8.46239015e-04 -9.99998352e-01]]

 t_estimated:
[[0.81130103]
 [0.58462787]
 [0.00094447]]

 R_gt:
[[ 0.9323428  -0.35916631 -0.04165983]
 [ 0.35926381  0.93322037 -0.00540032]
 [ 0.0408174  -0.00993154  0.99911687]]

 t_gt:
[ 0.88942528 -0.45430467 -0.05029858]

Pose Error in degrees for R and t:
177.69422319599283 62.87424820646934

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.22097228 -0.97527793 -0.0020531 ]
 [-0.97527319  0.22096231  0.00422537]
 [-0.00366725  0.00293603 -0.99998897]]

 t_estimated:
[[0.83868561]
 [0.54461483]
 [0.00106163]]

 R_gt:
[[ 0.78785931 -0.61577902  0.00966671]
 [ 0.61507335  0.78755403  0.03800987]
 [-0.03101857 -0.02400073  0.99922994]]

 t_gt:
[ 0.9372712  -0.34436927  0.05415266]

Pose Error in degrees for R and t:
177.7216922847073 53.231395597627056

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99213609e-01 -3.96436782e-02 -7.36477273e-04]
 [ 3.96448342e-02  9.99212509e-01  1.62766974e-03]
 [ 6.71370488e-04 -1.65558728e-03  9.99998404e-01]]

 t_estimated:
[[-8.01490828e-01]
 [-5.98006744e-01]
 [-6.22275488e-04]]

 R_gt:
[[ 0.65360758 -0.75679001 -0.00806011]
 [ 0.75673137  0.6533094   0.02331764]
 [-0.01238024 -0.02134021  0.99969572]]

 t_gt:
[ 0.96907103 -0.24526407  0.027329  ]

Pose Error in degrees for R and t:
46.93497064280492 50.94626367722955

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-3.56876627e-01 -9.34151447e-01  3.82430895e-04]
 [-9.34147157e-01  3.56876180e-01  2.91218611e-03]
 [-2.85690335e-03  6.82044425e-04 -9.99995686e-01]]

 t_estimated:
[[0.91718639]
 [0.39845273]
 [0.00213356]]

 R_gt:
[[ 0.98645861 -0.16227428  0.02382371]
 [ 0.16254194  0.98665342 -0.00980651]
 [-0.02191538  0.01354651  0.99966827]]

 t_gt:
[ 0.82781634 -0.56099294  0.00265199]

Pose Error in degrees for R and t:
179.17329050595438 57.60600066582915

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 7.28488847e-01  6.85057478e-01  5.01023699e-04]
 [-6.85056862e-01  7.28488920e-01 -9.95003345e-04]
 [-1.04662470e-03  3.81619117e-04  9.99999379e-01]]

 t_estimated:
[[0.00833304]
 [0.99996474]
 [0.00104163]]

 R_gt:
[[ 0.83570983 -0.54828563  0.03117504]
 [ 0.54829788  0.83623517  0.00889739]
 [-0.03094895  0.00965732  0.99947425]]

 t_gt:
[ 0.92711774 -0.37450276  0.01415538]

Pose Error in degrees for R and t:
76.51777377803576 68.48473488839836

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[ 0.82889362  0.55940299  0.00191275]
 [ 0.55933797 -0.82884102  0.01279061]
 [ 0.00874048 -0.00953218 -0.99991637]]

 t_estimated:
[[0.835617  ]
 [0.54930998]
 [0.00166458]]

 R_gt:
[[ 0.7047333  -0.70844849  0.03810663]
 [ 0.70757408  0.70576062  0.03522366]
 [-0.05184969  0.00213995  0.99865287]]

 t_gt:
[ 0.9578086  -0.28533465  0.03445031]

Pose Error in degrees for R and t:
179.34441424965237 49.93312274053074

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.97253315e-01 -7.40658099e-02  2.84022572e-04]
 [ 7.40658597e-02  9.97253338e-01 -1.69224647e-04]
 [-2.70708697e-04  1.89796217e-04  9.99999945e-01]]

 t_estimated:
[[ 0.092027 ]
 [ 0.9957557]
 [-0.0012684]]

 R_gt:
[[ 0.9958822   0.09061263  0.00283969]
 [-0.09063722  0.99451458  0.0522093 ]
 [ 0.0019061  -0.05225089  0.99863221]]

 t_gt:
[-0.3813991   0.50089214  0.77694388]

Pose Error in degrees for R and t:
9.916576266067574 62.4397104748449

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99997928e-01 -2.03560052e-03  1.62084969e-05]
 [ 2.03560081e-03  9.99997928e-01 -1.78428186e-05]
 [-1.61721425e-05  1.78757756e-05  1.00000000e+00]]

 t_estimated:
[[-0.56328054]
 [ 0.82626094]
 [-0.00280917]]

 R_gt:
[[ 0.98660967  0.16128269  0.02427831]
 [-0.16251428  0.98471805  0.06260835]
 [-0.01380965 -0.06571455  0.99774325]]

 t_gt:
[-0.33692049  0.68449852  0.64648771]

Pose Error in degrees for R and t:
10.197592578175225 41.10212137142888

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 8.89197869e-01 -4.57520588e-01 -1.43569634e-03]
 [ 4.57521946e-01  8.89197958e-01  8.12648311e-04]
 [ 9.04814920e-04 -1.37946773e-03  9.99998639e-01]]

 t_estimated:
[[9.02905443e-01]
 [4.29838454e-01]
 [8.15632740e-04]]

 R_gt:
[[ 0.95604913  0.29209671  0.02548758]
 [-0.29318815  0.95138821  0.09434504]
 [ 0.00330915 -0.09767034  0.99521311]]

 t_gt:
[-0.25968685  0.88447838  0.3876348 ]

Pose Error in degrees for R and t:
44.61442101142192 81.60328479523838

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999552e-01 -9.38368636e-04 -1.23241336e-04]
 [ 9.38371726e-04  9.99999559e-01  2.50140098e-05]
 [ 1.23217809e-04 -2.51296448e-05  9.99999992e-01]]

 t_estimated:
[[-9.94011858e-01]
 [ 1.09269783e-01]
 [-7.34986796e-04]]

 R_gt:
[[ 9.80382593e-01  1.95379914e-01 -2.60115047e-02]
 [-1.95335441e-01  9.80727747e-01  4.26097622e-03]
 [ 2.63420017e-02  9.03826355e-04  9.99652035e-01]]

 t_gt:
[-0.29484639  0.94630303 -0.13257522]

Pose Error in degrees for R and t:
11.420411328199606 66.63541296939015

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999918e-01  2.16811974e-04 -3.43173108e-04]
 [-2.16688219e-04  9.99999912e-01  3.60616929e-04]
 [ 3.43251264e-04 -3.60542538e-04  9.99999876e-01]]

 t_estimated:
[[9.98488237e-01]
 [5.49600144e-02]
 [7.98430588e-04]]

 R_gt:
[[ 0.98064282  0.18991706  0.04766381]
 [-0.19034884  0.98170509  0.00465646]
 [-0.04590819 -0.01363885  0.99885207]]

 t_gt:
[-0.21357841  0.95376972  0.21144167]

Pose Error in degrees for R and t:
11.296012589221387 80.75435719678526

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999955e-01  2.93516948e-04 -6.14084767e-05]
 [-2.93511391e-04  9.99999953e-01  9.04745155e-05]
 [ 6.14350296e-05 -9.04564873e-05  9.99999994e-01]]

 t_estimated:
[[0.51906579]
 [0.85473384]
 [0.00087402]]

 R_gt:
[[ 0.98105895  0.17973256  0.0722572 ]
 [-0.18285794  0.98235727  0.03920762]
 [-0.06393515 -0.05167839  0.99661438]]

 t_gt:
[-0.21022236  0.89217543  0.3997869 ]

Pose Error in degrees for R and t:
11.458632552590245 49.17107152996933

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.99115870e-01 -4.20409858e-02 -1.86575112e-04]
 [ 4.20410535e-02  9.99115814e-01  3.75420467e-04]
 [ 1.70627098e-04 -3.82932360e-04  9.99999912e-01]]

 t_estimated:
[[0.95948621]
 [0.28174656]
 [0.00225727]]

 R_gt:
[[ 0.99817974 -0.04075147 -0.04445515]
 [ 0.04066205  0.99916939 -0.00291818]
 [ 0.0445375   0.00110476  0.99900693]]

 t_gt:
[ 0.50921898 -0.61602153 -0.6010104 ]

Pose Error in degrees for R and t:
2.5451481904975024 71.71945844718405

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.88112985  0.47276813  0.01002422]
 [ 0.47274018 -0.88017681 -0.04249124]
 [-0.01126542  0.04217915 -0.99904655]]

 t_estimated:
[[-0.29666163]
 [ 0.95474326]
 [-0.02138193]]

 R_gt:
[[ 0.99682     0.02149545  0.07672865]
 [-0.01758342  0.99852956 -0.05129762]
 [-0.07771806  0.0497841   0.99573138]]

 t_gt:
[-0.48214915  0.47770636  0.73439011]

Pose Error in degrees for R and t:
173.60685926651686 54.30859343310517

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-0.7969077  -0.60409826  0.00184626]
 [-0.60408895  0.79690734  0.00390258]
 [-0.00382884  0.00199469 -0.99999068]]

 t_estimated:
[[0.97608234]
 [0.21739028]
 [0.0021739 ]]

 R_gt:
[[ 0.97558337  0.11454173  0.18739652]
 [-0.09904158  0.9909954  -0.09011173]
 [-0.19602974  0.06935205  0.97814249]]

 t_gt:
[-0.40657594  0.58967836  0.69783625]

Pose Error in degrees for R and t:
170.81085759447976 74.50559773242213

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-7.27676927e-01 -6.85917125e-01  1.99684823e-03]
 [-6.85916909e-01  7.27679315e-01  8.99064333e-04]
 [-2.06974877e-03 -7.15443595e-04 -9.99997602e-01]]

 t_estimated:
[[0.932841  ]
 [0.36028306]
 [0.00194748]]

 R_gt:
[[ 0.99176552 -0.11964149 -0.04568441]
 [ 0.12127852  0.99200488  0.03490103]
 [ 0.04114396 -0.04015464  0.99834636]]

 t_gt:
[ 0.63876387 -0.76923261  0.01618378]

Pose Error in degrees for R and t:
178.6041824301944 71.41234075384335

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-7.99576786e-01 -6.00561017e-01  1.85155778e-03]
 [-6.00561124e-01  7.99578654e-01  5.59585135e-04]
 [-1.81653110e-03 -6.64542339e-04 -9.99998129e-01]]

 t_estimated:
[[0.91276749]
 [0.40847606]
 [0.00168097]]

 R_gt:
[[ 0.97378412 -0.20980853 -0.08788729]
 [ 0.21389385  0.97604239  0.03987232]
 [ 0.07741633 -0.05762608  0.99533196]]

 t_gt:
[ 0.72545973 -0.68732834 -0.03588782]

Pose Error in degrees for R and t:
176.47627509691242 67.5821398469711

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-5.59844228e-02 -9.98431637e-01 -1.04161650e-04]
 [-9.98431326e-01  5.59843218e-02  8.01697283e-04]
 [-7.94608511e-04  1.48880814e-04 -9.99999673e-01]]

 t_estimated:
[[0.88330348]
 [0.46879975]
 [0.00132429]]

 R_gt:
[[ 0.92538223 -0.33497978 -0.17735453]
 [ 0.33704286  0.94129186 -0.01928954]
 [ 0.17340438 -0.04192586  0.98395779]]

 t_gt:
[ 0.78944534 -0.56909335 -0.23001916]

Pose Error in degrees for R and t:
173.0413377863266 64.51819869882333

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-0.99587928  0.09066072 -0.002256  ]
 [ 0.09065322  0.99587728  0.00322921]
 [ 0.00253946  0.00301139 -0.99999224]]

 t_estimated:
[[ 0.97063303]
 [-0.24055584]
 [-0.00210144]]

 R_gt:
[[ 0.96976548  0.24051611 -0.04131575]
 [-0.23958346  0.97051909  0.0262795 ]
 [ 0.04641888 -0.01558598  0.9988011 ]]

 t_gt:
[-0.97430727  0.22351147  0.02771205]

Pose Error in degrees for R and t:
177.25755499008653 1.7752360033376224

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 7.01484545e-01  7.12681712e-01  2.05199131e-03]
 [ 7.12682034e-01 -7.01486872e-01  6.97954227e-04]
 [ 1.93686418e-03  9.72813236e-04 -9.99997651e-01]]

 t_estimated:
[[-9.77233079e-01]
 [-2.12166504e-01]
 [-9.40363085e-04]]

 R_gt:
[[ 0.85666227  0.51571402 -0.01300143]
 [-0.51533616  0.85664484  0.02423964]
 [ 0.02363864 -0.01406535  0.99962165]]

 t_gt:
[-0.91556151  0.40195943  0.01325663]

Pose Error in degrees for R and t:
178.50323319960896 35.96048306236321

Number of keypoints:
Image1: 22
Image2: 22

 R_estimated:
[[-0.76177155 -0.57265258  0.30294079]
 [-0.63086078  0.76207488 -0.1457963 ]
 [-0.14737294 -0.30217694 -0.94179101]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.7040986   0.7100158  -0.01100658]
 [-0.71002321  0.7041668   0.0040041 ]
 [ 0.01059467  0.00499485  0.9999313 ]]

 t_gt:
[-0.83542641  0.54937987 -0.01563525]

Pose Error in degrees for R and t:
162.46975623909657 72.06888017648633

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99999809e-01 -6.05023132e-04  1.25546849e-04]
 [ 6.05044628e-04  9.99999802e-01 -1.71248821e-04]
 [-1.25443215e-04  1.71324750e-04  9.99999977e-01]]

 t_estimated:
[[0.54203231]
 [0.84035598]
 [0.00167268]]

 R_gt:
[[ 9.97354922e-01  7.25926981e-02 -3.61270002e-03]
 [-7.26760741e-02  9.95386611e-01 -6.26436960e-02]
 [-9.51607002e-04  6.27412626e-02  9.98028960e-01]]

 t_gt:
[-0.49335319  0.61351888 -0.61660135]

Pose Error in degrees for R and t:
5.526556662684445 75.6922839148249

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999860e-01  5.29611874e-04  7.93822476e-06]
 [-5.29599234e-04  9.99998711e-01 -1.51558863e-03]
 [-8.74088827e-06  1.51558422e-03  9.99998851e-01]]

 t_estimated:
[[-0.71345225]
 [-0.70067923]
 [-0.00587393]]

 R_gt:
[[ 0.9871683   0.15729564 -0.02750546]
 [-0.15919027  0.98292734 -0.09226615]
 [ 0.01252325  0.09546137  0.99535481]]

 t_gt:
[-0.49648971  0.71835582 -0.48730164]

Pose Error in degrees for R and t:
10.595480920242723 81.59015975265663

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.99981516  0.01916305 -0.00155707]
 [-0.01915988  0.99981439  0.00202094]
 [ 0.00159551 -0.00199073  0.99999675]]

 t_estimated:
[[0.62696601]
 [0.77904519]
 [0.00148827]]

 R_gt:
[[ 0.89563426  0.43525764 -0.09159498]
 [-0.44134569  0.8952299  -0.06146269]
 [ 0.0552467   0.09547311  0.99389799]]

 t_gt:
[-0.44364344  0.86029321 -0.25114955]

Pose Error in degrees for R and t:
25.766861600620242 66.94066729022096

Number of keypoints:
Image1: 334
Image2: 334

 R_estimated:
[[ 9.99988552e-01  4.78469793e-03  4.97999068e-05]
 [-4.78469934e-03  9.99988553e-01  2.81221271e-05]
 [-4.96647809e-05 -2.83600828e-05  9.99999998e-01]]

 t_estimated:
[[ 7.12315008e-01]
 [-7.01859583e-01]
 [ 6.74980572e-04]]

 R_gt:
[[ 0.99870739 -0.02441662 -0.04457189]
 [ 0.0259437   0.99908426  0.03400503]
 [ 0.0437016  -0.03511679  0.99842735]]

 t_gt:
[ 0.49260487 -0.76870126 -0.40796913]

Pose Error in degrees for R and t:
3.645665304098362 27.10980743138364

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[ 0.14261915  0.98949081  0.02382659]
 [ 0.9894812  -0.141946   -0.02789772]
 [-0.02422245  0.02755471 -0.99932678]]

 t_estimated:
[[ 0.63558768]
 [-0.77179366]
 [ 0.01904868]]

 R_gt:
[[ 0.99725146 -0.05672381 -0.04766155]
 [ 0.05764848  0.99817043  0.0182641 ]
 [ 0.04653887 -0.0209609   0.99869655]]

 t_gt:
[ 0.54138913 -0.75537226 -0.36920259]

Pose Error in degrees for R and t:
179.48413832654796 23.065297072489543

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99924900e-01  1.22551071e-02  7.70563616e-05]
 [-1.22551051e-02  9.99924903e-01 -2.57709622e-05]
 [-7.73664008e-05  2.48246930e-05  9.99999997e-01]]

 t_estimated:
[[ 8.86276243e-01]
 [-4.63156997e-01]
 [ 1.32829296e-04]]

 R_gt:
[[ 0.99319867 -0.10315085 -0.05399329]
 [ 0.10388115  0.99452956  0.01087358]
 [ 0.05257718 -0.01640866  0.99848206]]

 t_gt:
[ 0.56687387 -0.76725455 -0.29995745]

Pose Error in degrees for R and t:
7.3615168641368545 30.937756305117848

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[-2.88394994e-02 -9.99576597e-01 -3.86144961e-03]
 [-9.99583878e-01  2.88369777e-02  7.07138805e-04]
 [-5.95486864e-04  3.88023630e-03 -9.99992295e-01]]

 t_estimated:
[[0.86395748]
 [0.50356379]
 [0.00098738]]

 R_gt:
[[ 0.99805249 -0.04848516 -0.0392615 ]
 [ 0.04900135  0.99872305  0.01230373]
 [ 0.03861474 -0.01420297  0.9991534 ]]

 t_gt:
[ 0.45605869 -0.78273513 -0.42348104]

Pose Error in degrees for R and t:
178.80224622353003 89.96792094750599

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[-0.48127817 -0.87647627 -0.01267561]
 [ 0.87629004 -0.48143938  0.01821796]
 [-0.02207015 -0.00233961  0.99975369]]

 t_estimated:
[[0.99218642]
 [0.12473201]
 [0.00283482]]

 R_gt:
[[ 0.99401273 -0.06908401 -0.0846575 ]
 [ 0.07277489  0.99649197  0.04131119]
 [ 0.08150703 -0.04722547  0.99555324]]

 t_gt:
[ 0.47016779 -0.76882772 -0.43341225]

Pose Error in degrees for R and t:
114.78343981048872 68.3233527794184

Number of keypoints:
Image1: 288
Image2: 288

 R_estimated:
[[-0.40802717 -0.91294316 -0.00697213]
 [-0.91295197  0.40805501 -0.00313035]
 [ 0.00570284  0.00508795 -0.99997079]]

 t_estimated:
[[ 0.90202565]
 [ 0.43167645]
 [-0.00227304]]

 R_gt:
[[ 0.99019318 -0.10072622 -0.09680718]
 [ 0.1050285   0.99364778  0.04041406]
 [ 0.09212123 -0.05018502  0.99448201]]

 t_gt:
[ 0.52417935 -0.76540729 -0.37334662]

Pose Error in degrees for R and t:
176.43321743787547 81.76326188079817

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99699307e-01  2.45213139e-02 -1.73452430e-05]
 [-2.45213140e-02  9.99699307e-01 -2.77728221e-06]
 [ 1.72719248e-05  3.20177525e-06  1.00000000e+00]]

 t_estimated:
[[-8.20800407e-01]
 [-5.71214848e-01]
 [-5.38544575e-04]]

 R_gt:
[[ 0.99722928  0.07330513 -0.01274596]
 [-0.07389816  0.99575662 -0.05485444]
 [ 0.00867066  0.05564473  0.99841352]]

 t_gt:
[-0.45925789  0.66030612 -0.59420368]

Pose Error in degrees for R and t:
4.284615845774565 89.99413242698714

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.97063324e-01  7.65762137e-02 -9.00575813e-04]
 [-7.65752257e-02  9.97063217e-01  1.08474669e-03]
 [ 9.80996812e-04 -1.01259935e-03  9.99999006e-01]]

 t_estimated:
[[-7.61404037e-01]
 [-6.48277281e-01]
 [-6.77405727e-04]]

 R_gt:
[[ 0.94869709  0.31255245 -0.04780567]
 [-0.31489959  0.94760309 -0.05373847]
 [ 0.02850424  0.06603516  0.99740988]]

 t_gt:
[-0.51427786  0.82823656 -0.22258138]

Pose Error in degrees for R and t:
14.518488998949074 81.65096953035534

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 3.38911026e-01 -9.40814313e-01 -2.78311799e-03]
 [-9.40816602e-01 -3.38914715e-01  9.68365978e-04]
 [-1.85429221e-03  2.29021370e-03 -9.99995658e-01]]

 t_estimated:
[[0.2810835 ]
 [0.95968259]
 [0.00117608]]

 R_gt:
[[ 0.84301952  0.52485579 -0.11767176]
 [-0.53050171  0.847429   -0.02077795]
 [ 0.08881269  0.07994141  0.99283507]]

 t_gt:
[-0.38023267  0.8983587  -0.21994263]

Pose Error in degrees for R and t:
173.90368494163027 40.974332447108935

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 1.52222641e-02  9.99884118e-01 -1.80315052e-04]
 [ 9.99882208e-01 -1.52218805e-02  1.96604017e-03]
 [ 1.96306761e-03 -2.10221395e-04 -9.99998051e-01]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.99717004  0.040474    0.06336528]
 [-0.03804397  0.99851241 -0.03908317]
 [-0.06485262  0.03656176  0.99722436]]

 t_gt:
[-0.50994536  0.65995064  0.5517435 ]

Pose Error in degrees for R and t:
175.96231143506546 48.90361020399125

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.82100765e-01  1.88356263e-01 -6.89220041e-05]
 [-1.88356272e-01  9.82100604e-01 -5.64678260e-04]
 [-3.86723452e-05  5.67552843e-04  9.99999838e-01]]

 t_estimated:
[[-0.80441021]
 [-0.59407336]
 [-0.00102603]]

 R_gt:
[[ 0.97413786  0.1175782   0.1929506 ]
 [-0.10484165  0.99165949 -0.07497677]
 [-0.20015672  0.05280888  0.97833877]]

 t_gt:
[-0.39589702  0.57553284  0.71556096]

Pose Error in degrees for R and t:
12.720654734944919 88.61449249081224

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-2.81496664e-01 -9.59561407e-01 -1.23917593e-03]
 [-9.59561917e-01  2.81497348e-01 -4.13798572e-04]
 [ 7.45889878e-04  1.07258312e-03 -9.99999147e-01]]

 t_estimated:
[[0.86232253]
 [0.50635864]
 [0.00088991]]

 R_gt:
[[ 0.94047891  0.23589617  0.24464936]
 [-0.21194328  0.96983934 -0.12038769]
 [-0.26567031  0.06137058  0.96210793]]

 t_gt:
[-0.35569371  0.71072554  0.60691943]

Pose Error in degrees for R and t:
171.3424594960237 86.9217690967915

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.69431709e-01  2.45361161e-01  2.50719203e-04]
 [-2.45361239e-01  9.69431658e-01  3.49903469e-04]
 [-1.57202412e-04 -4.00724293e-04  9.99999907e-01]]

 t_estimated:
[[0.75815467]
 [0.65207407]
 [0.00094609]]

 R_gt:
[[ 9.91871649e-01 -1.19037543e-01 -4.49508084e-02]
 [ 1.18945317e-01  9.92889510e-01 -4.74188788e-03]
 [ 4.51957692e-02 -6.43693088e-04  9.98978195e-01]]

 t_gt:
[ 0.5886651  -0.76355502 -0.26543761]

Pose Error in degrees for R and t:
21.199261983882366 87.02808962171872

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-7.73417078e-01 -6.33897399e-01  3.33936481e-04]
 [-6.33893441e-01  7.73413916e-01  3.16542071e-03]
 [-2.26482308e-03  2.23651029e-03 -9.99994934e-01]]

 t_estimated:
[[9.78420267e-01]
 [2.06622913e-01]
 [8.68163502e-04]]

 R_gt:
[[ 0.97266264 -0.21467936 -0.0885485 ]
 [ 0.21779727  0.97561826  0.02708034]
 [ 0.08057645 -0.04562716  0.99570396]]

 t_gt:
[ 0.67553303 -0.72975079 -0.10544628]

Pose Error in degrees for R and t:
176.2073971411313 59.33081306657369

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.64820031e-01  2.62910404e-01  6.54225638e-04]
 [-2.62910326e-01  9.64820252e-01 -2.03815542e-04]
 [-6.84795372e-04  2.46426412e-05  9.99999765e-01]]

 t_estimated:
[[0.68062577]
 [0.73263069]
 [0.00091237]]

 R_gt:
[[ 9.45943687e-01 -2.90265231e-01 -1.44695942e-01]
 [ 2.93420299e-01  9.55983325e-01  4.88587212e-04]
 [ 1.38184719e-01 -4.29197238e-02  9.89476203e-01]]

 t_gt:
[ 0.74859932 -0.63423339 -0.19325387]

Pose Error in degrees for R and t:
33.340088560549034 87.43912488876315

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99999525e-01  9.42826245e-04  2.45242753e-04]
 [-9.42801908e-04  9.99999551e-01 -9.93298471e-05]
 [-2.45336294e-04  9.90985847e-05  9.99999965e-01]]

 t_estimated:
[[-0.99998648]
 [ 0.00504162]
 [ 0.0012698 ]]

 R_gt:
[[ 0.99788462 -0.0067432   0.06467015]
 [ 0.00351631  0.99875028  0.04986688]
 [-0.06492478 -0.04953406  0.99666016]]

 t_gt:
[0.03907697 0.03788973 0.99851758]

Pose Error in degrees for R and t:
4.6889449351474655 87.84416733248838

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999972e-01 -1.52383216e-04  1.79414049e-04]
 [ 1.52380555e-04  9.99999988e-01  1.48487981e-05]
 [-1.79416309e-04 -1.48214584e-05  9.99999984e-01]]

 t_estimated:
[[0.68891062]
 [0.72484548]
 [0.00108984]]

 R_gt:
[[ 0.99631294 -0.05656715  0.0645133 ]
 [ 0.04995212  0.99374401  0.09989425]
 [-0.06975987 -0.09630363  0.99290381]]

 t_gt:
[ 0.24405143 -0.23441897  0.941003  ]

Pose Error in degrees for R and t:
7.474890822884868 89.95631921015195

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.97228382e-01 -7.44006342e-02  3.17174673e-04]
 [ 7.44007030e-02  9.97228405e-01 -2.10991115e-04]
 [-3.00597721e-04  2.34004347e-04  9.99999927e-01]]

 t_estimated:
[[8.95915333e-01]
 [4.44224827e-01]
 [1.35919918e-04]]

 R_gt:
[[ 0.98204199 -0.18848779  0.00812248]
 [ 0.18547609  0.97244454  0.14124461]
 [-0.03452151 -0.13720135  0.98994114]]

 t_gt:
[ 0.558215   -0.54760845  0.62331452]

Pose Error in degrees for R and t:
10.45669256627967 75.11161845259737

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999223e-01  1.23373412e-03  1.80360486e-04]
 [-1.23375287e-03  9.99999234e-01  1.03873874e-04]
 [-1.80232195e-04 -1.04096314e-04  9.99999978e-01]]

 t_estimated:
[[0.99990238]
 [0.01389323]
 [0.00148708]]

 R_gt:
[[ 0.99893371  0.04560073  0.00726602]
 [-0.04565793  0.99892589  0.00792337]
 [-0.0068974  -0.00824656  0.99994221]]

 t_gt:
[-0.58225206  0.76697028  0.26970195]

Pose Error in degrees for R and t:
2.615157713741185 55.170348074334804

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 1.00000000e+00 -1.33087985e-14 -1.91327802e-17]
 [ 1.33122680e-14  1.00000000e+00  2.32019265e-17]
 [-1.11469536e-18  4.59701721e-17  1.00000000e+00]]

 t_estimated:
[[-2.41745336e-02]
 [ 9.99707579e-01]
 [ 5.89989341e-04]]

 R_gt:
[[ 0.99327349  0.10954933 -0.03751372]
 [-0.10985102  0.99392947 -0.00608388]
 [ 0.03662055  0.01016444  0.9992776 ]]

 t_gt:
[-0.55134148  0.82183982 -0.14353354]

Pose Error in degrees for R and t:
6.6657190442699585 33.400481466710296

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999825e-01  5.90694075e-04  9.71829732e-06]
 [-5.90692756e-04  9.99999816e-01 -1.35137123e-04]
 [-9.79812023e-06  1.35131359e-04  9.99999991e-01]]

 t_estimated:
[[1.79177342e-02]
 [9.99839448e-01]
 [1.84075636e-04]]

 R_gt:
[[ 0.98687352  0.10273104 -0.12460582]
 [-0.10492586  0.99441786 -0.0111655 ]
 [ 0.12276367  0.02409313  0.99214279]]

 t_gt:
[-0.33999565  0.74760846 -0.57051254]

Pose Error in degrees for R and t:
9.327014868060196 42.15845559495659

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 0.68912381 -0.72463297 -0.00392866]
 [ 0.72464098  0.6891258   0.00103908]
 [ 0.00195439 -0.00356292  0.99999174]]

 t_estimated:
[[-0.12594579]
 [-0.99203589]
 [-0.00156539]]

 R_gt:
[[ 0.99845521 -0.01770552 -0.05267252]
 [ 0.01685213  0.99972    -0.01661785]
 [ 0.05295294  0.01570525  0.99847407]]

 t_gt:
[ 0.46135943 -0.75666321 -0.46325831]

Pose Error in degrees for R and t:
45.543428321138244 46.11159782070808

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.98641157  0.16403644 -0.00917944]
 [-0.16391393  0.98639151  0.01280666]
 [ 0.01115528 -0.01112799  0.99987586]]

 t_estimated:
[[0.50637519]
 [0.8623127 ]
 [0.00098325]]

 R_gt:
[[ 0.98758417 -0.13752846 -0.07592717]
 [ 0.13421518  0.98982947 -0.04716425]
 [ 0.08164187  0.0363884   0.99599695]]

 t_gt:
[ 0.74130212 -0.590672   -0.31871265]

Pose Error in degrees for R and t:
17.969989528470244 82.28299266309756

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.08292378  0.99654785  0.00400439]
 [-0.99655002  0.08293642 -0.00309976]
 [-0.00342117 -0.00373353  0.99998718]]

 t_estimated:
[[-0.18631982]
 [ 0.98247917]
 [ 0.00442789]]

 R_gt:
[[ 0.96023675 -0.27139203 -0.06551914]
 [ 0.26579815  0.96045743 -0.08290576]
 [ 0.08542872  0.06219398  0.9944018 ]]

 t_gt:
[ 0.83200251 -0.4910081  -0.25823027]

Pose Error in degrees for R and t:
101.01680306348037 50.31493792376944

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.99954463  0.02526444  0.01649994]
 [-0.02473189  0.99919078 -0.0317193 ]
 [-0.01728796  0.03129678  0.99936061]]

 t_estimated:
[[-0.67719918]
 [-0.73363244]
 [-0.05643326]]

 R_gt:
[[ 0.99919937 -0.02105276  0.03402308]
 [ 0.02219334  0.99919215 -0.0335198 ]
 [-0.03328896  0.03424838  0.99885862]]

 t_gt:
[ 0.48953401 -0.87151529  0.02859307]

Pose Error in degrees for R and t:
2.8425803345878116 72.16684234893931

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[-8.87518976e-01 -4.60771164e-01  3.80027428e-05]
 [-4.60770347e-01  8.87517552e-01  1.81178620e-03]
 [-8.68546937e-04  1.59048410e-03 -9.99998358e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99895524  0.02125784  0.04046007]
 [-0.017899    0.99650321 -0.08162367]
 [-0.04205314  0.08081485  0.9958411 ]]

 t_gt:
[-0.51377832 -0.03989314 -0.85699497]

Pose Error in degrees for R and t:
178.77925381236935 59.03369566731165

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-6.74913177e-01 -7.37895444e-01 -1.58677518e-03]
 [ 7.37896198e-01 -6.74914199e-01  1.54848041e-04]
 [-1.18519877e-03 -1.06636639e-03  9.99998729e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99426184  0.04839504  0.09540788]
 [-0.03825996  0.99370117 -0.10533508]
 [-0.099904    0.10108047  0.98984987]]

 t_gt:
[-0.91673076  0.34882853  0.19473923]

Pose Error in degrees for R and t:
135.07056754046948 23.724093964085913

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[-0.70022555  0.71362839  0.02046199]
 [ 0.71364884  0.70046271 -0.0075716 ]
 [-0.01973617  0.00930085 -0.99976196]]

 t_estimated:
[[ 0.92905764]
 [-0.36976913]
 [ 0.01107672]]

 R_gt:
[[ 0.99221993 -0.1225489   0.02197159]
 [ 0.12325491  0.99178115 -0.03433074]
 [-0.01758361  0.03677212  0.99916906]]

 t_gt:
[ 0.83030697 -0.53138574 -0.1679867 ]

Pose Error in degrees for R and t:
176.91327305828287 14.976403253507044

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99529205e-01  3.06793289e-02  3.84364318e-04]
 [-3.06792833e-02  9.99529272e-01 -1.23911254e-04]
 [-3.87984902e-04  1.12060896e-04  9.99999918e-01]]

 t_estimated:
[[9.99980575e-01]
 [6.17957624e-03]
 [8.14050930e-04]]

 R_gt:
[[ 0.97273549 -0.23107024  0.0198421 ]
 [ 0.23190294  0.96804864 -0.09540683]
 [ 0.0028371   0.0974068   0.99524046]]

 t_gt:
[ 0.85958456 -0.39777825 -0.32075979]

Pose Error in degrees for R and t:
16.16411893370124 31.0354305216372

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 8.33238129e-01 -5.52911635e-01  1.71597489e-03]
 [ 5.52913244e-01  8.33238588e-01 -6.33374332e-04]
 [-1.07961645e-03  1.47653688e-03  9.99998327e-01]]

 t_estimated:
[[0.72249928]
 [0.69137119]
 [0.00081916]]

 R_gt:
[[ 0.93489177 -0.35469603  0.01300161]
 [ 0.35446477  0.93114436 -0.08558665]
 [ 0.01825055  0.08462277  0.99624575]]

 t_gt:
[ 0.89354059 -0.40135925 -0.20123611]

Pose Error in degrees for R and t:
13.665567512258772 68.41202800830158

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999372e-01 -3.24839688e-05  1.12050149e-03]
 [ 3.42480433e-05  9.99998760e-01 -1.57437830e-03]
 [-1.12044896e-03  1.57441569e-03  9.99998133e-01]]

 t_estimated:
[[-0.51354527]
 [-0.85806066]
 [-0.00177679]]

 R_gt:
[[ 0.99337529  0.11460276  0.00843923]
 [-0.11285979  0.98680881 -0.11605919]
 [-0.02162926  0.1143388   0.9932056 ]]

 t_gt:
[-0.26082135  0.87914292 -0.39884827]

Pose Error in degrees for R and t:
9.288751946463854 51.70535268134535

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.99995665  0.00634083 -0.00681867]
 [-0.00630964  0.99996958  0.00458545]
 [ 0.00684754 -0.00454223  0.99996624]]

 t_estimated:
[[-0.56387422]
 [-0.82585886]
 [-0.001735  ]]

 R_gt:
[[ 0.99226636  0.12411259 -0.00209273]
 [-0.12218461  0.9736013  -0.19279866]
 [-0.02189204  0.19156305  0.98123584]]

 t_gt:
[-0.1779871   0.812834   -0.55463635]

Pose Error in degrees for R and t:
13.261580708411223 55.25245695921395

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.99999276  0.00327069 -0.00194616]
 [-0.00326802  0.99999372  0.00137001]
 [ 0.00195062 -0.00136364  0.99999717]]

 t_estimated:
[[-3.08219450e-01]
 [-9.51315210e-01]
 [-3.76930555e-04]]

 R_gt:
[[ 0.99414461  0.09978799 -0.04147347]
 [-0.10726729  0.95775679 -0.26682243]
 [ 0.01309507  0.26970872  0.96285262]]

 t_gt:
[-0.08039401  0.69170344 -0.71769294]

Pose Error in degrees for R and t:
16.78523265485223 50.729786702794414

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99922479e-01 -1.24513031e-02 -2.27081792e-05]
 [ 1.24513063e-02  9.99922469e-01  1.48024955e-04]
 [ 2.08633150e-05 -1.48296226e-04  9.99999989e-01]]

 t_estimated:
[[0.54762561]
 [0.83672303]
 [0.00087341]]

 R_gt:
[[ 0.9980003   0.01306635 -0.06185373]
 [-0.01188828  0.99974142  0.01938065]
 [ 0.06209086 -0.01860674  0.99789765]]

 t_gt:
[ 0.54087617  0.28718744 -0.79055445]

Pose Error in degrees for R and t:
3.9777665074853226 57.60157985008428

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 8.19766196e-01 -5.72698144e-01 -4.68230762e-04]
 [ 5.72698285e-01  8.19766192e-01  2.53545834e-04]
 [ 2.38634521e-04 -4.76003258e-04  9.99999858e-01]]

 t_estimated:
[[-0.15182427]
 [-0.98840696]
 [-0.00103282]]

 R_gt:
[[ 0.99540117  0.05998151 -0.07469569]
 [-0.05844757  0.99803564  0.0225649 ]
 [ 0.0759023  -0.01809434  0.996951  ]]

 t_gt:
[-0.01309083  0.78588354 -0.61823596]

Pose Error in degrees for R and t:
38.585977963386185 39.27226406695368

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 0.461349   -0.88695342 -0.02169627]
 [ 0.887119    0.46152587 -0.00370963]
 [ 0.01330366 -0.01753574  0.99975773]]

 t_estimated:
[[0.95286765]
 [0.3033843 ]
 [0.00109525]]

 R_gt:
[[ 0.99644837  0.03951923  0.07435889]
 [-0.0409803   0.99899332  0.01822433]
 [-0.0735641  -0.02120556  0.99706469]]

 t_gt:
[-0.2609291   0.4136076   0.87226415]

Pose Error in degrees for R and t:
65.04220797158236 82.98128759521786

Number of keypoints:
Image1: 673
Image2: 673

 R_estimated:
[[ 9.99969251e-01 -7.84188592e-03  4.04292329e-05]
 [ 7.84188588e-03  9.99969252e-01  1.14687943e-06]
 [-4.04369835e-05 -8.29802728e-07  9.99999999e-01]]

 t_estimated:
[[0.87092421]
 [0.49141643]
 [0.00095433]]

 R_gt:
[[ 0.99942868 -0.02731932 -0.01988672]
 [ 0.02794906  0.99909341  0.03210688]
 [ 0.01899129 -0.03264387  0.99928554]]

 t_gt:
[ 0.63250405 -0.24831427  0.73367476]

Pose Error in degrees for R and t:
2.4457953949427527 64.56178450815777

Number of keypoints:
Image1: 447
Image2: 447

 R_estimated:
[[ 9.99277648e-01 -3.80023272e-02  7.44982884e-05]
 [ 3.80023257e-02  9.99277650e-01  2.19100285e-05]
 [-7.52771067e-05 -1.90630936e-05  9.99999997e-01]]

 t_estimated:
[[9.64662367e-01]
 [2.63488434e-01]
 [6.01587359e-04]]

 R_gt:
[[ 0.99200026 -0.11390604 -0.05441383]
 [ 0.11600028  0.99255982  0.03700202]
 [ 0.04979471 -0.04301801  0.99783229]]

 t_gt:
[ 0.96853504 -0.16820156  0.18343421]

Pose Error in degrees for R and t:
5.820315807652629 27.114122566826804

Number of keypoints:
Image1: 411
Image2: 411

 R_estimated:
[[ 9.62033471e-01  2.72930876e-01  5.81149307e-04]
 [-2.72930843e-01  9.62033646e-01 -1.38260136e-04]
 [-5.96820647e-04 -2.56026916e-05  9.99999822e-01]]

 t_estimated:
[[0.15507144]
 [0.98790266]
 [0.00108442]]

 R_gt:
[[ 0.98673613 -0.11802516 -0.11145795]
 [ 0.12781163  0.98813603  0.08515633]
 [ 0.10008499 -0.09827268  0.9901137 ]]

 t_gt:
[ 0.92579876 -0.16632839  0.33945769]

Pose Error in degrees for R and t:
24.302085088799643 88.83204763301597

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.99652071e-01 -2.63768092e-02  3.45933696e-06]
 [ 2.63768092e-02  9.99652071e-01 -4.33647554e-06]
 [-3.34375097e-06  4.42621303e-06  1.00000000e+00]]

 t_estimated:
[[9.74978969e-01]
 [2.22297115e-01]
 [5.44412309e-05]]

 R_gt:
[[ 0.9971841  -0.06249872 -0.04146134]
 [ 0.0628993   0.9979844   0.00841599]
 [ 0.04085144 -0.01100058  0.99910421]]

 t_gt:
[ 0.98625958 -0.15327014 -0.06164658]

Pose Error in degrees for R and t:
3.197828368406254 21.950447871702277

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 0.23222102 -0.97254954  0.01485916]
 [-0.97255617 -0.23194195  0.01836931]
 [-0.0144186  -0.01871711 -0.99972085]]

 t_estimated:
[[0.61486151]
 [0.78855159]
 [0.01147718]]

 R_gt:
[[ 0.99322945 -0.05545643 -0.10207609]
 [ 0.06199702  0.99614543  0.06205713]
 [ 0.09824125 -0.06796576  0.99283883]]

 t_gt:
[ 0.95401803 -0.20038975  0.22292048]

Pose Error in degrees for R and t:
179.28320989316356 64.46071796702098

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.99474828  0.1022996  -0.00326228]
 [-0.10229267 -0.99475185 -0.00222678]
 [-0.00347296 -0.00188138  0.9999922 ]]

 t_estimated:
[[0.67002092]
 [0.74233982]
 [0.00188499]]

 R_gt:
[[ 0.98673951 -0.0406579  -0.15713598]
 [ 0.05180845  0.99637133  0.06752694]
 [ 0.15382071 -0.07477328  0.98526575]]

 t_gt:
[ 0.98368839 -0.16378813  0.07436803]

Pose Error in degrees for R and t:
176.82590119113405 57.47649669761462

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.79779943  0.60292079  0.00160729]
 [ 0.60291142 -0.79779784  0.00405288]
 [ 0.00372586 -0.00226434 -0.9999905 ]]

 t_estimated:
[[0.27394265]
 [0.9617449 ]
 [0.00147281]]

 R_gt:
[[ 0.9979438  -0.00453873 -0.06393172]
 [ 0.00382523  0.99992841 -0.01128657]
 [ 0.06397791  0.01102017  0.99789017]]

 t_gt:
[ 0.64010364  0.09492771 -0.76240151]

Pose Error in degrees for R and t:
179.24793864178253 74.60184603650815

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.32724499 -0.66910583 -0.66723916]
 [-0.58250014 -0.41315602  0.69999692]
 [-0.7440459   0.61773739 -0.25455101]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 9.92371481e-01 -8.92059567e-04 -1.23278581e-01]
 [ 1.16855070e-03  9.99996706e-01  2.16885790e-03]
 [ 1.23275740e-01 -2.29569189e-03  9.92369307e-01]]

 t_gt:
[ 0.64632557  0.08741408 -0.75803828]

Pose Error in degrees for R and t:
179.64732566540866 67.73114397003567

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.97213846  0.23438256 -0.00340971]
 [-0.234392    0.97213843 -0.00269393]
 [ 0.0026833   0.00341808  0.99999056]]

 t_estimated:
[[-0.809812  ]
 [ 0.58657954]
 [-0.01135642]]

 R_gt:
[[ 0.98496193  0.01169859 -0.17237199]
 [-0.00959633  0.99986944  0.01302308]
 [ 0.17250188 -0.01117186  0.98494551]]

 t_gt:
[ 0.62473566  0.14949668 -0.76639161]

Pose Error in degrees for R and t:
16.215567774710856 65.82510854431224

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99362194e-01 -3.57092568e-02  2.32001100e-04]
 [ 3.57093083e-02  9.99362195e-01 -2.21600183e-04]
 [-2.23939950e-04  2.29743444e-04  9.99999949e-01]]

 t_estimated:
[[7.77646500e-01]
 [6.28701665e-01]
 [3.71568018e-04]]

 R_gt:
[[ 0.9984501  -0.05479196  0.00968384]
 [ 0.05528821  0.99654599 -0.06196004]
 [-0.0062545   0.06239963  0.99803145]]

 t_gt:
[ 0.33304489  0.51719253 -0.78841169]

Pose Error in degrees for R and t:
3.750079465062783 54.277642538773065

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.63350138e-01 -2.68246723e-01  4.55036730e-04]
 [ 2.68247097e-01  9.63348213e-01 -1.92770601e-03]
 [ 7.87420002e-05  1.97911814e-03  9.99998038e-01]]

 t_estimated:
[[-0.03252702]
 [-0.99946648]
 [-0.002957  ]]

 R_gt:
[[ 0.99954518 -0.03008321 -0.00199297]
 [ 0.02972423  0.9943593  -0.10181414]
 [ 0.00504482  0.10170883  0.99480088]]

 t_gt:
[-0.02712608  0.8002978  -0.59898882]

Pose Error in degrees for R and t:
14.976324229260413 37.1348118491669

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.33299167e-01 -3.59099459e-01 -4.93520452e-04]
 [ 3.59099764e-01  9.33297605e-01  1.71445925e-03]
 [-1.55059934e-04 -1.77732647e-03  9.99998409e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 9.93071014e-01 -1.17510289e-01 -8.28507640e-05]
 [ 1.15934921e-01  9.79877434e-01 -1.62478883e-01]
 [ 1.91743361e-02  1.61344279e-01  9.86711829e-01]]

 t_gt:
[ 0.49803832  0.61345347 -0.61288879]

Pose Error in degrees for R and t:
17.125734635601933 41.281572066688554

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.98555106e-01 -5.37373067e-02  3.76844429e-05]
 [ 5.37373033e-02  9.98555104e-01  8.60922895e-05]
 [-4.22563606e-05 -8.39428349e-05  9.99999996e-01]]

 t_estimated:
[[9.99994894e-01]
 [3.10007540e-03]
 [7.75189869e-04]]

 R_gt:
[[ 0.99736098 -0.07128867  0.01373365]
 [ 0.07114411  0.99740811  0.01077225]
 [-0.01446551 -0.00976679  0.99984774]]

 t_gt:
[ 0.64909862 -0.72687582  0.22432681]

Pose Error in degrees for R and t:
1.413488298735575 49.68301552170725

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.40769212  0.9123501  -0.03747567]
 [ 0.91000846 -0.40257583  0.09908234]
 [ 0.07531098 -0.07449827 -0.9943733 ]]

 t_estimated:
[[-0.58025885]
 [-0.81236239]
 [-0.05802589]]

 R_gt:
[[ 0.99776114 -0.05782115  0.03360745]
 [ 0.05862075  0.99800768 -0.02329877]
 [-0.03219374  0.02521718  0.9991642 ]]

 t_gt:
[ 0.58478301 -0.80635621  0.08842226]

Pose Error in degrees for R and t:
176.293027524629 71.90477837884688

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-3.27109756e-01 -9.44985864e-01 -9.61813812e-04]
 [-9.44986075e-01  3.27108708e-01  1.10068137e-03]
 [-7.25510665e-04  1.26894427e-03 -9.99998932e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99736717 -0.01463604  0.07102294]
 [ 0.02022131  0.99670374 -0.07856465]
 [-0.06963968  0.07979404  0.99437565]]

 t_gt:
[ 0.29994497 -0.95379848 -0.01736308]

Pose Error in degrees for R and t:
179.35597799177756 70.73935897357205

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.74920146e-01 -2.22554946e-01 -6.89513311e-05]
 [ 2.22554957e-01  9.74920110e-01  2.67127799e-04]
 [ 7.77142638e-06 -2.75773733e-04  9.99999962e-01]]

 t_estimated:
[[ 7.58599983e-01]
 [-6.51556303e-01]
 [ 6.70214950e-04]]

 R_gt:
[[ 0.99991827  0.01109416 -0.00635292]
 [-0.01120419  0.99978126 -0.01766129]
 [ 0.00615653  0.01773113  0.99982354]]

 t_gt:
[-0.25667051  0.84629681 -0.46679971]

Pose Error in degrees for R and t:
13.541752520398825 41.71765890404528

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 0.55778766 -0.82995302  0.00713459]
 [-0.82998122 -0.55778637  0.00235531]
 [ 0.00202478 -0.00723534 -0.99997177]]

 t_estimated:
[[0.68531423]
 [0.72824575]
 [0.00159006]]

 R_gt:
[[ 0.99941687 -0.03298343 -0.0087866 ]
 [ 0.03280886  0.99927305 -0.0194221 ]
 [ 0.00942144  0.01912174  0.99977237]]

 t_gt:
[ 0.89000403 -0.00848601 -0.45587368]

Pose Error in degrees for R and t:
179.08751567885653 52.912952976407404

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.79554582e-01  2.01178488e-01  1.90654535e-04]
 [-2.01178450e-01  9.79554588e-01 -2.00752667e-04]
 [-2.27143643e-04  1.58292611e-04  9.99999962e-01]]

 t_estimated:
[[ 2.97699144e-01]
 [-9.54659691e-01]
 [-3.07608389e-04]]

 R_gt:
[[ 0.98486223 -0.16453786  0.05452118]
 [ 0.15399339  0.97494193  0.1605421 ]
 [-0.07957077 -0.14971624  0.98552112]]

 t_gt:
[ 0.57850238 -0.42920978  0.69362379]

Pose Error in degrees for R and t:
22.989921563600994 54.42588459776052

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 0.17302022  0.98491319  0.00316281]
 [ 0.98491641 -0.17302525  0.00138918]
 [ 0.00191547  0.00287475 -0.99999403]]

 t_estimated:
[[9.99984884e-01]
 [5.44315255e-03]
 [7.77593222e-04]]

 R_gt:
[[ 0.99023887 -0.13729519 -0.02405349]
 [ 0.1359777   0.98945805 -0.04982861]
 [ 0.03064099  0.04607216  0.99846826]]

 t_gt:
[ 0.84237872 -0.41993741 -0.33771389]

Pose Error in degrees for R and t:
178.83069264439456 32.87913690393213

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 6.41599409e-01  7.67039623e-01  6.43879822e-04]
 [-7.67039332e-01  6.41599729e-01 -6.71898585e-04]
 [-9.28485957e-04 -6.27914127e-05  9.99999567e-01]]

 t_estimated:
[[0.54745311]
 [0.83683586]
 [0.00091567]]

 R_gt:
[[ 0.96136733 -0.27408719 -0.02550597]
 [ 0.27336819  0.96148985 -0.02843744]
 [ 0.03231712  0.02036666  0.99926994]]

 t_gt:
[ 0.86582468 -0.4933833  -0.08318983]

Pose Error in degrees for R and t:
66.01404569836927 86.50040931145503

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[-6.55974893e-01 -7.54780251e-01 -1.92673220e-03]
 [ 7.54781611e-01 -6.55976157e-01  3.19248560e-05]
 [-1.28798664e-03 -1.43332013e-03  9.99998143e-01]]

 t_estimated:
[[9.97063280e-01]
 [7.65781728e-02]
 [7.73516897e-04]]

 R_gt:
[[ 0.94392143 -0.32741978 -0.04253347]
 [ 0.32861181  0.94414079  0.02475993]
 [ 0.03205    -0.03734764  0.99878859]]

 t_gt:
[ 0.83488751 -0.54328801  0.08832318]

Pose Error in degrees for R and t:
111.85385351861576 37.730302474013556

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.80931948e-01  1.94341135e-01  2.00895454e-03]
 [-1.94338570e-01  9.80933509e-01 -1.40383755e-03]
 [-2.24347421e-03  9.86651749e-04  9.99996997e-01]]

 t_estimated:
[[-0.7579359 ]
 [-0.65232854]
 [-0.00081236]]

 R_gt:
[[ 0.99699771 -0.06189445 -0.04653552]
 [ 0.059302    0.996714   -0.05517071]
 [ 0.04979709  0.05224519  0.99739199]]

 t_gt:
[ 0.61276252 -0.46167946 -0.64138457]

Pose Error in degrees for R and t:
15.262856401478476 80.63362274086832

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 7.09512602e-01  7.04692356e-01  7.42157429e-04]
 [-7.04691341e-01  7.09512897e-01 -1.25048068e-03]
 [-1.40777444e-03  3.64239886e-04  9.99998943e-01]]

 t_estimated:
[[0.38906097]
 [0.92121125]
 [0.00118256]]

 R_gt:
[[ 0.97901276 -0.19887019 -0.04455524]
 [ 0.19462446  0.97717833 -0.08510878]
 [ 0.06046428  0.07465127  0.99537534]]

 t_gt:
[ 0.7991948  -0.46887972 -0.3760844 ]

Pose Error in degrees for R and t:
56.42556264892462 83.02440823882583

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-7.60529071e-01 -6.49303323e-01  8.52415391e-04]
 [-6.49300821e-01  7.60528862e-01  2.07222998e-03]
 [-1.99379232e-03  1.02251713e-03 -9.99997490e-01]]

 t_estimated:
[[0.95537446]
 [0.2953924 ]
 [0.00172478]]

 R_gt:
[[ 0.95275796 -0.30326428 -0.01684573]
 [ 0.30000918  0.94828803 -0.10365779]
 [ 0.04741023  0.09370666  0.99446997]]

 t_gt:
[ 0.8475486  -0.43930929 -0.29777292]

Pose Error in degrees for R and t:
176.36698260752192 47.19978446253931

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-9.05908796e-01  4.23455883e-01  3.79059810e-03]
 [-4.23472834e-01 -9.05870096e-01 -8.37424388e-03]
 [-1.12333366e-04 -9.19151651e-03  9.99957751e-01]]

 t_estimated:
[[0.62512468]
 [0.78052291]
 [0.00176589]]

 R_gt:
[[ 9.93748942e-01  1.09400448e-01  2.22402350e-02]
 [-1.09356327e-01  9.93997976e-01 -3.22659056e-03]
 [-2.24582850e-02  7.74472398e-04  9.99747635e-01]]

 t_gt:
[-0.59632533  0.79412862  0.11728526]

Pose Error in degrees for R and t:
148.66216303052377 75.68427139625845

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 1.00000000e+00  8.23230373e-14  8.23993651e-17]
 [-8.24895707e-14  1.00000000e+00 -3.36970035e-16]
 [ 2.86337794e-16  1.56125113e-16  1.00000000e+00]]

 t_estimated:
[[0.49352406]
 [0.86973097]
 [0.00142563]]

 R_gt:
[[ 0.98645784  0.16398412  0.00318832]
 [-0.16400718  0.98601239  0.0297035 ]
 [ 0.00172789 -0.02982379  0.99955383]]

 t_gt:
[-0.58289936  0.80271769  0.12598668]

Pose Error in degrees for R and t:
9.594503740137885 65.7541263119637

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.39947775e-01 -3.41318115e-01  3.52528588e-04]
 [ 3.41318088e-01  9.39947841e-01  1.36741204e-04]
 [-3.78030736e-04 -8.20520675e-06  9.99999929e-01]]

 t_estimated:
[[-0.65196611]
 [-0.75824769]
 [-0.00079315]]

 R_gt:
[[ 9.78359380e-01  1.95678605e-01 -6.72593613e-02]
 [-1.96095587e-01  9.80585522e-01  4.28959949e-04]
 [ 6.60374356e-02  1.27699075e-02  9.97735537e-01]]

 t_gt:
[-0.51047266  0.84177549 -0.17558957]

Pose Error in degrees for R and t:
31.500397000190933 72.22233177699233

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.8420251   0.47404719 -0.2574354 ]
 [-0.46840766  0.87922401  0.0869448 ]
 [ 0.26755933  0.04737501  0.96237603]]

 t_estimated:
[[-0.94195004]
 [-0.15229986]
 [-0.2992238 ]]

 R_gt:
[[ 0.9992615  -0.03355943 -0.01872357]
 [ 0.03400473  0.99913406  0.02400046]
 [ 0.01790165 -0.02461951  0.99953661]]

 t_gt:
[ 0.48970211 -0.85011862  0.1936238 ]

Pose Error in degrees for R and t:
33.876117353911965 67.06175092988173

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.00536244e-01  4.34779923e-01  9.44603997e-04]
 [-4.34777656e-01  9.00535753e-01 -1.93567814e-03]
 [-1.69224367e-03  1.33245561e-03  9.99997680e-01]]

 t_estimated:
[[0.4636507 ]
 [0.88601744]
 [0.00105856]]

 R_gt:
[[ 0.99645552 -0.06237463 -0.05645407]
 [ 0.06060359  0.9976311  -0.03256154]
 [ 0.05835105  0.02902569  0.99787373]]

 t_gt:
[ 0.55216682 -0.75430221 -0.35516191]

Pose Error in degrees for R and t:
29.535578047560524 65.6261758111851

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99853486e-01  1.71146649e-02  3.06658980e-04]
 [-1.71146771e-02  9.99853532e-01  3.73813958e-05]
 [-3.05974294e-04 -4.26242883e-05  9.99999952e-01]]

 t_estimated:
[[ 9.97369012e-01]
 [-7.24916782e-02]
 [-1.05607419e-04]]

 R_gt:
[[ 0.9785547  -0.19781168 -0.05746084]
 [ 0.1955595   0.97976909 -0.04253587]
 [ 0.06471264  0.0303862   0.99744113]]

 t_gt:
[ 0.75326091 -0.62701976 -0.19860566]

Pose Error in degrees for R and t:
13.004437550344003 37.178779875903835

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99946724e-01  1.03218814e-02  8.78395770e-05]
 [-1.03218821e-02  9.99946728e-01  7.78923466e-06]
 [-8.77544980e-05 -8.69548944e-06  9.99999996e-01]]

 t_estimated:
[[ 8.72947812e-01]
 [-4.87813469e-01]
 [-3.68773148e-04]]

 R_gt:
[[ 0.99790164 -0.06444546  0.00625412]
 [ 0.06437669  0.99786888  0.01058836]
 [-0.00692289 -0.01016354  0.99992461]]

 t_gt:
[ 0.81949577 -0.5313592   0.21467204]

Pose Error in degrees for R and t:
4.341762781793918 12.96634053146468

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.95736724e-01 -9.22406749e-02 -1.86066397e-04]
 [ 9.22407143e-02  9.95736714e-01  2.15390236e-04]
 [ 1.65405403e-04 -2.31634866e-04  9.99999959e-01]]

 t_estimated:
[[ 9.79944497e-01]
 [-1.99269836e-01]
 [-5.61849553e-04]]

 R_gt:
[[ 0.98907462 -0.14720775  0.00797452]
 [ 0.14734092  0.98888377 -0.01998525]
 [-0.00494356  0.0209422   0.99976886]]

 t_gt:
[ 0.87603979 -0.47651931 -0.07405153]

Pose Error in degrees for R and t:
3.413074217690092 17.547390702203156

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999522e-01  9.76870072e-04  2.78805272e-05]
 [-9.76875392e-04  9.99999505e-01  1.91459108e-04]
 [-2.76934827e-05 -1.91486252e-04  9.99999981e-01]]

 t_estimated:
[[ 9.91836649e-01]
 [-1.27514704e-01]
 [-2.49230759e-04]]

 R_gt:
[[ 0.9708045  -0.23977192  0.00700888]
 [ 0.23963717  0.97072868  0.01612746]
 [-0.01067068 -0.01397764  0.99984517]]

 t_gt:
[ 0.87776892 -0.47206162  0.08172857]

Pose Error in degrees for R and t:
13.961596035949604 21.44361244568459

Number of keypoints:
Image1: 439
Image2: 439

 R_estimated:
[[ 9.98834587e-01  4.82643418e-02  1.47316952e-04]
 [-4.82643446e-02  9.98834597e-01  1.54175021e-05]
 [-1.46401153e-04 -2.25096905e-05  9.99999989e-01]]

 t_estimated:
[[0.2923363 ]
 [0.9563144 ]
 [0.00150254]]

 R_gt:
[[ 0.99891995 -0.04643912  0.00198397]
 [ 0.04645036  0.99890411 -0.00578951]
 [-0.00171277  0.00587622  0.99998088]]

 t_gt:
[ 0.40564895 -0.91047185 -0.08056012]

Pose Error in degrees for R and t:
5.439492315804889 41.21586638282331

Number of keypoints:
Image1: 376
Image2: 376

 R_estimated:
[[ 2.59122607e-01  9.65844406e-01  2.40659356e-04]
 [ 9.65835468e-01 -2.59121267e-01  4.24466925e-03]
 [ 4.16205000e-03 -8.67452420e-04 -9.99990962e-01]]

 t_estimated:
[[-0.95047536]
 [-0.31079558]
 [-0.00164442]]

 R_gt:
[[ 0.98819394 -0.14908091  0.0353305 ]
 [ 0.14833317  0.98867114  0.02294767]
 [-0.03835233 -0.01743519  0.99911168]]

 t_gt:
[ 0.42751409 -0.84271477  0.32720561]

Pose Error in degrees for R and t:
179.7941295264472 81.66459437962345

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.96283764e-01 -8.61269508e-02  9.00321000e-04]
 [ 8.61277477e-02  9.96283706e-01 -8.87298899e-04]
 [-8.20554794e-04  9.61544106e-04  9.99999201e-01]]

 t_estimated:
[[-0.37586536]
 [-0.92667267]
 [-0.0017321 ]]

 R_gt:
[[ 0.97757104 -0.20679681  0.03988044]
 [ 0.20625491  0.97834486  0.01732725]
 [-0.04260017 -0.00871144  0.99905424]]

 t_gt:
[ 0.46741475 -0.84427823  0.26214065]

Pose Error in degrees for R and t:
7.404341341505127 52.68256091585188

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99283131  0.11851437 -0.01550262]
 [-0.11859568  0.99293274 -0.00443154]
 [ 0.01486786  0.00623832  0.99987001]]

 t_estimated:
[[-0.56533114]
 [-0.81782633]
 [-0.10752114]]

 R_gt:
[[ 0.99911506  0.04202155  0.00217418]
 [-0.04167878  0.99541073 -0.08614023]
 [-0.00578426  0.0859732   0.99628018]]

 t_gt:
[-0.12640546  0.72728864 -0.6745909 ]

Pose Error in degrees for R and t:
6.485552705752134 63.20484438659986

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.14886733 -0.96969966  0.19370359]
 [-0.98552648 -0.12942754  0.10948094]
 [-0.08109305 -0.20719815 -0.97493222]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.99887939  0.04480682 -0.01528991]
 [-0.04686368  0.98165677 -0.18480159]
 [ 0.00672874  0.18531141  0.98265622]]

 t_gt:
[-0.06740429  0.58019642 -0.81168268]

Pose Error in degrees for R and t:
176.27541873277013 79.58037042227545

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 9.99998874e-01  1.48041624e-03 -2.47352756e-04]
 [-1.48038218e-03  9.99998895e-01  1.37826164e-04]
 [ 2.47556523e-04 -1.37459832e-04  9.99999960e-01]]

 t_estimated:
[[ 1.40298180e-01]
 [-9.90109220e-01]
 [-3.90991179e-04]]

 R_gt:
[[ 0.99777101 -0.05123882 -0.04276913]
 [ 0.04115922  0.97682578 -0.21004045]
 [ 0.05254082  0.20781167  0.97675629]]

 t_gt:
[ 0.2397383   0.18952325 -0.95215886]

Pose Error in degrees for R and t:
12.685522223939243 81.16197895954114

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 8.55257228e-01 -5.18203610e-01  3.04501067e-04]
 [ 5.18203024e-01  8.55256914e-01  1.11245669e-03]
 [-8.36905716e-04 -7.93643250e-04  9.99999335e-01]]

 t_estimated:
[[ 0.74711166]
 [-0.66469499]
 [ 0.00217597]]

 R_gt:
[[ 0.99888338  0.04528827  0.01346931]
 [-0.04512754  0.99890878 -0.01198341]
 [-0.01399736  0.01136148  0.99983756]]

 t_gt:
[-0.57015903  0.81809826 -0.07505943]

Pose Error in degrees for R and t:
33.81886856469838 14.088333347003083

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.17055512e-01  3.98759425e-01 -3.29076533e-04]
 [-3.98759320e-01  9.17053743e-01 -1.85405317e-03]
 [-4.37540311e-04  1.83149202e-03  9.99998227e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 9.83249160e-01  5.11134960e-02  1.74954801e-01]
 [-5.02850737e-02  9.98692380e-01 -9.16687017e-03]
 [-1.75194908e-01  2.14835211e-04  9.84533861e-01]]

 t_gt:
[-0.42345398  0.2875666   0.85906471]

Pose Error in degrees for R and t:
22.88674071097845 78.59084018645588

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 7.71026613e-01  6.36802913e-01 -1.08411822e-04]
 [-6.36801866e-01  7.71025012e-01 -1.95335193e-03]
 [-1.16031197e-03  1.57512317e-03  9.99998086e-01]]

 t_estimated:
[[0.86015058]
 [0.51003904]
 [0.00108059]]

 R_gt:
[[ 0.96952742  0.08359754  0.23027639]
 [-0.0840441   0.99643074 -0.00788473]
 [-0.23011309 -0.01170959  0.97309293]]

 t_gt:
[-0.46404667  0.30486472  0.83169597]

Pose Error in degrees for R and t:
37.06573174309029 75.95060061590168

Number of keypoints:
Image1: 384
Image2: 384

 R_estimated:
[[ 0.99722501 -0.07360511  0.01116106]
 [ 0.07362661  0.99728471 -0.00152702]
 [-0.01101836  0.00234454  0.99993655]]

 t_estimated:
[[0.18722328]
 [0.98231437]
 [0.00243147]]

 R_gt:
[[ 0.99968314  0.02280257 -0.01059746]
 [-0.02330015  0.99850051 -0.04952976]
 [ 0.00945221  0.0497608   0.99871611]]

 t_gt:
[-0.19267621  0.87603492 -0.44208449]

Pose Error in degrees for R and t:
6.298661730824068 34.57406622675434

Number of keypoints:
Image1: 389
Image2: 389

 R_estimated:
[[ 9.98707702e-01 -5.08220908e-02  2.00489551e-04]
 [-5.08072214e-02 -9.98303287e-01  2.84459840e-02]
 [-1.24553501e-03 -2.84194097e-02 -9.99595311e-01]]

 t_estimated:
[[-0.05011878]
 [ 0.99863233]
 [ 0.01488537]]

 R_gt:
[[ 0.9970555  -0.07572535 -0.01209821]
 [ 0.074059    0.99178022 -0.104336  ]
 [ 0.01989938  0.10313255  0.99446836]]

 t_gt:
[ 0.65524576  0.55812657 -0.50906554]

Pose Error in degrees for R and t:
175.64925819543572 58.87241680873706

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[-0.99998164  0.005843   -0.00160869]
 [ 0.00584796  0.99997811 -0.00309373]
 [ 0.00159058 -0.00310308 -0.99999392]]

 t_estimated:
[[9.99994892e-01]
 [3.10075934e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99256853 -0.11736516  0.03211838]
 [ 0.12115957  0.97767658 -0.17166389]
 [-0.01125392  0.17427947  0.9846314 ]]

 t_gt:
[ 0.66508271  0.57213804 -0.47991984]

Pose Error in degrees for R and t:
178.82165747156202 48.20392943684676

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.60966364e-01 -2.76665218e-01  6.29594995e-05]
 [ 2.76665225e-01  9.60966351e-01 -1.61310854e-04]
 [-1.58728579e-05  1.72433009e-04  9.99999985e-01]]

 t_estimated:
[[0.8014921 ]
 [0.59800447]
 [0.0010382 ]]

 R_gt:
[[ 0.99481103  0.05143998 -0.08778728]
 [-0.05862571  0.99496111 -0.08133049]
 [ 0.08316037  0.08605463  0.99281277]]

 t_gt:
[-0.11844222  0.58720329 -0.80072701]

Pose Error in degrees for R and t:
20.406358383071915 75.20340119976049

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 8.29715773e-01 -5.58185794e-01  5.96033490e-04]
 [ 5.58186077e-01  8.29715627e-01 -5.30580965e-04]
 [-1.98375544e-04  7.72928991e-04  9.99999682e-01]]

 t_estimated:
[[0.61512758]
 [0.78842712]
 [0.00085792]]

 R_gt:
[[ 0.97485754  0.11505364 -0.19083275]
 [-0.14958491  0.97264337 -0.17773545]
 [ 0.16516236  0.2018118   0.96539781]]

 t_gt:
[-0.09701408  0.64216269 -0.76040473]

Pose Error in degrees for R and t:
44.20679517716863 63.51457938699437

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 7.75499002e-01 -6.31348568e-01  5.31814722e-04]
 [ 6.31348788e-01  7.75498824e-01 -5.31886722e-04]
 [-7.66157703e-05  7.48238202e-04  9.99999717e-01]]

 t_estimated:
[[-0.22112596]
 [-0.97524431]
 [-0.00135531]]

 R_gt:
[[ 0.96294216  0.1615646  -0.2159639 ]
 [-0.20889715  0.95326616 -0.21828112]
 [ 0.17060431  0.25530613  0.95168928]]

 t_gt:
[-0.12763745  0.71331941 -0.68911835]

Pose Error in degrees for R and t:
52.986902464675524 48.202282139057225

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.40474012e-01 -3.39865608e-01  3.69683311e-05]
 [ 3.39865534e-01  9.40473868e-01  5.67662586e-04]
 [-2.27696740e-04 -5.21307648e-04  9.99999838e-01]]

 t_estimated:
[[ 0.9957849 ]
 [-0.09170903]
 [ 0.00137538]]

 R_gt:
[[ 0.99437047 -0.10538939  0.01102541]
 [ 0.10591051  0.99178337 -0.07175554]
 [-0.00337361  0.07251931  0.99736156]]

 t_gt:
[ 0.93136477  0.12251483 -0.34285535]

Pose Error in degrees for R and t:
14.41644009688948 23.690147906787242

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.97376336e-01  7.23893814e-02  4.70662815e-04]
 [-7.23895769e-02  9.97376348e-01  4.12432687e-04]
 [-4.39572212e-04 -4.45421684e-04  9.99999804e-01]]

 t_estimated:
[[0.64196582]
 [0.76673207]
 [0.00134672]]

 R_gt:
[[ 0.98934548 -0.13582039  0.05242921]
 [ 0.14198565  0.97974938 -0.1411771 ]
 [-0.03219389  0.14711694  0.98859475]]

 t_gt:
[ 0.8395914   0.33222707 -0.4297807 ]

Pose Error in degrees for R and t:
14.94718075800667 37.520136615780714

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 8.89671909e-01 -4.56600156e-01 -4.37510494e-04]
 [ 4.56600362e-01  8.89671610e-01  7.31165296e-04]
 [ 5.53904774e-05 -8.50264675e-04  9.99999637e-01]]

 t_estimated:
[[0.86926443]
 [0.49434662]
 [0.00088063]]

 R_gt:
[[ 0.99014837 -0.13964082  0.01032035]
 [ 0.1384554   0.96541545 -0.22091602]
 [ 0.020885    0.22016814  0.97523807]]

 t_gt:
[ 0.67735967  0.50634278 -0.53366737]

Pose Error in degrees for R and t:
22.951220679251886 33.00284243925458

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.92219971e-01 -1.24496906e-01 -2.21041576e-04]
 [ 1.24496978e-01  9.92219926e-01  3.48608738e-04]
 [ 1.75921147e-04 -3.73415560e-04  9.99999915e-01]]

 t_estimated:
[[0.99972424]
 [0.02345032]
 [0.00123423]]

 R_gt:
[[ 0.99885443  0.02676644 -0.03968743]
 [-0.02741745  0.99949649 -0.01593318]
 [ 0.03924147  0.0170024   0.99908434]]

 t_gt:
[-0.10705754  0.73496426 -0.66960154]

Pose Error in degrees for R and t:
9.042155871893556 84.80076352364549

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-7.01638804e-01 -7.12527430e-01 -2.76588934e-03]
 [ 7.12521835e-01 -7.01644256e-01  2.82355232e-03]
 [-3.95252885e-03  1.03573228e-05  9.99992189e-01]]

 t_estimated:
[[0.99336089]
 [0.11502073]
 [0.00209129]]

 R_gt:
[[ 0.98816326  0.0856658  -0.12726175]
 [-0.10144541  0.98718605 -0.12317861]
 [ 0.115079    0.13462988  0.98419079]]

 t_gt:
[-0.11838135  0.66369139 -0.73857944]

Pose Error in degrees for R and t:
140.15560290584116 87.5468931963489

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 1.53535401e-01  9.88128904e-01  5.30561606e-03]
 [ 9.88142968e-01 -1.53536400e-01 -2.20951767e-04]
 [ 5.96276363e-04  5.27663111e-03 -9.99985901e-01]]

 t_estimated:
[[0.93215706]
 [0.36205046]
 [0.00163824]]

 R_gt:
[[ 0.96800006  0.14708414 -0.20333244]
 [-0.18649491  0.96377451 -0.190675  ]
 [ 0.16792127  0.22249352  0.96036336]]

 t_gt:
[-0.11738234  0.70867148 -0.69570549]

Pose Error in degrees for R and t:
177.71524329204448 81.60386329032995

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99999973e-01 -8.95058471e-05  2.12219480e-04]
 [ 8.95983369e-05  9.99999901e-01 -4.35852158e-04]
 [-2.12180448e-04  4.35871161e-04  9.99999882e-01]]

 t_estimated:
[[7.94607002e-01]
 [6.07123691e-01]
 [7.32356684e-04]]

 R_gt:
[[ 0.99985863  0.01335576 -0.01023188]
 [-0.01423834  0.9956777  -0.09177833]
 [ 0.00896183  0.09191103  0.99572631]]

 t_gt:
[-0.0245394   0.4380872  -0.89859748]

Pose Error in degrees for R and t:
5.335077326304871 75.76994726424827

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.08599409  0.99626709  0.00754341]
 [-0.99626898  0.08604472 -0.00666534]
 [-0.00728953 -0.00694209  0.99994933]]

 t_estimated:
[[0.06651719]
 [0.99775791]
 [0.0073908 ]]

 R_gt:
[[ 0.99842356 -0.02123258 -0.05196886]
 [ 0.01281628  0.98747941 -0.15722705]
 [ 0.05465739  0.15631263  0.98619398]]

 t_gt:
[ 0.14166817  0.21491516 -0.96630306]

Pose Error in degrees for R and t:
86.49645664084663 77.4838425251616

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.29975033  0.95401451  0.00246074]
 [-0.95401613 -0.2997442  -0.0025752 ]
 [-0.00171918 -0.00311951  0.99999366]]

 t_estimated:
[[0.02848575]
 [0.99959084]
 [0.00258961]]

 R_gt:
[[ 0.9768901  -0.21369631  0.0045209 ]
 [ 0.21272556  0.96995218 -0.11806611]
 [ 0.02084515  0.11629959  0.9929951 ]]

 t_gt:
[ 0.66396431 -0.58003835 -0.47191833]

Pose Error in degrees for R and t:
119.91628832990341 55.79818425437124

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 9.99925821e-01 -1.21799532e-02  2.94873542e-05]
 [ 1.21799549e-02  9.99925820e-01 -5.72478416e-05]
 [-2.87878907e-05  5.76027497e-05  9.99999998e-01]]

 t_estimated:
[[-0.71412357]
 [-0.70001926]
 [-0.00074233]]

 R_gt:
[[ 0.9987443   0.04997834 -0.00359288]
 [-0.04993149  0.99867837  0.01224504]
 [ 0.00419921 -0.01205093  0.99991783]]

 t_gt:
[-0.50132162  0.86394692  0.04766924]

Pose Error in degrees for R and t:
3.636153337955593 75.71121773592853

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.98039011e-01  6.25939846e-02  3.53447241e-04]
 [-6.25938011e-02  9.98038956e-01 -5.08306704e-04]
 [-3.84571058e-04  4.85186314e-04  9.99999808e-01]]

 t_estimated:
[[-9.87731467e-01]
 [-1.56160037e-01]
 [-7.69261267e-04]]

 R_gt:
[[ 0.99960321  0.02586455 -0.01113404]
 [-0.02568178  0.99953816  0.01624062]
 [ 0.01154815 -0.01594841  0.9998058 ]]

 t_gt:
[-0.21534124  0.97560501  0.04269677]

Pose Error in degrees for R and t:
2.411550884556864 86.54205138669286

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99910741e-01  1.33595349e-02  1.78782895e-04]
 [-1.33595345e-02  9.99910757e-01 -3.29920571e-06]
 [-1.78811016e-04  9.10454965e-07  9.99999984e-01]]

 t_estimated:
[[-8.46364777e-01]
 [-5.32603143e-01]
 [-7.46474087e-04]]

 R_gt:
[[ 0.99905425 -0.04299887 -0.00655411]
 [ 0.04303314  0.99906106  0.00515155]
 [ 0.00632625 -0.00542859  0.99996449]]

 t_gt:
[ 0.95835391  0.28404795 -0.02957262]

Pose Error in degrees for R and t:
3.266913494847933 15.765925685614246

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[-5.08817796e-01 -8.60871608e-01 -2.12710229e-03]
 [ 8.60874160e-01 -5.08817235e-01 -8.37340120e-04]
 [-3.61463969e-04 -2.25722095e-03  9.99997387e-01]]

 t_estimated:
[[0.95867675]
 [0.2844951 ]
 [0.00119536]]

 R_gt:
[[ 0.99784696 -0.06536706  0.00531568]
 [ 0.06529458  0.99778666  0.01261932]
 [-0.00612883 -0.01224498  0.99990595]]

 t_gt:
[ 0.32635477 -0.9155905   0.23491829]

Pose Error in degrees for R and t:
116.84057232185556 86.98091834759286

Number of keypoints:
Image1: 629
Image2: 629

 R_estimated:
[[ 9.99631438e-01 -2.71451534e-02  3.59591561e-04]
 [ 2.71451024e-02  9.99631493e-01  1.45961067e-04]
 [-3.63421185e-04 -1.36146122e-04  9.99999925e-01]]

 t_estimated:
[[0.79572777]
 [0.60565312]
 [0.00127023]]

 R_gt:
[[ 0.98783396 -0.15092704  0.03748026]
 [ 0.15022437  0.98843085  0.02091891]
 [-0.04020424 -0.01503427  0.999078  ]]

 t_gt:
[ 0.40089406 -0.84394735  0.35642225]

Pose Error in degrees for R and t:
7.514763275894087 78.94891861725635

Number of keypoints:
Image1: 347
Image2: 347

 R_estimated:
[[ 9.98846688e-01 -4.80133339e-02  1.14864266e-04]
 [ 4.80133406e-02  9.98846693e-01 -5.56785252e-05]
 [-1.12058481e-04  6.11293276e-05  9.99999992e-01]]

 t_estimated:
[[9.47820630e-01]
 [3.18804075e-01]
 [1.20477683e-04]]

 R_gt:
[[ 0.98194076 -0.1835592   0.04582015]
 [ 0.18381946  0.98295897 -0.00151384]
 [-0.04476065  0.00990915  0.99894812]]

 t_gt:
[ 0.38122668 -0.88381118  0.27118999]

Pose Error in degrees for R and t:
8.264169781898033 85.43416265733703

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.99880224e-01 -1.54719357e-02  3.96710756e-04]
 [ 1.54719578e-02  9.99880301e-01 -5.26706727e-05]
 [-3.95848353e-04  5.88022561e-05  9.99999920e-01]]

 t_estimated:
[[ 0.90106565]
 [-0.43360459]
 [ 0.00823157]]

 R_gt:
[[ 0.99958828  0.02278472  0.01744617]
 [-0.02242488  0.99953639 -0.02060904]
 [-0.01790614  0.02020979  0.9996349 ]]

 t_gt:
[-0.89026841  0.45524842 -0.01307795]

Pose Error in degrees for R and t:
2.665004105434605 1.4134228766346146

Number of keypoints:
Image1: 233
Image2: 233

 R_estimated:
[[ 9.99926836e-01  1.20962986e-02  5.61339956e-05]
 [-1.20962889e-02  9.99926823e-01 -1.70062359e-04]
 [-5.81870129e-05  1.69370903e-04  9.99999984e-01]]

 t_estimated:
[[ 0.63267305]
 [-0.7744106 ]
 [ 0.00360942]]

 R_gt:
[[ 0.99992599  0.0058974  -0.01061665]
 [-0.00628585  0.99929972 -0.03690704]
 [ 0.01039259  0.03697095  0.99926199]]

 t_gt:
[-0.89379792  0.28695011 -0.34465188]

Pose Error in degrees for R and t:
2.2191153630711464 37.91315216609877

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 1.00000000e+00 -1.31600286e-12  1.03909936e-15]
 [ 1.31589184e-12  1.00000000e+00  2.87416575e-15]
 [-1.03909936e-15 -2.87389470e-15  1.00000000e+00]]

 t_estimated:
[[0.95252112]
 [0.3044691 ]
 [0.0014394 ]]

 R_gt:
[[ 0.99589889 -0.08247026  0.03720075]
 [ 0.0856538   0.99186275 -0.09419257]
 [-0.02912923  0.09699287  0.99485823]]

 t_gt:
[-0.72803733 -0.0194423  -0.68526173]

Pose Error in degrees for R and t:
7.558997189658477 45.542751071340575

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 3.47459113e-01  9.37695070e-01  3.46860491e-04]
 [-9.37694002e-01  3.47459244e-01 -1.42572058e-03]
 [-1.45741104e-03  1.70130606e-04  9.99998924e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99547968  0.09491243 -0.00347579]
 [-0.09490666  0.99548483  0.00174968]
 [ 0.00362555 -0.00141063  0.99999281]]

 t_gt:
[-0.76943058  0.63869361  0.00685963]

Pose Error in degrees for R and t:
64.22254119591405 50.66235817364098

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99999886e-01 -4.31218670e-04 -2.03446067e-04]
 [ 4.31249932e-04  9.99999895e-01  1.53643061e-04]
 [ 2.03379792e-04 -1.53730780e-04  9.99999968e-01]]

 t_estimated:
[[-9.91925625e-01]
 [ 1.26819541e-01]
 [-5.97834828e-04]]

 R_gt:
[[ 0.96218855  0.27211964 -0.01200928]
 [-0.2723821   0.96144203 -0.0379095 ]
 [ 0.00123015  0.03974859  0.99920952]]

 t_gt:
[-0.75282739  0.64691997 -0.12143092]

Pose Error in degrees for R and t:
15.992472314652053 34.01783450947989

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.99999743e-01 -6.64815866e-04 -2.67744163e-04]
 [ 6.64896487e-04  9.99999734e-01  3.01134882e-04]
 [ 2.67543892e-04 -3.01312827e-04  9.99999919e-01]]

 t_estimated:
[[-9.98409451e-01]
 [ 5.63762426e-02]
 [-5.35672545e-04]]

 R_gt:
[[ 0.93583106  0.3524446  -0.00144345]
 [-0.35238941  0.93559217 -0.02209893]
 [-0.00643792  0.02119002  0.99975473]]

 t_gt:
[-0.74529901  0.66539421 -0.04218923]

Pose Error in degrees for R and t:
20.715690452685607 38.588231331687496

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.99747747e-01  2.24032522e-02  1.59277962e-03]
 [-2.24048191e-02  9.99748507e-01  9.72831558e-04]
 [-1.57058446e-03 -1.00827210e-03  9.99998258e-01]]

 t_estimated:
[[-0.99976007]
 [-0.02101896]
 [ 0.00616502]]

 R_gt:
[[ 0.98678507  0.16149916 -0.01319166]
 [-0.16171604  0.98668284 -0.01748363]
 [ 0.01019177  0.01938577  0.99976015]]

 t_gt:
[-0.79954817  0.58861144 -0.11941231]

Pose Error in degrees for R and t:
8.130503562928306 38.163734772047434

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.97778923e-01 -6.66104536e-02 -5.17796418e-04]
 [ 6.66107073e-02  9.97778921e-01  4.89165928e-04]
 [ 4.84062786e-04 -5.22570238e-04  9.99999746e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.95701034  0.29004943  0.0015662 ]
 [-0.28988807  0.956633   -0.02858676]
 [-0.0097893   0.02690355  0.99959088]]

 t_gt:
[-0.77971352  0.62306709 -0.06192119]

Pose Error in degrees for R and t:
20.745987704364016 38.93808599700967

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-9.16231776e-01 -4.00647572e-01 -9.25010435e-04]
 [-4.00648400e-01  9.16226258e-01  3.21003128e-03]
 [-4.38572391e-04  3.31173661e-03 -9.99994420e-01]]

 t_estimated:
[[0.9654667 ]
 [0.26052276]
 [0.00139317]]

 R_gt:
[[ 0.93102652  0.3646362  -0.01518529]
 [-0.36454214  0.93114679  0.00866188]
 [ 0.01729764 -0.00252928  0.99984724]]

 t_gt:
[-0.75968552  0.65018427 -0.01176084]

Pose Error in degrees for R and t:
179.09060474836457 55.66159451531539

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[-2.70261984e-01 -9.62786580e-01 -6.79823914e-04]
 [-9.62786221e-01  2.70262536e-01 -9.24576383e-04]
 [ 1.07390067e-03  4.04647249e-04 -9.99999341e-01]]

 t_estimated:
[[0.8073908 ]
 [0.59001636]
 [0.00088724]]

 R_gt:
[[ 9.98090292e-01 -6.17740497e-02 -5.29753466e-04]
 [ 6.17415740e-02  9.97768693e-01 -2.54190016e-02]
 [ 2.09957962e-03  2.53373336e-02  9.99676196e-01]]

 t_gt:
[ 0.07842613 -0.66201273 -0.74537809]

Pose Error in degrees for R and t:
178.99812097541522 70.8562633080414

Number of keypoints:
Image1: 497
Image2: 497

 R_estimated:
[[ 9.98190830e-01  6.01253540e-02  8.79679792e-05]
 [-6.01253324e-02  9.98190809e-01 -2.29957454e-04]
 [-1.01635102e-04  2.24252318e-04  9.99999970e-01]]

 t_estimated:
[[ 9.60649269e-01]
 [-2.77763970e-01]
 [ 3.99710840e-04]]

 R_gt:
[[ 0.99109771 -0.1323917   0.01410421]
 [ 0.13308254  0.98823071 -0.07543332]
 [-0.0039506   0.07663884  0.99705103]]

 t_gt:
[ 0.48107692 -0.45878134 -0.74705065]

Pose Error in degrees for R and t:
11.920136982772297 53.89403196303724

Number of keypoints:
Image1: 474
Image2: 474

 R_estimated:
[[-0.78381592  0.62078241  0.01618018]
 [ 0.62078556  0.78396157 -0.00543549]
 [-0.0160589   0.005784   -0.99985432]]

 t_estimated:
[[ 0.9389667 ]
 [-0.34389354]
 [ 0.00887566]]

 R_gt:
[[ 0.98953162 -0.14424714  0.00469265]
 [ 0.14428719  0.98804228 -0.0543482 ]
 [ 0.00320276  0.05445616  0.99851039]]

 t_gt:
[ 0.5760678  -0.54458923 -0.60956415]

Pose Error in degrees for R and t:
177.95658258381457 43.715608068353085

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 7.50487059e-01 -6.60881904e-01 -2.06938809e-03]
 [ 6.60883582e-01  7.50488414e-01  1.75676116e-04]
 [ 1.43695062e-03 -1.49946727e-03  9.99997843e-01]]

 t_estimated:
[[ 0.81961087]
 [-0.57291931]
 [-0.00122117]]

 R_gt:
[[ 0.99703108  0.00950602  0.07641839]
 [-0.00800748  0.99977003 -0.01989268]
 [-0.07658946  0.01922169  0.99687784]]

 t_gt:
[-0.7195317   0.07702233  0.69017512]

Pose Error in degrees for R and t:
42.11606947282665 50.60178793105106

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 1.08224496e-01 -9.93455861e-01  3.65090475e-02]
 [-9.94117845e-01 -1.08303622e-01 -1.90805873e-04]
 [ 4.14361931e-03 -3.62736458e-02 -9.99333304e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99549949 -0.03552849  0.08786099]
 [ 0.03616756  0.99932964 -0.0056918 ]
 [-0.08759913  0.00884437  0.99611625]]

 t_gt:
[-0.50184236 -0.42784467  0.75173346]

Pose Error in degrees for R and t:
175.59032259370423 64.52072184316816

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.95484334e-01 -9.49255680e-02  2.79031193e-04]
 [ 9.49255080e-02  9.95484354e-01  2.21100621e-04]
 [-2.98759289e-04 -1.93615026e-04  9.99999937e-01]]

 t_estimated:
[[0.98208488]
 [0.18843493]
 [0.00125193]]

 R_gt:
[[ 0.98288079 -0.16585589  0.08023606]
 [ 0.16598641  0.98611546  0.00508842]
 [-0.07996532  0.00831749  0.99676296]]

 t_gt:
[ 0.25700411 -0.8810261   0.39716736]

Pose Error in degrees for R and t:
6.1702178909593615 85.01580282827466

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 0.47957381  0.87746535  0.00796917]
 [-0.87746993  0.47945968  0.01284277]
 [ 0.00744819 -0.01315177  0.99988577]]

 t_estimated:
[[0.38921631]
 [0.92114526]
 [0.00144154]]

 R_gt:
[[ 0.99766381 -0.06261053  0.0273044 ]
 [ 0.05958854  0.99318962  0.10011921]
 [-0.03338658 -0.09825759  0.99460106]]

 t_gt:
[ 0.44486277 -0.43871229  0.78078719]

Pose Error in degrees for R and t:
65.02465259521311 76.71209094694633

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 1.00000000e+00  1.34000461e-09  1.77604764e-13]
 [-1.34000328e-09  1.00000000e+00 -1.25445117e-12]
 [-1.77598133e-13  1.25454778e-12  1.00000000e+00]]

 t_estimated:
[[ 3.01427611e-01]
 [-9.53489061e-01]
 [-7.99813763e-05]]

 R_gt:
[[ 0.98101313 -0.16337273  0.10451122]
 [ 0.1287048   0.95153102  0.27932886]
 [-0.14507991 -0.26057385  0.95449105]]

 t_gt:
[ 0.39231786 -0.30206673  0.86881666]

Pose Error in degrees for R and t:
19.349060694245317 66.03344770430425

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.49039115  0.87143494  0.01084749]
 [-0.87150002  0.49038122  0.00373964]
 [-0.00206055 -0.01128748  0.99993417]]

 t_estimated:
[[0.81832409]
 [0.57475439]
 [0.0017523 ]]

 R_gt:
[[ 0.97042399 -0.19290079  0.14514623]
 [ 0.14012741  0.93969506  0.31199137]
 [-0.19657572 -0.28242468  0.93893205]]

 t_gt:
[ 0.40774813 -0.24777567  0.8788337 ]

Pose Error in degrees for R and t:
72.7921164042254 78.88376907855962

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 8.70757405e-01  4.91712771e-01 -3.02354150e-04]
 [-4.91712230e-01  8.70757105e-01  1.07048369e-03]
 [ 7.89647526e-04 -7.83460366e-04  9.99999381e-01]]

 t_estimated:
[[-9.38758953e-01]
 [-3.44573373e-01]
 [-9.04392055e-04]]

 R_gt:
[[ 0.99884927 -0.04754574 -0.00637033]
 [ 0.04739778  0.99864124 -0.021669  ]
 [ 0.00739176  0.02134221  0.99974534]]

 t_gt:
[ 0.8266249  -0.40812543 -0.38745956]

Pose Error in degrees for R and t:
32.20157606273739 50.57838710279782

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.33882557  0.94084838  0.00124559]
 [ 0.94084815  0.3388229   0.00195035]
 [ 0.00141295  0.00183274 -0.99999732]]

 t_estimated:
[[-0.72218837]
 [-0.69169597]
 [-0.00080243]]

 R_gt:
[[ 0.98282772 -0.17605556  0.05527001]
 [ 0.1654251   0.97334691  0.15883719]
 [-0.08176166 -0.14696691  0.98575685]]

 t_gt:
[ 0.59188474 -0.47727767  0.64952173]

Pose Error in degrees for R and t:
178.16742930280716 84.38505825932735

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 8.06996917e-01  5.90555597e-01  2.52269129e-04]
 [-5.90555059e-01  8.06996639e-01 -1.07147061e-03]
 [-8.36343305e-04  7.15694668e-04  9.99999394e-01]]

 t_estimated:
[[-0.91369504]
 [-0.4063981 ]
 [-0.00140137]]

 R_gt:
[[ 0.96671557 -0.2242664   0.123148  ]
 [ 0.18080079  0.93936245  0.29139099]
 [-0.18102977 -0.25942757  0.94864435]]

 t_gt:
[ 0.47947996 -0.31803196  0.81789647]

Pose Error in degrees for R and t:
51.41636904435611 71.94094702683196

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.47168950e-01 -3.20735019e-01 -1.69710020e-04]
 [ 3.20735056e-01  9.47168909e-01  2.85524544e-04]
 [ 6.91663346e-05 -3.24871935e-04  9.99999945e-01]]

 t_estimated:
[[ 8.90451886e-01]
 [-4.55077086e-01]
 [ 5.33418376e-04]]

 R_gt:
[[ 0.99834437 -0.0141013   0.05577369]
 [ 0.01433101  0.99989078 -0.00371697]
 [-0.05571418  0.00451061  0.99843665]]

 t_gt:
[ 0.18891727 -0.27316143  0.94323544]

Pose Error in degrees for R and t:
18.175941687820018 72.96029223543789

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.99360184e-01 -3.57662120e-02  2.09428079e-05]
 [ 3.57662126e-02  9.99360184e-01 -2.81572461e-05]
 [-1.99223303e-05  2.88882756e-05  9.99999999e-01]]

 t_estimated:
[[8.75077883e-01]
 [4.83981622e-01]
 [6.98386180e-04]]

 R_gt:
[[ 9.98662309e-01 -3.86239217e-02  3.43765098e-02]
 [ 3.86148945e-02  9.99252963e-01  9.60927069e-04]
 [-3.43872192e-02  3.67549880e-04  9.99408729e-01]]

 t_gt:
[ 0.66626853 -0.54226774  0.51189057]

Pose Error in degrees for R and t:
1.976901853669292 71.27981129734341

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.29325445e-01 -3.69261601e-01 -2.96701201e-04]
 [ 3.69261672e-01  9.29325433e-01  2.36910991e-04]
 [ 1.88249841e-04 -3.29727794e-04  9.99999928e-01]]

 t_estimated:
[[ 6.79979713e-01]
 [-7.33230924e-01]
 [ 4.34121205e-05]]

 R_gt:
[[ 0.99802826 -0.0627318  -0.00236589]
 [ 0.06276744  0.99782187  0.02028282]
 [ 0.00108793 -0.02039077  0.99979156]]

 t_gt:
[ 0.74225138 -0.65239935  0.15309465]

Pose Error in degrees for R and t:
18.10840637567509 10.554253434201195

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99621706e-01 -2.75035328e-02  3.33650997e-05]
 [ 2.75035303e-02  9.99621704e-01  7.43405846e-05]
 [-3.53971065e-05 -7.33948040e-05  9.99999997e-01]]

 t_estimated:
[[0.68689715]
 [0.72675414]
 [0.00084802]]

 R_gt:
[[ 0.99865775 -0.00846978  0.05110598]
 [ 0.00803559  0.9999304   0.00870168]
 [-0.05117591 -0.00827918  0.99865482]]

 t_gt:
[-0.57419413 -0.26220463  0.77559643]

Pose Error in degrees for R and t:
3.1669273992994795 54.24553588778681

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.82884886e-01 -1.84220664e-01  2.17911389e-04]
 [ 1.84220618e-01  9.82884896e-01  2.13872159e-04]
 [-2.53581484e-04 -1.70067942e-04  9.99999953e-01]]

 t_estimated:
[[-1.74790162e-01]
 [-9.84605674e-01]
 [-2.56458289e-04]]

 R_gt:
[[ 0.99267595 -0.11466141  0.03805516]
 [ 0.11393668  0.99327256  0.02069948]
 [-0.04017251 -0.01621086  0.99906081]]

 t_gt:
[ 0.24698104 -0.88654216  0.39120758]

Pose Error in degrees for R and t:
4.740758248363909 33.939840967490994

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99998682e-01  1.60355870e-03  2.55310718e-04]
 [-1.60359077e-03  9.99998706e-01  1.25454667e-04]
 [-2.55109214e-04 -1.25863916e-04  9.99999960e-01]]

 t_estimated:
[[9.75408022e-01]
 [2.20406262e-01]
 [5.18997213e-04]]

 R_gt:
[[ 0.96341364 -0.26526492  0.0383208 ]
 [ 0.2651807   0.96417105  0.00735197]
 [-0.03889862  0.00307957  0.99923811]]

 t_gt:
[ 0.5921132  -0.79770495  0.11431874]

Pose Error in degrees for R and t:
15.635675212425928 66.3097387692095

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.18985535e-01 -3.94289677e-01 -1.11254799e-03]
 [ 3.94290129e-01  9.18985990e-01  2.11778711e-04]
 [ 9.38913860e-04 -6.33288263e-04  9.99999359e-01]]

 t_estimated:
[[8.25178206e-01]
 [5.64871990e-01]
 [7.50162006e-04]]

 R_gt:
[[ 0.9944662   0.01591151 -0.10385265]
 [-0.01502704  0.99984449  0.00929378]
 [ 0.10398379 -0.00768312  0.99454919]]

 t_gt:
[ 0.20121108  0.11589395 -0.97266782]

Pose Error in degrees for R and t:
24.8165245386992 76.65755633871159

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-9.50894505e-01 -3.09511534e-01 -1.50005038e-03]
 [ 3.09515039e-01 -9.50887377e-01 -3.69271083e-03]
 [-2.83442376e-04 -3.97566659e-03  9.99992057e-01]]

 t_estimated:
[[0.88513246]
 [0.4653381 ]
 [0.00099008]]

 R_gt:
[[ 0.9833182   0.02603035 -0.18002642]
 [-0.02470315  0.9996492   0.00960967]
 [ 0.18021322 -0.00500296  0.98361481]]

 t_gt:
[ 0.24512673  0.12051729 -0.96197114]

Pose Error in degrees for R and t:
163.48372058788402 74.21082275308692

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.99950113 -0.02884068 -0.01287289]
 [ 0.02918418  0.99919993  0.02734575]
 [ 0.01207392 -0.02770779  0.99954315]]

 t_estimated:
[[0.48244123]
 [0.87592166]
 [0.00342157]]

 R_gt:
[[ 0.97348224  0.02387639 -0.22751735]
 [-0.02492553  0.99968836 -0.00173896]
 [ 0.22740524  0.00736333  0.97377246]]

 t_gt:
[ 0.29286629  0.09521888 -0.95140039]

Pose Error in degrees for R and t:
12.93879964247036 77.20638833739844

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.93941486e-01 -1.09910430e-01 -1.43167468e-04]
 [ 1.09910461e-01  9.93941467e-01  2.25344192e-04]
 [ 1.17532406e-04 -2.39714544e-04  9.99999964e-01]]

 t_estimated:
[[9.95433808e-01]
 [9.54519203e-02]
 [6.81351752e-04]]

 R_gt:
[[ 0.99880468 -0.00804527  0.04821514]
 [ 0.00820666  0.99996064 -0.00315963]
 [-0.04818774  0.00355104  0.99883126]]

 t_gt:
[ 0.0971206  -0.21538265  0.97168817]

Pose Error in degrees for R and t:
6.470732889933517 85.59646714153526

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.88441333e-01 -1.51603848e-01  6.83596433e-05]
 [ 1.51603853e-01  9.88441330e-01 -8.91792889e-05]
 [-5.40495735e-05  9.85120805e-05  9.99999994e-01]]

 t_estimated:
[[-8.05905142e-01]
 [-5.92044262e-01]
 [-7.03141587e-04]]

 R_gt:
[[ 0.998523   -0.03499032  0.04155611]
 [ 0.03515799  0.9993766  -0.0033171 ]
 [-0.04141399  0.0047724   0.99912998]]

 t_gt:
[ 0.62369146 -0.51602151  0.58713778]

Pose Error in degrees for R and t:
7.120081234927342 78.60677527849637

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 1.00000000e+00  1.17653205e-05  2.06764850e-06]
 [-1.17654527e-05  9.99999998e-01  6.39317432e-05]
 [-2.06689631e-06 -6.39317675e-05  9.99999998e-01]]

 t_estimated:
[[0.99989463]
 [0.01444412]
 [0.00145005]]

 R_gt:
[[ 0.99808085 -0.06123696  0.0091395 ]
 [ 0.06100444  0.99785289  0.0238444 ]
 [-0.01057986 -0.02324004  0.99967332]]

 t_gt:
[ 0.7171628  -0.63803644  0.28033376]

Pose Error in degrees for R and t:
3.7975202570989732 44.905030916103065

Number of keypoints:
Image1: 354
Image2: 354

 R_estimated:
[[ 0.06785894 -0.99623034  0.05403949]
 [-0.99610564 -0.06459537  0.06000821]
 [-0.0562913  -0.05790114 -0.99673404]]

 t_estimated:
[[0.6868973 ]
 [0.72565937]
 [0.03988205]]

 R_gt:
[[ 0.99895044 -0.04560813 -0.00447656]
 [ 0.04542907  0.99838911 -0.03399724]
 [ 0.00602011  0.03375871  0.99941146]]

 t_gt:
[ 0.78698904 -0.32810617 -0.52248885]

Pose Error in degrees for R and t:
176.99095801187357 73.64132925348666

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.43008755e-01  3.32766678e-01 -9.08850527e-04]
 [-3.32766021e-01  9.43009084e-01  8.01703939e-04]
 [ 1.12383466e-03 -4.53579260e-04  9.99999266e-01]]

 t_estimated:
[[0.7079024 ]
 [0.70630982]
 [0.00079629]]

 R_gt:
[[ 0.98536303 -0.16115507  0.05559308]
 [ 0.15220114  0.97853868  0.13891099]
 [-0.07678636 -0.12841598  0.98874234]]

 t_gt:
[ 0.59106864 -0.48011569  0.64817188]

Pose Error in degrees for R and t:
29.745427814172285 85.42151525845102

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-9.57810961e-01 -2.87385153e-01 -2.81708937e-03]
 [ 2.87385317e-01 -9.57814989e-01  3.55025643e-04]
 [-2.80027952e-03 -4.69542669e-04  9.99995969e-01]]

 t_estimated:
[[0.86845883]
 [0.4957599 ]
 [0.00117201]]

 R_gt:
[[ 0.96796575 -0.21803985  0.12451164]
 [ 0.17537692  0.94199172  0.28617445]
 [-0.17968588 -0.25516994  0.95005261]]

 t_gt:
[ 0.47102331 -0.31499149  0.82396444]

Pose Error in degrees for R and t:
152.00012428150882 75.29336817613394

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-0.67095574 -0.74149299 -0.00255572]
 [ 0.74149649 -0.67094555 -0.00387598]
 [ 0.00115926 -0.00449567  0.99998922]]

 t_estimated:
[[0.93342347]
 [0.35877514]
 [0.00101349]]

 R_gt:
[[ 0.99604095  0.00910128 -0.08843378]
 [-0.0079304   0.99987656  0.01357782]
 [ 0.08854645 -0.01282226  0.99598934]]

 t_gt:
[ 0.32345968  0.0176599  -0.94607714]

Pose Error in degrees for R and t:
132.6672409424592 72.10329152475262

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.98618950e-01  5.25040016e-02  1.87708833e-03]
 [-5.25034933e-02  9.98620689e-01 -3.19075338e-04]
 [-1.89125197e-03  2.20080985e-04  9.99998187e-01]]

 t_estimated:
[[0.76707658]
 [0.64155496]
 [0.00087168]]

 R_gt:
[[ 0.98428829  0.02147862 -0.1752615 ]
 [-0.01949175  0.99972528  0.01304845]
 [ 0.17549337 -0.00942641  0.98443521]]

 t_gt:
[ 0.2803829   0.08459947 -0.9561529 ]

Pose Error in degrees for R and t:
10.392102579393756 74.42396684717146

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.92615519  0.31123231  0.21300473]
 [-0.34544452 -0.92670207 -0.14795728]
 [ 0.15134284 -0.21061272  0.96578343]]

 t_estimated:
[[0.53560594]
 [0.844459  ]
 [0.00390953]]

 R_gt:
[[ 0.97514801  0.02617922 -0.22000103]
 [-0.02627827  0.99965156  0.0024732 ]
 [ 0.2199899   0.00336982  0.97549654]]

 t_gt:
[ 0.29210282  0.10294155 -0.95083068]

Pose Error in degrees for R and t:
160.46002047326917 76.1332530270919

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99999965e-01 -2.63305836e-04  1.53564687e-05]
 [ 2.63304810e-04  9.99999963e-01  6.68000826e-05]
 [-1.53740570e-05 -6.67960368e-05  9.99999998e-01]]

 t_estimated:
[[ 2.39770840e-01]
 [ 9.70829511e-01]
 [-6.48003499e-05]]

 R_gt:
[[ 0.9992073  -0.01610861  0.03640662]
 [ 0.01583594  0.999845    0.00774838]
 [-0.03652648 -0.00716527  0.99930772]]

 t_gt:
[-0.51231269 -0.46047147  0.72491498]

Pose Error in degrees for R and t:
2.313040982910257 55.255080064077234

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.12561827  0.99206912  0.0043492 ]
 [-0.99207571 -0.12560601 -0.00298764]
 [-0.00241766 -0.00469004  0.99998608]]

 t_estimated:
[[0.65469323]
 [0.75589187]
 [0.00206528]]

 R_gt:
[[ 0.99141716 -0.12795912  0.02680836]
 [ 0.12759414  0.99171437  0.01489532]
 [-0.02849207 -0.01134581  0.99952982]]

 t_gt:
[ 0.36870725 -0.89587756  0.24790798]

Pose Error in degrees for R and t:
104.56400216996977 64.19660697720228

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-0.23814456  0.97083652  0.02763357]
 [-0.9712247  -0.23813842 -0.00356101]
 [ 0.00312345 -0.02768645  0.99961178]]

 t_estimated:
[[0.91522953]
 [0.40293124]
 [0.00115123]]

 R_gt:
[[ 0.96057852 -0.27708768  0.02262228]
 [ 0.27709484  0.96083858  0.00284834]
 [-0.02252635  0.00353305  0.99974092]]

 t_gt:
[ 0.62751021 -0.77682241  0.05270553]

Pose Error in degrees for R and t:
119.8643896249918 74.84859947115508

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.74799884e-01 -2.23081121e-01 -7.89963698e-06]
 [ 2.23081088e-01  9.74799722e-01  5.74207853e-04]
 [-1.20394367e-04 -5.61500008e-04  9.99999835e-01]]

 t_estimated:
[[-3.67428422e-01]
 [-9.30051602e-01]
 [ 6.09615110e-04]]

 R_gt:
[[ 0.9972892   0.00923932  0.07300325]
 [-0.00796059  0.99981021 -0.01779474]
 [-0.07315294  0.01716615  0.99717384]]

 t_gt:
[-0.72566546  0.06307126  0.68515083]

Pose Error in degrees for R and t:
14.058410824619482 77.97208263676848

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[-0.03017202  0.99954366  0.00145752]
 [ 0.99954234  0.03016873  0.00222612]
 [ 0.00218113  0.00152402 -0.99999646]]

 t_estimated:
[[-0.09152092]
 [-0.99580222]
 [-0.00136598]]

 R_gt:
[[ 0.99551801 -0.0441748   0.08362558]
 [ 0.04453627  0.99900438 -0.00247085]
 [-0.08343253  0.00618382  0.99649482]]

 t_gt:
[-0.42853515 -0.53134704  0.73077215]

Pose Error in degrees for R and t:
176.41410446029877 55.435176844602246

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.63503569e-01 -2.67695065e-01 -4.73736688e-04]
 [ 2.67695428e-01  9.63500711e-01  2.35308203e-03]
 [-1.73462812e-04 -2.39402008e-03  9.99997119e-01]]

 t_estimated:
[[0.84463937]
 [0.53533481]
 [0.00099136]]

 R_gt:
[[ 0.98019404 -0.18172203  0.07872567]
 [ 0.18175666  0.98332059  0.00678417]
 [-0.07864483  0.00765928  0.99687377]]

 t_gt:
[ 0.32818399 -0.87689743  0.35120674]

Pose Error in degrees for R and t:
6.784030251257158 78.93698871527535

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.79838587e-01 -1.99787228e-01 -1.18581179e-03]
 [ 1.99788056e-01  9.79838937e-01  6.24785833e-04]
 [ 1.03708033e-03 -8.49100299e-04  9.99999102e-01]]

 t_estimated:
[[-0.36135151]
 [-0.93242859]
 [-0.00141706]]

 R_gt:
[[ 0.99808071 -0.05850467  0.02033261]
 [ 0.05664428  0.99498898  0.082389  ]
 [-0.02505012 -0.08107951  0.99639251]]

 t_gt:
[ 0.49641029 -0.46907887  0.73043948]

Pose Error in degrees for R and t:
9.537607223388395 75.10971879924125

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 5.56415040e-01  8.30901362e-01  2.28663531e-03]
 [ 8.30903407e-01 -5.56416677e-01  9.69946092e-05]
 [ 1.35291497e-03  1.84600381e-03 -9.99997381e-01]]

 t_estimated:
[[0.66865306]
 [0.74357217]
 [0.00187298]]

 R_gt:
[[ 0.98171035 -0.16649135  0.09233853]
 [ 0.13752307  0.95554566  0.26080366]
 [-0.13165503 -0.24333472  0.9609651 ]]

 t_gt:
[ 0.42604197 -0.33618617  0.83992089]

Pose Error in degrees for R and t:
170.20846946953586 87.91003170583886

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 8.88280092e-01  4.59302090e-01  2.60543840e-04]
 [-4.59301152e-01  8.88279184e-01 -1.59459337e-03]
 [-9.63835736e-04  1.29677746e-03  9.99998695e-01]]

 t_estimated:
[[-0.82653039]
 [-0.56288904]
 [-0.00185587]]

 R_gt:
[[ 0.96855713 -0.20654983  0.13869205]
 [ 0.15639735  0.9390171   0.30624491]
 [-0.19348843 -0.27492496  0.94179494]]

 t_gt:
[ 0.43895981 -0.27546076  0.85524011]

Pose Error in degrees for R and t:
42.73803059678922 77.91591264629947

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.99999718e-01  7.43262468e-04 -1.05694030e-04]
 [-7.43225977e-04  9.99999664e-01  3.44868764e-04]
 [ 1.05950323e-04 -3.44790112e-04  9.99999935e-01]]

 t_estimated:
[[9.99974549e-01]
 [7.07946583e-03]
 [8.84933229e-04]]

 R_gt:
[[ 0.9986085  -0.05062015 -0.01481155]
 [ 0.05031532  0.99852757 -0.02024732]
 [ 0.01581366  0.01947313  0.99968455]]

 t_gt:
[-0.10984489 -0.50713498 -0.85483812]

Pose Error in degrees for R and t:
3.2746073384287975 83.44316085788381

Number of keypoints:
Image1: 444
Image2: 444

 R_estimated:
[[ 9.99377587e-01  3.52765065e-02  8.64346817e-05]
 [-3.52764908e-02  9.99377575e-01 -1.77868978e-04]
 [-9.26554788e-05  1.74709158e-04  9.99999980e-01]]

 t_estimated:
[[ 9.82619805e-01]
 [-1.85628048e-01]
 [ 7.39272435e-04]]

 R_gt:
[[ 0.99176224 -0.12726691  0.01447838]
 [ 0.12801215  0.98869516 -0.07805928]
 [-0.00438093  0.07926868  0.99684261]]

 t_gt:
[ 0.40383973 -0.43965853 -0.80225547]

Pose Error in degrees for R and t:
10.408183336616027 61.45552480510921

Number of keypoints:
Image1: 509
Image2: 509

 R_estimated:
[[ 9.99874641e-01 -1.58334712e-02  6.17415230e-05]
 [ 1.58334806e-02  9.99874631e-01 -1.53853511e-04]
 [-5.92977473e-05  1.54811808e-04  9.99999986e-01]]

 t_estimated:
[[ 9.91498260e-01]
 [-1.30118166e-01]
 [ 6.80581402e-04]]

 R_gt:
[[ 0.99038242 -0.1382276   0.00604225]
 [ 0.13833179  0.98840012 -0.06268188]
 [ 0.00269189  0.06291489  0.99801485]]

 t_gt:
[ 0.45212607 -0.50890641 -0.73252733]

Pose Error in degrees for R and t:
7.914810989499786 59.06925391671101

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99894420e-01 -1.45303996e-02 -1.24410288e-04]
 [ 1.45304156e-02  9.99894420e-01  1.29083420e-04]
 [ 1.22521519e-04 -1.30877525e-04  9.99999984e-01]]

 t_estimated:
[[-9.90401394e-01]
 [ 1.38220634e-01]
 [-3.67537755e-04]]

 R_gt:
[[ 0.98491988  0.17240624 -0.01447241]
 [-0.17270487  0.98471032 -0.02277421]
 [ 0.01032392  0.02493     0.99963641]]

 t_gt:
[-0.79684711  0.58797864 -0.13898134]

Pose Error in degrees for R and t:
10.881277028958948 29.48083659975099

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.98694030e-01 -5.10897597e-02 -2.67770217e-04]
 [ 5.10898359e-02  9.98694021e-01  2.85857833e-04]
 [ 2.52816107e-04 -2.99164847e-04  9.99999923e-01]]

 t_estimated:
[[-9.99999755e-01]
 [-5.88021786e-04]
 [-3.80260787e-04]]

 R_gt:
[[ 9.57027880e-01  2.89993881e-01 -5.61078310e-05]
 [-2.89875955e-01  9.56631295e-01 -2.87693899e-02]
 [-8.28937985e-03  2.75498923e-02  9.99586273e-01]]

 t_gt:
[-0.78018872  0.62195762 -0.06689004]

Pose Error in degrees for R and t:
19.855686595988644 38.75331754902927

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 1.74947099e-01 -9.84577831e-01  8.83218142e-05]
 [-9.84577375e-01 -1.74947103e-01 -9.50753043e-04]
 [ 9.51542015e-04  7.93718268e-05 -9.99999544e-01]]

 t_estimated:
[[0.00624337]
 [0.99997997]
 [0.00104056]]

 R_gt:
[[ 0.92898925  0.36987352 -0.01312062]
 [-0.36978121  0.92907544  0.00900398]
 [ 0.01552006 -0.00351265  0.99987338]]

 t_gt:
[-0.76123493  0.6483982  -0.01005772]

Pose Error in degrees for R and t:
179.70947805412192 49.93755863539485

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-9.79387472e-01  2.01989337e-01 -6.98281032e-04]
 [-2.01987413e-01 -9.79385687e-01 -2.18184168e-03]
 [-1.12459520e-03 -1.99582443e-03  9.99997376e-01]]

 t_estimated:
[[8.32800711e-01]
 [5.53572320e-01]
 [8.14076941e-04]]

 R_gt:
[[ 0.99442812  0.10531606 -0.00465482]
 [-0.10529188  0.99442821  0.00510183]
 [ 0.00516674 -0.00458273  0.99997627]]

 t_gt:
[-0.78789288  0.61489929  0.03352129]

Pose Error in degrees for R and t:
162.30252299317698 71.59455344176102

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 8.90202773e-01  4.55562656e-01  1.29978551e-03]
 [-4.55562807e-01  8.90203623e-01 -1.94213852e-04]
 [-1.24555035e-03 -4.19244228e-04  9.99999136e-01]]

 t_estimated:
[[-0.80263336]
 [ 0.59647143]
 [ 0.0012325 ]]

 R_gt:
[[ 0.96035674  0.27870995 -0.00595679]
 [-0.27873358  0.95963811 -0.0374484 ]
 [-0.0047206   0.03762481  0.99928125]]

 t_gt:
[-0.76144109  0.63940243 -0.10663958]

Pose Error in degrees for R and t:
11.126642419082794 7.062850628622739

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99806598e-01 -1.96648872e-02 -2.41381088e-04]
 [ 1.96649110e-02  9.99806622e-01  9.67914457e-05]
 [ 2.39431017e-04 -1.01519464e-04  9.99999966e-01]]

 t_estimated:
[[-9.98338549e-01]
 [-5.76153206e-02]
 [-7.84643635e-04]]

 R_gt:
[[ 0.93542723  0.35351184 -0.0023499 ]
 [-0.35350419  0.93529944 -0.01578   ]
 [-0.00338008  0.01559273  0.9998732 ]]

 t_gt:
[-0.74924774  0.66152275 -0.03186649]

Pose Error in degrees for R and t:
21.849344484896868 44.77207649149579

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 9.99996697e-01  2.56396818e-03  1.80414428e-04]
 [-2.56393426e-03  9.99996695e-01 -1.87998422e-04]
 [-1.80895853e-04  1.87535230e-04  9.99999966e-01]]

 t_estimated:
[[ 0.96001362]
 [-0.27993135]
 [ 0.00350618]]

 R_gt:
[[ 0.99961512  0.0208804   0.01831803]
 [-0.02046165  0.99953314 -0.02269798]
 [-0.01878429  0.0223138   0.99957468]]

 t_gt:
[-0.88408895  0.46520775 -0.04436749]

Pose Error in degrees for R and t:
1.9536620055567862 11.72923098512253

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 9.99999808e-01 -6.19626334e-04 -1.79906993e-05]
 [ 6.19621548e-04  9.99999773e-01 -2.64830394e-04]
 [ 1.81547911e-05  2.64819195e-04  9.99999965e-01]]

 t_estimated:
[[9.29323242e-01]
 [3.69266767e-01]
 [6.05569290e-04]]

 R_gt:
[[ 0.9998812   0.01305563 -0.00826074]
 [-0.01339626  0.99900075 -0.04264261]
 [ 0.00769558  0.04274904  0.99905643]]

 t_gt:
[-0.88082517  0.33275874 -0.33677684]

Pose Error in degrees for R and t:
2.5979148426972394 45.901140508240964

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.04220415  0.99898934  0.01546288]
 [ 0.99899026 -0.04195547 -0.0160687 ]
 [-0.01540371  0.01612543 -0.99975132]]

 t_estimated:
[[-0.6647082 ]
 [ 0.74701929]
 [-0.01118906]]

 R_gt:
[[ 0.99637069 -0.0771498   0.03597431]
 [ 0.08019453  0.99245972 -0.09269877]
 [-0.02855265  0.09524736  0.99504383]]

 t_gt:
[-0.76667957  0.01353091 -0.64188733]

Pose Error in degrees for R and t:
173.5450857482345 58.20321094185136

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999678e-01 -2.34770128e-04 -7.67959660e-04]
 [ 2.34925186e-04  9.99999952e-01  2.01824895e-04]
 [ 7.67912240e-04 -2.02005243e-04  9.99999685e-01]]

 t_estimated:
[[8.04100030e-01]
 [5.94493573e-01]
 [7.30336085e-04]]

 R_gt:
[[ 0.99990164  0.00998064 -0.00985744]
 [-0.01087506  0.99538144 -0.09537821]
 [ 0.00885965  0.09547699  0.99539227]]

 t_gt:
[-0.02587418  0.40371419 -0.91451921]

Pose Error in degrees for R and t:
5.543701214001971 77.37716580238846

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.71514042e-01 -2.36981249e-01 -5.94189613e-04]
 [ 2.36981530e-01  9.71514049e-01  4.55537371e-04]
 [ 4.69309742e-04 -5.83372916e-04  9.99999720e-01]]

 t_estimated:
[[ 3.37616458e-01]
 [-9.41283761e-01]
 [-8.69603923e-05]]

 R_gt:
[[ 0.9980858  -0.03406882 -0.05161916]
 [ 0.02566564  0.98750305 -0.15549651]
 [ 0.05627207  0.15387396  0.98648716]]

 t_gt:
[ 0.17962539  0.14242729 -0.97337001]

Pose Error in degrees for R and t:
15.250857291456404 85.79441788303274

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999926e-01  2.50526756e-04  2.90706741e-04]
 [-2.50413369e-04  9.99999893e-01 -3.90011028e-04]
 [-2.90804418e-04  3.89938202e-04  9.99999882e-01]]

 t_estimated:
[[-0.23550986]
 [-0.97187069]
 [-0.00157007]]

 R_gt:
[[ 0.97205052 -0.23387363  0.02052757]
 [ 0.23471516  0.96614367 -0.10712131]
 [ 0.00522061  0.10894531  0.99403367]]

 t_gt:
[ 0.67952356 -0.63599936 -0.36572195]

Pose Error in degrees for R and t:
14.961514207661734 62.700045661514366

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[-8.01490994e-01 -5.97998095e-01 -3.23491029e-03]
 [ 5.97996103e-01 -8.01497294e-01  1.65791019e-03]
 [-3.58419898e-03 -6.05663665e-04  9.99993393e-01]]

 t_estimated:
[[0.9886539 ]
 [0.15019934]
 [0.00190126]]

 R_gt:
[[ 0.998282    0.02893545 -0.05094083]
 [-0.03031275  0.99919041 -0.02645808]
 [ 0.05013394  0.02795617  0.99835082]]

 t_gt:
[-0.08105037  0.65402936 -0.75211464]

Pose Error in degrees for R and t:
144.99101447588484 89.04460316374995

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99999631e-01  3.35327369e-04 -7.90635518e-04]
 [-3.34492339e-04  9.99999386e-01  1.05604555e-03]
 [ 7.90989154e-04 -1.05578070e-03  9.99999130e-01]]

 t_estimated:
[[-0.8821968 ]
 [-0.4708772 ]
 [-0.00186117]]

 R_gt:
[[ 0.98625517  0.08940829 -0.13895132]
 [-0.10870917  0.98442487 -0.1381665 ]
 [ 0.12443483  0.15137247  0.98061298]]

 t_gt:
[-0.10718965  0.65187626 -0.75071148]

Pose Error in degrees for R and t:
12.67508445701823 77.8193851130214

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 7.25653885e-01 -6.88059823e-01 -3.46692812e-04]
 [ 6.88059899e-01  7.25653693e-01  5.41735842e-04]
 [-1.21167749e-04 -6.31658139e-04  9.99999793e-01]]

 t_estimated:
[[9.98827337e-01]
 [4.84054254e-02]
 [9.30873566e-04]]

 R_gt:
[[ 0.96515021  0.15273442 -0.21250259]
 [-0.19605447  0.95986694 -0.2005487 ]
 [ 0.17334385  0.23522156  0.95635857]]

 t_gt:
[-0.11352562  0.70730923 -0.69772888]

Pose Error in degrees for R and t:
56.183762819173865 85.4226778811341

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 0.97063882 -0.24041811  0.00770824]
 [ 0.24053758  0.97031026 -0.02529187]
 [-0.00139876  0.02640339  0.99965039]]

 t_estimated:
[[-0.90399202]
 [-0.42754556]
 [-0.00179163]]

 R_gt:
[[ 9.94077829e-01 -1.08390047e-01  7.80382576e-03]
 [ 1.08668912e-01  9.91801012e-01 -6.72376928e-02]
 [-4.52361861e-04  6.76868864e-02  9.97706225e-01]]

 t_gt:
[ 0.93970451  0.10253133 -0.32625568]

Pose Error in degrees for R and t:
8.038419679674057 26.780697810874884

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99321068e-01 -3.68428883e-02  6.60390309e-05]
 [ 3.68428832e-02  9.99321068e-01  7.60521727e-05]
 [-6.87961766e-05 -7.35674701e-05  9.99999995e-01]]

 t_estimated:
[[3.47904624e-01]
 [9.37529926e-01]
 [1.02924863e-04]]

 R_gt:
[[ 0.98923809 -0.13818518  0.04809603]
 [ 0.14361809  0.97986732 -0.13867794]
 [-0.02796513  0.14409274  0.98916951]]

 t_gt:
[ 0.84440949  0.31829    -0.43088757]

Pose Error in degrees for R and t:
10.374344047503394 53.691266771994485

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[-0.99955178 -0.02919839 -0.00661059]
 [-0.02914031  0.99953731 -0.00871785]
 [ 0.00686208 -0.00852131 -0.99994015]]

 t_estimated:
[[8.43497350e-01]
 [5.37132746e-01]
 [7.95752217e-04]]

 R_gt:
[[ 0.98829813 -0.15227938  0.00883063]
 [ 0.1504837   0.96391777 -0.21958167]
 [ 0.02492545  0.21834065  0.97555466]]

 t_gt:
[ 0.70815679  0.47556141 -0.52187672]

Pose Error in degrees for R and t:
178.93126806726968 31.53150872560794

Number of keypoints:
Image1: 317
Image2: 317

 R_estimated:
[[ 9.99945398e-01  1.04483135e-02  1.85061697e-04]
 [-1.04483070e-02  9.99945414e-01 -3.59204300e-05]
 [-1.85426903e-04  3.39848872e-05  9.99999982e-01]]

 t_estimated:
[[9.83882421e-01]
 [1.78814817e-01]
 [8.01860164e-04]]

 R_gt:
[[ 0.99834223 -0.0575378  -0.00191838]
 [ 0.05754844  0.99832177  0.0065627 ]
 [ 0.00153718 -0.00666258  0.99997745]]

 t_gt:
[ 0.3440982  -0.93570545  0.07779292]

Pose Error in degrees for R and t:
3.9166808453929636 80.13678811376394

Number of keypoints:
Image1: 526
Image2: 526

 R_estimated:
[[-0.99946735  0.02612118  0.01956292]
 [ 0.02615315  0.999657    0.00137994]
 [-0.01952017  0.00189083 -0.99980768]]

 t_estimated:
[[0.99993349]
 [0.00497266]
 [0.01040651]]

 R_gt:
[[ 0.98838539 -0.14716067  0.0379221 ]
 [ 0.14649337  0.98901335  0.01983348]
 [-0.04042438 -0.01404793  0.99908382]]

 t_gt:
[ 0.39031027 -0.8448528   0.36589841]

Pose Error in degrees for R and t:
176.63779277797283 67.0522911937014

Number of keypoints:
Image1: 398
Image2: 398

 R_estimated:
[[ 9.92921437e-01 -1.18772787e-01  2.13953694e-04]
 [ 1.18772711e-01  9.92921411e-01  3.39186770e-04]
 [-2.52725362e-04 -3.11373955e-04  9.99999920e-01]]

 t_estimated:
[[-0.75242182]
 [-0.65868034]
 [-0.0012746 ]]

 R_gt:
[[ 0.9820637  -0.18421694  0.04020003]
 [ 0.18443467  0.98284383 -0.00175054]
 [-0.03918851  0.00913309  0.99919043]]

 t_gt:
[ 0.4026288  -0.88376296  0.23843885]

Pose Error in degrees for R and t:
4.442937822713976 73.80742380774694

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.96966818e-01 -7.78270211e-02 -3.43470095e-04]
 [ 7.78272082e-02  9.96966700e-01  5.69991562e-04]
 [ 2.98067502e-04 -5.94993993e-04  9.99999779e-01]]

 t_estimated:
[[-0.85619706]
 [-0.51664768]
 [-0.00133157]]

 R_gt:
[[ 0.99878484  0.04866082 -0.00782532]
 [-0.04859296  0.99878235  0.00856625]
 [ 0.00823251 -0.00817552  0.99993222]]

 t_gt:
[-0.48691489  0.87283348 -0.03279646]

Pose Error in degrees for R and t:
7.278073875648153 88.05107374557272

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 0.03263871  0.99946592  0.00161065]
 [-0.99946165  0.03264386 -0.00328353]
 [-0.00333435 -0.00150261  0.99999331]]

 t_estimated:
[[0.02855968]
 [0.99958872]
 [0.00259633]]

 R_gt:
[[ 0.99987324  0.01337401 -0.00863601]
 [-0.01323225  0.99978063  0.01623439]
 [ 0.00885158 -0.01611811  0.99983056]]

 t_gt:
[-0.07365839  0.98969517  0.12279216]

Pose Error in degrees for R and t:
87.37451569084607 9.067531222570286

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 0.98661472 -0.1630601  -0.00167175]
 [ 0.16306464  0.98661057  0.00308479]
 [ 0.00114636 -0.0033161   0.99999384]]

 t_estimated:
[[-0.69060188]
 [-0.72323472]
 [-0.0007589 ]]

 R_gt:
[[ 0.99839832 -0.05620238 -0.00653455]
 [ 0.05622098  0.99841444  0.00273393]
 [ 0.00637181 -0.00309672  0.99997516]]

 t_gt:
[ 0.99607996  0.08107078 -0.03538703]

Pose Error in degrees for R and t:
6.16895541700261 41.7118104333656

Number of keypoints:
Image1: 415
Image2: 415

 R_estimated:
[[ 9.99292320e-01 -3.76146141e-02  4.50387305e-06]
 [ 3.76146140e-02  9.99292320e-01  2.78850102e-05]
 [-5.54956964e-06 -2.76958651e-05  1.00000000e+00]]

 t_estimated:
[[ 9.71146841e-01]
 [-2.38482188e-01]
 [-2.41553484e-04]]

 R_gt:
[[ 0.99896402 -0.04436623  0.01018133]
 [ 0.04443228  0.99899238 -0.00631983]
 [-0.00989061  0.00676635  0.99992836]]

 t_gt:
[ 0.38553456 -0.92043604  0.06450271]

Pose Error in degrees for R and t:
0.7883255396639658 53.56555314394105

Number of keypoints:
Image1: 289
Image2: 289

 R_estimated:
[[ 9.99997084e-01  2.41237030e-03  1.09217868e-04]
 [-2.41238489e-03  9.99997081e-01  1.33642926e-04]
 [-1.08895153e-04 -1.33906012e-04  9.99999985e-01]]

 t_estimated:
[[9.54239241e-01]
 [2.99044139e-01]
 [2.71784241e-04]]

 R_gt:
[[ 0.98885297 -0.14354016  0.03956724]
 [ 0.14267405  0.98948032  0.023938  ]
 [-0.0425871  -0.01802554  0.99893052]]

 t_gt:
[ 0.41178137 -0.840091    0.35310511]

Pose Error in degrees for R and t:
8.77649188350823 81.84742539706389

Number of keypoints:
Image1: 328
Image2: 328

 R_estimated:
[[ 9.99897154e-01 -1.43406218e-02  1.67125620e-04]
 [ 1.43405807e-02  9.99897139e-01  2.44112638e-04]
 [-1.70609156e-04 -2.41690853e-04  9.99999956e-01]]

 t_estimated:
[[9.61160991e-01]
 [2.75988024e-01]
 [3.98860356e-04]]

 R_gt:
[[ 0.97744102 -0.20631863  0.04517649]
 [ 0.20559614  0.9784301   0.0201406 ]
 [-0.04835667 -0.01039738  0.99877603]]

 t_gt:
[ 0.46200176 -0.83906023  0.28728438]

Pose Error in degrees for R and t:
11.424045335501024 77.72511550194115

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99080772e-01  4.28671708e-02  1.32856446e-04]
 [-4.28671711e-02  9.99080780e-01 -4.64804882e-07]
 [-1.32754247e-04 -5.23080239e-06  9.99999991e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99775954 -0.06567374  0.012714  ]
 [ 0.06543103  0.99768133  0.01872093]
 [-0.01391368 -0.01784654  0.99974395]]

 t_gt:
[ 0.76357296 -0.5272755   0.37274238]

Pose Error in degrees for R and t:
6.348849237763909 40.33942907667307

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 1.00000000e+00  1.76358927e-13  6.48352899e-16]
 [-1.76247905e-13  1.00000000e+00 -5.44269491e-16]
 [-3.02275566e-16 -6.63640150e-16  1.00000000e+00]]

 t_estimated:
[[-0.94078481]
 [-0.33899729]
 [-0.00218647]]

 R_gt:
[[ 0.98796091 -0.15440381  0.00963768]
 [ 0.15456023  0.98781328 -0.0183515 ]
 [-0.00668626  0.01962074  0.99978478]]

 t_gt:
[ 0.87297549 -0.48494947 -0.05232399]

Pose Error in degrees for R and t:
8.966555201660947 48.94591759576466

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.98710341e-01  5.07691568e-02  3.83378080e-04]
 [-5.07692167e-02  9.98710401e-01  1.48046703e-04]
 [-3.75367470e-04 -1.67319578e-04  9.99999916e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97238486 -0.2329396   0.01440542]
 [ 0.23260689  0.97233036  0.02162624]
 [-0.01904399 -0.01767797  0.99966247]]

 t_gt:
[ 0.87187745 -0.473921    0.1234042 ]

Pose Error in degrees for R and t:
16.43799533579698 29.48330465781188

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-0.56029851  0.78402208  0.26716092]
 [ 0.78345098  0.60632763 -0.13627677]
 [-0.26883105  0.13295181 -0.95396734]]

 t_estimated:
[[ 0.94922838]
 [-0.28099486]
 [ 0.14144741]]

 R_gt:
[[ 0.99933944 -0.03585138 -0.0058793 ]
 [ 0.03603314  0.99875799  0.03444263]
 [ 0.00463614 -0.03463183  0.99938976]]

 t_gt:
[ 0.46742347 -0.82618651  0.31453324]

Pose Error in degrees for R and t:
163.71242344366397 43.91779689174548

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.59137216e-01  2.82940768e-01  5.68234071e-04]
 [-2.82940838e-01  9.59137363e-01  4.57376688e-05]
 [-5.32073477e-04 -2.04645325e-04  9.99999838e-01]]

 t_estimated:
[[0.02099403]
 [0.99977822]
 [0.001663  ]]

 R_gt:
[[ 0.9973944  -0.05641566 -0.04496674]
 [ 0.05584483  0.99834379 -0.01386717]
 [ 0.04567352  0.011321    0.99889196]]

 t_gt:
[ 0.53491295 -0.81330763 -0.22890791]

Pose Error in degrees for R and t:
19.842133387150373 36.65181582839219

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 8.68394958e-01  4.95872409e-01 -8.66701003e-04]
 [-4.95869100e-01  8.68393589e-01  2.53181795e-03]
 [ 2.00809626e-03 -1.76884769e-03  9.99996419e-01]]

 t_estimated:
[[0.88635593]
 [0.46300298]
 [0.00118361]]

 R_gt:
[[ 0.97976092 -0.19265137 -0.05434496]
 [ 0.19135096  0.98111504 -0.02826395]
 [ 0.05876298  0.01729302  0.99812247]]

 t_gt:
[ 0.74689337 -0.64755415 -0.15107585]

Pose Error in degrees for R and t:
40.94929401322261 68.776000949684

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-9.51378931e-01 -3.08022387e-01 -5.81586723e-04]
 [ 3.08020344e-01 -9.51361485e-01 -5.89847180e-03]
 [ 1.26356215e-03 -5.79082234e-03  9.99982435e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99407771  0.05940468 -0.09099615]
 [-0.06769339  0.9935583  -0.09088637]
 [ 0.08501036  0.09650836  0.99169526]]

 t_gt:
[-0.14294592  0.60548626 -0.78291306]

Pose Error in degrees for R and t:
165.73248028889722 82.83403875847958

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-9.14256232e-01 -4.05135245e-01 -9.87978285e-04]
 [ 4.05135522e-01 -9.14246204e-01 -4.36897598e-03]
 [ 8.66770756e-04 -4.39462861e-03  9.99989968e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.97466115  0.11870989 -0.18958776]
 [-0.15349628  0.97146186 -0.18083593]
 [ 0.16270999  0.2053549   0.96506787]]

 t_gt:
[-0.10688997  0.64945256 -0.75285185]

Pose Error in degrees for R and t:
164.18060809368833 74.71898532929202

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.25452957e-02  9.99094539e-01  2.53278946e-05]
 [-9.99092436e-01  4.25452582e-02 -2.05046913e-03]
 [-2.04969010e-03  6.19329077e-05  9.99997897e-01]]

 t_estimated:
[[4.30594221e-02]
 [9.99072133e-01]
 [8.71069096e-04]]

 R_gt:
[[ 0.96384012  0.15721845 -0.21516496]
 [-0.20422568  0.95447577 -0.21741344]
 [ 0.17118831  0.25349372  0.95206936]]

 t_gt:
[-0.12565741  0.70892923 -0.69399536]

Pose Error in degrees for R and t:
78.61199496245258 45.39170018800726

Number of keypoints:
Image1: 286
Image2: 286

 R_estimated:
[[ 9.88614067e-01 -1.50473339e-01 -1.53785832e-05]
 [ 1.50473336e-01  9.88614061e-01 -1.18449541e-04]
 [ 3.30269815e-05  1.14786816e-04  9.99999993e-01]]

 t_estimated:
[[-1.26164600e-01]
 [-9.92009043e-01]
 [-7.43231763e-04]]

 R_gt:
[[ 0.99969112  0.02336692 -0.00838712]
 [-0.02373316  0.99863228 -0.04658821]
 [ 0.0072874   0.04677308  0.99887874]]

 t_gt:
[-0.22788164  0.8811075  -0.41439057]

Pose Error in degrees for R and t:
10.363376987494062 32.32720483468116

Number of keypoints:
Image1: 377
Image2: 377

 R_estimated:
[[ 9.96953379e-01 -7.79992403e-02  2.81469639e-04]
 [ 7.79992210e-02  9.96953417e-01  7.87155243e-05]
 [-2.86751869e-04 -5.65212953e-05  9.99999957e-01]]

 t_estimated:
[[0.13896844]
 [0.99029612]
 [0.0011678 ]]

 R_gt:
[[ 0.99734766 -0.07151384 -0.01350976]
 [ 0.06970822  0.9920144  -0.10511223]
 [ 0.02091904  0.10389138  0.99436854]]

 t_gt:
[ 0.60891884  0.5836663  -0.5371699 ]

Pose Error in degrees for R and t:
6.104006288923307 48.54774786717097

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.81246951e-01 -1.92754636e-01  2.69051485e-04]
 [ 1.92754666e-01  9.81246978e-01 -8.95263829e-05]
 [-2.46749331e-04  1.39708419e-04  9.99999960e-01]]

 t_estimated:
[[0.6277169 ]
 [0.77844105]
 [0.00101212]]

 R_gt:
[[ 0.99260925 -0.11806404  0.02803647]
 [ 0.12114688  0.97744011 -0.17301774]
 [-0.00697559  0.17513509  0.98451922]]

 t_gt:
[ 0.65808761  0.56923127 -0.49284527]

Pose Error in degrees for R and t:
10.92044110383881 31.162083424203868

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99418752e-01  3.40904296e-02 -2.80809902e-05]
 [-3.40904333e-02  9.99418742e-01 -1.44456846e-04]
 [ 2.31400719e-05  1.45330174e-04  9.99999989e-01]]

 t_estimated:
[[-0.81239799]
 [-0.58310204]
 [-0.00123277]]

 R_gt:
[[ 0.9980421   0.0350709   0.05179414]
 [-0.03473175  0.9993691  -0.00744329]
 [-0.05202288  0.00562956  0.99862948]]

 t_gt:
[-0.55665098  0.52944758  0.64017571]

Pose Error in degrees for R and t:
3.000311623518013 81.79525057048043

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.32847217e-01  3.60272164e-01  1.96916713e-04]
 [-3.60272114e-01  9.32847224e-01 -2.47515066e-04]
 [-2.72865997e-04  1.59950140e-04  9.99999950e-01]]

 t_estimated:
[[-9.71100907e-01]
 [-2.38667721e-01]
 [-8.64738118e-04]]

 R_gt:
[[ 0.97979625  0.05112358  0.19335379]
 [-0.05082056  0.99868634 -0.00652891]
 [-0.19343461 -0.00342827  0.98110668]]

 t_gt:
[-0.40201598  0.25041938  0.88072316]

Pose Error in degrees for R and t:
21.286926838065085 70.7391472508211

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-4.54522501e-02 -9.98966482e-01 -2.45575032e-04]
 [-9.98966241e-01  4.54524175e-02 -7.25556887e-04]
 [ 7.35968990e-04  2.12342973e-04 -9.99999707e-01]]

 t_estimated:
[[8.38993234e-01]
 [5.44141461e-01]
 [6.50886915e-04]]

 R_gt:
[[ 0.96575157  0.09098261  0.24299619]
 [-0.09138419  0.99576921 -0.00964392]
 [-0.24284633 -0.0128925   0.96997888]]

 t_gt:
[-0.46567284  0.30425558  0.83100984]

Pose Error in degrees for R and t:
169.80903732169602 77.02079550125379

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.05806258  0.98865758  0.13850968]
 [ 0.99823608 -0.0592183   0.00423407]
 [ 0.01238835  0.13801952 -0.99035203]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 9.99572069e-01  2.92696514e-02  5.51718897e-04]
 [-2.91192931e-02  9.96013610e-01 -8.43186271e-02]
 [-3.01694589e-03  8.42657800e-02  9.96438103e-01]]

 t_gt:
[-0.05880072  0.64561213 -0.76139835]

Pose Error in degrees for R and t:
171.2244044172217 76.3713321023179

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99999953e-01  2.74303483e-04 -1.39698363e-04]
 [-2.74287071e-04  9.99999955e-01  1.17492442e-04]
 [ 1.39730586e-04 -1.17454119e-04  9.99999983e-01]]

 t_estimated:
[[-1.19756033e-01]
 [-9.92803291e-01]
 [-3.43546686e-04]]

 R_gt:
[[ 0.99925153  0.03103932 -0.02312172]
 [-0.03476289  0.98240053 -0.18352482]
 [ 0.01701839  0.184191    0.98274285]]

 t_gt:
[-0.02428956  0.51159868 -0.85888114]

Pose Error in degrees for R and t:
10.830417523097479 59.687699991139

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.23895301 -0.93129542  0.27493691]
 [-0.97019077 -0.24075355  0.02770573]
 [ 0.04038982 -0.27336162 -0.961063  ]]

 t_estimated:
[[0.7037561 ]
 [0.7008724 ]
 [0.11621204]]

 R_gt:
[[ 0.99557313 -0.08499748 -0.04013154]
 [ 0.07539521  0.97708379 -0.19905281]
 [ 0.0561323   0.1951455   0.97916591]]

 t_gt:
[ 0.34503438  0.02660564 -0.93821288]

Pose Error in degrees for R and t:
179.91781270334639 81.23190186316033

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[-0.99783419 -0.06557777  0.0051467 ]
 [ 0.06553627 -0.99781926 -0.00785669]
 [ 0.0056507  -0.00750238  0.99995589]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99092514 -0.13322802 -0.01784864]
 [ 0.13196817  0.98948353 -0.05920615]
 [ 0.02554842  0.05631311  0.99808608]]

 t_gt:
[ 0.83583528 -0.39157048 -0.38477518]

Pose Error in degrees for R and t:
168.60574290295256 64.17550298098247

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-0.96122723  0.27572509 -0.00422907]
 [ 0.27573674  0.96123003 -0.00246589]
 [ 0.0033852  -0.00353639 -0.99998802]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96368247 -0.266311   -0.01988936]
 [ 0.26544754  0.96338315 -0.03781572]
 [ 0.02923233  0.03116299  0.99908682]]

 t_gt:
[ 0.86882223 -0.47994849 -0.12164446]

Pose Error in degrees for R and t:
178.6305347768709 29.861065056742667

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99929256e-01  1.18861116e-02  4.51908836e-04]
 [-1.18866181e-02  9.99928707e-01  1.13522229e-03]
 [-4.38383239e-04 -1.14051364e-03  9.99999254e-01]]

 t_estimated:
[[0.86321466]
 [0.50483412]
 [0.00172298]]

 R_gt:
[[ 0.94360534 -0.32939009 -0.03332923]
 [ 0.32974955  0.94405153  0.00574356]
 [ 0.02957266 -0.0164101   0.99942787]]

 t_gt:
[ 0.84986023 -0.52550846  0.0397296 ]

Pose Error in degrees for R and t:
20.022842655080677 62.07044277072087

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 9.99999980e-01 -1.95472819e-04  4.27724777e-05]
 [ 1.95473097e-04  9.99999981e-01 -6.49301075e-06]
 [-4.27712077e-05  6.50137149e-06  9.99999999e-01]]

 t_estimated:
[[3.54669657e-02]
 [9.99370844e-01]
 [1.06441738e-04]]

 R_gt:
[[ 0.99997492  0.0021371  -0.00681918]
 [-0.00227704  0.99978704 -0.02053271]
 [ 0.00677477  0.02054772  0.99976609]]

 t_gt:
[-0.0128343   0.73283433 -0.68028607]

Pose Error in degrees for R and t:
1.246340974414527 42.958654287153834

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.94569341e-01  1.04073176e-01  7.73961890e-04]
 [-1.04072883e-01  9.94569589e-01 -4.10773645e-04]
 [-8.12509477e-04  3.27994429e-04  9.99999616e-01]]

 t_estimated:
[[0.65983306]
 [0.75141131]
 [0.00117408]]

 R_gt:
[[ 0.99898124 -0.04491575 -0.00437704]
 [ 0.04492082  0.99899013  0.00125909]
 [ 0.0043163  -0.00145433  0.99998921]]

 t_gt:
[ 9.45958395e-01 -3.24287769e-01  3.96866094e-04]

Pose Error in degrees for R and t:
8.553911351892918 67.63524437590132

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.67287245e-01  2.53672193e-01  2.40940687e-03]
 [-2.53683572e-01  9.67250070e-01  8.48213891e-03]
 [-1.78816187e-04 -8.81589172e-03  9.99961123e-01]]

 t_estimated:
[[0.63545085]
 [0.77214061]
 [0.00104343]]

 R_gt:
[[ 0.98338587 -0.17133046  0.05999069]
 [ 0.15845329  0.97139953  0.17685089]
 [-0.08857467 -0.16440614  0.98240751]]

 t_gt:
[ 0.56428506 -0.42390008  0.70844272]

Pose Error in degrees for R and t:
26.322594854551767 88.16598307171553

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.98771309e-01 -4.95563844e-02 -1.92786245e-04]
 [ 4.95564314e-02  9.98771295e-01  2.47318067e-04]
 [ 1.80293178e-04 -2.56567988e-04  9.99999951e-01]]

 t_estimated:
[[9.98679299e-01]
 [5.13739391e-02]
 [6.13034748e-04]]

 R_gt:
[[ 0.99762667 -0.06596497  0.01977208]
 [ 0.06591807  0.9978205   0.00301732]
 [-0.01992703 -0.00170583  0.9998    ]]

 t_gt:
[ 0.63892801 -0.73600074  0.22377199]

Pose Error in degrees for R and t:
1.488904834068651 53.10072527530952

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-9.98121794e-01 -6.12566383e-02 -7.13857312e-04]
 [ 6.12573661e-02 -9.98121455e-01 -1.04664538e-03]
 [-6.48402321e-04 -1.08840859e-03  9.99999197e-01]]

 t_estimated:
[[8.01642509e-01]
 [5.97803395e-01]
 [6.23361204e-04]]

 R_gt:
[[ 0.99815688 -0.04761584  0.03763856]
 [ 0.04875059  0.99836567 -0.02981578]
 [-0.03615652  0.03159613  0.99884618]]

 t_gt:
[ 0.55352797 -0.82905028  0.07926176]

Pose Error in degrees for R and t:
173.7283969021748 87.02913691217319

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.23054557 -0.97303849  0.00669683]
 [-0.97305339  0.23056633  0.00250316]
 [-0.00397973 -0.00593928 -0.99997444]]

 t_estimated:
[[0.78687242]
 [0.61710569]
 [0.00351516]]

 R_gt:
[[ 0.99699949 -0.00302722  0.0773525 ]
 [ 0.00914289  0.99684609 -0.07882907]
 [-0.07686926  0.07930038  0.99388234]]

 t_gt:
[ 0.09110073 -0.97843289  0.18539078]

Pose Error in degrees for R and t:
178.95427208249626 57.895833972008816

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99996946e-01  2.44021975e-03  3.91715891e-04]
 [-2.44041397e-03  9.99996899e-01  4.96106577e-04]
 [-3.90504068e-04 -4.97061011e-04  9.99999800e-01]]

 t_estimated:
[[0.99922488]
 [0.0393297 ]
 [0.00167569]]

 R_gt:
[[ 0.99807992 -0.06105238  0.01047928]
 [ 0.06163063  0.99572003 -0.06886775]
 [-0.00622933  0.06938187  0.99757037]]

 t_gt:
[ 0.41316928  0.40663999 -0.8148221 ]

Pose Error in degrees for R and t:
5.436841791066789 64.69247069071757

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.99541379e-01  3.02783997e-02  4.99802942e-04]
 [-3.02785944e-02  9.99541423e-01  3.86852329e-04]
 [-4.87860474e-04 -4.01808242e-04  9.99999800e-01]]

 t_estimated:
[[0.34233692]
 [0.93957466]
 [0.00221042]]

 R_gt:
[[ 0.99929661 -0.03703466 -0.00578457]
 [ 0.03624109  0.99400713 -0.10312755]
 [ 0.00957033  0.1028464   0.99465131]]

 t_gt:
[ 0.02226758  0.75967633 -0.64992002]

Pose Error in degrees for R and t:
7.083898208067448 43.94890023617604

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 2.78722247e-01  9.60359471e-01 -4.85755032e-03]
 [-9.60371187e-01  2.78724020e-01 -3.21697982e-04]
 [ 1.04497025e-03  4.75471576e-03  9.99988150e-01]]

 t_estimated:
[[-0.02449806]
 [ 0.99969772]
 [-0.00207583]]

 R_gt:
[[ 9.93638528e-01 -1.12615085e-01 -9.84543131e-04]
 [ 1.10883465e-01  9.79817943e-01 -1.66317255e-01]
 [ 1.96952082e-02  1.65151193e-01  9.86071493e-01]]

 t_gt:
[ 0.44952621  0.62646421 -0.63676431]

Pose Error in degrees for R and t:
80.72542914264116 51.93288333714947

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.43296049e-01 -3.31952639e-01  1.00040908e-04]
 [ 3.31952653e-01  9.43295976e-01 -3.70796324e-04]
 [ 2.87186328e-05  3.82979552e-04  9.99999926e-01]]

 t_estimated:
[[0.93513196]
 [0.35429799]
 [0.00107363]]

 R_gt:
[[ 0.99756627 -0.00889356 -0.06915849]
 [ 0.00850118  0.99994687 -0.00595279]
 [ 0.06920793  0.00535092  0.99758792]]

 t_gt:
[ 0.66706794  0.0233671  -0.74463034]

Pose Error in degrees for R and t:
19.299507856455097 50.855673054461725

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-0.73804695 -0.6747453  -0.00234068]
 [ 0.67467555 -0.73801308  0.01223074]
 [-0.00998008  0.00744766  0.99992246]]

 t_estimated:
[[0.82411063]
 [0.56642763]
 [0.00118748]]

 R_gt:
[[ 0.99258148 -0.00405937 -0.12151251]
 [ 0.00515051  0.99994962  0.00867531]
 [ 0.12147161 -0.00923634  0.99255132]]

 t_gt:
[ 0.6880176   0.05413314 -0.72367215]

Pose Error in degrees for R and t:
137.42352451159488 53.358530398262666

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.99733325 -0.0725058   0.00832459]
 [ 0.07259391  0.99730289 -0.01081951]
 [-0.00751766  0.01139497  0.99990682]]

 t_estimated:
[[0.76585699]
 [0.64300999]
 [0.00110673]]

 R_gt:
[[ 0.98567879  0.01637382 -0.16783554]
 [-0.01336849  0.99972994  0.01902195]
 [ 0.16810182 -0.01650595  0.98563131]]

 t_gt:
[ 0.61652609  0.16972872 -0.76882231]

Pose Error in degrees for R and t:
11.41905117546446 54.51729368339447

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 9.92892012e-01  1.19016186e-01 -7.74816189e-04]
 [-1.19015673e-01  9.92892144e-01  6.78181920e-04]
 [ 8.50023533e-04 -5.81146141e-04  9.99999470e-01]]

 t_estimated:
[[-0.81709614]
 [-0.57650026]
 [-0.0011623 ]]

 R_gt:
[[ 0.99742116 -0.05148484 -0.05000415]
 [ 0.05241851  0.99847124  0.01754316]
 [ 0.049025   -0.02011832  0.99859463]]

 t_gt:
[ 0.98610155 -0.16607382 -0.0048187 ]

Pose Error in degrees for R and t:
10.257030930410673 44.76568943177281

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-0.51160909 -0.85921562  0.00215723]
 [-0.85919009  0.51161102  0.00682331]
 [-0.00696636  0.0016374  -0.99997439]]

 t_estimated:
[[0.96151881]
 [0.27471966]
 [0.00327047]]

 R_gt:
[[ 0.99352759 -0.04011364 -0.1062743 ]
 [ 0.0470758   0.9968493   0.06383118]
 [ 0.10337896 -0.06842054  0.99228582]]

 t_gt:
[ 0.95785391 -0.17719615  0.22609162]

Pose Error in degrees for R and t:
176.9493705129594 29.184420135677463

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.55429602 -0.83230096  0.0055704 ]
 [-0.83229802 -0.55422104  0.01091112]
 [-0.0059941  -0.01068422 -0.99992496]]

 t_estimated:
[[0.4364771 ]
 [0.89969164]
 [0.00653354]]

 R_gt:
[[ 0.98581514 -0.03117557 -0.1649128 ]
 [ 0.04346457  0.99649737  0.07144127]
 [ 0.16210744 -0.07759589  0.98371679]]

 t_gt:
[ 0.98276968 -0.17079766  0.07065343]

Pose Error in degrees for R and t:
179.9469821516197 73.99311571066582

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999999e-01 -3.68203034e-05 -2.18589062e-05]
 [ 3.68190798e-05  9.99999998e-01 -5.59756563e-05]
 [ 2.18609672e-05  5.59748514e-05  9.99999998e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 9.95019640e-01  9.80508494e-02  1.79351975e-02]
 [-9.80341774e-02  9.95181654e-01 -1.75874788e-03]
 [-1.80216338e-02 -7.50678600e-06  9.99836662e-01]]

 t_gt:
[-0.59908314  0.79277012  0.11231617]

Pose Error in degrees for R and t:
5.723343884023497 89.64856017062033

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.99999623e-01 -8.67498386e-04  4.86370716e-05]
 [ 8.67502140e-04  9.99999621e-01 -7.72218804e-05]
 [-4.85700633e-05  7.72640440e-05  9.99999996e-01]]

 t_estimated:
[[-9.50252206e-01]
 [ 3.11481086e-01]
 [ 5.26475690e-04]]

 R_gt:
[[ 0.9868083   0.16187114  0.00283574]
 [-0.16189206  0.98650967  0.02426924]
 [ 0.0011307  -0.02440802  0.99970087]]

 t_gt:
[-0.58466883  0.80311428  0.1147598 ]

Pose Error in degrees for R and t:
9.471779324278874 36.31259062141456

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99998700e-01 -3.61563210e-04  1.57152915e-03]
 [ 3.64596174e-04  9.99998071e-01 -1.93008665e-03]
 [-1.57082827e-03  1.93065712e-03  9.99996903e-01]]

 t_estimated:
[[-9.99994856e-01]
 [-3.05071665e-03]
 [-9.90858520e-04]]

 R_gt:
[[ 0.98023508  0.18127729 -0.07923877]
 [-0.18211303  0.9832715  -0.00340218]
 [ 0.0772968   0.01776591  0.99684949]]

 t_gt:
[-0.49590197  0.8362591  -0.23399135]

Pose Error in degrees for R and t:
11.476500623461202 60.42383688437962

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.97284835  0.23143987 -0.00129055]
 [-0.23143632  0.972847    0.00243677]
 [ 0.00181947 -0.00207192  0.9999962 ]]

 t_estimated:
[[-0.65615746]
 [-0.75462352]
 [-0.00084885]]

 R_gt:
[[ 0.99828016 -0.04304013 -0.03979799]
 [ 0.04085509  0.99769604 -0.05416925]
 [ 0.04203828  0.05244996  0.99773859]]

 t_gt:
[ 0.50626283 -0.46750379 -0.72466417]

Pose Error in degrees for R and t:
16.26161346177658 88.78430122226966

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.37398385e-01  3.48258677e-01  4.01837006e-04]
 [-3.48258776e-01  9.37398412e-01  2.07004933e-04]
 [-3.04590107e-04 -3.33989354e-04  9.99999898e-01]]

 t_estimated:
[[0.54584894]
 [0.83788303]
 [0.00097998]]

 R_gt:
[[ 0.98333726 -0.17809763 -0.03646086]
 [ 0.17525218  0.98201245 -0.0702815 ]
 [ 0.04832172  0.0627205   0.99686096]]

 t_gt:
[ 0.77906056 -0.51440184 -0.35840674]

Pose Error in degrees for R and t:
30.90420046334008 89.6498964691476

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.97405113e-01  7.19872617e-02 -9.35185891e-04]
 [-7.19827591e-02  9.97397097e-01  4.18499381e-03]
 [ 1.23401794e-03 -4.10681697e-03  9.99990806e-01]]

 t_estimated:
[[0.91256635]
 [0.40892214]
 [0.00231029]]

 R_gt:
[[ 0.95456178 -0.29755578 -0.01649039]
 [ 0.29440507  0.95014668 -0.10269879]
 [ 0.04622726  0.09317756  0.994576  ]]

 t_gt:
[ 0.84134759 -0.44678586 -0.30416547]

Pose Error in degrees for R and t:
22.258179120207945 54.24064570872521

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-0.10808324 -0.9936699  -0.03062914]
 [-0.99363141  0.10896363 -0.02869761]
 [ 0.03185342  0.02733235 -0.99911876]]

 t_estimated:
[[ 0.76365751]
 [ 0.64538469]
 [-0.01748769]]

 R_gt:
[[ 0.998768   -0.00983094 -0.04865195]
 [ 0.00932448  0.99989979 -0.0106247 ]
 [ 0.04875189  0.01015763  0.99875935]]

 t_gt:
[ 0.38984669 -0.83602614 -0.38610859]

Pose Error in degrees for R and t:
175.11907053767868 76.40266130035262

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.87840341e-01  1.55429376e-01  3.62888473e-03]
 [-1.55426167e-01  9.87846840e-01 -1.15185234e-03]
 [-3.76381400e-03  5.73822567e-04  9.99992752e-01]]

 t_estimated:
[[-0.50341705]
 [-0.86404293]
 [-0.00104227]]

 R_gt:
[[ 0.98955592 -0.12146606 -0.07762444]
 [ 0.11785527  0.99179458 -0.04952574]
 [ 0.0830031   0.03986061  0.99575243]]

 t_gt:
[ 0.71213694 -0.61027999 -0.34701487]

Pose Error in degrees for R and t:
16.73453300713823 80.26055672294146

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.99120431  0.13018556  0.02378499]
 [-0.1297375   0.99135651 -0.0195053 ]
 [-0.02611872  0.01624793  0.9995268 ]]

 t_estimated:
[[-0.576928  ]
 [-0.81679452]
 [-0.0008917 ]]

 R_gt:
[[ 0.96365021 -0.2574817  -0.07128469]
 [ 0.25130981  0.96414669 -0.085227  ]
 [ 0.09067389  0.06421472  0.99380838]]

 t_gt:
[ 0.81958297 -0.50524451 -0.27020685]

Pose Error in degrees for R and t:
23.303626746151892 86.56486671905209

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 1.00000000e+00  1.84227633e-15  3.91223512e-15]
 [-1.84227633e-15  1.00000000e+00 -5.34804914e-15]
 [-3.90865725e-15  5.12316528e-15  1.00000000e+00]]

 t_estimated:
[[9.99857058e-01]
 [1.69014185e-02]
 [4.53621166e-04]]

 R_gt:
[[ 0.99898553  0.04453377 -0.00671913]
 [-0.04446045  0.99895542  0.01059666]
 [ 0.00718366 -0.01028633  0.99992134]]

 t_gt:
[-0.59340539  0.79269664  0.13964982]

Pose Error in degrees for R and t:
2.6493258208786785 54.55933724674652

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 1.00000000e+00  4.50223192e-13  2.72946203e-16]
 [-4.50278703e-13  1.00000000e+00 -2.82651506e-16]
 [ 8.72288082e-16  5.29795392e-16  1.00000000e+00]]

 t_estimated:
[[-2.28306761e-01]
 [ 9.73589247e-01]
 [ 3.56888426e-05]]

 R_gt:
[[ 0.99311072  0.10108373 -0.05927233]
 [-0.10169276  0.99478892 -0.0073606 ]
 [ 0.05821918  0.01333838  0.99821467]]

 t_gt:
[-0.50877596  0.8098317  -0.29209527]

Pose Error in degrees for R and t:
6.75550812233794 25.23188080585226

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 1.00000000e+00  5.68933789e-13  5.26596995e-16]
 [-5.68878278e-13  1.00000000e+00 -2.06215253e-16]
 [ 1.06360233e-16 -3.36753195e-16  1.00000000e+00]]

 t_estimated:
[[-0.58691488]
 [-0.80964768]
 [-0.0012497 ]]

 R_gt:
[[ 0.98528973  0.09501495 -0.1420428 ]
 [-0.09751386  0.99517701 -0.01072168]
 [ 0.14033999  0.02441578  0.98980253]]

 t_gt:
[-0.27073983  0.69652778 -0.66449153]

Pose Error in degrees for R and t:
9.891561731018124 66.15834075611137

Number of keypoints:
Image1: 474
Image2: 474

 R_estimated:
[[ 9.98307829e-01  5.81504632e-02  5.13151153e-05]
 [-5.81504658e-02  9.98307829e-01  4.93870811e-05]
 [-4.83563997e-05 -5.22875075e-05  9.99999997e-01]]

 t_estimated:
[[0.61895939]
 [0.78542219]
 [0.00111774]]

 R_gt:
[[ 0.99899411 -0.04090849 -0.01837208]
 [ 0.04150525  0.99858086  0.03338223]
 [ 0.01698067 -0.03411016  0.99927316]]

 t_gt:
[ 0.76361497 -0.20474718  0.61234857]

Pose Error in degrees for R and t:
6.099657498992604 71.78894963776916

Number of keypoints:
Image1: 480
Image2: 480

 R_estimated:
[[-0.05840271  0.99824427  0.00987419]
 [-0.99819294 -0.05825388 -0.0147424 ]
 [-0.0141413  -0.01071734  0.99984257]]

 t_estimated:
[[0.10467582]
 [0.99442032]
 [0.01308448]]

 R_gt:
[[ 0.991273   -0.11834104 -0.0580909 ]
 [ 0.12046652  0.9921157   0.03455853]
 [ 0.05354298 -0.04125457  0.99771328]]

 t_gt:
[ 0.97672487 -0.15901861  0.14394999]

Pose Error in degrees for R and t:
100.3089442775722 86.90404309108504

Number of keypoints:
Image1: 411
Image2: 411

 R_estimated:
[[ 0.977441    0.21105697  0.00800278]
 [-0.21110276  0.97744907  0.00538035]
 [-0.00668675 -0.00694838  0.9999535 ]]

 t_estimated:
[[0.48852899]
 [0.8723732 ]
 [0.01744746]]

 R_gt:
[[ 0.98654794 -0.1177389  -0.1134106 ]
 [ 0.12792466  0.98794666  0.0871587 ]
 [ 0.10178222 -0.10049307  0.98971811]]

 t_gt:
[ 0.9245721  -0.17365422  0.33913218]

Pose Error in degrees for R and t:
20.984379479258003 72.1752848048891

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.99880583  0.04882504 -0.00173995]
 [ 0.04884567 -0.9972266   0.05615341]
 [ 0.00100657 -0.05617134 -0.99842064]]

 t_estimated:
[[-0.04213534]
 [ 0.99870953]
 [ 0.02835291]]

 R_gt:
[[ 0.99788915  0.02041821 -0.06163925]
 [-0.01932875  0.99964751  0.01820694]
 [ 0.06198974 -0.01697598  0.99793173]]

 t_gt:
[ 0.38325426  0.45825601 -0.80194613]

Pose Error in degrees for R and t:
175.68648416125689 65.24250179569165

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999999e-01  4.77622812e-05  2.27836545e-05]
 [-4.77603828e-05  9.99999995e-01 -8.33186538e-05]
 [-2.27876339e-05  8.33175656e-05  9.99999996e-01]]

 t_estimated:
[[-0.99997869]
 [-0.00639949]
 [-0.00128704]]

 R_gt:
[[ 0.99519272  0.07078485 -0.06768124]
 [-0.06963586  0.99738852  0.01918922]
 [ 0.06886297 -0.01438278  0.99752242]]

 t_gt:
[-0.14375378  0.83638625 -0.52895452]

Pose Error in degrees for R and t:
5.701932000899577 82.00544098521246

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 8.75079305e-01  4.83979466e-01 -2.93448619e-04]
 [-4.83978744e-01  8.75078788e-01  1.30004380e-03]
 [ 8.85985168e-04 -9.95618535e-04  9.99999112e-01]]

 t_estimated:
[[-9.99988849e-01]
 [-4.65833315e-03]
 [-7.76388858e-04]]

 R_gt:
[[ 0.99415855  0.05200285  0.09457131]
 [-0.05393818  0.99838162  0.01802794]
 [-0.09348069 -0.02302259  0.99535476]]

 t_gt:
[-0.33672016  0.43253555  0.83638061]

Pose Error in degrees for R and t:
26.4791688267398 70.48508986116343

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.50100085 -0.86540428 -0.00857737]
 [-0.86535303  0.50106786 -0.00975409]
 [ 0.01273908  0.00253565 -0.99991564]]

 t_estimated:
[[ 0.91008928]
 [ 0.41440002]
 [-0.00318407]]

 R_gt:
[[ 0.99498598  0.09968615  0.00811014]
 [-0.0980503   0.9882163  -0.11753659]
 [-0.01973136  0.1161519   0.99303561]]

 t_gt:
[-0.24486664  0.8590216  -0.44958004]

Pose Error in degrees for R and t:
176.64778191990047 82.26684816030142

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99996344e-01  2.70307757e-03  7.33907216e-05]
 [-2.70304118e-03  9.99996226e-01 -4.91479933e-04]
 [-7.47189530e-05  4.91279758e-04  9.99999877e-01]]

 t_estimated:
[[-2.23291246e-02]
 [-9.99750648e-01]
 [-2.29337050e-04]]

 R_gt:
[[ 9.93773159e-01  1.11419679e-01 -4.91035045e-04]
 [-1.09261638e-01  9.73635599e-01 -2.00240502e-01]
 [-2.18326441e-02  1.99047332e-01  9.79747027e-01]]

 t_gt:
[-0.17037282  0.78867712 -0.59072963]

Pose Error in degrees for R and t:
13.101171145117462 38.32178014220115

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.99995361e-01  2.98300185e-03 -6.16822384e-04]
 [-2.98294851e-03  9.99995547e-01  8.73785140e-05]
 [ 6.17080287e-04 -8.55381592e-05  9.99999806e-01]]

 t_estimated:
[[-1.82809258e-01]
 [-9.83147917e-01]
 [-9.74208864e-04]]

 R_gt:
[[ 0.99580326  0.08221146 -0.04020656]
 [-0.09004535  0.95865129 -0.26996192]
 [ 0.01635004  0.2724498   0.9620314 ]]

 t_gt:
[-0.06175239  0.65658614 -0.75171888]

Pose Error in degrees for R and t:
16.566518760914697 50.691174774624066

Number of keypoints:
Image1: 295
Image2: 295

 R_estimated:
[[ 9.31295564e-01  3.64264400e-01  1.36546526e-04]
 [-3.64264392e-01  9.31295574e-01 -7.82974082e-05]
 [-1.55686134e-04  2.31789917e-05  9.99999988e-01]]

 t_estimated:
[[0.74956835]
 [0.66192651]
 [0.00076879]]

 R_gt:
[[ 0.99229352 -0.12158393  0.02388292]
 [ 0.12237185  0.99187166 -0.03487705]
 [-0.01944785  0.03753105  0.99910566]]

 t_gt:
[ 0.82736694 -0.53502853 -0.17090471]

Pose Error in degrees for R and t:
28.472300928444568 74.5803283198869

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.86671300e-01  1.62725513e-01 -3.90369581e-04]
 [-1.62724485e-01  9.86669676e-01  1.92182441e-03]
 [ 6.97895690e-04 -1.83268630e-03  9.99998077e-01]]

 t_estimated:
[[0.43457239]
 [0.90063553]
 [0.00157454]]

 R_gt:
[[ 0.97471836 -0.22167085  0.02802877]
 [ 0.22334648  0.97017056 -0.09425862]
 [-0.00629758  0.09813606  0.99515314]]

 t_gt:
[ 0.85270571 -0.41248829 -0.32054077]

Pose Error in degrees for R and t:
22.976949738070598 89.91726720151097

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.32356508e-01  3.61539791e-01  5.67537008e-04]
 [-3.61539690e-01  9.32356679e-01 -2.74678319e-04]
 [-6.28454062e-04  5.09109639e-05  9.99999801e-01]]

 t_estimated:
[[0.6963796 ]
 [0.7176732 ]
 [0.00078865]]

 R_gt:
[[ 0.93816468 -0.34588197  0.01455671]
 [ 0.3457935   0.93426421 -0.08704317]
 [ 0.01650621  0.0866943   0.99609706]]

 t_gt:
[ 0.89052658 -0.40224975 -0.21250306]

Pose Error in degrees for R and t:
41.76240740783393 70.65272074982724

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 6.85498397e-01 -7.28074136e-01 -1.96372982e-05]
 [ 7.28074135e-01  6.85498393e-01  8.41183740e-05]
 [-4.77830761e-05 -7.19604194e-05  9.99999996e-01]]

 t_estimated:
[[7.49049235e-01]
 [6.62513972e-01]
 [6.92282103e-04]]

 R_gt:
[[ 0.99958048 -0.00986167  0.02725535]
 [ 0.01082084  0.99931868 -0.03527257]
 [-0.02688999  0.03555241  0.99900589]]

 t_gt:
[ 0.34298834 -0.89843433 -0.27418014]

Pose Error in degrees for R and t:
46.1993915555507 70.21449042558727

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 9.43685266e-01 -3.30844544e-01 -8.19509359e-05]
 [ 3.30844545e-01  9.43685269e-01 -6.36967818e-06]
 [ 7.94432643e-05 -2.11020486e-05  9.99999997e-01]]

 t_estimated:
[[-0.5358484 ]
 [-0.84431376]
 [-0.00088133]]

 R_gt:
[[ 0.99857255  0.03399768  0.04122825]
 [-0.0302975   0.99572383 -0.08727776]
 [-0.04401927  0.08590298  0.99533009]]

 t_gt:
[-0.64599053  0.27227801 -0.71313457]

Pose Error in degrees for R and t:
21.87188339880677 83.28715293815887

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 8.28818892e-01 -5.59516154e-01 -9.58253817e-04]
 [ 5.59516620e-01  8.28819078e-01  2.94691786e-04]
 [ 6.29334231e-04 -7.80405057e-04  9.99999497e-01]]

 t_estimated:
[[9.13899553e-01]
 [4.05939770e-01]
 [7.13426662e-04]]

 R_gt:
[[ 0.99379805  0.05587068  0.09615068]
 [-0.04569833  0.99342869 -0.10493059]
 [-0.10138113  0.09988552  0.98982065]]

 t_gt:
[-0.87778767  0.43181983  0.20741367]

Pose Error in degrees for R and t:
37.824904318081614 51.18785857139534

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 0.86620415 -0.49963499 -0.00743265]
 [ 0.49959276  0.86623315 -0.00687062]
 [ 0.00987121  0.00223807  0.99994877]]

 t_estimated:
[[ 0.70639011]
 [-0.70760286]
 [-0.01764098]]

 R_gt:
[[ 0.99699267  0.07629286 -0.01365275]
 [-0.07693077  0.99553942 -0.05462696]
 [ 0.00942479  0.05551372  0.99841333]]

 t_gt:
[-0.47811472  0.67982504 -0.55609732]

Pose Error in degrees for R and t:
34.48888719454855 36.0044294407724

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.52913727 -0.84853447 -0.00173566]
 [-0.84853504  0.52913198  0.00276138]
 [-0.00142473  0.00293392 -0.99999468]]

 t_estimated:
[[8.35271599e-01]
 [5.49837060e-01]
 [7.51143524e-04]]

 R_gt:
[[ 0.94167934  0.33198756 -0.05500019]
 [-0.33459753  0.94114284 -0.04791923]
 [ 0.03585488  0.06352721  0.99733607]]

 t_gt:
[-0.50730502  0.83484448 -0.21372016]

Pose Error in degrees for R and t:
176.07387705593533 87.98676087952587

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 6.60366049e-01 -7.50943704e-01  4.84295472e-04]
 [-7.50943843e-01 -6.60366034e-01  2.14728513e-04]
 [ 1.58563255e-04 -5.05478123e-04 -9.99999860e-01]]

 t_estimated:
[[0.1979158 ]
 [0.98021811]
 [0.00133727]]

 R_gt:
[[ 0.83917497  0.53150124 -0.11529024]
 [-0.53580702  0.84430547 -0.0076844 ]
 [ 0.09325502  0.06822182  0.99330243]]

 t_gt:
[-0.38131271  0.901358   -0.2053153 ]

Pose Error in degrees for R and t:
175.3915227904897 36.119912477688366

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.92955929e-01  1.18482163e-01  7.06823611e-04]
 [-1.18480225e-01  9.92953651e-01 -2.34153250e-03]
 [-9.79272920e-04  2.24129396e-03  9.99997009e-01]]

 t_estimated:
[[-9.92867812e-01]
 [-1.19216942e-01]
 [-9.10052990e-04]]

 R_gt:
[[ 0.99879178 -0.03956156 -0.02915248]
 [ 0.03992501  0.99913113  0.01201815]
 [ 0.02865161 -0.01316807  0.99950224]]

 t_gt:
[ 0.40434387 -0.83478998 -0.37367329]

Pose Error in degrees for R and t:
9.280308166228464 72.44634125618977

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.97343106e-01  7.28472738e-02  5.81608332e-05]
 [-7.28472750e-02  9.97343108e-01  1.82313713e-05]
 [-5.66782004e-05 -2.24197907e-05  9.99999998e-01]]

 t_estimated:
[[ 6.17203207e-01]
 [-7.86803768e-01]
 [-1.78029304e-04]]

 R_gt:
[[ 0.99496378 -0.06355022 -0.07751005]
 [ 0.06665388  0.99704731  0.03814054]
 [ 0.07485669 -0.043115    0.99626173]]

 t_gt:
[ 0.44721807 -0.78056388 -0.43671047]

Pose Error in degrees for R and t:
9.339498516456716 27.09497240921628

Number of keypoints:
Image1: 330
Image2: 330

 R_estimated:
[[ 0.49069886  0.87126924  0.01022458]
 [ 0.87125965 -0.49047759 -0.01839473]
 [-0.01101184  0.01793454 -0.99977852]]

 t_estimated:
[[ 0.35619195]
 [-0.93433869]
 [ 0.0117691 ]]

 R_gt:
[[ 0.99122244 -0.09473828 -0.09221117]
 [ 0.09905004  0.99413788  0.04336321]
 [ 0.08756219 -0.05211588  0.99479422]]

 t_gt:
[ 0.50849981 -0.78302049 -0.35819945]

Pose Error in degrees for R and t:
176.22829325009923 24.699175037076202

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.66387068e-01 -2.57090855e-01 -5.72412442e-04]
 [ 2.57090696e-01  9.66387221e-01 -3.36714712e-04]
 [ 6.39738342e-04  1.78234830e-04  9.99999779e-01]]

 t_estimated:
[[ 0.71995877]
 [-0.69401207]
 [-0.00257444]]

 R_gt:
[[ 0.99721486 -0.00813655  0.07413426]
 [ 0.00553284  0.99936319  0.03526163]
 [-0.07437351 -0.03475314  0.99662366]]

 t_gt:
[0.07594212 0.06771085 0.99481055]

Pose Error in degrees for R and t:
15.258455750726263 89.70653153973832

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.95766465e-01 -9.19192319e-02  3.62338521e-05]
 [ 9.19192317e-02  9.95766466e-01  7.03151422e-06]
 [-3.67267862e-05 -3.67115822e-06  9.99999999e-01]]

 t_estimated:
[[9.38145128e-01]
 [3.46241752e-01]
 [6.06811903e-04]]

 R_gt:
[[ 0.99580357 -0.0496173   0.07690481]
 [ 0.04337762  0.99578681  0.0807895 ]
 [-0.08058977 -0.07711464  0.9937594 ]]

 t_gt:
[ 0.23474825 -0.17501791  0.95617048]

Pose Error in degrees for R and t:
6.909948336957422 80.78093584503027

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 1.99042911e-01 -9.79989430e-01 -1.62392845e-03]
 [ 9.79970663e-01  1.99049169e-01 -6.07682257e-03]
 [ 6.27846349e-03 -3.81853790e-04  9.99980217e-01]]

 t_estimated:
[[ 0.94823158]
 [-0.31754873]
 [-0.00443495]]

 R_gt:
[[ 0.98554868 -0.16763438  0.02435158]
 [ 0.16322768  0.97824321  0.128054  ]
 [-0.04528744 -0.12222872  0.99146773]]

 t_gt:
[ 0.54712047 -0.50490858  0.66762753]

Pose Error in degrees for R and t:
69.3439006281923 47.45499742976128

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[-9.92592352e-01 -1.21492086e-01 -3.10344112e-04]
 [-1.21492370e-01  9.92591670e-01  1.17528398e-03]
 [ 1.65257278e-04  1.20428233e-03 -9.99999261e-01]]

 t_estimated:
[[9.92967485e-01]
 [1.18384003e-01]
 [8.95039755e-04]]

 R_gt:
[[ 0.99264665 -0.11383133 -0.04118649]
 [ 0.11355513  0.99349087 -0.00900496]
 [ 0.04194341  0.0042617   0.99911057]]

 t_gt:
[ 0.57113896 -0.76770179 -0.29057573]

Pose Error in degrees for R and t:
177.585743863149 61.576905599618534

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.93274077e-01 -1.15786657e-01  2.40339035e-04]
 [ 1.15786627e-01  9.93274101e-01  1.35317738e-04]
 [-2.54390527e-04 -1.06579556e-04  9.99999962e-01]]

 t_estimated:
[[9.99097083e-01]
 [4.24754767e-02]
 [9.23379929e-04]]

 R_gt:
[[ 0.97398606 -0.2122826  -0.07929565]
 [ 0.21487324  0.97630602  0.0256114 ]
 [ 0.07198006 -0.04198388  0.99652221]]

 t_gt:
[ 0.66048094 -0.74551817 -0.08926131]

Pose Error in degrees for R and t:
7.447901630880483 51.08727241291671

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.11286721  0.99322419  0.02768943]
 [ 0.99243759  0.11404366 -0.04540571]
 [-0.04825585  0.02235521 -0.99858481]]

 t_estimated:
[[0.86734713]
 [0.49770286]
 [0.00090822]]

 R_gt:
[[ 0.94788805 -0.2899379  -0.13207583]
 [ 0.29362006  0.95588131  0.00887943]
 [ 0.12367535 -0.04719771  0.99120003]]

 t_gt:
[ 0.73878307 -0.65558826 -0.15621652]

Pose Error in degrees for R and t:
176.12502374141079 71.67834014479985

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[-8.26997331e-01 -5.62199715e-01 -2.62577613e-03]
 [-5.62205832e-01  8.26989348e-01  3.63590285e-03]
 [ 1.27385343e-04  4.48310861e-03 -9.99989943e-01]]

 t_estimated:
[[8.26389777e-01]
 [5.63098150e-01]
 [6.40612230e-04]]

 R_gt:
[[ 0.99543903  0.05420429  0.07851736]
 [-0.05103422  0.99782108 -0.04185068]
 [-0.08061482  0.03765228  0.99603377]]

 t_gt:
[-0.4969962   0.66065238  0.56261284]

Pose Error in degrees for R and t:
176.3954463164218 87.80273949934035

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.87766657e-01  1.55938754e-01 -3.69220499e-04]
 [-1.55938948e-01  9.87766531e-01 -5.69734130e-04]
 [ 2.75860021e-04  6.20340233e-04  9.99999770e-01]]

 t_estimated:
[[-0.81247395]
 [-0.58299658]
 [-0.00103368]]

 R_gt:
[[ 0.97113806  0.12854237  0.20091675]
 [-0.11501657  0.99032439 -0.0776567 ]
 [-0.20895524  0.05230638  0.97652606]]

 t_gt:
[-0.39324929  0.59133176  0.70404669]

Pose Error in degrees for R and t:
12.588889507785817 88.51201358808711

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-0.67304759 -0.3826959   0.63289082]
 [-0.54740243 -0.3176792  -0.77422897]
 [ 0.4973505  -0.86753892  0.00432455]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.93476314  0.25402794  0.24837121]
 [-0.23040488  0.96561071 -0.12046238]
 [-0.27043167  0.05537797  0.96114532]]

 t_gt:
[-0.34953017  0.72447324  0.59411042]

Pose Error in degrees for R and t:
156.55708414251544 74.38574534401077

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.94271842  0.33358519  0.00170511]
 [ 0.33357553 -0.94271335  0.00434759]
 [ 0.00305773 -0.00352977 -0.9999891 ]]

 t_estimated:
[[0.87541302]
 [0.48337055]
 [0.00222751]]

 R_gt:
[[ 0.991345   -0.12483012 -0.0406722 ]
 [ 0.12601963  0.99162982  0.02809799]
 [ 0.03682484 -0.03297983  0.99877698]]

 t_gt:
[ 0.62807953 -0.77814743  0.00163666]

Pose Error in degrees for R and t:
177.67399952257594 79.9970378473455

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.93966276e-01  1.09684479e-01  5.97488585e-04]
 [-1.09684348e-01  9.93966439e-01 -2.47683930e-04]
 [-6.21050684e-04  1.80654328e-04  9.99999791e-01]]

 t_estimated:
[[0.27555939]
 [0.96128321]
 [0.00126986]]

 R_gt:
[[ 0.97208377 -0.22051658 -0.08016559]
 [ 0.22399883  0.97387547  0.03729403]
 [ 0.06984722 -0.0542094   0.99608324]]

 t_gt:
[ 0.71626271 -0.69753329 -0.02037251]

Pose Error in degrees for R and t:
19.827653252848414 61.75908419636012

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.99953324e-01  9.56789565e-03  1.34354581e-03]
 [ 9.56871243e-03 -9.99954037e-01 -6.02820256e-04]
 [ 1.33771633e-03  6.15648122e-04 -9.99998916e-01]]

 t_estimated:
[[0.75339444]
 [0.65756795]
 [0.00110145]]

 R_gt:
[[ 0.92840917 -0.33087511 -0.16905351]
 [ 0.33211635  0.94298863 -0.0217213 ]
 [ 0.16660311 -0.03597805  0.98536802]]

 t_gt:
[ 0.78564784 -0.57421151 -0.23030113]

Pose Error in degrees for R and t:
179.5851561479131 77.63926503490997

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99998976e-01  1.42977713e-03  6.38749983e-05]
 [-1.42977708e-03  9.99998978e-01 -8.09650643e-07]
 [-6.38760906e-05  7.18322805e-07  9.99999998e-01]]

 t_estimated:
[[5.98574852e-01]
 [8.01066561e-01]
 [7.15791997e-04]]

 R_gt:
[[ 0.99897079 -0.03299505 -0.03112164]
 [ 0.03257821  0.99937449 -0.01381918]
 [ 0.03155799  0.01279071  0.99941958]]

 t_gt:
[ 0.48248575 -0.57356865 -0.66198678]

Pose Error in degrees for R and t:
2.768861722634296 80.1460854436806

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.99984278  0.01711847 -0.00462274]
 [ 0.01713302  0.99984833 -0.00312585]
 [ 0.00456853 -0.00320456 -0.99998443]]

 t_estimated:
[[0.99987021]
 [0.01607508]
 [0.00107167]]

 R_gt:
[[ 0.9954228   0.02892807  0.09108241]
 [-0.02390641  0.99815874 -0.05574584]
 [-0.09252719  0.0533128   0.99428169]]

 t_gt:
[-0.46817348  0.48989116  0.73540482]

Pose Error in degrees for R and t:
174.96413568529314 62.64840559964865

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 8.49731454e-01  5.27215667e-01 -3.10844684e-04]
 [-5.27215616e-01  8.49730643e-01 -1.23597576e-03]
 [-3.87491529e-04  1.21412965e-03  9.99999188e-01]]

 t_estimated:
[[-0.99986323]
 [-0.01648126]
 [-0.00137344]]

 R_gt:
[[ 0.97209711  0.13375209  0.19271083]
 [-0.1167914   0.98842032 -0.09688109]
 [-0.20343736  0.07167088  0.97646093]]

 t_gt:
[-0.41038328  0.6335576   0.65588897]

Pose Error in degrees for R and t:
27.458581144961606 66.4852902260857

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 9.91990097e-01  1.26315554e-01  1.68175645e-04]
 [-1.26315484e-01  9.91990048e-01 -3.79396105e-04]
 [-2.14752196e-04  3.55113991e-04  9.99999914e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99856574 -0.02592017 -0.04684128]
 [ 0.02756264  0.99901418  0.0347972 ]
 [ 0.04589338 -0.03603845  0.9982964 ]]

 t_gt:
[ 0.49053291 -0.75806365 -0.42978712]

Pose Error in degrees for R and t:
9.411919807114947 60.80085275581368

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[ 9.99709722e-01  2.40929474e-02  4.63557488e-05]
 [-2.40929462e-02  9.99709722e-01 -2.65910780e-05]
 [-4.69829502e-05  2.54665126e-05  9.99999999e-01]]

 t_estimated:
[[ 7.32398515e-01]
 [-6.80876209e-01]
 [-5.09719005e-05]]

 R_gt:
[[ 0.99712486 -0.05593568 -0.05112274]
 [ 0.05714318  0.99811354  0.02248059]
 [ 0.04976846 -0.02533629  0.99843925]]

 t_gt:
[ 0.54143856 -0.75553131 -0.36880445]

Pose Error in degrees for R and t:
5.625390713602195 24.357353301825718

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.99999865e-01 -5.18465262e-04  4.23401723e-05]
 [ 5.18466164e-04  9.99999865e-01 -2.13041976e-05]
 [-4.23291211e-05  2.13261467e-05  9.99999999e-01]]

 t_estimated:
[[ 8.41243753e-01]
 [-5.40656035e-01]
 [-1.38651825e-05]]

 R_gt:
[[ 0.9933489  -0.099156   -0.05852776]
 [ 0.09997544  0.99492674  0.01123112]
 [ 0.05711728 -0.01700759  0.99822303]]

 t_gt:
[ 0.55950235 -0.75793949 -0.33538761]

Pose Error in degrees for R and t:
6.637129585978557 28.3012432353236

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99948216e-01 -1.01766304e-02 -4.33548891e-05]
 [ 1.01766294e-02  9.99948216e-01 -2.45270442e-05]
 [ 4.36022467e-05  2.40845675e-05  9.99999999e-01]]

 t_estimated:
[[-0.59409489]
 [-0.80439449]
 [-0.00087425]]

 R_gt:
[[ 0.9975156   0.0699485  -0.00831892]
 [-0.07031406  0.99585888 -0.05763375]
 [ 0.00425325  0.05807621  0.99830317]]

 t_gt:
[-0.45042075  0.60554804 -0.65607371]

Pose Error in degrees for R and t:
5.688666699586138 77.35361371733474

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.98448662e-01 -5.56721902e-02 -9.36146699e-04]
 [ 5.56726552e-02  9.98448961e-01  4.78092769e-04]
 [ 9.08078227e-04 -5.29468858e-04  9.99999448e-01]]

 t_estimated:
[[-0.82053118]
 [-0.57160086]
 [-0.00102221]]

 R_gt:
[[ 0.98440307  0.17333289 -0.03010961]
 [-0.17525824  0.9811075  -0.08193733]
 [ 0.0153388   0.08593745  0.99618279]]

 t_gt:
[-0.52021587  0.7406298  -0.42525634]

Pose Error in degrees for R and t:
14.164482179166487 89.77405840529347

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.96529749e-01 -8.32344897e-02 -6.92049385e-04]
 [ 8.32346927e-02  9.96529936e-01  2.69777927e-04]
 [ 6.67193102e-04 -3.26444248e-04  9.99999724e-01]]

 t_estimated:
[[-0.87666421]
 [-0.48110189]
 [-0.00090798]]

 R_gt:
[[ 0.88778083  0.45042103 -0.09468571]
 [-0.45579931  0.88895116 -0.04485878]
 [ 0.06396547  0.08298296  0.9944965 ]]

 t_gt:
[-0.43400475  0.86848831 -0.23951602]

Pose Error in degrees for R and t:
32.34398120741905 87.87169107401843

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[-0.77138403 -0.63635927 -0.00368256]
 [ 0.63635854 -0.77132269 -0.01044532]
 [ 0.00380654 -0.01040078  0.99993867]]

 t_estimated:
[[0.95021397]
 [0.31159392]
 [0.00162314]]

 R_gt:
[[ 0.96626841  0.2545371  -0.03919376]
 [-0.25373251  0.96696642  0.02437701]
 [ 0.04410505 -0.01360924  0.99893377]]

 t_gt:
[-0.9723023   0.23315884  0.01628465]

Pose Error in degrees for R and t:
155.20153480593123 31.65561417159318

Number of keypoints:
Image1: 20
Image2: 20

 R_estimated:
[[-6.20251539e-01  7.84395914e-01 -3.32844063e-03]
 [ 7.84375146e-01  6.20259693e-01  5.79177687e-03]
 [ 6.60754367e-03  9.81612415e-04 -9.99977688e-01]]

 t_estimated:
[[0.75332188]
 [0.65765123]
 [0.00100278]]

 R_gt:
[[ 8.50594222e-01  5.25820856e-01 -7.64547524e-04]
 [-5.25656838e-01  8.50362462e-01  2.38138721e-02]
 [ 1.31725972e-02 -1.98537397e-02  9.99715963e-01]]

 t_gt:
[-0.91069272  0.41214284  0.02787565]

Pose Error in degrees for R and t:
178.6970519195643 65.48253842012676

Number of keypoints:
Image1: 22
Image2: 22

 R_estimated:
[[ 0.7349234   0.67804824  0.01175555]
 [ 0.67814906 -0.73478101 -0.01451581]
 [-0.00120466  0.01864002 -0.99982553]]

 t_estimated:
[[8.00787728e-01]
 [5.98947956e-01]
 [5.99841970e-04]]

 R_gt:
[[ 0.67278278  0.73978563  0.00895703]
 [-0.73949417  0.67278788 -0.02245876]
 [-0.02263985  0.00848655  0.99970721]]

 t_gt:
[-0.81675074  0.57693751 -0.00783181]

Pose Error in degrees for R and t:
177.9347929329557 72.03155765079276

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.99998641e-01 -1.64560516e-03 -1.02186970e-04]
 [ 1.64562293e-03  9.99998631e-01  1.74073292e-04]
 [ 1.01900374e-04 -1.74241216e-04  9.99999980e-01]]

 t_estimated:
[[-2.87635785e-01]
 [ 9.57739554e-01]
 [-7.76317759e-04]]

 R_gt:
[[ 9.96338775e-01  8.54331095e-02  3.09480815e-03]
 [-8.54849370e-02  9.95267646e-01  4.61904990e-02]
 [ 8.66499654e-04 -4.62860096e-02  9.98927371e-01]]

 t_gt:
[-0.39469492  0.50891523  0.76499752]

Pose Error in degrees for R and t:
5.655252948619784 53.105551141913125

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-7.49655261e-02 -9.97186109e-01  1.83220579e-04]
 [-9.97185241e-01  7.49657031e-02  1.31860556e-03]
 [-1.32863041e-03 -8.38548979e-05 -9.99999114e-01]]

 t_estimated:
[[0.69832308]
 [0.71577989]
 [0.00200447]]

 R_gt:
[[ 0.98823573  0.15080867  0.02540846]
 [-0.15203944  0.98674416  0.05673279]
 [-0.01651568 -0.05992822  0.99806588]]

 t_gt:
[-0.31784189  0.65259477  0.68782018]

Pose Error in degrees for R and t:
176.78029924143175 75.72733941494191

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 7.68288125e-01 -6.40103651e-01 -8.20368386e-04]
 [ 6.40103419e-01  7.68288557e-01 -5.53822894e-04]
 [ 9.84783700e-04 -9.96250563e-05  9.99999510e-01]]

 t_estimated:
[[-0.208743  ]
 [-0.97796915]
 [-0.00164365]]

 R_gt:
[[ 0.95760918  0.28622117  0.03259174]
 [-0.28805842  0.95245644  0.09923381]
 [-0.00263822 -0.10441548  0.99453047]]

 t_gt:
[-0.27933672  0.85093368  0.44484028]

Pose Error in degrees for R and t:
56.82696114115038 39.230451905854

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99999689e-01  5.80744420e-04  5.33945418e-04]
 [-5.80535667e-04  9.99999755e-01 -3.91035240e-04]
 [-5.34172379e-04  3.90725144e-04  9.99999781e-01]]

 t_estimated:
[[-0.80240633]
 [-0.59677736]
 [-0.00092847]]

 R_gt:
[[ 0.98566825 -0.16712931  0.02294505]
 [ 0.16738621  0.98584334 -0.0097624 ]
 [-0.02098908  0.01346212  0.99968863]]

 t_gt:
[ 8.31224333e-01 -5.55937101e-01 -2.18776868e-04]

Pose Error in degrees for R and t:
9.762571217152617 70.4147648496377

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 0.91618349  0.31399919 -0.24902273]
 [-0.21407511  0.90874839  0.35825718]
 [ 0.33879147 -0.27491974  0.89979969]]

 t_estimated:
[[8.18634951e-01]
 [5.74313667e-01]
 [7.93250921e-04]]

 R_gt:
[[ 0.83285633 -0.55340666  0.00957287]
 [ 0.55348684  0.83277641 -0.01157673]
 [-0.00156578  0.01494062  0.99988642]]

 t_gt:
[ 0.93149744 -0.3630089  -0.02317447]

Pose Error in degrees for R and t:
56.078789163314745 56.35421181049492

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.82267344e-01  1.87484485e-01  6.57339528e-04]
 [-1.87484455e-01  9.82267564e-01 -1.08031021e-04]
 [-6.65937438e-04 -1.71255996e-05  9.99999778e-01]]

 t_estimated:
[[7.31555240e-01]
 [6.81781808e-01]
 [7.04430291e-04]]

 R_gt:
[[ 0.69450348 -0.71862686  0.03521265]
 [ 0.7174666   0.6953888   0.04093077]
 [-0.05390062 -0.00316287  0.99854068]]

 t_gt:
[ 0.95998327 -0.27710757  0.04054038]

Pose Error in degrees for R and t:
56.81816351706021 59.110603114835094

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-9.98814865e-01  4.86152758e-02 -2.32822376e-03]
 [-4.86161293e-02 -9.98817488e-01  3.11412999e-04]
 [-2.31033117e-03  4.24233159e-04  9.99997241e-01]]

 t_estimated:
[[0.76550428]
 [0.64343002]
 [0.00100036]]

 R_gt:
[[ 0.97799883  0.20623617 -0.03136994]
 [-0.20554696  0.97835684  0.02384735]
 [ 0.03560834 -0.01687516  0.99922368]]

 t_gt:
[-0.31999521  0.94266705 -0.09477282]

Pose Error in degrees for R and t:
165.33086297757262 68.80840693512783

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999932e-01 -3.57094975e-04 -9.51639043e-05]
 [ 3.57096592e-04  9.99999936e-01  1.69784484e-05]
 [ 9.51578353e-05 -1.70124300e-05  9.99999995e-01]]

 t_estimated:
[[9.86279298e-01]
 [1.65084662e-01]
 [4.46888441e-04]]

 R_gt:
[[ 0.97747063  0.20780717  0.03697136]
 [-0.20805832  0.97811177  0.00304899]
 [-0.03552962 -0.01067288  0.99931193]]

 t_gt:
[-0.21504899  0.9646185   0.15252894]

Pose Error in degrees for R and t:
12.212568950319595 86.97415103183518

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999951e-01 -2.41129619e-05 -3.13312085e-04]
 [ 2.42362189e-05  9.99999922e-01  3.93402443e-04]
 [ 3.13302574e-04 -3.93410017e-04  9.99999874e-01]]

 t_estimated:
[[0.80135776]
 [0.59818478]
 [0.00084955]]

 R_gt:
[[ 0.97607261  0.2063625   0.06853406]
 [-0.20935876  0.97702829  0.0397934 ]
 [-0.05874727 -0.05319008  0.99685454]]

 t_gt:
[-0.22868435  0.90885765  0.34882839]

Pose Error in degrees for R and t:
12.846063343415354 68.85661329420394

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.90424005e-01  1.38058974e-01 -1.00644299e-04]
 [-1.38058912e-01  9.90423906e-01  4.73166224e-04]
 [ 1.65005363e-04 -4.54740344e-04  9.99999883e-01]]

 t_estimated:
[[0.40607175]
 [0.91384063]
 [0.00101715]]

 R_gt:
[[ 0.9795547   0.17824715 -0.0932803 ]
 [-0.17669137  0.98395454  0.02475223]
 [ 0.09619511 -0.00776366  0.99533234]]

 t_gt:
[-0.1254663   0.94343892 -0.30688958]

Pose Error in degrees for R and t:
5.989586763195743 35.81679228351928

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 8.10910520e-01 -5.85169304e-01  1.00686203e-03]
 [ 5.85170149e-01  8.10909754e-01 -1.12593230e-03]
 [-1.57613221e-04  1.50221595e-03  9.99998859e-01]]

 t_estimated:
[[-0.30333293]
 [-0.95288307]
 [-0.00172869]]

 R_gt:
[[ 0.93170517  0.34679463 -0.10798118]
 [-0.34079455  0.93749905  0.07037771]
 [ 0.12563891 -0.02877182  0.9916589 ]]

 t_gt:
[-0.1758806   0.97053812 -0.16468691]

Pose Error in degrees for R and t:
56.46793835433455 29.404614816779322

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999776e-01 -6.68312041e-04  3.35872464e-05]
 [ 6.68314166e-04  9.99999775e-01 -6.33039745e-05]
 [-3.35449320e-05  6.33264071e-05  9.99999997e-01]]

 t_estimated:
[[0.17558033]
 [0.98446429]
 [0.00126506]]

 R_gt:
[[ 0.90851796  0.41155322 -0.07225034]
 [-0.41077579  0.9113654   0.02599455]
 [ 0.07654406  0.00606146  0.99704844]]

 t_gt:
[-0.0979451   0.98962099 -0.10515256]

Pose Error in degrees for R and t:
24.74389473032767 16.879749761313313

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-5.18874300e-02 -9.98652653e-01 -7.57175895e-04]
 [ 9.98652161e-01 -5.18883215e-02  1.20947037e-03]
 [-1.24712938e-03 -6.93399035e-04  9.99998982e-01]]

 t_estimated:
[[0.83750624]
 [0.54642707]
 [0.00087149]]

 R_gt:
[[ 9.44191983e-01 -3.27666075e-01 -3.37026204e-02]
 [ 3.27879375e-01  9.44718144e-01  8.53798914e-04]
 [ 3.15606384e-02 -1.18556305e-02  9.99432054e-01]]

 t_gt:
[ 0.88038938 -0.47294205 -0.03521859]

Pose Error in degrees for R and t:
73.85683024911641 61.388206487808986

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.67761954  0.73520313 -0.01755318]
 [-0.73517661  0.6766044  -0.0414949 ]
 [-0.01863062  0.04102244  0.99898451]]

 t_estimated:
[[0.72610822]
 [0.68758003]
 [0.00074093]]

 R_gt:
[[ 0.79257953 -0.60967768  0.0104541 ]
 [ 0.60902482  0.79234414  0.03576024]
 [-0.03008581 -0.02197568  0.99930602]]

 t_gt:
[ 0.93643342 -0.34698278  0.05191735]

Pose Error in degrees for R and t:
85.02402405454794 63.80599020669778

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.94480184  0.02645283  0.3265727 ]
 [ 0.18510639  0.7793256  -0.59865452]
 [-0.27034257  0.62606058  0.73141168]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.65959052 -0.75162165 -0.002029  ]
 [ 0.75138589  0.65931079  0.02696777]
 [-0.01893181 -0.01931208  0.99963438]]

 t_gt:
[ 0.96765252 -0.25048912  0.03006323]

Pose Error in degrees for R and t:
61.197993183331775 53.37366973412487

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 0.99794669  0.063984   -0.00290844]
 [-0.06397309  0.99794477  0.00369997]
 [ 0.00313921 -0.00350631  0.99998893]]

 t_estimated:
[[-8.23896999e-01]
 [-5.66739122e-01]
 [-7.08423903e-04]]

 R_gt:
[[ 0.99871745  0.0313972   0.03970986]
 [-0.03229103  0.99923476  0.02206929]
 [-0.03898612 -0.0233233   0.99896741]]

 t_gt:
[ 0.20850299 -0.06199652  0.97605478]

Pose Error in degrees for R and t:
3.2393231167883503 82.10601307788555

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.97922684 -0.20246968 -0.01099229]
 [ 0.20258906  0.97920076  0.01111545]
 [ 0.00851311 -0.01311146  0.9998778 ]]

 t_estimated:
[[-0.09827937]
 [-0.99514481]
 [ 0.00528933]]

 R_gt:
[[ 0.9944137   0.09804737  0.03907492]
 [-0.09990051  0.99380676  0.04865867]
 [-0.03406209 -0.05229096  0.99805146]]

 t_gt:
[0.08899223 0.17473868 0.98058492]

Pose Error in degrees for R and t:
17.70790844783755 79.77874965909983

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99999898e-01 -3.86502525e-04 -2.34106799e-04]
 [ 3.86590470e-04  9.99999855e-01  3.75729541e-04]
 [ 2.33961544e-04 -3.75820006e-04  9.99999902e-01]]

 t_estimated:
[[-0.0113523 ]
 [ 0.99993387]
 [-0.0018389 ]]

 R_gt:
[[ 0.97854993  0.19576476  0.06415268]
 [-0.20017945  0.97713671  0.07164079]
 [-0.04866182 -0.08294647  0.99536572]]

 t_gt:
[-0.18064339  0.58583448  0.79004172]

Pose Error in degrees for R and t:
12.718027541863252 54.09849337216836

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.78022607e-01  2.08497576e-01  7.34876560e-04]
 [-2.08496224e-01  9.78021875e-01 -1.59253463e-03]
 [-1.05076496e-03  1.40431589e-03  9.99998462e-01]]

 t_estimated:
[[0.67771597]
 [0.73532183]
 [0.00169429]]

 R_gt:
[[ 0.9910388  -0.08074826  0.1064012 ]
 [ 0.05774127  0.97729596  0.20386094]
 [-0.12044645 -0.19589092  0.97319987]]

 t_gt:
[ 0.18945637 -0.35597854  0.91508774]

Pose Error in degrees for R and t:
20.85216927036953 82.42575843038864

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[ 0.14836505  0.98892508 -0.00387153]
 [-0.98885745  0.14830435 -0.01291393]
 [-0.01219674  0.00574437  0.99990912]]

 t_estimated:
[[0.02276114]
 [0.9997394 ]
 [0.00175086]]

 R_gt:
[[ 0.97425678 -0.20618793  0.091166  ]
 [ 0.16578133  0.92928065  0.33008293]
 [-0.15277726 -0.30647164  0.93953838]]

 t_gt:
[ 0.39632548 -0.45402436  0.79798997]

Pose Error in degrees for R and t:
94.31662732318587 63.67335475011338

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 9.95052165e-01  9.90427502e-02  7.85634497e-03]
 [-9.93536242e-02  9.91763570e-01  8.08324050e-02]
 [ 2.14226966e-04 -8.12130160e-02  9.96696744e-01]]

 t_estimated:
[[8.68453153e-01]
 [4.95770501e-01]
 [8.54776726e-04]]

 R_gt:
[[ 0.94010413 -0.33351603  0.07050783]
 [ 0.2867079   0.88547489  0.36569603]
 [-0.18439823 -0.32357858  0.92805975]]

 t_gt:
[ 0.52972379 -0.5079716   0.67923307]

Pose Error in degrees for R and t:
29.918929469309244 77.94892522649029

Number of keypoints:
Image1: 663
Image2: 663

 R_estimated:
[[ 9.99999834e-01  5.75859151e-04  2.45591288e-05]
 [-5.75859508e-04  9.99999834e-01  1.45374899e-05]
 [-2.45507532e-05 -1.45516301e-05  1.00000000e+00]]

 t_estimated:
[[ 9.91444366e-01]
 [-1.30529559e-01]
 [ 3.22399732e-04]]

 R_gt:
[[ 0.99921987 -0.0393239  -0.00365583]
 [ 0.03934104  0.99921475  0.0047756 ]
 [ 0.00346576 -0.00491518  0.99998203]]

 t_gt:
[ 0.46900052 -0.88250764 -0.03491094]

Pose Error in degrees for R and t:
2.3126804673671315 54.53749918990699

Number of keypoints:
Image1: 376
Image2: 376

 R_estimated:
[[-0.97618696 -0.2148225   0.0301713 ]
 [-0.21482014  0.97664786  0.00335798]
 [-0.03018811 -0.00320339 -0.9995391 ]]

 t_estimated:
[[0.9953112 ]
 [0.09545381]
 [0.01562647]]

 R_gt:
[[ 0.99703137 -0.07677528  0.00581554]
 [ 0.07654871  0.9965365   0.03246697]
 [-0.00828778 -0.0319251   0.9994558 ]]

 t_gt:
[ 0.30752642 -0.89041771  0.33553511]

Pose Error in degrees for R and t:
177.6606186385777 76.91866765738715

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 9.27252824e-01  3.74429688e-01  2.14684252e-03]
 [-3.74427837e-01  9.27255251e-01 -1.22273206e-03]
 [-2.44849818e-03  3.29944157e-04  9.99996948e-01]]

 t_estimated:
[[0.44136385]
 [0.89732753]
 [0.00112306]]

 R_gt:
[[ 0.99318384 -0.09920407  0.06119375]
 [ 0.09854752  0.99503814  0.01366051]
 [-0.06224505 -0.00753684  0.99803161]]

 t_gt:
[ 0.04351056 -0.81850036  0.572856  ]

Pose Error in degrees for R and t:
27.881328771053163 44.38829826936443

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99614540e-01 -2.77621989e-02  1.79322591e-04]
 [ 2.77622356e-02  9.99614534e-01 -2.05314829e-04]
 [-1.73553477e-04  2.10214085e-04  9.99999963e-01]]

 t_estimated:
[[-8.81997767e-01]
 [-4.71253044e-01]
 [-7.11862605e-04]]

 R_gt:
[[ 0.99993394 -0.00276164 -0.01128622]
 [ 0.00257023  0.99985456 -0.01690572]
 [ 0.01133144  0.01687576  0.99979264]]

 t_gt:
[ 0.12604132  0.61886309 -0.77532062]

Pose Error in degrees for R and t:
1.846648589962339 66.28062748267153

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999985e-01  1.29241174e-04  1.16590175e-04]
 [-1.29255589e-04  9.99999984e-01  1.23641390e-04]
 [-1.16574193e-04 -1.23656458e-04  9.99999986e-01]]

 t_estimated:
[[-9.79279732e-01]
 [-2.02511094e-01]
 [-6.80716607e-04]]

 R_gt:
[[ 0.99763381  0.06864142 -0.00419927]
 [-0.06858756  0.99757399  0.01189723]
 [ 0.00500524 -0.01158108  0.99992018]]

 t_gt:
[-0.55024687  0.83272855  0.0615755 ]

Pose Error in degrees for R and t:
3.9920273091503775 68.27408764267895

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999436e-01 -9.29293548e-04 -5.14745471e-04]
 [ 9.29789378e-04  9.99999103e-01  9.63853375e-04]
 [ 5.13849306e-04 -9.64331436e-04  9.99999403e-01]]

 t_estimated:
[[6.02496285e-03]
 [9.99981513e-01]
 [8.20428230e-04]]

 R_gt:
[[ 0.97718975  0.21230321 -0.00535089]
 [-0.21227609  0.97719542  0.00527157]
 [ 0.00634763 -0.00401586  0.99997177]]

 t_gt:
[-0.61866306  0.78559395 -0.00990806]

Pose Error in degrees for R and t:
12.315579340818955 38.570289963378315

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[ 9.99803303e-01  1.98329353e-02 -9.79979904e-05]
 [-1.98329355e-02  9.99803308e-01 -3.53969240e-07]
 [ 9.79716948e-05  2.29748743e-06  9.99999995e-01]]

 t_estimated:
[[-0.61337555]
 [ 0.78979071]
 [-0.00103778]]

 R_gt:
[[ 0.999326    0.01985308  0.03086152]
 [-0.02223667  0.99663348  0.07892085]
 [-0.02919026 -0.07955366  0.99640385]]

 t_gt:
[-0.23420505 -0.1193098   0.96483841]

Pose Error in degrees for R and t:
4.863369470059067 87.22439023398302

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.99998019e-01 -1.97963518e-03 -2.06439501e-04]
 [ 1.97960483e-03  9.99998030e-01 -1.47104846e-04]
 [ 2.06730309e-04  1.46695886e-04  9.99999968e-01]]

 t_estimated:
[[-0.99995019]
 [-0.00987013]
 [-0.00148371]]

 R_gt:
[[ 0.98720785  0.15273778  0.04571918]
 [-0.15572503  0.98523967  0.07108691]
 [-0.03418604 -0.07729663  0.99642263]]

 t_gt:
[-0.6953605   0.49587333  0.52017634]

Pose Error in degrees for R and t:
10.228100773343131 46.396820080486684

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-3.84131858e-01 -9.23275473e-01 -2.26220582e-03]
 [ 9.23278244e-01 -3.84130783e-01 -9.09176621e-04]
 [-2.95624180e-05 -2.43788912e-03  9.99997028e-01]]

 t_estimated:
[[0.96455271]
 [0.26388706]
 [0.00129994]]

 R_gt:
[[ 0.9813433   0.18801525  0.04018329]
 [-0.1882086   0.98212917  0.00103879]
 [-0.03926985 -0.00858124  0.99919257]]

 t_gt:
[-0.71578852  0.68425374  0.13944037]

Pose Error in degrees for R and t:
123.45178781400159 59.358229895466295

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.95960513e-01 -8.97919420e-02 -2.53552701e-04]
 [ 8.97920349e-02  9.95960463e-01  3.82622256e-04]
 [ 2.18172070e-04 -4.03843671e-04  9.99999895e-01]]

 t_estimated:
[[9.38643027e-01]
 [3.44889296e-01]
 [8.00207184e-04]]

 R_gt:
[[ 0.9947128   0.03140313  0.09778696]
 [-0.02902402  0.99925021 -0.02565112]
 [-0.09851779  0.02267634  0.99487704]]

 t_gt:
[-0.68087799  0.3414532   0.64793123]

Pose Error in degrees for R and t:
9.01509722777542 58.61277259337769

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-7.98328759e-01 -6.02211225e-01 -3.58225971e-03]
 [ 6.02217155e-01 -7.98331934e-01 -7.88033779e-04]
 [-2.38526954e-03 -2.78640828e-03  9.99993273e-01]]

 t_estimated:
[[0.99953565]
 [0.03036564]
 [0.00253047]]

 R_gt:
[[ 0.98813925  0.09845378  0.1178499 ]
 [-0.09316323  0.99441476 -0.04960063]
 [-0.12207458  0.03803214  0.99179215]]

 t_gt:
[-0.73303569  0.53340874  0.422059  ]

Pose Error in degrees for R and t:
148.5691288021825 44.32154986741496

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-0.05955272 -0.99822     0.00320903]
 [-0.99821371  0.05956713  0.00459939]
 [-0.00478235 -0.00292939 -0.99998427]]

 t_estimated:
[[0.62843333]
 [0.77785104]
 [0.00439464]]

 R_gt:
[[ 0.9617594   0.25810933  0.09165115]
 [-0.25673662  0.96611357 -0.02666672]
 [-0.09542844  0.00211603  0.99543418]]

 t_gt:
[-0.70375536  0.67521277  0.22094368]

Pose Error in degrees for R and t:
176.32866087624453 85.18592680139636

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99905008e-01  1.37826947e-02  1.10505082e-04]
 [-1.37826542e-02  9.99904950e-01 -3.59224056e-04]
 [-1.15445654e-04  3.57666879e-04  9.99999929e-01]]

 t_estimated:
[[0.99791083]
 [0.06459173]
 [0.0013713 ]]

 R_gt:
[[ 0.99993553 -0.00681851 -0.00908027]
 [ 0.00671872  0.99991718 -0.01104211]
 [ 0.0091549   0.01098011  0.99989837]]

 t_gt:
[-0.15818069 -0.7003685  -0.69603365]

Pose Error in degrees for R and t:
1.4264185946077135 78.22653436552648

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.89309723e-01  1.45829039e-01  4.03380968e-04]
 [-1.45829080e-01  9.89309797e-01  7.42791741e-05]
 [-3.88236683e-04 -1.32309785e-04  9.99999916e-01]]

 t_estimated:
[[0.52773092]
 [0.84941086]
 [0.00112314]]

 R_gt:
[[ 0.998955   -0.03455131  0.02991624]
 [ 0.03394685  0.9992134   0.02050557]
 [-0.0306009  -0.01946881  0.99934209]]

 t_gt:
[-0.14928934 -0.82972796  0.53783287]

Pose Error in degrees for R and t:
10.550385960556842 38.4675602079472

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.89677398e-01 -1.43313110e-01 -1.64026994e-05]
 [ 1.43313101e-01  9.89677283e-01  4.80578342e-04]
 [-5.26397978e-05 -4.77968245e-04  9.99999884e-01]]

 t_estimated:
[[9.81615074e-01]
 [1.90869598e-01]
 [8.01973100e-04]]

 R_gt:
[[ 9.99564642e-01  4.87861450e-05  2.94984229e-02]
 [-5.34947514e-04  9.99864899e-01  1.64815648e-02]
 [-2.94946599e-02 -1.64906937e-02  9.99428984e-01]]

 t_gt:
[-0.72531209 -0.49738268  0.47595467]

Pose Error in degrees for R and t:
8.476619503836572 36.24164656532708

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[-0.82041047  0.57140023  0.02069861]
 [ 0.57143515  0.82063337 -0.00476906]
 [-0.01971101  0.00791533 -0.99977439]]

 t_estimated:
[[ 0.95666117]
 [-0.29100648]
 [ 0.01070659]]

 R_gt:
[[ 0.985231   -0.16986237  0.02160458]
 [ 0.17012218  0.985364   -0.01077973]
 [-0.01945804  0.01429561  0.99970748]]

 t_gt:
[ 0.57035262 -0.8205047   0.03833947]

Pose Error in degrees for R and t:
177.4396913322509 38.29625529024532

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.70077967e-01 -2.42793592e-01 -9.74587553e-05]
 [ 2.42793594e-01  9.70077971e-01  8.96818149e-06]
 [ 9.23651746e-05 -3.23621968e-05  9.99999995e-01]]

 t_estimated:
[[-0.63692296]
 [-0.77092703]
 [-0.00080725]]

 R_gt:
[[ 0.93750338 -0.34783915 -0.00970844]
 [ 0.34776637  0.93754288 -0.00846824]
 [ 0.01204701  0.00456228  0.99991646]]

 t_gt:
[ 0.66297676 -0.74807635 -0.02904482]

Pose Error in degrees for R and t:
6.345261500583914 81.11390564120079

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 2.29348697e-01 -9.73342896e-01 -1.66785153e-03]
 [ 9.73344315e-01  2.29348113e-01  5.35495224e-04]
 [-1.38701871e-04 -1.74620894e-03  9.99998466e-01]]

 t_estimated:
[[8.95204679e-01]
 [4.45654548e-01]
 [7.79116343e-04]]

 R_gt:
[[ 8.46523463e-01 -5.32011307e-01 -1.89795388e-02]
 [ 5.31868971e-01  8.46737189e-01 -1.23624499e-02]
 [ 2.26468748e-02  3.70458730e-04  9.99742324e-01]]

 t_gt:
[ 0.75082315 -0.66007344 -0.02382543]

Pose Error in degrees for R and t:
44.61722962183825 67.79280157226005

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.99999890e-01  4.66646845e-04 -4.87093597e-05]
 [-4.66648869e-04  9.99999890e-01 -4.15403434e-05]
 [ 4.86899697e-05  4.15630690e-05  9.99999998e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.99920129  0.03274963  0.02290832]
 [-0.03289599  0.99944061  0.00608511]
 [-0.02269592 -0.006834    0.99971912]]

 t_gt:
[0.06940395 0.86393991 0.49878946]

Pose Error in degrees for R and t:
2.3000816680594682 30.042865209383958

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 0.18386124  0.98295014 -0.00201666]
 [-0.98294797  0.18385403 -0.00331351]
 [-0.00288624  0.0025915   0.99999248]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99085607  0.10777236  0.08118859]
 [-0.09948421  0.99000034 -0.10001571]
 [-0.09115497  0.09102378  0.99166788]]

 t_gt:
[-0.31300113  0.94853358 -0.04810761]

Pose Error in degrees for R and t:
73.73247449722268 18.824306756699652

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.21576516  0.91131049  0.35065452]
 [ 0.9624623  -0.13793191 -0.23375439]
 [-0.16465638  0.38792781 -0.90686288]]

 t_estimated:
[[ 0.87257384]
 [ 0.48847563]
 [-0.00254039]]

 R_gt:
[[ 0.98110269  0.12409699  0.14845409]
 [-0.11075537  0.98929591 -0.09501722]
 [-0.15865568  0.07677955  0.98434398]]

 t_gt:
[-0.32648604  0.88551211  0.33056795]

Pose Error in degrees for R and t:
147.18049637781093 81.55684348869946

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 9.95944265e-01 -8.99723082e-02 -7.17642463e-05]
 [ 8.99723143e-02  9.95944263e-01  8.69263095e-05]
 [ 6.36522287e-05 -9.30305547e-05  9.99999994e-01]]

 t_estimated:
[[0.17253921]
 [0.98500204]
 [0.00109202]]

 R_gt:
[[ 0.99822017  0.04527094  0.0388205 ]
 [-0.04341897  0.99793701 -0.04729068]
 [-0.04088117  0.04552102  0.99812707]]

 t_gt:
[-0.69988097  0.70606449 -0.1078868 ]

Pose Error in degrees for R and t:
8.468297017193402 54.92835822525837

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 3.93375447e-01  9.19377902e-01 -1.78689747e-04]
 [ 9.19358976e-01 -3.93366087e-01  6.49575618e-03]
 [ 5.90176420e-03 -2.71955101e-03 -9.99978886e-01]]

 t_estimated:
[[-0.92027215]
 [-0.39127474]
 [-0.00180235]]

 R_gt:
[[ 0.99126511  0.08103412  0.10406087]
 [-0.07321202  0.99434703 -0.07690875]
 [-0.10970446  0.06861906  0.99159369]]

 t_gt:
[-0.74856416  0.63094921  0.20384992]

Pose Error in degrees for R and t:
173.4474396074926 63.791379120982434

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.51261595 -0.85853979  0.01158933]
 [ 0.85857023  0.51268313  0.00362971]
 [-0.00905791  0.0080896   0.99992625]]

 t_estimated:
[[0.86478696]
 [0.50213436]
 [0.00214587]]

 R_gt:
[[ 0.97912911  0.12995263  0.1562695 ]
 [-0.11499095  0.98818985 -0.1012808 ]
 [-0.16758586  0.08119686  0.98250892]]

 t_gt:
[-0.72999348  0.60052474  0.32631206]

Pose Error in degrees for R and t:
66.91156523527691 70.78920858414793

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 1.00000000e+00  6.69575506e-13  1.58705514e-15]
 [-6.68076705e-13  1.00000000e+00  2.64545330e-16]
 [-1.58488674e-15 -2.62105875e-16  1.00000000e+00]]

 t_estimated:
[[0.9601513 ]
 [0.27947849]
 [0.00111944]]

 R_gt:
[[ 0.98489459 -0.17300478 -0.00714485]
 [ 0.17282588  0.98473265 -0.02081924]
 [ 0.01063856  0.01927041  0.99975766]]

 t_gt:
[ 0.59020804 -0.79964247 -0.11057303]

Pose Error in degrees for R and t:
10.037974841473316 69.93521984983647

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-8.10047539e-01 -5.86361251e-01 -1.86226504e-03]
 [ 5.86363769e-01 -8.10046735e-01 -1.34806243e-03]
 [-7.18070146e-04 -2.18395940e-03  9.99997357e-01]]

 t_estimated:
[[0.93507308]
 [0.35445316]
 [0.00113969]]

 R_gt:
[[ 0.9271741  -0.37428381 -0.01611579]
 [ 0.37456818  0.92695026  0.02151617]
 [ 0.0068864  -0.02598565  0.99963876]]

 t_gt:
[ 0.67395418 -0.73768844  0.04001914]

Pose Error in degrees for R and t:
122.11161055728442 68.36046565002539

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[-0.27862278  0.96040007  0.00102499]
 [ 0.96039957  0.27862074  0.00177694]
 [ 0.00142099  0.0014795  -0.9999979 ]]

 t_estimated:
[[0.65183736]
 [0.75835712]
 [0.00158985]]

 R_gt:
[[ 0.8652077  -0.49956022 -0.04307107]
 [ 0.49718374  0.86587141 -0.05545176]
 [ 0.06499552  0.02656287  0.99753195]]

 t_gt:
[ 0.74438201 -0.65526008 -0.12856769]

Pose Error in degrees for R and t:
178.91339771519293 89.31761692796961

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99999728e-01  7.36478012e-04 -2.69256111e-05]
 [-7.36471619e-04  9.99999701e-01  2.36668941e-04]
 [ 2.70999045e-05 -2.36649046e-04  9.99999972e-01]]

 t_estimated:
[[-9.67327518e-01]
 [-2.53529463e-01]
 [-5.33019432e-04]]

 R_gt:
[[ 0.99551728  0.09235273  0.02041697]
 [-0.09279645  0.995444    0.02193615]
 [-0.01829745 -0.02373223  0.99955154]]

 t_gt:
[-0.67222718  0.67970041  0.29345864]

Pose Error in degrees for R and t:
5.539925299807528 61.45927138085554

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.87364469 -0.48656123 -0.00176826]
 [ 0.48654551  0.87363698 -0.00564696]
 [ 0.00429241  0.0040731   0.99998249]]

 t_estimated:
[[-0.09841504]
 [-0.99508538]
 [-0.010935  ]]

 R_gt:
[[ 0.94582955  0.32348804  0.02760837]
 [-0.3239209   0.94599676  0.01284071]
 [-0.02196307 -0.02108808  0.99953652]]

 t_gt:
[-0.65612891  0.75000884  0.08355597]

Pose Error in degrees for R and t:
48.04878396753322 46.94786455967419

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 2.87800409e-01  9.57681475e-01  4.13733869e-03]
 [ 9.57688048e-01 -2.87806612e-01  9.78448082e-04]
 [ 2.12779503e-03  3.68068206e-03 -9.99990962e-01]]

 t_estimated:
[[-0.41483103]
 [-0.90989686]
 [-0.00170712]]

 R_gt:
[[ 0.83287443  0.54581264  0.09169783]
 [-0.54441426  0.83777152 -0.04184961]
 [-0.09966284 -0.01506557  0.99490695]]

 t_gt:
[-0.57318212  0.81050464  0.12060053]

Pose Error in degrees for R and t:
175.9097972748791 60.00610089587528

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.96826523e-01 -7.96028079e-02 -5.26281466e-04]
 [ 7.96032075e-02  9.96826318e-01  7.87755181e-04]
 [ 4.61903692e-04 -8.27148950e-04  9.99999551e-01]]

 t_estimated:
[[-0.66967923]
 [-0.74264955]
 [-0.00117694]]

 R_gt:
[[ 0.99895098  0.03416471  0.03050147]
 [-0.03624874  0.99684489  0.07061804]
 [-0.02799337 -0.07164981  0.99703643]]

 t_gt:
[-0.2317037  -0.05706224  0.97111137]

Pose Error in degrees for R and t:
7.908353448637136 78.6733953442242

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.46504682 -0.61551804  0.63629317]
 [-0.79718619 -0.02141431 -0.60335363]
 [ 0.38500083 -0.78783181 -0.48072383]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99425071  0.08133545  0.06963578]
 [-0.09009546  0.98692743  0.13363332]
 [-0.05785644 -0.13913927  0.98858135]]

 t_gt:
[-0.3906676   0.11484521  0.9133397 ]

Pose Error in degrees for R and t:
160.5580570831171 88.10511101946419

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999413e-01  1.89105082e-04  1.06731109e-03]
 [-1.88936128e-04  9.99999970e-01 -1.58397348e-04]
 [-1.06734102e-03  1.58195601e-04  9.99999418e-01]]

 t_estimated:
[[-7.85747732e-01]
 [-6.18546795e-01]
 [-6.03102508e-04]]

 R_gt:
[[ 0.97497752  0.2138369   0.06076466]
 [-0.21877629  0.97146374  0.09162389]
 [-0.03943874 -0.10262512  0.99393805]]

 t_gt:
[-0.6763696   0.55963665  0.47888515]

Pose Error in degrees for R and t:
14.006553581901505 79.3385407711101

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[ 9.31313097e-01 -3.64213781e-01 -2.05843085e-03]
 [ 3.64215878e-01  9.31314255e-01  7.43657954e-04]
 [ 1.64619551e-03 -1.44229159e-03  9.99997605e-01]]

 t_estimated:
[[9.81972564e-01]
 [1.89021875e-01]
 [7.84323134e-04]]

 R_gt:
[[ 0.99763469 -0.05927755  0.03479351]
 [ 0.05919987  0.99824129  0.00322991]
 [-0.03492381 -0.0011624   0.99938926]]

 t_gt:
[ 0.14536387 -0.82636833  0.54404478]

Pose Error in degrees for R and t:
18.084483285333853 89.25331996430718

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.84780185e-01 -1.73803031e-01  7.02006591e-04]
 [ 1.73802444e-01  9.84780194e-01  8.25065076e-04]
 [-8.34720997e-04 -6.90497277e-04  9.99999413e-01]]

 t_estimated:
[[0.91423701]
 [0.40517457]
 [0.00206136]]

 R_gt:
[[ 0.9939012  -0.09692715  0.05258871]
 [ 0.09721403  0.99525998 -0.00292372]
 [-0.05205566  0.00801846  0.99861192]]

 t_gt:
[ 0.06916581 -0.89946035  0.43149412]

Pose Error in degrees for R and t:
5.34227212551765 72.5234729270052

Number of keypoints:
Image1: 374
Image2: 374

 R_estimated:
[[ 0.95019932 -0.31163822 -0.00169627]
 [ 0.31164108  0.95019815  0.00181867]
 [ 0.00104503 -0.00225672  0.99999691]]

 t_estimated:
[[0.92003628]
 [0.39182721]
 [0.00216479]]

 R_gt:
[[ 0.99275308 -0.11994718 -0.00739792]
 [ 0.1200586   0.99261534  0.01734779]
 [ 0.00526309 -0.01811025  0.9998216 ]]

 t_gt:
[ 0.07353857 -0.99691918  0.02728034]

Pose Error in degrees for R and t:
11.304451673290346 71.16143163391561

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-2.49490546e-01 -9.68377123e-01  4.63946789e-04]
 [-9.68377049e-01  2.49490765e-01  4.98025210e-04]
 [-5.98026659e-04 -3.25022841e-04 -9.99999768e-01]]

 t_estimated:
[[0.91047106]
 [0.41356991]
 [0.00154317]]

 R_gt:
[[ 0.99445752 -0.10465506 -0.01012203]
 [ 0.10443209  0.99432137 -0.02047147]
 [ 0.01220671  0.01930221  0.99973856]]

 t_gt:
[ 0.98037766 -0.11860508 -0.15745627]

Pose Error in degrees for R and t:
178.83223388898253 32.508575969352684

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.92525565e-01  1.22020526e-01  1.99861853e-03]
 [-1.22020163e-01  9.92527575e-01 -3.03123463e-04]
 [-2.02067129e-03  5.69860280e-05  9.99997957e-01]]

 t_estimated:
[[0.40806609]
 [0.9129517 ]
 [0.00112264]]

 R_gt:
[[ 0.99027272 -0.11705345 -0.07522512]
 [ 0.10979312  0.9894684  -0.0943214 ]
 [ 0.08547453  0.08514478  0.99269488]]

 t_gt:
[ 0.83627656 -0.01033451 -0.54821047]

Pose Error in degrees for R and t:
15.239720368594195 70.65802414618983

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 0.99577786 -0.09177492  0.00195146]
 [ 0.09178737  0.99574864 -0.00772834]
 [-0.0012339   0.00787483  0.99996823]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99032628  0.01042985 -0.13836956]
 [-0.02229649  0.99617487 -0.0844892 ]
 [ 0.13695946  0.08675703  0.98676982]]

 t_gt:
[ 0.2468289   0.01712632 -0.96890773]

Pose Error in degrees for R and t:
11.08044350482999 75.75139747663293

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99441028e-01 -3.34308839e-02  8.33778079e-05]
 [ 3.34308692e-02  9.99441017e-01  1.72805990e-04]
 [-8.91082581e-05 -1.69922004e-04  9.99999982e-01]]

 t_estimated:
[[9.60153505e-01]
 [2.79472656e-01]
 [5.30516366e-04]]

 R_gt:
[[ 0.98345164 -0.18111342  0.00457779]
 [ 0.18090353  0.98305694  0.02951807]
 [-0.00984562 -0.02820196  0.99955401]]

 t_gt:
[ 0.65146626 -0.74032341  0.1658703 ]

Pose Error in degrees for R and t:
8.68307734994857 65.24774637077846

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 6.80103882e-01  7.33110175e-01  2.86030753e-03]
 [-7.33111150e-01  6.80108262e-01 -8.90631798e-04]
 [-2.59825001e-03 -1.49120120e-03  9.99995513e-01]]

 t_estimated:
[[0.07068795]
 [0.99749316]
 [0.00325613]]

 R_gt:
[[ 0.94557982 -0.32516443 -0.0121623 ]
 [ 0.32534488  0.9454139   0.01847669]
 [ 0.0054898  -0.0214282   0.99975527]]

 t_gt:
[ 0.74166524 -0.66798818  0.06102842]

Pose Error in degrees for R and t:
66.14338950582494 52.143341341100225

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.05597782e-01 -4.24137450e-01 -2.83380946e-04]
 [ 4.24137527e-01  9.05597351e-01  8.92421511e-04]
 [-1.21880350e-04 -9.28367435e-04  9.99999562e-01]]

 t_estimated:
[[-0.39459928]
 [-0.91885262]
 [-0.00112743]]

 R_gt:
[[ 0.92696392 -0.37514767  0.00143894]
 [ 0.37493749  0.92655926  0.03014608]
 [-0.01264234 -0.0274048   0.99954392]]

 t_gt:
[ 0.72163749 -0.68570501  0.09512081]

Pose Error in degrees for R and t:
3.4940411094315698 69.80618040785694

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.9628818   0.26986858  0.005439  ]
 [-0.26981587  0.96287152 -0.00882205]
 [-0.00761786  0.00702707  0.99994629]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99236134 -0.11486275  0.04501389]
 [ 0.10627524  0.9812324   0.16090104]
 [-0.06265029 -0.15488833  0.9859431 ]]

 t_gt:
[ 0.41187897 -0.58662144  0.69730266]

Pose Error in degrees for R and t:
24.163708144925856 65.75756680227452

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.13044077  0.99140932  0.00963108]
 [-0.99143707  0.13037192  0.00746339]
 [ 0.00614365 -0.01052214  0.99992577]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.96836621 -0.24889075  0.0179642 ]
 [ 0.23752302  0.94141678  0.23941282]
 [-0.07649857 -0.22757206  0.97075132]]

 t_gt:
[ 0.55757196 -0.61706034  0.55529275]

Pose Error in degrees for R and t:
97.42999113662586 52.19374703816879

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 0.99972453 -0.02303358  0.00450829]
 [ 0.02307401  0.99969205 -0.00913223]
 [-0.00429655  0.00923374  0.99994814]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.94647595 -0.32033687  0.03960601]
 [ 0.30115297  0.92055395  0.24877138]
 [-0.11615054 -0.22352837  0.96775164]]

 t_gt:
[ 0.59708186 -0.6094813   0.52156092]

Pose Error in degrees for R and t:
22.716324028294775 53.44506413381962

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 9.99026823e-01  4.41059132e-02  2.72801135e-04]
 [-4.41058523e-02  9.99026838e-01 -2.25618806e-04]
 [-2.82486778e-04  2.13367113e-04  9.99999937e-01]]

 t_estimated:
[[ 9.94068354e-01]
 [ 1.08757096e-01]
 [-4.17341949e-05]]

 R_gt:
[[ 0.98510249 -0.17126282  0.01554071]
 [ 0.17096434  0.98509586  0.01888516]
 [-0.01854322 -0.01594673  0.9997003 ]]

 t_gt:
[ 0.61298292 -0.76793647  0.18581045]

Pose Error in degrees for R and t:
12.460651769529257 58.2764963909085

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[-0.89224396  0.45145635  0.00937491]
 [-0.45152365 -0.89223174 -0.0069935 ]
 [ 0.00520733 -0.0104729   0.9999316 ]]

 t_estimated:
[[0.65721449]
 [0.75370305]
 [0.00091027]]

 R_gt:
[[ 0.95192999 -0.30618444 -0.0089975 ]
 [ 0.30628899  0.9510394   0.0413535 ]
 [-0.004104   -0.04212164  0.99910383]]

 t_gt:
[ 0.68946764 -0.70446629  0.16840907]

Pose Error in degrees for R and t:
170.99424548546844 85.54494980083768

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-9.43329855e-02  9.95530708e-01  4.46055060e-03]
 [ 9.95540455e-01  9.43351670e-02 -2.80743836e-04]
 [-7.00275895e-04  4.41417517e-03 -9.99990012e-01]]

 t_estimated:
[[-0.20734991]
 [-0.97826626]
 [-0.00106333]]

 R_gt:
[[ 0.93353705 -0.35768022 -0.02394188]
 [ 0.3570561   0.92180446  0.15095278]
 [-0.03192251 -0.14946885  0.98825016]]

 t_gt:
[ 0.58813961 -0.70368309  0.39865012]

Pose Error in degrees for R and t:
174.48719290033202 55.52720758886781

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99999982e-01 -1.66078878e-04  9.35678967e-05]
 [ 1.66087137e-04  9.99999982e-01 -8.82645222e-05]
 [-9.35532362e-05  8.82800610e-05  9.99999992e-01]]

 t_estimated:
[[ 0.00692902]
 [-0.99997541]
 [-0.00108051]]

 R_gt:
[[ 0.98754212 -0.14543219 -0.06008709]
 [ 0.14260054  0.98856548 -0.04902059]
 [ 0.06652881  0.03984176  0.99698869]]

 t_gt:
[ 0.62373432 -0.62552353 -0.46869586]

Pose Error in degrees for R and t:
9.400744533155766 50.925050646792435

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99999881e-01 -9.03463300e-05  4.78397704e-04]
 [ 9.06898626e-05  9.99999738e-01 -7.18117040e-04]
 [-4.78332699e-04  7.18160340e-04  9.99999628e-01]]

 t_estimated:
[[-0.73780502]
 [-0.67501103]
 [-0.00196619]]

 R_gt:
[[ 0.95466102 -0.29664415 -0.02498764]
 [ 0.29640387  0.95497608 -0.01289734]
 [ 0.02768844  0.00490641  0.99960465]]

 t_gt:
[ 0.67205412 -0.73727313 -0.06907667]

Pose Error in degrees for R and t:
17.323039552742287 89.88779110350755

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.99999581  0.00178004 -0.00228485]
 [-0.00177477  0.99999576  0.00230708]
 [ 0.00228895 -0.00230301  0.99999473]]

 t_estimated:
[[-4.25971780e-01]
 [-9.04736437e-01]
 [-1.47930516e-04]]

 R_gt:
[[ 0.90021193 -0.41256444 -0.13931574]
 [ 0.4229657   0.90450578  0.05449533]
 [ 0.10352973 -0.1079829   0.98874711]]

 t_gt:
[ 0.70954463 -0.70416654  0.02638004]

Pose Error in degrees for R and t:
26.304926896163547 70.43748083802828

Number of keypoints:
Image1: 368
Image2: 368

 R_estimated:
[[ 9.99896500e-01  1.43870092e-02 -5.35091248e-05]
 [-1.43870112e-02  9.99896501e-01 -3.73141188e-05]
 [ 5.29667481e-05  3.80800932e-05  9.99999998e-01]]

 t_estimated:
[[ 0.60014298]
 [ 0.79988884]
 [-0.00250027]]

 R_gt:
[[ 0.9999433  -0.00320962  0.01017645]
 [ 0.00303509  0.99984883  0.01715086]
 [-0.01023019 -0.01712     0.99980073]]

 t_gt:
[-0.53717359 -0.54695591  0.64209327]

Pose Error in degrees for R and t:
1.52278853675126 40.404244377989684

Number of keypoints:
Image1: 404
Image2: 404

 R_estimated:
[[ 0.95571365 -0.29415936  0.0090381 ]
 [-0.29422119 -0.95431054  0.05220425]
 [-0.00673121 -0.05255152 -0.99859553]]

 t_estimated:
[[0.1827272 ]
 [0.98280761]
 [0.02645681]]

 R_gt:
[[ 0.99935931  0.01075029  0.03412593]
 [-0.01205253  0.99919732  0.03821183]
 [-0.03368855 -0.03859837  0.99868636]]

 t_gt:
[-0.66051671 -0.2302217   0.71464371]

Pose Error in degrees for R and t:
174.49770006674578 70.84948940948235

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 0.86805258 -0.49638073 -0.00953324]
 [ 0.49644866  0.86803851  0.00691849]
 [ 0.00484102 -0.01073837  0.99993062]]

 t_estimated:
[[-0.44980071]
 [-0.89312309]
 [-0.00323597]]

 R_gt:
[[ 0.99446914  0.08651465  0.05954652]
 [-0.0855835   0.99616871 -0.01801634]
 [-0.06087761  0.01281982  0.99806263]]

 t_gt:
[-0.87975513  0.3417034   0.33055968]

Pose Error in degrees for R and t:
34.94517683698796 84.86736574445959

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.97287059e-01  7.36104284e-02  1.62280464e-04]
 [-7.36104263e-02  9.97287072e-01 -1.91765525e-05]
 [-1.63251803e-04  7.17899351e-06  9.99999987e-01]]

 t_estimated:
[[0.7554188 ]
 [0.65524148]
 [0.00102222]]

 R_gt:
[[ 0.99901857 -0.02975967 -0.03281452]
 [ 0.02888915  0.99922618 -0.0267122 ]
 [ 0.03358449  0.02573866  0.99910464]]

 t_gt:
[ 7.99489819e-01  3.66149214e-04 -6.00679528e-01]

Pose Error in degrees for R and t:
6.383231751781771 52.87359232626231

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99998153e-01  3.02686195e-04  1.89795668e-03]
 [-3.00136780e-04  9.99999053e-01 -1.34338277e-03]
 [-1.89836151e-03  1.34281064e-03  9.99997297e-01]]

 t_estimated:
[[0.88235135]
 [0.47058739]
 [0.00189753]]

 R_gt:
[[ 0.99935265  0.00670259 -0.03535423]
 [-0.00800974  0.99928453 -0.03696295]
 [ 0.03508167  0.03722252  0.99869052]]

 t_gt:
[ 0.70863973  0.35263247 -0.61113016]

Pose Error in degrees for R and t:
2.9816003078241367 37.80944365233584

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-6.53786909e-01 -7.56678651e-01 -3.10670758e-04]
 [-7.56671980e-01  6.53779303e-01  4.48763095e-03]
 [-3.19258442e-03  3.16903023e-03 -9.99989882e-01]]

 t_estimated:
[[0.92415369]
 [0.38201403]
 [0.00228751]]

 R_gt:
[[ 0.99694057  0.07687744  0.01416054]
 [-0.07530177  0.9930917  -0.08999772]
 [-0.0209821   0.08865673  0.99584138]]

 t_gt:
[ 0.21881598  0.85868926 -0.46343534]

Pose Error in degrees for R and t:
178.86602060888654 58.049201651270835

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.99819788e-01 -1.89840026e-02 -1.26548659e-05]
 [ 1.89840063e-02  9.99819697e-01  4.26475564e-04]
 [ 4.55637097e-06 -4.26638947e-04  9.99999909e-01]]

 t_estimated:
[[5.81064230e-01]
 [8.13857698e-01]
 [8.86961990e-05]]

 R_gt:
[[ 0.99914656 -0.01393519  0.03887875]
 [ 0.01260079  0.99933137  0.03433662]
 [-0.03933135 -0.03381664  0.99865322]]

 t_gt:
[-0.28767125 -0.40917341  0.86592285]

Pose Error in degrees for R and t:
2.975866334093799 59.994204557834124

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.96486620e-01  8.37491573e-02  7.02845235e-04]
 [-8.37492769e-02  9.96486848e-01  1.42470227e-04]
 [-6.88444271e-04 -2.00832455e-04  9.99999743e-01]]

 t_estimated:
[[0.10178843]
 [0.99480384]
 [0.00210783]]

 R_gt:
[[ 0.99845261  0.02496336  0.04968793]
 [-0.02559871  0.99959845  0.01218005]
 [-0.04936416 -0.01343302  0.99868983]]

 t_gt:
[-0.77662172 -0.0201471   0.62964498]

Pose Error in degrees for R and t:
4.428540063552325 84.38943947195273

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.55098985e-01 -2.96283510e-01 -1.41762455e-03]
 [ 2.96285776e-01  9.55097614e-01  1.81299907e-03]
 [ 8.16808098e-04 -2.15161556e-03  9.99997352e-01]]

 t_estimated:
[[0.09116748]
 [0.9958294 ]
 [0.00350644]]

 R_gt:
[[ 0.9857542   0.15456377  0.06632377]
 [-0.15106605  0.98699836 -0.05489585]
 [-0.07394559  0.04409479  0.99628628]]

 t_gt:
[-0.80695936  0.56079695  0.1852657 ]

Pose Error in degrees for R and t:
26.520198346634672 60.9521906896867

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 3.02921593e-01  9.53015126e-01  8.22851761e-04]
 [-9.53014197e-01  3.02922490e-01 -1.38021142e-03]
 [-1.56462267e-03 -3.66093568e-04  9.99998709e-01]]

 t_estimated:
[[-0.17381087]
 [ 0.9847785 ]
 [ 0.00104796]]

 R_gt:
[[ 0.99680164  0.07008743 -0.03839974]
 [-0.06815243  0.99644196  0.04958493]
 [ 0.04173899 -0.04680957  0.99803049]]

 t_gt:
[-0.19678145  0.96959938  0.1454445 ]

Pose Error in degrees for R and t:
68.48704968824875 8.42996741235262

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.97482556 -0.21778902  0.0477816 ]
 [ 0.21967398  0.97481279 -0.03851458]
 [-0.03819006  0.04804137  0.998115  ]]

 t_estimated:
[[-0.11980261]
 [-0.9926502 ]
 [-0.01711466]]

 R_gt:
[[ 0.99713063  0.05003279 -0.05681509]
 [-0.04696401  0.99742798  0.05413276]
 [ 0.05937779 -0.0513094   0.99691558]]

 t_gt:
[ 0.49084835  0.87102038 -0.01978379]

Pose Error in degrees for R and t:
17.38618890967204 22.618680090480414

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.68541188e-01 -2.48853186e-01  2.40902586e-04]
 [ 2.48852883e-01  9.68540880e-01  8.98078830e-04]
 [-4.56813781e-04 -8.09877034e-04  9.99999568e-01]]

 t_estimated:
[[0.49070388]
 [0.8713259 ]
 [0.0009329 ]]

 R_gt:
[[ 0.99136569  0.09006722 -0.09530255]
 [-0.08711735  0.99559431  0.03467341]
 [ 0.09800561 -0.02607176  0.99484361]]

 t_gt:
[ 0.43280206  0.814671   -0.38599683]

Pose Error in degrees for R and t:
20.348727749930223 22.800244921676565

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[-0.35909589 -0.69003334  0.62841398]
 [-0.64198021 -0.30610347 -0.70296663]
 [ 0.67743011 -0.65586177 -0.33306725]]

 t_estimated:
[[0.74593353]
 [0.66601208]
 [0.00333006]]

 R_gt:
[[ 0.9910287  -0.13180954  0.02212403]
 [ 0.13124449  0.9910267   0.02531041]
 [-0.02526052 -0.02218066  0.99943463]]

 t_gt:
[ 0.45750693 -0.84414281  0.27948224]

Pose Error in degrees for R and t:
174.8312887838312 77.2904471134846

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.9999918  -0.00105902  0.00390772]
 [ 0.00108422  0.99997859 -0.00645397]
 [-0.0039008   0.00645816  0.99997154]]

 t_estimated:
[[-0.77135599]
 [-0.63638582]
 [-0.00479786]]

 R_gt:
[[ 0.95725987 -0.265771   -0.11410221]
 [ 0.28075231  0.94865322  0.14572686]
 [ 0.06951513 -0.17153369  0.98272264]]

 t_gt:
[ 0.57644808 -0.77358577  0.26319702]

Pose Error in degrees for R and t:
19.40389838266469 87.34112037005224

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.99990066 -0.00772579  0.01178878]
 [ 0.00781319  0.9999422  -0.00738576]
 [-0.01173104  0.00747713  0.99990323]]

 t_estimated:
[[0.64860761]
 [0.76112117]
 [0.00165461]]

 R_gt:
[[ 0.89719826 -0.40088619 -0.18527191]
 [ 0.42913206  0.89047334  0.15133962]
 [ 0.10431085 -0.21528828  0.97096373]]

 t_gt:
[ 0.66492723 -0.7171466   0.20874034]

Pose Error in degrees for R and t:
28.435011607479378 83.44175346925226

Number of keypoints:
Image1: 376
Image2: 376

 R_estimated:
[[-9.50150086e-01  3.11791727e-01  8.56062861e-04]
 [-3.11792776e-01 -9.50143647e-01 -3.50924702e-03]
 [-2.80771499e-04 -3.60122557e-03  9.99993476e-01]]

 t_estimated:
[[7.79279006e-01]
 [6.26676656e-01]
 [7.74631219e-04]]

 R_gt:
[[ 0.99472195 -0.0987009  -0.02806562]
 [ 0.10029458  0.99299027  0.06253816]
 [ 0.02169643 -0.06502261  0.99764741]]

 t_gt:
[ 0.6276803  -0.69288697  0.35485925]

Pose Error in degrees for R and t:
167.55920903548326 86.8358438174042

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[ 9.99998401e-01 -3.79539246e-04  1.74772878e-03]
 [ 3.83005121e-04  9.99997960e-01 -1.98316647e-03]
 [-1.74697253e-03  1.98383269e-03  9.99996506e-01]]

 t_estimated:
[[0.8036654 ]
 [0.59508087]
 [0.00082451]]

 R_gt:
[[ 0.96801391 -0.24834187 -0.03572114]
 [ 0.25057973  0.96410301  0.0878368 ]
 [ 0.01262438 -0.09397822  0.99549342]]

 t_gt:
[ 0.66846679 -0.68996787  0.27766255]

Pose Error in degrees for R and t:
15.490611510389417 82.71147920950708

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.99561337  0.09351607  0.0029602 ]
 [-0.09350123  0.99560756 -0.00480607]
 [-0.00339664  0.0045082   0.99998407]]

 t_estimated:
[[7.88205528e-01]
 [6.15411736e-01]
 [6.64591507e-04]]

 R_gt:
[[ 0.92410127 -0.37595324 -0.06853296]
 [ 0.38087258  0.9207294   0.08482534]
 [ 0.03120976 -0.10448906  0.99403609]]

 t_gt:
[ 0.7369263  -0.64543663  0.20087606]

Pose Error in degrees for R and t:
28.43019125485668 79.4103606865894

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.01554933  0.99987835  0.00122673]
 [-0.99987753 -0.01554712 -0.00179349]
 [-0.0017742  -0.00125446  0.99999764]]

 t_estimated:
[[-0.1168851 ]
 [ 0.99314408]
 [ 0.00164716]]

 R_gt:
[[ 0.99066873 -0.13616527  0.00590308]
 [ 0.13452842  0.98387193  0.11789796]
 [-0.02186164 -0.11600349  0.99300795]]

 t_gt:
[ 0.54936194 -0.7006379   0.45531087]

Pose Error in degrees for R and t:
98.86969292422626 40.59776932963818

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 1.02798379e-01 -9.94702155e-01 -3.39867899e-04]
 [-9.94701950e-01 -1.02798097e-01 -7.62253393e-04]
 [ 7.23277320e-04  4.16425675e-04 -9.99999652e-01]]

 t_estimated:
[[8.01565995e-01]
 [5.97905986e-01]
 [6.22817711e-04]]

 R_gt:
[[ 0.96509497 -0.2605306   0.02675048]
 [ 0.25484159  0.95772624  0.13348279]
 [-0.06039619 -0.12200585  0.99069034]]

 t_gt:
[ 0.62497836 -0.68641374  0.37180402]

Pose Error in degrees for R and t:
172.85719475594485 84.79139867655792

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 8.24149816e-01 -5.66371649e-01 -4.85615123e-04]
 [ 5.66359218e-01  8.24136850e-01 -5.97401884e-03]
 [ 3.78372822e-03  4.64845393e-03  9.99982037e-01]]

 t_estimated:
[[-0.06701134]
 [-0.99772443]
 [-0.0074457 ]]

 R_gt:
[[ 0.95664544 -0.28974681  0.02962363]
 [ 0.2835004   0.94965787  0.13333417]
 [-0.06676545 -0.119154    0.99062807]]

 t_gt:
[ 0.63582349 -0.68859279  0.3486667 ]

Pose Error in degrees for R and t:
19.547615523548174 50.07215461793367

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.99552480e-01  2.99138557e-02 -1.46056662e-05]
 [-2.99138543e-02  9.99552477e-01  8.63629276e-05]
 [ 1.71825780e-05 -8.58873667e-05  9.99999996e-01]]

 t_estimated:
[[-0.31457854]
 [-0.94923045]
 [-0.00137371]]

 R_gt:
[[ 0.99806977 -0.05301443  0.03234144]
 [ 0.05184241  0.998005    0.03603033]
 [-0.03418741 -0.03428398  0.99882668]]

 t_gt:
[ 0.70866363 -0.24807407  0.66049611]

Pose Error in degrees for R and t:
5.474808463818345 89.33296107802754

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.99225146 -0.12422466 -0.00229658]
 [ 0.12422832  0.99225248  0.00152664]
 [ 0.00208914 -0.00180011  0.9999962 ]]

 t_estimated:
[[-0.28490715]
 [-0.95855428]
 [-0.00126625]]

 R_gt:
[[ 0.99027159 -0.13760218 -0.02071268]
 [ 0.13716638  0.99032281 -0.0211392 ]
 [ 0.02342111  0.01809231  0.99956207]]

 t_gt:
[ 0.98668668 -0.11811441 -0.11179613]

Pose Error in degrees for R and t:
1.8369781860033076 80.34277392335945

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.83726671  0.54678934  0.0024232 ]
 [-0.54678827  0.83722709  0.00856644]
 [ 0.00265527 -0.00849737  0.99996037]]

 t_estimated:
[[0.6226398 ]
 [0.78250677]
 [0.00168281]]

 R_gt:
[[ 0.99235251 -0.10577904 -0.06361777]
 [ 0.09983607  0.99090046 -0.09027624]
 [ 0.07258824  0.08323444  0.99388289]]

 t_gt:
[ 0.82544143 -0.03364892 -0.56348398]

Pose Error in degrees for R and t:
39.62608806831904 60.877797152236916

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-3.97273560e-01 -9.17699816e-01  8.75438575e-04]
 [-9.17698537e-01  3.97270810e-01 -2.30170322e-03]
 [ 1.76448643e-03 -1.71779453e-03 -9.99996968e-01]]

 t_estimated:
[[8.60346309e-01]
 [5.09709497e-01]
 [6.76905042e-04]]

 R_gt:
[[ 0.99920975  0.00254691  0.03968682]
 [-0.00453356  0.99873735  0.05002791]
 [-0.03950819 -0.05016758  0.99795886]]

 t_gt:
[-0.11855381  0.00914141  0.99290555]

Pose Error in degrees for R and t:
176.555554346535 84.45279755893384

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99999990e-01 -4.47040607e-05  1.36477746e-04]
 [ 4.47040471e-05  9.99999999e-01  1.02495122e-07]
 [-1.36477751e-04 -9.63940131e-08  9.99999991e-01]]

 t_estimated:
[[-0.710825  ]
 [-0.70336842]
 [-0.000825  ]]

 R_gt:
[[ 0.99938235 -0.00945616  0.03385299]
 [ 0.00804032  0.99909842  0.04168875]
 [-0.03421516 -0.04139076  0.99855693]]

 t_gt:
[0.04980118 0.16334402 0.98531141]

Pose Error in degrees for R and t:
3.1135235097177434 81.30909948252825

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99998971e-01 -2.50804756e-04  1.41220774e-03]
 [ 2.52669849e-04  9.99999096e-01 -1.32066985e-03]
 [-1.41187523e-03  1.32102532e-03  9.99998131e-01]]

 t_estimated:
[[-0.79658094]
 [-0.60453114]
 [-0.00094606]]

 R_gt:
[[ 0.99664036  0.07115065  0.04058347]
 [-0.07365114  0.99523795  0.06384821]
 [-0.03584646 -0.06662257  0.99713415]]

 t_gt:
[-0.48984562  0.65270286  0.5779535 ]

Pose Error in degrees for R and t:
6.03715441726585 89.71785726232413

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99263990e-01  3.83594866e-02  1.66142746e-04]
 [-3.83594943e-02  9.99264003e-01  4.31903521e-05]
 [-1.64363706e-04 -4.95317153e-05  9.99999985e-01]]

 t_estimated:
[[0.82301208]
 [0.56802235]
 [0.00131658]]

 R_gt:
[[ 0.99498238 -0.09995656 -0.00439171]
 [ 0.09993624  0.99498193 -0.00463531]
 [ 0.00483329  0.00417378  0.99997936]]

 t_gt:
[ 0.6172927  -0.78567128 -0.04087004]

Pose Error in degrees for R and t:
7.943569271359248 86.4622190446696

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.96979770e-01  7.76611785e-02  2.83035345e-04]
 [-7.76611784e-02  9.96979810e-01 -1.13574693e-05]
 [-2.83062559e-04 -1.06576913e-05  9.99999960e-01]]

 t_estimated:
[[0.57497673]
 [0.8181693 ]
 [0.00086854]]

 R_gt:
[[ 0.98134322 -0.1898968   0.03008504]
 [ 0.18938703  0.98171799  0.01902315]
 [-0.03314698 -0.01297094  0.99936632]]

 t_gt:
[ 0.58314527 -0.79446314  0.16961696]

Pose Error in degrees for R and t:
15.521434331761021 71.66556118797767

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.98783049e-01 -4.93176521e-02  4.35289770e-04]
 [ 4.93176484e-02  9.98783144e-01  1.92355578e-05]
 [-4.35708738e-04  2.25531876e-06  9.99999905e-01]]

 t_estimated:
[[7.70406036e-01]
 [6.37553171e-01]
 [7.02925216e-04]]

 R_gt:
[[ 0.95492484 -0.29629205  0.018164  ]
 [ 0.29507788  0.95412255  0.05078599]
 [-0.03237756 -0.04313728  0.99854395]]

 t_gt:
[ 0.66348652 -0.72534266  0.18347662]

Pose Error in degrees for R and t:
14.708974308778906 87.20064763839281

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 9.98281336e-01  5.85959135e-02  9.45535444e-04]
 [ 5.86034661e-02 -9.98124164e-01 -1.77140286e-02]
 [-9.42079132e-05  1.77389958e-02 -9.99842647e-01]]

 t_estimated:
[[-0.01084807]
 [ 0.99990524]
 [-0.00847552]]

 R_gt:
[[ 0.99978193 -0.01411518  0.01537148]
 [ 0.01537316  0.99625718 -0.08505683]
 [-0.01411331  0.08527535  0.99625659]]

 t_gt:
[ 0.27318956  0.14429893 -0.95107586]

Pose Error in degrees for R and t:
174.07491944310792 81.40885470567086

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 0.19947622  0.97928645  0.03474603]
 [ 0.9791757  -0.19783729 -0.04555606]
 [-0.03773837  0.04310982 -0.99835733]]

 t_estimated:
[[-0.62235207]
 [ 0.78225024]
 [-0.02761273]]

 R_gt:
[[ 9.99099335e-01  4.24399354e-02 -4.95211567e-04]
 [-4.20915403e-02  9.89270842e-01 -1.39896794e-01]
 [-5.44662985e-03  1.39792205e-01  9.90165350e-01]]

 t_gt:
[-0.03181509  0.40128714 -0.9153996 ]

Pose Error in degrees for R and t:
170.40534697298656 68.9621970429447

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.92198334e-01  1.24669412e-01  6.68503304e-05]
 [-1.24669398e-01  9.92198322e-01 -1.77477761e-04]
 [-8.84548337e-05  1.67758948e-04  9.99999982e-01]]

 t_estimated:
[[-7.86394135e-01]
 [-6.17724641e-01]
 [-7.30170970e-04]]

 R_gt:
[[ 0.98410028  0.17442762 -0.03349925]
 [-0.17754347  0.97141288 -0.15759011]
 [ 0.00505387  0.16103195  0.98693583]]

 t_gt:
[-0.34429142  0.70157444 -0.62390441]

Pose Error in degrees for R and t:
9.747815683072453 80.66680687371536

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99155816e-01  4.10725979e-02  8.35372150e-04]
 [-4.10721820e-02  9.99156052e-01 -5.09144312e-04]
 [-8.55579019e-04  4.74403943e-04  9.99999521e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.67921223e-01 -2.51208705e-01 -4.80522048e-03]
 [ 2.51254003e-01  9.67761543e-01  1.75866159e-02]
 [ 2.31600030e-04 -1.82306782e-02  9.99834033e-01]]

 t_gt:
[ 0.87079364 -0.48877136  0.05311295]

Pose Error in degrees for R and t:
16.939753105785517 29.620887183177697

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99491183e-01 -3.18865774e-02  7.88601014e-04]
 [ 3.18868347e-02  9.99491436e-01 -3.15826500e-04]
 [-7.78129333e-04  3.40811792e-04  9.99999639e-01]]

 t_estimated:
[[9.59377148e-01]
 [2.82125729e-01]
 [7.48344110e-04]]

 R_gt:
[[ 0.9248931  -0.3797908   0.01824941]
 [ 0.37982286  0.92505775  0.00181247]
 [-0.01757058  0.00525326  0.99983204]]

 t_gt:
[ 0.89790828 -0.44007492  0.00973607]

Pose Error in degrees for R and t:
20.52060712898984 42.4994763152586

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 4.57896813e-01  8.88998358e-01  3.52542787e-03]
 [ 8.89005338e-01 -4.57892635e-01 -1.96042767e-03]
 [-1.28549520e-04  4.03179778e-03 -9.99991864e-01]]

 t_estimated:
[[8.18634951e-01]
 [5.74313667e-01]
 [7.93250921e-04]]

 R_gt:
[[ 6.90974011e-01 -7.22879830e-01  5.78231319e-04]
 [ 7.22877741e-01  6.90968797e-01 -2.90889320e-03]
 [ 1.70317115e-03  2.42741390e-03  9.99995533e-01]]

 t_gt:
[ 0.9689396  -0.24718847 -0.00734294]

Pose Error in degrees for R and t:
179.64506241923962 49.36497185108933

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.87773960e-01  1.55892405e-01  4.03688230e-04]
 [-1.55892377e-01  9.87774041e-01 -9.94719856e-05]
 [-4.14259682e-04  3.53239192e-05  9.99999914e-01]]

 t_estimated:
[[0.27567823]
 [0.96124796]
 [0.00196761]]

 R_gt:
[[ 0.99598026 -0.08951153 -0.00319923]
 [ 0.08941113  0.99571299 -0.02369727]
 [ 0.00530671  0.02331646  0.99971372]]

 t_gt:
[ 0.54126284 -0.81540152 -0.20531658]

Pose Error in degrees for R and t:
14.168112234183495 50.58056068452501

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 8.43548636e-01 -5.37052149e-01 -8.29238555e-04]
 [ 5.37052450e-01  8.43548833e-01  1.79842420e-04]
 [ 6.02918457e-04 -5.97050426e-04  9.99999640e-01]]

 t_estimated:
[[ 9.98899644e-01]
 [-4.68978386e-02]
 [ 3.06881937e-04]]

 R_gt:
[[ 0.97515871 -0.22055961 -0.0204838 ]
 [ 0.22023698  0.9753013  -0.01683937]
 [ 0.0236918   0.01191022  0.99964794]]

 t_gt:
[ 0.64560705 -0.75768044 -0.09545622]

Pose Error in degrees for R and t:
19.804560908463404 47.12501867340371

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.77391609  0.63318284  0.01154933]
 [ 0.63317628  0.77399346 -0.00468145]
 [-0.01190332  0.00368971 -0.99992235]]

 t_estimated:
[[ 0.93453245]
 [-0.35579869]
 [ 0.00751001]]

 R_gt:
[[ 9.16312374e-01 -3.99898877e-01 -2.12973268e-02]
 [ 3.99977179e-01  9.16524573e-01 -6.16804029e-04]
 [ 1.97660964e-02 -7.95285084e-03  9.99772908e-01]]

 t_gt:
[ 0.75009901 -0.66129689 -0.00615581]

Pose Error in degrees for R and t:
179.49035529036885 20.571538121116728

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.90823144e-01 -1.35164671e-01 -9.28474296e-05]
 [ 1.35164702e-01  9.90823003e-01  5.28408433e-04]
 [ 2.05732169e-05 -5.36109000e-04  9.99999856e-01]]

 t_estimated:
[[-0.64785009]
 [-0.76176736]
 [-0.0008696 ]]

 R_gt:
[[ 0.99261214 -0.11812207  0.02771715]
 [ 0.11875996  0.99266515 -0.02262064]
 [-0.02484221  0.02574571  0.99935986]]

 t_gt:
[ 0.68219328 -0.72894778  0.05698652]

Pose Error in degrees for R and t:
2.2866018930635583 83.49556718251876

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.69534709e-01  2.44953746e-01  3.31434267e-04]
 [-2.44953710e-01  9.69534764e-01 -1.47062065e-04]
 [-3.57360447e-04  6.13957228e-05  9.99999934e-01]]

 t_estimated:
[[0.63845641]
 [0.76965753]
 [0.00083568]]

 R_gt:
[[ 0.96754014 -0.25218946  0.01634362]
 [ 0.25267907  0.96650129 -0.04504993]
 [-0.00443505  0.04771708  0.99885056]]

 t_gt:
[ 0.7623127  -0.64314696 -0.07239709]

Pose Error in degrees for R and t:
28.93620286457839 89.52100338743776

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.99987424  0.01509883 -0.00485073]
 [ 0.01514728  0.99983416 -0.01011012]
 [ 0.00469727 -0.01018232 -0.99993713]]

 t_estimated:
[[0.94744368]
 [0.31991605]
 [0.00205074]]

 R_gt:
[[ 0.92749164 -0.3686816   0.06191769]
 [ 0.3712061   0.92786884 -0.03557578]
 [-0.04433568  0.05597978  0.99744683]]

 t_gt:
[ 0.79117959 -0.61142714  0.01384567]

Pose Error in degrees for R and t:
177.25610197206305 56.35668037087869

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-2.20582517e-01 -9.75353526e-01  5.37149015e-03]
 [-9.75368013e-01  2.20583451e-01 -4.25280069e-04]
 [-7.70063422e-04 -5.33298902e-03 -9.99985483e-01]]

 t_estimated:
[[0.76133924]
 [0.64834801]
 [0.00272236]]

 R_gt:
[[ 0.99688391  0.01205062 -0.07795737]
 [-0.01096184  0.99983697  0.01436941]
 [ 0.07811895 -0.01346965  0.99685326]]

 t_gt:
[ 0.51957551  0.25847777 -0.81438967]

Pose Error in degrees for R and t:
177.2289815822238 55.87918992548049

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.21351223 -0.97687201 -0.01155843]
 [-0.97693179  0.21344577  0.00672124]
 [-0.00409869  0.01272686 -0.99991061]]

 t_estimated:
[[ 0.68869225]
 [ 0.7250528 ]
 [-0.00119165]]

 R_gt:
[[ 9.90988973e-01  1.67647429e-02 -1.32891625e-01]
 [-1.66515046e-02  9.99859458e-01  1.96257714e-03]
 [ 1.32906534e-01  2.68957908e-04  9.91128156e-01]]

 t_gt:
[ 0.5599394   0.25236957 -0.78916251]

Pose Error in degrees for R and t:
173.80314687507177 55.28131602281526

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 0.87908153 -0.47665776 -0.00361259]
 [ 0.47666779  0.87907923  0.00274457]
 [ 0.00186753 -0.00413471  0.99998971]]

 t_estimated:
[[0.81301263]
 [0.58224485]
 [0.00118342]]

 R_gt:
[[ 0.98233329  0.0152052  -0.18652093]
 [-0.01377802  0.99986572  0.0089465 ]
 [ 0.18663192 -0.00621837  0.98240975]]

 t_gt:
[ 0.63192441  0.20617492 -0.74710337]

Pose Error in degrees for R and t:
31.120230945718564 50.73391732166889

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99883766e-01 -1.52375434e-02 -5.22196713e-04]
 [ 1.52377519e-02  9.99883820e-01  3.97625155e-04]
 [ 5.16077214e-04 -4.05536041e-04  9.99999785e-01]]

 t_estimated:
[[-0.4697835 ]
 [-0.88277998]
 [-0.00172082]]

 R_gt:
[[ 0.98940617  0.14387705 -0.01935389]
 [-0.14475696  0.98784569 -0.05662129]
 [ 0.0109723   0.05882378  0.99820845]]

 t_gt:
[-0.32879511  0.90783615 -0.26024468]

Pose Error in degrees for R and t:
9.802385350551859 49.72107283634391

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.63665166e-01  2.67113169e-01 -5.80650498e-05]
 [-2.67113175e-01  9.63665151e-01 -1.66387680e-04]
 [ 1.15109246e-05  1.75851951e-04  9.99999984e-01]]

 t_estimated:
[[-9.99983503e-01]
 [-5.68633998e-03]
 [-8.12334283e-04]]

 R_gt:
[[ 0.97431656  0.22496639 -0.00987415]
 [-0.22514115  0.97236111 -0.06184726]
 [-0.00431187  0.06248248  0.9980371 ]]

 t_gt:
[-0.34080639  0.93297748 -0.11577577]

Pose Error in degrees for R and t:
4.351760147485463 70.39160534697713

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-5.40720797e-01 -8.41200820e-01 -1.48352954e-03]
 [-8.41202127e-01  5.40720014e-01  9.20406226e-04]
 [ 2.79276434e-05  1.74563100e-03 -9.99998476e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.97146119  0.23483396  0.03342007]
 [-0.23657266  0.96946214  0.06462111]
 [-0.01722408 -0.07068197  0.99735031]]

 t_gt:
[-0.38208205  0.89046712  0.24714694]

Pose Error in degrees for R and t:
176.90434419096482 80.50296440749842

Number of keypoints:
Image1: 371
Image2: 371

 R_estimated:
[[ 9.89325737e-01 -1.45720914e-01 -3.25944932e-05]
 [ 1.45720918e-01  9.89325725e-01  1.53896841e-04]
 [ 9.82058221e-06 -1.57003805e-04  9.99999988e-01]]

 t_estimated:
[[0.97544788]
 [0.22022777]
 [0.00107428]]

 R_gt:
[[ 0.99858779 -0.04467418  0.02874525]
 [ 0.04573215  0.99825925 -0.03724877]
 [-0.02703064  0.0385103   0.99889268]]

 t_gt:
[ 0.76129193  0.52401491 -0.38189394]

Pose Error in degrees for R and t:
6.387110930433528 30.952613191697175

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[-0.13163097 -0.99121652  0.0127706 ]
 [-0.99121948  0.13177248  0.01095278]
 [-0.01253939 -0.01121674 -0.99985846]]

 t_estimated:
[[0.73587822]
 [0.67705431]
 [0.008984  ]]

 R_gt:
[[ 0.99001297 -0.12200734  0.07062832]
 [ 0.12396032  0.99199905 -0.02393126]
 [-0.06714329  0.03244749  0.99721599]]

 t_gt:
[ 0.94830795 -0.09114586  0.30398103]

Pose Error in degrees for R and t:
177.12999237058747 50.293177286620555

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 8.66416831e-01 -4.99320592e-01 -9.05626490e-04]
 [ 4.99321350e-01  8.66416215e-01  1.06426919e-03]
 [ 2.53237953e-04 -1.37429938e-03  9.99999024e-01]]

 t_estimated:
[[0.89878873]
 [0.43838012]
 [0.00130059]]

 R_gt:
[[ 0.97965444 -0.16821727  0.10945219]
 [ 0.17189742  0.98479674 -0.02503561]
 [-0.10357728  0.04334082  0.99367648]]

 t_gt:
[0.9138215  0.00965917 0.4060012 ]

Pose Error in degrees for R and t:
21.14640615001432 34.30034568141077

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99989621e-01 -4.55367193e-03 -1.48909943e-04]
 [ 4.55365641e-03  9.99989627e-01 -1.04392345e-04]
 [ 1.49383767e-04  1.03713177e-04  9.99999983e-01]]

 t_estimated:
[[-0.8181752 ]
 [-0.57496764]
 [-0.00124722]]

 R_gt:
[[ 0.99163002  0.12909396 -0.00229054]
 [-0.12902901  0.99017293 -0.05393491]
 [-0.0046947   0.05377924  0.99854123]]

 t_gt:
[-0.38860996  0.90529132 -0.17155151]

Pose Error in degrees for R and t:
8.278648481444625 78.32569024224351

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 4.86831375e-01  8.73492928e-01  2.30585204e-03]
 [ 8.73493857e-01 -4.86834309e-01  9.15453366e-04]
 [ 1.92220993e-03  1.56847617e-03 -9.99996922e-01]]

 t_estimated:
[[0.71875276]
 [0.69526534]
 [0.00075739]]

 R_gt:
[[ 0.98639009  0.16143517  0.03118215]
 [-0.16215365  0.98651916  0.02205064]
 [-0.02720215 -0.02680609  0.99927002]]

 t_gt:
[-0.4278942   0.86706604  0.25515297]

Pose Error in degrees for R and t:
179.64988318380182 72.81343262433921

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 9.76098075e-01 -2.17330210e-01 -3.57519137e-04]
 [ 2.17330364e-01  9.76097992e-01  4.72281305e-04]
 [ 2.46332717e-04 -5.38692637e-04  9.99999825e-01]]

 t_estimated:
[[0.16534963]
 [0.98623432]
 [0.00117269]]

 R_gt:
[[ 0.98411954  0.15048158  0.09414592]
 [-0.16329241  0.97544884  0.14776505]
 [-0.06959892 -0.1607924   0.98453133]]

 t_gt:
[-0.34912333  0.6164494   0.70576415]

Pose Error in degrees for R and t:
23.852784791436555 56.559976166011715

Number of keypoints:
Image1: 297
Image2: 297

 R_estimated:
[[ 9.99999927e-01 -3.78895620e-04  4.90240614e-05]
 [ 3.78894683e-04  9.99999928e-01  1.91207160e-05]
 [-4.90313026e-05 -1.91021396e-05  9.99999999e-01]]

 t_estimated:
[[0.63113943]
 [0.77566886]
 [0.0009166 ]]

 R_gt:
[[ 0.99472158 -0.09721221  0.03284349]
 [ 0.09694476  0.99524314  0.00964491]
 [-0.03362495 -0.00641101  0.99941386]]

 t_gt:
[ 0.91192477 -0.25498313  0.32152265]

Pose Error in degrees for R and t:
5.886068337081961 67.78619147638044

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.99999772e-01 -6.71870958e-04 -6.01662584e-05]
 [ 6.71879226e-04  9.99999765e-01  1.37513705e-04]
 [ 6.00738528e-05 -1.37554098e-04  9.99999989e-01]]

 t_estimated:
[[-0.99994482]
 [-0.01045514]
 [-0.00102307]]

 R_gt:
[[ 0.99007124 -0.11270897  0.08399823]
 [ 0.11395454  0.99343379 -0.01017672]
 [-0.08229962  0.01964785  0.99641356]]

 t_gt:
[0.88306622 0.00704991 0.46919544]

Pose Error in degrees for R and t:
8.098171538745559 27.923795865540097

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.77309557e-01 -2.11812998e-01 -1.13301268e-03]
 [ 2.11814034e-01  9.77309585e-01  8.88751279e-04]
 [ 9.19055075e-04 -1.10857310e-03  9.99998963e-01]]

 t_estimated:
[[0.72728127]
 [0.68633913]
 [0.0007444 ]]

 R_gt:
[[ 0.98586442 -0.07546752  0.14958906]
 [ 0.08300572  0.99554133 -0.04479914]
 [-0.14554037  0.05658264  0.98773186]]

 t_gt:
[0.58250348 0.42116999 0.6952018 ]

Pose Error in degrees for R and t:
11.855368322973213 44.50193124275075

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 8.59960948e-01  5.10358871e-01  9.95559385e-04]
 [-5.10357232e-01  8.59961153e-01 -1.52054222e-03]
 [-1.63216461e-03  7.99515995e-04  9.99998348e-01]]

 t_estimated:
[[0.75815394]
 [0.65207479]
 [0.00103999]]

 R_gt:
[[ 0.99673971  0.01469613 -0.07934258]
 [-0.01146321  0.9990913   0.04104852]
 [ 0.079874   -0.04000434  0.99600187]]

 t_gt:
[ 0.48704602 -0.87325479 -0.0145691 ]

Pose Error in degrees for R and t:
30.379800283114392 78.45212165886451

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-9.97147573e-01  7.54175268e-02 -2.98559106e-03]
 [-7.54157414e-02 -9.97151928e-01 -7.06319455e-04]
 [-3.03035675e-03 -4.79144168e-04  9.99995294e-01]]

 t_estimated:
[[0.7690037 ]
 [0.63924286]
 [0.0013659 ]]

 R_gt:
[[ 0.98535497  0.11245664 -0.12817714]
 [-0.09251925  0.98402426  0.15210694]
 [ 0.14323493 -0.13801961  0.98001756]]

 t_gt:
[-0.33676668 -0.03636019  0.94088583]

Pose Error in degrees for R and t:
169.7993385459148 73.6841235858069

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 5.52423621e-01 -8.33558465e-01  2.90327058e-03]
 [-8.33561817e-01 -5.52426183e-01 -9.75108479e-05]
 [ 1.68512368e-03 -2.36618821e-03 -9.99995781e-01]]

 t_estimated:
[[0.33725296]
 [0.9414131 ]
 [0.00134925]]

 R_gt:
[[ 0.97750445  0.13336125 -0.163403  ]
 [-0.10096623  0.97606533  0.19262075]
 [ 0.1851805  -0.17178833  0.96757283]]

 t_gt:
[-0.00578562  0.35620939  0.93438825]

Pose Error in degrees for R and t:
175.3985482251729 70.44876227961176

Number of keypoints:
Image1: 427
Image2: 427

 R_estimated:
[[-0.72991895  0.67981482  0.0712049 ]
 [ 0.67997643  0.73278366 -0.02569361]
 [-0.06964468  0.0296634  -0.99713073]]

 t_estimated:
[[ 0.92792962]
 [-0.37081925]
 [ 0.0379434 ]]

 R_gt:
[[ 0.99971941  0.00359795 -0.02340401]
 [-0.00314525  0.99980765  0.01935534]
 [ 0.02347029 -0.01927618  0.99953814]]

 t_gt:
[-0.2056354  -0.48440374 -0.85033352]

Pose Error in degrees for R and t:
177.31512693884935 87.50951420164424

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 8.41820059e-01  5.39758267e-01  2.23853642e-05]
 [-5.39758213e-01  8.41819992e-01 -4.16157773e-04]
 [-2.43469046e-04  3.38247277e-04  9.99999913e-01]]

 t_estimated:
[[0.86412272]
 [0.50328026]
 [0.00094959]]

 R_gt:
[[ 9.96882258e-01 -7.88580701e-02  2.79201082e-03]
 [ 7.88592701e-02  9.96885674e-01 -5.02900658e-04]
 [-2.74287168e-03  7.22091314e-04  9.99995594e-01]]

 t_gt:
[ 0.60829889 -0.79277967  0.03837786]

Pose Error in degrees for R and t:
37.190456358141475 82.72158211188267

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[ 9.81878845e-01  1.89509638e-01  1.72335721e-04]
 [-1.89509640e-01  9.81878860e-01 -8.32007273e-06]
 [-1.70789536e-04 -2.44899771e-05  9.99999985e-01]]

 t_estimated:
[[8.46363544e-01]
 [5.32605047e-01]
 [7.84396241e-04]]

 R_gt:
[[ 0.9756705  -0.21898776 -0.01053308]
 [ 0.21844555  0.97509791 -0.03829321]
 [ 0.01865598  0.03506169  0.9992105 ]]

 t_gt:
[ 0.73787701 -0.66203038 -0.13135184]

Pose Error in degrees for R and t:
23.671462531664286 74.22809173714629

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-7.68991741e-01 -6.39256330e-01  1.74563251e-03]
 [-6.39258647e-01  7.68990040e-01 -1.64360660e-03]
 [-2.91688089e-04 -2.37983058e-03 -9.99997126e-01]]

 t_estimated:
[[0.99837118]
 [0.05695406]
 [0.00335024]]

 R_gt:
[[ 0.98997532 -0.13918317 -0.02401966]
 [ 0.13943982  0.99018681  0.00936195]
 [ 0.02248128 -0.01261679  0.99966775]]

 t_gt:
[ 0.84883766 -0.52750108 -0.03488874]

Pose Error in degrees for R and t:
179.01116196518373 35.185092904191656

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.04798467  0.99884552 -0.00225931]
 [-0.99883755  0.04797366 -0.00469951]
 [-0.0045857   0.00248219  0.9999864 ]]

 t_estimated:
[[0.85761271]
 [0.51429327]
 [0.00169244]]

 R_gt:
[[ 0.93012154 -0.36656132 -0.02250082]
 [ 0.36704769  0.92990028  0.02372434]
 [ 0.01222728 -0.03032568  0.99946495]]

 t_gt:
[ 0.90453181 -0.4251441   0.03278258]

Pose Error in degrees for R and t:
108.79171154508323 56.141435260777065

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-7.16953113e-01 -6.97121260e-01 -4.27209796e-04]
 [-6.97115103e-01  7.16943908e-01  4.68678062e-03]
 [-2.96096895e-03  3.65801635e-03 -9.99988926e-01]]

 t_estimated:
[[0.98323243]
 [0.18235132]
 [0.00141035]]

 R_gt:
[[ 0.87074178 -0.49172869  0.0031684 ]
 [ 0.49171984  0.87074759  0.00335919]
 [-0.00441032 -0.00136638  0.99998927]]

 t_gt:
[ 0.92866653 -0.3709077  -0.00244136]

Pose Error in degrees for R and t:
179.5964534187214 32.279164436383674

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.953489    0.24809118  0.17120017]
 [-0.21060785  0.95465048 -0.2104443 ]
 [-0.2156457   0.16460023  0.96249868]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.98820954 -0.15261913 -0.0121892 ]
 [ 0.1517233   0.98685622 -0.05563005]
 [ 0.02051992  0.05312521  0.9983777 ]]

 t_gt:
[ 0.46650697 -0.75257608 -0.46475853]

Pose Error in degrees for R and t:
26.52950470559223 79.84591949738426

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99988525e-01 -4.79064385e-03 -8.21080878e-06]
 [ 4.79064910e-03  9.99988162e-01  8.51507718e-04]
 [ 4.13144138e-06 -8.51537282e-04  9.99999637e-01]]

 t_estimated:
[[-0.68742765]
 [-0.72625247]
 [-0.00076127]]

 R_gt:
[[ 0.97803274 -0.2001495   0.05824293]
 [ 0.2021957   0.9788347  -0.03161353]
 [-0.05068202  0.04269642  0.9978019 ]]

 t_gt:
[ 0.17544347 -0.98399605  0.03116666]

Pose Error in degrees for R and t:
11.970407957804728 53.558541332919845

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999963e-01  2.70140150e-04  4.29677209e-05]
 [-2.70138720e-04  9.99999963e-01 -3.32836753e-05]
 [-4.29767105e-05  3.32720669e-05  9.99999999e-01]]

 t_estimated:
[[0.99968376]
 [0.0250466 ]
 [0.0022484 ]]

 R_gt:
[[ 0.94534172 -0.32372761  0.03910326]
 [ 0.3245671   0.94570464 -0.01728915]
 [-0.03138305  0.02903607  0.99908612]]

 t_gt:
[ 0.39419584 -0.91842872  0.03314105]

Pose Error in degrees for R and t:
19.094394330011053 68.21392424742649

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 9.50956094e-01  3.09325387e-01 -5.58301196e-04]
 [ 3.06593938e-01 -9.42316404e-01  1.34312889e-01]
 [ 4.10202899e-02 -1.27896832e-01 -9.90938816e-01]]

 t_estimated:
[[0.9995459 ]
 [0.03008667]
 [0.00167148]]

 R_gt:
[[ 9.93571656e-01 -3.52682231e-04 -1.13199916e-01]
 [ 1.53644229e-02  9.91161082e-01  1.31768318e-01]
 [ 1.12152718e-01 -1.32661095e-01  9.84795291e-01]]

 t_gt:
[ 0.48826472 -0.76625967  0.41766455]

Pose Error in degrees for R and t:
163.851260083188 62.24531270643677

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 8.59840704e-01 -5.10561585e-01 -9.11913017e-04]
 [ 5.10562266e-01  8.59840400e-01  8.11736669e-04]
 [ 3.69658093e-04 -1.16355261e-03  9.99999255e-01]]

 t_estimated:
[[-0.69172333]
 [-0.7221622 ]
 [-0.00076097]]

 R_gt:
[[ 0.97649945 -0.08433921 -0.19833211]
 [ 0.12965501  0.96498703  0.22801101]
 [ 0.17215718 -0.24836749  0.95324417]]

 t_gt:
[ 0.67304212 -0.63772632  0.37459238]

Pose Error in degrees for R and t:
29.96919810613929 89.69620768962722

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[-9.53857764e-01  3.00258766e-01 -2.01459646e-04]
 [-3.00257232e-01 -9.53854653e-01 -2.62588906e-03]
 [-9.80609430e-04 -2.44423495e-03  9.99996532e-01]]

 t_estimated:
[[0.68912897]
 [0.72463752]
 [0.00131513]]

 R_gt:
[[ 0.95214545 -0.1930168  -0.23698751]
 [ 0.25216952  0.93422545  0.252255  ]
 [ 0.17270901 -0.29994487  0.93819149]]

 t_gt:
[ 0.74844489 -0.57093728  0.33743277]

Pose Error in degrees for R and t:
175.89135639317482 84.11706622610626

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-9.23203377e-01 -3.84081306e-01 -1.33069531e-02]
 [-3.84111547e-01  9.23286644e-01 -3.05299948e-04]
 [ 1.24033921e-02  4.82950041e-03 -9.99911412e-01]]

 t_estimated:
[[ 0.96929443]
 [ 0.24580401]
 [-0.00697798]]

 R_gt:
[[ 0.99479358  0.08940395 -0.04890584]
 [-0.08329402  0.98984154  0.11522008]
 [ 0.05871032 -0.11054589  0.99213548]]

 t_gt:
[-0.28857563  0.26394255  0.92035778]

Pose Error in degrees for R and t:
177.4834529161156 77.21701777760626

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-4.48277110e-01 -8.93892626e-01 -1.89884502e-03]
 [ 8.93894338e-01 -4.48277701e-01 -1.25974420e-04]
 [-7.38602275e-04 -1.75383826e-03  9.99998189e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98678287  0.13526513 -0.0892307 ]
 [-0.12135654  0.98177997  0.14622004]
 [ 0.10738373 -0.13345849  0.98522029]]

 t_gt:
[-0.21607732  0.73478889  0.64295869]

Pose Error in degrees for R and t:
124.27497628635257 77.68422404864342

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.97626224 -0.21312155  0.03861657]
 [ 0.21441271  0.97618282 -0.03308003]
 [-0.03064677  0.04057467  0.9987064 ]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.9736657   0.2102225  -0.08820513]
 [-0.19602442  0.96953652  0.14687922]
 [ 0.11639488 -0.1257206   0.9852143 ]]

 t_gt:
[-0.3590817   0.87169287  0.33348443]

Pose Error in degrees for R and t:
27.303928531562086 70.79812894225728

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99024054e-01 -4.41694058e-02 -6.18614992e-05]
 [ 4.41694068e-02  9.99024055e-01  1.39775284e-05]
 [ 6.11837467e-05 -1.66962728e-05  9.99999998e-01]]

 t_estimated:
[[-9.96022894e-01]
 [ 8.90961378e-02]
 [-5.21465396e-04]]

 R_gt:
[[ 0.99528498  0.09345425 -0.02596784]
 [-0.09319077  0.99558495  0.0111976 ]
 [ 0.02689954 -0.00872476  0.9996001 ]]

 t_gt:
[-0.44006916  0.88113246 -0.1730454 ]

Pose Error in degrees for R and t:
8.051202408709749 58.874477836313616

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 0.34310997 -0.93929406  0.00148924]
 [-0.93928539 -0.34309868  0.00512362]
 [-0.00430163 -0.00315678 -0.99998577]]

 t_estimated:
[[0.55667657]
 [0.83072152]
 [0.00359765]]

 R_gt:
[[ 0.99357404  0.10529017 -0.0415286 ]
 [-0.10485709  0.99440877  0.01248155]
 [ 0.04261021 -0.00804654  0.99905947]]

 t_gt:
[-0.2958575   0.94441336 -0.14335878]

Pose Error in degrees for R and t:
179.3826920193872 51.73264367949328

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.93465899e-01  1.14129340e-01 -1.56311920e-05]
 [-1.14129341e-01  9.93465899e-01 -3.03375527e-05]
 [ 1.20666513e-05  3.19233017e-05  9.99999999e-01]]

 t_estimated:
[[0.75775778]
 [0.65253546]
 [0.00078524]]

 R_gt:
[[ 0.99918435  0.03789093 -0.0139494 ]
 [-0.03828427  0.99884506 -0.02904118]
 [ 0.01283178  0.02955106  0.99948094]]

 t_gt:
[ 0.11334086  0.90776843 -0.4038692 ]

Pose Error in degrees for R and t:
4.743059714967584 47.31877002700993

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[-0.11132872 -0.99378226 -0.00165303]
 [-0.99377914  0.11133307 -0.00282365]
 [ 0.00299013  0.0013284  -0.99999465]]

 t_estimated:
[[0.70036199]
 [0.71378746]
 [0.00074586]]

 R_gt:
[[ 0.99783713  0.06515176 -0.00865997]
 [-0.06444627  0.99576376  0.06557419]
 [ 0.01289561 -0.06487383  0.99780942]]

 t_gt:
[-0.69849114  0.44111757  0.56349394]

Pose Error in degrees for R and t:
178.14362767081732 79.98464090851262

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 2.15354713e-01  9.76453169e-01  1.27104605e-02]
 [ 9.76535841e-01 -2.15340628e-01 -2.48278502e-03]
 [ 3.12755239e-04  1.29468997e-02 -9.99916136e-01]]

 t_estimated:
[[-0.8574614 ]
 [-0.51447684]
 [-0.00857461]]

 R_gt:
[[ 0.98749737  0.02571046 -0.15552585]
 [ 0.00670812  0.97886189  0.20441151]
 [ 0.1574935  -0.20289778  0.96645055]]

 t_gt:
[ 0.2806172  -0.64881604  0.70731304]

Pose Error in degrees for R and t:
165.6850147936234 85.0022007126414

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.9054199   0.42451343  0.00177585]
 [ 0.42448925 -0.90540045  0.0076749 ]
 [ 0.00486595 -0.00619517 -0.99996897]]

 t_estimated:
[[-0.96230511]
 [-0.27195579]
 [-0.00298853]]

 R_gt:
[[ 0.97523037 -0.06463243 -0.21153729]
 [ 0.12285809  0.95354508  0.27505735]
 [ 0.18393281 -0.29423277  0.93786758]]

 t_gt:
[ 0.60516294 -0.60556119  0.5167915 ]

Pose Error in degrees for R and t:
160.82310475621742 65.21528101090098

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[-0.99729592 -0.07348218  0.00110501]
 [ 0.07344867 -0.99712296 -0.0187376 ]
 [ 0.00247871 -0.01860577  0.99982383]]

 t_estimated:
[[9.81490258e-01]
 [1.91510294e-01]
 [8.25475406e-04]]

 R_gt:
[[ 0.99555871 -0.09157886  0.02184171]
 [ 0.09123432  0.99569653  0.0162458 ]
 [-0.02323462 -0.01418135  0.99962877]]

 t_gt:
[ 0.00897693 -0.96908643  0.24655811]

Pose Error in degrees for R and t:
170.55538877225908 79.82963088795846

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[-0.32074371  0.94716273 -0.002499  ]
 [-0.94716205 -0.32074889 -0.00205061]
 [-0.00274381  0.00170924  0.99999477]]

 t_estimated:
[[0.43322069]
 [0.90128738]
 [0.00094178]]

 R_gt:
[[ 0.98031183 -0.19596347  0.02422513]
 [ 0.19572277  0.980586    0.01195927]
 [-0.02609773 -0.00698337  0.9996344 ]]

 t_gt:
[ 0.24297636 -0.95840443  0.14974455]

Pose Error in degrees for R and t:
120.0111619515673 40.6771436893437

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.50631453e-01 -3.10318106e-01  1.58533439e-03]
 [ 3.10320756e-01  9.50630105e-01 -1.85274008e-03]
 [-9.32127804e-04  2.25323516e-03  9.99997027e-01]]

 t_estimated:
[[-0.57736474]
 [-0.81648571]
 [-0.00102188]]

 R_gt:
[[ 0.94258069 -0.33397153  0.00210493]
 [ 0.33337395  0.94123694  0.05416292]
 [-0.02007027 -0.0503516   0.99852926]]

 t_gt:
[ 0.43693533 -0.88196697  0.17669686]

Pose Error in degrees for R and t:
3.513949658480199 62.11737353235072

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.97055852e-01 -7.66785099e-02 -1.84367049e-04]
 [ 7.66785191e-02  9.97055867e-01  4.32429063e-05]
 [ 1.80508446e-04 -5.72525851e-05  9.99999982e-01]]

 t_estimated:
[[-0.9798867 ]
 [-0.19955157]
 [-0.00110775]]

 R_gt:
[[ 9.90919680e-01  1.34355513e-01  5.17193744e-03]
 [-1.34453669e-01  9.89979437e-01  4.31609860e-02]
 [ 6.78252721e-04 -4.34640524e-02  9.99055068e-01]]

 t_gt:
[-0.58647709  0.77253867  0.24336933]

Pose Error in degrees for R and t:
12.377406606022028 65.14961503318261

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.61833237e-01 -2.73635902e-01 -4.65485568e-04]
 [ 2.73635956e-01  9.61833333e-01  5.54175817e-05]
 [ 4.32555295e-04 -1.80676060e-04  9.99999890e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97133124  0.23770675 -0.00324084]
 [-0.2373715   0.97052588  0.04162966]
 [ 0.01303982 -0.03966685  0.99912757]]

 t_gt:
[-0.52612602  0.84621872  0.0842929 ]

Pose Error in degrees for R and t:
29.72165345593147 32.54086237314514

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-1.02678535e-02 -9.99945767e-01 -1.74199831e-03]
 [ 9.99946845e-01 -1.02662010e-02 -9.54927091e-04]
 [ 9.36991598e-04 -1.75171077e-03  9.99998027e-01]]

 t_estimated:
[[9.99981189e-01]
 [6.10874167e-03]
 [5.52466712e-04]]

 R_gt:
[[ 0.89477186  0.44624475  0.01575901]
 [-0.44649384  0.89456112  0.02006588]
 [-0.00514432 -0.02499069  0.99967463]]

 t_gt:
[-0.47192216  0.88078688  0.03878071]

Pose Error in degrees for R and t:
117.10987876691271 62.19192141924584

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 0.73295614  0.6802667  -0.00353785]
 [-0.67982233  0.73264742  0.03270108]
 [ 0.02483745 -0.02156335  0.99945892]]

 t_estimated:
[[7.79221024e-01]
 [6.26748801e-01]
 [7.33039533e-04]]

 R_gt:
[[ 0.99453952 -0.10301084  0.01668928]
 [ 0.10307579  0.99466864 -0.00303737]
 [-0.01628698  0.00474159  0.99985667]]

 t_gt:
[ 0.85476716 -0.51774055  0.03630179]

Pose Error in degrees for R and t:
48.84495843469698 70.02647587240709

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.99564815e-01  2.94982737e-02  1.79274153e-04]
 [-2.94982497e-02  9.99564823e-01 -1.35222373e-04]
 [-1.83184964e-04  1.29875252e-04  9.99999975e-01]]

 t_estimated:
[[8.41794876e-01]
 [5.39797060e-01]
 [7.21886701e-04]]

 R_gt:
[[ 9.72564094e-01 -2.32632769e-01  5.32443942e-04]
 [ 2.32607215e-01  9.72487312e-01  1.27336113e-02]
 [-3.47996618e-03 -1.22604597e-02  9.99919583e-01]]

 t_gt:
[ 0.84963775 -0.52578656  0.04079442]

Pose Error in degrees for R and t:
15.160048454405944 64.44151994041184

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.50619469  0.85555354  0.10860512]
 [-0.81599494  0.43437306  0.38140833]
 [ 0.27914011 -0.28168809  0.91800469]]

 t_estimated:
[[0.27053363]
 [0.96270975]
 [0.00121862]]

 R_gt:
[[ 0.94745863 -0.31833348 -0.03139354]
 [ 0.31823608  0.94797571 -0.00820547]
 [ 0.03237181 -0.00221501  0.99947398]]

 t_gt:
[ 0.86286847 -0.50272443 -0.05221247]

Pose Error in degrees for R and t:
81.95255406277869 75.48660094220976

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.88150947  0.17411455  0.43889085]
 [ 0.17314581  0.74557043 -0.64354118]
 [-0.43927393  0.64327976  0.62708019]]

 t_estimated:
[[-0.75482941]
 [-0.64699664]
 [-0.10783277]]

 R_gt:
[[ 0.99352803 -0.11352912 -0.00391105]
 [ 0.11282276  0.99019088 -0.08242293]
 [ 0.01323081  0.08144808  0.99658968]]

 t_gt:
[ 0.52940707 -0.63109631 -0.56696173]

Pose Error in degrees for R and t:
48.060974025520515 85.99507515834448

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 5.41817816e-01  8.40492985e-01  2.23521420e-03]
 [ 8.40493908e-01 -5.41820452e-01  7.67385708e-04]
 [ 1.85606707e-03  1.46290067e-03 -9.99997207e-01]]

 t_estimated:
[[-0.99993858]
 [-0.01101524]
 [-0.00122392]]

 R_gt:
[[ 0.99788629 -0.06090435 -0.0226807 ]
 [ 0.05879117  0.99469695 -0.08439024]
 [ 0.02770067  0.08287871  0.99617458]]

 t_gt:
[ 0.30701117 -0.11329333 -0.9449385 ]

Pose Error in degrees for R and t:
176.45136195705695 72.26663099817115

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.73880552 -0.62823037 -0.24391187]
 [ 0.65865832  0.74970823  0.06408429]
 [ 0.14260304 -0.20800041  0.96767774]]

 t_estimated:
[[-0.43160888]
 [-0.90065882]
 [-0.05027393]]

 R_gt:
[[ 0.99968336 -0.00659746 -0.02429513]
 [ 0.00429425  0.99559735 -0.09363587]
 [ 0.02480654  0.09350138  0.99531069]]

 t_gt:
[-0.0567577   0.55640089 -0.82897323]

Pose Error in degrees for R and t:
43.98238295759346 64.21760157320767

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-3.47270178e-02  9.99396675e-01  5.66130086e-04]
 [ 9.99394764e-01  3.47257870e-02  2.05566975e-03]
 [ 2.03477020e-03  6.37174723e-04 -9.99997727e-01]]

 t_estimated:
[[-0.15006678]
 [-0.98867525]
 [-0.00110343]]

 R_gt:
[[ 0.9990006  -0.03751233  0.02431678]
 [ 0.03470859  0.9936622   0.10691215]
 [-0.02817294 -0.10596144  0.99397145]]

 t_gt:
[ 0.15612783 -0.41354874  0.89699584]

Pose Error in degrees for R and t:
176.7834560797893 67.39064685711503

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-6.62782054e-01  7.48812232e-01  4.36766920e-04]
 [ 7.48809935e-01  6.62778311e-01  2.93106499e-03]
 [ 1.90533767e-03  2.26971268e-03 -9.99995609e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99618415 -0.07472226  0.04510574]
 [ 0.06561622  0.98193155  0.17749574]
 [-0.05755355 -0.1738589   0.98308755]]

 t_gt:
[ 0.19018485 -0.40834299  0.89279658]

Pose Error in degrees for R and t:
178.50197348525714 84.7703165763003

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.73977461e-01 -2.26643684e-01  7.38563861e-04]
 [ 2.26644349e-01  9.73977078e-01 -9.95421283e-04]
 [-4.93738325e-04  1.13690922e-03  9.99999232e-01]]

 t_estimated:
[[0.81638644]
 [0.5775054 ]
 [0.00083818]]

 R_gt:
[[ 0.99704784 -0.06336476  0.04336597]
 [ 0.05796027  0.99153447  0.11618983]
 [-0.05036175 -0.11333346  0.99227994]]

 t_gt:
[ 0.21087157 -0.46544862  0.85958755]

Pose Error in degrees for R and t:
11.982360963530924 84.49538589999551

Number of keypoints:
Image1: 296
Image2: 296

 R_estimated:
[[ 0.28335869  0.95880248 -0.02014088]
 [ 0.95872873 -0.2826997   0.03033326]
 [ 0.02338979 -0.02790483 -0.9993369 ]]

 t_estimated:
[[ 0.59766025]
 [-0.80152023]
 [-0.01917154]]

 R_gt:
[[ 0.99797928 -0.02902612  0.05652737]
 [ 0.02886242  0.99957582  0.00371214]
 [-0.05661132 -0.0020731   0.99839422]]

 t_gt:
[-0.3954567  -0.02956874  0.91800854]

Pose Error in degrees for R and t:
179.72604434062936 76.68830107234466

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[-9.22566460e-01  3.85835711e-01 -1.38983460e-03]
 [-3.85833849e-01 -9.22567172e-01 -1.43338553e-03]
 [-1.83526710e-03 -7.86148179e-04  9.99998007e-01]]

 t_estimated:
[[0.81014831]
 [0.58622415]
 [0.0009826 ]]

 R_gt:
[[ 0.9955213  -0.03801725  0.0865543 ]
 [ 0.04220586  0.99799872 -0.04708396]
 [-0.08459161  0.05052617  0.99513416]]

 t_gt:
[-0.62015055  0.50335145  0.60170641]

Pose Error in degrees for R and t:
159.62873558288953 78.06827818234196

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[-7.38247855e-01 -6.74521338e-01 -3.32717681e-03]
 [-6.74516720e-01  7.38255254e-01 -2.52461886e-03]
 [ 4.15921505e-03  3.80441928e-04 -9.99991278e-01]]

 t_estimated:
[[ 8.77683191e-01]
 [ 4.79240985e-01]
 [-5.43175882e-04]]

 R_gt:
[[ 0.99471418 -0.02546308  0.09947645]
 [ 0.03198175  0.99740557 -0.06449445]
 [-0.09757569  0.06733533  0.99294726]]

 t_gt:
[-0.62966925  0.69638431  0.34433345]

Pose Error in degrees for R and t:
176.3259616511662 77.3437496791465

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.94116410e-01  1.08315012e-01  6.49052077e-04]
 [-1.08314291e-01  9.94116136e-01 -1.05912496e-03]
 [-7.59952277e-04  9.82591890e-04  9.99999228e-01]]

 t_estimated:
[[0.67062431]
 [0.74179046]
 [0.00315363]]

 R_gt:
[[ 9.99872189e-01  9.43625287e-03  1.29182175e-02]
 [-9.42894888e-03  9.99954955e-01 -5.94229403e-04]
 [-1.29225497e-02  4.72330494e-04  9.99916034e-01]]

 t_gt:
[0.81891444 0.29708928 0.49103676]

Pose Error in degrees for R and t:
5.720871940644066 39.54628617466801

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.93810080e-01  1.11092296e-01  1.61761583e-04]
 [-1.11092287e-01  9.93810093e-01 -6.00827300e-05]
 [-1.67435022e-04  4.17403584e-05  9.99999985e-01]]

 t_estimated:
[[1.47164650e-01]
 [9.89111674e-01]
 [8.14024642e-04]]

 R_gt:
[[ 0.9993674  -0.03008894  0.01896819]
 [ 0.03055855  0.99922203 -0.02492334]
 [-0.01820226  0.02548733  0.99950957]]

 t_gt:
[ 0.86576068 -0.50030759 -0.01227803]

Pose Error in degrees for R and t:
8.310408407656706 68.44090248298227

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.99966375 -0.02584296  0.00212961]
 [ 0.02584655  0.99966452 -0.00167169]
 [-0.00208569  0.00172617  0.99999634]]

 t_estimated:
[[-9.83774598e-01]
 [-1.79408777e-01]
 [ 1.73951543e-04]]

 R_gt:
[[ 0.98832102 -0.15164349  0.01507535]
 [ 0.15179259  0.98836975 -0.00920951]
 [-0.01350299  0.01139028  0.99984431]]

 t_gt:
[ 0.74599428 -0.66437385  0.04582495]

Pose Error in degrees for R and t:
7.296350554816094 52.07076471982111

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 1.12068148e-01 -9.93700523e-01 -2.60379367e-05]
 [-9.93689013e-01 -1.12066976e-01  4.81032752e-03]
 [-4.78294296e-03 -5.13210884e-04 -9.99988430e-01]]

 t_estimated:
[[0.648646  ]
 [0.76107797]
 [0.00432431]]

 R_gt:
[[ 0.98748969 -0.15767599  0.00134266]
 [ 0.15709508  0.98304769 -0.09454396]
 [ 0.01358792  0.09357247  0.99551948]]

 t_gt:
[ 0.55962605 -0.68461562 -0.46703333]

Pose Error in degrees for R and t:
175.94682849368672 80.78925774431983

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99766120e-01  2.16252079e-02 -2.35435410e-04]
 [-2.16252479e-02  9.99766133e-01 -1.68838626e-04]
 [ 2.31729179e-04  1.73890487e-04  9.99999958e-01]]

 t_estimated:
[[-0.52918959]
 [-0.84850229]
 [-0.00149912]]

 R_gt:
[[ 0.98475606 -0.17215445 -0.02486402]
 [ 0.167882    0.97809545 -0.12306794]
 [ 0.04550658  0.11701788  0.99208662]]

 t_gt:
[ 0.53391348 -0.53778883 -0.65247189]

Pose Error in degrees for R and t:
13.19681477319845 79.93578890003366

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.27546407 -0.96130993 -0.00166408]
 [ 0.9613089  -0.27546687  0.00179049]
 [-0.00217961 -0.00110648  0.99999701]]

 t_estimated:
[[9.23805734e-01]
 [3.82860665e-01]
 [8.23356269e-04]]

 R_gt:
[[ 0.99269479 -0.11278901 -0.04282701]
 [ 0.10619413  0.98534264 -0.13350297]
 [ 0.05725758  0.12797969  0.99012239]]

 t_gt:
[ 0.38728057 -0.18566395 -0.903074  ]

Pose Error in degrees for R and t:
99.92405010507804 73.38465372010597

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.75266949e-01 -2.21024944e-01  1.53350676e-03]
 [ 2.21026011e-01  9.75267751e-01 -5.62798312e-04]
 [-1.37118723e-03  8.87823476e-04  9.99998666e-01]]

 t_estimated:
[[0.84991061]
 [0.5269261 ]
 [0.00092281]]

 R_gt:
[[ 0.99810781 -0.06085749  0.00883417]
 [ 0.05983227  0.99422479  0.08908695]
 [-0.01420399 -0.0883892   0.99598444]]

 t_gt:
[ 0.32702468 -0.64093892  0.69444377]

Pose Error in degrees for R and t:
10.638975962254877 86.60927059544511

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[-5.37127396e-01 -8.43501122e-01 -1.33916849e-04]
 [-8.43501025e-01  5.37127241e-01  5.89570225e-04]
 [-4.25372758e-04  4.29633319e-04 -9.99999817e-01]]

 t_estimated:
[[0.90606484]
 [0.42313776]
 [0.00096729]]

 R_gt:
[[ 0.99723499 -0.06952658  0.02623301]
 [ 0.06631908  0.99194748  0.10790252]
 [-0.03352226 -0.10586411  0.99381549]]

 t_gt:
[ 0.2799449  -0.570394    0.77219268]

Pose Error in degrees for R and t:
175.53167480275562 89.25284618434424

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-8.58171428e-01 -5.13361731e-01 -1.23821462e-03]
 [ 5.13363217e-01 -8.58169317e-01 -1.90548904e-03]
 [-8.43926452e-05 -2.27089009e-03  9.99997418e-01]]

 t_estimated:
[[9.05110188e-01]
 [4.25176316e-01]
 [8.05258174e-04]]

 R_gt:
[[ 9.99289845e-01 -3.76787877e-02  5.27282490e-05]
 [ 3.76704448e-02  9.99037107e-01 -2.24994894e-02]
 [ 7.96875319e-04  2.24857116e-02  9.99746687e-01]]

 t_gt:
[ 0.5515     -0.72042442 -0.42051921]

Pose Error in degrees for R and t:
146.9551382678587 78.89998370311487

Number of keypoints:
Image1: 469
Image2: 469

 R_estimated:
[[-0.64702192 -0.7590743  -0.07189463]
 [-0.75917023  0.6501151  -0.03179498]
 [ 0.07087454  0.03400821 -0.99690533]]

 t_estimated:
[[ 0.90708477]
 [ 0.4192353 ]
 [-0.03793388]]

 R_gt:
[[ 0.9996918   0.02261069 -0.01024897]
 [-0.02280041  0.99956572 -0.01868455]
 [ 0.00982193  0.0189123   0.99977247]]

 t_gt:
[-0.789624    0.32468331 -0.52064832]

Pose Error in degrees for R and t:
174.51779140128 55.9174347536739

Number of keypoints:
Image1: 263
Image2: 263

 R_estimated:
[[ 9.96314021e-01  8.57808930e-02  9.66929724e-05]
 [-8.57808918e-02  9.96314026e-01 -1.69121034e-05]
 [-9.77872999e-05  8.55535631e-06  9.99999995e-01]]

 t_estimated:
[[ 4.30206865e-01]
 [-9.02730284e-01]
 [-2.96026076e-04]]

 R_gt:
[[ 0.99853538  0.01223223 -0.05270029]
 [-0.01091271  0.99962083  0.02527331]
 [ 0.05298985 -0.02466033  0.99828976]]

 t_gt:
[-0.73388063 -0.46229221 -0.49769983]

Pose Error in degrees for R and t:
5.420856462373399 84.15993114915358

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[-0.44583157  0.89511163 -0.00306199]
 [-0.89510943 -0.4458392  -0.00255144]
 [-0.00364898  0.0016033   0.99999206]]

 t_estimated:
[[0.41029042]
 [0.91195325]
 [0.00174572]]

 R_gt:
[[ 0.99703672 -0.01219396 -0.07596334]
 [ 0.01196778  0.99992243 -0.00341871]
 [ 0.07599835  0.00250012  0.99710458]]

 t_gt:
[-0.45220706 -0.54626772 -0.70505344]

Pose Error in degrees for R and t:
117.22196783267063 46.76929412277196

Number of keypoints:
Image1: 327
Image2: 327

 R_estimated:
[[-5.79581303e-03 -9.99983078e-01 -5.02059349e-04]
 [-9.99983032e-01  5.79551700e-03  5.89090746e-04]
 [-5.86171084e-04  5.05465090e-04 -9.99999700e-01]]

 t_estimated:
[[0.70664175]
 [0.7075706 ]
 [0.00113398]]

 R_gt:
[[ 0.99969351 -0.00854181  0.02325212]
 [ 0.00970245  0.99868807 -0.05029051]
 [-0.02279143  0.05050034  0.99846421]]

 t_gt:
[-0.44921691  0.87455171 -0.18265671]

Pose Error in degrees for R and t:
178.90246080898243 72.47243923188786

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.85025629e-01 -1.72407969e-01 -5.46489551e-05]
 [ 1.72407975e-01  9.85025618e-01  1.48795015e-04]
 [ 2.81771745e-05 -1.55988819e-04  9.99999987e-01]]

 t_estimated:
[[-3.09834232e-01]
 [-9.50790395e-01]
 [-6.11669743e-04]]

 R_gt:
[[ 0.99982936 -0.00246342  0.01830619]
 [ 0.00338512  0.9987204  -0.05046909]
 [-0.01815868  0.05052204  0.99855768]]

 t_gt:
[-0.46337788  0.85680939 -0.2261827 ]

Pose Error in degrees for R and t:
10.23543020614312 47.860540709040784

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.97599806e-01  6.92430115e-02  1.79015558e-04]
 [-6.92430050e-02  9.97599822e-01 -4.21345110e-05]
 [-1.81503409e-04  2.96378048e-05  9.99999983e-01]]

 t_estimated:
[[-1.89064117e-01]
 [ 9.81964591e-01]
 [ 5.49634757e-04]]

 R_gt:
[[ 0.99831391 -0.04680317  0.03434489]
 [ 0.04995951  0.99396401 -0.09767216]
 [-0.02956589  0.09922318  0.9946263 ]]

 t_gt:
[-0.27290642  0.8651525  -0.42075318]

Pose Error in degrees for R and t:
8.988249083860921 25.721441484765457

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.99958652e-01 -9.09291607e-03 -1.15942218e-04]
 [ 9.09292271e-03  9.99958657e-01  5.68583110e-05]
 [ 1.15420417e-04 -5.79102136e-05  9.99999992e-01]]

 t_estimated:
[[-0.74827968]
 [-0.66338238]
 [-0.00115784]]

 R_gt:
[[ 0.99715452  0.06978599 -0.0285213 ]
 [-0.06871064  0.99694773  0.03705794]
 [ 0.03102047 -0.03499194  0.99890593]]

 t_gt:
[-0.4546426   0.88823425  0.06587893]

Pose Error in degrees for R and t:
5.2288076689087095 75.57482739951249

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[-9.98471021e-01 -5.52737091e-02 -6.61926002e-04]
 [ 5.52748265e-02 -9.98469539e-01 -1.80926839e-03]
 [-5.60907976e-04 -1.84308990e-03  9.99998144e-01]]

 t_estimated:
[[0.75240562]
 [0.65869943]
 [0.00091869]]

 R_gt:
[[ 0.96214845  0.27208046 -0.01557861]
 [-0.27176841  0.9621649   0.0195187 ]
 [ 0.02029991 -0.01454547  0.99968791]]

 t_gt:
[-0.53307798  0.84575622 -0.02289698]

Pose Error in degrees for R and t:
167.3895696158174 81.02594292833143

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.96808507e-01  7.98260313e-02  7.77889073e-04]
 [-7.98251474e-02  9.96808266e-01 -1.10780078e-03]
 [-8.63837597e-04  1.04217013e-03  9.99999084e-01]]

 t_estimated:
[[0.23894518]
 [0.97103253]
 [0.00101679]]

 R_gt:
[[ 0.8869751   0.45961377 -0.04507554]
 [-0.45835413  0.88805049  0.03575013]
 [ 0.05646012 -0.01104775  0.99834371]]

 t_gt:
[-0.46649114  0.88131839 -0.07525895]

Pose Error in degrees for R and t:
23.012031392063225 41.905580858545065

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-4.19474236e-01  9.07766385e-01 -1.24680298e-03]
 [ 9.07761045e-01  4.19476052e-01  3.11886509e-03]
 [ 3.35420488e-03  1.76484373e-04 -9.99994359e-01]]

 t_estimated:
[[-0.0119039 ]
 [-0.9999277 ]
 [-0.00170056]]

 R_gt:
[[ 0.99062386 -0.12968389 -0.04299599]
 [ 0.13101306  0.99093572  0.02967948]
 [ 0.03875756 -0.03503419  0.9986345 ]]

 t_gt:
[ 0.79280348 -0.60943427 -0.00724663]

Pose Error in degrees for R and t:
176.87207006880976 53.13260363277569

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.71279404e-01  2.37941576e-01  3.54302910e-04]
 [-2.37941455e-01  9.71279434e-01 -3.52811548e-04]
 [-4.28075666e-04  2.58375240e-04  9.99999875e-01]]

 t_estimated:
[[-6.42773753e-01]
 [ 7.66055768e-01]
 [ 6.80854923e-04]]

 R_gt:
[[ 0.98863461 -0.14446104 -0.04164164]
 [ 0.14555926  0.98904168  0.02466318]
 [ 0.03762338 -0.03044353  0.99882866]]

 t_gt:
[ 0.77713371 -0.62889124 -0.02364318]

Pose Error in degrees for R and t:
22.282623108226158 11.096919756260402

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-8.62112401e-01 -5.06713234e-01 -1.97658830e-03]
 [ 5.06716188e-01 -8.62111665e-01 -1.47700597e-03]
 [-9.55621357e-04 -2.27491445e-03  9.99996956e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99610282 -0.08805502 -0.00528859]
 [ 0.08815292  0.99584882  0.02268301]
 [ 0.00326967 -0.02306023  0.99972913]]

 t_gt:
[ 0.66390386 -0.73972856  0.1096965 ]

Pose Error in degrees for R and t:
144.50073625005302 48.57097424528014

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99998590e-01 -1.67740646e-03 -7.35914142e-05]
 [ 1.67740998e-03  9.99998592e-01  4.77424590e-05]
 [ 7.35112271e-05 -4.78658347e-05  9.99999996e-01]]

 t_estimated:
[[-0.62328559]
 [-0.78199316]
 [-0.00132914]]

 R_gt:
[[ 9.94109218e-01  1.05338396e-01  2.54926259e-02]
 [-1.05394608e-01  9.94429713e-01  8.82747807e-04]
 [-2.52579081e-02 -3.56466118e-03  9.99674771e-01]]

 t_gt:
[-0.72825894  0.66536832  0.16408507]

Pose Error in degrees for R and t:
6.317732780889717 86.1802261152993

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 9.97285364e-01  7.36335527e-02  4.80916204e-05]
 [-7.36335504e-02  9.97285364e-01 -4.82499947e-05]
 [-5.15138877e-05  4.45778568e-05  9.99999998e-01]]

 t_estimated:
[[ 0.62078232]
 [-0.78398256]
 [-0.00080973]]

 R_gt:
[[ 0.99737851  0.05718329  0.04434773]
 [-0.05741756  0.99834165  0.00403719]
 [-0.04404319 -0.00657306  0.99900786]]

 t_gt:
[-0.62536282  0.65640785  0.42195981]

Pose Error in degrees for R and t:
2.7163713548636754 25.422315513116025

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.98508448e-01  5.45973227e-02  1.11718658e-04]
 [-5.45972752e-02  9.98508380e-01 -3.91241142e-04]
 [-1.32912735e-04  3.84558051e-04  9.99999917e-01]]

 t_estimated:
[[ 0.3211531 ]
 [-0.94701872]
 [-0.00402929]]

 R_gt:
[[ 0.99679211 -0.06801284  0.04218151]
 [ 0.06711733  0.99749531  0.02229822]
 [-0.04359285 -0.01939621  0.99886157]]

 t_gt:
[ 0.73500701 -0.45341051  0.50416624]

Pose Error in degrees for R and t:
7.521673587123247 48.43980071226024

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.90881081 -0.41718863 -0.00406886]
 [ 0.41720287  0.90880592  0.0036823 ]
 [ 0.00216159 -0.00504405  0.99998494]]

 t_estimated:
[[0.9992366 ]
 [0.03896744]
 [0.00278339]]

 R_gt:
[[ 0.96495523 -0.1728197   0.19747309]
 [ 0.16901671  0.98495295  0.03608821]
 [-0.20073821 -0.00144733  0.97964337]]

 t_gt:
[ 0.50399967 -0.59597692  0.62513666]

Pose Error in degrees for R and t:
18.805478322580406 61.175311740559884

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[-0.0840949   0.99645662  0.00150371]
 [ 0.99645621  0.08409203  0.00188252]
 [ 0.0017494   0.00165669 -0.9999971 ]]

 t_estimated:
[[9.57495517e-01]
 [2.88446677e-01]
 [9.21554877e-04]]

 R_gt:
[[ 0.91114407 -0.3147778   0.26595615]
 [ 0.30051042  0.94914947  0.09386192]
 [-0.28197831 -0.00559887  0.95940468]]

 t_gt:
[ 0.62827294 -0.5944049   0.50195211]

Pose Error in degrees for R and t:
170.12215288721413 64.49581741993941

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 9.15686697e-01  4.01892709e-01  3.51985677e-04]
 [-4.01892349e-01  9.15686575e-01 -7.97752731e-04]
 [-6.42919565e-04  5.89031213e-04  9.99999620e-01]]

 t_estimated:
[[-9.13757989e-01]
 [ 4.06258935e-01]
 [-1.21313926e-04]]

 R_gt:
[[ 0.85185312 -0.43165907  0.29667567]
 [ 0.41010125  0.90201191  0.13487936]
 [-0.32582729  0.00677009  0.94540484]]

 t_gt:
[ 0.71160537 -0.56633773  0.41578766]

Pose Error in degrees for R and t:
52.65203063233014 28.31354000306812

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.31011546e-01 -3.64989143e-01 -6.52730374e-04]
 [ 3.64989309e-01  9.31011698e-01  1.50939460e-04]
 [ 5.52608350e-04 -3.78765988e-04  9.99999776e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97661786  0.21496482 -0.00264608]
 [-0.21482303  0.97630023  0.02623009]
 [ 0.00822167 -0.02504822  0.99965283]]

 t_gt:
[-0.56557173  0.82195152  0.06726306]

Pose Error in degrees for R and t:
33.85018355084642 35.06731460400656

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99669529e-01  2.57055154e-02 -2.45021727e-04]
 [-2.57055150e-02  9.99669559e-01  4.76177685e-06]
 [ 2.45063166e-04  1.53820645e-06  9.99999970e-01]]

 t_estimated:
[[-9.88718516e-01]
 [ 1.49784143e-01]
 [-6.38305731e-04]]

 R_gt:
[[ 0.96249472  0.26969027 -0.02950211]
 [-0.26748632  0.96150582  0.06289952]
 [ 0.04532886 -0.05264865  0.99758401]]

 t_gt:
[-0.50854446  0.859714    0.04769041]

Pose Error in degrees for R and t:
14.67286184629735 50.83554615558454

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 7.24671958e-01 -6.89089790e-01 -2.41122972e-03]
 [ 6.89092065e-01  7.24673788e-01  1.60663294e-04]
 [ 1.63664354e-03 -1.77798745e-03  9.99997080e-01]]

 t_estimated:
[[-0.17110807]
 [-0.9852513 ]
 [-0.0013799 ]]

 R_gt:
[[ 0.90072845  0.4343518  -0.00513283]
 [-0.433729    0.89995857  0.04419682]
 [ 0.02381595 -0.03758345  0.99900979]]

 t_gt:
[-0.45526481  0.89008     0.02217072]

Pose Error in degrees for R and t:
69.3335339660663 36.95731961745355

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.99797802e-01  2.01082765e-02  1.09198399e-04]
 [-2.01082606e-02  9.99797798e-01 -1.45010043e-04]
 [-1.12092221e-04  1.42784932e-04  9.99999984e-01]]

 t_estimated:
[[ 0.07111661]
 [-0.9974674 ]
 [-0.00110472]]

 R_gt:
[[ 0.99681251 -0.07891822  0.01166831]
 [ 0.07962463  0.99321453 -0.08476683]
 [-0.00489843  0.08542589  0.99633208]]

 t_gt:
[ 0.39176101 -0.56481257 -0.72629888]

Pose Error in degrees for R and t:
7.520756598668792 53.69772363030658

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.99355906e-01  3.58848827e-02  2.18945937e-04]
 [-3.58848497e-02  9.99355920e-01 -1.52614556e-04]
 [-2.24281474e-04  1.44659415e-04  9.99999964e-01]]

 t_estimated:
[[ 0.48506292]
 [-0.87447881]
 [-0.00087648]]

 R_gt:
[[ 0.98717547 -0.15834319  0.02029966]
 [ 0.15961821  0.9810554  -0.10977999]
 [-0.00253168  0.11161291  0.99374837]]

 t_gt:
[ 0.50286516 -0.69438507 -0.51473877]

Pose Error in degrees for R and t:
12.923460292768093 31.61415741936296

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.72920224  0.49479979 -0.47269151]
 [ 0.16847847  0.53968781  0.82483457]
 [ 0.66323381 -0.68110956  0.31017845]]

 t_estimated:
[[-0.76711508]
 [-0.64150559]
 [-0.00224303]]

 R_gt:
[[ 0.95889765 -0.2837088   0.00484419]
 [ 0.28273532  0.95388924 -0.10077675]
 [ 0.02397152  0.09800462  0.99489696]]

 t_gt:
[ 0.6341971  -0.70049963 -0.32725267]

Pose Error in degrees for R and t:
81.55798159509463 87.91433416490233

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.97771000e-01 -6.67308300e-02 -1.67255102e-04]
 [ 6.67307991e-02  9.97770999e-01 -1.83880425e-04]
 [ 1.79152783e-04  1.72309489e-04  9.99999969e-01]]

 t_estimated:
[[-0.74338004]
 [-0.66886711]
 [-0.00170592]]

 R_gt:
[[ 9.92207175e-01 -1.24593833e-01  1.20762771e-03]
 [ 1.24599259e-01  9.92149036e-01 -1.06914774e-02]
 [ 1.34191397e-04  1.07596604e-02  9.99941851e-01]]

 t_gt:
[ 0.75174268 -0.65577523 -0.06958293]

Pose Error in degrees for R and t:
3.3865718582489546 83.10297329439098

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 8.76293704e-01 -4.81777056e-01 -4.61682467e-04]
 [ 4.81777124e-01  8.76293787e-01  4.45547315e-05]
 [ 3.83104030e-04 -2.61471082e-04  9.99999892e-01]]

 t_estimated:
[[0.87904038]
 [0.47674553]
 [0.00130615]]

 R_gt:
[[ 9.72084890e-01 -2.29637602e-01 -4.81494619e-02]
 [ 2.29383890e-01  9.73275809e-01 -1.07915070e-02]
 [ 4.93413320e-02 -5.54266691e-04  9.98781260e-01]]

 t_gt:
[ 0.82378728 -0.55550806 -0.11307221]

Pose Error in degrees for R and t:
15.774790571048717 62.66717237733203

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 8.54427503e-01  5.19570480e-01  3.96776413e-04]
 [-5.19570153e-01  8.54427504e-01 -7.04880811e-04]
 [-7.05251942e-04  3.96116370e-04  9.99999673e-01]]

 t_estimated:
[[0.54928724]
 [0.83563247]
 [0.00137666]]

 R_gt:
[[ 0.90182006 -0.4317641  -0.01733041]
 [ 0.43177     0.9019763  -0.00357796]
 [ 0.01717702 -0.00425577  0.99984325]]

 t_gt:
[ 0.9024579  -0.43010922 -0.02399577]

Pose Error in degrees for R and t:
56.89427573671894 82.1683784587054

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99959834e-01 -8.96107386e-03 -1.70179826e-04]
 [ 8.96108982e-03  9.99959844e-01  9.32316977e-05]
 [ 1.69337537e-04 -9.47529497e-05  9.99999981e-01]]

 t_estimated:
[[-9.99668289e-01]
 [ 2.57538277e-02]
 [-2.30477029e-04]]

 R_gt:
[[ 0.97906784  0.20301837  0.0144864 ]
 [-0.20325868  0.97896513  0.01768225]
 [-0.01059203 -0.02025709  0.99973872]]

 t_gt:
[-0.89439148  0.43344009  0.1104245 ]

Pose Error in degrees for R and t:
12.305309500559218 25.145440276382327

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.92199229e-01 -1.24653144e-01 -1.51105008e-03]
 [ 1.24654289e-01  9.92199997e-01  6.88472734e-04]
 [ 1.41344359e-03 -8.71460990e-04  9.99998621e-01]]

 t_estimated:
[[-0.96075338]
 [-0.27740062]
 [-0.00135317]]

 R_gt:
[[ 0.91108936  0.40956225  0.04663866]
 [-0.41007224  0.91205089  0.00150956]
 [-0.04191865 -0.02050102  0.99891083]]

 t_gt:
[-0.84573798  0.52897852  0.07006423]

Pose Error in degrees for R and t:
31.485364930197136 48.26304083524733

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.07988275  0.99679961  0.0030467 ]
 [ 0.99680164 -0.07988918  0.002052  ]
 [ 0.00228883  0.00287303 -0.99999325]]

 t_estimated:
[[-0.51206384]
 [-0.8589458 ]
 [-0.00165182]]

 R_gt:
[[ 0.88325385  0.46571384  0.0545225 ]
 [-0.4664948   0.88452228  0.00181923]
 [-0.04737924 -0.02704122  0.99851094]]

 t_gt:
[-0.83678303  0.54258935  0.07342313]

Pose Error in degrees for R and t:
178.6046347928075 87.84002231795289

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 0.55530392  0.74960725  0.36017569]
 [ 0.82889433 -0.46365646 -0.31298064]
 [-0.06761477  0.47234696 -0.87881545]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.99539647 -0.09190271 -0.02720723]
 [ 0.09224325  0.9956696   0.0115078 ]
 [ 0.02603298 -0.01396406  0.99956293]]

 t_gt:
[ 0.46242801 -0.88653192 -0.01488258]

Pose Error in degrees for R and t:
154.25818997618907 78.88932145456843

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 9.45820151e-01 -3.24689648e-01 -9.35103033e-04]
 [-3.24578112e-01 -9.45411466e-01 -2.90896675e-02]
 [ 8.56105679e-03  2.78171077e-02 -9.99576369e-01]]

 t_estimated:
[[ 0.18345573]
 [ 0.98291458]
 [-0.01493031]]

 R_gt:
[[ 0.97916204 -0.20008361 -0.03477263]
 [ 0.20130836  0.97885903  0.03620349]
 [ 0.02679412 -0.04244891  0.99873858]]

 t_gt:
[ 0.59115028 -0.79751847  0.1204394 ]

Pose Error in degrees for R and t:
179.7199351958312 47.37159455150292

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.87485154  0.48435045 -0.00627853]
 [ 0.48438741 -0.87472042  0.01526507]
 [ 0.00190169 -0.01639591 -0.99986377]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.96874851 -0.22454801 -0.10538075]
 [ 0.23129201  0.9712308   0.05670028]
 [ 0.08961727 -0.07930123  0.99281406]]

 t_gt:
[ 0.62873202 -0.76800391  0.12192635]

Pose Error in degrees for R and t:
173.83947670764482 51.21190004174453

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.99395025e-01 -3.47789324e-02  9.46423578e-05]
 [ 3.47789225e-02  9.99395025e-01  1.04101515e-04]
 [-9.82056411e-05 -1.00746977e-04  9.99999990e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9963608   0.0129594  -0.08424737]
 [-0.01356795  0.99988654 -0.00665559]
 [ 0.08415178  0.00777466  0.9964229 ]]

 t_gt:
[ 0.16327882  0.18071807 -0.96988711]

Pose Error in degrees for R and t:
5.580167905194996 79.58802973693268

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-3.31165225e-01 -9.43570219e-01 -2.19895072e-03]
 [ 9.43572207e-01 -3.31166695e-01  3.31328822e-04]
 [-1.04085125e-03 -1.96514420e-03  9.99997527e-01]]

 t_estimated:
[[0.98633292]
 [0.16476032]
 [0.00118737]]

 R_gt:
[[ 9.90931167e-01 -2.83157744e-03 -1.34343509e-01]
 [ 4.23649870e-04  9.99839545e-01 -1.79517389e-02]
 [ 1.34372652e-01  1.77324176e-02  9.90772253e-01]]

 t_gt:
[ 0.32436316  0.00889293 -0.94589083]

Pose Error in degrees for R and t:
109.43028829500066 71.32061614749273

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.97120956e-01  7.58272041e-02  1.84797029e-04]
 [-7.58272006e-02  9.97120973e-01 -2.57351115e-05]
 [-1.86216415e-04  1.16483775e-05  9.99999983e-01]]

 t_estimated:
[[0.4137246]
 [0.9104015]
 [0.0010369]]

 R_gt:
[[ 0.99583253 -0.04771656 -0.07772565]
 [ 0.04537736  0.99847106 -0.03158498]
 [ 0.07911471  0.0279262   0.99647479]]

 t_gt:
[ 0.52342467 -0.28736387 -0.80215249]

Pose Error in degrees for R and t:
8.51588686553817 87.36950988974725

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 0.99133752  0.13097767 -0.00973537]
 [-0.13078017  0.99123454  0.01872539]
 [ 0.01210264 -0.01728999  0.99977727]]

 t_estimated:
[[8.62456961e-01]
 [5.06129886e-01]
 [7.27198112e-04]]

 R_gt:
[[ 0.99900193 -0.01048455 -0.04342014]
 [ 0.01178636  0.99948565  0.02983047]
 [ 0.04308595 -0.03031181  0.99861112]]

 t_gt:
[ 0.92264825  0.32087854 -0.21390927]

Pose Error in degrees for R and t:
8.394312689174306 16.665556866775958

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[-0.26899654  0.96313467 -0.00353172]
 [ 0.96312766  0.26901037  0.00430414]
 [ 0.00509553 -0.0022437  -0.9999845 ]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309473e-04]]

 R_gt:
[[ 0.99331704  0.00391328 -0.11535097]
 [ 0.00147535  0.99891242  0.04660019]
 [ 0.1154083  -0.04645911  0.99223136]]

 t_gt:
[ 0.73836766  0.30701275 -0.60046346]

Pose Error in degrees for R and t:
172.7948354381506 37.006198339942934

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99758529e-01 -2.19715643e-02  3.66122025e-04]
 [ 2.19715738e-02  9.99758596e-01 -2.18332222e-05]
 [-3.65553931e-04  2.98722272e-05  9.99999933e-01]]

 t_estimated:
[[4.16869291e-01]
 [9.08966343e-01]
 [4.26461053e-04]]

 R_gt:
[[ 0.98519711  0.01144988 -0.17104329]
 [-0.00589671  0.99943943  0.03293847]
 [ 0.17132521 -0.0314426   0.98471197]]

 t_gt:
[ 0.67904494  0.2914639  -0.67375572]

Pose Error in degrees for R and t:
10.204848025110728 56.789502441613756

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-0.98255346 -0.18592841 -0.00439666]
 [ 0.18590619 -0.98255468  0.00501813]
 [-0.00525297  0.00411321  0.99997774]]

 t_estimated:
[[0.88556208]
 [0.46451964]
 [0.00114414]]

 R_gt:
[[ 0.99725411 -0.07354682 -0.00869151]
 [ 0.07333928  0.99706013 -0.02218736]
 [ 0.01029784  0.02148886  0.99971632]]

 t_gt:
[ 0.68692297 -0.69849096 -0.20061708]

Pose Error in degrees for R and t:
165.07834597827824 73.52358536418868

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.03525534e-01  4.28534242e-01  1.12074598e-04]
 [-4.28534126e-01  9.03525433e-01 -5.43257137e-04]
 [-3.34066535e-04  4.42818905e-04  9.99999846e-01]]

 t_estimated:
[[-2.29779048e-01]
 [ 9.73242799e-01]
 [-2.09930137e-04]]

 R_gt:
[[ 0.98568823 -0.16841159  0.00746588]
 [ 0.16843996  0.98570629 -0.00334002]
 [-0.00679559  0.00454978  0.99996668]]

 t_gt:
[ 0.682656   -0.73001565  0.03252588]

Pose Error in degrees for R and t:
35.07374494291609 29.847937200178677

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99725536e-01  2.34218117e-02  5.20549356e-04]
 [-2.34215740e-02  9.99725572e-01 -4.58195938e-04]
 [-5.31138282e-04  4.45878094e-04  9.99999760e-01]]

 t_estimated:
[[0.73918688]
 [0.67349986]
 [0.00083148]]

 R_gt:
[[ 0.98697165 -0.16086191 -0.00323041]
 [ 0.16088627  0.98692878  0.0093022 ]
 [ 0.00169181 -0.00970088  0.99995099]]

 t_gt:
[ 0.69368289 -0.71909998  0.0412221 ]

Pose Error in degrees for R and t:
10.616852787006943 88.36789048939588

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[ 9.89617504e-01 -1.43726045e-01 -1.43052985e-04]
 [ 1.43726052e-01  9.89617512e-01  3.98172088e-05]
 [ 1.35844969e-04 -5.99642475e-05  9.99999989e-01]]

 t_estimated:
[[-0.27999984]
 [-0.95999944]
 [-0.00108108]]

 R_gt:
[[ 0.99908536  0.03037365 -0.0300958 ]
 [-0.030754    0.999452   -0.01225535]
 [ 0.02970734  0.01317074  0.99947148]]

 t_gt:
[-0.50799975  0.43748746 -0.74198449]

Pose Error in degrees for R and t:
10.185552619598937 73.92200002186503

Number of keypoints:
Image1: 362
Image2: 362

 R_estimated:
[[ 9.99067829e-01  4.31679155e-02  6.31092625e-05]
 [-4.31679124e-02  9.99067830e-01 -4.94601282e-05]
 [-6.51855246e-05  4.66897278e-05  9.99999997e-01]]

 t_estimated:
[[0.91074453]
 [0.41296918]
 [0.00092181]]

 R_gt:
[[ 0.99983885 -0.00959196 -0.01519563]
 [ 0.00955585  0.99995208 -0.00240045]
 [ 0.01521782  0.00225595  0.99988177]]

 t_gt:
[-0.60458982 -0.45358273 -0.65477771]

Pose Error in degrees for R and t:
3.1489285500700372 42.39228393794101

Number of keypoints:
Image1: 379
Image2: 379

 R_estimated:
[[-6.86368606e-01  7.27253454e-01 -7.42690768e-04]
 [-7.27250797e-01 -6.86368333e-01 -2.18839776e-03]
 [-2.10127925e-03 -9.61925068e-04  9.99997330e-01]]

 t_estimated:
[[0.8043247 ]
 [0.59418882]
 [0.00119178]]

 R_gt:
[[ 0.99868662  0.02756584  0.04319482]
 [-0.02679651  0.99947385 -0.0183056 ]
 [-0.0436762   0.01712509  0.99889795]]

 t_gt:
[-0.89059761  0.31923508  0.32392107]

Pose Error in degrees for R and t:
131.79599219759015 58.24705026328907

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99873159e-01 -1.59263036e-02  1.38045708e-04]
 [ 1.59263183e-02  9.99873163e-01 -1.06080138e-04]
 [-1.36338734e-04  1.08265243e-04  9.99999985e-01]]

 t_estimated:
[[0.69259163]
 [0.72132851]
 [0.00141899]]

 R_gt:
[[ 0.99843676 -0.05501764  0.00993916]
 [ 0.05478502  0.99824903  0.02229059]
 [-0.01114738 -0.02171066  0.99970217]]

 t_gt:
[ 0.5800998  -0.7628907   0.28545053]

Pose Error in degrees for R and t:
2.6373203876545843 81.48215183849493

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-3.13798891e-01  9.49489037e-01 -9.07716718e-04]
 [-9.49487283e-01 -3.13800077e-01 -1.84696511e-03]
 [-2.03851470e-03  2.82289874e-04  9.99997882e-01]]

 t_estimated:
[[0.48459627]
 [0.87473733]
 [0.00102669]]

 R_gt:
[[ 0.99976038 -0.01749762 -0.01317024]
 [ 0.01827477  0.99794601  0.06138185]
 [ 0.01206957 -0.06160811  0.99802764]]

 t_gt:
[ 0.61571868 -0.67673795  0.40362887]

Pose Error in degrees for R and t:
109.35870824421605 72.95165130814856

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-7.77331975e-02 -9.96974177e-01 -2.01046694e-04]
 [-9.96970898e-01  7.77334575e-02 -2.55693745e-03]
 [ 2.56482867e-03  1.67877903e-06 -9.99996711e-01]]

 t_estimated:
[[0.65106677]
 [0.75902   ]
 [0.00083685]]

 R_gt:
[[ 0.99293254  0.0602027  -0.10228561]
 [-0.05593487  0.99746013  0.04409368]
 [ 0.1046805  -0.03806125  0.99377748]]

 t_gt:
[ 0.55055661  0.12549328 -0.82531137]

Pose Error in degrees for R and t:
177.13540435525076 63.06300952654438

Number of keypoints:
Image1: 309
Image2: 309

 R_estimated:
[[-9.96243001e-01  7.86773014e-02 -3.61906782e-02]
 [ 7.86381129e-02  9.96900076e-01  2.50722326e-03]
 [ 3.62757514e-02 -3.48163011e-04 -9.99341758e-01]]

 t_estimated:
[[ 0.9993616 ]
 [-0.03104604]
 [-0.01767874]]

 R_gt:
[[ 0.99491255  0.10073599  0.00131654]
 [-0.10069373  0.99474575 -0.01848365]
 [-0.00317156  0.01825769  0.99982857]]

 t_gt:
[-0.69120327  0.71657125 -0.09361454]

Pose Error in degrees for R and t:
178.09197633926254 44.654835434521594

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 9.99786668e-01  2.06547108e-02 -4.22354867e-05]
 [-2.06547100e-02  9.99786669e-01  2.09364110e-05]
 [ 4.26589120e-05 -2.00595829e-05  9.99999999e-01]]

 t_estimated:
[[-9.62309911e-01]
 [-2.71954769e-01]
 [ 4.89091318e-04]]

 R_gt:
[[ 0.99381938  0.10263489 -0.04230816]
 [-0.10311246  0.99462679 -0.00926327]
 [ 0.04112996  0.01356935  0.99906167]]

 t_gt:
[-0.66855942  0.63536247 -0.38644901]

Pose Error in degrees for R and t:
5.3349400472823705 61.94087237358969

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.06946227 -0.99756756  0.00582758]
 [ 0.99741663 -0.0693422   0.01875409]
 [-0.01830437  0.00711523  0.99980714]]

 t_estimated:
[[ 0.71022948]
 [-0.70383632]
 [ 0.01373042]]

 R_gt:
[[ 0.99605099  0.08698242  0.01777805]
 [-0.08678322  0.99615875 -0.0116982 ]
 [-0.01872642  0.01010979  0.99977388]]

 t_gt:
[-0.82889512  0.55381644  0.07886837]

Pose Error in degrees for R and t:
98.96649371683084 12.199162860449556

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.97039614e-01  7.68895394e-02  8.58888871e-05]
 [-7.68895313e-02  9.97039614e-01 -9.41122793e-05]
 [-9.28708727e-05  8.72297143e-05  9.99999992e-01]]

 t_estimated:
[[-6.82614220e-01]
 [ 7.30778917e-01]
 [-2.56110297e-05]]

 R_gt:
[[ 0.9902512   0.12725596 -0.05664409]
 [-0.12761609  0.99182006 -0.00276501]
 [ 0.05582798  0.00996697  0.99839058]]

 t_gt:
[-0.34494115  0.88786871 -0.30447456]

Pose Error in degrees for R and t:
4.371266226851316 27.833851657289358

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.41973508e-01 -3.35683591e-01  1.56128621e-03]
 [ 3.35685903e-01  9.41972657e-01 -1.57735350e-03]
 [-9.41197233e-04  2.00992698e-03  9.99997537e-01]]

 t_estimated:
[[9.58398431e-01]
 [2.85432814e-01]
 [7.45255390e-04]]

 R_gt:
[[ 0.98233394  0.15966703 -0.09761737]
 [-0.15961864  0.98714302  0.00834708]
 [ 0.0976951   0.00738174  0.99518883]]

 t_gt:
[-0.22229083  0.9065362  -0.35885779]

Pose Error in degrees for R and t:
29.368996381702548 87.39532158629237

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 0.99659786 -0.08212507  0.00694096]
 [-0.08221099 -0.99652801  0.01316326]
 [ 0.00583583 -0.0136891  -0.99988927]]

 t_estimated:
[[0.0091403 ]
 [0.99995737]
 [0.00131035]]

 R_gt:
[[ 0.9787085   0.13512627 -0.1545049 ]
 [-0.12959818  0.99052801  0.04535661]
 [ 0.15917081 -0.02436812  0.98695046]]

 t_gt:
[ 0.01315834  0.87500799 -0.48392961]

Pose Error in degrees for R and t:
177.57372598155223 29.019241431620866

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 6.80626317e-01 -7.32614060e-01  4.94525513e-03]
 [ 7.32625884e-01  6.80630892e-01 -9.49689921e-04]
 [-2.67013722e-03  4.26940586e-03  9.99987321e-01]]

 t_estimated:
[[8.77350030e-01]
 [4.79850287e-01]
 [7.91832157e-04]]

 R_gt:
[[ 9.94966897e-01  1.64953569e-02 -9.88500842e-02]
 [-1.63301410e-02  9.99864139e-01  2.48209120e-03]
 [ 9.88778796e-02 -8.55439627e-04  9.95098884e-01]]

 t_gt:
[ 0.17077482  0.18342291 -0.96808677]

Pose Error in degrees for R and t:
48.39366177717508 76.28583879767721

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 7.97458464e-01 -6.03373221e-01 -8.68265863e-04]
 [ 6.03373846e-01  7.97457681e-01  1.11770084e-03]
 [ 1.80145271e-05 -1.41520891e-03  9.99998998e-01]]

 t_estimated:
[[7.63616145e-01]
 [6.45670139e-01]
 [6.73977180e-04]]

 R_gt:
[[ 0.98601727  0.03060141 -0.16381251]
 [-0.031417    0.99950384 -0.00239108]
 [ 0.16365891  0.00750388  0.98648905]]

 t_gt:
[ 0.1766186   0.19347229 -0.96507738]

Pose Error in degrees for R and t:
39.97857443705741 74.98110026791909

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[-4.79493208e-01 -8.77544798e-01 -1.17932740e-03]
 [-8.77545464e-01  4.79491986e-01  1.18053125e-03]
 [-4.70491022e-04  1.60097013e-03 -9.99998608e-01]]

 t_estimated:
[[0.79652074]
 [0.60461048]
 [0.0009316 ]]

 R_gt:
[[ 0.98108407  0.00445338 -0.19353324]
 [-0.00985008  0.99958908 -0.02693222]
 [ 0.19333378  0.02832957  0.9807238 ]]

 t_gt:
[ 0.30561613  0.07763211 -0.94898474]

Pose Error in degrees for R and t:
169.5716300793939 73.17301173487355

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.99999998e-01 -3.64837981e-05  5.52642395e-05]
 [ 3.64833781e-05  9.99999999e-01  7.60134362e-06]
 [-5.52645168e-05 -7.59932738e-06  9.99999998e-01]]

 t_estimated:
[[0.71392152]
 [0.70022514]
 [0.00090166]]

 R_gt:
[[ 0.99693911 -0.0769498  -0.01385157]
 [ 0.07727007  0.9967138   0.02428554]
 [ 0.01193747 -0.02528161  0.99960945]]

 t_gt:
[ 0.49897125 -0.85632236  0.13319049]

Pose Error in degrees for R and t:
4.702741031665877 75.92026006759282

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.93406339e-01 -1.14641949e-01  1.03424277e-03]
 [ 1.14643130e-01  9.93406057e-01 -1.16569005e-03]
 [-8.93786056e-04  1.27657271e-03  9.99998786e-01]]

 t_estimated:
[[8.38155435e-01]
 [5.45430946e-01]
 [7.41074655e-04]]

 R_gt:
[[ 0.98645169 -0.15284897 -0.05959172]
 [ 0.15622732  0.98608176  0.05687592]
 [ 0.05006899 -0.06541576  0.99660179]]

 t_gt:
[ 0.58893441 -0.78687063  0.18436614]

Pose Error in degrees for R and t:
5.344708624330837 86.297743241685

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 0.93394778 -0.35739046 -0.00368914]
 [ 0.35740213  0.93394505  0.00321882]
 [ 0.00229507 -0.00432472  0.99998801]]

 t_estimated:
[[-0.66775386]
 [-0.74438135]
 [-0.00109468]]

 R_gt:
[[ 0.98860276 -0.09019792 -0.12054306]
 [ 0.10479777  0.98712317  0.12084704]
 [ 0.10809045 -0.13210298  0.98532534]]

 t_gt:
[ 0.45360433 -0.80514641  0.3820764 ]

Pose Error in degrees for R and t:
18.021630925901018 72.78118856704135

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[ 5.01384822e-01 -8.65223485e-01  1.25758801e-03]
 [ 8.65223461e-01  5.01385889e-01  7.43101215e-04]
 [-1.27348551e-03  7.15514983e-04  9.99998933e-01]]

 t_estimated:
[[9.36261222e-01]
 [3.51303640e-01]
 [8.22725151e-04]]

 R_gt:
[[ 0.99710283 -0.07263006 -0.02262548]
 [ 0.07320521  0.99698417  0.02572711]
 [ 0.02068715 -0.02730882  0.99941366]]

 t_gt:
[ 0.54931424 -0.82899855  0.10495363]

Pose Error in degrees for R and t:
55.7592309143472 77.10542828989257

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 0.10211154  0.99473537 -0.00864718]
 [ 0.99462133 -0.10194035  0.01834609]
 [ 0.017368   -0.01047401 -0.9997943 ]]

 t_estimated:
[[0.13175076]
 [0.99126302]
 [0.00627381]]

 R_gt:
[[ 0.98854926 -0.14840912 -0.02729124]
 [ 0.14729094  0.98831563 -0.03921293]
 [ 0.03279119  0.03474435  0.99885903]]

 t_gt:
[ 0.58515159 -0.69941716 -0.41038184]

Pose Error in degrees for R and t:
179.34026237384222 51.77240126463069

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[ 0.98316018  0.18272671  0.00264846]
 [-0.1827191   0.98316095 -0.00287745]
 [-0.00312965  0.00234507  0.99999235]]

 t_estimated:
[[0.49718582]
 [0.867638  ]
 [0.00324958]]

 R_gt:
[[ 0.97221682 -0.23399148 -0.00648569]
 [ 0.23239998  0.96817695 -0.09286713]
 [ 0.02800907  0.0887791   0.99565759]]

 t_gt:
[ 0.58826997 -0.69220469 -0.41808026]

Pose Error in degrees for R and t:
24.59679584074641 71.97317721614914

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.79477453e-01 -2.01547757e-01 -1.55592980e-03]
 [ 2.01548218e-01  9.79478583e-01  1.43280348e-04]
 [ 1.49512209e-03 -4.53934749e-04  9.99998779e-01]]

 t_estimated:
[[-0.90476071]
 [-0.42591099]
 [-0.0028095 ]]

 R_gt:
[[ 0.96371963  0.26648803  0.01513251]
 [-0.26637062  0.96382488 -0.00939725]
 [-0.01708835  0.00502543  0.99984166]]

 t_gt:
[-0.88051188  0.47397406 -0.00688567]

Pose Error in degrees for R and t:
27.10295560989506 53.50154310349368

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[ 8.32772405e-01 -5.53615140e-01 -6.31463208e-04]
 [ 5.53614747e-01  8.32772612e-01 -6.99629367e-04]
 [ 9.13190674e-04  2.33044687e-04  9.99999556e-01]]

 t_estimated:
[[-0.52629655]
 [-0.85029932]
 [-0.00173364]]

 R_gt:
[[ 0.9239272   0.38120555  0.03227584]
 [-0.38123629  0.92446169 -0.00544589]
 [-0.03191312 -0.00727304  0.99946483]]

 t_gt:
[-0.85893399  0.51080595  0.0361895 ]

Pose Error in degrees for R and t:
56.061506924456495 88.98848801940733

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-8.71313560e-01  4.90725723e-01 -9.72176880e-04]
 [ 4.90715942e-01  8.71305883e-01  4.89113886e-03]
 [ 3.24727109e-03  3.78465292e-03 -9.99987566e-01]]

 t_estimated:
[[9.62413968e-01]
 [2.71585312e-01]
 [8.78916866e-04]]

 R_gt:
[[ 0.89856639  0.43780449  0.03009124]
 [-0.43707339  0.89899056 -0.02800332]
 [-0.03931153  0.01201094  0.99915491]]

 t_gt:
[-0.85376278  0.52064612 -0.00409082]

Pose Error in degrees for R and t:
177.906568004059 47.13470901065884

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.99570889e-01 -2.92922431e-02  3.73386652e-05]
 [ 2.92922426e-02  9.99570890e-01  1.24180750e-05]
 [-3.76863961e-05 -1.13190131e-05  9.99999999e-01]]

 t_estimated:
[[ 0.9703712 ]
 [-0.24161524]
 [ 0.00134261]]

 R_gt:
[[ 0.9995615  -0.02057122 -0.02130475]
 [ 0.02065193  0.99977964  0.00356182]
 [ 0.02122735 -0.00399893  0.99976641]]

 t_gt:
[ 0.40016142 -0.89942196 -0.17581517]

Pose Error in degrees for R and t:
1.3368458198631294 52.74358382704715

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 0.43158547 -0.89899528 -0.07444108]
 [-0.89933654 -0.42238734 -0.11306075]
 [ 0.07019811  0.11574296 -0.99079554]]

 t_estimated:
[[ 0.54008783]
 [ 0.8392829 ]
 [-0.06252482]]

 R_gt:
[[ 0.99965496 -0.00590595 -0.02560811]
 [ 0.00488126  0.99919217 -0.03988698]
 [ 0.025823    0.03974951  0.99887577]]

 t_gt:
[ 0.15908577 -0.57820401 -0.80023236]

Pose Error in degrees for R and t:
169.5051063159552 69.55414519105219

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.30727718e-01  3.65711450e-01 -1.02509759e-03]
 [-3.65710154e-01  9.30727943e-01  1.25689902e-03]
 [ 1.41374934e-03 -7.94942160e-04  9.99998685e-01]]

 t_estimated:
[[-0.80966424]
 [-0.58689135]
 [-0.00153636]]

 R_gt:
[[ 0.99802345 -0.06105099 -0.01491858]
 [ 0.05883649  0.99106736 -0.11967781]
 [ 0.02209243  0.11856487  0.99270067]]

 t_gt:
[ 0.35284278 -0.0619908  -0.93362686]

Pose Error in degrees for R and t:
25.84461192754886 75.6486169377208

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99157140e-01 -4.10313386e-02  1.19978312e-03]
 [ 4.10315879e-02  9.99157833e-01 -1.83903247e-04]
 [-1.19122691e-03  2.32977248e-04  9.99999263e-01]]

 t_estimated:
[[0.79028214]
 [0.6127393 ]
 [0.00216516]]

 R_gt:
[[ 0.99805766 -0.05794297  0.02285509]
 [ 0.05558803  0.9941246   0.09287047]
 [-0.02810226 -0.09142009  0.99541618]]

 t_gt:
[ 0.4369063  -0.46771141  0.76834817]

Pose Error in degrees for R and t:
5.557173289421795 86.53965660517024

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.80640010e-01 -1.95818571e-01  5.07857157e-04]
 [ 1.95818062e-01  9.80639821e-01  9.09915715e-04]
 [-6.76203347e-04 -7.92852152e-04  9.99999457e-01]]

 t_estimated:
[[0.8077402 ]
 [0.5895355 ]
 [0.00191408]]

 R_gt:
[[ 0.99261103 -0.10076429  0.06759855]
 [ 0.08719756  0.97977844  0.18008145]
 [-0.08437808 -0.17285624  0.98132669]]

 t_gt:
[ 0.32787546 -0.4162729   0.84806518]

Pose Error in degrees for R and t:
12.481898098582983 88.79361737351954

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.68956801e-01 -2.47227053e-01  1.22601068e-03]
 [ 2.47228081e-01  9.68957007e-01 -7.71461367e-04]
 [-9.97225519e-04  1.05061701e-03  9.99998951e-01]]

 t_estimated:
[[0.62820229]
 [0.77804871]
 [0.00144083]]

 R_gt:
[[ 0.98578281 -0.13755568  0.09648332]
 [ 0.10851941  0.9596514   0.25940679]
 [-0.12827328 -0.2452481   0.96093654]]

 t_gt:
[ 0.2632038  -0.39922905  0.8782596 ]

Pose Error in degrees for R and t:
17.579044602471775 81.720103713784

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.79478334e-01 -2.01549451e-01 -1.06184605e-04]
 [ 2.01549462e-01  9.79478331e-01  1.14642506e-04]
 [ 8.08993855e-05 -1.33691301e-04  9.99999988e-01]]

 t_estimated:
[[ 7.10646040e-01]
 [-7.03549717e-01]
 [ 3.63565234e-05]]

 R_gt:
[[ 0.9955907  -0.08594404 -0.03758831]
 [ 0.08423914  0.99543805 -0.0448082 ]
 [ 0.04126827  0.04144435  0.99828755]]

 t_gt:
[ 0.65077371 -0.39443629 -0.64877854]

Pose Error in degrees for R and t:
7.529722508965452 42.27269769498124

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 3.08352853e-01  9.51271284e-01  1.20942266e-03]
 [-9.51267584e-01  3.08355053e-01 -2.67288336e-03]
 [-2.91556877e-03 -3.26293364e-04  9.99995696e-01]]

 t_estimated:
[[-0.01015598]
 [ 0.99994531]
 [ 0.00249681]]

 R_gt:
[[ 0.98820445 -0.15223489 -0.01667539]
 [ 0.15029509  0.98495621 -0.08528507]
 [ 0.02940789  0.08177246  0.99621694]]

 t_gt:
[ 0.57470076 -0.50573384 -0.64339127]

Pose Error in degrees for R and t:
80.88154019877113 59.126170874350024

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[-0.15750007 -0.98743133 -0.01315668]
 [-0.9867426   0.15789047 -0.03754529]
 [ 0.03915071  0.00706887 -0.99920831]]

 t_estimated:
[[ 0.81974197]
 [ 0.57270073]
 [-0.00608095]]

 R_gt:
[[ 0.98675823 -0.1571067  -0.04032909]
 [ 0.15390678  0.98538902 -0.07295095]
 [ 0.05120126  0.06577837  0.99651932]]

 t_gt:
[ 0.61948704 -0.49560117 -0.6087818 ]

Pose Error in degrees for R and t:
173.35305796568088 76.83886881025171

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 8.70920474e-01  4.91421562e-01  1.54182437e-03]
 [-4.91420085e-01  8.70921776e-01 -1.24911730e-03]
 [-1.95665159e-03  3.30198368e-04  9.99998031e-01]]

 t_estimated:
[[-0.89414389]
 [ 0.44777499]
 [ 0.0020648 ]]

 R_gt:
[[ 0.99907611 -0.0418236   0.0098738 ]
 [ 0.04123982  0.99772055  0.05341791]
 [-0.01208529 -0.05296169  0.99852302]]

 t_gt:
[ 0.47307421 -0.51080911  0.71782647]

Pose Error in degrees for R and t:
31.966855040178793 49.440165468059085

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.95423957e-01  9.55546220e-02  6.78607971e-04]
 [-9.55542769e-02  9.95424083e-01 -5.24048522e-04]
 [-7.25577976e-04  4.56806559e-04  9.99999632e-01]]

 t_estimated:
[[0.99984752]
 [0.01733162]
 [0.00213261]]

 R_gt:
[[ 0.99777967 -0.04748309  0.04670475]
 [ 0.04245138  0.99373503  0.10339182]
 [-0.05132188 -0.10117964  0.99354334]]

 t_gt:
[ 0.25481521 -0.32120941  0.91208208]

Pose Error in degrees for R and t:
10.371954602563514 75.4541661995164

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 8.57406570e-01  5.14639592e-01  2.52228449e-04]
 [-5.14639334e-01  8.57406480e-01 -6.95440186e-04]
 [-5.74163361e-04  4.66468303e-04  9.99999726e-01]]

 t_estimated:
[[-5.10523464e-01]
 [ 8.59863777e-01]
 [ 2.80040585e-04]]

 R_gt:
[[ 0.9957856  -0.07447012  0.05352722]
 [ 0.06754824  0.99032885  0.12118832]
 [-0.06203467 -0.11706236  0.99118477]]

 t_gt:
[ 0.35854336 -0.31570238  0.87850934]

Pose Error in degrees for R and t:
35.85939557980421 62.98268028151092

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99988182e-01  4.84358596e-03  4.19138508e-04]
 [-4.84324579e-03  9.99987944e-01 -8.08847542e-04]
 [-4.23051177e-04  8.06807992e-04  9.99999585e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98860395 -0.08769404  0.12237201]
 [ 0.06021704  0.97531439  0.21245598]
 [-0.13798263 -0.20266488  0.96947775]]

 t_gt:
[ 0.2061154  -0.20438738  0.95694422]

Pose Error in degrees for R and t:
14.935832133393415 78.09893304901995

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[ 0.9827004  -0.18459912 -0.01493637]
 [ 0.18467577  0.9827917   0.00391452]
 [ 0.01395672 -0.00660518  0.99988078]]

 t_estimated:
[[0.99240371]
 [0.12301423]
 [0.00154401]]

 R_gt:
[[ 0.97894231 -0.12971047  0.15763741]
 [ 0.07636665  0.94880972  0.30647823]
 [-0.18932176 -0.28798605  0.93873396]]

 t_gt:
[ 0.23609787 -0.15531614  0.95923652]

Pose Error in degrees for R and t:
20.831230704259585 77.48592904244025

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 9.42408101e-01 -3.34463354e-01 -1.11130548e-03]
 [ 3.34463656e-01  9.42408645e-01  9.20739445e-05]
 [ 1.01650853e-03 -4.58462525e-04  9.99999378e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97387181 -0.15769966  0.16342441]
 [ 0.09287662  0.93322891  0.34707297]
 [-0.20724555 -0.32282584  0.92348949]]

 t_gt:
[ 0.26915337 -0.15408209  0.95069194]

Pose Error in degrees for R and t:
25.554358153494956 81.29123111880943

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.38753307e-01 -3.44589807e-01 -3.05271901e-04]
 [ 3.44589921e-01  9.38753192e-01  4.79794206e-04]
 [ 1.21242779e-04 -5.55602018e-04  9.99999838e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99670774 -0.05805337  0.05660735]
 [ 0.05148521  0.99245262  0.11129989]
 [-0.06264178 -0.10801833  0.99217295]]

 t_gt:
[ 0.2451301  -0.42375549  0.87197621]

Pose Error in degrees for R and t:
18.437541928510857 75.84825482967275

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 0.11309867 -0.9935738   0.00444987]
 [-0.99357807 -0.11308173  0.00389088]
 [-0.00336267 -0.00486135 -0.99998253]]

 t_estimated:
[[0.62585262]
 [0.77993395]
 [0.00339564]]

 R_gt:
[[ 0.99067946 -0.10606898  0.08546581]
 [ 0.08876788  0.97861384  0.1855693 ]
 [-0.10332091 -0.17625166  0.97890694]]

 t_gt:
[ 0.24077423 -0.44034462  0.86494184]

Pose Error in degrees for R and t:
168.2389715600913 79.05809934516608

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-0.97050182  0.24098258 -0.00732283]
 [-0.24100157 -0.97052302  0.00181932]
 [-0.00666855  0.00353046  0.99997153]]

 t_estimated:
[[0.65096479]
 [0.75910744]
 [0.00085902]]

 R_gt:
[[ 0.98516444 -0.1152902   0.12711994]
 [ 0.0805808   0.96475995  0.25049315]
 [-0.15151964 -0.23653268  0.95973562]]

 t_gt:
[ 0.13403019 -0.38512248  0.91308082]

Pose Error in degrees for R and t:
171.93521823109091 78.2105356240955

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-2.19964782e-01 -9.75506607e-01  1.53459987e-03]
 [-9.75504042e-01  2.19968034e-01  2.43476074e-03]
 [-2.71268810e-03 -9.61446759e-04 -9.99995858e-01]]

 t_estimated:
[[0.75346571]
 [0.65748282]
 [0.00239957]]

 R_gt:
[[ 0.99359017  0.09563971 -0.06027442]
 [-0.09263251  0.99440073  0.05085742]
 [ 0.06480195 -0.04494804  0.9968853 ]]

 t_gt:
[-0.25630553  0.96286615 -0.08483078]

Pose Error in degrees for R and t:
179.06670357287805 63.912262418692144

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.46319948e-01 -3.23231346e-01 -2.28659919e-04]
 [ 3.23231410e-01  9.46319892e-01  3.43844864e-04]
 [ 1.05243991e-04 -3.99297322e-04  9.99999915e-01]]

 t_estimated:
[[ 8.92827563e-01]
 [-4.50398384e-01]
 [ 4.87551631e-04]]

 R_gt:
[[ 0.9815708   0.16401042 -0.09808871]
 [-0.15479231  0.98334844  0.09521348]
 [ 0.11207149 -0.07827584  0.99061336]]

 t_gt:
[-0.18914037  0.97977502 -0.06532095]

Pose Error in degrees for R and t:
29.125777172930785 52.396709173316566

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.96599231 -0.25855915  0.00245264]
 [ 0.25856395  0.96599229 -0.00189124]
 [-0.00188024  0.00246109  0.9999952 ]]

 t_estimated:
[[0.11212802]
 [0.99368625]
 [0.00386648]]

 R_gt:
[[ 0.98190156  0.15326193 -0.11127152]
 [-0.14079947  0.98364205  0.11236181]
 [ 0.12667269 -0.09466188  0.98741779]]

 t_gt:
[ 0.08999564  0.99391973 -0.06343782]

Pose Error in degrees for R and t:
25.23567391472214 4.060272807039827

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 9.99787859e-01 -2.05038387e-02 -1.95695275e-03]
 [ 2.05053169e-02  9.99789471e-01  7.38288040e-04]
 [ 1.94140302e-03 -7.78259355e-04  9.99997813e-01]]

 t_estimated:
[[-0.14571451]
 [-0.98932482]
 [-0.0019173 ]]

 R_gt:
[[ 9.99975990e-01  7.26675333e-04 -6.91780652e-03]
 [-1.20060762e-03  9.97643470e-01 -6.85912051e-02]
 [ 6.85239674e-03  6.85985282e-02  9.97620925e-01]]

 t_gt:
[-0.03580526  0.52534227 -0.85013733]

Pose Error in degrees for R and t:
4.172381201662165 59.14368762907086

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[ 9.91608692e-01  1.29272391e-01  9.22342848e-04]
 [-1.29271121e-01  9.91608402e-01 -1.32465702e-03]
 [-1.08584450e-03  1.19430912e-03  9.99998697e-01]]

 t_estimated:
[[0.54554378]
 [0.83808174]
 [0.0009883 ]]

 R_gt:
[[ 9.98137399e-01 -6.04735481e-02  8.05980989e-03]
 [ 6.10080184e-02  9.89081219e-01 -1.34145037e-01]
 [ 1.40439088e-04  1.34386628e-01  9.90928557e-01]]

 t_gt:
[ 0.21242604  0.47368553 -0.85469129]

Pose Error in degrees for R and t:
13.330620696965308 59.20084480031197

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.71746582e-01 -2.36025619e-01  6.97700419e-04]
 [ 2.36026125e-01  9.71746412e-01 -7.61106796e-04]
 [-4.98347176e-04  9.04278454e-04  9.99999467e-01]]

 t_estimated:
[[-0.9603633 ]
 [-0.27874952]
 [-0.00101733]]

 R_gt:
[[ 0.99919    -0.03890386 -0.01027098]
 [ 0.03664657  0.98529556 -0.1668766 ]
 [ 0.0166117   0.16636445  0.98592456]]

 t_gt:
[ 0.00744607  0.69894115 -0.71514042]

Pose Error in degrees for R and t:
14.935319011528588 78.3897648758632

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.46583177e-01 -3.22459649e-01 -2.53864468e-04]
 [ 3.22459729e-01  9.46583102e-01  3.91660574e-04]
 [ 1.14009085e-04 -4.52600378e-04  9.99999891e-01]]

 t_estimated:
[[9.95242150e-01]
 [9.74289253e-02]
 [8.17223491e-04]]

 R_gt:
[[ 0.99544544 -0.07811398 -0.05464123]
 [ 0.08270447  0.99272206  0.08753338]
 [ 0.04740643 -0.09165328  0.99466141]]

 t_gt:
[ 0.43777637 -0.80343099  0.40354739]

Pose Error in degrees for R and t:
15.357995728922807 69.03817380038852

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.50428858e-01 -3.10941688e-01 -5.03112712e-04]
 [ 3.10941972e-01  9.50428678e-01  6.47261634e-04]
 [ 2.76912124e-04 -7.71614994e-04  9.99999664e-01]]

 t_estimated:
[[0.90673736]
 [0.42169431]
 [0.00112548]]

 R_gt:
[[ 0.97952546 -0.1719832  -0.10464735]
 [ 0.18225547  0.97834489  0.0980946 ]
 [ 0.08551034 -0.11515883  0.98965923]]

 t_gt:
[ 0.59467092 -0.7760187   0.21014629]

Pose Error in degrees for R and t:
11.355103985035417 77.74844522575866

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 7.89553318e-01  6.13681040e-01  1.06733322e-03]
 [-6.13680724e-01  7.89554025e-01 -6.40478244e-04]
 [-1.23576659e-03 -1.49310098e-04  9.99999225e-01]]

 t_estimated:
[[0.34493111]
 [0.93862731]
 [0.00113927]]

 R_gt:
[[ 0.95054228 -0.28624044 -0.12056084]
 [ 0.29781123  0.95016966  0.09211474]
 [ 0.08818611 -0.12346263  0.9884232 ]]

 t_gt:
[ 0.66606105 -0.72909071  0.15744653]

Pose Error in degrees for R and t:
55.582535144837586 62.97238402505109

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.96680832e-01 -8.13912377e-02 -1.66917989e-03]
 [ 8.13911712e-02  9.96682229e-01 -1.07836758e-04]
 [ 1.67241890e-03 -2.83776764e-05  9.99998601e-01]]

 t_estimated:
[[8.37236538e-01]
 [5.46840431e-01]
 [7.22378377e-04]]

 R_gt:
[[ 9.86657007e-01  1.62810509e-01 -8.00753666e-04]
 [-1.62598079e-01  9.85091082e-01 -5.61846092e-02]
 [-8.35932548e-03  5.55650591e-02  9.98419931e-01]]

 t_gt:
[-0.80896128  0.5482957  -0.21202236]

Pose Error in degrees for R and t:
14.404197679383968 67.81398120453369

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 7.48834458e-01  6.62756706e-01  7.09546764e-04]
 [-6.62756659e-01  7.48834761e-01 -3.33931320e-04]
 [-7.52648504e-04 -2.20197563e-04  9.99999693e-01]]

 t_estimated:
[[-3.11915590e-01]
 [ 9.50109420e-01]
 [ 8.68639086e-04]]

 R_gt:
[[ 0.9758621   0.21644527 -0.02901389]
 [-0.21754876  0.975115   -0.04267832]
 [ 0.01905484  0.04796009  0.99866816]]

 t_gt:
[-0.78199804  0.59692884 -0.17931822]

Pose Error in degrees for R and t:
29.118621364996724 35.81512909945747

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.88664896e-01 -1.50138949e-01  1.39268480e-04]
 [ 1.50138921e-01  9.88664891e-01  1.94101433e-04]
 [-1.66832042e-04 -1.70991654e-04  9.99999971e-01]]

 t_estimated:
[[0.95202844]
 [0.30600662]
 [0.00133832]]

 R_gt:
[[ 0.97265137  0.22789308 -0.04488405]
 [-0.23058472  0.97063132 -0.06859096]
 [ 0.02793495  0.07706404  0.99663513]]

 t_gt:
[-0.69485568  0.67048121 -0.26005869]

Pose Error in degrees for R and t:
22.405589487984493 62.825713578482194

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.60853144  0.79342187  0.01308516]
 [ 0.79350244  0.60856459  0.00173633]
 [-0.00658552  0.01143972 -0.99991288]]

 t_estimated:
[[9.94352533e-01]
 [1.06123723e-01]
 [8.91795994e-04]]

 R_gt:
[[ 0.99926659  0.01418374 -0.03557589]
 [-0.01883845  0.99078613 -0.13411809]
 [ 0.03334626  0.1346902   0.99032615]]

 t_gt:
[ 0.15944424  0.37792858 -0.91200193]

Pose Error in degrees for R and t:
177.73647675241142 78.58946091748633

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-2.14309635e-01 -9.76763638e-01 -2.04364815e-03]
 [ 9.76764877e-01 -2.14311807e-01  9.08111911e-04]
 [-1.32498862e-03 -1.80154660e-03  9.99997499e-01]]

 t_estimated:
[[0.99527693]
 [0.09706684]
 [0.00136714]]

 R_gt:
[[ 0.99881591 -0.01247628 -0.0470401 ]
 [-0.00161143  0.9575709  -0.28819374]
 [ 0.04863982  0.28792877  0.95641579]]

 t_gt:
[ 0.20595993  0.40404998 -0.89124863]

Pose Error in degrees for R and t:
103.09102805799616 75.93700489456488

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.78429686  0.62038456  0.0012    ]
 [-0.62038074  0.78429684 -0.00248972]
 [-0.00248574  0.00120822  0.99999618]]

 t_estimated:
[[-9.07288300e-01]
 [-4.20508404e-01]
 [-7.88946348e-04]]

 R_gt:
[[ 0.99787374 -0.04633901 -0.04584649]
 [ 0.02863854  0.94345532 -0.330261  ]
 [ 0.05855808  0.32824689  0.94277559]]

 t_gt:
[ 0.25864162  0.37460423 -0.89037979]

Pose Error in degrees for R and t:
44.771035295848634 66.95311241087586

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.9605686  -0.27622746  0.03172324]
 [ 0.27424422 -0.96005341 -0.05556578]
 [ 0.0458048  -0.04467483  0.99795094]]

 t_estimated:
[[8.53770173e-01]
 [5.20649466e-01]
 [7.91260586e-04]]

 R_gt:
[[ 0.99985153 -0.00548098 -0.01633289]
 [ 0.00230072  0.98202257 -0.18874818]
 [ 0.01707322  0.18868294  0.98188969]]

 t_gt:
[ 0.16717527  0.38633106 -0.90708365]

Pose Error in degrees for R and t:
163.62507925420564 69.93081531752955

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.28546722e-01  3.71215257e-01  4.66304703e-04]
 [-3.71214148e-01  9.28545935e-01 -1.58220680e-03]
 [-1.02032464e-03  1.29605403e-03  9.99998640e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99873339 -0.04059406 -0.02973775]
 [ 0.03109561  0.96249457 -0.2695131 ]
 [ 0.0395628   0.26824695  0.96253788]]

 t_gt:
[ 0.24680464  0.34851589 -0.90422571]

Pose Error in degrees for R and t:
28.49393722993244 75.68911538410889

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-2.16145893e-01 -9.76359895e-01 -1.51938144e-03]
 [ 9.76361003e-01 -2.16146220e-01  5.26166892e-05]
 [-3.79781380e-04 -1.47209191e-03  9.99998844e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99620316 -0.08273063 -0.02711316]
 [ 0.07079794  0.95107483 -0.3007404 ]
 [ 0.05066642  0.29767863  0.95332132]]

 t_gt:
[ 0.32154918  0.29018257 -0.90133246]

Pose Error in degrees for R and t:
99.15202327643254 71.23129267352928

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99985437e-01 -5.39606577e-03 -8.58833120e-05]
 [ 5.39607128e-03  9.99985439e-01  6.40431749e-05]
 [ 8.55364802e-05 -6.45056747e-05  9.99999994e-01]]

 t_estimated:
[[-9.58123212e-01]
 [ 2.86355448e-01]
 [-6.84780258e-04]]

 R_gt:
[[ 0.99367411  0.11015936 -0.02183084]
 [-0.1105415   0.99372362 -0.01713676]
 [ 0.01980531  0.01944126  0.99961526]]

 t_gt:
[-0.80922898  0.55810064 -0.18349967]

Pose Error in degrees for R and t:
6.83298733096068 20.726266368431787

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99578901e-01 -2.90174814e-02 -8.53234613e-05]
 [ 2.90174833e-02  9.99578904e-01  2.15964878e-05]
 [ 8.46608563e-05 -2.40632656e-05  9.99999996e-01]]

 t_estimated:
[[-9.85861345e-01]
 [ 1.67561896e-01]
 [-6.47018998e-04]]

 R_gt:
[[ 0.98886114  0.13959555 -0.05164946]
 [-0.14031437  0.99005132 -0.01056516]
 [ 0.04965969  0.01769425  0.99861015]]

 t_gt:
[-0.73489505  0.64799882 -0.20006698]

Pose Error in degrees for R and t:
10.170230726929457 33.56967904288315

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.68869703e-01 -2.47570769e-01 -4.61200967e-04]
 [ 2.47570874e-01  9.68869768e-01  1.85460231e-04]
 [ 4.00929142e-04 -2.93866726e-04  9.99999876e-01]]

 t_estimated:
[[-0.96657102]
 [-0.25639583]
 [-0.00128228]]

 R_gt:
[[ 0.98292946  0.17961812 -0.03983845]
 [-0.18133267  0.98240711 -0.04467135]
 [ 0.03111247  0.05113173  0.99820735]]

 t_gt:
[-0.63482265  0.73285469 -0.24479422]

Pose Error in degrees for R and t:
24.97331752961762 64.78512532226863

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 9.99958955e-01  9.06019226e-03 -1.59436831e-05]
 [-9.06019091e-03  9.99958952e-01  8.25755665e-05]
 [ 1.66911791e-05 -8.24277244e-05  9.99999996e-01]]

 t_estimated:
[[ 8.75202409e-01]
 [ 4.83756866e-01]
 [-1.94713203e-04]]

 R_gt:
[[ 0.99167721 -0.12601881 -0.0263693 ]
 [ 0.12631721  0.99194033  0.00992111]
 [ 0.02490681 -0.01316965  0.99960306]]

 t_gt:
[ 0.63699292 -0.77060243 -0.02029568]

Pose Error in degrees for R and t:
7.933948642394642 79.3553389534962

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-6.72342743e-01 -7.40239862e-01  4.27435180e-04]
 [-7.40239895e-01  6.72342834e-01  1.05925032e-04]
 [-3.65792911e-04 -2.45186647e-04 -9.99999903e-01]]

 t_estimated:
[[0.94503102]
 [0.32697817]
 [0.00128227]]

 R_gt:
[[ 0.97248982 -0.23213123 -0.01942174]
 [ 0.2323345   0.97259524  0.00888834]
 [ 0.01682552 -0.01315664  0.99977225]]

 t_gt:
[ 0.67105965 -0.74083357 -0.02906143]

Pose Error in degrees for R and t:
179.32680457725544 66.92731772073866

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.69469724e-01  2.45209810e-01 -7.76503023e-04]
 [-2.45208645e-01  9.69469390e-01  1.34994996e-03]
 [ 1.08381689e-03 -1.11833036e-03  9.99998787e-01]]

 t_estimated:
[[ 0.79082027]
 [ 0.61204474]
 [-0.00213008]]

 R_gt:
[[ 0.96883275 -0.2369333   0.07228163]
 [ 0.24288651  0.96593755 -0.08928041]
 [-0.04866682  0.1040532   0.99338013]]

 t_gt:
[ 0.57617522 -0.76585421 -0.28546355]

Pose Error in degrees for R and t:
28.89118010185786 89.28504850448365

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99879965e-01  1.54737754e-02 -7.85519401e-04]
 [-1.54736279e-02  9.99880258e-01  1.93614045e-04]
 [ 7.88421281e-04 -1.81435970e-04  9.99999673e-01]]

 t_estimated:
[[-0.99998218]
 [ 0.00390523]
 [-0.00451647]]

 R_gt:
[[ 0.99780617  0.01096077 -0.06529958]
 [-0.00737519  0.99846495  0.05488499]
 [ 0.06580029 -0.05428273  0.99635472]]

 t_gt:
[ 0.83877192 -0.19801993  0.50719796]

Pose Error in degrees for R and t:
4.865344067153367 32.667081784700756

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.98271919e-01 -5.87606527e-02  6.01597657e-04]
 [ 5.87606283e-02  9.98272100e-01  5.81921207e-05]
 [-6.03977564e-04 -2.27413036e-05  9.99999817e-01]]

 t_estimated:
[[0.23709943]
 [0.97148464]
 [0.00120794]]

 R_gt:
[[ 0.99206399  0.01897267 -0.12429686]
 [-0.01127391  0.99799095  0.06234512]
 [ 0.12522895 -0.06044937  0.99028354]]

 t_gt:
[ 0.9804451  -0.18046565  0.07848278]

Pose Error in degrees for R and t:
9.072940294437068 86.7187010861795

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.99388318 -0.10851584  0.02050682]
 [-0.10843263  0.99409056  0.00513038]
 [-0.02094236  0.00287539 -0.99977655]]

 t_estimated:
[[0.99376008]
 [0.11041779]
 [0.01577397]]

 R_gt:
[[ 0.98947216  0.0590533  -0.13213111]
 [-0.04419155  0.99264499  0.11270644]
 [ 0.13781478 -0.10568061  0.98480328]]

 t_gt:
[ 0.89731937 -0.18739592  0.39962572]

Pose Error in degrees for R and t:
173.76293160499424 28.67781846017571

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.89248371e-01 -1.46244987e-01 -2.54067070e-04]
 [ 1.46245045e-01  9.89248370e-01  2.23955916e-04]
 [ 2.18583005e-04 -2.58704075e-04  9.99999943e-01]]

 t_estimated:
[[-0.02523066]
 [ 0.99968114]
 [ 0.00101248]]

 R_gt:
[[ 0.9993775   0.01276836  0.03289007]
 [-0.01424806  0.99887776  0.04515793]
 [-0.03227591 -0.04559843  0.99843804]]

 t_gt:
[-0.49892466  0.16512806  0.85076842]

Pose Error in degrees for R and t:
9.72423487257346 79.71614336900426

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.9664457  -0.2568629   0.00203914]
 [-0.25685809 -0.96628712  0.01769502]
 [-0.0025748  -0.01762505 -0.99984135]]

 t_estimated:
[[0.09936162]
 [0.9950111 ]
 [0.00895408]]

 R_gt:
[[ 0.99615737 -0.03732221  0.07923362]
 [ 0.02731223  0.99192439  0.12385056]
 [-0.08321628 -0.12121019  0.98913166]]

 t_gt:
[-0.08644882 -0.14640196  0.98544054]

Pose Error in degrees for R and t:
171.38826352041696 81.63738179201539

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.64305538e-01 -2.64790159e-01 -1.00112009e-03]
 [ 2.64791093e-01  9.64305327e-01  9.55760404e-04]
 [ 7.12309484e-04 -1.18673273e-03  9.99999042e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.98955816 -0.09235423  0.11066136]
 [ 0.0745996   0.98508738  0.15503812]
 [-0.12332967 -0.14516446  0.98168986]]

 t_gt:
[ 0.16635684 -0.25575174  0.95232161]

Pose Error in degrees for R and t:
15.183932715286765 89.95689123507204

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999997e-01 -7.07450891e-05  2.00492374e-05]
 [ 7.07449483e-05  9.99999997e-01  7.02231882e-06]
 [-2.00497341e-05 -7.02090042e-06  1.00000000e+00]]

 t_estimated:
[[ 9.85905883e-01]
 [ 1.67299820e-01]
 [-6.00077906e-04]]

 R_gt:
[[ 0.99876414 -0.04744674 -0.01478041]
 [ 0.04742547  0.9988731  -0.00185569]
 [ 0.01485169  0.00115272  0.99988894]]

 t_gt:
[ 0.78987737 -0.56261266 -0.24405068]

Pose Error in degrees for R and t:
2.8465243868579333 46.78277743662426

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99998969e-01  1.43457140e-03  6.72232381e-05]
 [-1.43458676e-03  9.99998945e-01  2.28922896e-04]
 [-6.68947609e-05 -2.29019097e-04  9.99999972e-01]]

 t_estimated:
[[9.96232706e-01]
 [8.67146132e-02]
 [9.85393378e-04]]

 R_gt:
[[ 0.98956617 -0.14036879 -0.03247093]
 [ 0.13979984  0.98999371 -0.01919949]
 [ 0.03484055  0.0144604   0.99928836]]

 t_gt:
[ 0.76756301 -0.60302133 -0.21728392]

Pose Error in degrees for R and t:
8.422066838255914 44.58853741591958

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.71190620e-01  2.38302278e-01  8.96134220e-04]
 [-2.38303926e-01  9.71185684e-01  3.09930624e-03]
 [-1.31740989e-04 -3.22356945e-03  9.99994796e-01]]

 t_estimated:
[[0.69283563]
 [0.72109467]
 [0.0011268 ]]

 R_gt:
[[ 0.95982322 -0.27732992 -0.04274664]
 [ 0.27769436  0.9606659   0.0027239 ]
 [ 0.0403102  -0.01448419  0.99908228]]

 t_gt:
[ 0.7732109  -0.6310876  -0.06223623]

Pose Error in degrees for R and t:
30.004007033359162 85.37901303687107

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 9.98303212e-01  5.82296788e-02 -2.25094180e-05]
 [-5.82296785e-02  9.98303213e-01  1.02364125e-05]
 [ 2.30672873e-05 -8.90832733e-06  1.00000000e+00]]

 t_estimated:
[[-9.46505266e-01]
 [ 3.22688013e-01]
 [-4.76777438e-04]]

 R_gt:
[[ 0.99250215  0.11342251  0.0455387 ]
 [-0.11373665  0.99350124  0.00435951]
 [-0.04474826 -0.00950572  0.9989529 ]]

 t_gt:
[-0.8400191   0.51447575  0.17228641]

Pose Error in degrees for R and t:
4.1278008365833605 16.051092288008306

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.04671816 -0.99889812  0.00446705]
 [-0.99888762 -0.04668809  0.00661395]
 [-0.0063981  -0.00477107 -0.99996815]]

 t_estimated:
[[0.67214159]
 [0.74040072]
 [0.0056982 ]]

 R_gt:
[[ 0.97295334  0.23045938  0.01578256]
 [-0.23092364  0.97210741  0.0410083 ]
 [-0.00589081 -0.04354338  0.99903422]]

 t_gt:
[-0.82318314  0.55854786  0.10195   ]

Pose Error in degrees for R and t:
177.36488886724032 82.00044249363468

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 3.14312944e-01  9.49318432e-01  1.37434555e-03]
 [-9.49319197e-01  3.14313545e-01 -2.40484177e-04]
 [-6.60271484e-04 -1.22910533e-03  9.99999027e-01]]

 t_estimated:
[[0.22382135]
 [0.97462947]
 [0.00118424]]

 R_gt:
[[ 0.91086442  0.41270083  0.00179708]
 [-0.41175616  0.90846574  0.07173564]
 [ 0.02797351 -0.06608115  0.99742199]]

 t_gt:
[-0.7944804   0.60597105  0.03999976]

Pose Error in degrees for R and t:
47.468881397351744 65.61770881974354

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999516e-01 -9.82131557e-04  6.29674833e-05]
 [ 9.82129002e-04  9.99999517e-01  4.05901283e-05]
 [-6.30073177e-05 -4.05282664e-05  9.99999997e-01]]

 t_estimated:
[[-0.08561879]
 [ 0.9963273 ]
 [ 0.0011569 ]]

 R_gt:
[[ 0.99921435 -0.01073579 -0.03814613]
 [ 0.01108574  0.99989773  0.00900166]
 [ 0.03804543 -0.0094164   0.99923139]]

 t_gt:
[ 0.83476238 -0.32980519 -0.44090849]

Pose Error in degrees for R and t:
2.3205439999523785 66.38584885552582

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99999413e-01 -7.62633994e-04 -7.69038789e-04]
 [ 7.63154800e-04  9.99999480e-01  6.77150776e-04]
 [ 7.68521971e-04 -6.77737275e-04  9.99999475e-01]]

 t_estimated:
[[-9.99974549e-01]
 [-7.07946583e-03]
 [-8.84933229e-04]]

 R_gt:
[[ 0.98811021 -0.08634383 -0.12721424]
 [ 0.08150308  0.99575457 -0.04277958]
 [ 0.13036787  0.03190325  0.99095274]]

 t_gt:
[ 0.74709126 -0.27549424 -0.60494428]

Pose Error in degrees for R and t:
9.052096512540338 41.876400610498294

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 9.99997022e-01  2.39993181e-03  4.42145802e-04]
 [-2.39998587e-03  9.99997113e-01  1.21773597e-04]
 [-4.41852277e-04 -1.22834378e-04  9.99999895e-01]]

 t_estimated:
[[ 0.99997813]
 [-0.00641544]
 [-0.00160451]]

 R_gt:
[[ 0.97202158 -0.20773803 -0.10963801]
 [ 0.19978698  0.97663218 -0.07921517]
 [ 0.12353224  0.05509466  0.99080985]]

 t_gt:
[ 0.81987187 -0.40048939 -0.4091679 ]

Pose Error in degrees for R and t:
14.261813982799161 34.60571062417643

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99997495e-01  2.11721861e-03  7.26796407e-04]
 [-2.11701215e-03  9.99997719e-01 -2.84716453e-04]
 [-7.27397556e-04  2.83177103e-04  9.99999695e-01]]

 t_estimated:
[[-9.91967415e-01]
 [-1.26491031e-01]
 [-8.16593321e-04]]

 R_gt:
[[ 0.99678686  0.07965907  0.00855421]
 [-0.07933497  0.9962943  -0.03322199]
 [-0.01116927  0.03243571  0.99941119]]

 t_gt:
[-0.61441716  0.74884559 -0.24843879]

Pose Error in degrees for R and t:
4.843914078360204 59.00505657325462

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99998390e-01 -1.69662362e-03 -5.83682557e-04]
 [ 1.69686795e-03  9.99998473e-01  4.18361916e-04]
 [ 5.82971863e-04 -4.19351675e-04  9.99999742e-01]]

 t_estimated:
[[-0.96158964]
 [ 0.27448934]
 [-0.00098585]]

 R_gt:
[[ 0.98332364  0.18184735 -0.00301619]
 [-0.18185902  0.98290561 -0.02870555]
 [-0.00225488  0.02877491  0.99958335]]

 t_gt:
[-0.69348751  0.71241177 -0.10744551]

Pose Error in degrees for R and t:
10.708804817806922 30.40089483069861

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[-0.18748345  0.98226116  0.00360063]
 [ 0.98226668  0.18747654  0.00217332]
 [ 0.00145973  0.00394425 -0.99999116]]

 t_estimated:
[[-0.00624337]
 [-0.99997997]
 [-0.00104056]]

 R_gt:
[[ 0.93795204  0.34676088 -0.00208459]
 [-0.34611193  0.93579179 -0.06708452]
 [-0.02131056  0.06364287  0.9977448 ]]

 t_gt:
[-0.70308215  0.7009509  -0.11976367]

Pose Error in degrees for R and t:
177.1037428089093 45.859308836187616

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[-0.99610912 -0.08811914 -0.00127998]
 [-0.08811562  0.99610689 -0.00258851]
 [ 0.00150309 -0.00246565 -0.99999583]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96436062  0.26451311  0.0064461 ]
 [-0.26455498  0.96434721  0.00673235]
 [-0.00443562 -0.00819711  0.99995634]]

 t_gt:
[-0.93402217  0.35617257  0.02727062]

Pose Error in degrees for R and t:
179.72557564820818 21.10981457523145

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-0.16130305 -0.95167321 -0.2613416 ]
 [-0.98674192  0.15070624  0.06023301]
 [-0.01793633  0.26759248 -0.96336522]]

 t_estimated:
[[ 0.79937317]
 [ 0.60083028]
 [-0.00234735]]

 R_gt:
[[ 0.95404371  0.29848774  0.02658439]
 [-0.29791485  0.95430336 -0.02346106]
 [-0.03237291  0.01446334  0.9993708 ]]

 t_gt:
[-0.92053687  0.38987884 -0.0246242 ]

Pose Error in degrees for R and t:
169.55160428137015 59.897819409298165

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[ 8.11879403e-01  5.83821415e-01  2.09520026e-03]
 [ 5.83820588e-01 -8.11882022e-01  1.05029502e-03]
 [ 2.31424015e-03  3.70508153e-04 -9.99997254e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.89298208  0.44960615  0.0209297 ]
 [-0.449919    0.89296321  0.013757  ]
 [-0.01250406 -0.02170022  0.99968587]]

 t_gt:
[-0.87597533  0.47909304  0.05600958]

Pose Error in degrees for R and t:
179.2553406934557 29.02100785824371

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.93718122 -0.11320684  0.32996298]
 [ 0.18401382  0.96400769 -0.19190648]
 [-0.29636172  0.24056889  0.92428153]]

 t_estimated:
[[-0.52117198]
 [-0.85022255]
 [-0.0741713 ]]

 R_gt:
[[ 0.99637306  0.07385695 -0.04227538]
 [-0.07658193  0.99481549 -0.0669132 ]
 [ 0.03711427  0.06990824  0.99686295]]

 t_gt:
[-0.43451348  0.57823929 -0.69053411]

Pose Error in degrees for R and t:
26.07552032056744 77.64559568735926

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99999990e-01  6.85320640e-05  1.26266255e-04]
 [-6.85319617e-05  9.99999998e-01 -8.14229041e-07]
 [-1.26266310e-04  8.05575758e-07  9.99999992e-01]]

 t_estimated:
[[-8.12666983e-01]
 [-5.82728190e-01]
 [-4.81020070e-04]]

 R_gt:
[[ 0.99402278  0.10889076  0.00783223]
 [-0.10854205  0.99343268 -0.03621665]
 [-0.01172392  0.03515048  0.99931396]]

 t_gt:
[-0.71184043  0.68388026 -0.15997187]

Pose Error in degrees for R and t:
6.589699306336557 79.62733608768565

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-0.84018244 -0.27506252  0.46736932]
 [-0.24943735 -0.56923509 -0.78342353]
 [ 0.48153347 -0.77479805  0.40965046]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99276456  0.02534076  0.11737892]
 [-0.04458997  0.98538796  0.16438742]
 [-0.11149695 -0.16843182  0.97938712]]

 t_gt:
[-0.18754504  0.06311982  0.98022586]

Pose Error in degrees for R and t:
173.40779631687474 83.57055230971802

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.99947722e-01 -1.02248495e-02  8.10329893e-05]
 [ 1.02248455e-02  9.99947724e-01  4.91181113e-05]
 [-8.15309785e-05 -4.82869937e-05  9.99999996e-01]]

 t_estimated:
[[9.99852969e-01]
 [1.71296240e-02]
 [7.85445631e-04]]

 R_gt:
[[ 9.90893392e-01 -1.31350347e-01 -2.96079619e-02]
 [ 1.31381986e-01  9.91331838e-01 -9.05779248e-04]
 [ 2.94712690e-02 -2.99250907e-03  9.99560358e-01]]

 t_gt:
[ 0.69389061 -0.70095853 -0.16484219]

Pose Error in degrees for R and t:
7.169248251626091 47.02713167786246

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99999695e-01  7.72485350e-04  1.13870570e-04]
 [-7.72491311e-04  9.99999700e-01  5.23122630e-05]
 [-1.13830125e-04 -5.24002111e-05  9.99999992e-01]]

 t_estimated:
[[9.94091672e-01]
 [1.08540339e-01]
 [8.61431258e-04]]

 R_gt:
[[ 0.97864478 -0.20533313 -0.00956355]
 [ 0.20500159  0.97836346 -0.02790592]
 [ 0.01508783  0.02534984  0.99956418]]

 t_gt:
[ 0.64220967 -0.74221194 -0.19154158]

Pose Error in degrees for R and t:
12.006331314978743 56.10377971272311

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[-4.22255449e-01 -9.06476341e-01 -9.89829490e-04]
 [ 9.06475033e-01 -4.22256541e-01  1.55788371e-03]
 [-1.83014670e-03 -2.39430833e-04  9.99998297e-01]]

 t_estimated:
[[9.93844192e-01]
 [1.10783924e-01]
 [8.02782061e-04]]

 R_gt:
[[ 0.96005588 -0.27550537 -0.048879  ]
 [ 0.27335648  0.96079403 -0.04638187]
 [ 0.05974199  0.03116845  0.99772649]]

 t_gt:
[ 0.64046595 -0.71650448 -0.27645018]

Pose Error in degrees for R and t:
99.09014225117674 56.15664465670268

Number of keypoints:
Image1: 236
Image2: 236

 R_estimated:
[[ 0.89706441 -0.44188444 -0.0036864 ]
 [ 0.44189139  0.89706761  0.00130844]
 [ 0.00272877 -0.00280275  0.99999235]]

 t_estimated:
[[-0.31248775]
 [-0.94992122]
 [-0.00103817]]

 R_gt:
[[ 0.99715171  0.01582232 -0.07374339]
 [-0.02140256  0.99691645 -0.07550208]
 [ 0.07232176  0.07686553  0.99441463]]

 t_gt:
[ 0.07428007  0.36324978 -0.92872605]

Pose Error in degrees for R and t:
27.93718518899349 68.450426152589

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 0.57804013  0.81599774  0.00415791]
 [-0.81599123  0.5780535  -0.00352934]
 [-0.00528342 -0.00135272  0.99998513]]

 t_estimated:
[[-0.98095301]
 [ 0.19420775]
 [ 0.00381313]]

 R_gt:
[[ 0.99324344  0.04997806 -0.10473751]
 [-0.06795233  0.98208114 -0.1757805 ]
 [ 0.09407603  0.18171005  0.97884126]]

 t_gt:
[-0.03927446  0.53584588 -0.84340187]

Pose Error in degrees for R and t:
52.54308833517525 81.98827075402168

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[ 9.81059686e-01  1.93705491e-01  2.74676490e-04]
 [-1.93705019e-01  9.81059044e-01 -1.23180176e-03]
 [-5.08080619e-04  1.15526483e-03  9.99999204e-01]]

 t_estimated:
[[-0.97518431]
 [-0.2213854 ]
 [-0.0020176 ]]

 R_gt:
[[ 0.99171755  0.09263553 -0.08897445]
 [-0.10625268  0.98087791 -0.16306175]
 [ 0.07216866  0.17116449  0.98259548]]

 t_gt:
[-0.14683723  0.68279138 -0.71570578]

Pose Error in degrees for R and t:
11.945322770270588 89.62627621295808

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 6.91889261e-01  7.22003551e-01  3.49793143e-04]
 [-7.22003265e-01  6.91889316e-01 -6.77509548e-04]
 [-7.31182438e-04  2.16209789e-04  9.99999709e-01]]

 t_estimated:
[[-3.87922101e-01]
 [ 9.21692097e-01]
 [ 3.49642394e-04]]

 R_gt:
[[ 0.99901371 -0.00168407 -0.04437355]
 [-0.00172314  0.99705745 -0.07664694]
 [ 0.04437216  0.07664829  0.99607001]]

 t_gt:
[ 0.11566573  0.17363476 -0.97799407]

Pose Error in degrees for R and t:
46.4814525458002 83.40637953115454

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.26674379  0.963766   -0.00168605]
 [ 0.96376064 -0.2667349   0.00423443]
 [ 0.00363127 -0.00275446 -0.99998961]]

 t_estimated:
[[0.21548329]
 [0.97650437]
 [0.00248122]]

 R_gt:
[[ 0.99352311  0.04944371 -0.10231028]
 [-0.06519807  0.98546342 -0.15688395]
 [ 0.09306572  0.16253811  0.98230257]]

 t_gt:
[-0.08821246  0.40182243 -0.91145888]

Pose Error in degrees for R and t:
176.33893149109667 68.2158162082691

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-4.88886050e-01  8.42276095e-01  2.27071376e-01]
 [ 8.64959827e-01  5.01840492e-01  7.86287547e-04]
 [-1.13291340e-01  1.96792023e-01 -9.73877801e-01]]

 t_estimated:
[[ 0.12770988]
 [-0.99135421]
 [ 0.0301166 ]]

 R_gt:
[[ 0.98835401  0.12687592 -0.08401402]
 [-0.13890094  0.97769031 -0.15756933]
 [ 0.06214802  0.1674037   0.98392717]]

 t_gt:
[-0.34740458  0.58755744 -0.73081209]

Pose Error in degrees for R and t:
168.14623142659048 49.544736792458494

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 9.99999960e-01 -2.66202147e-04  9.49319269e-05]
 [ 2.66211623e-04  9.99999960e-01 -9.98205602e-05]
 [-9.49053506e-05  9.98458282e-05  9.99999991e-01]]

 t_estimated:
[[-0.03121231]
 [-0.99951083]
 [-0.00197242]]

 R_gt:
[[ 0.99511954 -0.09851878  0.0054921 ]
 [ 0.09863174  0.99475196 -0.02719504]
 [-0.0027846   0.02760363  0.99961457]]

 t_gt:
[ 0.57185173 -0.77684399 -0.26362664]

Pose Error in degrees for R and t:
5.86110675229271 40.61198610878466

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99971085e-01 -7.58392974e-03  5.59691701e-04]
 [ 7.58426381e-03  9.99971061e-01 -5.97189564e-04]
 [-5.55146461e-04  6.01417146e-04  9.99999665e-01]]

 t_estimated:
[[ 0.57691457]
 [-0.81680209]
 [-0.00198117]]

 R_gt:
[[ 0.98605909 -0.16635656 -0.00355122]
 [ 0.16593864  0.98471466 -0.05292234]
 [ 0.0123004   0.05159459  0.99859162]]

 t_gt:
[ 0.52085368 -0.77829651 -0.35066507]

Pose Error in degrees for R and t:
9.618890386897336 20.463185157847178

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.99988618 -0.00352908  0.014669  ]
 [ 0.00394297  0.99959218 -0.02828286]
 [-0.0145632   0.02833748  0.99949232]]

 t_estimated:
[[7.61688506e-01]
 [6.47943023e-01]
 [6.77056450e-04]]

 R_gt:
[[ 0.96173267 -0.27218998 -0.03134065]
 [ 0.27097064  0.96182791 -0.03822476]
 [ 0.04054865  0.02826928  0.99877708]]

 t_gt:
[ 0.60090557 -0.76490163 -0.23203014]

Pose Error in degrees for R and t:
15.825879291283245 87.8183997710226

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.99978572e-01 -6.54526668e-03 -1.21839383e-04]
 [ 6.54527705e-03  9.99978576e-01  8.49546314e-05]
 [ 1.21280722e-04 -8.57502835e-05  9.99999989e-01]]

 t_estimated:
[[-0.8850137 ]
 [ 0.46556401]
 [ 0.00094856]]

 R_gt:
[[ 0.98919594  0.13969625 -0.04445073]
 [-0.13928752  0.99017652  0.01220208]
 [ 0.04571893 -0.00587899  0.99893659]]

 t_gt:
[-0.84926577  0.50440545 -0.15595764]

Pose Error in degrees for R and t:
8.80068391816157 9.49606456673529

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[-0.85157033 -0.52423846 -0.00141565]
 [ 0.52423336 -0.8515698   0.00287376]
 [-0.00271206  0.00170508  0.99999487]]

 t_estimated:
[[9.98019626e-01]
 [6.28965102e-02]
 [9.24948680e-04]]

 R_gt:
[[ 0.94352171  0.33006131 -0.02872343]
 [-0.32514029  0.9391196   0.11108394]
 [ 0.06363998 -0.0954716   0.99339553]]

 t_gt:
[-0.86593389  0.48980534  0.10123843]

Pose Error in degrees for R and t:
167.58955952335856 33.5588646848337

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 6.08081061e-01  7.93874940e-01  5.80219393e-05]
 [ 7.93871180e-01 -6.08078404e-01  3.03381434e-03]
 [ 2.44375107e-03 -1.79874310e-03 -9.99995396e-01]]

 t_estimated:
[[-0.30039007]
 [-0.95381588]
 [-0.00103227]]

 R_gt:
[[ 0.93673812  0.34878384 -0.02949513]
 [-0.34359018  0.93232451  0.1127654 ]
 [ 0.06682971 -0.0954974   0.9931841 ]]

 t_gt:
[-0.89783488  0.43090333  0.09063578]

Pose Error in degrees for R and t:
173.14272773857732 81.8714043768134

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99999998e-01  5.31168662e-06  6.85555843e-05]
 [-5.31051635e-06  1.00000000e+00 -1.70705955e-05]
 [-6.85556749e-05  1.70702314e-05  9.99999998e-01]]

 t_estimated:
[[9.99760220e-01]
 [2.18970002e-02]
 [1.57416116e-04]]

 R_gt:
[[ 0.99382436 -0.11019086 -0.01306718]
 [ 0.11031242  0.99385726  0.00889282]
 [ 0.01200787 -0.01027944  0.99987426]]

 t_gt:
[ 0.72903241 -0.68422691 -0.01858159]

Pose Error in degrees for R and t:
6.395677351500292 44.449154945043084

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 1.37847471e-01 -9.90452985e-01  9.79406958e-04]
 [-9.90435047e-01 -1.37838809e-01  6.23534647e-03]
 [-6.04081723e-03 -1.82956572e-03 -9.99980080e-01]]

 t_estimated:
[[0.66502158]
 [0.74681568]
 [0.00355627]]

 R_gt:
[[ 0.98819535 -0.13716586 -0.06823405]
 [ 0.13806941  0.99038452  0.00867444]
 [ 0.06638887 -0.01799332  0.99763139]]

 t_gt:
[ 0.80625122 -0.56665754 -0.16987702]

Pose Error in degrees for R and t:
178.35726919114214 83.54737744191306

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-0.1804855  -0.98357306 -0.00300401]
 [ 0.98357678 -0.18048046 -0.00187502]
 [ 0.00130205 -0.00329309  0.99999373]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.97096712 -0.20436309 -0.12432774]
 [ 0.20024967  0.97871673 -0.04486566]
 [ 0.1308509   0.01866572  0.99122631]]

 t_gt:
[ 0.82195476 -0.45049254 -0.34849223]

Pose Error in degrees for R and t:
88.91507283568171 34.88681180111249

Number of keypoints:
Image1: 382
Image2: 382

 R_estimated:
[[ 0.97783045 -0.20935856  0.00407584]
 [-0.2093733  -0.97722843  0.03445891]
 [-0.00323124 -0.03454835 -0.9993978 ]]

 t_estimated:
[[0.07540749]
 [0.99699536]
 [0.0177189 ]]

 R_gt:
[[ 0.9979492   0.01074421 -0.06311359]
 [-0.00988736  0.99985469  0.01386605]
 [ 0.0632533  -0.013214    0.99791034]]

 t_gt:
[ 0.95614871 -0.12593445 -0.2644242 ]

Pose Error in degrees for R and t:
177.621709880835 86.66691005940453

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99982624e-01 -5.89500660e-03  4.46647065e-08]
 [ 5.89500659e-03  9.99982624e-01  3.80654496e-05]
 [-2.69060006e-07 -3.80645248e-05  9.99999999e-01]]

 t_estimated:
[[-4.43629975e-01]
 [ 8.96209696e-01]
 [-7.91668374e-04]]

 R_gt:
[[ 0.99498434  0.02500103 -0.09686436]
 [-0.02111782  0.99894027  0.04089993]
 [ 0.09778421 -0.03864964  0.99445772]]

 t_gt:
[ 0.98356008 -0.1793829  -0.02076889]

Pose Error in degrees for R and t:
6.258908069439846 53.33859073418591

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.77633879 -0.63030145  0.0042623 ]
 [ 0.63031177  0.77634037 -0.00164553]
 [-0.00227181  0.00396406  0.99998956]]

 t_estimated:
[[-0.11641183]
 [-0.99319834]
 [-0.00231285]]

 R_gt:
[[ 0.98830736  0.10964606 -0.10596086]
 [-0.09891598  0.98988403  0.10171041]
 [ 0.11604183 -0.09004027  0.98915552]]

 t_gt:
[ 0.82152636 -0.0455743   0.56834621]

Pose Error in degrees for R and t:
45.88522398996333 87.03731478913137

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.98914454e-01  4.65816614e-02  2.49088125e-04]
 [-4.65816107e-02  9.98914466e-01 -2.05336220e-04]
 [-2.58382634e-04  1.93510392e-04  9.99999948e-01]]

 t_estimated:
[[0.30525707]
 [0.95226934]
 [0.001106  ]]

 R_gt:
[[ 0.99495006 -0.05075689  0.08660243]
 [ 0.04474734  0.9965451   0.06997063]
 [-0.08985428 -0.06574119  0.99378346]]

 t_gt:
[ 0.03082786 -0.26886763  0.96268367]

Pose Error in degrees for R and t:
8.372301612044849 75.78511412683726

Number of keypoints:
Image1: 270
Image2: 270

 R_estimated:
[[ 0.26364242 -0.96458786  0.00793307]
 [-0.96457826 -0.26354501  0.01152422]
 [-0.0090254  -0.01069034 -0.99990212]]

 t_estimated:
[[0.56673346]
 [0.82386889]
 [0.0072968 ]]

 R_gt:
[[ 0.98877961 -0.10086307  0.11019154]
 [ 0.08668217  0.98815012  0.12667063]
 [-0.12166229 -0.11569752  0.9858054 ]]

 t_gt:
[ 0.23225259 -0.33129303  0.9144964 ]

Pose Error in degrees for R and t:
169.59292084336184 82.26197595963544

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.92271356  0.38544719 -0.00549171]
 [-0.38541009  0.92272078  0.00674   ]
 [ 0.00766523 -0.00410253  0.99996221]]

 t_estimated:
[[-0.97979182]
 [-0.19995751]
 [-0.00499894]]

 R_gt:
[[ 0.98203586 -0.1181647   0.1471169 ]
 [ 0.08977646  0.97833842  0.18652972]
 [-0.16596977 -0.16997024  0.97137255]]

 t_gt:
[ 0.27790953 -0.29666606  0.91364957]

Pose Error in degrees for R and t:
31.791907809171637 77.43540451279937

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.18269914e-01  3.95954546e-01  6.02323858e-04]
 [-3.95953891e-01  9.18269877e-01 -9.74012045e-04]
 [-9.38760352e-04  6.55913481e-04  9.99999344e-01]]

 t_estimated:
[[-0.88037685]
 [-0.47427381]
 [-0.00097387]]

 R_gt:
[[ 0.99875098 -0.032229   -0.03817865]
 [ 0.03301507  0.99925191  0.02015622]
 [ 0.03750109 -0.02139133  0.99906707]]

 t_gt:
[ 0.75161381 -0.56889329 -0.33382197]

Pose Error in degrees for R and t:
25.321329335279085 66.94795536713515

Number of keypoints:
Image1: 209
Image2: 209

 R_estimated:
[[ 9.91900110e-01  1.27020338e-01  7.59268250e-05]
 [-1.27020323e-01  9.91900100e-01 -1.70150718e-04]
 [-9.69244270e-05  1.59128266e-04  9.99999983e-01]]

 t_estimated:
[[-9.99560251e-01]
 [-2.96445163e-02]
 [-7.12860878e-04]]

 R_gt:
[[ 0.99728225 -0.04098733 -0.06122767]
 [ 0.04247379  0.99882854  0.02317079]
 [ 0.0602064  -0.02570866  0.99785475]]

 t_gt:
[ 0.66974988 -0.59141576 -0.44906848]

Pose Error in degrees for R and t:
10.394520680249842 49.3374297017153

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.85073113e-01  1.72136381e-01 -1.71238624e-04]
 [-1.72136342e-01  9.85073109e-01  2.21525974e-04]
 [ 2.06815243e-04 -1.88742890e-04  9.99999961e-01]]

 t_estimated:
[[-0.94244717]
 [-0.33435366]
 [-0.00097764]]

 R_gt:
[[ 0.99745313  0.01345209 -0.07005431]
 [-0.00966351  0.99848621  0.05414215]
 [ 0.07067632 -0.05332676  0.99607229]]

 t_gt:
[ 0.20819436 -0.70702218 -0.67585113]

Pose Error in degrees for R and t:
10.54137048147528 87.65915965077454

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99999962e-01  2.51486433e-04 -1.11655394e-04]
 [-2.51467334e-04  9.99999954e-01  1.71031800e-04]
 [ 1.11698401e-04 -1.71003716e-04  9.99999979e-01]]

 t_estimated:
[[-0.84834331]
 [-0.52944494]
 [-0.00129767]]

 R_gt:
[[ 0.99970242  0.02411135 -0.0038706 ]
 [-0.02415682  0.99963489 -0.01207135]
 [ 0.00357859  0.01216111  0.99991956]]

 t_gt:
[ 0.67184654  0.66802294 -0.31994934]

Pose Error in degrees for R and t:
1.5527607800336498 22.598139967717255

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.99999011e-01  1.40608418e-03  3.84049218e-05]
 [-1.40609457e-03  9.99998975e-01  2.71671066e-04]
 [-3.80228900e-05 -2.71724799e-04  9.99999962e-01]]

 t_estimated:
[[-9.99049241e-01]
 [-4.35896002e-02]
 [-7.49000081e-04]]

 R_gt:
[[ 0.99709903  0.05700148 -0.05047033]
 [-0.05619969  0.9982719   0.01716585]
 [ 0.05136251 -0.01428011  0.99857765]]

 t_gt:
[ 0.81839602  0.49829642 -0.28623178]

Pose Error in degrees for R and t:
4.398187608474407 32.95226059401876

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.18647504  0.98245882  0.0013149 ]
 [ 0.98245261  0.18646844  0.00404954]
 [ 0.00373332  0.00204696 -0.99999094]]

 t_estimated:
[[9.99472407e-01]
 [3.24674970e-02]
 [8.77499918e-04]]

 R_gt:
[[ 0.99181125  0.07597531 -0.10266692]
 [-0.07167537  0.99641505  0.04494512]
 [ 0.10571397 -0.03721874  0.99369974]]

 t_gt:
[ 0.87877899  0.41813901 -0.23001579]

Pose Error in degrees for R and t:
173.78580971190905 26.913685367392155

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.66703199e-01 -2.55900026e-01 -3.19302183e-04]
 [ 2.55900132e-01  9.66703159e-01  3.53055477e-04]
 [ 2.18323524e-04 -4.23009329e-04  9.99999887e-01]]

 t_estimated:
[[-0.3632612 ]
 [-0.93168645]
 [-0.00128656]]

 R_gt:
[[ 0.99481627  0.05809051 -0.08346406]
 [-0.05554984  0.99792762  0.03246619]
 [ 0.08517685 -0.02766193  0.99598148]]

 t_gt:
[ 0.69712005  0.3788175  -0.60870432]

Pose Error in degrees for R and t:
18.7944408259783 52.742897083638354

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 5.72196393e-01  8.20116424e-01  5.81933725e-04]
 [-8.20115704e-01  5.72196669e-01 -1.09708979e-03]
 [-1.23272189e-03  1.50497833e-04  9.99999229e-01]]

 t_estimated:
[[-3.33873772e-01]
 [ 9.42617569e-01]
 [ 6.50179089e-04]]

 R_gt:
[[ 0.98103323  0.12297534 -0.14983203]
 [-0.11186947  0.99046044  0.0804576 ]
 [ 0.158297   -0.06217029  0.98543169]]

 t_gt:
[ 0.8423845   0.26367285 -0.46996274]

Pose Error in degrees for R and t:
49.24193271072675 88.1081512408835

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.99965940e-01 -8.25247026e-03  1.23351114e-04]
 [ 8.25245593e-03  9.99965941e-01  1.16265504e-04]
 [-1.24306390e-04 -1.15243594e-04  9.99999986e-01]]

 t_estimated:
[[-4.72317136e-01]
 [ 8.81428515e-01]
 [ 5.43785594e-04]]

 R_gt:
[[ 0.96013257  0.21946413 -0.17314979]
 [-0.20184979  0.97279098  0.11372427]
 [ 0.19339765 -0.07424052  0.97830789]]

 t_gt:
[ 0.58700618  0.71450428 -0.38066703]

Pose Error in degrees for R and t:
17.477961055019314 69.37045010479353

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99988884e-01 -4.68285021e-03  5.50255372e-04]
 [ 4.68275940e-03  9.99989022e-01  1.66202518e-04]
 [-5.51027633e-04 -1.63623957e-04  9.99999835e-01]]

 t_estimated:
[[0.84659238]
 [0.53223271]
 [0.00311247]]

 R_gt:
[[ 0.99994181 -0.00293828 -0.01034577]
 [ 0.00344338  0.99878892  0.04908643]
 [ 0.01018842 -0.04911843  0.99874069]]

 t_gt:
[ 0.62373219 -0.38588774  0.67974172]

Pose Error in degrees for R and t:
2.8742759579306947 71.04772173946486

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.90983331e-01 -1.33982682e-01  8.24262034e-04]
 [ 1.33982870e-01  9.90983632e-01 -1.76103696e-04]
 [-7.93235339e-04  2.84952820e-04  9.99999645e-01]]

 t_estimated:
[[0.6798631 ]
 [0.73333859]
 [0.0008237 ]]

 R_gt:
[[ 0.99676202 -0.07012316  0.03934764]
 [ 0.06302964  0.98523801  0.15916737]
 [-0.04992768 -0.15617203  0.98646664]]

 t_gt:
[ 0.41075381 -0.40062856  0.81901041]

Pose Error in degrees for R and t:
10.19287239363872 89.20554539369654

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.09336229 -0.95162315 -0.29274027]
 [-0.33333654 -0.30693218  0.89144792]
 [-0.93817388  0.01435341 -0.34586666]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99125497 -0.11156773  0.07047006]
 [ 0.09322756  0.97003151  0.22438169]
 [-0.09339182 -0.21584962  0.97194954]]

 t_gt:
[ 0.3561819  -0.39542004  0.8466271 ]

Pose Error in degrees for R and t:
126.95388075838441 83.10461192670347

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999908e-01 -4.22300700e-04  6.93607841e-05]
 [ 4.22304771e-04  9.99999909e-01 -5.86864592e-05]
 [-6.93359944e-05  5.87157452e-05  9.99999996e-01]]

 t_estimated:
[[ 9.77598929e-01]
 [-2.10476136e-01]
 [-3.61550928e-04]]

 R_gt:
[[ 0.99645219 -0.0827572  -0.01532709]
 [ 0.08302457  0.99639028  0.01770015]
 [ 0.01380774 -0.01890909  0.99972664]]

 t_gt:
[ 0.6341586  -0.77317195  0.00692929]

Pose Error in degrees for R and t:
4.918687426740075 38.492972529388965

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 9.62700622e-01 -2.70568832e-01  1.37833369e-04]
 [ 2.70568802e-01  9.62700619e-01  2.01966412e-04]
 [-1.87338085e-04 -1.57139781e-04  9.99999970e-01]]

 t_estimated:
[[9.31289216e-01]
 [3.64279795e-01]
 [7.91912599e-04]]

 R_gt:
[[ 0.98865934 -0.1500734   0.00570078]
 [ 0.14995741  0.98854428  0.01710345]
 [-0.00820198 -0.01605321  0.99983754]]

 t_gt:
[ 0.67609741 -0.73467138  0.05612711]

Pose Error in degrees for R and t:
7.142503254480606 68.77319338163011

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99969486e-01  7.23077606e-03 -2.95674824e-03]
 [-7.23326590e-03  9.99973493e-01 -8.32263696e-04]
 [ 2.95065196e-03  8.53625247e-04  9.99995282e-01]]

 t_estimated:
[[-0.08662454]
 [-0.99618218]
 [-0.01082807]]

 R_gt:
[[ 0.98101703 -0.19175505  0.02893474]
 [ 0.19099914  0.98121862  0.02699533]
 [-0.03356755 -0.02095584  0.99921756]]

 t_gt:
[ 0.70760118 -0.69255183  0.14025878]

Pose Error in degrees for R and t:
11.706511565776918 51.1639940419622

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999998e-01 -6.83667688e-05  8.24869437e-06]
 [ 6.83663579e-05  9.99999996e-01  4.97940887e-05]
 [-8.25209860e-06 -4.97935246e-05  9.99999999e-01]]

 t_estimated:
[[0.09941683]
 [0.99504526]
 [0.00110631]]

 R_gt:
[[ 0.99913717 -0.04136134  0.00368772]
 [ 0.04141851  0.99899773 -0.01695838]
 [-0.00298254  0.01709691  0.99984955]]

 t_gt:
[ 0.78771798 -0.61232551 -0.06751198]

Pose Error in degrees for R and t:
2.569935939819283 57.923312508654675

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-8.45473233e-01  5.34015949e-01 -1.40636418e-03]
 [-5.34015490e-01 -8.45474390e-01 -7.15297894e-04]
 [-1.57102538e-03  1.46255031e-04  9.99998755e-01]]

 t_estimated:
[[0.70673647]
 [0.70747651]
 [0.00074004]]

 R_gt:
[[ 0.98367287 -0.17785882 -0.02744912]
 [ 0.17728366  0.98390977 -0.02215336]
 [ 0.03094803  0.01692569  0.9993774 ]]

 t_gt:
[ 0.75119601 -0.64420727 -0.1438803 ]

Pose Error in degrees for R and t:
157.95714472951164 85.69707533271995

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 2.02661935e-01  9.79248430e-01  8.07939032e-04]
 [-9.79247338e-01  2.02662979e-01 -1.53880654e-03]
 [-1.67061322e-03 -4.79314636e-04  9.99998490e-01]]

 t_estimated:
[[0.00759197]
 [0.99997059]
 [0.00108457]]

 R_gt:
[[ 0.97224719 -0.23146454 -0.03405003]
 [ 0.2297401   0.97206654 -0.04801157]
 [ 0.04421094  0.03885649  0.99826614]]

 t_gt:
[ 0.77476534 -0.60861142 -0.17126241]

Pose Error in degrees for R and t:
91.70123986172364 52.92231734467611

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99956803e-01 -9.29431372e-03  8.84388156e-05]
 [ 9.29432337e-03  9.99956801e-01 -1.09272995e-04]
 [-8.74193776e-05  1.10090254e-04  9.99999990e-01]]

 t_estimated:
[[ 0.65528275]
 [-0.75538288]
 [ 0.00110673]]

 R_gt:
[[ 0.99614234 -0.0871322   0.01046946]
 [ 0.0875467   0.99492015 -0.04970366]
 [-0.00608549  0.05042781  0.99870939]]

 t_gt:
[ 0.40660735 -0.72278035 -0.55880142]

Pose Error in degrees for R and t:
5.339421302483874 35.72780538902877

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.99999999e-01  2.58415308e-05  3.67535605e-05]
 [-2.58382611e-05  9.99999996e-01 -8.89613348e-05]
 [-3.67558592e-05  8.89603850e-05  9.99999995e-01]]

 t_estimated:
[[-0.6233243 ]
 [-0.78196265]
 [-0.00110978]]

 R_gt:
[[ 0.99515047 -0.097681   -0.01156914]
 [ 0.097247    0.99469695 -0.03346626]
 [ 0.0147773   0.0321784   0.99937293]]

 t_gt:
[ 0.4988491  -0.73631123 -0.4571601 ]

Pose Error in degrees for R and t:
5.951465720892358 74.6134104345395

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.99978445e-01 -6.56578822e-03 -3.24619924e-06]
 [ 6.56578827e-03  9.99978445e-01  1.56469940e-05]
 [ 3.14339442e-06 -1.56679705e-05  1.00000000e+00]]

 t_estimated:
[[ 6.23880076e-01]
 [-7.81520082e-01]
 [ 1.10470437e-04]]

 R_gt:
[[ 0.9990808  -0.04181329 -0.00946966]
 [ 0.04136879  0.99821852 -0.04300445]
 [ 0.01125166  0.04257246  0.99903034]]

 t_gt:
[ 0.60540389 -0.2554918  -0.7537971 ]

Pose Error in degrees for R and t:
3.225580944058267 54.739971039722356

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 8.61368417e-01  5.07977286e-01  1.87784586e-03]
 [-5.07974433e-01  8.61370254e-01 -1.80560441e-03]
 [-2.53472660e-03  6.01392927e-04  9.99996607e-01]]

 t_estimated:
[[-0.42607011]
 [ 0.90468456]
 [ 0.00317913]]

 R_gt:
[[ 0.95469688  0.29741181 -0.00994862]
 [-0.2974863   0.9546992  -0.00708813]
 [ 0.00738966  0.00972565  0.99992562]]

 t_gt:
[-0.95715873  0.28617871 -0.0441465 ]

Pose Error in degrees for R and t:
13.245742820708942 48.196513234351436

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 9.99276607e-01 -3.80269960e-02 -4.58314789e-04]
 [ 3.80272763e-02  9.99276510e-01  6.19324743e-04]
 [ 4.34432143e-04 -6.36305191e-04  9.99999703e-01]]

 t_estimated:
[[-9.42443318e-01]
 [-3.34364890e-01]
 [-8.44192037e-04]]

 R_gt:
[[ 0.84366964  0.53611583  0.02830143]
 [-0.53502326  0.84397037 -0.03826228]
 [-0.04439867  0.01713923  0.99886693]]

 t_gt:
[-0.88993296  0.45569542 -0.01900006]

Pose Error in degrees for R and t:
34.690012836775615 46.65743198474055

Number of keypoints:
Image1: 21
Image2: 21

 R_estimated:
[[-0.78295383  0.58915515  0.19969853]
 [ 0.60067413  0.79948581 -0.0036108 ]
 [-0.16178346  0.11712665 -0.97985073]]

 t_estimated:
[[0.81823936]
 [0.55092804]
 [0.16420306]]

 R_gt:
[[ 0.6594853   0.75169671 -0.00554189]
 [-0.75047928  0.6579589  -0.06220857]
 [-0.04311577  0.0451847   0.99804783]]

 t_gt:
[-0.79302101  0.60748091 -0.04565765]

Pose Error in degrees for R and t:
169.2341419681227 71.23424322099444

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[-9.81444480e-01  1.91557738e-01 -8.50681629e-03]
 [ 1.91552431e-01  9.81481323e-01  1.44196785e-03]
 [ 8.62550141e-03 -2.14289950e-04 -9.99962777e-01]]

 t_estimated:
[[ 0.98925941]
 [-0.14610415]
 [-0.00440304]]

 R_gt:
[[ 0.94820103  0.31593551  0.03314517]
 [-0.31562005  0.94877502 -0.01451082]
 [-0.03603084  0.00329775  0.99934488]]

 t_gt:
[-0.9384272   0.34537389  0.00844206]

Pose Error in degrees for R and t:
178.44308716767287 11.806082884854138

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 0.047099   -0.89658857 -0.44035284]
 [-0.98513065 -0.11461206  0.12799097]
 [-0.16522499  0.42777683 -0.88865499]]

 t_estimated:
[[6.39504859e-01]
 [7.68786894e-01]
 [4.96675941e-04]]

 R_gt:
[[ 0.82427578  0.56541533  0.02956576]
 [-0.56267628  0.82385243 -0.06827938]
 [-0.06296389  0.03964543  0.99722848]]

 t_gt:
[-0.85415395  0.51828251 -0.04247667]

Pose Error in degrees for R and t:
160.80621682235918 81.50008760255005

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-0.79276746  0.59826225  0.11662773]
 [ 0.60942584  0.78143151  0.13403336]
 [-0.01094948  0.17733324 -0.98408995]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.6324344   0.77443557  0.01658288]
 [-0.77132685  0.63157685 -0.07851477]
 [-0.07127674  0.03686516  0.99677475]]

 t_gt:
[-0.7689735   0.63874256 -0.02622406]

Pose Error in degrees for R and t:
176.74732417043032 39.86953855923769

Number of keypoints:
Image1: 386
Image2: 386

 R_estimated:
[[ 9.99999988e-01  1.47441890e-04 -4.31209231e-05]
 [-1.47437274e-04  9.99999983e-01  1.07022838e-04]
 [ 4.31367020e-05 -1.07016479e-04  9.99999993e-01]]

 t_estimated:
[[0.58959682]
 [0.80769534]
 [0.00195766]]

 R_gt:
[[ 0.99930115 -0.03734973  0.00197979]
 [ 0.0373744   0.99920423 -0.0139306 ]
 [-0.0014567   0.01399529  0.99990171]]

 t_gt:
[ 0.17390713 -0.93479405 -0.30970373]

Pose Error in degrees for R and t:
2.297068195558244 49.22426200596531

Number of keypoints:
Image1: 412
Image2: 412

 R_estimated:
[[ 9.92507841e-01 -1.22180858e-01  1.54337661e-04]
 [ 1.22180840e-01  9.92507848e-01  1.21952170e-04]
 [-1.68081561e-04 -1.02181380e-04  9.99999981e-01]]

 t_estimated:
[[ 0.66243462]
 [-0.74911814]
 [ 0.00154434]]

 R_gt:
[[ 0.99998867 -0.00274416  0.00391982]
 [ 0.00283395  0.99972765 -0.02314529]
 [-0.00385399  0.02315595  0.99972482]]

 t_gt:
[-0.00526688  0.23690786 -0.97151785]

Pose Error in degrees for R and t:
6.9895939465200865 79.4868440655952

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.45588160e-01  3.25365981e-01  1.02557960e-04]
 [-3.25365919e-01  9.45588105e-01 -3.93406144e-04]
 [-2.24978563e-04  3.38631327e-04  9.99999917e-01]]

 t_estimated:
[[-2.60643250e-01]
 [ 9.65435181e-01]
 [ 8.35417785e-05]]

 R_gt:
[[ 0.99705645  0.07541237 -0.01389716]
 [-0.07580556  0.99665986 -0.03036549]
 [ 0.01156144  0.03132945  0.99944257]]

 t_gt:
[ 0.14227747  0.87114476 -0.46996163]

Pose Error in degrees for R and t:
14.771949351580938 36.49479671219408

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 1.00000000e+00  2.18753940e-05 -1.95799337e-05]
 [-2.18745349e-05  9.99999999e-01  4.38737235e-05]
 [ 1.95808935e-05 -4.38732951e-05  9.99999999e-01]]

 t_estimated:
[[9.93293231e-01]
 [1.15620821e-01]
 [6.19535852e-04]]

 R_gt:
[[ 0.99883633 -0.04492995  0.01749939]
 [ 0.04520812  0.99885136 -0.01586499]
 [-0.01676595  0.01663787  0.99972123]]

 t_gt:
[ 0.761942   -0.64615678  0.043884  ]

Pose Error in degrees for R and t:
2.919117788376735 46.98813154226682

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999313e-01 -6.03600055e-04  1.00502604e-03]
 [ 6.03783806e-04  9.99999801e-01 -1.82539206e-04]
 [-1.00491566e-03  1.83145899e-04  9.99999478e-01]]

 t_estimated:
[[0.70095817]
 [0.71320198]
 [0.00076524]]

 R_gt:
[[ 0.99105328 -0.13298516  0.01133607]
 [ 0.13325038  0.9907059  -0.02731326]
 [-0.00759791  0.02857972  0.99956263]]

 t_gt:
[ 0.76269844 -0.64540609 -0.04173816]

Pose Error in degrees for R and t:
7.7968960008973225 85.73998173549157

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.87623543e-01  1.56842794e-01  2.73700029e-04]
 [-1.56842794e-01  9.87623581e-01 -2.29263701e-05]
 [-2.73908439e-04 -2.02852544e-05  9.99999962e-01]]

 t_estimated:
[[0.43701999]
 [0.89945133]
 [0.00091284]]

 R_gt:
[[ 0.9693744  -0.24524272 -0.01301161]
 [ 0.24488127  0.96924517 -0.02444586]
 [ 0.01860643  0.02051105  0.99961662]]

 t_gt:
[ 0.77343631 -0.62879726 -0.08006421]

Pose Error in degrees for R and t:
23.26599019466221 76.84192017124965

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-0.04111141  0.99915358  0.00140699]
 [-0.99915341 -0.04110917 -0.00158284]
 [-0.00152366 -0.00147087  0.99999776]]

 t_estimated:
[[0.01979808]
 [0.999803  ]
 [0.00141415]]

 R_gt:
[[ 0.99157015 -0.12715856 -0.0248956 ]
 [ 0.12694412  0.99185934 -0.01000822]
 [ 0.02596632  0.00676385  0.99963954]]

 t_gt:
[ 0.72666542 -0.67415872 -0.13216427]

Pose Error in degrees for R and t:
99.6674385806482 48.713378859679224

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 9.94712098e-01  1.02702550e-01  1.67201991e-04]
 [-1.02702539e-01  9.94712111e-01 -7.50974014e-05]
 [-1.74030540e-04  5.75282247e-05  9.99999983e-01]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.96971274 -0.24201101 -0.03299477]
 [ 0.24246036  0.97010603  0.01031878]
 [ 0.02951127 -0.0180056   0.99940197]]

 t_gt:
[ 0.73308631 -0.67976404 -0.02247936]

Pose Error in degrees for R and t:
20.015991137759872 83.55199423144575

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-0.96393962 -0.21958201  0.15034677]
 [ 0.12657923 -0.875269   -0.4667782 ]
 [ 0.23408996 -0.43091522  0.87150098]]

 t_estimated:
[[ 0.84141573]
 [ 0.54037676]
 [-0.00353946]]

 R_gt:
[[ 0.9520426  -0.30341201 -0.0394608 ]
 [ 0.3038929   0.95268288  0.00665422]
 [ 0.03557461 -0.01832631  0.99919835]]

 t_gt:
[ 0.75633311 -0.65291929 -0.04070167]

Pose Error in degrees for R and t:
152.15855627718412 73.5181119919616

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.99289704 -0.11895941  0.00202983]
 [-0.11896259 -0.99289757  0.00152496]
 [ 0.00183401 -0.0017556  -0.99999678]]

 t_estimated:
[[0.25216175]
 [0.96768417]
 [0.00134234]]

 R_gt:
[[ 0.98959285  0.14191169  0.02381329]
 [-0.14350416  0.98549272  0.09061872]
 [-0.0106067  -0.09309301  0.99560008]]

 t_gt:
[-0.87524114  0.18087118  0.44859622]

Pose Error in degrees for R and t:
174.56421195137565 87.41657521443817

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[-3.38665173e-01  9.40906950e-01 -1.11410613e-04]
 [ 9.40904758e-01  3.38664635e-01  2.12141363e-03]
 [ 2.03378366e-03  6.13622139e-04 -9.99997744e-01]]

 t_estimated:
[[ 0.08896292]
 [-0.99603432]
 [-0.00111376]]

 R_gt:
[[ 0.9913999   0.13022317  0.01292985]
 [-0.13085331  0.9876269   0.0864362 ]
 [-0.00151348 -0.08738446  0.99617293]]

 t_gt:
[-0.91297706 -0.0244662   0.40727669]

Pose Error in degrees for R and t:
177.38441804951657 86.71483499453964

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 6.57923995e-01  7.53081252e-01  2.15537164e-03]
 [ 7.53082875e-01 -6.57925661e-01  8.69112286e-05]
 [ 1.48352553e-03  1.56599249e-03 -9.99997673e-01]]

 t_estimated:
[[0.52800887]
 [0.84923831]
 [0.00096176]]

 R_gt:
[[ 0.99055985  0.13705681  0.00254239]
 [-0.13690659  0.98820501  0.06861085]
 [ 0.00689188 -0.0683108   0.99763962]]

 t_gt:
[-0.94233397 -0.08489374  0.32372789]

Pose Error in degrees for R and t:
176.40391878738188 55.29548146746511

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[-0.92880848 -0.37054152 -0.00371378]
 [ 0.37051351 -0.92880395  0.00655404]
 [-0.00587792  0.00471144  0.99997163]]

 t_estimated:
[[0.96864554]
 [0.24844135]
 [0.00165018]]

 R_gt:
[[ 0.99946127 -0.03154401  0.00915992]
 [ 0.0315825   0.99949361 -0.00405325]
 [-0.00902745  0.00434116  0.99994973]]

 t_gt:
[ 0.80962419 -0.5739234   0.12296581]

Pose Error in degrees for R and t:
156.44238809556938 50.06968298541828

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 1.26934277e-01  9.91906182e-01  3.13309911e-03]
 [ 9.91911040e-01 -1.26932291e-01 -8.25566360e-04]
 [-4.21192927e-04  3.21254827e-03 -9.99994751e-01]]

 t_estimated:
[[ 0.84418877]
 [-0.5360443 ]
 [ 0.001354  ]]

 R_gt:
[[ 0.99796792 -0.05834207 -0.02562517]
 [ 0.05893757  0.99799328  0.02314771]
 [ 0.02422339 -0.02460973  0.99940395]]

 t_gt:
[ 0.77532674 -0.62987272 -0.04613902]

Pose Error in degrees for R and t:
178.18592472757325 7.207023060115935

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[-7.73849098e-01  6.33369569e-01  7.50004907e-04]
 [-6.33367340e-01 -7.73841851e-01 -3.82125240e-03]
 [-1.83987980e-03 -3.43210134e-03  9.99992418e-01]]

 t_estimated:
[[0.52034512]
 [0.85395348]
 [0.00209817]]

 R_gt:
[[ 0.99737795 -0.05466111 -0.04743308]
 [ 0.05660196  0.99757227  0.04057944]
 [ 0.04510083 -0.0431572   0.99804999]]

 t_gt:
[ 0.70604106 -0.70147976 -0.09711931]

Pose Error in degrees for R and t:
143.91736321234896 76.59399602790577

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999449e-01  2.96756449e-04 -1.00738130e-03]
 [-2.95523473e-04  9.99999207e-01  1.22387021e-03]
 [ 1.00774369e-03 -1.22357183e-03  9.99998744e-01]]

 t_estimated:
[[-0.54629457]
 [-0.83759265]
 [-0.0008854 ]]

 R_gt:
[[ 0.97942079 -0.20011128 -0.0262741 ]
 [ 0.20044697  0.97964567  0.01080551]
 [ 0.02357662 -0.01585038  0.99959688]]

 t_gt:
[ 0.73760077 -0.67365365 -0.04621533]

Pose Error in degrees for R and t:
11.67463301869862 80.71526034948664

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.99999514e-01  9.69470881e-04  1.81007648e-04]
 [-9.69486914e-04  9.99999526e-01  8.85056605e-05]
 [-1.80921758e-04 -8.86811020e-05  9.99999980e-01]]

 t_estimated:
[[9.53774721e-01]
 [3.00521687e-01]
 [7.04835073e-04]]

 R_gt:
[[ 0.97186131 -0.22589109 -0.06678017]
 [ 0.22732953  0.97370704  0.01468837]
 [ 0.06170633 -0.02945675  0.99766003]]

 t_gt:
[ 0.76910917 -0.63044334 -0.10493943]

Pose Error in degrees for R and t:
13.739804826696487 57.04221086054596

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 1.00000000e+00 -2.69548534e-05  5.12068977e-06]
 [ 2.69548551e-05  1.00000000e+00 -3.30739962e-07]
 [-5.12068085e-06  3.30877990e-07  1.00000000e+00]]

 t_estimated:
[[0.08558782]
 [0.99633003]
 [0.00109728]]

 R_gt:
[[ 0.94890585 -0.27822194 -0.14889952]
 [ 0.277527    0.96037002 -0.02584757]
 [ 0.15018911 -0.01679707  0.98851461]]

 t_gt:
[ 0.8245024  -0.50709171 -0.25110516]

Pose Error in degrees for R and t:
18.395287912491202 64.21859644321964

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99997607e-01 -2.18724571e-03  3.19306194e-05]
 [ 2.18724508e-03  9.99997608e-01  1.99520082e-05]
 [-3.19741830e-05 -1.98821204e-05  9.99999999e-01]]

 t_estimated:
[[-7.01970670e-02]
 [ 9.97533103e-01]
 [-2.82705103e-04]]

 R_gt:
[[ 0.99856812 -0.00448579 -0.05330056]
 [ 0.0058428   0.99966201  0.0253173 ]
 [ 0.05316907 -0.02559157  0.99825693]]

 t_gt:
[ 0.99136539 -0.10622041 -0.07688876]

Pose Error in degrees for R and t:
3.388952874771952 79.89063851750345

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.59929964e-01 -2.80239852e-01 -2.98304681e-04]
 [ 2.80239852e-01  9.59930010e-01 -4.28729152e-05]
 [ 2.98366315e-04 -4.24418636e-05  9.99999955e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.98939717  0.08435925 -0.11821791]
 [-0.07372808  0.99306257  0.09159591]
 [ 0.12512458 -0.08190864  0.98875395]]

 t_gt:
[ 0.8138477   0.57500243 -0.08381006]

Pose Error in degrees for R and t:
22.51592708027438 32.637766950526746

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.73775161 -0.67502749 -0.00777467]
 [-0.67506952  0.73773253  0.00564518]
 [ 0.00192498  0.00941318 -0.99995384]]

 t_estimated:
[[ 0.87594286]
 [ 0.48241083]
 [-0.00197189]]

 R_gt:
[[ 0.97625427  0.14206309 -0.16354118]
 [-0.12327667  0.98510978  0.11984083]
 [ 0.17813031 -0.09683397  0.97922983]]

 t_gt:
[ 0.51541859  0.84380963 -0.14942888]

Pose Error in degrees for R and t:
172.74028051930003 30.81399514243783

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.98067543e-01  6.21381576e-02  1.69912245e-04]
 [-6.21381253e-02  9.98067542e-01 -1.88869765e-04]
 [-1.81319916e-04  1.77946754e-04  9.99999968e-01]]

 t_estimated:
[[9.99868495e-01]
 [1.62164055e-02]
 [1.44032640e-04]]

 R_gt:
[[ 0.99096502 -0.13062148 -0.03043711]
 [ 0.13082146  0.99139451  0.00468027]
 [ 0.02956447 -0.00861911  0.99952559]]

 t_gt:
[ 0.71596616 -0.6785886  -0.16404259]

Pose Error in degrees for R and t:
11.216886062894531 45.183048503801956

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99397054e-01  3.47204334e-02  1.44254547e-04]
 [-3.47204306e-02  9.99397064e-01 -2.13572347e-05]
 [-1.44909104e-04  1.63357775e-05  9.99999989e-01]]

 t_estimated:
[[ 9.60944278e-01]
 [-2.76741879e-01]
 [ 1.63798441e-04]]

 R_gt:
[[ 0.96813939 -0.24514738 -0.0510839 ]
 [ 0.24487696  0.96948439 -0.0115704 ]
 [ 0.05236156 -0.00130763  0.99862772]]

 t_gt:
[ 0.73834951 -0.64645835 -0.19217599]

Pose Error in degrees for R and t:
16.458071876737996 27.329202499308895

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.99996848  0.00174525  0.00774501]
 [-0.00166261  0.99994176 -0.01066347]
 [-0.00776317  0.01065025  0.99991315]]

 t_estimated:
[[-0.16638865]
 [-0.98599206]
 [-0.01159625]]

 R_gt:
[[ 0.95107342 -0.30663143 -0.03791434]
 [ 0.30494775  0.95133506 -0.04436683]
 [ 0.04967482  0.03063504  0.99829555]]

 t_gt:
[ 0.70047979 -0.66956943 -0.24699156]

Pose Error in degrees for R and t:
18.23062987459047 56.872605423812715

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-5.14990104e-01 -8.57194610e-01 -1.61055378e-03]
 [ 8.57196121e-01 -5.14989064e-01 -1.03674333e-03]
 [ 5.92732169e-05 -1.91447301e-03  9.99998166e-01]]

 t_estimated:
[[9.76043365e-01]
 [2.17574749e-01]
 [7.60750869e-04]]

 R_gt:
[[ 0.99790643  0.00487435  0.06451153]
 [-0.00893309  0.99798749  0.0627868 ]
 [-0.0640753  -0.06323151  0.9959391 ]]

 t_gt:
[-0.15088094 -0.05099843  0.98723559]

Pose Error in degrees for R and t:
121.46028061766617 80.93172718741963

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 6.71119307e-01 -7.41349360e-01  4.08510907e-05]
 [-7.41349306e-01 -6.71119278e-01 -3.48527825e-04]
 [ 2.85796834e-04  2.03618824e-04 -9.99999938e-01]]

 t_estimated:
[[0.47885189]
 [0.87789514]
 [0.00099761]]

 R_gt:
[[ 0.98012865 -0.0863645   0.17858149]
 [ 0.03561329  0.96223194  0.26989031]
 [-0.19514435 -0.25816714  0.9461861 ]]

 t_gt:
[ 0.14064066 -0.11340656  0.98354418]

Pose Error in degrees for R and t:
161.50890374502245 88.21025687753539

Number of keypoints:
Image1: 25
Image2: 25

 R_estimated:
[[-0.26013385 -0.96556942 -0.00246506]
 [ 0.96556523 -0.26012108 -0.00456123]
 [ 0.00376297 -0.0035667   0.99998656]]

 t_estimated:
[[9.99654785e-01]
 [2.62611097e-02]
 [8.15503163e-04]]

 R_gt:
[[ 0.96565102 -0.13972163  0.21908288]
 [ 0.04952484  0.92663781  0.37267962]
 [-0.25508175 -0.34902876  0.90172666]]

 t_gt:
[ 0.20139527 -0.076874    0.97648878]

Pose Error in degrees for R and t:
101.82207994057117 78.45700140287252

Number of keypoints:
Image1: 38
Image2: 38

 R_estimated:
[[-4.38964891e-01  8.98504214e-01  4.19292618e-05]
 [-8.98503143e-01 -4.38964295e-01 -1.56498365e-03]
 [-1.38773895e-03 -7.24646449e-04  9.99998775e-01]]

 t_estimated:
[[0.39666908]
 [0.9179611 ]
 [0.00102878]]

 R_gt:
[[ 0.94895662  0.31540361  0.00137223]
 [-0.31537479  0.94891378 -0.01002609]
 [-0.00446459  0.00908193  0.99994946]]

 t_gt:
[-0.94919643  0.31314809 -0.03105504]

Pose Error in degrees for R and t:
97.65389954548151 84.88868166209467

Number of keypoints:
Image1: 28
Image2: 28

 R_estimated:
[[-0.65116323 -0.75399348 -0.08648861]
 [-0.66417305  0.62128624 -0.41578548]
 [ 0.36723373 -0.21330081 -0.9053409 ]]

 t_estimated:
[[0.99523804]
 [0.09746469]
 [0.00137274]]

 R_gt:
[[ 0.83992379  0.54225065  0.02217357]
 [-0.54097859  0.83981039 -0.0454025 ]
 [-0.04324067  0.02614034  0.99872247]]

 t_gt:
[-0.87972178  0.47428569 -0.0338034 ]

Pose Error in degrees for R and t:
172.61160364532898 33.96768032523411

Number of keypoints:
Image1: 21
Image2: 21

 R_estimated:
[[-0.68304323 -0.36343544 -0.63353502]
 [-0.48631184 -0.42086546  0.76575   ]
 [-0.54493369  0.83113594  0.11072634]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.64867509  0.76103412 -0.00686876]
 [-0.7594542   0.64668846 -0.07086945]
 [-0.04949249  0.05118869  0.99746201]]

 t_gt:
[-0.78224194  0.62097071 -0.04992926]

Pose Error in degrees for R and t:
138.26458227689463 76.82385121239263

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.99587856  0.08859356 -0.01941828]
 [-0.08811302  0.99581294  0.02434529]
 [ 0.02149381 -0.02253395  0.999515  ]]

 t_estimated:
[[ 0.68511126]
 [ 0.72841095]
 [-0.00632764]]

 R_gt:
[[ 0.9945882  -0.10366958 -0.00683838]
 [ 0.10303736  0.99267686 -0.06304794]
 [ 0.01332513  0.06200258  0.99798697]]

 t_gt:
[ 0.5227503  -0.54485685 -0.65563949]

Pose Error in degrees for R and t:
12.076781958097996 88.01780552268856

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99512804e-01  3.12114267e-02  4.86127741e-05]
 [-3.12114209e-02  9.99512798e-01 -1.17120994e-04]
 [-5.22446032e-05  1.15546660e-04  9.99999992e-01]]

 t_estimated:
[[-0.16001815]
 [-0.98711251]
 [-0.00175462]]

 R_gt:
[[ 0.99244351 -0.12111355 -0.01967305]
 [ 0.11992788  0.99135826 -0.05314982]
 [ 0.02594135  0.05038907  0.99839262]]

 t_gt:
[ 0.53408798 -0.63704078 -0.55581389]

Pose Error in degrees for R and t:
9.299479345777932 57.02026325557134

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 7.26275663e-02 -9.97359126e-01  9.75177427e-05]
 [-9.97355523e-01 -7.26270402e-02  2.69715451e-03]
 [-2.68294924e-03 -2.93147628e-04 -9.99996358e-01]]

 t_estimated:
[[0.71467598]
 [0.6994529 ]
 [0.00197215]]

 R_gt:
[[ 0.99716228 -0.07304333 -0.01824212]
 [ 0.07177485  0.99545728 -0.06255124]
 [ 0.02272895  0.06106479  0.99787481]]

 t_gt:
[ 0.54960401 -0.32869298 -0.76804711]

Pose Error in degrees for R and t:
176.72355880246616 80.7136433966167

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99999990e-01 -2.33377668e-06  1.39354261e-04]
 [ 2.35980151e-06  9.99999983e-01 -1.86753123e-04]
 [-1.39353823e-04  1.86753450e-04  9.99999973e-01]]

 t_estimated:
[[0.81724695]
 [0.57628654]
 [0.00111426]]

 R_gt:
[[ 0.99934037 -0.03347776  0.01412204]
 [ 0.03366301  0.99934762 -0.01308551]
 [-0.01367435  0.01355264  0.99981437]]

 t_gt:
[ 0.78848858 -0.5870253   0.18354034]

Pose Error in degrees for R and t:
2.2108153803421873 72.16363063165736

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99999692e-01 -2.54581348e-05  7.84692766e-04]
 [ 2.62836097e-05  9.99999446e-01 -1.05197963e-03]
 [-7.84665550e-04  1.05199993e-03  9.99999139e-01]]

 t_estimated:
[[-0.34143621]
 [-0.9399041 ]
 [-0.00126479]]

 R_gt:
[[ 0.98758742 -0.15683279 -0.00859487]
 [ 0.15661058  0.98740771 -0.0222996 ]
 [ 0.01198448  0.02067685  0.99971418]]

 t_gt:
[ 0.75628023 -0.64856126 -0.08607267]

Pose Error in degrees for R and t:
9.114993278124635 69.42257606456386

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999443e-01  7.86557837e-04  7.03552207e-04]
 [-7.86137484e-04  9.99999512e-01 -5.97550495e-04]
 [-7.04021872e-04  5.96997073e-04  9.99999574e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075932e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9717717  -0.23529019 -0.01730661]
 [ 0.23465277  0.9715325  -0.0325708 ]
 [ 0.02447774  0.02759002  0.99931931]]

 t_gt:
[ 0.77341047 -0.62744512 -0.09027107]

Pose Error in degrees for R and t:
13.801140689913822 39.52103723854224

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999999e-01  2.17931232e-05 -3.97983316e-05]
 [-2.17911347e-05  9.99999999e-01  4.99650749e-05]
 [ 3.97994204e-05 -4.99642076e-05  9.99999998e-01]]

 t_estimated:
[[9.94262734e-01]
 [1.06961488e-01]
 [9.25600138e-04]]

 R_gt:
[[ 0.9980719  -0.06114379 -0.01067129]
 [ 0.06124871  0.99807532  0.00975654]
 [ 0.01005386 -0.01039301  0.99989602]]

 t_gt:
[ 0.6364482  -0.77076237 -0.02930966]

Pose Error in degrees for R and t:
3.605039978264001 56.61050176419779

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99999960e-01  2.08264823e-04  1.91825057e-04]
 [-2.08215264e-04  9.99999945e-01 -2.58340651e-04]
 [-1.91878850e-04  2.58300699e-04  9.99999948e-01]]

 t_estimated:
[[-0.01358107]
 [-0.99990633]
 [-0.00169763]]

 R_gt:
[[ 0.99178208 -0.12615993  0.02126661]
 [ 0.12593235  0.99196933  0.01175211]
 [-0.02257812 -0.00897741  0.99970542]]

 t_gt:
[ 0.67088475 -0.73417911  0.10437761]

Pose Error in degrees for R and t:
7.385544796644932 43.54597301833825

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 0.9513905   0.30798553  0.00101766]
 [-0.30798368  0.95139022 -0.00164385]
 [-0.00147447  0.00125052  0.99999813]]

 t_estimated:
[[-9.82712514e-01]
 [-1.85136018e-01]
 [-8.77421887e-04]]

 R_gt:
[[ 0.98589345 -0.16510557  0.02748029]
 [ 0.16466703  0.98619348  0.01753861]
 [-0.02999762 -0.01276662  0.99946895]]

 t_gt:
[ 0.72223694 -0.67971022  0.1279368 ]

Pose Error in degrees for R and t:
27.491782524323188 54.26588169050689

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.99999986e-01  1.63168033e-04 -3.48193778e-05]
 [-1.63163404e-04  9.99999978e-01  1.32895152e-04]
 [ 3.48410613e-05 -1.32889469e-04  9.99999991e-01]]

 t_estimated:
[[-0.95409314]
 [-0.29950696]
 [-0.00136275]]

 R_gt:
[[ 0.9994411   0.02279395 -0.02443813]
 [-0.0229726   0.99971068 -0.00704115]
 [ 0.02427166  0.00759891  0.99967632]]

 t_gt:
[ 0.67760638  0.58293498 -0.44837083]

Pose Error in degrees for R and t:
1.9554925593769432 34.86696053492331

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.99592156e-01 -2.85572275e-02 -7.89106690e-05]
 [ 2.85572406e-02  9.99592144e-01  1.70411797e-04]
 [ 7.40119963e-05 -1.72595766e-04  9.99999982e-01]]

 t_estimated:
[[-0.64425356]
 [ 0.76481144]
 [-0.00090375]]

 R_gt:
[[ 9.96585237e-01  6.56689844e-02 -5.00547547e-02]
 [-6.55831084e-02  9.97842064e-01  3.35872022e-03]
 [ 5.01677889e-02 -6.40516190e-05  9.98741152e-01]]

 t_gt:
[ 0.7091285   0.60834082 -0.35645227]

Pose Error in degrees for R and t:
6.116377331090468 89.49982410304344

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 0.99998753  0.00120842 -0.00484628]
 [-0.00117909  0.999981    0.00604988]
 [ 0.0048535  -0.00604409  0.99996996]]

 t_estimated:
[[-0.91423397]
 [-0.40517187]
 [-0.00346301]]

 R_gt:
[[ 0.99226782  0.0665361  -0.10477467]
 [-0.06320734  0.99739397  0.0347821 ]
 [ 0.1068159  -0.02789094  0.993888  ]]

 t_gt:
[ 0.88103296  0.38633948 -0.2729885 ]

Pose Error in degrees for R and t:
7.0102340699788135 16.04212156833257

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.58361460e-01 -2.85557894e-01  4.47973196e-05]
 [ 2.85557858e-01  9.58361399e-01  3.73145755e-04]
 [-1.49486738e-04 -3.44816284e-04  9.99999929e-01]]

 t_estimated:
[[ 0.63882017]
 [-0.76935539]
 [ 0.00103825]]

 R_gt:
[[ 0.9993005  -0.02804424 -0.02474181]
 [ 0.02828158  0.99955634  0.00930087]
 [ 0.0244717  -0.00999493  0.99965012]]

 t_gt:
[ 0.78387937 -0.53019716 -0.32314717]

Pose Error in degrees for R and t:
15.053906690829734 24.724078308048032

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[-7.10562555e-01 -7.03633990e-01 -2.52031012e-04]
 [ 7.03628380e-01 -7.10558235e-01  3.75477542e-03]
 [-2.82107032e-03  2.49066664e-03  9.99992919e-01]]

 t_estimated:
[[9.98436077e-01]
 [5.58986606e-02]
 [8.59979395e-04]]

 R_gt:
[[ 0.99732881 -0.04577347 -0.05692429]
 [ 0.04694743  0.99870811  0.01945322]
 [ 0.05596086 -0.02207533  0.99818887]]

 t_gt:
[ 0.70383956 -0.57883773 -0.4117727 ]

Pose Error in degrees for R and t:
132.64886954762423 47.93074027696238

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[-9.74679979e-01 -2.23586858e-01  2.80291383e-03]
 [-2.23585629e-01  9.74684003e-01  7.48219929e-04]
 [-2.89924741e-03  1.02583732e-04 -9.99995792e-01]]

 t_estimated:
[[0.99954061]
 [0.03021866]
 [0.00232451]]

 R_gt:
[[ 0.9972066  -0.00993193 -0.07402892]
 [ 0.01402966  0.99838559  0.0550393 ]
 [ 0.07336373 -0.05592513  0.99573569]]

 t_gt:
[ 0.52012161 -0.73977788 -0.42685149]

Pose Error in degrees for R and t:
176.3213904458354 60.228956021830264

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-0.74032682  0.60706684  0.28876643]
 [-0.65744101 -0.56416402 -0.49949002]
 [-0.1403122  -0.55963275  0.81677639]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 0.999179    0.02464513 -0.03217108]
 [-0.0238714   0.99942152  0.02423146]
 [ 0.03274992 -0.02344318  0.99918821]]

 t_gt:
[0.97426674 0.21326743 0.07294746]

Pose Error in degrees for R and t:
137.2927265055498 26.54922870226821

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-1.01660223e-02 -9.99946930e-01 -1.67022692e-03]
 [ 9.99948196e-01 -1.01651599e-02 -5.24004930e-04]
 [ 5.06998997e-04 -1.67546744e-03  9.99998468e-01]]

 t_estimated:
[[9.99985667e-01]
 [5.31641128e-03]
 [6.34225988e-04]]

 R_gt:
[[ 0.99217738  0.06567568 -0.10616263]
 [-0.0581444   0.99566764  0.07255447]
 [ 0.11046746 -0.06581463  0.99169875]]

 t_gt:
[ 0.92056684  0.3747483  -0.11009274]

Pose Error in degrees for R and t:
94.35921064294132 22.709196690844262

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.75791767e-01  2.18701660e-01  1.03573459e-04]
 [-2.18701574e-01  9.75791641e-01 -5.42624743e-04]
 [-2.19739048e-04  5.06837079e-04  9.99999847e-01]]

 t_estimated:
[[-6.24540948e-01]
 [ 7.80991733e-01]
 [-7.19308804e-04]]

 R_gt:
[[ 0.97629382  0.13320375 -0.17060712]
 [-0.11599983  0.98745045  0.10716865]
 [ 0.18274116 -0.08483849  0.97949396]]

 t_gt:
[ 0.60419619  0.75290235 -0.26093106]

Pose Error in degrees for R and t:
12.83322499434327 77.8276586639921

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[ 7.97506176e-01  6.03310589e-01  4.82197489e-04]
 [-6.03310407e-01  7.97506317e-01 -4.76767464e-04]
 [-6.72194403e-04  8.93102341e-05  9.99999770e-01]]

 t_estimated:
[[0.27619048]
 [0.96110239]
 [0.00101169]]

 R_gt:
[[ 0.99904118 -0.03529406  0.02590446]
 [ 0.03520294  0.99937265  0.00398546]
 [-0.02602766 -0.00306994  0.99965601]]

 t_gt:
[ 0.65760191 -0.55079834  0.51398533]

Pose Error in degrees for R and t:
39.154172312955 69.68200370946325

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-5.70466602e-01 -8.21320674e-01  4.53843978e-04]
 [ 8.21268635e-01 -5.70424055e-01  1.15856427e-02]
 [-9.25664436e-03  6.98195006e-03  9.99932781e-01]]

 t_estimated:
[[0.98709479]
 [0.16012421]
 [0.00202689]]

 R_gt:
[[ 0.99805837 -0.06133758 -0.01084379]
 [ 0.06164346  0.99763072  0.03056033]
 [ 0.00894406 -0.03116936  0.99947366]]

 t_gt:
[ 0.75661855 -0.63163307  0.16902082]

Pose Error in degrees for R and t:
121.26428098263965 49.755022708157306

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.99447822e-01  3.32250952e-02  3.78782350e-04]
 [-3.32250159e-02  9.99447874e-01 -2.13895953e-04]
 [-3.85679928e-04  2.01192794e-04  9.99999905e-01]]

 t_estimated:
[[0.9949    ]
 [0.10084756]
 [0.00193938]]

 R_gt:
[[ 0.99743449 -0.06538998 -0.02914292]
 [ 0.06648175  0.99705605  0.03819775]
 [ 0.02656089 -0.04003666  0.99884514]]

 t_gt:
[ 0.72028391 -0.6914595   0.05545132]

Pose Error in degrees for R and t:
6.327752742447303 49.68525761410404

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99999434e-01 -2.87610142e-04  1.02479175e-03]
 [ 2.88892867e-04  9.99999175e-01 -1.25176491e-03]
 [-1.02443089e-03  1.25206025e-03  9.99998691e-01]]

 t_estimated:
[[0.56843162]
 [0.82272998]
 [0.00093492]]

 R_gt:
[[ 0.98725347 -0.15620685 -0.03050679]
 [ 0.15620097  0.98772198 -0.00261405]
 [ 0.03053979 -0.00218498  0.99953096]]

 t_gt:
[ 0.72555272 -0.68105823 -0.09865563]

Pose Error in degrees for R and t:
9.153432851496817 81.48941364510941

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.56066097e-01 -2.93150756e-01  5.02979104e-04]
 [ 2.93150905e-01  9.56066150e-01 -2.53414889e-04]
 [-4.06592529e-04  3.89730164e-04  9.99999841e-01]]

 t_estimated:
[[7.58010700e-01]
 [6.52241765e-01]
 [6.78005992e-04]]

 R_gt:
[[ 0.96813529 -0.24682426 -0.04232001]
 [ 0.24757335  0.96877661  0.01338186]
 [ 0.0376955  -0.02343245  0.99901398]]

 t_gt:
[ 0.73297685 -0.67948807 -0.03226315]

Pose Error in degrees for R and t:
3.751853468176252 83.54678216609639

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-5.89025373e-01 -8.08112351e-01 -1.88107348e-03]
 [ 8.08114540e-01 -5.89023722e-01 -1.39490268e-03]
 [ 1.92411780e-05 -2.34175590e-03  9.99997258e-01]]

 t_estimated:
[[9.94571587e-01]
 [1.04050373e-01]
 [9.37390751e-04]]

 R_gt:
[[ 0.94921106 -0.31184951 -0.04181417]
 [ 0.31236122  0.94994334  0.00612118]
 [ 0.037813   -0.0188708   0.99910655]]

 t_gt:
[ 0.75730581 -0.65083152 -0.05390958]

Pose Error in degrees for R and t:
107.9085318629479 46.73095608406501

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 1.00000000e+00  6.81676937e-14  7.43762690e-17]
 [-6.82787160e-14  1.00000000e+00  9.99634403e-17]
 [ 7.95804395e-16 -1.04690562e-15  1.00000000e+00]]

 t_estimated:
[[ 0.60496808]
 [-0.79624773]
 [-0.00178354]]

 R_gt:
[[ 0.99892559 -0.04304055  0.01719695]
 [ 0.04327177  0.99897392 -0.01332923]
 [-0.01660555  0.01405974  0.99976238]]

 t_gt:
[ 0.77760262 -0.62208885  0.09132156]

Pose Error in degrees for R and t:
2.7707480258966926 15.072242508097375

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99995106e-01 -3.04169824e-03  7.32799671e-04]
 [ 3.04201198e-03  9.99995282e-01 -4.27394029e-04]
 [-7.31496210e-04  4.29621123e-04  9.99999640e-01]]

 t_estimated:
[[0.01490659]
 [0.99988823]
 [0.00114666]]

 R_gt:
[[ 0.99442452 -0.1041522   0.01649553]
 [ 0.10455765  0.99417772 -0.02604117]
 [-0.01368768  0.02762083  0.99952393]]

 t_gt:
[ 0.7802546  -0.62533882 -0.01241436]

Pose Error in degrees for R and t:
6.067475233907035 52.14594641985871

Number of keypoints:
Image1: 218
Image2: 218

 R_estimated:
[[ 9.99999956e-01  3.06722628e-05  2.94153237e-04]
 [-3.05067048e-05  9.99999841e-01 -5.62816970e-04]
 [-2.94170454e-04  5.62807972e-04  9.99999798e-01]]

 t_estimated:
[[-0.67343345]
 [-0.73924627]
 [-0.00153053]]

 R_gt:
[[ 9.70748151e-01 -2.40092262e-01  2.21717995e-03]
 [ 2.40101119e-01  9.70671723e-01 -1.21642513e-02]
 [ 7.67845097e-04  1.23405133e-02  9.99922567e-01]]

 t_gt:
[ 0.77151518 -0.6361502  -0.00878889]

Pose Error in degrees for R and t:
13.91089444948861 87.1753761714919

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 9.99003111e-01  4.46406045e-02 -3.21414434e-05]
 [-4.46406040e-02  9.99003111e-01  1.66063149e-05]
 [ 3.28507179e-05 -1.51549468e-05  9.99999999e-01]]

 t_estimated:
[[7.89675607e-01]
 [6.13524164e-01]
 [7.31377651e-04]]

 R_gt:
[[ 0.99860573 -0.05201209  0.00904119]
 [ 0.05217912  0.99845272 -0.01925184]
 [-0.0080255   0.01969677  0.99977447]]

 t_gt:
[ 0.19470565 -0.94915977 -0.24735691]

Pose Error in degrees for R and t:
5.677280506011212 64.61116725157432

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[-0.98692028 -0.12624792  0.10024883]
 [-0.12597639  0.99199187  0.00906002]
 [-0.10058984 -0.00368747 -0.99492115]]

 t_estimated:
[[0.99681928]
 [0.06212575]
 [0.04991697]]

 R_gt:
[[ 9.99391347e-01 -3.48576935e-02  1.55861104e-03]
 [ 3.48841566e-02  9.99134306e-01 -2.26939425e-02]
 [-7.66174896e-04  2.27346938e-02  9.99741138e-01]]

 t_gt:
[ 0.35116218 -0.63858454 -0.68475902]

Pose Error in degrees for R and t:
174.23943923559187 73.9669624635927

Number of keypoints:
Image1: 258
Image2: 258

 R_estimated:
[[ 9.89767844e-01  1.42687120e-01 -2.57299363e-05]
 [-1.42687110e-01  9.89767821e-01  2.20936650e-04]
 [ 5.69914772e-05 -2.15004662e-04  9.99999975e-01]]

 t_estimated:
[[0.71296614]
 [0.70119778]
 [0.0009807 ]]

 R_gt:
[[ 0.99928834  0.03372445 -0.0168777 ]
 [-0.03423848  0.99892802 -0.03118004]
 [ 0.01580804  0.03173483  0.9993718 ]]

 t_gt:
[ 0.38782733  0.61575828 -0.68588024]

Pose Error in degrees for R and t:
6.579636379036336 44.959741602241685

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 5.78602693e-01  8.15609535e-01 -1.01235612e-04]
 [ 8.15597331e-01 -5.78593347e-01  5.54373603e-03]
 [ 4.46294971e-03 -3.29018809e-03 -9.99984628e-01]]

 t_estimated:
[[0.99995119]
 [0.00980344]
 [0.00122543]]

 R_gt:
[[ 0.95141823  0.30497103  0.04238753]
 [-0.30420181  0.95231255 -0.02370057]
 [-0.04759437  0.00965561  0.99881942]]

 t_gt:
[-0.93134089  0.36413844 -0.00271206]

Pose Error in degrees for R and t:
178.24457675405756 21.916478421813565

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[-5.77827486e-02  9.98329110e-01  3.76500900e-04]
 [-9.98325907e-01 -5.77815892e-02 -2.58285091e-03]
 [-2.55678043e-03 -5.25114827e-04  9.99996594e-01]]

 t_estimated:
[[0.03493006]
 [0.99938788]
 [0.00194056]]

 R_gt:
[[ 0.83005423  0.55752871  0.01313722]
 [-0.55606871  0.82921203 -0.0565224 ]
 [-0.04240603  0.03961125  0.99831437]]

 t_gt:
[-0.84923749  0.52539015 -0.05254403]

Pose Error in degrees for R and t:
59.52221585517286 60.31028983245624

Number of keypoints:
Image1: 35
Image2: 35

 R_estimated:
[[-0.50366639  0.86388755 -0.00429824]
 [ 0.86388546  0.50367977  0.0029328 ]
 [ 0.00469855 -0.00223604 -0.99998646]]

 t_estimated:
[[8.38740768e-01]
 [5.44530696e-01]
 [4.95661598e-04]]

 R_gt:
[[ 0.63907165  0.76898474  0.01581991]
 [-0.76564154  0.63798506 -0.08227376]
 [-0.07336041  0.04046658  0.99648382]]

 t_gt:
[-0.76636053  0.64172218 -0.02973514]

Pose Error in degrees for R and t:
175.8928852172827 72.94106976889996

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99999997e-01  1.44877238e-05  7.31354932e-05]
 [-1.44901517e-05  9.99999999e-01  3.31972492e-05]
 [-7.31350122e-05 -3.31983089e-05  9.99999997e-01]]

 t_estimated:
[[9.99984873e-01]
 [5.45451650e-03]
 [7.08690215e-04]]

 R_gt:
[[ 0.99024673 -0.13366813 -0.03931475]
 [ 0.13405013  0.99094816  0.00725706]
 [ 0.03798828 -0.01245705  0.99920042]]

 t_gt:
[ 0.70588685 -0.69249127 -0.14892817]

Pose Error in degrees for R and t:
8.030759290917892 45.412843790124256

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.63470925e-01  2.67812589e-01  4.40108755e-04]
 [-2.67812526e-01  9.63471023e-01 -1.98752052e-04]
 [-4.77260334e-04  7.36251864e-05  9.99999883e-01]]

 t_estimated:
[[9.05702251e-01]
 [4.23913751e-01]
 [7.51620125e-04]]

 R_gt:
[[ 0.97623913 -0.21538602 -0.02379732]
 [ 0.2149365   0.97642234 -0.02004591]
 [ 0.02755439  0.01445405  0.99951509]]

 t_gt:
[ 0.67305428 -0.71698079 -0.18148411]

Pose Error in degrees for R and t:
28.019027871071344 72.2110091227394

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.99990718  0.0032522   0.01323102]
 [ 0.0031804   0.99998012 -0.00544391]
 [-0.01324846 -0.00540133 -0.99989765]]

 t_estimated:
[[ 0.99939932]
 [-0.03305439]
 [ 0.01041152]]

 R_gt:
[[ 0.95930864 -0.27708356 -0.05432422]
 [ 0.27466375  0.96034179 -0.047994  ]
 [ 0.06546744  0.03111953  0.99736839]]

 t_gt:
[ 0.64981777 -0.70170514 -0.29214168]

Pose Error in degrees for R and t:
177.24221302637721 47.96532490160759

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 4.76418741e-01 -8.79215323e-01 -2.36632570e-03]
 [ 8.79218504e-01  4.76416785e-01  1.36733622e-03]
 [-7.48256737e-05 -2.73194195e-03  9.99996265e-01]]

 t_estimated:
[[ 0.94718564]
 [-0.32068169]
 [ 0.00161528]]

 R_gt:
[[ 0.9964158   0.06462499 -0.05459033]
 [-0.06863907  0.99480713 -0.07516203]
 [ 0.04944994  0.07864044  0.99567619]]

 t_gt:
[-0.34318688  0.52741312 -0.77721179]

Pose Error in degrees for R and t:
65.57617068711521 60.30064894088303

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 0.99968794 -0.02495033  0.00122306]
 [ 0.0249517   0.99968803 -0.00112019]
 [-0.00119473  0.00115036  0.99999862]]

 t_estimated:
[[-9.77722154e-01]
 [-2.09901318e-01]
 [-9.08663712e-04]]

 R_gt:
[[ 0.99225132  0.12327244 -0.01554048]
 [-0.1240415   0.99003426 -0.06669139]
 [ 0.00716556  0.06810367  0.99765256]]

 t_gt:
[-0.62309291  0.68175781 -0.38335559]

Pose Error in degrees for R and t:
9.377400883105413 62.195363232788345

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.92692541e-01  1.20671089e-01 -8.24203589e-05]
 [-1.20671103e-01  9.92692525e-01 -1.88754076e-04]
 [ 5.90409142e-05  1.97320519e-04  9.99999979e-01]]

 t_estimated:
[[-0.71544466]
 [-0.69866871]
 [-0.00098682]]

 R_gt:
[[ 0.99428779  0.05178009  0.09333249]
 [-0.06245323  0.99136368  0.11532455]
 [-0.08655351 -0.12049285  0.98893361]]

 t_gt:
[-0.34938688  0.17344973  0.92078445]

Pose Error in degrees for R and t:
9.284056096543576 82.65321919372865

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 0.99190899 -0.12637111 -0.01212046]
 [ 0.12652256  0.99188285  0.01266692]
 [ 0.01042135 -0.01409794  0.99984631]]

 t_estimated:
[[0.49400744]
 [0.86945309]
 [0.0028229 ]]

 R_gt:
[[ 0.99845876 -0.01248482 -0.05407997]
 [ 0.01264429  0.99991716  0.00261058]
 [ 0.05404259 -0.00329007  0.99853353]]

 t_gt:
[ 0.76421049 -0.18781266 -0.61701599]

Pose Error in degrees for R and t:
7.013084976256249 77.7317109879249

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 0.10839668 -0.99410713  0.00108092]
 [-0.99410416 -0.10839331  0.00279438]
 [-0.00266075 -0.00137745 -0.99999551]]

 t_estimated:
[[0.60905423]
 [0.79312396]
 [0.00270691]]

 R_gt:
[[ 0.98872917 -0.07890141 -0.12723244]
 [ 0.0736044   0.99623538 -0.04581485]
 [ 0.13036827  0.03593339  0.99081449]]

 t_gt:
[ 0.73652682 -0.23690173 -0.63356595]

Pose Error in degrees for R and t:
173.46782308345198 74.99061069481331

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.99999604e-01 -8.70629838e-04  1.84059070e-04]
 [ 8.70593775e-04  9.99999602e-01  1.95924374e-04]
 [-1.84229575e-04 -1.95764055e-04  9.99999964e-01]]

 t_estimated:
[[0.41997613]
 [0.90753464]
 [0.00096546]]

 R_gt:
[[ 0.96932211 -0.22228128 -0.1049046 ]
 [ 0.21485468  0.97355885 -0.07759574]
 [ 0.11937807  0.05267671  0.99145064]]

 t_gt:
[ 0.82067619 -0.41464203 -0.39314447]

Pose Error in degrees for R and t:
14.687684791589737 88.16523863315396

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 0.66395102 -0.74742901 -0.02277978]
 [ 0.74735475  0.66429143 -0.01333321]
 [ 0.02509804 -0.00817198  0.99965159]]

 t_estimated:
[[ 0.7448165 ]
 [ 0.66726878]
 [-0.00087002]]

 R_gt:
[[ 0.99343946  0.10516593  0.0449272 ]
 [-0.10697752  0.99345536  0.04002625]
 [-0.04042394 -0.04456988  0.99818747]]

 t_gt:
[-0.830285    0.43178777  0.35240054]

Pose Error in degrees for R and t:
54.66833921661485 70.69492033348553

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-0.84289561  0.51710438  0.14876172]
 [ 0.51955607  0.85407178 -0.02495759]
 [-0.13995887  0.05625341 -0.98855808]]

 t_estimated:
[[ 0.94281449]
 [-0.32460302]
 [ 0.07572135]]

 R_gt:
[[ 0.97400418  0.22645461  0.00598049]
 [-0.22646638  0.97274038  0.04988417]
 [ 0.00547956 -0.04994079  0.99873704]]

 t_gt:
[-0.83771759  0.53735871  0.09733886]

Pose Error in degrees for R and t:
172.3063726497127 16.888894638930445

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-4.04306783e-01  9.14623415e-01 -1.86095337e-04]
 [ 9.14616483e-01  4.04304495e-01  3.81624941e-03]
 [ 3.56567025e-03  1.37272966e-03 -9.99992701e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.90645465  0.42220887  0.00900503]
 [-0.42052986  0.90048727  0.11080147]
 [ 0.03867193 -0.10422259  0.99380165]]

 t_gt:
[-0.80627768  0.58398745  0.094207  ]

Pose Error in degrees for R and t:
175.65600627010102 76.5859318606865

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[-0.74675246 -0.66509767 -0.00241778]
 [-0.66479993  0.74629873  0.03285204]
 [-0.02004543  0.02613968 -0.9994573 ]]

 t_estimated:
[[0.71448581]
 [0.69964949]
 [0.00078086]]

 R_gt:
[[ 0.99845623 -0.01506283  0.05346886]
 [ 0.012693    0.99893362  0.04438879]
 [-0.05407981 -0.04364238  0.9975824 ]]

 t_gt:
[-0.25105979 -0.084076    0.96431334]

Pose Error in degrees for R and t:
175.66776043209666 76.26394996789048

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99999686e-01 -7.77146216e-04 -1.53430254e-04]
 [ 7.77262781e-04  9.99999408e-01  7.61132443e-04]
 [ 1.52838652e-04 -7.61251460e-04  9.99999699e-01]]

 t_estimated:
[[0.51105389]
 [0.85954802]
 [0.00106248]]

 R_gt:
[[ 0.99421104 -0.06754604  0.08355375]
 [ 0.05647886  0.99011573  0.12838014]
 [-0.09139794 -0.1229181   0.988199  ]]

 t_gt:
[ 0.07624203 -0.25019322  0.96518936]

Pose Error in degrees for R and t:
9.462738305964708 79.91762905324575

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 0.05717719  0.99828571  0.01250669]
 [ 0.99826484 -0.05699043 -0.0148121 ]
 [-0.01407394  0.0133319  -0.99981207]]

 t_estimated:
[[0.91118387]
 [0.41197143]
 [0.00484672]]

 R_gt:
[[ 0.9866431  -0.10752903  0.1223613 ]
 [ 0.08742016  0.98335885  0.15925591]
 [-0.13744868 -0.14643241  0.97962516]]

 t_gt:
[ 0.23712271 -0.29132443  0.92677014]

Pose Error in degrees for R and t:
179.8401076552544 84.22991489948066

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 0.90927176 -0.4161607   0.0059278 ]
 [-0.41614277 -0.90880603  0.0299466 ]
 [-0.00707538 -0.02969641 -0.99953392]]

 t_estimated:
[[0.17444417]
 [0.98453615]
 [0.01605611]]

 R_gt:
[[ 0.99749984  0.01228844 -0.06958892]
 [-0.00945066  0.99911664  0.04096015]
 [ 0.07003057 -0.04020093  0.99673449]]

 t_gt:
[ 0.97078008 -0.15546351  0.18280355]

Pose Error in degrees for R and t:
176.831928929753 88.89855876252237

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 9.92367458e-01 -1.23315959e-01 -4.46566078e-05]
 [ 1.23315967e-01  9.92367416e-01  2.88038880e-04]
 [ 8.79597179e-06 -2.91347284e-04  9.99999958e-01]]

 t_estimated:
[[1.38269630e-01]
 [9.90394616e-01]
 [1.17899377e-04]]

 R_gt:
[[ 0.99288029  0.01689936 -0.11791004]
 [-0.01064276  0.99851137  0.05348756]
 [ 0.11863758 -0.05185221  0.99158363]]

 t_gt:
[ 0.98529206 -0.1691175   0.02447082]

Pose Error in degrees for R and t:
10.824164119405525 88.2089738855867

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-7.32543223e-01 -6.80697404e-01 -5.60986897e-03]
 [-6.80720293e-01  7.32511367e-01  6.85420089e-03]
 [-5.56343961e-04  8.83975006e-03 -9.99960774e-01]]

 t_estimated:
[[8.27355740e-01]
 [5.61677806e-01]
 [7.21950908e-04]]

 R_gt:
[[ 0.9911902   0.07562777 -0.10873368]
 [-0.06387311  0.9921183   0.10780344]
 [ 0.11602867 -0.09990874  0.98820839]]

 t_gt:
[ 0.85569314 -0.14258928  0.49745106]

Pose Error in degrees for R and t:
175.9967142446588 51.08015815221548

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.55019930e-01  2.96540876e-01  6.65166160e-04]
 [-2.96539527e-01  9.55002351e-01  5.90070469e-03]
 [ 1.11456489e-03 -5.83253863e-03  9.99982369e-01]]

 t_estimated:
[[0.28448421]
 [0.95867281]
 [0.00389704]]

 R_gt:
[[ 0.99531898 -0.05540978  0.07917492]
 [ 0.04911041  0.99563174  0.07941376]
 [-0.08322975 -0.07515362  0.99369237]]

 t_gt:
[ 0.09491085 -0.30944103  0.94617027]

Pose Error in degrees for R and t:
21.177826829265474 74.57571112354154

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 7.48034407e-01 -6.63659783e-01 -4.67081466e-04]
 [ 6.63659808e-01  7.48034521e-01 -1.23047659e-04]
 [ 4.31054843e-04 -2.17939313e-04  9.99999883e-01]]

 t_estimated:
[[0.68675149]
 [0.72689176]
 [0.00087262]]

 R_gt:
[[ 0.98876758 -0.10851865  0.10277737]
 [ 0.09638891  0.9885109   0.11642675]
 [-0.11423163 -0.10521308  0.98786705]]

 t_gt:
[ 0.31942333 -0.37544843  0.87006161]

Pose Error in degrees for R and t:
36.73409937676521 86.974138967148

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99907238e-01 -1.36204043e-02  1.25275686e-05]
 [ 1.36204045e-02  9.99907238e-01 -1.24467366e-05]
 [-1.23568770e-05  1.26162126e-05  1.00000000e+00]]

 t_estimated:
[[5.60712763e-01]
 [8.28010295e-01]
 [3.84195110e-04]]

 R_gt:
[[ 0.98463    -0.11202611  0.13399072]
 [ 0.08734489  0.98020519  0.17767499]
 [-0.15124254 -0.1632409   0.9749245 ]]

 t_gt:
[ 0.31881992 -0.31285766  0.8946921 ]

Pose Error in degrees for R and t:
13.7971587671568 85.41492754236513

Number of keypoints:
Image1: 347
Image2: 347

 R_estimated:
[[ 9.99808728e-01 -1.95577375e-02 -4.31034765e-05]
 [ 1.95577402e-02  9.99808727e-01  6.31382381e-05]
 [ 4.18603909e-05 -6.39691681e-05  9.99999997e-01]]

 t_estimated:
[[-3.20052404e-01]
 [ 9.47399452e-01]
 [-8.58505312e-04]]

 R_gt:
[[ 0.99803919  0.01176533 -0.0614825 ]
 [-0.01122652  0.99989595  0.00910406]
 [ 0.06158357 -0.00839491  0.99806708]]

 t_gt:
[ 0.94941912 -0.09896627 -0.2980084 ]

Pose Error in degrees for R and t:
3.9799747401228665 66.58621905284103

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-7.61646626e-01 -6.47988456e-01 -2.31895849e-03]
 [ 6.47991124e-01 -7.61647660e-01 -5.87606770e-04]
 [-1.38546690e-03 -1.95021323e-03  9.99997139e-01]]

 t_estimated:
[[8.46434663e-01]
 [5.32492117e-01]
 [7.11887858e-04]]

 R_gt:
[[ 0.99565712  0.03733407 -0.08528248]
 [-0.03348429  0.99837431  0.04613321]
 [ 0.08686633 -0.04307707  0.99528899]]

 t_gt:
[ 0.98317912 -0.16270225  0.08298666]

Pose Error in degrees for R and t:
141.68450485594855 41.787766181303105

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[-0.42639711  0.90259407 -0.05924066]
 [ 0.9033307   0.42829462  0.02360845]
 [ 0.0466813  -0.04344733 -0.99796452]]

 t_estimated:
[[ 0.97461263]
 [ 0.22280174]
 [-0.02212716]]

 R_gt:
[[ 0.98599163  0.12380167 -0.11178077]
 [-0.110939    0.98717874  0.11476889]
 [ 0.12455641 -0.10075947  0.98708369]]

 t_gt:
[0.76302331 0.00540228 0.6463484 ]

Pose Error in degrees for R and t:
167.37506005072748 43.06714791290294

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.25209216e-01 -3.79457043e-01 -5.08301611e-04]
 [ 3.79457091e-01  9.25209336e-01 -1.60041754e-06]
 [ 4.70892686e-04 -1.91397930e-04  9.99999871e-01]]

 t_estimated:
[[ 0.67926414]
 [-0.7338932 ]
 [-0.00100254]]

 R_gt:
[[ 0.99949306 -0.03137264  0.005524  ]
 [ 0.03128676  0.99939842  0.01496467]
 [-0.00599016 -0.01478414  0.99987266]]

 t_gt:
[ 0.96766991 -0.02157783  0.25129533]

Pose Error in degrees for R and t:
20.52494999625302 47.70969449326346

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 9.99999619e-01 -8.49857225e-04 -2.01386931e-04]
 [ 8.49933762e-04  9.99999567e-01  3.80267252e-04]
 [ 2.01063671e-04 -3.80438273e-04  9.99999907e-01]]

 t_estimated:
[[-0.17483444]
 [ 0.98458792]
 [-0.00442139]]

 R_gt:
[[ 0.99932372 -0.00560124 -0.03634896]
 [ 0.00595812  0.99993535  0.00970905]
 [ 0.03629102 -0.00991897  0.99929204]]

 t_gt:
[ 0.952825    0.2823356  -0.11140522]

Pose Error in degrees for R and t:
2.1575969482425124 83.57571345360194

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.76435213e-01 -2.15810618e-01  2.27437745e-04]
 [ 2.15810671e-01  9.76435198e-01 -2.40572548e-04]
 [-1.70160110e-04  2.83986999e-04  9.99999945e-01]]

 t_estimated:
[[-0.02848575]
 [-0.99959084]
 [-0.00258961]]

 R_gt:
[[ 0.99851678  0.03820181 -0.03878508]
 [-0.03766639  0.99918648  0.01442871]
 [ 0.03930452 -0.01294591  0.99914296]]

 t_gt:
[ 0.91193192  0.40022858 -0.09053868]

Pose Error in degrees for R and t:
14.8304625435277 64.79821849273108

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 1.00000000e+00  5.60662627e-15 -4.40749867e-15]
 [-5.52335955e-15  1.00000000e+00 -1.96018332e-15]
 [ 4.41828648e-15  1.81857296e-15  1.00000000e+00]]

 t_estimated:
[[ 9.74537366e-01]
 [ 2.24225050e-01]
 [-2.22729580e-04]]

 R_gt:
[[ 0.99703162 -0.07399357 -0.02131629]
 [ 0.07416479  0.99721867  0.00732158]
 [ 0.02071501 -0.00888026  0.99974555]]

 t_gt:
[ 0.74692655 -0.65925281 -0.08652429]

Pose Error in degrees for R and t:
4.440761898592406 54.541993767105026

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[-0.03372833  0.99943024  0.00126668]
 [-0.99942887 -0.03372559 -0.00212645]
 [-0.00208252 -0.00133767  0.99999694]]

 t_estimated:
[[0.01851532]
 [0.99982716]
 [0.00168321]]

 R_gt:
[[ 9.89613377e-01 -1.12014077e-01 -9.01105071e-02]
 [ 1.11529421e-01  9.93707080e-01 -1.04177017e-02]
 [ 9.07096794e-02  2.59444077e-04  9.95876809e-01]]

 t_gt:
[ 0.81363904 -0.46396861 -0.35032077]

Pose Error in degrees for R and t:
98.47381551228565 63.293952405026346

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.86244954e-01  1.65290239e-01 -1.67226583e-04]
 [-1.65290027e-01  9.86244597e-01  8.95832774e-04]
 [ 3.12998727e-04 -8.55869666e-04  9.99999585e-01]]

 t_estimated:
[[3.63454053e-01]
 [9.31612066e-01]
 [3.31530508e-04]]

 R_gt:
[[ 0.97240755 -0.20472386 -0.11186273]
 [ 0.19874052  0.97806543 -0.06237362]
 [ 0.12217781  0.03842031  0.99176466]]

 t_gt:
[ 0.82118148 -0.43216599 -0.37268423]

Pose Error in degrees for R and t:
22.430391300225097 84.01472473326936

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.98829715e-01 -4.83633737e-02  4.29138924e-04]
 [ 4.83637029e-02  9.98829476e-01 -7.93244622e-04]
 [-3.90272621e-04  8.13071047e-04  9.99999593e-01]]

 t_estimated:
[[9.48757191e-01]
 [3.16005131e-01]
 [7.41796083e-04]]

 R_gt:
[[ 0.99866734  0.05129652  0.00578215]
 [-0.0512178   0.99860258 -0.01301209]
 [-0.00644158  0.01269827  0.99989873]]

 t_gt:
[-0.89692863  0.42568169 -0.1196417 ]

Pose Error in degrees for R and t:
5.76105919437022 44.230561958155995

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.40644196e-01  3.39391225e-01 -1.44681026e-03]
 [-3.39389831e-01  9.40645137e-01  1.12659992e-03]
 [ 1.74329316e-03 -5.68696985e-04  9.99998319e-01]]

 t_estimated:
[[-0.99211614]
 [-0.12531212]
 [-0.00155872]]

 R_gt:
[[ 0.99809526 -0.06064457 -0.01134405]
 [ 0.06026713  0.99769779 -0.03108066]
 [ 0.01320188  0.03033824  0.99945223]]

 t_gt:
[ 0.42886563 -0.83243479 -0.35089399]

Pose Error in degrees for R and t:
23.38381845317959 71.29937029635138

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 0.94313161 -0.33240111  0.00350291]
 [-0.33241313 -0.94312657  0.00371267]
 [ 0.00206959 -0.00466595 -0.99998697]]

 t_estimated:
[[0.49890295]
 [0.86665601]
 [0.00178848]]

 R_gt:
[[ 9.90923142e-01 -1.34429039e-01 -6.76476806e-04]
 [ 1.34354305e-01  9.90520015e-01 -2.86050482e-02]
 [ 4.51560633e-03  2.82541133e-02  9.99589761e-01]]

 t_gt:
[ 0.60394194 -0.78558204 -0.13459196]

Pose Error in degrees for R and t:
178.5957830319703 67.68107746323717

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.24529132  0.96941033  0.00870475]
 [ 0.96944203  0.2453146  -0.00170009]
 [-0.00378349  0.00802174 -0.99996067]]

 t_estimated:
[[9.14099266e-01]
 [4.05489541e-01]
 [8.73899872e-04]]

 R_gt:
[[ 0.98608062  0.16082747 -0.04219492]
 [-0.16076208  0.98698116  0.00495787]
 [ 0.0424431   0.00189398  0.99909685]]

 t_gt:
[-0.84664248  0.50534561 -0.16680022]

Pose Error in degrees for R and t:
178.4588133630081 55.30911803932021

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-6.06206647e-01 -7.95306345e-01  1.14846205e-03]
 [-7.95304927e-01  6.06207735e-01  1.50150846e-03]
 [-1.89036578e-03 -3.15312351e-06 -9.99998213e-01]]

 t_estimated:
[[0.92850718]
 [0.37131039]
 [0.00173367]]

 R_gt:
[[ 0.94926612  0.31415223 -0.01428872]
 [-0.31092149  0.9443777   0.10714096]
 [ 0.04715224 -0.09726303  0.99414085]]

 t_gt:
[-0.88064851  0.45225913  0.1411378 ]

Pose Error in degrees for R and t:
178.87675018988696 49.494934981154536

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.97152098e-01  7.54138003e-02  6.72094503e-04]
 [-7.54136653e-02  9.97152310e-01 -2.23992039e-04]
 [-6.87072677e-04  1.72669022e-04  9.99999749e-01]]

 t_estimated:
[[0.22751704]
 [0.97377292]
 [0.00151678]]

 R_gt:
[[ 0.94716363  0.31946444 -0.02870541]
 [-0.31525161  0.94368814  0.10033904]
 [ 0.05914404 -0.08598813  0.99453894]]

 t_gt:
[-0.91922535  0.38330353  0.09001759]

Pose Error in degrees for R and t:
15.444820028804426 80.546465278926

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.74566490e-01  2.24097174e-01  7.83162454e-04]
 [-2.24096773e-01  9.74566732e-01 -5.67197232e-04]
 [-8.90351370e-04  3.77267237e-04  9.99999532e-01]]

 t_estimated:
[[0.20085192]
 [0.97961951]
 [0.00202998]]

 R_gt:
[[ 0.99411955 -0.10787899 -0.00942745]
 [ 0.10764619  0.99393655 -0.02241837]
 [ 0.01178848  0.0212719   0.99970427]]

 t_gt:
[ 0.62413289 -0.73273431 -0.27121681]

Pose Error in degrees for R and t:
19.187061509063216 53.630302886243136

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-2.31569631e-01  9.72817885e-01 -9.32433426e-04]
 [-9.72812135e-01 -2.31571470e-01 -3.34716866e-03]
 [-3.47211052e-03  1.31979940e-04  9.99993963e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98372651 -0.17936509 -0.01051547]
 [ 0.17855562  0.9824511  -0.05391904]
 [ 0.02000191  0.05116442  0.99849019]]

 t_gt:
[ 0.56702769 -0.74812937 -0.34464772]

Pose Error in degrees for R and t:
113.73104493238357 41.846382414024404

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.99886075 -0.04755167  0.00400533]
 [-0.0475276   0.99885246  0.00590609]
 [-0.00428158  0.005709   -0.99997454]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96221334 -0.27033931 -0.03259215]
 [ 0.26892044  0.96224111 -0.04210728]
 [ 0.04274504  0.03175147  0.99858114]]

 t_gt:
[ 0.61136697 -0.75294742 -0.24351719]

Pose Error in degrees for R and t:
178.05099476159447 52.49429922362878

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99998294e-01  1.84107566e-03 -1.51634790e-04]
 [-1.84108621e-03  9.99998303e-01 -6.94626201e-05]
 [ 1.51506647e-04  6.97416743e-05  9.99999986e-01]]

 t_estimated:
[[-1.35922567e-02]
 [ 9.99907372e-01]
 [-7.05787392e-04]]

 R_gt:
[[ 0.99871245  0.01567116 -0.04823955]
 [-0.01967041  0.99630649 -0.08358776]
 [ 0.04675199  0.08442912  0.99533174]]

 t_gt:
[-0.03190784  0.30259312 -0.95258558]

Pose Error in degrees for R and t:
5.604803095762836 72.32176736713328

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 9.99999331e-01  1.15605100e-03 -2.63374703e-05]
 [-1.15605293e-03  9.99999329e-01 -7.35073857e-05]
 [ 2.62524743e-05  7.35377841e-05  9.99999997e-01]]

 t_estimated:
[[4.95490762e-03]
 [9.99987698e-01]
 [2.29090452e-04]]

 R_gt:
[[ 0.99185447  0.06484907 -0.10962924]
 [-0.08287584  0.98215295 -0.16883866]
 [ 0.09672387  0.17654895  0.97952776]]

 t_gt:
[-0.12537738  0.44461217 -0.88690503]

Pose Error in degrees for R and t:
12.347742448527697 63.65454418335467

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-2.74356870e-01  9.61627594e-01  8.23977842e-04]
 [-9.61626807e-01 -2.74355125e-01 -1.77447348e-03]
 [-1.48032012e-03 -1.27919817e-03  9.99998086e-01]]

 t_estimated:
[[0.10279282]
 [0.99470225]
 [0.00103831]]

 R_gt:
[[ 0.98364445  0.14475344 -0.10718784]
 [-0.16236187  0.97022763 -0.17971192]
 [ 0.07798252  0.19417647  0.97786216]]

 t_gt:
[-0.32330996  0.59810242 -0.73331042]

Pose Error in degrees for R and t:
97.55625347480822 55.87927593099153

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 3.39391133e-02  9.99423618e-01  7.53856686e-04]
 [-9.99421967e-01  3.39405223e-02 -1.94233586e-03]
 [-1.96680262e-03 -6.87499775e-04  9.99997830e-01]]

 t_estimated:
[[-0.11713967]
 [ 0.99311436]
 [ 0.00147399]]

 R_gt:
[[ 0.99738144  0.02676814 -0.06719418]
 [-0.03095368  0.99759326 -0.06204119]
 [ 0.06537146  0.06395887  0.99580827]]

 t_gt:
[-0.02327861  0.42319927 -0.90573754]

Pose Error in degrees for R and t:
86.52858867093981 65.05948642236149

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[ 8.48790937e-01  5.28728571e-01 -2.07973606e-04]
 [-5.28726073e-01  8.48785575e-01 -3.43335922e-03]
 [-1.63879012e-03  3.02416526e-03  9.99994084e-01]]

 t_estimated:
[[-0.99985599]
 [-0.01683968]
 [-0.00210496]]

 R_gt:
[[ 0.99219036  0.0526946  -0.113059  ]
 [-0.07193909  0.98219516 -0.17354671]
 [ 0.10190076  0.18032577  0.97831439]]

 t_gt:
[-0.042298    0.52647056 -0.84914052]

Pose Error in degrees for R and t:
30.625049544182755 87.9819854873521

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.95951918e-01  8.98875618e-02 -5.90206662e-05]
 [-8.98875718e-02  9.95951899e-01 -1.97667442e-04]
 [ 4.10139001e-05  2.02172493e-04  9.99999979e-01]]

 t_estimated:
[[-6.39594861e-01]
 [-7.68712057e-01]
 [-4.32919805e-04]]

 R_gt:
[[ 0.99071331  0.09810997 -0.09413985]
 [-0.1142279   0.97610483 -0.184854  ]
 [ 0.07375341  0.19389168  0.97824644]]

 t_gt:
[-0.15809623  0.67171657 -0.72374197]

Pose Error in degrees for R and t:
12.002981809830507 65.48535846077408

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99996325e-01  2.71028917e-03  6.94236645e-05]
 [-2.71029378e-03  9.99996325e-01  6.63151714e-05]
 [-6.92436761e-05 -6.65030862e-05  9.99999995e-01]]

 t_estimated:
[[0.23181595]
 [0.97275917]
 [0.00098133]]

 R_gt:
[[ 0.99937297 -0.01391522 -0.032578  ]
 [ 0.01168051  0.99763205 -0.06778802]
 [ 0.03344425  0.06736543  0.99716822]]

 t_gt:
[ 0.41066305  0.0242528  -0.91146457]

Pose Error in degrees for R and t:
4.4084050125592 83.22931390371605

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.22652223e-01 -3.85628189e-01 -1.94303886e-03]
 [ 3.85630297e-01  9.22652998e-01  8.47446605e-04]
 [ 1.46595133e-03 -1.53119315e-03  9.99997753e-01]]

 t_estimated:
[[-0.00519743]
 [-0.99998595]
 [-0.00103949]]

 R_gt:
[[ 0.99485474 -0.01195951 -0.10060602]
 [-0.00107403  0.99170759 -0.12850917]
 [ 0.10130986  0.12795563  0.98659201]]

 t_gt:
[ 0.31663623  0.18897272 -0.92953258]

Pose Error in degrees for R and t:
24.23538130312836 79.06766819640359

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 6.59592907e-01  7.51622357e-01  1.01464208e-03]
 [-7.51621785e-01  6.59593672e-01 -9.38060019e-04]
 [-1.37431838e-03 -1.43889355e-04  9.99999045e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98813731 -0.03627085 -0.14922664]
 [ 0.01037443  0.98525528 -0.17077345]
 [ 0.153221    0.16720035  0.97394434]]

 t_gt:
[ 0.36200435  0.17604346 -0.9154024 ]

Pose Error in degrees for R and t:
51.67311423847589 79.78477969230039

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 9.99999795e-01  6.18895755e-04 -1.61575373e-04]
 [-6.18883143e-04  9.99999805e-01  7.80960774e-05]
 [ 1.61623675e-04 -7.79960651e-05  9.99999984e-01]]

 t_estimated:
[[-3.55590501e-02]
 [-9.99367486e-01]
 [-4.25346403e-04]]

 R_gt:
[[ 0.99963922 -0.00251355 -0.02673308]
 [-0.00165741  0.9879253  -0.1549243 ]
 [ 0.02680002  0.15491221  0.98756388]]

 t_gt:
[ 0.18166846  0.35502935 -0.91703366]

Pose Error in degrees for R and t:
9.048354645682936 68.84607668024248

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.86277557e-01  1.65095651e-01 -8.55737588e-05]
 [-1.65095673e-01  9.86277450e-01 -4.57823869e-04]
 [ 8.81473892e-06  4.65669264e-04  9.99999892e-01]]

 t_estimated:
[[-0.17384921]
 [-0.98477165]
 [-0.00112161]]

 R_gt:
[[ 0.9986762  -0.02692892 -0.04381135]
 [ 0.01296835  0.95627312 -0.2921896 ]
 [ 0.0497641   0.29123477  0.95535559]]

 t_gt:
[ 0.21711037  0.38934796 -0.89513756]

Pose Error in degrees for R and t:
20.185169838155737 65.15535478165636

Number of keypoints:
Image1: 63
Image2: 63

 R_estimated:
[[-0.67984066  0.73119516  0.0563055 ]
 [-0.73273786 -0.68042053 -0.01109641]
 [ 0.03019778 -0.04880096  0.99835192]]

 t_estimated:
[[0.40414099]
 [0.91463487]
 [0.01063529]]

 R_gt:
[[ 0.9971635  -0.06000078 -0.04542922]
 [ 0.04179794  0.94350926 -0.32870009]
 [ 0.06258584  0.32586856  0.94334107]]

 t_gt:
[ 0.26860714  0.35828718 -0.89413673]

Pose Error in degrees for R and t:
137.11875934311044 64.73866246408109

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 2.47270695e-01 -9.68941961e-01 -2.94611033e-03]
 [ 9.68946151e-01  2.47271825e-01 -1.99027906e-05]
 [ 7.47774725e-04 -2.84970089e-03  9.99995660e-01]]

 t_estimated:
[[ 5.66990167e-01]
 [-8.23724358e-01]
 [-5.75816934e-04]]

 R_gt:
[[ 0.9867806   0.16196942  0.00551732]
 [-0.16158779  0.98592383 -0.042937  ]
 [-0.01239451  0.04147748  0.99906271]]

 t_gt:
[-0.83217133  0.5364635  -0.14034883]

Pose Error in degrees for R and t:
85.0319687530638 23.985241334212557

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 0.94197052  0.33561383 -0.00740926]
 [ 0.33553781 -0.94197504 -0.00986961]
 [-0.01029172  0.00681079 -0.99992384]]

 t_estimated:
[[0.76683063]
 [0.64184061]
 [0.00337811]]

 R_gt:
[[ 0.97027043  0.24114485 -0.02061157]
 [-0.24169567  0.96986701 -0.03065853]
 [ 0.01259716  0.03472773  0.99931745]]

 t_gt:
[-0.80251965  0.58682982 -0.10767068]

Pose Error in degrees for R and t:
177.75873257440745 76.16603186512955

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-3.22963123e-01 -9.46408650e-01 -2.34281233e-03]
 [ 9.46410443e-01 -3.22965541e-01  7.29985863e-04]
 [-1.44751259e-03 -1.98150354e-03  9.99996989e-01]]

 t_estimated:
[[0.99197521]
 [0.12642154]
 [0.00166733]]

 R_gt:
[[ 0.9643322   0.26026959 -0.04821076]
 [-0.26235675  0.96398404 -0.04364077]
 [ 0.03511587  0.05473191  0.99788323]]

 t_gt:
[-0.73745622  0.65058354 -0.18138188]

Pose Error in degrees for R and t:
124.04175661954731 49.48908209330602

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-0.30757406 -0.95152337 -0.00121572]
 [-0.95151443  0.30756489  0.00491139]
 [-0.00429939  0.0026674  -0.9999872 ]]

 t_estimated:
[[0.76717648]
 [0.64143084]
 [0.002593  ]]

 R_gt:
[[ 0.9973604  -0.06267166 -0.03669495]
 [ 0.06602219  0.99292952  0.09865082]
 [ 0.03025328 -0.10081325  0.99444554]]

 t_gt:
[ 0.31187621 -0.7739643   0.55110116]

Pose Error in degrees for R and t:
178.0671742197297 75.18188230882133

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.58422489e-01  2.85352958e-01 -1.44384268e-04]
 [-2.85352589e-01  9.58421857e-01  1.20141789e-03]
 [ 4.81209187e-04 -1.11026550e-03  9.99999268e-01]]

 t_estimated:
[[0.70574978]
 [0.70846082]
 [0.00071909]]

 R_gt:
[[ 0.98478307 -0.14324485 -0.09840314]
 [ 0.1546685   0.98060144  0.12041119]
 [ 0.0792467  -0.13379838  0.98783524]]

 t_gt:
[ 0.51072588 -0.79877955  0.31797847]

Pose Error in degrees for R and t:
26.69394232881032 78.15699658165471

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 6.23877765e-01  7.81521830e-01  4.04906723e-04]
 [ 7.81518992e-01 -6.23876753e-01  2.42118345e-03]
 [ 2.14481961e-03 -1.19408023e-03 -9.99996987e-01]]

 t_estimated:
[[-8.36627471e-01]
 [-5.47772230e-01]
 [ 2.42907659e-04]]

 R_gt:
[[ 0.95911389 -0.25382972 -0.12518596]
 [ 0.26870759  0.95557006  0.12117087]
 [ 0.0888678  -0.14985558  0.98470593]]

 t_gt:
[ 0.61686802 -0.75125     0.23472812]

Pose Error in degrees for R and t:
170.10559743839514 84.00061287632201

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 9.99999979e-01  2.02504978e-04 -3.43377010e-07]
 [-2.02504937e-04  9.99999973e-01  1.14925004e-04]
 [ 3.66649886e-07 -1.14924932e-04  9.99999993e-01]]

 t_estimated:
[[8.64782720e-01]
 [5.02145825e-01]
 [6.46149034e-04]]

 R_gt:
[[ 0.99223415 -0.11937311 -0.03494712]
 [ 0.11973746  0.99276852  0.00853186]
 [ 0.0336763  -0.01265077  0.99935227]]

 t_gt:
[ 0.66256545 -0.74692071 -0.05582548]

Pose Error in degrees for R and t:
7.181800283430506 78.5872215946393

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 0.9978277   0.06585093  0.00187868]
 [-0.06584613  0.99782663 -0.00251077]
 [-0.00203993  0.00238162  0.99999508]]

 t_estimated:
[[-8.29968398e-01]
 [-5.57809885e-01]
 [-7.68394266e-04]]

 R_gt:
[[ 0.97200416 -0.23165024 -0.0393166 ]
 [ 0.2323217   0.97254583  0.01340968]
 [ 0.03513221 -0.02216833  0.99913633]]

 t_gt:
[ 0.68945149 -0.72392708 -0.02421213]

Pose Error in degrees for R and t:
17.381625238954783 80.3057382029674

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 0.99241929  0.12253987  0.00937744]
 [-0.12206056  0.99167532 -0.0410033 ]
 [-0.01432391  0.03954785  0.999115  ]]

 t_estimated:
[[-0.65491972]
 [-0.75520726]
 [-0.02724242]]

 R_gt:
[[ 0.96764798 -0.24683732  0.05223728]
 [ 0.25033942  0.9650931  -0.07696607]
 [-0.03141494  0.08755387  0.99566346]]

 t_gt:
[ 0.60519226 -0.75603059 -0.24931923]

Pose Error in degrees for R and t:
21.650128200673866 79.54871278888021

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.98545125e-01 -5.39220287e-02 -2.18729546e-04]
 [ 5.39221034e-02  9.98545083e-01  3.51029370e-04]
 [ 1.99483096e-04 -3.62313023e-04  9.99999914e-01]]

 t_estimated:
[[0.02326672]
 [0.99972863]
 [0.00115079]]

 R_gt:
[[ 0.99142408  0.13040636 -0.00852125]
 [-0.13057748  0.9911412  -0.02424297]
 [ 0.00528415  0.02514758  0.99966933]]

 t_gt:
[-0.82852526  0.54445035 -0.13084234]

Pose Error in degrees for R and t:
10.69428561172253 58.340173769026336

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 5.27171825e-01 -8.49756812e-01  1.79658707e-03]
 [-8.49758490e-01 -5.27172036e-01  3.92479397e-04]
 [ 6.13598421e-04 -1.73356919e-03 -9.99998309e-01]]

 t_estimated:
[[0.00410896]
 [0.99999102]
 [0.0010339 ]]

 R_gt:
[[ 0.98505647  0.16678866 -0.04296209]
 [-0.16731197  0.9858645  -0.00884458]
 [ 0.04087937  0.01590083  0.99903725]]

 t_gt:
[-0.77980861  0.6117486  -0.13289914]

Pose Error in degrees for R and t:
178.2809759842029 52.52598954652098

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.78118891e-01 -2.08043809e-01  1.09885991e-03]
 [ 2.08045866e-01  9.78116330e-01 -2.31552675e-03]
 [-5.93081817e-04  2.49347372e-03  9.99996715e-01]]

 t_estimated:
[[-0.92089712]
 [-0.38980446]
 [-0.00098988]]

 R_gt:
[[ 0.98115458  0.18939039 -0.03830069]
 [-0.19122293  0.98018004 -0.05177054]
 [ 0.0277367   0.05811873  0.9979239 ]]

 t_gt:
[-0.65954503  0.71182605 -0.24146227]

Pose Error in degrees for R and t:
23.266268559358082 70.72277738077774

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99998596e-01 -9.34217810e-04  1.39078678e-03]
 [ 9.34965464e-04  9.99999419e-01 -5.37022749e-04]
 [-1.39028428e-03  5.38322333e-04  9.99998889e-01]]

 t_estimated:
[[-0.68059771]
 [-0.73265693]
 [-0.00076558]]

 R_gt:
[[ 0.99972897 -0.02120652 -0.00965629]
 [ 0.01899224  0.98166596 -0.1896635 ]
 [ 0.01350179  0.18942891  0.98180171]]

 t_gt:
[ 0.20655222  0.33887924 -0.91787638]

Pose Error in degrees for R and t:
10.97769677356897 67.1600367698925

Number of keypoints:
Image1: 20
Image2: 20

 R_estimated:
[[-0.21661605 -0.97625344  0.00259028]
 [-0.9762531   0.21662183  0.00220712]
 [-0.00271582 -0.00205067 -0.99999421]]

 t_estimated:
[[0.85655289]
 [0.51605338]
 [0.00246017]]

 R_gt:
[[ 0.99817249 -0.05859721 -0.01478425]
 [ 0.05318599  0.96792961 -0.24552896]
 [ 0.02869746  0.24429427  0.96927703]]

 t_gt:
[ 0.29541552  0.28225429 -0.9127224 ]

Pose Error in degrees for R and t:
170.34880789896948 66.6434475261624

Number of keypoints:
Image1: 32
Image2: 32

 R_estimated:
[[ 8.83276273e-01  4.68852769e-01  3.24813835e-04]
 [-4.68852677e-01  8.83276323e-01 -3.22888407e-04]
 [-4.38287494e-04  1.32909833e-04  9.99999895e-01]]

 t_estimated:
[[-0.42989447]
 [-0.90287859]
 [-0.00100209]]

 R_gt:
[[ 0.99395432 -0.10776857 -0.02100695]
 [ 0.09778588  0.95587751 -0.27701229]
 [ 0.04993279  0.27328345  0.96063644]]

 t_gt:
[ 0.38462441  0.20714754 -0.89952986]

Pose Error in degrees for R and t:
37.50507311646297 69.42240550785766

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 0.63181484  0.7748336   0.02104508]
 [ 0.7748573  -0.63066245 -0.04313975]
 [-0.02015379  0.04356327 -0.99884737]]

 t_estimated:
[[-0.41640321]
 [ 0.9088567 ]
 [-0.02424604]]

 R_gt:
[[ 0.99943099 -0.03143029 -0.01221298]
 [ 0.03179527  0.99901616  0.03093844]
 [ 0.01122802 -0.03130849  0.99944657]]

 t_gt:
[ 0.67130137 -0.64796163  0.35986135]

Pose Error in degrees for R and t:
179.14932013673396 28.698166562873137

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.92118483e-01  1.25303288e-01  3.55548526e-05]
 [-1.25303283e-01  9.92118478e-01 -1.17050712e-04]
 [-4.99414653e-05  1.11673036e-04  9.99999993e-01]]

 t_estimated:
[[-3.64546402e-01]
 [-9.31185004e-01]
 [-6.39718271e-04]]

 R_gt:
[[ 0.99939773 -0.02315904  0.02584585]
 [ 0.02110704  0.99680698  0.07701845]
 [-0.02754722 -0.07642522  0.99669465]]

 t_gt:
[ 0.17323833 -0.27939178  0.94441978]

Pose Error in degrees for R and t:
9.666389017799272 78.67302092457493

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.19776677  0.98007383  0.01853614]
 [ 0.98007916  0.19804923 -0.01487771]
 [-0.01825232  0.01522457 -0.99971749]]

 t_estimated:
[[ 0.79544596]
 [-0.60593004]
 [ 0.01070081]]

 R_gt:
[[ 0.99796324 -0.05662921  0.02937882]
 [ 0.05392458  0.99484835  0.08585098]
 [-0.0340892  -0.08409047  0.99587517]]

 t_gt:
[ 0.42077994 -0.33024118  0.84491716]

Pose Error in degrees for R and t:
179.68636444180868 57.05374843965713

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99999675e-01 -8.04192357e-04  5.95437021e-05]
 [ 8.04188141e-04  9.99999674e-01  7.08017754e-05]
 [-5.96006210e-05 -7.07538680e-05  9.99999996e-01]]

 t_estimated:
[[ 3.40014218e-03]
 [-9.99994202e-01]
 [-1.87063587e-04]]

 R_gt:
[[ 0.99660434 -0.07322986  0.0376315 ]
 [ 0.0732286   0.99731378  0.0014136 ]
 [-0.037634    0.00134663  0.99929068]]

 t_gt:
[ 0.64441213 -0.71211104  0.27862319]

Pose Error in degrees for R and t:
4.680502562039928 44.41856936723668

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.95507973e-01  9.46774334e-02  2.44657271e-04]
 [-9.46773616e-02  9.95507967e-01 -2.90191885e-04]
 [-2.71032885e-04  2.65724830e-04  9.99999928e-01]]

 t_estimated:
[[0.92131014]
 [0.38882736]
 [0.0009577 ]]

 R_gt:
[[ 0.99313162 -0.11056733  0.03825457]
 [ 0.11037105  0.99386508  0.00720447]
 [-0.03881687 -0.00293411  0.99924251]]

 t_gt:
[ 0.72663568 -0.64842715  0.22703044]

Pose Error in degrees for R and t:
11.983808293820587 65.32011929225855

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99999368e-01  9.44667249e-04  6.10326074e-04]
 [-9.44522295e-04  9.99999526e-01 -2.37746962e-04]
 [-6.10550376e-04  2.37170345e-04  9.99999785e-01]]

 t_estimated:
[[0.93033082]
 [0.36672017]
 [0.00093313]]

 R_gt:
[[ 0.98669421 -0.15204323  0.05758076]
 [ 0.15257004  0.98828103 -0.00483817]
 [-0.05617149  0.01355779  0.99832952]]

 t_gt:
[ 0.75064931 -0.63819935  0.17095968]

Pose Error in degrees for R and t:
9.409607416365494 62.323999430048715

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-0.72867217  0.68482694  0.00699503]
 [-0.68485352 -0.72867721 -0.0022747 ]
 [ 0.00353934 -0.00644808  0.99997295]]

 t_estimated:
[[0.46531743]
 [0.88514293]
 [0.00129977]]

 R_gt:
[[ 0.99924958 -0.03747902  0.00976896]
 [ 0.03683796  0.99757005  0.05912431]
 [-0.01196176 -0.05871998  0.99820261]]

 t_gt:
[ 0.54089262 -0.47283692  0.69560076]

Pose Error in degrees for R and t:
138.91545767844468 80.44830717878773

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-9.37137731e-01 -3.48955695e-01 -1.67231648e-03]
 [ 3.48959647e-01 -9.37124135e-01 -5.05167194e-03]
 [ 1.95641557e-04 -5.31768335e-03  9.99985842e-01]]

 t_estimated:
[[0.71745192]
 [0.69660586]
 [0.00173717]]

 R_gt:
[[ 0.99452452 -0.08846224  0.05563713]
 [ 0.07863387  0.98411675  0.15915409]
 [-0.06883226 -0.15390721  0.98568496]]

 t_gt:
[ 0.36559219 -0.42003205  0.83061148]

Pose Error in degrees for R and t:
154.84737721445507 88.34626858748773

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 8.96203622e-01  4.43639965e-01 -1.62736194e-03]
 [-4.43640364e-01  8.96204894e-01  1.27303517e-04]
 [ 1.51492666e-03  6.07873570e-04  9.99998668e-01]]

 t_estimated:
[[-0.98912413]
 [-0.14706402]
 [-0.002372  ]]

 R_gt:
[[ 0.98749315 -0.13329916  0.08418867]
 [ 0.11002126  0.96511023  0.23760681]
 [-0.11292424 -0.22537303  0.96770537]]

 t_gt:
[ 0.31442867 -0.41714715  0.852715  ]

Pose Error in degrees for R and t:
36.42478764276217 75.42279813046693

Number of keypoints:
Image1: 312
Image2: 312

 R_estimated:
[[ 5.81390764e-01  8.13624352e-01  4.39043245e-04]
 [-8.13623623e-01  5.81390852e-01 -1.13020040e-03]
 [-1.17481430e-03  2.99872120e-04  9.99999265e-01]]

 t_estimated:
[[0.00729147]
 [0.99997287]
 [0.00104164]]

 R_gt:
[[ 0.99946055 -0.02369483 -0.02272202]
 [ 0.02373483  0.99971692  0.00148147]
 [ 0.02268122 -0.0020197   0.99973966]]

 t_gt:
[ 0.3653113  -0.89949511 -0.23970025]

Pose Error in degrees for R and t:
55.82608583799249 26.226155017430504

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[ 9.87628990e-01 -1.56806891e-01  7.59805622e-04]
 [ 1.56807415e-01  9.87628960e-01 -6.87515787e-04]
 [-6.42598823e-04  7.98153678e-04  9.99999475e-01]]

 t_estimated:
[[-0.33011534]
 [-0.94394002]
 [-0.00105468]]

 R_gt:
[[ 0.99953634 -0.02027258 -0.02271333]
 [ 0.01951379  0.99926084 -0.03312665]
 [ 0.02336857  0.03266776  0.99919291]]

 t_gt:
[ 0.28097795 -0.76888878 -0.57433565]

Pose Error in degrees for R and t:
8.206966463810831 50.68114463783416

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[ 3.79608635e-01  9.25145995e-01  1.47370848e-03]
 [-9.25146573e-01  3.79609717e-01 -5.30821431e-04]
 [-1.05052138e-03 -1.16189195e-03  9.99998773e-01]]

 t_estimated:
[[0.35810873]
 [0.93367926]
 [0.0010819 ]]

 R_gt:
[[ 0.99847018 -0.04803161 -0.02739111]
 [ 0.04487558  0.99334522 -0.10607   ]
 [ 0.03230396  0.10467915  0.99398103]]

 t_gt:
[ 0.30473853 -0.15955143 -0.93897698]

Pose Error in degrees for R and t:
70.60982256193256 87.6584598064284

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[-8.42918297e-01  5.38041582e-01 -1.48057959e-06]
 [-5.38040090e-01 -8.42915965e-01 -2.35324338e-03]
 [-1.26739080e-03 -1.98279530e-03  9.99997231e-01]]

 t_estimated:
[[8.57687345e-01]
 [5.14171058e-01]
 [7.35580913e-04]]

 R_gt:
[[ 0.98978443  0.1425407   0.00291018]
 [-0.14255905  0.98975911  0.00734448]
 [-0.00183252 -0.00768543  0.99996879]]

 t_gt:
[-0.86594832  0.49690466  0.05673848]

Pose Error in degrees for R and t:
139.25437065827043 60.84478552455459

Number of keypoints:
Image1: 243
Image2: 243

 R_estimated:
[[ 9.29415803e-01 -3.69033748e-01 -5.98432717e-04]
 [ 3.69033670e-01  9.29415995e-01 -2.40726989e-04]
 [ 6.45029322e-04  2.89364629e-06  9.99999792e-01]]

 t_estimated:
[[-0.40695113]
 [-0.91344809]
 [-0.00183206]]

 R_gt:
[[ 0.96129153  0.2755287  -0.00164112]
 [-0.27550867  0.96110792 -0.01913065]
 [-0.00369358  0.01884153  0.9998157 ]]

 t_gt:
[-0.81886054  0.57335138 -0.02712223]

Pose Error in degrees for R and t:
37.66583903569298 79.02148900885146

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 0.05101451  0.99869723 -0.00116834]
 [-0.99869541  0.05101174 -0.00229649]
 [-0.0022339   0.00128397  0.99999668]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.94948756  0.31244219 -0.02921839]
 [-0.31271168  0.94983468 -0.00503133]
 [ 0.02618084  0.0139128   0.99956012]]

 t_gt:
[-0.78617554  0.6164933  -0.04317443]

Pose Error in degrees for R and t:
68.875509912883 52.299581941914546

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.93917606e-01 -1.10119930e-01 -1.18034103e-03]
 [ 1.10120398e-01  9.93918197e-01  3.39503727e-04]
 [ 1.13577630e-03 -4.67418357e-04  9.99999246e-01]]

 t_estimated:
[[0.52934659]
 [0.84840481]
 [0.00120855]]

 R_gt:
[[ 0.99987377  0.01464889 -0.00626693]
 [-0.0149885   0.99819073 -0.05822802]
 [ 0.00540353  0.05831404  0.99828312]]

 t_gt:
[-0.2818162   0.5611432  -0.77826598]

Pose Error in degrees for R and t:
7.925313991686803 70.97640082761843

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 8.73122558e-01  4.87497338e-01  1.82856748e-03]
 [-4.87497473e-01  8.73124305e-01 -4.00955917e-04]
 [-1.79203165e-03 -5.41338369e-04  9.99998248e-01]]

 t_estimated:
[[0.6194254 ]
 [0.78505437]
 [0.00134658]]

 R_gt:
[[ 0.99852693 -0.05354836  0.00877009]
 [ 0.05423506  0.99002262 -0.13004831]
 [-0.0017184   0.13033167  0.99146834]]

 t_gt:
[ 0.19612847  0.4411315  -0.87574918]

Pose Error in degrees for R and t:
33.11390224139294 62.18489017216163

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[-3.75723452e-01  9.26725913e-01  3.31221160e-03]
 [ 9.26730909e-01  3.75725722e-01 -6.84926312e-05]
 [-1.30795699e-03  3.04379457e-03 -9.99994512e-01]]

 t_estimated:
[[0.94441566]
 [0.32875229]
 [0.00099622]]

 R_gt:
[[ 0.99899637 -0.04375405 -0.00964802]
 [ 0.04144228  0.98418538 -0.17222269]
 [ 0.01703074  0.17164926  0.98501067]]

 t_gt:
[ 0.01950202  0.64911563 -0.76043972]

Pose Error in degrees for R and t:
174.9478795519085 76.64059055002919

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.99883081e-01  1.52910159e-02  9.51320759e-05]
 [-1.52910316e-02  9.99883071e-01  1.66527080e-04]
 [-9.25745840e-05 -1.67962277e-04  9.99999982e-01]]

 t_estimated:
[[0.53388946]
 [0.84555377]
 [0.00093463]]

 R_gt:
[[ 0.98888525 -0.14723234 -0.02068827]
 [ 0.14785614  0.98846495  0.0327879 ]
 [ 0.01562168 -0.03548244  0.9992474 ]]

 t_gt:
[ 0.63882314 -0.74660473  0.18570509]

Pose Error in degrees for R and t:
9.622288497062168 73.13845532215757

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-9.96459424e-01  8.40750417e-02  6.46328823e-05]
 [ 8.40750633e-02  9.96458877e-01  1.04365007e-03]
 [ 2.33409141e-05  1.04538897e-03 -9.99999453e-01]]

 t_estimated:
[[9.33955201e-01]
 [3.57389162e-01]
 [8.17824169e-04]]

 R_gt:
[[ 0.97821419 -0.20256195 -0.04543223]
 [ 0.20693208  0.96892766  0.13549519]
 [ 0.01657422 -0.14194451  0.98973553]]

 t_gt:
[ 0.49694004 -0.74784238  0.44020719]

Pose Error in degrees for R and t:
177.88014707507796 78.62620431406232

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 0.99044125  0.13792043 -0.0020217 ]
 [-0.13791743  0.99044251  0.00155621]
 [ 0.00221701 -0.00126251  0.99999675]]

 t_estimated:
[[8.20728752e-01]
 [5.71317664e-01]
 [6.65096233e-04]]

 R_gt:
[[ 0.95815513 -0.2649812  -0.10826923]
 [ 0.27904076  0.94897996  0.14687722]
 [ 0.06382456 -0.1709425   0.98321091]]

 t_gt:
[ 0.57059094 -0.74230813  0.35128994]

Pose Error in degrees for R and t:
25.98039170216402 87.45292007994934

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99999576e-01  8.95517864e-04 -2.13163001e-04]
 [-8.95412760e-04  9.99999478e-01  4.92654321e-04]
 [ 2.13604070e-04 -4.92463243e-04  9.99999856e-01]]

 t_estimated:
[[-9.99997055e-01]
 [-2.25103704e-03]
 [-9.07092899e-04]]

 R_gt:
[[ 0.99631341 -0.06568917  0.05517628]
 [ 0.05906534  0.99170868  0.11413263]
 [-0.06221617 -0.11045352  0.99193152]]

 t_gt:
[ 0.29461835 -0.43017679  0.85331586]

Pose Error in degrees for R and t:
8.12454965522956 72.87704852157161

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99993495e-01 -3.49861890e-03 -8.77639662e-04]
 [ 3.49941262e-03  9.99993468e-01  9.04486020e-04]
 [ 8.74469477e-04 -9.07551359e-04  9.99999206e-01]]

 t_estimated:
[[-0.99992898]
 [-0.01156389]
 [-0.00288283]]

 R_gt:
[[ 0.99017728 -0.10974097  0.08663376]
 [ 0.0924614   0.97875122  0.18302565]
 [-0.10487906 -0.17321644  0.97928332]]

 t_gt:
[ 0.27046212 -0.43140283  0.8606636 ]

Pose Error in degrees for R and t:
12.95910978503861 74.45855415912276

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 9.90396149e-01  1.38258326e-01  3.22365785e-04]
 [-1.38258678e-01  9.90394645e-01  1.72799011e-03]
 [-8.03603271e-05 -1.75596462e-03  9.99998455e-01]]

 t_estimated:
[[0.62575737]
 [0.78001722]
 [0.00092795]]

 R_gt:
[[ 0.98433082 -0.12413013  0.12523191]
 [ 0.08897113  0.96282879  0.25503847]
 [-0.15223517 -0.2399006   0.95878683]]

 t_gt:
[ 0.1721027  -0.38345063  0.9073843 ]

Pose Error in degrees for R and t:
21.666687157195923 79.01444238869361

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 9.99990277e-01  4.40350651e-03 -2.33298308e-04]
 [-4.40359789e-03  9.99990227e-01 -3.92619323e-04]
 [ 2.31567126e-04  3.93642858e-04  9.99999896e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.9903737  -0.06737006  0.12092339]
 [ 0.04224472  0.97899977  0.19943519]
 [-0.13181951 -0.19240675  0.97242078]]

 t_gt:
[ 0.15551094 -0.16447443  0.97404544]

Pose Error in degrees for R and t:
13.942092263674676 80.75322632473333

Number of keypoints:
Image1: 33
Image2: 33

 R_estimated:
[[-5.32728734e-01  8.46285301e-01 -1.13406754e-03]
 [-8.46283672e-01 -5.32729936e-01 -1.66206261e-03]
 [-2.01073088e-03  7.43143338e-05  9.99997976e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.98603455 -0.10163025  0.13193939]
 [ 0.06541504  0.96489508  0.25436056]
 [-0.15315811 -0.24217744  0.95806655]]

 t_gt:
[ 0.21485857 -0.1743498   0.96095678]

Pose Error in degrees for R and t:
127.69453408484446 85.51599755741245

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[ 9.99978021e-01 -6.62708212e-03  1.99505520e-04]
 [ 6.62706921e-03  9.99978039e-01  6.53025813e-05]
 [-1.99933904e-04 -6.39790092e-05  9.99999978e-01]]

 t_estimated:
[[ 4.34640640e-01]
 [-9.00603854e-01]
 [ 4.60056638e-04]]

 R_gt:
[[ 0.97980144 -0.12476348  0.15628919]
 [ 0.07228733  0.94963897  0.30489553]
 [-0.18645704 -0.28743829  0.93947394]]

 t_gt:
[ 0.22894776 -0.14810027  0.96210666]

Pose Error in degrees for R and t:
20.74885501052799 76.50666219601331

Number of keypoints:
Image1: 537
Image2: 537

 R_estimated:
[[-0.07132151 -0.99598215 -0.05415529]
 [-0.99620209  0.07384565 -0.0461325 ]
 [ 0.04994628  0.05065937 -0.99746629]]

 t_estimated:
[[ 0.75289232]
 [ 0.65729582]
 [-0.03339699]]

 R_gt:
[[ 0.99874283  0.01744536 -0.04698907]
 [-0.01751871  0.99984599 -0.00114028]
 [ 0.04696142  0.00196289  0.9988949 ]]

 t_gt:
[-0.28595343  0.21298537 -0.93427398]

Pose Error in degrees for R and t:
173.89096297216636 87.47267674545398

Number of keypoints:
Image1: 464
Image2: 464

 R_estimated:
[[ 9.99761519e-01  2.18380602e-02  6.98171432e-05]
 [-2.18380546e-02  9.99761518e-01 -7.95774400e-05]
 [-7.15383100e-05  7.80337916e-05  9.99999994e-01]]

 t_estimated:
[[-0.1313029 ]
 [-0.99133686]
 [-0.00328257]]

 R_gt:
[[ 0.99991338 -0.01015695 -0.00842157]
 [ 0.01021956  0.99992046  0.00742714]
 [ 0.00834557 -0.00751237  0.99993708]]

 t_gt:
[-0.86381241 -0.48493334 -0.13663007]

Pose Error in degrees for R and t:
1.9459168566876266 53.515744564508616

Number of keypoints:
Image1: 641
Image2: 641

 R_estimated:
[[ 9.98029538e-01  6.27458444e-02 -7.87369808e-06]
 [-6.27458447e-02  9.98029537e-01 -4.73265633e-05]
 [ 4.88863808e-06  4.77273499e-05  9.99999999e-01]]

 t_estimated:
[[-4.47358251e-01]
 [ 8.94354536e-01]
 [-7.47363680e-04]]

 R_gt:
[[ 0.99887806  0.02568666  0.03977958]
 [-0.02496453  0.99951657 -0.01852904]
 [-0.04023604  0.01751592  0.99903694]]

 t_gt:
[-0.90290498  0.31811725  0.28907441]

Pose Error in degrees for R and t:
3.3052037857044665 46.51097988303645

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99707540e-01 -2.41656743e-02 -9.24268309e-04]
 [ 2.41664717e-02  9.99707577e-01  8.61549876e-04]
 [ 9.03178098e-04 -8.83634211e-04  9.99999202e-01]]

 t_estimated:
[[-0.55152988]
 [-0.83415464]
 [-0.00091464]]

 R_gt:
[[ 0.9951974  -0.09737393 -0.01005043]
 [ 0.09714167  0.99503691 -0.02156483]
 [ 0.01210028  0.02048654  0.99971635]]

 t_gt:
[ 0.68096316 -0.71630646 -0.15229649]

Pose Error in degrees for R and t:
4.419917186892497 77.16887920986242

Number of keypoints:
Image1: 303
Image2: 303

 R_estimated:
[[ 6.31695854e-01  7.75215854e-01 -8.53659030e-04]
 [ 7.75029647e-01 -6.31519190e-01  2.26397710e-02]
 [ 1.70116073e-02 -1.49630605e-02 -9.99743323e-01]]

 t_estimated:
[[0.60832169]
 [0.7936901 ]
 [0.00087027]]

 R_gt:
[[ 0.98617769 -0.1655611   0.00652387]
 [ 0.1655375   0.98619508  0.00408622]
 [-0.00711018 -0.00295001  0.99996959]]

 t_gt:
[ 0.67558488 -0.73500092  0.05795441]

Pose Error in degrees for R and t:
178.83794718307638 80.07612488257689

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-4.38573355e-01 -8.98694507e-01 -1.26306162e-03]
 [-8.98695222e-01  4.38573709e-01 -4.13622125e-06]
 [ 5.57662820e-04  1.13329341e-03 -9.99999202e-01]]

 t_estimated:
[[8.38502929e-01]
 [5.44896701e-01]
 [6.51011590e-04]]

 R_gt:
[[ 0.98944611 -0.14474229 -0.00681278]
 [ 0.14487774  0.98906457  0.0276171 ]
 [ 0.0027416  -0.02831214  0.99959505]]

 t_gt:
[ 0.68260524 -0.7242339   0.0976491 ]

Pose Error in degrees for R and t:
179.44193085630346 79.75850949746888

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[-5.90857265e-01 -8.06776077e-01 -2.32430786e-04]
 [-8.06772643e-01  5.90855546e-01 -2.76151826e-03]
 [ 2.36525989e-03 -1.44414433e-03 -9.99996160e-01]]

 t_estimated:
[[8.63724171e-01]
 [5.03964277e-01]
 [7.51064496e-04]]

 R_gt:
[[ 0.99875964  0.01619917 -0.04709463]
 [-0.01502192  0.9995691   0.02523505]
 [ 0.0474826  -0.02449584  0.99857102]]

 t_gt:
[ 0.34444773  0.84757138 -0.40370599]

Pose Error in degrees for R and t:
178.14466346535164 43.585171432845534

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99608954e-01 -2.79626887e-02  1.62944071e-04]
 [ 2.79625731e-02  9.99608744e-01  6.73185791e-04]
 [-1.81704403e-04 -6.68366209e-04  9.99999760e-01]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.99413015  0.01826462 -0.10663807]
 [-0.01246101  0.99841756  0.05483496]
 [ 0.10747041 -0.05318464  0.99278427]]

 t_gt:
[ 0.63712028  0.54528072 -0.54474461]

Pose Error in degrees for R and t:
7.313548517653565 36.186162393903594

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.95119808 -0.30856154  0.00346261]
 [ 0.3085717   0.9511966  -0.00292283]
 [-0.00239175  0.00384865  0.99998973]]

 t_estimated:
[[0.94753474]
 [0.31965028]
 [0.00126845]]

 R_gt:
[[ 0.9848431   0.02753452 -0.17125161]
 [-0.02215124  0.99920146  0.03326558]
 [ 0.17203033 -0.02896809  0.98466496]]

 t_gt:
[ 0.59494732  0.41696518 -0.68715189]

Pose Error in degrees for R and t:
21.9264249180442 45.881497104903914

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 1.00000000e+00  3.10862447e-15  9.77950360e-17]
 [-3.10862447e-15  1.00000000e+00 -1.49186219e-16]
 [-1.92445886e-16  1.78893358e-16  1.00000000e+00]]

 t_estimated:
[[0.28048464]
 [0.95985775]
 [0.00120968]]

 R_gt:
[[ 0.9967694   0.01176503 -0.07946187]
 [-0.01235326  0.99990048 -0.00690572]
 [ 0.0793732   0.00786588  0.99681343]]

 t_gt:
[ 0.16652456  0.1508014  -0.97443754]

Pose Error in degrees for R and t:
4.62651662629018 79.03106693080913

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[-0.49926    -0.86645085 -0.00154456]
 [ 0.86645053 -0.49925471 -0.00286538]
 [ 0.00171158 -0.00276885  0.9999947 ]]

 t_estimated:
[[8.22218679e-01]
 [5.69171234e-01]
 [7.42074620e-04]]

 R_gt:
[[ 0.99210655 -0.00794555 -0.12514833]
 [ 0.00482669  0.99967193 -0.02519375]
 [ 0.12530697  0.0243909   0.99181793]]

 t_gt:
[ 3.29582749e-01 -7.44465543e-06 -9.44126692e-01]

Pose Error in degrees for R and t:
119.70663170534573 74.31881832982043

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-3.51791510e-01 -9.36076456e-01 -1.89813631e-03]
 [ 9.36078360e-01 -3.51791202e-01 -5.04442998e-04]
 [-1.95550440e-04 -1.95426308e-03  9.99998071e-01]]

 t_estimated:
[[9.34312585e-01]
 [3.56453572e-01]
 [9.18694774e-04]]

 R_gt:
[[ 0.9963822  -0.08006937 -0.02848947]
 [ 0.07894884  0.99613625 -0.03849089]
 [ 0.03146133  0.03610284  0.99885237]]

 t_gt:
[ 0.64645003 -0.51465776 -0.56323152]

Pose Error in degrees for R and t:
106.05888277548094 65.16431606658428

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99999285e-01 -1.19578514e-03  2.99797161e-05]
 [ 1.19578246e-03  9.99999281e-01  8.94135594e-05]
 [-3.00866139e-05 -8.93776462e-05  9.99999996e-01]]

 t_estimated:
[[0.05292359]
 [0.99859801]
 [0.00105412]]

 R_gt:
[[ 0.99746795 -0.06319065 -0.03262834]
 [ 0.06381328  0.9977922   0.01839213]
 [ 0.03139313 -0.02042697  0.99929792]]

 t_gt:
[ 0.43189826 -0.90191989 -0.00209857]

Pose Error in degrees for R and t:
4.168156391528615 28.621891801388802

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[-8.09452497e-01 -5.87185307e-01  2.64418822e-04]
 [-5.87182922e-01  8.09450344e-01  2.52129878e-03]
 [-1.69450350e-03  1.88560938e-03 -9.99996787e-01]]

 t_estimated:
[[0.92855832]
 [0.37118462]
 [0.00119352]]

 R_gt:
[[ 0.98059654 -0.19044353 -0.04649914]
 [ 0.19217467  0.98069634  0.03610064]
 [ 0.03872582 -0.0443353   0.99826524]]

 t_gt:
[ 0.62231511 -0.77634736  0.10004338]

Pose Error in degrees for R and t:
178.45179847670178 73.15359375908155

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.53081599e-01 -3.02713451e-01 -1.77481989e-04]
 [ 3.02713501e-01  9.53081501e-01  4.33600561e-04]
 [ 3.78980780e-05 -4.66982911e-04  9.99999890e-01]]

 t_estimated:
[[8.29407247e-01]
 [5.58643906e-01]
 [7.78055579e-04]]

 R_gt:
[[ 0.97545142 -0.18350395 -0.12174007]
 [ 0.1927668   0.97880396  0.06916128]
 [ 0.10646831 -0.09093109  0.99014914]]

 t_gt:
[ 0.61372988 -0.7780497   0.13406823]

Pose Error in degrees for R and t:
10.467837038882164 85.72844814295188

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[-0.24486076 -0.96951565 -0.00908948]
 [ 0.96953646 -0.24478164 -0.00900007]
 [ 0.00650077 -0.01101634  0.99991819]]

 t_estimated:
[[9.69022952e-01]
 [2.46968885e-01]
 [9.42629331e-04]]

 R_gt:
[[ 0.98661765  0.16175283  0.02055143]
 [-0.16223667  0.98644509  0.02460251]
 [-0.01629326 -0.0276082   0.99948598]]

 t_gt:
[-0.88726884  0.41717539  0.19677068]

Pose Error in degrees for R and t:
113.51473084084171 40.83734084987169

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.9551108   0.29624654  0.00115676]
 [-0.29624363  0.95510992 -0.00218196]
 [-0.00175123  0.00174134  0.99999695]]

 t_estimated:
[[-9.74566202e-01]
 [-2.24098111e-01]
 [-8.68597328e-04]]

 R_gt:
[[ 0.92176497  0.384547    0.04973451]
 [-0.38517257  0.92283835  0.00330026]
 [-0.04462725 -0.02219941  0.99875746]]

 t_gt:
[-0.84770549  0.52412322  0.08179403]

Pose Error in degrees for R and t:
6.101688569482315 44.877332029460035

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-3.18108183e-01 -9.48054406e-01 -1.67919372e-04]
 [-9.48053792e-01  3.18108171e-01 -1.09531746e-03]
 [ 1.09183707e-03 -1.89232850e-04 -9.99999386e-01]]

 t_estimated:
[[0.9724227 ]
 [0.23322333]
 [0.00098823]]

 R_gt:
[[ 0.88446028  0.4634679   0.05409881]
 [-0.46461604  0.88545291  0.01026811]
 [-0.04314361 -0.03421733  0.99848282]]

 t_gt:
[-0.83163731  0.54866505  0.08570904]

Pose Error in degrees for R and t:
176.93509193903125 47.10501020721597

Number of keypoints:
Image1: 254
Image2: 254

 R_estimated:
[[ 9.94594509e-01  1.03834968e-01  2.49963269e-04]
 [-1.03834898e-01  9.94594509e-01 -2.78425093e-04]
 [-2.77522355e-04  2.50965158e-04  9.99999930e-01]]

 t_estimated:
[[ 3.66329501e-01]
 [-9.30485192e-01]
 [ 5.70007083e-05]]

 R_gt:
[[ 0.99661823 -0.08217081  0.00129672]
 [ 0.08199722  0.99322181 -0.08239004]
 [ 0.00548276  0.08221813  0.99659883]]

 t_gt:
[ 0.44908139 -0.50615336 -0.73629795]

Pose Error in degrees for R and t:
11.667023183354033 50.54752214850935

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 0.15895005  0.98728438  0.00210697]
 [ 0.98728046 -0.15895624  0.00319578]
 [ 0.00349006  0.00157221 -0.99999267]]

 t_estimated:
[[-9.99996995e-01]
 [-2.32557441e-03]
 [-7.75191469e-04]]

 R_gt:
[[ 9.86726993e-01 -1.61267174e-01  1.90416377e-02]
 [ 1.62383774e-01  9.79188290e-01 -1.21746631e-01]
 [ 9.88683188e-04  1.23223975e-01  9.92377717e-01]]

 t_gt:
[ 0.50743173 -0.63982594 -0.57717919]

Pose Error in degrees for R and t:
174.3338755476273 59.635795253664064

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.86580248  0.50028848  0.00987443]
 [ 0.50029994  0.86585095 -0.00145015]
 [-0.00927528  0.00368463 -0.9999502 ]]

 t_estimated:
[[ 0.95299113]
 [-0.30295457]
 [ 0.00514061]]

 R_gt:
[[ 0.96265443 -0.2706389  -0.00714451]
 [ 0.26817788  0.95685551 -0.11184014]
 [ 0.03710533  0.10574731  0.99370041]]

 t_gt:
[ 0.62325182 -0.67396057 -0.3966539 ]

Pose Error in degrees for R and t:
179.03492776352317 37.24130481116152

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 0.74955358 -0.66193978 -0.00226889]
 [ 0.66194081  0.74953585  0.00551162]
 [-0.00194775 -0.00563312  0.99998224]]

 t_estimated:
[[0.74820542]
 [0.66346392]
 [0.00206687]]

 R_gt:
[[ 0.96625754  0.25749895  0.00639983]
 [-0.25748406  0.96627795 -0.00324822]
 [-0.00702008  0.00149141  0.99997464]]

 t_gt:
[-0.88412502  0.46720948 -0.00618552]

Pose Error in degrees for R and t:
56.373155018785695 69.41826191793415

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[-6.44839503e-01 -7.64315936e-01 -1.77927142e-03]
 [ 7.64317950e-01 -6.44836815e-01 -1.88489027e-03]
 [ 2.93311953e-04 -2.57538079e-03  9.99996641e-01]]

 t_estimated:
[[0.96455581]
 [0.26387583]
 [0.00128095]]

 R_gt:
[[ 0.91188294  0.40883242  0.0364225 ]
 [-0.40883996  0.91257556 -0.00759132]
 [-0.03634224 -0.00796879  0.99930718]]

 t_gt:
[-0.85041994  0.52471404  0.03822424]

Pose Error in degrees for R and t:
154.3015912564431 47.01795169234113

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[-0.10278368  0.99463353 -0.0118176 ]
 [ 0.99464277  0.10290166  0.00984935]
 [ 0.01101255 -0.01074194 -0.99988166]]

 t_estimated:
[[9.62232304e-01]
 [2.72228187e-01]
 [8.98442861e-04]]

 R_gt:
[[ 0.8891902   0.45607358  0.03658313]
 [-0.45560038  0.88994031 -0.02088274]
 [-0.04208106  0.00190107  0.99911254]]

 t_gt:
[-0.84716028  0.53110956  0.01555919]

Pose Error in degrees for R and t:
178.67795283935376 47.88908015842165

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 9.99920394e-01  1.26173385e-02  9.18068067e-05]
 [-1.26173376e-02  9.99920398e-01 -1.03194234e-05]
 [-9.19297023e-05  9.16024439e-06  9.99999996e-01]]

 t_estimated:
[[8.51029198e-01]
 [5.25117841e-01]
 [7.46737861e-04]]

 R_gt:
[[ 0.99626231 -0.08596284 -0.00858183]
 [ 0.0860718   0.99620094  0.01327036]
 [ 0.00740822 -0.01395914  0.99987481]]

 t_gt:
[ 0.55130247 -0.83057101  0.07885044]

Pose Error in degrees for R and t:
5.729932715863677 88.10398161497052

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99942618e-01  1.07120198e-02  1.14009257e-04]
 [-1.07120187e-02  9.99942625e-01 -9.93483831e-06]
 [-1.14109138e-04  8.71299894e-06  9.99999993e-01]]

 t_estimated:
[[ 9.53206926e-01]
 [-3.02318332e-01]
 [ 4.27888021e-04]]

 R_gt:
[[ 0.98662203 -0.16036925 -0.02930897]
 [ 0.15945711  0.98671221 -0.03118031]
 [ 0.0339196   0.02609002  0.99908384]]

 t_gt:
[ 0.60597721 -0.71898601 -0.34036853]

Pose Error in degrees for R and t:
10.121895630186648 37.35997819756522

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.99999967e-01 -2.47581269e-04  6.72684275e-05]
 [ 2.47578690e-04  9.99999969e-01  3.83443119e-05]
 [-6.72779187e-05 -3.83276564e-05  9.99999997e-01]]

 t_estimated:
[[9.99997696e-01]
 [2.14552524e-03]
 [6.82167346e-05]]

 R_gt:
[[ 0.96867111 -0.24807527 -0.01163887]
 [ 0.24594051  0.96473763 -0.09378553]
 [ 0.03449426  0.08798427  0.99552394]]

 t_gt:
[ 0.60823284 -0.67394911 -0.41933925]

Pose Error in degrees for R and t:
15.307596748359588 52.64462954029699

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.99425107e-01 -3.39035899e-02  4.10991474e-05]
 [ 3.39035896e-02  9.99425108e-01  8.25138259e-06]
 [-4.13552713e-05 -6.85323030e-06  9.99999999e-01]]

 t_estimated:
[[9.33150120e-01]
 [3.59486618e-01]
 [4.75252975e-04]]

 R_gt:
[[ 0.99640954 -0.08438568 -0.00689686]
 [ 0.08458534  0.99570574  0.03761253]
 [ 0.00369326 -0.03806108  0.99926809]]

 t_gt:
[ 0.48418865 -0.82577591  0.2892326 ]

Pose Error in degrees for R and t:
3.6392426852600304 81.07724360553229

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.80431422e-01  1.96860481e-01  4.22568952e-04]
 [-1.96860481e-01  9.80431512e-01 -4.29210987e-05]
 [-4.22749384e-04 -4.11059332e-05  9.99999910e-01]]

 t_estimated:
[[0.1985676 ]
 [0.98008646]
 [0.00120311]]

 R_gt:
[[ 0.98906471 -0.13148364 -0.06680239]
 [ 0.1356252   0.98883212  0.06177826]
 [ 0.0579334  -0.07016304  0.99585142]]

 t_gt:
[ 0.58837457 -0.77983974  0.21369452]

Pose Error in degrees for R and t:
19.745257875685294 49.66758612040908

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.92533344e-01 -1.21973570e-01 -9.18298673e-05]
 [ 1.21973604e-01  9.92533149e-01  6.23503270e-04]
 [ 1.50932673e-05 -6.30048606e-04  9.99999801e-01]]

 t_estimated:
[[0.63487673]
 [0.7726127 ]
 [0.00107606]]

 R_gt:
[[ 0.99067252 -0.05078808 -0.12644696]
 [ 0.06896193  0.98720328  0.14378501]
 [ 0.11752591 -0.15116422  0.98149682]]

 t_gt:
[ 0.36758412 -0.77983952  0.50668752]

Pose Error in degrees for R and t:
11.563151199197153 68.3708164726038

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-5.43831624e-03  9.99985029e-01  6.05241636e-04]
 [-9.99983852e-01 -5.43730943e-03 -1.65288017e-03]
 [-1.64956454e-03 -6.14220748e-04  9.99998451e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99477263  0.01762558 -0.10058158]
 [-0.01741556  0.99984461  0.00297795]
 [ 0.10061964 -0.00121062  0.99492366]]

 t_gt:
[ 0.159777    0.18573582 -0.96952231]

Pose Error in degrees for R and t:
89.45896710372965 79.29683967568019

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 2.86661575e-01  9.58031424e-01  9.65227785e-04]
 [-9.58030966e-01  2.86662562e-01 -1.11502977e-03]
 [-1.34492823e-03 -6.05081916e-04  9.99998913e-01]]

 t_estimated:
[[0.0062369 ]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9881235   0.02770735 -0.15114149]
 [-0.02891771  0.99956504 -0.00581065]
 [ 0.15091512  0.01011256  0.98849451]]

 t_gt:
[ 0.16845849  0.20397395 -0.96437356]

Pose Error in degrees for R and t:
72.17599347579507 78.22797535257422

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[ 8.59135216e-01 -5.11748521e-01 -3.63937988e-04]
 [ 5.11748626e-01  8.59135175e-01  3.06472275e-04]
 [ 1.55835194e-04 -4.49545890e-04  9.99999887e-01]]

 t_estimated:
[[0.85194522]
 [0.52363009]
 [0.00093007]]

 R_gt:
[[ 9.86188718e-01 -6.03150583e-03 -1.65517952e-01]
 [ 7.63279131e-04  9.99492037e-01 -3.18678751e-02]
 [ 1.65627267e-01  3.13013333e-02  9.85691520e-01]]

 t_gt:
[ 0.3214588   0.03780758 -0.9461685 ]

Pose Error in degrees for R and t:
32.0484666936604 72.97538779588366

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[-0.99675354 -0.07996026  0.00941972]
 [-0.0797899   0.99666239  0.01725237]
 [-0.01076779  0.01644476 -0.99980679]]

 t_estimated:
[[8.63568321e-01]
 [5.04231167e-01]
 [8.27965792e-04]]

 R_gt:
[[ 0.99245125  0.10804985 -0.058011  ]
 [-0.10745666  0.99412136  0.0132678 ]
 [ 0.05910314 -0.0069351   0.99822849]]

 t_gt:
[-0.33132644  0.89101239 -0.31035417]

Pose Error in degrees for R and t:
177.19006099921916 80.62495559000925

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-8.88849394e-01 -4.58179990e-01 -4.22520109e-03]
 [-4.58176514e-01  8.88859377e-01 -1.81375210e-03]
 [ 4.58663452e-03  3.23735456e-04 -9.99989429e-01]]

 t_estimated:
[[ 0.95608579]
 [ 0.29308444]
 [-0.00121617]]

 R_gt:
[[ 0.97943217  0.17772964 -0.09552331]
 [-0.17784175  0.98403055  0.00741173]
 [ 0.09531467  0.00972865  0.99540055]]

 t_gt:
[-0.25338328  0.90861525 -0.3319868 ]

Pose Error in degrees for R and t:
174.38736254229582 88.59905924444998

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 6.44946503e-01  7.64227270e-01  8.29263915e-04]
 [ 7.64209733e-01 -6.44938388e-01  6.16106190e-03]
 [ 5.24327565e-03 -3.33982377e-03 -9.99980677e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.97726718  0.13815979 -0.16080931]
 [-0.13278284  0.99017796  0.04377563]
 [ 0.16527792 -0.02142907  0.98601465]]

 t_gt:
[ 0.010128    0.86644335 -0.49917266]

Pose Error in degrees for R and t:
174.0231970912575 68.05802642711137

Number of keypoints:
Image1: 375
Image2: 375

 R_estimated:
[[ 9.99714088e-01 -2.39111164e-02 -3.65730668e-05]
 [ 2.39111178e-02  9.99714088e-01  3.86699144e-05]
 [ 3.56379692e-05 -3.95333611e-05  9.99999999e-01]]

 t_estimated:
[[-9.39166247e-01]
 [-3.43461980e-01]
 [-7.93214735e-04]]

 R_gt:
[[ 0.99999831 -0.00184281 -0.00127902]
 [ 0.00183646  0.999986   -0.00507906]
 [ 0.00128848  0.005078    0.9999866 ]]

 t_gt:
[-0.42885144  0.85856398 -0.28098812]

Pose Error in degrees for R and t:
1.298056091115972 83.79410739545072

Number of keypoints:
Image1: 365
Image2: 365

 R_estimated:
[[ 9.90358492e-01 -1.38528184e-01  2.42065687e-05]
 [ 1.38528184e-01  9.90358491e-01 -3.49505433e-05]
 [-1.91315455e-05  3.79668593e-05  9.99999999e-01]]

 t_estimated:
[[-0.45143459]
 [-0.8923037 ]
 [-0.0009605 ]]

 R_gt:
[[ 0.99897845 -0.04410457  0.00988166]
 [ 0.04454142  0.99778083 -0.04949272]
 [-0.00767708  0.04988332  0.99872601]]

 t_gt:
[ 0.02178469  0.80166115 -0.59738164]

Pose Error in degrees for R and t:
6.142552048222162 43.56559927759547

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 5.94791821e-01 -8.03879600e-01 -5.27764673e-04]
 [ 8.03879630e-01  5.94791196e-01  9.87235541e-04]
 [-4.79708731e-04 -1.01145890e-03  9.99999373e-01]]

 t_estimated:
[[ 0.90658841]
 [-0.4220146 ]
 [ 0.00106337]]

 R_gt:
[[ 0.9924569  -0.10381029  0.06521126]
 [ 0.10644249  0.99358233 -0.03826462]
 [-0.06082043  0.04491844  0.99713769]]

 t_gt:
[0.7664156  0.58435555 0.2667128 ]

Pose Error in degrees for R and t:
47.64882181925728 63.35247947050018

Number of keypoints:
Image1: 228
Image2: 228

 R_estimated:
[[ 9.99741582e-01 -2.27325426e-02 -4.12884529e-05]
 [ 2.27325433e-02  9.99741582e-01  1.56435701e-05]
 [ 4.09221651e-05 -1.65781190e-05  9.99999999e-01]]

 t_estimated:
[[-9.66055739e-01]
 [-2.58333360e-01]
 [-4.29248137e-04]]

 R_gt:
[[ 0.99652055  0.08301201 -0.00752624]
 [-0.08315655  0.99630084 -0.02166643]
 [ 0.00570006  0.02221656  0.9997368 ]]

 t_gt:
[-0.67770735  0.69923042 -0.22757319]

Pose Error in degrees for R and t:
6.209627048629432 61.69492344135794

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 9.99114637e-01  4.20706807e-02  8.87602352e-06]
 [-4.20706797e-02  9.99114632e-01 -9.62129674e-05]
 [-1.29159100e-05  9.57543636e-05  9.99999995e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99758792  0.06291618 -0.02931812]
 [-0.06324931  0.99794173 -0.01058489]
 [ 0.02859221  0.01241331  0.99951383]]

 t_gt:
[-0.7321613   0.53026396 -0.42750434]

Pose Error in degrees for R and t:
2.1545181994752802 43.042742036445865

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-6.13402991e-01 -7.89765855e-01 -2.58155799e-03]
 [ 7.89769914e-01 -6.13397506e-01 -2.64241560e-03]
 [ 5.03368384e-04 -3.65970247e-03  9.99993177e-01]]

 t_estimated:
[[0.92403077]
 [0.38231623]
 [0.00119848]]

 R_gt:
[[ 0.99755922  0.05955136  0.0364536 ]
 [-0.05894822  0.99810975 -0.01737318]
 [-0.03741855  0.01518185  0.99918418]]

 t_gt:
[-0.85866928  0.46356612  0.21861729]

Pose Error in degrees for R and t:
131.24941332876293 51.97931129247595

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99999561e-01 -9.36592267e-04  6.85938877e-08]
 [ 9.36592254e-04  9.99999555e-01  1.10968354e-04]
 [-1.72525960e-07 -1.10968241e-04  9.99999994e-01]]

 t_estimated:
[[ 9.36541922e-02]
 [-9.95604595e-01]
 [ 6.19118705e-04]]

 R_gt:
[[ 0.99785157 -0.03375494 -0.05615685]
 [ 0.02813476  0.99478801 -0.09801282]
 [ 0.05917265  0.09622299  0.99359961]]

 t_gt:
[ 0.21810467 -0.00243322 -0.97592235]

Pose Error in degrees for R and t:
6.716332823824545 88.72536591461194

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-9.87842335e-01 -1.55457782e-01 -6.31101328e-04]
 [-1.55458633e-01  9.87841012e-01  1.65808518e-03]
 [ 3.65665529e-04  1.73603689e-03 -9.99998426e-01]]

 t_estimated:
[[0.99928538]
 [0.03774637]
 [0.00198665]]

 R_gt:
[[ 0.9858872  -0.16266983 -0.03955395]
 [ 0.15207586  0.96901296 -0.19464839]
 [ 0.06999188  0.18588577  0.98007613]]

 t_gt:
[ 0.43459161 -0.33057833 -0.83776375]

Pose Error in degrees for R and t:
175.96710014181156 65.15666367331717

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.58479046e-01  2.85162239e-01  6.44035830e-04]
 [-2.85161464e-01  9.58478883e-01 -1.08221536e-03]
 [-9.25901698e-04  8.53626543e-04  9.99999207e-01]]

 t_estimated:
[[-8.55841589e-01]
 [-5.17237596e-01]
 [-6.66543294e-04]]

 R_gt:
[[ 0.98470052 -0.16019721 -0.06856591]
 [ 0.14286626  0.96749114 -0.20868912]
 [ 0.09976747  0.19570033  0.97557617]]

 t_gt:
[ 0.39353477 -0.19844151 -0.89763654]

Pose Error in degrees for R and t:
28.32479200575701 76.49302716366803

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.09885170e-01  4.14859717e-01  6.26417048e-04]
 [-4.14859695e-01  9.09885380e-01 -1.71508125e-04]
 [-6.41119526e-04 -1.03822486e-04  9.99999789e-01]]

 t_estimated:
[[-0.37038982]
 [ 0.92887572]
 [ 0.00113312]]

 R_gt:
[[ 0.99925613 -0.03813667  0.00586304]
 [ 0.03801675  0.99908783  0.01945614]
 [-0.00660017 -0.01921865  0.99979388]]

 t_gt:
[ 0.59334853 -0.75563846  0.2773951 ]

Pose Error in degrees for R and t:
26.71732321330198 22.875730574053346

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.07195283 -0.99740105 -0.00373313]
 [-0.99740723  0.07195702 -0.00100116]
 [ 0.00126718  0.00365142 -0.99999253]]

 t_estimated:
[[0.8107904 ]
 [0.58533563]
 [0.00105847]]

 R_gt:
[[ 0.99889237  0.02875342 -0.03726107]
 [-0.026469    0.99782202  0.06042376]
 [ 0.03891772 -0.05937032  0.99747786]]

 t_gt:
[ 0.89558779 -0.3880168   0.21763613]

Pose Error in degrees for R and t:
179.45772947915125 60.04998498270106

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 5.42596188e-01  8.39993525e-01  5.04585302e-04]
 [ 8.39991274e-01 -5.42595975e-01  2.06600830e-03]
 [ 2.00921955e-03 -6.97160980e-04 -9.99997738e-01]]

 t_estimated:
[[0.03281799]
 [0.99945689]
 [0.00298345]]

 R_gt:
[[ 0.99126478  0.06428878 -0.11516485]
 [-0.06040971  0.99749306  0.03686722]
 [ 0.11724557 -0.02958801  0.99266268]]

 t_gt:
[ 0.46232364  0.17896935 -0.86846233]

Pose Error in degrees for R and t:
175.03876562755303 78.96236955288362

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999962e-01  2.76961338e-04  2.58094046e-06]
 [-2.76961323e-04  9.99999962e-01 -5.51703945e-06]
 [-2.58246837e-06  5.51632442e-06  1.00000000e+00]]

 t_estimated:
[[ 2.27495156e-01]
 [ 9.73779036e-01]
 [-5.86127671e-04]]

 R_gt:
[[ 0.99833096 -0.02699947 -0.05105919]
 [ 0.02681774  0.99963119 -0.00422852]
 [ 0.05115371  0.00285105  0.99868692]]

 t_gt:
[ 0.78946731 -0.23905512 -0.56532646]

Pose Error in degrees for R and t:
3.3246807070806583 86.97019003271585

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99711784e-01 -2.40050348e-02 -3.26203258e-04]
 [ 2.40055153e-02  9.99710610e-01  1.55901268e-03]
 [ 2.88684704e-04 -1.56639403e-03  9.99998732e-01]]

 t_estimated:
[[0.0311536 ]
 [0.99951124]
 [0.00259613]]

 R_gt:
[[ 0.99311949  0.05288233 -0.10449542]
 [-0.05125759  0.9985201   0.01818104]
 [ 0.10530177 -0.01270034  0.99435987]]

 t_gt:
[ 0.30645974  0.62647689 -0.71666529]

Pose Error in degrees for R and t:
7.467866388811316 50.66470423479321

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-0.99182689 -0.12731391  0.00840189]
 [-0.12724794  0.99183892  0.00797032]
 [-0.00934806  0.00683606 -0.99993294]]

 t_estimated:
[[0.99876392]
 [0.04932167]
 [0.00616521]]

 R_gt:
[[ 0.97846113  0.15231575 -0.13933551]
 [-0.15276836  0.98823368  0.00750869]
 [ 0.13883861  0.01393925  0.99021722]]

 t_gt:
[-0.04094133  0.86219063 -0.50492684]

Pose Error in degrees for R and t:
172.4611216058469 89.9152583772919

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 9.99636808e-01  2.69488374e-02  1.14311212e-04]
 [-2.69488539e-02  9.99636803e-01  1.44699210e-04]
 [-1.10370219e-04 -1.47727212e-04  9.99999983e-01]]

 t_estimated:
[[0.62297408]
 [0.78224121]
 [0.00140944]]

 R_gt:
[[ 0.99870938 -0.01632261  0.04810918]
 [ 0.0157642   0.99980467  0.01197009]
 [-0.0482946  -0.01119567  0.99876994]]

 t_gt:
[-0.48313887  0.01901395  0.87533725]

Pose Error in degrees for R and t:
3.7544668372867296 73.44857772460195

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[-0.96860878 -0.2485799  -0.0022522 ]
 [ 0.24858341 -0.96860942 -0.00144082]
 [-0.00182334 -0.00195545  0.99999643]]

 t_estimated:
[[0.93519988]
 [0.35411845]
 [0.00114414]]

 R_gt:
[[ 0.99634946 -0.02869979  0.08040219]
 [ 0.03100216  0.9991409  -0.0275321 ]
 [-0.07954209  0.02992439  0.99638242]]

 t_gt:
[-0.61419468  0.43800328  0.65644346]

Pose Error in degrees for R and t:
163.91313016803542 65.25763700457982

Number of keypoints:
Image1: 260
Image2: 260

 R_estimated:
[[-0.07975923 -0.99679917  0.00546646]
 [-0.99681302  0.07974965 -0.00195013]
 [ 0.00150794 -0.00560458 -0.99998316]]

 t_estimated:
[[0.7450967 ]
 [0.66695547]
 [0.00114302]]

 R_gt:
[[ 0.99454105 -0.01347156  0.10348223]
 [ 0.02039208  0.9976042  -0.06610874]
 [-0.10234215  0.06785877  0.99243187]]

 t_gt:
[-0.65676966  0.66938497  0.34724254]

Pose Error in degrees for R and t:
178.11620204282318 87.5636206091165

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999994e-01  1.07025841e-04 -3.79484208e-07]
 [-1.07025787e-04  9.99999985e-01  1.38163260e-04]
 [ 3.94271242e-07 -1.38163218e-04  9.99999990e-01]]

 t_estimated:
[[0.74615452]
 [0.66577233]
 [0.00079188]]

 R_gt:
[[ 0.99892251 -0.04360276  0.01592211]
 [ 0.04173572  0.9937983   0.1030679 ]
 [-0.02031845 -0.102291    0.99454648]]

 t_gt:
[ 0.21708752 -0.49805192  0.83953398]

Pose Error in degrees for R and t:
6.463770400649498 80.27360007208783

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99933544e-01  1.15276995e-02  1.39378842e-04]
 [-1.15277233e-02  9.99933539e-01  1.71417036e-04]
 [-1.37393535e-04 -1.73012365e-04  9.99999976e-01]]

 t_estimated:
[[0.49524184]
 [0.86875467]
 [0.00092009]]

 R_gt:
[[ 0.99678099 -0.07161625  0.03604334]
 [ 0.06490764  0.98472394  0.16157147]
 [-0.04706485 -0.15871087  0.98620203]]

 t_gt:
[ 0.20864996 -0.44579511  0.87047798]

Pose Error in degrees for R and t:
10.56921525278061 73.55149547870417

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.99781998e-01 -2.08795430e-02 -1.49400785e-05]
 [ 2.08795448e-02  9.99781989e-01  1.38489279e-04]
 [ 1.20452286e-05 -1.38771030e-04  9.99999990e-01]]

 t_estimated:
[[0.64164302]
 [0.76700285]
 [0.00093099]]

 R_gt:
[[ 0.99792695 -0.05801434  0.02787785]
 [ 0.05576953  0.99558614  0.07547824]
 [-0.0321348  -0.07376566  0.99675777]]

 t_gt:
[ 0.28482237 -0.58516494  0.75924845]

Pose Error in degrees for R and t:
5.051510022411616 74.61153370850644

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-8.08888711e-01 -5.87960306e-01 -1.31622252e-03]
 [ 5.87959598e-01 -8.08889781e-01  9.13282640e-04]
 [-1.60165288e-03 -3.51416449e-05  9.99998717e-01]]

 t_estimated:
[[9.26825681e-01]
 [3.75491100e-01]
 [7.67875461e-04]]

 R_gt:
[[ 0.99127572 -0.13180043 -0.00173029]
 [ 0.13102826  0.9867302  -0.095892  ]
 [ 0.01434544  0.09482842  0.99539079]]

 t_gt:
[ 0.53390944 -0.63561342 -0.55761661]

Pose Error in degrees for R and t:
136.47621334213036 75.18222886354201

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.88862871e-01  1.48829506e-01  3.28186782e-05]
 [-1.48829444e-01  9.88862617e-01 -7.22142508e-04]
 [-1.39929277e-04  7.09215528e-04  9.99999739e-01]]

 t_estimated:
[[-0.58268722]
 [-0.81269531]
 [-0.00139399]]

 R_gt:
[[ 0.99446564 -0.10203483 -0.02505756]
 [ 0.09915339  0.99029406 -0.09739986]
 [ 0.03475271  0.09437684  0.9949309 ]]

 t_gt:
[ 0.44139264 -0.37613631 -0.81467418]

Pose Error in degrees for R and t:
15.444857094179076 87.15547059635118

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-0.29238588 -0.95629981 -0.00108625]
 [-0.95629956  0.29238389  0.00167967]
 [-0.00128867  0.00152989 -0.999998  ]]

 t_estimated:
[[8.59753688e-01]
 [5.10708387e-01]
 [7.34832212e-04]]

 R_gt:
[[ 0.99821734 -0.05011251 -0.03243239]
 [ 0.04651546  0.99354344 -0.10347878]
 [ 0.03740791  0.10178534  0.9941033 ]]

 t_gt:
[ 0.1872673   0.18804006 -0.96414309]

Pose Error in degrees for R and t:
174.89321568277023 75.14765684664445

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.98791275e-01 -4.91513698e-02 -3.62775994e-04]
 [ 4.91514061e-02  9.98791335e-01  9.17783006e-05]
 [ 3.57826490e-04 -1.09498316e-04  9.99999930e-01]]

 t_estimated:
[[-0.90163081]
 [-0.43250249]
 [-0.00186389]]

 R_gt:
[[ 9.98067249e-01  6.14540345e-02 -9.29527440e-03]
 [-6.14627371e-02  9.98109635e-01 -7.43788277e-04]
 [ 9.23249118e-03  1.31490858e-03  9.99956941e-01]]

 t_gt:
[-0.98212749  0.1806518  -0.05282533]

Pose Error in degrees for R and t:
6.361312260189029 36.14930924662967

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.99161513e-01  4.09411817e-02 -3.01369928e-04]
 [-4.09411894e-02  9.99161558e-01 -1.93384323e-05]
 [ 3.00325509e-04  3.16606605e-05  9.99999954e-01]]

 t_estimated:
[[-0.94477517]
 [-0.32771619]
 [-0.00140551]]

 R_gt:
[[ 9.99034162e-01  3.10384685e-02  3.10985340e-02]
 [-3.09999764e-02  9.99518735e-01 -1.70703633e-03]
 [-3.11357764e-02  7.42276726e-04  9.99514930e-01]]

 t_gt:
[-0.99730206  0.01952814  0.07076197]

Pose Error in degrees for R and t:
1.8888256691325171 20.654071592814855

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.01137453  0.99991359  0.00659079]
 [-0.99992373 -0.01134242 -0.00488786]
 [-0.00481269 -0.00664588  0.99996633]]

 t_estimated:
[[-0.36319467]
 [ 0.93169631]
 [ 0.00562251]]

 R_gt:
[[ 0.99596489  0.07398887  0.05078925]
 [-0.07335479  0.99720488 -0.01422397]
 [-0.05169863  0.01044182  0.99860887]]

 t_gt:
[-0.98261115  0.18542786  0.00958324]

Pose Error in degrees for R and t:
86.44965153370813 58.01511853077335

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99983287e-01  5.78059116e-03  1.00279816e-04]
 [-5.78058715e-03  9.99983291e-01 -4.02410032e-05]
 [-1.00510757e-04  3.96606545e-05  9.99999994e-01]]

 t_estimated:
[[9.99525441e-01]
 [3.08005456e-02]
 [4.68956602e-04]]

 R_gt:
[[ 0.99193664 -0.12607357  0.01290463]
 [ 0.12598401  0.99200346  0.00756963]
 [-0.01375615 -0.00588171  0.99988718]]

 t_gt:
[ 0.84052007 -0.53439531  0.08914974]

Pose Error in degrees for R and t:
7.619871240185595 34.542751886498245

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[-0.48698685 -0.87337329  0.00793166]
 [-0.87335994  0.4868427  -0.01505332]
 [ 0.00928569 -0.01425797 -0.99985523]]

 t_estimated:
[[0.88975359]
 [0.45643204]
 [0.00288881]]

 R_gt:
[[ 9.66604265e-01 -2.55715856e-01  1.69375046e-02]
 [ 2.55762563e-01  9.66739370e-01 -6.36736311e-04]
 [-1.62111935e-02  4.94833355e-03  9.99855884e-01]]

 t_gt:
[ 0.84266467 -0.53824759  0.01434518]

Pose Error in degrees for R and t:
179.42485664863818 59.72625606820793

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.97422297e-01 -7.17548317e-02 -7.46882393e-05]
 [ 7.17547854e-02  9.97422176e-01 -5.02624943e-04]
 [ 1.10561474e-04  4.95970086e-04  9.99999871e-01]]

 t_estimated:
[[-0.21693014]
 [-0.97618561]
 [-0.00172167]]

 R_gt:
[[ 0.94135127 -0.33532792 -0.0375882 ]
 [ 0.33536957  0.94207119 -0.00538395]
 [ 0.03721592 -0.00753655  0.99927822]]

 t_gt:
[ 0.86773277 -0.49513692 -0.04335057]

Pose Error in degrees for R and t:
15.637022666419087 72.83150180026713

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-7.36251006e-01 -6.76705523e-01 -2.02290333e-03]
 [-6.76707867e-01  7.36251212e-01  7.83991122e-04]
 [ 9.58833908e-04  1.94612885e-03 -9.99997647e-01]]

 t_estimated:
[[0.84880731]
 [0.52870069]
 [0.00131191]]

 R_gt:
[[ 0.98780888 -0.15474547 -0.01692208]
 [ 0.15530253  0.98709147  0.03912766]
 [ 0.01064938 -0.04127847  0.99909033]]

 t_gt:
[ 0.68961651 -0.70470104  0.16680981]

Pose Error in degrees for R and t:
179.93045658674706 77.70210742879269

Number of keypoints:
Image1: 175
Image2: 175

 R_estimated:
[[ 9.99145449e-01 -4.13306006e-02  3.92031910e-04]
 [ 4.13306719e-02  9.99145507e-01 -1.75576758e-04]
 [-3.84440229e-04  1.91629661e-04  9.99999908e-01]]

 t_estimated:
[[9.18103526e-01]
 [3.96339774e-01]
 [8.36159860e-04]]

 R_gt:
[[ 0.97233956 -0.23303069 -0.01589828]
 [ 0.23352601  0.97123686  0.04652475]
 [ 0.00459977 -0.04895017  0.9987903 ]]

 t_gt:
[ 0.6825863  -0.70903639  0.1770405 ]

Pose Error in degrees for R and t:
11.483618587710774 69.76853104726231

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 8.88758369e-01  4.58375823e-01  4.06868333e-04]
 [-4.58375961e-01  8.88758320e-01  3.57114740e-04]
 [-1.97914852e-04 -5.03887377e-04  9.99999853e-01]]

 t_estimated:
[[9.34475221e-01]
 [3.56027336e-01]
 [7.72293571e-04]]

 R_gt:
[[ 0.94918267 -0.30980682 -0.05541812]
 [ 0.31157387  0.9498515   0.02653539]
 [ 0.04441869 -0.04245291  0.99811023]]

 t_gt:
[ 7.34348685e-01 -6.78772337e-01 -3.52025103e-04]

Pose Error in degrees for R and t:
45.530211535842454 63.60424143069032

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.28460791e-01 -3.71429960e-01 -5.87004273e-04]
 [ 3.71430116e-01  9.28460897e-01  1.79788384e-04]
 [ 4.78231722e-04 -3.84957530e-04  9.99999812e-01]]

 t_estimated:
[[ 7.61622131e-01]
 [-6.48021352e-01]
 [-2.39294593e-04]]

 R_gt:
[[ 0.99542569  0.09530457 -0.00663716]
 [-0.09487835  0.99432604  0.04810152]
 [ 0.01118388 -0.04725031  0.99882059]]

 t_gt:
[-0.55890475  0.77513207  0.29461118]

Pose Error in degrees for R and t:
27.400458628539027 21.867625237592097

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999449e-01 -1.01792760e-03 -2.55567111e-04]
 [ 1.01792812e-03  9.99999482e-01  1.90199301e-06]
 [ 2.55565042e-04 -2.16214091e-06  9.99999967e-01]]

 t_estimated:
[[-0.98194384]
 [-0.18917   ]
 [-0.00100478]]

 R_gt:
[[ 0.97254486  0.23271329  0.00136414]
 [-0.23261306  0.97191649  0.03561211]
 [ 0.0069621  -0.0349504   0.99936475]]

 t_gt:
[-0.53305924  0.8421272   0.08166776]

Pose Error in degrees for R and t:
13.669157193343517 68.65105635734295

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 9.10812394e-01 -4.12817599e-01 -1.55344325e-03]
 [ 4.12818659e-01  9.10813139e-01  4.23838255e-04]
 [ 1.23992863e-03 -1.02732749e-03  9.99998704e-01]]

 t_estimated:
[[0.80552006]
 [0.59256731]
 [0.00118663]]

 R_gt:
[[ 0.89489323  0.44627624  0.00190185]
 [-0.44611915  0.89444807  0.03066408]
 [ 0.01198296 -0.02828863  0.99952816]]

 t_gt:
[-0.47593947  0.87923855  0.02052322]

Pose Error in degrees for R and t:
50.91524007799921 82.08790809101225

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[-0.78839307 -0.61441927  0.03041929]
 [-0.61439395  0.78891884  0.01127594]
 [-0.03092651 -0.00979955 -0.99947362]]

 t_estimated:
[[0.94846492]
 [0.31640363]
 [0.01740814]]

 R_gt:
[[ 0.99553766  0.08647629  0.03776066]
 [-0.08679236  0.99620306  0.00678661]
 [-0.03703127 -0.01003352  0.99926414]]

 t_gt:
[-0.72264312  0.61849951  0.30861834]

Pose Error in degrees for R and t:
175.95951486450699 61.03117360576227

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-6.52352351e-01 -7.57893979e-01 -5.75565667e-03]
 [-7.57902628e-01  6.52367003e-01 -9.49054560e-04]
 [ 4.47408322e-03  3.74310934e-03 -9.99982986e-01]]

 t_estimated:
[[ 0.92744731]
 [ 0.37395088]
 [-0.00148965]]

 R_gt:
[[ 0.99861954  0.00673959  0.05209447]
 [-0.00701999  0.99996147  0.00519693]
 [-0.0520574  -0.00555537  0.99862899]]

 t_gt:
[-0.1646232   0.37195934  0.91353459]

Pose Error in degrees for R and t:
177.4812814275808 89.1436444607108

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 2.56810384e-01 -9.66461787e-01 -2.00675935e-04]
 [-9.66461794e-01 -2.56810411e-01  1.19958363e-04]
 [-1.67470843e-04  1.63139071e-04 -9.99999973e-01]]

 t_estimated:
[[0.59453783]
 [0.80406658]
 [0.00130955]]

 R_gt:
[[ 0.99231687 -0.11745224  0.03887444]
 [ 0.11634963  0.99276999  0.02950049]
 [-0.04205872 -0.02475046  0.99880851]]

 t_gt:
[ 0.7783715  -0.53102514  0.3348882 ]

Pose Error in degrees for R and t:
177.34957261166252 87.92370283608572

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[ 9.93700750e-01 -1.12065378e-01 -4.12599274e-04]
 [ 1.12065415e-01  9.93700829e-01  6.60991329e-05]
 [ 4.02592817e-04 -1.11920867e-04  9.99999913e-01]]

 t_estimated:
[[ 0.93008842]
 [-0.36733411]
 [-0.00108885]]

 R_gt:
[[ 0.9967077   0.07845423 -0.02046271]
 [-0.07796536  0.99667373  0.02369949]
 [ 0.02225353 -0.02202629  0.99950971]]

 t_gt:
[-0.48144523  0.87578917 -0.03469617]

Pose Error in degrees for R and t:
11.064048970265928 39.6949289538092

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.99996969e-01  7.27183947e-04 -2.35211822e-03]
 [-7.21640501e-04  9.99996962e-01  2.35677986e-03]
 [ 2.35382489e-03 -2.35507533e-03  9.99994457e-01]]

 t_estimated:
[[-0.72464838]
 [-0.6891183 ]
 [-0.00082628]]

 R_gt:
[[ 9.54483638e-01  2.98210819e-01 -5.49946019e-03]
 [-2.98200370e-01  9.54499267e-01  2.72122842e-03]
 [ 6.06043580e-03 -9.57665300e-04  9.99981482e-01]]

 t_gt:
[-0.53436744  0.84472465 -0.0298615 ]

Pose Error in degrees for R and t:
17.309691738018508 78.76333559885346

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.89799291e-01 -1.42467538e-01 -6.03868243e-04]
 [ 1.42467721e-01  9.89799411e-01  2.71404585e-04]
 [ 5.59042089e-04 -3.54667798e-04  9.99999781e-01]]

 t_estimated:
[[-9.07027984e-01]
 [-4.21069756e-01]
 [-7.05309474e-04]]

 R_gt:
[[ 0.87769555  0.47696429 -0.04643003]
 [-0.47671523  0.87889298  0.01701801]
 [ 0.04892365  0.00719744  0.99877672]]

 t_gt:
[-0.45540721  0.8847652  -0.09896879]

Pose Error in degrees for R and t:
36.79172842498914 87.67378124503749

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 7.19612422e-01  6.94375613e-01  6.86305641e-04]
 [-6.94375246e-01  7.19612748e-01 -7.14068452e-04]
 [-9.89706007e-04  3.72988791e-05  9.99999510e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99950547 -0.0121888   0.02896485]
 [ 0.01373472  0.99845863 -0.0537813 ]
 [-0.02826389  0.05415341  0.99813302]]

 t_gt:
[-0.46668179  0.87191241 -0.14824595]

Pose Error in degrees for R and t:
44.847190618012526 29.677010658236462

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99154583e-01 -4.11110345e-02 -5.57081786e-05]
 [ 4.11110379e-02  9.99154582e-01  6.00902846e-05]
 [ 5.31907081e-05 -6.23297042e-05  9.99999997e-01]]

 t_estimated:
[[-0.96542226]
 [ 0.26068832]
 [-0.00120994]]

 R_gt:
[[ 0.99949404 -0.00118909  0.03175081]
 [ 0.00308434  0.99821088 -0.05971745]
 [-0.03162293  0.05978558  0.99771046]]

 t_gt:
[-0.48977965  0.85590114 -0.16597931]

Pose Error in degrees for R and t:
4.4792360770547335 45.87960065557295

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[ 9.70543063e-01 -2.40927662e-01 -1.57535199e-04]
 [ 2.40927701e-01  9.70543017e-01  3.08033303e-04]
 [ 7.86809436e-05 -3.36914178e-04  9.99999940e-01]]

 t_estimated:
[[0.90663541]
 [0.42191356]
 [0.00108417]]

 R_gt:
[[ 0.9987734  -0.03676652  0.0331492 ]
 [ 0.03966245  0.99501913 -0.09145503]
 [-0.02962049  0.09265785  0.99525762]]

 t_gt:
[-0.34841675  0.87358994 -0.33977403]

Pose Error in degrees for R and t:
13.009444571909427 87.00068011210244

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999998e-01 -6.20023478e-05 -2.58461945e-05]
 [ 6.20040340e-05  9.99999996e-01  6.52450682e-05]
 [ 2.58421490e-05 -6.52466706e-05  9.99999998e-01]]

 t_estimated:
[[5.21935073e-01]
 [8.52985146e-01]
 [3.46830952e-04]]

 R_gt:
[[ 0.99851258 -0.05023679  0.02119125]
 [ 0.04827309  0.99522978  0.08478587]
 [-0.02534942 -0.08363707  0.99617293]]

 t_gt:
[ 0.25638065 -0.56559944  0.78381518]

Pose Error in degrees for R and t:
5.751674926347591 69.61283858767779

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-0.97125523  0.23801617  0.00340208]
 [ 0.23800318  0.97125686 -0.00382219]
 [-0.00421404 -0.00290261 -0.99998691]]

 t_estimated:
[[0.85567389]
 [0.51751456]
 [0.00093414]]

 R_gt:
[[ 0.99844051 -0.0488621   0.0270088 ]
 [ 0.04732717  0.99737168  0.05486713]
 [-0.02961924 -0.05350371  0.99812737]]

 t_gt:
[ 0.28635328 -0.61115937  0.73789296]

Pose Error in degrees for R and t:
178.5442230431878 85.95329923271316

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.99876390e-01 -1.57223824e-02 -1.07954527e-04]
 [ 1.57223728e-02  9.99876392e-01 -8.87943187e-05]
 [ 1.09337241e-04  8.70860415e-05  9.99999990e-01]]

 t_estimated:
[[-0.1304544 ]
 [-0.99145345]
 [-0.00130454]]

 R_gt:
[[ 0.99981162 -0.01761415 -0.00811413]
 [ 0.01710499  0.99810233 -0.05915823]
 [ 0.00913983  0.05900758  0.99821518]]

 t_gt:
[ 0.19978543 -0.00308058 -0.97983483]

Pose Error in degrees for R and t:
3.4189563822785183 88.7548416787925

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.65258727e-01 -2.61295706e-01 -3.80720678e-04]
 [ 2.61295775e-01  9.65258772e-01  1.44530718e-04]
 [ 3.29728718e-04 -2.38990241e-04  9.99999917e-01]]

 t_estimated:
[[ 6.73535036e-01]
 [-7.39155276e-01]
 [-1.84130129e-04]]

 R_gt:
[[ 0.98721634 -0.15871446 -0.01459183]
 [ 0.15668572  0.98320417 -0.09359005]
 [ 0.02920127  0.09010859  0.99550427]]

 t_gt:
[ 0.55671534 -0.65147984 -0.51540475]

Pose Error in degrees for R and t:
8.13745741885804 31.062280640289394

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-2.95792473e-04  9.99999947e-01  1.38900522e-04]
 [-9.99996713e-01 -2.95437754e-04 -2.54687558e-03]
 [-2.54683441e-03 -1.39653412e-04  9.99996747e-01]]

 t_estimated:
[[0.61601366]
 [0.78773429]
 [0.00136286]]

 R_gt:
[[ 0.97932213 -0.20027745 -0.02856588]
 [ 0.19429788  0.97047315 -0.14293332]
 [ 0.0563487   0.13442707  0.98932031]]

 t_gt:
[ 0.54667349 -0.53711258 -0.64238475]

Pose Error in degrees for R and t:
101.70180244729603 84.99635409324954

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-2.16272697e-01  9.76325580e-01  3.80558379e-03]
 [ 9.76332645e-01  2.16274284e-01 -5.74146816e-06]
 [-8.28655452e-04  3.71427397e-03 -9.99992759e-01]]

 t_estimated:
[[0.99976268]
 [0.02175762]
 [0.00108788]]

 R_gt:
[[ 0.98892198 -0.13960857 -0.05042911]
 [ 0.13103254  0.98067096 -0.1453109 ]
 [ 0.06974053  0.13709355  0.9881005 ]]

 t_gt:
[ 0.4313281  -0.27051639 -0.860684  ]

Pose Error in degrees for R and t:
177.4297626533775 64.88707923834956

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.99999873e-01  4.70278928e-04 -1.83676191e-04]
 [-4.70226634e-04  9.99999849e-01  2.84646383e-04]
 [ 1.83810026e-04 -2.84559977e-04  9.99999943e-01]]

 t_estimated:
[[-9.99994932e-01]
 [-3.08775704e-03]
 [-7.75779674e-04]]

 R_gt:
[[ 0.99571901  0.0717256  -0.05830706]
 [-0.06429835  0.99062099  0.12056121]
 [ 0.06640705 -0.11629584  0.99099216]]

 t_gt:
[-0.06202856  0.20058758  0.97771012]

Pose Error in degrees for R and t:
8.605101812676454 86.52285422469933

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.23602923 -0.9714132   0.02542839]
 [ 0.97156385  0.23641077  0.01317692]
 [-0.01881178  0.02159517  0.9995898 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9865869   0.14080593 -0.08258914]
 [-0.12876216  0.98224188  0.13645858]
 [ 0.1003367  -0.12399422  0.9871972 ]]

 t_gt:
[-0.29124219  0.82233108  0.4888247 ]

Pose Error in degrees for R and t:
84.68911341586049 73.24308013374198

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.97079749  0.23989588 -0.00148289]
 [-0.23988778  0.97079118  0.00428304]
 [ 0.00246706 -0.00380223  0.99998973]]

 t_estimated:
[[0.132351  ]
 [0.99120141]
 [0.00172426]]

 R_gt:
[[ 0.97801577  0.18833559 -0.08952653]
 [-0.17471578  0.97443385  0.14125503]
 [ 0.11384119 -0.12250822  0.98591673]]

 t_gt:
[-0.3002636   0.90247428  0.30883966]

Pose Error in degrees for R and t:
9.951105555407073 31.204218755849034

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 0.99916082 -0.0408339  -0.00320233]
 [ 0.04083896  0.99916457  0.00153185]
 [ 0.00313711 -0.00166135  0.9999937 ]]

 t_estimated:
[[-0.99571625]
 [-0.09171771]
 [-0.01170538]]

 R_gt:
[[ 0.99789422 -0.01927067  0.06193345]
 [ 0.0122375   0.99363304  0.11199574]
 [-0.06369641 -0.11100197  0.99177679]]

 t_gt:
[-0.00711338 -0.16753009  0.9858413 ]

Pose Error in degrees for R and t:
7.503284327044708 89.3749634968496

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.34150337e-01  3.56879723e-01  1.08188543e-04]
 [-3.56879737e-01  9.34150254e-01  3.95242694e-04]
 [ 3.99897479e-05 -4.07826395e-04  9.99999916e-01]]

 t_estimated:
[[0.79804907]
 [0.60259193]
 [0.00081103]]

 R_gt:
[[ 0.99534215 -0.07507352  0.06047767]
 [ 0.06185057  0.97850534  0.19672767]
 [-0.07394618 -0.19207053  0.97859102]]

 t_gt:
[ 0.15293135 -0.34255591  0.9269668 ]

Pose Error in degrees for R and t:
27.51651608622523 85.20315834042302

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-8.05339298e-01 -5.92675496e-01 -1.28207486e-02]
 [ 5.92587911e-01 -8.05441102e-01  1.02077931e-02]
 [-1.63762667e-02  6.23316316e-04  9.99865706e-01]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.99284878 -0.08934191  0.0791719 ]
 [ 0.0696693   0.97222476  0.22343949]
 [-0.09693475 -0.21632571  0.97149696]]

 t_gt:
[ 0.15634171 -0.31942442  0.93462576]

Pose Error in degrees for R and t:
139.21486483010034 81.96085472698827

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.96212660e-01  8.69491699e-02 -4.21667517e-04]
 [-8.69494974e-02  9.96212372e-01 -8.33062354e-04]
 [ 3.47636317e-04  8.66571042e-04  9.99999564e-01]]

 t_estimated:
[[0.99229853]
 [0.12386138]
 [0.00140752]]

 R_gt:
[[ 0.99669837  0.03699601 -0.07227676]
 [-0.02807552  0.99228415  0.12076568]
 [ 0.07618735 -0.11833769  0.99004676]]

 t_gt:
[-0.35973612 -0.12031628  0.92526424]

Pose Error in degrees for R and t:
8.696292042358222 68.24948140539286

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[-7.42171013e-01  6.70210365e-01  5.04060305e-04]
 [ 6.70209394e-01  7.42168118e-01  2.41905868e-03]
 [ 1.24718071e-03  2.13318118e-03 -9.99996947e-01]]

 t_estimated:
[[0.60732788]
 [0.79445053]
 [0.00109428]]

 R_gt:
[[ 0.98156722 -0.04527625 -0.18567848]
 [ 0.08727107  0.97051229  0.22469899]
 [ 0.17003016 -0.23676107  0.956574  ]]

 t_gt:
[ 0.61703913 -0.65347879  0.43843833]

Pose Error in degrees for R and t:
165.52072475606013 81.72457729039886

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 8.99540943e-02 -9.95943887e-01 -2.00854042e-03]
 [ 9.95873067e-01  8.99717233e-02 -1.19131644e-02]
 [ 1.20455551e-02 -9.28613395e-04  9.99927018e-01]]

 t_estimated:
[[0.9988231 ]
 [0.04848656]
 [0.00121216]]

 R_gt:
[[ 0.96330553 -0.14380996 -0.22663276]
 [ 0.20219937  0.94409786  0.26037356]
 [ 0.17651947 -0.29664413  0.93853281]]

 t_gt:
[ 0.71253074 -0.58601715  0.38585469]

Pose Error in degrees for R and t:
76.86753385846923 46.86293873245122

Number of keypoints:
Image1: 285
Image2: 285

 R_estimated:
[[ 8.48244693e-01  5.29603655e-01 -9.53206640e-04]
 [-5.29604481e-01  8.48243894e-01 -1.17898533e-03]
 [ 1.84156770e-04  1.50489056e-03  9.99998851e-01]]

 t_estimated:
[[ 0.05096984]
 [ 0.99869926]
 [-0.00136441]]

 R_gt:
[[ 0.99899961 -0.0401434  -0.0197554 ]
 [ 0.04050552  0.99901329  0.01826918]
 [ 0.01900292 -0.01905117  0.99963721]]

 t_gt:
[ 0.48447046 -0.87196214 -0.07050106]

Pose Error in degrees for R and t:
34.325276433059166 32.21663964658219

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.97625693e-01  6.88689746e-02  2.04113261e-04]
 [-6.88689139e-02  9.97625675e-01 -2.90740140e-04]
 [-2.23651605e-04  2.75992775e-04  9.99999937e-01]]

 t_estimated:
[[0.97632801]
 [0.21629213]
 [0.00115433]]

 R_gt:
[[ 0.99725523 -0.05831723 -0.04562952]
 [ 0.05999481  0.9975383   0.03630933]
 [ 0.04339985 -0.03894688  0.99829792]]

 t_gt:
[ 0.49032784 -0.85755975 -0.15546668]

Pose Error in degrees for R and t:
8.075676947460375 72.95888161213166

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 9.91276334e-01  1.31799888e-01  1.38834777e-04]
 [-1.31799852e-01  9.91276319e-01 -2.39900404e-04]
 [-1.69242473e-04  2.19509190e-04  9.99999962e-01]]

 t_estimated:
[[0.71649087]
 [0.69759606]
 [0.00075579]]

 R_gt:
[[ 0.99573705 -0.08215161 -0.04193443]
 [ 0.08321624  0.99623516  0.02430401]
 [ 0.03978014 -0.02769045  0.99882414]]

 t_gt:
[ 0.54588686 -0.82328277 -0.15560533]

Pose Error in degrees for R and t:
12.63075304020779 79.43717960943701

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-5.04766560e-01  8.63251239e-01  2.83152848e-03]
 [-8.63255783e-01 -5.04762207e-01 -2.13716780e-03]
 [-4.15664186e-04 -3.52310417e-03  9.99993707e-01]]

 t_estimated:
[[8.01117160e-01]
 [5.98507234e-01]
 [6.21502839e-04]]

 R_gt:
[[ 0.98705807 -0.16025981 -0.00563384]
 [ 0.15966475  0.98544351 -0.05837189]
 [ 0.01490509  0.05671651  0.99827821]]

 t_gt:
[ 0.51635263 -0.71960085 -0.46427856]

Pose Error in degrees for R and t:
129.5554666742652 89.00782170794825

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 9.13055916e-01 -4.07833965e-01 -5.92330210e-04]
 [ 4.07834087e-01  9.13056049e-01  9.66502053e-05]
 [ 5.01413445e-04 -3.29819492e-04  9.99999820e-01]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.97466393 -0.2188814   0.0460624 ]
 [ 0.21997623  0.97529696 -0.02017945]
 [-0.04050892  0.02980017  0.99873443]]

 t_gt:
[ 0.23781823 -0.9712135   0.01366869]

Pose Error in degrees for R and t:
11.751622070904736 36.21381461361608

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 0.74090376  0.67160808 -0.0020495 ]
 [-0.6715658   0.74088571  0.00936718]
 [ 0.00780952 -0.0055638   0.99995403]]

 t_estimated:
[[-0.99995131]
 [-0.00979144]
 [-0.00122393]]

 R_gt:
[[ 0.94051977 -0.33770743  0.03710499]
 [ 0.33878423  0.94044834 -0.02795687]
 [-0.02545463  0.03886389  0.99891975]]

 t_gt:
[ 0.41205109 -0.91094027 -0.02004303]

Pose Error in degrees for R and t:
62.050143443384094 66.22869099981263

Number of keypoints:
Image1: 196
Image2: 196

 R_estimated:
[[ 9.57235014e-01  2.89304001e-01 -2.07915130e-03]
 [-2.89301764e-01  9.57237048e-01  1.31282917e-03]
 [ 2.37004739e-03 -6.55183910e-04  9.99996977e-01]]

 t_estimated:
[[0.59129585]
 [0.80645324]
 [0.00154789]]

 R_gt:
[[ 9.94329440e-01 -1.06342816e-01 -5.88154220e-04]
 [ 1.06339948e-01  9.94238658e-01  1.33981241e-02]
 [-8.40290427e-04 -1.33849735e-02  9.99910565e-01]]

 t_gt:
[ 0.19681451 -0.97840663  0.063123  ]

Pose Error in degrees for R and t:
22.932252876153175 47.73458869136802

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 9.99819233e-01 -1.90130853e-02  5.47443838e-05]
 [ 1.90131032e-02  9.99819174e-01 -3.48265091e-04]
 [-4.81128907e-05  3.49242997e-04  9.99999938e-01]]

 t_estimated:
[[-0.99989881]
 [-0.01413873]
 [-0.00157259]]

 R_gt:
[[ 0.98147255 -0.18809654  0.03649017]
 [ 0.18763846  0.98211331  0.01563791]
 [-0.03877891 -0.00850178  0.99921189]]

 t_gt:
[ 0.19110862 -0.96196895  0.19517487]

Pose Error in degrees for R and t:
10.005524176158803 79.75863789139537

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99999970e-01  1.17056510e-04  2.15862134e-04]
 [-1.17043773e-04  9.99999991e-01 -5.90151611e-05]
 [-2.15869040e-04  5.89898940e-05  9.99999975e-01]]

 t_estimated:
[[0.70661117]
 [0.70760157]
 [0.00081977]]

 R_gt:
[[ 0.94545359 -0.32571678  0.00504101]
 [ 0.32502919  0.9442657   0.05212165]
 [-0.02173668 -0.04764132  0.99862793]]

 t_gt:
[ 0.41715793 -0.89210215  0.17358865]

Pose Error in degrees for R and t:
19.24193125649004 70.34582785715374

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.87362565e-01 -1.58477420e-01 -2.69118842e-04]
 [ 1.58477433e-01  9.87362599e-01  2.87169252e-05]
 [ 2.61166895e-04 -7.10032803e-05  9.99999963e-01]]

 t_estimated:
[[-0.41474931]
 [-0.90993485]
 [-0.00125682]]

 R_gt:
[[ 0.99684227  0.07591584  0.02329824]
 [-0.07668897  0.99646608  0.03426589]
 [-0.02061452 -0.03594377  0.99914107]]

 t_gt:
[-0.71230958  0.52070963  0.47061294]

Pose Error in degrees for R and t:
13.703830279820108 79.69003063847542

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[-0.38163006  0.92431317 -0.00191439]
 [-0.92431155 -0.38163354 -0.00200188]
 [-0.00258096  0.00100552  0.99999616]]

 t_estimated:
[[0.35157122]
 [0.93616058]
 [0.00102201]]

 R_gt:
[[ 0.99173483  0.04543331 -0.11999301]
 [-0.0240076   0.98439934  0.17430451]
 [ 0.12604071 -0.16998227  0.97735284]]

 t_gt:
[-0.16410482 -0.419708    0.89270085]

Pose Error in degrees for R and t:
110.89266745642179 63.27580175418514

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.94742514e-01  1.02407666e-01 -3.84684444e-05]
 [-1.02407635e-01  9.94742396e-01  4.92157518e-04]
 [ 8.86668951e-05 -4.85630544e-04  9.99999878e-01]]

 t_estimated:
[[0.55317544]
 [0.83306373]
 [0.00132023]]

 R_gt:
[[ 0.98064575 -0.03959309 -0.19174364]
 [ 0.08941928  0.96180441  0.25871958]
 [ 0.17417726 -0.27085765  0.94673011]]

 t_gt:
[ 0.56010674 -0.61709323  0.55269917]

Pose Error in degrees for R and t:
21.089620934676063 78.25765117409476

Number of keypoints:
Image1: 281
Image2: 281

 R_estimated:
[[ 9.84698100e-01 -1.74268906e-01  1.13237146e-05]
 [ 1.74268852e-01  9.84697738e-01 -8.55346186e-04]
 [ 1.37909808e-04  8.44231135e-04  9.99999634e-01]]

 t_estimated:
[[0.41480866]
 [0.90990798]
 [0.00111509]]

 R_gt:
[[ 0.99439042  0.1039915  -0.0193246 ]
 [-0.10390811  0.99457322  0.00521727]
 [ 0.01976301 -0.00318003  0.99979911]]

 t_gt:
[-0.51373994  0.84842286 -0.12747518]

Pose Error in degrees for R and t:
16.044772169096824 56.031238880553445

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.99972440e-01  7.42406134e-03 -4.74686349e-05]
 [-7.42405860e-03  9.99972440e-01  5.75157464e-05]
 [ 4.78943271e-05 -5.71617514e-05  9.99999997e-01]]

 t_estimated:
[[-9.39521655e-01]
 [ 3.42489339e-01]
 [-3.33950332e-04]]

 R_gt:
[[ 0.99499971  0.09200426 -0.03887609]
 [-0.09149066  0.99569604  0.01478366]
 [ 0.04006888 -0.01115245  0.99913464]]

 t_gt:
[-0.28304793  0.95261105 -0.11142734]

Pose Error in degrees for R and t:
5.3941733142390555 53.68486821617464

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.58680289e-01  2.84484962e-01  6.40047764e-04]
 [-2.84484550e-01  9.58680395e-01 -6.64559299e-04]
 [-8.02658370e-04  4.55016201e-04  9.99999574e-01]]

 t_estimated:
[[-0.87913256]
 [-0.47657555]
 [-0.00129857]]

 R_gt:
[[ 0.99962501  0.02049162  0.0181601 ]
 [-0.01938633  0.99806773 -0.05903365]
 [-0.01933432  0.0586595   0.99809039]]

 t_gt:
[ 0.08965711  0.89023934 -0.44658204]

Pose Error in degrees for R and t:
15.774679291636499 59.83400746479777

Number of keypoints:
Image1: 319
Image2: 319

 R_estimated:
[[-0.96600064 -0.25192893  0.05809105]
 [-0.2517392   0.96773616  0.01068164]
 [-0.05890783 -0.00430532 -0.99825414]]

 t_estimated:
[[0.98944641]
 [0.14163344]
 [0.03059045]]

 R_gt:
[[ 0.99838854 -0.04421226  0.03558308]
 [ 0.04523848  0.99856686 -0.02858326]
 [-0.03426762  0.03014705  0.99895801]]

 t_gt:
[0.88763281 0.42902543 0.16746695]

Pose Error in degrees for R and t:
174.84420517067034 19.23899517141846

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 9.98421066e-01 -5.61726509e-02  8.96552399e-05]
 [ 5.61726414e-02  9.98421065e-01  1.05547622e-04]
 [-9.54425698e-05 -1.00344797e-04  9.99999990e-01]]

 t_estimated:
[[5.38024102e-01]
 [8.42929109e-01]
 [7.64170855e-04]]

 R_gt:
[[ 0.98865454 -0.13465478  0.0665692 ]
 [ 0.13580738  0.99064923 -0.01308459]
 [-0.06418479  0.0219771   0.9976961 ]]

 t_gt:
[ 0.93976363 -0.14502916  0.3095333 ]

Pose Error in degrees for R and t:
5.991233306400192 67.44297726903588

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.51892421e-01 -3.06432403e-01 -2.91892103e-05]
 [ 3.06432403e-01  9.51892407e-01  1.67305869e-04]
 [-2.34829519e-05 -1.68201709e-04  9.99999986e-01]]

 t_estimated:
[[9.50522398e-01]
 [3.10655256e-01]
 [6.95393916e-04]]

 R_gt:
[[ 0.98014905 -0.16235601  0.11379451]
 [ 0.16600221  0.98585019 -0.02327611]
 [-0.10840501  0.04170364  0.99323256]]

 t_gt:
[0.90413873 0.02504558 0.42650425]

Pose Error in degrees for R and t:
10.694655661434565 29.83274988425913

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.71583012e-01  2.36698847e-01 -3.26071945e-04]
 [-2.36698991e-01  9.71582896e-01 -5.13542315e-04]
 [ 1.95251050e-04  5.76129890e-04  9.99999815e-01]]

 t_estimated:
[[-0.9999497 ]
 [-0.00992858]
 [-0.00141837]]

 R_gt:
[[ 0.98966269  0.14270517 -0.01426937]
 [-0.14322604  0.98857522 -0.04696   ]
 [ 0.00740477  0.04851825  0.99879494]]

 t_gt:
[-0.33644637  0.91737827 -0.21265219]

Pose Error in degrees for R and t:
6.132565402378899 70.87544713313851

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999794e-01  1.34835064e-04 -6.27679569e-04]
 [-1.34327874e-04  9.99999665e-01  8.08011088e-04]
 [ 6.27788307e-04 -8.07926607e-04  9.99999477e-01]]

 t_estimated:
[[0.59796168]
 [0.80152311]
 [0.00159032]]

 R_gt:
[[ 0.97024888  0.24159153 -0.01583981]
 [-0.24209118  0.96728306 -0.07586938]
 [-0.00300819  0.07744779  0.99699219]]

 t_gt:
[-0.32226305  0.93530285 -0.14613384]

Pose Error in degrees for R and t:
14.707127603352443 56.16980316676582

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.85524777e-01 -1.69527616e-01 -1.14107662e-03]
 [ 1.69529035e-01  9.85524351e-01  1.28861533e-03]
 [ 9.06102907e-04 -1.46340795e-03  9.99998519e-01]]

 t_estimated:
[[-0.86149351]
 [-0.5077677 ]
 [-0.00095088]]

 R_gt:
[[ 0.96462291  0.26297104  0.01871892]
 [-0.26346971  0.96410372  0.03299647]
 [-0.00937049 -0.03676159  0.99928036]]

 t_gt:
[-0.36103731  0.92384195  0.12715389]

Pose Error in degrees for R and t:
25.11562275698803 80.8983379694248

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[ 9.83731804e-01  1.79642415e-01 -5.83068262e-04]
 [-1.79641765e-01  9.83731563e-01  1.02347228e-03]
 [ 7.57441686e-04 -9.02078824e-04  9.99999306e-01]]

 t_estimated:
[[-0.63006069]
 [-0.77654539]
 [-0.00088244]]

 R_gt:
[[ 0.99398658 -0.10538639  0.02973078]
 [ 0.10611061  0.99406543 -0.02394711]
 [-0.02703042  0.02695815  0.99927157]]

 t_gt:
[ 0.67125042 -0.73829969  0.06585163]

Pose Error in degrees for R and t:
16.574402659667264 81.3535662652836

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[-6.93356587e-01  7.20594642e-01 -7.53589005e-05]
 [-7.20593228e-01 -6.93355426e-01 -1.91124019e-03]
 [-1.42947994e-03 -1.27086786e-03  9.99998171e-01]]

 t_estimated:
[[7.84334710e-01]
 [6.20337452e-01]
 [7.13031554e-04]]

 R_gt:
[[ 0.97011268 -0.24218639  0.01511485]
 [ 0.24265491  0.96849816 -0.0559256 ]
 [-0.00109394  0.05792143  0.99832062]]

 t_gt:
[ 0.76010718 -0.63945996 -0.11544705]

Pose Error in degrees for R and t:
147.94989257784118 78.49723841715166

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-9.85833600e-01 -1.67722060e-01 -1.19302203e-03]
 [ 1.67725145e-01 -9.85828287e-01 -3.29604850e-03]
 [-6.23294822e-04 -3.44945516e-03  9.99993856e-01]]

 t_estimated:
[[0.78518566]
 [0.61925964]
 [0.00098765]]

 R_gt:
[[ 0.93245591 -0.35606633  0.06117781]
 [ 0.3589947   0.93219745 -0.04614182]
 [-0.04059982  0.0649871   0.99706043]]

 t_gt:
[ 0.78893613 -0.61441745 -0.00842455]

Pose Error in degrees for R and t:
149.39334667116972 76.17429662174405

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.99999986e-01 -5.02302767e-05 -1.60061677e-04]
 [ 5.02351614e-05  9.99999998e-01  3.05139454e-05]
 [ 1.60060144e-04 -3.05219857e-05  9.99999987e-01]]

 t_estimated:
[[8.38985050e-01]
 [5.44154005e-01]
 [7.09560158e-04]]

 R_gt:
[[ 0.98557436 -0.16827232 -0.01805718]
 [ 0.16880422  0.98507005  0.03377747]
 [ 0.01210396 -0.03633872  0.99926621]]

 t_gt:
[ 0.54496665 -0.82857978  0.12832338]

Pose Error in degrees for R and t:
9.947237099940098 89.63130358717969

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.52364065e-01 -3.04963052e-01 -4.74320640e-04]
 [ 3.04963180e-01  9.52364115e-01  2.25385273e-04]
 [ 3.82991776e-04 -3.59299166e-04  9.99999862e-01]]

 t_estimated:
[[0.88984154]
 [0.4562688 ]
 [0.00090718]]

 R_gt:
[[ 0.97270672 -0.22562011 -0.05419945]
 [ 0.22844784  0.97209603  0.05329371]
 [ 0.04066359 -0.06422086  0.997107  ]]

 t_gt:
[ 0.55734136 -0.82211332  0.11619082]

Pose Error in degrees for R and t:
6.327197552007471 83.05328410201474

Number of keypoints:
Image1: 141
Image2: 141

 R_estimated:
[[ 0.99994092  0.01019127 -0.00378181]
 [-0.0101543   0.99990169  0.00966964]
 [ 0.00387999 -0.00963066  0.9999461 ]]

 t_estimated:
[[0.73893144]
 [0.67378012]
 [0.0008247 ]]

 R_gt:
[[ 0.93711964 -0.34078616 -0.07531818]
 [ 0.34594779  0.93553254  0.0714078 ]
 [ 0.04612841 -0.09297361  0.99459941]]

 t_gt:
[ 0.6500353  -0.74477956  0.15085596]

Pose Error in degrees for R and t:
21.399779844367455 88.77597019270178

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 6.47804137e-02  9.97899442e-01 -4.49501897e-04]
 [ 9.97882454e-01 -6.47766615e-02  5.88157805e-03]
 [ 5.84010622e-03 -8.29561116e-04 -9.99982602e-01]]

 t_estimated:
[[-0.06179142]
 [-0.99808853]
 [-0.00104731]]

 R_gt:
[[ 0.96823824 -0.24999483  0.00427901]
 [ 0.24988593  0.96811623  0.01755808]
 [-0.00853283 -0.01593124  0.99983605]]

 t_gt:
[ 0.87300188 -0.48367108  0.06268977]

Pose Error in degrees for R and t:
179.31076932356737 64.612574170668

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 3.75590108e-01  9.26785859e-01  2.06843717e-04]
 [-9.26785626e-01  3.75590160e-01 -6.59744394e-04]
 [-6.89130240e-04  5.60936842e-05  9.99999761e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.9248222  -0.37932977  0.0285287 ]
 [ 0.37931722  0.92524773  0.00603505]
 [-0.02868546  0.00523936  0.99957435]]

 t_gt:
[ 0.89911036 -0.43700484  0.02504676]

Pose Error in degrees for R and t:
90.24749311166036 26.13350836092605

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.88931791e-01 -1.48370059e-01  4.88722394e-04]
 [ 1.48370160e-01  9.88931880e-01 -1.78010487e-04]
 [-4.56901730e-04  2.48552050e-04  9.99999865e-01]]

 t_estimated:
[[-0.00906698]
 [-0.99995806]
 [-0.00129528]]

 R_gt:
[[ 0.71795594 -0.69597591 -0.01251282]
 [ 0.6960619   0.71797017  0.00414988]
 [ 0.00609487 -0.01168873  0.99991261]]

 t_gt:
[ 0.9650875  -0.26191843  0.00220118]

Pose Error in degrees for R and t:
35.58679653413721 75.33576180760124

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 0.93321835  0.3592627   0.00581477]
 [ 0.35928384 -0.93322321 -0.00309166]
 [ 0.00431576  0.00497434 -0.99997831]]

 t_estimated:
[[-0.99788905]
 [-0.06479799]
 [-0.00431987]]

 R_gt:
[[ 0.99738093  0.04285861  0.05827051]
 [-0.04129833  0.99876239 -0.02773097]
 [-0.05938625  0.02525194  0.99791524]]

 t_gt:
[-0.74991361  0.51257348  0.41820809]

Pose Error in degrees for R and t:
177.6612815547659 44.49511123463234

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 0.73845604  0.67429931  0.00176599]
 [-0.67428792  0.7384552  -0.00443971]
 [-0.0042978   0.00208775  0.99998859]]

 t_estimated:
[[0.99977456]
 [0.02115925]
 [0.00176327]]

 R_gt:
[[ 0.99601595  0.08866562  0.00954638]
 [-0.0890372   0.99475051  0.05042716]
 [-0.00502472 -0.05107622  0.99868166]]

 t_gt:
[-0.75150089  0.49279084  0.43863835]

Pose Error in degrees for R and t:
37.42520292593041 42.25742829167594

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.99999979e-01 -2.03554442e-04  1.78752298e-06]
 [ 2.03555587e-04  9.99999758e-01 -6.65769244e-04]
 [-1.65200226e-06  6.65769594e-04  9.99999778e-01]]

 t_estimated:
[[-0.80778961]
 [-0.58946809]
 [-0.00181935]]

 R_gt:
[[ 0.99210808  0.03005996 -0.12172746]
 [-0.00615153  0.98133645  0.19220003]
 [ 0.12523364 -0.18993456  0.97377709]]

 t_gt:
[ 0.06636332 -0.52498037  0.84852314]

Pose Error in degrees for R and t:
13.224925759310402 75.26742579474902

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.72726315e-01 -2.31955215e-01 -5.42185351e-04]
 [ 2.31955458e-01  9.72726309e-01  4.38548417e-04]
 [ 4.25674363e-04 -5.52350437e-04  9.99999757e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.91759308e-01 -1.20613515e-01 -4.32071876e-02]
 [ 1.20748057e-01  9.92683146e-01  5.06366250e-04]
 [ 4.28297405e-02 -5.71865169e-03  9.99066307e-01]]

 t_gt:
[ 0.83187054 -0.53342881 -0.15311797]

Pose Error in degrees for R and t:
6.923588025956287 33.891649907746014

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.99966659e-01  8.13855908e-03  6.67348589e-04]
 [-8.13839164e-03  9.99966851e-01 -2.53230005e-04]
 [-6.69387394e-04  2.47790418e-04  9.99999745e-01]]

 t_estimated:
[[9.99998859e-01]
 [1.29784894e-03]
 [7.72897418e-04]]

 R_gt:
[[ 0.9414443  -0.33620374 -0.02547765]
 [ 0.33651489  0.94163497  0.00898354]
 [ 0.02096962 -0.0170298   0.99963501]]

 t_gt:
[ 0.89823547 -0.43944171 -0.00800136]

Pose Error in degrees for R and t:
20.18730653981058 26.148099306193995

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 8.26078486e-01 -5.63554035e-01 -1.08790590e-03]
 [ 5.63554514e-01  8.26078859e-01  1.70652927e-04]
 [ 8.02523917e-04 -7.54066991e-04  9.99999394e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075935e-03]
 [7.75189839e-04]]

 R_gt:
[[ 8.77606847e-01 -4.79366944e-01 -3.75353934e-03]
 [ 4.79360127e-01  8.77613736e-01 -2.72334134e-03]
 [ 4.59951201e-03  5.91688128e-04  9.99989269e-01]]

 t_gt:
[ 0.92619715 -0.37672707 -0.015348  ]

Pose Error in degrees for R and t:
5.662548672665376 22.32977829136993

Number of keypoints:
Image1: 283
Image2: 283

 R_estimated:
[[ 9.99863053e-01  1.65491345e-02  4.29259938e-05]
 [-1.65491307e-02  9.99863050e-01 -8.64149601e-05]
 [-4.43502079e-05  8.56927379e-05  9.99999995e-01]]

 t_estimated:
[[-0.34399474]
 [-0.93897072]
 [-0.00126349]]

 R_gt:
[[ 0.99961005 -0.00223221 -0.02780964]
 [ 0.00279867  0.99978794  0.02035545]
 [ 0.02775883 -0.02042542  0.99940621]]

 t_gt:
[ 0.16097675 -0.66149857 -0.73246579]

Pose Error in degrees for R and t:
2.2622881381004425 55.48109712942584

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 8.34355453e-01  5.51226784e-01  1.02340737e-04]
 [-5.51226353e-01  8.34354538e-01  1.41853167e-03]
 [ 6.96544192e-04 -1.23997254e-03  9.99998989e-01]]

 t_estimated:
[[8.52766194e-01]
 [5.22292353e-01]
 [7.18421394e-04]]

 R_gt:
[[ 0.99819676 -0.05925104 -0.00955738]
 [ 0.05928425  0.99823591  0.00318545]
 [ 0.00935197 -0.00374649  0.99994922]]

 t_gt:
[ 0.59196633 -0.80228887 -0.0768663 ]

Pose Error in degrees for R and t:
36.85286408192684 85.0823232973683

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.92825281  0.3719344  -0.00339496]
 [-0.37182656  0.92814139  0.01727888]
 [ 0.00957761 -0.01477683  0.99984495]]

 t_estimated:
[[0.63985331]
 [0.76849661]
 [0.00084081]]

 R_gt:
[[ 0.98070699 -0.19544756 -0.00365086]
 [ 0.19523985  0.98025304 -0.03138066]
 [ 0.00971219  0.03006234  0.99950153]]

 t_gt:
[ 0.71856314 -0.68703431 -0.1079392 ]

Pose Error in degrees for R and t:
33.2101850282309 86.08368978927652

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 8.57428227e-01 -5.14586200e-01  4.22833284e-03]
 [-5.14603230e-01 -8.57389247e-01  8.19721689e-03]
 [-5.92847576e-04 -9.20443888e-03 -9.99957463e-01]]

 t_estimated:
[[0.12192155]
 [0.99252654]
 [0.00511864]]

 R_gt:
[[ 0.99372631  0.0876127  -0.06950811]
 [-0.08627984  0.99602928  0.02196934]
 [ 0.0711582  -0.01583476  0.99733966]]

 t_gt:
[-0.1755642   0.77665798 -0.60496248]

Pose Error in degrees for R and t:
179.51278887902097 41.724641660839815

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.50216442e-01 -3.11590562e-01 -1.86655079e-04]
 [ 3.11590608e-01  9.50216393e-01  3.15175036e-04]
 [ 7.91571493e-05 -3.57644471e-04  9.99999933e-01]]

 t_estimated:
[[ 5.61056379e-01]
 [-8.27777568e-01]
 [ 1.95618715e-04]]

 R_gt:
[[ 9.87865306e-01  9.05158821e-02 -1.26203581e-01]
 [-8.96611894e-02  9.95894952e-01  1.24501975e-02]
 [ 1.26813334e-01 -9.84286026e-04  9.91926708e-01]]

 t_gt:
[ 0.11520874  0.51054432 -0.85209826]

Pose Error in degrees for R and t:
24.43760941823881 69.01366847297356

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[-0.99629222 -0.08599064  0.0027255 ]
 [-0.08598629  0.99629491  0.00167491]
 [-0.00285943  0.00143435 -0.99999488]]

 t_estimated:
[[0.99948473]
 [0.03200321]
 [0.00246179]]

 R_gt:
[[ 0.98946548  0.03991097 -0.13915707]
 [-0.03441464  0.99853841  0.04168454]
 [ 0.14061758 -0.03645712  0.98939283]]

 t_gt:
[ 0.45975146 -0.05153319 -0.88655114]

Pose Error in degrees for R and t:
172.21832614308389 62.89112172121436

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.99999830e-01 -5.79816381e-04  6.93245377e-05]
 [ 5.79816412e-04  9.99999832e-01 -4.27580150e-07]
 [-6.93242782e-05  4.67775582e-07  9.99999998e-01]]

 t_estimated:
[[0.38390284]
 [0.92337265]
 [0.00124885]]

 R_gt:
[[ 9.95592933e-01 -8.80650899e-02  3.22623734e-02]
 [ 8.81240826e-02  9.96109320e-01 -4.08482210e-04]
 [-3.21018991e-02  3.25074610e-03  9.99479699e-01]]

 t_gt:
[ 0.94208162 -0.19278504  0.27443789]

Pose Error in degrees for R and t:
5.3497501977934245 79.3972745666411

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-5.20957793e-01 -8.53580579e-01 -1.78137875e-03]
 [ 8.53582225e-01 -5.20958001e-01 -3.81299507e-04]
 [-6.02553661e-04 -1.71919419e-03  9.99998341e-01]]

 t_estimated:
[[9.84008558e-01]
 [1.78119400e-01]
 [7.98153953e-04]]

 R_gt:
[[ 0.99248635 -0.08982053  0.08308687]
 [ 0.09213205  0.99544741 -0.024411  ]
 [-0.08051683  0.03188341  0.99624353]]

 t_gt:
[0.86688042 0.16035301 0.47202251]

Pose Error in degrees for R and t:
116.2386352492647 28.120719529191227

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.99999548e-01 -9.50466285e-04 -1.62412662e-05]
 [ 9.50466588e-04  9.99999548e-01  1.86510778e-05]
 [ 1.62235317e-05 -1.86665062e-05  1.00000000e+00]]

 t_estimated:
[[-7.26221492e-01]
 [ 6.87460578e-01]
 [-5.46094555e-04]]

 R_gt:
[[ 0.98827188 -0.05433336  0.14271394]
 [ 0.06336826  0.99621293 -0.05953859]
 [-0.13893997  0.06788415  0.98797176]]

 t_gt:
[0.44393475 0.61646035 0.65030653]

Pose Error in degrees for R and t:
9.501840571738432 84.20081735723252

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.56514043  0.82498663  0.00365497]
 [-0.82485503  0.56495767  0.02090478]
 [ 0.01518126 -0.01482896  0.99977479]]

 t_estimated:
[[0.62136529]
 [0.78351983]
 [0.00136264]]

 R_gt:
[[ 0.99118359  0.13208655 -0.0104818 ]
 [-0.13249     0.98906717 -0.06474259]
 [ 0.00181588  0.06556066  0.99784681]]

 t_gt:
[-0.3563615   0.9013406  -0.24615361]

Pose Error in degrees for R and t:
48.22249776098291 61.02341493237056

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.89208010e-01 -1.46517919e-01  1.09010846e-04]
 [ 1.46517942e-01  9.89207980e-01 -2.54099953e-04]
 [-7.06042023e-05  2.67329754e-04  9.99999962e-01]]

 t_estimated:
[[-0.73024677]
 [-0.68318305]
 [-0.00075909]]

 R_gt:
[[ 0.98301319  0.18217902  0.02229483]
 [-0.18184265  0.98319188 -0.01632017]
 [-0.02489338  0.01198896  0.9996185 ]]

 t_gt:
[-0.40262786  0.90966626  0.10197104]

Pose Error in degrees for R and t:
18.97861245433669 70.8811793238975

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[-0.5615267  -0.82745663 -0.00181157]
 [ 0.8274578  -0.56152174 -0.00263211]
 [ 0.00116072 -0.002977    0.9999949 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98053431  0.18064341  0.07694935]
 [-0.18861076  0.97548638  0.11336594]
 [-0.05458404 -0.12567309  0.99056921]]

 t_gt:
[-0.38120694  0.7372944   0.55774388]

Pose Error in degrees for R and t:
134.96939332590836 67.76003754904247

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999923e-01 -4.31938392e-05  3.89258188e-04]
 [ 4.33744919e-05  9.99999891e-01 -4.64098173e-04]
 [-3.89238100e-04  4.64115021e-04  9.99999817e-01]]

 t_estimated:
[[-0.492387  ]
 [-0.87037344]
 [-0.00226027]]

 R_gt:
[[ 0.9992779  -0.00555124 -0.03760571]
 [ 0.00441128  0.99953083 -0.03032672]
 [ 0.03775661  0.03013873  0.99883253]]

 t_gt:
[ 0.64538191  0.18609488 -0.74084471]

Pose Error in degrees for R and t:
2.7836598856343953 61.44023436580161

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99920355e-01  1.26203165e-02  1.10609467e-04]
 [-1.26203253e-02  9.99920357e-01  7.89762481e-05]
 [-1.09603952e-04 -8.03658854e-05  9.99999991e-01]]

 t_estimated:
[[-0.67613056]
 [-0.73677697]
 [-0.00267784]]

 R_gt:
[[ 0.99943939  0.02233376 -0.02492878]
 [-0.02307421  0.99928901 -0.0298367 ]
 [ 0.02424431  0.03039501  0.999244  ]]

 t_gt:
[ 0.65510913  0.49906817 -0.56724157]

Pose Error in degrees for R and t:
2.3090756181245045 35.989738790845124

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.98208267e-01 -5.98351423e-02 -1.06045979e-04]
 [ 5.98351166e-02  9.98208248e-01 -2.30442473e-04]
 [ 1.19644529e-04  2.23684308e-04  9.99999968e-01]]

 t_estimated:
[[-0.97917564]
 [-0.20301233]
 [-0.00102531]]

 R_gt:
[[ 0.99450393  0.10170158  0.0248839 ]
 [-0.09835995  0.98895425 -0.11088516]
 [-0.03588712  0.10782798  0.99352122]]

 t_gt:
[ 0.05515534  0.89727705 -0.43800889]

Pose Error in degrees for R and t:
11.260714793230827 76.36616916232163

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.83916932e-01 -1.78626593e-01  1.03633124e-04]
 [ 1.78626562e-01  9.83916910e-01  2.56187538e-04]
 [-1.47728290e-04 -2.33555627e-04  9.99999962e-01]]

 t_estimated:
[[ 0.97387429]
 [-0.22708428]
 [ 0.0012625 ]]

 R_gt:
[[ 0.99601256 -0.08634834 -0.0224313 ]
 [ 0.08566982  0.99588402 -0.02959738]
 [ 0.02489486  0.02755739  0.99930995]]

 t_gt:
[ 0.44590232 -0.75960204 -0.47347213]

Pose Error in degrees for R and t:
5.766955502082872 52.68845149162674

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-9.30732552e-01 -3.65699560e-01 -8.64857876e-04]
 [ 3.65700565e-01 -9.30730639e-01 -1.89084362e-03]
 [-1.13469043e-04 -2.07614872e-03  9.99997838e-01]]

 t_estimated:
[[8.40039154e-01]
 [5.42525287e-01]
 [7.29200655e-04]]

 R_gt:
[[ 0.97837405 -0.19766896 -0.06091416]
 [ 0.19769777  0.98024706 -0.00559968]
 [ 0.06081791 -0.00656442  0.99812731]]

 t_gt:
[ 0.59905413 -0.77061694 -0.21744811]

Pose Error in degrees for R and t:
147.14908356848125 85.12448196062995

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[-7.46004355e-01  6.65928395e-01 -4.10797026e-03]
 [-6.65934472e-01 -7.46010225e-01  1.51772049e-04]
 [-2.96351850e-03  2.84886161e-03  9.99991551e-01]]

 t_estimated:
[[0.7623593 ]
 [0.6471534 ]
 [0.00088153]]

 R_gt:
[[ 9.48544916e-01 -2.99352151e-01 -1.03205426e-01]
 [ 3.01031408e-01  9.53614020e-01  7.33968036e-04]
 [ 9.81988986e-02 -3.17653358e-02  9.94659580e-01]]

 t_gt:
[ 0.6961796  -0.69769372 -0.16898945]

Pose Error in degrees for R and t:
155.79334504732086 85.46459194220557

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 0.27099443 -0.96149495  0.0457109 ]
 [-0.96158226 -0.26824527  0.05834408]
 [-0.0438358  -0.05976571 -0.99724946]]

 t_estimated:
[[0.61577356]
 [0.78707042]
 [0.03664815]]

 R_gt:
[[ 0.99958737 -0.01299953  0.0256173 ]
 [ 0.01227783  0.99952783  0.02815195]
 [-0.02596993 -0.0278256   0.9992753 ]]

 t_gt:
[-0.2911983  -0.52406289  0.80035095]

Pose Error in degrees for R and t:
173.57925886676608 55.77423608417436

Number of keypoints:
Image1: 494
Image2: 494

 R_estimated:
[[ 9.94934601e-01 -1.00524327e-01 -1.21710459e-05]
 [ 1.00524279e-01  9.94933991e-01  1.10607381e-03]
 [-9.90779382e-05 -1.10169459e-03  9.99999388e-01]]

 t_estimated:
[[ 0.49672633]
 [-0.86790147]
 [ 0.00316005]]

 R_gt:
[[ 0.9995418   0.00428138  0.02997242]
 [-0.00545866  0.99921055  0.03934679]
 [-0.02978033 -0.03949156  0.99877521]]

 t_gt:
[-0.63332857 -0.30454281  0.71144121]

Pose Error in degrees for R and t:
6.657863499560692 87.24704584630739

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 2.14889724e-01  9.76563279e-01  1.21065733e-02]
 [-9.76637905e-01  2.14861697e-01  3.58529467e-03]
 [ 9.00028223e-04 -1.25941814e-02  9.99920285e-01]]

 t_estimated:
[[0.17532285]
 [0.98450522]
 [0.00337159]]

 R_gt:
[[ 0.99184206  0.11087544  0.06289785]
 [-0.10921427  0.99358704 -0.02926634]
 [-0.06573853  0.02215847  0.99759054]]

 t_gt:
[-0.85420022  0.43772954  0.28059728]

Pose Error in degrees for R and t:
71.35553498845711 73.61249403011696

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 9.89194336e-01 -1.46610217e-01 -1.00470660e-04]
 [ 1.46610231e-01  9.89194328e-01  1.47128958e-04]
 [ 7.78143985e-05 -1.60269159e-04  9.99999984e-01]]

 t_estimated:
[[ 7.71951420e-01]
 [-6.35681352e-01]
 [ 4.72598178e-04]]

 R_gt:
[[ 0.99841474  0.00288901  0.05621345]
 [-0.00129316  0.99959574 -0.02841153]
 [-0.05627364  0.02829306  0.99801432]]

 t_gt:
[-0.17523837  0.80160417  0.57159625]

Pose Error in degrees for R and t:
9.283744933758772 49.86654209271673

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-7.48653737e-01 -6.62960775e-01 -7.70488342e-04]
 [ 6.62960005e-01 -7.48649627e-01 -2.78706893e-03]
 [ 1.27089157e-03 -2.59735252e-03  9.99995819e-01]]

 t_estimated:
[[7.82377173e-01]
 [6.22804548e-01]
 [6.73302214e-04]]

 R_gt:
[[ 0.99278147  0.035561    0.11455174]
 [-0.02839733  0.99757315 -0.06357607]
 [-0.11653488  0.05986442  0.99138128]]

 t_gt:
[-0.46920735  0.77457821  0.42411444]

Pose Error in degrees for R and t:
140.41326929347642 83.36180898925578

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 6.62156917e-01 -7.49355951e-01 -3.72506602e-03]
 [ 7.49365175e-01  6.62147182e-01  3.59791631e-03]
 [-2.29578031e-04 -5.17381992e-03  9.99986589e-01]]

 t_estimated:
[[ 0.12994997]
 [-0.99151505]
 [ 0.00330361]]

 R_gt:
[[ 0.98602302  0.07755173  0.14746406]
 [-0.06098705  0.99163951 -0.11371434]
 [-0.15505005  0.1031321   0.98250914]]

 t_gt:
[-0.57339     0.78174305  0.24515652]

Pose Error in degrees for R and t:
53.60357335737144 31.917298588770795

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-3.99683534e-01  9.16652044e-01 -1.45043845e-03]
 [-9.16649921e-01 -3.99685834e-01 -2.03858221e-03]
 [-2.44839025e-03  5.14756553e-04  9.99996870e-01]]

 t_estimated:
[[0.38181356]
 [0.92423887]
 [0.00096175]]

 R_gt:
[[ 0.9909966  -0.13338336 -0.01163707]
 [ 0.13251389  0.98952821 -0.05721575]
 [ 0.01914598  0.05515926  0.99829387]]

 t_gt:
[ 0.60848112 -0.69195903 -0.38851438]

Pose Error in degrees for R and t:
121.22882781578828 65.94692357087656

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[ 9.99999728e-01 -2.74088486e-04  6.84266193e-04]
 [ 2.74504456e-04  9.99999778e-01 -6.07885525e-04]
 [-6.84099426e-04  6.08073194e-04  9.99999581e-01]]

 t_estimated:
[[-0.69303314]
 [-0.72090527]
 [-0.00081017]]

 R_gt:
[[ 9.53296938e-01 -3.02021205e-01 -2.96840963e-03]
 [ 3.02035900e-01  9.53250828e-01  9.34211003e-03]
 [ 7.26263800e-06 -9.80235516e-03  9.99951775e-01]]

 t_gt:
[ 0.66898012 -0.74259128  0.03199657]

Pose Error in degrees for R and t:
17.574464488817163 85.88913161921789

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 1.00000000e+00 -1.67000931e-05  4.68961657e-06]
 [ 1.67002875e-05  9.99999999e-01 -4.14510323e-05]
 [-4.68892433e-06  4.14511106e-05  9.99999999e-01]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.9028159  -0.4198519  -0.09299379]
 [ 0.42498629  0.90413552  0.04388365]
 [ 0.06565442 -0.07913961  0.99469831]]

 t_gt:
[ 0.70610402 -0.70709609  0.03784477]

Pose Error in degrees for R and t:
25.73275047180956 79.33755636384035

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 9.96401097e-01  8.47620307e-02  5.02014963e-04]
 [-8.47619194e-02  9.96401204e-01 -2.39116296e-04]
 [-5.20476297e-04  1.95703987e-04  9.99999845e-01]]

 t_estimated:
[[0.30439014]
 [0.95254621]
 [0.00153764]]

 R_gt:
[[ 0.98585801 -0.16753043  0.00411133]
 [ 0.1672975   0.98532165  0.03393985]
 [-0.00973711 -0.03277267  0.99941456]]

 t_gt:
[ 0.61055618 -0.76202236  0.21573846]

Pose Error in degrees for R and t:
14.63477374474124 57.33797204419377

Number of keypoints:
Image1: 206
Image2: 206

 R_estimated:
[[ 9.53642444e-01  3.00941946e-01  1.86975984e-04]
 [-3.00941996e-01  9.53642377e-01  3.62701497e-04]
 [-6.91561273e-05 -4.02156467e-04  9.99999917e-01]]

 t_estimated:
[[0.60242815]
 [0.79817261]
 [0.00089381]]

 R_gt:
[[ 0.95306391 -0.30199541 -0.02161498]
 [ 0.30259431  0.95250077  0.03431299]
 [ 0.01022553 -0.03924247  0.99917682]]

 t_gt:
[ 0.70467227 -0.6987266   0.12336181]

Pose Error in degrees for R and t:
35.19049240102338 82.35240370011225

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.97540608 -0.22041037  0.00149666]
 [ 0.22041228  0.97540599 -0.00125612]
 [-0.00118299  0.00155511  0.99999809]]

 t_estimated:
[[9.28650295e-01]
 [3.70955417e-01]
 [8.41168746e-04]]

 R_gt:
[[ 0.93210344 -0.36101852 -0.0291199 ]
 [ 0.36124103  0.92083456  0.14685526]
 [-0.0262028  -0.14740403  0.98872894]]

 t_gt:
[ 0.59865935 -0.70444365  0.38126911]

Pose Error in degrees for R and t:
12.195920577875622 72.84553866167136

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 0.38681416 -0.91457631 -0.11800417]
 [-0.91578368 -0.39600195  0.06725108]
 [-0.10823612  0.08205263 -0.99073322]]

 t_estimated:
[[0.82682185]
 [0.56245029]
 [0.00391196]]

 R_gt:
[[ 0.99050179 -0.13476655  0.02728171]
 [ 0.12934908  0.98055637  0.14758033]
 [-0.04663902 -0.14264976  0.98867425]]

 t_gt:
[ 0.49685602 -0.64767127  0.57762965]

Pose Error in degrees for R and t:
171.855367707195 87.20353260338685

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[ 3.99667265e-01  9.16660234e-01  3.04128764e-04]
 [-9.16659207e-01  3.99667282e-01 -1.40056483e-03]
 [-1.40539240e-03  2.80977482e-04  9.99998973e-01]]

 t_estimated:
[[0.01768713]
 [0.99984303]
 [0.00104042]]

 R_gt:
[[ 0.96505769 -0.26187829  0.00914496]
 [ 0.25522124  0.94728632  0.19368047]
 [-0.05938255 -0.18457895  0.98102182]]

 t_gt:
[ 0.60637621 -0.65811691  0.4463071 ]

Pose Error in degrees for R and t:
82.21012654391677 49.69741393467271

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 1.00000000e+00  9.12048215e-13  7.15790274e-16]
 [-9.12103726e-13  1.00000000e+00 -2.97865573e-15]
 [-6.98117779e-16  3.07997443e-15  1.00000000e+00]]

 t_estimated:
[[ 9.79776307e-01]
 [-2.00095194e-01]
 [ 5.49174332e-04]]

 R_gt:
[[ 0.94716807 -0.31900183  0.03331089]
 [ 0.3064241   0.93068686  0.19981638]
 [-0.09474273 -0.17905212  0.979267  ]]

 t_gt:
[ 0.62704721 -0.6421666   0.44094654]

Pose Error in degrees for R and t:
21.788404354791524 42.00361470219257

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.97544708e-01  7.00323232e-02  1.71001505e-04]
 [-7.00323547e-02  9.97544703e-01  1.85689329e-04]
 [-1.57577390e-04 -1.97209046e-04  9.99999968e-01]]

 t_estimated:
[[8.61041462e-01]
 [5.08534314e-01]
 [6.72594356e-04]]

 R_gt:
[[ 0.98682098 -0.16175323 -0.00467967]
 [ 0.16181644  0.98658728  0.021486  ]
 [ 0.00114104 -0.02195877  0.99975829]]

 t_gt:
[ 0.64575291 -0.75557735  0.11002746]

Pose Error in degrees for R and t:
13.385595602820608 80.10419197458748

Number of keypoints:
Image1: 189
Image2: 189

 R_estimated:
[[ 7.94574103e-01  6.07167029e-01  4.40102445e-04]
 [-6.07167100e-01  7.94574169e-01  3.78864190e-05]
 [-3.26690650e-04 -2.97319293e-04  9.99999902e-01]]

 t_estimated:
[[0.73611246]
 [0.67685883]
 [0.00075966]]

 R_gt:
[[ 0.94296477 -0.33213144 -0.02249841]
 [ 0.33243618  0.94305622  0.01145093]
 [ 0.01741401 -0.01827592  0.99968116]]

 t_gt:
[ 0.74862368 -0.66219765  0.03250933]

Pose Error in degrees for R and t:
56.812843856497395 84.0948706037266

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-9.07474426e-01  4.20103334e-01 -1.83171996e-03]
 [-4.20100440e-01 -9.07475890e-01 -1.76929841e-03]
 [-2.40552986e-03 -8.36086697e-04  9.99996757e-01]]

 t_estimated:
[[0.60096502]
 [0.79927486]
 [0.00086222]]

 R_gt:
[[ 0.92513018 -0.37944417 -0.01255078]
 [ 0.37960891  0.92501491  0.01563752]
 [ 0.00567609 -0.01922956  0.99979901]]

 t_gt:
[ 0.73564582 -0.67589587  0.04460946]

Pose Error in degrees for R and t:
177.46762335219432 84.37076443278974

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.77533162e-01  2.10780846e-01  5.93662345e-04]
 [-2.10780631e-01  9.77533305e-01 -4.03775642e-04]
 [-6.65432886e-04  2.69571556e-04  9.99999742e-01]]

 t_estimated:
[[0.91810256]
 [0.39633936]
 [0.00167232]]

 R_gt:
[[ 0.99639574 -0.08377471  0.01331556]
 [ 0.08368722  0.99646749  0.00700619]
 [-0.01385489 -0.00586611  0.99988654]]

 t_gt:
[ 0.97448337 -0.17918541  0.13518413]

Pose Error in degrees for R and t:
16.991985677065934 34.52453990054325

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99100728e-01 -4.23994616e-02  1.47968342e-04]
 [ 4.23994619e-02  9.99100738e-01  5.97688375e-07]
 [-1.47860621e-04  5.67662717e-06  9.99999989e-01]]

 t_estimated:
[[8.66030974e-01]
 [4.99990133e-01]
 [4.67485415e-04]]

 R_gt:
[[ 0.99029753 -0.12731261 -0.0556971 ]
 [ 0.12333074  0.98990159 -0.06989474]
 [ 0.06403292  0.06234735  0.99599757]]

 t_gt:
[ 0.90937421 -0.05005144 -0.4129569 ]

Pose Error in degrees for R and t:
7.015639344434781 40.33014293655009

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.11970121  0.99280744  0.00223918]
 [ 0.99280936 -0.11969835 -0.00137043]
 [-0.00109254  0.00238712 -0.99999655]]

 t_estimated:
[[0.99321455]
 [0.11629035]
 [0.00118664]]

 R_gt:
[[ 0.99293044 -0.04890091 -0.10815359]
 [ 0.03848698  0.99460221 -0.09636507]
 [ 0.11228246  0.09152171  0.98945196]]

 t_gt:
[ 0.62599835 -0.03465688 -0.77905389]

Pose Error in degrees for R and t:
179.9451140543172 51.91746622387869

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999868e-01 -5.11362663e-04  4.58249697e-05]
 [ 5.11365597e-04  9.99999867e-01 -6.40317847e-05]
 [-4.57922201e-05  6.40552095e-05  9.99999997e-01]]

 t_estimated:
[[ 9.99999586e-01]
 [-8.44196649e-04]
 [-3.40728198e-04]]

 R_gt:
[[ 0.99089401 -0.13415984 -0.01139971]
 [ 0.13399605  0.99088221 -0.01405329]
 [ 0.01318207  0.01239891  0.99983591]]

 t_gt:
[ 0.68955386 -0.71759634 -0.09783134]

Pose Error in degrees for R and t:
7.746226786712192 46.3546352474567

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.50999088e-01 -5.25163548e-01 -1.94940070e-03]
 [ 5.25165831e-01  8.50999431e-01  9.04572696e-04]
 [ 1.18389028e-03 -1.79354918e-03  9.99997691e-01]]

 t_estimated:
[[9.65695380e-01]
 [2.59676466e-01]
 [7.52685409e-04]]

 R_gt:
[[ 0.97980576 -0.19932118  0.01586263]
 [ 0.19909037  0.97986631  0.01502321]
 [-0.01853789 -0.01156094  0.99976051]]

 t_gt:
[ 0.61861213 -0.77702752  0.1163927 ]

Pose Error in degrees for R and t:
20.227794338265678 66.69019163482115

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99083675e-01  4.27991389e-02  2.08193086e-04]
 [-4.27992093e-02  9.99083634e-01  3.46397690e-04]
 [-1.93176782e-04 -3.54990777e-04  9.99999918e-01]]

 t_estimated:
[[9.48764391e-01]
 [3.15983334e-01]
 [8.14390035e-04]]

 R_gt:
[[ 0.95162619 -0.30643089  0.02253048]
 [ 0.3054304   0.95140404  0.03927288]
 [-0.03347013 -0.03049166  0.99897389]]

 t_gt:
[ 0.67122648 -0.72501301  0.15430861]

Pose Error in degrees for R and t:
20.437390328435622 65.92893502610387

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99997810e-01  2.09233385e-03  4.91825612e-05]
 [-2.09232967e-03  9.99997807e-01 -8.49195748e-05]
 [-4.93601334e-05  8.48164827e-05  9.99999995e-01]]

 t_estimated:
[[ 2.43204874e-01]
 [-9.69974928e-01]
 [-1.69708436e-04]]

 R_gt:
[[ 0.99818443 -0.03755462  0.04710155]
 [ 0.03586953  0.99870375  0.03612883]
 [-0.0483982  -0.0343746   0.99823607]]

 t_gt:
[ 0.49740835 -0.22173896  0.83869945]

Pose Error in degrees for R and t:
4.066444999735427 70.37205339432589

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99834449e-01 -1.81949291e-02  1.39664052e-04]
 [ 1.81949456e-02  9.99834451e-01 -1.17704633e-04]
 [-1.37499303e-04  1.20226327e-04  9.99999983e-01]]

 t_estimated:
[[ 9.98673868e-01]
 [-5.14825949e-02]
 [ 2.19343291e-04]]

 R_gt:
[[ 0.99026507 -0.13895902  0.00813723]
 [ 0.13898785  0.99028976 -0.00311829]
 [-0.0076258   0.0042183   0.99996144]]

 t_gt:
[ 0.99006457 -0.13936192  0.01871916]

Pose Error in degrees for R and t:
6.963148894228154 5.1708183939583305

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.73443419e-01 -2.28927732e-01 -5.68122607e-05]
 [ 2.28927726e-01  9.73443249e-01  5.79898453e-04]
 [-7.74513262e-05 -5.77504235e-04  9.99999830e-01]]

 t_estimated:
[[0.95065822]
 [0.310238  ]
 [0.00115283]]

 R_gt:
[[ 0.99156933 -0.12204511 -0.04353702]
 [ 0.11854697  0.99007401 -0.07549864]
 [ 0.05231842  0.06970011  0.99619496]]

 t_gt:
[ 0.89137009 -0.05155035 -0.45033535]

Pose Error in degrees for R and t:
8.067901122870328 33.81114290033826

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 0.78600378 -0.61822062 -0.00115053]
 [-0.61821704 -0.78598929 -0.00534154]
 [ 0.00239794  0.00490975 -0.99998507]]

 t_estimated:
[[ 0.50772042]
 [ 0.86152128]
 [-0.00102819]]

 R_gt:
[[ 0.98886007 -0.14880212  0.003871  ]
 [ 0.1475242   0.9831653   0.1078108 ]
 [-0.019848   -0.10603982  0.9941634 ]]

 t_gt:
[ 0.57446296 -0.71063017  0.40619832]

Pose Error in degrees for R and t:
174.27267636056075 71.27815606551265

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 1.00000000e+00 -1.49935619e-13 -2.89590400e-16]
 [ 1.50018886e-13  1.00000000e+00  9.53013710e-17]
 [ 2.90349342e-16 -9.53284760e-17  1.00000000e+00]]

 t_estimated:
[[9.69171943e-01]
 [2.46384193e-01]
 [7.58280382e-04]]

 R_gt:
[[ 0.96975517 -0.2424224   0.02840597]
 [ 0.23753189  0.96409847  0.11871108]
 [-0.05616331 -0.1083738   0.99252206]]

 t_gt:
[ 0.61719529 -0.6955926   0.36772395]

Pose Error in degrees for R and t:
15.594612147360825 64.71861066934639

Number of keypoints:
Image1: 53
Image2: 53

 R_estimated:
[[-5.30235297e-01 -8.47848015e-01 -2.06721110e-03]
 [ 8.47846897e-01 -5.30238589e-01  1.63675299e-03]
 [-2.48383287e-03 -8.84814306e-04  9.99996524e-01]]

 t_estimated:
[[ 9.97960092e-01]
 [-6.38348481e-02]
 [ 8.76100414e-04]]

 R_gt:
[[ 0.96074784 -0.27609507  0.0271276 ]
 [ 0.2712984   0.95546462  0.11612286]
 [-0.05797995 -0.10420517  0.9928641 ]]

 t_gt:
[ 0.6322183 -0.7018416  0.3282048]

Pose Error in degrees for R and t:
106.22170173008105 47.46673642174628

Number of keypoints:
Image1: 316
Image2: 316

 R_estimated:
[[ 9.99999917e-01 -2.12862489e-04 -3.46126774e-04]
 [ 2.12950196e-04  9.99999945e-01  2.53377503e-04]
 [ 3.46072821e-04 -2.53451190e-04  9.99999908e-01]]

 t_estimated:
[[9.50711527e-01]
 [3.10075356e-01]
 [9.31157225e-04]]

 R_gt:
[[ 0.99734286 -0.07229736 -0.00899914]
 [ 0.07268587  0.99581706  0.05537338]
 [ 0.00495826 -0.05588049  0.99842496]]

 t_gt:
[ 0.55768505 -0.65837923  0.50549399]

Pose Error in degrees for R and t:
5.237873778423159 70.94224279275394

Number of keypoints:
Image1: 325
Image2: 325

 R_estimated:
[[ 0.5955681  -0.80303778 -0.02071164]
 [ 0.80328609  0.5955323   0.00852803]
 [ 0.00548612 -0.0217164   0.99974912]]

 t_estimated:
[[0.83034455]
 [0.55724967]
 [0.00085076]]

 R_gt:
[[ 0.9752351  -0.21882812 -0.03210697]
 [ 0.22076441  0.97193035  0.08132994]
 [ 0.01340906 -0.08640409  0.99616989]]

 t_gt:
[ 0.6578375  -0.69767299  0.28372915]

Pose Error in degrees for R and t:
40.89034633175583 80.92686185533654

Number of keypoints:
Image1: 177
Image2: 177

 R_estimated:
[[ 0.99220824 -0.12457401 -0.0020283 ]
 [ 0.1245806   0.9922032   0.00353195]
 [ 0.0015725  -0.00375712  0.99999171]]

 t_estimated:
[[-0.29378342]
 [-0.95587094]
 [-0.00143309]]

 R_gt:
[[ 0.93607482 -0.34849036 -0.04815521]
 [ 0.35145601  0.93242431  0.08404652]
 [ 0.01561214 -0.09559751  0.99529793]]

 t_gt:
[ 0.71542259 -0.65980835  0.22983353]

Pose Error in degrees for R and t:
14.396015097877902 65.15386105746906

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[ 9.99999866e-01 -4.70624112e-04  2.17077552e-04]
 [ 4.70660129e-04  9.99999875e-01 -1.65896626e-04]
 [-2.16999450e-04  1.65998773e-04  9.99999963e-01]]

 t_estimated:
[[0.64764544]
 [0.76194119]
 [0.00100415]]

 R_gt:
[[ 0.98716953 -0.15519088  0.03758868]
 [ 0.15375918  0.98736135  0.03839949]
 [-0.04307292 -0.03212746  0.9985556 ]]

 t_gt:
[ 0.48977984 -0.80299413  0.33958228]

Pose Error in degrees for R and t:
9.383661810185366 72.88505460865505

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.99999193e-01  1.23811896e-03  2.85430108e-04]
 [-1.23816699e-03  9.99999219e-01  1.68155239e-04]
 [-2.85221689e-04 -1.68508513e-04  9.99999945e-01]]

 t_estimated:
[[-9.48312533e-01]
 [-3.17337033e-01]
 [-7.39713364e-04]]

 R_gt:
[[ 0.95530228 -0.27594915 -0.10606099]
 [ 0.2889609   0.94736424  0.13784818]
 [ 0.06243844 -0.16233483  0.98475802]]

 t_gt:
[ 0.58999878 -0.76800696  0.24913197]

Pose Error in degrees for R and t:
19.375777673112193 71.58058950104841

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[-0.66718607  0.74458085  0.02149681]
 [-0.74487983 -0.66705685 -0.01375491]
 [ 0.00409795 -0.02518963  0.99967429]]

 t_estimated:
[[0.08662454]
 [0.99618218]
 [0.01082807]]

 R_gt:
[[ 0.89296536 -0.41782014 -0.16744951]
 [ 0.44315329  0.88125911  0.16430675]
 [ 0.07891508 -0.22092621  0.97209323]]

 t_gt:
[ 0.66410196 -0.70596598  0.24613131]

Pose Error in degrees for R and t:
157.89681291567626 49.97827102706115

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99992945e-01 -3.72539155e-03 -4.81370808e-04]
 [ 3.72534892e-03  9.99993057e-01 -8.94354531e-05]
 [ 4.81700648e-04  8.76415479e-05  9.99999880e-01]]

 t_estimated:
[[-0.99946387]
 [-0.03253236]
 [-0.00368937]]

 R_gt:
[[ 0.99673935  0.07579638 -0.02769038]
 [-0.07372728  0.99486332  0.06936769]
 [ 0.03280657 -0.06710079  0.99720697]]

 t_gt:
[-0.29151702  0.86288491  0.41285283]

Pose Error in degrees for R and t:
6.21227682313295 74.82513058713008

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 9.99976839e-01 -6.80185388e-03  2.36834112e-04]
 [ 6.80220452e-03  9.99975721e-01 -1.51262041e-03]
 [-2.26539739e-04  1.51419637e-03  9.99998828e-01]]

 t_estimated:
[[-0.99983561]
 [-0.01809111]
 [-0.00120607]]

 R_gt:
[[ 0.99784173  0.0426241  -0.04996764]
 [-0.039987    0.99781276  0.05263482]
 [ 0.05210247 -0.05052374  0.99736318]]

 t_gt:
[ 0.59352396  0.80446461 -0.02379074]

Pose Error in degrees for R and t:
5.05293895052432 52.558480173445574

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[-8.69833968e-01 -4.93333591e-01 -3.29187263e-03]
 [ 4.93343735e-01 -8.69825425e-01 -3.96082381e-03]
 [-9.09347084e-04 -5.06928383e-03  9.99986738e-01]]

 t_estimated:
[[0.99993843]
 [0.01102873]
 [0.00122541]]

 R_gt:
[[ 0.99394492  0.07988611 -0.07544887]
 [-0.07738158  0.99636715  0.03556193]
 [ 0.07801575 -0.02950829  0.99651513]]

 t_gt:
[ 0.49204154  0.80925085 -0.32094889]

Pose Error in degrees for R and t:
154.9671508950082 59.964071596980816

Number of keypoints:
Image1: 335
Image2: 335

 R_estimated:
[[ 0.91979276 -0.39223949  0.01137828]
 [-0.39230242 -0.91850554  0.04946094]
 [-0.00894952 -0.04995754 -0.99871124]]

 t_estimated:
[[0.21079372]
 [0.97718956]
 [0.0258182 ]]

 R_gt:
[[ 0.99932793  0.00443858  0.03638911]
 [-0.00563637  0.99944326  0.0328792 ]
 [-0.03622295 -0.03306226  0.99879693]]

 t_gt:
[-0.50568428 -0.18420429  0.84282394]

Pose Error in degrees for R and t:
174.82349704082415 74.64270943013611

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 0.79319778 -0.54892139 -0.26367136]
 [ 0.58665804  0.80491516  0.08912879]
 [ 0.16330838 -0.22538168  0.96048606]]

 t_estimated:
[[-0.69631062]
 [-0.69631062]
 [-0.17407766]]

 R_gt:
[[ 0.99704941  0.05350767  0.05504566]
 [-0.05327945  0.99856426 -0.00561988]
 [-0.05526676  0.00267049  0.99846836]]

 t_gt:
[-0.84710587  0.25263567  0.46753274]

Pose Error in degrees for R and t:
42.76197461064156 70.5764425652748

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 6.91397773e-01 -7.22471000e-01 -2.18488920e-03]
 [ 7.22474148e-01  6.91396445e-01  1.43570716e-03]
 [ 4.73367835e-04 -2.57117070e-03  9.99996582e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98162713  0.18254869  0.05553176]
 [-0.17928167  0.98202397 -0.05905934]
 [-0.06531416  0.04801905  0.99670896]]

 t_gt:
[-0.77577457  0.61931146  0.12094267]

Pose Error in degrees for R and t:
56.88661687178748 52.07812797621888

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99999979e-01  2.05757502e-04  2.18039226e-05]
 [-2.05756695e-04  9.99999978e-01 -3.70100627e-05]
 [-2.18115372e-05  3.70055756e-05  9.99999999e-01]]

 t_estimated:
[[9.99952071e-01]
 [9.74080764e-03]
 [9.85756770e-04]]

 R_gt:
[[ 0.98508883 -0.17021656  0.0250286 ]
 [ 0.17021712  0.98540385  0.00214638]
 [-0.02502829  0.00214525  0.99968403]]

 t_gt:
[ 0.55927865 -0.82242549  0.10403702]

Pose Error in degrees for R and t:
9.91846842947527 56.54078143750363

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999961e-01 -2.54238149e-04  1.19001862e-04]
 [ 2.54263100e-04  9.99999946e-01 -2.09697816e-04]
 [-1.18948542e-04  2.09728065e-04  9.99999971e-01]]

 t_estimated:
[[ 9.99211247e-01]
 [-3.97099366e-02]
 [ 7.10356172e-05]]

 R_gt:
[[ 0.9435052  -0.3313426  -0.00291827]
 [ 0.33130464  0.94347807 -0.00917199]
 [ 0.00579236  0.00768636  0.9999535 ]]

 t_gt:
[ 0.65071253 -0.75893735 -0.02423423]

Pose Error in degrees for R and t:
19.34279636269198 47.13018037159453

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 0.99998497 -0.0050956  -0.00202509]
 [ 0.00510412  0.99997803  0.00422832]
 [ 0.0020035  -0.00423859  0.99998901]]

 t_estimated:
[[-0.40316161]
 [-0.91512828]
 [-0.00097147]]

 R_gt:
[[ 0.85319111 -0.52153388 -0.0081463 ]
 [ 0.52159374  0.853023    0.01705009]
 [-0.00194401 -0.01879677  0.99982146]]

 t_gt:
[ 0.73533214 -0.67689101  0.03324472]

Pose Error in degrees for R and t:
31.15857208582631 71.15844912014785

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 0.80310142 -0.59581545  0.00566212]
 [-0.595803   -0.8029029   0.0191237 ]
 [-0.00684807 -0.01873178 -0.99980109]]

 t_estimated:
[[0.27128459]
 [0.9624379 ]
 [0.01086129]]

 R_gt:
[[ 0.99589133  0.03066006  0.08521104]
 [-0.02810247  0.99912287 -0.03105917]
 [-0.08608854  0.02853793  0.99587782]]

 t_gt:
[-0.71943195  0.3930988   0.57261768]

Pose Error in degrees for R and t:
178.9394252317624 79.08329389100928

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[-1.48158725e-01 -9.88961849e-01 -1.85859249e-03]
 [ 9.88963588e-01 -1.48158692e-01 -1.56241189e-04]
 [-1.20850057e-04 -1.86122880e-03  9.99998261e-01]]

 t_estimated:
[[9.99994884e-01]
 [3.10316481e-03]
 [7.75791221e-04]]

 R_gt:
[[ 0.98904224  0.085431    0.12040279]
 [-0.07930029  0.99534197 -0.05483748]
 [-0.12452659  0.04468874  0.99120921]]

 t_gt:
[-0.73097958  0.52346233  0.43778539]

Pose Error in degrees for R and t:
103.47354538055889 43.196385027493406

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 9.94060935e-01  1.08818048e-01  1.22067501e-03]
 [-1.08817897e-01  9.94061683e-01 -1.89140900e-04]
 [-1.23400819e-03  5.51862920e-05  9.99999237e-01]]

 t_estimated:
[[0.46048445]
 [0.88766703]
 [0.00114834]]

 R_gt:
[[ 0.96735799  0.22972008  0.10699352]
 [-0.22561732  0.97297553 -0.04915724]
 [-0.11539366  0.02341377  0.99304295]]

 t_gt:
[-0.70958374  0.66253391  0.23987441]

Pose Error in degrees for R and t:
9.652578426886015 74.8330376752395

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-0.68367223 -0.72974486 -0.00804497]
 [ 0.72974471 -0.68346731 -0.01857672]
 [ 0.00805779 -0.01857116  0.99979507]]

 t_estimated:
[[0.94005856]
 [0.34101155]
 [0.0010119 ]]

 R_gt:
[[ 0.99839778  0.03760796  0.04228986]
 [-0.04138637  0.99486463  0.09236085]
 [-0.03859921 -0.09396289  0.99482634]]

 t_gt:
[-0.35936835  0.0115662   0.93312411]

Pose Error in degrees for R and t:
135.4868664069468 70.55275056842105

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 3.89588769e-02  9.99236345e-01  2.98885199e-03]
 [ 9.99240681e-01 -3.89602470e-02  4.01521428e-04]
 [ 5.17661216e-04  2.97093967e-03 -9.99995453e-01]]

 t_estimated:
[[-0.96199022]
 [-0.27308109]
 [-0.00124128]]

 R_gt:
[[ 0.98428932  0.17162794  0.0414482 ]
 [-0.17427433  0.98205162  0.07212425]
 [-0.02832553 -0.07821473  0.99653295]]

 t_gt:
[-0.71299051  0.56568793  0.41429663]

Pose Error in degrees for R and t:
178.3611497505726 57.933921460666035

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99681105e-01 -2.52456487e-02  5.88253775e-04]
 [ 2.52478656e-02  9.99672698e-01 -4.12813440e-03]
 [-4.83843808e-04  4.14167011e-03  9.99991306e-01]]

 t_estimated:
[[-0.89781739]
 [-0.44033082]
 [-0.00571858]]

 R_gt:
[[ 0.98411629  0.17145648  0.04602369]
 [-0.17087661  0.98515744 -0.01625871]
 [-0.04812886  0.0081362   0.99880673]]

 t_gt:
[-0.70489525  0.70783434  0.04575197]

Pose Error in degrees for R and t:
11.629400915884617 71.28116816071163

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 9.99997933e-01 -1.99793135e-03 -3.77480741e-04]
 [ 1.99794746e-03  9.99998003e-01  4.23085633e-05]
 [ 3.77395457e-04 -4.30626625e-05  9.99999928e-01]]

 t_estimated:
[[-0.99969647]
 [-0.02392899]
 [-0.00586295]]

 R_gt:
[[ 0.99986731  0.00927385 -0.01343448]
 [-0.00957962  0.99969451 -0.02281794]
 [ 0.01321878  0.02294405  0.99964949]]

 t_gt:
[-0.12354219  0.71815345 -0.6848306 ]

Pose Error in degrees for R and t:
1.6431489828300143 83.66536552255252

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999851e-01 -5.43413463e-04  5.79522916e-05]
 [ 5.43437179e-04  9.99999768e-01 -4.10015530e-04]
 [-5.77294702e-05  4.10046962e-04  9.99999914e-01]]

 t_estimated:
[[9.43518867e-01]
 [3.31317892e-01]
 [7.75920121e-04]]

 R_gt:
[[ 0.99593678  0.08986871 -0.00603734]
 [-0.08979723  0.99589786  0.01121908]
 [ 0.00702075 -0.01063077  0.99991898]]

 t_gt:
[-0.58279456  0.81146874  0.04323171]

Pose Error in degrees for R and t:
5.238732454336438 73.68069987520825

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 0.9999829   0.0026903  -0.00519267]
 [-0.00263936  0.99994857  0.00979236]
 [ 0.00521875 -0.00977849  0.99993857]]

 t_estimated:
[[-8.00817622e-01]
 [-5.98907898e-01]
 [-6.82127447e-04]]

 R_gt:
[[ 0.96302152  0.26935863  0.00608004]
 [-0.26939736  0.96300591  0.00676639]
 [-0.0040325  -0.00815365  0.99995883]]

 t_gt:
[-0.62403252  0.78103576  0.02380259]

Pose Error in degrees for R and t:
15.486380278845669 88.16900137361371

Number of keypoints:
Image1: 602
Image2: 602

 R_estimated:
[[ 9.62711539e-01  2.70529704e-01  4.14731921e-04]
 [-2.70529506e-01  9.62711565e-01 -4.78049719e-04]
 [-5.28593866e-04  3.48026760e-04  9.99999800e-01]]

 t_estimated:
[[0.34397969]
 [0.93897509]
 [0.00193864]]

 R_gt:
[[ 0.9995696  -0.02897967 -0.00465094]
 [ 0.0290524   0.9994414   0.01654983]
 [ 0.00416934 -0.01667823  0.99985184]]

 t_gt:
[ 0.35141029 -0.91746271  0.18647515]

Pose Error in degrees for R and t:
17.38804795291714 42.24855219407824

Number of keypoints:
Image1: 343
Image2: 343

 R_estimated:
[[ 9.79890401e-01  1.99536189e-01  3.34091733e-04]
 [-1.99536432e-01  9.79889856e-01  1.04053223e-03]
 [-1.19749266e-04 -1.08627101e-03  9.99999403e-01]]

 t_estimated:
[[0.53247361]
 [0.84644603]
 [0.00098424]]

 R_gt:
[[ 0.99663414 -0.08039547  0.01600839]
 [ 0.07982024  0.99623609  0.03379359]
 [-0.01866578 -0.03240166  0.99929995]]

 t_gt:
[ 0.25004264 -0.86600559  0.4330277 ]

Pose Error in degrees for R and t:
16.239492967625083 53.16878968188689

Number of keypoints:
Image1: 313
Image2: 313

 R_estimated:
[[ 9.97759041e-01  6.68854909e-02  1.79631160e-03]
 [-6.68845101e-02  9.97760543e-01 -6.00735832e-04]
 [-1.83246935e-03  4.79244186e-04  9.99998206e-01]]

 t_estimated:
[[0.62765054]
 [0.77849473]
 [0.00086692]]

 R_gt:
[[ 0.99212285 -0.11033258  0.05931912]
 [ 0.1096899   0.99386737  0.01399654]
 [-0.06050036 -0.00737995  0.99814039]]

 t_gt:
[ 0.0817772  -0.85138376  0.51812951]

Pose Error in degrees for R and t:
10.708719593904094 52.33662889000407

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[ 0.99723545 -0.07071652  0.0228174 ]
 [ 0.07158489  0.99664027 -0.03979678]
 [-0.01992645  0.04132014  0.99894724]]

 t_estimated:
[[-9.84528663e-01]
 [-1.75220932e-01]
 [-9.68071448e-04]]

 R_gt:
[[ 0.9981983  -0.04689996  0.03743539]
 [ 0.04722032  0.99885467 -0.00772238]
 [-0.0370298   0.00947605  0.99926878]]

 t_gt:
[-0.05838513 -0.78045613  0.62247844]

Pose Error in degrees for R and t:
2.4698352235443184 78.83521067230105

Number of keypoints:
Image1: 226
Image2: 226

 R_estimated:
[[ 9.50395812e-01  3.11042819e-01  4.06268117e-04]
 [-3.11042889e-01  9.50395869e-01  1.19809896e-04]
 [-3.48849532e-04 -2.40233633e-04  9.99999910e-01]]

 t_estimated:
[[0.6314401 ]
 [0.77542412]
 [0.00091373]]

 R_gt:
[[ 0.99453659 -0.09883785  0.03360486]
 [ 0.09911882  0.99505283 -0.00675456]
 [-0.03277099  0.01004974  0.99941258]]

 t_gt:
[ 0.10393892 -0.96713482  0.23204942]

Pose Error in degrees for R and t:
23.882250016728634 46.83541123234559

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.77339575e-01  2.11674676e-01  1.08968580e-03]
 [-2.11674461e-01  9.77340179e-01 -3.09931512e-04]
 [-1.13059837e-03  7.22496765e-05  9.99999358e-01]]

 t_estimated:
[[-0.52876335]
 [-0.84876818]
 [-0.00137341]]

 R_gt:
[[ 0.99429942 -0.10590384 -0.0124221 ]
 [ 0.10606512  0.99427317  0.01306204]
 [ 0.01096681 -0.01430444  0.99983764]]

 t_gt:
[-0.01696163 -0.99865204 -0.04905521]

Pose Error in degrees for R and t:
18.336653020859462 31.056373499184833

Number of keypoints:
Image1: 276
Image2: 276

 R_estimated:
[[-1.51790132e-01 -9.88411908e-01 -1.28716750e-03]
 [-9.88412302e-01  1.51791170e-01 -7.49976844e-04]
 [ 9.36666703e-04  1.15841310e-03 -9.99998890e-01]]

 t_estimated:
[[7.15445603e-01]
 [6.98668350e-01]
 [3.53523562e-04]]

 R_gt:
[[ 0.99919442  0.02483041  0.031524  ]
 [-0.02703523  0.99707164  0.07152369]
 [-0.02965535 -0.07231894  0.99694047]]

 t_gt:
[-0.17744138 -0.10801282  0.97818597]

Pose Error in degrees for R and t:
176.0658167148821 78.34202638919064

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-0.9570995  -0.2849569   0.05253674]
 [-0.28441876  0.95853843  0.01760844]
 [-0.05537613  0.0019106  -0.99846374]]

 t_estimated:
[[0.98827203]
 [0.14973819]
 [0.02994764]]

 R_gt:
[[ 0.99290192  0.09756642  0.06800694]
 [-0.10479578  0.98812305  0.11238512]
 [-0.05623379 -0.11871408  0.99133441]]

 t_gt:
[-0.50857456  0.22696904  0.83056425]

Pose Error in degrees for R and t:
172.41946829390577 63.65656686144208

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99996272e-01 -2.72823088e-03 -1.15308959e-04]
 [ 2.72818675e-03  9.99996206e-01 -3.81170111e-04]
 [ 1.16348442e-04  3.80854105e-04  9.99999921e-01]]

 t_estimated:
[[-0.99995131]
 [-0.00979144]
 [-0.00122393]]

 R_gt:
[[ 0.97461625  0.2172187   0.0542045 ]
 [-0.22057279  0.97311392  0.06630207]
 [-0.03834503 -0.07657584  0.99632585]]

 t_gt:
[-0.6968715   0.61867097  0.36278967]

Pose Error in degrees for R and t:
13.737344918316563 46.343298915304516

Number of keypoints:
Image1: 269
Image2: 269

 R_estimated:
[[-0.97468502 -0.22355442 -0.00354136]
 [-0.22353317  0.97468045 -0.00556197]
 [ 0.0046951  -0.00462955 -0.99997826]]

 t_estimated:
[[9.72242500e-01]
 [2.33974246e-01]
 [7.57198209e-04]]

 R_gt:
[[ 0.99224546 -0.1163133   0.04382548]
 [ 0.11456795  0.99259165  0.04045476]
 [-0.04820658 -0.03511917  0.99821924]]

 t_gt:
[ 0.45728876 -0.78194888  0.42360706]

Pose Error in degrees for R and t:
177.38416699769235 74.8135817225851

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 7.98690087e-01  6.01742059e-01  7.99737040e-04]
 [-6.01742220e-01  7.98690364e-01 -4.82989038e-05]
 [-6.67805750e-04 -4.42659687e-04  9.99999679e-01]]

 t_estimated:
[[7.69611230e-01]
 [6.38512406e-01]
 [6.79268517e-04]]

 R_gt:
[[ 0.9717244  -0.23555859  0.01625392]
 [ 0.23383757  0.9695984   0.07210181]
 [-0.0327442  -0.06626205  0.99726423]]

 t_gt:
[ 0.62968884 -0.72342546  0.28310345]

Pose Error in degrees for R and t:
50.75095941657436 88.68828342957087

Number of keypoints:
Image1: 172
Image2: 172

 R_estimated:
[[ 1.51596642e-01  9.88442198e-01 -6.91644476e-04]
 [ 9.88434616e-01 -1.51592621e-01  4.08492581e-03]
 [ 3.93286485e-03 -1.30290638e-03 -9.99991417e-01]]

 t_estimated:
[[0.20125057]
 [0.97953817]
 [0.00178098]]

 R_gt:
[[ 0.93293883 -0.35993036  0.00869123]
 [ 0.35321461  0.91967341  0.17158141]
 [-0.06975059 -0.15700437  0.98513094]]

 t_gt:
[ 0.64781513 -0.63477149  0.42118965]

Pose Error in degrees for R and t:
174.02187721005467 60.6160548695478

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99998700e-01  8.84911270e-04 -1.34829639e-03]
 [-8.81965961e-04  9.99997227e-01  2.18349776e-03]
 [ 1.35022485e-03 -2.18230577e-03  9.99996707e-01]]

 t_estimated:
[[ 9.05109881e-01]
 [ 4.25177576e-01]
 [-3.62870632e-04]]

 R_gt:
[[ 9.95811611e-01  8.72693067e-02  2.72664199e-02]
 [-8.73036403e-02  9.96181909e-01  8.46325580e-05]
 [-2.71545327e-02 -2.46464298e-03  9.99628942e-01]]

 t_gt:
[-0.69315114  0.69251627  0.19990678]

Pose Error in degrees for R and t:
5.221237245634891 70.54854324519377

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.70761404e-01 -2.40045597e-01 -6.39101022e-04]
 [ 2.40046081e-01  9.70761135e-01  8.34989624e-04]
 [ 4.19978850e-04 -9.63989395e-04  9.99999447e-01]]

 t_estimated:
[[-0.7937845 ]
 [-0.60819829]
 [-0.00100862]]

 R_gt:
[[ 9.24786532e-01  3.79793282e-01  2.29596463e-02]
 [-3.79696791e-01  9.25070855e-01 -8.57281182e-03]
 [-2.44949675e-02 -7.88978390e-04  9.99700212e-01]]

 t_gt:
[-0.64157901  0.76614504  0.03739196]

Pose Error in degrees for R and t:
36.2385372653747 87.52005688037212

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[-0.18705707  0.9823469   0.00205242]
 [ 0.98234687  0.18705185  0.00249536]
 [ 0.0020674   0.00248297 -0.99999478]]

 t_estimated:
[[-0.03132786]
 [-0.99950805]
 [-0.0014918 ]]

 R_gt:
[[ 0.81919305  0.56614044  0.09169029]
 [-0.56384216  0.82425604 -0.05179365]
 [-0.10489828 -0.00926979  0.99444015]]

 t_gt:
[-0.56921441  0.8142261   0.11415263]

Pose Error in degrees for R and t:
174.689467765797 37.234704637139885

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-9.14556594e-01 -4.04457070e-01 -8.45215466e-04]
 [-4.04457923e-01  9.14555337e-01  1.52440837e-03]
 [ 1.56438573e-04  1.73601182e-03 -9.99998481e-01]]

 t_estimated:
[[8.96194439e-01]
 [4.43660613e-01]
 [8.87321227e-04]]

 R_gt:
[[ 0.99855208 -0.02455122  0.04786272]
 [ 0.0229701   0.99918169  0.03327748]
 [-0.04864144 -0.0321288   0.99829957]]

 t_gt:
[ 0.24683013 -0.2002053   0.94815227]

Pose Error in degrees for R and t:
176.93397833968984 82.3439551950189

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-8.66097933e-01 -4.99873023e-01 -1.15384213e-03]
 [-4.99874273e-01  8.66094171e-01  2.56865400e-03]
 [-2.84664898e-04  2.80148191e-03 -9.99996035e-01]]

 t_estimated:
[[9.85020133e-01]
 [1.72437577e-01]
 [7.87386197e-04]]

 R_gt:
[[ 0.99338063 -0.09128671  0.06973683]
 [ 0.08715552  0.99437738  0.06014397]
 [-0.07483614 -0.05366823  0.99575048]]

 t_gt:
[ 0.70702502 -0.21931384  0.67232214]

Pose Error in degrees for R and t:
175.16294084294853 48.76527846894447

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.71355438  0.70059671  0.00209797]
 [-0.70057556  0.71355138 -0.00618961]
 [-0.00583343  0.00294684  0.99997864]]

 t_estimated:
[[0.53934907]
 [0.84208049]
 [0.00173984]]

 R_gt:
[[ 0.98889195 -0.14861024  0.00296753]
 [ 0.14862741  0.98886777 -0.00709839]
 [-0.00187977  0.00746149  0.99997001]]

 t_gt:
[ 0.99105449 -0.13327221 -0.00703697]

Pose Error in degrees for R and t:
53.02161659631185 65.0209942823517

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 9.88746494e-01  1.49600697e-01  4.16747726e-05]
 [-1.49600696e-01  9.88746495e-01 -2.90575635e-05]
 [-4.55528171e-05  2.24959890e-05  9.99999999e-01]]

 t_estimated:
[[9.25260313e-01]
 [3.79331956e-01]
 [7.86820602e-04]]

 R_gt:
[[ 0.98317132 -0.18265761  0.00327002]
 [ 0.18268122  0.98282948 -0.02594296]
 [ 0.00152439  0.02610383  0.99965833]]

 t_gt:
[ 0.5975708  -0.79680331 -0.08951887]

Pose Error in degrees for R and t:
19.188806910303523 75.48785853511882

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.98755208e-01  4.98800977e-02  9.94351744e-05]
 [-4.98800926e-02  9.98755212e-01 -5.31972114e-05]
 [-1.01964881e-04  4.81711562e-05  9.99999994e-01]]

 t_estimated:
[[9.99820131e-01]
 [1.89474676e-02]
 [8.35601408e-04]]

 R_gt:
[[ 0.9269227  -0.37522233  0.00472267]
 [ 0.37520002  0.92692933  0.00516983]
 [-0.00631685 -0.00301995  0.99997651]]

 t_gt:
[ 0.67268833 -0.7393293   0.02970852]

Pose Error in degrees for R and t:
24.899836666708758 48.80804986474661

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.92716486 -0.18211806  0.32741156]
 [ 0.35718881  0.6933917  -0.62579878]
 [-0.1130552   0.69716638  0.70793895]]

 t_estimated:
[[-8.56822910e-01]
 [-5.15610247e-01]
 [-7.58250363e-04]]

 R_gt:
[[ 0.84796456 -0.52889576 -0.03498904]
 [ 0.52685647  0.84825045 -0.05377961]
 [ 0.0581233   0.02716934  0.99793994]]

 t_gt:
[ 0.75857008 -0.64252888 -0.1082962 ]

Pose Error in degrees for R and t:
45.57573031511866 71.42270928178296

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.35910133e-01 -3.52238684e-01 -3.63127477e-04]
 [ 3.52238780e-01  9.35910136e-01  2.44840496e-04]
 [ 2.53612392e-04 -3.57056281e-04  9.99999904e-01]]

 t_estimated:
[[ 9.63397542e-01]
 [-2.68076407e-01]
 [ 4.64471993e-04]]

 R_gt:
[[ 0.99875495  0.02967098  0.04011278]
 [-0.02823328  0.99895572 -0.03591713]
 [-0.04113758  0.03474098  0.99854884]]

 t_gt:
[-0.6361664   0.75977483  0.13429271]

Pose Error in degrees for R and t:
22.498127441764847 35.26440039185703

Number of keypoints:
Image1: 215
Image2: 215

 R_estimated:
[[ 9.65648425e-01 -2.59846799e-01 -1.66124879e-03]
 [ 2.59848186e-01  9.65649243e-01  6.78362014e-04]
 [ 1.42791344e-03 -1.08673170e-03  9.99998390e-01]]

 t_estimated:
[[-0.42800401]
 [-0.90377633]
 [-0.00095537]]

 R_gt:
[[ 0.99306679  0.08015359  0.08599317]
 [-0.07360884  0.9943305  -0.07674545]
 [-0.09165741  0.06988405  0.99333553]]

 t_gt:
[-0.71723302  0.68192882  0.14335231]

Pose Error in degrees for R and t:
20.601122141683494 71.97273905086575

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-0.20231096  0.97930064 -0.00636714]
 [ 0.97925165  0.20236985  0.01061411]
 [ 0.01168292 -0.00408768 -0.9999234 ]]

 t_estimated:
[[-0.46837011]
 [-0.88351634]
 [-0.00532239]]

 R_gt:
[[ 0.98135611  0.11296398  0.15550076]
 [-0.09903012  0.99057458 -0.09462908]
 [-0.16472534  0.07746493  0.98329245]]

 t_gt:
[-0.69764762  0.60131171  0.38950227]

Pose Error in degrees for R and t:
170.3806174467893 78.07772930846276

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.88404371e-01 -1.51843882e-01  4.85478255e-04]
 [ 1.51843973e-01  9.88404463e-01 -1.57833315e-04]
 [-4.55882851e-04  2.29720085e-04  9.99999870e-01]]

 t_estimated:
[[0.02848575]
 [0.99959084]
 [0.00258961]]

 R_gt:
[[ 0.97946893 -0.16457013 -0.1164386 ]
 [ 0.17876794  0.97600388  0.12433182]
 [ 0.09318331 -0.14259441  0.98538519]]

 t_gt:
[ 0.58810781 -0.78413431  0.1981479 ]

Pose Error in degrees for R and t:
9.908862741304574 39.955124660806455

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.98233774  0.18689801  0.00903841]
 [-0.18692131  0.98237324  0.00179818]
 [-0.00854302 -0.00345589  0.99995754]]

 t_estimated:
[[0.13661747]
 [0.99047667]
 [0.01707718]]

 R_gt:
[[ 0.93383903 -0.29562693 -0.2013688 ]
 [ 0.32239042  0.93949627  0.11581094]
 [ 0.15494842 -0.17306797  0.97264578]]

 t_gt:
[ 0.67289324 -0.73640797  0.07012841]

Pose Error in degrees for R and t:
32.05734283945132 50.48588093129209

Number of keypoints:
Image1: 34
Image2: 34

 R_estimated:
[[ 2.20181117e-01  9.75458996e-01  1.52250447e-04]
 [ 9.75454604e-01 -2.20180589e-01  2.97063179e-03]
 [ 2.93125209e-03 -5.05563626e-04 -9.99995576e-01]]

 t_estimated:
[[0.08601087]
 [0.99629259]
 [0.00179189]]

 R_gt:
[[ 0.89684906 -0.35730178 -0.26076322]
 [ 0.4065397   0.89813062  0.16759093]
 [ 0.17431865 -0.25631454  0.95074544]]

 t_gt:
[ 0.67059389 -0.72227445  0.16918464]

Pose Error in degrees for R and t:
161.9799312708708 48.576829424496815

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999714e-01 -7.50042830e-04 -9.92683742e-05]
 [ 7.50032482e-04  9.99999713e-01 -1.04235320e-04]
 [ 9.93465267e-05  1.04160836e-04  9.99999990e-01]]

 t_estimated:
[[9.99996606e-01]
 [2.58004019e-03]
 [3.62446877e-04]]

 R_gt:
[[ 0.98427455  0.17578382 -0.01744145]
 [-0.17605389  0.9842615  -0.0153261 ]
 [ 0.01447322  0.01815557  0.99973011]]

 t_gt:
[-0.2589056   0.95353747 -0.15405904]

Pose Error in degrees for R and t:
10.261753345292863 75.13749110793268

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99999828e-01 -5.86516991e-04 -2.96107220e-05]
 [ 5.86518390e-04  9.99999827e-01  4.72864317e-05]
 [ 2.95829826e-05 -4.73037907e-05  9.99999998e-01]]

 t_estimated:
[[9.71706942e-01]
 [2.36187903e-01]
 [9.44934274e-04]]

 R_gt:
[[ 0.98384061  0.16981145  0.05675881]
 [-0.17039892  0.98536003  0.0056305 ]
 [-0.0549717  -0.01521132  0.99837177]]

 t_gt:
[-0.20430426  0.94047967  0.27158381]

Pose Error in degrees for R and t:
10.363869846658448 88.63263900484993

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99999994e-01  1.02898488e-04 -3.58157008e-05]
 [-1.02898987e-04  9.99999995e-01 -1.39318898e-05]
 [ 3.58142670e-05  1.39355752e-05  9.99999999e-01]]

 t_estimated:
[[8.06932906e-01]
 [5.90642716e-01]
 [6.82980876e-04]]

 R_gt:
[[ 0.98609782  0.14852649  0.07450445]
 [-0.15184204  0.98755568  0.04096345]
 [-0.06749242 -0.05170693  0.99637808]]

 t_gt:
[-0.17436541  0.86371492  0.47285648]

Pose Error in degrees for R and t:
9.927049988656183 68.29864783953042

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999332e-01  1.09361130e-03  3.74798138e-04]
 [-1.09345309e-03  9.99999313e-01 -4.22064631e-04]
 [-3.75259456e-04  4.21654525e-04  9.99999841e-01]]

 t_estimated:
[[0.9999814 ]
 [0.00585282]
 [0.00171609]]

 R_gt:
[[ 0.98767656 -0.15348682  0.03062465]
 [ 0.15397727  0.98797044 -0.01436023]
 [-0.02805204  0.01889773  0.99942787]]

 t_gt:
[ 0.82875059 -0.55960688  0.00354908]

Pose Error in degrees for R and t:
9.109853237574281 34.36423623530668

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[ 4.88673177e-01  8.72465724e-01  1.44432658e-03]
 [ 8.72466465e-01 -4.88673943e-01  2.12362191e-04]
 [ 8.91083496e-04  1.15635080e-03 -9.99998934e-01]]

 t_estimated:
[[0.82150041]
 [0.57020718]
 [0.00091379]]

 R_gt:
[[ 0.85999502 -0.51029316 -0.00298243]
 [ 0.51021002  0.85993604 -0.01400371]
 [ 0.00970988  0.01052138  0.99989747]]

 t_gt:
[ 0.92375126 -0.38173529 -0.03101248]

Pose Error in degrees for R and t:
179.51000834425432 57.23698514572219

Number of keypoints:
Image1: 47
Image2: 47

 R_estimated:
[[-0.42089013 -0.9071076  -0.00270354]
 [ 0.90710885 -0.42087961 -0.00372608]
 [ 0.00224209 -0.00402067  0.9999894 ]]

 t_estimated:
[[9.99867534e-01]
 [1.62638030e-02]
 [6.34711408e-04]]

 R_gt:
[[ 6.95506589e-01 -7.17231322e-01  4.30141104e-02]
 [ 7.15897532e-01  6.96835715e-01  4.37293018e-02]
 [-6.13385319e-02  3.79121037e-04  9.98116504e-01]]

 t_gt:
[ 0.96011054 -0.27633376  0.04274816]

Pose Error in degrees for R and t:
69.15522408997417 17.153846819540174

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99999984e-01  1.76728634e-04 -2.71843671e-05]
 [-1.76725165e-04  9.99999976e-01  1.27545146e-04]
 [ 2.72069074e-05 -1.27540339e-04  9.99999991e-01]]

 t_estimated:
[[4.69010842e-03]
 [9.99988697e-01]
 [7.79813952e-04]]

 R_gt:
[[ 0.99738126  0.0721449   0.00507668]
 [-0.07227227  0.99685604  0.03247783]
 [-0.00271654 -0.03276025  0.99945918]]

 t_gt:
[-0.26018243  0.50625317  0.8222    ]

Pose Error in degrees for R and t:
4.53803242704379 59.62427281835624

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[-0.99998737  0.00429159  0.00261542]
 [ 0.00429865  0.99998712  0.00269974]
 [-0.0026038   0.00271095 -0.99999294]]

 t_estimated:
[[ 0.99999269]
 [-0.00305704]
 [ 0.00229697]]

 R_gt:
[[ 0.99078059  0.13106692  0.03429112]
 [-0.1326109   0.99003166  0.04745107]
 [-0.02772974 -0.05156065  0.99828462]]

 t_gt:
[-0.22890312  0.51773612  0.82434985]

Pose Error in degrees for R and t:
178.08592379121959 76.78588659544576

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99999606e-01 -8.87246596e-04 -5.43004405e-06]
 [ 8.87251657e-04  9.99999090e-01  1.01631370e-03]
 [ 4.52831823e-06 -1.01631812e-03  9.99999484e-01]]

 t_estimated:
[[0.61238384]
 [0.79055876]
 [0.00169937]]

 R_gt:
[[ 0.96462156  0.25939018  0.04714245]
 [-0.26266249  0.96093997  0.08720023]
 [-0.02268147 -0.09649791  0.99507476]]

 t_gt:
[-0.28260611  0.78059756  0.5574955 ]

Pose Error in degrees for R and t:
16.22357016142863 63.577159174890575

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 9.95863237e-01 -9.08648006e-02 -2.28888147e-05]
 [ 9.08647810e-02  9.95863137e-01 -4.52309193e-04]
 [ 6.38931115e-05  4.48358310e-04  9.99999897e-01]]

 t_estimated:
[[ 0.68251412]
 [-0.7308609 ]
 [-0.00410205]]

 R_gt:
[[ 0.99861262  0.02444218  0.04666166]
 [-0.02516504  0.99957088  0.01497534]
 [-0.04627605 -0.01612841  0.99879818]]

 t_gt:
[ 0.31793711 -0.06145565  0.94611796]

Pose Error in degrees for R and t:
7.209028105215746 75.04673467890983

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-1.16673806e-01  9.93153900e-01 -5.70565654e-03]
 [-9.93170279e-01 -1.16672678e-01  5.31233633e-04]
 [-1.38097476e-04  5.72866955e-03  9.99983582e-01]]

 t_estimated:
[[7.84353014e-01]
 [6.20314335e-01]
 [6.89238150e-04]]

 R_gt:
[[ 0.99355322  0.10449872  0.04397273]
 [-0.10715172  0.99223983  0.06307295]
 [-0.03703991 -0.06737828  0.99703945]]

 t_gt:
[0.02506241 0.20060848 0.97935086]

Pose Error in degrees for R and t:
90.71796006911073 81.67585965091621

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 1.00000000e+00 -1.47215573e-13 -3.77464986e-16]
 [ 1.47187817e-13  1.00000000e+00  5.44920012e-16]
 [-2.08763128e-16 -4.61436445e-16  1.00000000e+00]]

 t_estimated:
[[-0.14083548]
 [-0.99003117]
 [-0.00190823]]

 R_gt:
[[ 0.98008306  0.18611947  0.06927126]
 [-0.19099426  0.97894558  0.0720248 ]
 [-0.05440785 -0.08382125  0.99499453]]

 t_gt:
[-0.13550669  0.52033985  0.8431396 ]

Pose Error in degrees for R and t:
12.309137751946308 60.153541656397095

Number of keypoints:
Image1: 651
Image2: 651

 R_estimated:
[[ 9.99885516e-01 -1.51312562e-02  2.36685982e-05]
 [ 1.51312561e-02  9.99885516e-01  2.48057547e-06]
 [-2.37034227e-05 -2.12215586e-06  1.00000000e+00]]

 t_estimated:
[[ 9.96648146e-01]
 [-8.18064553e-02]
 [ 4.20172663e-04]]

 R_gt:
[[ 0.99934191 -0.03610303 -0.00360087]
 [ 0.03603992  0.99921743 -0.01627459]
 [ 0.0041858   0.01613419  0.99986091]]

 t_gt:
[ 0.56768489 -0.74897422 -0.34171843]

Pose Error in degrees for R and t:
1.5344550630591247 51.17752707525702

Number of keypoints:
Image1: 507
Image2: 507

 R_estimated:
[[ 9.99745000e-01 -2.25816976e-02  4.34586497e-05]
 [ 2.25817050e-02  9.99744985e-01 -1.78790895e-04]
 [-3.94101651e-05  1.79726674e-04  9.99999983e-01]]

 t_estimated:
[[ 9.61496936e-01]
 [-2.74814615e-01]
 [-7.54515023e-04]]

 R_gt:
[[ 0.99649895 -0.08322753 -0.00791854]
 [ 0.0830622   0.99635603 -0.0193478 ]
 [ 0.00949995  0.0186222   0.9997818 ]]

 t_gt:
[ 0.56695199 -0.78962986 -0.23462763]

Pose Error in degrees for R and t:
3.6739260519497305 40.33248846936562

Number of keypoints:
Image1: 365
Image2: 365

 R_estimated:
[[ 9.99619096e-01  2.75974914e-02  2.01029736e-04]
 [-2.75975260e-02  9.99619101e-01  1.71616242e-04]
 [-1.96216986e-04 -1.77098796e-04  9.99999965e-01]]

 t_estimated:
[[0.98176768]
 [0.19008104]
 [0.00118994]]

 R_gt:
[[ 0.9949246  -0.10056926  0.00331949]
 [ 0.10053848  0.99489769  0.00840383]
 [-0.00414743 -0.00802769  0.99995929]]

 t_gt:
[ 0.47038973 -0.87986566  0.06760119]

Pose Error in degrees for R and t:
7.369784970298263 72.86356285747905

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.99975243  0.02198909 -0.00339875]
 [-0.02197245  0.99974678  0.00485725]
 [ 0.0035047  -0.00478137  0.99998243]]

 t_estimated:
[[0.92532595]
 [0.37916754]
 [0.0019646 ]]

 R_gt:
[[ 9.67625388e-01 -2.51471347e-01 -2.15306933e-02]
 [ 2.51510819e-01  9.67853541e-01 -8.59043353e-04]
 [ 2.10547711e-02 -4.58441867e-03  9.99767651e-01]]

 t_gt:
[ 0.85934132 -0.50961268 -0.04274825]

Pose Error in degrees for R and t:
15.861206816421008 52.99689818122686

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-8.42349431e-01 -5.38931424e-01 -5.97061870e-04]
 [ 5.38931595e-01 -8.42347814e-01 -1.70154557e-03]
 [ 4.14082614e-04 -1.75507145e-03  9.99998374e-01]]

 t_estimated:
[[8.01642509e-01]
 [5.97803395e-01]
 [6.23361204e-04]]

 R_gt:
[[ 8.08332096e-01 -5.88727139e-01 -1.28291766e-04]
 [ 5.88686782e-01  8.08272916e-01  1.19547502e-02]
 [-6.93394868e-03 -9.73876786e-03  9.99928467e-01]]

 t_gt:
[ 0.93511426 -0.35404555  0.01459706]

Pose Error in degrees for R and t:
111.32387136136191 57.453302784599735

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[-5.33211804e-02 -9.98575030e-01 -2.18222615e-03]
 [ 9.98577387e-01 -5.33205445e-02 -3.48564054e-04]
 [ 2.31709873e-04 -2.19770754e-03  9.99997558e-01]]

 t_estimated:
[[9.99995777e-01]
 [2.84229681e-03]
 [6.05736481e-04]]

 R_gt:
[[ 0.67576656 -0.73704815  0.00998599]
 [ 0.73685649  0.67582537  0.01740033]
 [-0.01957355 -0.00440047  0.99979855]]

 t_gt:
[ 0.96511193 -0.26132308  0.01640754]

Pose Error in degrees for R and t:
45.59259129076471 15.339551346882145

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-1.78036006e-01 -9.84023430e-01 -1.03401672e-03]
 [-9.84023539e-01  1.78036817e-01 -7.53218536e-04]
 [ 9.25277733e-04  8.83396769e-04 -9.99999182e-01]]

 t_estimated:
[[0.7217071 ]
 [0.69219805]
 [0.00084312]]

 R_gt:
[[ 0.99755866 -0.0507338  -0.04800449]
 [ 0.05223619  0.99816678  0.03057762]
 [ 0.04636493 -0.03301122  0.9983794 ]]

 t_gt:
[ 0.52893109 -0.79781569 -0.28934758]

Pose Error in degrees for R and t:
179.0201716646288 80.16815920659322

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 0.09097403  0.99579694 -0.01059163]
 [ 0.99582037 -0.09087943  0.00909467]
 [ 0.00809388 -0.01137474 -0.99990255]]

 t_estimated:
[[0.91396914]
 [0.40577911]
 [0.00193228]]

 R_gt:
[[ 0.99761128 -0.05853739 -0.03668372]
 [ 0.05870306  0.99826976  0.0034239 ]
 [ 0.03642067 -0.00556947  0.99932136]]

 t_gt:
[ 0.52497518 -0.77938467 -0.34199504]

Pose Error in degrees for R and t:
177.5997431435698 80.62518648006764

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 9.96867472e-01 -7.90899876e-02 -1.32906778e-04]
 [ 7.90899909e-02  9.96867480e-01  1.99429519e-05]
 [ 1.30913158e-04 -3.03920760e-05  9.99999991e-01]]

 t_estimated:
[[-0.68554411]
 [-0.72802853]
 [-0.00193111]]

 R_gt:
[[ 9.95926470e-01  2.96189345e-03  9.01232045e-02]
 [-8.14105381e-04  9.99715391e-01 -2.38544208e-02]
 [-9.01686219e-02  2.36830980e-02  9.95644551e-01]]

 t_gt:
[-0.25070384  0.00490774  0.96805139]

Pose Error in degrees for R and t:
7.088979644507016 80.41990726932434

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.65123750e-01  2.61792438e-01  9.30476769e-04]
 [-2.61789169e-01  9.65121303e-01 -2.70220022e-03]
 [-1.60543854e-03  2.36436887e-03  9.99995916e-01]]

 t_estimated:
[[-1.72722115e-01]
 [ 9.84970176e-01]
 [ 9.07453746e-04]]

 R_gt:
[[ 0.98364503  0.16391445 -0.07466428]
 [-0.16262959  0.98641899  0.02301623]
 [ 0.07742449 -0.01049814  0.99694302]]

 t_gt:
[-0.11902593  0.96749308 -0.22313665]

Pose Error in degrees for R and t:
7.365391958369508 13.26786262065393

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99999924e-01 -2.47912559e-04 -3.02230065e-04]
 [ 2.48278019e-04  9.99999237e-01  1.20977679e-03]
 [ 3.01929916e-04 -1.20985173e-03  9.99999223e-01]]

 t_estimated:
[[0.69849353]
 [0.71561496]
 [0.00141882]]

 R_gt:
[[ 0.93240689  0.34921628 -0.09308805]
 [-0.34429827  0.93660726  0.06500712]
 [ 0.10988904 -0.02856313  0.99353364]]

 t_gt:
[-0.18075362  0.97499801 -0.1292556 ]

Pose Error in degrees for R and t:
21.365658217609056 55.160151086851634

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-2.19588500e-01 -9.75591985e-01  1.08156792e-03]
 [-9.75592454e-01  2.19587761e-01 -7.61502490e-04]
 [ 5.05416648e-04 -1.22238669e-03 -9.99999125e-01]]

 t_estimated:
[[0.79343189]
 [0.60865742]
 [0.00140444]]

 R_gt:
[[ 0.9229276   0.38304714 -0.03848821]
 [-0.38232029  0.92369168  0.02500912]
 [ 0.04513158 -0.00836778  0.99894539]]

 t_gt:
[-0.11317193  0.99324858 -0.02548277]

Pose Error in degrees for R and t:
178.73684437160088 59.02138500268256

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99514433e-01  3.11592498e-02  1.56674617e-05]
 [-3.11592474e-02  9.99514423e-01 -1.36664315e-04]
 [-1.99182115e-05  1.36109769e-04  9.99999991e-01]]

 t_estimated:
[[-0.73757679]
 [-0.67526232]
 [-0.00113299]]

 R_gt:
[[ 0.99913442  0.01568951  0.03853726]
 [-0.01425638  0.99920803 -0.03716522]
 [-0.03908958  0.03658343  0.99856562]]

 t_gt:
[-0.56600338  0.67946238  0.46687369]

Pose Error in degrees for R and t:
3.1996226431515598 87.60013223649158

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.02077183e-01  4.31574737e-01 -5.08406644e-05]
 [-4.31574657e-01  9.02076932e-01 -7.23930766e-04]
 [-2.66568039e-04  6.74982968e-04  9.99999737e-01]]

 t_estimated:
[[-0.99953007]
 [-0.03063259]
 [-0.00113454]]

 R_gt:
[[ 0.98229734  0.08578118  0.16653535]
 [-0.07578838  0.99497164 -0.06547239]
 [-0.17131459  0.05169219  0.9838592 ]]

 t_gt:
[-0.40216633  0.5278857   0.74806346]

Pose Error in degrees for R and t:
23.26637249367407 67.35885941500734

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 0.81936969 -0.55583881 -0.14027306]
 [ 0.56159861  0.82740787  0.00179269]
 [ 0.11506659 -0.08024604  0.99011123]]

 t_estimated:
[[ 0.92491228]
 [ 0.38014912]
 [-0.0048912 ]]

 R_gt:
[[ 0.95022325  0.20965375  0.23047948]
 [-0.18689518  0.97541753 -0.11674967]
 [-0.24929089  0.06786289  0.96604775]]

 t_gt:
[-0.37153722  0.69897337  0.61106164]

Pose Error in degrees for R and t:
51.17148834239884 85.35889272656378

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.98353414 -0.1192847  -0.13576359]
 [ 0.14061631  0.97700557  0.16027217]
 [ 0.11352376 -0.17672373  0.97769171]]

 t_estimated:
[[-0.38660943]
 [-0.92219411]
 [-0.00954821]]

 R_gt:
[[ 9.89922613e-01  1.41579468e-01 -3.15064060e-03]
 [-1.41612744e-01  9.89776299e-01 -1.70197539e-02]
 [ 7.09070489e-04  1.72945627e-02  9.99849682e-01]]

 t_gt:
[-0.66838845  0.74087896 -0.06599426]

Pose Error in degrees for R and t:
20.272792509824555 64.90003856255797

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 9.99058541e-01  4.33820264e-02  1.75203755e-04]
 [-4.33808118e-02  9.99048617e-01 -4.46835952e-03]
 [-3.68883560e-04  4.45655226e-03  9.99990001e-01]]

 t_estimated:
[[0.18236593]
 [0.98322953]
 [0.00153798]]

 R_gt:
[[ 0.98035446  0.19687447 -0.01207882]
 [-0.19720936  0.97950199 -0.04105037]
 [ 0.00375012  0.04262565  0.99908447]]

 t_gt:
[-0.64629276  0.74729761 -0.15444079]

Pose Error in degrees for R and t:
9.151607424365881 51.92694198981885

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.92417455 -0.38185226 -0.0095003 ]
 [-0.38184499  0.92422261 -0.00263948]
 [ 0.00978828  0.0011883  -0.99995139]]

 t_estimated:
[[ 0.97888792]
 [ 0.20435625]
 [-0.00411761]]

 R_gt:
[[ 0.98567371  0.16714307 -0.02261698]
 [-0.16779461  0.98533892 -0.03085543]
 [ 0.01712799  0.03420889  0.99926783]]

 t_gt:
[-0.71024264  0.67248528 -0.20813201]

Pose Error in degrees for R and t:
177.9573192618891 56.153877713103434

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.27390002e-01 -3.74095335e-01 -6.81497714e-04]
 [ 3.74094473e-01  9.27389916e-01 -1.12670075e-03]
 [ 1.05350760e-03  7.89946484e-04  9.99999133e-01]]

 t_estimated:
[[ 0.24973051]
 [-0.96830697]
 [-0.00403466]]

 R_gt:
[[ 0.99045621 -0.12907564 -0.04834726]
 [ 0.12913006  0.99162576 -0.00200849]
 [ 0.04820203 -0.00425409  0.99882939]]

 t_gt:
[ 0.61005953 -0.75941488 -0.22608941]

Pose Error in degrees for R and t:
14.797675668733037 27.300979500029463

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.84918428e-01 -1.73018068e-01 -6.62172760e-04]
 [ 1.73018751e-01  9.84917833e-01  1.17245027e-03]
 [ 4.49330679e-04 -1.26933619e-03  9.99999093e-01]]

 t_estimated:
[[9.78244151e-01]
 [2.07455225e-01]
 [8.43313923e-04]]

 R_gt:
[[ 0.97012865 -0.22470274 -0.09143081]
 [ 0.22780014  0.97339102  0.02484365]
 [ 0.08341488 -0.04493045  0.99550213]]

 t_gt:
[ 0.69076696 -0.71511391 -0.10701914]

Pose Error in degrees for R and t:
6.231070592795012 58.177172106502915

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-9.90972613e-01 -1.34062186e-01 -7.80727686e-04]
 [-1.34063207e-01  9.90971724e-01  1.44850608e-03]
 [ 5.79489169e-04  1.54009671e-03 -9.99998646e-01]]

 t_estimated:
[[9.91170290e-01]
 [1.32592557e-01]
 [8.18472576e-04]]

 R_gt:
[[ 0.94130146 -0.29872124 -0.15721839]
 [ 0.30064438  0.95366127 -0.01197808]
 [ 0.15351089 -0.03599194  0.98749229]]

 t_gt:
[ 0.75900235 -0.60909728 -0.23003466]

Pose Error in degrees for R and t:
170.99745318475223 47.82861477291257

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.99998078e-01  1.95951762e-03  7.01934116e-05]
 [-1.95951900e-03  9.99998080e-01  1.95975476e-05]
 [-7.01548751e-05 -1.97350553e-05  9.99999997e-01]]

 t_estimated:
[[0.99901522]
 [0.04435527]
 [0.00109743]]

 R_gt:
[[ 0.9989452  -0.04512774 -0.00845513]
 [ 0.04521406  0.99892429  0.01035402]
 [ 0.0079787  -0.01072443  0.99991063]]

 t_gt:
[ 0.50066227 -0.86470344 -0.04031441]

Pose Error in degrees for R and t:
2.8080593051945115 62.498565082905856

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.59200911e-01  2.82725138e-01  3.30009435e-04]
 [-2.82725073e-01  9.59200959e-01 -2.30043711e-04]
 [-3.81584506e-04  1.27356195e-04  9.99999919e-01]]

 t_estimated:
[[-0.00304926]
 [ 0.99999474]
 [ 0.00110864]]

 R_gt:
[[ 0.99627034 -0.08190937 -0.02715094]
 [ 0.08263765  0.99621869  0.02685299]
 [ 0.02484953 -0.02899568  0.99926982]]

 t_gt:
[ 0.51378841 -0.85690995 -0.04155498]

Pose Error in degrees for R and t:
21.257787914253893 30.849390711903364

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-9.92505872e-01 -1.22088476e-01  5.14758150e-03]
 [-1.22083818e-01  9.92519055e-01  1.21091711e-03]
 [-5.25691176e-03  5.73405943e-04 -9.99986018e-01]]

 t_estimated:
[[0.99853064]
 [0.05410191]
 [0.00308865]]

 R_gt:
[[ 0.99359011 -0.09975588 -0.05317248]
 [ 0.10216745  0.99376062  0.04474153]
 [ 0.04837798 -0.04988601  0.99758203]]

 t_gt:
[ 0.51831476 -0.85044357 -0.08997522]

Pose Error in degrees for R and t:
177.5569356210745 61.88358116769525

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 4.84267531e-01  8.74618010e-01  2.29846824e-02]
 [ 8.74919948e-01 -4.84094128e-01 -1.29599449e-02]
 [-2.08251479e-04  2.63858377e-02 -9.99651811e-01]]

 t_estimated:
[[-0.47034042]
 [-0.88248455]
 [-0.00095404]]

 R_gt:
[[ 0.99978935 -0.02052444 -0.00116986]
 [ 0.02053264  0.99976034  0.0075243 ]
 [ 0.00101512 -0.00754658  0.99997123]]

 t_gt:
[ 0.16289978 -0.98660881  0.00816777]

Pose Error in degrees for R and t:
179.08684924011882 37.435240660533154

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 5.38325931e-01  8.42733711e-01  2.25482098e-03]
 [ 8.42734876e-01 -5.38328430e-01  6.55485842e-04]
 [ 1.76623425e-03  1.54735125e-03 -9.99997243e-01]]

 t_estimated:
[[-0.57958788]
 [-0.81490928]
 [-0.00087156]]

 R_gt:
[[ 0.99635119 -0.05910466 -0.06157896]
 [ 0.06116557  0.99760999  0.03214589]
 [ 0.05953124 -0.03579504  0.99758462]]

 t_gt:
[ 0.42454116 -0.81985556 -0.38418962]

Pose Error in degrees for R and t:
176.65527401965167 65.01481966729092

Number of keypoints:
Image1: 311
Image2: 311

 R_estimated:
[[ 8.78918676e-01  4.76971555e-01  3.10306608e-04]
 [-4.76971493e-01  8.78918728e-01 -2.53619786e-04]
 [-3.93703713e-04  7.49037604e-05  9.99999920e-01]]

 t_estimated:
[[0.5002948 ]
 [0.86585467]
 [0.00089637]]

 R_gt:
[[ 0.99277353 -0.08748271 -0.08214818]
 [ 0.0917163   0.99456645  0.04925978]
 [ 0.07739241 -0.0564373   0.99540253]]

 t_gt:
[ 0.48678704 -0.82046419 -0.29979473]

Pose Error in degrees for R and t:
34.07717532627524 62.1515520203833

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.99999997e-01 -7.74031677e-05 -2.58332619e-05]
 [ 7.74032089e-05  9.99999997e-01  1.59493518e-06]
 [ 2.58331384e-05 -1.59693476e-06  1.00000000e+00]]

 t_estimated:
[[9.99993587e-01]
 [3.46700891e-03]
 [8.97399414e-04]]

 R_gt:
[[ 0.99783589  0.06464339 -0.01206194]
 [-0.06518718  0.99651133 -0.05211973]
 [ 0.00865015  0.0527935   0.99856843]]

 t_gt:
[-0.43121401  0.61730428 -0.65801968]

Pose Error in degrees for R and t:
4.827229182379393 64.55391671795917

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[ 0.96368631 -0.26688268  0.00907387]
 [ 0.2669766   0.96363436 -0.01150282]
 [-0.00567399  0.01350762  0.99989267]]

 t_estimated:
[[7.94934426e-01]
 [6.06695004e-01]
 [6.55886490e-04]]

 R_gt:
[[ 0.95725009  0.28570442 -0.04523685]
 [-0.28810913  0.95565654 -0.06094022]
 [ 0.02581927  0.07136854  0.99711618]]

 t_gt:
[-0.52194789  0.81411414 -0.25453599]

Pose Error in degrees for R and t:
32.41680185142458 85.47824075461475

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[-0.98412197 -0.17748693  0.00152999]
 [-0.17748082  0.9841181   0.00348104]
 [-0.00212353  0.00315422 -0.99999277]]

 t_estimated:
[[0.84074864]
 [0.54142452]
 [0.00110046]]

 R_gt:
[[ 0.85268239  0.50984172 -0.11399197]
 [-0.51542548  0.85659064 -0.02427686]
 [ 0.08526634  0.07945463  0.99318548]]

 t_gt:
[-0.3897113   0.89235065 -0.22767392]

Pose Error in degrees for R and t:
173.86264087627532 81.06924197644318

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-4.20979102e-01 -9.07067894e-01 -2.10495772e-03]
 [ 9.07065052e-01 -4.20983437e-01  2.43654650e-03]
 [-3.09626544e-03 -8.83598426e-04  9.99994816e-01]]

 t_estimated:
[[0.99927058]
 [0.03816168]
 [0.0014134 ]]

 R_gt:
[[ 0.96829114 -0.23910631 -0.07239426]
 [ 0.23723168  0.97087209 -0.03358237]
 [ 0.07831453  0.01534367  0.99681114]]

 t_gt:
[ 0.85880603 -0.45817679 -0.22918601]

Pose Error in degrees for R and t:
101.17640352580605 32.82069608469894

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.78981090e-01 -2.03946082e-01 -1.42172862e-03]
 [ 2.03949227e-01  9.78977984e-01  2.61154887e-03]
 [ 8.59225853e-04 -2.84661742e-03  9.99995579e-01]]

 t_estimated:
[[0.99248861]
 [0.12233247]
 [0.00106376]]

 R_gt:
[[ 0.88431605 -0.46231117 -0.06522539]
 [ 0.45756927  0.88593887 -0.07577458]
 [ 0.09281661  0.03716314  0.99498933]]

 t_gt:
[ 0.91576569 -0.36645175 -0.16457922]

Pose Error in degrees for R and t:
16.71399752890207 30.244598565598817

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 8.14238405e-01 -5.80530635e-01  3.98308807e-05]
 [-5.80530615e-01 -8.14238391e-01 -2.18501069e-04]
 [ 1.59278397e-04  1.54788917e-04 -9.99999975e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.70528439 -0.70705095 -0.0515278 ]
 [ 0.7009951   0.70639148 -0.09805917]
 [ 0.10573151  0.03303885  0.99384598]]

 t_gt:
[ 0.96243468 -0.24897274 -0.10831461]

Pose Error in degrees for R and t:
174.62027979158188 75.9317363380859

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 9.99999991e-01  1.30543831e-04 -3.56416257e-05]
 [-1.30545615e-04  9.99999990e-01 -5.00641494e-05]
 [ 3.56350898e-05  5.00688018e-05  9.99999998e-01]]

 t_estimated:
[[-0.65399495]
 [-0.7564985 ]
 [-0.00079012]]

 R_gt:
[[ 0.99721087  0.07448736  0.00459096]
 [-0.07406692  0.9953601  -0.06140354]
 [-0.00914315  0.06089255  0.99810211]]

 t_gt:
[-0.53903961  0.63571815 -0.55253845]

Pose Error in degrees for R and t:
5.52811734247349 82.64861825801863

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-4.98427100e-01 -8.66929474e-01 -1.92678348e-03]
 [-8.66931126e-01  4.98427949e-01  4.55755755e-05]
 [ 9.20851926e-04  1.69310467e-03 -9.99998143e-01]]

 t_estimated:
[[ 8.77437123e-01]
 [ 4.79691666e-01]
 [-2.50677076e-05]]

 R_gt:
[[ 0.98877191  0.14789684 -0.02136623]
 [-0.14930801  0.98363328 -0.10085787]
 [ 0.00610023  0.10291541  0.99467108]]

 t_gt:
[-0.47703826  0.70757146 -0.52132248]

Pose Error in degrees for R and t:
176.28154251055065 85.46075743735818

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.97419481e-01  7.17929828e-02 -3.82583901e-04]
 [-7.17930662e-02  9.97419527e-01 -2.08975885e-04]
 [ 3.66593651e-04  2.35903490e-04  9.99999905e-01]]

 t_estimated:
[[-0.9227445 ]
 [-0.38541006]
 [-0.00129678]]

 R_gt:
[[ 0.90182412  0.42466711 -0.07980852]
 [-0.43024738  0.89959845 -0.07489331]
 [ 0.03999121  0.10187784  0.9939923 ]]

 t_gt:
[-0.45231301  0.85632793 -0.24922964]

Pose Error in degrees for R and t:
22.1630606661025 84.9712763434352

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-9.98415931e-01 -5.62622396e-02  4.33852228e-04]
 [-5.62612400e-02  9.98413982e-01  2.04757244e-03]
 [-5.48365141e-04  2.01991988e-03 -9.99997810e-01]]

 t_estimated:
[[0.99673126]
 [0.08077239]
 [0.00161545]]

 R_gt:
[[ 9.97918049e-01  6.44941221e-02  5.78654555e-04]
 [-6.44931526e-02  9.97918027e-01 -1.31108876e-03]
 [-6.62201363e-04  1.27013463e-03  9.99999179e-01]]

 t_gt:
[0.34998701 0.93043344 0.10864031]

Pose Error in degrees for R and t:
179.93171302772814 64.90174625734745

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.97894952e-01  6.48510765e-02  5.27360647e-05]
 [-6.48510953e-02  9.97894812e-01  5.29605857e-04]
 [-1.82795354e-05 -5.31911003e-04  9.99999858e-01]]

 t_estimated:
[[5.38311839e-01]
 [8.42745474e-01]
 [6.56619534e-04]]

 R_gt:
[[ 0.99276871  0.11921405  0.01411908]
 [-0.11967061  0.99209831  0.03770163]
 [-0.00951169 -0.03911902  0.99918884]]

 t_gt:
[0.2337407  0.7423048  0.62797203]

Pose Error in degrees for R and t:
3.882098751384643 41.252439130397285

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 9.99076760e-01 -4.29600529e-02 -2.48920086e-04]
 [ 4.29601751e-02  9.99076656e-01  5.07996124e-04]
 [ 2.26866707e-04 -5.18220772e-04  9.99999840e-01]]

 t_estimated:
[[8.07822346e-01]
 [5.89425554e-01]
 [7.57724094e-04]]

 R_gt:
[[ 0.98454165  0.17130684  0.03649682]
 [-0.17284387  0.98395679  0.04421722]
 [-0.02833663 -0.0498423   0.99835535]]

 t_gt:
[0.13635017 0.67411452 0.72593267]

Pose Error in degrees for R and t:
12.801882343576814 59.46683007287236

Number of keypoints:
Image1: 310
Image2: 310

 R_estimated:
[[ 9.97742510e-01  6.71556496e-02  4.94451201e-05]
 [-6.71556446e-02  9.97742507e-01 -9.69003588e-05]
 [-5.58409047e-05  9.33610883e-05  9.99999994e-01]]

 t_estimated:
[[ 3.88848050e-01]
 [-9.21301787e-01]
 [-4.59985763e-04]]

 R_gt:
[[ 0.99850924 -0.02630063 -0.04784186]
 [ 0.02791184  0.99905392  0.03333643]
 [ 0.04691905 -0.03462145  0.99829809]]

 t_gt:
[ 0.45685901 -0.76076986 -0.46098706]

Pose Error in degrees for R and t:
6.357764984138696 28.50692785779941

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[-4.80704181e-01  8.76882519e-01 -7.33468718e-04]
 [-8.76880808e-01 -4.80704701e-01 -1.74315352e-03]
 [-1.88112271e-03 -1.94776542e-04  9.99998212e-01]]

 t_estimated:
[[0.3658039 ]
 [0.93069143]
 [0.00098071]]

 R_gt:
[[ 0.99674623 -0.05654024 -0.05745923]
 [ 0.05825809  0.99788954  0.02869152]
 [ 0.05571589 -0.03194458  0.99793575]]

 t_gt:
[ 0.53156126 -0.75975959 -0.37444358]

Pose Error in degrees for R and t:
122.0617989582166 59.134680817136804

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99977457e-01 -6.71424610e-03  6.73211479e-05]
 [ 6.71424543e-03  9.99977459e-01  1.00395390e-05]
 [-6.73870384e-05 -9.58730196e-06  9.99999998e-01]]

 t_estimated:
[[ 8.54278176e-01]
 [-5.19816048e-01]
 [ 2.72825549e-04]]

 R_gt:
[[ 0.99315842 -0.09545463 -0.06727616]
 [ 0.09651852  0.99524898  0.0127587 ]
 [ 0.0657386  -0.01916406  0.99765312]]

 t_gt:
[ 0.55273467 -0.74020322 -0.38286234]

Pose Error in degrees for R and t:
6.461346041208969 31.03481049752435

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.69697547e-01 -2.44256323e-01  5.05141898e-03]
 [-2.44307505e-01 -9.69425597e-01  2.29750919e-02]
 [-7.14836618e-04 -2.35129899e-02 -9.99723276e-01]]

 t_estimated:
[[0.15948362]
 [0.98713032]
 [0.01177712]]

 R_gt:
[[ 0.99724046 -0.04934178 -0.05547591]
 [ 0.0496656   0.99875508  0.00446751]
 [ 0.05518702 -0.00721114  0.99844983]]

 t_gt:
[ 0.52496428 -0.64045116 -0.56056651]

Pose Error in degrees for R and t:
178.71850239371068 56.28326398254091

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[-0.38135933 -0.92442343 -0.0025275 ]
 [ 0.92442614 -0.38135415 -0.00230564]
 [ 0.00116751 -0.00321577  0.99999415]]

 t_estimated:
[[9.99994892e-01]
 [3.10075970e-03]
 [7.75189840e-04]]

 R_gt:
[[ 0.99828138  0.01145879  0.05748367]
 [-0.00898559  0.99903018 -0.04310217]
 [-0.05792254  0.04251178  0.99741569]]

 t_gt:
[-0.51872285  0.43364209  0.73680469]

Pose Error in degrees for R and t:
113.06118904292487 58.881858717492115

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 9.98558330e-01  5.36773639e-02 -5.51508498e-05]
 [-5.36773695e-02  9.98558325e-01 -1.06287579e-04]
 [ 4.93661032e-05  1.09094700e-04  9.99999993e-01]]

 t_estimated:
[[-5.60103748e-01]
 [-8.28422327e-01]
 [-4.89362510e-04]]

 R_gt:
[[ 0.98065548  0.09424617  0.17156233]
 [-0.08171699  0.99354336 -0.07869973]
 [-0.17787092  0.06315744  0.9820252 ]]

 t_gt:
[-0.41390413  0.55993111  0.71774684]

Pose Error in degrees for R and t:
11.065005832821106 76.56268371223982

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999965e-01  2.35472046e-04  1.17264382e-04]
 [-2.35464219e-04  9.99999970e-01 -6.67563418e-05]
 [-1.17280098e-04  6.67287279e-05  9.99999991e-01]]

 t_estimated:
[[-0.99985074]
 [-0.01723881]
 [-0.00114925]]

 R_gt:
[[ 0.99189962 -0.11735783 -0.04860635]
 [ 0.11930933  0.99207455  0.03941072]
 [ 0.04359631 -0.04488963  0.99804033]]

 t_gt:
[ 0.64264212 -0.76594184  0.01855278]

Pose Error in degrees for R and t:
7.705158033885182 50.99681472810254

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.99975369e-01  7.01623139e-03  1.84066285e-04]
 [-7.01629662e-03  9.99975322e-01  3.56119734e-04]
 [-1.81563124e-04 -3.57402426e-04  9.99999920e-01]]

 t_estimated:
[[ 0.99979527]
 [-0.02020635]
 [ 0.00105961]]

 R_gt:
[[ 0.97434341 -0.20460238 -0.09376653]
 [ 0.20885311  0.97721205  0.03791185]
 [ 0.08387322 -0.05652209  0.99487201]]

 t_gt:
[ 0.73052487 -0.67979523 -0.06489882]

Pose Error in degrees for R and t:
13.65379749229598 41.92305865200364

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99998222e-01  1.51870057e-03  1.11788552e-03]
 [-1.51760471e-03  9.99998368e-01 -9.80494145e-04]
 [-1.11937278e-03  9.78795894e-04  9.99998894e-01]]

 t_estimated:
[[9.99923412e-01]
 [1.23447335e-02]
 [8.81766677e-04]]

 R_gt:
[[ 0.9246064  -0.33580722 -0.17982647]
 [ 0.33869671  0.94077057 -0.01532951]
 [ 0.17432307 -0.0467328   0.98357903]]

 t_gt:
[ 0.79287635 -0.56666975 -0.22412606]

Pose Error in degrees for R and t:
22.519321183118127 38.22170103524595

Number of keypoints:
Image1: 202
Image2: 202

 R_estimated:
[[-9.85094299e-01  1.71970054e-01 -3.93986275e-03]
 [-1.71967735e-01 -9.85102151e-01 -9.22413476e-04]
 [-4.03979476e-03 -2.31134983e-04  9.99991813e-01]]

 t_estimated:
[[0.48500478]
 [0.87451084]
 [0.00107302]]

 R_gt:
[[ 0.99519818 -0.08456298 -0.04928589]
 [ 0.08192382  0.99521243 -0.05329834]
 [ 0.05355576  0.04900622  0.99736141]]

 t_gt:
[ 0.70698387 -0.46059384 -0.53668159]

Pose Error in degrees for R and t:
174.87732350237778 86.53265728447495

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 0.9314186   0.36390709  0.00557003]
 [-0.36389155  0.93143428 -0.00362204]
 [-0.0065062   0.00134675  0.99997793]]

 t_estimated:
[[0.90075573]
 [0.43429294]
 [0.00536164]]

 R_gt:
[[ 0.9745794  -0.21909521 -0.04682953]
 [ 0.21442115  0.97271865 -0.08855511]
 [ 0.06495333  0.07626342  0.99496981]]

 t_gt:
[ 0.82258304 -0.44686426 -0.35166671]

Pose Error in degrees for R and t:
34.37619073966551 56.97595935197254

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 8.39286653e-01  5.43687355e-01  1.40463088e-03]
 [-5.43686011e-01  8.39287783e-01 -1.24056485e-03]
 [-1.85336896e-03  2.77511365e-04  9.99998244e-01]]

 t_estimated:
[[0.9321129 ]
 [0.36216541]
 [0.00132465]]

 R_gt:
[[ 0.94872121 -0.31578462 -0.01446007]
 [ 0.31274547  0.94428723 -0.10252713]
 [ 0.04602984  0.0927482   0.9946252 ]]

 t_gt:
[ 0.85683903 -0.43007117 -0.28436888]

Pose Error in degrees for R and t:
51.62084994917091 50.018731980600705

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[-7.03241838e-01 -7.10949727e-01 -1.18475667e-03]
 [-7.10950605e-01  7.03239832e-01  1.72523377e-03]
 [-3.93386395e-04  2.05556004e-03 -9.99997810e-01]]

 t_estimated:
[[9.57437521e-01]
 [2.88639253e-01]
 [8.79997722e-04]]

 R_gt:
[[ 0.9922939   0.12074543  0.02779939]
 [-0.12088932  0.99265964  0.00355779]
 [-0.0271665  -0.00688989  0.99960717]]

 t_gt:
[-0.5979842   0.78578929  0.15795597]

Pose Error in degrees for R and t:
178.46002080794202 69.78255852818245

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 1.00000000e+00 -4.64558947e-13  7.97281620e-15]
 [ 4.64489558e-13  1.00000000e+00 -1.16635488e-14]
 [-7.97287041e-15  1.16638656e-14  1.00000000e+00]]

 t_estimated:
[[-9.96953509e-01]
 [-7.79978419e-02]
 [-1.92636469e-04]]

 R_gt:
[[ 9.85645144e-01  1.68706576e-01  6.55981647e-03]
 [-1.68832021e-01  9.85070822e-01  3.36497012e-02]
 [-7.85258710e-04 -3.42730761e-02  9.99412657e-01]]

 t_gt:
[-0.57836518  0.80329912  0.14214163]

Pose Error in degrees for R and t:
9.914989983292417 59.07469226186051

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.99999629e-01 -8.38506886e-04 -1.98805653e-04]
 [ 8.38501523e-04  9.99999648e-01 -2.70586071e-05]
 [ 1.98828271e-04  2.68918983e-05  9.99999980e-01]]

 t_estimated:
[[-0.99978038]
 [-0.02082876]
 [-0.00231431]]

 R_gt:
[[ 0.97611749  0.20818771 -0.06207285]
 [-0.20835384  0.97804631  0.00386279]
 [ 0.06151429  0.00916293  0.99806426]]

 t_gt:
[-0.51645446  0.84243291 -0.15356296]

Pose Error in degrees for R and t:
12.590903019724639 60.056246239495245

Number of keypoints:
Image1: 290
Image2: 290

 R_estimated:
[[ 8.98717601e-01  4.38527318e-01  6.81650334e-04]
 [-4.38526632e-01  8.98717685e-01 -9.57366735e-04]
 [-1.03244268e-03  5.61480511e-04  9.99999309e-01]]

 t_estimated:
[[0.16366162]
 [0.98651588]
 [0.00113654]]

 R_gt:
[[ 0.99763373 -0.03546676 -0.0589109 ]
 [ 0.0372622   0.99886551  0.02965967]
 [ 0.05779126 -0.03178395  0.99782266]]

 t_gt:
[ 0.96491468 -0.23239309  0.12220108]

Pose Error in degrees for R and t:
28.353330773376715 85.91702339686746

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[-0.11071129 -0.99384506  0.00387402]
 [-0.99383518  0.1107316   0.00549098]
 [-0.00588616 -0.00324222 -0.99997742]]

 t_estimated:
[[0.71128457]
 [0.70289002]
 [0.004458  ]]

 R_gt:
[[ 0.99241986 -0.02054049 -0.12116525]
 [ 0.02858915  0.99747229  0.06506644]
 [ 0.1195221  -0.06803722  0.990497  ]]

 t_gt:
[ 0.96866708 -0.1870637   0.16337458]

Pose Error in degrees for R and t:
177.77262189973342 56.065757177231205

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.12953506  0.98506087 -0.11347133]
 [ 0.98745514 -0.11772882  0.10522486]
 [ 0.09029405 -0.12567816 -0.98795343]]

 t_estimated:
[[-0.65470246]
 [ 0.7509946 ]
 [ 0.08585917]]

 R_gt:
[[ 0.98549911 -0.01454008 -0.16905708]
 [ 0.02801956  0.99658913  0.07762107]
 [ 0.16735096 -0.08123193  0.98254542]]

 t_gt:
[ 0.97950446 -0.18484409  0.08002291]

Pose Error in degrees for R and t:
161.29493235148965 39.35514968426355

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99999994e-01  4.98228813e-05  9.42796958e-05]
 [-4.98217721e-05  9.99999999e-01 -1.17672153e-05]
 [-9.42802819e-05  1.17625181e-05  9.99999995e-01]]

 t_estimated:
[[6.18980183e-01]
 [7.85406240e-01]
 [7.56068329e-04]]

 R_gt:
[[ 0.99781247 -0.01615356 -0.06410317]
 [ 0.01595541  0.99986588 -0.00360535]
 [ 0.06415249  0.00257579  0.99793721]]

 t_gt:
[ 0.73412015 -0.06143604 -0.67623459]

Pose Error in degrees for R and t:
3.8004333896774574 66.06861705652723

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.09218679e-01 -4.16318819e-01 -1.87895363e-04]
 [ 4.16318861e-01  9.09218576e-01  4.32717310e-04]
 [-9.31040487e-06 -4.71659044e-04  9.99999889e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99228511 -0.00578773 -0.12384072]
 [ 0.00773731  0.9998528   0.01526362]
 [ 0.12373403 -0.01610285  0.99218506]]

 t_gt:
[ 0.70547106  0.03203955 -0.70801416]

Pose Error in degrees for R and t:
25.234508674156526 45.169004782021155

Number of keypoints:
Image1: 92
Image2: 92

 R_estimated:
[[ 9.80713635e-01 -1.95450026e-01  2.29582674e-04]
 [ 1.95450005e-01  9.80713660e-01  1.10110357e-04]
 [-2.46675937e-04 -6.31147941e-05  9.99999968e-01]]

 t_estimated:
[[0.96079001]
 [0.27727497]
 [0.00107471]]

 R_gt:
[[ 0.98858116  0.0355434  -0.14644028]
 [-0.03262543  0.99921878  0.02228045]
 [ 0.14711732 -0.01724719  0.98896856]]

 t_gt:
[ 0.52201331  0.33566687 -0.78411088]

Pose Error in degrees for R and t:
15.73620912979888 53.574682114234584

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 9.89822887e-01  1.42304771e-01  7.13069876e-05]
 [-1.42304774e-01  9.89822888e-01  3.93635777e-05]
 [-6.49796635e-05 -4.91102949e-05  9.99999997e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99712871 -0.07562773  0.00390157]
 [ 0.07554369  0.99697102  0.01851728]
 [-0.00528941 -0.01816997  0.99982127]]

 t_gt:
[ 0.66117009 -0.72231705  0.20276142]

Pose Error in degrees for R and t:
12.56276394968559 84.36326002834693

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.39677468e-01 -3.42061066e-01 -6.95107951e-04]
 [-3.42046732e-01 -9.39653267e-01  7.46800432e-03]
 [-3.20767397e-03 -6.77975599e-03 -9.99971872e-01]]

 t_estimated:
[[0.07386967]
 [0.99724054]
 [0.00738697]]

 R_gt:
[[ 0.99733423 -0.06743514  0.02786411]
 [ 0.06791156  0.99755485 -0.01649503]
 [-0.02668318  0.01834365  0.99947591]]

 t_gt:
[ 0.60890909 -0.78833497  0.08807778]

Pose Error in degrees for R and t:
179.70949247533997 42.22349738975074

Number of keypoints:
Image1: 81
Image2: 81

 R_estimated:
[[-0.97780807 -0.20949099  0.00221526]
 [-0.20948568  0.97780875  0.00240563]
 [-0.00267005  0.00188818 -0.99999465]]

 t_estimated:
[[0.99762121]
 [0.06891462]
 [0.00164082]]

 R_gt:
[[ 0.99797158 -0.0258603   0.0581833 ]
 [ 0.03005875  0.99691786 -0.07247618]
 [-0.0561283   0.07407743  0.99567194]]

 t_gt:
[ 0.42138345 -0.89635811 -0.13776112]

Pose Error in degrees for R and t:
177.03984156657228 68.99908577212778

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 9.96805725e-01 -7.98644796e-02  1.11715761e-04]
 [-7.98416847e-02 -9.96552742e-01 -2.25374647e-02]
 [ 1.91127354e-03  2.24565542e-02 -9.99745993e-01]]

 t_estimated:
[[ 0.0866771 ]
 [ 0.99617446]
 [-0.01111411]]

 R_gt:
[[ 0.99250512 -0.12189866 -0.00863716]
 [ 0.1210448   0.99034312 -0.06758441]
 [ 0.01679285  0.06603304  0.99767619]]

 t_gt:
[ 0.81711148 -0.35870247 -0.45128856]

Pose Error in degrees for R and t:
174.8445057809632 73.65086430557241

Number of keypoints:
Image1: 219
Image2: 219

 R_estimated:
[[ 9.87975969e-01  1.54607255e-01  2.83504409e-04]
 [-1.54607316e-01  9.87975979e-01  2.06030820e-04]
 [-2.48241687e-04 -2.47385355e-04  9.99999939e-01]]

 t_estimated:
[[0.64525945]
 [0.76396284]
 [0.00101456]]

 R_gt:
[[ 0.96822437 -0.24957553 -0.01596519]
 [ 0.24851718  0.96732687 -0.05017205]
 [ 0.02796574  0.04461044  0.99861313]]

 t_gt:
[ 0.86664512 -0.46461271 -0.18182756]

Pose Error in degrees for R and t:
23.519430848443022 78.22437311522374

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[-2.44235104e-01  9.69715125e-01 -1.33800796e-03]
 [ 9.69709348e-01  2.44238313e-01  3.38027854e-03]
 [ 3.60470004e-03 -4.71896145e-04 -9.99993392e-01]]

 t_estimated:
[[ 0.20800263]
 [-0.97812657]
 [-0.00182064]]

 R_gt:
[[ 0.94334322 -0.33122122 -0.0199171 ]
 [ 0.33103076  0.94353943 -0.01231819]
 [ 0.02287298  0.00502802  0.99972553]]

 t_gt:
[ 0.86293781 -0.50513214 -0.01341141]

Pose Error in degrees for R and t:
179.16867576244547 47.65440273514768

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-0.9894909   0.14267447  0.02348924]
 [ 0.14268566  0.98976732 -0.00120764]
 [-0.02342118  0.00215663 -0.99972336]]

 t_estimated:
[[ 0.99929977]
 [-0.03542745]
 [ 0.01203595]]

 R_gt:
[[ 0.99846907 -0.03407527  0.04358432]
 [ 0.03529108  0.99900085 -0.02742927]
 [-0.04260626  0.02892468  0.99867295]]

 t_gt:
[ 0.52328782 -0.81044914  0.26332877]

Pose Error in degrees for R and t:
176.0726264599601 56.30285560424852

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 1.63474461e-01 -9.86546498e-01 -1.45178474e-03]
 [ 9.86547566e-01  1.63474245e-01  2.66783472e-04]
 [-2.58648864e-05 -1.47586698e-03  9.99998911e-01]]

 t_estimated:
[[9.99988849e-01]
 [4.65833315e-03]
 [7.76388858e-04]]

 R_gt:
[[ 9.98983411e-01  2.53604085e-03  4.50189525e-02]
 [ 5.80507653e-04  9.97611615e-01 -6.90828750e-02]
 [-4.50869464e-02  6.90380431e-02  9.96594282e-01]]

 t_gt:
[-0.04785568 -0.80857668 -0.58644146]

Pose Error in degrees for R and t:
80.76780924624978 87.01485337974279

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 1.51151133e-01 -9.88509113e-01 -1.75180300e-03]
 [ 9.88510659e-01  1.51151097e-01  1.53640372e-04]
 [ 1.12912037e-04 -1.75489885e-03  9.99998454e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99403283  0.03864238  0.1020116 ]
 [-0.0285013   0.99467326 -0.09906478]
 [-0.1052967   0.09556545  0.98983749]]

 t_gt:
[-0.88655428  0.08732084  0.45430889]

Pose Error in degrees for R and t:
83.57845005587308 27.634207357628576

Number of keypoints:
Image1: 246
Image2: 246

 R_estimated:
[[ 6.84379504e-01 -7.29125406e-01  9.14544575e-04]
 [-7.29125712e-01 -6.84379790e-01  1.67280153e-06]
 [ 6.24676142e-04 -6.67962796e-04 -9.99999582e-01]]

 t_estimated:
[[0.43914208]
 [0.89841675]
 [0.00125829]]

 R_gt:
[[ 0.99380712 -0.1075985   0.02774088]
 [ 0.10832979  0.99376304 -0.02642169]
 [-0.0247252   0.02926305  0.99926576]]

 t_gt:
[ 0.81214683 -0.56785112 -0.13402476]

Pose Error in degrees for R and t:
179.14699395250264 81.15930213422197

Number of keypoints:
Image1: 208
Image2: 208

 R_estimated:
[[ 9.99396948e-01  3.47164551e-02  7.13140576e-04]
 [-3.47156435e-02  9.99396602e-01 -1.12043263e-03]
 [-7.51607718e-04  1.09499982e-03  9.99999118e-01]]

 t_estimated:
[[-0.69101121]
 [-0.72284282]
 [-0.00132632]]

 R_gt:
[[ 0.97863371 -0.20075718  0.04441508]
 [ 0.20384665  0.97556657 -0.08194188]
 [-0.02687965  0.08924481  0.99564698]]

 t_gt:
[ 0.83838744 -0.46045756 -0.29169391]

Pose Error in degrees for R and t:
14.663014031731338 75.75257084119103

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99765448e-01  2.16435313e-02  7.78526183e-04]
 [-2.16433630e-02  9.99765730e-01 -2.23967579e-04]
 [-7.83191247e-04  2.07065122e-04  9.99999672e-01]]

 t_estimated:
[[-0.70360707]
 [-0.71058884]
 [-0.00077575]]

 R_gt:
[[ 0.94525692 -0.32572649  0.0197872 ]
 [ 0.32618002  0.94127865 -0.08717957]
 [ 0.00977166  0.08886149  0.99599633]]

 t_gt:
[ 0.88385871 -0.4116394  -0.22214134]

Pose Error in degrees for R and t:
20.930769672153392 70.77913404283609

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99693765e-01 -2.47462435e-02  4.38145846e-07]
 [ 2.47462435e-02  9.99693765e-01  1.30299065e-05]
 [-7.60452911e-07 -1.30150739e-05  1.00000000e+00]]

 t_estimated:
[[-6.55788438e-02]
 [ 9.97847316e-01]
 [-3.87451788e-04]]

 R_gt:
[[ 0.99835841  0.01832738 -0.05426865]
 [-0.01715294  0.99960936  0.02203434]
 [ 0.05465012 -0.0210682   0.9982829 ]]

 t_gt:
[ 0.46323794  0.43173262 -0.77396225]

Pose Error in degrees for R and t:
4.147906239027826 66.37652178381389

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[ 0.0398413  -0.99920482 -0.00154911]
 [ 0.99920459  0.03984382 -0.00163142]
 [ 0.00169184 -0.00148288  0.99999747]]

 t_estimated:
[[ 9.86104008e-01]
 [-1.66128614e-01]
 [-4.10790378e-04]]

 R_gt:
[[ 0.99687384  0.06438487 -0.04579581]
 [-0.06369152  0.99783422  0.01644773]
 [ 0.04675568 -0.01347959  0.99881453]]

 t_gt:
[-0.23900952  0.86356527 -0.44399264]

Pose Error in degrees for R and t:
91.4195065492226 67.73017980086006

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.99771837 -0.06749676 -0.00149646]
 [ 0.06749841 -0.9977188  -0.00108185]
 [-0.00142003 -0.00118039  0.9999983 ]]

 t_estimated:
[[0.8313771 ]
 [0.55570794]
 [0.00089007]]

 R_gt:
[[ 0.99090045  0.06007431  0.12044671]
 [-0.06272357  0.99786323  0.01831596]
 [-0.11909035 -0.02570433  0.99254995]]

 t_gt:
[-0.38536026  0.39616989  0.83339479]

Pose Error in degrees for R and t:
179.6728098920204 84.29059028074713

Number of keypoints:
Image1: 443
Image2: 443

 R_estimated:
[[ 9.99374827e-01 -3.53546728e-02  4.04048976e-05]
 [ 3.53546724e-02  9.99374828e-01  1.00606155e-05]
 [-4.07353273e-05 -8.62582393e-06  9.99999999e-01]]

 t_estimated:
[[9.79980407e-01]
 [1.99093000e-01]
 [6.16328265e-04]]

 R_gt:
[[ 0.99789261 -0.06054111 -0.02337405]
 [ 0.061289    0.99758309  0.03274216]
 [ 0.02133509 -0.03410679  0.99919034]]

 t_gt:
[ 0.89091119 -0.21940661  0.39766568]

Pose Error in degrees for R and t:
2.7333357779426337 33.938401255596645

Number of keypoints:
Image1: 525
Image2: 525

 R_estimated:
[[-7.13658303e-01 -7.00493603e-01 -7.33839766e-04]
 [ 7.00488131e-01 -7.13647660e-01 -4.83696519e-03]
 [ 2.86456015e-03 -3.96598641e-03  9.99988033e-01]]

 t_estimated:
[[0.83114431]
 [0.55605553]
 [0.00117559]]

 R_gt:
[[ 0.99065888 -0.12183457 -0.06125443]
 [ 0.12404998  0.9917017   0.03376375]
 [ 0.056632   -0.04104788  0.99755055]]

 t_gt:
[ 0.97892983 -0.15517193  0.13273307]

Pose Error in degrees for R and t:
128.48913321679473 43.322466109059306

Number of keypoints:
Image1: 447
Image2: 447

 R_estimated:
[[ 7.55787702e-01 -6.54816510e-01 -5.37011292e-04]
 [ 6.54814880e-01  7.55783363e-01  2.99686525e-03]
 [-1.55653264e-03 -2.61663688e-03  9.99995365e-01]]

 t_estimated:
[[0.91865819]
 [0.3950464 ]
 [0.00233755]]

 R_gt:
[[ 0.98551809 -0.11554128 -0.12411828]
 [ 0.12707868  0.98785316  0.08942959]
 [ 0.11227795 -0.10390736  0.98822907]]

 t_gt:
[ 0.93290308 -0.18387114  0.3096502 ]

Pose Error in degrees for R and t:
34.96657343894783 38.26958606486112

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 1.00000000e+00  1.47104551e-14 -2.32319047e-14]
 [-1.46826995e-14  1.00000000e+00  1.25511648e-14]
 [ 2.32340189e-14 -1.25896269e-14  1.00000000e+00]]

 t_estimated:
[[ 9.91077061e-01]
 [-1.33289733e-01]
 [-3.26555944e-04]]

 R_gt:
[[ 0.99849106  0.05131536  0.01957144]
 [-0.05141792  0.9986653   0.00482472]
 [-0.01929718 -0.00582266  0.99979713]]

 t_gt:
[-0.58558257  0.7469632   0.31486351]

Pose Error in degrees for R and t:
3.162855637706335 47.154575056246685

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 1.00000000e+00 -2.82431301e-11 -1.20788660e-14]
 [ 2.82416313e-11  1.00000000e+00  3.44804480e-14]
 [ 1.20794352e-14 -3.44834296e-14  1.00000000e+00]]

 t_estimated:
[[-2.80176275e-01]
 [ 9.59948521e-01]
 [ 3.03383267e-04]]

 R_gt:
[[ 0.99245119  0.11954311 -0.02738367]
 [-0.11969594  0.99280223 -0.00401066]
 [ 0.02670763  0.00725894  0.99961685]]

 t_gt:
[-0.56771949  0.81853844 -0.08768926]

Pose Error in degrees for R and t:
7.051999880476414 19.127859922470183

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.99999937e-01  3.48867105e-04  6.86274803e-05]
 [-3.48860787e-04  9.99999935e-01 -9.20400730e-05]
 [-6.86595856e-05  9.20161257e-05  9.99999993e-01]]

 t_estimated:
[[5.02112352e-02]
 [9.98738525e-01]
 [4.37351758e-04]]

 R_gt:
[[ 0.98756672  0.11063915 -0.11167095]
 [-0.1127696   0.99353725 -0.01292139]
 [ 0.10952041  0.02535413  0.99366097]]

 t_gt:
[-0.38804529  0.77567333 -0.49774667]

Pose Error in degrees for R and t:
9.099371965821238 40.97524985501928

Number of keypoints:
Image1: 133
Image2: 133

 R_estimated:
[[ 9.97294969e-01  7.35031066e-02  1.93947269e-04]
 [-7.35030923e-02  9.97294986e-01 -8.00622803e-05]
 [-1.99307465e-04  6.55899854e-05  9.99999978e-01]]

 t_estimated:
[[0.89926153]
 [0.43740984]
 [0.00115155]]

 R_gt:
[[ 0.99830571 -0.02408177 -0.05296689]
 [ 0.02276507  0.99942091 -0.02531273]
 [ 0.0535452   0.02406338  0.99827536]]

 t_gt:
[ 0.49734687 -0.67047874 -0.55054914]

Pose Error in degrees for R and t:
6.5016163621312595 81.17964423115366

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 9.99999376e-01  1.10120278e-03  1.85365595e-04]
 [-1.10120245e-03  9.99999394e-01 -1.88334368e-06]
 [-1.85367556e-04  1.67921746e-06  9.99999983e-01]]

 t_estimated:
[[9.99995617e-01]
 [2.92078118e-03]
 [4.84970424e-04]]

 R_gt:
[[ 0.98574746 -0.15278845 -0.07040856]
 [ 0.1493205   0.98741244 -0.05216426]
 [ 0.07749243  0.04090687  0.99615331]]

 t_gt:
[ 0.76166654 -0.56329695 -0.3202509 ]

Pose Error in degrees for R and t:
10.108869433156302 40.54791187823107

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-2.80426792e-01  9.59862476e-01  4.98406971e-03]
 [ 9.59874374e-01  2.80430357e-01 -1.70736890e-05]
 [-1.41407284e-03  4.77929287e-03 -9.99987579e-01]]

 t_estimated:
[[-0.42437546]
 [-0.90548561]
 [-0.00113469]]

 R_gt:
[[ 0.95719637 -0.28350864 -0.05828678]
 [ 0.27813276  0.9566979  -0.08585806]
 [ 0.08010383  0.06597042  0.99460153]]

 t_gt:
[ 0.8404118  -0.47469826 -0.26147575]

Pose Error in degrees for R and t:
179.6829020437739 85.78616625347658

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.99844719e-01  1.76220577e-02  7.09324200e-06]
 [-1.76220562e-02  9.99844704e-01 -1.74333684e-04]
 [-1.01642587e-05  1.74181615e-04  9.99999985e-01]]

 t_estimated:
[[-0.26592887]
 [-0.96399213]
 [-0.00100731]]

 R_gt:
[[ 0.99635539 -0.0367114   0.07699207]
 [ 0.02744144  0.99261306  0.1181793 ]
 [-0.08076227 -0.11563561  0.99000259]]

 t_gt:
[ 0.15304739 -0.19680457  0.9684237 ]

Pose Error in degrees for R and t:
8.603923465022405 81.48647697219016

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.91709441e-01  1.28500517e-01  3.83859078e-05]
 [-1.28500511e-01  9.91709432e-01 -1.43686920e-04]
 [-5.65315104e-05  1.37563066e-04  9.99999989e-01]]

 t_estimated:
[[-0.70262664]
 [-0.71155833]
 [-0.00074431]]

 R_gt:
[[ 0.99682386  0.00306142  0.07958369]
 [-0.01213962  0.99342412  0.11384136]
 [-0.07871253 -0.11444567  0.99030557]]

 t_gt:
[-0.02077493  0.12334473  0.9921464 ]

Pose Error in degrees for R and t:
10.582649547556233 85.76149486544938

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.97580920e-01  6.95147892e-02 -3.81531372e-05]
 [-6.95147681e-02  9.97580840e-01  4.05234832e-04]
 [ 6.62306526e-05 -4.01602330e-04  9.99999917e-01]]

 t_estimated:
[[-0.72074927]
 [-0.69319547]
 [-0.0007251 ]]

 R_gt:
[[ 0.99791127  0.00701614  0.06420448]
 [-0.01488915  0.99229716  0.12297933]
 [-0.06284791 -0.12367868  0.99033007]]

 t_gt:
[-0.01287073  0.25413551  0.96708298]

Pose Error in degrees for R and t:
8.633129509584517 80.3522597733631

Number of keypoints:
Image1: 292
Image2: 292

 R_estimated:
[[ 9.91619022e-01  1.29195820e-01  3.94862972e-04]
 [-1.29195852e-01  9.91619095e-01  5.61897929e-05]
 [-3.84294177e-04 -1.06733526e-04  9.99999920e-01]]

 t_estimated:
[[0.13701308]
 [0.99056751]
 [0.00185153]]

 R_gt:
[[ 0.99887186 -0.01403997  0.04535952]
 [ 0.01556057  0.99932236 -0.03333869]
 [-0.0448611   0.03400849  0.99841428]]

 t_gt:
[-0.84686259 -0.0841856   0.52510622]

Pose Error in degrees for R and t:
8.872679609230946 78.55363564048669

Number of keypoints:
Image1: 326
Image2: 326

 R_estimated:
[[-9.77946195e-01 -2.08754534e-01 -6.54100895e-03]
 [-2.08744261e-01  9.77967735e-01 -2.22336582e-03]
 [ 6.86103340e-03 -8.08934059e-04 -9.99976136e-01]]

 t_estimated:
[[ 0.97957689]
 [ 0.20106059]
 [-0.00193978]]

 R_gt:
[[ 0.99470299 -0.01325608  0.10193212]
 [ 0.01651     0.9993783  -0.03114132]
 [-0.1014558   0.03266019  0.99430399]]

 t_gt:
[-0.6940006  -0.11967694  0.70995816]

Pose Error in degrees for R and t:
174.77378278535903 45.14892722864965

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-9.94016349e-01 -1.09094236e-01 -5.47222040e-03]
 [-1.09091177e-01  9.94031380e-01 -8.55247265e-04]
 [ 5.53286134e-03 -2.53158800e-04 -9.99984662e-01]]

 t_estimated:
[[ 0.98988234]
 [ 0.14188381]
 [-0.00139035]]

 R_gt:
[[ 0.98993972 -0.09615218  0.10379835]
 [ 0.0975713   0.99518989 -0.00866354]
 [-0.10246613  0.01870544  0.99456016]]

 t_gt:
[-0.20125728 -0.73094737  0.65208239]

Pose Error in degrees for R and t:
174.4421886557624 72.31177620029744

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.99999806e-01 -6.12390279e-04 -1.17677779e-04]
 [ 6.12391922e-04  9.99999812e-01  1.39303577e-05]
 [ 1.17669226e-04 -1.40024199e-05  9.99999993e-01]]

 t_estimated:
[[-9.99842770e-01]
 [-1.77280542e-02]
 [-3.90305898e-04]]

 R_gt:
[[ 9.88724621e-01  1.49741446e-01 -8.01101402e-04]
 [-1.49594207e-01  9.87964370e-01  3.93379116e-02]
 [ 6.68196901e-03 -3.87745644e-02  9.99225081e-01]]

 t_gt:
[-0.58105122  0.80411953  0.12558368]

Pose Error in degrees for R and t:
8.934631289424303 55.482677701775785

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999822e-01 -5.93930721e-04 -5.10038042e-05]
 [ 5.93922705e-04  9.99999811e-01 -1.57022738e-04]
 [ 5.10970552e-05  1.56992418e-04  9.99999986e-01]]

 t_estimated:
[[-0.81628379]
 [-0.57764801]
 [-0.00188203]]

 R_gt:
[[ 0.97862447  0.20514407  0.01449549]
 [-0.20551681  0.97812033  0.03230663]
 [-0.00755039 -0.03459524  0.99937293]]

 t_gt:
[-0.5593642   0.81993935  0.12170107]

Pose Error in degrees for R and t:
12.059568000073941 89.01071340740317

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 1.00000000e+00 -1.33512918e-09  2.43891063e-09]
 [ 1.33512919e-09  1.00000000e+00 -3.26637075e-09]
 [-2.43891062e-09  3.26637075e-09  1.00000000e+00]]

 t_estimated:
[[-9.99908444e-01]
 [-1.35315860e-02]
 [-1.71932083e-05]]

 R_gt:
[[ 0.96293145  0.26927447 -0.0159413 ]
 [-0.2684659   0.9624368   0.04051913]
 [ 0.02625327 -0.03473827  0.99905165]]

 t_gt:
[-0.53428096  0.84461249  0.03425774]

Pose Error in degrees for R and t:
15.801692432912958 58.47957350292133

Number of keypoints:
Image1: 280
Image2: 280

 R_estimated:
[[ 9.99497898e-01  3.16849971e-02  1.14218700e-04]
 [-3.16850071e-02  9.99497900e-01  8.76246459e-05]
 [-1.11384964e-04 -9.11996697e-05  9.99999990e-01]]

 t_estimated:
[[-9.95371884e-01]
 [-9.60957879e-02]
 [ 6.41968658e-04]]

 R_gt:
[[ 9.98762804e-01  4.97176957e-02  5.73474090e-05]
 [-4.97152668e-02  9.98677825e-01  1.30530359e-02]
 [ 5.90728636e-04 -1.30399072e-02  9.99914541e-01]]

 t_gt:
[-0.50603323  0.85747689  0.09307932]

Pose Error in degrees for R and t:
1.274712486797132 65.08008340844687

Number of keypoints:
Image1: 214
Image2: 214

 R_estimated:
[[ 9.99889564e-01 -1.48612403e-02  4.88508572e-05]
 [ 1.48612362e-02  9.99889562e-01  8.48738286e-05]
 [-5.01067926e-05 -8.41384714e-05  9.99999995e-01]]

 t_estimated:
[[-9.04099857e-01]
 [-4.27320940e-01]
 [-5.13152725e-04]]

 R_gt:
[[ 0.99923985  0.03667057 -0.01321929]
 [-0.03648542  0.99923609  0.01400857]
 [ 0.01372356 -0.01351515  0.99981425]]

 t_gt:
[-0.29588285  0.95443982 -0.03870366]

Pose Error in degrees for R and t:
3.1473429210427275 81.93336928773435

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99980445e-01 -6.22526393e-03 -5.96681656e-04]
 [ 6.22566498e-03  9.99980394e-01  6.72651055e-04]
 [ 5.92482527e-04 -6.76352642e-04  9.99999596e-01]]

 t_estimated:
[[ 0.55652028]
 [-0.83075657]
 [-0.01134469]]

 R_gt:
[[ 0.99941029 -0.03427159 -0.00232618]
 [ 0.03428385  0.99939616  0.00563048]
 [ 0.00213134 -0.00570638  0.9999808 ]]

 t_gt:
[0.88667046 0.46197078 0.01996229]

Pose Error in degrees for R and t:
1.6359570218307415 83.71705956724509

Number of keypoints:
Image1: 472
Image2: 472

 R_estimated:
[[-0.96256701  0.26575991  0.053258  ]
 [ 0.2658581   0.96399726 -0.00536234]
 [-0.05276566  0.00899746 -0.99856639]]

 t_estimated:
[[ 0.99110056]
 [-0.13039277]
 [ 0.02678439]]

 R_gt:
[[ 0.99881755 -0.04858383 -0.00182132]
 [ 0.04857021  0.99879524 -0.00690348]
 [ 0.00215464  0.00680688  0.99997464]]

 t_gt:
[ 0.37154962 -0.9065521  -0.20028521]

Pose Error in degrees for R and t:
176.99246987402043 61.243622263036976

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[-0.81076178 -0.58514441  0.01647271]
 [-0.58512457  0.81091735  0.0065026 ]
 [-0.01716296 -0.00436653 -0.99984317]]

 t_estimated:
[[0.95041586]
 [0.31083988]
 [0.00939492]]

 R_gt:
[[ 0.98958554 -0.14010969  0.0330228 ]
 [ 0.13960355  0.99005873  0.01714873]
 [-0.03509761 -0.01236009  0.9993073 ]]

 t_gt:
[ 0.38655822 -0.86012964  0.33279084]

Pose Error in degrees for R and t:
176.86250950276457 84.0791206421417

Number of keypoints:
Image1: 248
Image2: 248

 R_estimated:
[[-9.70689616e-01 -2.40250057e-01 -6.44820267e-03]
 [-2.40252442e-01  9.70710355e-01 -4.13682131e-04]
 [ 6.35872426e-03  1.14763949e-03 -9.99979125e-01]]

 t_estimated:
[[ 0.98759102]
 [ 0.15704184]
 [-0.00135912]]

 R_gt:
[[ 0.98082413 -0.19029673  0.04209711]
 [ 0.19052584  0.98168102 -0.00148021]
 [-0.04104461  0.009472    0.99911185]]

 t_gt:
[ 0.43195277 -0.87476002  0.21957167]

Pose Error in degrees for R and t:
178.0278320331502 73.2066710425533

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.98209137e-01 -5.98207176e-02 -2.59726112e-05]
 [ 5.98207230e-02  9.98209079e-01  3.39590175e-04]
 [ 5.61156842e-06 -3.40535716e-04  9.99999942e-01]]

 t_estimated:
[[5.68447599e-01]
 [8.22719304e-01]
 [5.24200753e-04]]

 R_gt:
[[ 0.99498489 -0.09903032  0.01402386]
 [ 0.09981139  0.99212983 -0.07559227]
 [-0.0064265   0.07661283  0.99703988]]

 t_gt:
[ 0.91721922  0.14520947 -0.37097589]

Pose Error in degrees for R and t:
4.983826482963261 50.15870728087609

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.91542635e-01 -1.29781369e-01  5.07293988e-06]
 [ 1.29781360e-01  9.91542582e-01  3.25696019e-04]
 [-4.72993111e-05 -3.22283116e-04  9.99999947e-01]]

 t_estimated:
[[3.91895125e-01]
 [9.20009874e-01]
 [2.04686985e-04]]

 R_gt:
[[ 0.99063497 -0.12645036  0.05149035]
 [ 0.13262468  0.98080857 -0.14291474]
 [-0.03243062  0.14840617  0.98839395]]

 t_gt:
[ 0.81804729  0.35878876 -0.44952115]

Pose Error in degrees for R and t:
8.755332753281385 49.41420677855917

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 9.81304107e-01 -1.92463628e-01  1.97588003e-05]
 [ 1.92463614e-01  9.81304067e-01  2.93510915e-04]
 [-7.58795668e-05 -2.84220616e-04  9.99999957e-01]]

 t_estimated:
[[1.74939758e-01]
 [9.84579120e-01]
 [1.91937098e-04]]

 R_gt:
[[ 0.99130388 -0.13079565  0.01442037]
 [ 0.13073744  0.96651824 -0.22078961]
 [ 0.01494123  0.22075523  0.97521445]]

 t_gt:
[ 0.66627922  0.52061563 -0.53388329]

Pose Error in degrees for R and t:
13.264748319199063 51.020408931782455

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.80559021e-01  1.96224323e-01  1.44483810e-04]
 [-1.96224290e-01  9.80559014e-01 -2.18662145e-04]
 [-1.84581734e-04  1.86059906e-04  9.99999966e-01]]

 t_estimated:
[[0.6187012 ]
 [0.78562595]
 [0.00083047]]

 R_gt:
[[ 0.99581526 -0.08753099 -0.02628144]
 [ 0.0880818   0.99590022  0.02061026]
 [ 0.02436943 -0.02284009  0.99944228]]

 t_gt:
[ 0.73898189 -0.67362431 -0.0116642 ]

Pose Error in degrees for R and t:
16.467610684249745 85.87012941407933

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[-0.92516037 -0.37953625  0.00552575]
 [-0.379385    0.92505803  0.01829378]
 [-0.01205479  0.01482829 -0.99981739]]

 t_estimated:
[[0.93232917]
 [0.36160948]
 [0.00095196]]

 R_gt:
[[ 0.99151137 -0.12985398  0.00662035]
 [ 0.12982878  0.99152877  0.00408337]
 [-0.00709405 -0.00318944  0.9999695 ]]

 t_gt:
[ 0.71545771 -0.69622318  0.05825426]

Pose Error in degrees for R and t:
178.9969987834778 65.4594821189588

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 0.9999926  -0.00175669  0.00342123]
 [ 0.00177687  0.99998099 -0.00590408]
 [-0.00341079  0.00591012  0.99997672]]

 t_estimated:
[[-0.80075127]
 [-0.59899574]
 [-0.00122916]]

 R_gt:
[[ 0.9943423  -0.10489435  0.01677264]
 [ 0.10529526  0.99412448 -0.02511943]
 [-0.01403849  0.02674253  0.99954359]]

 t_gt:
[ 0.6644414  -0.7455344  -0.05192371]

Pose Error in degrees for R and t:
6.081653086559211 85.10002182727871

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.54262834e-01 -2.98968803e-01 -3.14655412e-04]
 [ 2.98968923e-01  9.54262742e-01  4.50306055e-04]
 [ 1.65636474e-04 -5.23782522e-04  9.99999849e-01]]

 t_estimated:
[[ 8.62125454e-01]
 [-5.06694444e-01]
 [ 6.64650283e-04]]

 R_gt:
[[ 0.99730391  0.03001437 -0.06697704]
 [-0.03305797  0.99845031 -0.0447948 ]
 [ 0.06552834  0.04688811  0.99674879]]

 t_gt:
[-0.05399523  0.56936692 -0.82030837]

Pose Error in degrees for R and t:
19.749904008131278 70.39152328143587

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[-0.15755069  0.98743245 -0.0124478 ]
 [ 0.98743823  0.15767949  0.01014465]
 [ 0.01197992 -0.01069314 -0.99987106]]

 t_estimated:
[[ 0.71287157]
 [-0.70123806]
 [-0.00890527]]

 R_gt:
[[ 0.98111992  0.09836251 -0.16652209]
 [-0.1249464   0.97957735 -0.15753799]
 [ 0.14762489  0.17536907  0.97337185]]

 t_gt:
[-0.09305234  0.6377913  -0.76456753]

Pose Error in degrees for R and t:
178.42640681495322 59.551131904300505

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 0.66264145  0.7489236  -0.00444414]
 [ 0.74892454 -0.66258501  0.00965087]
 [ 0.00428314 -0.00972339 -0.99994355]]

 t_estimated:
[[0.32389104]
 [0.94609163]
 [0.00228444]]

 R_gt:
[[ 0.95976949  0.16864991 -0.22449953]
 [-0.21603881  0.9542461  -0.20674404]
 [ 0.17936001  0.2469266   0.95229015]]

 t_gt:
[-0.12513927  0.71739023 -0.68534037]

Pose Error in degrees for R and t:
173.37466159609815 50.45977531625176

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 1.53169663e-01 -9.88199243e-01 -1.14469076e-03]
 [-9.88198160e-01 -1.53171467e-01  1.70260221e-03]
 [-1.85784418e-03  8.70394294e-04 -9.99997895e-01]]

 t_estimated:
[[0.82370575]
 [0.56701605]
 [0.00127706]]

 R_gt:
[[ 0.98818512 -0.1527939  -0.01202968]
 [ 0.15309423  0.98775265  0.03009263]
 [ 0.0072851  -0.03157856  0.99947448]]

 t_gt:
[ 0.7488812  -0.63291129  0.19646945]

Pose Error in degrees for R and t:
178.97593999827848 75.03447508883077

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.95561348e-01 -9.41147235e-02  1.43191411e-04]
 [ 9.41147140e-02  9.95561357e-01  7.16597524e-05]
 [-1.49300074e-04 -5.78652610e-05  9.99999987e-01]]

 t_estimated:
[[7.09629070e-01]
 [7.04575248e-01]
 [5.49564065e-04]]

 R_gt:
[[ 0.98023282 -0.1951766  -0.0323973 ]
 [ 0.19731871  0.97638333  0.08798428]
 [ 0.01445946 -0.09263774  0.9955944 ]]

 t_gt:
[ 0.6674521  -0.65720947  0.35011913]

Pose Error in degrees for R and t:
8.013548857166008 89.38220753795007

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[-8.74857284e-01 -4.84380342e-01  6.45269186e-04]
 [-4.84376105e-01  8.74853926e-01  3.22449128e-03]
 [-2.12639647e-03  2.50841671e-03 -9.99994593e-01]]

 t_estimated:
[[0.99836566]
 [0.0571099 ]
 [0.00211518]]

 R_gt:
[[ 0.97941702 -0.19943394 -0.03112632]
 [ 0.20165822  0.96007407  0.19388753]
 [-0.00878346 -0.19617363  0.98053007]]

 t_gt:
[ 0.51934844 -0.6368197   0.56985776]

Pose Error in degrees for R and t:
177.70455081158215 61.09647166613052

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 0.83503569 -0.55014906 -0.0071702 ]
 [-0.55015752 -0.83475303 -0.02267323]
 [ 0.00648831  0.0228777  -0.99971722]]

 t_estimated:
[[ 0.31478671]
 [ 0.94909272]
 [-0.0115037 ]]

 R_gt:
[[ 0.99991461  0.00923118 -0.00923554]
 [-0.01017101  0.99414723 -0.10755189]
 [ 0.00818927  0.10763731  0.99415682]]

 t_gt:
[-0.04787111  0.3917754  -0.91881467]

Pose Error in degrees for R and t:
172.5775377766932 68.44884587279951

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 0.38018141  0.92481692  0.01325758]
 [ 0.92481659 -0.37989735 -0.01980591]
 [-0.01328032  0.01979067 -0.99971594]]

 t_estimated:
[[-0.55428685]
 [ 0.83224309]
 [-0.01172773]]

 R_gt:
[[ 0.99663023 -0.06462737 -0.05051814]
 [ 0.05655537  0.98744504 -0.14748459]
 [ 0.05941476  0.14413096  0.9877739 ]]

 t_gt:
[ 0.29172224 -0.03791357 -0.95575138]

Pose Error in degrees for R and t:
173.43139656847416 79.51125872689099

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[ 9.99999600e-01  8.38696036e-04  3.11624461e-04]
 [-8.38541603e-04  9.99999526e-01 -4.95374866e-04]
 [-3.12039782e-04  4.95113357e-04  9.99999829e-01]]

 t_estimated:
[[-0.02520392]
 [-0.99968117]
 [-0.0015248 ]]

 R_gt:
[[ 0.96601502 -0.25469303  0.04412065]
 [ 0.25811282  0.95964341 -0.11163026]
 [-0.01390842  0.11922553  0.99277022]]

 t_gt:
[ 0.68232799 -0.66542315 -0.30272189]

Pose Error in degrees for R and t:
16.450449336318695 49.573260089998115

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999605e-01  8.71376667e-04 -1.76429937e-04]
 [-8.71412693e-04  9.99999599e-01 -2.04216744e-04]
 [ 1.76251916e-04  2.04370407e-04  9.99999964e-01]]

 t_estimated:
[[-0.41923106]
 [-0.90787839]
 [-0.00146658]]

 R_gt:
[[ 0.9998209   0.01737778 -0.0075693 ]
 [-0.01797195  0.99603807 -0.08709552]
 [ 0.00602521  0.08721552  0.99617085]]

 t_gt:
[-0.00472189  0.50352678 -0.86396671]

Pose Error in degrees for R and t:
5.0949479703684 63.006176703753304

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 9.99999448e-01  1.03377005e-03 -1.87577657e-04]
 [-1.03375567e-03  9.99999463e-01  7.67733728e-05]
 [ 1.87656922e-04 -7.65794210e-05  9.99999979e-01]]

 t_estimated:
[[-2.30785035e-02]
 [-9.99733555e-01]
 [-4.50138235e-04]]

 R_gt:
[[ 0.99893432  0.00521777 -0.04587549]
 [-0.0129753   0.98527899 -0.17046639]
 [ 0.04430927  0.1708795   0.98429486]]

 t_gt:
[ 0.06237626  0.36384362 -0.92936915]

Pose Error in degrees for R and t:
10.179692176068352 68.60670181576462

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 9.99999818e-01 -6.01411882e-04  4.98136557e-05]
 [ 6.01425163e-04  9.99999783e-01 -2.67029473e-04]
 [-4.96530502e-05  2.67059384e-04  9.99999963e-01]]

 t_estimated:
[[9.99991966e-01]
 [3.98991860e-03]
 [3.86414835e-04]]

 R_gt:
[[ 0.98889642 -0.14449095 -0.03474186]
 [ 0.13689243  0.97667267 -0.16544208]
 [ 0.05783537  0.15884912  0.98560701]]

 t_gt:
[ 0.52030135 -0.27758779 -0.80760852]

Pose Error in degrees for R and t:
12.653290122351288 58.743010479507774

Number of keypoints:
Image1: 526
Image2: 526

 R_estimated:
[[ 9.98309376e-01 -5.81239142e-02 -1.81738048e-05]
 [ 5.81239153e-02  9.98309374e-01  7.19538802e-05]
 [ 1.39608386e-05 -7.28885659e-05  9.99999997e-01]]

 t_estimated:
[[-6.04489749e-01]
 [ 7.96612850e-01]
 [-3.32500267e-04]]

 R_gt:
[[ 0.99976877  0.01928588 -0.00952774]
 [-0.01976711  0.99838234 -0.05330731]
 [ 0.00848515  0.05348375  0.99853284]]

 t_gt:
[-0.122335    0.85555272 -0.50305437]

Pose Error in degrees for R and t:
5.428983005424617 40.916769426453264

Number of keypoints:
Image1: 406
Image2: 406

 R_estimated:
[[ 9.98510298e-01  5.45635798e-02 -2.29444864e-05]
 [-5.45635802e-02  9.98510298e-01 -1.97556517e-05]
 [ 2.18323669e-05  2.09781550e-05  1.00000000e+00]]

 t_estimated:
[[-1.33777315e-01]
 [ 9.91011281e-01]
 [-5.20177739e-04]]

 R_gt:
[[ 0.99674857 -0.08041249 -0.00520995]
 [ 0.0794058   0.99116076 -0.10627517]
 [ 0.01371     0.10551522  0.99432275]]

 t_gt:
[ 0.69089885  0.53212144 -0.48939305]

Pose Error in degrees for R and t:
9.843771944673865 64.20412205109913

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 0.95882896  0.28395452  0.00410652]
 [-0.28397948  0.95879619  0.00809392]
 [-0.00163901 -0.00892685  0.99995881]]

 t_estimated:
[[0.67097114]
 [0.74147997]
 [0.00227448]]

 R_gt:
[[ 0.99211358 -0.1191797   0.03883173]
 [ 0.12413072  0.97719507 -0.17228186]
 [-0.01741324  0.17574382  0.98428149]]

 t_gt:
[ 0.68510432  0.56403878 -0.46096889]

Pose Error in degrees for R and t:
25.80433786706213 28.734096391865624

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99454653e-01 -3.30206799e-02 -1.79677235e-04]
 [ 3.30210455e-02  9.99450994e-01  2.70566566e-03]
 [ 9.02356713e-05 -2.71012326e-03  9.99996324e-01]]

 t_estimated:
[[-0.98095898]
 [-0.19421107]
 [-0.00123703]]

 R_gt:
[[ 0.99382054  0.06309426 -0.09132712]
 [-0.07291431  0.99141496 -0.1085334 ]
 [ 0.0836961   0.11452181  0.98988894]]

 t_gt:
[-0.1521604   0.61302297 -0.77527417]

Pose Error in degrees for R and t:
10.10702538817694 88.21401348574844

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.09849459e-01 -4.14938480e-01 -1.40730606e-04]
 [ 4.14938501e-01  9.09849361e-01  4.25908776e-04]
 [-4.86822878e-05 -4.45907416e-04  9.99999899e-01]]

 t_estimated:
[[-3.95538782e-01]
 [ 9.18449265e-01]
 [-1.41150934e-04]]

 R_gt:
[[ 0.97640125  0.12326842 -0.17732982]
 [-0.15593817  0.97047755 -0.18400148]
 [ 0.14941389  0.20731154  0.96679753]]

 t_gt:
[-0.13298077  0.66691179 -0.73317445]

Pose Error in degrees for R and t:
35.79854884746336 48.30024319858425

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 9.99998850e-01  1.22186343e-03  8.98018751e-04]
 [-1.22120558e-03  9.99998986e-01 -7.32738073e-04]
 [-8.98913147e-04  7.31640565e-04  9.99999328e-01]]

 t_estimated:
[[0.00943102]
 [0.99995499]
 [0.00103906]]

 R_gt:
[[ 0.96497782  0.15620299 -0.21075969]
 [-0.20151305  0.9557575  -0.2142918 ]
 [ 0.16796249  0.24925708  0.95376029]]

 t_gt:
[-0.13170287  0.70774766 -0.6940804 ]

Pose Error in degrees for R and t:
20.369981771654654 45.109629203718825

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[ 0.45432857  0.88967217  0.04548608]
 [ 0.88971506 -0.45060732 -0.07321307]
 [-0.04463927  0.07373244 -0.99627851]]

 t_estimated:
[[ 0.49031739]
 [-0.87037369]
 [ 0.04514967]]

 R_gt:
[[ 0.99838178 -0.05672946  0.0040408 ]
 [ 0.05669346  0.99835646  0.00837444]
 [-0.00450945 -0.00813079  0.99995713]]

 t_gt:
[ 0.84312172 -0.4998677   0.19818691]

Pose Error in degrees for R and t:
175.33210363545473 30.97220965810076

Number of keypoints:
Image1: 116
Image2: 116

 R_estimated:
[[ 4.21979404e-01 -9.06605417e-01  6.29001814e-06]
 [-9.06216433e-01 -4.21798148e-01  2.92933118e-02]
 [-2.65548221e-02 -1.23668744e-02 -9.99570859e-01]]

 t_estimated:
[[0.09647025]
 [0.99487694]
 [0.03022199]]

 R_gt:
[[ 0.99108719 -0.13305884  0.00650702]
 [ 0.13314198  0.99098528 -0.0148267 ]
 [-0.0044761   0.01556115  0.99986952]]

 t_gt:
[ 0.88132475 -0.47016976 -0.04697953]

Pose Error in degrees for R and t:
179.0927264476746 67.40844465145064

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99994092e-01 -3.42987141e-03  2.28919882e-04]
 [ 3.42995087e-03  9.99994057e-01 -3.47619834e-04]
 [-2.27726231e-04  3.48402964e-04  9.99999913e-01]]

 t_estimated:
[[ 9.68029678e-01]
 [-2.50834205e-01]
 [-8.62140922e-04]]

 R_gt:
[[ 0.97061237 -0.24063905  0.00252081]
 [ 0.24057741  0.97051693  0.01484264]
 [-0.00601868 -0.01379947  0.99988673]]

 t_gt:
[ 0.87970211 -0.4704891   0.06902325]

Pose Error in degrees for R and t:
13.75448133272696 14.179513299424322

Number of keypoints:
Image1: 638
Image2: 638

 R_estimated:
[[-0.9771884  -0.20751023  0.04519221]
 [-0.20747037  0.97822514  0.00562231]
 [-0.04537485 -0.00388199 -0.99896249]]

 t_estimated:
[[0.9930207 ]
 [0.1156652 ]
 [0.02305316]]

 R_gt:
[[ 0.9986328  -0.05035019  0.01404332]
 [ 0.05047982  0.99868428 -0.00907066]
 [-0.01356811  0.00976747  0.99985983]]

 t_gt:
[ 0.40367852 -0.90731482  0.11757322]

Pose Error in degrees for R and t:
176.65877514769764 72.62485537512354

Number of keypoints:
Image1: 235
Image2: 235

 R_estimated:
[[ 9.93168288e-01  1.16690373e-01  3.28134401e-04]
 [-1.16690401e-01  9.93168337e-01  6.93724412e-05]
 [-3.17797602e-04 -1.07188644e-04  9.99999944e-01]]

 t_estimated:
[[0.52493713]
 [0.85114041]
 [0.00100096]]

 R_gt:
[[ 0.99159633 -0.12710628  0.02408254]
 [ 0.12678248  0.99182435  0.01456405]
 [-0.025737   -0.01138853  0.99960347]]

 t_gt:
[ 0.40484397 -0.8751304   0.26504368]

Pose Error in degrees for R and t:
14.085659150321135 57.854176088392094

Number of keypoints:
Image1: 478
Image2: 478

 R_estimated:
[[-4.14114037e-01 -9.10222978e-01 -1.92235063e-03]
 [-9.10224709e-01  4.14114689e-01  6.41695190e-05]
 [ 7.37665061e-04  1.77634454e-03 -9.99998150e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.97798869 -0.20304927  0.04805777]
 [ 0.20244047  0.97914324  0.01725792]
 [-0.0505592  -0.00714912  0.99869493]]

 t_gt:
[ 0.45300548 -0.84321069  0.28945078]

Pose Error in degrees for R and t:
177.31344746493306 81.90205733268574

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 9.99999707e-01 -7.59532505e-04 -9.19839202e-05]
 [ 7.59537361e-04  9.99999710e-01  5.27704428e-05]
 [ 9.19438126e-05 -5.28402925e-05  9.99999994e-01]]

 t_estimated:
[[-9.96095553e-01]
 [ 8.82796933e-02]
 [-5.87637739e-04]]

 R_gt:
[[ 0.98858567  0.15006326 -0.01348451]
 [-0.15024472  0.98855501 -0.01368185]
 [ 0.0112776   0.01555138  0.99981543]]

 t_gt:
[-0.79851962  0.5916739  -0.1108531 ]

Pose Error in degrees for R and t:
8.749029757291073 32.0376412500665

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 7.49317908e-01 -6.62209698e-01 -9.94491008e-04]
 [ 6.62210097e-01  7.49318209e-01  9.95624542e-05]
 [ 6.79258998e-04 -7.33165916e-04  9.99999501e-01]]

 t_estimated:
[[-0.00833304]
 [-0.99996474]
 [-0.00104163]]

 R_gt:
[[ 0.95748869  0.28845824  0.00269843]
 [-0.28824497  0.95706645 -0.03065491]
 [-0.0114249   0.02857343  0.99952607]]

 t_gt:
[-0.77863991  0.62395713 -0.06631276]

Pose Error in degrees for R and t:
58.25756459634811 51.87511381069597

Number of keypoints:
Image1: 210
Image2: 210

 R_estimated:
[[-9.71629016e-01 -2.36507101e-01 -1.20244799e-03]
 [ 2.36509575e-01 -9.71625355e-01 -2.71862181e-03]
 [-5.25355592e-04 -2.92588230e-03  9.99995582e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 9.33713947e-01  3.57680619e-01 -1.55601900e-02]
 [-3.57635040e-01  9.33844550e-01  5.71023812e-03]
 [ 1.65736015e-02  2.32485249e-04  9.99862324e-01]]

 t_gt:
[-0.7586221   0.65130806 -0.01703885]

Pose Error in degrees for R and t:
172.72442027881374 40.83358760836462

Number of keypoints:
Image1: 381
Image2: 381

 R_estimated:
[[ 9.99646675e-01  2.65805089e-02  2.95093629e-05]
 [-2.65805051e-02  9.99646669e-01 -1.20607442e-04]
 [-3.27047435e-05  1.19780455e-04  9.99999992e-01]]

 t_estimated:
[[0.61487567]
 [0.78862288]
 [0.00136905]]

 R_gt:
[[ 0.99926914 -0.02635443 -0.02771293]
 [ 0.02583943  0.99948996 -0.0187737 ]
 [ 0.0281939   0.01804512  0.99943874]]

 t_gt:
[-0.48048861 -0.19366088 -0.85535148]

Pose Error in degrees for R and t:
3.5755058944137206 63.2988339183224

Number of keypoints:
Image1: 340
Image2: 340

 R_estimated:
[[ 9.99999996e-01  3.38826677e-05  8.74126915e-05]
 [-3.38643561e-05  9.99999977e-01 -2.09476790e-04]
 [-8.74197872e-05  2.09473829e-04  9.99999974e-01]]

 t_estimated:
[[ 9.68160746e-01]
 [-2.50328513e-01]
 [ 6.36301495e-04]]

 R_gt:
[[ 0.99334944 -0.11431143  0.01379899]
 [ 0.11505172  0.99013635 -0.07995124]
 [-0.00452241  0.08100727  0.99670336]]

 t_gt:
[ 0.2001046  -0.41428023 -0.88787952]

Pose Error in degrees for R and t:
8.065498744113478 72.73001869054129

Number of keypoints:
Image1: 527
Image2: 527

 R_estimated:
[[ 9.99619696e-01  2.75763122e-02  1.03963045e-04]
 [-2.75762947e-02  9.99619688e-01 -1.66122277e-04]
 [-1.08504546e-04  1.63192185e-04  9.99999981e-01]]

 t_estimated:
[[ 9.97940793e-01]
 [-6.41346175e-02]
 [ 9.61706574e-04]]

 R_gt:
[[ 0.99095043 -0.13419139  0.00336504]
 [ 0.13405594  0.98803917 -0.07619914]
 [ 0.00690127  0.07596151  0.99708717]]

 t_gt:
[ 0.27364006 -0.4348057  -0.85794237]

Pose Error in degrees for R and t:
10.270890978377704 72.5341328380415

Number of keypoints:
Image1: 472
Image2: 472

 R_estimated:
[[ 0.10824726 -0.99268417 -0.05348527]
 [-0.99285597 -0.10523607 -0.05623523]
 [ 0.05019524  0.05919048 -0.99698391]]

 t_estimated:
[[ 0.69003505]
 [ 0.72280993]
 [-0.03738232]]

 R_gt:
[[ 0.99956522  0.02731915  0.01109045]
 [-0.02696321  0.99915543 -0.03100527]
 [-0.01192763  0.03069266  0.99945762]]

 t_gt:
[-0.81326911  0.55435458 -0.17687384]

Pose Error in degrees for R and t:
174.67556932447954 81.1481984164456

Number of keypoints:
Image1: 442
Image2: 442

 R_estimated:
[[ 9.84796632e-01  1.73711221e-01  6.70410201e-05]
 [-1.73711186e-01  9.84796574e-01 -3.63592286e-04]
 [-1.29181827e-04  3.46418684e-04  9.99999932e-01]]

 t_estimated:
[[-0.97255226]
 [-0.23268219]
 [-0.00104473]]

 R_gt:
[[ 0.999525    0.02871086 -0.01124301]
 [-0.02934209  0.99772029 -0.06076435]
 [ 0.00947408  0.06106591  0.99808873]]

 t_gt:
[-0.80258238  0.45451427 -0.38636551]

Pose Error in degrees for R and t:
9.051482748353328 47.53034955943249

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[-2.39577615e-01  9.70874997e-01  2.07528940e-03]
 [ 9.70877191e-01  2.39576583e-01  7.35857014e-04]
 [ 2.17234432e-04  2.19114601e-03 -9.99997576e-01]]

 t_estimated:
[[-7.58345958e-01]
 [-6.51851937e-01]
 [-6.78305866e-04]]

 R_gt:
[[ 0.99825437 -0.05345997  0.02511611]
 [ 0.05562599  0.9938836  -0.09539493]
 [-0.01986169  0.09662605  0.99512262]]

 t_gt:
[-0.80821716  0.20752861 -0.55110516]

Pose Error in degrees for R and t:
175.51510840465892 61.44487203485511

Number of keypoints:
Image1: 284
Image2: 284

 R_estimated:
[[ 9.95729950e-01  9.23138328e-02  1.50988091e-04]
 [-9.23137956e-02  9.95729937e-01 -2.37359591e-04]
 [-1.72254936e-04  2.22407770e-04  9.99999960e-01]]

 t_estimated:
[[-8.38598048e-01]
 [ 5.44750690e-01]
 [-2.58850752e-05]]

 R_gt:
[[ 0.98527827 -0.16696211  0.03673714]
 [ 0.16799803  0.9854114  -0.02719711]
 [-0.03165998  0.0329678   0.99895472]]

 t_gt:
[ 0.63026929 -0.7761958   0.01675415]

Pose Error in degrees for R and t:
15.167214643808201 17.940626739836457

Number of keypoints:
Image1: 162
Image2: 162

 R_estimated:
[[ 9.99999992e-01  1.21420234e-04  3.67427665e-05]
 [-1.21421552e-04  9.99999992e-01  3.58518401e-05]
 [-3.67384130e-05 -3.58563011e-05  9.99999999e-01]]

 t_estimated:
[[9.98840020e-01]
 [4.81509530e-02]
 [3.17526046e-04]]

 R_gt:
[[ 0.93878816 -0.34442891 -0.00676212]
 [ 0.34449163  0.93868404  0.0139933 ]
 [ 0.00152778 -0.01546653  0.99987909]]

 t_gt:
[ 0.70352467 -0.70958588  0.03925456]

Pose Error in degrees for R and t:
20.17656305422568 48.04445392845572

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[-0.70408205 -0.37681058  0.60189888]
 [-0.3675038  -0.53191634 -0.76289316]
 [ 0.60762606 -0.7583395   0.23603342]]

 t_estimated:
[[0.77151675]
 [0.6172134 ]
 [0.15430335]]

 R_gt:
[[ 8.96442840e-01 -4.42802185e-01 -1.77794695e-02]
 [ 4.43158797e-01  8.95695764e-01  3.65967756e-02]
 [-2.80063707e-04 -4.06863132e-02  9.99171738e-01]]

 t_gt:
[ 0.70920872 -0.70015105  0.08253182]

Pose Error in degrees for R and t:
159.69469333206925 82.65990282535782

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[-0.96023385 -0.27886272 -0.01365796]
 [-0.27886859  0.96032808 -0.0015113 ]
 [ 0.01353756  0.00235757 -0.99990558]]

 t_estimated:
[[ 0.98838883]
 [ 0.15181853]
 [-0.0062172 ]]

 R_gt:
[[ 0.9963073   0.08576893 -0.00397441]
 [-0.08578616  0.99630204 -0.0047104 ]
 [ 0.0035555   0.00503498  0.99998128]]

 t_gt:
[-0.73511301  0.67485257 -0.06467511]

Pose Error in degrees for R and t:
178.9612370814695 51.411680266495466

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999750e-01  6.92981130e-04 -1.43820079e-04]
 [-6.92954102e-04  9.99999742e-01  1.87893050e-04]
 [ 1.43950248e-04 -1.87793342e-04  9.99999972e-01]]

 t_estimated:
[[-9.86139462e-01]
 [ 1.65918099e-01]
 [-3.82031958e-04]]

 R_gt:
[[ 0.96461236  0.26304617 -0.01817688]
 [-0.26357525  0.96383453 -0.03937352]
 [ 0.00716315  0.04277194  0.99905912]]

 t_gt:
[-0.74496026  0.65163776 -0.14283713]

Pose Error in degrees for R and t:
15.435794705663188 32.562187825847914

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[-8.52706543e-01 -5.22387252e-01 -1.76362735e-03]
 [ 5.22390228e-01 -8.52701840e-01 -2.83208425e-03]
 [-2.44035792e-05 -3.33623847e-03  9.99994434e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.93583898  0.35240155 -0.00428398]
 [-0.35236017  0.9353548  -0.03084392]
 [-0.00686302  0.03037513  0.99951531]]

 t_gt:
[-0.73932431  0.6703554  -0.06342881]

Pose Error in degrees for R and t:
169.1475896714521 42.49883366547415

Number of keypoints:
Image1: 332
Image2: 332

 R_estimated:
[[-9.97339780e-01 -7.28763987e-02 -1.54687702e-03]
 [ 7.28867211e-02 -9.97306212e-01 -8.23680163e-03]
 [-9.42441627e-04 -8.32763673e-03  9.99964881e-01]]

 t_estimated:
[[0.90393447]
 [0.42766792]
 [0.00161995]]

 R_gt:
[[ 0.99928005 -0.03507154  0.01451773]
 [ 0.03493156  0.99934207  0.00979061]
 [-0.01485032 -0.00927626  0.99984672]]

 t_gt:
[-0.10476261 -0.86257883  0.49495712]

Pose Error in degrees for R and t:
173.81811221795456 62.432452017093624

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[-8.45045936e-01 -5.34693183e-01  7.51786050e-04]
 [-5.34692378e-01  8.45039852e-01 -3.42187234e-03]
 [ 1.19436264e-03 -3.29361359e-03 -9.99993863e-01]]

 t_estimated:
[[0.97073161]
 [0.24016495]
 [0.0009714 ]]

 R_gt:
[[ 0.98738975 -0.15826464  0.00367041]
 [ 0.15821588  0.98734164  0.01112066]
 [-0.00538335 -0.01040016  0.99993142]]

 t_gt:
[ 0.51302125 -0.85364067  0.09003778]

Pose Error in degrees for R and t:
179.6081339049799 72.95762870681871

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-9.99749089e-01 -2.09434731e-02  7.94544456e-03]
 [-2.09356995e-02  9.99780262e-01  1.06030199e-03]
 [-7.96590505e-03  8.93692514e-04 -9.99967872e-01]]

 t_estimated:
[[0.99995432]
 [0.00851125]
 [0.00434874]]

 R_gt:
[[ 9.53551216e-01 -3.01231096e-01 -1.47257770e-05]
 [ 3.01230103e-01  9.53547471e-01  2.91667625e-03]
 [-8.63870254e-04 -2.78619066e-03  9.99995131e-01]]

 t_gt:
[ 0.67477865 -0.73801481  0.00281432]

Pose Error in degrees for R and t:
179.51144665886358 48.05024623533534

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[ 9.93496628e-01  1.13861540e-01  1.29860199e-05]
 [-1.13861541e-01  9.93496627e-01  4.33122482e-05]
 [-7.96996771e-06 -4.45091807e-05  9.99999999e-01]]

 t_estimated:
[[0.53089525]
 [0.84743696]
 [0.00091222]]

 R_gt:
[[ 0.99719794 -0.0737448   0.01257733]
 [ 0.07429762  0.99591936 -0.05122368]
 [-0.00874794  0.05201421  0.99860785]]

 t_gt:
[ 0.68593304 -0.31315423 -0.65683353]

Pose Error in degrees for R and t:
11.201148288262292 84.36556946044888

Number of keypoints:
Image1: 231
Image2: 231

 R_estimated:
[[-0.94445733  0.32741479  0.02828259]
 [ 0.32740067  0.94487096 -0.00525985]
 [-0.02844555  0.00429204 -0.99958613]]

 t_estimated:
[[ 0.98511216]
 [-0.17126244]
 [ 0.01493986]]

 R_gt:
[[ 9.96069822e-01 -8.85637444e-02 -4.47148121e-04]
 [ 8.85264506e-02  9.95766433e-01 -2.47342213e-02]
 [ 2.63627914e-03  2.45968671e-02  9.99694151e-01]]

 t_gt:
[ 0.87737226 -0.37877155 -0.29453357]

Pose Error in degrees for R and t:
178.20673750584763 22.364925613845323

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-9.94006756e-01  1.08513554e-01  1.32430258e-02]
 [ 1.08506822e-01  9.94094946e-01 -1.22793927e-03]
 [-1.32980731e-02  2.16378715e-04 -9.99911553e-01]]

 t_estimated:
[[ 0.99901717]
 [-0.04376948]
 [ 0.00699431]]

 R_gt:
[[ 0.98363512 -0.17898734 -0.02059483]
 [ 0.17875052  0.98381064 -0.01287441]
 [ 0.02256631  0.00898215  0.99970438]]

 t_gt:
[ 0.97038006 -0.23486227 -0.05658849]

Pose Error in degrees for R and t:
179.54415871553968 11.675242489520299

Number of keypoints:
Image1: 333
Image2: 333

 R_estimated:
[[ 0.42519182 -0.90462306  0.02947943]
 [-0.9046545  -0.42373002  0.04531115]
 [-0.02849819 -0.04593463 -0.99853786]]

 t_estimated:
[[0.53861644]
 [0.84211543]
 [0.02709122]]

 R_gt:
[[ 9.99435599e-01 -3.35473470e-02  1.90170447e-03]
 [ 3.35954071e-02  9.98750799e-01 -3.70111043e-02]
 [-6.57560769e-04  3.70544193e-02  9.99312224e-01]]

 t_gt:
[ 0.76338887 -0.20379076 -0.61294923]

Pose Error in degrees for R and t:
178.65477001724486 77.11746883601238

Number of keypoints:
Image1: 76
Image2: 76

 R_estimated:
[[ 0.99892241 -0.03597338 -0.02932454]
 [ 0.03712932  0.99851452  0.03987689]
 [ 0.02784647 -0.04092272  0.9987742 ]]

 t_estimated:
[[0.2149749 ]
 [0.97660026]
 [0.00614214]]

 R_gt:
[[ 0.99417861 -0.0989595   0.04260543]
 [ 0.09490777  0.99154936  0.08844325]
 [-0.05099753 -0.08388561  0.9951689 ]]

 t_gt:
[ 0.56688334 -0.45686168  0.68550761]

Pose Error in degrees for R and t:
6.1454412637838844 71.3313263084682

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.94983335  0.31265854 -0.00782619]
 [-0.31256177  0.94982763  0.011516  ]
 [ 0.0110341  -0.00849212  0.99990306]]

 t_estimated:
[[-0.79738347]
 [-0.60347233]
 [-0.00086956]]

 R_gt:
[[ 0.97438501 -0.19149355  0.11791791]
 [ 0.15551311  0.95251245  0.26179631]
 [-0.16245134 -0.23675286  0.95789224]]

 t_gt:
[ 0.4515672  -0.31501952  0.83477528]

Pose Error in degrees for R and t:
32.76176199773727 80.17191275168186

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 2.31336024e-01  9.72871998e-01  1.92837482e-03]
 [ 9.72873170e-01 -2.31337838e-01  7.74305682e-04]
 [ 1.19940638e-03  1.69693933e-03 -9.99997841e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99857022 -0.05344859  0.00101992]
 [ 0.05335919  0.99769885  0.04180923]
 [-0.00325161 -0.04169633  0.9991251 ]]

 t_gt:
[ 0.70474044 -0.56271195  0.43208353]

Pose Error in degrees for R and t:
178.23433818932833 45.305460898223984

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 1.00000000e+00  5.46997818e-07  5.67567518e-10]
 [-5.46997818e-07  1.00000000e+00 -8.81465623e-13]
 [-5.67567519e-10  8.80838925e-13  1.00000000e+00]]

 t_estimated:
[[1.00000000e+00]
 [5.96972828e-06]
 [1.62914315e-06]]

 R_gt:
[[ 0.98121838 -0.17769067  0.07508504]
 [ 0.1580845   0.9637573   0.21489475]
 [-0.11054778 -0.19899005  0.97374687]]

 t_gt:
[ 0.50969131 -0.41064466  0.75603289]

Pose Error in degrees for R and t:
16.390417989822385 59.35681109797722

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 4.66275744e-01 -8.84639435e-01 -1.13870297e-05]
 [-8.84637375e-01 -4.66274630e-01 -2.16410355e-03]
 [ 1.90914186e-03  1.01914238e-03 -9.99997658e-01]]

 t_estimated:
[[7.31029593e-01]
 [6.82345688e-01]
 [3.10691553e-04]]

 R_gt:
[[ 0.96561424 -0.22404286  0.13188722]
 [ 0.17682336  0.93786287  0.29857376]
 [-0.19058486 -0.26498645  0.94523027]]

 t_gt:
[ 0.47392475 -0.3060916   0.82565323]

Pose Error in degrees for R and t:
161.06690380182374 82.07658856472246

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[-0.53298294 -0.84612266  0.00237302]
 [ 0.84605467 -0.53297233 -0.01148913]
 [ 0.01098596 -0.00411581  0.99993118]]

 t_estimated:
[[ 0.85468863]
 [-0.51906623]
 [-0.00880904]]

 R_gt:
[[ 9.89051761e-01  1.47544190e-01  2.49673455e-03]
 [-1.47563366e-01  9.88960085e-01  1.34694931e-02]
 [-4.82461084e-04 -1.36906036e-02  9.99906374e-01]]

 t_gt:
[-0.85690378  0.51174328  0.06192524]

Pose Error in degrees for R and t:
130.69949503174635 3.0751101665673524

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[-9.83543515e-01 -1.80303891e-01 -1.15178808e-02]
 [-1.80322413e-01  9.83607386e-01  5.81779253e-04]
 [ 1.12241755e-02  2.64913726e-03 -9.99933498e-01]]

 t_estimated:
[[ 0.99660204]
 [ 0.08220186]
 [-0.00521781]]

 R_gt:
[[ 0.97747088  0.20906154  0.02903524]
 [-0.20861649  0.97783828 -0.0176083 ]
 [-0.03207251  0.01115441  0.99942404]]

 t_gt:
[-0.79165652  0.61086259 -0.0112629 ]

Pose Error in degrees for R and t:
178.98350462159058 42.3797431548689

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.99837797e-01 -1.80082239e-02 -2.89594759e-04]
 [ 1.80083410e-02  9.99837754e-01  4.06766086e-04]
 [ 2.82222638e-04 -4.11915229e-04  9.99999875e-01]]

 t_estimated:
[[-9.97169452e-01]
 [-7.51860531e-02]
 [ 3.77074747e-04]]

 R_gt:
[[ 0.95177023  0.3063765   0.01632516]
 [-0.30653471  0.95182308  0.00824527]
 [-0.01301161 -0.01285182  0.99983276]]

 t_gt:
[-0.77608318  0.62939598  0.03944119]

Pose Error in degrees for R and t:
18.908029498939896 43.399596668778585

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.94735577e-01 -1.02475025e-01  2.70545359e-05]
 [ 1.02475022e-01  9.94735573e-01  9.71918094e-05]
 [-3.68718424e-05 -9.39077364e-05  9.99999995e-01]]

 t_estimated:
[[9.42323259e-01]
 [3.34703456e-01]
 [6.86236481e-04]]

 R_gt:
[[ 0.99792677  0.00479912  0.06418349]
 [-0.004415    0.99997205 -0.00611498]
 [-0.06421098  0.0058191   0.99791983]]

 t_gt:
[-0.69101589 -0.03810559  0.72183447]

Pose Error in degrees for R and t:
7.17017886296405 48.43884542688882

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 0.76209997  0.64743245 -0.00590415]
 [ 0.64741832 -0.76191727  0.01820964]
 [ 0.00729104 -0.01770002 -0.99981676]]

 t_estimated:
[[0.82124977]
 [0.57055247]
 [0.00432237]]

 R_gt:
[[ 0.99526203 -0.0664585   0.07097825]
 [ 0.06577248  0.99776254  0.01196503]
 [-0.07161419 -0.0072404   0.99740606]]

 t_gt:
[-0.18834109 -0.71323273  0.6751494 ]

Pose Error in degrees for R and t:
179.7926242915884 56.03450506140452

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 9.99995379e-01  3.02465161e-03  3.06014742e-04]
 [-3.02464978e-03  9.99995426e-01 -6.45651413e-06]
 [-3.06032871e-04  5.53089687e-06  9.99999953e-01]]

 t_estimated:
[[9.23848382e-01]
 [3.82757938e-01]
 [7.26295898e-04]]

 R_gt:
[[ 0.97407137 -0.21692872  0.06425403]
 [ 0.21672722  0.97617926  0.01016994]
 [-0.06492903  0.00401936  0.99788208]]

 t_gt:
[ 0.45151968 -0.85481913  0.25576206]

Pose Error in degrees for R and t:
13.238368168469364 84.82876016071758

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.67740636e-01  2.51946206e-01  1.08189785e-03]
 [-2.51945290e-01  9.67741046e-01 -9.15364497e-04]
 [-1.27761957e-03  6.13256353e-04  9.99998996e-01]]

 t_estimated:
[[0.45973007]
 [0.88805782]
 [0.00125609]]

 R_gt:
[[ 0.99441736 -0.10087036  0.03097871]
 [ 0.1017156   0.99444585 -0.02703699]
 [-0.028081    0.03003707  0.99915533]]

 t_gt:
[ 0.79899717 -0.58629717 -0.13363818]

Pose Error in degrees for R and t:
20.53384013044599 81.1695727540787

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[ 9.91178618e-01  1.32531827e-01  5.11393000e-04]
 [-1.32531582e-01  9.91178663e-01 -4.87051666e-04]
 [-5.71431678e-04  4.14979474e-04  9.99999751e-01]]

 t_estimated:
[[0.68801175]
 [0.72569902]
 [0.00087645]]

 R_gt:
[[ 0.97974883 -0.19371039  0.05067738]
 [ 0.19731103  0.97708934 -0.07978196]
 [-0.03406201  0.08816541  0.99552414]]

 t_gt:
[ 0.8325818  -0.47610399 -0.28307691]

Pose Error in degrees for R and t:
19.661118451674394 76.87538267116672

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-9.46747644e-01 -3.21976186e-01  4.83649730e-04]
 [-3.21975400e-01  9.46747210e-01  1.24984500e-03]
 [-8.60314360e-04  1.02756450e-03 -9.99999102e-01]]

 t_estimated:
[[0.9946504 ]
 [0.10329062]
 [0.00127519]]

 R_gt:
[[ 0.94820489 -0.31660664  0.0258375 ]
 [ 0.31760167  0.94333726 -0.09614819]
 [ 0.00606653  0.09937459  0.99503205]]

 t_gt:
[ 0.87844992 -0.40916902 -0.24679233]

Pose Error in degrees for R and t:
179.69084237692712 33.780625002384376

Number of keypoints:
Image1: 320
Image2: 320

 R_estimated:
[[ 6.13705124e-01 -7.89535164e-01  4.94944833e-04]
 [-7.89535278e-01 -6.13705175e-01  6.06773331e-05]
 [ 2.55843317e-04 -4.28014397e-04 -9.99999876e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99030626  0.1388894  -0.00143966]
 [-0.1388203   0.99004871  0.02305078]
 [ 0.00462664 -0.02262701  0.99973388]]

 t_gt:
[-0.8629124   0.49283989  0.11176331]

Pose Error in degrees for R and t:
178.88122776373868 60.8193827440678

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.99278754e-01  3.79732709e-02 -5.00717282e-05]
 [-3.79732706e-02  9.99278755e-01  7.54795438e-06]
 [ 5.03222348e-05 -5.64112316e-06  9.99999999e-01]]

 t_estimated:
[[-9.99581333e-01]
 [-2.89295199e-02]
 [-4.91510704e-04]]

 R_gt:
[[ 0.97668159  0.21301641  0.02677983]
 [-0.21275399  0.97702789 -0.01231889]
 [-0.02878847  0.00633422  0.99956598]]

 t_gt:
[-0.79663232  0.60445912  0.00247271]

Pose Error in degrees for R and t:
10.258057293448251 38.848171782650134

Number of keypoints:
Image1: 255
Image2: 255

 R_estimated:
[[ 9.99931499e-01 -1.17022752e-02 -2.34446892e-04]
 [ 1.17023434e-02  9.99931483e-01  2.91890186e-04]
 [ 2.31015049e-04 -2.94613769e-04  9.99999930e-01]]

 t_estimated:
[[-9.90089154e-01]
 [ 1.40440174e-01]
 [ 1.56050136e-04]]

 R_gt:
[[ 0.95451955  0.29776422  0.01511916]
 [-0.29796348  0.95448669  0.01317604]
 [-0.01050804 -0.01708155  0.99979887]]

 t_gt:
[-0.77824011  0.62604164  0.04913448]

Pose Error in degrees for R and t:
18.03771780560624 30.85632053581044

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[ 0.846073    0.53306086  0.0025673 ]
 [ 0.53305393 -0.84607616  0.0029396 ]
 [ 0.00373912 -0.0011186  -0.99999238]]

 t_estimated:
[[0.33660039]
 [0.94164656]
 [0.00139091]]

 R_gt:
[[ 0.9984009  -0.05542358  0.01114256]
 [ 0.05461268  0.99650766  0.06316215]
 [-0.01460384 -0.06245243  0.9979416 ]]

 t_gt:
[ 0.58216338 -0.51667094  0.62780326]

Pose Error in degrees for R and t:
176.62850963996357 73.1604962925147

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 0.20898605  0.9779173   0.00160825]
 [ 0.97791508 -0.20898943  0.00234774]
 [ 0.002632    0.00108209 -0.99999595]]

 t_estimated:
[[0.65019846]
 [0.75976229]
 [0.00179613]]

 R_gt:
[[ 0.98166594 -0.1710553   0.08409218]
 [ 0.14705087  0.96035002  0.23686044]
 [-0.12127445 -0.22015232  0.96789818]]

 t_gt:
[ 0.4649314  -0.37345807  0.80272527]

Pose Error in degrees for R and t:
173.40948055470335 88.85400111833825

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 4.13704108e-01 -9.10403924e-01 -3.68865992e-03]
 [-9.10409152e-01 -4.13708690e-01  5.44563367e-04]
 [-2.02180329e-03  3.13290165e-03 -9.99993049e-01]]

 t_estimated:
[[8.01639520e-01]
 [5.97807406e-01]
 [6.21217875e-04]]

 R_gt:
[[ 0.96682304 -0.21592213  0.13649971]
 [ 0.1676579   0.93951778  0.29866026]
 [-0.19273132 -0.26586665  0.9445473 ]]

 t_gt:
[ 0.45985743 -0.29484881  0.83761287]

Pose Error in degrees for R and t:
160.91716456195974 78.87807690721783

Number of keypoints:
Image1: 186
Image2: 186

 R_estimated:
[[ 9.83835953e-01  1.79070154e-01  8.34923455e-04]
 [-1.79069731e-01  9.83836227e-01 -5.56446626e-04]
 [-9.21070924e-04  3.97942678e-04  9.99999497e-01]]

 t_estimated:
[[0.63215773]
 [0.7748391 ]
 [0.00099084]]

 R_gt:
[[ 0.99478359 -0.0964406   0.03325831]
 [ 0.09732832  0.99490668 -0.02622338]
 [-0.03055998  0.02932336  0.99910337]]

 t_gt:
[ 0.78754231 -0.6021147  -0.13128216]

Pose Error in degrees for R and t:
16.052655388257097 88.21329311187333

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[ 9.99985336e-01 -5.41551255e-03  3.11519246e-05]
 [ 5.41548158e-03  9.99984912e-01  9.20556695e-04]
 [-3.61367409e-05 -9.20374493e-04  9.99999576e-01]]

 t_estimated:
[[-0.69353809]
 [-0.72041941]
 [-0.00089604]]

 R_gt:
[[ 0.97994273 -0.19186815  0.0538547 ]
 [ 0.19570944  0.9775091  -0.0785761 ]
 [-0.03756684  0.08753932  0.99545295]]

 t_gt:
[ 0.82571452 -0.48988103 -0.27966428]

Pose Error in degrees for R and t:
12.20101614139847 77.32068070513195

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 8.57816373e-01 -5.13956292e-01  1.92665713e-05]
 [-5.13955372e-01 -8.57814908e-01 -1.85997848e-03]
 [ 9.72474794e-04  1.58561784e-03 -9.99998270e-01]]

 t_estimated:
[[0.59027308]
 [0.80720309]
 [0.00093103]]

 R_gt:
[[ 0.94962083 -0.31182346  0.03144443]
 [ 0.31338452  0.9436461  -0.10640808]
 [ 0.00350821  0.11090125  0.9938256 ]]

 t_gt:
[ 0.8723596  -0.4036656  -0.27575861]

Pose Error in degrees for R and t:
174.02134318086127 79.11528206756033

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[-0.98280836 -0.18422979 -0.0121287 ]
 [ 0.18399309 -0.98275568  0.01837986]
 [-0.01530566  0.01583228  0.99975751]]

 t_estimated:
[[0.90042174]
 [0.43501388]
 [0.00189962]]

 R_gt:
[[ 0.99801572  0.00778804  0.06247343]
 [-0.00700899  0.99989458 -0.01268097]
 [-0.06256599  0.01221837  0.99796595]]

 t_gt:
[-0.74234567  0.02381829  0.6695936 ]

Pose Error in degrees for R and t:
169.79340687347133 48.944412762364344

Number of keypoints:
Image1: 164
Image2: 164

 R_estimated:
[[ 0.98451076 -0.17525506 -0.00492269]
 [ 0.1752802   0.9845046   0.00524748]
 [ 0.00392677 -0.00602905  0.99997412]]

 t_estimated:
[[-0.88004272]
 [-0.47487454]
 [-0.00435665]]

 R_gt:
[[ 9.95840590e-01 -5.58097556e-02  7.20118993e-02]
 [ 5.56390996e-02  9.98441131e-01  4.37760635e-03]
 [-7.21446226e-02 -3.52901580e-04  9.97394254e-01]]

 t_gt:
[-0.31589447 -0.64546876  0.69539971]

Pose Error in degrees for R and t:
8.175393585457668 54.44475237116456

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[-7.94218366e-01 -6.07600492e-01 -6.23132214e-03]
 [ 6.07632065e-01 -7.94164649e-01 -9.26197696e-03]
 [ 6.78886003e-04 -1.11423833e-02  9.99937691e-01]]

 t_estimated:
[[9.22923565e-01]
 [3.84982528e-01]
 [7.38929996e-04]]

 R_gt:
[[ 0.97742886 -0.19990322  0.0683475 ]
 [ 0.19979     0.97980116  0.00854168]
 [-0.06867493  0.0053063   0.99762547]]

 t_gt:
[ 0.39484626 -0.87039245  0.29413163]

Pose Error in degrees for R and t:
131.0943833207545 88.3069858661141

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99754831e-01 -2.21421907e-02  4.35397513e-05]
 [ 2.21421868e-02  9.99754828e-01  8.92133380e-05]
 [-4.55044553e-05 -8.82274004e-05  9.99999995e-01]]

 t_estimated:
[[0.9636796 ]
 [0.26705905]
 [0.001044  ]]

 R_gt:
[[ 0.99943769 -0.02562257  0.02164816]
 [ 0.02547258  0.99964919  0.00718788]
 [-0.02182363 -0.00663259  0.99973976]]

 t_gt:
[-0.35010563 -0.72886827  0.58836816]

Pose Error in degrees for R and t:
1.3177970309190985 57.89812719286516

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-5.89020082e-01  8.08094464e-01 -6.21944434e-03]
 [-8.08061949e-01 -5.89052459e-01 -7.28609545e-03]
 [-9.55143237e-03  7.34039775e-04  9.99954115e-01]]

 t_estimated:
[[0.95663224]
 [0.29128225]
 [0.00306613]]

 R_gt:
[[ 0.98998105 -0.14074421  0.01139236]
 [ 0.14063797  0.99001373  0.00961621]
 [-0.01263236 -0.00791819  0.99988883]]

 t_gt:
[ 0.44858816 -0.8852041   0.12321673]

Pose Error in degrees for R and t:
134.1808412814172 80.11521755427289

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.78186415e-01 -2.07728965e-01 -1.19311274e-04]
 [ 2.07728995e-01  9.78186353e-01  3.50776202e-04]
 [ 4.38422828e-05 -3.67908927e-04  9.99999931e-01]]

 t_estimated:
[[0.92987536]
 [0.36787345]
 [0.00097064]]

 R_gt:
[[ 9.56649472e-01 -2.91163872e-01  6.81092288e-03]
 [ 2.91160139e-01  9.56672598e-01  1.60635630e-03]
 [-6.98335971e-03  4.46106973e-04  9.99974694e-01]]

 t_gt:
[ 0.65757442 -0.75322974  0.01551893]

Pose Error in degrees for R and t:
4.955202121963906 70.46491056568541

Number of keypoints:
Image1: 393
Image2: 393

 R_estimated:
[[ 9.99964956e-01 -8.37176364e-03 -5.29736725e-06]
 [ 8.37176425e-03  9.99964948e-01  1.28299027e-04]
 [ 4.22309243e-06 -1.28338879e-04  9.99999992e-01]]

 t_estimated:
[[ 0.0063063 ]
 [ 0.9999782 ]
 [-0.00195732]]

 R_gt:
[[ 9.99130865e-01 -4.16819169e-02 -9.41327040e-05]
 [ 4.16466154e-02  9.98387290e-01 -3.85617702e-02]
 [ 1.70076338e-03  3.85246504e-02  9.99256226e-01]]

 t_gt:
[ 0.77106364 -0.28176933 -0.57102269]

Pose Error in degrees for R and t:
2.9262842065378654 73.99132168286778

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-0.2679613  -0.96342587  0.00270893]
 [ 0.96341726 -0.26794252  0.00582971]
 [-0.00489066  0.00417196  0.99997934]]

 t_estimated:
[[0.99298497]
 [0.11823635]
 [0.001002  ]]

 R_gt:
[[ 0.99107428 -0.12416863  0.04851128]
 [ 0.11833416  0.98699988  0.10875284]
 [-0.06138483 -0.10204123  0.9928849 ]]

 t_gt:
[ 0.5754878  -0.47378983  0.66658606]

Pose Error in degrees for R and t:
98.71073521293458 58.92902580755195

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 8.10176668e-01  5.86180695e-01  2.44128742e-03]
 [ 5.86179364e-01 -8.10180259e-01  1.30393127e-03]
 [ 2.74222221e-03  3.74617618e-04 -9.99996170e-01]]

 t_estimated:
[[0.80877334]
 [0.58811982]
 [0.00086871]]

 R_gt:
[[ 0.9704     -0.20781373  0.123034  ]
 [ 0.16768662  0.94642139  0.2759852 ]
 [-0.17379608 -0.24718351  0.95325512]]

 t_gt:
[ 0.46365989 -0.31524203  0.828035  ]

Pose Error in degrees for R and t:
168.133515358126 79.02883202579633

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 9.99778047e-01 -2.10678519e-02 -4.72352645e-05]
 [ 2.10678450e-02  9.99778038e-01 -1.42419426e-04]
 [ 5.02252514e-05  1.41392670e-04  9.99999989e-01]]

 t_estimated:
[[ 0.61137061]
 [-0.7913431 ]
 [-0.00144202]]

 R_gt:
[[ 0.99776931 -0.0665524   0.00533307]
 [ 0.06672909  0.99669041 -0.04643223]
 [-0.00222542  0.04668493  0.99890675]]

 t_gt:
[ 0.68218411 -0.26609934 -0.68104036]

Pose Error in degrees for R and t:
3.738275024836339 51.05123022096463

Number of keypoints:
Image1: 257
Image2: 257

 R_estimated:
[[-0.96327475  0.26682652  0.03008926]
 [ 0.26680995  0.963738   -0.00463882]
 [-0.03023592  0.00355965 -0.99953645]]

 t_estimated:
[[ 0.99119652]
 [-0.13146917]
 [ 0.01566223]]

 R_gt:
[[ 0.99627819 -0.08551242 -0.01093859]
 [ 0.08533674  0.9962288  -0.01567982]
 [ 0.01223821  0.01468832  0.99981764]]

 t_gt:
[ 0.90950961 -0.34633657 -0.22987658]

Pose Error in degrees for R and t:
178.80180073895403 19.36334381688971

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-9.85867768e-01 -1.67055709e-01  1.25353234e-02]
 [-1.67062709e-01  9.85946148e-01  4.94017008e-04]
 [-1.24416822e-02 -1.60714964e-03 -9.99921308e-01]]

 t_estimated:
[[0.99595384]
 [0.08962847]
 [0.00653319]]

 R_gt:
[[ 0.98411587 -0.17421324 -0.03417661]
 [ 0.17404575  0.98470683 -0.00786802]
 [ 0.03502477  0.0017946   0.99938481]]

 t_gt:
[ 0.97807383 -0.20018587 -0.0574213 ]

Pose Error in degrees for R and t:
178.7067762806261 17.098855280327218

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 9.99999941e-01 -3.39737169e-04 -5.55197031e-05]
 [ 3.39741476e-04  9.99999939e-01  7.75879325e-05]
 [ 5.54933402e-05 -7.76067902e-05  9.99999995e-01]]

 t_estimated:
[[-9.97126704e-01]
 [ 7.57503676e-02]
 [-4.66277018e-04]]

 R_gt:
[[ 9.96413010e-01  8.46241632e-02 -4.91397279e-04]
 [-8.46254273e-02  9.96395774e-01 -5.96423878e-03]
 [-1.55947410e-05  5.98357497e-03  9.99982445e-01]]

 t_gt:
[-0.72219979  0.69049937 -0.04047327]

Pose Error in degrees for R and t:
4.885856272853446 39.4256675557424

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.99999712e-01 -7.39356698e-04 -1.68422096e-04]
 [ 7.39371068e-04  9.99999723e-01  8.52704235e-05]
 [ 1.68359004e-04 -8.53949255e-05  9.99999982e-01]]

 t_estimated:
[[-9.91396964e-01]
 [ 1.30888145e-01]
 [-5.94681406e-04]]

 R_gt:
[[ 0.96628409  0.25696787 -0.01618491]
 [-0.25739821  0.96563394 -0.03602623]
 [ 0.00637064  0.03897781  0.99921966]]

 t_gt:
[-0.74204206  0.65824915 -0.12681336]

Pose Error in degrees for R and t:
15.120994142694311 34.72549241675353

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 6.52516579e-01 -7.57762575e-01 -4.24186015e-03]
 [ 7.57771259e-01  6.52519850e-01  7.51383713e-04]
 [ 2.19852750e-03 -3.70465004e-03  9.99990721e-01]]

 t_estimated:
[[-0.04529348]
 [-0.99897293]
 [-0.00125815]]

 R_gt:
[[ 0.93402279  0.35720867 -0.00125204]
 [-0.35702774  0.93342785 -0.03527438]
 [-0.01143188  0.0333934   0.99937659]]

 t_gt:
[-0.7358348   0.67442253 -0.06083905]

Pose Error in degrees for R and t:
70.22915807879156 50.18395752799441

Number of keypoints:
Image1: 273
Image2: 273

 R_estimated:
[[-0.00843378  0.99984509  0.01544864]
 [ 0.99987097  0.0086432  -0.01353999]
 [-0.01367141  0.01533246 -0.99978898]]

 t_estimated:
[[ 0.74731277]
 [-0.66439772]
 [ 0.0099646 ]]

 R_gt:
[[ 0.98815252 -0.15074832  0.02878618]
 [ 0.15181786  0.98761923 -0.03948599]
 [-0.02247755  0.04338905  0.998805  ]]

 t_gt:
[ 0.62654158 -0.77465622 -0.08575193]

Pose Error in degrees for R and t:
176.09921372695757 10.87295352310929

Number of keypoints:
Image1: 154
Image2: 154

 R_estimated:
[[ 9.99998652e-01 -1.17883379e-04  1.63781713e-03]
 [ 1.21272208e-04  9.99997852e-01 -2.06916822e-03]
 [-1.63756969e-03  2.06936405e-03  9.99996518e-01]]

 t_estimated:
[[-0.63906983]
 [-0.76914672]
 [-0.0017537 ]]

 R_gt:
[[ 0.94267223 -0.33371198 -0.00247559]
 [ 0.33370338  0.94251406  0.01757723]
 [-0.00353243 -0.01739459  0.99984184]]

 t_gt:
[ 0.69260867 -0.71938468  0.05271543]

Pose Error in degrees for R and t:
19.521654650452014 83.65040602841836

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99999565e-01 -7.02269129e-04  6.13646597e-04]
 [ 7.02584911e-04  9.99999621e-01 -5.14535593e-04]
 [-6.13285022e-04  5.14966508e-04  9.99999679e-01]]

 t_estimated:
[[-0.38953177]
 [-0.92101155]
 [-0.00165056]]

 R_gt:
[[ 0.89847765 -0.43694923 -0.04257237]
 [ 0.43843134  0.89806212  0.0355314 ]
 [ 0.02270779 -0.05058819  0.99846103]]

 t_gt:
[ 0.70972265 -0.70203606  0.05864406]

Pose Error in degrees for R and t:
26.13415914842031 68.2827170647137

Number of keypoints:
Image1: 398
Image2: 398

 R_estimated:
[[ 9.99998674e-01 -1.62452070e-03  1.10548646e-04]
 [ 1.62452133e-03  9.99998680e-01 -5.60508003e-06]
 [-1.10539395e-04  5.78466123e-06  9.99999994e-01]]

 t_estimated:
[[ 0.36154896]
 [-0.93234793]
 [ 0.003111  ]]

 R_gt:
[[ 0.99962429  0.02213754  0.01618615]
 [-0.02157752  0.99919073 -0.03395071]
 [-0.01692347  0.03358895  0.99929183]]

 t_gt:
[-0.83406453  0.52662076 -0.1643379 ]

Pose Error in degrees for R and t:
2.5385912478215 37.52758207205894

Number of keypoints:
Image1: 341
Image2: 341

 R_estimated:
[[ 1.00000000e+00 -1.13931087e-12 -1.53297514e-14]
 [ 1.13925536e-12  1.00000000e+00  2.64415226e-14]
 [ 1.54412073e-14 -2.63153214e-14  1.00000000e+00]]

 t_estimated:
[[ 0.60971843]
 [-0.79261191]
 [ 0.0031281 ]]

 R_gt:
[[ 0.99978759  0.01903167 -0.00792343]
 [-0.01947315  0.99801165 -0.05995618]
 [ 0.0067674   0.06009889  0.99816895]]

 t_gt:
[-0.82558853  0.40586427 -0.39201757]

Pose Error in degrees for R and t:
3.638693052889225 34.27992694704905

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 9.99995947e-01 -2.84696940e-03  1.60460268e-05]
 [ 2.84697185e-03  9.99995935e-01 -1.54748291e-04]
 [-1.56053980e-05  1.54793346e-04  9.99999988e-01]]

 t_estimated:
[[ 0.8395586 ]
 [-0.54326831]
 [ 0.00094688]]

 R_gt:
[[ 0.99729142 -0.06595578  0.03256791]
 [ 0.06892897  0.99253074 -0.10066259]
 [-0.0256851   0.10263556  0.99438675]]

 t_gt:
[-0.78331461  0.14680471 -0.60404189]

Pose Error in degrees for R and t:
7.110806312743686 42.44166300786418

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.99999991e-01  4.22989863e-05  1.30281750e-04]
 [-4.22650391e-05  9.99999965e-01 -2.60559488e-04]
 [-1.30292767e-04  2.60553979e-04  9.99999958e-01]]

 t_estimated:
[[9.70327020e-01]
 [2.41795752e-01]
 [5.37169563e-04]]

 R_gt:
[[ 0.99884205 -0.04074865 -0.02561227]
 [ 0.04028326  0.99901881 -0.01843061]
 [ 0.02633765  0.01737794  0.99950221]]

 t_gt:
[-0.23526476 -0.39706638 -0.88712388]

Pose Error in degrees for R and t:
2.9430515855937265 71.04840388259788

Number of keypoints:
Image1: 373
Image2: 373

 R_estimated:
[[ 9.99656471e-01  2.62093505e-02  1.03746555e-04]
 [-2.62093319e-02  9.99656461e-01 -1.76954695e-04]
 [-1.08348782e-04  1.74174778e-04  9.99999979e-01]]

 t_estimated:
[[ 9.92173777e-01]
 [-1.24861355e-01]
 [ 9.15028811e-04]]

 R_gt:
[[ 0.99247634 -0.12171401  0.01335277]
 [ 0.12238973  0.9893743  -0.07848244]
 [-0.00365816  0.07952586  0.9968257 ]]

 t_gt:
[ 0.31713095 -0.42898472 -0.84581326]

Pose Error in degrees for R and t:
9.66247690857638 68.44225960645845

Number of keypoints:
Image1: 534
Image2: 534

 R_estimated:
[[-9.99593303e-01  2.28127340e-02  1.71116024e-02]
 [ 2.28053260e-02  9.99739728e-01 -6.27956420e-04]
 [-1.71214741e-02 -2.37465362e-04 -9.99853389e-01]]

 t_estimated:
[[ 0.99794823]
 [-0.06335639]
 [ 0.00923583]]

 R_gt:
[[ 0.9907665  -0.13549519  0.00500046]
 [ 0.1355146   0.98834555 -0.06936052]
 [ 0.00445503  0.06939779  0.99757843]]

 t_gt:
[ 0.3496324  -0.4728913  -0.80878366]

Pose Error in degrees for R and t:
178.96170306270972 68.19764904825074

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.95227175 -0.30524527 -0.00196148]
 [ 0.30524907  0.95227029  0.00207141]
 [ 0.00123557 -0.00257129  0.99999593]]

 t_estimated:
[[-0.81958032]
 [-0.57295889]
 [-0.00249113]]

 R_gt:
[[ 0.99006554  0.14014662 -0.011415  ]
 [-0.14023124  0.99009426 -0.00699795]
 [ 0.01032062  0.00852868  0.99991031]]

 t_gt:
[-0.80261618  0.59259118 -0.06813928]

Pose Error in degrees for R and t:
25.843956812092713 71.43092024684658

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 0.88732294 -0.46093078  0.0141708 ]
 [ 0.46114166  0.88705878 -0.02179642]
 [-0.00252369  0.02587521  0.999662  ]]

 t_estimated:
[[-0.78934987]
 [-0.61393879]
 [-0.00243627]]

 R_gt:
[[ 0.95672039  0.29099731  0.00270339]
 [-0.29079711  0.95633268 -0.02940487]
 [-0.01114367  0.02734522  0.99956321]]

 t_gt:
[-0.77870217  0.6243666  -0.0615571 ]

Pose Error in degrees for R and t:
44.370926199516845 76.61486294105977

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99937622e-01  1.11672801e-02 -2.07391442e-04]
 [-1.11672775e-02  9.99937644e-01  1.35012334e-05]
 [ 2.07529282e-04 -1.11843935e-05  9.99999978e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.93394197  0.3570787  -0.01576536]
 [-0.35706455  0.93407216  0.00382573]
 [ 0.01609097  0.00205599  0.99986818]]

 t_gt:
[-0.75731702  0.6527725  -0.01894708]

Pose Error in degrees for R and t:
20.302510379305374 40.948082294896146

Number of keypoints:
Image1: 89
Image2: 89

 R_estimated:
[[ 0.57003804  0.82157385 -0.00854679]
 [ 0.82148056 -0.56972117  0.02423794]
 [ 0.01504397 -0.02083757 -0.99966968]]

 t_estimated:
[[0.53122592]
 [0.84722848]
 [0.00170812]]

 R_gt:
[[ 0.99388542  0.0635867  -0.09027061]
 [-0.07243568  0.99250543 -0.09840948]
 [ 0.08333664  0.10434686  0.99104412]]

 t_gt:
[-0.16018203  0.61888942 -0.76897178]

Pose Error in degrees for R and t:
178.61215001664456 64.0278379019591

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99997692e-01 -2.03768095e-03 -6.81290767e-04]
 [ 2.03792022e-03  9.99997862e-01  3.50691892e-04]
 [ 6.80574712e-04 -3.52079499e-04  9.99999706e-01]]

 t_estimated:
[[-0.99997418]
 [-0.00689075]
 [-0.00203868]]

 R_gt:
[[ 0.97564911  0.12177175 -0.18242935]
 [-0.15538633  0.97074579 -0.18305074]
 [ 0.15480216  0.20694059  0.96602964]]

 t_gt:
[-0.12288627  0.66005857 -0.7410949 ]

Pose Error in degrees for R and t:
17.064726157024033 83.11680481115535

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-0.53014677  0.84781449 -0.01244998]
 [ 0.84781184  0.53024951  0.00710951]
 [ 0.01262914 -0.00678616 -0.99989722]]

 t_estimated:
[[ 0.3507392 ]
 [-0.93643638]
 [-0.00830141]]

 R_gt:
[[ 0.96466228  0.1554724  -0.21273494]
 [-0.20157912  0.955392   -0.21585134]
 [ 0.16968635  0.25110704  0.95297086]]

 t_gt:
[-0.12791728  0.70700371 -0.69554506]

Pose Error in degrees for R and t:
176.04036408873586 45.48020893434345

Number of keypoints:
Image1: 405
Image2: 405

 R_estimated:
[[ 0.53470748  0.84476727 -0.02135818]
 [ 0.84476824 -0.53372884  0.0387316 ]
 [ 0.02131971 -0.03875278 -0.99902137]]

 t_estimated:
[[ 0.51204448]
 [-0.85867967]
 [-0.02190145]]

 R_gt:
[[ 0.99986394  0.01430636 -0.00829414]
 [-0.0147095   0.9986059  -0.05067609]
 [ 0.00755677  0.05079002  0.99868074]]

 t_gt:
[-0.06108276  0.87903363 -0.47283059]

Pose Error in degrees for R and t:
179.79172891034534 39.128761400719895

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[ 0.97455141 -0.22409768 -0.00545725]
 [ 0.22415558  0.97443793  0.01500004]
 [ 0.00195628 -0.01584159  0.9998726 ]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075936e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99629232 -0.08603636  0.00111376]
 [ 0.08563867  0.99025557 -0.10981594]
 [ 0.00834544  0.10950348  0.99395121]]

 t_gt:
[ 0.71080044  0.5185518  -0.47525442]

Pose Error in degrees for R and t:
10.7638617756938 44.599163026035

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.89296825e-01  1.45916991e-01 -1.55302357e-04]
 [ 1.45913555e-01 -9.89265020e-01  7.99714897e-03]
 [ 1.01328472e-03 -7.93421481e-03 -9.99968010e-01]]

 t_estimated:
[[-0.77358719]
 [ 0.63366817]
 [ 0.0052445 ]]

 R_gt:
[[ 0.99171403 -0.12063558  0.04416672]
 [ 0.1266141   0.9760098  -0.1771207 ]
 [-0.02174025  0.18124403  0.98319791]]

 t_gt:
[ 0.6854688   0.56436727 -0.46002403]

Pose Error in degrees for R and t:
169.9992100686014 79.91779767875391

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.99999379e-01  1.11005632e-03 -9.81337277e-05]
 [-1.11006019e-03  9.99999383e-01 -3.93913346e-05]
 [ 9.80899406e-05  3.95002444e-05  9.99999994e-01]]

 t_estimated:
[[ 1.31501048e-03]
 [-9.99998818e-01]
 [-7.96636383e-04]]

 R_gt:
[[ 9.99773541e-01  2.11309575e-02 -2.31288849e-03]
 [-2.12513861e-02  9.96148527e-01 -8.50670938e-02]
 [ 5.06533871e-04  8.50969699e-02  9.96372233e-01]]

 t_gt:
[-0.02130055  0.56631852 -0.82391117]

Pose Error in degrees for R and t:
5.0138849377966 55.54981470183891

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99999167e-01 -5.32106583e-04  1.17604206e-03]
 [ 5.33383784e-04  9.99999268e-01 -1.08596971e-03]
 [-1.17546335e-03  1.08659609e-03  9.99998719e-01]]

 t_estimated:
[[-0.61225248]
 [-0.79066149]
 [-0.00114331]]

 R_gt:
[[ 0.99928183  0.01688827 -0.03392465]
 [-0.02272402  0.98344448 -0.17978115]
 [ 0.03032709  0.18042217  0.98312121]]

 t_gt:
[ 0.02053452  0.43518882 -0.90010501]

Pose Error in degrees for R and t:
10.558081375604882 69.16792410263119

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99995624e-01  2.95638819e-03 -1.09303011e-04]
 [-2.95638853e-03  9.99995630e-01 -2.98841108e-06]
 [ 1.09293698e-04  3.31154017e-06  9.99999994e-01]]

 t_estimated:
[[ 4.61695891e-01]
 [-8.87038256e-01]
 [-1.90947669e-04]]

 R_gt:
[[ 0.9924179  -0.11705695 -0.03746877]
 [ 0.10832315  0.97706109 -0.18334818]
 [ 0.05807077  0.17789917  0.98233369]]

 t_gt:
[ 0.44078324 -0.13604761 -0.88724359]

Pose Error in degrees for R and t:
12.689539010766609 71.0733968019647

Number of keypoints:
Image1: 454
Image2: 454

 R_estimated:
[[-0.98540585 -0.16366859  0.0467751 ]
 [-0.16360994  0.9865119   0.00510589]
 [-0.04697987 -0.0026215  -0.9988924 ]]

 t_estimated:
[[0.99533926]
 [0.09348928]
 [0.02365407]]

 R_gt:
[[ 0.99874995 -0.0478334   0.01454146]
 [ 0.04794261  0.99882374 -0.00727668]
 [-0.01417585  0.00796482  0.99986789]]

 t_gt:
[ 0.39171982 -0.91022693  0.13432247]

Pose Error in degrees for R and t:
176.51896987706078 72.06276784919294

Number of keypoints:
Image1: 224
Image2: 224

 R_estimated:
[[ 9.56986576e-01 -2.90129879e-01  1.16049026e-03]
 [ 2.90130218e-01  9.56987168e-01 -1.31512719e-04]
 [-1.07241852e-03  4.62549199e-04  9.99999318e-01]]

 t_estimated:
[[0.95496359]
 [0.29672083]
 [0.00113686]]

 R_gt:
[[ 0.99013085 -0.13597238  0.03398039]
 [ 0.13531008  0.99057909  0.02109692]
 [-0.03652841 -0.01629021  0.99919958]]

 t_gt:
[ 0.40147926 -0.85348355  0.33223521]

Pose Error in degrees for R and t:
9.339561704005044 82.49981273825833

Number of keypoints:
Image1: 361
Image2: 361

 R_estimated:
[[ 9.97898913e-01 -6.47900632e-02  8.25678421e-05]
 [ 6.47900457e-02  9.97898898e-01  1.99726377e-04]
 [-9.53346432e-05 -1.93957160e-04  9.99999977e-01]]

 t_estimated:
[[ 9.93970953e-01]
 [ 1.09643706e-01]
 [-5.16478274e-05]]

 R_gt:
[[ 0.97799121 -0.20333494  0.04679328]
 [ 0.20261846  0.97906121  0.01963922]
 [-0.04980762 -0.00972588  0.99871139]]

 t_gt:
[ 0.45211085 -0.84164032  0.29535969]

Pose Error in degrees for R and t:
8.512342067280635 69.0784569084506

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.77621962e-01 -2.10368251e-01  7.06247068e-04]
 [ 2.10368040e-01  9.77622195e-01  3.62294748e-04]
 [-7.66658122e-04 -2.05615491e-04  9.99999685e-01]]

 t_estimated:
[[0.91207253]
 [0.41002667]
 [0.00135322]]

 R_gt:
[[ 0.99891459 -0.04643317  0.00352761]
 [ 0.0464072   0.99889617  0.00723641]
 [-0.00386059 -0.00706416  0.99996674]]

 t_gt:
[ 0.86880607 -0.43778222  0.23134982]

Pose Error in degrees for R and t:
9.493174980632597 52.17695363162624

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[-5.77588037e-01 -8.16328043e-01 -7.64695433e-04]
 [-8.16327337e-01  5.77588544e-01 -1.07354032e-03]
 [ 1.31804039e-03  4.17774048e-06 -9.99999131e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99298197 -0.11820923  0.00373432]
 [ 0.11824165  0.99293471 -0.01000126]
 [-0.00252637  0.0103732   0.99994316]]

 t_gt:
[ 0.88994293 -0.4553695  -0.02530208]

Pose Error in degrees for R and t:
179.82687350698836 52.015885665492725

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 0.99560874  0.09360447  0.0011992 ]
 [-0.09360238  0.99560823 -0.00168822]
 [-0.00135196  0.00156856  0.99999786]]

 t_estimated:
[[-0.85113192]
 [-0.52495002]
 [-0.0013878 ]]

 R_gt:
[[ 0.97153867 -0.23685486  0.00352733]
 [ 0.23678386  0.9714565   0.01438419]
 [-0.00683457 -0.01313942  0.99989038]]

 t_gt:
[ 0.88059843 -0.46809939  0.07368431]

Pose Error in degrees for R and t:
19.09235915838304 59.74303984918307

Number of keypoints:
Image1: 430
Image2: 430

 R_estimated:
[[-0.97739513  0.20412551  0.05505942]
 [ 0.20421793  0.97891727 -0.00400251]
 [-0.05471564  0.00733209 -0.99847506]]

 t_estimated:
[[ 0.99412761]
 [-0.10455976]
 [ 0.02788469]]

 R_gt:
[[ 0.9986813  -0.05089445 -0.00668735]
 [ 0.05088405  0.998703   -0.00177131]
 [ 0.00676834  0.00142879  0.99997548]]

 t_gt:
[ 0.35995852 -0.9189839  -0.16092998]

Pose Error in degrees for R and t:
177.209002273523 63.291857271846766

Number of keypoints:
Image1: 436
Image2: 436

 R_estimated:
[[ 9.99976515e-01 -6.84522429e-03  3.34571754e-04]
 [ 6.84521114e-03  9.99976570e-01  4.04468750e-05]
 [-3.34840783e-04 -3.81557108e-05  9.99999943e-01]]

 t_estimated:
[[ 0.33251033]
 [-0.94309783]
 [-0.0018332 ]]

 R_gt:
[[ 0.9894466  -0.14098302  0.03342875]
 [ 0.14043539  0.98992166  0.01822965]
 [-0.03566203 -0.01334296  0.99927419]]

 t_gt:
[ 0.37928363 -0.85687335  0.34915899]

Pose Error in degrees for R and t:
7.997824121346805 20.998303087806704

Number of keypoints:
Image1: 391
Image2: 391

 R_estimated:
[[ 9.99830837e-01 -1.83923287e-02  1.39809868e-04]
 [ 1.83922947e-02  9.99830819e-01  2.40525824e-04]
 [-1.44210045e-04 -2.37913711e-04  9.99999961e-01]]

 t_estimated:
[[7.44508844e-01]
 [6.67612235e-01]
 [6.96913933e-04]]

 R_gt:
[[ 0.98154302 -0.18683962  0.04078498]
 [ 0.18707969  0.98234283 -0.00211453]
 [-0.03966993  0.00970616  0.9991654 ]]

 t_gt:
[ 0.4214546  -0.87916483  0.22236281]

Pose Error in degrees for R and t:
10.001762180644088 74.15656821057117

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.98958157e-01  4.56354270e-02 -9.02444003e-05]
 [-4.56354260e-02  9.98958161e-01  1.28069522e-05]
 [ 9.07348309e-05 -8.67526767e-06  9.99999996e-01]]

 t_estimated:
[[-0.98662595]
 [-0.16299599]
 [-0.00123951]]

 R_gt:
[[ 9.99072763e-01  4.30460751e-02 -1.30682652e-04]
 [-4.30451630e-02  9.99065450e-01  3.91150656e-03]
 [ 2.99070310e-04 -3.90225772e-03  9.99992499e-01]]

 t_gt:
[-0.46529515  0.8843455  -0.03786098]

Pose Error in degrees for R and t:
0.26935021147196186 71.64072973195546

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 9.99431680e-01 -3.37086978e-02  2.02497771e-04]
 [ 3.37087417e-02  9.99431675e-01 -2.17731221e-04]
 [-1.95043251e-04  2.24433425e-04  9.99999956e-01]]

 t_estimated:
[[-8.73460817e-01]
 [-4.86893939e-01]
 [-7.02703239e-04]]

 R_gt:
[[ 0.99912902  0.03909872 -0.01457125]
 [-0.03894158  0.99918165  0.01091823]
 [ 0.01498725 -0.01034132  0.99983394]]

 t_gt:
[-0.2900229   0.95207088 -0.09719957]

Pose Error in degrees for R and t:
4.300991124924289 77.86794330833443

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 9.99611366e-01  2.78764186e-02  1.48466113e-04]
 [-2.78764181e-02  9.99611377e-01 -5.32823131e-06]
 [-1.48556948e-04  1.18745714e-06  9.99999989e-01]]

 t_estimated:
[[-9.33980330e-01]
 [-3.57323500e-01]
 [-8.11897453e-04]]

 R_gt:
[[ 0.99948175 -0.03143478  0.00692894]
 [ 0.03138291  0.99947899  0.00760826]
 [-0.00716383 -0.00738668  0.99994703]]

 t_gt:
[0.83495526 0.50779957 0.21210686]

Pose Error in degrees for R and t:
3.446934377439532 15.96024584482392

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.99997607e-01 -5.47893101e-05  2.18705734e-03]
 [ 5.89976042e-05  9.99998147e-01 -1.92416281e-03]
 [-2.18694786e-03  1.92428724e-03  9.99995757e-01]]

 t_estimated:
[[-8.00831882e-01]
 [-5.98888891e-01]
 [-6.26758228e-04]]

 R_gt:
[[ 0.99028999  0.13898765 -0.00317872]
 [-0.13876888  0.98960006  0.037872  ]
 [ 0.00840963 -0.03706356  0.99927754]]

 t_gt:
[-0.58221165  0.80431876  0.11874729]

Pose Error in degrees for R and t:
8.31542141151476 89.11082853666464

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999951e-01 -3.06211025e-04  6.16676835e-05]
 [ 3.06217774e-04  9.99999947e-01 -1.09471121e-04]
 [-6.16341590e-05  1.09490000e-04  9.99999992e-01]]

 t_estimated:
[[-9.34611065e-01]
 [-3.55670198e-01]
 [-9.31569937e-04]]

 R_gt:
[[ 0.97773865  0.20945187  0.01253821]
 [-0.20976867  0.97713067  0.03481175]
 [-0.0049603  -0.03666622  0.99931456]]

 t_gt:
[-0.55436601  0.82435138  0.11455623]

Pose Error in degrees for R and t:
12.305712547643754 77.00813732145976

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[-8.35699791e-01 -5.49186099e-01  6.98623818e-04]
 [ 5.49151548e-01 -8.35660222e-01 -1.02259635e-02]
 [ 6.19976914e-03 -8.16218520e-03  9.99947469e-01]]

 t_estimated:
[[9.26395664e-01]
 [3.76550685e-01]
 [8.09786418e-04]]

 R_gt:
[[ 9.61262868e-01  2.75632792e-01 -9.49411394e-04]
 [-2.75201884e-01  9.59942362e-01  5.26788601e-02]
 [ 1.54315156e-02 -5.03765371e-02  9.98610164e-01]]

 t_gt:
[-0.53298118  0.84103678  0.09267258]

Pose Error in degrees for R and t:
162.6968461430453 79.80589761240726

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99999987e-01  2.64142563e-05 -1.57981341e-04]
 [-2.63825085e-05  9.99999979e-01  2.00958230e-04]
 [ 1.57986646e-04 -2.00954060e-04  9.99999967e-01]]

 t_estimated:
[[-1.36460584e-01]
 [-9.90645500e-01]
 [ 4.07222994e-05]]

 R_gt:
[[ 0.99992072  0.01002523 -0.00754087]
 [-0.01071771  0.99510132 -0.09827228]
 [ 0.00651834  0.09834506  0.99513097]]

 t_gt:
[-0.04597028  0.40833313 -0.91167471]

Pose Error in degrees for R and t:
5.6985402195171435 66.52946703033642

Number of keypoints:
Image1: 207
Image2: 207

 R_estimated:
[[ 9.99999584e-01  9.11874122e-04 -1.05971418e-05]
 [-9.11875489e-04  9.99999576e-01 -1.29728779e-04]
 [ 1.04788410e-05  1.29738388e-04  9.99999992e-01]]

 t_estimated:
[[-4.89391061e-02]
 [-9.98801421e-01]
 [-8.28207408e-04]]

 R_gt:
[[ 0.99760901 -0.04732865 -0.05035792]
 [ 0.03920476  0.98766393 -0.15160362]
 [ 0.05691154  0.14926594  0.98715781]]

 t_gt:
[ 0.22623226  0.06454007 -0.97193289]

Pose Error in degrees for R and t:
9.531199519404321 85.714327873523

Number of keypoints:
Image1: 102
Image2: 102

 R_estimated:
[[ 0.90101095  0.4028095   0.16100863]
 [-0.3403622   0.88656157 -0.3133084 ]
 [-0.26894766  0.22749305  0.93590281]]

 t_estimated:
[[-0.77151675]
 [-0.6172134 ]
 [-0.15430335]]

 R_gt:
[[ 0.96905636 -0.24386318  0.03820669]
 [ 0.24657482  0.963508   -0.10418299]
 [-0.01140615  0.11037993  0.99382444]]

 t_gt:
[ 0.68306544 -0.6650554  -0.30186572]

Pose Error in degrees for R and t:
39.543682532965384 85.98966415734048

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99977702e-01 -6.67523578e-03  1.91281764e-04]
 [ 6.67518797e-03  9.99977690e-01  2.49498938e-04]
 [-1.92942961e-04 -2.48216533e-04  9.99999951e-01]]

 t_estimated:
[[0.86165795]
 [0.50748805]
 [0.00120811]]

 R_gt:
[[ 0.98840171 -0.15131106 -0.01293354]
 [ 0.15172406  0.98755108  0.04150493]
 [ 0.00649251 -0.04298557  0.99905502]]

 t_gt:
[ 0.74006384 -0.62551126  0.24706513]

Pose Error in degrees for R and t:
8.69696057336576 71.30436181641183

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.92428315e-01 -1.22824871e-01 -3.00752015e-04]
 [ 1.22825238e-01  9.92425656e-01  2.29740568e-03]
 [ 1.62954587e-05 -2.31695039e-03  9.99997316e-01]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.98279973 -0.1810746  -0.03629881]
 [ 0.18388729  0.97766712  0.10175025]
 [ 0.01706394 -0.10667477  0.99414756]]

 t_gt:
[ 0.64201232 -0.65680222  0.39551362]

Pose Error in degrees for R and t:
7.002026685829034 86.61770365951426

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.64154841e-01 -2.65340227e-01  8.09093706e-05]
 [ 2.65340185e-01  9.64154794e-01  3.46123572e-04]
 [-1.69849665e-04 -3.12248210e-04  9.99999937e-01]]

 t_estimated:
[[5.69753910e-01]
 [8.21815358e-01]
 [6.12008724e-07]]

 R_gt:
[[ 0.97901238 -0.20052951 -0.03637118]
 [ 0.2037085   0.95749414  0.20422383]
 [-0.00612725 -0.20734621  0.97824836]]

 t_gt:
[ 0.5164231  -0.63141448  0.57846602]

Pose Error in degrees for R and t:
12.481124678714494 77.01642759504337

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[-8.51782056e-01 -5.23890927e-01 -2.37177552e-03]
 [ 5.23896210e-01 -8.51775778e-01 -3.28411471e-03]
 [-2.99703038e-04 -4.03991418e-03  9.99991795e-01]]

 t_estimated:
[[0.94855785]
 [0.31660137]
 [0.00125291]]

 R_gt:
[[ 0.99772982  0.03125449 -0.05966423]
 [-0.03353726  0.99872811 -0.03763935]
 [ 0.05841183  0.03955434  0.99750854]]

 t_gt:
[-0.07748078  0.60583793 -0.79180625]

Pose Error in degrees for R and t:
150.2788186403825 83.26242392807151

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-6.92995930e-01 -7.20937419e-01 -2.42458230e-03]
 [ 7.20940910e-01 -6.92995736e-01 -1.05521723e-03]
 [-9.19479613e-04 -2.47924182e-03  9.99996504e-01]]

 t_estimated:
[[0.92569595]
 [0.37826662]
 [0.00117474]]

 R_gt:
[[ 0.98345311  0.09538935 -0.15402139]
 [-0.11873291  0.981491   -0.15026002]
 [ 0.13683799  0.16606079  0.97657535]]

 t_gt:
[-0.10191569  0.64542303 -0.75699558]

Pose Error in degrees for R and t:
140.33148213657012 81.43624849413052

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[-8.20512099e-01 -5.71629128e-01  1.89242562e-04]
 [-5.71613694e-01  8.20492291e-01  7.08417922e-03]
 [-4.20479525e-03  5.70448112e-03 -9.99974889e-01]]

 t_estimated:
[[0.9957938 ]
 [0.09161303]
 [0.00132773]]

 R_gt:
[[ 0.96176026  0.16173761 -0.22104144]
 [-0.20841076  0.95578963 -0.20744168]
 [ 0.17771796  0.24557504  0.95294815]]

 t_gt:
[-0.11718387  0.71143199 -0.69291592]

Pose Error in degrees for R and t:
165.019019887142 86.994344339656

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.97902021e-01 -6.47422238e-02  3.68463181e-06]
 [ 6.47422238e-02  9.97902021e-01 -1.71837071e-05]
 [-2.56439012e-06  1.73862073e-05  1.00000000e+00]]

 t_estimated:
[[ 7.02964603e-01]
 [-7.11224811e-01]
 [-1.87077984e-04]]

 R_gt:
[[ 0.9954344  -0.09193239 -0.02567564]
 [ 0.09233425  0.99561729  0.01488175]
 [ 0.02419562 -0.01718449  0.99955997]]

 t_gt:
[ 0.74084949 -0.66992691 -0.04837313]

Pose Error in degrees for R and t:
2.317914478600517 4.2356911347087145

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.71344796e-01  2.37674718e-01  1.22642714e-04]
 [-2.37674727e-01  9.71344800e-01  6.49195419e-05]
 [-1.03698629e-04 -9.22083328e-05  9.99999990e-01]]

 t_estimated:
[[0.68087007]
 [0.73240381]
 [0.00078081]]

 R_gt:
[[ 0.98968814 -0.14323749  0.0010666 ]
 [ 0.14323096  0.98967637  0.00513603]
 [-0.00179014 -0.00492894  0.99998661]]

 t_gt:
[ 0.72711588 -0.68536117  0.03978149]

Pose Error in degrees for R and t:
21.986298919754564 89.60702616342145

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 0.85948611 -0.50966513  0.03905238]
 [ 0.51097435  0.85871825 -0.03883518]
 [-0.01374206  0.05333306  0.99848222]]

 t_estimated:
[[-0.18992668]
 [-0.98128785]
 [-0.03165445]]

 R_gt:
[[ 0.99272634 -0.11951796  0.01447083]
 [ 0.11985287  0.99247688 -0.02500468]
 [-0.01137329  0.02655749  0.99958272]]

 t_gt:
[ 0.68158169 -0.72929129 -0.05983816]

Pose Error in degrees for R and t:
23.87772198774168 53.9785360589348

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.99999079e-01  1.32169018e-03 -3.08449217e-04]
 [-1.32112931e-03  9.99997486e-01  1.81152197e-03]
 [ 3.10842712e-04 -1.81111280e-03  9.99998312e-01]]

 t_estimated:
[[0.82300344]
 [0.56803441]
 [0.00149917]]

 R_gt:
[[ 0.99599735 -0.08812646  0.01488898]
 [ 0.08898963  0.99330184 -0.0736891 ]
 [-0.00829582  0.07471879  0.99717028]]

 t_gt:
[ 0.90447309  0.17623561 -0.38841916]

Pose Error in degrees for R and t:
6.79435381697066 32.44465625264834

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 9.99999571e-01  4.80160913e-04  7.92567655e-04]
 [-4.79661631e-04  9.99999686e-01 -6.30025543e-04]
 [-7.92869921e-04  6.29645108e-04  9.99999487e-01]]

 t_estimated:
[[-9.99994842e-01]
 [-3.11218364e-03]
 [-7.94008289e-04]]

 R_gt:
[[ 0.99210833 -0.11523958  0.04939924]
 [ 0.12115247  0.98256854 -0.14099675]
 [-0.03228951  0.14586864  0.98877675]]

 t_gt:
[ 0.79752493  0.39318274 -0.45756018]

Pose Error in degrees for R and t:
10.950343768761881 37.02420769938684

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 3.15736173e-01 -9.48844670e-01 -2.11223800e-03]
 [ 9.48847013e-01  3.15735676e-01  5.73502813e-04]
 [ 1.22743806e-04 -2.18526630e-03  9.99997605e-01]]

 t_estimated:
[[9.84822603e-01]
 [1.73561705e-01]
 [8.79996021e-04]]

 R_gt:
[[ 0.99358111 -0.11192747  0.01634828]
 [ 0.11280804  0.96983768 -0.21607523]
 [ 0.00832913  0.21653275  0.97624017]]

 t_gt:
[ 0.62633803  0.56576294 -0.53629561]

Pose Error in degrees for R and t:
66.1474552084099 44.39328387380201

Number of keypoints:
Image1: 464
Image2: 464

 R_estimated:
[[-5.08711149e-01 -8.60933319e-01 -2.60509911e-03]
 [ 8.60937188e-01 -5.08710016e-01 -1.13005191e-03]
 [-3.52340673e-04 -2.81769671e-03  9.99995968e-01]]

 t_estimated:
[[0.80179256]
 [0.5976009 ]
 [0.00136128]]

 R_gt:
[[ 0.99845931 -0.05123801 -0.02130627]
 [ 0.05193972  0.99807819  0.033787  ]
 [ 0.01953397 -0.03484098  0.99920188]]

 t_gt:
[ 0.84038047 -0.23049672  0.49054248]

Pose Error in degrees for R and t:
117.63012855677023 57.53844876232634

Number of keypoints:
Image1: 734
Image2: 734

 R_estimated:
[[-0.8899675  -0.4557227   0.01657309]
 [-0.45573154  0.89011056  0.00345851]
 [-0.016328   -0.00447492 -0.99985668]]

 t_estimated:
[[0.96813612]
 [0.25028272]
 [0.00842687]]

 R_gt:
[[ 0.99057923 -0.12244112 -0.06133501]
 [ 0.12463714  0.99164254  0.03333148]
 [ 0.05674139 -0.04066254  0.99756061]]

 t_gt:
[ 0.97971667 -0.16131284  0.11888403]

Pose Error in degrees for R and t:
178.16744018613122 24.614999239430265

Number of keypoints:
Image1: 378
Image2: 378

 R_estimated:
[[ 0.99983624  0.00737931  0.01652414]
 [-0.00707428  0.9998049  -0.01844245]
 [-0.01665701  0.01832254  0.99969337]]

 t_estimated:
[[-0.39240918]
 [-0.91970901]
 [-0.01226279]]

 R_gt:
[[ 0.98616469 -0.11668505 -0.11775013]
 [ 0.12746871  0.98787664  0.08861114]
 [ 0.10598316 -0.10239327  0.98908217]]

 t_gt:
[ 0.92712256 -0.17717101  0.33023354]

Pose Error in degrees for R and t:
12.38167961310402 78.17546454019887

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-0.96874171 -0.24579502 -0.0335306 ]
 [-0.24612356  0.96921998  0.00598582]
 [ 0.03102724  0.01405139 -0.99941977]]

 t_estimated:
[[ 0.99676279]
 [ 0.07765253]
 [-0.02083317]]

 R_gt:
[[ 0.99818379  0.01964435 -0.05695611]
 [-0.0184341   0.99959447  0.02170049]
 [ 0.05736025 -0.02061007  0.99814118]]

 t_gt:
[ 0.42745039  0.45172673 -0.78308947]

Pose Error in degrees for R and t:
175.0295381080781 61.48044935964094

Number of keypoints:
Image1: 144
Image2: 144

 R_estimated:
[[ 9.97798355e-01  6.63146471e-02 -8.99728776e-04]
 [-6.63143036e-02  9.97798701e-01  4.06398628e-04]
 [ 9.24698385e-04 -3.45838996e-04  9.99999513e-01]]

 t_estimated:
[[-0.9646344 ]
 [ 0.26356698]
 [-0.00359408]]

 R_gt:
[[ 0.99600933  0.06938447 -0.05613769]
 [-0.06838924  0.99746898  0.0194794 ]
 [ 0.05734764 -0.01556147  0.99823283]]

 t_gt:
[-0.21068152  0.86052095 -0.46380707]

Pose Error in degrees for R and t:
3.353484679781785 64.42434607854061

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-1.66589704e-01 -9.86026045e-01 -7.13731747e-04]
 [-9.86024229e-01  1.66590795e-01 -1.93052564e-03]
 [ 2.02244971e-03  3.82151099e-04 -9.99997882e-01]]

 t_estimated:
[[0.88649289]
 [0.46274108]
 [0.00102603]]

 R_gt:
[[ 0.99222897  0.05743347  0.11038197]
 [-0.06012271  0.9979661   0.02117681]
 [-0.10894017 -0.0276478   0.99366314]]

 t_gt:
[-0.36351178  0.40240575  0.84019569]

Pose Error in degrees for R and t:
174.38487242478712 82.23103707230328

Number of keypoints:
Image1: 227
Image2: 227

 R_estimated:
[[ 5.09765036e-01 -8.60313145e-01 -9.48615222e-04]
 [-8.60313499e-01 -5.09765317e-01  6.51686852e-05]
 [-5.39636616e-04  7.82885764e-04 -9.99999548e-01]]

 t_estimated:
[[0.64602675]
 [0.76331418]
 [0.00094587]]

 R_gt:
[[ 0.99306441 -0.11490178  0.02491318]
 [ 0.11565876  0.99279082 -0.03145468]
 [-0.02111966  0.03411813  0.9991944 ]]

 t_gt:
[ 0.8235688  -0.54440015 -0.15925734]

Pose Error in degrees for R and t:
178.99708272643304 83.31859042995703

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 8.30030297e-01  5.57717998e-01  5.84006373e-04]
 [-5.57717905e-01  8.30030500e-01 -3.26749111e-04]
 [-6.66976962e-04 -5.44991501e-05  9.99999776e-01]]

 t_estimated:
[[0.58105126]
 [0.81386637]
 [0.0009865 ]]

 R_gt:
[[ 0.97702465 -0.20994048  0.03671389]
 [ 0.21244614  0.97310235 -0.08909971]
 [-0.01702026  0.09485221  0.99534632]]

 t_gt:
[ 0.84592093 -0.4337129  -0.31033996]

Pose Error in degrees for R and t:
46.42943147057135 82.05439349934838

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 9.90932189e-01 -1.34362856e-01  1.40079966e-04]
 [ 1.34362820e-01  9.90932175e-01  2.39018411e-04]
 [-1.70924941e-04 -2.18029498e-04  9.99999962e-01]]

 t_estimated:
[[ 9.87121380e-01]
 [-1.59972585e-01]
 [ 3.91663441e-04]]

 R_gt:
[[ 0.94214772 -0.33480794  0.01618711]
 [ 0.33494051  0.93842677 -0.08467362]
 [ 0.01315964  0.08519639  0.99627703]]

 t_gt:
[ 0.88838883 -0.40698201 -0.21244044]

Pose Error in degrees for R and t:
12.870852596789724 19.614869834435886

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99837456e-01 -1.80294540e-02  3.16988484e-06]
 [ 1.80294541e-02  9.99837456e-01 -1.48889509e-05]
 [-2.90092994e-06  1.49436821e-05  1.00000000e+00]]

 t_estimated:
[[9.43757189e-01]
 [3.30639222e-01]
 [2.69650591e-04]]

 R_gt:
[[ 0.99852319 -0.04163661  0.03490113]
 [ 0.042326    0.99891811 -0.01924341]
 [-0.03406288  0.02069203  0.99920525]]

 t_gt:
[ 0.56644732 -0.7884934   0.23961552]

Pose Error in degrees for R and t:
2.6652745508965454 74.1007580480636

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[ 9.99832920e-01 -1.82740274e-02  4.38475355e-04]
 [ 1.82745747e-02  9.99832189e-01 -1.27834532e-03]
 [-4.15041256e-04  1.28614468e-03  9.99999087e-01]]

 t_estimated:
[[-0.92042538]
 [-0.39091426]
 [-0.00177688]]

 R_gt:
[[ 0.99911281 -0.01110183  0.04063031]
 [ 0.01336477  0.99834929 -0.05586382]
 [-0.03994292  0.05635765  0.99761133]]

 t_gt:
[ 0.28242886 -0.93037327 -0.23375098]

Pose Error in degrees for R and t:
3.9021516716731206 84.02141002314444

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.91159996e-01 -1.32672003e-01 -4.76208680e-05]
 [ 1.32672009e-01  9.91159986e-01  1.45080175e-04]
 [ 2.79518214e-05 -1.50115622e-04  9.99999988e-01]]

 t_estimated:
[[9.46038264e-01]
 [3.24054087e-01]
 [7.42460279e-04]]

 R_gt:
[[ 0.99510605  0.03212803  0.09344141]
 [-0.02346535  0.99544807 -0.09237263]
 [-0.09598431  0.08972786  0.99133015]]

 t_gt:
[-0.87710774 -0.09800049  0.47018924]

Pose Error in degrees for R and t:
11.919422094102616 30.55000878724998

Number of keypoints:
Image1: 272
Image2: 272

 R_estimated:
[[ 6.26577720e-01  7.79358930e-01 -1.40203641e-04]
 [-7.79358657e-01  6.26577327e-01 -9.68046253e-04]
 [-6.66607069e-04  7.15825136e-04  9.99999522e-01]]

 t_estimated:
[[2.34058217e-01]
 [9.72222437e-01]
 [5.33374865e-04]]

 R_gt:
[[ 0.99837925 -0.0120803   0.0556077 ]
 [ 0.01372788  0.99947544 -0.02934209]
 [-0.05522393  0.03005902  0.99802167]]

 t_gt:
[-0.74300056 -0.06865202  0.66576051]

Pose Error in degrees for R and t:
52.055449545323434 76.09602901263698

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[ 9.90517571e-01 -1.37386073e-01 -8.91662688e-05]
 [ 1.37386097e-01  9.90517505e-01  3.63800389e-04]
 [ 3.83396433e-05 -3.72600883e-04  9.99999930e-01]]

 t_estimated:
[[-0.93246743]
 [ 0.36124796]
 [-0.00209993]]

 R_gt:
[[ 0.9944107  -0.01609363  0.10434231]
 [ 0.01858422  0.9995637  -0.02294423]
 [-0.10392639  0.02475622  0.99427741]]

 t_gt:
[-0.64539053 -0.15306332  0.74835999]

Pose Error in degrees for R and t:
9.234908514443275 56.979413861424604

Number of keypoints:
Image1: 150
Image2: 150

 R_estimated:
[[ 9.99822322e-01  1.88480244e-02  2.75513682e-04]
 [-1.88480188e-02  9.99822360e-01 -2.29683306e-05]
 [-2.75897647e-04  1.77713626e-05  9.99999962e-01]]

 t_estimated:
[[0.76974175]
 [0.63835472]
 [0.0009472 ]]

 R_gt:
[[ 0.98916006 -0.11129111  0.09578671]
 [ 0.11209874  0.99369225 -0.00307736]
 [-0.09483946  0.0137822   0.99539736]]

 t_gt:
[-0.08565169 -0.79151349  0.60511998]

Pose Error in degrees for R and t:
9.29497219723733 55.206327608469

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.83319446e-01  1.81885148e-01  8.12646041e-04]
 [-1.81884439e-01  9.83319523e-01 -8.75071803e-04]
 [-9.58253282e-04  7.12667451e-04  9.99999287e-01]]

 t_estimated:
[[0.82537356]
 [0.56458596]
 [0.00108223]]

 R_gt:
[[ 0.99577728 -0.04346824  0.08086067]
 [ 0.03192206  0.98978168  0.13896877]
 [-0.08607558 -0.13580042  0.98698976]]

 t_gt:
[ 0.16465985 -0.20418814  0.96498411]

Pose Error in degrees for R and t:
15.672257072826994 88.75839128436984

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[-0.91339681  0.40539279  0.03691833]
 [ 0.40594611  0.91385612  0.00864616]
 [-0.03023295  0.02288422 -0.99928088]]

 t_estimated:
[[0.97725446]
 [0.21203664]
 [0.00376557]]

 R_gt:
[[ 0.99593852 -0.01087745  0.08938295]
 [-0.00116809  0.99103188  0.1336166 ]
 [-0.09003527 -0.1331779   0.98699429]]

 t_gt:
[0.04588991 0.03421927 0.99836023]

Pose Error in degrees for R and t:
174.58220137225518 86.79771860463785

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[ 0.9963753  -0.08426249  0.01166602]
 [ 0.08439274  0.99637005 -0.01116177]
 [-0.01068315  0.01210584  0.99986965]]

 t_estimated:
[[9.87069135e-01]
 [1.60293278e-01]
 [7.66953485e-04]]

 R_gt:
[[ 0.99756887 -0.0017868   0.06967543]
 [-0.00756504  0.99099052  0.1337156 ]
 [-0.06928614 -0.13391842  0.98856779]]

 t_gt:
[0.03363651 0.18711362 0.98176223]

Pose Error in degrees for R and t:
10.305354509394624 86.3335719247396

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.50729206e-01  3.10021437e-01  8.28409369e-04]
 [-3.10021282e-01  9.50729566e-01 -3.12229595e-04]
 [-8.84391147e-04  4.00212606e-05  9.99999608e-01]]

 t_estimated:
[[-0.89414628]
 [ 0.44777371]
 [ 0.00106362]]

 R_gt:
[[ 0.99854374 -0.02771576 -0.04628555]
 [ 0.02629358  0.99917051 -0.03106924]
 [ 0.04710834  0.02980777  0.99844531]]

 t_gt:
[ 0.49804488 -0.62629567 -0.59975414]

Pose Error in degrees for R and t:
19.871267507668946 43.414427884459904

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 3.78166347e-01  9.25737630e-01  2.32247706e-04]
 [-9.25735344e-01  3.78165951e-01 -2.14166515e-03]
 [-2.07044819e-03  5.94905776e-04  9.99997680e-01]]

 t_estimated:
[[1.62283907e-01]
 [9.86743706e-01]
 [8.90363344e-04]]

 R_gt:
[[ 0.98530733 -0.16028054 -0.05899391]
 [ 0.15715008  0.98607568 -0.0543858 ]
 [ 0.06688996  0.04431651  0.99677616]]

 t_gt:
[ 0.7692181  -0.55615901 -0.31462783]

Pose Error in degrees for R and t:
77.04363978357419 64.89776043404444

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[ 9.97541118e-01 -7.00835102e-02  1.38823664e-04]
 [ 7.00835088e-02  9.97541128e-01  1.44066888e-05]
 [-1.39491985e-04 -4.64201500e-06  9.99999990e-01]]

 t_estimated:
[[ 9.53146214e-01]
 [-3.02509870e-01]
 [-2.71628097e-04]]

 R_gt:
[[ 0.95593833 -0.28980974 -0.04683225]
 [ 0.28502754  0.95443957 -0.08834413]
 [ 0.07030163  0.07110328  0.99498916]]

 t_gt:
[ 0.84380631 -0.4655646  -0.26690918]

Pose Error in degrees for R and t:
13.95885998151688 19.059288224644522

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.99999997e-01  2.93237358e-05 -6.79724973e-05]
 [-2.93175566e-05  9.99999995e-01  9.09069483e-05]
 [ 6.79751627e-05 -9.09049553e-05  9.99999994e-01]]

 t_estimated:
[[0.97294737]
 [0.23102357]
 [0.001233  ]]

 R_gt:
[[ 0.9981223   0.05850937  0.01813807]
 [-0.05846737  0.99828533 -0.002867  ]
 [-0.01827529  0.00180066  0.99983104]]

 t_gt:
[-0.61064538  0.77171935  0.17765543]

Pose Error in degrees for R and t:
3.5142425009111946 65.44154385019877

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 1.00000000e+00 -5.96189764e-14 -1.97734082e-15]
 [ 5.95634653e-14  1.00000000e+00  2.63168393e-15]
 [ 1.89854642e-15 -2.74004994e-15  1.00000000e+00]]

 t_estimated:
[[-4.64325126e-01]
 [ 8.85664762e-01]
 [ 3.27751053e-04]]

 R_gt:
[[ 0.99154514  0.12744432 -0.02439731]
 [-0.12754295  0.99183038 -0.00254158]
 [ 0.02387373  0.00563236  0.99969917]]

 t_gt:
[-0.57528692  0.81394916 -0.0808191 ]

Pose Error in degrees for R and t:
7.459294257687673 8.892625576054698

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.99999904e-01  4.30396546e-04 -7.85289541e-05]
 [-4.30362201e-04  9.99999812e-01  4.36842350e-04]
 [ 7.87169548e-05 -4.36808513e-04  9.99999902e-01]]

 t_estimated:
[[-0.86432926]
 [-0.50292501]
 [-0.00116959]]

 R_gt:
[[ 0.98691367  0.11888821 -0.10893366]
 [-0.12168941  0.99237807 -0.0194103 ]
 [ 0.10579575  0.03241314  0.99385953]]

 t_gt:
[-0.39996765  0.77297163 -0.49248424]

Pose Error in degrees for R and t:
9.381678860474466 87.56608750197701

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.92639195e-01  1.21109158e-01 -1.98058065e-05]
 [-1.21109159e-01  9.92639192e-01 -7.11045837e-05]
 [ 1.10486035e-05  7.29798613e-05  9.99999997e-01]]

 t_estimated:
[[-9.99996995e-01]
 [-2.32557439e-03]
 [-7.75191469e-04]]

 R_gt:
[[ 0.99104567  0.13015902  0.0298221 ]
 [-0.13046472  0.99141567  0.00854597]
 [-0.02845303 -0.01235981  0.99951884]]

 t_gt:
[-0.59772426  0.78357698  0.16950761]

Pose Error in degrees for R and t:
1.8574054832438558 53.43254274438145

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[ 9.77052664e-01 -2.12995628e-01 -9.76419455e-04]
 [ 2.12996817e-01  9.77051973e-01  1.34063679e-03]
 [ 6.68462781e-04 -1.51784698e-03  9.99998625e-01]]

 t_estimated:
[[-0.39830755]
 [-0.91725134]
 [-0.00103997]]

 R_gt:
[[ 0.98542042  0.16930799  0.01679867]
 [-0.16976643  0.9849922   0.03115491]
 [-0.01127155 -0.03355271  0.99937363]]

 t_gt:
[-0.57563941  0.79868525  0.17533151]

Pose Error in degrees for R and t:
22.148803356820903 59.76844021658191

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 1.00000000e+00 -1.42958978e-11 -8.82556831e-15]
 [ 1.42956758e-11  1.00000000e+00  1.64924498e-14]
 [ 8.82545989e-15 -1.64916908e-14  1.00000000e+00]]

 t_estimated:
[[-4.24303361e-01]
 [ 9.05519878e-01]
 [ 6.38363154e-04]]

 R_gt:
[[ 0.97490798  0.21691656 -0.05004082]
 [-0.21702453  0.97616094  0.00333113]
 [ 0.04957085  0.0076128   0.99874198]]

 t_gt:
[-0.52477673  0.84385727 -0.11186731]

Pose Error in degrees for R and t:
12.862924256208636 9.347060436401906

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 0.99993546 -0.00827798  0.0077815 ]
 [ 0.00833316  0.99994018 -0.00708518]
 [-0.00772239  0.00714957  0.99994462]]

 t_estimated:
[[-0.33236468]
 [-0.94313484]
 [-0.00551273]]

 R_gt:
[[ 0.99356212 -0.10418759 -0.04449872]
 [ 0.10205629  0.99363272 -0.04773407]
 [ 0.04918823  0.04288569  0.99786802]]

 t_gt:
[ 0.76693078 -0.46726942 -0.4398596 ]

Pose Error in degrees for R and t:
6.657051390252146 79.15094821497782

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 0.99871969  0.00774277 -0.04999033]
 [-0.00484988  0.99832028  0.05773296]
 [ 0.05035337 -0.05741659  0.99707967]]

 t_estimated:
[[0.92135355]
 [0.38869603]
 [0.00479872]]

 R_gt:
[[ 0.96985466 -0.23989929 -0.04279211]
 [ 0.23602923  0.9684566  -0.07988494]
 [ 0.06060596  0.06737684  0.99588477]]

 t_gt:
[ 0.84604102 -0.44088651 -0.29972267]

Pose Error in degrees for R and t:
16.041101770819875 52.64917625161843

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 0.96522446 -0.26141512  0.00196657]
 [-0.26136399 -0.96514023 -0.01389934]
 [ 0.00553151  0.01290199 -0.99990147]]

 t_estimated:
[[ 0.21610337]
 [ 0.97633267]
 [-0.00859321]]

 R_gt:
[[ 0.94484753 -0.32746873 -0.00519606]
 [ 0.32542502  0.94050189 -0.09774299]
 [ 0.03689413  0.09066177  0.99519732]]

 t_gt:
[ 0.86445655 -0.42611196 -0.26672733]

Pose Error in degrees for R and t:
173.60428035317798 76.88401654190105

Number of keypoints:
Image1: 265
Image2: 265

 R_estimated:
[[ 9.36365868e-01 -3.51025413e-01 -3.46415180e-04]
 [ 3.51025484e-01  9.36365891e-01  1.69505015e-04]
 [ 2.64870791e-04 -2.80319267e-04  9.99999926e-01]]

 t_estimated:
[[ 5.99892694e-01]
 [-8.00080303e-01]
 [-5.12934276e-04]]

 R_gt:
[[ 0.9916568  -0.12817356 -0.01373168]
 [ 0.12697514  0.98960702 -0.06748222]
 [ 0.02223846  0.06517406  0.99762605]]

 t_gt:
[ 0.82264395 -0.36510753 -0.43583647]

Pose Error in degrees for R and t:
13.789201474967191 38.20184377829772

Number of keypoints:
Image1: 199
Image2: 199

 R_estimated:
[[-6.15471909e-01  7.88157647e-01 -1.36111681e-03]
 [-7.88155063e-01 -6.15473389e-01 -2.02588799e-03]
 [-2.43445028e-03 -1.74106042e-04  9.99997022e-01]]

 t_estimated:
[[0.6730999 ]
 [0.73955075]
 [0.00110367]]

 R_gt:
[[ 0.9655661  -0.25951807 -0.01819098]
 [ 0.25852678  0.96498444 -0.04437384]
 [ 0.02906897  0.03814271  0.99884933]]

 t_gt:
[ 0.86814349 -0.47178004 -0.15411189]

Pose Error in degrees for R and t:
143.01651038345375 76.39234738828539

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 7.76614732e-01 -6.29969801e-01  2.75820801e-03]
 [ 6.29975540e-01  7.76602647e-01 -4.37590732e-03]
 [ 6.14657823e-04  5.13599767e-03  9.99986622e-01]]

 t_estimated:
[[-0.06276106]
 [-0.99801568]
 [-0.00507505]]

 R_gt:
[[ 9.43776807e-01 -3.29624580e-01 -2.51420269e-02]
 [ 3.29524906e-01  9.44111515e-01 -8.11618162e-03]
 [ 2.64113346e-02 -6.25454115e-04  9.99651077e-01]]

 t_gt:
[ 0.85792983 -0.51376311  0.00196902]

Pose Error in degrees for R and t:
19.86316433122332 62.68455568874315

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.93283206e-01  1.15708427e-01  1.80803880e-04]
 [-1.15708417e-01  9.93283222e-01 -6.05435140e-05]
 [-1.86594855e-04  3.92163249e-05  9.99999982e-01]]

 t_estimated:
[[0.94220169]
 [0.33504455]
 [0.00105982]]

 R_gt:
[[ 9.96773752e-01 -8.02417849e-02 -2.29883042e-03]
 [ 8.02752292e-02  9.96397957e-01  2.73187477e-02]
 [ 9.86039910e-05 -2.74159214e-02  9.99624420e-01]]

 t_gt:
[ 0.66759374 -0.71331463  0.21330923]

Pose Error in degrees for R and t:
11.357932101213718 67.03045179567586

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-2.23158664e-01  9.74778117e-01  2.79896517e-03]
 [ 9.74781689e-01  2.23154896e-01  1.59710842e-03]
 [ 9.32223559e-04  3.08478858e-03 -9.99994808e-01]]

 t_estimated:
[[9.99996995e-01]
 [2.32557441e-03]
 [7.75191469e-04]]

 R_gt:
[[ 0.99664064 -0.07903117  0.0215077 ]
 [ 0.0792078   0.9968291  -0.00747409]
 [-0.02084823  0.00915211  0.99974129]]

 t_gt:
[ 0.63223533 -0.76819919  0.10073974]

Pose Error in degrees for R and t:
178.67879491213395 50.911132066879695

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-9.47984358e-01 -3.18316891e-01  1.16065296e-04]
 [ 3.18315812e-01 -9.47981979e-01 -2.28302844e-03]
 [ 8.36754322e-04 -2.12732983e-03  9.99997387e-01]]

 t_estimated:
[[7.76892019e-01]
 [6.29633479e-01]
 [6.88124020e-04]]

 R_gt:
[[ 0.99837669 -0.03512278  0.04485335]
 [ 0.03787299  0.99735772 -0.06198947]
 [-0.04255796  0.06358724  0.99706835]]

 t_gt:
[ 0.48783139 -0.85731966 -0.16438839]

Pose Error in degrees for R and t:
159.36145782191173 80.73981774922933

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.93200901e-01 -1.16412930e-01  1.52695184e-06]
 [ 1.16412930e-01  9.93200901e-01  2.86687920e-05]
 [-4.85398801e-06 -2.82961132e-05  1.00000000e+00]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.99743517 -0.01405115 -0.07019591]
 [ 0.01365864  0.99988824 -0.00606754]
 [ 0.07027421  0.00509423  0.9975154 ]]

 t_gt:
[ 0.68966318 -0.03309328 -0.72337372]

Pose Error in degrees for R and t:
7.1416097857050245 52.330988134456064

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.28019457 -0.9595054   0.02898944]
 [ 0.95967656  0.28070074  0.01509923]
 [-0.02262515  0.02358976  0.99946567]]

 t_estimated:
[[0.82109531]
 [0.57078991]
 [0.00116965]]

 R_gt:
[[ 0.9920106  -0.00834168 -0.12587949]
 [ 0.0098985   0.99988193  0.01175335]
 [ 0.12576724 -0.01290537  0.99197628]]

 t_gt:
[ 0.69999982  0.01235738 -0.71403609]

Pose Error in degrees for R and t:
73.71140113090767 54.48015686643227

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-0.23799531 -0.97123907  0.00727357]
 [-0.97124847  0.23793888 -0.00784226]
 [ 0.00588604 -0.00893087 -0.9999428 ]]

 t_estimated:
[[7.59449748e-01]
 [6.50565609e-01]
 [6.84805904e-04]]

 R_gt:
[[ 0.98704926  0.02530898 -0.15841372]
 [-0.02218578  0.99952326  0.02145758]
 [ 0.15888192 -0.01766468  0.98713959]]

 t_gt:
[ 0.58344271  0.2406033  -0.77569624]

Pose Error in degrees for R and t:
173.57323768071518 53.19507336860145

Number of keypoints:
Image1: 294
Image2: 294

 R_estimated:
[[ 9.99932808e-01 -1.15922275e-02  2.35117781e-05]
 [ 1.15922263e-02  9.99932807e-01  4.86746714e-05]
 [-2.40744462e-05 -4.83988470e-05  9.99999999e-01]]

 t_estimated:
[[7.86295816e-01]
 [6.17849980e-01]
 [5.40556222e-04]]

 R_gt:
[[ 0.9976739  -0.04162359 -0.05397991]
 [ 0.04296985  0.9987876   0.02402685]
 [ 0.05291381 -0.02629034  0.9982534 ]]

 t_gt:
[ 0.98070258 -0.1854793   0.06180514]

Pose Error in degrees for R and t:
3.8179696856596306 48.96215693909992

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.11065500e-01 -4.12261612e-01 -1.30196915e-04]
 [ 4.12261629e-01  9.11065404e-01  4.22945068e-04]
 [-5.57461110e-05 -4.39005853e-04  9.99999902e-01]]

 t_estimated:
[[8.35628554e-01]
 [5.49294295e-01]
 [8.34793761e-04]]

 R_gt:
[[ 0.99316137 -0.02963362 -0.11292942]
 [ 0.03702162  0.99726901  0.06389834]
 [ 0.1107273  -0.06764153  0.99154702]]

 t_gt:
[ 0.96186279 -0.18402082  0.20237667]

Pose Error in degrees for R and t:
23.615847226581863 45.34410270711062

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 9.96527035e-01 -8.32697976e-02  9.75747971e-05]
 [ 8.32697812e-02  9.96527028e-01  1.61566255e-04]
 [-1.10689512e-04 -1.52880109e-04  9.99999982e-01]]

 t_estimated:
[[3.63521521e-01]
 [9.31585796e-01]
 [9.55046799e-05]]

 R_gt:
[[ 0.98538628 -0.02124895 -0.16900475]
 [ 0.03448598  0.99652834  0.07578095]
 [ 0.16680718 -0.08050048  0.98269759]]

 t_gt:
[ 0.98272523 -0.17148834  0.06959079]

Pose Error in degrees for R and t:
11.13352621121382 78.60964571123868

Number of keypoints:
Image1: 342
Image2: 342

 R_estimated:
[[ 9.95838776e-01  9.11324117e-02  1.21735840e-04]
 [-9.11323959e-02  9.95838777e-01 -1.29571561e-04]
 [-1.33037439e-04  1.17938306e-04  9.99999984e-01]]

 t_estimated:
[[0.98822359]
 [0.15301014]
 [0.00142747]]

 R_gt:
[[ 0.99852967 -0.02604207 -0.04755573]
 [ 0.02770699  0.9990135   0.03471515]
 [ 0.0466043  -0.03598094  0.99826519]]

 t_gt:
[ 0.47103786 -0.76193927 -0.44449058]

Pose Error in degrees for R and t:
7.568303005547883 69.61835327769454

Number of keypoints:
Image1: 275
Image2: 275

 R_estimated:
[[-0.19389487  0.98073808  0.02361366]
 [ 0.98074575  0.19435556 -0.01907086]
 [-0.02329297  0.01946125 -0.99953924]]

 t_estimated:
[[ 0.77148779]
 [-0.63606448]
 [ 0.01511848]]

 R_gt:
[[ 0.9969839  -0.05602015 -0.05371784]
 [ 0.05744537  0.99802663  0.02536961]
 [ 0.05219069 -0.02837855  0.99823349]]

 t_gt:
[ 0.5372534  -0.7566333  -0.37264571]

Pose Error in degrees for R and t:
178.41379696925733 27.111899754309725

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 8.97612616e-01  4.40784992e-01  4.26684915e-04]
 [-4.40785008e-01  8.97612708e-01 -6.02845989e-05]
 [-4.09570348e-04 -1.33964097e-04  9.99999907e-01]]

 t_estimated:
[[-0.15857683]
 [ 0.98734566]
 [ 0.00139271]]

 R_gt:
[[ 0.9934189  -0.09583898 -0.06272827]
 [ 0.09675926  0.99523824  0.01179966]
 [ 0.06129901 -0.01779141  0.997961  ]]

 t_gt:
[ 0.55103464 -0.75001974 -0.36582949]

Pose Error in degrees for R and t:
31.893670229553987 34.06327112254354

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.52130086e-01  3.05692794e-01  4.62878183e-04]
 [-3.05692786e-01  9.52130197e-01 -8.94089359e-05]
 [-4.68051963e-04 -5.63695837e-05  9.99999889e-01]]

 t_estimated:
[[-0.02002929]
 [ 0.99979833]
 [ 0.00145586]]

 R_gt:
[[ 0.99876057  0.04912735  0.00796193]
 [-0.04922458  0.99871073  0.01240341]
 [-0.00734222 -0.01278046  0.99989089]]

 t_gt:
[0.58093723 0.66539899 0.46878153]

Pose Error in degrees for R and t:
15.003986881197946 49.13253366281614

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.99998113e-01 -2.49800674e-04 -1.92673704e-03]
 [ 2.51664216e-04  9.99999501e-01  9.67019447e-04]
 [ 1.92649451e-03 -9.67502513e-04  9.99997676e-01]]

 t_estimated:
[[7.96743316e-01]
 [6.04317543e-01]
 [6.28842396e-04]]

 R_gt:
[[ 0.99320561  0.11552712  0.01401671]
 [-0.1160908   0.99197825  0.05001516]
 [-0.00812654 -0.05130419  0.99864977]]

 t_gt:
[0.2509222  0.62942169 0.73543619]

Pose Error in degrees for R and t:
7.291581677344222 54.49643386401763

Number of keypoints:
Image1: 112
Image2: 112

 R_estimated:
[[ 0.99224419  0.12424722 -0.00375376]
 [-0.12422117  0.99223314  0.00651902]
 [ 0.00453457 -0.00600216  0.99997171]]

 t_estimated:
[[0.71478083]
 [0.69934806]
 [0.00081225]]

 R_gt:
[[ 0.98454895  0.1697671   0.04291476]
 [-0.17201339  0.9835264   0.05555973]
 [-0.03277618 -0.06208365  0.99753202]]

 t_gt:
[0.10517753 0.60111365 0.79221213]

Pose Error in degrees for R and t:
4.729485766613844 60.25042748021118

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.99999149e-01 -1.27533223e-03 -2.75288809e-04]
 [ 1.27536093e-03  9.99999181e-01  1.04100905e-04]
 [ 2.75155820e-04 -1.04451909e-04  9.99999957e-01]]

 t_estimated:
[[ 9.99993335e-01]
 [-3.58957716e-03]
 [-6.66448378e-04]]

 R_gt:
[[ 0.99786951  0.06427135  0.01129738]
 [-0.06357202  0.99651034 -0.05408291]
 [-0.01473389  0.05324973  0.99847258]]

 t_gt:
[-0.55713224  0.62296578 -0.54910592]

Pose Error in degrees for R and t:
4.907129161806234 56.01341647868729

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 9.45535862e-01  3.25517917e-01  1.42358214e-04]
 [-3.25517814e-01  9.45535780e-01 -4.92089008e-04]
 [-2.94788574e-04  4.18947669e-04  9.99999869e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.99113731  0.1322262  -0.01283893]
 [-0.13284344  0.98558093 -0.10479428]
 [-0.00120284  0.10557197  0.99441146]]

 t_gt:
[-0.46708873  0.68552261 -0.55846832]

Pose Error in degrees for R and t:
12.858091405412283 62.264300573053745

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[ 9.99942205e-01 -1.07386609e-02 -5.16955007e-04]
 [ 1.07382479e-02  9.99942027e-01 -7.95006402e-04]
 [ 5.25462342e-04  7.89409263e-04  9.99999550e-01]]

 t_estimated:
[[-0.87502654]
 [-0.48406754]
 [-0.0026781 ]]

 R_gt:
[[ 0.91309713  0.40183033 -0.06917839]
 [-0.40686545  0.90904462 -0.08998594]
 [ 0.02672715  0.11031255  0.99353772]]

 t_gt:
[-0.46240093  0.84750279 -0.26062309]

Pose Error in degrees for R and t:
25.371449880512106 89.71709900517229

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.98628599e-01 -5.23537524e-02  7.16076806e-05]
 [ 5.23537553e-02  9.98628601e-01 -3.93342453e-05]
 [-6.94501826e-05  4.30292332e-05  9.99999997e-01]]

 t_estimated:
[[9.80593570e-01]
 [1.96051137e-01]
 [4.49877664e-04]]

 R_gt:
[[ 0.9928581  -0.11086889 -0.04404916]
 [ 0.11273214  0.99272297  0.04235064]
 [ 0.03903206 -0.04701434  0.99813132]]

 t_gt:
[ 0.64389262 -0.76179777  0.07117902]

Pose Error in degrees for R and t:
4.901483528690072 61.17881432413555

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 9.82709483e-01 -1.85153636e-01  4.50474785e-04]
 [ 1.85153842e-01  9.82709435e-01 -4.70034942e-04]
 [-3.55657143e-04  5.45314932e-04  9.99999788e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.97658882 -0.19285037 -0.09530968]
 [ 0.19692805  0.97978158  0.03533117]
 [ 0.08656816 -0.05327268  0.99482051]]

 t_gt:
[ 0.73931892 -0.66829192 -0.08242237]

Pose Error in degrees for R and t:
5.897793774809247 48.41325521365683

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 9.99992966e-01 -3.68847510e-03  6.80002248e-04]
 [ 3.68866543e-03  9.99993158e-01 -2.78855563e-04]
 [-6.78969044e-04  2.81361902e-04  9.99999730e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.92542444 -0.3367807  -0.17369428]
 [ 0.33969875  0.94043727 -0.01355741]
 [ 0.16791345 -0.04645772  0.98470634]]

 t_gt:
[ 0.7980757  -0.56550133 -0.2080467 ]

Pose Error in degrees for R and t:
22.118921110956705 55.89378711179893

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.97904313e-01  6.47068800e-02 -4.49412665e-05]
 [-6.47068840e-02  9.97904309e-01 -9.47954785e-05]
 [ 3.87131638e-05  9.75048262e-05  9.99999994e-01]]

 t_estimated:
[[ 2.02886190e-01]
 [ 9.79202216e-01]
 [-4.63562448e-04]]

 R_gt:
[[ 0.99653954 -0.05841269 -0.05914149]
 [ 0.05920601  0.99817707  0.0117489 ]
 [ 0.05834687 -0.01520923  0.99818103]]

 t_gt:
[ 0.54320528 -0.69098396 -0.4769373 ]

Pose Error in degrees for R and t:
7.8812234925319355 55.51551261575653

Number of keypoints:
Image1: 119
Image2: 119

 R_estimated:
[[ 9.99419534e-01  3.40670716e-02 -1.69610723e-04]
 [-3.40670763e-02  9.99419548e-01 -2.53496841e-05]
 [ 1.68648683e-04  3.11131110e-05  9.99999985e-01]]

 t_estimated:
[[-0.87210987]
 [-0.48930766]
 [-0.00154356]]

 R_gt:
[[ 9.99181691e-01  2.02797715e-03  4.04029759e-02]
 [-5.70094541e-04  9.99349237e-01 -3.60607952e-02]
 [-4.04502659e-02  3.60085655e-02  9.98533326e-01]]

 t_gt:
[-0.54310637  0.26218025  0.79768226]

Pose Error in degrees for R and t:
3.632888462983009 69.87128188322123

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.87647554e-01  1.56689170e-01  9.01797307e-04]
 [-1.56687195e-01  9.87646347e-01 -1.95357156e-03]
 [-1.19676032e-03  1.78814008e-03  9.99997685e-01]]

 t_estimated:
[[-7.63008869e-01]
 [-6.46387712e-01]
 [-6.26755666e-04]]

 R_gt:
[[ 0.98421451  0.07701852  0.15934504]
 [-0.06675774  0.99539537 -0.06878509]
 [-0.16390876  0.0570623   0.98482442]]

 t_gt:
[-0.4093429   0.51503016  0.75311509]

Pose Error in degrees for R and t:
11.025832993025972 88.7938964699142

Number of keypoints:
Image1: 151
Image2: 151

 R_estimated:
[[ 6.34635577e-01  7.72811092e-01  8.37121181e-04]
 [ 7.72808319e-01 -6.34635685e-01  2.20205863e-03]
 [ 2.23304231e-03 -7.50570534e-04 -9.99997225e-01]]

 t_estimated:
[[0.6294623 ]
 [0.77703045]
 [0.00093957]]

 R_gt:
[[ 0.98940351 -0.13225801 -0.05990699]
 [ 0.13301889  0.99107346  0.00888208]
 [ 0.05819658 -0.01675645  0.99816416]]

 t_gt:
[ 0.62486622 -0.75259927 -0.20769339]

Pose Error in degrees for R and t:
177.79692855759305 78.95044298058588

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 0.16191223  0.98680429 -0.00131297]
 [ 0.98679996 -0.16190691  0.00346136]
 [ 0.0032031  -0.00185608 -0.99999315]]

 t_estimated:
[[0.75679093]
 [0.65365552]
 [0.00139372]]

 R_gt:
[[ 0.96861015 -0.22845067 -0.09800233]
 [ 0.23205701  0.97232691  0.02697928]
 [ 0.08912709 -0.04887381  0.9948201 ]]

 t_gt:
[ 0.70396556 -0.70168965 -0.10983684]

Pose Error in degrees for R and t:
174.63970812143427 85.75977459941737

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 8.64283977e-01  5.03004162e-01 -1.40383183e-04]
 [-5.03004128e-01  8.64283980e-01  2.18886407e-04]
 [ 2.31431710e-04 -1.18566694e-04  9.99999966e-01]]

 t_estimated:
[[-9.78596233e-01]
 [-2.05787836e-01]
 [-8.83209596e-04]]

 R_gt:
[[ 0.93711526 -0.30369549 -0.17200139]
 [ 0.3053154   0.95208784 -0.01761587]
 [ 0.16911042 -0.03600632  0.98493845]]

 t_gt:
[ 0.76972765 -0.5855591  -0.25424376]

Pose Error in degrees for R and t:
49.02440195921824 50.76318648570958

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.99729468e-01 -2.32589447e-02 -1.08510101e-04]
 [ 2.32589592e-02  9.99729465e-01  1.34227011e-04]
 [ 1.05358767e-04 -1.36714531e-04  9.99999985e-01]]

 t_estimated:
[[-9.91279875e-01]
 [-1.31772685e-01]
 [-4.11557271e-04]]

 R_gt:
[[ 0.98946677  0.14471085 -0.00371466]
 [-0.14474896  0.98936988 -0.0139758 ]
 [ 0.00165182  0.01436667  0.99989551]]

 t_gt:
[-0.67326615  0.73727532 -0.05601608]

Pose Error in degrees for R and t:
9.690802103839106 55.231258952372094

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 0.99996335 -0.00842583 -0.00151885]
 [ 0.00842394  0.99996374 -0.0012449 ]
 [ 0.00152929  0.00123206  0.99999807]]

 t_estimated:
[[-0.99278985]
 [-0.11913478]
 [-0.0132372 ]]

 R_gt:
[[ 0.98212498  0.18706977 -0.02085973]
 [-0.18769349  0.98165264 -0.03360115]
 [ 0.01418992  0.03691616  0.99921791]]

 t_gt:
[-0.64901988  0.73847947 -0.18281484]

Pose Error in degrees for R and t:
11.491955635508319 56.02841328464079

Number of keypoints:
Image1: 181
Image2: 181

 R_estimated:
[[ 0.5347561  -0.84499464 -0.00446907]
 [ 0.84488888  0.53476244 -0.01385325]
 [ 0.01409581  0.00363224  0.99989405]]

 t_estimated:
[[-0.12187283]
 [-0.99239301]
 [-0.0174104 ]]

 R_gt:
[[ 0.98869406  0.14869488 -0.0193571 ]
 [-0.14912894  0.98854208 -0.02335581]
 [ 0.01566234  0.02597849  0.99953993]]

 t_gt:
[-0.73373976  0.65197059 -0.1912075 ]

Pose Error in degrees for R and t:
66.23849911865265 56.3402996929268

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 9.99241648e-01  3.89375029e-02 -2.55949635e-05]
 [-3.89375026e-02  9.99241648e-01  9.67873842e-06]
 [ 2.59524194e-05 -8.67479456e-06  1.00000000e+00]]

 t_estimated:
[[-8.03810030e-01]
 [-5.94885792e-01]
 [-5.75445364e-04]]

 R_gt:
[[ 9.99818706e-01  1.09665792e-03  1.90348888e-02]
 [-4.74052248e-04  9.99465077e-01 -3.27170893e-02]
 [-1.90612125e-02  3.27015537e-02  9.99283445e-01]]

 t_gt:
[-0.60122932  0.76569288 -0.22855572]

Pose Error in degrees for R and t:
3.080175791582168 88.40090433481177

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-0.94525694 -0.32632232  0.00175002]
 [-0.32631344  0.94525295  0.00405037]
 [-0.00297594  0.00325758 -0.99999027]]

 t_estimated:
[[0.94743723]
 [0.31993683]
 [0.00176761]]

 R_gt:
[[ 0.9869103   0.06858651  0.14596231]
 [-0.06042432  0.99638869 -0.05964886]
 [-0.14952699  0.05004833  0.98749059]]

 t_gt:
[-0.40961789  0.51289577  0.75442105]

Pose Error in degrees for R and t:
172.00648563565315 77.13471492898468

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.83785770e-01  1.79347501e-01 -1.81810253e-04]
 [-1.79346190e-01  9.83773555e-01 -4.95337383e-03]
 [-7.09515100e-04  4.90566566e-03  9.99987715e-01]]

 t_estimated:
[[-0.79835263]
 [-0.60215937]
 [-0.00609713]]

 R_gt:
[[ 0.95511015  0.19284499  0.22489033]
 [-0.17130786  0.97885031 -0.1118318 ]
 [-0.24170072  0.06828587  0.9679459 ]]

 t_gt:
[-0.37421899  0.68242155  0.62790204]

Pose Error in degrees for R and t:
14.435928740161021 83.33891113439604

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.97258305e-01 -7.39947665e-02  8.04611749e-04]
 [ 7.39949685e-02  9.97258590e-01 -2.24105893e-04]
 [-7.85823314e-04  2.83028684e-04  9.99999651e-01]]

 t_estimated:
[[0.98145648]
 [0.19168124]
 [0.00121317]]

 R_gt:
[[ 0.96845375 -0.23540882 -0.08173626]
 [ 0.23382133  0.97185878 -0.02861964]
 [ 0.08617307  0.00860483  0.99624339]]

 t_gt:
[ 0.86047288 -0.4565225  -0.2262159 ]

Pose Error in degrees for R and t:
10.606009576311436 40.82275883974078

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 8.98162555e-01 -4.39661531e-01 -1.32786949e-03]
 [ 4.39663339e-01  8.98160916e-01  1.76588899e-03]
 [ 4.16247016e-04 -2.16987090e-03  9.99997559e-01]]

 t_estimated:
[[0.9260763 ]
 [0.37733443]
 [0.00119033]]

 R_gt:
[[ 0.8839862  -0.463119   -0.06395415]
 [ 0.45809151  0.88535207 -0.07939691]
 [ 0.09339185  0.04088882  0.99478928]]

 t_gt:
[ 0.91547954 -0.36432609 -0.17077386]

Pose Error in degrees for R and t:
6.051439995055691 44.75468174103324

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.91476571 -0.4039784  -0.00226764]
 [ 0.40397269  0.91476735 -0.00259936]
 [ 0.00312445  0.00146174  0.99999405]]

 t_estimated:
[[ 0.97742898]
 [-0.21122595]
 [-0.00402451]]

 R_gt:
[[ 0.70359189 -0.7087254  -0.05164677]
 [ 0.7031835   0.70487818 -0.09316642]
 [ 0.10243372  0.02923438  0.99430954]]

 t_gt:
[ 0.96299506 -0.24960686 -0.10167073]

Pose Error in degrees for R and t:
22.041568741918265 6.070842727396748

Number of keypoints:
Image1: 399
Image2: 399

 R_estimated:
[[-0.44888256 -0.89358847 -0.00202395]
 [ 0.89357393 -0.44885905 -0.0071539 ]
 [ 0.00548417 -0.00501981  0.99997236]]

 t_estimated:
[[ 0.92379123]
 [-0.38288724]
 [-0.00266982]]

 R_gt:
[[ 0.99840956  0.05527112 -0.01114175]
 [-0.05572661  0.99739406 -0.04583661]
 [ 0.00857934  0.04638459  0.99888624]]

 t_gt:
[-0.40925865  0.57137451 -0.71136385]

Pose Error in degrees for R and t:
119.8684351776652 53.491477987405865

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[-0.39810634  0.91732271 -0.00551252]
 [ 0.91728111  0.39814158  0.00886893]
 [ 0.01033043 -0.00152576 -0.99994548]]

 t_estimated:
[[-0.06651719]
 [-0.99775791]
 [-0.0073908 ]]

 R_gt:
[[ 0.96557163  0.25772197 -0.03536925]
 [-0.25945126  0.96395264 -0.05901198]
 [ 0.0188856   0.06615658  0.99763054]]

 t_gt:
[-0.52943613  0.80485053 -0.268166  ]

Pose Error in degrees for R and t:
179.89227014549525 40.01755896535425

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.53102724e-02 -9.95447413e-01 -6.31687247e-04]
 [-9.95447585e-01 -9.53100983e-02 -3.00310703e-04]
 [ 2.38737339e-04  6.57434239e-04 -9.99999755e-01]]

 t_estimated:
[[0.52816829]
 [0.84913921]
 [0.00092499]]

 R_gt:
[[ 0.86409952  0.49259752 -0.10334303]
 [-0.49710674  0.86741267 -0.02191587]
 [ 0.0788453   0.0703095   0.99440403]]

 t_gt:
[-0.40392012  0.88686442 -0.22432128]

Pose Error in degrees for R and t:
174.294980356079 57.348618436527715

Number of keypoints:
Image1: 201
Image2: 201

 R_estimated:
[[ 9.87460792e-01 -1.57863069e-01  6.59441913e-04]
 [ 1.57862824e-01  9.87460967e-01  4.08535999e-04]
 [-7.15665896e-04 -2.99311919e-04  9.99999699e-01]]

 t_estimated:
[[0.88017709]
 [0.47464365]
 [0.00130397]]

 R_gt:
[[ 0.9994228  -0.03043153 -0.01514996]
 [ 0.03055931  0.9994988   0.00831923]
 [ 0.01488819 -0.00877813  0.99985011]]

 t_gt:
[ 0.33082339 -0.89944433 -0.28557971]

Pose Error in degrees for R and t:
7.404906672233569 82.17749287413055

Number of keypoints:
Image1: 299
Image2: 299

 R_estimated:
[[ 9.97314696e-01 -7.32348287e-02 -2.38679936e-04]
 [ 7.32336120e-02  9.97309115e-01 -3.37146904e-03]
 [ 4.84946633e-04  3.34493622e-03  9.99994288e-01]]

 t_estimated:
[[-0.71127851]
 [-0.7028916 ]
 [-0.00512588]]

 R_gt:
[[ 0.99583648 -0.05918925 -0.06934425]
 [ 0.06163131  0.99753164  0.03363005]
 [ 0.06718241 -0.03776484  0.99702586]]

 t_gt:
[ 0.42647428 -0.79316059 -0.43475966]

Pose Error in degrees for R and t:
4.553403610925781 75.1438894885065

Number of keypoints:
Image1: 253
Image2: 253

 R_estimated:
[[ 9.46022473e-01 -3.24098273e-01  1.33809382e-03]
 [ 3.24098280e-01  9.46023392e-01  2.17472283e-04]
 [-1.33635045e-03  2.27940240e-04  9.99999081e-01]]

 t_estimated:
[[ 0.90822975]
 [-0.41846811]
 [ 0.00177878]]

 R_gt:
[[ 0.99207172 -0.09009114 -0.08762952]
 [ 0.09442624  0.99443875  0.04665304]
 [ 0.082939   -0.05455852  0.99506047]]

 t_gt:
[ 0.49836687 -0.79953407 -0.33522488]

Pose Error in degrees for R and t:
14.769846136630719 38.129720819099504

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.99999769e-01 -6.78576286e-04  2.86456620e-05]
 [ 6.78577355e-04  9.99999769e-01 -3.73247151e-05]
 [-2.86203278e-05  3.73441447e-05  9.99999999e-01]]

 t_estimated:
[[ 8.76256301e-01]
 [-4.81845288e-01]
 [-1.12180228e-04]]

 R_gt:
[[ 0.9988379  -0.0475141  -0.00814745]
 [ 0.04764871  0.99871648  0.01720652]
 [ 0.00731909 -0.01757493  0.99981849]]

 t_gt:
[ 0.51975344 -0.85078367  0.0776113 ]

Pose Error in degrees for R and t:
2.901965864966003 30.074490365436404

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[ 0.31058497  0.95030823  0.02124243]
 [ 0.95032168 -0.30994919 -0.02863916]
 [-0.02063195  0.02908204 -0.99936408]]

 t_estimated:
[[ 0.53854812]
 [-0.84238759]
 [ 0.01868329]]

 R_gt:
[[ 0.99618508 -0.08208224 -0.0296152 ]
 [ 0.08298791  0.99607512  0.03076723]
 [ 0.02697361 -0.03310711  0.99908797]]

 t_gt:
[ 0.51732389 -0.85527821 -0.02958343]

Pose Error in degrees for R and t:
179.6072219652329 3.1103936742319553

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[ 0.99540456 -0.09574455  0.00165831]
 [ 0.09574886  0.99540172 -0.00275303]
 [-0.0013871   0.00289916  0.99999484]]

 t_estimated:
[[8.01646439e-01]
 [5.97798272e-01]
 [4.61047080e-04]]

 R_gt:
[[ 0.99446083 -0.08864839 -0.05647562]
 [ 0.09150628  0.99453843  0.05018549]
 [ 0.05171817 -0.05507534  0.99714161]]

 t_gt:
[ 0.50387359 -0.85899753 -0.09074496]

Pose Error in degrees for R and t:
4.520441611044177 83.70655412350537

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 8.08613217e-01  5.88339721e-01  1.01890773e-03]
 [-5.88340050e-01  8.08613619e-01  2.99136966e-05]
 [-8.06303249e-04 -6.23652834e-04  9.99999480e-01]]

 t_estimated:
[[0.54934057]
 [0.83559744]
 [0.00136313]]

 R_gt:
[[ 0.95653487 -0.29047649 -0.02579934]
 [ 0.29064307  0.95682748  0.00282711]
 [ 0.02386432 -0.01020191  0.99966342]]

 t_gt:
[ 0.87000761 -0.49227432 -0.02743617]

Pose Error in degrees for R and t:
52.95448675318301 86.18415066974747

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 7.42586608e-01  6.69748598e-01  1.39486210e-03]
 [-6.69750032e-01  7.42584491e-01  1.77997214e-03]
 [ 1.56330879e-04 -2.25599241e-03  9.99997443e-01]]

 t_estimated:
[[8.87478663e-01]
 [4.60848231e-01]
 [7.28038280e-04]]

 R_gt:
[[ 0.79988703 -0.60014256  0.00327027]
 [ 0.59988966  0.79968634  0.0252153 ]
 [-0.01774748 -0.01820806  0.99967613]]

 t_gt:
[ 0.93599841 -0.35008817  0.03667765]

Pose Error in degrees for R and t:
78.93454299940292 47.9817097080996

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 8.91131105e-01  4.53745614e-01 -5.21389104e-04]
 [-4.53745429e-01  8.91131244e-01  4.37188765e-04]
 [ 6.62998605e-04 -1.53014584e-04  9.99999769e-01]]

 t_estimated:
[[8.38696064e-01]
 [5.44599384e-01]
 [6.50656372e-04]]

 R_gt:
[[ 0.6665637  -0.74544213  0.00279743]
 [ 0.74516387  0.66640868  0.02512927]
 [-0.02059633 -0.01466658  0.99968018]]

 t_gt:
[ 0.96647303 -0.25531424  0.02728591]

Pose Error in degrees for R and t:
75.1915847478228 47.81312296087514

Number of keypoints:
Image1: 720
Image2: 720

 R_estimated:
[[-0.96919809  0.2384525   0.06160742]
 [ 0.2384999   0.97111947 -0.00669103]
 [-0.06142365  0.00820842 -0.99807803]]

 t_estimated:
[[ 0.99314994]
 [-0.1126044 ]
 [ 0.03119999]]

 R_gt:
[[ 0.99926679 -0.03800619 -0.00474373]
 [ 0.03793316  0.9991744  -0.01454023]
 [ 0.00529327  0.01434945  0.99988344]]

 t_gt:
[ 0.57077832 -0.75852033 -0.31441854]

Pose Error in degrees for R and t:
176.63383847232558 50.023652264289964

Number of keypoints:
Image1: 619
Image2: 619

 R_estimated:
[[ 9.99994983e-01  3.16470012e-03  1.34032780e-04]
 [-3.16469164e-03  9.99994990e-01 -6.34059454e-05]
 [-1.34232769e-04  6.29814549e-05  9.99999989e-01]]

 t_estimated:
[[ 9.91911028e-01]
 [-1.26934932e-01]
 [ 1.90577145e-04]]

 R_gt:
[[ 0.99651305 -0.08279234 -0.01040512]
 [ 0.08263435  0.99647041 -0.01477185]
 [ 0.0115921   0.01386167  0.99983703]]

 t_gt:
[ 0.56330213 -0.79717517 -0.21726128]

Pose Error in degrees for R and t:
5.033930785811064 48.70824386079468

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[ 9.99992457e-01 -3.88403638e-03 -7.33396798e-06]
 [ 3.88403261e-03  9.99992352e-01 -4.58737107e-04]
 [ 9.11566350e-06  4.58705162e-04  9.99999895e-01]]

 t_estimated:
[[ 0.92416743]
 [-0.38197495]
 [-0.00311382]]

 R_gt:
[[ 0.99417221 -0.10779184  0.00180363]
 [ 0.1077573   0.99408482  0.01356287]
 [-0.00325472 -0.01328985  0.99990636]]

 t_gt:
[ 0.47212678 -0.87695956  0.08965621]

Pose Error in degrees for R and t:
6.0193656622067655 39.554283487449254

Number of keypoints:
Image1: 244
Image2: 244

 R_estimated:
[[ 9.99999973e-01  2.17750748e-04  8.55712550e-05]
 [-2.17760369e-04  9.99999970e-01  1.12438878e-04]
 [-8.55467688e-05 -1.12457508e-04  9.99999990e-01]]

 t_estimated:
[[0.73611929]
 [0.67684945]
 [0.00179309]]

 R_gt:
[[ 0.99855793  0.02502786  0.04749698]
 [-0.02614266  0.99939344  0.02299716]
 [-0.04689253 -0.02420599  0.99860643]]

 t_gt:
[ 0.24606299 -0.11258693  0.96269267]

Pose Error in degrees for R and t:
3.350072319331166 83.87755954846664

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.99969073e-01 -7.84823974e-03  5.08994527e-04]
 [ 7.84888227e-03  9.99968387e-01 -1.27287362e-03]
 [-4.98988618e-04  1.27682929e-03  9.99999060e-01]]

 t_estimated:
[[-9.99569728e-01]
 [-2.93312316e-02]
 [-1.95165285e-04]]

 R_gt:
[[ 0.99423444  0.09860355  0.042143  ]
 [-0.10104239  0.9930527   0.06031047]
 [-0.03590276 -0.06422108  0.99728932]]

 t_gt:
[0.06559304 0.14796973 0.98681432]

Pose Error in degrees for R and t:
7.513744679173185 85.98041030370624

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.99999450e-01  7.80802230e-05  1.04572320e-03]
 [-7.67664747e-05  9.99999208e-01 -1.25628717e-03]
 [-1.04582046e-03  1.25620620e-03  9.99998664e-01]]

 t_estimated:
[[-0.05338341]
 [-0.99854352]
 [-0.0078132 ]]

 R_gt:
[[ 0.97944459  0.18919928  0.06995291]
 [-0.19433414  0.97800264  0.07580313]
 [-0.05407202 -0.08783904  0.9946658 ]]

 t_gt:
[-0.16027265  0.53143274  0.83180041]

Pose Error in degrees for R and t:
12.569668650511057 58.08896391930093

Number of keypoints:
Image1: 160
Image2: 160

 R_estimated:
[[ 9.99998799e-01 -6.78551272e-05  1.54846543e-03]
 [ 7.11074664e-05  9.99997792e-01 -2.10040441e-03]
 [-1.54831949e-03  2.10051199e-03  9.99996595e-01]]

 t_estimated:
[[-0.79492527]
 [-0.60669978]
 [-0.00303094]]

 R_gt:
[[ 0.98352516  0.16515377 -0.07350167]
 [-0.16287064  0.98598763  0.03607662]
 [ 0.07843007 -0.023512    0.9966426 ]]

 t_gt:
[-0.13632355  0.97603413 -0.16962686]

Pose Error in degrees for R and t:
10.616379570748359 61.10025229595493

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 9.99997535e-01 -7.00828329e-04 -2.10708610e-03]
 [ 7.03658337e-04  9.99998851e-01  1.34264996e-03]
 [ 2.10614271e-03 -1.34412931e-03  9.99996879e-01]]

 t_estimated:
[[-0.92552398]
 [-0.3786753 ]
 [-0.0032215 ]]

 R_gt:
[[ 0.93144153  0.35198924 -0.09230364]
 [-0.34590619  0.93520679  0.07574164]
 [ 0.11298408 -0.03862099  0.99284615]]

 t_gt:
[-0.18270823  0.97591167 -0.11922295]

Pose Error in degrees for R and t:
21.597587102190342 78.45902254132179

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99997205e-01 -5.65433782e-04  2.29560952e-03]
 [ 5.72553794e-04  9.99995025e-01 -3.10210677e-03]
 [-2.29384406e-03  3.10341246e-03  9.99992554e-01]]

 t_estimated:
[[-0.75894983]
 [-0.6511437 ]
 [-0.00265113]]

 R_gt:
[[ 0.92938852  0.36776689 -0.03136987]
 [-0.36640138  0.92951352  0.04188858]
 [ 0.04456372 -0.02743659  0.99862961]]

 t_gt:
[-0.11831554  0.99291308  0.01118221]

Pose Error in degrees for R and t:
21.82018026993738 56.16775525759218

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.99126295e-01 -4.17929082e-02  5.47726877e-06]
 [ 4.17929078e-02  9.99126293e-01  6.44361316e-05]
 [-8.16545658e-06 -6.41509225e-05  9.99999998e-01]]

 t_estimated:
[[6.93355442e-01]
 [7.20595559e-01]
 [5.20806592e-04]]

 R_gt:
[[ 0.99830234 -0.04676893 -0.03470426]
 [ 0.0481292   0.99806183  0.03946276]
 [ 0.0327921  -0.04106592  0.99861805]]

 t_gt:
[ 0.51045447 -0.85853061 -0.04859449]

Pose Error in degrees for R and t:
3.0274065581024625 74.64776718257751

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.97272321e-01 -7.38071702e-02 -6.47479834e-04]
 [ 7.38076123e-02  9.97272261e-01  6.87622714e-04]
 [ 5.94962191e-04 -7.33536041e-04  9.99999554e-01]]

 t_estimated:
[[0.83572221]
 [0.5491508 ]
 [0.00133289]]

 R_gt:
[[ 0.99628493 -0.0693244  -0.05108567]
 [ 0.07035805  0.99734657  0.01873632]
 [ 0.04965206 -0.02226137  0.99851757]]

 t_gt:
[ 0.53546229 -0.78764729 -0.3047817 ]

Pose Error in degrees for R and t:
3.0794519336702226 89.16606757003753

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-0.31064659 -0.95051963  0.00333718]
 [-0.95051367  0.3106233  -0.00607666]
 [ 0.00473938 -0.00505973 -0.99997597]]

 t_estimated:
[[0.8244719 ]
 [0.56590096]
 [0.00147755]]

 R_gt:
[[ 0.99723351 -0.01164148  0.07342583]
 [ 0.01290601  0.99977673 -0.01678123]
 [-0.07321291  0.01768232  0.9971588 ]]

 t_gt:
[-0.13571332 -0.26463721  0.95475077]

Pose Error in degrees for R and t:
177.2277692891597 74.91572134185401

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99999790e-01 -4.95280782e-04 -4.18080025e-04]
 [ 4.95406779e-04  9.99999832e-01  3.01321072e-04]
 [ 4.17930716e-04 -3.01528128e-04  9.99999867e-01]]

 t_estimated:
[[-0.99337957]
 [-0.11487016]
 [-0.00136904]]

 R_gt:
[[ 0.98843242  0.15142211 -0.00858138]
 [-0.15160642  0.988037   -0.02825163]
 [ 0.0042008   0.02922568  0.99956302]]

 t_gt:
[-0.21822126  0.96037571 -0.17337237]

Pose Error in degrees for R and t:
8.909231786364648 83.8751465952787

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99999971e-01 -2.40410853e-04 -1.82427940e-06]
 [ 2.40410857e-04  9.99999971e-01  2.05712244e-06]
 [ 1.82378480e-06 -2.05756096e-06  1.00000000e+00]]

 t_estimated:
[[ 8.21643548e-01]
 [-5.70001410e-01]
 [ 5.22618104e-04]]

 R_gt:
[[ 0.98733079  0.14600967  0.06213389]
 [-0.14664804  0.98917102  0.00583201]
 [-0.06060895 -0.01486972  0.99804968]]

 t_gt:
[-0.18277579  0.92968429  0.31981266]

Pose Error in degrees for R and t:
9.162589456888126 47.161766934290355

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 0.73704204 -0.66752114 -0.10575709]
 [ 0.67176954  0.74073334  0.00630911]
 [ 0.07412634 -0.07569447  0.99437198]]

 t_estimated:
[[0.7807068 ]
 [0.62489695]
 [0.00082878]]

 R_gt:
[[ 0.99067978  0.11488084  0.07318675]
 [-0.11840388  0.99190999  0.04576321]
 [-0.06733744 -0.05400232  0.9962678 ]]

 t_gt:
[-0.11606083  0.82365539  0.55508709]

Pose Error in degrees for R and t:
49.79706534112756 64.87779727489676

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[ 9.99985083e-01 -5.46163013e-03 -5.83075022e-05]
 [ 5.46163748e-03  9.99985077e-01  1.26682719e-04]
 [ 5.76147380e-05 -1.26999284e-04  9.99999990e-01]]

 t_estimated:
[[-0.64187557]
 [ 0.76680535]
 [-0.00230343]]

 R_gt:
[[ 9.96806765e-01  7.98118214e-02  2.56998419e-03]
 [-7.98529103e-02  9.96156875e-01  3.59937399e-02]
 [ 3.13039392e-04 -3.60843617e-02  9.99349316e-01]]

 t_gt:
[-0.37253941  0.58537617  0.72010355]

Pose Error in degrees for R and t:
5.309049692850909 46.65932595477171

Number of keypoints:
Image1: 165
Image2: 165

 R_estimated:
[[ 9.99463641e-01 -3.27477972e-02 -1.08448446e-04]
 [ 3.27478261e-02  9.99463608e-01  2.75705396e-04]
 [ 9.93615308e-05 -2.79108970e-04  9.99999956e-01]]

 t_estimated:
[[-1.26001131e-01]
 [ 9.92030088e-01]
 [ 1.39455712e-04]]

 R_gt:
[[ 0.98928401  0.14303725  0.02929267]
 [-0.1444174   0.98814177  0.05214257]
 [-0.02148677 -0.05581391  0.99821027]]

 t_gt:
[-0.28252751  0.61345349  0.73746391]

Pose Error in degrees for R and t:
10.70603074453896 49.88933863050635

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 6.43720970e-01 -7.65257981e-01 -1.88006882e-03]
 [ 7.65260180e-01  6.43720257e-01  1.04297314e-03]
 [ 4.12094863e-04 -2.11012549e-03  9.99997689e-01]]

 t_estimated:
[[ 1.35940509e-01]
 [-9.90716815e-01]
 [-6.09005798e-04]]

 R_gt:
[[ 0.95990439  0.27723659  0.04153702]
 [-0.28003824  0.95508487  0.09691305]
 [-0.01280325 -0.10465835  0.99442565]]

 t_gt:
[-0.28787171  0.81846029  0.49724505]

Pose Error in degrees for R and t:
66.39305075453021 31.755836211871063

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.52260780e-01 -3.05285533e-01  3.88490092e-04]
 [ 3.05285761e-01  9.52260402e-01 -8.54816106e-04]
 [-1.08980740e-04  9.32608344e-04  9.99999559e-01]]

 t_estimated:
[[-0.17493972]
 [-0.98457808]
 [-0.00144578]]

 R_gt:
[[ 0.98706166 -0.15783067  0.02825478]
 [ 0.15819318  0.98734614 -0.0110499 ]
 [-0.02615387  0.01537656  0.99953899]]

 t_gt:
[ 0.82785186 -0.56083416  0.01123996]

Pose Error in degrees for R and t:
8.847124855223726 65.96186449649711

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[ 0.302644    0.9531025   0.00149422]
 [-0.95306846  0.30264593 -0.0081214 ]
 [-0.00819274  0.0010338   0.9999659 ]]

 t_estimated:
[[0.96134648]
 [0.2753371 ]
 [0.00155558]]

 R_gt:
[[ 8.44272609e-01 -5.35913316e-01  8.32985480e-05]
 [ 5.35852870e-01  8.44173770e-01 -1.52477225e-02]
 [ 8.10070627e-03  1.29185500e-02  9.99883273e-01]]

 t_gt:
[ 0.92866344 -0.36957064 -0.03165062]

Pose Error in degrees for R and t:
104.79032124633791 37.72453561746553

Number of keypoints:
Image1: 65
Image2: 65

 R_estimated:
[[ 4.11384321e-02 -9.99149904e-01  2.66425072e-03]
 [-9.99153406e-01 -4.11391329e-02 -2.08722928e-04]
 [ 3.18150458e-04 -2.65340865e-03 -9.99996429e-01]]

 t_estimated:
[[0.92880125]
 [0.37057636]
 [0.00118018]]

 R_gt:
[[ 0.69520223 -0.71777302  0.03868042]
 [ 0.71645934  0.69627286  0.04348988]
 [-0.05814826 -0.00252165  0.99830418]]

 t_gt:
[ 0.95987665 -0.2770991   0.04304527]

Pose Error in degrees for R and t:
176.83685202179484 37.91725382351541

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.88774578e-01  1.49414717e-01 -2.75386863e-04]
 [-1.49414528e-01  9.88774456e-01  6.11631275e-04]
 [ 3.63682210e-04 -5.63618657e-04  9.99999775e-01]]

 t_estimated:
[[-0.65255699]
 [-0.75773841]
 [ 0.00136837]]

 R_gt:
[[ 0.99822414 -0.0215231   0.0555377 ]
 [ 0.01990551  0.99936596  0.02952926]
 [-0.0561383  -0.02837038  0.99801937]]

 t_gt:
[ 0.17183884 -0.15833256  0.97231796]

Pose Error in degrees for R and t:
10.423669985304212 89.4745606713092

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[-0.72907187  0.68152482 -0.06307234]
 [-0.68317052 -0.73022987  0.00651043]
 [-0.04162028  0.04783574  0.99798772]]

 t_estimated:
[[0.66633056]
 [0.74565562]
 [0.00113322]]

 R_gt:
[[ 0.99287754 -0.0963109   0.07013495]
 [ 0.09291715  0.9944098   0.05014634]
 [-0.07457323 -0.04327175  0.99627591]]

 t_gt:
[ 0.77909405 -0.21134214  0.59020925]

Pose Error in degrees for R and t:
142.55786546175383 68.76373856065588

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 0.99020068 -0.13950144  0.00647778]
 [ 0.1396279   0.98982319 -0.02746093]
 [-0.00258102  0.02809631  0.99960189]]

 t_estimated:
[[-0.11578422]
 [-0.9929353 ]
 [-0.02595182]]

 R_gt:
[[ 9.88667861e-01 -1.50119882e-01 -3.79411790e-04]
 [ 1.50067792e-01  9.88379851e-01 -2.41757688e-02]
 [ 4.00316744e-03  2.38456557e-02  9.99707238e-01]]

 t_gt:
[ 0.986073   -0.12198161 -0.11305094]

Pose Error in degrees for R and t:
0.7540643752718633 89.43379212173076

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99546730e-01 -3.01052659e-02  8.63318117e-05]
 [ 3.01052684e-02  9.99546733e-01 -2.75944605e-05]
 [-8.54619418e-05  3.01809951e-05  9.99999996e-01]]

 t_estimated:
[[-9.67243898e-01]
 [-2.53847907e-01]
 [-6.94669549e-04]]

 R_gt:
[[ 0.99558132  0.09059636  0.02472953]
 [-0.09080441  0.99584119  0.00743004]
 [-0.02395399 -0.00964266  0.99966643]]

 t_gt:
[-0.68470408  0.69122993  0.23104439]

Pose Error in degrees for R and t:
7.084922120306234 60.87949410909762

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.99913914e-01 -1.30978409e-02 -7.82234865e-04]
 [ 1.30983876e-02  9.99913969e-01  6.97841896e-04]
 [ 7.73027346e-04 -7.08027837e-04  9.99999451e-01]]

 t_estimated:
[[-0.99451016]
 [-0.10462903]
 [-0.00151702]]

 R_gt:
[[ 0.93546619  0.35259906  0.02401997]
 [-0.35267223  0.93574626 -0.00127389]
 [-0.02292611 -0.00727856  0.99970974]]

 t_gt:
[-0.64875516  0.75933191  0.05031704]

Pose Error in degrees for R and t:
21.44870358741547 55.551231789569854

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[-0.82161044 -0.57004814 -0.00118246]
 [ 0.57003973 -0.82158274 -0.00751734]
 [ 0.00331376 -0.00685037  0.99997105]]

 t_estimated:
[[0.82857632]
 [0.55987527]
 [0.00097709]]

 R_gt:
[[ 0.82490962  0.55767649  0.09230877]
 [-0.55541927  0.83000712 -0.05096163]
 [-0.1050372  -0.00923089  0.99442514]]

 t_gt:
[-0.57025389  0.81316454  0.11650723]

Pose Error in degrees for R and t:
179.1935864638027 89.01937439677252

Number of keypoints:
Image1: 249
Image2: 249

 R_estimated:
[[-4.70839622e-01  8.82217821e-01 -1.32928099e-03]
 [-8.82213878e-01 -4.70841494e-01 -2.63846127e-03]
 [-2.95357820e-03 -6.95819692e-05  9.99995636e-01]]

 t_estimated:
[[0.29515443]
 [0.95544835]
 [0.00152141]]

 R_gt:
[[ 0.99374262 -0.10318122  0.04276945]
 [ 0.10196606  0.99434473  0.02968085]
 [-0.04559088 -0.02513354  0.99864382]]

 t_gt:
[ 0.45429508 -0.79587253  0.40025355]

Pose Error in degrees for R and t:
124.0010310469642 51.26502491755399

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[-9.54736847e-01  2.97450746e-01 -7.78192639e-04]
 [-2.97448299e-01 -9.54735086e-01 -2.32920786e-03]
 [-1.43579243e-03 -1.99230849e-03  9.99996985e-01]]

 t_estimated:
[[0.7365113 ]
 [0.67642445]
 [0.00103807]]

 R_gt:
[[ 0.97615245 -0.21616354  0.01996817]
 [ 0.21467875  0.97489901  0.0590162 ]
 [-0.03222542 -0.05332173  0.99805707]]

 t_gt:
[ 0.61982581 -0.73644047  0.2710561 ]

Pose Error in degrees for R and t:
175.1501260114958 87.62978535475598

Number of keypoints:
Image1: 194
Image2: 194

 R_estimated:
[[ 0.93856749  0.3450905   0.00190292]
 [ 0.34509312 -0.93856758 -0.00127594]
 [ 0.00134571  0.00185424 -0.99999738]]

 t_estimated:
[[9.73728204e-01]
 [2.27711390e-01]
 [9.52767323e-04]]

 R_gt:
[[ 0.93710038 -0.34878746  0.01378331]
 [ 0.34297492  0.92738693  0.14939842]
 [-0.06489168 -0.13527363  0.98868092]]

 t_gt:
[ 0.65311108 -0.64743726  0.39277336]

Pose Error in degrees for R and t:
172.32200934484726 60.731820245518065

Number of keypoints:
Image1: 293
Image2: 293

 R_estimated:
[[ 9.99987260e-01 -5.02357661e-03 -4.94129767e-04]
 [ 5.02437295e-03  9.99986059e-01  1.62379444e-03]
 [ 4.85965623e-04 -1.62625645e-03  9.99998560e-01]]

 t_estimated:
[[0.01789198]
 [0.99982838]
 [0.00480516]]

 R_gt:
[[ 0.99925133  0.02357246  0.03067281]
 [-0.0257907   0.99691953  0.07406475]
 [-0.02883353 -0.0748007   0.99678111]]

 t_gt:
[-0.15948971 -0.11441297  0.98054715]

Pose Error in degrees for R and t:
4.833122187607684 83.53851842587605

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.99999637e-01 -8.47702159e-04 -8.26392674e-05]
 [ 8.47689493e-04  9.99999629e-01 -1.53183935e-04]
 [ 8.27690911e-05  1.53113827e-04  9.99999985e-01]]

 t_estimated:
[[-0.99997364]
 [-0.00716488]
 [-0.00117434]]

 R_gt:
[[ 0.99147858  0.11276315  0.06522049]
 [-0.11922014  0.98725005  0.10547621]
 [-0.05249543 -0.11235328  0.99228058]]

 t_gt:
[-0.57532527  0.30079658  0.7606065 ]

Pose Error in degrees for R and t:
9.807918334590845 55.09190648327823

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.11549059e-01 -4.11190408e-01 -8.72863237e-04]
 [ 4.11190630e-01  9.11549372e-01  8.41790302e-05]
 [ 7.61044326e-04 -4.35646500e-04  9.99999616e-01]]

 t_estimated:
[[9.80761382e-01]
 [1.95210404e-01]
 [1.01038021e-04]]

 R_gt:
[[ 0.976107    0.21186004  0.04827506]
 [-0.21409074  0.97568381  0.04697654]
 [-0.03714928 -0.05618915  0.99772842]]

 t_gt:
[-0.70960216  0.63855277  0.29785088]

Pose Error in degrees for R and t:
36.78900978184995 55.16129466859987

Number of keypoints:
Image1: 346
Image2: 346

 R_estimated:
[[ 0.77144223 -0.63628745  0.00389387]
 [-0.63629808 -0.77143854  0.00270807]
 [ 0.00128077 -0.00456678 -0.99998875]]

 t_estimated:
[[0.31284242]
 [0.94980086]
 [0.0028184 ]]

 R_gt:
[[ 0.99784671 -0.05449346  0.03648691]
 [ 0.05463667  0.99850202 -0.00292896]
 [-0.0362726   0.00491709  0.99932943]]

 t_gt:
[ 0.06411655 -0.81963278  0.56929006]

Pose Error in degrees for R and t:
179.29016550629936 40.814904076285806

Number of keypoints:
Image1: 238
Image2: 238

 R_estimated:
[[-0.64662479  0.76198821 -0.03536024]
 [ 0.76196757  0.64739351  0.01694309]
 [ 0.03580242 -0.01598754 -0.999231  ]]

 t_estimated:
[[-0.04281675]
 [-0.99905746]
 [-0.00713612]]

 R_gt:
[[ 0.99408769 -0.09974888  0.0429014 ]
 [ 0.10006786  0.99496588 -0.00535616]
 [-0.04215115  0.0096182   0.99906511]]

 t_gt:
[ 0.09601711 -0.94134582  0.32349461]

Pose Error in degrees for R and t:
179.85681480232216 20.926572990186845

Number of keypoints:
Image1: 344
Image2: 344

 R_estimated:
[[ 9.04520005e-01  4.26429248e-01  1.28766394e-03]
 [-4.26429125e-01  9.04520898e-01 -3.82253730e-04]
 [-1.32772312e-03 -2.03341262e-04  9.99999098e-01]]

 t_estimated:
[[0.91239977]
 [0.40929509]
 [0.00204553]]

 R_gt:
[[ 0.99349993 -0.11330968 -0.01088557]
 [ 0.11346231  0.99343553  0.01459465]
 [ 0.00916093 -0.01573403  0.99983407]]

 t_gt:
[ 0.02824014 -0.99948644 -0.0151445 ]

Pose Error in degrees for R and t:
31.770588053330755 67.45868221027179

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99999219e-01 -7.31524995e-04  1.01295794e-03]
 [ 7.32568211e-04  9.99999201e-01 -1.02988337e-03]
 [-1.01220374e-03  1.03062462e-03  9.99998957e-01]]

 t_estimated:
[[0.40456357]
 [0.91450772]
 [0.00198496]]

 R_gt:
[[ 0.9780521  -0.157655   -0.1362349 ]
 [ 0.17436065  0.97723416  0.12087546]
 [ 0.11407704 -0.14197728  0.98327426]]

 t_gt:
[ 0.6026883  -0.78798869  0.1258596 ]

Pose Error in degrees for R and t:
14.27152571434728 61.53993026688509

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.89938115 -0.43716251 -0.0015769 ]
 [-0.4371561  -0.89937973  0.00326301]
 [-0.0028447  -0.00224534 -0.99999343]]

 t_estimated:
[[0.04968917]
 [0.99875237]
 [0.00496892]]

 R_gt:
[[ 0.93242827 -0.29268244 -0.21192996]
 [ 0.32205095  0.93908339  0.12001775]
 [ 0.1638924  -0.18016028  0.96988735]]

 t_gt:
[ 0.67643242 -0.73335676  0.0680223 ]

Pose Error in degrees for R and t:
173.7303213115666 45.69382281537418

Number of keypoints:
Image1: 45
Image2: 45

 R_estimated:
[[-8.53452868e-01  5.21169654e-01  6.27332340e-04]
 [-5.21169247e-01 -8.53448877e-01 -2.76215689e-03]
 [-9.04156267e-04 -2.68431704e-03  9.99995988e-01]]

 t_estimated:
[[0.1016603 ]
 [0.99481863]
 [0.00103735]]

 R_gt:
[[ 0.89141636 -0.35944346 -0.27600224]
 [ 0.40990188  0.89924354  0.15277515]
 [ 0.19327994 -0.24932055  0.94893753]]

 t_gt:
[ 0.68565076 -0.71621893  0.13005179]

Pose Error in degrees for R and t:
171.965141777654 50.00882820937628

Number of keypoints:
Image1: 308
Image2: 308

 R_estimated:
[[ 9.90904206e-01 -1.34569113e-01 -9.63797751e-05]
 [ 1.34569124e-01  9.90904202e-01  1.19358904e-04]
 [ 7.94411023e-05 -1.31242982e-04  9.99999988e-01]]

 t_estimated:
[[ 1.40138703e-01]
 [-9.90131810e-01]
 [-3.78137331e-04]]

 R_gt:
[[ 0.99824312  0.03875471  0.04483052]
 [-0.03682264  0.99839046 -0.04314662]
 [-0.04643012  0.04142038  0.99806271]]

 t_gt:
[-0.69374952  0.72007373 -0.01433273]

Pose Error in degrees for R and t:
10.525668440348994 35.8861221799416

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-0.32206872 -0.94671412 -0.00202642]
 [ 0.9467145  -0.32207153  0.00125528]
 [-0.00184104 -0.00151415  0.99999716]]

 t_estimated:
[[0.99334955]
 [0.11512818]
 [0.001476  ]]

 R_gt:
[[ 0.99131733  0.08502527  0.10030922]
 [-0.07733108  0.99393086 -0.07825379]
 [-0.10635306  0.06981758  0.99187382]]

 t_gt:
[-0.74702289  0.64379226  0.16579606]

Pose Error in degrees for R and t:
113.62302876065873 48.110856969899494

Number of keypoints:
Image1: 123
Image2: 123

 R_estimated:
[[ 9.47487545e-01 -3.19792515e-01 -3.15037818e-04]
 [ 3.19792625e-01  9.47487474e-01  4.04252113e-04]
 [ 1.69217587e-04 -4.83770613e-04  9.99999869e-01]]

 t_estimated:
[[-0.98296484]
 [-0.18378839]
 [-0.00139889]]

 R_gt:
[[ 0.97854337  0.12444396  0.16421682]
 [-0.10906833  0.98903528 -0.09956673]
 [-0.17480678  0.07951918  0.98138625]]

 t_gt:
[-0.72041572  0.59228954  0.36082445]

Pose Error in degrees for R and t:
27.698795952549386 53.21724044003443

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.98968727e-01  4.54032112e-02 -1.75822033e-04]
 [-4.54032219e-02  9.98968740e-01 -5.73948005e-05]
 [ 1.73034807e-04  6.53184975e-05  9.99999983e-01]]

 t_estimated:
[[-0.9734767 ]
 [ 0.22875034]
 [-0.00404857]]

 R_gt:
[[ 0.98484244 -0.17312775  0.01055207]
 [ 0.17338597  0.98431104 -0.03269986]
 [-0.0047252   0.03403407  0.99940941]]

 t_gt:
[ 0.58772486 -0.80317079 -0.09744831]

Pose Error in degrees for R and t:
12.734920198582396 40.933761935214875

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 9.82458108e-01 -1.86475914e-01  1.67336573e-03]
 [ 1.86477558e-01  9.82458822e-01 -8.85455000e-04]
 [-1.47889689e-03  1.18196760e-03  9.99998208e-01]]

 t_estimated:
[[0.95631657]
 [0.29232954]
 [0.00143287]]

 R_gt:
[[ 9.31789472e-01 -3.62936605e-01  6.75956036e-03]
 [ 3.62928573e-01  9.31814489e-01  2.38028998e-03]
 [-7.16228748e-03  2.35351118e-04  9.99974005e-01]]

 t_gt:
[ 0.66439422 -0.74702023  0.02326143]

Pose Error in degrees for R and t:
10.53876964016689 65.35287708909539

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 0.99272294 -0.12023108  0.00675714]
 [ 0.12024958  0.99274079 -0.00240033]
 [-0.0064195   0.0031954   0.99997429]]

 t_estimated:
[[-0.38181356]
 [-0.92423887]
 [-0.00096175]]

 R_gt:
[[ 0.84965913 -0.5264943  -0.02972586]
 [ 0.52485027  0.84977775 -0.04910405]
 [ 0.05111269  0.0261203   0.99835163]]

 t_gt:
[ 0.75576417 -0.64744953 -0.09813067]

Pose Error in degrees for R and t:
25.07568584848135 71.94490399295529

Number of keypoints:
Image1: 241
Image2: 241

 R_estimated:
[[ 9.99675803e-01 -2.54614989e-02 -1.36246804e-05]
 [ 2.54614998e-02  9.99675801e-01  6.37306134e-05]
 [ 1.19975863e-05 -6.40568570e-05  9.99999998e-01]]

 t_estimated:
[[-7.14711019e-02]
 [ 9.97442648e-01]
 [ 2.13727286e-04]]

 R_gt:
[[ 0.99475631  0.03138978  0.09734281]
 [-0.02851378  0.99911886 -0.03080468]
 [-0.09822413  0.02786725  0.99477413]]

 t_gt:
[-0.71226834  0.36020247  0.60243505]

Pose Error in degrees for R and t:
6.667977920627892 65.77527092364274

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 0.92045723  0.3908249   0.00379192]
 [-0.39080286  0.92045824 -0.00545391]
 [-0.00562183  0.0035382   0.99997794]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075935e-03]
 [-7.75189840e-04]]

 R_gt:
[[ 0.98782222  0.09168574  0.12570452]
 [-0.08522363  0.99479357 -0.05587373]
 [-0.1301739   0.04447925  0.99049322]]

 t_gt:
[-0.73703937  0.52586342  0.42454755]

Pose Error in degrees for R and t:
19.421601657603002 42.68636779415044

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[ 0.0719708   0.99740384  0.00240355]
 [ 0.99740568 -0.07197402  0.00128137]
 [ 0.00145103  0.0023051  -0.99999629]]

 t_estimated:
[[-0.36068036]
 [-0.93268893]
 [-0.001016  ]]

 R_gt:
[[ 0.964547    0.24333735  0.10216334]
 [-0.24005432  0.96978503 -0.04347884]
 [-0.10965617  0.01741175  0.99381718]]

 t_gt:
[-0.7080621   0.67067772  0.22099651]

Pose Error in degrees for R and t:
174.51684863079973 68.26130761422023

Number of keypoints:
Image1: 167
Image2: 167

 R_estimated:
[[-0.71592365 -0.69712139  0.03840704]
 [-0.69804031  0.71360325 -0.05924637]
 [ 0.01389453 -0.06922554 -0.99750427]]

 t_estimated:
[[0.98827203]
 [0.14973819]
 [0.02994764]]

 R_gt:
[[ 0.98539548 -0.16904738  0.02045735]
 [ 0.16879115  0.98555615  0.01369943]
 [-0.02247751 -0.01004579  0.99969677]]

 t_gt:
[ 0.55341735 -0.82256346  0.13083803]

Pose Error in degrees for R and t:
178.1817008593036 64.67983524288987

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[-0.39193136 -0.91996089  0.00785967]
 [-0.91999324  0.39193043 -0.00172225]
 [-0.00149604 -0.00790584 -0.99996763]]

 t_estimated:
[[0.91010502]
 [0.41432503]
 [0.00660535]]

 R_gt:
[[ 9.45428357e-01 -3.25828301e-01 -9.03731808e-04]
 [ 3.25821422e-01  9.45418852e-01 -4.86474014e-03]
 [ 2.43982721e-03  4.30454801e-03  9.99988203e-01]]

 t_gt:
[ 0.64474437 -0.7642983  -0.01236174]

Pose Error in degrees for R and t:
180.0 74.33361970594082

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-0.97648146 -0.21559013  0.00220397]
 [-0.21558507  0.97648229  0.00232544]
 [-0.00265348  0.00179561 -0.99999487]]

 t_estimated:
[[0.99675791]
 [0.08044011]
 [0.0017487 ]]

 R_gt:
[[ 0.85834668 -0.513026   -0.00670552]
 [ 0.51296539  0.85783492  0.03140877]
 [-0.01036125 -0.03039902  0.99948475]]

 t_gt:
[ 0.7255074  -0.68569639  0.05881734]

Pose Error in degrees for R and t:
179.52679236822928 48.07936340474131

Number of keypoints:
Image1: 612
Image2: 612

 R_estimated:
[[ 9.99995877e-01 -2.87145913e-03  4.46783963e-06]
 [ 2.87145902e-03  9.99995877e-01  2.41300202e-05]
 [-4.53710957e-06 -2.41170915e-05  1.00000000e+00]]

 t_estimated:
[[ 9.81013688e-01]
 [-1.93938286e-01]
 [ 2.91795445e-04]]

 R_gt:
[[ 0.99944193 -0.03318114 -0.00387661]
 [ 0.03322135  0.99939234  0.01061951]
 [ 0.00352217 -0.01074126  0.99993575]]

 t_gt:
[ 0.41205292 -0.909335    0.05763898]

Pose Error in degrees for R and t:
1.8540756978115813 54.50715809619734

Number of keypoints:
Image1: 380
Image2: 380

 R_estimated:
[[ 9.71265701e-01  2.37997756e-01  8.32679392e-05]
 [-2.37997769e-01  9.71265669e-01  2.47490414e-04]
 [-2.19731277e-05 -2.60196534e-04  9.99999966e-01]]

 t_estimated:
[[9.22158239e-01]
 [3.86812013e-01]
 [8.05747824e-04]]

 R_gt:
[[ 0.99676609 -0.07947591  0.01184061]
 [ 0.07905282  0.99633514  0.03266679]
 [-0.01439303 -0.03162453  0.99939579]]

 t_gt:
[ 0.28696717 -0.87917112  0.38040502]

Pose Error in degrees for R and t:
18.421524805129 85.69083131819514

Number of keypoints:
Image1: 383
Image2: 383

 R_estimated:
[[ 0.99997553 -0.00608408 -0.0034542 ]
 [ 0.00611113  0.99995031  0.00787553]
 [ 0.00340612 -0.00789645  0.99996302]]

 t_estimated:
[[0.45118998]
 [0.89242724]
 [0.00110586]]

 R_gt:
[[ 0.99276882 -0.10385144  0.06020933]
 [ 0.10318861  0.99456304  0.01402292]
 [-0.06133791 -0.00770752  0.99808692]]

 t_gt:
[ 0.0567264  -0.83387873  0.54902493]

Pose Error in degrees for R and t:
6.704000980279358 44.112490877295905

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[ 0.99987973 -0.01517022  0.00322399]
 [ 0.01519495  0.99985422 -0.0077881 ]
 [-0.00310537  0.00783615  0.99996448]]

 t_estimated:
[[-9.46189316e-01]
 [-3.23612648e-01]
 [-7.95117072e-04]]

 R_gt:
[[ 0.99994105  0.00564893 -0.00930557]
 [-0.00583474  0.99978106 -0.02012617]
 [ 0.0091902   0.02017945  0.9997548 ]]

 t_gt:
[-0.08992731  0.73741298 -0.66942899]

Pose Error in degrees for R and t:
1.5614460240453807 81.19827214962876

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.99999855e-01 -5.37424184e-04  4.65274678e-05]
 [ 5.37425227e-04  9.99999855e-01 -2.24022182e-05]
 [-4.65154216e-05  2.24272200e-05  9.99999999e-01]]

 t_estimated:
[[-0.99995296]
 [-0.00945039]
 [-0.00218313]]

 R_gt:
[[ 0.99681201  0.07958454 -0.00571303]
 [-0.07949769  0.99673623  0.01405355]
 [ 0.00681205 -0.01355338  0.99988497]]

 t_gt:
[-0.56950312  0.81945706  0.06446955]

Pose Error in degrees for R and t:
4.6749545416398375 55.83407529492701

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.68768327  0.35158539  0.6352003 ]
 [ 0.68555756 -0.02649508 -0.72753615]
 [-0.2389614   0.93578081 -0.25925224]]

 t_estimated:
[[-0.77174911]
 [-0.61570575]
 [-0.15909032]]

 R_gt:
[[ 9.70010203e-01  2.43059006e-01  1.43285421e-03]
 [-2.43062917e-01  9.69990469e-01  6.29185838e-03]
 [ 1.39373634e-04 -6.45102606e-03  9.99978823e-01]]

 t_gt:
[-0.62253973  0.78246904  0.01365601]

Pose Error in degrees for R and t:
110.75673775888056 89.79953647627254

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[ 1.51359567e-01 -9.88475993e-01 -2.34355588e-03]
 [ 9.88478583e-01  1.51360576e-01 -2.58212200e-04]
 [ 6.09958529e-04 -2.27747191e-03  9.99997221e-01]]

 t_estimated:
[[0.99744782]
 [0.07139197]
 [0.00101989]]

 R_gt:
[[ 0.99789197  0.04530291  0.04648099]
 [-0.04922023  0.99499935  0.08691342]
 [-0.04231057 -0.08901689  0.9951318 ]]

 t_gt:
[-0.43117451  0.08662497  0.89810058]

Pose Error in degrees for R and t:
84.16336589971655 64.97752224135678

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[ 9.74656214e-01 -2.23707752e-01  3.26786601e-04]
 [ 2.23707838e-01  9.74656215e-01 -2.55381786e-04]
 [-2.61373707e-04  3.22014169e-04  9.99999914e-01]]

 t_estimated:
[[-0.94566202]
 [-0.32514888]
 [-0.00124103]]

 R_gt:
[[ 0.98308497  0.17906607  0.03848686]
 [-0.1810356   0.98188877  0.05586752]
 [-0.02778534 -0.06189023  0.99769668]]

 t_gt:
[-0.72279693  0.61447459  0.31620495]

Pose Error in degrees for R and t:
23.630529684456274 61.09665701540304

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[-0.52826335 -0.84907561 -0.00290528]
 [ 0.8490776  -0.52824933 -0.00445735]
 [ 0.00224992 -0.00482147  0.99998585]]

 t_estimated:
[[0.98086684]
 [0.19467586]
 [0.00124792]]

 R_gt:
[[ 0.98453824  0.16879416  0.04684898]
 [-0.1671873   0.98525456 -0.03635392]
 [-0.05229414  0.02795992  0.99824079]]

 t_gt:
[-0.68751959  0.72550233 -0.03103521]

Pose Error in degrees for R and t:
131.59911798123682 57.780373877841555

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 8.66859835e-01  4.98550357e-01  1.25241291e-03]
 [-4.98551135e-01  8.66860204e-01  3.91357180e-04]
 [-8.90555646e-04 -9.63643696e-04  9.99999139e-01]]

 t_estimated:
[[0.68705275]
 [0.72660559]
 [0.00168282]]

 R_gt:
[[ 0.98988039 -0.14185777  0.00386912]
 [ 0.14055449  0.98381785  0.11111966]
 [-0.01957024 -0.10945272  0.99379902]]

 t_gt:
[ 0.56570839 -0.709766    0.41976928]

Pose Error in degrees for R and t:
38.55168160079078 82.74173633106327

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-9.82450105e-01  1.86400593e-01  6.82718976e-03]
 [ 1.86410117e-01  9.82471709e-01  7.80662830e-04]
 [-6.56200478e-03  2.03961952e-03 -9.99976390e-01]]

 t_estimated:
[[ 0.99799928]
 [-0.06315243]
 [ 0.00303453]]

 R_gt:
[[ 0.96734607 -0.25204909  0.02671018]
 [ 0.2469091   0.9609013   0.12532432]
 [-0.05725382 -0.11463799  0.99175536]]

 t_gt:
[ 0.6228342  -0.69189056  0.36519175]

Pose Error in degrees for R and t:
177.83815979330143 48.210884625485946

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99998117e-01 -1.94066085e-03 -2.09212209e-06]
 [ 1.94066085e-03  9.99998117e-01  3.09788144e-06]
 [ 2.08610621e-06 -3.10193570e-06  1.00000000e+00]]

 t_estimated:
[[ 7.32799861e-01]
 [-6.80444220e-01]
 [-1.64584991e-04]]

 R_gt:
[[ 0.9591298  -0.28149711  0.02882013]
 [ 0.27588966  0.95291246  0.12587224]
 [-0.06289543 -0.11277737  0.99162751]]

 t_gt:
[ 0.63121764 -0.69524342  0.34380354]

Pose Error in degrees for R and t:
17.75405648213821 20.678925578228277

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[ 9.97304969e-01  7.33673771e-02  1.63628455e-04]
 [-7.33673603e-02  9.97304978e-01 -1.06474508e-04]
 [-1.70999228e-04  9.41825684e-05  9.99999981e-01]]

 t_estimated:
[[0.31168605]
 [0.95018413]
 [0.00138942]]

 R_gt:
[[ 0.99824538 -0.04440204  0.03918462]
 [ 0.0429855   0.9984172   0.03628956]
 [-0.04073406 -0.03454151  0.99857307]]

 t_gt:
[ 0.6087514  -0.23586943  0.75748752]

Pose Error in degrees for R and t:
7.376135543089378 88.09011586213795

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.98536626e-01 -5.40795404e-02 -1.03921070e-04]
 [ 5.40795390e-02  9.98536631e-01 -1.62049020e-05]
 [ 1.04645349e-04  1.05611846e-05  9.99999994e-01]]

 t_estimated:
[[ 9.99994383e-01]
 [ 3.34417605e-03]
 [-2.25512202e-04]]

 R_gt:
[[ 0.99056353 -0.13697349 -0.00485874]
 [ 0.13690072  0.99049949 -0.01302883]
 [ 0.00659735  0.01224058  0.99990355]]

 t_gt:
[ 0.99068772 -0.12615836 -0.05120465]

Pose Error in degrees for R and t:
4.83603873049704 7.998462113939822

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[ 8.85462083e-01  4.64711384e-01  4.77867063e-04]
 [-4.64711420e-01  8.85462193e-01 -3.99682699e-05]
 [-4.41706928e-04 -1.86679894e-04  9.99999885e-01]]

 t_estimated:
[[0.83813879]
 [0.5454554 ]
 [0.00133038]]

 R_gt:
[[ 0.99196743 -0.11459839 -0.05354939]
 [ 0.10989743  0.99040788 -0.0837548 ]
 [ 0.06263433  0.07719699  0.9950462 ]]

 t_gt:
[ 0.85978912 -0.04177401 -0.50893771]

Pose Error in degrees for R and t:
34.61505368643114 45.80043380531712

Number of keypoints:
Image1: 140
Image2: 140

 R_estimated:
[[ 9.89141785e-01 -1.46963869e-01 -3.88886770e-04]
 [ 1.46964018e-01  9.89141763e-01  3.88336524e-04]
 [ 3.27592707e-04 -4.41272245e-04  9.99999849e-01]]

 t_estimated:
[[9.99992176e-01]
 [3.87894560e-03]
 [7.75789120e-04]]

 R_gt:
[[ 0.98824792 -0.15245127 -0.01114082]
 [ 0.15229659  0.98824116 -0.01360758]
 [ 0.01308475  0.01175065  0.99984606]]

 t_gt:
[ 0.70811228 -0.70128404 -0.08232676]

Pose Error in degrees for R and t:
1.058183851913922 45.144385422236944

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.90923192e-01 -1.34424416e-01 -1.14200070e-03]
 [ 1.34428338e-01  9.90912167e-01  4.70107035e-03]
 [ 4.99683750e-04 -4.81191690e-03  9.99988298e-01]]

 t_estimated:
[[0.26728066]
 [0.96361712]
 [0.00175843]]

 R_gt:
[[ 0.97786632 -0.20898241  0.01017271]
 [ 0.2089272   0.97791092  0.0063048 ]
 [-0.01126457 -0.00404086  0.99992888]]

 t_gt:
[ 0.64061835 -0.76448945  0.07186111]

Pose Error in degrees for R and t:
4.386597169508407 55.57521612636549

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 0.24389462  0.96979773  0.00278717]
 [-0.96979995  0.24388764  0.00262199]
 [ 0.00186305 -0.00334248  0.99999268]]

 t_estimated:
[[7.62988778e-01]
 [6.46411353e-01]
 [6.98068416e-04]]

 R_gt:
[[ 0.94911282 -0.31349694  0.03007437]
 [ 0.31230235  0.94919836  0.03858874]
 [-0.04064269 -0.02723261  0.99880274]]

 t_gt:
[ 0.67256672 -0.72317422  0.15707658]

Pose Error in degrees for R and t:
94.15536373231512 87.37479263080773

Number of keypoints:
Image1: 331
Image2: 331

 R_estimated:
[[ 0.28033735  0.95865897 -0.04882575]
 [ 0.95849189 -0.27680768  0.06834326]
 [ 0.05200254 -0.06595825 -0.99646638]]

 t_estimated:
[[ 0.6031477 ]
 [-0.79646914]
 [-0.04300886]]

 R_gt:
[[ 0.99925364 -0.00303109  0.03851639]
 [ 0.00176736  0.99945995  0.03280629]
 [-0.03859509 -0.03271312  0.99871907]]

 t_gt:
[-0.41788818 -0.27641884  0.86542596]

Pose Error in degrees for R and t:
175.00996184227034 86.03711797070055

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99739587e-01  2.27945570e-02 -1.08022096e-03]
 [-2.27948065e-02  9.99740141e-01 -2.19187329e-04]
 [ 1.07494397e-03  2.43753677e-04  9.99999393e-01]]

 t_estimated:
[[-0.6572662 ]
 [-0.75364273]
 [-0.00487634]]

 R_gt:
[[ 0.99788295  0.03950732  0.05165706]
 [-0.03972056  0.99920611  0.00309881]
 [-0.05149318 -0.00514319  0.99866012]]

 t_gt:
[-0.8316506   0.12795296  0.54035666]

Pose Error in degrees for R and t:
3.179186296977757 63.413394058972635

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 1.59601123e-01  9.87180752e-01  1.28257263e-03]
 [ 9.87178828e-01 -1.59603613e-01  2.15618653e-03]
 [ 2.33324907e-03  9.21998751e-04 -9.99996853e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.98383134  0.16893821  0.05946696]
 [-0.16560781  0.98453666 -0.05710531]
 [-0.06819471  0.04633402  0.99659492]]

 t_gt:
[-0.79218136  0.5923919   0.14669874]

Pose Error in degrees for R and t:
175.40868272176064 54.01369865423515

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[ 9.99999981e-01  1.86040132e-04  6.32149864e-05]
 [-1.86036803e-04  9.99999981e-01 -5.26625320e-05]
 [-6.32247825e-05  5.26507706e-05  9.99999997e-01]]

 t_estimated:
[[-0.99968289]
 [-0.02515427]
 [-0.00117644]]

 R_gt:
[[ 0.99729039  0.07111896 -0.01883098]
 [-0.06962548  0.99506677  0.07067849]
 [ 0.02376425 -0.06917517  0.99732106]]

 t_gt:
[-0.27812343  0.79196337  0.54354519]

Pose Error in degrees for R and t:
5.818994081835556 75.07973786023908

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 9.99999236e-01 -1.23471250e-03  6.11627582e-05]
 [ 1.23470789e-03  9.99999235e-01  7.53349298e-05]
 [-6.12557284e-05 -7.52593541e-05  9.99999995e-01]]

 t_estimated:
[[-3.56295373e-03]
 [ 9.99993628e-01]
 [-2.20631372e-04]]

 R_gt:
[[ 0.99810592  0.03996561 -0.04677011]
 [-0.03779564  0.99820855  0.04639582]
 [ 0.0485398  -0.04454038  0.99782786]]

 t_gt:
[ 0.63487056  0.77057738 -0.05612369]

Pose Error in degrees for R and t:
4.422234269942234 39.79648043200142

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 1.00000000e+00  9.99200722e-16  1.62440590e-15]
 [-9.99200722e-16  1.00000000e+00 -1.78611466e-15]
 [-1.37845464e-15  1.66685242e-15  1.00000000e+00]]

 t_estimated:
[[-0.44540842]
 [-0.89532689]
 [-0.00104594]]

 R_gt:
[[ 0.99520504  0.07677858 -0.060601  ]
 [-0.07487255  0.99664275  0.03312578]
 [ 0.06294028 -0.02843021  0.99761147]]

 t_gt:
[ 0.50339915  0.82657977 -0.25170456]

Pose Error in degrees for R and t:
5.885034696930102 15.417543802224028

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99974449e-01  7.14634476e-03  1.77888699e-04]
 [-7.14631815e-03  9.99974454e-01 -1.49806644e-04]
 [-1.78954725e-04  1.48531567e-04  9.99999973e-01]]

 t_estimated:
[[0.42252974]
 [0.90634807]
 [0.00133946]]

 R_gt:
[[ 0.98565871 -0.16629027  0.02870997]
 [ 0.16492215  0.98528626  0.04483606]
 [-0.03574351 -0.03945723  0.99858132]]

 t_gt:
[ 0.5231417  -0.79339855  0.31119367]

Pose Error in degrees for R and t:
10.405563220628817 60.15631198287273

Number of keypoints:
Image1: 57
Image2: 57

 R_estimated:
[[ 1.00000000e+00  7.33506144e-07 -1.41976339e-06]
 [-7.33503904e-07  1.00000000e+00  1.57801664e-06]
 [ 1.41976455e-06 -1.57801560e-06  1.00000000e+00]]

 t_estimated:
[[ 4.84708623e-02]
 [ 9.98824597e-01]
 [-2.37338973e-05]]

 R_gt:
[[ 0.95314964 -0.28352304 -0.10545642]
 [ 0.29603577  0.94594819  0.132456  ]
 [ 0.06220136 -0.15746898  0.98556216]]

 t_gt:
[ 0.60334407 -0.76284034  0.23248772]

Pose Error in degrees for R and t:
19.553373326840966 42.88638727328589

Number of keypoints:
Image1: 59
Image2: 59

 R_estimated:
[[-2.05415704e-01  9.78672222e-01  2.25183197e-03]
 [ 9.78674354e-01  2.05412837e-01  1.44042764e-03]
 [ 9.47151328e-04  2.49969666e-03 -9.99996427e-01]]

 t_estimated:
[[0.56343042]
 [0.82616212]
 [0.00151868]]

 R_gt:
[[ 0.8896566  -0.42534456 -0.16610992]
 [ 0.45074857  0.87622946  0.17043487]
 [ 0.07305591 -0.2265015   0.971267  ]]

 t_gt:
[ 0.66926801 -0.69750206  0.25606877]

Pose Error in degrees for R and t:
167.13394352933489 78.53466992226852

Number of keypoints:
Image1: 339
Image2: 339

 R_estimated:
[[ 9.99999990e-01  1.40459970e-04  2.96875899e-05]
 [-1.40454114e-04  9.99999971e-01 -1.97149627e-04]
 [-2.97152806e-05  1.97145455e-04  9.99999980e-01]]

 t_estimated:
[[ 6.45896246e-01]
 [ 7.63425166e-01]
 [-2.35662505e-04]]

 R_gt:
[[ 9.98251543e-01 -5.91225439e-02  3.64655933e-04]
 [ 5.90279258e-02  9.96966601e-01  5.07296649e-02]
 [-3.36216140e-03 -5.06187984e-02  9.98712460e-01]]

 t_gt:
[ 0.49555826 -0.61674858  0.61159071]

Pose Error in degrees for R and t:
4.47825426462221 81.32054844439963

Number of keypoints:
Image1: 302
Image2: 302

 R_estimated:
[[ 0.97752375 -0.21079488 -0.00358183]
 [ 0.21080344  0.97752598  0.00220775]
 [ 0.00303595 -0.00291319  0.99999115]]

 t_estimated:
[[0.77888576]
 [0.6271653 ]
 [0.00081134]]

 R_gt:
[[ 0.97837571 -0.20274995 -0.04091681]
 [ 0.20549981  0.97529881  0.08100494]
 [ 0.02348221 -0.08766215  0.99587347]]

 t_gt:
[ 0.661942   -0.69928572  0.26987455]

Pose Error in degrees for R and t:
5.015932955982752 85.57072720779637

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[ 9.79232890e-01  2.02736416e-01 -9.45371469e-04]
 [-2.02728574e-01  9.79220142e-01  5.38868977e-03]
 [ 2.01821043e-03 -5.08512844e-03  9.99985034e-01]]

 t_estimated:
[[9.10668729e-01]
 [4.13136564e-01]
 [8.03767634e-04]]

 R_gt:
[[ 0.94173171 -0.33414715 -0.03857966]
 [ 0.33625872  0.9381223   0.08281089]
 [ 0.00852208 -0.09095817  0.99581809]]

 t_gt:
[ 0.70514842 -0.66477576  0.24665543]

Pose Error in degrees for R and t:
31.698184889436305 68.42543928601673

Number of keypoints:
Image1: 277
Image2: 277

 R_estimated:
[[ 0.98278298 -0.18467742  0.00564447]
 [ 0.18471513  0.98276639 -0.00710909]
 [-0.00423431  0.00802931  0.9999588 ]]

 t_estimated:
[[-0.06701134]
 [-0.99772443]
 [-0.0074457 ]]

 R_gt:
[[ 9.86152535e-01 -1.65844258e-01  6.97155140e-05]
 [ 1.65746375e-01  9.85581857e-01  3.39777106e-02]
 [-5.70267855e-03 -3.34959438e-02  9.99422847e-01]]

 t_gt:
[ 0.61500371 -0.76246498  0.20104124]

Pose Error in degrees for R and t:
2.6196423463114136 44.108683099146766

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.89621649e-01 -1.43697535e-01 -1.01669668e-04]
 [ 1.43697528e-01  9.89621652e-01 -7.37988970e-05]
 [ 1.11219224e-04  5.84233062e-05  9.99999992e-01]]

 t_estimated:
[[ 9.87034139e-01]
 [-1.60509574e-01]
 [-5.34607760e-04]]

 R_gt:
[[ 0.95394079 -0.29859453 -0.02894921]
 [ 0.29950853  0.95344385  0.03520839]
 [ 0.01708889 -0.04225749  0.99896017]]

 t_gt:
[ 0.705984   -0.69957912  0.1103433 ]

Pose Error in degrees for R and t:
9.513215544026103 35.9957618993549

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.25278639  0.96751754  0.00297516]
 [-0.96751952 -0.2527774  -0.00309279]
 [-0.00224028 -0.00366034  0.99999079]]

 t_estimated:
[[0.0311536 ]
 [0.99951124]
 [0.00259613]]

 R_gt:
[[ 0.93064574 -0.36450637 -0.03215405]
 [ 0.36537195  0.9208349   0.13625534]
 [-0.02005677 -0.13855346  0.99015174]]

 t_gt:
[ 0.61385287 -0.70490593  0.35537627]

Pose Error in degrees for R and t:
126.29956052398289 46.80251819212749

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[ 9.86701569e-01 -1.62541111e-01  6.33284482e-04]
 [ 1.62541719e-01  9.86701094e-01 -1.06851135e-03]
 [-4.51185468e-04  1.15723698e-03  9.99999229e-01]]

 t_estimated:
[[-0.31335965]
 [-0.9496326 ]
 [-0.00191073]]

 R_gt:
[[ 0.99018178 -0.13940778  0.01026232]
 [ 0.13976036  0.98869461 -0.05430987]
 [-0.00257503  0.05521098  0.99847107]]

 t_gt:
[ 0.61822491 -0.73906316 -0.26755113]

Pose Error in degrees for R and t:
3.3725601720959473 59.42785153711048

Number of keypoints:
Image1: 190
Image2: 190

 R_estimated:
[[ 9.99999851e-01  4.45267731e-04  3.15456557e-04]
 [-4.45237774e-04  9.99999896e-01 -9.50271978e-05]
 [-3.15498837e-04  9.48867305e-05  9.99999946e-01]]

 t_estimated:
[[0.95573464]
 [0.29422824]
 [0.00101458]]

 R_gt:
[[ 9.48399399e-01 -3.17080056e-01 -4.10143342e-04]
 [ 3.17046868e-01  9.48284288e-01  1.54557438e-02]
 [-4.51109024e-03 -1.47883552e-02  9.99880579e-01]]

 t_gt:
[ 0.67902827 -0.73225587  0.05217227]

Pose Error in degrees for R and t:
18.533129755798925 64.30544724337574

Number of keypoints:
Image1: 72
Image2: 72

 R_estimated:
[[ 9.99996055e-01 -1.74550897e-05 -2.80880904e-03]
 [ 2.90516745e-05  9.99991477e-01  4.12866051e-03]
 [ 2.80871303e-03 -4.12872582e-03  9.99987532e-01]]

 t_estimated:
[[0.68728912]
 [0.72637666]
 [0.00325729]]

 R_gt:
[[ 0.90042899 -0.42899718 -0.07204269]
 [ 0.43203553  0.90124855  0.03310687]
 [ 0.05072493 -0.0609361   0.99685161]]

 t_gt:
[ 0.70979198 -0.70371225  0.03137527]

Pose Error in degrees for R and t:
25.890615018160776 88.66914869724833

Number of keypoints:
Image1: 323
Image2: 323

 R_estimated:
[[ 9.99993335e-01 -3.64838088e-03  1.36675918e-04]
 [ 3.64835488e-03  9.99993327e-01  1.89972784e-04]
 [-1.37368099e-04 -1.89472876e-04  9.99999973e-01]]

 t_estimated:
[[0.01851532]
 [0.99982716]
 [0.00168321]]

 R_gt:
[[ 0.99684181  0.01347592  0.07826935]
 [-0.01082982  0.99935877 -0.0341289 ]
 [-0.07867856  0.03317413  0.99634809]]

 t_gt:
[-0.41024143  0.78827827  0.45860586]

Pose Error in degrees for R and t:
4.978262243664135 38.61857224807008

Number of keypoints:
Image1: 245
Image2: 245

 R_estimated:
[[ 9.93271832e-01 -1.15806150e-01 -5.71748675e-05]
 [ 1.15806156e-01  9.93271827e-01  1.06495188e-04]
 [ 4.44573874e-05 -1.12399872e-04  9.99999993e-01]]

 t_estimated:
[[-4.18818337e-01]
 [ 9.08069999e-01]
 [ 2.79054172e-04]]

 R_gt:
[[ 0.99146129  0.04922658  0.12075163]
 [-0.04084199  0.99664241 -0.07096298]
 [-0.12383869  0.06542589  0.99014342]]

 t_gt:
[-0.56462816  0.75888022  0.32449322]

Pose Error in degrees for R and t:
12.256643542712446 22.228346146277417

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.39411955e-01 -3.42789888e-01 -5.21703689e-04]
 [ 3.42790118e-01  9.39411912e-01  4.41840988e-04]
 [ 3.38636037e-04 -5.93905575e-04  9.99999766e-01]]

 t_estimated:
[[-0.45265642]
 [-0.89168448]
 [-0.00097345]]

 R_gt:
[[ 0.98420216  0.09279871  0.15078318]
 [-0.07564976  0.99039339 -0.11574959]
 [-0.16007481  0.1025151   0.98176798]]

 t_gt:
[-0.61833728  0.75072347  0.23253662]

Pose Error in degrees for R and t:
27.20587350117859 67.06164715235856

Number of keypoints:
Image1: 314
Image2: 314

 R_estimated:
[[-0.36356256 -0.92711807  0.09096342]
 [-0.92762869  0.36926684  0.05609834]
 [-0.08559956 -0.06398503 -0.99427292]]

 t_estimated:
[[0.81756429]
 [0.57329261]
 [0.05407601]]

 R_gt:
[[ 0.99983276 -0.00762665  0.01663118]
 [ 0.00724269  0.99970889  0.02302138]
 [-0.01680297 -0.02289717  0.99959674]]

 t_gt:
[-0.39773282 -0.53653907  0.74426772]

Pose Error in degrees for R and t:
172.3403043918352 53.6640313182035

Number of keypoints:
Image1: 468
Image2: 468

 R_estimated:
[[ 0.42981038 -0.90289761 -0.00623972]
 [-0.90284386 -0.42967501 -0.01588551]
 [ 0.01166194  0.01246125 -0.99985435]]

 t_estimated:
[[ 0.53800489]
 [ 0.84292154]
 [-0.00583224]]

 R_gt:
[[ 0.99950729  0.00673803  0.0306597 ]
 [-0.00797609  0.99915093  0.04042099]
 [-0.03036172 -0.04064639  0.99871193]]

 t_gt:
[-0.63969168 -0.28045125  0.71564073]

Pose Error in degrees for R and t:
178.06082929746614 54.216121768289156

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[-7.63434364e-01 -6.45883719e-01 -1.48104328e-03]
 [-6.45885368e-01  7.63433192e-01  1.36153000e-03]
 [ 2.51287538e-04  1.99602297e-03 -9.99997976e-01]]

 t_estimated:
[[8.85273071e-01]
 [4.65071050e-01]
 [7.12206815e-04]]

 R_gt:
[[ 0.99328801  0.09947625  0.0590229 ]
 [-0.09833326  0.99491131 -0.0219834 ]
 [-0.06090961  0.01603248  0.99801474]]

 t_gt:
[-0.8669459   0.39899171  0.29868112]

Pose Error in degrees for R and t:
177.2006182565352 54.428979148451965

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 3.76189937e-01  9.26542221e-01  8.02701822e-04]
 [-9.26541841e-01  3.76190586e-01 -9.27357341e-04]
 [-1.16120460e-03 -3.94874324e-04  9.99999248e-01]]

 t_estimated:
[[0.65572482]
 [0.75499919]
 [0.0010831 ]]

 R_gt:
[[ 0.99559674 -0.09127609 -0.02132782]
 [ 0.09050275  0.99528971 -0.03475485]
 [ 0.02439883  0.03267164  0.99916765]]

 t_gt:
[ 0.48359694 -0.73838942 -0.47001602]

Pose Error in degrees for R and t:
73.15200770553594 76.06116244465302

Number of keypoints:
Image1: 29
Image2: 29

 R_estimated:
[[ 9.74723538e-01 -2.23414380e-01  1.98313076e-04]
 [ 2.23414342e-01  9.74723547e-01  1.95955519e-04]
 [-2.37079705e-04 -1.46696472e-04  9.99999961e-01]]

 t_estimated:
[[ 9.96979360e-01]
 [-7.76622926e-02]
 [ 8.51432492e-04]]

 R_gt:
[[ 0.97555863 -0.21061746 -0.06264686]
 [ 0.2097957   0.97755136 -0.01947889]
 [ 0.06534287  0.00585927  0.99784499]]

 t_gt:
[ 0.6141477  -0.74766266 -0.25263244]

Pose Error in degrees for R and t:
3.852359251523718 47.921922549446016

Number of keypoints:
Image1: 56
Image2: 56

 R_estimated:
[[ 4.38601732e-01 -8.98680093e-01 -1.61600079e-03]
 [ 8.98681463e-01  4.38601755e-01  3.59116126e-04]
 [ 3.86050268e-04 -1.60977891e-03  9.99998630e-01]]

 t_estimated:
[[0.86472102]
 [0.50225156]
 [0.00096401]]

 R_gt:
[[ 0.94667097 -0.30737896 -0.09660106]
 [ 0.30806444  0.95133138 -0.00810381]
 [ 0.09438951 -0.02208727  0.99528958]]

 t_gt:
[ 0.70178696 -0.6924325  -0.16742846]

Pose Error in degrees for R and t:
46.327617316714736 74.99441309978364

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.99999529e-01  9.18139755e-04  3.15638817e-04]
 [-9.18089828e-04  9.99999566e-01 -1.58288608e-04]
 [-3.15784011e-04  1.57998749e-04  9.99999938e-01]]

 t_estimated:
[[-9.99999948e-01]
 [-3.03001124e-04]
 [ 1.12070347e-04]]

 R_gt:
[[ 0.99925389  0.01064981 -0.03714026]
 [-0.01176722  0.99948076 -0.030002  ]
 [ 0.03680144  0.03041621  0.99885921]]

 t_gt:
[ 0.52682221  0.34444639 -0.77705537]

Pose Error in degrees for R and t:
2.8073764209964103 58.196100751623014

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[-6.63679536e-01 -7.48014579e-01 -1.91405597e-03]
 [ 7.48015982e-01 -6.63680714e-01 -2.56509835e-05]
 [-1.25113472e-03 -1.44876849e-03  9.99998168e-01]]

 t_estimated:
[[0.76498551]
 [0.64404677]
 [0.00095983]]

 R_gt:
[[ 0.9991121   0.03614253 -0.02168417]
 [-0.0366257   0.99907974 -0.02231457]
 [ 0.02085714  0.02308858  0.99951576]]

 t_gt:
[ 0.56714356  0.64192682 -0.51602145]

Pose Error in degrees for R and t:
133.67348365057327 32.13553221112795

Number of keypoints:
Image1: 73
Image2: 73

 R_estimated:
[[ 9.89541821e-01  1.44246263e-01 -3.88006292e-06]
 [-1.44246263e-01  9.89541821e-01 -4.00199372e-07]
 [ 3.78175726e-06  9.55698591e-07  1.00000000e+00]]

 t_estimated:
[[-0.81707739]
 [-0.57652621]
 [-0.00143743]]

 R_gt:
[[ 0.99318484  0.11209451  0.03192794]
 [-0.10767161  0.98729089 -0.11688666]
 [-0.044625    0.11265206  0.99263117]]

 t_gt:
[-0.0151772   0.91353586 -0.40647495]

Pose Error in degrees for R and t:
7.230647062672876 59.08992456603518

Number of keypoints:
Image1: 84
Image2: 84

 R_estimated:
[[-9.69428257e-01 -2.45373731e-01  7.66210708e-04]
 [-2.45374908e-01  9.69424698e-01 -2.62857026e-03]
 [-9.78014920e-05 -2.73621916e-03 -9.99996252e-01]]

 t_estimated:
[[0.99656719]
 [0.08277136]
 [0.00165543]]

 R_gt:
[[ 0.99530045 -0.09681693  0.00198303]
 [ 0.09682864  0.99527303 -0.00752406]
 [-0.00124476  0.00768088  0.99996941]]

 t_gt:
[ 0.98760199 -0.15115032 -0.04237787]

Pose Error in degrees for R and t:
179.92671814767544 13.680257527493158

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-1.28147587e-01  9.91752508e-01  2.27130415e-03]
 [ 9.91755034e-01  1.28146349e-01  6.83164400e-04]
 [ 3.86470672e-04  2.34012319e-03 -9.99997187e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99003253 -0.12482624 -0.06523046]
 [ 0.11915225  0.98926245 -0.08463429]
 [ 0.07509457  0.07601843  0.9942749 ]]

 t_gt:
[ 0.87226628 -0.0308196  -0.48805911]

Pose Error in degrees for R and t:
179.91845066074427 88.51667071960092

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[-1.12192073e-01  9.93683692e-01  2.37876649e-03]
 [ 9.93685828e-01  1.12194536e-01 -9.28553318e-04]
 [-1.18957289e-03  2.25957022e-03 -9.99996740e-01]]

 t_estimated:
[[0.99255564]
 [0.12178597]
 [0.00121786]]

 R_gt:
[[ 0.99178967 -0.01982775 -0.12633258]
 [ 0.00829816  0.99580462 -0.09113348]
 [ 0.12761081  0.08933711  0.98779297]]

 t_gt:
[ 0.46862309 -0.01213179 -0.8833149 ]

Pose Error in degrees for R and t:
178.15168057608324 62.44620301710108

Number of keypoints:
Image1: 182
Image2: 182

 R_estimated:
[[ 0.08871646  0.99600676  0.00999576]
 [ 0.99604393 -0.08865959 -0.00599719]
 [-0.00508702  0.01048826 -0.99993206]]

 t_estimated:
[[-0.5651547 ]
 [-0.82498433]
 [-0.00101101]]

 R_gt:
[[ 0.98824623 -0.15269099 -0.00749033]
 [ 0.15282219  0.98800595  0.02216488]
 [ 0.0040167  -0.02304905  0.99972656]]

 t_gt:
[ 0.63895609 -0.76319692  0.09625787]

Pose Error in degrees for R and t:
179.4709732828376 74.42978169558535

Number of keypoints:
Image1: 174
Image2: 174

 R_estimated:
[[-8.86470934e-01 -4.62759918e-01  4.74787741e-03]
 [-4.62747940e-01  8.86483242e-01  3.43593308e-03]
 [-5.79892587e-03  8.48784317e-04 -9.99982826e-01]]

 t_estimated:
[[0.96446502]
 [0.26419531]
 [0.00284137]]

 R_gt:
[[ 0.94429577 -0.32823993 -0.02375041]
 [ 0.32863872  0.9443306   0.01537785]
 [ 0.01738085 -0.02232702  0.99959994]]

 t_gt:
[ 0.74692922 -0.66395227  0.03555462]

Pose Error in degrees for R and t:
179.4286161377374 56.970207400167496

Number of keypoints:
Image1: 155
Image2: 155

 R_estimated:
[[ 9.99954413e-01 -9.53778760e-03  4.50341930e-04]
 [ 9.53791929e-03  9.99954471e-01 -2.91172685e-04]
 [-4.47544283e-04  2.95454736e-04  9.99999856e-01]]

 t_estimated:
[[-0.23582174]
 [-0.97179288]
 [-0.00259145]]

 R_gt:
[[ 0.92429048 -0.38128253 -0.01766984]
 [ 0.3815605   0.92419597  0.01656833]
 [ 0.01001371 -0.02205562  0.99970673]]

 t_gt:
[ 0.73950131 -0.67212703  0.03718965]

Pose Error in degrees for R and t:
21.923919842848868 61.40068227565601

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 9.99989354e-01  4.60064949e-03  3.55438750e-04]
 [-4.60105691e-03  9.99988749e-01  1.15405546e-03]
 [-3.50125346e-04 -1.15567857e-03  9.99999271e-01]]

 t_estimated:
[[0.99881085]
 [0.04856601]
 [0.00427022]]

 R_gt:
[[ 0.99153987 -0.1238954   0.03871689]
 [ 0.11632807  0.98049108  0.15845368]
 [-0.05759264 -0.15260903  0.98660739]]

 t_gt:
[ 0.44399041 -0.60824381  0.65796047]

Pose Error in degrees for R and t:
11.776276632451758 65.37155749847315

Number of keypoints:
Image1: 37
Image2: 37

 R_estimated:
[[ 1.00000000e+00  7.51892974e-07  6.15242662e-07]
 [-7.51892971e-07  1.00000000e+00 -4.06915910e-09]
 [-6.15242665e-07  4.06869650e-09  1.00000000e+00]]

 t_estimated:
[[9.12160756e-01]
 [4.09831978e-01]
 [7.11513850e-04]]

 R_gt:
[[ 0.96693975 -0.25473717  0.01170534]
 [ 0.24597427  0.9438206   0.22068214]
 [-0.06726432 -0.21050679  0.97527563]]

 t_gt:
[ 0.57940714 -0.63570686  0.51006289]

Pose Error in degrees for R and t:
19.43530194957734 74.43434799825921

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.99999316e-01  3.27626850e-04  1.12270893e-03]
 [-3.26250559e-04  9.99999195e-01 -1.22583071e-03]
 [-1.12310964e-03  1.22546359e-03  9.99998618e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.94742718 -0.31783861  0.03689062]
 [ 0.30162226  0.92562087  0.22858624]
 [-0.10680036 -0.20544231  0.97282468]]

 t_gt:
[ 0.60691453 -0.62302124  0.49345647]

Pose Error in degrees for R and t:
22.683613079894684 52.74509638863431

Number of keypoints:
Image1: 377
Image2: 377

 R_estimated:
[[-4.85345447e-02  9.98764202e-01  1.06988710e-02]
 [ 9.98821253e-01  4.85393572e-02 -1.90461658e-04]
 [-7.09542605e-04  1.06770157e-02 -9.99942747e-01]]

 t_estimated:
[[9.10093069e-01]
 [4.14403149e-01]
 [7.96929133e-04]]

 R_gt:
[[ 0.99964132  0.00453712 -0.02639463]
 [-0.00398891  0.99977551  0.0207786 ]
 [ 0.0264833  -0.02066544  0.99943562]]

 t_gt:
[-0.2691153  -0.35013949 -0.89720638]

Pose Error in degrees for R and t:
178.5342176613882 66.99982842568801

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 0.01547843 -0.99987951  0.00117325]
 [-0.99987884 -0.01548034 -0.00163305]
 [ 0.00165101 -0.00114783 -0.99999798]]

 t_estimated:
[[0.72338934]
 [0.69043993]
 [0.00074885]]

 R_gt:
[[ 0.99768247 -0.06795848 -0.00344121]
 [ 0.06796587  0.99768584  0.00188537]
 [ 0.0033043  -0.00211449  0.99999219]]

 t_gt:
[ 0.60039697 -0.79968665 -0.00497512]

Pose Error in degrees for R and t:
179.93474608973767 83.23377838756552

Number of keypoints:
Image1: 222
Image2: 222

 R_estimated:
[[-9.42233533e-01  3.34954270e-01 -1.26739704e-03]
 [-3.34952539e-01 -9.42233961e-01 -1.39994502e-03]
 [-1.66310210e-03 -8.94557287e-04  9.99998217e-01]]

 t_estimated:
[[0.62783627]
 [0.77834496]
 [0.00086005]]

 R_gt:
[[ 0.97855626 -0.20582891 -0.00779943]
 [ 0.20548957  0.97814487 -0.03171601]
 [ 0.01415618  0.02943407  0.99946589]]

 t_gt:
[ 0.72766544 -0.6769355  -0.11073091]

Pose Error in degrees for R and t:
172.30159016957387 85.97855635577035

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99737025e-01 -2.29319461e-02  8.48135293e-05]
 [ 2.29319437e-02  9.99737028e-01  2.92464663e-05]
 [-8.54619041e-05 -2.72938361e-05  9.99999996e-01]]

 t_estimated:
[[9.81793078e-01]
 [1.89952307e-01]
 [6.88019663e-04]]

 R_gt:
[[ 0.99105097 -0.12939803 -0.03277899]
 [ 0.12968075  0.9915336   0.00666373]
 [ 0.03163897 -0.01085415  0.99943974]]

 t_gt:
[ 0.84235525 -0.53315402 -0.0786411 ]

Pose Error in degrees for R and t:
6.424807975043111 43.47367084551455

Number of keypoints:
Image1: 99
Image2: 99

 R_estimated:
[[ 5.57961337e-01  8.29866417e-01  9.36609650e-04]
 [-8.29862555e-01  5.57961701e-01 -2.62295346e-03]
 [-2.69929330e-03  6.86249344e-04  9.99996121e-01]]

 t_estimated:
[[0.81948872]
 [0.57309326]
 [0.00153591]]

 R_gt:
[[ 0.93559143 -0.35217097 -0.02538382]
 [ 0.35263313  0.93561237  0.01672723]
 [ 0.0178583  -0.02460059  0.99953752]]

 t_gt:
[ 0.90195068 -0.43164408  0.01297545]

Pose Error in degrees for R and t:
76.74505678880645 60.54196066132096

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.85504824 -0.51853076 -0.00428433]
 [ 0.51854623  0.85503959  0.00413583]
 [ 0.00151872 -0.00575796  0.99998227]]

 t_estimated:
[[0.93986258]
 [0.34154815]
 [0.00178694]]

 R_gt:
[[ 8.74860444e-01 -4.84355764e-01 -4.17641556e-03]
 [ 4.84354905e-01  8.74869996e-01 -1.28534003e-03]
 [ 4.27634136e-03 -8.97321279e-04  9.99990652e-01]]

 t_gt:
[ 0.92756336 -0.37344712 -0.01278541]

Pose Error in degrees for R and t:
2.2867480225097743 41.9087909014197

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-0.7857294   0.56472314  0.25242244]
 [ 0.61455624  0.75908984  0.21471665]
 [-0.07035585  0.32383697 -0.94349334]]

 t_estimated:
[[0.99798933]
 [0.06322104]
 [0.00451579]]

 R_gt:
[[ 0.99754407  0.04869618  0.05034284]
 [-0.04796218  0.99872535 -0.01569339]
 [-0.05104301  0.01324099  0.99860934]]

 t_gt:
[-0.74148083  0.50403541  0.44289332]

Pose Error in degrees for R and t:
167.50332907747938 45.0795538403446

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[ 0.98129112 -0.19249178 -0.0038273 ]
 [ 0.19247865  0.98129474 -0.00354918]
 [ 0.0044389   0.0027461   0.99998638]]

 t_estimated:
[[-0.06335652]
 [-0.99786526]
 [-0.01583913]]

 R_gt:
[[ 0.99618364  0.08722846 -0.00319083]
 [-0.08657183  0.99203199  0.0915285 ]
 [ 0.01114977 -0.09090199  0.99579787]]

 t_gt:
[-0.67726189  0.3827687   0.62833467]

Pose Error in degrees for R and t:
16.97745214711714 69.57414863173906

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[-0.98320303  0.18227224  0.00941443]
 [ 0.18235496  0.9831931   0.00883124]
 [-0.00764651  0.01039967 -0.99991669]]

 t_estimated:
[[9.66259661e-01]
 [2.57568826e-01]
 [7.53125223e-04]]

 R_gt:
[[ 0.99203314  0.00706786 -0.12577894]
 [ 0.01913094  0.9783933   0.20586574]
 [ 0.12451544 -0.20663044  0.9704636 ]]

 t_gt:
[ 0.29559348 -0.56804571  0.7680811 ]

Pose Error in degrees for R and t:
172.1995132309951 81.95865476058565

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.98395865e-01  5.66165828e-02 -5.09169549e-04]
 [-5.66163279e-02  9.98395883e-01  5.01783755e-04]
 [ 5.36762063e-04 -4.72151516e-04  9.99999744e-01]]

 t_estimated:
[[-7.77067376e-01]
 [-6.29416964e-01]
 [-7.61084599e-04]]

 R_gt:
[[ 0.99060417  0.13609652 -0.01346914]
 [-0.1366636   0.98881385 -0.05975943]
 [ 0.00518533  0.06103961  0.99812151]]

 t_gt:
[-0.34740385  0.9036512  -0.25044974]

Pose Error in degrees for R and t:
5.801085643230713 72.62486908342083

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[-4.87931862e-01 -8.72880206e-01 -1.62611459e-03]
 [ 8.72881323e-01 -4.87932571e-01  4.49410251e-05]
 [-8.32662402e-04 -1.39747690e-03  9.99998677e-01]]

 t_estimated:
[[ 9.92970849e-01]
 [-1.18356117e-01]
 [ 8.49687356e-04]]

 R_gt:
[[ 0.98100319  0.19327357  0.01668617]
 [-0.19277723  0.98085695 -0.02750507]
 [-0.02168266  0.0237672   0.99948207]]

 t_gt:
[-0.38684184  0.92106027  0.04473675]

Pose Error in degrees for R and t:
130.3456278636087 60.4556064143289

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[-4.44549885e-01 -8.95754093e-01  6.08106827e-05]
 [-8.95750294e-01  4.44548195e-01  2.88330607e-03]
 [-2.60976649e-03  1.22730219e-03 -9.99995841e-01]]

 t_estimated:
[[0.79348949]
 [0.60858131]
 [0.00179523]]

 R_gt:
[[ 0.9783681   0.19469702  0.06993398]
 [-0.20130163  0.9739052   0.10481897]
 [-0.047701   -0.11662737  0.99202941]]

 t_gt:
[-0.38545501  0.78154171  0.49052726]

Pose Error in degrees for R and t:
173.67026628336765 80.1739338894522

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 9.99999496e-01 -1.00064254e-03  8.77831364e-05]
 [ 1.00064132e-03  9.99999499e-01  1.39863333e-05]
 [-8.77970878e-05 -1.38984868e-05  9.99999996e-01]]

 t_estimated:
[[0.65328902]
 [0.75710765]
 [0.0012087 ]]

 R_gt:
[[ 0.994973   -0.09407086  0.03434254]
 [ 0.09396501  0.99556473  0.00468701]
 [-0.03463052 -0.00143684  0.99939954]]

 t_gt:
[ 0.92603874 -0.23213621  0.29759878]

Pose Error in degrees for R and t:
5.694397700455369 64.55918292523411

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.70361540e-01 -2.41653557e-01  1.42862960e-03]
 [ 2.41655043e-01  9.70361729e-01 -9.77618133e-04]
 [-1.15004259e-03  1.29387859e-03  9.99998502e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.99127991 -0.10289959  0.08231394]
 [ 0.10475917  0.99432373 -0.01858484]
 [-0.07993354  0.02704522  0.9964334 ]]

 t_gt:
[0.8837291  0.07264633 0.46232607]

Pose Error in degrees for R and t:
9.314456003579389 85.48976560945287

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 9.88397578e-01  1.51888829e-01  1.05661424e-04]
 [-1.51888864e-01  9.88397442e-01  5.18518574e-04]
 [-2.56783023e-05 -5.28551296e-04  9.99999860e-01]]

 t_estimated:
[[-7.73413700e-01]
 [-6.33901246e-01]
 [-6.77244921e-04]]

 R_gt:
[[ 0.98683151 -0.06826881  0.14663658]
 [ 0.07641922  0.99578691 -0.05067877]
 [-0.14255851  0.06121711  0.9878917 ]]

 t_gt:
[0.54440402 0.49427819 0.67772659]

Pose Error in degrees for R and t:
15.688647226104758 42.70697164490628

Number of keypoints:
Image1: 142
Image2: 142

 R_estimated:
[[-9.82559610e-01  1.85932974e-01 -2.35416499e-03]
 [-1.85932251e-01 -9.82562427e-01 -5.23927677e-04]
 [-2.41052950e-03 -7.70749768e-05  9.99997092e-01]]

 t_estimated:
[[0.79670828]
 [0.60436314]
 [0.00105107]]

 R_gt:
[[ 0.99491012  0.08170369 -0.05897188]
 [-0.08004276  0.99634015  0.03000303]
 [ 0.06120717 -0.02513015  0.99780813]]

 t_gt:
[-0.20590153  0.83418585 -0.51160388]

Pose Error in degrees for R and t:
164.6515868726379 70.14932169011661

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[-0.14423924 -0.9895218  -0.00645376]
 [ 0.98954222 -0.14422877 -0.00206076]
 [ 0.00110835 -0.00668351  0.99997705]]

 t_estimated:
[[0.99986959]
 [0.01610837]
 [0.0011506 ]]

 R_gt:
[[ 0.98829173  0.09159623 -0.12201857]
 [-0.09063292  0.99579372  0.01342823]
 [ 0.12273567 -0.00221308  0.99243634]]

 t_gt:
[ 0.11198048  0.53194865 -0.83933963]

Pose Error in degrees for R and t:
103.68506937205947 83.13277332829618

Number of keypoints:
Image1: 105
Image2: 105

 R_estimated:
[[ 7.42009318e-01  6.70388811e-01  1.00706122e-03]
 [-6.70389404e-01  7.42009348e-01  4.17540017e-04]
 [-4.67334682e-04 -9.84941752e-04  9.99999406e-01]]

 t_estimated:
[[0.38263465]
 [0.92389924]
 [0.00096139]]

 R_gt:
[[ 0.98998229  0.04152199 -0.13494678]
 [-0.03660628  0.99858037  0.03869922]
 [ 0.13636247 -0.03337232  0.99009654]]

 t_gt:
[ 0.47662085 -0.04184249 -0.87811262]

Pose Error in degrees for R and t:
40.630315484231964 81.78609167355351

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99999949e-01 -3.03970698e-04  9.89105752e-05]
 [ 3.04002420e-04  9.99999902e-01 -3.20857797e-04]
 [-9.88130342e-05  3.20887849e-04  9.99999944e-01]]

 t_estimated:
[[-8.07433269e-01]
 [-5.89958406e-01]
 [-7.71187459e-04]]

 R_gt:
[[ 0.98976242  0.14198891 -0.01448838]
 [-0.1425247   0.98864875 -0.04753017]
 [ 0.00757452  0.04910824  0.99876492]]

 t_gt:
[-0.33446187  0.91685663 -0.21796601]

Pose Error in degrees for R and t:
8.675259039928196 74.29505434542624

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.93475597e-01 -1.14043568e-01 -5.50059862e-04]
 [ 1.14043798e-01  9.93475640e-01  4.05988998e-04]
 [ 5.00170640e-04 -4.66071078e-04  9.99999766e-01]]

 t_estimated:
[[-0.68406399]
 [-0.72942141]
 [-0.00092566]]

 R_gt:
[[ 0.9680163   0.25011659 -0.01965526]
 [-0.25087129  0.96409722 -0.08706304]
 [-0.00282674  0.08920902  0.99600889]]

 t_gt:
[-0.31276201  0.93550415 -0.16435297]

Pose Error in degrees for R and t:
21.696191693379347 62.07759305424318

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 9.20840092e-01 -3.89940374e-01 -1.74515326e-04]
 [ 3.89940358e-01  9.20840107e-01 -1.17399870e-04]
 [ 2.06479661e-04  4.00559379e-05  9.99999978e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.96066323  0.27738038  0.01362439]
 [-0.27750535  0.96068784  0.00832907]
 [-0.01077823 -0.01178256  0.99987217]]

 t_gt:
[-0.34805147  0.9346112   0.07322621]

Pose Error in degrees for R and t:
39.070099173304584 69.81240992902278

Number of keypoints:
Image1: 336
Image2: 336

 R_estimated:
[[ 5.94301321e-01  8.04242001e-01  8.61907776e-04]
 [-8.04241688e-01  5.94301895e-01 -7.51219447e-04]
 [-1.11639566e-03 -2.46731455e-04  9.99999346e-01]]

 t_estimated:
[[-0.18834782]
 [ 0.98210183]
 [ 0.00104311]]

 R_gt:
[[ 0.99830585 -0.04953812  0.030512  ]
 [ 0.05049569  0.99822915 -0.03143884]
 [-0.02890124  0.032926    0.9990396 ]]

 t_gt:
[ 0.9256348   0.37141088 -0.07248573]

Pose Error in degrees for R and t:
56.454240363271126 79.02699940059138

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[-7.27849402e-01  6.85736950e-01 -2.87655495e-04]
 [-6.85735413e-01 -7.27848548e-01 -1.85338336e-03]
 [-1.48030308e-03 -1.15172841e-03  9.99998241e-01]]

 t_estimated:
[[0.39621991]
 [0.91815515]
 [0.00094664]]

 R_gt:
[[ 0.98874706 -0.13256277  0.06932409]
 [ 0.13407806  0.99081376 -0.01764797]
 [-0.06634882  0.02674408  0.99743784]]

 t_gt:
[ 0.94708212 -0.12868188  0.29406874]

Pose Error in degrees for R and t:
144.39747976848508 75.085269163905

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[-9.42910776e-01 -3.33042310e-01 -1.44524380e-03]
 [-3.33042455e-01  9.42911821e-01 -1.45919612e-04]
 [ 1.41133487e-03  3.43738370e-04 -9.99998945e-01]]

 t_estimated:
[[9.43208320e-01]
 [3.32200944e-01]
 [7.72797295e-04]]

 R_gt:
[[ 0.97930977 -0.16974911  0.11016797]
 [ 0.1732818   0.98459793 -0.02324789]
 [-0.10452454  0.04185695  0.99364136]]

 t_gt:
[0.91180625 0.01419906 0.41037514]

Pose Error in degrees for R and t:
174.30213487854837 30.11074947329711

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 0.1822229  -0.98319427  0.01112849]
 [-0.98322112 -0.18230156 -0.00650977]
 [ 0.00842911 -0.00975554 -0.99991689]]

 t_estimated:
[[0.87074086]
 [0.4917407 ]
 [0.00119937]]

 R_gt:
[[ 0.96990325 -0.24347235  0.00283537]
 [ 0.24340458  0.96980848  0.01499988]
 [-0.00640213 -0.01385867  0.99988366]]

 t_gt:
[ 0.87048929 -0.48918266  0.05430209]

Pose Error in degrees for R and t:
179.1585721283487 58.836319682012856

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[-7.56114859e-01 -6.54434669e-01 -2.36302035e-03]
 [ 6.54438866e-01 -7.56108189e-01 -3.19015939e-03]
 [ 3.01051872e-04 -3.95857928e-03  9.99992119e-01]]

 t_estimated:
[[0.96696585]
 [0.25490217]
 [0.00138534]]

 R_gt:
[[ 0.92565485 -0.37748335  0.02585018]
 [ 0.37750576  0.92599734  0.00421065]
 [-0.02552719  0.00586084  0.99965723]]

 t_gt:
[ 0.89763918 -0.44029213  0.01966601]

Pose Error in degrees for R and t:
116.94978873646998 40.9062314889558

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 9.99999697e-01 -7.43471147e-04 -2.31259224e-04]
 [ 7.43537734e-04  9.99999682e-01  2.87976888e-04]
 [ 2.31045048e-04 -2.88148751e-04  9.99999932e-01]]

 t_estimated:
[[-0.00623688]
 [-0.99998001]
 [-0.00103948]]

 R_gt:
[[ 0.70113148 -0.71298453 -0.00816425]
 [ 0.71299445  0.70116599 -0.00218434]
 [ 0.00728168 -0.00428899  0.99996479]]

 t_gt:
[ 0.96775699 -0.25181825 -0.00582955]

Pose Error in degrees for R and t:
45.43941448425229 75.77185965337219

Number of keypoints:
Image1: 163
Image2: 163

 R_estimated:
[[ 9.98772242e-01 -4.95379490e-02 -1.83060311e-05]
 [ 4.95379511e-02  9.98772232e-01  1.41588354e-04]
 [ 1.12695589e-05 -1.42321361e-04  9.99999990e-01]]

 t_estimated:
[[0.89696982]
 [0.44209039]
 [0.00111364]]

 R_gt:
[[ 0.98521651 -0.16917427 -0.0269911 ]
 [ 0.16997313  0.98496947  0.03071596]
 [ 0.02138933 -0.03484874  0.99916342]]

 t_gt:
[ 0.55580092 -0.82781074  0.07625425]

Pose Error in degrees for R and t:
7.310746120682552 82.37699276099046

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.43171027e-01  3.32306987e-01  6.92603924e-04]
 [-3.32306898e-01  9.43171282e-01 -2.43577185e-04]
 [-7.34186531e-04 -4.22117642e-07  9.99999730e-01]]

 t_estimated:
[[0.30297644]
 [0.95299708]
 [0.00135772]]

 R_gt:
[[ 0.97178439 -0.22968684 -0.05366718]
 [ 0.23234505  0.97134552  0.05002229]
 [ 0.04064125 -0.06107993  0.99730522]]

 t_gt:
[ 0.57125683 -0.81503923  0.09683336]

Pose Error in degrees for R and t:
33.04981423734069 52.87749862817645

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[ 8.17676075e-01 -5.75297762e-01  2.09361234e-02]
 [ 5.75410614e-01  8.17864317e-01  7.65127476e-04]
 [-1.75630844e-02  1.14212412e-02  9.99780523e-01]]

 t_estimated:
[[0.99682918]
 [0.07895677]
 [0.0098696 ]]

 R_gt:
[[ 0.93994316 -0.33158093 -0.08099993]
 [ 0.33717421  0.93889598  0.06919045]
 [ 0.05310837 -0.09234565  0.99430972]]

 t_gt:
[ 0.6475307  -0.74819786  0.14458197]

Pose Error in degrees for R and t:
17.089760518389895 53.996888631947776

Number of keypoints:
Image1: 217
Image2: 217

 R_estimated:
[[ 3.05507499e-02 -9.99532705e-01 -1.01117361e-03]
 [-9.99533216e-01 -3.05506816e-02 -8.29331785e-05]
 [ 5.20023814e-05  1.01323528e-03 -9.99999485e-01]]

 t_estimated:
[[0.75933157]
 [0.65070302]
 [0.00106941]]

 R_gt:
[[ 0.99341951 -0.11103998  0.02809165]
 [ 0.11172534  0.99344707 -0.02408481]
 [-0.02523391  0.02706457  0.99931476]]

 t_gt:
[ 0.67494747 -0.73615337  0.05024067]

Pose Error in degrees for R and t:
180.0 88.07762785793017

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[-2.22955707e-01 -9.74827454e-01  1.47938208e-03]
 [-9.74828296e-01  2.22954235e-01 -1.09673902e-03]
 [ 7.39296805e-04 -1.68666773e-03 -9.99998304e-01]]

 t_estimated:
[[0.76709854]
 [0.64152841]
 [0.00106542]]

 R_gt:
[[ 0.96898785 -0.24668065  0.01454299]
 [ 0.2471048   0.96764669 -0.05097972]
 [-0.00149682  0.05299122  0.998593  ]]

 t_gt:
[ 0.76114025 -0.64095977 -0.09917707]

Pose Error in degrees for R and t:
178.5042036104747 80.06272172833903

Number of keypoints:
Image1: 129
Image2: 129

 R_estimated:
[[ 9.43259517e-01  3.32056362e-01 -2.37955078e-04]
 [-3.32056287e-01  9.43259524e-01  3.04969705e-04]
 [ 3.25720525e-04 -2.08651096e-04  9.99999925e-01]]

 t_estimated:
[[0.80917617]
 [0.58756549]
 [0.00084908]]

 R_gt:
[[ 0.92966042 -0.36312924  0.0622048 ]
 [ 0.36597574  0.929648   -0.04260766]
 [-0.04235675  0.06237601  0.99715243]]

 t_gt:
[ 0.7903466  -0.61265687 -0.00195203]

Pose Error in degrees for R and t:
41.02684612962191 73.7665348610094

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.53817344e-01 -3.00383477e-01 -1.49709982e-03]
 [ 3.00381943e-01  9.53818288e-01 -1.16709346e-03]
 [ 1.77853678e-03  6.63492232e-04  9.99998198e-01]]

 t_estimated:
[[ 0.16671098]
 [-0.9859922 ]
 [-0.00517946]]

 R_gt:
[[ 0.99760964  0.06870553  0.00736461]
 [-0.06899958  0.99621586  0.05283701]
 [-0.00370659 -0.05321833  0.99857599]]

 t_gt:
[-0.69788507  0.46759778  0.5425023 ]

Pose Error in degrees for R and t:
21.655288478505092 54.53519648750631

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 6.13226310e-02  9.98117907e-01  4.21517307e-04]
 [ 9.98110479e-01 -6.13238027e-02  3.85532762e-03]
 [ 3.87392058e-03  1.84302008e-04 -9.99992479e-01]]

 t_estimated:
[[-0.37121018]
 [-0.92854828]
 [-0.00104566]]

 R_gt:
[[ 0.98876896  0.03471255 -0.14536648]
 [-0.00607101  0.98117885  0.19300488]
 [ 0.14933082 -0.18995374  0.97036978]]

 t_gt:
[ 0.14293239 -0.61314865  0.77692925]

Pose Error in degrees for R and t:
165.9400577359403 58.97127417071981

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.99751775  0.07023582 -0.00502751]
 [-0.07019542  0.99750271  0.0078063 ]
 [ 0.00556323 -0.00743401  0.99995689]]

 t_estimated:
[[-0.94273125]
 [-0.33353738]
 [-0.00325683]]

 R_gt:
[[ 0.97762747 -0.05292087 -0.20357995]
 [ 0.10800288  0.95680429  0.26992662]
 [ 0.18050133 -0.28587401  0.94111373]]

 t_gt:
[ 0.58471301 -0.60998067  0.53482172]

Pose Error in degrees for R and t:
21.12040557309304 69.54218194457809

Number of keypoints:
Image1: 240
Image2: 240

 R_estimated:
[[ 1.00000000e+00 -1.05204506e-05  2.55832427e-05]
 [ 1.05200618e-05  1.00000000e+00  1.51974969e-05]
 [-2.55834026e-05 -1.51972277e-05  1.00000000e+00]]

 t_estimated:
[[-0.58138492]
 [-0.81362715]
 [-0.00155867]]

 R_gt:
[[ 0.99506493 -0.09886771  0.00837443]
 [ 0.09875782  0.99503138  0.01259853]
 [-0.00957843 -0.0117085   0.99988518]]

 t_gt:
[ 0.09972503 -0.98685675  0.12715608]

Pose Error in degrees for R and t:
5.73644319445206 41.8618003913916

Number of keypoints:
Image1: 195
Image2: 195

 R_estimated:
[[ 0.99996486  0.00351712  0.0076097 ]
 [-0.0034811   0.9999827  -0.00474046]
 [-0.00762624  0.00471381  0.99995981]]

 t_estimated:
[[-9.05834082e-01]
 [-4.23631883e-01]
 [-8.02333111e-04]]

 R_gt:
[[ 0.98114793 -0.19107387  0.02895155]
 [ 0.19082675  0.98156044  0.01109095]
 [-0.03053771 -0.00535549  0.99951876]]

 t_gt:
[ 0.21583051 -0.96341426  0.15890298]

Pose Error in degrees for R and t:
11.308000619329986 77.7311674040246

Number of keypoints:
Image1: 143
Image2: 143

 R_estimated:
[[-0.41738762  0.90872579 -0.0022401 ]
 [-0.90872473 -0.41739175 -0.00187127]
 [-0.00263547  0.00125459  0.99999574]]

 t_estimated:
[[0.32121294]
 [0.94700642]
 [0.00103952]]

 R_gt:
[[ 0.94422179 -0.3292938   0.00327275]
 [ 0.32871294  0.94306151  0.05081689]
 [-0.01982027 -0.04690643  0.99870246]]

 t_gt:
[ 0.42618163 -0.88837414  0.17076475]

Pose Error in degrees for R and t:
133.91141564040876 45.23315765607215

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[ 1.00875456e-01 -9.94898878e-01 -6.03387752e-04]
 [-9.94893066e-01 -1.00876935e-01  3.41054966e-03]
 [-3.45401994e-03  2.56265538e-04 -9.99994002e-01]]

 t_estimated:
[[0.65898775]
 [0.7521513 ]
 [0.00188879]]

 R_gt:
[[ 0.99377077  0.11009429 -0.0173147 ]
 [-0.10996984  0.9939023   0.00803561]
 [ 0.01809436 -0.0060804   0.99981822]]

 t_gt:
[-0.53511707  0.8351569  -0.12713252]

Pose Error in degrees for R and t:
179.7289972139117 74.02078482220855

Number of keypoints:
Image1: 252
Image2: 252

 R_estimated:
[[ 9.97628943e-01 -6.88198591e-02 -5.64721560e-04]
 [ 6.88200914e-02  9.97629006e-01  4.02687609e-04]
 [ 5.35669704e-04 -4.40597003e-04  9.99999759e-01]]

 t_estimated:
[[7.56266502e-01]
 [6.54263354e-01]
 [6.64696731e-04]]

 R_gt:
[[ 0.99550747  0.08642642 -0.03868342]
 [-0.08572003  0.99612655  0.01958486]
 [ 0.0402268  -0.01618109  0.99905943]]

 t_gt:
[-0.26702231  0.95643683 -0.11801558]

Pose Error in degrees for R and t:
9.216154375615481 64.92886850158737

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99905463e-01  1.37370328e-02  5.98627447e-04]
 [-1.37368336e-02  9.99905589e-01 -3.35619400e-04]
 [-6.03181344e-04  3.27364426e-04  9.99999765e-01]]

 t_estimated:
[[9.96346278e-01]
 [8.54011096e-02]
 [8.62637470e-04]]

 R_gt:
[[ 0.99935977  0.01287776  0.03338531]
 [-0.01069312  0.99783916 -0.06483391]
 [-0.03414776  0.06443595  0.99733799]]

 t_gt:
[ 0.08121693  0.88203113 -0.46413887]

Pose Error in degrees for R and t:
4.15031008508811 81.03412126836676

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.95085246e-01  9.90202280e-02 -5.89450518e-04]
 [-9.90193352e-02  9.95084541e-01  1.38855110e-03]
 [ 7.24047745e-04 -1.32335971e-03  9.99998862e-01]]

 t_estimated:
[[0.56659263]
 [0.82399738]
 [0.00105618]]

 R_gt:
[[ 0.99786335 -0.01552407  0.06347243]
 [ 0.00860163  0.99412211  0.10792275]
 [-0.06477407 -0.10714492  0.99213127]]

 t_gt:
[-0.02988503 -0.13858865  0.98989902]

Pose Error in degrees for R and t:
9.574004933782335 82.52556437323078

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.99876697 -0.04958316  0.00246021]
 [ 0.04958916  0.99876672 -0.00244152]
 [-0.00233612  0.00256051  0.99999399]]

 t_estimated:
[[0.09186025]
 [0.99576513]
 [0.00367441]]

 R_gt:
[[ 0.99564085 -0.06569526  0.06621571]
 [ 0.05116621  0.97821354  0.20119702]
 [-0.0779909  -0.1969308   0.9773097 ]]

 t_gt:
[ 0.11867087 -0.29257655  0.94884993]

Pose Error in degrees for R and t:
12.329913653109701 73.92174914051444

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[-0.98538259 -0.17031317 -0.00381672]
 [ 0.17029385 -0.98538105  0.00491852]
 [-0.00459861  0.00419666  0.99998062]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.9927175  -0.08612958  0.08422553]
 [ 0.06329851  0.96780071  0.24362998]
 [-0.10249668 -0.23652305  0.9662046 ]]

 t_gt:
[ 0.13569206 -0.27950002  0.95050902]

Pose Error in degrees for R and t:
165.9147314582502 86.68896602718391

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 9.99999889e-01  3.61749449e-04 -3.00971558e-04]
 [-3.61622151e-04  9.99999845e-01  4.22904993e-04]
 [ 3.01124497e-04 -4.22796108e-04  9.99999865e-01]]

 t_estimated:
[[-0.79607332]
 [-0.6051995 ]
 [-0.00091138]]

 R_gt:
[[ 0.99642492  0.05970556 -0.05977608]
 [-0.05267038  0.99219074  0.11306259]
 [ 0.06605976 -0.10951077  0.9917882 ]]

 t_gt:
[0.06230867 0.18615279 0.9805431 ]

Pose Error in degrees for R and t:
7.991770133043663 80.60989982706185

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 9.71499187e-01  2.37042869e-01  9.16518883e-05]
 [-2.37042824e-01  9.71499140e-01 -3.47831266e-04]
 [-1.71490652e-04  3.16192370e-04  9.99999935e-01]]

 t_estimated:
[[-7.74179920e-01]
 [ 6.32965252e-01]
 [-6.64195781e-04]]

 R_gt:
[[ 0.98684086  0.1424563  -0.07649906]
 [-0.13185823  0.98281027  0.12921795]
 [ 0.09359199 -0.1174305   0.98866076]]

 t_gt:
[-0.32084777  0.84553077  0.4267721 ]

Pose Error in degrees for R and t:
10.407720245568447 38.436090851205556

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[-0.34389878  0.92462446 -0.16371695]
 [-0.92316977 -0.36480641 -0.12113572]
 [-0.17173004  0.10948012  0.97904183]]

 t_estimated:
[[0.01437759]
 [0.99989578]
 [0.00130705]]

 R_gt:
[[ 0.98116181  0.17305812 -0.08586829]
 [-0.16116803  0.9783115   0.13012333]
 [ 0.10652517 -0.11383324  0.98777233]]

 t_gt:
[-0.27476763  0.91428227  0.29764186]

Pose Error in degrees for R and t:
103.0295040823743 24.40806192025065

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[ 9.86463741e-01  1.63979532e-01  3.39143585e-05]
 [-1.63979534e-01  9.86463739e-01  6.21900508e-05]
 [-2.32573895e-05 -6.69094909e-05  9.99999997e-01]]

 t_estimated:
[[ 5.64034688e-01]
 [-8.25750794e-01]
 [ 7.04889237e-04]]

 R_gt:
[[ 0.98703013 -0.15995796 -0.01354296]
 [ 0.15893049  0.98558852 -0.05793181]
 [ 0.02261534  0.05502804  0.99822931]]

 t_gt:
[ 0.493873   -0.72389744 -0.4817281 ]

Pose Error in degrees for R and t:
18.92864178536494 28.838731006269047

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.97465277e-01 -7.11545614e-02  2.21434954e-04]
 [ 7.11546329e-02  9.97465241e-01 -3.33744175e-04]
 [-1.97126249e-04  3.48654349e-04  9.99999920e-01]]

 t_estimated:
[[9.39290779e-01]
 [3.43120930e-01]
 [9.26627834e-04]]

 R_gt:
[[ 0.97681959 -0.20753122  0.05247698]
 [ 0.20905744  0.97757223 -0.02543691]
 [-0.04602065  0.03581766  0.99829839]]

 t_gt:
[ 0.19851705 -0.97988305  0.0204983 ]

Pose Error in degrees for R and t:
8.617730770416367 81.38847907399938

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 9.71736817e-01  2.36066385e-01  4.69554762e-04]
 [-2.36066389e-01  9.71736928e-01 -4.68753855e-05]
 [-4.67349405e-04 -6.52955593e-05  9.99999889e-01]]

 t_estimated:
[[0.30521805]
 [0.95228032]
 [0.00203479]]

 R_gt:
[[ 0.94337409 -0.32970077  0.03661947]
 [ 0.33062538  0.94348709 -0.02278859]
 [-0.02703661  0.03360578  0.99906944]]

 t_gt:
[ 0.40332483 -0.91505504  0.00182964]

Pose Error in degrees for R and t:
33.03109089752025 41.55812141490386

Number of keypoints:
Image1: 278
Image2: 278

 R_estimated:
[[-2.03110335e-01 -9.79155707e-01 -5.41019456e-04]
 [-9.79154746e-01  2.03110906e-01 -1.39429250e-03]
 [ 1.47511641e-03  2.46546551e-04 -9.99998882e-01]]

 t_estimated:
[[0.78874692]
 [0.61471735]
 [0.00093564]]

 R_gt:
[[ 0.99885432 -0.04294819 -0.02110097]
 [ 0.04331069  0.99891634  0.01706721]
 [ 0.02034501 -0.0179611   0.99963234]]

 t_gt:
[ 0.5069228  -0.85612224 -0.10041905]

Pose Error in degrees for R and t:
179.63653391387618 82.73068623561548

Number of keypoints:
Image1: 229
Image2: 229

 R_estimated:
[[ 9.97094909e-01  7.61689496e-02  1.81423970e-04]
 [-7.61689266e-02  9.97094919e-01 -1.30359134e-04]
 [-1.90826237e-04  1.16161559e-04  9.99999975e-01]]

 t_estimated:
[[0.44772097]
 [0.89417272]
 [0.00103813]]

 R_gt:
[[ 0.99760377 -0.04995454 -0.04787629]
 [ 0.05172904  0.99799161  0.03656772]
 [ 0.04595308 -0.03895668  0.99818387]]

 t_gt:
[ 0.4778833  -0.85471331 -0.20271337]

Pose Error in degrees for R and t:
8.066860735064735 56.59775879370807

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.90063181e-01  1.40623071e-01  2.20396886e-04]
 [-1.40622956e-01  9.90063110e-01 -4.71829288e-04]
 [-2.84556910e-04  4.36147945e-04  9.99999864e-01]]

 t_estimated:
[[0.8330532 ]
 [0.5531921 ]
 [0.00093287]]

 R_gt:
[[ 0.99520006 -0.09071721 -0.03671461]
 [ 0.09151893  0.99558734  0.02079287]
 [ 0.03466601 -0.02405249  0.99910963]]

 t_gt:
[ 0.56664496 -0.81456414 -0.12409171]

Pose Error in degrees for R and t:
13.535537767971993 88.77840816587326

Number of keypoints:
Image1: 66
Image2: 66

 R_estimated:
[[ 0.66649249  0.73522944  0.12339135]
 [-0.69685819  0.55559064  0.45355012]
 [ 0.26490832 -0.38827402  0.88264764]]

 t_estimated:
[[0.99686793]
 [0.07907168]
 [0.00141199]]

 R_gt:
[[ 0.99511868  0.02630337 -0.095122  ]
 [-0.01340736  0.99092523  0.13374513]
 [ 0.09777663 -0.13181721  0.98643995]]

 t_gt:
[-0.01353207 -0.50467412  0.86320387]

Pose Error in degrees for R and t:
51.714720297566274 87.00916152282481

Number of keypoints:
Image1: 51
Image2: 51

 R_estimated:
[[ 0.99377468 -0.11140203 -0.00121387]
 [ 0.11140332  0.99377471  0.00105795]
 [ 0.00108845 -0.0011866   0.9999987 ]]

 t_estimated:
[[-0.50833791]
 [-0.86115691]
 [-0.00116059]]

 R_gt:
[[ 0.97835336 -0.06072057 -0.19783577]
 [ 0.1064339   0.96749573  0.22939855]
 [ 0.17747514 -0.24548942  0.95301484]]

 t_gt:
[ 0.64840841 -0.64714817  0.40095608]

Pose Error in degrees for R and t:
17.604106379160314 76.86653153556796

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 5.92143973e-01  8.05826241e-01  3.09606603e-03]
 [ 8.05822818e-01 -5.92151245e-01  2.54743958e-03]
 [ 3.88613301e-03  9.86429656e-04 -9.99991962e-01]]

 t_estimated:
[[0.67273902]
 [0.73987864]
 [0.00134279]]

 R_gt:
[[ 0.95926097 -0.16200543 -0.23145922]
 [ 0.22186107  0.93918664  0.26211762]
 [ 0.17491812 -0.30279106  0.9368675 ]]

 t_gt:
[ 0.72271244 -0.57849446  0.37819425]

Pose Error in degrees for R and t:
159.75269470212137 86.63543462915155

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[-0.99982682  0.01620072 -0.00915823]
 [-0.0162886  -0.99982121  0.00960376]
 [-0.00900101  0.00975127  0.99991194]]

 t_estimated:
[[7.78516235e-01]
 [6.27624044e-01]
 [7.28947786e-04]]

 R_gt:
[[ 0.99529981  0.09433327 -0.02189754]
 [-0.09405634  0.99547809  0.0133293 ]
 [ 0.0230553  -0.01120715  0.99967113]]

 t_gt:
[-0.49613412  0.86051306 -0.11562097]

Pose Error in degrees for R and t:
173.6610829434977 81.15592777471065

Number of keypoints:
Image1: 185
Image2: 185

 R_estimated:
[[ 9.32867223e-01 -3.60220130e-01  4.50165804e-04]
 [ 3.60220277e-01  9.32867227e-01 -2.99697923e-04]
 [-3.11987700e-04  4.41737219e-04  9.99999854e-01]]

 t_estimated:
[[-0.45614328]
 [-0.88990571]
 [-0.00106576]]

 R_gt:
[[ 0.95032315  0.31124249 -0.00370703]
 [-0.31125773  0.95031387 -0.0046972 ]
 [ 0.00205973  0.00561791  0.99998162]]

 t_gt:
[-0.53404394  0.84448997 -0.04041988]

Pose Error in degrees for R and t:
39.24988251557332 59.47775776595504

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[ 0.9119623  -0.2807962  -0.29912917]
 [ 0.33652718  0.92901189  0.15390373]
 [ 0.23467898 -0.2410195   0.94171937]]

 t_estimated:
[[-0.20735526]
 [-0.97826517]
 [-0.00102651]]

 R_gt:
[[ 0.87541216  0.48024137 -0.05497799]
 [-0.48052571  0.87693634  0.00878346]
 [ 0.05242966  0.01872904  0.99844941]]

 t_gt:
[-0.44812973  0.88563292 -0.12179519]

Pose Error in degrees for R and t:
50.121858142766065 39.345520146817286

Number of keypoints:
Image1: 211
Image2: 211

 R_estimated:
[[-0.27341536  0.95676507  0.09922021]
 [ 0.95694544  0.28100906 -0.07272784]
 [-0.09746524  0.07506342 -0.99240416]]

 t_estimated:
[[ 0.78609613]
 [-0.61493633]
 [ 0.06249949]]

 R_gt:
[[ 0.99465037  0.09784608  0.03313475]
 [-0.09803574  0.99517434  0.00413098]
 [-0.03257171 -0.0073574   0.999443  ]]

 t_gt:
[-0.72885873  0.64144036  0.23941434]

Pose Error in degrees for R and t:
171.63852692956692 17.7426820736751

Number of keypoints:
Image1: 191
Image2: 191

 R_estimated:
[[-0.56664467 -0.82391891  0.00845277]
 [-0.82391418  0.56669262  0.0049896 ]
 [-0.00890115 -0.00413703 -0.99995183]]

 t_estimated:
[[0.90135473]
 [0.43304282]
 [0.00579287]]

 R_gt:
[[ 0.99818728  0.0336292   0.04992053]
 [-0.03387349  0.99941822  0.00403193]
 [-0.04975731 -0.00571551  0.99874576]]

 t_gt:
[-0.51687764  0.59259843  0.6177901 ]

Pose Error in degrees for R and t:
176.78002533475902 78.13005761966845

Number of keypoints:
Image1: 213
Image2: 213

 R_estimated:
[[-1.82836209e-01 -9.83143379e-01 -1.31080137e-04]
 [-9.83142708e-01  1.82835925e-01  1.20005027e-03]
 [-1.15585532e-03  3.48283122e-04 -9.99999271e-01]]

 t_estimated:
[[0.87184302]
 [0.48978331]
 [0.00143631]]

 R_gt:
[[ 0.99482133 -0.09222697  0.042714  ]
 [ 0.0911155   0.99546706  0.02728533]
 [-0.04503775 -0.02325273  0.998715  ]]

 t_gt:
[ 0.75387027 -0.50417425  0.42129319]

Pose Error in degrees for R and t:
177.09653823578395 65.73701315987712

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.91984669e-01  1.26358282e-01 -7.52239481e-06]
 [-1.26358266e-01  9.91984501e-01 -5.81023254e-04]
 [-6.59550013e-05  5.77316677e-04  9.99999831e-01]]

 t_estimated:
[[0.70142019]
 [0.71274747]
 [0.00087133]]

 R_gt:
[[ 0.98887728 -0.14621186 -0.02727077]
 [ 0.1430778   0.98523012 -0.09407448]
 [ 0.04062298  0.08912785  0.99519146]]

 t_gt:
[ 0.53748151 -0.60240074 -0.59010759]

Pose Error in degrees for R and t:
16.561877743843834 86.9691639351914

Number of keypoints:
Image1: 67
Image2: 67

 R_estimated:
[[ 3.95077538e-01  9.18647773e-01  9.68875580e-05]
 [-9.18645724e-01  3.95076875e-01 -2.07290264e-03]
 [-1.94254543e-03  7.29951929e-04  9.99997847e-01]]

 t_estimated:
[[0.00519743]
 [0.99998595]
 [0.00103949]]

 R_gt:
[[ 0.97834598 -0.20407242 -0.03455341]
 [ 0.19667656  0.96862004 -0.15196443]
 [ 0.0644817   0.14187873  0.98778107]]

 t_gt:
[ 0.54001311 -0.51471158 -0.66592629]

Pose Error in degrees for R and t:
78.7808601275886 59.1635042362467

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[ 9.82837720e-01 -1.84472242e-01 -8.41923769e-05]
 [ 1.84472187e-01  9.82837632e-01 -4.49591480e-04]
 [ 1.65684585e-04  4.26344313e-04  9.99999895e-01]]

 t_estimated:
[[ 0.43760618]
 [-0.89916617]
 [-0.0010138 ]]

 R_gt:
[[ 0.9875632  -0.14668704 -0.05659294]
 [ 0.13641213  0.97837392 -0.15548459]
 [ 0.07817663  0.14583208  0.98621522]]

 t_gt:
[ 0.42960553 -0.26634518 -0.86284375]

Pose Error in degrees for R and t:
9.805028274529462 64.63638687657989

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[-0.10922891 -0.99390343  0.01500023]
 [ 0.99399444 -0.10911322  0.00832857]
 [-0.00664107  0.01581987  0.9998528 ]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99868865 -0.04537899  0.02370462]
 [ 0.04330211  0.99570765  0.08180598]
 [-0.02731429 -0.08067245  0.99636603]]

 t_gt:
[ 0.22864192 -0.53108096  0.81588963]

Pose Error in degrees for R and t:
93.82517746602149 76.84262790734913

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.87012909e-01 -1.60628680e-01  1.98607270e-03]
 [ 1.60628533e-01  9.87014903e-01  2.34600999e-04]
 [-1.99796700e-03  8.74657286e-05  9.99998000e-01]]

 t_estimated:
[[0.84867702]
 [0.52891073]
 [0.00086423]]

 R_gt:
[[ 0.99890381 -0.03878173  0.02625253]
 [ 0.03782506  0.99863538  0.03601534]
 [-0.02761291 -0.03498362  0.99900606]]

 t_gt:
[ 0.2769455  -0.61312136  0.73985362]

Pose Error in degrees for R and t:
7.471140700176229 84.91636608269346

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[-0.38080495 -0.92465444 -0.00132539]
 [ 0.92465473 -0.38080259 -0.00173576]
 [ 0.00110027 -0.00188652  0.99999762]]

 t_estimated:
[[9.33820612e-01]
 [3.57740630e-01]
 [8.39766738e-04]]

 R_gt:
[[ 0.99981908 -0.01168902 -0.01502401]
 [ 0.01054367  0.99719112 -0.07416281]
 [ 0.01584936  0.07399182  0.9971324 ]]

 t_gt:
[ 0.11249705  0.14935766 -0.98236282]

Pose Error in degrees for R and t:
111.80059484738904 80.92899195757336

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.82986835e-01 -1.83676016e-01 -6.02301544e-05]
 [ 1.83676024e-01  9.82986818e-01  1.82559264e-04]
 [ 2.56736894e-05 -1.90516189e-04  9.99999982e-01]]

 t_estimated:
[[ 7.30732302e-01]
 [-6.82664054e-01]
 [ 3.03814012e-04]]

 R_gt:
[[ 0.99965446 -0.01205207  0.02337709]
 [ 0.0132422   0.99858881 -0.05143602]
 [-0.02272381  0.05172701  0.99840233]]

 t_gt:
[-0.43054053  0.88305454 -0.18668028]

Pose Error in degrees for R and t:
10.379206393122068 23.43725716146082

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[ 9.97398713e-01 -7.20819540e-02  9.22488262e-06]
 [ 7.20819530e-02  9.97398710e-01  7.92829206e-05]
 [-1.49157539e-05 -7.84117353e-05  9.99999997e-01]]

 t_estimated:
[[0.30093114]
 [0.95364525]
 [0.00108875]]

 R_gt:
[[ 0.99967675 -0.00349585  0.02518801]
 [ 0.00485877  0.99851539 -0.05426161]
 [-0.02496038  0.05436477  0.99820894]]

 t_gt:
[-0.46763332  0.86035979 -0.2027316 ]

Pose Error in degrees for R and t:
5.190930017874186 47.19292672498147

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[-5.09634000e-01 -8.60391053e-01  6.49322021e-04]
 [-8.60391213e-01  5.09633467e-01 -8.30954248e-04]
 [ 3.84029368e-04 -9.82153499e-04 -9.99999444e-01]]

 t_estimated:
[[0.7986847 ]
 [0.60174875]
 [0.00109409]]

 R_gt:
[[ 0.99844303 -0.04384337  0.03449024]
 [ 0.04693561  0.9944017  -0.0946718 ]
 [-0.03014654  0.09614265  0.99491107]]

 t_gt:
[-0.30107179  0.87277593 -0.38421081]

Pose Error in degrees for R and t:
178.9070515898817 73.48238997723689

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[-7.10338023e-01 -7.03860519e-01 -5.12576383e-04]
 [-7.03858409e-01  7.10333657e-01  3.07182345e-03]
 [-1.79803499e-03  2.54281420e-03 -9.99995151e-01]]

 t_estimated:
[[0.94729377]
 [0.3203647 ]
 [0.00098574]]

 R_gt:
[[ 0.99082583 -0.13513626 -0.00190147]
 [ 0.13428797  0.9859986  -0.09886773]
 [ 0.01523543  0.09770652  0.99509895]]

 t_gt:
[ 0.5328167  -0.63499977 -0.55935826]

Pose Error in degrees for R and t:
177.44495105269036 72.49728126283762

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[ 9.29217486e-01  3.69531577e-01  1.12997374e-03]
 [-3.69533305e-01  9.29213244e-01  2.80795028e-03]
 [-1.23602639e-05 -3.02675943e-03  9.99995419e-01]]

 t_estimated:
[[0.52671975]
 [0.85003764]
 [0.00151792]]

 R_gt:
[[ 0.99251911 -0.11891783 -0.02765136]
 [ 0.11543082  0.98777741 -0.10474978]
 [ 0.03976962  0.10077474  0.99411423]]

 t_gt:
[ 0.46801994 -0.42724965 -0.77357292]

Pose Error in degrees for R and t:
29.131976799189808 83.23270455678946

Number of keypoints:
Image1: 54
Image2: 54

 R_estimated:
[[-9.30347910e-01 -3.66676033e-01 -1.20521444e-03]
 [ 3.66677459e-01 -9.30347196e-01 -1.31773458e-03]
 [-6.38086184e-04 -1.66787658e-03  9.99998406e-01]]

 t_estimated:
[[8.69246096e-01]
 [4.94379078e-01]
 [7.42310928e-04]]

 R_gt:
[[ 0.99697872 -0.0671097  -0.0391347 ]
 [ 0.06238478  0.99180596 -0.11149116]
 [ 0.04629647  0.10871367  0.99299406]]

 t_gt:
[ 0.26128433  0.05589658 -0.96364209]

Pose Error in degrees for R and t:
154.80999651356592 75.28334129942546

Number of keypoints:
Image1: 139
Image2: 139

 R_estimated:
[[-0.73683991 -0.67606019 -0.00309295]
 [ 0.67606583 -0.73682121 -0.00543151]
 [ 0.00139308 -0.00609319  0.99998047]]

 t_estimated:
[[9.71599756e-01]
 [2.36628856e-01]
 [8.36144368e-04]]

 R_gt:
[[ 0.99876536 -0.0475568   0.01432493]
 [ 0.04585988  0.99376054  0.10166454]
 [-0.01906982 -0.10088177  0.99471589]]

 t_gt:
[ 0.24311057 -0.53114523  0.81165386]

Pose Error in degrees for R and t:
134.84208317961043 83.61547380740407

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[-7.44054415e-01 -6.68116019e-01 -2.00310100e-03]
 [ 6.68118464e-01 -7.44054324e-01 -9.38659365e-04]
 [-8.63282601e-04 -2.03672241e-03  9.99997553e-01]]

 t_estimated:
[[9.78754851e-01]
 [2.05032266e-01]
 [8.43754182e-04]]

 R_gt:
[[ 0.99693401 -0.07065264  0.03362617]
 [ 0.06475788  0.98622019  0.15223803]
 [-0.0439186  -0.14959362  0.98777171]]

 t_gt:
[ 0.21927445 -0.46545559  0.85747875]

Pose Error in degrees for R and t:
134.31490254790393 83.11332127280153

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 9.99660861e-01  2.60260016e-02  9.00123405e-04]
 [-2.60253641e-02  9.99661029e-01 -7.12780200e-04]
 [-9.18369108e-04  6.89112429e-04  9.99999341e-01]]

 t_estimated:
[[0.12928694]
 [0.99160647]
 [0.00121969]]

 R_gt:
[[ 0.99823134 -0.05371411  0.02546526]
 [ 0.05221132  0.9970444   0.05634968]
 [-0.02841654 -0.05492091  0.9980862 ]]

 t_gt:
[ 0.31666139 -0.63064365  0.70852957]

Pose Error in degrees for R and t:
5.760865912596176 54.299665114591306

Number of keypoints:
Image1: 329
Image2: 329

 R_estimated:
[[ 9.48586009e-01 -3.16517964e-01 -9.80493383e-04]
 [ 3.16519400e-01  9.48583452e-01  2.21440145e-03]
 [ 2.29181960e-04 -2.41089541e-03  9.99997068e-01]]

 t_estimated:
[[-0.61708657]
 [-0.78689479]
 [-0.0008753 ]]

 R_gt:
[[ 0.99838836 -0.02143692  0.05253832]
 [ 0.02109916  0.99975327  0.00699132]
 [-0.0526752  -0.00587118  0.99859466]]

 t_gt:
[-0.48161788 -0.00998921  0.87632439]

Pose Error in degrees for R and t:
17.500572373385438 72.284345624096

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.68659215e-01 -2.48393324e-01  2.86852209e-04]
 [ 2.48393252e-01  9.68659239e-01  2.65937855e-04]
 [-3.43919230e-04 -1.86351001e-04  9.99999923e-01]]

 t_estimated:
[[9.54089993e-01]
 [2.99518709e-01]
 [9.10391214e-04]]

 R_gt:
[[ 0.99610651 -0.03135887  0.0823929 ]
 [ 0.03446338  0.99873829 -0.03652778]
 [-0.08114264  0.03922546  0.9959308 ]]

 t_gt:
[-0.6338587   0.45927591  0.6223253 ]

Pose Error in degrees for R and t:
13.512263452698756 62.18423892810849

Number of keypoints:
Image1: 259
Image2: 259

 R_estimated:
[[ 9.99999391e-01 -1.09691631e-03  1.18920206e-04]
 [ 1.09690078e-03  9.99999390e-01  1.30612777e-04]
 [-1.19063405e-04 -1.30482254e-04  9.99999984e-01]]

 t_estimated:
[[-3.06374434e-02]
 [ 9.99530438e-01]
 [ 5.00040308e-04]]

 R_gt:
[[ 0.9946519  -0.01692822  0.101883  ]
 [ 0.02377744  0.99751042 -0.06638838]
 [-0.10050498  0.06845623  0.99257876]]

 t_gt:
[-0.65382551  0.67741961  0.33706805]

Pose Error in degrees for R and t:
7.070477053501432 45.78908920333148

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.99999981e-01 -1.87541775e-04  6.13292038e-05]
 [ 1.87541822e-04  9.99999982e-01 -7.62282347e-07]
 [-6.13290598e-05  7.73784123e-07  9.99999998e-01]]

 t_estimated:
[[3.60239615e-01]
 [9.32859778e-01]
 [2.32311546e-04]]

 R_gt:
[[ 0.99833496 -0.02525946 -0.05187393]
 [ 0.02489507  0.9996606  -0.00765809]
 [ 0.05205023  0.00635397  0.99862363]]

 t_gt:
[ 0.78078602 -0.20562256 -0.58999369]

Pose Error in degrees for R and t:
3.330437693561739 84.87574283212956

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[ 1.23175628e-01  9.92353075e-01  7.94607523e-03]
 [-9.92384868e-01  1.23173247e-01  7.90174426e-04]
 [-1.94611869e-04 -7.98289505e-03  9.99968117e-01]]

 t_estimated:
[[-0.09056384]
 [ 0.99588916]
 [ 0.0017243 ]]

 R_gt:
[[ 0.99355693  0.04103456 -0.10565271]
 [-0.04033355  0.99914792  0.00875866]
 [ 0.10592167 -0.00444089  0.99436428]]

 t_gt:
[ 0.40809049  0.49593907 -0.76648978]

Pose Error in degrees for R and t:
80.80145393216914 62.89513857197026

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.89930017e-01 -1.41557624e-01 -1.01307023e-05]
 [ 1.41557578e-01  9.89929746e-01 -7.41228522e-04]
 [ 1.14955232e-04  7.32330286e-04  9.99999725e-01]]

 t_estimated:
[[-0.67830253]
 [-0.73477932]
 [-0.00224418]]

 R_gt:
[[ 0.97752779  0.1473296  -0.15077442]
 [-0.14840654  0.98891825  0.004153  ]
 [ 0.14971496  0.01831672  0.98855938]]

 t_gt:
[-0.00340972  0.82905528 -0.55915625]

Pose Error in degrees for R and t:
18.793807277042255 52.727609806212996

Number of keypoints:
Image1: 115
Image2: 115

 R_estimated:
[[ 9.99977876e-01  6.65135422e-03 -8.24932218e-05]
 [-6.65134771e-03  9.99977876e-01  7.89143706e-05]
 [ 8.30162842e-05 -7.83639336e-05  9.99999993e-01]]

 t_estimated:
[[-6.41946220e-01]
 [ 7.66749331e-01]
 [ 7.16741447e-04]]

 R_gt:
[[ 0.99666561  0.08063352 -0.01246038]
 [-0.07994083  0.99561243  0.0486255 ]
 [ 0.01632627 -0.04746683  0.99873982]]

 t_gt:
[-0.53144573  0.79477773  0.29307644]

Pose Error in degrees for R and t:
5.109780548491229 18.053985813711794

Number of keypoints:
Image1: 83
Image2: 83

 R_estimated:
[[ 7.34408359e-01 -6.78707645e-01 -5.43529486e-04]
 [ 6.78707707e-01  7.34408497e-01 -8.75731985e-05]
 [ 4.58609272e-04 -3.04583162e-04  9.99999848e-01]]

 t_estimated:
[[0.73119977]
 [0.68216253]
 [0.00108972]]

 R_gt:
[[ 0.97197092  0.23508077  0.00310444]
 [-0.23505688  0.97144738  0.03221547]
 [ 0.00455722 -0.0320426   0.99947639]]

 t_gt:
[-0.53561645  0.84160103  0.06944581]

Pose Error in degrees for R and t:
56.3698229910517 79.48215585019207

Number of keypoints:
Image1: 69
Image2: 69

 R_estimated:
[[ 8.89029554e-01 -4.57849806e-01 -8.25357940e-05]
 [ 4.57849732e-01  8.89029489e-01 -4.35507499e-04]
 [ 2.72773779e-04  3.49390046e-04  9.99999902e-01]]

 t_estimated:
[[0.69119465]
 [0.72266762]
 [0.0012105 ]]

 R_gt:
[[ 0.89458594  0.44689198 -0.00172121]
 [-0.44647737  0.89390882  0.03980867]
 [ 0.01932812 -0.03484441  0.99920618]]

 t_gt:
[-0.47740953  0.87855992  0.01458128]

Pose Error in degrees for R and t:
53.83668724225111 72.24535310228354

Number of keypoints:
Image1: 179
Image2: 179

 R_estimated:
[[ 9.99999827e-01  9.89266491e-05  5.79589669e-04]
 [-9.91112009e-05  9.99999944e-01  3.18397946e-04]
 [-5.79558138e-04 -3.18455334e-04  9.99999781e-01]]

 t_estimated:
[[0.85067036]
 [0.52569624]
 [0.00184591]]

 R_gt:
[[ 0.98980202 -0.14052218 -0.02333264]
 [ 0.14141245  0.98904876  0.04224624]
 [ 0.01714055 -0.04511495  0.99883431]]

 t_gt:
[ 0.67465824 -0.7192113   0.16604628]

Pose Error in degrees for R and t:
8.571537829557876 78.68916389020087

Number of keypoints:
Image1: 184
Image2: 184

 R_estimated:
[[-0.16691127 -0.9859576   0.00531428]
 [-0.98585757  0.1668074  -0.01612908]
 [ 0.01501613 -0.00793124 -0.9998558 ]]

 t_estimated:
[[8.77895342e-01]
 [4.78852005e-01]
 [7.25533340e-04]]

 R_gt:
[[ 0.97289485 -0.23017119 -0.02224468]
 [ 0.2309166   0.97213242  0.04045843]
 [ 0.01231188 -0.04449894  0.99893348]]

 t_gt:
[ 0.68607384 -0.71150509  0.15186572]

Pose Error in degrees for R and t:
179.64896980598448 74.82871090026536

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999970e-01  2.39409182e-04  5.15815893e-05]
 [-2.39407675e-04  9.99999971e-01 -2.92256458e-05]
 [-5.15885846e-05  2.92132959e-05  9.99999998e-01]]

 t_estimated:
[[ 9.99999202e-01]
 [-1.25430112e-03]
 [-1.48233839e-04]]

 R_gt:
[[ 0.95085026 -0.30382746 -0.05975973]
 [ 0.30620922  0.95129748  0.0356173 ]
 [ 0.04602727 -0.05216544  0.99757665]]

 t_gt:
[ 0.72657275 -0.68655428  0.02711552]

Pose Error in degrees for R and t:
18.23425792438675 43.32868612556167

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[-7.96491734e-01  6.04636908e-01 -3.88943533e-03]
 [-6.04641555e-01 -7.96497702e-01  2.39355513e-05]
 [-3.08345399e-03  2.37077870e-03  9.99992436e-01]]

 t_estimated:
[[7.73925291e-01]
 [6.33276507e-01]
 [7.13953221e-04]]

 R_gt:
[[ 0.99223435 -0.12353606  0.01448892]
 [ 0.12348494  0.99233647  0.00440375]
 [-0.01492257 -0.00258042  0.99988547]]

 t_gt:
[ 0.84710923 -0.52629748  0.07359965]

Pose Error in degrees for R and t:
149.89396680688878 71.1942935678426

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 7.83256783e-01  6.21697850e-01  7.71064740e-04]
 [-6.21698216e-01  7.83255293e-01  1.57308821e-03]
 [ 3.74045018e-04 -1.71150158e-03  9.99998465e-01]]

 t_estimated:
[[7.50320888e-01]
 [6.61073409e-01]
 [7.15572841e-04]]

 R_gt:
[[ 0.97082149 -0.23970615  0.00686532]
 [ 0.23966506  0.97083511  0.0063038 ]
 [-0.00817598 -0.00447486  0.99995655]]

 t_gt:
[ 0.84790963 -0.52944628  0.02712742]

Pose Error in degrees for R and t:
52.310467864519985 73.36816111142193

Number of keypoints:
Image1: 77
Image2: 77

 R_estimated:
[[ 9.98928926e-01 -4.62699203e-02  3.09796509e-04]
 [ 4.62704552e-02  9.98926888e-01 -2.02936622e-03]
 [-2.15565449e-04  2.04152704e-03  9.99997893e-01]]

 t_estimated:
[[0.77517873]
 [0.63174014]
 [0.00152594]]

 R_gt:
[[ 0.94563003 -0.32332148 -0.03532874]
 [ 0.32330709  0.94627262 -0.00625679]
 [ 0.03545266 -0.00550587  0.99935603]]

 t_gt:
[ 0.86389656 -0.50146585 -0.047061  ]

Pose Error in degrees for R and t:
16.348903571565984 69.3409417768892

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[ 9.93093549e-01 -1.17324991e-01 -2.24129492e-04]
 [ 1.17325015e-01  9.93093566e-01  9.84878510e-05]
 [ 2.11026470e-04 -1.24103645e-04  9.99999970e-01]]

 t_estimated:
[[-0.87681158]
 [-0.48083212]
 [-0.00139015]]

 R_gt:
[[ 0.99857743  0.0526303  -0.00856486]
 [-0.05255833  0.99858214  0.00841612]
 [ 0.00899667 -0.00795338  0.99992814]]

 t_gt:
[-0.98914712  0.13026664  0.06796009]

Pose Error in degrees for R and t:
9.77590389031501 36.43175432581509

Number of keypoints:
Image1: 127
Image2: 127

 R_estimated:
[[ 7.28792914e-01 -6.84733281e-01 -1.10535445e-03]
 [ 6.84733522e-01  7.28793498e-01 -2.03129358e-04]
 [ 9.44664567e-04 -6.08834008e-04  9.99999368e-01]]

 t_estimated:
[[ 0.53826527]
 [-0.84277503]
 [-0.00086386]]

 R_gt:
[[ 9.98861582e-01  2.27249599e-02  4.19438290e-02]
 [-2.27456607e-02  9.99741064e-01  2.02051210e-05]
 [-4.19314181e-02 -9.73505494e-04  9.99119330e-01]]

 t_gt:
[-0.98390795 -0.02525605  0.1768821 ]

Pose Error in degrees for R and t:
44.58310626370772 59.43795538825778

Number of keypoints:
Image1: 111
Image2: 111

 R_estimated:
[[-9.97308806e-01 -7.33126874e-02  6.29019523e-04]
 [ 7.33095717e-02 -9.97301061e-01 -4.03725527e-03]
 [ 9.23303871e-04 -3.98027708e-03  9.99991652e-01]]

 t_estimated:
[[8.58021296e-01]
 [5.13613680e-01]
 [6.66165603e-04]]

 R_gt:
[[ 0.99520317  0.08017014  0.05607202]
 [-0.07937757  0.99671246 -0.01623719]
 [-0.05718908  0.01170971  0.99829484]]

 t_gt:
[-0.97664896  0.21423519  0.01612772]

Pose Error in degrees for R and t:
179.61986379106372 43.28596462292432

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.51466527e-01 -3.07751951e-01  4.29889583e-04]
 [ 3.07752089e-01  9.51466532e-01 -3.00950894e-04]
 [-3.16407325e-04  4.18644119e-04  9.99999862e-01]]

 t_estimated:
[[8.02552431e-01]
 [5.96581138e-01]
 [7.35611761e-04]]

 R_gt:
[[ 0.99512416  0.01589126 -0.09734871]
 [-0.0156831   0.99987379  0.00289888]
 [ 0.09738157 -0.00135786  0.99524589]]

 t_gt:
[ 0.18005238  0.17297756 -0.96832841]

Pose Error in degrees for R and t:
19.641509590933442 75.70086898516315

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.62968027e-01 -2.69615595e-01 -1.00894021e-04]
 [ 2.69615612e-01  9.62967996e-01  2.44371741e-04]
 [ 3.12712803e-05 -2.62524777e-04  9.99999965e-01]]

 t_estimated:
[[-4.66470952e-01]
 [-8.84536391e-01]
 [-4.72978949e-04]]

 R_gt:
[[ 0.98727231  0.02693336 -0.15674322]
 [-0.02794918  0.99960021 -0.00428165]
 [ 0.15656408  0.00860845  0.98763007]]

 t_gt:
[ 0.18966844  0.17635434 -0.96588044]

Pose Error in degrees for R and t:
19.425890673204627 75.87667601856063

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.64346732e-01 -2.64641891e-01 -2.22214754e-04]
 [ 2.64641962e-01  9.64346657e-01  3.95240200e-04]
 [ 1.09694941e-04 -4.39955944e-04  9.99999897e-01]]

 t_estimated:
[[0.84689936]
 [0.5317524 ]
 [0.00092964]]

 R_gt:
[[ 0.98332802 -0.0013031  -0.18184025]
 [-0.00441226  0.9995096  -0.03102036]
 [ 0.18179061  0.03130615  0.98283849]]

 t_gt:
[ 0.31626246  0.05894008 -0.94683902]

Pose Error in degrees for R and t:
18.72033995729587 72.64424681842229

Number of keypoints:
Image1: 239
Image2: 239

 R_estimated:
[[ 9.99999146e-01  1.26766708e-03  3.17993136e-04]
 [-1.26765067e-03  9.99999195e-01 -5.17874898e-05]
 [-3.18058529e-04  5.13843413e-05  9.99999948e-01]]

 t_estimated:
[[-9.92683249e-01]
 [-1.20747433e-01]
 [-1.58814436e-04]]

 R_gt:
[[ 0.99674599 -0.0802549  -0.00754341]
 [ 0.08044008  0.99634266  0.02879292]
 [ 0.00520613 -0.02930659  0.99955678]]

 t_gt:
[ 0.47972154 -0.84880646  0.2222495 ]

Pose Error in degrees for R and t:
4.985658606359884 68.05257549898832

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 4.09531618e-01  9.12285019e-01  4.46060198e-03]
 [ 9.12294432e-01 -4.09534897e-01 -1.93557788e-04]
 [ 1.65019231e-03  4.14865039e-03 -9.99990033e-01]]

 t_estimated:
[[-0.98690681]
 [-0.16125928]
 [-0.00322519]]

 R_gt:
[[ 0.9880664  -0.14004198 -0.06414372]
 [ 0.14410706  0.9874979   0.0638727 ]
 [ 0.05439754 -0.07235462  0.99589431]]

 t_gt:
[ 0.57587199 -0.79009392  0.21005485]

Pose Error in degrees for R and t:
175.02121925044997 63.79402152346173

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.99996193 -0.00673963 -0.00554309]
 [ 0.0068254   0.99985497  0.01560293]
 [ 0.00543713 -0.01564017  0.9998629 ]]

 t_estimated:
[[0.65195158]
 [0.75825982]
 [0.00108478]]

 R_gt:
[[ 0.99044493 -0.06707997 -0.12050137]
 [ 0.08314854  0.98752661  0.13370663]
 [ 0.1100301  -0.1424491   0.98366766]]

 t_gt:
[ 0.40234546 -0.79124635  0.46048598]

Pose Error in degrees for R and t:
10.27540925102436 70.29599709278155

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[ 9.99999996e-01 -2.19248789e-05  8.38763777e-05]
 [ 2.19225158e-05  9.99999999e-01  2.81737999e-05]
 [-8.38769954e-05 -2.81719610e-05  9.99999996e-01]]

 t_estimated:
[[0.63733635]
 [0.77058447]
 [0.0013955 ]]

 R_gt:
[[ 0.99606843 -0.0885702   0.00130823]
 [ 0.08853957  0.99595986  0.01499296]
 [-0.00263061 -0.01481802  0.99988639]]

 t_gt:
[ 0.51585765 -0.83357129  0.19761019]

Pose Error in degrees for R and t:
5.152072907947134 71.74259794219668

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.99999429e-01  1.06414467e-03  1.00850781e-04]
 [-1.06414765e-03  9.99999433e-01  2.94907263e-05]
 [-1.00819342e-04 -2.95980296e-05  9.99999994e-01]]

 t_estimated:
[[ 9.79064809e-01]
 [-2.03548136e-01]
 [ 5.06337419e-04]]

 R_gt:
[[ 0.98632805 -0.16248686 -0.02745366]
 [ 0.16197682  0.98659451 -0.01985559]
 [ 0.03031232  0.01513694  0.99942522]]

 t_gt:
[ 0.62018945 -0.74041637 -0.25913055]

Pose Error in degrees for R and t:
9.599579684754046 40.73069957073106

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 9.47346426e-01 -3.20210314e-01  3.23021157e-04]
 [ 3.20210193e-01  9.47346447e-01  3.75772187e-04]
 [-4.26339076e-04 -2.52551771e-04  9.99999877e-01]]

 t_estimated:
[[ 0.9724162 ]
 [-0.23325029]
 [ 0.00101482]]

 R_gt:
[[ 0.97001632 -0.24276358 -0.01155367]
 [ 0.24102301  0.96699458 -0.0826331 ]
 [ 0.03123223  0.07737024  0.99651299]]

 t_gt:
[ 0.60390866 -0.69721791 -0.38624024]

Pose Error in degrees for R and t:
6.690729382896939 41.45422359352009

Number of keypoints:
Image1: 135
Image2: 135

 R_estimated:
[[ 9.55257241e-01 -2.95775482e-01 -6.83303221e-04]
 [ 2.95775056e-01  9.55257389e-01 -6.60648842e-04]
 [ 8.48134181e-04  4.28985542e-04  9.99999548e-01]]

 t_estimated:
[[-0.72652573]
 [-0.68713578]
 [-0.00218833]]

 R_gt:
[[ 0.96423118  0.26474166  0.01303603]
 [-0.26467118  0.96431382 -0.00696475]
 [-0.0144146   0.00326559  0.9998906 ]]

 t_gt:
[-0.88151097  0.47215586 -0.00269427]

Pose Error in degrees for R and t:
32.56596894538697 71.5781356196014

Number of keypoints:
Image1: 82
Image2: 82

 R_estimated:
[[ 9.49677693e-01 -3.13227244e-01 -9.86797562e-04]
 [ 3.13227228e-01  9.49678194e-01 -1.74935827e-04]
 [ 9.91934794e-04 -1.42959212e-04  9.99999498e-01]]

 t_estimated:
[[-0.07968958]
 [-0.99681875]
 [-0.00139806]]

 R_gt:
[[ 0.91653776  0.39840474  0.03510233]
 [-0.39837387  0.91718721 -0.00817992]
 [-0.03545429 -0.00648617  0.99935035]]

 t_gt:
[-0.85328384  0.52021276  0.03585206]

Pose Error in degrees for R and t:
41.791153669833335 63.217164293352944

Number of keypoints:
Image1: 96
Image2: 96

 R_estimated:
[[-8.83588422e-01 -4.68262473e-01 -1.32567850e-03]
 [ 4.68264247e-01 -8.83586564e-01 -1.83813943e-03]
 [-3.10620000e-04 -2.24492656e-03  9.99997432e-01]]

 t_estimated:
[[9.62827790e-01]
 [2.70114584e-01]
 [8.71337366e-04]]

 R_gt:
[[ 0.892299    0.4501192   0.03457859]
 [-0.44938574  0.89292725 -0.0270966 ]
 [-0.04307252  0.00863895  0.99903481]]

 t_gt:
[-0.8492204   0.52801586  0.00489521]

Pose Error in degrees for R and t:
178.82379770648495 47.54398985768984

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.94798115e-01  1.01866114e-01  7.87219220e-05]
 [-1.01866101e-01  9.94798108e-01 -1.50060001e-04]
 [-9.35984482e-05  1.41260311e-04  9.99999986e-01]]

 t_estimated:
[[-8.10153327e-01]
 [ 5.86217553e-01]
 [-7.53639897e-04]]

 R_gt:
[[ 0.9996499  -0.02634953  0.00236252]
 [ 0.02630529  0.99950341  0.01733867]
 [-0.00281791 -0.01727045  0.99984663]]

 t_gt:
[ 0.61711622 -0.74617056  0.24979404]

Pose Error in degrees for R and t:
7.424450688992424 20.353381267380414

Number of keypoints:
Image1: 94
Image2: 94

 R_estimated:
[[ 0.09763138  0.99322572  0.0630141 ]
 [-0.99485005  0.09566658  0.03348568]
 [ 0.0272305  -0.06595883  0.99745072]]

 t_estimated:
[[0.80252671]
 [0.59661525]
 [0.00105596]]

 R_gt:
[[ 0.99765466  0.05040298 -0.04633149]
 [-0.04801005  0.99752438  0.05137718]
 [ 0.04880634 -0.04903203  0.99760446]]

 t_gt:
[ 0.68656977  0.57491931 -0.44507273]

Pose Error in degrees for R and t:
81.68930700814929 26.680247455009937

Number of keypoints:
Image1: 85
Image2: 85

 R_estimated:
[[-5.34588716e-01 -8.45111150e-01 -1.43149904e-03]
 [-8.45112096e-01  5.34589126e-01  1.11144382e-04]
 [ 6.71334465e-04  1.26919369e-03 -9.99998969e-01]]

 t_estimated:
[[8.01566609e-01]
 [5.97905163e-01]
 [6.22817878e-04]]

 R_gt:
[[ 0.99057623  0.07071379 -0.11729994]
 [-0.06750205  0.99723256  0.03113727]
 [ 0.11917753 -0.02292584  0.99260857]]

 t_gt:
[ 0.39864776  0.26139937 -0.87906219]

Pose Error in degrees for R and t:
174.72838064995716 61.62194458787823

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-6.86033417e-01 -7.27567028e-01 -2.09059128e-03]
 [ 7.27567458e-01 -6.86035800e-01  6.88576813e-04]
 [-1.93520625e-03 -1.04865948e-03  9.99997578e-01]]

 t_estimated:
[[0.84574206]
 [0.53359121]
 [0.00088932]]

 R_gt:
[[ 0.9980361  -0.0167471  -0.06036862]
 [ 0.01054075  0.99476119 -0.10167696]
 [ 0.06175485  0.10083993  0.99298408]]

 t_gt:
[ 0.14414367  0.13182697 -0.98073659]

Pose Error in degrees for R and t:
132.62762309038547 78.96679280315209

Number of keypoints:
Image1: 62
Image2: 62

 R_estimated:
[[ 7.21665636e-01  6.92238868e-01  2.01468183e-03]
 [ 6.92237195e-01 -7.21668395e-01  1.54721743e-03]
 [ 2.52497625e-03  2.78064051e-04 -9.99996774e-01]]

 t_estimated:
[[0.38147445]
 [0.92437889]
 [0.00096089]]

 R_gt:
[[ 0.98723841 -0.1549423  -0.03680337]
 [ 0.14485266  0.96969099 -0.19676652]
 [ 0.06617581  0.18892295  0.9797597 ]]

 t_gt:
[ 0.42108381 -0.31189076 -0.85171156]

Pose Error in degrees for R and t:
170.794083433295 82.61760272088935

Number of keypoints:
Image1: 74
Image2: 74

 R_estimated:
[[-9.03954748e-01 -4.27625772e-01 -1.41860489e-03]
 [ 4.27627180e-01 -9.03954751e-01 -8.96016605e-04]
 [-8.99194839e-04 -1.41659247e-03  9.99998592e-01]]

 t_estimated:
[[9.14322127e-01]
 [4.04987056e-01]
 [7.29706406e-04]]

 R_gt:
[[ 0.98448127 -0.16300059 -0.06502014]
 [ 0.14544647  0.96518535 -0.21740008]
 [ 0.09819333  0.20456868  0.97391445]]

 t_gt:
[ 0.39126707 -0.19593159 -0.8991779 ]

Pose Error in degrees for R and t:
145.92901408618906 73.87473726244812

Number of keypoints:
Image1: 261
Image2: 261

 R_estimated:
[[-2.36799840e-01 -9.71557168e-01  1.58299529e-03]
 [-9.71558208e-01  2.36800632e-01  3.30617948e-04]
 [-6.96068524e-04 -1.45968179e-03 -9.99998692e-01]]

 t_estimated:
[[0.78334223]
 [0.62158871]
 [0.0015557 ]]

 R_gt:
[[ 0.9957026   0.09255971 -0.00307508]
 [-0.09260342  0.99550282 -0.01999427]
 [ 0.00121129  0.02019452  0.99979523]]

 t_gt:
[-0.68361207  0.71328947 -0.15457251]

Pose Error in degrees for R and t:
179.2745326775374 84.70003418886947

Number of keypoints:
Image1: 183
Image2: 183

 R_estimated:
[[ 9.90704894e-01 -1.36028531e-01 -2.29032086e-04]
 [ 1.36028563e-01  9.90704907e-01  1.31332532e-04]
 [ 2.09038240e-04 -1.61266687e-04  9.99999965e-01]]

 t_estimated:
[[-0.25781528]
 [-0.96619345]
 [-0.00122769]]

 R_gt:
[[ 0.99578649  0.08380926 -0.03721659]
 [-0.084174    0.99641627 -0.00834144]
 [ 0.03638559  0.01143978  0.99927167]]

 t_gt:
[-0.69314114  0.59824734 -0.40206403]

Pose Error in degrees for R and t:
12.823173465751363 66.49515154931551

Number of keypoints:
Image1: 166
Image2: 166

 R_estimated:
[[-7.62789195e-01  6.46640398e-01  2.97324453e-03]
 [-6.46647048e-01 -7.62777439e-01 -4.26300548e-03]
 [-4.88707714e-04 -5.17441432e-03  9.99986493e-01]]

 t_estimated:
[[9.07152915e-01]
 [4.20800536e-01]
 [7.04858520e-04]]

 R_gt:
[[ 0.99692752  0.07366525  0.0266439 ]
 [-0.07329235  0.99720156 -0.0147641 ]
 [-0.02765657  0.01276641  0.99953578]]

 t_gt:
[-0.84338176  0.5185902   0.14061084]

Pose Error in degrees for R and t:
135.49780940800636 56.85538720890571

Number of keypoints:
Image1: 386
Image2: 386

 R_estimated:
[[-0.42309651 -0.90608308  0.00167097]
 [-0.90607314  0.42308114 -0.00581593]
 [ 0.00456276 -0.00397472 -0.99998169]]

 t_estimated:
[[8.29258927e-01]
 [5.58864124e-01]
 [7.22980756e-04]]

 R_gt:
[[ 0.99995007 -0.00805135  0.0060092 ]
 [ 0.00813127  0.99987857 -0.01338298]
 [-0.0059013   0.01343109  0.99989146]]

 t_gt:
[-0.39782081  0.84322129 -0.36154731]

Pose Error in degrees for R and t:
179.76757635426006 81.88917521681648

Number of keypoints:
Image1: 287
Image2: 287

 R_estimated:
[[ 1.46677797e-01 -9.89184320e-01  7.33748445e-05]
 [-9.89184304e-01 -1.46677808e-01 -1.83845837e-04]
 [ 1.92619881e-04 -4.56151421e-05 -9.99999980e-01]]

 t_estimated:
[[0.57607149]
 [0.81739874]
 [0.00097309]]

 R_gt:
[[ 0.99837823 -0.05225885  0.02258926]
 [ 0.05336629  0.99724251 -0.05157843]
 [-0.01983207  0.05270066  0.99841274]]

 t_gt:
[ 0.14527478  0.80044321 -0.58153754]

Pose Error in degrees for R and t:
178.52432947703812 42.48925393190038

Number of keypoints:
Image1: 223
Image2: 223

 R_estimated:
[[ 9.98989811e-01 -4.49371691e-02  9.60828806e-05]
 [ 4.49371604e-02  9.98989811e-01  9.05176497e-05]
 [-1.00053426e-04 -8.61085179e-05  9.99999991e-01]]

 t_estimated:
[[0.4870421 ]
 [0.87337802]
 [0.00090905]]

 R_gt:
[[ 0.99027731 -0.11847974  0.07290838]
 [ 0.12140863  0.99190887 -0.03712273]
 [-0.06792029  0.04561399  0.99664708]]

 t_gt:
[0.88671783 0.37694311 0.26766656]

Pose Error in degrees for R and t:
6.37903324623158 40.41875923556325

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 8.20096960e-01 -5.72224577e-01  9.78860241e-05]
 [ 5.72224524e-01  8.20096939e-01  3.21817473e-04]
 [-2.64427896e-04 -2.07908747e-04  9.99999943e-01]]

 t_estimated:
[[-0.64148423]
 [-0.76713578]
 [-0.00082665]]

 R_gt:
[[ 0.99397353  0.09151242 -0.06035188]
 [-0.09062975  0.99573571  0.01721555]
 [ 0.06166942 -0.01164326  0.99802824]]

 t_gt:
[-0.29657391  0.88287096 -0.36411919]

Pose Error in degrees for R and t:
40.2908959039968 60.87389643034235

Number of keypoints:
Image1: 113
Image2: 113

 R_estimated:
[[ 9.73807107e-01 -2.27375527e-01 -2.96432582e-04]
 [ 2.27375529e-01  9.73807151e-01 -2.52678586e-05]
 [ 2.94413461e-04 -4.27954949e-05  9.99999956e-01]]

 t_estimated:
[[8.26186490e-01]
 [5.63396373e-01]
 [6.40951505e-04]]

 R_gt:
[[ 0.97919227  0.17996945 -0.09377874]
 [-0.18029624  0.98359962  0.00504793]
 [ 0.09314891  0.01196478  0.99558001]]

 t_gt:
[-0.25901383  0.90970143 -0.32458456]

Pose Error in degrees for R and t:
24.13986618197181 72.64323075233638

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.97831624e-01 -6.58182738e-02  6.35448040e-05]
 [ 6.58181198e-02  9.97830646e-01  1.40571785e-03]
 [-1.55928875e-04 -1.39848733e-03  9.99999010e-01]]

 t_estimated:
[[-9.07152915e-01]
 [-4.20800536e-01]
 [-7.04858520e-04]]

 R_gt:
[[ 0.97692031  0.13763295 -0.16335207]
 [-0.13310238  0.9903577   0.03841298]
 [ 0.16706432 -0.01578485  0.98581953]]

 t_gt:
[ 0.0169053   0.85730378 -0.51453323]

Pose Error in degrees for R and t:
15.08846338998138 67.93075241003946

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.88703391e-01  1.49884812e-01  3.84922501e-04]
 [-1.49884868e-01  9.88703450e-01  1.19162593e-04]
 [-3.62713542e-04 -1.75510518e-04  9.99999919e-01]]

 t_estimated:
[[-0.52845845]
 [ 0.84895805]
 [ 0.0013814 ]]

 R_gt:
[[ 0.99845192  0.02763168 -0.04826435]
 [-0.02692266  0.99952096  0.01526855]
 [ 0.04866284 -0.0139445   0.99871766]]

 t_gt:
[ 0.1225461   0.87969862 -0.45947011]

Pose Error in degrees for R and t:
7.635866645189453 47.04435438186193

Number of keypoints:
Image1: 152
Image2: 152

 R_estimated:
[[ 0.89553001 -0.07283107  0.43900073]
 [ 0.27619888  0.86446906 -0.42000883]
 [-0.34891286  0.49738202  0.79427385]]

 t_estimated:
[[0.91464813]
 [0.4042483 ]
 [0.00145413]]

 R_gt:
[[ 0.99419669  0.01790767 -0.10607409]
 [-0.01279552  0.99873284  0.04868223]
 [ 0.10681164 -0.04704159  0.99316571]]

 t_gt:
[ 0.59449643  0.56989928 -0.56726431]

Pose Error in degrees for R and t:
45.16905586282721 39.34784911593417

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[-9.85209736e-01 -1.71347539e-01 -1.34073788e-03]
 [ 1.71350074e-01 -9.85208003e-01 -2.08397221e-03]
 [-9.63822181e-04 -2.28288524e-03  9.99996930e-01]]

 t_estimated:
[[9.07027984e-01]
 [4.21069756e-01]
 [7.05309474e-04]]

 R_gt:
[[ 0.98339321  0.0341416  -0.17824275]
 [-0.02991975  0.9992061   0.02632255]
 [ 0.1789994  -0.02055116  0.9836339 ]]

 t_gt:
[ 0.53367557  0.45181424 -0.7148806 ]

Pose Error in degrees for R and t:
172.0052951859546 47.6389848152391

Number of keypoints:
Image1: 212
Image2: 212

 R_estimated:
[[-5.09222325e-01  8.60590232e-01 -8.77927076e-03]
 [-8.60619843e-01 -5.09247420e-01 -7.42398584e-04]
 [-5.10972195e-03  7.17756869e-03  9.99961186e-01]]

 t_estimated:
[[0.55175493]
 [0.8340058 ]
 [0.00091049]]

 R_gt:
[[ 0.99387498 -0.11030478 -0.0068625 ]
 [ 0.11014531  0.99370703 -0.02031475]
 [ 0.00906095  0.01943418  0.99977012]]

 t_gt:
[ 0.6766491  -0.72811786 -0.10950055]

Pose Error in degrees for R and t:
126.94035703685591 76.46674237326143

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 9.07924388e-01  4.19133897e-01  2.87098848e-04]
 [-4.19133627e-01  9.07924285e-01 -7.04282555e-04]
 [-5.55852708e-04  5.19102526e-04  9.99999711e-01]]

 t_estimated:
[[0.57808991]
 [0.8159726 ]
 [0.00087457]]

 R_gt:
[[ 0.98624366 -0.16524232  0.00428659]
 [ 0.16522111  0.98624448  0.00472855]
 [-0.00500882 -0.00395554  0.9999796 ]]

 t_gt:
[ 0.67508671 -0.7356229   0.05582912]

Pose Error in degrees for R and t:
34.29273192762068 77.88125262009922

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-3.18526665e-01  9.47913623e-01  7.25920908e-04]
 [ 9.47912066e-01  3.18524448e-01  2.21162359e-03]
 [ 1.86520458e-03  1.39257028e-03 -9.99997291e-01]]

 t_estimated:
[[0.50361248]
 [0.86392904]
 [0.00103838]]

 R_gt:
[[ 0.99038163 -0.13765578 -0.01402673]
 [ 0.13807573  0.98978322  0.03554209]
 [ 0.00899119 -0.03713757  0.99926965]]

 t_gt:
[ 0.68042515 -0.72580729  0.1011207 ]

Pose Error in degrees for R and t:
178.21399938476344 73.48475859415865

Number of keypoints:
Image1: 367
Image2: 367

 R_estimated:
[[ 9.98236779e-01 -5.93576781e-02 -2.90479483e-06]
 [ 5.93576767e-02  9.98236764e-01 -1.71331020e-04]
 [ 1.30694845e-05  1.70856504e-04  9.99999985e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075942e-03]
 [7.75189855e-04]]

 R_gt:
[[ 0.99892904  0.02208139 -0.04065606]
 [-0.02239364  0.99972285 -0.00725111]
 [ 0.04048436  0.00815492  0.99914708]]

 t_gt:
[-0.36425599  0.29971143 -0.88175429]

Pose Error in degrees for R and t:
5.241110514501977 68.65343383174127

Number of keypoints:
Image1: 467
Image2: 467

 R_estimated:
[[ 9.99999388e-01  1.10570462e-03  4.71683875e-05]
 [-1.10570473e-03  9.99999389e-01  2.16519942e-06]
 [-4.71659646e-05 -2.21735240e-06  9.99999999e-01]]

 t_estimated:
[[ 9.15602338e-01]
 [-4.02084645e-01]
 [ 5.43990789e-04]]

 R_gt:
[[ 0.99984517 -0.01202428 -0.01284727]
 [ 0.01205369  0.99992524  0.00214576]
 [ 0.01282048 -0.00229961  0.99991485]]

 t_gt:
[-0.67302886 -0.55765755 -0.48584999]

Pose Error in degrees for R and t:
1.0623643233135258 66.9044574255024

Number of keypoints:
Image1: 589
Image2: 589

 R_estimated:
[[ 9.99382462e-01  3.51382082e-02 -6.84621867e-06]
 [-3.51382082e-02  9.99382462e-01  1.05501866e-05]
 [ 7.21270552e-06 -1.03031076e-05  1.00000000e+00]]

 t_estimated:
[[-4.49103357e-01]
 [ 8.93479474e-01]
 [-7.77064104e-04]]

 R_gt:
[[ 0.99878611  0.02562223  0.04207742]
 [-0.02481257  0.99949826 -0.01966741]
 [-0.0425603   0.01859946  0.99892042]]

 t_gt:
[-0.8973968   0.31780209  0.30607322]

Pose Error in degrees for R and t:
2.72288077383209 46.627734632023774

Number of keypoints:
Image1: 198
Image2: 198

 R_estimated:
[[ 9.98498713e-01 -5.47731280e-02  4.74611186e-04]
 [ 5.47731933e-02  9.98498814e-01 -1.25687933e-04]
 [-4.67014385e-04  1.51495209e-04  9.99999879e-01]]

 t_estimated:
[[0.99864229]
 [0.05206289]
 [0.00174266]]

 R_gt:
[[ 9.96681394e-01 -8.14062857e-02 -6.00446680e-04]
 [ 8.11486385e-02  9.94055001e-01 -7.25788640e-02]
 [ 6.50458085e-03  7.22889851e-02  9.97362504e-01]]

 t_gt:
[ 0.4740556  -0.53620608 -0.6983941 ]

Pose Error in degrees for R and t:
4.427878532906557 63.62281579838465

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.99989660e-01 -4.54313238e-03  1.98772324e-04]
 [ 4.54316185e-03  9.99989669e-01 -1.48065358e-04]
 [-1.98097590e-04  1.48966882e-04  9.99999969e-01]]

 t_estimated:
[[ 5.78055387e-01]
 [-8.15997282e-01]
 [-6.37159385e-04]]

 R_gt:
[[ 9.86402861e-01 -1.63073374e-01  2.04083500e-02]
 [ 1.64343253e-01  9.79446014e-01 -1.16944024e-01]
 [-9.19266516e-04  1.18708109e-01  9.92929100e-01]]

 t_gt:
[ 0.51621112 -0.65140766 -0.55605229]

Pose Error in degrees for R and t:
11.437331044410778 33.87045440341411

Number of keypoints:
Image1: 130
Image2: 130

 R_estimated:
[[ 1.28031818e-02  9.99918031e-01  9.85995645e-05]
 [-9.99913612e-01  1.28034184e-02 -2.97351049e-03]
 [-2.97452916e-03 -6.05206514e-05  9.99995574e-01]]

 t_estimated:
[[0.11780097]
 [0.9930363 ]
 [0.00135853]]

 R_gt:
[[ 0.96527505 -0.26098898 -0.01138895]
 [ 0.25818189  0.95972664 -0.11075346]
 [ 0.03983505  0.10396756  0.99378263]]

 t_gt:
[ 0.61397288 -0.67363425 -0.41140515]

Pose Error in degrees for R and t:
104.49228113820864 53.332121222561945

Number of keypoints:
Image1: 134
Image2: 134

 R_estimated:
[[ 9.14005426e-01 -4.05701567e-01 -5.65710392e-04]
 [ 4.05701654e-01  9.14005561e-01  4.37005312e-05]
 [ 4.99333070e-04 -2.69452164e-04  9.99999839e-01]]

 t_estimated:
[[-0.35415998]
 [-0.935184  ]
 [-0.00126036]]

 R_gt:
[[ 0.98286658  0.18355965  0.01666959]
 [-0.1838816   0.98273623  0.02046994]
 [-0.01262527 -0.02318336  0.99965096]]

 t_gt:
[-0.89350599  0.4259351   0.14221935]

Pose Error in degrees for R and t:
34.556097431588725 85.29285028600123

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 0.9966604   0.08133043  0.00730746]
 [ 0.08130172 -0.99668092  0.00414391]
 [ 0.00762023 -0.00353596 -0.99996471]]

 t_estimated:
[[0.1308985 ]
 [0.99139519]
 [0.00107294]]

 R_gt:
[[ 0.91569291  0.39902218  0.04783003]
 [-0.39959569  0.91668758  0.00269787]
 [-0.04276934 -0.02158188  0.99885126]]

 t_gt:
[-0.84619626  0.52746734  0.07569748]

Pose Error in degrees for R and t:
179.09449372160472 65.65412374147819

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[ 7.97906728e-01 -6.02777724e-01  1.96706117e-03]
 [ 6.02780182e-01  7.97906637e-01 -1.02489670e-03]
 [-9.51746263e-04  2.00347747e-03  9.99997540e-01]]

 t_estimated:
[[-0.41690951]
 [-0.90894738]
 [-0.00105815]]

 R_gt:
[[ 0.88508811  0.46223629  0.05437718]
 [-0.46321753  0.88622209  0.00634823]
 [-0.04525661 -0.03080633  0.99850021]]

 t_gt:
[-0.83539382  0.54378215  0.08011333]

Pose Error in degrees for R and t:
64.72027827856338 81.60072545929303

Number of keypoints:
Image1: 271
Image2: 271

 R_estimated:
[[ 3.95555755e-01 -9.18441911e-01 -3.18412603e-04]
 [-9.18440736e-01 -3.95555769e-01  1.49946131e-03]
 [-1.50311805e-03 -3.00677445e-04 -9.99998825e-01]]

 t_estimated:
[[0.59387085]
 [0.80455811]
 [0.00191542]]

 R_gt:
[[ 0.99718832 -0.06850674 -0.03036845]
 [ 0.06916599  0.99737963  0.02121333]
 [ 0.02883622 -0.02325351  0.99931439]]

 t_gt:
[ 0.39676871 -0.91746922  0.02871969]

Pose Error in degrees for R and t:
179.81151047754045 59.83625753751916

Number of keypoints:
Image1: 193
Image2: 193

 R_estimated:
[[-4.86787072e-01 -8.73515431e-01 -3.02312136e-03]
 [ 8.73518074e-01 -4.86791139e-01  7.49724759e-04]
 [-2.12652484e-03 -2.27579483e-03  9.99995149e-01]]

 t_estimated:
[[0.9999873 ]
 [0.00482062]
 [0.0014695 ]]

 R_gt:
[[ 0.97974832 -0.19588898 -0.04147666]
 [ 0.19738591  0.97967545  0.03568271]
 [ 0.0336438  -0.0431465   0.99850285]]

 t_gt:
[ 0.60794152 -0.78662432  0.1078392 ]

Pose Error in degrees for R and t:
107.80681620384927 52.82149453202511

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[-9.05062410e-01 -4.25276905e-01 -1.26049552e-03]
 [-4.25278772e-01  9.05058569e-01  2.63672221e-03]
 [ 1.94852093e-05  2.92246015e-03 -9.99995729e-01]]

 t_estimated:
[[8.85586633e-01]
 [4.64473653e-01]
 [7.34926667e-04]]

 R_gt:
[[ 0.97187822 -0.20458832 -0.11660334]
 [ 0.21262872  0.97521735  0.06115735]
 [ 0.10120142 -0.08423017  0.99129447]]

 t_gt:
[ 0.62659897 -0.77015404  0.11931671]

Pose Error in degrees for R and t:
174.7555603703086 78.62210678156141

Number of keypoints:
Image1: 95
Image2: 95

 R_estimated:
[[ 9.99594639e-01 -2.84702976e-02 -8.12213306e-06]
 [ 2.84702978e-02  9.99594639e-01  2.36459262e-05]
 [ 7.44563411e-06 -2.38675806e-05  1.00000000e+00]]

 t_estimated:
[[-6.10799561e-02]
 [ 9.98132871e-01]
 [ 1.04653938e-04]]

 R_gt:
[[ 0.99666364  0.01259983 -0.0806402 ]
 [-0.01317947  0.99989133 -0.00664662]
 [ 0.08054805  0.00768712  0.99672115]]

 t_gt:
[ 0.15874614  0.18201034 -0.9703978 ]

Pose Error in degrees for R and t:
5.211065338025781 80.1032779665992

Number of keypoints:
Image1: 64
Image2: 64

 R_estimated:
[[ 9.83383433e-01 -1.81540691e-01 -3.44044495e-05]
 [ 1.81540694e-01  9.83383418e-01  1.71084163e-04]
 [ 2.77402816e-06 -1.74487139e-04  9.99999985e-01]]

 t_estimated:
[[9.96948385e-01]
 [7.80589374e-02]
 [8.48466711e-04]]

 R_gt:
[[ 0.99183044 -0.00412165 -0.12750174]
 [ 0.00157039  0.99979739 -0.02009589]
 [ 0.12755955  0.01973215  0.99163439]]

 t_gt:
[ 0.32502683  0.01697105 -0.94555251]

Pose Error in degrees for R and t:
12.683012478880508 71.0612347464411

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.49773852e-01 -3.12937043e-01 -1.90437698e-04]
 [ 3.12937073e-01  9.49773849e-01  1.53068226e-04]
 [ 1.32972027e-04 -2.04975214e-04  9.99999970e-01]]

 t_estimated:
[[0.92293925]
 [0.38494451]
 [0.00092758]]

 R_gt:
[[ 0.99676997 -0.05944102 -0.0540026 ]
 [ 0.05764857  0.99775316 -0.03416025]
 [ 0.05591267  0.03093661  0.9979564 ]]

 t_gt:
[ 0.58104538 -0.38453604 -0.71729931]

Pose Error in degrees for R and t:
15.31787407266374 67.19604613361123

Number of keypoints:
Image1: 126
Image2: 126

 R_estimated:
[[-0.04999871 -0.94689761  0.31762406]
 [-0.9749557   0.11527721  0.19019084]
 [-0.21670606 -0.30016009 -0.92894693]]

 t_estimated:
[[0.69631062]
 [0.69631062]
 [0.17407766]]

 R_gt:
[[ 0.99647247 -0.06047243  0.05817623]
 [ 0.0537407   0.99236237  0.11103252]
 [-0.0644469  -0.10751405  0.99211218]]

 t_gt:
[ 0.26528016 -0.42191236  0.86695813]

Pose Error in degrees for R and t:
152.02750631776797 87.60127732480811

Number of keypoints:
Image1: 60
Image2: 60

 R_estimated:
[[ 9.95840502e-01 -9.11136066e-02  7.38497774e-05]
 [ 9.11135999e-02  9.95840501e-01  9.02631094e-05]
 [-8.17667968e-05 -8.31589411e-05  9.99999993e-01]]

 t_estimated:
[[5.75183985e-01]
 [8.18024047e-01]
 [2.06129248e-04]]

 R_gt:
[[ 0.99022066 -0.10853118  0.08764952]
 [ 0.09090448  0.97857738  0.1847228 ]
 [-0.10582059 -0.17494918  0.97887423]]

 t_gt:
[ 0.25654799 -0.43443967  0.86339174]

Pose Error in degrees for R and t:
11.804772910642068 78.01580654195705

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 0.99978917  0.02016303  0.00388242]
 [-0.02016879  0.99979554  0.0014504 ]
 [-0.00385238 -0.0015284   0.99999141]]

 t_estimated:
[[-0.9995958 ]
 [ 0.02795662]
 [ 0.00516447]]

 R_gt:
[[ 0.98438584 -0.12064632  0.1281737 ]
 [ 0.08521081  0.96377333  0.25274223]
 [-0.15402359 -0.23787435  0.95900574]]

 t_gt:
[ 0.15306723 -0.38355117  0.91074635]

Pose Error in degrees for R and t:
17.784697345588885 80.84971285835539

Number of keypoints:
Image1: 200
Image2: 200

 R_estimated:
[[-3.93751034e-01 -9.19214551e-01 -2.17533022e-03]
 [ 9.19217076e-01 -3.93750684e-01 -6.05217477e-04]
 [-3.00213049e-04 -2.23790569e-03  9.99997451e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.98978034 -0.14039986 -0.02494991]
 [ 0.14146635  0.98878025  0.04794938]
 [ 0.01793849 -0.05098858  0.99853871]]

 t_gt:
[ 0.59589432 -0.76742433  0.23657951]

Pose Error in degrees for R and t:
105.10845369876735 53.58033753366228

Number of keypoints:
Image1: 158
Image2: 158

 R_estimated:
[[-2.63559720e-02 -9.99651244e-01 -1.65927744e-03]
 [ 9.99652484e-01 -2.63568020e-02  4.80344982e-04]
 [-5.23910706e-04 -1.64604086e-03  9.99998508e-01]]

 t_estimated:
[[9.36765986e-01]
 [3.49955447e-01]
 [8.19567792e-04]]

 R_gt:
[[ 0.97907887 -0.19516914 -0.0575638 ]
 [ 0.20156935  0.96894381  0.14323491]
 [ 0.02782146 -0.15184013  0.98801361]]

 t_gt:
[ 0.49503109 -0.74803447  0.44202788]

Pose Error in degrees for R and t:
80.39616896992935 78.32781953027717

Number of keypoints:
Image1: 131
Image2: 131

 R_estimated:
[[-0.56595305 -0.82442694 -0.00416838]
 [-0.82443636  0.56593672  0.00450825]
 [-0.00135768  0.00598803 -0.99998115]]

 t_estimated:
[[8.17566370e-01]
 [5.75834006e-01]
 [6.55101258e-04]]

 R_gt:
[[ 0.95668801 -0.26435183 -0.12192102]
 [ 0.28170381  0.94628113  0.15872414]
 [ 0.07341264 -0.18619388  0.97976647]]

 t_gt:
[ 0.57291306 -0.74105581  0.35015269]

Pose Error in degrees for R and t:
179.6037298167735 87.59867837022392

Number of keypoints:
Image1: 279
Image2: 279

 R_estimated:
[[ 9.99423470e-01 -3.39518453e-02  1.00591402e-05]
 [ 3.39518447e-02  9.99423469e-01  5.15148424e-05]
 [-1.18023648e-05 -5.11436162e-05  9.99999999e-01]]

 t_estimated:
[[1.15840554e-01]
 [9.93267555e-01]
 [7.28644794e-04]]

 R_gt:
[[ 0.99984139  0.01652753 -0.006587  ]
 [-0.0168484   0.99849993 -0.05208806]
 [ 0.00571655  0.05219111  0.9986206 ]]

 t_gt:
[-0.30979716  0.54135767 -0.78163776]

Pose Error in degrees for R and t:
4.183460855585665 59.91684262413708

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.82994577e-01  1.83634583e-01  3.46035719e-05]
 [-1.83634524e-01  9.82994071e-01  1.00930175e-03]
 [ 1.51327601e-04 -9.98492562e-04  9.99999490e-01]]

 t_estimated:
[[0.38254245]
 [0.92393728]
 [0.00108063]]

 R_gt:
[[ 9.98900736e-01 -4.64741016e-02  6.00948511e-03]
 [ 4.68611901e-02  9.90864525e-01 -1.26450507e-01]
 [-7.69483440e-05  1.26593109e-01  9.91954930e-01]]

 t_gt:
[ 0.1655586   0.43170123 -0.88669295]

Pose Error in degrees for R and t:
15.150098072245152 62.53285690083048

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[-8.82847111e-01  4.69646433e-01 -3.63421300e-03]
 [ 4.69652065e-01  8.82851194e-01 -8.40557714e-04]
 [ 2.81370436e-03 -2.44889959e-03 -9.99993043e-01]]

 t_estimated:
[[0.95618806]
 [0.29275141]
 [0.00099915]]

 R_gt:
[[ 0.99892954 -0.04539158 -0.00888655]
 [ 0.04331949  0.98547854 -0.16417687]
 [ 0.01620961  0.16361699  0.98639032]]

 t_gt:
[ 0.02873802  0.64050873 -0.76741299]

Pose Error in degrees for R and t:
178.6109595254654 77.63011064403969

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 9.89392106e-01 -1.45269523e-01 -1.62254135e-04]
 [ 1.45269361e-01  9.89391853e-01 -7.57543231e-04]
 [ 2.70580863e-04  7.25936738e-04  9.99999700e-01]]

 t_estimated:
[[-0.0295483 ]
 [-0.99956143]
 [-0.00196146]]

 R_gt:
[[ 0.9916983  -0.05981254  0.11382888]
 [ 0.03780863  0.98173409  0.186466  ]
 [-0.12290392 -0.18061501  0.97584397]]

 t_gt:
[ 0.14401893 -0.16252462  0.97613744]

Pose Error in degrees for R and t:
13.808335396973536 81.0087760131964

Number of keypoints:
Image1: 43
Image2: 43

 R_estimated:
[[ 9.97582391e-01 -6.94934923e-02 -1.67565626e-04]
 [ 6.94934530e-02  9.97582381e-01 -2.30343843e-04]
 [ 1.83167914e-04  2.18142247e-04  9.99999959e-01]]

 t_estimated:
[[-0.00728388]
 [-0.99997293]
 [-0.00104055]]

 R_gt:
[[ 0.98845823 -0.09674867  0.11657624]
 [ 0.0666757   0.96880909  0.23867253]
 [-0.13603239 -0.22814576  0.96407652]]

 t_gt:
[ 0.22410188 -0.19414629  0.95503171]

Pose Error in degrees for R and t:
15.439992992186447 78.95879247666338

Number of keypoints:
Image1: 40
Image2: 40

 R_estimated:
[[ 1.44238774e-01  9.89542769e-01 -5.32784909e-04]
 [-9.89540748e-01  1.44237311e-01 -2.16959942e-03]
 [-2.07006395e-03  8.40152736e-04  9.99997504e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.98251004 -0.11421109  0.14707384]
 [ 0.06760516  0.95470996  0.28975884]
 [-0.17350716 -0.27474814  0.94573214]]

 t_gt:
[ 0.21944619 -0.15124187  0.96383052]

Pose Error in degrees for R and t:
88.72056136936366 81.43865113116638

Number of keypoints:
Image1: 225
Image2: 225

 R_estimated:
[[-0.9899312  -0.13794917  0.03172129]
 [-0.13791308  0.99043873  0.00333326]
 [-0.03187782 -0.00107508 -0.9994912 ]]

 t_estimated:
[[0.99956509]
 [0.02453051]
 [0.01636745]]

 R_gt:
[[ 0.99946444 -0.03200093 -0.00696994]
 [ 0.03223755  0.99879737  0.03693693]
 [ 0.00577965 -0.03714143  0.99929324]]

 t_gt:
[ 0.59821675 -0.60707262  0.52306744]

Pose Error in degrees for R and t:
178.39158444756555 53.727516986020355

Number of keypoints:
Image1: 221
Image2: 221

 R_estimated:
[[ 0.70270589 -0.71147449 -0.0029121 ]
 [-0.71145376 -0.7026382  -0.01153724]
 [ 0.0061623   0.01017911 -0.9999292 ]]

 t_estimated:
[[ 0.40614928]
 [ 0.91378769]
 [-0.00590088]]

 R_gt:
[[ 0.99932334 -0.02251181  0.02911998]
 [ 0.02010406  0.99655324  0.08048929]
 [-0.0308299  -0.0798488   0.99632899]]

 t_gt:
[ 0.15625121 -0.25419483  0.95444777]

Pose Error in degrees for R and t:
175.76812405628655 79.9532961029372

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99995092e-01  2.98570224e-03  9.50029024e-04]
 [-2.98519533e-03  9.99995401e-01 -5.34538737e-04]
 [-9.51620629e-04  5.31700091e-04  9.99999406e-01]]

 t_estimated:
[[0.99990088]
 [0.01396939]
 [0.0017555 ]]

 R_gt:
[[ 0.99829299 -0.05024424  0.02980968]
 [ 0.04753904  0.9952117   0.08541302]
 [-0.03395715 -0.08384929  0.99589945]]

 t_gt:
[ 0.3816005  -0.28156667  0.88039836]

Pose Error in degrees for R and t:
5.992117813359821 67.71741637661424

Number of keypoints:
Image1: 197
Image2: 197

 R_estimated:
[[ 0.0840828   0.99645755  0.00156185]
 [ 0.99645704 -0.08408547  0.00173023]
 [ 0.00185543  0.00141083 -0.99999728]]

 t_estimated:
[[-0.22201665]
 [-0.9750422 ]
 [-0.00114442]]

 R_gt:
[[ 0.99008001  0.14046091 -0.00335749]
 [-0.14033871  0.98980157  0.02447067]
 [ 0.00676042 -0.02375624  0.99969534]]

 t_gt:
[-0.86567137  0.48283468  0.13222615]

Pose Error in degrees for R and t:
178.76299479930645 73.81485927956474

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 4.33098609e-01 -9.01345886e-01  1.09019409e-03]
 [ 9.01346499e-01  4.33097881e-01 -8.45666117e-04]
 [ 2.90076924e-04  1.34889945e-03  9.99999048e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.96086839  0.27698191 -0.00363761]
 [-0.27700308  0.96071253 -0.01737392]
 [-0.00131737  0.0177022   0.99984288]]

 t_gt:
[-0.8185943   0.57376133 -0.02648212]

Pose Error in degrees for R and t:
80.42208872681931 55.76932632960118

Number of keypoints:
Image1: 216
Image2: 216

 R_estimated:
[[-0.99708934 -0.07594888 -0.00667999]
 [-0.07597131  0.99710496  0.00317112]
 [ 0.00641981  0.00366938 -0.99997266]]

 t_estimated:
[[ 0.99850654]
 [ 0.05454423]
 [-0.00310074]]

 R_gt:
[[ 0.94596955  0.32300859 -0.02841248]
 [-0.32318778  0.94633393 -0.00182851]
 [ 0.0262971   0.01091252  0.99959474]]

 t_gt:
[-0.78745972  0.61531812 -0.03592771]

Pose Error in degrees for R and t:
177.99502865187108 41.18300712056079

Number of keypoints:
Image1: 315
Image2: 315

 R_estimated:
[[ 9.92911354e-01  1.18857242e-01  8.41190787e-06]
 [-1.18857235e-01  9.92911316e-01 -2.75835521e-04]
 [-4.11373276e-05  2.72880404e-04  9.99999962e-01]]

 t_estimated:
[[ 2.84542883e-01]
 [ 9.58663225e-01]
 [-4.09944871e-04]]

 R_gt:
[[ 0.99956084 -0.02032841 -0.02155491]
 [ 0.02022175  0.99978153 -0.00517054]
 [ 0.02165456  0.0047331   0.99975449]]

 t_gt:
[ 0.2670926  -0.88926424 -0.37130938]

Pose Error in degrees for R and t:
8.088035652872977 39.07210100612365

Number of keypoints:
Image1: 267
Image2: 267

 R_estimated:
[[ 6.75397976e-01 -7.37450839e-01 -1.95799044e-03]
 [-7.37451583e-01 -6.75399852e-01  4.49607717e-04]
 [-1.65399004e-03  1.14025901e-03 -9.99997982e-01]]

 t_estimated:
[[0.3566271 ]
 [0.93424608]
 [0.00116927]]

 R_gt:
[[ 0.99956664 -0.02023685 -0.02138919]
 [ 0.01953344  0.99927735 -0.03257954]
 [ 0.02203213  0.03214836  0.99923967]]

 t_gt:
[ 0.23127458 -0.79894812 -0.55515221]

Pose Error in degrees for R and t:
177.7793008777237 48.349543497985685

Number of keypoints:
Image1: 149
Image2: 149

 R_estimated:
[[-9.44055910e-01 -3.29783004e-01 -1.26859889e-03]
 [ 3.29785443e-01 -9.44048748e-01 -3.67718943e-03]
 [ 1.50553777e-05 -3.88983786e-03  9.99992434e-01]]

 t_estimated:
[[0.85783815]
 [0.51391828]
 [0.00130768]]

 R_gt:
[[ 0.99892524 -0.03141416 -0.0340813 ]
 [ 0.02782864  0.99449642 -0.10100484]
 [ 0.03706658  0.09994769  0.99430196]]

 t_gt:
[ 0.17575954 -0.15011789 -0.97291994]

Pose Error in degrees for R and t:
159.07008564768523 85.8508733564088

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 0.99985191 -0.01715839  0.00132079]
 [ 0.01716178  0.99984935 -0.00259824]
 [-0.00127601  0.00262053  0.99999575]]

 t_estimated:
[[-0.7983526 ]
 [-0.60218596]
 [-0.00228101]]

 R_gt:
[[ 0.99876917 -0.04705192  0.01572739]
 [ 0.04574507  0.99612983  0.07505841]
 [-0.01919815 -0.07424722  0.99705531]]

 t_gt:
[ 0.48931313 -0.47136785  0.73374724]

Pose Error in degrees for R and t:
4.829196178271149 83.77304818525943

Number of keypoints:
Image1: 104
Image2: 104

 R_estimated:
[[-3.84869465e-01 -9.22969158e-01  1.85173638e-03]
 [-9.22970732e-01  3.84870144e-01  1.13977925e-05]
 [-7.23197859e-04 -1.70471182e-03 -9.99998285e-01]]

 t_estimated:
[[0.81829155]
 [0.57479992]
 [0.00199583]]

 R_gt:
[[ 0.99377141 -0.0954481   0.05752619]
 [ 0.08459154  0.98211352  0.16821794]
 [-0.07255369 -0.1623034   0.98406954]]

 t_gt:
[ 0.3532595  -0.42345278  0.83420349]

Pose Error in degrees for R and t:
171.51251063380641 87.28697241560276

Number of keypoints:
Image1: 70
Image2: 70

 R_estimated:
[[-0.83749721  0.54643939 -0.00155432]
 [-0.54643493 -0.83749765 -0.0025597 ]
 [-0.00270046 -0.00129441  0.99999552]]

 t_estimated:
[[0.64332793]
 [0.76558935]
 [0.00145549]]

 R_gt:
[[ 0.98684585 -0.13562918  0.08798393]
 [ 0.10984724  0.96183397  0.25061827]
 [-0.11861764 -0.23765675  0.96407911]]

 t_gt:
[ 0.29155662 -0.41052273  0.86398254]

Pose Error in degrees for R and t:
154.3048437720272 82.7922290739542

Number of keypoints:
Image1: 132
Image2: 132

 R_estimated:
[[ 9.99999452e-01  1.04669889e-03 -2.26102546e-06]
 [-1.04669903e-03  9.99999450e-01 -6.46550525e-05]
 [ 2.19334984e-06  6.46573837e-05  9.99999998e-01]]

 t_estimated:
[[ 0.32241016]
 [-0.94659938]
 [-0.00114539]]

 R_gt:
[[ 0.99612792 -0.07787158  0.04080328]
 [ 0.0776792   0.99695824  0.00628052]
 [-0.04116783 -0.00308543  0.99914752]]

 t_gt:
[ 0.63122951 -0.70232091  0.3290815 ]

Pose Error in degrees for R and t:
5.104234657510305 29.778206883730874

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99978475e-01  6.56036153e-03  1.09225220e-04]
 [-6.56029639e-03  9.99978309e-01 -5.86456411e-04]
 [-1.13070217e-04  5.85727238e-04  9.99999822e-01]]

 t_estimated:
[[ 0.35252747]
 [-0.93579488]
 [-0.00350904]]

 R_gt:
[[ 0.99220018 -0.11909986  0.03677974]
 [ 0.11905561  0.99288163  0.00339531]
 [-0.03692221  0.00101078  0.99931729]]

 t_gt:
[ 0.73322609 -0.65939149  0.16607937]

Pose Error in degrees for R and t:
7.519570513884643 28.960379290489826

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.99999538e-01  9.60777747e-04  3.06718330e-05]
 [-9.60778234e-04  9.99999538e-01  1.58531460e-05]
 [-3.06565875e-05 -1.58826075e-05  9.99999999e-01]]

 t_estimated:
[[ 8.53161951e-01]
 [-5.21646107e-01]
 [-1.54194442e-04]]

 R_gt:
[[ 0.9863869  -0.15441905  0.05653735]
 [ 0.15498143  0.98790133 -0.00567015]
 [-0.05497736  0.01435654  0.99838443]]

 t_gt:
[ 0.75291059 -0.63809471  0.16112351]

Pose Error in degrees for R and t:
9.533548634636336 12.789627744463827

Number of keypoints:
Image1: 159
Image2: 159

 R_estimated:
[[ 9.18487303e-01 -3.95361266e-01  8.39904279e-03]
 [ 3.95449352e-01  9.18328038e-01 -1.71296558e-02]
 [-9.40674076e-04  1.90547674e-02  9.99817999e-01]]

 t_estimated:
[[-0.77936099]
 [-0.62655793]
 [-0.00464727]]

 R_gt:
[[ 0.98978965  0.14241227 -0.00580212]
 [-0.14251614  0.9894526  -0.02593867]
 [ 0.00204775  0.0264999   0.99964699]]

 t_gt:
[-0.83515916  0.53652639 -0.12103143]

Pose Error in degrees for R and t:
31.490545105243232 71.6217941918551

Number of keypoints:
Image1: 137
Image2: 137

 R_estimated:
[[ 9.98678062e-01  5.14016419e-02  1.99797195e-05]
 [-5.14016414e-02  9.98678062e-01 -2.54874615e-05]
 [-2.12634049e-05  2.44267783e-05  9.99999999e-01]]

 t_estimated:
[[-9.11233385e-01]
 [ 4.11890418e-01]
 [-3.40696000e-05]]

 R_gt:
[[ 0.98347779  0.17665343 -0.03956856]
 [-0.17727087  0.98408131 -0.0126544 ]
 [ 0.03670295  0.0194602   0.99913712]]

 t_gt:
[-0.78796766  0.60083267 -0.1345625 ]

Pose Error in degrees for R and t:
7.631199577998767 15.09304537602585

Number of keypoints:
Image1: 90
Image2: 90

 R_estimated:
[[-0.07469997 -0.99484442 -0.06858935]
 [-0.99055691  0.06609655  0.12011768]
 [-0.11496488  0.07691444 -0.99038742]]

 t_estimated:
[[0.78057027]
 [0.62419406]
 [0.03304282]]

 R_gt:
[[ 0.97991641  0.19584604 -0.03752519]
 [-0.19762369  0.97891821 -0.0516205 ]
 [ 0.02662453  0.05799885  0.99796146]]

 t_gt:
[-0.67838248  0.69642177 -0.23408104]

Pose Error in degrees for R and t:
177.54916775154294 84.11353482555236

Number of keypoints:
Image1: 268
Image2: 268

 R_estimated:
[[ 9.23681937e-01  3.83159886e-01  4.25235996e-04]
 [-3.83159835e-01  9.23682035e-01 -1.99855632e-04]
 [-4.69359512e-04  2.16696835e-05  9.99999890e-01]]

 t_estimated:
[[-3.35491412e-01]
 [ 9.42042930e-01]
 [ 7.94625107e-04]]

 R_gt:
[[ 0.99197113 -0.12217883 -0.03263472]
 [ 0.12251469  0.99242962  0.00852808]
 [ 0.03134521 -0.01245688  0.99943097]]

 t_gt:
[ 0.65636338 -0.75252804 -0.05374623]

Pose Error in degrees for R and t:
29.622674375972863 21.69563958959413

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 0.9996421   0.02671059 -0.00148884]
 [-0.02670612  0.99963899  0.00294526]
 [ 0.00156697 -0.00290445  0.99999455]]

 t_estimated:
[[-9.98183425e-01]
 [-6.02424197e-02]
 [-8.36700273e-04]]

 R_gt:
[[ 0.97227751 -0.23185424 -0.03031366]
 [ 0.23228033  0.972582    0.01137   ]
 [ 0.02684597 -0.018095    0.9994766 ]]

 t_gt:
[ 0.68529609 -0.72774224 -0.02757714]

Pose Error in degrees for R and t:
15.04896871333243 50.19422201236181

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 9.48868075e-01  3.15672873e-01 -1.18089311e-04]
 [-3.15672889e-01  9.48868063e-01 -1.60808496e-04]
 [ 6.12882957e-05  1.89863641e-04  9.99999980e-01]]

 t_estimated:
[[-0.99380289]
 [-0.11114901]
 [-0.00130764]]

 R_gt:
[[ 0.96809446 -0.24269129  0.06240208]
 [ 0.24746259  0.96510425 -0.0856465 ]
 [-0.03943981  0.09835663  0.99437014]]

 t_gt:
[ 0.59407863 -0.75469114 -0.27840952]

Pose Error in degrees for R and t:
33.174544113705025 59.592289285628624

Number of keypoints:
Image1: 50
Image2: 50

 R_estimated:
[[ 9.37891063e-01  3.46929819e-01  2.32781705e-04]
 [-3.46929441e-01  9.37890707e-01 -9.92007565e-04]
 [-5.62480802e-04  8.49636203e-04  9.99999481e-01]]

 t_estimated:
[[-9.87069135e-01]
 [-1.60293278e-01]
 [-7.66953485e-04]]

 R_gt:
[[ 0.99957854 -0.02604997 -0.01278934]
 [ 0.02327756  0.9828944  -0.18269108]
 [ 0.01733003  0.18231751  0.98308611]]

 t_gt:
[ 0.23271803  0.31540938 -0.91997785]

Pose Error in degrees for R and t:
24.102050810352207 73.76598216040057

Number of keypoints:
Image1: 46
Image2: 46

 R_estimated:
[[ 9.99768667e-01 -2.15084201e-02  1.26065560e-05]
 [ 2.15084238e-02  9.99768536e-01 -5.12496884e-04]
 [-1.58063971e-06  5.12649474e-04  9.99999869e-01]]

 t_estimated:
[[9.93892846e-01]
 [1.10346799e-01]
 [7.71655936e-04]]

 R_gt:
[[ 0.99806222 -0.06042618 -0.0148989 ]
 [ 0.05542971  0.9719172  -0.22869924]
 [ 0.02829911  0.22743032  0.97338282]]

 t_gt:
[ 0.31183497  0.25877966 -0.91421662]

Pose Error in degrees for R and t:
13.390112724683908 70.25828665437524

Number of keypoints:
Image1: 31
Image2: 31

 R_estimated:
[[ 9.37332789e-01 -3.48425412e-01 -2.64091007e-03]
 [ 3.48426979e-01  9.37335916e-01  1.43515770e-04]
 [ 2.42541531e-03 -1.05468635e-03  9.99996502e-01]]

 t_estimated:
[[9.99994892e-01]
 [3.10075936e-03]
 [7.75189839e-04]]

 R_gt:
[[ 0.99251949 -0.11931169 -0.02587743]
 [ 0.1084258   0.9588646  -0.26233766]
 [ 0.05611231  0.25757012  0.96462886]]

 t_gt:
[ 0.42248098  0.16287117 -0.89161808]

Pose Error in degrees for R and t:
20.5306355554759 65.02058137524727

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 9.99999725e-01  7.32130687e-04  1.19406348e-04]
 [-7.32140423e-04  9.99999729e-01  8.15113848e-05]
 [-1.19346638e-04 -8.15987846e-05  9.99999990e-01]]

 t_estimated:
[[0.9999495 ]
 [0.00999445]
 [0.00105262]]

 R_gt:
[[ 9.99750164e-01 -6.63301073e-04 -2.23617980e-02]
 [-3.21740429e-03  9.84899654e-01 -1.73094573e-01]
 [ 2.21380166e-02  1.73122656e-01  9.84651034e-01]]

 t_gt:
[ 0.17102684  0.38417348 -0.90728196]

Pose Error in degrees for R and t:
10.05706666682755 79.98518684060436

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 8.54631445e-01  5.19235101e-01 -4.63685454e-05]
 [-5.19234880e-01  8.54630991e-01 -1.00465686e-03]
 [-4.82025108e-04  8.82687507e-04  9.99999494e-01]]

 t_estimated:
[[-0.99960312]
 [-0.02813896]
 [-0.00133995]]

 R_gt:
[[ 0.99869084 -0.02841842 -0.04254846]
 [ 0.01462884  0.95544639 -0.29480089]
 [ 0.0490311   0.29379206  0.95461129]]

 t_gt:
[ 0.216496    0.39017574 -0.8949259 ]

Pose Error in degrees for R and t:
36.73313945229802 76.92713230130907

Number of keypoints:
Image1: 68
Image2: 68

 R_estimated:
[[ 9.88734762e-01 -1.49673339e-01  1.20929366e-03]
 [-1.49673437e-01 -9.88735486e-01 -9.91346424e-06]
 [ 1.19715534e-03 -1.71197352e-04 -9.99999269e-01]]

 t_estimated:
[[0.00776891]
 [0.99996921]
 [0.00110984]]

 R_gt:
[[ 0.99694805 -0.06523659 -0.04289268]
 [ 0.04752854  0.94296203 -0.32949087]
 [ 0.0619408   0.32644642  0.9431838 ]]

 t_gt:
[ 0.27577555  0.35133346 -0.89471372]

Pose Error in degrees for R and t:
160.66397009600004 69.36140426209292

Number of keypoints:
Image1: 157
Image2: 157

 R_estimated:
[[-0.59837953 -0.5187358  -0.61061862]
 [-0.05442427 -0.73404164  0.67692014]
 [-0.7993622   0.43828763  0.41100368]]

 t_estimated:
[[0.78446454]
 [0.58834841]
 [0.19611614]]

 R_gt:
[[ 0.99659296 -0.06850351 -0.0459377 ]
 [ 0.0726219   0.99282936  0.09494676]
 [ 0.03910483 -0.09795871  0.99442148]]

 t_gt:
[ 0.37110078 -0.79049869  0.48723303]

Pose Error in degrees for R and t:
158.96290500991756 85.5023056288492

Number of keypoints:
Image1: 110
Image2: 110

 R_estimated:
[[-0.46957353  0.88223461 -0.03409968]
 [ 0.88223418  0.47036503  0.020484  ]
 [ 0.03411099 -0.02046516 -0.9992085 ]]

 t_estimated:
[[ 0.90036201]
 [-0.43465208]
 [-0.02063536]]

 R_gt:
[[ 0.98247356 -0.15530042 -0.10308691]
 [ 0.16652894  0.97975712  0.11110507]
 [ 0.08374625 -0.12632455  0.9884469 ]]

 t_gt:
[ 0.55456116 -0.78897327  0.2645432 ]

Pose Error in degrees for R and t:
169.58137683288987 33.19880578441705

Number of keypoints:
Image1: 118
Image2: 118

 R_estimated:
[[ 9.92862951e-01  1.19260699e-01  2.14928495e-04]
 [-1.19260752e-01  9.92862935e-01  2.55206518e-04]
 [-1.82958429e-04 -2.79017630e-04  9.99999944e-01]]

 t_estimated:
[[-9.99995434e-01]
 [-2.93333803e-03]
 [-7.25651697e-04]]

 R_gt:
[[ 0.9546279  -0.27027771 -0.12504301]
 [ 0.28382281  0.95286227  0.10722079]
 [ 0.09017022 -0.13784604  0.98634047]]

 t_gt:
[ 0.64393105 -0.74050111  0.19238219]

Pose Error in degrees for R and t:
24.89532444431774 50.066686819863676

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 7.97177270e-01  6.03735686e-01  3.40912401e-03]
 [ 6.03737982e-01 -7.97182707e-01  4.25806173e-04]
 [ 2.97476909e-03  1.71877465e-03 -9.99994098e-01]]

 t_estimated:
[[-0.81266998]
 [-0.58271835]
 [-0.00261309]]

 R_gt:
[[ 0.98716857  0.15964412  0.00341073]
 [-0.15940275  0.98648251 -0.03797231]
 [-0.00942708  0.0369406   0.99927271]]

 t_gt:
[-0.83769412  0.53016194 -0.13113688]

Pose Error in degrees for R and t:
177.81735630584643 68.15009292616415

Number of keypoints:
Image1: 266
Image2: 266

 R_estimated:
[[ 9.13745495e-01 -4.06286587e-01 -6.16372103e-04]
 [ 4.06286720e-01  9.13745638e-01  1.03263131e-04]
 [ 5.21252895e-04 -3.44780021e-04  9.99999805e-01]]

 t_estimated:
[[-0.33260501]
 [-0.94306523]
 [-0.00136874]]

 R_gt:
[[ 0.9686122   0.24763378 -0.02159847]
 [-0.24826547  0.96807947 -0.03442648]
 [ 0.01238373  0.03870852  0.99917311]]

 t_gt:
[-0.80215779  0.58512683 -0.11903559]

Pose Error in degrees for R and t:
38.40207330645818 73.45022872244101

Number of keypoints:
Image1: 187
Image2: 187

 R_estimated:
[[ 4.52473194e-01 -8.91764104e-01 -4.97910262e-03]
 [ 8.91776472e-01  4.52475714e-01  6.72708743e-04]
 [ 1.65302550e-03 -4.74462924e-03  9.99987378e-01]]

 t_estimated:
[[-0.22426341]
 [-0.97452643]
 [-0.00203876]]

 R_gt:
[[ 0.96140491  0.27015868 -0.05209145]
 [-0.2722426   0.96147314 -0.03810744]
 [ 0.03978899  0.05081774  0.99791467]]

 t_gt:
[-0.74562423  0.643688   -0.17236666]

Pose Error in degrees for R and t:
78.92124157321227 62.63074383439886

Number of keypoints:
Image1: 138
Image2: 138

 R_estimated:
[[ 9.65813399e-01 -2.59238060e-01  3.25338131e-04]
 [ 2.59238064e-01  9.65813453e-01  3.07573601e-05]
 [-3.22189422e-04  5.46341566e-05  9.99999947e-01]]

 t_estimated:
[[8.47205048e-01]
 [5.31265524e-01]
 [7.41349719e-04]]

 R_gt:
[[ 0.98423325  0.17329685 -0.03539853]
 [-0.1732266   0.98486941  0.00504641]
 [ 0.03573837  0.00116529  0.99936001]]

 t_gt:
[-0.85326145  0.50517258 -0.12940465]

Pose Error in degrees for R and t:
25.089647613144237 62.960634693746954

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.81412686e-01 -1.91908837e-01 -3.72564937e-04]
 [ 1.91908795e-01  9.81412754e-01 -1.45377813e-04]
 [ 3.93539267e-04  7.11771418e-05  9.99999920e-01]]

 t_estimated:
[[-0.2894715 ]
 [-0.95718577]
 [-0.00128654]]

 R_gt:
[[ 0.95235162  0.30490585 -0.00775868]
 [-0.30262509  0.94778682  0.10059124]
 [ 0.03802468 -0.09345     0.99489734]]

 t_gt:
[-0.88738557  0.43584045  0.15029953]

Pose Error in degrees for R and t:
29.35937480897729 80.76403386081802

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 0.99991313  0.01310453  0.00141273]
 [-0.01310121  0.99991145 -0.00233278]
 [-0.00144317  0.00231407  0.99999628]]

 t_estimated:
[[-0.01258557]
 [-0.99991847]
 [-0.00215612]]

 R_gt:
[[ 0.95289798  0.30248949 -0.02201925]
 [-0.29924699  0.94952909  0.09404972]
 [ 0.04935755 -0.08303063  0.99532398]]

 t_gt:
[-0.92985293  0.3531939   0.10309022]

Pose Error in degrees for R and t:
17.7350058774142 70.02045498156957

Number of keypoints:
Image1: 106
Image2: 106

 R_estimated:
[[ 0.94285626  0.33318644 -0.00297629]
 [-0.33316856  0.94285262  0.00525738]
 [ 0.00455789 -0.00396534  0.99998175]]

 t_estimated:
[[-0.99754065]
 [-0.07000285]
 [-0.00350014]]

 R_gt:
[[ 0.9983137   0.05755943  0.00745264]
 [-0.0575251   0.99833356 -0.00462748]
 [-0.00770511  0.00419087  0.99996146]]

 t_gt:
[-0.87406635  0.48481897  0.03096108]

Pose Error in degrees for R and t:
16.184702631655828 33.084162631813896

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[-2.72699715e-01  9.62099184e-01  1.60222324e-04]
 [-9.62097504e-01 -2.72698919e-01 -1.92164906e-03]
 [-1.80512453e-03 -6.78182648e-04  9.99998141e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99882727 -0.04703684 -0.01142525]
 [ 0.04668036  0.99846972 -0.02966332]
 [ 0.01280327  0.02909522  0.99949445]]

 t_gt:
[ 0.35585506 -0.84834112 -0.39202618]

Pose Error in degrees for R and t:
108.52152394361379 32.16567652338436

Number of keypoints:
Image1: 86
Image2: 86

 R_estimated:
[[ 9.76069014e-01  2.17460937e-01  1.46944719e-04]
 [-2.17460933e-01  9.76069025e-01 -4.11725516e-05]
 [-1.52381610e-04  8.23251611e-06  9.99999988e-01]]

 t_estimated:
[[8.21777400e-01]
 [5.69808298e-01]
 [6.39515486e-04]]

 R_gt:
[[ 0.99323373 -0.11574263 -0.0094932 ]
 [ 0.11542681  0.99289363 -0.02895274]
 [ 0.01277706  0.02766142  0.99953571]]

 t_gt:
[ 0.5697812  -0.79924261 -0.19120838]

Pose Error in degrees for R and t:
19.277544049745412 89.2725554059907

Number of keypoints:
Image1: 78
Image2: 78

 R_estimated:
[[ 9.99999873e-01  5.02177232e-04  4.71618627e-05]
 [-5.02179888e-04  9.99999872e-01  5.63280438e-05]
 [-4.71335700e-05 -5.63517204e-05  9.99999997e-01]]

 t_estimated:
[[9.97238665e-01]
 [7.42605712e-02]
 [6.43102217e-04]]

 R_gt:
[[ 0.9957102  -0.09227357 -0.00694235]
 [ 0.09233639  0.99568556  0.00920165]
 [ 0.00606285 -0.00980378  0.9999333 ]]

 t_gt:
[ 0.72944202 -0.68203228  0.05240519]

Pose Error in degrees for R and t:
5.365605537362077 47.40487150789438

Number of keypoints:
Image1: 49
Image2: 49

 R_estimated:
[[ 0.98497472  0.17240885 -0.00999985]
 [-0.17234717  0.98501321  0.00673954]
 [ 0.01101194 -0.00491483  0.99992729]]

 t_estimated:
[[-0.99537121]
 [-0.09479734]
 [-0.01579954]]

 R_gt:
[[ 9.89837788e-01 -1.23779690e-01 -6.99998237e-02]
 [ 1.24095206e-01  9.92270473e-01  1.55934655e-04]
 [ 6.94396495e-02 -8.84074609e-03  9.97547147e-01]]

 t_gt:
[ 0.818007   -0.53216251 -0.21832914]

Pose Error in degrees for R and t:
17.38661544596691 40.507273001398346

Number of keypoints:
Image1: 75
Image2: 75

 R_estimated:
[[ 9.99999396e-01 -1.01564593e-03  4.19803705e-04]
 [ 1.01565959e-03  9.99999484e-01 -3.23316378e-05]
 [-4.19770650e-04  3.27579960e-05  9.99999911e-01]]

 t_estimated:
[[0.43473862]
 [0.9005562 ]
 [0.0009312 ]]

 R_gt:
[[ 0.97299421 -0.20167133 -0.11230404]
 [ 0.19678393  0.97900595 -0.05314839]
 [ 0.12066524  0.02961437  0.99225167]]

 t_gt:
[ 0.82430817 -0.44312786 -0.35235457]

Pose Error in degrees for R and t:
13.522023586997951 87.64843343652305

Number of keypoints:
Image1: 247
Image2: 247

 R_estimated:
[[ 9.99999893e-01  4.63441380e-04  8.31319589e-06]
 [-4.63442708e-04  9.99999880e-01  1.60546526e-04]
 [-8.23879099e-06 -1.60550361e-04  9.99999987e-01]]

 t_estimated:
[[0.79573386]
 [0.60564437]
 [0.00158777]]

 R_gt:
[[ 0.99967096 -0.02462485 -0.00719012]
 [ 0.02468815  0.99965558  0.00887342]
 [ 0.00696905 -0.00904701  0.99993439]]

 t_gt:
[0.99667751 0.03464962 0.07371117]

Pose Error in degrees for R and t:
1.5789670340072217 35.49241071839547

Number of keypoints:
Image1: 256
Image2: 256

 R_estimated:
[[ 9.99999391e-01 -1.10348534e-03  2.83631436e-05]
 [ 1.10347729e-03  9.99999351e-01  2.82330734e-04]
 [-2.86746730e-05 -2.82299263e-04  9.99999960e-01]]

 t_estimated:
[[0.43299447]
 [0.90139586]
 [0.00113279]]

 R_gt:
[[ 0.99945352 -0.00270994 -0.03296431]
 [ 0.00289083  0.99998026  0.00544914]
 [ 0.03294846 -0.00554071  0.99944109]]

 t_gt:
[ 0.94780225  0.28792654 -0.13700072]

Pose Error in degrees for R and t:
1.9167374860160897 47.95039612006559

Number of keypoints:
Image1: 147
Image2: 147

 R_estimated:
[[ 1.36016796e-02  9.99907172e-01  8.01169847e-04]
 [ 9.99903708e-01 -1.36038285e-02  2.74072133e-03]
 [ 2.75136589e-03  7.63814287e-04 -9.99995923e-01]]

 t_estimated:
[[-0.01360416]
 [-0.99990601]
 [-0.00170052]]

 R_gt:
[[ 0.99772561  0.04389101 -0.05117231]
 [-0.04309075  0.99893319  0.01663648]
 [ 0.0518477  -0.01439316  0.99855037]]

 t_gt:
[ 0.90052652  0.40508171 -0.15798988]

Pose Error in degrees for R and t:
177.20940202988544 65.35303921876935

Number of keypoints:
Image1: 379
Image2: 379

 R_estimated:
[[ 9.99177286e-01  4.05553345e-02 -1.25346931e-04]
 [-4.05553423e-02  9.99177292e-01 -6.04226966e-05]
 [ 1.22793345e-04  6.54564738e-05  9.99999990e-01]]

 t_estimated:
[[-0.8326339 ]
 [ 0.55381897]
 [-0.00230819]]

 R_gt:
[[ 0.99800424  0.01268121 -0.06187293]
 [-0.01204469  0.99987071  0.01065626]
 [ 0.06200058 -0.00988944  0.99802787]]

 t_gt:
[ 0.95172758 -0.08543414 -0.29481455]

Pose Error in degrees for R and t:
3.9387968410931435 32.95740730870603

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.86209669e-01 -1.65500191e-01 -4.18148693e-04]
 [ 1.65500379e-01  9.86209618e-01  4.63293352e-04]
 [ 3.35707124e-04 -5.26108150e-04  9.99999805e-01]]

 t_estimated:
[[-0.9913835 ]
 [-0.1309477 ]
 [-0.00338417]]

 R_gt:
[[ 0.99530482  0.03148386 -0.09152847]
 [-0.02767621  0.99870921  0.04258377]
 [ 0.09275155 -0.03985055  0.99489218]]

 t_gt:
[ 0.98654962 -0.16234877  0.0190452 ]

Pose Error in degrees for R and t:
12.613988578862598 16.891978666582553

Number of keypoints:
Image1: 100
Image2: 100

 R_estimated:
[[ 9.99998618e-01  1.65120199e-03 -1.94795092e-04]
 [-1.65109411e-03  9.99998484e-01  5.52684590e-04]
 [ 1.95707391e-04 -5.52362201e-04  9.99999828e-01]]

 t_estimated:
[[-9.99994892e-01]
 [-3.10075931e-03]
 [-7.75189839e-04]]

 R_gt:
[[ 0.98699608  0.11726989 -0.10994198]
 [-0.10546638  0.98857751  0.10766091]
 [ 0.12131198 -0.09466459  0.98809084]]

 t_gt:
[ 0.7977469  -0.02442111  0.60249771]

Pose Error in degrees for R and t:
10.85921739613906 37.04770538191164

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.99264413e-01  3.83480059e-02  2.52185921e-04]
 [-3.83479768e-02  9.99264439e-01 -1.19191764e-04]
 [-2.56571189e-04  1.09433269e-04  9.99999961e-01]]

 t_estimated:
[[0.30207388]
 [0.95328389]
 [0.00109447]]

 R_gt:
[[ 0.99509851 -0.05397276  0.08286192]
 [ 0.04784192  0.99608942  0.0742724 ]
 [-0.08654604 -0.06994402  0.99378933]]

 t_gt:
[ 0.06616838 -0.29346592  0.95367683]

Pose Error in degrees for R and t:
8.183453580501826 75.00558882431207

Number of keypoints:
Image1: 180
Image2: 180

 R_estimated:
[[ 9.95391770e-01 -9.58917287e-02  2.42121942e-05]
 [ 9.58917259e-02  9.95391766e-01  9.81532043e-05]
 [-3.35126991e-05 -9.53791427e-05  9.99999995e-01]]

 t_estimated:
[[6.29649306e-01]
 [7.76879322e-01]
 [5.19774199e-04]]

 R_gt:
[[ 0.98895843 -0.10427838  0.10529541]
 [ 0.09183856  0.98890279  0.11677548]
 [-0.1163035  -0.10581599  0.98756102]]

 t_gt:
[ 0.27874522 -0.35875582  0.89083969]

Pose Error in degrees for R and t:
9.04291450405435 84.10330222343566

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[-3.70734506e-01 -9.28738856e-01  2.51478160e-04]
 [-9.28664968e-01  3.70708400e-01  1.25163727e-02]
 [-1.17176667e-02  4.40671229e-03 -9.99921636e-01]]

 t_estimated:
[[0.7742528 ]
 [0.6328675 ]
 [0.00336632]]

 R_gt:
[[ 0.98341586 -0.11625949  0.13919775]
 [ 0.09008752  0.97926654  0.18143994]
 [-0.15740505 -0.1658916   0.97350063]]

 t_gt:
[ 0.30074543 -0.30823577  0.9025203 ]

Pose Error in degrees for R and t:
166.8122311804946 87.66060767929235

Number of keypoints:
Image1: 122
Image2: 122

 R_estimated:
[[ 0.44830808  0.89387839  0.00113679]
 [-0.8938764   0.44830323  0.00303169]
 [ 0.00220033 -0.00237528  0.99999476]]

 t_estimated:
[[0.38891739]
 [0.92127213]
 [0.00096267]]

 R_gt:
[[ 0.99950502 -0.02026228 -0.02404726]
 [ 0.01883055  0.99811981 -0.05833249]
 [ 0.02518354  0.0578511   0.99800777]]

 t_gt:
[ 0.56965472 -0.14107204 -0.80968647]

Pose Error in degrees for R and t:
64.5857788256721 84.79017066208546

Number of keypoints:
Image1: 80
Image2: 80

 R_estimated:
[[ 9.91247714e-01 -1.32014887e-01 -1.96622118e-04]
 [ 1.32014931e-01  9.91247701e-01  2.30203985e-04]
 [ 1.64510869e-04 -2.54146230e-04  9.99999954e-01]]

 t_estimated:
[[-1.06936819e-01]
 [ 9.94265559e-01]
 [-7.16886849e-04]]

 R_gt:
[[ 9.95341698e-01 -1.09670421e-02 -9.57856532e-02]
 [-4.10466090e-04  9.93019402e-01 -1.17957243e-01]
 [ 9.64107329e-02  1.17447303e-01  9.88388141e-01]]

 t_gt:
[ 0.32868693  0.17840382 -0.9274357 ]

Pose Error in degrees for R and t:
11.374543584176786 81.78448761247296

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 0.97573582 -0.21877574  0.00876237]
 [ 0.21881196  0.97576112 -0.00340135]
 [-0.00780584  0.00523612  0.99995582]]

 t_estimated:
[[0.50841532]
 [0.86109981]
 [0.00458032]]

 R_gt:
[[ 0.98900118 -0.03709882 -0.14317835]
 [ 0.01223733  0.98523828 -0.17075223]
 [ 0.14739928  0.16712212  0.9748556 ]]

 t_gt:
[ 0.36502982  0.17271475 -0.91483487]

Pose Error in degrees for R and t:
17.155225586942432 70.7238707175544

Number of keypoints:
Image1: 169
Image2: 169

 R_estimated:
[[-8.85604994e-01 -4.64437981e-01 -1.07510385e-03]
 [ 4.64439034e-01 -8.85600159e-01 -2.95665359e-03]
 [ 4.21070082e-04 -3.11774738e-03  9.99995051e-01]]

 t_estimated:
[[0.88745468]
 [0.46089381]
 [0.00104039]]

 R_gt:
[[ 0.99772142  0.03920688 -0.0549153 ]
 [-0.04246014  0.99733318 -0.05936812]
 [ 0.0524409   0.06156462  0.99672421]]

 t_gt:
[-0.158316    0.51277112 -0.84380201]

Pose Error in degrees for R and t:
154.6869788341774 84.55116217652372

Number of keypoints:
Image1: 205
Image2: 205

 R_estimated:
[[ 9.43418170e-01  3.31605419e-01  4.28319202e-05]
 [-3.31605420e-01  9.43418171e-01  2.77960429e-05]
 [-3.11910933e-05 -4.04265889e-05  9.99999999e-01]]

 t_estimated:
[[-0.91730761]
 [-0.39817786]
 [-0.00107037]]

 R_gt:
[[ 0.99197152  0.05976414 -0.11145401]
 [-0.07872726  0.98152789 -0.17437253]
 [ 0.09897313  0.18174633  0.97835119]]

 t_gt:
[-0.06079575  0.53552651 -0.84232727]

Pose Error in degrees for R and t:
19.430549569850616 80.99243926746144

Number of keypoints:
Image1: 251
Image2: 251

 R_estimated:
[[-6.71282712e-01 -7.41200937e-01 -8.31296714e-04]
 [ 7.41199807e-01 -6.71278517e-01 -2.82811776e-03]
 [ 1.53817191e-03 -2.51462353e-03  9.99995655e-01]]

 t_estimated:
[[9.20808325e-01]
 [3.90014759e-01]
 [7.18259224e-04]]

 R_gt:
[[ 0.99026282  0.10663509 -0.0894928 ]
 [-0.12251678  0.97281532 -0.19652191]
 [ 0.06610365  0.20557256  0.97640633]]

 t_gt:
[-0.17977701  0.67702472 -0.71366501]

Pose Error in degrees for R and t:
139.06937363035493 84.3761669570461

Number of keypoints:
Image1: 120
Image2: 120

 R_estimated:
[[-0.8554512  -0.51618514  0.04190641]
 [-0.51630732  0.85635928  0.00869117]
 [-0.0403732  -0.01420171 -0.99908374]]

 t_estimated:
[[0.9824089 ]
 [0.18420167]
 [0.03070028]]

 R_gt:
[[ 0.99850945  0.02253788 -0.0497176 ]
 [-0.02684193  0.99578866 -0.0876715 ]
 [ 0.04753164  0.08887592  0.99490732]]

 t_gt:
[-0.07971217  0.34302835 -0.93593671]

Pose Error in degrees for R and t:
178.40043434254963 87.48636914602724

Number of keypoints:
Image1: 52
Image2: 52

 R_estimated:
[[ 1.29399051e-01  9.91509945e-01  1.28029052e-02]
 [ 9.91592141e-01 -1.29375772e-01 -2.63359824e-03]
 [-9.54853097e-04  1.30360453e-02 -9.99914571e-01]]

 t_estimated:
[[-0.11093856]
 [-0.99382458]
 [-0.00231122]]

 R_gt:
[[ 0.99121761  0.07190313 -0.11098316]
 [-0.09007099  0.98157658 -0.16851004]
 [ 0.09682243  0.17702706  0.97943189]]

 t_gt:
[-0.14819293  0.4625861  -0.87410123]

Pose Error in degrees for R and t:
175.89163915323343 63.8151311357265

Number of keypoints:
Image1: 39
Image2: 39

 R_estimated:
[[ 4.42533563e-02  9.99019287e-01  1.45062841e-03]
 [ 9.99019989e-01 -4.42545122e-02  7.74655013e-04]
 [ 8.38092151e-04  1.41492569e-03 -9.99998648e-01]]

 t_estimated:
[[9.43002201e-01]
 [3.32785666e-01]
 [7.41633115e-04]]

 R_gt:
[[ 0.981744    0.14838379 -0.11900063]
 [-0.1690214   0.96751545 -0.18800676]
 [ 0.08723794  0.20468891  0.97493207]]

 t_gt:
[-0.30557997  0.59525691 -0.74316222]

Pose Error in degrees for R and t:
175.8974604193281 84.8006794039242

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999835e-01  2.59481567e-04  5.12542055e-04]
 [-2.58916422e-04  9.99999359e-01 -1.10239073e-03]
 [-5.12827776e-04  1.10225785e-03  9.99999261e-01]]

 t_estimated:
[[-0.673363  ]
 [-0.73930951]
 [-0.00192822]]

 R_gt:
[[ 0.99492251 -0.1006396   0.00128735]
 [ 0.10064001  0.99460032 -0.02534565]
 [ 0.00126939  0.02534722  0.99967734]]

 t_gt:
[ 0.59487329 -0.76003279 -0.26167906]

Pose Error in degrees for R and t:
5.956388661386282 80.68638147263782

Number of keypoints:
Image1: 108
Image2: 108

 R_estimated:
[[ 9.99978472e-01 -6.55952414e-03  1.69994828e-04]
 [ 6.55955456e-03  9.99978470e-01 -1.79030524e-04]
 [-1.68816813e-04  1.80141760e-04  9.99999970e-01]]

 t_estimated:
[[ 0.64185607]
 [-0.76682392]
 [-0.00136221]]

 R_gt:
[[ 0.98531419 -0.1707047  -0.00387885]
 [ 0.17025075  0.98392103 -0.05398118]
 [ 0.01303032  0.05252896  0.9985345 ]]

 t_gt:
[ 0.54173377 -0.76822408 -0.34111039]

Pose Error in degrees for R and t:
9.939676219585756 20.401581018539474

Number of keypoints:
Image1: 114
Image2: 114

 R_estimated:
[[ 5.88738339e-01  8.08323286e-01  7.95807580e-04]
 [-8.08321819e-01  5.88738811e-01 -1.56476682e-03]
 [-1.73336027e-03  2.77969588e-04  9.99998459e-01]]

 t_estimated:
[[-6.11025169e-02]
 [ 9.98130999e-01]
 [ 9.95573021e-04]]

 R_gt:
[[ 0.96354695 -0.26603197 -0.02834549]
 [ 0.26490328  0.96352185 -0.03811434]
 [ 0.03745069  0.02921739  0.99887164]]

 t_gt:
[ 0.60220146 -0.7644392  -0.23018714]

Pose Error in degrees for R and t:
69.38347567908282 36.8664930473176

Number of keypoints:
Image1: 88
Image2: 88

 R_estimated:
[[ 9.99999869e-01  4.70213695e-04  2.03031763e-04]
 [-4.70213396e-04  9.99999889e-01 -1.52079125e-06]
 [-2.03032456e-04  1.42532279e-06  9.99999979e-01]]

 t_estimated:
[[-9.17324668e-01]
 [-3.98139324e-01]
 [-7.29192900e-04]]

 R_gt:
[[ 0.99639114  0.05981387 -0.06022999]
 [-0.0646946   0.99447643 -0.08265479]
 [ 0.05495406  0.08625395  0.99475628]]

 t_gt:
[-0.28842663  0.4967602  -0.81855933]

Pose Error in degrees for R and t:
6.865500901411901 86.13545059600767

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-9.07529478e-01 -4.19985491e-01 -1.56003547e-03]
 [ 4.19987832e-01 -9.07528061e-01 -1.74320371e-03]
 [-6.83655701e-04 -2.23720467e-03  9.99997264e-01]]

 t_estimated:
[[0.87929149]
 [0.47628289]
 [0.00104032]]

 R_gt:
[[ 0.99126461  0.12876413 -0.02855236]
 [-0.13070688  0.98801271 -0.08214789]
 [ 0.01763222  0.08516325  0.99621154]]

 t_gt:
[-0.57203201  0.67121005 -0.47144082]

Pose Error in degrees for R and t:
162.6528483713484 79.40955268575497

Number of keypoints:
Image1: 61
Image2: 61

 R_estimated:
[[ 0.99931645  0.03693034  0.0016694 ]
 [-0.03692448  0.99931223 -0.00341264]
 [-0.00179428  0.00334867  0.99999278]]

 t_estimated:
[[0.00906698]
 [0.99995806]
 [0.00129528]]

 R_gt:
[[ 0.99493005  0.06487961  0.07684462]
 [-0.07155075  0.99359246  0.08750283]
 [-0.07067539 -0.09255697  0.99319645]]

 t_gt:
[-0.46517707  0.26634268  0.84419895]

Pose Error in degrees for R and t:
7.013954480510754 74.73954623781877

Number of keypoints:
Image1: 232
Image2: 232

 R_estimated:
[[-9.99589670e-01 -2.86441756e-02  5.71275491e-05]
 [-2.86439732e-02  9.99587119e-01  2.26145773e-03]
 [-1.21881555e-04  2.25889343e-03 -9.99997441e-01]]

 t_estimated:
[[9.70692237e-01]
 [2.40324713e-01]
 [7.82816441e-04]]

 R_gt:
[[ 0.99101559 -0.12982967 -0.03214112]
 [ 0.12998233  0.99151238  0.00271099]
 [ 0.0315155  -0.00686322  0.99947958]]

 t_gt:
[ 0.69704189 -0.69956459 -0.15729587]

Pose Error in degrees for R and t:
178.19021314569653 59.44485881383935

Number of keypoints:
Image1: 156
Image2: 156

 R_estimated:
[[ 9.99999760e-01  6.75587204e-04  1.50527086e-04]
 [-6.75574230e-04  9.99999768e-01 -8.62237866e-05]
 [-1.50585303e-04  8.61220737e-05  9.99999985e-01]]

 t_estimated:
[[ 9.57230603e-01]
 [-2.89325961e-01]
 [-2.48068265e-04]]

 R_gt:
[[ 0.97773042 -0.20928973 -0.01555157]
 [ 0.20892059  0.97767462 -0.02246169]
 [ 0.01990503  0.01871335  0.99962597]]

 t_gt:
[ 0.65838479 -0.73135256 -0.17791265]

Pose Error in degrees for R and t:
12.211597413019863 32.66193805143262

Number of keypoints:
Image1: 153
Image2: 153

 R_estimated:
[[ 9.67096054e-01  2.54409090e-01  1.11273400e-03]
 [-2.54409301e-01  9.67096637e-01  4.96697650e-05]
 [-1.06348487e-03 -3.31125311e-04  9.99999380e-01]]

 t_estimated:
[[-0.67262527]
 [-0.73998267]
 [-0.0009487 ]]

 R_gt:
[[ 0.95982038 -0.27558088 -0.05292664]
 [ 0.27319087  0.96075249 -0.04817734]
 [ 0.06412607  0.0317837   0.99743523]]

 t_gt:
[ 0.64400372 -0.70816575 -0.28941403]

Pose Error in degrees for R and t:
30.959570122661816 84.77127962993471

Number of keypoints:
Image1: 301
Image2: 301

 R_estimated:
[[ 0.98477056 -0.17383378  0.00296024]
 [-0.17381704 -0.98401634  0.03872319]
 [-0.00381847 -0.03864799 -0.99924559]]

 t_estimated:
[[0.05798798]
 [0.9981214 ]
 [0.01977552]]

 R_gt:
[[ 0.99786141  0.01254838 -0.06415814]
 [-0.00954017  0.99885003  0.0469782 ]
 [ 0.06467405 -0.04626546  0.99683397]]

 t_gt:
[ 0.9038304  -0.16062664  0.39659765]

Pose Error in degrees for R and t:
175.43483623148447 84.25676080600675

Number of keypoints:
Image1: 250
Image2: 250

 R_estimated:
[[ 9.97049670e-01  7.58424449e-02  1.18270913e-02]
 [-7.58528813e-02  9.97118925e-01  4.35702216e-04]
 [-1.17599718e-02 -1.33153570e-03  9.99929963e-01]]

 t_estimated:
[[-0.90181793]
 [-0.43181384]
 [ 0.01616254]]

 R_gt:
[[ 0.9924959   0.019652   -0.12069084]
 [-0.01262242  0.99819426  0.05873593]
 [ 0.12162703 -0.05677092  0.99095069]]

 t_gt:
[ 0.98624815 -0.15567417  0.05549908]

Pose Error in degrees for R and t:
8.984964168052453 34.785160743015986

Number of keypoints:
Image1: 121
Image2: 121

 R_estimated:
[[ 0.17579105  0.98442374 -0.00272077]
 [-0.98441536  0.17577448 -0.00545275]
 [-0.00488958  0.00363692  0.99998143]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.99083107  0.06788084 -0.11681146]
 [-0.05492664  0.99232917  0.11075529]
 [ 0.12343381 -0.10332264  0.98695979]]

 t_gt:
[ 0.86953683 -0.15675241  0.4683315 ]

Pose Error in degrees for R and t:
76.84490388733629 81.32443406283953

Number of keypoints:
Image1: 146
Image2: 146

 R_estimated:
[[ 9.99400490e-01 -3.46126132e-02 -7.92733709e-04]
 [ 3.46133255e-02  9.99400371e-01  9.03204050e-04]
 [ 7.60996111e-04 -9.30101720e-04  9.99999278e-01]]

 t_estimated:
[[-0.72646634]
 [-0.68720158]
 [-0.00080113]]

 R_gt:
[[ 9.99011450e-01 -1.27304614e-03  4.44456000e-02]
 [-6.63718158e-04  9.99052364e-01  4.35130070e-02]
 [-4.44597765e-02 -4.34994842e-02  9.98063314e-01]]

 t_gt:
[-0.38413679  0.0388461   0.92245862]

Pose Error in degrees for R and t:
4.068366023977651 75.42611037759673

Number of keypoints:
Image1: 136
Image2: 136

 R_estimated:
[[-1.60966149e-01  9.86950171e-01  4.38848347e-03]
 [ 9.86959904e-01  1.60965529e-01  4.96436354e-04]
 [-2.16436618e-04  4.41116667e-03 -9.99990247e-01]]

 t_estimated:
[[-0.32790696]
 [-0.94470943]
 [-0.00105436]]

 R_gt:
[[ 0.99511419 -0.05428163  0.08247303]
 [ 0.04341992  0.99079441  0.12821413]
 [-0.08867419 -0.12400717  0.98831107]]

 t_gt:
[ 0.00236266 -0.20368575  0.97903347]

Pose Error in degrees for R and t:
179.2295017237617 79.01121407610461

Number of keypoints:
Image1: 148
Image2: 148

 R_estimated:
[[ 9.51716159e-01 -3.06977395e-01  1.10973668e-03]
 [ 3.06978434e-01  9.51716016e-01 -9.30366309e-04]
 [-7.70552743e-04  1.22610988e-03  9.99998951e-01]]

 t_estimated:
[[0.57470568]
 [0.8183597 ]
 [0.0008828 ]]

 R_gt:
[[ 0.98762814 -0.10206955  0.11905517]
 [ 0.08258188  0.98390348  0.15846852]
 [-0.13331421 -0.1466758   0.98016065]]

 t_gt:
[ 0.20688427 -0.27667009  0.9384309 ]

Pose Error in degrees for R and t:
16.952909650550357 83.87547759813113

Number of keypoints:
Image1: 176
Image2: 176

 R_estimated:
[[-1.49190770e-01 -9.88806922e-01 -1.72777907e-03]
 [ 9.88707689e-01 -1.49200284e-01  1.40136144e-02]
 [-1.41145440e-02  3.82433471e-04  9.99900312e-01]]

 t_estimated:
[[ 0.72079683]
 [-0.69306154]
 [ 0.01084561]]

 R_gt:
[[ 0.99407187  0.09984424  0.04301584]
 [-0.10194137  0.9935489   0.04967612]
 [-0.03777782 -0.05376672  0.99783909]]

 t_gt:
[-0.82315227  0.40105092  0.40196828]

Pose Error in degrees for R and t:
104.39429612809774 29.897450978335513

Number of keypoints:
Image1: 145
Image2: 145

 R_estimated:
[[ 9.99876634e-01 -1.56890327e-02  7.55323095e-04]
 [ 1.56892301e-02  9.99876884e-01 -2.56126320e-04]
 [-7.51211728e-04  2.67945161e-04  9.99999682e-01]]

 t_estimated:
[[0.99949285]
 [0.03175529]
 [0.0023759 ]]

 R_gt:
[[ 0.97440777  0.22474185  0.00453977]
 [-0.22462429  0.97273131  0.0577682 ]
 [ 0.00856722 -0.05730896  0.99832028]]

 t_gt:
[-0.84439865  0.5225184   0.11817548]

Pose Error in degrees for R and t:
14.287898615794948 34.198333825895745

Number of keypoints:
Image1: 71
Image2: 71

 R_estimated:
[[ 9.28192851e-01 -3.72098949e-01  6.35683247e-04]
 [ 3.72099161e-01  9.28192949e-01 -2.51687569e-04]
 [-4.96384027e-04  4.70151805e-04  9.99999766e-01]]

 t_estimated:
[[-0.23308838]
 [-0.97245475]
 [-0.00125316]]

 R_gt:
[[ 0.90763479  0.41935347  0.01846569]
 [-0.41803571  0.89904938  0.13021483]
 [ 0.03800449 -0.12590616  0.99131445]]

 t_gt:
[-0.81325066  0.56589543  0.135594  ]

Pose Error in degrees for R and t:
47.290040315886955 68.8433948874399

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[-3.79367095e-02  9.99279853e-01 -7.62357365e-04]
 [ 9.99271022e-01  3.79396119e-02  4.24382070e-03]
 [ 4.26968806e-03 -6.00805031e-04 -9.99990704e-01]]

 t_estimated:
[[0.69293714]
 [0.72099758]
 [0.00077946]]

 R_gt:
[[ 0.99876134 -0.01400774 -0.04776278]
 [ 0.0142588   0.99988596  0.00491968]
 [ 0.04768769 -0.00559396  0.99884656]]

 t_gt:
[ 0.79036688 -0.29046279 -0.53939926]

Pose Error in degrees for R and t:
177.62131887565732 70.25520902541854

Number of keypoints:
Image1: 87
Image2: 87

 R_estimated:
[[ 0.37592588  0.92664903  0.00114303]
 [ 0.92662583 -0.37592475  0.00671945]
 [ 0.00665627 -0.00146685 -0.99997677]]

 t_estimated:
[[-9.99982376e-01]
 [-5.87731035e-03]
 [-8.39615765e-04]]

 R_gt:
[[ 0.98783736 -0.08447035 -0.13054556]
 [ 0.07913138  0.9958224  -0.04556449]
 [ 0.13384864  0.03468033  0.99039494]]

 t_gt:
[ 0.73501465 -0.26484903 -0.62418624]

Pose Error in degrees for R and t:
177.39745276637902 42.868164324873824

Number of keypoints:
Image1: 79
Image2: 79

 R_estimated:
[[-0.62739839  0.77866191 -0.00754192]
 [-0.77857992 -0.62744245 -0.01137   ]
 [-0.01358551 -0.00126153  0.99990692]]

 t_estimated:
[[0.59163203]
 [0.80620717]
 [0.00124032]]

 R_gt:
[[ 0.97003239 -0.21834252 -0.1066054 ]
 [ 0.21030316  0.97421464 -0.08172496]
 [ 0.12170076  0.05685658  0.9909363 ]]

 t_gt:
[ 0.81867117 -0.40954895 -0.40255084]

Pose Error in degrees for R and t:
141.3871480507351 81.16024427774481

Number of keypoints:
Image1: 173
Image2: 173

 R_estimated:
[[ 9.99999925e-01  2.99085196e-04  2.47910175e-04]
 [-2.98879376e-04  9.99999611e-01 -8.29842139e-04]
 [-2.48158272e-04  8.29767981e-04  9.99999625e-01]]

 t_estimated:
[[0.64445726]
 [0.76463983]
 [0.00087089]]

 R_gt:
[[ 0.98959849 -0.14131178 -0.02694995]
 [ 0.14121683  0.9899643  -0.00538603]
 [ 0.02744016  0.00152518  0.99962194]]

 t_gt:
[ 0.72896563 -0.67627793 -0.10610031]

Pose Error in degrees for R and t:
8.29203889456465 87.28234451454104

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 0.99100284  0.13381891  0.00242437]
 [ 0.1338242  -0.99100271 -0.00217095]
 [ 0.00211205  0.00247586 -0.9999947 ]]

 t_estimated:
[[0.66442862]
 [0.74735099]
 [0.00104965]]

 R_gt:
[[ 0.96808788 -0.24770159 -0.0380892 ]
 [ 0.24828248  0.96862194  0.01126243]
 [ 0.03410489 -0.02035898  0.99921018]]

 t_gt:
[ 0.73436941 -0.67810758 -0.02952432]

Pose Error in degrees for R and t:
179.09431969271097 88.91823096586518

Number of keypoints:
Image1: 170
Image2: 170

 R_estimated:
[[ 0.97985352  0.19716619  0.03182099]
 [-0.19645956  0.98021777 -0.02401599]
 [-0.03592664  0.01728061  0.99920501]]

 t_estimated:
[[8.12117722e-01]
 [5.83493112e-01]
 [7.69779832e-04]]

 R_gt:
[[ 0.94961126 -0.3104675  -0.04300042]
 [ 0.31101771  0.95038118  0.00660196]
 [ 0.03881697 -0.01964262  0.99905258]]

 t_gt:
[ 0.75885863 -0.64948889 -0.04793504]

Pose Error in degrees for R and t:
29.84545380531178 76.27433296043431

Number of keypoints:
Image1: 306
Image2: 306

 R_estimated:
[[ 9.97348957e-01 -7.27671503e-02 -1.73944340e-05]
 [ 7.27671514e-02  9.97348954e-01  7.94811457e-05]
 [ 1.15647041e-05 -8.05361812e-05  9.99999997e-01]]

 t_estimated:
[[0.97406739]
 [0.22625557]
 [0.00106223]]

 R_gt:
[[ 0.99880562 -0.03255073  0.03643557]
 [ 0.03232318  0.9994542   0.0068222 ]
 [-0.03663759 -0.00563711  0.99931264]]

 t_gt:
[ 0.54088807 -0.48978571  0.68377631]

Pose Error in degrees for R and t:
3.140905399566818 65.36910422230194

Number of keypoints:
Image1: 220
Image2: 220

 R_estimated:
[[ 9.90694408e-01  1.36105024e-01  1.08553576e-04]
 [-1.36105008e-01  9.90694406e-01 -1.44895725e-04]
 [-1.27264456e-04  1.28772699e-04  9.99999984e-01]]

 t_estimated:
[[-1.08063368e-02]
 [ 9.99941241e-01]
 [ 8.59364917e-04]]

 R_gt:
[[ 0.99815118 -0.06050659 -0.00568143]
 [ 0.06065758  0.99765501  0.03169805]
 [ 0.00374971 -0.03198392  0.99948142]]

 t_gt:
[ 0.74536283 -0.62450258  0.23330402]

Pose Error in degrees for R and t:
11.447408823108933 50.77850109801587

Number of keypoints:
Image1: 237
Image2: 237

 R_estimated:
[[ 0.98668451  0.16263728  0.00167176]
 [-0.16260349  0.98660993 -0.01268628]
 [-0.00371264  0.01224552  0.99991813]]

 t_estimated:
[[-9.98730597e-01]
 [-5.03633378e-02]
 [-8.53615895e-04]]

 R_gt:
[[ 0.99752501 -0.06595347 -0.02434111]
 [ 0.0668127   0.99710284  0.03635883]
 [ 0.021873   -0.0378954   0.99904255]]

 t_gt:
[ 0.72543462 -0.68340972  0.08182764]

Pose Error in degrees for R and t:
13.551777989386713 46.3568435943356

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 8.17392722e-01  5.76080348e-01  7.55414327e-04]
 [-5.76080364e-01  8.17393031e-01 -2.17380169e-04]
 [-7.42698850e-04 -2.57494393e-04  9.99999691e-01]]

 t_estimated:
[[0.00623688]
 [0.99998001]
 [0.00103948]]

 R_gt:
[[ 0.9993024   0.00875126 -0.03630439]
 [-0.00791431  0.99970143  0.02313235]
 [ 0.03649643 -0.02282845  0.99907291]]

 t_gt:
[0.99794344 0.00747329 0.06366345]

Pose Error in degrees for R and t:
34.78530471205429 89.21139178348515

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99998372e-01 -1.72131573e-03 -5.42151100e-04]
 [ 1.72138110e-03  9.99998511e-01  1.20126472e-04]
 [ 5.41943518e-04 -1.21059525e-04  9.99999846e-01]]

 t_estimated:
[[-0.99980161]
 [-0.01975522]
 [-0.00254284]]

 R_gt:
[[ 0.99099354  0.07495921 -0.11095938]
 [-0.06552057  0.99410382  0.08640238]
 [ 0.11678213 -0.07835367  0.99006225]]

 t_gt:
[ 0.88275344  0.46867481 -0.0330195 ]

Pose Error in degrees for R and t:
9.058201001282749 26.905623037752548

Number of keypoints:
Image1: 97
Image2: 97

 R_estimated:
[[ 9.99999735e-01  7.12390705e-04  1.49897840e-04]
 [-7.12395673e-04  9.99999746e-01  3.30926798e-05]
 [-1.49874227e-04 -3.31994576e-05  9.99999988e-01]]

 t_estimated:
[[-0.9999904 ]
 [-0.00424163]
 [-0.0011    ]]

 R_gt:
[[ 0.97653929  0.13610336 -0.16687148]
 [-0.11786968  0.98637831  0.11473359]
 [ 0.18021469 -0.09237286  0.9792801 ]]

 t_gt:
[ 0.57329705  0.79640708 -0.19252598]

Pose Error in degrees for R and t:
13.792265448051864 54.79821054783463

Number of keypoints:
Image1: 48
Image2: 48

 R_estimated:
[[ 0.99111611 -0.13299014 -0.00157425]
 [ 0.13299239  0.99111604  0.00141875]
 [ 0.00137158 -0.00161551  0.99999775]]

 t_estimated:
[[0.98439062]
 [0.17599356]
 [0.00117329]]

 R_gt:
[[ 0.95370449  0.29775306  0.04231335]
 [-0.29681134  0.954549   -0.02718438]
 [-0.04848365  0.01336717  0.99873445]]

 t_gt:
[-0.92772933  0.37294095 -0.01527538]

Pose Error in degrees for R and t:
25.124964125016977 32.04509369708562

Number of keypoints:
Image1: 58
Image2: 58

 R_estimated:
[[ 0.27956777  0.96011143 -0.00528312]
 [ 0.9601045  -0.2795205   0.00822401]
 [ 0.00641922 -0.00737152 -0.99995223]]

 t_estimated:
[[-7.58345958e-01]
 [-6.51851937e-01]
 [-6.78305866e-04]]

 R_gt:
[[ 0.83420622  0.55132641  0.01170835]
 [-0.54981774  0.83318225 -0.05923088]
 [-0.0424103   0.04297315  0.99817546]]

 t_gt:
[-0.84709383  0.52820421 -0.05858639]

Pose Error in degrees for R and t:
177.12793787180317 72.65534014176053

Number of keypoints:
Image1: 44
Image2: 44

 R_estimated:
[[ 0.72684192 -0.68679172  0.00423906]
 [ 0.68680196  0.72684281 -0.00161286]
 [-0.00197343  0.00408369  0.99998971]]

 t_estimated:
[[7.58345958e-01]
 [6.51851937e-01]
 [6.78305866e-04]]

 R_gt:
[[ 0.64654462  0.76276792  0.01284714]
 [-0.7598113   0.64536355 -0.07868827]
 [-0.06831249  0.0411147   0.99681632]]

 t_gt:
[-0.76782367  0.63983601 -0.03250665]

Pose Error in degrees for R and t:
93.13561115915047 80.49000342406076

Number of keypoints:
Image1: 230
Image2: 230

 R_estimated:
[[ 9.99847817e-01  1.74453578e-02  4.83623018e-05]
 [-1.74453430e-02  9.99847776e-01 -2.91189354e-04]
 [-5.34348424e-05  2.90301343e-04  9.99999956e-01]]

 t_estimated:
[[ 0.49961536]
 [ 0.86624686]
 [-0.00093239]]

 R_gt:
[[ 0.99820582 -0.05844971  0.01303965]
 [ 0.05873718  0.99801102 -0.02289179]
 [-0.01167557  0.02361678  0.99965327]]

 t_gt:
[ 0.20523854 -0.93224458 -0.29798855]

Pose Error in degrees for R and t:
4.607536051715063 45.19179882702665

Number of keypoints:
Image1: 274
Image2: 274

 R_estimated:
[[ 0.24227736 -0.97000318 -0.01988751]
 [-0.97012836 -0.24194578 -0.0176976 ]
 [ 0.01235503  0.02358117 -0.99964558]]

 t_estimated:
[[ 0.63406503]
 [ 0.7732032 ]
 [-0.010879  ]]

 R_gt:
[[ 0.99880376 -0.04886887 -0.00169848]
 [ 0.04881666  0.99854237 -0.02303685]
 [ 0.00282214  0.02292643  0.99973356]]

 t_gt:
[ 0.41562189 -0.69238759 -0.58979476]

Pose Error in degrees for R and t:
177.38876260335476 74.60876551824259

Number of keypoints:
Image1: 204
Image2: 204

 R_estimated:
[[ 9.98117840e-01  6.13239649e-02  3.84582278e-04]
 [-6.13236673e-02  9.98117656e-01 -7.43071121e-04]
 [-4.29426429e-04  7.18088547e-04  9.99999650e-01]]

 t_estimated:
[[-0.85822433]
 [-0.51327378]
 [-0.00101372]]

 R_gt:
[[ 0.99970736  0.02022377 -0.01327491]
 [-0.02061377  0.99933815 -0.02998026]
 [ 0.0126596   0.03024507  0.99946264]]

 t_gt:
[ 0.45454849  0.4860427  -0.74642358]

Pose Error in degrees for R and t:
2.986944488370884 50.29604834439485

Number of keypoints:
Image1: 242
Image2: 242

 R_estimated:
[[ 0.99999685  0.00113978 -0.00223427]
 [-0.00113697  0.99999856  0.00125777]
 [ 0.0022357  -0.00125522  0.99999671]]

 t_estimated:
[[0.70052546]
 [0.71362635]
 [0.00123422]]

 R_gt:
[[ 0.99882741 -0.04594308  0.01523347]
 [ 0.04610556  0.99888036 -0.01056099]
 [-0.01473146  0.01125136  0.999828  ]]

 t_gt:
[ 0.7735226  -0.62992086  0.06973161]

Pose Error in degrees for R and t:
2.961611506700095 84.69656886909029

Number of keypoints:
Image1: 192
Image2: 192

 R_estimated:
[[ 9.94105109e-01  1.08418792e-01  6.30946166e-04]
 [-1.08417925e-01  9.94104585e-01 -1.27543375e-03]
 [-7.65507463e-04  1.19950934e-03  9.99998988e-01]]

 t_estimated:
[[0.5994201 ]
 [0.80043409]
 [0.00090547]]

 R_gt:
[[ 0.99540719 -0.09436022  0.01615963]
 [ 0.09472226  0.99522924 -0.02338701]
 [-0.01387631  0.02481048  0.99959501]]

 t_gt:
[ 0.78530529 -0.61900293 -0.0114445 ]

Pose Error in degrees for R and t:
11.752142584189086 88.58157649314013

Number of keypoints:
Image1: 124
Image2: 124

 R_estimated:
[[ 9.99999973e-01 -2.25104998e-04  5.92557214e-05]
 [ 2.25050493e-04  9.99999553e-01  9.18223140e-04]
 [-5.94623916e-05 -9.18209780e-04  9.99999577e-01]]

 t_estimated:
[[0.72653987]
 [0.68712348]
 [0.00106531]]

 R_gt:
[[ 0.97325539 -0.22967172 -0.00501098]
 [ 0.2295687   0.97316692 -0.01564967]
 [ 0.00847128  0.01408118  0.99986387]]

 t_gt:
[ 0.77196332 -0.63398223 -0.04625117]

Pose Error in degrees for R and t:
13.299650538985635 82.8083421982522

Number of keypoints:
Image1: 109
Image2: 109

 R_estimated:
[[ 9.99999997e-01 -6.06006717e-05 -3.83073267e-05]
 [ 6.06017316e-05  9.99999998e-01  2.76658891e-05]
 [ 3.83056501e-05 -2.76682105e-05  9.99999999e-01]]

 t_estimated:
[[0.80100396]
 [0.59865845]
 [0.00084243]]

 R_gt:
[[ 0.9991     -0.03699719  0.02070338]
 [ 0.03719899  0.99926304 -0.00945862]
 [-0.02033806  0.01022066  0.99974102]]

 t_gt:
[ 0.73652336 -0.62566784  0.25704687]

Pose Error in degrees for R and t:
2.4934316581221547 77.54848737839892

Number of keypoints:
Image1: 103
Image2: 103

 R_estimated:
[[ 9.99999968e-01  2.09534066e-04  1.42321672e-04]
 [-2.09526873e-04  9.99999977e-01 -5.05544800e-05]
 [-1.42332261e-04  5.05246582e-05  9.99999989e-01]]

 t_estimated:
[[9.66020520e-01]
 [2.58465065e-01]
 [4.07411767e-04]]

 R_gt:
[[ 0.9881526  -0.15343177 -0.00337393]
 [ 0.15333944  0.98798223 -0.01942073]
 [ 0.00631299  0.01867324  0.99980537]]

 t_gt:
[ 0.74949563 -0.65803848 -0.07239934]

Pose Error in degrees for R and t:
8.90802067790845 56.36372991465338

Number of keypoints:
Image1: 98
Image2: 98

 R_estimated:
[[-9.21507590e-01 -3.88359897e-01  5.93843998e-04]
 [-3.88359209e-01  9.21507511e-01  1.01629614e-03]
 [-9.41920367e-04  7.05899818e-04 -9.99999307e-01]]

 t_estimated:
[[0.99981909]
 [0.01890414]
 [0.00210046]]

 R_gt:
[[ 0.97059973 -0.24041035 -0.01170613]
 [ 0.24001378  0.97036529 -0.02800521]
 [ 0.01809131  0.02437262  0.99953921]]

 t_gt:
[ 0.76961787 -0.63348566 -0.07990152]

Pose Error in degrees for R and t:
178.90641486190623 40.77015567387089

Number of keypoints:
Image1: 128
Image2: 128

 R_estimated:
[[-6.55451743e-01 -7.55236850e-01 -5.59191510e-04]
 [-7.55232928e-01  6.55445532e-01  3.79202904e-03]
 [-2.49736049e-03  2.90781188e-03 -9.99992654e-01]]

 t_estimated:
[[0.96903534]
 [0.24691933]
 [0.00116602]]

 R_gt:
[[ 0.99392862 -0.10875102 -0.01671092]
 [ 0.10764831  0.99256941 -0.0567228 ]
 [ 0.02275566  0.05458021  0.99825037]]

 t_gt:
[ 0.57317586 -0.53756315 -0.61846204]

Pose Error in degrees for R and t:
177.7157185469454 65.04086244758864

Number of keypoints:
Image1: 171
Image2: 171

 R_estimated:
[[ 9.99908359e-01 -1.35377752e-02  4.47313381e-05]
 [ 1.35377813e-02  9.99908350e-01 -1.40855436e-04]
 [-4.28203693e-05  1.41448091e-04  9.99999989e-01]]

 t_estimated:
[[-0.64108588]
 [-0.76746847]
 [-0.00101921]]

 R_gt:
[[ 0.9912855  -0.12972682 -0.02288026]
 [ 0.12825692  0.99010274 -0.05696707]
 [ 0.03004402  0.05353615  0.99811416]]

 t_gt:
[ 0.55342381 -0.61051485 -0.56656306]

Pose Error in degrees for R and t:
7.513838956049237 83.4346627821883

Number of keypoints:
Image1: 203
Image2: 203

 R_estimated:
[[ 0.86354377  0.50425553 -0.00430467]
 [-0.50421708  0.86354314  0.0076406 ]
 [ 0.00757008 -0.0044275   0.99996154]]

 t_estimated:
[[0.66941529]
 [0.7428877 ]
 [0.00102045]]

 R_gt:
[[ 0.99602769 -0.08642674 -0.02144995]
 [ 0.08485145  0.99421571 -0.06584025]
 [ 0.02701571  0.06375869  0.99760064]]

 t_gt:
[ 0.54904663 -0.37213352 -0.74837453]

Pose Error in degrees for R and t:
35.44373704861525 84.81780385655182

Number of keypoints:
Image1: 42
Image2: 42

 R_estimated:
[[ 0.12490397  0.97280663  0.1950545 ]
 [ 0.99214186 -0.12101337 -0.03178517]
 [-0.00731662  0.19749183 -0.98027723]]

 t_estimated:
[[-0.02583602]
 [-0.99966235]
 [-0.00277305]]

 R_gt:
[[ 0.94787862  0.31860251  0.00433147]
 [-0.31853278  0.94783449 -0.0120977 ]
 [-0.00795932  0.01008782  0.99991642]]

 t_gt:
[-0.94598968  0.32237467 -0.03432339]

Pose Error in degrees for R and t:
171.75210384701947 72.67868590396532

Number of keypoints:
Image1: 26
Image2: 26

 R_estimated:
[[-5.20976638e-01  8.53570925e-01 -1.38249955e-04]
 [-8.53567072e-01 -5.20974760e-01 -2.92449630e-03]
 [-2.56828975e-03 -1.40558864e-03  9.99995714e-01]]

 t_estimated:
[[0.34558757]
 [0.93838413]
 [0.00210917]]

 R_gt:
[[ 0.84064784  0.54151317  0.00856549]
 [-0.54077242  0.84015351 -0.04131161]
 [-0.02956606  0.0300974   0.99910898]]

 t_gt:
[-0.87619857  0.47950738 -0.04846374]

Pose Error in degrees for R and t:
88.64176992107129 81.54361191017493

Number of keypoints:
Image1: 27
Image2: 27

 R_estimated:
[[-0.97684774  0.08918267  0.19446065]
 [-0.17138282 -0.87026913 -0.46180036]
 [ 0.12804851 -0.48443585  0.86540481]]

 t_estimated:
[[0.8471997 ]
 [0.52399992]
 [0.08761703]]

 R_gt:
[[ 0.64762929  0.76194101 -0.00480266]
 [-0.76023369  0.64572902 -0.07125774]
 [-0.05119287  0.04980028  0.99744523]]

 t_gt:
[-0.78084269  0.62285946 -0.04827815]

Pose Error in degrees for R and t:
124.46702565295094 70.16081152625237

Number of keypoints:
Image1: 117
Image2: 117

 R_estimated:
[[ 1.11660692e-01  9.93746269e-01  4.92407850e-04]
 [-9.93746286e-01  1.11660895e-01 -4.05293380e-04]
 [-4.57741486e-04 -4.44073133e-04  9.99999797e-01]]

 t_estimated:
[[0.62454552]
 [0.78098745]
 [0.0012222 ]]

 R_gt:
[[ 0.99767701  0.02925609  0.06153518]
 [-0.03170299  0.99872934  0.03916866]
 [-0.06031113 -0.04102913  0.99733575]]

 t_gt:
[-0.41314286  0.17620995  0.89345567]

Pose Error in degrees for R and t:
81.92628769909331 83.14732661818405

Number of keypoints:
Image1: 55
Image2: 55

 R_estimated:
[[ 0.68480196  0.22166585 -0.69419776]
 [ 0.49585154  0.55634833  0.66678915]
 [ 0.53402016 -0.80083755  0.27107507]]

 t_estimated:
[[-0.66883013]
 [-0.74341482]
 [-0.0008107 ]]

 R_gt:
[[ 0.98447297 -0.06162967  0.16436965]
 [ 0.01854117  0.96761498  0.25174744]
 [-0.17456175 -0.2447904   0.9537325 ]]

 t_gt:
[ 0.08800184 -0.09310489  0.99175963]

Pose Error in degrees for R and t:
71.84610300412916 89.45263046313322

Number of keypoints:
Image1: 41
Image2: 41

 R_estimated:
[[-9.93570963e-01  1.13200504e-01 -1.54541076e-03]
 [-1.13199884e-01 -9.93572118e-01 -4.82695393e-04]
 [-1.59011840e-03 -3.04651807e-04  9.99998689e-01]]

 t_estimated:
[[0.77645178]
 [0.63017609]
 [0.00085044]]

 R_gt:
[[ 0.96503683 -0.12560806  0.2300619 ]
 [ 0.03318735  0.9291921   0.36810364]
 [-0.2600085  -0.34759852  0.90087231]]

 t_gt:
[ 0.17297279 -0.05613336  0.98332571]

Pose Error in degrees for R and t:
178.34965286365573 84.27422424092433

Number of keypoints:
Image1: 168
Image2: 168

 R_estimated:
[[-1.54025085e-01 -9.88066342e-01 -1.08474710e-03]
 [-9.88066812e-01  1.54025526e-01 -3.34901340e-04]
 [ 4.97983485e-04  1.02021941e-03 -9.99999356e-01]]

 t_estimated:
[[8.15161168e-01]
 [5.79233917e-01]
 [5.82920493e-04]]

 R_gt:
[[ 0.98999135 -0.13512238 -0.04073506]
 [ 0.1355317   0.99074408  0.00748307]
 [ 0.03934675 -0.01292862  0.99914187]]

 t_gt:
[ 0.72603224 -0.66436246 -0.17748155]

Pose Error in degrees for R and t:
178.57476482009366 78.05875255205483

Number of keypoints:
Image1: 107
Image2: 107

 R_estimated:
[[ 9.99999223e-01  1.24094415e-03  1.16662251e-04]
 [-1.24094452e-03  9.99999230e-01  3.08645809e-06]
 [-1.16658331e-04 -3.23122707e-06  9.99999993e-01]]

 t_estimated:
[[ 9.64975123e-01]
 [-2.62341292e-01]
 [ 2.43072475e-04]]

 R_gt:
[[ 0.97049967 -0.23545293 -0.0518945 ]
 [ 0.23497719  0.97188236 -0.01515703]
 [ 0.05400415  0.00251582  0.99853728]]

 t_gt:
[ 0.72863722 -0.64981401 -0.21640139]

Pose Error in degrees for R and t:
14.031917562025054 29.12767250808028

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[ 9.99997162e-01  2.37589247e-03  1.76292730e-04]
 [-2.37589170e-03  9.99997178e-01 -4.56273507e-06]
 [-1.76303073e-04  4.14386969e-06  9.99999984e-01]]

 t_estimated:
[[ 9.25011263e-01]
 [-3.79939684e-01]
 [ 3.22216595e-06]]

 R_gt:
[[ 0.9509268  -0.30567025 -0.04800934]
 [ 0.30346511  0.95162566 -0.04812313]
 [ 0.06039726  0.03119305  0.99768663]]

 t_gt:
[ 0.69825697 -0.66129951 -0.27408057]

Pose Error in degrees for R and t:
18.30759551937165 26.214240645706795

Number of keypoints:
Image1: 307
Image2: 307

 R_estimated:
[[ 9.97354398e-01  7.26925134e-02  4.97947166e-05]
 [-7.26924857e-02  9.97354311e-01 -4.26334843e-04]
 [-8.06543265e-05  4.21587229e-04  9.99999908e-01]]

 t_estimated:
[[0.91166962]
 [0.41092237]
 [0.00114164]]

 R_gt:
[[ 0.99941876 -0.02677014 -0.02110964]
 [ 0.02692657  0.99961207  0.00715739]
 [ 0.02091005 -0.00772156  0.99975132]]

 t_gt:
[ 0.8009291  -0.51784744 -0.30057711]

Pose Error in degrees for R and t:
5.850940613920707 58.86579068791606

Number of keypoints:
Image1: 291
Image2: 291

 R_estimated:
[[ 9.94762594e-01  1.02212410e-01  7.64207161e-05]
 [-1.02212392e-01  9.94762577e-01 -2.06277426e-04]
 [-9.71045812e-05  1.97385923e-04  9.99999976e-01]]

 t_estimated:
[[5.06758492e-01]
 [8.62087956e-01]
 [4.31934295e-04]]

 R_gt:
[[ 0.99726326 -0.04829571 -0.05598415]
 [ 0.04955064  0.9985454   0.02126473]
 [ 0.05487637 -0.02398035  0.99820521]]

 t_gt:
[ 0.72520905 -0.57979921 -0.37135524]

Pose Error in degrees for R and t:
9.330141426484412 82.38635323729281

Number of keypoints:
Image1: 188
Image2: 188

 R_estimated:
[[-9.64263383e-01 -2.64755704e-01  1.00272493e-02]
 [-2.64748596e-01  9.64315282e-01  2.05380681e-03]
 [-1.02131868e-02 -6.74289469e-04 -9.99947617e-01]]

 t_estimated:
[[0.99732687]
 [0.07285875]
 [0.00554226]]

 R_gt:
[[ 0.99715219 -0.01666888 -0.07355827]
 [ 0.02086592  0.99817554  0.05666562]
 [ 0.07248013 -0.05803823  0.99567948]]

 t_gt:
[ 0.57697774 -0.73959674 -0.34654487]

Pose Error in degrees for R and t:
176.8729716966808 58.692653095145864

Number of keypoints:
Image1: 178
Image2: 178

 R_estimated:
[[ 9.99999945e-01 -2.84706130e-04 -1.72998315e-04]
 [ 2.84726112e-04  9.99999953e-01  1.15492849e-04]
 [ 1.72965425e-04 -1.15542100e-04  9.99999978e-01]]

 t_estimated:
[[-0.99946721]
 [-0.03251655]
 [-0.002824  ]]

 R_gt:
[[ 0.99964996  0.02345021 -0.01221164]
 [-0.02356067  0.99968273 -0.00892292]
 [ 0.01199866  0.00920767  0.99988545]]

 t_gt:
[ 0.6872302   0.63632801 -0.35043018]

Pose Error in degrees for R and t:
1.6138015154325576 45.04383223150188

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 0.94313663 -0.33240031 -0.00182652]
 [ 0.33240329  0.94313584  0.00168468]
 [ 0.00116267 -0.00219603  0.99999691]]

 t_estimated:
[[9.93977190e-01]
 [1.09584442e-01]
 [7.71721421e-04]]

 R_gt:
[[ 0.99659745  0.05983962 -0.05668757]
 [-0.05923228  0.99816872  0.01234253]
 [ 0.05732185 -0.00894296  0.99831537]]

 t_gt:
[ 0.77961788  0.52460777 -0.34202727]

Pose Error in degrees for R and t:
23.053482678413 33.680047522476556

Number of keypoints:
Image1: 93
Image2: 93

 R_estimated:
[[-1.01957450e-01  9.94781399e-01  3.82720906e-03]
 [ 9.94788467e-01  1.01959624e-01 -3.76790485e-04]
 [-7.65044962e-04  3.76884684e-03 -9.99992605e-01]]

 t_estimated:
[[0.84633904]
 [0.53264303]
 [0.00128039]]

 R_gt:
[[ 0.99219956  0.07063861 -0.10270996]
 [-0.06700302  0.99701317  0.03842914]
 [ 0.10511828 -0.03124803  0.99396823]]

 t_gt:
[ 0.88189736  0.40015777 -0.24926053]

Pose Error in degrees for R and t:
174.40080755000076 16.421845490721584

Number of keypoints:
Image1: 125
Image2: 125

 R_estimated:
[[ 9.99999966e-01 -2.56115070e-04  5.54111070e-05]
 [ 2.56117206e-04  9.99999966e-01 -3.85558537e-05]
 [-5.54012305e-05  3.85700441e-05  9.99999998e-01]]

 t_estimated:
[[0.44645197]
 [0.89480689]
 [0.00112872]]

 R_gt:
[[ 0.99743938 -0.07059341 -0.01144068]
 [ 0.07073519  0.9974165   0.01246516]
 [ 0.01053104 -0.01324196  0.99985657]]

 t_gt:
[ 0.63254017 -0.77452237 -0.00283564]

Pose Error in degrees for R and t:
4.1538225812581375 65.75417937022945

Number of keypoints:
Image1: 91
Image2: 91

 R_estimated:
[[ 9.99999894e-01  4.49933732e-04  9.32048403e-05]
 [-4.49931539e-04  9.99999899e-01 -2.35434771e-05]
 [-9.32154238e-05  2.35015388e-05  9.99999995e-01]]

 t_estimated:
[[9.99995481e-01]
 [2.91480085e-03]
 [7.36695240e-04]]

 R_gt:
[[ 0.9902754  -0.13865102  0.01135647]
 [ 0.13852367  0.99029386  0.01128413]
 [-0.01281073 -0.00960054  0.99987148]]

 t_gt:
[ 0.67543789 -0.73565931  0.05088253]

Pose Error in degrees for R and t:
8.044862771965509 47.67555395218271

Number of keypoints:
Image1: 101
Image2: 101

 R_estimated:
[[ 9.99998888e-01  1.48942301e-03  6.98887067e-05]
 [-1.48942179e-03  9.99998891e-01 -1.75066030e-05]
 [-6.99147039e-05  1.74024897e-05  9.99999997e-01]]

 t_estimated:
[[ 9.05523121e-01]
 [-4.24296901e-01]
 [ 1.29949504e-04]]

 R_gt:
[[ 0.98385929 -0.17686154  0.0272031 ]
 [ 0.17630399  0.98409607  0.02169866]
 [-0.03060802 -0.01655181  0.99939467]]

 t_gt:
[ 0.71530391 -0.68639733  0.13114508]

Pose Error in degrees for R and t:
10.45030389988643 20.119451573017347
We are working in: /Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_01

Number of keypoints:
Image1: 211
Image2: 211
---------------------------------------------------------------------------
FileNotFoundError                         Traceback (most recent call last)
Input In [5], in <cell line: 7>()
     27 pose_path = os.path.join(pose_folder, str_number+'.txt')
     28 if os.path.isfile(img_path):
---> 29     R,t, k1, k2 = get_relative_pose(base_img_path, img_path, base_pose_path, pose_path, intrinsic_path)
     30     result = [base_number, number, R, t, k1, k2]
     31     results.append(result)

Input In [4], in get_relative_pose(path_img1, path_img2, path_pose1, path_pose2, path_K)
     34 pts2 = np.int32(pts2)
     36 #Get intrisinc matrix
     37 #preparing everything for poselib.estimate_relative_pose
---> 38 K = np.loadtxt(intrinsic_path, dtype=float)
     39 K = np.delete(K,3,0)
     40 K = np.delete(K,3,1)

File ~/miniforge3/envs/mainenv/lib/python3.8/site-packages/numpy/lib/npyio.py:1042, in loadtxt(fname, dtype, comments, delimiter, converters, skiprows, usecols, unpack, ndmin, encoding, max_rows, like)
   1040     fname = os_fspath(fname)
   1041 if _is_string_like(fname):
-> 1042     fh = np.lib._datasource.open(fname, 'rt', encoding=encoding)
   1043     fencoding = getattr(fh, 'encoding', 'latin1')
   1044     line_iter = iter(fh)

File ~/miniforge3/envs/mainenv/lib/python3.8/site-packages/numpy/lib/_datasource.py:193, in open(path, mode, destpath, encoding, newline)
    156 """
    157 Open `path` with `mode` and return the file object.
    158 
   (...)
    189 
    190 """
    192 ds = DataSource(destpath)
--> 193 return ds.open(path, mode, encoding=encoding, newline=newline)

File ~/miniforge3/envs/mainenv/lib/python3.8/site-packages/numpy/lib/_datasource.py:532, in DataSource.open(self, path, mode, encoding, newline)
    529     return _file_openers[ext](found, mode=mode,
    530                               encoding=encoding, newline=newline)
    531 else:
--> 532     raise FileNotFoundError(f"{path} not found.")

FileNotFoundError: /Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_01/intrinsic/intrinsic_color.txt not found.

Analysis¶

In [8]:
import seaborn as sns

R_err_30 = [x[2] for x in results if (x[1] - x[0] == 31)]
R_err_20 = [x[2] for x in results if (x[1] - x[0] == 21)]
R_err_10 = [x[2] for x in results if (x[1] - x[0] == 11)]

t_err = [x[3] for x in results if (x[1] - x[0] == 31)]
pts = [x[4] for x in results if (x[1] - x[0] == 31)]
In [7]:
path = "/Users/augustelefevre/Documents/Zurich/MA4/3DVision/Project/Dataset/scans/scene0000_00/pose/estimated_pose/results10_20_30.txt"
results = np.loadtxt(path, dtype=float)
In [12]:
bins = np.linspace(0, 180, 100)

plt.hist(R_err_10, bins, alpha=0.5, label='n+10', color="blue")
plt.hist(R_err_20, bins, alpha=0.5, label='n+20', color="red")
plt.hist(R_err_30, bins, alpha=0.5, label='n+30', color="black")
plt.title("Distributioin of R_err")
plt.xlabel("R_err in degrees")
plt.ylabel("count")
plt.legend(loc='upper right')
plt.savefig("disitributiontest.jpg")
plt.show()

R_err = R_err_10
In [13]:
g = sns.displot(R_err, bins=1000).set(title="Distribution of R_err", xlabel="R_err")
#g.set(xlim=(0, 10))
In [15]:
g = sns.displot(t_err).set(title="Distribution of t_err", xlabel="t_err")
In [16]:
g = sns.displot(pts).set(title="Distribution of # kpoints", xlabel="#kpoints")
In [17]:
df = pd.DataFrame({'t_err':t_err, 'pts':pts})
sns.scatterplot(data=df, x="t_err", y="pts").set(title='scatter plot t_err vs #kpoints')
Out[17]:
[Text(0.5, 1.0, 'scatter plot t_err vs #kpoints')]
In [ ]: